1463 files changed, 43964 insertions, 296178 deletions

diff --git a/.github/workflows/linux_builds.yml b/.github/workflows/linux_builds.yml
index bb3416743b..d75680b4b5 100644
--- a/.github/workflows/linux_builds.yml
+++ b/.github/workflows/linux_builds.yml
@@ -36,7 +36,9 @@ jobs:
             tests: true
             sconsflags: float=64 use_asan=yes use_ubsan=yes
             proj-test: true
-            godot-cpp-test: true
+            # Can be turned off for PRs that intentionally break compat with godot-cpp,
+            # until both the upstream PR and the matching godot-cpp changes are merged.
+            godot-cpp-test: false
             bin: "./bin/godot.linuxbsd.double.tools.64.san"
             build-mono: false
             # Skip 2GiB artifact speeding up action.
diff --git a/COPYRIGHT.txt b/COPYRIGHT.txt
index df1ab0c849..cfb4778d6b 100644
--- a/COPYRIGHT.txt
+++ b/COPYRIGHT.txt
@@ -130,11 +130,6 @@ Comment: Basis Universal
 Copyright: 2019, Binomial LLC.
 License: Apache-2.0
 
-Files: ./thirdparty/bullet/
-Comment: Bullet Continuous Collision Detection and Physics Library
-Copyright: 2003-2013, Erwin Coumans
-License: Zlib
-
 Files: ./thirdparty/certs/ca-certificates.crt
 Comment: CA certificates
 Copyright: Mozilla Contributors
@@ -399,7 +394,7 @@ License: Expat
 
 Files: ./thirdparty/thorvg/
 Comment: ThorVG
-Copyright: 2020-2021, Samsung Electronics Co., Ltd.
+Copyright: 2020-2022, Samsung Electronics Co., Ltd.
 License: Expat
 
 Files: ./thirdparty/tinyexr/
diff --git a/SConstruct b/SConstruct
index 233a79f635..aa31c39d32 100644
--- a/SConstruct
+++ b/SConstruct
@@ -198,7 +198,6 @@ opts.Add("system_certs_path", "Use this path as SSL certificates default for edi
 opts.Add(BoolVariable("use_precise_math_checks", "Math checks use very precise epsilon (debug option)", False))
 
 # Thirdparty libraries
-opts.Add(BoolVariable("builtin_bullet", "Use the built-in Bullet library", True))
 opts.Add(BoolVariable("builtin_certs", "Use the built-in SSL certificates bundles", True))
 opts.Add(BoolVariable("builtin_embree", "Use the built-in Embree library", True))
 opts.Add(BoolVariable("builtin_enet", "Use the built-in ENet library", True))
diff --git a/core/config/project_settings.cpp b/core/config/project_settings.cpp
index 3a7fc828aa..83f58311f1 100644
--- a/core/config/project_settings.cpp
+++ b/core/config/project_settings.cpp
@@ -614,11 +614,7 @@ Error ProjectSettings::setup(const String &p_path, const String &p_main_pack, bo
 bool ProjectSettings::has_setting(String p_var) const {
 	_THREAD_SAFE_METHOD_
 
-	StringName name = p_var;
-	if (!disable_feature_overrides && feature_overrides.has(name)) {
-		name = feature_overrides[name];
-	}
-	return props.has(name);
+	return props.has(p_var);
 }
 
 Error ProjectSettings::_load_settings_binary(const String &p_path) {
diff --git a/core/core_bind.cpp b/core/core_bind.cpp
index bb4b49d9cd..590d1c12c6 100644
--- a/core/core_bind.cpp
+++ b/core/core_bind.cpp
@@ -137,7 +137,7 @@ void ResourceLoader::_bind_methods() {
 
 ////// ResourceSaver //////
 
-Error ResourceSaver::save(const String &p_path, const RES &p_resource, SaverFlags p_flags) {
+Error ResourceSaver::save(const String &p_path, const RES &p_resource, uint32_t p_flags) {
 	ERR_FAIL_COND_V_MSG(p_resource.is_null(), ERR_INVALID_PARAMETER, "Can't save empty resource to path '" + String(p_path) + "'.");
 	return ::ResourceSaver::save(p_path, p_resource, p_flags);
 }
@@ -156,9 +156,10 @@ Vector<String> ResourceSaver::get_recognized_extensions(const RES &p_resource) {
 ResourceSaver *ResourceSaver::singleton = nullptr;
 
 void ResourceSaver::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("save", "path", "resource", "flags"), &ResourceSaver::save, DEFVAL(0));
+	ClassDB::bind_method(D_METHOD("save", "path", "resource", "flags"), &ResourceSaver::save, DEFVAL((uint32_t)FLAG_NONE));
 	ClassDB::bind_method(D_METHOD("get_recognized_extensions", "type"), &ResourceSaver::get_recognized_extensions);
 
+	BIND_ENUM_CONSTANT(FLAG_NONE);
 	BIND_ENUM_CONSTANT(FLAG_RELATIVE_PATHS);
 	BIND_ENUM_CONSTANT(FLAG_BUNDLE_RESOURCES);
 	BIND_ENUM_CONSTANT(FLAG_CHANGE_PATH);
diff --git a/core/core_bind.h b/core/core_bind.h
index 1ed243206b..4a7eb718f1 100644
--- a/core/core_bind.h
+++ b/core/core_bind.h
@@ -94,6 +94,7 @@ protected:
 
 public:
 	enum SaverFlags {
+		FLAG_NONE = 0,
 		FLAG_RELATIVE_PATHS = 1,
 		FLAG_BUNDLE_RESOURCES = 2,
 		FLAG_CHANGE_PATH = 4,
@@ -105,7 +106,7 @@ public:
 
 	static ResourceSaver *get_singleton() { return singleton; }
 
-	Error save(const String &p_path, const RES &p_resource, SaverFlags p_flags);
+	Error save(const String &p_path, const RES &p_resource, uint32_t p_flags);
 	Vector<String> get_recognized_extensions(const RES &p_resource);
 
 	ResourceSaver() { singleton = this; }
diff --git a/core/core_constants.cpp b/core/core_constants.cpp
index 63e7323f7a..89926ee81b 100644
--- a/core/core_constants.cpp
+++ b/core/core_constants.cpp
@@ -168,6 +168,7 @@ void register_global_constants() {
 	BIND_CORE_ENUM_CONSTANT(INLINE_ALIGNMENT_IMAGE_MASK);
 	BIND_CORE_ENUM_CONSTANT(INLINE_ALIGNMENT_TEXT_MASK);
 
+	BIND_CORE_ENUM_CLASS_CONSTANT(Key, KEY, NONE);
 	BIND_CORE_ENUM_CLASS_CONSTANT(Key, KEY, SPECIAL);
 	BIND_CORE_ENUM_CLASS_CONSTANT(Key, KEY, ESCAPE);
 	BIND_CORE_ENUM_CLASS_CONSTANT(Key, KEY, TAB);
@@ -422,6 +423,7 @@ void register_global_constants() {
 	BIND_CORE_ENUM_CLASS_CONSTANT(KeyModifierMask, KEY_MASK, KPAD);
 	BIND_CORE_ENUM_CLASS_CONSTANT(KeyModifierMask, KEY_MASK, GROUP_SWITCH);
 
+	BIND_CORE_ENUM_CLASS_CONSTANT(MouseButton, MOUSE_BUTTON, NONE);
 	BIND_CORE_ENUM_CLASS_CONSTANT(MouseButton, MOUSE_BUTTON, LEFT);
 	BIND_CORE_ENUM_CLASS_CONSTANT(MouseButton, MOUSE_BUTTON, RIGHT);
 	BIND_CORE_ENUM_CLASS_CONSTANT(MouseButton, MOUSE_BUTTON, MIDDLE);
@@ -472,6 +474,7 @@ void register_global_constants() {
 	BIND_CORE_ENUM_CLASS_CONSTANT(JoyAxis, JOY_AXIS, SDL_MAX);
 	BIND_CORE_ENUM_CLASS_CONSTANT(JoyAxis, JOY_AXIS, MAX);
 
+	BIND_CORE_ENUM_CLASS_CONSTANT(MIDIMessage, MIDI_MESSAGE, NONE);
 	BIND_CORE_ENUM_CLASS_CONSTANT(MIDIMessage, MIDI_MESSAGE, NOTE_OFF);
 	BIND_CORE_ENUM_CLASS_CONSTANT(MIDIMessage, MIDI_MESSAGE, NOTE_ON);
 	BIND_CORE_ENUM_CLASS_CONSTANT(MIDIMessage, MIDI_MESSAGE, AFTERTOUCH);
diff --git a/core/error/error_macros.h b/core/error/error_macros.h
index 7b032fb4cd..01e22e84b7 100644
--- a/core/error/error_macros.h
+++ b/core/error/error_macros.h
@@ -194,6 +194,7 @@ void _err_flush_stdout();
 #define CRASH_BAD_INDEX(m_index, m_size)                                                                                  \
 	if (unlikely((m_index) < 0 || (m_index) >= (m_size))) {                                                               \
 		_err_print_index_error(FUNCTION_STR, __FILE__, __LINE__, m_index, m_size, _STR(m_index), _STR(m_size), "", true); \
+		_err_flush_stdout();                                                                                              \
 		GENERATE_TRAP();                                                                                                  \
 	} else                                                                                                                \
 		((void)0)
@@ -208,6 +209,7 @@ void _err_flush_stdout();
 #define CRASH_BAD_INDEX_MSG(m_index, m_size, m_msg)                                                                          \
 	if (unlikely((m_index) < 0 || (m_index) >= (m_size))) {                                                                  \
 		_err_print_index_error(FUNCTION_STR, __FILE__, __LINE__, m_index, m_size, _STR(m_index), _STR(m_size), m_msg, true); \
+		_err_flush_stdout();                                                                                                 \
 		GENERATE_TRAP();                                                                                                     \
 	} else                                                                                                                   \
 		((void)0)
@@ -296,6 +298,7 @@ void _err_flush_stdout();
 #define CRASH_BAD_UNSIGNED_INDEX(m_index, m_size)                                                                         \
 	if (unlikely((m_index) >= (m_size))) {                                                                                \
 		_err_print_index_error(FUNCTION_STR, __FILE__, __LINE__, m_index, m_size, _STR(m_index), _STR(m_size), "", true); \
+		_err_flush_stdout();                                                                                              \
 		GENERATE_TRAP();                                                                                                  \
 	} else                                                                                                                \
 		((void)0)
@@ -310,6 +313,7 @@ void _err_flush_stdout();
 #define CRASH_BAD_UNSIGNED_INDEX_MSG(m_index, m_size, m_msg)                                                                 \
 	if (unlikely((m_index) >= (m_size))) {                                                                                   \
 		_err_print_index_error(FUNCTION_STR, __FILE__, __LINE__, m_index, m_size, _STR(m_index), _STR(m_size), m_msg, true); \
+		_err_flush_stdout();                                                                                                 \
 		GENERATE_TRAP();                                                                                                     \
 	} else                                                                                                                   \
 		((void)0)
@@ -559,6 +563,7 @@ void _err_flush_stdout();
 #define CRASH_COND(m_cond)                                                                                    \
 	if (unlikely(m_cond)) {                                                                                   \
 		_err_print_error(FUNCTION_STR, __FILE__, __LINE__, "FATAL: Condition \"" _STR(m_cond) "\" is true."); \
+		_err_flush_stdout();                                                                                  \
 		GENERATE_TRAP();                                                                                      \
 	} else                                                                                                    \
 		((void)0)
@@ -573,6 +578,7 @@ void _err_flush_stdout();
 #define CRASH_COND_MSG(m_cond, m_msg)                                                                                \
 	if (unlikely(m_cond)) {                                                                                          \
 		_err_print_error(FUNCTION_STR, __FILE__, __LINE__, "FATAL: Condition \"" _STR(m_cond) "\" is true.", m_msg); \
+		_err_flush_stdout();                                                                                         \
 		GENERATE_TRAP();                                                                                             \
 	} else                                                                                                           \
 		((void)0)
@@ -808,4 +814,20 @@ void _err_flush_stdout();
 	} else                                                                                           \
 		((void)0)
 
+/**
+ * This should be a 'free' assert for program flow and should not be needed in any releases,
+ *  only used in dev builds.
+ */
+#ifdef DEV_ENABLED
+#define DEV_ASSERT(m_cond)                                                                                              \
+	if (unlikely(!(m_cond))) {                                                                                          \
+		_err_print_error(FUNCTION_STR, __FILE__, __LINE__, "FATAL: DEV_ASSERT failed  \"" _STR(m_cond) "\" is false."); \
+		_err_flush_stdout();                                                                                            \
+		GENERATE_TRAP();                                                                                                \
+	} else                                                                                                              \
+		((void)0)
+#else
+#define DEV_ASSERT(m_cond)
+#endif
+
 #endif // ERROR_MACROS_H
diff --git a/core/extension/gdnative_interface.cpp b/core/extension/gdnative_interface.cpp
index 385117eed1..d9ec42dc9d 100644
--- a/core/extension/gdnative_interface.cpp
+++ b/core/extension/gdnative_interface.cpp
@@ -80,7 +80,7 @@ static void gdnative_variant_call(GDNativeVariantPtr p_self, const GDNativeStrin
 	const Variant **args = (const Variant **)p_args;
 	Variant ret;
 	Callable::CallError error;
-	self->call(*method, args, p_argcount, ret, error);
+	self->callp(*method, args, p_argcount, ret, error);
 	memnew_placement(r_return, Variant(ret));
 
 	if (r_error) {
@@ -152,7 +152,7 @@ static void gdnative_variant_set_indexed(GDNativeVariantPtr p_self, GDNativeInt
 
 	bool valid;
 	bool oob;
-	self->set_indexed(p_index, value, valid, oob);
+	self->set_indexed(p_index, *value, valid, oob);
 	*r_valid = valid;
 	*r_oob = oob;
 }
diff --git a/core/extension/gdnative_interface.h b/core/extension/gdnative_interface.h
index 62934d1d73..76e87eaf23 100644
--- a/core/extension/gdnative_interface.h
+++ b/core/extension/gdnative_interface.h
@@ -194,6 +194,7 @@ typedef void *GDExtensionClassInstancePtr;
 
 typedef GDNativeBool (*GDNativeExtensionClassSet)(GDExtensionClassInstancePtr p_instance, const GDNativeStringNamePtr p_name, const GDNativeVariantPtr p_value);
 typedef GDNativeBool (*GDNativeExtensionClassGet)(GDExtensionClassInstancePtr p_instance, const GDNativeStringNamePtr p_name, GDNativeVariantPtr r_ret);
+typedef uint64_t (*GDNativeExtensionClassGetRID)(GDExtensionClassInstancePtr p_instance);
 
 typedef struct {
 	uint32_t type;
@@ -228,6 +229,7 @@ typedef struct {
 	GDNativeExtensionClassCreateInstance create_instance_func; /* this one is mandatory */
 	GDNativeExtensionClassFreeInstance free_instance_func; /* this one is mandatory */
 	GDNativeExtensionClassGetVirtual get_virtual_func;
+	GDNativeExtensionClassGetRID get_rid_func;
 	void *class_userdata;
 } GDNativeExtensionClassCreationInfo;
 
diff --git a/core/extension/native_extension.cpp b/core/extension/native_extension.cpp
index 325ccec6c4..1a39c937e8 100644
--- a/core/extension/native_extension.cpp
+++ b/core/extension/native_extension.cpp
@@ -158,6 +158,7 @@ void NativeExtension::_register_extension_class(const GDNativeExtensionClassLibr
 	extension->native_extension.create_instance = p_extension_funcs->create_instance_func;
 	extension->native_extension.free_instance = p_extension_funcs->free_instance_func;
 	extension->native_extension.get_virtual = p_extension_funcs->get_virtual_func;
+	extension->native_extension.get_rid = p_extension_funcs->get_rid_func;
 
 	ClassDB::register_extension_class(&extension->native_extension);
 }
diff --git a/core/io/resource.cpp b/core/io/resource.cpp
index 66d5c54b53..f90a6e9304 100644
--- a/core/io/resource.cpp
+++ b/core/io/resource.cpp
@@ -290,6 +290,21 @@ void Resource::_take_over_path(const String &p_path) {
 }
 
 RID Resource::get_rid() const {
+	if (get_script_instance()) {
+		Callable::CallError ce;
+		RID ret = get_script_instance()->callp(SNAME("_get_rid"), nullptr, 0, ce);
+		if (ce.error == Callable::CallError::CALL_OK && ret.is_valid()) {
+			return ret;
+		}
+	}
+	if (_get_extension() && _get_extension()->get_rid) {
+		RID ret;
+		ret.from_uint64(_get_extension()->get_rid(_get_extension_instance()));
+		if (ret.is_valid()) {
+			return ret;
+		}
+	}
+
 	return RID();
 }
 
@@ -428,6 +443,11 @@ void Resource::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "resource_local_to_scene"), "set_local_to_scene", "is_local_to_scene");
 	ADD_PROPERTY(PropertyInfo(Variant::STRING, "resource_path", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_EDITOR), "set_path", "get_path");
 	ADD_PROPERTY(PropertyInfo(Variant::STRING_NAME, "resource_name"), "set_name", "get_name");
+
+	MethodInfo get_rid_bind("_get_rid");
+	get_rid_bind.return_val.type = Variant::RID;
+
+	::ClassDB::add_virtual_method(get_class_static(), get_rid_bind, true, Vector<String>(), true);
 }
 
 Resource::Resource() :
diff --git a/core/io/resource_saver.h b/core/io/resource_saver.h
index 2919a4cec0..ebc3be91a1 100644
--- a/core/io/resource_saver.h
+++ b/core/io/resource_saver.h
@@ -71,6 +71,7 @@ class ResourceSaver {
 
 public:
 	enum SaverFlags {
+		FLAG_NONE = 0,
 		FLAG_RELATIVE_PATHS = 1,
 		FLAG_BUNDLE_RESOURCES = 2,
 		FLAG_CHANGE_PATH = 4,
@@ -80,7 +81,7 @@ public:
 		FLAG_REPLACE_SUBRESOURCE_PATHS = 64,
 	};
 
-	static Error save(const String &p_path, const RES &p_resource, uint32_t p_flags = 0);
+	static Error save(const String &p_path, const RES &p_resource, uint32_t p_flags = (uint32_t)FLAG_NONE);
 	static void get_recognized_extensions(const RES &p_resource, List<String> *p_extensions);
 	static void add_resource_format_saver(Ref<ResourceFormatSaver> p_format_saver, bool p_at_front = false);
 	static void remove_resource_format_saver(Ref<ResourceFormatSaver> p_format_saver);
diff --git a/core/math/bvh.h b/core/math/bvh.h
index a8e3cc7bbe..e686e27445 100644
--- a/core/math/bvh.h
+++ b/core/math/bvh.h
@@ -46,21 +46,35 @@
 // Layer masks are implemented in the renderers as a later step, and light_cull_mask appears to be
 // implemented in GLES3 but not GLES2. Layer masks are not yet implemented for directional lights.
 
+// In the physics, the pairable_type is based on 1 << p_object->get_type() where:
+// TYPE_AREA,
+// TYPE_BODY
+// and pairable_mask is either 0 if static, or set to all if non static
+
 #include "bvh_tree.h"
+#include "core/os/mutex.h"
 
-#define BVHTREE_CLASS BVH_Tree<T, 2, MAX_ITEMS, USE_PAIRS, Bounds, Point>
+#define BVHTREE_CLASS BVH_Tree<T, NUM_TREES, 2, MAX_ITEMS, USER_PAIR_TEST_FUNCTION, USER_CULL_TEST_FUNCTION, USE_PAIRS, BOUNDS, POINT>
+#define BVH_LOCKED_FUNCTION BVHLockedFunction(&_mutex, BVH_THREAD_SAFE &&_thread_safe);
 
-template <class T, bool USE_PAIRS = false, int MAX_ITEMS = 32, class Bounds = AABB, class Point = Vector3>
+template <class T, int NUM_TREES = 1, bool USE_PAIRS = false, int MAX_ITEMS = 32, class USER_PAIR_TEST_FUNCTION = BVH_DummyPairTestFunction<T>, class USER_CULL_TEST_FUNCTION = BVH_DummyCullTestFunction<T>, class BOUNDS = AABB, class POINT = Vector3, bool BVH_THREAD_SAFE = true>
 class BVH_Manager {
 public:
 	// note we are using uint32_t instead of BVHHandle, losing type safety, but this
 	// is for compatibility with octree
 	typedef void *(*PairCallback)(void *, uint32_t, T *, int, uint32_t, T *, int);
 	typedef void (*UnpairCallback)(void *, uint32_t, T *, int, uint32_t, T *, int, void *);
+	typedef void *(*CheckPairCallback)(void *, uint32_t, T *, int, uint32_t, T *, int, void *);
+
+	// allow locally toggling thread safety if the template has been compiled with BVH_THREAD_SAFE
+	void params_set_thread_safe(bool p_enable) {
+		_thread_safe = p_enable;
+	}
 
 	// these 2 are crucial for fine tuning, and can be applied manually
 	// see the variable declarations for more info.
 	void params_set_node_expansion(real_t p_value) {
+		BVH_LOCKED_FUNCTION
 		if (p_value >= 0.0) {
 			tree._node_expansion = p_value;
 			tree._auto_node_expansion = false;
@@ -70,43 +84,40 @@ public:
 	}
 
 	void params_set_pairing_expansion(real_t p_value) {
-		if (p_value >= 0.0) {
-			tree._pairing_expansion = p_value;
-			tree._auto_pairing_expansion = false;
-		} else {
-			tree._auto_pairing_expansion = true;
-		}
+		BVH_LOCKED_FUNCTION
+		tree.params_set_pairing_expansion(p_value);
 	}
 
 	void set_pair_callback(PairCallback p_callback, void *p_userdata) {
+		BVH_LOCKED_FUNCTION
 		pair_callback = p_callback;
 		pair_callback_userdata = p_userdata;
 	}
 	void set_unpair_callback(UnpairCallback p_callback, void *p_userdata) {
+		BVH_LOCKED_FUNCTION
 		unpair_callback = p_callback;
 		unpair_callback_userdata = p_userdata;
 	}
+	void set_check_pair_callback(CheckPairCallback p_callback, void *p_userdata) {
+		BVH_LOCKED_FUNCTION
+		check_pair_callback = p_callback;
+		check_pair_callback_userdata = p_userdata;
+	}
+
+	BVHHandle create(T *p_userdata, bool p_active = true, uint32_t p_tree_id = 0, uint32_t p_tree_collision_mask = 1, const BOUNDS &p_aabb = BOUNDS(), int p_subindex = 0) {
+		BVH_LOCKED_FUNCTION
 
-	BVHHandle create(T *p_userdata, bool p_active, const Bounds &p_aabb = Bounds(), int p_subindex = 0, bool p_pairable = false, uint32_t p_pairable_type = 0, uint32_t p_pairable_mask = 1) {
 		// not sure if absolutely necessary to flush collisions here. It will cost performance to, instead
 		// of waiting for update, so only uncomment this if there are bugs.
 		if (USE_PAIRS) {
 			//_check_for_collisions();
 		}
 
-#ifdef TOOLS_ENABLED
-		if (!USE_PAIRS) {
-			if (p_pairable) {
-				WARN_PRINT_ONCE("creating pairable item in BVH with USE_PAIRS set to false");
-			}
-		}
-#endif
-
-		BVHHandle h = tree.item_add(p_userdata, p_active, p_aabb, p_subindex, p_pairable, p_pairable_type, p_pairable_mask);
+		BVHHandle h = tree.item_add(p_userdata, p_active, p_aabb, p_subindex, p_tree_id, p_tree_collision_mask);
 
 		if (USE_PAIRS) {
 			// for safety initialize the expanded AABB
-			Bounds &expanded_aabb = tree._pairs[h.id()].expanded_aabb;
+			BOUNDS &expanded_aabb = tree._pairs[h.id()].expanded_aabb;
 			expanded_aabb = p_aabb;
 			expanded_aabb.grow_by(tree._pairing_expansion);
 
@@ -123,12 +134,18 @@ public:
 	////////////////////////////////////////////////////
 	// wrapper versions that use uint32_t instead of handle
 	// for backward compatibility. Less type safe
-	void move(uint32_t p_handle, const Bounds &p_aabb) {
+	void move(uint32_t p_handle, const BOUNDS &p_aabb) {
 		BVHHandle h;
 		h.set(p_handle);
 		move(h, p_aabb);
 	}
 
+	void recheck_pairs(uint32_t p_handle) {
+		BVHHandle h;
+		h.set(p_handle);
+		recheck_pairs(h);
+	}
+
 	void erase(uint32_t p_handle) {
 		BVHHandle h;
 		h.set(p_handle);
@@ -141,7 +158,7 @@ public:
 		force_collision_check(h);
 	}
 
-	bool activate(uint32_t p_handle, const Bounds &p_aabb, bool p_delay_collision_check = false) {
+	bool activate(uint32_t p_handle, const BOUNDS &p_aabb, bool p_delay_collision_check = false) {
 		BVHHandle h;
 		h.set(p_handle);
 		return activate(h, p_aabb, p_delay_collision_check);
@@ -153,16 +170,16 @@ public:
 		return deactivate(h);
 	}
 
-	void set_pairable(uint32_t p_handle, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask, bool p_force_collision_check = true) {
+	void set_tree(uint32_t p_handle, uint32_t p_tree_id, uint32_t p_tree_collision_mask, bool p_force_collision_check = true) {
 		BVHHandle h;
 		h.set(p_handle);
-		set_pairable(h, p_pairable, p_pairable_type, p_pairable_mask, p_force_collision_check);
+		set_tree(h, p_tree_id, p_tree_collision_mask, p_force_collision_check);
 	}
 
-	bool is_pairable(uint32_t p_handle) const {
+	uint32_t get_tree_id(uint32_t p_handle) const {
 		BVHHandle h;
 		h.set(p_handle);
-		return item_is_pairable(h);
+		return item_get_tree_id(h);
 	}
 	int get_subindex(uint32_t p_handle) const {
 		BVHHandle h;
@@ -178,7 +195,8 @@ public:
 
 	////////////////////////////////////////////////////
 
-	void move(BVHHandle p_handle, const Bounds &p_aabb) {
+	void move(BVHHandle p_handle, const BOUNDS &p_aabb) {
+		BVH_LOCKED_FUNCTION
 		if (tree.item_move(p_handle, p_aabb)) {
 			if (USE_PAIRS) {
 				_add_changed_item(p_handle, p_aabb);
@@ -186,7 +204,12 @@ public:
 		}
 	}
 
+	void recheck_pairs(BVHHandle p_handle) {
+		force_collision_check(p_handle);
+	}
+
 	void erase(BVHHandle p_handle) {
+		BVH_LOCKED_FUNCTION
 		// call unpair and remove all references to the item
 		// before deleting from the tree
 		if (USE_PAIRS) {
@@ -200,11 +223,12 @@ public:
 
 	// use in conjunction with activate if you have deferred the collision check, and
 	// set pairable has never been called.
-	// (deferred collision checks are a workaround for rendering server for historical reasons)
+	// (deferred collision checks are a workaround for visual server for historical reasons)
 	void force_collision_check(BVHHandle p_handle) {
+		BVH_LOCKED_FUNCTION
 		if (USE_PAIRS) {
 			// the aabb should already be up to date in the BVH
-			Bounds aabb;
+			BOUNDS aabb;
 			item_get_AABB(p_handle, aabb);
 
 			// add it as changed even if aabb not different
@@ -218,7 +242,8 @@ public:
 	// these should be read as set_visible for render trees,
 	// but generically this makes items add or remove from the
 	// tree internally, to speed things up by ignoring inactive items
-	bool activate(BVHHandle p_handle, const Bounds &p_aabb, bool p_delay_collision_check = false) {
+	bool activate(BVHHandle p_handle, const BOUNDS &p_aabb, bool p_delay_collision_check = false) {
+		BVH_LOCKED_FUNCTION
 		// sending the aabb here prevents the need for the BVH to maintain
 		// a redundant copy of the aabb.
 		// returns success
@@ -242,6 +267,7 @@ public:
 	}
 
 	bool deactivate(BVHHandle p_handle) {
+		BVH_LOCKED_FUNCTION
 		// returns success
 		if (tree.item_deactivate(p_handle)) {
 			// call unpair and remove all references to the item
@@ -258,12 +284,14 @@ public:
 		return false;
 	}
 
-	bool get_active(BVHHandle p_handle) const {
+	bool get_active(BVHHandle p_handle) {
+		BVH_LOCKED_FUNCTION
 		return tree.item_get_active(p_handle);
 	}
 
 	// call e.g. once per frame (this does a trickle optimize)
 	void update() {
+		BVH_LOCKED_FUNCTION
 		tree.update();
 		_check_for_collisions();
 #ifdef BVH_INTEGRITY_CHECKS
@@ -273,24 +301,26 @@ public:
 
 	// this can be called more frequently than per frame if necessary
 	void update_collisions() {
+		BVH_LOCKED_FUNCTION
 		_check_for_collisions();
 	}
 
 	// prefer calling this directly as type safe
-	void set_pairable(const BVHHandle &p_handle, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask, bool p_force_collision_check = true) {
+	void set_tree(const BVHHandle &p_handle, uint32_t p_tree_id, uint32_t p_tree_collision_mask, bool p_force_collision_check = true) {
+		BVH_LOCKED_FUNCTION
 		// Returns true if the pairing state has changed.
-		bool state_changed = tree.item_set_pairable(p_handle, p_pairable, p_pairable_type, p_pairable_mask);
+		bool state_changed = tree.item_set_tree(p_handle, p_tree_id, p_tree_collision_mask);
 
 		if (USE_PAIRS) {
 			// not sure if absolutely necessary to flush collisions here. It will cost performance to, instead
 			// of waiting for update, so only uncomment this if there are bugs.
 			//_check_for_collisions();
 
-			if ((p_force_collision_check || state_changed) && get_active(p_handle)) {
+			if ((p_force_collision_check || state_changed) && tree.item_get_active(p_handle)) {
 				// when the pairable state changes, we need to force a collision check because newly pairable
 				// items may be in collision, and unpairable items might move out of collision.
 				// We cannot depend on waiting for the next update, because that may come much later.
-				Bounds aabb;
+				BOUNDS aabb;
 				item_get_AABB(p_handle, aabb);
 
 				// passing false disables the optimization which prevents collision checks if
@@ -307,32 +337,33 @@ public:
 	}
 
 	// cull tests
-	int cull_aabb(const Bounds &p_aabb, T **p_result_array, int p_result_max, int *p_subindex_array = nullptr, uint32_t p_mask = 0xFFFFFFFF) {
+	int cull_aabb(const BOUNDS &p_aabb, T **p_result_array, int p_result_max, const T *p_tester, uint32_t p_tree_collision_mask = 0xFFFFFFFF, int *p_subindex_array = nullptr) {
+		BVH_LOCKED_FUNCTION
 		typename BVHTREE_CLASS::CullParams params;
 
 		params.result_count_overall = 0;
 		params.result_max = p_result_max;
 		params.result_array = p_result_array;
 		params.subindex_array = p_subindex_array;
-		params.mask = p_mask;
-		params.pairable_type = 0;
-		params.test_pairable_only = false;
+		params.tree_collision_mask = p_tree_collision_mask;
 		params.abb.from(p_aabb);
+		params.tester = p_tester;
 
 		tree.cull_aabb(params);
 
 		return params.result_count_overall;
 	}
 
-	int cull_segment(const Point &p_from, const Point &p_to, T **p_result_array, int p_result_max, int *p_subindex_array = nullptr, uint32_t p_mask = 0xFFFFFFFF) {
+	int cull_segment(const POINT &p_from, const POINT &p_to, T **p_result_array, int p_result_max, const T *p_tester, uint32_t p_tree_collision_mask = 0xFFFFFFFF, int *p_subindex_array = nullptr) {
+		BVH_LOCKED_FUNCTION
 		typename BVHTREE_CLASS::CullParams params;
 
 		params.result_count_overall = 0;
 		params.result_max = p_result_max;
 		params.result_array = p_result_array;
 		params.subindex_array = p_subindex_array;
-		params.mask = p_mask;
-		params.pairable_type = 0;
+		params.tester = p_tester;
+		params.tree_collision_mask = p_tree_collision_mask;
 
 		params.segment.from = p_from;
 		params.segment.to = p_to;
@@ -342,15 +373,16 @@ public:
 		return params.result_count_overall;
 	}
 
-	int cull_point(const Point &p_point, T **p_result_array, int p_result_max, int *p_subindex_array = nullptr, uint32_t p_mask = 0xFFFFFFFF) {
+	int cull_point(const POINT &p_point, T **p_result_array, int p_result_max, const T *p_tester, uint32_t p_tree_collision_mask = 0xFFFFFFFF, int *p_subindex_array = nullptr) {
+		BVH_LOCKED_FUNCTION
 		typename BVHTREE_CLASS::CullParams params;
 
 		params.result_count_overall = 0;
 		params.result_max = p_result_max;
 		params.result_array = p_result_array;
 		params.subindex_array = p_subindex_array;
-		params.mask = p_mask;
-		params.pairable_type = 0;
+		params.tester = p_tester;
+		params.tree_collision_mask = p_tree_collision_mask;
 
 		params.point = p_point;
 
@@ -358,7 +390,8 @@ public:
 		return params.result_count_overall;
 	}
 
-	int cull_convex(const Vector<Plane> &p_convex, T **p_result_array, int p_result_max, uint32_t p_mask = 0xFFFFFFFF) {
+	int cull_convex(const Vector<Plane> &p_convex, T **p_result_array, int p_result_max, const T *p_tester, uint32_t p_tree_collision_mask = 0xFFFFFFFF) {
+		BVH_LOCKED_FUNCTION
 		if (!p_convex.size()) {
 			return 0;
 		}
@@ -373,8 +406,8 @@ public:
 		params.result_max = p_result_max;
 		params.result_array = p_result_array;
 		params.subindex_array = nullptr;
-		params.mask = p_mask;
-		params.pairable_type = 0;
+		params.tester = p_tester;
+		params.tree_collision_mask = p_tree_collision_mask;
 
 		params.hull.planes = &p_convex[0];
 		params.hull.num_planes = p_convex.size();
@@ -394,7 +427,7 @@ private:
 			return;
 		}
 
-		Bounds bb;
+		BOUNDS bb;
 
 		typename BVHTREE_CLASS::CullParams params;
 
@@ -402,28 +435,23 @@ private:
 		params.result_max = INT_MAX;
 		params.result_array = nullptr;
 		params.subindex_array = nullptr;
-		params.mask = 0xFFFFFFFF;
-		params.pairable_type = 0;
 
 		for (unsigned int n = 0; n < changed_items.size(); n++) {
 			const BVHHandle &h = changed_items[n];
 
 			// use the expanded aabb for pairing
-			const Bounds &expanded_aabb = tree._pairs[h.id()].expanded_aabb;
+			const BOUNDS &expanded_aabb = tree._pairs[h.id()].expanded_aabb;
 			BVHABB_CLASS abb;
 			abb.from(expanded_aabb);
 
+			tree.item_fill_cullparams(h, params);
+
 			// find all the existing paired aabbs that are no longer
 			// paired, and send callbacks
 			_find_leavers(h, abb, p_full_check);
 
 			uint32_t changed_item_ref_id = h.id();
 
-			// set up the test from this item.
-			// this includes whether to test the non pairable tree,
-			// and the item mask.
-			tree.item_fill_cullparams(h, params);
-
 			params.abb = abb;
 
 			params.result_count_overall = 0; // might not be needed
@@ -456,7 +484,7 @@ private:
 	}
 
 public:
-	void item_get_AABB(BVHHandle p_handle, Bounds &r_aabb) {
+	void item_get_AABB(BVHHandle p_handle, BOUNDS &r_aabb) {
 		BVHABB_CLASS abb;
 		tree.item_get_ABB(p_handle, abb);
 		abb.to(r_aabb);
@@ -464,7 +492,7 @@ public:
 
 private:
 	// supplemental funcs
-	bool item_is_pairable(BVHHandle p_handle) const { return _get_extra(p_handle).pairable; }
+	uint32_t item_get_tree_id(BVHHandle p_handle) const { return _get_extra(p_handle).tree_id; }
 	T *item_get_userdata(BVHHandle p_handle) const { return _get_extra(p_handle).userdata; }
 	int item_get_subindex(BVHHandle p_handle) const { return _get_extra(p_handle).subindex; }
 
@@ -485,12 +513,35 @@ private:
 		void *ud_from = pairs_from.remove_pair_to(p_to);
 		pairs_to.remove_pair_to(p_from);
 
+#ifdef BVH_VERBOSE_PAIRING
+		print_line("_unpair " + itos(p_from.id()) + " from " + itos(p_to.id()));
+#endif
+
 		// callback
 		if (unpair_callback) {
 			unpair_callback(pair_callback_userdata, p_from, exa.userdata, exa.subindex, p_to, exb.userdata, exb.subindex, ud_from);
 		}
 	}
 
+	void *_recheck_pair(BVHHandle p_from, BVHHandle p_to, void *p_pair_data) {
+		tree._handle_sort(p_from, p_to);
+
+		typename BVHTREE_CLASS::ItemExtra &exa = tree._extra[p_from.id()];
+		typename BVHTREE_CLASS::ItemExtra &exb = tree._extra[p_to.id()];
+
+		// if the userdata is the same, no collisions should occur
+		if ((exa.userdata == exb.userdata) && exa.userdata) {
+			return p_pair_data;
+		}
+
+		// callback
+		if (check_pair_callback) {
+			return check_pair_callback(check_pair_callback_userdata, p_from, exa.userdata, exa.subindex, p_to, exb.userdata, exb.subindex, p_pair_data);
+		}
+
+		return p_pair_data;
+	}
+
 	// returns true if unpair
 	bool _find_leavers_process_pair(typename BVHTREE_CLASS::ItemPairs &p_pairs_from, const BVHABB_CLASS &p_abb_from, BVHHandle p_from, BVHHandle p_to, bool p_full_check) {
 		BVHABB_CLASS abb_to;
@@ -498,8 +549,8 @@ private:
 
 		// do they overlap?
 		if (p_abb_from.intersects(abb_to)) {
-			// the full check for pairable / non pairable and mask changes is extra expense
-			// this need not be done in most cases (for speed) except in the case where set_pairable is called
+			// the full check for pairable / non pairable (i.e. tree_id and tree_masks) and mask changes is extra expense
+			// this need not be done in most cases (for speed) except in the case where set_tree is called
 			// where the masks etc of the objects in question may have changed
 			if (!p_full_check) {
 				return false;
@@ -507,12 +558,13 @@ private:
 			const typename BVHTREE_CLASS::ItemExtra &exa = _get_extra(p_from);
 			const typename BVHTREE_CLASS::ItemExtra &exb = _get_extra(p_to);
 
-			// one of the two must be pairable to still pair
-			// if neither are pairable, we always unpair
-			if (exa.pairable || exb.pairable) {
+			// Checking tree_ids and tree_collision_masks
+			if (exa.are_item_trees_compatible(exb)) {
+				bool pair_allowed = USER_PAIR_TEST_FUNCTION::user_pair_check(exa.userdata, exb.userdata);
+
 				// the masks must still be compatible to pair
-				// i.e. if there is a hit between the two, then they should stay paired
-				if (tree._cull_pairing_mask_test_hit(exa.pairable_mask, exa.pairable_type, exb.pairable_mask, exb.pairable_type)) {
+				// i.e. if there is a hit between the two and they intersect, then they should stay paired
+				if (pair_allowed) {
 					return false;
 				}
 			}
@@ -550,6 +602,11 @@ private:
 		const typename BVHTREE_CLASS::ItemExtra &exa = _get_extra(p_ha);
 		const typename BVHTREE_CLASS::ItemExtra &exb = _get_extra(p_hb);
 
+		// user collision callback
+		if (!USER_PAIR_TEST_FUNCTION::user_pair_check(exa.userdata, exb.userdata)) {
+			return;
+		}
+
 		// if the userdata is the same, no collisions should occur
 		if ((exa.userdata == exb.userdata) && exa.userdata) {
 			return;
@@ -573,6 +630,10 @@ private:
 		// callback
 		void *callback_userdata = nullptr;
 
+#ifdef BVH_VERBOSE_PAIRING
+		print_line("_pair " + itos(p_ha.id()) + " to " + itos(p_hb.id()));
+#endif
+
 		if (pair_callback) {
 			callback_userdata = pair_callback(pair_callback_userdata, p_ha, exa.userdata, exa.subindex, p_hb, exb.userdata, exb.subindex);
 		}
@@ -594,6 +655,32 @@ private:
 		}
 	}
 
+	// Send pair callbacks again for all existing pairs for the given handle.
+	void _recheck_pairs(BVHHandle p_handle) {
+		typename BVHTREE_CLASS::ItemPairs &from = tree._pairs[p_handle.id()];
+
+		// checking pair for every partner.
+		for (unsigned int n = 0; n < from.extended_pairs.size(); n++) {
+			typename BVHTREE_CLASS::ItemPairs::Link &pair = from.extended_pairs[n];
+			BVHHandle h_to = pair.handle;
+			void *new_pair_data = _recheck_pair(p_handle, h_to, pair.userdata);
+
+			if (new_pair_data != pair.userdata) {
+				pair.userdata = new_pair_data;
+
+				// Update pair data for the second item.
+				typename BVHTREE_CLASS::ItemPairs &to = tree._pairs[h_to.id()];
+				for (unsigned int to_index = 0; to_index < to.extended_pairs.size(); to_index++) {
+					typename BVHTREE_CLASS::ItemPairs::Link &to_pair = to.extended_pairs[to_index];
+					if (to_pair.handle == p_handle) {
+						to_pair.userdata = new_pair_data;
+						break;
+					}
+				}
+			}
+		}
+	}
+
 private:
 	const typename BVHTREE_CLASS::ItemExtra &_get_extra(BVHHandle p_handle) const {
 		return tree._extra[p_handle.id()];
@@ -607,19 +694,24 @@ private:
 		_tick++;
 	}
 
-	void _add_changed_item(BVHHandle p_handle, const Bounds &aabb, bool p_check_aabb = true) {
+	void _add_changed_item(BVHHandle p_handle, const BOUNDS &aabb, bool p_check_aabb = true) {
 		// Note that non pairable items can pair with pairable,
 		// so all types must be added to the list
 
+#ifdef BVH_EXPAND_LEAF_AABBS
+		// if using expanded AABB in the leaf, the redundancy check will already have been made
+		BOUNDS &expanded_aabb = tree._pairs[p_handle.id()].expanded_aabb;
+		item_get_AABB(p_handle, expanded_aabb);
+#else
 		// aabb check with expanded aabb. This greatly decreases processing
 		// at the cost of slightly less accurate pairing checks
 		// Note this pairing AABB is separate from the AABB in the actual tree
-		Bounds &expanded_aabb = tree._pairs[p_handle.id()].expanded_aabb;
+		BOUNDS &expanded_aabb = tree._pairs[p_handle.id()].expanded_aabb;
 
 		// passing p_check_aabb false disables the optimization which prevents collision checks if
 		// the aabb hasn't changed. This is needed where set_pairable has been called, but the position
 		// has not changed.
-		if (p_check_aabb && expanded_aabb.encloses(aabb)) {
+		if (p_check_aabb && tree.expanded_aabb_encloses_not_shrink(expanded_aabb, aabb)) {
 			return;
 		}
 
@@ -627,6 +719,7 @@ private:
 		// this tick, because it is vital that the AABB is kept up to date
 		expanded_aabb = aabb;
 		expanded_aabb.grow_by(tree._pairing_expansion);
+#endif
 
 		// this code is to ensure that changed items only appear once on the updated list
 		// collision checking them multiple times is not needed, and repeats the same thing
@@ -670,8 +763,10 @@ private:
 
 	PairCallback pair_callback;
 	UnpairCallback unpair_callback;
+	CheckPairCallback check_pair_callback;
 	void *pair_callback_userdata;
 	void *unpair_callback_userdata;
+	void *check_pair_callback_userdata;
 
 	BVHTREE_CLASS tree;
 
@@ -680,6 +775,38 @@ private:
 	LocalVector<BVHHandle, uint32_t, true> changed_items;
 	uint32_t _tick;
 
+	class BVHLockedFunction {
+	public:
+		BVHLockedFunction(Mutex *p_mutex, bool p_thread_safe) {
+			// will be compiled out if not set in template
+			if (p_thread_safe) {
+				_mutex = p_mutex;
+
+				if (_mutex->try_lock() != OK) {
+					WARN_PRINT("Info : multithread BVH access detected (benign)");
+					_mutex->lock();
+				}
+
+			} else {
+				_mutex = nullptr;
+			}
+		}
+		~BVHLockedFunction() {
+			// will be compiled out if not set in template
+			if (_mutex) {
+				_mutex->unlock();
+			}
+		}
+
+	private:
+		Mutex *_mutex;
+	};
+
+	Mutex _mutex;
+
+	// local toggle for turning on and off thread safety in project settings
+	bool _thread_safe;
+
 public:
 	BVH_Manager() {
 		_tick = 1; // start from 1 so items with 0 indicate never updated
@@ -687,6 +814,7 @@ public:
 		unpair_callback = nullptr;
 		pair_callback_userdata = nullptr;
 		unpair_callback_userdata = nullptr;
+		_thread_safe = BVH_THREAD_SAFE;
 	}
 };
 
diff --git a/core/math/bvh_abb.h b/core/math/bvh_abb.h
index 009032d34d..8a44f1c4da 100644
--- a/core/math/bvh_abb.h
+++ b/core/math/bvh_abb.h
@@ -32,7 +32,7 @@
 #define BVH_ABB_H
 
 // special optimized version of axis aligned bounding box
-template <class Bounds = AABB, class Point = Vector3>
+template <class BOUNDS = AABB, class POINT = Vector3>
 struct BVH_ABB {
 	struct ConvexHull {
 		// convex hulls (optional)
@@ -43,8 +43,8 @@ struct BVH_ABB {
 	};
 
 	struct Segment {
-		Point from;
-		Point to;
+		POINT from;
+		POINT to;
 	};
 
 	enum IntersectResult {
@@ -54,47 +54,47 @@ struct BVH_ABB {
 	};
 
 	// we store mins with a negative value in order to test them with SIMD
-	Point min;
-	Point neg_max;
+	POINT min;
+	POINT neg_max;
 
 	bool operator==(const BVH_ABB &o) const { return (min == o.min) && (neg_max == o.neg_max); }
 	bool operator!=(const BVH_ABB &o) const { return (*this == o) == false; }
 
-	void set(const Point &_min, const Point &_max) {
+	void set(const POINT &_min, const POINT &_max) {
 		min = _min;
 		neg_max = -_max;
 	}
 
 	// to and from standard AABB
-	void from(const Bounds &p_aabb) {
+	void from(const BOUNDS &p_aabb) {
 		min = p_aabb.position;
 		neg_max = -(p_aabb.position + p_aabb.size);
 	}
 
-	void to(Bounds &r_aabb) const {
+	void to(BOUNDS &r_aabb) const {
 		r_aabb.position = min;
 		r_aabb.size = calculate_size();
 	}
 
 	void merge(const BVH_ABB &p_o) {
-		for (int axis = 0; axis < Point::AXIS_COUNT; ++axis) {
+		for (int axis = 0; axis < POINT::AXIS_COUNT; ++axis) {
 			neg_max[axis] = MIN(neg_max[axis], p_o.neg_max[axis]);
 			min[axis] = MIN(min[axis], p_o.min[axis]);
 		}
 	}
 
-	Point calculate_size() const {
+	POINT calculate_size() const {
 		return -neg_max - min;
 	}
 
-	Point calculate_centre() const {
-		return Point((calculate_size() * 0.5) + min);
+	POINT calculate_centre() const {
+		return POINT((calculate_size() * 0.5) + min);
 	}
 
 	real_t get_proximity_to(const BVH_ABB &p_b) const {
-		const Point d = (min - neg_max) - (p_b.min - p_b.neg_max);
+		const POINT d = (min - neg_max) - (p_b.min - p_b.neg_max);
 		real_t proximity = 0.0;
-		for (int axis = 0; axis < Point::AXIS_COUNT; ++axis) {
+		for (int axis = 0; axis < POINT::AXIS_COUNT; ++axis) {
 			proximity += Math::abs(d[axis]);
 		}
 		return proximity;
@@ -104,7 +104,7 @@ struct BVH_ABB {
 		return (get_proximity_to(p_a) < get_proximity_to(p_b) ? 0 : 1);
 	}
 
-	uint32_t find_cutting_planes(const BVH_ABB::ConvexHull &p_hull, uint32_t *p_plane_ids) const {
+	uint32_t find_cutting_planes(const typename BVH_ABB::ConvexHull &p_hull, uint32_t *p_plane_ids) const {
 		uint32_t count = 0;
 
 		for (int n = 0; n < p_hull.num_planes; n++) {
@@ -162,7 +162,7 @@ struct BVH_ABB {
 	}
 
 	bool intersects_convex_partial(const ConvexHull &p_hull) const {
-		Bounds bb;
+		BOUNDS bb;
 		to(bb);
 		return bb.intersects_convex_shape(p_hull.planes, p_hull.num_planes, p_hull.points, p_hull.num_points);
 	}
@@ -182,7 +182,7 @@ struct BVH_ABB {
 
 	bool is_within_convex(const ConvexHull &p_hull) const {
 		// use half extents routine
-		Bounds bb;
+		BOUNDS bb;
 		to(bb);
 		return bb.inside_convex_shape(p_hull.planes, p_hull.num_planes);
 	}
@@ -197,12 +197,12 @@ struct BVH_ABB {
 	}
 
 	bool intersects_segment(const Segment &p_s) const {
-		Bounds bb;
+		BOUNDS bb;
 		to(bb);
 		return bb.intersects_segment(p_s.from, p_s.to);
 	}
 
-	bool intersects_point(const Point &p_pt) const {
+	bool intersects_point(const POINT &p_pt) const {
 		if (_any_lessthan(-p_pt, neg_max)) {
 			return false;
 		}
@@ -212,6 +212,7 @@ struct BVH_ABB {
 		return true;
 	}
 
+	// Very hot in profiling, make sure optimized
 	bool intersects(const BVH_ABB &p_o) const {
 		if (_any_morethan(p_o.min, -neg_max)) {
 			return false;
@@ -222,6 +223,17 @@ struct BVH_ABB {
 		return true;
 	}
 
+	// for pre-swizzled tester (this object)
+	bool intersects_swizzled(const BVH_ABB &p_o) const {
+		if (_any_lessthan(min, p_o.min)) {
+			return false;
+		}
+		if (_any_lessthan(neg_max, p_o.neg_max)) {
+			return false;
+		}
+		return true;
+	}
+
 	bool is_other_within(const BVH_ABB &p_o) const {
 		if (_any_lessthan(p_o.neg_max, neg_max)) {
 			return false;
@@ -232,20 +244,20 @@ struct BVH_ABB {
 		return true;
 	}
 
-	void grow(const Point &p_change) {
+	void grow(const POINT &p_change) {
 		neg_max -= p_change;
 		min -= p_change;
 	}
 
 	void expand(real_t p_change) {
-		Point change;
+		POINT change;
 		change.set_all(p_change);
 		grow(change);
 	}
 
 	// Actually surface area metric.
 	float get_area() const {
-		Point d = calculate_size();
+		POINT d = calculate_size();
 		return 2.0f * (d.x * d.y + d.y * d.z + d.z * d.x);
 	}
 
@@ -254,8 +266,8 @@ struct BVH_ABB {
 		min = neg_max;
 	}
 
-	bool _any_morethan(const Point &p_a, const Point &p_b) const {
-		for (int axis = 0; axis < Point::AXIS_COUNT; ++axis) {
+	bool _any_morethan(const POINT &p_a, const POINT &p_b) const {
+		for (int axis = 0; axis < POINT::AXIS_COUNT; ++axis) {
 			if (p_a[axis] > p_b[axis]) {
 				return true;
 			}
@@ -263,8 +275,8 @@ struct BVH_ABB {
 		return false;
 	}
 
-	bool _any_lessthan(const Point &p_a, const Point &p_b) const {
-		for (int axis = 0; axis < Point::AXIS_COUNT; ++axis) {
+	bool _any_lessthan(const POINT &p_a, const POINT &p_b) const {
+		for (int axis = 0; axis < POINT::AXIS_COUNT; ++axis) {
 			if (p_a[axis] < p_b[axis]) {
 				return true;
 			}
diff --git a/core/math/bvh_cull.inc b/core/math/bvh_cull.inc
index ab468bfd29..11f50e41e6 100644
--- a/core/math/bvh_cull.inc
+++ b/core/math/bvh_cull.inc
@@ -9,20 +9,22 @@ struct CullParams {
 	T **result_array;
 	int *subindex_array;
 
-	// nobody truly understands how masks are intended to work.
-	uint32_t mask;
-	uint32_t pairable_type;
+	// We now process masks etc in a user template function,
+	// and these for simplicity assume even for cull tests there is a
+	// testing object (which has masks etc) for the user cull checks.
+	// This means for cull tests on their own, the client will usually
+	// want to create a dummy object, just in order to specify masks etc.
+	const T *tester;
 
 	// optional components for different tests
-	Point point;
+	POINT point;
 	BVHABB_CLASS abb;
 	typename BVHABB_CLASS::ConvexHull hull;
 	typename BVHABB_CLASS::Segment segment;
 
-	// when collision testing, non pairable moving items
-	// only need to be tested against the pairable tree.
-	// collisions with other non pairable items are irrelevant.
-	bool test_pairable_only;
+	// When collision testing, we can specify which tree ids
+	// to collide test against with the tree_collision_mask.
+	uint32_t tree_collision_mask;
 };
 
 private:
@@ -58,11 +60,22 @@ int cull_convex(CullParams &r_params, bool p_translate_hits = true) {
 	_cull_hits.clear();
 	r_params.result_count = 0;
 
+	uint32_t tree_test_mask = 0;
+
 	for (int n = 0; n < NUM_TREES; n++) {
+		tree_test_mask <<= 1;
+		if (!tree_test_mask) {
+			tree_test_mask = 1;
+		}
+
 		if (_root_node_id[n] == BVHCommon::INVALID) {
 			continue;
 		}
 
+		if (!(r_params.tree_collision_mask & tree_test_mask)) {
+			continue;
+		}
+
 		_cull_convex_iterative(_root_node_id[n], r_params);
 	}
 
@@ -77,11 +90,22 @@ int cull_segment(CullParams &r_params, bool p_translate_hits = true) {
 	_cull_hits.clear();
 	r_params.result_count = 0;
 
+	uint32_t tree_test_mask = 0;
+
 	for (int n = 0; n < NUM_TREES; n++) {
+		tree_test_mask <<= 1;
+		if (!tree_test_mask) {
+			tree_test_mask = 1;
+		}
+
 		if (_root_node_id[n] == BVHCommon::INVALID) {
 			continue;
 		}
 
+		if (!(r_params.tree_collision_mask & tree_test_mask)) {
+			continue;
+		}
+
 		_cull_segment_iterative(_root_node_id[n], r_params);
 	}
 
@@ -96,11 +120,22 @@ int cull_point(CullParams &r_params, bool p_translate_hits = true) {
 	_cull_hits.clear();
 	r_params.result_count = 0;
 
+	uint32_t tree_test_mask = 0;
+
 	for (int n = 0; n < NUM_TREES; n++) {
+		tree_test_mask <<= 1;
+		if (!tree_test_mask) {
+			tree_test_mask = 1;
+		}
+
 		if (_root_node_id[n] == BVHCommon::INVALID) {
 			continue;
 		}
 
+		if (!(r_params.tree_collision_mask & tree_test_mask)) {
+			continue;
+		}
+
 		_cull_point_iterative(_root_node_id[n], r_params);
 	}
 
@@ -115,12 +150,20 @@ int cull_aabb(CullParams &r_params, bool p_translate_hits = true) {
 	_cull_hits.clear();
 	r_params.result_count = 0;
 
+	uint32_t tree_test_mask = 0;
+
 	for (int n = 0; n < NUM_TREES; n++) {
+		tree_test_mask <<= 1;
+		if (!tree_test_mask) {
+			tree_test_mask = 1;
+		}
+
 		if (_root_node_id[n] == BVHCommon::INVALID) {
 			continue;
 		}
 
-		if ((n == 0) && r_params.test_pairable_only) {
+		// the tree collision mask determines which trees to collide test against
+		if (!(r_params.tree_collision_mask & tree_test_mask)) {
 			continue;
 		}
 
@@ -142,22 +185,6 @@ bool _cull_hits_full(const CullParams &p) {
 	return (int)_cull_hits.size() >= p.result_max;
 }
 
-// write this logic once for use in all routines
-// double check this as a possible source of bugs in future.
-bool _cull_pairing_mask_test_hit(uint32_t p_maskA, uint32_t p_typeA, uint32_t p_maskB, uint32_t p_typeB) const {
-	// double check this as a possible source of bugs in future.
-	bool A_match_B = p_maskA & p_typeB;
-
-	if (!A_match_B) {
-		bool B_match_A = p_maskB & p_typeA;
-		if (!B_match_A) {
-			return false;
-		}
-	}
-
-	return true;
-}
-
 void _cull_hit(uint32_t p_ref_id, CullParams &p) {
 	// take into account masks etc
 	// this would be more efficient to do before plane checks,
@@ -165,7 +192,8 @@ void _cull_hit(uint32_t p_ref_id, CullParams &p) {
 	if (USE_PAIRS) {
 		const ItemExtra &ex = _extra[p_ref_id];
 
-		if (!_cull_pairing_mask_test_hit(p.mask, p.pairable_type, ex.pairable_mask, ex.pairable_type)) {
+		// user supplied function (for e.g. pairable types and pairable masks in the render tree)
+		if (!USER_CULL_TEST_FUNCTION::user_cull_check(p.tester, ex.userdata)) {
 			return;
 		}
 	}
@@ -294,6 +322,7 @@ bool _cull_point_iterative(uint32_t p_node_id, CullParams &r_params) {
 	return true;
 }
 
+// Note: This is a very hot loop profiling wise. Take care when changing this and profile.
 bool _cull_aabb_iterative(uint32_t p_node_id, CullParams &r_params, bool p_fully_within = false) {
 	// our function parameters to keep on a stack
 	struct CullAABBParams {
@@ -336,16 +365,26 @@ bool _cull_aabb_iterative(uint32_t p_node_id, CullParams &r_params, bool p_fully
 					_cull_hit(child_id, r_params);
 				}
 			} else {
-				for (int n = 0; n < leaf.num_items; n++) {
+				// This section is the hottest area in profiling, so
+				// is optimized highly
+				// get this into a local register and preconverted to correct type
+				int leaf_num_items = leaf.num_items;
+
+				BVHABB_CLASS swizzled_tester;
+				swizzled_tester.min = -r_params.abb.neg_max;
+				swizzled_tester.neg_max = -r_params.abb.min;
+
+				for (int n = 0; n < leaf_num_items; n++) {
 					const BVHABB_CLASS &aabb = leaf.get_aabb(n);
 
-					if (aabb.intersects(r_params.abb)) {
+					if (swizzled_tester.intersects_swizzled(aabb)) {
 						uint32_t child_id = leaf.get_item_ref_id(n);
 
 						// register hit
 						_cull_hit(child_id, r_params);
 					}
 				}
+
 			} // not fully within
 		} else {
 			if (!cap.fully_within) {
diff --git a/core/math/bvh_debug.inc b/core/math/bvh_debug.inc
index 896c36ecf1..2e519ceb3d 100644
--- a/core/math/bvh_debug.inc
+++ b/core/math/bvh_debug.inc
@@ -7,12 +7,12 @@ void _debug_recursive_print_tree(int p_tree_id) const {
 }
 
 String _debug_aabb_to_string(const BVHABB_CLASS &aabb) const {
-	Point size = aabb.calculate_size();
+	POINT size = aabb.calculate_size();
 
 	String sz;
 	float vol = 0.0;
 
-	for (int i = 0; i < Point::AXES_COUNT; ++i) {
+	for (int i = 0; i < POINT::AXIS_COUNT; ++i) {
 		sz += "(";
 		sz += itos(aabb.min[i]);
 		sz += " ~ ";
diff --git a/core/math/bvh_logic.inc b/core/math/bvh_logic.inc
index c65002a9fd..dd3b135bb5 100644
--- a/core/math/bvh_logic.inc
+++ b/core/math/bvh_logic.inc
@@ -42,9 +42,9 @@ BVHABB_CLASS _logic_abb_merge(const BVHABB_CLASS &a, const BVHABB_CLASS &b) {
 
 //--------------------------------------------------------------------------------------------------
 /**
- * @file	q3DynamicAABBTree.h
- * @author	Randy Gaul
- * @date	10/10/2014
+ * @file    q3DynamicAABBTree.h
+ * @author  Randy Gaul
+ * @date    10/10/2014
  *  Copyright (c) 2014 Randy Gaul http://www.randygaul.net
  *  This software is provided 'as-is', without any express or implied
  *  warranty. In no event will the authors be held liable for any damages
@@ -75,11 +75,11 @@ int32_t _logic_balance(int32_t iA, uint32_t p_tree_id) {
 		return iA;
 	}
 
-	/*       A
-	 *     /   \
-	 *    B     C
-	 *   / \   / \
-	 *  D   E F   G
+	/*        A
+	 *      /   \
+	 *     B     C
+	 *    / \   / \
+	 *   D   E F   G
 	 */
 
 	CRASH_COND(A->num_children != 2);
diff --git a/core/math/bvh_misc.inc b/core/math/bvh_misc.inc
index 71aa0e4fe0..9b35a1d36d 100644
--- a/core/math/bvh_misc.inc
+++ b/core/math/bvh_misc.inc
@@ -1,11 +1,7 @@
 
 int _handle_get_tree_id(BVHHandle p_handle) const {
 	if (USE_PAIRS) {
-		int tree = 0;
-		if (_extra[p_handle.id()].pairable) {
-			tree = 1;
-		}
-		return tree;
+		return _extra[p_handle.id()].tree_id;
 	}
 	return 0;
 }
diff --git a/core/math/bvh_pair.inc b/core/math/bvh_pair.inc
index a12acec2b6..7b9c7ce6ae 100644
--- a/core/math/bvh_pair.inc
+++ b/core/math/bvh_pair.inc
@@ -14,10 +14,10 @@ struct ItemPairs {
 	void clear() {
 		num_pairs = 0;
 		extended_pairs.reset();
-		expanded_aabb = Bounds();
+		expanded_aabb = BOUNDS();
 	}
 
-	Bounds expanded_aabb;
+	BOUNDS expanded_aabb;
 
 	// maybe we can just use the number in the vector TODO
 	int32_t num_pairs;
@@ -59,4 +59,14 @@ struct ItemPairs {
 
 		return userdata;
 	}
+
+	// experiment : scale the pairing expansion by the number of pairs.
+	// when the number of pairs is high, the density is high and a lower collision margin is better.
+	// when there are few local pairs, a larger margin is more optimal.
+	real_t scale_expansion_margin(real_t p_margin) const {
+		real_t x = real_t(num_pairs) * (1.0 / 9.0);
+		x = MIN(x, 1.0);
+		x = 1.0 - x;
+		return p_margin * x;
+	}
 };
diff --git a/core/math/bvh_public.inc b/core/math/bvh_public.inc
index 2c1e406712..36b0bfeb13 100644
--- a/core/math/bvh_public.inc
+++ b/core/math/bvh_public.inc
@@ -1,5 +1,5 @@
 public:
-BVHHandle item_add(T *p_userdata, bool p_active, const Bounds &p_aabb, int32_t p_subindex, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask, bool p_invisible = false) {
+BVHHandle item_add(T *p_userdata, bool p_active, const BOUNDS &p_aabb, int32_t p_subindex, uint32_t p_tree_id, uint32_t p_tree_collision_mask, bool p_invisible = false) {
 #ifdef BVH_VERBOSE_TREE
 	VERBOSE_PRINT("\nitem_add BEFORE");
 	_debug_recursive_print_tree(0);
@@ -9,6 +9,13 @@ BVHHandle item_add(T *p_userdata, bool p_active, const Bounds &p_aabb, int32_t p
 	BVHABB_CLASS abb;
 	abb.from(p_aabb);
 
+	// NOTE that we do not expand the AABB for the first create even if
+	// leaf expansion is switched on. This is for two reasons:
+	// (1) We don't know if this object will move in future, in which case a non-expanded
+	// bound would be better...
+	// (2) We don't yet know how many objects will be paired, which is used to modify
+	// the expansion margin.
+
 	// handle to be filled with the new item ref
 	BVHHandle handle;
 
@@ -40,29 +47,17 @@ BVHHandle item_add(T *p_userdata, bool p_active, const Bounds &p_aabb, int32_t p
 	extra->active_ref_id = _active_refs.size();
 	_active_refs.push_back(ref_id);
 
-	if (USE_PAIRS) {
-		extra->pairable_mask = p_pairable_mask;
-		extra->pairable_type = p_pairable_type;
-		extra->pairable = p_pairable;
-	} else {
-		// just for safety, in case this gets queried etc
-		extra->pairable = 0;
-		p_pairable = false;
-	}
+	extra->tree_id = p_tree_id;
+	extra->tree_collision_mask = p_tree_collision_mask;
 
 	// assign to handle to return
 	handle.set_id(ref_id);
 
-	uint32_t tree_id = 0;
-	if (p_pairable) {
-		tree_id = 1;
-	}
-
-	create_root_node(tree_id);
+	create_root_node(p_tree_id);
 
 	// we must choose where to add to tree
 	if (p_active) {
-		ref->tnode_id = _logic_choose_item_add_node(_root_node_id[tree_id], abb);
+		ref->tnode_id = _logic_choose_item_add_node(_root_node_id[p_tree_id], abb);
 
 		bool refit = _node_add_item(ref->tnode_id, ref_id, abb);
 
@@ -70,7 +65,7 @@ BVHHandle item_add(T *p_userdata, bool p_active, const Bounds &p_aabb, int32_t p
 			// only need to refit from the parent
 			const TNode &add_node = _nodes[ref->tnode_id];
 			if (add_node.parent_id != BVHCommon::INVALID) {
-				refit_upward_and_balance(add_node.parent_id, tree_id);
+				refit_upward_and_balance(add_node.parent_id, p_tree_id);
 			}
 		}
 	} else {
@@ -103,7 +98,7 @@ void _debug_print_refs() {
 }
 
 // returns false if noop
-bool item_move(BVHHandle p_handle, const Bounds &p_aabb) {
+bool item_move(BVHHandle p_handle, const BOUNDS &p_aabb) {
 	uint32_t ref_id = p_handle.id();
 
 	// get the reference
@@ -115,10 +110,19 @@ bool item_move(BVHHandle p_handle, const Bounds &p_aabb) {
 	BVHABB_CLASS abb;
 	abb.from(p_aabb);
 
+#ifdef BVH_EXPAND_LEAF_AABBS
+	if (USE_PAIRS) {
+		// scale the pairing expansion by the number of pairs.
+		abb.expand(_pairs[ref_id].scale_expansion_margin(_pairing_expansion));
+	} else {
+		abb.expand(_pairing_expansion);
+	}
+#endif
+
 	BVH_ASSERT(ref.tnode_id != BVHCommon::INVALID);
 	TNode &tnode = _nodes[ref.tnode_id];
 
-	// does it fit within the current aabb?
+	// does it fit within the current leaf aabb?
 	if (tnode.aabb.is_other_within(abb)) {
 		// do nothing .. fast path .. not moved enough to need refit
 
@@ -129,9 +133,24 @@ bool item_move(BVHHandle p_handle, const Bounds &p_aabb) {
 		BVHABB_CLASS &leaf_abb = leaf.get_aabb(ref.item_id);
 
 		// no change?
+#ifdef BVH_EXPAND_LEAF_AABBS
+		BOUNDS leaf_aabb;
+		leaf_abb.to(leaf_aabb);
+
+		// This test should pass in a lot of cases, and by returning false we can avoid
+		// collision pairing checks later, which greatly reduces processing.
+		if (expanded_aabb_encloses_not_shrink(leaf_aabb, p_aabb)) {
+			return false;
+		}
+#else
 		if (leaf_abb == abb) {
 			return false;
 		}
+#endif
+
+#ifdef BVH_VERBOSE_MOVES
+		print_line("item_move " + itos(p_handle.id()) + "(within tnode aabb) : " + _debug_aabb_to_string(abb));
+#endif
 
 		leaf_abb = abb;
 		_integrity_check_all();
@@ -139,6 +158,10 @@ bool item_move(BVHHandle p_handle, const Bounds &p_aabb) {
 		return true;
 	}
 
+#ifdef BVH_VERBOSE_MOVES
+	print_line("item_move " + itos(p_handle.id()) + "(outside tnode aabb) : " + _debug_aabb_to_string(abb));
+#endif
+
 	uint32_t tree_id = _handle_get_tree_id(p_handle);
 
 	// remove and reinsert
@@ -206,7 +229,7 @@ void item_remove(BVHHandle p_handle) {
 }
 
 // returns success
-bool item_activate(BVHHandle p_handle, const Bounds &p_aabb) {
+bool item_activate(BVHHandle p_handle, const BOUNDS &p_aabb) {
 	uint32_t ref_id = p_handle.id();
 	ItemRef &ref = _refs[ref_id];
 	if (ref.is_active()) {
@@ -260,12 +283,14 @@ void item_fill_cullparams(BVHHandle p_handle, CullParams &r_params) const {
 	uint32_t ref_id = p_handle.id();
 	const ItemExtra &extra = _extra[ref_id];
 
-	// testing from a non pairable item, we only want to test pairable items
-	r_params.test_pairable_only = extra.pairable == 0;
+	// which trees does this item want to collide detect against?
+	r_params.tree_collision_mask = extra.tree_collision_mask;
 
-	// we take into account the mask of the item testing from
-	r_params.mask = extra.pairable_mask;
-	r_params.pairable_type = extra.pairable_type;
+	// The testing user defined object is passed to the user defined cull check function
+	// for masks etc. This is usually a dummy object of type T with masks set.
+	// However, if not using the cull_check callback (i.e. returning true), you can pass
+	// a nullptr instead of dummy object, as it will not be used.
+	r_params.tester = extra.userdata;
 }
 
 bool item_is_pairable(const BVHHandle &p_handle) {
@@ -285,7 +310,7 @@ void item_get_ABB(const BVHHandle &p_handle, BVHABB_CLASS &r_abb) {
 	r_abb = leaf.get_aabb(ref.item_id);
 }
 
-bool item_set_pairable(const BVHHandle &p_handle, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask) {
+bool item_set_tree(const BVHHandle &p_handle, uint32_t p_tree_id, uint32_t p_tree_collision_mask) {
 	// change tree?
 	uint32_t ref_id = p_handle.id();
 
@@ -293,13 +318,15 @@ bool item_set_pairable(const BVHHandle &p_handle, bool p_pairable, uint32_t p_pa
 	ItemRef &ref = _refs[ref_id];
 
 	bool active = ref.is_active();
-	bool pairable_changed = (ex.pairable != 0) != p_pairable;
-	bool state_changed = pairable_changed || (ex.pairable_type != p_pairable_type) || (ex.pairable_mask != p_pairable_mask);
+	bool tree_changed = ex.tree_id != p_tree_id;
+	bool mask_changed = ex.tree_collision_mask != p_tree_collision_mask;
+	bool state_changed = tree_changed | mask_changed;
 
-	ex.pairable_type = p_pairable_type;
-	ex.pairable_mask = p_pairable_mask;
+	// Keep an eye on this for bugs of not noticing changes to objects,
+	// especially when changing client user masks that will not be detected as a change
+	// in the BVH. You may need to force a collision check in this case with recheck_pairs().
 
-	if (active && pairable_changed) {
+	if (active && (tree_changed | mask_changed)) {
 		// record abb
 		TNode &tnode = _nodes[ref.tnode_id];
 		TLeaf &leaf = _node_get_leaf(tnode);
@@ -313,7 +340,8 @@ bool item_set_pairable(const BVHHandle &p_handle, bool p_pairable, uint32_t p_pa
 
 		// we must set the pairable AFTER getting the current tree
 		// because the pairable status determines which tree
-		ex.pairable = p_pairable;
+		ex.tree_id = p_tree_id;
+		ex.tree_collision_mask = p_tree_collision_mask;
 
 		// add to new tree
 		tree_id = _handle_get_tree_id(p_handle);
@@ -333,7 +361,8 @@ bool item_set_pairable(const BVHHandle &p_handle, bool p_pairable, uint32_t p_pa
 		}
 	} else {
 		// always keep this up to date
-		ex.pairable = p_pairable;
+		ex.tree_id = p_tree_id;
+		ex.tree_collision_mask = p_tree_collision_mask;
 	}
 
 	return state_changed;
@@ -403,7 +432,7 @@ void update() {
 
 		// if there are no nodes, do nothing, but if there are...
 		if (bound_valid) {
-			Bounds bb;
+			BOUNDS bb;
 			world_bound.to(bb);
 			real_t size = bb.get_longest_axis_size();
 
@@ -421,3 +450,50 @@ void update() {
 	}
 #endif
 }
+
+void params_set_pairing_expansion(real_t p_value) {
+	if (p_value < 0.0) {
+#ifdef BVH_ALLOW_AUTO_EXPANSION
+		_auto_pairing_expansion = true;
+#endif
+		return;
+	}
+#ifdef BVH_ALLOW_AUTO_EXPANSION
+	_auto_pairing_expansion = false;
+#endif
+
+	_pairing_expansion = p_value;
+
+	// calculate shrinking threshold
+	const real_t fudge_factor = 1.1;
+	_aabb_shrinkage_threshold = _pairing_expansion * POINT::AXIS_COUNT * 2.0 * fudge_factor;
+}
+
+// This routine is not just an enclose check, it also checks for special case of shrinkage
+bool expanded_aabb_encloses_not_shrink(const BOUNDS &p_expanded_aabb, const BOUNDS &p_aabb) const {
+	if (!p_expanded_aabb.encloses(p_aabb)) {
+		return false;
+	}
+
+	// Check for special case of shrinkage. If the aabb has shrunk
+	// significantly we want to create a new expanded bound, because
+	// the previous expanded bound will have diverged significantly.
+	const POINT &exp_size = p_expanded_aabb.size;
+	const POINT &new_size = p_aabb.size;
+
+	real_t exp_l = 0.0;
+	real_t new_l = 0.0;
+
+	for (int i = 0; i < POINT::AXIS_COUNT; ++i) {
+		exp_l += exp_size[i];
+		new_l += new_size[i];
+	}
+
+	// is difference above some metric
+	real_t diff = exp_l - new_l;
+	if (diff < _aabb_shrinkage_threshold) {
+		return true;
+	}
+
+	return false;
+}
diff --git a/core/math/bvh_split.inc b/core/math/bvh_split.inc
index f19ee8a7da..ff07166d4a 100644
--- a/core/math/bvh_split.inc
+++ b/core/math/bvh_split.inc
@@ -25,16 +25,16 @@ void _split_leaf_sort_groups_simple(int &num_a, int &num_b, uint16_t *group_a, u
 		return;
 	}
 
-	Point centre = full_bound.calculate_centre();
-	Point size = full_bound.calculate_size();
+	POINT centre = full_bound.calculate_centre();
+	POINT size = full_bound.calculate_size();
 
-	int order[Point::AXIS_COUNT];
+	int order[POINT::AXIS_COUNT];
 
 	order[0] = size.min_axis_index();
-	order[Point::AXIS_COUNT - 1] = size.max_axis_index();
+	order[POINT::AXIS_COUNT - 1] = size.max_axis_index();
 
-	static_assert(Point::AXIS_COUNT <= 3);
-	if (Point::AXIS_COUNT == 3) {
+	static_assert(POINT::AXIS_COUNT <= 3, "BVH POINT::AXIS_COUNT has unexpected size");
+	if (POINT::AXIS_COUNT == 3) {
 		order[1] = 3 - (order[0] + order[2]);
 	}
 
@@ -58,7 +58,7 @@ void _split_leaf_sort_groups_simple(int &num_a, int &num_b, uint16_t *group_a, u
 
 	// detect when split on longest axis failed
 	int min_threshold = MAX_ITEMS / 4;
-	int min_group_size[Point::AXIS_COUNT];
+	int min_group_size[POINT::AXIS_COUNT];
 	min_group_size[0] = MIN(num_a, num_b);
 	if (min_group_size[0] < min_threshold) {
 		// slow but sure .. first move everything back into a
@@ -68,7 +68,7 @@ void _split_leaf_sort_groups_simple(int &num_a, int &num_b, uint16_t *group_a, u
 		num_b = 0;
 
 		// now calculate the best split
-		for (int axis = 1; axis < Point::AXIS_COUNT; axis++) {
+		for (int axis = 1; axis < POINT::AXIS_COUNT; axis++) {
 			split_axis = order[axis];
 			int count = 0;
 
@@ -86,7 +86,7 @@ void _split_leaf_sort_groups_simple(int &num_a, int &num_b, uint16_t *group_a, u
 		// best axis
 		int best_axis = 0;
 		int best_min = min_group_size[0];
-		for (int axis = 1; axis < Point::AXIS_COUNT; axis++) {
+		for (int axis = 1; axis < POINT::AXIS_COUNT; axis++) {
 			if (min_group_size[axis] > best_min) {
 				best_min = min_group_size[axis];
 				best_axis = axis;
diff --git a/core/math/bvh_structs.inc b/core/math/bvh_structs.inc
index 1d1e0e6468..b0d9ae3615 100644
--- a/core/math/bvh_structs.inc
+++ b/core/math/bvh_structs.inc
@@ -14,25 +14,38 @@ struct ItemRef {
 // extra info kept in separate parallel list to the references,
 // as this is less used as keeps cache better
 struct ItemExtra {
-	uint32_t last_updated_tick;
-	uint32_t pairable;
-	uint32_t pairable_mask;
-	uint32_t pairable_type;
+	// Before doing user defined pairing checks (especially in the find_leavers function),
+	// we may want to check that two items have compatible tree ids and tree masks,
+	// as if they are incompatible they should not pair / collide.
+	bool are_item_trees_compatible(const ItemExtra &p_other) const {
+		uint32_t other_type = 1 << p_other.tree_id;
+		if (tree_collision_mask & other_type) {
+			return true;
+		}
+		uint32_t our_type = 1 << tree_id;
+		if (p_other.tree_collision_mask & our_type) {
+			return true;
+		}
+		return false;
+	}
+
+	// There can be multiple user defined trees
+	uint32_t tree_id;
 
+	// Defines which trees this item should collision check against.
+	// 1 << tree_id, and normally items would collide against there own
+	// tree (but not always).
+	uint32_t tree_collision_mask;
+
+	uint32_t last_updated_tick;
 	int32_t subindex;
 
+	T *userdata;
+
 	// the active reference is a separate list of which references
 	// are active so that we can slowly iterate through it over many frames for
 	// slow optimize.
 	uint32_t active_ref_id;
-
-	T *userdata;
-};
-
-// this is an item OR a child node depending on whether a leaf node
-struct Item {
-	BVHABB_CLASS aabb;
-	uint32_t item_ref_id;
 };
 
 // tree leaf
@@ -133,13 +146,13 @@ struct TNode {
 
 // instead of using linked list we maintain
 // item references (for quick lookup)
-PooledList<ItemRef, true> _refs;
-PooledList<ItemExtra, true> _extra;
+PooledList<ItemRef, uint32_t, true> _refs;
+PooledList<ItemExtra, uint32_t, true> _extra;
 PooledList<ItemPairs> _pairs;
 
 // these 2 are not in sync .. nodes != leaves!
-PooledList<TNode, true> _nodes;
-PooledList<TLeaf, true> _leaves;
+PooledList<TNode, uint32_t, true> _nodes;
+PooledList<TLeaf, uint32_t, true> _leaves;
 
 // we can maintain an un-ordered list of which references are active,
 // in order to do a slow incremental optimize of the tree over each frame.
@@ -152,15 +165,11 @@ uint32_t _current_active_ref = 0;
 // for pairing collision detection
 LocalVector<uint32_t, uint32_t, true> _cull_hits;
 
-// we now have multiple root nodes, allowing us to store
-// more than 1 tree. This can be more efficient, while sharing the same
-// common lists
-enum { NUM_TREES = 2,
-};
-
-// Tree 0 - Non pairable
-// Tree 1 - Pairable
-// This is more efficient because in physics we only need check non pairable against the pairable tree.
+// We can now have a user definable number of trees.
+// This allows using e.g. a non-pairable and pairable tree,
+// which can be more efficient for example, if we only need check non pairable against the pairable tree.
+// It also may be more efficient in terms of separating static from dynamic objects, by reducing housekeeping.
+// However this is a trade off, as there is a cost of traversing two trees.
 uint32_t _root_node_id[NUM_TREES];
 
 // these values may need tweaking according to the project
@@ -177,4 +186,14 @@ bool _auto_node_expansion = true;
 // larger values gives more 'sticky' pairing, and is less likely to exhibit tunneling
 // we can either use auto mode, where the expansion is based on the root node size, or specify manually
 real_t _pairing_expansion = 0.1;
+
+#ifdef BVH_ALLOW_AUTO_EXPANSION
 bool _auto_pairing_expansion = true;
+#endif
+
+// when using an expanded bound, we must detect the condition where a new AABB
+// is significantly smaller than the expanded bound, as this is a special case where we
+// should override the optimization and create a new expanded bound.
+// This threshold is derived from the _pairing_expansion, and should be recalculated
+// if _pairing_expansion is changed.
+real_t _aabb_shrinkage_threshold = 0.0;
diff --git a/core/math/bvh_tree.h b/core/math/bvh_tree.h
index c948d83456..da9b307778 100644
--- a/core/math/bvh_tree.h
+++ b/core/math/bvh_tree.h
@@ -48,12 +48,17 @@
 #include "core/templates/pooled_list.h"
 #include <limits.h>
 
-#define BVHABB_CLASS BVH_ABB<Bounds, Point>
+#define BVHABB_CLASS BVH_ABB<BOUNDS, POINT>
+
+// not sure if this is better yet so making optional
+#define BVH_EXPAND_LEAF_AABBS
 
 // never do these checks in release
 #if defined(TOOLS_ENABLED) && defined(DEBUG_ENABLED)
 //#define BVH_VERBOSE
 //#define BVH_VERBOSE_TREE
+//#define BVH_VERBOSE_PAIRING
+//#define BVH_VERBOSE_MOVES
 
 //#define BVH_VERBOSE_FRAME
 //#define BVH_CHECKS
@@ -148,7 +153,25 @@ public:
 	}
 };
 
-template <class T, int MAX_CHILDREN, int MAX_ITEMS, bool USE_PAIRS = false, class Bounds = AABB, class Point = Vector3>
+template <class T>
+class BVH_DummyPairTestFunction {
+public:
+	static bool user_collision_check(T *p_a, T *p_b) {
+		// return false if no collision, decided by masks etc
+		return true;
+	}
+};
+
+template <class T>
+class BVH_DummyCullTestFunction {
+public:
+	static bool user_cull_check(T *p_a, T *p_b) {
+		// return false if no collision
+		return true;
+	}
+};
+
+template <class T, int NUM_TREES, int MAX_CHILDREN, int MAX_ITEMS, class USER_PAIR_TEST_FUNCTION = BVH_DummyPairTestFunction<T>, class USER_CULL_TEST_FUNCTION = BVH_DummyCullTestFunction<T>, bool USE_PAIRS = false, class BOUNDS = AABB, class POINT = Vector3>
 class BVH_Tree {
 	friend class BVH;
 
@@ -165,6 +188,11 @@ public:
 		// (as these ids are stored as negative numbers in the node)
 		uint32_t dummy_leaf_id;
 		_leaves.request(dummy_leaf_id);
+
+		// In many cases you may want to change this default in the client code,
+		// or expose this value to the user.
+		// This default may make sense for a typically scaled 3d game, but maybe not for 2d on a pixel scale.
+		params_set_pairing_expansion(0.1);
 	}
 
 private:
@@ -234,7 +262,7 @@ private:
 				change_root_node(sibling_id, p_tree_id);
 
 				// delete the old root node as no longer needed
-				_nodes.free(p_parent_id);
+				node_free_node_and_leaf(p_parent_id);
 			}
 
 			return;
@@ -247,7 +275,19 @@ private:
 		}
 
 		// put the node on the free list to recycle
-		_nodes.free(p_parent_id);
+		node_free_node_and_leaf(p_parent_id);
+	}
+
+	// A node can either be a node, or a node AND a leaf combo.
+	// Both must be deleted to prevent a leak.
+	void node_free_node_and_leaf(uint32_t p_node_id) {
+		TNode &node = _nodes[p_node_id];
+		if (node.is_leaf()) {
+			int leaf_id = node.get_leaf_id();
+			_leaves.free(leaf_id);
+		}
+
+		_nodes.free(p_node_id);
 	}
 
 	void change_root_node(uint32_t p_new_root_id, uint32_t p_tree_id) {
@@ -339,7 +379,7 @@ private:
 				refit_upward(parent_id);
 
 				// put the node on the free list to recycle
-				_nodes.free(owner_node_id);
+				node_free_node_and_leaf(owner_node_id);
 			}
 
 			// else if no parent, it is the root node. Do not delete
diff --git a/core/math/expression.cpp b/core/math/expression.cpp
index 0ddac9744e..9dd1257474 100644
--- a/core/math/expression.cpp
+++ b/core/math/expression.cpp
@@ -1440,7 +1440,7 @@ bool Expression::_execute(const Array &p_inputs, Object *p_instance, Expression:
 			}
 
 			Callable::CallError ce;
-			base.call(call->method, (const Variant **)argp.ptr(), argp.size(), r_ret, ce);
+			base.callp(call->method, (const Variant **)argp.ptr(), argp.size(), r_ret, ce);
 
 			if (ce.error != Callable::CallError::CALL_OK) {
 				r_error_str = vformat(RTR("On call to '%s':"), String(call->method));
diff --git a/core/math/math_funcs.h b/core/math/math_funcs.h
index 8c0b87cf4a..44340b97ae 100644
--- a/core/math/math_funcs.h
+++ b/core/math/math_funcs.h
@@ -322,7 +322,7 @@ public:
 	// double only, as these functions are mainly used by the editor and not performance-critical,
 	static double ease(double p_x, double p_c);
 	static int step_decimals(double p_step);
-	static int range_step_decimals(double p_step);
+	static int range_step_decimals(double p_step); // For editor use only.
 	static double snapped(double p_value, double p_step);
 
 	static uint32_t larger_prime(uint32_t p_val);
diff --git a/core/math/vector2.h b/core/math/vector2.h
index a2680b84fc..bd67299f33 100644
--- a/core/math/vector2.h
+++ b/core/math/vector2.h
@@ -31,6 +31,7 @@
 #ifndef VECTOR2_H
 #define VECTOR2_H
 
+#include "core/error/error_macros.h"
 #include "core/math/math_funcs.h"
 
 class String;
@@ -60,9 +61,11 @@ struct _NO_DISCARD_ Vector2 {
 	};
 
 	_FORCE_INLINE_ real_t &operator[](int p_idx) {
+		DEV_ASSERT((unsigned int)p_idx < 2);
 		return coord[p_idx];
 	}
 	_FORCE_INLINE_ const real_t &operator[](int p_idx) const {
+		DEV_ASSERT((unsigned int)p_idx < 2);
 		return coord[p_idx];
 	}
 
diff --git a/core/math/vector2i.h b/core/math/vector2i.h
index 3f5f12d4dd..13b70031bd 100644
--- a/core/math/vector2i.h
+++ b/core/math/vector2i.h
@@ -31,6 +31,7 @@
 #ifndef VECTOR2I_H
 #define VECTOR2I_H
 
+#include "core/error/error_macros.h"
 #include "core/math/math_funcs.h"
 
 class String;
@@ -58,9 +59,11 @@ struct _NO_DISCARD_ Vector2i {
 	};
 
 	_FORCE_INLINE_ int32_t &operator[](int p_idx) {
+		DEV_ASSERT((unsigned int)p_idx < 2);
 		return coord[p_idx];
 	}
 	_FORCE_INLINE_ const int32_t &operator[](int p_idx) const {
+		DEV_ASSERT((unsigned int)p_idx < 2);
 		return coord[p_idx];
 	}
 
diff --git a/core/math/vector3.h b/core/math/vector3.h
index 89b0095741..b22ebeaf0a 100644
--- a/core/math/vector3.h
+++ b/core/math/vector3.h
@@ -59,10 +59,12 @@ struct _NO_DISCARD_ Vector3 {
 	};
 
 	_FORCE_INLINE_ const real_t &operator[](const int p_axis) const {
+		DEV_ASSERT((unsigned int)p_axis < 3);
 		return coord[p_axis];
 	}
 
 	_FORCE_INLINE_ real_t &operator[](const int p_axis) {
+		DEV_ASSERT((unsigned int)p_axis < 3);
 		return coord[p_axis];
 	}
 
diff --git a/core/math/vector3i.h b/core/math/vector3i.h
index 2a4c7e2e97..b49c1142ed 100644
--- a/core/math/vector3i.h
+++ b/core/math/vector3i.h
@@ -31,6 +31,7 @@
 #ifndef VECTOR3I_H
 #define VECTOR3I_H
 
+#include "core/error/error_macros.h"
 #include "core/math/math_funcs.h"
 
 class String;
@@ -54,10 +55,12 @@ struct _NO_DISCARD_ Vector3i {
 	};
 
 	_FORCE_INLINE_ const int32_t &operator[](const int p_axis) const {
+		DEV_ASSERT((unsigned int)p_axis < 3);
 		return coord[p_axis];
 	}
 
 	_FORCE_INLINE_ int32_t &operator[](const int p_axis) {
+		DEV_ASSERT((unsigned int)p_axis < 3);
 		return coord[p_axis];
 	}
 
diff --git a/core/object/class_db.cpp b/core/object/class_db.cpp
index c29316c089..08e12dfcaa 100644
--- a/core/object/class_db.cpp
+++ b/core/object/class_db.cpp
@@ -557,6 +557,19 @@ bool ClassDB::can_instantiate(const StringName &p_class) {
 	return (!ti->disabled && ti->creation_func != nullptr && !(ti->native_extension && !ti->native_extension->create_instance));
 }
 
+bool ClassDB::is_virtual(const StringName &p_class) {
+	OBJTYPE_RLOCK;
+
+	ClassInfo *ti = classes.getptr(p_class);
+	ERR_FAIL_COND_V_MSG(!ti, false, "Cannot get class '" + String(p_class) + "'.");
+#ifdef TOOLS_ENABLED
+	if (ti->api == API_EDITOR && !Engine::get_singleton()->is_editor_hint()) {
+		return false;
+	}
+#endif
+	return (!ti->disabled && ti->creation_func != nullptr && !(ti->native_extension && !ti->native_extension->create_instance) && ti->is_virtual);
+}
+
 void ClassDB::_add_class2(const StringName &p_class, const StringName &p_inherits) {
 	OBJTYPE_WLOCK;
 
@@ -1197,7 +1210,7 @@ bool ClassDB::set_property(Object *p_object, const StringName &p_property, const
 				if (psg->_setptr) {
 					psg->_setptr->call(p_object, arg, 2, ce);
 				} else {
-					p_object->call(psg->setter, arg, 2, ce);
+					p_object->callp(psg->setter, arg, 2, ce);
 				}
 
 			} else {
@@ -1205,7 +1218,7 @@ bool ClassDB::set_property(Object *p_object, const StringName &p_property, const
 				if (psg->_setptr) {
 					psg->_setptr->call(p_object, arg, 1, ce);
 				} else {
-					p_object->call(psg->setter, arg, 1, ce);
+					p_object->callp(psg->setter, arg, 1, ce);
 				}
 			}
 
@@ -1238,14 +1251,14 @@ bool ClassDB::get_property(Object *p_object, const StringName &p_property, Varia
 				Variant index = psg->index;
 				const Variant *arg[1] = { &index };
 				Callable::CallError ce;
-				r_value = p_object->call(psg->getter, arg, 1, ce);
+				r_value = p_object->callp(psg->getter, arg, 1, ce);
 
 			} else {
 				Callable::CallError ce;
 				if (psg->_getptr) {
 					r_value = psg->_getptr->call(p_object, nullptr, 0, ce);
 				} else {
-					r_value = p_object->call(psg->getter, nullptr, 0, ce);
+					r_value = p_object->callp(psg->getter, nullptr, 0, ce);
 				}
 			}
 			return true;
diff --git a/core/object/class_db.h b/core/object/class_db.h
index 5d258a29bf..580ae3582f 100644
--- a/core/object/class_db.h
+++ b/core/object/class_db.h
@@ -118,6 +118,7 @@ public:
 		StringName name;
 		bool disabled = false;
 		bool exposed = false;
+		bool is_virtual = false;
 		Object *(*creation_func)() = nullptr;
 
 		ClassInfo() {}
@@ -156,20 +157,21 @@ public:
 	}
 
 	template <class T>
-	static void register_class() {
+	static void register_class(bool p_virtual = false) {
 		GLOBAL_LOCK_FUNCTION;
 		T::initialize_class();
 		ClassInfo *t = classes.getptr(T::get_class_static());
 		ERR_FAIL_COND(!t);
 		t->creation_func = &creator<T>;
 		t->exposed = true;
+		t->is_virtual = p_virtual;
 		t->class_ptr = T::get_class_ptr_static();
 		t->api = current_api;
 		T::register_custom_data_to_otdb();
 	}
 
 	template <class T>
-	static void register_virtual_class() {
+	static void register_abstract_class() {
 		GLOBAL_LOCK_FUNCTION;
 		T::initialize_class();
 		ClassInfo *t = classes.getptr(T::get_class_static());
@@ -210,6 +212,7 @@ public:
 	static bool class_exists(const StringName &p_class);
 	static bool is_parent_class(const StringName &p_class, const StringName &p_inherits);
 	static bool can_instantiate(const StringName &p_class);
+	static bool is_virtual(const StringName &p_class);
 	static Object *instantiate(const StringName &p_class);
 	static void set_object_extension_instance(Object *p_object, const StringName &p_class, GDExtensionClassInstancePtr p_instance);
 
@@ -436,9 +439,13 @@ _FORCE_INLINE_ Vector<Error> errarray(P... p_args) {
 	if (!GD_IS_DEFINED(ClassDB_Disable_##m_class)) { \
 		::ClassDB::register_class<m_class>();        \
 	}
-#define GDREGISTER_VIRTUAL_CLASS(m_class)             \
-	if (!GD_IS_DEFINED(ClassDB_Disable_##m_class)) {  \
-		::ClassDB::register_virtual_class<m_class>(); \
+#define GDREGISTER_VIRTUAL_CLASS(m_class)            \
+	if (!GD_IS_DEFINED(ClassDB_Disable_##m_class)) { \
+		::ClassDB::register_class<m_class>(true);    \
+	}
+#define GDREGISTER_ABSTRACT_CLASS(m_class)             \
+	if (!GD_IS_DEFINED(ClassDB_Disable_##m_class)) {   \
+		::ClassDB::register_abstract_class<m_class>(); \
 	}
 
 #include "core/disabled_classes.gen.h"
diff --git a/core/object/make_virtuals.py b/core/object/make_virtuals.py
index 5de1b49026..2e909b8042 100644
--- a/core/object/make_virtuals.py
+++ b/core/object/make_virtuals.py
@@ -3,12 +3,13 @@ proto = """
 StringName _gdvirtual_##m_name##_sn = #m_name;\\
 mutable bool _gdvirtual_##m_name##_initialized = false;\\
 mutable GDNativeExtensionClassCallVirtual _gdvirtual_##m_name = nullptr;\\
+template<bool required>\\
 _FORCE_INLINE_ bool _gdvirtual_##m_name##_call($CALLARGS) $CONST { \\
 	ScriptInstance *script_instance = ((Object*)(this))->get_script_instance();\\
 	if (script_instance) {\\
 		Callable::CallError ce; \\
 		$CALLSIARGS\\
-		$CALLSIBEGINscript_instance->call(_gdvirtual_##m_name##_sn, $CALLSIARGPASS, ce);\\
+		$CALLSIBEGINscript_instance->callp(_gdvirtual_##m_name##_sn, $CALLSIARGPASS, ce);\\
 		if (ce.error == Callable::CallError::CALL_OK) {\\
 			$CALLSIRET\\
 			return true;\\
@@ -25,6 +26,10 @@ _FORCE_INLINE_ bool _gdvirtual_##m_name##_call($CALLARGS) $CONST { \\
 		$CALLPTRRET\\
 		return true;\\
 	}\\
+	\\
+	if (required) {\\
+	        WARN_PRINT_ONCE("Required virtual method: "+get_class()+"::" + #m_name + " must be overriden before calling.");\\
+    }\\
 \\
     return false;\\
 }\\
diff --git a/core/object/message_queue.cpp b/core/object/message_queue.cpp
index 3c828eabd9..79c36ac81f 100644
--- a/core/object/message_queue.cpp
+++ b/core/object/message_queue.cpp
@@ -32,6 +32,7 @@
 
 #include "core/config/project_settings.h"
 #include "core/core_string_names.h"
+#include "core/object/class_db.h"
 #include "core/object/script_language.h"
 
 MessageQueue *MessageQueue::singleton = nullptr;
@@ -40,23 +41,8 @@ MessageQueue *MessageQueue::get_singleton() {
 	return singleton;
 }
 
-Error MessageQueue::push_call(ObjectID p_id, const StringName &p_method, const Variant **p_args, int p_argcount, bool p_show_error) {
-	return push_callable(Callable(p_id, p_method), p_args, p_argcount, p_show_error);
-}
-
-Error MessageQueue::push_call(ObjectID p_id, const StringName &p_method, VARIANT_ARG_DECLARE) {
-	VARIANT_ARGPTRS;
-
-	int argc = 0;
-
-	for (int i = 0; i < VARIANT_ARG_MAX; i++) {
-		if (argptr[i]->get_type() == Variant::NIL) {
-			break;
-		}
-		argc++;
-	}
-
-	return push_call(p_id, p_method, argptr, argc, false);
+Error MessageQueue::push_callp(ObjectID p_id, const StringName &p_method, const Variant **p_args, int p_argcount, bool p_show_error) {
+	return push_callablep(Callable(p_id, p_method), p_args, p_argcount, p_show_error);
 }
 
 Error MessageQueue::push_set(ObjectID p_id, const StringName &p_prop, const Variant &p_value) {
@@ -113,8 +99,8 @@ Error MessageQueue::push_notification(ObjectID p_id, int p_notification) {
 	return OK;
 }
 
-Error MessageQueue::push_call(Object *p_object, const StringName &p_method, VARIANT_ARG_DECLARE) {
-	return push_call(p_object->get_instance_id(), p_method, VARIANT_ARG_PASS);
+Error MessageQueue::push_callp(Object *p_object, const StringName &p_method, const Variant **p_args, int p_argcount, bool p_show_error) {
+	return push_callp(p_object->get_instance_id(), p_method, p_args, p_argcount, p_show_error);
 }
 
 Error MessageQueue::push_notification(Object *p_object, int p_notification) {
@@ -125,7 +111,7 @@ Error MessageQueue::push_set(Object *p_object, const StringName &p_prop, const V
 	return push_set(p_object->get_instance_id(), p_prop, p_value);
 }
 
-Error MessageQueue::push_callable(const Callable &p_callable, const Variant **p_args, int p_argcount, bool p_show_error) {
+Error MessageQueue::push_callablep(const Callable &p_callable, const Variant **p_args, int p_argcount, bool p_show_error) {
 	_THREAD_SAFE_METHOD_
 
 	int room_needed = sizeof(Message) + sizeof(Variant) * p_argcount;
@@ -155,21 +141,6 @@ Error MessageQueue::push_callable(const Callable &p_callable, const Variant **p_
 	return OK;
 }
 
-Error MessageQueue::push_callable(const Callable &p_callable, VARIANT_ARG_DECLARE) {
-	VARIANT_ARGPTRS;
-
-	int argc = 0;
-
-	for (int i = 0; i < VARIANT_ARG_MAX; i++) {
-		if (argptr[i]->get_type() == Variant::NIL) {
-			break;
-		}
-		argc++;
-	}
-
-	return push_callable(p_callable, argptr, argc);
-}
-
 void MessageQueue::statistics() {
 	Map<StringName, int> set_count;
 	Map<int, int> notify_count;
diff --git a/core/object/message_queue.h b/core/object/message_queue.h
index a4449cf473..eaab01d0aa 100644
--- a/core/object/message_queue.h
+++ b/core/object/message_queue.h
@@ -31,8 +31,11 @@
 #ifndef MESSAGE_QUEUE_H
 #define MESSAGE_QUEUE_H
 
-#include "core/object/class_db.h"
+#include "core/object/object_id.h"
 #include "core/os/thread_safe.h"
+#include "core/variant/variant.h"
+
+class Object;
 
 class MessageQueue {
 	_THREAD_SAFE_CLASS_
@@ -73,14 +76,42 @@ class MessageQueue {
 public:
 	static MessageQueue *get_singleton();
 
-	Error push_call(ObjectID p_id, const StringName &p_method, const Variant **p_args, int p_argcount, bool p_show_error = false);
-	Error push_call(ObjectID p_id, const StringName &p_method, VARIANT_ARG_LIST);
+	Error push_callp(ObjectID p_id, const StringName &p_method, const Variant **p_args, int p_argcount, bool p_show_error = false);
+	template <typename... VarArgs>
+	Error push_call(ObjectID p_id, const StringName &p_method, VarArgs... p_args) {
+		Variant args[sizeof...(p_args) + 1] = { p_args..., Variant() }; // +1 makes sure zero sized arrays are also supported.
+		const Variant *argptrs[sizeof...(p_args) + 1];
+		for (uint32_t i = 0; i < sizeof...(p_args); i++) {
+			argptrs[i] = &args[i];
+		}
+		return push_callp(p_id, p_method, sizeof...(p_args) == 0 ? nullptr : (const Variant **)argptrs, sizeof...(p_args));
+	}
+
 	Error push_notification(ObjectID p_id, int p_notification);
 	Error push_set(ObjectID p_id, const StringName &p_prop, const Variant &p_value);
-	Error push_callable(const Callable &p_callable, const Variant **p_args, int p_argcount, bool p_show_error = false);
-	Error push_callable(const Callable &p_callable, VARIANT_ARG_LIST);
+	Error push_callablep(const Callable &p_callable, const Variant **p_args, int p_argcount, bool p_show_error = false);
+
+	template <typename... VarArgs>
+	Error push_callable(const Callable &p_callable, VarArgs... p_args) {
+		Variant args[sizeof...(p_args) + 1] = { p_args..., Variant() }; // +1 makes sure zero sized arrays are also supported.
+		const Variant *argptrs[sizeof...(p_args) + 1];
+		for (uint32_t i = 0; i < sizeof...(p_args); i++) {
+			argptrs[i] = &args[i];
+		}
+		return push_callablep(p_callable, sizeof...(p_args) == 0 ? nullptr : (const Variant **)argptrs, sizeof...(p_args));
+	}
+
+	Error push_callp(Object *p_object, const StringName &p_method, const Variant **p_args, int p_argcount, bool p_show_error = false);
+	template <typename... VarArgs>
+	Error push_call(Object *p_object, const StringName &p_method, VarArgs... p_args) {
+		Variant args[sizeof...(p_args) + 1] = { p_args..., Variant() }; // +1 makes sure zero sized arrays are also supported.
+		const Variant *argptrs[sizeof...(p_args) + 1];
+		for (uint32_t i = 0; i < sizeof...(p_args); i++) {
+			argptrs[i] = &args[i];
+		}
+		return push_callp(p_object, p_method, sizeof...(p_args) == 0 ? nullptr : (const Variant **)argptrs, sizeof...(p_args));
+	}
 
-	Error push_call(Object *p_object, const StringName &p_method, VARIANT_ARG_LIST);
 	Error push_notification(Object *p_object, int p_notification);
 	Error push_set(Object *p_object, const StringName &p_prop, const Variant &p_value);
 
diff --git a/core/object/object.cpp b/core/object/object.cpp
index a8a49bd22e..096edd4e60 100644
--- a/core/object/object.cpp
+++ b/core/object/object.cpp
@@ -624,8 +624,12 @@ void Object::get_property_list(List<PropertyInfo> *p_list, bool p_reversed) cons
 	}
 
 	if (_extension) {
-		p_list->push_back(PropertyInfo(Variant::NIL, _extension->class_name, PROPERTY_HINT_NONE, String(), PROPERTY_USAGE_CATEGORY));
-		ClassDB::get_property_list(_extension->class_name, p_list, true, this);
+		const ObjectNativeExtension *current_extension = _extension;
+		while (current_extension) {
+			p_list->push_back(PropertyInfo(Variant::NIL, current_extension->class_name, PROPERTY_HINT_NONE, String(), PROPERTY_USAGE_CATEGORY));
+			ClassDB::get_property_list(current_extension->class_name, p_list, true, this);
+			current_extension = current_extension->parent;
+		}
 	}
 
 	if (_extension && _extension->get_property_list) {
@@ -679,7 +683,7 @@ Variant Object::_call_bind(const Variant **p_args, int p_argcount, Callable::Cal
 
 	StringName method = *p_args[0];
 
-	return call(method, &p_args[1], p_argcount - 1, r_error);
+	return callp(method, &p_args[1], p_argcount - 1, r_error);
 }
 
 Variant Object::_call_deferred_bind(const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
@@ -700,7 +704,7 @@ Variant Object::_call_deferred_bind(const Variant **p_args, int p_argcount, Call
 
 	StringName method = *p_args[0];
 
-	MessageQueue::get_singleton()->push_call(get_instance_id(), method, &p_args[1], p_argcount - 1, true);
+	MessageQueue::get_singleton()->push_callp(get_instance_id(), method, &p_args[1], p_argcount - 1, true);
 
 	return Variant();
 }
@@ -750,31 +754,14 @@ Variant Object::callv(const StringName &p_method, const Array &p_args) {
 	}
 
 	Callable::CallError ce;
-	Variant ret = call(p_method, argptrs, p_args.size(), ce);
+	Variant ret = callp(p_method, argptrs, p_args.size(), ce);
 	if (ce.error != Callable::CallError::CALL_OK) {
 		ERR_FAIL_V_MSG(Variant(), "Error calling method from 'callv': " + Variant::get_call_error_text(this, p_method, argptrs, p_args.size(), ce) + ".");
 	}
 	return ret;
 }
 
-Variant Object::call(const StringName &p_name, VARIANT_ARG_DECLARE) {
-	VARIANT_ARGPTRS;
-
-	int argc = 0;
-	for (int i = 0; i < VARIANT_ARG_MAX; i++) {
-		if (argptr[i]->get_type() == Variant::NIL) {
-			break;
-		}
-		argc++;
-	}
-
-	Callable::CallError error;
-
-	Variant ret = call(p_name, argptr, argc, error);
-	return ret;
-}
-
-Variant Object::call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
+Variant Object::callp(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
 	r_error.error = Callable::CallError::CALL_OK;
 
 	if (p_method == CoreStringNames::get_singleton()->_free) {
@@ -808,7 +795,7 @@ Variant Object::call(const StringName &p_method, const Variant **p_args, int p_a
 	OBJ_DEBUG_LOCK
 
 	if (script_instance) {
-		ret = script_instance->call(p_method, p_args, p_argcount, r_error);
+		ret = script_instance->callp(p_method, p_args, p_argcount, r_error);
 		//force jumptable
 		switch (r_error.error) {
 			case Callable::CallError::CALL_OK:
@@ -1027,12 +1014,12 @@ Variant Object::_emit_signal(const Variant **p_args, int p_argcount, Callable::C
 		args = &p_args[1];
 	}
 
-	emit_signal(signal, args, argc);
+	emit_signalp(signal, args, argc);
 
 	return Variant();
 }
 
-Error Object::emit_signal(const StringName &p_name, const Variant **p_args, int p_argcount) {
+Error Object::emit_signalp(const StringName &p_name, const Variant **p_args, int p_argcount) {
 	if (_block_signals) {
 		return ERR_CANT_ACQUIRE_RESOURCE; //no emit, signals blocked
 	}
@@ -1091,7 +1078,7 @@ Error Object::emit_signal(const StringName &p_name, const Variant **p_args, int
 		}
 
 		if (c.flags & CONNECT_DEFERRED) {
-			MessageQueue::get_singleton()->push_callable(c.callable, args, argc, true);
+			MessageQueue::get_singleton()->push_callablep(c.callable, args, argc, true);
 		} else {
 			Callable::CallError ce;
 			_emitting = true;
@@ -1139,21 +1126,6 @@ Error Object::emit_signal(const StringName &p_name, const Variant **p_args, int
 	return err;
 }
 
-Error Object::emit_signal(const StringName &p_name, VARIANT_ARG_DECLARE) {
-	VARIANT_ARGPTRS;
-
-	int argc = 0;
-
-	for (int i = 0; i < VARIANT_ARG_MAX; i++) {
-		if (argptr[i]->get_type() == Variant::NIL) {
-			break;
-		}
-		argc++;
-	}
-
-	return emit_signal(p_name, argptr, argc);
-}
-
 void Object::_add_user_signal(const String &p_name, const Array &p_args) {
 	// this version of add_user_signal is meant to be used from scripts or external apis
 	// without access to ADD_SIGNAL in bind_methods
@@ -1648,10 +1620,6 @@ void Object::_bind_methods() {
 	BIND_ENUM_CONSTANT(CONNECT_REFERENCE_COUNTED);
 }
 
-void Object::call_deferred(const StringName &p_method, VARIANT_ARG_DECLARE) {
-	MessageQueue::get_singleton()->push_call(this, p_method, VARIANT_ARG_PASS);
-}
-
 void Object::set_deferred(const StringName &p_property, const Variant &p_value) {
 	MessageQueue::get_singleton()->push_set(this, p_property, p_value);
 }
diff --git a/core/object/object.h b/core/object/object.h
index b5be1cf0e7..3aa7e3f9f2 100644
--- a/core/object/object.h
+++ b/core/object/object.h
@@ -32,6 +32,7 @@
 #define OBJECT_H
 
 #include "core/extension/gdnative_interface.h"
+#include "core/object/message_queue.h"
 #include "core/object/object_id.h"
 #include "core/os/rw_lock.h"
 #include "core/os/spin_lock.h"
@@ -44,14 +45,6 @@
 #include "core/variant/callable_bind.h"
 #include "core/variant/variant.h"
 
-#define VARIANT_ARG_LIST const Variant &p_arg1 = Variant(), const Variant &p_arg2 = Variant(), const Variant &p_arg3 = Variant(), const Variant &p_arg4 = Variant(), const Variant &p_arg5 = Variant(), const Variant &p_arg6 = Variant(), const Variant &p_arg7 = Variant(), const Variant &p_arg8 = Variant()
-#define VARIANT_ARG_PASS p_arg1, p_arg2, p_arg3, p_arg4, p_arg5, p_arg6, p_arg7, p_arg8
-#define VARIANT_ARG_DECLARE const Variant &p_arg1, const Variant &p_arg2, const Variant &p_arg3, const Variant &p_arg4, const Variant &p_arg5, const Variant &p_arg6, const Variant &p_arg7, const Variant &p_arg8
-#define VARIANT_ARG_MAX 8
-#define VARIANT_ARGPTRS const Variant *argptr[8] = { &p_arg1, &p_arg2, &p_arg3, &p_arg4, &p_arg5, &p_arg6, &p_arg7, &p_arg8 };
-#define VARIANT_ARGPTRS_PASS *argptr[0], *argptr[1], *argptr[2], *argptr[3], *argptr[4], *argptr[5], *argptr[6]], *argptr[7]
-#define VARIANT_ARGS_FROM_ARRAY(m_arr) m_arr[0], m_arr[1], m_arr[2], m_arr[3], m_arr[4], m_arr[5], m_arr[6], m_arr[7]
-
 enum PropertyHint {
 	PROPERTY_HINT_NONE, ///< no hint provided.
 	PROPERTY_HINT_RANGE, ///< hint_text = "min,max[,step][,or_greater][,or_lesser][,noslider][,radians][,degrees][,exp][,suffix:<keyword>] range.
@@ -262,6 +255,7 @@ struct ObjectNativeExtension {
 	GDNativeExtensionClassToString to_string;
 	GDNativeExtensionClassReference reference;
 	GDNativeExtensionClassReference unreference;
+	GDNativeExtensionClassGetRID get_rid;
 
 	_FORCE_INLINE_ bool is_class(const String &p_class) const {
 		const ObjectNativeExtension *e = this;
@@ -280,8 +274,12 @@ struct ObjectNativeExtension {
 	GDNativeExtensionClassGetVirtual get_virtual;
 };
 
-#define GDVIRTUAL_CALL(m_name, ...) _gdvirtual_##m_name##_call(__VA_ARGS__)
-#define GDVIRTUAL_CALL_PTR(m_obj, m_name, ...) m_obj->_gdvirtual_##m_name##_call(__VA_ARGS__)
+#define GDVIRTUAL_CALL(m_name, ...) _gdvirtual_##m_name##_call<false>(__VA_ARGS__)
+#define GDVIRTUAL_CALL_PTR(m_obj, m_name, ...) m_obj->_gdvirtual_##m_name##_call<false>(__VA_ARGS__)
+
+#define GDVIRTUAL_REQUIRED_CALL(m_name, ...) _gdvirtual_##m_name##_call<true>(__VA_ARGS__)
+#define GDVIRTUAL_REQUIRED_CALL_PTR(m_obj, m_name, ...) m_obj->_gdvirtual_##m_name##_call<true>(__VA_ARGS__)
+
 #ifdef DEBUG_METHODS_ENABLED
 #define GDVIRTUAL_BIND(m_name, ...) ::ClassDB::add_virtual_method(get_class_static(), _gdvirtual_##m_name##_get_method_info(), true, sarray(__VA_ARGS__));
 #else
@@ -734,8 +732,18 @@ public:
 	bool has_method(const StringName &p_method) const;
 	void get_method_list(List<MethodInfo> *p_list) const;
 	Variant callv(const StringName &p_method, const Array &p_args);
-	virtual Variant call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error);
-	Variant call(const StringName &p_name, VARIANT_ARG_LIST); // C++ helper
+	virtual Variant callp(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error);
+
+	template <typename... VarArgs>
+	Variant call(const StringName &p_method, VarArgs... p_args) {
+		Variant args[sizeof...(p_args) + 1] = { p_args..., Variant() }; // +1 makes sure zero sized arrays are also supported.
+		const Variant *argptrs[sizeof...(p_args) + 1];
+		for (uint32_t i = 0; i < sizeof...(p_args); i++) {
+			argptrs[i] = &args[i];
+		}
+		Callable::CallError cerr;
+		return callp(p_method, sizeof...(p_args) == 0 ? nullptr : (const Variant **)argptrs, sizeof...(p_args), cerr);
+	}
 
 	void notification(int p_notification, bool p_reversed = false);
 	virtual String to_string();
@@ -769,8 +777,18 @@ public:
 	void set_script_and_instance(const Variant &p_script, ScriptInstance *p_instance);
 
 	void add_user_signal(const MethodInfo &p_signal);
-	Error emit_signal(const StringName &p_name, VARIANT_ARG_LIST);
-	Error emit_signal(const StringName &p_name, const Variant **p_args, int p_argcount);
+
+	template <typename... VarArgs>
+	Error emit_signal(const StringName &p_name, VarArgs... p_args) {
+		Variant args[sizeof...(p_args) + 1] = { p_args..., Variant() }; // +1 makes sure zero sized arrays are also supported.
+		const Variant *argptrs[sizeof...(p_args) + 1];
+		for (uint32_t i = 0; i < sizeof...(p_args); i++) {
+			argptrs[i] = &args[i];
+		}
+		return emit_signalp(p_name, sizeof...(p_args) == 0 ? nullptr : (const Variant **)argptrs, sizeof...(p_args));
+	}
+
+	Error emit_signalp(const StringName &p_name, const Variant **p_args, int p_argcount);
 	bool has_signal(const StringName &p_name) const;
 	void get_signal_list(List<MethodInfo> *p_signals) const;
 	void get_signal_connection_list(const StringName &p_signal, List<Connection> *p_connections) const;
@@ -782,7 +800,11 @@ public:
 	void disconnect(const StringName &p_signal, const Callable &p_callable);
 	bool is_connected(const StringName &p_signal, const Callable &p_callable) const;
 
-	void call_deferred(const StringName &p_method, VARIANT_ARG_LIST);
+	template <typename... VarArgs>
+	void call_deferred(const StringName &p_name, VarArgs... p_args) {
+		MessageQueue::get_singleton()->push_call(this, p_name, p_args...);
+	}
+
 	void set_deferred(const StringName &p_property, const Variant &p_value);
 
 	void set_block_signals(bool p_block);
diff --git a/core/object/script_language.cpp b/core/object/script_language.cpp
index b14296b815..11440c37fe 100644
--- a/core/object/script_language.cpp
+++ b/core/object/script_language.cpp
@@ -310,20 +310,6 @@ void ScriptInstance::get_property_state(List<Pair<StringName, Variant>> &state)
 	}
 }
 
-Variant ScriptInstance::call(const StringName &p_method, VARIANT_ARG_DECLARE) {
-	VARIANT_ARGPTRS;
-	int argc = 0;
-	for (int i = 0; i < VARIANT_ARG_MAX; i++) {
-		if (argptr[i]->get_type() == Variant::NIL) {
-			break;
-		}
-		argc++;
-	}
-
-	Callable::CallError error;
-	return call(p_method, argptr, argc, error);
-}
-
 void ScriptInstance::property_set_fallback(const StringName &, const Variant &, bool *r_valid) {
 	if (r_valid) {
 		*r_valid = false;
diff --git a/core/object/script_language.h b/core/object/script_language.h
index 4b18d9a5e8..2122f785b6 100644
--- a/core/object/script_language.h
+++ b/core/object/script_language.h
@@ -176,8 +176,20 @@ public:
 
 	virtual void get_method_list(List<MethodInfo> *p_list) const = 0;
 	virtual bool has_method(const StringName &p_method) const = 0;
-	virtual Variant call(const StringName &p_method, VARIANT_ARG_LIST);
-	virtual Variant call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) = 0;
+
+	virtual Variant callp(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) = 0;
+
+	template <typename... VarArgs>
+	Variant call(const StringName &p_method, VarArgs... p_args) {
+		Variant args[sizeof...(p_args) + 1] = { p_args..., Variant() }; // +1 makes sure zero sized arrays are also supported.
+		const Variant *argptrs[sizeof...(p_args) + 1];
+		for (uint32_t i = 0; i < sizeof...(p_args); i++) {
+			argptrs[i] = &args[i];
+		}
+		Callable::CallError cerr;
+		return callp(p_method, sizeof...(p_args) == 0 ? nullptr : (const Variant **)argptrs, sizeof...(p_args), cerr);
+	}
+
 	virtual void notification(int p_notification) = 0;
 	virtual String to_string(bool *r_valid) {
 		if (r_valid) {
@@ -419,8 +431,8 @@ public:
 
 	virtual void get_method_list(List<MethodInfo> *p_list) const;
 	virtual bool has_method(const StringName &p_method) const;
-	virtual Variant call(const StringName &p_method, VARIANT_ARG_LIST) { return Variant(); }
-	virtual Variant call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
+
+	virtual Variant callp(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
 		r_error.error = Callable::CallError::CALL_ERROR_INVALID_METHOD;
 		return Variant();
 	}
diff --git a/core/object/undo_redo.cpp b/core/object/undo_redo.cpp
index b78328fb42..ee8eb97a93 100644
--- a/core/object/undo_redo.cpp
+++ b/core/object/undo_redo.cpp
@@ -126,8 +126,7 @@ void UndoRedo::create_action(const String &p_name, MergeMode p_mode) {
 	force_keep_in_merge_ends = false;
 }
 
-void UndoRedo::add_do_method(Object *p_object, const StringName &p_method, VARIANT_ARG_DECLARE) {
-	VARIANT_ARGPTRS
+void UndoRedo::add_do_methodp(Object *p_object, const StringName &p_method, const Variant **p_args, int p_argcount) {
 	ERR_FAIL_COND(p_object == nullptr);
 	ERR_FAIL_COND(action_level <= 0);
 	ERR_FAIL_COND((current_action + 1) >= actions.size());
@@ -140,14 +139,13 @@ void UndoRedo::add_do_method(Object *p_object, const StringName &p_method, VARIA
 	do_op.type = Operation::TYPE_METHOD;
 	do_op.name = p_method;
 
-	for (int i = 0; i < VARIANT_ARG_MAX; i++) {
-		do_op.args[i] = *argptr[i];
+	for (int i = 0; i < p_argcount; i++) {
+		do_op.args.push_back(*p_args[i]);
 	}
 	actions.write[current_action + 1].do_ops.push_back(do_op);
 }
 
-void UndoRedo::add_undo_method(Object *p_object, const StringName &p_method, VARIANT_ARG_DECLARE) {
-	VARIANT_ARGPTRS
+void UndoRedo::add_undo_methodp(Object *p_object, const StringName &p_method, const Variant **p_args, int p_argcount) {
 	ERR_FAIL_COND(p_object == nullptr);
 	ERR_FAIL_COND(action_level <= 0);
 	ERR_FAIL_COND((current_action + 1) >= actions.size());
@@ -167,8 +165,8 @@ void UndoRedo::add_undo_method(Object *p_object, const StringName &p_method, VAR
 	undo_op.force_keep_in_merge_ends = force_keep_in_merge_ends;
 	undo_op.name = p_method;
 
-	for (int i = 0; i < VARIANT_ARG_MAX; i++) {
-		undo_op.args[i] = *argptr[i];
+	for (int i = 0; i < p_argcount; i++) {
+		undo_op.args.push_back(*p_args[i]);
 	}
 	actions.write[current_action + 1].undo_ops.push_back(undo_op);
 }
@@ -185,7 +183,7 @@ void UndoRedo::add_do_property(Object *p_object, const StringName &p_property, c
 
 	do_op.type = Operation::TYPE_PROPERTY;
 	do_op.name = p_property;
-	do_op.args[0] = p_value;
+	do_op.args.push_back(p_value);
 	actions.write[current_action + 1].do_ops.push_back(do_op);
 }
 
@@ -208,7 +206,7 @@ void UndoRedo::add_undo_property(Object *p_object, const StringName &p_property,
 	undo_op.type = Operation::TYPE_PROPERTY;
 	undo_op.force_keep_in_merge_ends = force_keep_in_merge_ends;
 	undo_op.name = p_property;
-	undo_op.args[0] = p_value;
+	undo_op.args.push_back(p_value);
 	actions.write[current_action + 1].undo_ops.push_back(undo_op);
 }
 
@@ -314,23 +312,18 @@ void UndoRedo::_process_operation_list(List<Operation>::Element *E) {
 
 		switch (op.type) {
 			case Operation::TYPE_METHOD: {
+				int argc = op.args.size();
 				Vector<const Variant *> argptrs;
-				argptrs.resize(VARIANT_ARG_MAX);
-				int argc = 0;
+				argptrs.resize(argc);
 
-				for (int i = 0; i < VARIANT_ARG_MAX; i++) {
-					if (op.args[i].get_type() == Variant::NIL) {
-						break;
-					}
+				for (int i = 0; i < argc; i++) {
 					argptrs.write[i] = &op.args[i];
-					argc++;
 				}
-				argptrs.resize(argc);
 
 				Callable::CallError ce;
-				obj->call(op.name, (const Variant **)argptrs.ptr(), argc, ce);
+				obj->callp(op.name, (const Variant **)argptrs.ptr(), argc, ce);
 				if (ce.error != Callable::CallError::CALL_OK) {
-					ERR_PRINT("Error calling method from signal '" + String(op.name) + "': " + Variant::get_call_error_text(obj, op.name, (const Variant **)argptrs.ptr(), argc, ce));
+					ERR_PRINT("Error calling UndoRedo method operation '" + String(op.name) + "': " + Variant::get_call_error_text(obj, op.name, (const Variant **)argptrs.ptr(), argc, ce));
 				}
 #ifdef TOOLS_ENABLED
 				Resource *res = Object::cast_to<Resource>(obj);
@@ -341,7 +334,7 @@ void UndoRedo::_process_operation_list(List<Operation>::Element *E) {
 #endif
 
 				if (method_callback) {
-					method_callback(method_callbck_ud, obj, op.name, VARIANT_ARGS_FROM_ARRAY(op.args));
+					method_callback(method_callback_ud, obj, op.name, (const Variant **)argptrs.ptr(), argc);
 				}
 			} break;
 			case Operation::TYPE_PROPERTY: {
@@ -439,7 +432,7 @@ void UndoRedo::set_commit_notify_callback(CommitNotifyCallback p_callback, void
 
 void UndoRedo::set_method_notify_callback(MethodNotifyCallback p_method_callback, void *p_ud) {
 	method_callback = p_method_callback;
-	method_callbck_ud = p_ud;
+	method_callback_ud = p_ud;
 }
 
 void UndoRedo::set_property_notify_callback(PropertyNotifyCallback p_property_callback, void *p_ud) {
@@ -477,14 +470,7 @@ Variant UndoRedo::_add_do_method(const Variant **p_args, int p_argcount, Callabl
 	Object *object = *p_args[0];
 	StringName method = *p_args[1];
 
-	Variant v[VARIANT_ARG_MAX];
-
-	for (int i = 0; i < MIN(VARIANT_ARG_MAX, p_argcount - 2); ++i) {
-		v[i] = *p_args[i + 2];
-	}
-
-	static_assert(VARIANT_ARG_MAX == 8, "This code needs to be updated if VARIANT_ARG_MAX != 8");
-	add_do_method(object, method, v[0], v[1], v[2], v[3], v[4], v[5], v[6], v[7]);
+	add_do_methodp(object, method, p_args + 2, p_argcount - 2);
 	return Variant();
 }
 
@@ -514,14 +500,7 @@ Variant UndoRedo::_add_undo_method(const Variant **p_args, int p_argcount, Calla
 	Object *object = *p_args[0];
 	StringName method = *p_args[1];
 
-	Variant v[VARIANT_ARG_MAX];
-
-	for (int i = 0; i < MIN(VARIANT_ARG_MAX, p_argcount - 2); ++i) {
-		v[i] = *p_args[i + 2];
-	}
-
-	static_assert(VARIANT_ARG_MAX == 8, "This code needs to be updated if VARIANT_ARG_MAX != 8");
-	add_undo_method(object, method, v[0], v[1], v[2], v[3], v[4], v[5], v[6], v[7]);
+	add_undo_methodp(object, method, p_args + 2, p_argcount - 2);
 	return Variant();
 }
 
diff --git a/core/object/undo_redo.h b/core/object/undo_redo.h
index 5eede74e2d..ecd7a21167 100644
--- a/core/object/undo_redo.h
+++ b/core/object/undo_redo.h
@@ -49,7 +49,7 @@ public:
 	Variant _add_do_method(const Variant **p_args, int p_argcount, Callable::CallError &r_error);
 	Variant _add_undo_method(const Variant **p_args, int p_argcount, Callable::CallError &r_error);
 
-	typedef void (*MethodNotifyCallback)(void *p_ud, Object *p_base, const StringName &p_name, VARIANT_ARG_DECLARE);
+	typedef void (*MethodNotifyCallback)(void *p_ud, Object *p_base, const StringName &p_name, const Variant **p_args, int p_argcount);
 	typedef void (*PropertyNotifyCallback)(void *p_ud, Object *p_base, const StringName &p_property, const Variant &p_value);
 
 private:
@@ -65,7 +65,7 @@ private:
 		Ref<RefCounted> ref;
 		ObjectID object;
 		StringName name;
-		Variant args[VARIANT_ARG_MAX];
+		Vector<Variant> args;
 
 		void delete_reference();
 	};
@@ -92,7 +92,7 @@ private:
 
 	CommitNotifyCallback callback = nullptr;
 	void *callback_ud = nullptr;
-	void *method_callbck_ud = nullptr;
+	void *method_callback_ud = nullptr;
 	void *prop_callback_ud = nullptr;
 
 	MethodNotifyCallback method_callback = nullptr;
@@ -106,8 +106,30 @@ protected:
 public:
 	void create_action(const String &p_name = "", MergeMode p_mode = MERGE_DISABLE);
 
-	void add_do_method(Object *p_object, const StringName &p_method, VARIANT_ARG_LIST);
-	void add_undo_method(Object *p_object, const StringName &p_method, VARIANT_ARG_LIST);
+	void add_do_methodp(Object *p_object, const StringName &p_method, const Variant **p_args, int p_argcount);
+	void add_undo_methodp(Object *p_object, const StringName &p_method, const Variant **p_args, int p_argcount);
+
+	template <typename... VarArgs>
+	void add_do_method(Object *p_object, const StringName &p_method, VarArgs... p_args) {
+		Variant args[sizeof...(p_args) + 1] = { p_args..., Variant() }; // +1 makes sure zero sized arrays are also supported.
+		const Variant *argptrs[sizeof...(p_args) + 1];
+		for (uint32_t i = 0; i < sizeof...(p_args); i++) {
+			argptrs[i] = &args[i];
+		}
+
+		add_do_methodp(p_object, p_method, sizeof...(p_args) == 0 ? nullptr : (const Variant **)argptrs, sizeof...(p_args));
+	}
+	template <typename... VarArgs>
+	void add_undo_method(Object *p_object, const StringName &p_method, VarArgs... p_args) {
+		Variant args[sizeof...(p_args) + 1] = { p_args..., Variant() }; // +1 makes sure zero sized arrays are also supported.
+		const Variant *argptrs[sizeof...(p_args) + 1];
+		for (uint32_t i = 0; i < sizeof...(p_args); i++) {
+			argptrs[i] = &args[i];
+		}
+
+		add_undo_methodp(p_object, p_method, sizeof...(p_args) == 0 ? nullptr : (const Variant **)argptrs, sizeof...(p_args));
+	}
+
 	void add_do_property(Object *p_object, const StringName &p_property, const Variant &p_value);
 	void add_undo_property(Object *p_object, const StringName &p_property, const Variant &p_value);
 	void add_do_reference(Object *p_object);
diff --git a/core/register_core_types.cpp b/core/register_core_types.cpp
index 63aa8050c4..2aa47c6c96 100644
--- a/core/register_core_types.cpp
+++ b/core/register_core_types.cpp
@@ -141,7 +141,7 @@ void register_core_types() {
 
 	GDREGISTER_CLASS(Object);
 
-	GDREGISTER_VIRTUAL_CLASS(Script);
+	GDREGISTER_ABSTRACT_CLASS(Script);
 
 	GDREGISTER_CLASS(RefCounted);
 	GDREGISTER_CLASS(WeakRef);
@@ -149,12 +149,12 @@ void register_core_types() {
 	GDREGISTER_CLASS(Image);
 
 	GDREGISTER_CLASS(Shortcut);
-	GDREGISTER_VIRTUAL_CLASS(InputEvent);
-	GDREGISTER_VIRTUAL_CLASS(InputEventWithModifiers);
-	GDREGISTER_VIRTUAL_CLASS(InputEventFromWindow);
+	GDREGISTER_ABSTRACT_CLASS(InputEvent);
+	GDREGISTER_ABSTRACT_CLASS(InputEventWithModifiers);
+	GDREGISTER_ABSTRACT_CLASS(InputEventFromWindow);
 	GDREGISTER_CLASS(InputEventKey);
 	GDREGISTER_CLASS(InputEventShortcut);
-	GDREGISTER_VIRTUAL_CLASS(InputEventMouse);
+	GDREGISTER_ABSTRACT_CLASS(InputEventMouse);
 	GDREGISTER_CLASS(InputEventMouseButton);
 	GDREGISTER_CLASS(InputEventMouseMotion);
 	GDREGISTER_CLASS(InputEventJoypadButton);
@@ -162,21 +162,21 @@ void register_core_types() {
 	GDREGISTER_CLASS(InputEventScreenDrag);
 	GDREGISTER_CLASS(InputEventScreenTouch);
 	GDREGISTER_CLASS(InputEventAction);
-	GDREGISTER_VIRTUAL_CLASS(InputEventGesture);
+	GDREGISTER_ABSTRACT_CLASS(InputEventGesture);
 	GDREGISTER_CLASS(InputEventMagnifyGesture);
 	GDREGISTER_CLASS(InputEventPanGesture);
 	GDREGISTER_CLASS(InputEventMIDI);
 
 	// Network
-	GDREGISTER_VIRTUAL_CLASS(IP);
+	GDREGISTER_ABSTRACT_CLASS(IP);
 
-	GDREGISTER_VIRTUAL_CLASS(StreamPeer);
+	GDREGISTER_ABSTRACT_CLASS(StreamPeer);
 	GDREGISTER_CLASS(StreamPeerExtension);
 	GDREGISTER_CLASS(StreamPeerBuffer);
 	GDREGISTER_CLASS(StreamPeerTCP);
 	GDREGISTER_CLASS(TCPServer);
 
-	GDREGISTER_VIRTUAL_CLASS(PacketPeer);
+	GDREGISTER_ABSTRACT_CLASS(PacketPeer);
 	GDREGISTER_CLASS(PacketPeerExtension);
 	GDREGISTER_CLASS(PacketPeerStream);
 	GDREGISTER_CLASS(PacketPeerUDP);
@@ -200,7 +200,7 @@ void register_core_types() {
 	resource_format_loader_crypto.instantiate();
 	ResourceLoader::add_resource_format_loader(resource_format_loader_crypto);
 
-	GDREGISTER_VIRTUAL_CLASS(MultiplayerPeer);
+	GDREGISTER_ABSTRACT_CLASS(MultiplayerPeer);
 	GDREGISTER_CLASS(MultiplayerPeerExtension);
 	GDREGISTER_CLASS(MultiplayerAPI);
 	GDREGISTER_CLASS(MainLoop);
@@ -226,19 +226,19 @@ void register_core_types() {
 	GDREGISTER_CLASS(PCKPacker);
 
 	GDREGISTER_CLASS(PackedDataContainer);
-	GDREGISTER_VIRTUAL_CLASS(PackedDataContainerRef);
+	GDREGISTER_ABSTRACT_CLASS(PackedDataContainerRef);
 	GDREGISTER_CLASS(AStar);
 	GDREGISTER_CLASS(AStar2D);
 	GDREGISTER_CLASS(EncodedObjectAsID);
 	GDREGISTER_CLASS(RandomNumberGenerator);
 
-	GDREGISTER_VIRTUAL_CLASS(ResourceImporter);
+	GDREGISTER_ABSTRACT_CLASS(ResourceImporter);
 
 	GDREGISTER_CLASS(NativeExtension);
 
-	GDREGISTER_VIRTUAL_CLASS(NativeExtensionManager);
+	GDREGISTER_ABSTRACT_CLASS(NativeExtensionManager);
 
-	GDREGISTER_VIRTUAL_CLASS(ResourceUID);
+	GDREGISTER_ABSTRACT_CLASS(ResourceUID);
 
 	GDREGISTER_CLASS(EngineProfiler);
 
@@ -276,7 +276,7 @@ void register_core_settings() {
 
 void register_core_singletons() {
 	GDREGISTER_CLASS(ProjectSettings);
-	GDREGISTER_VIRTUAL_CLASS(IP);
+	GDREGISTER_ABSTRACT_CLASS(IP);
 	GDREGISTER_CLASS(core_bind::Geometry2D);
 	GDREGISTER_CLASS(core_bind::Geometry3D);
 	GDREGISTER_CLASS(core_bind::ResourceLoader);
@@ -286,7 +286,7 @@ void register_core_singletons() {
 	GDREGISTER_CLASS(core_bind::special::ClassDB);
 	GDREGISTER_CLASS(core_bind::Marshalls);
 	GDREGISTER_CLASS(TranslationServer);
-	GDREGISTER_VIRTUAL_CLASS(Input);
+	GDREGISTER_ABSTRACT_CLASS(Input);
 	GDREGISTER_CLASS(InputMap);
 	GDREGISTER_CLASS(Expression);
 	GDREGISTER_CLASS(core_bind::EngineDebugger);
diff --git a/core/templates/paged_allocator.h b/core/templates/paged_allocator.h
index 5bc723787f..b9067e2edd 100644
--- a/core/templates/paged_allocator.h
+++ b/core/templates/paged_allocator.h
@@ -86,10 +86,10 @@ public:
 		}
 		p_mem->~T();
 		available_pool[allocs_available >> page_shift][allocs_available & page_mask] = p_mem;
+		allocs_available++;
 		if (thread_safe) {
 			spin_lock.unlock();
 		}
-		allocs_available++;
 	}
 
 	void reset(bool p_allow_unfreed = false) {
diff --git a/core/templates/pooled_list.h b/core/templates/pooled_list.h
index 360fda81f8..f13156b292 100644
--- a/core/templates/pooled_list.h
+++ b/core/templates/pooled_list.h
@@ -28,16 +28,13 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef POOLED_LIST_H
-#define POOLED_LIST_H
-
-#include "core/templates/local_vector.h"
+#pragma once
 
 // Simple template to provide a pool with O(1) allocate and free.
 // The freelist could alternatively be a linked list placed within the unused elements
 // to use less memory, however a separate freelist is probably more cache friendly.
-//
-// NOTE: Take great care when using this with non POD types. The construction and destruction
+
+// NOTE : Take great care when using this with non POD types. The construction and destruction
 // is done in the LocalVector, NOT as part of the pool. So requesting a new item does not guarantee
 // a constructor is run, and free does not guarantee a destructor.
 // You should generally handle clearing
@@ -45,33 +42,60 @@
 // This is by design for fastest use in the BVH. If you want a more general pool
 // that does call constructors / destructors on request / free, this should probably be
 // a separate template.
-template <class T, bool force_trivial = false>
+
+// The zero_on_first_request feature is optional and is useful for e.g. pools of handles,
+// which may use a ref count which we want to be initialized to zero the first time a handle is created,
+// but left alone on subsequent allocations (as will typically be incremented).
+
+// Note that there is no function to compact the pool - this would
+// invalidate any existing pool IDs held externally.
+// Compaction can be done but would rely on a more complex method
+// of preferentially giving out lower IDs in the freelist first.
+
+#include "core/templates/local_vector.h"
+
+template <class T, class U = uint32_t, bool force_trivial = false, bool zero_on_first_request = false>
 class PooledList {
-	LocalVector<T, uint32_t, force_trivial> list;
-	LocalVector<uint32_t, uint32_t, true> freelist;
+	LocalVector<T, U, force_trivial> list;
+	LocalVector<U, U, true> freelist;
 
 	// not all list members are necessarily used
-	int _used_size;
+	U _used_size;
 
 public:
 	PooledList() {
 		_used_size = 0;
 	}
 
-	int estimate_memory_use() const {
-		return (list.size() * sizeof(T)) + (freelist.size() * sizeof(uint32_t));
+	// Use with care, in most cases you should make sure to
+	// free all elements first (i.e. _used_size would be zero),
+	// although it could also be used without this as an optimization
+	// in some cases.
+	void clear() {
+		list.clear();
+		freelist.clear();
+		_used_size = 0;
+	}
+
+	uint64_t estimate_memory_use() const {
+		return ((uint64_t)list.size() * sizeof(T)) + ((uint64_t)freelist.size() * sizeof(U));
 	}
 
-	const T &operator[](uint32_t p_index) const {
+	const T &operator[](U p_index) const {
 		return list[p_index];
 	}
-	T &operator[](uint32_t p_index) {
+	T &operator[](U p_index) {
 		return list[p_index];
 	}
 
-	int size() const { return _used_size; }
+	// To be explicit in a pool there is a distinction
+	// between the number of elements that are currently
+	// in use, and the number of elements that have been reserved.
+	// Using size() would be vague.
+	U used_size() const { return _used_size; }
+	U reserved_size() const { return list.size(); }
 
-	T *request(uint32_t &r_id) {
+	T *request(U &r_id) {
 		_used_size++;
 
 		if (freelist.size()) {
@@ -79,19 +103,106 @@ public:
 			int new_size = freelist.size() - 1;
 			r_id = freelist[new_size];
 			freelist.resize(new_size);
+
 			return &list[r_id];
 		}
 
 		r_id = list.size();
 		list.resize(r_id + 1);
+
+		static_assert((!zero_on_first_request) || (__is_pod(T)), "zero_on_first_request requires trivial type");
+		if (zero_on_first_request && __is_pod(T)) {
+			list[r_id] = {};
+		}
+
 		return &list[r_id];
 	}
-	void free(const uint32_t &p_id) {
+	void free(const U &p_id) {
 		// should not be on free list already
-		CRASH_COND(p_id >= list.size());
+		ERR_FAIL_UNSIGNED_INDEX(p_id, list.size());
 		freelist.push_back(p_id);
+		ERR_FAIL_COND_MSG(!_used_size, "_used_size has become out of sync, have you double freed an item?");
 		_used_size--;
 	}
 };
 
-#endif // POOLED_LIST_H
+// a pooled list which automatically keeps a list of the active members
+template <class T, class U = uint32_t, bool force_trivial = false, bool zero_on_first_request = false>
+class TrackedPooledList {
+public:
+	U pool_used_size() const { return _pool.used_size(); }
+	U pool_reserved_size() const { return _pool.reserved_size(); }
+	U active_size() const { return _active_list.size(); }
+
+	// use with care, see the earlier notes in the PooledList clear()
+	void clear() {
+		_pool.clear();
+		_active_list.clear();
+		_active_map.clear();
+	}
+
+	U get_active_id(U p_index) const {
+		return _active_list[p_index];
+	}
+
+	const T &get_active(U p_index) const {
+		return _pool[get_active_id(p_index)];
+	}
+
+	T &get_active(U p_index) {
+		return _pool[get_active_id(p_index)];
+	}
+
+	const T &operator[](U p_index) const {
+		return _pool[p_index];
+	}
+	T &operator[](U p_index) {
+		return _pool[p_index];
+	}
+
+	T *request(U &r_id) {
+		T *item = _pool.request(r_id);
+
+		// add to the active list
+		U active_list_id = _active_list.size();
+		_active_list.push_back(r_id);
+
+		// expand the active map (this should be in sync with the pool list
+		if (_pool.used_size() > _active_map.size()) {
+			_active_map.resize(_pool.used_size());
+		}
+
+		// store in the active map
+		_active_map[r_id] = active_list_id;
+
+		return item;
+	}
+
+	void free(const U &p_id) {
+		_pool.free(p_id);
+
+		// remove from the active list.
+		U list_id = _active_map[p_id];
+
+		// zero the _active map to detect bugs (only in debug?)
+		_active_map[p_id] = -1;
+
+		_active_list.remove_unordered(list_id);
+
+		// keep the replacement in sync with the correct list Id
+		if (list_id < _active_list.size()) {
+			// which pool id has been replaced in the active list
+			U replacement_id = _active_list[list_id];
+
+			// keep that replacements map up to date with the new position
+			_active_map[replacement_id] = list_id;
+		}
+	}
+
+	const LocalVector<U, U> &get_active_list() const { return _active_list; }
+
+private:
+	PooledList<T, U, force_trivial, zero_on_first_request> _pool;
+	LocalVector<U, U> _active_map;
+	LocalVector<U, U> _active_list;
+};
diff --git a/core/variant/binder_common.h b/core/variant/binder_common.h
index b6fdb4d902..f31191e8a3 100644
--- a/core/variant/binder_common.h
+++ b/core/variant/binder_common.h
@@ -182,7 +182,7 @@ struct VariantCasterAndValidate {
 	static _FORCE_INLINE_ T cast(const Variant **p_args, uint32_t p_arg_idx, Callable::CallError &r_error) {
 		Variant::Type argtype = GetTypeInfo<T>::VARIANT_TYPE;
 		if (!Variant::can_convert_strict(p_args[p_arg_idx]->get_type(), argtype) ||
-				!VariantObjectClassChecker<T>::check(p_args[p_arg_idx])) {
+				!VariantObjectClassChecker<T>::check(*p_args[p_arg_idx])) {
 			r_error.error = Callable::CallError::CALL_ERROR_INVALID_ARGUMENT;
 			r_error.argument = p_arg_idx;
 			r_error.expected = argtype;
@@ -197,7 +197,7 @@ struct VariantCasterAndValidate<T &> {
 	static _FORCE_INLINE_ T cast(const Variant **p_args, uint32_t p_arg_idx, Callable::CallError &r_error) {
 		Variant::Type argtype = GetTypeInfo<T>::VARIANT_TYPE;
 		if (!Variant::can_convert_strict(p_args[p_arg_idx]->get_type(), argtype) ||
-				!VariantObjectClassChecker<T>::check(p_args[p_arg_idx])) {
+				!VariantObjectClassChecker<T>::check(*p_args[p_arg_idx])) {
 			r_error.error = Callable::CallError::CALL_ERROR_INVALID_ARGUMENT;
 			r_error.argument = p_arg_idx;
 			r_error.expected = argtype;
@@ -212,7 +212,7 @@ struct VariantCasterAndValidate<const T &> {
 	static _FORCE_INLINE_ T cast(const Variant **p_args, uint32_t p_arg_idx, Callable::CallError &r_error) {
 		Variant::Type argtype = GetTypeInfo<T>::VARIANT_TYPE;
 		if (!Variant::can_convert_strict(p_args[p_arg_idx]->get_type(), argtype) ||
-				!VariantObjectClassChecker<T>::check(p_args[p_arg_idx])) {
+				!VariantObjectClassChecker<T>::check(*p_args[p_arg_idx])) {
 			r_error.error = Callable::CallError::CALL_ERROR_INVALID_ARGUMENT;
 			r_error.argument = p_arg_idx;
 			r_error.expected = argtype;
diff --git a/core/variant/callable.cpp b/core/variant/callable.cpp
index 27792ce111..48ed48d120 100644
--- a/core/variant/callable.cpp
+++ b/core/variant/callable.cpp
@@ -37,7 +37,7 @@
 #include "core/object/script_language.h"
 
 void Callable::call_deferred(const Variant **p_arguments, int p_argcount) const {
-	MessageQueue::get_singleton()->push_callable(*this, p_arguments, p_argcount);
+	MessageQueue::get_singleton()->push_callablep(*this, p_arguments, p_argcount);
 }
 
 void Callable::call(const Variant **p_arguments, int p_argcount, Variant &r_return_value, CallError &r_call_error) const {
@@ -59,7 +59,7 @@ void Callable::call(const Variant **p_arguments, int p_argcount, Variant &r_retu
 			return;
 		}
 #endif
-		r_return_value = obj->call(method, p_arguments, p_argcount, r_call_error);
+		r_return_value = obj->callp(method, p_arguments, p_argcount, r_call_error);
 	}
 }
 
@@ -379,7 +379,7 @@ Error Signal::emit(const Variant **p_arguments, int p_argcount) const {
 		return ERR_INVALID_DATA;
 	}
 
-	return obj->emit_signal(name, p_arguments, p_argcount);
+	return obj->emit_signalp(name, p_arguments, p_argcount);
 }
 
 Error Signal::connect(const Callable &p_callable, uint32_t p_flags) {
diff --git a/core/variant/variant.cpp b/core/variant/variant.cpp
index 3d11ed6303..b3e909b489 100644
--- a/core/variant/variant.cpp
+++ b/core/variant/variant.cpp
@@ -1972,7 +1972,7 @@ Variant::operator ::RID() const {
 		}
 #endif
 		Callable::CallError ce;
-		Variant ret = _get_obj().obj->call(CoreStringNames::get_singleton()->get_rid, nullptr, 0, ce);
+		Variant ret = _get_obj().obj->callp(CoreStringNames::get_singleton()->get_rid, nullptr, 0, ce);
 		if (ce.error == Callable::CallError::CALL_OK && ret.get_type() == Variant::RID) {
 			return ret;
 		}
@@ -3309,21 +3309,7 @@ bool Variant::is_shared() const {
 	return false;
 }
 
-Variant Variant::call(const StringName &p_method, VARIANT_ARG_DECLARE) {
-	VARIANT_ARGPTRS;
-	int argc = 0;
-	for (int i = 0; i < VARIANT_ARG_MAX; i++) {
-		if (argptr[i]->get_type() == Variant::NIL) {
-			break;
-		}
-		argc++;
-	}
-
-	Callable::CallError error;
-
-	Variant ret;
-	call(p_method, argptr, argc, ret, error);
-
+void Variant::_variant_call_error(const String &p_method, Callable::CallError &error) {
 	switch (error.error) {
 		case Callable::CallError::CALL_ERROR_INVALID_ARGUMENT: {
 			String err = "Invalid type for argument #" + itos(error.argument) + ", expected '" + Variant::get_type_name(Variant::Type(error.expected)) + "'.";
@@ -3341,8 +3327,6 @@ Variant Variant::call(const StringName &p_method, VARIANT_ARG_DECLARE) {
 		default: {
 		}
 	}
-
-	return ret;
 }
 
 void Variant::construct_from_string(const String &p_string, Variant &r_value, ObjectConstruct p_obj_construct, void *p_construct_ud) {
diff --git a/core/variant/variant.h b/core/variant/variant.h
index 836a67d942..ca18249f36 100644
--- a/core/variant/variant.h
+++ b/core/variant/variant.h
@@ -282,6 +282,14 @@ private:
 	static void _register_variant_utility_functions();
 	static void _unregister_variant_utility_functions();
 
+	void _variant_call_error(const String &p_method, Callable::CallError &error);
+
+	// Avoid accidental conversion. If you reached this point, it's because you most likely forgot to dereference
+	// a Variant pointer (so add * like this: *variant_pointer).
+
+	Variant(const Variant *) {}
+	Variant(const Variant **) {}
+
 public:
 	_FORCE_INLINE_ Type get_type() const {
 		return type;
@@ -527,8 +535,23 @@ public:
 	static int get_builtin_method_count(Variant::Type p_type);
 	static uint32_t get_builtin_method_hash(Variant::Type p_type, const StringName &p_method);
 
-	void call(const StringName &p_method, const Variant **p_args, int p_argcount, Variant &r_ret, Callable::CallError &r_error);
-	Variant call(const StringName &p_method, const Variant &p_arg1 = Variant(), const Variant &p_arg2 = Variant(), const Variant &p_arg3 = Variant(), const Variant &p_arg4 = Variant(), const Variant &p_arg5 = Variant(), const Variant &p_arg6 = Variant(), const Variant &p_arg7 = Variant(), const Variant &p_arg8 = Variant());
+	void callp(const StringName &p_method, const Variant **p_args, int p_argcount, Variant &r_ret, Callable::CallError &r_error);
+
+	template <typename... VarArgs>
+	Variant call(const StringName &p_method, VarArgs... p_args) {
+		Variant args[sizeof...(p_args) + 1] = { p_args..., Variant() }; // +1 makes sure zero sized arrays are also supported.
+		const Variant *argptrs[sizeof...(p_args) + 1];
+		for (uint32_t i = 0; i < sizeof...(p_args); i++) {
+			argptrs[i] = &args[i];
+		}
+		Callable::CallError cerr;
+		Variant ret;
+		callp(p_method, sizeof...(p_args) == 0 ? nullptr : (const Variant **)argptrs, sizeof...(p_args), ret, cerr);
+		if (cerr.error != Callable::CallError::CALL_OK) {
+			_variant_call_error(p_method, cerr);
+		}
+		return ret;
+	}
 
 	static void call_static(Variant::Type p_type, const StringName &p_method, const Variant **p_args, int p_argcount, Variant &r_ret, Callable::CallError &r_error);
 
diff --git a/core/variant/variant_call.cpp b/core/variant/variant_call.cpp
index a5e89eec80..bc29be77fc 100644
--- a/core/variant/variant_call.cpp
+++ b/core/variant/variant_call.cpp
@@ -1003,7 +1003,7 @@ static void register_builtin_method(const Vector<String> &p_argnames, const Vect
 	builtin_method_names[T::get_base_type()].push_back(name);
 }
 
-void Variant::call(const StringName &p_method, const Variant **p_args, int p_argcount, Variant &r_ret, Callable::CallError &r_error) {
+void Variant::callp(const StringName &p_method, const Variant **p_args, int p_argcount, Variant &r_ret, Callable::CallError &r_error) {
 	if (type == Variant::OBJECT) {
 		//call object
 		Object *obj = _get_obj().obj;
@@ -1018,7 +1018,7 @@ void Variant::call(const StringName &p_method, const Variant **p_args, int p_arg
 		}
 
 #endif
-		r_ret = _get_obj().obj->call(p_method, p_args, p_argcount, r_error);
+		r_ret = _get_obj().obj->callp(p_method, p_args, p_argcount, r_error);
 
 		//else if (type==Variant::METHOD) {
 	} else {
diff --git a/core/variant/variant_setget.cpp b/core/variant/variant_setget.cpp
index fa8d26a72b..e604ff9567 100644
--- a/core/variant/variant_setget.cpp
+++ b/core/variant/variant_setget.cpp
@@ -1277,7 +1277,7 @@ bool Variant::iter_init(Variant &r_iter, bool &valid) const {
 			ref.push_back(r_iter);
 			Variant vref = ref;
 			const Variant *refp[] = { &vref };
-			Variant ret = _get_obj().obj->call(CoreStringNames::get_singleton()->_iter_init, refp, 1, ce);
+			Variant ret = _get_obj().obj->callp(CoreStringNames::get_singleton()->_iter_init, refp, 1, ce);
 
 			if (ref.size() != 1 || ce.error != Callable::CallError::CALL_OK) {
 				valid = false;
@@ -1504,7 +1504,7 @@ bool Variant::iter_next(Variant &r_iter, bool &valid) const {
 			ref.push_back(r_iter);
 			Variant vref = ref;
 			const Variant *refp[] = { &vref };
-			Variant ret = _get_obj().obj->call(CoreStringNames::get_singleton()->_iter_next, refp, 1, ce);
+			Variant ret = _get_obj().obj->callp(CoreStringNames::get_singleton()->_iter_next, refp, 1, ce);
 
 			if (ref.size() != 1 || ce.error != Callable::CallError::CALL_OK) {
 				valid = false;
@@ -1686,7 +1686,7 @@ Variant Variant::iter_get(const Variant &r_iter, bool &r_valid) const {
 			Callable::CallError ce;
 			ce.error = Callable::CallError::CALL_OK;
 			const Variant *refp[] = { &r_iter };
-			Variant ret = _get_obj().obj->call(CoreStringNames::get_singleton()->_iter_get, refp, 1, ce);
+			Variant ret = _get_obj().obj->callp(CoreStringNames::get_singleton()->_iter_get, refp, 1, ce);
 
 			if (ce.error != Callable::CallError::CALL_OK) {
 				r_valid = false;
diff --git a/core/variant/variant_utility.cpp b/core/variant/variant_utility.cpp
index e83c71098d..05fb577e2c 100644
--- a/core/variant/variant_utility.cpp
+++ b/core/variant/variant_utility.cpp
@@ -219,10 +219,6 @@ struct VariantUtilityFunctions {
 		return Math::step_decimals(step);
 	}
 
-	static inline int range_step_decimals(float step) {
-		return Math::range_step_decimals(step);
-	}
-
 	static inline double snapped(double value, double step) {
 		return Math::snapped(value, step);
 	}
@@ -1204,7 +1200,6 @@ void Variant::_register_variant_utility_functions() {
 
 	FUNCBINDR(ease, sarray("x", "curve"), Variant::UTILITY_FUNC_TYPE_MATH);
 	FUNCBINDR(step_decimals, sarray("x"), Variant::UTILITY_FUNC_TYPE_MATH);
-	FUNCBINDR(range_step_decimals, sarray("x"), Variant::UTILITY_FUNC_TYPE_MATH);
 	FUNCBINDR(snapped, sarray("x", "step"), Variant::UTILITY_FUNC_TYPE_MATH);
 
 	FUNCBINDR(lerp, sarray("from", "to", "weight"), Variant::UTILITY_FUNC_TYPE_MATH);
diff --git a/doc/classes/@GlobalScope.xml b/doc/classes/@GlobalScope.xml
index 17cb50d1a4..1228cd771c 100644
--- a/doc/classes/@GlobalScope.xml
+++ b/doc/classes/@GlobalScope.xml
@@ -791,12 +791,6 @@
 				[/codeblock]
 			</description>
 		</method>
-		<method name="range_step_decimals">
-			<return type="int" />
-			<argument index="0" name="x" type="float" />
-			<description>
-			</description>
-		</method>
 		<method name="rid_allocate_id">
 			<return type="int" />
 			<description>
@@ -1284,6 +1278,9 @@
 		<constant name="INLINE_ALIGNMENT_TEXT_MASK" value="12" enum="InlineAlignment">
 			A bit mask for [code]INLINE_ALIGNMENT_TO_*[/code] alignment constants.
 		</constant>
+		<constant name="KEY_NONE" value="0" enum="Key">
+			Enum value which doesn't correspond to any key. This is used to initialize [enum Key] properties with a generic state.
+		</constant>
 		<constant name="KEY_SPECIAL" value="16777216" enum="Key">
 			Keycodes with this bit applied are non-printable.
 		</constant>
@@ -2040,6 +2037,9 @@
 		<constant name="KEY_MASK_GROUP_SWITCH" value="1073741824" enum="KeyModifierMask">
 			Group Switch key mask.
 		</constant>
+		<constant name="MOUSE_BUTTON_NONE" value="0" enum="MouseButton">
+			Enum value which doesn't correspond to any mouse button. This is used to initialize [enum MouseButton] properties with a generic state.
+		</constant>
 		<constant name="MOUSE_BUTTON_LEFT" value="1" enum="MouseButton">
 			Left mouse button.
 		</constant>
@@ -2184,6 +2184,9 @@
 		<constant name="JOY_AXIS_MAX" value="10" enum="JoyAxis">
 			The maximum number of game controller axes: OpenVR supports up to 5 Joysticks making a total of 10 axes.
 		</constant>
+		<constant name="MIDI_MESSAGE_NONE" value="0" enum="MIDIMessage">
+			Enum value which doesn't correspond to any MIDI message. This is used to initialize [enum MIDIMessage] properties with a generic state.
+		</constant>
 		<constant name="MIDI_MESSAGE_NOTE_OFF" value="8" enum="MIDIMessage">
 			MIDI note OFF message. See the documentation of [InputEventMIDI] for information of how to use MIDI inputs.
 		</constant>
diff --git a/doc/classes/Area2D.xml b/doc/classes/Area2D.xml
index ed3f873251..1eb74768f5 100644
--- a/doc/classes/Area2D.xml
+++ b/doc/classes/Area2D.xml
@@ -118,8 +118,8 @@
 				Emitted when one of another Area2D's [Shape2D]s enters one of this Area2D's [Shape2D]s. Requires [member monitoring] to be set to [code]true[/code].
 				[code]area_rid[/code] the [RID] of the other Area2D's [CollisionObject2D] used by the [PhysicsServer2D].
 				[code]area[/code] the other Area2D.
-				[code]area_shape_index[/code] the index of the [Shape2D] of the other Area2D used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]area.shape_owner_get_owner(area_shape_index)[/code].
-				[code]local_shape_index[/code] the index of the [Shape2D] of this Area2D used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]self.shape_owner_get_owner(local_shape_index)[/code].
+				[code]area_shape_index[/code] the index of the [Shape2D] of the other Area2D used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]area.shape_owner_get_owner(area.shape_find_owner(area_shape_index))[/code].
+				[code]local_shape_index[/code] the index of the [Shape2D] of this Area2D used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]self.shape_owner_get_owner(self.shape_find_owner(local_shape_index))[/code].
 			</description>
 		</signal>
 		<signal name="area_shape_exited">
@@ -131,8 +131,8 @@
 				Emitted when one of another Area2D's [Shape2D]s exits one of this Area2D's [Shape2D]s. Requires [member monitoring] to be set to [code]true[/code].
 				[code]area_rid[/code] the [RID] of the other Area2D's [CollisionObject2D] used by the [PhysicsServer2D].
 				[code]area[/code] the other Area2D.
-				[code]area_shape_index[/code] the index of the [Shape2D] of the other Area2D used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]area.shape_owner_get_owner(area_shape_index)[/code].
-				[code]local_shape_index[/code] the index of the [Shape2D] of this Area2D used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]self.shape_owner_get_owner(local_shape_index)[/code].
+				[code]area_shape_index[/code] the index of the [Shape2D] of the other Area2D used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]area.shape_owner_get_owner(area.shape_find_owner(area_shape_index))[/code].
+				[code]local_shape_index[/code] the index of the [Shape2D] of this Area2D used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]self.shape_owner_get_owner(self.shape_find_owner(local_shape_index))[/code].
 			</description>
 		</signal>
 		<signal name="body_entered">
@@ -158,8 +158,8 @@
 				Emitted when one of a [PhysicsBody2D] or [TileMap]'s [Shape2D]s enters one of this Area2D's [Shape2D]s. Requires [member monitoring] to be set to [code]true[/code]. [TileMap]s are detected if the [TileSet] has Collision [Shape2D]s.
 				[code]body_rid[/code] the [RID] of the [PhysicsBody2D] or [TileSet]'s [CollisionObject2D] used by the [PhysicsServer2D].
 				[code]body[/code] the [Node], if it exists in the tree, of the [PhysicsBody2D] or [TileMap].
-				[code]body_shape_index[/code] the index of the [Shape2D] of the [PhysicsBody2D] or [TileMap] used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]body.shape_owner_get_owner(body_shape_index)[/code].
-				[code]local_shape_index[/code] the index of the [Shape2D] of this Area2D used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]self.shape_owner_get_owner(local_shape_index)[/code].
+				[code]body_shape_index[/code] the index of the [Shape2D] of the [PhysicsBody2D] or [TileMap] used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]body.shape_owner_get_owner(body.shape_find_owner(body_shape_index))[/code].
+				[code]local_shape_index[/code] the index of the [Shape2D] of this Area2D used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]self.shape_owner_get_owner(self.shape_find_owner(local_shape_index))[/code].
 			</description>
 		</signal>
 		<signal name="body_shape_exited">
@@ -171,8 +171,8 @@
 				Emitted when one of a [PhysicsBody2D] or [TileMap]'s [Shape2D]s exits one of this Area2D's [Shape2D]s. Requires [member monitoring] to be set to [code]true[/code]. [TileMap]s are detected if the [TileSet] has Collision [Shape2D]s.
 				[code]body_rid[/code] the [RID] of the [PhysicsBody2D] or [TileSet]'s [CollisionObject2D] used by the [PhysicsServer2D].
 				[code]body[/code] the [Node], if it exists in the tree, of the [PhysicsBody2D] or [TileMap].
-				[code]body_shape_index[/code] the index of the [Shape2D] of the [PhysicsBody2D] or [TileMap] used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]body.shape_owner_get_owner(body_shape_index)[/code].
-				[code]local_shape_index[/code] the index of the [Shape2D] of this Area2D used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]self.shape_owner_get_owner(local_shape_index)[/code].
+				[code]body_shape_index[/code] the index of the [Shape2D] of the [PhysicsBody2D] or [TileMap] used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]body.shape_owner_get_owner(body.shape_find_owner(body_shape_index))[/code].
+				[code]local_shape_index[/code] the index of the [Shape2D] of this Area2D used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]self.shape_owner_get_owner(self.shape_find_owner(local_shape_index))[/code].
 			</description>
 		</signal>
 	</signals>
diff --git a/doc/classes/Area3D.xml b/doc/classes/Area3D.xml
index 3d893c1ae4..7d14fd825b 100644
--- a/doc/classes/Area3D.xml
+++ b/doc/classes/Area3D.xml
@@ -137,8 +137,8 @@
 				Emitted when one of another Area3D's [Shape3D]s enters one of this Area3D's [Shape3D]s. Requires [member monitoring] to be set to [code]true[/code].
 				[code]area_rid[/code] the [RID] of the other Area3D's [CollisionObject3D] used by the [PhysicsServer3D].
 				[code]area[/code] the other Area3D.
-				[code]area_shape_index[/code] the index of the [Shape3D] of the other Area3D used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]area.shape_owner_get_owner(area_shape_index)[/code].
-				[code]local_shape_index[/code] the index of the [Shape3D] of this Area3D used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]self.shape_owner_get_owner(local_shape_index)[/code].
+				[code]area_shape_index[/code] the index of the [Shape3D] of the other Area3D used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]area.shape_owner_get_owner(area.shape_find_owner(area_shape_index))[/code].
+				[code]local_shape_index[/code] the index of the [Shape3D] of this Area3D used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]self.shape_owner_get_owner(self.shape_find_owner(local_shape_index))[/code].
 			</description>
 		</signal>
 		<signal name="area_shape_exited">
@@ -150,8 +150,8 @@
 				Emitted when one of another Area3D's [Shape3D]s exits one of this Area3D's [Shape3D]s. Requires [member monitoring] to be set to [code]true[/code].
 				[code]area_rid[/code] the [RID] of the other Area3D's [CollisionObject3D] used by the [PhysicsServer3D].
 				[code]area[/code] the other Area3D.
-				[code]area_shape_index[/code] the index of the [Shape3D] of the other Area3D used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]area.shape_owner_get_owner(area_shape_index)[/code].
-				[code]local_shape_index[/code] the index of the [Shape3D] of this Area3D used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]self.shape_owner_get_owner(local_shape_index)[/code].
+				[code]area_shape_index[/code] the index of the [Shape3D] of the other Area3D used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]area.shape_owner_get_owner(area.shape_find_owner(area_shape_index))[/code].
+				[code]local_shape_index[/code] the index of the [Shape3D] of this Area3D used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]self.shape_owner_get_owner(self.shape_find_owner(local_shape_index))[/code].
 			</description>
 		</signal>
 		<signal name="body_entered">
@@ -177,8 +177,8 @@
 				Emitted when one of a [PhysicsBody3D] or [GridMap]'s [Shape3D]s enters one of this Area3D's [Shape3D]s. Requires [member monitoring] to be set to [code]true[/code]. [GridMap]s are detected if the [MeshLibrary] has Collision [Shape3D]s.
 				[code]body_rid[/code] the [RID] of the [PhysicsBody3D] or [MeshLibrary]'s [CollisionObject3D] used by the [PhysicsServer3D].
 				[code]body[/code] the [Node], if it exists in the tree, of the [PhysicsBody3D] or [GridMap].
-				[code]body_shape_index[/code] the index of the [Shape3D] of the [PhysicsBody3D] or [GridMap] used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]body.shape_owner_get_owner(body_shape_index)[/code].
-				[code]local_shape_index[/code] the index of the [Shape3D] of this Area3D used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]self.shape_owner_get_owner(local_shape_index)[/code].
+				[code]body_shape_index[/code] the index of the [Shape3D] of the [PhysicsBody3D] or [GridMap] used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]body.shape_owner_get_owner(body.shape_find_owner(body_shape_index))[/code].
+				[code]local_shape_index[/code] the index of the [Shape3D] of this Area3D used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]self.shape_owner_get_owner(self.shape_find_owner(local_shape_index))[/code].
 			</description>
 		</signal>
 		<signal name="body_shape_exited">
@@ -190,8 +190,8 @@
 				Emitted when one of a [PhysicsBody3D] or [GridMap]'s [Shape3D]s enters one of this Area3D's [Shape3D]s. Requires [member monitoring] to be set to [code]true[/code]. [GridMap]s are detected if the [MeshLibrary] has Collision [Shape3D]s.
 				[code]body_rid[/code] the [RID] of the [PhysicsBody3D] or [MeshLibrary]'s [CollisionObject3D] used by the [PhysicsServer3D].
 				[code]body[/code] the [Node], if it exists in the tree, of the [PhysicsBody3D] or [GridMap].
-				[code]body_shape_index[/code] the index of the [Shape3D] of the [PhysicsBody3D] or [GridMap] used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]body.shape_owner_get_owner(body_shape_index)[/code].
-				[code]local_shape_index[/code] the index of the [Shape3D] of this Area3D used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]self.shape_owner_get_owner(local_shape_index)[/code].
+				[code]body_shape_index[/code] the index of the [Shape3D] of the [PhysicsBody3D] or [GridMap] used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]body.shape_owner_get_owner(body.shape_find_owner(body_shape_index))[/code].
+				[code]local_shape_index[/code] the index of the [Shape3D] of this Area3D used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]self.shape_owner_get_owner(self.shape_find_owner(local_shape_index))[/code].
 			</description>
 		</signal>
 	</signals>
diff --git a/doc/classes/AspectRatioContainer.xml b/doc/classes/AspectRatioContainer.xml
index 41e06e6e98..742a7276d4 100644
--- a/doc/classes/AspectRatioContainer.xml
+++ b/doc/classes/AspectRatioContainer.xml
@@ -34,7 +34,7 @@
 		</constant>
 		<constant name="STRETCH_COVER" value="3" enum="StretchMode">
 			The width and height of child controls is automatically adjusted to make their bounding rectangle cover the entire area of the container while keeping the aspect ratio.
-			When the bounding rectangle of child controls exceed the container's size and [member Control.rect_clip_content] is enabled, this allows to show only the container's area restricted by its own bounding rectangle.
+			When the bounding rectangle of child controls exceed the container's size and [member Control.clip_contents] is enabled, this allows to show only the container's area restricted by its own bounding rectangle.
 		</constant>
 		<constant name="ALIGNMENT_BEGIN" value="0" enum="AlignmentMode">
 			Aligns child controls with the beginning (left or top) of the container.
diff --git a/doc/classes/AudioEffect.xml b/doc/classes/AudioEffect.xml
index 424669eab9..5bfa5be0ca 100644
--- a/doc/classes/AudioEffect.xml
+++ b/doc/classes/AudioEffect.xml
@@ -9,4 +9,11 @@
 	<tutorials>
 		<link title="Audio Mic Record Demo">https://godotengine.org/asset-library/asset/527</link>
 	</tutorials>
+	<methods>
+		<method name="_instantiate" qualifiers="virtual">
+			<return type="AudioEffectInstance" />
+			<description>
+			</description>
+		</method>
+	</methods>
 </class>
diff --git a/doc/classes/AudioEffectInstance.xml b/doc/classes/AudioEffectInstance.xml
index 369b4130d4..f50246d6ca 100644
--- a/doc/classes/AudioEffectInstance.xml
+++ b/doc/classes/AudioEffectInstance.xml
@@ -6,4 +6,19 @@
 	</description>
 	<tutorials>
 	</tutorials>
+	<methods>
+		<method name="_process" qualifiers="virtual">
+			<return type="void" />
+			<argument index="0" name="src_buffer" type="const void*" />
+			<argument index="1" name="dst_buffer" type="AudioFrame*" />
+			<argument index="2" name="frame_count" type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="_process_silence" qualifiers="virtual const">
+			<return type="bool" />
+			<description>
+			</description>
+		</method>
+	</methods>
 </class>
diff --git a/doc/classes/AudioStreamGenerator.xml b/doc/classes/AudioStreamGenerator.xml
index 78a1ed7c51..c8f081215d 100644
--- a/doc/classes/AudioStreamGenerator.xml
+++ b/doc/classes/AudioStreamGenerator.xml
@@ -6,7 +6,7 @@
 	<description>
 		This audio stream does not play back sounds, but expects a script to generate audio data for it instead. See also [AudioStreamGeneratorPlayback].
 		See also [AudioEffectSpectrumAnalyzer] for performing real-time audio spectrum analysis.
-		[b]Note:[/b] Due to performance constraints, this class is best used from C# or from a compiled language via GDNative. If you still want to use this class from GDScript, consider using a lower [member mix_rate] such as 11,025 Hz or 22,050 Hz.
+		[b]Note:[/b] Due to performance constraints, this class is best used from C# or from a compiled language via GDExtension. If you still want to use this class from GDScript, consider using a lower [member mix_rate] such as 11,025 Hz or 22,050 Hz.
 	</description>
 	<tutorials>
 		<link title="Audio Generator Demo">https://godotengine.org/asset-library/asset/526</link>
diff --git a/doc/classes/AudioStreamGeneratorPlayback.xml b/doc/classes/AudioStreamGeneratorPlayback.xml
index 1cd82026a0..06c285bff7 100644
--- a/doc/classes/AudioStreamGeneratorPlayback.xml
+++ b/doc/classes/AudioStreamGeneratorPlayback.xml
@@ -39,14 +39,14 @@
 			<return type="bool" />
 			<argument index="0" name="frames" type="PackedVector2Array" />
 			<description>
-				Pushes several audio data frames to the buffer. This is usually more efficient than [method push_frame] in C# and compiled languages via GDNative, but [method push_buffer] may be [i]less[/i] efficient in GDScript.
+				Pushes several audio data frames to the buffer. This is usually more efficient than [method push_frame] in C# and compiled languages via GDExtension, but [method push_buffer] may be [i]less[/i] efficient in GDScript.
 			</description>
 		</method>
 		<method name="push_frame">
 			<return type="bool" />
 			<argument index="0" name="frame" type="Vector2" />
 			<description>
-				Pushes a single audio data frame to the buffer. This is usually less efficient than [method push_buffer] in C# and compiled languages via GDNative, but [method push_frame] may be [i]more[/i] efficient in GDScript.
+				Pushes a single audio data frame to the buffer. This is usually less efficient than [method push_buffer] in C# and compiled languages via GDExtension, but [method push_frame] may be [i]more[/i] efficient in GDScript.
 			</description>
 		</method>
 	</methods>
diff --git a/doc/classes/AudioStreamPlaybackResampled.xml b/doc/classes/AudioStreamPlaybackResampled.xml
index 228b8c19c0..eb41e4256e 100644
--- a/doc/classes/AudioStreamPlaybackResampled.xml
+++ b/doc/classes/AudioStreamPlaybackResampled.xml
@@ -6,4 +6,23 @@
 	</description>
 	<tutorials>
 	</tutorials>
+	<methods>
+		<method name="_get_stream_sampling_rate" qualifiers="virtual const">
+			<return type="float" />
+			<description>
+			</description>
+		</method>
+		<method name="_mix_resampled" qualifiers="virtual">
+			<return type="int" />
+			<argument index="0" name="dst_buffer" type="AudioFrame*" />
+			<argument index="1" name="frame_count" type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="begin_resample">
+			<return type="void" />
+			<description>
+			</description>
+		</method>
+	</methods>
 </class>
diff --git a/doc/classes/ColorPickerButton.xml b/doc/classes/ColorPickerButton.xml
index e2f1fdfae1..f5e752578e 100644
--- a/doc/classes/ColorPickerButton.xml
+++ b/doc/classes/ColorPickerButton.xml
@@ -6,7 +6,7 @@
 	<description>
 		Encapsulates a [ColorPicker] making it accessible by pressing a button. Pressing the button will toggle the [ColorPicker] visibility.
 		See also [BaseButton] which contains common properties and methods associated with this node.
-		[b]Note:[/b] By default, the button may not be wide enough for the color preview swatch to be visible. Make sure to set [member Control.rect_min_size] to a big enough value to give the button enough space.
+		[b]Note:[/b] By default, the button may not be wide enough for the color preview swatch to be visible. Make sure to set [member Control.minimum_size] to a big enough value to give the button enough space.
 	</description>
 	<tutorials>
 		<link title="GUI Drag And Drop Demo">https://godotengine.org/asset-library/asset/133</link>
diff --git a/doc/classes/CompressedCubemap.xml b/doc/classes/CompressedCubemap.xml
new file mode 100644
index 0000000000..fbb0879fdc
--- /dev/null
+++ b/doc/classes/CompressedCubemap.xml
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<class name="CompressedCubemap" inherits="CompressedTextureLayered" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
+	<brief_description>
+	</brief_description>
+	<description>
+	</description>
+	<tutorials>
+	</tutorials>
+</class>
diff --git a/doc/classes/CompressedCubemapArray.xml b/doc/classes/CompressedCubemapArray.xml
new file mode 100644
index 0000000000..ff096cea47
--- /dev/null
+++ b/doc/classes/CompressedCubemapArray.xml
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<class name="CompressedCubemapArray" inherits="CompressedTextureLayered" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
+	<brief_description>
+	</brief_description>
+	<description>
+	</description>
+	<tutorials>
+	</tutorials>
+</class>
diff --git a/doc/classes/StreamTexture2D.xml b/doc/classes/CompressedTexture2D.xml
index b18105cc29..c99fcf2280 100644
--- a/doc/classes/StreamTexture2D.xml
+++ b/doc/classes/CompressedTexture2D.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<class name="StreamTexture2D" inherits="Texture2D" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
+<class name="CompressedTexture2D" inherits="Texture2D" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
 	<brief_description>
 		A [code].stex[/code] texture.
 	</brief_description>
@@ -19,7 +19,7 @@
 	</methods>
 	<members>
 		<member name="load_path" type="String" setter="load" getter="get_load_path" default="&quot;&quot;">
-			The StreamTexture's file path to a [code].stex[/code] file.
+			The CompressedTexture's file path to a [code].stex[/code] file.
 		</member>
 	</members>
 </class>
diff --git a/doc/classes/CompressedTexture2DArray.xml b/doc/classes/CompressedTexture2DArray.xml
new file mode 100644
index 0000000000..0c751759af
--- /dev/null
+++ b/doc/classes/CompressedTexture2DArray.xml
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<class name="CompressedTexture2DArray" inherits="CompressedTextureLayered" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
+	<brief_description>
+	</brief_description>
+	<description>
+	</description>
+	<tutorials>
+	</tutorials>
+</class>
diff --git a/doc/classes/StreamTexture3D.xml b/doc/classes/CompressedTexture3D.xml
index c0b783369f..de7a93d788 100644
--- a/doc/classes/StreamTexture3D.xml
+++ b/doc/classes/CompressedTexture3D.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<class name="StreamTexture3D" inherits="Texture3D" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
+<class name="CompressedTexture3D" inherits="Texture3D" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
 	<brief_description>
 	</brief_description>
 	<description>
diff --git a/doc/classes/StreamTextureLayered.xml b/doc/classes/CompressedTextureLayered.xml
index 8ed36ff54c..03bea84ba4 100644
--- a/doc/classes/StreamTextureLayered.xml
+++ b/doc/classes/CompressedTextureLayered.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<class name="StreamTextureLayered" inherits="TextureLayered" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
+<class name="CompressedTextureLayered" inherits="TextureLayered" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
 	<brief_description>
 	</brief_description>
 	<description>
diff --git a/doc/classes/Control.xml b/doc/classes/Control.xml
index cecc8f658d..97fd584ed1 100644
--- a/doc/classes/Control.xml
+++ b/doc/classes/Control.xml
@@ -100,7 +100,7 @@
 		<method name="_get_minimum_size" qualifiers="virtual const">
 			<return type="Vector2" />
 			<description>
-				Virtual method to be implemented by the user. Returns the minimum size for this control. Alternative to [member rect_min_size] for controlling minimum size via code. The actual minimum size will be the max value of these two (in each axis separately).
+				Virtual method to be implemented by the user. Returns the minimum size for this control. Alternative to [member minimum_size] for controlling minimum size via code. The actual minimum size will be the max value of these two (in each axis separately).
 				If not overridden, defaults to [constant Vector2.ZERO].
 				[b]Note:[/b] This method will not be called when the script is attached to a [Control] node that already overrides its minimum size (e.g. [Label], [Button], [PanelContainer] etc.). It can only be used with most basic GUI nodes, like [Control], [Container], [Panel] etc.
 			</description>
@@ -137,7 +137,7 @@
 				* control has [member mouse_filter] set to [constant MOUSE_FILTER_IGNORE];
 				* control is obstructed by another [Control] on top of it, which doesn't have [member mouse_filter] set to [constant MOUSE_FILTER_IGNORE];
 				* control's parent has [member mouse_filter] set to [constant MOUSE_FILTER_STOP] or has accepted the event;
-				* it happens outside the parent's rectangle and the parent has either [member rect_clip_content] enabled.
+				* it happens outside the parent's rectangle and the parent has either [member clip_contents] enabled.
 				[b]Note:[/b] Event position is relative to the control origin.
 			</description>
 		</method>
@@ -157,7 +157,7 @@
 				Virtual method to be implemented by the user. Returns a [Control] node that should be used as a tooltip instead of the default one. The [code]for_text[/code] includes the contents of the [member hint_tooltip] property.
 				The returned node must be of type [Control] or Control-derived. It can have child nodes of any type. It is freed when the tooltip disappears, so make sure you always provide a new instance (if you want to use a pre-existing node from your scene tree, you can duplicate it and pass the duplicated instance). When [code]null[/code] or a non-Control node is returned, the default tooltip will be used instead.
 				The returned node will be added as child to a [PopupPanel], so you should only provide the contents of that panel. That [PopupPanel] can be themed using [method Theme.set_stylebox] for the type [code]"TooltipPanel"[/code] (see [member hint_tooltip] for an example).
-				[b]Note:[/b] The tooltip is shrunk to minimal size. If you want to ensure it's fully visible, you might want to set its [member rect_min_size] to some non-zero value.
+				[b]Note:[/b] The tooltip is shrunk to minimal size. If you want to ensure it's fully visible, you might want to set its [member minimum_size] to some non-zero value.
 				[b]Note:[/b] The node (and any relevant children) should be [member CanvasItem.visible] when returned, otherwise, the viewport that instantiates it will not be able to calculate its minimum size reliably.
 				Example of usage with a custom-constructed node:
 				[codeblocks]
@@ -351,13 +351,13 @@
 		<method name="get_begin" qualifiers="const">
 			<return type="Vector2" />
 			<description>
-				Returns [member offset_left] and [member offset_top]. See also [member rect_position].
+				Returns [member offset_left] and [member offset_top]. See also [member position].
 			</description>
 		</method>
 		<method name="get_combined_minimum_size" qualifiers="const">
 			<return type="Vector2" />
 			<description>
-				Returns combined minimum size from [member rect_min_size] and [method get_minimum_size].
+				Returns combined minimum size from [member minimum_size] and [method get_minimum_size].
 			</description>
 		</method>
 		<method name="get_cursor_shape" qualifiers="const">
@@ -383,13 +383,13 @@
 		<method name="get_global_rect" qualifiers="const">
 			<return type="Rect2" />
 			<description>
-				Returns the position and size of the control relative to the top-left corner of the screen. See [member rect_position] and [member rect_size].
+				Returns the position and size of the control relative to the top-left corner of the screen. See [member position] and [member size].
 			</description>
 		</method>
 		<method name="get_minimum_size" qualifiers="const">
 			<return type="Vector2" />
 			<description>
-				Returns the minimum size for this control. See [member rect_min_size].
+				Returns the minimum size for this control. See [member minimum_size].
 			</description>
 		</method>
 		<method name="get_offset" qualifiers="const">
@@ -414,7 +414,7 @@
 		<method name="get_rect" qualifiers="const">
 			<return type="Rect2" />
 			<description>
-				Returns the position and size of the control relative to the top-left corner of the parent Control. See [member rect_position] and [member rect_size].
+				Returns the position and size of the control relative to the top-left corner of the parent Control. See [member position] and [member size].
 			</description>
 		</method>
 		<method name="get_theme_color" qualifiers="const">
@@ -759,7 +759,7 @@
 			<return type="void" />
 			<argument index="0" name="position" type="Vector2" />
 			<description>
-				Sets [member offset_left] and [member offset_top] at the same time. Equivalent of changing [member rect_position].
+				Sets [member offset_left] and [member offset_top] at the same time. Equivalent of changing [member position].
 			</description>
 		</method>
 		<method name="set_drag_forwarding">
@@ -840,7 +840,7 @@
 				    # Use a control that is not in the tree
 				    var cpb = ColorPickerButton.new()
 				    cpb.color = color
-				    cpb.rect_size = Vector2(50, 50)
+				    cpb.size = Vector2(50, 50)
 				    set_drag_preview(cpb)
 				    return color
 				[/gdscript]
@@ -881,7 +881,7 @@
 			<argument index="0" name="position" type="Vector2" />
 			<argument index="1" name="keep_offsets" type="bool" default="false" />
 			<description>
-				Sets the [member rect_global_position] to given [code]position[/code].
+				Sets the [member global_position] to given [code]position[/code].
 				If [code]keep_offsets[/code] is [code]true[/code], control's anchors will be updated instead of offsets.
 			</description>
 		</method>
@@ -909,7 +909,7 @@
 			<argument index="0" name="position" type="Vector2" />
 			<argument index="1" name="keep_offsets" type="bool" default="false" />
 			<description>
-				Sets the [member rect_position] to given [code]position[/code].
+				Sets the [member position] to given [code]position[/code].
 				If [code]keep_offsets[/code] is [code]true[/code], control's anchors will be updated instead of offsets.
 			</description>
 		</method>
@@ -918,21 +918,21 @@
 			<argument index="0" name="size" type="Vector2" />
 			<argument index="1" name="keep_offsets" type="bool" default="false" />
 			<description>
-				Sets the size (see [member rect_size]).
+				Sets the size (see [member size]).
 				If [code]keep_offsets[/code] is [code]true[/code], control's anchors will be updated instead of offsets.
 			</description>
 		</method>
 		<method name="update_minimum_size">
 			<return type="void" />
 			<description>
-				Invalidates the size cache in this node and in parent nodes up to top level. Intended to be used with [method get_minimum_size] when the return value is changed. Setting [member rect_min_size] directly calls this method automatically.
+				Invalidates the size cache in this node and in parent nodes up to top level. Intended to be used with [method get_minimum_size] when the return value is changed. Setting [member minimum_size] directly calls this method automatically.
 			</description>
 		</method>
 		<method name="warp_mouse">
 			<return type="void" />
 			<argument index="0" name="to_position" type="Vector2" />
 			<description>
-				Moves the mouse cursor to [code]to_position[/code], relative to [member rect_position] of this [Control].
+				Moves the mouse cursor to [code]to_position[/code], relative to [member position] of this [Control].
 			</description>
 		</method>
 	</methods>
@@ -953,6 +953,9 @@
 			Toggles if any text should automatically change to its translated version depending on the current locale. Note that this will not affect any internal nodes (e.g. the popup of a [MenuButton]).
 			Also decides if the node's strings should be parsed for POT generation.
 		</member>
+		<member name="clip_contents" type="bool" setter="set_clip_contents" getter="is_clipping_contents" default="false">
+			Enables whether rendering of [CanvasItem] based children should be clipped to this control's rectangle. If [code]true[/code], parts of a child which would be visibly outside of this control's rectangle will not be rendered and won't receive input.
+		</member>
 		<member name="focus_mode" type="int" setter="set_focus_mode" getter="get_focus_mode" enum="Control.FocusMode" default="0">
 			The focus access mode for the control (None, Click or All). Only one Control can be focused at the same time, and it will receive keyboard signals.
 		</member>
@@ -976,6 +979,9 @@
 			Tells Godot which node it should give keyboard focus to if the user presses [kbd]Shift + Tab[/kbd] on a keyboard by default. You can change the key by editing the [code]ui_focus_prev[/code] input action.
 			If this property is not set, Godot will select a "best guess" based on surrounding nodes in the scene tree.
 		</member>
+		<member name="global_position" type="Vector2" setter="_set_global_position" getter="get_global_position">
+			The node's global position, relative to the world (usually to the top-left corner of the window).
+		</member>
 		<member name="grow_horizontal" type="int" setter="set_h_grow_direction" getter="get_h_grow_direction" enum="Control.GrowDirection" default="1">
 			Controls the direction on the horizontal axis in which the control should grow if its horizontal minimum size is changed to be greater than its current size, as the control always has to be at least the minimum size.
 		</member>
@@ -1007,6 +1013,9 @@
 		<member name="layout_direction" type="int" setter="set_layout_direction" getter="get_layout_direction" enum="Control.LayoutDirection" default="0">
 			Controls layout direction and text writing direction. Right-to-left layouts are necessary for certain languages (e.g. Arabic and Hebrew).
 		</member>
+		<member name="minimum_size" type="Vector2" setter="set_custom_minimum_size" getter="get_custom_minimum_size" default="Vector2(0, 0)">
+			The minimum size of the node's bounding rectangle. If you set it to a value greater than (0, 0), the node's bounding rectangle will always have at least this size, even if its content is smaller. If it's set to (0, 0), the node sizes automatically to fit its content, be it a texture or child nodes.
+		</member>
 		<member name="mouse_default_cursor_shape" type="int" setter="set_default_cursor_shape" getter="get_default_cursor_shape" enum="Control.CursorShape" default="0">
 			The default cursor shape for this control. Useful for Godot plugins and applications or games that use the system's mouse cursors.
 			[b]Note:[/b] On Linux, shapes may vary depending on the cursor theme of the system.
@@ -1030,30 +1039,21 @@
 			Distance between the node's top edge and its parent control, based on [member anchor_top].
 			Offsets are often controlled by one or multiple parent [Container] nodes, so you should not modify them manually if your node is a direct child of a [Container]. Offsets update automatically when you move or resize the node.
 		</member>
-		<member name="rect_clip_content" type="bool" setter="set_clip_contents" getter="is_clipping_contents" default="false">
-			Enables whether rendering of [CanvasItem] based children should be clipped to this control's rectangle. If [code]true[/code], parts of a child which would be visibly outside of this control's rectangle will not be rendered and won't receive input.
-		</member>
-		<member name="rect_global_position" type="Vector2" setter="_set_global_position" getter="get_global_position">
-			The node's global position, relative to the world (usually to the top-left corner of the window).
-		</member>
-		<member name="rect_min_size" type="Vector2" setter="set_custom_minimum_size" getter="get_custom_minimum_size" default="Vector2(0, 0)">
-			The minimum size of the node's bounding rectangle. If you set it to a value greater than (0, 0), the node's bounding rectangle will always have at least this size, even if its content is smaller. If it's set to (0, 0), the node sizes automatically to fit its content, be it a texture or child nodes.
-		</member>
-		<member name="rect_pivot_offset" type="Vector2" setter="set_pivot_offset" getter="get_pivot_offset" default="Vector2(0, 0)">
-			By default, the node's pivot is its top-left corner. When you change its [member rect_scale], it will scale around this pivot. Set this property to [member rect_size] / 2 to center the pivot in the node's rectangle.
+		<member name="pivot_offset" type="Vector2" setter="set_pivot_offset" getter="get_pivot_offset" default="Vector2(0, 0)">
+			By default, the node's pivot is its top-left corner. When you change its [member rotation] or [member scale], it will rotate or scale around this pivot. Set this property to [member size] / 2 to pivot around the Control's center.
 		</member>
-		<member name="rect_position" type="Vector2" setter="_set_position" getter="get_position" default="Vector2(0, 0)">
-			The node's position, relative to its parent. It corresponds to the rectangle's top-left corner. The property is not affected by [member rect_pivot_offset].
+		<member name="position" type="Vector2" setter="_set_position" getter="get_position" default="Vector2(0, 0)">
+			The node's position, relative to its parent. It corresponds to the rectangle's top-left corner. The property is not affected by [member pivot_offset].
 		</member>
-		<member name="rect_rotation" type="float" setter="set_rotation" getter="get_rotation" default="0.0">
-			The node's rotation around its pivot, in radians. See [member rect_pivot_offset] to change the pivot's position.
+		<member name="rotation" type="float" setter="set_rotation" getter="get_rotation" default="0.0">
+			The node's rotation around its pivot, in radians. See [member pivot_offset] to change the pivot's position.
 		</member>
-		<member name="rect_scale" type="Vector2" setter="set_scale" getter="get_scale" default="Vector2(1, 1)">
-			The node's scale, relative to its [member rect_size]. Change this property to scale the node around its [member rect_pivot_offset]. The Control's [member hint_tooltip] will also scale according to this value.
+		<member name="scale" type="Vector2" setter="set_scale" getter="get_scale" default="Vector2(1, 1)">
+			The node's scale, relative to its [member size]. Change this property to scale the node around its [member pivot_offset]. The Control's [member hint_tooltip] will also scale according to this value.
 			[b]Note:[/b] This property is mainly intended to be used for animation purposes. Text inside the Control will look pixelated or blurry when the Control is scaled. To support multiple resolutions in your project, use an appropriate viewport stretch mode as described in the [url=$DOCS_URL/tutorials/viewports/multiple_resolutions.html]documentation[/url] instead of scaling Controls individually.
-			[b]Note:[/b] If the Control node is a child of a [Container] node, the scale will be reset to [code]Vector2(1, 1)[/code] when the scene is instantiated. To set the Control's scale when it's instantiated, wait for one frame using [code]await get_tree().process_frame[/code] then set its [member rect_scale] property.
+			[b]Note:[/b] If the Control node is a child of a [Container] node, the scale will be reset to [code]Vector2(1, 1)[/code] when the scene is instantiated. To set the Control's scale when it's instantiated, wait for one frame using [code]await get_tree().process_frame[/code] then set its [member scale] property.
 		</member>
-		<member name="rect_size" type="Vector2" setter="_set_size" getter="get_size" default="Vector2(0, 0)">
+		<member name="size" type="Vector2" setter="_set_size" getter="get_size" default="Vector2(0, 0)">
 			The size of the node's bounding rectangle, in pixels. [Container] nodes update this property automatically.
 		</member>
 		<member name="size_flags_horizontal" type="int" setter="set_h_size_flags" getter="get_h_size_flags" default="1">
@@ -1110,7 +1110,7 @@
 				If you want to check whether the mouse truly left the area, ignoring any top nodes, you can use code like this:
 				[codeblock]
 				func _on_mouse_exited():
-				    if not Rect2(Vector2(), rect_size).has_point(get_local_mouse_position()):
+				    if not Rect2(Vector2(), size).has_point(get_local_mouse_position()):
 				        # Not hovering over area.
 				[/codeblock]
 			</description>
@@ -1141,7 +1141,7 @@
 			The node can grab focus on mouse click or using the arrows and the Tab keys on the keyboard. Use with [member focus_mode].
 		</constant>
 		<constant name="NOTIFICATION_RESIZED" value="40">
-			Sent when the node changes size. Use [member rect_size] to get the new size.
+			Sent when the node changes size. Use [member size] to get the new size.
 		</constant>
 		<constant name="NOTIFICATION_MOUSE_ENTER" value="41">
 			Sent when the mouse pointer enters the node.
diff --git a/doc/classes/EditorSettings.xml b/doc/classes/EditorSettings.xml
index 81472c09ee..ac2250ab6d 100644
--- a/doc/classes/EditorSettings.xml
+++ b/doc/classes/EditorSettings.xml
@@ -70,6 +70,13 @@
 				[/codeblocks]
 			</description>
 		</method>
+		<method name="check_changed_settings_in_group" qualifiers="const">
+			<return type="bool" />
+			<argument index="0" name="setting_prefix" type="String" />
+			<description>
+				Checks if any settings with the prefix [code]setting_prefix[/code] exist in the set of changed settings. See also [method get_changed_settings].
+			</description>
+		</method>
 		<method name="erase">
 			<return type="void" />
 			<argument index="0" name="property" type="String" />
@@ -77,6 +84,12 @@
 				Erases the setting whose name is specified by [code]property[/code].
 			</description>
 		</method>
+		<method name="get_changed_settings" qualifiers="const">
+			<return type="Array" />
+			<description>
+				Gets an array of the settings which have been changed since the last save. Note that internally [code]changed_settings[/code] is cleared after a successful save, so generally the most appropriate place to use this method is when processing [constant NOTIFICATION_EDITOR_SETTINGS_CHANGED]
+			</description>
+		</method>
 		<method name="get_favorites" qualifiers="const">
 			<return type="PackedStringArray" />
 			<description>
@@ -118,6 +131,13 @@
 				Returns [code]true[/code] if the setting specified by [code]name[/code] exists, [code]false[/code] otherwise.
 			</description>
 		</method>
+		<method name="mark_setting_changed">
+			<return type="void" />
+			<argument index="0" name="setting" type="String" />
+			<description>
+				Marks the passed editor setting as being changed, see [method get_changed_settings]. Only settings which exist (see [method has_setting]) will be accepted.
+			</description>
+		</method>
 		<method name="property_can_revert">
 			<return type="bool" />
 			<argument index="0" name="name" type="String" />
diff --git a/doc/classes/EditorVCSInterface.xml b/doc/classes/EditorVCSInterface.xml
index b78b027fa8..0215d81a4e 100644
--- a/doc/classes/EditorVCSInterface.xml
+++ b/doc/classes/EditorVCSInterface.xml
@@ -4,7 +4,7 @@
 		Version Control System (VCS) interface which reads and writes to the local VCS in use.
 	</brief_description>
 	<description>
-		Used by the editor to display VCS extracted information in the editor. The implementation of this API is included in VCS addons, which are essentially GDNative plugins that need to be put into the project folder. These VCS addons are scripts which are attached (on demand) to the object instance of [code]EditorVCSInterface[/code]. All the functions listed below, instead of performing the task themselves, they call the internally defined functions in the VCS addons to provide a plug-n-play experience.
+		Used by the editor to display VCS extracted information in the editor. The implementation of this API is included in VCS addons, which are essentially GDExtension plugins that need to be put into the project folder. These VCS addons are scripts which are attached (on demand) to the object instance of [code]EditorVCSInterface[/code]. All the functions listed below, instead of performing the task themselves, they call the internally defined functions in the VCS addons to provide a plug-n-play experience.
 	</description>
 	<tutorials>
 	</tutorials>
diff --git a/doc/classes/GraphEdit.xml b/doc/classes/GraphEdit.xml
index 5525e7f1f3..19f2915087 100644
--- a/doc/classes/GraphEdit.xml
+++ b/doc/classes/GraphEdit.xml
@@ -198,6 +198,7 @@
 		</method>
 	</methods>
 	<members>
+		<member name="clip_contents" type="bool" setter="set_clip_contents" getter="is_clipping_contents" overrides="Control" default="true" />
 		<member name="connection_lines_antialiased" type="bool" setter="set_connection_lines_antialiased" getter="is_connection_lines_antialiased" default="true">
 			If [code]true[/code], the lines between nodes will use antialiasing.
 		</member>
@@ -217,7 +218,6 @@
 		<member name="panning_scheme" type="int" setter="set_panning_scheme" getter="get_panning_scheme" enum="GraphEdit.PanningScheme" default="0">
 			Defines the control scheme for panning with mouse wheel.
 		</member>
-		<member name="rect_clip_content" type="bool" setter="set_clip_contents" getter="is_clipping_contents" overrides="Control" default="true" />
 		<member name="right_disconnects" type="bool" setter="set_right_disconnects" getter="is_right_disconnects_enabled" default="false">
 			If [code]true[/code], enables disconnection of existing connections in the GraphEdit by dragging the right end.
 		</member>
diff --git a/doc/classes/ImageTexture.xml b/doc/classes/ImageTexture.xml
index d35dacfcde..aecb4fc4b6 100644
--- a/doc/classes/ImageTexture.xml
+++ b/doc/classes/ImageTexture.xml
@@ -18,7 +18,7 @@
 		var texture = load("res://icon.png")
 		$Sprite2D.texture = texture
 		[/codeblock]
-		This is because images have to be imported as a [StreamTexture2D] first to be loaded with [method @GDScript.load]. If you'd still like to load an image file just like any other [Resource], import it as an [Image] resource instead, and then load it normally using the [method @GDScript.load] method.
+		This is because images have to be imported as a [CompressedTexture2D] first to be loaded with [method @GDScript.load]. If you'd still like to load an image file just like any other [Resource], import it as an [Image] resource instead, and then load it normally using the [method @GDScript.load] method.
 		[b]Note:[/b] The image can be retrieved from an imported texture using the [method Texture2D.get_image] method, which returns a copy of the image:
 		[codeblock]
 		var texture = load("res://icon.png")
diff --git a/doc/classes/ItemList.xml b/doc/classes/ItemList.xml
index 8b564c01c9..48fa009300 100644
--- a/doc/classes/ItemList.xml
+++ b/doc/classes/ItemList.xml
@@ -366,6 +366,7 @@
 		<member name="auto_height" type="bool" setter="set_auto_height" getter="has_auto_height" default="false">
 			If [code]true[/code], the control will automatically resize the height to fit its content.
 		</member>
+		<member name="clip_contents" type="bool" setter="set_clip_contents" getter="is_clipping_contents" overrides="Control" default="true" />
 		<member name="fixed_column_width" type="int" setter="set_fixed_column_width" getter="get_fixed_column_width" default="0">
 			The width all columns will be adjusted to.
 			A value of zero disables the adjustment, each item will have a width equal to the width of its content and the columns will have an uneven width.
@@ -393,7 +394,6 @@
 			Maximum lines of text allowed in each item. Space will be reserved even when there is not enough lines of text to display.
 			[b]Note:[/b] This property takes effect only when [member icon_mode] is [constant ICON_MODE_TOP]. To make the text wrap, [member fixed_column_width] should be greater than zero.
 		</member>
-		<member name="rect_clip_content" type="bool" setter="set_clip_contents" getter="is_clipping_contents" overrides="Control" default="true" />
 		<member name="same_column_width" type="bool" setter="set_same_column_width" getter="is_same_column_width" default="false">
 			Whether all columns will have the same width.
 			If [code]true[/code], the width is equal to the largest column width of all columns.
diff --git a/doc/classes/Light3D.xml b/doc/classes/Light3D.xml
index a058611915..b7822f1bb0 100644
--- a/doc/classes/Light3D.xml
+++ b/doc/classes/Light3D.xml
@@ -28,6 +28,23 @@
 		</method>
 	</methods>
 	<members>
+		<member name="distance_fade_begin" type="float" setter="set_distance_fade_begin" getter="get_distance_fade_begin" default="40.0">
+			The distance from the camera at which the light begins to fade away (in 3D units).
+			[b]Note:[/b] Only effective for [OmniLight3D] and [SpotLight3D].
+		</member>
+		<member name="distance_fade_enabled" type="bool" setter="set_enable_distance_fade" getter="is_distance_fade_enabled" default="false">
+			If [code]true[/code], the light will smoothly fade away when far from the active [Camera3D] starting at [member distance_fade_begin]. This acts as a form of level of detail (LOD). The light will fade out over [member distance_fade_begin] + [member distance_fade_length], after which it will be culled and not sent to the shader at all. Use this to reduce the number of active lights in a scene and thus improve performance.
+			[b]Note:[/b] Only effective for [OmniLight3D] and [SpotLight3D].
+		</member>
+		<member name="distance_fade_length" type="float" setter="set_distance_fade_length" getter="get_distance_fade_length" default="10.0">
+			Distance over which the light fades. The light's energy is progressively reduced over this distance and is completely invisible at the end.
+			[b]Note:[/b] Only effective for [OmniLight3D] and [SpotLight3D].
+		</member>
+		<member name="distance_fade_shadow" type="float" setter="set_distance_fade_shadow" getter="get_distance_fade_shadow" default="50.0">
+			The distance from the camera at which the light's shadow cuts off (in 3D units). Set this to a value lower than [member distance_fade_begin] + [member distance_fade_length] to further improve performance, as shadow rendering is often more expensive than light rendering itself.
+			[b]Note:[/b] Only effective for [OmniLight3D] and [SpotLight3D], and only when [member shadow_enabled] is [code]true[/code].
+			[b]Note:[/b] Due to a rendering engine limitation, shadows will be disabled instantly instead of fading smoothly according to [member distance_fade_length]. This may result in visible pop-in depending on the scene topography.
+		</member>
 		<member name="editor_only" type="bool" setter="set_editor_only" getter="is_editor_only" default="false">
 			If [code]true[/code], the light only appears in the editor and will not be visible at runtime.
 		</member>
@@ -69,11 +86,8 @@
 		<member name="shadow_blur" type="float" setter="set_param" getter="get_param" default="1.0">
 			Blurs the edges of the shadow. Can be used to hide pixel artifacts in low-resolution shadow maps. A high value can impact performance, make shadows appear grainy and can cause other unwanted artifacts. Try to keep as near default as possible.
 		</member>
-		<member name="shadow_color" type="Color" setter="set_shadow_color" getter="get_shadow_color" default="Color(0, 0, 0, 1)">
-			The color of shadows cast by this light.
-		</member>
 		<member name="shadow_enabled" type="bool" setter="set_shadow" getter="has_shadow" default="false">
-			If [code]true[/code], the light will cast shadows.
+			If [code]true[/code], the light will cast real-time shadows. This has a significant performance cost. Only enable shadow rendering when it makes a noticeable difference in the scene's appearance, and consider using [member distance_fade_enabled] to hide the light when far away from the [Camera3D].
 		</member>
 		<member name="shadow_fog_fade" type="float" setter="set_param" getter="get_param" default="0.1">
 		</member>
diff --git a/doc/classes/Line2D.xml b/doc/classes/Line2D.xml
index 88574c0028..e2cc43bb75 100644
--- a/doc/classes/Line2D.xml
+++ b/doc/classes/Line2D.xml
@@ -121,10 +121,10 @@
 			Takes the left pixels of the texture and renders it over the whole line.
 		</constant>
 		<constant name="LINE_TEXTURE_TILE" value="1" enum="LineTextureMode">
-			Tiles the texture over the line. The texture must be imported with [b]Repeat[/b] enabled for it to work properly.
+			Tiles the texture over the line. [member CanvasItem.texture_repeat] of the [Line2D] node must be [constant CanvasItem.TEXTURE_REPEAT_ENABLED] or [constant CanvasItem.TEXTURE_REPEAT_MIRROR] for it to work properly.
 		</constant>
 		<constant name="LINE_TEXTURE_STRETCH" value="2" enum="LineTextureMode">
-			Stretches the texture across the line. Import the texture with [b]Repeat[/b] disabled for best results.
+			Stretches the texture across the line. [member CanvasItem.texture_repeat] of the [Line2D] node must be [constant CanvasItem.TEXTURE_REPEAT_DISABLED] for best results.
 		</constant>
 	</constants>
 </class>
diff --git a/doc/classes/Material.xml b/doc/classes/Material.xml
index 78dbf8729b..c5d567c1fe 100644
--- a/doc/classes/Material.xml
+++ b/doc/classes/Material.xml
@@ -11,6 +11,26 @@
 		<link title="Third Person Shooter Demo">https://godotengine.org/asset-library/asset/678</link>
 	</tutorials>
 	<methods>
+		<method name="_can_do_next_pass" qualifiers="virtual const">
+			<return type="bool" />
+			<description>
+			</description>
+		</method>
+		<method name="_can_use_render_priority" qualifiers="virtual const">
+			<return type="bool" />
+			<description>
+			</description>
+		</method>
+		<method name="_get_shader_mode" qualifiers="virtual const">
+			<return type="int" enum="Shader.Mode" />
+			<description>
+			</description>
+		</method>
+		<method name="_get_shader_rid" qualifiers="virtual const">
+			<return type="RID" />
+			<description>
+			</description>
+		</method>
 		<method name="inspect_native_shader_code">
 			<return type="void" />
 			<description>
@@ -22,7 +42,7 @@
 			Sets the [Material] to be used for the next pass. This renders the object again using a different material.
 			[b]Note:[/b] This only applies to [StandardMaterial3D]s and [ShaderMaterial]s with type "Spatial".
 		</member>
-		<member name="render_priority" type="int" setter="set_render_priority" getter="get_render_priority" default="0">
+		<member name="render_priority" type="int" setter="set_render_priority" getter="get_render_priority">
 			Sets the render priority for transparent objects in 3D scenes. Higher priority objects will be sorted in front of lower priority objects.
 			[b]Note:[/b] This only applies to [StandardMaterial3D]s and [ShaderMaterial]s with type "Spatial".
 			[b]Note:[/b] This only applies to sorting of transparent objects. This will not impact how transparent objects are sorted relative to opaque objects. This is because opaque objects are not sorted, while transparent objects are sorted from back to front (subject to priority).
diff --git a/doc/classes/Mesh.xml b/doc/classes/Mesh.xml
index c5bfdcecd2..e4116cddfe 100644
--- a/doc/classes/Mesh.xml
+++ b/doc/classes/Mesh.xml
@@ -13,6 +13,89 @@
 		<link title="Third Person Shooter Demo">https://godotengine.org/asset-library/asset/678</link>
 	</tutorials>
 	<methods>
+		<method name="_get_aabb" qualifiers="virtual const">
+			<return type="AABB" />
+			<description>
+			</description>
+		</method>
+		<method name="_get_blend_shape_count" qualifiers="virtual const">
+			<return type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="_get_blend_shape_name" qualifiers="virtual const">
+			<return type="StringName" />
+			<argument index="0" name="index" type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="_get_surface_count" qualifiers="virtual const">
+			<return type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="_set_blend_shape_name" qualifiers="virtual">
+			<return type="void" />
+			<argument index="0" name="index" type="int" />
+			<argument index="1" name="name" type="StringName" />
+			<description>
+			</description>
+		</method>
+		<method name="_surface_get_array_index_len" qualifiers="virtual const">
+			<return type="int" />
+			<argument index="0" name="index" type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="_surface_get_array_len" qualifiers="virtual const">
+			<return type="int" />
+			<argument index="0" name="index" type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="_surface_get_arrays" qualifiers="virtual const">
+			<return type="Array" />
+			<argument index="0" name="index" type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="_surface_get_blend_shape_arrays" qualifiers="virtual const">
+			<return type="Array" />
+			<argument index="0" name="index" type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="_surface_get_format" qualifiers="virtual const">
+			<return type="int" />
+			<argument index="0" name="index" type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="_surface_get_lods" qualifiers="virtual const">
+			<return type="Dictionary" />
+			<argument index="0" name="index" type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="_surface_get_material" qualifiers="virtual const">
+			<return type="Material" />
+			<argument index="0" name="index" type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="_surface_get_primitive_type" qualifiers="virtual const">
+			<return type="int" />
+			<argument index="0" name="index" type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="_surface_set_material" qualifiers="virtual">
+			<return type="void" />
+			<argument index="0" name="index" type="int" />
+			<argument index="1" name="material" type="Material" />
+			<description>
+			</description>
+		</method>
 		<method name="create_convex_shape" qualifiers="const">
 			<return type="Shape3D" />
 			<argument index="0" name="clean" type="bool" default="true" />
diff --git a/doc/classes/PackedScene.xml b/doc/classes/PackedScene.xml
index 1a1a7f8333..821fc1ae95 100644
--- a/doc/classes/PackedScene.xml
+++ b/doc/classes/PackedScene.xml
@@ -82,7 +82,7 @@
 				Returns [code]true[/code] if the scene file has nodes.
 			</description>
 		</method>
-		<method name="get_state">
+		<method name="get_state" qualifiers="const">
 			<return type="SceneState" />
 			<description>
 				Returns the [code]SceneState[/code] representing the scene file contents.
diff --git a/doc/classes/ParticlesMaterial.xml b/doc/classes/ParticlesMaterial.xml
index 1ce21d96e1..e05853e816 100644
--- a/doc/classes/ParticlesMaterial.xml
+++ b/doc/classes/ParticlesMaterial.xml
@@ -114,7 +114,7 @@
 			True if the interaction with particle attractors is enabled.
 		</member>
 		<member name="collision_bounce" type="float" setter="set_collision_bounce" getter="get_collision_bounce" default="0.0">
-			Collision bouncyness.
+			Collision bounciness.
 		</member>
 		<member name="collision_enabled" type="bool" setter="set_collision_enabled" getter="is_collision_enabled" default="false">
 			True if collisions are enabled for this particle system.
diff --git a/doc/classes/PhysicalBone3D.xml b/doc/classes/PhysicalBone3D.xml
index e7c702aefb..7e8cc91766 100644
--- a/doc/classes/PhysicalBone3D.xml
+++ b/doc/classes/PhysicalBone3D.xml
@@ -7,6 +7,13 @@
 	<tutorials>
 	</tutorials>
 	<methods>
+		<method name="_integrate_forces" qualifiers="virtual">
+			<return type="void" />
+			<argument index="0" name="state" type="PhysicsDirectBodyState3D" />
+			<description>
+				Called during physics processing, allowing you to read and safely modify the simulation state for the object. By default, it works in addition to the usual physics behavior, but the [member custom_integrator] property allows you to disable the default behavior and do fully custom force integration for a body.
+			</description>
+		</method>
 		<method name="apply_central_impulse">
 			<return type="void" />
 			<argument index="0" name="impulse" type="Vector3" />
@@ -44,6 +51,9 @@
 		<member name="angular_damp_mode" type="int" setter="set_angular_damp_mode" getter="get_angular_damp_mode" enum="PhysicalBone3D.DampMode" default="0">
 			Defines how [member angular_damp] is applied. See [enum DampMode] for possible values.
 		</member>
+		<member name="angular_velocity" type="Vector3" setter="set_angular_velocity" getter="get_angular_velocity" default="Vector3(0, 0, 0)">
+			The PhysicalBone3D's rotational velocity in [i]radians[/i] per second.
+		</member>
 		<member name="body_offset" type="Transform3D" setter="set_body_offset" getter="get_body_offset" default="Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0)">
 			Sets the body's transform.
 		</member>
@@ -53,6 +63,9 @@
 		<member name="can_sleep" type="bool" setter="set_can_sleep" getter="is_able_to_sleep" default="true">
 			If [code]true[/code], the body is deactivated when there is no movement, so it will not take part in the simulation until it is awakened by an external force.
 		</member>
+		<member name="custom_integrator" type="bool" setter="set_use_custom_integrator" getter="is_using_custom_integrator" default="false">
+			If [code]true[/code], internal force integration will be disabled (like gravity or air friction) for this body. Other than collision response, the body will only move as determined by the [method _integrate_forces] function, if defined.
+		</member>
 		<member name="friction" type="float" setter="set_friction" getter="get_friction" default="1.0">
 			The body's friction, from [code]0[/code] (frictionless) to [code]1[/code] (max friction).
 		</member>
@@ -75,6 +88,9 @@
 		<member name="linear_damp_mode" type="int" setter="set_linear_damp_mode" getter="get_linear_damp_mode" enum="PhysicalBone3D.DampMode" default="0">
 			Defines how [member linear_damp] is applied. See [enum DampMode] for possible values.
 		</member>
+		<member name="linear_velocity" type="Vector3" setter="set_linear_velocity" getter="get_linear_velocity" default="Vector3(0, 0, 0)">
+			The body's linear velocity in units per second. Can be used sporadically, but [b]don't set this every frame[/b], because physics may run in another thread and runs at a different granularity. Use [method _integrate_forces] as your process loop for precise control of the body state.
+		</member>
 		<member name="mass" type="float" setter="set_mass" getter="get_mass" default="1.0">
 			The body's mass.
 		</member>
diff --git a/doc/classes/PrimitiveMesh.xml b/doc/classes/PrimitiveMesh.xml
index d0136e389a..329d81342b 100644
--- a/doc/classes/PrimitiveMesh.xml
+++ b/doc/classes/PrimitiveMesh.xml
@@ -9,6 +9,11 @@
 	<tutorials>
 	</tutorials>
 	<methods>
+		<method name="_create_mesh_array" qualifiers="virtual const">
+			<return type="Array" />
+			<description>
+			</description>
+		</method>
 		<method name="get_mesh_arrays" qualifiers="const">
 			<return type="Array" />
 			<description>
diff --git a/doc/classes/ProjectSettings.xml b/doc/classes/ProjectSettings.xml
index a3810bb575..701e947fd1 100644
--- a/doc/classes/ProjectSettings.xml
+++ b/doc/classes/ProjectSettings.xml
@@ -1493,7 +1493,7 @@
 		</member>
 		<member name="physics/3d/physics_engine" type="String" setter="" getter="" default="&quot;DEFAULT&quot;">
 			Sets which physics engine to use for 3D physics.
-			"DEFAULT" is currently the [url=https://bulletphysics.org]Bullet[/url] physics engine. The "GodotPhysics3D" engine is still supported as an alternative.
+			"DEFAULT" and "GodotPhysics3D" are the same, as there is currently no alternative 3D physics server implemented.
 		</member>
 		<member name="physics/3d/run_on_separate_thread" type="bool" setter="" getter="" default="false">
 			If [code]true[/code], the 3D physics server runs on a separate thread, making better use of multi-core CPUs. If [code]false[/code], the 3D physics server runs on the main thread. Running the physics server on a separate thread can increase performance, but restricts API access to only physics process.
diff --git a/doc/classes/Range.xml b/doc/classes/Range.xml
index 70a9912b76..c150198eb1 100644
--- a/doc/classes/Range.xml
+++ b/doc/classes/Range.xml
@@ -9,6 +9,12 @@
 	<tutorials>
 	</tutorials>
 	<methods>
+		<method name="_value_changed" qualifiers="virtual">
+			<return type="void" />
+			<argument index="0" name="" type="float" />
+			<description>
+			</description>
+		</method>
 		<method name="share">
 			<return type="void" />
 			<argument index="0" name="with" type="Node" />
diff --git a/doc/classes/Rect2i.xml b/doc/classes/Rect2i.xml
index 78ab4b9103..49fdd8e7e8 100644
--- a/doc/classes/Rect2i.xml
+++ b/doc/classes/Rect2i.xml
@@ -153,7 +153,6 @@
 			<argument index="0" name="b" type="Rect2i" />
 			<description>
 				Returns [code]true[/code] if the [Rect2i] overlaps with [code]b[/code] (i.e. they have at least one point in common).
-				If [code]include_borders[/code] is [code]true[/code], they will also be considered overlapping if their borders touch, even without intersection.
 			</description>
 		</method>
 		<method name="merge" qualifiers="const">
diff --git a/doc/classes/RenderingServer.xml b/doc/classes/RenderingServer.xml
index 11a681b235..50990b5320 100644
--- a/doc/classes/RenderingServer.xml
+++ b/doc/classes/RenderingServer.xml
@@ -1650,6 +1650,17 @@
 				Sets the cull mask for this Light3D. Lights only affect objects in the selected layers. Equivalent to [member Light3D.light_cull_mask].
 			</description>
 		</method>
+		<method name="light_set_distance_fade">
+			<return type="void" />
+			<argument index="0" name="decal" type="RID" />
+			<argument index="1" name="enabled" type="bool" />
+			<argument index="2" name="begin" type="float" />
+			<argument index="3" name="shadow" type="float" />
+			<argument index="4" name="length" type="float" />
+			<description>
+				Sets the distance fade for this Light3D. This acts as a form of level of detail (LOD) and can be used to improve performance. Equivalent to [member Light3D.distance_fade_enabled], [member Light3D.distance_fade_begin], [member Light3D.distance_fade_shadow], and [member Light3D.distance_fade_length].
+			</description>
+		</method>
 		<method name="light_set_max_sdfgi_cascade">
 			<return type="void" />
 			<argument index="0" name="light" type="RID" />
@@ -1698,14 +1709,6 @@
 				If [code]true[/code], light will cast shadows. Equivalent to [member Light3D.shadow_enabled].
 			</description>
 		</method>
-		<method name="light_set_shadow_color">
-			<return type="void" />
-			<argument index="0" name="light" type="RID" />
-			<argument index="1" name="color" type="Color" />
-			<description>
-				Sets the color of the shadow cast by the light. Equivalent to [member Light3D.shadow_color].
-			</description>
-		</method>
 		<method name="lightmap_create">
 			<return type="RID" />
 			<description>
diff --git a/doc/classes/Resource.xml b/doc/classes/Resource.xml
index 0850d39015..b08b1540ab 100644
--- a/doc/classes/Resource.xml
+++ b/doc/classes/Resource.xml
@@ -12,6 +12,11 @@
 		<link title="When and how to avoid using nodes for everything">$DOCS_URL/tutorials/best_practices/node_alternatives.html</link>
 	</tutorials>
 	<methods>
+		<method name="_get_rid" qualifiers="virtual">
+			<return type="RID" />
+			<description>
+			</description>
+		</method>
 		<method name="duplicate" qualifiers="const">
 			<return type="Resource" />
 			<argument index="0" name="subresources" type="bool" default="false" />
diff --git a/doc/classes/ResourceFormatLoader.xml b/doc/classes/ResourceFormatLoader.xml
index c516aec809..983a05800f 100644
--- a/doc/classes/ResourceFormatLoader.xml
+++ b/doc/classes/ResourceFormatLoader.xml
@@ -6,7 +6,7 @@
 	<description>
 		Godot loads resources in the editor or in exported games using ResourceFormatLoaders. They are queried automatically via the [ResourceLoader] singleton, or when a resource with internal dependencies is loaded. Each file type may load as a different resource type, so multiple ResourceFormatLoaders are registered in the engine.
 		Extending this class allows you to define your own loader. Be sure to respect the documented return types and values. You should give it a global class name with [code]class_name[/code] for it to be registered. Like built-in ResourceFormatLoaders, it will be called automatically when loading resources of its handled type(s). You may also implement a [ResourceFormatSaver].
-		[b]Note:[/b] You can also extend [EditorImportPlugin] if the resource type you need exists but Godot is unable to load its format. Choosing one way over another depends on if the format is suitable or not for the final exported game. For example, it's better to import [code].png[/code] textures as [code].stex[/code] ([StreamTexture2D]) first, so they can be loaded with better efficiency on the graphics card.
+		[b]Note:[/b] You can also extend [EditorImportPlugin] if the resource type you need exists but Godot is unable to load its format. Choosing one way over another depends on if the format is suitable or not for the final exported game. For example, it's better to import [code].png[/code] textures as [code].stex[/code] ([CompressedTexture2D]) first, so they can be loaded with better efficiency on the graphics card.
 	</description>
 	<tutorials>
 	</tutorials>
diff --git a/doc/classes/ResourceSaver.xml b/doc/classes/ResourceSaver.xml
index 3872db5ea9..a029fb9acf 100644
--- a/doc/classes/ResourceSaver.xml
+++ b/doc/classes/ResourceSaver.xml
@@ -21,15 +21,18 @@
 			<return type="int" enum="Error" />
 			<argument index="0" name="path" type="String" />
 			<argument index="1" name="resource" type="Resource" />
-			<argument index="2" name="flags" type="int" enum="ResourceSaver.SaverFlags" default="0" />
+			<argument index="2" name="flags" type="int" default="0" />
 			<description>
 				Saves a resource to disk to the given path, using a [ResourceFormatSaver] that recognizes the resource object.
-				The [code]flags[/code] bitmask can be specified to customize the save behavior.
+				The [code]flags[/code] bitmask can be specified to customize the save behavior using [enum SaverFlags] flags.
 				Returns [constant OK] on success.
 			</description>
 		</method>
 	</methods>
 	<constants>
+		<constant name="FLAG_NONE" value="0" enum="SaverFlags">
+			No resource saving option.
+		</constant>
 		<constant name="FLAG_RELATIVE_PATHS" value="1" enum="SaverFlags">
 			Save the resource with a path relative to the scene which uses it.
 		</constant>
diff --git a/doc/classes/RichTextLabel.xml b/doc/classes/RichTextLabel.xml
index f480071d32..d5e134fc60 100644
--- a/doc/classes/RichTextLabel.xml
+++ b/doc/classes/RichTextLabel.xml
@@ -412,6 +412,7 @@
 		<member name="bbcode_enabled" type="bool" setter="set_use_bbcode" getter="is_using_bbcode" default="false">
 			If [code]true[/code], the label uses BBCode formatting.
 		</member>
+		<member name="clip_contents" type="bool" setter="set_clip_contents" getter="is_clipping_contents" overrides="Control" default="true" />
 		<member name="custom_effects" type="Array" setter="set_effects" getter="get_effects" default="[]">
 			The currently installed custom effects. This is an array of [RichTextEffect]s.
 			To add a custom effect, it's more convenient to use [method install_effect].
@@ -436,7 +437,6 @@
 			The range of characters to display, as a [float] between 0.0 and 1.0. When assigned an out of range value, it's the same as assigning 1.0.
 			[b]Note:[/b] Setting this property updates [member visible_characters] based on current [method get_total_character_count].
 		</member>
-		<member name="rect_clip_content" type="bool" setter="set_clip_contents" getter="is_clipping_contents" overrides="Control" default="true" />
 		<member name="scroll_active" type="bool" setter="set_scroll_active" getter="is_scroll_active" default="true">
 			If [code]true[/code], the scrollbar is visible. Setting this to [code]false[/code] does not block scrolling completely. See [method scroll_to_line].
 		</member>
diff --git a/doc/classes/RigidDynamicBody2D.xml b/doc/classes/RigidDynamicBody2D.xml
index 696ad7a98e..087156989e 100644
--- a/doc/classes/RigidDynamicBody2D.xml
+++ b/doc/classes/RigidDynamicBody2D.xml
@@ -219,8 +219,8 @@
 				Emitted when one of this RigidDynamicBody2D's [Shape2D]s collides with another [PhysicsBody2D] or [TileMap]'s [Shape2D]s. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions. [TileMap]s are detected if the [TileSet] has Collision [Shape2D]s.
 				[code]body_rid[/code] the [RID] of the other [PhysicsBody2D] or [TileSet]'s [CollisionObject2D] used by the [PhysicsServer2D].
 				[code]body[/code] the [Node], if it exists in the tree, of the other [PhysicsBody2D] or [TileMap].
-				[code]body_shape_index[/code] the index of the [Shape2D] of the other [PhysicsBody2D] or [TileMap] used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]body.shape_owner_get_owner(body_shape_index)[/code].
-				[code]local_shape_index[/code] the index of the [Shape2D] of this RigidDynamicBody2D used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]self.shape_owner_get_owner(local_shape_index)[/code].
+				[code]body_shape_index[/code] the index of the [Shape2D] of the other [PhysicsBody2D] or [TileMap] used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]body.shape_owner_get_owner(body.shape_find_owner(body_shape_index))[/code].
+				[code]local_shape_index[/code] the index of the [Shape2D] of this RigidDynamicBody2D used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]self.shape_owner_get_owner(self.shape_find_owner(local_shape_index))[/code].
 			</description>
 		</signal>
 		<signal name="body_shape_exited">
@@ -232,8 +232,8 @@
 				Emitted when the collision between one of this RigidDynamicBody2D's [Shape2D]s and another [PhysicsBody2D] or [TileMap]'s [Shape2D]s ends. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions. [TileMap]s are detected if the [TileSet] has Collision [Shape2D]s.
 				[code]body_rid[/code] the [RID] of the other [PhysicsBody2D] or [TileSet]'s [CollisionObject2D] used by the [PhysicsServer2D].
 				[code]body[/code] the [Node], if it exists in the tree, of the other [PhysicsBody2D] or [TileMap].
-				[code]body_shape_index[/code] the index of the [Shape2D] of the other [PhysicsBody2D] or [TileMap] used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]body.shape_owner_get_owner(body_shape_index)[/code].
-				[code]local_shape_index[/code] the index of the [Shape2D] of this RigidDynamicBody2D used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]self.shape_owner_get_owner(local_shape_index)[/code].
+				[code]body_shape_index[/code] the index of the [Shape2D] of the other [PhysicsBody2D] or [TileMap] used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]body.shape_owner_get_owner(body.shape_find_owner(body_shape_index))[/code].
+				[code]local_shape_index[/code] the index of the [Shape2D] of this RigidDynamicBody2D used by the [PhysicsServer2D]. Get the [CollisionShape2D] node with [code]self.shape_owner_get_owner(self.shape_find_owner(local_shape_index))[/code].
 			</description>
 		</signal>
 		<signal name="sleeping_state_changed">
diff --git a/doc/classes/RigidDynamicBody3D.xml b/doc/classes/RigidDynamicBody3D.xml
index 5fd53a7638..285176b8b0 100644
--- a/doc/classes/RigidDynamicBody3D.xml
+++ b/doc/classes/RigidDynamicBody3D.xml
@@ -225,9 +225,8 @@
 				Emitted when one of this RigidDynamicBody3D's [Shape3D]s collides with another [PhysicsBody3D] or [GridMap]'s [Shape3D]s. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions. [GridMap]s are detected if the [MeshLibrary] has Collision [Shape3D]s.
 				[code]body_rid[/code] the [RID] of the other [PhysicsBody3D] or [MeshLibrary]'s [CollisionObject3D] used by the [PhysicsServer3D].
 				[code]body[/code] the [Node], if it exists in the tree, of the other [PhysicsBody3D] or [GridMap].
-				[code]body_shape_index[/code] the index of the [Shape3D] of the other [PhysicsBody3D] or [GridMap] used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]body.shape_owner_get_owner(body_shape_index)[/code].
-				[code]local_shape_index[/code] the index of the [Shape3D] of this RigidDynamicBody3D used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]self.shape_owner_get_owner(local_shape_index)[/code].
-				[b]Note:[/b] Bullet physics cannot identify the shape index when using a [ConcavePolygonShape3D]. Don't use multiple [CollisionShape3D]s when using a [ConcavePolygonShape3D] with Bullet physics if you need shape indices.
+				[code]body_shape_index[/code] the index of the [Shape3D] of the other [PhysicsBody3D] or [GridMap] used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]body.shape_owner_get_owner(body.shape_find_owner(body_shape_index))[/code].
+				[code]local_shape_index[/code] the index of the [Shape3D] of this RigidDynamicBody3D used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]self.shape_owner_get_owner(self.shape_find_owner(local_shape_index))[/code].
 			</description>
 		</signal>
 		<signal name="body_shape_exited">
@@ -239,9 +238,8 @@
 				Emitted when the collision between one of this RigidDynamicBody3D's [Shape3D]s and another [PhysicsBody3D] or [GridMap]'s [Shape3D]s ends. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions. [GridMap]s are detected if the [MeshLibrary] has Collision [Shape3D]s.
 				[code]body_rid[/code] the [RID] of the other [PhysicsBody3D] or [MeshLibrary]'s [CollisionObject3D] used by the [PhysicsServer3D]. [GridMap]s are detected if the Meshes have [Shape3D]s.
 				[code]body[/code] the [Node], if it exists in the tree, of the other [PhysicsBody3D] or [GridMap].
-				[code]body_shape_index[/code] the index of the [Shape3D] of the other [PhysicsBody3D] or [GridMap] used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]body.shape_owner_get_owner(body_shape_index)[/code].
-				[code]local_shape_index[/code] the index of the [Shape3D] of this RigidDynamicBody3D used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]self.shape_owner_get_owner(local_shape_index)[/code].
-				[b]Note:[/b] Bullet physics cannot identify the shape index when using a [ConcavePolygonShape3D]. Don't use multiple [CollisionShape3D]s when using a [ConcavePolygonShape3D] with Bullet physics if you need shape indices.
+				[code]body_shape_index[/code] the index of the [Shape3D] of the other [PhysicsBody3D] or [GridMap] used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]body.shape_owner_get_owner(body.shape_find_owner(body_shape_index))[/code].
+				[code]local_shape_index[/code] the index of the [Shape3D] of this RigidDynamicBody3D used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]self.shape_owner_get_owner(self.shape_find_owner(local_shape_index))[/code].
 			</description>
 		</signal>
 		<signal name="sleeping_state_changed">
diff --git a/doc/classes/ScrollContainer.xml b/doc/classes/ScrollContainer.xml
index ea1d972d14..95255ed79f 100644
--- a/doc/classes/ScrollContainer.xml
+++ b/doc/classes/ScrollContainer.xml
@@ -5,7 +5,7 @@
 	</brief_description>
 	<description>
 		A ScrollContainer node meant to contain a [Control] child.
-		ScrollContainers will automatically create a scrollbar child ([HScrollBar], [VScrollBar], or both) when needed and will only draw the Control within the ScrollContainer area. Scrollbars will automatically be drawn at the right (for vertical) or bottom (for horizontal) and will enable dragging to move the viewable Control (and its children) within the ScrollContainer. Scrollbars will also automatically resize the grabber based on the [member Control.rect_min_size] of the Control relative to the ScrollContainer.
+		ScrollContainers will automatically create a scrollbar child ([HScrollBar], [VScrollBar], or both) when needed and will only draw the Control within the ScrollContainer area. Scrollbars will automatically be drawn at the right (for vertical) or bottom (for horizontal) and will enable dragging to move the viewable Control (and its children) within the ScrollContainer. Scrollbars will also automatically resize the grabber based on the [member Control.minimum_size] of the Control relative to the ScrollContainer.
 		Works great with a [Panel] control. You can set [code]EXPAND[/code] on the children's size flags, so they will upscale to the ScrollContainer's size if it's larger (scroll is invisible for the chosen dimension).
 	</description>
 	<tutorials>
@@ -40,13 +40,13 @@
 		</method>
 	</methods>
 	<members>
+		<member name="clip_contents" type="bool" setter="set_clip_contents" getter="is_clipping_contents" overrides="Control" default="true" />
 		<member name="follow_focus" type="bool" setter="set_follow_focus" getter="is_following_focus" default="false">
 			If [code]true[/code], the ScrollContainer will automatically scroll to focused children (including indirect children) to make sure they are fully visible.
 		</member>
 		<member name="horizontal_scroll_mode" type="int" setter="set_horizontal_scroll_mode" getter="get_horizontal_scroll_mode" enum="ScrollContainer.ScrollMode" default="1">
 			Controls whether horizontal scrollbar can be used and when it should be visible. See [enum ScrollMode] for options.
 		</member>
-		<member name="rect_clip_content" type="bool" setter="set_clip_contents" getter="is_clipping_contents" overrides="Control" default="true" />
 		<member name="scroll_deadzone" type="int" setter="set_deadzone" getter="get_deadzone" default="0">
 		</member>
 		<member name="scroll_horizontal" type="int" setter="set_h_scroll" getter="get_h_scroll" default="0">
diff --git a/doc/classes/StreamCubemap.xml b/doc/classes/StreamCubemap.xml
deleted file mode 100644
index 61ab28ad41..0000000000
--- a/doc/classes/StreamCubemap.xml
+++ /dev/null
@@ -1,9 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<class name="StreamCubemap" inherits="StreamTextureLayered" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
-	<brief_description>
-	</brief_description>
-	<description>
-	</description>
-	<tutorials>
-	</tutorials>
-</class>
diff --git a/doc/classes/StreamCubemapArray.xml b/doc/classes/StreamCubemapArray.xml
deleted file mode 100644
index 98e10d9a47..0000000000
--- a/doc/classes/StreamCubemapArray.xml
+++ /dev/null
@@ -1,9 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<class name="StreamCubemapArray" inherits="StreamTextureLayered" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
-	<brief_description>
-	</brief_description>
-	<description>
-	</description>
-	<tutorials>
-	</tutorials>
-</class>
diff --git a/doc/classes/StreamTexture2DArray.xml b/doc/classes/StreamTexture2DArray.xml
deleted file mode 100644
index e78a23416c..0000000000
--- a/doc/classes/StreamTexture2DArray.xml
+++ /dev/null
@@ -1,9 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<class name="StreamTexture2DArray" inherits="StreamTextureLayered" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
-	<brief_description>
-	</brief_description>
-	<description>
-	</description>
-	<tutorials>
-	</tutorials>
-</class>
diff --git a/doc/classes/StyleBox.xml b/doc/classes/StyleBox.xml
index f805692f4d..bc2333f26a 100644
--- a/doc/classes/StyleBox.xml
+++ b/doc/classes/StyleBox.xml
@@ -10,6 +10,37 @@
 	<tutorials>
 	</tutorials>
 	<methods>
+		<method name="_draw" qualifiers="virtual const">
+			<return type="void" />
+			<argument index="0" name="to_canvas_item" type="RID" />
+			<argument index="1" name="rect" type="Rect2" />
+			<description>
+			</description>
+		</method>
+		<method name="_get_center_size" qualifiers="virtual const">
+			<return type="Vector2" />
+			<description>
+			</description>
+		</method>
+		<method name="_get_draw_rect" qualifiers="virtual const">
+			<return type="Rect2" />
+			<argument index="0" name="rect" type="Rect2" />
+			<description>
+			</description>
+		</method>
+		<method name="_get_style_margin" qualifiers="virtual const">
+			<return type="float" />
+			<argument index="0" name="side" type="int" enum="Side" />
+			<description>
+			</description>
+		</method>
+		<method name="_test_mask" qualifiers="virtual const">
+			<return type="bool" />
+			<argument index="0" name="point" type="Vector2" />
+			<argument index="1" name="rect" type="Rect2" />
+			<description>
+			</description>
+		</method>
 		<method name="draw" qualifiers="const">
 			<return type="void" />
 			<argument index="0" name="canvas_item" type="RID" />
diff --git a/doc/classes/SubViewport.xml b/doc/classes/SubViewport.xml
index c439c1d016..b62c294f2c 100644
--- a/doc/classes/SubViewport.xml
+++ b/doc/classes/SubViewport.xml
@@ -4,6 +4,7 @@
 		Creates a sub-view into the screen.
 	</brief_description>
 	<description>
+		[SubViewport] is a [Viewport] that isn't a [Window], i.e. it doesn't draw anything by itself. To display something, [SubViewport]'s [member size] must be non-zero and it should be either put inside a [SubViewportContainer] or assigned to a [ViewportTexture].
 	</description>
 	<tutorials>
 		<link title="Using Viewports">$DOCS_URL/tutorials/rendering/viewports.html</link>
diff --git a/doc/classes/SubViewportContainer.xml b/doc/classes/SubViewportContainer.xml
index 050186a883..77aa7e3ff4 100644
--- a/doc/classes/SubViewportContainer.xml
+++ b/doc/classes/SubViewportContainer.xml
@@ -4,15 +4,15 @@
 		Control for holding [SubViewport]s.
 	</brief_description>
 	<description>
-		A [Container] node that holds a [SubViewport], automatically setting its size.
-		[b]Note:[/b] Changing a SubViewportContainer's [member Control.rect_scale] will cause its contents to appear distorted. To change its visual size without causing distortion, adjust the node's margins instead (if it's not already in a container).
+		A [Container] node that holds a [SubViewport]. It uses the [SubViewport]'s size as minimum size, unless [member stretch] is enabled.
+		[b]Note:[/b] Changing a SubViewportContainer's [member Control.scale] will cause its contents to appear distorted. To change its visual size without causing distortion, adjust the node's margins instead (if it's not already in a container).
 		[b]Note:[/b] The SubViewportContainer forwards mouse-enter and mouse-exit notifications to its sub-viewports.
 	</description>
 	<tutorials>
 	</tutorials>
 	<members>
 		<member name="stretch" type="bool" setter="set_stretch" getter="is_stretch_enabled" default="false">
-			If [code]true[/code], the sub-viewport will be scaled to the control's size.
+			If [code]true[/code], the sub-viewport will be automatically resized to the control's size.
 		</member>
 		<member name="stretch_shrink" type="int" setter="set_stretch_shrink" getter="get_stretch_shrink" default="1">
 			Divides the sub-viewport's effective resolution by this value while preserving its scale. This can be used to speed up rendering.
diff --git a/doc/classes/TabBar.xml b/doc/classes/TabBar.xml
index 40d6e9f26c..698de783c0 100644
--- a/doc/classes/TabBar.xml
+++ b/doc/classes/TabBar.xml
@@ -57,6 +57,13 @@
 				Returns the [Texture2D] for the tab at index [code]tab_idx[/code] or [code]null[/code] if the tab has no [Texture2D].
 			</description>
 		</method>
+		<method name="get_tab_idx_at_point" qualifiers="const">
+			<return type="int" />
+			<argument index="0" name="point" type="Vector2" />
+			<description>
+				Returns the index of the tab at local coordinates [code]point[/code]. Returns [code]-1[/code] if the point is outside the control boundaries or if there's no tab at the queried position.
+			</description>
+		</method>
 		<method name="get_tab_language" qualifiers="const">
 			<return type="String" />
 			<argument index="0" name="tab_idx" type="int" />
@@ -99,12 +106,6 @@
 				Returns the title of the tab at index [code]tab_idx[/code].
 			</description>
 		</method>
-		<method name="get_tabs_rearrange_group" qualifiers="const">
-			<return type="int" />
-			<description>
-				Returns the [TabBar]'s rearrange group ID.
-			</description>
-		</method>
 		<method name="is_tab_disabled" qualifiers="const">
 			<return type="bool" />
 			<argument index="0" name="tab_idx" type="int" />
@@ -199,13 +200,6 @@
 				Sets a [code]title[/code] for the tab at index [code]tab_idx[/code].
 			</description>
 		</method>
-		<method name="set_tabs_rearrange_group">
-			<return type="void" />
-			<argument index="0" name="group_id" type="int" />
-			<description>
-				Defines the rearrange group ID. Choose for each [TabBar] the same value to dragging tabs between [TabBar]. Enable drag with [member drag_to_rearrange_enabled].
-			</description>
-		</method>
 	</methods>
 	<members>
 		<member name="clip_tabs" type="bool" setter="set_clip_tabs" getter="get_clip_tabs" default="true">
@@ -217,6 +211,9 @@
 		<member name="drag_to_rearrange_enabled" type="bool" setter="set_drag_to_rearrange_enabled" getter="get_drag_to_rearrange_enabled" default="false">
 			If [code]true[/code], tabs can be rearranged with mouse drag.
 		</member>
+		<member name="max_tab_width" type="int" setter="set_max_tab_width" getter="get_max_tab_width" default="0">
+			Sets the maximum width which all tabs should be limited to. Unlimited if set to [code]0[/code].
+		</member>
 		<member name="scroll_to_selected" type="bool" setter="set_scroll_to_selected" getter="get_scroll_to_selected" default="true">
 			If [code]true[/code], the tab offset will be changed to keep the the currently selected tab visible.
 		</member>
@@ -235,6 +232,10 @@
 		<member name="tab_count" type="int" setter="set_tab_count" getter="get_tab_count" default="0">
 			The number of tabs currently in the bar.
 		</member>
+		<member name="tabs_rearrange_group" type="int" setter="set_tabs_rearrange_group" getter="get_tabs_rearrange_group" default="-1">
+			[TabBar]s with the same rearrange group ID will allow dragging the tabs between them. Enable drag with [member drag_to_rearrange_enabled].
+			Setting this to [code]-1[/code] will disable rearranging between [TabBar]s.
+		</member>
 	</members>
 	<signals>
 		<signal name="active_tab_rearranged">
diff --git a/doc/classes/TabContainer.xml b/doc/classes/TabContainer.xml
index 3986983155..bdc73ee3c4 100644
--- a/doc/classes/TabContainer.xml
+++ b/doc/classes/TabContainer.xml
@@ -43,20 +43,6 @@
 				Returns the number of tabs.
 			</description>
 		</method>
-		<method name="get_tab_disabled" qualifiers="const">
-			<return type="bool" />
-			<argument index="0" name="tab_idx" type="int" />
-			<description>
-				Returns [code]true[/code] if the tab at index [code]tab_idx[/code] is disabled.
-			</description>
-		</method>
-		<method name="get_tab_hidden" qualifiers="const">
-			<return type="bool" />
-			<argument index="0" name="tab_idx" type="int" />
-			<description>
-				Returns [code]true[/code] if the tab at index [code]tab_idx[/code] is hidden.
-			</description>
-		</method>
 		<method name="get_tab_icon" qualifiers="const">
 			<return type="Texture2D" />
 			<argument index="0" name="tab_idx" type="int" />
@@ -71,6 +57,13 @@
 				Returns the index of the tab at local coordinates [code]point[/code]. Returns [code]-1[/code] if the point is outside the control boundaries or if there's no tab at the queried position.
 			</description>
 		</method>
+		<method name="get_tab_idx_from_control" qualifiers="const">
+			<return type="int" />
+			<argument index="0" name="control" type="Control" />
+			<description>
+				Returns the index of the tab tied to the given [code]control[/code]. The control must be a child of the [TabContainer].
+			</description>
+		</method>
 		<method name="get_tab_title" qualifiers="const">
 			<return type="String" />
 			<argument index="0" name="tab_idx" type="int" />
@@ -78,17 +71,25 @@
 				Returns the title of the tab at index [code]tab_idx[/code]. Tab titles default to the name of the indexed child node, but this can be overridden with [method set_tab_title].
 			</description>
 		</method>
-		<method name="get_tabs_rearrange_group" qualifiers="const">
-			<return type="int" />
+		<method name="is_tab_disabled" qualifiers="const">
+			<return type="bool" />
+			<argument index="0" name="tab_idx" type="int" />
+			<description>
+				Returns [code]true[/code] if the tab at index [code]tab_idx[/code] is disabled.
+			</description>
+		</method>
+		<method name="is_tab_hidden" qualifiers="const">
+			<return type="bool" />
+			<argument index="0" name="tab_idx" type="int" />
 			<description>
-				Returns the [TabContainer] rearrange group id.
+				Returns [code]true[/code] if the tab at index [code]tab_idx[/code] is hidden.
 			</description>
 		</method>
 		<method name="set_popup">
 			<return type="void" />
 			<argument index="0" name="popup" type="Node" />
 			<description>
-				If set on a [Popup] node instance, a popup menu icon appears in the top-right corner of the [TabContainer]. Clicking it will expand the [Popup] node.
+				If set on a [Popup] node instance, a popup menu icon appears in the top-right corner of the [TabContainer] (setting it to [code]null[/code] will make it go away). Clicking it will expand the [Popup] node.
 			</description>
 		</method>
 		<method name="set_tab_disabled">
@@ -120,14 +121,7 @@
 			<argument index="0" name="tab_idx" type="int" />
 			<argument index="1" name="title" type="String" />
 			<description>
-				Sets a title for the tab at index [code]tab_idx[/code]. Tab titles default to the name of the indexed child node.
-			</description>
-		</method>
-		<method name="set_tabs_rearrange_group">
-			<return type="void" />
-			<argument index="0" name="group_id" type="int" />
-			<description>
-				Defines rearrange group id, choose for each [TabContainer] the same value to enable tab drag between [TabContainer]. Enable drag with [member drag_to_rearrange_enabled].
+				Sets a custom title for the tab at index [code]tab_idx[/code] (tab titles default to the name of the indexed child node). Set it back to the child's name to make the tab default to it again.
 			</description>
 		</method>
 	</methods>
@@ -135,13 +129,21 @@
 		<member name="all_tabs_in_front" type="bool" setter="set_all_tabs_in_front" getter="is_all_tabs_in_front" default="false">
 			If [code]true[/code], all tabs are drawn in front of the panel. If [code]false[/code], inactive tabs are drawn behind the panel.
 		</member>
+		<member name="clip_tabs" type="bool" setter="set_clip_tabs" getter="get_clip_tabs" default="true">
+			If [code]true[/code], tabs overflowing this node's width will be hidden, displaying two navigation buttons instead. Otherwise, this node's minimum size is updated so that all tabs are visible.
+		</member>
 		<member name="current_tab" type="int" setter="set_current_tab" getter="get_current_tab" default="0">
 			The current tab index. When set, this index's [Control] node's [code]visible[/code] property is set to [code]true[/code] and all others are set to [code]false[/code].
 		</member>
 		<member name="drag_to_rearrange_enabled" type="bool" setter="set_drag_to_rearrange_enabled" getter="get_drag_to_rearrange_enabled" default="false">
 			If [code]true[/code], tabs can be rearranged with mouse drag.
 		</member>
-		<member name="tab_alignment" type="int" setter="set_tab_alignment" getter="get_tab_alignment" enum="TabContainer.AlignmentMode" default="1">
+		<member name="tab_alignment" type="int" setter="set_tab_alignment" getter="get_tab_alignment" enum="TabBar.AlignmentMode" default="1">
+			Sets the position at which tabs will be placed. See [enum TabBar.AlignmentMode] for details.
+		</member>
+		<member name="tabs_rearrange_group" type="int" setter="set_tabs_rearrange_group" getter="get_tabs_rearrange_group" default="-1">
+			[TabContainer]s with the same rearrange group ID will allow dragging the tabs between them. Enable drag with [member drag_to_rearrange_enabled].
+			Setting this to [code]-1[/code] will disable rearranging between [TabContainer]s.
 		</member>
 		<member name="tabs_visible" type="bool" setter="set_tabs_visible" getter="are_tabs_visible" default="true">
 			If [code]true[/code], tabs are visible. If [code]false[/code], tabs' content and titles are hidden.
@@ -169,14 +171,6 @@
 			</description>
 		</signal>
 	</signals>
-	<constants>
-		<constant name="ALIGNMENT_LEFT" value="0" enum="AlignmentMode">
-		</constant>
-		<constant name="ALIGNMENT_CENTER" value="1" enum="AlignmentMode">
-		</constant>
-		<constant name="ALIGNMENT_RIGHT" value="2" enum="AlignmentMode">
-		</constant>
-	</constants>
 	<theme_items>
 		<theme_item name="font_disabled_color" data_type="color" type="Color" default="Color(0.875, 0.875, 0.875, 0.5)">
 			Font color of disabled tabs.
@@ -197,7 +191,8 @@
 			The size of the tab text outline.
 		</theme_item>
 		<theme_item name="side_margin" data_type="constant" type="int" default="8">
-			The space at the left and right edges of the tab bar.
+			The space at the left or right edges of the tab bar, accordingly with the current [member tab_alignment].
+			The margin is ignored with [code]ALIGNMENT_RIGHT[/code] if the tabs are clipped (see [member clip_tabs]) or a popup has been set (see [method set_popup]). The margin is always ignored with [code]ALIGNMENT_CENTER[/code].
 		</theme_item>
 		<theme_item name="font" data_type="font" type="Font">
 			The font used to draw tab names.
diff --git a/doc/classes/Texture2D.xml b/doc/classes/Texture2D.xml
index de9bbb4b3d..1bbebe085e 100644
--- a/doc/classes/Texture2D.xml
+++ b/doc/classes/Texture2D.xml
@@ -12,6 +12,58 @@
 	<tutorials>
 	</tutorials>
 	<methods>
+		<method name="_draw" qualifiers="virtual const">
+			<return type="void" />
+			<argument index="0" name="to_canvas_item" type="RID" />
+			<argument index="1" name="pos" type="Vector2" />
+			<argument index="2" name="modulate" type="Color" />
+			<argument index="3" name="transpose" type="bool" />
+			<description>
+			</description>
+		</method>
+		<method name="_draw_rect" qualifiers="virtual const">
+			<return type="void" />
+			<argument index="0" name="to_canvas_item" type="RID" />
+			<argument index="1" name="rect" type="Rect2" />
+			<argument index="2" name="tile" type="bool" />
+			<argument index="3" name="modulate" type="Color" />
+			<argument index="4" name="transpose" type="bool" />
+			<description>
+			</description>
+		</method>
+		<method name="_draw_rect_region" qualifiers="virtual const">
+			<return type="void" />
+			<argument index="0" name="tp_canvas_item" type="RID" />
+			<argument index="1" name="rect" type="Rect2" />
+			<argument index="2" name="src_rect" type="Rect2" />
+			<argument index="3" name="modulate" type="Color" />
+			<argument index="4" name="transpose" type="bool" />
+			<argument index="5" name="clip_uv" type="bool" />
+			<description>
+			</description>
+		</method>
+		<method name="_get_height" qualifiers="virtual const">
+			<return type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="_get_width" qualifiers="virtual const">
+			<return type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="_has_alpha" qualifiers="virtual const">
+			<return type="bool" />
+			<description>
+			</description>
+		</method>
+		<method name="_is_pixel_opaque" qualifiers="virtual const">
+			<return type="bool" />
+			<argument index="0" name="x" type="int" />
+			<argument index="1" name="y" type="int" />
+			<description>
+			</description>
+		</method>
 		<method name="draw" qualifiers="const">
 			<return type="void" />
 			<argument index="0" name="canvas_item" type="RID" />
diff --git a/doc/classes/Texture3D.xml b/doc/classes/Texture3D.xml
index bdfa428328..4968f46fe8 100644
--- a/doc/classes/Texture3D.xml
+++ b/doc/classes/Texture3D.xml
@@ -7,6 +7,36 @@
 	<tutorials>
 	</tutorials>
 	<methods>
+		<method name="_get_data" qualifiers="virtual const">
+			<return type="Image[]" />
+			<description>
+			</description>
+		</method>
+		<method name="_get_depth" qualifiers="virtual const">
+			<return type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="_get_format" qualifiers="virtual const">
+			<return type="int" enum="Image.Format" />
+			<description>
+			</description>
+		</method>
+		<method name="_get_height" qualifiers="virtual const">
+			<return type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="_get_width" qualifiers="virtual const">
+			<return type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="_has_mipmaps" qualifiers="virtual const">
+			<return type="bool" />
+			<description>
+			</description>
+		</method>
 		<method name="get_data" qualifiers="const">
 			<return type="Image[]" />
 			<description>
diff --git a/doc/classes/TextureLayered.xml b/doc/classes/TextureLayered.xml
index 13679908d7..3445329f32 100644
--- a/doc/classes/TextureLayered.xml
+++ b/doc/classes/TextureLayered.xml
@@ -9,6 +9,42 @@
 	<tutorials>
 	</tutorials>
 	<methods>
+		<method name="_get_format" qualifiers="virtual const">
+			<return type="int" enum="Image.Format" />
+			<description>
+			</description>
+		</method>
+		<method name="_get_height" qualifiers="virtual const">
+			<return type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="_get_layer_data" qualifiers="virtual const">
+			<return type="Image" />
+			<argument index="0" name="layer_index" type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="_get_layered_type" qualifiers="virtual const">
+			<return type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="_get_layers" qualifiers="virtual const">
+			<return type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="_get_width" qualifiers="virtual const">
+			<return type="int" />
+			<description>
+			</description>
+		</method>
+		<method name="_has_mipmaps" qualifiers="virtual const">
+			<return type="bool" />
+			<description>
+			</description>
+		</method>
 		<method name="get_format" qualifiers="const">
 			<return type="int" enum="Image.Format" />
 			<description>
diff --git a/doc/classes/Timer.xml b/doc/classes/Timer.xml
index 975be428d8..ebe25ed55e 100644
--- a/doc/classes/Timer.xml
+++ b/doc/classes/Timer.xml
@@ -21,7 +21,7 @@
 			<return type="void" />
 			<argument index="0" name="time_sec" type="float" default="-1" />
 			<description>
-				Starts the timer. Sets [code]wait_time[/code] to [code]time_sec[/code] if [code]time_sec &gt; 0[/code]. This also resets the remaining time to [code]wait_time[/code].
+				Starts the timer. Sets [member wait_time] to [code]time_sec[/code] if [code]time_sec &gt; 0[/code]. This also resets the remaining time to [member wait_time].
 				[b]Note:[/b] This method will not resume a paused timer. See [member paused].
 			</description>
 		</method>
diff --git a/doc/classes/Tree.xml b/doc/classes/Tree.xml
index 25e6f553ca..b8c39bee49 100644
--- a/doc/classes/Tree.xml
+++ b/doc/classes/Tree.xml
@@ -323,6 +323,7 @@
 		<member name="allow_rmb_select" type="bool" setter="set_allow_rmb_select" getter="get_allow_rmb_select" default="false">
 			If [code]true[/code], a right mouse button click can select items.
 		</member>
+		<member name="clip_contents" type="bool" setter="set_clip_contents" getter="is_clipping_contents" overrides="Control" default="true" />
 		<member name="column_titles_visible" type="bool" setter="set_column_titles_visible" getter="are_column_titles_visible" default="false">
 			If [code]true[/code], column titles are visible.
 		</member>
@@ -340,7 +341,6 @@
 		<member name="hide_root" type="bool" setter="set_hide_root" getter="is_root_hidden" default="false">
 			If [code]true[/code], the tree's root is hidden.
 		</member>
-		<member name="rect_clip_content" type="bool" setter="set_clip_contents" getter="is_clipping_contents" overrides="Control" default="true" />
 		<member name="scroll_horizontal_enabled" type="bool" setter="set_h_scroll_enabled" getter="is_h_scroll_enabled" default="true">
 			If [code]true[/code], enables horizontal scrolling.
 		</member>
diff --git a/doc/classes/Variant.xml b/doc/classes/Variant.xml
index f2104d77ab..0d6fcd0ef5 100644
--- a/doc/classes/Variant.xml
+++ b/doc/classes/Variant.xml
@@ -25,7 +25,6 @@
 		- GDScript automatically wrap values in them. It keeps all data in plain Variants by default and then optionally enforces custom static typing rules on variable types.
 		- VisualScript tracks properties inside Variants as well, but it also uses static typing. The GUI interface enforces that properties have a particular type that doesn't change over time.
 		- C# is statically typed, but uses the Mono [code]object[/code] type in place of Godot's Variant class when it needs to represent a dynamic value. [code]object[/code] is the Mono runtime's equivalent of the same concept.
-		- The statically-typed language NativeScript C++ does not define a built-in Variant-like class. Godot's GDNative bindings provide their own godot::Variant class for users; Any point at which the C++ code starts interacting with the Godot runtime is a place where you might have to start wrapping data inside Variant objects.
 		The global [method @GlobalScope.typeof] function returns the enumerated value of the Variant type stored in the current variable (see [enum Variant.Type]).
 		[codeblocks]
 		[gdscript]
diff --git a/doc/classes/VideoStreamPlayer.xml b/doc/classes/VideoStreamPlayer.xml
index 033e1ecd29..092a754a39 100644
--- a/doc/classes/VideoStreamPlayer.xml
+++ b/doc/classes/VideoStreamPlayer.xml
@@ -5,7 +5,7 @@
 	</brief_description>
 	<description>
 		Control node for playing video streams using [VideoStream] resources.
-		Supported video formats are [url=https://www.theora.org/]Ogg Theora[/url] ([code].ogv[/code], [VideoStreamTheora]) and any format exposed via a GDNative plugin using [VideoStreamGDNative].
+		Supported video formats are [url=https://www.theora.org/]Ogg Theora[/url] ([code].ogv[/code], [VideoStreamTheora]) and any format exposed via a GDExtension plugin.
 		[b]Note:[/b] Due to a bug, VideoStreamPlayer does not support localization remapping yet.
 		[b]Warning:[/b] On HTML5, video playback [i]will[/i] perform poorly due to missing architecture-specific assembly optimizations.
 	</description>
@@ -69,7 +69,7 @@
 		</member>
 		<member name="stream_position" type="float" setter="set_stream_position" getter="get_stream_position">
 			The current position of the stream, in seconds.
-			[b]Note:[/b] Changing this value won't have any effect as seeking is not implemented yet, except in video formats implemented by a GDNative add-on.
+			[b]Note:[/b] Changing this value won't have any effect as seeking is not implemented yet, except in video formats implemented by a GDExtension add-on.
 		</member>
 		<member name="volume" type="float" setter="set_volume" getter="get_volume">
 			Audio volume as a linear value.
diff --git a/doc/classes/Viewport.xml b/doc/classes/Viewport.xml
index 531b09c6a0..ce61f51b9a 100644
--- a/doc/classes/Viewport.xml
+++ b/doc/classes/Viewport.xml
@@ -1,12 +1,11 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <class name="Viewport" inherits="Node" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
 	<brief_description>
-		Creates a sub-view into the screen.
+		Base class for viewports.
 	</brief_description>
 	<description>
 		A Viewport creates a different view into the screen, or a sub-view inside another viewport. Children 2D Nodes will display on it, and children Camera3D 3D nodes will render on it too.
 		Optionally, a viewport can have its own 2D or 3D world, so they don't share what they draw with other viewports.
-		If a viewport is a child of a [SubViewportContainer], it will automatically take up its size, otherwise it must be set manually.
 		Viewports can also choose to be audio listeners, so they generate positional audio depending on a 2D or 3D camera child of it.
 		Also, viewports can be assigned to different screens in case the devices have multiple screens.
 		Finally, viewports can also behave as render targets, in which case they will not be visible unless the associated texture is used to draw.
diff --git a/doc/classes/VisualInstance3D.xml b/doc/classes/VisualInstance3D.xml
index 1aae85c7e1..7efa1f4df8 100644
--- a/doc/classes/VisualInstance3D.xml
+++ b/doc/classes/VisualInstance3D.xml
@@ -9,6 +9,11 @@
 	<tutorials>
 	</tutorials>
 	<methods>
+		<method name="_get_aabb" qualifiers="virtual const">
+			<return type="AABB" />
+			<description>
+			</description>
+		</method>
 		<method name="get_aabb" qualifiers="const">
 			<return type="AABB" />
 			<description>
diff --git a/doc/classes/VisualShader.xml b/doc/classes/VisualShader.xml
index 3c5a6f3a33..138aad8d47 100644
--- a/doc/classes/VisualShader.xml
+++ b/doc/classes/VisualShader.xml
@@ -20,6 +20,14 @@
 				Adds the specified node to the shader.
 			</description>
 		</method>
+		<method name="add_varying">
+			<return type="void" />
+			<argument index="0" name="name" type="String" />
+			<argument index="1" name="mode" type="int" enum="VisualShader.VaryingMode" />
+			<argument index="2" name="type" type="int" enum="VisualShader.VaryingType" />
+			<description>
+			</description>
+		</method>
 		<method name="can_connect_nodes" qualifiers="const">
 			<return type="bool" />
 			<argument index="0" name="type" type="int" enum="VisualShader.Type" />
@@ -100,6 +108,12 @@
 			<description>
 			</description>
 		</method>
+		<method name="has_varying" qualifiers="const">
+			<return type="bool" />
+			<argument index="0" name="name" type="String" />
+			<description>
+			</description>
+		</method>
 		<method name="is_node_connection" qualifiers="const">
 			<return type="bool" />
 			<argument index="0" name="type" type="int" enum="VisualShader.Type" />
@@ -119,6 +133,12 @@
 				Removes the specified node from the shader.
 			</description>
 		</method>
+		<method name="remove_varying">
+			<return type="void" />
+			<argument index="0" name="name" type="String" />
+			<description>
+			</description>
+		</method>
 		<method name="replace_node">
 			<return type="void" />
 			<argument index="0" name="type" type="int" enum="VisualShader.Type" />
@@ -182,6 +202,24 @@
 		<constant name="TYPE_MAX" value="10" enum="Type">
 			Represents the size of the [enum Type] enum.
 		</constant>
+		<constant name="VARYING_MODE_VERTEX_TO_FRAG_LIGHT" value="0" enum="VaryingMode">
+		</constant>
+		<constant name="VARYING_MODE_FRAG_TO_LIGHT" value="1" enum="VaryingMode">
+		</constant>
+		<constant name="VARYING_MODE_MAX" value="2" enum="VaryingMode">
+		</constant>
+		<constant name="VARYING_TYPE_FLOAT" value="0" enum="VaryingType">
+		</constant>
+		<constant name="VARYING_TYPE_VECTOR_2D" value="1" enum="VaryingType">
+		</constant>
+		<constant name="VARYING_TYPE_VECTOR_3D" value="2" enum="VaryingType">
+		</constant>
+		<constant name="VARYING_TYPE_COLOR" value="3" enum="VaryingType">
+		</constant>
+		<constant name="VARYING_TYPE_TRANSFORM" value="4" enum="VaryingType">
+		</constant>
+		<constant name="VARYING_TYPE_MAX" value="5" enum="VaryingType">
+		</constant>
 		<constant name="NODE_ID_INVALID" value="-1">
 		</constant>
 		<constant name="NODE_ID_OUTPUT" value="0">
diff --git a/doc/classes/VisualShaderNodeCustom.xml b/doc/classes/VisualShaderNodeCustom.xml
index 7b992abe24..0a962a4aa4 100644
--- a/doc/classes/VisualShaderNodeCustom.xml
+++ b/doc/classes/VisualShaderNodeCustom.xml
@@ -44,6 +44,17 @@
 				Defining this method is [b]optional[/b].
 			</description>
 		</method>
+		<method name="_get_func_code" qualifiers="virtual const">
+			<return type="String" />
+			<argument index="0" name="mode" type="int" enum="Shader.Mode" />
+			<argument index="1" name="type" type="int" enum="VisualShader.Type" />
+			<description>
+				Override this method to add a shader code to the beginning of each shader function (once). The shader code should be returned as a string, which can have multiple lines (the [code]"""[/code] multiline string construct can be used for convenience).
+				If there are multiple custom nodes of different types which use this feature the order of each insertion is undefined.
+				You can customize the generated code based on the shader [code]mode[/code] (see [enum Shader.Mode]) and/or [code]type[/code] (see [enum VisualShader.Type]).
+				Defining this method is [b]optional[/b].
+			</description>
+		</method>
 		<method name="_get_global_code" qualifiers="virtual const">
 			<return type="String" />
 			<argument index="0" name="mode" type="int" enum="Shader.Mode" />
@@ -114,11 +125,20 @@
 				Defining this method is [b]optional[/b]. If not overridden, no return icon is shown.
 			</description>
 		</method>
+		<method name="_is_available" qualifiers="virtual const">
+			<return type="bool" />
+			<argument index="0" name="mode" type="int" enum="Shader.Mode" />
+			<argument index="1" name="type" type="int" enum="VisualShader.Type" />
+			<description>
+				Override this method to prevent the node to be visible in the member dialog for the certain [code]mode[/code] (see [enum Shader.Mode]) and/or [code]type[/code] (see [enum VisualShader.Type]).
+				Defining this method is [b]optional[/b]. If not overridden, it's [code]true[/code].
+			</description>
+		</method>
 		<method name="_is_highend" qualifiers="virtual const">
 			<return type="bool" />
 			<description>
 				Override this method to enable high-end mark in the Visual Shader Editor's members dialog.
-				Defining this method is [b]optional[/b]. If not overridden, it's false.
+				Defining this method is [b]optional[/b]. If not overridden, it's [code]false[/code].
 			</description>
 		</method>
 	</methods>
diff --git a/doc/classes/VisualShaderNodeVarying.xml b/doc/classes/VisualShaderNodeVarying.xml
new file mode 100644
index 0000000000..0dbbd61f3a
--- /dev/null
+++ b/doc/classes/VisualShaderNodeVarying.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<class name="VisualShaderNodeVarying" inherits="VisualShaderNode" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
+	<brief_description>
+	</brief_description>
+	<description>
+	</description>
+	<tutorials>
+	</tutorials>
+	<members>
+		<member name="varying_name" type="String" setter="set_varying_name" getter="get_varying_name" default="&quot;[None]&quot;">
+		</member>
+		<member name="varying_type" type="int" setter="set_varying_type" getter="get_varying_type" enum="VisualShader.VaryingType" default="0">
+		</member>
+	</members>
+</class>
diff --git a/doc/classes/VisualShaderNodeVaryingGetter.xml b/doc/classes/VisualShaderNodeVaryingGetter.xml
new file mode 100644
index 0000000000..de30b18d67
--- /dev/null
+++ b/doc/classes/VisualShaderNodeVaryingGetter.xml
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<class name="VisualShaderNodeVaryingGetter" inherits="VisualShaderNodeVarying" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
+	<brief_description>
+	</brief_description>
+	<description>
+	</description>
+	<tutorials>
+	</tutorials>
+</class>
diff --git a/doc/classes/VisualShaderNodeVaryingSetter.xml b/doc/classes/VisualShaderNodeVaryingSetter.xml
new file mode 100644
index 0000000000..57ead3d82b
--- /dev/null
+++ b/doc/classes/VisualShaderNodeVaryingSetter.xml
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<class name="VisualShaderNodeVaryingSetter" inherits="VisualShaderNodeVarying" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
+	<brief_description>
+	</brief_description>
+	<description>
+	</description>
+	<tutorials>
+	</tutorials>
+</class>
diff --git a/doc/classes/XRInterface.xml b/doc/classes/XRInterface.xml
index 623e4f5fbc..0f4159cbbf 100644
--- a/doc/classes/XRInterface.xml
+++ b/doc/classes/XRInterface.xml
@@ -4,7 +4,7 @@
 		Base class for an XR interface implementation.
 	</brief_description>
 	<description>
-		This class needs to be implemented to make an AR or VR platform available to Godot and these should be implemented as C++ modules or GDNative modules (note that for GDNative the subclass XRScriptInterface should be used). Part of the interface is exposed to GDScript so you can detect, enable and configure an AR or VR platform.
+		This class needs to be implemented to make an AR or VR platform available to Godot and these should be implemented as C++ modules or GDExtension modules. Part of the interface is exposed to GDScript so you can detect, enable and configure an AR or VR platform.
 		Interfaces should be written in such a way that simply enabling them will give us a working setup. You can query the available interfaces through [XRServer].
 	</description>
 	<tutorials>
diff --git a/doc/classes/XRPositionalTracker.xml b/doc/classes/XRPositionalTracker.xml
index da378759d8..d15558c9e8 100644
--- a/doc/classes/XRPositionalTracker.xml
+++ b/doc/classes/XRPositionalTracker.xml
@@ -72,6 +72,9 @@
 			- [code]left_hand[/code] identifies the controller held in the players left hand
 			- [code]right_hand[/code] identifies the controller held in the players right hand
 		</member>
+		<member name="profile" type="String" setter="set_tracker_profile" getter="get_tracker_profile" default="&quot;&quot;">
+			The profile associated with this tracker, interface dependent but will indicate the type of controller being tracked.
+		</member>
 		<member name="type" type="int" setter="set_tracker_type" getter="get_tracker_type" enum="XRServer.TrackerType" default="128">
 			The type of tracker.
 		</member>
@@ -109,6 +112,12 @@
 				Emitted when the state of a pose tracked by this tracker changes.
 			</description>
 		</signal>
+		<signal name="profile_changed">
+			<argument index="0" name="role" type="String" />
+			<description>
+				Emitted when the profile of our tracker changes.
+			</description>
+		</signal>
 	</signals>
 	<constants>
 		<constant name="TRACKER_HAND_UNKNOWN" value="0" enum="TrackerHand">
diff --git a/doc/translations/ar.po b/doc/translations/ar.po
index dc685b6e2b..eb473b9275 100644
--- a/doc/translations/ar.po
+++ b/doc/translations/ar.po
@@ -15,12 +15,14 @@
 # يزن حمزه <yznhamzeh@gmail.com>, 2021.
 # HASSAN GAMER - حسن جيمر <gamerhassan55@gmail.com>, 2022.
 # Spirit <i8bou3@gmail.com>, 2022.
+# Mr.k <mineshtine28546271@gmail.com>, 2022.
+# Hamza Kalash <mogo.gogo170@gmail.com>, 2022.
 msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine class reference\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
-"PO-Revision-Date: 2022-01-10 13:18+0000\n"
-"Last-Translator: Spirit <i8bou3@gmail.com>\n"
+"PO-Revision-Date: 2022-02-28 13:54+0000\n"
+"Last-Translator: Mr.k <mineshtine28546271@gmail.com>\n"
 "Language-Team: Arabic <https://hosted.weblate.org/projects/godot-engine/"
 "godot-class-reference/ar/>\n"
 "Language: ar\n"
@@ -29,7 +31,7 @@ msgstr ""
 "Content-Transfer-Encoding: 8-bit\n"
 "Plural-Forms: nplurals=6; plural=n==0 ? 0 : n==1 ? 1 : n==2 ? 2 : n%100>=3 "
 "&& n%100<=10 ? 3 : n%100>=11 ? 4 : 5;\n"
-"X-Generator: Weblate 4.10.1\n"
+"X-Generator: Weblate 4.11.1-dev\n"
 
 #: doc/tools/make_rst.py
 msgid "Description"
@@ -41,11 +43,11 @@ msgstr "شروحات"
 
 #: doc/tools/make_rst.py
 msgid "Properties"
-msgstr "خاصيات"
+msgstr "خصائص"
 
 #: doc/tools/make_rst.py
 msgid "Methods"
-msgstr "طرق"
+msgstr "دوال"
 
 #: doc/tools/make_rst.py
 msgid "Theme Properties"
@@ -77,15 +79,16 @@ msgstr "أوصا� خاصية الثمات"
 
 #: doc/tools/make_rst.py
 msgid "Inherits:"
-msgstr ""
+msgstr "يرث:"
 
 #: doc/tools/make_rst.py
+#, fuzzy
 msgid "Inherited By:"
-msgstr ""
+msgstr "موروث من ق�بَل:"
 
 #: doc/tools/make_rst.py
 msgid "(overrides %s)"
-msgstr ""
+msgstr "(يتجاوز s%)"
 
 #: doc/tools/make_rst.py
 msgid "Default"
@@ -101,7 +104,7 @@ msgstr "قيمة"
 
 #: doc/tools/make_rst.py
 msgid "Getter"
-msgstr ""
+msgstr "جالب"
 
 #: doc/tools/make_rst.py
 msgid ""
@@ -136,8 +139,9 @@ msgid ""
 msgstr ""
 
 #: modules/gdscript/doc_classes/@GDScript.xml
+#, fuzzy
 msgid "Built-in GDScript functions."
-msgstr "دوال GDScript المدمجة"
+msgstr "دوال GDScript المدمجة."
 
 #: modules/gdscript/doc_classes/@GDScript.xml
 msgid ""
@@ -173,6 +177,7 @@ msgstr ""
 "[/codeblock]"
 
 #: modules/gdscript/doc_classes/@GDScript.xml
+#, fuzzy
 msgid ""
 "Returns a color according to the standardized [code]name[/code] with "
 "[code]alpha[/code] ranging from 0 to 1.\n"
@@ -181,14 +186,14 @@ msgid ""
 "[/codeblock]\n"
 "Supported color names are the same as the constants defined in [Color]."
 msgstr ""
-"لعرض لون يتوا�ق مع [code]name[/ code] و [code]alpha[/ code] تتراوح بين 0 "
-"Ùˆ1.\n"
+"لعرض لون يتوا�ق مع [code]name[/code] و [code]alpha[/code]تتراوح بين 0 و1.\n"
 "[codeblock]\n"
 "(red = ColorN(\"red\", 1\n"
-"[codeblock/]\n"
+"[/codeblock]\n"
 "أسماء الألوان المدعومة هي ن�س الثوابت المعرّ�ة �ي [Color]."
 
 #: modules/gdscript/doc_classes/@GDScript.xml
+#, fuzzy
 msgid ""
 "Returns the absolute value of parameter [code]s[/code] (i.e. positive "
 "value).\n"
@@ -196,11 +201,10 @@ msgid ""
 "a = abs(-1) # a is 1\n"
 "[/codeblock]"
 msgstr ""
-"لعرض القيمة المطلقة للم�عامل [code]s[/ code] (القيمة المطلقة أي القيمة "
+"لعرض القيمة المطلقة للم�عامل [code]s[/code] (القيمة المطلقة أي القيمة "
 "الموجبة).\n"
 "[codeblock]\n"
-"#القيمة المطلقة لـ(1-) هي 1، وبالتالي �إن قيمة a ستكون 1\n"
-"(a = abs(-1\n"
+"(a = abs(-1 #القيمة المطلقة لـ(1-) هي 1، وبالتالي �إن قيمة a ستكون 1\n"
 "[/codeblock]"
 
 #: modules/gdscript/doc_classes/@GDScript.xml
@@ -215,15 +219,16 @@ msgid ""
 "c = acos(0.866025)\n"
 "[/codeblock]"
 msgstr ""
-"ت�رجع معكوس دالة الكوساين لـ [code]s[/ code] بالراديان. ت�ستخدم للحصول على "
-"زاوية الكوساين [code]s[/code].\n"
+"تقوم هذه الدالة بارجاع arc cos للقيمة [code]s[/code] بالراديانز. يمكنك "
+"استعمالها للحصول علي قيمة الزاوية cos([code]s[/code]). قيمة [code]s[/code] "
+"لابد ان تكون محصورة بين [code]-1.00[/code] و [code]1.00[/code]. او ستقوم "
+"الدالة بارجاع [constant NAN] \n"
 "[codeblock]\n"
-"# c تساوي 0.523599 أو 30 درجة إذا تم تحويلها باستخدام (rad2deg(s\n"
-"(c = acos(0.866025\n"
+"# c هي 0.523599 أو 30 درجة إذا ح�ولتْ بأستخدام rad2deg(s)\n"
+"c = acos(0.866025)\n"
 "[/codeblock]"
 
 #: modules/gdscript/doc_classes/@GDScript.xml
-#, fuzzy
 msgid ""
 "Returns the arc sine of [code]s[/code] in radians. Use to get the angle of "
 "sine [code]s[/code]. [code]s[/code] must be between [code]-1.0[/code] and "
@@ -234,11 +239,13 @@ msgid ""
 "s = asin(0.5)\n"
 "[/codeblock]"
 msgstr ""
-"ت�رجع معكوس دالة الكوساين لـ [code]s[/ code] بالراديان. ت�ستخدم للحصول على "
-"زاوية الكوساين [code]s[/code].\n"
+"ت�رجع معكوس دالة الكوساين لـ [code]s[/code] بالراديان. ت�ستخدم للحصول على "
+"زاوية الكوساين [code]s[/code]. يجب أن تكون قيمة [code]s[/code] بين "
+"[code]-1.0[/code] و [code]1.0[/code] (شاملةً اياها), وغيير ذلك, [الدالة asin] "
+"سو� ترجع [قيمة الثابت NAN].\n"
 "[codeblock]\n"
-"# c تساوي 0.523599 أو 30 درجة إذا تم تحويلها باستخدام (rad2deg(s\n"
-"(c = acos(0.866025\n"
+"# s تساوي 0.523599 أو 30 درجة إذا تم تحويلها باستخدام (rad2deg(s\n"
+"(s = acos(0.5\n"
 "[/codeblock]"
 
 #: modules/gdscript/doc_classes/@GDScript.xml
@@ -292,6 +299,7 @@ msgid ""
 msgstr ""
 
 #: modules/gdscript/doc_classes/@GDScript.xml
+#, fuzzy
 msgid ""
 "Decodes a byte array back to a value. When [code]allow_objects[/code] is "
 "[code]true[/code] decoding objects is allowed.\n"
@@ -300,8 +308,8 @@ msgid ""
 "avoid potential security threats (remote code execution)."
 msgstr ""
 "يقوم ب�ك تش�ير مص�و�ة بايت وإعادتها إلى قيمة. عندما يكون [code] "
-"allow_objects [/ code] هو [code] صحيح [/ code] ، اسمح ب�ك تش�ير الكائنات.\n"
-"[b] تحذير: [/ b] يتم تن�يذه إذا كان الكائن الذي تم إلغاء تسلسله يحتوي على "
+"allow_objects [/code] هو [code] صحيح [/code] ، اسمح ب�ك تش�ير الكائنات.\n"
+"[b] تحذير: [/b] يتم تن�يذه إذا كان الكائن الذي تم إلغاء تسلسله يحتوي على "
 "تعليمات برمجية. إذا جاء الكائن المتسلسل من مصدر غير موثوق به ، �لا تستخدم "
 "هذا الخيار لمنع مخاطر أمنية محتملة (تن�يذ التعليمات البرمجية عن ب�عد)."
 
@@ -372,7 +380,7 @@ msgid ""
 "a = cos(PI)  # a is -1.0\n"
 "[/codeblock]"
 msgstr ""
-"لعرض القيمة المطلقة للم�عامل [code]s[/ code] (القيمة المطلقة أي القيمة "
+"لعرض القيمة المطلقة للم�عامل [code]s[/code] (القيمة المطلقة أي القيمة "
 "الموجبة).\n"
 "[codeblock]\n"
 "#القيمة المطلقة لـ(1-) هي 1، وبالتالي �إن قيمة a ستكون 1\n"
@@ -387,11 +395,10 @@ msgid ""
 "print(cosh(1)) # Prints 1.543081\n"
 "[/codeblock]"
 msgstr ""
-"لعرض القيمة المطلقة للم�عامل [code]s[/ code] (القيمة المطلقة أي القيمة "
+"لعرض القيمة المطلقة للم�عامل [code]s[/code] (القيمة المطلقة أي القيمة "
 "الموجبة).\n"
 "[codeblock]\n"
-"#القيمة المطلقة لـ(1-) هي 1، وبالتالي �إن قيمة a ستكون 1\n"
-"(a = abs(-1\n"
+"#القيمة المطلقة لـ(1-) هي 1، وبالتالي �إن قيمة a ستكون 1 (a = abs(-1\n"
 "[/codeblock]"
 
 #: modules/gdscript/doc_classes/@GDScript.xml
@@ -881,11 +888,10 @@ msgid ""
 "pow(2, 5) # Returns 32.0\n"
 "[/codeblock]"
 msgstr ""
-"ت�رجع معكوس دالة الكوساين لـ [code]s[/ code] بالراديان. ت�ستخدم للحصول على "
+"ت�رجع معكوس دالة الكوساين لـ [code]s[/code] بالراديان. ت�ستخدم للحصول على "
 "زاوية الكوساين [code]s[/code].\n"
 "[codeblock]\n"
 "# c تساوي 0.523599 أو 30 درجة إذا تم تحويلها باستخدام (rad2deg(s\n"
-"(c = acos(0.866025\n"
 "[/codeblock]"
 
 #: modules/gdscript/doc_classes/@GDScript.xml
@@ -1253,7 +1259,7 @@ msgid ""
 "b = tanh(a)  # b is 0.6\n"
 "[/codeblock]"
 msgstr ""
-"لعرض القيمة المطلقة للم�عامل [code]s[/ code] (القيمة المطلقة أي القيمة "
+"لعرض القيمة المطلقة للم�عامل [code]s[/code] (القيمة المطلقة أي القيمة "
 "الموجبة).\n"
 "[codeblock]\n"
 "#القيمة المطلقة لـ(1-) هي 1، وبالتالي �إن قيمة a ستكون 1\n"
@@ -3414,6 +3420,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4925,8 +4940,9 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
-msgstr ""
+#, fuzzy
+msgid "Returns whether the given path is filtered."
+msgstr "ي�رجع قيمة ظل الزاوية للمَعلم."
 
 #: doc/classes/AnimationNode.xml
 msgid ""
@@ -4950,7 +4966,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -4959,7 +4975,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -5030,7 +5046,7 @@ msgstr ""
 #: doc/classes/AnimationNodeTimeScale.xml
 #: doc/classes/AnimationNodeTransition.xml
 msgid "AnimationTree"
-msgstr ""
+msgstr "شجرة التحريك"
 
 #: doc/classes/AnimationNodeAdd3.xml doc/classes/AnimationNodeAnimation.xml
 #: doc/classes/AnimationNodeBlend2.xml
@@ -9571,26 +9587,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9748,6 +9748,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12211,11 +12221,10 @@ msgid "Returns an array of [CameraFeed]s."
 msgstr ""
 
 #: doc/classes/CameraServer.xml
-#, fuzzy
 msgid ""
 "Returns the [CameraFeed] corresponding to the camera with the given "
 "[code]index[/code]."
-msgstr "ي�رجع جيب المَعلم."
+msgstr "ي�رجع [CameraFeed] المطابقة للكاميرا مع المؤشر [code]index[/code]."
 
 #: doc/classes/CameraServer.xml
 msgid "Returns the number of [CameraFeed]s registered."
@@ -12829,6 +12838,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15665,8 +15686,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16423,6 +16445,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -23102,7 +23143,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25206,8 +25262,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25477,7 +25534,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -32018,7 +32080,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32398,8 +32465,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34240,6 +34311,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34253,6 +34333,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34295,6 +34387,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34346,6 +34448,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36668,6 +36782,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36838,6 +36971,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -36938,6 +37086,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37188,6 +37344,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38175,8 +38337,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -38969,7 +39131,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -40080,9 +40254,10 @@ msgid ""
 "Do not use this option if the serialized object comes from untrusted sources "
 "to avoid potential security threats such as remote code execution."
 msgstr ""
-"يقوم ب�ك تش�ير مص�و�ة بايت وإعادتها إلى قيمة. عندما يكون [code] "
-"allow_objects [/ code] هو [code] صحيح [/ code] ، اسمح ب�ك تش�ير الكائنات.\n"
-"[b] تحذير: [/ b] يتم تن�يذه إذا كان الكائن الذي تم إلغاء تسلسله يحتوي على "
+"يقوم ب�ك تش�ير مص�و�ة بايت وإعادتها إلى قيمة.\n"
+"عندما يكون [code] allow_objects [/code] هو [code] صحيح[/code]. اسمح ب�ك "
+"تش�ير الكائنات.\n"
+"[b] تحذير: [/b] يتم تن�يذه إذا كان الكائن الذي تم إلغاء تسلسله يحتوي على "
 "تعليمات برمجية. إذا جاء الكائن المتسلسل من مصدر غير موثوق به ، �لا تستخدم "
 "هذا الخيار لمنع مخاطر أمنية محتملة (تن�يذ التعليمات البرمجية عن ب�عد)."
 
@@ -46834,6 +47009,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46844,8 +47030,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47358,14 +47546,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47494,8 +47687,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51433,6 +51626,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52686,6 +52886,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54521,7 +54733,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54535,7 +54747,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55210,7 +55422,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55473,7 +55690,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55496,11 +55722,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55549,14 +55788,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55726,8 +55967,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57221,6 +57470,16 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr "ي�رجع جيب التمام \"cosine \" لقيمة المَعلم."
 
 #: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the total amount of lines that could be drawn."
+msgstr "ي�رجع القيمة المعاكسة للمَعلم."
+
+#: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr "ي�رجع باقي قسمة كل من الم�تجهين (الشعاعين)."
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58259,6 +58518,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58399,6 +58664,18 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr "ي�رجع باقي قسمة كل من الم�تجهين (الشعاعين)."
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58447,6 +58724,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58542,6 +58825,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60718,7 +61015,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60760,10 +61057,9 @@ msgid ""
 msgstr "ي�رجع جيب المَعلم."
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
-msgstr ""
+#, fuzzy
+msgid "Returns the number of buttons in column [code]column[/code]."
+msgstr "ي�رجع جيب المَعلم."
 
 #: doc/classes/TreeItem.xml
 #, fuzzy
diff --git a/doc/translations/ca.po b/doc/translations/ca.po
index 2dbbe58fae..6c448598c1 100644
--- a/doc/translations/ca.po
+++ b/doc/translations/ca.po
@@ -3442,6 +3442,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4952,7 +4961,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+msgid "Returns whether the given path is filtered."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -4977,7 +4986,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -4986,7 +4995,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9597,26 +9606,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9774,6 +9767,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12849,6 +12852,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15685,8 +15700,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16437,6 +16453,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -23111,7 +23146,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25213,8 +25263,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25484,7 +25535,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -32019,7 +32075,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32399,8 +32460,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34240,6 +34305,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34253,6 +34327,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34295,6 +34381,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34346,6 +34442,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36643,6 +36751,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36813,6 +36940,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -36913,6 +37055,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37163,6 +37313,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38150,8 +38306,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -38941,7 +39097,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46783,6 +46951,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46793,8 +46972,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47307,14 +47488,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47443,8 +47629,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51381,6 +51567,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52634,6 +52827,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54469,7 +54674,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54483,7 +54688,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55156,7 +55361,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55419,7 +55629,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55442,11 +55661,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55495,14 +55727,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55672,8 +55906,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57162,6 +57404,14 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr ""
 
 #: doc/classes/TextEdit.xml
+msgid "Returns the total amount of lines that could be drawn."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58199,6 +58449,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58339,6 +58595,17 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58387,6 +58654,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58482,6 +58755,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60655,7 +60942,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60696,9 +60983,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
+msgid "Returns the number of buttons in column [code]column[/code]."
 msgstr ""
 
 #: doc/classes/TreeItem.xml
diff --git a/doc/translations/classes.pot b/doc/translations/classes.pot
index 84d943d138..aab649c5ed 100644
--- a/doc/translations/classes.pot
+++ b/doc/translations/classes.pot
@@ -3322,6 +3322,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4832,7 +4841,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+msgid "Returns whether the given path is filtered."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -4857,7 +4866,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -4866,7 +4875,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9477,26 +9486,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9654,6 +9647,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12729,6 +12732,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15565,8 +15580,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16317,6 +16333,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -22988,7 +23023,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25090,8 +25140,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25361,7 +25412,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -31896,7 +31952,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32276,8 +32337,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34117,6 +34182,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34130,6 +34204,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34172,6 +34258,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34223,6 +34319,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36520,6 +36628,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36690,6 +36817,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -36790,6 +36932,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37040,6 +37190,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38027,8 +38183,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -38818,7 +38974,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46660,6 +46828,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46670,8 +46849,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47184,14 +47365,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47320,8 +47506,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51258,6 +51444,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52511,6 +52704,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54346,7 +54551,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54360,7 +54565,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55033,7 +55238,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55296,7 +55506,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55319,11 +55538,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55372,14 +55604,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55549,8 +55783,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57039,6 +57281,14 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr ""
 
 #: doc/classes/TextEdit.xml
+msgid "Returns the total amount of lines that could be drawn."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58076,6 +58326,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58216,6 +58472,17 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58264,6 +58531,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58359,6 +58632,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60532,7 +60819,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60573,9 +60860,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
+msgid "Returns the number of buttons in column [code]column[/code]."
 msgstr ""
 
 #: doc/classes/TreeItem.xml
diff --git a/doc/translations/cs.po b/doc/translations/cs.po
index f6f8046382..b1ce4b9d20 100644
--- a/doc/translations/cs.po
+++ b/doc/translations/cs.po
@@ -4,7 +4,7 @@
 # This file is distributed under the same license as the Godot source code.
 #
 # Ondrej Pavelka <ondrej.pavelka@outlook.com>, 2020.
-# Zbyněk <zbynek.fiala@gmail.com>, 2020, 2021.
+# Zbyněk <zbynek.fiala@gmail.com>, 2020, 2021, 2022.
 # Daniel Kříž <Daniel.kriz@protonmail.com>, 2020.
 # Vojtěch Šamla <auzkok@seznam.cz>, 2020, 2021.
 # Pierre Stempin <pierre.stempin@gmail.com>, 2020.
@@ -17,7 +17,7 @@ msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine class reference\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
-"PO-Revision-Date: 2021-11-20 22:06+0000\n"
+"PO-Revision-Date: 2022-03-08 06:54+0000\n"
 "Last-Translator: Zbyněk <zbynek.fiala@gmail.com>\n"
 "Language-Team: Czech <https://hosted.weblate.org/projects/godot-engine/godot-"
 "class-reference/cs/>\n"
@@ -26,7 +26,7 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8-bit\n"
 "Plural-Forms: nplurals=3; plural=(n==1) ? 0 : (n>=2 && n<=4) ? 1 : 2;\n"
-"X-Generator: Weblate 4.9.1\n"
+"X-Generator: Weblate 4.12-dev\n"
 
 #: doc/tools/make_rst.py
 msgid "Description"
@@ -3823,6 +3823,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -5334,8 +5343,9 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
-msgstr ""
+#, fuzzy
+msgid "Returns whether the given path is filtered."
+msgstr "Vrátí tangens parametru."
 
 #: doc/classes/AnimationNode.xml
 msgid ""
@@ -5359,7 +5369,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -5368,7 +5378,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9986,26 +9996,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -10163,6 +10157,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -13250,6 +13254,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -16092,8 +16108,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16874,6 +16891,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -23560,7 +23596,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25664,8 +25715,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25935,7 +25987,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -32482,7 +32539,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32862,8 +32924,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34705,6 +34771,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34718,6 +34793,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34760,6 +34847,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34811,6 +34908,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36700,7 +36809,7 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid "Nodes and Scenes"
-msgstr ""
+msgstr "Uzly a scény"
 
 #: doc/classes/Node.xml
 msgid "All Demos"
@@ -37137,6 +37246,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -37307,6 +37435,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -37407,6 +37550,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37657,6 +37808,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38647,8 +38804,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -39442,7 +39599,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -47317,6 +47486,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -47327,8 +47507,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47841,14 +48023,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47977,8 +48164,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51924,6 +52111,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -53178,6 +53372,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -55014,7 +55220,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55028,7 +55234,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55709,7 +55915,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55972,7 +56183,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55995,11 +56215,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -56048,14 +56281,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -56225,8 +56460,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57722,6 +57965,16 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr "Vrátí tangens parametru."
 
 #: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the total amount of lines that could be drawn."
+msgstr "Vrátí opa�nou hodnotu parametru."
+
+#: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr "Vrátí zbytek po dělení dvou vektorů."
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58774,6 +59027,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58916,6 +59175,18 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr "Vrací [code]true[/code] pokud [code]s[/code] je nula nebo téměř nula."
+
+#: doc/classes/Theme.xml
 #, fuzzy
 msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
@@ -58971,6 +59242,15 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+"Vrací [code]true[/code] pokud si jsou [code]a[/code] a [code]b[/code] "
+"přiblížně rovny."
+
+#: doc/classes/Theme.xml
 msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
@@ -59067,6 +59347,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -61246,7 +61540,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -61290,10 +61584,9 @@ msgstr ""
 "přiblížně rovny."
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
-msgstr ""
+#, fuzzy
+msgid "Returns the number of buttons in column [code]column[/code]."
+msgstr "Vrací [code]true[/code] pokud [code]s[/code] je nula nebo téměř nula."
 
 #: doc/classes/TreeItem.xml
 #, fuzzy
diff --git a/doc/translations/de.po b/doc/translations/de.po
index 0e62657c08..052dac7d28 100644
--- a/doc/translations/de.po
+++ b/doc/translations/de.po
@@ -41,12 +41,14 @@
 # Rémi Verschelde <remi@godotengine.org>, 2021.
 # Antonio Noack <corperateraider@gmail.com>, 2022.
 # ‎ <artism90@googlemail.com>, 2022.
+# Coxcopi70f00b67b61542fe <hn_vogel@gmx.net>, 2022.
+# Leon Marz <main@lmarz.org>, 2022.
 msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine class reference\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
-"PO-Revision-Date: 2022-02-16 09:01+0000\n"
-"Last-Translator: ‎ <artism90@googlemail.com>\n"
+"PO-Revision-Date: 2022-03-02 18:39+0000\n"
+"Last-Translator: Leon Marz <main@lmarz.org>\n"
 "Language-Team: German <https://hosted.weblate.org/projects/godot-engine/"
 "godot-class-reference/de/>\n"
 "Language: de\n"
@@ -54,7 +56,7 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8-bit\n"
 "Plural-Forms: nplurals=2; plural=n != 1;\n"
-"X-Generator: Weblate 4.11-dev\n"
+"X-Generator: Weblate 4.11.1-dev\n"
 
 #: doc/tools/make_rst.py
 msgid "Description"
@@ -82,7 +84,7 @@ msgstr "Signale"
 
 #: doc/tools/make_rst.py
 msgid "Enumerations"
-msgstr "Aufzählungstypen"
+msgstr "Aufzählungen"
 
 #: doc/tools/make_rst.py
 msgid "Constants"
@@ -3691,6 +3693,11 @@ msgid ""
 "- Linux: Up to 80 buttons.\n"
 "- Windows and macOS: Up to 128 buttons."
 msgstr ""
+"Die maximale Anzahl an Spielcontroller-Tasten, die unterstützt werden. Das "
+"eigentliche Limit kann bei bestimmten Plattformen geringer sein:\n"
+"- Android: Bis zu 36 Tasten.\n"
+"- Linux: Bis zu 80 Tasten.\n"
+"- Windows und macOS: Bis zu 128 Tasten."
 
 #: doc/classes/@GlobalScope.xml
 msgid "DualShock circle button."
@@ -3751,7 +3758,7 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid "Trigger on a VR controller."
-msgstr ""
+msgstr "Trigger-Taste eines VR Controllers."
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
@@ -3848,7 +3855,7 @@ msgstr "Gamecontroller linke Triggerachse."
 
 #: doc/classes/@GlobalScope.xml
 msgid "Gamepad left stick click."
-msgstr ""
+msgstr "Klick auf dem linken Stick des Gamepads."
 
 #: doc/classes/@GlobalScope.xml
 #, fuzzy
@@ -3862,11 +3869,11 @@ msgstr "Gamecontroller rechte Trigger-Achse."
 
 #: doc/classes/@GlobalScope.xml
 msgid "Gamepad right stick click."
-msgstr ""
+msgstr "Klick auf dem rechten Stick des Gamepads."
 
 #: doc/classes/@GlobalScope.xml
 msgid "Gamepad left stick horizontal axis."
-msgstr ""
+msgstr "Horizontale Achse auf dem linken Stick des Gamepads."
 
 #: doc/classes/@GlobalScope.xml
 #, fuzzy
@@ -3875,7 +3882,7 @@ msgstr "Game Controller linker Joystick x-Achse."
 
 #: doc/classes/@GlobalScope.xml
 msgid "Gamepad right stick horizontal axis."
-msgstr ""
+msgstr "Horizontale Achse auf dem rechten Stick des Gamepads."
 
 #: doc/classes/@GlobalScope.xml
 #, fuzzy
@@ -3884,11 +3891,11 @@ msgstr "Game Controller rechter Joystick x-Achse."
 
 #: doc/classes/@GlobalScope.xml
 msgid "Generic gamepad axis 4."
-msgstr ""
+msgstr "Achse 4 eines gewöhnlichen Gamepads."
 
 #: doc/classes/@GlobalScope.xml
 msgid "Generic gamepad axis 5."
-msgstr ""
+msgstr "Achse 5 eines gewöhnlichen Gamepads."
 
 #: doc/classes/@GlobalScope.xml
 #, fuzzy
@@ -3902,11 +3909,11 @@ msgstr "Gamecontroller rechte Trigger-Achse."
 
 #: doc/classes/@GlobalScope.xml
 msgid "Generic gamepad axis 8."
-msgstr ""
+msgstr "Achse 8 eines gewöhnlichen Gamepads."
 
 #: doc/classes/@GlobalScope.xml
 msgid "Generic gamepad axis 9."
-msgstr ""
+msgstr "Achse 9 eines gewöhnlichen Gamepads."
 
 #: doc/classes/@GlobalScope.xml
 msgid "Represents the maximum number of joystick axes supported."
@@ -3914,11 +3921,11 @@ msgstr "Stellt die maximale Anzahl der unterstützten Joystick-Achsen dar."
 
 #: doc/classes/@GlobalScope.xml
 msgid "Gamepad left analog trigger."
-msgstr ""
+msgstr "Linker analoger Trigger des Gamepads."
 
 #: doc/classes/@GlobalScope.xml
 msgid "Gamepad right analog trigger."
-msgstr ""
+msgstr "Rechter analoger Trigger des Gamepads."
 
 #: doc/classes/@GlobalScope.xml
 #, fuzzy
@@ -4330,6 +4337,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4822,12 +4838,12 @@ msgstr ""
 #: doc/classes/AABB.xml doc/classes/Rect2.xml doc/classes/Vector2.xml
 #: doc/classes/Vector3.xml
 msgid "Vector math"
-msgstr ""
+msgstr "Vektor-Mathematik"
 
 #: doc/classes/AABB.xml doc/classes/Rect2.xml doc/classes/Vector2.xml
 #: doc/classes/Vector3.xml
 msgid "Advanced vector math"
-msgstr ""
+msgstr "Fortgeschrittene Vektor-Mathematik"
 
 #: doc/classes/AABB.xml
 msgid "Constructs an [AABB] from a position and size."
@@ -6306,7 +6322,8 @@ msgstr ""
 "an diesem Node anzeigen soll."
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+#, fuzzy
+msgid "Returns whether the given path is filtered."
 msgstr "Gibt [code]true[/code] zurück, ob ein gegebener Pfad gefiltert ist."
 
 #: doc/classes/AnimationNode.xml
@@ -6340,8 +6357,9 @@ msgid "Adds or removes a path for the filter."
 msgstr "Fügt einen Pfad für den Filter hinzu oder entfernt ihn."
 
 #: doc/classes/AnimationNode.xml
+#, fuzzy
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 "Setzt einen benutzerdefinierten Parameter. Diese werden als lokaler Speicher "
@@ -6353,7 +6371,8 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr "Wenn [code]true[/code], ist die Filterung aktiviert."
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+#, fuzzy
+msgid "Emitted when the node was removed from the graph."
 msgstr "Wird aufgerufen, wenn das Node aus dem Graphen entfernt wurde."
 
 #: doc/classes/AnimationNode.xml
@@ -7733,7 +7752,7 @@ msgstr ""
 
 #: doc/classes/AnimationTree.xml
 msgid "Using AnimationTree"
-msgstr ""
+msgstr "Verwendung des AnimationTree"
 
 #: doc/classes/AnimationTree.xml
 msgid "Manually advance the animations by the specified time (in seconds)."
@@ -8585,7 +8604,7 @@ msgstr ""
 
 #: doc/classes/Area2D.xml
 msgid "Using Area2D"
-msgstr ""
+msgstr "Verwendung von Area2D"
 
 #: doc/classes/Area2D.xml doc/classes/CollisionShape2D.xml
 #: doc/classes/RectangleShape2D.xml
@@ -11505,26 +11524,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -11682,6 +11685,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -14136,7 +14149,7 @@ msgstr ""
 
 #: doc/classes/CameraFeed.xml
 msgid "Unspecified position."
-msgstr ""
+msgstr "Nicht spezifizierte Position."
 
 #: doc/classes/CameraFeed.xml
 msgid "Camera is mounted at the front of the device."
@@ -14799,6 +14812,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -17758,8 +17783,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -18544,6 +18570,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -25261,7 +25306,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25717,7 +25777,7 @@ msgstr ""
 
 #: doc/classes/File.xml
 msgid "File system"
-msgstr ""
+msgstr "Dateisystem"
 
 #: doc/classes/File.xml
 msgid ""
@@ -27370,8 +27430,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -27641,7 +27702,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -28689,7 +28755,7 @@ msgstr ""
 
 #: modules/gridmap/doc_classes/GridMap.xml
 msgid "Using gridmaps"
-msgstr ""
+msgstr "Verwendung von Gridmaps"
 
 #: modules/gridmap/doc_classes/GridMap.xml
 msgid "Clear all cells."
@@ -30247,7 +30313,7 @@ msgstr ""
 
 #: doc/classes/Image.xml doc/classes/ImageTexture.xml
 msgid "Importing images"
-msgstr ""
+msgstr "Importieren von Bildern"
 
 #: doc/classes/Image.xml
 msgid ""
@@ -34244,7 +34310,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -34624,8 +34695,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -36468,6 +36543,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -36481,6 +36565,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -36523,6 +36619,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -36574,6 +36680,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -38493,7 +38611,7 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid "Nodes and Scenes"
-msgstr ""
+msgstr "Nodes und Szenen"
 
 #: doc/classes/Node.xml
 msgid "All Demos"
@@ -38933,6 +39051,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -39103,6 +39240,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -39203,6 +39355,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -39453,6 +39613,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -40443,8 +40609,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -41238,7 +41404,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -49232,6 +49410,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -49242,8 +49431,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -49756,14 +49947,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -49892,8 +50088,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -53882,6 +54078,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -55149,6 +55352,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -57005,7 +57220,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -57019,7 +57234,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -57720,7 +57935,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57984,7 +58204,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -58007,11 +58236,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -58060,14 +58302,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -58237,8 +58481,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -59751,6 +60003,16 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr "Gibt die Anzahl der Spuren in der Animation zurück."
 
 #: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the total amount of lines that could be drawn."
+msgstr "Gibt die Anzahl der Tasten in einer bestimmten Spur zurück."
+
+#: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr "Gibt die Anzahl der Dreiecke im Überblendungsbereich zurück."
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -60816,6 +61078,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -60962,6 +61230,20 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr ""
+"Gibt ein Array aller Zellen mit der angegebenen Kachel [code]index[/code] "
+"zurück."
+
+#: doc/classes/Theme.xml
 #, fuzzy
 msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
@@ -61018,6 +61300,15 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+"Gibt [code]true[/code] zurück, wenn der angegebene Track importiert ist. "
+"Andernfalls wird [code]false[/code] zurückgegeben."
+
+#: doc/classes/Theme.xml
 msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
@@ -61114,6 +61405,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -63303,7 +63608,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -63350,10 +63655,11 @@ msgstr ""
 "Index [code]Dreieck[/code]."
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
+#, fuzzy
+msgid "Returns the number of buttons in column [code]column[/code]."
 msgstr ""
+"Liefert die Position des Punktes bei Index [code]Punkt[/code] im Dreieck von "
+"Index [code]Dreieck[/code]."
 
 #: doc/classes/TreeItem.xml
 #, fuzzy
@@ -67854,7 +68160,7 @@ msgstr ""
 
 #: modules/visual_script/doc_classes/VisualScriptMathConstant.xml
 msgid "Infinity: [code]inf[/code]."
-msgstr ""
+msgstr "Unendlichkeit: [code]inf[/code]."
 
 #: modules/visual_script/doc_classes/VisualScriptMathConstant.xml
 msgid "Not a number: [code]nan[/code]."
@@ -68165,7 +68471,7 @@ msgstr ""
 
 #: modules/visual_script/doc_classes/VisualScriptSceneNode.xml
 msgid "Node reference."
-msgstr ""
+msgstr "Node-Referenz."
 
 #: modules/visual_script/doc_classes/VisualScriptSceneNode.xml
 msgid ""
@@ -68326,7 +68632,7 @@ msgstr ""
 
 #: modules/visual_script/doc_classes/VisualScriptWhile.xml
 msgid "Conditional loop."
-msgstr ""
+msgstr "Bedingte Wiederholung."
 
 #: modules/visual_script/doc_classes/VisualScriptWhile.xml
 msgid ""
@@ -74725,7 +75031,7 @@ msgstr ""
 
 #: doc/classes/XMLParser.xml
 msgid "CDATA content."
-msgstr ""
+msgstr "CDATA Inhalt."
 
 #: doc/classes/XMLParser.xml
 msgid "Unknown node."
diff --git a/doc/translations/el.po b/doc/translations/el.po
index ddec69fbd0..83def545e0 100644
--- a/doc/translations/el.po
+++ b/doc/translations/el.po
@@ -3336,6 +3336,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4847,8 +4856,9 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
-msgstr ""
+#, fuzzy
+msgid "Returns whether the given path is filtered."
+msgstr "Επιστ�έφει την εφαπτομένη της πα�αμέτ�ου."
 
 #: doc/classes/AnimationNode.xml
 msgid ""
@@ -4872,7 +4882,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -4881,7 +4891,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9493,26 +9503,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9670,6 +9664,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12751,6 +12755,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15587,8 +15603,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16345,6 +16362,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -23024,7 +23060,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25128,8 +25179,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25399,7 +25451,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -31940,7 +31997,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32320,8 +32382,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34162,6 +34228,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34175,6 +34250,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34217,6 +34304,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34268,6 +34365,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36584,6 +36693,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36754,6 +36882,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -36854,6 +36997,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37104,6 +37255,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38091,8 +38248,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -38885,7 +39042,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46738,6 +46907,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46748,8 +46928,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47262,14 +47444,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47398,8 +47585,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51337,6 +51524,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52590,6 +52784,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54425,7 +54631,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54439,7 +54645,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55114,7 +55320,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55377,7 +55588,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55400,11 +55620,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55453,14 +55686,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55630,8 +55865,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57125,6 +57368,16 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr "Επιστ�έφει το συνημίτονο της πα�αμέτ�ου."
 
 #: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the total amount of lines that could be drawn."
+msgstr "Επιστ�έφει την αντίθετη τιμή της πα�αμέτ�ου."
+
+#: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr "Επιστ�έφει το υπόλοιπο των 2 διανυσμάτων."
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58163,6 +58416,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58303,6 +58562,18 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr "Επιστ�έφει το υπόλοιπο των 2 διανυσμάτων."
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58351,6 +58622,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58446,6 +58723,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60622,7 +60913,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60664,10 +60955,9 @@ msgid ""
 msgstr "Επιστ�έφει το ημίτονο της πα�αμέτ�ου."
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
-msgstr ""
+#, fuzzy
+msgid "Returns the number of buttons in column [code]column[/code]."
+msgstr "Επιστ�έφει το ημίτονο της πα�αμέτ�ου."
 
 #: doc/classes/TreeItem.xml
 #, fuzzy
diff --git a/doc/translations/es.po b/doc/translations/es.po
index 9bd808d8c4..6ebc2af78b 100644
--- a/doc/translations/es.po
+++ b/doc/translations/es.po
@@ -30,12 +30,14 @@
 # Rémi Verschelde <remi@godotengine.org>, 2021.
 # Alfonso V <alfonsov96@gmail.com>, 2022.
 # Alejandro Pérez <alejandro.pr.rz@gmail.com>, 2022.
+# Cristhian Pineda Castro <kurgancpc@hotmail.com>, 2022.
+# Francesco Santoro <fgsantoror20@gmail.com>, 2022.
 msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine class reference\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
-"PO-Revision-Date: 2022-02-14 22:08+0000\n"
-"Last-Translator: Alejandro Pérez <alejandro.pr.rz@gmail.com>\n"
+"PO-Revision-Date: 2022-03-05 03:08+0000\n"
+"Last-Translator: Francesco Santoro <fgsantoror20@gmail.com>\n"
 "Language-Team: Spanish <https://hosted.weblate.org/projects/godot-engine/"
 "godot-class-reference/es/>\n"
 "Language: es\n"
@@ -43,7 +45,7 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8-bit\n"
 "Plural-Forms: nplurals=2; plural=n != 1;\n"
-"X-Generator: Weblate 4.11-dev\n"
+"X-Generator: Weblate 4.12-dev\n"
 
 #: doc/tools/make_rst.py
 msgid "Description"
@@ -86,9 +88,8 @@ msgid "Method Descriptions"
 msgstr "Descripciones de Métodos"
 
 #: doc/tools/make_rst.py
-#, fuzzy
 msgid "Theme Property Descriptions"
-msgstr "Descripciones de Propiedades"
+msgstr "Descripciones de las propiedades del tema"
 
 #: doc/tools/make_rst.py
 msgid "Inherits:"
@@ -116,7 +117,6 @@ msgid "value"
 msgstr "valor"
 
 #: doc/tools/make_rst.py
-#, fuzzy
 msgid "Getter"
 msgstr "Método de Acceso al Valor o Getter"
 
@@ -155,21 +155,18 @@ msgstr ""
 "llamarse directamente utilizando el nombre de la clase."
 
 #: doc/tools/make_rst.py
-#, fuzzy
 msgid ""
 "This method describes a valid operator to use with this type as left-hand "
 "operand."
 msgstr ""
-"Este método describe un operador tal que el tipo de la instancia que lo "
-"llama es considerado como operando izquierdo."
+"Este método describe un operador válido para usar con este tipo como "
+"operando izquierdo."
 
 #: modules/gdscript/doc_classes/@GDScript.xml
-#, fuzzy
 msgid "Built-in GDScript functions."
-msgstr "Funciones GDScript predefinidas."
+msgstr "Funciones GDScript integradas."
 
 #: modules/gdscript/doc_classes/@GDScript.xml
-#, fuzzy
 msgid ""
 "List of core built-in GDScript functions. Math functions and other "
 "utilities. Everything else is provided by objects. (Keywords: builtin, built "
@@ -204,7 +201,6 @@ msgstr ""
 "[/codeblock]"
 
 #: modules/gdscript/doc_classes/@GDScript.xml
-#, fuzzy
 msgid ""
 "Returns a color according to the standardized [code]name[/code] with "
 "[code]alpha[/code] ranging from 0 to 1.\n"
@@ -276,7 +272,6 @@ msgstr ""
 "[/codeblock]"
 
 #: modules/gdscript/doc_classes/@GDScript.xml
-#, fuzzy
 msgid ""
 "Asserts that the [code]condition[/code] is [code]true[/code]. If the "
 "[code]condition[/code] is [code]false[/code], an error is generated. When "
@@ -4415,6 +4410,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -6385,7 +6389,8 @@ msgstr ""
 "muestre la edición del filtro en este nodo."
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+#, fuzzy
+msgid "Returns whether the given path is filtered."
 msgstr "Devuelve [code]true[/code] si un camino dado es filtrado."
 
 #: doc/classes/AnimationNode.xml
@@ -6419,8 +6424,9 @@ msgid "Adds or removes a path for the filter."
 msgstr "Añade o elimina una ruta para el filtro."
 
 #: doc/classes/AnimationNode.xml
+#, fuzzy
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 "Establece un parámetro personalizado. Estos se usan como almacenamiento "
@@ -6432,7 +6438,8 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr "Si [code]true[/code], el filtrado está activado."
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+#, fuzzy
+msgid "Emitted when the node was removed from the graph."
 msgstr "Llamado cuando el nodo es eliminado desde el gráfico."
 
 #: doc/classes/AnimationNode.xml
@@ -12615,31 +12622,12 @@ msgstr ""
 "[code]at_position[/code]."
 
 #: doc/classes/AudioServer.xml
-#, fuzzy
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-"Nombre del dispositivo actual para la entrada de audio (ver [method "
-"capture_get_device_list])."
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 "Devuelve los nombres de todos los dispositivos de entrada de audio "
 "detectados en el sistema."
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr "Genera un [AudioBusLayout] usando los buses y efectos disponibles."
 
@@ -12831,6 +12819,16 @@ msgstr "Número de buses de audio disponibles."
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -16759,6 +16757,24 @@ msgid "Returns the RID of the canvas used by this layer."
 msgstr "Devuelve el RID del canvas usado por esta capa."
 
 #: doc/classes/CanvasLayer.xml
+#, fuzzy
+msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+"Limpia el array. Esto es equivalente a usar [method resize] con un tamaño de "
+"[code]0[/code]."
+
+#: doc/classes/CanvasLayer.xml
+#, fuzzy
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+"Limpia el array. Esto es equivalente a usar [method resize] con un tamaño de "
+"[code]0[/code]."
+
+#: doc/classes/CanvasLayer.xml
 msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
@@ -20448,8 +20464,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -21542,6 +21559,25 @@ msgstr ""
 "todos sus hijos [Control] utilizan."
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr "Se emite cuando el nodo obtiene el foco del teclado."
 
@@ -30536,8 +30572,23 @@ msgstr ""
 "glow_hdr_threshold]."
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
-msgstr "Si [code]true[/code], se activa el efecto de brillo."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
+msgstr ""
 
 #: doc/classes/Environment.xml
 msgid ""
@@ -33371,8 +33422,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 "Triangula el polígono especificado por los puntos en [code]polygon[/code]. "
 "Devuelve un [PackedInt32Array] donde cada triángulo consiste en tres índices "
@@ -33728,7 +33780,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 "Cocina el efecto para todas las [GeometryInstance]s marcadas con [constant "
 "GeometryInstance3D.GI_MODE_BAKED] y [Light]s marcadas con [constant Light3D."
@@ -42444,9 +42501,13 @@ msgid "The color of shadows cast by this light."
 msgstr "El color de las sombras proyectadas por esta luz."
 
 #: doc/classes/Light.xml
-#, fuzzy
-msgid "Attempts to reduce [member shadow_bias] gap."
-msgstr "Constante para acceder a [member shadow_bias]."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
+msgstr ""
 
 #: doc/classes/Light.xml
 msgid "If [code]true[/code], the light will cast shadows."
@@ -42926,11 +42987,13 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
-"La suavidad de las articulaciones redondeadas y las cubiertas. Esto sólo se "
-"usa si una cubierta o articulación se establece como redonda."
 
 #: doc/classes/Line2D.xml
 #, fuzzy
@@ -45347,6 +45410,15 @@ msgstr "Devuelve la [Transform2D] de una instancia específica."
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -45359,6 +45431,18 @@ msgid ""
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 #, fuzzy
 msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
@@ -45415,6 +45499,16 @@ msgid "Mesh to be drawn."
 msgstr "Malla para ser dibujada."
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 "Formato de transformación usado para transformar la malla, ya sea 2D o 3D."
@@ -45469,6 +45563,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr "Nodo que instancia un [MultiMesh]."
@@ -48606,6 +48712,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -48852,6 +48977,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -49008,6 +49148,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -49338,6 +49486,13 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Node.xml
+#, fuzzy
+msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr "Notificación recibida cuando el nodo se mueve en el padre."
+
+#: doc/classes/Node.xml
 msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
@@ -50770,8 +50925,8 @@ msgstr "Dibuja una geometría simple desde código."
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -51803,8 +51958,20 @@ msgstr ""
 "Windows."
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
-msgstr "Devuelve el número de hilos disponibles en el host."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
+msgstr ""
 
 #: doc/classes/OS.xml
 #, fuzzy
@@ -62197,6 +62364,17 @@ msgid ""
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
+msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
 #, fuzzy
 msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
@@ -62209,8 +62387,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 "Controla cuánto se sincronizan los ticks de la física con el tiempo real. "
 "Para 0 o menos, los ticks están sincronizadas. Estos valores se recomiendan "
@@ -62768,18 +62948,20 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
-"Sobrescritura del extremo inferior para [member rendering/quality/depth/hdr] "
-"en los dispositivos móviles, debido a problemas de rendimiento o de apoyo al "
-"driver."
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
@@ -62940,13 +63122,14 @@ msgstr ""
 "(también llamado \"filtrado trilíneo\")."
 
 #: doc/classes/ProjectSettings.xml
+#, fuzzy
 msgid ""
 "Strategy used for framebuffer allocation. The simpler it is, the less "
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 "Estrategia utilizada para la asignación de la memoria intermedia. Cuanto más "
 "simple es, menos recursos utiliza (pero menos características soporta). Si "
@@ -68178,6 +68361,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -69753,6 +69943,18 @@ msgid "All 3D Demos"
 msgstr ""
 
 #: doc/classes/Spatial.xml
+msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
 #, fuzzy
 msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
@@ -72131,7 +72333,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -72145,7 +72347,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -72963,8 +73165,13 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr "Devuelve [code]true[/code] si la string comienza con la string dada."
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
-msgstr "Devuelve los bigramas (pares de letras consecutivas) de esta string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
+msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
@@ -73322,8 +73529,17 @@ msgstr ""
 "[code]: / \\ ? * \" | % < >[/code]"
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
-msgstr "Devuelve [code]true[/code] si esta string contiene un real válido."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
+msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
@@ -73350,18 +73566,32 @@ msgstr ""
 "devolverán [code]false[/code]."
 
 #: doc/classes/String.xml
+#, fuzzy
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 "Devuelve [code]true[/code] si esta string es un identificador válido. Un "
 "identificador válido sólo puede contener letras, dígitos y guiones bajos "
 "([code]_[/code]) y el primer carácter no puede ser un dígito."
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
-msgstr "Devuelve [code]true[/code] si esta string contiene un entero válido."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
+msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
@@ -73408,10 +73638,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
+#, fuzzy
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 "Hace una comparación simple con expresión que distingue entre mayúsculas y "
 "minúsculas, en la que [code]\"*\"[/code] coincide con cero o más caracteres "
@@ -73419,10 +73651,12 @@ msgstr ""
 "excepto con un punto ([code]\".\"[/code])."
 
 #: doc/classes/String.xml
+#, fuzzy
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 "Hace una simple comparación expresión insensible a las mayúsculas y "
 "minúsculas, en la que [code]\"*\"[/code] coincide con cero o más caracteres "
@@ -73628,11 +73862,17 @@ msgstr "Devuelve el hash SHA-256 de la string como una string."
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
-"Devuelve el índice de similitud del texto comparado con esta string. 1 "
-"significa totalmente similar y 0 significa totalmente diferente."
 
 #: doc/classes/String.xml
 msgid "Returns a simplified canonical path."
@@ -75589,6 +75829,16 @@ msgstr "Devuelve la lista de valores del [Dictionary]."
 
 #: doc/classes/TextEdit.xml
 #, fuzzy
+msgid "Returns the total amount of lines that could be drawn."
+msgstr "Devuelve la cantidad de líneas de texto que tiene la etiqueta."
+
+#: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr "Devuelve el número de líneas visibles."
+
+#: doc/classes/TextEdit.xml
+#, fuzzy
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -76903,6 +77153,12 @@ msgstr ""
 "Limpia la constante en [code]name[/code] si el tema tiene [code]type[/code]."
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 "Establece los valores del tema a una copia de los valores del tema por "
@@ -77104,6 +77360,21 @@ msgstr ""
 #: doc/classes/Theme.xml
 #, fuzzy
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+"Devuelve el nombre de la escena que se está reproduciendo. Si no se está "
+"reproduciendo ninguna escena, devuelve una string vacía."
+
+#: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr "Devuelve un [Array] de conexiones para la [code]signal[/code] dada."
+
+#: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -77176,6 +77447,15 @@ msgstr ""
 "Devuelve [code]false[/code] si el tema no tiene [code]type[/code]."
 
 #: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+"Devuelve [code]true[/code] si el precargador contiene un recurso asociado a "
+"[code]name[/code]."
+
+#: doc/classes/Theme.xml
 msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
@@ -77314,6 +77594,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -80065,7 +80359,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 "Añade un botón con [Texture2D] [code]button[/code] en la columna "
@@ -80124,13 +80418,9 @@ msgstr ""
 "[code]button_idx[/code] en la columna [code]column[/code]."
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
-msgstr ""
-"Devuelve el número de botones en la columna [code]column[/code]. Puede "
-"utilizarse para obtener el índice del último botón añadido, si no se "
-"especificó ningún índice."
+#, fuzzy
+msgid "Returns the number of buttons in column [code]column[/code]."
+msgstr "Devuelve el color personalizado de la columna [code]column[/code]."
 
 #: doc/classes/TreeItem.xml
 #, fuzzy
diff --git a/doc/translations/fa.po b/doc/translations/fa.po
index a6260337ca..78429f84e0 100644
--- a/doc/translations/fa.po
+++ b/doc/translations/fa.po
@@ -3761,6 +3761,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -5271,7 +5280,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+msgid "Returns whether the given path is filtered."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -5296,7 +5305,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -5305,7 +5314,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9916,26 +9925,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -10093,6 +10086,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -13168,6 +13171,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -16004,8 +16019,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16756,6 +16772,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -23430,7 +23465,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25532,8 +25582,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25803,7 +25854,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -32338,7 +32394,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32718,8 +32779,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34559,6 +34624,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34572,6 +34646,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34614,6 +34700,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34665,6 +34761,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36968,6 +37076,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -37138,6 +37265,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -37238,6 +37380,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37488,6 +37638,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38475,8 +38631,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -39266,7 +39422,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -47120,6 +47288,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -47130,8 +47309,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47644,14 +47825,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47780,8 +47966,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51722,6 +51908,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52975,6 +53168,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54810,7 +55015,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54824,7 +55029,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55497,7 +55702,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55760,7 +55970,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55783,11 +56002,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55836,14 +56068,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -56013,8 +56247,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57503,6 +57745,14 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr ""
 
 #: doc/classes/TextEdit.xml
+msgid "Returns the total amount of lines that could be drawn."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58540,6 +58790,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58680,6 +58936,17 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58728,6 +58995,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58823,6 +59096,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60996,7 +61283,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -61037,9 +61324,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
+msgid "Returns the number of buttons in column [code]column[/code]."
 msgstr ""
 
 #: doc/classes/TreeItem.xml
diff --git a/doc/translations/fi.po b/doc/translations/fi.po
index 780df6468f..df7bd8a2d9 100644
--- a/doc/translations/fi.po
+++ b/doc/translations/fi.po
@@ -3348,6 +3348,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4859,8 +4868,9 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
-msgstr ""
+#, fuzzy
+msgid "Returns whether the given path is filtered."
+msgstr "Palauttaa parametrin tangentin."
 
 #: doc/classes/AnimationNode.xml
 msgid ""
@@ -4884,7 +4894,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -4893,7 +4903,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9511,26 +9521,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9688,6 +9682,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12771,6 +12775,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15608,8 +15624,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16366,6 +16383,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -23045,7 +23081,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25149,8 +25200,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25420,7 +25472,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -31969,7 +32026,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32349,8 +32411,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34191,6 +34257,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34204,6 +34279,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34246,6 +34333,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34297,6 +34394,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36614,6 +36723,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36784,6 +36912,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -36884,6 +37027,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37134,6 +37285,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38121,8 +38278,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -38915,7 +39072,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46768,6 +46937,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46778,8 +46958,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47292,14 +47474,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47428,8 +47615,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51367,6 +51554,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52621,6 +52815,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54457,7 +54663,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54471,7 +54677,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55146,7 +55352,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55409,7 +55620,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55432,11 +55652,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55485,14 +55718,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55662,8 +55897,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57158,6 +57401,16 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr "Palauttaa kahden vektorin jäännöksen."
 
 #: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the total amount of lines that could be drawn."
+msgstr "Palauttaa parametrin vasta-arvon."
+
+#: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr "Palauttaa kahden vektorin jäännöksen."
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58196,6 +58449,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58337,6 +58596,18 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr "Laskee kahden vektorin ristitulon."
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58384,6 +58655,13 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr "Laskee kahden vektorin ristitulon."
+
+#: doc/classes/Theme.xml
 msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
@@ -58480,6 +58758,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60656,7 +60948,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60698,10 +60990,9 @@ msgid ""
 msgstr "Laskee kahden vektorin ristitulon."
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
-msgstr ""
+#, fuzzy
+msgid "Returns the number of buttons in column [code]column[/code]."
+msgstr "Laskee kahden vektorin ristitulon."
 
 #: doc/classes/TreeItem.xml
 #, fuzzy
diff --git a/doc/translations/fil.po b/doc/translations/fil.po
index 27b84c2f14..7d94a0dacc 100644
--- a/doc/translations/fil.po
+++ b/doc/translations/fil.po
@@ -3329,6 +3329,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4839,7 +4848,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+msgid "Returns whether the given path is filtered."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -4864,7 +4873,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -4873,7 +4882,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9484,26 +9493,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9661,6 +9654,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12736,6 +12739,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15572,8 +15587,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16324,6 +16340,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -22998,7 +23033,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25100,8 +25150,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25371,7 +25422,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -31906,7 +31962,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32286,8 +32347,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34127,6 +34192,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34140,6 +34214,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34182,6 +34268,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34233,6 +34329,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36530,6 +36638,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36700,6 +36827,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -36800,6 +36942,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37050,6 +37200,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38037,8 +38193,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -38828,7 +38984,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46670,6 +46838,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46680,8 +46859,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47194,14 +47375,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47330,8 +47516,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51268,6 +51454,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52521,6 +52714,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54356,7 +54561,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54370,7 +54575,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55043,7 +55248,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55306,7 +55516,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55329,11 +55548,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55382,14 +55614,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55559,8 +55793,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57049,6 +57291,14 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr ""
 
 #: doc/classes/TextEdit.xml
+msgid "Returns the total amount of lines that could be drawn."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58086,6 +58336,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58226,6 +58482,17 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58274,6 +58541,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58369,6 +58642,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60542,7 +60829,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60583,9 +60870,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
+msgid "Returns the number of buttons in column [code]column[/code]."
 msgstr ""
 
 #: doc/classes/TreeItem.xml
diff --git a/doc/translations/fr.po b/doc/translations/fr.po
index aa9d4a2ee3..1c485e9047 100644
--- a/doc/translations/fr.po
+++ b/doc/translations/fr.po
@@ -36,7 +36,7 @@
 # Toquey SiGauses <meiyo40@gmail.com>, 2021.
 # GABRIELLE Damien <damiengabrielle@gmail.com>, 2021.
 # Julien Vanelian <julienvanelian@hotmail.com>, 2021.
-# Perrier Mathis <mathis.perrier73@gmail.com>, 2021.
+# Perrier Mathis <mathis.perrier73@gmail.com>, 2021, 2022.
 # Blackiris <divjvc@free.fr>, 2021.
 # AndyNekena <andy.nekena@gmail.com>, 2021.
 # Legorel <Legorel412@gmail.com>, 2021, 2022.
@@ -54,13 +54,14 @@
 # ASTRALE <jules.cercy@etu.univ-lyon1.fr>, 2021, 2022.
 # Pierre-Alexandre Arènes <palex95870@gmail.com>, 2022.
 # KikooDX <kikoodx@paranoici.org>, 2022.
+# Kevin Bouancheau <kevin.bouancheau@gmail.com>, 2022.
 msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine class reference\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
 "POT-Creation-Date: \n"
-"PO-Revision-Date: 2022-02-13 20:11+0000\n"
-"Last-Translator: Maxime Leroy <lisacintosh@gmail.com>\n"
+"PO-Revision-Date: 2022-03-03 17:35+0000\n"
+"Last-Translator: Perrier Mathis <mathis.perrier73@gmail.com>\n"
 "Language-Team: French <https://hosted.weblate.org/projects/godot-engine/"
 "godot-class-reference/fr/>\n"
 "Language: fr\n"
@@ -68,7 +69,7 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=2; plural=n > 1;\n"
-"X-Generator: Weblate 4.11-dev\n"
+"X-Generator: Weblate 4.11.1-dev\n"
 
 #: doc/tools/make_rst.py
 msgid "Description"
@@ -591,7 +592,7 @@ msgid ""
 "r = deg2rad(180) # r is 3.141593\n"
 "[/codeblock]"
 msgstr ""
-"Convertit un angle exprimé en degrés en radians.\n"
+"Convertit un angle en degrés vers sa valeur en radians.\n"
 "[codeblock]\n"
 "r = deg2rad(180) # r vaut 3.141593\n"
 "[/codeblock]"
@@ -3997,30 +3998,43 @@ msgid ""
 "MIDI note OFF message. See the documentation of [InputEventMIDI] for "
 "information of how to use MIDI inputs."
 msgstr ""
+"Le message MIDI pour la note OFF. Référez vous à la documentation de "
+"[InputEventMIDI] pour avoir des informations concernant les entrées MIDI."
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
 "MIDI note ON message. See the documentation of [InputEventMIDI] for "
 "information of how to use MIDI inputs."
 msgstr ""
+"Le message MIDI pour la note ON. Référez vous à la documentation de "
+"[InputEventMIDI] pour avoir des informations concernant les entrées MIDI."
 
 #: doc/classes/@GlobalScope.xml
+#, fuzzy
 msgid ""
 "MIDI aftertouch message. This message is most often sent by pressing down on "
 "the key after it \"bottoms out\"."
 msgstr ""
+"Le message MIDI d'après touche. Ce message est le plus souvent envoyé quand "
+"on continue de faire varier la pression sur la touche après l'appui initial."
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
 "MIDI control change message. This message is sent when a controller value "
 "changes. Controllers include devices such as pedals and levers."
 msgstr ""
+"Le message MIDI de changement de contrôle. Ce message est envoyé lorsqu'un "
+"contrôleur change de valeur. Les contrôleurs comprennent des dispositifs "
+"comme des pédales, des leviers."
 
 #: doc/classes/@GlobalScope.xml
+#, fuzzy
 msgid ""
 "MIDI program change message. This message sent when the program patch number "
 "changes."
 msgstr ""
+"Le message de changement de programme MIDI. Ce message est envoyé lorsque "
+"l'on reçoit une consigne de changement de programme."
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
@@ -4376,6 +4390,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -5343,7 +5366,7 @@ msgstr ""
 #: doc/classes/Particles2D.xml doc/classes/Timer.xml
 #: doc/classes/VisibilityNotifier2D.xml
 msgid "2D Dodge The Creeps Demo"
-msgstr ""
+msgstr "Démo 2D « Dodge The Creeps »"
 
 #: doc/classes/AnimatedSprite.xml
 msgid ""
@@ -6159,8 +6182,9 @@ msgid ""
 "[AudioStreamPlayer]. The stream can be trimmed and previewed in the "
 "animation."
 msgstr ""
-"Les pistes audio servent à jouer un flux audio sur un [AudioStreamPlayer] "
-"(2D ou 3D). Le flux peut être coupé et prérendu dans l'animation."
+"Les pistes audio sont utilisées pour lire un flux audio avec l'un ou l'autre "
+"type de [AudioStreamPlayer]. Le flux peut être découpé et prévisualisé dans "
+"l'animation."
 
 #: doc/classes/Animation.xml
 msgid "Animation tracks play animations in other [AnimationPlayer] nodes."
@@ -6197,9 +6221,9 @@ msgid ""
 "Same as linear interpolation, but also interpolates from the current value "
 "(i.e. dynamically at runtime) if the first key isn't at 0 seconds."
 msgstr ""
-"Le même que l'interpolation linéaire, mais interpole aussi de la valeur "
-"actuelle (c'est-à-dire, dynamiquement à l'exécution) si la première clé "
-"n'est pas située à 0 secondes."
+"Identique à l'interpolation linéaire, mais interpole aussi à partir de la "
+"valeur actuelle (définie à l'exécution) si la première clé n'est pas située "
+"à 0 seconde."
 
 #: doc/classes/AnimationNode.xml
 msgid "Base resource for [AnimationTree] nodes."
@@ -6332,7 +6356,8 @@ msgstr ""
 "affiche l'édition de filtre sur ce nœud."
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+#, fuzzy
+msgid "Returns whether the given path is filtered."
 msgstr "Retourne [code]true[/code] si un chemin donné est filtré."
 
 #: doc/classes/AnimationNode.xml
@@ -6365,8 +6390,9 @@ msgid "Adds or removes a path for the filter."
 msgstr "Ajoute ou supprime un chemin pour le filtre."
 
 #: doc/classes/AnimationNode.xml
+#, fuzzy
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 "Définit un paramètre personnalisé. Utilisé comme stockage local, car les "
@@ -6378,7 +6404,8 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr "Si [code]true[/code], le filtrage est activé."
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+#, fuzzy
+msgid "Emitted when the node was removed from the graph."
 msgstr "Appelée quand le nœud est enlevé du graphe."
 
 #: doc/classes/AnimationNode.xml
@@ -6472,9 +6499,8 @@ msgstr ""
 #: doc/classes/AnimationNodeOneShot.xml doc/classes/AnimationNodeOutput.xml
 #: doc/classes/AnimationNodeTimeScale.xml
 #: doc/classes/AnimationNodeTransition.xml
-#, fuzzy
 msgid "AnimationTree"
-msgstr "NÅ“ud d'animation."
+msgstr "AnimationTree"
 
 #: doc/classes/AnimationNodeAdd3.xml doc/classes/AnimationNodeAnimation.xml
 #: doc/classes/AnimationNodeBlend2.xml
@@ -7794,6 +7820,8 @@ msgid ""
 "Returns the input count for a given node. Different types of nodes have "
 "different amount of inputs."
 msgstr ""
+"Retourne le nombre d'entrées du nœud spécifié. Différents types de nœuds ont "
+"différents nombres d'entrées."
 
 #: doc/classes/AnimationTreePlayer.xml
 #, fuzzy
@@ -8281,7 +8309,7 @@ msgstr ""
 
 #: doc/classes/Area.xml doc/classes/Area2D.xml
 msgid "This area does not affect gravity/damping."
-msgstr ""
+msgstr "Cette aire n'influe pas sur la gravité/amortissement."
 
 #: doc/classes/Area.xml doc/classes/Area2D.xml
 msgid ""
@@ -10497,13 +10525,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioEffectCapture.xml
-#, fuzzy
 msgid ""
 "Returns [code]true[/code] if at least [code]frames[/code] audio frames are "
 "available to read in the internal ring buffer."
 msgstr ""
-"Renvoie [code]true[/code] (vrai) si [code]a[/code] et [code]b[/code] sont "
-"approximativement égaux l'un à l'autre."
+"Retourne [code]true[/code] si au moins [code]frames[/code] audio peuvent "
+"être lues dans la mémoire en anneau interne."
 
 #: doc/classes/AudioEffectCapture.xml
 #, fuzzy
@@ -11093,6 +11120,9 @@ msgid ""
 "Use a buffer of 256 samples for the Fast Fourier transform. Lowest latency, "
 "but least stable over time."
 msgstr ""
+"Utilise une mémoire tampon de 256 échantillons pour la transformée de "
+"Fourier rapide. Le délai est le plus court mais est le moins stable dans le "
+"temps."
 
 #: doc/classes/AudioEffectPitchShift.xml
 #: doc/classes/AudioEffectSpectrumAnalyzer.xml
@@ -11100,6 +11130,8 @@ msgid ""
 "Use a buffer of 512 samples for the Fast Fourier transform. Low latency, but "
 "less stable over time."
 msgstr ""
+"Utilise une mémoire tampon de 512 échantillons pour la transformée de "
+"Fourier rapide. Le délai est court mais moins stable dans le temps."
 
 #: doc/classes/AudioEffectPitchShift.xml
 #: doc/classes/AudioEffectSpectrumAnalyzer.xml
@@ -11107,6 +11139,9 @@ msgid ""
 "Use a buffer of 1024 samples for the Fast Fourier transform. This is a "
 "compromise between latency and stability over time."
 msgstr ""
+"Utilise une mémoire tampon de 1024 échantillons pour la transformée de "
+"Fourier rapide. C'est un bon compromis entre le délai et la stabilité dans "
+"le temps."
 
 #: doc/classes/AudioEffectPitchShift.xml
 #: doc/classes/AudioEffectSpectrumAnalyzer.xml
@@ -11114,6 +11149,8 @@ msgid ""
 "Use a buffer of 2048 samples for the Fast Fourier transform. High latency, "
 "but stable over time."
 msgstr ""
+"Utilise une mémoire tampon de 2048 échantillons pour la transformée de "
+"Fourier rapide. Le délai est long mais est stable dans le temps."
 
 #: doc/classes/AudioEffectPitchShift.xml
 #: doc/classes/AudioEffectSpectrumAnalyzer.xml
@@ -11121,6 +11158,9 @@ msgid ""
 "Use a buffer of 4096 samples for the Fast Fourier transform. Highest "
 "latency, but most stable over time."
 msgstr ""
+"Utilise une mémoire tampon de 4096 échantillons pour la transformée de "
+"Fourier rapide. Le délai est le plus long mais est le plus stable dans le "
+"temps."
 
 #: doc/classes/AudioEffectPitchShift.xml
 #: doc/classes/AudioEffectSpectrumAnalyzer.xml
@@ -11298,26 +11338,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -11382,7 +11406,7 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid "Returns the audio driver's output latency."
-msgstr ""
+msgstr "Retourne la latence de la sortie du pilote audio."
 
 #: doc/classes/AudioServer.xml
 msgid "Returns the speaker configuration."
@@ -11475,6 +11499,16 @@ msgstr "Nombre de bus audio disponibles."
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -11652,7 +11686,7 @@ msgstr "Pilote de flux audio OGG Vorbis."
 
 #: doc/classes/AudioStreamPlayback.xml
 msgid "Meta class for playing back audio."
-msgstr ""
+msgstr "Classe méta pour la lecture audio."
 
 #: doc/classes/AudioStreamPlayback.xml
 msgid ""
@@ -12003,11 +12037,11 @@ msgstr ""
 
 #: doc/classes/AudioStreamRandomPitch.xml
 msgid "Plays audio with random pitch shifting."
-msgstr ""
+msgstr "Joue le son avec une hauteur aléatoire."
 
 #: doc/classes/AudioStreamRandomPitch.xml
 msgid "Randomly varies pitch on each start."
-msgstr ""
+msgstr "Change aléatoirement la hauteur à chaque démarrage."
 
 #: doc/classes/AudioStreamRandomPitch.xml
 msgid "The current [AudioStream]."
@@ -12015,7 +12049,7 @@ msgstr "L'actuel [AudioStream]."
 
 #: doc/classes/AudioStreamRandomPitch.xml
 msgid "The intensity of random pitch variation."
-msgstr ""
+msgstr "L'intensité de la variation aléatoire de la hauteur."
 
 #: doc/classes/AudioStreamSample.xml
 msgid "Stores audio data loaded from WAV files."
@@ -12100,7 +12134,7 @@ msgstr "Codec audio 16 bits."
 
 #: doc/classes/AudioStreamSample.xml
 msgid "Audio is compressed using IMA ADPCM."
-msgstr ""
+msgstr "L'audio est compressé avec IMA ADPCM."
 
 #: doc/classes/AudioStreamSample.xml
 msgid "Audio does not loop."
@@ -12147,7 +12181,7 @@ msgstr ""
 
 #: doc/classes/BackBufferCopy.xml
 msgid "Buffer mode. See [enum CopyMode] constants."
-msgstr ""
+msgstr "Le mode de mémoire tampon. Voir les constantes [enum CopyMode]."
 
 #: doc/classes/BackBufferCopy.xml
 msgid ""
@@ -12201,6 +12235,8 @@ msgid ""
 "When enabled, the lightmapper will merge the textures for all meshes into a "
 "single large layered texture. Not supported in GLES2."
 msgstr ""
+"Si actif, le lightmapper fusionnera les textures de tous les maillages dans "
+"une seule texture assez large avec claque. Ça n'est pas supporter avec GLES2."
 
 #: doc/classes/BakedLightmap.xml
 msgid ""
@@ -12589,15 +12625,15 @@ msgstr ""
 
 #: doc/classes/BaseButton.xml
 msgid "The state of buttons are pressed."
-msgstr ""
+msgstr "L'état des boutons est : pressé."
 
 #: doc/classes/BaseButton.xml
 msgid "The state of buttons are hovered."
-msgstr ""
+msgstr "L'état des boutons est : survolé."
 
 #: doc/classes/BaseButton.xml
 msgid "The state of buttons are disabled."
-msgstr ""
+msgstr "L'état des boutons est : désactivé."
 
 #: doc/classes/BaseButton.xml
 msgid "The state of buttons are both hovered and pressed."
@@ -12894,9 +12930,8 @@ msgid ""
 msgstr ""
 
 #: doc/classes/BitMap.xml
-#, fuzzy
 msgid "Resizes the image to [code]new_size[/code]."
-msgstr "Supprime l’animation avec la touche [code]name[/code]."
+msgstr "Redimensionne l'image à la nouvelle taille [code]new_size[/code]."
 
 #: doc/classes/BitMap.xml
 msgid ""
@@ -14026,9 +14061,8 @@ msgid "Returns the number of [CameraFeed]s registered."
 msgstr "Retourne le nombre de [CameraFeed] enregistrés."
 
 #: doc/classes/CameraServer.xml
-#, fuzzy
 msgid "Removes the specified camera [code]feed[/code]."
-msgstr "Supprime l’animation avec la touche [code]name[/code]."
+msgstr "Supprime le flux de caméra [code]feed[/code] spécifié."
 
 #: doc/classes/CameraServer.xml
 #, fuzzy
@@ -14672,6 +14706,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15882,7 +15928,7 @@ msgstr ""
 
 #: doc/classes/Color.xml doc/classes/ColorPickerButton.xml
 msgid "GUI Drag And Drop Demo"
-msgstr ""
+msgstr "Démo de l'interface de déposer-glisser"
 
 #: doc/classes/Color.xml
 msgid ""
@@ -17019,7 +17065,7 @@ msgstr "Émis lorsque le [ColorPicker] est fermé."
 
 #: doc/classes/ColorPickerButton.xml
 msgid "Default text [Color] of the [ColorPickerButton]."
-msgstr ""
+msgstr "La [Color] par défaut du texte du [ColorPickerButton]."
 
 #: doc/classes/ColorPickerButton.xml
 msgid "Text [Color] used when the [ColorPickerButton] is disabled."
@@ -17728,8 +17774,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -18516,6 +18563,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr "Émis quand le nœud prend le focus du clavier."
 
@@ -22108,6 +22174,7 @@ msgstr ""
 #: doc/classes/EditorFeatureProfile.xml
 msgid "Returns the specified [code]feature[/code]'s human-readable name."
 msgstr ""
+"Retourne le nom de la fonctionnalité [code]feature[/code] facilement lisible."
 
 #: doc/classes/EditorFeatureProfile.xml
 msgid ""
@@ -25322,7 +25389,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -26467,7 +26549,7 @@ msgstr "Retourne la position de défilement actuelle."
 
 #: doc/classes/Font.xml
 msgid "Internationalized font and text drawing support."
-msgstr ""
+msgstr "Affichage internationalisé des polices et textes."
 
 #: doc/classes/Font.xml
 msgid ""
@@ -27470,8 +27552,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -27756,7 +27839,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -30307,9 +30395,8 @@ msgid ""
 msgstr ""
 
 #: doc/classes/HTTPRequest.xml
-#, fuzzy
 msgid "Maximum allowed size for response bodies."
-msgstr "Valeur maximale pour le mode énumeration."
+msgstr "La taille maximale le corps des réponses."
 
 #: doc/classes/HTTPRequest.xml
 msgid ""
@@ -30510,9 +30597,8 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Image.xml
-#, fuzzy
 msgid "Fills the image with [code]color[/code]."
-msgstr "Supprime l’animation avec la touche [code]name[/code]."
+msgstr "Remplis toute l'image avec la couleur [code]color[/code]."
 
 #: doc/classes/Image.xml
 #, fuzzy
@@ -31412,6 +31498,8 @@ msgid ""
 "Returns an [Array] containing the device IDs of all currently connected "
 "joypads."
 msgstr ""
+"Retourne un [Array] contenant les identifiants de tous les joypads "
+"actuellement connectés."
 
 #: doc/classes/Input.xml
 msgid "Returns the currently assigned cursor shape (see [enum CursorShape])."
@@ -31780,28 +31868,35 @@ msgstr ""
 #: doc/classes/Input.xml
 msgid "Makes the mouse cursor visible but confines it to the game window."
 msgstr ""
+"Rend le curseur de la souris visible mais le confine dans la fenêtre de jeu."
 
 #: doc/classes/Input.xml
 msgid "Arrow cursor. Standard, default pointing cursor."
-msgstr ""
+msgstr "Le curseur flèche. Le pointeur standard."
 
 #: doc/classes/Input.xml
 msgid ""
 "I-beam cursor. Usually used to show where the text cursor will appear when "
 "the mouse is clicked."
 msgstr ""
+"Le curseur poutre en I. Sert en général à afficher où le curseur de texte "
+"sera placé quand la souris sera cliquée."
 
 #: doc/classes/Input.xml
 msgid ""
 "Pointing hand cursor. Usually used to indicate the pointer is over a link or "
 "other interactable item."
 msgstr ""
+"Le curseur avec la main. Utilisé en général quand le curseur survole un lien "
+"ou un élément interactif."
 
 #: doc/classes/Input.xml
 msgid ""
 "Cross cursor. Typically appears over regions in which a drawing operation "
 "can be performed or for selections."
 msgstr ""
+"Le curseur en croix. Utilisé typiquement pour les régions où l'on peut "
+"dessiner, ou pour les sélections."
 
 #: doc/classes/Input.xml
 msgid ""
@@ -31809,6 +31904,9 @@ msgid ""
 "This cursor shape denotes that the application is still usable during the "
 "operation."
 msgstr ""
+"Le curseur d'activité. Indique que l'application est occupée à exécuter une "
+"opération. La forme de ce curseur suggère que l'application est toujours "
+"utilisable durant cette opération en cours."
 
 #: doc/classes/Input.xml
 msgid ""
@@ -31816,16 +31914,24 @@ msgid ""
 "This cursor shape denotes that the application isn't usable during the "
 "operation (e.g. something is blocking its main thread)."
 msgstr ""
+"Le curseur d'occupation. Indique que l'application est occupée à exécuter "
+"une opération. La forme de ce curseur suggère que l'application n'est pas "
+"utilisable durant cette opération en cours (ex.: que le fil d'exécution "
+"principal est bloqué)."
 
 #: doc/classes/Input.xml
 msgid "Drag cursor. Usually displayed when dragging something."
 msgstr ""
+"Le curseur de déposer-glisser. Affiché en général dès que l'opération de "
+"glissage a commencé."
 
 #: doc/classes/Input.xml
 msgid ""
 "Can drop cursor. Usually displayed when dragging something to indicate that "
 "it can be dropped at the current position."
 msgstr ""
+"Le curseur pour déposer. Permet d'afficher une destination pour le déposer-"
+"glisser si l'emplacement survolé permet de déposer l'élément glissé."
 
 #: doc/classes/Input.xml
 msgid ""
@@ -31833,18 +31939,26 @@ msgid ""
 "example, when dragging something) or that the control at a position is "
 "disabled."
 msgstr ""
+"Le curseur d'interdiction. Indique que l'action est interdite (ex.: en "
+"déplaçant un élément) ou que l'élément est désactivé."
 
 #: doc/classes/Input.xml
 msgid ""
 "Vertical resize mouse cursor. A double-headed vertical arrow. It tells the "
 "user they can resize the window or the panel vertically."
 msgstr ""
+"Le curseur de redimensionnement vertical. Une flèche à double tête. Elle "
+"précise qu'une fenêtre ou qu'un panneau peut être redimensionné "
+"verticalement."
 
 #: doc/classes/Input.xml
 msgid ""
 "Horizontal resize mouse cursor. A double-headed horizontal arrow. It tells "
 "the user they can resize the window or the panel horizontally."
 msgstr ""
+"Le curseur de redimensionnement horizontal. Une flèche à double tête. Elle "
+"précise qu'une fenêtre ou qu'un panneau peut être redimensionné "
+"horizontalement."
 
 #: doc/classes/Input.xml
 msgid ""
@@ -31852,6 +31966,9 @@ msgid ""
 "from the bottom left to the top right. It tells the user they can resize the "
 "window or the panel both horizontally and vertically."
 msgstr ""
+"Le curseur de redimensionnement de fenêtre. Une flèche à double tête du bas "
+"gauche vers le haut droit. Elle précise qu'une fenêtre ou qu'un panneau peut "
+"être redimensionné horizontalement et verticalement."
 
 #: doc/classes/Input.xml
 msgid ""
@@ -31860,26 +31977,37 @@ msgid ""
 "CURSOR_BDIAGSIZE]. It tells the user they can resize the window or the panel "
 "both horizontally and vertically."
 msgstr ""
+"Le curseur de redimensionnement de fenêtre. Une flèche à double tête du haut "
+"gauche vers le bas droit, l'inverse de [constant CURSOR_BDIAGSIZE]. Elle "
+"précise qu'une fenêtre ou qu'un panneau peut être redimensionné "
+"horizontalement et verticalement."
 
 #: doc/classes/Input.xml
 msgid "Move cursor. Indicates that something can be moved."
 msgstr ""
+"Le curseur de déplacement. Indique que quelque chose peut être déplacé."
 
 #: doc/classes/Input.xml
 msgid ""
 "Vertical split mouse cursor. On Windows, it's the same as [constant "
 "CURSOR_VSIZE]."
 msgstr ""
+"Le curseur de séparation verticale. Permet de déplacer la séparation "
+"horizontale entre deux vues. Sous Windows, c'est pareil que [constant "
+"CURSOR_VSIZE]."
 
 #: doc/classes/Input.xml
 msgid ""
 "Horizontal split mouse cursor. On Windows, it's the same as [constant "
 "CURSOR_HSIZE]."
 msgstr ""
+"Le curseur de séparation horizontale. Permet de déplacer la séparation "
+"verticale entre deux vues. Sous Windows, c'est pareil que [constant "
+"CURSOR_HSIZE]."
 
 #: doc/classes/Input.xml
 msgid "Help cursor. Usually a question mark."
-msgstr "Curseur d'aide. Généralement un point d'interrogation."
+msgstr "Le curseur d'aide. Généralement un point d'interrogation."
 
 #: doc/classes/InputEvent.xml
 msgid "Generic input event."
@@ -31888,10 +32016,12 @@ msgstr "Évènement d’entrée générique."
 #: doc/classes/InputEvent.xml
 msgid "Base class of all sort of input event. See [method Node._input]."
 msgstr ""
+"La classe de commune de tous les événements d'entrée. Voir [method Node."
+"_input]."
 
 #: doc/classes/InputEvent.xml
 msgid "InputEvent"
-msgstr ""
+msgstr "InputEvent"
 
 #: doc/classes/InputEvent.xml
 msgid ""
@@ -32095,7 +32225,7 @@ msgstr ""
 
 #: doc/classes/InputEventKey.xml
 msgid "Input event type for keyboard events."
-msgstr ""
+msgstr "Le type d'événement d'entrée des claviers."
 
 #: doc/classes/InputEventKey.xml
 msgid ""
@@ -32164,9 +32294,8 @@ msgid ""
 msgstr ""
 
 #: doc/classes/InputEventMIDI.xml
-#, fuzzy
 msgid "Input event for MIDI inputs."
-msgstr "Type d’évènement d’entrée pour les actions."
+msgstr "L'évènement d’entrée des entrées MIDI."
 
 #: doc/classes/InputEventMIDI.xml
 msgid ""
@@ -32380,6 +32509,8 @@ msgstr ""
 msgid ""
 "Input event type for screen drag events. Only available on mobile devices."
 msgstr ""
+"Le type d'événement d'entrée pour les glissements sur l'écran. Uniquement "
+"disponible sur les appareils mobiles."
 
 #: doc/classes/InputEventScreenDrag.xml
 msgid "Contains screen drag information. See [method Node._input]."
@@ -32391,7 +32522,7 @@ msgstr ""
 
 #: doc/classes/InputEventScreenDrag.xml
 msgid "The drag position."
-msgstr "La position de glissement."
+msgstr "La position du glissement."
 
 #: doc/classes/InputEventScreenDrag.xml
 msgid ""
@@ -32401,13 +32532,15 @@ msgstr ""
 
 #: doc/classes/InputEventScreenDrag.xml
 msgid "The drag speed."
-msgstr "La vitesse de glissement."
+msgstr "La vitesse du glissement."
 
 #: doc/classes/InputEventScreenTouch.xml
 msgid ""
 "Input event type for screen touch events.\n"
 "(only available on mobile devices)"
 msgstr ""
+"Le type d'événement d'entrée pour les événements de tape sur l'écran.\n"
+"(uniquement disponible sur les appareils mobiles)"
 
 #: doc/classes/InputEventScreenTouch.xml
 msgid ""
@@ -32481,6 +32614,7 @@ msgstr ""
 msgid ""
 "Adds an [InputEvent] to an action. This [InputEvent] will trigger the action."
 msgstr ""
+"Ajoute un [InputEvent] à une action. Cet [InputEvent] déclenchera l'action."
 
 #: doc/classes/InputMap.xml
 msgid "Removes an [InputEvent] from an action."
@@ -32500,10 +32634,11 @@ msgid ""
 "Returns [code]true[/code] if the action has the given [InputEvent] "
 "associated with it."
 msgstr ""
+"Retourne [code]true[/code] si l'action est associée au [InputEvent] spécifié."
 
 #: doc/classes/InputMap.xml
 msgid "Sets a deadzone value for the action."
-msgstr ""
+msgstr "Définit une valeur pour la zone morte de l'action."
 
 #: doc/classes/InputMap.xml
 msgid ""
@@ -32641,6 +32776,8 @@ msgid ""
 "Cast a [bool] value to an integer value, [code]int(true)[/code] will be "
 "equals to 1 and [code]int(false)[/code] will be equals to 0."
 msgstr ""
+"Transformer un [bool] en une valeur entière, [code]int(true)[/code] donnera "
+"1 et [code]int(false)[/code] donnera 0."
 
 #: doc/classes/int.xml
 msgid ""
@@ -32777,7 +32914,7 @@ msgstr ""
 
 #: doc/classes/IP.xml
 msgid "DNS hostname resolver status: No status."
-msgstr ""
+msgstr "Statut du résolveur de noms d'hôtes DNS : Aucun statut."
 
 #: doc/classes/IP.xml
 msgid "DNS hostname resolver status: Waiting."
@@ -32808,11 +32945,11 @@ msgstr "Type d’adresse : Aucun."
 
 #: doc/classes/IP.xml
 msgid "Address type: Internet protocol version 4 (IPv4)."
-msgstr ""
+msgstr "Type d'adresse : Protocole internet version 4 (IPv4)."
 
 #: doc/classes/IP.xml
 msgid "Address type: Internet protocol version 6 (IPv6)."
-msgstr ""
+msgstr "Type d'adresse : Protocole internet version 6 (IPv6)."
 
 #: doc/classes/IP.xml
 msgid "Address type: Any."
@@ -32971,6 +33108,8 @@ msgid ""
 "Select the item at the specified index.\n"
 "[b]Note:[/b] This method does not trigger the item selection signal."
 msgstr ""
+"Sélectionner un élément à la position spécifiée.\n"
+"[b]Note :[/b] Cette méthode n'émet pas de signal de sélection de l'élément."
 
 #: doc/classes/ItemList.xml
 msgid ""
@@ -33079,6 +33218,9 @@ msgid ""
 "If either X or Y component is not greater than zero, icon size won't be "
 "affected."
 msgstr ""
+"La taille que prendrons toutes les icônes.\n"
+"Si un des composants X ou Y n'est pas supérieur à zéro, la taille ne sera "
+"pas changée."
 
 #: doc/classes/ItemList.xml
 msgid ""
@@ -33472,12 +33614,16 @@ msgid ""
 "Helper class for parsing JSON data. For usage example and other important "
 "hints, see [JSONParseResult]."
 msgstr ""
+"Classe d'aide pour interpréter les données JSON. Voir [JSONParseResult] pour "
+"les exemples d'utilisateur ou les notes importantes."
 
 #: doc/classes/JSON.xml
 msgid ""
 "Parses a JSON-encoded string and returns a [JSONParseResult] containing the "
 "result."
 msgstr ""
+"Interprète une chaine de caractères encodé en JSON et retourne un "
+"[JSONParseResult] contenant le résultat."
 
 #: doc/classes/JSON.xml
 msgid ""
@@ -33549,18 +33695,24 @@ msgid ""
 "The error type if the JSON source was not successfully parsed. See the [enum "
 "Error] constants."
 msgstr ""
+"Un type d'erreur si la source JSON n'a pas été interprétée correctement. "
+"Voir les constantes [enum Error]."
 
 #: doc/classes/JSONParseResult.xml
 msgid ""
 "The line number where the error occurred if the JSON source was not "
 "successfully parsed."
 msgstr ""
+"Le numéro de ligne où l'erreur s'est produite dans le cas où le JSON n'a pas "
+"été interprété correctement."
 
 #: doc/classes/JSONParseResult.xml
 msgid ""
 "The error message if the JSON source was not successfully parsed. See the "
 "[enum Error] constants."
 msgstr ""
+"Le message d'erreur si la source de JSON n'a pas été correctement "
+"interprétée. Voir les constantes [enum Error]."
 
 #: doc/classes/JSONParseResult.xml
 msgid ""
@@ -34461,9 +34613,13 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-#, fuzzy
-msgid "Attempts to reduce [member shadow_bias] gap."
-msgstr "Constante pour l'accès à [member shadow_normal_bias]."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
+msgstr ""
 
 #: doc/classes/Light.xml
 msgid "If [code]true[/code], the light will cast shadows."
@@ -34873,8 +35029,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34990,7 +35150,7 @@ msgstr ""
 
 #: doc/classes/LineEdit.xml
 msgid "Erases the [LineEdit]'s [member text]."
-msgstr ""
+msgstr "Efface le [member text] du [LineEdit]."
 
 #: doc/classes/LineEdit.xml
 msgid ""
@@ -35161,6 +35321,8 @@ msgid ""
 "If [code]true[/code], the native virtual keyboard is shown when focused on "
 "platforms that support it."
 msgstr ""
+"Si [code]true[/code], le clavier virtuel natif est affiché lorsque cet "
+"élément prend le focus sur les plateformes qui le supportent."
 
 #: doc/classes/LineEdit.xml
 msgid ""
@@ -36761,6 +36923,15 @@ msgstr "Retourne la [Transform2D] de l'instance spécifiée."
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -36774,6 +36945,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -36816,6 +36999,16 @@ msgid "Mesh to be drawn."
 msgstr "Maillage à dessiner."
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -36867,6 +37060,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr "Le nœud que instancie un [MultiMesh]."
@@ -37369,9 +37574,8 @@ msgid "Sets the radius of the agent."
 msgstr "Le rayon extérieur du tore."
 
 #: doc/classes/Navigation2DServer.xml doc/classes/NavigationServer.xml
-#, fuzzy
 msgid "Sets the new target velocity."
-msgstr "Obtient l'objet édité."
+msgstr "Définit la nouvelle vitesse de la cible."
 
 #: doc/classes/Navigation2DServer.xml doc/classes/NavigationServer.xml
 msgid ""
@@ -37396,9 +37600,8 @@ msgid "Create a new map."
 msgstr "Crée une nouvelle carte."
 
 #: doc/classes/Navigation2DServer.xml doc/classes/NavigationServer.xml
-#, fuzzy
 msgid "Returns the map cell size."
-msgstr "Retourne la taille du tableau."
+msgstr "Retourne la taille des cellules de la carte."
 
 #: doc/classes/Navigation2DServer.xml doc/classes/NavigationServer.xml
 #, fuzzy
@@ -37596,9 +37799,8 @@ msgid ""
 msgstr ""
 
 #: doc/classes/NavigationAgent.xml doc/classes/NavigationAgent2D.xml
-#, fuzzy
 msgid "The radius of the agent."
-msgstr "Le rayon du cylindre."
+msgstr "Le rayon de l'agent."
 
 #: doc/classes/NavigationAgent.xml doc/classes/NavigationAgent2D.xml
 msgid ""
@@ -37955,9 +38157,8 @@ msgid "Clears the navigation mesh."
 msgstr "Efface le maillage de navigation."
 
 #: doc/classes/NavigationMeshInstance.xml
-#, fuzzy
 msgid "An instance of a [NavigationMesh]."
-msgstr "L’instance est un multi-maillage."
+msgstr "Une instance de [NavigationMesh]."
 
 #: doc/classes/NavigationMeshInstance.xml
 msgid ""
@@ -37978,9 +38179,8 @@ msgid "Determines if the [NavigationMeshInstance] is enabled or disabled."
 msgstr ""
 
 #: doc/classes/NavigationMeshInstance.xml
-#, fuzzy
 msgid "The [NavigationMesh] resource to use."
-msgstr "Le singleton [NavigationMeshGenerator]."
+msgstr "La ressource [NavigationMesh] à utiliser."
 
 #: doc/classes/NavigationMeshInstance.xml
 #, fuzzy
@@ -38199,9 +38399,8 @@ msgid ""
 msgstr ""
 
 #: doc/classes/NavigationServer.xml
-#, fuzzy
 msgid "Returns the map's up direction."
-msgstr "Retourne les dimensions de bitmap."
+msgstr "Retourne la direction haut de la carte."
 
 #: doc/classes/NavigationServer.xml
 #, fuzzy
@@ -38209,9 +38408,8 @@ msgid "Set the map cell height used to weld the navigation mesh polygons."
 msgstr "Définit le polygone de navigation de la tuile."
 
 #: doc/classes/NavigationServer.xml
-#, fuzzy
 msgid "Sets the map up direction."
-msgstr "Arrête l'audio."
+msgstr "Définit la direction haut de la carte."
 
 #: doc/classes/NavigationServer.xml
 msgid ""
@@ -38787,7 +38985,7 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid "Nodes and Scenes"
-msgstr ""
+msgstr "Nœuds et scènes"
 
 #: doc/classes/Node.xml
 msgid "All Demos"
@@ -39286,6 +39484,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -39456,6 +39673,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -39556,6 +39788,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -39806,6 +40046,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -40022,7 +40268,7 @@ msgstr ""
 #: doc/classes/PanelContainer.xml doc/classes/TileMap.xml
 #: doc/classes/TileSet.xml
 msgid "2D Role Playing Game Demo"
-msgstr ""
+msgstr "Démo 2D de jeu de role-play"
 
 #: doc/classes/NodePath.xml
 msgid ""
@@ -40731,7 +40977,7 @@ msgstr ""
 
 #: doc/classes/OccluderPolygon2D.xml
 msgid "The culling mode to use."
-msgstr ""
+msgstr "Le mode de culling à utiliser."
 
 #: doc/classes/OccluderPolygon2D.xml
 msgid ""
@@ -40742,18 +40988,19 @@ msgstr ""
 
 #: doc/classes/OccluderPolygon2D.xml
 msgid "Culling is disabled. See [member cull_mode]."
-msgstr ""
+msgstr "Le culling est désactivé. Voir [member cull_mode]."
 
 #: doc/classes/OccluderPolygon2D.xml
 msgid ""
 "Culling is performed in the clockwise direction. See [member cull_mode]."
-msgstr ""
+msgstr "Le culling se fait dans le sens horaire. Voir [member cull_mode]."
 
 #: doc/classes/OccluderPolygon2D.xml
 msgid ""
 "Culling is performed in the counterclockwise direction. See [member "
 "cull_mode]."
 msgstr ""
+"Le culling se fait dans le sens horaire inversé. Voir [member cull_mode]."
 
 #: doc/classes/OccluderShape.xml
 msgid ""
@@ -40806,8 +41053,8 @@ msgstr "Dessine une géométrie simple à partir du code."
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -40825,14 +41072,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
-#, fuzzy
 msgid "Sets an individual sphere's position."
-msgstr "Définit un bit individuel sur le [member collision_mask]."
+msgstr "Définit la position d'une seule sphère."
 
 #: doc/classes/OccluderShapeSphere.xml
-#, fuzzy
 msgid "Sets an individual sphere's radius."
-msgstr "Définit le rayon des sphères individuelles."
+msgstr "Définit le rayon d'une seule sphère."
 
 #: doc/classes/OccluderShapeSphere.xml
 msgid ""
@@ -40843,7 +41088,7 @@ msgstr ""
 
 #: doc/classes/OmniLight.xml
 msgid "Omnidirectional light, such as a light bulb or a candle."
-msgstr ""
+msgstr "Une lumière omnidirectionnelle, comme une ampoule ou une bougie."
 
 #: doc/classes/OmniLight.xml
 msgid ""
@@ -40903,7 +41148,7 @@ msgstr ""
 
 #: modules/opensimplex/doc_classes/OpenSimplexNoise.xml
 msgid "Noise generator based on Open Simplex."
-msgstr ""
+msgstr "Un générateur de bruit basé sur Open Simplex."
 
 #: modules/opensimplex/doc_classes/OpenSimplexNoise.xml
 msgid ""
@@ -40967,7 +41212,7 @@ msgstr ""
 
 #: modules/opensimplex/doc_classes/OpenSimplexNoise.xml
 msgid "Difference in period between [member octaves]."
-msgstr ""
+msgstr "La différence de période entre les [member octaves]."
 
 #: modules/opensimplex/doc_classes/OpenSimplexNoise.xml
 msgid ""
@@ -41035,7 +41280,7 @@ msgstr ""
 
 #: doc/classes/OptionButton.xml
 msgid "Returns the amount of items in the OptionButton, including separators."
-msgstr ""
+msgstr "Retourne le nombre d'élément dans ce OptionButton, séparateurs inclus."
 
 #: doc/classes/OptionButton.xml doc/classes/PopupMenu.xml
 msgid "Returns the icon of the item at index [code]idx[/code]."
@@ -41048,6 +41293,7 @@ msgstr ""
 #: doc/classes/OptionButton.xml
 msgid "Returns the index of the item with the given [code]id[/code]."
 msgstr ""
+"Retourne l'index de l'élément avec l'identifiant [code]id[/code] spécifié."
 
 #: doc/classes/OptionButton.xml
 msgid ""
@@ -41057,7 +41303,7 @@ msgstr ""
 
 #: doc/classes/OptionButton.xml doc/classes/PopupMenu.xml
 msgid "Returns the text of the item at index [code]idx[/code]."
-msgstr ""
+msgstr "Retourne le texte de l'élément à l'index [code]idx[/code]."
 
 #: doc/classes/OptionButton.xml
 msgid ""
@@ -41075,10 +41321,12 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if the item at index [code]idx[/code] is disabled."
 msgstr ""
+"Retourn [code]true[/code] si l'élément à l'index [code]idx[/code] est "
+"désactivé."
 
 #: doc/classes/OptionButton.xml
 msgid "Removes the item at index [code]idx[/code]."
-msgstr ""
+msgstr "Retire l'élément à l'index [code]idx[/code]."
 
 #: doc/classes/OptionButton.xml
 msgid ""
@@ -41096,11 +41344,11 @@ msgstr ""
 
 #: doc/classes/OptionButton.xml
 msgid "Sets the icon of the item at index [code]idx[/code]."
-msgstr ""
+msgstr "Définit l'icône pour l'élément à l'index [code]idx[/code]."
 
 #: doc/classes/OptionButton.xml
 msgid "Sets the ID of the item at index [code]idx[/code]."
-msgstr ""
+msgstr "Définit l'identifiant pour l'élément à l'index [code]idx[/code]."
 
 #: doc/classes/OptionButton.xml
 msgid ""
@@ -41110,7 +41358,7 @@ msgstr ""
 
 #: doc/classes/OptionButton.xml doc/classes/PopupMenu.xml
 msgid "Sets the text of the item at index [code]idx[/code]."
-msgstr ""
+msgstr "Définit le texte pour l'élément à l'index [code]idx[/code]."
 
 #: doc/classes/OptionButton.xml
 msgid ""
@@ -41133,7 +41381,7 @@ msgstr ""
 
 #: doc/classes/OptionButton.xml
 msgid "Default text [Color] of the [OptionButton]."
-msgstr ""
+msgstr "La [Color] par défaut du texte pour le [OptionButton]."
 
 #: doc/classes/OptionButton.xml
 msgid "Text [Color] used when the [OptionButton] is disabled."
@@ -41148,11 +41396,11 @@ msgstr ""
 
 #: doc/classes/OptionButton.xml
 msgid "Text [Color] used when the [OptionButton] is being hovered."
-msgstr ""
+msgstr "La [Color] du texte utilisée quand le [OptionButton] est survolé."
 
 #: doc/classes/OptionButton.xml
 msgid "Text [Color] used when the [OptionButton] is being pressed."
-msgstr ""
+msgstr "La [Color] du texte utilisée quand le [OptionButton] est pressé."
 
 #: doc/classes/OptionButton.xml
 msgid ""
@@ -41165,7 +41413,7 @@ msgstr ""
 
 #: doc/classes/OptionButton.xml
 msgid "[Font] of the [OptionButton]'s text."
-msgstr ""
+msgstr "La [Font] du texte du [OptionButton]."
 
 #: doc/classes/OptionButton.xml
 msgid "The arrow icon to be drawn on the right end of the button."
@@ -41188,7 +41436,7 @@ msgstr ""
 
 #: doc/classes/OptionButton.xml
 msgid "Default [StyleBox] for the [OptionButton]."
-msgstr ""
+msgstr "Le [StyleBox] par défaut pour le [OptionButton]."
 
 #: doc/classes/OptionButton.xml
 msgid "[StyleBox] used when the [OptionButton] is being pressed."
@@ -41604,13 +41852,26 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
-#, fuzzy
 msgid "Returns the window size including decorations like window borders."
-msgstr "Retourne le nœud de fin de la transition donnée."
+msgstr ""
+"Retourne la taille de la fenêtre en incluant les décorations, comme les "
+"bordures."
 
 #: doc/classes/OS.xml
 msgid ""
@@ -41621,9 +41882,8 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-#, fuzzy
 msgid "Returns the number of displays attached to the host machine."
-msgstr "Retourne le nombre de formes assignées à une zone."
+msgstr "Retourne le nombre d'écrans connectés à la machine hôte."
 
 #: doc/classes/OS.xml
 msgid ""
@@ -42345,9 +42605,9 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-#, fuzzy
 msgid "If [code]true[/code], the window is resizable by the user."
-msgstr "Si [code]true[/code], le filtrage est activé."
+msgstr ""
+"Si [code]true[/code], la fenêtre peut être redimensionnée par l'utilisateur."
 
 #: doc/classes/OS.xml
 msgid "The size of the window (without counting window manager decorations)."
@@ -42517,7 +42777,7 @@ msgstr "Chemin d’accès du répertoire de bureau."
 
 #: doc/classes/OS.xml
 msgid "DCIM (Digital Camera Images) directory path."
-msgstr ""
+msgstr "Le chemin du dossier DCIM (images de la caméra numérique)."
 
 #: doc/classes/OS.xml
 msgid "Documents directory path."
@@ -42892,7 +43152,7 @@ msgstr ""
 
 #: doc/classes/PacketPeerUDP.xml
 msgid "Returns whether this [PacketPeerUDP] is listening."
-msgstr ""
+msgstr "Retourne quand ce [PacketPeerUDP] écoute."
 
 #: doc/classes/PacketPeerUDP.xml
 msgid ""
@@ -42974,7 +43234,7 @@ msgstr ""
 
 #: doc/classes/Panel.xml
 msgid "2D Finite State Machine Demo"
-msgstr ""
+msgstr "Démo 2D de machine à états finis"
 
 #: doc/classes/Panel.xml doc/classes/Skeleton.xml doc/classes/SkeletonIK.xml
 msgid "3D Inverse Kinematics Demo"
@@ -43300,7 +43560,7 @@ msgstr ""
 
 #: doc/classes/ParticlesMaterial.xml
 msgid "Returns the randomness ratio associated with the specified parameter."
-msgstr ""
+msgstr "Retourne le facteur d'aléatoire associé avec le paramètre spécifié."
 
 #: doc/classes/ParticlesMaterial.xml
 #, fuzzy
@@ -43319,7 +43579,7 @@ msgstr ""
 
 #: doc/classes/ParticlesMaterial.xml
 msgid "Sets the randomness ratio for the specified [enum Parameter]."
-msgstr ""
+msgstr "Définit le facteur d'aléatoire pour le [enum Parameter] spécifié."
 
 #: doc/classes/ParticlesMaterial.xml
 #, fuzzy
@@ -43615,7 +43875,7 @@ msgstr "Une [Curve3D] décrivant le chemin."
 
 #: doc/classes/Path.xml
 msgid "Emitted when the [member curve] changes."
-msgstr ""
+msgstr "Émis quand cette [member curve] change."
 
 #: doc/classes/Path2D.xml
 msgid "Contains a [Curve2D] path for [PathFollow2D] nodes to follow."
@@ -43635,9 +43895,8 @@ msgid "A [Curve2D] describing the path."
 msgstr "Une [Curve2D] décrivant le chemin."
 
 #: doc/classes/PathFollow.xml
-#, fuzzy
 msgid "Point sampler for a [Path]."
-msgstr "Échantillonneur de points pour un [Path2D]."
+msgstr "Échantillonneur de points pour un [Path]."
 
 #: doc/classes/PathFollow.xml
 msgid ""
@@ -43665,7 +43924,7 @@ msgstr ""
 
 #: doc/classes/PathFollow.xml doc/classes/PathFollow2D.xml
 msgid "The node's offset along the curve."
-msgstr ""
+msgstr "Le décalage du nœud le long de la courbe."
 
 #: doc/classes/PathFollow.xml doc/classes/PathFollow2D.xml
 msgid ""
@@ -43698,9 +43957,8 @@ msgid "The node's offset perpendicular to the curve."
 msgstr ""
 
 #: doc/classes/PathFollow.xml
-#, fuzzy
 msgid "Forbids the PathFollow to rotate."
-msgstr "Interdit au PathFollow3D de tourner."
+msgstr "Interdit au PathFollow de pivoter pour suivre le chemin."
 
 #: doc/classes/PathFollow.xml
 #, fuzzy
@@ -43899,23 +44157,23 @@ msgstr ""
 
 #: doc/classes/Performance.xml
 msgid "3D objects drawn per frame."
-msgstr "Objets 3D dessinés par image."
+msgstr "Les objets 3D dessinés par trame."
 
 #: doc/classes/Performance.xml
 msgid "Vertices drawn per frame. 3D only."
-msgstr ""
+msgstr "Les sommets dessinés durant la trame. Seulement pour la 3D."
 
 #: doc/classes/Performance.xml
 msgid "Material changes per frame. 3D only."
-msgstr ""
+msgstr "Les matériaux changés durant la trame. Seulement pour la 3D."
 
 #: doc/classes/Performance.xml
 msgid "Shader changes per frame. 3D only."
-msgstr ""
+msgstr "Les shaders changés durant la trame. Seulement pour la 3D."
 
 #: doc/classes/Performance.xml
 msgid "Render surface changes per frame. 3D only."
-msgstr ""
+msgstr "Les surfaces affichées changées durant la trame. Seulement pour la 3D."
 
 #: doc/classes/Performance.xml
 msgid "Draw calls per frame. 3D only."
@@ -44036,7 +44294,7 @@ msgstr "Ajoute une force de rotation constante."
 
 #: doc/classes/Physics2DDirectBodyState.xml doc/classes/RigidBody2D.xml
 msgid "Applies a directional impulse without affecting rotation."
-msgstr ""
+msgstr "Applique une impulsion directionnelle changer affecter la rotation."
 
 #: doc/classes/Physics2DDirectBodyState.xml
 msgid ""
@@ -44049,7 +44307,7 @@ msgstr ""
 
 #: doc/classes/Physics2DDirectBodyState.xml doc/classes/RigidBody2D.xml
 msgid "Applies a rotational impulse to the body."
-msgstr ""
+msgstr "Applique une impulsion de rotation au corps."
 
 #: doc/classes/Physics2DDirectBodyState.xml
 #: doc/classes/PhysicsDirectBodyState.xml
@@ -44070,7 +44328,7 @@ msgstr ""
 #: doc/classes/Physics2DDirectBodyState.xml
 #: doc/classes/PhysicsDirectBodyState.xml
 msgid "Returns the contact position in the collider."
-msgstr ""
+msgstr "Retourne la position du contact sur le collisionneur."
 
 #: doc/classes/Physics2DDirectBodyState.xml
 #: doc/classes/PhysicsDirectBodyState.xml
@@ -44129,9 +44387,8 @@ msgid "Calls the built-in force integration code."
 msgstr ""
 
 #: doc/classes/Physics2DDirectBodyState.xml doc/classes/RigidBody2D.xml
-#, fuzzy
 msgid "The body's rotational velocity in [i]radians[/i] per second."
-msgstr "La vitesse de rotation du corps."
+msgstr "La vitesse de rotation du corps en [i]radians[/i] par seconde."
 
 #: doc/classes/Physics2DDirectBodyState.xml
 #: doc/classes/PhysicsDirectBodyState.xml
@@ -44144,9 +44401,8 @@ msgid "The inverse of the mass of the body."
 msgstr ""
 
 #: doc/classes/Physics2DDirectBodyState.xml
-#, fuzzy
 msgid "The body's linear velocity in pixels per second."
-msgstr "La vitesse de la souris en pixels par seconde."
+msgstr "La vitesse linéaire d'un corps en pixels par seconde."
 
 #: doc/classes/Physics2DDirectBodyState.xml
 #: doc/classes/PhysicsDirectBodyState.xml
@@ -44155,8 +44411,9 @@ msgstr ""
 
 #: doc/classes/Physics2DDirectBodyState.xml
 #: doc/classes/PhysicsDirectBodyState.xml
+#, fuzzy
 msgid "The timestep (delta) used for the simulation."
-msgstr ""
+msgstr "L'étape de temps (delta) utilisé pour la simulation."
 
 #: doc/classes/Physics2DDirectBodyState.xml
 #: doc/classes/PhysicsDirectBodyState.xml
@@ -44326,7 +44583,7 @@ msgstr ""
 
 #: doc/classes/Physics2DServer.xml
 msgid "Server interface for low-level 2D physics access."
-msgstr ""
+msgstr "L'interface du serveur pour l'accès à la physique 2D en bas niveau."
 
 #: doc/classes/Physics2DServer.xml
 #, fuzzy
@@ -45280,9 +45537,8 @@ msgid ""
 msgstr ""
 
 #: doc/classes/PhysicsDirectBodyState.xml
-#, fuzzy
 msgid "The body's linear velocity in units per second."
-msgstr "La vitesse linéaire du corps."
+msgstr "La vitesse linéaire du corps en unités par secondes."
 
 #: doc/classes/PhysicsDirectSpaceState.xml
 msgid "Direct access object to a space in the [PhysicsServer]."
@@ -45710,29 +45966,24 @@ msgid ""
 msgstr ""
 
 #: doc/classes/PhysicsServer.xml
-#, fuzzy
 msgid "The [Joint] is a [PinJoint]."
-msgstr "Le [Joint3D] est un [PinJoint3D]."
+msgstr "Le [Joint] est un [PinJoint]."
 
 #: doc/classes/PhysicsServer.xml
-#, fuzzy
 msgid "The [Joint] is a [HingeJoint]."
-msgstr "Le [Joint3D] est un [HingeJoint3D]."
+msgstr "Le [Joint] est un [HingeJoint]."
 
 #: doc/classes/PhysicsServer.xml
-#, fuzzy
 msgid "The [Joint] is a [SliderJoint]."
-msgstr "Le [Joint3D] est un [SliderJoint3D]."
+msgstr "Le [Joint] est un [SliderJoint]."
 
 #: doc/classes/PhysicsServer.xml
-#, fuzzy
 msgid "The [Joint] is a [ConeTwistJoint]."
-msgstr "Le [Joint3D] est un [ConeTwistJoint3D]."
+msgstr "Le [Joint] est un [ConeTwistJoint]."
 
 #: doc/classes/PhysicsServer.xml
-#, fuzzy
 msgid "The [Joint] is a [Generic6DOFJoint]."
-msgstr "Le [Joint3D] est un [Generic6DOFJoint3D]."
+msgstr "Le [Joint] est un [Generic6DOFJoint]."
 
 #: doc/classes/PhysicsServer.xml
 msgid ""
@@ -45949,49 +46200,40 @@ msgid ""
 msgstr ""
 
 #: doc/classes/PhysicsServer.xml
-#, fuzzy
 msgid "The [Shape] is a [PlaneShape]."
-msgstr "Le [Shape3D] est un [RayShape3D]."
+msgstr "Le [Shape] est un [PlaneShape]."
 
 #: doc/classes/PhysicsServer.xml
-#, fuzzy
 msgid "The [Shape] is a [RayShape]."
-msgstr "Le [Shape3D] est un [RayShape3D]."
+msgstr "Le [Shape] est un [RayShape]."
 
 #: doc/classes/PhysicsServer.xml
-#, fuzzy
 msgid "The [Shape] is a [SphereShape]."
-msgstr "La [Shape3D] est une [SphereShape3D]."
+msgstr "La [Shape] est une [SphereShape]."
 
 #: doc/classes/PhysicsServer.xml
-#, fuzzy
 msgid "The [Shape] is a [BoxShape]."
-msgstr "La [Shape3D] est une [BoxShape3D]."
+msgstr "La [Shape] est une [BoxShape]."
 
 #: doc/classes/PhysicsServer.xml
-#, fuzzy
 msgid "The [Shape] is a [CapsuleShape]."
-msgstr "La [Shape3D] est une [CapsuleShape3D]."
+msgstr "La [Shape] est une [CapsuleShape]."
 
 #: doc/classes/PhysicsServer.xml
-#, fuzzy
 msgid "The [Shape] is a [CylinderShape]."
-msgstr "La [Shape3D] est un [CylinderShape3D]."
+msgstr "La [Shape] est un [CylinderShape]."
 
 #: doc/classes/PhysicsServer.xml
-#, fuzzy
 msgid "The [Shape] is a [ConvexPolygonShape]."
-msgstr "La [Shape3D] est un [ConvexPolygonShape3D]."
+msgstr "La [Shape] est un [ConvexPolygonShape]."
 
 #: doc/classes/PhysicsServer.xml
-#, fuzzy
 msgid "The [Shape] is a [ConcavePolygonShape]."
-msgstr "La [Shape3D] est un [ConvexPolygonShape3D]."
+msgstr "La [Shape] est un [ConcavePolygonShape]."
 
 #: doc/classes/PhysicsServer.xml
-#, fuzzy
 msgid "The [Shape] is a [HeightMapShape]."
-msgstr "La [Shape3D] est un [HeightMapShape3D]."
+msgstr "La [Shape] est un [HeightMapShape]."
 
 #: doc/classes/PhysicsShapeQueryParameters.xml
 msgid "Parameters to be sent to a 3D shape physics query."
@@ -46119,6 +46361,8 @@ msgid ""
 "Returns [code]true[/code] if [code]point[/code] is inside the plane. "
 "Comparison uses a custom minimum [code]epsilon[/code] threshold."
 msgstr ""
+"Retourn [code]true[/code] si [code]point[/code] est à l'intérieur du plan. "
+"La comparaison se fait sous le seuil [code]epsilon[/code]."
 
 #: doc/classes/Plane.xml
 msgid ""
@@ -46400,7 +46644,6 @@ msgid ""
 msgstr ""
 
 #: doc/classes/PoolByteArray.xml
-#, fuzzy
 msgid "A pooled [Array] of bytes."
 msgstr "Un [Array] compacté d'octets."
 
@@ -46520,9 +46763,8 @@ msgid ""
 msgstr ""
 
 #: doc/classes/PoolColorArray.xml
-#, fuzzy
 msgid "A pooled [Array] of [Color]."
-msgstr "Un [Array] compacté d'octets."
+msgstr "Un [Array] compacté de [Color]."
 
 #: doc/classes/PoolColorArray.xml
 msgid ""
@@ -46544,7 +46786,7 @@ msgstr "Ajoute un [PackedVector3Array] à la fin de ce tableau."
 
 #: doc/classes/PoolColorArray.xml doc/classes/PoolIntArray.xml
 msgid "Appends a value to the array."
-msgstr ""
+msgstr "Ajoute une valeur à la fin du tableau."
 
 #: doc/classes/PoolColorArray.xml doc/classes/PoolStringArray.xml
 #: doc/classes/PoolVector2Array.xml doc/classes/PoolVector3Array.xml
@@ -46631,9 +46873,8 @@ msgid "Changes the float at the given index."
 msgstr ""
 
 #: doc/classes/PoolStringArray.xml
-#, fuzzy
 msgid "A pooled [Array] of [String]."
-msgstr "Un [Array] compacté d'octets."
+msgstr "Un [Array] compacté de [String]."
 
 #: doc/classes/PoolStringArray.xml
 msgid ""
@@ -46662,16 +46903,15 @@ msgstr "Retourne le [WebSocketPeer] associé au [code]peer_id[/code] donné."
 
 #: doc/classes/PoolStringArray.xml
 msgid "Appends a string element at end of the array."
-msgstr ""
+msgstr "Ajoute une chaine de caractère à la fin du tableau."
 
 #: doc/classes/PoolStringArray.xml
 msgid "Changes the [String] at the given index."
 msgstr ""
 
 #: doc/classes/PoolVector2Array.xml
-#, fuzzy
 msgid "A pooled [Array] of [Vector2]."
-msgstr "Un [Array] compacté d'octets."
+msgstr "Un [Array] compacté de [Vector2]."
 
 #: doc/classes/PoolVector2Array.xml
 msgid ""
@@ -46705,9 +46945,8 @@ msgid "Changes the [Vector2] at the given index."
 msgstr "Modifie le [Vector2] à l’index donné."
 
 #: doc/classes/PoolVector3Array.xml
-#, fuzzy
 msgid "A pooled [Array] of [Vector3]."
-msgstr "Un [Array] compacté d'octets."
+msgstr "Un [Array] compacté de [Vector3]."
 
 #: doc/classes/PoolVector3Array.xml
 msgid ""
@@ -46819,9 +47058,8 @@ msgstr ""
 "La notification est envoyée dès que la fenêtre contextuelle est masquée."
 
 #: doc/classes/PopupDialog.xml
-#, fuzzy
 msgid "Base class for popup dialogs."
-msgstr "Classe de base pour les séparateurs."
+msgstr "Classe parente des fenêtres de dialogue."
 
 #: doc/classes/PopupDialog.xml
 msgid ""
@@ -49651,6 +49889,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -49661,8 +49910,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -50181,14 +50432,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -50317,8 +50573,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -50814,24 +51070,32 @@ msgid ""
 "W component of the quaternion (real part).\n"
 "Quaternion components should usually not be manipulated directly."
 msgstr ""
+"Le composant W du quaternion (partie réelle).\n"
+"Les composants des quaternions ne devraient pas être modifié directement."
 
 #: doc/classes/Quat.xml
 msgid ""
 "X component of the quaternion (imaginary [code]i[/code] axis part).\n"
 "Quaternion components should usually not be manipulated directly."
 msgstr ""
+"Le composant X du quaternion (partie de l'axe imaginaire [code]i[/code]).\n"
+"Les composants des quaternions ne devraient pas être modifié directement."
 
 #: doc/classes/Quat.xml
 msgid ""
 "Y component of the quaternion (imaginary [code]j[/code] axis part).\n"
 "Quaternion components should usually not be manipulated directly."
 msgstr ""
+"Le composant Y du quaternion (partie de l'axe imaginaire [code]j[/code]).\n"
+"Les composants des quaternions ne devraient pas être modifié directement."
 
 #: doc/classes/Quat.xml
 msgid ""
 "Z component of the quaternion (imaginary [code]k[/code] axis part).\n"
 "Quaternion components should usually not be manipulated directly."
 msgstr ""
+"Le composant Z du quaternion (partie de l'axe imaginaire [code]k[/code]).\n"
+"Les composants des quaternions ne devraient pas être modifié directement."
 
 #: doc/classes/Quat.xml
 msgid ""
@@ -51997,7 +52261,7 @@ msgstr ""
 
 #: doc/classes/ResourceFormatLoader.xml
 msgid "Loads a specific resource type from a file."
-msgstr ""
+msgstr "Charge un type de ressource spécifique depuis un fichier."
 
 #: doc/classes/ResourceFormatLoader.xml
 msgid ""
@@ -52068,7 +52332,7 @@ msgstr ""
 
 #: doc/classes/ResourceFormatSaver.xml
 msgid "Saves a specific resource type to a file."
-msgstr ""
+msgstr "Enregistre un type de ressource spécifique dans un fichier."
 
 #: doc/classes/ResourceFormatSaver.xml
 msgid ""
@@ -52094,6 +52358,8 @@ msgstr ""
 #: doc/classes/ResourceFormatSaver.xml
 msgid "Returns whether the given resource object can be saved by this saver."
 msgstr ""
+"Retourne quand une ressource donnée peut être enregistrée par ce "
+"enregistreur."
 
 #: doc/classes/ResourceFormatSaver.xml
 msgid ""
@@ -52442,7 +52708,7 @@ msgstr ""
 
 #: doc/classes/RichTextLabel.xml
 msgid "BBCode in RichTextLabel"
-msgstr ""
+msgstr "BBCode dans RichTextLabel"
 
 #: doc/classes/RichTextLabel.xml
 msgid "GUI Rich Text/BBcode Demo"
@@ -52475,6 +52741,8 @@ msgstr ""
 #: doc/classes/RichTextLabel.xml
 msgid "Clears the tag stack and sets [member bbcode_text] to an empty string."
 msgstr ""
+"Efface la pile des marqueurs et définit [member bbcode_text] avec un texte "
+"vide."
 
 #: doc/classes/RichTextLabel.xml
 msgid "Returns the height of the content."
@@ -52586,22 +52854,27 @@ msgstr ""
 #: doc/classes/RichTextLabel.xml
 msgid "Adds a [code][font][/code] tag with a monospace font to the tag stack."
 msgstr ""
+"Ajouter un marqueur [code][font][/code] avec une police monospace dans la "
+"pile des marqueurs."
 
 #: doc/classes/RichTextLabel.xml
 msgid "Adds a [code][font][/code] tag with a normal font to the tag stack."
 msgstr ""
+"Ajouter un marqueur [code][font][/code] avec une police normale dans la pile "
+"des marqueurs."
 
 #: doc/classes/RichTextLabel.xml
 msgid "Adds a [code][s][/code] tag to the tag stack."
-msgstr ""
+msgstr "Ajouter un marqueur [code][s][/code] dans la pile des marqueurs."
 
 #: doc/classes/RichTextLabel.xml
 msgid "Adds a [code][table=columns][/code] tag to the tag stack."
 msgstr ""
+"Ajouter un marqueur [code][table=columns][/code] dans la pile des marqueurs."
 
 #: doc/classes/RichTextLabel.xml
 msgid "Adds a [code][u][/code] tag to the tag stack."
-msgstr ""
+msgstr "Ajouter un marqueur [code][u][/code] dans la pile des marqueurs."
 
 #: doc/classes/RichTextLabel.xml
 msgid ""
@@ -54298,6 +54571,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -54491,9 +54771,8 @@ msgid ""
 msgstr ""
 
 #: doc/classes/SceneTreeTimer.xml
-#, fuzzy
 msgid "The time remaining (in seconds)."
-msgstr "Le temps restant."
+msgstr "Le temps restant (en secondes)."
 
 #: doc/classes/SceneTreeTimer.xml doc/classes/Timer.xml
 #, fuzzy
@@ -55410,9 +55689,8 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Slider.xml
-#, fuzzy
 msgid "Emitted when dragging is started."
-msgstr "Émis lorsque le défilement est commencé."
+msgstr "Émis lorsque le glissement de la souris a commencé."
 
 #: doc/classes/SliderJoint.xml
 msgid "Slider between two PhysicsBodies in 3D."
@@ -55574,6 +55852,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -57451,7 +57741,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -57465,7 +57755,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -58184,10 +58474,13 @@ msgstr ""
 "chaîne de caractères donnée."
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
-"Retourne les bigrammes (paires de lettres consécutives) de cette chaîne de "
-"caractères."
 
 #: doc/classes/String.xml
 #, fuzzy
@@ -58489,7 +58782,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -58512,11 +58814,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -58565,14 +58880,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -58742,8 +59059,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -60296,6 +60621,16 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr "Retourne le nombre de pistes dans l'animation."
 
 #: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the total amount of lines that could be drawn."
+msgstr "Retourne la position du contact sur le collisionneur."
+
+#: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr "Renvoie le nombre de lignes visibles."
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -60557,13 +60892,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/TextEdit.xml
-#, fuzzy
 msgid ""
 "If [code]true[/code], shortcut keys for context menu items are enabled, even "
 "if the context menu is disabled."
 msgstr ""
-"Si [code]true[/code] (vrai), les nœuds enfants sont triés, sinon le tri est "
-"désactivé."
 
 #: doc/classes/TextEdit.xml
 msgid ""
@@ -61212,26 +61544,28 @@ msgstr ""
 msgid ""
 "Multiplies the color of the bar's [code]texture_progress[/code] texture."
 msgstr ""
+"Multiplie la couleur de la texture [code]texture_progress[/code] de la barre."
 
 #: doc/classes/TextureProgress.xml
 msgid "Multiplies the color of the bar's [code]texture_under[/code] texture."
 msgstr ""
+"Multiplie la couleur de la texture [code]texture_under[/code] de la barre."
 
 #: doc/classes/TextureProgress.xml
 msgid "The [member texture_progress] fills from left to right."
-msgstr ""
+msgstr "La [member texture_progress] remplis de gauche à droite."
 
 #: doc/classes/TextureProgress.xml
 msgid "The [member texture_progress] fills from right to left."
-msgstr ""
+msgstr "La [member texture_progress] remplis de droite à gauche."
 
 #: doc/classes/TextureProgress.xml
 msgid "The [member texture_progress] fills from top to bottom."
-msgstr ""
+msgstr "La [member texture_progress] remplis de haut en bas."
 
 #: doc/classes/TextureProgress.xml
 msgid "The [member texture_progress] fills from bottom to top."
-msgstr ""
+msgstr "La [member texture_progress] remplis de bas en haut."
 
 #: doc/classes/TextureProgress.xml
 msgid ""
@@ -61380,6 +61714,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -61528,6 +61868,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr ""
+"Retourne l'index de l'élément avec l'identifiant [code]id[/code] spécifié."
+
+#: doc/classes/Theme.xml
 #, fuzzy
 msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
@@ -61585,6 +61938,15 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+"Retourne [code]true[/code] si la piste donnée est importée. Sinon retourne "
+"[code]false[/code]."
+
+#: doc/classes/Theme.xml
 msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
@@ -61681,6 +62043,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -61731,7 +62107,7 @@ msgstr ""
 
 #: doc/classes/Thread.xml
 msgid "Using multiple threads"
-msgstr ""
+msgstr "Utilisation de plusieurs threads"
 
 #: doc/classes/Thread.xml
 msgid "Thread-safe APIs"
@@ -62458,7 +62834,7 @@ msgstr ""
 
 #: doc/classes/TileSet.xml
 msgid "Sets a shape for the tile, enabling collision."
-msgstr ""
+msgstr "Définit une forme pour la tuile, activant la collision."
 
 #: doc/classes/TileSet.xml
 msgid "Sets the offset of a tile's shape."
@@ -62907,9 +63283,8 @@ msgid "The horizontal space between [ToolButton]'s icon and text."
 msgstr "L'espacement entre l'icône de l'élément et le texte."
 
 #: doc/classes/ToolButton.xml
-#, fuzzy
 msgid "[Font] of the [ToolButton]'s text."
-msgstr "[Font] du texte du [Button]."
+msgstr "La [Font] du texte du [ToolButton]."
 
 #: doc/classes/ToolButton.xml
 #, fuzzy
@@ -62930,9 +63305,8 @@ msgid "[StyleBox] used when the [ToolButton] is being hovered."
 msgstr ""
 
 #: doc/classes/ToolButton.xml
-#, fuzzy
 msgid "Default [StyleBox] for the [ToolButton]."
-msgstr "[StyleBox] par défaut pour le [Button]."
+msgstr "Le [StyleBox] par défaut pour le [ToolButton]."
 
 #: doc/classes/ToolButton.xml
 #, fuzzy
@@ -62962,7 +63336,7 @@ msgstr ""
 
 #: doc/classes/TouchScreenButton.xml
 msgid "Returns [code]true[/code] if this button is currently pressed."
-msgstr ""
+msgstr "Retourne [code]true[/code] si le bouton est actuelle pressé."
 
 #: doc/classes/TouchScreenButton.xml
 msgid "The button's action. Actions can be handled with [InputEventAction]."
@@ -63162,8 +63536,8 @@ msgid ""
 "The translation offset of the transform (column 3, the fourth column). "
 "Equivalent to array index [code]3[/code]."
 msgstr ""
-"Le décalage de translation du transform (colonne 3, quatrième colonne). "
-"Équivalent à l'index du tableau [code]3[/code]."
+"Le décalage de translation de la transformation (colonne 3, quatrième "
+"colonne). Équivalent à l'index du tableau [code]3[/code]."
 
 #: doc/classes/Transform.xml
 msgid ""
@@ -63173,17 +63547,15 @@ msgstr ""
 
 #: doc/classes/Transform.xml
 msgid "[Transform] with mirroring applied perpendicular to the YZ plane."
-msgstr ""
-"[Transform] avec mise en miroir appliquée perpendiculairement au plan YZ."
+msgstr "[Transform] avec effet miroir appliqué perpendiculairement au plan YZ."
 
 #: doc/classes/Transform.xml
 msgid "[Transform] with mirroring applied perpendicular to the XZ plane."
-msgstr "[Transform] avec un miroir appliqué perpendiculairement au plan XZ."
+msgstr "[Transform] avec effet miroir appliqué perpendiculairement au plan XZ."
 
 #: doc/classes/Transform.xml
 msgid "[Transform] with mirroring applied perpendicular to the XY plane."
-msgstr ""
-"[Transform] avec mise en miroir appliquée perpendiculairement au plan XY."
+msgstr "[Transform] avec effet miroir appliqué perpendiculairement au plan XY."
 
 #: doc/classes/Transform2D.xml
 msgid "2D transformation (2×3 matrix)."
@@ -63864,7 +64236,7 @@ msgstr ""
 
 #: doc/classes/Tree.xml
 msgid "[StyleBox] used when the [Tree] is being focused."
-msgstr ""
+msgstr "Le [StyleBox] utilisé quand le [Tree] a actuellement le focus."
 
 #: doc/classes/Tree.xml
 msgid "[StyleBox] used when a button in the tree is pressed."
@@ -63933,7 +64305,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -63980,10 +64352,9 @@ msgstr ""
 "est préssé. Voir [enum JoyButtonList]."
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
-msgstr ""
+#, fuzzy
+msgid "Returns the number of buttons in column [code]column[/code]."
+msgstr "Sélectionne la colonne [code]column[/code]."
 
 #: doc/classes/TreeItem.xml
 #, fuzzy
@@ -65373,11 +65744,8 @@ msgid "The vertical space between the [VBoxContainer]'s elements."
 msgstr ""
 
 #: doc/classes/Vector2.xml
-#, fuzzy
 msgid "Vector used for 2D math."
-msgstr ""
-"Vecteur utilisé pour les mathématiques 2D utilisant des coordonnées "
-"d'entiers."
+msgstr "Vecteur utilisé en 2D."
 
 #: doc/classes/Vector2.xml
 msgid ""
@@ -65672,6 +66040,8 @@ msgid ""
 "Infinity vector, a vector with all components set to [constant @GDScript."
 "INF]."
 msgstr ""
+"Le vecteur infini, un vecteur avec tous ses composants définit à [constant "
+"@GDScript.INF]."
 
 #: doc/classes/Vector2.xml
 msgid "Left unit vector. Represents the direction of left."
@@ -65690,10 +66060,8 @@ msgid "Down unit vector. Y is down in 2D, so this vector points +Y."
 msgstr ""
 
 #: doc/classes/Vector3.xml
-#, fuzzy
 msgid "Vector used for 3D math."
-msgstr ""
-"Vecteur utilisé pour les mathématiques 3D à l’aide de coordonnées d'entiers."
+msgstr "Vecteur utilisé en 3D."
 
 #: doc/classes/Vector3.xml
 msgid ""
@@ -65785,6 +66153,8 @@ msgid ""
 "Rotates this vector around a given axis by [code]phi[/code] radians. The "
 "axis must be a normalized vector."
 msgstr ""
+"Pivote ce vecteur autour de l'axe donné par [code]phi[/code] radians. L'axe "
+"donné doit être normalisé."
 
 #: doc/classes/Vector3.xml
 msgid ""
@@ -68197,9 +68567,8 @@ msgid "A Visual Script node returning a constant from [@GlobalScope]."
 msgstr "Un nœud Visual Script utilisé pour annoter le script."
 
 #: modules/visual_script/doc_classes/VisualScriptGlobalConstant.xml
-#, fuzzy
 msgid "The constant to be used."
-msgstr "Le type de la constante."
+msgstr "La constante à utiliser."
 
 #: modules/visual_script/doc_classes/VisualScriptIndexGet.xml
 #, fuzzy
@@ -68249,9 +68618,8 @@ msgid "State of the action to check. See [enum Mode] for options."
 msgstr "La fonction à calculer. Voir [enum Function] pour les options."
 
 #: modules/visual_script/doc_classes/VisualScriptInputAction.xml
-#, fuzzy
 msgid "[code]True[/code] if action is pressed."
-msgstr "Si [code]true[/code], le filtrage est activé."
+msgstr "Si [code]true[/code], l'action est pressée."
 
 #: modules/visual_script/doc_classes/VisualScriptInputAction.xml
 #, fuzzy
@@ -69208,7 +69576,7 @@ msgstr ""
 #: doc/classes/VisualServer.xml
 #, fuzzy
 msgid "Sets clipping for the [CanvasItem]."
-msgstr "Définit l’index du [CanvasItem]."
+msgstr "Définit la coupure du [CanvasItem]."
 
 #: doc/classes/VisualServer.xml
 msgid "Sets the [CanvasItem] to copy a rect to the backbuffer."
@@ -70347,9 +70715,8 @@ msgid ""
 msgstr ""
 
 #: doc/classes/VisualServer.xml
-#, fuzzy
 msgid "Sets a material's line width."
-msgstr "Définit la priorité de rendu d’un matériau."
+msgstr "Définit l'épaisseur des lignes du matériau."
 
 #: doc/classes/VisualServer.xml
 msgid "Sets an object's next material."
@@ -70434,9 +70801,8 @@ msgid "Sets a mesh's custom aabb."
 msgstr "Définit l’aabb personnalisé d’un maillage."
 
 #: doc/classes/VisualServer.xml
-#, fuzzy
 msgid "Returns a mesh's surface's aabb."
-msgstr "Retourne l’aabb personnalisé d’un maillage."
+msgstr "Retourne l’aabb de la surface d'un maillage."
 
 #: doc/classes/VisualServer.xml
 #, fuzzy
@@ -71962,7 +72328,7 @@ msgstr ""
 
 #: doc/classes/VisualServer.xml
 msgid "Debug draw is disabled. Default setting."
-msgstr "L'affichage de débogage est désactivé. La valeur par défaut."
+msgstr "L'affichage de débogage est désactivé. C'est la valeur par défaut."
 
 #: doc/classes/VisualServer.xml
 #, fuzzy
@@ -72045,8 +72411,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/VisualServer.xml
+#, fuzzy
 msgid "Allows the instance to be used in baked lighting."
 msgstr ""
+"Autorise une instance à pouvoir être utilisé pour le baking des lumières."
 
 #: doc/classes/VisualServer.xml
 msgid "When set, manually requests to draw geometry on next frame."
@@ -72070,11 +72438,15 @@ msgid ""
 "Disable backface culling when rendering the shadow of the object. This is "
 "slightly slower but may result in more correct shadows."
 msgstr ""
+"Désactiver le culling des faces arrières lors du rendu de l'ombre de "
+"l'objet. Ceci est légèrement plus lent mais peut permettre d'obtenir de "
+"meilleures ombres."
 
 #: doc/classes/VisualServer.xml
 msgid ""
 "Only render the shadows from the object. The object itself will not be drawn."
 msgstr ""
+"N'afficher que l'ombre de l'objet. L'objet en lui-même ne sera pas affiché."
 
 #: doc/classes/VisualServer.xml
 msgid "The nine patch gets stretched where needed."
@@ -72092,43 +72464,43 @@ msgstr ""
 
 #: doc/classes/VisualServer.xml
 msgid "Adds light color additive to the canvas."
-msgstr ""
+msgstr "Ajoute une couleur additive de lumière au canevas."
 
 #: doc/classes/VisualServer.xml
 msgid "Adds light color subtractive to the canvas."
-msgstr ""
+msgstr "Ajoute une couleur soustractive de lumière au canevas."
 
 #: doc/classes/VisualServer.xml
 msgid "The light adds color depending on transparency."
-msgstr ""
+msgstr "La lumière ajoute une couleur suivant la transparence."
 
 #: doc/classes/VisualServer.xml
 msgid "The light adds color depending on mask."
-msgstr ""
+msgstr "La lumière ajoute une couleur suivant un masque."
 
 #: doc/classes/VisualServer.xml
 msgid "Do not apply a filter to canvas light shadows."
-msgstr ""
+msgstr "Ne pas appliquer de lissage pour les ombres du canevas."
 
 #: doc/classes/VisualServer.xml
 msgid "Use PCF3 filtering to filter canvas light shadows."
-msgstr ""
+msgstr "Utiliser le filtre PCF3 pour lisser les ombres des canevas."
 
 #: doc/classes/VisualServer.xml
 msgid "Use PCF5 filtering to filter canvas light shadows."
-msgstr ""
+msgstr "Utiliser le filtre PCF5 pour lisser les ombres des canevas."
 
 #: doc/classes/VisualServer.xml
 msgid "Use PCF7 filtering to filter canvas light shadows."
-msgstr ""
+msgstr "Utiliser le filtre PCF7 pour lisser les ombres des canevas."
 
 #: doc/classes/VisualServer.xml
 msgid "Use PCF9 filtering to filter canvas light shadows."
-msgstr ""
+msgstr "Utiliser le filtre PCF9 pour lisser les ombres des canevas."
 
 #: doc/classes/VisualServer.xml
 msgid "Use PCF13 filtering to filter canvas light shadows."
-msgstr ""
+msgstr "Utiliser le filtre PCF13 pour lisser les ombres des canevas."
 
 #: doc/classes/VisualServer.xml
 msgid "Culling of the canvas occluder is disabled."
@@ -72144,76 +72516,77 @@ msgstr ""
 
 #: doc/classes/VisualServer.xml
 msgid "The amount of objects in the frame."
-msgstr ""
+msgstr "Le quantité d'objet dans le trame."
 
 #: doc/classes/VisualServer.xml
 msgid "The amount of vertices in the frame."
-msgstr ""
+msgstr "Le quantité de sommets dans le trame."
 
 #: doc/classes/VisualServer.xml
 msgid "The amount of modified materials in the frame."
-msgstr ""
+msgstr "Le quantité de matériaux modifiés dans le trame."
 
 #: doc/classes/VisualServer.xml
+#, fuzzy
 msgid "The amount of shader rebinds in the frame."
-msgstr ""
+msgstr "Le quantité de shaders reconnectés dans le trame."
 
 #: doc/classes/VisualServer.xml
 msgid "The amount of surface changes in the frame."
-msgstr ""
+msgstr "Le quantité de changements de surface dans le trame."
 
 #: doc/classes/VisualServer.xml
 msgid "The amount of draw calls in frame."
-msgstr ""
+msgstr "Le quantité d'appels de dessin dans le trame."
 
 #: doc/classes/VisualServer.xml
-#, fuzzy
 msgid "The amount of 2d items in the frame."
-msgstr "La quantité de voix dans l’effet."
+msgstr "La quantité d'éléments 2D dans la trame."
 
 #: doc/classes/VisualServer.xml
-#, fuzzy
 msgid "The amount of 2d draw calls in frame."
-msgstr "Quantité de sommets dans l'image."
+msgstr "La quantité d'appels de dessin 2D dans la trame."
 
 #: doc/classes/VisualServer.xml
 msgid "Hardware supports shaders. This enum is currently unused in Godot 3.x."
 msgstr ""
-"Le matériel supporte les shaders. Cette énumération est actuellement "
+"L'appareil supporte les shaders. Cette énumération est actuellement "
 "inutilisée dans Godot 3.x."
 
 #: doc/classes/VisualServer.xml
 msgid ""
 "Hardware supports multithreading. This enum is currently unused in Godot 3.x."
 msgstr ""
-"Le matériel supporte plusieurs fils d'exécution. Cette énumération est "
+"L'appareil supporte plusieurs fils d'exécution. Cette énumération est "
 "actuellement inutilisée dans Godot 3.x."
 
 #: doc/classes/VisualServer.xml
 msgid "Use [Transform2D] to store MultiMesh transform."
-msgstr ""
+msgstr "Utiliser [Transform2D] pour stocker la transformation des MultiMesh."
 
 #: doc/classes/VisualServer.xml
 msgid "Use [Transform] to store MultiMesh transform."
-msgstr ""
+msgstr "Utiliser [Transform] pour stocker la transformation des MultiMesh."
 
 #: doc/classes/VisualServer.xml
 msgid "MultiMesh does not use per-instance color."
-msgstr ""
+msgstr "Le MultiMesh n'utilise pas de couleur par instance."
 
 #: doc/classes/VisualServer.xml
 msgid ""
 "MultiMesh color uses 8 bits per component. This packs the color into a "
 "single float."
 msgstr ""
+"Le MultiMesh utilise un octet par composant de couleur. Une couleur entière "
+"est donc stockée dans un nombre flottant (4 octets)."
 
 #: doc/classes/VisualServer.xml
 msgid "MultiMesh color uses a float per channel."
-msgstr ""
+msgstr "Le MultiMesh utilise un nombre flottant par composant de couleur."
 
 #: doc/classes/VisualServer.xml
 msgid "MultiMesh does not use custom data."
-msgstr ""
+msgstr "Le MultiMesh n'utilise pas de données personnalisées."
 
 #: doc/classes/VisualServer.xml
 msgid ""
@@ -72224,6 +72597,8 @@ msgstr ""
 #: doc/classes/VisualServer.xml
 msgid "MultiMesh custom data uses a float per component."
 msgstr ""
+"Les données personnalisés de MultiMesh qui utilisent un nombre flottant par "
+"composant."
 
 #: doc/classes/VisualServer.xml
 msgid "Reflection probe will update reflections once and then stop."
@@ -72237,19 +72612,19 @@ msgstr ""
 
 #: doc/classes/VisualServer.xml
 msgid "Draw particles in the order that they appear in the particles array."
-msgstr ""
+msgstr "Affiche les particules dans leur ordre dans la liste des particules."
 
 #: doc/classes/VisualServer.xml
 msgid "Sort particles based on their lifetime."
-msgstr ""
+msgstr "Trier les particules par durée de vie."
 
 #: doc/classes/VisualServer.xml
 msgid "Sort particles based on their distance to the camera."
-msgstr ""
+msgstr "Trier les particules suivant leur distance à la caméra."
 
 #: doc/classes/VisualServer.xml
 msgid "Use the clear color as background."
-msgstr ""
+msgstr "Utiliser la couleur d'effacement pour l'arrière-plan."
 
 #: doc/classes/VisualServer.xml
 msgid "Use a specified color as the background."
@@ -72303,7 +72678,7 @@ msgstr ""
 
 #: doc/classes/VisualServer.xml
 msgid "Produces a subtle color disturbance around objects."
-msgstr ""
+msgstr "Produit une légère interférence des couleurs autour des objets."
 
 #: doc/classes/VisualServer.xml
 msgid "Shows the glow effect by itself without the underlying scene."
@@ -72311,7 +72686,7 @@ msgstr "Affiche uniquement l'effet de lueur sans scène sous-jacente."
 
 #: doc/classes/VisualServer.xml
 msgid "Output color as they came in."
-msgstr ""
+msgstr "Affiche les couleurs telles quelles."
 
 #: doc/classes/VisualServer.xml
 msgid "Use the Reinhard tonemapper."
@@ -75351,9 +75726,8 @@ msgid ""
 msgstr ""
 
 #: modules/webxr/doc_classes/WebXRInterface.xml
-#, fuzzy
 msgid "Emitted when [member visibility_state] has changed."
-msgstr "Émis lorsque [member frame] modifié."
+msgstr "Émis lorsque [member visibility_state] modifié."
 
 #: modules/webxr/doc_classes/WebXRInterface.xml
 msgid "We don't know the the target ray mode."
@@ -75374,9 +75748,8 @@ msgid "Target ray from touch screen, mouse or other tactile input device."
 msgstr ""
 
 #: doc/classes/WindowDialog.xml
-#, fuzzy
 msgid "Base class for window dialogs."
-msgstr "Classe de base pour les flux audio."
+msgstr "Classe parente des fenêtres de dialogue."
 
 #: doc/classes/WindowDialog.xml
 msgid ""
@@ -75394,19 +75767,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/WindowDialog.xml
-#, fuzzy
 msgid "If [code]true[/code], the user can resize the window."
-msgstr "Si [code]true[/code], le bouton \"add preset\" est activé."
+msgstr "Si [code]true[/code], l'utilisateur peut redimensionner la fenêtre."
 
 #: doc/classes/WindowDialog.xml
-#, fuzzy
 msgid "The text displayed in the window's title bar."
-msgstr "Le texte affiché par le dialogue."
+msgstr "Le texte affiché dans la barre de titre de la fenêtre."
 
 #: doc/classes/WindowDialog.xml
-#, fuzzy
 msgid "The color of the title text."
-msgstr "Couleur du texte du titre."
+msgstr "La couleur du titre."
 
 #: doc/classes/WindowDialog.xml
 #, fuzzy
@@ -75430,9 +75800,8 @@ msgid "The font used to draw the title."
 msgstr "La police utilisée pour le texte en gras."
 
 #: doc/classes/WindowDialog.xml
-#, fuzzy
 msgid "The icon for the close button."
-msgstr "Icône personnalisée pour le bouton de rechargement."
+msgstr "L'icône personnalisée pour le bouton de fermeture."
 
 #: doc/classes/WindowDialog.xml
 msgid ""
diff --git a/doc/translations/gl.po b/doc/translations/gl.po
index 7138a7217c..a62aba930d 100644
--- a/doc/translations/gl.po
+++ b/doc/translations/gl.po
@@ -3330,6 +3330,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4840,7 +4849,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+msgid "Returns whether the given path is filtered."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -4865,7 +4874,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -4874,7 +4883,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9485,26 +9494,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9662,6 +9655,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12737,6 +12740,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15573,8 +15588,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16325,6 +16341,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -22996,7 +23031,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25098,8 +25148,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25369,7 +25420,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -31904,7 +31960,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32284,8 +32345,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34125,6 +34190,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34138,6 +34212,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34180,6 +34266,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34231,6 +34327,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36528,6 +36636,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36698,6 +36825,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -36798,6 +36940,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37048,6 +37198,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38035,8 +38191,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -38826,7 +38982,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46668,6 +46836,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46678,8 +46857,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47192,14 +47373,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47328,8 +47514,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51266,6 +51452,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52519,6 +52712,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54354,7 +54559,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54368,7 +54573,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55041,7 +55246,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55304,7 +55514,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55327,11 +55546,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55380,14 +55612,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55557,8 +55791,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57047,6 +57289,14 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr ""
 
 #: doc/classes/TextEdit.xml
+msgid "Returns the total amount of lines that could be drawn."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58084,6 +58334,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58224,6 +58480,17 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58272,6 +58539,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58367,6 +58640,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60540,7 +60827,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60581,9 +60868,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
+msgid "Returns the number of buttons in column [code]column[/code]."
 msgstr ""
 
 #: doc/classes/TreeItem.xml
diff --git a/doc/translations/hi.po b/doc/translations/hi.po
index 4cc0d9ce5c..fee4b208a2 100644
--- a/doc/translations/hi.po
+++ b/doc/translations/hi.po
@@ -3329,6 +3329,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4839,7 +4848,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+msgid "Returns whether the given path is filtered."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -4864,7 +4873,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -4873,7 +4882,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9484,26 +9493,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9661,6 +9654,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12736,6 +12739,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15572,8 +15587,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16324,6 +16340,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -22995,7 +23030,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25097,8 +25147,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25368,7 +25419,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -31903,7 +31959,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32283,8 +32344,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34124,6 +34189,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34137,6 +34211,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34179,6 +34265,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34230,6 +34326,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36527,6 +36635,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36697,6 +36824,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -36797,6 +36939,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37047,6 +37197,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38034,8 +38190,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -38825,7 +38981,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46667,6 +46835,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46677,8 +46856,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47191,14 +47372,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47327,8 +47513,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51265,6 +51451,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52518,6 +52711,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54353,7 +54558,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54367,7 +54572,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55040,7 +55245,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55303,7 +55513,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55326,11 +55545,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55379,14 +55611,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55556,8 +55790,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57046,6 +57288,14 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr ""
 
 #: doc/classes/TextEdit.xml
+msgid "Returns the total amount of lines that could be drawn."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58083,6 +58333,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58223,6 +58479,17 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58271,6 +58538,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58366,6 +58639,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60539,7 +60826,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60580,9 +60867,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
+msgid "Returns the number of buttons in column [code]column[/code]."
 msgstr ""
 
 #: doc/classes/TreeItem.xml
diff --git a/doc/translations/hu.po b/doc/translations/hu.po
index a60adef668..b0e78ab725 100644
--- a/doc/translations/hu.po
+++ b/doc/translations/hu.po
@@ -3347,6 +3347,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4857,7 +4866,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+msgid "Returns whether the given path is filtered."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -4882,7 +4891,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -4891,7 +4900,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9502,26 +9511,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9679,6 +9672,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12754,6 +12757,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15590,8 +15605,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16342,6 +16358,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -23013,7 +23048,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25115,8 +25165,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25386,7 +25437,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -31921,7 +31977,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32301,8 +32362,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34142,6 +34207,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34155,6 +34229,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34197,6 +34283,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34248,6 +34344,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36545,6 +36653,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36715,6 +36842,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -36815,6 +36957,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37065,6 +37215,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38052,8 +38208,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -38843,7 +38999,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46685,6 +46853,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46695,8 +46874,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47209,14 +47390,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47345,8 +47531,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51283,6 +51469,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52536,6 +52729,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54371,7 +54576,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54385,7 +54590,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55058,7 +55263,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55321,7 +55531,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55344,11 +55563,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55397,14 +55629,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55574,8 +55808,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57064,6 +57306,14 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr ""
 
 #: doc/classes/TextEdit.xml
+msgid "Returns the total amount of lines that could be drawn."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58101,6 +58351,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58241,6 +58497,17 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58289,6 +58556,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58384,6 +58657,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60557,7 +60844,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60598,9 +60885,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
+msgid "Returns the number of buttons in column [code]column[/code]."
 msgstr ""
 
 #: doc/classes/TreeItem.xml
diff --git a/doc/translations/id.po b/doc/translations/id.po
index eb9fe2f029..dcc5c28d89 100644
--- a/doc/translations/id.po
+++ b/doc/translations/id.po
@@ -11,12 +11,13 @@
 # Hilman Hazazi <hafizd.muhammad.kren.403@gmail.com>, 2021.
 # Stephen Gunawan Susilo <gunawanstephen@yahoo.com>, 2021.
 # Azizkhasyi 11 <azizkhasyi11@gmail.com>, 2021.
+# zephyroths <ridho.hikaru@gmail.com>, 2022.
 msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine class reference\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
-"PO-Revision-Date: 2021-11-30 04:38+0000\n"
-"Last-Translator: Azizkhasyi 11 <azizkhasyi11@gmail.com>\n"
+"PO-Revision-Date: 2022-02-22 15:52+0000\n"
+"Last-Translator: zephyroths <ridho.hikaru@gmail.com>\n"
 "Language-Team: Indonesian <https://hosted.weblate.org/projects/godot-engine/"
 "godot-class-reference/id/>\n"
 "Language: id\n"
@@ -24,7 +25,7 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8-bit\n"
 "Plural-Forms: nplurals=1; plural=0;\n"
-"X-Generator: Weblate 4.10-dev\n"
+"X-Generator: Weblate 4.11-dev\n"
 
 #: doc/tools/make_rst.py
 msgid "Description"
@@ -85,7 +86,7 @@ msgstr ""
 
 #: doc/tools/make_rst.py
 msgid "Default"
-msgstr ""
+msgstr "Bawaan"
 
 #: doc/tools/make_rst.py
 msgid "Setter"
@@ -3534,6 +3535,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -5044,8 +5054,9 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
-msgstr ""
+#, fuzzy
+msgid "Returns whether the given path is filtered."
+msgstr "Mengembalikan nilai hiperbolik tangen dari parameter."
 
 #: doc/classes/AnimationNode.xml
 msgid ""
@@ -5069,7 +5080,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -5078,7 +5089,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9689,26 +9700,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9866,6 +9861,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12942,6 +12947,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15778,8 +15795,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16530,6 +16548,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -23205,7 +23242,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25309,8 +25361,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25580,7 +25633,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -32116,7 +32174,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32496,8 +32559,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34337,6 +34404,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34350,6 +34426,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34392,6 +34480,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34443,6 +34541,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36754,6 +36864,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36924,6 +37053,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -37024,6 +37168,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37274,6 +37426,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38261,8 +38419,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -39052,7 +39210,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46911,6 +47081,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46921,8 +47102,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47435,14 +47618,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47571,8 +47759,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51509,6 +51697,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52762,6 +52957,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54597,7 +54804,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54611,7 +54818,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55286,7 +55493,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55549,7 +55761,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55572,11 +55793,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55625,14 +55859,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55802,8 +56038,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57294,6 +57538,16 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr ""
 
 #: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the total amount of lines that could be drawn."
+msgstr "Mengembalikan nilai hiperbolik tangen dari parameter."
+
+#: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr "Mengembalikan nilai hiperbolik tangen dari parameter."
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58331,6 +58585,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58471,6 +58731,17 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58519,6 +58790,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58614,6 +58891,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60788,7 +61079,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60829,9 +61120,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
+msgid "Returns the number of buttons in column [code]column[/code]."
 msgstr ""
 
 #: doc/classes/TreeItem.xml
diff --git a/doc/translations/is.po b/doc/translations/is.po
index 2aae5d4390..80c026c0f8 100644
--- a/doc/translations/is.po
+++ b/doc/translations/is.po
@@ -3329,6 +3329,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4839,7 +4848,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+msgid "Returns whether the given path is filtered."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -4864,7 +4873,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -4873,7 +4882,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9484,26 +9493,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9661,6 +9654,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12736,6 +12739,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15572,8 +15587,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16324,6 +16340,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -22995,7 +23030,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25097,8 +25147,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25368,7 +25419,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -31903,7 +31959,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32283,8 +32344,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34124,6 +34189,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34137,6 +34211,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34179,6 +34265,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34230,6 +34326,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36527,6 +36635,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36697,6 +36824,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -36797,6 +36939,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37047,6 +37197,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38034,8 +38190,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -38825,7 +38981,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46667,6 +46835,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46677,8 +46856,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47191,14 +47372,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47327,8 +47513,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51265,6 +51451,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52518,6 +52711,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54353,7 +54558,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54367,7 +54572,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55040,7 +55245,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55303,7 +55513,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55326,11 +55545,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55379,14 +55611,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55556,8 +55790,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57046,6 +57288,14 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr ""
 
 #: doc/classes/TextEdit.xml
+msgid "Returns the total amount of lines that could be drawn."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58083,6 +58333,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58223,6 +58479,17 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58271,6 +58538,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58366,6 +58639,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60539,7 +60826,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60580,9 +60867,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
+msgid "Returns the number of buttons in column [code]column[/code]."
 msgstr ""
 
 #: doc/classes/TreeItem.xml
diff --git a/doc/translations/it.po b/doc/translations/it.po
index 0e6f99b17f..dcafac6cc5 100644
--- a/doc/translations/it.po
+++ b/doc/translations/it.po
@@ -23,11 +23,12 @@
 # ZeroKun265 <davidegiambirtone265@gmail.com>, 2021.
 # Andrea Montagna <fullmontis@gmail.com>, 2021.
 # Andrea Leganza <neogene@gmail.com>, 2021.
+# Federico Caprini <caprinifede@gmail.com>, 2022.
 msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine class reference\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
-"PO-Revision-Date: 2022-01-31 08:55+0000\n"
+"PO-Revision-Date: 2022-02-22 15:52+0000\n"
 "Last-Translator: Mirko <miknsop@gmail.com>\n"
 "Language-Team: Italian <https://hosted.weblate.org/projects/godot-engine/"
 "godot-class-reference/it/>\n"
@@ -85,11 +86,12 @@ msgstr "Descrizioni delle proprietà"
 
 #: doc/tools/make_rst.py
 msgid "Inherits:"
-msgstr ""
+msgstr "Eredita:"
 
 #: doc/tools/make_rst.py
+#, fuzzy
 msgid "Inherited By:"
-msgstr ""
+msgstr "Ereditato da:"
 
 #: doc/tools/make_rst.py
 msgid "(overrides %s)"
@@ -105,7 +107,7 @@ msgstr ""
 
 #: doc/tools/make_rst.py
 msgid "value"
-msgstr ""
+msgstr "valore"
 
 #: doc/tools/make_rst.py
 msgid "Getter"
@@ -115,6 +117,8 @@ msgstr ""
 msgid ""
 "This method should typically be overridden by the user to have any effect."
 msgstr ""
+"Questo metodo di solito dovrebbe essere riscritto dall'utente per aver "
+"qualche effetto."
 
 #: doc/tools/make_rst.py
 msgid ""
@@ -136,6 +140,8 @@ msgid ""
 "This method doesn't need an instance to be called, so it can be called "
 "directly using the class name."
 msgstr ""
+"Questo metodo non necessita di alcun'istanza per essere chiamato, quindi può "
+"essere chiamato direttamente usando il nome della classe."
 
 #: doc/tools/make_rst.py
 msgid ""
@@ -4260,6 +4266,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -5774,8 +5789,9 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
-msgstr ""
+#, fuzzy
+msgid "Returns whether the given path is filtered."
+msgstr "Restituisce la tangente del parametro."
 
 #: doc/classes/AnimationNode.xml
 msgid ""
@@ -5799,7 +5815,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -5808,7 +5824,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -10442,26 +10458,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -10619,6 +10619,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -13709,6 +13719,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -16610,8 +16632,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -17392,6 +17415,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -24080,7 +24122,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -26187,8 +26244,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -26458,7 +26516,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -33028,7 +33091,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -33408,8 +33476,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -35251,6 +35323,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -35264,6 +35345,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -35306,6 +35399,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -35357,6 +35460,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -37253,7 +37368,7 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid "Nodes and Scenes"
-msgstr ""
+msgstr "Nodi e scene"
 
 #: doc/classes/Node.xml
 msgid "All Demos"
@@ -37690,6 +37805,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -37860,6 +37994,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -37960,6 +38109,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -38210,6 +38367,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -39204,8 +39367,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -39999,7 +40162,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -47884,6 +48059,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -47894,8 +48080,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -48408,14 +48596,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -48544,8 +48737,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -52492,6 +52685,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -53747,6 +53947,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -55587,7 +55799,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55601,7 +55813,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -56278,7 +56490,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -56542,7 +56759,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -56565,11 +56791,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -56618,14 +56857,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -56795,8 +57036,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -58294,6 +58543,16 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr "Restituisce l'angolo al vettore dato, in radianti."
 
 #: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the total amount of lines that could be drawn."
+msgstr "Restituisce il valore opposto del parametro."
+
+#: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr "Restituisce il resto dei due vettori."
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -59346,6 +59605,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -59488,6 +59753,18 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr "Ritorna [code]true[/code] se [code]s[/code] è zero o quasi zero."
+
+#: doc/classes/Theme.xml
 #, fuzzy
 msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
@@ -59543,6 +59820,15 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+"Ritorna [code]true[/code] se l'impostazione specificata da [code]name[/code] "
+"esiste, [code]false[/code] altrimenti."
+
+#: doc/classes/Theme.xml
 msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
@@ -59639,6 +59925,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -61819,7 +62119,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -61862,10 +62162,9 @@ msgid ""
 msgstr "Ritorna [code]true[/code] se [code]s[/code] è zero o quasi zero."
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
-msgstr ""
+#, fuzzy
+msgid "Returns the number of buttons in column [code]column[/code]."
+msgstr "Ritorna [code]true[/code] se [code]s[/code] è zero o quasi zero."
 
 #: doc/classes/TreeItem.xml
 #, fuzzy
diff --git a/doc/translations/ja.po b/doc/translations/ja.po
index a3017d5928..ddb9eb6efe 100644
--- a/doc/translations/ja.po
+++ b/doc/translations/ja.po
@@ -4305,6 +4305,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -6246,7 +6255,8 @@ msgstr ""
 "� [code]true[/code] を返�よ�����。"
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+#, fuzzy
+msgid "Returns whether the given path is filtered."
 msgstr ""
 "指定��パス�フィルタリング�れ��れ� [code]true[/code] を返���。"
 
@@ -6280,8 +6290,9 @@ msgid "Adds or removes a path for the filter."
 msgstr "��フィルタ�パスを追加�る��除去���。"
 
 #: doc/classes/AnimationNode.xml
+#, fuzzy
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 "カスタムパラメータを設定���。リソース�ツリーやシーン全体��利用��る�"
@@ -6292,7 +6303,8 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr "も� [code]true[/code] ��れ��フィルタリング�有効��り��。"
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+#, fuzzy
+msgid "Emitted when the node was removed from the graph."
 msgstr "グラフ�らノード�除去�れ�際�発信�れ��。"
 
 #: doc/classes/AnimationNode.xml
@@ -12163,29 +12175,10 @@ msgstr ""
 "フェクトを追加���。"
 
 #: doc/classes/AudioServer.xml
-#, fuzzy
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-"�在�オーディオ入力用デ�イス����� ([method capture_get_device_list] を"
-"�照)。"
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr "システム上�検出�れ�����オーディオ入力デ�イス���を返���。"
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr "利用�能��ス�エフェクトを使用�� [AudioBusLayout] を生����。"
 
@@ -12374,6 +12367,16 @@ msgstr "利用�能�オーディオ�ス�数。"
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -15740,6 +15743,24 @@ msgid "Returns the RID of the canvas used by this layer."
 msgstr ""
 
 #: doc/classes/CanvasLayer.xml
+#, fuzzy
+msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+"�列をクリア���。�れ��[code]0[/code]�サイズ�[method resize]を使用�る"
+"������。"
+
+#: doc/classes/CanvasLayer.xml
+#, fuzzy
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+"�列をクリア���。�れ��[code]0[/code]�サイズ�[method resize]を使用�る"
+"������。"
+
+#: doc/classes/CanvasLayer.xml
 msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
@@ -18634,8 +18655,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -19416,6 +19438,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -26178,7 +26219,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -28287,8 +28343,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -28568,7 +28625,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -35187,7 +35249,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -35576,8 +35643,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -37427,6 +37498,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -37440,6 +37520,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -37482,6 +37574,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -37533,6 +37635,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -39889,6 +40003,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -40059,6 +40192,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -40159,6 +40307,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -40409,6 +40565,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -41402,8 +41564,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -42199,7 +42361,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -50135,6 +50309,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -50145,8 +50330,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -50659,14 +50846,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -50795,8 +50987,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -54770,6 +54962,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -56034,6 +56233,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -58150,7 +58361,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -58164,7 +58375,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -58855,7 +59066,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -59122,7 +59338,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -59145,11 +59370,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -59198,14 +59436,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -59375,8 +59615,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -60886,6 +61134,16 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr "アニメーション�トラック数を返���。"
 
 #: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the total amount of lines that could be drawn."
+msgstr "指定��トラック�キー数を返���。"
+
+#: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr "ブレンド空間内�三角形�数を返���。"
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -61950,6 +62208,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -62096,6 +62360,18 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr "与�られ� [code]id[/code] ����られ�点��置を返���。"
+
+#: doc/classes/Theme.xml
 #, fuzzy
 msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
@@ -62152,6 +62428,15 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+"指定��トラック�イン�ート�れ��る場�� [code]true[/code] を返���。�"
+"����れ�� [code]false[/code] を返���。"
+
+#: doc/classes/Theme.xml
 msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
@@ -62248,6 +62533,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -64436,7 +64735,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -64483,10 +64782,9 @@ msgstr ""
 "定���。"
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
-msgstr ""
+#, fuzzy
+msgid "Returns the number of buttons in column [code]column[/code]."
+msgstr "[code]bus_idx[/code] ��る�ス�エフェクト数を返���。"
 
 #: doc/classes/TreeItem.xml
 #, fuzzy
diff --git a/doc/translations/ko.po b/doc/translations/ko.po
index 465371a39f..d4b782b0c0 100644
--- a/doc/translations/ko.po
+++ b/doc/translations/ko.po
@@ -3456,6 +3456,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4967,8 +4976,9 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
-msgstr ""
+#, fuzzy
+msgid "Returns whether the given path is filtered."
+msgstr "매개변수� 탄젠트 값� 반환합니다."
 
 #: doc/classes/AnimationNode.xml
 msgid ""
@@ -4992,7 +5002,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -5001,7 +5011,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9614,26 +9624,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9791,6 +9785,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12872,6 +12876,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15737,8 +15753,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16495,6 +16512,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -23235,7 +23271,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25340,8 +25391,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25611,7 +25663,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -32159,7 +32216,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32539,8 +32601,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34381,6 +34447,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34394,6 +34469,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34436,6 +34523,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34487,6 +34584,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36934,6 +37043,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -37104,6 +37232,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -37204,6 +37347,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37454,6 +37605,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38442,8 +38599,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -39236,7 +39393,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -47101,6 +47270,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -47111,8 +47291,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47625,14 +47807,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47761,8 +47948,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51700,6 +51887,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52953,6 +53147,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54788,7 +54994,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54802,7 +55008,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55477,7 +55683,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55740,7 +55951,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55763,11 +55983,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55816,14 +56049,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55993,8 +56228,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57488,6 +57731,16 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr "매개변수� 코사� 값� 반환합니다."
 
 #: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the total amount of lines that could be drawn."
+msgstr "매개변수� 반대 값� 반환합니다."
+
+#: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr "� 벡터� 나머지를 반환합니다."
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58526,6 +58779,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58666,6 +58925,18 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr "� 벡터� 나머지를 반환합니다."
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58714,6 +58985,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58809,6 +59086,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60985,7 +61276,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -61027,10 +61318,9 @@ msgid ""
 msgstr "매개변수� 사� 값� 반환합니다."
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
-msgstr ""
+#, fuzzy
+msgid "Returns the number of buttons in column [code]column[/code]."
+msgstr "매개변수� 사� 값� 반환합니다."
 
 #: doc/classes/TreeItem.xml
 #, fuzzy
diff --git a/doc/translations/lv.po b/doc/translations/lv.po
index a3bff3b9e9..97a0990d75 100644
--- a/doc/translations/lv.po
+++ b/doc/translations/lv.po
@@ -3344,6 +3344,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4854,7 +4863,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+msgid "Returns whether the given path is filtered."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -4879,7 +4888,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -4888,7 +4897,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9499,26 +9508,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9676,6 +9669,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12751,6 +12754,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15587,8 +15602,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16339,6 +16355,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -23013,7 +23048,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25115,8 +25165,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25386,7 +25437,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -31921,7 +31977,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32301,8 +32362,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34142,6 +34207,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34155,6 +34229,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34197,6 +34283,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34248,6 +34344,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36545,6 +36653,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36715,6 +36842,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -36815,6 +36957,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37065,6 +37215,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38052,8 +38208,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -38843,7 +38999,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46685,6 +46853,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46695,8 +46874,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47209,14 +47390,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47345,8 +47531,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51283,6 +51469,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52536,6 +52729,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54371,7 +54576,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54385,7 +54590,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55058,7 +55263,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55321,7 +55531,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55344,11 +55563,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55397,14 +55629,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55574,8 +55808,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57064,6 +57306,14 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr ""
 
 #: doc/classes/TextEdit.xml
+msgid "Returns the total amount of lines that could be drawn."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58101,6 +58351,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58241,6 +58497,17 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58289,6 +58556,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58384,6 +58657,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60557,7 +60844,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60598,9 +60885,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
+msgid "Returns the number of buttons in column [code]column[/code]."
 msgstr ""
 
 #: doc/classes/TreeItem.xml
diff --git a/doc/translations/mr.po b/doc/translations/mr.po
index 5f8d2afd19..81a14f7e5a 100644
--- a/doc/translations/mr.po
+++ b/doc/translations/mr.po
@@ -3327,6 +3327,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4837,7 +4846,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+msgid "Returns whether the given path is filtered."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -4862,7 +4871,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -4871,7 +4880,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9482,26 +9491,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9659,6 +9652,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12734,6 +12737,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15570,8 +15585,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16322,6 +16338,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -22993,7 +23028,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25095,8 +25145,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25366,7 +25417,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -31901,7 +31957,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32281,8 +32342,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34122,6 +34187,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34135,6 +34209,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34177,6 +34263,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34228,6 +34324,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36525,6 +36633,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36695,6 +36822,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -36795,6 +36937,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37045,6 +37195,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38032,8 +38188,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -38823,7 +38979,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46665,6 +46833,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46675,8 +46854,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47189,14 +47370,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47325,8 +47511,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51263,6 +51449,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52516,6 +52709,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54351,7 +54556,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54365,7 +54570,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55038,7 +55243,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55301,7 +55511,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55324,11 +55543,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55377,14 +55609,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55554,8 +55788,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57044,6 +57286,14 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr ""
 
 #: doc/classes/TextEdit.xml
+msgid "Returns the total amount of lines that could be drawn."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58081,6 +58331,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58221,6 +58477,17 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58269,6 +58536,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58364,6 +58637,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60537,7 +60824,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60578,9 +60865,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
+msgid "Returns the number of buttons in column [code]column[/code]."
 msgstr ""
 
 #: doc/classes/TreeItem.xml
diff --git a/doc/translations/nb.po b/doc/translations/nb.po
index 4358fdbfc5..8cd83ba148 100644
--- a/doc/translations/nb.po
+++ b/doc/translations/nb.po
@@ -3339,6 +3339,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4849,7 +4858,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+msgid "Returns whether the given path is filtered."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -4874,7 +4883,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -4883,7 +4892,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9494,26 +9503,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9671,6 +9664,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12746,6 +12749,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15582,8 +15597,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16334,6 +16350,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -23005,7 +23040,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25107,8 +25157,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25378,7 +25429,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -31913,7 +31969,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32293,8 +32354,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34134,6 +34199,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34147,6 +34221,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34189,6 +34275,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34240,6 +34336,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36537,6 +36645,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36707,6 +36834,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -36807,6 +36949,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37057,6 +37207,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38044,8 +38200,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -38835,7 +38991,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46677,6 +46845,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46687,8 +46866,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47201,14 +47382,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47337,8 +47523,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51275,6 +51461,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52528,6 +52721,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54363,7 +54568,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54377,7 +54582,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55050,7 +55255,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55313,7 +55523,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55336,11 +55555,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55389,14 +55621,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55566,8 +55800,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57056,6 +57298,14 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr ""
 
 #: doc/classes/TextEdit.xml
+msgid "Returns the total amount of lines that could be drawn."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58093,6 +58343,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58233,6 +58489,17 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58281,6 +58548,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58376,6 +58649,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60549,7 +60836,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60590,9 +60877,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
+msgid "Returns the number of buttons in column [code]column[/code]."
 msgstr ""
 
 #: doc/classes/TreeItem.xml
diff --git a/doc/translations/ne.po b/doc/translations/ne.po
index d277e5da73..dcc8e21951 100644
--- a/doc/translations/ne.po
+++ b/doc/translations/ne.po
@@ -3327,6 +3327,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4837,7 +4846,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+msgid "Returns whether the given path is filtered."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -4862,7 +4871,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -4871,7 +4880,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9482,26 +9491,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9659,6 +9652,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12734,6 +12737,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15570,8 +15585,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16322,6 +16338,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -22993,7 +23028,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25095,8 +25145,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25366,7 +25417,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -31901,7 +31957,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32281,8 +32342,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34122,6 +34187,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34135,6 +34209,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34177,6 +34263,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34228,6 +34324,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36525,6 +36633,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36695,6 +36822,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -36795,6 +36937,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37045,6 +37195,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38032,8 +38188,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -38823,7 +38979,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46665,6 +46833,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46675,8 +46854,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47189,14 +47370,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47325,8 +47511,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51263,6 +51449,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52516,6 +52709,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54351,7 +54556,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54365,7 +54570,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55038,7 +55243,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55301,7 +55511,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55324,11 +55543,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55377,14 +55609,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55554,8 +55788,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57044,6 +57286,14 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr ""
 
 #: doc/classes/TextEdit.xml
+msgid "Returns the total amount of lines that could be drawn."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58081,6 +58331,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58221,6 +58477,17 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58269,6 +58536,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58364,6 +58637,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60537,7 +60824,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60578,9 +60865,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
+msgid "Returns the number of buttons in column [code]column[/code]."
 msgstr ""
 
 #: doc/classes/TreeItem.xml
diff --git a/doc/translations/nl.po b/doc/translations/nl.po
index d725a7872e..7095944510 100644
--- a/doc/translations/nl.po
+++ b/doc/translations/nl.po
@@ -3378,6 +3378,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4888,7 +4897,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+msgid "Returns whether the given path is filtered."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -4913,7 +4922,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -4922,7 +4931,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9533,26 +9542,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9710,6 +9703,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12785,6 +12788,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15621,8 +15636,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16373,6 +16389,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -23047,7 +23082,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25149,8 +25199,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25420,7 +25471,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -31955,7 +32011,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32335,8 +32396,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34176,6 +34241,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34189,6 +34263,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34231,6 +34317,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34282,6 +34378,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36579,6 +36687,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36749,6 +36876,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -36849,6 +36991,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37099,6 +37249,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38086,8 +38242,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -38877,7 +39033,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46719,6 +46887,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46729,8 +46908,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47243,14 +47424,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47379,8 +47565,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51318,6 +51504,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52571,6 +52764,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54406,7 +54611,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54420,7 +54625,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55093,7 +55298,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55356,7 +55566,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55379,11 +55598,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55432,14 +55664,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55609,8 +55843,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57099,6 +57341,14 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr ""
 
 #: doc/classes/TextEdit.xml
+msgid "Returns the total amount of lines that could be drawn."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58136,6 +58386,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58276,6 +58532,17 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58324,6 +58591,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58419,6 +58692,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60592,7 +60879,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60633,9 +60920,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
+msgid "Returns the number of buttons in column [code]column[/code]."
 msgstr ""
 
 #: doc/classes/TreeItem.xml
diff --git a/doc/translations/pl.po b/doc/translations/pl.po
index ef534544e1..615d1ff53f 100644
--- a/doc/translations/pl.po
+++ b/doc/translations/pl.po
@@ -11,7 +11,7 @@
 # Larix_45 <milarczek2004@gmail.com>, 2020.
 # Mateusz Grzonka <alpinus4@gmail.com>, 2020.
 # Michał Borowiec <hello@michal-borowiec.pl>, 2021.
-# Suchy  Talerz <kacperkubis06@gmail.com>, 2021.
+# Suchy  Talerz <kacperkubis06@gmail.com>, 2021, 2022.
 # Seppo Day <piszczatowskis@gmail.com>, 2021.
 # cerkiewny <mstarzycki@gmail.com>, 2021.
 # Dominik Mielcarek <fogbpl@gmail.com>, 2021.
@@ -19,12 +19,14 @@
 # Tomasz Piechocki <t.piechocki@yahoo.com>, 2021.
 # DeiranZ <jwabik322@gmail.com>, 2022.
 # Piotr <promantix@gmail.com>, 2022.
+# lewando54 <lewando54@gmail.com>, 2022.
+# Katarzyna Twardowska <katarina.twardowska@gmail.com>, 2022.
 msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine class reference\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
-"PO-Revision-Date: 2022-01-19 22:07+0000\n"
-"Last-Translator: Piotr <promantix@gmail.com>\n"
+"PO-Revision-Date: 2022-03-08 06:54+0000\n"
+"Last-Translator: Katarzyna Twardowska <katarina.twardowska@gmail.com>\n"
 "Language-Team: Polish <https://hosted.weblate.org/projects/godot-engine/"
 "godot-class-reference/pl/>\n"
 "Language: pl\n"
@@ -33,7 +35,7 @@ msgstr ""
 "Content-Transfer-Encoding: 8-bit\n"
 "Plural-Forms: nplurals=3; plural=n==1 ? 0 : n%10>=2 && n%10<=4 && (n%100<10 "
 "|| n%100>=20) ? 1 : 2;\n"
-"X-Generator: Weblate 4.11-dev\n"
+"X-Generator: Weblate 4.12-dev\n"
 
 #: doc/tools/make_rst.py
 msgid "Description"
@@ -98,7 +100,7 @@ msgstr ""
 
 #: doc/tools/make_rst.py
 msgid "Setter"
-msgstr ""
+msgstr "Setter"
 
 #: doc/tools/make_rst.py
 msgid "value"
@@ -3800,6 +3802,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -5311,8 +5322,9 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
-msgstr ""
+#, fuzzy
+msgid "Returns whether the given path is filtered."
+msgstr "Zwraca tangens parametru."
 
 #: doc/classes/AnimationNode.xml
 msgid ""
@@ -5336,7 +5348,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -5345,7 +5357,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -5415,9 +5427,8 @@ msgstr ""
 #: doc/classes/AnimationNodeOneShot.xml doc/classes/AnimationNodeOutput.xml
 #: doc/classes/AnimationNodeTimeScale.xml
 #: doc/classes/AnimationNodeTransition.xml
-#, fuzzy
 msgid "AnimationTree"
-msgstr "Węzeł Kinematic body 2D."
+msgstr "DrzewoAnimacji"
 
 #: doc/classes/AnimationNodeAdd3.xml doc/classes/AnimationNodeAnimation.xml
 #: doc/classes/AnimationNodeBlend2.xml
@@ -9966,26 +9977,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -10143,6 +10138,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -13232,6 +13237,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -16073,8 +16090,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16831,6 +16849,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -23516,7 +23553,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25620,8 +25672,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25891,7 +25944,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -32457,7 +32515,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32837,8 +32900,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34679,6 +34746,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34692,6 +34768,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34734,6 +34822,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34785,6 +34883,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36687,7 +36797,7 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid "Nodes and Scenes"
-msgstr ""
+msgstr "Węzły i Sceny"
 
 #: doc/classes/Node.xml
 msgid "All Demos"
@@ -37124,6 +37234,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -37294,6 +37423,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -37394,6 +37538,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37644,6 +37796,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38631,8 +38789,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -39428,7 +39586,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -47312,6 +47482,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -47322,8 +47503,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47836,14 +48019,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47972,8 +48160,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -50077,7 +50265,7 @@ msgstr ""
 
 #: doc/classes/RichTextLabel.xml
 msgid "BBCode in RichTextLabel"
-msgstr ""
+msgstr "BBCode w RichTextLabel"
 
 #: doc/classes/RichTextLabel.xml
 msgid "GUI Rich Text/BBcode Demo"
@@ -51922,6 +52110,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -53176,6 +53371,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -55014,7 +55221,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55028,7 +55235,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55703,7 +55910,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55966,7 +56178,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55989,11 +56210,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -56042,14 +56276,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -56219,8 +56455,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57715,6 +57959,16 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr "Zwraca kÄ…t w radianach danego wektora."
 
 #: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the total amount of lines that could be drawn."
+msgstr "Zwraca przeciwieństwo parametru."
+
+#: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr "Zwraca resztę z dwóch wektorów."
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58758,6 +59012,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58899,6 +59159,18 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr "Liczy iloczyn wektorowy tego wektora oraz [code]b[/code]."
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58949,6 +59221,13 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr "Liczy iloczyn wektorowy tego wektora oraz [code]with[/code]."
+
+#: doc/classes/Theme.xml
 msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
@@ -59045,6 +59324,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -59090,7 +59383,7 @@ msgstr ""
 
 #: doc/classes/Thread.xml
 msgid "Using multiple threads"
-msgstr ""
+msgstr "Użyj wielowątkowości"
 
 #: doc/classes/Thread.xml
 msgid "Thread-safe APIs"
@@ -61221,7 +61514,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -61263,10 +61556,9 @@ msgid ""
 msgstr "Liczy iloczyn wektorowy tego wektora oraz [code]b[/code]."
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
-msgstr ""
+#, fuzzy
+msgid "Returns the number of buttons in column [code]column[/code]."
+msgstr "Liczy iloczyn wektorowy tego wektora oraz [code]b[/code]."
 
 #: doc/classes/TreeItem.xml
 #, fuzzy
diff --git a/doc/translations/pt.po b/doc/translations/pt.po
index b81b137493..eb2e648038 100644
--- a/doc/translations/pt.po
+++ b/doc/translations/pt.po
@@ -4092,6 +4092,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -5610,8 +5619,9 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
-msgstr ""
+#, fuzzy
+msgid "Returns whether the given path is filtered."
+msgstr "Retorna o RID do ecrã usada por essa camada."
 
 #: doc/classes/AnimationNode.xml
 msgid ""
@@ -5635,7 +5645,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -5644,8 +5654,9 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
-msgstr ""
+#, fuzzy
+msgid "Emitted when the node was removed from the graph."
+msgstr "Emitido cada vez que um nó é removido da [SceneTree]."
 
 #: doc/classes/AnimationNode.xml
 msgid ""
@@ -10263,26 +10274,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -10440,6 +10435,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -13537,6 +13542,18 @@ msgstr "Retorna o RID do ecrã usada por essa camada."
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -16393,8 +16410,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -17153,6 +17171,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr "Emitido quando o nó ganha foco do teclado."
 
@@ -23836,7 +23873,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25940,8 +25992,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -26211,7 +26264,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -32751,7 +32809,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -33131,8 +33194,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34972,6 +35039,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34985,6 +35061,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -35027,6 +35115,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -35078,6 +35176,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -37398,6 +37508,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -37568,6 +37697,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -37668,6 +37812,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37918,6 +38070,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38905,8 +39063,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -39696,7 +39854,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -47542,6 +47712,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -47552,8 +47733,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -48066,14 +48249,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -48202,8 +48390,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -52140,6 +52328,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -53397,6 +53592,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -55250,7 +55457,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55264,7 +55471,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55939,7 +56146,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -56202,7 +56414,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -56225,11 +56446,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -56278,14 +56512,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -56455,8 +56691,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57947,6 +58191,16 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr ""
 
 #: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the total amount of lines that could be drawn."
+msgstr "Retorna o comprimento atual do braço da mola."
+
+#: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr "Retorna o número de nós nesta [SceneTree]."
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58985,6 +59239,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -59125,6 +59385,18 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr "Retorna o produto cruzado deste vetor e [code]b[/code]."
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -59172,6 +59444,15 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+"Retorna [code]true[/code] se o vetor for normalizado, [code]false[/code] "
+"caso contrário."
+
+#: doc/classes/Theme.xml
 msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
@@ -59268,6 +59549,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -61444,7 +61739,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -61485,10 +61780,9 @@ msgid ""
 msgstr ""
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
-msgstr ""
+#, fuzzy
+msgid "Returns the number of buttons in column [code]column[/code]."
+msgstr "Retorna o nome do nó em [code]idx[/code]."
 
 #: doc/classes/TreeItem.xml
 #, fuzzy
diff --git a/doc/translations/pt_BR.po b/doc/translations/pt_BR.po
index ff0825d6a7..fbf4dbeaa6 100644
--- a/doc/translations/pt_BR.po
+++ b/doc/translations/pt_BR.po
@@ -4303,6 +4303,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -5868,8 +5877,9 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
-msgstr ""
+#, fuzzy
+msgid "Returns whether the given path is filtered."
+msgstr "Retorna a tangente do parâmetro."
 
 #: doc/classes/AnimationNode.xml
 msgid ""
@@ -5893,7 +5903,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -5902,8 +5912,9 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
-msgstr ""
+#, fuzzy
+msgid "Emitted when the node was removed from the graph."
+msgstr "Emitido cada vez que um nó é removido da [SceneTree]."
 
 #: doc/classes/AnimationNode.xml
 msgid ""
@@ -10538,26 +10549,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -10715,6 +10710,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -13820,6 +13825,18 @@ msgstr "Retorna o RID da tela usada por essa camada."
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -16710,8 +16727,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -17470,6 +17488,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr "Emitido quando o nó ganha foco do teclado."
 
@@ -24165,7 +24202,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -26270,8 +26322,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -26541,7 +26594,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -33120,7 +33178,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -33500,8 +33563,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -35343,6 +35410,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -35356,6 +35432,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -35398,6 +35486,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -35449,6 +35547,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -37788,6 +37898,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -37958,6 +38087,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -38058,6 +38202,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -38308,6 +38460,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -39295,8 +39453,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -40090,7 +40248,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -47980,6 +48150,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -47990,8 +48171,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -48504,14 +48687,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -48640,8 +48828,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -52587,6 +52775,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -53848,6 +54043,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -55704,7 +55911,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55718,7 +55925,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -56393,7 +56600,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -56656,7 +56868,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -56679,11 +56900,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -56732,14 +56966,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -56909,8 +57145,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -58408,6 +58652,16 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr "Retorna o ângulo para o vetor dado, em radianos."
 
 #: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the total amount of lines that could be drawn."
+msgstr "Retorna o valor oposto do parâmetro."
+
+#: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr "Retorna o número de nós nesta [SceneTree]."
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -59459,6 +59713,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -59603,6 +59863,18 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr "Retorna o produto cruzado deste vetor e [code]b[/code]."
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -59651,6 +59923,13 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr "Retorna [code]true[/code] se o script pode ser instanciado."
+
+#: doc/classes/Theme.xml
 msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
@@ -59747,6 +60026,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -61925,7 +62218,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -61968,10 +62261,9 @@ msgstr ""
 "Retorna a largura em píxeis de [code]wrap_index[/code] em [code]line[/code]."
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
-msgstr ""
+#, fuzzy
+msgid "Returns the number of buttons in column [code]column[/code]."
+msgstr "Retorna o nome do nó em [code]idx[/code]."
 
 #: doc/classes/TreeItem.xml
 #, fuzzy
diff --git a/doc/translations/ro.po b/doc/translations/ro.po
index d27baf73b8..e80f0ba009 100644
--- a/doc/translations/ro.po
+++ b/doc/translations/ro.po
@@ -3347,6 +3347,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4857,7 +4866,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+msgid "Returns whether the given path is filtered."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -4882,7 +4891,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -4891,7 +4900,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9502,26 +9511,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9679,6 +9672,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12754,6 +12757,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15590,8 +15605,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16342,6 +16358,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -23016,7 +23051,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25118,8 +25168,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25389,7 +25440,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -31924,7 +31980,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32304,8 +32365,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34145,6 +34210,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34158,6 +34232,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34200,6 +34286,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34251,6 +34347,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36548,6 +36656,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36718,6 +36845,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -36818,6 +36960,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37068,6 +37218,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38055,8 +38211,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -38846,7 +39002,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46688,6 +46856,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46698,8 +46877,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47212,14 +47393,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47348,8 +47534,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51286,6 +51472,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52539,6 +52732,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54374,7 +54579,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54388,7 +54593,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55061,7 +55266,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55324,7 +55534,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55347,11 +55566,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55400,14 +55632,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55577,8 +55811,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57067,6 +57309,14 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr ""
 
 #: doc/classes/TextEdit.xml
+msgid "Returns the total amount of lines that could be drawn."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58104,6 +58354,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58244,6 +58500,17 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58292,6 +58559,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58387,6 +58660,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60560,7 +60847,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60601,9 +60888,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
+msgid "Returns the number of buttons in column [code]column[/code]."
 msgstr ""
 
 #: doc/classes/TreeItem.xml
diff --git a/doc/translations/ru.po b/doc/translations/ru.po
index dfde3ad01b..419a3bf547 100644
--- a/doc/translations/ru.po
+++ b/doc/translations/ru.po
@@ -26,7 +26,7 @@
 # Сергей Волков <zerosar4@gmail.com>, 2021.
 # Alexander Sinitsyn <almoig747@gmail.com>, 2021.
 # Тол� Богомолов <tolya.bogomolov2004@gmail.com>, 2021.
-# Rustam Alieskerov <rustam.aleskerov7@gmail.com>, 2021.
+# Rustam Alieskerov <rustam.aleskerov7@gmail.com>, 2021, 2022.
 # Vladimir Svity <development.openworld@gmail.com>, 2021.
 # SuperProCoolName <minzatov.2004@mail.ru>, 2021.
 # GameOverCode <thefguyplayeriwbt@gmail.com>, 2021.
@@ -38,12 +38,13 @@
 # �лек�ей Зотов <ancrad@yandex.ru>, 2022.
 # Russkikh Michail <summersay415@gmail.com>, 2022.
 # Kirill Slesarenok <s.k.s.10.09.2001@gmail.com>, 2022.
+# Иван Гай <yfrde615@gmail.com>, 2022.
 msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine class reference\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
-"PO-Revision-Date: 2022-02-14 22:08+0000\n"
-"Last-Translator: Kirill Slesarenok <s.k.s.10.09.2001@gmail.com>\n"
+"PO-Revision-Date: 2022-03-02 18:39+0000\n"
+"Last-Translator: Rustam Alieskerov <rustam.aleskerov7@gmail.com>\n"
 "Language-Team: Russian <https://hosted.weblate.org/projects/godot-engine/"
 "godot-class-reference/ru/>\n"
 "Language: ru\n"
@@ -52,7 +53,7 @@ msgstr ""
 "Content-Transfer-Encoding: 8-bit\n"
 "Plural-Forms: nplurals=3; plural=n%10==1 && n%100!=11 ? 0 : n%10>=2 && "
 "n%10<=4 && (n%100<10 || n%100>=20) ? 1 : 2;\n"
-"X-Generator: Weblate 4.11-dev\n"
+"X-Generator: Weblate 4.11.1-dev\n"
 
 #: doc/tools/make_rst.py
 msgid "Description"
@@ -163,6 +164,8 @@ msgid ""
 "This method describes a valid operator to use with this type as left-hand "
 "operand."
 msgstr ""
+"Этот метод опи�ывает подход�щий оператор, который необходимо и�пользовать � "
+"�тим типом, как левый операнд."
 
 #: modules/gdscript/doc_classes/@GDScript.xml
 msgid "Built-in GDScript functions."
@@ -263,13 +266,12 @@ msgid ""
 "s = asin(0.5)\n"
 "[/codeblock]"
 msgstr ""
-"Возвращает аркко�ину� чи�ла [code]s[/code] в радианах. И�пользует�� дл� "
-"получени� угла, ко�ину� которого равен [code]s[/code]. Чи�ло [code]s[/code] "
-"должно быть между [code]-1.0[/code] и [code]1.0[/code] (включительно), в "
-"противном �лучае [method asin] вернет [constant NAN].\n"
+"Возвращает арк�ину� чи�ла [code]s[/code] в радианах. И�пользует�� дл� "
+"получени� угла, �ину� которого равен [code]s[/code]. Чи�ло [code]s[/code] "
+"должно быть в промежутке между [code]-1.0[/code] и [code]1.0[/code] "
+"(включительно), иначе [method asin] вернет [constant NAN].\n"
 "[codeblock]\n"
-"# s равно 0.523599, или 30 граду�ов, е�ли конвертировать � помощью "
-"rad2deg(s)\n"
+"# s равно 0.523599, или 30 граду�ов, е�ли конвертировать � помощью rad2deg\n"
 "s = asin(0.5)\n"
 "[/codeblock]"
 
@@ -436,16 +438,12 @@ msgid ""
 "a = clamp(15, 1, 20)   # a is 15\n"
 "[/codeblock]"
 msgstr ""
-"Ограничивает [code]value[/code], возвраща� значение не меньше [code]min[/"
+"Ограничивает [code]value[/code], и возвращает значение не меньше [code]min[/"
 "code] и не больше [code]max[/code].\n"
 "[codeblock]\n"
-"speed = 1000\n"
-"# a будет 20\n"
-"a = clamp(speed, 1, 20)\n"
-"\n"
-"speed = -10\n"
-"# a будет 1\n"
-"a = clamp(speed, 1, 20)\n"
+"a = clamp(1000, 1, 20) # a будет 20\n"
+"a = clamp(-10, 1, 20) # a будет 1\n"
+"a = clamp(15, 1, 20) # a будет 15\n"
 "[/codeblock]"
 
 #: modules/gdscript/doc_classes/@GDScript.xml
@@ -566,7 +564,6 @@ msgstr ""
 "и�пользовать [code]deep_equal[/code]."
 
 #: modules/gdscript/doc_classes/@GDScript.xml
-#, fuzzy
 msgid ""
 "Converts an angle expressed in degrees to radians.\n"
 "[codeblock]\n"
@@ -575,8 +572,7 @@ msgid ""
 msgstr ""
 "Преобразует угол, выраженный в граду�ах, в радианы.\n"
 "[codeblock]\n"
-"# r равно 3.141593\n"
-"r = deg2rad(180)\n"
+"r = deg2rad(180) # r = 3.141593\n"
 "[/codeblock]"
 
 #: modules/gdscript/doc_classes/@GDScript.xml
@@ -4416,6 +4412,15 @@ msgstr ""
 "такой как [code]\"Hello,Something,Else\"[/code]."
 
 #: doc/classes/@GlobalScope.xml
+msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
 #, fuzzy
 msgid ""
 "Hints that a float property should be edited via an exponential easing "
@@ -6270,8 +6275,9 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
-msgstr ""
+#, fuzzy
+msgid "Returns whether the given path is filtered."
+msgstr "Возвращает [Texture2D] заданного кадра."
 
 #: doc/classes/AnimationNode.xml
 msgid ""
@@ -6295,7 +6301,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -6304,7 +6310,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -11121,26 +11127,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -11298,6 +11288,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -14400,6 +14400,24 @@ msgid "Returns the RID of the canvas used by this layer."
 msgstr ""
 
 #: doc/classes/CanvasLayer.xml
+#, fuzzy
+msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+"Очищает ма��ив. Это �квивалентно и�пользованию [method resize] � размером "
+"[code]0[/code]."
+
+#: doc/classes/CanvasLayer.xml
+#, fuzzy
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+"Очищает ма��ив. Это �квивалентно и�пользованию [method resize] � размером "
+"[code]0[/code]."
+
+#: doc/classes/CanvasLayer.xml
 msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
@@ -17324,8 +17342,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -18106,6 +18125,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -24813,7 +24851,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -26920,8 +26973,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -27191,7 +27245,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -33778,7 +33837,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -34158,8 +34222,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -36003,6 +36071,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -36016,6 +36093,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -36058,6 +36147,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -36109,6 +36208,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -38450,6 +38561,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -38620,6 +38750,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -38720,6 +38865,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -38970,6 +39123,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -39962,8 +40121,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -40761,7 +40920,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -48679,6 +48850,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -48689,8 +48871,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -49203,14 +49387,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -49339,8 +49528,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -53336,6 +53525,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -54596,6 +54792,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -56436,7 +56644,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -56450,7 +56658,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -57147,7 +57355,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57414,7 +57627,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57437,11 +57659,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57490,14 +57725,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57667,8 +57904,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -59167,6 +59412,16 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr "Возвращает минимальный угол указанного вектора."
 
 #: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the total amount of lines that could be drawn."
+msgstr "Возвращает количе�тво ключей в данной дорожке."
+
+#: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr "Возвращает количе�тво раз когда �лемент в�тречает�� в ма��иве."
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -60227,6 +60482,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -60369,6 +60630,18 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr "Возвращает [code]true[/code] е�ли ма��ив �одержит [code]value[/code]."
+
+#: doc/classes/Theme.xml
 #, fuzzy
 msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
@@ -60424,6 +60697,15 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+"Возвращает [code]true[/code], е�ли в [AnimationPlayer] хранит�� [Animation] "
+"� ключом [code]name[/code]."
+
+#: doc/classes/Theme.xml
 msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
@@ -60520,6 +60802,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -62702,7 +62998,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -62746,10 +63042,9 @@ msgstr ""
 "приблизительно равны друг другу."
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
-msgstr ""
+#, fuzzy
+msgid "Returns the number of buttons in column [code]column[/code]."
+msgstr "Возвращает �кал�рное произведение � вектором [code]b[/code]."
 
 #: doc/classes/TreeItem.xml
 #, fuzzy
diff --git a/doc/translations/sk.po b/doc/translations/sk.po
index 8758caf868..7f5375076e 100644
--- a/doc/translations/sk.po
+++ b/doc/translations/sk.po
@@ -3330,6 +3330,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4840,7 +4849,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+msgid "Returns whether the given path is filtered."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -4865,7 +4874,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -4874,7 +4883,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9485,26 +9494,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9662,6 +9655,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12737,6 +12740,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15573,8 +15588,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16325,6 +16341,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -22999,7 +23034,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25101,8 +25151,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25372,7 +25423,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -31907,7 +31963,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32287,8 +32348,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34128,6 +34193,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34141,6 +34215,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34183,6 +34269,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34234,6 +34330,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36531,6 +36639,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36701,6 +36828,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -36801,6 +36943,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37051,6 +37201,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38038,8 +38194,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -38829,7 +38985,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46671,6 +46839,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46681,8 +46860,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47195,14 +47376,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47331,8 +47517,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51269,6 +51455,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52522,6 +52715,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54357,7 +54562,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54371,7 +54576,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55044,7 +55249,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55307,7 +55517,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55330,11 +55549,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55383,14 +55615,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55560,8 +55794,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57050,6 +57292,14 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr ""
 
 #: doc/classes/TextEdit.xml
+msgid "Returns the total amount of lines that could be drawn."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58087,6 +58337,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58227,6 +58483,17 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58275,6 +58542,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58370,6 +58643,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60543,7 +60830,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60584,9 +60871,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
+msgid "Returns the number of buttons in column [code]column[/code]."
 msgstr ""
 
 #: doc/classes/TreeItem.xml
diff --git a/doc/translations/sr_Cyrl.po b/doc/translations/sr_Cyrl.po
index 780b9a451e..fb2ee3eda8 100644
--- a/doc/translations/sr_Cyrl.po
+++ b/doc/translations/sr_Cyrl.po
@@ -3341,6 +3341,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4851,7 +4860,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+msgid "Returns whether the given path is filtered."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -4876,7 +4885,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -4885,7 +4894,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9496,26 +9505,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9673,6 +9666,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12748,6 +12751,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15584,8 +15599,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16336,6 +16352,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -23010,7 +23045,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25112,8 +25162,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25383,7 +25434,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -31918,7 +31974,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32298,8 +32359,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34139,6 +34204,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34152,6 +34226,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34194,6 +34280,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34245,6 +34341,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36542,6 +36650,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36712,6 +36839,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -36812,6 +36954,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37062,6 +37212,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38049,8 +38205,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -38840,7 +38996,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46682,6 +46850,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46692,8 +46871,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47206,14 +47387,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47342,8 +47528,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51280,6 +51466,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52533,6 +52726,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54368,7 +54573,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54382,7 +54587,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55055,7 +55260,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55318,7 +55528,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55341,11 +55560,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55394,14 +55626,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55571,8 +55805,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57061,6 +57303,14 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr ""
 
 #: doc/classes/TextEdit.xml
+msgid "Returns the total amount of lines that could be drawn."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58098,6 +58348,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58238,6 +58494,17 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58286,6 +58553,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58381,6 +58654,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60554,7 +60841,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60595,9 +60882,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
+msgid "Returns the number of buttons in column [code]column[/code]."
 msgstr ""
 
 #: doc/classes/TreeItem.xml
diff --git a/doc/translations/sv.po b/doc/translations/sv.po
index 7cc04c7527..708b006742 100644
--- a/doc/translations/sv.po
+++ b/doc/translations/sv.po
@@ -3330,6 +3330,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4840,7 +4849,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+msgid "Returns whether the given path is filtered."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -4865,7 +4874,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -4874,7 +4883,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9485,26 +9494,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9662,6 +9655,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12737,6 +12740,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15573,8 +15588,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16325,6 +16341,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -22996,7 +23031,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25098,8 +25148,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25369,7 +25420,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -31904,7 +31960,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32284,8 +32345,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34125,6 +34190,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34138,6 +34212,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34180,6 +34266,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34231,6 +34327,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36528,6 +36636,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36698,6 +36825,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -36798,6 +36940,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37048,6 +37198,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38035,8 +38191,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -38826,7 +38982,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46668,6 +46836,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46678,8 +46857,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47192,14 +47373,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47328,8 +47514,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51266,6 +51452,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52519,6 +52712,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54354,7 +54559,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54368,7 +54573,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55041,7 +55246,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55304,7 +55514,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55327,11 +55546,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55380,14 +55612,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55557,8 +55791,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57047,6 +57289,14 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr ""
 
 #: doc/classes/TextEdit.xml
+msgid "Returns the total amount of lines that could be drawn."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58084,6 +58334,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58224,6 +58480,17 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58272,6 +58539,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58367,6 +58640,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60540,7 +60827,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60581,9 +60868,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
+msgid "Returns the number of buttons in column [code]column[/code]."
 msgstr ""
 
 #: doc/classes/TreeItem.xml
diff --git a/doc/translations/th.po b/doc/translations/th.po
index fa12585e9c..684a6a0bc6 100644
--- a/doc/translations/th.po
+++ b/doc/translations/th.po
@@ -3423,6 +3423,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4940,8 +4949,9 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
-msgstr ""
+#, fuzzy
+msgid "Returns whether the given path is filtered."
+msgstr "คืนค่าชื่อของอุป�รณ์เสียงทั้งหมดที่ตรวจพบในระบบ"
 
 #: doc/classes/AnimationNode.xml
 msgid ""
@@ -4965,7 +4975,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -4974,7 +4984,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9589,26 +9599,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9766,6 +9760,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12843,6 +12847,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15680,8 +15696,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16432,6 +16449,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -23107,7 +23143,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25210,8 +25261,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25481,7 +25533,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -32039,7 +32096,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32419,8 +32481,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34260,6 +34326,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34273,6 +34348,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34315,6 +34402,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34366,6 +34463,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36723,6 +36832,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36893,6 +37021,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -36993,6 +37136,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37243,6 +37394,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38230,8 +38387,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -39021,7 +39178,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46876,6 +47045,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46886,8 +47066,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47400,14 +47582,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47536,8 +47723,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51475,6 +51662,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52728,6 +52922,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54564,7 +54770,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54578,7 +54784,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55253,7 +55459,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55516,7 +55727,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55539,11 +55759,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55592,14 +55825,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55769,8 +56004,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57261,6 +57504,16 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr ""
 
 #: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the total amount of lines that could be drawn."
+msgstr "คืนค่า�าร�ำหนดค่าของลำโพง"
+
+#: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr "คืนค่าชื่อของอุป�รณ์เสียงทั้งหมดที่ตรวจพบในระบบ"
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58298,6 +58551,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58438,6 +58697,17 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58486,6 +58756,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58581,6 +58857,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60755,7 +61045,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60796,9 +61086,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
+msgid "Returns the number of buttons in column [code]column[/code]."
 msgstr ""
 
 #: doc/classes/TreeItem.xml
diff --git a/doc/translations/tl.po b/doc/translations/tl.po
index 95b59e8579..7a9fb2b1f7 100644
--- a/doc/translations/tl.po
+++ b/doc/translations/tl.po
@@ -3,12 +3,12 @@
 # Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).
 # This file is distributed under the same license as the Godot source code.
 #
-# Napstaguy04 <brokenscreen3@gmail.com>, 2021.
+# Napstaguy04 <brokenscreen3@gmail.com>, 2021, 2022.
 msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine class reference\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
-"PO-Revision-Date: 2021-11-15 21:14+0000\n"
+"PO-Revision-Date: 2022-02-26 10:27+0000\n"
 "Last-Translator: Napstaguy04 <brokenscreen3@gmail.com>\n"
 "Language-Team: Tagalog <https://hosted.weblate.org/projects/godot-engine/"
 "godot-class-reference/tl/>\n"
@@ -18,7 +18,7 @@ msgstr ""
 "Content-Transfer-Encoding: 8-bit\n"
 "Plural-Forms: nplurals=2; plural=n != 1 && n != 2 && n != 3 && (n % 10 == 4 "
 "|| n % 10 == 6 || n % 10 == 9);\n"
-"X-Generator: Weblate 4.9.1-dev\n"
+"X-Generator: Weblate 4.11.1-dev\n"
 
 #: doc/tools/make_rst.py
 msgid "Description"
@@ -3402,6 +3402,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4912,7 +4921,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+msgid "Returns whether the given path is filtered."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -4937,7 +4946,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -4946,7 +4955,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9431,6 +9440,10 @@ msgid ""
 "Simulates the sound of acoustic environments such as rooms, concert halls, "
 "caverns, or an open spaces."
 msgstr ""
+"Nagdadagdag ng pagaalingayngay o reverberasyon na audio effect sa isang "
+"Audio bus.\n"
+"Ginagaya ang tunog ng mga akustikong kapaligiran gaya ng mga silid, concert "
+"halls, kweba o malawak na lugar."
 
 #: doc/classes/AudioEffectReverb.xml
 msgid ""
@@ -9557,26 +9570,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9734,6 +9731,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12812,6 +12819,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15648,8 +15667,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16400,6 +16420,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -23071,7 +23110,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25173,8 +25227,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25444,7 +25499,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -31979,7 +32039,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32359,8 +32424,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34200,6 +34269,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34213,6 +34291,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34255,6 +34345,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34306,6 +34406,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36609,6 +36721,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36779,6 +36910,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -36879,6 +37025,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37129,6 +37283,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38116,8 +38276,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -38907,7 +39067,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46752,6 +46924,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46762,8 +46945,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47276,14 +47461,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47412,8 +47602,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51350,6 +51540,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52603,6 +52800,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54438,7 +54647,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54452,7 +54661,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55125,7 +55334,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55388,7 +55602,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55411,11 +55634,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55464,14 +55700,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55641,8 +55879,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57131,6 +57377,14 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr ""
 
 #: doc/classes/TextEdit.xml
+msgid "Returns the total amount of lines that could be drawn."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr ""
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58171,6 +58425,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58311,6 +58571,17 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58359,6 +58630,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58454,6 +58731,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60627,7 +60918,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60668,9 +60959,7 @@ msgid ""
 msgstr ""
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
+msgid "Returns the number of buttons in column [code]column[/code]."
 msgstr ""
 
 #: doc/classes/TreeItem.xml
diff --git a/doc/translations/tr.po b/doc/translations/tr.po
index f08c6a8e63..39cd3b64ef 100644
--- a/doc/translations/tr.po
+++ b/doc/translations/tr.po
@@ -4101,6 +4101,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -5612,8 +5621,9 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
-msgstr ""
+#, fuzzy
+msgid "Returns whether the given path is filtered."
+msgstr "Verilen değerin tanjantını döndürür."
 
 #: doc/classes/AnimationNode.xml
 msgid ""
@@ -5637,7 +5647,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -5646,7 +5656,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -10258,26 +10268,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -10435,6 +10429,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -13523,6 +13527,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -16361,8 +16377,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -17119,6 +17136,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -23800,7 +23836,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25908,8 +25959,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -26179,7 +26231,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -32726,7 +32783,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -33106,8 +33168,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34948,6 +35014,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34961,6 +35036,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -35003,6 +35090,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -35054,6 +35151,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -37382,6 +37491,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -37552,6 +37680,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -37652,6 +37795,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37902,6 +38053,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38889,8 +39046,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -39683,7 +39840,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -47559,6 +47728,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -47569,8 +47749,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -48083,14 +48265,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -48219,8 +48406,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -52165,6 +52352,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -53418,6 +53612,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -55255,7 +55461,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55269,7 +55475,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55944,7 +56150,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -56207,7 +56418,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -56230,11 +56450,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -56283,14 +56516,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -56460,8 +56695,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57955,6 +58198,16 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr "Parametrenin kosinüsünü döndürür."
 
 #: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the total amount of lines that could be drawn."
+msgstr "Verilen değerin zıt değerini döndürür."
+
+#: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr "İki vektörün kalanını döndürür."
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58995,6 +59248,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -59135,6 +59394,18 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr "İki vektörün kalanını döndürür."
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -59183,6 +59454,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -59278,6 +59555,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -61454,7 +61745,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -61496,10 +61787,9 @@ msgid ""
 msgstr "Verilen değerin sinüsünü döndürür."
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
-msgstr ""
+#, fuzzy
+msgid "Returns the number of buttons in column [code]column[/code]."
+msgstr "Verilen değerin sinüsünü döndürür."
 
 #: doc/classes/TreeItem.xml
 #, fuzzy
diff --git a/doc/translations/uk.po b/doc/translations/uk.po
index 0eed155e80..9f268b548f 100644
--- a/doc/translations/uk.po
+++ b/doc/translations/uk.po
@@ -15,8 +15,8 @@ msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine class reference\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
-"PO-Revision-Date: 2022-01-29 12:53+0000\n"
-"Last-Translator: Vladyslav Anisimov <uniss@ua.fm>\n"
+"PO-Revision-Date: 2022-02-16 16:37+0000\n"
+"Last-Translator: Yuri Chornoivan <yurchor@ukr.net>\n"
 "Language-Team: Ukrainian <https://hosted.weblate.org/projects/godot-engine/"
 "godot-class-reference/uk/>\n"
 "Language: uk\n"
@@ -73,7 +73,6 @@ msgid "Theme Property Descriptions"
 msgstr "Опи�и Вла�тиво�тей Теми"
 
 #: doc/tools/make_rst.py
-#, fuzzy
 msgid "Inherits:"
 msgstr "У�падковує:"
 
@@ -88,9 +87,8 @@ msgid "(overrides %s)"
 msgstr "(перевизначає %s)"
 
 #: doc/tools/make_rst.py
-#, fuzzy
 msgid "Default"
-msgstr "За замовчуванн�м"
+msgstr "Типовий"
 
 #: doc/tools/make_rst.py
 #, fuzzy
@@ -3480,6 +3478,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4991,8 +4998,9 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
-msgstr ""
+#, fuzzy
+msgid "Returns whether the given path is filtered."
+msgstr "Повертає танген� параметра."
 
 #: doc/classes/AnimationNode.xml
 msgid ""
@@ -5016,7 +5024,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -5025,7 +5033,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9643,26 +9651,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9820,6 +9812,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12903,6 +12905,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15740,8 +15754,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16498,6 +16513,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -23177,7 +23211,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25281,8 +25330,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25552,7 +25602,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -32101,7 +32156,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32481,8 +32541,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34323,6 +34387,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34336,6 +34409,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34378,6 +34463,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34429,6 +34524,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36753,6 +36860,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36923,6 +37049,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -37023,6 +37164,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37273,6 +37422,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38260,8 +38415,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -39054,7 +39209,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46921,6 +47088,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46931,8 +47109,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47445,14 +47625,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47581,8 +47766,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51520,6 +51705,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52774,6 +52966,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54610,7 +54814,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54624,7 +54828,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55299,7 +55503,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55562,7 +55771,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55585,11 +55803,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55638,14 +55869,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55815,8 +56048,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57311,6 +57552,16 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr "Повертає кут до заданого вектора у радіанах."
 
 #: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the total amount of lines that could be drawn."
+msgstr "Повертає значенн�, �ке є протилежним до значенн� параметра."
+
+#: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr "Повертає лишок за двома векторами."
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58349,6 +58600,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58490,6 +58747,18 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr "Обчи�лює векторний добуток цього вектора і [code]b[/code]."
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58537,6 +58806,13 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr "Обчи�лює векторний добуток двох векторів та [code]with[/code]."
+
+#: doc/classes/Theme.xml
 msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
@@ -58633,6 +58909,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60809,7 +61099,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60851,10 +61141,9 @@ msgid ""
 msgstr "Обчи�лює векторний добуток цього вектора і [code]b[/code]."
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
-msgstr ""
+#, fuzzy
+msgid "Returns the number of buttons in column [code]column[/code]."
+msgstr "Обчи�лює векторний добуток цього вектора і [code]b[/code]."
 
 #: doc/classes/TreeItem.xml
 #, fuzzy
diff --git a/doc/translations/vi.po b/doc/translations/vi.po
index 1c0c455fec..94b26a92d6 100644
--- a/doc/translations/vi.po
+++ b/doc/translations/vi.po
@@ -4,7 +4,7 @@
 # This file is distributed under the same license as the Godot source code.
 #
 # Rev <revolnoom7801@gmail.com>, 2021.
-# IoeCmcomc <hopdaigia2004@gmail.com>, 2021.
+# IoeCmcomc <hopdaigia2004@gmail.com>, 2021, 2022.
 # Hung <hungthitkhia@gmail.com>, 2021.
 # Giacat Buile <hatconan20024@gmail.com>, 2021.
 # Quinn Le <quinnsgn@gmail.com>, 2021.
@@ -12,8 +12,8 @@ msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine class reference\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
-"PO-Revision-Date: 2021-11-12 13:49+0000\n"
-"Last-Translator: Quinn Le <quinnsgn@gmail.com>\n"
+"PO-Revision-Date: 2022-02-26 10:27+0000\n"
+"Last-Translator: IoeCmcomc <hopdaigia2004@gmail.com>\n"
 "Language-Team: Vietnamese <https://hosted.weblate.org/projects/godot-engine/"
 "godot-class-reference/vi/>\n"
 "Language: vi\n"
@@ -21,7 +21,7 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8-bit\n"
 "Plural-Forms: nplurals=1; plural=0;\n"
-"X-Generator: Weblate 4.9.1-dev\n"
+"X-Generator: Weblate 4.11.1-dev\n"
 
 #: doc/tools/make_rst.py
 msgid "Description"
@@ -53,7 +53,7 @@ msgstr "Liệt kê"
 
 #: doc/tools/make_rst.py
 msgid "Constants"
-msgstr "Hằng số"
+msgstr "Hằng"
 
 #: doc/tools/make_rst.py
 msgid "Property Descriptions"
@@ -64,25 +64,24 @@ msgid "Method Descriptions"
 msgstr "Mô tả phương thức"
 
 #: doc/tools/make_rst.py
-#, fuzzy
 msgid "Theme Property Descriptions"
-msgstr "Nội dung Thuộc tính"
+msgstr "Mô tả thuộc tính chủ đ�"
 
 #: doc/tools/make_rst.py
 msgid "Inherits:"
-msgstr ""
+msgstr "Kế thừa:"
 
 #: doc/tools/make_rst.py
 msgid "Inherited By:"
-msgstr ""
+msgstr "�ược kế thừa bởi:"
 
 #: doc/tools/make_rst.py
 msgid "(overrides %s)"
-msgstr ""
+msgstr "(ghi đè %s)"
 
 #: doc/tools/make_rst.py
 msgid "Default"
-msgstr ""
+msgstr "Mặc định"
 
 #: doc/tools/make_rst.py
 msgid "Setter"
@@ -90,7 +89,7 @@ msgstr ""
 
 #: doc/tools/make_rst.py
 msgid "value"
-msgstr ""
+msgstr "giá trị"
 
 #: doc/tools/make_rst.py
 msgid "Getter"
@@ -99,22 +98,26 @@ msgstr ""
 #: doc/tools/make_rst.py
 msgid ""
 "This method should typically be overridden by the user to have any effect."
-msgstr ""
+msgstr "Phương thức này nên được ngư�i dùng ghi đè để có tác dụng."
 
 #: doc/tools/make_rst.py
 msgid ""
 "This method has no side effects. It doesn't modify any of the instance's "
 "member variables."
 msgstr ""
+"Phương thức này không có tác dụng phụ. Nó không sửa đổi bất cứ biến thành "
+"viên nào của hiện thể cả."
 
 #: doc/tools/make_rst.py
 msgid ""
 "This method accepts any number of arguments after the ones described here."
 msgstr ""
+"Phương thức này chấp nhận bất kì số đối số nào sau những cái đã được mô tả ở "
+"đây."
 
 #: doc/tools/make_rst.py
 msgid "This method is used to construct a type."
-msgstr ""
+msgstr "Phương thức này được dùng để tạo một kiểu."
 
 #: doc/tools/make_rst.py
 msgid ""
@@ -181,7 +184,6 @@ msgstr ""
 "Những tên mày được hỗ trợ giống với các hằng số ở trong [Màu]."
 
 #: modules/gdscript/doc_classes/@GDScript.xml
-#, fuzzy
 msgid ""
 "Returns the absolute value of parameter [code]s[/code] (i.e. positive "
 "value).\n"
@@ -189,8 +191,7 @@ msgid ""
 "a = abs(-1) # a is 1\n"
 "[/codeblock]"
 msgstr ""
-"Trả v� giá trị tuyệt đối của tham số [code]s[/code] (nghĩa là giá trị "
-"dÆ°Æ¡ng).\n"
+"Trả v� giá trị tuyệt đối của tham số [code]s[/code] (v.d. giá trị dương).\n"
 "[codeblock]\n"
 "# a là 1\n"
 "a = abs(-1)\n"
@@ -3756,6 +3757,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -5290,8 +5300,9 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
-msgstr ""
+#, fuzzy
+msgid "Returns whether the given path is filtered."
+msgstr "Trả v� [Texture2D] của khung hình được cho."
 
 #: doc/classes/AnimationNode.xml
 msgid ""
@@ -5315,7 +5326,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -5324,7 +5335,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9937,26 +9948,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -10114,6 +10109,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -13198,6 +13203,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -16037,8 +16054,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16795,6 +16813,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -23475,7 +23512,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25579,8 +25631,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25850,7 +25903,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -32394,7 +32452,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32774,8 +32837,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34616,6 +34683,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34629,6 +34705,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34671,6 +34759,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34722,6 +34820,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -37048,6 +37158,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -37218,6 +37347,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -37318,6 +37462,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37568,6 +37720,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38555,8 +38713,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -39349,7 +39507,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -47227,6 +47397,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -47237,8 +47418,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47751,14 +47934,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47887,8 +48075,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51831,6 +52019,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -53086,6 +53281,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54923,7 +55130,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54937,7 +55144,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55612,7 +55819,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55875,7 +56087,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55898,11 +56119,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55951,14 +56185,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -56128,8 +56364,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57623,6 +57867,16 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr "Trả v� côsin của tham số."
 
 #: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the total amount of lines that could be drawn."
+msgstr "Trả v� giá trị đối của tham số."
+
+#: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr "Trả v� phần dư của hai vector."
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58663,6 +58917,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58803,6 +59063,18 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr "Trả v� phần dư của hai vector."
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58851,6 +59123,12 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
 "[b]Note:[/b] This modifies the current theme. If you want to merge two "
@@ -58946,6 +59224,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -61122,7 +61414,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -61164,10 +61456,9 @@ msgid ""
 msgstr "Trả v� sin của tham số."
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
-msgstr ""
+#, fuzzy
+msgid "Returns the number of buttons in column [code]column[/code]."
+msgstr "Trả v� sin của tham số."
 
 #: doc/classes/TreeItem.xml
 #, fuzzy
@@ -70556,11 +70847,11 @@ msgstr ""
 
 #: doc/classes/VisualShaderNodeVectorFunc.xml
 msgid "Converts RGB vector to HSV equivalent."
-msgstr "Chuyển vector màu RGB sang HSV tương ứng."
+msgstr "Chuyển véc tơ màu RGB sang HSV tương ứng."
 
 #: doc/classes/VisualShaderNodeVectorFunc.xml
 msgid "Converts HSV vector to RGB equivalent."
-msgstr "Chuyển vector màu HSV sang RGB tương ứng."
+msgstr "Chuyển véc tơ màu HSV sang RGB tương ứng."
 
 #: doc/classes/VisualShaderNodeVectorFunc.xml
 msgid "Returns the absolute value of the parameter."
diff --git a/doc/translations/zh_CN.po b/doc/translations/zh_CN.po
index fdd36621c7..43706eb180 100644
--- a/doc/translations/zh_CN.po
+++ b/doc/translations/zh_CN.po
@@ -62,7 +62,7 @@ msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine class reference\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
-"PO-Revision-Date: 2022-02-14 22:08+0000\n"
+"PO-Revision-Date: 2022-03-08 06:54+0000\n"
 "Last-Translator: Haoyu Qiu <timothyqiu32@gmail.com>\n"
 "Language-Team: Chinese (Simplified) <https://hosted.weblate.org/projects/"
 "godot-engine/godot-class-reference/zh_Hans/>\n"
@@ -71,7 +71,7 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8-bit\n"
 "Plural-Forms: nplurals=2; plural=(n != 1);\n"
-"X-Generator: Weblate 4.11-dev\n"
+"X-Generator: Weblate 4.12-dev\n"
 
 #: doc/tools/make_rst.py
 msgid "Description"
@@ -4182,6 +4182,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4631,18 +4640,17 @@ msgstr ""
 #: doc/classes/Transform.xml doc/classes/Transform2D.xml
 #: doc/classes/Vector2.xml doc/classes/Vector3.xml
 msgid "Math tutorial index"
-msgstr ""
+msgstr "数学教程索引"
 
 #: doc/classes/AABB.xml doc/classes/Rect2.xml doc/classes/Vector2.xml
 #: doc/classes/Vector3.xml
-#, fuzzy
 msgid "Vector math"
-msgstr "用于二维数学的��。"
+msgstr "��数学"
 
 #: doc/classes/AABB.xml doc/classes/Rect2.xml doc/classes/Vector2.xml
 #: doc/classes/Vector3.xml
 msgid "Advanced vector math"
-msgstr ""
+msgstr "高等��数学"
 
 #: doc/classes/AABB.xml
 msgid "Constructs an [AABB] from a position and size."
@@ -5081,7 +5089,7 @@ msgstr ""
 
 #: doc/classes/AnimatedSprite.xml doc/classes/AnimationPlayer.xml
 msgid "2D Sprite animation"
-msgstr ""
+msgstr "2D 精�动画"
 
 #: doc/classes/AnimatedSprite.xml doc/classes/Area2D.xml
 #: doc/classes/AudioStreamPlayer.xml doc/classes/Button.xml
@@ -5091,7 +5099,7 @@ msgstr ""
 #: doc/classes/Particles2D.xml doc/classes/Timer.xml
 #: doc/classes/VisibilityNotifier2D.xml
 msgid "2D Dodge The Creeps Demo"
-msgstr ""
+msgstr "2D Dodge The Creeps 演示"
 
 #: doc/classes/AnimatedSprite.xml
 msgid ""
@@ -5179,7 +5187,7 @@ msgstr ""
 
 #: doc/classes/AnimatedSprite3D.xml
 msgid "2D Sprite animation (also applies to 3D)"
-msgstr ""
+msgstr "2D 精�动画（也适用于 3D）"
 
 #: doc/classes/AnimatedSprite3D.xml
 msgid "Returns [code]true[/code] if an animation is currently being played."
@@ -5861,7 +5869,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid "Base resource for [AnimationTree] nodes."
-msgstr "[AnimationTree]节点的基础资�。"
+msgstr "[AnimationTree] 节点的基础资�。"
 
 #: doc/classes/AnimationNode.xml
 msgid ""
@@ -5889,8 +5897,8 @@ msgid ""
 "passed, as well as whether [code]seek[/code] happened."
 msgstr ""
 "按 [code]blend[/code] �混�一个动画（�称必须在链接的 [AnimationPlayer] 中有"
-"效）。�以通过 [code]time[/code] 和 [code]delta[/code]，以�是��生 "
-"[code]seek[/code]。"
+"效）。�以传入时间 [code]time[/code] 和增� [code]delta[/code]，以�表示是�"
+"�生寻�的 [code]seek[/code]。"
 
 #: doc/classes/AnimationNode.xml
 msgid ""
@@ -5900,9 +5908,10 @@ msgid ""
 "absolute. A filter mode may be optionally passed (see [enum FilterAction] "
 "for options)."
 msgstr ""
-"混�一个输入。这�对为 [AnimationNodeBlendTree] 创建的节点有用。[code]time[/"
-"code] �数是一个相对三角，除� [code]seek[/code] 是 [code]true[/code]，在这�"
-"情况下，它是�对值。�以选择传递过滤模�（选项请�阅 [enum FilterAction]）。"
+"混�一个输入。这�对为 [AnimationNodeBlendTree] 创建的节点有用。时间�数 "
+"[code]time[/code] 是一个相对的增�，除� [code]seek[/code] 是 [code]true[/"
+"code]，此时它是�对的时间。�以选择传递过滤模�（选项请�阅 [enum "
+"FilterAction]）。"
 
 #: doc/classes/AnimationNode.xml
 msgid ""
@@ -5911,8 +5920,7 @@ msgid ""
 "instead, else editors will not display your node for addition."
 msgstr ""
 "混��一个动画节点（在这个节点包��动画节点的情况下）。这个函数�有在你继承 "
-"[AnimationRootNode] 而�是 [AnimationRootNode] 时�有用，�则编辑器将�会显示"
-"你的节点进行添加。"
+"[AnimationRootNode] 时�有用，�则编辑器将�会显示你的节点进行添加。"
 
 #: doc/classes/AnimationNode.xml
 msgid "Gets the text caption for this node (used by some editors)."
@@ -5936,7 +5944,7 @@ msgstr ""
 msgid ""
 "Amount of inputs in this node, only useful for nodes that go into "
 "[AnimationNodeBlendTree]."
-msgstr "这个节点的输入数�，�对进入[AnimationNodeBlendTree]的节点有用。"
+msgstr "这个节点的输入数�，�对进入 [AnimationNodeBlendTree] 的节点有用。"
 
 #: doc/classes/AnimationNode.xml
 msgid "Gets the name of an input by index."
@@ -5974,7 +5982,8 @@ msgid ""
 msgstr "返回[code]true[/code]，是�希望混�树编辑器在此节点上显示过滤器编辑。"
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
+#, fuzzy
+msgid "Returns whether the given path is filtered."
 msgstr "返回[code]true[/code]是�对指定路径进行过滤。"
 
 #: doc/classes/AnimationNode.xml
@@ -5988,12 +5997,11 @@ msgid ""
 "This function should return the time left for the current animation to "
 "finish (if unsure, pass the value from the main blend being called)."
 msgstr ""
-"当一个自定义节点被处�时，用户定义的回调被调用。[code]time[/code]�数是一个相"
-"对的delta，除�[code]seek[/code]是[code]true[/code]，在这�情况下，它是�对"
-"的。\n"
-"在这里，调用[method blend_input]�[method blend_node]或[method "
-"blend_animation]函数。你也�以使用[method get_parameter]和[method "
-"set_parameter]�修改本地存储。\n"
+"用户定义的回调，会在处�自定义节点时调用。时间�数 [code]time[/code] 是一个相"
+"对的增�，除� [code]seek[/code] 是 [code]true[/code]，此时它是�对的时间。\n"
+"请在这里调用 [method blend_input]�[method blend_node] 或 [method "
+"blend_animation] 函数。你也�以使用 [method get_parameter] 和 [method "
+"set_parameter] �修改本地存储。\n"
 "这个函数应该返回当�动画完�的剩余时间（如果�确定，请传递被调用的主混�"
 "值）。"
 
@@ -6006,8 +6014,9 @@ msgid "Adds or removes a path for the filter."
 msgstr "添加或删除筛选器的路径。"
 
 #: doc/classes/AnimationNode.xml
+#, fuzzy
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 "设置一个自定义�数。这些�数被用作本地存储，因为资��以在树或场景中��使"
@@ -6015,10 +6024,11 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid "If [code]true[/code], filtering is enabled."
-msgstr "如果[code]true[/code]，则�用过滤功能。"
+msgstr "如果为 [code]true[/code]，则�用筛选功能。"
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+#, fuzzy
+msgid "Emitted when the node was removed from the graph."
 msgstr "当该节点从图中删除时调用。"
 
 #: doc/classes/AnimationNode.xml
@@ -6034,23 +6044,23 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid "Do not use filtering."
-msgstr "��使用过滤功能。"
+msgstr "��使用筛选功能。"
 
 #: doc/classes/AnimationNode.xml
 msgid "Paths matching the filter will be allowed to pass."
-msgstr "匹�过滤器的路径将被�许通过。"
+msgstr "与筛选器匹�的路径将被�许通过。"
 
 #: doc/classes/AnimationNode.xml
 msgid "Paths matching the filter will be discarded."
-msgstr "与过滤器匹�的路径将被丢弃。"
+msgstr "与筛选器匹�的路径将被丢弃。"
 
 #: doc/classes/AnimationNode.xml
 msgid "Paths matching the filter will be blended (by the blend value)."
-msgstr "与滤镜相匹�的路径将被混�（根�混�值）。"
+msgstr "与筛选器匹�的路径将被混�（根�混�值）。"
 
 #: doc/classes/AnimationNodeAdd2.xml
 msgid "Blends two animations additively inside of an [AnimationNodeBlendTree]."
-msgstr "在一个[AnimationNodeBlendTree]中加法地混�两个动画。"
+msgstr "在 [AnimationNodeBlendTree] 中加法地混�两个动画。"
 
 #: doc/classes/AnimationNodeAdd2.xml
 msgid ""
@@ -6074,7 +6084,7 @@ msgstr ""
 msgid ""
 "Blends two of three animations additively inside of an "
 "[AnimationNodeBlendTree]."
-msgstr "在[AnimationNodeBlendTree]内部将三个动画中的两个动画相加。"
+msgstr "在 [AnimationNodeBlendTree] 中将三个动画中的两个动画相加。"
 
 #: doc/classes/AnimationNodeAdd3.xml
 msgid ""
@@ -6101,9 +6111,8 @@ msgstr ""
 #: doc/classes/AnimationNodeOneShot.xml doc/classes/AnimationNodeOutput.xml
 #: doc/classes/AnimationNodeTimeScale.xml
 #: doc/classes/AnimationNodeTransition.xml
-#, fuzzy
 msgid "AnimationTree"
-msgstr "Animation节点。"
+msgstr "AnimationTree"
 
 #: doc/classes/AnimationNodeAdd3.xml doc/classes/AnimationNodeAnimation.xml
 #: doc/classes/AnimationNodeBlend2.xml
@@ -6119,11 +6128,11 @@ msgstr "Animation节点。"
 #: doc/classes/Quat.xml doc/classes/Skeleton.xml doc/classes/SpotLight.xml
 #: doc/classes/StaticBody.xml doc/classes/WorldEnvironment.xml
 msgid "Third Person Shooter Demo"
-msgstr ""
+msgstr "第三人称射击演示"
 
 #: doc/classes/AnimationNodeAnimation.xml
 msgid "Input animation to use in an [AnimationNodeBlendTree]."
-msgstr "输入�在[AnimationNodeBlendTree]中使用的动画。"
+msgstr "输入�在 [AnimationNodeBlendTree] 中使用的动画。"
 
 #: doc/classes/AnimationNodeAnimation.xml
 msgid ""
@@ -6143,7 +6152,7 @@ msgstr ""
 #: doc/classes/MeshInstance.xml doc/classes/MeshLibrary.xml
 #: doc/classes/ProjectSettings.xml doc/classes/Transform.xml
 msgid "3D Platformer Demo"
-msgstr ""
+msgstr "3D 平�跳跃演示"
 
 #: doc/classes/AnimationNodeAnimation.xml
 msgid ""
@@ -6423,14 +6432,14 @@ msgstr ""
 
 #: doc/classes/AnimationNodeBlendTree.xml
 msgid "[AnimationTree] node resource that contains many blend type nodes."
-msgstr "[AnimationTree]节点资�，其中包�许多混�类型节点。"
+msgstr "[AnimationTree] 节点资�，其中包�许多混�类型节点。"
 
 #: doc/classes/AnimationNodeBlendTree.xml
 msgid ""
 "This node may contain a sub-tree of any other blend type nodes, such as mix, "
 "blend2, blend3, one shot, etc. This is one of the most commonly used roots."
 msgstr ""
-"该节点�以包�任何其他混�类型节点的�树，例如mix，blend2，blend3，一个shot"
+"该节点�以包�任何其他混�类型节点的�树，例如 mix�blend2�blend3�one shot "
 "等。这是最常用的根之一。"
 
 #: doc/classes/AnimationNodeBlendTree.xml
@@ -6438,7 +6447,7 @@ msgid ""
 "Adds an [AnimationNode] at the given [code]position[/code]. The [code]name[/"
 "code] is used to identify the created sub-node later."
 msgstr ""
-"在给定的 [code]position[/code] 添加一个 [AnimationNode]。[code]name[/code]用"
+"在给定的 [code]position[/code] 添加一个 [AnimationNode]。[code]name[/code] 用"
 "于以�识别创建的�节点。"
 
 #: doc/classes/AnimationNodeBlendTree.xml
@@ -6455,18 +6464,18 @@ msgstr "断开连接到指定输入端的节点。"
 
 #: doc/classes/AnimationNodeBlendTree.xml
 msgid "Returns the sub-node with the specified [code]name[/code]."
-msgstr "返回带有指定[code]name[/code]的�节点。"
+msgstr "返回�称为 [code]name[/code] 的�节点。"
 
 #: doc/classes/AnimationNodeBlendTree.xml
 msgid ""
 "Returns the position of the sub-node with the specified [code]name[/code]."
-msgstr "返回指定[code]name[/code]的�节点的�置。"
+msgstr "返回�称为 [code]name[/code] 的�节点的�置。"
 
 #: doc/classes/AnimationNodeBlendTree.xml
 msgid ""
 "Returns [code]true[/code] if a sub-node with specified [code]name[/code] "
 "exists."
-msgstr "如果存在指定[code]name[/code]的�节点，返回[code]true[/code]。"
+msgstr "如果存在�称为 [code]name[/code] 的�节点，则返回 [code]true[/code]。"
 
 #: doc/classes/AnimationNodeBlendTree.xml
 msgid "Removes a sub-node."
@@ -6494,7 +6503,7 @@ msgstr "输入节点为 [code]null[/code]。"
 
 #: doc/classes/AnimationNodeBlendTree.xml
 msgid "The specified input port is out of range."
-msgstr "指定的输入端�已出范围。"
+msgstr "指定的输入端�超出范围。"
 
 #: doc/classes/AnimationNodeBlendTree.xml
 msgid "The output node is [code]null[/code]."
@@ -6502,7 +6511,7 @@ msgstr "输出节点为 [code]null[/code]。"
 
 #: doc/classes/AnimationNodeBlendTree.xml
 msgid "Input and output nodes are the same."
-msgstr "输入和输出节点是一样的。"
+msgstr "输入和输出节点相�。"
 
 #: doc/classes/AnimationNodeBlendTree.xml
 msgid "The specified connection already exists."
@@ -6892,9 +6901,8 @@ msgstr ""
 "更新动画的目标属性是在处�时进行的。"
 
 #: doc/classes/AnimationPlayer.xml
-#, fuzzy
 msgid "Animation tutorial index"
-msgstr "Animation节点。"
+msgstr "动画教程索引"
 
 #: doc/classes/AnimationPlayer.xml
 msgid ""
@@ -7243,9 +7251,8 @@ msgstr ""
 "画。"
 
 #: doc/classes/AnimationTree.xml
-#, fuzzy
 msgid "Using AnimationTree"
-msgstr "�置此 [AnimationTreePlayer]。"
+msgstr "使用 AnimationTree"
 
 #: doc/classes/AnimationTree.xml
 msgid "Manually advance the animations by the specified time (in seconds)."
@@ -7784,7 +7791,7 @@ msgstr ""
 #: doc/classes/Area.xml doc/classes/QuadMesh.xml doc/classes/Viewport.xml
 #: doc/classes/ViewportTexture.xml
 msgid "GUI in 3D Demo"
-msgstr ""
+msgstr "3D GUI 演示"
 
 #: doc/classes/Area.xml
 msgid ""
@@ -8101,18 +8108,18 @@ msgstr ""
 
 #: doc/classes/Area2D.xml
 msgid "Using Area2D"
-msgstr ""
+msgstr "使用 Area2D"
 
 #: doc/classes/Area2D.xml doc/classes/CollisionShape2D.xml
 #: doc/classes/RectangleShape2D.xml
 msgid "2D Pong Demo"
-msgstr ""
+msgstr "2D Pong 演示"
 
 #: doc/classes/Area2D.xml doc/classes/Camera2D.xml
 #: doc/classes/KinematicBody2D.xml doc/classes/TileMap.xml
 #: doc/classes/TileSet.xml
 msgid "2D Platformer Demo"
-msgstr ""
+msgstr "2D 平�跳跃演示"
 
 #: doc/classes/Area2D.xml
 msgid ""
@@ -8684,7 +8691,6 @@ msgstr ""
 "[/codeblock]"
 
 #: doc/classes/Array.xml
-#, fuzzy
 msgid ""
 "Returns a hashed 32-bit integer value representing the array and its "
 "contents.\n"
@@ -8693,9 +8699,10 @@ msgid ""
 "does [i]not[/i] imply the arrays are equal, because different arrays can "
 "have identical hash values due to hash collisions."
 msgstr ""
-"返回代表这个数组�其内容的整数哈希值。\n"
-"[b]注�：[/b]仅仅内容相�的数组会产生��的哈希值, 必须�完全一致的数组�会产"
-"生相�的哈希值."
+"返回代表该数组�其内容的 32 �整数哈希值。\n"
+"[b]注�：[/b]内容相�的 [Array] 会得到一致的哈希值。然而，�之�然。返回一致"
+"的哈希值[i]并�[/i]�味�数组相等，因为��的数组�能因为哈希碰撞而得到一致的"
+"哈希值。"
 
 #: doc/classes/Array.xml
 msgid ""
@@ -10507,7 +10514,7 @@ msgstr "使用二维��作为边缘的AStar类表示。"
 msgid ""
 "This is a wrapper for the [AStar] class which uses 2D vectors instead of 3D "
 "vectors."
-msgstr "这是[AStar]类的包装，该类使用2D��而�是3D��。"
+msgstr "这是 [AStar] 类的包装，该类使用 2D ��而�是 3D ��。"
 
 #: doc/classes/AStar2D.xml
 msgid ""
@@ -10780,9 +10787,8 @@ msgstr "音频总线的基础资�。在该资�所应用的总线上应用音
 #: doc/classes/AudioEffect.xml doc/classes/AudioEffectRecord.xml
 #: doc/classes/AudioServer.xml doc/classes/AudioStream.xml
 #: doc/classes/AudioStreamPlayer.xml
-#, fuzzy
 msgid "Audio Mic Record Demo"
-msgstr "音频频谱演示"
+msgstr "音频麦克风录音演示"
 
 #: doc/classes/AudioEffectAmplify.xml
 msgid ""
@@ -11120,7 +11126,7 @@ msgstr ""
 #: doc/classes/AudioEffectHighShelfFilter.xml
 #: doc/classes/AudioEffectLowShelfFilter.xml doc/classes/AudioServer.xml
 msgid "Audio buses"
-msgstr ""
+msgstr "音频总线"
 
 #: doc/classes/AudioEffectDistortion.xml
 msgid "Distortion power. Value can range from 0 to 1."
@@ -11606,7 +11612,7 @@ msgstr ""
 
 #: doc/classes/AudioEffectRecord.xml
 msgid "Recording with microphone"
-msgstr ""
+msgstr "使用麦克风录音"
 
 #: doc/classes/AudioEffectRecord.xml
 msgid "Returns the recorded sample."
@@ -11761,9 +11767,8 @@ msgstr ""
 "频）以�通过语音接�进行播放。"
 
 #: doc/classes/AudioServer.xml doc/classes/AudioStreamPlayer.xml
-#, fuzzy
 msgid "Audio Device Changer Demo"
-msgstr "音频频谱演示"
+msgstr "音频设备切�演示"
 
 #: doc/classes/AudioServer.xml
 msgid "Adds a bus at [code]at_position[/code]."
@@ -11778,27 +11783,10 @@ msgstr ""
 "[AudioEffect] 效果。"
 
 #: doc/classes/AudioServer.xml
-#, fuzzy
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr "当�音频输入设备的�称（�阅[method capture_get_device_list]）。"
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr "返回系统上检测到的所有音频输入设备的�称。"
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr "使用�用的总线和效果生�[AudioBusLayout]。"
 
@@ -11972,6 +11960,21 @@ msgid "Number of available audio buses."
 msgstr "�用音频总线的数�。"
 
 #: doc/classes/AudioServer.xml
+#, fuzzy
+msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+"当�音频输出设备�称（� [method get_device_list]）。在具有多个音频输出的系统"
+"中（例如模拟�USB�HDMI 音频），�用于选择音频输出设备。将值设为 "
+"[code]\"Default\"[/code] 则会从系统默认的音频输出播放音频。如果设置了无效的设"
+"备�称，该值会被��为 [code]\"Default\"[/code]。"
+
+#: doc/classes/AudioServer.xml
 msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
@@ -11980,6 +11983,10 @@ msgid ""
 "output. If an invalid device name is set, the value will be reverted back to "
 "[code]\"Default\"[/code]."
 msgstr ""
+"当�音频输出设备�称（� [method get_device_list]）。在具有多个音频输出的系统"
+"中（例如模拟�USB�HDMI 音频），�用于选择音频输出设备。将值设为 "
+"[code]\"Default\"[/code] 则会从系统默认的音频输出播放音频。如果设置了无效的设"
+"备�称，该值会被��为 [code]\"Default\"[/code]。"
 
 #: doc/classes/AudioServer.xml
 msgid ""
@@ -12022,16 +12029,14 @@ msgstr ""
 "[AudioStreamSample]）和 OGG（通过[AudioStreamOGGVorbis]）文件格�。"
 
 #: doc/classes/AudioStream.xml doc/classes/AudioStreamPlayer.xml
-#, fuzzy
 msgid "Audio streams"
-msgstr "音频频谱演示"
+msgstr "音频�"
 
 #: doc/classes/AudioStream.xml doc/classes/AudioStreamGenerator.xml
 #: doc/classes/AudioStreamGeneratorPlayback.xml
 #: doc/classes/AudioStreamPlayback.xml doc/classes/AudioStreamPlayer.xml
-#, fuzzy
 msgid "Audio Generator Demo"
-msgstr "音频频谱演示"
+msgstr "音频生�器演示"
 
 #: doc/classes/AudioStream.xml
 msgid "Returns the length of the audio stream in seconds."
@@ -12329,6 +12334,9 @@ msgid ""
 "\"water\" area so that sounds played in the water are redirected through an "
 "audio bus to make them sound like they are being played underwater."
 msgstr ""
+"决定对混��音频总线效果有影�的 [Area2D] 层。�使用区域对 [AudioStream] 进行"
+"�定�，使其在特定的音频总线中播放。一个例�是�以用�制作“水域�，将水中播放"
+"的声音�定�至�独的音频总线，让声音�起��是在水下播放。"
 
 #: doc/classes/AudioStreamPlayer2D.xml
 msgid "Dampens audio over distance with this as an exponent."
@@ -12386,6 +12394,9 @@ msgid ""
 "\"water\" area so that sounds played in the water are redirected through an "
 "audio bus to make them sound like they are being played underwater."
 msgstr ""
+"决定对混��音频总线效果有影�的 [Area] 层。�使用区域对 [AudioStream] 进行�"
+"定�，使其在特定的音频总线中播放。一个例�是�以用�制作“水域�，将水中播放的"
+"声音�定�至�独的音频总线，让声音�起��是在水下播放。"
 
 #: doc/classes/AudioStreamPlayer3D.xml
 msgid ""
@@ -12854,7 +12865,6 @@ msgstr ""
 "象。"
 
 #: doc/classes/BakedLightmap.xml
-#, fuzzy
 msgid ""
 "Bias value to reduce the amount of light propagation in the captured octree."
 msgstr "�置值，用于�少�获的八�树中的光传播�。"
@@ -12934,7 +12944,6 @@ msgid "The calculated light data."
 msgstr "计算出的光照数�。"
 
 #: doc/classes/BakedLightmap.xml
-#, fuzzy
 msgid ""
 "Determines the amount of samples per texel used in indirect light baking. "
 "The amount of samples for each quality level can be configured in the "
@@ -13302,17 +13311,16 @@ msgstr ""
 
 #: doc/classes/Basis.xml doc/classes/Transform.xml doc/classes/Transform2D.xml
 msgid "Matrices and transforms"
-msgstr ""
+msgstr "矩阵与��"
 
 #: doc/classes/Basis.xml doc/classes/Quat.xml doc/classes/Transform.xml
-#, fuzzy
 msgid "Using 3D transforms"
-msgstr "使用 3D ��时使用此选项。"
+msgstr "使用 3D ��"
 
 #: doc/classes/Basis.xml doc/classes/Line2D.xml doc/classes/Transform.xml
 #: doc/classes/Transform2D.xml doc/classes/Vector2.xml doc/classes/Vector3.xml
 msgid "Matrix Transform Demo"
-msgstr ""
+msgstr "矩阵��演示"
 
 #: doc/classes/Basis.xml doc/classes/CylinderShape.xml
 #: doc/classes/Dictionary.xml doc/classes/DynamicFont.xml
@@ -13324,12 +13332,12 @@ msgstr ""
 #: doc/classes/TextureRect.xml doc/classes/Thread.xml
 #: doc/classes/VBoxContainer.xml
 msgid "3D Voxel Demo"
-msgstr ""
+msgstr "3D 体素演示"
 
 #: doc/classes/Basis.xml doc/classes/Line2D.xml doc/classes/Transform.xml
 #: doc/classes/Transform2D.xml
 msgid "2.5D Demo"
-msgstr ""
+msgstr "2.5D 演示"
 
 #: doc/classes/Basis.xml
 msgid "Constructs a pure rotation basis matrix from the given quaternion."
@@ -13552,6 +13560,9 @@ msgid ""
 "are being converted into white pixels, and [code]false[/code] bits into "
 "black."
 msgstr ""
+"返回与该�图尺寸一致的图�，格� [enum Image.Format] 为 [code]FORMAT_L8[/"
+"code]。该�图中为 [code]true[/code] 的�会被转为白色�素，为 [code]false[/"
+"code] 的�会被转为黑色�素。"
 
 #: doc/classes/BitMap.xml
 msgid ""
@@ -13596,9 +13607,8 @@ msgstr ""
 "grow_mask] 影�。"
 
 #: doc/classes/BitMap.xml
-#, fuzzy
 msgid "Resizes the image to [code]new_size[/code]."
-msgstr "使用颜色 [code]color[/code] 填充图�。"
+msgstr "将图�修改为新尺寸 [code]new_size[/code]。"
 
 #: doc/classes/BitMap.xml
 msgid ""
@@ -13940,14 +13950,14 @@ msgstr "3D 盒�形状，�以是 [PhysicsBody] 或 [Area] 的�项。"
 #: doc/classes/RigidBody.xml doc/classes/SphereShape.xml
 #: doc/classes/StaticBody.xml
 msgid "3D Physics Tests Demo"
-msgstr ""
+msgstr "3D 物�测试演示"
 
 #: doc/classes/BoxShape.xml doc/classes/CollisionShape.xml
 #: modules/gridmap/doc_classes/GridMap.xml doc/classes/KinematicBody.xml
 #: doc/classes/Mesh.xml doc/classes/MeshInstance.xml
 #: doc/classes/MeshLibrary.xml
 msgid "3D Kinematic Character Demo"
-msgstr ""
+msgstr "3D 动力学角色演示"
 
 #: doc/classes/BoxShape.xml
 msgid ""
@@ -14008,7 +14018,7 @@ msgstr ""
 #: doc/classes/PoolStringArray.xml doc/classes/ProjectSettings.xml
 #: doc/classes/ResourceLoader.xml doc/classes/RichTextLabel.xml
 msgid "OS Test Demo"
-msgstr ""
+msgstr "�作系统测试演示"
 
 #: doc/classes/Button.xml
 msgid ""
@@ -14053,6 +14063,8 @@ msgid ""
 "button. Uses the same [enum TextAlign] constants as the text alignment. If "
 "centered, text will draw on top of the icon."
 msgstr ""
+"指定图标应该在按钮上左对���对��还是居中。请使用与文本对�相�的 [enum "
+"TextAlign] 常�。如果居中，文本将绘制在图标上。"
 
 #: doc/classes/Button.xml doc/classes/LinkButton.xml
 msgid "The button's text that will be displayed inside the button's area."
@@ -14555,12 +14567,12 @@ msgstr ""
 
 #: doc/classes/Camera2D.xml doc/classes/TileMap.xml doc/classes/TileSet.xml
 msgid "2D Isometric Demo"
-msgstr ""
+msgstr "2D 等轴测演示"
 
 #: doc/classes/Camera2D.xml doc/classes/Environment.xml
 #: doc/classes/WorldEnvironment.xml
 msgid "2D HDR Demo"
-msgstr ""
+msgstr "2D HDR 演示"
 
 #: doc/classes/Camera2D.xml
 msgid "Aligns the camera to the tracked node."
@@ -15064,11 +15076,11 @@ msgstr ""
 #: doc/classes/CanvasItem.xml doc/classes/CanvasLayer.xml
 #: doc/classes/InputEvent.xml doc/classes/Viewport.xml
 msgid "Viewport and canvas transforms"
-msgstr ""
+msgstr "Viewport 和画布��"
 
 #: doc/classes/CanvasItem.xml doc/classes/Control.xml doc/classes/Node2D.xml
 msgid "Custom drawing in 2D"
-msgstr ""
+msgstr "2D 中的自定义绘图"
 
 #: doc/classes/CanvasItem.xml
 msgid ""
@@ -15330,6 +15342,8 @@ msgid ""
 "Returns the mouse's position in the [CanvasLayer] that this [CanvasItem] is "
 "in using the coordinate system of the [CanvasLayer]."
 msgstr ""
+"返回该 [CanvasItem] 所在的 [CanvasLayer] 中鼠标的�置，使用该 [CanvasLayer] "
+"的�标系。"
 
 #: doc/classes/CanvasItem.xml
 msgid "Returns the global transform matrix of this item."
@@ -15344,7 +15358,7 @@ msgstr "返回此项目相对于画布的全局��矩阵。"
 msgid ""
 "Returns the mouse's position in this [CanvasItem] using the local coordinate "
 "system of this [CanvasItem]."
-msgstr ""
+msgstr "返回该 [CanvasItem] 中鼠标的�置，使用该 [CanvasItem] 的局部�标系。"
 
 #: doc/classes/CanvasItem.xml
 msgid "Returns the transform matrix of this item."
@@ -15688,15 +15702,32 @@ msgstr ""
 "（在 1+ 层或更高层中）或背景（在 -1 层或更低层中）�常有用。"
 
 #: doc/classes/CanvasLayer.xml
-#, fuzzy
 msgid "Canvas layers"
-msgstr "画布绘图层。"
+msgstr "画布层"
 
 #: doc/classes/CanvasLayer.xml
 msgid "Returns the RID of the canvas used by this layer."
 msgstr "返回此层使用的画布的 RID。"
 
 #: doc/classes/CanvasLayer.xml
+#, fuzzy
+msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+"如果该 [CanvasItem] 目�是��的，则将其��。等价于将 [member visible] 设为 "
+"[code]false[/code]。"
+
+#: doc/classes/CanvasLayer.xml
+#, fuzzy
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+"如果该 [CanvasItem] 目�是��的，则将其��。等价于将 [member visible] 设为 "
+"[code]false[/code]。"
+
+#: doc/classes/CanvasLayer.xml
 msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
@@ -15750,11 +15781,14 @@ msgid ""
 "Unlike [member CanvasItem.visible], visibility of a [CanvasLayer] isn't "
 "propagated to underlying layers."
 msgstr ""
+"为 [code]false[/code] 时，该 [CanvasLayer] 下的所有 [CanvasItem] 都会被�"
+"�。\n"
+"与 [member CanvasItem.visible] ��，[CanvasLayer] 的显示与��会传播到其内部"
+"的层。"
 
 #: doc/classes/CanvasLayer.xml
-#, fuzzy
 msgid "Emitted when visibility of the layer is changed. See [member visible]."
-msgstr "当VisibilityNotifier退出[Camera]的视图时触�。"
+msgstr "当该层的��性�生�化时触�。请�阅 [member visible]。"
 
 #: doc/classes/CanvasModulate.xml
 msgid "Tint the entire canvas."
@@ -16118,49 +16152,49 @@ msgstr "用于[CheckButton]文本的[Font]。"
 
 #: doc/classes/CheckButton.xml
 msgid "The icon to display when the [CheckButton] is unchecked."
-msgstr "未选中[CheckButton]时显示的图标。"
+msgstr "当 [CheckButton] 未勾选时，显示的图标。"
 
 #: doc/classes/CheckButton.xml
 msgid "The icon to display when the [CheckButton] is unchecked and disabled."
-msgstr "未选中和�用[CheckButton]时显示的图标。"
+msgstr "当 [CheckButton] 未勾选且被�用时，显示的图标。"
 
 #: doc/classes/CheckButton.xml
 msgid "The icon to display when the [CheckButton] is checked."
-msgstr "选中[CheckButton]时显示的图标。"
+msgstr "当 [CheckButton] 已勾选时，显示的图标。"
 
 #: doc/classes/CheckButton.xml
 msgid "The icon to display when the [CheckButton] is checked and disabled."
-msgstr "选中并�用[CheckButton]时显示的图标。"
+msgstr "当 [CheckButton] 已勾选且被�用时，显示的图标。"
 
 #: doc/classes/CheckButton.xml
 msgid ""
 "The [StyleBox] to display as a background when the [CheckButton] is disabled."
-msgstr "当[CheckButton]被�用时，作为背景显示的[StyleBox]。"
+msgstr "当 [CheckButton] 被�用时，作为背景显示的 [StyleBox]。"
 
 #: doc/classes/CheckButton.xml
 msgid ""
 "The [StyleBox] to display as a background when the [CheckButton] is focused."
-msgstr "当[CheckButton]被�焦时作为背景显示的[StyleBox]。"
+msgstr "当 [CheckButton] 被�焦时，作为背景显示的 [StyleBox]。"
 
 #: doc/classes/CheckButton.xml
 msgid ""
 "The [StyleBox] to display as a background when the [CheckButton] is hovered."
-msgstr "当[CheckButton]被悬�时作为背景显示的[StyleBox]。"
+msgstr "当 [CheckButton] 被悬�时，作为背景显示的 [StyleBox]。"
 
 #: doc/classes/CheckButton.xml
 msgid ""
 "The [StyleBox] to display as a background when the [CheckButton] is hovered "
 "and pressed."
-msgstr "当[CheckButton]被悬�和按下时作为背景显示的[StyleBox]。"
+msgstr "当 [CheckButton] 被悬�且被按下时，作为背景显示的 [StyleBox]。"
 
 #: doc/classes/CheckButton.xml
 msgid ""
 "The [StyleBox] to display as a background when the [CheckButton] is pressed."
-msgstr "当[CheckButton]被按下时作为背景显示的[StyleBox]。"
+msgstr "当 [CheckButton] 被按下时，作为背景显示的 [StyleBox]。"
 
 #: doc/classes/CircleShape2D.xml
 msgid "Circular shape for 2D collisions."
-msgstr "用于2D碰撞的圆形。"
+msgstr "用于 2D 碰撞的圆形。"
 
 #: doc/classes/CircleShape2D.xml
 msgid ""
@@ -16168,8 +16202,8 @@ msgid ""
 "small characters and its collision detection with everything else is very "
 "fast."
 msgstr ""
-"用于2D碰撞的圆形形状。这�形状对塑造�或�角色很有用，它与其他东西的碰撞检测"
-"�常快。"
+"用于 2D 碰撞的圆形形状。这�形状对塑造�或�角色很有用，它与其他东西的碰撞检"
+"测�常快。"
 
 #: doc/classes/CircleShape2D.xml
 msgid "The circle's radius."
@@ -16622,15 +16656,14 @@ msgstr ""
 "件。"
 
 #: doc/classes/CollisionObject.xml doc/classes/CollisionObject2D.xml
-#, fuzzy
 msgid ""
 "If [code]true[/code], this object is pickable. A pickable object can detect "
 "the mouse pointer entering/leaving, and if the mouse is inside it, report "
 "input events. Requires at least one [member collision_layer] bit to be set."
 msgstr ""
-"如果[code]true[/code]，这个对象是�拾�的。一个�拾�的对象�以检测鼠标指针的"
-"进入/离开，如果鼠标在里�，就报告输入事件。�求至少有一个 "
-"[code]collision_layer[/code] �被设置。"
+"如果为 [code]true[/code]，则该对象是�拾�的。�拾�的对象�以检测鼠标指针的"
+"进入/离开，鼠标�于其中时，就会报告输入事件。�求至少设置一个 [member "
+"collision_layer] �。"
 
 #: doc/classes/CollisionObject.xml
 msgid ""
@@ -16917,9 +16950,8 @@ msgstr ""
 #: doc/classes/Physics2DDirectSpaceState.xml
 #: doc/classes/PhysicsDirectBodyState.xml
 #: doc/classes/PhysicsDirectSpaceState.xml doc/classes/RigidBody.xml
-#, fuzzy
 msgid "Physics introduction"
-msgstr "三次�值."
+msgstr "物�介�"
 
 #: doc/classes/CollisionShape.xml
 msgid ""
@@ -16963,7 +16995,7 @@ msgstr ""
 #: doc/classes/RectangleShape2D.xml doc/classes/TileMap.xml
 #: doc/classes/TileSet.xml
 msgid "2D Kinematic Character Demo"
-msgstr ""
+msgstr "2D �动学角色演示"
 
 #: doc/classes/CollisionShape2D.xml
 msgid ""
@@ -17025,15 +17057,15 @@ msgstr ""
 
 #: doc/classes/Color.xml doc/classes/ColorPickerButton.xml
 msgid "2D GD Paint Demo"
-msgstr ""
+msgstr "2D GD 画图演示"
 
 #: doc/classes/Color.xml doc/classes/ColorPicker.xml
 msgid "Tween Demo"
-msgstr ""
+msgstr "Tween 演示"
 
 #: doc/classes/Color.xml doc/classes/ColorPickerButton.xml
 msgid "GUI Drag And Drop Demo"
-msgstr ""
+msgstr "GUI 拖放演示"
 
 #: doc/classes/Color.xml
 msgid ""
@@ -18792,16 +18824,15 @@ msgstr ""
 
 #: doc/classes/Control.xml
 msgid "GUI tutorial index"
-msgstr ""
+msgstr "GUI 教程索引"
 
 #: doc/classes/Control.xml
-#, fuzzy
 msgid "Control node gallery"
-msgstr "Control 键。"
+msgstr "控件节点一览"
 
 #: doc/classes/Control.xml
 msgid "All GUI Demos"
-msgstr ""
+msgstr "所有 GUI 演示"
 
 #: doc/classes/Control.xml
 msgid ""
@@ -19167,12 +19198,14 @@ msgstr ""
 "rect_position]。"
 
 #: doc/classes/Control.xml
+#, fuzzy
 msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -20218,6 +20251,25 @@ msgid ""
 msgstr "更改此属性将替�该节点�其所有[Control]�级使用的当�[Theme]资�。"
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr "在节点获得键盘焦点时�出。"
 
@@ -21866,6 +21918,11 @@ msgid ""
 "node also has a significant CPU cost, so it should be avoided during "
 "gameplay."
 msgstr ""
+"你�以使用该节点在 CSG 系统中创建长方体。\n"
+"[b]注�：[/b]CSG 节点是为制作关�原型准备的。与创建使用 [PrimitiveMesh] 的 "
+"[MeshInstance] 相比，创建 CSG 节点对 CPU 资�的消耗更显著。在一个 CSG 节点中"
+"移动�一个 CSG 节点也会产生显著的 CPU 消耗，所以应当在游�过程中��进行类似"
+"�作。"
 
 #: modules/csg/doc_classes/CSGBox.xml modules/csg/doc_classes/CSGCombiner.xml
 #: modules/csg/doc_classes/CSGCylinder.xml modules/csg/doc_classes/CSGMesh.xml
@@ -21874,7 +21931,7 @@ msgstr ""
 #: modules/csg/doc_classes/CSGShape.xml modules/csg/doc_classes/CSGSphere.xml
 #: modules/csg/doc_classes/CSGTorus.xml
 msgid "Prototyping levels with CSG"
-msgstr ""
+msgstr "使用 CSG 设计关�原型"
 
 #: modules/csg/doc_classes/CSGBox.xml
 msgid "Depth of the box measured from the center of the box."
@@ -21897,7 +21954,6 @@ msgid "A CSG node that allows you to combine other CSG modifiers."
 msgstr "�许您组�其他 CSG 修改器的 CSG 节点。"
 
 #: modules/csg/doc_classes/CSGCombiner.xml
-#, fuzzy
 msgid ""
 "For complex arrangements of shapes, it is sometimes needed to add structure "
 "to your CSG nodes. The CSGCombiner node allows you to create this structure. "
@@ -21913,11 +21969,15 @@ msgid ""
 "node also has a significant CPU cost, so it should be avoided during "
 "gameplay."
 msgstr ""
-"对于��的形状排列，有时需��CSG节点添加结构体。CSGCombiner节点�许你创建这"
-"�结构体。该节点�装了其�节点的CSG�作的结果。通过这�方�，�以对作为一个"
-"CSGCombiner节点的�节点的一组形状进行�作，并对作为第二个CSGCombiner节点的�"
-"节点的第二组形状进行�独的�作，然�进行�作，将两个最终结果作为其输入�创建"
-"最终形状。"
+"对于��的形状排列，有时需�� CSG 节点添加结构体。CSGCombiner 节点�许你创建"
+"这�结构体。该节点�装了其�节点的 CSG �作的结果。通过这�方�，�以对作为一"
+"个 CSGCombiner 节点的�节点的一组形状进行�作，并对作为第二个 CSGCombiner 节"
+"点的�节点的第二组形状进行�独的�作，然�进行�作，将两个最终结果作为其输入"
+"�创建最终形状。\n"
+"[b]注�：[/b]CSG 节点是为制作关�原型准备的。与创建使用 [PrimitiveMesh] 的 "
+"[MeshInstance] 相比，创建 CSG 节点对 CPU 资�的消耗更显著。在一个 CSG 节点中"
+"移动�一个 CSG 节点也会产生显著的 CPU 消耗，所以应当在游�过程中��进行类似"
+"�作。"
 
 #: modules/csg/doc_classes/CSGCylinder.xml
 msgid "A CSG Cylinder shape."
@@ -21933,6 +21993,11 @@ msgid ""
 "node also has a significant CPU cost, so it should be avoided during "
 "gameplay."
 msgstr ""
+"你�以使用该节点在 CSG 系统中创建圆柱体（或圆锥体）。\n"
+"[b]注�：[/b]CSG 节点是为制作关�原型准备的。与创建使用 [PrimitiveMesh] 的 "
+"[MeshInstance] 相比，创建 CSG 节点对 CPU 资�的消耗更显著。在一个 CSG 节点中"
+"移动�一个 CSG 节点也会产生显著的 CPU 消耗，所以应当在游�过程中��进行类似"
+"�作。"
 
 #: modules/csg/doc_classes/CSGCylinder.xml
 msgid ""
@@ -21983,6 +22048,13 @@ msgid ""
 "node also has a significant CPU cost, so it should be avoided during "
 "gameplay."
 msgstr ""
+"你�以使用该节点将任何网格资�用作 CSG 形状，��该网格是闭�的�没有自我贯"
+"穿��包�内部����边所连接的��超过两个。�将 2D 多边形挤出用作 CSG 节"
+"点，请�阅 [CSGPolygon]。\n"
+"[b]注�：[/b]CSG 节点是为制作关�原型准备的。与创建使用 [PrimitiveMesh] 的 "
+"[MeshInstance] 相比，创建 CSG 节点对 CPU 资�的消耗更显著。在一个 CSG 节点中"
+"移动�一个 CSG 节点也会产生显著的 CPU 消耗，所以应当在游�过程中��进行类似"
+"�作。"
 
 #: modules/csg/doc_classes/CSGMesh.xml
 msgid "The [Material] used in drawing the CSG shape."
@@ -22016,6 +22088,12 @@ msgid ""
 "node also has a significant CPU cost, so it should be avoided during "
 "gameplay."
 msgstr ""
+"将 2D 顶点数组快速挤出，创建�� 3D 网格。�将 3D 网格用作 CSG 节点，请�阅 "
+"[CSGMesh]。\n"
+"[b]注�：[/b]CSG 节点是为制作关�原型准备的。与创建使用 [PrimitiveMesh] 的 "
+"[MeshInstance] 相比，创建 CSG 节点对 CPU 资�的消耗更显著。在一个 CSG 节点中"
+"移动�一个 CSG 节点也会产生显著的 CPU 消耗，所以应当在游�过程中��进行类似"
+"�作。"
 
 #: modules/csg/doc_classes/CSGPolygon.xml
 msgid ""
@@ -22124,6 +22202,11 @@ msgid ""
 "[b]Note:[/b] If only 1 or 2 points are defined in [member polygon], no mesh "
 "will be generated."
 msgstr ""
+"顶点数组，用于定义�挤出的 2D 多边形。需�包� 3 个或更多顶点，�以是凸多边形"
+"也�以是凹多边形。该多边形中[i]�能[/i]存在相交的边。�则，三角形化会失败，�"
+"会生�任何网格。\n"
+"[b]注�：[/b]如果 [member polygon] 中�定义了 1 个或 2 个顶点，则�会生�网"
+"格。"
 
 #: modules/csg/doc_classes/CSGPolygon.xml
 msgid "If [code]true[/code], applies smooth shading to the extrusions."
@@ -22213,6 +22296,12 @@ msgid ""
 "node also has a significant CPU cost, so it should be avoided during "
 "gameplay."
 msgstr ""
+"�� CSG 图元的父类，包�了它们所需的公共代�和功能。无法直接使用这个类，请使"
+"用继承它的��类。\n"
+"[b]注�：[/b]CSG 节点是为制作关�原型准备的。与创建使用 [PrimitiveMesh] 的 "
+"[MeshInstance] 相比，创建 CSG 节点对 CPU 资�的消耗更显著。在一个 CSG 节点中"
+"移动�一个 CSG 节点也会产生显著的 CPU 消耗，所以应当在游�过程中��进行类似"
+"�作。"
 
 #: modules/csg/doc_classes/CSGPrimitive.xml
 msgid "Invert the faces of the mesh."
@@ -22232,6 +22321,11 @@ msgid ""
 "node also has a significant CPU cost, so it should be avoided during "
 "gameplay."
 msgstr ""
+"为 Godot 中的�� CSG 节点�供 CSG �作支�的 CSG 基类。\n"
+"[b]注�：[/b]CSG 节点是为制作关�原型准备的。与创建使用 [PrimitiveMesh] 的 "
+"[MeshInstance] 相比，创建 CSG 节点对 CPU 资�的消耗更显著。在一个 CSG 节点中"
+"移动�一个 CSG 节点也会产生显著的 CPU 消耗，所以应当在游�过程中��进行类似"
+"�作。"
 
 #: modules/csg/doc_classes/CSGShape.xml doc/classes/RayCast2D.xml
 #: doc/classes/SoftBody.xml
@@ -22359,6 +22453,11 @@ msgid ""
 "node also has a significant CPU cost, so it should be avoided during "
 "gameplay."
 msgstr ""
+"你�以使用该节点在 CSG 系统中创建�体。\n"
+"[b]注�：[/b]CSG 节点是为制作关�原型准备的。与创建使用 [PrimitiveMesh] 的 "
+"[MeshInstance] 相比，创建 CSG 节点对 CPU 资�的消耗更显著。在一个 CSG 节点中"
+"移动�一个 CSG 节点也会产生显著的 CPU 消耗，所以应当在游�过程中��进行类似"
+"�作。"
 
 #: modules/csg/doc_classes/CSGSphere.xml
 msgid "The material used to render the sphere."
@@ -22398,6 +22497,11 @@ msgid ""
 "node also has a significant CPU cost, so it should be avoided during "
 "gameplay."
 msgstr ""
+"你�以使用该节点在 CSG 系统中创建圆环体。\n"
+"[b]注�：[/b]CSG 节点是为制作关�原型准备的。与创建使用 [PrimitiveMesh] 的 "
+"[MeshInstance] 相比，创建 CSG 节点对 CPU 资�的消耗更显著。在一个 CSG 节点中"
+"移动�一个 CSG 节点也会产生显著的 CPU 消耗，所以应当在游�过程中��进行类似"
+"�作。"
 
 #: modules/csg/doc_classes/CSGTorus.xml
 msgid "The inner radius of the torus."
@@ -22639,6 +22743,8 @@ msgid ""
 "Setting this option to [code]false[/code] can be used to prevent an instance "
 "being merged."
 msgstr ""
+"用于对 [RoomManager] 的网格�并功能进行微调。\n"
+"将该选项设为 [code]false[/code] �以��实例被�并。"
 
 #: doc/classes/CullInstance.xml
 msgid ""
@@ -23598,7 +23704,7 @@ msgstr ""
 
 #: doc/classes/Dictionary.xml
 msgid "GDScript basics: Dictionary"
-msgstr ""
+msgstr "GDScript 基础：字典"
 
 #: doc/classes/Dictionary.xml
 msgid "Clear the dictionary, removing all key/value pairs."
@@ -23668,7 +23774,6 @@ msgid ""
 msgstr "如果字典具有给定数组中的所有键，则返回 [code]true[/code] 。"
 
 #: doc/classes/Dictionary.xml
-#, fuzzy
 msgid ""
 "Returns a hashed 32-bit integer value representing the dictionary contents. "
 "This can be used to compare dictionaries by value:\n"
@@ -23686,14 +23791,17 @@ msgid ""
 "values does [i]not[/i] imply the dictionaries are equal, because different "
 "dictionaries can have identical hash values due to hash collisions."
 msgstr ""
-"返回一个代表字典内容的哈希整数值。这�以用�比较字典的值。\n"
+"返回代表该字典内容的 32 �整数哈希值。�用于按值比较字典：\n"
 "[codeblock]\n"
 "var dict1 = {0: 10}\n"
 "var dict2 = {0: 10}\n"
 "# 下�这一行会输出 `true`，而如果直接比较这两个��就会输出 `false`。\n"
 "print(dict1.hash() == dict2.hash())\n"
 "[/codeblock]\n"
-"[b]注�：[/b]具有相�键/值但顺���的字典将有��的哈希值。"
+"[b]注�：[/b]具有相�键/值但顺���的字典将有��的哈希值。\n"
+"[b]注�：[/b]内容相�的字典会得到一致的哈希值。然而，�之�然。返回一致的哈希"
+"值[i]并�[/i]�味�字典相等，因为��的字典�能因为哈希碰撞而得到一致的哈希"
+"值。"
 
 #: doc/classes/Dictionary.xml
 msgid "Returns the list of keys in the [Dictionary]."
@@ -25474,7 +25582,7 @@ msgstr ""
 
 #: doc/classes/EditorInspectorPlugin.xml
 msgid "Inspector plugins"
-msgstr ""
+msgstr "检查器�件"
 
 #: doc/classes/EditorInspectorPlugin.xml
 msgid "Adds a custom control, which is not necessarily a property editor."
@@ -25804,10 +25912,10 @@ msgid ""
 "your custom control with [method remove_control_from_bottom_panel] and free "
 "it with [method Node.queue_free]."
 msgstr ""
-"将控件添加到底部��（以�“输出�，“调试�，“动画�等）。返回对添加的按钮的引"
-"用。您�以根�需���/显示按钮。�用�件�，请确�使用[method "
-"remove_control_from_bottom_panel]删除自定义控件，并使用[method Node."
-"queue_free]释放它。"
+"将控件添加到底部��（包�“输出�“调试�“动画�等）。返回对添加的按钮的引用。您"
+"�以根�需���/显示按钮。�用�件�，请确�使用 [method "
+"remove_control_from_bottom_panel] 移除自定义控件，并使用 [method Node."
+"queue_free] 释放。"
 
 #: doc/classes/EditorPlugin.xml
 msgid ""
@@ -27915,7 +28023,6 @@ msgstr ""
 "code] 是新文件中的行数。"
 
 #: doc/classes/EditorVCSInterface.xml
-#, fuzzy
 msgid ""
 "Helper function to create a [code]Dictionary[/code] for storing a line diff. "
 "[code]new_line_no[/code] is the line number in the new file (can be "
@@ -27927,8 +28034,8 @@ msgstr ""
 "创建用于�存行差异的 [code]Dictionary[/code] 的辅助函数。[code]new_line_no[/"
 "code] 是新文件中的行�（该行被删除时�为 [code]-1[/code]）。"
 "[code]old_line_no[/code] 是旧文件中的行�（该行为新增时�为 [code]-1[/"
-"code]）。[code]content[/code] 为差异文本。[code]content[/code] 为差异文本。"
-"[code]status[/code] 为�存该行原点的�字符字符串。"
+"code]）。[code]content[/code] 为差异文本。[code]status[/code] 为�存该行原点"
+"的�字符字符串。"
 
 #: doc/classes/EditorVCSInterface.xml
 msgid ""
@@ -28351,7 +28458,6 @@ msgid ""
 msgstr "用于定义多个渲染选项的环境节点（如 [WorldEnvironment]）的资�。"
 
 #: doc/classes/Environment.xml
-#, fuzzy
 msgid ""
 "Resource for environment nodes (like [WorldEnvironment]) that define "
 "multiple environment operations (such as background [Sky] or [Color], "
@@ -28381,24 +28487,29 @@ msgstr ""
 "- 辉光\n"
 "- 色调映射（自动�光）\n"
 "- 调整\n"
-"这些效果仅在 [Viewport] 的预期使用方法为“3D�或者“3D Without Effects�时生效。"
+"如果目标 [Viewport] 被设为了“2D Without Sampling�，则所有的�处�特效都��"
+"用。如果是 “3D Without Effect�，则以下选项��用：\n"
+"- Ssao（�幕空间环境光�蔽）\n"
+"- Ss Reflections（�幕空间�射）\n"
 "根视窗的预期使用方法�以通过 [member ProjectSettings.rendering/quality/"
 "intended_usage/framebuffer_allocation] 调整，其他视窗通过 [member Viewport."
-"usage] 调整。"
+"usage] 调整。\n"
+"请注�，[member ProjectSettings.rendering/quality/intended_usage/"
+"framebuffer_allocation] 的移动平�覆盖项默认使用“3D Without Effects�。这样�"
+"以��移动设备上的性能，但�时会影�移动设备上的�幕显示。"
 
 #: doc/classes/Environment.xml doc/classes/WorldEnvironment.xml
-#, fuzzy
 msgid "Environment and post-processing"
-msgstr "$DOCS_URL/tutorials/3d/environment_and_post_processing.html"
+msgstr "环境和�期处�"
 
 #: doc/classes/Environment.xml
 msgid "Light transport in game engines"
-msgstr ""
+msgstr "游�引擎中的光传递"
 
 #: doc/classes/Environment.xml doc/classes/Material.xml doc/classes/Mesh.xml
 #: doc/classes/MeshInstance.xml doc/classes/WorldEnvironment.xml
 msgid "3D Material Testers Demo"
-msgstr ""
+msgstr "3D �质测试演示"
 
 #: doc/classes/Environment.xml
 msgid ""
@@ -28472,7 +28583,6 @@ msgid ""
 msgstr "环境光的能�。值越高，光照越强。"
 
 #: doc/classes/Environment.xml
-#, fuzzy
 msgid ""
 "Defines the amount of light that the sky brings on the scene. A value of "
 "[code]0.0[/code] means that the sky's light emission has no effect on the "
@@ -28483,9 +28593,11 @@ msgid ""
 "[b]Note:[/b] [member ambient_light_sky_contribution] is internally clamped "
 "between [code]0.0[/code] and [code]1.0[/code] (inclusive)."
 msgstr ""
-"定义天空给场景带�的光照�。值为 0 表示天空的�光对场景照明没有影�，因此所有"
-"的环境照明都由环境光�供。相�，值为 1 表示所有影�场景的光线都由天空�供，因"
-"此环境光�数对场景没有影�。"
+"定义天空给场景带�的光照�。值为 [code]0.0[/code] 表示天空的�光对场景照明没"
+"有影�，因此所有的环境照明都由环境光�供。相�，值为 [code]1.0[/code] 表示[i]"
+"所有[/i]影�场景的光线都由天空�供，因此环境光�数对场景没有影�。\n"
+"[b]注�：[/b]内部会将 [member ambient_light_sky_contribution] �制在 "
+"[code]0.0[/code] 到 [code]1.0[/code] 之间（闭区间）。"
 
 #: doc/classes/Environment.xml
 msgid ""
@@ -28741,8 +28853,23 @@ msgstr ""
 "界相机的��工件。"
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
-msgstr "如果为[code]true[/code]，则�用glow效果。"
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
+msgstr ""
 
 #: doc/classes/Environment.xml
 msgid ""
@@ -29301,7 +29428,7 @@ msgstr ""
 
 #: doc/classes/File.xml
 msgid "File system"
-msgstr ""
+msgstr "文件系统"
 
 #: doc/classes/File.xml
 msgid ""
@@ -30076,18 +30203,12 @@ msgstr ""
 "code]。"
 
 #: doc/classes/float.xml
-#, fuzzy
 msgid "Wikipedia: Double-precision floating-point format"
-msgstr ""
-"https://zh.wikipedia.org/zh-cn/"
-"%E9%9B%99%E7%B2%BE%E5%BA%A6%E6%B5%AE%E9%BB%9E%E6%95%B8"
+msgstr "维基百科：�精度浮点数格�"
 
 #: doc/classes/float.xml
-#, fuzzy
 msgid "Wikipedia: Single-precision floating-point format"
-msgstr ""
-"https://zh.wikipedia.org/zh-cn/"
-"%E5%96%AE%E7%B2%BE%E5%BA%A6%E6%B5%AE%E9%BB%9E%E6%95%B8"
+msgstr "维基百科：�精度浮点数格�"
 
 #: doc/classes/float.xml
 msgid ""
@@ -30122,9 +30243,8 @@ msgstr ""
 "[code]float(\"1e3a2\")[/code] 将返回 1000.0。"
 
 #: doc/classes/FlowContainer.xml
-#, fuzzy
 msgid "Base class for flow containers."
-msgstr "盒�容器的基类。"
+msgstr "��容器的基类。"
 
 #: doc/classes/FlowContainer.xml
 msgid ""
@@ -30133,11 +30253,13 @@ msgid ""
 "A line is filled with [Control] nodes until no more fit on the same line, "
 "similar to text in an autowrapped label."
 msgstr ""
+"将� [Control] 节点垂直或水平排列，按照从左到�或从上到下的顺��行。\n"
+"�一行中无法�容纳更多 [Control] 节点时会�起一行，与自动�行标签中的文本类"
+"似。"
 
 #: doc/classes/FlowContainer.xml
-#, fuzzy
 msgid "Returns the current line count."
-msgstr "返回当�的滚动�置。"
+msgstr "返回当�的行数。"
 
 #: doc/classes/Font.xml
 msgid "Internationalized font and text drawing support."
@@ -31360,13 +31482,15 @@ msgstr ""
 "一个空的 [PoolIntArray]。"
 
 #: doc/classes/Geometry.xml
+#, fuzzy
 msgid ""
 "Triangulates the polygon specified by the points in [code]polygon[/code]. "
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 "对多边形 [code]polygon[/code] 中的点指定的多边形进行三角化。返回一个 "
 "[PoolIntArray]，其中�个三角形由 [code]polygon[/code] 中三个连续的点索引组�"
@@ -31676,9 +31800,10 @@ msgstr ""
 
 #: doc/classes/GIProbe.xml
 msgid "GI probes"
-msgstr ""
+msgstr "GI 探针"
 
 #: doc/classes/GIProbe.xml
+#, fuzzy
 msgid ""
 "Bakes the effect from all [GeometryInstance]s marked with [member "
 "GeometryInstance.use_in_baked_light] and [Light]s marked with either "
@@ -31691,7 +31816,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 "烘焙所有标有 [member GeometryInstance.use_in_baked_light] 的 "
 "[GeometryInstance] 和标有 [constant Light.BAKE_INDIRECT] 或 [constant Light."
@@ -32884,7 +33014,7 @@ msgstr ""
 
 #: modules/gridmap/doc_classes/GridMap.xml
 msgid "Using gridmaps"
-msgstr ""
+msgstr "使用网格地图"
 
 #: modules/gridmap/doc_classes/GridMap.xml
 msgid "Clear all cells."
@@ -32936,11 +33066,10 @@ msgid ""
 msgstr "返回一个包�网格中�空�元格�标的 [Vector3] 数组。"
 
 #: modules/gridmap/doc_classes/GridMap.xml
-#, fuzzy
 msgid ""
 "Returns an array of all cells with the given item index specified in "
 "[code]item[/code]."
-msgstr "返回所有具有[code]id[/code]中指定的图�索引的�元格的数组。"
+msgstr "返回所有具有 [code]item[/code] 中指定的项目索引的�元格的数组。"
 
 #: modules/gridmap/doc_classes/GridMap.xml
 msgid ""
@@ -33217,14 +33346,12 @@ msgid ""
 msgstr "高度图数�的宽度。更改此设置将调整 [member map_data] 的大�。"
 
 #: doc/classes/HFlowContainer.xml
-#, fuzzy
 msgid "Horizontal flow container."
-msgstr "水平盒�容器。"
+msgstr "水平��容器。"
 
 #: doc/classes/HFlowContainer.xml
-#, fuzzy
 msgid "Horizontal version of [FlowContainer]."
-msgstr "水平拆分容器。"
+msgstr "[FlowContainer] 的水平版本。"
 
 #: doc/classes/HingeJoint.xml
 msgid "A hinge between two 3D PhysicsBodies."
@@ -34898,7 +35025,7 @@ msgstr ""
 
 #: doc/classes/Image.xml doc/classes/ImageTexture.xml
 msgid "Importing images"
-msgstr ""
+msgstr "导入图�"
 
 #: doc/classes/Image.xml
 msgid ""
@@ -35821,9 +35948,8 @@ msgid ""
 msgstr "原始纹�（在压缩�）是法线纹�（例如，�以压缩为两个通�）。"
 
 #: doc/classes/Image.xml
-#, fuzzy
 msgid "Source texture (before compression) is a [TextureLayered]."
-msgstr "原始纹�（在压缩�）使用 sRGB 空间。"
+msgstr "原始纹�（在压缩�）是 [TextureLayered]。"
 
 #: doc/classes/ImageTexture.xml
 msgid "A [Texture] based on an [Image]."
@@ -36080,7 +36206,7 @@ msgstr ""
 
 #: doc/classes/Input.xml
 msgid "Inputs tutorial index"
-msgstr ""
+msgstr "输入教程索引"
 
 #: doc/classes/Input.xml
 msgid ""
@@ -36659,6 +36785,9 @@ msgid ""
 "limits of the game window if [enum MouseMode] is set to [constant "
 "MOUSE_MODE_CONFINED]."
 msgstr ""
+"将鼠标�置设为指定的��，��为�素，以游�窗�的左上角作为原点。\n"
+"鼠标�置会被�制在�幕分辨率内，如果 [enum MouseMode] 为 [constant "
+"MOUSE_MODE_CONFINED] 时则是�制在游�窗�内。"
 
 #: doc/classes/Input.xml
 msgid "Emitted when a joypad device has been connected or disconnected."
@@ -36812,7 +36941,7 @@ msgstr "��输入事件的基类。请�阅 [method Node._input]。"
 
 #: doc/classes/InputEvent.xml
 msgid "InputEvent"
-msgstr ""
+msgstr "InputEvent"
 
 #: doc/classes/InputEvent.xml
 msgid ""
@@ -36983,9 +37112,8 @@ msgstr ""
 "��中的[b]键�映射[/b]选项�中创建。请�阅 [method Node._input]。"
 
 #: doc/classes/InputEventAction.xml
-#, fuzzy
 msgid "InputEvent: Actions"
-msgstr "动作的输入事件类型。"
+msgstr "InputEvent：动作"
 
 #: doc/classes/InputEventAction.xml
 msgid "The action's name. Actions are accessed via this [String]."
@@ -37204,18 +37332,15 @@ msgstr ""
 
 #: doc/classes/InputEventMIDI.xml
 msgid "MIDI Message Status Byte List"
-msgstr ""
+msgstr "MIDI 消�状�字节列表"
 
 #: doc/classes/InputEventMIDI.xml
 msgid "Wikipedia General MIDI Instrument List"
-msgstr ""
+msgstr "维基百科通用 MIDI �器列表"
 
 #: doc/classes/InputEventMIDI.xml
-#, fuzzy
 msgid "Wikipedia Piano Key Frequencies List"
-msgstr ""
-"https://zh.wikipedia.org/zh-cn/"
-"%E9%8B%BC%E7%90%B4%E9%8D%B5%E9%A0%BB%E7%8E%87#%E5%88%97%E8%A1%A8"
+msgstr "维基百科钢��键频率列表"
 
 #: doc/classes/InputEventMIDI.xml
 msgid ""
@@ -37327,6 +37452,10 @@ msgid ""
 "in the [CanvasLayer] that the [Control] is in using the coordinate system of "
 "the [CanvasLayer]."
 msgstr ""
+"在 [method Node._input] 或 [method Node._unhandled_input] 中获�时，返回根 "
+"[Viewport] 中鼠标的�置，使用根 [Viewport] 的�标系。\n"
+"在 [method Control._gui_input] 中获�时，返回该 [Control] 所在的 "
+"[CanvasLayer] 中鼠标的�置，使用该 [CanvasLayer] 的�标系。"
 
 #: doc/classes/InputEventMouse.xml
 msgid ""
@@ -37336,6 +37465,10 @@ msgid ""
 "When received in [method Control._gui_input], returns the mouse's position "
 "in the [Control] using the local coordinate system of the [Control]."
 msgstr ""
+"在 [method Node._input] 或 [method Node._unhandled_input] 中获�时，返回该 "
+"[Node] 所在 [Viewport] 中鼠标的�置，使用该 [Viewport] 的�标系。\n"
+"在 [method Control._gui_input] 中获�时，返回该 [Control] 中鼠标的�置，使用"
+"该 [Control] 的�标系。"
 
 #: doc/classes/InputEventMouseButton.xml
 msgid "Input event type for mouse button events."
@@ -37390,19 +37523,18 @@ msgid ""
 "Bresenham%27s_line_algorithm]Bresenham's line algorithm[/url] as well to "
 "avoid visible gaps in lines if the user is moving the mouse quickly."
 msgstr ""
-"包�鼠标和笔的�动信�。支�相对��对�置和速度。�阅[method Node."
+"包�鼠标和笔的�动信�。支�相对��对�置和速度。请�阅 [method Node."
 "_input]。\n"
 "[b]注�：[/b]默认情况下，这个事件最多�能在�一帧渲染中�出一次。如果你需�更"
-"精确的输入报告，请用[code]false[/code]调用[method Input."
-"set_use_accumulated_input]�使事件尽�能频�地�射。如果你使用"
-"InputEventMouseMotion�画线，请考虑�时实现[url=https://en.wikipedia.org/"
-"wiki/Bresenham%27s_line_algorithm]Bresenham的线�算法[/url]，以��在用户快速"
-"移动鼠标时出现��的线�空隙。"
+"精确的输入报告，请用 [code]false[/code] 调用 [method Input."
+"set_use_accumulated_input] �使事件尽�能频�地�射。如果你使用 "
+"InputEventMouseMotion �画线，请考虑�时实现 [url=https://en.wikipedia.org/"
+"wiki/Bresenham%27s_line_algorithm]Bresenham 的线�算法[/url]，以��在用户快"
+"速移动鼠标时出现��的线�空隙。"
 
 #: doc/classes/InputEventMouseMotion.xml
-#, fuzzy
 msgid "Mouse and input coordinates"
-msgstr "X �标上的��移。"
+msgstr "鼠标和输入�标"
 
 #: doc/classes/InputEventMouseMotion.xml
 msgid ""
@@ -38502,6 +38634,8 @@ msgid ""
 "waiting to be activated.\n"
 "[b]Note:[/b] Only relevant when exported as a Progressive Web App."
 msgstr ""
+"如果该�进�网络应用程�有新版本等待激活，则返回 [code]true[/code]。\n"
+"[b]注�：[/b]�在导出为�进�网络应用程�（Progressive Web App）时相关。"
 
 #: doc/classes/JavaScript.xml
 msgid ""
@@ -38511,6 +38645,10 @@ msgid ""
 "[b]Note:[/b] Only relevant when exported as a Progressive Web App and "
 "[method pwa_needs_update] returns [code]true[/code]."
 msgstr ""
+"执行该�进�网络应用程�的在线更新。强制安装新版本并�新载入该页�。\n"
+"[b]注�：[/b]你的应用程�将[b]在所有�览器标签页中�新载入[/b]。\n"
+"[b]注�：[/b]�在导出为�进�网络应用程�（Progressive Web App）且 [method "
+"pwa_needs_update] 返回 [code]true[/code] 时相关。"
 
 #: doc/classes/JavaScript.xml
 msgid ""
@@ -38518,6 +38656,8 @@ msgid ""
 "waiting to be activated because a previous version is active. See [method "
 "pwa_update] to force the update to take place immediately."
 msgstr ""
+"在检测到该�进�网络应用程�的更新，但因为存在活动的较早版本而等待激活时触"
+"�。�强制立�执行更新，请�阅 [method pwa_update]。"
 
 #: doc/classes/JavaScriptObject.xml
 msgid "A wrapper class for native JavaScript objects."
@@ -38620,7 +38760,7 @@ msgstr ""
 
 #: doc/classes/JNISingleton.xml
 msgid "Creating Android plugins"
-msgstr ""
+msgstr "创建 Android �件"
 
 #: doc/classes/Joint.xml
 msgid "Base class for all 3D joints."
@@ -38638,7 +38778,7 @@ msgstr ""
 #: doc/classes/Joint.xml doc/classes/RigidBody.xml doc/classes/VehicleBody.xml
 #: doc/classes/VehicleWheel.xml
 msgid "3D Truck Town Demo"
-msgstr ""
+msgstr "3D 货车镇演示"
 
 #: doc/classes/Joint.xml
 msgid ""
@@ -38715,7 +38855,6 @@ msgid ""
 msgstr "解�一个JSON编�的字符串并返回一个包�结果的[JSONParseResult]。"
 
 #: doc/classes/JSON.xml
-#, fuzzy
 msgid ""
 "Converts a [Variant] var to JSON text and returns the result. Useful for "
 "serializing data to store or send over the network.\n"
@@ -38767,12 +38906,14 @@ msgid ""
 "}\n"
 "[/codeblock]"
 msgstr ""
-"将 [Variant] var 转�为 JSON 文本并返回结果。用于�列化数�以通过网络存储或�"
-"�。\n"
-"[b]注：[/b] JSON 规范没有定义 integer 或 float 类型，而�定义了 [i]number[/"
-"i] 类型。因此，将 Variant 转�为 JSON 文本会将所有数值转�为 [float] 类型。\n"
-"使用 [code]indent[/code] �数�美观地打�输出。\n"
-"[b]示例输出：[/b]\n"
+"将 [Variant] ��转�为 JSON 文本并返回结果。�用于将数�进行�列化�存或通过"
+"网络��。\n"
+"[b]注�：[/b]JSON 规范没有定义整数和浮点数类型，�有一个[i]数字[/i]类型。因"
+"此，将 Variant 转�为 JSON 文本会将所有数字值转�为 [float] 类型。\n"
+"�数 [code]indent[/code] 控制是�以�如何缩进，输出时需�进行一级缩进时会使用"
+"该字符串�数，甚至�以使用空格 [code]\"   \"[/code]。也�以使用 [code]\\t[/"
+"code] 和 [code]\\n[/code] �进行制表符缩进，或者将�次缩进转�为�行。\n"
+"[b]Example output:[/b]\n"
 "[codeblock]\n"
 "## JSON.print(my_dictionary)\n"
 "{\"name\":\"my_dictionary\",\"version\":\"1.0.0\",\"entities\":[{\"name\":"
@@ -38781,18 +38922,34 @@ msgstr ""
 "\n"
 "## JSON.print(my_dictionary, \"\\t\")\n"
 "{\n"
-"        \"name\": \"my_dictionary\",\n"
-"        \"version\": \"1.0.0\",\n"
-"        \"entities\": [\n"
-"                {\n"
-"                        \"name\": \"entity_0\",\n"
-"                        \"value\": \"value_0\"\n"
-"                },\n"
-"                {\n"
-"                        \"name\": \"entity_1\",\n"
-"                        \"value\": \"value_1\"\n"
-"                }\n"
-"        ]\n"
+"    \"name\": \"my_dictionary\",\n"
+"    \"version\": \"1.0.0\",\n"
+"    \"entities\": [\n"
+"        {\n"
+"            \"name\": \"entity_0\",\n"
+"            \"value\": \"value_0\"\n"
+"        },\n"
+"        {\n"
+"            \"name\": \"entity_1\",\n"
+"            \"value\": \"value_1\"\n"
+"        }\n"
+"    ]\n"
+"}\n"
+"\n"
+"## JSON.print(my_dictionary, \"...\")\n"
+"{\n"
+"...\"name\": \"my_dictionary\",\n"
+"...\"version\": \"1.0.0\",\n"
+"...\"entities\": [\n"
+"......{\n"
+".........\"name\": \"entity_0\",\n"
+".........\"value\": \"value_0\"\n"
+"......},\n"
+"......{\n"
+".........\"name\": \"entity_1\",\n"
+".........\"value\": \"value_1\"\n"
+"......}\n"
+"...]\n"
 "}\n"
 "[/codeblock]"
 
@@ -38999,7 +39156,7 @@ msgstr ""
 
 #: doc/classes/KinematicBody.xml doc/classes/KinematicBody2D.xml
 msgid "Kinematic character (2D)"
-msgstr ""
+msgstr "�动学角色（2D）"
 
 #: doc/classes/KinematicBody.xml
 msgid ""
@@ -39173,8 +39330,9 @@ msgstr ""
 "如果 [code]infinite_inertia[/code] 是 [code]true[/code]，物体将能够推动 "
 "[RigidBody] 节点，但它也�会检测到任何与它们的碰撞。如果 [code]false[/code]，"
 "它将与 [RigidBody] 节点� [StaticBody] 一样交互。\n"
-"返回 [code]linear_velocity[/code] ��，如果�生滑动碰撞，则旋转和/或缩放。�"
-"获得�生碰撞的详细信�，请使用 [method get_slide_collision]。\n"
+"返回 [code]linear_velocity[/code] ��，如果�生滑动碰撞，则返回的��是�过"
+"了旋转和/或缩放的。�获得�生碰撞的详细信�，请使用 [method "
+"get_slide_collision]。\n"
 "当物体接触到一个移动的平�时，平�的速度会自动加入到物体的�动中。如果由于平"
 "�的�动而�生碰撞，它将始终是滑动碰撞中的第一个。"
 
@@ -39337,9 +39495,8 @@ msgstr ""
 "们在实现对世界进行碰撞，但�需�高级物�的角色时�常有用。"
 
 #: doc/classes/KinematicBody2D.xml
-#, fuzzy
 msgid "Using KinematicBody2D"
-msgstr "2D �动体节点。"
+msgstr "使用 KinematicBody2D"
 
 #: doc/classes/KinematicBody2D.xml
 msgid ""
@@ -39448,19 +39605,20 @@ msgstr ""
 "move_and_collide] ��的是，你[i]�应该[/i]将它乘以 [code]delta[/code]——物�"
 "引擎会处�应用速度。\n"
 "[code]up_direction[/code] 是�上的方�，用�确定什么是墙，什么是地�或天花"
-"�。如果设置为默认值 [code]Vector2(0, 0)[/code]，一切都被认为是墙。这对于自上"
-"而下的游�很有用。\n"
+"�。如果设置为默认值 [code]Vector2(0, 0)[/code]，一切都被认为是墙。这对于俯视"
+"角的游�很有用。\n"
 "如果 [code]stop_on_slope[/code] 是 [code]true[/code]，当你在 "
 "[code]linear_velocity[/code] 中包��力并且物体�止时，物体就�会在斜�上滑"
 "动。\n"
 "如果物体�生碰撞，它最多会改�方� [code]max_slides[/code] 次�会�止。\n"
 "[code]floor_max_angle[/code] 是一个最大的角度（弧度），在这个角度下，一个斜�"
 "�然被认为是地�或天花�，而�是墙。默认值等于45度。\n"
-"如果 [code]infinite_inertia[/code] 是 [code]true[/code]，物体将能够推动"
-"[RigidBody2D]节点，但它也�会检测到任何与它们的碰撞。如果 [code]false[/"
+"如果 [code]infinite_inertia[/code] 是 [code]true[/code]，物体将能够推动 "
+"[RigidBody2D] 节点，但它也�会检测到任何与它们的碰撞。如果 [code]false[/"
 "code]，它将与 [RigidBody2D] 节点� [StaticBody2D] 一样交互。\n"
-"返回 [code]linear_velocity[/code] ��，如果�生滑动碰撞，则旋转和/或缩放。�"
-"获得�生碰撞的详细信�，请使用 [method get_slide_collision]。\n"
+"返回 [code]linear_velocity[/code] ��，如果�生滑动碰撞，则返回的��是�过"
+"了旋转和/或缩放的。�获得�生碰撞的详细信�，请使用 [method "
+"get_slide_collision]。\n"
 "当物体接触到一个移动的平�时，平�的速度会自动加入到物体的�动中。如果由于平"
 "�的�动而�生碰撞，它将始终是滑动碰撞中的第一个。"
 
@@ -39864,7 +40022,7 @@ msgstr ""
 
 #: doc/classes/Light.xml doc/classes/SpotLight.xml
 msgid "3D lights and shadows"
-msgstr ""
+msgstr "3D �光和阴影"
 
 #: doc/classes/Light.xml
 msgid "Returns the value of the specified [enum Light.Param] parameter."
@@ -39955,8 +40113,13 @@ msgid "The color of shadows cast by this light."
 msgstr "光线投射的阴影的颜色。"
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
-msgstr "�试�少 [member shadow_bias] 差�。"
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
+msgstr ""
 
 #: doc/classes/Light.xml
 msgid "If [code]true[/code], the light will cast shadows."
@@ -40374,9 +40537,13 @@ msgstr "构�线�的点。在此数组中设置的�个点之间绘制线。
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
-msgstr "圆形接头和盖�的平滑度。仅当盖�或接头设置为圆形时�使用此选项。"
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
+msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
@@ -42590,6 +42757,15 @@ msgstr "返回特定实例的 [Transform2D]。"
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -42610,6 +42786,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -42660,6 +42848,16 @@ msgid "Mesh to be drawn."
 msgstr "将�绘制的网格。"
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr "用于��网格的��格�，�以是2D或3D。"
 
@@ -42721,6 +42919,18 @@ msgstr ""
 "传递给 [method set_instance_custom_data] 的 [Color] 将使用 4 个浮点数。使用它"
 "以获得最高精度。"
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr "实例化 [MultiMesh] 的节点。"
@@ -43148,7 +43358,7 @@ msgstr ""
 #: doc/classes/Navigation.xml doc/classes/NavigationMesh.xml
 #: doc/classes/NavigationServer.xml
 msgid "3D Navmesh Demo"
-msgstr ""
+msgstr "3D 导航网格演示"
 
 #: doc/classes/Navigation.xml doc/classes/Navigation2D.xml
 msgid ""
@@ -43190,18 +43400,17 @@ msgid ""
 "agent properties associated with each [NavigationMesh] (radius, height, "
 "etc.) are considered in the path calculation, otherwise they are ignored."
 msgstr ""
-"返回两个给定点之间的路径。点是在局部�标空间中。如果 [code]optimize[/code] "
-"是 [code]true[/code]（默认），与�个 [NavigationMesh] 相关的代�属性（�径�"
-"高度等）在路径计算中被考虑，�则其被忽略。"
+"返回两个给定点之间的路径。点都是在局部�标空间中的。如果 [code]optimize[/"
+"code] 为 [code]true[/code]（默认），则计算路径时会考虑�个 [NavigationMesh] "
+"所关�的代�的属性（�径�高度等），�则会被忽略。"
 
 #: doc/classes/Navigation.xml
-#, fuzzy
 msgid "The cell height to use for fields."
-msgstr "用于字段Y轴�元的尺寸。"
+msgstr "用于字段的 Y 轴�元的尺寸。"
 
 #: doc/classes/Navigation.xml doc/classes/NavigationMesh.xml
 msgid "The XZ plane cell size to use for fields."
-msgstr "用于字段的XZ平��元尺寸。"
+msgstr "用于字段的 XZ 平��元尺寸。"
 
 #: doc/classes/Navigation.xml doc/classes/Navigation2D.xml
 msgid ""
@@ -43233,7 +43442,7 @@ msgstr ""
 #: doc/classes/Navigation2D.xml doc/classes/Navigation2DServer.xml
 #: doc/classes/NavigationPolygon.xml
 msgid "2D Navigation Demo"
-msgstr ""
+msgstr "2D 导航演示"
 
 #: doc/classes/Navigation2D.xml
 msgid ""
@@ -43250,7 +43459,7 @@ msgid ""
 "space. If [code]optimize[/code] is [code]true[/code] (the default), the path "
 "is smoothed by merging path segments where possible."
 msgstr ""
-"返回两个给定点之间的路径。点是在局部�标空间中。如果 [code]optimize[/code] "
+"返回两个给定点之间的路径。点是在局部�标空间中的。如果 [code]optimize[/code] "
 "为 [code]true[/code]（默认值），路径将尽�能地�并路径段，从而平滑。"
 
 #: doc/classes/Navigation2D.xml
@@ -43588,7 +43797,6 @@ msgstr ""
 "�。"
 
 #: doc/classes/NavigationAgent.xml doc/classes/NavigationAgent2D.xml
-#, fuzzy
 msgid ""
 "The minimal amount of time for which this agent's velocities, that are "
 "computed with the collision avoidance algorithm, are safe with respect to "
@@ -44255,9 +44463,8 @@ msgstr ""
 "程中请求对地图进行任何修改。"
 
 #: doc/classes/NavigationServer.xml
-#, fuzzy
 msgid "Returns the map cell height."
-msgstr "返回地图的�元格大�。"
+msgstr "返回地图的�元格高度。"
 
 #: doc/classes/NavigationServer.xml
 msgid ""
@@ -44281,9 +44488,8 @@ msgid "Returns the map's up direction."
 msgstr "返回地图的上方�。"
 
 #: doc/classes/NavigationServer.xml
-#, fuzzy
 msgid "Set the map cell height used to weld the navigation mesh polygons."
-msgstr "设置用于焊接导航网格多边形的地图�元格大�。"
+msgstr "设置用于焊接导航网格多边形的地图�元格高度。"
 
 #: doc/classes/NavigationServer.xml
 msgid "Sets the map up direction."
@@ -44659,13 +44865,12 @@ msgstr ""
 "使用。改�时���行通知。"
 
 #: doc/classes/NetworkedMultiplayerPeer.xml
-#, fuzzy
 msgid "High-level multiplayer"
-msgstr "高级多人游�API。"
+msgstr "高级多人游�"
 
 #: doc/classes/NetworkedMultiplayerPeer.xml
 msgid "WebRTC Signaling Demo"
-msgstr ""
+msgstr "WebRTC 信�演示"
 
 #: doc/classes/NetworkedMultiplayerPeer.xml
 msgid ""
@@ -45042,11 +45247,11 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid "Nodes and Scenes"
-msgstr ""
+msgstr "节点与场景"
 
 #: doc/classes/Node.xml
 msgid "All Demos"
-msgstr ""
+msgstr "所有演示"
 
 #: doc/classes/Node.xml
 msgid ""
@@ -45095,7 +45300,6 @@ msgstr ""
 "当需�更新这个节点的警告时，调用[method update_configuration_warning]。"
 
 #: doc/classes/Node.xml
-#, fuzzy
 msgid ""
 "Called when there is an input event. The input event propagates up through "
 "the node tree until a node consumes it.\n"
@@ -45121,7 +45325,6 @@ msgstr ""
 "�“孤儿�）。"
 
 #: doc/classes/Node.xml
-#, fuzzy
 msgid ""
 "Called during the physics processing step of the main loop. Physics "
 "processing means that the frame rate is synced to the physics, i.e. the "
@@ -45145,7 +45348,6 @@ msgstr ""
 "是“孤儿�）。"
 
 #: doc/classes/Node.xml
-#, fuzzy
 msgid ""
 "Called during the processing step of the main loop. Processing happens at "
 "every frame and as fast as possible, so the [code]delta[/code] time since "
@@ -45167,7 +45369,6 @@ msgstr ""
 "是“孤儿�）。"
 
 #: doc/classes/Node.xml
-#, fuzzy
 msgid ""
 "Called when the node is \"ready\", i.e. when both the node and its children "
 "have entered the scene tree. If the node has children, their [method _ready] "
@@ -45184,18 +45385,17 @@ msgid ""
 "call with [method request_ready], which may be called anywhere before adding "
 "the node again."
 msgstr ""
-"当节点 \"就绪 \"时被调用。�节点的[method _ready]回调会首先被触�，而父节点会"
-"在之�收到就绪通知。\n"
-"对应于[method Object._notification]中的[constant NOTIFICATION_READY]通知。也"
-"请�阅��的[code]onready[/code]关键字。\n"
-"通常用于�始化。对于更早的�始化，�以使用[method Object._init]。也请�阅"
+"当节点“就绪�时被调用。�节点的 [method _ready] 回调会首先被触�，而父节点会在"
+"之�收到就绪通知。\n"
+"对应于 [method Object._notification] 中的 [constant NOTIFICATION_READY] 通"
+"知。也请�阅��的 [code]onready[/code] 关键字。\n"
+"通常用于�始化。对于更早的�始化，�以使用 [method Object._init]。也请�阅 "
 "[method _enter_tree]。\n"
-"[b]注�：[/b] [method _ready] 对于�个节点�能调用一次。在从场景树中删除一个"
-"节点并�次添加�，[code]_ready[/code]将�会被第二次调用。这�以通过请求�次调"
-"用[method request_ready]�绕过，它�以在�次添加节点之�的任何地方调用。"
+"[b]注�：[/b][method _ready] 对于�个节点�会调用一次。在从场景树中删除一个节"
+"点并�次添加�，[code]_ready[/code] 将�会被第二次调用。这�以通过请求�次调"
+"用 [method request_ready] �绕过，它�以在�次添加节点之�的任何地方调用。"
 
 #: doc/classes/Node.xml
-#, fuzzy
 msgid ""
 "Called when an [InputEvent] hasn't been consumed by [method _input] or any "
 "GUI [Control] item. The input event propagates up through the node tree "
@@ -45211,8 +45411,8 @@ msgid ""
 "[b]Note:[/b] This method is only called if the node is present in the scene "
 "tree (i.e. if it's not an orphan)."
 msgstr ""
-"当 [InputEvent] 还未被 [method _input] 或任何 GUI 消耗时调用。输入事件通过节"
-"点树�上传播，直到一个节点消耗它。\n"
+"当 [InputEvent] 还未被 [method _input] 或任何 GUI [Control] 项目消耗时调用。"
+"输入事件通过节点树�上传播，直到一个节点消耗它。\n"
 "�有在�用了未处�的输入处�时�会被调用，如果这个方法被�写，它就会自动完"
 "�，并且�以用 [method set_process_unhandled_input] �切�。\n"
 "�消耗输入事件并阻止它进一步传播到其他节点，�以调用 [method SceneTree."
@@ -45223,7 +45423,6 @@ msgstr ""
 "是“孤儿�）。"
 
 #: doc/classes/Node.xml
-#, fuzzy
 msgid ""
 "Called when an [InputEventKey] hasn't been consumed by [method _input] or "
 "any GUI [Control] item. The input event propagates up through the node tree "
@@ -45239,8 +45438,8 @@ msgid ""
 "[b]Note:[/b] This method is only called if the node is present in the scene "
 "tree (i.e. if it's not an orphan)."
 msgstr ""
-"当 [InputEventKey] 没有被 [method _input] 或任何 GUI 消耗时被调用。输入事件通"
-"过节点树�上传播，直到一个节点消耗它。\n"
+"当 [InputEventKey] 没有被 [method _input] 或任何 GUI [Control] 项目消耗时被调"
+"用。输入事件通过节点树�上传播，直到一个节点消耗它。\n"
 "�有在�用了未处�的键输入处�时�会被调用，如果这个方法被�写，它就会自动完"
 "�，并且�以用 [method set_process_unhandled_key_input] �切�。\n"
 "�消耗输入事件并阻止它进一步传播到其他节点，�以调用 [method SceneTree."
@@ -45683,6 +45882,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -45919,6 +46137,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -46057,6 +46290,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -46242,12 +46483,16 @@ msgid ""
 "Emitted when a child node enters the scene tree, either because it entered "
 "on its own or because this node entered with it."
 msgstr ""
+"在�节点进入场景树时触�，�以是因为该�节点自行进入，也�以是因为本节点带�"
+"该�节点一起进入。"
 
 #: doc/classes/Node.xml
 msgid ""
 "Emitted when a child node exits the scene tree, either because it exited on "
 "its own or because this node exited."
 msgstr ""
+"在�节点离开场景树时触�，�以是因为该�节点自行离开，也�以是因为本节点离"
+"开。"
 
 #: doc/classes/Node.xml
 msgid "Emitted when the node is ready."
@@ -46367,6 +46612,13 @@ msgstr ""
 "�，它�次节点进入树时都会��，而�是���一次。"
 
 #: doc/classes/Node.xml
+#, fuzzy
+msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr "在父节点中移动节点时收到该通知。"
+
+#: doc/classes/Node.xml
 msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
@@ -46422,7 +46674,7 @@ msgstr ""
 
 #: doc/classes/Node2D.xml doc/classes/Vector2.xml
 msgid "All 2D Demos"
-msgstr ""
+msgstr "所有 2D 演示"
 
 #: doc/classes/Node2D.xml
 msgid "Multiplies the current scale by the [code]ratio[/code] vector."
@@ -46634,7 +46886,7 @@ msgstr ""
 #: doc/classes/PanelContainer.xml doc/classes/TileMap.xml
 #: doc/classes/TileSet.xml
 msgid "2D Role Playing Game Demo"
-msgstr ""
+msgstr "2D 角色扮演游�演示"
 
 #: doc/classes/NodePath.xml
 msgid ""
@@ -46954,11 +47206,11 @@ msgstr ""
 
 #: doc/classes/Object.xml doc/classes/Reference.xml doc/classes/Resource.xml
 msgid "When and how to avoid using nodes for everything"
-msgstr ""
+msgstr "何时以�如何��为任何事情使用节点"
 
 #: doc/classes/Object.xml
 msgid "Advanced exports using _get_property_list()"
-msgstr ""
+msgstr "使用 _get_property_list() 进行高级导出"
 
 #: doc/classes/Object.xml
 msgid ""
@@ -47418,7 +47670,6 @@ msgid ""
 msgstr "从对象的元数�中删除给定�目。�� [method set_meta]。"
 
 #: doc/classes/Object.xml
-#, fuzzy
 msgid ""
 "Assigns a new value to the given property. If the [code]property[/code] does "
 "not exist or the given value's type doesn't match, nothing will happen.\n"
@@ -47427,8 +47678,8 @@ msgid ""
 "properties where you should use the same convention as in the C# source "
 "(typically PascalCase)."
 msgstr ""
-"为给定的属性赋一个新值。如果 [code]property[/code] �存在，则�会�生任何事"
-"情。\n"
+"为给定的属性赋一个新值。如果 [code]property[/code] �存在，或者给定的值的类型"
+"与之�匹�时，则�会�生任何事情。\n"
 "[b]注�：[/b]在 C# 中，如果属性�由内置的 Godot 节点定义，则必须将其指定为 "
 "snake_case。这�适用于用户定义的属性，在这些属性中，您应该使用与 C# �中相�"
 "的约定（通常是 PascalCase）。"
@@ -47661,12 +47912,11 @@ msgstr "用于[Occluder]节点进行�挡剔除的形状的基类。"
 
 #: doc/classes/OccluderShape.xml
 msgid "[Occluder]s can use any primitive shape derived from [OccluderShape]."
-msgstr "[Occluder] �以使用从 [OccluderShape] 派生的任何原始形状。"
+msgstr "[Occluder] �以使用从 [OccluderShape] 派生的任何图元。"
 
 #: doc/classes/OccluderShapePolygon.xml
-#, fuzzy
 msgid "Polygon occlusion primitive for use with the [Occluder] node."
-msgstr "与 [Occluder] 节点一起使用的�形�挡基本�元。"
+msgstr "用于 [Occluder] 节点的多边形�挡图元。"
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
@@ -47683,32 +47933,37 @@ msgid ""
 "the system will operate at runtime, so in most cases you will want to use 4 "
 "points for each."
 msgstr ""
+"[OccluderShape] 是 [Occluder] 节点所使用的资�，用于几何�挡剔除。\n"
+"该多边形必须是凸多边形。多边形顶点的创建与删除�以在编辑器的检查器中进行，也"
+"�以通过调用 [code]set_polygon_points[/code] 实现。�一�边的顶点都�以通过在"
+"编辑器视窗中拖拽�柄设置。\n"
+"�外，�一个多边形�挡器都�以支��个空洞。如果你在编辑器的检查器中为空洞添"
+"加至少三个顶点，就�以在编辑器视窗中拖拽空洞边缘顶点的�柄。\n"
+"一般而言，多边形以�空洞的边数越少，�行时系统的处�速度就越快，所以在大多数"
+"情况下你都�会设置 4 个顶点。"
 
 #: doc/classes/OccluderShapePolygon.xml
-#, fuzzy
 msgid "Sets an individual hole point position."
-msgstr "设置�个�体的�置。"
+msgstr "设置�独的空洞顶点�置。"
 
 #: doc/classes/OccluderShapePolygon.xml
-#, fuzzy
 msgid "Sets an individual polygon point position."
-msgstr "设置�个�体的�置。"
+msgstr "设置�独的多边形顶点�置。"
 
 #: doc/classes/OccluderShapePolygon.xml
-#, fuzzy
 msgid "Allows changing the hole geometry from code."
-msgstr "通过代�绘制简�的几何形状。"
+msgstr "�许通过代�修改空洞形状。"
 
 #: doc/classes/OccluderShapePolygon.xml
-#, fuzzy
 msgid "Allows changing the polygon geometry from code."
-msgstr "通过代�绘制简�的几何形状。"
+msgstr "�许通过代�修改多边形形状。"
 
 #: doc/classes/OccluderShapePolygon.xml
+#, fuzzy
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
-msgstr ""
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
+msgstr "指定该�挡器是应该为��还是��。"
 
 #: doc/classes/OccluderShapeSphere.xml
 msgid "Spherical occlusion primitive for use with the [Occluder] node."
@@ -48306,7 +48561,6 @@ msgstr ""
 "在文件的末尾是所有已使用资�类型的统计数�。"
 
 #: doc/classes/OS.xml
-#, fuzzy
 msgid ""
 "Execute the file at the given path with the arguments passed as an array of "
 "strings. Platform path resolution will take place. The resolved file must "
@@ -48393,7 +48647,16 @@ msgstr ""
 "[codeblock]\n"
 "OS.execute(\"CMD.exe\", [\"/C\", \"cd %TEMP% && dir\"], true, output)\n"
 "[/codeblock]\n"
-"[b]注�：[/b]此方法仅在 Android�iOS�Linux�macOS 和 Windows 上实现。"
+"[b]注�：[/b]此方法仅在 Android�iOS�Linux�macOS 和 Windows 上实现。\n"
+"[b]注�：[/b]如果�执行 Windows 命令解释器的内置命令，请将 [code]path[/code] "
+"指定为 [code]cmd.exe[/code]，将第一个�数设为 [code]/c[/code]，第二个�数设为"
+"想�的命令。\n"
+"[b]注�：[/b]如果�执行 PowerShell 的内置命令，请将 [code]path[/code] 指定为 "
+"[code]powershell.exe[/code]，将第一个�数设为 [code]-Command[/code]，第二个�"
+"数设为想�的命令。\n"
+"[b]注�：[/b]如果�执行 Unix Shell 的内置命令，请将 [code]path[/code] 指定为 "
+"Shell �执行文件的�称，将第一个�数设为 [code]-c[/code]，第二个�数设为想�"
+"的命令。"
 
 #: doc/classes/OS.xml
 msgid "Returns the scancode of the given string (e.g. \"Escape\")."
@@ -48751,8 +49014,20 @@ msgstr ""
 "[b]注�：[/b]此方法在Android�iOS�Linux�macOS和Windows上实现。"
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
-msgstr "返回宿主机上�用的线程数。"
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
+msgstr ""
 
 #: doc/classes/OS.xml
 msgid "Returns the window size including decorations like window borders."
@@ -48881,10 +49156,10 @@ msgid ""
 "differentiate between app specific and shared directories. Shared "
 "directories have additional restrictions on Android."
 msgstr ""
-"返回��平�上常用文件夹的实际路径。�用的�置在[enum SystemDir]中指定。\n"
-"[b]注�:[/b] 这个方法在Android�Linux�macOS和Windows上实现。\n"
-"[b]注�:[/b] 共享存储在Android上实现，并�许区分应用程�特定目录和共享目录。"
-"共享目录在Android上有�外的�制。"
+"返回��平�上常用文件夹的实际路径。�用的�置在 [enum SystemDir] 中指定。\n"
+"[b]注�：[/b]这个方法在 Android�Linux�macOS 和 Windows 上实现。\n"
+"[b]注�：[/b]共享存储在 Android 上实现，并�许区分应用程�特定目录和共享目"
+"录。共享目录在 Android 上有�外的�制。"
 
 #: doc/classes/OS.xml
 msgid "Returns the epoch time of the operating system in milliseconds."
@@ -49105,9 +49380,8 @@ msgstr ""
 "[b]注�：[/b] 这个方法在macOS上实现。"
 
 #: doc/classes/OS.xml
-#, fuzzy
 msgid "Returns [code]true[/code] if there is content on the clipboard."
-msgstr "如果文件当�被打开，返回[code]true[/code]。"
+msgstr "如果剪贴�上存在内容，则返回 [code]true[/code]。"
 
 #: doc/classes/OS.xml
 msgid ""
@@ -49252,14 +49526,14 @@ msgstr ""
 "[b]注�:[/b] 本方法�在Linux�macOS和Windows上实现。"
 
 #: doc/classes/OS.xml
-#, fuzzy
 msgid ""
 "Converts a physical (US QWERTY) [code]scancode[/code] to one in the active "
 "keyboard layout.\n"
 "[b]Note:[/b] This method is implemented on Linux, macOS and Windows."
 msgstr ""
-"设置活动键盘布局。\n"
-"[b]注：[/b]此方法�在Linux�macOS和Windows上实现。"
+"将物�（美� QWERTY）扫�� [code]scancode[/code] 转�为当�活动键盘布局的扫"
+"��。\n"
+"[b]注�：[/b]此方法在 Linux�macOS 和 Windows 上实现。"
 
 #: doc/classes/OS.xml
 msgid ""
@@ -50500,11 +50774,11 @@ msgstr ""
 
 #: doc/classes/Panel.xml
 msgid "2D Finite State Machine Demo"
-msgstr ""
+msgstr "2D 有�状�机演示"
 
 #: doc/classes/Panel.xml doc/classes/Skeleton.xml doc/classes/SkeletonIK.xml
 msgid "3D Inverse Kinematics Demo"
-msgstr ""
+msgstr "3D 逆�动学演示"
 
 #: doc/classes/Panel.xml
 msgid "The style of this [Panel]."
@@ -50697,7 +50971,7 @@ msgstr ""
 
 #: doc/classes/Particles.xml
 msgid "Controlling thousands of fish with Particles"
-msgstr ""
+msgstr "用粒�控制数��鱼"
 
 #: doc/classes/Particles.xml
 msgid ""
@@ -50844,7 +51118,7 @@ msgstr ""
 
 #: doc/classes/Particles2D.xml
 msgid "Particle systems (2D)"
-msgstr ""
+msgstr "粒�系统（2D）"
 
 #: doc/classes/Particles2D.xml
 msgid "Returns a rectangle containing the positions of all existing particles."
@@ -51736,7 +52010,7 @@ msgstr ""
 #: doc/classes/PhysicsDirectBodyState.xml
 #: doc/classes/PhysicsDirectSpaceState.xml doc/classes/RayCast.xml
 msgid "Ray-casting"
-msgstr ""
+msgstr "�射射线"
 
 #: doc/classes/Physics2DDirectBodyState.xml doc/classes/RigidBody2D.xml
 msgid "Adds a constant directional force without affecting rotation."
@@ -54735,7 +55009,7 @@ msgstr ""
 #: doc/classes/PoolVector2Array.xml doc/classes/TileMap.xml
 #: doc/classes/TileSet.xml
 msgid "2D Navigation Astar Demo"
-msgstr ""
+msgstr "2D A 星导航演示"
 
 #: doc/classes/PoolVector2Array.xml
 msgid ""
@@ -55267,9 +55541,8 @@ msgstr ""
 "[b]注:[/b]被移除项�的项的索引将被移�1。"
 
 #: doc/classes/PopupMenu.xml
-#, fuzzy
 msgid "Sets the currently focused item as the given [code]index[/code]."
-msgstr "设置在索引[code]idx[/code]处项的图标。"
+msgstr "将当��焦项目设置为给定的索引 [code]index[/code]。"
 
 #: doc/classes/PopupMenu.xml
 msgid "Hides the [PopupMenu] when the window loses focus."
@@ -58369,6 +58642,18 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+#, fuzzy
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -58379,8 +58664,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 "控制物�时钟实时�步的程度。如果是0或更少，时钟是�步的。这样的值建议用于网络"
 "游�，因为时钟的�步性很��。较高的值会导致游�中的时钟和真实时钟的�差较"
@@ -58831,7 +59118,6 @@ msgstr ""
 "义。"
 
 #: doc/classes/ProjectSettings.xml
-#, fuzzy
 msgid ""
 "If set to [code]Asynchronous[/code] and available on the target device, "
 "asynchronous compilation of shaders is enabled (in contrast to "
@@ -58867,10 +59153,12 @@ msgstr ""
 "超级�色器是一个�常��的�色器，虽然慢但是�以用于任何渲染环境。引擎会在内"
 "部生�这个�色器，这样在一开始就能使用，而传统的根����件优化的版本则需�"
 "进行编译。\n"
-"为了节�加载时间，你�以使用 [code]Asynchronous + Cache[/code]，会让超级�色"
-"器也被缓存到存储之中，这样下一次使用时准备起�就会更快（��是平�支�这么"
-"�）。\n"
-"[b]警告：[/b] 异步编译目��支�空间和粒��质/�色器。"
+"如果想�在项目�行至少一次��少加载时间，你�以使用 [code]Asynchronous + "
+"Cache[/code]。这样会让超级�色器也被缓存到存储之中，这样下一次使用时准备起�"
+"就会更快（��是平�支�这么�）。\n"
+"[b]注�：[/b] 异步编译目��支�空间（3D）和粒��质/�色器。�使该设置为 "
+"[code]Asynchronous[/code] 或 [code]Asynchronous + Cache[/code]，画布项（2D）"
+"�色器也�会使用异步编译。"
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
@@ -58987,7 +59275,6 @@ msgstr ""
 "用于交错属性数�。如果用于移动设备，建议�用。切��需�手动�新导入网格。"
 
 #: doc/classes/ProjectSettings.xml
-#, fuzzy
 msgid ""
 "Determines the maximum number of polygon occluders that will be used at any "
 "one time.\n"
@@ -58999,7 +59286,8 @@ msgid ""
 msgstr ""
 "确定将在任何时候使用的�体�挡器的最大数�。\n"
 "尽管一个场景中�以有许多�挡物，但系统会根��幕空间度�从这些�挡物中选择最"
-"相关的�一帧，以�供最佳的整体性能。"
+"相关的�一帧，以�供最佳的整体性能。\n"
+"大�的多边形�能剔除更多的对象，但是剔除计算的消耗也会��挡物的数�增加。"
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
@@ -59080,10 +59368,13 @@ msgstr ""
 "时，�应该使用该选项。"
 
 #: doc/classes/ProjectSettings.xml
+#, fuzzy
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 "如果为 [code]true[/code]，分�根 [Viewport] 的帧缓冲时将使用高动�范围。高动"
@@ -59093,10 +59384,11 @@ msgstr ""
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
-"由于性能问题或驱动支�，移动设备上的 [member rendering/quality/depth/hdr] 的"
-"低端覆盖。"
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
@@ -59135,7 +59427,6 @@ msgstr ""
 "和照明时，这会�高高�支场景的性能。"
 
 #: doc/classes/ProjectSettings.xml
-#, fuzzy
 msgid ""
 "The directional shadow's size in pixels. Higher values will result in "
 "sharper shadows, at the cost of performance. The value will be rounded up to "
@@ -59143,7 +59434,8 @@ msgid ""
 "will be applied immediately."
 msgstr ""
 "方�性阴影的大�，以�素为��。更高的值会导致更清晰的阴影，但会以性能为代"
-"价。该值将被四�五入到最接近的2次方。"
+"价。该值将被四�五入到最接近的 2 次方。该设置�以在�行时修改；修改会立�生"
+"效。"
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
@@ -59268,13 +59560,14 @@ msgstr ""
 "称为“三线性过滤�）。"
 
 #: doc/classes/ProjectSettings.xml
+#, fuzzy
 msgid ""
 "Strategy used for framebuffer allocation. The simpler it is, the less "
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 "用于帧缓冲区的分�策略。它越简�，使用的资�就越少（但支�的功能也越少）。如"
 "果设置为“2D Without Sampling�（2D 无采样）或“3D Without Effects�（3D 无特"
@@ -59714,7 +60007,7 @@ msgstr ""
 msgid ""
 "Objects can use this signal to restrict reading of settings only to "
 "situations where a change has been made."
-msgstr ""
+msgstr "对象�以利用该信�，�在�生修改时�读�设置。"
 
 #: doc/classes/ProximityGroup.xml
 msgid "General-purpose proximity detection node."
@@ -59738,7 +60031,7 @@ msgstr ""
 #: doc/classes/QuadMesh.xml doc/classes/Viewport.xml
 #: doc/classes/ViewportTexture.xml
 msgid "2D in 3D Demo"
-msgstr ""
+msgstr "3D 中的 2D 演示"
 
 #: doc/classes/QuadMesh.xml
 msgid "Offset of the generated Quad. Useful for particles."
@@ -59978,9 +60271,8 @@ msgstr ""
 "�是实际的默认��。"
 
 #: doc/classes/RandomNumberGenerator.xml
-#, fuzzy
 msgid "Random number generation"
-msgstr "设置�机数生�器的��。"
+msgstr "�机数生�"
 
 #: doc/classes/RandomNumberGenerator.xml
 msgid ""
@@ -60324,7 +60616,7 @@ msgstr ""
 #: doc/classes/RayCast.xml doc/classes/RayCast2D.xml
 msgid ""
 "The ray's destination point, relative to the RayCast's [code]position[/code]."
-msgstr "光线相对于光线投射的 [code]position[/code]的目标点，。"
+msgstr "光线的目标点，相对于该 RayCast 的 [code]position[/code]。"
 
 #: doc/classes/RayCast.xml
 msgid "If [code]true[/code], collision with [Area]s will be reported."
@@ -60528,9 +60820,8 @@ msgstr ""
 "[/codeblock]"
 
 #: doc/classes/Rect2.xml
-#, fuzzy
 msgid "Returns the area of the [Rect2]. See also [method has_no_area]."
-msgstr "返回 [Rect2] �积。"
+msgstr "返回该 [Rect2] 的�积。�请�阅 [method has_no_area]。"
 
 #: doc/classes/Rect2.xml
 msgid ""
@@ -60557,18 +60848,16 @@ msgid ""
 msgstr "返回[Rect2]�[enum Margin]方�增长给定数���的副本。"
 
 #: doc/classes/Rect2.xml
-#, fuzzy
 msgid ""
 "Returns [code]true[/code] if the [Rect2] is flat or empty, [code]false[/"
 "code] otherwise. See also [method get_area].\n"
 "[b]Note:[/b] If the [Rect2] has a negative size and is not flat or empty, "
 "[method has_no_area] will return [code]true[/code]."
 msgstr ""
-"如果对象从给定的 [code]class[/code] 中继承，则返回 [code]true[/code]。�请�"
-"阅 [method get_class]。\n"
-"[b]注：[/b] [method is_class] 没有考虑 [code]class_name[/code] 声明。如果对象"
-"有 [code]class_name[/code] 定义，[method is_class] 将为该�称返回 "
-"[code]false[/code] 。"
+"如果该 [Rect2] 为线段或为空，则返回 [code]true[/code]，�则返回 [code]false[/"
+"code]。�请�阅 [method get_area]。\n"
+"[b]注�：[/b]如果该 [Rect2] 的大�为负数，且既�是线段也�为空，则 [method "
+"has_no_area] 会返回 [code]true[/code]。"
 
 #: doc/classes/Rect2.xml
 msgid ""
@@ -60848,7 +61137,6 @@ msgstr ""
 "[code]internal_ambient_*[/code]属性控制。"
 
 #: doc/classes/ReflectionProbe.xml
-#, fuzzy
 msgid ""
 "The maximum distance away from the [ReflectionProbe] an object can be before "
 "it is culled. Decrease this to improve performance, especially when using "
@@ -60859,7 +61147,10 @@ msgid ""
 "[member extents] are already large."
 msgstr ""
 "设置对象在被剔除�与该 [ReflectionProbe] 的最大�离。调低�以��性能，尤其是"
-"使用 [constant UPDATE_ALWAYS] 作为 [member update_mode] 时。"
+"使用 [constant UPDATE_ALWAYS] 作为 [member update_mode] 时。\n"
+"[b]注�：[/b]最大�射�离总是至少等于 [member extents] 的。这�味��� "
+"[member max_distance] 并�总能将对象剔除出�射，尤其是在�射探针的 [member "
+"extents] 相当大时。"
 
 #: doc/classes/ReflectionProbe.xml
 msgid ""
@@ -61297,7 +61588,7 @@ msgstr ""
 
 #: doc/classes/Resource.xml
 msgid "Resources"
-msgstr ""
+msgstr "资�"
 
 #: doc/classes/Resource.xml
 msgid ""
@@ -61599,7 +61890,7 @@ msgstr ""
 
 #: doc/classes/ResourceImporter.xml
 msgid "Import plugins"
-msgstr ""
+msgstr "导入�件"
 
 #: doc/classes/ResourceImporter.xml
 msgid "The default import order."
@@ -62007,11 +62298,11 @@ msgstr ""
 
 #: doc/classes/RichTextLabel.xml
 msgid "BBCode in RichTextLabel"
-msgstr ""
+msgstr "RichTextLabel 中的 BBCode"
 
 #: doc/classes/RichTextLabel.xml
 msgid "GUI Rich Text/BBcode Demo"
-msgstr ""
+msgstr "GUI 富文本/BBcode 演示"
 
 #: doc/classes/RichTextLabel.xml
 msgid ""
@@ -62240,7 +62531,6 @@ msgstr ""
 "置为 [code]false[/code]。改用 [method append_bbcode] ��留 BBCode 格�。"
 
 #: doc/classes/RichTextLabel.xml
-#, fuzzy
 msgid ""
 "The label's text in BBCode format. Is not representative of manual "
 "modifications to the internal tag stack. Erases changes made by other "
@@ -62254,10 +62544,11 @@ msgid ""
 msgstr ""
 "BBCode 格�的标签文本。�代表对内部标签栈的手动修改。编辑时擦除通过其他方法所"
 "�的更改。\n"
-"[b]注�：[/b] �建议将 [code]+=[/code] �算符与 [code]bbcode_text[/code] 一起"
+"[b]注�：[/b]�建议将 [code]+=[/code] �算符与 [code]bbcode_text[/code] 一起"
 "使用（例如 [code]bbcode_text += \"some string\"[/code]），因为它会替�整个文"
-"本并�能导致速度�慢。使用 [method append_bbcode] 代替添加文本，除�你必须关"
-"闭在先�方法调用中打开的标签。"
+"本并�能导致速度�慢。它还会清除所有使用 [code]push_*[/code] 方法入栈的 "
+"BBCode。使用 [method append_bbcode] 代替添加文本，除�你必须关闭在先�方法调"
+"用中打开的标签。"
 
 #: doc/classes/RichTextLabel.xml
 msgid ""
@@ -63012,11 +63303,11 @@ msgstr ""
 
 #: doc/classes/RigidBody2D.xml
 msgid "2D Physics Platformer Demo"
-msgstr ""
+msgstr "2D 物�平�跳跃演示"
 
 #: doc/classes/RigidBody2D.xml doc/classes/Sprite.xml
 msgid "Instancing Demo"
-msgstr ""
+msgstr "实例化演示"
 
 #: doc/classes/RigidBody2D.xml
 msgid ""
@@ -63866,7 +64157,7 @@ msgstr ""
 
 #: doc/classes/RootMotionView.xml
 msgid "Using AnimationTree - Root motion"
-msgstr ""
+msgstr "使用 AnimationTree - 根�动"
 
 #: doc/classes/RootMotionView.xml
 msgid "Path to an [AnimationTree] node to use as a basis for root motion."
@@ -64454,6 +64745,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -65873,6 +66171,9 @@ msgid ""
 "recommended to use them for things that can affect gameplay (such as a "
 "player character made entirely out of soft bodies)."
 msgstr ""
+"��生形�的物�体。用于创建布料�橡胶等柔性�质的�拉伸或�形的对象。\n"
+"[b]注�：[/b][SoftBody] 存在很多已知的问题。因此，建议��用于对游�性有影�"
+"的地方（例如完全由柔体制作的玩家角色）。"
 
 #: doc/classes/SoftBody.xml
 msgid "Returns local translation of a vertex in the surface array."
@@ -65981,10 +66282,22 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid "Introduction to 3D"
-msgstr ""
+msgstr "3D 简介"
 
 #: doc/classes/Spatial.xml doc/classes/Vector3.xml
 msgid "All 3D Demos"
+msgstr "所有 3D 演示"
+
+#: doc/classes/Spatial.xml
+msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
 msgstr ""
 
 #: doc/classes/Spatial.xml
@@ -66068,6 +66381,14 @@ msgid ""
 "[code]up[/code] vector.\n"
 "Operations take place in global space."
 msgstr ""
+"旋转该节点，让��的局部�标轴（-Z）指�目标�置 [code]target[/code]。\n"
+"�上的局部�标轴（+Y）在与��的局部�标轴��垂直的��下，指�尽�接近 "
+"[code]up[/code] ��的方�。最终的��是正交的，�置原有缩放。如果是�统一缩"
+"放，�能无法正常工作。\n"
+"目标�置 [code]target[/code] �能与该节点的�置相�，[code]up[/code] ���能"
+"是零，从该节点的�置到 [code]target[/code] ��的方��能与 [code]up[/code] "
+"平行。\n"
+"�作�生在全局空间。"
 
 #: doc/classes/Spatial.xml
 msgid ""
@@ -68141,7 +68462,7 @@ msgstr "返回表示此精�的矩形。"
 
 #: doc/classes/SpriteBase3D.xml
 msgid "If [code]true[/code], the specified flag will be enabled."
-msgstr "如果[code]true[/code]，指定的标志将被�用。"
+msgstr "如果为 [code]true[/code]，指定的标志将被�用。"
 
 #: doc/classes/SpriteBase3D.xml
 msgid "The direction in which the front of the texture faces."
@@ -68152,10 +68473,11 @@ msgid ""
 "If [code]true[/code], texture can be seen from the back as well, if "
 "[code]false[/code], it is invisible when looking at it from behind."
 msgstr ""
-"如果[code]true[/code]，从��也�以看到纹�，如果[code]false[/code]，从��看"
-"它是���的。"
+"如果为 [code]true[/code]，则从��也�以看到纹�，如果为 [code]false[/code]，"
+"则从��看它是���的。"
 
 #: doc/classes/SpriteBase3D.xml
+#, fuzzy
 msgid ""
 "A color value used to [i]multiply[/i] the texture's colors. Can be used for "
 "mood-coloring or to simulate the color of light.\n"
@@ -68164,11 +68486,19 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
+"用于与该纹�颜色[i]相乘[/i]的颜色值。�用于渲染情绪，或者模拟�光的颜色。\n"
+"[b]注�：[/b]如果 [SpriteBase3D] 定义了 [member GeometryInstance."
+"material_override]，则必须对该�质覆盖项进行�置，让其在�照率中考虑顶点颜"
+"色。�则会忽略 [member modulate] 中所定义的颜色。对于 [SpatialMaterial]，必须"
+"让 [member SpatialMaterial.vertex_color_use_as_albedo] 为 [code]true[/code]。"
+"对于 [ShaderMaterial]，�色器的 [code]fragment()[/code] 函数中必须�入 "
+"[code]ALBEDO *= COLOR.rgb;[/color]。"
 
 #: doc/classes/SpriteBase3D.xml
+#, fuzzy
 msgid ""
 "The texture's visibility on a scale from [code]0[/code] (fully invisible) to "
 "[code]1[/code] (fully visible). [member opacity] is a multiplier for the "
@@ -68178,9 +68508,17 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
+"该纹�的��性，从 [code]0[/code]（完全���）到 [code]1[/code]（完全�"
+"�）。[member opacity] 是 [member modulate] 颜色的 Alpha 通�。\n"
+"[b]注�：[/b]如果 [SpriteBase3D] 定义了 [member GeometryInstance."
+"material_override]，则必须对该�质覆盖项进行�置，让其在�照率中考虑顶点颜"
+"色。�则会忽略 [member opacity] 中所定义的��明度。对于 [SpatialMaterial]，"
+"必须让 [member SpatialMaterial.vertex_color_use_as_albedo] 为 [code]true[/"
+"code]。对于 [ShaderMaterial]，�色器的 [code]fragment()[/code] 函数中必须�"
+"入 [code]ALPHA *= COLOR.a;[/color]。"
 
 #: doc/classes/SpriteBase3D.xml
 msgid "The size of one pixel's width on the sprite to scale it in 3D."
@@ -68622,9 +68960,8 @@ msgid ""
 msgstr "为 [code]true[/code] 时，该 [StreamPeer] 进行编解�时会使用大端格�。"
 
 #: doc/classes/StreamPeerBuffer.xml
-#, fuzzy
 msgid "Data buffer stream peer."
-msgstr "SSL�对等体。"
+msgstr "数�缓冲区�对等体。"
 
 #: doc/classes/StreamPeerBuffer.xml
 msgid ""
@@ -68635,43 +68972,47 @@ msgid ""
 "bytes to the start of the buffer. Get and put operations are performed at "
 "the cursor position and will move the cursor accordingly."
 msgstr ""
+"使用字节数组作为�的数�缓冲区�对等体。该对象�用于处��自网络会�的二进制"
+"数�。�处��存在文件中的二进制数�，�以直接使用 [File]。\n"
+"[StreamPeerBuffer] 对象会�存一个内部指针，是�离该缓冲区开头的字节�移�。"
+"Get 和 put �作都在该指针处进行，并会将其进行对应的移动。"
 
 #: doc/classes/StreamPeerBuffer.xml
 msgid "Clears the [member data_array] and resets the cursor."
-msgstr ""
+msgstr "清除 [member data_array] 并�置指针。"
 
 #: doc/classes/StreamPeerBuffer.xml
 msgid ""
 "Returns a new [StreamPeerBuffer] with the same [member data_array] content."
-msgstr ""
+msgstr "返回新的 [StreamPeerBuffer]，具有相�的 [member data_array] 内容。"
 
 #: doc/classes/StreamPeerBuffer.xml
-#, fuzzy
 msgid "Returns the current cursor position."
-msgstr "返回当�的滚动�置。"
+msgstr "返回当�的指针�置。"
 
 #: doc/classes/StreamPeerBuffer.xml
-#, fuzzy
 msgid "Returns the size of [member data_array]."
-msgstr "返回�数的正弦值。"
+msgstr "返回 [member data_array] 的大�。"
 
 #: doc/classes/StreamPeerBuffer.xml
 msgid "Resizes the [member data_array]. This [i]doesn't[/i] update the cursor."
-msgstr ""
+msgstr "调整 [member data_array] 的大�。[i]�会[/i]更新指针。"
 
 #: doc/classes/StreamPeerBuffer.xml
 msgid ""
 "Moves the cursor to the specified position. [code]position[/code] must be a "
 "valid index of [member data_array]."
 msgstr ""
+"将指针移动到指定的�置。[code]position[/code] 必须是 [member data_array] 的有"
+"效索引。"
 
 #: doc/classes/StreamPeerBuffer.xml
 msgid "The underlying data buffer. Setting this value resets the cursor."
-msgstr ""
+msgstr "内部的数�缓冲。设置该值会�置指针。"
 
 #: doc/classes/StreamPeerSSL.xml
 msgid "SSL stream peer."
-msgstr "SSL�对等体。"
+msgstr "SSL �对等体。"
 
 #: doc/classes/StreamPeerSSL.xml
 msgid ""
@@ -68945,8 +69286,13 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr "该字符串以指定字符串开头时，返回 [code]true[/code]。"
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
-msgstr "返回此字符串的二元组（连续字�对）。"
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
+msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
@@ -69182,6 +69528,10 @@ msgid ""
 "does [i]not[/i] imply the strings are equal, because different strings can "
 "have identical hash values due to hash collisions."
 msgstr ""
+"返回代表该字符串内容的 32 �哈希值。\n"
+"[b]注�：[/b]内容相�的 [String] 会得到一致的哈希值。然而，�之�然。返回一致"
+"的哈希值[i]并�[/i]�味�字符串相等，因为��的字符串�能因为哈希碰撞而得到一"
+"致的哈希值。"
 
 #: doc/classes/String.xml
 msgid ""
@@ -69308,8 +69658,17 @@ msgstr ""
 "[code]: / \\ ? * \" | % < >[/code]"
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
-msgstr "该字符串包�有效浮点数时，返回 [code]true[/code]。"
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
+msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
@@ -69334,17 +69693,31 @@ msgstr ""
 "[code]false[/code]。"
 
 #: doc/classes/String.xml
+#, fuzzy
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 "该字符串为有效标识符时，返回 [code]true[/code]。有效标识符仅能够包�字��数"
 "字�下划线（[code]_[/code]），并且�能以数字开头。"
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
-msgstr "该字符串包�有效整数时，返回 [code]true[/code]。"
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
+msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
@@ -69402,19 +69775,23 @@ msgstr ""
 "一的�缀字符串，请�阅 [method trim_prefix]。"
 
 #: doc/classes/String.xml
+#, fuzzy
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 "判断表达�是�匹�(区分大�写)，其中 [code]\"*\"[/code] 匹�零个或多个任�字"
 "符并且 [code]\"?\"[/code] 匹�除�点( [code]\".\"[/code] ）外的任�字符。"
 
 #: doc/classes/String.xml
+#, fuzzy
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 "判断表达�是�匹�(�区分大�写)，其中 [code]\"*\"[/code] 匹�零个或多个任�"
 "字符并且 [code]\"?\"[/code] 匹�除�点( [code]\".\"[/code] ）外的任�字符。"
@@ -69637,9 +70014,17 @@ msgstr "以字符串形�返回字符串的 SHA-256 哈希值。"
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
-msgstr "返回与此字符串相比的文本的相似度指数。 1表示完全相似，0表示完全��。"
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
+msgstr ""
 
 #: doc/classes/String.xml
 msgid "Returns a simplified canonical path."
@@ -69743,6 +70128,15 @@ msgid ""
 "print(\"1e3\".to_float()) # 1000\n"
 "[/codeblock]"
 msgstr ""
+"将包��进制数字的字符串转�为 [code]float[/code]。该方法会在首个�数字字符处"
+"�止，除�是首次�到 [code].[/code]（�数点）以�表示指数的 [code]e[/"
+"code]。\n"
+"[codeblock]\n"
+"print(\"12.3\".to_float()) # 12.3\n"
+"print(\"1.2.3\".to_float()) # 1.2\n"
+"print(\"12ab3\".to_float()) # 12\n"
+"print(\"1e3\".to_float()) # 1000\n"
+"[/codeblock]"
 
 #: doc/classes/String.xml
 msgid ""
@@ -69755,6 +70149,13 @@ msgid ""
 "print(\"1.2.3\".to_int()) # 1\n"
 "[/codeblock]"
 msgstr ""
+"将包��书的字符串转�为 [code]int[/code]。该方法会删除任何�数字字符，并在�"
+"到 [code].[/code] ��止。\n"
+"[codeblock]\n"
+"print(\"123\".to_int()) # 123\n"
+"print(\"a1b2c3\".to_int()) # 123\n"
+"print(\"1.2.3\".to_int()) # 1\n"
+"[/codeblock]"
 
 #: doc/classes/String.xml
 msgid "Returns the string converted to lowercase."
@@ -71440,6 +71841,16 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr "返回所有���内部边�的总宽度。"
 
 #: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the total amount of lines that could be drawn."
+msgstr "返回该 Label 的文本行数。"
+
+#: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr "返回��行数。"
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr "返回一个 [String] 文本，该文本中的���于 caret（文本光标）的�置。"
@@ -72674,6 +73085,12 @@ msgstr ""
 "[code]data_type[/code] 主题项。"
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr "将主题的�值设置为默认主题的副本。"
 
@@ -72728,14 +73145,14 @@ msgstr ""
 "get_constant]和/或[method get_constant_list]使用。"
 
 #: doc/classes/Theme.xml
-#, fuzzy
 msgid ""
 "Returns the [Font] at [code]name[/code] if the theme has [code]node_type[/"
 "code]. If such item does not exist and [member default_font] is set on the "
 "theme, the default font will be returned."
 msgstr ""
-"如果主题有[code]node_type[/code]，则将[code]old_name[/code]的[Font]�命�为"
-"[code]name[/code]。如果[code]name[/code]已�被�用，则此方法失败。"
+"如果主题有 [code]node_type[/code]，则返回�为 [code]name[/code] 的 [Font]。如"
+"果�存在这样的项目，而该主题设置了 [member default_font]，则会返回该默认字"
+"体。"
 
 #: doc/classes/Theme.xml
 msgid ""
@@ -72857,6 +73274,19 @@ msgstr ""
 "[b]注�：[/b][code]node_type[/code]没有生效，在未�的版本中会被删除。"
 
 #: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr "返回正在播放的场景�称。如果当�没有场景正在播放，返回一个空字符串。"
+
+#: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr "返回给定[code]signal[/code]的连接的[Array]。"
+
+#: doc/classes/Theme.xml
 msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
@@ -72924,6 +73354,14 @@ msgstr ""
 "如果该主题没有[code]node_type[/code]，则返回[code]false[/code]。"
 
 #: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr ""
+"如果预加载器包�一个与[code]name[/code]相关的资�，则返回[code]true[/code]。"
+
+#: doc/classes/Theme.xml
 msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
@@ -73055,6 +73493,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -73107,11 +73559,11 @@ msgstr ""
 
 #: doc/classes/Thread.xml
 msgid "Using multiple threads"
-msgstr ""
+msgstr "使用多线程"
 
 #: doc/classes/Thread.xml
 msgid "Thread-safe APIs"
-msgstr ""
+msgstr "线程安全的 API"
 
 #: doc/classes/Thread.xml
 msgid ""
@@ -73213,11 +73665,11 @@ msgstr ""
 
 #: doc/classes/TileMap.xml doc/classes/TileSet.xml
 msgid "Using Tilemaps"
-msgstr ""
+msgstr "使用图�地图"
 
 #: doc/classes/TileMap.xml doc/classes/TileSet.xml
 msgid "2D Hexagonal Demo"
-msgstr ""
+msgstr "2D 六边形演示"
 
 #: doc/classes/TileMap.xml
 msgid "Clears all cells."
@@ -73922,6 +74374,10 @@ msgid ""
 "code] (which instead accesses the [TileMap]'s [member CanvasItem.modulate] "
 "property)."
 msgstr ""
+"设置该图�的调制颜色。\n"
+"[b]注�：[/b]调制是通过设置该图�的顶点颜色实现的。�在�色器中访问，请使用 "
+"[code]COLOR[/code] 而�是 [code]MODULATE[/code]（访问的是 [TileMap] 的 "
+"[member CanvasItem.modulate] 属性）。"
 
 #: doc/classes/TileSet.xml
 msgid "Sets the tile's name."
@@ -75063,7 +75519,6 @@ msgid "Clears the tree. This removes all items."
 msgstr "清除树。这将删除所有项目。"
 
 #: doc/classes/Tree.xml
-#, fuzzy
 msgid ""
 "Creates an item in the tree and adds it as a child of [code]parent[/code], "
 "which can be either a valid [TreeItem] or [code]null[/code].\n"
@@ -75072,11 +75527,12 @@ msgid ""
 "The new item will be the [code]idx[/code]th child of parent, or it will be "
 "the last child if there are not enough siblings."
 msgstr ""
-"在树中创建一个项目，并将其作为[code]parent[/code]的一个�项。\n"
-"如果[code]parent[/code]是[code]null[/code]，根项将是父项，如果树是空的，新项"
-"将是根本身。\n"
-"新项将是父项的[code]idx[/code]个�顶，如果没有足够的兄弟�妹，它将是最�一个"
-"�项。"
+"在树中创建一个项目，并将其作为父项 [code]parent[/code] 的�项。该父项�以是有"
+"效的 [TreeItem] 或 [code]null[/code]。\n"
+"如果 [code]parent[/code] 是 [code]null[/code]，将使用根项作为父项，如果树是空"
+"的，新项将是根本身。\n"
+"新项将是父项的第 [code]idx[/code] 个�项目，如果没有足够的兄弟�妹，它将是最"
+"�一个�项。"
 
 #: doc/classes/Tree.xml
 msgid ""
@@ -75103,15 +75559,14 @@ msgstr ""
 "SELECT_MULTI] 模�下��。"
 
 #: doc/classes/Tree.xml
-#, fuzzy
 msgid ""
 "Returns the button id at [code]position[/code], or -1 if no button is there."
-msgstr "返回在[code]position[/code]的列索引，如果那里没有项目，则返回-1。"
+msgstr "返回在 [code]position[/code] 的按钮 ID，如果那里没有按钮，则返回 -1。"
 
 #: doc/classes/Tree.xml
 msgid ""
 "Returns the column index at [code]position[/code], or -1 if no item is there."
-msgstr "返回在[code]position[/code]的列索引，如果那里没有项目，则返回-1。"
+msgstr "返回在 [code]position[/code] 的列索引，如果那里没有项目，则返回 -1。"
 
 #: doc/classes/Tree.xml
 msgid "Returns the column's title."
@@ -75170,14 +75625,13 @@ msgid "Returns the column for the currently edited item."
 msgstr "返回当�编辑项的列。"
 
 #: doc/classes/Tree.xml
-#, fuzzy
 msgid ""
 "Returns the rectangle area for the specified [TreeItem]. If [code]column[/"
 "code] is specified, only get the position and size of that column, otherwise "
 "get the rectangle containing all columns."
 msgstr ""
-"返回指定项目的矩形区域。如果[code]column[/code]被指定，�得到该列的�置和大"
-"�，�则得到包�所有列的矩形。"
+"返回指定 [TreeItem] 的矩形区域。如果指定了 [code]column[/code]，则�得到该列"
+"的�置和大�，�则会得到包�所有列的矩形。"
 
 #: doc/classes/Tree.xml
 msgid ""
@@ -75186,15 +75640,15 @@ msgid ""
 msgstr "返回指定�置，�相对于树的原点�置的树中项。"
 
 #: doc/classes/Tree.xml
-#, fuzzy
 msgid ""
 "Returns the next selected [TreeItem] after the given one, or [code]null[/"
 "code] if the end is reached.\n"
 "If [code]from[/code] is [code]null[/code], this returns the first selected "
 "item."
 msgstr ""
-"返回指定项�的下一个选择项，如果到达终点则返回[code]null[/code]。\n"
-"如果[code]from[/code]是[code]null[/code]，将返回第一个被选中的项。"
+"返回指定的 [TreeItem] 之�的下一个选中项，如果到达终点则返回 [code]null[/"
+"code]。\n"
+"如果 [code]from[/code] 是 [code]null[/code]，将返回第一个被选中的项。"
 
 #: doc/classes/Tree.xml
 msgid "Returns the last pressed button's index."
@@ -75240,9 +75694,8 @@ msgstr ""
 "�判断一个项的�一列是�被选中，请使用[method TreeItem.is_selected]。"
 
 #: doc/classes/Tree.xml
-#, fuzzy
 msgid "Causes the [Tree] to jump to the specified [TreeItem]."
-msgstr "使 [Tree] 跳转到指定的项。"
+msgstr "使 [Tree] 跳转到指定的 [TreeItem]。"
 
 #: doc/classes/Tree.xml
 msgid ""
@@ -75661,13 +76114,13 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 "在 [code]column[/code] 列添加一个带有 [Texture] [code]button[/code] 的按钮。 "
-"[code]button_idx[/code] 索引用于在调用其他方法时标识按钮。如果未指定，则使用"
-"下一个�用索引，�以通过在此方法之�调用 [method get_button_count] �检索该索"
-"引。�选，该按钮�以 [code]disabled[/code] 和具有 [code]tooltip[/code]。"
+"[code]id[/code] 用于标识按钮。如果未指定，则使用下一个�用索引，�以通过在此"
+"方法之�调用 [method get_button_count] �检索该索引。�选，该按钮�以 "
+"[code]disabled[/code] 和具有 [code]tooltip[/code]。"
 
 #: doc/classes/TreeItem.xml
 msgid ""
@@ -75700,38 +76153,36 @@ msgid ""
 "Returns the [Texture] of the button at index [code]button_idx[/code] in "
 "column [code]column[/code]."
 msgstr ""
-"返回在[code]column[/code]中索引[code]button_idx[/code]按钮的[Texture]。"
+"返回在 [code]column[/code] 列中索引为 [code]button_idx[/code] 的按钮的 "
+"[Texture]。"
 
 #: doc/classes/TreeItem.xml
-#, fuzzy
 msgid ""
 "Returns the button index if there is a button with id [code]id[/code] in "
 "column [code]column[/code], otherwise returns -1."
 msgstr ""
-"返回在[code]column[/code]中索引[code]button_idx[/code]按钮的�示信�字符串。"
+"如果在 [code]column[/code] 列中存在 ID 为 [code]id[/code] 的按钮，则返回其索"
+"引�，�则返回 -1。"
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
-msgstr ""
-"返回[code]column[/code]中按钮的数�。如果没有指定索引，�以用�获�最近添加的"
-"按钮的索引。"
+#, fuzzy
+msgid "Returns the number of buttons in column [code]column[/code]."
+msgstr "返回列[code]column[/code]的自定义颜色。"
 
 #: doc/classes/TreeItem.xml
-#, fuzzy
 msgid ""
 "Returns the id for the button at index [code]button_idx[/code] in column "
 "[code]column[/code]."
 msgstr ""
-"返回在[code]column[/code]中索引[code]button_idx[/code]按钮的�示信�字符串。"
+"返回在 [code]column[/code] 列中索引为 [code]button_idx[/code] 的按钮的 ID。"
 
 #: doc/classes/TreeItem.xml
 msgid ""
 "Returns the tooltip string for the button at index [code]button_idx[/code] "
 "in column [code]column[/code]."
 msgstr ""
-"返回在[code]column[/code]中索引[code]button_idx[/code]按钮的�示信�字符串。"
+"返回在 [code]column[/code] 列中索引为 [code]button_idx[/code] 的按钮的�示信"
+"�字符串。"
 
 #: doc/classes/TreeItem.xml
 msgid "Returns the column's cell mode."
@@ -75740,7 +76191,7 @@ msgstr "返回该列的�元格模�。"
 #: doc/classes/TreeItem.xml
 msgid ""
 "Returns the TreeItem's first child item or a null object if there is none."
-msgstr "返回TreeItem树项的第一个�项，如果没有，则返回一个空对象。"
+msgstr "返回 TreeItem 树项的第一个�项，如果没有，则返回一个空对象。"
 
 #: doc/classes/TreeItem.xml
 msgid "Returns the custom background color of column [code]column[/code]."
@@ -77497,7 +77948,7 @@ msgstr ""
 
 #: doc/classes/Vector2.xml doc/classes/Vector3.xml
 msgid "3Blue1Brown Essence of Linear Algebra"
-msgstr ""
+msgstr "3Blue1Brown《线性代数的本质》"
 
 #: doc/classes/Vector2.xml
 msgid ""
@@ -77858,7 +78309,7 @@ msgid ""
 "will always evaluate to [code]true[/code]."
 msgstr ""
 "�用于表示 3D 空间中的�置或任何其他数值对的 3 元素结构。\n"
-"[b]注�：[/b] 在布尔上下文中，如果 Vector3 等于 [code]Vector3(0, 0, 0)[/"
+"[b]注�：[/b]在布尔上下文中，如果 Vector3 等于 [code]Vector3(0, 0, 0)[/"
 "code]，将评估为 [code]false[/code]。�则， Vector3 将始终评估为 [code]true[/"
 "code]。"
 
@@ -78305,14 +78756,12 @@ msgstr ""
 "阻止车身侧倾。"
 
 #: doc/classes/VFlowContainer.xml
-#, fuzzy
 msgid "Vertical flow container."
-msgstr "垂直盒�容器。"
+msgstr "垂直��容器。"
 
 #: doc/classes/VFlowContainer.xml
-#, fuzzy
 msgid "Vertical version of [FlowContainer]."
-msgstr "[Separator]的垂直版本。"
+msgstr "[FlowContainer] 的垂直版本。"
 
 #: doc/classes/VideoPlayer.xml
 msgid "Control for playing video streams."
@@ -78580,23 +79029,23 @@ msgstr ""
 
 #: doc/classes/Viewport.xml
 msgid "Viewports tutorial index"
-msgstr ""
+msgstr "视窗教程索引"
 
 #: doc/classes/Viewport.xml doc/classes/ViewportTexture.xml
 msgid "3D in 2D Demo"
-msgstr ""
+msgstr "2D 中的 3D 演示"
 
 #: doc/classes/Viewport.xml
 msgid "Screen Capture Demo"
-msgstr ""
+msgstr "�幕��演示"
 
 #: doc/classes/Viewport.xml
 msgid "Dynamic Split Screen Demo"
-msgstr ""
+msgstr "动�分�演示"
 
 #: doc/classes/Viewport.xml doc/classes/ViewportTexture.xml
 msgid "3D Viewport Scaling Demo"
-msgstr ""
+msgstr "3D Viewport 缩放演示"
 
 #: doc/classes/Viewport.xml
 msgid ""
@@ -78627,11 +79076,10 @@ msgid "Returns the topmost modal in the stack."
 msgstr "返回堆栈中最顶层的模型。"
 
 #: doc/classes/Viewport.xml
-#, fuzzy
 msgid ""
 "Returns the mouse's position in this [Viewport] using the coordinate system "
 "of this [Viewport]."
-msgstr "返回相对于视窗的鼠标�置。"
+msgstr "返回该 [Viewport] 中鼠标的�置，使用该 [Viewport] 的�标系。"
 
 #: doc/classes/Viewport.xml
 msgid "Returns information about the viewport from the rendering pipeline."
@@ -78743,6 +79191,7 @@ msgid ""
 "Moves the mouse pointer to the specified position in this [Viewport] using "
 "the coordinate system of this [Viewport]."
 msgstr ""
+"将鼠标指针移动到该 [Viewport] 中的指定�置，使用该 [Viewport] 的�标系。"
 
 #: doc/classes/Viewport.xml
 msgid "If [code]true[/code], the viewport will be used in AR/VR process."
@@ -82408,6 +82857,10 @@ msgid ""
 "shaders), this function takes an optional argument to query either low or "
 "high priority changes, or any changes."
 msgstr ""
+"如果 VisualServer 的数�存在修改，则返回 [code]true[/code]。�生该情况时，通"
+"常会调用 [method draw]。\n"
+"因为修改会被注册为高优先级或低优先级（例如动��色器），该函数接��选的�"
+"数，用于查询低优先级或高优先级的修改，或者任何修改。"
 
 #: doc/classes/VisualServer.xml
 msgid "Not yet implemented. Always returns [code]false[/code]."
@@ -85043,7 +85496,7 @@ msgstr "对SSAO输出执行3x3模糊。使用它�以获得最平滑的SSAO。"
 #: doc/classes/VisualServer.xml
 msgid ""
 "Used to query for any changes that request a redraw, whatever the priority."
-msgstr ""
+msgstr "用于查询任何�求�绘的修改，无论优先级。"
 
 #: doc/classes/VisualServer.xml
 msgid ""
@@ -85051,10 +85504,12 @@ msgid ""
 "causing editor redraws. Examples might include dynamic shaders (typically "
 "using the [code]TIME[/code] built-in)."
 msgstr ""
+"注册为低优先级的修改，�以被�蔽防止造�编辑器�绘。例如动��色器（一般会使"
+"用 [code]TIME[/code] 内置��）。"
 
 #: doc/classes/VisualServer.xml
 msgid "Registered changes which can cause a redraw default to high priority."
-msgstr ""
+msgstr "注册为高优先级的修改，会引起�绘。"
 
 #: doc/classes/VisualShader.xml
 msgid "A custom shader program with a visual editor."
@@ -87817,8 +88272,8 @@ msgid ""
 "[b]Note:[/b] This signal is [i]not[/i] emitted when used as high-level "
 "multiplayer peer."
 msgstr ""
-"当收到WebSocket消�时触�。\n"
-"[b]注�：[/b]当作为高级别的多人对等体使用时，这个信�[i]not[/i]��射。"
+"当收到 WebSocket 消�时触�。\n"
+"[b]注�：[/b]当被用作高级多人对等体使用时，[i]�会[/i]触�这个信�。"
 
 #: modules/websocket/doc_classes/WebSocketClient.xml
 msgid ""
@@ -87832,19 +88287,20 @@ msgstr ""
 
 #: modules/websocket/doc_classes/WebSocketMultiplayerPeer.xml
 msgid "Base class for WebSocket server and client."
-msgstr "WebSocket�务器和客户端的基类。"
+msgstr "WebSocket �务器和客户端的基类。"
 
 #: modules/websocket/doc_classes/WebSocketMultiplayerPeer.xml
 msgid ""
 "Base class for WebSocket server and client, allowing them to be used as "
 "network peer for the [MultiplayerAPI]."
 msgstr ""
-"WebSocket�务器和客户端的基类，�许它们作为[MultiplayerAPI]的网络对等体使用。"
+"WebSocket �务器和客户端的基类，�许它们作为 [MultiplayerAPI] 的网络对等体使"
+"用。"
 
 #: modules/websocket/doc_classes/WebSocketMultiplayerPeer.xml
 msgid ""
 "Returns the [WebSocketPeer] associated to the given [code]peer_id[/code]."
-msgstr "返回与给定[code]peer_id[/code]关�的[WebSocketPeer]。"
+msgstr "返回与给定 [code]peer_id[/code] 关�的 [WebSocketPeer]。"
 
 #: modules/websocket/doc_classes/WebSocketMultiplayerPeer.xml
 msgid ""
@@ -88128,7 +88584,6 @@ msgid "AR/VR interface using WebXR."
 msgstr "使用 WebXR 的 AR/VR 接�。"
 
 #: modules/webxr/doc_classes/WebXRInterface.xml
-#, fuzzy
 msgid ""
 "WebXR is an open standard that allows creating VR and AR applications that "
 "run in the web browser.\n"
@@ -88253,15 +88708,15 @@ msgid ""
 "a wider or narrower set of devices and input methods, or to allow more "
 "advanced interactions with more advanced devices."
 msgstr ""
-"WebXR是一个开放标准，�许创建在网络�览器中�行的VR和AR应用程�。\n"
-"因此，这个界��有在HTML5导出中�行时�能使用。\n"
-"WebXR支�广泛的设备，从能力很强的设备（如Valve Index�HTC Vive�Oculus Rift和"
-"Quest）到能力较弱的设备（如Google Cardboard�Oculus Go�GearVR或普通智能手"
-"机）。\n"
-"由于WebXR是基于Javascript的，它大�使用回调，这�味�[WebXRInterface]被迫使用"
-"信�，而其他AR/VR界�会使用立�返回结果的函数。这使得[WebXRInterface]的�始化"
-"比其他AR/VR接����很多。\n"
-"下�是�动一个沉浸�VR会�所需的最�代�。\n"
+"WebXR 是一个开放标准，�许创建在网络�览器中�行的 VR 和 AR 应用程�。\n"
+"因此，这个界��有在 HTML5 导出中�行时�能使用。\n"
+"WebXR 支�广泛的设备，从能力很强的设备（如 Valve Index�HTC Vive�Oculus "
+"Rift 和 Quest）到能力较弱的设备（如 Google Cardboard�Oculus Go�GearVR 或普"
+"通智能手机）。\n"
+"由于 WebXR 是基于 Javascript 的，它大�使用回调，这�味� [WebXRInterface] 被"
+"迫使用信�，而其他 AR/VR 界�会使用立�返回结果的函数。这使得 "
+"[WebXRInterface] 的�始化比其他 AR/VR 接����很多。\n"
+"下�是�动一个沉浸� VR 会�所需的最�代�。\n"
 "[codeblock]\n"
 "extends Spatial\n"
 "\n"
@@ -88344,27 +88799,28 @@ msgstr ""
 "func _webxr_session_failed(message):\n"
 "    OS.alert(\"Failed to initialize: \" + message)\n"
 "[/codeblock]\n"
-"有几�方法�处� \"controller\" 控制器的输入。\n"
-"- 使用[ARVRController]节点和它们的[signal ARVRController.button_pressed]和"
-"[signal ARVRController.button_release]信�。这是Godot的AR/VR应用中通常处�控"
-"制器的方�，然而，这�适用于高级VR控制器，例如Oculus Touch或Index控制器。按钮"
-"代�由[url=https://immersive-web.github.io/webxr-gamepads-module/#xr-"
-"standard-gamepad-mapping]WebXR Gamepads模�[/url]的3.3节定义。\n"
-"- 使用[method Node._unhandled_input]和[InputEventJoypadButton]或"
-"[InputEventJoypadMotion]。这和普通的游�手柄工作原�一样，�是[member "
-"InputEvent.device]从100开始，所以左边的控制器是100，�边的控制器是101，按钮代"
-"�由[url=https://immersive-web.github.io/webxr-gamepads-module/#xr-standard-"
-"gamepad-mapping]WebXR Gamepads模�[/url]的3.3节定义。\n"
-"- 使用[signal select]�[signal squeeze]和相关信�。这�方法既适用于高级的VR控"
-"制器，也适用于�传统的 \"controller\" 控制器，如在�幕上的点击��语化的语音"
-"命令或设备本身的按键。传递给这些信�的[code]controller_id[/code]是与[member "
-"ARVRController.controller_id]中使用的id相�。\n"
+"有几�方法�处�“controller�控制器的输入。\n"
+"- 使用 [ARVRController] 节点和它们的 [signal ARVRController.button_pressed] "
+"和 [signal ARVRController.button_release] 信�。这是 Godot 的 AR/VR 应用中通"
+"常处�控制器的方�，然而，这�适用于高级 VR 控制器，例如 Oculus Touch 或 "
+"Index 控制器。按钮代�由 [url=https://immersive-web.github.io/webxr-gamepads-"
+"module/#xr-standard-gamepad-mapping]WebXR Gamepads 模�[/url]的 3.3 节定"
+"义。\n"
+"- 使用 [method Node._unhandled_input]和[InputEventJoypadButton]或"
+"[InputEventJoypadMotion]。这和普通的游�手柄工作原�一样，�是 [member "
+"InputEvent.device] 从 100 开始，所以左边的控制器是 100，�边的控制器是 101，"
+"按钮代�由 [url=https://immersive-web.github.io/webxr-gamepads-module/#xr-"
+"standard-gamepad-mapping]WebXR Gamepads模�[/url]的 3.3 节定义。\n"
+"- 使用 [signal select]�[signal squeeze] 和相关信�。这�方法既适用于高级的VR"
+"控制器，也适用于�传统的“controller�控制器，如在�幕上的点击��语化的语音命"
+"令或设备本身的按键。传递给这些信�的 [code]controller_id[/code] 是与 [member "
+"ARVRController.controller_id] 中使用的 id 相�。\n"
 "你�以使用这些方法中的一个或全部，让你的游�或应用程�支�更广泛或更窄的设备"
 "和输入方法，或者�许与更高级的设备进行更高级的交互。"
 
 #: modules/webxr/doc_classes/WebXRInterface.xml
 msgid "How to make a VR game for WebXR with Godot"
-msgstr ""
+msgstr "如何使用 Godot 制作 WebXR 的 VR 游�"
 
 #: modules/webxr/doc_classes/WebXRInterface.xml
 msgid ""
@@ -88404,6 +88860,10 @@ msgid ""
 "[url=https://developer.mozilla.org/en-US/docs/Web/API/XRInputSource/"
 "targetRayMode]XRInputSource.targetRayMode[/url] for more information."
 msgstr ""
+"返回给定的 [code]controller_id[/code] 控制器的目标射线模�。\n"
+"�用于帮助解��自该控制器的输入。详情请�阅 [url=https://developer.mozilla."
+"org/en-US/docs/Web/API/XRInputSource/targetRayMode]XRInputSource."
+"targetRayMode[/url]。"
 
 #: modules/webxr/doc_classes/WebXRInterface.xml
 msgid ""
@@ -88669,21 +89129,21 @@ msgstr "当[member visibility_state]已更改时触�。"
 
 #: modules/webxr/doc_classes/WebXRInterface.xml
 msgid "We don't know the the target ray mode."
-msgstr ""
+msgstr "�知�目标射线的模�。"
 
 #: modules/webxr/doc_classes/WebXRInterface.xml
 msgid ""
 "Target ray originates at the viewer's eyes and points in the direction they "
 "are looking."
-msgstr ""
+msgstr "目标射线从观察者的眼�出�，指�所观察的方�。"
 
 #: modules/webxr/doc_classes/WebXRInterface.xml
 msgid "Target ray from a handheld pointer, most likely a VR touch controller."
-msgstr ""
+msgstr "目标射线由手�指示器�射，很�能是 VR 触摸控制器。"
 
 #: modules/webxr/doc_classes/WebXRInterface.xml
 msgid "Target ray from touch screen, mouse or other tactile input device."
-msgstr ""
+msgstr "目标射线由触摸��鼠标等触觉输入设备�射。"
 
 #: doc/classes/WindowDialog.xml
 msgid "Base class for window dialogs."
diff --git a/doc/translations/zh_TW.po b/doc/translations/zh_TW.po
index 6fb4ff9eb2..9a4f44af62 100644
--- a/doc/translations/zh_TW.po
+++ b/doc/translations/zh_TW.po
@@ -3435,6 +3435,15 @@ msgstr ""
 
 #: doc/classes/@GlobalScope.xml
 msgid ""
+"Hints that a string property can be an enumerated value to pick in a list "
+"specified via a hint string such as [code]\"Hello,Something,Else\"[/code].\n"
+"Unlike [constant PROPERTY_HINT_ENUM] a property with this hint still accepts "
+"arbitrary values and can be empty. The list of values serves to suggest "
+"possible values."
+msgstr ""
+
+#: doc/classes/@GlobalScope.xml
+msgid ""
 "Hints that a float property should be edited via an exponential easing "
 "function. The hint string can include [code]\"attenuation\"[/code] to flip "
 "the curve horizontally and/or [code]\"inout\"[/code] to also include in/out "
@@ -4946,8 +4955,9 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Returns [code]true[/code] whether a given path is filtered."
-msgstr ""
+#, fuzzy
+msgid "Returns whether the given path is filtered."
+msgstr "回傳�數的正切值。"
 
 #: doc/classes/AnimationNode.xml
 msgid ""
@@ -4971,7 +4981,7 @@ msgstr ""
 
 #: doc/classes/AnimationNode.xml
 msgid ""
-"Sets a custom parameter. These are used as local storage, because resources "
+"Sets a custom parameter. These are used as local memory, because resources "
 "can be reused across the tree or scenes."
 msgstr ""
 
@@ -4980,7 +4990,7 @@ msgid "If [code]true[/code], filtering is enabled."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
-msgid "Called when the node was removed from the graph."
+msgid "Emitted when the node was removed from the graph."
 msgstr ""
 
 #: doc/classes/AnimationNode.xml
@@ -9595,26 +9605,10 @@ msgid ""
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Name of the current device for audio input (see [method "
-"capture_get_device_list]). The value [code]\"Default\"[/code] means that the "
-"system-wide default audio input is currently used."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Returns the names of all audio input devices detected on the system."
 msgstr ""
 
 #: doc/classes/AudioServer.xml
-msgid ""
-"Sets which audio input device is used for audio capture. On systems with "
-"multiple audio inputs (such as analog and USB), this can be used to select "
-"the audio input device. Setting the value [code]\"Default\"[/code] will "
-"record audio from the system-wide default audio input. If an invalid device "
-"name is set, the value will be reverted back to [code]\"Default\"[/code]."
-msgstr ""
-
-#: doc/classes/AudioServer.xml
 msgid "Generates an [AudioBusLayout] using the available buses and effects."
 msgstr ""
 
@@ -9772,6 +9766,16 @@ msgstr ""
 
 #: doc/classes/AudioServer.xml
 msgid ""
+"Name of the current device for audio input (see [method get_device_list]). "
+"On systems with multiple audio inputs (such as analog, USB and HDMI audio), "
+"this can be used to select the audio input device. The value "
+"[code]\"Default\"[/code] will record audio on the system-wide default audio "
+"input. If an invalid device name is set, the value will be reverted back to "
+"[code]\"Default\"[/code]."
+msgstr ""
+
+#: doc/classes/AudioServer.xml
+msgid ""
 "Name of the current device for audio output (see [method get_device_list]). "
 "On systems with multiple audio outputs (such as analog, USB and HDMI audio), "
 "this can be used to select the audio output device. The value "
@@ -12855,6 +12859,18 @@ msgstr ""
 
 #: doc/classes/CanvasLayer.xml
 msgid ""
+"Hides any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]false[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
+"Shows any [CanvasItem] under this [CanvasLayer]. This is equivalent to "
+"setting [member visible] to [code]true[/code]."
+msgstr ""
+
+#: doc/classes/CanvasLayer.xml
+msgid ""
 "The custom [Viewport] node assigned to the [CanvasLayer]. If [code]null[/"
 "code], uses the default viewport instead."
 msgstr ""
@@ -15692,8 +15708,9 @@ msgid ""
 "Returns a [Color] from the first matching [Theme] in the tree if that "
 "[Theme] has a color item with the specified [code]name[/code] and "
 "[code]theme_type[/code]. If [code]theme_type[/code] is omitted the class "
-"name of the current control is used as the type. If the type is a class name "
-"its parent classes are also checked, in order of inheritance.\n"
+"name of the current control is used as the type, or [member "
+"theme_type_variation] if it is defined. If the type is a class name its "
+"parent classes are also checked, in order of inheritance.\n"
 "For the current control its local overrides are considered first (see "
 "[method add_color_override]), then its assigned [member theme]. After the "
 "current control, each parent control and its assigned [member theme] are "
@@ -16450,6 +16467,25 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Control.xml
+msgid ""
+"The name of a theme type variation used by this [Control] to look up its own "
+"theme items. When empty, the class name of the node is used (e.g. "
+"[code]Button[/code] for the [Button] control), as well as the class names of "
+"all parent classes (in order of inheritance).\n"
+"When set, this property gives the highest priority to the type of the "
+"specified name. This type can in turn extend another type, forming a "
+"dependency chain. See [method Theme.set_type_variation]. If the theme item "
+"cannot be found using this type or its base types, lookup falls back on the "
+"class names.\n"
+"[b]Note:[/b] To look up [Control]'s own items use various [code]get_*[/code] "
+"methods without specifying [code]theme_type[/code].\n"
+"[b]Note:[/b] Theme items are looked for in the tree order, from branch to "
+"root, where each [Control] node is checked for its [member theme] property. "
+"The earliest match against any type/class name is returned. The project-"
+"level Theme and the default Theme are checked last."
+msgstr ""
+
+#: doc/classes/Control.xml
 msgid "Emitted when the node gains keyboard focus."
 msgstr ""
 
@@ -23129,7 +23165,22 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Environment.xml
-msgid "If [code]true[/code], the glow effect is enabled."
+msgid ""
+"If [code]true[/code], the glow effect is enabled.\n"
+"[b]Note:[/b] Only effective if [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] is [b]3D[/b] ([i]not[/i] [b]3D "
+"Without Effects[/b]). On mobile, [member ProjectSettings.rendering/quality/"
+"intended_usage/framebuffer_allocation] defaults to [b]3D Without Effects[/b] "
+"by default, so its [code].mobile[/code] override needs to be changed to "
+"[b]3D[/b].\n"
+"[b]Note:[/b] When using GLES3 on mobile, HDR rendering is disabled by "
+"default for performance reasons. This means glow will only be visible if "
+"[member glow_hdr_threshold] is decreased below [code]1.0[/code] or if "
+"[member glow_bloom] is increased above [code]0.0[/code]. Also consider "
+"increasing [member glow_intensity] to [code]1.5[/code]. If you want glow to "
+"behave on mobile like it does on desktop (at a performance cost), enable "
+"[member ProjectSettings.rendering/quality/depth/hdr]'s [code].mobile[/code] "
+"override."
 msgstr ""
 
 #: doc/classes/Environment.xml
@@ -25233,8 +25284,9 @@ msgid ""
 "Returns a [PoolIntArray] where each triangle consists of three consecutive "
 "point indices into [code]polygon[/code] (i.e. the returned array will have "
 "[code]n * 3[/code] elements, with [code]n[/code] being the number of found "
-"triangles). If the triangulation did not succeed, an empty [PoolIntArray] is "
-"returned."
+"triangles). Output triangles will always be counter clockwise, and the "
+"contour will be flipped if it's clockwise. If the triangulation did not "
+"succeed, an empty [PoolIntArray] is returned."
 msgstr ""
 
 #: doc/classes/Geometry.xml
@@ -25504,7 +25556,12 @@ msgid ""
 "[b]Note:[/b] [method bake] works from the editor and in exported projects. "
 "This makes it suitable for procedurally generated or user-built levels. "
 "Baking a [GIProbe] generally takes from 5 to 20 seconds in most scenes. "
-"Reducing [member subdiv] can speed up baking."
+"Reducing [member subdiv] can speed up baking.\n"
+"[b]Note:[/b] [GeometryInstance]s and [Light]s must be fully ready before "
+"[method bake] is called. If you are procedurally creating those and some "
+"meshes or lights are missing from your baked [GIProbe], use "
+"[code]call_deferred(\"bake\")[/code] instead of calling [method bake] "
+"directly."
 msgstr ""
 
 #: doc/classes/GIProbe.xml
@@ -32053,7 +32110,12 @@ msgid "The color of shadows cast by this light."
 msgstr ""
 
 #: doc/classes/Light.xml
-msgid "Attempts to reduce [member shadow_bias] gap."
+msgid ""
+"Attempts to reduce [member shadow_bias] gap by rendering screen-space "
+"contact shadows. This has a performance impact, especially at higher "
+"values.\n"
+"[b]Note:[/b] Contact shadows can look broken, so leaving this property to "
+"[code]0.0[/code] is recommended."
 msgstr ""
 
 #: doc/classes/Light.xml
@@ -32433,8 +32495,12 @@ msgstr ""
 
 #: doc/classes/Line2D.xml
 msgid ""
-"The smoothness of the rounded joints and caps. This is only used if a cap or "
-"joint is set as round."
+"The smoothness of the rounded joints and caps. Higher values result in "
+"smoother corners, but are more demanding to render and update. This is only "
+"used if a cap or joint is set as round.\n"
+"[b]Note:[/b] The default value is tuned for lines with the default [member "
+"width]. For thin lines, this value should be reduced to a number between "
+"[code]2[/code] and [code]4[/code] to improve performance."
 msgstr ""
 
 #: doc/classes/Line2D.xml
@@ -34275,6 +34341,15 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"When using [i]physics interpolation[/i], this function allows you to prevent "
+"interpolation on an instance in the current physics tick.\n"
+"This allows you to move instances instantaneously, and should usually be "
+"used when initially placing an instance such as a bullet to prevent "
+"graphical glitches."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets all data related to the instances in one go. This is especially useful "
 "when loading the data from disk or preparing the data from GDNative.\n"
 "All data is packed in one large float array. An array may look like this: "
@@ -34288,6 +34363,18 @@ msgstr ""
 
 #: doc/classes/MultiMesh.xml
 msgid ""
+"An alternative version of [method MultiMesh.set_as_bulk_array] which can be "
+"used with [i]physics interpolation[/i]. This method takes two arrays, and "
+"can set the data for the current and previous tick in one go. The renderer "
+"will automatically interpolate the data at each frame.\n"
+"This is useful for situations where the order of instances may change from "
+"physics tick to tick, such as particle systems.\n"
+"When the order of instances is coherent, the simpler [method MultiMesh."
+"set_as_bulk_array] can still be used with interpolation."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
 "Sets the color of a specific instance by [i]multiplying[/i] the mesh's "
 "existing vertex colors.\n"
 "For the color to take effect, ensure that [member color_format] is non-"
@@ -34330,6 +34417,16 @@ msgid "Mesh to be drawn."
 msgstr ""
 
 #: doc/classes/MultiMesh.xml
+msgid ""
+"Choose whether to use an interpolation method that favors speed or quality.\n"
+"When using low physics tick rates (typically below 20) or high rates of "
+"object rotation, you may get better results from the high quality setting.\n"
+"[b]Note:[/b] Fast quality does not equate to low quality. Except in the "
+"special cases mentioned above, the quality should be comparable to high "
+"quality."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
 msgid "Format of transform used to transform mesh, either 2D or 3D."
 msgstr ""
 
@@ -34381,6 +34478,18 @@ msgid ""
 "Use this for highest precision."
 msgstr ""
 
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Always interpolate using Basis lerping, which can produce warping artifacts "
+"in some situations."
+msgstr ""
+
+#: doc/classes/MultiMesh.xml
+msgid ""
+"Attempt to interpolate using Basis slerping (spherical linear interpolation) "
+"where possible, otherwise fall back to lerping."
+msgstr ""
+
 #: doc/classes/MultiMeshInstance.xml
 msgid "Node that instances a [MultiMesh]."
 msgstr ""
@@ -36704,6 +36813,25 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Returns [code]true[/code] if the physics interpolated flag is set for this "
+"Node (see [method set_physics_interpolated]).\n"
+"[b]Note:[/b] Interpolation will only be active is both the flag is set "
+"[b]and[/b] physics interpolation is enabled within the [SceneTree]. This can "
+"be tested using [method is_physics_interpolated_and_enabled]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
+"Returns [code]true[/code] if physics interpolation is enabled (see [method "
+"set_physics_interpolated]) [b]and[/b] enabled in the [SceneTree].\n"
+"This is a convenience version of [method is_physics_interpolated] that also "
+"checks whether physics interpolation is enabled globally.\n"
+"See [member SceneTree.physics_interpolation] and [member ProjectSettings."
+"physics/common/physics_interpolation]."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Returns [code]true[/code] if physics processing is enabled (see [method "
 "set_physics_process])."
 msgstr ""
@@ -36874,6 +37002,21 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"When physics interpolation is active, moving a node to a radically different "
+"transform (such as placement within a level) can result in a visible glitch "
+"as the object is rendered moving from the old to new position over the "
+"physics tick.\n"
+"This glitch can be prevented by calling [code]reset_physics_interpolation[/"
+"code], which temporarily turns off interpolation until the physics tick is "
+"complete.\n"
+"[constant NOTIFICATION_RESET_PHYSICS_INTERPOLATION] will be received by the "
+"node and all children recursively.\n"
+"[b]Note:[/b] This function should be called [b]after[/b] moving the node, "
+"rather than before."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Sends a remote procedure call request for the given [code]method[/code] to "
 "peers on the network (and locally), optionally sending all additional "
 "arguments as arguments to the method called by the RPC. The call request "
@@ -36974,6 +37117,14 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Enables or disables physics interpolation per node, offering a finer grain "
+"of control than turning physics interpolation on and off globally.\n"
+"[b]Note:[/b] This can be especially useful for [Camera]s, where custom "
+"interpolation can sometimes give superior results."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Enables or disables physics (i.e. fixed framerate) processing. When a node "
 "is being processed, it will receive a [constant "
 "NOTIFICATION_PHYSICS_PROCESS] at a fixed (usually 60 FPS, see [member Engine."
@@ -37224,6 +37375,12 @@ msgstr ""
 
 #: doc/classes/Node.xml
 msgid ""
+"Notification received when [method reset_physics_interpolation] is called on "
+"the node or parent nodes."
+msgstr ""
+
+#: doc/classes/Node.xml
+msgid ""
 "Inherits pause mode from the node's parent. For the root node, it is "
 "equivalent to [constant PAUSE_MODE_STOP]. Default."
 msgstr ""
@@ -38211,8 +38368,8 @@ msgstr ""
 
 #: doc/classes/OccluderShapePolygon.xml
 msgid ""
-"Specifies whether the occluder should operate one way only, or from both "
-"sides."
+"Specifies whether the occluder should operate from both sides. If "
+"[code]false[/code], the occluder will operate one way only."
 msgstr ""
 
 #: doc/classes/OccluderShapeSphere.xml
@@ -39005,7 +39162,19 @@ msgid ""
 msgstr ""
 
 #: doc/classes/OS.xml
-msgid "Returns the number of threads available on the host machine."
+msgid ""
+"Returns the number of [i]logical[/i] CPU cores available on the host "
+"machine. On CPUs with HyperThreading enabled, this number will be greater "
+"than the number of [i]physical[/i] CPU cores."
+msgstr ""
+
+#: doc/classes/OS.xml
+msgid ""
+"Returns the name of the CPU model on the host machine (e.g. \"Intel(R) "
+"Core(TM) i7-6700K CPU @ 4.00GHz\").\n"
+"[b]Note:[/b] This method is only implemented on Windows, macOS, Linux and "
+"iOS. On Android, HTML5 and UWP, [method get_processor_name] returns an empty "
+"string."
 msgstr ""
 
 #: doc/classes/OS.xml
@@ -46870,6 +47039,17 @@ msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
+"If [code]true[/code], the renderer will interpolate the transforms of "
+"physics objects between the last two transforms, such that smooth motion is "
+"seen when physics ticks do not coincide with rendered frames.\n"
+"[b]Note:[/b] When moving objects to new positions (rather than the usual "
+"physics motion) you may want to temporarily turn off interpolation to "
+"prevent a visible glitch. You can do this using the [method Node."
+"reset_physics_interpolation] function."
+msgstr ""
+
+#: doc/classes/ProjectSettings.xml
+msgid ""
 "Controls how much physics ticks are synchronized with real time. For 0 or "
 "less, the ticks are synchronized. Such values are recommended for network "
 "games, where clock synchronization matters. Higher values cause higher "
@@ -46880,8 +47060,10 @@ msgid ""
 "[b]Note:[/b] For best results, when using a custom physics interpolation "
 "solution, the physics jitter fix should be disabled by setting [member "
 "physics/common/physics_jitter_fix] to [code]0[/code].\n"
+"[b]Note:[/b] Jitter fix is automatically disabled at runtime when [member "
+"physics/common/physics_interpolation] is enabled.\n"
 "[b]Note:[/b] This property is only read when the project starts. To change "
-"the physics FPS at runtime, set [member Engine.physics_jitter_fix] instead."
+"the value at runtime, set [member Engine.physics_jitter_fix] instead."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47394,14 +47576,19 @@ msgstr ""
 msgid ""
 "If [code]true[/code], allocates the root [Viewport]'s framebuffer with high "
 "dynamic range. High dynamic range allows the use of [Color] values greater "
-"than 1.\n"
+"than 1. This must be set to [code]true[/code] for glow rendering to work if "
+"[member Environment.glow_hdr_threshold] is greater than or equal to "
+"[code]1.0[/code].\n"
 "[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
 msgid ""
 "Lower-end override for [member rendering/quality/depth/hdr] on mobile "
-"devices, due to performance concerns or driver support."
+"devices, due to performance concerns or driver support. This must be set to "
+"[code]true[/code] for glow rendering to work if [member Environment."
+"glow_hdr_threshold] is greater than or equal to [code]1.0[/code].\n"
+"[b]Note:[/b] Only available on the GLES3 backend."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -47530,8 +47717,8 @@ msgid ""
 "resources it uses (but the less features it supports). If set to \"2D "
 "Without Sampling\" or \"3D Without Effects\", sample buffers will not be "
 "allocated. This means [code]SCREEN_TEXTURE[/code] and [code]DEPTH_TEXTURE[/"
-"code] will not be available in shaders and post-processing effects will not "
-"be available in the [Environment]."
+"code] will not be available in shaders and post-processing effects such as "
+"glow will not be available in [Environment]."
 msgstr ""
 
 #: doc/classes/ProjectSettings.xml
@@ -51469,6 +51656,13 @@ msgstr ""
 
 #: doc/classes/SceneTree.xml
 msgid ""
+"Although physics interpolation would normally be globally turned on and off "
+"using [member ProjectSettings.physics/common/physics_interpolation], this "
+"property allows control over interpolation at runtime."
+msgstr ""
+
+#: doc/classes/SceneTree.xml
+msgid ""
 "If [code]true[/code], the [SceneTree]'s [member network_peer] refuses new "
 "incoming connections."
 msgstr ""
@@ -52723,6 +52917,18 @@ msgstr ""
 
 #: doc/classes/Spatial.xml
 msgid ""
+"When using physics interpolation, there will be circumstances in which you "
+"want to know the interpolated (displayed) transform of a node rather than "
+"the standard transform (which may only be accurate to the most recent "
+"physics tick).\n"
+"This is particularly important for frame-based operations that take place in "
+"[method Node._process], rather than [method Node._physics_process]. Examples "
+"include [Camera]s focusing on a node, or finding where to fire lasers from "
+"on a frame rather than physics tick."
+msgstr ""
+
+#: doc/classes/Spatial.xml
+msgid ""
 "Returns the parent [Spatial], or an empty [Object] if no parent exists or "
 "parent is not of type [Spatial]."
 msgstr ""
@@ -54559,7 +54765,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the color defined in [member "
 "modulate] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALBEDO *= COLOR.rgb;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -54573,7 +54779,7 @@ msgid ""
 "colors into account for albedo. Otherwise, the opacity defined in [member "
 "opacity] will be ignored. For a [SpatialMaterial], [member SpatialMaterial."
 "vertex_color_use_as_albedo] must be [code]true[/code]. For a "
-"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/color] must be inserted in the "
+"[ShaderMaterial], [code]ALPHA *= COLOR.a;[/code] must be inserted in the "
 "shader's [code]fragment()[/code] function."
 msgstr ""
 
@@ -55248,7 +55454,12 @@ msgid "Returns [code]true[/code] if the string begins with the given string."
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns the bigrams (pairs of consecutive letters) of this string."
+msgid ""
+"Returns an array containing the bigrams (pairs of consecutive letters) of "
+"this string.\n"
+"[codeblock]\n"
+"print(\"Bigrams\".bigrams()) # Prints \"[Bi, ig, gr, ra, am, ms]\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55511,7 +55722,16 @@ msgid ""
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid float."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid float. This is "
+"inclusive of integers, and also supports exponents:\n"
+"[codeblock]\n"
+"print(\"1.7\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"7e3\".is_valid_float()) # Prints \"true\"\n"
+"print(\"24\".is_valid_float()) # Prints \"true\"\n"
+"print(\"Hello\".is_valid_float()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55534,11 +55754,24 @@ msgstr ""
 msgid ""
 "Returns [code]true[/code] if this string is a valid identifier. A valid "
 "identifier may contain only letters, digits and underscores ([code]_[/code]) "
-"and the first character may not be a digit."
+"and the first character may not be a digit.\n"
+"[codeblock]\n"
+"print(\"good_ident_1\".is_valid_identifier()) # Prints \"true\"\n"
+"print(\"1st_bad_ident\".is_valid_identifier()) # Prints \"false\"\n"
+"print(\"bad_ident_#2\".is_valid_identifier()) # Prints \"false\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
-msgid "Returns [code]true[/code] if this string contains a valid integer."
+msgid ""
+"Returns [code]true[/code] if this string contains a valid integer.\n"
+"[codeblock]\n"
+"print(\"7\".is_valid_int()) # Prints \"true\"\n"
+"print(\"14.6\".is_valid_int()) # Prints \"false\"\n"
+"print(\"L\".is_valid_int()) # Prints \"false\"\n"
+"print(\"+3\".is_valid_int()) # Prints \"true\"\n"
+"print(\"-12\".is_valid_int()) # Prints \"true\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55587,14 +55820,16 @@ msgstr ""
 msgid ""
 "Does a simple case-sensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
 "Does a simple case-insensitive expression match, where [code]\"*\"[/code] "
 "matches zero or more arbitrary characters and [code]\"?\"[/code] matches any "
-"single character except a period ([code]\".\"[/code])."
+"single character except a period ([code]\".\"[/code]). An empty string or "
+"empty expression always evaluates to [code]false[/code]."
 msgstr ""
 
 #: doc/classes/String.xml
@@ -55764,8 +55999,16 @@ msgstr ""
 
 #: doc/classes/String.xml
 msgid ""
-"Returns the similarity index of the text compared to this string. 1 means "
-"totally similar and 0 means totally dissimilar."
+"Returns the similarity index ([url=https://en.wikipedia.org/wiki/"
+"S%C3%B8rensen%E2%80%93Dice_coefficient]Sorensen-Dice coefficient[/url]) this "
+"string compared to another. 1.0 means totally similar and 0.0 means totally "
+"dissimilar.\n"
+"[codeblock]\n"
+"print(\"ABC123\".similarity(\"ABC123\")) # Prints \"1\"\n"
+"print(\"ABC123\".similarity(\"XYZ456\")) # Prints \"0\"\n"
+"print(\"ABC123\".similarity(\"123ABC\")) # Prints \"0.8\"\n"
+"print(\"ABC123\".similarity(\"abc123\")) # Prints \"0.4\"\n"
+"[/codeblock]"
 msgstr ""
 
 #: doc/classes/String.xml
@@ -57260,6 +57503,16 @@ msgid "Returns the total width of all gutters and internal padding."
 msgstr "回傳�數的正切值。"
 
 #: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the total amount of lines that could be drawn."
+msgstr "回傳�數的相�值。"
+
+#: doc/classes/TextEdit.xml
+#, fuzzy
+msgid "Returns the number of visible lines, including wrapped text."
+msgstr "回傳�數的正弦值。"
+
+#: doc/classes/TextEdit.xml
 msgid ""
 "Returns a [String] text with the word under the caret (text cursor) location."
 msgstr ""
@@ -58298,6 +58551,12 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+msgid ""
+"Unmarks [code]theme_type[/code] as being a variation of another theme type. "
+"See [method set_type_variation]."
+msgstr ""
+
+#: doc/classes/Theme.xml
 msgid "Sets the theme's values to a copy of the default theme values."
 msgstr ""
 
@@ -58439,6 +58698,18 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Returns the name of the base theme type if [code]theme_type[/code] is a "
+"valid variation type. Returns an empty string otherwise."
+msgstr ""
+
+#: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns a list of all type variations for the given [code]base_type[/code]."
+msgstr "計算兩個��的外�。"
+
+#: doc/classes/Theme.xml
+msgid ""
 "Returns [code]true[/code] if [Color] with [code]name[/code] is in "
 "[code]node_type[/code].\n"
 "Returns [code]false[/code] if the theme does not have [code]node_type[/code]."
@@ -58486,6 +58757,13 @@ msgid ""
 msgstr ""
 
 #: doc/classes/Theme.xml
+#, fuzzy
+msgid ""
+"Returns [code]true[/code] if [code]theme_type[/code] is marked as a "
+"variation of [code]base_type[/code]."
+msgstr "計算兩個��的外�。"
+
+#: doc/classes/Theme.xml
 msgid ""
 "Adds missing and overrides existing definitions with values from the "
 "[code]other[/code] [Theme].\n"
@@ -58582,6 +58860,20 @@ msgstr ""
 
 #: doc/classes/Theme.xml
 msgid ""
+"Marks [code]theme_type[/code] as a variation of [code]base_type[/code].\n"
+"This adds [code]theme_type[/code] as a suggested option for [member Control."
+"theme_type_variation] on a [Control] that is of the [code]base_type[/code] "
+"class.\n"
+"Variations can also be nested, i.e. [code]base_type[/code] can be another "
+"variation. If a chain of variations ends with a [code]base_type[/code] "
+"matching the class of the [Control], the whole chain is going to be "
+"suggested as options.\n"
+"[b]Note:[/b] Suggestions only show up if this theme resource is set as the "
+"project default theme. See [member ProjectSettings.gui/theme/custom]."
+msgstr ""
+
+#: doc/classes/Theme.xml
+msgid ""
 "The default font of this [Theme] resource. Used as a fallback value for font "
 "items defined in this theme, but having invalid values. If this value is "
 "also invalid, the global default value is used.\n"
@@ -60758,7 +61050,7 @@ msgid ""
 "Adds a button with [Texture] [code]button[/code] at column [code]column[/"
 "code]. The [code]id[/code] is used to identify the button. If not specified, "
 "the next available index is used, which may be retrieved by calling [method "
-"get_button_count] immediately after this method. Optionally, the button can "
+"get_button_count] immediately before this method. Optionally, the button can "
 "be [code]disabled[/code] and have a [code]tooltip[/code]."
 msgstr ""
 
@@ -60800,10 +61092,9 @@ msgid ""
 msgstr "計算兩個��的外�。"
 
 #: doc/classes/TreeItem.xml
-msgid ""
-"Returns the number of buttons in column [code]column[/code]. May be used to "
-"get the most recently added button's index, if no index was specified."
-msgstr ""
+#, fuzzy
+msgid "Returns the number of buttons in column [code]column[/code]."
+msgstr "計算兩個��的外�。"
 
 #: doc/classes/TreeItem.xml
 #, fuzzy
diff --git a/drivers/gles3/rasterizer_storage_gles3.cpp b/drivers/gles3/rasterizer_storage_gles3.cpp
index abbba13ee6..dce515a96d 100644
--- a/drivers/gles3/rasterizer_storage_gles3.cpp
+++ b/drivers/gles3/rasterizer_storage_gles3.cpp
@@ -2255,9 +2255,6 @@ void RasterizerStorageGLES3::light_set_param(RID p_light, RS::LightParam p_param
 void RasterizerStorageGLES3::light_set_shadow(RID p_light, bool p_enabled) {
 }
 
-void RasterizerStorageGLES3::light_set_shadow_color(RID p_light, const Color &p_color) {
-}
-
 void RasterizerStorageGLES3::light_set_projector(RID p_light, RID p_texture) {
 }
 
@@ -2267,6 +2264,9 @@ void RasterizerStorageGLES3::light_set_negative(RID p_light, bool p_enable) {
 void RasterizerStorageGLES3::light_set_cull_mask(RID p_light, uint32_t p_mask) {
 }
 
+void RasterizerStorageGLES3::light_set_distance_fade(RID p_light, bool p_enabled, float p_begin, float p_shadow, float p_length) {
+}
+
 void RasterizerStorageGLES3::light_set_reverse_cull_face_mode(RID p_light, bool p_enabled) {
 }
 
diff --git a/drivers/gles3/rasterizer_storage_gles3.h b/drivers/gles3/rasterizer_storage_gles3.h
index b6a5c0e73e..de984fa8df 100644
--- a/drivers/gles3/rasterizer_storage_gles3.h
+++ b/drivers/gles3/rasterizer_storage_gles3.h
@@ -898,10 +898,10 @@ public:
 	void light_set_color(RID p_light, const Color &p_color) override;
 	void light_set_param(RID p_light, RS::LightParam p_param, float p_value) override;
 	void light_set_shadow(RID p_light, bool p_enabled) override;
-	void light_set_shadow_color(RID p_light, const Color &p_color) override;
 	void light_set_projector(RID p_light, RID p_texture) override;
 	void light_set_negative(RID p_light, bool p_enable) override;
 	void light_set_cull_mask(RID p_light, uint32_t p_mask) override;
+	void light_set_distance_fade(RID p_light, bool p_enabled, float p_begin, float p_shadow, float p_length) override;
 	void light_set_reverse_cull_face_mode(RID p_light, bool p_enabled) override;
 	void light_set_bake_mode(RID p_light, RS::LightBakeMode p_bake_mode) override;
 	void light_set_max_sdfgi_cascade(RID p_light, uint32_t p_cascade) override;
@@ -1168,27 +1168,21 @@ public:
 			int height = 0;
 
 			GLuint color = 0;
-
-			Effect() {
-			}
 		};
 
 		Effect copy_screen_effect;
 
 		struct MipMaps {
 			struct Size {
-				GLuint fbo;
-				GLuint color;
-				int width;
-				int height;
+				GLuint fbo = 0;
+				GLuint color = 0;
+				int width = 0;
+				int height = 0;
 			};
 
 			Vector<Size> sizes;
 			GLuint color = 0;
 			int levels = 0;
-
-			MipMaps() {
-			}
 		};
 
 		MipMaps mip_maps[2];
@@ -1198,14 +1192,14 @@ public:
 			GLuint color = 0;
 			GLuint depth = 0;
 			RID texture;
-
-			External() {
-			}
 		} external;
 
-		int x = 0, y = 0, width = 0, height = 0;
+		int x = 0;
+		int y = 0;
+		int width = 0;
+		int height = 0;
 
-		bool flags[RENDER_TARGET_FLAG_MAX];
+		bool flags[RENDER_TARGET_FLAG_MAX] = {};
 
 		// instead of allocating sized render targets immediately,
 		// defer this for faster startup
diff --git a/drivers/unix/os_unix.cpp b/drivers/unix/os_unix.cpp
index 088525647c..3b5e1bf91d 100644
--- a/drivers/unix/os_unix.cpp
+++ b/drivers/unix/os_unix.cpp
@@ -439,12 +439,12 @@ Error OS_Unix::open_dynamic_library(const String p_path, void *&p_library_handle
 	}
 
 	if (!FileAccess::exists(path)) {
-		//this code exists so gdnative can load .so files from within the executable path
+		// This code exists so GDExtension can load .so files from within the executable path.
 		path = get_executable_path().get_base_dir().plus_file(p_path.get_file());
 	}
 
 	if (!FileAccess::exists(path)) {
-		//this code exists so gdnative can load .so files from a standard unix location
+		// This code exists so GDExtension can load .so files from a standard unix location.
 		path = get_executable_path().get_base_dir().plus_file("../lib").plus_file(p_path.get_file());
 	}
 
diff --git a/drivers/vulkan/rendering_device_vulkan.cpp b/drivers/vulkan/rendering_device_vulkan.cpp
index 9cc505cff1..b86b5f1579 100644
--- a/drivers/vulkan/rendering_device_vulkan.cpp
+++ b/drivers/vulkan/rendering_device_vulkan.cpp
@@ -5632,18 +5632,18 @@ RID RenderingDeviceVulkan::uniform_set_create(const Vector<Uniform> &p_uniforms,
 
 		switch (uniform.uniform_type) {
 			case UNIFORM_TYPE_SAMPLER: {
-				if (uniform.ids.size() != set_uniform.length) {
+				if (uniform.get_id_count() != (uint32_t)set_uniform.length) {
 					if (set_uniform.length > 1) {
-						ERR_FAIL_V_MSG(RID(), "Sampler (binding: " + itos(uniform.binding) + ") is an array of (" + itos(set_uniform.length) + ") sampler elements, so it should be provided equal number of sampler IDs to satisfy it (IDs provided: " + itos(uniform.ids.size()) + ").");
+						ERR_FAIL_V_MSG(RID(), "Sampler (binding: " + itos(uniform.binding) + ") is an array of (" + itos(set_uniform.length) + ") sampler elements, so it should be provided equal number of sampler IDs to satisfy it (IDs provided: " + itos(uniform.get_id_count()) + ").");
 					} else {
-						ERR_FAIL_V_MSG(RID(), "Sampler (binding: " + itos(uniform.binding) + ") should provide one ID referencing a sampler (IDs provided: " + itos(uniform.ids.size()) + ").");
+						ERR_FAIL_V_MSG(RID(), "Sampler (binding: " + itos(uniform.binding) + ") should provide one ID referencing a sampler (IDs provided: " + itos(uniform.get_id_count()) + ").");
 					}
 				}
 
 				Vector<VkDescriptorImageInfo> image_info;
 
-				for (int j = 0; j < uniform.ids.size(); j++) {
-					VkSampler *sampler = sampler_owner.get_or_null(uniform.ids[j]);
+				for (uint32_t j = 0; j < uniform.get_id_count(); j++) {
+					VkSampler *sampler = sampler_owner.get_or_null(uniform.get_id(j));
 					ERR_FAIL_COND_V_MSG(!sampler, RID(), "Sampler (binding: " + itos(uniform.binding) + ", index " + itos(j) + ") is not a valid sampler.");
 
 					VkDescriptorImageInfo img_info;
@@ -5655,31 +5655,31 @@ RID RenderingDeviceVulkan::uniform_set_create(const Vector<Uniform> &p_uniforms,
 				}
 
 				write.dstArrayElement = 0;
-				write.descriptorCount = uniform.ids.size();
+				write.descriptorCount = uniform.get_id_count();
 				write.descriptorType = VK_DESCRIPTOR_TYPE_SAMPLER;
 				write.pImageInfo = image_infos.push_back(image_info)->get().ptr();
 				write.pBufferInfo = nullptr;
 				write.pTexelBufferView = nullptr;
 
-				type_size = uniform.ids.size();
+				type_size = uniform.get_id_count();
 
 			} break;
 			case UNIFORM_TYPE_SAMPLER_WITH_TEXTURE: {
-				if (uniform.ids.size() != set_uniform.length * 2) {
+				if (uniform.get_id_count() != (uint32_t)set_uniform.length * 2) {
 					if (set_uniform.length > 1) {
-						ERR_FAIL_V_MSG(RID(), "SamplerTexture (binding: " + itos(uniform.binding) + ") is an array of (" + itos(set_uniform.length) + ") sampler&texture elements, so it should provided twice the amount of IDs (sampler,texture pairs) to satisfy it (IDs provided: " + itos(uniform.ids.size()) + ").");
+						ERR_FAIL_V_MSG(RID(), "SamplerTexture (binding: " + itos(uniform.binding) + ") is an array of (" + itos(set_uniform.length) + ") sampler&texture elements, so it should provided twice the amount of IDs (sampler,texture pairs) to satisfy it (IDs provided: " + itos(uniform.get_id_count()) + ").");
 					} else {
-						ERR_FAIL_V_MSG(RID(), "SamplerTexture (binding: " + itos(uniform.binding) + ") should provide two IDs referencing a sampler and then a texture (IDs provided: " + itos(uniform.ids.size()) + ").");
+						ERR_FAIL_V_MSG(RID(), "SamplerTexture (binding: " + itos(uniform.binding) + ") should provide two IDs referencing a sampler and then a texture (IDs provided: " + itos(uniform.get_id_count()) + ").");
 					}
 				}
 
 				Vector<VkDescriptorImageInfo> image_info;
 
-				for (int j = 0; j < uniform.ids.size(); j += 2) {
-					VkSampler *sampler = sampler_owner.get_or_null(uniform.ids[j + 0]);
+				for (uint32_t j = 0; j < uniform.get_id_count(); j += 2) {
+					VkSampler *sampler = sampler_owner.get_or_null(uniform.get_id(j + 0));
 					ERR_FAIL_COND_V_MSG(!sampler, RID(), "SamplerBuffer (binding: " + itos(uniform.binding) + ", index " + itos(j + 1) + ") is not a valid sampler.");
 
-					Texture *texture = texture_owner.get_or_null(uniform.ids[j + 1]);
+					Texture *texture = texture_owner.get_or_null(uniform.get_id(j + 1));
 					ERR_FAIL_COND_V_MSG(!texture, RID(), "Texture (binding: " + itos(uniform.binding) + ", index " + itos(j) + ") is not a valid texture.");
 
 					ERR_FAIL_COND_V_MSG(!(texture->usage_flags & TEXTURE_USAGE_SAMPLING_BIT), RID(),
@@ -5692,7 +5692,7 @@ RID RenderingDeviceVulkan::uniform_set_create(const Vector<Uniform> &p_uniforms,
 					if (texture->usage_flags & (TEXTURE_USAGE_COLOR_ATTACHMENT_BIT | TEXTURE_USAGE_DEPTH_STENCIL_ATTACHMENT_BIT | TEXTURE_USAGE_INPUT_ATTACHMENT_BIT)) {
 						UniformSet::AttachableTexture attachable_texture;
 						attachable_texture.bind = set_uniform.binding;
-						attachable_texture.texture = texture->owner.is_valid() ? texture->owner : uniform.ids[j + 1];
+						attachable_texture.texture = texture->owner.is_valid() ? texture->owner : uniform.get_id(j + 1);
 						attachable_textures.push_back(attachable_texture);
 					}
 
@@ -5711,28 +5711,28 @@ RID RenderingDeviceVulkan::uniform_set_create(const Vector<Uniform> &p_uniforms,
 				}
 
 				write.dstArrayElement = 0;
-				write.descriptorCount = uniform.ids.size() / 2;
+				write.descriptorCount = uniform.get_id_count() / 2;
 				write.descriptorType = VK_DESCRIPTOR_TYPE_COMBINED_IMAGE_SAMPLER;
 				write.pImageInfo = image_infos.push_back(image_info)->get().ptr();
 				write.pBufferInfo = nullptr;
 				write.pTexelBufferView = nullptr;
 
-				type_size = uniform.ids.size() / 2;
+				type_size = uniform.get_id_count() / 2;
 
 			} break;
 			case UNIFORM_TYPE_TEXTURE: {
-				if (uniform.ids.size() != set_uniform.length) {
+				if (uniform.get_id_count() != (uint32_t)set_uniform.length) {
 					if (set_uniform.length > 1) {
-						ERR_FAIL_V_MSG(RID(), "Texture (binding: " + itos(uniform.binding) + ") is an array of (" + itos(set_uniform.length) + ") textures, so it should be provided equal number of texture IDs to satisfy it (IDs provided: " + itos(uniform.ids.size()) + ").");
+						ERR_FAIL_V_MSG(RID(), "Texture (binding: " + itos(uniform.binding) + ") is an array of (" + itos(set_uniform.length) + ") textures, so it should be provided equal number of texture IDs to satisfy it (IDs provided: " + itos(uniform.get_id_count()) + ").");
 					} else {
-						ERR_FAIL_V_MSG(RID(), "Texture (binding: " + itos(uniform.binding) + ") should provide one ID referencing a texture (IDs provided: " + itos(uniform.ids.size()) + ").");
+						ERR_FAIL_V_MSG(RID(), "Texture (binding: " + itos(uniform.binding) + ") should provide one ID referencing a texture (IDs provided: " + itos(uniform.get_id_count()) + ").");
 					}
 				}
 
 				Vector<VkDescriptorImageInfo> image_info;
 
-				for (int j = 0; j < uniform.ids.size(); j++) {
-					Texture *texture = texture_owner.get_or_null(uniform.ids[j]);
+				for (uint32_t j = 0; j < uniform.get_id_count(); j++) {
+					Texture *texture = texture_owner.get_or_null(uniform.get_id(j));
 					ERR_FAIL_COND_V_MSG(!texture, RID(), "Texture (binding: " + itos(uniform.binding) + ", index " + itos(j) + ") is not a valid texture.");
 
 					ERR_FAIL_COND_V_MSG(!(texture->usage_flags & TEXTURE_USAGE_SAMPLING_BIT), RID(),
@@ -5745,7 +5745,7 @@ RID RenderingDeviceVulkan::uniform_set_create(const Vector<Uniform> &p_uniforms,
 					if (texture->usage_flags & (TEXTURE_USAGE_COLOR_ATTACHMENT_BIT | TEXTURE_USAGE_DEPTH_STENCIL_ATTACHMENT_BIT | TEXTURE_USAGE_INPUT_ATTACHMENT_BIT)) {
 						UniformSet::AttachableTexture attachable_texture;
 						attachable_texture.bind = set_uniform.binding;
-						attachable_texture.texture = texture->owner.is_valid() ? texture->owner : uniform.ids[j];
+						attachable_texture.texture = texture->owner.is_valid() ? texture->owner : uniform.get_id(j);
 						attachable_textures.push_back(attachable_texture);
 					}
 
@@ -5765,27 +5765,27 @@ RID RenderingDeviceVulkan::uniform_set_create(const Vector<Uniform> &p_uniforms,
 				}
 
 				write.dstArrayElement = 0;
-				write.descriptorCount = uniform.ids.size();
+				write.descriptorCount = uniform.get_id_count();
 				write.descriptorType = VK_DESCRIPTOR_TYPE_SAMPLED_IMAGE;
 				write.pImageInfo = image_infos.push_back(image_info)->get().ptr();
 				write.pBufferInfo = nullptr;
 				write.pTexelBufferView = nullptr;
 
-				type_size = uniform.ids.size();
+				type_size = uniform.get_id_count();
 			} break;
 			case UNIFORM_TYPE_IMAGE: {
-				if (uniform.ids.size() != set_uniform.length) {
+				if (uniform.get_id_count() != (uint32_t)set_uniform.length) {
 					if (set_uniform.length > 1) {
-						ERR_FAIL_V_MSG(RID(), "Image (binding: " + itos(uniform.binding) + ") is an array of (" + itos(set_uniform.length) + ") textures, so it should be provided equal number of texture IDs to satisfy it (IDs provided: " + itos(uniform.ids.size()) + ").");
+						ERR_FAIL_V_MSG(RID(), "Image (binding: " + itos(uniform.binding) + ") is an array of (" + itos(set_uniform.length) + ") textures, so it should be provided equal number of texture IDs to satisfy it (IDs provided: " + itos(uniform.get_id_count()) + ").");
 					} else {
-						ERR_FAIL_V_MSG(RID(), "Image (binding: " + itos(uniform.binding) + ") should provide one ID referencing a texture (IDs provided: " + itos(uniform.ids.size()) + ").");
+						ERR_FAIL_V_MSG(RID(), "Image (binding: " + itos(uniform.binding) + ") should provide one ID referencing a texture (IDs provided: " + itos(uniform.get_id_count()) + ").");
 					}
 				}
 
 				Vector<VkDescriptorImageInfo> image_info;
 
-				for (int j = 0; j < uniform.ids.size(); j++) {
-					Texture *texture = texture_owner.get_or_null(uniform.ids[j]);
+				for (uint32_t j = 0; j < uniform.get_id_count(); j++) {
+					Texture *texture = texture_owner.get_or_null(uniform.get_id(j));
 
 					ERR_FAIL_COND_V_MSG(!texture, RID(),
 							"Image (binding: " + itos(uniform.binding) + ", index " + itos(j) + ") is not a valid texture.");
@@ -5813,29 +5813,29 @@ RID RenderingDeviceVulkan::uniform_set_create(const Vector<Uniform> &p_uniforms,
 				}
 
 				write.dstArrayElement = 0;
-				write.descriptorCount = uniform.ids.size();
+				write.descriptorCount = uniform.get_id_count();
 				write.descriptorType = VK_DESCRIPTOR_TYPE_STORAGE_IMAGE;
 				write.pImageInfo = image_infos.push_back(image_info)->get().ptr();
 				write.pBufferInfo = nullptr;
 				write.pTexelBufferView = nullptr;
 
-				type_size = uniform.ids.size();
+				type_size = uniform.get_id_count();
 
 			} break;
 			case UNIFORM_TYPE_TEXTURE_BUFFER: {
-				if (uniform.ids.size() != set_uniform.length) {
+				if (uniform.get_id_count() != (uint32_t)set_uniform.length) {
 					if (set_uniform.length > 1) {
-						ERR_FAIL_V_MSG(RID(), "Buffer (binding: " + itos(uniform.binding) + ") is an array of (" + itos(set_uniform.length) + ") texture buffer elements, so it should be provided equal number of texture buffer IDs to satisfy it (IDs provided: " + itos(uniform.ids.size()) + ").");
+						ERR_FAIL_V_MSG(RID(), "Buffer (binding: " + itos(uniform.binding) + ") is an array of (" + itos(set_uniform.length) + ") texture buffer elements, so it should be provided equal number of texture buffer IDs to satisfy it (IDs provided: " + itos(uniform.get_id_count()) + ").");
 					} else {
-						ERR_FAIL_V_MSG(RID(), "Buffer (binding: " + itos(uniform.binding) + ") should provide one ID referencing a texture buffer (IDs provided: " + itos(uniform.ids.size()) + ").");
+						ERR_FAIL_V_MSG(RID(), "Buffer (binding: " + itos(uniform.binding) + ") should provide one ID referencing a texture buffer (IDs provided: " + itos(uniform.get_id_count()) + ").");
 					}
 				}
 
 				Vector<VkDescriptorBufferInfo> buffer_info;
 				Vector<VkBufferView> buffer_view;
 
-				for (int j = 0; j < uniform.ids.size(); j++) {
-					TextureBuffer *buffer = texture_buffer_owner.get_or_null(uniform.ids[j]);
+				for (uint32_t j = 0; j < uniform.get_id_count(); j++) {
+					TextureBuffer *buffer = texture_buffer_owner.get_or_null(uniform.get_id(j));
 					ERR_FAIL_COND_V_MSG(!buffer, RID(), "Texture Buffer (binding: " + itos(uniform.binding) + ", index " + itos(j) + ") is not a valid texture buffer.");
 
 					buffer_info.push_back(buffer->buffer.buffer_info);
@@ -5843,21 +5843,21 @@ RID RenderingDeviceVulkan::uniform_set_create(const Vector<Uniform> &p_uniforms,
 				}
 
 				write.dstArrayElement = 0;
-				write.descriptorCount = uniform.ids.size();
+				write.descriptorCount = uniform.get_id_count();
 				write.descriptorType = VK_DESCRIPTOR_TYPE_UNIFORM_TEXEL_BUFFER;
 				write.pImageInfo = nullptr;
 				write.pBufferInfo = buffer_infos.push_back(buffer_info)->get().ptr();
 				write.pTexelBufferView = buffer_views.push_back(buffer_view)->get().ptr();
 
-				type_size = uniform.ids.size();
+				type_size = uniform.get_id_count();
 
 			} break;
 			case UNIFORM_TYPE_SAMPLER_WITH_TEXTURE_BUFFER: {
-				if (uniform.ids.size() != set_uniform.length * 2) {
+				if (uniform.get_id_count() != (uint32_t)set_uniform.length * 2) {
 					if (set_uniform.length > 1) {
-						ERR_FAIL_V_MSG(RID(), "SamplerBuffer (binding: " + itos(uniform.binding) + ") is an array of (" + itos(set_uniform.length) + ") sampler buffer elements, so it should provided twice the amount of IDs (sampler,buffer pairs) to satisfy it (IDs provided: " + itos(uniform.ids.size()) + ").");
+						ERR_FAIL_V_MSG(RID(), "SamplerBuffer (binding: " + itos(uniform.binding) + ") is an array of (" + itos(set_uniform.length) + ") sampler buffer elements, so it should provided twice the amount of IDs (sampler,buffer pairs) to satisfy it (IDs provided: " + itos(uniform.get_id_count()) + ").");
 					} else {
-						ERR_FAIL_V_MSG(RID(), "SamplerBuffer (binding: " + itos(uniform.binding) + ") should provide two IDs referencing a sampler and then a texture buffer (IDs provided: " + itos(uniform.ids.size()) + ").");
+						ERR_FAIL_V_MSG(RID(), "SamplerBuffer (binding: " + itos(uniform.binding) + ") should provide two IDs referencing a sampler and then a texture buffer (IDs provided: " + itos(uniform.get_id_count()) + ").");
 					}
 				}
 
@@ -5865,11 +5865,11 @@ RID RenderingDeviceVulkan::uniform_set_create(const Vector<Uniform> &p_uniforms,
 				Vector<VkDescriptorBufferInfo> buffer_info;
 				Vector<VkBufferView> buffer_view;
 
-				for (int j = 0; j < uniform.ids.size(); j += 2) {
-					VkSampler *sampler = sampler_owner.get_or_null(uniform.ids[j + 0]);
+				for (uint32_t j = 0; j < uniform.get_id_count(); j += 2) {
+					VkSampler *sampler = sampler_owner.get_or_null(uniform.get_id(j + 0));
 					ERR_FAIL_COND_V_MSG(!sampler, RID(), "SamplerBuffer (binding: " + itos(uniform.binding) + ", index " + itos(j + 1) + ") is not a valid sampler.");
 
-					TextureBuffer *buffer = texture_buffer_owner.get_or_null(uniform.ids[j + 1]);
+					TextureBuffer *buffer = texture_buffer_owner.get_or_null(uniform.get_id(j + 1));
 
 					VkDescriptorImageInfo img_info;
 					img_info.sampler = *sampler;
@@ -5885,23 +5885,23 @@ RID RenderingDeviceVulkan::uniform_set_create(const Vector<Uniform> &p_uniforms,
 				}
 
 				write.dstArrayElement = 0;
-				write.descriptorCount = uniform.ids.size() / 2;
+				write.descriptorCount = uniform.get_id_count() / 2;
 				write.descriptorType = VK_DESCRIPTOR_TYPE_UNIFORM_TEXEL_BUFFER;
 				write.pImageInfo = image_infos.push_back(image_info)->get().ptr();
 				write.pBufferInfo = buffer_infos.push_back(buffer_info)->get().ptr();
 				write.pTexelBufferView = buffer_views.push_back(buffer_view)->get().ptr();
 
-				type_size = uniform.ids.size() / 2;
+				type_size = uniform.get_id_count() / 2;
 			} break;
 			case UNIFORM_TYPE_IMAGE_BUFFER: {
 				//todo
 
 			} break;
 			case UNIFORM_TYPE_UNIFORM_BUFFER: {
-				ERR_FAIL_COND_V_MSG(uniform.ids.size() != 1, RID(),
-						"Uniform buffer supplied (binding: " + itos(uniform.binding) + ") must provide one ID (" + itos(uniform.ids.size()) + " provided).");
+				ERR_FAIL_COND_V_MSG(uniform.get_id_count() != 1, RID(),
+						"Uniform buffer supplied (binding: " + itos(uniform.binding) + ") must provide one ID (" + itos(uniform.get_id_count()) + " provided).");
 
-				Buffer *buffer = uniform_buffer_owner.get_or_null(uniform.ids[0]);
+				Buffer *buffer = uniform_buffer_owner.get_or_null(uniform.get_id(0));
 				ERR_FAIL_COND_V_MSG(!buffer, RID(), "Uniform buffer supplied (binding: " + itos(uniform.binding) + ") is invalid.");
 
 				ERR_FAIL_COND_V_MSG(buffer->size != (uint32_t)set_uniform.length, RID(),
@@ -5916,15 +5916,15 @@ RID RenderingDeviceVulkan::uniform_set_create(const Vector<Uniform> &p_uniforms,
 
 			} break;
 			case UNIFORM_TYPE_STORAGE_BUFFER: {
-				ERR_FAIL_COND_V_MSG(uniform.ids.size() != 1, RID(),
-						"Storage buffer supplied (binding: " + itos(uniform.binding) + ") must provide one ID (" + itos(uniform.ids.size()) + " provided).");
+				ERR_FAIL_COND_V_MSG(uniform.get_id_count() != 1, RID(),
+						"Storage buffer supplied (binding: " + itos(uniform.binding) + ") must provide one ID (" + itos(uniform.get_id_count()) + " provided).");
 
 				Buffer *buffer = nullptr;
 
-				if (storage_buffer_owner.owns(uniform.ids[0])) {
-					buffer = storage_buffer_owner.get_or_null(uniform.ids[0]);
-				} else if (vertex_buffer_owner.owns(uniform.ids[0])) {
-					buffer = vertex_buffer_owner.get_or_null(uniform.ids[0]);
+				if (storage_buffer_owner.owns(uniform.get_id(0))) {
+					buffer = storage_buffer_owner.get_or_null(uniform.get_id(0));
+				} else if (vertex_buffer_owner.owns(uniform.get_id(0))) {
+					buffer = vertex_buffer_owner.get_or_null(uniform.get_id(0));
 
 					ERR_FAIL_COND_V_MSG(!(buffer->usage & VK_BUFFER_USAGE_STORAGE_BUFFER_BIT), RID(), "Vertex buffer supplied (binding: " + itos(uniform.binding) + ") was not created with storage flag.");
 				}
@@ -5944,18 +5944,18 @@ RID RenderingDeviceVulkan::uniform_set_create(const Vector<Uniform> &p_uniforms,
 			case UNIFORM_TYPE_INPUT_ATTACHMENT: {
 				ERR_FAIL_COND_V_MSG(shader->is_compute, RID(), "InputAttachment (binding: " + itos(uniform.binding) + ") supplied for compute shader (this is not allowed).");
 
-				if (uniform.ids.size() != set_uniform.length) {
+				if (uniform.get_id_count() != (uint32_t)set_uniform.length) {
 					if (set_uniform.length > 1) {
-						ERR_FAIL_V_MSG(RID(), "InputAttachment (binding: " + itos(uniform.binding) + ") is an array of (" + itos(set_uniform.length) + ") textures, so it should be provided equal number of texture IDs to satisfy it (IDs provided: " + itos(uniform.ids.size()) + ").");
+						ERR_FAIL_V_MSG(RID(), "InputAttachment (binding: " + itos(uniform.binding) + ") is an array of (" + itos(set_uniform.length) + ") textures, so it should be provided equal number of texture IDs to satisfy it (IDs provided: " + itos(uniform.get_id_count()) + ").");
 					} else {
-						ERR_FAIL_V_MSG(RID(), "InputAttachment (binding: " + itos(uniform.binding) + ") should provide one ID referencing a texture (IDs provided: " + itos(uniform.ids.size()) + ").");
+						ERR_FAIL_V_MSG(RID(), "InputAttachment (binding: " + itos(uniform.binding) + ") should provide one ID referencing a texture (IDs provided: " + itos(uniform.get_id_count()) + ").");
 					}
 				}
 
 				Vector<VkDescriptorImageInfo> image_info;
 
-				for (int j = 0; j < uniform.ids.size(); j++) {
-					Texture *texture = texture_owner.get_or_null(uniform.ids[j]);
+				for (uint32_t j = 0; j < uniform.get_id_count(); j++) {
+					Texture *texture = texture_owner.get_or_null(uniform.get_id(j));
 
 					ERR_FAIL_COND_V_MSG(!texture, RID(),
 							"InputAttachment (binding: " + itos(uniform.binding) + ", index " + itos(j) + ") is not a valid texture.");
@@ -5978,13 +5978,13 @@ RID RenderingDeviceVulkan::uniform_set_create(const Vector<Uniform> &p_uniforms,
 				}
 
 				write.dstArrayElement = 0;
-				write.descriptorCount = uniform.ids.size();
+				write.descriptorCount = uniform.get_id_count();
 				write.descriptorType = VK_DESCRIPTOR_TYPE_INPUT_ATTACHMENT;
 				write.pImageInfo = image_infos.push_back(image_info)->get().ptr();
 				write.pBufferInfo = nullptr;
 				write.pTexelBufferView = nullptr;
 
-				type_size = uniform.ids.size();
+				type_size = uniform.get_id_count();
 			} break;
 			default: {
 			}
@@ -6034,10 +6034,9 @@ RID RenderingDeviceVulkan::uniform_set_create(const Vector<Uniform> &p_uniforms,
 	_add_dependency(id, p_shader);
 	for (uint32_t i = 0; i < uniform_count; i++) {
 		const Uniform &uniform = uniforms[i];
-		int id_count = uniform.ids.size();
-		const RID *ids = uniform.ids.ptr();
+		int id_count = uniform.get_id_count();
 		for (int j = 0; j < id_count; j++) {
-			_add_dependency(id, ids[j]);
+			_add_dependency(id, uniform.get_id(j));
 		}
 	}
 
diff --git a/editor/SCsub b/editor/SCsub
index 87153f3b2b..35c215b663 100644
--- a/editor/SCsub
+++ b/editor/SCsub
@@ -76,7 +76,7 @@ if env["tools"]:
 
     # Editor translations
     to_include = (
-        "ar,bg,bn,ca,cs,de,el,eo,es_AR,es,fi,fr,gl,he,hu,id,it,ja,ko,lv,ms,nb,nl,pl,pt_BR,pt,ro,ru,sk,sv,th,tr,uk,vi,zh_CN,zh_TW"
+        "ar,bg,bn,ca,cs,de,el,eo,es_AR,es,fi,fr,gl,he,hu,id,it,ja,ko,lv,ms,nb,nl,pl,pt_BR,pt,ro,ru,sk,sv,th,tl,tr,uk,vi,zh_CN,zh_TW"
     ).split(",")
     tlist = [env.Dir("#editor/translations").abspath + "/" + f + ".po" for f in to_include]
     env.Depends("#editor/editor_translations.gen.h", tlist)
diff --git a/editor/action_map_editor.cpp b/editor/action_map_editor.cpp
index 3eab494761..92d53cc005 100644
--- a/editor/action_map_editor.cpp
+++ b/editor/action_map_editor.cpp
@@ -611,7 +611,7 @@ InputEventConfigurationDialog::InputEventConfigurationDialog() {
 	add_child(main_vbox);
 
 	tab_container = memnew(TabContainer);
-	tab_container->set_tab_alignment(TabContainer::ALIGNMENT_LEFT);
+	tab_container->set_tab_alignment(TabBar::ALIGNMENT_LEFT);
 	tab_container->set_use_hidden_tabs_for_min_size(true);
 	tab_container->set_v_size_flags(Control::SIZE_EXPAND_FILL);
 	tab_container->connect("tab_selected", callable_mp(this, &InputEventConfigurationDialog::_tab_selected));
diff --git a/editor/animation_bezier_editor.cpp b/editor/animation_bezier_editor.cpp
index c8c8c7d891..0dbe230699 100644
--- a/editor/animation_bezier_editor.cpp
+++ b/editor/animation_bezier_editor.cpp
@@ -946,7 +946,7 @@ void AnimationBezierTrackEdit::gui_input(const Ref<InputEvent> &p_event) {
 			}
 
 			if (menu->get_item_count()) {
-				menu->set_as_minsize();
+				menu->reset_size();
 				menu->set_position(popup_pos);
 				menu->popup();
 			}
diff --git a/editor/animation_track_editor.cpp b/editor/animation_track_editor.cpp
index 53f585d06b..11995e8cb4 100644
--- a/editor/animation_track_editor.cpp
+++ b/editor/animation_track_editor.cpp
@@ -606,8 +606,7 @@ public:
 			} break;
 			case Animation::TYPE_METHOD: {
 				p_list->push_back(PropertyInfo(Variant::STRING_NAME, "name"));
-				static_assert(VARIANT_ARG_MAX == 8, "PROPERTY_HINT_RANGE needs to be updated if VARIANT_ARG_MAX != 8");
-				p_list->push_back(PropertyInfo(Variant::INT, "arg_count", PROPERTY_HINT_RANGE, "0,8,1"));
+				p_list->push_back(PropertyInfo(Variant::INT, "arg_count", PROPERTY_HINT_RANGE, "0,32,1,or_greater"));
 
 				Dictionary d = animation->track_get_key_value(track, key);
 				ERR_FAIL_COND(!d.has("args"));
@@ -1287,8 +1286,8 @@ public:
 				} break;
 				case Animation::TYPE_METHOD: {
 					p_list->push_back(PropertyInfo(Variant::STRING_NAME, "name"));
-					static_assert(VARIANT_ARG_MAX == 8, "PROPERTY_HINT_RANGE needs to be updated if VARIANT_ARG_MAX != 8");
-					p_list->push_back(PropertyInfo(Variant::INT, "arg_count", PROPERTY_HINT_RANGE, "0,8,1"));
+
+					p_list->push_back(PropertyInfo(Variant::INT, "arg_count", PROPERTY_HINT_RANGE, "0,32,1,or_greater"));
 
 					Dictionary d = animation->track_get_key_value(first_track, first_key);
 					ERR_FAIL_COND(!d.has("args"));
@@ -1459,7 +1458,8 @@ int AnimationTimelineEdit::get_name_limit() const {
 
 void AnimationTimelineEdit::_notification(int p_what) {
 	switch (p_what) {
-		case NOTIFICATION_ENTER_TREE: {
+		case NOTIFICATION_ENTER_TREE:
+		case NOTIFICATION_THEME_CHANGED: {
 			panner->setup((ViewPanner::ControlScheme)EDITOR_GET("editors/panning/animation_editors_panning_scheme").operator int(), ED_GET_SHORTCUT("canvas_item_editor/pan_view"), bool(EditorSettings::get_singleton()->get("editors/panning/simple_panning")));
 			add_track->set_icon(get_theme_icon(SNAME("Add"), SNAME("EditorIcons")));
 			loop->set_icon(get_theme_icon(SNAME("Loop"), SNAME("EditorIcons")));
@@ -1946,6 +1946,16 @@ AnimationTimelineEdit::AnimationTimelineEdit() {
 
 void AnimationTrackEdit::_notification(int p_what) {
 	switch (p_what) {
+		case NOTIFICATION_THEME_CHANGED: {
+			if (animation.is_null()) {
+				return;
+			}
+			ERR_FAIL_INDEX(track, animation->get_track_count());
+
+			type_icon = _get_key_type_icon();
+			selected_icon = get_theme_icon(SNAME("KeySelected"), SNAME("EditorIcons"));
+		} break;
+
 		case NOTIFICATION_DRAW: {
 			if (animation.is_null()) {
 				return;
@@ -1964,17 +1974,6 @@ void AnimationTrackEdit::_notification(int p_what) {
 			Ref<Font> font = get_theme_font(SNAME("font"), SNAME("Label"));
 			int font_size = get_theme_font_size(SNAME("font_size"), SNAME("Label"));
 			Color color = get_theme_color(SNAME("font_color"), SNAME("Label"));
-			Ref<Texture2D> type_icons[9] = {
-				get_theme_icon(SNAME("KeyValue"), SNAME("EditorIcons")),
-				get_theme_icon(SNAME("KeyTrackPosition"), SNAME("EditorIcons")),
-				get_theme_icon(SNAME("KeyTrackRotation"), SNAME("EditorIcons")),
-				get_theme_icon(SNAME("KeyTrackScale"), SNAME("EditorIcons")),
-				get_theme_icon(SNAME("KeyTrackBlendShape"), SNAME("EditorIcons")),
-				get_theme_icon(SNAME("KeyCall"), SNAME("EditorIcons")),
-				get_theme_icon(SNAME("KeyBezier"), SNAME("EditorIcons")),
-				get_theme_icon(SNAME("KeyAudio"), SNAME("EditorIcons")),
-				get_theme_icon(SNAME("KeyAnimation"), SNAME("EditorIcons"))
-			};
 			int hsep = get_theme_constant(SNAME("hseparation"), SNAME("ItemList"));
 			Color linecolor = color;
 			linecolor.a = 0.2;
@@ -1990,7 +1989,7 @@ void AnimationTrackEdit::_notification(int p_what) {
 				draw_texture(check, check_rect.position);
 				ofs += check->get_width() + hsep;
 
-				Ref<Texture2D> type_icon = type_icons[animation->track_get_type(track)];
+				Ref<Texture2D> type_icon = _get_key_type_icon();
 				draw_texture(type_icon, Point2(ofs, int(get_size().height - type_icon->get_height()) / 2));
 				ofs += type_icon->get_width() + hsep;
 
@@ -2426,22 +2425,10 @@ void AnimationTrackEdit::set_animation_and_track(const Ref<Animation> &p_animati
 	track = p_track;
 	update();
 
-	Ref<Texture2D> type_icons[9] = {
-		get_theme_icon(SNAME("KeyValue"), SNAME("EditorIcons")),
-		get_theme_icon(SNAME("KeyXPosition"), SNAME("EditorIcons")),
-		get_theme_icon(SNAME("KeyXRotation"), SNAME("EditorIcons")),
-		get_theme_icon(SNAME("KeyXScale"), SNAME("EditorIcons")),
-		get_theme_icon(SNAME("KeyBlendShape"), SNAME("EditorIcons")),
-		get_theme_icon(SNAME("KeyCall"), SNAME("EditorIcons")),
-		get_theme_icon(SNAME("KeyBezier"), SNAME("EditorIcons")),
-		get_theme_icon(SNAME("KeyAudio"), SNAME("EditorIcons")),
-		get_theme_icon(SNAME("KeyAnimation"), SNAME("EditorIcons"))
-	};
-
 	ERR_FAIL_INDEX(track, animation->get_track_count());
 
 	node_path = animation->track_get_path(p_track);
-	type_icon = type_icons[animation->track_get_type(track)];
+	type_icon = _get_key_type_icon();
 	selected_icon = get_theme_icon(SNAME("KeySelected"), SNAME("EditorIcons"));
 }
 
@@ -2542,6 +2529,21 @@ bool AnimationTrackEdit::_is_value_key_valid(const Variant &p_key_value, Variant
 	return (!prop_exists || Variant::can_convert(p_key_value.get_type(), r_valid_type));
 }
 
+Ref<Texture2D> AnimationTrackEdit::_get_key_type_icon() const {
+	Ref<Texture2D> type_icons[9] = {
+		get_theme_icon(SNAME("KeyValue"), SNAME("EditorIcons")),
+		get_theme_icon(SNAME("KeyTrackPosition"), SNAME("EditorIcons")),
+		get_theme_icon(SNAME("KeyTrackRotation"), SNAME("EditorIcons")),
+		get_theme_icon(SNAME("KeyTrackScale"), SNAME("EditorIcons")),
+		get_theme_icon(SNAME("KeyTrackBlendShape"), SNAME("EditorIcons")),
+		get_theme_icon(SNAME("KeyCall"), SNAME("EditorIcons")),
+		get_theme_icon(SNAME("KeyBezier"), SNAME("EditorIcons")),
+		get_theme_icon(SNAME("KeyAudio"), SNAME("EditorIcons")),
+		get_theme_icon(SNAME("KeyAnimation"), SNAME("EditorIcons"))
+	};
+	return type_icons[animation->track_get_type(track)];
+}
+
 String AnimationTrackEdit::get_tooltip(const Point2 &p_pos) const {
 	if (check_rect.has_point(p_pos)) {
 		return TTR("Toggle this track on/off.");
@@ -2748,7 +2750,7 @@ void AnimationTrackEdit::gui_input(const Ref<InputEvent> &p_event) {
 			menu->add_icon_item(get_theme_icon(SNAME("TrackDiscrete"), SNAME("EditorIcons")), TTR("Discrete"), MENU_CALL_MODE_DISCRETE);
 			menu->add_icon_item(get_theme_icon(SNAME("TrackTrigger"), SNAME("EditorIcons")), TTR("Trigger"), MENU_CALL_MODE_TRIGGER);
 			menu->add_icon_item(get_theme_icon(SNAME("TrackCapture"), SNAME("EditorIcons")), TTR("Capture"), MENU_CALL_MODE_CAPTURE);
-			menu->set_as_minsize();
+			menu->reset_size();
 
 			Vector2 popup_pos = get_screen_position() + update_mode_rect.position + Vector2(0, update_mode_rect.size.height);
 			menu->set_position(popup_pos);
@@ -2766,7 +2768,7 @@ void AnimationTrackEdit::gui_input(const Ref<InputEvent> &p_event) {
 			menu->add_icon_item(get_theme_icon(SNAME("InterpRaw"), SNAME("EditorIcons")), TTR("Nearest"), MENU_INTERPOLATION_NEAREST);
 			menu->add_icon_item(get_theme_icon(SNAME("InterpLinear"), SNAME("EditorIcons")), TTR("Linear"), MENU_INTERPOLATION_LINEAR);
 			menu->add_icon_item(get_theme_icon(SNAME("InterpCubic"), SNAME("EditorIcons")), TTR("Cubic"), MENU_INTERPOLATION_CUBIC);
-			menu->set_as_minsize();
+			menu->reset_size();
 
 			Vector2 popup_pos = get_screen_position() + interp_mode_rect.position + Vector2(0, interp_mode_rect.size.height);
 			menu->set_position(popup_pos);
@@ -2783,7 +2785,7 @@ void AnimationTrackEdit::gui_input(const Ref<InputEvent> &p_event) {
 			menu->clear();
 			menu->add_icon_item(get_theme_icon(SNAME("InterpWrapClamp"), SNAME("EditorIcons")), TTR("Clamp Loop Interp"), MENU_LOOP_CLAMP);
 			menu->add_icon_item(get_theme_icon(SNAME("InterpWrapLoop"), SNAME("EditorIcons")), TTR("Wrap Loop Interp"), MENU_LOOP_WRAP);
-			menu->set_as_minsize();
+			menu->reset_size();
 
 			Vector2 popup_pos = get_screen_position() + loop_wrap_rect.position + Vector2(0, loop_wrap_rect.size.height);
 			menu->set_position(popup_pos);
@@ -2885,7 +2887,7 @@ void AnimationTrackEdit::gui_input(const Ref<InputEvent> &p_event) {
 				menu->add_separator();
 				menu->add_icon_item(get_theme_icon(SNAME("Remove"), SNAME("EditorIcons")), TTR("Delete Key(s)"), MENU_KEY_DELETE);
 			}
-			menu->set_as_minsize();
+			menu->reset_size();
 
 			menu->set_position(get_screen_position() + get_local_mouse_position());
 			menu->popup();
@@ -3189,7 +3191,7 @@ AnimationTrackEdit *AnimationTrackEditPlugin::create_value_track_edit(Object *p_
 		};
 
 		Callable::CallError ce;
-		return Object::cast_to<AnimationTrackEdit>(get_script_instance()->call("create_value_track_edit", (const Variant **)&argptrs, 6, ce).operator Object *());
+		return Object::cast_to<AnimationTrackEdit>(get_script_instance()->callp("create_value_track_edit", (const Variant **)&argptrs, 6, ce).operator Object *());
 	}
 	return nullptr;
 }
@@ -3588,7 +3590,7 @@ void AnimationTrackEditor::commit_insert_queue() {
 		}
 	}
 
-	if (bool(EDITOR_DEF("editors/animation/confirm_insert_track", true)) && num_tracks > 0) {
+	if (bool(EDITOR_GET("editors/animation/confirm_insert_track")) && num_tracks > 0) {
 		// Potentially a new key, does not exist.
 		if (num_tracks == 1) {
 			// TRANSLATORS: %s will be replaced by a phrase describing the target of track.
@@ -5554,31 +5556,35 @@ void AnimationTrackEditor::_edit_menu_pressed(int p_option) {
 					}
 				}
 
+				String track_type;
 				switch (animation->track_get_type(i)) {
 					case Animation::TYPE_POSITION_3D:
-						text += " (Position)";
+						track_type = TTR("Position");
 						break;
 					case Animation::TYPE_ROTATION_3D:
-						text += " (Rotation)";
+						track_type = TTR("Rotation");
 						break;
 					case Animation::TYPE_SCALE_3D:
-						text += " (Scale)";
+						track_type = TTR("Scale");
 						break;
 					case Animation::TYPE_BLEND_SHAPE:
-						text += " (BlendShape)";
+						track_type = TTR("BlendShape");
 						break;
 					case Animation::TYPE_METHOD:
-						text += " (Methods)";
+						track_type = TTR("Methods");
 						break;
 					case Animation::TYPE_BEZIER:
-						text += " (Bezier)";
+						track_type = TTR("Bezier");
 						break;
 					case Animation::TYPE_AUDIO:
-						text += " (Audio)";
+						track_type = TTR("Audio");
 						break;
 					default: {
 					};
 				}
+				if (!track_type.is_empty()) {
+					text += vformat(" (%s)", track_type);
+				}
 
 				TreeItem *it = track_copy_select->create_item(troot);
 				it->set_editable(0, true);
diff --git a/editor/animation_track_editor.h b/editor/animation_track_editor.h
index d0029ff80f..5f803ae796 100644
--- a/editor/animation_track_editor.h
+++ b/editor/animation_track_editor.h
@@ -182,6 +182,8 @@ class AnimationTrackEdit : public Control {
 	void _play_position_draw();
 	bool _is_value_key_valid(const Variant &p_key_value, Variant::Type &r_valid_type) const;
 
+	Ref<Texture2D> _get_key_type_icon() const;
+
 	mutable int dropping_at;
 	float insert_at_pos;
 	bool moving_selection_attempt;
diff --git a/editor/connections_dialog.cpp b/editor/connections_dialog.cpp
index df2a66f182..0f8667f81a 100644
--- a/editor/connections_dialog.cpp
+++ b/editor/connections_dialog.cpp
@@ -180,9 +180,6 @@ void ConnectDialog::_unbind_count_changed(double p_count) {
  * Adds a new parameter bind to connection.
  */
 void ConnectDialog::_add_bind() {
-	if (cdbinds->params.size() >= VARIANT_ARG_MAX) {
-		return;
-	}
 	Variant::Type vt = (Variant::Type)type_list->get_item_id(type_list->get_selected());
 
 	Variant value;
diff --git a/editor/create_dialog.cpp b/editor/create_dialog.cpp
index 7e59fc31c4..f9858aa514 100644
--- a/editor/create_dialog.cpp
+++ b/editor/create_dialog.cpp
@@ -130,8 +130,8 @@ bool CreateDialog::_should_hide_type(const String &p_type) const {
 	}
 
 	if (ClassDB::class_exists(p_type)) {
-		if (!ClassDB::can_instantiate(p_type)) {
-			return true; // Can't create abstract class.
+		if (!ClassDB::can_instantiate(p_type) || ClassDB::is_virtual(p_type)) {
+			return true; // Can't create abstract or virtual class.
 		}
 
 		if (!ClassDB::is_parent_class(p_type, base_type)) {
diff --git a/editor/debugger/editor_debugger_node.cpp b/editor/debugger/editor_debugger_node.cpp
index 7c9a984b6a..1a7b11d888 100644
--- a/editor/debugger/editor_debugger_node.cpp
+++ b/editor/debugger/editor_debugger_node.cpp
@@ -39,6 +39,7 @@
 #include "editor/scene_tree_dock.h"
 #include "scene/gui/menu_button.h"
 #include "scene/gui/tab_container.h"
+#include "scene/resources/packed_scene.h"
 
 template <typename Func>
 void _for_all(TabContainer *p_node, const Func &p_func) {
@@ -60,7 +61,7 @@ EditorDebuggerNode::EditorDebuggerNode() {
 	add_theme_constant_override("margin_right", -EditorNode::get_singleton()->get_gui_base()->get_theme_stylebox(SNAME("BottomPanelDebuggerOverride"), SNAME("EditorStyles"))->get_margin(SIDE_RIGHT));
 
 	tabs = memnew(TabContainer);
-	tabs->set_tab_alignment(TabContainer::ALIGNMENT_LEFT);
+	tabs->set_tab_alignment(TabBar::ALIGNMENT_LEFT);
 	tabs->set_tabs_visible(false);
 	tabs->connect("tab_changed", callable_mp(this, &EditorDebuggerNode::_debugger_changed));
 	add_child(tabs);
@@ -141,11 +142,22 @@ void EditorDebuggerNode::_error_selected(const String &p_file, int p_line, int p
 }
 
 void EditorDebuggerNode::_text_editor_stack_goto(const ScriptEditorDebugger *p_debugger) {
-	const String file = p_debugger->get_stack_script_file();
+	String file = p_debugger->get_stack_script_file();
 	if (file.is_empty()) {
 		return;
 	}
-	stack_script = ResourceLoader::load(file);
+	if (file.is_resource_file()) {
+		stack_script = ResourceLoader::load(file);
+	} else {
+		// If the script is built-in, it can be opened only if the scene is loaded in memory.
+		int i = file.find("::");
+		int j = file.rfind("(", i);
+		if (j > -1) { // If the script is named, the string is "name (file)", so we need to extract the path.
+			file = file.substr(j + 1, file.find(")", i) - j - 1);
+		}
+		Ref<PackedScene> ps = ResourceLoader::load(file.get_slice("::", 0));
+		stack_script = ResourceLoader::load(file);
+	}
 	const int line = p_debugger->get_stack_script_line() - 1;
 	emit_signal(SNAME("goto_script_line"), stack_script, line);
 	emit_signal(SNAME("set_execution"), stack_script, line);
@@ -598,12 +610,12 @@ void EditorDebuggerNode::_save_node_requested(ObjectID p_id, const String &p_fil
 }
 
 // Remote inspector/edit.
-void EditorDebuggerNode::_method_changeds(void *p_ud, Object *p_base, const StringName &p_name, VARIANT_ARG_DECLARE) {
+void EditorDebuggerNode::_method_changeds(void *p_ud, Object *p_base, const StringName &p_name, const Variant **p_args, int p_argcount) {
 	if (!singleton) {
 		return;
 	}
 	_for_all(singleton->tabs, [&](ScriptEditorDebugger *dbg) {
-		dbg->_method_changed(p_base, p_name, VARIANT_ARG_PASS);
+		dbg->_method_changed(p_base, p_name, p_args, p_argcount);
 	});
 }
 
diff --git a/editor/debugger/editor_debugger_node.h b/editor/debugger/editor_debugger_node.h
index 6fcdbf5f73..36f99113ad 100644
--- a/editor/debugger/editor_debugger_node.h
+++ b/editor/debugger/editor_debugger_node.h
@@ -171,7 +171,7 @@ public:
 
 	// Remote inspector/edit.
 	void request_remote_tree();
-	static void _method_changeds(void *p_ud, Object *p_base, const StringName &p_name, VARIANT_ARG_DECLARE);
+	static void _method_changeds(void *p_ud, Object *p_base, const StringName &p_name, const Variant **p_args, int p_argcount);
 	static void _property_changeds(void *p_ud, Object *p_base, const StringName &p_property, const Variant &p_value);
 
 	// LiveDebug
diff --git a/editor/debugger/editor_profiler.cpp b/editor/debugger/editor_profiler.cpp
index 4b263e5152..32e3c3679a 100644
--- a/editor/debugger/editor_profiler.cpp
+++ b/editor/debugger/editor_profiler.cpp
@@ -659,7 +659,7 @@ EditorProfiler::EditorProfiler() {
 	h_split->add_child(graph);
 	graph->set_h_size_flags(SIZE_EXPAND_FILL);
 
-	int metric_size = CLAMP(int(EDITOR_DEF("debugger/profiler_frame_history_size", 600)), 60, 1024);
+	int metric_size = CLAMP(int(EDITOR_GET("debugger/profiler_frame_history_size")), 60, 1024);
 	frame_metrics.resize(metric_size);
 	total_metrics = 0;
 	last_metric = -1;
diff --git a/editor/debugger/editor_visual_profiler.cpp b/editor/debugger/editor_visual_profiler.cpp
index 2a1b0029d4..885d8bd5c4 100644
--- a/editor/debugger/editor_visual_profiler.cpp
+++ b/editor/debugger/editor_visual_profiler.cpp
@@ -143,12 +143,12 @@ void EditorVisualProfiler::_item_selected() {
 }
 
 void EditorVisualProfiler::_update_plot() {
-	int w = graph->get_size().width;
-	int h = graph->get_size().height;
+	const int w = graph->get_size().width;
+	const int h = graph->get_size().height;
 
 	bool reset_texture = false;
 
-	int desired_len = w * h * 4;
+	const int desired_len = w * h * 4;
 
 	if (graph_image.size() != desired_len) {
 		reset_texture = true;
@@ -156,12 +156,13 @@ void EditorVisualProfiler::_update_plot() {
 	}
 
 	uint8_t *wr = graph_image.ptrw();
+	const Color background_color = get_theme_color("dark_color_2", "Editor");
 
-	//clear
+	// Clear the previous frame and set the background color.
 	for (int i = 0; i < desired_len; i += 4) {
-		wr[i + 0] = 0;
-		wr[i + 1] = 0;
-		wr[i + 2] = 0;
+		wr[i + 0] = Math::fast_ftoi(background_color.r * 255);
+		wr[i + 1] = Math::fast_ftoi(background_color.g * 255);
+		wr[i + 2] = Math::fast_ftoi(background_color.b * 255);
 		wr[i + 3] = 255;
 	}
 
@@ -259,9 +260,9 @@ void EditorVisualProfiler::_update_plot() {
 				uint8_t r, g, b;
 
 				if (column_cpu[j].a == 0) {
-					r = 0;
-					g = 0;
-					b = 0;
+					r = Math::fast_ftoi(background_color.r * 255);
+					g = Math::fast_ftoi(background_color.g * 255);
+					b = Math::fast_ftoi(background_color.b * 255);
 				} else {
 					r = CLAMP((column_cpu[j].r / column_cpu[j].a) * 255.0, 0, 255);
 					g = CLAMP((column_cpu[j].g / column_cpu[j].a) * 255.0, 0, 255);
@@ -279,9 +280,9 @@ void EditorVisualProfiler::_update_plot() {
 				uint8_t r, g, b;
 
 				if (column_gpu[j].a == 0) {
-					r = 0;
-					g = 0;
-					b = 0;
+					r = Math::fast_ftoi(background_color.r * 255);
+					g = Math::fast_ftoi(background_color.g * 255);
+					b = Math::fast_ftoi(background_color.b * 255);
 				} else {
 					r = CLAMP((column_gpu[j].r / column_gpu[j].a) * 255.0, 0, 255);
 					g = CLAMP((column_gpu[j].g / column_gpu[j].a) * 255.0, 0, 255);
@@ -440,8 +441,11 @@ void EditorVisualProfiler::_graph_tex_draw() {
 	if (last_metric < 0) {
 		return;
 	}
+
 	Ref<Font> font = get_theme_font(SNAME("font"), SNAME("Label"));
 	int font_size = get_theme_font_size(SNAME("font_size"), SNAME("Label"));
+	const Color color = get_theme_color(SNAME("font_color"), SNAME("Editor"));
+
 	if (seeking) {
 		int max_frames = frame_metrics.size();
 		int frame = cursor_metric_edit->get_value() - (frame_metrics[last_metric].frame_number - max_frames + 1);
@@ -451,10 +455,9 @@ void EditorVisualProfiler::_graph_tex_draw() {
 
 		int half_width = graph->get_size().x / 2;
 		int cur_x = frame * half_width / max_frames;
-		//cur_x /= 2.0;
 
-		graph->draw_line(Vector2(cur_x, 0), Vector2(cur_x, graph->get_size().y), Color(1, 1, 1, 0.8));
-		graph->draw_line(Vector2(cur_x + half_width, 0), Vector2(cur_x + half_width, graph->get_size().y), Color(1, 1, 1, 0.8));
+		graph->draw_line(Vector2(cur_x, 0), Vector2(cur_x, graph->get_size().y), color * Color(1, 1, 1));
+		graph->draw_line(Vector2(cur_x + half_width, 0), Vector2(cur_x + half_width, graph->get_size().y), color * Color(1, 1, 1));
 	}
 
 	if (graph_height_cpu > 0) {
@@ -462,10 +465,10 @@ void EditorVisualProfiler::_graph_tex_draw() {
 
 		int half_width = graph->get_size().x / 2;
 
-		graph->draw_line(Vector2(0, frame_y), Vector2(half_width, frame_y), Color(1, 1, 1, 0.3));
+		graph->draw_line(Vector2(0, frame_y), Vector2(half_width, frame_y), color * Color(1, 1, 1, 0.5));
 
-		String limit_str = String::num(graph_limit, 2);
-		graph->draw_string(font, Vector2(half_width - font->get_string_size(limit_str, font_size).x - 2, frame_y - 2), limit_str, HORIZONTAL_ALIGNMENT_LEFT, -1, font_size, Color(1, 1, 1, 0.6));
+		const String limit_str = String::num(graph_limit, 2) + " ms";
+		graph->draw_string(font, Vector2(half_width - font->get_string_size(limit_str, font_size).x - 2, frame_y - 2), limit_str, HORIZONTAL_ALIGNMENT_LEFT, -1, font_size, color * Color(1, 1, 1, 0.75));
 	}
 
 	if (graph_height_gpu > 0) {
@@ -473,14 +476,14 @@ void EditorVisualProfiler::_graph_tex_draw() {
 
 		int half_width = graph->get_size().x / 2;
 
-		graph->draw_line(Vector2(half_width, frame_y), Vector2(graph->get_size().x, frame_y), Color(1, 1, 1, 0.3));
+		graph->draw_line(Vector2(half_width, frame_y), Vector2(graph->get_size().x, frame_y), color * Color(1, 1, 1, 0.5));
 
-		String limit_str = String::num(graph_limit, 2);
-		graph->draw_string(font, Vector2(half_width * 2 - font->get_string_size(limit_str, font_size).x - 2, frame_y - 2), limit_str, HORIZONTAL_ALIGNMENT_LEFT, -1, font_size, Color(1, 1, 1, 0.6));
+		const String limit_str = String::num(graph_limit, 2) + " ms";
+		graph->draw_string(font, Vector2(half_width * 2 - font->get_string_size(limit_str, font_size).x - 2, frame_y - 2), limit_str, HORIZONTAL_ALIGNMENT_LEFT, -1, font_size, color * Color(1, 1, 1, 0.75));
 	}
 
-	graph->draw_string(font, Vector2(font->get_string_size("X", font_size).x, font->get_ascent(font_size) + 2), "CPU:", HORIZONTAL_ALIGNMENT_LEFT, -1, font_size, Color(1, 1, 1, 0.8));
-	graph->draw_string(font, Vector2(font->get_string_size("X", font_size).x + graph->get_size().width / 2, font->get_ascent(font_size) + 2), "GPU:", HORIZONTAL_ALIGNMENT_LEFT, -1, font_size, Color(1, 1, 1, 0.8));
+	graph->draw_string(font, Vector2(font->get_string_size("X", font_size).x, font->get_ascent(font_size) + 2), "CPU:", HORIZONTAL_ALIGNMENT_LEFT, -1, font_size, color * Color(1, 1, 1));
+	graph->draw_string(font, Vector2(font->get_string_size("X", font_size).x + graph->get_size().width / 2, font->get_ascent(font_size) + 2), "GPU:", HORIZONTAL_ALIGNMENT_LEFT, -1, font_size, color * Color(1, 1, 1));
 }
 
 void EditorVisualProfiler::_graph_tex_mouse_exit() {
@@ -724,7 +727,7 @@ EditorVisualProfiler::EditorVisualProfiler() {
 	hb->add_child(memnew(Label(TTR("Measure:"))));
 
 	display_mode = memnew(OptionButton);
-	display_mode->add_item(TTR("Frame Time (msec)"));
+	display_mode->add_item(TTR("Frame Time (ms)"));
 	display_mode->add_item(TTR("Frame %"));
 	display_mode->connect("item_selected", callable_mp(this, &EditorVisualProfiler::_combo_changed));
 
@@ -786,7 +789,7 @@ EditorVisualProfiler::EditorVisualProfiler() {
 	h_split->add_child(graph);
 	graph->set_h_size_flags(SIZE_EXPAND_FILL);
 
-	int metric_size = CLAMP(int(EDITOR_DEF("debugger/profiler_frame_history_size", 600)), 60, 1024);
+	int metric_size = CLAMP(int(EDITOR_GET("debugger/profiler_frame_history_size")), 60, 1024);
 	frame_metrics.resize(metric_size);
 	last_metric = -1;
 	//cursor_metric=-1;
diff --git a/editor/debugger/script_editor_debugger.cpp b/editor/debugger/script_editor_debugger.cpp
index 645d7608f3..453e9e3a0c 100644
--- a/editor/debugger/script_editor_debugger.cpp
+++ b/editor/debugger/script_editor_debugger.cpp
@@ -135,15 +135,15 @@ void ScriptEditorDebugger::debug_continue() {
 void ScriptEditorDebugger::update_tabs() {
 	if (error_count == 0 && warning_count == 0) {
 		errors_tab->set_name(TTR("Errors"));
-		tabs->set_tab_icon(errors_tab->get_index(), Ref<Texture2D>());
+		tabs->set_tab_icon(tabs->get_tab_idx_from_control(errors_tab), Ref<Texture2D>());
 	} else {
 		errors_tab->set_name(TTR("Errors") + " (" + itos(error_count + warning_count) + ")");
 		if (error_count >= 1 && warning_count >= 1) {
-			tabs->set_tab_icon(errors_tab->get_index(), get_theme_icon(SNAME("ErrorWarning"), SNAME("EditorIcons")));
+			tabs->set_tab_icon(tabs->get_tab_idx_from_control(errors_tab), get_theme_icon(SNAME("ErrorWarning"), SNAME("EditorIcons")));
 		} else if (error_count >= 1) {
-			tabs->set_tab_icon(errors_tab->get_index(), get_theme_icon(SNAME("Error"), SNAME("EditorIcons")));
+			tabs->set_tab_icon(tabs->get_tab_idx_from_control(errors_tab), get_theme_icon(SNAME("Error"), SNAME("EditorIcons")));
 		} else {
-			tabs->set_tab_icon(errors_tab->get_index(), get_theme_icon(SNAME("Warning"), SNAME("EditorIcons")));
+			tabs->set_tab_icon(tabs->get_tab_idx_from_control(errors_tab), get_theme_icon(SNAME("Warning"), SNAME("EditorIcons")));
 		}
 	}
 }
@@ -1064,18 +1064,16 @@ int ScriptEditorDebugger::_get_res_path_cache(const String &p_path) {
 	return last_path_id;
 }
 
-void ScriptEditorDebugger::_method_changed(Object *p_base, const StringName &p_name, VARIANT_ARG_DECLARE) {
+void ScriptEditorDebugger::_method_changed(Object *p_base, const StringName &p_name, const Variant **p_args, int p_argcount) {
 	if (!p_base || !live_debug || !is_session_active() || !EditorNode::get_singleton()->get_edited_scene()) {
 		return;
 	}
 
 	Node *node = Object::cast_to<Node>(p_base);
 
-	VARIANT_ARGPTRS
-
-	for (int i = 0; i < VARIANT_ARG_MAX; i++) {
+	for (int i = 0; i < p_argcount; i++) {
 		//no pointers, sorry
-		if (argptr[i] && (argptr[i]->get_type() == Variant::OBJECT || argptr[i]->get_type() == Variant::RID)) {
+		if (p_args[i]->get_type() == Variant::OBJECT || p_args[i]->get_type() == Variant::RID) {
 			return;
 		}
 	}
@@ -1087,9 +1085,9 @@ void ScriptEditorDebugger::_method_changed(Object *p_base, const StringName &p_n
 		Array msg;
 		msg.push_back(pathid);
 		msg.push_back(p_name);
-		for (int i = 0; i < VARIANT_ARG_MAX; i++) {
+		for (int i = 0; i < p_argcount; i++) {
 			//no pointers, sorry
-			msg.push_back(*argptr[i]);
+			msg.push_back(*p_args[i]);
 		}
 		_put_msg("scene:live_node_call", msg);
 
@@ -1105,9 +1103,9 @@ void ScriptEditorDebugger::_method_changed(Object *p_base, const StringName &p_n
 		Array msg;
 		msg.push_back(pathid);
 		msg.push_back(p_name);
-		for (int i = 0; i < VARIANT_ARG_MAX; i++) {
+		for (int i = 0; i < p_argcount; i++) {
 			//no pointers, sorry
-			msg.push_back(*argptr[i]);
+			msg.push_back(*p_args[i]);
 		}
 		_put_msg("scene:live_res_call", msg);
 
@@ -1658,7 +1656,7 @@ bool ScriptEditorDebugger::has_capture(const StringName &p_name) {
 
 ScriptEditorDebugger::ScriptEditorDebugger() {
 	tabs = memnew(TabContainer);
-	tabs->set_tab_alignment(TabContainer::ALIGNMENT_LEFT);
+	tabs->set_tab_alignment(TabBar::ALIGNMENT_LEFT);
 	tabs->add_theme_style_override("panel", EditorNode::get_singleton()->get_gui_base()->get_theme_stylebox(SNAME("DebuggerPanel"), SNAME("EditorStyles")));
 	tabs->connect("tab_changed", callable_mp(this, &ScriptEditorDebugger::_tab_changed));
 
diff --git a/editor/debugger/script_editor_debugger.h b/editor/debugger/script_editor_debugger.h
index e4d3a2fa09..486ac26ef7 100644
--- a/editor/debugger/script_editor_debugger.h
+++ b/editor/debugger/script_editor_debugger.h
@@ -187,7 +187,7 @@ private:
 	void _live_edit_set();
 	void _live_edit_clear();
 
-	void _method_changed(Object *p_base, const StringName &p_name, VARIANT_ARG_DECLARE);
+	void _method_changed(Object *p_base, const StringName &p_name, const Variant **p_args, int p_argcount);
 	void _property_changed(Object *p_base, const StringName &p_property, const Variant &p_value);
 
 	void _error_activated();
diff --git a/editor/editor_audio_buses.cpp b/editor/editor_audio_buses.cpp
index 9685ff4b70..e1198026b6 100644
--- a/editor/editor_audio_buses.cpp
+++ b/editor/editor_audio_buses.cpp
@@ -92,6 +92,12 @@ void EditorAudioBus::_notification(int p_what) {
 			audio_value_preview_label->add_theme_color_override("font_color", get_theme_color(SNAME("font_color"), SNAME("TooltipLabel")));
 			audio_value_preview_label->add_theme_color_override("font_shadow_color", get_theme_color(SNAME("font_shadow_color"), SNAME("TooltipLabel")));
 			audio_value_preview_box->add_theme_style_override("panel", get_theme_stylebox(SNAME("panel"), SNAME("TooltipPanel")));
+
+			for (int i = 0; i < effect_options->get_item_count(); i++) {
+				String class_name = effect_options->get_item_metadata(i);
+				Ref<Texture> icon = EditorNode::get_singleton()->get_class_icon(class_name);
+				effect_options->set_item_icon(i, icon);
+			}
 		} break;
 
 		case NOTIFICATION_READY: {
@@ -913,15 +919,13 @@ EditorAudioBus::EditorAudioBus(EditorAudioBuses *p_buses, bool p_is_master) {
 	ClassDB::get_inheriters_from_class("AudioEffect", &effects);
 	effects.sort_custom<StringName::AlphCompare>();
 	for (const StringName &E : effects) {
-		if (!ClassDB::can_instantiate(E)) {
+		if (!ClassDB::can_instantiate(E) || ClassDB::is_virtual(E)) {
 			continue;
 		}
 
-		Ref<Texture2D> icon = EditorNode::get_singleton()->get_class_icon(E);
 		String name = E.operator String().replace("AudioEffect", "");
 		effect_options->add_item(name);
 		effect_options->set_item_metadata(effect_options->get_item_count() - 1, E);
-		effect_options->set_item_icon(effect_options->get_item_count() - 1, icon);
 	}
 
 	bus_options = memnew(MenuButton);
@@ -1328,7 +1332,7 @@ EditorAudioBuses::EditorAudioBuses() {
 	List<String> ext;
 	ResourceLoader::get_recognized_extensions_for_type("AudioBusLayout", &ext);
 	for (const String &E : ext) {
-		file_dialog->add_filter("*." + E + "; Audio Bus Layout");
+		file_dialog->add_filter(vformat("*.%s; %s", E, TTR("Audio Bus Layout")));
 	}
 	add_child(file_dialog);
 	file_dialog->connect("file_selected", callable_mp(this, &EditorAudioBuses::_file_dialog_callback));
diff --git a/editor/editor_autoload_settings.cpp b/editor/editor_autoload_settings.cpp
index 281d614ea9..829948d3cb 100644
--- a/editor/editor_autoload_settings.cpp
+++ b/editor/editor_autoload_settings.cpp
@@ -52,7 +52,7 @@ void EditorAutoloadSettings::_notification(int p_what) {
 				file_dialog->add_filter("*." + E);
 			}
 
-			for (const AutoLoadInfo &info : autoload_cache) {
+			for (const AutoloadInfo &info : autoload_cache) {
 				if (info.node && info.in_editor) {
 					get_tree()->get_root()->call_deferred(SNAME("add_child"), info.node);
 				}
@@ -122,7 +122,7 @@ bool EditorAutoloadSettings::_autoload_name_is_valid(const String &p_name, Strin
 		for (const String &E : keywords) {
 			if (E == p_name) {
 				if (r_error) {
-					*r_error = TTR("Invalid name.") + " " + TTR("Keyword cannot be used as an AutoLoad name.");
+					*r_error = TTR("Invalid name.") + " " + TTR("Keyword cannot be used as an Autoload name.");
 				}
 
 				return false;
@@ -227,7 +227,7 @@ void EditorAutoloadSettings::_autoload_edited() {
 			path = "*" + path;
 		}
 
-		undo_redo->create_action(TTR("Toggle AutoLoad Globals"));
+		undo_redo->create_action(TTR("Toggle Autoload Globals"));
 
 		undo_redo->add_do_property(ProjectSettings::get_singleton(), base, path);
 		undo_redo->add_undo_property(ProjectSettings::get_singleton(), base, ProjectSettings::get_singleton()->get(base));
@@ -378,13 +378,13 @@ Node *EditorAutoloadSettings::_create_autoload(const String &p_path) {
 
 		Object *obj = ClassDB::instantiate(ibt);
 
-		ERR_FAIL_COND_V_MSG(!obj, nullptr, "Cannot instance script for AutoLoad, expected 'Node' inheritance, got: " + String(ibt) + ".");
+		ERR_FAIL_COND_V_MSG(!obj, nullptr, "Cannot instance script for Autoload, expected 'Node' inheritance, got: " + String(ibt) + ".");
 
 		n = Object::cast_to<Node>(obj);
 		n->set_script(script);
 	}
 
-	ERR_FAIL_COND_V_MSG(!n, nullptr, "Path in AutoLoad not a node or script: " + p_path + ".");
+	ERR_FAIL_COND_V_MSG(!n, nullptr, "Path in Autoload not a node or script: " + p_path + ".");
 
 	return n;
 }
@@ -396,10 +396,10 @@ void EditorAutoloadSettings::update_autoload() {
 
 	updating_autoload = true;
 
-	Map<String, AutoLoadInfo> to_remove;
-	List<AutoLoadInfo *> to_add;
+	Map<String, AutoloadInfo> to_remove;
+	List<AutoloadInfo *> to_add;
 
-	for (const AutoLoadInfo &info : autoload_cache) {
+	for (const AutoloadInfo &info : autoload_cache) {
 		to_remove.insert(info.name, info);
 	}
 
@@ -423,7 +423,7 @@ void EditorAutoloadSettings::update_autoload() {
 			continue;
 		}
 
-		AutoLoadInfo info;
+		AutoloadInfo info;
 		info.is_singleton = path.begins_with("*");
 
 		if (info.is_singleton) {
@@ -436,7 +436,7 @@ void EditorAutoloadSettings::update_autoload() {
 
 		bool need_to_add = true;
 		if (to_remove.has(name)) {
-			AutoLoadInfo &old_info = to_remove[name];
+			AutoloadInfo &old_info = to_remove[name];
 			if (old_info.path == info.path) {
 				// Still the same resource, check status
 				info.node = old_info.node;
@@ -478,8 +478,8 @@ void EditorAutoloadSettings::update_autoload() {
 	}
 
 	// Remove deleted/changed autoloads
-	for (KeyValue<String, AutoLoadInfo> &E : to_remove) {
-		AutoLoadInfo &info = E.value;
+	for (KeyValue<String, AutoloadInfo> &E : to_remove) {
+		AutoloadInfo &info = E.value;
 		if (info.is_singleton) {
 			for (int i = 0; i < ScriptServer::get_language_count(); i++) {
 				ScriptServer::get_language(i)->remove_named_global_constant(info.name);
@@ -500,7 +500,7 @@ void EditorAutoloadSettings::update_autoload() {
 
 	// Load new/changed autoloads
 	List<Node *> nodes_to_add;
-	for (AutoLoadInfo *info : to_add) {
+	for (AutoloadInfo *info : to_add) {
 		info->node = _create_autoload(info->path);
 
 		ERR_CONTINUE(!info->node);
@@ -632,8 +632,8 @@ void EditorAutoloadSettings::drop_data_fw(const Point2 &p_point, const Variant &
 
 	int order = ProjectSettings::get_singleton()->get_order("autoload/" + name);
 
-	AutoLoadInfo aux;
-	List<AutoLoadInfo>::Element *E = nullptr;
+	AutoloadInfo aux;
+	List<AutoloadInfo>::Element *E = nullptr;
 
 	if (!move_to_back) {
 		aux.order = order;
@@ -649,7 +649,7 @@ void EditorAutoloadSettings::drop_data_fw(const Point2 &p_point, const Variant &
 	for (int i = 0; i < autoloads.size(); i++) {
 		aux.order = ProjectSettings::get_singleton()->get_order("autoload/" + autoloads[i]);
 
-		List<AutoLoadInfo>::Element *I = autoload_cache.find(aux);
+		List<AutoloadInfo>::Element *I = autoload_cache.find(aux);
 
 		if (move_to_back) {
 			autoload_cache.move_to_back(I);
@@ -664,7 +664,7 @@ void EditorAutoloadSettings::drop_data_fw(const Point2 &p_point, const Variant &
 
 	int i = 0;
 
-	for (const AutoLoadInfo &F : autoload_cache) {
+	for (const AutoloadInfo &F : autoload_cache) {
 		orders.write[i++] = F.order;
 	}
 
@@ -676,7 +676,7 @@ void EditorAutoloadSettings::drop_data_fw(const Point2 &p_point, const Variant &
 
 	i = 0;
 
-	for (const AutoLoadInfo &F : autoload_cache) {
+	for (const AutoloadInfo &F : autoload_cache) {
 		undo_redo->add_do_method(ProjectSettings::get_singleton(), "set_order", "autoload/" + F.name, orders[i++]);
 		undo_redo->add_undo_method(ProjectSettings::get_singleton(), "set_order", "autoload/" + F.name, F.order);
 	}
@@ -697,18 +697,18 @@ bool EditorAutoloadSettings::autoload_add(const String &p_name, const String &p_
 
 	String error;
 	if (!_autoload_name_is_valid(name, &error)) {
-		EditorNode::get_singleton()->show_warning(TTR("Can't add AutoLoad:") + "\n" + error);
+		EditorNode::get_singleton()->show_warning(TTR("Can't add Autoload:") + "\n" + error);
 		return false;
 	}
 
 	const String &path = p_path;
 	if (!FileAccess::exists(path)) {
-		EditorNode::get_singleton()->show_warning(TTR("Can't add AutoLoad:") + "\n" + vformat(TTR("%s is an invalid path. File does not exist."), path));
+		EditorNode::get_singleton()->show_warning(TTR("Can't add Autoload:") + "\n" + vformat(TTR("%s is an invalid path. File does not exist."), path));
 		return false;
 	}
 
 	if (!path.begins_with("res://")) {
-		EditorNode::get_singleton()->show_warning(TTR("Can't add AutoLoad:") + "\n" + vformat(TTR("%s is an invalid path. Not in resource path (res://)."), path));
+		EditorNode::get_singleton()->show_warning(TTR("Can't add Autoload:") + "\n" + vformat(TTR("%s is an invalid path. Not in resource path (res://)."), path));
 		return false;
 	}
 
@@ -716,7 +716,7 @@ bool EditorAutoloadSettings::autoload_add(const String &p_name, const String &p_
 
 	UndoRedo *undo_redo = EditorNode::get_undo_redo();
 
-	undo_redo->create_action(TTR("Add AutoLoad"));
+	undo_redo->create_action(TTR("Add Autoload"));
 	// Singleton autoloads are represented with a leading "*" in their path.
 	undo_redo->add_do_property(ProjectSettings::get_singleton(), name, "*" + path);
 
@@ -791,7 +791,7 @@ EditorAutoloadSettings::EditorAutoloadSettings() {
 			continue;
 		}
 
-		AutoLoadInfo info;
+		AutoloadInfo info;
 		info.is_singleton = path.begins_with("*");
 
 		if (info.is_singleton) {
@@ -812,7 +812,7 @@ EditorAutoloadSettings::EditorAutoloadSettings() {
 		autoload_cache.push_back(info);
 	}
 
-	for (AutoLoadInfo &info : autoload_cache) {
+	for (AutoloadInfo &info : autoload_cache) {
 		info.node = _create_autoload(info.path);
 
 		if (info.node) {
@@ -921,7 +921,7 @@ EditorAutoloadSettings::EditorAutoloadSettings() {
 }
 
 EditorAutoloadSettings::~EditorAutoloadSettings() {
-	for (const AutoLoadInfo &info : autoload_cache) {
+	for (const AutoloadInfo &info : autoload_cache) {
 		if (info.node && !info.in_editor) {
 			memdelete(info.node);
 		}
diff --git a/editor/editor_autoload_settings.h b/editor/editor_autoload_settings.h
index 135ff48a0c..044eea4245 100644
--- a/editor/editor_autoload_settings.h
+++ b/editor/editor_autoload_settings.h
@@ -49,7 +49,7 @@ class EditorAutoloadSettings : public VBoxContainer {
 
 	String autoload_changed;
 
-	struct AutoLoadInfo {
+	struct AutoloadInfo {
 		String name;
 		String path;
 		bool is_singleton = false;
@@ -57,12 +57,12 @@ class EditorAutoloadSettings : public VBoxContainer {
 		int order = 0;
 		Node *node = nullptr;
 
-		bool operator==(const AutoLoadInfo &p_info) const {
+		bool operator==(const AutoloadInfo &p_info) const {
 			return order == p_info.order;
 		}
 	};
 
-	List<AutoLoadInfo> autoload_cache;
+	List<AutoloadInfo> autoload_cache;
 
 	bool updating_autoload;
 	int number_of_autoloads;
diff --git a/editor/editor_export.cpp b/editor/editor_export.cpp
index 295b477080..d081ee05a0 100644
--- a/editor/editor_export.cpp
+++ b/editor/editor_export.cpp
@@ -542,7 +542,7 @@ void EditorExportPlatform::_edit_filter_list(Set<String> &r_list, const String &
 		filters.push_back(f);
 	}
 
-	DirAccess *da = DirAccess::open("res://");
+	DirAccess *da = DirAccess::create(DirAccess::ACCESS_RESOURCES);
 	ERR_FAIL_NULL(da);
 	_edit_files_with_filter(da, filters, r_list, exclude);
 	memdelete(da);
@@ -1831,10 +1831,6 @@ List<String> EditorExportPlatformPC::get_binary_extensions(const Ref<EditorExpor
 Error EditorExportPlatformPC::export_project(const Ref<EditorExportPreset> &p_preset, bool p_debug, const String &p_path, int p_flags) {
 	ExportNotifier notifier(*this, p_preset, p_debug, p_path, p_flags);
 
-	if (!DirAccess::exists(p_path.get_base_dir())) {
-		return ERR_FILE_BAD_PATH;
-	}
-
 	String custom_debug = p_preset->get("custom_template/debug");
 	String custom_release = p_preset->get("custom_template/release");
 
@@ -1863,9 +1859,9 @@ Error EditorExportPlatformPC::export_project(const Ref<EditorExportPreset> &p_pr
 		return ERR_FILE_NOT_FOUND;
 	}
 
-	DirAccess *da = DirAccess::create(DirAccess::ACCESS_FILESYSTEM);
+	DirAccessRef da = DirAccess::create(DirAccess::ACCESS_FILESYSTEM);
+	da->make_dir_recursive(p_path.get_base_dir());
 	Error err = da->copy(template_path, p_path, get_chmod_flags());
-	memdelete(da);
 
 	if (err == OK) {
 		String pck_path;
@@ -1901,7 +1897,6 @@ Error EditorExportPlatformPC::export_project(const Ref<EditorExportPreset> &p_pr
 					err = sign_shared_object(p_preset, p_debug, p_path.get_base_dir().plus_file(so_files[i].path.get_file()));
 				}
 			}
-			memdelete(da);
 		}
 	}
 
diff --git a/editor/editor_file_dialog.cpp b/editor/editor_file_dialog.cpp
index e6343100df..0fef4597be 100644
--- a/editor/editor_file_dialog.cpp
+++ b/editor/editor_file_dialog.cpp
@@ -394,7 +394,8 @@ void EditorFileDialog::_action_pressed() {
 		return;
 	}
 
-	String f = dir_access->get_current_dir().plus_file(file->get_text());
+	String file_text = file->get_text();
+	String f = file_text.is_absolute_path() ? file_text : dir_access->get_current_dir().plus_file(file_text);
 
 	if ((mode == FILE_MODE_OPEN_ANY || mode == FILE_MODE_OPEN_FILE) && dir_access->file_exists(f)) {
 		_save_to_recent();
diff --git a/editor/editor_help.cpp b/editor/editor_help.cpp
index fe39f7acc9..39c8509148 100644
--- a/editor/editor_help.cpp
+++ b/editor/editor_help.cpp
@@ -477,9 +477,9 @@ void EditorHelp::_update_method_descriptions(const DocData::ClassDoc p_classdoc,
 				class_desc->add_text(" ");
 				class_desc->push_color(comment_color);
 				if (p_classdoc.is_script_doc) {
-					class_desc->append_text(TTR("There is currently no description for this " + p_method_type + "."));
+					class_desc->append_text(vformat(TTR("There is currently no description for this %s."), p_method_type));
 				} else {
-					class_desc->append_text(TTR("There is currently no description for this " + p_method_type + ". Please help us by [color=$color][url=$url]contributing one[/url][/color]!").replace("$url", CONTRIBUTE_URL).replace("$color", link_color_text));
+					class_desc->append_text(vformat(TTR("There is currently no description for this %s. Please help us by [color=$color][url=$url]contributing one[/url][/color]!"), p_method_type).replace("$url", CONTRIBUTE_URL).replace("$color", link_color_text));
 				}
 				class_desc->pop();
 			}
diff --git a/editor/editor_help_search.cpp b/editor/editor_help_search.cpp
index dd4969cdd2..eab62349d1 100644
--- a/editor/editor_help_search.cpp
+++ b/editor/editor_help_search.cpp
@@ -536,7 +536,7 @@ TreeItem *EditorHelpSearch::Runner::_create_class_item(TreeItem *p_parent, const
 	} else if (ClassDB::class_exists(p_doc->name) && ClassDB::is_parent_class(p_doc->name, "Object")) {
 		icon = ui_service->get_theme_icon(SNAME("Object"), SNAME("EditorIcons"));
 	}
-	String tooltip = p_doc->brief_description.strip_edges();
+	String tooltip = DTR(p_doc->brief_description.strip_edges());
 
 	TreeItem *item = results_tree->create_item(p_parent);
 	item->set_icon(0, icon);
diff --git a/editor/editor_inspector.cpp b/editor/editor_inspector.cpp
index 958885cb42..f5d318a227 100644
--- a/editor/editor_inspector.cpp
+++ b/editor/editor_inspector.cpp
@@ -100,7 +100,7 @@ void EditorProperty::emit_changed(const StringName &p_property, const Variant &p
 	const Variant *argptrs[4] = { &args[0], &args[1], &args[2], &args[3] };
 
 	cache[p_property] = p_value;
-	emit_signal(SNAME("property_changed"), (const Variant **)argptrs, 4);
+	emit_signalp(SNAME("property_changed"), (const Variant **)argptrs, 4);
 }
 
 void EditorProperty::_notification(int p_what) {
@@ -692,15 +692,11 @@ void EditorProperty::unhandled_key_input(const Ref<InputEvent> &p_event) {
 }
 
 const Color *EditorProperty::_get_property_colors() {
-	const Color base = get_theme_color(SNAME("accent_color"), SNAME("Editor"));
-	const float saturation = base.get_s() * 0.75;
-	const float value = base.get_v();
-
 	static Color c[4];
-	c[0].set_hsv(0.0 / 3.0 + 0.05, saturation, value);
-	c[1].set_hsv(1.0 / 3.0 + 0.05, saturation, value);
-	c[2].set_hsv(2.0 / 3.0 + 0.05, saturation, value);
-	c[3].set_hsv(1.5 / 3.0 + 0.05, saturation, value);
+	c[0] = get_theme_color(SNAME("property_color_x"), SNAME("Editor"));
+	c[1] = get_theme_color(SNAME("property_color_y"), SNAME("Editor"));
+	c[2] = get_theme_color(SNAME("property_color_z"), SNAME("Editor"));
+	c[3] = get_theme_color(SNAME("property_color_w"), SNAME("Editor"));
 	return c;
 }
 
@@ -3321,7 +3317,7 @@ void EditorInspector::_property_keyed(const String &p_path, bool p_advance) {
 	// The second parameter could be null, causing the event to fire with less arguments, so use the pointer call which preserves it.
 	const Variant args[3] = { p_path, object->get(p_path), p_advance };
 	const Variant *argp[3] = { &args[0], &args[1], &args[2] };
-	emit_signal(SNAME("property_keyed"), argp, 3);
+	emit_signalp(SNAME("property_keyed"), argp, 3);
 }
 
 void EditorInspector::_property_deleted(const String &p_path) {
@@ -3340,7 +3336,7 @@ void EditorInspector::_property_keyed_with_value(const String &p_path, const Var
 	// The second parameter could be null, causing the event to fire with less arguments, so use the pointer call which preserves it.
 	const Variant args[3] = { p_path, p_value, p_advance };
 	const Variant *argp[3] = { &args[0], &args[1], &args[2] };
-	emit_signal(SNAME("property_keyed"), argp, 3);
+	emit_signalp(SNAME("property_keyed"), argp, 3);
 }
 
 void EditorInspector::_property_checked(const String &p_path, bool p_checked) {
@@ -3517,7 +3513,9 @@ void EditorInspector::_notification(int p_what) {
 		case EditorSettings::NOTIFICATION_EDITOR_SETTINGS_CHANGED: {
 			_update_inspector_bg();
 
-			update_tree();
+			if (EditorSettings::get_singleton()->check_changed_settings_in_group("interface/inspector")) {
+				update_tree();
+			}
 		} break;
 	}
 }
diff --git a/editor/editor_node.cpp b/editor/editor_node.cpp
index c98d7005ba..17b219f8dc 100644
--- a/editor/editor_node.cpp
+++ b/editor/editor_node.cpp
@@ -314,6 +314,7 @@ void EditorNode::disambiguate_filenames(const Vector<String> p_full_paths, Vecto
 	}
 }
 
+// TODO: This REALLY should be done in a better way than replacing all tabs after almost EVERY action.
 void EditorNode::_update_scene_tabs() {
 	bool show_rb = EditorSettings::get_singleton()->get("interface/scene_tabs/show_script_button");
 
@@ -331,6 +332,9 @@ void EditorNode::_update_scene_tabs() {
 
 	disambiguate_filenames(full_path_names, disambiguated_scene_names);
 
+	// Workaround to ignore the tab_changed signal from the first added tab.
+	scene_tabs->disconnect("tab_changed", callable_mp(this, &EditorNode::_scene_tab_changed));
+
 	scene_tabs->clear_tabs();
 	Ref<Texture2D> script_icon = gui_base->get_theme_icon(SNAME("Script"), SNAME("EditorIcons"));
 	for (int i = 0; i < editor_data.get_edited_scene_count(); i++) {
@@ -389,6 +393,9 @@ void EditorNode::_update_scene_tabs() {
 			scene_tab_add->set_position(Point2(last_tab.position.x + last_tab.size.width + hsep, last_tab.position.y));
 		}
 	}
+
+	// Reconnect after everything is done.
+	scene_tabs->connect("tab_changed", callable_mp(this, &EditorNode::_scene_tab_changed));
 }
 
 void EditorNode::_version_control_menu_option(int p_idx) {
@@ -695,31 +702,34 @@ void EditorNode::_notification(int p_what) {
 
 		case EditorSettings::NOTIFICATION_EDITOR_SETTINGS_CHANGED: {
 			scene_tabs->set_tab_close_display_policy((bool(EDITOR_GET("interface/scene_tabs/always_show_close_button")) ? TabBar::CLOSE_BUTTON_SHOW_ALWAYS : TabBar::CLOSE_BUTTON_SHOW_ACTIVE_ONLY));
-			theme = create_custom_theme(theme_base->get_theme());
 
-			theme_base->set_theme(theme);
-			gui_base->set_theme(theme);
+			bool theme_changed =
+					EditorSettings::get_singleton()->check_changed_settings_in_group("interface/theme") ||
+					EditorSettings::get_singleton()->check_changed_settings_in_group("text_editor/theme");
 
-			gui_base->add_theme_style_override("panel", gui_base->get_theme_stylebox(SNAME("Background"), SNAME("EditorStyles")));
-			scene_root_parent->add_theme_style_override("panel", gui_base->get_theme_stylebox(SNAME("Content"), SNAME("EditorStyles")));
-			bottom_panel->add_theme_style_override("panel", gui_base->get_theme_stylebox(SNAME("panel"), SNAME("TabContainer")));
-			scene_tabs->add_theme_style_override("tab_selected", gui_base->get_theme_stylebox(SNAME("SceneTabFG"), SNAME("EditorStyles")));
-			scene_tabs->add_theme_style_override("tab_unselected", gui_base->get_theme_stylebox(SNAME("SceneTabBG"), SNAME("EditorStyles")));
+			if (theme_changed) {
+				theme = create_custom_theme(theme_base->get_theme());
 
-			file_menu->add_theme_style_override("hover", gui_base->get_theme_stylebox(SNAME("MenuHover"), SNAME("EditorStyles")));
-			project_menu->add_theme_style_override("hover", gui_base->get_theme_stylebox(SNAME("MenuHover"), SNAME("EditorStyles")));
-			debug_menu->add_theme_style_override("hover", gui_base->get_theme_stylebox(SNAME("MenuHover"), SNAME("EditorStyles")));
-			settings_menu->add_theme_style_override("hover", gui_base->get_theme_stylebox(SNAME("MenuHover"), SNAME("EditorStyles")));
-			help_menu->add_theme_style_override("hover", gui_base->get_theme_stylebox(SNAME("MenuHover"), SNAME("EditorStyles")));
+				theme_base->set_theme(theme);
+				gui_base->set_theme(theme);
 
-			if (EDITOR_GET("interface/scene_tabs/resize_if_many_tabs")) {
-				scene_tabs->set_min_width(int(EDITOR_GET("interface/scene_tabs/minimum_width")) * EDSCALE);
-			} else {
-				scene_tabs->set_min_width(0);
+				gui_base->add_theme_style_override("panel", gui_base->get_theme_stylebox(SNAME("Background"), SNAME("EditorStyles")));
+				scene_root_parent->add_theme_style_override("panel", gui_base->get_theme_stylebox(SNAME("Content"), SNAME("EditorStyles")));
+				bottom_panel->add_theme_style_override("panel", gui_base->get_theme_stylebox(SNAME("panel"), SNAME("TabContainer")));
+				scene_tabs->add_theme_style_override("tab_selected", gui_base->get_theme_stylebox(SNAME("SceneTabFG"), SNAME("EditorStyles")));
+				scene_tabs->add_theme_style_override("tab_unselected", gui_base->get_theme_stylebox(SNAME("SceneTabBG"), SNAME("EditorStyles")));
+
+				file_menu->add_theme_style_override("hover", gui_base->get_theme_stylebox(SNAME("MenuHover"), SNAME("EditorStyles")));
+				project_menu->add_theme_style_override("hover", gui_base->get_theme_stylebox(SNAME("MenuHover"), SNAME("EditorStyles")));
+				debug_menu->add_theme_style_override("hover", gui_base->get_theme_stylebox(SNAME("MenuHover"), SNAME("EditorStyles")));
+				settings_menu->add_theme_style_override("hover", gui_base->get_theme_stylebox(SNAME("MenuHover"), SNAME("EditorStyles")));
+				help_menu->add_theme_style_override("hover", gui_base->get_theme_stylebox(SNAME("MenuHover"), SNAME("EditorStyles")));
 			}
+
+			scene_tabs->set_max_tab_width(int(EDITOR_GET("interface/scene_tabs/maximum_width")) * EDSCALE);
 			_update_scene_tabs();
 
-			recent_scenes->set_as_minsize();
+			recent_scenes->reset_size();
 
 			// debugger area
 			if (EditorDebuggerNode::get_singleton()->is_visible()) {
@@ -794,10 +804,6 @@ void EditorNode::_notification(int p_what) {
 
 			_update_update_spinner();
 		} break;
-
-		case Control::NOTIFICATION_RESIZED: {
-			_update_scene_tabs();
-		} break;
 	}
 }
 
@@ -3778,7 +3784,7 @@ void EditorNode::_update_recent_scenes() {
 
 	recent_scenes->add_separator();
 	recent_scenes->add_shortcut(ED_SHORTCUT("editor/clear_recent", TTR("Clear Recent Scenes")));
-	recent_scenes->set_as_minsize();
+	recent_scenes->reset_size();
 }
 
 void EditorNode::_quick_opened() {
@@ -3853,18 +3859,18 @@ void EditorNode::register_editor_types() {
 	GDREGISTER_CLASS(EditorScript);
 	GDREGISTER_CLASS(EditorSelection);
 	GDREGISTER_CLASS(EditorFileDialog);
-	GDREGISTER_VIRTUAL_CLASS(EditorSettings);
+	GDREGISTER_ABSTRACT_CLASS(EditorSettings);
 	GDREGISTER_CLASS(EditorNode3DGizmo);
 	GDREGISTER_CLASS(EditorNode3DGizmoPlugin);
-	GDREGISTER_VIRTUAL_CLASS(EditorResourcePreview);
+	GDREGISTER_ABSTRACT_CLASS(EditorResourcePreview);
 	GDREGISTER_CLASS(EditorResourcePreviewGenerator);
-	GDREGISTER_VIRTUAL_CLASS(EditorFileSystem);
+	GDREGISTER_ABSTRACT_CLASS(EditorFileSystem);
 	GDREGISTER_CLASS(EditorFileSystemDirectory);
 	GDREGISTER_CLASS(EditorVCSInterface);
-	GDREGISTER_VIRTUAL_CLASS(ScriptEditor);
-	GDREGISTER_VIRTUAL_CLASS(ScriptEditorBase);
+	GDREGISTER_ABSTRACT_CLASS(ScriptEditor);
+	GDREGISTER_ABSTRACT_CLASS(ScriptEditorBase);
 	GDREGISTER_CLASS(EditorSyntaxHighlighter);
-	GDREGISTER_VIRTUAL_CLASS(EditorInterface);
+	GDREGISTER_ABSTRACT_CLASS(EditorInterface);
 	GDREGISTER_CLASS(EditorExportPlugin);
 	GDREGISTER_CLASS(EditorResourceConversionPlugin);
 	GDREGISTER_CLASS(EditorSceneFormatImporter);
@@ -3879,7 +3885,7 @@ void EditorNode::register_editor_types() {
 	GDREGISTER_CLASS(EditorResourcePicker);
 	GDREGISTER_CLASS(EditorScriptPicker);
 
-	GDREGISTER_VIRTUAL_CLASS(FileSystemDock);
+	GDREGISTER_ABSTRACT_CLASS(FileSystemDock);
 
 	// FIXME: Is this stuff obsolete, or should it be ported to new APIs?
 	GDREGISTER_CLASS(EditorScenePostImport);
@@ -4227,7 +4233,7 @@ void EditorNode::_dock_floating_close_request(Control *p_control) {
 
 	p_control->get_parent()->remove_child(p_control);
 	dock_slot[window_slot]->add_child(p_control);
-	dock_slot[window_slot]->move_child(p_control, MIN((int)window->get_meta("dock_index"), dock_slot[window_slot]->get_child_count()));
+	dock_slot[window_slot]->move_child(p_control, MIN((int)window->get_meta("dock_index"), dock_slot[window_slot]->get_tab_count()));
 	dock_slot[window_slot]->set_current_tab(window->get_meta("dock_index"));
 
 	window->queue_delete();
@@ -4467,13 +4473,13 @@ void EditorNode::_dock_select_draw() {
 
 		if (i == dock_select_rect_over) {
 			dock_select->draw_rect(r, used_selected);
-		} else if (dock_slot[i]->get_child_count() == 0) {
+		} else if (dock_slot[i]->get_tab_count() == 0) {
 			dock_select->draw_rect(r, unused);
 		} else {
 			dock_select->draw_rect(r, used);
 		}
 
-		for (int j = 0; j < MIN(3, dock_slot[i]->get_child_count()); j++) {
+		for (int j = 0; j < MIN(3, dock_slot[i]->get_tab_count()); j++) {
 			int xofs = (r.size.width / 3) * j;
 			Color c = used;
 			if (i == dock_popup_selected && (dock_slot[i]->get_current_tab() > 3 || dock_slot[i]->get_current_tab() == j)) {
@@ -4585,7 +4591,7 @@ void EditorNode::_update_dock_slots_visibility() {
 		for (int i = 0; i < DOCK_SLOT_MAX; i++) {
 			int tabs_visible = 0;
 			for (int j = 0; j < dock_slot[i]->get_tab_count(); j++) {
-				if (!dock_slot[i]->get_tab_hidden(j)) {
+				if (!dock_slot[i]->is_tab_hidden(j)) {
 					tabs_visible++;
 				}
 			}
@@ -5419,7 +5425,7 @@ void EditorNode::remove_tool_menu_item(const String &p_name) {
 				memdelete(n);
 			}
 			tool_menu->remove_item(i);
-			tool_menu->set_as_minsize();
+			tool_menu->reset_size();
 			return;
 		}
 	}
@@ -5483,7 +5489,7 @@ void EditorNode::_add_dropped_files_recursive(const Vector<String> &p_files, Str
 }
 
 void EditorNode::_file_access_close_error_notify(const String &p_str) {
-	add_io_error("Unable to write to file '" + p_str + "', file in use, locked or lacking permissions.");
+	add_io_error(vformat(TTR("Unable to write to file '%s', file in use, locked or lacking permissions."), p_str));
 }
 
 void EditorNode::reload_scene(const String &p_path) {
@@ -5649,11 +5655,11 @@ void EditorNode::_feature_profile_changed() {
 	TabContainer *node_tabs = cast_to<TabContainer>(NodeDock::get_singleton()->get_parent());
 	TabContainer *fs_tabs = cast_to<TabContainer>(FileSystemDock::get_singleton()->get_parent());
 	if (profile.is_valid()) {
-		node_tabs->set_tab_hidden(NodeDock::get_singleton()->get_index(), profile->is_feature_disabled(EditorFeatureProfile::FEATURE_NODE_DOCK));
+		node_tabs->set_tab_hidden(node_tabs->get_tab_idx_from_control(NodeDock::get_singleton()), profile->is_feature_disabled(EditorFeatureProfile::FEATURE_NODE_DOCK));
 		// The Import dock is useless without the FileSystem dock. Ensure the configuration is valid.
 		bool fs_dock_disabled = profile->is_feature_disabled(EditorFeatureProfile::FEATURE_FILESYSTEM_DOCK);
-		fs_tabs->set_tab_hidden(FileSystemDock::get_singleton()->get_index(), fs_dock_disabled);
-		import_tabs->set_tab_hidden(ImportDock::get_singleton()->get_index(), fs_dock_disabled || profile->is_feature_disabled(EditorFeatureProfile::FEATURE_IMPORT_DOCK));
+		fs_tabs->set_tab_hidden(fs_tabs->get_tab_idx_from_control(FileSystemDock::get_singleton()), fs_dock_disabled);
+		import_tabs->set_tab_hidden(import_tabs->get_tab_idx_from_control(ImportDock::get_singleton()), fs_dock_disabled || profile->is_feature_disabled(EditorFeatureProfile::FEATURE_IMPORT_DOCK));
 
 		main_editor_buttons[EDITOR_3D]->set_visible(!profile->is_feature_disabled(EditorFeatureProfile::FEATURE_3D));
 		main_editor_buttons[EDITOR_SCRIPT]->set_visible(!profile->is_feature_disabled(EditorFeatureProfile::FEATURE_SCRIPT));
@@ -5666,9 +5672,9 @@ void EditorNode::_feature_profile_changed() {
 			_editor_select(EDITOR_2D);
 		}
 	} else {
-		import_tabs->set_tab_hidden(ImportDock::get_singleton()->get_index(), false);
-		node_tabs->set_tab_hidden(NodeDock::get_singleton()->get_index(), false);
-		fs_tabs->set_tab_hidden(FileSystemDock::get_singleton()->get_index(), false);
+		import_tabs->set_tab_hidden(import_tabs->get_tab_idx_from_control(ImportDock::get_singleton()), false);
+		node_tabs->set_tab_hidden(node_tabs->get_tab_idx_from_control(NodeDock::get_singleton()), false);
+		fs_tabs->set_tab_hidden(fs_tabs->get_tab_idx_from_control(FileSystemDock::get_singleton()), false);
 		ImportDock::get_singleton()->set_visible(true);
 		NodeDock::get_singleton()->set_visible(true);
 		FileSystemDock::get_singleton()->set_visible(true);
@@ -6020,19 +6026,11 @@ EditorNode::EditorNode() {
 
 	// defs here, use EDITOR_GET in logic
 	EDITOR_DEF_RST("interface/scene_tabs/always_show_close_button", false);
-	EDITOR_DEF_RST("interface/scene_tabs/resize_if_many_tabs", true);
-	EDITOR_DEF_RST("interface/scene_tabs/minimum_width", 50);
-	EDITOR_DEF("run/output/always_clear_output_on_play", true);
-	EDITOR_DEF("run/output/always_open_output_on_play", true);
-	EDITOR_DEF("run/output/always_close_output_on_stop", true);
-	EDITOR_DEF("run/auto_save/save_before_running", true);
 	EDITOR_DEF("interface/editor/save_on_focus_loss", false);
-	EDITOR_DEF_RST("interface/editor/save_each_scene_on_quit", true);
 	EDITOR_DEF("interface/editor/show_update_spinner", false);
 	EDITOR_DEF("interface/editor/update_continuously", false);
 	EDITOR_DEF("interface/editor/translate_properties", true);
 	EDITOR_DEF_RST("interface/scene_tabs/restore_scenes_on_load", true);
-	EDITOR_DEF_RST("interface/scene_tabs/show_thumbnail_on_hover", true);
 	EDITOR_DEF_RST("interface/inspector/capitalize_properties", true);
 	EDITOR_DEF_RST("interface/inspector/default_float_step", 0.001);
 	EditorSettings::get_singleton()->add_property_hint(PropertyInfo(Variant::FLOAT, "interface/inspector/default_float_step", PROPERTY_HINT_RANGE, "0,1,0"));
@@ -6046,7 +6044,6 @@ EditorNode::EditorNode() {
 	EditorSettings::get_singleton()->add_property_hint(PropertyInfo(Variant::INT, "interface/inspector/default_color_picker_mode", PROPERTY_HINT_ENUM, "RGB,HSV,RAW", PROPERTY_USAGE_DEFAULT));
 	EDITOR_DEF("interface/inspector/default_color_picker_shape", (int32_t)ColorPicker::SHAPE_VHS_CIRCLE);
 	EditorSettings::get_singleton()->add_property_hint(PropertyInfo(Variant::INT, "interface/inspector/default_color_picker_shape", PROPERTY_HINT_ENUM, "HSV Rectangle,HSV Rectangle Wheel,VHS Circle", PROPERTY_USAGE_DEFAULT));
-	EDITOR_DEF("run/auto_save/save_before_running", true);
 
 	ED_SHORTCUT("canvas_item_editor/pan_view", TTR("Pan View"), Key::SPACE);
 
@@ -6202,7 +6199,7 @@ EditorNode::EditorNode() {
 
 	dock_vb->add_child(dock_float);
 
-	dock_select_popup->set_as_minsize();
+	dock_select_popup->reset_size();
 	dock_select_rect_over = -1;
 	dock_popup_selected = -1;
 	for (int i = 0; i < DOCK_SLOT_MAX; i++) {
@@ -6210,7 +6207,7 @@ EditorNode::EditorNode() {
 		dock_slot[i]->set_v_size_flags(Control::SIZE_EXPAND_FILL);
 		dock_slot[i]->set_popup(dock_select_popup);
 		dock_slot[i]->connect("pre_popup_pressed", callable_mp(this, &EditorNode::_dock_pre_popup), varray(i));
-		dock_slot[i]->set_tab_alignment(TabContainer::ALIGNMENT_LEFT);
+		dock_slot[i]->set_tab_alignment(TabBar::ALIGNMENT_LEFT);
 		dock_slot[i]->set_drag_to_rearrange_enabled(true);
 		dock_slot[i]->set_tabs_rearrange_group(1);
 		dock_slot[i]->connect("tab_changed", callable_mp(this, &EditorNode::_dock_tab_changed));
@@ -6254,8 +6251,8 @@ EditorNode::EditorNode() {
 	scene_tabs->set_select_with_rmb(true);
 	scene_tabs->add_tab("unsaved");
 	scene_tabs->set_tab_alignment(TabBar::ALIGNMENT_LEFT);
-	scene_tabs->set_tab_close_display_policy((bool(EDITOR_DEF("interface/scene_tabs/always_show_close_button", false)) ? TabBar::CLOSE_BUTTON_SHOW_ALWAYS : TabBar::CLOSE_BUTTON_SHOW_ACTIVE_ONLY));
-	scene_tabs->set_min_width(int(EDITOR_DEF("interface/scene_tabs/minimum_width", 50)) * EDSCALE);
+	scene_tabs->set_tab_close_display_policy((bool(EDITOR_GET("interface/scene_tabs/always_show_close_button")) ? TabBar::CLOSE_BUTTON_SHOW_ALWAYS : TabBar::CLOSE_BUTTON_SHOW_ACTIVE_ONLY));
+	scene_tabs->set_max_tab_width(int(EDITOR_GET("interface/scene_tabs/maximum_width")) * EDSCALE);
 	scene_tabs->set_drag_to_rearrange_enabled(true);
 	scene_tabs->connect("tab_changed", callable_mp(this, &EditorNode::_scene_tab_changed));
 	scene_tabs->connect("tab_button_pressed", callable_mp(this, &EditorNode::_scene_tab_script_edited));
@@ -6719,23 +6716,23 @@ EditorNode::EditorNode() {
 
 	// Scene: Top left
 	dock_slot[DOCK_SLOT_LEFT_UR]->add_child(SceneTreeDock::get_singleton());
-	dock_slot[DOCK_SLOT_LEFT_UR]->set_tab_title(SceneTreeDock::get_singleton()->get_index(), TTR("Scene"));
+	dock_slot[DOCK_SLOT_LEFT_UR]->set_tab_title(dock_slot[DOCK_SLOT_LEFT_UR]->get_tab_idx_from_control(SceneTreeDock::get_singleton()), TTR("Scene"));
 
 	// Import: Top left, behind Scene
 	dock_slot[DOCK_SLOT_LEFT_UR]->add_child(ImportDock::get_singleton());
-	dock_slot[DOCK_SLOT_LEFT_UR]->set_tab_title(ImportDock::get_singleton()->get_index(), TTR("Import"));
+	dock_slot[DOCK_SLOT_LEFT_UR]->set_tab_title(dock_slot[DOCK_SLOT_LEFT_UR]->get_tab_idx_from_control(ImportDock::get_singleton()), TTR("Import"));
 
 	// FileSystem: Bottom left
 	dock_slot[DOCK_SLOT_LEFT_BR]->add_child(FileSystemDock::get_singleton());
-	dock_slot[DOCK_SLOT_LEFT_BR]->set_tab_title(FileSystemDock::get_singleton()->get_index(), TTR("FileSystem"));
+	dock_slot[DOCK_SLOT_LEFT_BR]->set_tab_title(dock_slot[DOCK_SLOT_LEFT_BR]->get_tab_idx_from_control(FileSystemDock::get_singleton()), TTR("FileSystem"));
 
 	// Inspector: Full height right
 	dock_slot[DOCK_SLOT_RIGHT_UL]->add_child(InspectorDock::get_singleton());
-	dock_slot[DOCK_SLOT_RIGHT_UL]->set_tab_title(InspectorDock::get_singleton()->get_index(), TTR("Inspector"));
+	dock_slot[DOCK_SLOT_RIGHT_UL]->set_tab_title(dock_slot[DOCK_SLOT_RIGHT_UL]->get_tab_idx_from_control(InspectorDock::get_singleton()), TTR("Inspector"));
 
 	// Node: Full height right, behind Inspector
 	dock_slot[DOCK_SLOT_RIGHT_UL]->add_child(NodeDock::get_singleton());
-	dock_slot[DOCK_SLOT_RIGHT_UL]->set_tab_title(NodeDock::get_singleton()->get_index(), TTR("Node"));
+	dock_slot[DOCK_SLOT_RIGHT_UL]->set_tab_title(dock_slot[DOCK_SLOT_RIGHT_UL]->get_tab_idx_from_control(NodeDock::get_singleton()), TTR("Node"));
 
 	// Hide unused dock slots and vsplits
 	dock_slot[DOCK_SLOT_LEFT_UL]->hide();
diff --git a/editor/editor_properties.cpp b/editor/editor_properties.cpp
index 68a3fabe1e..1a4d507eef 100644
--- a/editor/editor_properties.cpp
+++ b/editor/editor_properties.cpp
@@ -1185,7 +1185,7 @@ void EditorPropertyLayers::_button_pressed() {
 	}
 
 	Rect2 gp = button->get_screen_rect();
-	layers->set_as_minsize();
+	layers->reset_size();
 	Vector2 popup_pos = gp.position - Vector2(layers->get_contents_minimum_size().x, 0);
 	layers->set_position(popup_pos);
 	layers->popup();
@@ -1626,7 +1626,7 @@ void EditorPropertyVector2::_notification(int p_what) {
 		case NOTIFICATION_THEME_CHANGED: {
 			const Color *colors = _get_property_colors();
 			for (int i = 0; i < 2; i++) {
-				spin[i]->set_custom_label_color(true, colors[i]);
+				spin[i]->add_theme_color_override("label_color", colors[i]);
 			}
 		} break;
 	}
@@ -1720,7 +1720,7 @@ void EditorPropertyRect2::_notification(int p_what) {
 		case NOTIFICATION_THEME_CHANGED: {
 			const Color *colors = _get_property_colors();
 			for (int i = 0; i < 4; i++) {
-				spin[i]->set_custom_label_color(true, colors[i % 2]);
+				spin[i]->add_theme_color_override("label_color", colors[i % 2]);
 			}
 		} break;
 	}
@@ -1849,7 +1849,7 @@ void EditorPropertyVector3::_notification(int p_what) {
 		case NOTIFICATION_THEME_CHANGED: {
 			const Color *colors = _get_property_colors();
 			for (int i = 0; i < 3; i++) {
-				spin[i]->set_custom_label_color(true, colors[i]);
+				spin[i]->add_theme_color_override("label_color", colors[i]);
 			}
 		} break;
 	}
@@ -1939,7 +1939,7 @@ void EditorPropertyVector2i::_notification(int p_what) {
 		case NOTIFICATION_THEME_CHANGED: {
 			const Color *colors = _get_property_colors();
 			for (int i = 0; i < 2; i++) {
-				spin[i]->set_custom_label_color(true, colors[i]);
+				spin[i]->add_theme_color_override("label_color", colors[i]);
 			}
 		} break;
 	}
@@ -2033,7 +2033,7 @@ void EditorPropertyRect2i::_notification(int p_what) {
 		case NOTIFICATION_THEME_CHANGED: {
 			const Color *colors = _get_property_colors();
 			for (int i = 0; i < 4; i++) {
-				spin[i]->set_custom_label_color(true, colors[i % 2]);
+				spin[i]->add_theme_color_override("label_color", colors[i % 2]);
 			}
 		} break;
 	}
@@ -2135,7 +2135,7 @@ void EditorPropertyVector3i::_notification(int p_what) {
 		case NOTIFICATION_THEME_CHANGED: {
 			const Color *colors = _get_property_colors();
 			for (int i = 0; i < 3; i++) {
-				spin[i]->set_custom_label_color(true, colors[i]);
+				spin[i]->add_theme_color_override("label_color", colors[i]);
 			}
 		} break;
 	}
@@ -2228,7 +2228,7 @@ void EditorPropertyPlane::_notification(int p_what) {
 		case NOTIFICATION_THEME_CHANGED: {
 			const Color *colors = _get_property_colors();
 			for (int i = 0; i < 4; i++) {
-				spin[i]->set_custom_label_color(true, colors[i]);
+				spin[i]->add_theme_color_override("label_color", colors[i]);
 			}
 		} break;
 	}
@@ -2322,7 +2322,7 @@ void EditorPropertyQuaternion::_notification(int p_what) {
 		case NOTIFICATION_THEME_CHANGED: {
 			const Color *colors = _get_property_colors();
 			for (int i = 0; i < 4; i++) {
-				spin[i]->set_custom_label_color(true, colors[i]);
+				spin[i]->add_theme_color_override("label_color", colors[i]);
 			}
 		} break;
 	}
@@ -2419,7 +2419,7 @@ void EditorPropertyAABB::_notification(int p_what) {
 		case NOTIFICATION_THEME_CHANGED: {
 			const Color *colors = _get_property_colors();
 			for (int i = 0; i < 6; i++) {
-				spin[i]->set_custom_label_color(true, colors[i % 3]);
+				spin[i]->add_theme_color_override("label_color", colors[i % 3]);
 			}
 		} break;
 	}
@@ -2505,9 +2505,9 @@ void EditorPropertyTransform2D::_notification(int p_what) {
 			for (int i = 0; i < 6; i++) {
 				// For Transform2D, use the 4th color (cyan) for the origin vector.
 				if (i % 3 == 2) {
-					spin[i]->set_custom_label_color(true, colors[3]);
+					spin[i]->add_theme_color_override("label_color", colors[3]);
 				} else {
-					spin[i]->set_custom_label_color(true, colors[i % 3]);
+					spin[i]->add_theme_color_override("label_color", colors[i % 3]);
 				}
 			}
 		} break;
@@ -2599,7 +2599,7 @@ void EditorPropertyBasis::_notification(int p_what) {
 		case NOTIFICATION_THEME_CHANGED: {
 			const Color *colors = _get_property_colors();
 			for (int i = 0; i < 9; i++) {
-				spin[i]->set_custom_label_color(true, colors[i % 3]);
+				spin[i]->add_theme_color_override("label_color", colors[i % 3]);
 			}
 		} break;
 	}
@@ -2696,7 +2696,7 @@ void EditorPropertyTransform3D::_notification(int p_what) {
 		case NOTIFICATION_THEME_CHANGED: {
 			const Color *colors = _get_property_colors();
 			for (int i = 0; i < 12; i++) {
-				spin[i]->set_custom_label_color(true, colors[i % 4]);
+				spin[i]->add_theme_color_override("label_color", colors[i % 4]);
 			}
 		} break;
 	}
@@ -3059,7 +3059,7 @@ void EditorPropertyResource::_sub_inspector_property_keyed(const String &p_prope
 	// The second parameter could be null, causing the event to fire with less arguments, so use the pointer call which preserves it.
 	const Variant args[3] = { String(get_edited_property()) + ":" + p_property, p_value, p_advance };
 	const Variant *argp[3] = { &args[0], &args[1], &args[2] };
-	emit_signal(SNAME("property_keyed_with_value"), argp, 3);
+	emit_signalp(SNAME("property_keyed_with_value"), argp, 3);
 }
 
 void EditorPropertyResource::_sub_inspector_resource_selected(const RES &p_resource, const String &p_property) {
diff --git a/editor/editor_properties_array_dict.cpp b/editor/editor_properties_array_dict.cpp
index 61261af608..d354be9af5 100644
--- a/editor/editor_properties_array_dict.cpp
+++ b/editor/editor_properties_array_dict.cpp
@@ -175,7 +175,7 @@ void EditorPropertyArray::_change_type(Object *p_button, int p_index) {
 	Button *button = Object::cast_to<Button>(p_button);
 	changing_type_index = p_index;
 	Rect2 rect = button->get_screen_rect();
-	change_type->set_as_minsize();
+	change_type->reset_size();
 	change_type->set_position(rect.get_end() - Vector2(change_type->get_contents_minimum_size().x, 0));
 	change_type->popup();
 }
@@ -751,7 +751,7 @@ void EditorPropertyDictionary::_change_type(Object *p_button, int p_index) {
 	Button *button = Object::cast_to<Button>(p_button);
 
 	Rect2 rect = button->get_screen_rect();
-	change_type->set_as_minsize();
+	change_type->reset_size();
 	change_type->set_position(rect.get_end() - Vector2(change_type->get_contents_minimum_size().x, 0));
 	change_type->popup();
 	changing_type_index = p_index;
diff --git a/editor/editor_resource_picker.cpp b/editor/editor_resource_picker.cpp
index 2f14667fc0..a7b2a4cfa6 100644
--- a/editor/editor_resource_picker.cpp
+++ b/editor/editor_resource_picker.cpp
@@ -149,7 +149,7 @@ void EditorResourcePicker::_update_menu() {
 	_update_menu_items();
 
 	Rect2 gt = edit_button->get_screen_rect();
-	edit_menu->set_as_minsize();
+	edit_menu->reset_size();
 	int ms = edit_menu->get_contents_minimum_size().width;
 	Vector2 popup_pos = gt.get_end() - Vector2(ms, 0);
 	edit_menu->set_position(popup_pos);
@@ -337,7 +337,7 @@ void EditorResourcePicker::_edit_menu_cbk(int p_which) {
 
 			// Ensure that the FileSystem dock is visible.
 			TabContainer *tab_container = (TabContainer *)file_system_dock->get_parent_control();
-			tab_container->set_current_tab(file_system_dock->get_index());
+			tab_container->set_current_tab(tab_container->get_tab_idx_from_control(file_system_dock));
 		} break;
 
 		default: {
@@ -476,7 +476,7 @@ void EditorResourcePicker::_button_input(const Ref<InputEvent> &p_event) {
 			_update_menu_items();
 
 			Vector2 pos = get_screen_position() + mb->get_position();
-			edit_menu->set_as_minsize();
+			edit_menu->reset_size();
 			edit_menu->set_position(pos);
 			edit_menu->popup();
 		}
@@ -905,7 +905,12 @@ void EditorScriptPicker::set_create_options(Object *p_menu_node) {
 	}
 
 	menu_node->add_icon_item(get_theme_icon(SNAME("ScriptCreate"), SNAME("EditorIcons")), TTR("New Script"), OBJ_MENU_NEW_SCRIPT);
-	menu_node->add_icon_item(get_theme_icon(SNAME("ScriptExtend"), SNAME("EditorIcons")), TTR("Extend Script"), OBJ_MENU_EXTEND_SCRIPT);
+	if (script_owner) {
+		Ref<Script> script = script_owner->get_script();
+		if (script.is_valid()) {
+			menu_node->add_icon_item(get_theme_icon(SNAME("ScriptExtend"), SNAME("EditorIcons")), TTR("Extend Script"), OBJ_MENU_EXTEND_SCRIPT);
+		}
+	}
 	menu_node->add_separator();
 }
 
diff --git a/editor/editor_settings.cpp b/editor/editor_settings.cpp
index 6bd11fcdd6..45685b8fb2 100644
--- a/editor/editor_settings.cpp
+++ b/editor/editor_settings.cpp
@@ -63,6 +63,7 @@ bool EditorSettings::_set(const StringName &p_name, const Variant &p_value) {
 
 	bool changed = _set_only(p_name, p_value);
 	if (changed) {
+		changed_settings.insert(p_name);
 		emit_signal(SNAME("settings_changed"));
 	}
 	return true;
@@ -460,8 +461,7 @@ void EditorSettings::_load_defaults(Ref<ConfigFile> p_extra_config) {
 
 	// Scene tabs
 	_initial_set("interface/scene_tabs/show_thumbnail_on_hover", true);
-	_initial_set("interface/scene_tabs/resize_if_many_tabs", true);
-	EDITOR_SETTING_USAGE(Variant::INT, PROPERTY_HINT_RANGE, "interface/scene_tabs/minimum_width", 50, "50,500,1", PROPERTY_USAGE_DEFAULT | PROPERTY_USAGE_RESTART_IF_CHANGED)
+	EDITOR_SETTING_USAGE(Variant::INT, PROPERTY_HINT_RANGE, "interface/scene_tabs/maximum_width", 350, "0,9999,1", PROPERTY_USAGE_DEFAULT)
 	_initial_set("interface/scene_tabs/show_script_button", false);
 
 	/* Filesystem */
@@ -553,6 +553,7 @@ void EditorSettings::_load_defaults(Ref<ConfigFile> p_extra_config) {
 	_initial_set("text_editor/behavior/files/autosave_interval_secs", 0);
 	_initial_set("text_editor/behavior/files/restore_scripts_on_load", true);
 	_initial_set("text_editor/behavior/files/convert_indent_on_save", true);
+	_initial_set("text_editor/behavior/files/auto_reload_scripts_on_external_change", false);
 
 	// Script list
 	_initial_set("text_editor/script_list/show_members_overview", true);
@@ -585,6 +586,9 @@ void EditorSettings::_load_defaults(Ref<ConfigFile> p_extra_config) {
 
 	// Use a similar color to the 2D editor selection.
 	EDITOR_SETTING_USAGE(Variant::COLOR, PROPERTY_HINT_NONE, "editors/3d/selection_box_color", Color(1.0, 0.5, 0), "", PROPERTY_USAGE_DEFAULT | PROPERTY_USAGE_RESTART_IF_CHANGED)
+	_initial_set("editors/3d_gizmos/gizmo_colors/instantiated", Color(0.7, 0.7, 0.7, 0.6));
+	_initial_set("editors/3d_gizmos/gizmo_colors/joint", Color(0.5, 0.8, 1));
+	_initial_set("editors/3d_gizmos/gizmo_colors/shape", Color(0.5, 0.7, 1));
 
 	// If a line is a multiple of this, it uses the primary grid color.
 	// Use a power of 2 value by default as it's more common to use powers of 2 in level design.
@@ -708,6 +712,9 @@ void EditorSettings::_load_defaults(Ref<ConfigFile> p_extra_config) {
 	// SSL
 	EDITOR_SETTING(Variant::STRING, PROPERTY_HINT_GLOBAL_FILE, "network/ssl/editor_ssl_certificates", _SYSTEM_CERTS_PATH, "*.crt,*.pem")
 
+	// Profiler
+	_initial_set("debugger/profiler_frame_history_size", 600);
+
 	/* Extra config */
 
 	EDITOR_SETTING(Variant::INT, PROPERTY_HINT_ENUM, "project_manager/sorting_order", 0, "Name,Path,Last Edited")
@@ -941,10 +948,34 @@ void EditorSettings::save() {
 	if (err != OK) {
 		ERR_PRINT("Error saving editor settings to " + singleton->config_file_path);
 	} else {
+		singleton->changed_settings.clear();
 		print_verbose("EditorSettings: Save OK!");
 	}
 }
 
+Array EditorSettings::get_changed_settings() const {
+	Array arr;
+	for (const String &setting : changed_settings) {
+		arr.push_back(setting);
+	}
+
+	return arr;
+}
+
+bool EditorSettings::check_changed_settings_in_group(const String &p_setting_prefix) const {
+	for (const String &setting : changed_settings) {
+		if (setting.begins_with(p_setting_prefix)) {
+			return true;
+		}
+	}
+
+	return false;
+}
+
+void EditorSettings::mark_setting_changed(const String &p_setting) {
+	changed_settings.insert(p_setting);
+}
+
 void EditorSettings::destroy() {
 	if (!singleton.ptr()) {
 		return;
@@ -1621,6 +1652,10 @@ void EditorSettings::_bind_methods() {
 
 	ClassDB::bind_method(D_METHOD("set_builtin_action_override", "name", "actions_list"), &EditorSettings::set_builtin_action_override);
 
+	ClassDB::bind_method(D_METHOD("check_changed_settings_in_group", "setting_prefix"), &EditorSettings::check_changed_settings_in_group);
+	ClassDB::bind_method(D_METHOD("get_changed_settings"), &EditorSettings::get_changed_settings);
+	ClassDB::bind_method(D_METHOD("mark_setting_changed", "setting"), &EditorSettings::mark_setting_changed);
+
 	ADD_SIGNAL(MethodInfo("settings_changed"));
 
 	BIND_CONSTANT(NOTIFICATION_EDITOR_SETTINGS_CHANGED);
diff --git a/editor/editor_settings.h b/editor/editor_settings.h
index f0fec3acc7..65723a24f8 100644
--- a/editor/editor_settings.h
+++ b/editor/editor_settings.h
@@ -77,6 +77,8 @@ private:
 
 	static Ref<EditorSettings> singleton;
 
+	Set<String> changed_settings;
+
 	HashMap<String, PropertyInfo> hints;
 	HashMap<String, VariantContainer> props;
 	int last_order;
@@ -140,6 +142,9 @@ public:
 	bool property_can_revert(const String &p_setting);
 	Variant property_get_revert(const String &p_setting);
 	void add_property_hint(const PropertyInfo &p_hint);
+	Array get_changed_settings() const;
+	bool check_changed_settings_in_group(const String &p_setting_prefix) const;
+	void mark_setting_changed(const String &p_setting);
 
 	void set_resource_clipboard(const Ref<Resource> &p_resource) { clipboard = p_resource; }
 	Ref<Resource> get_resource_clipboard() const { return clipboard; }
diff --git a/editor/editor_settings_dialog.cpp b/editor/editor_settings_dialog.cpp
index 589d91c75a..1ec6d4a3a6 100644
--- a/editor/editor_settings_dialog.cpp
+++ b/editor/editor_settings_dialog.cpp
@@ -135,9 +135,13 @@ void EditorSettingsDialog::_notification(int p_what) {
 
 		case EditorSettings::NOTIFICATION_EDITOR_SETTINGS_CHANGED: {
 			_update_icons();
-			// Update theme colors.
-			inspector->update_category_list();
-			_update_shortcuts();
+
+			bool update_shortcuts_tab =
+					EditorSettings::get_singleton()->check_changed_settings_in_group("shortcuts") ||
+					EditorSettings::get_singleton()->check_changed_settings_in_group("builtin_action_overrides");
+			if (update_shortcuts_tab) {
+				_update_shortcuts();
+			}
 		} break;
 	}
 }
@@ -216,6 +220,8 @@ void EditorSettingsDialog::_update_builtin_action(const String &p_name, const Ar
 	Array old_input_array = EditorSettings::get_singleton()->get_builtin_action_overrides(p_name);
 
 	undo_redo->create_action(TTR("Edit Built-in Action") + " '" + p_name + "'");
+	undo_redo->add_do_method(EditorSettings::get_singleton(), "mark_setting_changed", "builtin_action_overrides");
+	undo_redo->add_undo_method(EditorSettings::get_singleton(), "mark_setting_changed", "builtin_action_overrides");
 	undo_redo->add_do_method(EditorSettings::get_singleton(), "set_builtin_action_override", p_name, p_events);
 	undo_redo->add_undo_method(EditorSettings::get_singleton(), "set_builtin_action_override", p_name, old_input_array);
 	undo_redo->add_do_method(this, "_settings_changed");
@@ -231,6 +237,8 @@ void EditorSettingsDialog::_update_shortcut_events(const String &p_path, const A
 	undo_redo->create_action(TTR("Edit Shortcut") + " '" + p_path + "'");
 	undo_redo->add_do_method(current_sc.ptr(), "set_events", p_events);
 	undo_redo->add_undo_method(current_sc.ptr(), "set_events", current_sc->get_events());
+	undo_redo->add_do_method(EditorSettings::get_singleton(), "mark_setting_changed", "shortcuts");
+	undo_redo->add_undo_method(EditorSettings::get_singleton(), "mark_setting_changed", "shortcuts");
 	undo_redo->add_do_method(this, "_update_shortcuts");
 	undo_redo->add_undo_method(this, "_update_shortcuts");
 	undo_redo->add_do_method(this, "_settings_changed");
@@ -331,13 +339,15 @@ void EditorSettingsDialog::_update_shortcuts() {
 
 			// Try go down tree
 			TreeItem *ti_next = ti->get_first_child();
-			// Try go across tree
-			if (!ti_next) {
-				ti_next = ti->get_next();
-			}
-			// Try go up tree, to next node
+			// Try go to the next node via in-order traversal
 			if (!ti_next) {
-				ti_next = ti->get_parent()->get_next();
+				ti_next = ti;
+				while (ti_next && !ti_next->get_next()) {
+					ti_next = ti_next->get_parent();
+				}
+				if (ti_next) {
+					ti_next = ti_next->get_next();
+				}
 			}
 
 			ti = ti_next;
@@ -664,7 +674,7 @@ EditorSettingsDialog::EditorSettingsDialog() {
 	undo_redo = memnew(UndoRedo);
 
 	tabs = memnew(TabContainer);
-	tabs->set_tab_alignment(TabContainer::ALIGNMENT_LEFT);
+	tabs->set_tab_alignment(TabBar::ALIGNMENT_LEFT);
 	tabs->connect("tab_changed", callable_mp(this, &EditorSettingsDialog::_tabs_tab_changed));
 	add_child(tabs);
 
diff --git a/editor/editor_spin_slider.cpp b/editor/editor_spin_slider.cpp
index a4a9e691a0..509a316ef3 100644
--- a/editor/editor_spin_slider.cpp
+++ b/editor/editor_spin_slider.cpp
@@ -300,12 +300,7 @@ void EditorSpinSlider::_draw_spin_slider() {
 	int vofs = (size.height - font->get_height(font_size)) / 2 + font->get_ascent(font_size);
 
 	Color fc = get_theme_color(is_read_only() ? SNAME("font_uneditable_color") : SNAME("font_color"), SNAME("LineEdit"));
-	Color lc;
-	if (use_custom_label_color) {
-		lc = custom_label_color;
-	} else {
-		lc = fc;
-	}
+	Color lc = get_theme_color(is_read_only() ? SNAME("read_only_label_color") : SNAME("label_color"));
 
 	if (flat && !label.is_empty()) {
 		Color label_bg_color = get_theme_color(SNAME("dark_color_3"), SNAME("Editor"));
@@ -605,11 +600,6 @@ bool EditorSpinSlider::is_flat() const {
 	return flat;
 }
 
-void EditorSpinSlider::set_custom_label_color(bool p_use_custom_label_color, Color p_custom_label_color) {
-	use_custom_label_color = p_use_custom_label_color;
-	custom_label_color = p_custom_label_color;
-}
-
 void EditorSpinSlider::_focus_entered() {
 	_ensure_input_popup();
 	Rect2 gr = get_screen_rect();
@@ -689,5 +679,4 @@ EditorSpinSlider::EditorSpinSlider() {
 	value_input_just_closed = false;
 	hide_slider = false;
 	read_only = false;
-	use_custom_label_color = false;
 }
diff --git a/editor/editor_spin_slider.h b/editor/editor_spin_slider.h
index 7e3f2051ac..4e52980804 100644
--- a/editor/editor_spin_slider.h
+++ b/editor/editor_spin_slider.h
@@ -76,9 +76,6 @@ class EditorSpinSlider : public Range {
 	bool hide_slider;
 	bool flat;
 
-	bool use_custom_label_color;
-	Color custom_label_color;
-
 	void _evaluate_input_text();
 
 	void _update_value_input_stylebox();
@@ -112,8 +109,6 @@ public:
 	void set_flat(bool p_enable);
 	bool is_flat() const;
 
-	void set_custom_label_color(bool p_use_custom_label_color, Color p_custom_label_color);
-
 	void setup_and_show() { _focus_entered(); }
 	LineEdit *get_line_edit();
 
diff --git a/editor/editor_themes.cpp b/editor/editor_themes.cpp
index 05aa638a4b..7eceebb38b 100644
--- a/editor/editor_themes.cpp
+++ b/editor/editor_themes.cpp
@@ -411,9 +411,11 @@ Ref<Theme> create_editor_theme(const Ref<Theme> p_theme) {
 	// Colors
 	bool dark_theme = EditorSettings::get_singleton()->is_dark_theme();
 
-	const Color dark_color_1 = base_color.lerp(Color(0, 0, 0, 1), contrast);
-	const Color dark_color_2 = base_color.lerp(Color(0, 0, 0, 1), contrast * 1.5);
-	const Color dark_color_3 = base_color.lerp(Color(0, 0, 0, 1), contrast * 2);
+	// Ensure base colors are in the 0..1 luminance range to avoid 8-bit integer overflow or text rendering issues.
+	// Some places in the editor use 8-bit integer colors.
+	const Color dark_color_1 = base_color.lerp(Color(0, 0, 0, 1), contrast).clamp();
+	const Color dark_color_2 = base_color.lerp(Color(0, 0, 0, 1), contrast * 1.5).clamp();
+	const Color dark_color_3 = base_color.lerp(Color(0, 0, 0, 1), contrast * 2).clamp();
 
 	const Color background_color = dark_color_2;
 
@@ -433,7 +435,8 @@ Ref<Theme> create_editor_theme(const Ref<Theme> p_theme) {
 	const Color disabled_color = mono_color.inverted().lerp(base_color, 0.7);
 	const Color disabled_bg_color = mono_color.inverted().lerp(base_color, 0.9);
 
-	Color icon_hover_color = Color(1, 1, 1) * (dark_theme ? 1.15 : 1.45);
+	const Color icon_normal_color = Color(1, 1, 1);
+	Color icon_hover_color = icon_normal_color * (dark_theme ? 1.15 : 1.45);
 	icon_hover_color.a = 1.0;
 	Color icon_focus_color = icon_hover_color;
 	// Make the pressed icon color overbright because icons are not completely white on a dark theme.
@@ -464,6 +467,14 @@ Ref<Theme> create_editor_theme(const Ref<Theme> p_theme) {
 	theme->set_color("axis_y_color", "Editor", Color(0.53, 0.84, 0.01));
 	theme->set_color("axis_z_color", "Editor", Color(0.16, 0.55, 0.96));
 
+	const float prop_color_saturation = accent_color.get_s() * 0.75;
+	const float prop_color_value = accent_color.get_v();
+
+	theme->set_color("property_color_x", "Editor", Color().from_hsv(0.0 / 3.0 + 0.05, prop_color_saturation, prop_color_value));
+	theme->set_color("property_color_y", "Editor", Color().from_hsv(1.0 / 3.0 + 0.05, prop_color_saturation, prop_color_value));
+	theme->set_color("property_color_z", "Editor", Color().from_hsv(2.0 / 3.0 + 0.05, prop_color_saturation, prop_color_value));
+	theme->set_color("property_color_w", "Editor", Color().from_hsv(1.5 / 3.0 + 0.05, prop_color_saturation, prop_color_value));
+
 	theme->set_color("font_color", "Editor", font_color);
 	theme->set_color("highlighted_font_color", "Editor", font_hover_color);
 	theme->set_color("disabled_font_color", "Editor", font_disabled_color);
@@ -686,6 +697,7 @@ Ref<Theme> create_editor_theme(const Ref<Theme> p_theme) {
 	theme->set_color("font_focus_color", "Button", font_focus_color);
 	theme->set_color("font_pressed_color", "Button", accent_color);
 	theme->set_color("font_disabled_color", "Button", font_disabled_color);
+	theme->set_color("icon_normal_color", "Button", icon_normal_color);
 	theme->set_color("icon_hover_color", "Button", icon_hover_color);
 	theme->set_color("icon_focus_color", "Button", icon_focus_color);
 	theme->set_color("icon_pressed_color", "Button", icon_pressed_color);
@@ -819,7 +831,12 @@ Ref<Theme> create_editor_theme(const Ref<Theme> p_theme) {
 	theme->set_icon("visibility_visible", "PopupMenu", theme->get_icon(SNAME("GuiVisibilityVisible"), SNAME("EditorIcons")));
 	theme->set_icon("visibility_xray", "PopupMenu", theme->get_icon(SNAME("GuiVisibilityXray"), SNAME("EditorIcons")));
 
-	theme->set_constant("vseparation", "PopupMenu", (extra_spacing + default_margin_size + 1) * EDSCALE);
+	// Force the vseparation to be even so that the spacing on top and bottom is even.
+	// If the vsep is odd and cannot be split into 2 even groups (of pixels), then it will be lopsided.
+	// We add 2 to the vsep to give it some extra spacing which looks a bit more modern (see Windows, for example)
+	int vsep_base = extra_spacing + default_margin_size + 2;
+	int force_even_vsep = vsep_base + (vsep_base % 2);
+	theme->set_constant("vseparation", "PopupMenu", force_even_vsep * EDSCALE);
 	theme->set_constant("item_start_padding", "PopupMenu", popup_menu_margin_size * EDSCALE);
 	theme->set_constant("item_end_padding", "PopupMenu", popup_menu_margin_size * EDSCALE);
 
@@ -864,6 +881,10 @@ Ref<Theme> create_editor_theme(const Ref<Theme> p_theme) {
 	theme->set_color("sub_inspector_property_color", "Editor", dark_theme ? Color(1, 1, 1, 1) : Color(0, 0, 0, 1));
 	theme->set_constant("sub_inspector_font_offset", "Editor", 4 * EDSCALE);
 
+	// EditorSpinSlider.
+	theme->set_color("label_color", "EditorSpinSlider", font_color);
+	theme->set_color("read_only_label_color", "EditorSpinSlider", font_readonly_color);
+
 	Ref<StyleBoxFlat> style_property_bg = style_default->duplicate();
 	style_property_bg->set_bg_color(highlight_color);
 	style_property_bg->set_border_width_all(0);
@@ -1156,7 +1177,7 @@ Ref<Theme> create_editor_theme(const Ref<Theme> p_theme) {
 	theme->set_icon("can_fold", "CodeEdit", theme->get_icon(SNAME("GuiTreeArrowDown"), SNAME("EditorIcons")));
 	theme->set_icon("executing_line", "CodeEdit", theme->get_icon(SNAME("MainPlay"), SNAME("EditorIcons")));
 	theme->set_icon("breakpoint", "CodeEdit", theme->get_icon(SNAME("Breakpoint"), SNAME("EditorIcons")));
-	theme->set_constant("line_spacing", "CodeEdit", EDITOR_DEF("text_editor/appearance/whitespace/line_spacing", 6));
+	theme->set_constant("line_spacing", "CodeEdit", EDITOR_GET("text_editor/appearance/whitespace/line_spacing"));
 
 	// H/VSplitContainer
 	theme->set_stylebox("bg", "VSplitContainer", make_stylebox(theme->get_icon(SNAME("GuiVsplitBg"), SNAME("EditorIcons")), 1, 1, 1, 1));
diff --git a/editor/editor_toaster.cpp b/editor/editor_toaster.cpp
index 319b4709fe..7ca88bd2a2 100644
--- a/editor/editor_toaster.cpp
+++ b/editor/editor_toaster.cpp
@@ -385,12 +385,19 @@ Control *EditorToaster::popup(Control *p_control, Severity p_severity, double p_
 }
 
 void EditorToaster::popup_str(String p_message, Severity p_severity, String p_tooltip) {
+	if (is_processing_error) {
+		return;
+	}
+
 	// Since "_popup_str" adds nodes to the tree, and since the "add_child" method is not
 	// thread-safe, it's better to defer the call to the next cycle to be thread-safe.
+	is_processing_error = true;
 	call_deferred(SNAME("_popup_str"), p_message, p_severity, p_tooltip);
+	is_processing_error = false;
 }
 
 void EditorToaster::_popup_str(String p_message, Severity p_severity, String p_tooltip) {
+	is_processing_error = true;
 	// Check if we already have a popup with the given message.
 	Control *control = nullptr;
 	for (KeyValue<Control *, Toast> element : toasts) {
@@ -432,6 +439,7 @@ void EditorToaster::_popup_str(String p_message, Severity p_severity, String p_t
 	} else {
 		label->set_text(vformat("%s (%d)", p_message, toasts[control].count));
 	}
+	is_processing_error = false;
 }
 
 void EditorToaster::close(Control *p_control) {
diff --git a/editor/editor_toaster.h b/editor/editor_toaster.h
index 2ad8752bee..059245ce66 100644
--- a/editor/editor_toaster.h
+++ b/editor/editor_toaster.h
@@ -82,6 +82,8 @@ private:
 	};
 	Map<Control *, Toast> toasts;
 
+	bool is_processing_error = false; // Makes sure that we don't handle errors that are triggered within the EditorToaster error processing.
+
 	const double default_message_duration = 5.0;
 
 	static void _error_handler(void *p_self, const char *p_func, const char *p_file, int p_line, const char *p_error, const char *p_errorexp, bool p_editor_notify, ErrorHandlerType p_type);
diff --git a/editor/export_template_manager.cpp b/editor/export_template_manager.cpp
index 3cad600002..0a8d35aff1 100644
--- a/editor/export_template_manager.cpp
+++ b/editor/export_template_manager.cpp
@@ -645,7 +645,7 @@ Error ExportTemplateManager::install_android_template_from_file(const String &p_
 	// To support custom Android builds, we install the Java source code and buildsystem
 	// from android_source.zip to the project's res://android folder.
 
-	DirAccessRef da = DirAccess::open("res://");
+	DirAccessRef da = DirAccess::create(DirAccess::ACCESS_RESOURCES);
 	ERR_FAIL_COND_V(!da, ERR_CANT_CREATE);
 
 	// Make res://android dir (if it does not exist).
diff --git a/editor/fileserver/editor_file_server.cpp b/editor/fileserver/editor_file_server.cpp
index 4a6aa11938..df0af69359 100644
--- a/editor/fileserver/editor_file_server.cpp
+++ b/editor/fileserver/editor_file_server.cpp
@@ -298,8 +298,8 @@ void EditorFileServer::_thread_start(void *s) {
 
 void EditorFileServer::start() {
 	stop();
-	port = EDITOR_DEF("filesystem/file_server/port", 6010);
-	password = EDITOR_DEF("filesystem/file_server/password", "");
+	port = EDITOR_GET("filesystem/file_server/port");
+	password = EDITOR_GET("filesystem/file_server/password");
 	cmd = CMD_ACTIVATE;
 }
 
diff --git a/editor/filesystem_dock.cpp b/editor/filesystem_dock.cpp
index b41123c0dd..e8a2a46dd2 100644
--- a/editor/filesystem_dock.cpp
+++ b/editor/filesystem_dock.cpp
@@ -396,12 +396,25 @@ void FileSystemDock::_notification(int p_what) {
 					}
 				} else if ((String(dd["type"]) == "files") || (String(dd["type"]) == "files_and_dirs") || (String(dd["type"]) == "resource")) {
 					tree->set_drop_mode_flags(Tree::DROP_MODE_ON_ITEM | Tree::DROP_MODE_INBETWEEN);
+				} else if ((String(dd["type"]) == "nodes")) {
+					holding_branch = true;
+					TreeItem *item = tree->get_next_selected(tree->get_root());
+					while (item) {
+						tree_items_selected_on_drag_begin.push_back(item);
+						item = tree->get_next_selected(item);
+					}
+					list_items_selected_on_drag_begin = files->get_selected_items();
 				}
 			}
 		} break;
 
 		case NOTIFICATION_DRAG_END: {
 			tree->set_drop_mode_flags(0);
+
+			if (holding_branch) {
+				holding_branch = false;
+				_reselect_items_selected_on_drag_begin(true);
+			}
 		} break;
 
 		case NOTIFICATION_THEME_CHANGED: {
@@ -512,7 +525,7 @@ void FileSystemDock::_navigate_to_path(const String &p_path, bool p_select_in_fa
 		if (target_path.ends_with("/")) {
 			target_path = target_path.substr(0, target_path.length() - 1);
 		}
-		DirAccess *dirAccess = DirAccess::open("res://");
+		DirAccess *dirAccess = DirAccess::create(DirAccess::ACCESS_RESOURCES);
 		if (dirAccess->file_exists(p_path)) {
 			path = target_path;
 		} else if (dirAccess->dir_exists(p_path)) {
@@ -2647,8 +2660,79 @@ void FileSystemDock::_file_multi_selected(int p_index, bool p_selected) {
 	call_deferred(SNAME("_update_import_dock"));
 }
 
+void FileSystemDock::_tree_mouse_exited() {
+	if (holding_branch) {
+		_reselect_items_selected_on_drag_begin();
+	}
+}
+
+void FileSystemDock::_reselect_items_selected_on_drag_begin(bool reset) {
+	TreeItem *selected_item = tree->get_next_selected(tree->get_root());
+	if (selected_item) {
+		selected_item->deselect(0);
+	}
+	if (!tree_items_selected_on_drag_begin.is_empty()) {
+		bool reselected = false;
+		for (TreeItem *item : tree_items_selected_on_drag_begin) {
+			if (item->get_tree()) {
+				item->select(0);
+				reselected = true;
+			}
+		}
+
+		if (reset) {
+			tree_items_selected_on_drag_begin.clear();
+		}
+
+		if (!reselected) {
+			// If couldn't reselect the items selected on drag begin, select the "res://" item.
+			tree->get_root()->get_child(1)->select(0);
+		}
+	}
+
+	files->deselect_all();
+	if (!list_items_selected_on_drag_begin.is_empty()) {
+		for (const int idx : list_items_selected_on_drag_begin) {
+			files->select(idx, false);
+		}
+
+		if (reset) {
+			list_items_selected_on_drag_begin.clear();
+		}
+	}
+}
+
 void FileSystemDock::_tree_gui_input(Ref<InputEvent> p_event) {
 	Ref<InputEventKey> key = p_event;
+
+	Ref<InputEventMouseMotion> mm = p_event;
+	if (mm.is_valid()) {
+		TreeItem *item = tree->get_item_at_position(mm->get_position());
+		if (item && holding_branch) {
+			String fpath = item->get_metadata(0);
+			while (!fpath.ends_with("/") && fpath != "res://" && item->get_parent()) { // Find the parent folder tree item.
+				item = item->get_parent();
+				fpath = item->get_metadata(0);
+			}
+
+			TreeItem *deselect_item = tree->get_next_selected(tree->get_root());
+			while (deselect_item) {
+				deselect_item->deselect(0);
+				deselect_item = tree->get_next_selected(deselect_item);
+			}
+			item->select(0);
+
+			if (display_mode == DisplayMode::DISPLAY_MODE_SPLIT) {
+				files->deselect_all();
+				// Try to select the corresponding file list item.
+				const int files_item_idx = files->find_metadata(fpath);
+				if (files_item_idx != -1) {
+					files->select(files_item_idx);
+				}
+			}
+		}
+	}
+
 	if (key.is_valid() && key->is_pressed() && !key->is_echo()) {
 		if (ED_IS_SHORTCUT("filesystem_dock/duplicate", p_event)) {
 			_tree_rmb_option(FILE_DUPLICATE);
@@ -2669,6 +2753,43 @@ void FileSystemDock::_tree_gui_input(Ref<InputEvent> p_event) {
 }
 
 void FileSystemDock::_file_list_gui_input(Ref<InputEvent> p_event) {
+	Ref<InputEventMouseMotion> mm = p_event;
+	if (mm.is_valid() && holding_branch) {
+		const int item_idx = files->get_item_at_position(mm->get_position());
+		if (item_idx != -1) {
+			files->deselect_all();
+			String fpath = files->get_item_metadata(item_idx);
+			if (fpath.ends_with("/") || fpath == "res://") {
+				files->select(item_idx);
+			}
+
+			TreeItem *deselect_item = tree->get_next_selected(tree->get_root());
+			while (deselect_item) {
+				deselect_item->deselect(0);
+				deselect_item = tree->get_next_selected(deselect_item);
+			}
+
+			// Try to select the corresponding tree item.
+			TreeItem *tree_item = tree->get_item_with_text(files->get_item_text(item_idx));
+			if (tree_item) {
+				tree_item->select(0);
+			} else {
+				// Find parent folder.
+				fpath = fpath.substr(0, fpath.rfind("/") + 1);
+				if (fpath.size() > String("res://").size()) {
+					fpath = fpath.left(fpath.size() - 2); // Remove last '/'.
+					const int slash_idx = fpath.rfind("/");
+					fpath = fpath.substr(slash_idx + 1, fpath.size() - slash_idx - 1);
+				}
+
+				tree_item = tree->get_item_with_text(fpath);
+				if (tree_item) {
+					tree_item->select(0);
+				}
+			}
+		}
+	}
+
 	Ref<InputEventKey> key = p_event;
 	if (key.is_valid() && key->is_pressed() && !key->is_echo()) {
 		if (ED_IS_SHORTCUT("filesystem_dock/duplicate", p_event)) {
@@ -2932,6 +3053,7 @@ FileSystemDock::FileSystemDock() {
 	tree->connect("empty_rmb", callable_mp(this, &FileSystemDock::_tree_rmb_empty));
 	tree->connect("nothing_selected", callable_mp(this, &FileSystemDock::_tree_empty_selected));
 	tree->connect("gui_input", callable_mp(this, &FileSystemDock::_tree_gui_input));
+	tree->connect("mouse_exited", callable_mp(this, &FileSystemDock::_tree_mouse_exited));
 
 	file_list_vb = memnew(VBoxContainer);
 	file_list_vb->set_v_size_flags(SIZE_EXPAND_FILL);
diff --git a/editor/filesystem_dock.h b/editor/filesystem_dock.h
index 21c50beeb2..d457c6acd4 100644
--- a/editor/filesystem_dock.h
+++ b/editor/filesystem_dock.h
@@ -185,6 +185,13 @@ private:
 	ItemList *files;
 	bool import_dock_needs_update;
 
+	bool holding_branch = false;
+	Vector<TreeItem *> tree_items_selected_on_drag_begin;
+	PackedInt32Array list_items_selected_on_drag_begin;
+
+	void _tree_mouse_exited();
+	void _reselect_items_selected_on_drag_begin(bool reset = false);
+
 	Ref<Texture2D> _get_tree_item_icon(bool p_is_valid, String p_file_type);
 	bool _create_tree(TreeItem *p_parent, EditorFileSystemDirectory *p_dir, Vector<String> &uncollapsed_paths, bool p_select_in_favorites, bool p_unfold_path = false);
 	Vector<String> _compute_uncollapsed_paths();
diff --git a/editor/import/dynamic_font_import_settings.cpp b/editor/import/dynamic_font_import_settings.cpp
index ebfb0b32fb..f0a2d7d553 100644
--- a/editor/import/dynamic_font_import_settings.cpp
+++ b/editor/import/dynamic_font_import_settings.cpp
@@ -767,7 +767,6 @@ bool DynamicFontImportSettings::_char_update(int32_t p_char) {
 		selected_chars.insert(p_char);
 		return true;
 	}
-	label_glyphs->set_text(TTR("Preloaded glyphs: ") + itos(selected_glyphs.size()));
 }
 
 void DynamicFontImportSettings::_range_update(int32_t p_start, int32_t p_end) {
diff --git a/editor/import/resource_importer_layered_texture.cpp b/editor/import/resource_importer_layered_texture.cpp
index 7071042818..197cc49a95 100644
--- a/editor/import/resource_importer_layered_texture.cpp
+++ b/editor/import/resource_importer_layered_texture.cpp
@@ -104,16 +104,16 @@ String ResourceImporterLayeredTexture::get_save_extension() const {
 String ResourceImporterLayeredTexture::get_resource_type() const {
 	switch (mode) {
 		case MODE_CUBEMAP: {
-			return "StreamCubemap";
+			return "CompressedCubemap";
 		} break;
 		case MODE_2D_ARRAY: {
-			return "StreamTexture2DArray";
+			return "CompressedTexture2DArray";
 		} break;
 		case MODE_CUBEMAP_ARRAY: {
-			return "StreamCubemapArray";
+			return "CompressedCubemapArray";
 		} break;
 		case MODE_3D: {
-			return "StreamTexture3D";
+			return "CompressedTexture3D";
 		} break;
 	}
 	ERR_FAIL_V(String());
@@ -263,7 +263,7 @@ void ResourceImporterLayeredTexture::_save_tex(Vector<Ref<Image>> p_images, cons
 	f->store_8('T');
 	f->store_8('L');
 
-	f->store_32(StreamTextureLayered::FORMAT_VERSION);
+	f->store_32(CompressedTextureLayered::FORMAT_VERSION);
 	f->store_32(p_images.size()); // For 2d layers or 3d depth.
 	f->store_32(mode);
 	f->store_32(0);
@@ -544,5 +544,5 @@ void ResourceImporterLayeredTexture::_check_compress_stex(Ref<LayeredTextureImpo
 		}
 		return;
 	}
-	EditorNode::add_io_error("Warning, no suitable PC VRAM compression enabled in Project Settings. This texture will not display correctly on PC.");
+	EditorNode::add_io_error(TTR("Warning, no suitable PC VRAM compression enabled in Project Settings. This texture will not display correctly on PC."));
 }
diff --git a/editor/import/resource_importer_layered_texture.h b/editor/import/resource_importer_layered_texture.h
index edd981c63d..58e5c47d8d 100644
--- a/editor/import/resource_importer_layered_texture.h
+++ b/editor/import/resource_importer_layered_texture.h
@@ -35,7 +35,7 @@
 #include "core/io/resource_importer.h"
 #include "core/object/ref_counted.h"
 
-class StreamTexture2D;
+class CompressedTexture2D;
 
 class LayeredTextureImport : public RefCounted {
 	GDCLASS(LayeredTextureImport, RefCounted);
diff --git a/editor/import/resource_importer_texture.cpp b/editor/import/resource_importer_texture.cpp
index 35a20e85c1..e672fe2dee 100644
--- a/editor/import/resource_importer_texture.cpp
+++ b/editor/import/resource_importer_texture.cpp
@@ -37,7 +37,7 @@
 #include "editor/editor_file_system.h"
 #include "editor/editor_node.h"
 
-void ResourceImporterTexture::_texture_reimport_roughness(const Ref<StreamTexture2D> &p_tex, const String &p_normal_path, RS::TextureDetectRoughnessChannel p_channel) {
+void ResourceImporterTexture::_texture_reimport_roughness(const Ref<CompressedTexture2D> &p_tex, const String &p_normal_path, RS::TextureDetectRoughnessChannel p_channel) {
 	ERR_FAIL_COND(p_tex.is_null());
 
 	MutexLock lock(singleton->mutex);
@@ -53,7 +53,7 @@ void ResourceImporterTexture::_texture_reimport_roughness(const Ref<StreamTextur
 	singleton->make_flags[path].normal_path_for_roughness = p_normal_path;
 }
 
-void ResourceImporterTexture::_texture_reimport_3d(const Ref<StreamTexture2D> &p_tex) {
+void ResourceImporterTexture::_texture_reimport_3d(const Ref<CompressedTexture2D> &p_tex) {
 	ERR_FAIL_COND(p_tex.is_null());
 
 	MutexLock lock(singleton->mutex);
@@ -67,7 +67,7 @@ void ResourceImporterTexture::_texture_reimport_3d(const Ref<StreamTexture2D> &p
 	singleton->make_flags[path].flags |= MAKE_3D_FLAG;
 }
 
-void ResourceImporterTexture::_texture_reimport_normal(const Ref<StreamTexture2D> &p_tex) {
+void ResourceImporterTexture::_texture_reimport_normal(const Ref<CompressedTexture2D> &p_tex) {
 	ERR_FAIL_COND(p_tex.is_null());
 
 	MutexLock lock(singleton->mutex);
@@ -153,11 +153,11 @@ void ResourceImporterTexture::get_recognized_extensions(List<String> *p_extensio
 }
 
 String ResourceImporterTexture::get_save_extension() const {
-	return "stex";
+	return "ctex";
 }
 
 String ResourceImporterTexture::get_resource_type() const {
-	return "StreamTexture2D";
+	return "CompressedTexture2D";
 }
 
 bool ResourceImporterTexture::get_option_visibility(const String &p_path, const String &p_option, const Map<StringName, Variant> &p_options) const {
@@ -231,7 +231,7 @@ void ResourceImporterTexture::save_to_stex_format(FileAccess *f, const Ref<Image
 			bool lossless_force_png = ProjectSettings::get_singleton()->get("rendering/textures/lossless_compression/force_png") ||
 					!Image::_webp_mem_loader_func; // WebP module disabled.
 			bool use_webp = !lossless_force_png && p_image->get_width() <= 16383 && p_image->get_height() <= 16383; // WebP has a size limit
-			f->store_32(use_webp ? StreamTexture2D::DATA_FORMAT_WEBP : StreamTexture2D::DATA_FORMAT_PNG);
+			f->store_32(use_webp ? CompressedTexture2D::DATA_FORMAT_WEBP : CompressedTexture2D::DATA_FORMAT_PNG);
 			f->store_16(p_image->get_width());
 			f->store_16(p_image->get_height());
 			f->store_32(p_image->get_mipmap_count());
@@ -253,7 +253,7 @@ void ResourceImporterTexture::save_to_stex_format(FileAccess *f, const Ref<Image
 
 		} break;
 		case COMPRESS_LOSSY: {
-			f->store_32(StreamTexture2D::DATA_FORMAT_WEBP);
+			f->store_32(CompressedTexture2D::DATA_FORMAT_WEBP);
 			f->store_16(p_image->get_width());
 			f->store_16(p_image->get_height());
 			f->store_32(p_image->get_mipmap_count());
@@ -273,7 +273,7 @@ void ResourceImporterTexture::save_to_stex_format(FileAccess *f, const Ref<Image
 
 			image->compress_from_channels(p_compress_format, p_channels, p_lossy_quality);
 
-			f->store_32(StreamTexture2D::DATA_FORMAT_IMAGE);
+			f->store_32(CompressedTexture2D::DATA_FORMAT_IMAGE);
 			f->store_16(image->get_width());
 			f->store_16(image->get_height());
 			f->store_32(image->get_mipmap_count());
@@ -285,7 +285,7 @@ void ResourceImporterTexture::save_to_stex_format(FileAccess *f, const Ref<Image
 			f->store_buffer(r, dl);
 		} break;
 		case COMPRESS_VRAM_UNCOMPRESSED: {
-			f->store_32(StreamTexture2D::DATA_FORMAT_IMAGE);
+			f->store_32(CompressedTexture2D::DATA_FORMAT_IMAGE);
 			f->store_16(p_image->get_width());
 			f->store_16(p_image->get_height());
 			f->store_32(p_image->get_mipmap_count());
@@ -299,7 +299,7 @@ void ResourceImporterTexture::save_to_stex_format(FileAccess *f, const Ref<Image
 
 		} break;
 		case COMPRESS_BASIS_UNIVERSAL: {
-			f->store_32(StreamTexture2D::DATA_FORMAT_BASIS_UNIVERSAL);
+			f->store_32(CompressedTexture2D::DATA_FORMAT_BASIS_UNIVERSAL);
 			f->store_16(p_image->get_width());
 			f->store_16(p_image->get_height());
 			f->store_32(p_image->get_mipmap_count());
@@ -326,26 +326,26 @@ void ResourceImporterTexture::_save_stex(const Ref<Image> &p_image, const String
 	f->store_8('2'); //godot streamable texture 2D
 
 	//format version
-	f->store_32(StreamTexture2D::FORMAT_VERSION);
+	f->store_32(CompressedTexture2D::FORMAT_VERSION);
 	//texture may be resized later, so original size must be saved first
 	f->store_32(p_image->get_width());
 	f->store_32(p_image->get_height());
 
 	uint32_t flags = 0;
 	if (p_streamable) {
-		flags |= StreamTexture2D::FORMAT_BIT_STREAM;
+		flags |= CompressedTexture2D::FORMAT_BIT_STREAM;
 	}
 	if (p_mipmaps) {
-		flags |= StreamTexture2D::FORMAT_BIT_HAS_MIPMAPS; //mipmaps bit
+		flags |= CompressedTexture2D::FORMAT_BIT_HAS_MIPMAPS; //mipmaps bit
 	}
 	if (p_detect_3d) {
-		flags |= StreamTexture2D::FORMAT_BIT_DETECT_3D;
+		flags |= CompressedTexture2D::FORMAT_BIT_DETECT_3D;
 	}
 	if (p_detect_roughness) {
-		flags |= StreamTexture2D::FORMAT_BIT_DETECT_ROUGNESS;
+		flags |= CompressedTexture2D::FORMAT_BIT_DETECT_ROUGNESS;
 	}
 	if (p_detect_normal) {
-		flags |= StreamTexture2D::FORMAT_BIT_DETECT_NORMAL;
+		flags |= CompressedTexture2D::FORMAT_BIT_DETECT_NORMAL;
 	}
 
 	f->store_32(flags);
@@ -540,29 +540,29 @@ Error ResourceImporterTexture::import(const String &p_source_file, const String
 			if (!bptc_ldr && can_s3tc && is_ldr) {
 				image_compress_mode = Image::COMPRESS_S3TC;
 			}
-			_save_stex(image, p_save_path + ".s3tc.stex", compress_mode, lossy, image_compress_mode, mipmaps, stream, detect_3d, detect_roughness, detect_normal, force_normal, srgb_friendly_pack, false, mipmap_limit, normal_image, roughness_channel);
+			_save_stex(image, p_save_path + ".s3tc.ctex", compress_mode, lossy, image_compress_mode, mipmaps, stream, detect_3d, detect_roughness, detect_normal, force_normal, srgb_friendly_pack, false, mipmap_limit, normal_image, roughness_channel);
 			r_platform_variants->push_back("s3tc");
 			formats_imported.push_back("s3tc");
 		}
 
 		if (ProjectSettings::get_singleton()->get("rendering/textures/vram_compression/import_etc2")) {
-			_save_stex(image, p_save_path + ".etc2.stex", compress_mode, lossy, Image::COMPRESS_ETC2, mipmaps, stream, detect_3d, detect_roughness, detect_normal, force_normal, srgb_friendly_pack, true, mipmap_limit, normal_image, roughness_channel);
+			_save_stex(image, p_save_path + ".etc2.ctex", compress_mode, lossy, Image::COMPRESS_ETC2, mipmaps, stream, detect_3d, detect_roughness, detect_normal, force_normal, srgb_friendly_pack, true, mipmap_limit, normal_image, roughness_channel);
 			r_platform_variants->push_back("etc2");
 			formats_imported.push_back("etc2");
 		}
 
 		if (ProjectSettings::get_singleton()->get("rendering/textures/vram_compression/import_etc")) {
-			_save_stex(image, p_save_path + ".etc.stex", compress_mode, lossy, Image::COMPRESS_ETC, mipmaps, stream, detect_3d, detect_roughness, detect_normal, force_normal, srgb_friendly_pack, true, mipmap_limit, normal_image, roughness_channel);
+			_save_stex(image, p_save_path + ".etc.ctex", compress_mode, lossy, Image::COMPRESS_ETC, mipmaps, stream, detect_3d, detect_roughness, detect_normal, force_normal, srgb_friendly_pack, true, mipmap_limit, normal_image, roughness_channel);
 			r_platform_variants->push_back("etc");
 			formats_imported.push_back("etc");
 		}
 
 		if (!ok_on_pc) {
-			EditorNode::add_io_error("Warning, no suitable PC VRAM compression enabled in Project Settings. This texture will not display correctly on PC.");
+			EditorNode::add_io_error(TTR("Warning, no suitable PC VRAM compression enabled in Project Settings. This texture will not display correctly on PC."));
 		}
 	} else {
 		//import normally
-		_save_stex(image, p_save_path + ".stex", compress_mode, lossy, Image::COMPRESS_S3TC /*this is ignored */, mipmaps, stream, detect_3d, detect_roughness, detect_normal, force_normal, srgb_friendly_pack, false, mipmap_limit, normal_image, roughness_channel);
+		_save_stex(image, p_save_path + ".ctex", compress_mode, lossy, Image::COMPRESS_S3TC /*this is ignored */, mipmaps, stream, detect_3d, detect_roughness, detect_normal, force_normal, srgb_friendly_pack, false, mipmap_limit, normal_image, roughness_channel);
 	}
 
 	if (r_metadata) {
@@ -638,9 +638,9 @@ ResourceImporterTexture *ResourceImporterTexture::singleton = nullptr;
 
 ResourceImporterTexture::ResourceImporterTexture() {
 	singleton = this;
-	StreamTexture2D::request_3d_callback = _texture_reimport_3d;
-	StreamTexture2D::request_roughness_callback = _texture_reimport_roughness;
-	StreamTexture2D::request_normal_callback = _texture_reimport_normal;
+	CompressedTexture2D::request_3d_callback = _texture_reimport_3d;
+	CompressedTexture2D::request_roughness_callback = _texture_reimport_roughness;
+	CompressedTexture2D::request_normal_callback = _texture_reimport_normal;
 }
 
 ResourceImporterTexture::~ResourceImporterTexture() {
diff --git a/editor/import/resource_importer_texture.h b/editor/import/resource_importer_texture.h
index ea2318fb33..bd43eaef58 100644
--- a/editor/import/resource_importer_texture.h
+++ b/editor/import/resource_importer_texture.h
@@ -37,7 +37,7 @@
 #include "scene/resources/texture.h"
 #include "servers/rendering_server.h"
 
-class StreamTexture2D;
+class CompressedTexture2D;
 
 class ResourceImporterTexture : public ResourceImporter {
 	GDCLASS(ResourceImporterTexture, ResourceImporter);
@@ -67,9 +67,9 @@ protected:
 
 	Map<StringName, MakeInfo> make_flags;
 
-	static void _texture_reimport_roughness(const Ref<StreamTexture2D> &p_tex, const String &p_normal_path, RenderingServer::TextureDetectRoughnessChannel p_channel);
-	static void _texture_reimport_3d(const Ref<StreamTexture2D> &p_tex);
-	static void _texture_reimport_normal(const Ref<StreamTexture2D> &p_tex);
+	static void _texture_reimport_roughness(const Ref<CompressedTexture2D> &p_tex, const String &p_normal_path, RenderingServer::TextureDetectRoughnessChannel p_channel);
+	static void _texture_reimport_3d(const Ref<CompressedTexture2D> &p_tex);
+	static void _texture_reimport_normal(const Ref<CompressedTexture2D> &p_tex);
 
 	static ResourceImporterTexture *singleton;
 	static const char *compression_formats[];
diff --git a/editor/import/scene_import_settings.cpp b/editor/import/scene_import_settings.cpp
index 4e06253041..f500268ad3 100644
--- a/editor/import/scene_import_settings.cpp
+++ b/editor/import/scene_import_settings.cpp
@@ -1269,8 +1269,8 @@ SceneImportSettings::SceneImportSettings() {
 
 	item_save_path = memnew(EditorFileDialog);
 	item_save_path->set_file_mode(EditorFileDialog::FILE_MODE_SAVE_FILE);
-	item_save_path->add_filter("*.tres;Text Resource");
-	item_save_path->add_filter("*.res;Binary Resource");
+	item_save_path->add_filter("*.tres; " + TTR("Text Resource"));
+	item_save_path->add_filter("*.res; " + TTR("Binary Resource"));
 	add_child(item_save_path);
 	item_save_path->connect("file_selected", callable_mp(this, &SceneImportSettings::_save_path_changed));
 
diff --git a/editor/localization_editor.cpp b/editor/localization_editor.cpp
index cd9986d527..a766650cd9 100644
--- a/editor/localization_editor.cpp
+++ b/editor/localization_editor.cpp
@@ -477,7 +477,7 @@ LocalizationEditor::LocalizationEditor() {
 	localization_changed = "localization_changed";
 
 	TabContainer *translations = memnew(TabContainer);
-	translations->set_tab_alignment(TabContainer::ALIGNMENT_LEFT);
+	translations->set_tab_alignment(TabBar::ALIGNMENT_LEFT);
 	translations->set_v_size_flags(Control::SIZE_EXPAND_FILL);
 	add_child(translations);
 
diff --git a/editor/plugin_config_dialog.cpp b/editor/plugin_config_dialog.cpp
index 48ea3013f7..d5e7c312d9 100644
--- a/editor/plugin_config_dialog.cpp
+++ b/editor/plugin_config_dialog.cpp
@@ -117,7 +117,7 @@ void PluginConfigDialog::_on_required_text_changed(const String &) {
 	if (name_edit->get_text().is_empty()) {
 		is_valid = false;
 		name_validation->set_texture(invalid_icon);
-		name_validation->set_tooltip(TTR("Plugin name cannot not be blank."));
+		name_validation->set_tooltip(TTR("Plugin name cannot be blank."));
 	}
 	if (script_edit->get_text().get_extension() != ext) {
 		is_valid = false;
@@ -127,7 +127,7 @@ void PluginConfigDialog::_on_required_text_changed(const String &) {
 	if (script_edit->get_text().get_basename().is_empty()) {
 		is_valid = false;
 		script_validation->set_texture(invalid_icon);
-		script_validation->set_tooltip(TTR("Script name cannot not be blank."));
+		script_validation->set_tooltip(TTR("Script name cannot be blank."));
 	}
 	if (subfolder_edit->get_text().is_empty()) {
 		is_valid = false;
diff --git a/editor/plugins/animation_blend_space_1d_editor.cpp b/editor/plugins/animation_blend_space_1d_editor.cpp
index fe8b462084..94882b3464 100644
--- a/editor/plugins/animation_blend_space_1d_editor.cpp
+++ b/editor/plugins/animation_blend_space_1d_editor.cpp
@@ -88,7 +88,7 @@ void AnimationNodeBlendSpace1DEditor::_blend_space_gui_input(const Ref<InputEven
 			}
 
 			int idx = menu->get_item_count();
-			menu->add_item(vformat("Add %s", name), idx);
+			menu->add_item(vformat(TTR("Add %s"), name), idx);
 			menu->set_item_metadata(idx, E);
 		}
 
diff --git a/editor/plugins/animation_blend_space_2d_editor.cpp b/editor/plugins/animation_blend_space_2d_editor.cpp
index 506a709728..4b7df75aec 100644
--- a/editor/plugins/animation_blend_space_2d_editor.cpp
+++ b/editor/plugins/animation_blend_space_2d_editor.cpp
@@ -111,7 +111,7 @@ void AnimationNodeBlendSpace2DEditor::_blend_space_gui_input(const Ref<InputEven
 				continue; // nope
 			}
 			int idx = menu->get_item_count();
-			menu->add_item(vformat("Add %s", name), idx);
+			menu->add_item(vformat(TTR("Add %s"), name), idx);
 			menu->set_item_metadata(idx, E);
 		}
 
diff --git a/editor/plugins/animation_player_editor_plugin.cpp b/editor/plugins/animation_player_editor_plugin.cpp
index ad126d28f6..fba6d8e57f 100644
--- a/editor/plugins/animation_player_editor_plugin.cpp
+++ b/editor/plugins/animation_player_editor_plugin.cpp
@@ -156,6 +156,8 @@ void AnimationPlayerEditor::_notification(int p_what) {
 			ITEM_ICON(TOOL_EDIT_TRANSITIONS, "Blend");
 			ITEM_ICON(TOOL_EDIT_RESOURCE, "Edit");
 			ITEM_ICON(TOOL_REMOVE_ANIM, "Remove");
+
+			_update_animation_list_icons();
 		} break;
 	}
 }
@@ -547,6 +549,7 @@ void AnimationPlayerEditor::_animation_name_edited() {
 			Ref<Animation> anim = player->get_animation(current);
 
 			Ref<Animation> new_anim = _animation_clone(anim);
+			new_anim->set_name(new_name);
 
 			undo_redo->create_action(TTR("Duplicate Animation"));
 			undo_redo->add_do_method(player, "add_animation", new_name, new_anim);
@@ -858,22 +861,13 @@ void AnimationPlayerEditor::_update_player() {
 
 	int active_idx = -1;
 	for (const StringName &E : animlist) {
-		Ref<Texture2D> icon;
-		if (E == player->get_autoplay()) {
-			if (E == SceneStringNames::get_singleton()->RESET) {
-				icon = autoplay_reset_icon;
-			} else {
-				icon = autoplay_icon;
-			}
-		} else if (E == SceneStringNames::get_singleton()->RESET) {
-			icon = reset_icon;
-		}
-		animation->add_icon_item(icon, E);
+		animation->add_item(E);
 
 		if (player->get_assigned_animation() == E) {
 			active_idx = animation->get_item_count() - 1;
 		}
 	}
+	_update_animation_list_icons();
 
 	updating = false;
 	if (active_idx != -1) {
@@ -902,6 +896,30 @@ void AnimationPlayerEditor::_update_player() {
 	_update_animation();
 }
 
+void AnimationPlayerEditor::_update_animation_list_icons() {
+	List<StringName> animlist;
+	if (player) {
+		player->get_animation_list(&animlist);
+	}
+
+	for (int i = 0; i < animation->get_item_count(); i++) {
+		String name = animation->get_item_text(i);
+
+		Ref<Texture2D> icon;
+		if (name == player->get_autoplay()) {
+			if (name == SceneStringNames::get_singleton()->RESET) {
+				icon = autoplay_reset_icon;
+			} else {
+				icon = autoplay_icon;
+			}
+		} else if (name == SceneStringNames::get_singleton()->RESET) {
+			icon = reset_icon;
+		}
+
+		animation->set_item_icon(i, icon);
+	}
+}
+
 void AnimationPlayerEditor::edit(AnimationPlayer *p_player) {
 	if (player && pin->is_pressed()) {
 		return; // Ignore, pinned.
diff --git a/editor/plugins/animation_player_editor_plugin.h b/editor/plugins/animation_player_editor_plugin.h
index 446c4d2f0e..5bb32e25e6 100644
--- a/editor/plugins/animation_player_editor_plugin.h
+++ b/editor/plugins/animation_player_editor_plugin.h
@@ -196,6 +196,7 @@ class AnimationPlayerEditor : public VBoxContainer {
 	void _list_changed();
 	void _update_animation();
 	void _update_player();
+	void _update_animation_list_icons();
 	void _blend_edited();
 
 	void _animation_player_changed(Object *p_pl);
diff --git a/editor/plugins/animation_state_machine_editor.cpp b/editor/plugins/animation_state_machine_editor.cpp
index 6c284f2268..2f94176e2a 100644
--- a/editor/plugins/animation_state_machine_editor.cpp
+++ b/editor/plugins/animation_state_machine_editor.cpp
@@ -108,7 +108,7 @@ void AnimationNodeStateMachineEditor::_state_machine_gui_input(const Ref<InputEv
 				continue; // nope
 			}
 			int idx = menu->get_item_count();
-			menu->add_item(vformat("Add %s", name), idx);
+			menu->add_item(vformat(TTR("Add %s"), name), idx);
 			menu->set_item_metadata(idx, E);
 		}
 		Ref<AnimationNode> clipb = EditorSettings::get_singleton()->get_resource_clipboard();
diff --git a/editor/plugins/asset_library_editor_plugin.cpp b/editor/plugins/asset_library_editor_plugin.cpp
index 9e9915cfa4..50f253b167 100644
--- a/editor/plugins/asset_library_editor_plugin.cpp
+++ b/editor/plugins/asset_library_editor_plugin.cpp
@@ -44,8 +44,8 @@
 static inline void setup_http_request(HTTPRequest *request) {
 	request->set_use_threads(EDITOR_DEF("asset_library/use_threads", true));
 
-	const String proxy_host = EDITOR_DEF("network/http_proxy/host", "");
-	const int proxy_port = EDITOR_DEF("network/http_proxy/port", -1);
+	const String proxy_host = EDITOR_GET("network/http_proxy/host");
+	const int proxy_port = EDITOR_GET("network/http_proxy/port");
 	request->set_http_proxy(proxy_host, proxy_port);
 	request->set_https_proxy(proxy_host, proxy_port);
 }
diff --git a/editor/plugins/canvas_item_editor_plugin.cpp b/editor/plugins/canvas_item_editor_plugin.cpp
index e43d1feb08..75f97efdbc 100644
--- a/editor/plugins/canvas_item_editor_plugin.cpp
+++ b/editor/plugins/canvas_item_editor_plugin.cpp
@@ -3580,7 +3580,7 @@ void CanvasItemEditor::_draw_locks_and_groups(Node *p_node, const Transform2D &p
 		return;
 	}
 	CanvasItem *canvas_item = Object::cast_to<CanvasItem>(p_node);
-	if (canvas_item && !canvas_item->is_visible()) {
+	if (canvas_item && !canvas_item->is_visible_in_tree()) {
 		return;
 	}
 
diff --git a/editor/plugins/gpu_particles_3d_editor_plugin.cpp b/editor/plugins/gpu_particles_3d_editor_plugin.cpp
index 293d1c3913..35cbff53f4 100644
--- a/editor/plugins/gpu_particles_3d_editor_plugin.cpp
+++ b/editor/plugins/gpu_particles_3d_editor_plugin.cpp
@@ -166,20 +166,20 @@ void GPUParticles3DEditorBase::_node_selected(const NodePath &p_path) {
 		return;
 	}
 
-	VisualInstance3D *vi = Object::cast_to<VisualInstance3D>(sel);
-	if (!vi) {
+	MeshInstance3D *mi = Object::cast_to<MeshInstance3D>(sel);
+	if (!mi || mi->get_mesh().is_null()) {
 		EditorNode::get_singleton()->show_warning(vformat(TTR("\"%s\" doesn't contain geometry."), sel->get_name()));
 		return;
 	}
 
-	geometry = vi->get_faces(VisualInstance3D::FACES_SOLID);
+	geometry = mi->get_mesh()->get_faces();
 
 	if (geometry.size() == 0) {
 		EditorNode::get_singleton()->show_warning(vformat(TTR("\"%s\" doesn't contain face geometry."), sel->get_name()));
 		return;
 	}
 
-	Transform3D geom_xform = base_node->get_global_transform().affine_inverse() * vi->get_global_transform();
+	Transform3D geom_xform = base_node->get_global_transform().affine_inverse() * mi->get_global_transform();
 
 	int gc = geometry.size();
 	Face3 *w = geometry.ptrw();
diff --git a/editor/plugins/gpu_particles_collision_sdf_editor_plugin.cpp b/editor/plugins/gpu_particles_collision_sdf_editor_plugin.cpp
index affe10a01d..643a470425 100644
--- a/editor/plugins/gpu_particles_collision_sdf_editor_plugin.cpp
+++ b/editor/plugins/gpu_particles_collision_sdf_editor_plugin.cpp
@@ -152,7 +152,7 @@ void GPUParticlesCollisionSDF3DEditorPlugin::_sdf_save_path_and_bake(const Strin
 		}
 
 		config->set_value("remap", "importer", "3d_texture");
-		config->set_value("remap", "type", "StreamTexture3D");
+		config->set_value("remap", "type", "CompressedTexture3D");
 		if (!config->has_section_key("params", "compress/mode")) {
 			config->set_value("params", "compress/mode", 3); //user may want another compression, so leave it be
 		}
diff --git a/editor/plugins/lightmap_gi_editor_plugin.cpp b/editor/plugins/lightmap_gi_editor_plugin.cpp
index 5992e52162..aef97f059a 100644
--- a/editor/plugins/lightmap_gi_editor_plugin.cpp
+++ b/editor/plugins/lightmap_gi_editor_plugin.cpp
@@ -138,7 +138,7 @@ LightmapGIEditorPlugin::LightmapGIEditorPlugin() {
 
 	file_dialog = memnew(EditorFileDialog);
 	file_dialog->set_file_mode(EditorFileDialog::FILE_MODE_SAVE_FILE);
-	file_dialog->add_filter("*.lmbake ; LightMap Bake");
+	file_dialog->add_filter("*.lmbake ; " + TTR("LightMap Bake"));
 	file_dialog->set_title(TTR("Select lightmap bake file:"));
 	file_dialog->connect("file_selected", callable_mp(this, &LightmapGIEditorPlugin::_bake_select_file));
 	bake->add_child(file_dialog);
diff --git a/editor/plugins/mesh_library_editor_plugin.cpp b/editor/plugins/mesh_library_editor_plugin.cpp
index 3d40755b7a..41e3471a78 100644
--- a/editor/plugins/mesh_library_editor_plugin.cpp
+++ b/editor/plugins/mesh_library_editor_plugin.cpp
@@ -288,9 +288,9 @@ MeshLibraryEditor::MeshLibraryEditor() {
 	cd_remove->get_ok_button()->connect("pressed", callable_mp(this, &MeshLibraryEditor::_menu_remove_confirm));
 	cd_update = memnew(ConfirmationDialog);
 	add_child(cd_update);
-	cd_update->get_ok_button()->set_text("Apply without Transforms");
+	cd_update->get_ok_button()->set_text(TTR("Apply without Transforms"));
 	cd_update->get_ok_button()->connect("pressed", callable_mp(this, &MeshLibraryEditor::_menu_update_confirm), varray(false));
-	cd_update->add_button("Apply with Transforms")->connect("pressed", callable_mp(this, &MeshLibraryEditor::_menu_update_confirm), varray(true));
+	cd_update->add_button(TTR("Apply with Transforms"))->connect("pressed", callable_mp(this, &MeshLibraryEditor::_menu_update_confirm), varray(true));
 }
 
 void MeshLibraryEditorPlugin::edit(Object *p_node) {
@@ -317,7 +317,6 @@ void MeshLibraryEditorPlugin::make_visible(bool p_visible) {
 }
 
 MeshLibraryEditorPlugin::MeshLibraryEditorPlugin() {
-	EDITOR_DEF("editors/grid_map/preview_size", 64);
 	mesh_library_editor = memnew(MeshLibraryEditor);
 
 	EditorNode::get_singleton()->get_main_control()->add_child(mesh_library_editor);
diff --git a/editor/plugins/multimesh_editor_plugin.cpp b/editor/plugins/multimesh_editor_plugin.cpp
index 72f3b6a06e..850c673c12 100644
--- a/editor/plugins/multimesh_editor_plugin.cpp
+++ b/editor/plugins/multimesh_editor_plugin.cpp
@@ -105,9 +105,9 @@ void MultiMeshEditor::_populate() {
 		return;
 	}
 
-	GeometryInstance3D *ss_instance = Object::cast_to<MeshInstance3D>(ss_node);
+	MeshInstance3D *ss_instance = Object::cast_to<MeshInstance3D>(ss_node);
 
-	if (!ss_instance) {
+	if (!ss_instance || !ss_instance->get_mesh().is_valid()) {
 		err_dialog->set_text(TTR("Surface source is invalid (no geometry)."));
 		err_dialog->popup_centered();
 		return;
@@ -115,7 +115,7 @@ void MultiMeshEditor::_populate() {
 
 	Transform3D geom_xform = node->get_global_transform().affine_inverse() * ss_instance->get_global_transform();
 
-	Vector<Face3> geometry = ss_instance->get_faces(VisualInstance3D::FACES_SOLID);
+	Vector<Face3> geometry = ss_instance->get_mesh()->get_faces();
 
 	if (geometry.size() == 0) {
 		err_dialog->set_text(TTR("Surface source is invalid (no faces)."));
diff --git a/editor/plugins/node_3d_editor_gizmos.cpp b/editor/plugins/node_3d_editor_gizmos.cpp
index 23f3087553..8aa8ba1f00 100644
--- a/editor/plugins/node_3d_editor_gizmos.cpp
+++ b/editor/plugins/node_3d_editor_gizmos.cpp
@@ -876,7 +876,7 @@ EditorNode3DGizmo::~EditorNode3DGizmo() {
 /////
 
 void EditorNode3DGizmoPlugin::create_material(const String &p_name, const Color &p_color, bool p_billboard, bool p_on_top, bool p_use_vertex_color) {
-	Color instantiated_color = EDITOR_DEF("editors/3d_gizmos/gizmo_colors/instantiated", Color(0.7, 0.7, 0.7, 0.6));
+	Color instantiated_color = EDITOR_GET("editors/3d_gizmos/gizmo_colors/instantiated");
 
 	Vector<Ref<StandardMaterial3D>> mats;
 
@@ -918,7 +918,7 @@ void EditorNode3DGizmoPlugin::create_material(const String &p_name, const Color
 }
 
 void EditorNode3DGizmoPlugin::create_icon_material(const String &p_name, const Ref<Texture2D> &p_texture, bool p_on_top, const Color &p_albedo) {
-	Color instantiated_color = EDITOR_DEF("editors/3d_gizmos/gizmo_colors/instantiated", Color(0.7, 0.7, 0.7, 0.6));
+	Color instantiated_color = EDITOR_GET("editors/3d_gizmos/gizmo_colors/instantiated");
 
 	Vector<Ref<StandardMaterial3D>> icons;
 
@@ -2251,7 +2251,7 @@ void Position3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) {
 ////
 
 PhysicalBone3DGizmoPlugin::PhysicalBone3DGizmoPlugin() {
-	create_material("joint_material", EDITOR_DEF("editors/3d_gizmos/gizmo_colors/joint", Color(0.5, 0.8, 1)));
+	create_material("joint_material", EDITOR_GET("editors/3d_gizmos/gizmo_colors/joint"));
 }
 
 bool PhysicalBone3DGizmoPlugin::has_gizmo(Node3D *p_spatial) {
@@ -2384,7 +2384,7 @@ void PhysicalBone3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) {
 /////
 
 RayCast3DGizmoPlugin::RayCast3DGizmoPlugin() {
-	const Color gizmo_color = EDITOR_DEF("editors/3d_gizmos/gizmo_colors/shape", Color(0.5, 0.7, 1));
+	const Color gizmo_color = EDITOR_GET("editors/3d_gizmos/gizmo_colors/shape");
 	create_material("shape_material", gizmo_color);
 	const float gizmo_value = gizmo_color.get_v();
 	const Color gizmo_color_disabled = Color(gizmo_value, gizmo_value, gizmo_value, 0.65);
@@ -2438,7 +2438,7 @@ void SpringArm3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) {
 }
 
 SpringArm3DGizmoPlugin::SpringArm3DGizmoPlugin() {
-	Color gizmo_color = EDITOR_DEF("editors/3d_gizmos/gizmo_colors/shape", Color(0.5, 0.7, 1));
+	Color gizmo_color = EDITOR_GET("editors/3d_gizmos/gizmo_colors/shape");
 	create_material("shape_material", gizmo_color);
 }
 
@@ -2457,7 +2457,7 @@ int SpringArm3DGizmoPlugin::get_priority() const {
 /////
 
 VehicleWheel3DGizmoPlugin::VehicleWheel3DGizmoPlugin() {
-	Color gizmo_color = EDITOR_DEF("editors/3d_gizmos/gizmo_colors/shape", Color(0.5, 0.7, 1));
+	Color gizmo_color = EDITOR_GET("editors/3d_gizmos/gizmo_colors/shape");
 	create_material("shape_material", gizmo_color);
 }
 
@@ -2528,7 +2528,7 @@ void VehicleWheel3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) {
 ///////////
 
 SoftDynamicBody3DGizmoPlugin::SoftDynamicBody3DGizmoPlugin() {
-	Color gizmo_color = EDITOR_DEF("editors/3d_gizmos/gizmo_colors/shape", Color(0.5, 0.7, 1));
+	Color gizmo_color = EDITOR_GET("editors/3d_gizmos/gizmo_colors/shape");
 	create_material("shape_material", gizmo_color);
 	create_handle_material("handles");
 }
@@ -3976,7 +3976,7 @@ void LightmapProbeGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) {
 ////
 
 CollisionObject3DGizmoPlugin::CollisionObject3DGizmoPlugin() {
-	const Color gizmo_color = EDITOR_DEF("editors/3d_gizmos/gizmo_colors/shape", Color(0.5, 0.7, 1));
+	const Color gizmo_color = EDITOR_GET("editors/3d_gizmos/gizmo_colors/shape");
 	create_material("shape_material", gizmo_color);
 	const float gizmo_value = gizmo_color.get_v();
 	const Color gizmo_color_disabled = Color(gizmo_value, gizmo_value, gizmo_value, 0.65);
@@ -4026,7 +4026,7 @@ void CollisionObject3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) {
 ////
 
 CollisionShape3DGizmoPlugin::CollisionShape3DGizmoPlugin() {
-	const Color gizmo_color = EDITOR_DEF("editors/3d_gizmos/gizmo_colors/shape", Color(0.5, 0.7, 1));
+	const Color gizmo_color = EDITOR_GET("editors/3d_gizmos/gizmo_colors/shape");
 	create_material("shape_material", gizmo_color);
 	const float gizmo_value = gizmo_color.get_v();
 	const Color gizmo_color_disabled = Color(gizmo_value, gizmo_value, gizmo_value, 0.65);
@@ -4627,7 +4627,7 @@ void CollisionShape3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) {
 /////
 
 CollisionPolygon3DGizmoPlugin::CollisionPolygon3DGizmoPlugin() {
-	const Color gizmo_color = EDITOR_DEF("editors/3d_gizmos/gizmo_colors/shape", Color(0.5, 0.7, 1));
+	const Color gizmo_color = EDITOR_GET("editors/3d_gizmos/gizmo_colors/shape");
 	create_material("shape_material", gizmo_color);
 	const float gizmo_value = gizmo_color.get_v();
 	const Color gizmo_color_disabled = Color(gizmo_value, gizmo_value, gizmo_value, 0.65);
@@ -5024,7 +5024,7 @@ void JointGizmosDrawer::draw_cone(const Transform3D &p_offset, const Basis &p_ba
 ////
 
 Joint3DGizmoPlugin::Joint3DGizmoPlugin() {
-	create_material("joint_material", EDITOR_DEF("editors/3d_gizmos/gizmo_colors/joint", Color(0.5, 0.8, 1)));
+	create_material("joint_material", EDITOR_GET("editors/3d_gizmos/gizmo_colors/joint"));
 	create_material("joint_body_a_material", EDITOR_DEF("editors/3d_gizmos/gizmo_colors/joint_body_a", Color(0.6, 0.8, 1)));
 	create_material("joint_body_b_material", EDITOR_DEF("editors/3d_gizmos/gizmo_colors/joint_body_b", Color(0.6, 0.9, 1)));
 
diff --git a/editor/plugins/node_3d_editor_plugin.cpp b/editor/plugins/node_3d_editor_plugin.cpp
index 002c879cdc..3927aaa438 100644
--- a/editor/plugins/node_3d_editor_plugin.cpp
+++ b/editor/plugins/node_3d_editor_plugin.cpp
@@ -2037,14 +2037,16 @@ void Node3DEditorViewport::_sinput(const Ref<InputEvent> &p_event) {
 		if (ED_IS_SHORTCUT("spatial_editor/cancel_transform", p_event) && _edit.mode != TRANSFORM_NONE) {
 			cancel_transform();
 		}
-		if (ED_IS_SHORTCUT("spatial_editor/instant_translate", p_event)) {
-			begin_transform(TRANSFORM_TRANSLATE, true);
-		}
-		if (ED_IS_SHORTCUT("spatial_editor/instant_rotate", p_event)) {
-			begin_transform(TRANSFORM_ROTATE, true);
-		}
-		if (ED_IS_SHORTCUT("spatial_editor/instant_scale", p_event)) {
-			begin_transform(TRANSFORM_SCALE, true);
+		if (!is_freelook_active()) {
+			if (ED_IS_SHORTCUT("spatial_editor/instant_translate", p_event)) {
+				begin_transform(TRANSFORM_TRANSLATE, true);
+			}
+			if (ED_IS_SHORTCUT("spatial_editor/instant_rotate", p_event)) {
+				begin_transform(TRANSFORM_ROTATE, true);
+			}
+			if (ED_IS_SHORTCUT("spatial_editor/instant_scale", p_event)) {
+				begin_transform(TRANSFORM_SCALE, true);
+			}
 		}
 
 		// Freelook doesn't work in orthogonal mode.
@@ -2284,7 +2286,7 @@ void Node3DEditorViewport::scale_freelook_speed(real_t scale) {
 
 Point2i Node3DEditorViewport::_get_warped_mouse_motion(const Ref<InputEventMouseMotion> &p_ev_mouse_motion) const {
 	Point2i relative;
-	if (bool(EDITOR_DEF("editors/3d/navigation/warped_mouse_panning", false))) {
+	if (bool(EDITOR_GET("editors/3d/navigation/warped_mouse_panning"))) {
 		relative = Input::get_singleton()->warp_mouse_motion(p_ev_mouse_motion, surface->get_global_rect());
 	} else {
 		relative = p_ev_mouse_motion->get_relative();
@@ -6920,19 +6922,19 @@ void Node3DEditor::_add_environment_to_scene(bool p_already_added_sun) {
 }
 
 void Node3DEditor::_update_theme() {
-	tool_button[Node3DEditor::TOOL_MODE_SELECT]->set_icon(get_theme_icon(SNAME("ToolSelect"), SNAME("EditorIcons")));
-	tool_button[Node3DEditor::TOOL_MODE_MOVE]->set_icon(get_theme_icon(SNAME("ToolMove"), SNAME("EditorIcons")));
-	tool_button[Node3DEditor::TOOL_MODE_ROTATE]->set_icon(get_theme_icon(SNAME("ToolRotate"), SNAME("EditorIcons")));
-	tool_button[Node3DEditor::TOOL_MODE_SCALE]->set_icon(get_theme_icon(SNAME("ToolScale"), SNAME("EditorIcons")));
-	tool_button[Node3DEditor::TOOL_MODE_LIST_SELECT]->set_icon(get_theme_icon(SNAME("ListSelect"), SNAME("EditorIcons")));
-	tool_button[Node3DEditor::TOOL_LOCK_SELECTED]->set_icon(get_theme_icon(SNAME("Lock"), SNAME("EditorIcons")));
-	tool_button[Node3DEditor::TOOL_UNLOCK_SELECTED]->set_icon(get_theme_icon(SNAME("Unlock"), SNAME("EditorIcons")));
-	tool_button[Node3DEditor::TOOL_GROUP_SELECTED]->set_icon(get_theme_icon(SNAME("Group"), SNAME("EditorIcons")));
-	tool_button[Node3DEditor::TOOL_UNGROUP_SELECTED]->set_icon(get_theme_icon(SNAME("Ungroup"), SNAME("EditorIcons")));
-
-	tool_option_button[Node3DEditor::TOOL_OPT_LOCAL_COORDS]->set_icon(get_theme_icon(SNAME("Object"), SNAME("EditorIcons")));
-	tool_option_button[Node3DEditor::TOOL_OPT_USE_SNAP]->set_icon(get_theme_icon(SNAME("Snap"), SNAME("EditorIcons")));
-	tool_option_button[Node3DEditor::TOOL_OPT_OVERRIDE_CAMERA]->set_icon(get_theme_icon(SNAME("Camera3D"), SNAME("EditorIcons")));
+	tool_button[TOOL_MODE_SELECT]->set_icon(get_theme_icon(SNAME("ToolSelect"), SNAME("EditorIcons")));
+	tool_button[TOOL_MODE_MOVE]->set_icon(get_theme_icon(SNAME("ToolMove"), SNAME("EditorIcons")));
+	tool_button[TOOL_MODE_ROTATE]->set_icon(get_theme_icon(SNAME("ToolRotate"), SNAME("EditorIcons")));
+	tool_button[TOOL_MODE_SCALE]->set_icon(get_theme_icon(SNAME("ToolScale"), SNAME("EditorIcons")));
+	tool_button[TOOL_MODE_LIST_SELECT]->set_icon(get_theme_icon(SNAME("ListSelect"), SNAME("EditorIcons")));
+	tool_button[TOOL_LOCK_SELECTED]->set_icon(get_theme_icon(SNAME("Lock"), SNAME("EditorIcons")));
+	tool_button[TOOL_UNLOCK_SELECTED]->set_icon(get_theme_icon(SNAME("Unlock"), SNAME("EditorIcons")));
+	tool_button[TOOL_GROUP_SELECTED]->set_icon(get_theme_icon(SNAME("Group"), SNAME("EditorIcons")));
+	tool_button[TOOL_UNGROUP_SELECTED]->set_icon(get_theme_icon(SNAME("Ungroup"), SNAME("EditorIcons")));
+
+	tool_option_button[TOOL_OPT_LOCAL_COORDS]->set_icon(get_theme_icon(SNAME("Object"), SNAME("EditorIcons")));
+	tool_option_button[TOOL_OPT_USE_SNAP]->set_icon(get_theme_icon(SNAME("Snap"), SNAME("EditorIcons")));
+	tool_option_button[TOOL_OPT_OVERRIDE_CAMERA]->set_icon(get_theme_icon(SNAME("Camera3D"), SNAME("EditorIcons")));
 
 	view_menu->get_popup()->set_item_icon(view_menu->get_popup()->get_item_index(MENU_VIEW_USE_1_VIEWPORT), get_theme_icon(SNAME("Panels1"), SNAME("EditorIcons")));
 	view_menu->get_popup()->set_item_icon(view_menu->get_popup()->get_item_index(MENU_VIEW_USE_2_VIEWPORTS), get_theme_icon(SNAME("Panels2"), SNAME("EditorIcons")));
diff --git a/editor/plugins/ot_features_plugin.cpp b/editor/plugins/ot_features_plugin.cpp
index f8e6054848..9cd428a2d4 100644
--- a/editor/plugins/ot_features_plugin.cpp
+++ b/editor/plugins/ot_features_plugin.cpp
@@ -53,7 +53,7 @@ void OpenTypeFeaturesEditor::_notification(int p_what) {
 
 			button->set_icon(get_theme_icon(SNAME("Remove"), SNAME("EditorIcons")));
 			button->set_size(get_theme_icon(SNAME("Remove"), SNAME("EditorIcons"))->get_size());
-			spin->set_custom_label_color(true, base);
+			spin->add_theme_color_override("label_color", base);
 		} break;
 	}
 }
diff --git a/editor/plugins/polygon_2d_editor_plugin.cpp b/editor/plugins/polygon_2d_editor_plugin.cpp
index f096b2abb1..2812c4aaaf 100644
--- a/editor/plugins/polygon_2d_editor_plugin.cpp
+++ b/editor/plugins/polygon_2d_editor_plugin.cpp
@@ -1062,7 +1062,7 @@ void Polygon2DEditor::_uv_draw() {
 	for (int i = 0; i < uvs.size(); i++) {
 		int next = uv_draw_max > 0 ? (i + 1) % uv_draw_max : 0;
 
-		if (i < uv_draw_max && uv_drag && uv_move_current == UV_MODE_EDIT_POINT && EDITOR_DEF("editors/polygon_editor/show_previous_outline", true)) {
+		if (i < uv_draw_max && uv_drag && uv_move_current == UV_MODE_EDIT_POINT && EDITOR_GET("editors/polygon_editor/show_previous_outline")) {
 			uv_edit_draw->draw_line(mtx.xform(points_prev[i]), mtx.xform(points_prev[next]), prev_color, Math::round(EDSCALE));
 		}
 
diff --git a/editor/plugins/script_editor_plugin.cpp b/editor/plugins/script_editor_plugin.cpp
index 30c2b12519..d506a1f3ab 100644
--- a/editor/plugins/script_editor_plugin.cpp
+++ b/editor/plugins/script_editor_plugin.cpp
@@ -407,8 +407,8 @@ void ScriptEditor::_breaked(bool p_breaked, bool p_can_debug) {
 		return;
 	}
 
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 		if (!se) {
 			continue;
 		}
@@ -447,8 +447,8 @@ void ScriptEditor::_goto_script_line(REF p_script, int p_line) {
 void ScriptEditor::_set_execution(REF p_script, int p_line) {
 	Ref<Script> script = Object::cast_to<Script>(*p_script);
 	if (script.is_valid() && (script->has_source_code() || script->get_path().is_resource_file())) {
-		for (int i = 0; i < tab_container->get_child_count(); i++) {
-			ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+		for (int i = 0; i < tab_container->get_tab_count(); i++) {
+			ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 			if (!se) {
 				continue;
 			}
@@ -463,8 +463,8 @@ void ScriptEditor::_set_execution(REF p_script, int p_line) {
 void ScriptEditor::_clear_execution(REF p_script) {
 	Ref<Script> script = Object::cast_to<Script>(*p_script);
 	if (script.is_valid() && (script->has_source_code() || script->get_path().is_resource_file())) {
-		for (int i = 0; i < tab_container->get_child_count(); i++) {
-			ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+		for (int i = 0; i < tab_container->get_tab_count(); i++) {
+			ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 			if (!se) {
 				continue;
 			}
@@ -480,8 +480,8 @@ void ScriptEditor::_set_breakpoint(REF p_script, int p_line, bool p_enabled) {
 	Ref<Script> script = Object::cast_to<Script>(*p_script);
 	if (script.is_valid() && (script->has_source_code() || script->get_path().is_resource_file())) {
 		// Update if open.
-		for (int i = 0; i < tab_container->get_child_count(); i++) {
-			ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+		for (int i = 0; i < tab_container->get_tab_count(); i++) {
+			ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 			if (se && se->get_edited_resource()->get_path() == script->get_path()) {
 				se->set_breakpoint(p_line, p_enabled);
 				return;
@@ -509,8 +509,8 @@ void ScriptEditor::_set_breakpoint(REF p_script, int p_line, bool p_enabled) {
 }
 
 void ScriptEditor::_clear_breakpoints() {
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 		if (se) {
 			se->clear_breakpoints();
 		}
@@ -547,11 +547,11 @@ Array ScriptEditor::_get_cached_breakpoints_for_script(const String &p_path) con
 
 ScriptEditorBase *ScriptEditor::_get_current_editor() const {
 	int selected = tab_container->get_current_tab();
-	if (selected < 0 || selected >= tab_container->get_child_count()) {
+	if (selected < 0 || selected >= tab_container->get_tab_count()) {
 		return nullptr;
 	}
 
-	return Object::cast_to<ScriptEditorBase>(tab_container->get_child(selected));
+	return Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(selected));
 }
 
 void ScriptEditor::_update_history_arrows() {
@@ -590,7 +590,7 @@ void ScriptEditor::_go_to_tab(int p_idx) {
 		}
 	}
 
-	Control *c = Object::cast_to<Control>(tab_container->get_child(p_idx));
+	Control *c = Object::cast_to<Control>(tab_container->get_tab_control(p_idx));
 	if (!c) {
 		return;
 	}
@@ -682,7 +682,7 @@ void ScriptEditor::_update_recent_scripts() {
 	recent_scripts->add_shortcut(ED_SHORTCUT("script_editor/clear_recent", TTR("Clear Recent Files")));
 	recent_scripts->set_item_disabled(recent_scripts->get_item_id(recent_scripts->get_item_count() - 1), rc.is_empty());
 
-	recent_scripts->set_as_minsize();
+	recent_scripts->reset_size();
 }
 
 void ScriptEditor::_open_recent_script(int p_idx) {
@@ -750,11 +750,11 @@ void ScriptEditor::_show_error_dialog(String p_path) {
 
 void ScriptEditor::_close_tab(int p_idx, bool p_save, bool p_history_back) {
 	int selected = p_idx;
-	if (selected < 0 || selected >= tab_container->get_child_count()) {
+	if (selected < 0 || selected >= tab_container->get_tab_count()) {
 		return;
 	}
 
-	Node *tselected = tab_container->get_child(selected);
+	Node *tselected = tab_container->get_tab_control(selected);
 
 	ScriptEditorBase *current = Object::cast_to<ScriptEditorBase>(tselected);
 	if (current) {
@@ -805,12 +805,12 @@ void ScriptEditor::_close_tab(int p_idx, bool p_save, bool p_history_back) {
 		_save_editor_state(current);
 	}
 	memdelete(tselected);
-	if (idx >= tab_container->get_child_count()) {
-		idx = tab_container->get_child_count() - 1;
+	if (idx >= tab_container->get_tab_count()) {
+		idx = tab_container->get_tab_count() - 1;
 	}
 	if (idx >= 0) {
 		if (history_pos >= 0) {
-			idx = history[history_pos].control->get_index();
+			idx = tab_container->get_tab_idx_from_control(history[history_pos].control);
 		}
 		tab_container->set_current_tab(idx);
 	} else {
@@ -836,9 +836,9 @@ void ScriptEditor::_close_discard_current_tab(const String &p_str) {
 }
 
 void ScriptEditor::_close_docs_tab() {
-	int child_count = tab_container->get_child_count();
+	int child_count = tab_container->get_tab_count();
 	for (int i = child_count - 1; i >= 0; i--) {
-		EditorHelp *se = Object::cast_to<EditorHelp>(tab_container->get_child(i));
+		EditorHelp *se = Object::cast_to<EditorHelp>(tab_container->get_tab_control(i));
 
 		if (se) {
 			_close_tab(i, true, false);
@@ -856,7 +856,7 @@ void ScriptEditor::_copy_script_path() {
 
 void ScriptEditor::_close_other_tabs() {
 	int current_idx = tab_container->get_current_tab();
-	for (int i = tab_container->get_child_count() - 1; i >= 0; i--) {
+	for (int i = tab_container->get_tab_count() - 1; i >= 0; i--) {
 		if (i != current_idx) {
 			script_close_queue.push_back(i);
 		}
@@ -865,7 +865,7 @@ void ScriptEditor::_close_other_tabs() {
 }
 
 void ScriptEditor::_close_all_tabs() {
-	for (int i = tab_container->get_child_count() - 1; i >= 0; i--) {
+	for (int i = tab_container->get_tab_count() - 1; i >= 0; i--) {
 		script_close_queue.push_back(i);
 	}
 	_queue_close_tabs();
@@ -877,7 +877,7 @@ void ScriptEditor::_queue_close_tabs() {
 		script_close_queue.pop_front();
 
 		tab_container->set_current_tab(idx);
-		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(idx));
+		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(idx));
 		if (se) {
 			// Maybe there are unsaved changes.
 			if (se->is_unsaved()) {
@@ -900,8 +900,8 @@ void ScriptEditor::_ask_close_current_unsaved_tab(ScriptEditorBase *current) {
 void ScriptEditor::_resave_scripts(const String &p_str) {
 	apply_scripts();
 
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 		if (!se) {
 			continue;
 		}
@@ -941,8 +941,8 @@ void ScriptEditor::_resave_scripts(const String &p_str) {
 }
 
 void ScriptEditor::_reload_scripts() {
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 		if (!se) {
 			continue;
 		}
@@ -985,8 +985,8 @@ void ScriptEditor::_reload_scripts() {
 }
 
 void ScriptEditor::_res_saved_callback(const Ref<Resource> &p_res) {
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 		if (!se) {
 			continue;
 		}
@@ -1004,8 +1004,8 @@ void ScriptEditor::_res_saved_callback(const Ref<Resource> &p_res) {
 
 void ScriptEditor::_scene_saved_callback(const String &p_path) {
 	// If scene was saved, mark all built-in scripts from that scene as saved.
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 		if (!se) {
 			continue;
 		}
@@ -1046,10 +1046,10 @@ bool ScriptEditor::_test_script_times_on_disk(RES p_for_script) {
 
 	bool need_ask = false;
 	bool need_reload = false;
-	bool use_autoreload = bool(EDITOR_DEF("text_editor/behavior/files/auto_reload_scripts_on_external_change", false));
+	bool use_autoreload = bool(EDITOR_GET("text_editor/behavior/files/auto_reload_scripts_on_external_change"));
 
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 		if (se) {
 			RES edited_res = se->get_edited_resource();
 			if (p_for_script.is_valid() && edited_res.is_valid() && p_for_script != edited_res) {
@@ -1429,7 +1429,7 @@ void ScriptEditor::_menu_option(int p_option) {
 					file_system_dock->navigate_to_path(path);
 					// Ensure that the FileSystem dock is visible.
 					TabContainer *tab_container = (TabContainer *)file_system_dock->get_parent_control();
-					tab_container->set_current_tab(file_system_dock->get_index());
+					tab_container->set_current_tab(tab_container->get_tab_idx_from_control(file_system_dock));
 				}
 			} break;
 			case CLOSE_DOCS: {
@@ -1449,7 +1449,7 @@ void ScriptEditor::_menu_option(int p_option) {
 				}
 			} break;
 			case WINDOW_MOVE_DOWN: {
-				if (tab_container->get_current_tab() < tab_container->get_child_count() - 1) {
+				if (tab_container->get_current_tab() < tab_container->get_tab_count() - 1) {
 					tab_container->move_child(current, tab_container->get_current_tab() + 1);
 					tab_container->set_current_tab(tab_container->get_current_tab() + 1);
 					_update_script_names();
@@ -1495,7 +1495,7 @@ void ScriptEditor::_menu_option(int p_option) {
 					}
 				} break;
 				case WINDOW_MOVE_DOWN: {
-					if (tab_container->get_current_tab() < tab_container->get_child_count() - 1) {
+					if (tab_container->get_current_tab() < tab_container->get_tab_count() - 1) {
 						tab_container->move_child(help, tab_container->get_current_tab() + 1);
 						tab_container->set_current_tab(tab_container->get_current_tab() + 1);
 						_update_script_names();
@@ -1545,9 +1545,9 @@ void ScriptEditor::_show_save_theme_as_dialog() {
 }
 
 bool ScriptEditor::_has_docs_tab() const {
-	const int child_count = tab_container->get_child_count();
+	const int child_count = tab_container->get_tab_count();
 	for (int i = 0; i < child_count; i++) {
-		if (Object::cast_to<EditorHelp>(tab_container->get_child(i))) {
+		if (Object::cast_to<EditorHelp>(tab_container->get_tab_control(i))) {
 			return true;
 		}
 	}
@@ -1555,9 +1555,9 @@ bool ScriptEditor::_has_docs_tab() const {
 }
 
 bool ScriptEditor::_has_script_tab() const {
-	const int child_count = tab_container->get_child_count();
+	const int child_count = tab_container->get_tab_count();
 	for (int i = 0; i < child_count; i++) {
-		if (Object::cast_to<ScriptEditorBase>(tab_container->get_child(i))) {
+		if (Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i))) {
 			return true;
 		}
 	}
@@ -1581,9 +1581,9 @@ void ScriptEditor::_prepare_file_menu() {
 	menu->set_item_disabled(menu->get_item_index(WINDOW_PREV), history_pos <= 0);
 	menu->set_item_disabled(menu->get_item_index(WINDOW_NEXT), history_pos >= history.size() - 1);
 
-	menu->set_item_disabled(menu->get_item_index(FILE_CLOSE), tab_container->get_child_count() < 1);
-	menu->set_item_disabled(menu->get_item_index(CLOSE_ALL), tab_container->get_child_count() < 1);
-	menu->set_item_disabled(menu->get_item_index(CLOSE_OTHER_TABS), tab_container->get_child_count() <= 1);
+	menu->set_item_disabled(menu->get_item_index(FILE_CLOSE), tab_container->get_tab_count() < 1);
+	menu->set_item_disabled(menu->get_item_index(CLOSE_ALL), tab_container->get_tab_count() < 1);
+	menu->set_item_disabled(menu->get_item_index(CLOSE_OTHER_TABS), tab_container->get_tab_count() <= 1);
 	menu->set_item_disabled(menu->get_item_index(CLOSE_DOCS), !_has_docs_tab());
 
 	menu->set_item_disabled(menu->get_item_index(FILE_RUN), current_is_doc);
@@ -1635,7 +1635,7 @@ void ScriptEditor::_notification(int p_what) {
 
 			filename->add_theme_style_override("normal", EditorNode::get_singleton()->get_gui_base()->get_theme_stylebox(SNAME("normal"), SNAME("LineEdit")));
 
-			recent_scripts->set_as_minsize();
+			recent_scripts->reset_size();
 
 			if (is_inside_tree()) {
 				_update_script_colors();
@@ -1682,8 +1682,8 @@ bool ScriptEditor::can_take_away_focus() const {
 }
 
 void ScriptEditor::close_builtin_scripts_from_scene(const String &p_scene) {
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 
 		if (se) {
 			Ref<Script> script = se->get_edited_resource();
@@ -1713,8 +1713,8 @@ void ScriptEditor::notify_script_changed(const Ref<Script> &p_script) {
 
 void ScriptEditor::get_breakpoints(List<String> *p_breakpoints) {
 	Set<String> loaded_scripts;
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 		if (!se) {
 			continue;
 		}
@@ -1766,7 +1766,7 @@ void ScriptEditor::_members_overview_selected(int p_idx) {
 }
 
 void ScriptEditor::_help_overview_selected(int p_idx) {
-	Node *current = tab_container->get_child(tab_container->get_current_tab());
+	Node *current = tab_container->get_tab_control(tab_container->get_current_tab());
 	EditorHelp *se = Object::cast_to<EditorHelp>(current);
 	if (!se) {
 		return;
@@ -1782,7 +1782,7 @@ void ScriptEditor::_script_selected(int p_idx) {
 }
 
 void ScriptEditor::ensure_select_current() {
-	if (tab_container->get_child_count() && tab_container->get_current_tab() >= 0) {
+	if (tab_container->get_tab_count() && tab_container->get_current_tab() >= 0) {
 		ScriptEditorBase *se = _get_current_editor();
 		if (se) {
 			se->enable_editor();
@@ -1893,12 +1893,12 @@ void ScriptEditor::_update_members_overview() {
 
 void ScriptEditor::_update_help_overview_visibility() {
 	int selected = tab_container->get_current_tab();
-	if (selected < 0 || selected >= tab_container->get_child_count()) {
+	if (selected < 0 || selected >= tab_container->get_tab_count()) {
 		help_overview->set_visible(false);
 		return;
 	}
 
-	Node *current = tab_container->get_child(tab_container->get_current_tab());
+	Node *current = tab_container->get_tab_control(tab_container->get_current_tab());
 	EditorHelp *se = Object::cast_to<EditorHelp>(current);
 	if (!se) {
 		help_overview->set_visible(false);
@@ -1920,11 +1920,11 @@ void ScriptEditor::_update_help_overview() {
 	help_overview->clear();
 
 	int selected = tab_container->get_current_tab();
-	if (selected < 0 || selected >= tab_container->get_child_count()) {
+	if (selected < 0 || selected >= tab_container->get_tab_count()) {
 		return;
 	}
 
-	Node *current = tab_container->get_child(tab_container->get_current_tab());
+	Node *current = tab_container->get_tab_control(tab_container->get_current_tab());
 	EditorHelp *se = Object::cast_to<EditorHelp>(current);
 	if (!se) {
 		return;
@@ -1947,7 +1947,7 @@ void ScriptEditor::_update_script_colors() {
 
 	for (int i = 0; i < script_list->get_item_count(); i++) {
 		int c = script_list->get_item_metadata(i);
-		Node *n = tab_container->get_child(c);
+		Node *n = tab_container->get_tab_control(c);
 		if (!n) {
 			continue;
 		}
@@ -1990,8 +1990,8 @@ void ScriptEditor::_update_script_names() {
 
 	Vector<_ScriptEditorItemData> sedata;
 
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 		if (se) {
 			Ref<Texture2D> icon = se->get_theme_icon();
 			String path = se->get_edited_resource()->get_path();
@@ -2080,7 +2080,7 @@ void ScriptEditor::_update_script_names() {
 			}
 		}
 
-		EditorHelp *eh = Object::cast_to<EditorHelp>(tab_container->get_child(i));
+		EditorHelp *eh = Object::cast_to<EditorHelp>(tab_container->get_tab_control(i));
 		if (eh) {
 			String name = eh->get_class();
 			Ref<Texture2D> icon = get_theme_icon(SNAME("Help"), SNAME("EditorIcons"));
@@ -2172,8 +2172,8 @@ void ScriptEditor::_update_script_names() {
 }
 
 void ScriptEditor::_update_script_connections() {
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		ScriptTextEditor *ste = Object::cast_to<ScriptTextEditor>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		ScriptTextEditor *ste = Object::cast_to<ScriptTextEditor>(tab_container->get_tab_control(i));
 		if (!ste) {
 			continue;
 		}
@@ -2322,8 +2322,8 @@ bool ScriptEditor::edit(const RES &p_resource, int p_line, int p_col, bool p_gra
 		WARN_PRINT("Couldn't open external text editor, using internal");
 	}
 
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 		if (!se) {
 			continue;
 		}
@@ -2498,8 +2498,8 @@ void ScriptEditor::save_current_script() {
 void ScriptEditor::save_all_scripts() {
 	Vector<String> scenes_to_save;
 
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 		if (!se) {
 			continue;
 		}
@@ -2574,8 +2574,8 @@ void ScriptEditor::save_all_scripts() {
 }
 
 void ScriptEditor::apply_scripts() const {
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 		if (!se) {
 			continue;
 		}
@@ -2624,8 +2624,8 @@ RES ScriptEditor::open_file(const String &p_file) {
 }
 
 void ScriptEditor::_editor_stop() {
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 		if (!se) {
 			continue;
 		}
@@ -2641,8 +2641,8 @@ void ScriptEditor::_add_callback(Object *p_obj, const String &p_function, const
 
 	EditorNode::get_singleton()->push_item(script.ptr());
 
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 		if (!se) {
 			continue;
 		}
@@ -2712,8 +2712,8 @@ void ScriptEditor::_editor_settings_changed() {
 		EditorSettings::get_singleton()->load_text_editor_theme();
 	}
 
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 		if (!se) {
 			continue;
 		}
@@ -2723,7 +2723,7 @@ void ScriptEditor::_editor_settings_changed() {
 	_update_script_colors();
 	_update_script_names();
 
-	ScriptServer::set_reload_scripts_on_save(EDITOR_DEF("text_editor/behavior/files/auto_reload_and_parse_scripts_on_save", true));
+	ScriptServer::set_reload_scripts_on_save(EDITOR_GET("text_editor/behavior/files/auto_reload_and_parse_scripts_on_save"));
 }
 
 void ScriptEditor::_filesystem_changed() {
@@ -2751,8 +2751,8 @@ void ScriptEditor::_files_moved(const String &p_old_file, const String &p_new_fi
 }
 
 void ScriptEditor::_file_removed(const String &p_removed_file) {
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 		if (!se) {
 			continue;
 		}
@@ -2815,11 +2815,11 @@ void ScriptEditor::_split_dragged(float) {
 }
 
 Variant ScriptEditor::get_drag_data_fw(const Point2 &p_point, Control *p_from) {
-	if (tab_container->get_child_count() == 0) {
+	if (tab_container->get_tab_count() == 0) {
 		return Variant();
 	}
 
-	Node *cur_node = tab_container->get_child(tab_container->get_current_tab());
+	Node *cur_node = tab_container->get_tab_control(tab_container->get_current_tab());
 
 	HBoxContainer *drag_preview = memnew(HBoxContainer);
 	String preview_name = "";
@@ -2975,7 +2975,7 @@ void ScriptEditor::drop_data_fw(const Point2 &p_point, const Variant &p_data, Co
 		if (script_list->get_item_count() > 0) {
 			new_index = script_list->get_item_metadata(script_list->get_item_at_position(p_point));
 		}
-		int num_tabs_before = tab_container->get_child_count();
+		int num_tabs_before = tab_container->get_tab_count();
 		for (int i = 0; i < files.size(); i++) {
 			String file = files[i];
 			if (file.is_empty() || !FileAccess::exists(file)) {
@@ -2988,11 +2988,11 @@ void ScriptEditor::drop_data_fw(const Point2 &p_point, const Variant &p_data, Co
 
 			RES res = open_file(file);
 			if (res.is_valid()) {
-				if (tab_container->get_child_count() > num_tabs_before) {
-					tab_container->move_child(tab_container->get_child(tab_container->get_child_count() - 1), new_index);
-					num_tabs_before = tab_container->get_child_count();
+				if (tab_container->get_tab_count() > num_tabs_before) {
+					tab_container->move_child(tab_container->get_tab_control(tab_container->get_tab_count() - 1), new_index);
+					num_tabs_before = tab_container->get_tab_count();
 				} else { /* Maybe script was already open */
-					tab_container->move_child(tab_container->get_child(tab_container->get_current_tab()), new_index);
+					tab_container->move_child(tab_container->get_tab_control(tab_container->get_current_tab()), new_index);
 				}
 			}
 		}
@@ -3081,11 +3081,11 @@ void ScriptEditor::_make_script_list_context_menu() {
 	context_menu->clear();
 
 	int selected = tab_container->get_current_tab();
-	if (selected < 0 || selected >= tab_container->get_child_count()) {
+	if (selected < 0 || selected >= tab_container->get_tab_count()) {
 		return;
 	}
 
-	ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(selected));
+	ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(selected));
 	if (se) {
 		context_menu->add_shortcut(ED_GET_SHORTCUT("script_editor/save"), FILE_SAVE);
 		context_menu->add_shortcut(ED_GET_SHORTCUT("script_editor/save_as"), FILE_SAVE_AS);
@@ -3113,11 +3113,11 @@ void ScriptEditor::_make_script_list_context_menu() {
 	context_menu->add_shortcut(ED_GET_SHORTCUT("script_editor/window_sort"), WINDOW_SORT);
 	context_menu->add_shortcut(ED_GET_SHORTCUT("script_editor/toggle_scripts_panel"), TOGGLE_SCRIPTS_PANEL);
 
-	context_menu->set_item_disabled(context_menu->get_item_index(CLOSE_ALL), tab_container->get_child_count() <= 0);
-	context_menu->set_item_disabled(context_menu->get_item_index(CLOSE_OTHER_TABS), tab_container->get_child_count() <= 1);
+	context_menu->set_item_disabled(context_menu->get_item_index(CLOSE_ALL), tab_container->get_tab_count() <= 0);
+	context_menu->set_item_disabled(context_menu->get_item_index(CLOSE_OTHER_TABS), tab_container->get_tab_count() <= 1);
 	context_menu->set_item_disabled(context_menu->get_item_index(WINDOW_MOVE_UP), tab_container->get_current_tab() <= 0);
-	context_menu->set_item_disabled(context_menu->get_item_index(WINDOW_MOVE_DOWN), tab_container->get_current_tab() >= tab_container->get_child_count() - 1);
-	context_menu->set_item_disabled(context_menu->get_item_index(WINDOW_SORT), tab_container->get_child_count() <= 1);
+	context_menu->set_item_disabled(context_menu->get_item_index(WINDOW_MOVE_DOWN), tab_container->get_current_tab() >= tab_container->get_tab_count() - 1);
+	context_menu->set_item_disabled(context_menu->get_item_index(WINDOW_SORT), tab_container->get_tab_count() <= 1);
 
 	context_menu->set_position(get_screen_position() + get_local_mouse_position());
 	context_menu->reset_size();
@@ -3125,7 +3125,7 @@ void ScriptEditor::_make_script_list_context_menu() {
 }
 
 void ScriptEditor::set_window_layout(Ref<ConfigFile> p_layout) {
-	if (!bool(EDITOR_DEF("text_editor/behavior/files/restore_scripts_on_load", true))) {
+	if (!bool(EDITOR_GET("text_editor/behavior/files/restore_scripts_on_load"))) {
 		return;
 	}
 
@@ -3181,7 +3181,7 @@ void ScriptEditor::set_window_layout(Ref<ConfigFile> p_layout) {
 		}
 
 		if (!script_info.is_empty()) {
-			ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(tab_container->get_tab_count() - 1));
+			ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(tab_container->get_tab_count() - 1));
 			if (se) {
 				se->set_edit_state(script_info["state"]);
 			}
@@ -3196,8 +3196,8 @@ void ScriptEditor::set_window_layout(Ref<ConfigFile> p_layout) {
 		_help_class_open(path);
 	}
 
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		tab_container->get_child(i)->set_meta("__editor_pass", Variant());
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		tab_container->get_tab_control(i)->set_meta("__editor_pass", Variant());
 	}
 
 	if (p_layout->has_section_key("ScriptEditor", "script_split_offset")) {
@@ -3237,8 +3237,8 @@ void ScriptEditor::get_window_layout(Ref<ConfigFile> p_layout) {
 	Array scripts;
 	Array helps;
 
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 		if (se) {
 			String path = se->get_edited_resource()->get_path();
 			if (!path.is_resource_file()) {
@@ -3249,7 +3249,7 @@ void ScriptEditor::get_window_layout(Ref<ConfigFile> p_layout) {
 			scripts.push_back(path);
 		}
 
-		EditorHelp *eh = Object::cast_to<EditorHelp>(tab_container->get_child(i));
+		EditorHelp *eh = Object::cast_to<EditorHelp>(tab_container->get_tab_control(i));
 
 		if (eh) {
 			helps.push_back(eh->get_class());
@@ -3270,8 +3270,8 @@ void ScriptEditor::_help_class_open(const String &p_class) {
 		return;
 	}
 
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		EditorHelp *eh = Object::cast_to<EditorHelp>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		EditorHelp *eh = Object::cast_to<EditorHelp>(tab_container->get_tab_control(i));
 
 		if (eh && eh->get_class() == p_class) {
 			_go_to_tab(i);
@@ -3296,8 +3296,8 @@ void ScriptEditor::_help_class_open(const String &p_class) {
 void ScriptEditor::_help_class_goto(const String &p_desc) {
 	String cname = p_desc.get_slice(":", 1);
 
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		EditorHelp *eh = Object::cast_to<EditorHelp>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		EditorHelp *eh = Object::cast_to<EditorHelp>(tab_container->get_tab_control(i));
 
 		if (eh && eh->get_class() == cname) {
 			_go_to_tab(i);
@@ -3323,8 +3323,8 @@ void ScriptEditor::_help_class_goto(const String &p_desc) {
 void ScriptEditor::update_doc(const String &p_name) {
 	ERR_FAIL_COND(!EditorHelp::get_doc_data()->has_doc(p_name));
 
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		EditorHelp *eh = Object::cast_to<EditorHelp>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		EditorHelp *eh = Object::cast_to<EditorHelp>(tab_container->get_tab_control(i));
 		if (eh && eh->get_class() == p_name) {
 			eh->update_doc();
 			return;
@@ -3333,10 +3333,10 @@ void ScriptEditor::update_doc(const String &p_name) {
 }
 
 void ScriptEditor::_update_selected_editor_menu() {
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
 		bool current = tab_container->get_current_tab() == i;
 
-		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 		if (se && se->get_edit_menu()) {
 			if (current) {
 				se->get_edit_menu()->show();
@@ -3356,7 +3356,7 @@ void ScriptEditor::_update_selected_editor_menu() {
 		script_search_menu->get_popup()->add_shortcut(ED_SHORTCUT("script_editor/find_in_files", TTR("Find in Files"), KeyModifierMask::CMD | KeyModifierMask::SHIFT | Key::F), SEARCH_IN_FILES);
 		script_search_menu->show();
 	} else {
-		if (tab_container->get_child_count() == 0) {
+		if (tab_container->get_tab_count() == 0) {
 			script_search_menu->get_popup()->add_shortcut(ED_SHORTCUT("script_editor/find_in_files", TTR("Find in Files"), KeyModifierMask::CMD | KeyModifierMask::SHIFT | Key::F), SEARCH_IN_FILES);
 			script_search_menu->show();
 		} else {
@@ -3376,7 +3376,7 @@ void ScriptEditor::_update_history_pos(int p_new_pos) {
 	}
 
 	history_pos = p_new_pos;
-	tab_container->set_current_tab(history[history_pos].control->get_index());
+	tab_container->set_current_tab(tab_container->get_tab_idx_from_control(history[history_pos].control));
 
 	n = history[history_pos].control;
 
@@ -3416,8 +3416,8 @@ void ScriptEditor::_history_back() {
 Vector<Ref<Script>> ScriptEditor::get_open_scripts() const {
 	Vector<Ref<Script>> out_scripts = Vector<Ref<Script>>();
 
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 		if (!se) {
 			continue;
 		}
@@ -3433,8 +3433,8 @@ Vector<Ref<Script>> ScriptEditor::get_open_scripts() const {
 
 Array ScriptEditor::_get_open_script_editors() const {
 	Array script_editors;
-	for (int i = 0; i < tab_container->get_child_count(); i++) {
-		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_child(i));
+	for (int i = 0; i < tab_container->get_tab_count(); i++) {
+		ScriptEditorBase *se = Object::cast_to<ScriptEditorBase>(tab_container->get_tab_control(i));
 		if (!se) {
 			continue;
 		}
@@ -4039,7 +4039,7 @@ ScriptEditorPlugin::ScriptEditorPlugin() {
 
 	script_editor->hide();
 
-	EDITOR_DEF("text_editor/behavior/files/auto_reload_scripts_on_external_change", true);
+	EDITOR_GET("text_editor/behavior/files/auto_reload_scripts_on_external_change");
 	ScriptServer::set_reload_scripts_on_save(EDITOR_DEF("text_editor/behavior/files/auto_reload_and_parse_scripts_on_save", true));
 	EDITOR_DEF("text_editor/behavior/files/open_dominant_script_on_scene_change", true);
 	EDITOR_DEF("text_editor/external/use_external_editor", false);
diff --git a/editor/plugins/script_text_editor.cpp b/editor/plugins/script_text_editor.cpp
index b87f2995ed..10b6129864 100644
--- a/editor/plugins/script_text_editor.cpp
+++ b/editor/plugins/script_text_editor.cpp
@@ -521,7 +521,7 @@ void ScriptTextEditor::_update_errors() {
 	errors_panel->pop(); // Table
 
 	CodeEdit *te = code_editor->get_text_editor();
-	bool highlight_safe = EDITOR_DEF("text_editor/appearance/gutters/highlight_type_safe_lines", true);
+	bool highlight_safe = EDITOR_GET("text_editor/appearance/gutters/highlight_type_safe_lines");
 	bool last_is_safe = false;
 	for (int i = 0; i < te->get_line_count(); i++) {
 		if (errors.is_empty()) {
@@ -1335,6 +1335,9 @@ void ScriptTextEditor::_change_syntax_highlighter(int p_idx) {
 void ScriptTextEditor::_notification(int p_what) {
 	switch (p_what) {
 		case NOTIFICATION_THEME_CHANGED:
+			if (!editor_enabled) {
+				break;
+			}
 			if (is_visible_in_tree()) {
 				_update_warnings();
 				_update_errors();
diff --git a/editor/plugins/shader_editor_plugin.cpp b/editor/plugins/shader_editor_plugin.cpp
index cea1a0e808..382138a995 100644
--- a/editor/plugins/shader_editor_plugin.cpp
+++ b/editor/plugins/shader_editor_plugin.cpp
@@ -520,7 +520,7 @@ void ShaderEditor::_check_for_external_edit() {
 		return;
 	}
 
-	bool use_autoreload = bool(EDITOR_DEF("text_editor/behavior/files/auto_reload_scripts_on_external_change", false));
+	bool use_autoreload = bool(EDITOR_GET("text_editor/behavior/files/auto_reload_scripts_on_external_change"));
 	if (shader->get_last_modified_time() != FileAccess::get_modified_time(shader->get_path())) {
 		if (use_autoreload) {
 			_reload_shader_from_disk();
diff --git a/editor/plugins/skeleton_3d_editor_plugin.cpp b/editor/plugins/skeleton_3d_editor_plugin.cpp
index 282ee9a5b7..aadc7a2e66 100644
--- a/editor/plugins/skeleton_3d_editor_plugin.cpp
+++ b/editor/plugins/skeleton_3d_editor_plugin.cpp
@@ -530,18 +530,23 @@ void Skeleton3DEditor::_joint_tree_selection_changed() {
 	TreeItem *selected = joint_tree->get_selected();
 	if (selected) {
 		const String path = selected->get_metadata(0);
-
-		if (path.begins_with("bones/")) {
-			const int b_idx = path.get_slicec('/', 1).to_int();
+		if (!path.begins_with("bones/")) {
+			return;
+		}
+		const int b_idx = path.get_slicec('/', 1).to_int();
+		selected_bone = b_idx;
+		if (pose_editor) {
 			const String bone_path = "bones/" + itos(b_idx) + "/";
-
 			pose_editor->set_target(bone_path);
 			pose_editor->set_keyable(keyable);
-			selected_bone = b_idx;
 		}
 	}
-	pose_editor->set_visible(selected);
+
+	if (pose_editor && pose_editor->is_inside_tree()) {
+		pose_editor->set_visible(selected);
+	}
 	set_bone_options_enabled(selected);
+
 	_update_properties();
 	_update_gizmo_visible();
 }
diff --git a/editor/plugins/sprite_2d_editor_plugin.cpp b/editor/plugins/sprite_2d_editor_plugin.cpp
index 3489ac2c1e..6a63875324 100644
--- a/editor/plugins/sprite_2d_editor_plugin.cpp
+++ b/editor/plugins/sprite_2d_editor_plugin.cpp
@@ -122,8 +122,8 @@ void Sprite2DEditor::_menu_option(int p_option) {
 
 	switch (p_option) {
 		case MENU_OPTION_CONVERT_TO_MESH_2D: {
-			debug_uv_dialog->get_ok_button()->set_text(TTR("Create Mesh2D"));
-			debug_uv_dialog->set_title(TTR("Mesh2D Preview"));
+			debug_uv_dialog->get_ok_button()->set_text(TTR("Create MeshInstance2D"));
+			debug_uv_dialog->set_title(TTR("MeshInstance2D Preview"));
 
 			_update_mesh_data();
 			debug_uv_dialog->popup_centered();
@@ -338,7 +338,7 @@ void Sprite2DEditor::_convert_to_mesh_2d_node() {
 	mesh_instance->set_mesh(mesh);
 
 	UndoRedo *ur = EditorNode::get_singleton()->get_undo_redo();
-	ur->create_action(TTR("Convert to Mesh2D"));
+	ur->create_action(TTR("Convert to MeshInstance2D"));
 	ur->add_do_method(SceneTreeDock::get_singleton(), "replace_node", node, mesh_instance, true, false);
 	ur->add_do_reference(mesh_instance);
 	ur->add_undo_method(SceneTreeDock::get_singleton(), "replace_node", mesh_instance, node, false, false);
@@ -498,6 +498,20 @@ void Sprite2DEditor::_debug_uv_draw() {
 	}
 }
 
+void Sprite2DEditor::_notification(int p_what) {
+	switch (p_what) {
+		case NOTIFICATION_ENTER_TREE:
+		case NOTIFICATION_THEME_CHANGED: {
+			options->set_icon(get_theme_icon(SNAME("Sprite2D"), SNAME("EditorIcons")));
+
+			options->get_popup()->set_item_icon(MENU_OPTION_CONVERT_TO_MESH_2D, get_theme_icon(SNAME("MeshInstance2D"), SNAME("EditorIcons")));
+			options->get_popup()->set_item_icon(MENU_OPTION_CONVERT_TO_POLYGON_2D, get_theme_icon(SNAME("Polygon2D"), SNAME("EditorIcons")));
+			options->get_popup()->set_item_icon(MENU_OPTION_CREATE_COLLISION_POLY_2D, get_theme_icon(SNAME("CollisionPolygon2D"), SNAME("EditorIcons")));
+			options->get_popup()->set_item_icon(MENU_OPTION_CREATE_LIGHT_OCCLUDER_2D, get_theme_icon(SNAME("LightOccluder2D"), SNAME("EditorIcons")));
+		} break;
+	}
+}
+
 void Sprite2DEditor::_bind_methods() {
 	ClassDB::bind_method("_add_as_sibling_or_child", &Sprite2DEditor::_add_as_sibling_or_child);
 }
@@ -508,9 +522,8 @@ Sprite2DEditor::Sprite2DEditor() {
 	CanvasItemEditor::get_singleton()->add_control_to_menu_panel(options);
 
 	options->set_text(TTR("Sprite2D"));
-	options->set_icon(EditorNode::get_singleton()->get_gui_base()->get_theme_icon(SNAME("Sprite2D"), SNAME("EditorIcons")));
 
-	options->get_popup()->add_item(TTR("Convert to Mesh2D"), MENU_OPTION_CONVERT_TO_MESH_2D);
+	options->get_popup()->add_item(TTR("Convert to MeshInstance2D"), MENU_OPTION_CONVERT_TO_MESH_2D);
 	options->get_popup()->add_item(TTR("Convert to Polygon2D"), MENU_OPTION_CONVERT_TO_POLYGON_2D);
 	options->get_popup()->add_item(TTR("Create CollisionPolygon2D Sibling"), MENU_OPTION_CREATE_COLLISION_POLY_2D);
 	options->get_popup()->add_item(TTR("Create LightOccluder2D Sibling"), MENU_OPTION_CREATE_LIGHT_OCCLUDER_2D);
@@ -522,8 +535,6 @@ Sprite2DEditor::Sprite2DEditor() {
 	add_child(err_dialog);
 
 	debug_uv_dialog = memnew(ConfirmationDialog);
-	debug_uv_dialog->get_ok_button()->set_text(TTR("Create Mesh2D"));
-	debug_uv_dialog->set_title(TTR("Mesh 2D Preview"));
 	VBoxContainer *vb = memnew(VBoxContainer);
 	debug_uv_dialog->add_child(vb);
 	ScrollContainer *scroll = memnew(ScrollContainer);
diff --git a/editor/plugins/sprite_2d_editor_plugin.h b/editor/plugins/sprite_2d_editor_plugin.h
index 3e4cc17cdd..46953b0937 100644
--- a/editor/plugins/sprite_2d_editor_plugin.h
+++ b/editor/plugins/sprite_2d_editor_plugin.h
@@ -87,6 +87,7 @@ class Sprite2DEditor : public Control {
 
 protected:
 	void _node_removed(Node *p_node);
+	void _notification(int p_what);
 	static void _bind_methods();
 
 public:
diff --git a/editor/plugins/texture_editor_plugin.cpp b/editor/plugins/texture_editor_plugin.cpp
index 17fe4fdc50..a7c06ada5c 100644
--- a/editor/plugins/texture_editor_plugin.cpp
+++ b/editor/plugins/texture_editor_plugin.cpp
@@ -64,8 +64,8 @@ void TexturePreview::_update_metadata_label_text() {
 	String format;
 	if (Object::cast_to<ImageTexture>(*texture)) {
 		format = Image::get_format_name(Object::cast_to<ImageTexture>(*texture)->get_format());
-	} else if (Object::cast_to<StreamTexture2D>(*texture)) {
-		format = Image::get_format_name(Object::cast_to<StreamTexture2D>(*texture)->get_format());
+	} else if (Object::cast_to<CompressedTexture2D>(*texture)) {
+		format = Image::get_format_name(Object::cast_to<CompressedTexture2D>(*texture)->get_format());
 	} else {
 		format = texture->get_class();
 	}
@@ -110,7 +110,7 @@ TexturePreview::TexturePreview(Ref<Texture2D> p_texture, bool p_show_metadata) {
 }
 
 bool EditorInspectorPluginTexture::can_handle(Object *p_object) {
-	return Object::cast_to<ImageTexture>(p_object) != nullptr || Object::cast_to<AtlasTexture>(p_object) != nullptr || Object::cast_to<StreamTexture2D>(p_object) != nullptr || Object::cast_to<AnimatedTexture>(p_object) != nullptr;
+	return Object::cast_to<ImageTexture>(p_object) != nullptr || Object::cast_to<AtlasTexture>(p_object) != nullptr || Object::cast_to<CompressedTexture2D>(p_object) != nullptr || Object::cast_to<AnimatedTexture>(p_object) != nullptr;
 }
 
 void EditorInspectorPluginTexture::parse_begin(Object *p_object) {
diff --git a/editor/plugins/texture_region_editor_plugin.cpp b/editor/plugins/texture_region_editor_plugin.cpp
index ee31131d86..adb8590246 100644
--- a/editor/plugins/texture_region_editor_plugin.cpp
+++ b/editor/plugins/texture_region_editor_plugin.cpp
@@ -85,8 +85,10 @@ void TextureRegionEditor::_region_draw() {
 	edit_draw->draw_texture(base_tex, Point2());
 	RS::get_singleton()->canvas_item_add_set_transform(edit_draw->get_canvas_item(), Transform2D());
 
+	const Color color = get_theme_color(SNAME("mono_color"), SNAME("Editor"));
+
 	if (snap_mode == SNAP_GRID) {
-		Color grid_color = Color(1.0, 1.0, 1.0, 0.15);
+		const Color grid_color = Color(color.r, color.g, color.b, color.a * 0.15);
 		Size2 s = edit_draw->get_size();
 		int last_cell = 0;
 
@@ -172,7 +174,6 @@ void TextureRegionEditor::_region_draw() {
 		mtx.basis_xform(raw_endpoints[2]),
 		mtx.basis_xform(raw_endpoints[3])
 	};
-	Color color = get_theme_color(SNAME("mono_color"), SNAME("Editor"));
 	for (int i = 0; i < 4; i++) {
 		int prev = (i + 3) % 4;
 		int next = (i + 1) % 4;
diff --git a/editor/plugins/theme_editor_plugin.cpp b/editor/plugins/theme_editor_plugin.cpp
index a03f036b72..d313b98a7f 100644
--- a/editor/plugins/theme_editor_plugin.cpp
+++ b/editor/plugins/theme_editor_plugin.cpp
@@ -1887,7 +1887,7 @@ ThemeItemEditorDialog::ThemeItemEditorDialog(ThemeTypeEditor *p_theme_type_edito
 	theme_type_editor = p_theme_type_editor;
 
 	tc = memnew(TabContainer);
-	tc->set_tab_alignment(TabContainer::ALIGNMENT_LEFT);
+	tc->set_tab_alignment(TabBar::ALIGNMENT_LEFT);
 	add_child(tc);
 
 	// Edit Items tab.
@@ -2077,7 +2077,7 @@ ThemeItemEditorDialog::ThemeItemEditorDialog(ThemeTypeEditor *p_theme_type_edito
 	List<String> ext;
 	ResourceLoader::get_recognized_extensions_for_type("Theme", &ext);
 	for (const String &E : ext) {
-		import_another_theme_dialog->add_filter("*." + E + "; Theme Resource");
+		import_another_theme_dialog->add_filter(vformat("*.%s; %s", E, TTR("Theme Resource")));
 	}
 	import_another_file_hb->add_child(import_another_theme_dialog);
 	import_another_theme_dialog->connect("file_selected", callable_mp(this, &ThemeItemEditorDialog::_select_another_theme_cbk));
@@ -3664,7 +3664,7 @@ ThemeEditor::ThemeEditor() {
 	List<String> ext;
 	ResourceLoader::get_recognized_extensions_for_type("PackedScene", &ext);
 	for (const String &E : ext) {
-		preview_scene_dialog->add_filter("*." + E + "; Scene");
+		preview_scene_dialog->add_filter(vformat("*.%s; %s", E, TTR("Scene")));
 	}
 	main_hs->add_child(preview_scene_dialog);
 	preview_scene_dialog->connect("file_selected", callable_mp(this, &ThemeEditor::_preview_scene_dialog_cbk));
diff --git a/editor/plugins/version_control_editor_plugin.cpp b/editor/plugins/version_control_editor_plugin.cpp
index b1d5b348c4..443d5975cd 100644
--- a/editor/plugins/version_control_editor_plugin.cpp
+++ b/editor/plugins/version_control_editor_plugin.cpp
@@ -329,7 +329,7 @@ void VersionControlEditorPlugin::register_editor() {
 	if (!EditorVCSInterface::get_singleton()) {
 		EditorNode::get_singleton()->add_control_to_dock(EditorNode::DOCK_SLOT_RIGHT_UL, version_commit_dock);
 		TabContainer *dock_vbc = (TabContainer *)version_commit_dock->get_parent_control();
-		dock_vbc->set_tab_title(version_commit_dock->get_index(), TTR("Commit"));
+		dock_vbc->set_tab_title(dock_vbc->get_tab_idx_from_control(version_commit_dock), TTR("Commit"));
 
 		Button *vc = EditorNode::get_singleton()->add_bottom_panel_item(TTR("Version Control"), version_control_dock);
 		set_version_control_tool_button(vc);
diff --git a/editor/plugins/visual_shader_editor_plugin.cpp b/editor/plugins/visual_shader_editor_plugin.cpp
index a821faf6b3..7f30dd91e5 100644
--- a/editor/plugins/visual_shader_editor_plugin.cpp
+++ b/editor/plugins/visual_shader_editor_plugin.cpp
@@ -555,7 +555,7 @@ void VisualShaderGraphPlugin::add_node(VisualShader::Type p_type, int p_id) {
 	}
 
 	if (custom_editor) {
-		if (is_curve || (hb == nullptr && !vsnode->is_use_prop_slots() && vsnode->get_output_port_count() > 0 && vsnode->get_output_port_name(0) == "" && (vsnode->get_input_port_count() == 0 || vsnode->get_input_port_name(0) == ""))) {
+		if (is_curve || (hb == nullptr && !vsnode->is_use_prop_slots() && (vsnode->get_output_port_count() == 0 || vsnode->get_output_port_name(0) == "") && (vsnode->get_input_port_count() == 0 || vsnode->get_input_port_name(0) == ""))) {
 			//will be embedded in first port
 		} else {
 			port_offset++;
@@ -1074,6 +1074,7 @@ void VisualShaderEditor::edit(VisualShader *p_visual_shader) {
 		hide();
 	} else {
 		if (changed) { // to avoid tree collapse
+			_update_varying_tree();
 			_update_options_menu();
 			_update_preview();
 			_update_graph();
@@ -1081,6 +1082,10 @@ void VisualShaderEditor::edit(VisualShader *p_visual_shader) {
 	}
 }
 
+void VisualShaderEditor::update_nodes() {
+	_update_nodes();
+}
+
 void VisualShaderEditor::add_plugin(const Ref<VisualShaderNodePlugin> &p_plugin) {
 	if (plugins.has(p_plugin)) {
 		return;
@@ -1164,10 +1169,7 @@ bool VisualShaderEditor::_is_available(int p_mode) {
 	return (p_mode == -1 || (p_mode & current_mode) != 0);
 }
 
-void VisualShaderEditor::update_custom_nodes() {
-	if (members_dialog->is_visible()) {
-		return;
-	}
+void VisualShaderEditor::_update_nodes() {
 	clear_custom_types();
 	List<StringName> class_list;
 	ScriptServer::get_global_class_list(&class_list);
@@ -1183,6 +1185,9 @@ void VisualShaderEditor::update_custom_nodes() {
 			Ref<VisualShaderNodeCustom> ref;
 			ref.instantiate();
 			ref->set_script(script);
+			if (!ref->is_available(visual_shader->get_mode(), visual_shader->get_shader_type())) {
+				continue;
+			}
 
 			String name;
 			if (ref->has_method("_get_name")) {
@@ -1239,6 +1244,32 @@ void VisualShaderEditor::update_custom_nodes() {
 		}
 	}
 
+	// Disables not-supported copied items.
+	{
+		for (CopyItem &item : copy_items_buffer) {
+			Ref<VisualShaderNodeCustom> custom = Object::cast_to<VisualShaderNodeCustom>(item.node.ptr());
+
+			if (custom.is_valid()) {
+				if (!custom->is_available(visual_shader->get_mode(), visual_shader->get_shader_type())) {
+					item.disabled = true;
+				} else {
+					item.disabled = false;
+				}
+			} else {
+				for (int i = 0; i < add_options.size(); i++) {
+					if (add_options[i].type == item.node->get_class_name()) {
+						if ((add_options[i].func != visual_shader->get_mode() && add_options[i].func != -1) || !_is_available(add_options[i].mode)) {
+							item.disabled = true;
+						} else {
+							item.disabled = false;
+						}
+						break;
+					}
+				}
+			}
+		}
+	}
+
 	Array keys = added.keys();
 	keys.sort();
 
@@ -1460,6 +1491,7 @@ void VisualShaderEditor::_set_mode(int p_which) {
 		edit_type_fog->set_visible(false);
 		edit_type = edit_type_sky;
 		custom_mode_box->set_visible(false);
+		varying_button->hide();
 		mode = MODE_FLAGS_SKY;
 	} else if (p_which == VisualShader::MODE_FOG) {
 		edit_type_standard->set_visible(false);
@@ -1468,6 +1500,7 @@ void VisualShaderEditor::_set_mode(int p_which) {
 		edit_type_fog->set_visible(true);
 		edit_type = edit_type_fog;
 		custom_mode_box->set_visible(false);
+		varying_button->hide();
 		mode = MODE_FLAGS_FOG;
 	} else if (p_which == VisualShader::MODE_PARTICLES) {
 		edit_type_standard->set_visible(false);
@@ -1480,6 +1513,7 @@ void VisualShaderEditor::_set_mode(int p_which) {
 		} else {
 			custom_mode_box->set_visible(true);
 		}
+		varying_button->hide();
 		mode = MODE_FLAGS_PARTICLES;
 	} else {
 		edit_type_particles->set_visible(false);
@@ -1488,6 +1522,7 @@ void VisualShaderEditor::_set_mode(int p_which) {
 		edit_type_fog->set_visible(false);
 		edit_type = edit_type_standard;
 		custom_mode_box->set_visible(false);
+		varying_button->show();
 		mode = MODE_FLAGS_SPATIAL_CANVASITEM;
 	}
 	visual_shader->set_shader_type(get_current_shader_type());
@@ -1616,6 +1651,7 @@ void VisualShaderEditor::_update_graph() {
 	Vector<int> nodes = visual_shader->get_node_list(type);
 
 	_update_uniforms(false);
+	_update_varyings();
 
 	graph_plugin->clear_links();
 	graph_plugin->make_dirty(true);
@@ -2778,6 +2814,116 @@ void VisualShaderEditor::_add_node(int p_idx, const Vector<Variant> &p_ops, Stri
 	}
 }
 
+void VisualShaderEditor::_add_varying(const String &p_name, VisualShader::VaryingMode p_mode, VisualShader::VaryingType p_type) {
+	undo_redo->create_action(vformat(TTR("Add Varying to Visual Shader: %s"), p_name));
+
+	undo_redo->add_do_method(visual_shader.ptr(), "add_varying", p_name, p_mode, p_type);
+	undo_redo->add_undo_method(visual_shader.ptr(), "remove_varying", p_name);
+
+	undo_redo->add_do_method(this, "_update_varyings");
+	undo_redo->add_undo_method(this, "_update_varyings");
+
+	for (int i = 0; i <= VisualShader::TYPE_LIGHT; i++) {
+		if (p_mode == VisualShader::VARYING_MODE_FRAG_TO_LIGHT && i == 0) {
+			continue;
+		}
+
+		VisualShader::Type type = VisualShader::Type(i);
+		Vector<int> nodes = visual_shader->get_node_list(type);
+
+		for (int j = 0; j < nodes.size(); j++) {
+			int node_id = nodes[j];
+			Ref<VisualShaderNode> vsnode = visual_shader->get_node(type, node_id);
+			Ref<VisualShaderNodeVarying> var = vsnode;
+
+			if (var.is_valid()) {
+				undo_redo->add_do_method(graph_plugin.ptr(), "update_node", type, node_id);
+				undo_redo->add_undo_method(graph_plugin.ptr(), "update_node", type, node_id);
+			}
+		}
+	}
+
+	undo_redo->add_do_method(this, "_update_varying_tree");
+	undo_redo->add_undo_method(this, "_update_varying_tree");
+	undo_redo->commit_action();
+}
+
+void VisualShaderEditor::_remove_varying(const String &p_name) {
+	undo_redo->create_action(vformat(TTR("Remove Varying from Visual Shader: %s"), p_name));
+
+	VisualShader::VaryingMode mode = visual_shader->get_varying_mode(p_name);
+
+	undo_redo->add_do_method(visual_shader.ptr(), "remove_varying", p_name);
+	undo_redo->add_undo_method(visual_shader.ptr(), "add_varying", p_name, mode, visual_shader->get_varying_type(p_name));
+
+	undo_redo->add_do_method(this, "_update_varyings");
+	undo_redo->add_undo_method(this, "_update_varyings");
+
+	for (int i = 0; i <= VisualShader::TYPE_LIGHT; i++) {
+		if (mode == VisualShader::VARYING_MODE_FRAG_TO_LIGHT && i == 0) {
+			continue;
+		}
+
+		VisualShader::Type type = VisualShader::Type(i);
+		Vector<int> nodes = visual_shader->get_node_list(type);
+
+		for (int j = 0; j < nodes.size(); j++) {
+			int node_id = nodes[j];
+			Ref<VisualShaderNode> vsnode = visual_shader->get_node(type, node_id);
+			Ref<VisualShaderNodeVarying> var = vsnode;
+
+			if (var.is_valid()) {
+				String var_name = var->get_varying_name();
+
+				if (var_name == p_name) {
+					undo_redo->add_do_method(var.ptr(), "set_varying_name", "[None]");
+					undo_redo->add_undo_method(var.ptr(), "set_varying_name", var_name);
+					undo_redo->add_do_method(var.ptr(), "set_varying_type", VisualShader::VARYING_TYPE_FLOAT);
+					undo_redo->add_undo_method(var.ptr(), "set_varying_type", var->get_varying_type());
+				}
+				undo_redo->add_do_method(graph_plugin.ptr(), "update_node", type, node_id);
+				undo_redo->add_undo_method(graph_plugin.ptr(), "update_node", type, node_id);
+			}
+		}
+
+		List<VisualShader::Connection> connections;
+		visual_shader->get_node_connections(type, &connections);
+
+		for (VisualShader::Connection &E : connections) {
+			Ref<VisualShaderNodeVaryingGetter> var_getter = Object::cast_to<VisualShaderNodeVaryingGetter>(visual_shader->get_node(type, E.from_node).ptr());
+			if (var_getter.is_valid() && E.from_port > 0) {
+				undo_redo->add_do_method(visual_shader.ptr(), "disconnect_nodes", type, E.from_node, E.from_port, E.to_node, E.to_port);
+				undo_redo->add_undo_method(visual_shader.ptr(), "connect_nodes", type, E.from_node, E.from_port, E.to_node, E.to_port);
+				undo_redo->add_do_method(graph_plugin.ptr(), "disconnect_nodes", type, E.from_node, E.from_port, E.to_node, E.to_port);
+				undo_redo->add_undo_method(graph_plugin.ptr(), "connect_nodes", type, E.from_node, E.from_port, E.to_node, E.to_port);
+			}
+			Ref<VisualShaderNodeVaryingSetter> var_setter = Object::cast_to<VisualShaderNodeVaryingSetter>(visual_shader->get_node(type, E.to_node).ptr());
+			if (var_setter.is_valid() && E.to_port > 0) {
+				undo_redo->add_do_method(visual_shader.ptr(), "disconnect_nodes", type, E.from_node, E.from_port, E.to_node, E.to_port);
+				undo_redo->add_undo_method(visual_shader.ptr(), "connect_nodes", type, E.from_node, E.from_port, E.to_node, E.to_port);
+				undo_redo->add_do_method(graph_plugin.ptr(), "disconnect_nodes", type, E.from_node, E.from_port, E.to_node, E.to_port);
+				undo_redo->add_undo_method(graph_plugin.ptr(), "connect_nodes", type, E.from_node, E.from_port, E.to_node, E.to_port);
+			}
+		}
+	}
+
+	undo_redo->add_do_method(this, "_update_varying_tree");
+	undo_redo->add_undo_method(this, "_update_varying_tree");
+	undo_redo->commit_action();
+}
+
+void VisualShaderEditor::_update_varyings() {
+	VisualShaderNodeVarying::clear_varyings();
+
+	for (int i = 0; i < visual_shader->get_varyings_count(); i++) {
+		const VisualShader::Varying *var = visual_shader->get_varying_by_index(i);
+
+		if (var != nullptr) {
+			VisualShaderNodeVarying::add_varying(var->name, var->mode, var->type);
+		}
+	}
+}
+
 void VisualShaderEditor::_node_dragged(const Vector2 &p_from, const Vector2 &p_to, int p_node) {
 	VisualShader::Type type = get_current_shader_type();
 	drag_buffer.push_back({ type, p_node, p_from, p_to });
@@ -3254,15 +3400,23 @@ void VisualShaderEditor::_graph_gui_input(const Ref<InputEvent> &p_event) {
 			selected_float_constant = -1;
 		}
 
-		if (to_change.is_empty() && copy_items_buffer.is_empty()) {
+		bool copy_buffer_empty = true;
+		for (const CopyItem &item : copy_items_buffer) {
+			if (!item.disabled) {
+				copy_buffer_empty = false;
+				break;
+			}
+		}
+
+		if (to_change.is_empty() && copy_buffer_empty) {
 			_show_members_dialog(true);
 		} else {
 			popup_menu->set_item_disabled(NodeMenuOptions::CUT, to_change.is_empty());
 			popup_menu->set_item_disabled(NodeMenuOptions::COPY, to_change.is_empty());
-			popup_menu->set_item_disabled(NodeMenuOptions::PASTE, copy_items_buffer.is_empty());
+			popup_menu->set_item_disabled(NodeMenuOptions::PASTE, copy_buffer_empty);
 			popup_menu->set_item_disabled(NodeMenuOptions::DELETE, to_change.is_empty());
 			popup_menu->set_item_disabled(NodeMenuOptions::DUPLICATE, to_change.is_empty());
-			popup_menu->set_item_disabled(NodeMenuOptions::CLEAR_COPY_BUFFER, copy_items_buffer.is_empty());
+			popup_menu->set_item_disabled(NodeMenuOptions::CLEAR_COPY_BUFFER, copy_buffer_empty);
 
 			int temp = popup_menu->get_item_index(NodeMenuOptions::SEPARATOR2);
 			if (temp != -1) {
@@ -3364,6 +3518,49 @@ void VisualShaderEditor::_show_members_dialog(bool at_mouse_pos, VisualShaderNod
 	node_filter->select_all();
 }
 
+void VisualShaderEditor::_show_varying_menu() {
+	varying_options->set_item_disabled(int(VaryingMenuOptions::REMOVE), visual_shader->get_varyings_count() == 0);
+	varying_options->set_position(graph->get_screen_position() + varying_button->get_position() + Size2(0, varying_button->get_size().height));
+	varying_options->popup();
+}
+
+void VisualShaderEditor::_varying_menu_id_pressed(int p_idx) {
+	switch (VaryingMenuOptions(p_idx)) {
+		case VaryingMenuOptions::ADD: {
+			_show_add_varying_dialog();
+		} break;
+		case VaryingMenuOptions::REMOVE: {
+			_show_remove_varying_dialog();
+		} break;
+		default:
+			break;
+	}
+}
+
+void VisualShaderEditor::_show_add_varying_dialog() {
+	_varying_name_changed(varying_name->get_text());
+
+	add_varying_dialog->set_position(graph->get_screen_position() + varying_button->get_position() + Point2(5 * EDSCALE, 65 * EDSCALE));
+	add_varying_dialog->popup();
+
+	// Keep dialog within window bounds.
+	Rect2 window_rect = Rect2(DisplayServer::get_singleton()->window_get_position(), DisplayServer::get_singleton()->window_get_size());
+	Rect2 dialog_rect = Rect2(add_varying_dialog->get_position(), add_varying_dialog->get_size());
+	Vector2 difference = (dialog_rect.get_end() - window_rect.get_end()).max(Vector2());
+	add_varying_dialog->set_position(add_varying_dialog->get_position() - difference);
+}
+
+void VisualShaderEditor::_show_remove_varying_dialog() {
+	remove_varying_dialog->set_position(graph->get_screen_position() + varying_button->get_position() + Point2(5 * EDSCALE, 65 * EDSCALE));
+	remove_varying_dialog->popup();
+
+	// Keep dialog within window bounds.
+	Rect2 window_rect = Rect2(DisplayServer::get_singleton()->window_get_position(), DisplayServer::get_singleton()->window_get_size());
+	Rect2 dialog_rect = Rect2(remove_varying_dialog->get_position(), remove_varying_dialog->get_size());
+	Vector2 difference = (dialog_rect.get_end() - window_rect.get_end()).max(Vector2());
+	remove_varying_dialog->set_position(remove_varying_dialog->get_position() - difference);
+}
+
 void VisualShaderEditor::_sbox_input(const Ref<InputEvent> &p_ie) {
 	Ref<InputEventKey> ie = p_ie;
 	if (ie.is_valid() && (ie->get_keycode() == Key::UP || ie->get_keycode() == Key::DOWN || ie->get_keycode() == Key::ENTER || ie->get_keycode() == Key::KP_ENTER)) {
@@ -3416,8 +3613,10 @@ void VisualShaderEditor::_notification(int p_what) {
 				Color function_color = EDITOR_GET("text_editor/theme/highlighting/function_color");
 				Color number_color = EDITOR_GET("text_editor/theme/highlighting/number_color");
 				Color members_color = EDITOR_GET("text_editor/theme/highlighting/member_variable_color");
+				Color error_color = get_theme_color(SNAME("error_color"), SNAME("Editor"));
 
 				preview_text->add_theme_color_override("background_color", background_color);
+				varying_error_label->add_theme_color_override("font_color", error_color);
 
 				for (const String &E : keyword_list) {
 					if (ShaderLanguage::is_control_flow_keyword(E)) {
@@ -3445,7 +3644,7 @@ void VisualShaderEditor::_notification(int p_what) {
 				error_panel->add_theme_style_override("panel", get_theme_stylebox(SNAME("panel"), SNAME("Panel")));
 				error_label->add_theme_font_override("font", get_theme_font(SNAME("status_source"), SNAME("EditorFonts")));
 				error_label->add_theme_font_size_override("font_size", get_theme_font_size(SNAME("status_source_size"), SNAME("EditorFonts")));
-				error_label->add_theme_color_override("font_color", get_theme_color(SNAME("error_color"), SNAME("Editor")));
+				error_label->add_theme_color_override("font_color", error_color);
 			}
 
 			tools->set_icon(EditorNode::get_singleton()->get_gui_base()->get_theme_icon(SNAME("Tools"), SNAME("EditorIcons")));
@@ -3554,6 +3753,17 @@ void VisualShaderEditor::_dup_paste_nodes(int p_type, List<CopyItem> &r_items, c
 	if (p_duplicate) {
 		undo_redo->create_action(TTR("Duplicate VisualShader Node(s)"));
 	} else {
+		bool copy_buffer_empty = true;
+		for (const CopyItem &item : copy_items_buffer) {
+			if (!item.disabled) {
+				copy_buffer_empty = false;
+				break;
+			}
+		}
+		if (copy_buffer_empty) {
+			return;
+		}
+
 		undo_redo->create_action(TTR("Paste VisualShader Node(s)"));
 	}
 
@@ -3566,16 +3776,7 @@ void VisualShaderEditor::_dup_paste_nodes(int p_type, List<CopyItem> &r_items, c
 	Set<int> added_set;
 
 	for (CopyItem &item : r_items) {
-		bool unsupported = false;
-		for (int i = 0; i < add_options.size(); i++) {
-			if (add_options[i].type == item.node->get_class_name()) {
-				if (!_is_available(add_options[i].mode)) {
-					unsupported = true;
-				}
-				break;
-			}
-		}
-		if (unsupported) {
+		if (item.disabled) {
 			unsupported_set.insert(item.id);
 			continue;
 		}
@@ -3616,7 +3817,10 @@ void VisualShaderEditor::_dup_paste_nodes(int p_type, List<CopyItem> &r_items, c
 	}
 
 	id_from = base_id;
-	for (int i = 0; i < r_items.size(); i++) {
+	for (const CopyItem &item : r_items) {
+		if (item.disabled) {
+			continue;
+		}
 		undo_redo->add_undo_method(visual_shader.ptr(), "remove_node", type, id_from);
 		undo_redo->add_undo_method(graph_plugin.ptr(), "remove_node", type, id_from);
 		id_from++;
@@ -3717,7 +3921,7 @@ void VisualShaderEditor::_mode_selected(int p_id) {
 	}
 
 	visual_shader->set_shader_type(VisualShader::Type(p_id + offset));
-	_update_options_menu();
+	_update_nodes();
 	_update_graph();
 
 	graph->grab_focus();
@@ -3828,6 +4032,75 @@ void VisualShaderEditor::_uniform_select_item(Ref<VisualShaderNodeUniformRef> p_
 	undo_redo->commit_action();
 }
 
+void VisualShaderEditor::_varying_select_item(Ref<VisualShaderNodeVarying> p_varying, String p_name) {
+	String prev_name = p_varying->get_varying_name();
+
+	if (p_name == prev_name) {
+		return;
+	}
+
+	bool is_getter = Ref<VisualShaderNodeVaryingGetter>(p_varying.ptr()).is_valid();
+
+	UndoRedo *undo_redo = EditorNode::get_singleton()->get_undo_redo();
+	undo_redo->create_action(TTR("Varying Name Changed"));
+
+	undo_redo->add_do_method(p_varying.ptr(), "set_varying_name", p_name);
+	undo_redo->add_undo_method(p_varying.ptr(), "set_varying_name", prev_name);
+
+	VisualShader::VaryingType vtype = p_varying->get_varying_type_by_name(p_name);
+	VisualShader::VaryingType prev_vtype = p_varying->get_varying_type_by_name(prev_name);
+
+	bool type_changed = vtype != prev_vtype;
+
+	if (type_changed) {
+		undo_redo->add_do_method(p_varying.ptr(), "set_varying_type", vtype);
+		undo_redo->add_undo_method(p_varying.ptr(), "set_varying_type", prev_vtype);
+	}
+
+	// update ports
+	for (int type_id = 0; type_id < VisualShader::TYPE_MAX; type_id++) {
+		VisualShader::Type type = VisualShader::Type(type_id);
+		int id = visual_shader->find_node_id(type, p_varying);
+
+		if (id != VisualShader::NODE_ID_INVALID) {
+			if (type_changed) {
+				List<VisualShader::Connection> conns;
+				visual_shader->get_node_connections(type, &conns);
+
+				for (const VisualShader::Connection &E : conns) {
+					if (is_getter) {
+						if (E.from_node == id) {
+							if (visual_shader->is_port_types_compatible(p_varying->get_varying_type_by_name(p_name), visual_shader->get_node(type, E.to_node)->get_input_port_type(E.to_port))) {
+								continue;
+							}
+							undo_redo->add_do_method(visual_shader.ptr(), "disconnect_nodes", type, E.from_node, E.from_port, E.to_node, E.to_port);
+							undo_redo->add_undo_method(visual_shader.ptr(), "connect_nodes", type, E.from_node, E.from_port, E.to_node, E.to_port);
+							undo_redo->add_do_method(graph_plugin.ptr(), "disconnect_nodes", type, E.from_node, E.from_port, E.to_node, E.to_port);
+							undo_redo->add_undo_method(graph_plugin.ptr(), "connect_nodes", type, E.from_node, E.from_port, E.to_node, E.to_port);
+						}
+					} else {
+						if (E.to_node == id) {
+							if (visual_shader->is_port_types_compatible(p_varying->get_varying_type_by_name(p_name), visual_shader->get_node(type, E.from_node)->get_output_port_type(E.from_port))) {
+								continue;
+							}
+							undo_redo->add_do_method(visual_shader.ptr(), "disconnect_nodes", type, E.from_node, E.from_port, E.to_node, E.to_port);
+							undo_redo->add_undo_method(visual_shader.ptr(), "connect_nodes", type, E.from_node, E.from_port, E.to_node, E.to_port);
+							undo_redo->add_do_method(graph_plugin.ptr(), "disconnect_nodes", type, E.from_node, E.from_port, E.to_node, E.to_port);
+							undo_redo->add_undo_method(graph_plugin.ptr(), "connect_nodes", type, E.from_node, E.from_port, E.to_node, E.to_port);
+						}
+					}
+				}
+			}
+
+			undo_redo->add_do_method(graph_plugin.ptr(), "update_node", type_id, id);
+			undo_redo->add_undo_method(graph_plugin.ptr(), "update_node", type_id, id);
+			break;
+		}
+	}
+
+	undo_redo->commit_action();
+}
+
 void VisualShaderEditor::_float_constant_selected(int p_which) {
 	ERR_FAIL_INDEX(p_which, MAX_FLOAT_CONST_DEFS);
 
@@ -3882,6 +4155,92 @@ void VisualShaderEditor::_member_cancel() {
 	from_slot = -1;
 }
 
+void VisualShaderEditor::_update_varying_tree() {
+	varyings->clear();
+	TreeItem *root = varyings->create_item();
+
+	int count = visual_shader->get_varyings_count();
+
+	for (int i = 0; i < count; i++) {
+		const VisualShader::Varying *varying = visual_shader->get_varying_by_index(i);
+
+		if (varying) {
+			TreeItem *item = varyings->create_item(root);
+			item->set_text(0, varying->name);
+
+			if (i == 0) {
+				item->select(0);
+			}
+
+			switch (varying->type) {
+				case VisualShader::VARYING_TYPE_FLOAT:
+					item->set_icon(0, EditorNode::get_singleton()->get_gui_base()->get_theme_icon(SNAME("float"), SNAME("EditorIcons")));
+					break;
+				case VisualShader::VARYING_TYPE_VECTOR_2D:
+					item->set_icon(0, EditorNode::get_singleton()->get_gui_base()->get_theme_icon(SNAME("Vector2"), SNAME("EditorIcons")));
+					break;
+				case VisualShader::VARYING_TYPE_VECTOR_3D:
+					item->set_icon(0, EditorNode::get_singleton()->get_gui_base()->get_theme_icon(SNAME("Vector3"), SNAME("EditorIcons")));
+					break;
+				case VisualShader::VARYING_TYPE_COLOR:
+					item->set_icon(0, EditorNode::get_singleton()->get_gui_base()->get_theme_icon(SNAME("Color"), SNAME("EditorIcons")));
+					break;
+				case VisualShader::VARYING_TYPE_TRANSFORM:
+					item->set_icon(0, EditorNode::get_singleton()->get_gui_base()->get_theme_icon(SNAME("Transform3D"), SNAME("EditorIcons")));
+					break;
+				default:
+					break;
+			}
+		}
+	}
+
+	varying_options->set_item_disabled(int(VaryingMenuOptions::REMOVE), count == 0);
+}
+
+void VisualShaderEditor::_varying_create() {
+	_add_varying(varying_name->get_text(), (VisualShader::VaryingMode)varying_mode->get_selected(), (VisualShader::VaryingType)varying_type->get_selected());
+	add_varying_dialog->hide();
+}
+
+void VisualShaderEditor::_varying_name_changed(const String &p_text) {
+	String name = p_text;
+
+	if (!name.is_valid_identifier()) {
+		varying_error_label->show();
+		varying_error_label->set_text(TTR("Invalid name for varying."));
+		add_varying_dialog->get_ok_button()->set_disabled(true);
+		return;
+	}
+	if (visual_shader->has_varying(name)) {
+		varying_error_label->show();
+		varying_error_label->set_text(TTR("Varying with that name is already exist."));
+		add_varying_dialog->get_ok_button()->set_disabled(true);
+		return;
+	}
+	if (varying_error_label->is_visible()) {
+		varying_error_label->hide();
+		add_varying_dialog->set_size(Size2(add_varying_dialog->get_size().x, 0));
+	}
+	add_varying_dialog->get_ok_button()->set_disabled(false);
+}
+
+void VisualShaderEditor::_varying_deleted() {
+	TreeItem *item = varyings->get_selected();
+
+	if (item != nullptr) {
+		_remove_varying(item->get_text(0));
+		remove_varying_dialog->hide();
+	}
+}
+
+void VisualShaderEditor::_varying_selected() {
+	add_varying_dialog->get_ok_button()->set_disabled(false);
+}
+
+void VisualShaderEditor::_varying_unselected() {
+	add_varying_dialog->get_ok_button()->set_disabled(true);
+}
+
 void VisualShaderEditor::_tools_menu_option(int p_idx) {
 	TreeItem *category = members->get_root()->get_first_child();
 
@@ -4149,15 +4508,18 @@ void VisualShaderEditor::_visibility_changed() {
 }
 
 void VisualShaderEditor::_bind_methods() {
+	ClassDB::bind_method("_update_nodes", &VisualShaderEditor::_update_nodes);
 	ClassDB::bind_method("_update_graph", &VisualShaderEditor::_update_graph);
-	ClassDB::bind_method("_update_options_menu", &VisualShaderEditor::_update_options_menu);
 	ClassDB::bind_method("_add_node", &VisualShaderEditor::_add_node);
 	ClassDB::bind_method("_node_changed", &VisualShaderEditor::_node_changed);
 	ClassDB::bind_method("_input_select_item", &VisualShaderEditor::_input_select_item);
 	ClassDB::bind_method("_uniform_select_item", &VisualShaderEditor::_uniform_select_item);
+	ClassDB::bind_method("_varying_select_item", &VisualShaderEditor::_varying_select_item);
 	ClassDB::bind_method("_set_node_size", &VisualShaderEditor::_set_node_size);
 	ClassDB::bind_method("_clear_copy_buffer", &VisualShaderEditor::_clear_copy_buffer);
 	ClassDB::bind_method("_update_uniforms", &VisualShaderEditor::_update_uniforms);
+	ClassDB::bind_method("_update_varyings", &VisualShaderEditor::_update_varyings);
+	ClassDB::bind_method("_update_varying_tree", &VisualShaderEditor::_update_varying_tree);
 	ClassDB::bind_method("_set_mode", &VisualShaderEditor::_set_mode);
 	ClassDB::bind_method("_nodes_dragged", &VisualShaderEditor::_nodes_dragged);
 	ClassDB::bind_method("_float_constant_selected", &VisualShaderEditor::_float_constant_selected);
@@ -4284,11 +4646,23 @@ VisualShaderEditor::VisualShaderEditor() {
 
 	add_node = memnew(Button);
 	add_node->set_flat(true);
-	graph->get_zoom_hbox()->add_child(add_node);
 	add_node->set_text(TTR("Add Node..."));
+	graph->get_zoom_hbox()->add_child(add_node);
 	graph->get_zoom_hbox()->move_child(add_node, 0);
 	add_node->connect("pressed", callable_mp(this, &VisualShaderEditor::_show_members_dialog), varray(false, VisualShaderNode::PORT_TYPE_MAX, VisualShaderNode::PORT_TYPE_MAX));
 
+	varying_button = memnew(Button);
+	varying_button->set_flat(true);
+	varying_button->set_text(TTR("Manage Varyings"));
+	graph->get_zoom_hbox()->add_child(varying_button);
+	varying_button->connect("pressed", callable_mp(this, &VisualShaderEditor::_show_varying_menu));
+
+	varying_options = memnew(PopupMenu);
+	add_child(varying_options);
+	varying_options->add_item(TTR("Add Varying"), int(VaryingMenuOptions::ADD));
+	varying_options->add_item(TTR("Remove Varying"), int(VaryingMenuOptions::REMOVE));
+	varying_options->connect("id_pressed", callable_mp(this, &VisualShaderEditor::_varying_menu_id_pressed));
+
 	preview_shader = memnew(Button);
 	preview_shader->set_flat(true);
 	preview_shader->set_toggle_mode(true);
@@ -4412,6 +4786,74 @@ VisualShaderEditor::VisualShaderEditor() {
 	members_dialog->connect("cancelled", callable_mp(this, &VisualShaderEditor::_member_cancel));
 	add_child(members_dialog);
 
+	// add varyings dialog
+	{
+		add_varying_dialog = memnew(ConfirmationDialog);
+		add_varying_dialog->set_title(TTR("Create Shader Varying"));
+		add_varying_dialog->set_exclusive(false);
+		add_varying_dialog->get_ok_button()->set_text(TTR("Create"));
+		add_varying_dialog->get_ok_button()->connect("pressed", callable_mp(this, &VisualShaderEditor::_varying_create));
+		add_varying_dialog->get_ok_button()->set_disabled(true);
+		add_child(add_varying_dialog);
+
+		VBoxContainer *vb = memnew(VBoxContainer);
+		add_varying_dialog->add_child(vb);
+
+		HBoxContainer *hb = memnew(HBoxContainer);
+		vb->add_child(hb);
+		hb->set_h_size_flags(SIZE_EXPAND_FILL);
+
+		varying_type = memnew(OptionButton);
+		hb->add_child(varying_type);
+		varying_type->add_item("Float");
+		varying_type->add_item("Vector2");
+		varying_type->add_item("Vector3");
+		varying_type->add_item("Color");
+		varying_type->add_item("Transform");
+
+		varying_name = memnew(LineEdit);
+		hb->add_child(varying_name);
+		varying_name->set_custom_minimum_size(Size2(150 * EDSCALE, 0));
+		varying_name->set_h_size_flags(SIZE_EXPAND_FILL);
+		varying_name->connect("text_changed", callable_mp(this, &VisualShaderEditor::_varying_name_changed));
+
+		varying_mode = memnew(OptionButton);
+		hb->add_child(varying_mode);
+		varying_mode->add_item("Vertex -> [Fragment, Light]");
+		varying_mode->add_item("Fragment -> Light");
+
+		varying_error_label = memnew(Label);
+		vb->add_child(varying_error_label);
+		varying_error_label->set_h_size_flags(SIZE_EXPAND_FILL);
+
+		varying_error_label->hide();
+	}
+
+	// remove varying dialog
+	{
+		remove_varying_dialog = memnew(ConfirmationDialog);
+		remove_varying_dialog->set_title(TTR("Delete Shader Varying"));
+		remove_varying_dialog->set_exclusive(false);
+		remove_varying_dialog->get_ok_button()->set_text(TTR("Delete"));
+		remove_varying_dialog->get_ok_button()->connect("pressed", callable_mp(this, &VisualShaderEditor::_varying_deleted));
+		add_child(remove_varying_dialog);
+
+		VBoxContainer *vb = memnew(VBoxContainer);
+		remove_varying_dialog->add_child(vb);
+
+		varyings = memnew(Tree);
+		vb->add_child(varyings);
+		varyings->set_h_size_flags(SIZE_EXPAND_FILL);
+		varyings->set_v_size_flags(SIZE_EXPAND_FILL);
+		varyings->set_hide_root(true);
+		varyings->set_allow_reselect(true);
+		varyings->set_hide_folding(false);
+		varyings->set_custom_minimum_size(Size2(180 * EDSCALE, 200 * EDSCALE));
+		varyings->connect("item_activated", callable_mp(this, &VisualShaderEditor::_varying_deleted));
+		varyings->connect("item_selected", callable_mp(this, &VisualShaderEditor::_varying_selected));
+		varyings->connect("nothing_selected", callable_mp(this, &VisualShaderEditor::_varying_unselected));
+	}
+
 	alert = memnew(AcceptDialog);
 	alert->get_label()->set_autowrap_mode(Label::AUTOWRAP_WORD);
 	alert->get_label()->set_horizontal_alignment(HORIZONTAL_ALIGNMENT_CENTER);
@@ -4578,6 +5020,10 @@ VisualShaderEditor::VisualShaderEditor() {
 	add_options.push_back(AddOption("PointSize", "Input", "Vertex", "VisualShaderNodeInput", vformat(input_param_for_vertex_shader_mode, "point_size"), { "point_size" }, VisualShaderNode::PORT_TYPE_SCALAR, TYPE_FLAGS_VERTEX, Shader::MODE_SPATIAL));
 	add_options.push_back(AddOption("Tangent", "Input", "Vertex", "VisualShaderNodeInput", vformat(input_param_for_vertex_and_fragment_shader_mode, "tangent"), { "tangent" }, VisualShaderNode::PORT_TYPE_VECTOR_3D, TYPE_FLAGS_VERTEX, Shader::MODE_SPATIAL));
 	add_options.push_back(AddOption("Vertex", "Input", "Vertex", "VisualShaderNodeInput", vformat(input_param_for_vertex_and_fragment_shader_modes, "vertex"), { "vertex" }, VisualShaderNode::PORT_TYPE_VECTOR_3D, TYPE_FLAGS_VERTEX, Shader::MODE_SPATIAL));
+	add_options.push_back(AddOption("VertexId", "Input", "Vertex", "VisualShaderNodeInput", vformat(input_param_for_vertex_shader_mode, "vertex_id"), { "vertex_id" }, VisualShaderNode::PORT_TYPE_SCALAR_INT, TYPE_FLAGS_VERTEX, Shader::MODE_SPATIAL));
+	add_options.push_back(AddOption("ViewIndex", "Input", "Vertex", "VisualShaderNodeInput", vformat(input_param_for_vertex_and_fragment_shader_modes, "view_index"), { "view_index" }, VisualShaderNode::PORT_TYPE_SCALAR_INT, TYPE_FLAGS_VERTEX, Shader::MODE_SPATIAL));
+	add_options.push_back(AddOption("ViewMonoLeft", "Input", "Vertex", "VisualShaderNodeInput", vformat(input_param_for_vertex_and_fragment_shader_modes, "view_mono_left"), { "view_mono_left" }, VisualShaderNode::PORT_TYPE_SCALAR_INT, TYPE_FLAGS_VERTEX, Shader::MODE_SPATIAL));
+	add_options.push_back(AddOption("ViewRight", "Input", "Vertex", "VisualShaderNodeInput", vformat(input_param_for_vertex_and_fragment_shader_modes, "view_right"), { "view_right" }, VisualShaderNode::PORT_TYPE_SCALAR_INT, TYPE_FLAGS_VERTEX, Shader::MODE_SPATIAL));
 
 	add_options.push_back(AddOption("Alpha", "Input", "Fragment", "VisualShaderNodeInput", vformat(input_param_for_vertex_and_fragment_shader_modes, "alpha"), { "alpha" }, VisualShaderNode::PORT_TYPE_SCALAR, TYPE_FLAGS_FRAGMENT, Shader::MODE_SPATIAL));
 	add_options.push_back(AddOption("Binormal", "Input", "Fragment", "VisualShaderNodeInput", vformat(input_param_for_vertex_and_fragment_shader_modes, "binormal"), { "binormal" }, VisualShaderNode::PORT_TYPE_VECTOR_3D, TYPE_FLAGS_FRAGMENT, Shader::MODE_SPATIAL));
@@ -4591,6 +5037,9 @@ VisualShaderEditor::VisualShaderEditor() {
 	add_options.push_back(AddOption("Tangent", "Input", "Fragment", "VisualShaderNodeInput", vformat(input_param_for_vertex_and_fragment_shader_modes, "tangent"), { "tangent" }, VisualShaderNode::PORT_TYPE_VECTOR_3D, TYPE_FLAGS_FRAGMENT, Shader::MODE_SPATIAL));
 	add_options.push_back(AddOption("Vertex", "Input", "Fragment", "VisualShaderNodeInput", vformat(input_param_for_vertex_and_fragment_shader_modes, "vertex"), { "vertex" }, VisualShaderNode::PORT_TYPE_VECTOR_3D, TYPE_FLAGS_FRAGMENT, Shader::MODE_SPATIAL));
 	add_options.push_back(AddOption("View", "Input", "Fragment", "VisualShaderNodeInput", vformat(input_param_for_fragment_and_light_shader_modes, "view"), { "view" }, VisualShaderNode::PORT_TYPE_VECTOR_3D, TYPE_FLAGS_FRAGMENT, Shader::MODE_SPATIAL));
+	add_options.push_back(AddOption("ViewIndex", "Input", "Vertex", "VisualShaderNodeInput", vformat(input_param_for_vertex_and_fragment_shader_modes, "view_index"), { "view_index" }, VisualShaderNode::PORT_TYPE_SCALAR_INT, TYPE_FLAGS_FRAGMENT, Shader::MODE_SPATIAL));
+	add_options.push_back(AddOption("ViewMonoLeft", "Input", "Vertex", "VisualShaderNodeInput", vformat(input_param_for_vertex_and_fragment_shader_modes, "view_mono_left"), { "view_mono_left" }, VisualShaderNode::PORT_TYPE_SCALAR_INT, TYPE_FLAGS_FRAGMENT, Shader::MODE_SPATIAL));
+	add_options.push_back(AddOption("ViewRight", "Input", "Vertex", "VisualShaderNodeInput", vformat(input_param_for_vertex_and_fragment_shader_modes, "view_right"), { "view_right" }, VisualShaderNode::PORT_TYPE_SCALAR_INT, TYPE_FLAGS_FRAGMENT, Shader::MODE_SPATIAL));
 
 	add_options.push_back(AddOption("Albedo", "Input", "Light", "VisualShaderNodeInput", vformat(input_param_for_light_shader_mode, "albedo"), { "albedo" }, VisualShaderNode::PORT_TYPE_VECTOR_3D, TYPE_FLAGS_LIGHT, Shader::MODE_SPATIAL));
 	add_options.push_back(AddOption("Attenuation", "Input", "Light", "VisualShaderNodeInput", vformat(input_param_for_light_shader_mode, "attenuation"), { "attenuation" }, VisualShaderNode::PORT_TYPE_SCALAR, TYPE_FLAGS_LIGHT, Shader::MODE_SPATIAL));
@@ -4601,6 +5050,7 @@ VisualShaderEditor::VisualShaderEditor() {
 	add_options.push_back(AddOption("LightColor", "Input", "Light", "VisualShaderNodeInput", vformat(input_param_for_light_shader_mode, "light_color"), { "light_color" }, VisualShaderNode::PORT_TYPE_VECTOR_3D, TYPE_FLAGS_LIGHT, Shader::MODE_SPATIAL));
 	add_options.push_back(AddOption("Metallic", "Input", "Light", "VisualShaderNodeInput", vformat(input_param_for_light_shader_mode, "metallic"), { "metallic" }, VisualShaderNode::PORT_TYPE_SCALAR, TYPE_FLAGS_LIGHT, Shader::MODE_SPATIAL));
 	add_options.push_back(AddOption("Roughness", "Input", "Light", "VisualShaderNodeInput", vformat(input_param_for_light_shader_mode, "roughness"), { "roughness" }, VisualShaderNode::PORT_TYPE_SCALAR, TYPE_FLAGS_LIGHT, Shader::MODE_SPATIAL));
+	add_options.push_back(AddOption("ShadowAttenuation", "Input", "Light", "VisualShaderNodeInput", vformat(input_param_for_light_shader_mode, "shadow_attenuation"), { "shadow_attenuation" }, VisualShaderNode::PORT_TYPE_VECTOR_3D, TYPE_FLAGS_LIGHT, Shader::MODE_SPATIAL));
 	add_options.push_back(AddOption("Specular", "Input", "Light", "VisualShaderNodeInput", vformat(input_param_for_light_shader_mode, "specular"), { "specular" }, VisualShaderNode::PORT_TYPE_VECTOR_3D, TYPE_FLAGS_LIGHT, Shader::MODE_SPATIAL));
 	add_options.push_back(AddOption("View", "Input", "Light", "VisualShaderNodeInput", vformat(input_param_for_fragment_and_light_shader_modes, "view"), { "view" }, VisualShaderNode::PORT_TYPE_VECTOR_3D, TYPE_FLAGS_LIGHT, Shader::MODE_SPATIAL));
 
@@ -4610,9 +5060,11 @@ VisualShaderEditor::VisualShaderEditor() {
 	add_options.push_back(AddOption("Canvas", "Input", "Vertex", "VisualShaderNodeInput", vformat(input_param_for_vertex_shader_mode, "canvas"), { "canvas" }, VisualShaderNode::PORT_TYPE_TRANSFORM, TYPE_FLAGS_VERTEX, Shader::MODE_CANVAS_ITEM));
 	add_options.push_back(AddOption("InstanceCustom", "Input", "Vertex", "VisualShaderNodeInput", vformat(input_param_for_vertex_shader_mode, "instance_custom"), { "instance_custom" }, VisualShaderNode::PORT_TYPE_VECTOR_3D, TYPE_FLAGS_VERTEX, Shader::MODE_CANVAS_ITEM));
 	add_options.push_back(AddOption("InstanceCustomAlpha", "Input", "Vertex", "VisualShaderNodeInput", vformat(input_param_for_vertex_shader_mode, "instance_custom_alpha"), { "instance_custom_alpha" }, VisualShaderNode::PORT_TYPE_SCALAR, TYPE_FLAGS_VERTEX, Shader::MODE_CANVAS_ITEM));
+	add_options.push_back(AddOption("InstanceId", "Input", "Vertex", "VisualShaderNodeInput", vformat(input_param_for_vertex_shader_mode, "instance_id"), { "instance_id" }, VisualShaderNode::PORT_TYPE_SCALAR_INT, TYPE_FLAGS_VERTEX, Shader::MODE_CANVAS_ITEM));
 	add_options.push_back(AddOption("PointSize", "Input", "Vertex", "VisualShaderNodeInput", vformat(input_param_for_vertex_shader_mode, "point_size"), { "point_size" }, VisualShaderNode::PORT_TYPE_SCALAR, TYPE_FLAGS_VERTEX, Shader::MODE_CANVAS_ITEM));
 	add_options.push_back(AddOption("Screen", "Input", "Vertex", "VisualShaderNodeInput", vformat(input_param_for_vertex_shader_mode, "screen"), { "screen" }, VisualShaderNode::PORT_TYPE_TRANSFORM, TYPE_FLAGS_VERTEX, Shader::MODE_CANVAS_ITEM));
 	add_options.push_back(AddOption("Vertex", "Input", "Vertex", "VisualShaderNodeInput", vformat(input_param_for_vertex_and_fragment_shader_mode, "vertex"), { "vertex" }, VisualShaderNode::PORT_TYPE_VECTOR_2D, TYPE_FLAGS_VERTEX, Shader::MODE_CANVAS_ITEM));
+	add_options.push_back(AddOption("VertexId", "Input", "Vertex", "VisualShaderNodeInput", vformat(input_param_for_vertex_shader_mode, "vertex_id"), { "vertex_id" }, VisualShaderNode::PORT_TYPE_SCALAR_INT, TYPE_FLAGS_VERTEX, Shader::MODE_CANVAS_ITEM));
 	add_options.push_back(AddOption("World", "Input", "Vertex", "VisualShaderNodeInput", vformat(input_param_for_vertex_shader_mode, "world"), { "world" }, VisualShaderNode::PORT_TYPE_TRANSFORM, TYPE_FLAGS_VERTEX, Shader::MODE_CANVAS_ITEM));
 
 	add_options.push_back(AddOption("AtLightPass", "Input", "Fragment", "VisualShaderNodeInput", vformat(input_param_for_vertex_and_fragment_shader_modes, "at_light_pass"), { "at_light_pass" }, VisualShaderNode::PORT_TYPE_BOOLEAN, TYPE_FLAGS_FRAGMENT, Shader::MODE_CANVAS_ITEM));
@@ -4989,6 +5441,10 @@ VisualShaderEditor::VisualShaderEditor() {
 	add_options.push_back(AddOption("Expression", "Special", "", "VisualShaderNodeExpression", TTR("Custom Godot Shader Language expression, with custom amount of input and output ports. This is a direct injection of code into the vertex/fragment/light function, do not use it to write the function declarations inside.")));
 	add_options.push_back(AddOption("GlobalExpression", "Special", "", "VisualShaderNodeGlobalExpression", TTR("Custom Godot Shader Language expression, which is placed on top of the resulted shader. You can place various function definitions inside and call it later in the Expressions. You can also declare varyings, uniforms and constants.")));
 	add_options.push_back(AddOption("UniformRef", "Special", "", "VisualShaderNodeUniformRef", TTR("A reference to an existing uniform.")));
+	add_options.push_back(AddOption("VaryingGetter", "Special", "", "VisualShaderNodeVaryingGetter", TTR("Get varying parameter."), {}, -1, TYPE_FLAGS_FRAGMENT | TYPE_FLAGS_LIGHT, Shader::MODE_SPATIAL));
+	add_options.push_back(AddOption("VaryingSetter", "Special", "", "VisualShaderNodeVaryingSetter", TTR("Set varying parameter."), {}, -1, TYPE_FLAGS_VERTEX | TYPE_FLAGS_FRAGMENT, Shader::MODE_SPATIAL));
+	add_options.push_back(AddOption("VaryingGetter", "Special", "", "VisualShaderNodeVaryingGetter", TTR("Get varying parameter."), {}, -1, TYPE_FLAGS_FRAGMENT | TYPE_FLAGS_LIGHT, Shader::MODE_CANVAS_ITEM));
+	add_options.push_back(AddOption("VaryingSetter", "Special", "", "VisualShaderNodeVaryingSetter", TTR("Set varying parameter."), {}, -1, TYPE_FLAGS_VERTEX | TYPE_FLAGS_FRAGMENT, Shader::MODE_CANVAS_ITEM));
 
 	custom_node_option_idx = add_options.size();
 
@@ -5026,7 +5482,7 @@ void VisualShaderEditorPlugin::make_visible(bool p_visible) {
 		//editor->animation_panel_make_visible(true);
 		button->show();
 		EditorNode::get_singleton()->make_bottom_panel_item_visible(visual_shader_editor);
-		visual_shader_editor->update_custom_nodes();
+		visual_shader_editor->update_nodes();
 		visual_shader_editor->set_process_input(true);
 		//visual_shader_editor->set_process(true);
 	} else {
@@ -5102,6 +5558,82 @@ public:
 
 ////////////////
 
+class VisualShaderNodePluginVaryingEditor : public OptionButton {
+	GDCLASS(VisualShaderNodePluginVaryingEditor, OptionButton);
+
+	Ref<VisualShaderNodeVarying> varying;
+
+public:
+	void _notification(int p_what) {
+		if (p_what == NOTIFICATION_READY) {
+			connect("item_selected", callable_mp(this, &VisualShaderNodePluginVaryingEditor::_item_selected));
+		}
+	}
+
+	void _item_selected(int p_item) {
+		VisualShaderEditor *editor = VisualShaderEditor::get_singleton();
+		if (editor) {
+			editor->call_deferred(SNAME("_varying_select_item"), varying, get_item_text(p_item));
+		}
+	}
+
+	void setup(const Ref<VisualShaderNodeVarying> &p_varying, VisualShader::Type p_type) {
+		varying = p_varying;
+
+		Ref<Texture2D> type_icon[] = {
+			EditorNode::get_singleton()->get_gui_base()->get_theme_icon(SNAME("float"), SNAME("EditorIcons")),
+			EditorNode::get_singleton()->get_gui_base()->get_theme_icon(SNAME("Vector2"), SNAME("EditorIcons")),
+			EditorNode::get_singleton()->get_gui_base()->get_theme_icon(SNAME("Vector3"), SNAME("EditorIcons")),
+			EditorNode::get_singleton()->get_gui_base()->get_theme_icon(SNAME("Color"), SNAME("EditorIcons")),
+			EditorNode::get_singleton()->get_gui_base()->get_theme_icon(SNAME("Transform3D"), SNAME("EditorIcons")),
+		};
+
+		bool is_getter = Ref<VisualShaderNodeVaryingGetter>(p_varying.ptr()).is_valid();
+
+		add_item("[None]");
+
+		int to_select = -1;
+		for (int i = 0, j = 0; i < varying->get_varyings_count(); i++) {
+			VisualShader::VaryingMode mode = varying->get_varying_mode_by_index(i);
+			if (is_getter) {
+				if (mode == VisualShader::VARYING_MODE_FRAG_TO_LIGHT) {
+					if (p_type != VisualShader::TYPE_LIGHT) {
+						j++;
+						continue;
+					}
+				} else {
+					if (p_type != VisualShader::TYPE_FRAGMENT && p_type != VisualShader::TYPE_LIGHT) {
+						j++;
+						continue;
+					}
+				}
+			} else {
+				if (mode == VisualShader::VARYING_MODE_FRAG_TO_LIGHT) {
+					if (p_type != VisualShader::TYPE_FRAGMENT) {
+						j++;
+						continue;
+					}
+				} else {
+					if (p_type != VisualShader::TYPE_VERTEX) {
+						j++;
+						continue;
+					}
+				}
+			}
+			if (varying->get_varying_name() == varying->get_varying_name_by_index(i)) {
+				to_select = i - j + 1;
+			}
+			add_icon_item(type_icon[varying->get_varying_type_by_index(i)], varying->get_varying_name_by_index(i));
+		}
+
+		if (to_select >= 0) {
+			select(to_select);
+		}
+	}
+};
+
+////////////////
+
 class VisualShaderNodePluginUniformRefEditor : public OptionButton {
 	GDCLASS(VisualShaderNodePluginUniformRefEditor, OptionButton);
 
@@ -5280,18 +5812,24 @@ public:
 };
 
 Control *VisualShaderNodePluginDefault::create_editor(const Ref<Resource> &p_parent_resource, const Ref<VisualShaderNode> &p_node) {
+	Ref<VisualShader> p_shader = Ref<VisualShader>(p_parent_resource.ptr());
+
+	if (p_shader.is_valid() && (p_node->is_class("VisualShaderNodeVaryingGetter") || p_node->is_class("VisualShaderNodeVaryingSetter"))) {
+		VisualShaderNodePluginVaryingEditor *editor = memnew(VisualShaderNodePluginVaryingEditor);
+		editor->setup(p_node, p_shader->get_shader_type());
+		return editor;
+	}
+
 	if (p_node->is_class("VisualShaderNodeUniformRef")) {
-		//create input
-		VisualShaderNodePluginUniformRefEditor *uniform_editor = memnew(VisualShaderNodePluginUniformRefEditor);
-		uniform_editor->setup(p_node);
-		return uniform_editor;
+		VisualShaderNodePluginUniformRefEditor *editor = memnew(VisualShaderNodePluginUniformRefEditor);
+		editor->setup(p_node);
+		return editor;
 	}
 
 	if (p_node->is_class("VisualShaderNodeInput")) {
-		//create input
-		VisualShaderNodePluginInputEditor *input_editor = memnew(VisualShaderNodePluginInputEditor);
-		input_editor->setup(p_node);
-		return input_editor;
+		VisualShaderNodePluginInputEditor *editor = memnew(VisualShaderNodePluginInputEditor);
+		editor->setup(p_node);
+		return editor;
 	}
 
 	Vector<StringName> properties = p_node->get_editable_properties();
@@ -5408,8 +5946,24 @@ void EditorPropertyShaderMode::_option_selected(int p_which) {
 		}
 	}
 
-	undo_redo->add_do_method(editor, "_update_options_menu");
-	undo_redo->add_undo_method(editor, "_update_options_menu");
+	//4. delete varyings (if needed)
+	if (p_which == VisualShader::MODE_PARTICLES || p_which == VisualShader::MODE_SKY || p_which == VisualShader::MODE_FOG) {
+		int var_count = visual_shader->get_varyings_count();
+
+		if (var_count > 0) {
+			for (int i = 0; i < var_count; i++) {
+				const VisualShader::Varying *var = visual_shader->get_varying_by_index(i);
+				undo_redo->add_do_method(visual_shader.ptr(), "remove_varying", var->name);
+				undo_redo->add_undo_method(visual_shader.ptr(), "add_varying", var->name, var->mode, var->type);
+			}
+
+			undo_redo->add_do_method(editor, "_update_varyings");
+			undo_redo->add_undo_method(editor, "_update_varyings");
+		}
+	}
+
+	undo_redo->add_do_method(editor, "_update_nodes");
+	undo_redo->add_undo_method(editor, "_update_nodes");
 
 	undo_redo->add_do_method(editor, "_update_graph");
 	undo_redo->add_undo_method(editor, "_update_graph");
diff --git a/editor/plugins/visual_shader_editor_plugin.h b/editor/plugins/visual_shader_editor_plugin.h
index 02beba971b..4087fc583c 100644
--- a/editor/plugins/visual_shader_editor_plugin.h
+++ b/editor/plugins/visual_shader_editor_plugin.h
@@ -139,6 +139,8 @@ class VisualShaderEditor : public VBoxContainer {
 	Ref<VisualShader> visual_shader;
 	GraphEdit *graph = nullptr;
 	Button *add_node = nullptr;
+	Button *varying_button = nullptr;
+	PopupMenu *varying_options = nullptr;
 	Button *preview_shader = nullptr;
 
 	OptionButton *edit_type = nullptr;
@@ -169,6 +171,15 @@ class VisualShaderEditor : public VBoxContainer {
 	PopupMenu *constants_submenu = nullptr;
 	MenuButton *tools = nullptr;
 
+	ConfirmationDialog *add_varying_dialog = nullptr;
+	OptionButton *varying_type = nullptr;
+	LineEdit *varying_name = nullptr;
+	OptionButton *varying_mode = nullptr;
+	Label *varying_error_label = nullptr;
+
+	ConfirmationDialog *remove_varying_dialog = nullptr;
+	Tree *varyings = nullptr;
+
 	PopupPanel *comment_title_change_popup = nullptr;
 	LineEdit *comment_title_change_edit = nullptr;
 
@@ -232,6 +243,11 @@ class VisualShaderEditor : public VBoxContainer {
 		SET_COMMENT_DESCRIPTION,
 	};
 
+	enum class VaryingMenuOptions {
+		ADD,
+		REMOVE,
+	};
+
 	Tree *members = nullptr;
 	AcceptDialog *alert = nullptr;
 	LineEdit *node_filter = nullptr;
@@ -241,6 +257,12 @@ class VisualShaderEditor : public VBoxContainer {
 	void _tools_menu_option(int p_idx);
 	void _show_members_dialog(bool at_mouse_pos, VisualShaderNode::PortType p_input_port_type = VisualShaderNode::PORT_TYPE_MAX, VisualShaderNode::PortType p_output_port_type = VisualShaderNode::PORT_TYPE_MAX);
 
+	void _show_varying_menu();
+	void _varying_menu_id_pressed(int p_idx);
+	void _show_add_varying_dialog();
+	void _show_remove_varying_dialog();
+
+	void _update_nodes();
 	void _update_graph();
 
 	struct AddOption {
@@ -291,6 +313,8 @@ class VisualShaderEditor : public VBoxContainer {
 
 	void _setup_node(VisualShaderNode *p_node, const Vector<Variant> &p_ops);
 	void _add_node(int p_idx, const Vector<Variant> &p_ops, String p_resource_path = "", int p_node_idx = -1);
+	void _add_varying(const String &p_name, VisualShader::VaryingMode p_mode, VisualShader::VaryingType p_type);
+	void _remove_varying(const String &p_name);
 	void _update_options_menu();
 	void _set_mode(int p_which);
 
@@ -371,6 +395,7 @@ class VisualShaderEditor : public VBoxContainer {
 		String group_inputs;
 		String group_outputs;
 		String expression;
+		bool disabled = false;
 	};
 
 	void _dup_copy_nodes(int p_type, List<CopyItem> &r_nodes, List<VisualShader::Connection> &r_connections);
@@ -394,6 +419,7 @@ class VisualShaderEditor : public VBoxContainer {
 
 	void _input_select_item(Ref<VisualShaderNodeInput> input, String name);
 	void _uniform_select_item(Ref<VisualShaderNodeUniformRef> p_uniform, String p_name);
+	void _varying_select_item(Ref<VisualShaderNodeVarying> p_varying, String p_name);
 
 	void _float_constant_selected(int p_which);
 
@@ -425,6 +451,13 @@ class VisualShaderEditor : public VBoxContainer {
 	void _member_create();
 	void _member_cancel();
 
+	void _varying_create();
+	void _varying_name_changed(const String &p_text);
+	void _varying_deleted();
+	void _varying_selected();
+	void _varying_unselected();
+	void _update_varying_tree();
+
 	Vector2 menu_point;
 	void _node_menu_id_pressed(int p_idx);
 
@@ -436,6 +469,7 @@ class VisualShaderEditor : public VBoxContainer {
 	void _update_created_node(GraphNode *node);
 	void _update_uniforms(bool p_update_refs);
 	void _update_uniform_refs(Set<String> &p_names);
+	void _update_varyings();
 
 	void _visibility_changed();
 
@@ -444,7 +478,7 @@ protected:
 	static void _bind_methods();
 
 public:
-	void update_custom_nodes();
+	void update_nodes();
 	void add_plugin(const Ref<VisualShaderNodePlugin> &p_plugin);
 	void remove_plugin(const Ref<VisualShaderNodePlugin> &p_plugin);
 
diff --git a/editor/project_export.cpp b/editor/project_export.cpp
index 55a4dc2c67..17db955cc7 100644
--- a/editor/project_export.cpp
+++ b/editor/project_export.cpp
@@ -883,7 +883,8 @@ void ProjectExportDialog::_export_project() {
 
 	List<String> extension_list = platform->get_binary_extensions(current);
 	for (int i = 0; i < extension_list.size(); i++) {
-		export_project->add_filter("*." + extension_list[i] + " ; " + platform->get_name() + " Export");
+		// TRANSLATORS: This is the name of a project export file format. %s will be replaced by the platform name.
+		export_project->add_filter(vformat("*.%s; %s", extension_list[i], vformat(TTR("%s Export"), platform->get_name())));
 	}
 
 	if (!current->get_export_path().is_empty()) {
@@ -1055,7 +1056,7 @@ ProjectExportDialog::ProjectExportDialog() {
 	// Subsections.
 
 	sections = memnew(TabContainer);
-	sections->set_tab_alignment(TabContainer::ALIGNMENT_LEFT);
+	sections->set_tab_alignment(TabBar::ALIGNMENT_LEFT);
 	sections->set_use_hidden_tabs_for_min_size(true);
 	settings_vb->add_child(sections);
 	sections->set_v_size_flags(Control::SIZE_EXPAND_FILL);
diff --git a/editor/project_manager.cpp b/editor/project_manager.cpp
index 87d008d144..78f6fe58d0 100644
--- a/editor/project_manager.cpp
+++ b/editor/project_manager.cpp
@@ -1057,6 +1057,8 @@ public:
 		}
 	};
 
+	bool project_opening_initiated;
+
 	ProjectList();
 	~ProjectList();
 
@@ -1136,6 +1138,7 @@ ProjectList::ProjectList() {
 	add_child(_scroll_children);
 
 	_icon_load_index = 0;
+	project_opening_initiated = false;
 }
 
 ProjectList::~ProjectList() {
@@ -1818,7 +1821,9 @@ void ProjectList::_panel_input(const Ref<InputEvent> &p_ev, Node *p_hb) {
 
 		emit_signal(SNAME(SIGNAL_SELECTION_CHANGED));
 
-		if (!mb->is_ctrl_pressed() && mb->is_double_click()) {
+		// Do not allow opening a project more than once using a single project manager instance.
+		// Opening the same project in several editor instances at once can lead to various issues.
+		if (!mb->is_ctrl_pressed() && mb->is_double_click() && !project_opening_initiated) {
 			emit_signal(SNAME(SIGNAL_PROJECT_ASK_OPEN));
 		}
 	}
@@ -2140,6 +2145,8 @@ void ProjectManager::_open_selected_projects() {
 		ERR_FAIL_COND(err);
 	}
 
+	_project_list->project_opening_initiated = true;
+
 	_dim_window();
 	get_tree()->quit();
 }
@@ -2566,7 +2573,7 @@ ProjectManager::ProjectManager() {
 	tabs = memnew(TabContainer);
 	center_box->add_child(tabs);
 	tabs->set_anchors_and_offsets_preset(Control::PRESET_WIDE);
-	tabs->set_tab_alignment(TabContainer::ALIGNMENT_LEFT);
+	tabs->set_tab_alignment(TabBar::ALIGNMENT_LEFT);
 	tabs->connect("tab_changed", callable_mp(this, &ProjectManager::_on_tab_changed));
 
 	HBoxContainer *projects_hb = memnew(HBoxContainer);
diff --git a/editor/project_settings_editor.cpp b/editor/project_settings_editor.cpp
index 03179733d5..c4019bc22d 100644
--- a/editor/project_settings_editor.cpp
+++ b/editor/project_settings_editor.cpp
@@ -63,7 +63,7 @@ void ProjectSettingsEditor::queue_save() {
 }
 
 void ProjectSettingsEditor::set_plugins_page() {
-	tab_container->set_current_tab(plugin_settings->get_index());
+	tab_container->set_current_tab(tab_container->get_tab_idx_from_control(plugin_settings));
 }
 
 void ProjectSettingsEditor::update_plugins() {
@@ -559,7 +559,7 @@ ProjectSettingsEditor::ProjectSettingsEditor(EditorData *p_data) {
 	data = p_data;
 
 	tab_container = memnew(TabContainer);
-	tab_container->set_tab_alignment(TabContainer::ALIGNMENT_LEFT);
+	tab_container->set_tab_alignment(TabBar::ALIGNMENT_LEFT);
 	tab_container->set_use_hidden_tabs_for_min_size(true);
 	add_child(tab_container);
 
@@ -663,7 +663,7 @@ ProjectSettingsEditor::ProjectSettingsEditor(EditorData *p_data) {
 	tab_container->add_child(localization_editor);
 
 	autoload_settings = memnew(EditorAutoloadSettings);
-	autoload_settings->set_name(TTR("AutoLoad"));
+	autoload_settings->set_name(TTR("Autoload"));
 	autoload_settings->connect("autoload_changed", callable_mp(this, &ProjectSettingsEditor::queue_save));
 	tab_container->add_child(autoload_settings);
 
diff --git a/editor/property_editor.cpp b/editor/property_editor.cpp
index cd65ee7ae6..dd4b963fc0 100644
--- a/editor/property_editor.cpp
+++ b/editor/property_editor.cpp
@@ -228,7 +228,7 @@ void CustomPropertyEditor::_menu_option(int p_which) {
 					file_system_dock->navigate_to_path(r->get_path());
 					// Ensure that the FileSystem dock is visible.
 					TabContainer *tab_container = (TabContainer *)file_system_dock->get_parent_control();
-					tab_container->set_current_tab(file_system_dock->get_index());
+					tab_container->set_current_tab(tab_container->get_tab_idx_from_control(file_system_dock));
 				} break;
 				default: {
 					if (p_which >= CONVERT_BASE_ID) {
@@ -907,7 +907,7 @@ bool CustomPropertyEditor::edit(Object *p_owner, const String &p_name, Variant::
 							}
 						}
 
-						if (!is_custom_resource && !ClassDB::can_instantiate(t)) {
+						if (!is_custom_resource && (!ClassDB::can_instantiate(t) || ClassDB::is_virtual(t))) {
 							continue;
 						}
 
diff --git a/editor/rename_dialog.cpp b/editor/rename_dialog.cpp
index 46751058d0..93c5b9ad4c 100644
--- a/editor/rename_dialog.cpp
+++ b/editor/rename_dialog.cpp
@@ -114,7 +114,7 @@ RenameDialog::RenameDialog(SceneTreeEditor *p_scene_tree_editor, UndoRedo *p_und
 	vbc->add_child(cbut_collapse_features);
 
 	tabc_features = memnew(TabContainer);
-	tabc_features->set_tab_alignment(TabContainer::ALIGNMENT_LEFT);
+	tabc_features->set_tab_alignment(TabBar::ALIGNMENT_LEFT);
 	tabc_features->set_use_hidden_tabs_for_min_size(true);
 	vbc->add_child(tabc_features);
 
diff --git a/editor/scene_tree_dock.cpp b/editor/scene_tree_dock.cpp
index 628e7880a1..571b87a0aa 100644
--- a/editor/scene_tree_dock.cpp
+++ b/editor/scene_tree_dock.cpp
@@ -1535,7 +1535,7 @@ void SceneTreeDock::perform_node_renames(Node *p_base, Map<Node *, NodePath> *p_
 		}
 	}
 
-	bool autorename_animation_tracks = bool(EDITOR_DEF("editors/animation/autorename_animation_tracks", true));
+	bool autorename_animation_tracks = bool(EDITOR_GET("editors/animation/autorename_animation_tracks"));
 
 	if (autorename_animation_tracks && Object::cast_to<AnimationPlayer>(p_base)) {
 		AnimationPlayer *ap = Object::cast_to<AnimationPlayer>(p_base);
diff --git a/editor/scene_tree_editor.cpp b/editor/scene_tree_editor.cpp
index ba65828ac1..c6a8a928db 100644
--- a/editor/scene_tree_editor.cpp
+++ b/editor/scene_tree_editor.cpp
@@ -135,7 +135,8 @@ void SceneTreeEditor::_cell_button_pressed(Object *p_item, int p_column, int p_i
 
 		set_selected(n);
 
-		NodeDock::get_singleton()->get_parent()->call("set_current_tab", NodeDock::get_singleton()->get_index());
+		TabContainer *tab_container = Object::cast_to<TabContainer>(NodeDock::get_singleton()->get_parent());
+		NodeDock::get_singleton()->get_parent()->call("set_current_tab", tab_container->get_tab_idx_from_control(NodeDock::get_singleton()));
 		NodeDock::get_singleton()->show_connections();
 
 	} else if (p_id == BUTTON_GROUPS) {
@@ -144,7 +145,8 @@ void SceneTreeEditor::_cell_button_pressed(Object *p_item, int p_column, int p_i
 
 		set_selected(n);
 
-		NodeDock::get_singleton()->get_parent()->call("set_current_tab", NodeDock::get_singleton()->get_index());
+		TabContainer *tab_container = Object::cast_to<TabContainer>(NodeDock::get_singleton()->get_parent());
+		NodeDock::get_singleton()->get_parent()->call("set_current_tab", tab_container->get_tab_idx_from_control(NodeDock::get_singleton()));
 		NodeDock::get_singleton()->show_groups();
 	}
 }
diff --git a/editor/translations/af.po b/editor/translations/af.po
index ad1b7ef436..86ed70ec3a 100644
--- a/editor/translations/af.po
+++ b/editor/translations/af.po
@@ -1529,6 +1529,11 @@ msgstr "Laai die verstek Bus Uitleg."
 msgid "Create a new Bus Layout."
 msgstr "Skep 'n nuwe Bus Uitleg."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Oop Oudio-Bus Uitleg"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Ongeldige naam."
@@ -2953,7 +2958,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5727,6 +5732,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 #, fuzzy
 msgid "Select lightmap bake file:"
 msgstr "Skep Vouer"
@@ -8265,7 +8274,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9197,6 +9211,11 @@ msgstr "Soek Vervanging Hulpbron:"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "Hulpbron"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "Lede"
 
@@ -9247,6 +9266,20 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Verander Skikking Waarde-Soort"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Verander Skikking Waarde-Soort"
+
+#: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
 msgid "Show Default"
 msgstr "Laai Verstek"
@@ -9264,7 +9297,18 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+#, fuzzy
+msgid "Base Type"
+msgstr "Verander Skikking Waarde-Soort"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9992,18 +10036,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "Passendes:"
@@ -12654,6 +12686,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Eienskappe"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13994,6 +14031,9 @@ msgstr "Ongeldige naam."
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/ar.po b/editor/translations/ar.po
index 29efa92a54..4bccc25d91 100644
--- a/editor/translations/ar.po
+++ b/editor/translations/ar.po
@@ -44,10 +44,10 @@
 # أحمد مصط�ى الطبراني <eltabaraniahmed@gmail.com>, 2020.
 # ChemicalInk <aladdinalkhafaji@gmail.com>, 2020.
 # Musab Alasaifer <mousablasefer@gmail.com>, 2020.
-# Yassine Oudjana <y.oudjana@protonmail.com>, 2020.
+# Yassine Oudjana <y.oudjana@protonmail.com>, 2020, 2022.
 # bruvzg <bruvzg13@gmail.com>, 2020.
 # StarlkYT <mrsstarlkps4@gmail.com>, 2020, 2021.
-# Games Toon <xxtvgoodxx@gmail.com>, 2021.
+# Games Toon <xxtvgoodxx@gmail.com>, 2021, 2022.
 # Kareem Abduljaleel <karemjaleel34@gmail.com>, 2021.
 # ILG - Game <moegypt277@gmail.com>, 2021.
 # Hatim Jamal <hatimjamal8@gmail.com>, 2021.
@@ -55,7 +55,7 @@
 # abubakrAlsaab <madeinsudan19@gmail.com>, 2021.
 # Hafid Talbi <atalbiie@gmail.com>, 2021.
 # Hareth Mohammed <harethpy@gmail.com>, 2021.
-# Mohammed Mubarak <modymu9@gmail.com>, 2021.
+# Mohammed Mubarak <modymu9@gmail.com>, 2021, 2022.
 # Spirit <i8bou3@gmail.com>, 2021, 2022.
 # TURKYM7MD <turkytb7700@gmail.com>, 2022.
 # zeyad majed <zmajd62@gmail.com>, 2022.
@@ -66,7 +66,7 @@ msgstr ""
 "Project-Id-Version: Godot Engine editor\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
 "POT-Creation-Date: \n"
-"PO-Revision-Date: 2022-02-16 08:44+0000\n"
+"PO-Revision-Date: 2022-02-28 15:48+0000\n"
 "Last-Translator: Mr.k <mineshtine28546271@gmail.com>\n"
 "Language-Team: Arabic <https://hosted.weblate.org/projects/godot-engine/"
 "godot/ar/>\n"
@@ -76,7 +76,7 @@ msgstr ""
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=6; plural=n==0 ? 0 : n==1 ? 1 : n==2 ? 2 : n%100>=3 "
 "&& n%100<=10 ? 3 : n%100>=11 ? 4 : 5;\n"
-"X-Generator: Weblate 4.11-dev\n"
+"X-Generator: Weblate 4.11.1-dev\n"
 
 #: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
 #: modules/visual_script/visual_script_builtin_funcs.cpp
@@ -85,13 +85,13 @@ msgstr "معامل خاطئ لدالة ()ConvertØŒ استخدم احدى الثÙ
 
 #: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
 msgid "Expected a string of length 1 (a character)."
-msgstr "كان يتوقع سلسلة من الطول 1 (حر�)."
+msgstr "كانت الدالة تتوقع سلسلة-حرو� طولها 1 (حر� واحد)."
 
 #: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
 #: modules/mono/glue/gd_glue.cpp
 #: modules/visual_script/visual_script_builtin_funcs.cpp
 msgid "Not enough bytes for decoding bytes, or invalid format."
-msgstr "لا يوجد ما يك�ي من البايتات من أجل �ك البايتات، أو صيغة غير صحيحة."
+msgstr "ليس هنالك بايتات كا�ية من أجل �ك البايتات، أو الصيغة غير صحيحة."
 
 #: core/math/expression.cpp
 msgid "Invalid input %i (not passed) in expression"
@@ -103,7 +103,7 @@ msgstr "لا يمكن استخدام self لأن النموذج Ù�ارغ (لم Ù
 
 #: core/math/expression.cpp
 msgid "Invalid operands to operator %s, %s and %s."
-msgstr "معاملات غير صالحة للمشغل ��%s�، �%s�� و �%s�."
+msgstr "معاملات غير صالحة للمشغل %s, %s و %s."
 
 #: core/math/expression.cpp
 msgid "Invalid index of type %s for base type %s"
@@ -111,11 +111,11 @@ msgstr "Ù�هرس غير صحيح للنوع %s التابع للنوع الأسØ
 
 #: core/math/expression.cpp
 msgid "Invalid named index '%s' for base type %s"
-msgstr "أسم �هرس غير صحيح '%s' للنوع الأساسي %s"
+msgstr "أسم �هرس غير صالح '%s' للنوع الأساسي %s"
 
 #: core/math/expression.cpp
 msgid "Invalid arguments to construct '%s'"
-msgstr "معامل غير صالح للإنشاء '%s'"
+msgstr "معامل غير صالح لإنشاء '%s'"
 
 #: core/math/expression.cpp
 msgid "On call to '%s':"
@@ -131,23 +131,23 @@ msgstr "كيلوبايت"
 
 #: core/ustring.cpp
 msgid "MiB"
-msgstr "ميجابايت"
+msgstr "ميبي بايت (MiB)"
 
 #: core/ustring.cpp
 msgid "GiB"
-msgstr "جيجابايت"
+msgstr "جيبي بايت (GiB)"
 
 #: core/ustring.cpp
 msgid "TiB"
-msgstr "تيرابايت"
+msgstr "تيبي بايت (TiB)"
 
 #: core/ustring.cpp
 msgid "PiB"
-msgstr "بيتابايت"
+msgstr "بيبي بايت (PiB)"
 
 #: core/ustring.cpp
 msgid "EiB"
-msgstr "إكسابايت"
+msgstr "إكسي بايت (EiB)"
 
 #: editor/animation_bezier_editor.cpp
 msgid "Free"
@@ -191,72 +191,72 @@ msgstr "تحريك نقاط بيزية"
 
 #: editor/animation_bezier_editor.cpp editor/animation_track_editor.cpp
 msgid "Anim Duplicate Keys"
-msgstr "تكرار م�اتيح التحريك"
+msgstr "Anim تكرار م�اتيح التحريك"
 
 #: editor/animation_bezier_editor.cpp editor/animation_track_editor.cpp
 msgid "Anim Delete Keys"
-msgstr "أزل م�اتيح التحريك"
+msgstr "Anim أزل م�اتيح التحريك"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Change Keyframe Time"
-msgstr "تغيير وقت الإطار الرئيسي للحركة"
+msgstr "Anim تغيير وقت الإطار الرئيسي"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Change Transition"
-msgstr "تغيير إنتقالية الرسوم المتحركة"
+msgstr "Anim تغيير إنتقالية الرسوم المتحركة"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Change Transform"
-msgstr "تحويل تغيير التحريك"
+msgstr "Anim تغيير التحويل"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Change Keyframe Value"
-msgstr "تغيير قيمة الإطار الأساسي للحركة"
+msgstr "Anim تغيير قيمة الإطار الرئيسي"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Change Call"
-msgstr "نداء تغيير التحريك"
+msgstr "Anim تغيير النداء (Call)"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Multi Change Keyframe Time"
-msgstr "وقت الإطار متعدد التغييرات للرسم المتحرك"
+msgstr "Anim تغييرات متعددة لوقت الإطار الرئيسي"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Multi Change Transition"
-msgstr "المراحل الانتقالية للرسم المتحرك متعدد التغييرات"
+msgstr "Anim تغييرات متعددة للمراحل الانتقالية"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Multi Change Transform"
-msgstr "التَحَوّل متعدد التغيير للرسوم المتحركة"
+msgstr "Anim تغييرات متعددة للتحويلات"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Multi Change Keyframe Value"
-msgstr "قيمة الإطار متعدد التغييرات للرسم المتحرك"
+msgstr "Anim تغييرات متعددة لقيمة الإطار(ات) الرئيسية"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Multi Change Call"
-msgstr "استدعاء الرسوم المتحركة متعددة التغيير"
+msgstr "Anime تغييرات متعددة نداء(ات)"
 
 #: editor/animation_track_editor.cpp
 msgid "Change Animation Length"
-msgstr "تعديل طول عرض الحركة"
+msgstr "تعديل مدة الرسم المتحرك"
 
 #: editor/animation_track_editor.cpp
 #: editor/plugins/sprite_frames_editor_plugin.cpp
 msgid "Change Animation Loop"
-msgstr "تعديل رباط عرض الحركة"
+msgstr "تعديل رباط (Loop) الرسم المتحرك"
 
 #: editor/animation_track_editor.cpp
 msgid "Property Track"
-msgstr "خط الخاصية"
+msgstr "مسار خاصية"
 
 #: editor/animation_track_editor.cpp
 msgid "3D Transform Track"
-msgstr "خط التحريك ثلاثي الأبعاد"
+msgstr "مسار التحويل (تحريك �ي الأبعاد)"
 
 #: editor/animation_track_editor.cpp
 msgid "Call Method Track"
-msgstr "استدعاء أسلوب المسار"
+msgstr "مسار لاستدعاء دالة"
 
 #: editor/animation_track_editor.cpp
 msgid "Bezier Curve Track"
@@ -264,19 +264,19 @@ msgstr "مسار منحنى بيزيه"
 
 #: editor/animation_track_editor.cpp
 msgid "Audio Playback Track"
-msgstr "شريط صبط الصوت"
+msgstr "شريط ضبط الصوت"
 
 #: editor/animation_track_editor.cpp
 msgid "Animation Playback Track"
-msgstr "شريط ضبط الحركة"
+msgstr "شريط ضبط حركة الرسم المتحرك (Animation)"
 
 #: editor/animation_track_editor.cpp
 msgid "Animation length (frames)"
-msgstr "مدة الحركة (بالإطارات)"
+msgstr "مدة الرسم المتحرك (بالإطارات)"
 
 #: editor/animation_track_editor.cpp
 msgid "Animation length (seconds)"
-msgstr "مدة الحركة (بالثواني)"
+msgstr "مدة الرسم المتحرك (بالثواني)"
 
 #: editor/animation_track_editor.cpp
 msgid "Add Track"
@@ -300,6 +300,7 @@ msgid "Anim Clips:"
 msgstr "مقاطع الرسوم المتحركة:"
 
 #: editor/animation_track_editor.cpp
+#, fuzzy
 msgid "Change Track Path"
 msgstr "تغيير مسار الطريق"
 
@@ -309,13 +310,14 @@ msgstr "تمكين/إيقا� هذا المسار."
 
 #: editor/animation_track_editor.cpp
 msgid "Update Mode (How this property is set)"
-msgstr "وضع التحديث (كي� يتم تعيين هذه الخاصية)"
+msgstr "وضع التحديث (كي�ية تعيين هذه الخاصية)"
 
 #: editor/animation_track_editor.cpp
 msgid "Interpolation Mode"
 msgstr "وضعية الأستي�اء"
 
 #: editor/animation_track_editor.cpp
+#, fuzzy
 msgid "Loop Wrap Mode (Interpolate end with beginning on loop)"
 msgstr "وضع الت�ا� الحلقة (نهاية العشوائية مع بداية الحلقة)"
 
@@ -341,7 +343,7 @@ msgstr "متقطع"
 
 #: editor/animation_track_editor.cpp
 msgid "Trigger"
-msgstr "م�طلق"
+msgstr "ت�عيل/أطلاق"
 
 #: editor/animation_track_editor.cpp
 msgid "Capture"
@@ -358,7 +360,7 @@ msgstr "خطي"
 
 #: editor/animation_track_editor.cpp
 msgid "Cubic"
-msgstr "مكعب"
+msgstr "مكعبي"
 
 #: editor/animation_track_editor.cpp
 msgid "Clamp Loop Interp"
@@ -371,36 +373,35 @@ msgstr "الت�ا� الحلقة المثبتة"
 #: editor/animation_track_editor.cpp
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Insert Key"
-msgstr "أدخل الم�تاح"
+msgstr "أدخل م�تاح"
 
 #: editor/animation_track_editor.cpp
 msgid "Duplicate Key(s)"
-msgstr "م�تاح (م�اتيح) المكررة"
+msgstr "تكرار الم�تاح (الم�اتيح)"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Add RESET Value(s)"
-msgstr "إضا�ة %d إطار(ات)"
+msgstr "أض�ْ قيمة(قيم) إعادة تعيين (RESET)"
 
 #: editor/animation_track_editor.cpp
 msgid "Delete Key(s)"
-msgstr "م�تاح الحذ�()"
+msgstr "حذ� الم�تاح (الم�اتيح)"
 
 #: editor/animation_track_editor.cpp
 msgid "Change Animation Update Mode"
-msgstr "تغيير وضع تحديث الحركة"
+msgstr "تغيير وضع التحديث للرسم المتحرك"
 
 #: editor/animation_track_editor.cpp
 msgid "Change Animation Interpolation Mode"
-msgstr "تغيير وضع عقدة الحركة"
+msgstr "تغيير وضع الت�سير (Interpolation) للرسم المتحرك"
 
 #: editor/animation_track_editor.cpp
 msgid "Change Animation Loop Mode"
-msgstr "تغيير وضع عقدة الحركة"
+msgstr "تغيير وضع عقدة الرسم المتحرك"
 
 #: editor/animation_track_editor.cpp
 msgid "Remove Anim Track"
-msgstr "حذ� مسار التحريك"
+msgstr "إزالة مسار التحريك"
 
 #. TRANSLATORS: %s will be replaced by a phrase describing the target of track.
 #: editor/animation_track_editor.cpp
@@ -426,21 +427,22 @@ msgstr "أنشئ"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Insert"
-msgstr "إدخال حركة"
+msgstr "Anim إدخال حركة"
 
 #. TRANSLATORS: This describes the target of new animation track, will be inserted into another string.
 #: editor/animation_track_editor.cpp
 msgid "node '%s'"
-msgstr "وحدة '%s'"
+msgstr "الوحدة '%s'"
 
 #. TRANSLATORS: This describes the target of new animation track, will be inserted into another string.
 #: editor/animation_track_editor.cpp
 msgid "animation"
-msgstr "رسوم متحركة"
+msgstr "رسم متحرك"
 
 #: editor/animation_track_editor.cpp
 msgid "AnimationPlayer can't animate itself, only other players."
-msgstr "اللأعب المتحرك لا يستطيع تحريك ن�سه ,�قط اللاعبين الآخرين."
+msgstr ""
+"لاعب-التحريك (AnimationPlayer) لا يستطيع تحريك ن�سه ,�قط اللاعبين الآخرين."
 
 #. TRANSLATORS: This describes the target of new animation track, will be inserted into another string.
 #: editor/animation_track_editor.cpp
@@ -449,15 +451,15 @@ msgstr "الخاصية '%s'"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Create & Insert"
-msgstr "أنشي حركة وأدخلها"
+msgstr "Anim أنشئ وأض�ْ"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Insert Track & Key"
-msgstr "أنشي مسار حركة و م�تاح"
+msgstr "Anim أض�ْ مسار حركة و م�تاح"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Insert Key"
-msgstr "أض� م�تاح الحركة"
+msgstr "Anim أض�ْ م�تاح الحركة"
 
 #: editor/animation_track_editor.cpp
 msgid "Change Animation Step"
@@ -469,7 +471,7 @@ msgstr "إعادة ترتيب المسارات"
 
 #: editor/animation_track_editor.cpp
 msgid "Transform tracks only apply to Spatial-based nodes."
-msgstr "تنطبق مسارات التحويل �قط على الحيز المكاني."
+msgstr "تنطبق مسارات التحويل �قط على وحدات الحيز المكاني."
 
 #: editor/animation_track_editor.cpp
 msgid ""
@@ -478,18 +480,18 @@ msgid ""
 "-AudioStreamPlayer2D\n"
 "-AudioStreamPlayer3D"
 msgstr ""
-"يمكن للمسارات الصوتية أن تشير �قط إلى حيز الكتابة:\n"
-"-الصوت الجاري للأعب\n"
-"-الصوت الجاري للأعب ثنائي الأبعاد\n"
-"-الصوت الجاري للأعب ثلاثي الأبعاد"
+"يمكن للمسارات الصوتية �قط أن تشير إلى وحدات بنوع:\n"
+"-لاعب الصوت الجاري\n"
+"-لاعب الصوت الجاري للحيز ثنائي الأبعاد\n"
+"-لاعب الصوت الجاري للحيز ثلاثي الأبعاد"
 
 #: editor/animation_track_editor.cpp
 msgid "Animation tracks can only point to AnimationPlayer nodes."
-msgstr "مسارات الحركة يمكنها �قط أن تشير إلى ع�قد مشغّل الحركة."
+msgstr "مسارات الحركة يمكنها �قط أن تشير إلى وحدات مشغّل الرسوم المتحركة."
 
 #: editor/animation_track_editor.cpp
 msgid "Not possible to add a new track without a root"
-msgstr "لا يمكن إضا�ة مقطع جديد بدون جذر"
+msgstr "لا يمكن إضا�ة مقطع جديد بدون جذر (root)"
 
 #: editor/animation_track_editor.cpp
 msgid "Invalid track for Bezier (no suitable sub-properties)"
@@ -509,11 +511,11 @@ msgstr "المقطع ليس من نوع مكاني (Spatial), لا يمكن إض
 
 #: editor/animation_track_editor.cpp
 msgid "Add Transform Track Key"
-msgstr "أض� م�تاح مقطع المتحول (Transform)"
+msgstr "أض�ْ م�تاح لمقطع التحويل (Transform Track)"
 
 #: editor/animation_track_editor.cpp
 msgid "Add Track Key"
-msgstr "أض� م�تاح المقطع"
+msgstr "أض�ْ م�تاح المقطع"
 
 #: editor/animation_track_editor.cpp
 msgid "Track path is invalid, so can't add a method key."
@@ -521,15 +523,15 @@ msgstr "مسار المقطع غير صالح, إذن لا يمكن إضاÙ�Ø© Ø
 
 #: editor/animation_track_editor.cpp
 msgid "Add Method Track Key"
-msgstr "أض� م�تاح مقطع الدالة"
+msgstr "أضْ� م�تاح لمقطع الدالة (Method Track)"
 
 #: editor/animation_track_editor.cpp
 msgid "Method not found in object: "
-msgstr "دالة لم توجد �ي شيئ: "
+msgstr "دالة لم توجد �ي الكائن: "
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Move Keys"
-msgstr "م�تاح حركة التحريك"
+msgstr "Anim تحريك الم�اتيح"
 
 #: editor/animation_track_editor.cpp
 #: modules/visual_script/visual_script_editor.cpp
@@ -542,7 +544,7 @@ msgstr "لصق المقاطع"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Scale Keys"
-msgstr "م�تاح تكبير حركة"
+msgstr "Anim تكبير الم�اتيح"
 
 #: editor/animation_track_editor.cpp
 msgid ""
@@ -550,9 +552,8 @@ msgid ""
 msgstr "هذا الخيار لا يعمل لتعديل منحنى بيزر (Bezier), لأنه �قط مقطع واحد."
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Anim Add RESET Keys"
-msgstr "م�تاح تكبير حركة"
+msgstr "Anim إضا�ة م�اتيح إعادة تعيين (RESET Keys)"
 
 #: editor/animation_track_editor.cpp
 msgid ""
@@ -566,13 +567,13 @@ msgid ""
 "Alternatively, use an import preset that imports animations to separate "
 "files."
 msgstr ""
-"هذه الحركة (رسوم متحركة) تنتمي الى مشهد مستورد، لذا �إن أي تغييرات �ي "
-"المسارات المستوردة لن يتم ح�ظها.\n"
+"هذه الرسوم المتحركة تنتمي الى مشهد مستورد، لذا �إن أي تغييرات �ي المسارات "
+"المستوردة لن يتم ح�ظها.\n"
 "\n"
 "لتشغيل الامكانية لإضا�ة مسارات خاصة، انتقل إلى إعدادات استيراد المشهد واضبط "
 "\"رسوم متحركة > تخزين\" إلى \"مل�ات\"،\n"
 "شغل \"رسوم متحركة > أحت�ظ بالمقاطع (المسارات) المخصصة\"، ثم اعد الاستيراد.\n"
-"يمكنك ايضاً استخدام إعدادات استيراد مسبقة تقوم باستيراد الرسم المتحرك الى "
+"يمكنك ايضاً استخدام إعدادات استيراد مسبقة تقوم باستيراد الرسوم المتحركة الى "
 "مل�ات مت�رقة."
 
 #: editor/animation_track_editor.cpp
@@ -584,6 +585,7 @@ msgid "Select an AnimationPlayer node to create and edit animations."
 msgstr "اختر مشغل الرسم المتحرك من شجرة المشهد لكي تنشئ أو تعدل الحركة."
 
 #: editor/animation_track_editor.cpp
+#, fuzzy
 msgid "Only show tracks from nodes selected in tree."
 msgstr "�قط قم بتبين المقاطع من العقد (Nodes) المحددة �ي الشجرة."
 
@@ -678,7 +680,7 @@ msgstr "إستعمل منحنيات بيزر"
 
 #: editor/animation_track_editor.cpp
 msgid "Create RESET Track(s)"
-msgstr "إنشاء مسار/ات إعادة التعيين (RESET)"
+msgstr "إنشاء مسار(ات) إعادة التعيين (RESET)"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim. Optimizer"
@@ -1127,8 +1129,8 @@ msgid ""
 "Depending on your filesystem configuration, the files will either be moved "
 "to the system trash or deleted permanently."
 msgstr ""
-"هل تريد حذ� المل�ات المحددة من المشروع؟ (لا يمكن التراجع.)\n"
-"إستنادًا إلى نظام تشغيل جهازك, قد يتم نقل المل�ات إلى سلة المهملات أو حذ�ها "
+"هل تريد حذ� المل�ات المحددة من المشروع؟ (لا يمكن استعادتها.)\n"
+"حسب إ�عدادات م�دير مل�ات نظام تشغيلك, سيتم نقلها إلى سلة المهملات أو ستحذ� "
 "نهائيًا."
 
 #: editor/dependency_editor.cpp
@@ -1139,10 +1141,10 @@ msgid ""
 "Depending on your filesystem configuration, the files will either be moved "
 "to the system trash or deleted permanently."
 msgstr ""
-"المل�ات التي يتم إزالتها مطلوبة من قبل موارد أخرى من اجل أَن تعمل.\n"
-"هل تريد إزالتها على أي حال؟ (لا تراجع).\n"
-"حسب إ�عدادات م�دير مل�ات�ك, إ�ما سيتم نقل الملقات إ�لى سلة الم�هملات أَو سيتم حذ�ها "
-"نهائياً."
+"المل�ات التي يتم إزالتها هي مطلوبة من قبل موارد أخرى لكي تعمل.\n"
+"هل تريد إزالتها على أي حال؟ (لا يمكن التراجع).\n"
+"اعتماداً على إ�عدادات م�دير مل�ات نظام تشغيلك, سيتم نقلها إ�لى سلة الم�هملات أَو "
+"سيتم حذ�ها نهائياً."
 
 #: editor/dependency_editor.cpp
 msgid "Cannot remove:"
@@ -1313,7 +1315,7 @@ msgstr "تراخيص"
 
 #: editor/editor_asset_installer.cpp
 msgid "Error opening asset file for \"%s\" (not in ZIP format)."
-msgstr "حدث خطأ عند�تح مل� %s الحزمة بسبب أن المل� ليس �ي صيغة \"ZIP\"."
+msgstr "حدث خطأ عند �تح مل� الحزمة لـ \"%s\" (لأنه ليس بصيغة ZIP) ."
 
 #: editor/editor_asset_installer.cpp
 msgid "%s (already exists)"
@@ -1527,6 +1529,11 @@ msgstr "تحميل نسق المسار الإ�تراضي."
 msgid "Create a new Bus Layout."
 msgstr "أنشئ نسق مسار جديد."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "إ�تح نسق مسار الصوت"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "اسم غير صالح."
@@ -1787,7 +1794,7 @@ msgstr "رصي� الع�قد"
 
 #: editor/editor_feature_profile.cpp
 msgid "FileSystem Dock"
-msgstr "إرساء نظام المل�ات"
+msgstr "رصي� نظام المل�ات"
 
 #: editor/editor_feature_profile.cpp
 msgid "Import Dock"
@@ -2150,12 +2157,11 @@ msgstr "التعليمات على الإنترنت"
 
 #: editor/editor_help.cpp
 msgid "Properties"
-msgstr "خاصيات"
+msgstr "خصائص"
 
 #: editor/editor_help.cpp
-#, fuzzy
 msgid "overrides %s:"
-msgstr "يتجاوز s%:"
+msgstr "يتجاوز %s:"
 
 #: editor/editor_help.cpp
 msgid "default:"
@@ -2163,7 +2169,7 @@ msgstr "الا�تراضي:"
 
 #: editor/editor_help.cpp
 msgid "Methods"
-msgstr "طرق"
+msgstr "دوال"
 
 #: editor/editor_help.cpp
 msgid "Theme Properties"
@@ -2296,14 +2302,13 @@ msgid "Property:"
 msgstr "خاصية:"
 
 #: editor/editor_inspector.cpp
-#, fuzzy
 msgid "Pin value"
-msgstr "(القيمة)"
+msgstr "القيمة المثبتة"
 
 #: editor/editor_inspector.cpp
 msgid ""
 "Pinning a value forces it to be saved even if it's equal to the default."
-msgstr "تثبيت القيمةيجْبرَهٌ حتي لو كانت تساوي القيمة الإ�تراضية."
+msgstr "تثبيت القيمة يجْب�رَه� على ح�ظها حتى لو كانت تساوي القيمة الإ�تراضية."
 
 #: editor/editor_inspector.cpp
 msgid "Pin value [Disabled because '%s' is editor-only]"
@@ -2337,9 +2342,8 @@ msgid "Paste Property"
 msgstr "لصق ال"
 
 #: editor/editor_inspector.cpp
-#, fuzzy
 msgid "Copy Property Path"
-msgstr "نسخ مسار النص البرمجي"
+msgstr "نسخ مسار الخاصية"
 
 #: editor/editor_log.cpp
 msgid "Output:"
@@ -2495,7 +2499,7 @@ msgstr "ينشئ الصورة المصغرة"
 
 #: editor/editor_node.cpp
 msgid "This operation can't be done without a tree root."
-msgstr "هذه العملية لا يمكنها الإكتمال من غير شجرة رئيسة."
+msgstr "هذه العميلة لا يمكن إجرائها من غير جذر رئيسي."
 
 #: editor/editor_node.cpp
 msgid ""
@@ -2554,17 +2558,16 @@ msgid ""
 "option and delete the Default layout."
 msgstr ""
 "تم تجاوز اعدادات المحرر الاساسيه.\n"
-"لإستعادة اعدادات المحرر, اذهب إلى خيار 'Delete Layout' من ثم إح�ظ الاعدادات "
-"الاساسيه."
+"لإستعادة اعدادات المحررالأساسية, اذهب إلى خيار 'Delete Layout' من ثم أزل "
+"الاعدادات الاساسيه."
 
 #: editor/editor_node.cpp
 msgid "Layout name not found!"
 msgstr "إسم النسق غير موجود!"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Restored the Default layout to its base settings."
-msgstr "إسترجاع النسق الإ�تراضي إلي الإعدادات الأساسية."
+msgstr "تم إسترجاع النسق الإ�تراضي (Default layout) لاعدادته� الأساسية."
 
 #: editor/editor_node.cpp
 msgid ""
@@ -2667,11 +2670,12 @@ msgstr ""
 "عموما."
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid ""
 "A root node is required to save the scene. You can add a root node using the "
 "Scene tree dock."
-msgstr "يتطلب ح�ظ المشهد توا�ر ع�قدة رئيسة."
+msgstr ""
+"يتطلب ح�ظ المشهد توا�ر وحدة رئيسة. يمكنك إضا�ة وحدة رئيسية من خلال رصي� شجرة "
+"المشهد."
 
 #: editor/editor_node.cpp
 msgid "Save Scene As..."
@@ -2815,7 +2819,7 @@ msgid ""
 msgstr ""
 "غير قادر علي تحميل النص البرمجي للإضا�ة من المسار: '%s'. يبدو أنه يوجد خطأ "
 "�ي ذلك النص البرمجي.\n"
-"تعطيل الإضا�ة �ي '%s' كي لا تحصل أخطاء."
+"تعطيل الإضا�ة �ي '%s' لتجنب الأخطاء لاحقاً."
 
 #: editor/editor_node.cpp
 msgid ""
@@ -2955,7 +2959,7 @@ msgstr "تمكين/إيقا� الوضع الخالي من الإلهاء."
 msgid "Add a new scene."
 msgstr "إضا�ة مشهد جديد."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "مشهد"
 
@@ -3040,15 +3044,15 @@ msgstr "إعدادات المشروع..."
 
 #: editor/editor_node.cpp editor/plugins/version_control_editor_plugin.cpp
 msgid "Version Control"
-msgstr "التحكم بالإصدار"
+msgstr "إدارة الإصدارات (Version Control)"
 
 #: editor/editor_node.cpp editor/plugins/version_control_editor_plugin.cpp
 msgid "Set Up Version Control"
-msgstr "إعداد التحكم بالنسخة"
+msgstr "إعداد إدارة الإصدارات (Version Control)"
 
 #: editor/editor_node.cpp
 msgid "Shut Down Version Control"
-msgstr "إط�اء التحكم بالنسخة Version Control"
+msgstr "إط�اء إدارة الإصدارات (Version Control)"
 
 #: editor/editor_node.cpp
 msgid "Export..."
@@ -3059,9 +3063,8 @@ msgid "Install Android Build Template..."
 msgstr "تحميل قالب البناء للأندرويد..."
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Open User Data Folder"
-msgstr "�تح مجلّد بيانات المحرّر"
+msgstr "إ�تح مجلّد بيانات المستخدم"
 
 #: editor/editor_node.cpp editor/plugins/tile_set_editor_plugin.cpp
 msgid "Tools"
@@ -3069,12 +3072,11 @@ msgstr "أدوات"
 
 #: editor/editor_node.cpp
 msgid "Orphan Resource Explorer..."
-msgstr "متص�ح الموارد أور�ان..."
+msgstr "متص�ح الموارد اليتيمة..."
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Reload Current Project"
-msgstr "إعادة تسمية المشروع"
+msgstr "إعادة تحميل/تشغيل المشروع الحالي"
 
 #: editor/editor_node.cpp
 msgid "Quit to Project List"
@@ -3107,7 +3109,7 @@ msgstr ""
 
 #: editor/editor_node.cpp
 msgid "Small Deploy with Network Filesystem"
-msgstr "نشر مصغر مع نظام مل�ات الشبكة"
+msgstr "نشر صغير مع نظام مل�ات الشبكة"
 
 #: editor/editor_node.cpp
 msgid ""
@@ -3183,7 +3185,6 @@ msgid "Synchronize Script Changes"
 msgstr "مزامنة تغييرات النص البرمجي"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid ""
 "When this option is enabled, any script that is saved will be reloaded in "
 "the running project.\n"
@@ -3192,8 +3193,8 @@ msgid ""
 msgstr ""
 "حينما يكون هذا الإعداد م��عل، أي نص برمجي يتم ح�ظه سيتم إعادة تحميله �ي "
 "اللعبة العاملة.\n"
-"حينما يتم إستخدامه عن ب�عد على جهاز، سيكون هذا أكثر �عالية مع نظام شبكات "
-"المل�ات."
+"حينما يتم إستخدامه عن ب�عد على جهاز، سيكون أكثر ك�اءتاً عند ت�عيل إعداد نظام "
+"مل�ات الشبكة."
 
 #: editor/editor_node.cpp editor/script_create_dialog.cpp
 msgid "Editor"
@@ -3244,9 +3245,8 @@ msgid "Help"
 msgstr "مساعدة"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Online Documentation"
-msgstr "�تح الوثائق"
+msgstr "الوثائق الإلكترونية"
 
 #: editor/editor_node.cpp
 msgid "Questions & Answers"
@@ -3269,9 +3269,8 @@ msgid "Community"
 msgstr "المجتمع"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "About Godot"
-msgstr "حول"
+msgstr "حول غو-دوت"
 
 #: editor/editor_node.cpp
 msgid "Support Godot Development"
@@ -3287,7 +3286,7 @@ msgstr "تشغيل"
 
 #: editor/editor_node.cpp
 msgid "Pause the scene execution for debugging."
-msgstr "إيقا� المشهد الحالي من أجل المعالجة البرمجية."
+msgstr "إيقا� المشهد من أجل تنقيح الكبوات البرمجية (debugging)."
 
 #: editor/editor_node.cpp
 msgid "Pause Scene"
@@ -3334,7 +3333,7 @@ msgstr "تحديث عند التغيير"
 #: editor/editor_node.cpp
 #, fuzzy
 msgid "Update Vital Changes"
-msgstr "تغيرات المادة:"
+msgstr "تغيرات المادة"
 
 #: editor/editor_node.cpp
 msgid "Hide Update Spinner"
@@ -3424,7 +3423,7 @@ msgstr "دمج مع الموجود"
 #: editor/editor_node.cpp
 #, fuzzy
 msgid "Apply MeshInstance Transforms"
-msgstr "تحويل تغيير التحريك"
+msgstr "تطبيق التحويلات ل MeshInstance"
 
 #: editor/editor_node.cpp
 msgid "Open & Run a Script"
@@ -3530,7 +3529,6 @@ msgid "Version"
 msgstr "الإصدار"
 
 #: editor/editor_plugin_settings.cpp
-#, fuzzy
 msgid "Author"
 msgstr "المالك"
 
@@ -3544,14 +3542,12 @@ msgid "Measure:"
 msgstr "قياس:"
 
 #: editor/editor_profiler.cpp
-#, fuzzy
 msgid "Frame Time (ms)"
-msgstr "وقت الاطار (ميلي ثانية)"
+msgstr "وقت الإطار (مللي ثانية)"
 
 #: editor/editor_profiler.cpp
-#, fuzzy
 msgid "Average Time (ms)"
-msgstr "متوسط الوقت (ميلي ثانية)"
+msgstr "متوسط الوقت (مللي ثانية)"
 
 #: editor/editor_profiler.cpp
 msgid "Frame %"
@@ -3725,7 +3721,7 @@ msgid ""
 "as runnable."
 msgstr ""
 "لا يوجد إعداد تصدير مسبق عامل لهذه المنصة.\n"
-"من �ضلك أض� إعداد تصدير عامل �ي قائمة التصدير."
+"من �ضلك أض�ْ إعداد تصدير عامل �ي قائمة التصدير أو عر� إعداد تصدير موجود كعامل."
 
 #: editor/editor_run_script.cpp
 msgid "Write your logic in the _run() method."
@@ -3775,9 +3771,8 @@ msgstr "إستيراد من عقدة:"
 
 #. TRANSLATORS: %s refers to the name of a version control system (e.g. "Git").
 #: editor/editor_vcs_interface.cpp
-#, fuzzy
 msgid "%s Error"
-msgstr "خطأ"
+msgstr "٪s خطأ"
 
 #: editor/export_template_manager.cpp
 msgid "Open the folder containing these templates."
@@ -3792,9 +3787,8 @@ msgid "There are no mirrors available."
 msgstr "لا يوجد مرايا متو�رة."
 
 #: editor/export_template_manager.cpp
-#, fuzzy
 msgid "Retrieving the mirror list..."
-msgstr "يستقبل المرايا، من �ضلك إنتظر..."
+msgstr "يتم استرداد قائمة المرايا، من �ضلك إنتظر..."
 
 #: editor/export_template_manager.cpp
 msgid "Starting the download..."
@@ -3806,7 +3800,7 @@ msgstr "خطأ �ي طلب الرابط:"
 
 #: editor/export_template_manager.cpp
 msgid "Connecting to the mirror..."
-msgstr "يتم الاتصال بالمرآة..."
+msgstr "يتم الاتصال بالم�ضي� (المرآة)..."
 
 #: editor/export_template_manager.cpp
 msgid "Can't resolve the requested address."
@@ -3857,8 +3851,8 @@ msgstr "هناك خطأ �ي جلب قائمة المرايا mirrors."
 #, fuzzy
 msgid "Error parsing JSON with the list of mirrors. Please report this issue!"
 msgstr ""
-"حدث خطأ �ي �ك (ت�سير parsing) مل� JSON الخاص بقائمة المرايا. من �ضلك بلّغ عن "
-"هذه المشكلة!"
+"حدث خطأ �ي ت�سير/تحليل (parsing) مل� JSON الخاص بقائمة المرايا. من �ضلك بلّغ "
+"عن هذه المشكلة!"
 
 #: editor/export_template_manager.cpp
 msgid "Best available mirror"
@@ -3917,7 +3911,7 @@ msgstr "خطأ مطابقة ssl"
 #: editor/export_template_manager.cpp
 #, fuzzy
 msgid "Can't open the export templates file."
-msgstr "لم نستطع �تح المل� المضغوط الم�ورد."
+msgstr "لا نستطيع �تح مل� القوالب."
 
 #: editor/export_template_manager.cpp
 msgid "Invalid version.txt format inside the export templates file: %s."
@@ -3926,12 +3920,12 @@ msgstr "صيغة غير صالحة ل version.txt داخل مل� القالب:
 #: editor/export_template_manager.cpp
 #, fuzzy
 msgid "No version.txt found inside the export templates file."
-msgstr "لا مل� version.txt تم إيجاده داخل القالب."
+msgstr "لم يتم إيجاد مل� version.txt �ي داخل مل� القالب."
 
 #: editor/export_template_manager.cpp
 #, fuzzy
 msgid "Error creating path for extracting templates:"
-msgstr "خطأ �ي إنشاء المسار للقوالب:"
+msgstr "خطأ �ي إنشاء المسار لاستخراج القوالب:"
 
 #: editor/export_template_manager.cpp
 msgid "Extracting Export Templates"
@@ -3966,9 +3960,8 @@ msgid "Export templates are installed and ready to be used."
 msgstr "تم تنصيب قوالب التصدير وهي جاهزة للاستعمال."
 
 #: editor/export_template_manager.cpp
-#, fuzzy
 msgid "Open Folder"
-msgstr "ا�تح المل�"
+msgstr "ا�تح المجلد"
 
 #: editor/export_template_manager.cpp
 msgid "Open the folder containing installed templates for the current version."
@@ -3989,12 +3982,11 @@ msgstr "التحميل من:"
 #: editor/export_template_manager.cpp
 #, fuzzy
 msgid "Open in Web Browser"
-msgstr "تشغيل �ي المتص�ح"
+msgstr "أ�تحه� �ي المتص�ح"
 
 #: editor/export_template_manager.cpp
-#, fuzzy
 msgid "Copy Mirror URL"
-msgstr "خطأ �ي نسخ"
+msgstr "انسخ عنوان URL المرآة"
 
 #: editor/export_template_manager.cpp
 msgid "Download and Install"
@@ -4025,19 +4017,16 @@ msgid "Cancel"
 msgstr "إلغاء"
 
 #: editor/export_template_manager.cpp
-#, fuzzy
 msgid "Cancel the download of the templates."
-msgstr "لم نستطع �تح المل� المضغوط الم�ورد."
+msgstr "إلغاء تحميل القوالب."
 
 #: editor/export_template_manager.cpp
-#, fuzzy
 msgid "Other Installed Versions:"
-msgstr "النسخة الم�ثبتة:"
+msgstr "نسخ م�ثبتة اخرى:"
 
 #: editor/export_template_manager.cpp
-#, fuzzy
 msgid "Uninstall Template"
-msgstr "إلغاء التثبيت"
+msgstr "إلغاء تثبيت القالب"
 
 #: editor/export_template_manager.cpp
 msgid "Select Template File"
@@ -4111,6 +4100,9 @@ msgid ""
 "After renaming to an unknown extension, the file won't be shown in the "
 "editor anymore."
 msgstr ""
+"لم يتعر� المحرر على امتداد المل�.\n"
+"إذا تريد إعادة تسميته� على أي حال, �أستخدم مدير مل�ات نظام التشغيل الخاص بك.\n"
+"بعْدَ إعادة تسميته� إلى امتداد غير معر�, المل� لن يظهر �ي المحرر بعد الآن."
 
 #: editor/filesystem_dock.cpp
 msgid ""
@@ -4204,9 +4196,8 @@ msgid "Collapse All"
 msgstr "طوي الكل"
 
 #: editor/filesystem_dock.cpp
-#, fuzzy
 msgid "Sort files"
-msgstr "بحث المل�ات"
+msgstr "رتبْ المل�ات"
 
 #: editor/filesystem_dock.cpp
 msgid "Sort by Name (Ascending)"
@@ -4225,9 +4216,8 @@ msgid "Sort by Type (Descending)"
 msgstr "صنّ� و�قاً للنوع (تنازلياً)"
 
 #: editor/filesystem_dock.cpp
-#, fuzzy
 msgid "Sort by Last Modified"
-msgstr "آخر ما تم تعديله"
+msgstr "رتب من آخر ما تم تعديله"
 
 #: editor/filesystem_dock.cpp
 msgid "Sort by First Modified"
@@ -4313,6 +4303,7 @@ msgid "Folder:"
 msgstr "مجلد:"
 
 #: editor/find_in_files.cpp
+#, fuzzy
 msgid "Filters:"
 msgstr "تنقيات:"
 
@@ -4334,22 +4325,20 @@ msgid "Replace..."
 msgstr "استبدال..."
 
 #: editor/find_in_files.cpp editor/plugins/script_editor_plugin.cpp
-#, fuzzy
 msgid "Replace in Files"
-msgstr "إستبدال الكل"
+msgstr "إستبدل �ي كل الم�ات"
 
 #: editor/find_in_files.cpp
 msgid "Find: "
-msgstr "إيجاد: "
+msgstr "جدْ: "
 
 #: editor/find_in_files.cpp
 msgid "Replace: "
 msgstr "إستبدال: "
 
 #: editor/find_in_files.cpp
-#, fuzzy
 msgid "Replace All (NO UNDO)"
-msgstr "إستبدال الكل"
+msgstr "إستبدال الكل (لا رجوع)"
 
 #: editor/find_in_files.cpp
 msgid "Searching..."
@@ -4531,7 +4520,7 @@ msgstr "إخلاء الإ�تراضي ل '%s'"
 
 #: editor/import_dock.cpp
 msgid "Reimport"
-msgstr "إعادة إستيراد"
+msgstr "إعادة الاستيراد"
 
 #: editor/import_dock.cpp
 msgid ""
@@ -4540,6 +4529,10 @@ msgid ""
 "Selecting another resource in the FileSystem dock without clicking Reimport "
 "first will discard changes made in the Import dock."
 msgstr ""
+"لديك تغييرات معلقة لم تطبقها حتى الآن. اضغط على إعادة الاستيراد لتطبيق "
+"التغييرات التي تم اجراؤها من خيارات الاستيراد.\n"
+"اختيار مورد آخر �ي رصي� نظام-المل�ات من دون الضغط على إعادة الاستيراد أولاً "
+"سيؤدي إلى اهمال التغييرات التي تم اجراؤها �ي رصي� الاستيراد."
 
 #: editor/import_dock.cpp
 msgid "Import As:"
@@ -4566,21 +4559,19 @@ msgstr "تحذير: هناك Ù…Ù�لحقات تستخدم هذا المورد، Ø
 msgid ""
 "Select a resource file in the filesystem or in the inspector to adjust "
 "import settings."
-msgstr ""
+msgstr "إختر مل� مورد �ي نظام المل�ات أو �ي الم�ت�حص لضبط إعدادت الاستيراد."
 
 #: editor/inspector_dock.cpp
 msgid "Failed to load resource."
 msgstr "�شل تحميل المورد."
 
 #: editor/inspector_dock.cpp
-#, fuzzy
 msgid "Copy Properties"
-msgstr "خاصيات"
+msgstr "إنسخ الخاصيات"
 
 #: editor/inspector_dock.cpp
-#, fuzzy
 msgid "Paste Properties"
-msgstr "خاصيات"
+msgstr "إلصق الخاصيات"
 
 #: editor/inspector_dock.cpp
 msgid "Make Sub-Resources Unique"
@@ -4605,23 +4596,21 @@ msgid "Save As..."
 msgstr "ح�ظ باسم..."
 
 #: editor/inspector_dock.cpp
-#, fuzzy
 msgid "Extra resource options."
-msgstr "ليس �ي مسار الموارد."
+msgstr "أختيارات اضا�ية للمورد."
 
 #: editor/inspector_dock.cpp
 #, fuzzy
 msgid "Edit Resource from Clipboard"
-msgstr "تحرير حا�ظة الموارد"
+msgstr "تحرير المورد من الحا�ظة (Clipboard)"
 
 #: editor/inspector_dock.cpp
 msgid "Copy Resource"
 msgstr "نسخ الموارد"
 
 #: editor/inspector_dock.cpp
-#, fuzzy
 msgid "Make Resource Built-In"
-msgstr "إجعله م�دمج"
+msgstr "إجعل المورد م�دمج"
 
 #: editor/inspector_dock.cpp
 msgid "Go to the previous edited object in history."
@@ -4648,9 +4637,8 @@ msgid "Filter properties"
 msgstr "خصائص التص�ية"
 
 #: editor/inspector_dock.cpp
-#, fuzzy
 msgid "Manage object properties."
-msgstr "خصائص العنصر."
+msgstr "إدارة خصائص الكائن."
 
 #: editor/inspector_dock.cpp
 msgid "Changes may be lost!"
@@ -4806,8 +4794,8 @@ msgid ""
 "Activate to enable playback, check node warnings if activation fails."
 msgstr ""
 "شجرة الرسومات المتحركة غير �عالة.\n"
-"�علها لتتمكن من التشغيل playback، ت�قد التنبيه الذي تصدره الع�قدة إن �شل "
-"الت�عيل."
+"�علها لتتمكن من التشغيل playback، ت�قد تنبيهات/تحذيرات التي تصدرها الوحدة "
+"إذا �شل الت�عيل."
 
 #: editor/plugins/animation_blend_space_1d_editor.cpp
 #: editor/plugins/animation_blend_space_2d_editor.cpp
@@ -4867,6 +4855,7 @@ msgid "Remove BlendSpace2D Triangle"
 msgstr "إزالة مثلث الدمج ال�ضائي ثنائي الب�عد BlendSpace2D"
 
 #: editor/plugins/animation_blend_space_2d_editor.cpp
+#, fuzzy
 msgid "BlendSpace2D does not belong to an AnimationTree node."
 msgstr ""
 "إن BlendSpace2D لا ينتمي إلى ع�قدة شجرة الرسومات المتحركة AnimationTree."
@@ -4907,11 +4896,11 @@ msgstr "تعديل الم�رشحات"
 
 #: editor/plugins/animation_blend_tree_editor_plugin.cpp
 msgid "Output node can't be added to the blend tree."
-msgstr "لا يمكن إضا�ة ع�قدة المخرجات إلى شجرة الدمج."
+msgstr "لا يمكن إضا�ة مخرجات الوحدة إلى شجرة الدمج."
 
 #: editor/plugins/animation_blend_tree_editor_plugin.cpp
 msgid "Add Node to BlendTree"
-msgstr "إضا�ة ع�قدة إلى شجرة الدمج BlendTree"
+msgstr "أض�ْ وحدة إلى شجرة الدمج"
 
 #: editor/plugins/animation_blend_tree_editor_plugin.cpp
 msgid "Node Moved"
@@ -5266,7 +5255,7 @@ msgstr "تمت إزالة الكائن"
 
 #: editor/plugins/animation_state_machine_editor.cpp
 msgid "Transition Removed"
-msgstr "تمت إزالة النقل"
+msgstr "تمت إزالة الانتقال"
 
 #: editor/plugins/animation_state_machine_editor.cpp
 msgid "Set Start Node (Autoplay)"
@@ -5284,11 +5273,11 @@ msgstr ""
 
 #: editor/plugins/animation_state_machine_editor.cpp
 msgid "Create new nodes."
-msgstr "إنشاء ع�قد جديدة."
+msgstr "إنشاء وحدات جديدة."
 
 #: editor/plugins/animation_state_machine_editor.cpp
 msgid "Connect nodes."
-msgstr "توصيل عقد."
+msgstr "ربط الوحدات."
 
 #: editor/plugins/animation_state_machine_editor.cpp
 msgid "Remove selected node or transition."
@@ -5311,7 +5300,7 @@ msgstr "الانتقال: "
 
 #: editor/plugins/animation_state_machine_editor.cpp
 msgid "Play Mode:"
-msgstr "وضع اللعب:"
+msgstr "وضع التشغيل:"
 
 #: editor/plugins/animation_tree_editor_plugin.cpp
 #: editor/plugins/animation_tree_player_editor_plugin.cpp
@@ -5325,7 +5314,7 @@ msgstr "إسم جديد:"
 #: editor/plugins/animation_tree_player_editor_plugin.cpp
 #: editor/plugins/multimesh_editor_plugin.cpp
 msgid "Scale:"
-msgstr "تكبير/تصغير:"
+msgstr "تغيير الأبعاد:"
 
 #: editor/plugins/animation_tree_player_editor_plugin.cpp
 msgid "Fade In (s):"
@@ -5400,11 +5389,11 @@ msgstr "مسح المدخله"
 
 #: editor/plugins/animation_tree_player_editor_plugin.cpp
 msgid "Animation tree is valid."
-msgstr "شجرة الحركة صحيحة."
+msgstr "شجرة التحريك صالحةٌ."
 
 #: editor/plugins/animation_tree_player_editor_plugin.cpp
 msgid "Animation tree is invalid."
-msgstr "شجرة الحركة خاطئة."
+msgstr "شجرة التحريك غير صالحة."
 
 #: editor/plugins/animation_tree_player_editor_plugin.cpp
 msgid "Animation Node"
@@ -5500,7 +5489,7 @@ msgstr "�شل إتمام الطلب٫ الرمز الذي تم إرجاعه:"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Cannot save response to:"
-msgstr "لا يمكن الح�ظ بسبب:"
+msgstr "لا يمكن ح�ظ الرد الى:"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Write error."
@@ -5512,11 +5501,11 @@ msgstr "Ù�شل الطلب٫ السبب هو اعادة التحويل مرات Ø
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Redirect loop."
-msgstr "اعادة توجيه حلقة التكرار."
+msgstr "حلقة إعادة التوجيه."
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Request failed, timeout"
-msgstr "�شل الطلب ، انتهت المهلة"
+msgstr "�شل الطلب، انتهت المهلة"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Timeout."
@@ -5548,7 +5537,7 @@ msgstr "خطأ �ي تنزيل الأصول:"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Downloading (%s / %s)..."
-msgstr "جاري التنزيل (%s / %s)..."
+msgstr "جاري تنزيل (%s / %s)..."
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Downloading..."
@@ -5679,14 +5668,12 @@ msgid "Audio Preview Play/Pause"
 msgstr "معاينة الصوت شغّل/أوق�"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
-#, fuzzy
 msgid ""
 "Can't determine a save path for lightmap images.\n"
 "Save your scene and try again."
 msgstr ""
-"لا يمكن تحديد مسار ح�ظ لصور خرائط الضوء.\n"
-"اح�ظ مشهدك (لكي تح�ظ الصور �ي المسار ذاته), او اختر مسار ح�ظ لخصائص خرائط "
-"الضوء المعدة مسبقا."
+"لا يمكن تحديد مسار الح�ظ لصور خرائط الضوء.\n"
+"اح�ظ مشهدك ثم حاول مجدداً."
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
 #, fuzzy
@@ -5694,12 +5681,12 @@ msgid ""
 "No meshes to bake. Make sure they contain an UV2 channel and that the 'Use "
 "In Baked Light' and 'Generate Lightmap' flags are on."
 msgstr ""
-"لايوجد ميش لكي يتم تجهيزة. تاكد من انه يحتوي على من�ذ UV2 و ان زر الضوء "
-"'المعد' م�عل."
+"لا يوجد ميش ليتم تجهيزه�. تأكد أنه� يحتوي على من�ذ UV2 و أن علامتا 'الأستخدام "
+"�ي الضوء المخبوز ' و 'أنتج خريطة ضوئية' م�علتان."
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Failed creating lightmap images, make sure path is writable."
-msgstr "لا يمكن انشاء خرائط الضوء, تاكد من ان المسار صحيح."
+msgstr "لا يمكن انشاء خرائط الضوء, تاكد من ان المسار صحيح و قابل للكتابه."
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Failed determining lightmap size. Maximum lightmap size too small?"
@@ -5710,22 +5697,26 @@ msgid ""
 "Some mesh is invalid. Make sure the UV2 channel values are contained within "
 "the [0.0,1.0] square region."
 msgstr ""
-"بعض الشبكات غير صالحة. تأكد من احتواء قيم قناة UV2 داخل منطقة مربعة "
+"بعض المجسمات غير صالحة. تأكد من احتواء قيم قنوات UV2 �ي داخل منطقة مربعة "
 "[0.0،1.0]."
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
-#, fuzzy
 msgid ""
 "Godot editor was built without ray tracing support, lightmaps can't be baked."
-msgstr "تم تجميع محرر Godot دون دعم لتتبع الأشعة. لا يمكن بناء خرائط الإضاءة."
+msgstr ""
+"تم تجميع محرر غو-دوت بدون دعم لتتبع الأشعة. لذلك لا يمكن بناء خرائط ضوئية."
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Bake Lightmaps"
 msgstr "إعداد خرائط الضوء"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
-msgstr "حدد مل� الخريطة الضوئية:"
+msgstr "حدد مل� الخريطة الضوئية (lightmap):"
 
 #: editor/plugins/camera_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -5738,7 +5729,7 @@ msgstr "تعديل اللقطة"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Grid Offset:"
-msgstr "معادل الشبكة:"
+msgstr "مقدار إزاحة الشبكة:"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Grid Step:"
@@ -5746,7 +5737,7 @@ msgstr "خطوة الشبكة:"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Primary Line Every:"
-msgstr "الأخط الأولي ك�ل:"
+msgstr "الخط الأساسي عند:"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "steps"
@@ -5754,7 +5745,7 @@ msgstr "خطوات"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Rotation Offset:"
-msgstr "معادل الدوران:"
+msgstr "مقدار إزاحة الدوران:"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Rotation Step:"
@@ -5774,7 +5765,7 @@ msgstr "إنشاء موجه عمودي جديد"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Remove Vertical Guide"
-msgstr "مسح الموجه العمودي"
+msgstr "ازالة الموجه العمودي"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Move Horizontal Guide"
@@ -5797,19 +5788,16 @@ msgid "Set CanvasItem \"%s\" Pivot Offset to (%d, %d)"
 msgstr "تعيين إزاحة \"CanvasItem \"%s المحورية إلى (%d, %d)"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Rotate %d CanvasItems"
-msgstr "تدوير العنصر القماشي"
+msgstr "تدوير%d من عناصر-اللوحة"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Rotate CanvasItem \"%s\" to %d degrees"
-msgstr "تدوير العنصر القماشي"
+msgstr "تدوير عنصر-اللوحة \"%s\" الى %d درجة"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Move CanvasItem \"%s\" Anchor"
-msgstr "تحريك العنصر القماشي"
+msgstr "تحريك مرساة عنصر-اللوحة \"%s\""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Scale Node2D \"%s\" to (%s, %s)"
@@ -5820,24 +5808,20 @@ msgid "Resize Control \"%s\" to (%d, %d)"
 msgstr "تغيير حجم عنصر التحكم \"٪ s\" إلى (٪ d،٪ d)"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Scale %d CanvasItems"
-msgstr "مقياس العنصر القماشي"
+msgstr "تغيير حجم عناصر-اللوحة %d"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Scale CanvasItem \"%s\" to (%s, %s)"
-msgstr "مقياس العنصر القماشي"
+msgstr "تغيير حجم عنصر-اللوحة \"%s\" الى (%s, %s)"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Move %d CanvasItems"
-msgstr "تحريك العنصر القماشي"
+msgstr "تحريك %d من عناصر-اللوحات"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Move CanvasItem \"%s\" to (%d, %d)"
-msgstr "تحريك العنصر القماشي"
+msgstr "تحريك عنصر-اللوحة \"%s\" الى (%d, %d)"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -5849,7 +5833,7 @@ msgstr "ح�دد الق�ل"
 #: editor/plugins/spatial_editor_plugin.cpp
 #, fuzzy
 msgid "Grouped"
-msgstr "المجموعات"
+msgstr "م�جَمعَ"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid ""
@@ -5951,24 +5935,23 @@ msgstr "تغيير المرتكزات"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid ""
 "Project Camera Override\n"
 "Overrides the running project's camera with the editor viewport camera."
 msgstr ""
-"تجاوز كاميرا اللعبة.\n"
-"تجاوز كاميرا اللعبة عن طريق كاميرا إطار العرض �ي المحرر."
+"تجاوز كاميرا المشروع.\n"
+"يتجاوز كاميرا المشروع و يستخدم بدلها كاميرا إطار العرض �ي المحرر."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid ""
 "Project Camera Override\n"
 "No project instance running. Run the project from the editor to use this "
 "feature."
 msgstr ""
 "تجاوز كاميرا المشروع.\n"
-"ليس هناك مشروع يعمل حالياً. شغل المشروع من المحرر لاستعمال هذه الميزة."
+"ليس هناك نسخة من المشروع قيد التشغيل حالياً. قم بتشغيل المشروع من المحرر "
+"لاستعمال هذه الميزة."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -6034,9 +6017,8 @@ msgstr "تحديد الوضع"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid "Drag: Rotate selected node around pivot."
-msgstr "ازالة الكائن المحدد او الإنتقال المحدد."
+msgstr "أسحبْ: تدوير الوحدة المحددة حول النقطة المحورية."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Alt+Drag: Move selected node."
@@ -6047,15 +6029,14 @@ msgid "Alt+Drag: Scale selected node."
 msgstr "Alt+سحب: لتغيير حجم الوحدة المحددة."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "V: Set selected node's pivot position."
-msgstr "ازالة الكائن المحدد او الإنتقال المحدد."
+msgstr "V: تعيين نقطة المحور للوحدة المحددة."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Alt+RMB: Show list of all nodes at position clicked, including locked."
 msgstr ""
-"Alt + زر ال�أرة الأيمن: أظهر قائمة لكل الوحدات �ي المنطقة المضغوطة، متضمنة "
+"Alt + زر-ال�أرة-الأيمن: أظهر قائمة لكل الوحدات �ي المنطقة المضغوطة، متضمنة "
 "المق�لة منها."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
@@ -6079,7 +6060,7 @@ msgstr "وضع التحجيم"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Shift: Scale proportionally."
-msgstr ""
+msgstr "Shift: التكبير بالتساوي."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -6180,7 +6161,7 @@ msgstr "ق�ل العنصر المحدد �ي هذا المكان (لا يمكن
 #: editor/plugins/spatial_editor_plugin.cpp
 #, fuzzy
 msgid "Lock Selected Node(s)"
-msgstr "ح�دد الق�ل"
+msgstr "إق�ال الوحدة(الوحدات) المحددة"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -6191,7 +6172,7 @@ msgstr "إلغاء الق�ل عن هذا العنصر (يمكن تحريكه ا
 #: editor/plugins/spatial_editor_plugin.cpp
 #, fuzzy
 msgid "Unlock Selected Node(s)"
-msgstr "ح�دد إلغاء الق�ل"
+msgstr "إلغاء �قل الوحدة(الوحدات) المحددة"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -6202,7 +6183,7 @@ msgstr "تأكد من أن الطÙ�Ù„ للعنصر غير قابل للتحديØ
 #: editor/plugins/spatial_editor_plugin.cpp
 #, fuzzy
 msgid "Group Selected Node(s)"
-msgstr "ح�دد التجميع"
+msgstr "إجمعْ الوحدة(الوحدات) المحددة"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -6213,7 +6194,7 @@ msgstr "إرجاع مقدرة تحديد الط�ل للعنصر."
 #: editor/plugins/spatial_editor_plugin.cpp
 #, fuzzy
 msgid "Ungroup Selected Node(s)"
-msgstr "ح�دد إلغاء التجميع"
+msgstr "إلغاء جمعْ الوحدة(الوحدات) المحددة"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Skeleton Options"
@@ -6325,9 +6306,8 @@ msgid "Clear Pose"
 msgstr "إخلاء الوضع"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Add Node Here"
-msgstr "إضا�ة ع�قدة"
+msgstr "أض�ْ وحدة هنا"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #, fuzzy
@@ -6402,7 +6382,7 @@ msgstr "لا يمكن إضا�ة وحدات متعددة بدون الوحدةا
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp editor/scene_tree_dock.cpp
 msgid "Create Node"
-msgstr "إنشاء عقدة"
+msgstr "إنشاء وحدة"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp editor/scene_tree_dock.cpp
@@ -6472,8 +6452,9 @@ msgstr "قناع الانبعاث"
 
 #: editor/plugins/cpu_particles_2d_editor_plugin.cpp
 #: editor/plugins/particles_2d_editor_plugin.cpp
+#, fuzzy
 msgid "Solid Pixels"
-msgstr "البكسيلات الأساسية Solid Pixels"
+msgstr "البكسيلات الأساسية (Solid Pixels)"
 
 #: editor/plugins/cpu_particles_2d_editor_plugin.cpp
 #: editor/plugins/particles_2d_editor_plugin.cpp
@@ -6630,9 +6611,8 @@ msgid "Couldn't create a single convex collision shape."
 msgstr "لم يتم إنشاء شكل محدب تصادمي وحيد."
 
 #: editor/plugins/mesh_instance_editor_plugin.cpp
-#, fuzzy
 msgid "Create Simplified Convex Shape"
-msgstr "أنشئ شكل محدب وحيد"
+msgstr "إنشاء شكل م�حدب مبسط"
 
 #: editor/plugins/mesh_instance_editor_plugin.cpp
 msgid "Create Single Convex Shape"
@@ -6732,9 +6712,8 @@ msgstr ""
 "هذا هو الخيار الأسرع (لكنه الأقل دقة) للكش� عن وقوع التصادم."
 
 #: editor/plugins/mesh_instance_editor_plugin.cpp
-#, fuzzy
 msgid "Create Simplified Convex Collision Sibling"
-msgstr "إنشاء شقيق تصادم محدب م�رد"
+msgstr "إنشاء شقيق تصادم م�حدب مبسط"
 
 #: editor/plugins/mesh_instance_editor_plugin.cpp
 msgid ""
@@ -6751,14 +6730,13 @@ msgid "Create Multiple Convex Collision Siblings"
 msgstr "إنشاء أشقاء تصادم محدب متعددة"
 
 #: editor/plugins/mesh_instance_editor_plugin.cpp
-#, fuzzy
 msgid ""
 "Creates a polygon-based collision shape.\n"
 "This is a performance middle-ground between a single convex collision and a "
 "polygon-based collision."
 msgstr ""
-"إنشاء شكل تصادمي م�ضلعي الهيئة.\n"
-"هذا الخيار \\م�توسط الأداء بين الخيارين أعلاه."
+"ينشئ شكل تصادم قائم على المضلع.\n"
+"هذا الخيار م�توسط الأداء بين التصادم م�حدب مبسط وحيد و تصادم قائم على المضلع."
 
 #: editor/plugins/mesh_instance_editor_plugin.cpp
 msgid "Create Outline Mesh..."
@@ -6825,14 +6803,12 @@ msgid "Remove Selected Item"
 msgstr "مسح العنصر المحدد"
 
 #: editor/plugins/mesh_library_editor_plugin.cpp
-#, fuzzy
 msgid "Import from Scene (Ignore Transforms)"
-msgstr "إستيراد من المشهد"
+msgstr "إستيراد من المشهد (تجاهل التحويلات)"
 
 #: editor/plugins/mesh_library_editor_plugin.cpp
-#, fuzzy
 msgid "Import from Scene (Apply Transforms)"
-msgstr "إستيراد من المشهد"
+msgstr "إستيراد من المشهد (مع وضع التحويلات)"
 
 #: editor/plugins/mesh_library_editor_plugin.cpp
 msgid "Update from Scene"
@@ -6950,12 +6926,11 @@ msgstr "توليد Rect الرؤية"
 
 #: editor/plugins/particles_2d_editor_plugin.cpp
 msgid "Can only set point into a ParticlesMaterial process material"
-msgstr "لا يمكن إنشاء سوى نقطة وحيدة داخل ParticlesMaterial معالج المواد"
+msgstr "لا يمكن إنشاء سوى نقطة وحيدة داخل معالج المواد لـ ParticlesMaterial"
 
 #: editor/plugins/particles_2d_editor_plugin.cpp
-#, fuzzy
 msgid "Convert to CPUParticles2D"
-msgstr "تحويل إلى %s"
+msgstr "حولْ إلى جسيمات-ثنائية-الب�عد-لوحدة-المعالجة-المركزية (CPUParticles2D)"
 
 #: editor/plugins/particles_2d_editor_plugin.cpp
 #: editor/plugins/particles_editor_plugin.cpp
@@ -7020,7 +6995,7 @@ msgstr "ولد رؤية AABB"
 
 #: editor/plugins/path_2d_editor_plugin.cpp
 msgid "Remove Point from Curve"
-msgstr "إزالة نقطة من المنحنى"
+msgstr "إزالة النقطة من المنحنى"
 
 #: editor/plugins/path_2d_editor_plugin.cpp
 msgid "Remove Out-Control from Curve"
@@ -7247,18 +7222,16 @@ msgid "Move Points"
 msgstr "تحريك النقاط"
 
 #: editor/plugins/polygon_2d_editor_plugin.cpp
-#, fuzzy
 msgid "Command: Rotate"
-msgstr "سحب: للتدوير"
+msgstr "Command: استدارة"
 
 #: editor/plugins/polygon_2d_editor_plugin.cpp
 msgid "Shift: Move All"
 msgstr "Shift: تحريك الك�ل"
 
 #: editor/plugins/polygon_2d_editor_plugin.cpp
-#, fuzzy
 msgid "Shift+Command: Scale"
-msgstr "Shift+Ctrl: تحجيم"
+msgstr "Shift+Command: تغيير الحجم"
 
 #: editor/plugins/polygon_2d_editor_plugin.cpp
 msgid "Ctrl: Rotate"
@@ -7304,14 +7277,12 @@ msgid "Radius:"
 msgstr "نص� القطر:"
 
 #: editor/plugins/polygon_2d_editor_plugin.cpp
-#, fuzzy
 msgid "Copy Polygon to UV"
-msgstr "إنشاء م�ضلع وUV"
+msgstr "إنسخ الم�ضلع إلى UV"
 
 #: editor/plugins/polygon_2d_editor_plugin.cpp
-#, fuzzy
 msgid "Copy UV to Polygon"
-msgstr "تحويل إلى م�ضلع ثنائي الأبعاد"
+msgstr "إنسخ ال UV إلى الم�ضلع"
 
 #: editor/plugins/polygon_2d_editor_plugin.cpp
 msgid "Clear UV"
@@ -7412,38 +7383,32 @@ msgid "ResourcePreloader"
 msgstr "مورد محمل سل�اً"
 
 #: editor/plugins/room_manager_editor_plugin.cpp
-#, fuzzy
 msgid "Flip Portals"
-msgstr "القلب أ�قياً"
+msgstr "إقلبْ البوابات"
 
 #: editor/plugins/room_manager_editor_plugin.cpp
-#, fuzzy
 msgid "Room Generate Points"
-msgstr "عدد النقاط المولدة"
+msgstr "تم توليد نقاط للغر�ة"
 
 #: editor/plugins/room_manager_editor_plugin.cpp
-#, fuzzy
 msgid "Generate Points"
-msgstr "عدد النقاط المولدة"
+msgstr "قم بتوليد نقاط"
 
 #: editor/plugins/room_manager_editor_plugin.cpp
-#, fuzzy
 msgid "Flip Portal"
-msgstr "القلب أ�قياً"
+msgstr "إقلبْ البوابة"
 
 #: editor/plugins/room_manager_editor_plugin.cpp
-#, fuzzy
 msgid "Occluder Set Transform"
-msgstr "محو التَحَوّل"
+msgstr "تم تغيير تحويل ال Occluder"
 
 #: editor/plugins/room_manager_editor_plugin.cpp
-#, fuzzy
 msgid "Center Node"
-msgstr "إنشاء عقدة"
+msgstr "حركْ الوحدة للمنتص�"
 
 #: editor/plugins/root_motion_editor_plugin.cpp
 msgid "AnimationTree has no path set to an AnimationPlayer"
-msgstr "لا تملك شجرة الرسومات المتحركة مساراً لمشغل الرسومات المتحركة"
+msgstr "لا تملك شجرة التحريك مساراً لمشغل الرسومات المتحركة"
 
 #: editor/plugins/root_motion_editor_plugin.cpp
 msgid "Path to AnimationPlayer is invalid"
@@ -7871,9 +7836,8 @@ msgid "Find in Files..."
 msgstr "ج�د �ي المل�ات..."
 
 #: editor/plugins/script_text_editor.cpp
-#, fuzzy
 msgid "Replace in Files..."
-msgstr "استبدال..."
+msgstr "إستبدل �ي المل�ات..."
 
 #: editor/plugins/script_text_editor.cpp
 msgid "Contextual Help"
@@ -7949,14 +7913,12 @@ msgid "Skeleton2D"
 msgstr "هيكل ثنائي الب�عد"
 
 #: editor/plugins/skeleton_2d_editor_plugin.cpp
-#, fuzzy
 msgid "Reset to Rest Pose"
-msgstr "تحديد العظام لتكون �ي وضعية الراحة"
+msgstr "إعادة تعيين العظام للوضعية الا�تراضية (Rest Pose)"
 
 #: editor/plugins/skeleton_2d_editor_plugin.cpp
-#, fuzzy
 msgid "Overwrite Rest Pose"
-msgstr "الكتابة الم�تراكبة Overwrite"
+msgstr "الكتابة �وق الوضعية الا�تراضية (Rest Pose)"
 
 #: editor/plugins/skeleton_editor_plugin.cpp
 msgid "Create physical bones"
@@ -8252,7 +8214,13 @@ msgid "Cinematic Preview"
 msgstr "معاينة سينمائية"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "غير متوا�ر عند استخدام الخرج البصري GLES2 ."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8288,9 +8256,8 @@ msgid "Freelook Slow Modifier"
 msgstr "م�عدّل تباطؤ الرؤية الح�رة"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid "Toggle Camera Preview"
-msgstr "غيّر حجم الكاميرا"
+msgstr "ت�عيل/تعطيل العرض المسبق للكاميرا"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "View Rotation Locked"
@@ -8300,7 +8267,8 @@ msgstr "تدوير الرؤية مق�ول"
 msgid ""
 "To zoom further, change the camera's clipping planes (View -> Settings...)"
 msgstr ""
-"للتكبير بشكل أكبر ، قم بتغيير مستويات اقتصاص الكاميرا (عرض -> الإعدادات ...)"
+"للتكبير بشكل أكبر ، قم بتغيير مستويات اقتصاص (clipping planes) للكاميرا (عرض "
+"-> الإعدادات ...)"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid ""
@@ -8335,9 +8303,8 @@ msgstr ""
 "السينية\")."
 
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid "Snap Nodes to Floor"
-msgstr "محاذاة الع�قد إلى الأرضية"
+msgstr "محاذاة الوحدات إلى الأرضية"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Couldn't find a solid floor to snap the selection to."
@@ -8429,9 +8396,8 @@ msgid "Increase Field of View"
 msgstr "زدْ مجال الرؤية"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid "Reset Field of View to Default"
-msgstr "إعادة التعيين إلى الا�تراضي"
+msgstr "إعادة تعيين مجال الرؤية إلى الا�تراضي"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 #: editor/plugins/visual_shader_editor_plugin.cpp
@@ -8713,9 +8679,8 @@ msgid "New Animation"
 msgstr "رسومية متحركة جديدة"
 
 #: editor/plugins/sprite_frames_editor_plugin.cpp
-#, fuzzy
 msgid "Speed:"
-msgstr "السرعة (إطار �. ث. FPS):"
+msgstr "السرعة:"
 
 #: editor/plugins/sprite_frames_editor_plugin.cpp
 msgid "Loop"
@@ -8806,9 +8771,8 @@ msgid "Step:"
 msgstr "الخطوة:"
 
 #: editor/plugins/texture_region_editor_plugin.cpp
-#, fuzzy
 msgid "Separation:"
-msgstr "التعدادات:"
+msgstr "التباع�دات:"
 
 #: editor/plugins/texture_region_editor_plugin.cpp
 msgid "TextureRegion"
@@ -8888,12 +8852,11 @@ msgstr "تحديث المحرر"
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
 msgid "Finalizing"
-msgstr "جاري التحليل"
+msgstr "جاري إنهاء الاستيراد"
 
 #: editor/plugins/theme_editor_plugin.cpp
-#, fuzzy
 msgid "Filter:"
-msgstr "تنقيات:"
+msgstr "تص�ية:"
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "With Data"
@@ -9188,6 +9151,11 @@ msgstr "حذ� المورد:"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "إعادة تسمية المورد"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "استيراد الموضوع Theme"
 
@@ -9200,9 +9168,8 @@ msgid "Filter the list of types or create a new custom type:"
 msgstr "قم بتص�ية قائمة الأنواع أو قم بأنشاء نوع جديد:"
 
 #: editor/plugins/theme_editor_plugin.cpp
-#, fuzzy
 msgid "Available Node-based types:"
-msgstr "المل�ات المتوا�رة:"
+msgstr "أنواع المستندة-إلى-الوحدات المتوا�رة:"
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Type name is empty!"
@@ -9237,6 +9204,20 @@ msgstr ""
 "المشابهة �ي جميع صناديق المظهر من هذا النوع."
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr "إضا�ة نوع للعنصر"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "تحيد نوع المتغير"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "تعديل النوع الأساس"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr "أظهر الإ�تراضي"
 
@@ -9253,8 +9234,19 @@ msgid "Override all default type items."
 msgstr "تجاوز جميع أنواع العناصر الا�تراضية."
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
-msgstr "إضا�ة نوع للعنصر"
+#, fuzzy
+msgid "Base Type"
+msgstr "تعديل النوع الأساس"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
@@ -9263,16 +9255,15 @@ msgstr "الموضوع:"
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Manage Items..."
-msgstr "إدارة الأنواع..."
+msgstr "إدارة العناصر..."
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Add, remove, organize and import Theme items."
-msgstr "أض�، أزل، رتّب واستورد عناصر القالب."
+msgstr "أض�ْ، أزلْ، رتّبْ واستوردْ عناصر القالب."
 
 #: editor/plugins/theme_editor_plugin.cpp
-#, fuzzy
 msgid "Add Preview"
-msgstr "عرض"
+msgstr "إضا�ة عرض مسبق"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
@@ -9611,7 +9602,7 @@ msgstr "نسخ قناع-الب�ت."
 
 #: editor/plugins/tile_set_editor_plugin.cpp
 msgid "Paste bitmask."
-msgstr "لصق قناع الب�ت"
+msgstr "لصق قناع-الب�ت."
 
 #: editor/plugins/tile_set_editor_plugin.cpp
 msgid "Erase bitmask."
@@ -9977,30 +9968,16 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr "�روع"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Create New Branch"
-msgstr "إنشاء مشروع جديد"
+msgstr "إنشاء �رع جديد"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Remove Branch"
-msgstr "حذ� مسار التحريك"
+msgstr "إزالة �رع"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branch Name"
@@ -11284,7 +11261,7 @@ msgstr "م�حرك الإخراج البصري:"
 
 #: editor/project_manager.cpp
 msgid "OpenGL ES 3.0"
-msgstr "OpenGL ES 3.0"
+msgstr "خل�ية بدعم OpenGL ES 3.0"
 
 #: editor/project_manager.cpp
 msgid "Not supported by your GPU drivers."
@@ -11304,7 +11281,7 @@ msgstr ""
 
 #: editor/project_manager.cpp
 msgid "OpenGL ES 2.0"
-msgstr "OpenGL ES 2.0"
+msgstr "خل�ية بدعم OpenGL ES 2.0"
 
 #: editor/project_manager.cpp
 msgid ""
@@ -11412,12 +11389,10 @@ msgid "Are you sure to run %d projects at once?"
 msgstr "هل أنت متأكد من �تح %d مشاريع مرّة واحدة؟"
 
 #: editor/project_manager.cpp
-#, fuzzy
 msgid "Remove %d projects from the list?"
-msgstr "أتريد إزالة %d من المشاريع من القائمة؟"
+msgstr "أتريد إزالة %d مشروع من القائمة؟"
 
 #: editor/project_manager.cpp
-#, fuzzy
 msgid "Remove this project from the list?"
 msgstr "أتريد إزالة هذا المشروع من القائمة؟"
 
@@ -12151,7 +12126,7 @@ msgstr "�صل النص البرمجي"
 
 #: editor/scene_tree_dock.cpp
 msgid "This operation can't be done on the tree root."
-msgstr "لا يمكن إجراء هذه العملية على جذر الشجرة."
+msgstr "لا يمكن إجراء هذه العملية على الجذر الرئيسي."
 
 #: editor/scene_tree_dock.cpp
 msgid "Move Node In Parent"
@@ -12433,9 +12408,9 @@ msgid ""
 "every time it updates.\n"
 "Switch back to the Local scene tree dock to improve performance."
 msgstr ""
-"إذا تم تحديده ، �سيؤدي شجرة المشهد إلى توق� المشروع �ي كل مرة يتم �يها "
-"تحديثه.\n"
-"قم بالتبديل مرة أخرى إلى رصي� شجرة المشهد المحلي لتحسين الأداء."
+"إذا تم تحديده ، �سيؤدي شجرة المشهد البعيده (Remote) إلى توق� المشروع �ي كل "
+"مرة يتم تحديث المشروع.\n"
+"قمْ بالتبديل مرة أخرى إلى رصي� شجرة المشهد المحلي لتحسين الأداء."
 
 #: editor/scene_tree_dock.cpp
 msgid "Local"
@@ -12750,6 +12725,11 @@ msgid "Stack Frames"
 msgstr "حزم الإطارات Stack Frames"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "تنقية البلاطات"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "م�نشئ المل�ات التعري�ية Profiler"
 
@@ -13007,7 +12987,7 @@ msgstr "مكتبات: "
 
 #: modules/gdnative/register_types.cpp
 msgid "GDNative"
-msgstr "GDNative"
+msgstr "لغة البرمجة GDNative"
 
 #: modules/gdscript/gdscript_functions.cpp
 msgid "Step argument is zero!"
@@ -13491,7 +13471,7 @@ msgstr "إضا�ة ع�قدة"
 
 #: modules/visual_script/visual_script_editor.cpp
 msgid "Add Node(s) From Tree"
-msgstr "إضا�ة ع�قدة (ع�قد) من الشجرة"
+msgstr "أض�ْ وحدة(وحدات) من الشجرة"
 
 #: modules/visual_script/visual_script_editor.cpp
 msgid ""
@@ -14008,9 +13988,8 @@ msgid "Running on %s"
 msgstr "يعمل على %s"
 
 #: platform/android/export/export_plugin.cpp
-#, fuzzy
 msgid "Exporting APK..."
-msgstr "تصدير APK..."
+msgstr "جاري تصدير APK..."
 
 #: platform/android/export/export_plugin.cpp
 msgid "Uninstalling..."
@@ -14022,9 +14001,8 @@ msgid "Installing to device, please wait..."
 msgstr "يستقبل المرايا، من �ضلك إنتظر..."
 
 #: platform/android/export/export_plugin.cpp
-#, fuzzy
 msgid "Could not install to device: %s"
-msgstr "لم يتمكن من التثبيت على الجهاز: %s"
+msgstr "لم نتمكن من التثبيت على الجهاز: %s"
 
 #: platform/android/export/export_plugin.cpp
 #, fuzzy
@@ -14088,7 +14066,7 @@ msgstr ""
 
 #: platform/android/export/export_plugin.cpp
 msgid "Missing 'platform-tools' directory!"
-msgstr "دليل مل�ات \"أدوات-المنصة platform-tools\" م�قود!"
+msgstr "المجلد 'أدوات-المنصة (platform-tools)' م�قود!"
 
 #: platform/android/export/export_plugin.cpp
 msgid "Unable to find Android SDK platform-tools' adb command."
@@ -14122,9 +14100,10 @@ msgstr "اسم ر�زمة غير صالح:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"وحدة \"GodotPaymentV3\" المضمنة �ي إعدادات المشروع \"android / modules\" غير "
-"صالحة (تم تغييره �ي Godot 3.2.2).\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
@@ -14205,9 +14184,8 @@ msgid "'apksigner' returned with error #%d"
 msgstr "أعاد 'apksigner' الخطأ التالي #%d"
 
 #: platform/android/export/export_plugin.cpp
-#, fuzzy
 msgid "Verifying %s..."
-msgstr "التأكيد من %s..."
+msgstr "جاري التحقق من %s..."
 
 #: platform/android/export/export_plugin.cpp
 msgid "'apksigner' verification of %s failed."
@@ -14228,9 +14206,8 @@ msgid "APK Expansion not compatible with Android App Bundle."
 msgstr "توسيع APK غير متوا�ق مع حزمة تطبيق الأندرويد Android App Bundle."
 
 #: platform/android/export/export_plugin.cpp
-#, fuzzy
 msgid "Invalid filename! Android APK requires the *.apk extension."
-msgstr "إسم مل� غير صالح! يتطلب مل� اندرويد APK اللاحقة ‭.*.apk"
+msgstr "أسم المل� غير صالح! يتطلب مل� اندرويد APK أمتداد *.apk لتعمل."
 
 #: platform/android/export/export_plugin.cpp
 msgid "Unsupported export format!\n"
@@ -14328,9 +14305,8 @@ msgid "Adding files..."
 msgstr "إضا�ة %s..."
 
 #: platform/android/export/export_plugin.cpp
-#, fuzzy
 msgid "Could not export project files"
-msgstr "لا يمكن كتابة المل�"
+msgstr "لم نتمكن من تصدير مل�ات المشروع"
 
 #: platform/android/export/export_plugin.cpp
 msgid "Aligning APK..."
@@ -14512,9 +14488,7 @@ msgstr "ينشئ الصورة المصغرة"
 #: platform/osx/export/export.cpp
 #, fuzzy
 msgid "Could not find template app to export:"
-msgstr ""
-"لم يتم إيجاد قالب APK للتصدير:\n"
-"%s"
+msgstr "لم يتم إيجاد تطبيق القالب (Template app) للتصدير:"
 
 #: platform/osx/export/export.cpp
 msgid ""
@@ -14730,19 +14704,16 @@ msgid ""
 msgstr ""
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid icon path:"
-msgstr "مسار غير صالح."
+msgstr "مسار الأيقونة غير صالح:"
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid file version:"
-msgstr "صيغة غير صالحة."
+msgstr "إصدار المل� غير صالح:"
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid product version:"
-msgstr "م�عر� GUID (الم�عرّ� ال�ريد العالمي) للمنتج غير صالح."
+msgstr "م�عر� GUID (الم�عرّ� ال�ريد العالمي) للمنتج غير صالح:"
 
 #: scene/2d/animated_sprite.cpp
 msgid ""
@@ -15268,7 +15239,7 @@ msgstr ""
 
 #: scene/3d/physics_joint.cpp
 msgid "Joint is not connected to any PhysicsBodies"
-msgstr ""
+msgstr "الم�صل غير متصل لأي الاجسام ال�يزيائية (PhysicsBodies)"
 
 #: scene/3d/physics_joint.cpp
 msgid "Node A and Node B must be different PhysicsBodies"
@@ -15332,7 +15303,7 @@ msgstr ""
 
 #: scene/3d/room_manager.cpp
 msgid "There should only be one RoomManager in the SceneTree."
-msgstr ""
+msgstr "يجب توا�ر مدير-غر� (RoomManager) واحد �قط �ي شجرة المشهد."
 
 #: scene/3d/room_manager.cpp
 msgid ""
@@ -15423,9 +15394,11 @@ msgstr ""
 "اضبط وضع الخل�ية لهذه البيئة على لوحة (Canvas) (للمشاهد ثنائية الب�عد)."
 
 #: scene/animation/animation_blend_tree.cpp
+#, fuzzy
 msgid "On BlendTree node '%s', animation not found: '%s'"
 msgstr ""
-"�ي عقدة خليط-الشجرة (BlendTree) '%s'، لم يتم العثور على الرسوم المتحركة:'%s '"
+"�ي عقدة خليط-الشجرة (BlendTree) '%s'، لم يتم العثور على الرسوم المتحركة: '%s "
+"'"
 
 #: scene/animation/animation_blend_tree.cpp
 msgid "Animation not found: '%s'"
@@ -15467,8 +15440,8 @@ msgstr "الع�قدة الرئيسة لم�شغل الرسومات المتحر
 #: scene/animation/animation_tree_player.cpp
 msgid "This node has been deprecated. Use AnimationTree instead."
 msgstr ""
-"لقد تم إهمال هذه الع�قدةز استخدم شجرة الرسومات المتحركة AnimationTree بدلاً عن "
-"ذلك."
+"لقد تم إهمال هذه الوحدة, أستخدم شجرة الرسومات المتحركة (AnimationTree) بدلاً "
+"عنها."
 
 #: scene/gui/color_picker.cpp
 #, fuzzy
@@ -15569,7 +15542,7 @@ msgstr ""
 
 #: scene/gui/tree.cpp
 msgid "(Other)"
-msgstr "(أخرى)"
+msgstr "(آخر)"
 
 #: scene/main/scene_tree.cpp
 msgid ""
diff --git a/editor/translations/az.po b/editor/translations/az.po
index 46738301a9..c958bc1f45 100644
--- a/editor/translations/az.po
+++ b/editor/translations/az.po
@@ -1519,6 +1519,10 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+msgid "Audio Bus Layout"
+msgstr ""
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -2873,7 +2877,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5525,6 +5529,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr ""
 
@@ -7966,7 +7974,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8845,6 +8858,11 @@ msgid "Select Another Theme Resource:"
 msgstr "�vəzetmə mənbəyini axtarın:"
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "Mənbə"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -8893,6 +8911,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr ""
 
@@ -8909,7 +8939,18 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+#, fuzzy
+msgid "Base Type"
+msgstr "%s növünü dəyişdirin"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9589,18 +9630,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "UyÄŸunlaÅŸmalar:"
@@ -12163,6 +12192,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Siqnalları filtirlə"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13455,6 +13489,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/bg.po b/editor/translations/bg.po
index 7bb426d010..a91ee554b6 100644
--- a/editor/translations/bg.po
+++ b/editor/translations/bg.po
@@ -1471,6 +1471,10 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+msgid "Audio Bus Layout"
+msgstr ""
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "�еправилно име."
@@ -2843,7 +2847,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr "Добав�не на нови нова �цена."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Сцена"
 
@@ -5530,6 +5534,10 @@ msgid "Bake Lightmaps"
 msgstr "Изпичане на карти на о�ветено�т"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "Изберете файл за изпичане на карта на о�ветено�т:"
 
@@ -7984,7 +7992,13 @@ msgid "Cinematic Preview"
 msgstr "Кинематограф�ки предварителен преглед"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "�е е налично при използване на изчертаване чрез GLES2."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8872,6 +8886,11 @@ msgid "Select Another Theme Resource:"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "Ре�ур�"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr "Друга тема"
 
@@ -8918,6 +8937,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr "Добав�не на тип елемент"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr "Показване на �тандартните"
 
@@ -8934,8 +8965,18 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
-msgstr "Добав�не на тип елемент"
+msgid "Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Theme:"
@@ -9620,18 +9661,6 @@ msgid "Commit list size"
 msgstr "Размер на �пи�ъка � подавани�"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr "10"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr "20"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr "30"
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr "Клони"
 
@@ -12198,6 +12227,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Филтриране на плочките"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13498,9 +13532,10 @@ msgstr "�еправилно име на пакет:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"В на�тройките на проекта, раздел „android/modules“, при�ъ�тва неправилен "
-"модул „GodotPaymentV3“ (това е променено във Godot 3.2.2).\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
diff --git a/editor/translations/bn.po b/editor/translations/bn.po
index b8b8ccbf84..514a488c1f 100644
--- a/editor/translations/bn.po
+++ b/editor/translations/bn.po
@@ -1526,6 +1526,11 @@ msgstr "ডিফল�ট বাস লেআউট লোড কর�ন।"
 msgid "Create a new Bus Layout."
 msgstr "নত�ন বাস লেআউট তৈরি কর�ন।"
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "অডিও বাস লেআউট ওপেন কর�ন"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "অগ�রহনযোগ�য নাম।"
@@ -3050,7 +3055,7 @@ msgstr "বিক�ষেপ-হীন মোড"
 msgid "Add a new scene."
 msgstr "নত�ন ট�র�যাক/পথ-সমূহ যোগ কর�ন।"
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "দৃশ�য"
 
@@ -6022,6 +6027,10 @@ msgid "Bake Lightmaps"
 msgstr "লাইট�ম�যাপে হস�তান�তর কর�ন:"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "লাইটম�যাপ বেক ফাইলটি নির�বাচন কর�ন:"
 
@@ -8730,7 +8739,12 @@ msgid "Cinematic Preview"
 msgstr "মেস লাইব�রেরি তৈরি হচ�ছে"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9717,6 +9731,11 @@ msgstr "রিসোর�স অপসারণ কর�ন"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "রিসোর�স প�নঃনামকরণ কর�ন"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "থিম ইম�পোর�ট কর�ন"
 
@@ -9771,6 +9790,21 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Add Item Type"
+msgstr "বস�ত� যোগ কর�ন"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "চলক/ভেরিয়েবল সম�পাদন কর�ন:"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "ধরণ পরিবর�তন কর�ন"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Show Default"
 msgstr "লোড ডিফল�ট"
 
@@ -9789,8 +9823,18 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
-msgid "Add Item Type"
-msgstr "বস�ত� যোগ কর�ন"
+msgid "Base Type"
+msgstr "ধরণ পরিবর�তন কর�ন"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
@@ -10567,18 +10611,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "মিলসমূহ:"
@@ -13405,6 +13437,11 @@ msgid "Stack Frames"
 msgstr "ফ�রেমসমূহ স�তূপ কর�ন"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "দ�র�ত ফাইলসমূহ ফিল�টার কর�ন..."
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "প�রোফাইলার"
 
@@ -14852,6 +14889,9 @@ msgstr "অগ�রহণযোগ�য ক�লাস নাম"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/br.po b/editor/translations/br.po
index 574adeb121..325635fe0e 100644
--- a/editor/translations/br.po
+++ b/editor/translations/br.po
@@ -1454,6 +1454,10 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+msgid "Audio Bus Layout"
+msgstr ""
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -2805,7 +2809,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5449,6 +5453,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr ""
 
@@ -7881,7 +7889,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8756,6 +8769,10 @@ msgid "Select Another Theme Resource:"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Theme Resource"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -8802,6 +8819,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr ""
 
@@ -8818,7 +8847,17 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+msgid "Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9494,18 +9533,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr ""
 
@@ -12060,6 +12087,10 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+msgid "Filter stack variables"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13348,6 +13379,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/ca.po b/editor/translations/ca.po
index 144cbbad2e..c4208b23c4 100644
--- a/editor/translations/ca.po
+++ b/editor/translations/ca.po
@@ -1505,6 +1505,11 @@ msgstr "Carrega el disseny del Bus predeterminat."
 msgid "Create a new Bus Layout."
 msgstr "Crea un nou Disseny de Bus."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Obre un Disseny de Bus d'Àudio"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Nom no vàlid."
@@ -2970,7 +2975,7 @@ msgstr "Commutar el Mode Lliure de Distraccions."
 msgid "Add a new scene."
 msgstr "Afegeix una escena nova."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Escena"
 
@@ -5795,6 +5800,10 @@ msgid "Bake Lightmaps"
 msgstr "Precalcular Lightmaps"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 #, fuzzy
 msgid "Select lightmap bake file:"
 msgstr "Seleccioneu un Fitxer de Plantilla:"
@@ -8365,7 +8374,13 @@ msgid "Cinematic Preview"
 msgstr "Previsualització Cinemàtica"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "No disponible quan s'utilitza el renderitzador GLES2."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9311,6 +9326,11 @@ msgstr "Elimina el Recurs:"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "Reanomena el Recurs"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "Importa un Tema"
 
@@ -9365,6 +9385,21 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Add Item Type"
+msgstr "Afegeix un Element"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Estableix el Tipus de Variable"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Modifica el Tipus de Base"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Show Default"
 msgstr "Carrega Valors predeterminats"
 
@@ -9383,8 +9418,18 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
-msgid "Add Item Type"
-msgstr "Afegeix un Element"
+msgid "Base Type"
+msgstr "Modifica el Tipus de Base"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Theme:"
@@ -10135,18 +10180,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "Coincidències:"
@@ -12991,6 +13024,11 @@ msgid "Stack Frames"
 msgstr "Fotogrames de la Pila"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filtrar tiles"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "Perfilador"
 
@@ -14406,6 +14444,9 @@ msgstr "El nom del paquet no és vàlid:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/cs.po b/editor/translations/cs.po
index 3908694615..9094006744 100644
--- a/editor/translations/cs.po
+++ b/editor/translations/cs.po
@@ -34,7 +34,7 @@ msgstr ""
 "Project-Id-Version: Godot Engine editor\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
 "POT-Creation-Date: \n"
-"PO-Revision-Date: 2022-02-10 07:50+0000\n"
+"PO-Revision-Date: 2022-03-08 08:59+0000\n"
 "Last-Translator: Zbyněk <zbynek.fiala@gmail.com>\n"
 "Language-Team: Czech <https://hosted.weblate.org/projects/godot-engine/godot/"
 "cs/>\n"
@@ -43,7 +43,7 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=3; plural=(n==1) ? 0 : (n>=2 && n<=4) ? 1 : 2;\n"
-"X-Generator: Weblate 4.11-dev\n"
+"X-Generator: Weblate 4.12-dev\n"
 
 #: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
 #: modules/visual_script/visual_script_builtin_funcs.cpp
@@ -1503,6 +1503,11 @@ msgstr "Na�íst výchozí rozvržení sběrnice."
 msgid "Create a new Bus Layout."
 msgstr "Vytvořit nové rozvržení sběrnice."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Otevřít rozložení audio sběrnice"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Neplatný název."
@@ -2936,7 +2941,7 @@ msgstr "Zapnout nerozptylující režim."
 msgid "Add a new scene."
 msgstr "Přidat novou scénu."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Scéna"
 
@@ -4721,7 +4726,7 @@ msgstr "Odstranit polygon a bod"
 #: editor/plugins/animation_state_machine_editor.cpp
 #: editor/plugins/sprite_frames_editor_plugin.cpp
 msgid "Add Animation"
-msgstr "Přidat animaci"
+msgstr "Přidání animace"
 
 #: editor/plugins/animation_blend_space_1d_editor.cpp
 #: editor/plugins/animation_blend_space_2d_editor.cpp
@@ -5690,6 +5695,10 @@ msgid "Bake Lightmaps"
 msgstr "Zapéct lightmapy"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "Vybrat soubor pro zape�ení světelných map:"
 
@@ -8186,7 +8195,13 @@ msgid "Cinematic Preview"
 msgstr "Filmový náhled"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "Není k dispozici při použití vykreslovacího modulu GLES2."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9104,6 +9119,11 @@ msgstr "Vybrerte jiný zdroj motivu:"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "Přejmenovat zdroj"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "Importovat motiv"
 
@@ -9155,6 +9175,21 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Add Item Type"
+msgstr "Přidat položku"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Nastavit typ proměnné"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Změnit základní typ"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr "Zobrazit výchozí"
 
@@ -9172,8 +9207,18 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
-msgid "Add Item Type"
-msgstr "Přidat položku"
+msgid "Base Type"
+msgstr "Změnit základní typ"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Theme:"
@@ -9889,18 +9934,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "Shody:"
@@ -12628,6 +12661,11 @@ msgid "Stack Frames"
 msgstr "Rámce zásobníku"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filtrovat dlaždice"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "Profiler"
 
@@ -13543,7 +13581,7 @@ msgstr ""
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "While"
-msgstr ""
+msgstr "While"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "while (cond):"
@@ -13977,9 +14015,10 @@ msgstr "Neplatné jméno balí�ku:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"Neplatný modul \"GodotPaymentV3\" v nastavení projektu \"Android / "
-"moduly\" (změněno v Godot 3.2.2).\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
diff --git a/editor/translations/da.po b/editor/translations/da.po
index 0fe9e67693..fa49368276 100644
--- a/editor/translations/da.po
+++ b/editor/translations/da.po
@@ -1543,6 +1543,11 @@ msgstr "Indlæs standard Bus Layout."
 msgid "Create a new Bus Layout."
 msgstr "Opret et nyt Bus Layout."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Ã…ben Audio Bus Layout"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Ugyldigt navn."
@@ -3027,7 +3032,7 @@ msgstr "Skift distraktions-fri modus."
 msgid "Add a new scene."
 msgstr "Tilføj en ny scene."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Scene"
 
@@ -5897,6 +5902,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 #, fuzzy
 msgid "Select lightmap bake file:"
 msgstr "Vælg template fil"
@@ -8478,7 +8487,12 @@ msgid "Cinematic Preview"
 msgstr "Opretter Maske Forhåndsvisninger"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9428,6 +9442,11 @@ msgstr "Søg Erstatnings Ressource:"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "Ressource"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "Medlemmer"
 
@@ -9480,6 +9499,20 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Sæt Variabel Type"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Skift Base Type"
+
+#: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
 msgid "Show Default"
 msgstr "Indlæs Default"
@@ -9497,7 +9530,18 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+#, fuzzy
+msgid "Base Type"
+msgstr "Skift Base Type"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -10253,18 +10297,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "Matches:"
@@ -12972,6 +13004,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filtrer filer..."
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -14353,6 +14390,9 @@ msgstr "Ugyldigt navn."
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/de.po b/editor/translations/de.po
index 88904ba7d7..aeb8000e85 100644
--- a/editor/translations/de.po
+++ b/editor/translations/de.po
@@ -76,13 +76,14 @@
 # Tim <tim14speckenwirth@gmail.com>, 2021.
 # Antonio Noack <corperateraider@gmail.com>, 2022.
 # ‎ <artism90@googlemail.com>, 2022.
+# Coxcopi70f00b67b61542fe <hn_vogel@gmx.net>, 2022.
 msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine editor\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
 "POT-Creation-Date: \n"
-"PO-Revision-Date: 2022-02-16 08:44+0000\n"
-"Last-Translator: ‎ <artism90@googlemail.com>\n"
+"PO-Revision-Date: 2022-03-02 18:39+0000\n"
+"Last-Translator: Coxcopi70f00b67b61542fe <hn_vogel@gmx.net>\n"
 "Language-Team: German <https://hosted.weblate.org/projects/godot-engine/"
 "godot/de/>\n"
 "Language: de\n"
@@ -90,7 +91,7 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=2; plural=n != 1;\n"
-"X-Generator: Weblate 4.11-dev\n"
+"X-Generator: Weblate 4.11.1-dev\n"
 
 #: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
 #: modules/visual_script/visual_script_builtin_funcs.cpp
@@ -1556,6 +1557,11 @@ msgstr "Standard Bus-Layout laden."
 msgid "Create a new Bus Layout."
 msgstr "Neues Audiobus-Layout erstellen."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Öffne Audiobus-Layout"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Ungültiger Name."
@@ -2235,7 +2241,7 @@ msgstr "Stile"
 
 #: editor/editor_help.cpp
 msgid "Enumerations"
-msgstr "Aufzählungstypen"
+msgstr "Aufzählungen"
 
 #: editor/editor_help.cpp
 msgid "Property Descriptions"
@@ -3020,7 +3026,7 @@ msgstr "Ablenkungsfreien Modus umschalten."
 msgid "Add a new scene."
 msgstr "Eine neue Szene hinzufügen."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Szene"
 
@@ -3396,14 +3402,12 @@ msgid "Update Continuously"
 msgstr "Fortlaufend aktualisieren"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update All Changes"
-msgstr "Bei Änderungen aktualisieren"
+msgstr "Bei allen Änderungen aktualisieren"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update Vital Changes"
-msgstr "Materialänderungen:"
+msgstr "Nur bei wichtigen Änderungen aktualisieren"
 
 #: editor/editor_node.cpp
 msgid "Hide Update Spinner"
@@ -4181,6 +4185,11 @@ msgid ""
 "After renaming to an unknown extension, the file won't be shown in the "
 "editor anymore."
 msgstr ""
+"Diese Dateiendung wird nicht vom Editor erkannt.\n"
+"Zum Durchführen der Umbenennung muss ein anderer Dateimanager genutzt "
+"werden.\n"
+"Dateien mit unbekannten Dateiendungen werden daraufhin nicht mehr im Editor "
+"angezeigt."
 
 #: editor/filesystem_dock.cpp
 msgid ""
@@ -5802,6 +5811,10 @@ msgid "Bake Lightmaps"
 msgstr "Lightmaps vorrendern"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "Lightmap-Bake-Datei auswählen:"
 
@@ -8299,7 +8312,13 @@ msgid "Cinematic Preview"
 msgstr "Cinematische Vorschau"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "Nicht verfügbar wenn der GLES2–Renderer genutzt wird."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9199,6 +9218,11 @@ msgid "Select Another Theme Resource:"
 msgstr "Andere Thema-Ressource auswählen:"
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "Ressource umbenennen"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr "Anderes Design"
 
@@ -9247,6 +9271,20 @@ msgstr ""
 "StyleBox werden ebenfalls in allen StyleBoxen des gleichen Typs geändert."
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr "Elementtyp hinzufügen"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Variablentyp festlegen"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Basistyp ändern"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr "Standard anzeigen"
 
@@ -9263,8 +9301,19 @@ msgid "Override all default type items."
 msgstr "Alle Standard-Typelemente überbrücken."
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
-msgstr "Elementtyp hinzufügen"
+#, fuzzy
+msgid "Base Type"
+msgstr "Basistyp ändern"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Theme:"
@@ -9972,18 +10021,6 @@ msgid "Commit list size"
 msgstr "Größe der Commit-Liste"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr "10"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr "20"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr "30"
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr "Zweige"
 
@@ -12745,6 +12782,11 @@ msgid "Stack Frames"
 msgstr "Aufrufsverlauf"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Kacheln filtern"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "Profiler"
 
@@ -12918,14 +12960,12 @@ msgid "Set Occluder Sphere Position"
 msgstr "Occluder-Sphärenposition festlegen"
 
 #: editor/spatial_editor_gizmos.cpp
-#, fuzzy
 msgid "Set Occluder Polygon Point Position"
-msgstr "Portal-Point-Position festlegen"
+msgstr "Position von Occluder-Polygon-Punkt festlegen"
 
 #: editor/spatial_editor_gizmos.cpp
-#, fuzzy
 msgid "Set Occluder Hole Point Position"
-msgstr "Kurvenpunktposition festlegen"
+msgstr "Position von Occluder-Loch-Punkt festlegen"
 
 #: modules/csg/csg_gizmos.cpp
 msgid "Change Cylinder Radius"
@@ -14072,9 +14112,10 @@ msgstr "Ungültiger Paketname:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"Ungültiges „GodotPaymentV3“-Modul eingebunden in den „android/modules“-"
-"Projekteinstellungen (wurde in Godot 3.2.2 geändert).\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
@@ -14341,166 +14382,167 @@ msgstr "Fehler beim Starten des HTTP-Servers:"
 
 #: platform/osx/export/codesign.cpp
 msgid "Can't get filesystem access."
-msgstr ""
+msgstr "Dateisystemzugriff fehlgeschlagen."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to get Info.plist hash."
-msgstr ""
+msgstr "Lesen von Info.plist-Hash fehlgeschlagen."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid Info.plist, no exe name."
-msgstr "Ungültiger Projektname."
+msgstr "Ungültige Info.plist, kein exe-Name."
 
 #: platform/osx/export/codesign.cpp
 msgid "Invalid Info.plist, no bundle id."
-msgstr ""
+msgstr "Ungültige Info.plist, keine bundle-id."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid Info.plist, can't load."
-msgstr "Ungültige Geometrie, Polygon kann nicht erzeugt werden."
+msgstr "Ungültige Info.plist, kann nicht geladen werden."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to create \"%s\" subfolder."
-msgstr "Ordner konnte nicht erstellt werden."
+msgstr "Erzeugen von Unterordner „%s“ fehlgeschlagen."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to extract thin binary."
-msgstr ""
+msgstr "Entpacken von thin binary fehlgeschlagen."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid binary format."
-msgstr "Ungültiger Basispfad."
+msgstr "Ungültiges Binärformat."
 
 #: platform/osx/export/codesign.cpp
 msgid "Already signed!"
-msgstr ""
+msgstr "Bereits signiert!"
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to process nested resources."
-msgstr "Laden der Ressource gescheitert."
+msgstr "Verarbeiten verschachtelter Ressourcen fehlgeschlagen."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to create _CodeSignature subfolder."
-msgstr ""
+msgstr "Erzeugen von _CodeSignature-Unterordner fehlgeschlagen."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to get CodeResources hash."
-msgstr "Laden der Ressource gescheitert."
+msgstr "Erhalten von CodeResources-Hash fehlgeschlagen."
 
 #: platform/osx/export/codesign.cpp platform/osx/export/export.cpp
-#, fuzzy
 msgid "Invalid entitlements file."
-msgstr "Ungültige Dateiendung."
+msgstr "Ungültige entitlements-Datei."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid executable file."
-msgstr "Ungültige Dateiendung."
+msgstr "Ungültige ausführbare Datei."
 
 #: platform/osx/export/codesign.cpp
 msgid "Can't resize signature load command."
-msgstr ""
+msgstr "Signatur-Lade-Kommando kann nicht vergrößert/verkleinert werden."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to create fat binary."
-msgstr ""
+msgstr "Erstellen von fat binary fehlgeschlagen."
 
 #: platform/osx/export/codesign.cpp
 msgid "Unknown bundle type."
-msgstr ""
+msgstr "Unbekannter bundle-Typ."
 
 #: platform/osx/export/codesign.cpp
 msgid "Unknown object type."
-msgstr ""
+msgstr "Unbekannter Objekttyp."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Note: The notarization process generally takes less than an hour. When the "
 "process is completed, you'll receive an email."
 msgstr ""
+"Hinweis: Der Beglaubigungsprozess dauert gewöhnlich weniger als eine Stunde. "
+"Nach Ablauf wird eine Bestätigungsmail versandt."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "You can check progress manually by opening a Terminal and running the "
 "following command:"
 msgstr ""
+"Der Fortschritt kann manuell mithilfe des folgenden Befehls in der Konsole "
+"überprüft werden:"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Run the following command to staple the notarization ticket to the exported "
 "application (optional):"
 msgstr ""
+"Mit folgendem Befehl kann die Beglaubigungsbescheinigung an die exportierte "
+"Anwendung geheftet werden (optional):"
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "No identity found."
-msgstr "Keine Symbole gefunden."
+msgstr "Keine Identität gefunden."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Creating app bundle"
-msgstr "Erzeuge Miniaturansicht"
+msgstr "Erzeuge App-Bundle"
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Could not find template app to export:"
-msgstr ""
-"Konnte keine APK-Vorlage zum Exportieren finden:\n"
-"%s"
+msgstr "Es konnte keine Vorlagen-App zum Exportieren gefunden werden:"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Relative symlinks are not supported on this OS, the exported project might "
 "be broken!"
 msgstr ""
+"Relative symbolische Links werden von diesem Betriebssystem nicht "
+"unterstützt, das exportierte Projekt könnte fehlerhaft sein!"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Requested template binary '%s' not found. It might be missing from your "
 "template archive."
 msgstr ""
+"Benötigte Vorlagen-Binary ‚%s‘ nicht gefunden. Es könnte im Vorlagen-Archiv "
+"fehlen."
 
 #: platform/osx/export/export.cpp
 msgid "Making PKG"
-msgstr ""
+msgstr "Erzeuge PKG"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Ad-hoc signed applications require the 'Disable Library Validation' "
 "entitlement to load dynamic libraries."
 msgstr ""
+"Ad-hoc signierte Anwendungen benötigen die ‚Disable Library Validation‘-"
+"Berechtigung um dynamische Bibliotheken zu laden."
 
 #: platform/osx/export/export.cpp
 msgid "Code signing bundle"
-msgstr ""
+msgstr "Codesignierungs-Bundle"
 
 #: platform/osx/export/export.cpp
 msgid "Making DMG"
-msgstr ""
+msgstr "Erstelle DMG"
 
 #: platform/osx/export/export.cpp
 msgid "Code signing DMG"
-msgstr ""
+msgstr "Codesignierendes DMG"
 
 #: platform/osx/export/export.cpp
 msgid "Making ZIP"
-msgstr ""
+msgstr "Erstelle ZIP"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Notarization requires the app to be archived first, select the DMG or ZIP "
 "export format instead."
 msgstr ""
+"Der Beglaubigungsprozess setzt voraus dass die Anwendung archiviert wurde. "
+"Das DMG- oder ZIP-Exportformat sollte stattdessen ausgewählt werden."
 
 #: platform/osx/export/export.cpp
 msgid "Sending archive for notarization"
-msgstr ""
+msgstr "Sende Archiv zur Beglaubigung"
 
 #: platform/osx/export/export.cpp
 msgid "Invalid bundle identifier:"
@@ -14511,31 +14553,36 @@ msgid ""
 "Warning: Built-in \"codesign\" is selected in the Editor Settings. Code "
 "signing is limited to ad-hoc signature only."
 msgstr ""
+"Warnung: Das eingebettete „codesign“ ist in den Editoreinstellungen "
+"ausgewählt. Codesignierung ist eingeschränkt auf Ad-hoc-Signaturen."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Warning: Xcode command line tools are not installed, using built-in "
 "\"codesign\". Code signing is limited to ad-hoc signature only."
 msgstr ""
+"Warnung: Die Xcode-Kommandozeilenprogramme sind nicht installiert, verwende "
+"eingebautes „codesign“. Codesignierung ist eingeschränkt auf Ad-hoc-"
+"Signaturen."
 
 #: platform/osx/export/export.cpp
 msgid "Notarization: Notarization with an ad-hoc signature is not supported."
 msgstr ""
+"Beglaubigung: Beglaubigungen von Ad-hoc-Signaturen werden nicht erstellt."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Code signing is required for notarization."
-msgstr "Beglaubigung: Code-Signierung wird benötigt."
+msgstr "Beglaubigung: Code-Signierung wird zur Beglaubigung benötigt."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Hardened runtime is required for notarization."
-msgstr "Beglaubigung: Abgehärtete Ausführungsumgebung wird benötigt."
+msgstr ""
+"Beglaubigung: Abgehärtete Ausführungsumgebung wird zur Beglaubigung benötigt."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Timestamp runtime is required for notarization."
-msgstr "Beglaubigung: Abgehärtete Ausführungsumgebung wird benötigt."
+msgstr ""
+"Beglaubigung: Zeitstempel-Ausführungsumgebung wird für Beglaubigung benötigt."
 
 #: platform/osx/export/export.cpp
 msgid "Notarization: Apple ID name not specified."
@@ -14550,63 +14597,87 @@ msgid ""
 "Warning: Notarization is disabled. The exported project will be blocked by "
 "Gatekeeper if it's downloaded from an unknown source."
 msgstr ""
+"Warnung: Beglaubigungen sind deaktiviert. Das exportierte Projekt wird von "
+"Gatekeeper geblockt werden, falls es von einer unbekannten Quelle "
+"heruntergeladen wird."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Code signing is disabled. The exported project will not run on Macs with "
 "enabled Gatekeeper and Apple Silicon powered Macs."
 msgstr ""
+"Code-Signierung ist deaktiviert. Das exportierte Projekt wird sich nicht auf "
+"Macs mit aktiviertem Gatekeeper oder Apple-Silicon-Macs ausführen lassen."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Hardened Runtime is not compatible with ad-hoc signature, and will be "
 "disabled!"
 msgstr ""
+"Die abgehärtete Laufzeitumgebung ist nicht mit Ad-hoc-Signaturen kompatibel, "
+"und wird deaktiviert!"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Timestamping is not compatible with ad-hoc signature, and will be disabled!"
 msgstr ""
+"Zeitstempel sind nicht mit Ad-hoc-Signaturen kompatibel, und werden "
+"deaktiviert!"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Warning: Notarization is not supported from this OS. The exported project "
 "will be blocked by Gatekeeper if it's downloaded from an unknown source."
 msgstr ""
+"Warnung: Beglaubigungen werden von diesem Betriebssystem nicht unterstützt. "
+"Das exportierte Projekt wird von Gatekeeper blockiert, falls es aus einer "
+"unbekannten Quelle geladen wurde."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Microphone access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Privatsphäre: Mikrophonzugriff ist aktiviert, aber keine "
+"Nutzungsbeschreibung angegeben."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Camera access is enabled, but usage description is not specified."
 msgstr ""
+"Privatsphäre: Kamerazugriff ist aktiviert, aber keine Nutzungsbeschreibung "
+"angegeben."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Location information access is enabled, but usage description is "
 "not specified."
 msgstr ""
+"Privatsphäre: Standortzugriff ist aktiviert, aber keine Nutzungsbeschreibung "
+"angegeben."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Address book access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Privatsphäre: Adressbuchzugriff ist aktiviert, aber keine "
+"Nutzungsbeschreibung angegeben."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Calendar access is enabled, but usage description is not specified."
 msgstr ""
+"Privatsphäre: Kalenderzugriff ist aktiviert, aber keine Nutzungsbeschreibung "
+"angegeben."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Photo library access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Privatsphäre: Photobibliothekszugriff ist aktiviert, aber keine "
+"Nutzungsbeschreibung angegeben."
 
 #: platform/uwp/export/export.cpp
 msgid "Invalid package short name."
@@ -14665,21 +14736,21 @@ msgid ""
 "The rcedit tool must be configured in the Editor Settings (Export > Windows "
 "> Rcedit) to change the icon or app information data."
 msgstr ""
+"Das Rcedit-Werkzeug muss in den Editoreinstellungen (Export > Windows > "
+"Rcedit) festgelegt werden um Icon- oder Anwendungsinformation festlegen zu "
+"können."
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid icon path:"
-msgstr "Ungültiger Pfad."
+msgstr "Ungültiger Icon-Pfad:"
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid file version:"
-msgstr "Ungültige Dateiendung."
+msgstr "Ungültige Dateiversion:"
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid product version:"
-msgstr "Ungültige Produkt-GUID."
+msgstr "Ungültige Produktversion:"
 
 #: scene/2d/animated_sprite.cpp
 msgid ""
@@ -15443,14 +15514,13 @@ msgstr ""
 "AnimationTree."
 
 #: scene/gui/color_picker.cpp
-#, fuzzy
 msgid ""
 "Color: #%s\n"
 "LMB: Apply color\n"
 "RMB: Remove preset"
 msgstr ""
 "Farbe: #%s\n"
-"LMT: Farbe festlegen\n"
+"LMT: Farbe anwenden\n"
 "RMT: Voreinstellung entfernen"
 
 #: scene/gui/color_picker.cpp
diff --git a/editor/translations/editor.pot b/editor/translations/editor.pot
index f9d1c47b88..ae2e0321ff 100644
--- a/editor/translations/editor.pot
+++ b/editor/translations/editor.pot
@@ -1432,6 +1432,10 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+msgid "Audio Bus Layout"
+msgstr ""
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -2781,7 +2785,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5423,6 +5427,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr ""
 
@@ -7848,7 +7856,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8723,6 +8736,10 @@ msgid "Select Another Theme Resource:"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Theme Resource"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -8769,6 +8786,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr ""
 
@@ -8785,7 +8814,17 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+msgid "Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9461,18 +9500,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr ""
 
@@ -12026,6 +12053,10 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+msgid "Filter stack variables"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13309,6 +13340,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/el.po b/editor/translations/el.po
index d3cbb4b072..ebfb007a9d 100644
--- a/editor/translations/el.po
+++ b/editor/translations/el.po
@@ -1511,6 +1511,11 @@ msgstr "ΦόÏ�τωση Ï€Ï�οεπιλεγμένης διάταξης διαÏ�λÏ
 msgid "Create a new Bus Layout."
 msgstr "Δημιου�γία νέας διάταξης δια�λων ήχου."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Άνοιγμα διάταξης δια�λων ήχου"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Μη έγκυ�ο όνομα."
@@ -2976,7 +2981,7 @@ msgstr "Εναλλαγή λειτουÏ�γίας χωÏ�ίς πεÏ�ισπασμοÏ
 msgid "Add a new scene."
 msgstr "Π�οσθήκη νέας σκηνής."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Σκηνή"
 
@@ -5792,6 +5797,10 @@ msgid "Bake Lightmaps"
 msgstr "Π�οετοιμασία Lightmaps"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "Επιλογή Α�χείου Π�οτ�πων:"
 
@@ -8356,7 +8365,13 @@ msgid "Cinematic Preview"
 msgstr "Κινηματογ�αφική Π�οεπισκόπηση"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "Δεν είναι διαθέσιμο στην απόδοση GLES2."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9304,6 +9319,11 @@ msgstr "Διαγ�αφή πό�ου"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "Μετονομασία πό�ου"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "Εισαγωγή θέματος"
 
@@ -9358,6 +9378,21 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Add Item Type"
+msgstr "Π�οσθήκη στοιχείου"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Ο�ισμός τ�που μεταβλητής"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Αλλαγή βασικο� τ�που"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Show Default"
 msgstr "Φό�τωση π�οεπιλογής"
 
@@ -9376,8 +9411,18 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
-msgid "Add Item Type"
-msgstr "Π�οσθήκη στοιχείου"
+msgid "Base Type"
+msgstr "Αλλαγή βασικο� τ�που"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
@@ -10105,18 +10150,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "Αντιστοιχίες:"
@@ -12882,6 +12915,11 @@ msgid "Stack Frames"
 msgstr "Στοίβαξη κα�έ"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Φιλτ�ά�ισμα πλακιδίων"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "Π�όγ�αμμα Δημιου�γίας Π�οφίλ"
 
@@ -14270,9 +14308,10 @@ msgstr "Άκυ�ο όνομα πακέτου:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"Εσφαλμένη λειτου�γική μονάδα «GodotPaymentV3» στην ��θμιση ε�γου «Android/"
-"Modules» (άλλαξε στην Godot 3.2.2).\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
diff --git a/editor/translations/en_Shaw.po b/editor/translations/en_Shaw.po
new file mode 100644
index 0000000000..1251476928
--- /dev/null
+++ b/editor/translations/en_Shaw.po
@@ -0,0 +1,14652 @@
+# English (Shavian) translation of the Godot Engine editor.
+# Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.
+# Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).
+# This file is distributed under the same license as the Godot source code.
+#
+# haley <haleyhalcyon@gmail.com>, 2022.
+msgid ""
+msgstr ""
+"Project-Id-Version: Godot Engine editor\n"
+"Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
+"PO-Revision-Date: 2022-02-26 10:27+0000\n"
+"Last-Translator: haley <haleyhalcyon@gmail.com>\n"
+"Language-Team: English (Shavian) <https://hosted.weblate.org/projects/godot-"
+"engine/godot/en-Shaw/>\n"
+"Language: en-Shaw\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8-bit\n"
+"Plural-Forms: nplurals=2; plural=n != 1;\n"
+"X-Generator: Weblate 4.11.1-dev\n"
+
+#: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
+#: modules/visual_script/visual_script_builtin_funcs.cpp
+msgid "Invalid type argument to convert(), use TYPE_* constants."
+msgstr "������� ��� �������� � convert(), �� TYPE_* ���������."
+
+#: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
+msgid "Expected a string of length 1 (a character)."
+msgstr "��������� � ����� � ���� 1 (� �������)."
+
+#: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
+#: modules/mono/glue/gd_glue.cpp
+#: modules/visual_script/visual_script_builtin_funcs.cpp
+msgid "Not enough bytes for decoding bytes, or invalid format."
+msgstr "��� ���� ���� � ������� ����, � ������� �����."
+
+#: core/math/expression.cpp
+msgid "Invalid input %i (not passed) in expression"
+msgstr "������� ����� %i (��� ����) �� ���������"
+
+#: core/math/expression.cpp
+msgid "self can't be used because instance is null (not passed)"
+msgstr "self ���� �� ��� ����� ������� �� ��� (��� ����)"
+
+#: core/math/expression.cpp
+msgid "Invalid operands to operator %s, %s and %s."
+msgstr "������� ������� � ������ %s, %s � %s."
+
+#: core/math/expression.cpp
+msgid "Invalid index of type %s for base type %s"
+msgstr "������� ������ � ��� %s � ��� ��� %s"
+
+#: core/math/expression.cpp
+msgid "Invalid named index '%s' for base type %s"
+msgstr "������� ���� ������ '%s' � ��� ��� %s"
+
+#: core/math/expression.cpp
+msgid "Invalid arguments to construct '%s'"
+msgstr "������� ��������� � ��������� '%s'"
+
+#: core/math/expression.cpp
+msgid "On call to '%s':"
+msgstr "�� ��� � '%s':"
+
+#: core/ustring.cpp
+msgid "B"
+msgstr ""
+
+#: core/ustring.cpp
+msgid "KiB"
+msgstr ""
+
+#: core/ustring.cpp
+msgid "MiB"
+msgstr ""
+
+#: core/ustring.cpp
+msgid "GiB"
+msgstr ""
+
+#: core/ustring.cpp
+msgid "TiB"
+msgstr ""
+
+#: core/ustring.cpp
+msgid "PiB"
+msgstr ""
+
+#: core/ustring.cpp
+msgid "EiB"
+msgstr ""
+
+#: editor/animation_bezier_editor.cpp
+msgid "Free"
+msgstr "���"
+
+#: editor/animation_bezier_editor.cpp
+msgid "Balanced"
+msgstr "�������"
+
+#: editor/animation_bezier_editor.cpp
+msgid "Mirror"
+msgstr "����"
+
+#: editor/animation_bezier_editor.cpp editor/editor_profiler.cpp
+msgid "Time:"
+msgstr "���:"
+
+#: editor/animation_bezier_editor.cpp
+msgid "Value:"
+msgstr "����:"
+
+#: editor/animation_bezier_editor.cpp
+msgid "Insert Key Here"
+msgstr "����� �� ��"
+
+#: editor/animation_bezier_editor.cpp
+msgid "Duplicate Selected Key(s)"
+msgstr "�������� �������� ��(�)"
+
+#: editor/animation_bezier_editor.cpp
+msgid "Delete Selected Key(s)"
+msgstr "����� �������� ��(�)"
+
+#: editor/animation_bezier_editor.cpp
+msgid "Add Bezier Point"
+msgstr "�� ����� ����"
+
+#: editor/animation_bezier_editor.cpp
+msgid "Move Bezier Points"
+msgstr "��� ����� �����"
+
+#: editor/animation_bezier_editor.cpp editor/animation_track_editor.cpp
+msgid "Anim Duplicate Keys"
+msgstr "�������� �������� ���"
+
+#: editor/animation_bezier_editor.cpp editor/animation_track_editor.cpp
+msgid "Anim Delete Keys"
+msgstr "����� �������� ���"
+
+#: editor/animation_track_editor.cpp
+msgid "Anim Change Keyframe Time"
+msgstr "���� �������� ������ ���"
+
+#: editor/animation_track_editor.cpp
+msgid "Anim Change Transition"
+msgstr "���� �������� ���������"
+
+#: editor/animation_track_editor.cpp
+msgid "Anim Change Transform"
+msgstr "���� �������� ��������"
+
+#: editor/animation_track_editor.cpp
+msgid "Anim Change Keyframe Value"
+msgstr "���� �������� ������ ����"
+
+#: editor/animation_track_editor.cpp
+msgid "Anim Change Call"
+msgstr "���� �������� ���"
+
+#: editor/animation_track_editor.cpp
+msgid "Anim Multi Change Keyframe Time"
+msgstr "���� �������� �������� ������ ����"
+
+#: editor/animation_track_editor.cpp
+msgid "Anim Multi Change Transition"
+msgstr "���� �������� �������� ������ ����������"
+
+#: editor/animation_track_editor.cpp
+msgid "Anim Multi Change Transform"
+msgstr "���� �������� �������� ������ ��������"
+
+#: editor/animation_track_editor.cpp
+msgid "Anim Multi Change Keyframe Value"
+msgstr "���� �������� �������� ������ �����"
+
+#: editor/animation_track_editor.cpp
+msgid "Anim Multi Change Call"
+msgstr "���� �������� �������� ������ ����"
+
+#: editor/animation_track_editor.cpp
+msgid "Change Animation Length"
+msgstr "���� �������� �����"
+
+#: editor/animation_track_editor.cpp
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Change Animation Loop"
+msgstr "���� �������� ���"
+
+#: editor/animation_track_editor.cpp
+msgid "Property Track"
+msgstr "������� ����"
+
+#: editor/animation_track_editor.cpp
+msgid "3D Transform Track"
+msgstr "3-� �������� ����"
+
+#: editor/animation_track_editor.cpp
+msgid "Call Method Track"
+msgstr "��� ����� ����"
+
+#: editor/animation_track_editor.cpp
+msgid "Bezier Curve Track"
+msgstr "����� ��� ����"
+
+#: editor/animation_track_editor.cpp
+msgid "Audio Playback Track"
+msgstr "���� ������ ����"
+
+#: editor/animation_track_editor.cpp
+msgid "Animation Playback Track"
+msgstr "�������� ������ ����"
+
+#: editor/animation_track_editor.cpp
+msgid "Animation length (frames)"
+msgstr "�������� ����� (�����)"
+
+#: editor/animation_track_editor.cpp
+msgid "Animation length (seconds)"
+msgstr "�������� ����� (�������)"
+
+#: editor/animation_track_editor.cpp
+msgid "Add Track"
+msgstr "�� ����"
+
+#: editor/animation_track_editor.cpp
+msgid "Animation Looping"
+msgstr "�������� �����"
+
+#: editor/animation_track_editor.cpp
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Functions:"
+msgstr "��������:"
+
+#: editor/animation_track_editor.cpp
+msgid "Audio Clips:"
+msgstr "���� �����:"
+
+#: editor/animation_track_editor.cpp
+msgid "Anim Clips:"
+msgstr "�������� �����:"
+
+#: editor/animation_track_editor.cpp
+msgid "Change Track Path"
+msgstr "���� ���� ���"
+
+#: editor/animation_track_editor.cpp
+msgid "Toggle this track on/off."
+msgstr "����� ��� ���� ��/��."
+
+#: editor/animation_track_editor.cpp
+msgid "Update Mode (How this property is set)"
+msgstr "����� ��� (�� ��� ������� �� ���)"
+
+#: editor/animation_track_editor.cpp
+msgid "Interpolation Mode"
+msgstr "����������� ���"
+
+#: editor/animation_track_editor.cpp
+msgid "Loop Wrap Mode (Interpolate end with beginning on loop)"
+msgstr "��� ��� ��� (��������� ��� ��� ������� �� ���)"
+
+#: editor/animation_track_editor.cpp
+msgid "Remove this track."
+msgstr "����� ��� ����."
+
+#: editor/animation_track_editor.cpp
+msgid "Time (s): "
+msgstr "���(�): "
+
+#: editor/animation_track_editor.cpp
+msgid "Toggle Track Enabled"
+msgstr "����� ���� �������"
+
+#: editor/animation_track_editor.cpp
+msgid "Continuous"
+msgstr "����������"
+
+#: editor/animation_track_editor.cpp
+msgid "Discrete"
+msgstr "�������"
+
+#: editor/animation_track_editor.cpp
+msgid "Trigger"
+msgstr "�����"
+
+#: editor/animation_track_editor.cpp
+msgid "Capture"
+msgstr "�����"
+
+#: editor/animation_track_editor.cpp
+msgid "Nearest"
+msgstr "�����"
+
+#: editor/animation_track_editor.cpp editor/plugins/curve_editor_plugin.cpp
+#: editor/property_editor.cpp
+msgid "Linear"
+msgstr "����"
+
+#: editor/animation_track_editor.cpp
+msgid "Cubic"
+msgstr "�����"
+
+#: editor/animation_track_editor.cpp
+msgid "Clamp Loop Interp"
+msgstr "����� ��� �����"
+
+#: editor/animation_track_editor.cpp
+msgid "Wrap Loop Interp"
+msgstr "��� ��� �����"
+
+#: editor/animation_track_editor.cpp
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Insert Key"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Duplicate Key(s)"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Add RESET Value(s)"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Delete Key(s)"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Change Animation Update Mode"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Change Animation Interpolation Mode"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Change Animation Loop Mode"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Remove Anim Track"
+msgstr ""
+
+#. TRANSLATORS: %s will be replaced by a phrase describing the target of track.
+#: editor/animation_track_editor.cpp
+msgid "Create NEW track for %s and insert key?"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Create %d NEW tracks and insert keys?"
+msgstr ""
+
+#: editor/animation_track_editor.cpp editor/create_dialog.cpp
+#: editor/editor_audio_buses.cpp editor/editor_feature_profile.cpp
+#: editor/editor_plugin_settings.cpp editor/plugin_config_dialog.cpp
+#: editor/plugins/abstract_polygon_2d_editor.cpp
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+#: editor/plugins/particles_editor_plugin.cpp
+#: editor/plugins/version_control_editor_plugin.cpp
+#: editor/plugins/visual_shader_editor_plugin.cpp
+#: editor/script_create_dialog.cpp
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Create"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Anim Insert"
+msgstr ""
+
+#. TRANSLATORS: This describes the target of new animation track, will be inserted into another string.
+#: editor/animation_track_editor.cpp
+msgid "node '%s'"
+msgstr ""
+
+#. TRANSLATORS: This describes the target of new animation track, will be inserted into another string.
+#: editor/animation_track_editor.cpp
+msgid "animation"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "AnimationPlayer can't animate itself, only other players."
+msgstr ""
+
+#. TRANSLATORS: This describes the target of new animation track, will be inserted into another string.
+#: editor/animation_track_editor.cpp
+msgid "property '%s'"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Anim Create & Insert"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Anim Insert Track & Key"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Anim Insert Key"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Change Animation Step"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Rearrange Tracks"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Transform tracks only apply to Spatial-based nodes."
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid ""
+"Audio tracks can only point to nodes of type:\n"
+"-AudioStreamPlayer\n"
+"-AudioStreamPlayer2D\n"
+"-AudioStreamPlayer3D"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Animation tracks can only point to AnimationPlayer nodes."
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Not possible to add a new track without a root"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Invalid track for Bezier (no suitable sub-properties)"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Add Bezier Track"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Track path is invalid, so can't add a key."
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Track is not of type Spatial, can't insert key"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Add Transform Track Key"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Add Track Key"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Track path is invalid, so can't add a method key."
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Add Method Track Key"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Method not found in object: "
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Anim Move Keys"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Clipboard is empty!"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Paste Tracks"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Anim Scale Keys"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid ""
+"This option does not work for Bezier editing, as it's only a single track."
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Anim Add RESET Keys"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid ""
+"This animation belongs to an imported scene, so changes to imported tracks "
+"will not be saved.\n"
+"\n"
+"To enable the ability to add custom tracks, navigate to the scene's import "
+"settings and set\n"
+"\"Animation > Storage\" to \"Files\", enable \"Animation > Keep Custom "
+"Tracks\", then re-import.\n"
+"Alternatively, use an import preset that imports animations to separate "
+"files."
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Warning: Editing imported animation"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Select an AnimationPlayer node to create and edit animations."
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Only show tracks from nodes selected in tree."
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Group tracks by node or display them as plain list."
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Snap:"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Animation step value."
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Seconds"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "FPS"
+msgstr ""
+
+#: editor/animation_track_editor.cpp editor/editor_plugin_settings.cpp
+#: editor/editor_resource_picker.cpp
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+#: editor/plugins/script_text_editor.cpp
+#: editor/plugins/shader_editor_plugin.cpp editor/plugins/text_editor.cpp
+#: editor/plugins/tile_set_editor_plugin.cpp editor/project_manager.cpp
+#: editor/project_settings_editor.cpp editor/property_editor.cpp
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Edit"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Animation properties."
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Copy Tracks"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Scale Selection"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Scale From Cursor"
+msgstr ""
+
+#: editor/animation_track_editor.cpp editor/plugins/script_text_editor.cpp
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Duplicate Selection"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Duplicate Transposed"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Delete Selection"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Go to Next Step"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Go to Previous Step"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Apply Reset"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Optimize Animation"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Clean-Up Animation"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Pick the node that will be animated:"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Use Bezier Curves"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Create RESET Track(s)"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Anim. Optimizer"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Max. Linear Error:"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Max. Angular Error:"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Max Optimizable Angle:"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Optimize"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Remove invalid keys"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Remove unresolved and empty tracks"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Clean-up all animations"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Clean-Up Animation(s) (NO UNDO!)"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Clean-Up"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Scale Ratio:"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Select Tracks to Copy"
+msgstr ""
+
+#: editor/animation_track_editor.cpp editor/editor_log.cpp
+#: editor/editor_resource_picker.cpp
+#: editor/plugins/animation_player_editor_plugin.cpp
+#: editor/plugins/script_text_editor.cpp
+#: editor/plugins/sprite_frames_editor_plugin.cpp editor/property_editor.cpp
+#: editor/scene_tree_dock.cpp scene/gui/line_edit.cpp scene/gui/text_edit.cpp
+msgid "Copy"
+msgstr ""
+
+#: editor/animation_track_editor.cpp
+msgid "Select All/None"
+msgstr ""
+
+#: editor/animation_track_editor_plugins.cpp
+msgid "Add Audio Track Clip"
+msgstr ""
+
+#: editor/animation_track_editor_plugins.cpp
+msgid "Change Audio Track Clip Start Offset"
+msgstr ""
+
+#: editor/animation_track_editor_plugins.cpp
+msgid "Change Audio Track Clip End Offset"
+msgstr ""
+
+#: editor/array_property_edit.cpp
+msgid "Resize Array"
+msgstr ""
+
+#: editor/array_property_edit.cpp
+msgid "Change Array Value Type"
+msgstr ""
+
+#: editor/array_property_edit.cpp
+msgid "Change Array Value"
+msgstr ""
+
+#: editor/code_editor.cpp
+msgid "Go to Line"
+msgstr ""
+
+#: editor/code_editor.cpp
+msgid "Line Number:"
+msgstr ""
+
+#: editor/code_editor.cpp
+msgid "%d replaced."
+msgstr ""
+
+#: editor/code_editor.cpp editor/editor_help.cpp
+msgid "%d match."
+msgstr ""
+
+#: editor/code_editor.cpp editor/editor_help.cpp
+msgid "%d matches."
+msgstr ""
+
+#: editor/code_editor.cpp editor/find_in_files.cpp
+msgid "Match Case"
+msgstr ""
+
+#: editor/code_editor.cpp editor/find_in_files.cpp
+msgid "Whole Words"
+msgstr ""
+
+#: editor/code_editor.cpp
+msgid "Replace"
+msgstr ""
+
+#: editor/code_editor.cpp
+msgid "Replace All"
+msgstr ""
+
+#: editor/code_editor.cpp
+msgid "Selection Only"
+msgstr ""
+
+#: editor/code_editor.cpp editor/plugins/script_text_editor.cpp
+#: editor/plugins/text_editor.cpp
+msgid "Standard"
+msgstr ""
+
+#: editor/code_editor.cpp editor/plugins/script_editor_plugin.cpp
+msgid "Toggle Scripts Panel"
+msgstr ""
+
+#: editor/code_editor.cpp editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+#: editor/plugins/texture_region_editor_plugin.cpp
+#: editor/plugins/tile_set_editor_plugin.cpp scene/gui/graph_edit.cpp
+msgid "Zoom In"
+msgstr ""
+
+#: editor/code_editor.cpp editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+#: editor/plugins/texture_region_editor_plugin.cpp
+#: editor/plugins/tile_set_editor_plugin.cpp scene/gui/graph_edit.cpp
+msgid "Zoom Out"
+msgstr ""
+
+#: editor/code_editor.cpp
+msgid "Reset Zoom"
+msgstr ""
+
+#: editor/code_editor.cpp
+msgid "Warnings"
+msgstr ""
+
+#: editor/code_editor.cpp
+msgid "Line and column numbers."
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Method in target node must be specified."
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Method name must be a valid identifier."
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid ""
+"Target method not found. Specify a valid method or attach a script to the "
+"target node."
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Connect to Node:"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Connect to Script:"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "From Signal:"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Scene does not contain any script."
+msgstr ""
+
+#: editor/connections_dialog.cpp editor/editor_autoload_settings.cpp
+#: editor/groups_editor.cpp editor/plugins/item_list_editor_plugin.cpp
+#: editor/plugins/theme_editor_plugin.cpp editor/project_settings_editor.cpp
+msgid "Add"
+msgstr ""
+
+#: editor/connections_dialog.cpp editor/dependency_editor.cpp
+#: editor/groups_editor.cpp editor/plugins/animation_player_editor_plugin.cpp
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+#: editor/plugins/resource_preloader_editor_plugin.cpp
+#: editor/plugins/version_control_editor_plugin.cpp
+#: editor/plugins/visual_shader_editor_plugin.cpp editor/project_manager.cpp
+#: editor/project_settings_editor.cpp
+msgid "Remove"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Add Extra Call Argument:"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Extra Call Arguments:"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Receiver Method:"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Advanced"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Deferred"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid ""
+"Defers the signal, storing it in a queue and only firing it at idle time."
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Oneshot"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Disconnects the signal after its first emission."
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Cannot connect signal"
+msgstr ""
+
+#: editor/connections_dialog.cpp editor/dependency_editor.cpp
+#: editor/export_template_manager.cpp editor/groups_editor.cpp
+#: editor/plugins/animation_player_editor_plugin.cpp
+#: editor/plugins/asset_library_editor_plugin.cpp
+#: editor/plugins/resource_preloader_editor_plugin.cpp
+#: editor/plugins/script_editor_plugin.cpp
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+#: editor/plugins/theme_editor_plugin.cpp editor/project_export.cpp
+#: editor/project_settings_editor.cpp editor/property_editor.cpp
+#: editor/run_settings_dialog.cpp editor/settings_config_dialog.cpp
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Close"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Connect"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Signal:"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Connect '%s' to '%s'"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Disconnect '%s' from '%s'"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Disconnect all from signal: '%s'"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Connect..."
+msgstr ""
+
+#: editor/connections_dialog.cpp
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Disconnect"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Connect a Signal to a Method"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Edit Connection:"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Are you sure you want to remove all connections from the \"%s\" signal?"
+msgstr ""
+
+#: editor/connections_dialog.cpp editor/editor_help.cpp editor/node_dock.cpp
+msgid "Signals"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Filter signals"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Are you sure you want to remove all connections from this signal?"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Disconnect All"
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Edit..."
+msgstr ""
+
+#: editor/connections_dialog.cpp
+msgid "Go to Method"
+msgstr ""
+
+#: editor/create_dialog.cpp
+msgid "Change %s Type"
+msgstr ""
+
+#: editor/create_dialog.cpp editor/project_settings_editor.cpp
+msgid "Change"
+msgstr ""
+
+#: editor/create_dialog.cpp
+msgid "Create New %s"
+msgstr ""
+
+#: editor/create_dialog.cpp editor/plugins/asset_library_editor_plugin.cpp
+msgid "No results for \"%s\"."
+msgstr ""
+
+#: editor/create_dialog.cpp editor/property_selector.cpp
+msgid "No description available for %s."
+msgstr ""
+
+#: editor/create_dialog.cpp editor/editor_file_dialog.cpp
+#: editor/filesystem_dock.cpp
+msgid "Favorites:"
+msgstr ""
+
+#: editor/create_dialog.cpp editor/editor_file_dialog.cpp
+msgid "Recent:"
+msgstr ""
+
+#: editor/create_dialog.cpp editor/plugins/script_editor_plugin.cpp
+#: editor/property_selector.cpp editor/quick_open.cpp editor/rename_dialog.cpp
+#: modules/visual_script/visual_script_property_selector.cpp
+msgid "Search:"
+msgstr ""
+
+#: editor/create_dialog.cpp editor/plugins/script_editor_plugin.cpp
+#: editor/property_selector.cpp editor/quick_open.cpp
+#: modules/visual_script/visual_script_property_selector.cpp
+msgid "Matches:"
+msgstr ""
+
+#: editor/create_dialog.cpp editor/editor_feature_profile.cpp
+#: editor/editor_plugin_settings.cpp editor/plugin_config_dialog.cpp
+#: editor/plugins/asset_library_editor_plugin.cpp
+#: editor/plugins/visual_shader_editor_plugin.cpp editor/property_selector.cpp
+#: modules/visual_script/visual_script_property_selector.cpp
+msgid "Description:"
+msgstr ""
+
+#: editor/dependency_editor.cpp
+msgid "Search Replacement For:"
+msgstr ""
+
+#: editor/dependency_editor.cpp
+msgid "Dependencies For:"
+msgstr ""
+
+#: editor/dependency_editor.cpp
+msgid ""
+"Scene '%s' is currently being edited.\n"
+"Changes will only take effect when reloaded."
+msgstr ""
+
+#: editor/dependency_editor.cpp
+msgid ""
+"Resource '%s' is in use.\n"
+"Changes will only take effect when reloaded."
+msgstr ""
+
+#: editor/dependency_editor.cpp
+#: modules/gdnative/gdnative_library_editor_plugin.cpp
+msgid "Dependencies"
+msgstr ""
+
+#: editor/dependency_editor.cpp editor/editor_resource_picker.cpp
+msgid "Resource"
+msgstr ""
+
+#: editor/dependency_editor.cpp editor/editor_autoload_settings.cpp
+#: editor/project_manager.cpp editor/project_settings_editor.cpp
+msgid "Path"
+msgstr ""
+
+#: editor/dependency_editor.cpp
+msgid "Dependencies:"
+msgstr ""
+
+#: editor/dependency_editor.cpp
+msgid "Fix Broken"
+msgstr ""
+
+#: editor/dependency_editor.cpp
+msgid "Dependency Editor"
+msgstr ""
+
+#: editor/dependency_editor.cpp
+msgid "Search Replacement Resource:"
+msgstr ""
+
+#: editor/dependency_editor.cpp editor/editor_file_dialog.cpp
+#: editor/editor_help_search.cpp editor/editor_node.cpp
+#: editor/filesystem_dock.cpp editor/plugins/script_editor_plugin.cpp
+#: editor/property_selector.cpp editor/quick_open.cpp
+#: editor/script_create_dialog.cpp
+#: modules/visual_script/visual_script_property_selector.cpp
+#: scene/gui/file_dialog.cpp
+msgid "Open"
+msgstr ""
+
+#: editor/dependency_editor.cpp
+msgid "Owners Of:"
+msgstr ""
+
+#: editor/dependency_editor.cpp
+msgid ""
+"Remove the selected files from the project? (Cannot be undone.)\n"
+"Depending on your filesystem configuration, the files will either be moved "
+"to the system trash or deleted permanently."
+msgstr ""
+
+#: editor/dependency_editor.cpp
+msgid ""
+"The files being removed are required by other resources in order for them to "
+"work.\n"
+"Remove them anyway? (Cannot be undone.)\n"
+"Depending on your filesystem configuration, the files will either be moved "
+"to the system trash or deleted permanently."
+msgstr ""
+
+#: editor/dependency_editor.cpp
+msgid "Cannot remove:"
+msgstr ""
+
+#: editor/dependency_editor.cpp
+msgid "Error loading:"
+msgstr ""
+
+#: editor/dependency_editor.cpp
+msgid "Load failed due to missing dependencies:"
+msgstr ""
+
+#: editor/dependency_editor.cpp editor/editor_node.cpp
+msgid "Open Anyway"
+msgstr ""
+
+#: editor/dependency_editor.cpp
+msgid "Which action should be taken?"
+msgstr ""
+
+#: editor/dependency_editor.cpp
+msgid "Fix Dependencies"
+msgstr ""
+
+#: editor/dependency_editor.cpp
+msgid "Errors loading!"
+msgstr ""
+
+#: editor/dependency_editor.cpp
+msgid "Permanently delete %d item(s)? (No undo!)"
+msgstr ""
+
+#: editor/dependency_editor.cpp
+msgid "Show Dependencies"
+msgstr ""
+
+#: editor/dependency_editor.cpp
+msgid "Orphan Resource Explorer"
+msgstr ""
+
+#: editor/dependency_editor.cpp editor/editor_audio_buses.cpp
+#: editor/editor_file_dialog.cpp editor/editor_node.cpp
+#: editor/filesystem_dock.cpp editor/plugins/item_list_editor_plugin.cpp
+#: editor/plugins/sprite_frames_editor_plugin.cpp editor/project_export.cpp
+#: editor/project_settings_editor.cpp editor/scene_tree_dock.cpp
+msgid "Delete"
+msgstr ""
+
+#: editor/dependency_editor.cpp
+msgid "Owns"
+msgstr ""
+
+#: editor/dependency_editor.cpp
+msgid "Resources Without Explicit Ownership:"
+msgstr ""
+
+#: editor/dictionary_property_edit.cpp
+msgid "Change Dictionary Key"
+msgstr ""
+
+#: editor/dictionary_property_edit.cpp
+msgid "Change Dictionary Value"
+msgstr ""
+
+#: editor/editor_about.cpp
+msgid "Thanks from the Godot community!"
+msgstr ""
+
+#: editor/editor_about.cpp editor/editor_node.cpp editor/project_manager.cpp
+msgid "Click to copy."
+msgstr ""
+
+#: editor/editor_about.cpp
+msgid "Godot Engine contributors"
+msgstr ""
+
+#: editor/editor_about.cpp
+msgid "Project Founders"
+msgstr ""
+
+#: editor/editor_about.cpp
+msgid "Lead Developer"
+msgstr ""
+
+#. TRANSLATORS: This refers to a job title.
+#. The trailing space is used to distinguish with the project list application,
+#. you do not have to keep it in your translation.
+#: editor/editor_about.cpp
+msgid "Project Manager "
+msgstr ""
+
+#: editor/editor_about.cpp
+msgid "Developers"
+msgstr ""
+
+#: editor/editor_about.cpp
+msgid "Authors"
+msgstr ""
+
+#: editor/editor_about.cpp
+msgid "Platinum Sponsors"
+msgstr ""
+
+#: editor/editor_about.cpp
+msgid "Gold Sponsors"
+msgstr ""
+
+#: editor/editor_about.cpp
+msgid "Silver Sponsors"
+msgstr ""
+
+#: editor/editor_about.cpp
+msgid "Bronze Sponsors"
+msgstr ""
+
+#: editor/editor_about.cpp
+msgid "Mini Sponsors"
+msgstr ""
+
+#: editor/editor_about.cpp
+msgid "Gold Donors"
+msgstr ""
+
+#: editor/editor_about.cpp
+msgid "Silver Donors"
+msgstr ""
+
+#: editor/editor_about.cpp
+msgid "Bronze Donors"
+msgstr ""
+
+#: editor/editor_about.cpp
+msgid "Donors"
+msgstr ""
+
+#: editor/editor_about.cpp
+msgid "License"
+msgstr ""
+
+#: editor/editor_about.cpp
+msgid "Third-party Licenses"
+msgstr ""
+
+#: editor/editor_about.cpp
+msgid ""
+"Godot Engine relies on a number of third-party free and open source "
+"libraries, all compatible with the terms of its MIT license. The following "
+"is an exhaustive list of all such third-party components with their "
+"respective copyright statements and license terms."
+msgstr ""
+
+#: editor/editor_about.cpp
+msgid "All Components"
+msgstr ""
+
+#: editor/editor_about.cpp
+msgid "Components"
+msgstr ""
+
+#: editor/editor_about.cpp
+msgid "Licenses"
+msgstr ""
+
+#: editor/editor_asset_installer.cpp
+msgid "Error opening asset file for \"%s\" (not in ZIP format)."
+msgstr ""
+
+#: editor/editor_asset_installer.cpp
+msgid "%s (already exists)"
+msgstr ""
+
+#: editor/editor_asset_installer.cpp
+msgid "Contents of asset \"%s\" - %d file(s) conflict with your project:"
+msgstr ""
+
+#: editor/editor_asset_installer.cpp
+msgid "Contents of asset \"%s\" - No files conflict with your project:"
+msgstr ""
+
+#: editor/editor_asset_installer.cpp
+msgid "Uncompressing Assets"
+msgstr ""
+
+#: editor/editor_asset_installer.cpp
+msgid "The following files failed extraction from asset \"%s\":"
+msgstr ""
+
+#: editor/editor_asset_installer.cpp
+msgid "(and %s more files)"
+msgstr ""
+
+#: editor/editor_asset_installer.cpp
+msgid "Asset \"%s\" installed successfully!"
+msgstr ""
+
+#: editor/editor_asset_installer.cpp
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Success!"
+msgstr ""
+
+#: editor/editor_asset_installer.cpp editor/editor_node.cpp
+msgid "Install"
+msgstr ""
+
+#: editor/editor_asset_installer.cpp
+msgid "Asset Installer"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Speakers"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Add Effect"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Rename Audio Bus"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Change Audio Bus Volume"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Toggle Audio Bus Solo"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Toggle Audio Bus Mute"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Toggle Audio Bus Bypass Effects"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Select Audio Bus Send"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Add Audio Bus Effect"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Move Bus Effect"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Delete Bus Effect"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Drag & drop to rearrange."
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Solo"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Mute"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Bypass"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Bus Options"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp editor/filesystem_dock.cpp
+#: editor/scene_tree_dock.cpp
+msgid "Duplicate"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Reset Volume"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Delete Effect"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Audio"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Add Audio Bus"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Master bus can't be deleted!"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Delete Audio Bus"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Duplicate Audio Bus"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Reset Bus Volume"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Move Audio Bus"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Save Audio Bus Layout As..."
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Location for New Layout..."
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Open Audio Bus Layout"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "There is no '%s' file."
+msgstr ""
+
+#: editor/editor_audio_buses.cpp editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Layout"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Invalid file, not an audio bus layout."
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Error saving file: %s"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Add Bus"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Add a new Audio Bus to this layout."
+msgstr ""
+
+#: editor/editor_audio_buses.cpp editor/editor_resource_picker.cpp
+#: editor/plugins/animation_player_editor_plugin.cpp editor/property_editor.cpp
+#: editor/script_create_dialog.cpp
+msgid "Load"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Load an existing Bus Layout."
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Save As"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Save this Bus Layout to a file."
+msgstr ""
+
+#: editor/editor_audio_buses.cpp editor/import_dock.cpp
+msgid "Load Default"
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Load the default Bus Layout."
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Create a new Bus Layout."
+msgstr ""
+
+#: editor/editor_audio_buses.cpp
+msgid "Audio Bus Layout"
+msgstr ""
+
+#: editor/editor_autoload_settings.cpp
+msgid "Invalid name."
+msgstr ""
+
+#: editor/editor_autoload_settings.cpp
+msgid "Cannot begin with a digit."
+msgstr ""
+
+#: editor/editor_autoload_settings.cpp
+msgid "Valid characters:"
+msgstr ""
+
+#: editor/editor_autoload_settings.cpp
+msgid "Must not collide with an existing engine class name."
+msgstr ""
+
+#: editor/editor_autoload_settings.cpp
+msgid "Must not collide with an existing built-in type name."
+msgstr ""
+
+#: editor/editor_autoload_settings.cpp
+msgid "Must not collide with an existing global constant name."
+msgstr ""
+
+#: editor/editor_autoload_settings.cpp
+msgid "Keyword cannot be used as an autoload name."
+msgstr ""
+
+#: editor/editor_autoload_settings.cpp
+msgid "Autoload '%s' already exists!"
+msgstr ""
+
+#: editor/editor_autoload_settings.cpp
+msgid "Rename Autoload"
+msgstr ""
+
+#: editor/editor_autoload_settings.cpp
+msgid "Toggle AutoLoad Globals"
+msgstr ""
+
+#: editor/editor_autoload_settings.cpp
+msgid "Move Autoload"
+msgstr ""
+
+#: editor/editor_autoload_settings.cpp
+msgid "Remove Autoload"
+msgstr ""
+
+#: editor/editor_autoload_settings.cpp editor/editor_plugin_settings.cpp
+msgid "Enable"
+msgstr ""
+
+#: editor/editor_autoload_settings.cpp
+msgid "Rearrange Autoloads"
+msgstr ""
+
+#: editor/editor_autoload_settings.cpp
+msgid "Can't add autoload:"
+msgstr ""
+
+#: editor/editor_autoload_settings.cpp
+msgid "%s is an invalid path. File does not exist."
+msgstr ""
+
+#: editor/editor_autoload_settings.cpp
+msgid "%s is an invalid path. Not in resource path (res://)."
+msgstr ""
+
+#: editor/editor_autoload_settings.cpp
+msgid "Add AutoLoad"
+msgstr ""
+
+#: editor/editor_autoload_settings.cpp editor/editor_file_dialog.cpp
+#: editor/editor_plugin_settings.cpp
+#: editor/plugins/animation_tree_editor_plugin.cpp
+#: editor/script_create_dialog.cpp scene/gui/file_dialog.cpp
+msgid "Path:"
+msgstr ""
+
+#: editor/editor_autoload_settings.cpp
+msgid "Node Name:"
+msgstr ""
+
+#: editor/editor_autoload_settings.cpp editor/editor_help_search.cpp
+#: editor/editor_plugin_settings.cpp editor/editor_profiler.cpp
+#: editor/project_manager.cpp editor/settings_config_dialog.cpp
+msgid "Name"
+msgstr ""
+
+#: editor/editor_autoload_settings.cpp
+msgid "Global Variable"
+msgstr ""
+
+#: editor/editor_data.cpp
+msgid "Paste Params"
+msgstr ""
+
+#: editor/editor_data.cpp
+msgid "Updating Scene"
+msgstr ""
+
+#: editor/editor_data.cpp
+msgid "Storing local changes..."
+msgstr ""
+
+#: editor/editor_data.cpp
+msgid "Updating scene..."
+msgstr ""
+
+#: editor/editor_data.cpp editor/editor_resource_picker.cpp
+msgid "[empty]"
+msgstr ""
+
+#: editor/editor_data.cpp editor/plugins/script_text_editor.cpp
+#: editor/plugins/text_editor.cpp
+#: modules/visual_script/visual_script_editor.cpp
+msgid "[unsaved]"
+msgstr ""
+
+#: editor/editor_dir_dialog.cpp
+msgid "Please select a base directory first."
+msgstr ""
+
+#: editor/editor_dir_dialog.cpp
+msgid "Choose a Directory"
+msgstr ""
+
+#: editor/editor_dir_dialog.cpp editor/editor_file_dialog.cpp
+#: editor/filesystem_dock.cpp editor/project_manager.cpp
+#: scene/gui/file_dialog.cpp
+msgid "Create Folder"
+msgstr ""
+
+#: editor/editor_dir_dialog.cpp editor/editor_file_dialog.cpp
+#: editor/editor_plugin_settings.cpp editor/filesystem_dock.cpp
+#: editor/plugins/theme_editor_plugin.cpp editor/project_export.cpp
+#: editor/script_create_dialog.cpp
+#: modules/visual_script/visual_script_editor.cpp scene/gui/file_dialog.cpp
+msgid "Name:"
+msgstr ""
+
+#: editor/editor_dir_dialog.cpp editor/editor_file_dialog.cpp
+#: editor/filesystem_dock.cpp scene/gui/file_dialog.cpp
+msgid "Could not create folder."
+msgstr ""
+
+#: editor/editor_dir_dialog.cpp
+msgid "Choose"
+msgstr ""
+
+#: editor/editor_export.cpp
+msgid "Storing File:"
+msgstr ""
+
+#: editor/editor_export.cpp
+msgid "No export template found at the expected path:"
+msgstr ""
+
+#: editor/editor_export.cpp
+msgid "Packing"
+msgstr ""
+
+#: editor/editor_export.cpp
+msgid ""
+"Target platform requires 'ETC' texture compression for GLES2. Enable 'Import "
+"Etc' in Project Settings."
+msgstr ""
+
+#: editor/editor_export.cpp
+msgid ""
+"Target platform requires 'ETC2' texture compression for GLES3. Enable "
+"'Import Etc 2' in Project Settings."
+msgstr ""
+
+#: editor/editor_export.cpp
+msgid ""
+"Target platform requires 'ETC' texture compression for the driver fallback "
+"to GLES2.\n"
+"Enable 'Import Etc' in Project Settings, or disable 'Driver Fallback "
+"Enabled'."
+msgstr ""
+
+#: editor/editor_export.cpp
+msgid ""
+"Target platform requires 'PVRTC' texture compression for GLES2. Enable "
+"'Import Pvrtc' in Project Settings."
+msgstr ""
+
+#: editor/editor_export.cpp
+msgid ""
+"Target platform requires 'ETC2' or 'PVRTC' texture compression for GLES3. "
+"Enable 'Import Etc 2' or 'Import Pvrtc' in Project Settings."
+msgstr ""
+
+#: editor/editor_export.cpp
+msgid ""
+"Target platform requires 'PVRTC' texture compression for the driver fallback "
+"to GLES2.\n"
+"Enable 'Import Pvrtc' in Project Settings, or disable 'Driver Fallback "
+"Enabled'."
+msgstr ""
+
+#: editor/editor_export.cpp platform/android/export/export_plugin.cpp
+#: platform/iphone/export/export.cpp platform/javascript/export/export.cpp
+#: platform/osx/export/export.cpp platform/uwp/export/export.cpp
+msgid "Custom debug template not found."
+msgstr ""
+
+#: editor/editor_export.cpp platform/android/export/export_plugin.cpp
+#: platform/iphone/export/export.cpp platform/javascript/export/export.cpp
+#: platform/osx/export/export.cpp platform/uwp/export/export.cpp
+msgid "Custom release template not found."
+msgstr ""
+
+#: editor/editor_export.cpp platform/javascript/export/export.cpp
+msgid "Template file not found:"
+msgstr ""
+
+#: editor/editor_export.cpp
+msgid "On 32-bit exports the embedded PCK cannot be bigger than 4 GiB."
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "3D Editor"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Script Editor"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Asset Library"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Scene Tree Editing"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Node Dock"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "FileSystem Dock"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Import Dock"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Allows to view and edit 3D scenes."
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Allows to edit scripts using the integrated script editor."
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Provides built-in access to the Asset Library."
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Allows editing the node hierarchy in the Scene dock."
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid ""
+"Allows to work with signals and groups of the node selected in the Scene "
+"dock."
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Allows to browse the local file system via a dedicated dock."
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid ""
+"Allows to configure import settings for individual assets. Requires the "
+"FileSystem dock to function."
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "(current)"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "(none)"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Remove currently selected profile, '%s'? Cannot be undone."
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Profile must be a valid filename and must not contain '.'"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Profile with this name already exists."
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "(Editor Disabled, Properties Disabled)"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "(Properties Disabled)"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "(Editor Disabled)"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Class Options:"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Enable Contextual Editor"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Class Properties:"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Main Features:"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Nodes and Classes:"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "File '%s' format is invalid, import aborted."
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid ""
+"Profile '%s' already exists. Remove it first before importing, import "
+"aborted."
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Error saving profile to path: '%s'."
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Reset to Default"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Current Profile:"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Create Profile"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Remove Profile"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Available Profiles:"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Make Current"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp editor/editor_node.cpp
+#: editor/plugins/theme_editor_plugin.cpp editor/project_manager.cpp
+msgid "Import"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp editor/project_export.cpp
+msgid "Export"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Configure Selected Profile:"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Extra Options:"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Create or import a profile to edit available classes and properties."
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "New profile name:"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Godot Feature Profile"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Import Profile(s)"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Export Profile"
+msgstr ""
+
+#: editor/editor_feature_profile.cpp
+msgid "Manage Editor Feature Profiles"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp scene/gui/file_dialog.cpp
+msgid "Select Current Folder"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp scene/gui/file_dialog.cpp
+msgid "File exists, overwrite?"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp scene/gui/file_dialog.cpp
+msgid "Select This Folder"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp editor/filesystem_dock.cpp
+msgid "Copy Path"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp editor/filesystem_dock.cpp
+msgid "Open in File Manager"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp editor/editor_node.cpp
+#: editor/filesystem_dock.cpp editor/project_manager.cpp
+msgid "Show in File Manager"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp editor/filesystem_dock.cpp
+msgid "New Folder..."
+msgstr ""
+
+#: editor/editor_file_dialog.cpp editor/find_in_files.cpp
+msgid "Refresh"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp scene/gui/file_dialog.cpp
+msgid "All Recognized"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp scene/gui/file_dialog.cpp
+msgid "All Files (*)"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp scene/gui/file_dialog.cpp
+msgid "Open a File"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp scene/gui/file_dialog.cpp
+msgid "Open File(s)"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp scene/gui/file_dialog.cpp
+msgid "Open a Directory"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp scene/gui/file_dialog.cpp
+msgid "Open a File or Directory"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp editor/editor_node.cpp
+#: editor/editor_resource_picker.cpp editor/import_defaults_editor.cpp
+#: editor/inspector_dock.cpp editor/plugins/animation_player_editor_plugin.cpp
+#: editor/plugins/script_editor_plugin.cpp
+#: editor/plugins/theme_editor_plugin.cpp scene/gui/file_dialog.cpp
+msgid "Save"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp scene/gui/file_dialog.cpp
+msgid "Save a File"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp
+msgid "Go Back"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp
+msgid "Go Forward"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp
+msgid "Go Up"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp
+msgid "Toggle Hidden Files"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp
+msgid "Toggle Favorite"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp
+msgid "Toggle Mode"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp
+msgid "Focus Path"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp
+msgid "Move Favorite Up"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp
+msgid "Move Favorite Down"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp
+msgid "Go to previous folder."
+msgstr ""
+
+#: editor/editor_file_dialog.cpp
+msgid "Go to next folder."
+msgstr ""
+
+#: editor/editor_file_dialog.cpp scene/gui/file_dialog.cpp
+msgid "Go to parent folder."
+msgstr ""
+
+#: editor/editor_file_dialog.cpp scene/gui/file_dialog.cpp
+msgid "Refresh files."
+msgstr ""
+
+#: editor/editor_file_dialog.cpp
+msgid "(Un)favorite current folder."
+msgstr ""
+
+#: editor/editor_file_dialog.cpp scene/gui/file_dialog.cpp
+msgid "Toggle the visibility of hidden files."
+msgstr ""
+
+#: editor/editor_file_dialog.cpp editor/filesystem_dock.cpp
+msgid "View items as a grid of thumbnails."
+msgstr ""
+
+#: editor/editor_file_dialog.cpp editor/filesystem_dock.cpp
+msgid "View items as a list."
+msgstr ""
+
+#: editor/editor_file_dialog.cpp scene/gui/file_dialog.cpp
+msgid "Directories & Files:"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp editor/plugins/sprite_editor_plugin.cpp
+#: editor/plugins/style_box_editor_plugin.cpp editor/rename_dialog.cpp
+msgid "Preview:"
+msgstr ""
+
+#: editor/editor_file_dialog.cpp
+#: editor/plugins/version_control_editor_plugin.cpp scene/gui/file_dialog.cpp
+msgid "File:"
+msgstr ""
+
+#: editor/editor_file_system.cpp
+msgid "ScanSources"
+msgstr ""
+
+#: editor/editor_file_system.cpp
+msgid ""
+"There are multiple importers for different types pointing to file %s, import "
+"aborted"
+msgstr ""
+
+#: editor/editor_file_system.cpp
+msgid "(Re)Importing Assets"
+msgstr ""
+
+#: editor/editor_help.cpp
+msgid "Top"
+msgstr ""
+
+#: editor/editor_help.cpp
+msgid "Class:"
+msgstr ""
+
+#: editor/editor_help.cpp editor/scene_tree_editor.cpp
+#: editor/script_create_dialog.cpp
+msgid "Inherits:"
+msgstr ""
+
+#: editor/editor_help.cpp
+msgid "Inherited by:"
+msgstr ""
+
+#: editor/editor_help.cpp
+msgid "Description"
+msgstr ""
+
+#: editor/editor_help.cpp
+msgid "Online Tutorials"
+msgstr ""
+
+#: editor/editor_help.cpp
+msgid "Properties"
+msgstr ""
+
+#: editor/editor_help.cpp
+msgid "overrides %s:"
+msgstr ""
+
+#: editor/editor_help.cpp
+msgid "default:"
+msgstr ""
+
+#: editor/editor_help.cpp
+msgid "Methods"
+msgstr ""
+
+#: editor/editor_help.cpp
+msgid "Theme Properties"
+msgstr ""
+
+#: editor/editor_help.cpp editor/plugins/theme_editor_plugin.cpp
+msgid "Colors"
+msgstr ""
+
+#: editor/editor_help.cpp editor/plugins/theme_editor_plugin.cpp
+msgid "Constants"
+msgstr ""
+
+#: editor/editor_help.cpp editor/plugins/theme_editor_plugin.cpp
+msgid "Fonts"
+msgstr ""
+
+#: editor/editor_help.cpp editor/plugins/theme_editor_plugin.cpp
+msgid "Icons"
+msgstr ""
+
+#: editor/editor_help.cpp
+msgid "Styles"
+msgstr ""
+
+#: editor/editor_help.cpp
+msgid "Enumerations"
+msgstr ""
+
+#: editor/editor_help.cpp
+msgid "Property Descriptions"
+msgstr ""
+
+#: editor/editor_help.cpp
+msgid "(value)"
+msgstr ""
+
+#: editor/editor_help.cpp
+msgid ""
+"There is currently no description for this property. Please help us by "
+"[color=$color][url=$url]contributing one[/url][/color]!"
+msgstr ""
+
+#: editor/editor_help.cpp
+msgid "Method Descriptions"
+msgstr ""
+
+#: editor/editor_help.cpp
+msgid ""
+"There is currently no description for this method. Please help us by "
+"[color=$color][url=$url]contributing one[/url][/color]!"
+msgstr ""
+
+#: editor/editor_help_search.cpp editor/editor_node.cpp
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Search Help"
+msgstr ""
+
+#: editor/editor_help_search.cpp
+msgid "Case Sensitive"
+msgstr ""
+
+#: editor/editor_help_search.cpp
+msgid "Show Hierarchy"
+msgstr ""
+
+#: editor/editor_help_search.cpp
+msgid "Display All"
+msgstr ""
+
+#: editor/editor_help_search.cpp
+msgid "Classes Only"
+msgstr ""
+
+#: editor/editor_help_search.cpp
+msgid "Methods Only"
+msgstr ""
+
+#: editor/editor_help_search.cpp
+msgid "Signals Only"
+msgstr ""
+
+#: editor/editor_help_search.cpp
+msgid "Constants Only"
+msgstr ""
+
+#: editor/editor_help_search.cpp
+msgid "Properties Only"
+msgstr ""
+
+#: editor/editor_help_search.cpp
+msgid "Theme Properties Only"
+msgstr ""
+
+#: editor/editor_help_search.cpp
+msgid "Member Type"
+msgstr ""
+
+#: editor/editor_help_search.cpp
+msgid "Class"
+msgstr ""
+
+#: editor/editor_help_search.cpp
+msgid "Method"
+msgstr ""
+
+#: editor/editor_help_search.cpp editor/plugins/script_text_editor.cpp
+msgid "Signal"
+msgstr ""
+
+#: editor/editor_help_search.cpp modules/visual_script/visual_script_nodes.cpp
+msgid "Constant"
+msgstr ""
+
+#: editor/editor_help_search.cpp
+msgid "Property"
+msgstr ""
+
+#: editor/editor_help_search.cpp
+msgid "Theme Property"
+msgstr ""
+
+#: editor/editor_inspector.cpp editor/project_settings_editor.cpp
+msgid "Property:"
+msgstr ""
+
+#: editor/editor_inspector.cpp
+msgid "Pin value"
+msgstr ""
+
+#: editor/editor_inspector.cpp
+msgid ""
+"Pinning a value forces it to be saved even if it's equal to the default."
+msgstr ""
+
+#: editor/editor_inspector.cpp
+msgid "Pin value [Disabled because '%s' is editor-only]"
+msgstr ""
+
+#: editor/editor_inspector.cpp editor/scene_tree_dock.cpp
+#: modules/visual_script/visual_script_func_nodes.cpp
+#: modules/visual_script/visual_script_nodes.cpp
+#: modules/visual_script/visual_script_property_selector.cpp
+msgid "Set %s"
+msgstr ""
+
+#: editor/editor_inspector.cpp
+msgid "Set Multiple:"
+msgstr ""
+
+#: editor/editor_inspector.cpp
+msgid "Pinned %s"
+msgstr ""
+
+#: editor/editor_inspector.cpp
+msgid "Unpinned %s"
+msgstr ""
+
+#: editor/editor_inspector.cpp
+msgid "Copy Property"
+msgstr ""
+
+#: editor/editor_inspector.cpp
+msgid "Paste Property"
+msgstr ""
+
+#: editor/editor_inspector.cpp
+msgid "Copy Property Path"
+msgstr ""
+
+#: editor/editor_log.cpp
+msgid "Output:"
+msgstr ""
+
+#: editor/editor_log.cpp editor/plugins/tile_map_editor_plugin.cpp
+msgid "Copy Selection"
+msgstr ""
+
+#: editor/editor_log.cpp editor/editor_network_profiler.cpp
+#: editor/editor_profiler.cpp editor/editor_resource_picker.cpp
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+#: editor/property_editor.cpp editor/scene_tree_dock.cpp
+#: editor/script_editor_debugger.cpp
+#: modules/gdnative/gdnative_library_editor_plugin.cpp scene/gui/line_edit.cpp
+#: scene/gui/text_edit.cpp
+msgid "Clear"
+msgstr ""
+
+#: editor/editor_log.cpp
+msgid "Clear Output"
+msgstr ""
+
+#: editor/editor_network_profiler.cpp editor/editor_node.cpp
+#: editor/editor_profiler.cpp
+msgid "Stop"
+msgstr ""
+
+#: editor/editor_network_profiler.cpp editor/editor_profiler.cpp
+#: editor/plugins/animation_state_machine_editor.cpp editor/rename_dialog.cpp
+msgid "Start"
+msgstr ""
+
+#: editor/editor_network_profiler.cpp
+msgid "%s/s"
+msgstr ""
+
+#: editor/editor_network_profiler.cpp
+msgid "Down"
+msgstr ""
+
+#: editor/editor_network_profiler.cpp
+msgid "Up"
+msgstr ""
+
+#: editor/editor_network_profiler.cpp editor/editor_node.cpp
+msgid "Node"
+msgstr ""
+
+#: editor/editor_network_profiler.cpp
+msgid "Incoming RPC"
+msgstr ""
+
+#: editor/editor_network_profiler.cpp
+msgid "Incoming RSET"
+msgstr ""
+
+#: editor/editor_network_profiler.cpp
+msgid "Outgoing RPC"
+msgstr ""
+
+#: editor/editor_network_profiler.cpp
+msgid "Outgoing RSET"
+msgstr ""
+
+#: editor/editor_node.cpp editor/project_manager.cpp
+msgid "New Window"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"Spins when the editor window redraws.\n"
+"Update Continuously is enabled, which can increase power usage. Click to "
+"disable it."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Spins when the editor window redraws."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Imported resources can't be saved."
+msgstr ""
+
+#: editor/editor_node.cpp editor/plugins/script_editor_plugin.cpp
+#: editor/plugins/theme_editor_plugin.cpp
+#: modules/gltf/editor_scene_exporter_gltf_plugin.cpp scene/gui/dialogs.cpp
+msgid "OK"
+msgstr ""
+
+#: editor/editor_node.cpp editor/plugins/animation_player_editor_plugin.cpp
+msgid "Error saving resource!"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"This resource can't be saved because it does not belong to the edited scene. "
+"Make it unique first."
+msgstr ""
+
+#: editor/editor_node.cpp editor/plugins/animation_player_editor_plugin.cpp
+msgid "Save Resource As..."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Can't open file for writing:"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Requested file format unknown:"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Error while saving."
+msgstr ""
+
+#: editor/editor_node.cpp editor/plugins/script_editor_plugin.cpp
+msgid "Can't open '%s'. The file could have been moved or deleted."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Error while parsing '%s'."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Unexpected end of file '%s'."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Missing '%s' or its dependencies."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Error while loading '%s'."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Saving Scene"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Analyzing"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Creating Thumbnail"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "This operation can't be done without a tree root."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"This scene can't be saved because there is a cyclic instancing inclusion.\n"
+"Please resolve it and then attempt to save again."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"Couldn't save scene. Likely dependencies (instances or inheritance) couldn't "
+"be satisfied."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Could not save one or more scenes!"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Save All Scenes"
+msgstr ""
+
+#: editor/editor_node.cpp editor/scene_tree_dock.cpp
+msgid "Can't overwrite scene that is still open!"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Can't load MeshLibrary for merging!"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Error saving MeshLibrary!"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Can't load TileSet for merging!"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Error saving TileSet!"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"An error occurred while trying to save the editor layout.\n"
+"Make sure the editor's user data path is writable."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"Default editor layout overridden.\n"
+"To restore the Default layout to its base settings, use the Delete Layout "
+"option and delete the Default layout."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Layout name not found!"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Restored the Default layout to its base settings."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"This resource belongs to a scene that was imported, so it's not editable.\n"
+"Please read the documentation relevant to importing scenes to better "
+"understand this workflow."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"This resource belongs to a scene that was instanced or inherited.\n"
+"Changes to it won't be kept when saving the current scene."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"This resource was imported, so it's not editable. Change its settings in the "
+"import panel and then re-import."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"This scene was imported, so changes to it won't be kept.\n"
+"Instancing it or inheriting will allow making changes to it.\n"
+"Please read the documentation relevant to importing scenes to better "
+"understand this workflow."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"This is a remote object, so changes to it won't be kept.\n"
+"Please read the documentation relevant to debugging to better understand "
+"this workflow."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "There is no defined scene to run."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Save scene before running..."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Could not start subprocess!"
+msgstr ""
+
+#: editor/editor_node.cpp editor/filesystem_dock.cpp
+msgid "Open Scene"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Open Base Scene"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Quick Open..."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Quick Open Scene..."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Quick Open Script..."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Save & Close"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Save changes to '%s' before closing?"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "%s no longer exists! Please specify a new save location."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"The current scene has no root node, but %d modified external resource(s) "
+"were saved anyway."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"A root node is required to save the scene. You can add a root node using the "
+"Scene tree dock."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Save Scene As..."
+msgstr ""
+
+#: editor/editor_node.cpp modules/gltf/editor_scene_exporter_gltf_plugin.cpp
+msgid "This operation can't be done without a scene."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Export Mesh Library"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "This operation can't be done without a root node."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Export Tile Set"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "This operation can't be done without a selected node."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Current scene not saved. Open anyway?"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Can't undo while mouse buttons are pressed."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Nothing to undo."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Undo: %s"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Can't redo while mouse buttons are pressed."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Nothing to redo."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Redo: %s"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Can't reload a scene that was never saved."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Reload Saved Scene"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"The current scene has unsaved changes.\n"
+"Reload the saved scene anyway? This action cannot be undone."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Quick Run Scene..."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Quit"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Yes"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Exit the editor?"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Open Project Manager?"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Save & Quit"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Save changes to the following scene(s) before quitting?"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Save changes to the following scene(s) before opening Project Manager?"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"This option is deprecated. Situations where refresh must be forced are now "
+"considered a bug. Please report."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Pick a Main Scene"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Close Scene"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Reopen Closed Scene"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Unable to enable addon plugin at: '%s' parsing of config failed."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Unable to find script field for addon plugin at: '%s'."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Unable to load addon script from path: '%s'."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"Unable to load addon script from path: '%s'. This might be due to a code "
+"error in that script.\n"
+"Disabling the addon at '%s' to prevent further errors."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"Unable to load addon script from path: '%s' Base type is not EditorPlugin."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Unable to load addon script from path: '%s' Script is not in tool mode."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"Scene '%s' was automatically imported, so it can't be modified.\n"
+"To make changes to it, a new inherited scene can be created."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"Error loading scene, it must be inside the project path. Use 'Import' to "
+"open the scene, then save it inside the project path."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Scene '%s' has broken dependencies:"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Clear Recent Scenes"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"No main scene has ever been defined, select one?\n"
+"You can change it later in \"Project Settings\" under the 'application' "
+"category."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"Selected scene '%s' does not exist, select a valid one?\n"
+"You can change it later in \"Project Settings\" under the 'application' "
+"category."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"Selected scene '%s' is not a scene file, select a valid one?\n"
+"You can change it later in \"Project Settings\" under the 'application' "
+"category."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Save Layout"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Delete Layout"
+msgstr ""
+
+#: editor/editor_node.cpp editor/import_dock.cpp
+#: editor/script_create_dialog.cpp
+msgid "Default"
+msgstr ""
+
+#: editor/editor_node.cpp editor/editor_resource_picker.cpp
+#: editor/plugins/script_editor_plugin.cpp editor/property_editor.cpp
+msgid "Show in FileSystem"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Play This Scene"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Close Tab"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Undo Close Tab"
+msgstr ""
+
+#: editor/editor_node.cpp editor/plugins/script_editor_plugin.cpp
+msgid "Close Other Tabs"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Close Tabs to the Right"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Close All Tabs"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Switch Scene Tab"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "%d more files or folders"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "%d more folders"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "%d more files"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Dock Position"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Distraction Free Mode"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Toggle distraction-free mode."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Add a new scene."
+msgstr ""
+
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
+msgid "Scene"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Go to previously opened scene."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Copy Text"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Next tab"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Previous tab"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Filter Files..."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Operations with scene files."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "New Scene"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "New Inherited Scene..."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Open Scene..."
+msgstr ""
+
+#: editor/editor_node.cpp editor/plugins/script_editor_plugin.cpp
+msgid "Open Recent"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Save Scene"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Convert To..."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "MeshLibrary..."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "TileSet..."
+msgstr ""
+
+#: editor/editor_node.cpp editor/plugins/script_text_editor.cpp
+#: scene/gui/line_edit.cpp scene/gui/text_edit.cpp
+msgid "Undo"
+msgstr ""
+
+#: editor/editor_node.cpp editor/plugins/script_text_editor.cpp
+#: scene/gui/line_edit.cpp scene/gui/text_edit.cpp
+msgid "Redo"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Miscellaneous project or scene-wide tools."
+msgstr ""
+
+#: editor/editor_node.cpp editor/project_manager.cpp
+#: editor/script_create_dialog.cpp
+msgid "Project"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Project Settings..."
+msgstr ""
+
+#: editor/editor_node.cpp editor/plugins/version_control_editor_plugin.cpp
+msgid "Version Control"
+msgstr ""
+
+#: editor/editor_node.cpp editor/plugins/version_control_editor_plugin.cpp
+msgid "Set Up Version Control"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Shut Down Version Control"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Export..."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Install Android Build Template..."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Open User Data Folder"
+msgstr ""
+
+#: editor/editor_node.cpp editor/plugins/tile_set_editor_plugin.cpp
+msgid "Tools"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Orphan Resource Explorer..."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Reload Current Project"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Quit to Project List"
+msgstr ""
+
+#: editor/editor_node.cpp editor/plugins/script_editor_plugin.cpp
+#: editor/project_export.cpp
+msgid "Debug"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Deploy with Remote Debug"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"When this option is enabled, using one-click deploy will make the executable "
+"attempt to connect to this computer's IP so the running project can be "
+"debugged.\n"
+"This option is intended to be used for remote debugging (typically with a "
+"mobile device).\n"
+"You don't need to enable it to use the GDScript debugger locally."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Small Deploy with Network Filesystem"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"When this option is enabled, using one-click deploy for Android will only "
+"export an executable without the project data.\n"
+"The filesystem will be provided from the project by the editor over the "
+"network.\n"
+"On Android, deploying will use the USB cable for faster performance. This "
+"option speeds up testing for projects with large assets."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Visible Collision Shapes"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"When this option is enabled, collision shapes and raycast nodes (for 2D and "
+"3D) will be visible in the running project."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Visible Navigation"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"When this option is enabled, navigation meshes and polygons will be visible "
+"in the running project."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Force Shader Fallbacks"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"When this option is enabled, shaders will be used in their fallback form "
+"(either visible via an ubershader or hidden) during all the run time.\n"
+"This is useful for verifying the look and performance of fallbacks, which "
+"are normally displayed briefly.\n"
+"Asynchronous shader compilation must be enabled in the project settings for "
+"this option to make a difference."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Synchronize Scene Changes"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"When this option is enabled, any changes made to the scene in the editor "
+"will be replicated in the running project.\n"
+"When used remotely on a device, this is more efficient when the network "
+"filesystem option is enabled."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Synchronize Script Changes"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"When this option is enabled, any script that is saved will be reloaded in "
+"the running project.\n"
+"When used remotely on a device, this is more efficient when the network "
+"filesystem option is enabled."
+msgstr ""
+
+#: editor/editor_node.cpp editor/script_create_dialog.cpp
+msgid "Editor"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Editor Settings..."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Editor Layout"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Take Screenshot"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Screenshots are stored in the Editor Data/Settings Folder."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Toggle Fullscreen"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Open Editor Data/Settings Folder"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Open Editor Data Folder"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Open Editor Settings Folder"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Manage Editor Features..."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Manage Export Templates..."
+msgstr ""
+
+#: editor/editor_node.cpp editor/plugins/shader_editor_plugin.cpp
+msgid "Help"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Online Documentation"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Questions & Answers"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Report a Bug"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Suggest a Feature"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Send Docs Feedback"
+msgstr ""
+
+#: editor/editor_node.cpp editor/plugins/asset_library_editor_plugin.cpp
+msgid "Community"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "About Godot"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Support Godot Development"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Play the project."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Play"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Pause the scene execution for debugging."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Pause Scene"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Stop the scene."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Play the edited scene."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Play Scene"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Play custom scene"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Play Custom Scene"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Changing the video driver requires restarting the editor."
+msgstr ""
+
+#: editor/editor_node.cpp editor/project_settings_editor.cpp
+#: editor/settings_config_dialog.cpp
+msgid "Save & Restart"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Update Continuously"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Update All Changes"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Update Vital Changes"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Hide Update Spinner"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "FileSystem"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Inspector"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Expand Bottom Panel"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Output"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Don't Save"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Android build template is missing, please install relevant templates."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Manage Templates"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Install from file"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Select android sources file"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"This will set up your project for custom Android builds by installing the "
+"source template to \"res://android/build\".\n"
+"You can then apply modifications and build your own custom APK on export "
+"(adding modules, changing the AndroidManifest.xml, etc.).\n"
+"Note that in order to make custom builds instead of using pre-built APKs, "
+"the \"Use Custom Build\" option should be enabled in the Android export "
+"preset."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"The Android build template is already installed in this project and it won't "
+"be overwritten.\n"
+"Remove the \"res://android/build\" directory manually before attempting this "
+"operation again."
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Import Templates From ZIP File"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Template Package"
+msgstr ""
+
+#: editor/editor_node.cpp modules/gltf/editor_scene_exporter_gltf_plugin.cpp
+msgid "Export Library"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Merge With Existing"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Apply MeshInstance Transforms"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Open & Run a Script"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid ""
+"The following files are newer on disk.\n"
+"What action should be taken?"
+msgstr ""
+
+#: editor/editor_node.cpp editor/plugins/script_editor_plugin.cpp
+#: editor/plugins/shader_editor_plugin.cpp
+msgid "Reload"
+msgstr ""
+
+#: editor/editor_node.cpp editor/plugins/script_editor_plugin.cpp
+#: editor/plugins/shader_editor_plugin.cpp
+msgid "Resave"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "New Inherited"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Load Errors"
+msgstr ""
+
+#: editor/editor_node.cpp editor/plugins/tile_map_editor_plugin.cpp
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "Select"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Select Current"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Open 2D Editor"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Open 3D Editor"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Open Script Editor"
+msgstr ""
+
+#: editor/editor_node.cpp editor/project_manager.cpp
+msgid "Open Asset Library"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Open the next Editor"
+msgstr ""
+
+#: editor/editor_node.cpp
+msgid "Open the previous Editor"
+msgstr ""
+
+#: editor/editor_node.h
+msgid "Warning!"
+msgstr ""
+
+#: editor/editor_path.cpp
+msgid "No sub-resources found."
+msgstr ""
+
+#: editor/editor_path.cpp
+msgid "Open a list of sub-resources."
+msgstr ""
+
+#: editor/editor_plugin.cpp
+msgid "Creating Mesh Previews"
+msgstr ""
+
+#: editor/editor_plugin.cpp
+msgid "Thumbnail..."
+msgstr ""
+
+#: editor/editor_plugin_settings.cpp
+msgid "Main Script:"
+msgstr ""
+
+#: editor/editor_plugin_settings.cpp
+msgid "Edit Plugin"
+msgstr ""
+
+#: editor/editor_plugin_settings.cpp
+msgid "Installed Plugins:"
+msgstr ""
+
+#: editor/editor_plugin_settings.cpp editor/plugin_config_dialog.cpp
+msgid "Update"
+msgstr ""
+
+#: editor/editor_plugin_settings.cpp
+msgid "Version"
+msgstr ""
+
+#: editor/editor_plugin_settings.cpp
+msgid "Author"
+msgstr ""
+
+#: editor/editor_plugin_settings.cpp
+#: modules/gdnative/gdnative_library_singleton_editor.cpp
+msgid "Status"
+msgstr ""
+
+#: editor/editor_profiler.cpp
+msgid "Measure:"
+msgstr ""
+
+#: editor/editor_profiler.cpp
+msgid "Frame Time (ms)"
+msgstr ""
+
+#: editor/editor_profiler.cpp
+msgid "Average Time (ms)"
+msgstr ""
+
+#: editor/editor_profiler.cpp
+msgid "Frame %"
+msgstr ""
+
+#: editor/editor_profiler.cpp
+msgid "Physics Frame %"
+msgstr ""
+
+#: editor/editor_profiler.cpp
+msgid "Inclusive"
+msgstr ""
+
+#: editor/editor_profiler.cpp
+msgid "Self"
+msgstr ""
+
+#: editor/editor_profiler.cpp
+msgid ""
+"Inclusive: Includes time from other functions called by this function.\n"
+"Use this to spot bottlenecks.\n"
+"\n"
+"Self: Only count the time spent in the function itself, not in other "
+"functions called by that function.\n"
+"Use this to find individual functions to optimize."
+msgstr ""
+
+#: editor/editor_profiler.cpp
+msgid "Frame #:"
+msgstr ""
+
+#: editor/editor_profiler.cpp
+msgid "Time"
+msgstr ""
+
+#: editor/editor_profiler.cpp
+msgid "Calls"
+msgstr ""
+
+#: editor/editor_properties.cpp
+msgid "Edit Text:"
+msgstr ""
+
+#: editor/editor_properties.cpp editor/script_create_dialog.cpp
+msgid "On"
+msgstr ""
+
+#: editor/editor_properties.cpp
+msgid "Layer"
+msgstr ""
+
+#: editor/editor_properties.cpp
+msgid "Bit %d, value %d"
+msgstr ""
+
+#: editor/editor_properties.cpp
+msgid "[Empty]"
+msgstr ""
+
+#: editor/editor_properties.cpp editor/plugins/root_motion_editor_plugin.cpp
+msgid "Assign..."
+msgstr ""
+
+#: editor/editor_properties.cpp
+msgid "Invalid RID"
+msgstr ""
+
+#: editor/editor_properties.cpp
+msgid ""
+"Can't create a ViewportTexture on resources saved as a file.\n"
+"Resource needs to belong to a scene."
+msgstr ""
+
+#: editor/editor_properties.cpp
+msgid ""
+"Can't create a ViewportTexture on this resource because it's not set as "
+"local to scene.\n"
+"Please switch on the 'local to scene' property on it (and all resources "
+"containing it up to a node)."
+msgstr ""
+
+#: editor/editor_properties.cpp editor/property_editor.cpp
+msgid "Pick a Viewport"
+msgstr ""
+
+#: editor/editor_properties.cpp editor/property_editor.cpp
+msgid "Selected node is not a Viewport!"
+msgstr ""
+
+#: editor/editor_properties_array_dict.cpp
+msgid "Size: "
+msgstr ""
+
+#: editor/editor_properties_array_dict.cpp
+msgid "Page: "
+msgstr ""
+
+#: editor/editor_properties_array_dict.cpp
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Remove Item"
+msgstr ""
+
+#: editor/editor_properties_array_dict.cpp
+msgid "New Key:"
+msgstr ""
+
+#: editor/editor_properties_array_dict.cpp
+msgid "New Value:"
+msgstr ""
+
+#: editor/editor_properties_array_dict.cpp
+msgid "Add Key/Value Pair"
+msgstr ""
+
+#: editor/editor_resource_picker.cpp
+msgid ""
+"The selected resource (%s) does not match any type expected for this "
+"property (%s)."
+msgstr ""
+
+#: editor/editor_resource_picker.cpp
+msgid "Quick Load"
+msgstr ""
+
+#: editor/editor_resource_picker.cpp editor/property_editor.cpp
+msgid "Make Unique"
+msgstr ""
+
+#: editor/editor_resource_picker.cpp
+#: editor/plugins/animation_blend_space_1d_editor.cpp
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+#: editor/plugins/animation_player_editor_plugin.cpp
+#: editor/plugins/animation_state_machine_editor.cpp
+#: editor/plugins/resource_preloader_editor_plugin.cpp
+#: editor/plugins/script_text_editor.cpp
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+#: editor/plugins/tile_map_editor_plugin.cpp editor/property_editor.cpp
+#: editor/scene_tree_dock.cpp scene/gui/line_edit.cpp scene/gui/text_edit.cpp
+msgid "Paste"
+msgstr ""
+
+#: editor/editor_resource_picker.cpp editor/property_editor.cpp
+msgid "Convert to %s"
+msgstr ""
+
+#: editor/editor_resource_picker.cpp editor/property_editor.cpp
+msgid "New %s"
+msgstr ""
+
+#: editor/editor_resource_picker.cpp editor/property_editor.cpp
+msgid "New Script"
+msgstr ""
+
+#: editor/editor_resource_picker.cpp editor/scene_tree_dock.cpp
+msgid "Extend Script"
+msgstr ""
+
+#: editor/editor_run_native.cpp
+msgid ""
+"No runnable export preset found for this platform.\n"
+"Please add a runnable preset in the Export menu or define an existing preset "
+"as runnable."
+msgstr ""
+
+#: editor/editor_run_script.cpp
+msgid "Write your logic in the _run() method."
+msgstr ""
+
+#: editor/editor_run_script.cpp
+msgid "There is an edited scene already."
+msgstr ""
+
+#: editor/editor_run_script.cpp
+msgid "Couldn't instance script:"
+msgstr ""
+
+#: editor/editor_run_script.cpp
+msgid "Did you forget the 'tool' keyword?"
+msgstr ""
+
+#: editor/editor_run_script.cpp
+msgid "Couldn't run script:"
+msgstr ""
+
+#: editor/editor_run_script.cpp
+msgid "Did you forget the '_run' method?"
+msgstr ""
+
+#: editor/editor_spin_slider.cpp
+msgid "Hold %s to round to integers. Hold Shift for more precise changes."
+msgstr ""
+
+#: editor/editor_sub_scene.cpp
+msgid "Select Node(s) to Import"
+msgstr ""
+
+#: editor/editor_sub_scene.cpp editor/project_manager.cpp
+msgid "Browse"
+msgstr ""
+
+#: editor/editor_sub_scene.cpp
+msgid "Scene Path:"
+msgstr ""
+
+#: editor/editor_sub_scene.cpp
+msgid "Import From Node:"
+msgstr ""
+
+#. TRANSLATORS: %s refers to the name of a version control system (e.g. "Git").
+#: editor/editor_vcs_interface.cpp
+msgid "%s Error"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Open the folder containing these templates."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Uninstall these templates."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "There are no mirrors available."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Retrieving the mirror list..."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Starting the download..."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Error requesting URL:"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Connecting to the mirror..."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Can't resolve the requested address."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Can't connect to the mirror."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "No response from the mirror."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Request failed."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Request ended up in a redirect loop."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Request failed:"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Download complete; extracting templates..."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Cannot remove temporary file:"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid ""
+"Templates installation failed.\n"
+"The problematic templates archives can be found at '%s'."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Error getting the list of mirrors."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Error parsing JSON with the list of mirrors. Please report this issue!"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Best available mirror"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid ""
+"No download links found for this version. Direct download is only available "
+"for official releases."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Disconnected"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Resolving"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Can't Resolve"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Connecting..."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Can't Connect"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Connected"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Requesting..."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Downloading"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Connection Error"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "SSL Handshake Error"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Can't open the export templates file."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Invalid version.txt format inside the export templates file: %s."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "No version.txt found inside the export templates file."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Error creating path for extracting templates:"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Extracting Export Templates"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Importing:"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Remove templates for the version '%s'?"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Uncompressing Android Build Sources"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Export Template Manager"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Current Version:"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Export templates are missing. Download them or install from a file."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Export templates are installed and ready to be used."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Open Folder"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Open the folder containing installed templates for the current version."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Uninstall"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Uninstall templates for the current version."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Download from:"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Open in Web Browser"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Copy Mirror URL"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Download and Install"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid ""
+"Download and install templates for the current version from the best "
+"possible mirror."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Official export templates aren't available for development builds."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Install from File"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Install templates from a local file."
+msgstr ""
+
+#: editor/export_template_manager.cpp editor/find_in_files.cpp
+#: editor/progress_dialog.cpp scene/gui/dialogs.cpp
+msgid "Cancel"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Cancel the download of the templates."
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Other Installed Versions:"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Uninstall Template"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Select Template File"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid "Godot Export Templates"
+msgstr ""
+
+#: editor/export_template_manager.cpp
+msgid ""
+"The templates will continue to download.\n"
+"You may experience a short editor freeze when they finish."
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Favorites"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Status: Import of file failed. Please fix file and reimport manually."
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid ""
+"Importing has been disabled for this file, so it can't be opened for editing."
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Cannot move/rename resources root."
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Cannot move a folder into itself."
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Error moving:"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Error duplicating:"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Unable to update dependencies:"
+msgstr ""
+
+#: editor/filesystem_dock.cpp editor/scene_tree_editor.cpp
+msgid "No name provided."
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Provided name contains invalid characters."
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "A file or folder with this name already exists."
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Name contains invalid characters."
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid ""
+"This file extension is not recognized by the editor.\n"
+"If you want to rename it anyway, use your operating system's file manager.\n"
+"After renaming to an unknown extension, the file won't be shown in the "
+"editor anymore."
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid ""
+"The following files or folders conflict with items in the target location "
+"'%s':\n"
+"\n"
+"%s\n"
+"\n"
+"Do you wish to overwrite them?"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Renaming file:"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Renaming folder:"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Duplicating file:"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Duplicating folder:"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "New Inherited Scene"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Set As Main Scene"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Open Scenes"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Instance"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Add to Favorites"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Remove from Favorites"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Edit Dependencies..."
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "View Owners..."
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Move To..."
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "New Scene..."
+msgstr ""
+
+#: editor/filesystem_dock.cpp editor/plugins/script_editor_plugin.cpp
+msgid "New Script..."
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "New Resource..."
+msgstr ""
+
+#: editor/filesystem_dock.cpp editor/inspector_dock.cpp
+#: editor/plugins/visual_shader_editor_plugin.cpp
+#: editor/script_editor_debugger.cpp
+msgid "Expand All"
+msgstr ""
+
+#: editor/filesystem_dock.cpp editor/inspector_dock.cpp
+#: editor/plugins/visual_shader_editor_plugin.cpp
+#: editor/script_editor_debugger.cpp
+msgid "Collapse All"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Sort files"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Sort by Name (Ascending)"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Sort by Name (Descending)"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Sort by Type (Ascending)"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Sort by Type (Descending)"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Sort by Last Modified"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Sort by First Modified"
+msgstr ""
+
+#: editor/filesystem_dock.cpp editor/plugins/animation_player_editor_plugin.cpp
+msgid "Duplicate..."
+msgstr ""
+
+#: editor/filesystem_dock.cpp editor/plugins/animation_player_editor_plugin.cpp
+msgid "Rename..."
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Focus the search box"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Previous Folder/File"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Next Folder/File"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Re-Scan Filesystem"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Toggle Split Mode"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Search files"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid ""
+"Scanning Files,\n"
+"Please Wait..."
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Move"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+#: editor/project_manager.cpp editor/rename_dialog.cpp
+#: editor/scene_tree_dock.cpp
+msgid "Rename"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Overwrite"
+msgstr ""
+
+#: editor/filesystem_dock.cpp
+msgid "Create Scene"
+msgstr ""
+
+#: editor/filesystem_dock.cpp editor/plugins/script_editor_plugin.cpp
+msgid "Create Script"
+msgstr ""
+
+#: editor/find_in_files.cpp editor/plugins/script_editor_plugin.cpp
+msgid "Find in Files"
+msgstr ""
+
+#: editor/find_in_files.cpp
+msgid "Find:"
+msgstr ""
+
+#: editor/find_in_files.cpp editor/rename_dialog.cpp
+msgid "Replace:"
+msgstr ""
+
+#: editor/find_in_files.cpp
+msgid "Folder:"
+msgstr ""
+
+#: editor/find_in_files.cpp
+msgid "Filters:"
+msgstr ""
+
+#: editor/find_in_files.cpp
+msgid ""
+"Include the files with the following extensions. Add or remove them in "
+"ProjectSettings."
+msgstr ""
+
+#: editor/find_in_files.cpp editor/plugins/script_editor_plugin.cpp
+#: editor/plugins/script_text_editor.cpp
+msgid "Find..."
+msgstr ""
+
+#: editor/find_in_files.cpp editor/plugins/script_text_editor.cpp
+msgid "Replace..."
+msgstr ""
+
+#: editor/find_in_files.cpp editor/plugins/script_editor_plugin.cpp
+msgid "Replace in Files"
+msgstr ""
+
+#: editor/find_in_files.cpp
+msgid "Find: "
+msgstr ""
+
+#: editor/find_in_files.cpp
+msgid "Replace: "
+msgstr ""
+
+#: editor/find_in_files.cpp
+msgid "Replace All (NO UNDO)"
+msgstr ""
+
+#: editor/find_in_files.cpp
+msgid "Searching..."
+msgstr ""
+
+#: editor/find_in_files.cpp
+msgid "%d match in %d file."
+msgstr ""
+
+#: editor/find_in_files.cpp
+msgid "%d matches in %d file."
+msgstr ""
+
+#: editor/find_in_files.cpp
+msgid "%d matches in %d files."
+msgstr ""
+
+#: editor/groups_editor.cpp
+msgid "Add to Group"
+msgstr ""
+
+#: editor/groups_editor.cpp
+msgid "Remove from Group"
+msgstr ""
+
+#: editor/groups_editor.cpp
+msgid "Group name already exists."
+msgstr ""
+
+#: editor/groups_editor.cpp
+msgid "Invalid group name."
+msgstr ""
+
+#: editor/groups_editor.cpp
+msgid "Rename Group"
+msgstr ""
+
+#: editor/groups_editor.cpp
+msgid "Delete Group"
+msgstr ""
+
+#: editor/groups_editor.cpp editor/node_dock.cpp
+msgid "Groups"
+msgstr ""
+
+#: editor/groups_editor.cpp
+msgid "Nodes Not in Group"
+msgstr ""
+
+#: editor/groups_editor.cpp editor/scene_tree_dock.cpp
+#: editor/scene_tree_editor.cpp
+msgid "Filter nodes"
+msgstr ""
+
+#: editor/groups_editor.cpp
+msgid "Nodes in Group"
+msgstr ""
+
+#: editor/groups_editor.cpp
+msgid "Empty groups will be automatically removed."
+msgstr ""
+
+#: editor/groups_editor.cpp
+msgid "Group Editor"
+msgstr ""
+
+#: editor/groups_editor.cpp
+msgid "Manage Groups"
+msgstr ""
+
+#: editor/import/resource_importer_scene.cpp
+msgid "Import as Single Scene"
+msgstr ""
+
+#: editor/import/resource_importer_scene.cpp
+msgid "Import with Separate Animations"
+msgstr ""
+
+#: editor/import/resource_importer_scene.cpp
+msgid "Import with Separate Materials"
+msgstr ""
+
+#: editor/import/resource_importer_scene.cpp
+msgid "Import with Separate Objects"
+msgstr ""
+
+#: editor/import/resource_importer_scene.cpp
+msgid "Import with Separate Objects+Materials"
+msgstr ""
+
+#: editor/import/resource_importer_scene.cpp
+msgid "Import with Separate Objects+Animations"
+msgstr ""
+
+#: editor/import/resource_importer_scene.cpp
+msgid "Import with Separate Materials+Animations"
+msgstr ""
+
+#: editor/import/resource_importer_scene.cpp
+msgid "Import with Separate Objects+Materials+Animations"
+msgstr ""
+
+#: editor/import/resource_importer_scene.cpp
+msgid "Import as Multiple Scenes"
+msgstr ""
+
+#: editor/import/resource_importer_scene.cpp
+msgid "Import as Multiple Scenes+Materials"
+msgstr ""
+
+#: editor/import/resource_importer_scene.cpp
+#: editor/plugins/mesh_library_editor_plugin.cpp
+msgid "Import Scene"
+msgstr ""
+
+#: editor/import/resource_importer_scene.cpp
+msgid "Importing Scene..."
+msgstr ""
+
+#: editor/import/resource_importer_scene.cpp
+msgid "Generating Lightmaps"
+msgstr ""
+
+#: editor/import/resource_importer_scene.cpp
+msgid "Generating for Mesh: "
+msgstr ""
+
+#: editor/import/resource_importer_scene.cpp
+msgid "Running Custom Script..."
+msgstr ""
+
+#: editor/import/resource_importer_scene.cpp
+msgid "Couldn't load post-import script:"
+msgstr ""
+
+#: editor/import/resource_importer_scene.cpp
+msgid "Invalid/broken script for post-import (check console):"
+msgstr ""
+
+#: editor/import/resource_importer_scene.cpp
+msgid "Error running post-import script:"
+msgstr ""
+
+#: editor/import/resource_importer_scene.cpp
+msgid "Did you return a Node-derived object in the `post_import()` method?"
+msgstr ""
+
+#: editor/import/resource_importer_scene.cpp
+msgid "Saving..."
+msgstr ""
+
+#: editor/import_defaults_editor.cpp
+msgid "Select Importer"
+msgstr ""
+
+#: editor/import_defaults_editor.cpp
+msgid "Importer:"
+msgstr ""
+
+#: editor/import_defaults_editor.cpp
+msgid "Reset to Defaults"
+msgstr ""
+
+#: editor/import_dock.cpp
+msgid "Keep File (No Import)"
+msgstr ""
+
+#: editor/import_dock.cpp
+msgid "%d Files"
+msgstr ""
+
+#: editor/import_dock.cpp
+msgid "Set as Default for '%s'"
+msgstr ""
+
+#: editor/import_dock.cpp
+msgid "Clear Default for '%s'"
+msgstr ""
+
+#: editor/import_dock.cpp
+msgid "Reimport"
+msgstr ""
+
+#: editor/import_dock.cpp
+msgid ""
+"You have pending changes that haven't been applied yet. Click Reimport to "
+"apply changes made to the import options.\n"
+"Selecting another resource in the FileSystem dock without clicking Reimport "
+"first will discard changes made in the Import dock."
+msgstr ""
+
+#: editor/import_dock.cpp
+msgid "Import As:"
+msgstr ""
+
+#: editor/import_dock.cpp
+msgid "Preset"
+msgstr ""
+
+#: editor/import_dock.cpp
+msgid "Save Scenes, Re-Import, and Restart"
+msgstr ""
+
+#: editor/import_dock.cpp
+msgid "Changing the type of an imported file requires editor restart."
+msgstr ""
+
+#: editor/import_dock.cpp
+msgid ""
+"WARNING: Assets exist that use this resource, they may stop loading properly."
+msgstr ""
+
+#: editor/import_dock.cpp
+msgid ""
+"Select a resource file in the filesystem or in the inspector to adjust "
+"import settings."
+msgstr ""
+
+#: editor/inspector_dock.cpp
+msgid "Failed to load resource."
+msgstr ""
+
+#: editor/inspector_dock.cpp
+msgid "Copy Properties"
+msgstr ""
+
+#: editor/inspector_dock.cpp
+msgid "Paste Properties"
+msgstr ""
+
+#: editor/inspector_dock.cpp
+msgid "Make Sub-Resources Unique"
+msgstr ""
+
+#: editor/inspector_dock.cpp
+msgid "Create a new resource in memory and edit it."
+msgstr ""
+
+#: editor/inspector_dock.cpp
+msgid "Load an existing resource from disk and edit it."
+msgstr ""
+
+#: editor/inspector_dock.cpp
+msgid "Save the currently edited resource."
+msgstr ""
+
+#: editor/inspector_dock.cpp editor/plugins/animation_player_editor_plugin.cpp
+#: editor/plugins/script_editor_plugin.cpp
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Save As..."
+msgstr ""
+
+#: editor/inspector_dock.cpp
+msgid "Extra resource options."
+msgstr ""
+
+#: editor/inspector_dock.cpp
+msgid "Edit Resource from Clipboard"
+msgstr ""
+
+#: editor/inspector_dock.cpp
+msgid "Copy Resource"
+msgstr ""
+
+#: editor/inspector_dock.cpp
+msgid "Make Resource Built-In"
+msgstr ""
+
+#: editor/inspector_dock.cpp
+msgid "Go to the previous edited object in history."
+msgstr ""
+
+#: editor/inspector_dock.cpp
+msgid "Go to the next edited object in history."
+msgstr ""
+
+#: editor/inspector_dock.cpp
+msgid "History of recently edited objects."
+msgstr ""
+
+#: editor/inspector_dock.cpp
+msgid "Open documentation for this object."
+msgstr ""
+
+#: editor/inspector_dock.cpp editor/scene_tree_dock.cpp
+msgid "Open Documentation"
+msgstr ""
+
+#: editor/inspector_dock.cpp
+msgid "Filter properties"
+msgstr ""
+
+#: editor/inspector_dock.cpp
+msgid "Manage object properties."
+msgstr ""
+
+#: editor/inspector_dock.cpp
+msgid "Changes may be lost!"
+msgstr ""
+
+#: editor/multi_node_edit.cpp
+msgid "MultiNode Set"
+msgstr ""
+
+#: editor/node_dock.cpp
+msgid "Select a single node to edit its signals and groups."
+msgstr ""
+
+#: editor/plugin_config_dialog.cpp
+msgid "Edit a Plugin"
+msgstr ""
+
+#: editor/plugin_config_dialog.cpp
+msgid "Create a Plugin"
+msgstr ""
+
+#: editor/plugin_config_dialog.cpp
+msgid "Plugin Name:"
+msgstr ""
+
+#: editor/plugin_config_dialog.cpp
+msgid "Subfolder:"
+msgstr ""
+
+#: editor/plugin_config_dialog.cpp
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Author:"
+msgstr ""
+
+#: editor/plugin_config_dialog.cpp
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Version:"
+msgstr ""
+
+#: editor/plugin_config_dialog.cpp editor/script_create_dialog.cpp
+msgid "Language:"
+msgstr ""
+
+#: editor/plugin_config_dialog.cpp
+msgid "Script Name:"
+msgstr ""
+
+#: editor/plugin_config_dialog.cpp
+msgid "Activate now?"
+msgstr ""
+
+#: editor/plugins/abstract_polygon_2d_editor.cpp
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Create Polygon"
+msgstr ""
+
+#: editor/plugins/abstract_polygon_2d_editor.cpp
+#: editor/plugins/animation_blend_space_1d_editor.cpp
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+msgid "Create points."
+msgstr ""
+
+#: editor/plugins/abstract_polygon_2d_editor.cpp
+msgid ""
+"Edit points.\n"
+"LMB: Move Point\n"
+"RMB: Erase Point"
+msgstr ""
+
+#: editor/plugins/abstract_polygon_2d_editor.cpp
+#: editor/plugins/animation_blend_space_1d_editor.cpp
+msgid "Erase points."
+msgstr ""
+
+#: editor/plugins/abstract_polygon_2d_editor.cpp
+msgid "Edit Polygon"
+msgstr ""
+
+#: editor/plugins/abstract_polygon_2d_editor.cpp
+msgid "Insert Point"
+msgstr ""
+
+#: editor/plugins/abstract_polygon_2d_editor.cpp
+msgid "Edit Polygon (Remove Point)"
+msgstr ""
+
+#: editor/plugins/abstract_polygon_2d_editor.cpp
+msgid "Remove Polygon And Point"
+msgstr ""
+
+#: editor/plugins/animation_blend_space_1d_editor.cpp
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+#: editor/plugins/animation_player_editor_plugin.cpp
+#: editor/plugins/animation_state_machine_editor.cpp
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Add Animation"
+msgstr ""
+
+#: editor/plugins/animation_blend_space_1d_editor.cpp
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "Load..."
+msgstr ""
+
+#: editor/plugins/animation_blend_space_1d_editor.cpp
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+msgid "Move Node Point"
+msgstr ""
+
+#: editor/plugins/animation_blend_space_1d_editor.cpp
+msgid "Change BlendSpace1D Limits"
+msgstr ""
+
+#: editor/plugins/animation_blend_space_1d_editor.cpp
+msgid "Change BlendSpace1D Labels"
+msgstr ""
+
+#: editor/plugins/animation_blend_space_1d_editor.cpp
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "This type of node can't be used. Only root nodes are allowed."
+msgstr ""
+
+#: editor/plugins/animation_blend_space_1d_editor.cpp
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+msgid "Add Node Point"
+msgstr ""
+
+#: editor/plugins/animation_blend_space_1d_editor.cpp
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+msgid "Add Animation Point"
+msgstr ""
+
+#: editor/plugins/animation_blend_space_1d_editor.cpp
+msgid "Remove BlendSpace1D Point"
+msgstr ""
+
+#: editor/plugins/animation_blend_space_1d_editor.cpp
+msgid "Move BlendSpace1D Node Point"
+msgstr ""
+
+#: editor/plugins/animation_blend_space_1d_editor.cpp
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid ""
+"AnimationTree is inactive.\n"
+"Activate to enable playback, check node warnings if activation fails."
+msgstr ""
+
+#: editor/plugins/animation_blend_space_1d_editor.cpp
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+msgid "Set the blending position within the space"
+msgstr ""
+
+#: editor/plugins/animation_blend_space_1d_editor.cpp
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+msgid "Select and move points, create points with RMB."
+msgstr ""
+
+#: editor/plugins/animation_blend_space_1d_editor.cpp
+#: editor/plugins/animation_blend_space_2d_editor.cpp scene/gui/graph_edit.cpp
+msgid "Enable snap and show grid."
+msgstr ""
+
+#: editor/plugins/animation_blend_space_1d_editor.cpp
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+msgid "Point"
+msgstr ""
+
+#: editor/plugins/animation_blend_space_1d_editor.cpp
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+msgid "Open Editor"
+msgstr ""
+
+#: editor/plugins/animation_blend_space_1d_editor.cpp
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "Open Animation Node"
+msgstr ""
+
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+msgid "Triangle already exists."
+msgstr ""
+
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+msgid "Add Triangle"
+msgstr ""
+
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+msgid "Change BlendSpace2D Limits"
+msgstr ""
+
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+msgid "Change BlendSpace2D Labels"
+msgstr ""
+
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+msgid "Remove BlendSpace2D Point"
+msgstr ""
+
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+msgid "Remove BlendSpace2D Triangle"
+msgstr ""
+
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+msgid "BlendSpace2D does not belong to an AnimationTree node."
+msgstr ""
+
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+msgid "No triangles exist, so no blending can take place."
+msgstr ""
+
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+msgid "Toggle Auto Triangles"
+msgstr ""
+
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+msgid "Create triangles by connecting points."
+msgstr ""
+
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+msgid "Erase points and triangles."
+msgstr ""
+
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+msgid "Generate blend triangles automatically (instead of manually)"
+msgstr ""
+
+#: editor/plugins/animation_blend_space_2d_editor.cpp
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Blend:"
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+msgid "Parameter Changed:"
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Edit Filters"
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+msgid "Output node can't be added to the blend tree."
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+msgid "Add Node to BlendTree"
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+msgid "Node Moved"
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+msgid "Unable to connect, port may be in use or connection may be invalid."
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Nodes Connected"
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Nodes Disconnected"
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+msgid "Set Animation"
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Delete Node"
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+#: editor/scene_tree_dock.cpp
+msgid "Delete Node(s)"
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+msgid "Toggle Filter On/Off"
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+msgid "Change Filter"
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+msgid "No animation player set, so unable to retrieve track names."
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+msgid "Player path set is invalid, so unable to retrieve track names."
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+#: editor/plugins/root_motion_editor_plugin.cpp
+msgid ""
+"Animation player has no valid root node path, so unable to retrieve track "
+"names."
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+msgid "Anim Clips"
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+msgid "Audio Clips"
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+msgid "Functions"
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "Node Renamed"
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Add Node..."
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+#: editor/plugins/root_motion_editor_plugin.cpp
+msgid "Edit Filtered Tracks:"
+msgstr ""
+
+#: editor/plugins/animation_blend_tree_editor_plugin.cpp
+msgid "Enable Filtering"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Toggle Autoplay"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "New Animation Name:"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "New Anim"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Change Animation Name:"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Delete Animation?"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Remove Animation"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Invalid animation name!"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Animation name already exists!"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Rename Animation"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Duplicate Animation"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Blend Next Changed"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Change Blend Time"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Load Animation"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "No animation to copy!"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "No animation resource on clipboard!"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Pasted Animation"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Paste Animation"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "No animation to edit!"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Play selected animation backwards from current pos. (A)"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Play selected animation backwards from end. (Shift+A)"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Stop animation playback. (S)"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Play selected animation from start. (Shift+D)"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Play selected animation from current pos. (D)"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Animation position (in seconds)."
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Scale animation playback globally for the node."
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Animation Tools"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Animation"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "New"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Edit Transitions..."
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Open in Inspector"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Display list of animations in player."
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Autoplay on Load"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Enable Onion Skinning"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Onion Skinning Options"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Directions"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Past"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Future"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Depth"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "1 step"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "2 steps"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "3 steps"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Differences Only"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Force White Modulate"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Include Gizmos (3D)"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Pin AnimationPlayer"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Create New Animation"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Animation Name:"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+#: editor/plugins/resource_preloader_editor_plugin.cpp
+#: editor/plugins/script_editor_plugin.cpp
+#: editor/plugins/sprite_frames_editor_plugin.cpp editor/property_editor.cpp
+msgid "Error!"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Blend Times:"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Next (Auto Queue):"
+msgstr ""
+
+#: editor/plugins/animation_player_editor_plugin.cpp
+msgid "Cross-Animation Blend Times"
+msgstr ""
+
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "Move Node"
+msgstr ""
+
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "Transition exists!"
+msgstr ""
+
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "Add Transition"
+msgstr ""
+
+#: editor/plugins/animation_state_machine_editor.cpp
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Add Node"
+msgstr ""
+
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "End"
+msgstr ""
+
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "Immediate"
+msgstr ""
+
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "Sync"
+msgstr ""
+
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "At End"
+msgstr ""
+
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "Travel"
+msgstr ""
+
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "Start and end nodes are needed for a sub-transition."
+msgstr ""
+
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "No playback resource set at path: %s."
+msgstr ""
+
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "Node Removed"
+msgstr ""
+
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "Transition Removed"
+msgstr ""
+
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "Set Start Node (Autoplay)"
+msgstr ""
+
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid ""
+"Select and move nodes.\n"
+"RMB to add new nodes.\n"
+"Shift+LMB to create connections."
+msgstr ""
+
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "Create new nodes."
+msgstr ""
+
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "Connect nodes."
+msgstr ""
+
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "Remove selected node or transition."
+msgstr ""
+
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "Toggle autoplay this animation on start, restart or seek to zero."
+msgstr ""
+
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "Set the end animation. This is useful for sub-transitions."
+msgstr ""
+
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "Transition: "
+msgstr ""
+
+#: editor/plugins/animation_state_machine_editor.cpp
+msgid "Play Mode:"
+msgstr ""
+
+#: editor/plugins/animation_tree_editor_plugin.cpp
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "AnimationTree"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "New name:"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "Scale:"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Fade In (s):"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Fade Out (s):"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Blend"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Mix"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Auto Restart:"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Restart (s):"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Random Restart (s):"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Start!"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "Amount:"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Blend 0:"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Blend 1:"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "X-Fade Time (s):"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Current:"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+#: editor/plugins/visual_shader_editor_plugin.cpp
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Add Input"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Clear Auto-Advance"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Set Auto-Advance"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Delete Input"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Animation tree is valid."
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Animation tree is invalid."
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Animation Node"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "OneShot Node"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Mix Node"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Blend2 Node"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Blend3 Node"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Blend4 Node"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "TimeScale Node"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "TimeSeek Node"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Transition Node"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Import Animations..."
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Edit Node Filters"
+msgstr ""
+
+#: editor/plugins/animation_tree_player_editor_plugin.cpp
+msgid "Filters..."
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Contents:"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "View Files"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Download"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Connection error, please try again."
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Can't connect."
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Can't connect to host:"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "No response from host:"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "No response."
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Can't resolve hostname:"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Can't resolve."
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Request failed, return code:"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Cannot save response to:"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Write error."
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Request failed, too many redirects"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Redirect loop."
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Request failed, timeout"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Timeout."
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Failed:"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Bad download hash, assuming file has been tampered with."
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Expected:"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Got:"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Failed SHA-256 hash check"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Asset Download Error:"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Downloading (%s / %s)..."
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Downloading..."
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Resolving..."
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Error making request"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Idle"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Install..."
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Retry"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Download Error"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Download for this asset is already in progress!"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Recently Updated"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Least Recently Updated"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Name (A-Z)"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Name (Z-A)"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "License (A-Z)"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "License (Z-A)"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "First"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Previous"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Next"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Last"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "All"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Search templates, projects, and demos"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Search assets (excluding templates, projects, and demos)"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Import..."
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Plugins..."
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp editor/project_manager.cpp
+msgid "Sort:"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Category:"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Site:"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Support"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Official"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Testing"
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Loading..."
+msgstr ""
+
+#: editor/plugins/asset_library_editor_plugin.cpp
+msgid "Assets ZIP File"
+msgstr ""
+
+#: editor/plugins/audio_stream_editor_plugin.cpp
+msgid "Audio Preview Play/Pause"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid ""
+"Can't determine a save path for lightmap images.\n"
+"Save your scene and try again."
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid ""
+"No meshes to bake. Make sure they contain an UV2 channel and that the 'Use "
+"In Baked Light' and 'Generate Lightmap' flags are on."
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "Failed creating lightmap images, make sure path is writable."
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "Failed determining lightmap size. Maximum lightmap size too small?"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid ""
+"Some mesh is invalid. Make sure the UV2 channel values are contained within "
+"the [0.0,1.0] square region."
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid ""
+"Godot editor was built without ray tracing support, lightmaps can't be baked."
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "Bake Lightmaps"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "Select lightmap bake file:"
+msgstr ""
+
+#: editor/plugins/camera_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Preview"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Configure Snap"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Grid Offset:"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Grid Step:"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Primary Line Every:"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "steps"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Rotation Offset:"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Rotation Step:"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Scale Step:"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Move Vertical Guide"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Create Vertical Guide"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Remove Vertical Guide"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Move Horizontal Guide"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Create Horizontal Guide"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Remove Horizontal Guide"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Create Horizontal and Vertical Guides"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Set CanvasItem \"%s\" Pivot Offset to (%d, %d)"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Rotate %d CanvasItems"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Rotate CanvasItem \"%s\" to %d degrees"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Move CanvasItem \"%s\" Anchor"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Scale Node2D \"%s\" to (%s, %s)"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Resize Control \"%s\" to (%d, %d)"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Scale %d CanvasItems"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Scale CanvasItem \"%s\" to (%s, %s)"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Move %d CanvasItems"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Move CanvasItem \"%s\" to (%d, %d)"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Locked"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Grouped"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid ""
+"Children of containers have their anchors and margins values overridden by "
+"their parent."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Presets for the anchors and margins values of a Control node."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid ""
+"When active, moving Control nodes changes their anchors instead of their "
+"margins."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Top Left"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Top Right"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Bottom Right"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Bottom Left"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Center Left"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Center Top"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Center Right"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Center Bottom"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Center"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Left Wide"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Top Wide"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Right Wide"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Bottom Wide"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "VCenter Wide"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "HCenter Wide"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Full Rect"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Keep Ratio"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Anchors only"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Change Anchors and Margins"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Change Anchors"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Project Camera Override\n"
+"Overrides the running project's camera with the editor viewport camera."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Project Camera Override\n"
+"No project instance running. Run the project from the editor to use this "
+"feature."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Lock Selected"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Unlock Selected"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Group Selected"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Ungroup Selected"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Paste Pose"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Clear Guides"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Create Custom Bone(s) from Node(s)"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Clear Bones"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Make IK Chain"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Clear IK Chain"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid ""
+"Warning: Children of a container get their position and size determined only "
+"by their parent."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+#: editor/plugins/texture_region_editor_plugin.cpp
+#: editor/plugins/tile_set_editor_plugin.cpp scene/gui/graph_edit.cpp
+msgid "Zoom Reset"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Select Mode"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Drag: Rotate selected node around pivot."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Alt+Drag: Move selected node."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Alt+Drag: Scale selected node."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "V: Set selected node's pivot position."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Alt+RMB: Show list of all nodes at position clicked, including locked."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "RMB: Add node at position clicked."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Move Mode"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Rotate Mode"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Scale Mode"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Shift: Scale proportionally."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Show a list of all objects at the position clicked\n"
+"(same as Alt+RMB in select mode)."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Click to change object's rotation pivot."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Pan Mode"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Ruler Mode"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Toggle smart snapping."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Use Smart Snap"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Toggle grid snapping."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Use Grid Snap"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Snapping Options"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Use Rotation Snap"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Use Scale Snap"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Snap Relative"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Use Pixel Snap"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Smart Snapping"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Configure Snap..."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Snap to Parent"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Snap to Node Anchor"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Snap to Node Sides"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Snap to Node Center"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Snap to Other Nodes"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Snap to Guides"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Lock the selected object in place (can't be moved)."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Lock Selected Node(s)"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Unlock the selected object (can be moved)."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Unlock Selected Node(s)"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Makes sure the object's children are not selectable."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Group Selected Node(s)"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Restores the object's children's ability to be selected."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Ungroup Selected Node(s)"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Skeleton Options"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Show Bones"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Make Custom Bone(s) from Node(s)"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Clear Custom Bones"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "View"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Always Show Grid"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Show Helpers"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Show Rulers"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Show Guides"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Show Origin"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Show Viewport"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Show Group And Lock Icons"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Center Selection"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Frame Selection"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Preview Canvas Scale"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Translation mask for inserting keys."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Rotation mask for inserting keys."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Scale mask for inserting keys."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Insert keys (based on mask)."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid ""
+"Auto insert keys when objects are translated, rotated or scaled (based on "
+"mask).\n"
+"Keys are only added to existing tracks, no new tracks will be created.\n"
+"Keys must be inserted manually for the first time."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Auto Insert Key"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Animation Key and Pose Options"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Insert Key (Existing Tracks)"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Copy Pose"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Clear Pose"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Add Node Here"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Instance Scene Here"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Multiply grid step by 2"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Divide grid step by 2"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Pan View"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Zoom to 3.125%"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Zoom to 6.25%"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Zoom to 12.5%"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Zoom to 25%"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Zoom to 50%"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Zoom to 100%"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Zoom to 200%"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Zoom to 400%"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Zoom to 800%"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Zoom to 1600%"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: modules/visual_script/visual_script_func_nodes.cpp
+msgid "Add %s"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Adding %s..."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Cannot instantiate multiple nodes without root."
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp editor/scene_tree_dock.cpp
+msgid "Create Node"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+#: editor/plugins/spatial_editor_plugin.cpp editor/scene_tree_dock.cpp
+msgid "Error instancing scene from %s"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid "Change Default Type"
+msgstr ""
+
+#: editor/plugins/canvas_item_editor_plugin.cpp
+msgid ""
+"Drag & drop + Shift : Add node as sibling\n"
+"Drag & drop + Alt : Change node type"
+msgstr ""
+
+#: editor/plugins/collision_polygon_editor_plugin.cpp
+msgid "Create Polygon3D"
+msgstr ""
+
+#: editor/plugins/collision_polygon_editor_plugin.cpp
+msgid "Edit Poly"
+msgstr ""
+
+#: editor/plugins/collision_polygon_editor_plugin.cpp
+msgid "Edit Poly (Remove Point)"
+msgstr ""
+
+#: editor/plugins/collision_shape_2d_editor_plugin.cpp
+msgid "Set Handle"
+msgstr ""
+
+#: editor/plugins/cpu_particles_2d_editor_plugin.cpp
+#: editor/plugins/particles_2d_editor_plugin.cpp
+msgid "Load Emission Mask"
+msgstr ""
+
+#: editor/plugins/cpu_particles_2d_editor_plugin.cpp
+#: editor/plugins/cpu_particles_editor_plugin.cpp
+#: editor/plugins/particles_2d_editor_plugin.cpp
+#: editor/plugins/particles_editor_plugin.cpp
+msgid "Restart"
+msgstr ""
+
+#: editor/plugins/cpu_particles_2d_editor_plugin.cpp
+#: editor/plugins/particles_2d_editor_plugin.cpp
+msgid "Clear Emission Mask"
+msgstr ""
+
+#: editor/plugins/cpu_particles_2d_editor_plugin.cpp
+#: editor/plugins/particles_2d_editor_plugin.cpp
+#: editor/plugins/particles_editor_plugin.cpp
+msgid "Particles"
+msgstr ""
+
+#: editor/plugins/cpu_particles_2d_editor_plugin.cpp
+#: editor/plugins/particles_2d_editor_plugin.cpp
+msgid "Generated Point Count:"
+msgstr ""
+
+#: editor/plugins/cpu_particles_2d_editor_plugin.cpp
+#: editor/plugins/particles_2d_editor_plugin.cpp
+msgid "Emission Mask"
+msgstr ""
+
+#: editor/plugins/cpu_particles_2d_editor_plugin.cpp
+#: editor/plugins/particles_2d_editor_plugin.cpp
+msgid "Solid Pixels"
+msgstr ""
+
+#: editor/plugins/cpu_particles_2d_editor_plugin.cpp
+#: editor/plugins/particles_2d_editor_plugin.cpp
+msgid "Border Pixels"
+msgstr ""
+
+#: editor/plugins/cpu_particles_2d_editor_plugin.cpp
+#: editor/plugins/particles_2d_editor_plugin.cpp
+msgid "Directed Border Pixels"
+msgstr ""
+
+#: editor/plugins/cpu_particles_2d_editor_plugin.cpp
+#: editor/plugins/particles_2d_editor_plugin.cpp
+msgid "Capture from Pixel"
+msgstr ""
+
+#: editor/plugins/cpu_particles_2d_editor_plugin.cpp
+#: editor/plugins/particles_2d_editor_plugin.cpp
+msgid "Emission Colors"
+msgstr ""
+
+#: editor/plugins/cpu_particles_editor_plugin.cpp
+msgid "CPUParticles"
+msgstr ""
+
+#: editor/plugins/cpu_particles_editor_plugin.cpp
+#: editor/plugins/particles_editor_plugin.cpp
+msgid "Create Emission Points From Mesh"
+msgstr ""
+
+#: editor/plugins/cpu_particles_editor_plugin.cpp
+#: editor/plugins/particles_editor_plugin.cpp
+msgid "Create Emission Points From Node"
+msgstr ""
+
+#: editor/plugins/curve_editor_plugin.cpp
+msgid "Flat 0"
+msgstr ""
+
+#: editor/plugins/curve_editor_plugin.cpp
+msgid "Flat 1"
+msgstr ""
+
+#: editor/plugins/curve_editor_plugin.cpp editor/property_editor.cpp
+msgid "Ease In"
+msgstr ""
+
+#: editor/plugins/curve_editor_plugin.cpp editor/property_editor.cpp
+msgid "Ease Out"
+msgstr ""
+
+#: editor/plugins/curve_editor_plugin.cpp
+msgid "Smoothstep"
+msgstr ""
+
+#: editor/plugins/curve_editor_plugin.cpp
+msgid "Modify Curve Point"
+msgstr ""
+
+#: editor/plugins/curve_editor_plugin.cpp
+msgid "Modify Curve Tangent"
+msgstr ""
+
+#: editor/plugins/curve_editor_plugin.cpp
+msgid "Load Curve Preset"
+msgstr ""
+
+#: editor/plugins/curve_editor_plugin.cpp
+msgid "Add Point"
+msgstr ""
+
+#: editor/plugins/curve_editor_plugin.cpp
+msgid "Remove Point"
+msgstr ""
+
+#: editor/plugins/curve_editor_plugin.cpp
+msgid "Left Linear"
+msgstr ""
+
+#: editor/plugins/curve_editor_plugin.cpp
+msgid "Right Linear"
+msgstr ""
+
+#: editor/plugins/curve_editor_plugin.cpp
+msgid "Load Preset"
+msgstr ""
+
+#: editor/plugins/curve_editor_plugin.cpp
+msgid "Remove Curve Point"
+msgstr ""
+
+#: editor/plugins/curve_editor_plugin.cpp
+msgid "Toggle Curve Linear Tangent"
+msgstr ""
+
+#: editor/plugins/curve_editor_plugin.cpp
+msgid "Hold Shift to edit tangents individually"
+msgstr ""
+
+#: editor/plugins/curve_editor_plugin.cpp
+msgid "Right click to add point"
+msgstr ""
+
+#: editor/plugins/gi_probe_editor_plugin.cpp
+msgid "Bake GI Probe"
+msgstr ""
+
+#: editor/plugins/gradient_editor_plugin.cpp
+msgid "Gradient Edited"
+msgstr ""
+
+#: editor/plugins/item_list_editor_plugin.cpp
+msgid "Item %d"
+msgstr ""
+
+#: editor/plugins/item_list_editor_plugin.cpp
+msgid "Items"
+msgstr ""
+
+#: editor/plugins/item_list_editor_plugin.cpp
+msgid "Item List Editor"
+msgstr ""
+
+#: editor/plugins/light_occluder_2d_editor_plugin.cpp
+msgid "Create Occluder Polygon"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Mesh is empty!"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Couldn't create a Trimesh collision shape."
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Create Static Trimesh Body"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "This doesn't work on scene root!"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Create Trimesh Static Shape"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Can't create a single convex collision shape for the scene root."
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Couldn't create a single convex collision shape."
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Create Simplified Convex Shape"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Create Single Convex Shape"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Can't create multiple convex collision shapes for the scene root."
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Couldn't create any collision shapes."
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Create Multiple Convex Shapes"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Create Navigation Mesh"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Contained Mesh is not of type ArrayMesh."
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "UV Unwrap failed, mesh may not be manifold?"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "No mesh to debug."
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Mesh has no UV in layer %d."
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "MeshInstance lacks a Mesh!"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Mesh has not surface to create outlines from!"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Mesh primitive type is not PRIMITIVE_TRIANGLES!"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Could not create outline!"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Create Outline"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Mesh"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Create Trimesh Static Body"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid ""
+"Creates a StaticBody and assigns a polygon-based collision shape to it "
+"automatically.\n"
+"This is the most accurate (but slowest) option for collision detection."
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Create Trimesh Collision Sibling"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid ""
+"Creates a polygon-based collision shape.\n"
+"This is the most accurate (but slowest) option for collision detection."
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Create Single Convex Collision Sibling"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid ""
+"Creates a single convex collision shape.\n"
+"This is the fastest (but least accurate) option for collision detection."
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Create Simplified Convex Collision Sibling"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid ""
+"Creates a simplified convex collision shape.\n"
+"This is similar to single collision shape, but can result in a simpler "
+"geometry in some cases, at the cost of accuracy."
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Create Multiple Convex Collision Siblings"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid ""
+"Creates a polygon-based collision shape.\n"
+"This is a performance middle-ground between a single convex collision and a "
+"polygon-based collision."
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Create Outline Mesh..."
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid ""
+"Creates a static outline mesh. The outline mesh will have its normals "
+"flipped automatically.\n"
+"This can be used instead of the SpatialMaterial Grow property when using "
+"that property isn't possible."
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "View UV1"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "View UV2"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Unwrap UV2 for Lightmap/AO"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Create Outline Mesh"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "Outline Size:"
+msgstr ""
+
+#: editor/plugins/mesh_instance_editor_plugin.cpp
+msgid "UV Channel Debug"
+msgstr ""
+
+#: editor/plugins/mesh_library_editor_plugin.cpp
+msgid "Remove item %d?"
+msgstr ""
+
+#: editor/plugins/mesh_library_editor_plugin.cpp
+msgid ""
+"Update from existing scene?:\n"
+"%s"
+msgstr ""
+
+#: editor/plugins/mesh_library_editor_plugin.cpp
+msgid "Mesh Library"
+msgstr ""
+
+#: editor/plugins/mesh_library_editor_plugin.cpp
+msgid "Add Item"
+msgstr ""
+
+#: editor/plugins/mesh_library_editor_plugin.cpp
+msgid "Remove Selected Item"
+msgstr ""
+
+#: editor/plugins/mesh_library_editor_plugin.cpp
+msgid "Import from Scene (Ignore Transforms)"
+msgstr ""
+
+#: editor/plugins/mesh_library_editor_plugin.cpp
+msgid "Import from Scene (Apply Transforms)"
+msgstr ""
+
+#: editor/plugins/mesh_library_editor_plugin.cpp
+msgid "Update from Scene"
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "No mesh source specified (and no MultiMesh set in node)."
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "No mesh source specified (and MultiMesh contains no Mesh)."
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "Mesh source is invalid (invalid path)."
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "Mesh source is invalid (not a MeshInstance)."
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "Mesh source is invalid (contains no Mesh resource)."
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "No surface source specified."
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "Surface source is invalid (invalid path)."
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "Surface source is invalid (no geometry)."
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "Surface source is invalid (no faces)."
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "Select a Source Mesh:"
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "Select a Target Surface:"
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "Populate Surface"
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "Populate MultiMesh"
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "Target Surface:"
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "Source Mesh:"
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "X-Axis"
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "Y-Axis"
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "Z-Axis"
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "Mesh Up Axis:"
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "Random Rotation:"
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "Random Tilt:"
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "Random Scale:"
+msgstr ""
+
+#: editor/plugins/multimesh_editor_plugin.cpp
+msgid "Populate"
+msgstr ""
+
+#: editor/plugins/navigation_polygon_editor_plugin.cpp
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Create Navigation Polygon"
+msgstr ""
+
+#: editor/plugins/particles_2d_editor_plugin.cpp
+#: editor/plugins/particles_editor_plugin.cpp
+msgid "Convert to CPUParticles"
+msgstr ""
+
+#: editor/plugins/particles_2d_editor_plugin.cpp
+msgid "Generating Visibility Rect"
+msgstr ""
+
+#: editor/plugins/particles_2d_editor_plugin.cpp
+msgid "Generate Visibility Rect"
+msgstr ""
+
+#: editor/plugins/particles_2d_editor_plugin.cpp
+msgid "Can only set point into a ParticlesMaterial process material"
+msgstr ""
+
+#: editor/plugins/particles_2d_editor_plugin.cpp
+msgid "Convert to CPUParticles2D"
+msgstr ""
+
+#: editor/plugins/particles_2d_editor_plugin.cpp
+#: editor/plugins/particles_editor_plugin.cpp
+msgid "Generation Time (sec):"
+msgstr ""
+
+#: editor/plugins/particles_editor_plugin.cpp
+msgid "The geometry's faces don't contain any area."
+msgstr ""
+
+#: editor/plugins/particles_editor_plugin.cpp
+msgid "The geometry doesn't contain any faces."
+msgstr ""
+
+#: editor/plugins/particles_editor_plugin.cpp
+msgid "\"%s\" doesn't inherit from Spatial."
+msgstr ""
+
+#: editor/plugins/particles_editor_plugin.cpp
+msgid "\"%s\" doesn't contain geometry."
+msgstr ""
+
+#: editor/plugins/particles_editor_plugin.cpp
+msgid "\"%s\" doesn't contain face geometry."
+msgstr ""
+
+#: editor/plugins/particles_editor_plugin.cpp
+msgid "Create Emitter"
+msgstr ""
+
+#: editor/plugins/particles_editor_plugin.cpp
+msgid "Emission Points:"
+msgstr ""
+
+#: editor/plugins/particles_editor_plugin.cpp
+msgid "Surface Points"
+msgstr ""
+
+#: editor/plugins/particles_editor_plugin.cpp
+msgid "Surface Points+Normal (Directed)"
+msgstr ""
+
+#: editor/plugins/particles_editor_plugin.cpp
+msgid "Volume"
+msgstr ""
+
+#: editor/plugins/particles_editor_plugin.cpp
+msgid "Emission Source: "
+msgstr ""
+
+#: editor/plugins/particles_editor_plugin.cpp
+msgid "A processor material of type 'ParticlesMaterial' is required."
+msgstr ""
+
+#: editor/plugins/particles_editor_plugin.cpp
+msgid "Generating AABB"
+msgstr ""
+
+#: editor/plugins/particles_editor_plugin.cpp
+msgid "Generate Visibility AABB"
+msgstr ""
+
+#: editor/plugins/path_2d_editor_plugin.cpp
+msgid "Remove Point from Curve"
+msgstr ""
+
+#: editor/plugins/path_2d_editor_plugin.cpp
+msgid "Remove Out-Control from Curve"
+msgstr ""
+
+#: editor/plugins/path_2d_editor_plugin.cpp
+msgid "Remove In-Control from Curve"
+msgstr ""
+
+#: editor/plugins/path_2d_editor_plugin.cpp
+#: editor/plugins/path_editor_plugin.cpp
+msgid "Add Point to Curve"
+msgstr ""
+
+#: editor/plugins/path_2d_editor_plugin.cpp
+msgid "Split Curve"
+msgstr ""
+
+#: editor/plugins/path_2d_editor_plugin.cpp
+msgid "Move Point in Curve"
+msgstr ""
+
+#: editor/plugins/path_2d_editor_plugin.cpp
+msgid "Move In-Control in Curve"
+msgstr ""
+
+#: editor/plugins/path_2d_editor_plugin.cpp
+msgid "Move Out-Control in Curve"
+msgstr ""
+
+#: editor/plugins/path_2d_editor_plugin.cpp
+#: editor/plugins/path_editor_plugin.cpp
+msgid "Select Points"
+msgstr ""
+
+#: editor/plugins/path_2d_editor_plugin.cpp
+#: editor/plugins/path_editor_plugin.cpp
+msgid "Shift+Drag: Select Control Points"
+msgstr ""
+
+#: editor/plugins/path_2d_editor_plugin.cpp
+#: editor/plugins/path_editor_plugin.cpp
+msgid "Click: Add Point"
+msgstr ""
+
+#: editor/plugins/path_2d_editor_plugin.cpp
+msgid "Left Click: Split Segment (in curve)"
+msgstr ""
+
+#: editor/plugins/path_2d_editor_plugin.cpp
+#: editor/plugins/path_editor_plugin.cpp
+msgid "Right Click: Delete Point"
+msgstr ""
+
+#: editor/plugins/path_2d_editor_plugin.cpp
+msgid "Select Control Points (Shift+Drag)"
+msgstr ""
+
+#: editor/plugins/path_2d_editor_plugin.cpp
+#: editor/plugins/path_editor_plugin.cpp
+msgid "Add Point (in empty space)"
+msgstr ""
+
+#: editor/plugins/path_2d_editor_plugin.cpp
+#: editor/plugins/path_editor_plugin.cpp
+msgid "Delete Point"
+msgstr ""
+
+#: editor/plugins/path_2d_editor_plugin.cpp
+#: editor/plugins/path_editor_plugin.cpp
+msgid "Close Curve"
+msgstr ""
+
+#: editor/plugins/path_2d_editor_plugin.cpp
+#: editor/plugins/path_editor_plugin.cpp
+#: editor/plugins/theme_editor_preview.cpp
+#: editor/plugins/visual_shader_editor_plugin.cpp editor/project_export.cpp
+msgid "Options"
+msgstr ""
+
+#: editor/plugins/path_2d_editor_plugin.cpp
+#: editor/plugins/path_editor_plugin.cpp
+msgid "Mirror Handle Angles"
+msgstr ""
+
+#: editor/plugins/path_2d_editor_plugin.cpp
+#: editor/plugins/path_editor_plugin.cpp
+msgid "Mirror Handle Lengths"
+msgstr ""
+
+#: editor/plugins/path_editor_plugin.cpp
+msgid "Curve Point #"
+msgstr ""
+
+#: editor/plugins/path_editor_plugin.cpp
+msgid "Set Curve Point Position"
+msgstr ""
+
+#: editor/plugins/path_editor_plugin.cpp
+msgid "Set Curve In Position"
+msgstr ""
+
+#: editor/plugins/path_editor_plugin.cpp
+msgid "Set Curve Out Position"
+msgstr ""
+
+#: editor/plugins/path_editor_plugin.cpp
+msgid "Split Path"
+msgstr ""
+
+#: editor/plugins/path_editor_plugin.cpp
+msgid "Remove Path Point"
+msgstr ""
+
+#: editor/plugins/path_editor_plugin.cpp
+msgid "Remove Out-Control Point"
+msgstr ""
+
+#: editor/plugins/path_editor_plugin.cpp
+msgid "Remove In-Control Point"
+msgstr ""
+
+#: editor/plugins/path_editor_plugin.cpp
+msgid "Split Segment (in curve)"
+msgstr ""
+
+#: editor/plugins/physical_bone_plugin.cpp
+msgid "Move Joint"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid ""
+"The skeleton property of the Polygon2D does not point to a Skeleton2D node"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Sync Bones"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid ""
+"No texture in this polygon.\n"
+"Set a texture to be able to edit UV."
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Create UV Map"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid ""
+"Polygon 2D has internal vertices, so it can no longer be edited in the "
+"viewport."
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Create Polygon & UV"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Create Internal Vertex"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Remove Internal Vertex"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Invalid Polygon (need 3 different vertices)"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Add Custom Polygon"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Remove Custom Polygon"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Transform UV Map"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Transform Polygon"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Paint Bone Weights"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Open Polygon 2D UV editor."
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Polygon 2D UV Editor"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "UV"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Points"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Polygons"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Bones"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Move Points"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Command: Rotate"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Shift: Move All"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Shift+Command: Scale"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Ctrl: Rotate"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Shift+Ctrl: Scale"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Move Polygon"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Rotate Polygon"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Scale Polygon"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Create a custom polygon. Enables custom polygon rendering."
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid ""
+"Remove a custom polygon. If none remain, custom polygon rendering is "
+"disabled."
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Paint weights with specified intensity."
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Unpaint weights with specified intensity."
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Radius:"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Copy Polygon to UV"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Copy UV to Polygon"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Clear UV"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Grid Settings"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Snap"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Enable Snap"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Grid"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Show Grid"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Configure Grid:"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Grid Offset X:"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Grid Offset Y:"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Grid Step X:"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Grid Step Y:"
+msgstr ""
+
+#: editor/plugins/polygon_2d_editor_plugin.cpp
+msgid "Sync Bones to Polygon"
+msgstr ""
+
+#: editor/plugins/resource_preloader_editor_plugin.cpp
+msgid "ERROR: Couldn't load resource!"
+msgstr ""
+
+#: editor/plugins/resource_preloader_editor_plugin.cpp
+msgid "Add Resource"
+msgstr ""
+
+#: editor/plugins/resource_preloader_editor_plugin.cpp
+msgid "Rename Resource"
+msgstr ""
+
+#: editor/plugins/resource_preloader_editor_plugin.cpp
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Delete Resource"
+msgstr ""
+
+#: editor/plugins/resource_preloader_editor_plugin.cpp
+msgid "Resource clipboard is empty!"
+msgstr ""
+
+#: editor/plugins/resource_preloader_editor_plugin.cpp
+msgid "Paste Resource"
+msgstr ""
+
+#: editor/plugins/resource_preloader_editor_plugin.cpp
+#: editor/scene_tree_editor.cpp
+msgid "Instance:"
+msgstr ""
+
+#: editor/plugins/resource_preloader_editor_plugin.cpp
+#: editor/plugins/theme_editor_plugin.cpp editor/project_settings_editor.cpp
+#: editor/scene_tree_editor.cpp editor/script_editor_debugger.cpp
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Type:"
+msgstr ""
+
+#: editor/plugins/resource_preloader_editor_plugin.cpp
+#: editor/scene_tree_dock.cpp editor/scene_tree_editor.cpp
+msgid "Open in Editor"
+msgstr ""
+
+#: editor/plugins/resource_preloader_editor_plugin.cpp
+msgid "Load Resource"
+msgstr ""
+
+#: editor/plugins/resource_preloader_editor_plugin.cpp
+msgid "ResourcePreloader"
+msgstr ""
+
+#: editor/plugins/room_manager_editor_plugin.cpp
+msgid "Flip Portals"
+msgstr ""
+
+#: editor/plugins/room_manager_editor_plugin.cpp
+msgid "Room Generate Points"
+msgstr ""
+
+#: editor/plugins/room_manager_editor_plugin.cpp
+msgid "Generate Points"
+msgstr ""
+
+#: editor/plugins/room_manager_editor_plugin.cpp
+msgid "Flip Portal"
+msgstr ""
+
+#: editor/plugins/room_manager_editor_plugin.cpp
+msgid "Occluder Set Transform"
+msgstr ""
+
+#: editor/plugins/room_manager_editor_plugin.cpp
+msgid "Center Node"
+msgstr ""
+
+#: editor/plugins/root_motion_editor_plugin.cpp
+msgid "AnimationTree has no path set to an AnimationPlayer"
+msgstr ""
+
+#: editor/plugins/root_motion_editor_plugin.cpp
+msgid "Path to AnimationPlayer is invalid"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Clear Recent Files"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Close and save changes?"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Error writing TextFile:"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Could not load file at:"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Error saving file!"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Error while saving theme."
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Error Saving"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Error importing theme."
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Error Importing"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "New Text File..."
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Open File"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Save File As..."
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Can't obtain the script for running."
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Script failed reloading, check console for errors."
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Script is not in tool mode, will not be able to run."
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid ""
+"To run this script, it must inherit EditorScript and be set to tool mode."
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Import Theme"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Error while saving theme"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Error saving"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Save Theme As..."
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "%s Class Reference"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+#: editor/plugins/script_text_editor.cpp
+msgid "Find Next"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+#: editor/plugins/script_text_editor.cpp
+msgid "Find Previous"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Filter scripts"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Toggle alphabetical sorting of the method list."
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Filter methods"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Sort"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+#: editor/plugins/script_text_editor.cpp editor/scene_tree_dock.cpp
+#: modules/gdnative/gdnative_library_editor_plugin.cpp
+msgid "Move Up"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+#: editor/plugins/script_text_editor.cpp editor/scene_tree_dock.cpp
+#: modules/gdnative/gdnative_library_editor_plugin.cpp
+msgid "Move Down"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Next Script"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Previous Script"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "File"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Open..."
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Reopen Closed Script"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Save All"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Soft Reload Script"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Copy Script Path"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "History Previous"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "History Next"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Theme"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Import Theme..."
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Reload Theme"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Save Theme"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Close All"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Close Docs"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp editor/project_manager.cpp
+msgid "Run"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+#: editor/plugins/script_text_editor.cpp
+#: editor/plugins/shader_editor_plugin.cpp editor/plugins/text_editor.cpp
+#: editor/plugins/visual_shader_editor_plugin.cpp
+#: editor/project_settings_editor.cpp editor/settings_config_dialog.cpp
+msgid "Search"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp editor/script_editor_debugger.cpp
+msgid "Step Into"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp editor/script_editor_debugger.cpp
+msgid "Step Over"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp editor/script_editor_debugger.cpp
+msgid "Break"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp editor/project_manager.cpp
+#: editor/script_editor_debugger.cpp
+msgid "Continue"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Keep Debugger Open"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Debug with External Editor"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+#: editor/plugins/shader_editor_plugin.cpp
+msgid "Online Docs"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Open Godot online documentation."
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Search the reference documentation."
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Go to previous edited document."
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Go to next edited document."
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Discard"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid ""
+"The following files are newer on disk.\n"
+"What action should be taken?:"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp editor/script_editor_debugger.cpp
+msgid "Debugger"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Search Results"
+msgstr ""
+
+#: editor/plugins/script_editor_plugin.cpp
+msgid "Clear Recent Scripts"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Connections to method:"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp editor/script_editor_debugger.cpp
+msgid "Source"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Target"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid ""
+"Missing connected method '%s' for signal '%s' from node '%s' to node '%s'."
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "[Ignore]"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Line"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Go to Function"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Only resources from filesystem can be dropped."
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Can't drop nodes because script '%s' is not used in this scene."
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Lookup Symbol"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Pick Color"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp editor/plugins/text_editor.cpp
+msgid "Convert Case"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp editor/plugins/text_editor.cpp
+msgid "Uppercase"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp editor/plugins/text_editor.cpp
+msgid "Lowercase"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp editor/plugins/text_editor.cpp
+msgid "Capitalize"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp editor/plugins/text_editor.cpp
+msgid "Syntax Highlighter"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+#: editor/plugins/shader_editor_plugin.cpp editor/plugins/text_editor.cpp
+msgid "Bookmarks"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Breakpoints"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+#: editor/plugins/shader_editor_plugin.cpp editor/plugins/text_editor.cpp
+msgid "Go To"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp editor/scene_tree_dock.cpp
+#: scene/gui/line_edit.cpp scene/gui/text_edit.cpp
+msgid "Cut"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp editor/plugins/theme_editor_plugin.cpp
+#: scene/gui/line_edit.cpp scene/gui/text_edit.cpp
+msgid "Select All"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Delete Line"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Indent Left"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Indent Right"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Toggle Comment"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Fold/Unfold Line"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Fold All Lines"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Unfold All Lines"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Complete Symbol"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Evaluate Selection"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Trim Trailing Whitespace"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Convert Indent to Spaces"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Convert Indent to Tabs"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Auto Indent"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Find in Files..."
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Replace in Files..."
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Contextual Help"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Toggle Bookmark"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Go to Next Bookmark"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Go to Previous Bookmark"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Remove All Bookmarks"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Go to Function..."
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Go to Line..."
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Toggle Breakpoint"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Remove All Breakpoints"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Go to Next Breakpoint"
+msgstr ""
+
+#: editor/plugins/script_text_editor.cpp
+msgid "Go to Previous Breakpoint"
+msgstr ""
+
+#: editor/plugins/shader_editor_plugin.cpp
+msgid ""
+"This shader has been modified on on disk.\n"
+"What action should be taken?"
+msgstr ""
+
+#: editor/plugins/shader_editor_plugin.cpp
+msgid "Shader"
+msgstr ""
+
+#: editor/plugins/skeleton_2d_editor_plugin.cpp
+msgid "This skeleton has no bones, create some children Bone2D nodes."
+msgstr ""
+
+#: editor/plugins/skeleton_2d_editor_plugin.cpp
+msgid "Set Rest Pose to Bones"
+msgstr ""
+
+#: editor/plugins/skeleton_2d_editor_plugin.cpp
+msgid "Create Rest Pose from Bones"
+msgstr ""
+
+#: editor/plugins/skeleton_2d_editor_plugin.cpp
+msgid "Skeleton2D"
+msgstr ""
+
+#: editor/plugins/skeleton_2d_editor_plugin.cpp
+msgid "Reset to Rest Pose"
+msgstr ""
+
+#: editor/plugins/skeleton_2d_editor_plugin.cpp
+msgid "Overwrite Rest Pose"
+msgstr ""
+
+#: editor/plugins/skeleton_editor_plugin.cpp
+msgid "Create physical bones"
+msgstr ""
+
+#: editor/plugins/skeleton_editor_plugin.cpp
+msgid "Skeleton"
+msgstr ""
+
+#: editor/plugins/skeleton_editor_plugin.cpp
+msgid "Create physical skeleton"
+msgstr ""
+
+#: editor/plugins/skeleton_ik_editor_plugin.cpp
+msgid "Play IK"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Orthogonal"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Perspective"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Top Orthogonal"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Top Perspective"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Bottom Orthogonal"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Bottom Perspective"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Left Orthogonal"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Left Perspective"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Right Orthogonal"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Right Perspective"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Front Orthogonal"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Front Perspective"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Rear Orthogonal"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Rear Perspective"
+msgstr ""
+
+#. TRANSLATORS: This will be appended to the view name when Auto Orthogonal is enabled.
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid " [auto]"
+msgstr ""
+
+#. TRANSLATORS: This will be appended to the view name when Portal Occulusion is enabled.
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid " [portals active]"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Transform Aborted."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "X-Axis Transform."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Y-Axis Transform."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Z-Axis Transform."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "View Plane Transform."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#: editor/plugins/texture_region_editor_plugin.cpp
+#: editor/plugins/theme_editor_plugin.cpp scene/resources/visual_shader.cpp
+msgid "None"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Rotate"
+msgstr ""
+
+#. TRANSLATORS: This refers to the movement that changes the position of an object.
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Translate"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Scale"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Scaling: "
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Translating: "
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Rotating %s degrees."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Keying is disabled (no key inserted)."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Animation Key Inserted."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Pitch:"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Yaw:"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Size:"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Objects Drawn:"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Material Changes:"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Shader Changes:"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Surface Changes:"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Draw Calls:"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Vertices:"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "FPS: %d (%s ms)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Top View."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Bottom View."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Left View."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Right View."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Front View."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Rear View."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Align Transform with View"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Align Rotation with View"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp editor/scene_tree_dock.cpp
+msgid "No parent to instance a child at."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp editor/scene_tree_dock.cpp
+msgid "This operation requires a single selected node."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Auto Orthogonal Enabled"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Lock View Rotation"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Display Normal"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Display Wireframe"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Display Overdraw"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Display Unshaded"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "View Environment"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "View Gizmos"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "View Information"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "View FPS"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Half Resolution"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Audio Listener"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Enable Doppler"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Cinematic Preview"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Freelook Left"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Freelook Right"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Freelook Forward"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Freelook Backwards"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Freelook Up"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Freelook Down"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Freelook Speed Modifier"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Freelook Slow Modifier"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Toggle Camera Preview"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "View Rotation Locked"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"To zoom further, change the camera's clipping planes (View -> Settings...)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Note: The FPS value displayed is the editor's framerate.\n"
+"It cannot be used as a reliable indication of in-game performance."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Convert Rooms"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "XForm Dialog"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Click to toggle between visibility states.\n"
+"\n"
+"Open eye: Gizmo is visible.\n"
+"Closed eye: Gizmo is hidden.\n"
+"Half-open eye: Gizmo is also visible through opaque surfaces (\"x-ray\")."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Snap Nodes to Floor"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Couldn't find a solid floor to snap the selection to."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Use Local Space"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Use Snap"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Converts rooms for portal culling."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Bottom View"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Top View"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Rear View"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Front View"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Left View"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Right View"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Orbit View Down"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Orbit View Left"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Orbit View Right"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Orbit View Up"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Orbit View 180"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Switch Perspective/Orthogonal View"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Insert Animation Key"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Focus Origin"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Focus Selection"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Toggle Freelook"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Decrease Field of View"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Increase Field of View"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Reset Field of View to Default"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Transform"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Snap Object to Floor"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Transform Dialog..."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "1 Viewport"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "2 Viewports"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "2 Viewports (Alt)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "3 Viewports"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "3 Viewports (Alt)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "4 Viewports"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Gizmos"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "View Origin"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "View Grid"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "View Portal Culling"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "View Occlusion Culling"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Settings..."
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Snap Settings"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Translate Snap:"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Rotate Snap (deg.):"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Scale Snap (%):"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Viewport Settings"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Perspective FOV (deg.):"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "View Z-Near:"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "View Z-Far:"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Transform Change"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Translate:"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Rotate (deg.):"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Scale (ratio):"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Transform Type"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Pre"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Post"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid "Unnamed Gizmo"
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "Create Mesh2D"
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "Mesh2D Preview"
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "Create Polygon2D"
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "Polygon2D Preview"
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "Create CollisionPolygon2D"
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "CollisionPolygon2D Preview"
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "Create LightOccluder2D"
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "LightOccluder2D Preview"
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "Sprite is empty!"
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "Can't convert a sprite using animation frames to mesh."
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "Invalid geometry, can't replace by mesh."
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "Convert to Mesh2D"
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "Invalid geometry, can't create polygon."
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "Convert to Polygon2D"
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "Invalid geometry, can't create collision polygon."
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "Create CollisionPolygon2D Sibling"
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "Invalid geometry, can't create light occluder."
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "Create LightOccluder2D Sibling"
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "Sprite"
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "Simplification: "
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "Shrink (Pixels): "
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "Grow (Pixels): "
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "Update Preview"
+msgstr ""
+
+#: editor/plugins/sprite_editor_plugin.cpp
+msgid "Settings:"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "No Frames Selected"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Add %d Frame(s)"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Add Frame"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Unable to load images"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "ERROR: Couldn't load frame resource!"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Resource clipboard is empty or not a texture!"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Paste Frame"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Add Empty"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Change Animation FPS"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "(empty)"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Move Frame"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Animations:"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "New Animation"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Speed:"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Loop"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Animation Frames:"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Add a Texture from File"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Add Frames from a Sprite Sheet"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Insert Empty (Before)"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Insert Empty (After)"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Move (Before)"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Move (After)"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Select Frames"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Horizontal:"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Vertical:"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Select/Clear All Frames"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "Create Frames from Sprite Sheet"
+msgstr ""
+
+#: editor/plugins/sprite_frames_editor_plugin.cpp
+msgid "SpriteFrames"
+msgstr ""
+
+#: editor/plugins/texture_region_editor_plugin.cpp
+msgid "Set Region Rect"
+msgstr ""
+
+#: editor/plugins/texture_region_editor_plugin.cpp
+msgid "Set Margin"
+msgstr ""
+
+#: editor/plugins/texture_region_editor_plugin.cpp
+msgid "Snap Mode:"
+msgstr ""
+
+#: editor/plugins/texture_region_editor_plugin.cpp
+msgid "Pixel Snap"
+msgstr ""
+
+#: editor/plugins/texture_region_editor_plugin.cpp
+msgid "Grid Snap"
+msgstr ""
+
+#: editor/plugins/texture_region_editor_plugin.cpp
+msgid "Auto Slice"
+msgstr ""
+
+#: editor/plugins/texture_region_editor_plugin.cpp
+msgid "Offset:"
+msgstr ""
+
+#: editor/plugins/texture_region_editor_plugin.cpp
+msgid "Step:"
+msgstr ""
+
+#: editor/plugins/texture_region_editor_plugin.cpp
+msgid "Separation:"
+msgstr ""
+
+#: editor/plugins/texture_region_editor_plugin.cpp
+msgid "TextureRegion"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Styleboxes"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "{num} color(s)"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "No colors found."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "{num} constant(s)"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "No constants found."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "{num} font(s)"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "No fonts found."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "{num} icon(s)"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "No icons found."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "{num} stylebox(es)"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "No styleboxes found."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "{num} currently selected"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Nothing was selected for the import."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Importing Theme Items"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Importing items {n}/{n}"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Updating the editor"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Finalizing"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Filter:"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "With Data"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select by data type:"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select all visible color items."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select all visible color items and their data."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Deselect all visible color items."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select all visible constant items."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select all visible constant items and their data."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Deselect all visible constant items."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select all visible font items."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select all visible font items and their data."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Deselect all visible font items."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select all visible icon items."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select all visible icon items and their data."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Deselect all visible icon items."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select all visible stylebox items."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select all visible stylebox items and their data."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Deselect all visible stylebox items."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"Caution: Adding icon data may considerably increase the size of your Theme "
+"resource."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Collapse types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Expand types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select all Theme items."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select With Data"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select all Theme items with item data."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Deselect All"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Deselect all Theme items."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Import Selected"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"Import Items tab has some items selected. Selection will be lost upon "
+"closing this window.\n"
+"Close anyway?"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"Select a theme type from the list to edit its items.\n"
+"You can add a custom type or import a type with its items from another theme."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Remove All Color Items"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Rename Item"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Remove All Constant Items"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Remove All Font Items"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Remove All Icon Items"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Remove All StyleBox Items"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"This theme type is empty.\n"
+"Add more items to it manually or by importing from another theme."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Color Item"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Constant Item"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Font Item"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Icon Item"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Stylebox Item"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Rename Color Item"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Rename Constant Item"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Rename Font Item"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Rename Icon Item"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Rename Stylebox Item"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Invalid file, not a Theme resource."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Invalid file, same as the edited Theme resource."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Manage Theme Items"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Edit Items"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Types:"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Type:"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item:"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Add StyleBox Item"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Remove Items:"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Remove Class Items"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Remove Custom Items"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Remove All Items"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Theme Item"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Old Name:"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Import Items"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Default Theme"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Editor Theme"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select Another Theme Resource:"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Theme Resource"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Another Theme"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Filter the list of types or create a new custom type:"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Available Node-based types:"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Type name is empty!"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Are you sure you want to create an empty type?"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Confirm Item Rename"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Cancel Item Rename"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Override Item"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Unpin this StyleBox as a main style."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"Pin this StyleBox as a main style. Editing its properties will update the "
+"same properties in all other StyleBoxes of this type."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Show Default"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Show default type items alongside items that have been overridden."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Override All"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Override all default type items."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Theme:"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Manage Items..."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Add, remove, organize and import Theme items."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Preview"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Default Preview"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select UI Scene:"
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid ""
+"Toggle the control picker, allowing to visually select control types for "
+"edit."
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Toggle Button"
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Disabled Button"
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Item"
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Disabled Item"
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Check Item"
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Checked Item"
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Radio Item"
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Checked Radio Item"
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Named Separator"
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Submenu"
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Subitem 1"
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Subitem 2"
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Has"
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Many"
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Disabled LineEdit"
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Tab 1"
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Tab 2"
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Tab 3"
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Editable Item"
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Subtree"
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Has,Many,Options"
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Invalid path, the PackedScene resource was probably moved or removed."
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Invalid PackedScene resource, must have a Control node at its root."
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Invalid file, not a PackedScene resource."
+msgstr ""
+
+#: editor/plugins/theme_editor_preview.cpp
+msgid "Reload the scene to reflect its most actual state."
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+msgid "Erase Selection"
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+msgid "Fix Invalid Tiles"
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Cut Selection"
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+msgid "Paint TileMap"
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+msgid "Line Draw"
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+msgid "Rectangle Paint"
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+msgid "Bucket Fill"
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+msgid "Erase TileMap"
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+msgid "Find Tile"
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+msgid "Transpose"
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+msgid "Disable Autotile"
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+msgid "Enable Priority"
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+msgid "Filter tiles"
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+msgid "Give a TileSet resource to this TileMap to use its tiles."
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+msgid "Paint Tile"
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+msgid ""
+"Shift+LMB: Line Draw\n"
+"Shift+Command+LMB: Rectangle Paint"
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+msgid ""
+"Shift+LMB: Line Draw\n"
+"Shift+Ctrl+LMB: Rectangle Paint"
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+msgid "Pick Tile"
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+msgid "Rotate Left"
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+msgid "Rotate Right"
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+msgid "Flip Horizontally"
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+msgid "Flip Vertically"
+msgstr ""
+
+#: editor/plugins/tile_map_editor_plugin.cpp
+msgid "Clear Transform"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Add Texture(s) to TileSet."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Remove selected Texture from TileSet."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Create from Scene"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Merge from Scene"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "New Single Tile"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "New Autotile"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "New Atlas"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Next Coordinate"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Select the next shape, subtile, or Tile."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Previous Coordinate"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Select the previous shape, subtile, or Tile."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Region"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Collision"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Occlusion"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Navigation"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Bitmask"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Priority"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Icon"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Z Index"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Region Mode"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Collision Mode"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Occlusion Mode"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Navigation Mode"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Bitmask Mode"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Priority Mode"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Icon Mode"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Z Index Mode"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Copy bitmask."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Paste bitmask."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Erase bitmask."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Create a new rectangle."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "New Rectangle"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Create a new polygon."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "New Polygon"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Delete Selected Shape"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Keep polygon inside region Rect."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Enable snap and show grid (configurable via the Inspector)."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Display Tile Names (Hold Alt Key)"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid ""
+"Add or select a texture on the left panel to edit the tiles bound to it."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Remove selected texture? This will remove all tiles which use it."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "You haven't selected a texture to remove."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Create from scene? This will overwrite all current tiles."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Merge from scene?"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Remove Texture"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "%s file(s) were not added because was already on the list."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid ""
+"Drag handles to edit Rect.\n"
+"Click on another Tile to edit it."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Delete selected Rect."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid ""
+"Select current edited sub-tile.\n"
+"Click on another Tile to edit it."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Delete polygon."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid ""
+"LMB: Set bit on.\n"
+"RMB: Set bit off.\n"
+"Shift+LMB: Set wildcard bit.\n"
+"Click on another Tile to edit it."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid ""
+"Select sub-tile to use as icon, this will be also used on invalid autotile "
+"bindings.\n"
+"Click on another Tile to edit it."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid ""
+"Select sub-tile to change its priority.\n"
+"Click on another Tile to edit it."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid ""
+"Select sub-tile to change its z index.\n"
+"Click on another Tile to edit it."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Set Tile Region"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Create Tile"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Set Tile Icon"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Edit Tile Bitmask"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Edit Collision Polygon"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Edit Occlusion Polygon"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Edit Navigation Polygon"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Paste Tile Bitmask"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Clear Tile Bitmask"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Make Polygon Concave"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Make Polygon Convex"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Remove Tile"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Remove Collision Polygon"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Remove Occlusion Polygon"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Remove Navigation Polygon"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Edit Tile Priority"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Edit Tile Z Index"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Make Convex"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Make Concave"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Create Collision Polygon"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "Create Occlusion Polygon"
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "This property can't be changed."
+msgstr ""
+
+#: editor/plugins/tile_set_editor_plugin.cpp
+msgid "TileSet"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "No VCS plugins are available."
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Error"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid ""
+"Remote settings are empty. VCS features that use the network may not work."
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "No commit message was provided."
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Commit"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Staged Changes"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Unstaged Changes"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Commit:"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Date:"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Subtitle:"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Do you want to remove the %s branch?"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Do you want to remove the %s remote?"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Apply"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Version Control System"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Initialize"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Remote Login"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Username"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Password"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "SSH Public Key Path"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Select SSH public key path"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "SSH Private Key Path"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Select SSH private key path"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "SSH Passphrase"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Detect new changes"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Discard all changes"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Stage all changes"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Unstage all changes"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Commit Message"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Commit Changes"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Commit List"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Commit list size"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Branches"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Create New Branch"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Remove Branch"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Branch Name"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Remotes"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Create New Remote"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Remove Remote"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Remote Name"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Remote URL"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Fetch"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Pull"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Push"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Force Push"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Modified"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Renamed"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Deleted"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Typechange"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Unmerged"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "View:"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Split"
+msgstr ""
+
+#: editor/plugins/version_control_editor_plugin.cpp
+msgid "Unified"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "(GLES3 only)"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Add Output"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Scalar"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Vector"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Boolean"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Sampler"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Add input port"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Add output port"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Change input port type"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Change output port type"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Change input port name"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Change output port name"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Remove input port"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Remove output port"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Set expression"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Resize VisualShader node"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Set Uniform Name"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Set Input Default Port"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Add Node to Visual Shader"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Node(s) Moved"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Duplicate Nodes"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Paste Nodes"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Delete Nodes"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Visual Shader Input Type Changed"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "UniformRef Name Changed"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Vertex"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Fragment"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Light"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Show resulted shader code."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Create Shader Node"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Color function."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Color operator."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Grayscale function."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Converts HSV vector to RGB equivalent."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Converts RGB vector to HSV equivalent."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Sepia function."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Burn operator."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Darken operator."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Difference operator."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Dodge operator."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "HardLight operator."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Lighten operator."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Overlay operator."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Screen operator."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "SoftLight operator."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Color constant."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Color uniform."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the boolean result of the %s comparison between two parameters."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Equal (==)"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Greater Than (>)"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Greater Than or Equal (>=)"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"Returns an associated vector if the provided scalars are equal, greater or "
+"less."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"Returns the boolean result of the comparison between INF and a scalar "
+"parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"Returns the boolean result of the comparison between NaN and a scalar "
+"parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Less Than (<)"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Less Than or Equal (<=)"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Not Equal (!=)"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"Returns an associated vector if the provided boolean value is true or false."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"Returns an associated scalar if the provided boolean value is true or false."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the boolean result of the comparison between two parameters."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"Returns the boolean result of the comparison between INF (or NaN) and a "
+"scalar parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Boolean constant."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Boolean uniform."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "'%s' input parameter for all shader modes."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Input parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "'%s' input parameter for vertex and fragment shader modes."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "'%s' input parameter for fragment and light shader modes."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "'%s' input parameter for fragment shader mode."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "'%s' input parameter for light shader mode."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "'%s' input parameter for vertex shader mode."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "'%s' input parameter for vertex and fragment shader mode."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Scalar function."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Scalar operator."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "E constant (2.718282). Represents the base of the natural logarithm."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Epsilon constant (0.00001). Smallest possible scalar number."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Phi constant (1.618034). Golden ratio."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Pi/4 constant (0.785398) or 45 degrees."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Pi/2 constant (1.570796) or 90 degrees."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Pi constant (3.141593) or 180 degrees."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Tau constant (6.283185) or 360 degrees."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Sqrt2 constant (1.414214). Square root of 2."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the absolute value of the parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the arc-cosine of the parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the inverse hyperbolic cosine of the parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the arc-sine of the parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the inverse hyperbolic sine of the parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the arc-tangent of the parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the arc-tangent of the parameters."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the inverse hyperbolic tangent of the parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"Finds the nearest integer that is greater than or equal to the parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Constrains a value to lie between two further values."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the cosine of the parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the hyperbolic cosine of the parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Converts a quantity in radians to degrees."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Base-e Exponential."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Base-2 Exponential."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Finds the nearest integer less than or equal to the parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Computes the fractional part of the argument."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the inverse of the square root of the parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Natural logarithm."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Base-2 logarithm."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the greater of two values."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the lesser of two values."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Linear interpolation between two scalars."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the opposite value of the parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "1.0 - scalar"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"Returns the value of the first parameter raised to the power of the second."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Converts a quantity in degrees to radians."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "1.0 / scalar"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Finds the nearest integer to the parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Finds the nearest even integer to the parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Clamps the value between 0.0 and 1.0."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Extracts the sign of the parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the sine of the parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the hyperbolic sine of the parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the square root of the parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"SmoothStep function( scalar(edge0), scalar(edge1), scalar(x) ).\n"
+"\n"
+"Returns 0.0 if 'x' is smaller than 'edge0' and 1.0 if x is larger than "
+"'edge1'. Otherwise the return value is interpolated between 0.0 and 1.0 "
+"using Hermite polynomials."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"Step function( scalar(edge), scalar(x) ).\n"
+"\n"
+"Returns 0.0 if 'x' is smaller than 'edge' and otherwise 1.0."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the tangent of the parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the hyperbolic tangent of the parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Finds the truncated value of the parameter."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Adds scalar to scalar."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Divides scalar by scalar."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Multiplies scalar by scalar."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the remainder of the two scalars."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Subtracts scalar from scalar."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Scalar constant."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Scalar uniform."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Perform the cubic texture lookup."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Perform the texture lookup."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Cubic texture uniform lookup."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "2D texture uniform lookup."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "2D texture uniform lookup with triplanar."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Transform function."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"Calculate the outer product of a pair of vectors.\n"
+"\n"
+"OuterProduct treats the first parameter 'c' as a column vector (matrix with "
+"one column) and the second parameter 'r' as a row vector (matrix with one "
+"row) and does a linear algebraic matrix multiply 'c * r', yielding a matrix "
+"whose number of rows is the number of components in 'c' and whose number of "
+"columns is the number of components in 'r'."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Composes transform from four vectors."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Decomposes transform to four vectors."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Calculates the determinant of a transform."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Calculates the inverse of a transform."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Calculates the transpose of a transform."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Multiplies transform by transform."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Multiplies vector by transform."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Transform constant."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Transform uniform."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Vector function."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Vector operator."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Composes vector from three scalars."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Decomposes vector to three scalars."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Calculates the cross product of two vectors."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the distance between two points."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Calculates the dot product of two vectors."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"Returns the vector that points in the same direction as a reference vector. "
+"The function has three vector parameters : N, the vector to orient, I, the "
+"incident vector, and Nref, the reference vector. If the dot product of I and "
+"Nref is smaller than zero the return value is N. Otherwise -N is returned."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Calculates the length of a vector."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Linear interpolation between two vectors."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Linear interpolation between two vectors using scalar."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Calculates the normalize product of vector."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "1.0 - vector"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "1.0 / vector"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"Returns the vector that points in the direction of reflection ( a : incident "
+"vector, b : normal vector )."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the vector that points in the direction of refraction."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"SmoothStep function( vector(edge0), vector(edge1), vector(x) ).\n"
+"\n"
+"Returns 0.0 if 'x' is smaller than 'edge0' and 1.0 if 'x' is larger than "
+"'edge1'. Otherwise the return value is interpolated between 0.0 and 1.0 "
+"using Hermite polynomials."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"SmoothStep function( scalar(edge0), scalar(edge1), vector(x) ).\n"
+"\n"
+"Returns 0.0 if 'x' is smaller than 'edge0' and 1.0 if 'x' is larger than "
+"'edge1'. Otherwise the return value is interpolated between 0.0 and 1.0 "
+"using Hermite polynomials."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"Step function( vector(edge), vector(x) ).\n"
+"\n"
+"Returns 0.0 if 'x' is smaller than 'edge' and otherwise 1.0."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"Step function( scalar(edge), vector(x) ).\n"
+"\n"
+"Returns 0.0 if 'x' is smaller than 'edge' and otherwise 1.0."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Adds vector to vector."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Divides vector by vector."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Multiplies vector by vector."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Returns the remainder of the two vectors."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Subtracts vector from vector."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Vector constant."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Vector uniform."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"Custom Godot Shader Language expression, with custom amount of input and "
+"output ports. This is a direct injection of code into the vertex/fragment/"
+"light function, do not use it to write the function declarations inside."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"Returns falloff based on the dot product of surface normal and view "
+"direction of camera (pass associated inputs to it)."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"Custom Godot Shader Language expression, which is placed on top of the "
+"resulted shader. You can place various function definitions inside and call "
+"it later in the Expressions. You can also declare varyings, uniforms and "
+"constants."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "A reference to an existing uniform."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "(Fragment/Light mode only) Scalar derivative function."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "(Fragment/Light mode only) Vector derivative function."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"(Fragment/Light mode only) (Vector) Derivative in 'x' using local "
+"differencing."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"(Fragment/Light mode only) (Scalar) Derivative in 'x' using local "
+"differencing."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"(Fragment/Light mode only) (Vector) Derivative in 'y' using local "
+"differencing."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"(Fragment/Light mode only) (Scalar) Derivative in 'y' using local "
+"differencing."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"(Fragment/Light mode only) (Vector) Sum of absolute derivative in 'x' and "
+"'y'."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid ""
+"(Fragment/Light mode only) (Scalar) Sum of absolute derivative in 'x' and "
+"'y'."
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "VisualShader"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Edit Visual Property:"
+msgstr ""
+
+#: editor/plugins/visual_shader_editor_plugin.cpp
+msgid "Visual Shader Mode Changed"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Runnable"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Delete preset '%s'?"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid ""
+"Failed to export the project for platform '%s'.\n"
+"Export templates seem to be missing or invalid."
+msgstr ""
+
+#: editor/project_export.cpp
+msgid ""
+"Failed to export the project for platform '%s'.\n"
+"This might be due to a configuration issue in the export preset or your "
+"export settings."
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Release"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Exporting All"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "The given export path doesn't exist:"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Export templates for this platform are missing/corrupted:"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Presets"
+msgstr ""
+
+#: editor/project_export.cpp editor/project_settings_editor.cpp
+msgid "Add..."
+msgstr ""
+
+#: editor/project_export.cpp
+msgid ""
+"If checked, the preset will be available for use in one-click deploy.\n"
+"Only one preset per platform may be marked as runnable."
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Export Path"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Resources"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Export all resources in the project"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Export selected scenes (and dependencies)"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Export selected resources (and dependencies)"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Export Mode:"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Resources to export:"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid ""
+"Filters to export non-resource files/folders\n"
+"(comma-separated, e.g: *.json, *.txt, docs/*)"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid ""
+"Filters to exclude files/folders from project\n"
+"(comma-separated, e.g: *.json, *.txt, docs/*)"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Features"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Custom (comma-separated):"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Feature List:"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Script"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "GDScript Export Mode:"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Text"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Compiled Bytecode (Faster Loading)"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Encrypted (Provide Key Below)"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Invalid Encryption Key (must be 64 hexadecimal characters long)"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "GDScript Encryption Key (256-bits as hexadecimal):"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Export PCK/Zip"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Export Project"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Export mode?"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Export All"
+msgstr ""
+
+#: editor/project_export.cpp editor/project_manager.cpp
+msgid "ZIP File"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Godot Game Pack"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Export templates for this platform are missing:"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Manage Export Templates"
+msgstr ""
+
+#: editor/project_export.cpp
+msgid "Export With Debug"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "The path specified doesn't exist."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Error opening package file (it's not in ZIP format)."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid ""
+"Invalid \".zip\" project file; it doesn't contain a \"project.godot\" file."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Please choose an empty folder."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Please choose a \"project.godot\" or \".zip\" file."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "This directory already contains a Godot project."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "New Game Project"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Imported Project"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Invalid project name."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Couldn't create folder."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "There is already a folder in this path with the specified name."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "It would be a good idea to name your project."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Invalid project path (changed anything?)."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid ""
+"Couldn't load project.godot in project path (error %d). It may be missing or "
+"corrupted."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Couldn't edit project.godot in project path."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Couldn't create project.godot in project path."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Error opening package file, not in ZIP format."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "The following files failed extraction from package:"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Package installed successfully!"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Rename Project"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Import Existing Project"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Import & Edit"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Create New Project"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Create & Edit"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Install Project:"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Install & Edit"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Project Name:"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Project Path:"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Project Installation Path:"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Renderer:"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "OpenGL ES 3.0"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Not supported by your GPU drivers."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid ""
+"Higher visual quality\n"
+"All features available\n"
+"Incompatible with older hardware\n"
+"Not recommended for web games"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "OpenGL ES 2.0"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid ""
+"Lower visual quality\n"
+"Some features not available\n"
+"Works on most hardware\n"
+"Recommended for web games"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Renderer can be changed later, but scenes may need to be adjusted."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Unnamed Project"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Missing Project"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Error: Project is missing on the filesystem."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Can't open project at '%s'."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Are you sure to open more than one project?"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid ""
+"The following project settings file does not specify the version of Godot "
+"through which it was created.\n"
+"\n"
+"%s\n"
+"\n"
+"If you proceed with opening it, it will be converted to Godot's current "
+"configuration file format.\n"
+"Warning: You won't be able to open the project with previous versions of the "
+"engine anymore."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid ""
+"The following project settings file was generated by an older engine "
+"version, and needs to be converted for this version:\n"
+"\n"
+"%s\n"
+"\n"
+"Do you want to convert it?\n"
+"Warning: You won't be able to open the project with previous versions of the "
+"engine anymore."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid ""
+"The project settings were created by a newer engine version, whose settings "
+"are not compatible with this version."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid ""
+"Can't run project: no main scene defined.\n"
+"Please edit the project and set the main scene in the Project Settings under "
+"the \"Application\" category."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid ""
+"Can't run project: Assets need to be imported.\n"
+"Please edit the project to trigger the initial import."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Are you sure to run %d projects at once?"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Remove %d projects from the list?"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Remove this project from the list?"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid ""
+"Remove all missing projects from the list?\n"
+"The project folders' contents won't be modified."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid ""
+"Language changed.\n"
+"The interface will update after restarting the editor or project manager."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid ""
+"Are you sure to scan %s folders for existing Godot projects?\n"
+"This could take a while."
+msgstr ""
+
+#. TRANSLATORS: This refers to the application where users manage their Godot projects.
+#: editor/project_manager.cpp
+msgid "Project Manager"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Local Projects"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Loading, please wait..."
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Last Modified"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Edit Project"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Run Project"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Scan"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Scan Projects"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Select a Folder to Scan"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "New Project"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Import Project"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Remove Project"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Remove Missing"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "About"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Asset Library Projects"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Restart Now"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Remove All"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Also delete project contents (no undo!)"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Can't run project"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid ""
+"You currently don't have any projects.\n"
+"Would you like to explore official example projects in the Asset Library?"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid "Filter projects"
+msgstr ""
+
+#: editor/project_manager.cpp
+msgid ""
+"This field filters projects by name and last path component.\n"
+"To filter projects by name and full path, the query must contain at least "
+"one `/` character."
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Physical Key"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Key "
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Joy Button"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Joy Axis"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Mouse Button"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid ""
+"Invalid action name. It cannot be empty nor contain '/', ':', '=', '\\' or "
+"'\"'"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "An action with the name '%s' already exists."
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Rename Input Action Event"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Change Action deadzone"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Add Input Action Event"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "All Devices"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Device"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid " (Physical)"
+msgstr ""
+
+#: editor/project_settings_editor.cpp editor/settings_config_dialog.cpp
+msgid "Press a Key..."
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Mouse Button Index:"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Left Button"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Right Button"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Middle Button"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Wheel Up Button"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Wheel Down Button"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Wheel Left Button"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Wheel Right Button"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "X Button 1"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "X Button 2"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Joypad Axis Index:"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Axis"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Joypad Button Index:"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Erase Input Action"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Erase Input Action Event"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Add Event"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Button"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Left Button."
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Right Button."
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Middle Button."
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Wheel Up."
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Wheel Down."
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Add Global Property"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Select a setting item first!"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "No property '%s' exists."
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Setting '%s' is internal, and it can't be deleted."
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Delete Item"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid ""
+"Invalid action name. It cannot be empty nor contain '/', ':', '=', '\\' or "
+"'\"'."
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Add Input Action"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Error saving settings."
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Settings saved OK."
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Moved Input Action Event"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Override for Feature"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Add %d Translations"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Remove Translation"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Translation Resource Remap: Add %d Path(s)"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Translation Resource Remap: Add %d Remap(s)"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Change Resource Remap Language"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Remove Resource Remap"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Remove Resource Remap Option"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Changed Locale Filter"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Changed Locale Filter Mode"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Project Settings (project.godot)"
+msgstr ""
+
+#: editor/project_settings_editor.cpp editor/settings_config_dialog.cpp
+msgid "General"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Override For..."
+msgstr ""
+
+#: editor/project_settings_editor.cpp editor/settings_config_dialog.cpp
+msgid "The editor must be restarted for changes to take effect."
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Input Map"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Action:"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Action"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Deadzone"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Device:"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Index:"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Localization"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Translations"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Translations:"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Remaps"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Resources:"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Remaps by Locale:"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Locale"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Locales Filter"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Show All Locales"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Show Selected Locales Only"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Filter mode:"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Locales:"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "AutoLoad"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Plugins"
+msgstr ""
+
+#: editor/project_settings_editor.cpp
+msgid "Import Defaults"
+msgstr ""
+
+#: editor/property_editor.cpp
+msgid "Preset..."
+msgstr ""
+
+#: editor/property_editor.cpp
+msgid "Zero"
+msgstr ""
+
+#: editor/property_editor.cpp
+msgid "Easing In-Out"
+msgstr ""
+
+#: editor/property_editor.cpp
+msgid "Easing Out-In"
+msgstr ""
+
+#: editor/property_editor.cpp
+msgid "File..."
+msgstr ""
+
+#: editor/property_editor.cpp
+msgid "Dir..."
+msgstr ""
+
+#: editor/property_editor.cpp
+msgid "Assign"
+msgstr ""
+
+#: editor/property_editor.cpp
+msgid "Select Node"
+msgstr ""
+
+#: editor/property_editor.cpp
+msgid "Error loading file: Not a resource!"
+msgstr ""
+
+#: editor/property_editor.cpp
+msgid "Pick a Node"
+msgstr ""
+
+#: editor/property_editor.cpp
+msgid "Bit %d, val %d."
+msgstr ""
+
+#: editor/property_selector.cpp
+msgid "Select Property"
+msgstr ""
+
+#: editor/property_selector.cpp
+msgid "Select Virtual Method"
+msgstr ""
+
+#: editor/property_selector.cpp
+msgid "Select Method"
+msgstr ""
+
+#: editor/rename_dialog.cpp editor/scene_tree_dock.cpp
+msgid "Batch Rename"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "Prefix:"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "Suffix:"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "Use Regular Expressions"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "Advanced Options"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "Substitute"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "Node name"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "Node's parent name, if available"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "Node type"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "Current scene name"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "Root node name"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid ""
+"Sequential integer counter.\n"
+"Compare counter options."
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "Per-level Counter"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "If set, the counter restarts for each group of child nodes."
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "Initial value for the counter"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "Step"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "Amount by which counter is incremented for each node"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "Padding"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid ""
+"Minimum number of digits for the counter.\n"
+"Missing digits are padded with leading zeros."
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "Post-Process"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "Style"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "Keep"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "PascalCase to snake_case"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "snake_case to PascalCase"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "Case"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "To Lowercase"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "To Uppercase"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "Reset"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "Regular Expression Error:"
+msgstr ""
+
+#: editor/rename_dialog.cpp
+msgid "At character %s"
+msgstr ""
+
+#: editor/reparent_dialog.cpp editor/scene_tree_dock.cpp
+msgid "Reparent Node"
+msgstr ""
+
+#: editor/reparent_dialog.cpp
+msgid "Reparent Location (Select new Parent):"
+msgstr ""
+
+#: editor/reparent_dialog.cpp
+msgid "Keep Global Transform"
+msgstr ""
+
+#: editor/reparent_dialog.cpp editor/scene_tree_dock.cpp
+msgid "Reparent"
+msgstr ""
+
+#: editor/run_settings_dialog.cpp
+msgid "Run Mode:"
+msgstr ""
+
+#: editor/run_settings_dialog.cpp
+msgid "Current Scene"
+msgstr ""
+
+#: editor/run_settings_dialog.cpp
+msgid "Main Scene"
+msgstr ""
+
+#: editor/run_settings_dialog.cpp
+msgid "Main Scene Arguments:"
+msgstr ""
+
+#: editor/run_settings_dialog.cpp
+msgid "Scene Run Settings"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "No parent to instance the scenes at."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Error loading scene from %s"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid ""
+"Cannot instance the scene '%s' because the current scene exists within one "
+"of its nodes."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Instance Scene(s)"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Replace with Branch Scene"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Instance Child Scene"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Can't paste root node into the same scene."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Paste Node(s)"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Detach Script"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "This operation can't be done on the tree root."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Move Node In Parent"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Move Nodes In Parent"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Duplicate Node(s)"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Can't reparent nodes in inherited scenes, order of nodes can't change."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Node must belong to the edited scene to become root."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Instantiated scenes can't become root"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Make node as Root"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Delete %d nodes and any children?"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Delete %d nodes?"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Delete the root node \"%s\"?"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Delete node \"%s\" and its children?"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Delete node \"%s\"?"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid ""
+"Saving the branch as a scene requires having a scene open in the editor."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid ""
+"Saving the branch as a scene requires selecting only one node, but you have "
+"selected %d nodes."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid ""
+"Can't save the root node branch as an instanced scene.\n"
+"To create an editable copy of the current scene, duplicate it using the "
+"FileSystem dock context menu\n"
+"or create an inherited scene using Scene > New Inherited Scene... instead."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid ""
+"Can't save the branch of an already instanced scene.\n"
+"To create a variation of a scene, you can make an inherited scene based on "
+"the instanced scene using Scene > New Inherited Scene... instead."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid ""
+"Can't save a branch which is a child of an already instantiated scene.\n"
+"To save this branch into its own scene, open the original scene, right click "
+"on this branch, and select \"Save Branch as Scene\"."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid ""
+"Can't save a branch which is part of an inherited scene.\n"
+"To save this branch into its own scene, open the original scene, right click "
+"on this branch, and select \"Save Branch as Scene\"."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Save New Scene As..."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid ""
+"Disabling \"editable_instance\" will cause all properties of the node to be "
+"reverted to their default."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid ""
+"Enabling \"Load As Placeholder\" will disable \"Editable Children\" and "
+"cause all properties of the node to be reverted to their default."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Make Local"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "New Scene Root"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Create Root Node:"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "2D Scene"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "3D Scene"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "User Interface"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Other Node"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Can't operate on nodes from a foreign scene!"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Can't operate on nodes the current scene inherits from!"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "This operation can't be done on instanced scenes."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Attach Script"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Cut Node(s)"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Remove Node(s)"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Change type of node(s)"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid ""
+"Couldn't save new scene. Likely dependencies (instances) couldn't be "
+"satisfied."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Error saving scene."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Error duplicating scene to save it."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Sub-Resources"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Clear Inheritance"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Editable Children"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Load As Placeholder"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid ""
+"Cannot attach a script: there are no languages registered.\n"
+"This is probably because this editor was built with all language modules "
+"disabled."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Add Child Node"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Expand/Collapse All"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Change Type"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Reparent to New Node"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Make Scene Root"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Merge From Scene"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp editor/script_editor_debugger.cpp
+msgid "Save Branch as Scene"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp editor/script_editor_debugger.cpp
+msgid "Copy Node Path"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Delete (No Confirm)"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Add/Create a New Node."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid ""
+"Instance a scene file as a Node. Creates an inherited scene if no root node "
+"exists."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Attach a new or existing script to the selected node."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Detach the script from the selected node."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Remote"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid ""
+"If selected, the Remote scene tree dock will cause the project to stutter "
+"every time it updates.\n"
+"Switch back to the Local scene tree dock to improve performance."
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Local"
+msgstr ""
+
+#: editor/scene_tree_dock.cpp
+msgid "Clear Inheritance? (No Undo!)"
+msgstr ""
+
+#: editor/scene_tree_editor.cpp
+msgid "Toggle Visible"
+msgstr ""
+
+#: editor/scene_tree_editor.cpp
+msgid "Unlock Node"
+msgstr ""
+
+#: editor/scene_tree_editor.cpp
+msgid "Button Group"
+msgstr ""
+
+#: editor/scene_tree_editor.cpp
+msgid "(Connecting From)"
+msgstr ""
+
+#: editor/scene_tree_editor.cpp
+msgid "Node configuration warning:"
+msgstr ""
+
+#: editor/scene_tree_editor.cpp
+msgid ""
+"Node has %s connection(s) and %s group(s).\n"
+"Click to show signals dock."
+msgstr ""
+
+#: editor/scene_tree_editor.cpp
+msgid ""
+"Node has %s connection(s).\n"
+"Click to show signals dock."
+msgstr ""
+
+#: editor/scene_tree_editor.cpp
+msgid ""
+"Node is in %s group(s).\n"
+"Click to show groups dock."
+msgstr ""
+
+#: editor/scene_tree_editor.cpp
+msgid "Open Script:"
+msgstr ""
+
+#: editor/scene_tree_editor.cpp
+msgid ""
+"Node is locked.\n"
+"Click to unlock it."
+msgstr ""
+
+#: editor/scene_tree_editor.cpp
+msgid ""
+"Children are not selectable.\n"
+"Click to make selectable."
+msgstr ""
+
+#: editor/scene_tree_editor.cpp
+msgid "Toggle Visibility"
+msgstr ""
+
+#: editor/scene_tree_editor.cpp
+msgid ""
+"AnimationPlayer is pinned.\n"
+"Click to unpin."
+msgstr ""
+
+#: editor/scene_tree_editor.cpp
+msgid "Invalid node name, the following characters are not allowed:"
+msgstr ""
+
+#: editor/scene_tree_editor.cpp
+msgid "Rename Node"
+msgstr ""
+
+#: editor/scene_tree_editor.cpp
+msgid "Scene Tree (Nodes):"
+msgstr ""
+
+#: editor/scene_tree_editor.cpp
+msgid "Node Configuration Warning!"
+msgstr ""
+
+#: editor/scene_tree_editor.cpp
+msgid "Select a Node"
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Path is empty."
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Filename is empty."
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Path is not local."
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Invalid base path."
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "A directory with the same name exists."
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "File does not exist."
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Invalid extension."
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Wrong extension chosen."
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Error loading template '%s'"
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Error - Could not create script in filesystem."
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Error loading script from %s"
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Overrides"
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "N/A"
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Open Script / Choose Location"
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Open Script"
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "File exists, it will be reused."
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Invalid path."
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Invalid class name."
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Invalid inherited parent name or path."
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Script path/name is valid."
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Allowed: a-z, A-Z, 0-9, _ and ."
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Built-in script (into scene file)."
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Will create a new script file."
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Will load an existing script file."
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Script file already exists."
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid ""
+"Note: Built-in scripts have some limitations and can't be edited using an "
+"external editor."
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid ""
+"Warning: Having the script name be the same as a built-in type is usually "
+"not desired."
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Class Name:"
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Template:"
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Built-in Script:"
+msgstr ""
+
+#: editor/script_create_dialog.cpp
+msgid "Attach Node Script"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Remote "
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Bytes:"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Warning:"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Error:"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "C++ Error"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "C++ Error:"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "C++ Source"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Source:"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "C++ Source:"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Stack Trace"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Errors"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Child process connected."
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Copy Error"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Open C++ Source on GitHub"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Video RAM"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Skip Breakpoints"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Inspect Previous Instance"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Inspect Next Instance"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Stack Frames"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Filter stack variables"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Profiler"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Network Profiler"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Monitor"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Value"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Monitors"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Pick one or more items from the list to display the graph."
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "List of Video Memory Usage by Resource:"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Total:"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Export list to a CSV file"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "Resource Path"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Type"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Format"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Usage"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Misc"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Clicked Control:"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Clicked Control Type:"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Live Edit Root:"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Set From Tree"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
+msgid "Export measures as CSV"
+msgstr ""
+
+#: editor/settings_config_dialog.cpp
+msgid "Erase Shortcut"
+msgstr ""
+
+#: editor/settings_config_dialog.cpp
+msgid "Restore Shortcut"
+msgstr ""
+
+#: editor/settings_config_dialog.cpp
+msgid "Change Shortcut"
+msgstr ""
+
+#: editor/settings_config_dialog.cpp
+msgid "Editor Settings"
+msgstr ""
+
+#: editor/settings_config_dialog.cpp
+msgid "Shortcuts"
+msgstr ""
+
+#: editor/settings_config_dialog.cpp
+msgid "Binding"
+msgstr ""
+
+#: editor/spatial_editor_gizmos.cpp
+msgid "Change Light Radius"
+msgstr ""
+
+#: editor/spatial_editor_gizmos.cpp
+msgid "Change AudioStreamPlayer3D Emission Angle"
+msgstr ""
+
+#: editor/spatial_editor_gizmos.cpp
+msgid "Change Camera FOV"
+msgstr ""
+
+#: editor/spatial_editor_gizmos.cpp
+msgid "Change Camera Size"
+msgstr ""
+
+#: editor/spatial_editor_gizmos.cpp
+msgid "Change Notifier AABB"
+msgstr ""
+
+#: editor/spatial_editor_gizmos.cpp
+msgid "Change Particles AABB"
+msgstr ""
+
+#: editor/spatial_editor_gizmos.cpp
+msgid "Change Probe Extents"
+msgstr ""
+
+#: editor/spatial_editor_gizmos.cpp modules/csg/csg_gizmos.cpp
+msgid "Change Sphere Shape Radius"
+msgstr ""
+
+#: editor/spatial_editor_gizmos.cpp modules/csg/csg_gizmos.cpp
+msgid "Change Box Shape Extents"
+msgstr ""
+
+#: editor/spatial_editor_gizmos.cpp
+msgid "Change Capsule Shape Radius"
+msgstr ""
+
+#: editor/spatial_editor_gizmos.cpp
+msgid "Change Capsule Shape Height"
+msgstr ""
+
+#: editor/spatial_editor_gizmos.cpp
+msgid "Change Cylinder Shape Radius"
+msgstr ""
+
+#: editor/spatial_editor_gizmos.cpp
+msgid "Change Cylinder Shape Height"
+msgstr ""
+
+#: editor/spatial_editor_gizmos.cpp
+msgid "Change Ray Shape Length"
+msgstr ""
+
+#: editor/spatial_editor_gizmos.cpp
+msgid "Set Room Point Position"
+msgstr ""
+
+#: editor/spatial_editor_gizmos.cpp
+msgid "Set Portal Point Position"
+msgstr ""
+
+#: editor/spatial_editor_gizmos.cpp
+msgid "Set Occluder Sphere Radius"
+msgstr ""
+
+#: editor/spatial_editor_gizmos.cpp
+msgid "Set Occluder Sphere Position"
+msgstr ""
+
+#: editor/spatial_editor_gizmos.cpp
+msgid "Set Occluder Polygon Point Position"
+msgstr ""
+
+#: editor/spatial_editor_gizmos.cpp
+msgid "Set Occluder Hole Point Position"
+msgstr ""
+
+#: modules/csg/csg_gizmos.cpp
+msgid "Change Cylinder Radius"
+msgstr ""
+
+#: modules/csg/csg_gizmos.cpp
+msgid "Change Cylinder Height"
+msgstr ""
+
+#: modules/csg/csg_gizmos.cpp
+msgid "Change Torus Inner Radius"
+msgstr ""
+
+#: modules/csg/csg_gizmos.cpp
+msgid "Change Torus Outer Radius"
+msgstr ""
+
+#: modules/gdnative/gdnative_library_editor_plugin.cpp
+msgid "Select the dynamic library for this entry"
+msgstr ""
+
+#: modules/gdnative/gdnative_library_editor_plugin.cpp
+msgid "Select dependencies of the library for this entry"
+msgstr ""
+
+#: modules/gdnative/gdnative_library_editor_plugin.cpp
+msgid "Remove current entry"
+msgstr ""
+
+#: modules/gdnative/gdnative_library_editor_plugin.cpp
+msgid "Double click to create a new entry"
+msgstr ""
+
+#: modules/gdnative/gdnative_library_editor_plugin.cpp
+msgid "Platform:"
+msgstr ""
+
+#: modules/gdnative/gdnative_library_editor_plugin.cpp
+msgid "Platform"
+msgstr ""
+
+#: modules/gdnative/gdnative_library_editor_plugin.cpp
+msgid "Dynamic Library"
+msgstr ""
+
+#: modules/gdnative/gdnative_library_editor_plugin.cpp
+msgid "Add an architecture entry"
+msgstr ""
+
+#: modules/gdnative/gdnative_library_editor_plugin.cpp
+msgid "GDNativeLibrary"
+msgstr ""
+
+#: modules/gdnative/gdnative_library_singleton_editor.cpp
+msgid "Enabled GDNative Singleton"
+msgstr ""
+
+#: modules/gdnative/gdnative_library_singleton_editor.cpp
+msgid "Disabled GDNative Singleton"
+msgstr ""
+
+#: modules/gdnative/gdnative_library_singleton_editor.cpp
+msgid "Library"
+msgstr ""
+
+#: modules/gdnative/gdnative_library_singleton_editor.cpp
+msgid "Libraries: "
+msgstr ""
+
+#: modules/gdnative/register_types.cpp
+msgid "GDNative"
+msgstr ""
+
+#: modules/gdscript/gdscript_functions.cpp
+msgid "Step argument is zero!"
+msgstr ""
+
+#: modules/gdscript/gdscript_functions.cpp
+msgid "Not a script with an instance"
+msgstr ""
+
+#: modules/gdscript/gdscript_functions.cpp
+msgid "Not based on a script"
+msgstr ""
+
+#: modules/gdscript/gdscript_functions.cpp
+msgid "Not based on a resource file"
+msgstr ""
+
+#: modules/gdscript/gdscript_functions.cpp
+msgid "Invalid instance dictionary format (missing @path)"
+msgstr ""
+
+#: modules/gdscript/gdscript_functions.cpp
+msgid "Invalid instance dictionary format (can't load script at @path)"
+msgstr ""
+
+#: modules/gdscript/gdscript_functions.cpp
+msgid "Invalid instance dictionary format (invalid script at @path)"
+msgstr ""
+
+#: modules/gdscript/gdscript_functions.cpp
+msgid "Invalid instance dictionary (invalid subclasses)"
+msgstr ""
+
+#: modules/gdscript/gdscript_functions.cpp
+msgid "Object can't provide a length."
+msgstr ""
+
+#: modules/gltf/editor_scene_exporter_gltf_plugin.cpp
+msgid "Export Mesh GLTF2"
+msgstr ""
+
+#: modules/gltf/editor_scene_exporter_gltf_plugin.cpp
+msgid "Export GLTF..."
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Next Plane"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Previous Plane"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Plane:"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Next Floor"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Previous Floor"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Floor:"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "GridMap Delete Selection"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "GridMap Fill Selection"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "GridMap Paste Selection"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "GridMap Paint"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "GridMap Selection"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Grid Map"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Snap View"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Clip Disabled"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Clip Above"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Clip Below"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Edit X Axis"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Edit Y Axis"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Edit Z Axis"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Cursor Rotate X"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Cursor Rotate Y"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Cursor Rotate Z"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Cursor Back Rotate X"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Cursor Back Rotate Y"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Cursor Back Rotate Z"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Cursor Clear Rotation"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Paste Selects"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Clear Selection"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Fill Selection"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "GridMap Settings"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Pick Distance:"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Filter meshes"
+msgstr ""
+
+#: modules/gridmap/grid_map_editor_plugin.cpp
+msgid "Give a MeshLibrary resource to this GridMap to use its meshes."
+msgstr ""
+
+#: modules/lightmapper_cpu/lightmapper_cpu.cpp
+msgid "Begin Bake"
+msgstr ""
+
+#: modules/lightmapper_cpu/lightmapper_cpu.cpp
+msgid "Preparing data structures"
+msgstr ""
+
+#: modules/lightmapper_cpu/lightmapper_cpu.cpp
+msgid "Generate buffers"
+msgstr ""
+
+#: modules/lightmapper_cpu/lightmapper_cpu.cpp
+msgid "Direct lighting"
+msgstr ""
+
+#: modules/lightmapper_cpu/lightmapper_cpu.cpp
+msgid "Indirect lighting"
+msgstr ""
+
+#: modules/lightmapper_cpu/lightmapper_cpu.cpp
+msgid "Post processing"
+msgstr ""
+
+#: modules/lightmapper_cpu/lightmapper_cpu.cpp
+msgid "Plotting lightmaps"
+msgstr ""
+
+#: modules/mono/csharp_script.cpp
+msgid "Class name can't be a reserved keyword"
+msgstr ""
+
+#: modules/mono/csharp_script.cpp
+msgid "Build Solution"
+msgstr ""
+
+#: modules/mono/mono_gd/gd_mono_utils.cpp
+msgid "End of inner exception stack trace"
+msgstr ""
+
+#: modules/navigation/navigation_mesh_editor_plugin.cpp
+#: scene/3d/navigation_mesh_instance.cpp
+msgid "A NavigationMesh resource must be set or created for this node to work."
+msgstr ""
+
+#: modules/navigation/navigation_mesh_editor_plugin.cpp
+msgid "Bake NavMesh"
+msgstr ""
+
+#: modules/navigation/navigation_mesh_editor_plugin.cpp
+msgid "Clear the navigation mesh."
+msgstr ""
+
+#: modules/navigation/navigation_mesh_generator.cpp
+msgid "Setting up Configuration..."
+msgstr ""
+
+#: modules/navigation/navigation_mesh_generator.cpp
+msgid "Calculating grid size..."
+msgstr ""
+
+#: modules/navigation/navigation_mesh_generator.cpp
+msgid "Creating heightfield..."
+msgstr ""
+
+#: modules/navigation/navigation_mesh_generator.cpp
+msgid "Marking walkable triangles..."
+msgstr ""
+
+#: modules/navigation/navigation_mesh_generator.cpp
+msgid "Constructing compact heightfield..."
+msgstr ""
+
+#: modules/navigation/navigation_mesh_generator.cpp
+msgid "Eroding walkable area..."
+msgstr ""
+
+#: modules/navigation/navigation_mesh_generator.cpp
+msgid "Partitioning..."
+msgstr ""
+
+#: modules/navigation/navigation_mesh_generator.cpp
+msgid "Creating contours..."
+msgstr ""
+
+#: modules/navigation/navigation_mesh_generator.cpp
+msgid "Creating polymesh..."
+msgstr ""
+
+#: modules/navigation/navigation_mesh_generator.cpp
+msgid "Converting to native navigation mesh..."
+msgstr ""
+
+#: modules/navigation/navigation_mesh_generator.cpp
+msgid "Navigation Mesh Generator Setup:"
+msgstr ""
+
+#: modules/navigation/navigation_mesh_generator.cpp
+msgid "Parsing Geometry..."
+msgstr ""
+
+#: modules/navigation/navigation_mesh_generator.cpp
+msgid "Done!"
+msgstr ""
+
+#: modules/visual_script/visual_script.cpp
+msgid ""
+"A node yielded without working memory, please read the docs on how to yield "
+"properly!"
+msgstr ""
+
+#: modules/visual_script/visual_script.cpp
+msgid ""
+"Node yielded, but did not return a function state in the first working "
+"memory."
+msgstr ""
+
+#: modules/visual_script/visual_script.cpp
+msgid ""
+"Return value must be assigned to first element of node working memory! Fix "
+"your node please."
+msgstr ""
+
+#: modules/visual_script/visual_script.cpp
+msgid "Node returned an invalid sequence output: "
+msgstr ""
+
+#: modules/visual_script/visual_script.cpp
+msgid "Found sequence bit but not the node in the stack, report bug!"
+msgstr ""
+
+#: modules/visual_script/visual_script.cpp
+msgid "Stack overflow with stack depth: "
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Change Signal Arguments"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Change Argument Type"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Change Argument name"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Set Variable Default Value"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Set Variable Type"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Add Input Port"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Add Output Port"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Change Port Type"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Change Port Name"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Override an existing built-in function."
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Create a new function."
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Variables:"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Create a new variable."
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Signals:"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Create a new signal."
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Name is not a valid identifier:"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Name already in use by another func/var/signal:"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Rename Function"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Rename Variable"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Rename Signal"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Add Function"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Delete input port"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Add Variable"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Add Signal"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Remove Input Port"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Remove Output Port"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Change Expression"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Remove VisualScript Nodes"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Duplicate VisualScript Nodes"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Hold %s to drop a Getter. Hold Shift to drop a generic signature."
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Hold Ctrl to drop a Getter. Hold Shift to drop a generic signature."
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Hold %s to drop a simple reference to the node."
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Hold Ctrl to drop a simple reference to the node."
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Hold %s to drop a Variable Setter."
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Hold Ctrl to drop a Variable Setter."
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Add Preload Node"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Add Node(s)"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Add Node(s) From Tree"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid ""
+"Can't drop properties because script '%s' is not used in this scene.\n"
+"Drop holding 'Shift' to just copy the signature."
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Add Getter Property"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Add Setter Property"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Change Base Type"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Move Node(s)"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Remove VisualScript Node"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Connect Nodes"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Disconnect Nodes"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Connect Node Data"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Connect Node Sequence"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Script already has function '%s'"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Change Input Value"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Resize Comment"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Can't copy the function node."
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Paste VisualScript Nodes"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Can't create function with a function node."
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Can't create function of nodes from nodes of multiple functions."
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Select at least one node with sequence port."
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Try to only have one sequence input in selection."
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Create Function"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Remove Function"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Remove Variable"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Editing Variable:"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Remove Signal"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Editing Signal:"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Make Tool:"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Members:"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Change Base Type:"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Add Nodes..."
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Add Function..."
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "function_name"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Select or create a function to edit its graph."
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Delete Selected"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Find Node Type"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Copy Nodes"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Cut Nodes"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Make Function"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Refresh Graph"
+msgstr ""
+
+#: modules/visual_script/visual_script_editor.cpp
+msgid "Edit Member"
+msgstr ""
+
+#: modules/visual_script/visual_script_expression.cpp
+msgid "Expression"
+msgstr ""
+
+#: modules/visual_script/visual_script_flow_control.cpp
+msgid "Return"
+msgstr ""
+
+#: modules/visual_script/visual_script_flow_control.cpp
+msgid "Condition"
+msgstr ""
+
+#: modules/visual_script/visual_script_flow_control.cpp
+msgid "if (cond) is:"
+msgstr ""
+
+#: modules/visual_script/visual_script_flow_control.cpp
+msgid "While"
+msgstr ""
+
+#: modules/visual_script/visual_script_flow_control.cpp
+msgid "while (cond):"
+msgstr ""
+
+#: modules/visual_script/visual_script_flow_control.cpp
+msgid "Iterator"
+msgstr ""
+
+#: modules/visual_script/visual_script_flow_control.cpp
+msgid "for (elem) in (input):"
+msgstr ""
+
+#: modules/visual_script/visual_script_flow_control.cpp
+msgid "Input type not iterable: "
+msgstr ""
+
+#: modules/visual_script/visual_script_flow_control.cpp
+msgid "Iterator became invalid"
+msgstr ""
+
+#: modules/visual_script/visual_script_flow_control.cpp
+msgid "Iterator became invalid: "
+msgstr ""
+
+#: modules/visual_script/visual_script_flow_control.cpp
+msgid "Sequence"
+msgstr ""
+
+#: modules/visual_script/visual_script_flow_control.cpp
+msgid "in order:"
+msgstr ""
+
+#: modules/visual_script/visual_script_flow_control.cpp
+msgid "Switch"
+msgstr ""
+
+#: modules/visual_script/visual_script_flow_control.cpp
+msgid "'input' is:"
+msgstr ""
+
+#: modules/visual_script/visual_script_flow_control.cpp
+msgid "Type Cast"
+msgstr ""
+
+#: modules/visual_script/visual_script_flow_control.cpp
+msgid "Is %s?"
+msgstr ""
+
+#: modules/visual_script/visual_script_func_nodes.cpp
+msgid "On %s"
+msgstr ""
+
+#: modules/visual_script/visual_script_func_nodes.cpp
+msgid "On Self"
+msgstr ""
+
+#: modules/visual_script/visual_script_func_nodes.cpp
+msgid "Subtract %s"
+msgstr ""
+
+#: modules/visual_script/visual_script_func_nodes.cpp
+msgid "Multiply %s"
+msgstr ""
+
+#: modules/visual_script/visual_script_func_nodes.cpp
+msgid "Divide %s"
+msgstr ""
+
+#: modules/visual_script/visual_script_func_nodes.cpp
+msgid "Mod %s"
+msgstr ""
+
+#: modules/visual_script/visual_script_func_nodes.cpp
+msgid "ShiftLeft %s"
+msgstr ""
+
+#: modules/visual_script/visual_script_func_nodes.cpp
+msgid "ShiftRight %s"
+msgstr ""
+
+#: modules/visual_script/visual_script_func_nodes.cpp
+msgid "BitAnd %s"
+msgstr ""
+
+#: modules/visual_script/visual_script_func_nodes.cpp
+msgid "BitOr %s"
+msgstr ""
+
+#: modules/visual_script/visual_script_func_nodes.cpp
+msgid "BitXor %s"
+msgstr ""
+
+#: modules/visual_script/visual_script_func_nodes.cpp
+#: modules/visual_script/visual_script_nodes.cpp
+#: modules/visual_script/visual_script_property_selector.cpp
+msgid "Get %s"
+msgstr ""
+
+#: modules/visual_script/visual_script_func_nodes.cpp
+msgid "Invalid index property name."
+msgstr ""
+
+#: modules/visual_script/visual_script_func_nodes.cpp
+msgid "Base object is not a Node!"
+msgstr ""
+
+#: modules/visual_script/visual_script_func_nodes.cpp
+msgid "Path does not lead Node!"
+msgstr ""
+
+#: modules/visual_script/visual_script_func_nodes.cpp
+msgid "Invalid index property name '%s' in node %s."
+msgstr ""
+
+#: modules/visual_script/visual_script_func_nodes.cpp
+msgid "Emit %s"
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "Function"
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "Compose Array"
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid ": Invalid argument of type: "
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid ": Invalid arguments: "
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "a if cond, else b"
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "VariableGet not found in script: "
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "VariableSet not found in script: "
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "Preload"
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "Get Index"
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "Set Index"
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "Global Constant"
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "Class Constant"
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "Basic Constant"
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "Math Constant"
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "Get Engine Singleton"
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "Get Scene Node"
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "Get Scene Tree"
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "Get Self"
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "CustomNode"
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "Custom node has no _step() method, can't process graph."
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid ""
+"Invalid return value from _step(), must be integer (seq out), or string "
+"(error)."
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "SubCall"
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "Construct %s"
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "Get Local Var"
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "Set Local Var"
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "Action %s"
+msgstr ""
+
+#: modules/visual_script/visual_script_nodes.cpp
+msgid "Deconstruct %s"
+msgstr ""
+
+#: modules/visual_script/visual_script_property_selector.cpp
+msgid "Search VisualScript"
+msgstr ""
+
+#: modules/visual_script/visual_script_yield_nodes.cpp
+msgid "Yield"
+msgstr ""
+
+#: modules/visual_script/visual_script_yield_nodes.cpp
+msgid "Wait"
+msgstr ""
+
+#: modules/visual_script/visual_script_yield_nodes.cpp
+msgid "Next Frame"
+msgstr ""
+
+#: modules/visual_script/visual_script_yield_nodes.cpp
+msgid "Next Physics Frame"
+msgstr ""
+
+#: modules/visual_script/visual_script_yield_nodes.cpp
+msgid "%s sec(s)"
+msgstr ""
+
+#: modules/visual_script/visual_script_yield_nodes.cpp
+msgid "WaitSignal"
+msgstr ""
+
+#: modules/visual_script/visual_script_yield_nodes.cpp
+msgid "WaitNodeSignal"
+msgstr ""
+
+#: modules/visual_script/visual_script_yield_nodes.cpp
+msgid "WaitInstanceSignal"
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Package name is missing."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Package segments must be of non-zero length."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "The character '%s' is not allowed in Android application package names."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "A digit cannot be the first character in a package segment."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "The character '%s' cannot be the first character in a package segment."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "The package must have at least one '.' separator."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Select device from the list"
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Running on %s"
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Exporting APK..."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Uninstalling..."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Installing to device, please wait..."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Could not install to device: %s"
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Running on device..."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Could not execute on device."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Unable to find the 'apksigner' tool."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid ""
+"Android build template not installed in the project. Install it from the "
+"Project menu."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid ""
+"Either Debug Keystore, Debug User AND Debug Password settings must be "
+"configured OR none of them."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Debug keystore not configured in the Editor Settings nor in the preset."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid ""
+"Either Release Keystore, Release User AND Release Password settings must be "
+"configured OR none of them."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Release keystore incorrectly configured in the export preset."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "A valid Android SDK path is required in Editor Settings."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Invalid Android SDK path in Editor Settings."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Missing 'platform-tools' directory!"
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Unable to find Android SDK platform-tools' adb command."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Please check in the Android SDK directory specified in Editor Settings."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Missing 'build-tools' directory!"
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Unable to find Android SDK build-tools' apksigner command."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Invalid public key for APK expansion."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Invalid package name:"
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid ""
+"Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
+"project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "\"Use Custom Build\" must be enabled to use the plugins."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid ""
+"\"Hand Tracking\" is only valid when \"Xr Mode\" is \"Oculus Mobile VrApi\" "
+"or \"OpenXR\"."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "\"Passthrough\" is only valid when \"Xr Mode\" is \"OpenXR\"."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "\"Export AAB\" is only valid when \"Use Custom Build\" is enabled."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid ""
+"Changing the \"Min Sdk\" is only valid when \"Use Custom Build\" is enabled."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid ""
+"Changing the \"Target Sdk\" is only valid when \"Use Custom Build\" is "
+"enabled."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "\"Target Sdk\" version must be greater or equal to \"Min Sdk\" version."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid ""
+"'apksigner' could not be found.\n"
+"Please check the command is available in the Android SDK build-tools "
+"directory.\n"
+"The resulting %s is unsigned."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Signing debug %s..."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Signing release %s..."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Could not find keystore, unable to export."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "'apksigner' returned with error #%d"
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Verifying %s..."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "'apksigner' verification of %s failed."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Exporting for Android"
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Invalid filename! Android App Bundle requires the *.aab extension."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "APK Expansion not compatible with Android App Bundle."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Invalid filename! Android APK requires the *.apk extension."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Unsupported export format!\n"
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid ""
+"Trying to build from a custom built template, but no version info for it "
+"exists. Please reinstall from the 'Project' menu."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid ""
+"Android build version mismatch:\n"
+"   Template installed: %s\n"
+"   Godot Version: %s\n"
+"Please reinstall Android build template from 'Project' menu."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid ""
+"Unable to overwrite res://android/build/res/*.xml files with project name"
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Could not export project files to gradle project\n"
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Could not write expansion package file!"
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Building Android Project (gradle)"
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid ""
+"Building of Android project failed, check output for the error.\n"
+"Alternatively visit docs.godotengine.org for Android build documentation."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Moving output"
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid ""
+"Unable to copy and rename export file, check gradle project directory for "
+"outputs."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Package not found: %s"
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Creating APK..."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid ""
+"Could not find template APK to export:\n"
+"%s"
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid ""
+"Missing libraries in the export template for the selected architectures: "
+"%s.\n"
+"Please build a template with all required libraries, or uncheck the missing "
+"architectures in the export preset."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Adding files..."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Could not export project files"
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Aligning APK..."
+msgstr ""
+
+#: platform/android/export/export_plugin.cpp
+msgid "Could not unzip temporary unaligned APK."
+msgstr ""
+
+#: platform/iphone/export/export.cpp platform/osx/export/export.cpp
+msgid "Identifier is missing."
+msgstr ""
+
+#: platform/iphone/export/export.cpp platform/osx/export/export.cpp
+msgid "The character '%s' is not allowed in Identifier."
+msgstr ""
+
+#: platform/iphone/export/export.cpp
+msgid "App Store Team ID not specified - cannot configure the project."
+msgstr ""
+
+#: platform/iphone/export/export.cpp
+msgid "Invalid Identifier:"
+msgstr ""
+
+#: platform/javascript/export/export.cpp
+msgid "Stop HTTP Server"
+msgstr ""
+
+#: platform/javascript/export/export.cpp
+msgid "Run in Browser"
+msgstr ""
+
+#: platform/javascript/export/export.cpp
+msgid "Run exported HTML in the system's default browser."
+msgstr ""
+
+#: platform/javascript/export/export.cpp
+msgid "Could not open template for export:"
+msgstr ""
+
+#: platform/javascript/export/export.cpp
+msgid "Invalid export template:"
+msgstr ""
+
+#: platform/javascript/export/export.cpp
+msgid "Could not write file:"
+msgstr ""
+
+#: platform/javascript/export/export.cpp
+msgid "Could not read file:"
+msgstr ""
+
+#: platform/javascript/export/export.cpp
+msgid "Could not read HTML shell:"
+msgstr ""
+
+#: platform/javascript/export/export.cpp
+msgid "Could not create HTTP server directory:"
+msgstr ""
+
+#: platform/javascript/export/export.cpp
+msgid "Error starting HTTP server:"
+msgstr ""
+
+#: platform/osx/export/codesign.cpp
+msgid "Can't get filesystem access."
+msgstr ""
+
+#: platform/osx/export/codesign.cpp
+msgid "Failed to get Info.plist hash."
+msgstr ""
+
+#: platform/osx/export/codesign.cpp
+msgid "Invalid Info.plist, no exe name."
+msgstr ""
+
+#: platform/osx/export/codesign.cpp
+msgid "Invalid Info.plist, no bundle id."
+msgstr ""
+
+#: platform/osx/export/codesign.cpp
+msgid "Invalid Info.plist, can't load."
+msgstr ""
+
+#: platform/osx/export/codesign.cpp
+msgid "Failed to create \"%s\" subfolder."
+msgstr ""
+
+#: platform/osx/export/codesign.cpp
+msgid "Failed to extract thin binary."
+msgstr ""
+
+#: platform/osx/export/codesign.cpp
+msgid "Invalid binary format."
+msgstr ""
+
+#: platform/osx/export/codesign.cpp
+msgid "Already signed!"
+msgstr ""
+
+#: platform/osx/export/codesign.cpp
+msgid "Failed to process nested resources."
+msgstr ""
+
+#: platform/osx/export/codesign.cpp
+msgid "Failed to create _CodeSignature subfolder."
+msgstr ""
+
+#: platform/osx/export/codesign.cpp
+msgid "Failed to get CodeResources hash."
+msgstr ""
+
+#: platform/osx/export/codesign.cpp platform/osx/export/export.cpp
+msgid "Invalid entitlements file."
+msgstr ""
+
+#: platform/osx/export/codesign.cpp
+msgid "Invalid executable file."
+msgstr ""
+
+#: platform/osx/export/codesign.cpp
+msgid "Can't resize signature load command."
+msgstr ""
+
+#: platform/osx/export/codesign.cpp
+msgid "Failed to create fat binary."
+msgstr ""
+
+#: platform/osx/export/codesign.cpp
+msgid "Unknown bundle type."
+msgstr ""
+
+#: platform/osx/export/codesign.cpp
+msgid "Unknown object type."
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid ""
+"Note: The notarization process generally takes less than an hour. When the "
+"process is completed, you'll receive an email."
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid ""
+"You can check progress manually by opening a Terminal and running the "
+"following command:"
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid ""
+"Run the following command to staple the notarization ticket to the exported "
+"application (optional):"
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid "No identity found."
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid "Creating app bundle"
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid "Could not find template app to export:"
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid ""
+"Relative symlinks are not supported on this OS, the exported project might "
+"be broken!"
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid ""
+"Requested template binary '%s' not found. It might be missing from your "
+"template archive."
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid "Making PKG"
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid ""
+"Ad-hoc signed applications require the 'Disable Library Validation' "
+"entitlement to load dynamic libraries."
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid "Code signing bundle"
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid "Making DMG"
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid "Code signing DMG"
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid "Making ZIP"
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid ""
+"Notarization requires the app to be archived first, select the DMG or ZIP "
+"export format instead."
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid "Sending archive for notarization"
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid "Invalid bundle identifier:"
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid ""
+"Warning: Built-in \"codesign\" is selected in the Editor Settings. Code "
+"signing is limited to ad-hoc signature only."
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid ""
+"Warning: Xcode command line tools are not installed, using built-in "
+"\"codesign\". Code signing is limited to ad-hoc signature only."
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid "Notarization: Notarization with an ad-hoc signature is not supported."
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid "Notarization: Code signing is required for notarization."
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid "Notarization: Hardened runtime is required for notarization."
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid "Notarization: Timestamp runtime is required for notarization."
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid "Notarization: Apple ID name not specified."
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid "Notarization: Apple ID password not specified."
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid ""
+"Warning: Notarization is disabled. The exported project will be blocked by "
+"Gatekeeper if it's downloaded from an unknown source."
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid ""
+"Code signing is disabled. The exported project will not run on Macs with "
+"enabled Gatekeeper and Apple Silicon powered Macs."
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid ""
+"Hardened Runtime is not compatible with ad-hoc signature, and will be "
+"disabled!"
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid ""
+"Timestamping is not compatible with ad-hoc signature, and will be disabled!"
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid ""
+"Warning: Notarization is not supported from this OS. The exported project "
+"will be blocked by Gatekeeper if it's downloaded from an unknown source."
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid ""
+"Privacy: Microphone access is enabled, but usage description is not "
+"specified."
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid ""
+"Privacy: Camera access is enabled, but usage description is not specified."
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid ""
+"Privacy: Location information access is enabled, but usage description is "
+"not specified."
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid ""
+"Privacy: Address book access is enabled, but usage description is not "
+"specified."
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid ""
+"Privacy: Calendar access is enabled, but usage description is not specified."
+msgstr ""
+
+#: platform/osx/export/export.cpp
+msgid ""
+"Privacy: Photo library access is enabled, but usage description is not "
+"specified."
+msgstr ""
+
+#: platform/uwp/export/export.cpp
+msgid "Invalid package short name."
+msgstr ""
+
+#: platform/uwp/export/export.cpp
+msgid "Invalid package unique name."
+msgstr ""
+
+#: platform/uwp/export/export.cpp
+msgid "Invalid package publisher display name."
+msgstr ""
+
+#: platform/uwp/export/export.cpp
+msgid "Invalid product GUID."
+msgstr ""
+
+#: platform/uwp/export/export.cpp
+msgid "Invalid publisher GUID."
+msgstr ""
+
+#: platform/uwp/export/export.cpp
+msgid "Invalid background color."
+msgstr ""
+
+#: platform/uwp/export/export.cpp
+msgid "Invalid Store Logo image dimensions (should be 50x50)."
+msgstr ""
+
+#: platform/uwp/export/export.cpp
+msgid "Invalid square 44x44 logo image dimensions (should be 44x44)."
+msgstr ""
+
+#: platform/uwp/export/export.cpp
+msgid "Invalid square 71x71 logo image dimensions (should be 71x71)."
+msgstr ""
+
+#: platform/uwp/export/export.cpp
+msgid "Invalid square 150x150 logo image dimensions (should be 150x150)."
+msgstr ""
+
+#: platform/uwp/export/export.cpp
+msgid "Invalid square 310x310 logo image dimensions (should be 310x310)."
+msgstr ""
+
+#: platform/uwp/export/export.cpp
+msgid "Invalid wide 310x150 logo image dimensions (should be 310x150)."
+msgstr ""
+
+#: platform/uwp/export/export.cpp
+msgid "Invalid splash screen image dimensions (should be 620x300)."
+msgstr ""
+
+#: platform/windows/export/export.cpp
+msgid ""
+"The rcedit tool must be configured in the Editor Settings (Export > Windows "
+"> Rcedit) to change the icon or app information data."
+msgstr ""
+
+#: platform/windows/export/export.cpp
+msgid "Invalid icon path:"
+msgstr ""
+
+#: platform/windows/export/export.cpp
+msgid "Invalid file version:"
+msgstr ""
+
+#: platform/windows/export/export.cpp
+msgid "Invalid product version:"
+msgstr ""
+
+#: scene/2d/animated_sprite.cpp
+msgid ""
+"A SpriteFrames resource must be created or set in the \"Frames\" property in "
+"order for AnimatedSprite to display frames."
+msgstr ""
+
+#: scene/2d/canvas_modulate.cpp
+msgid ""
+"Only one visible CanvasModulate is allowed per scene (or set of instanced "
+"scenes). The first created one will work, while the rest will be ignored."
+msgstr ""
+
+#: scene/2d/collision_object_2d.cpp
+msgid ""
+"This node has no shape, so it can't collide or interact with other objects.\n"
+"Consider adding a CollisionShape2D or CollisionPolygon2D as a child to "
+"define its shape."
+msgstr ""
+
+#: scene/2d/collision_polygon_2d.cpp
+msgid ""
+"CollisionPolygon2D only serves to provide a collision shape to a "
+"CollisionObject2D derived node. Please only use it as a child of Area2D, "
+"StaticBody2D, RigidBody2D, KinematicBody2D, etc. to give them a shape."
+msgstr ""
+
+#: scene/2d/collision_polygon_2d.cpp
+msgid "An empty CollisionPolygon2D has no effect on collision."
+msgstr ""
+
+#: scene/2d/collision_polygon_2d.cpp
+msgid "Invalid polygon. At least 3 points are needed in 'Solids' build mode."
+msgstr ""
+
+#: scene/2d/collision_polygon_2d.cpp
+msgid "Invalid polygon. At least 2 points are needed in 'Segments' build mode."
+msgstr ""
+
+#: scene/2d/collision_shape_2d.cpp
+msgid ""
+"CollisionShape2D only serves to provide a collision shape to a "
+"CollisionObject2D derived node. Please only use it as a child of Area2D, "
+"StaticBody2D, RigidBody2D, KinematicBody2D, etc. to give them a shape."
+msgstr ""
+
+#: scene/2d/collision_shape_2d.cpp
+msgid ""
+"A shape must be provided for CollisionShape2D to function. Please create a "
+"shape resource for it!"
+msgstr ""
+
+#: scene/2d/collision_shape_2d.cpp
+msgid ""
+"Polygon-based shapes are not meant be used nor edited directly through the "
+"CollisionShape2D node. Please use the CollisionPolygon2D node instead."
+msgstr ""
+
+#: scene/2d/cpu_particles_2d.cpp
+msgid ""
+"CPUParticles2D animation requires the usage of a CanvasItemMaterial with "
+"\"Particles Animation\" enabled."
+msgstr ""
+
+#: scene/2d/joints_2d.cpp
+msgid "Node A and Node B must be PhysicsBody2Ds"
+msgstr ""
+
+#: scene/2d/joints_2d.cpp
+msgid "Node A must be a PhysicsBody2D"
+msgstr ""
+
+#: scene/2d/joints_2d.cpp
+msgid "Node B must be a PhysicsBody2D"
+msgstr ""
+
+#: scene/2d/joints_2d.cpp
+msgid "Joint is not connected to two PhysicsBody2Ds"
+msgstr ""
+
+#: scene/2d/joints_2d.cpp
+msgid "Node A and Node B must be different PhysicsBody2Ds"
+msgstr ""
+
+#: scene/2d/light_2d.cpp
+msgid ""
+"A texture with the shape of the light must be supplied to the \"Texture\" "
+"property."
+msgstr ""
+
+#: scene/2d/light_occluder_2d.cpp
+msgid ""
+"An occluder polygon must be set (or drawn) for this occluder to take effect."
+msgstr ""
+
+#: scene/2d/light_occluder_2d.cpp
+msgid "The occluder polygon for this occluder is empty. Please draw a polygon."
+msgstr ""
+
+#: scene/2d/navigation_agent_2d.cpp
+msgid "The NavigationAgent2D can be used only under a Node2D node."
+msgstr ""
+
+#: scene/2d/navigation_obstacle_2d.cpp
+msgid ""
+"The NavigationObstacle2D only serves to provide collision avoidance to a "
+"Node2D object."
+msgstr ""
+
+#: scene/2d/navigation_polygon.cpp
+msgid ""
+"A NavigationPolygon resource must be set or created for this node to work. "
+"Please set a property or draw a polygon."
+msgstr ""
+
+#: scene/2d/navigation_polygon.cpp
+msgid ""
+"NavigationPolygonInstance must be a child or grandchild to a Navigation2D "
+"node. It only provides navigation data."
+msgstr ""
+
+#: scene/2d/parallax_layer.cpp
+msgid ""
+"ParallaxLayer node only works when set as child of a ParallaxBackground node."
+msgstr ""
+
+#: scene/2d/particles_2d.cpp
+msgid ""
+"GPU-based particles are not supported by the GLES2 video driver.\n"
+"Use the CPUParticles2D node instead. You can use the \"Convert to "
+"CPUParticles2D\" toolbar option for this purpose."
+msgstr ""
+
+#: scene/2d/particles_2d.cpp
+msgid ""
+"On macOS, Particles2D rendering is much slower than CPUParticles2D due to "
+"transform feedback being implemented on the CPU instead of the GPU.\n"
+"Consider using CPUParticles2D instead when targeting macOS.\n"
+"You can use the \"Convert to CPUParticles2D\" toolbar option for this "
+"purpose."
+msgstr ""
+
+#: scene/2d/particles_2d.cpp scene/3d/particles.cpp
+msgid ""
+"A material to process the particles is not assigned, so no behavior is "
+"imprinted."
+msgstr ""
+
+#: scene/2d/particles_2d.cpp
+msgid ""
+"Particles2D animation requires the usage of a CanvasItemMaterial with "
+"\"Particles Animation\" enabled."
+msgstr ""
+
+#: scene/2d/path_2d.cpp
+msgid "PathFollow2D only works when set as a child of a Path2D node."
+msgstr ""
+
+#: scene/2d/physics_body_2d.cpp
+msgid ""
+"Size changes to RigidBody2D (in character or rigid modes) will be overridden "
+"by the physics engine when running.\n"
+"Change the size in children collision shapes instead."
+msgstr ""
+
+#: scene/2d/remote_transform_2d.cpp
+msgid "Path property must point to a valid Node2D node to work."
+msgstr ""
+
+#: scene/2d/skeleton_2d.cpp
+msgid "This Bone2D chain should end at a Skeleton2D node."
+msgstr ""
+
+#: scene/2d/skeleton_2d.cpp
+msgid "A Bone2D only works with a Skeleton2D or another Bone2D as parent node."
+msgstr ""
+
+#: scene/2d/skeleton_2d.cpp
+msgid ""
+"This bone lacks a proper REST pose. Go to the Skeleton2D node and set one."
+msgstr ""
+
+#: scene/2d/tile_map.cpp
+msgid ""
+"TileMap with Use Parent on needs a parent CollisionObject2D to give shapes "
+"to. Please use it as a child of Area2D, StaticBody2D, RigidBody2D, "
+"KinematicBody2D, etc. to give them a shape."
+msgstr ""
+
+#: scene/2d/visibility_notifier_2d.cpp
+msgid ""
+"VisibilityEnabler2D works best when used with the edited scene root directly "
+"as parent."
+msgstr ""
+
+#: scene/3d/arvr_nodes.cpp
+msgid "ARVRCamera must have an ARVROrigin node as its parent."
+msgstr ""
+
+#: scene/3d/arvr_nodes.cpp
+msgid "ARVRController must have an ARVROrigin node as its parent."
+msgstr ""
+
+#: scene/3d/arvr_nodes.cpp
+msgid ""
+"The controller ID must not be 0 or this controller won't be bound to an "
+"actual controller."
+msgstr ""
+
+#: scene/3d/arvr_nodes.cpp
+msgid "ARVRAnchor must have an ARVROrigin node as its parent."
+msgstr ""
+
+#: scene/3d/arvr_nodes.cpp
+msgid ""
+"The anchor ID must not be 0 or this anchor won't be bound to an actual "
+"anchor."
+msgstr ""
+
+#: scene/3d/arvr_nodes.cpp
+msgid "ARVROrigin requires an ARVRCamera child node."
+msgstr ""
+
+#: scene/3d/baked_lightmap.cpp
+msgid "Finding meshes and lights"
+msgstr ""
+
+#: scene/3d/baked_lightmap.cpp
+msgid "Preparing geometry (%d/%d)"
+msgstr ""
+
+#: scene/3d/baked_lightmap.cpp
+msgid "Preparing environment"
+msgstr ""
+
+#: scene/3d/baked_lightmap.cpp
+msgid "Generating capture"
+msgstr ""
+
+#: scene/3d/baked_lightmap.cpp
+msgid "Saving lightmaps"
+msgstr ""
+
+#: scene/3d/baked_lightmap.cpp
+msgid "Done"
+msgstr ""
+
+#: scene/3d/collision_object.cpp
+msgid ""
+"This node has no shape, so it can't collide or interact with other objects.\n"
+"Consider adding a CollisionShape or CollisionPolygon as a child to define "
+"its shape."
+msgstr ""
+
+#: scene/3d/collision_polygon.cpp
+msgid ""
+"CollisionPolygon only serves to provide a collision shape to a "
+"CollisionObject derived node. Please only use it as a child of Area, "
+"StaticBody, RigidBody, KinematicBody, etc. to give them a shape."
+msgstr ""
+
+#: scene/3d/collision_polygon.cpp
+msgid "An empty CollisionPolygon has no effect on collision."
+msgstr ""
+
+#: scene/3d/collision_shape.cpp
+msgid ""
+"CollisionShape only serves to provide a collision shape to a CollisionObject "
+"derived node. Please only use it as a child of Area, StaticBody, RigidBody, "
+"KinematicBody, etc. to give them a shape."
+msgstr ""
+
+#: scene/3d/collision_shape.cpp
+msgid ""
+"A shape must be provided for CollisionShape to function. Please create a "
+"shape resource for it."
+msgstr ""
+
+#: scene/3d/collision_shape.cpp
+msgid ""
+"Plane shapes don't work well and will be removed in future versions. Please "
+"don't use them."
+msgstr ""
+
+#: scene/3d/collision_shape.cpp
+msgid ""
+"ConcavePolygonShape doesn't support RigidBody in another mode than static."
+msgstr ""
+
+#: scene/3d/cpu_particles.cpp
+msgid "Nothing is visible because no mesh has been assigned."
+msgstr ""
+
+#: scene/3d/cpu_particles.cpp
+msgid ""
+"CPUParticles animation requires the usage of a SpatialMaterial whose "
+"Billboard Mode is set to \"Particle Billboard\"."
+msgstr ""
+
+#: scene/3d/gi_probe.cpp
+msgid "Plotting Meshes"
+msgstr ""
+
+#: scene/3d/gi_probe.cpp
+msgid "Finishing Plot"
+msgstr ""
+
+#: scene/3d/gi_probe.cpp
+msgid ""
+"GIProbes are not supported by the GLES2 video driver.\n"
+"Use a BakedLightmap instead."
+msgstr ""
+
+#: scene/3d/gi_probe.cpp
+msgid ""
+"The GIProbe Compress property has been deprecated due to known bugs and no "
+"longer has any effect.\n"
+"To remove this warning, disable the GIProbe's Compress property."
+msgstr ""
+
+#: scene/3d/light.cpp
+msgid "A SpotLight with an angle wider than 90 degrees cannot cast shadows."
+msgstr ""
+
+#: scene/3d/navigation_agent.cpp
+msgid "The NavigationAgent can be used only under a spatial node."
+msgstr ""
+
+#: scene/3d/navigation_mesh_instance.cpp
+msgid ""
+"NavigationMeshInstance must be a child or grandchild to a Navigation node. "
+"It only provides navigation data."
+msgstr ""
+
+#: scene/3d/navigation_obstacle.cpp
+msgid ""
+"The NavigationObstacle only serves to provide collision avoidance to a "
+"spatial object."
+msgstr ""
+
+#: scene/3d/occluder.cpp
+msgid "No shape is set."
+msgstr ""
+
+#: scene/3d/occluder.cpp
+msgid "Only uniform scales are supported."
+msgstr ""
+
+#: scene/3d/particles.cpp
+msgid ""
+"GPU-based particles are not supported by the GLES2 video driver.\n"
+"Use the CPUParticles node instead. You can use the \"Convert to "
+"CPUParticles\" toolbar option for this purpose."
+msgstr ""
+
+#: scene/3d/particles.cpp
+msgid ""
+"On macOS, Particles rendering is much slower than CPUParticles due to "
+"transform feedback being implemented on the CPU instead of the GPU.\n"
+"Consider using CPUParticles instead when targeting macOS.\n"
+"You can use the \"Convert to CPUParticles\" toolbar option for this purpose."
+msgstr ""
+
+#: scene/3d/particles.cpp
+msgid ""
+"Nothing is visible because meshes have not been assigned to draw passes."
+msgstr ""
+
+#: scene/3d/particles.cpp
+msgid ""
+"Particles animation requires the usage of a SpatialMaterial whose Billboard "
+"Mode is set to \"Particle Billboard\"."
+msgstr ""
+
+#: scene/3d/path.cpp
+msgid "PathFollow only works when set as a child of a Path node."
+msgstr ""
+
+#: scene/3d/path.cpp
+msgid ""
+"PathFollow's ROTATION_ORIENTED requires \"Up Vector\" to be enabled in its "
+"parent Path's Curve resource."
+msgstr ""
+
+#: scene/3d/physics_body.cpp
+msgid ""
+"Size changes to RigidBody (in character or rigid modes) will be overridden "
+"by the physics engine when running.\n"
+"Change the size in children collision shapes instead."
+msgstr ""
+
+#: scene/3d/physics_joint.cpp
+msgid "Node A and Node B must be PhysicsBodies"
+msgstr ""
+
+#: scene/3d/physics_joint.cpp
+msgid "Node A must be a PhysicsBody"
+msgstr ""
+
+#: scene/3d/physics_joint.cpp
+msgid "Node B must be a PhysicsBody"
+msgstr ""
+
+#: scene/3d/physics_joint.cpp
+msgid "Joint is not connected to any PhysicsBodies"
+msgstr ""
+
+#: scene/3d/physics_joint.cpp
+msgid "Node A and Node B must be different PhysicsBodies"
+msgstr ""
+
+#: scene/3d/portal.cpp
+msgid "The RoomManager should not be a child or grandchild of a Portal."
+msgstr ""
+
+#: scene/3d/portal.cpp
+msgid "A Room should not be a child or grandchild of a Portal."
+msgstr ""
+
+#: scene/3d/portal.cpp
+msgid "A RoomGroup should not be a child or grandchild of a Portal."
+msgstr ""
+
+#: scene/3d/remote_transform.cpp
+msgid ""
+"The \"Remote Path\" property must point to a valid Spatial or Spatial-"
+"derived node to work."
+msgstr ""
+
+#: scene/3d/room.cpp
+msgid "A Room cannot have another Room as a child or grandchild."
+msgstr ""
+
+#: scene/3d/room.cpp
+msgid "The RoomManager should not be placed inside a Room."
+msgstr ""
+
+#: scene/3d/room.cpp
+msgid "A RoomGroup should not be placed inside a Room."
+msgstr ""
+
+#: scene/3d/room.cpp
+msgid ""
+"Room convex hull contains a large number of planes.\n"
+"Consider simplifying the room bound in order to increase performance."
+msgstr ""
+
+#: scene/3d/room_group.cpp
+msgid "The RoomManager should not be placed inside a RoomGroup."
+msgstr ""
+
+#: scene/3d/room_manager.cpp
+msgid "The RoomList has not been assigned."
+msgstr ""
+
+#: scene/3d/room_manager.cpp
+msgid "The RoomList node should be a Spatial (or derived from Spatial)."
+msgstr ""
+
+#: scene/3d/room_manager.cpp
+msgid ""
+"Portal Depth Limit is set to Zero.\n"
+"Only the Room that the Camera is in will render."
+msgstr ""
+
+#: scene/3d/room_manager.cpp
+msgid "There should only be one RoomManager in the SceneTree."
+msgstr ""
+
+#: scene/3d/room_manager.cpp
+msgid ""
+"RoomList path is invalid.\n"
+"Please check the RoomList branch has been assigned in the RoomManager."
+msgstr ""
+
+#: scene/3d/room_manager.cpp
+msgid "RoomList contains no Rooms, aborting."
+msgstr ""
+
+#: scene/3d/room_manager.cpp
+msgid "Misnamed nodes detected, check output log for details. Aborting."
+msgstr ""
+
+#: scene/3d/room_manager.cpp
+msgid "Portal link room not found, check output log for details."
+msgstr ""
+
+#: scene/3d/room_manager.cpp
+msgid ""
+"Portal autolink failed, check output log for details.\n"
+"Check the portal is facing outwards from the source room."
+msgstr ""
+
+#: scene/3d/room_manager.cpp
+msgid ""
+"Room overlap detected, cameras may work incorrectly in overlapping area.\n"
+"Check output log for details."
+msgstr ""
+
+#: scene/3d/room_manager.cpp
+msgid ""
+"Error calculating room bounds.\n"
+"Ensure all rooms contain geometry or manual bounds."
+msgstr ""
+
+#: scene/3d/soft_body.cpp
+msgid "This body will be ignored until you set a mesh."
+msgstr ""
+
+#: scene/3d/soft_body.cpp
+msgid ""
+"Size changes to SoftBody will be overridden by the physics engine when "
+"running.\n"
+"Change the size in children collision shapes instead."
+msgstr ""
+
+#: scene/3d/sprite_3d.cpp
+msgid ""
+"A SpriteFrames resource must be created or set in the \"Frames\" property in "
+"order for AnimatedSprite3D to display frames."
+msgstr ""
+
+#: scene/3d/vehicle_body.cpp
+msgid ""
+"VehicleWheel serves to provide a wheel system to a VehicleBody. Please use "
+"it as a child of a VehicleBody."
+msgstr ""
+
+#: scene/3d/world_environment.cpp
+msgid ""
+"WorldEnvironment requires its \"Environment\" property to contain an "
+"Environment to have a visible effect."
+msgstr ""
+
+#: scene/3d/world_environment.cpp
+msgid ""
+"Only one WorldEnvironment is allowed per scene (or set of instanced scenes)."
+msgstr ""
+
+#: scene/3d/world_environment.cpp
+msgid ""
+"This WorldEnvironment is ignored. Either add a Camera (for 3D scenes) or set "
+"this environment's Background Mode to Canvas (for 2D scenes)."
+msgstr ""
+
+#: scene/animation/animation_blend_tree.cpp
+msgid "On BlendTree node '%s', animation not found: '%s'"
+msgstr ""
+
+#: scene/animation/animation_blend_tree.cpp
+msgid "Animation not found: '%s'"
+msgstr ""
+
+#: scene/animation/animation_player.cpp
+msgid "Anim Apply Reset"
+msgstr ""
+
+#: scene/animation/animation_tree.cpp
+msgid "In node '%s', invalid animation: '%s'."
+msgstr ""
+
+#: scene/animation/animation_tree.cpp
+msgid "Invalid animation: '%s'."
+msgstr ""
+
+#: scene/animation/animation_tree.cpp
+msgid "Nothing connected to input '%s' of node '%s'."
+msgstr ""
+
+#: scene/animation/animation_tree.cpp
+msgid "No root AnimationNode for the graph is set."
+msgstr ""
+
+#: scene/animation/animation_tree.cpp
+msgid "Path to an AnimationPlayer node containing animations is not set."
+msgstr ""
+
+#: scene/animation/animation_tree.cpp
+msgid "Path set for AnimationPlayer does not lead to an AnimationPlayer node."
+msgstr ""
+
+#: scene/animation/animation_tree.cpp
+msgid "The AnimationPlayer root node is not a valid node."
+msgstr ""
+
+#: scene/animation/animation_tree_player.cpp
+msgid "This node has been deprecated. Use AnimationTree instead."
+msgstr ""
+
+#: scene/gui/color_picker.cpp
+msgid ""
+"Color: #%s\n"
+"LMB: Apply color\n"
+"RMB: Remove preset"
+msgstr ""
+
+#: scene/gui/color_picker.cpp
+msgid "Pick a color from the editor window."
+msgstr ""
+
+#: scene/gui/color_picker.cpp
+msgid "HSV"
+msgstr ""
+
+#: scene/gui/color_picker.cpp
+msgid "Raw"
+msgstr ""
+
+#: scene/gui/color_picker.cpp
+msgid "Switch between hexadecimal and code values."
+msgstr ""
+
+#: scene/gui/color_picker.cpp
+msgid "Add current color as a preset."
+msgstr ""
+
+#: scene/gui/container.cpp
+msgid ""
+"Container by itself serves no purpose unless a script configures its "
+"children placement behavior.\n"
+"If you don't intend to add a script, use a plain Control node instead."
+msgstr ""
+
+#: scene/gui/control.cpp
+msgid ""
+"The Hint Tooltip won't be displayed as the control's Mouse Filter is set to "
+"\"Ignore\". To solve this, set the Mouse Filter to \"Stop\" or \"Pass\"."
+msgstr ""
+
+#: scene/gui/dialogs.cpp
+msgid "Alert!"
+msgstr ""
+
+#: scene/gui/dialogs.cpp
+msgid "Please Confirm..."
+msgstr ""
+
+#: scene/gui/file_dialog.cpp
+msgid "Must use a valid extension."
+msgstr ""
+
+#: scene/gui/graph_edit.cpp
+msgid "Enable grid minimap."
+msgstr ""
+
+#: scene/gui/nine_patch_rect.cpp
+msgid ""
+"The Tile and Tile Fit options for Axis Stretch properties are only effective "
+"when using the GLES3 rendering backend.\n"
+"The GLES2 backend is currently in use, so these modes will act like Stretch "
+"instead."
+msgstr ""
+
+#: scene/gui/popup.cpp
+msgid ""
+"Popups will hide by default unless you call popup() or any of the popup*() "
+"functions. Making them visible for editing is fine, but they will hide upon "
+"running."
+msgstr ""
+
+#: scene/gui/range.cpp
+msgid "If \"Exp Edit\" is enabled, \"Min Value\" must be greater than 0."
+msgstr ""
+
+#: scene/gui/scroll_container.cpp
+msgid ""
+"ScrollContainer is intended to work with a single child control.\n"
+"Use a container as child (VBox, HBox, etc.), or a Control and set the custom "
+"minimum size manually."
+msgstr ""
+
+#: scene/gui/tree.cpp
+msgid "(Other)"
+msgstr ""
+
+#: scene/main/scene_tree.cpp
+msgid ""
+"Default Environment as specified in Project Settings (Rendering -> "
+"Environment -> Default Environment) could not be loaded."
+msgstr ""
+
+#: scene/main/timer.cpp
+msgid ""
+"Very low timer wait times (< 0.05 seconds) may behave in significantly "
+"different ways depending on the rendered or physics frame rate.\n"
+"Consider using a script's process loop instead of relying on a Timer for "
+"very low wait times."
+msgstr ""
+
+#: scene/main/viewport.cpp
+msgid ""
+"This viewport is not set as render target. If you intend for it to display "
+"its contents directly to the screen, make it a child of a Control so it can "
+"obtain a size. Otherwise, make it a RenderTarget and assign its internal "
+"texture to some node for display."
+msgstr ""
+
+#: scene/main/viewport.cpp
+msgid ""
+"The Viewport size must be greater than or equal to 2 pixels on both "
+"dimensions to render anything."
+msgstr ""
+
+#: scene/resources/occluder_shape.cpp
+msgid "OccluderShapeSphere Set Spheres"
+msgstr ""
+
+#: scene/resources/visual_shader_nodes.cpp
+msgid ""
+"The sampler port is connected but not used. Consider changing the source to "
+"'SamplerPort'."
+msgstr ""
+
+#: scene/resources/visual_shader_nodes.cpp
+msgid "Invalid source for preview."
+msgstr ""
+
+#: scene/resources/visual_shader_nodes.cpp
+msgid "Invalid source for shader."
+msgstr ""
+
+#: scene/resources/visual_shader_nodes.cpp
+msgid "Invalid comparison function for that type."
+msgstr ""
+
+#: servers/visual/shader_language.cpp
+msgid "Varying may not be assigned in the '%s' function."
+msgstr ""
+
+#: servers/visual/shader_language.cpp
+msgid ""
+"Varyings which assigned in 'vertex' function may not be reassigned in "
+"'fragment' or 'light'."
+msgstr ""
+
+#: servers/visual/shader_language.cpp
+msgid ""
+"Varyings which assigned in 'fragment' function may not be reassigned in "
+"'vertex' or 'light'."
+msgstr ""
+
+#: servers/visual/shader_language.cpp
+msgid "Assignment to function."
+msgstr ""
+
+#: servers/visual/shader_language.cpp
+msgid "Assignment to uniform."
+msgstr ""
+
+#: servers/visual/shader_language.cpp
+msgid "Constants cannot be modified."
+msgstr ""
diff --git a/editor/translations/eo.po b/editor/translations/eo.po
index 1a95fb6702..f77d1da645 100644
--- a/editor/translations/eo.po
+++ b/editor/translations/eo.po
@@ -1484,6 +1484,11 @@ msgstr "Ŝargi la defaŭlta busaran�o."
 msgid "Create a new Bus Layout."
 msgstr "Krei nova busaran�o."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Malfermi aran�on de aŭdia buso"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Malvalida nomo."
@@ -2927,7 +2932,7 @@ msgstr "Baskuli sendistran re�imon."
 msgid "Add a new scene."
 msgstr "Aldoni novan scenon."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Sceno"
 
@@ -5711,6 +5716,10 @@ msgid "Bake Lightmaps"
 msgstr "Baki lummapojn"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "Elekti dosieron por bakado de lummapo:"
 
@@ -8219,7 +8228,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9149,6 +9163,11 @@ msgid "Select Another Theme Resource:"
 msgstr "Serĉi anstataŭiga risurco:"
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "Renomi risurcon"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -9202,6 +9221,20 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Ŝan�u la tipon de %s"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Ŝan�u la tipon de %s"
+
+#: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
 msgid "Show Default"
 msgstr "Åœargi defaÅ­lton"
@@ -9220,7 +9253,18 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+#, fuzzy
+msgid "Base Type"
+msgstr "Ŝan�i tipon"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9919,18 +9963,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "Matĉoj:"
@@ -12570,6 +12602,11 @@ msgid "Stack Frames"
 msgstr "Stakaj Framoj"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filtri signalojn"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "Profililo"
 
@@ -13912,6 +13949,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/es.po b/editor/translations/es.po
index d4f2364598..218eee6470 100644
--- a/editor/translations/es.po
+++ b/editor/translations/es.po
@@ -18,7 +18,7 @@
 # Jose Maria Martinez <josemar1992@hotmail.com>, 2018.
 # Juan Quiroga <juanquiroga9@gmail.com>, 2017.
 # Kiji Pixel <raccoon.fella@gmail.com>, 2017.
-# Lisandro Lorea <lisandrolorea@gmail.com>, 2016-2017, 2019, 2020, 2021.
+# Lisandro Lorea <lisandrolorea@gmail.com>, 2016-2017, 2019, 2020, 2021, 2022.
 # Lonsfor <lotharw@protonmail.com>, 2017-2018.
 # Mario Nachbaur <manachbaur@gmail.com>, 2018.
 # Oscar Carballal <oscar.carballal@protonmail.com>, 2017-2018.
@@ -73,13 +73,14 @@
 # Anderson Guzman Abreu <chicobello1111@gmail.com>, 2021.
 # Manuel Cantón Guillén <manuelcanton8@gmail.com>, 2021.
 # Alfonso V <alfonsov96@gmail.com>, 2022.
+# Cristhian Pineda Castro <kurgancpc@hotmail.com>, 2022.
 msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine editor\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
 "POT-Creation-Date: \n"
-"PO-Revision-Date: 2022-01-16 13:19+0000\n"
-"Last-Translator: Javier Ocampos <xavier.ocampos@gmail.com>\n"
+"PO-Revision-Date: 2022-02-20 00:54+0000\n"
+"Last-Translator: Cristhian Pineda Castro <kurgancpc@hotmail.com>\n"
 "Language-Team: Spanish <https://hosted.weblate.org/projects/godot-engine/"
 "godot/es/>\n"
 "Language: es\n"
@@ -87,7 +88,7 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=2; plural=n != 1;\n"
-"X-Generator: Weblate 4.10.1\n"
+"X-Generator: Weblate 4.11-dev\n"
 
 #: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
 #: modules/visual_script/visual_script_builtin_funcs.cpp
@@ -1553,6 +1554,11 @@ msgstr "Cargar el Bus Layout predeterminado."
 msgid "Create a new Bus Layout."
 msgstr "Crear un nuevo Bus Layout."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Abrir Layout de Bus de Audio"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Nombre inválido."
@@ -2336,7 +2342,7 @@ msgstr "Propiedad:"
 
 #: editor/editor_inspector.cpp
 msgid "Pin value"
-msgstr "Valor de fijación"
+msgstr "Fijar Valor"
 
 #: editor/editor_inspector.cpp
 msgid ""
@@ -2345,7 +2351,7 @@ msgstr "Fijar un valor obliga a guardarlo aunque sea igual al predeterminado."
 
 #: editor/editor_inspector.cpp
 msgid "Pin value [Disabled because '%s' is editor-only]"
-msgstr "Valor de fijación [Desactivado porque '%s' es solo para el editor]"
+msgstr "Fijar Valor [Desactivado porque '%s' es solo para el editor]"
 
 #: editor/editor_inspector.cpp editor/scene_tree_dock.cpp
 #: modules/visual_script/visual_script_func_nodes.cpp
@@ -3008,7 +3014,7 @@ msgstr "Act./Desact. modo sin distracciones."
 msgid "Add a new scene."
 msgstr "Añadir nueva escena."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Escena"
 
@@ -3385,14 +3391,12 @@ msgid "Update Continuously"
 msgstr "Actualizar Continuamente"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update All Changes"
-msgstr "Actualizar Al Cambiar"
+msgstr "Actualizar todos los cambios"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update Vital Changes"
-msgstr "Cambios del Material:"
+msgstr "Actualizar cambios vitales"
 
 #: editor/editor_node.cpp
 msgid "Hide Update Spinner"
@@ -4178,6 +4182,11 @@ msgid ""
 "After renaming to an unknown extension, the file won't be shown in the "
 "editor anymore."
 msgstr ""
+"Esta extensión de archivo no es reconocida por el editor.\n"
+"Si desea cambiarle el nombre de todos modos, use el administrador de "
+"archivos de su sistema operativo.\n"
+"Después de cambiar el nombre a una extensión desconocida, el archivo ya no "
+"se mostrará en el editor."
 
 #: editor/filesystem_dock.cpp
 msgid ""
@@ -5799,6 +5808,10 @@ msgid "Bake Lightmaps"
 msgstr "Calcular Lightmaps"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "Selecciona un archivo lightmap bakeado:"
 
@@ -6268,7 +6281,7 @@ msgstr "Asegura que los hijos del objeto no sean seleccionables."
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Group Selected Node(s)"
-msgstr "Grupo Nodo(s) Seleccionado(s)"
+msgstr "Agrupar Nodo(s) Seleccionado(s)"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8294,7 +8307,13 @@ msgid "Cinematic Preview"
 msgstr "Vista Previa Cinemática"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "No disponible al utilizar el renderizador GLES2."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9190,6 +9209,11 @@ msgid "Select Another Theme Resource:"
 msgstr "Seleccionar Otro Recurso del Theme:"
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "Renombrar Recurso"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr "Otro Theme"
 
@@ -9239,6 +9263,20 @@ msgstr ""
 "de este tipo."
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr "Añadir Tipo de Elemento"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Establecer Tipo de la Variable"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Cambiar Tipo Base"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr "Mostrar Por Defecto"
 
@@ -9257,8 +9295,19 @@ msgid "Override all default type items."
 msgstr "Anular todos los elementos de tipo por defecto."
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
-msgstr "Añadir Tipo de Elemento"
+#, fuzzy
+msgid "Base Type"
+msgstr "Cambiar Tipo Base"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Theme:"
@@ -9962,18 +10011,6 @@ msgid "Commit list size"
 msgstr "Tamaño de la lista de confirmación"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr "10"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr "20"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr "30"
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr "Ramas"
 
@@ -12732,6 +12769,11 @@ msgid "Stack Frames"
 msgstr "Fotogramas Apilados"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filtrar tiles"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "Perfilador"
 
@@ -12905,14 +12947,12 @@ msgid "Set Occluder Sphere Position"
 msgstr "Establecer Posición de la Esfera de Oclusión"
 
 #: editor/spatial_editor_gizmos.cpp
-#, fuzzy
 msgid "Set Occluder Polygon Point Position"
-msgstr "Establecer Posición del Portal Point"
+msgstr "Establecer posición del polígono oclusor"
 
 #: editor/spatial_editor_gizmos.cpp
-#, fuzzy
 msgid "Set Occluder Hole Point Position"
-msgstr "Establecer Posición de Punto de Curva"
+msgstr "Establecer posición del orificio del oclusor"
 
 #: modules/csg/csg_gizmos.cpp
 msgid "Change Cylinder Radius"
@@ -14064,9 +14104,10 @@ msgstr "Nombre de paquete inválido:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"El módulo \"GodotPaymentV3\" incluido en los ajustes del proyecto \"android/"
-"modules\" es inválido (cambiado en Godot 3.2.2).\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
@@ -14332,166 +14373,167 @@ msgstr "Error al iniciar el servidor HTTP:"
 
 #: platform/osx/export/codesign.cpp
 msgid "Can't get filesystem access."
-msgstr ""
+msgstr "No se puede obtener acceso al sistema de archivos."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to get Info.plist hash."
-msgstr ""
+msgstr "No se pudo obtener el hash de Info.plist."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid Info.plist, no exe name."
-msgstr "Nombre de Proyecto Inválido."
+msgstr "Info.plist no válido, sin nombre de exe."
 
 #: platform/osx/export/codesign.cpp
 msgid "Invalid Info.plist, no bundle id."
-msgstr ""
+msgstr "Info.plist no válido, sin ID de paquete."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid Info.plist, can't load."
-msgstr "Geometría inválida, no es posible crear un polígono."
+msgstr "Info.plist no válido, no se puede cargar."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to create \"%s\" subfolder."
-msgstr "No se pudo crear la carpeta."
+msgstr "No se pudo crear la subcarpeta \"%s\"."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to extract thin binary."
-msgstr ""
+msgstr "No se pudo extraer el binario delgado."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid binary format."
-msgstr "Ruta base incorrecta."
+msgstr "Formato binario no válido."
 
 #: platform/osx/export/codesign.cpp
 msgid "Already signed!"
-msgstr ""
+msgstr "¡Ha sido firmado!"
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to process nested resources."
-msgstr "Error al cargar el recurso."
+msgstr "No se pudieron procesar los recursos anidados."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to create _CodeSignature subfolder."
-msgstr ""
+msgstr "No se pudo crear la subcarpeta _CodeSignature."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to get CodeResources hash."
-msgstr "Error al cargar el recurso."
+msgstr "No se pudo obtener el hash de CodeResources."
 
 #: platform/osx/export/codesign.cpp platform/osx/export/export.cpp
-#, fuzzy
 msgid "Invalid entitlements file."
-msgstr "Extensión inválida."
+msgstr "Archivo de derechos no válido."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid executable file."
-msgstr "Extensión inválida."
+msgstr "Archivo ejecutable no válido."
 
 #: platform/osx/export/codesign.cpp
 msgid "Can't resize signature load command."
-msgstr ""
+msgstr "No se puede cambiar el tamaño del comando de carga de la firma."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to create fat binary."
-msgstr ""
+msgstr "No se pudo crear el binario gordo."
 
 #: platform/osx/export/codesign.cpp
 msgid "Unknown bundle type."
-msgstr ""
+msgstr "Tipo de paquete desconocido."
 
 #: platform/osx/export/codesign.cpp
 msgid "Unknown object type."
-msgstr ""
+msgstr "Tipo de objeto desconocido."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Note: The notarization process generally takes less than an hour. When the "
 "process is completed, you'll receive an email."
 msgstr ""
+"Nota: El proceso de notarización generalmente toma menos de una hora. Cuando "
+"se complete el proceso, recibirá un correo electrónico."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "You can check progress manually by opening a Terminal and running the "
 "following command:"
 msgstr ""
+"Puede verificar el progreso manualmente abriendo una Terminal y ejecutando "
+"el siguiente comando:"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Run the following command to staple the notarization ticket to the exported "
 "application (optional):"
 msgstr ""
+"Ejecute el siguiente comando para engrapar el boleto de certificación "
+"notarial a la aplicación exportada (opcional):"
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "No identity found."
-msgstr "No se han encontrado icons."
+msgstr "No se encontró identidad."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Creating app bundle"
-msgstr "Creando Miniatura"
+msgstr "Crear paquete de aplicaciones"
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Could not find template app to export:"
-msgstr ""
-"No se pudo encontrar la plantilla APK para exportar:\n"
-"%s"
+msgstr "No se pudo encontrar la aplicación de plantilla para exportar:"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Relative symlinks are not supported on this OS, the exported project might "
 "be broken!"
 msgstr ""
+"Los enlaces simbólicos relativos no son compatibles con este sistema "
+"operativo, ¡el proyecto exportado podría estar dañado!"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Requested template binary '%s' not found. It might be missing from your "
 "template archive."
 msgstr ""
+"Plantilla binaria solicitada '%s' no encontrada. Es posible que falte en el "
+"archivo de plantillas."
 
 #: platform/osx/export/export.cpp
 msgid "Making PKG"
-msgstr ""
+msgstr "haciendo paquete"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Ad-hoc signed applications require the 'Disable Library Validation' "
 "entitlement to load dynamic libraries."
 msgstr ""
+"Las aplicaciones firmadas ad-hoc requieren el derecho 'Desactivar validación "
+"de biblioteca' para cargar bibliotecas dinámicas."
 
 #: platform/osx/export/export.cpp
 msgid "Code signing bundle"
-msgstr ""
+msgstr "Paquete de firma de código"
 
 #: platform/osx/export/export.cpp
 msgid "Making DMG"
-msgstr ""
+msgstr "Haciendo DMG"
 
 #: platform/osx/export/export.cpp
 msgid "Code signing DMG"
-msgstr ""
+msgstr "Firma de código DMG"
 
 #: platform/osx/export/export.cpp
 msgid "Making ZIP"
-msgstr ""
+msgstr "Haciendo ZIP"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Notarization requires the app to be archived first, select the DMG or ZIP "
 "export format instead."
 msgstr ""
+"La notarización requiere que la aplicación se archive primero, seleccione el "
+"formato de exportación DMG o ZIP en su lugar."
 
 #: platform/osx/export/export.cpp
 msgid "Sending archive for notarization"
-msgstr ""
+msgstr "Enviando archivo para notarización"
 
 #: platform/osx/export/export.cpp
 msgid "Invalid bundle identifier:"
@@ -14502,31 +14544,39 @@ msgid ""
 "Warning: Built-in \"codesign\" is selected in the Editor Settings. Code "
 "signing is limited to ad-hoc signature only."
 msgstr ""
+"Advertencia: El \"codiseño\" incorporado está seleccionado en la "
+"configuración del editor. La firma de código se limita únicamente a la firma "
+"ad-hoc."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Warning: Xcode command line tools are not installed, using built-in "
 "\"codesign\". Code signing is limited to ad-hoc signature only."
 msgstr ""
+"Advertencia: las herramientas de línea de comandos de Xcode no están "
+"instaladas, utilizando el \"codiseño\" incorporado. La firma de código se "
+"limita únicamente a la firma ad-hoc."
 
 #: platform/osx/export/export.cpp
 msgid "Notarization: Notarization with an ad-hoc signature is not supported."
 msgstr ""
+"Notarización: No se admite la certificación notarial con una firma ad-hoc."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Code signing is required for notarization."
-msgstr "Notarización: se requiere firma de código."
+msgstr "Notarización: Se requiere la firma del código para la notarización."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Hardened runtime is required for notarization."
-msgstr "Notarización: se requiere tiempo de ejecución reforzado."
+msgstr ""
+"Notarización: se requiere tiempo de ejecución endurecido para la "
+"certificación notarial."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Timestamp runtime is required for notarization."
-msgstr "Notarización: se requiere tiempo de ejecución reforzado."
+msgstr ""
+"Notarización: se requiere el tiempo de ejecución de la marca de tiempo para "
+"la certificación notarial."
 
 #: platform/osx/export/export.cpp
 msgid "Notarization: Apple ID name not specified."
@@ -14541,63 +14591,84 @@ msgid ""
 "Warning: Notarization is disabled. The exported project will be blocked by "
 "Gatekeeper if it's downloaded from an unknown source."
 msgstr ""
+"Advertencia: La notarización está deshabilitada. Gatekeeper bloqueará el "
+"proyecto exportado si se descarga de una fuente desconocida."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Code signing is disabled. The exported project will not run on Macs with "
 "enabled Gatekeeper and Apple Silicon powered Macs."
 msgstr ""
+"La firma de código está deshabilitada. El proyecto exportado no se ejecutará "
+"en Mac con Gatekeeper habilitado y Mac con tecnología Apple Silicon."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Hardened Runtime is not compatible with ad-hoc signature, and will be "
 "disabled!"
 msgstr ""
+"Hardened Runtime no es compatible con la firma ad-hoc,  y se desactivará!"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Timestamping is not compatible with ad-hoc signature, and will be disabled!"
 msgstr ""
+"El sellado de tiempo no es compatible con la firma ad-hoc, y se desactivará!"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Warning: Notarization is not supported from this OS. The exported project "
 "will be blocked by Gatekeeper if it's downloaded from an unknown source."
 msgstr ""
+"Advertencia: la notarización no es compatible con este sistema operativo. "
+"Gatekeeper bloqueará el proyecto exportado si se descarga de una fuente "
+"desconocida."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Microphone access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Privacidad: el acceso al micrófono está habilitado, pero no se especifica la "
+"descripción de uso."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Camera access is enabled, but usage description is not specified."
 msgstr ""
+"Privacidad: el acceso a la cámara está habilitado, pero no se especifica la "
+"descripción de uso."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Location information access is enabled, but usage description is "
 "not specified."
 msgstr ""
+"Privacidad: el acceso a la información de ubicación está habilitado, pero no "
+"se especifica la descripción de uso."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Address book access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Privacidad: el acceso a la libreta de direcciones está habilitado, pero no "
+"se especifica la descripción de uso."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Calendar access is enabled, but usage description is not specified."
 msgstr ""
+"Privacidad: el acceso al calendario está habilitado, pero no se especifica "
+"la descripción de uso."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Photo library access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Privacidad: el acceso a la biblioteca de fotos está habilitado, pero no se "
+"especifica la descripción de uso."
 
 #: platform/uwp/export/export.cpp
 msgid "Invalid package short name."
@@ -14669,21 +14740,21 @@ msgid ""
 "The rcedit tool must be configured in the Editor Settings (Export > Windows "
 "> Rcedit) to change the icon or app information data."
 msgstr ""
+"La herramienta rcedit debe configurarse en la configuración del editor "
+"(Exportar > Windows > Rcedit) para cambiar los datos de información del "
+"ícono o la aplicación."
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid icon path:"
-msgstr "Ruta inválida."
+msgstr "Ruta de icono no válida:"
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid file version:"
-msgstr "Extensión inválida."
+msgstr "Versión de archivo inválida:"
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid product version:"
-msgstr "GUID de producto inválido."
+msgstr "Versión de producto no válida:"
 
 #: scene/2d/animated_sprite.cpp
 msgid ""
@@ -15429,14 +15500,13 @@ msgid "This node has been deprecated. Use AnimationTree instead."
 msgstr "Este nodo ha quedado obsoleto. Usa AnimationTree en su lugar."
 
 #: scene/gui/color_picker.cpp
-#, fuzzy
 msgid ""
 "Color: #%s\n"
 "LMB: Apply color\n"
 "RMB: Remove preset"
 msgstr ""
 "Color: #%s\n"
-"Clic izq: Configurar color\n"
+"Clic izq: Aplicar color\n"
 "Clic der: Borrar configuración predeterminada"
 
 #: scene/gui/color_picker.cpp
diff --git a/editor/translations/es_AR.po b/editor/translations/es_AR.po
index 25d0908e26..44d5ce2975 100644
--- a/editor/translations/es_AR.po
+++ b/editor/translations/es_AR.po
@@ -3,7 +3,7 @@
 # Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).
 # This file is distributed under the same license as the Godot source code.
 # Diego López <diegodario21@gmail.com>, 2017.
-# Lisandro Lorea <lisandrolorea@gmail.com>, 2016-2018, 2019, 2020, 2021.
+# Lisandro Lorea <lisandrolorea@gmail.com>, 2016-2018, 2019, 2020, 2021, 2022.
 # Roger Blanco Ribera <roger.blancoribera@gmail.com>, 2016-2018.
 # Sebastian Silva <sebastian@sugarlabs.org>, 2016.
 # Jose Luis Bossio <joseluisbossio@gmail.com>, 2018.
@@ -17,15 +17,15 @@
 # Cristian Yepez <cristianyepez@gmail.com>, 2020.
 # Skarline <lihue-molina@hotmail.com>, 2020.
 # Joakker <joaquinandresleon108@gmail.com>, 2020.
-# M3CG <cgmario1999@gmail.com>, 2021.
+# M3CG <cgmario1999@gmail.com>, 2021, 2022.
 # Manuel González <mgoopazo@gmail.com>, 2021.
 msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine editor\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
 "POT-Creation-Date: \n"
-"PO-Revision-Date: 2021-12-11 06:25+0000\n"
-"Last-Translator: Lisandro Lorea <lisandrolorea@gmail.com>\n"
+"PO-Revision-Date: 2022-02-28 13:54+0000\n"
+"Last-Translator: M3CG <cgmario1999@gmail.com>\n"
 "Language-Team: Spanish (Argentina) <https://hosted.weblate.org/projects/"
 "godot-engine/godot/es_AR/>\n"
 "Language: es_AR\n"
@@ -33,7 +33,7 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=2; plural=n != 1;\n"
-"X-Generator: Weblate 4.10-dev\n"
+"X-Generator: Weblate 4.11.1-dev\n"
 
 #: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
 #: modules/visual_script/visual_script_builtin_funcs.cpp
@@ -337,9 +337,8 @@ msgid "Duplicate Key(s)"
 msgstr "Duplicar Clave(s)"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Add RESET Value(s)"
-msgstr "Agregar %d Frame(s)"
+msgstr "Agregar Valor(es) de RESET"
 
 #: editor/animation_track_editor.cpp
 msgid "Delete Key(s)"
@@ -513,9 +512,8 @@ msgstr ""
 "única."
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Anim Add RESET Keys"
-msgstr "Escalar Keys de Anim"
+msgstr "Anim: Agregar Claves de RESET"
 
 #: editor/animation_track_editor.cpp
 msgid ""
@@ -1499,13 +1497,18 @@ msgstr "Cargar el Bus Layout predeterminado."
 msgid "Create a new Bus Layout."
 msgstr "Crear un nuevo Bus Layout."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Abrir Layout de Bus de Audio"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Nombre inválido."
 
 #: editor/editor_autoload_settings.cpp
 msgid "Cannot begin with a digit."
-msgstr ""
+msgstr "No puede comenzar con un dígito."
 
 #: editor/editor_autoload_settings.cpp
 msgid "Valid characters:"
@@ -2137,9 +2140,8 @@ msgid "Properties"
 msgstr "Propiedades"
 
 #: editor/editor_help.cpp
-#, fuzzy
 msgid "overrides %s:"
-msgstr "reemplazar(override):"
+msgstr "reemplaza(overrides) %s:"
 
 #: editor/editor_help.cpp
 msgid "default:"
@@ -2279,18 +2281,18 @@ msgid "Property:"
 msgstr "Propiedad:"
 
 #: editor/editor_inspector.cpp
-#, fuzzy
 msgid "Pin value"
-msgstr "(valor)"
+msgstr "Fijar Valor"
 
 #: editor/editor_inspector.cpp
 msgid ""
 "Pinning a value forces it to be saved even if it's equal to the default."
 msgstr ""
+"Fijar un valor fuerza que sea guardado incluso si es igual predeterminado."
 
 #: editor/editor_inspector.cpp
 msgid "Pin value [Disabled because '%s' is editor-only]"
-msgstr ""
+msgstr "Fijar Valor [Desactivado porque '%s' es solo para el editor]"
 
 #: editor/editor_inspector.cpp editor/scene_tree_dock.cpp
 #: modules/visual_script/visual_script_func_nodes.cpp
@@ -2305,26 +2307,23 @@ msgstr "Asignar Múltiples:"
 
 #: editor/editor_inspector.cpp
 msgid "Pinned %s"
-msgstr ""
+msgstr "Fijado %s"
 
 #: editor/editor_inspector.cpp
 msgid "Unpinned %s"
-msgstr ""
+msgstr "Desfijado %s"
 
 #: editor/editor_inspector.cpp
-#, fuzzy
 msgid "Copy Property"
-msgstr "Copiar Propiedades"
+msgstr "Copiar Propiedad"
 
 #: editor/editor_inspector.cpp
-#, fuzzy
 msgid "Paste Property"
-msgstr "Pegar Propiedades"
+msgstr "Pegar Propiedad"
 
 #: editor/editor_inspector.cpp
-#, fuzzy
 msgid "Copy Property Path"
-msgstr "Copiar Ruta de Script"
+msgstr "Copiar Ruta de Propiedad"
 
 #: editor/editor_log.cpp
 msgid "Output:"
@@ -2957,7 +2956,7 @@ msgstr "Act./Desact. modo sin distracciones."
 msgid "Add a new scene."
 msgstr "Agregar nueva escena."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Escena"
 
@@ -3061,9 +3060,8 @@ msgid "Install Android Build Template..."
 msgstr "Instalar Plantilla de Compilación de Android..."
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Open User Data Folder"
-msgstr "Abrir Carpeta de Datos del Editor"
+msgstr "Abrir Carpeta de Datos del Usuario"
 
 #: editor/editor_node.cpp editor/plugins/tile_set_editor_plugin.cpp
 msgid "Tools"
@@ -3152,7 +3150,7 @@ msgstr ""
 
 #: editor/editor_node.cpp
 msgid "Force Shader Fallbacks"
-msgstr ""
+msgstr "Forzar Shader Fallbacks"
 
 #: editor/editor_node.cpp
 msgid ""
@@ -3163,6 +3161,13 @@ msgid ""
 "Asynchronous shader compilation must be enabled in the project settings for "
 "this option to make a difference."
 msgstr ""
+"Cuando esta opción está activada, los shaders se utilizarán en su forma de "
+"fallback (ya sea visible a través de un ubershader u oculto) durante todo el "
+"tiempo de ejecución.\n"
+"Esto es útil para verificar el aspecto y el rendimiento de los fallbacks, "
+"que normalmente se muestran brevemente.\n"
+"La compilación asíncrona de los shaders debe estar activada en la "
+"configuración del proyecto para que esta opción suponga una diferencia."
 
 #: editor/editor_node.cpp
 msgid "Synchronize Scene Changes"
@@ -3326,14 +3331,12 @@ msgid "Update Continuously"
 msgstr "Actualizar Continuamente"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update All Changes"
-msgstr "Actualizar Al Cambiar"
+msgstr "Actualizar Todos Los Cambios"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update Vital Changes"
-msgstr "Cambios de Material:"
+msgstr "Actualizar Cambios Vitales"
 
 #: editor/editor_node.cpp
 msgid "Hide Update Spinner"
@@ -3782,9 +3785,8 @@ msgstr "Importar Desde Nodo:"
 
 #. TRANSLATORS: %s refers to the name of a version control system (e.g. "Git").
 #: editor/editor_vcs_interface.cpp
-#, fuzzy
 msgid "%s Error"
-msgstr "Error"
+msgstr "Error de %s"
 
 #: editor/export_template_manager.cpp
 msgid "Open the folder containing these templates."
@@ -4120,6 +4122,11 @@ msgid ""
 "After renaming to an unknown extension, the file won't be shown in the "
 "editor anymore."
 msgstr ""
+"Esta extensión de archivo no es reconocida por el editor.\n"
+"Si querés renombrarla de todos modos, usá el administrador de archivos de tu "
+"sistema operativo.\n"
+"Después de renombrar a una extensión desconocida, el archivo ya no se "
+"mostrará en el editor."
 
 #: editor/filesystem_dock.cpp
 msgid ""
@@ -4342,9 +4349,8 @@ msgid "Replace..."
 msgstr "Reemplazar..."
 
 #: editor/find_in_files.cpp editor/plugins/script_editor_plugin.cpp
-#, fuzzy
 msgid "Replace in Files"
-msgstr "Reemplazar Todo"
+msgstr "eemplazar en Archivos"
 
 #: editor/find_in_files.cpp
 msgid "Find: "
@@ -4355,9 +4361,8 @@ msgid "Replace: "
 msgstr "Reemplazar: "
 
 #: editor/find_in_files.cpp
-#, fuzzy
 msgid "Replace All (NO UNDO)"
-msgstr "Reemplazar Todo"
+msgstr "Reemplazar Todo (NO SE PUEDE DESHACER)"
 
 #: editor/find_in_files.cpp
 msgid "Searching..."
@@ -4584,6 +4589,8 @@ msgid ""
 "Select a resource file in the filesystem or in the inspector to adjust "
 "import settings."
 msgstr ""
+"Seleccioná un archivo de recursos en el sistema de archivos o en el "
+"inspector para ajustar la configuración de importación."
 
 #: editor/inspector_dock.cpp
 msgid "Failed to load resource."
@@ -5741,6 +5748,10 @@ msgid "Bake Lightmaps"
 msgstr "Bake Lightmaps"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "Selecciona un archivo de lightmap bakeado:"
 
@@ -6054,9 +6065,8 @@ msgid "Alt+Drag: Move selected node."
 msgstr "Alt+Arrastrar: Mover el nodo seleccionado."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Alt+Drag: Scale selected node."
-msgstr "Alt+Arrastrar: Mover el nodo seleccionado."
+msgstr "Alt+Arrastrar: Escalar el nodo seleccionado."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "V: Set selected node's pivot position."
@@ -6090,7 +6100,7 @@ msgstr "Modo de Escalado"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Shift: Scale proportionally."
-msgstr ""
+msgstr "Shift: Escalar proporcionalmente."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -6189,9 +6199,8 @@ msgstr "Bloquear el objeto seleccionado en su sitio (no se puede mover)."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid "Lock Selected Node(s)"
-msgstr "Bloqueo Seleccionado"
+msgstr "Bloquear Nodo(s) Seleccionado(s)"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -6200,9 +6209,8 @@ msgstr "Desbloquear el objeto seleccionado (puede ser movido)."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid "Unlock Selected Node(s)"
-msgstr "Desbloquear Seleccionados"
+msgstr "Desbloquear Nodo(s) Seleccionado(s)"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -6211,9 +6219,8 @@ msgstr "Asegurarse que los hijos de un objeto no sean seleccionables."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid "Group Selected Node(s)"
-msgstr "Agrupar Seleccionados"
+msgstr "Agrupar Nodo(s) Seleccionado(s)"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -6222,9 +6229,8 @@ msgstr "Restaurar la habilidad de seleccionar los hijos de un objeto."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid "Ungroup Selected Node(s)"
-msgstr "Desagrupar Seleccionados"
+msgstr "Desagrupar Nodo(s) Seleccionado(s)"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Skeleton Options"
@@ -7873,9 +7879,8 @@ msgid "Find in Files..."
 msgstr "Buscar en Archivos..."
 
 #: editor/plugins/script_text_editor.cpp
-#, fuzzy
 msgid "Replace in Files..."
-msgstr "Reemplazar..."
+msgstr "Reemplazar en Archivos..."
 
 #: editor/plugins/script_text_editor.cpp
 msgid "Contextual Help"
@@ -8236,7 +8241,13 @@ msgid "Cinematic Preview"
 msgstr "Vista Previa Cinemática"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "No disponible usando el renderizador GLES2."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8403,16 +8414,15 @@ msgstr "Act./Desact. Vista Libre"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Decrease Field of View"
-msgstr ""
+msgstr "Disminuir el Campo de Visión"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Increase Field of View"
-msgstr ""
+msgstr "Incrementar el Campo de Visión"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid "Reset Field of View to Default"
-msgstr "Restablecer a Valores Por Defecto"
+msgstr "Restablecer el Campo de Visión por Defecto"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 #: editor/plugins/visual_shader_editor_plugin.cpp
@@ -8830,7 +8840,7 @@ msgstr "{num} stylebox(es)"
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "No styleboxes found."
-msgstr "No se encontraron styleboxes."
+msgstr "No se encontró ninguna caja de estilo."
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "{num} currently selected"
@@ -9132,6 +9142,11 @@ msgid "Select Another Theme Resource:"
 msgstr "Seleccionar Otro Recurso del Theme:"
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "Renombrar Recurso"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr "Otro Theme"
 
@@ -9141,22 +9156,19 @@ msgstr "Añadir Tipo"
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Filter the list of types or create a new custom type:"
-msgstr ""
+msgstr "Filtrar la lista de tipos o crea un nuevo tipo personalizado:"
 
 #: editor/plugins/theme_editor_plugin.cpp
-#, fuzzy
 msgid "Available Node-based types:"
-msgstr "Perfiles Disponibles:"
+msgstr "Tipos disponibles basados en nodos:"
 
 #: editor/plugins/theme_editor_plugin.cpp
-#, fuzzy
 msgid "Type name is empty!"
-msgstr "El nombre del archivo está vacío."
+msgstr "¡El nombre del tipo está vacío!"
 
 #: editor/plugins/theme_editor_plugin.cpp
-#, fuzzy
 msgid "Are you sure you want to create an empty type?"
-msgstr "¿Estás seguro/a que quieres abrir más de un proyecto?"
+msgstr "¿Estás seguro/a que querés crear un tipo vacío?"
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Confirm Item Rename"
@@ -9184,6 +9196,20 @@ msgstr ""
 "de este tipo."
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr "Añadir Tipo de Elemento"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Editar Tipo de Variable"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Cambiar Tipo Base"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr "Mostrar Valores por Defecto"
 
@@ -9202,8 +9228,19 @@ msgid "Override all default type items."
 msgstr "Anular todos los elementos de tipo por defecto."
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
-msgstr "Añadir Tipo de Elemento"
+#, fuzzy
+msgid "Base Type"
+msgstr "Cambiar Tipo Base"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Theme:"
@@ -9778,9 +9815,8 @@ msgid "TileSet"
 msgstr "TileSet"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "No VCS plugins are available."
-msgstr "No hay addons de VCS disponibles."
+msgstr "No hay plugins de VCS disponibles."
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Error"
@@ -9790,53 +9826,48 @@ msgstr "Error"
 msgid ""
 "Remote settings are empty. VCS features that use the network may not work."
 msgstr ""
+"La configuración remota está vacía. Las funciones de VCS que utilizan la red "
+"pueden no funcionar."
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "No commit message was provided."
-msgstr "No se indicó ningún nombre."
+msgstr "No se proporcionó ningún mensaje de commit"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Commit"
 msgstr "Commit"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Staged Changes"
-msgstr "Cambios de Shaders:"
+msgstr "Cambios en Staging Area"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Unstaged Changes"
-msgstr "Cambios de Shaders:"
+msgstr "Cambios Fuera de Staging Area"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Commit:"
-msgstr "Commit"
+msgstr "Commit:"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Date:"
-msgstr ""
+msgstr "Fecha:"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Subtitle:"
-msgstr "Subárbol"
+msgstr "Subtítulo:"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Do you want to remove the %s branch?"
-msgstr ""
+msgstr "¿Quieres eliminar la rama %s?"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Do you want to remove the %s remote?"
-msgstr "¿Estás seguro/a que quieres abrir más de un proyecto?"
+msgstr "¿Quieres eliminar el %s remoto?"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Apply"
-msgstr "Aplicar Reset"
+msgstr "Aplicar"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Version Control System"
@@ -9847,148 +9878,120 @@ msgid "Initialize"
 msgstr "Inicializar"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Remote Login"
-msgstr "Quitar Punto"
+msgstr "Inicio de Sesión Remoto"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Username"
-msgstr "Renombrar"
+msgstr "Nombre de usuario"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Password"
-msgstr ""
+msgstr "Contraseña"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "SSH Public Key Path"
-msgstr ""
+msgstr "Ruta de la clave pública SSH"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Select SSH public key path"
-msgstr ""
+msgstr "Selecciona la ruta de la clave pública SSH"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "SSH Private Key Path"
-msgstr ""
+msgstr "Ruta de la Clave Privada SSH"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Select SSH private key path"
-msgstr ""
+msgstr "elecciona la ruta de la clave privada SSH"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "SSH Passphrase"
-msgstr ""
+msgstr "Contraseña SSH"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Detect new changes"
 msgstr "Detectar nuevos cambios"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Discard all changes"
-msgstr "¿Cerrar y guardar cambios?"
+msgstr "Descartar todos los cambios"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Stage all changes"
-msgstr "Guardando cambios locales..."
+msgstr "Pasar todos los cambios al area de staging."
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Unstage all changes"
-msgstr "Cambios de Material:"
+msgstr "Quitar todos los cambios del area de staging"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Commit Message"
-msgstr "Commitear Cambios"
+msgstr "Mensaje de Commit"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Commit Changes"
 msgstr "Commitear Cambios"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Commit List"
-msgstr "Commit"
+msgstr "Lista de Commits"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Commit list size"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
+msgstr "Tamaño de la lista de commits"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Branches"
-msgstr "Coincidencias:"
+msgstr "Branches"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Create New Branch"
-msgstr "Crear Proyecto Nuevo"
+msgstr "Crear un Nuevo Branch"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Remove Branch"
-msgstr "Quitar pista de animación"
+msgstr "Eliminar Branch"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branch Name"
-msgstr ""
+msgstr "Nombre del Branch"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Remotes"
-msgstr "Remoto"
+msgstr "Remotes"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Create New Remote"
-msgstr "Crear Proyecto Nuevo"
+msgstr "Crear un Nuevo Remote"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Remove Remote"
-msgstr "Remover Item"
+msgstr "Eliminar Remote"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Remote Name"
-msgstr "Remoto "
+msgstr "Nombre del Remote"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Remote URL"
-msgstr "Remoto "
+msgstr "URL del Remote"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Fetch"
-msgstr ""
+msgstr "Fetch"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Pull"
-msgstr ""
+msgstr "Pull"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Push"
-msgstr ""
+msgstr "Push"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Force Push"
-msgstr "Mesh de Origen:"
+msgstr "Forzar Push"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Modified"
@@ -10008,22 +10011,19 @@ msgstr "Cambio de Tipo"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Unmerged"
-msgstr ""
+msgstr "Sin mergear"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "View:"
-msgstr "Vista"
+msgstr "Vista:"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Split"
-msgstr "Partir Path"
+msgstr "Dividida"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Unified"
-msgstr "Modificado/s"
+msgstr "Unificada"
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "(GLES3 only)"
@@ -12184,6 +12184,10 @@ msgid ""
 "To save this branch into its own scene, open the original scene, right click "
 "on this branch, and select \"Save Branch as Scene\"."
 msgstr ""
+"No se puede guardar una rama que es hija de una escena ya instanciada.\n"
+"Para guardar esta rama en su propia escena, abrí la escena original, hacé "
+"click con el botón derecho del mouse en esta rama y seleccioná \"Guardar "
+"Rama como Escena\"."
 
 #: editor/scene_tree_dock.cpp
 msgid ""
@@ -12191,6 +12195,10 @@ msgid ""
 "To save this branch into its own scene, open the original scene, right click "
 "on this branch, and select \"Save Branch as Scene\"."
 msgstr ""
+"No se puede guardar una rama que forma parte de una escena heredada.\n"
+"Para guardar esta rama en la propia escena, abre la escena original, hacé "
+"clic con el botón derecho en esta rama y seleccioná \"Guardar Rama como "
+"Escena\"."
 
 #: editor/scene_tree_dock.cpp
 msgid "Save New Scene As..."
@@ -12696,6 +12704,11 @@ msgid "Stack Frames"
 msgstr "Frames del Stack"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filtrar tiles"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "Profiler"
 
@@ -12869,14 +12882,12 @@ msgid "Set Occluder Sphere Position"
 msgstr "Establecer Posición de la Esfera de Oclusión"
 
 #: editor/spatial_editor_gizmos.cpp
-#, fuzzy
 msgid "Set Occluder Polygon Point Position"
-msgstr "Establecer Posición del Portal Point"
+msgstr "Establecer Posición del Polígono Oclusor"
 
 #: editor/spatial_editor_gizmos.cpp
-#, fuzzy
 msgid "Set Occluder Hole Point Position"
-msgstr "Setear Posición de Punto de Curva"
+msgstr "Establecer Posición del Punto del Agujero Oclusor"
 
 #: modules/csg/csg_gizmos.cpp
 msgid "Change Cylinder Radius"
@@ -13591,38 +13602,36 @@ msgid "Edit Member"
 msgstr "Editar Miembros"
 
 #: modules/visual_script/visual_script_expression.cpp
-#, fuzzy
 msgid "Expression"
-msgstr "Establecer expresión"
+msgstr "Expresión"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "Return"
-msgstr ""
+msgstr "Retornar"
 
 #: modules/visual_script/visual_script_flow_control.cpp
-#, fuzzy
 msgid "Condition"
-msgstr "animación"
+msgstr "Condición"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "if (cond) is:"
-msgstr ""
+msgstr "if (cond) is:"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "While"
-msgstr ""
+msgstr "Mientras"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "while (cond):"
-msgstr ""
+msgstr "while (cond):"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "Iterator"
-msgstr ""
+msgstr "Iterador"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "for (elem) in (input):"
-msgstr ""
+msgstr "for (elem) in (input):"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "Input type not iterable: "
@@ -13638,79 +13647,71 @@ msgstr "El iterador se volvió inválido: "
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "Sequence"
-msgstr ""
+msgstr "Secuencia"
 
 #: modules/visual_script/visual_script_flow_control.cpp
-#, fuzzy
 msgid "in order:"
-msgstr "Renombrar carpeta:"
+msgstr "en orden:"
 
 #: modules/visual_script/visual_script_flow_control.cpp
-#, fuzzy
 msgid "Switch"
-msgstr "Cabeceo:"
+msgstr "Switch"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "'input' is:"
-msgstr ""
+msgstr "'input' is:"
 
 #: modules/visual_script/visual_script_flow_control.cpp
-#, fuzzy
 msgid "Type Cast"
-msgstr "Tipos:"
+msgstr "Casteo de Tipo"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "Is %s?"
-msgstr ""
+msgstr "¿Es %s?"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
 msgid "On %s"
-msgstr ""
+msgstr "On %s"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
-#, fuzzy
 msgid "On Self"
-msgstr "Propio"
+msgstr "On Self"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
-#, fuzzy
 msgid "Subtract %s"
-msgstr "En el carácter %s"
+msgstr "Restar %s"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
 msgid "Multiply %s"
-msgstr ""
+msgstr "Multiplicar %s"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
 msgid "Divide %s"
-msgstr ""
+msgstr "Dividir %s"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
-#, fuzzy
 msgid "Mod %s"
-msgstr "Agregar %s"
+msgstr "Mod %s"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
-#, fuzzy
 msgid "ShiftLeft %s"
-msgstr "Asignar %s"
+msgstr "ShiftLeft %s"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
 msgid "ShiftRight %s"
-msgstr ""
+msgstr "ShiftRight %s"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
-#, fuzzy
 msgid "BitAnd %s"
-msgstr "Agregar %s"
+msgstr "BitAnd %s"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
 msgid "BitOr %s"
-msgstr ""
+msgstr "BitOr %s"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
 msgid "BitXor %s"
-msgstr ""
+msgstr "BitXor %s"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
 #: modules/visual_script/visual_script_nodes.cpp
@@ -13735,19 +13736,16 @@ msgid "Invalid index property name '%s' in node %s."
 msgstr "Nombre de propiedad índice '%s' inválido en nodo %s."
 
 #: modules/visual_script/visual_script_func_nodes.cpp
-#, fuzzy
 msgid "Emit %s"
-msgstr "Asignar %s"
+msgstr "Emitir %s"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Function"
-msgstr "Funciones"
+msgstr "Función"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Compose Array"
-msgstr "Redimensionar Array"
+msgstr "Componer Array"
 
 #: modules/visual_script/visual_script_nodes.cpp
 msgid ": Invalid argument of type: "
@@ -13759,7 +13757,7 @@ msgstr ": Argumentos inválidos: "
 
 #: modules/visual_script/visual_script_nodes.cpp
 msgid "a if cond, else b"
-msgstr ""
+msgstr "a if cond, else b"
 
 #: modules/visual_script/visual_script_nodes.cpp
 msgid "VariableGet not found in script: "
@@ -13770,64 +13768,52 @@ msgid "VariableSet not found in script: "
 msgstr "VariableSet no encontrado en el script: "
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Preload"
-msgstr "Volver a Cargar"
+msgstr "Preload"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Get Index"
-msgstr "Z Index"
+msgstr "Obtener �ndice"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Set Index"
-msgstr "Z Index"
+msgstr "Establecer �ndice"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Global Constant"
-msgstr "Constante"
+msgstr "Constante Global"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Class Constant"
-msgstr "Constante"
+msgstr "Constante Global"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Basic Constant"
-msgstr "Constante"
+msgstr "Constante Básica"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Math Constant"
-msgstr "Constante"
+msgstr "Constante Matemática"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Get Engine Singleton"
-msgstr "Activar Singleton GDNative"
+msgstr "Obtener Engine Singleton"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Get Scene Node"
-msgstr "Nodo TimeSeek"
+msgstr "Obtener Nodo de Escena"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Get Scene Tree"
-msgstr "Edición de �rbol de Escenas"
+msgstr "Obtener �rbol de Escenas"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Get Self"
-msgstr "Propio"
+msgstr "Obtener Self"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "CustomNode"
-msgstr "Cortar Nodos"
+msgstr "CustomNode"
 
 #: modules/visual_script/visual_script_nodes.cpp
 msgid "Custom node has no _step() method, can't process graph."
@@ -13844,33 +13830,28 @@ msgstr ""
 "(error)."
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "SubCall"
-msgstr "Llamadas"
+msgstr "SubCall"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Construct %s"
-msgstr "Constantes"
+msgstr "Construir %s"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Get Local Var"
-msgstr "Usar Espacio Local"
+msgstr "Obtener Var local"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Set Local Var"
-msgstr "Usar Espacio Local"
+msgstr "Establecer Var Local"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Action %s"
-msgstr "Acción"
+msgstr "Acción %s"
 
 #: modules/visual_script/visual_script_nodes.cpp
 msgid "Deconstruct %s"
-msgstr ""
+msgstr "Deconstruir %s"
 
 #: modules/visual_script/visual_script_property_selector.cpp
 msgid "Search VisualScript"
@@ -13878,40 +13859,35 @@ msgstr "Buscar en VisualScript"
 
 #: modules/visual_script/visual_script_yield_nodes.cpp
 msgid "Yield"
-msgstr ""
+msgstr "Yield"
 
 #: modules/visual_script/visual_script_yield_nodes.cpp
 msgid "Wait"
-msgstr ""
+msgstr "Esperar"
 
 #: modules/visual_script/visual_script_yield_nodes.cpp
-#, fuzzy
 msgid "Next Frame"
-msgstr "Mover Fotograma"
+msgstr "Siguiente Fotograma"
 
 #: modules/visual_script/visual_script_yield_nodes.cpp
-#, fuzzy
 msgid "Next Physics Frame"
 msgstr "Frames de Física %"
 
 #: modules/visual_script/visual_script_yield_nodes.cpp
 msgid "%s sec(s)"
-msgstr ""
+msgstr "%s seg(s)"
 
 #: modules/visual_script/visual_script_yield_nodes.cpp
-#, fuzzy
 msgid "WaitSignal"
-msgstr "Señal"
+msgstr "WaitSignal"
 
 #: modules/visual_script/visual_script_yield_nodes.cpp
-#, fuzzy
 msgid "WaitNodeSignal"
-msgstr "Señal"
+msgstr "WaitNodeSignal"
 
 #: modules/visual_script/visual_script_yield_nodes.cpp
-#, fuzzy
 msgid "WaitInstanceSignal"
-msgstr "Instancia"
+msgstr "WaitInstanceSignal"
 
 #: platform/android/export/export_plugin.cpp
 msgid "Package name is missing."
@@ -14055,9 +14031,10 @@ msgstr "Nombre de paquete inválido:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"El módulo \"GodotPaymentV3\" incluido en el ajuste de proyecto \"android/"
-"modules\" es inválido (cambiado en Godot 3.2.2).\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
@@ -14324,166 +14301,167 @@ msgstr "Error al iniciar el servidor HTTP:"
 
 #: platform/osx/export/codesign.cpp
 msgid "Can't get filesystem access."
-msgstr ""
+msgstr "No se puede obtener acceso al sistema de archivos."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to get Info.plist hash."
-msgstr ""
+msgstr "No se pudo obtener el hash de Info.plist."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid Info.plist, no exe name."
-msgstr "Nombre de proyecto Inválido."
+msgstr "Info.plist no válido, sin nombre de exe."
 
 #: platform/osx/export/codesign.cpp
 msgid "Invalid Info.plist, no bundle id."
-msgstr ""
+msgstr "Info.plist no válido, sin ID de paquete."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid Info.plist, can't load."
-msgstr "Geometría inválida, no es posible crear un polígono."
+msgstr "Info.plist no válido, no se puede cargar."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to create \"%s\" subfolder."
-msgstr "No se pudo crear la carpeta."
+msgstr "No se pudo crear la subcarpeta \"%s\"."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to extract thin binary."
-msgstr ""
+msgstr "No se pudo extraer el binario delgado."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid binary format."
-msgstr "Ruta base inválida."
+msgstr "Formato binario no válido."
 
 #: platform/osx/export/codesign.cpp
 msgid "Already signed!"
-msgstr ""
+msgstr "Ya está firmado!"
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to process nested resources."
-msgstr "Fallo al cargar recurso."
+msgstr "No se pudieron procesar los recursos anidados."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to create _CodeSignature subfolder."
-msgstr ""
+msgstr "No se pudo crear la subcarpeta _CodeSignature."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to get CodeResources hash."
-msgstr "Fallo al cargar recurso."
+msgstr "No se pudo obtener el hash de CodeResources."
 
 #: platform/osx/export/codesign.cpp platform/osx/export/export.cpp
-#, fuzzy
 msgid "Invalid entitlements file."
-msgstr "Extensión inválida."
+msgstr "Archivo de entitlements no válido."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid executable file."
-msgstr "Extensión inválida."
+msgstr "Archivo ejecutable no válido."
 
 #: platform/osx/export/codesign.cpp
 msgid "Can't resize signature load command."
-msgstr ""
+msgstr "No se puede cambiar el tamaño del comando de carga de la firma."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to create fat binary."
-msgstr ""
+msgstr "No se pudo crear el binario gordo."
 
 #: platform/osx/export/codesign.cpp
 msgid "Unknown bundle type."
-msgstr ""
+msgstr "Tipo de paquete desconocido."
 
 #: platform/osx/export/codesign.cpp
 msgid "Unknown object type."
-msgstr ""
+msgstr "Tipo de objeto desconocido."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Note: The notarization process generally takes less than an hour. When the "
 "process is completed, you'll receive an email."
 msgstr ""
+"Nota: El proceso de notarización generalmente toma menos de una hora. Cuando "
+"se complete el proceso, recibirás un correo electrónico."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "You can check progress manually by opening a Terminal and running the "
 "following command:"
 msgstr ""
+"Podés verificar el progreso manualmente abriendo una Terminal y ejecutando "
+"el siguiente comando:"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Run the following command to staple the notarization ticket to the exported "
 "application (optional):"
 msgstr ""
+"Ejecutá el siguiente comando para engrapar el boleto de certificación "
+"notarial a la aplicación exportada (opcional):"
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "No identity found."
-msgstr "No se encontraron íconos."
+msgstr "No se encontró identidad."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Creating app bundle"
-msgstr "Creando Miniatura"
+msgstr "Crearndo paquete de aplicaciones"
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Could not find template app to export:"
-msgstr ""
-"No se pudo encontrar la plantilla APK para exportar:\n"
-"%s"
+msgstr "No se pudo encontrar la aplicación de plantilla para exportar:"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Relative symlinks are not supported on this OS, the exported project might "
 "be broken!"
 msgstr ""
+"Los enlaces simbólicos relativos no son compatibles con este sistema "
+"operativo, ¡el proyecto exportado podría estar dañado!"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Requested template binary '%s' not found. It might be missing from your "
 "template archive."
 msgstr ""
+"Plantilla binaria solicitada '%s' no encontrada. Es posible que falte en el "
+"archivo de plantillas."
 
 #: platform/osx/export/export.cpp
 msgid "Making PKG"
-msgstr ""
+msgstr "Creando PKG"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Ad-hoc signed applications require the 'Disable Library Validation' "
 "entitlement to load dynamic libraries."
 msgstr ""
+"Las aplicaciones firmadas ad-hoc requieren el entitlement 'Disable Library "
+"Validation' para cargar bibliotecas dinámicas."
 
 #: platform/osx/export/export.cpp
 msgid "Code signing bundle"
-msgstr ""
+msgstr "Firmando código del paquete"
 
 #: platform/osx/export/export.cpp
 msgid "Making DMG"
-msgstr ""
+msgstr "Creando DMG"
 
 #: platform/osx/export/export.cpp
 msgid "Code signing DMG"
-msgstr ""
+msgstr "Firmando código de DMG"
 
 #: platform/osx/export/export.cpp
 msgid "Making ZIP"
-msgstr ""
+msgstr "Creando ZIP"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Notarization requires the app to be archived first, select the DMG or ZIP "
 "export format instead."
 msgstr ""
+"La notarización requiere que la aplicación se archive primero, seleccioná el "
+"formato de exportación DMG o ZIP en su lugar."
 
 #: platform/osx/export/export.cpp
 msgid "Sending archive for notarization"
-msgstr ""
+msgstr "Enviando archivo para notarización"
 
 #: platform/osx/export/export.cpp
 msgid "Invalid bundle identifier:"
@@ -14494,31 +14472,37 @@ msgid ""
 "Warning: Built-in \"codesign\" is selected in the Editor Settings. Code "
 "signing is limited to ad-hoc signature only."
 msgstr ""
+"Advertencia: El \"codesign\" incorporado está seleccionado en la "
+"configuración del editor. La firma de código se limita únicamente a la firma "
+"ad-hoc."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Warning: Xcode command line tools are not installed, using built-in "
 "\"codesign\". Code signing is limited to ad-hoc signature only."
 msgstr ""
+"Advertencia: las herramientas de línea de comandos de Xcode no están "
+"instaladas, utilizando el \"codesign\" incorporado. La firma de código se "
+"limita únicamente a la firma ad-hoc."
 
 #: platform/osx/export/export.cpp
 msgid "Notarization: Notarization with an ad-hoc signature is not supported."
 msgstr ""
+"Notarización: No se admite la certificación notarial con una firma ad-hoc."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Code signing is required for notarization."
-msgstr "Notarización: se requiere firma de código."
+msgstr "Notarización: Se requiere la firma del código para la notarización."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Hardened runtime is required for notarization."
-msgstr "Notarización: se requiere hardened runtime."
+msgstr ""
+"Notarización: se requiere hardened runtime para la certificación notarial."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Timestamp runtime is required for notarization."
-msgstr "Notarización: se requiere hardened runtime."
+msgstr ""
+"Notarización: Se requienre Timestamp runtime para la certificación notarial."
 
 #: platform/osx/export/export.cpp
 msgid "Notarization: Apple ID name not specified."
@@ -14533,57 +14517,75 @@ msgid ""
 "Warning: Notarization is disabled. The exported project will be blocked by "
 "Gatekeeper if it's downloaded from an unknown source."
 msgstr ""
+"Advertencia: La notarización está deshabilitada. Gatekeeper bloqueará el "
+"proyecto exportado si se descarga de una fuente desconocida."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Code signing is disabled. The exported project will not run on Macs with "
 "enabled Gatekeeper and Apple Silicon powered Macs."
 msgstr ""
+"La firma de código está deshabilitada. El proyecto exportado no se ejecutará "
+"en Mac con Gatekeeper habilitado y Mac con tecnología Apple Silicon."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Hardened Runtime is not compatible with ad-hoc signature, and will be "
 "disabled!"
 msgstr ""
+"Hardened Runtime no es compatible con la firma ad-hoc y se desactivará!"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Timestamping is not compatible with ad-hoc signature, and will be disabled!"
-msgstr ""
+msgstr "Timestamping no es compatible con la firma ad-hoc y se desactivará!"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Warning: Notarization is not supported from this OS. The exported project "
 "will be blocked by Gatekeeper if it's downloaded from an unknown source."
 msgstr ""
+"Advertencia: la notarización no es compatible con este sistema operativo. "
+"Gatekeeper bloqueará el proyecto exportado si se descarga de una fuente "
+"desconocida."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Microphone access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Privacidad: el acceso al micrófono está habilitado, pero no se especifica la "
+"descripción de uso."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Camera access is enabled, but usage description is not specified."
 msgstr ""
+"Privacidad: el acceso a la cámara está habilitado, pero no se especifica la "
+"descripción de uso."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Location information access is enabled, but usage description is "
 "not specified."
 msgstr ""
+"Privacidad: el acceso a la información de ubicación está habilitado, pero no "
+"se especifica la descripción de uso."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Address book access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Privacidad: el acceso a la libreta de direcciones está habilitado, pero no "
+"se especifica la descripción de uso."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Calendar access is enabled, but usage description is not specified."
 msgstr ""
+"Privacidad: el acceso al calendario está habilitado, pero no se especifica "
+"la descripción de uso."
 
 #: platform/osx/export/export.cpp
 msgid ""
@@ -14661,19 +14663,16 @@ msgid ""
 msgstr ""
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid icon path:"
-msgstr "Ruta inválida."
+msgstr "Ruta de icono no válida:"
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid file version:"
-msgstr "Extensión inválida."
+msgstr "Versión de archivo inválida:"
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid product version:"
-msgstr "GUID de producto inválido."
+msgstr "versión de producto inválida."
 
 #: scene/2d/animated_sprite.cpp
 msgid ""
diff --git a/editor/translations/et.po b/editor/translations/et.po
index 9b70c32d20..6684f4bbb6 100644
--- a/editor/translations/et.po
+++ b/editor/translations/et.po
@@ -1456,6 +1456,11 @@ msgstr "Lae vaikimise siini paigutus."
 msgid "Create a new Bus Layout."
 msgstr "Loo uus siini paigutus."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Ava heliliinide paigutus"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Vigane nimi."
@@ -2859,7 +2864,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr "Lisa uus stseen."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Stseen"
 
@@ -5531,6 +5536,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr ""
 
@@ -7986,7 +7995,12 @@ msgid "Cinematic Preview"
 msgstr "Kinemaatiline eelvaade"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8893,6 +8907,11 @@ msgid "Select Another Theme Resource:"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "Ressurss"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -8941,6 +8960,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
 msgid "Show Default"
 msgstr "Laadi vaikimisi"
@@ -8959,7 +8990,18 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+#, fuzzy
+msgid "Base Type"
+msgstr "Muuda tüüpi"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9650,18 +9692,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "Vasted:"
@@ -12245,6 +12275,11 @@ msgid "Stack Frames"
 msgstr "Virnakaadrid"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filtreeri sõlmed"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "Profileerija"
 
@@ -13557,6 +13592,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/eu.po b/editor/translations/eu.po
index 2918926ac7..d315bb8d1c 100644
--- a/editor/translations/eu.po
+++ b/editor/translations/eu.po
@@ -1464,6 +1464,10 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+msgid "Audio Bus Layout"
+msgstr ""
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -2828,7 +2832,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5505,6 +5509,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 #, fuzzy
 msgid "Select lightmap bake file:"
 msgstr "Hautatu txantiloi fitxategia"
@@ -7944,7 +7952,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8848,6 +8861,11 @@ msgstr "Bilatu ordezko baliabidea:"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "Baliabidea"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "Inportatu azala"
 
@@ -8897,6 +8915,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
 msgid "Show Default"
 msgstr "Inportatu profila(k)"
@@ -8915,7 +8945,18 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+#, fuzzy
+msgid "Base Type"
+msgstr "Kide mota"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9600,18 +9641,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr ""
 
@@ -12190,6 +12219,10 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+msgid "Filter stack variables"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13494,6 +13527,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/fa.po b/editor/translations/fa.po
index e75b0277a6..d1c2a87acc 100644
--- a/editor/translations/fa.po
+++ b/editor/translations/fa.po
@@ -1492,6 +1492,11 @@ msgstr "طرح پیش �رض اتوبوس را بارگیری کنید."
 msgid "Create a new Bus Layout."
 msgstr "طرح جدید اتوبوس ایجاد کنید."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "چیدمان اتوبوس صوتی را باز کنید"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "نام نامعتبر."
@@ -2870,7 +2875,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr "ا�زودن صحنه جدید."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "صحنه"
 
@@ -5698,6 +5703,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 #, fuzzy
 msgid "Select lightmap bake file:"
 msgstr "انتخاب پرونده قالب"
@@ -8286,7 +8295,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9249,6 +9263,11 @@ msgstr "منبع جایگزینی را جستجو کن:"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "تغییر نام منبع"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "عضوها"
 
@@ -9302,6 +9321,21 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Add Item Type"
+msgstr "ا�زودن مورد"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "متغیر را ویرایش کن:"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "تغییر نوع پایه"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Show Default"
 msgstr "بارگیری پیش �رض"
 
@@ -9319,8 +9353,18 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
-msgid "Add Item Type"
-msgstr "ا�زودن مورد"
+msgid "Base Type"
+msgstr "تغییر نوع پایه"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
@@ -10076,18 +10120,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "تطبیق‌ها:"
@@ -12807,6 +12839,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "صا�ی کردن گره‌ها"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -14206,6 +14243,9 @@ msgstr "نام نامعتبر."
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/fi.po b/editor/translations/fi.po
index bd2dd36308..a1d3ed6b5a 100644
--- a/editor/translations/fi.po
+++ b/editor/translations/fi.po
@@ -17,7 +17,7 @@ msgstr ""
 "Project-Id-Version: Godot Engine editor\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
 "POT-Creation-Date: \n"
-"PO-Revision-Date: 2022-02-04 13:45+0000\n"
+"PO-Revision-Date: 2022-02-16 16:36+0000\n"
 "Last-Translator: Tapani Niemi <tapani.niemi@kapsi.fi>\n"
 "Language-Team: Finnish <https://hosted.weblate.org/projects/godot-engine/"
 "godot/fi/>\n"
@@ -1480,6 +1480,11 @@ msgstr "Lataa väylän oletusasettelu."
 msgid "Create a new Bus Layout."
 msgstr "Luo uusi ääniväylän asettelu."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Avaa ääniväylän asettelu"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Virheellinen nimi."
@@ -2919,7 +2924,7 @@ msgstr "Käytä häiriötöntä tilaa."
 msgid "Add a new scene."
 msgstr "Lisää uusi skene."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Skene"
 
@@ -3293,14 +3298,12 @@ msgid "Update Continuously"
 msgstr "Päivitä jatkuvasti"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update All Changes"
-msgstr "Päivitä kun muuttuu"
+msgstr "Päivitä kaikki muutokset"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update Vital Changes"
-msgstr "Materiaalimuutokset:"
+msgstr "Päivitä olennaiset muutokset"
 
 #: editor/editor_node.cpp
 msgid "Hide Update Spinner"
@@ -4075,6 +4078,11 @@ msgid ""
 "After renaming to an unknown extension, the file won't be shown in the "
 "editor anymore."
 msgstr ""
+"Editori ei tunnista tätä tiedostopäätettä.\n"
+"Jos haluat nimetä tiedoston uudelleen joka tapauksessa, tee se "
+"käyttöjärjestelmäsi tiedostonhallintaa käyttäen.\n"
+"Sen jälkeen, kun tiedosto on nimetty tuntemattomalla päätteellä, sitä ei "
+"enää näytetä editorissa."
 
 #: editor/filesystem_dock.cpp
 msgid ""
@@ -5693,6 +5701,10 @@ msgid "Bake Lightmaps"
 msgstr "Kehitä Lightmapit"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "Valitse lightmapin kehitystiedosto:"
 
@@ -8179,7 +8191,13 @@ msgid "Cinematic Preview"
 msgstr "Elokuvallinen esikatselu"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "Ei käytettävissä GLES2-renderöijää käytettäessä."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9073,6 +9091,11 @@ msgid "Select Another Theme Resource:"
 msgstr "Valitse toinen teemaresurssi:"
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "Nimeä resurssi uudelleen"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr "Toinen teema"
 
@@ -9121,6 +9144,20 @@ msgstr ""
 "päivittää kaikkien muiden tämän tyyppisten tyylilaatikoiden ominaisuuksia."
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr "Lisää osan tyyppi"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Aseta muuttujan tyyppi"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Muuta kantatyyppiä"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr "Näytä oletus"
 
@@ -9137,8 +9174,19 @@ msgid "Override all default type items."
 msgstr "Ylikirjoita kaikki oletustyypin osat."
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
-msgstr "Lisää osan tyyppi"
+#, fuzzy
+msgid "Base Type"
+msgstr "Muuta kantatyyppiä"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Theme:"
@@ -9844,18 +9892,6 @@ msgid "Commit list size"
 msgstr "Vahvistuslistan koko"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr "10"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr "20"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr "30"
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr "Haarat"
 
@@ -12599,6 +12635,11 @@ msgid "Stack Frames"
 msgstr "Pinokehykset"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Suodata laattoja"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "Profiloija"
 
@@ -12772,14 +12813,12 @@ msgid "Set Occluder Sphere Position"
 msgstr "Aseta peittopallon sijainti"
 
 #: editor/spatial_editor_gizmos.cpp
-#, fuzzy
 msgid "Set Occluder Polygon Point Position"
-msgstr "Aseta portaalin pisteen sijainti"
+msgstr "Aseta peittopolygonin pisteen sijainti"
 
 #: editor/spatial_editor_gizmos.cpp
-#, fuzzy
 msgid "Set Occluder Hole Point Position"
-msgstr "Aseta käyräpisteen sijainti"
+msgstr "Aseta peittoreiän pisteen sijainti"
 
 #: modules/csg/csg_gizmos.cpp
 msgid "Change Cylinder Radius"
@@ -13916,9 +13955,10 @@ msgstr "Virheellinen paketin nimi:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"\"android/modules\" projektiasetukseen on liitetty virheellinen "
-"\"GodotPaymentV3\" moduuli (muuttunut Godotin versiossa 3.2.2).\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
@@ -14187,166 +14227,167 @@ msgstr "Virhe käynnistettäessä HTTP-palvelinta:"
 
 #: platform/osx/export/codesign.cpp
 msgid "Can't get filesystem access."
-msgstr ""
+msgstr "Ei saada pääsyä tiedostojärjestelmään."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to get Info.plist hash."
-msgstr ""
+msgstr "Info.plist hajautusarvoa ei saada."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid Info.plist, no exe name."
-msgstr "Virheellinen projektin nimi."
+msgstr "Virheellinen Info.plist, exe-nimi puuttuu."
 
 #: platform/osx/export/codesign.cpp
 msgid "Invalid Info.plist, no bundle id."
-msgstr ""
+msgstr "Virheellinen Info.plist, bundle id puuttuu."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid Info.plist, can't load."
-msgstr "Virheellinen geometria, ei voida luoda polygonia."
+msgstr "Virheellinen Info.plist, ei voida ladata."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to create \"%s\" subfolder."
-msgstr "Kansiota ei voitu luoda."
+msgstr "Alikansion \"%s\" luonti epäonnistui."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to extract thin binary."
-msgstr ""
+msgstr "Binäärin ohennus epäonnistui."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid binary format."
-msgstr "Virheellinen kantapolku."
+msgstr "Virheellinen binäärimuoto."
 
 #: platform/osx/export/codesign.cpp
 msgid "Already signed!"
-msgstr ""
+msgstr "Jo allekirjoitettu!"
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to process nested resources."
-msgstr "Resurssin lataaminen epäonnistui."
+msgstr "Sisäkkäisten resurssien käsittely epäonnistui."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to create _CodeSignature subfolder."
-msgstr ""
+msgstr "_CodeSignature alikansion luonti epäonnistui."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to get CodeResources hash."
-msgstr "Resurssin lataaminen epäonnistui."
+msgstr "CodeResources hajautusarvon saanti epäonnistui."
 
 #: platform/osx/export/codesign.cpp platform/osx/export/export.cpp
-#, fuzzy
 msgid "Invalid entitlements file."
-msgstr "Virheellinen tiedostopääte."
+msgstr "Virheellinen oikeutustiedosto (entitlements)."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid executable file."
-msgstr "Virheellinen tiedostopääte."
+msgstr "Virheellinen käynnistystiedosto."
 
 #: platform/osx/export/codesign.cpp
 msgid "Can't resize signature load command."
-msgstr ""
+msgstr "Ei voida muuttaa allekirjoituksen latauskäskyn kokoa."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to create fat binary."
-msgstr ""
+msgstr "Laajennetun binäärin luonti epäonnistui."
 
 #: platform/osx/export/codesign.cpp
 msgid "Unknown bundle type."
-msgstr ""
+msgstr "Tuntematon bundle-tyyppi."
 
 #: platform/osx/export/codesign.cpp
 msgid "Unknown object type."
-msgstr ""
+msgstr "Tuntematon objektityyppi."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Note: The notarization process generally takes less than an hour. When the "
 "process is completed, you'll receive an email."
 msgstr ""
+"Huom: Notarisointiprosessi kestää yleensä alle tunnin. Kun käsittely on "
+"valmis, saat sähköpostin."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "You can check progress manually by opening a Terminal and running the "
 "following command:"
 msgstr ""
+"Voit tarkistaa edistymisen manuaalisesti avaamalla Terminaalin ja "
+"suorittamalla seuraavan komennon:"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Run the following command to staple the notarization ticket to the exported "
 "application (optional):"
 msgstr ""
+"Suorita seuraava komento nitoaksesi notarisointilipukkeen vietyyn "
+"sovellukseen (vapaavalintainen):"
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "No identity found."
-msgstr "Kuvakkeita ei löytynyt."
+msgstr "Identiteettiä ei löytynyt."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Creating app bundle"
-msgstr "Luodaan pienoiskuvaa"
+msgstr "Luodaan app bundlea"
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Could not find template app to export:"
-msgstr ""
-"Ei löydetty APK-vientimallia vientiä varten:\n"
-"%s"
+msgstr "Ei löydetty app-vientimallia vientiä varten:"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Relative symlinks are not supported on this OS, the exported project might "
 "be broken!"
 msgstr ""
+"Suhteelliset symboliset linkit eivät ole tuettuja tässä "
+"käyttöjärjestelmässä, viety projekti saattaa olla rikkinäinen!"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Requested template binary '%s' not found. It might be missing from your "
 "template archive."
 msgstr ""
+"Pyydettyä binäärivientimallia '%s' ei löydy. Se saattaa puuttua "
+"vientimalliesi arkistosta."
 
 #: platform/osx/export/export.cpp
 msgid "Making PKG"
-msgstr ""
+msgstr "Tehdään PKG"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Ad-hoc signed applications require the 'Disable Library Validation' "
 "entitlement to load dynamic libraries."
 msgstr ""
+"Ad-hoc allekirjoitetut sovellukset tarvitsevat 'Disable Library Validation' "
+"oikeutuksen ladatakseen dynaamisia kirjastoja."
 
 #: platform/osx/export/export.cpp
 msgid "Code signing bundle"
-msgstr ""
+msgstr "Allekirjoitetaan bundle-koodi"
 
 #: platform/osx/export/export.cpp
 msgid "Making DMG"
-msgstr ""
+msgstr "Tehdään DMG"
 
 #: platform/osx/export/export.cpp
 msgid "Code signing DMG"
-msgstr ""
+msgstr "Allekirjoitetaan DMG-koodi"
 
 #: platform/osx/export/export.cpp
 msgid "Making ZIP"
-msgstr ""
+msgstr "Tehdään ZIP"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Notarization requires the app to be archived first, select the DMG or ZIP "
 "export format instead."
 msgstr ""
+"Notarisointi edellyttää, että sovellus on ensin pakattu; valitse sen sijaan "
+"DMG- tai ZIP-vientimuoto."
 
 #: platform/osx/export/export.cpp
 msgid "Sending archive for notarization"
-msgstr ""
+msgstr "Lähetetään tiedostopaketti notarisointia varten"
 
 #: platform/osx/export/export.cpp
 msgid "Invalid bundle identifier:"
@@ -14357,31 +14398,33 @@ msgid ""
 "Warning: Built-in \"codesign\" is selected in the Editor Settings. Code "
 "signing is limited to ad-hoc signature only."
 msgstr ""
+"Varoitus: Editorin asetuksissa on valittuna sisäänrakennettu \"codesign\". "
+"Koodin allekirjoitus on rajoitettu vain ad-hoc allekirjoituksiin."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Warning: Xcode command line tools are not installed, using built-in "
 "\"codesign\". Code signing is limited to ad-hoc signature only."
 msgstr ""
+"Varoitus: Xcode-komentorivityökaluja ei ole asennettu, käytetään "
+"sisäänrakennettua \"codesign\"-työkalua. Koodin allekirjoitus on rajoitettu "
+"vain ad-hoc allekirjoituksiin."
 
 #: platform/osx/export/export.cpp
 msgid "Notarization: Notarization with an ad-hoc signature is not supported."
-msgstr ""
+msgstr "Notarisointi: notarisointi ad-hoc allekirjoituksella ei ole tuettua."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Code signing is required for notarization."
-msgstr "Notarisointi: koodin allekirjoitus tarvitaan."
+msgstr "Notarisointi: koodin allekirjoitus tarvitaan notarisointia varten."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Hardened runtime is required for notarization."
-msgstr "Notarisointi: hardened runtime tarvitaan."
+msgstr "Notarisointi: hardened runtime tarvitaan notarisointia varten."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Timestamp runtime is required for notarization."
-msgstr "Notarisointi: hardened runtime tarvitaan."
+msgstr "Notarisointi: timestamp runtime tarvitaan notarisointia varten."
 
 #: platform/osx/export/export.cpp
 msgid "Notarization: Apple ID name not specified."
@@ -14396,63 +14439,86 @@ msgid ""
 "Warning: Notarization is disabled. The exported project will be blocked by "
 "Gatekeeper if it's downloaded from an unknown source."
 msgstr ""
+"Varoitus: notarisointi on pois päältä. Gatekeeper estää viedyn projektin "
+"käytön, jos se on ladattu tuntemattomasta lähteestä."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Code signing is disabled. The exported project will not run on Macs with "
 "enabled Gatekeeper and Apple Silicon powered Macs."
 msgstr ""
+"Koodin allekirjoitus on pois päältä. Viedyt projektit eivät toimi Maceillä, "
+"joissa on Gatekeeper päällä, eivätkä Apple Silicon suorittimia käyttävillä "
+"Maceillä."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Hardened Runtime is not compatible with ad-hoc signature, and will be "
 "disabled!"
 msgstr ""
+"Hardened Runtime ei ole yhteensopiva ad-hoc allekirjoituksen kanssa ja "
+"kytketään pois päältä!"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Timestamping is not compatible with ad-hoc signature, and will be disabled!"
 msgstr ""
+"Timestamping ei ole yhteensopiva ad-hoc allekirjoituksen kanssa ja kytketään "
+"pois päältä!"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Warning: Notarization is not supported from this OS. The exported project "
 "will be blocked by Gatekeeper if it's downloaded from an unknown source."
 msgstr ""
+"Varoitus: notarisointi ei ole tuettu tästä käyttöjärjestelmästä. Gatekeeper "
+"estää viedyn projektin käytön, jos se on ladattu tuntemattomasta lähteestä."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Microphone access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Yksityisyys: mikrofonin käyttö on sallittu, mutta käyttökuvausta ei ole "
+"määritelty."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Camera access is enabled, but usage description is not specified."
 msgstr ""
+"Yksityisyys: kameran käyttö on sallittu, mutta käyttökuvausta ei ole "
+"määritelty."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Location information access is enabled, but usage description is "
 "not specified."
 msgstr ""
+"Yksityisyys: sijaintitiedon käyttö on sallittu, mutta käyttökuvausta ei ole "
+"määritelty."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Address book access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Yksityisyys: osoitekirjan käyttö on sallittu, mutta käyttökuvausta ei ole "
+"määritelty."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Calendar access is enabled, but usage description is not specified."
 msgstr ""
+"Yksityisyys: kalenterin käyttö on sallittu, mutta käyttökuvausta ei ole "
+"määritelty."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Photo library access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Yksityisyys: kuvakirjaston käyttö on sallittu, mutta käyttökuvausta ei ole "
+"määritelty."
 
 #: platform/uwp/export/export.cpp
 msgid "Invalid package short name."
@@ -14513,21 +14579,20 @@ msgid ""
 "The rcedit tool must be configured in the Editor Settings (Export > Windows "
 "> Rcedit) to change the icon or app information data."
 msgstr ""
+"rcedit-työkalu täytyy olla konfiguroituna editorin asetuksissa (Export > "
+"Windows > Rcedit) ikonin tai sovelluksen tietojen muuttamiseksi."
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid icon path:"
-msgstr "Virheellinen polku."
+msgstr "Virheellinen ikonin polku:"
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid file version:"
-msgstr "Virheellinen tiedostopääte."
+msgstr "Virheellinen tiedoston versio:"
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid product version:"
-msgstr "Tuotteen GUID (yleisesti yksilöllinen tunniste) on virheellinen."
+msgstr "Virheellinen tuotteen versio:"
 
 #: scene/2d/animated_sprite.cpp
 msgid ""
@@ -15262,7 +15327,6 @@ msgstr ""
 "Tämä solmu on poistettu käytöstä. Käytä sen sijaan AnimationTree solmua."
 
 #: scene/gui/color_picker.cpp
-#, fuzzy
 msgid ""
 "Color: #%s\n"
 "LMB: Apply color\n"
diff --git a/editor/translations/fil.po b/editor/translations/fil.po
index 1cab78fd72..dd6e9aaa68 100644
--- a/editor/translations/fil.po
+++ b/editor/translations/fil.po
@@ -1448,6 +1448,10 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+msgid "Audio Bus Layout"
+msgstr ""
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -2803,7 +2807,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5459,6 +5463,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr ""
 
@@ -7897,7 +7905,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8780,6 +8793,10 @@ msgid "Select Another Theme Resource:"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Theme Resource"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -8826,6 +8843,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr ""
 
@@ -8842,7 +8871,17 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+msgid "Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9525,18 +9564,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr ""
 
@@ -12098,6 +12125,10 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+msgid "Filter stack variables"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13393,6 +13424,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/fr.po b/editor/translations/fr.po
index 03dff89a24..37752a1a22 100644
--- a/editor/translations/fr.po
+++ b/editor/translations/fr.po
@@ -40,7 +40,7 @@
 # Tommy Melançon-Roy <tommel1234@hotmail.com>, 2017-2018.
 # Willow <theotimefd@aol.com>, 2018.
 # Xananax <xananax@yelostudio.com>, 2017-2018.
-# Perrier Mathis <mathis.perrier73@gmail.com>, 2018.
+# Perrier Mathis <mathis.perrier73@gmail.com>, 2018, 2022.
 # Ewan Lehnebach <ewan.lehnebach@gmail.com>, 2018.
 # Hugo Locurcio <hugo.locurcio@hugo.pro>, 2018, 2019, 2020, 2021.
 # Grigore Antoniuc <grisa181@gmail.com>, 2018.
@@ -70,7 +70,7 @@
 # Camille Mohr-Daurat <pouleyketchoup@gmail.com>, 2019.
 # Pierre Stempin <pierre.stempin@gmail.com>, 2019.
 # Pierre Caye <pierrecaye@laposte.net>, 2020, 2021, 2022.
-# Kevin Bouancheau <kevin.bouancheau@gmail.com>, 2020.
+# Kevin Bouancheau <kevin.bouancheau@gmail.com>, 2020, 2022.
 # LaurentOngaro <laurent@gameamea.com>, 2020.
 # Julien Humbert <julroy67@gmail.com>, 2020.
 # Nathan <bonnemainsnathan@gmail.com>, 2020, 2021, 2022.
@@ -88,13 +88,14 @@
 # Maxime Leroy <lisacintosh@gmail.com>, 2022.
 # Adi-df <adidf-web@laposte.net>, 2022.
 # MinusKube <minuskube@gmail.com>, 2022.
+# Alexandre <alexandre.blanquero00@gmail.com>, 2022.
 msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine editor\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
 "POT-Creation-Date: \n"
-"PO-Revision-Date: 2022-02-10 07:50+0000\n"
-"Last-Translator: Maxime Leroy <lisacintosh@gmail.com>\n"
+"PO-Revision-Date: 2022-03-04 08:19+0000\n"
+"Last-Translator: Alexandre <alexandre.blanquero00@gmail.com>\n"
 "Language-Team: French <https://hosted.weblate.org/projects/godot-engine/"
 "godot/fr/>\n"
 "Language: fr\n"
@@ -102,7 +103,7 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=2; plural=n > 1;\n"
-"X-Generator: Weblate 4.11-dev\n"
+"X-Generator: Weblate 4.11.1-dev\n"
 
 #: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
 #: modules/visual_script/visual_script_builtin_funcs.cpp
@@ -1571,6 +1572,11 @@ msgstr "Charger l'agencement de transport par défaut."
 msgid "Create a new Bus Layout."
 msgstr "Créer une nouvel agencement de tranport."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Ouvrir une disposition de bus audio"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Nom invalide."
@@ -3036,7 +3042,7 @@ msgstr "Basculer en mode sans distraction."
 msgid "Add a new scene."
 msgstr "Ajouter une nouvelle scène."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Scène"
 
@@ -3414,14 +3420,13 @@ msgid "Update Continuously"
 msgstr "Mettre à jour en continu"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update All Changes"
-msgstr "Mettre à jour quand modifié"
+msgstr "Mettre à jour les changements"
 
 #: editor/editor_node.cpp
 #, fuzzy
 msgid "Update Vital Changes"
-msgstr "Changements de matériau :"
+msgstr "Changements de matériau"
 
 #: editor/editor_node.cpp
 msgid "Hide Update Spinner"
@@ -4206,6 +4211,11 @@ msgid ""
 "After renaming to an unknown extension, the file won't be shown in the "
 "editor anymore."
 msgstr ""
+"Cette extension de fichier n'est pas reconnue par l'éditeur.\n"
+"Si vous voulez quand même le renommer, utilisez le gestionnaire de fichiers "
+"de votre système d'exploitation.\n"
+"Après avoir été renommé avec une extension inconnue, le fichier ne sera plus "
+"affiché dans l'éditeur."
 
 #: editor/filesystem_dock.cpp
 msgid ""
@@ -4848,7 +4858,7 @@ msgstr "Supprimer le polygone et le point"
 #: editor/plugins/animation_state_machine_editor.cpp
 #: editor/plugins/sprite_frames_editor_plugin.cpp
 msgid "Add Animation"
-msgstr "Ajouter une animation"
+msgstr "Ajouter une Animation"
 
 #: editor/plugins/animation_blend_space_1d_editor.cpp
 #: editor/plugins/animation_blend_space_2d_editor.cpp
@@ -5831,6 +5841,10 @@ msgid "Bake Lightmaps"
 msgstr "Précalculer les lightmaps"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "Sélectionnez le fichier de précalcul de lightmap :"
 
@@ -8334,7 +8348,13 @@ msgid "Cinematic Preview"
 msgstr "Aperçu cinématographique"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "Non disponible quand le moteur de rendu GLES2 est utilisé."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9239,6 +9259,11 @@ msgid "Select Another Theme Resource:"
 msgstr "Sélectionnez une autre ressource Theme :"
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "Renommer une ressource"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr "Autre thème"
 
@@ -9288,6 +9313,20 @@ msgstr ""
 "appartenant à ce type."
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr "Ajouter un item de type"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Définir type de variable"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Changer le type de base"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr "Afficher par défaut"
 
@@ -9305,8 +9344,19 @@ msgid "Override all default type items."
 msgstr "Surcharge tous les items de type par défaut."
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
-msgstr "Ajouter un item de type"
+#, fuzzy
+msgid "Base Type"
+msgstr "Changer le type de base"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Theme:"
@@ -10013,18 +10063,6 @@ msgid "Commit list size"
 msgstr "Valider la taille des listes"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr "10"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr "20"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr "30"
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr "Branches"
 
@@ -12793,6 +12831,11 @@ msgid "Stack Frames"
 msgstr "Pile des appels"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filtrer les tuiles"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "Profileur"
 
@@ -14128,9 +14171,10 @@ msgstr "Nom de paquet invalide :"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"Module \"GodotPaymentV3\" invalide inclus dans le paramétrage du projet "
-"\"android/modules\" (modifié dans Godot 3.2.2).\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
@@ -14403,43 +14447,40 @@ msgstr "Erreur de démarrage du serveur HTTP :"
 
 #: platform/osx/export/codesign.cpp
 msgid "Can't get filesystem access."
-msgstr ""
+msgstr "Le système de fichiers ne peut être accédé."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to get Info.plist hash."
-msgstr ""
+msgstr "Le hachage de « Info.plist » n'a pu être récupéré."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid Info.plist, no exe name."
-msgstr "Nom du projet invalide."
+msgstr "« Info.plist » invalide, aucun nom d'exécutable."
 
 #: platform/osx/export/codesign.cpp
+#, fuzzy
 msgid "Invalid Info.plist, no bundle id."
-msgstr ""
+msgstr "« Info.plist » invalide, aucun identifiant de bundle."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid Info.plist, can't load."
-msgstr "Géométrie invalide, impossible de créer le polygone."
+msgstr "« Info.plist » invalide, n'a pu être chargé."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to create \"%s\" subfolder."
-msgstr "Impossible de créer le dossier."
+msgstr "Échec de création du sous-dossier « %s »."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to extract thin binary."
 msgstr ""
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid binary format."
-msgstr "Chemin de base invalide."
+msgstr "Format binaire invalide."
 
 #: platform/osx/export/codesign.cpp
 msgid "Already signed!"
-msgstr ""
+msgstr "Déjà signé !"
 
 #: platform/osx/export/codesign.cpp
 #, fuzzy
@@ -14461,9 +14502,8 @@ msgid "Invalid entitlements file."
 msgstr "Extension invalide."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid executable file."
-msgstr "Extension invalide."
+msgstr "Fichier exécutable invalide."
 
 #: platform/osx/export/codesign.cpp
 msgid "Can't resize signature load command."
@@ -14479,7 +14519,7 @@ msgstr ""
 
 #: platform/osx/export/codesign.cpp
 msgid "Unknown object type."
-msgstr ""
+msgstr "Type d'objet inconnu."
 
 #: platform/osx/export/export.cpp
 msgid ""
@@ -14500,9 +14540,8 @@ msgid ""
 msgstr ""
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "No identity found."
-msgstr "Pas d'icônes trouvées."
+msgstr "Aucune identité trouvée."
 
 #: platform/osx/export/export.cpp
 #, fuzzy
@@ -14530,7 +14569,7 @@ msgstr ""
 
 #: platform/osx/export/export.cpp
 msgid "Making PKG"
-msgstr ""
+msgstr "Création du PKG"
 
 #: platform/osx/export/export.cpp
 msgid ""
@@ -14544,7 +14583,7 @@ msgstr ""
 
 #: platform/osx/export/export.cpp
 msgid "Making DMG"
-msgstr ""
+msgstr "Création du DMG"
 
 #: platform/osx/export/export.cpp
 msgid "Code signing DMG"
@@ -14552,7 +14591,7 @@ msgstr ""
 
 #: platform/osx/export/export.cpp
 msgid "Making ZIP"
-msgstr ""
+msgstr "Création du ZIP"
 
 #: platform/osx/export/export.cpp
 msgid ""
@@ -14641,34 +14680,46 @@ msgid ""
 "Privacy: Microphone access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Confidentialité : L'accès au microphone est actif, mais son usage n'a pas "
+"été spécifié."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Camera access is enabled, but usage description is not specified."
 msgstr ""
+"Confidentialité : L'accès à la caméra est actif, mais son usage n'a pas été "
+"spécifié."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Location information access is enabled, but usage description is "
 "not specified."
 msgstr ""
+"Confidentialité : L'accès au informations de positionnement est actif, mais "
+"son usage n'a pas été spécifié."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Address book access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Confidentialité : L'accès au carnet d'adresses est actif, mais son usage n'a "
+"pas été spécifié."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Calendar access is enabled, but usage description is not specified."
 msgstr ""
+"Confidentialité : L'accès au calendrier est actif, mais son usage n'a pas "
+"été spécifié."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Photo library access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Confidentialité : L'accès à la bibliothèque de photos est actif, mais son "
+"usage n'a pas été spécifié."
 
 #: platform/uwp/export/export.cpp
 msgid "Invalid package short name."
@@ -14740,21 +14791,21 @@ msgid ""
 "The rcedit tool must be configured in the Editor Settings (Export > Windows "
 "> Rcedit) to change the icon or app information data."
 msgstr ""
+"L'outil « rcedit » doit être configuré dans les préférences de l'éditeur "
+"(Exporter > Windows > Rcedit) for modifier l'icône ou les informations de "
+"l'application."
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid icon path:"
-msgstr "Chemin invalide."
+msgstr "Chemin d'icône invalide :"
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid file version:"
-msgstr "Extension invalide."
+msgstr "Version de fichier invalide :"
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid product version:"
-msgstr "GUID produit invalide."
+msgstr "Version du produit invalide :"
 
 #: scene/2d/animated_sprite.cpp
 msgid ""
@@ -15508,14 +15559,13 @@ msgid "This node has been deprecated. Use AnimationTree instead."
 msgstr "Ce nœud est désormais déprécié. Utilisez AnimationTree à la place."
 
 #: scene/gui/color_picker.cpp
-#, fuzzy
 msgid ""
 "Color: #%s\n"
 "LMB: Apply color\n"
 "RMB: Remove preset"
 msgstr ""
 "Couleur : #%s\n"
-"Clic gauche : Définir la couleur\n"
+"Clic gauche : Appliquer la couleur\n"
 "Clic droit : Supprimer le préréglage"
 
 #: scene/gui/color_picker.cpp
diff --git a/editor/translations/ga.po b/editor/translations/ga.po
index 4db0862314..734f2c1f82 100644
--- a/editor/translations/ga.po
+++ b/editor/translations/ga.po
@@ -1440,6 +1440,10 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+msgid "Audio Bus Layout"
+msgstr ""
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -2792,7 +2796,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5439,6 +5443,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr ""
 
@@ -7867,7 +7875,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8747,6 +8760,11 @@ msgid "Select Another Theme Resource:"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "Acmhainn"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -8793,6 +8811,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr ""
 
@@ -8809,7 +8839,17 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+msgid "Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9488,18 +9528,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr ""
 
@@ -12061,6 +12089,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Scagairí..."
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13354,6 +13387,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/gl.po b/editor/translations/gl.po
index b88f8f0430..420ad5ebf3 100644
--- a/editor/translations/gl.po
+++ b/editor/translations/gl.po
@@ -1488,6 +1488,11 @@ msgstr "Cargar a disposición de Bus por defecto."
 msgid "Create a new Bus Layout."
 msgstr "Crear unha nova Disposición de Bus."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Abrir Disposición do Bus de Son"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Nome inválido."
@@ -2947,7 +2952,7 @@ msgstr "Act./Desact. modo sen distraccións."
 msgid "Add a new scene."
 msgstr "Engadir unha nova escena."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Escena"
 
@@ -5684,6 +5689,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr ""
 
@@ -8193,7 +8202,13 @@ msgid "Cinematic Preview"
 msgstr "Vista Previa Cinemática"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "Non dispoñible cando se está usando o renderizador GLES2."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9137,6 +9152,11 @@ msgstr "Eliminar Recurso"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "Renomear Recurso"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "Importar Tema"
 
@@ -9190,6 +9210,21 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Add Item Type"
+msgstr "Engadir Elemento"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Cambiar Tipo Base:"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Cambiar Tipo Base:"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Show Default"
 msgstr "Cargar Valores por Defecto"
 
@@ -9208,8 +9243,18 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
-msgid "Add Item Type"
-msgstr "Engadir Elemento"
+msgid "Base Type"
+msgstr "Cambiar Tipo Base:"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
@@ -9904,18 +9949,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "Coincidencias:"
@@ -12584,6 +12617,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filtrar sinais"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "Analítica de Rendemento"
 
@@ -13913,6 +13951,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/he.po b/editor/translations/he.po
index c7966a9536..668cc67dd0 100644
--- a/editor/translations/he.po
+++ b/editor/translations/he.po
@@ -1480,6 +1480,11 @@ msgstr "טעינת בררת המחדל של פריסת �פיקי השמע."
 msgid "Create a new Bus Layout."
 msgstr "יצירת פריסת �פיקי� חדשה."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "פתיחת פריסת �פיקי שמע"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "ש� שגוי."
@@ -2891,7 +2896,7 @@ msgstr "הפעל/בטל מצב לל� הסחות דעת."
 msgid "Add a new scene."
 msgstr "הוספת סצנה חדשה."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "סצנה"
 
@@ -5692,6 +5697,10 @@ msgid "Bake Lightmaps"
 msgstr "�פיית Lightmaps"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 #, fuzzy
 msgid "Select lightmap bake file:"
 msgstr "בחירת קובץ תבנית"
@@ -8271,7 +8280,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9230,6 +9244,11 @@ msgstr "מחיקת מש�ב"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "שינוי ש� מש�ב"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "ייבו� ערכת עיצוב"
 
@@ -9283,6 +9302,20 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "קביעת סוג משתנה"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "שינוי סוג בסיס"
+
+#: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
 msgid "Show Default"
 msgstr "טעינת בררת המחדל"
@@ -9301,7 +9334,18 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+#, fuzzy
+msgid "Base Type"
+msgstr "שינוי סוג בסיס"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -10053,18 +10097,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "הת�מות:"
@@ -12736,6 +12768,11 @@ msgid "Stack Frames"
 msgstr "מחסנית מסגרות"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "מ�פייני פריט."
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "מ�פיין"
 
@@ -14085,9 +14122,10 @@ msgstr "ש� חבילה ל� חוקי:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"מודול \"GodotPaymentV3\" ל� חוקי נמצ� בהגדרת המיז� "
-"ב-\"�נדרו�יד/מודולי�\" (שינוי בגודו 3.2.2).\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
diff --git a/editor/translations/hi.po b/editor/translations/hi.po
index eb5c524b8a..6911744a46 100644
--- a/editor/translations/hi.po
+++ b/editor/translations/hi.po
@@ -1490,6 +1490,11 @@ msgstr "पà¥�रायिक बस लेआउट लोड कीजियà¥
 msgid "Create a new Bus Layout."
 msgstr "नई बस लेआउट बनाइये."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "ऑडियो बस लेआउट खोलिये"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "अमान�य नाम."
@@ -2915,7 +2920,7 @@ msgstr "व�याक�लता म�क�त मोड टॉगल।"
 msgid "Add a new scene."
 msgstr "�क नया दृश�य जोड़ें।"
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "दृश�य"
 
@@ -5659,6 +5664,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 #, fuzzy
 msgid "Select lightmap bake file:"
 msgstr "टेम�पलेट फ़ाइल का चयन करें"
@@ -8141,7 +8150,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9073,6 +9087,11 @@ msgid "Select Another Theme Resource:"
 msgstr "खोज रिप�लेसमेंट संसाधन:"
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "संसाधन"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -9123,6 +9142,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
 msgid "Show Default"
 msgstr "प�रायिक लोड कीजिये"
@@ -9141,7 +9172,18 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+#, fuzzy
+msgid "Base Type"
+msgstr "%s का टाइप बदले"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9867,18 +9909,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "�क जैसा:"
@@ -12503,6 +12533,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "स�क�रीनिंग सिग�नल"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13843,6 +13878,9 @@ msgstr "गलत फॉण�ट का आकार |"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/hr.po b/editor/translations/hr.po
index 91849fe548..418c07c345 100644
--- a/editor/translations/hr.po
+++ b/editor/translations/hr.po
@@ -1460,6 +1460,11 @@ msgstr "U�itaj zadani Bus Izgled."
 msgid "Create a new Bus Layout."
 msgstr "Kreiraj novi Bus izgled."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Promijeni glasnoću zvu�ne sabirnice"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Nevažeće ime."
@@ -2821,7 +2826,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5489,6 +5494,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr ""
 
@@ -7934,7 +7943,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8825,6 +8839,11 @@ msgid "Select Another Theme Resource:"
 msgstr "Traži zamjenu resursa:"
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "Resurs"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -8874,6 +8893,20 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Promijeni vrstu baze:"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Promijeni vrstu baze:"
+
+#: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
 msgid "Show Default"
 msgstr "U�itaj Zadano"
@@ -8891,7 +8924,18 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+#, fuzzy
+msgid "Base Type"
+msgstr "Promijeni vrstu baze:"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9582,18 +9626,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "Podudaranja:"
@@ -12170,6 +12202,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filtriraj signale"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13473,6 +13510,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/hu.po b/editor/translations/hu.po
index 85150bd14d..4a1d254c59 100644
--- a/editor/translations/hu.po
+++ b/editor/translations/hu.po
@@ -1498,6 +1498,11 @@ msgstr "Betölti az alapértelmezett Busz Elrendezést."
 msgid "Create a new Bus Layout."
 msgstr "Új Buszelrendezés létrehozása."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Hangbusz Elrendezés Megnyitása"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Érvénytelen név."
@@ -2965,7 +2970,7 @@ msgstr "Zavarmentes mód váltása."
 msgid "Add a new scene."
 msgstr "Hozzáad egy új jelenetet."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Jelenet"
 
@@ -5716,6 +5721,10 @@ msgid "Bake Lightmaps"
 msgstr "Fény Besütése"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 #, fuzzy
 msgid "Select lightmap bake file:"
 msgstr "Válasszon fénytérkép sablonfájlt:"
@@ -8213,7 +8222,12 @@ msgid "Cinematic Preview"
 msgstr "Filmszerű előnézet"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9142,6 +9156,11 @@ msgstr "Erőforrás Törlése"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "Erőforrás �tnevezése"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "Téma Importálása"
 
@@ -9196,6 +9215,21 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Add Item Type"
+msgstr "Elem Hozzáadása"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Alaptípus módosítása:"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Alaptípus módosítása:"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Show Default"
 msgstr "Alapértelmezett Betöltése"
 
@@ -9214,8 +9248,18 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
-msgid "Add Item Type"
-msgstr "Elem Hozzáadása"
+msgid "Base Type"
+msgstr "Alaptípus módosítása:"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
@@ -9908,18 +9952,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "Egyezések:"
@@ -12504,6 +12536,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Csempék szűrése"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13842,6 +13879,9 @@ msgstr "Érvénytelen csomagnév:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/id.po b/editor/translations/id.po
index 6955f05f3a..775ab4d8c1 100644
--- a/editor/translations/id.po
+++ b/editor/translations/id.po
@@ -24,7 +24,7 @@
 # Modeus Darksono <garuga17@gmail.com>, 2019.
 # Akhmad Zulfikar <azuldegratz@gmail.com>, 2020.
 # Ade Fikri Malihuddin <ade.fm97@gmail.com>, 2020.
-# zephyroths <ridho.hikaru@gmail.com>, 2020, 2021.
+# zephyroths <ridho.hikaru@gmail.com>, 2020, 2021, 2022.
 # Richard Urban <redasuio1@gmail.com>, 2020.
 # yusuf afandi <afandi.yusuf.04@gmail.com>, 2020.
 # Habib Rohman <revolusi147id@gmail.com>, 2020.
@@ -40,8 +40,8 @@ msgstr ""
 "Project-Id-Version: Godot Engine editor\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
 "POT-Creation-Date: \n"
-"PO-Revision-Date: 2021-11-19 08:43+0000\n"
-"Last-Translator: Brian <brian@brianthe.dev>\n"
+"PO-Revision-Date: 2022-02-23 17:54+0000\n"
+"Last-Translator: zephyroths <ridho.hikaru@gmail.com>\n"
 "Language-Team: Indonesian <https://hosted.weblate.org/projects/godot-engine/"
 "godot/id/>\n"
 "Language: id\n"
@@ -49,7 +49,7 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=1; plural=0;\n"
-"X-Generator: Weblate 4.9.1-dev\n"
+"X-Generator: Weblate 4.11-dev\n"
 
 #: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
 #: modules/visual_script/visual_script_builtin_funcs.cpp
@@ -352,9 +352,8 @@ msgid "Duplicate Key(s)"
 msgstr "Duplikat Key"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Add RESET Value(s)"
-msgstr "Tambah %d Frame"
+msgstr "Tambahkan Nilai RESET"
 
 #: editor/animation_track_editor.cpp
 msgid "Delete Key(s)"
@@ -1507,6 +1506,11 @@ msgstr "Muat default Layout Bus."
 msgid "Create a new Bus Layout."
 msgstr "Buat Layout Bus Baru."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Buka Layout Suara Bus"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Nama tidak sah."
@@ -2956,7 +2960,7 @@ msgstr "Toggle mode tanpa gangguan."
 msgid "Add a new scene."
 msgstr "Tambah skena baru."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Skena"
 
@@ -5706,6 +5710,10 @@ msgid "Bake Lightmaps"
 msgstr "Panggang Lightmaps"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "Pilih berkas lightmap bake:"
 
@@ -8201,7 +8209,13 @@ msgid "Cinematic Preview"
 msgstr "Pratinjau Sinematik"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "Tidak tersedia ketika menggunakan perender GLES2."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9135,6 +9149,11 @@ msgstr "Pilih Tema Lain Aset:"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "Ubah Nama Resource"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "Impor Tema"
 
@@ -9189,6 +9208,21 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Add Item Type"
+msgstr "Tambah Item"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Atur Jenis variabel"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Ubah Tipe Basis"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Show Default"
 msgstr "Muat Default"
 
@@ -9207,8 +9241,18 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
-msgid "Add Item Type"
-msgstr "Tambah Item"
+msgid "Base Type"
+msgstr "Ubah Tipe Basis"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Theme:"
@@ -9928,18 +9972,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "Kecocokan:"
@@ -12699,6 +12731,11 @@ msgid "Stack Frames"
 msgstr "Stack Frame"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filter tile"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "Profiler(debugger/pemantauan)"
 
@@ -14059,9 +14096,10 @@ msgstr "Nama paket tidak valid:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"Modul \"GodotPaymentV3\" tidak valid yang dimasukkan dalam pengaturan proyek "
-"\"android/modules\" (diubah di Godot 3.2.2)\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
diff --git a/editor/translations/is.po b/editor/translations/is.po
index 824f7a7248..45098e09ee 100644
--- a/editor/translations/is.po
+++ b/editor/translations/is.po
@@ -1476,6 +1476,10 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+msgid "Audio Bus Layout"
+msgstr ""
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -2834,7 +2838,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5504,6 +5508,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr ""
 
@@ -7959,7 +7967,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8854,6 +8867,10 @@ msgid "Select Another Theme Resource:"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Theme Resource"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -8902,6 +8919,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr ""
 
@@ -8918,7 +8947,17 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+msgid "Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9619,18 +9658,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr ""
 
@@ -12221,6 +12248,10 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+msgid "Filter stack variables"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13531,6 +13562,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/it.po b/editor/translations/it.po
index 3da90af619..6ca5230b6b 100644
--- a/editor/translations/it.po
+++ b/editor/translations/it.po
@@ -66,13 +66,14 @@
 # Theraloss <danilo.polani@gmail.com>, 2021.
 # Pietro Grungo <pietro.grungo@libero.it>, 2021.
 # Alfonso Scarpino <alfonso.scarpino@gmail.com>, 2022.
+# Federico Caprini <caprinifede@gmail.com>, 2022.
 msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine editor\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
 "POT-Creation-Date: \n"
-"PO-Revision-Date: 2022-01-31 22:50+0000\n"
-"Last-Translator: Mirko <miknsop@gmail.com>\n"
+"PO-Revision-Date: 2022-02-23 17:54+0000\n"
+"Last-Translator: Federico Caprini <caprinifede@gmail.com>\n"
 "Language-Team: Italian <https://hosted.weblate.org/projects/godot-engine/"
 "godot/it/>\n"
 "Language: it\n"
@@ -103,7 +104,7 @@ msgstr "Input %i non valido (assente) nell'espressione"
 
 #: core/math/expression.cpp
 msgid "self can't be used because instance is null (not passed)"
-msgstr "self non può essere usato perché l'istanza è nulla (non passata)"
+msgstr "self non può essere usato perché l'istanza è null (non passata)"
 
 #: core/math/expression.cpp
 msgid "Invalid operands to operator %s, %s and %s."
@@ -1543,6 +1544,11 @@ msgstr "Carica la disposizione di bus predefinita."
 msgid "Create a new Bus Layout."
 msgstr "Crea una nuova disposizione di bus."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Apri la disposizione di un bus audio"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Nome non valido."
@@ -1948,7 +1954,7 @@ msgstr "Rendi attuale"
 #: editor/editor_feature_profile.cpp editor/editor_node.cpp
 #: editor/plugins/theme_editor_plugin.cpp editor/project_manager.cpp
 msgid "Import"
-msgstr "Importazione"
+msgstr "Importa"
 
 #: editor/editor_feature_profile.cpp editor/project_export.cpp
 msgid "Export"
@@ -3002,7 +3008,7 @@ msgstr "Commuta la modalità senza distrazioni."
 msgid "Add a new scene."
 msgstr "Aggiungi una nuova scena."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Scena"
 
@@ -3382,9 +3388,8 @@ msgid "Update All Changes"
 msgstr "Aggiorna quando modificata"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update Vital Changes"
-msgstr "Cambiamenti dei materiali:"
+msgstr "Cambiamenti dei materiali"
 
 #: editor/editor_node.cpp
 msgid "Hide Update Spinner"
@@ -4168,6 +4173,11 @@ msgid ""
 "After renaming to an unknown extension, the file won't be shown in the "
 "editor anymore."
 msgstr ""
+"Quest'estensione file non è riconosciuta dall'editore.\n"
+"Se vuoi comunque rinominarla, usa il file manager del tuo sistema "
+"operativo.\n"
+"Dopo averlo rinominato ad un'estensione sconosciuta, il file non verrà più "
+"visualizzato nell'editore."
 
 #: editor/filesystem_dock.cpp
 msgid ""
@@ -4629,6 +4639,8 @@ msgid ""
 "Select a resource file in the filesystem or in the inspector to adjust "
 "import settings."
 msgstr ""
+"Seleziona un file risorsa nel filesystem o nell'ispettore per aggiustare le "
+"impostazioni di importazione."
 
 #: editor/inspector_dock.cpp
 msgid "Failed to load resource."
@@ -5789,6 +5801,10 @@ msgid "Bake Lightmaps"
 msgstr "Preprocessa Lightmaps"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "Seleziona il file bake della lightmap:"
 
@@ -8324,7 +8340,13 @@ msgid "Cinematic Preview"
 msgstr "Anteprima Cinematografica"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "Non disponibile quando il renderer GLES2 è in uso."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8455,15 +8477,15 @@ msgstr "Vista laterale destra"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Orbit View Down"
-msgstr ""
+msgstr "Orbita la visuale in giù"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Orbit View Left"
-msgstr ""
+msgstr "Orbita la visuale in su"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Orbit View Right"
-msgstr ""
+msgstr "Orbita la visuale a destra"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 #, fuzzy
@@ -8496,11 +8518,11 @@ msgstr "Commuta la vista libera"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Decrease Field of View"
-msgstr ""
+msgstr "Diminuisci il Campo Visivo"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Increase Field of View"
-msgstr ""
+msgstr "Aumenta il Campo Visivo"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 #, fuzzy
@@ -8949,7 +8971,7 @@ msgstr "Importa tema"
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Importing items {n}/{n}"
-msgstr ""
+msgstr "Importa oggetti {n}/{n}"
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Updating the editor"
@@ -8978,11 +9000,11 @@ msgstr "Seleziona tutti gli oggetti colorati visibili."
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Select all visible color items and their data."
-msgstr ""
+msgstr "Seleziona tutti gli oggetti colorati e i loro dati."
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Deselect all visible color items."
-msgstr ""
+msgstr "Deseleziona tutti gli oggetti colorati."
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Select all visible constant items."
@@ -8990,7 +9012,7 @@ msgstr "Seleziona tutti gli oggetti visibili."
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Select all visible constant items and their data."
-msgstr ""
+msgstr "Seleziona tutti gli oggetti costanti e i loro dati."
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Deselect all visible constant items."
@@ -9251,6 +9273,11 @@ msgstr "Seleziona un'altra risorsa del tema:"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "Rinomina risorsa"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "Importa tema"
 
@@ -9304,6 +9331,21 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Add Item Type"
+msgstr "Aggiungi Elemento"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Imposta Tipo di Variabile"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Cambia Tipo di Base"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Show Default"
 msgstr "Carica i predefiniti"
 
@@ -9322,8 +9364,18 @@ msgstr "Sovrascrivi tutti gli elementi predefiniti."
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
-msgid "Add Item Type"
-msgstr "Aggiungi Elemento"
+msgid "Base Type"
+msgstr "Cambia Tipo di Base"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Theme:"
@@ -9940,18 +9992,16 @@ msgid "Unstaged Changes"
 msgstr "Cambiamenti degli shader:"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Commit:"
-msgstr "Commit"
+msgstr "Commit:"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Date:"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Subtitle:"
-msgstr "Sottoalbero"
+msgstr "Sottotitolo:"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Do you want to remove the %s branch?"
@@ -10024,9 +10074,8 @@ msgid "Stage all changes"
 msgstr "Memorizzazione dei cambiamenti locali…"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Unstage all changes"
-msgstr "Cambiamenti dei materiali:"
+msgstr "Annulla tutte le modifiche"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
@@ -10047,21 +10096,8 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Branches"
-msgstr "Corrispondenze:"
+msgstr "Rami"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
@@ -10093,14 +10129,12 @@ msgid "Remove Remote"
 msgstr "Rimuovi l'elemento"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Remote Name"
-msgstr "Remoto "
+msgstr "Nome Remoto"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Remote URL"
-msgstr "Remoto "
+msgstr "URL Remoto"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Fetch"
@@ -10140,9 +10174,8 @@ msgid "Unmerged"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "View:"
-msgstr "Vista"
+msgstr "Vista:"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
@@ -12826,6 +12859,11 @@ msgid "Stack Frames"
 msgstr "Stack Frame"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filtra tiles"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "Profiler"
 
@@ -13780,9 +13818,8 @@ msgid "in order:"
 msgstr "Rinomina cartella:"
 
 #: modules/visual_script/visual_script_flow_control.cpp
-#, fuzzy
 msgid "Switch"
-msgstr "Switch"
+msgstr "Inverti"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "'input' is:"
@@ -14015,9 +14052,8 @@ msgid "Yield"
 msgstr ""
 
 #: modules/visual_script/visual_script_yield_nodes.cpp
-#, fuzzy
 msgid "Wait"
-msgstr "Wait"
+msgstr "Aspetta"
 
 #: modules/visual_script/visual_script_yield_nodes.cpp
 #, fuzzy
@@ -14194,9 +14230,10 @@ msgstr "Nome del pacchetto non valido:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"Modulo \"GodotPaymentV3\" non valido incluso nell'impostazione del progetto "
-"\"android/moduli\" (modificato in Godot 3.2.2).\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
diff --git a/editor/translations/ja.po b/editor/translations/ja.po
index de6c22ce1a..81522d182d 100644
--- a/editor/translations/ja.po
+++ b/editor/translations/ja.po
@@ -42,7 +42,7 @@ msgstr ""
 "Project-Id-Version: Godot Engine editor\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
 "POT-Creation-Date: \n"
-"PO-Revision-Date: 2022-02-14 22:08+0000\n"
+"PO-Revision-Date: 2022-03-08 08:59+0000\n"
 "Last-Translator: Wataru Onuki <bettawat@yahoo.co.jp>\n"
 "Language-Team: Japanese <https://hosted.weblate.org/projects/godot-engine/"
 "godot/ja/>\n"
@@ -51,7 +51,7 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=1; plural=0;\n"
-"X-Generator: Weblate 4.11-dev\n"
+"X-Generator: Weblate 4.12-dev\n"
 
 #: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
 #: modules/visual_script/visual_script_builtin_funcs.cpp
@@ -1508,6 +1508,11 @@ msgstr "デフォルト��スレイアウトを読�込む。"
 msgid "Create a new Bus Layout."
 msgstr "新��スレイアウトを作�。"
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "オーディオ�ス�レイアウトを開�"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "無効�����。"
@@ -2947,7 +2952,7 @@ msgstr "集中モードを切り替�る。"
 msgid "Add a new scene."
 msgstr "新�シーンを追加�る。"
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "シーン"
 
@@ -3117,7 +3122,7 @@ msgstr ""
 
 #: editor/editor_node.cpp
 msgid "Visible Collision Shapes"
-msgstr "コリジョン形状�表示"
+msgstr "コリジョン形状を表示"
 
 #: editor/editor_node.cpp
 msgid ""
@@ -3129,7 +3134,7 @@ msgstr ""
 
 #: editor/editor_node.cpp
 msgid "Visible Navigation"
-msgstr "ナビゲーション�表示"
+msgstr "ナビゲーションを表示"
 
 #: editor/editor_node.cpp
 msgid ""
@@ -3141,7 +3146,7 @@ msgstr ""
 
 #: editor/editor_node.cpp
 msgid "Force Shader Fallbacks"
-msgstr ""
+msgstr "シェーダーフォール�ックを強制"
 
 #: editor/editor_node.cpp
 msgid ""
@@ -3152,10 +3157,16 @@ msgid ""
 "Asynchronous shader compilation must be enabled in the project settings for "
 "this option to make a difference."
 msgstr ""
+"��オプションを有効��る������実行時�シェーダー�フォール�ック形� "
+"(ubershader�表示�る��表示) �使用�れ��。\n"
+"�れ��通常�簡素�表示�れるフォール�ック��見�目�性能を確��る���"
+"役立���。\n"
+"��オプションを機能��る���プロジェクト設定���期シェーダーコンパイル"
+"を有効��る必���り��。"
 
 #: editor/editor_node.cpp
 msgid "Synchronize Scene Changes"
-msgstr "シーン�変更を�期"
+msgstr "シーン変更を�期"
 
 #: editor/editor_node.cpp
 msgid ""
@@ -3171,7 +3182,7 @@ msgstr ""
 
 #: editor/editor_node.cpp
 msgid "Synchronize Script Changes"
-msgstr "スクリプト�変更を�期"
+msgstr "スクリプト変更を�期"
 
 #: editor/editor_node.cpp
 msgid ""
@@ -4097,6 +4108,11 @@ msgid ""
 "After renaming to an unknown extension, the file won't be shown in the "
 "editor anymore."
 msgstr ""
+"��ファイル拡張��エディター�よ���識�れ��ん。\n"
+"�れ�も��を変更���場���オペレーティングシステム�ファイルマ�ー"
+"ジャーを使用������。\n"
+"�明�拡張�����を変更�る����ファイル�エディター�表示�れ���り"
+"��。"
 
 #: editor/filesystem_dock.cpp
 msgid ""
@@ -5707,6 +5723,10 @@ msgid "Bake Lightmaps"
 msgstr "ライトマップを焼�込む"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "ライトマップベイクファイルを�択:"
 
@@ -5801,11 +5821,11 @@ msgstr "Control \"%s\" を (%d, %d) �リサイズ���"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Scale %d CanvasItems"
-msgstr "%d 個� CanvasItem を拡大 / 縮�"
+msgstr "%d 個� CanvasItem を拡大縮�"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Scale CanvasItem \"%s\" to (%s, %s)"
-msgstr "CanvasItem \"%s\" を (%s, %s) �拡大 / 縮�"
+msgstr "CanvasItem \"%s\" を (%s, %s) �拡大縮�"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Move %d CanvasItems"
@@ -6052,7 +6072,7 @@ msgstr "スケールモード"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Shift: Scale proportionally."
-msgstr ""
+msgstr "Shift: 比率を���拡大縮�。"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8190,7 +8210,13 @@ msgid "Cinematic Preview"
 msgstr "シ�マティックプレビュー"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "GLES2レンダラー�場��利用����ん。"
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8430,23 +8456,23 @@ msgstr "設定..."
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Snap Settings"
-msgstr "スナップ�設定"
+msgstr "スナップ設定"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Translate Snap:"
-msgstr "スナップ�移動:"
+msgstr "移動スナップ:"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Rotate Snap (deg.):"
-msgstr "スナップ�回転(度):"
+msgstr "回転スナップ (度):"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Scale Snap (%):"
-msgstr "スナップ�拡大/縮�(%):"
+msgstr "拡大 / 縮�スナップ (%):"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Viewport Settings"
-msgstr "ビュー�ート�設定"
+msgstr "ビュー�ート設定"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Perspective FOV (deg.):"
@@ -8454,15 +8480,15 @@ msgstr "視野角(度):"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "View Z-Near:"
-msgstr "Z-Near�表示:"
+msgstr "ビュー�Z-Near:"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "View Z-Far:"
-msgstr "Z-Far�表示:"
+msgstr "ビュー�Z-Far:"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Transform Change"
-msgstr "トランスフォーム�変更"
+msgstr "トランスフォーム変更"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Translate:"
@@ -9084,6 +9110,11 @@ msgid "Select Another Theme Resource:"
 msgstr "他�テーマリソース��択:"
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "リソース�を変更"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr "他�テーマ"
 
@@ -9132,8 +9163,22 @@ msgstr ""
 "����タイプ�StyleBox���プロパティ�更新�れ��。"
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr "アイテム�タイプを追加"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "変数�型を設定"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "基底型を変更"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
-msgstr "デフォルト�表示"
+msgstr "デフォルトを表示"
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Show default type items alongside items that have been overridden."
@@ -9149,8 +9194,19 @@ msgid "Override all default type items."
 msgstr "����デフォルトタイプ�アイテムをオー�ーライド�る。"
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
-msgstr "アイテム�タイプを追加"
+#, fuzzy
+msgid "Base Type"
+msgstr "基底型を変更"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Theme:"
@@ -9859,18 +9915,6 @@ msgid "Commit list size"
 msgstr "コミットリストサイズ"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr "10"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr "20"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr "30"
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr "ブラン�"
 
@@ -12604,6 +12648,11 @@ msgid "Stack Frames"
 msgstr "スタックフレーム"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "タイルを絞り込む"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "プロファイラー"
 
@@ -13944,9 +13993,10 @@ msgstr "無効�パッケージ�:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"「android/modules����れる「GodotPaymentV3�モジュール�プロジェクト設定�"
-"無効�� (Godot 3.2.2 ��変更)。\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
diff --git a/editor/translations/ka.po b/editor/translations/ka.po
index b3d35a3311..8a18925bb4 100644
--- a/editor/translations/ka.po
+++ b/editor/translations/ka.po
@@ -1535,6 +1535,11 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "�უდი� გ�დ�მტ�ნის ხმის გ�დ�რთვ�"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -2919,7 +2924,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5645,6 +5650,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 #, fuzzy
 msgid "Select lightmap bake file:"
 msgstr "წ�ვშ�ლ�თ მ�ნიშნული ფ�ილები?"
@@ -8159,7 +8168,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9072,6 +9086,11 @@ msgid "Select Another Theme Resource:"
 msgstr "ჩ�მნ�ცვლებელი რესურსის ძიებ�:"
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "რესურსი"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -9123,6 +9142,20 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "%s ტიპის ცვლილებ�"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "%s ტიპის ცვლილებ�"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr ""
 
@@ -9139,7 +9172,18 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+#, fuzzy
+msgid "Base Type"
+msgstr "%s ტიპის ცვლილებ�"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9861,18 +9905,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "დ�მთხვევები:"
@@ -12508,6 +12540,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "დ�მ�კ�ვშირებელი სიგნ�ლი:"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13834,6 +13871,9 @@ msgstr "�რ�სწ�რი ფ�ნტის ზ�მ�."
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/km.po b/editor/translations/km.po
index a386fd1188..d3f13b9d89 100644
--- a/editor/translations/km.po
+++ b/editor/translations/km.po
@@ -1437,6 +1437,10 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+msgid "Audio Bus Layout"
+msgstr ""
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -2786,7 +2790,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5429,6 +5433,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr ""
 
@@ -7861,7 +7869,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8736,6 +8749,10 @@ msgid "Select Another Theme Resource:"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Theme Resource"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -8782,6 +8799,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr ""
 
@@ -8798,7 +8827,17 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+msgid "Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9474,18 +9513,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr ""
 
@@ -12039,6 +12066,10 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+msgid "Filter stack variables"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13323,6 +13354,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/ko.po b/editor/translations/ko.po
index 0312c7fd92..15bed58f67 100644
--- a/editor/translations/ko.po
+++ b/editor/translations/ko.po
@@ -16,7 +16,7 @@
 # Jiyoon Kim <kimjiy@dickinson.edu>, 2019.
 # Ervin <zetsmart@gmail.com>, 2019.
 # Tilto_ <tilto0822@develable.xyz>, 2020.
-# Myeongjin Lee <aranet100@gmail.com>, 2020, 2021.
+# Myeongjin Lee <aranet100@gmail.com>, 2020, 2021, 2022.
 # Doyun Kwon <caen4516@gmail.com>, 2020.
 # Jun Hyung Shin <shmishmi79@gmail.com>, 2020.
 # Yongjin Jo <wnrhd114@gmail.com>, 2020.
@@ -35,8 +35,8 @@ msgstr ""
 "Project-Id-Version: Godot Engine editor\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
 "POT-Creation-Date: \n"
-"PO-Revision-Date: 2022-02-04 13:45+0000\n"
-"Last-Translator: Lee Minhak <minarihak@gmail.com>\n"
+"PO-Revision-Date: 2022-03-04 08:19+0000\n"
+"Last-Translator: Myeongjin Lee <aranet100@gmail.com>\n"
 "Language-Team: Korean <https://hosted.weblate.org/projects/godot-engine/"
 "godot/ko/>\n"
 "Language: ko\n"
@@ -44,7 +44,7 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=1; plural=0;\n"
-"X-Generator: Weblate 4.11-dev\n"
+"X-Generator: Weblate 4.11.1-dev\n"
 
 #: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
 #: modules/visual_script/visual_script_builtin_funcs.cpp
@@ -1499,6 +1499,11 @@ msgstr "디�트 버스 레�아웃� 불러옵니다."
 msgid "Create a new Bus Layout."
 msgstr "새로운 버스 레�아웃� 만듭니다."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "오디오 버스 레�아웃 열기"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "올바르지 않� �름입니다."
@@ -2735,7 +2740,7 @@ msgstr "예"
 
 #: editor/editor_node.cpp
 msgid "Exit the editor?"
-msgstr "�디터를 나가시겠습니까?"
+msgstr "�디터를 �내시겠습니까?"
 
 #: editor/editor_node.cpp
 msgid "Open Project Manager?"
@@ -2936,7 +2941,7 @@ msgstr "집중 모드를 토글합니다."
 msgid "Add a new scene."
 msgstr "새 씬� 추가합니다."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "씬"
 
@@ -3058,7 +3063,7 @@ msgstr "현재 프로�트 새로고침"
 
 #: editor/editor_node.cpp
 msgid "Quit to Project List"
-msgstr "종료 후 프로�트 목� 열기"
+msgstr "종료 후 프로�트 목�으로 ��"
 
 #: editor/editor_node.cpp editor/plugins/script_editor_plugin.cpp
 #: editor/project_export.cpp
@@ -5682,6 +5687,10 @@ msgid "Bake Lightmaps"
 msgstr "��트맵 굽기"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "��트맵� 구울 파� 선�:"
 
@@ -8066,11 +8075,11 @@ msgstr "FPS: %d (%s ms)"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Top View."
-msgstr "윗면 보기."
+msgstr "�단면 보기."
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Bottom View."
-msgstr "아랫면 보기."
+msgstr "하단면 보기."
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Left View."
@@ -8161,7 +8170,13 @@ msgid "Cinematic Preview"
 msgstr "시네마틱 미리보기"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "GLES2 렌�러�서 사용할 수 없습니다."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8261,11 +8276,11 @@ msgstr "�털 컬�� 위한 룸� 변환합니다."
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Bottom View"
-msgstr "아래쪽 뷰"
+msgstr "하단 뷰"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Top View"
-msgstr "위쪽 뷰"
+msgstr "�단 뷰"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Rear View"
@@ -9052,6 +9067,11 @@ msgid "Select Another Theme Resource:"
 msgstr "다른 테마 리소스 선�:"
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "리소스 �름 바꾸기"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr "다른 테마"
 
@@ -9103,6 +9123,20 @@ msgstr ""
 "�박스�서 같� �성� 업��트�니다."
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr "항목 타입 추가"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "변수 타입 설정"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "기본 타입 바꾸기"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr "디�트 보�기"
 
@@ -9119,8 +9153,19 @@ msgid "Override all default type items."
 msgstr "모든 디�트 타입 항목� 오버��드합니다."
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
-msgstr "항목 타입 추가"
+#, fuzzy
+msgid "Base Type"
+msgstr "기본 타입 바꾸기"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Theme:"
@@ -9834,18 +9879,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "�치함:"
@@ -9880,14 +9913,12 @@ msgid "Remove Remote"
 msgstr "항목 제거"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Remote Name"
-msgstr "�격 "
+msgstr "�격 �름"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Remote URL"
-msgstr "�격 "
+msgstr "�격 URL"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Fetch"
@@ -12557,6 +12588,11 @@ msgid "Stack Frames"
 msgstr "스� 프레임"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "타� 필터"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "프로파�러"
 
@@ -13736,7 +13772,7 @@ msgstr ""
 
 #: modules/visual_script/visual_script_yield_nodes.cpp
 msgid "Wait"
-msgstr ""
+msgstr "대기"
 
 #: modules/visual_script/visual_script_yield_nodes.cpp
 #, fuzzy
@@ -13899,9 +13935,10 @@ msgstr "잘못� 패키지 �름:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"\"android/modules\" 프로�트 세팅� 잘못� \"GodotPaymentV3\" 모듈� �함�"
-"어 있습니다. (Godot 3.2.2 �서 변경�).\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
diff --git a/editor/translations/lt.po b/editor/translations/lt.po
index bdbebb1717..24b3403eeb 100644
--- a/editor/translations/lt.po
+++ b/editor/translations/lt.po
@@ -1485,6 +1485,10 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+msgid "Audio Bus Layout"
+msgstr ""
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -2876,7 +2880,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5627,6 +5631,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 #, fuzzy
 msgid "Select lightmap bake file:"
 msgstr "Pasirinkite Nodus, kuriuos norite importuoti"
@@ -8134,7 +8142,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9054,6 +9067,11 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "IÅ¡tekliai"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "Redaguoti Filtrus"
 
@@ -9103,6 +9121,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr ""
 
@@ -9119,7 +9149,17 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+msgid "Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9849,18 +9889,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr ""
 
@@ -12485,6 +12513,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filtrai..."
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13819,6 +13852,9 @@ msgstr "Netinkamas Å¡rifto dydis."
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/lv.po b/editor/translations/lv.po
index 2216810855..4bf3eb8bbd 100644
--- a/editor/translations/lv.po
+++ b/editor/translations/lv.po
@@ -1480,6 +1480,11 @@ msgstr "Iel�dēt Kopnes Izk�rtojuma noklusējumu."
 msgid "Create a new Bus Layout."
 msgstr "Izveidot jaunu Kopnes izk�rtojumu."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Atvērt audio kopnes izk�rtojumu"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Nederīgs nosaukums."
@@ -2914,7 +2919,7 @@ msgstr "P�rslēgt traucējumu brīvo režīmu."
 msgid "Add a new scene."
 msgstr "Pievienot jaunu ainu."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Aina"
 
@@ -5579,6 +5584,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "Izvēlēties gaismas kartes cepšanas failu:"
 
@@ -8008,7 +8017,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8884,6 +8898,11 @@ msgid "Select Another Theme Resource:"
 msgstr "Izvēlēties citu motīva resursu:"
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "Resurss"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -8933,6 +8952,20 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Nomainīt B�zes Tipu:"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Nomainīt B�zes Tipu:"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr "R�dīt noklusējumu"
 
@@ -8949,7 +8982,18 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+#, fuzzy
+msgid "Base Type"
+msgstr "Mainīt tipu"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9633,18 +9677,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr "Zari"
 
@@ -12208,6 +12240,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filtrēt sign�lus"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13515,6 +13552,9 @@ msgstr "Nederīgs paketes nosaukums:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/mi.po b/editor/translations/mi.po
index 745e54d697..322a593bd0 100644
--- a/editor/translations/mi.po
+++ b/editor/translations/mi.po
@@ -1429,6 +1429,10 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+msgid "Audio Bus Layout"
+msgstr ""
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -2778,7 +2782,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5420,6 +5424,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr ""
 
@@ -7845,7 +7853,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8720,6 +8733,10 @@ msgid "Select Another Theme Resource:"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Theme Resource"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -8766,6 +8783,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr ""
 
@@ -8782,7 +8811,17 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+msgid "Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9458,18 +9497,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr ""
 
@@ -12023,6 +12050,10 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+msgid "Filter stack variables"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13306,6 +13337,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/mk.po b/editor/translations/mk.po
index 38ee72ff58..44b39d18ee 100644
--- a/editor/translations/mk.po
+++ b/editor/translations/mk.po
@@ -1437,6 +1437,10 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+msgid "Audio Bus Layout"
+msgstr ""
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -2790,7 +2794,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5436,6 +5440,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr ""
 
@@ -7868,7 +7876,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8743,6 +8756,10 @@ msgid "Select Another Theme Resource:"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Theme Resource"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -8789,6 +8806,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr ""
 
@@ -8805,7 +8834,17 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+msgid "Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9482,18 +9521,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr ""
 
@@ -12048,6 +12075,10 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+msgid "Filter stack variables"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13332,6 +13363,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/ml.po b/editor/translations/ml.po
index 085e4e1af3..659971d0b5 100644
--- a/editor/translations/ml.po
+++ b/editor/translations/ml.po
@@ -1442,6 +1442,10 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+msgid "Audio Bus Layout"
+msgstr ""
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -2797,7 +2801,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5444,6 +5448,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr ""
 
@@ -7877,7 +7885,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8752,6 +8765,10 @@ msgid "Select Another Theme Resource:"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Theme Resource"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -8798,6 +8815,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr ""
 
@@ -8814,7 +8843,17 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+msgid "Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9491,18 +9530,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr ""
 
@@ -12056,6 +12083,10 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+msgid "Filter stack variables"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13345,6 +13376,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/mr.po b/editor/translations/mr.po
index d3faab3d90..8b502fff5a 100644
--- a/editor/translations/mr.po
+++ b/editor/translations/mr.po
@@ -2,13 +2,13 @@
 # Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.
 # Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).
 # This file is distributed under the same license as the Godot source code.
-# Prachi Joshi <josprachi@yahoo.com>, 2019, 2020.
+# Prachi Joshi <josprachi@yahoo.com>, 2019, 2020, 2022.
 # Shirious <sad3119823@gmail.com>, 2020.
 msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine editor\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
-"PO-Revision-Date: 2020-12-23 22:57+0000\n"
+"PO-Revision-Date: 2022-02-23 17:55+0000\n"
 "Last-Translator: Prachi Joshi <josprachi@yahoo.com>\n"
 "Language-Team: Marathi <https://hosted.weblate.org/projects/godot-engine/"
 "godot/mr/>\n"
@@ -16,7 +16,7 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8-bit\n"
 "Plural-Forms: nplurals=2; plural=n > 1;\n"
-"X-Generator: Weblate 4.4.1-dev\n"
+"X-Generator: Weblate 4.11-dev\n"
 
 #: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
 #: modules/visual_script/visual_script_builtin_funcs.cpp
@@ -43,15 +43,15 @@ msgstr "self वापरले जाऊ शकत नाही कारण à¤
 
 #: core/math/expression.cpp
 msgid "Invalid operands to operator %s, %s and %s."
-msgstr ""
+msgstr "ऑपरेटर %s, %s आणि %s साठी अवैध ऑपरेंड."
 
 #: core/math/expression.cpp
 msgid "Invalid index of type %s for base type %s"
-msgstr ""
+msgstr "बेस प�रकार %s साठी %s प�रकाराची अवैध अन�क�रमणिका"
 
 #: core/math/expression.cpp
 msgid "Invalid named index '%s' for base type %s"
-msgstr ""
+msgstr "बेस प�रकार %s साठी अवैध नामांकित इंडेक�स '%s'"
 
 #: core/math/expression.cpp
 msgid "Invalid arguments to construct '%s'"
@@ -1437,6 +1437,10 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+msgid "Audio Bus Layout"
+msgstr ""
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -2787,7 +2791,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5431,6 +5435,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr ""
 
@@ -7862,7 +7870,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8738,6 +8751,10 @@ msgid "Select Another Theme Resource:"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Theme Resource"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -8785,6 +8802,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr ""
 
@@ -8801,7 +8830,17 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+msgid "Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9479,18 +9518,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr ""
 
@@ -12049,6 +12076,10 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+msgid "Filter stack variables"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13335,6 +13366,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/ms.po b/editor/translations/ms.po
index 71c60c4921..9854a707cc 100644
--- a/editor/translations/ms.po
+++ b/editor/translations/ms.po
@@ -16,7 +16,7 @@ msgstr ""
 "Project-Id-Version: Godot Engine editor\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
 "POT-Creation-Date: \n"
-"PO-Revision-Date: 2022-02-03 13:04+0000\n"
+"PO-Revision-Date: 2022-02-23 17:55+0000\n"
 "Last-Translator: Keviindran Ramachandran <keviinx@yahoo.com>\n"
 "Language-Team: Malay <https://hosted.weblate.org/projects/godot-engine/godot/"
 "ms/>\n"
@@ -1483,6 +1483,11 @@ msgstr "Muatkan Susun Atur Bas lalai."
 msgid "Create a new Bus Layout."
 msgstr "Cipta Susun Atur Bas baru."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Buka Susun Atur Bas Audio"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Nama tidak sah."
@@ -2928,7 +2933,7 @@ msgstr "Togol mod bebas gangguan."
 msgid "Add a new scene."
 msgstr "Tambah adegan baru."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Adegan"
 
@@ -3304,14 +3309,12 @@ msgid "Update Continuously"
 msgstr "Kemas Kini Secara Berterusan"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update All Changes"
-msgstr "Kemas Kini Apabila Diubah"
+msgstr "Kemas Kini Semua Perubahan"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update Vital Changes"
-msgstr "Perubahan Bahan:"
+msgstr "Kemas Kini Perubahan Penting"
 
 #: editor/editor_node.cpp
 msgid "Hide Update Spinner"
@@ -5694,6 +5697,10 @@ msgid "Bake Lightmaps"
 msgstr "Bake Lightmap"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "Pilih fail lightmap bake:"
 
@@ -8151,7 +8158,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9065,6 +9077,11 @@ msgid "Select Another Theme Resource:"
 msgstr "Cari Penggantian Sumber:"
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "Sumber"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -9118,6 +9135,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
 msgid "Show Default"
 msgstr "Muatkan Lalai"
@@ -9135,7 +9164,18 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+#, fuzzy
+msgid "Base Type"
+msgstr "Ubah Jenis %s"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9832,18 +9872,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr "Ranting"
 
@@ -12425,6 +12453,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Tapis isyarat"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13753,6 +13786,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/nb.po b/editor/translations/nb.po
index 025abad2dc..cca8d67ccf 100644
--- a/editor/translations/nb.po
+++ b/editor/translations/nb.po
@@ -1523,6 +1523,11 @@ msgstr "Last standard Bus oppsettet."
 msgid "Create a new Bus Layout."
 msgstr "Opprett et nytt Bus oppsett."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Ã…pne Audio Bus oppsett"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Ugyldig navn."
@@ -3014,7 +3019,7 @@ msgstr "Vis/skjul distraksjonsfri modus."
 msgid "Add a new scene."
 msgstr "Legg til ny scene."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Scene"
 
@@ -5897,6 +5902,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 #, fuzzy
 msgid "Select lightmap bake file:"
 msgstr "Velg malfil"
@@ -8505,7 +8514,13 @@ msgid "Cinematic Preview"
 msgstr "Lager Forhåndsvisning av Mesh"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "Ikke tilgjengelig ved bruk av GLES2-opptegner."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9454,6 +9469,11 @@ msgstr "Fjern Ressurs"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "Gi nytt navn til Ressurs"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "Importer Tema"
 
@@ -9508,6 +9528,21 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Add Item Type"
+msgstr "Legg til Element"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Rediger Variabel:"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Endre %s type"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Show Default"
 msgstr "Last Standard"
 
@@ -9526,8 +9561,18 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
-msgid "Add Item Type"
-msgstr "Legg til Element"
+msgid "Base Type"
+msgstr "Endre %s type"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
@@ -10281,18 +10326,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "Treff:"
@@ -12995,6 +13028,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filtrer Filer..."
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -14386,6 +14424,9 @@ msgstr "Ugyldig navn."
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/nl.po b/editor/translations/nl.po
index c8e602d3ce..37c534baf8 100644
--- a/editor/translations/nl.po
+++ b/editor/translations/nl.po
@@ -55,13 +55,14 @@
 # naan <xlightfox@hotmail.com>, 2021.
 # Tim Visee <tim+weblate@visee.me>, 2022.
 # Ferhat Geçdoğan <ferhatgectao@gmail.com>, 2022.
+# Rémi Verschelde <remi@godotengine.org>, 2022.
 msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine editor\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
 "POT-Creation-Date: \n"
-"PO-Revision-Date: 2022-01-30 07:16+0000\n"
-"Last-Translator: Ferhat Geçdoğan <ferhatgectao@gmail.com>\n"
+"PO-Revision-Date: 2022-02-20 11:48+0000\n"
+"Last-Translator: Rémi Verschelde <remi@godotengine.org>\n"
 "Language-Team: Dutch <https://hosted.weblate.org/projects/godot-engine/godot/"
 "nl/>\n"
 "Language: nl\n"
@@ -1535,6 +1536,11 @@ msgstr "Standaard audiobusindeling laden."
 msgid "Create a new Bus Layout."
 msgstr "Maak een nieuwe audiobusindeling."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Audiobusindeling openen"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Ongeldige naam."
@@ -2977,7 +2983,7 @@ msgstr "Afleidingsvrijemodus omschakelen."
 msgid "Add a new scene."
 msgstr "Nieuwe scène toevoegen."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Scène"
 
@@ -5766,6 +5772,10 @@ msgid "Bake Lightmaps"
 msgstr "Bak Lichtmappen"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "Selecteer lightmap bake-bestand"
 
@@ -8309,7 +8319,13 @@ msgid "Cinematic Preview"
 msgstr "Bioscoop Preview"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "Niet beschikbaar bij gebruik van de GLES2 renderer."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8766,7 +8782,7 @@ msgstr "Animaties:"
 
 #: editor/plugins/sprite_frames_editor_plugin.cpp
 msgid "New Animation"
-msgstr "Niewe animatie"
+msgstr "Nieuwe animatie"
 
 #: editor/plugins/sprite_frames_editor_plugin.cpp
 msgid "Speed:"
@@ -9258,6 +9274,11 @@ msgstr "Bron verwijderen"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "Bronnaam wijzigen"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "Thema importeren"
 
@@ -9312,6 +9333,21 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Add Item Type"
+msgstr "Element toevoegen"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Zet variabele type"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Verander basis type"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Show Default"
 msgstr "Laad standaard"
 
@@ -9330,8 +9366,18 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
-msgid "Add Item Type"
-msgstr "Element toevoegen"
+msgid "Base Type"
+msgstr "Verander basis type"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
@@ -10051,18 +10097,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "Overeenkomsten:"
@@ -12827,6 +12861,11 @@ msgid "Stack Frames"
 msgstr "Stack Frames"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filter tegels"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "Profiler"
 
@@ -14190,9 +14229,10 @@ msgstr "Ongeldige pakketnaam:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"Ongeldige \"GodotPaymentV3\" module ingesloten in de projectinstelling "
-"\"android/modules\" (veranderd in Godot 3.2.2).\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
diff --git a/editor/translations/or.po b/editor/translations/or.po
index 3cea395fb0..d66d67b257 100644
--- a/editor/translations/or.po
+++ b/editor/translations/or.po
@@ -1435,6 +1435,10 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+msgid "Audio Bus Layout"
+msgstr ""
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -2784,7 +2788,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5426,6 +5430,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr ""
 
@@ -7851,7 +7859,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8726,6 +8739,10 @@ msgid "Select Another Theme Resource:"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Theme Resource"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -8772,6 +8789,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr ""
 
@@ -8788,7 +8817,17 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+msgid "Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9464,18 +9503,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr ""
 
@@ -12029,6 +12056,10 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+msgid "Filter stack variables"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13312,6 +13343,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/pl.po b/editor/translations/pl.po
index 0117a72a86..db99c76ce6 100644
--- a/editor/translations/pl.po
+++ b/editor/translations/pl.po
@@ -16,12 +16,12 @@
 # Karol Walasek <coreconviction@gmail.com>, 2016.
 # Maksymilian Świąć <maksymilian.swiac@gmail.com>, 2017-2018.
 # Mietek Szcześniak <ravaging@go2.pl>, 2016.
-# NeverK <neverkoxu@gmail.com>, 2018, 2019, 2020, 2021.
+# NeverK <neverkoxu@gmail.com>, 2018, 2019, 2020, 2021, 2022.
 # Rafal Brozio <rafal.brozio@gmail.com>, 2016, 2019, 2020, 2021.
 # Rafał Ziemniak <synaptykq@gmail.com>, 2017.
-# RM <synaptykq@gmail.com>, 2018, 2020.
+# RM <synaptykq@gmail.com>, 2018, 2020, 2022.
 # Sebastian Krzyszkowiak <dos@dosowisko.net>, 2017.
-# Sebastian Pasich <sebastian.pasich@gmail.com>, 2017, 2019, 2020.
+# Sebastian Pasich <sebastian.pasich@gmail.com>, 2017, 2019, 2020, 2022.
 # siatek papieros <sbigneu@gmail.com>, 2016.
 # Zatherz <zatherz@linux.pl>, 2017, 2020, 2021.
 # Tomek <kobewi4e@gmail.com>, 2018, 2019, 2020, 2021, 2022.
@@ -41,7 +41,7 @@
 # Jan Ligudziński <jan.ligudzinski@gmail.com>, 2020, 2021.
 # Adam Jagoda <kontakt@lukasz.xyz>, 2020.
 # Filip Glura <mcmr.slendy@gmail.com>, 2020.
-# Roman Skiba <romanskiba0@gmail.com>, 2020.
+# Roman Skiba <romanskiba0@gmail.com>, 2020, 2022.
 # Piotr Grodzki <ziemniakglados@gmail.com>, 2020.
 # Dzejkop <jakubtrad@gmail.com>, 2020, 2021.
 # Mateusz Grzonka <alpinus4@gmail.com>, 2020.
@@ -49,19 +49,21 @@
 # vrid <patryksoon@live.com>, 2021.
 # Suchy  Talerz <kacperkubis06@gmail.com>, 2021.
 # Bartosz Stasiak <bs97086@amu.edu.pl>, 2021.
-# Marek Malaria <to.tylko.dla.kont@gmail.com>, 2021.
-# Mateusz Żak <matisgramy@gmail.com>, 2021.
+# Marek Malaria <to.tylko.dla.kont@gmail.com>, 2021, 2022.
+# Mateusz Żak <matisgramy@gmail.com>, 2021, 2022.
 # voltinus <voltinusmail@gmail.com>, 2021.
 # Lech Migdal <lech.migdal@gmail.com>, 2022.
 # Piotr <promantix@gmail.com>, 2022.
 # Igor Kordiukiewicz <igorkordiukiewicz@gmail.com>, 2022.
+# lewando54 <lewando54@gmail.com>, 2022.
+# Katarzyna Twardowska <katarina.twardowska@gmail.com>, 2022.
 msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine editor\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
 "POT-Creation-Date: \n"
-"PO-Revision-Date: 2022-01-26 19:55+0000\n"
-"Last-Translator: Igor Kordiukiewicz <igorkordiukiewicz@gmail.com>\n"
+"PO-Revision-Date: 2022-03-08 08:59+0000\n"
+"Last-Translator: Katarzyna Twardowska <katarina.twardowska@gmail.com>\n"
 "Language-Team: Polish <https://hosted.weblate.org/projects/godot-engine/"
 "godot/pl/>\n"
 "Language: pl\n"
@@ -70,7 +72,7 @@ msgstr ""
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=3; plural=n==1 ? 0 : n%10>=2 && n%10<=4 && (n%100<10 "
 "|| n%100>=20) ? 1 : 2;\n"
-"X-Generator: Weblate 4.11-dev\n"
+"X-Generator: Weblate 4.12-dev\n"
 
 #: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
 #: modules/visual_script/visual_script_builtin_funcs.cpp
@@ -1525,6 +1527,11 @@ msgstr "Załaduj domyślny układ magistral."
 msgid "Create a new Bus Layout."
 msgstr "Utwórz nowy układ magistral."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Otwórz układ magistrali audio"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Niewłaściwa nazwa."
@@ -2658,7 +2665,7 @@ msgstr "Zapisać zmiany w \"%s\" przed zamknięciem?"
 
 #: editor/editor_node.cpp
 msgid "%s no longer exists! Please specify a new save location."
-msgstr "%s już nie istnieje! Określ nową lokalizację zapisu."
+msgstr "%s nie istnieje! Proszę wybrać nową lokalizację zapisu."
 
 #: editor/editor_node.cpp
 msgid ""
@@ -2960,7 +2967,7 @@ msgstr "Tryb bez rozproszeń."
 msgid "Add a new scene."
 msgstr "Dodaj nowÄ… scenÄ™."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Scena"
 
@@ -3153,7 +3160,7 @@ msgstr ""
 
 #: editor/editor_node.cpp
 msgid "Force Shader Fallbacks"
-msgstr ""
+msgstr "Opóźnienia wymuszania shaderów"
 
 #: editor/editor_node.cpp
 msgid ""
@@ -3164,6 +3171,12 @@ msgid ""
 "Asynchronous shader compilation must be enabled in the project settings for "
 "this option to make a difference."
 msgstr ""
+"Gdy ta opcja jest włączona, shadery będą używane w ich zastępczej formie "
+"(albo widoczne poprzez ubershader, albo ukryte) przez cały czas działania.\n"
+"Jest to przydatne do sprawdzania wyglądu i wydajności fallbacków, które "
+"normalnie wyświetlane są krótko.\n"
+"Asynchroniczna kompilacja shaderów musi być włączona w ustawieniach "
+"projektu, aby ta opcja działała."
 
 #: editor/editor_node.cpp
 msgid "Synchronize Scene Changes"
@@ -3327,14 +3340,12 @@ msgid "Update Continuously"
 msgstr "Aktualizuj ciÄ…gle"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update All Changes"
-msgstr "Aktualizuj przy zmianie"
+msgstr "Aktualizuj wszystkie zmiany"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update Vital Changes"
-msgstr "Zmiany materiału:"
+msgstr "Zaktualizuj istotne zmiany"
 
 #: editor/editor_node.cpp
 msgid "Hide Update Spinner"
@@ -4107,6 +4118,11 @@ msgid ""
 "After renaming to an unknown extension, the file won't be shown in the "
 "editor anymore."
 msgstr ""
+"Te rozszerzenie pliku nie zostało rozpoznane przez edytor.\n"
+"Jeśli mimo tego chcesz zmienić jego nazwę, użyj menedżera plików swojego "
+"systemu operacyjnego.\n"
+"Po zmienieniu na nieznane rozszerzenie, plik nie będzie już widoczny w "
+"edytorze."
 
 #: editor/filesystem_dock.cpp
 msgid ""
@@ -5312,7 +5328,7 @@ msgstr "Tryb odtwarzania:"
 #: editor/plugins/animation_tree_editor_plugin.cpp
 #: editor/plugins/animation_tree_player_editor_plugin.cpp
 msgid "AnimationTree"
-msgstr "Drzewo animacji"
+msgstr "DrzewoAnimacji"
 
 #: editor/plugins/animation_tree_player_editor_plugin.cpp
 msgid "New name:"
@@ -5325,11 +5341,11 @@ msgstr "Skala:"
 
 #: editor/plugins/animation_tree_player_editor_plugin.cpp
 msgid "Fade In (s):"
-msgstr "Fade In (s):"
+msgstr "Zanikanie w (s):"
 
 #: editor/plugins/animation_tree_player_editor_plugin.cpp
 msgid "Fade Out (s):"
-msgstr "Fade Out (s):"
+msgstr "Zanikanie z (s):"
 
 #: editor/plugins/animation_tree_player_editor_plugin.cpp
 msgid "Blend"
@@ -5723,6 +5739,10 @@ msgid "Bake Lightmaps"
 msgstr "Stwórz Lightmaps"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "Wybierz plik wypalenia mapy światła:"
 
@@ -6036,9 +6056,8 @@ msgid "Alt+Drag: Move selected node."
 msgstr "Alt+Przeciągnij: Przesuń zaznaczony węzeł."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Alt+Drag: Scale selected node."
-msgstr "Alt+Przeciągnij: Przesuń zaznaczony węzeł."
+msgstr "Alt+Przeciągnij: Skaluj zaznaczony węzeł."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "V: Set selected node's pivot position."
@@ -6324,11 +6343,11 @@ msgstr "Instancjonuj scenÄ™ tutaj"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Multiply grid step by 2"
-msgstr "Zwiększ krok siatki 2 razy"
+msgstr "Powiększ siatkę x2"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Divide grid step by 2"
-msgstr "Zmniejsz krok siatki 2 razy"
+msgstr "Pomniejsz siatkÄ™ x2"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Pan View"
@@ -6503,7 +6522,7 @@ msgstr "PÅ‚askie 0"
 
 #: editor/plugins/curve_editor_plugin.cpp
 msgid "Flat 1"
-msgstr "Flat 1"
+msgstr "PÅ‚askie 1"
 
 #: editor/plugins/curve_editor_plugin.cpp editor/property_editor.cpp
 msgid "Ease In"
@@ -6567,7 +6586,7 @@ msgstr "Prawy klik, aby dodać punkt"
 
 #: editor/plugins/gi_probe_editor_plugin.cpp
 msgid "Bake GI Probe"
-msgstr "Wypal sondÄ™ GI"
+msgstr "Wygeneruj próbnik GI"
 
 #: editor/plugins/gradient_editor_plugin.cpp
 msgid "Gradient Edited"
@@ -6670,7 +6689,7 @@ msgstr "Siatka nie posiada powierzchni, z której można by utworzyć obrysy!"
 
 #: editor/plugins/mesh_instance_editor_plugin.cpp
 msgid "Mesh primitive type is not PRIMITIVE_TRIANGLES!"
-msgstr "Typ prymitywu siatki jest inny niż PRIMITIVE_TRIANGLES!"
+msgstr "Prymitywne elementy siatki nie siÄ… PRIMITIVE_TRIANGLES!"
 
 #: editor/plugins/mesh_instance_editor_plugin.cpp
 msgid "Could not create outline!"
@@ -6686,7 +6705,7 @@ msgstr "Siatka"
 
 #: editor/plugins/mesh_instance_editor_plugin.cpp
 msgid "Create Trimesh Static Body"
-msgstr "Utwórz statyczne ciało trójsiatki"
+msgstr "Stwórz statyczne ciało siatki trójkątów (Trimesh)"
 
 #: editor/plugins/mesh_instance_editor_plugin.cpp
 msgid ""
@@ -6828,11 +6847,13 @@ msgstr "Aktualizuj ze sceny"
 
 #: editor/plugins/multimesh_editor_plugin.cpp
 msgid "No mesh source specified (and no MultiMesh set in node)."
-msgstr "Nie ustawiono źródła siatki (i nie ma MultiMesh ustawionego w węźle)."
+msgstr ""
+"Nie ustawiono źródła siatki (i brak ustawionego zasobu MultiMesh w węźle)."
 
 #: editor/plugins/multimesh_editor_plugin.cpp
 msgid "No mesh source specified (and MultiMesh contains no Mesh)."
-msgstr "Nie ustawiono źródła siatki (a MultiMesh nie posiada siatki)."
+msgstr ""
+"Nie ustawiono źródła siatki (i węzeł MultiMesh nie zawiera węzła Mesh)."
 
 #: editor/plugins/multimesh_editor_plugin.cpp
 msgid "Mesh source is invalid (invalid path)."
@@ -6840,11 +6861,11 @@ msgstr "Źródło siatki jest niepoprawne (nieprawidłowa ścieżka)."
 
 #: editor/plugins/multimesh_editor_plugin.cpp
 msgid "Mesh source is invalid (not a MeshInstance)."
-msgstr "Źródło siatki jest nieprawidłowe (nie jest MeshInstance)."
+msgstr "Źródło siatki jest niepoprawne (nie jest typu MeshInstance)."
 
 #: editor/plugins/multimesh_editor_plugin.cpp
 msgid "Mesh source is invalid (contains no Mesh resource)."
-msgstr "Źródło siatki jest nieprawidłowe (nie zawiera zasobu Mesh)."
+msgstr "Źródło siatki jest niepoprawne (nie zawiera zasobu Siatka (Mesh))."
 
 #: editor/plugins/multimesh_editor_plugin.cpp
 msgid "No surface source specified."
@@ -8209,7 +8230,13 @@ msgid "Cinematic Preview"
 msgstr "PodglÄ…d kinowy"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "Niedostępne dla renderera GLES2."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8383,9 +8410,8 @@ msgid "Increase Field of View"
 msgstr "Zwiększ pole widzenia"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid "Reset Field of View to Default"
-msgstr "Resetuj do domyślnych"
+msgstr "Resetuj pole widzenia do domyślnych ustawień"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 #: editor/plugins/visual_shader_editor_plugin.cpp
@@ -9106,6 +9132,11 @@ msgid "Select Another Theme Resource:"
 msgstr "Wybierz inny zasób motywu:"
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "Zmień nazwę Zasobu"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr "Inny motyw"
 
@@ -9115,22 +9146,19 @@ msgstr "Dodaj typ"
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Filter the list of types or create a new custom type:"
-msgstr ""
+msgstr "Przefiltruj listę typów lub stwórz nowy, niestandardowy typ:"
 
 #: editor/plugins/theme_editor_plugin.cpp
-#, fuzzy
 msgid "Available Node-based types:"
-msgstr "Dostępne profile:"
+msgstr "Dostępne typy oparte na węzłach:"
 
 #: editor/plugins/theme_editor_plugin.cpp
-#, fuzzy
 msgid "Type name is empty!"
-msgstr "Nazwa pliku jest pusta."
+msgstr "Nazwa typu jest pusta!"
 
 #: editor/plugins/theme_editor_plugin.cpp
-#, fuzzy
 msgid "Are you sure you want to create an empty type?"
-msgstr "Czy jesteś pewny że chcesz otworzyć więcej niż jeden projekt?"
+msgstr "Czy jesteś pewny że chcesz utworzyć pusty typ?"
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Confirm Item Rename"
@@ -9157,6 +9185,20 @@ msgstr ""
 "zaktualizuje te same właściwości we wszystkich innych StyleBoxach tego typu."
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr "Dodaj typ elementu"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Ustaw typ zmiennej"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Zmień typ podstawowy"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr "Pokaż domyślne"
 
@@ -9173,8 +9215,19 @@ msgid "Override all default type items."
 msgstr "Nadpisz wszystkie domyślne elementy typu."
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
-msgstr "Dodaj typ elementu"
+#, fuzzy
+msgid "Base Type"
+msgstr "Zmień typ podstawowy"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Theme:"
@@ -9752,7 +9805,6 @@ msgid "TileSet"
 msgstr "TileSet"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "No VCS plugins are available."
 msgstr "Brak dostępnych dodatków VCS."
 
@@ -9764,53 +9816,48 @@ msgstr "BÅ‚Ä…d"
 msgid ""
 "Remote settings are empty. VCS features that use the network may not work."
 msgstr ""
+"Zdalne ustawienia są puste. Funkcje VCS, które korzystają z sieci mogą nie "
+"działać."
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "No commit message was provided."
-msgstr "Nie podano nazwy."
+msgstr "Nie podano treści opisu aktualizacji."
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Commit"
 msgstr "Commit"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Staged Changes"
-msgstr "Zmiany shadera:"
+msgstr "Zmiany w poczekalni przed commitem"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Unstaged Changes"
-msgstr "Zmiany shadera:"
+msgstr "Zmiany poza poczekalniÄ… przed commitem"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Commit:"
-msgstr "Commit"
+msgstr "Przydziel:"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Date:"
 msgstr "Data:"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Subtitle:"
-msgstr "Poddrzewo"
+msgstr "Podtytuł:"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Do you want to remove the %s branch?"
-msgstr ""
+msgstr "Czy chcesz usunąć gałąź %s ?"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Do you want to remove the %s remote?"
-msgstr "Czy jesteś pewny że chcesz otworzyć więcej niż jeden projekt?"
+msgstr "Czy chcesz usunąć zdalne %s ?"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Apply"
-msgstr "Zastosuj reset"
+msgstr "Zastosuj"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Version Control System"
@@ -9821,14 +9868,12 @@ msgid "Initialize"
 msgstr "Inicjuj"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Remote Login"
-msgstr "Usuń punkt"
+msgstr "Login do Remote"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Username"
-msgstr "Zmień nazwę"
+msgstr "Użytkownik"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Password"
@@ -9852,117 +9897,91 @@ msgstr "Wybierz ścieżkę do prywatnego klucza SSH"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "SSH Passphrase"
-msgstr ""
+msgstr "Hasło-fraza SSH"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Detect new changes"
 msgstr "Wykryj nowe zmiany"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Discard all changes"
-msgstr "Zamknąć i zapisać zmiany?"
+msgstr "Odrzuć wszystkie zmiany"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Stage all changes"
-msgstr "Zachowywanie lokalnych zmian..."
+msgstr "Wrzuć do kolejki wszystkie zmiany"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Unstage all changes"
-msgstr "Zmiany materiału:"
+msgstr "Wyrzuć z kolejki wszystkie zmiany"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Commit Message"
-msgstr "Commituj zmiany"
+msgstr "Opis zmian"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Commit Changes"
 msgstr "Commituj zmiany"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Commit List"
-msgstr "Commit"
+msgstr "Lista commitów"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Commit list size"
-msgstr ""
+msgstr "Wielkość listy commitów"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr "10"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr "20"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr "30"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Branches"
-msgstr "PasujÄ…ce:"
+msgstr "Gałęzie"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Create New Branch"
-msgstr "Utwórz nowy projekt"
+msgstr "Utwórz nową gałąź"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Remove Branch"
-msgstr "Usuń ścieżkę animacji"
+msgstr "Usuń gałąź"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branch Name"
 msgstr "Nazwa gałęzi"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Remotes"
-msgstr "Zdalny"
+msgstr "Zdalne repozytoria"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Create New Remote"
-msgstr "Utwórz nowy projekt"
+msgstr "Utwórz nowe zdalne repozytorium"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Remove Remote"
-msgstr "Usuń element"
+msgstr "Usuń zdalne repozytorium"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Remote Name"
-msgstr "Zdalny "
+msgstr "Nazwa zdalnego repozytorium"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Remote URL"
-msgstr "Zdalny "
+msgstr "URL zdalnego repozytorium"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Fetch"
-msgstr ""
+msgstr "Załaduj"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Pull"
-msgstr ""
+msgstr "ÅšciÄ…gnij"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Push"
-msgstr ""
+msgstr "Wrzuć"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Force Push"
-msgstr "Źródłowa siatka:"
+msgstr "Wrzuć na siłę"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Modified"
@@ -9982,22 +10001,19 @@ msgstr "Zmiana typu"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Unmerged"
-msgstr ""
+msgstr "Niezłączone"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "View:"
-msgstr "Widok"
+msgstr "Widok:"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Split"
-msgstr "Podziel Ścieżkę"
+msgstr "Rozdziel"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Unified"
-msgstr "Zmodyfikowany"
+msgstr "Ujednolicony"
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "(GLES3 only)"
@@ -12143,6 +12159,10 @@ msgid ""
 "To save this branch into its own scene, open the original scene, right click "
 "on this branch, and select \"Save Branch as Scene\"."
 msgstr ""
+"Nie można zapisać gałęzi, która jest dzieckiem już wcześniej zainicjowanej "
+"sceny.\n"
+"Aby zapisać tą gałąź do jej własnej sceny, otwórz oryginalną scenę, kliknij "
+"prawym przyciskiem myszy na tą gałąź i wybierz \"Zapisz gałąź jako scenę\"."
 
 #: editor/scene_tree_dock.cpp
 msgid ""
@@ -12150,6 +12170,9 @@ msgid ""
 "To save this branch into its own scene, open the original scene, right click "
 "on this branch, and select \"Save Branch as Scene\"."
 msgstr ""
+"Nie można zapisać gałęzi która jest częścią odziedziczonej sceny.\n"
+"Aby zapisać tą gałąź do jej własnej sceny, otwórz oryginalną scenę, kliknij "
+"prawym przyciskiem myszy na tę gałąź i wybierz \"Zapisz gałąź jako scenę\"."
 
 #: editor/scene_tree_dock.cpp
 msgid "Save New Scene As..."
@@ -12652,6 +12675,11 @@ msgid "Stack Frames"
 msgstr "Ramki stosu"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filtruj kafelki"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "Profiler"
 
@@ -12825,14 +12853,12 @@ msgid "Set Occluder Sphere Position"
 msgstr "Ustaw pozycję sfery przesłaniacza"
 
 #: editor/spatial_editor_gizmos.cpp
-#, fuzzy
 msgid "Set Occluder Polygon Point Position"
-msgstr "Ustaw pozycjÄ™ punktu portalu"
+msgstr "Ustaw położenie punktu poligonowego okludera"
 
 #: editor/spatial_editor_gizmos.cpp
-#, fuzzy
 msgid "Set Occluder Hole Point Position"
-msgstr "Ustaw pozycje punktu krzywej"
+msgstr "Ustawienie pozycji punktu otworu okludera"
 
 #: modules/csg/csg_gizmos.cpp
 msgid "Change Cylinder Radius"
@@ -13545,30 +13571,28 @@ msgid "Edit Member"
 msgstr "Edytuj członka"
 
 #: modules/visual_script/visual_script_expression.cpp
-#, fuzzy
 msgid "Expression"
-msgstr "Ustaw wyrażenie"
+msgstr "Wyrażenie"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "Return"
 msgstr "Wróć"
 
 #: modules/visual_script/visual_script_flow_control.cpp
-#, fuzzy
 msgid "Condition"
-msgstr "animacja"
+msgstr "Warunek"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "if (cond) is:"
-msgstr ""
+msgstr "if (warunek) is:"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "While"
-msgstr "Dopóki"
+msgstr "While"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "while (cond):"
-msgstr ""
+msgstr "while (warunek):"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "Iterator"
@@ -13576,7 +13600,7 @@ msgstr "Iterator"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "for (elem) in (input):"
-msgstr ""
+msgstr "for (element) in (wejście):"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "Input type not iterable: "
@@ -13595,76 +13619,68 @@ msgid "Sequence"
 msgstr "Sekwencja"
 
 #: modules/visual_script/visual_script_flow_control.cpp
-#, fuzzy
 msgid "in order:"
-msgstr "Zmiana nazwy folderu:"
+msgstr "w kolejności:"
 
 #: modules/visual_script/visual_script_flow_control.cpp
-#, fuzzy
 msgid "Switch"
-msgstr "Pułap:"
+msgstr "Przełącznik"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "'input' is:"
-msgstr ""
+msgstr "'input' is:"
 
 #: modules/visual_script/visual_script_flow_control.cpp
-#, fuzzy
 msgid "Type Cast"
-msgstr "Typy:"
+msgstr "Narzucenie typu"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "Is %s?"
-msgstr ""
+msgstr "Czy jest %s?"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
 msgid "On %s"
-msgstr ""
+msgstr "Na %s"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
-#, fuzzy
 msgid "On Self"
-msgstr "Pojedynczo"
+msgstr "Na samym sobie"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
-#, fuzzy
 msgid "Subtract %s"
-msgstr "Przy znaku %s"
+msgstr "Odejmij %s"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
 msgid "Multiply %s"
-msgstr ""
+msgstr "Pomnóż %s"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
 msgid "Divide %s"
-msgstr ""
+msgstr "Dziel %s"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
-#, fuzzy
 msgid "Mod %s"
-msgstr "Dodaj %s"
+msgstr "Modulo %s"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
-#, fuzzy
 msgid "ShiftLeft %s"
-msgstr "Ustaw %s"
+msgstr "PrzesuńWLewo %s"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
 msgid "ShiftRight %s"
-msgstr ""
+msgstr "PrzesuńWPrawo %s"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
-#, fuzzy
 msgid "BitAnd %s"
-msgstr "Dodaj %s"
+msgstr "BitoweAnd %s"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
 msgid "BitOr %s"
-msgstr ""
+msgstr "BitoweOr %s"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
 msgid "BitXor %s"
-msgstr ""
+msgstr "BitoweXor %s"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
 #: modules/visual_script/visual_script_nodes.cpp
@@ -13689,19 +13705,16 @@ msgid "Invalid index property name '%s' in node %s."
 msgstr "Nieprawidłowy indeks we właściwości \"%s\" węzła %s."
 
 #: modules/visual_script/visual_script_func_nodes.cpp
-#, fuzzy
 msgid "Emit %s"
-msgstr "Ustaw %s"
+msgstr "Emituj %s"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Function"
-msgstr "Funkcje"
+msgstr "Funkcja"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Compose Array"
-msgstr "Zmień rozmiar Tablicy"
+msgstr "Utwórz Tablicę"
 
 #: modules/visual_script/visual_script_nodes.cpp
 msgid ": Invalid argument of type: "
@@ -13713,7 +13726,7 @@ msgstr ":nieprawidłowe argumenty: "
 
 #: modules/visual_script/visual_script_nodes.cpp
 msgid "a if cond, else b"
-msgstr ""
+msgstr "a jeśli warunek, w przeciwnym razie b"
 
 #: modules/visual_script/visual_script_nodes.cpp
 msgid "VariableGet not found in script: "
@@ -13724,64 +13737,52 @@ msgid "VariableSet not found in script: "
 msgstr "Nie znaleziono VariableSet w skrypcie: "
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Preload"
-msgstr "Przeładuj"
+msgstr "�aduj przed"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Get Index"
-msgstr "Indeks Z"
+msgstr "Weź indeks"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Set Index"
-msgstr "Indeks Z"
+msgstr "Ustaw indeks"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Global Constant"
-msgstr "Stała"
+msgstr "Stała globalna"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Class Constant"
-msgstr "Stała"
+msgstr "Stała klasy"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Basic Constant"
-msgstr "Stała"
+msgstr "Stała podstawowa"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Math Constant"
-msgstr "Stała"
+msgstr "Stała matematyczna"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Get Engine Singleton"
-msgstr "WÅ‚Ä…czony singleton GDNative"
+msgstr "Uzyskaj Singleton silnika"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Get Scene Node"
-msgstr "Węzeł Przewijania w Czasie"
+msgstr "Pozyskaj węzeł sceny"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Get Scene Tree"
-msgstr "Edycja drzewa sceny"
+msgstr "Pozyskaj drzewo sceny"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Get Self"
-msgstr "Pojedynczo"
+msgstr "Pozyskaj samego siebie"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "CustomNode"
-msgstr "Wytnij węzły"
+msgstr "NiestandardowyWęzeł"
 
 #: modules/visual_script/visual_script_nodes.cpp
 msgid "Custom node has no _step() method, can't process graph."
@@ -13797,33 +13798,28 @@ msgstr ""
 "całkowitą (seq out), lub tekstową (error)."
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "SubCall"
-msgstr "Wywołania"
+msgstr "PodWywołania"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Construct %s"
-msgstr "Stałe"
+msgstr "Zbuduj %s"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Get Local Var"
-msgstr "Użyj przestrzeni lokalnej"
+msgstr "Użyj zmiennej lokalnej"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Set Local Var"
-msgstr "Użyj przestrzeni lokalnej"
+msgstr "Ustaw zmiennÄ… lokalnÄ…"
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Action %s"
-msgstr "Akcja"
+msgstr "Akcja %s"
 
 #: modules/visual_script/visual_script_nodes.cpp
 msgid "Deconstruct %s"
-msgstr ""
+msgstr "Dekonstruuj %s"
 
 #: modules/visual_script/visual_script_property_selector.cpp
 msgid "Search VisualScript"
@@ -13831,40 +13827,35 @@ msgstr "Przeszukaj VisualScript"
 
 #: modules/visual_script/visual_script_yield_nodes.cpp
 msgid "Yield"
-msgstr ""
+msgstr "Yield"
 
 #: modules/visual_script/visual_script_yield_nodes.cpp
 msgid "Wait"
 msgstr "Czekaj"
 
 #: modules/visual_script/visual_script_yield_nodes.cpp
-#, fuzzy
 msgid "Next Frame"
-msgstr "Przesuń klatkę"
+msgstr "Następna klatka"
 
 #: modules/visual_script/visual_script_yield_nodes.cpp
-#, fuzzy
 msgid "Next Physics Frame"
-msgstr "Klatka fizyki %"
+msgstr "Następna klatka fizyki"
 
 #: modules/visual_script/visual_script_yield_nodes.cpp
 msgid "%s sec(s)"
-msgstr ""
+msgstr "%s sekund(s)"
 
 #: modules/visual_script/visual_script_yield_nodes.cpp
-#, fuzzy
 msgid "WaitSignal"
-msgstr "Sygnał"
+msgstr "SygnałOczekiwania"
 
 #: modules/visual_script/visual_script_yield_nodes.cpp
-#, fuzzy
 msgid "WaitNodeSignal"
-msgstr "Sygnał"
+msgstr "SygnałOczekiwaniaWęzła"
 
 #: modules/visual_script/visual_script_yield_nodes.cpp
-#, fuzzy
 msgid "WaitInstanceSignal"
-msgstr "Instancja"
+msgstr "SygnałOczekiwaniaInstancji"
 
 #: platform/android/export/export_plugin.cpp
 msgid "Package name is missing."
@@ -14002,9 +13993,10 @@ msgstr "Niepoprawna nazwa paczki:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"Niepoprawny moduł \"GodotPaymentV3\" załączony w ustawieniu projektu "
-"\"android/modules\" (zmieniony w Godocie 3.2.2).\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
@@ -14263,166 +14255,167 @@ msgstr "BÅ‚Ä…d uruchamiania serwera HTTP:"
 
 #: platform/osx/export/codesign.cpp
 msgid "Can't get filesystem access."
-msgstr ""
+msgstr "Nie można uzyskać dostępu do systemu plików."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to get Info.plist hash."
-msgstr ""
+msgstr "Nie udało się uzyskać hasha Info.plist."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid Info.plist, no exe name."
-msgstr "Nieprawidłowa nazwa projektu."
+msgstr "Nieprawidłowy plik Info.plist, brak nazwy pliku wykonywalnego."
 
 #: platform/osx/export/codesign.cpp
 msgid "Invalid Info.plist, no bundle id."
-msgstr ""
+msgstr "Nieprawidłowy Info.plist, nie ma id pakietu."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid Info.plist, can't load."
-msgstr "Nieprawidłowa geometria, nie można utworzyć wielokąta."
+msgstr "Nieprawidłowy Info.plist, nie można załadować."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to create \"%s\" subfolder."
-msgstr "Nie można utworzyć katalogu."
+msgstr "Nie można utworzyć podkatalogu \"%s\"."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to extract thin binary."
-msgstr ""
+msgstr "Nie udało się wypakować uszczuplonego pliku binarnego."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid binary format."
-msgstr "Niepoprawna ścieżka bazowa."
+msgstr "Niepoprawny format binarny."
 
 #: platform/osx/export/codesign.cpp
 msgid "Already signed!"
-msgstr ""
+msgstr "Już podpisane!"
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to process nested resources."
-msgstr "Nie udało się wczytać zasobu."
+msgstr "Nie udało się przetworzyć zagnieżdżonych zasobów."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to create _CodeSignature subfolder."
-msgstr ""
+msgstr "Nie udało się utworzyć podfolderu _CodeSignature."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to get CodeResources hash."
-msgstr "Nie udało się wczytać zasobu."
+msgstr "Nie udało się wczytać hasha CodeResources."
 
 #: platform/osx/export/codesign.cpp platform/osx/export/export.cpp
-#, fuzzy
 msgid "Invalid entitlements file."
-msgstr "Niepoprawne rozszerzenie."
+msgstr "Nieprawidłowy plik uprawnień."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid executable file."
-msgstr "Niepoprawne rozszerzenie."
+msgstr "Niepoprawny plik wykonywalny."
 
 #: platform/osx/export/codesign.cpp
 msgid "Can't resize signature load command."
-msgstr ""
+msgstr "Nie można zmienić rozmiaru polecenia ładowania podpisu."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to create fat binary."
-msgstr ""
+msgstr "Nie udało się stworzyć dużego pliku binarnego."
 
 #: platform/osx/export/codesign.cpp
 msgid "Unknown bundle type."
-msgstr ""
+msgstr "Nieznany typ pakietu."
 
 #: platform/osx/export/codesign.cpp
 msgid "Unknown object type."
-msgstr ""
+msgstr "Nieznany typ obiektu."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Note: The notarization process generally takes less than an hour. When the "
 "process is completed, you'll receive an email."
 msgstr ""
+"Uwaga: Proces poświadczania trwa zazwyczaj mniej niż godzinę. Gdy proces "
+"zostanie zakończony, otrzymasz wiadomość e-mail."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "You can check progress manually by opening a Terminal and running the "
 "following command:"
 msgstr ""
+"Możesz sprawdzić postęp ręcznie, otwierając Terminal i wykonując następujące "
+"polecenie:"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Run the following command to staple the notarization ticket to the exported "
 "application (optional):"
 msgstr ""
+"Uruchom następujące polecenie, aby przypiąć bilet notarialny do "
+"eksportowanej aplikacji (opcjonalnie):"
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "No identity found."
-msgstr "Nie znaleziono ikon."
+msgstr "Nie znaleziono tożsamości."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Creating app bundle"
-msgstr "Tworzenie miniatury"
+msgstr "Tworzenie pakietu aplikacji"
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Could not find template app to export:"
-msgstr ""
-"Nie udało się znaleźć szablonu APK do eksportu:\n"
-"%s"
+msgstr "Nie udało się znaleźć szablonu aplikacji do eksportu:"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Relative symlinks are not supported on this OS, the exported project might "
 "be broken!"
 msgstr ""
+"Relatywne linki symboliczne nie są obsługiwane na tym systemie operacyjnym, "
+"wyeksportowany projekt może być uszkodzony!"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Requested template binary '%s' not found. It might be missing from your "
 "template archive."
 msgstr ""
+"Nie znaleziono żądanego szablonu pliku binarnego '%s'. Być może brakuje go w "
+"Twoim archiwum szablonów."
 
 #: platform/osx/export/export.cpp
 msgid "Making PKG"
-msgstr ""
+msgstr "Tworzenie PKG"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Ad-hoc signed applications require the 'Disable Library Validation' "
 "entitlement to load dynamic libraries."
 msgstr ""
+"Aplikacje podpisane ad-hoc wymagają uprawnienia \"Wyłącz walidację "
+"biblioteki\" do Å‚adowania bibliotek dynamicznych."
 
 #: platform/osx/export/export.cpp
 msgid "Code signing bundle"
-msgstr ""
+msgstr "Pakiet do podpisywania kodu"
 
 #: platform/osx/export/export.cpp
 msgid "Making DMG"
-msgstr ""
+msgstr "Tworzenie DMG"
 
 #: platform/osx/export/export.cpp
 msgid "Code signing DMG"
-msgstr ""
+msgstr "DMG podpisywania kodu"
 
 #: platform/osx/export/export.cpp
 msgid "Making ZIP"
-msgstr ""
+msgstr "Tworzenie ZIP"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Notarization requires the app to be archived first, select the DMG or ZIP "
 "export format instead."
 msgstr ""
+"Poświadczenie wymaga wcześniejszego zarchiwizowania aplikacji, dlatego "
+"należy wybrać format eksportu DMG lub ZIP."
 
 #: platform/osx/export/export.cpp
 msgid "Sending archive for notarization"
-msgstr ""
+msgstr "Przesyłanie archiwum w celu poświadczenia"
 
 #: platform/osx/export/export.cpp
 msgid "Invalid bundle identifier:"
@@ -14433,31 +14426,33 @@ msgid ""
 "Warning: Built-in \"codesign\" is selected in the Editor Settings. Code "
 "signing is limited to ad-hoc signature only."
 msgstr ""
+"Ostrzeżenie: Wbudowane \"podpisywanie kodu\" jest wybrane w ustawieniach "
+"edytora. Podpisywanie kodu jest ograniczone tylko do podpisu ad-hoc."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Warning: Xcode command line tools are not installed, using built-in "
 "\"codesign\". Code signing is limited to ad-hoc signature only."
 msgstr ""
+"Ostrzeżenie: Narzędzia wiersza poleceń Xcode nie są zainstalowane, zatem "
+"używany jest wbudowany \"codesign\". Podpisywanie kodu jest ograniczone "
+"tylko do podpisu ad-hoc."
 
 #: platform/osx/export/export.cpp
 msgid "Notarization: Notarization with an ad-hoc signature is not supported."
-msgstr ""
+msgstr "Poświadczenie: Poświadczenie z podpisem ad hoc nie jest obsługiwane."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Code signing is required for notarization."
-msgstr "Poświadczenie: wymagane podpisanie kodu."
+msgstr "Notaryzacja: Wymagane podpisanie kodu."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Hardened runtime is required for notarization."
-msgstr "Poświadczenie: wymagane wzmocnione środowisko wykonawcze."
+msgstr "Notaryzacja: Wymagane wzmocnione środowisko wykonawcze."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Timestamp runtime is required for notarization."
-msgstr "Poświadczenie: wymagane wzmocnione środowisko wykonawcze."
+msgstr "Notaryzacja: wymagane środowisko wykonawcze ze znacznikiem czasu."
 
 #: platform/osx/export/export.cpp
 msgid "Notarization: Apple ID name not specified."
@@ -14472,63 +14467,86 @@ msgid ""
 "Warning: Notarization is disabled. The exported project will be blocked by "
 "Gatekeeper if it's downloaded from an unknown source."
 msgstr ""
+"Osztrzeżenie: Poświadczenie jest wyłączone. Wyeksportowany projekt zostanie "
+"zablokowany jeśli zostanie pobrany z nieznanego źródła."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Code signing is disabled. The exported project will not run on Macs with "
 "enabled Gatekeeper and Apple Silicon powered Macs."
 msgstr ""
+"Podpisywanie kodu jest wyłączone. Wyeksportowany projekt nie będzie mógł "
+"zostać uruchomiony na komputerach Mac z włączonym Gatekeeperem i komputerach "
+"Mac napędzanych przez procesor Apple Silicon."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Hardened Runtime is not compatible with ad-hoc signature, and will be "
 "disabled!"
 msgstr ""
+"Hardened Runtime nie jest kompatybilny z podpisem ad-hoc i zostanie "
+"wyłączony!"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Timestamping is not compatible with ad-hoc signature, and will be disabled!"
 msgstr ""
+"Timestamping nie jest kompatybilny z podpisem ad-hoc i będzie wyłączony!"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Warning: Notarization is not supported from this OS. The exported project "
 "will be blocked by Gatekeeper if it's downloaded from an unknown source."
 msgstr ""
+"Ostrzeżenie: Poświadczenia nie są obsługiwane przez ten system operacyjny. "
+"Wyeksportowany projekt zostanie zablokowany przez Gatekeeper, jeśli zostanie "
+"pobrany z nieznanego źródła."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Microphone access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Prywatność: Dostęp do mikrofonu jest włączony, ale opis jego użycia nie jest "
+"określony."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Camera access is enabled, but usage description is not specified."
 msgstr ""
+"Prywatność: Dostęp do kamery jest włączony, ale opis jej użycia nie jest "
+"określony."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Location information access is enabled, but usage description is "
 "not specified."
 msgstr ""
+"Prywatność: Dostęp do informacji o lokalizacji jest włączony, ale opis jej "
+"użycia nie jest określony."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Address book access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Prywatność: Dostęp do kontaktów jest włączony, ale opis ich użycia nie jest "
+"określony."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Calendar access is enabled, but usage description is not specified."
 msgstr ""
+"Prywatność: Dostęp do kalendarza jest włączony, ale opis jego użycia nie "
+"jest określony."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Photo library access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Prywatność: Dostęp do galerii zdjęć jest włączony, ale opis jej użycia nie "
+"jest określony."
 
 #: platform/uwp/export/export.cpp
 msgid "Invalid package short name."
@@ -14595,21 +14613,20 @@ msgid ""
 "The rcedit tool must be configured in the Editor Settings (Export > Windows "
 "> Rcedit) to change the icon or app information data."
 msgstr ""
+"Narzędzie rcedit musi być skonfigurowane w Ustawieniach edytora (Eksport > "
+"Windows > Rcedit), aby zmienić ikonę lub dane informacji o aplikacji."
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid icon path:"
-msgstr "Niepoprawna ścieżka."
+msgstr "Niepoprawna ścieżka ikony:"
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid file version:"
-msgstr "Niepoprawne rozszerzenie."
+msgstr "Niepoprawna wersja pliku:"
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid product version:"
-msgstr "Nieprawidłowy GUID produktu."
+msgstr "Nieprawidłowa wersja produktu:"
 
 #: scene/2d/animated_sprite.cpp
 msgid ""
@@ -14744,13 +14761,15 @@ msgstr ""
 
 #: scene/2d/navigation_agent_2d.cpp
 msgid "The NavigationAgent2D can be used only under a Node2D node."
-msgstr ""
+msgstr "NavigationAgent2D może zostać użyty tylko pod węzłem Node2D."
 
 #: scene/2d/navigation_obstacle_2d.cpp
 msgid ""
 "The NavigationObstacle2D only serves to provide collision avoidance to a "
 "Node2D object."
 msgstr ""
+"NavigationObstacle2D służy jedynie do zapewnienia unikania kolizji obiektowi "
+"Node2D."
 
 #: scene/2d/navigation_polygon.cpp
 msgid ""
@@ -14776,14 +14795,13 @@ msgstr ""
 "ParallaxBackground."
 
 #: scene/2d/particles_2d.cpp
-#, fuzzy
 msgid ""
 "GPU-based particles are not supported by the GLES2 video driver.\n"
 "Use the CPUParticles2D node instead. You can use the \"Convert to "
 "CPUParticles2D\" toolbar option for this purpose."
 msgstr ""
 "Cząsteczki oparte o GPU są nieobsługiwane przez sterownik wideo GLES2.\n"
-"Użyj zamiast tego węzła CPUParticles2D. Możesz użyć do tego celu opcji "
+"Zamiast tego użyj węzła CPUParticles2D. Możesz użyć do tego celu opcji "
 "\"Konwertuj na CPUParticles\"."
 
 #: scene/2d/particles_2d.cpp
@@ -14794,6 +14812,12 @@ msgid ""
 "You can use the \"Convert to CPUParticles2D\" toolbar option for this "
 "purpose."
 msgstr ""
+"W systemie macOS, renderowanie Particles2D jest znacznie wolniejsze niż "
+"CPUParticles2D z powodu sprzężenia zwrotnego transformacji, które jest "
+"implementowane na CPU zamiast na GPU.\n"
+"Rozważ użycie CPUParticles2D zamiast Particles2D, gdy używasz macOS.\n"
+"W tym celu można użyć opcji \"Konwertuj do CPUParticles2D\" na pasku "
+"narzędzi."
 
 #: scene/2d/particles_2d.cpp scene/3d/particles.cpp
 msgid ""
@@ -15023,7 +15047,7 @@ msgstr "SpotLight z kątem szerszym niż 90 stopni nie może rzucać cieni."
 
 #: scene/3d/navigation_agent.cpp
 msgid "The NavigationAgent can be used only under a spatial node."
-msgstr ""
+msgstr "NavigationAgent może być stosowane wyłącznie pod węzłem przestrzennym."
 
 #: scene/3d/navigation_mesh_instance.cpp
 msgid ""
@@ -15038,6 +15062,8 @@ msgid ""
 "The NavigationObstacle only serves to provide collision avoidance to a "
 "spatial object."
 msgstr ""
+"NavigationObstacle służy jedynie do zapewnienia unikania kolizji dla obiektu "
+"przestrzennego."
 
 #: scene/3d/occluder.cpp
 msgid "No shape is set."
@@ -15048,14 +15074,13 @@ msgid "Only uniform scales are supported."
 msgstr "Obsługiwane są tylko jednolite skale."
 
 #: scene/3d/particles.cpp
-#, fuzzy
 msgid ""
 "GPU-based particles are not supported by the GLES2 video driver.\n"
 "Use the CPUParticles node instead. You can use the \"Convert to "
 "CPUParticles\" toolbar option for this purpose."
 msgstr ""
 "Cząsteczki oparte o GPU są nieobsługiwane przez sterownik wideo GLES2.\n"
-"Użyj zamiast tego węzła CPUParticles. Możesz użyć do tego celu opcji "
+"Zamiast tego użyj węzła CPUParticles2D. Możesz użyć do tego celu opcji "
 "\"Konwertuj na CPUParticles\"."
 
 #: scene/3d/particles.cpp
@@ -15065,6 +15090,12 @@ msgid ""
 "Consider using CPUParticles instead when targeting macOS.\n"
 "You can use the \"Convert to CPUParticles\" toolbar option for this purpose."
 msgstr ""
+"Na macOS, renderowanie Cząsteczek jest znacznie wolniejsze niż CPUParticles "
+"z powodu sprzężenia zwrotnego transformacji implementowanego na CPU zamiast "
+"na GPU.\n"
+"Rozważ użycie CPUParticles, gdy używasz macOS.\n"
+"Możesz użyć do tego celu opcji \"Konwertuj do CPUParticles\" na pasku "
+"narzędzi."
 
 #: scene/3d/particles.cpp
 msgid ""
@@ -15335,7 +15366,6 @@ msgid "This node has been deprecated. Use AnimationTree instead."
 msgstr "Ten węzeł jest przestarzały. Zamiast tego użyj AnimationTree."
 
 #: scene/gui/color_picker.cpp
-#, fuzzy
 msgid ""
 "Color: #%s\n"
 "LMB: Apply color\n"
diff --git a/editor/translations/pr.po b/editor/translations/pr.po
index 8dcc5099cb..0c9c84d7c9 100644
--- a/editor/translations/pr.po
+++ b/editor/translations/pr.po
@@ -1487,6 +1487,11 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Rename Function"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -2878,7 +2883,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5619,6 +5624,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 #, fuzzy
 msgid "Select lightmap bake file:"
 msgstr "Slit th' Node"
@@ -8138,7 +8147,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9063,6 +9077,11 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "Paste yer Node"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "th' Members:"
 
@@ -9111,6 +9130,20 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Edit yer Variable:"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "th' Base Type:"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr ""
 
@@ -9127,7 +9160,18 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+#, fuzzy
+msgid "Base Type"
+msgstr "th' Base Type:"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9863,18 +9907,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr ""
 
@@ -12511,6 +12543,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Paste yer Node"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13884,6 +13921,9 @@ msgstr "Yer unique name be evil."
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/pt.po b/editor/translations/pt.po
index 94dc606a58..ce77d75470 100644
--- a/editor/translations/pt.po
+++ b/editor/translations/pt.po
@@ -1493,6 +1493,11 @@ msgstr "Carregar o Modelo predefinido de barramento."
 msgid "Create a new Bus Layout."
 msgstr "Criar um novo Modelo de Barramento."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Abrir Modelo de barramento de áudio"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Nome inválido."
@@ -2934,7 +2939,7 @@ msgstr "Alternar modo livre de distrações."
 msgid "Add a new scene."
 msgstr "Adicionar nova cena."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Cena"
 
@@ -5705,6 +5710,10 @@ msgid "Bake Lightmaps"
 msgstr "Consolidar Lightmaps"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "Selecionar ficheiro de consolidação de lightmap:"
 
@@ -8184,7 +8193,13 @@ msgid "Cinematic Preview"
 msgstr "Pré-visualização Cinemática"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "Não disponível para o renderizador GLES2."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9079,6 +9094,11 @@ msgid "Select Another Theme Resource:"
 msgstr "Selecionar Outro Recurso Tema:"
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "Renomear recurso"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr "Outro Tema"
 
@@ -9127,6 +9147,20 @@ msgstr ""
 "atualizar as mesmas em todos os StyleBoxes deste tipo."
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr "Adicionar Tipo de Item"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Definir tipo de variável"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Mudar tipo base"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr "Mostrar Predefinição"
 
@@ -9144,8 +9178,19 @@ msgid "Override all default type items."
 msgstr "Sobrepõe todos os itens de tipo predefinido."
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
-msgstr "Adicionar Tipo de Item"
+#, fuzzy
+msgid "Base Type"
+msgstr "Mudar tipo base"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Theme:"
@@ -9847,18 +9892,6 @@ msgid "Commit list size"
 msgstr "Gravar tamanho da lista"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr "10"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr "20"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr "30"
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr "Ramos"
 
@@ -12598,6 +12631,11 @@ msgid "Stack Frames"
 msgstr "Empilhar Frames"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filtrar Tiles"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "Analisador"
 
@@ -13917,9 +13955,10 @@ msgstr "Nome de pacote inválido:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"Módulo inválido \"GodotPaymentV3\" incluído na configuração do projeto "
-"\"android/modules\" (alterado em Godot 3.2.2).\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
diff --git a/editor/translations/pt_BR.po b/editor/translations/pt_BR.po
index 5d3f9ee158..410f57eb1f 100644
--- a/editor/translations/pt_BR.po
+++ b/editor/translations/pt_BR.po
@@ -9,7 +9,7 @@
 # Breno Caldeira <breno.caldeira@gmail.com>, 2018.
 # Francesco Perrotti-Garcia <fpg1503@gmail.com>, 2017.
 # George Marques <george@gmarqu.es>, 2016.
-# Guilherme Felipe C G Silva <guilhermefelipecgs@gmail.com>, 2017, 2018, 2019.
+# Guilherme Felipe C G Silva <guilhermefelipecgs@gmail.com>, 2017, 2018, 2019, 2022.
 # João Victor Lima <victordevtb@outlook.com>, 2018.
 # João Vitor de Oliveira Carlos <lopogax@gmail.com>, 2018.
 # Joaquim Ferreira <joaquimferreira1996@bol.com.br>, 2016, 2019, 2020.
@@ -139,8 +139,8 @@ msgstr ""
 "Project-Id-Version: Godot Engine editor\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
 "POT-Creation-Date: 2016-05-30\n"
-"PO-Revision-Date: 2022-02-14 22:08+0000\n"
-"Last-Translator: PauloFRs <paulofr1@hotmail.com>\n"
+"PO-Revision-Date: 2022-03-09 08:53+0000\n"
+"Last-Translator: Guilherme Felipe C G Silva <guilhermefelipecgs@gmail.com>\n"
 "Language-Team: Portuguese (Brazil) <https://hosted.weblate.org/projects/"
 "godot-engine/godot/pt_BR/>\n"
 "Language: pt_BR\n"
@@ -148,7 +148,7 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=2; plural=n > 1;\n"
-"X-Generator: Weblate 4.11-dev\n"
+"X-Generator: Weblate 4.12-dev\n"
 
 #: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
 #: modules/visual_script/visual_script_builtin_funcs.cpp
@@ -1607,6 +1607,11 @@ msgstr "Carregar o Layout de Canais padrão."
 msgid "Create a new Bus Layout."
 msgstr "Criar um novo Layout de Canais."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Abrir Layout de Canais de �udio"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Nome Inválido."
@@ -2382,9 +2387,8 @@ msgid "Property:"
 msgstr "Propriedade:"
 
 #: editor/editor_inspector.cpp
-#, fuzzy
 msgid "Pin value"
-msgstr "Valor do pino"
+msgstr "Fixar valor"
 
 #: editor/editor_inspector.cpp
 msgid ""
@@ -3054,7 +3058,7 @@ msgstr "Alternar modo sem-distrações."
 msgid "Add a new scene."
 msgstr "Adicionar nova cena."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Cena"
 
@@ -5842,6 +5846,10 @@ msgid "Bake Lightmaps"
 msgstr "Faça mapas de luz"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "Selecione o arquivo de lightmap bake:"
 
@@ -8327,7 +8335,13 @@ msgid "Cinematic Preview"
 msgstr "Pré-visualização Cinemática"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "Não disponível ao usar o renderizador GLES2."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9223,6 +9237,11 @@ msgid "Select Another Theme Resource:"
 msgstr "Selecionar Outro Recurso de Tema:"
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "Renomear Recurso"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr "Outro Tema"
 
@@ -9271,6 +9290,20 @@ msgstr ""
 "atualizará as mesmas propriedades em todos os outros StyleBoxes deste tipo."
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr "Adicionar Tipo de Item"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Definir o Tipo da Variável"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Mudar Tipo Base"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr "Mostrar Padrão"
 
@@ -9288,8 +9321,19 @@ msgid "Override all default type items."
 msgstr "Substituir todos os itens do modelo padrão."
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
-msgstr "Adicionar Tipo de Item"
+#, fuzzy
+msgid "Base Type"
+msgstr "Mudar Tipo Base"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Theme:"
@@ -9990,18 +10034,6 @@ msgid "Commit list size"
 msgstr "Confirmar tamanho da lista"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr "10"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr "20"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr "30"
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr "Ramos"
 
@@ -12749,6 +12781,11 @@ msgid "Stack Frames"
 msgstr "Pilha de Quadros"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filtros do tile"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "Profilador"
 
@@ -14105,9 +14142,10 @@ msgstr "Nome de pacote inválido:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"Módulo \"GodotPaymentV3\" inválido incluido na configuração de projeto "
-"\"android/modules\" (alterado em Godot 3.2.2).\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
diff --git a/editor/translations/ro.po b/editor/translations/ro.po
index 1c63a57d74..3b993cdffe 100644
--- a/editor/translations/ro.po
+++ b/editor/translations/ro.po
@@ -1495,6 +1495,11 @@ msgstr "Încarcă Schema de Pistă Audio implicită."
 msgid "Create a new Bus Layout."
 msgstr "Creaţi o Schemă nouă de Pistă Audio."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Deschide Schema Pistei Audio"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Nume nevalid."
@@ -2942,7 +2947,7 @@ msgstr "Comutează modul fără distrageri."
 msgid "Add a new scene."
 msgstr "Adaugă o nouă scenă."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Scenă"
 
@@ -5737,6 +5742,10 @@ msgid "Bake Lightmaps"
 msgstr "Procesează Lightmaps"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "Selectare fișier șablon pentru harta de lumină:"
 
@@ -8343,7 +8352,12 @@ msgid "Cinematic Preview"
 msgstr "Se creează Previzualizările Mesh-ului"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9290,6 +9304,11 @@ msgstr "Ștergere resursă"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "Re-numire resursă"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "Membri"
 
@@ -9344,6 +9363,21 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Add Item Type"
+msgstr "Adaugă Obiect"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Modificare tip bază:"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Modificare tip bază:"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Show Default"
 msgstr "Încărcați Implicit"
 
@@ -9362,8 +9396,18 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
-msgid "Add Item Type"
-msgstr "Adaugă Obiect"
+msgid "Base Type"
+msgstr "Modificare tip bază:"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
@@ -10113,18 +10157,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "Potriviri:"
@@ -12779,6 +12811,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filtrare Tiles"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -14143,6 +14180,9 @@ msgstr "Nume pachet nevalid:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/ru.po b/editor/translations/ru.po
index 77e4143911..9a79eb258a 100644
--- a/editor/translations/ru.po
+++ b/editor/translations/ru.po
@@ -107,7 +107,7 @@ msgstr ""
 "Project-Id-Version: Godot Engine editor\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
 "POT-Creation-Date: \n"
-"PO-Revision-Date: 2022-02-10 07:50+0000\n"
+"PO-Revision-Date: 2022-02-20 00:54+0000\n"
 "Last-Translator: Danil Alexeev <danil@alexeev.xyz>\n"
 "Language-Team: Russian <https://hosted.weblate.org/projects/godot-engine/"
 "godot/ru/>\n"
@@ -1575,6 +1575,11 @@ msgstr "Загрузить ра�кладку шины по умолчанию."
 msgid "Create a new Bus Layout."
 msgstr "Создать новую ра�кладку шины."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Открыть ра�кладку звуковой шины"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "�едопу�тимое им�."
@@ -3021,7 +3026,7 @@ msgstr "Переключить режим без отвлечени�."
 msgid "Add a new scene."
 msgstr "Добавить новую �цену."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Сцена"
 
@@ -3395,14 +3400,12 @@ msgid "Update Continuously"
 msgstr "�епрерывное обновление"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update All Changes"
-msgstr "Обновл�ть при изменени�х"
+msgstr "Обновл�ть при любых изменени�х"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update Vital Changes"
-msgstr "Материалов изменено:"
+msgstr "Обновл�ть при важных изменени�х"
 
 #: editor/editor_node.cpp
 msgid "Hide Update Spinner"
@@ -4179,6 +4182,11 @@ msgid ""
 "After renaming to an unknown extension, the file won't be shown in the "
 "editor anymore."
 msgstr ""
+"Данное ра�ширение файла не ра�познано редактором.\n"
+"Е�ли вы в�ё равно хотите переименовать его, и�пользуйте файловый менеджер "
+"вашей операционной �и�темы.\n"
+"По�ле переименовани� в неизве�тное ра�ширение файл больше не будет "
+"отображать�� в редакторе."
 
 #: editor/filesystem_dock.cpp
 msgid ""
@@ -5792,6 +5800,10 @@ msgid "Bake Lightmaps"
 msgstr "Запекать карты о�вещени�"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "Выберите файл запекани� карты о�вещени�:"
 
@@ -8274,7 +8286,13 @@ msgid "Cinematic Preview"
 msgstr "Кинематографиче�кий предварительный про�мотр"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "�едо�тупно при и�пользовании рендерера GLES2."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9172,6 +9190,11 @@ msgid "Select Another Theme Resource:"
 msgstr "Выбрать другой ре�ур� темы:"
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "Переименовать ре�ур�"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr "Друга� тема"
 
@@ -9221,6 +9244,20 @@ msgstr ""
 "�того типа."
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr "Добавить тип �лемента"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "У�тановить тип переменной"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Изменить базовый тип"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr "Показать по умолчанию"
 
@@ -9239,8 +9276,19 @@ msgid "Override all default type items."
 msgstr "Переопределить в�е �лементы типа по умолчанию."
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
-msgstr "Добавить тип �лемента"
+#, fuzzy
+msgid "Base Type"
+msgstr "Изменить базовый тип"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Theme:"
@@ -9942,18 +9990,6 @@ msgid "Commit list size"
 msgstr "Размер �пи�ка коммитов"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr "10"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr "20"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr "30"
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr "Ветки"
 
@@ -12704,6 +12740,11 @@ msgid "Stack Frames"
 msgstr "Стек"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Фильтр тайлов"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "Профайлер"
 
@@ -12878,14 +12919,12 @@ msgid "Set Occluder Sphere Position"
 msgstr "Задать положение �феры окклюдера"
 
 #: editor/spatial_editor_gizmos.cpp
-#, fuzzy
 msgid "Set Occluder Polygon Point Position"
-msgstr "Задать положение точки портала"
+msgstr "Задать положение точки полигона окклюдера"
 
 #: editor/spatial_editor_gizmos.cpp
-#, fuzzy
 msgid "Set Occluder Hole Point Position"
-msgstr "У�тановить положение точки кривой"
+msgstr "Задать положение точки отвер�ти� окклюдера"
 
 #: modules/csg/csg_gizmos.cpp
 msgid "Change Cylinder Radius"
@@ -14020,9 +14059,10 @@ msgstr "�едопу�тимое им� пакета:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"�едопу�тимый модуль «GodotPaymentV3», включенный в на�тройку проекта "
-"«android/modules» (изменен в Godot 3.2.2).\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
@@ -14282,166 +14322,167 @@ msgstr "Ошибка запу�ка HTTP-�ервера:"
 
 #: platform/osx/export/codesign.cpp
 msgid "Can't get filesystem access."
-msgstr ""
+msgstr "�е удаёт�� получить до�туп к файловой �и�теме."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to get Info.plist hash."
-msgstr ""
+msgstr "�е удало�ь получить хеш Info.plist."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid Info.plist, no exe name."
-msgstr "�едопу�тимое им� проекта."
+msgstr "�едопу�тимый Info.plist, нет имени exe."
 
 #: platform/osx/export/codesign.cpp
 msgid "Invalid Info.plist, no bundle id."
-msgstr ""
+msgstr "�едопу�тимый Info.plist, нет id пакета."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid Info.plist, can't load."
-msgstr "�екорректна� геометри�, нельз� �оздать полигональную �етку."
+msgstr "�едопу�тимый Info.plist, не удаёт�� загрузить."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to create \"%s\" subfolder."
-msgstr "�евозможно �оздать папку."
+msgstr "�е удало�ь �оздать подпапку «%s»."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to extract thin binary."
-msgstr ""
+msgstr "�е удало�ь ра�паковать двоичный файл."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid binary format."
-msgstr "�едопу�тимый базовый путь."
+msgstr "�едопу�тимый двоичный формат."
 
 #: platform/osx/export/codesign.cpp
 msgid "Already signed!"
-msgstr ""
+msgstr "Уже подпи�ано!"
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to process nested resources."
-msgstr "�е удало�ь загрузить ре�ур�."
+msgstr "�е удало�ь обработать вложенные ре�ур�ы."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to create _CodeSignature subfolder."
-msgstr ""
+msgstr "�е удало�ь �оздать подпапку _CodeSignature."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to get CodeResources hash."
-msgstr "�е удало�ь загрузить ре�ур�."
+msgstr "�е удало�ь получить хеш CodeResources."
 
 #: platform/osx/export/codesign.cpp platform/osx/export/export.cpp
-#, fuzzy
 msgid "Invalid entitlements file."
-msgstr "�едопу�тимое ра�ширение."
+msgstr "�едопу�тимый файл прав."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid executable file."
-msgstr "�едопу�тимое ра�ширение."
+msgstr "�едопу�тимый и�полн�емый файл."
 
 #: platform/osx/export/codesign.cpp
 msgid "Can't resize signature load command."
-msgstr ""
+msgstr "�е удаёт�� изменить размер команды загрузки подпи�и."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to create fat binary."
-msgstr ""
+msgstr "�е удало�ь �оздать большой двоичный файл."
 
 #: platform/osx/export/codesign.cpp
 msgid "Unknown bundle type."
-msgstr ""
+msgstr "�еизве�тный тип пакета."
 
 #: platform/osx/export/codesign.cpp
 msgid "Unknown object type."
-msgstr ""
+msgstr "�еизве�тный тип объекта."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Note: The notarization process generally takes less than an hour. When the "
 "process is completed, you'll receive an email."
 msgstr ""
+"Примечание: Проце�� подтверждени� обычно занимает менее ча�а. Когда проце�� "
+"завершит��, вы получите �лектронное пи�ьмо."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "You can check progress manually by opening a Terminal and running the "
 "following command:"
 msgstr ""
+"Вы можете проверить ход выполнени� вручную, открыв терминал и выполнив "
+"�ледующую команду:"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Run the following command to staple the notarization ticket to the exported "
 "application (optional):"
 msgstr ""
+"Выполните �ледующую команду, чтобы прикрепить за�вку на подтверждение к "
+"�к�портированному приложению (необ�зательно):"
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "No identity found."
-msgstr "Иконки не найдены."
+msgstr "Identity не найдена."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Creating app bundle"
-msgstr "Создание ��кизов"
+msgstr "Создание пакета приложени�"
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Could not find template app to export:"
-msgstr ""
-"�е удало�ь найти шаблон APK дл� �к�порта:\n"
-"%s"
+msgstr "�е удало�ь найти шаблон приложени� дл� �к�порта:"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Relative symlinks are not supported on this OS, the exported project might "
 "be broken!"
 msgstr ""
+"Отно�ительные �имволиче�кие ��ылки не поддерживают�� в �той ОС, "
+"�к�портируемый проект может быть повреждён!"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Requested template binary '%s' not found. It might be missing from your "
 "template archive."
 msgstr ""
+"Запрошенный двоичный файл шаблона «%s» не найден. Он может от�ут�твовать в "
+"вашем архиве шаблонов."
 
 #: platform/osx/export/export.cpp
 msgid "Making PKG"
-msgstr ""
+msgstr "Создание PKG"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Ad-hoc signed applications require the 'Disable Library Validation' "
 "entitlement to load dynamic libraries."
 msgstr ""
+"Дл� подпи�анных ad-hoc приложений требует�� право «Отключить проверку "
+"библиотеки» дл� загрузки динамиче�ких библиотек."
 
 #: platform/osx/export/export.cpp
 msgid "Code signing bundle"
-msgstr ""
+msgstr "Подпи�ь кода пакета"
 
 #: platform/osx/export/export.cpp
 msgid "Making DMG"
-msgstr ""
+msgstr "Создание DMG"
 
 #: platform/osx/export/export.cpp
 msgid "Code signing DMG"
-msgstr ""
+msgstr "Подпи�ь кода DMG"
 
 #: platform/osx/export/export.cpp
 msgid "Making ZIP"
-msgstr ""
+msgstr "Создание ZIP"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Notarization requires the app to be archived first, select the DMG or ZIP "
 "export format instead."
 msgstr ""
+"Подтверждение требует, чтобы приложение было �начала архивировано, вме�то "
+"�того выберите формат �к�порта DMG или ZIP."
 
 #: platform/osx/export/export.cpp
 msgid "Sending archive for notarization"
-msgstr ""
+msgstr "Отправка архива дл� подтверждени�"
 
 #: platform/osx/export/export.cpp
 msgid "Invalid bundle identifier:"
@@ -14452,31 +14493,35 @@ msgid ""
 "Warning: Built-in \"codesign\" is selected in the Editor Settings. Code "
 "signing is limited to ad-hoc signature only."
 msgstr ""
+"Предупреждение: В на�тройках редактора выбран в�троенный «codesign». "
+"Подпи�ание кода ограничено только подпи�ью ad-hoc."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Warning: Xcode command line tools are not installed, using built-in "
 "\"codesign\". Code signing is limited to ad-hoc signature only."
 msgstr ""
+"Предупреждение: ин�трументы командной �троки Xcode не у�тановлены, "
+"и�пользует�� в�троенный «codesign». Подпи�ание кода ограничено только "
+"подпи�ью ad-hoc."
 
 #: platform/osx/export/export.cpp
 msgid "Notarization: Notarization with an ad-hoc signature is not supported."
-msgstr ""
+msgstr "Подтверждение: Подтверждение подпи�ью ad-hoc не поддерживает��."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Code signing is required for notarization."
-msgstr "Предупреждение: требует�� подпи�ание кода."
+msgstr "Подтверждение: дл� подтверждени� требует�� подпи�ь кода."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Hardened runtime is required for notarization."
-msgstr "Предупреждение: требует�� у�иленный рантайм."
+msgstr ""
+"Подтверждение: дл� подтверждени� требует�� защищённа� �реда выполнени�."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Timestamp runtime is required for notarization."
-msgstr "Предупреждение: требует�� у�иленный рантайм."
+msgstr ""
+"Подтверждение: дл� подтверждени� требует�� метка времени �реды выполнени�."
 
 #: platform/osx/export/export.cpp
 msgid "Notarization: Apple ID name not specified."
@@ -14491,63 +14536,84 @@ msgid ""
 "Warning: Notarization is disabled. The exported project will be blocked by "
 "Gatekeeper if it's downloaded from an unknown source."
 msgstr ""
+"Предупреждение: Подтверждение отключено. Эк�портированный проект будет "
+"заблокирован Gatekeeper, е�ли он загружен из неизве�тного и�точника."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Code signing is disabled. The exported project will not run on Macs with "
 "enabled Gatekeeper and Apple Silicon powered Macs."
 msgstr ""
+"Подпи�ание кода отключено. Эк�портированный проект не будет работать на "
+"компьютерах Mac � включённым Gatekeeper и компьютерах Mac � проце��ором "
+"Apple Silicon."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Hardened Runtime is not compatible with ad-hoc signature, and will be "
 "disabled!"
 msgstr ""
+"Защищённа� �реда выполнени� не�овме�тима � подпи�ью ad-hoc и будет отключена!"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Timestamping is not compatible with ad-hoc signature, and will be disabled!"
-msgstr ""
+msgstr "Временные метки не �овме�тимы � подпи�ью ad-hoc и будут отключены!"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Warning: Notarization is not supported from this OS. The exported project "
 "will be blocked by Gatekeeper if it's downloaded from an unknown source."
 msgstr ""
+"Предупреждение: Подтверждение не поддерживает�� в �той ОС. Эк�портированный "
+"проект будет заблокирован Gatekeeper, е�ли он загружен из неизве�тного "
+"и�точника."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Microphone access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Конфиденциально�ть: До�туп к микрофону включён, но опи�ание и�пользовани� не "
+"указано."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Camera access is enabled, but usage description is not specified."
 msgstr ""
+"Конфиденциально�ть: До�туп к камере включён, но опи�ание и�пользовани� не "
+"указано."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Location information access is enabled, but usage description is "
 "not specified."
 msgstr ""
+"Конфиденциально�ть: До�туп к информации о ме�тоположении включён, но "
+"опи�ание и�пользовани� не указано."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Address book access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Конфиденциально�ть: До�туп к адре�ной книге включён, но опи�ание "
+"и�пользовани� не указано."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Calendar access is enabled, but usage description is not specified."
 msgstr ""
+"Конфиденциально�ть: До�туп к календарю включён, но опи�ание и�пользовани� не "
+"указано."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Photo library access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Конфиденциально�ть: До�туп к библиотеке фотографий включён, но опи�ание "
+"и�пользовани� не указано."
 
 #: platform/uwp/export/export.cpp
 msgid "Invalid package short name."
@@ -14606,21 +14672,20 @@ msgid ""
 "The rcedit tool must be configured in the Editor Settings (Export > Windows "
 "> Rcedit) to change the icon or app information data."
 msgstr ""
+"Ин�трумент rcedit должен быть на�троен в �а�тройках редактора (Export > "
+"Windows > Rcedit) дл� изменени� значка или информационных данных приложени�."
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid icon path:"
-msgstr "�едопу�тимый путь."
+msgstr "�едопу�тимый путь к иконке:"
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid file version:"
-msgstr "�едопу�тимое ра�ширение."
+msgstr "�едопу�тима� вер�и� файла:"
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid product version:"
-msgstr "�еверный GUID продукта."
+msgstr "�едопу�тима� вер�и� продукта:"
 
 #: scene/2d/animated_sprite.cpp
 msgid ""
@@ -15360,14 +15425,13 @@ msgid "This node has been deprecated. Use AnimationTree instead."
 msgstr "Этот узел был удален. Вме�то �того и�пользуйте AnimationTree."
 
 #: scene/gui/color_picker.cpp
-#, fuzzy
 msgid ""
 "Color: #%s\n"
 "LMB: Apply color\n"
 "RMB: Remove preset"
 msgstr ""
 "Цвет: #%s\n"
-"ЛКМ: У�тановить цвет\n"
+"ЛКМ: Применить цвет\n"
 "ПКМ: Удалить пре�ет"
 
 #: scene/gui/color_picker.cpp
diff --git a/editor/translations/si.po b/editor/translations/si.po
index 178bcfdfad..e875e8e5bf 100644
--- a/editor/translations/si.po
+++ b/editor/translations/si.po
@@ -1463,6 +1463,10 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+msgid "Audio Bus Layout"
+msgstr ""
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -2819,7 +2823,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5480,6 +5484,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr ""
 
@@ -7928,7 +7936,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8815,6 +8828,10 @@ msgid "Select Another Theme Resource:"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Theme Resource"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -8862,6 +8879,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr ""
 
@@ -8878,7 +8907,17 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+msgid "Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9566,18 +9605,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr ""
 
@@ -12154,6 +12181,10 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+msgid "Filter stack variables"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13458,6 +13489,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/sk.po b/editor/translations/sk.po
index d502613ca1..2f561af326 100644
--- a/editor/translations/sk.po
+++ b/editor/translations/sk.po
@@ -1488,6 +1488,11 @@ msgstr "Na�ítať základný Bus Layout."
 msgid "Create a new Bus Layout."
 msgstr "Vytvoriť nový Bus Layout."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Otvoriť Audio Bus Layout"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Neplatný Názov."
@@ -2932,7 +2937,7 @@ msgstr "Prepnúť režim bez rozptyľovania."
 msgid "Add a new scene."
 msgstr "Pridať novú scénu."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Scéna"
 
@@ -5717,6 +5722,10 @@ msgid "Bake Lightmaps"
 msgstr "Bake Lightmaps"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 #, fuzzy
 msgid "Select lightmap bake file:"
 msgstr "Vybrať Súbor Šablóny"
@@ -8258,7 +8267,12 @@ msgid "Cinematic Preview"
 msgstr "Filmové Predzobrazenie"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9197,6 +9211,11 @@ msgstr "Hľadať Náhradný Zdroj:"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "Prostriedok"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "Súbor:"
 
@@ -9249,6 +9268,20 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Zmeniť %s Typ"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Zmeniť %s Typ"
+
+#: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
 msgid "Show Default"
 msgstr "Na�ítať predvolené"
@@ -9267,7 +9300,18 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+#, fuzzy
+msgid "Base Type"
+msgstr "Zmeniť %s Typ"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -10022,18 +10066,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "Zhody:"
@@ -12678,6 +12710,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filter:"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -14043,6 +14080,9 @@ msgstr "Nesprávna veľkosť písma."
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/sl.po b/editor/translations/sl.po
index 551b2a5c91..baa466cb84 100644
--- a/editor/translations/sl.po
+++ b/editor/translations/sl.po
@@ -1549,6 +1549,11 @@ msgstr "Naloži prevezeto Postavitev Vodila."
 msgid "Create a new Bus Layout."
 msgstr "Ustvari novo Postavitev Vodila."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Odpri Zvo�no Vodilo"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Neveljavno ime."
@@ -3036,7 +3041,7 @@ msgstr "Preklop na�in pisanja brez motenj."
 msgid "Add a new scene."
 msgstr "Dodaj nov Prizor."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Prizor"
 
@@ -5922,6 +5927,10 @@ msgid "Bake Lightmaps"
 msgstr "Zape�i Svetlobne karte"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 #, fuzzy
 msgid "Select lightmap bake file:"
 msgstr "Izberi datoteko predloge"
@@ -8525,7 +8534,12 @@ msgid "Cinematic Preview"
 msgstr "Ustvari Predogled Modela"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9477,6 +9491,11 @@ msgstr "Iskanje Nadomestnih Virov:"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "Viri"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "ÄŒlani"
 
@@ -9528,6 +9547,20 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Nastavite Tip Spremenljivke"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Spremeni Osnovni Tip"
+
+#: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
 msgid "Show Default"
 msgstr "Naložite Prevzeto"
@@ -9545,7 +9578,18 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+#, fuzzy
+msgid "Base Type"
+msgstr "Spremeni Osnovni Tip"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -10306,18 +10350,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "Zadetki:"
@@ -13018,6 +13050,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filtriraj datoteke..."
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -14399,6 +14436,9 @@ msgstr "Neveljavno ime."
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/sq.po b/editor/translations/sq.po
index b4115a9c60..83fbc22055 100644
--- a/editor/translations/sq.po
+++ b/editor/translations/sq.po
@@ -1485,6 +1485,11 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Faqosja e Editorit"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Emër i palejuar."
@@ -2975,7 +2980,7 @@ msgstr "Ndrysho metodën pa shpërqëndrime."
 msgid "Add a new scene."
 msgstr "Shto një skenë të re."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Skenë"
 
@@ -5774,6 +5779,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 #, fuzzy
 msgid "Select lightmap bake file:"
 msgstr "Zgjidh skedarin e shabllonit"
@@ -8263,7 +8272,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9191,6 +9205,11 @@ msgid "Select Another Theme Resource:"
 msgstr "Kërko Resursin Zëvendësues:"
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "Resursi"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -9241,6 +9260,20 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Ndrysho Tipin e %s"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Ndrysho Tipin e %s"
+
+#: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
 msgid "Show Default"
 msgstr "Ngarko të Parazgjedhur"
@@ -9259,7 +9292,18 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+#, fuzzy
+msgid "Base Type"
+msgstr "Ndrysho Tipin e %s"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9967,18 +10011,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "Përputhjet:"
@@ -12619,6 +12651,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filtro Skedarët..."
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13960,6 +13997,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/sr_Cyrl.po b/editor/translations/sr_Cyrl.po
index fab8794167..b536e1999d 100644
--- a/editor/translations/sr_Cyrl.po
+++ b/editor/translations/sr_Cyrl.po
@@ -1607,6 +1607,11 @@ msgstr "Учитај уобичајен ба� ра�поред."
 msgid "Create a new Bus Layout."
 msgstr "�аправи нови ба� ра�поред."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Отвори ра�поред звучног ба�а"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "�еважеће име."
@@ -3157,7 +3162,7 @@ msgstr "Укљ./И�кљ. режим без �метње."
 msgid "Add a new scene."
 msgstr "Додај нову �цену."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Сцена"
 
@@ -6190,6 +6195,10 @@ msgid "Bake Lightmaps"
 msgstr "Изпеци МапеСенчења"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 #, fuzzy
 msgid "Select lightmap bake file:"
 msgstr "Одабери шаблон�ку датотеку"
@@ -8961,8 +8970,13 @@ msgid "Cinematic Preview"
 msgstr "�аправи приказ мрежа"
 
 #: editor/plugins/spatial_editor_plugin.cpp
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
 #, fuzzy
-msgid "Not available when using the GLES2 renderer."
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "�едо�тупно кад кори�тиш GLES2 изцртавање."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9955,6 +9969,11 @@ msgstr "Обриши ре�ур�"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "Преименуј ре�ур�"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "Увези тему"
 
@@ -10009,6 +10028,21 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Add Item Type"
+msgstr "Додај �твар"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "По�тави Вр�ту Променљиве"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Измени уобичајен тип"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Show Default"
 msgstr "Учитај уобичајено"
 
@@ -10027,8 +10061,18 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
-msgid "Add Item Type"
-msgstr "Додај �твар"
+msgid "Base Type"
+msgstr "Промени Тип"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
@@ -10850,18 +10894,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "Подударање:"
@@ -14106,6 +14138,11 @@ msgstr "�а�лага Фрејмова"
 
 #: editor/script_editor_debugger.cpp
 #, fuzzy
+msgid "Filter stack variables"
+msgstr "Филтрирај датотеке..."
+
+#: editor/script_editor_debugger.cpp
+#, fuzzy
 msgid "Profiler"
 msgstr "О�матрач"
 
@@ -15630,6 +15667,9 @@ msgstr "�еважеће име паковања:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/sr_Latn.po b/editor/translations/sr_Latn.po
index e4a6a62ec9..fb9a577739 100644
--- a/editor/translations/sr_Latn.po
+++ b/editor/translations/sr_Latn.po
@@ -6,13 +6,14 @@
 # BLu <blmasfon@gmail.com>, 2018.
 # Vojislav Bajakic <ch3d4.ns@gmail.com>, 2018.
 # LT <lakizvezdas@gmail.com>, 2019.
+# Marko Mihajlović <creationsmarko@gmail.com>, 2022.
 msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine editor\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
 "POT-Creation-Date: \n"
-"PO-Revision-Date: 2019-07-29 19:21+0000\n"
-"Last-Translator: LT <lakizvezdas@gmail.com>\n"
+"PO-Revision-Date: 2022-02-26 10:27+0000\n"
+"Last-Translator: Marko Mihajlović <creationsmarko@gmail.com>\n"
 "Language-Team: Serbian (latin) <https://hosted.weblate.org/projects/godot-"
 "engine/godot/sr_Latn/>\n"
 "Language: sr_Latn\n"
@@ -21,78 +22,78 @@ msgstr ""
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=3; plural=n%10==1 && n%100!=11 ? 0 : n%10>=2 && "
 "n%10<=4 && (n%100<10 || n%100>=20) ? 1 : 2;\n"
-"X-Generator: Weblate 3.8-dev\n"
+"X-Generator: Weblate 4.11.1-dev\n"
 
 #: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
 #: modules/visual_script/visual_script_builtin_funcs.cpp
 msgid "Invalid type argument to convert(), use TYPE_* constants."
-msgstr ""
+msgstr "Nevažeći tip argumenta za convert(), koristi TYPE_* konstante."
 
 #: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
 msgid "Expected a string of length 1 (a character)."
-msgstr ""
+msgstr "O�ekivana niska dužine 1 (karakter)."
 
 #: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
 #: modules/mono/glue/gd_glue.cpp
 #: modules/visual_script/visual_script_builtin_funcs.cpp
 msgid "Not enough bytes for decoding bytes, or invalid format."
-msgstr ""
+msgstr "Nema dovoljno bajtova za dekodiranje bajtova, ili nevažeći format."
 
 #: core/math/expression.cpp
 msgid "Invalid input %i (not passed) in expression"
-msgstr ""
+msgstr "Nevažeći unos %i (nije prenesen) u izrazu"
 
 #: core/math/expression.cpp
 msgid "self can't be used because instance is null (not passed)"
-msgstr ""
+msgstr "self ne može biti korišćen jer je instanca null (nije prosledjena)"
 
 #: core/math/expression.cpp
 msgid "Invalid operands to operator %s, %s and %s."
-msgstr ""
+msgstr "Nedozvoljen operand do operatora %s, %s i %s."
 
 #: core/math/expression.cpp
 msgid "Invalid index of type %s for base type %s"
-msgstr ""
+msgstr "Nedozvoljen indeks tipa %s za bazu tipa %s"
 
 #: core/math/expression.cpp
 msgid "Invalid named index '%s' for base type %s"
-msgstr ""
+msgstr "Nedozvoljeno imenovan indeks '%s' za bazu tipa %s"
 
 #: core/math/expression.cpp
 msgid "Invalid arguments to construct '%s'"
-msgstr ""
+msgstr "Neispravni argumenti za konstrukciju '%s'"
 
 #: core/math/expression.cpp
 msgid "On call to '%s':"
-msgstr ""
+msgstr "Pri pozivu '%s':"
 
 #: core/ustring.cpp
 msgid "B"
-msgstr ""
+msgstr "B"
 
 #: core/ustring.cpp
 msgid "KiB"
-msgstr ""
+msgstr "KiB"
 
 #: core/ustring.cpp
 msgid "MiB"
-msgstr ""
+msgstr "MiB"
 
 #: core/ustring.cpp
 msgid "GiB"
-msgstr ""
+msgstr "Gib"
 
 #: core/ustring.cpp
 msgid "TiB"
-msgstr ""
+msgstr "Tib"
 
 #: core/ustring.cpp
 msgid "PiB"
-msgstr ""
+msgstr "PiB"
 
 #: core/ustring.cpp
 msgid "EiB"
-msgstr ""
+msgstr "EiB"
 
 #: editor/animation_bezier_editor.cpp
 msgid "Free"
@@ -120,7 +121,7 @@ msgstr "Dodaj klju� ovde"
 
 #: editor/animation_bezier_editor.cpp
 msgid "Duplicate Selected Key(s)"
-msgstr "Dupliraj Selektovane Klju�eve"
+msgstr "Dupliraj Obeležene Klju�eve"
 
 #: editor/animation_bezier_editor.cpp
 msgid "Delete Selected Key(s)"
@@ -136,56 +137,51 @@ msgstr "Pomeri Bezier Ta�ke"
 
 #: editor/animation_bezier_editor.cpp editor/animation_track_editor.cpp
 msgid "Anim Duplicate Keys"
-msgstr "Animacija Uduplaj Klju�eve"
+msgstr "Anim Dupliraj Klju�eve"
 
 #: editor/animation_bezier_editor.cpp editor/animation_track_editor.cpp
 msgid "Anim Delete Keys"
-msgstr "Animacija Obriši Klju�eve"
+msgstr "Anim Obriši Klju�eve"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Change Keyframe Time"
-msgstr "Animacija Promjeni Vrijeme Klju�nog Kadra"
+msgstr "Animacija Promeni Vreme Klju�nog Kadra"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Change Transition"
-msgstr "Animacija Promjeni Tranziciju"
+msgstr "Anim Promeni Prelaz"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Change Transform"
-msgstr "Animacija Promjeni Transformaciju"
+msgstr "Anim Promeni Transformaciju"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Change Keyframe Value"
-msgstr "Animacija Promjeni Vrijednost Klju�nog Kadra"
+msgstr "Animacija Promeni Vrednost Klju�nog Kadra"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Change Call"
-msgstr "Animacija Promjeni Poziv"
+msgstr "Anim Promjeni Poziv"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Anim Multi Change Keyframe Time"
-msgstr "Animacija Promjeni Vrijeme Klju�nog Kadra"
+msgstr "Anim Promeni Vremena Klju�nih Kadrova"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Anim Multi Change Transition"
-msgstr "Animacija Promjeni Tranziciju"
+msgstr "Anim Promeni Tranzicije"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Anim Multi Change Transform"
-msgstr "Animacija Promjeni Transformaciju"
+msgstr "Anim Promeni Transformacije"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Anim Multi Change Keyframe Value"
-msgstr "Animacija Promjeni Vrijednost Klju�nog Kadra"
+msgstr "Anim Promeni Vrednost Klju�nih Kadrova"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Anim Multi Change Call"
-msgstr "Animacija Promjeni Poziv"
+msgstr "Anim Promeni Pozive"
 
 #: editor/animation_track_editor.cpp
 msgid "Change Animation Length"
@@ -194,52 +190,50 @@ msgstr "Promeni Dužinu Animacije"
 #: editor/animation_track_editor.cpp
 #: editor/plugins/sprite_frames_editor_plugin.cpp
 msgid "Change Animation Loop"
-msgstr ""
+msgstr "Promeni Ponavljanje Animacije"
 
 #: editor/animation_track_editor.cpp
 msgid "Property Track"
-msgstr ""
+msgstr "Osobine Trake"
 
 #: editor/animation_track_editor.cpp
 msgid "3D Transform Track"
-msgstr ""
+msgstr "3D Transformacija trake"
 
 #: editor/animation_track_editor.cpp
 msgid "Call Method Track"
-msgstr ""
+msgstr "Traka Poziva Metoda"
 
 #: editor/animation_track_editor.cpp
 msgid "Bezier Curve Track"
-msgstr ""
+msgstr "Traka Bezier krive"
 
 #: editor/animation_track_editor.cpp
 msgid "Audio Playback Track"
-msgstr "Audio Plejbek Traka"
+msgstr "Audio Reprodukciona Traka"
 
 #: editor/animation_track_editor.cpp
 msgid "Animation Playback Track"
-msgstr "Animacija Plejbek Traka"
+msgstr "Animacija Reprodukciona Traka"
 
 #: editor/animation_track_editor.cpp
 msgid "Animation length (frames)"
-msgstr "Dužina Animacije (frames)"
+msgstr "Dužina Animacije (frejmova)"
 
 #: editor/animation_track_editor.cpp
 msgid "Animation length (seconds)"
-msgstr "Dužina Animacije (secunde)"
+msgstr "Dužina animacije (sekunde)"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Add Track"
 msgstr "Dodaj Traku"
 
 #: editor/animation_track_editor.cpp
 msgid "Animation Looping"
-msgstr ""
+msgstr "Ponavljanje Animacije"
 
 #: editor/animation_track_editor.cpp
 #: modules/visual_script/visual_script_editor.cpp
-#, fuzzy
 msgid "Functions:"
 msgstr "Funkcije:"
 
@@ -248,34 +242,32 @@ msgid "Audio Clips:"
 msgstr "Audio Klipovi:"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Anim Clips:"
 msgstr "Anim Klipovi:"
 
 #: editor/animation_track_editor.cpp
 msgid "Change Track Path"
-msgstr ""
+msgstr "Izmeni Mesto Trake"
 
 #: editor/animation_track_editor.cpp
 msgid "Toggle this track on/off."
-msgstr ""
+msgstr "Uklju�i/isklju�i ovu traku."
 
 #: editor/animation_track_editor.cpp
 msgid "Update Mode (How this property is set)"
-msgstr ""
+msgstr "Na�in Ažuriranja (Kako je ova osobina postavljena)"
 
 #: editor/animation_track_editor.cpp
 msgid "Interpolation Mode"
-msgstr ""
+msgstr "Na�in Interpolacije"
 
 #: editor/animation_track_editor.cpp
 msgid "Loop Wrap Mode (Interpolate end with beginning on loop)"
-msgstr ""
+msgstr "Režim Umotanog Ponavljanja (Meša kraj sa po�etkom pri ponavljanju)"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Remove this track."
-msgstr "Odstrani Kanal Animacije"
+msgstr "Ukloni ovu traku."
 
 #: editor/animation_track_editor.cpp
 msgid "Time (s): "
@@ -283,7 +275,7 @@ msgstr "Vreme (s): "
 
 #: editor/animation_track_editor.cpp
 msgid "Toggle Track Enabled"
-msgstr ""
+msgstr "Umogući/Onemogući Traku"
 
 #: editor/animation_track_editor.cpp
 msgid "Continuous"
@@ -299,12 +291,11 @@ msgstr "Okida�"
 
 #: editor/animation_track_editor.cpp
 msgid "Capture"
-msgstr ""
+msgstr "Ulovi"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Nearest"
-msgstr "Najbliže"
+msgstr "Najbliža"
 
 #: editor/animation_track_editor.cpp editor/plugins/curve_editor_plugin.cpp
 #: editor/property_editor.cpp
@@ -313,62 +304,57 @@ msgstr "Linearna"
 
 #: editor/animation_track_editor.cpp
 msgid "Cubic"
-msgstr ""
+msgstr "Kubno"
 
 #: editor/animation_track_editor.cpp
 msgid "Clamp Loop Interp"
-msgstr ""
+msgstr "Ograni�i Interp Ponavljanja"
 
 #: editor/animation_track_editor.cpp
 msgid "Wrap Loop Interp"
-msgstr ""
+msgstr "Interp Umotanog Ponavljanja"
 
 #: editor/animation_track_editor.cpp
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Insert Key"
-msgstr ""
+msgstr "Unesi Klju�"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Duplicate Key(s)"
-msgstr "Dupliraj Klju�eve"
+msgstr "Dupliraj Klju�(eve)"
 
 #: editor/animation_track_editor.cpp
 msgid "Add RESET Value(s)"
-msgstr ""
+msgstr "Dodaj RESET Vrednost(i)"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Delete Key(s)"
-msgstr "Obriši Klju�eve"
+msgstr "Obriši Klju�(eve)"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Change Animation Update Mode"
-msgstr "Promijeni Dužinu Animacije"
+msgstr "Promijeni Na�in Ažuriranja Animacije"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Change Animation Interpolation Mode"
-msgstr "Promijeni Dužinu Animacije"
+msgstr "Promeni na�in Interpolacije Animacije"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Change Animation Loop Mode"
-msgstr "Optimizuj Animaciju"
+msgstr "Promeni Na�in Ponavljanja Animacije"
 
 #: editor/animation_track_editor.cpp
 msgid "Remove Anim Track"
-msgstr "Odstrani Kanal Animacije"
+msgstr "Ukloni Anim Traku"
 
 #. TRANSLATORS: %s will be replaced by a phrase describing the target of track.
 #: editor/animation_track_editor.cpp
 msgid "Create NEW track for %s and insert key?"
-msgstr "Napravi Novi kanal za %s i dodaj klju�?"
+msgstr "Napravi NOVU traku za %s i dodaj klju�?"
 
 #: editor/animation_track_editor.cpp
 msgid "Create %d NEW tracks and insert keys?"
-msgstr "Napravi %d novih kanala i dodaj klju�eve?"
+msgstr "Napravi %d NOVIH traka i dodaj klju�eve?"
 
 #: editor/animation_track_editor.cpp editor/create_dialog.cpp
 #: editor/editor_audio_buses.cpp editor/editor_feature_profile.cpp
@@ -385,52 +371,51 @@ msgstr "Napravi"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Insert"
-msgstr "Animacija Umetni"
+msgstr "Anim Ubaci"
 
 #. TRANSLATORS: This describes the target of new animation track, will be inserted into another string.
 #: editor/animation_track_editor.cpp
 msgid "node '%s'"
-msgstr ""
+msgstr "�vor '%s'"
 
 #. TRANSLATORS: This describes the target of new animation track, will be inserted into another string.
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "animation"
-msgstr "Optimizuj Animaciju"
+msgstr "Animacija"
 
 #: editor/animation_track_editor.cpp
 msgid "AnimationPlayer can't animate itself, only other players."
-msgstr ""
+msgstr "Plejer Animacija ne može animirati sebe, samo druge plejere."
 
 #. TRANSLATORS: This describes the target of new animation track, will be inserted into another string.
 #: editor/animation_track_editor.cpp
 msgid "property '%s'"
-msgstr ""
+msgstr "Osobina '%s'"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Create & Insert"
-msgstr "Animacija Napravi i Dodaj"
+msgstr "Anim Napravi i Ubaci"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Insert Track & Key"
-msgstr "Animacija Dodaj kanal i klju�"
+msgstr "Anim Ubaci Traku i Klju�"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Insert Key"
-msgstr "Animacija dodaj klju�"
+msgstr "Anim Ubaci Klju�"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Change Animation Step"
-msgstr "Po�isti Animaciju"
+msgstr "Promeni Korake Animacije"
 
 #: editor/animation_track_editor.cpp
 msgid "Rearrange Tracks"
-msgstr ""
+msgstr "Rasporedi Trake"
 
 #: editor/animation_track_editor.cpp
 msgid "Transform tracks only apply to Spatial-based nodes."
 msgstr ""
+"Transformacione trake primenjuju se samo na Prostorno-baziranim �vorovima."
 
 #: editor/animation_track_editor.cpp
 msgid ""
@@ -439,66 +424,67 @@ msgid ""
 "-AudioStreamPlayer2D\n"
 "-AudioStreamPlayer3D"
 msgstr ""
+"Audio trake mogu da upute samo na �vorove tipa:\n"
+"-AudioStreamPlayer\n"
+"-AudioStreamPlayer2D\n"
+"-AudioStreamPlayer3D"
 
 #: editor/animation_track_editor.cpp
 msgid "Animation tracks can only point to AnimationPlayer nodes."
-msgstr ""
+msgstr "Animacione trake mogu da upute samo na AnimationPlayer �vorove."
 
 #: editor/animation_track_editor.cpp
 msgid "Not possible to add a new track without a root"
-msgstr ""
+msgstr "Nije moguće dodati novu traku bez korena"
 
 #: editor/animation_track_editor.cpp
 msgid "Invalid track for Bezier (no suitable sub-properties)"
-msgstr ""
+msgstr "Nevažeća traka za Bezier (nema pogodnih pod-osobina)"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Add Bezier Track"
-msgstr "Dodaj Bezier Kanal"
+msgstr "Dodaj Bezier Traku"
 
 #: editor/animation_track_editor.cpp
 msgid "Track path is invalid, so can't add a key."
-msgstr ""
+msgstr "Mesto trake je nevažeće, ne može se dodati klju�."
 
 #: editor/animation_track_editor.cpp
 msgid "Track is not of type Spatial, can't insert key"
-msgstr ""
+msgstr "Traka nije Prostornog tipa, ne može se dodati klju�"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Add Transform Track Key"
-msgstr "Animacija Dodaj kanal i klju�"
+msgstr "Dodaj klju� transformacione trake"
 
 #: editor/animation_track_editor.cpp
 msgid "Add Track Key"
-msgstr "Dodaj Kljuc Kanal"
+msgstr "Dodaj Kljuc u Traku"
 
 #: editor/animation_track_editor.cpp
 msgid "Track path is invalid, so can't add a method key."
-msgstr ""
+msgstr "Mesto trake je nevažeće, ne može se dodati klju� metode."
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Add Method Track Key"
-msgstr "Animacija Dodaj kanal i klju�"
+msgstr "Dodaj Klju� Metodne Trake"
 
 #: editor/animation_track_editor.cpp
 msgid "Method not found in object: "
-msgstr ""
+msgstr "Metod nije nađen u objektu: "
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Move Keys"
-msgstr "Animacija Pomjeri Klju�eve"
+msgstr "Anim Pomeri Klju�eve"
 
 #: editor/animation_track_editor.cpp
 #: modules/visual_script/visual_script_editor.cpp
 msgid "Clipboard is empty!"
-msgstr ""
+msgstr "Klipbord je prazan!"
 
 #: editor/animation_track_editor.cpp
 msgid "Paste Tracks"
-msgstr ""
+msgstr "Zalepi Trake"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim Scale Keys"
@@ -507,12 +493,11 @@ msgstr "Animacija Skaliraj Klju�eve"
 #: editor/animation_track_editor.cpp
 msgid ""
 "This option does not work for Bezier editing, as it's only a single track."
-msgstr ""
+msgstr "Ova opcija ne radi za Bezier obradu, jer je jedna traka."
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Anim Add RESET Keys"
-msgstr "Animacija Skaliraj Klju�eve"
+msgstr "Anim Dodaj RESET Klju�eve"
 
 #: editor/animation_track_editor.cpp
 msgid ""
@@ -526,39 +511,48 @@ msgid ""
 "Alternatively, use an import preset that imports animations to separate "
 "files."
 msgstr ""
+"Ova animacija pripada uvezenoj sceni, pa promene na uvezenim trakama neće "
+"biti sa�uvane.\n"
+"\n"
+"Da omogućiš sposobnost dodavanja prilagođenih traka, uputi se ka uvoznim "
+"podešavanjima scene i postavi\n"
+"\"Animacija > Skladište\" u \"Datoteke\", omogući \"Animacija > Zadrži "
+"Prilagođene Trake\", zatim ponovo uvezi.\n"
+"Alternativno, koristi uvozna podešavanja koja uvoze animacije u zasebne "
+"datoteke."
 
 #: editor/animation_track_editor.cpp
 msgid "Warning: Editing imported animation"
-msgstr ""
+msgstr "Upozorenje: Obrađivanje uvezene animacije"
 
 #: editor/animation_track_editor.cpp
 msgid "Select an AnimationPlayer node to create and edit animations."
-msgstr ""
+msgstr "Izaberi AnimationPlayer �vor da bi napravio i uredio animacije."
 
 #: editor/animation_track_editor.cpp
 msgid "Only show tracks from nodes selected in tree."
-msgstr ""
+msgstr "Prikaži samo trake od �vorova koji su ozna�eni u stablu."
 
 #: editor/animation_track_editor.cpp
 msgid "Group tracks by node or display them as plain list."
-msgstr ""
+msgstr "Grupiši trake po �voru ili ih prikaži kao obi�nu listu."
 
 #: editor/animation_track_editor.cpp
 msgid "Snap:"
-msgstr ""
+msgstr "Ka�enje:"
 
 #: editor/animation_track_editor.cpp
 msgid "Animation step value."
-msgstr ""
+msgstr "Vrednost koraka animacije."
 
 #: editor/animation_track_editor.cpp
 msgid "Seconds"
-msgstr ""
+msgstr "Sekunde"
 
 #: editor/animation_track_editor.cpp
 #: editor/plugins/sprite_frames_editor_plugin.cpp
 msgid "FPS"
-msgstr ""
+msgstr "FPS"
 
 #: editor/animation_track_editor.cpp editor/editor_plugin_settings.cpp
 #: editor/editor_resource_picker.cpp
@@ -569,15 +563,15 @@ msgstr ""
 #: editor/project_settings_editor.cpp editor/property_editor.cpp
 #: modules/visual_script/visual_script_editor.cpp
 msgid "Edit"
-msgstr ""
+msgstr "Uredi"
 
 #: editor/animation_track_editor.cpp
 msgid "Animation properties."
-msgstr ""
+msgstr "Osobine animacije."
 
 #: editor/animation_track_editor.cpp
 msgid "Copy Tracks"
-msgstr ""
+msgstr "Kopiraj Trake"
 
 #: editor/animation_track_editor.cpp
 msgid "Scale Selection"
@@ -594,26 +588,23 @@ msgstr "Uduplaj Selekciju"
 
 #: editor/animation_track_editor.cpp
 msgid "Duplicate Transposed"
-msgstr ""
+msgstr "Dupliraj Transponovanu"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Delete Selection"
-msgstr "Uduplaj Selekciju"
+msgstr "Ukloni oznaku"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Go to Next Step"
-msgstr "Otiđi Na Sljedeći Korak"
+msgstr "Idi na Sledeći Korak"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Go to Previous Step"
-msgstr "Otiđi Na Prethodni Korak"
+msgstr "Idi na Prethodni Korak"
 
 #: editor/animation_track_editor.cpp
 msgid "Apply Reset"
-msgstr ""
+msgstr "Primeni Reset"
 
 #: editor/animation_track_editor.cpp
 msgid "Optimize Animation"
@@ -625,64 +616,63 @@ msgstr "Po�isti Animaciju"
 
 #: editor/animation_track_editor.cpp
 msgid "Pick the node that will be animated:"
-msgstr ""
+msgstr "Izaberi �vor koji će biti animiran:"
 
 #: editor/animation_track_editor.cpp
 msgid "Use Bezier Curves"
-msgstr ""
+msgstr "Koristi Bezier krive"
 
 #: editor/animation_track_editor.cpp
 msgid "Create RESET Track(s)"
-msgstr ""
+msgstr "Napravi RESET Traku(ke)"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim. Optimizer"
-msgstr ""
+msgstr "Anim. Optimizator"
 
 #: editor/animation_track_editor.cpp
 msgid "Max. Linear Error:"
-msgstr ""
+msgstr "Max. Linearna Greška:"
 
 #: editor/animation_track_editor.cpp
 msgid "Max. Angular Error:"
-msgstr ""
+msgstr "Max. Ugaona Greška:"
 
 #: editor/animation_track_editor.cpp
 msgid "Max Optimizable Angle:"
-msgstr ""
+msgstr "Max Ugao Koji Se Može Optimizovati:"
 
 #: editor/animation_track_editor.cpp
 msgid "Optimize"
-msgstr ""
+msgstr "Optimizuj"
 
 #: editor/animation_track_editor.cpp
 msgid "Remove invalid keys"
-msgstr ""
+msgstr "Ukloni nevažeće klju�eve"
 
 #: editor/animation_track_editor.cpp
 msgid "Remove unresolved and empty tracks"
-msgstr ""
+msgstr "Ukloni nerešene i prazne trake"
 
 #: editor/animation_track_editor.cpp
 msgid "Clean-up all animations"
-msgstr ""
+msgstr "O�isti sve animacije"
 
 #: editor/animation_track_editor.cpp
 msgid "Clean-Up Animation(s) (NO UNDO!)"
-msgstr ""
+msgstr "O�isti Animaciju(je) (NEMA OPOZIVANJA!)"
 
 #: editor/animation_track_editor.cpp
 msgid "Clean-Up"
-msgstr ""
+msgstr "O�isti"
 
 #: editor/animation_track_editor.cpp
 msgid "Scale Ratio:"
-msgstr ""
+msgstr "Razmera:"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Select Tracks to Copy"
-msgstr "Postavi tranzicije na:"
+msgstr "Izaberi Trake za Kopiranje"
 
 #: editor/animation_track_editor.cpp editor/editor_log.cpp
 #: editor/editor_resource_picker.cpp
@@ -691,148 +681,148 @@ msgstr "Postavi tranzicije na:"
 #: editor/plugins/sprite_frames_editor_plugin.cpp editor/property_editor.cpp
 #: editor/scene_tree_dock.cpp scene/gui/line_edit.cpp scene/gui/text_edit.cpp
 msgid "Copy"
-msgstr ""
+msgstr "Kopiraj"
 
 #: editor/animation_track_editor.cpp
-#, fuzzy
 msgid "Select All/None"
-msgstr "Uduplaj Selekciju"
+msgstr "Ozna�i Sve/Ništa"
 
 #: editor/animation_track_editor_plugins.cpp
-#, fuzzy
 msgid "Add Audio Track Clip"
-msgstr "Animacija Dodaj Kanal"
+msgstr "Dodaj Klip Audio Trake"
 
 #: editor/animation_track_editor_plugins.cpp
 msgid "Change Audio Track Clip Start Offset"
-msgstr ""
+msgstr "Promeni Po�etnu Poziciju Klipa Audio Trake"
 
 #: editor/animation_track_editor_plugins.cpp
 msgid "Change Audio Track Clip End Offset"
-msgstr ""
+msgstr "Promeni Poziciju Kraja Klipa Audio Trake"
 
 #: editor/array_property_edit.cpp
 msgid "Resize Array"
-msgstr ""
+msgstr "Promeni Veli�inu Niza"
 
 #: editor/array_property_edit.cpp
 msgid "Change Array Value Type"
-msgstr ""
+msgstr "Promeni Tip Vrednosti Niza"
 
 #: editor/array_property_edit.cpp
 msgid "Change Array Value"
-msgstr ""
+msgstr "Promeni Vrednost Niza"
 
 #: editor/code_editor.cpp
 msgid "Go to Line"
-msgstr ""
+msgstr "Idi na Liniju"
 
 #: editor/code_editor.cpp
 msgid "Line Number:"
-msgstr ""
+msgstr "Broj Linije:"
 
 #: editor/code_editor.cpp
 msgid "%d replaced."
-msgstr ""
+msgstr "%d zamenjen."
 
 #: editor/code_editor.cpp editor/editor_help.cpp
 msgid "%d match."
-msgstr ""
+msgstr "%d podudara."
 
 #: editor/code_editor.cpp editor/editor_help.cpp
 msgid "%d matches."
-msgstr ""
+msgstr "%d podudara."
 
 #: editor/code_editor.cpp editor/find_in_files.cpp
 msgid "Match Case"
-msgstr ""
+msgstr "Slu�aj Podudaranja"
 
 #: editor/code_editor.cpp editor/find_in_files.cpp
 msgid "Whole Words"
-msgstr ""
+msgstr "Cele Re�i"
 
 #: editor/code_editor.cpp
 msgid "Replace"
-msgstr ""
+msgstr "Zameni"
 
 #: editor/code_editor.cpp
 msgid "Replace All"
-msgstr ""
+msgstr "Zameni Sve"
 
 #: editor/code_editor.cpp
 msgid "Selection Only"
-msgstr ""
+msgstr "Samo Obeleženo"
 
 #: editor/code_editor.cpp editor/plugins/script_text_editor.cpp
 #: editor/plugins/text_editor.cpp
 msgid "Standard"
-msgstr ""
+msgstr "Standardno"
 
 #: editor/code_editor.cpp editor/plugins/script_editor_plugin.cpp
 msgid "Toggle Scripts Panel"
-msgstr ""
+msgstr "Uklju�i/Isklju�i Panel sa Skriptama"
 
 #: editor/code_editor.cpp editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/sprite_frames_editor_plugin.cpp
 #: editor/plugins/texture_region_editor_plugin.cpp
 #: editor/plugins/tile_set_editor_plugin.cpp scene/gui/graph_edit.cpp
 msgid "Zoom In"
-msgstr ""
+msgstr "Uveli�aj"
 
 #: editor/code_editor.cpp editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/sprite_frames_editor_plugin.cpp
 #: editor/plugins/texture_region_editor_plugin.cpp
 #: editor/plugins/tile_set_editor_plugin.cpp scene/gui/graph_edit.cpp
 msgid "Zoom Out"
-msgstr ""
+msgstr "Umanji"
 
 #: editor/code_editor.cpp
 msgid "Reset Zoom"
-msgstr ""
+msgstr "Resetuj Uveli�avanje"
 
 #: editor/code_editor.cpp
 msgid "Warnings"
-msgstr ""
+msgstr "Upozorenja"
 
 #: editor/code_editor.cpp
 msgid "Line and column numbers."
-msgstr ""
+msgstr "Brojevi redova i kolona."
 
 #: editor/connections_dialog.cpp
 msgid "Method in target node must be specified."
-msgstr ""
+msgstr "Metod u ciljnom �voru mora biti naveden."
 
 #: editor/connections_dialog.cpp
 msgid "Method name must be a valid identifier."
-msgstr ""
+msgstr "Naziv metoda mora biti važeći ozna�ava�."
 
 #: editor/connections_dialog.cpp
 msgid ""
 "Target method not found. Specify a valid method or attach a script to the "
 "target node."
 msgstr ""
+"Ciljni metod nije nađen. Navedi važeći metod ili priloži skriptu ciljnom "
+"�voru."
 
 #: editor/connections_dialog.cpp
 msgid "Connect to Node:"
-msgstr ""
+msgstr "Poveži sa �vorom:"
 
 #: editor/connections_dialog.cpp
 msgid "Connect to Script:"
-msgstr ""
+msgstr "Poveži sa Skriptom:"
 
 #: editor/connections_dialog.cpp
 msgid "From Signal:"
-msgstr ""
+msgstr "Iz Signala:"
 
 #: editor/connections_dialog.cpp
 msgid "Scene does not contain any script."
-msgstr ""
+msgstr "Scena ne sadrži ni jednu skriptu."
 
 #: editor/connections_dialog.cpp editor/editor_autoload_settings.cpp
 #: editor/groups_editor.cpp editor/plugins/item_list_editor_plugin.cpp
 #: editor/plugins/theme_editor_plugin.cpp editor/project_settings_editor.cpp
 msgid "Add"
-msgstr ""
+msgstr "Dodaj"
 
 #: editor/connections_dialog.cpp editor/dependency_editor.cpp
 #: editor/groups_editor.cpp editor/plugins/animation_player_editor_plugin.cpp
@@ -842,44 +832,45 @@ msgstr ""
 #: editor/plugins/visual_shader_editor_plugin.cpp editor/project_manager.cpp
 #: editor/project_settings_editor.cpp
 msgid "Remove"
-msgstr ""
+msgstr "Ukloni"
 
 #: editor/connections_dialog.cpp
 msgid "Add Extra Call Argument:"
-msgstr ""
+msgstr "Dodaj Dodatni Argument Poziva:"
 
 #: editor/connections_dialog.cpp
 msgid "Extra Call Arguments:"
-msgstr ""
+msgstr "Dodatni Argumenti Poziva:"
 
 #: editor/connections_dialog.cpp
 msgid "Receiver Method:"
-msgstr ""
+msgstr "Metod Prijemnika:"
 
 #: editor/connections_dialog.cpp
 msgid "Advanced"
-msgstr ""
+msgstr "Napredno"
 
 #: editor/connections_dialog.cpp
 msgid "Deferred"
-msgstr ""
+msgstr "Odložen"
 
 #: editor/connections_dialog.cpp
 msgid ""
 "Defers the signal, storing it in a queue and only firing it at idle time."
-msgstr ""
+msgstr "Odlaže signal, smešta ga u red i ispaljuje ga samo za vreme mirovanja."
 
 #: editor/connections_dialog.cpp
+#, fuzzy
 msgid "Oneshot"
-msgstr ""
+msgstr "Jednookida�"
 
 #: editor/connections_dialog.cpp
 msgid "Disconnects the signal after its first emission."
-msgstr ""
+msgstr "Odvezuje signal nakon njegovog prvog ispuštanja."
 
 #: editor/connections_dialog.cpp
 msgid "Cannot connect signal"
-msgstr ""
+msgstr "Nije moguće povezati signal"
 
 #: editor/connections_dialog.cpp editor/dependency_editor.cpp
 #: editor/export_template_manager.cpp editor/groups_editor.cpp
@@ -893,115 +884,113 @@ msgstr ""
 #: editor/run_settings_dialog.cpp editor/settings_config_dialog.cpp
 #: modules/visual_script/visual_script_editor.cpp
 msgid "Close"
-msgstr ""
+msgstr "Zatvori"
 
 #: editor/connections_dialog.cpp
 msgid "Connect"
-msgstr ""
+msgstr "Poveži"
 
 #: editor/connections_dialog.cpp
 msgid "Signal:"
-msgstr ""
+msgstr "Signâl:"
 
 #: editor/connections_dialog.cpp
 msgid "Connect '%s' to '%s'"
-msgstr ""
+msgstr "Poveži '%s' sa '%s'"
 
 #: editor/connections_dialog.cpp
 msgid "Disconnect '%s' from '%s'"
-msgstr ""
+msgstr "Odveži '%s' od '%s'"
 
 #: editor/connections_dialog.cpp
 msgid "Disconnect all from signal: '%s'"
-msgstr ""
+msgstr "Odveži sve od signala: '%s'"
 
 #: editor/connections_dialog.cpp
 msgid "Connect..."
-msgstr ""
+msgstr "Poveži..."
 
 #: editor/connections_dialog.cpp
 #: editor/plugins/animation_tree_player_editor_plugin.cpp
 msgid "Disconnect"
-msgstr ""
+msgstr "Odveži"
 
 #: editor/connections_dialog.cpp
 msgid "Connect a Signal to a Method"
-msgstr ""
+msgstr "Poveži Signal na Metod"
 
 #: editor/connections_dialog.cpp
-#, fuzzy
 msgid "Edit Connection:"
-msgstr "Izmjeni Selekciju Krivulje"
+msgstr "Izmeni Konekciju:"
 
 #: editor/connections_dialog.cpp
 msgid "Are you sure you want to remove all connections from the \"%s\" signal?"
-msgstr ""
+msgstr "Da li sigurno želis da ukloniš sve veze sa \"%s\" signala?"
 
 #: editor/connections_dialog.cpp editor/editor_help.cpp editor/node_dock.cpp
 msgid "Signals"
-msgstr ""
+msgstr "Signali"
 
 #: editor/connections_dialog.cpp
 msgid "Filter signals"
-msgstr ""
+msgstr "Filtriraj signale"
 
 #: editor/connections_dialog.cpp
 msgid "Are you sure you want to remove all connections from this signal?"
-msgstr ""
+msgstr "Da li sigurno želiš da ukloniš sve veze sa ovog signala?"
 
 #: editor/connections_dialog.cpp
 msgid "Disconnect All"
-msgstr ""
+msgstr "Odveži Sve"
 
 #: editor/connections_dialog.cpp
 msgid "Edit..."
-msgstr ""
+msgstr "Uredi..."
 
 #: editor/connections_dialog.cpp
-#, fuzzy
 msgid "Go to Method"
-msgstr "Otiđi Na Sljedeći Korak"
+msgstr "Idi na Metod"
 
 #: editor/create_dialog.cpp
 msgid "Change %s Type"
-msgstr ""
+msgstr "Promeni %s Tip"
 
 #: editor/create_dialog.cpp editor/project_settings_editor.cpp
 msgid "Change"
-msgstr ""
+msgstr "Promeni"
 
 #: editor/create_dialog.cpp
 msgid "Create New %s"
-msgstr ""
+msgstr "Napravi Novi %s"
 
 #: editor/create_dialog.cpp editor/plugins/asset_library_editor_plugin.cpp
 msgid "No results for \"%s\"."
-msgstr ""
+msgstr "Nema rezultata za \"%s\"."
 
 #: editor/create_dialog.cpp editor/property_selector.cpp
 msgid "No description available for %s."
-msgstr ""
+msgstr "Nema dostupnog opisa za %s."
 
 #: editor/create_dialog.cpp editor/editor_file_dialog.cpp
 #: editor/filesystem_dock.cpp
 msgid "Favorites:"
-msgstr ""
+msgstr "Omiljeno:"
 
 #: editor/create_dialog.cpp editor/editor_file_dialog.cpp
 msgid "Recent:"
-msgstr ""
+msgstr "Nedavno:"
 
 #: editor/create_dialog.cpp editor/plugins/script_editor_plugin.cpp
 #: editor/property_selector.cpp editor/quick_open.cpp editor/rename_dialog.cpp
 #: modules/visual_script/visual_script_property_selector.cpp
 msgid "Search:"
-msgstr ""
+msgstr "Pretraga:"
 
 #: editor/create_dialog.cpp editor/plugins/script_editor_plugin.cpp
 #: editor/property_selector.cpp editor/quick_open.cpp
 #: modules/visual_script/visual_script_property_selector.cpp
 msgid "Matches:"
-msgstr ""
+msgstr "Podudaranja:"
 
 #: editor/create_dialog.cpp editor/editor_feature_profile.cpp
 #: editor/editor_plugin_settings.cpp editor/plugin_config_dialog.cpp
@@ -1009,57 +998,61 @@ msgstr ""
 #: editor/plugins/visual_shader_editor_plugin.cpp editor/property_selector.cpp
 #: modules/visual_script/visual_script_property_selector.cpp
 msgid "Description:"
-msgstr ""
+msgstr "Opis:"
 
 #: editor/dependency_editor.cpp
 msgid "Search Replacement For:"
-msgstr ""
+msgstr "Traži Zamenu za:"
 
 #: editor/dependency_editor.cpp
 msgid "Dependencies For:"
-msgstr ""
+msgstr "Zavisnosti za:"
 
 #: editor/dependency_editor.cpp
 msgid ""
 "Scene '%s' is currently being edited.\n"
 "Changes will only take effect when reloaded."
 msgstr ""
+"Scena '%s' se trenutno uređuje.\n"
+"Promene će imati uticaj nakon ponovnog u�itavanja."
 
 #: editor/dependency_editor.cpp
 msgid ""
 "Resource '%s' is in use.\n"
 "Changes will only take effect when reloaded."
 msgstr ""
+"Resurs '%s' se koristi.\n"
+"Promene će imati uticaj nakon ponovnog u�itavanja."
 
 #: editor/dependency_editor.cpp
 #: modules/gdnative/gdnative_library_editor_plugin.cpp
 msgid "Dependencies"
-msgstr ""
+msgstr "Zavisnosti"
 
 #: editor/dependency_editor.cpp editor/editor_resource_picker.cpp
 msgid "Resource"
-msgstr ""
+msgstr "Resurs"
 
 #: editor/dependency_editor.cpp editor/editor_autoload_settings.cpp
 #: editor/project_manager.cpp editor/project_settings_editor.cpp
 msgid "Path"
-msgstr ""
+msgstr "Putanja"
 
 #: editor/dependency_editor.cpp
 msgid "Dependencies:"
-msgstr ""
+msgstr "Zavisnosti:"
 
 #: editor/dependency_editor.cpp
 msgid "Fix Broken"
-msgstr ""
+msgstr "Popravi Pokvareno"
 
 #: editor/dependency_editor.cpp
 msgid "Dependency Editor"
-msgstr ""
+msgstr "Uređiva� Zavisnosti"
 
 #: editor/dependency_editor.cpp
 msgid "Search Replacement Resource:"
-msgstr ""
+msgstr "Traži Resurs Zamene:"
 
 #: editor/dependency_editor.cpp editor/editor_file_dialog.cpp
 #: editor/editor_help_search.cpp editor/editor_node.cpp
@@ -1069,11 +1062,11 @@ msgstr ""
 #: modules/visual_script/visual_script_property_selector.cpp
 #: scene/gui/file_dialog.cpp
 msgid "Open"
-msgstr ""
+msgstr "Otvori"
 
 #: editor/dependency_editor.cpp
 msgid "Owners Of:"
-msgstr ""
+msgstr "Vlasnici Od:"
 
 #: editor/dependency_editor.cpp
 msgid ""
@@ -1081,6 +1074,9 @@ msgid ""
 "Depending on your filesystem configuration, the files will either be moved "
 "to the system trash or deleted permanently."
 msgstr ""
+"Ukloni ozna�ene datoteke iz projekta? (Ne može se opozvati.)\n"
+"U zavisnosti od konfiguracije sistema datoteka, datoteke će ili biti "
+"premeštene u kantu za otpatke ili biti trajno uklonjene."
 
 #: editor/dependency_editor.cpp
 msgid ""
@@ -1360,9 +1356,8 @@ msgid "Bypass"
 msgstr ""
 
 #: editor/editor_audio_buses.cpp
-#, fuzzy
 msgid "Bus Options"
-msgstr "Funkcije:"
+msgstr "Podešavanja Magistrale"
 
 #: editor/editor_audio_buses.cpp editor/filesystem_dock.cpp
 #: editor/scene_tree_dock.cpp
@@ -1471,6 +1466,10 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+msgid "Audio Bus Layout"
+msgstr ""
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -1782,9 +1781,8 @@ msgid "(Properties Disabled)"
 msgstr ""
 
 #: editor/editor_feature_profile.cpp
-#, fuzzy
 msgid "(Editor Disabled)"
-msgstr "Onemogućeno"
+msgstr "(Uređiva� Onemogućen)"
 
 #: editor/editor_feature_profile.cpp
 msgid "Class Options:"
@@ -1829,14 +1827,12 @@ msgid "Current Profile:"
 msgstr ""
 
 #: editor/editor_feature_profile.cpp
-#, fuzzy
 msgid "Create Profile"
-msgstr "Napravi"
+msgstr "Napravi Profil"
 
 #: editor/editor_feature_profile.cpp
-#, fuzzy
 msgid "Remove Profile"
-msgstr "Obriši Selekciju"
+msgstr "Ukloni Profil"
 
 #: editor/editor_feature_profile.cpp
 msgid "Available Profiles:"
@@ -1993,14 +1989,12 @@ msgid "Move Favorite Down"
 msgstr ""
 
 #: editor/editor_file_dialog.cpp
-#, fuzzy
 msgid "Go to previous folder."
-msgstr "Otiđi Na Prethodni Korak"
+msgstr "Idi na prethodni direktorijum."
 
 #: editor/editor_file_dialog.cpp
-#, fuzzy
 msgid "Go to next folder."
-msgstr "Otiđi Na Sljedeći Korak"
+msgstr "Idi na sledeći direktorijum."
 
 #: editor/editor_file_dialog.cpp scene/gui/file_dialog.cpp
 msgid "Go to parent folder."
@@ -2128,9 +2122,8 @@ msgid "Property Descriptions"
 msgstr ""
 
 #: editor/editor_help.cpp
-#, fuzzy
 msgid "(value)"
-msgstr "Vrednost:"
+msgstr "(Vrednost)"
 
 #: editor/editor_help.cpp
 msgid ""
@@ -2178,9 +2171,8 @@ msgid "Signals Only"
 msgstr ""
 
 #: editor/editor_help_search.cpp
-#, fuzzy
 msgid "Constants Only"
-msgstr "Kontanta"
+msgstr "Samo Konstante"
 
 #: editor/editor_help_search.cpp
 msgid "Properties Only"
@@ -2208,7 +2200,7 @@ msgstr ""
 
 #: editor/editor_help_search.cpp modules/visual_script/visual_script_nodes.cpp
 msgid "Constant"
-msgstr "Kontanta"
+msgstr "Konstanta"
 
 #: editor/editor_help_search.cpp
 msgid "Property"
@@ -2223,9 +2215,8 @@ msgid "Property:"
 msgstr ""
 
 #: editor/editor_inspector.cpp
-#, fuzzy
 msgid "Pin value"
-msgstr "Vrednost:"
+msgstr "Zaka�i vrednost"
 
 #: editor/editor_inspector.cpp
 msgid ""
@@ -2256,14 +2247,12 @@ msgid "Unpinned %s"
 msgstr ""
 
 #: editor/editor_inspector.cpp
-#, fuzzy
 msgid "Copy Property"
-msgstr "Obriši Selekciju"
+msgstr "Kopiraj Osobinu"
 
 #: editor/editor_inspector.cpp
-#, fuzzy
 msgid "Paste Property"
-msgstr "Animacija Uduplaj Klju�eve"
+msgstr "Zalepi Osobinu"
 
 #: editor/editor_inspector.cpp
 msgid "Copy Property Path"
@@ -2274,9 +2263,8 @@ msgid "Output:"
 msgstr ""
 
 #: editor/editor_log.cpp editor/plugins/tile_map_editor_plugin.cpp
-#, fuzzy
 msgid "Copy Selection"
-msgstr "Obriši Selekciju"
+msgstr "Kopiraj Ozna�eno"
 
 #: editor/editor_log.cpp editor/editor_network_profiler.cpp
 #: editor/editor_profiler.cpp editor/editor_resource_picker.cpp
@@ -2629,9 +2617,8 @@ msgid "Can't reload a scene that was never saved."
 msgstr ""
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Reload Saved Scene"
-msgstr "Napravi"
+msgstr "Ponovo U�itaj Sa�uvanu Scenu"
 
 #: editor/editor_node.cpp
 msgid ""
@@ -2832,7 +2819,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -2841,9 +2828,8 @@ msgid "Go to previously opened scene."
 msgstr ""
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Copy Text"
-msgstr "Obriši Selekciju"
+msgstr "Kopiraj Tekst"
 
 #: editor/editor_node.cpp
 msgid "Next tab"
@@ -3052,9 +3038,8 @@ msgid "Editor"
 msgstr ""
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Editor Settings..."
-msgstr "Tranzicije"
+msgstr "Postavke Uređiva�a..."
 
 #: editor/editor_node.cpp
 msgid "Editor Layout"
@@ -3121,9 +3106,8 @@ msgid "Community"
 msgstr "Zajednica"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "About Godot"
-msgstr "O nama / O Godou"
+msgstr "O Godot"
 
 #: editor/editor_node.cpp
 msgid "Support Godot Development"
@@ -3175,19 +3159,16 @@ msgid "Save & Restart"
 msgstr ""
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update Continuously"
-msgstr "Neprekidna"
+msgstr "Neprekidno Ažuriraj"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update All Changes"
-msgstr "Napravi"
+msgstr "Ažuriraj sve promene"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update Vital Changes"
-msgstr "Napravi"
+msgstr "Ažuriraj Vitalne Promene"
 
 #: editor/editor_node.cpp
 msgid "Hide Update Spinner"
@@ -3265,9 +3246,8 @@ msgid "Merge With Existing"
 msgstr ""
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Apply MeshInstance Transforms"
-msgstr "Animacija Promjeni Transformaciju"
+msgstr "Primeni Transformacije MeshInstance a"
 
 #: editor/editor_node.cpp
 msgid "Open & Run a Script"
@@ -3303,9 +3283,8 @@ msgid "Select"
 msgstr ""
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Select Current"
-msgstr "Izmjeni Krivulju ÄŒvora"
+msgstr "Obeleži Trenutno"
 
 #: editor/editor_node.cpp
 msgid "Open 2D Editor"
@@ -3385,9 +3364,8 @@ msgid "Measure:"
 msgstr ""
 
 #: editor/editor_profiler.cpp
-#, fuzzy
 msgid "Frame Time (ms)"
-msgstr "Vreme (s): "
+msgstr "Vreme Frejma(ms)"
 
 #: editor/editor_profiler.cpp
 msgid "Average Time (ms)"
@@ -3432,9 +3410,8 @@ msgid "Calls"
 msgstr ""
 
 #: editor/editor_properties.cpp
-#, fuzzy
 msgid "Edit Text:"
-msgstr "Izmjeni Selekciju Krivulje"
+msgstr "Izmeni Tekst:"
 
 #: editor/editor_properties.cpp editor/script_create_dialog.cpp
 msgid "On"
@@ -3536,9 +3513,8 @@ msgid "Paste"
 msgstr ""
 
 #: editor/editor_resource_picker.cpp editor/property_editor.cpp
-#, fuzzy
 msgid "Convert to %s"
-msgstr "Napravi"
+msgstr "Konvertuj u %s"
 
 #: editor/editor_resource_picker.cpp editor/property_editor.cpp
 msgid "New %s"
@@ -3605,9 +3581,8 @@ msgstr ""
 
 #. TRANSLATORS: %s refers to the name of a version control system (e.g. "Git").
 #: editor/editor_vcs_interface.cpp
-#, fuzzy
 msgid "%s Error"
-msgstr "Ogledalo"
+msgstr "%s Greška"
 
 #: editor/export_template_manager.cpp
 msgid "Open the folder containing these templates."
@@ -4090,9 +4065,8 @@ msgid "Overwrite"
 msgstr ""
 
 #: editor/filesystem_dock.cpp
-#, fuzzy
 msgid "Create Scene"
-msgstr "Napravi"
+msgstr "Napravi Scenu"
 
 #: editor/filesystem_dock.cpp editor/plugins/script_editor_plugin.cpp
 msgid "Create Script"
@@ -4186,9 +4160,8 @@ msgid "Rename Group"
 msgstr ""
 
 #: editor/groups_editor.cpp
-#, fuzzy
 msgid "Delete Group"
-msgstr "Animacija Obriši Klju�eve"
+msgstr "Ukloni Grupu"
 
 #: editor/groups_editor.cpp editor/node_dock.cpp
 msgid "Groups"
@@ -4301,9 +4274,8 @@ msgid "Saving..."
 msgstr ""
 
 #: editor/import_defaults_editor.cpp
-#, fuzzy
 msgid "Select Importer"
-msgstr "Uduplaj Selekciju"
+msgstr "Ozna�i Uvoznika"
 
 #: editor/import_defaults_editor.cpp
 msgid "Importer:"
@@ -4377,9 +4349,8 @@ msgid "Copy Properties"
 msgstr ""
 
 #: editor/inspector_dock.cpp
-#, fuzzy
 msgid "Paste Properties"
-msgstr "Animacija Uduplaj Klju�eve"
+msgstr "Zalepi Osobine"
 
 #: editor/inspector_dock.cpp
 msgid "Make Sub-Resources Unique"
@@ -4499,16 +4470,14 @@ msgstr ""
 
 #: editor/plugins/abstract_polygon_2d_editor.cpp
 #: editor/plugins/polygon_2d_editor_plugin.cpp
-#, fuzzy
 msgid "Create Polygon"
-msgstr "Napravi"
+msgstr "Napravi Poligon"
 
 #: editor/plugins/abstract_polygon_2d_editor.cpp
 #: editor/plugins/animation_blend_space_1d_editor.cpp
 #: editor/plugins/animation_blend_space_2d_editor.cpp
-#, fuzzy
 msgid "Create points."
-msgstr "Napravi"
+msgstr "Napravi ta�ke."
 
 #: editor/plugins/abstract_polygon_2d_editor.cpp
 msgid ""
@@ -4523,9 +4492,8 @@ msgid "Erase points."
 msgstr ""
 
 #: editor/plugins/abstract_polygon_2d_editor.cpp
-#, fuzzy
 msgid "Edit Polygon"
-msgstr "Napravi"
+msgstr "izmeni Poligon"
 
 #: editor/plugins/abstract_polygon_2d_editor.cpp
 msgid "Insert Point"
@@ -4580,9 +4548,8 @@ msgstr ""
 
 #: editor/plugins/animation_blend_space_1d_editor.cpp
 #: editor/plugins/animation_blend_space_2d_editor.cpp
-#, fuzzy
 msgid "Add Animation Point"
-msgstr "Optimizuj Animaciju"
+msgstr "Dodaj Ta�ku Animacije"
 
 #: editor/plugins/animation_blend_space_1d_editor.cpp
 msgid "Remove BlendSpace1D Point"
@@ -4631,18 +4598,16 @@ msgstr ""
 #: editor/plugins/animation_blend_space_2d_editor.cpp
 #: editor/plugins/animation_blend_tree_editor_plugin.cpp
 #: editor/plugins/animation_state_machine_editor.cpp
-#, fuzzy
 msgid "Open Animation Node"
-msgstr "Optimizuj Animaciju"
+msgstr "Otvori ÄŒvor Animacije"
 
 #: editor/plugins/animation_blend_space_2d_editor.cpp
 msgid "Triangle already exists."
 msgstr ""
 
 #: editor/plugins/animation_blend_space_2d_editor.cpp
-#, fuzzy
 msgid "Add Triangle"
-msgstr "Animacija Dodaj Kanal"
+msgstr "Dodaj Trougao"
 
 #: editor/plugins/animation_blend_space_2d_editor.cpp
 msgid "Change BlendSpace2D Limits"
@@ -4725,15 +4690,13 @@ msgid "Nodes Disconnected"
 msgstr ""
 
 #: editor/plugins/animation_blend_tree_editor_plugin.cpp
-#, fuzzy
 msgid "Set Animation"
-msgstr "Optimizuj Animaciju"
+msgstr "Postavi Animaciju"
 
 #: editor/plugins/animation_blend_tree_editor_plugin.cpp
 #: editor/plugins/visual_shader_editor_plugin.cpp
-#, fuzzy
 msgid "Delete Node"
-msgstr "Animacija Obriši Klju�eve"
+msgstr "Ukloni ÄŒvor"
 
 #: editor/plugins/animation_blend_tree_editor_plugin.cpp
 #: editor/scene_tree_dock.cpp
@@ -4764,19 +4727,16 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/animation_blend_tree_editor_plugin.cpp
-#, fuzzy
 msgid "Anim Clips"
-msgstr "Anim Klipovi:"
+msgstr "Anim Klipovi"
 
 #: editor/plugins/animation_blend_tree_editor_plugin.cpp
-#, fuzzy
 msgid "Audio Clips"
-msgstr "Audio Klipovi:"
+msgstr "Audio Klipovi"
 
 #: editor/plugins/animation_blend_tree_editor_plugin.cpp
-#, fuzzy
 msgid "Functions"
-msgstr "Funkcije:"
+msgstr "Funkcije"
 
 #: editor/plugins/animation_blend_tree_editor_plugin.cpp
 #: editor/plugins/animation_state_machine_editor.cpp
@@ -4914,9 +4874,8 @@ msgid "New"
 msgstr ""
 
 #: editor/plugins/animation_player_editor_plugin.cpp
-#, fuzzy
 msgid "Edit Transitions..."
-msgstr "Tranzicije"
+msgstr "Izmeni Tranzicije..."
 
 #: editor/plugins/animation_player_editor_plugin.cpp
 msgid "Open in Inspector"
@@ -5014,14 +4973,12 @@ msgid "Move Node"
 msgstr ""
 
 #: editor/plugins/animation_state_machine_editor.cpp
-#, fuzzy
 msgid "Transition exists!"
-msgstr "Tranzicije"
+msgstr "Prelaz postoji!"
 
 #: editor/plugins/animation_state_machine_editor.cpp
-#, fuzzy
 msgid "Add Transition"
-msgstr "Tranzicije"
+msgstr "Dodaj Tranziciju"
 
 #: editor/plugins/animation_state_machine_editor.cpp
 #: modules/visual_script/visual_script_editor.cpp
@@ -5061,9 +5018,8 @@ msgid "Node Removed"
 msgstr ""
 
 #: editor/plugins/animation_state_machine_editor.cpp
-#, fuzzy
 msgid "Transition Removed"
-msgstr "Tranzicije"
+msgstr "Tranzicija Uklonjena"
 
 #: editor/plugins/animation_state_machine_editor.cpp
 msgid "Set Start Node (Autoplay)"
@@ -5085,9 +5041,8 @@ msgid "Connect nodes."
 msgstr ""
 
 #: editor/plugins/animation_state_machine_editor.cpp
-#, fuzzy
 msgid "Remove selected node or transition."
-msgstr "Obriši Selekciju"
+msgstr "Obriši obeležen �vor ili prelaz."
 
 #: editor/plugins/animation_state_machine_editor.cpp
 msgid "Toggle autoplay this animation on start, restart or seek to zero."
@@ -5098,9 +5053,8 @@ msgid "Set the end animation. This is useful for sub-transitions."
 msgstr ""
 
 #: editor/plugins/animation_state_machine_editor.cpp
-#, fuzzy
 msgid "Transition: "
-msgstr "Tranzicije"
+msgstr "Tranzicija: "
 
 #: editor/plugins/animation_state_machine_editor.cpp
 msgid "Play Mode:"
@@ -5312,9 +5266,8 @@ msgid "Request failed, timeout"
 msgstr ""
 
 #: editor/plugins/asset_library_editor_plugin.cpp
-#, fuzzy
 msgid "Timeout."
-msgstr "Vreme:"
+msgstr "Istek vremena."
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Failed:"
@@ -5508,6 +5461,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr ""
 
@@ -5545,23 +5502,20 @@ msgid "Rotation Step:"
 msgstr ""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Scale Step:"
-msgstr "Skaliraj Selekciju"
+msgstr "Skaliraj Korak:"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Move Vertical Guide"
 msgstr ""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Create Vertical Guide"
-msgstr "Napravi"
+msgstr "Napravi Vertikalni Vodi�"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Remove Vertical Guide"
-msgstr "Obriši Selekciju"
+msgstr "Ukloni Vertikalni Vodi�"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Move Horizontal Guide"
@@ -5572,9 +5526,8 @@ msgid "Create Horizontal Guide"
 msgstr ""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Remove Horizontal Guide"
-msgstr "Obriši Selekciju"
+msgstr "Ukloni Horizontalni Vodi�"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Create Horizontal and Vertical Guides"
@@ -5627,9 +5580,8 @@ msgstr ""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid "Grouped"
-msgstr "Obriši Selekciju"
+msgstr "Grupisane"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid ""
@@ -5684,18 +5636,16 @@ msgid "Center"
 msgstr ""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Left Wide"
-msgstr "Linearna"
+msgstr "Leva Å iroka"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Top Wide"
 msgstr ""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Right Wide"
-msgstr "Linearna"
+msgstr "Desna Å iroka"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Bottom Wide"
@@ -5756,33 +5706,29 @@ msgstr ""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid "Group Selected"
-msgstr "Obriši Selekciju"
+msgstr "Grupiši Ozna�eno"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid "Ungroup Selected"
-msgstr "Obriši Selekciju"
+msgstr "Odgrupiši Ozna�eno"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Paste Pose"
 msgstr ""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Clear Guides"
-msgstr "Animacija Promjeni Transformaciju"
+msgstr "O�isti Vodi�e"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Create Custom Bone(s) from Node(s)"
 msgstr ""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Clear Bones"
-msgstr "Animacija Promjeni Transformaciju"
+msgstr "O�isti Kosti"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Make IK Chain"
@@ -5812,24 +5758,20 @@ msgstr ""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid "Drag: Rotate selected node around pivot."
-msgstr "Obriši Selekciju"
+msgstr "Prevuci: Rotiraj obeležen �vor oko ose."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Alt+Drag: Move selected node."
-msgstr "Izbriši ozna�eni klju�(eve)"
+msgstr "Alt+Drag: Pomeri obeležen �vor."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Alt+Drag: Scale selected node."
-msgstr "Izbriši ozna�eni klju�(eve)"
+msgstr "Alt+Drag: Skaliraj ozna�en �vor."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "V: Set selected node's pivot position."
-msgstr "Obriši Selekciju"
+msgstr "V: Postavi poziciju ose obeleženog �vora."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -5954,9 +5896,8 @@ msgstr ""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid "Lock Selected Node(s)"
-msgstr "Animacija Obriši Klju�eve"
+msgstr "Zaklju�aj Ozna�en Čvor(ove)"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -5965,9 +5906,8 @@ msgstr ""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid "Unlock Selected Node(s)"
-msgstr "Dupliraj Selektovane Klju�eve"
+msgstr "Otklju�aj Ozna�en Čvor(ove)"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -5976,9 +5916,8 @@ msgstr ""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid "Group Selected Node(s)"
-msgstr "Obriši Selekciju"
+msgstr "Grupiši Ozna�en Čvor(ove)"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -5987,9 +5926,8 @@ msgstr ""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid "Ungroup Selected Node(s)"
-msgstr "Obriši Selekciju"
+msgstr "Odgrupiši Ozna�en Čvor(ove)"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Skeleton Options"
@@ -6065,9 +6003,8 @@ msgid "Scale mask for inserting keys."
 msgstr ""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Insert keys (based on mask)."
-msgstr "Animacija dodaj klju�"
+msgstr "Ubaci klju� (na osnovu maske)."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid ""
@@ -6078,14 +6015,12 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Auto Insert Key"
-msgstr "Animacija dodaj klju�"
+msgstr "Automatski Ubaci Klju�"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Animation Key and Pose Options"
-msgstr "Dužina Animacije (secunde)"
+msgstr "Klju�evi Animacije i Podešavanja Poziranja"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Insert Key (Existing Tracks)"
@@ -6104,9 +6039,8 @@ msgid "Add Node Here"
 msgstr ""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
-#, fuzzy
 msgid "Instance Scene Here"
-msgstr "Dodaj klju� ovde"
+msgstr "Instanciraj Scenu Ovde"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Multiply grid step by 2"
@@ -6194,9 +6128,8 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/collision_polygon_editor_plugin.cpp
-#, fuzzy
 msgid "Create Polygon3D"
-msgstr "Napravi"
+msgstr "Napravi Poligon3D"
 
 #: editor/plugins/collision_polygon_editor_plugin.cpp
 msgid "Edit Poly"
@@ -6315,24 +6248,21 @@ msgid "Load Curve Preset"
 msgstr ""
 
 #: editor/plugins/curve_editor_plugin.cpp
-#, fuzzy
 msgid "Add Point"
-msgstr "Optimizuj Animaciju"
+msgstr "Dodaj Ta�ku"
 
 #: editor/plugins/curve_editor_plugin.cpp
-#, fuzzy
 msgid "Remove Point"
-msgstr "Obriši Selekciju"
+msgstr "Ukloni Ta�ku"
 
 #: editor/plugins/curve_editor_plugin.cpp
-#, fuzzy
 msgid "Left Linear"
-msgstr "Linearna"
+msgstr "Levi Linearni"
 
 #: editor/plugins/curve_editor_plugin.cpp
 #, fuzzy
 msgid "Right Linear"
-msgstr "Linearna"
+msgstr "Desni Linearni"
 
 #: editor/plugins/curve_editor_plugin.cpp
 msgid "Load Preset"
@@ -6494,7 +6424,7 @@ msgstr ""
 #: editor/plugins/mesh_instance_editor_plugin.cpp
 #, fuzzy
 msgid "Create Single Convex Collision Sibling"
-msgstr "Napravi"
+msgstr "Napravi Jednostruki Konveksni Duplikat Sudara"
 
 #: editor/plugins/mesh_instance_editor_plugin.cpp
 msgid ""
@@ -6505,7 +6435,7 @@ msgstr ""
 #: editor/plugins/mesh_instance_editor_plugin.cpp
 #, fuzzy
 msgid "Create Simplified Convex Collision Sibling"
-msgstr "Napravi"
+msgstr "Napravi Pojednostavljen Konveksni Duplikat Sudara"
 
 #: editor/plugins/mesh_instance_editor_plugin.cpp
 msgid ""
@@ -6517,7 +6447,7 @@ msgstr ""
 #: editor/plugins/mesh_instance_editor_plugin.cpp
 #, fuzzy
 msgid "Create Multiple Convex Collision Siblings"
-msgstr "Napravi"
+msgstr "Napravi Više Konveksnih Duplikata Sudara"
 
 #: editor/plugins/mesh_instance_editor_plugin.cpp
 msgid ""
@@ -6711,9 +6641,8 @@ msgid "Can only set point into a ParticlesMaterial process material"
 msgstr ""
 
 #: editor/plugins/particles_2d_editor_plugin.cpp
-#, fuzzy
 msgid "Convert to CPUParticles2D"
-msgstr "Napravi"
+msgstr "Konvertuj u CPUParticles2D"
 
 #: editor/plugins/particles_2d_editor_plugin.cpp
 #: editor/plugins/particles_editor_plugin.cpp
@@ -6794,9 +6723,8 @@ msgid "Add Point to Curve"
 msgstr ""
 
 #: editor/plugins/path_2d_editor_plugin.cpp
-#, fuzzy
 msgid "Split Curve"
-msgstr "Izmjeni Krivulju ÄŒvora"
+msgstr "Razdeli Krivu"
 
 #: editor/plugins/path_2d_editor_plugin.cpp
 msgid "Move Point in Curve"
@@ -6952,23 +6880,20 @@ msgid "Invalid Polygon (need 3 different vertices)"
 msgstr ""
 
 #: editor/plugins/polygon_2d_editor_plugin.cpp
-#, fuzzy
 msgid "Add Custom Polygon"
-msgstr "Napravi"
+msgstr "Dodaj Prilagođeni Poligon"
 
 #: editor/plugins/polygon_2d_editor_plugin.cpp
-#, fuzzy
 msgid "Remove Custom Polygon"
-msgstr "Napravi"
+msgstr "Ukloni Prilagođeni Poligon"
 
 #: editor/plugins/polygon_2d_editor_plugin.cpp
 msgid "Transform UV Map"
 msgstr ""
 
 #: editor/plugins/polygon_2d_editor_plugin.cpp
-#, fuzzy
 msgid "Transform Polygon"
-msgstr "Napravi"
+msgstr "Transformiši Poligon"
 
 #: editor/plugins/polygon_2d_editor_plugin.cpp
 msgid "Paint Bone Weights"
@@ -6991,9 +6916,8 @@ msgid "Points"
 msgstr ""
 
 #: editor/plugins/polygon_2d_editor_plugin.cpp
-#, fuzzy
 msgid "Polygons"
-msgstr "Napravi"
+msgstr "Poligoni"
 
 #: editor/plugins/polygon_2d_editor_plugin.cpp
 msgid "Bones"
@@ -7062,9 +6986,8 @@ msgid "Copy Polygon to UV"
 msgstr ""
 
 #: editor/plugins/polygon_2d_editor_plugin.cpp
-#, fuzzy
 msgid "Copy UV to Polygon"
-msgstr "Napravi"
+msgstr "Kopiraj UV u Poligon"
 
 #: editor/plugins/polygon_2d_editor_plugin.cpp
 msgid "Clear UV"
@@ -7169,28 +7092,24 @@ msgid "Flip Portals"
 msgstr ""
 
 #: editor/plugins/room_manager_editor_plugin.cpp
-#, fuzzy
 msgid "Room Generate Points"
-msgstr "Pomeri Bezier Ta�ke"
+msgstr "Generiši Ta�ke u prostoru"
 
 #: editor/plugins/room_manager_editor_plugin.cpp
-#, fuzzy
 msgid "Generate Points"
-msgstr "Napravi"
+msgstr "Generiši Ta�ke"
 
 #: editor/plugins/room_manager_editor_plugin.cpp
 msgid "Flip Portal"
 msgstr ""
 
 #: editor/plugins/room_manager_editor_plugin.cpp
-#, fuzzy
 msgid "Occluder Set Transform"
-msgstr "Animacija Promjeni Transformaciju"
+msgstr "Postavi Transformaciju Okludera"
 
 #: editor/plugins/room_manager_editor_plugin.cpp
-#, fuzzy
 msgid "Center Node"
-msgstr "Animacija Obriši Klju�eve"
+msgstr "Centriraj ÄŒvor"
 
 #: editor/plugins/root_motion_editor_plugin.cpp
 msgid "AnimationTree has no path set to an AnimationPlayer"
@@ -7328,9 +7247,8 @@ msgid "Next Script"
 msgstr ""
 
 #: editor/plugins/script_editor_plugin.cpp
-#, fuzzy
 msgid "Previous Script"
-msgstr "Otiđi Na Prethodni Korak"
+msgstr "Prethodna Skripta"
 
 #: editor/plugins/script_editor_plugin.cpp
 msgid "File"
@@ -7491,9 +7409,8 @@ msgid "[Ignore]"
 msgstr ""
 
 #: editor/plugins/script_text_editor.cpp
-#, fuzzy
 msgid "Line"
-msgstr "Linearna"
+msgstr "Linija"
 
 #: editor/plugins/script_text_editor.cpp
 msgid "Go to Function"
@@ -7542,9 +7459,8 @@ msgid "Bookmarks"
 msgstr ""
 
 #: editor/plugins/script_text_editor.cpp
-#, fuzzy
 msgid "Breakpoints"
-msgstr "Napravi"
+msgstr "Ta�ke Prekida"
 
 #: editor/plugins/script_text_editor.cpp
 #: editor/plugins/shader_editor_plugin.cpp editor/plugins/text_editor.cpp
@@ -7594,9 +7510,8 @@ msgid "Complete Symbol"
 msgstr ""
 
 #: editor/plugins/script_text_editor.cpp
-#, fuzzy
 msgid "Evaluate Selection"
-msgstr "Skaliraj Selekciju"
+msgstr "Proceni Ozna�eno"
 
 #: editor/plugins/script_text_editor.cpp
 msgid "Trim Trailing Whitespace"
@@ -7631,14 +7546,12 @@ msgid "Toggle Bookmark"
 msgstr ""
 
 #: editor/plugins/script_text_editor.cpp
-#, fuzzy
 msgid "Go to Next Bookmark"
-msgstr "Otiđi Na Sljedeći Korak"
+msgstr "Idi na Sledeći Obeleživa�"
 
 #: editor/plugins/script_text_editor.cpp
-#, fuzzy
 msgid "Go to Previous Bookmark"
-msgstr "Otiđi Na Prethodni Korak"
+msgstr "Idi na Prethodni Obeleživa�"
 
 #: editor/plugins/script_text_editor.cpp
 msgid "Remove All Bookmarks"
@@ -7662,14 +7575,12 @@ msgid "Remove All Breakpoints"
 msgstr ""
 
 #: editor/plugins/script_text_editor.cpp
-#, fuzzy
 msgid "Go to Next Breakpoint"
-msgstr "Otiđi Na Sljedeći Korak"
+msgstr "Idi na Sledeću Ta�ku Prekida"
 
 #: editor/plugins/script_text_editor.cpp
-#, fuzzy
 msgid "Go to Previous Breakpoint"
-msgstr "Otiđi Na Prethodni Korak"
+msgstr "Idi na Prethodnu Ta�ku Prekida"
 
 #: editor/plugins/shader_editor_plugin.cpp
 msgid ""
@@ -7698,9 +7609,8 @@ msgid "Skeleton2D"
 msgstr ""
 
 #: editor/plugins/skeleton_2d_editor_plugin.cpp
-#, fuzzy
 msgid "Reset to Rest Pose"
-msgstr "Napravi"
+msgstr "Resetuj na Mirujuću Pozu"
 
 #: editor/plugins/skeleton_2d_editor_plugin.cpp
 msgid "Overwrite Rest Pose"
@@ -7824,9 +7734,8 @@ msgid "Translate"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid "Scale"
-msgstr "Skaliraj Selekciju"
+msgstr "Razmera"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Scaling: "
@@ -7985,7 +7894,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8040,9 +7954,8 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid "Convert Rooms"
-msgstr "Napravi"
+msgstr "Konvertuj Prostore"
 
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "XForm Dialog"
@@ -8281,42 +8194,36 @@ msgid "Unnamed Gizmo"
 msgstr ""
 
 #: editor/plugins/sprite_editor_plugin.cpp
-#, fuzzy
 msgid "Create Mesh2D"
-msgstr "Napravi"
+msgstr "Napravi Mesh2D"
 
 #: editor/plugins/sprite_editor_plugin.cpp
 msgid "Mesh2D Preview"
 msgstr ""
 
 #: editor/plugins/sprite_editor_plugin.cpp
-#, fuzzy
 msgid "Create Polygon2D"
-msgstr "Napravi"
+msgstr "Napravi Polygon2D"
 
 #: editor/plugins/sprite_editor_plugin.cpp
 msgid "Polygon2D Preview"
 msgstr ""
 
 #: editor/plugins/sprite_editor_plugin.cpp
-#, fuzzy
 msgid "Create CollisionPolygon2D"
-msgstr "Napravi"
+msgstr "Napravi CollisionPolygon2D"
 
 #: editor/plugins/sprite_editor_plugin.cpp
-#, fuzzy
 msgid "CollisionPolygon2D Preview"
-msgstr "Napravi"
+msgstr "Predpogled CollisionPolygon2D"
 
 #: editor/plugins/sprite_editor_plugin.cpp
-#, fuzzy
 msgid "Create LightOccluder2D"
-msgstr "Napravi"
+msgstr "Napravi LightOccluder2D"
 
 #: editor/plugins/sprite_editor_plugin.cpp
-#, fuzzy
 msgid "LightOccluder2D Preview"
-msgstr "Napravi"
+msgstr "Predpogled LightOccluder2D"
 
 #: editor/plugins/sprite_editor_plugin.cpp
 msgid "Sprite is empty!"
@@ -8339,18 +8246,16 @@ msgid "Invalid geometry, can't create polygon."
 msgstr ""
 
 #: editor/plugins/sprite_editor_plugin.cpp
-#, fuzzy
 msgid "Convert to Polygon2D"
-msgstr "Napravi"
+msgstr "Konvertuj u Polygon2D"
 
 #: editor/plugins/sprite_editor_plugin.cpp
 msgid "Invalid geometry, can't create collision polygon."
 msgstr ""
 
 #: editor/plugins/sprite_editor_plugin.cpp
-#, fuzzy
 msgid "Create CollisionPolygon2D Sibling"
-msgstr "Napravi"
+msgstr "Napravi CollisionPolygon2D Duplikat"
 
 #: editor/plugins/sprite_editor_plugin.cpp
 msgid "Invalid geometry, can't create light occluder."
@@ -8429,14 +8334,12 @@ msgid "Move Frame"
 msgstr ""
 
 #: editor/plugins/sprite_frames_editor_plugin.cpp
-#, fuzzy
 msgid "Animations:"
-msgstr "Optimizuj Animaciju"
+msgstr "Animacije:"
 
 #: editor/plugins/sprite_frames_editor_plugin.cpp
-#, fuzzy
 msgid "New Animation"
-msgstr "Optimizuj Animaciju"
+msgstr "Nova Animacija"
 
 #: editor/plugins/sprite_frames_editor_plugin.cpp
 msgid "Speed:"
@@ -8447,14 +8350,12 @@ msgid "Loop"
 msgstr ""
 
 #: editor/plugins/sprite_frames_editor_plugin.cpp
-#, fuzzy
 msgid "Animation Frames:"
-msgstr "Optimizuj Animaciju"
+msgstr "Frejmovi Animacije:"
 
 #: editor/plugins/sprite_frames_editor_plugin.cpp
-#, fuzzy
 msgid "Add a Texture from File"
-msgstr "Obriši Selekciju"
+msgstr "Dodaj Teksturu iz Datoteke"
 
 #: editor/plugins/sprite_frames_editor_plugin.cpp
 msgid "Add Frames from a Sprite Sheet"
@@ -8533,9 +8434,8 @@ msgid "Step:"
 msgstr ""
 
 #: editor/plugins/texture_region_editor_plugin.cpp
-#, fuzzy
 msgid "Separation:"
-msgstr "Tranzicije"
+msgstr "Odvajanje:"
 
 #: editor/plugins/texture_region_editor_plugin.cpp
 msgid "TextureRegion"
@@ -8554,14 +8454,12 @@ msgid "No colors found."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-#, fuzzy
 msgid "{num} constant(s)"
-msgstr "Napravi"
+msgstr "{num} Konstant(e)"
 
 #: editor/plugins/theme_editor_plugin.cpp
-#, fuzzy
 msgid "No constants found."
-msgstr "Kontanta"
+msgstr "Konstante nisu nađene."
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "{num} font(s)"
@@ -8710,18 +8608,16 @@ msgid "Select all Theme items with item data."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-#, fuzzy
 msgid "Deselect All"
-msgstr "Uduplaj Selekciju"
+msgstr "Poništi Obeleženo"
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Deselect all Theme items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-#, fuzzy
 msgid "Import Selected"
-msgstr "Obriši Selekciju"
+msgstr "Uvezi Obeleženo"
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid ""
@@ -8741,23 +8637,20 @@ msgid "Remove All Color Items"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-#, fuzzy
 msgid "Rename Item"
-msgstr "Animacija Preimenuj Kanal"
+msgstr "Preimenuj stavku"
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Remove All Constant Items"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-#, fuzzy
 msgid "Remove All Font Items"
-msgstr "Obriši Selekciju"
+msgstr "Ukloni Sve Font Stavke"
 
 #: editor/plugins/theme_editor_plugin.cpp
-#, fuzzy
 msgid "Remove All Icon Items"
-msgstr "Obriši Selekciju"
+msgstr "Ukloni Sve Icon Stavke"
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Remove All StyleBox Items"
@@ -8846,9 +8739,8 @@ msgid "Add StyleBox Item"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-#, fuzzy
 msgid "Remove Items:"
-msgstr "Obriši Selekciju"
+msgstr "Ukloni stavku:"
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Remove Class Items"
@@ -8889,6 +8781,11 @@ msgid "Select Another Theme Resource:"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "Resurs"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -8937,6 +8834,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr ""
 
@@ -8953,7 +8862,18 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+#, fuzzy
+msgid "Base Type"
+msgstr "Promeni %s Tip"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9194,9 +9114,8 @@ msgid "Add Texture(s) to TileSet."
 msgstr ""
 
 #: editor/plugins/tile_set_editor_plugin.cpp
-#, fuzzy
 msgid "Remove selected Texture from TileSet."
-msgstr "Obriši Selekciju"
+msgstr "Ukloni ozna�enu Teksturu iz TileSet-a."
 
 #: editor/plugins/tile_set_editor_plugin.cpp
 msgid "Create from Scene"
@@ -9317,9 +9236,8 @@ msgid "Erase bitmask."
 msgstr ""
 
 #: editor/plugins/tile_set_editor_plugin.cpp
-#, fuzzy
 msgid "Create a new rectangle."
-msgstr "Napravi"
+msgstr "Napravi novi pravougaonik."
 
 #: editor/plugins/tile_set_editor_plugin.cpp
 #, fuzzy
@@ -9327,9 +9245,8 @@ msgid "New Rectangle"
 msgstr "Napravi"
 
 #: editor/plugins/tile_set_editor_plugin.cpp
-#, fuzzy
 msgid "Create a new polygon."
-msgstr "Napravi"
+msgstr "Napravi novi poligon."
 
 #: editor/plugins/tile_set_editor_plugin.cpp
 #, fuzzy
@@ -9359,9 +9276,8 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/tile_set_editor_plugin.cpp
-#, fuzzy
 msgid "Remove selected texture? This will remove all tiles which use it."
-msgstr "Obriši Selekciju"
+msgstr "Ukloni ozna�enu teksturu? Ovo će ukloniti sva polja koja je koriste."
 
 #: editor/plugins/tile_set_editor_plugin.cpp
 msgid "You haven't selected a texture to remove."
@@ -9391,9 +9307,8 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/tile_set_editor_plugin.cpp
-#, fuzzy
 msgid "Delete selected Rect."
-msgstr "Izbriši ozna�eni klju�(eve)"
+msgstr "Ukloni ozna�eni Pravoug."
 
 #: editor/plugins/tile_set_editor_plugin.cpp
 msgid ""
@@ -9402,9 +9317,8 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/tile_set_editor_plugin.cpp
-#, fuzzy
 msgid "Delete polygon."
-msgstr "Napravi"
+msgstr "Ukloni poligon."
 
 #: editor/plugins/tile_set_editor_plugin.cpp
 msgid ""
@@ -9566,9 +9480,8 @@ msgid "Unstaged Changes"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-#, fuzzy
 msgid "Commit:"
-msgstr "Zajednica"
+msgstr "Posveti:"
 
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Date:"
@@ -9669,18 +9582,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr ""
 
@@ -9960,14 +9861,12 @@ msgid "SoftLight operator."
 msgstr ""
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
-#, fuzzy
 msgid "Color constant."
-msgstr "Kontanta"
+msgstr "Konstanta boje."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
-#, fuzzy
 msgid "Color uniform."
-msgstr "Animacija Promjeni Transformaciju"
+msgstr "Homogenost Boje."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Returns the boolean result of the %s comparison between two parameters."
@@ -10076,9 +9975,8 @@ msgid "'%s' input parameter for vertex and fragment shader mode."
 msgstr ""
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
-#, fuzzy
 msgid "Scalar function."
-msgstr "Skaliraj Selekciju"
+msgstr "Skalarna funkcija."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Scalar operator."
@@ -10311,9 +10209,8 @@ msgid "Scalar constant."
 msgstr ""
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
-#, fuzzy
 msgid "Scalar uniform."
-msgstr "Animacija Promjeni Transformaciju"
+msgstr "Skalarna homogenost."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Perform the cubic texture lookup."
@@ -10336,9 +10233,8 @@ msgid "2D texture uniform lookup with triplanar."
 msgstr ""
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
-#, fuzzy
 msgid "Transform function."
-msgstr "Napravi"
+msgstr "Funkcija transformacije."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid ""
@@ -10380,14 +10276,12 @@ msgid "Multiplies vector by transform."
 msgstr ""
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
-#, fuzzy
 msgid "Transform constant."
-msgstr "Napravi"
+msgstr "Transformacija konstante."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
-#, fuzzy
 msgid "Transform uniform."
-msgstr "Napravi"
+msgstr "Transformacija homogenosti."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Vector function."
@@ -11074,7 +10968,7 @@ msgstr "Obriši Selekciju"
 
 #: editor/project_manager.cpp
 msgid "About"
-msgstr "O nama / O Godou"
+msgstr "O Godot-u"
 
 #: editor/project_manager.cpp
 msgid "Asset Library Projects"
@@ -11349,7 +11243,7 @@ msgstr ""
 
 #: editor/project_settings_editor.cpp editor/settings_config_dialog.cpp
 msgid "General"
-msgstr "Opšti deo"
+msgstr "Opšta"
 
 #: editor/project_settings_editor.cpp
 msgid "Override For..."
@@ -11733,14 +11627,12 @@ msgid "Make node as Root"
 msgstr ""
 
 #: editor/scene_tree_dock.cpp
-#, fuzzy
 msgid "Delete %d nodes and any children?"
-msgstr "Animacija Obriši Klju�eve"
+msgstr "Obrisi %d �vorova i decu?"
 
 #: editor/scene_tree_dock.cpp
-#, fuzzy
 msgid "Delete %d nodes?"
-msgstr "Animacija Obriši Klju�eve"
+msgstr "Obriši %d �vorova?"
 
 #: editor/scene_tree_dock.cpp
 msgid "Delete the root node \"%s\"?"
@@ -11751,9 +11643,8 @@ msgid "Delete node \"%s\" and its children?"
 msgstr ""
 
 #: editor/scene_tree_dock.cpp
-#, fuzzy
 msgid "Delete node \"%s\"?"
-msgstr "Animacija Obriši Klju�eve"
+msgstr "Obriši �vor \"%s\"?"
 
 #: editor/scene_tree_dock.cpp
 msgid ""
@@ -11944,9 +11835,8 @@ msgid "Delete (No Confirm)"
 msgstr ""
 
 #: editor/scene_tree_dock.cpp
-#, fuzzy
 msgid "Add/Create a New Node."
-msgstr "Napravi"
+msgstr "Dodaj/Napravi nov �vor."
 
 #: editor/scene_tree_dock.cpp
 msgid ""
@@ -12154,9 +12044,8 @@ msgid "Built-in script (into scene file)."
 msgstr ""
 
 #: editor/script_create_dialog.cpp
-#, fuzzy
 msgid "Will create a new script file."
-msgstr "Napravi"
+msgstr "Biće kreirana nova datoteka skripte."
 
 #: editor/script_create_dialog.cpp
 msgid "Will load an existing script file."
@@ -12207,9 +12096,8 @@ msgid "Warning:"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
-#, fuzzy
 msgid "Error:"
-msgstr "Ogledalo"
+msgstr "Greška:"
 
 #: editor/script_editor_debugger.cpp
 msgid "C++ Error"
@@ -12273,6 +12161,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filtriraj signale"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -12887,27 +12780,24 @@ msgid "Override an existing built-in function."
 msgstr ""
 
 #: modules/visual_script/visual_script_editor.cpp
-#, fuzzy
 msgid "Create a new function."
-msgstr "Napravi"
+msgstr "Napravi novu funkciju."
 
 #: modules/visual_script/visual_script_editor.cpp
 msgid "Variables:"
 msgstr ""
 
 #: modules/visual_script/visual_script_editor.cpp
-#, fuzzy
 msgid "Create a new variable."
-msgstr "Napravi"
+msgstr "Napravi novu promenljivu."
 
 #: modules/visual_script/visual_script_editor.cpp
 msgid "Signals:"
 msgstr ""
 
 #: modules/visual_script/visual_script_editor.cpp
-#, fuzzy
 msgid "Create a new signal."
-msgstr "Napravi"
+msgstr "Napravi novi signal."
 
 #: modules/visual_script/visual_script_editor.cpp
 msgid "Name is not a valid identifier:"
@@ -13126,14 +13016,12 @@ msgid "Add Nodes..."
 msgstr ""
 
 #: modules/visual_script/visual_script_editor.cpp
-#, fuzzy
 msgid "Add Function..."
-msgstr "Funkcije:"
+msgstr "Dodaj funkciju..."
 
 #: modules/visual_script/visual_script_editor.cpp
-#, fuzzy
 msgid "function_name"
-msgstr "Funkcije:"
+msgstr "naziv_funkcije"
 
 #: modules/visual_script/visual_script_editor.cpp
 msgid "Select or create a function to edit its graph."
@@ -13156,9 +13044,8 @@ msgid "Cut Nodes"
 msgstr ""
 
 #: modules/visual_script/visual_script_editor.cpp
-#, fuzzy
 msgid "Make Function"
-msgstr "Funkcije:"
+msgstr "Napravi Funkciju"
 
 #: modules/visual_script/visual_script_editor.cpp
 msgid "Refresh Graph"
@@ -13308,9 +13195,8 @@ msgid "Emit %s"
 msgstr ""
 
 #: modules/visual_script/visual_script_nodes.cpp
-#, fuzzy
 msgid "Function"
-msgstr "Funkcije:"
+msgstr "Funkcija"
 
 #: modules/visual_script/visual_script_nodes.cpp
 msgid "Compose Array"
@@ -13589,6 +13475,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
@@ -13908,9 +13797,8 @@ msgid ""
 msgstr ""
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "No identity found."
-msgstr "Kontanta"
+msgstr "Identitet nije pronađen."
 
 #: platform/osx/export/export.cpp
 msgid "Creating app bundle"
diff --git a/editor/translations/sv.po b/editor/translations/sv.po
index 9645a3adff..91d13086f4 100644
--- a/editor/translations/sv.po
+++ b/editor/translations/sv.po
@@ -1501,6 +1501,11 @@ msgstr "Ladda standard Buss-Layouten."
 msgid "Create a new Bus Layout."
 msgstr "Skapa en ny Buss-Layout."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Öppna Ljud-Buss Layout"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Ogiltigt namn."
@@ -2989,7 +2994,7 @@ msgstr "Växla distraktionsfritt läge."
 msgid "Add a new scene."
 msgstr "Lägg till en ny scen."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Scen"
 
@@ -5781,6 +5786,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 #, fuzzy
 msgid "Select lightmap bake file:"
 msgstr "Välj mall-fil"
@@ -8349,7 +8358,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9293,6 +9307,11 @@ msgstr "Välj en annan temaresurs:"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "Byt namn på Resurs"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "Importera Tema"
 
@@ -9346,6 +9365,20 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Ändra Bas Typ:"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Ändra Bas Typ:"
+
+#: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
 msgid "Show Default"
 msgstr "Ladda Standard"
@@ -9363,7 +9396,18 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+#, fuzzy
+msgid "Base Type"
+msgstr "Ändra Typ"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -10112,18 +10156,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "Matchar:"
@@ -12781,6 +12813,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Filtrera tiles"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -14135,6 +14172,9 @@ msgstr "Ogiltigt paket namn:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/ta.po b/editor/translations/ta.po
index 6a737cca56..c278dc4460 100644
--- a/editor/translations/ta.po
+++ b/editor/translations/ta.po
@@ -1465,6 +1465,10 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+msgid "Audio Bus Layout"
+msgstr ""
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -2820,7 +2824,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5484,6 +5488,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr ""
 
@@ -7928,7 +7936,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8818,6 +8831,10 @@ msgid "Select Another Theme Resource:"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Theme Resource"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -8866,6 +8883,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr ""
 
@@ -8882,7 +8911,17 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+msgid "Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9570,18 +9609,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr ""
 
@@ -12158,6 +12185,10 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+msgid "Filter stack variables"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13462,6 +13493,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/te.po b/editor/translations/te.po
index f329a3c39f..1c6ddff44b 100644
--- a/editor/translations/te.po
+++ b/editor/translations/te.po
@@ -1438,6 +1438,10 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+msgid "Audio Bus Layout"
+msgstr ""
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -2787,7 +2791,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5430,6 +5434,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr ""
 
@@ -7855,7 +7863,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8730,6 +8743,10 @@ msgid "Select Another Theme Resource:"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Theme Resource"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -8776,6 +8793,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr ""
 
@@ -8792,7 +8821,17 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+msgid "Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9472,18 +9511,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr ""
 
@@ -12037,6 +12064,10 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+msgid "Filter stack variables"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13326,6 +13357,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/th.po b/editor/translations/th.po
index 3359054a03..c3de50112f 100644
--- a/editor/translations/th.po
+++ b/editor/translations/th.po
@@ -1491,6 +1491,11 @@ msgstr "โหลดค่าเริ่มต้นเลย์เอาต์
 msgid "Create a new Bus Layout."
 msgstr "สร้างเลย์เอาต์บัสใหม่"
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "เปิดเลย์เอาต์ของบัสเสียง"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "ชื่อผิดพลาด"
@@ -2911,7 +2916,7 @@ msgstr "โหมดไร้สิ่งรบ�วน"
 msgid "Add a new scene."
 msgstr "เพิ่มฉา�ใหม่"
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "ฉา�"
 
@@ -5666,6 +5671,10 @@ msgid "Bake Lightmaps"
 msgstr "สร้าง Lightmaps"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "เลือ�ไฟล์ bake ของ lightmap :"
 
@@ -8180,7 +8189,13 @@ msgid "Cinematic Preview"
 msgstr "ดูตัวอย่าง�บบภาพยนตร์"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "ไม่สามารถใช้งานได้เมื่อใช้�ารเรนเดอร์โดย GLES2"
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9126,6 +9141,11 @@ msgstr "ลบรีซอร์ส"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "เปลี่ยนชื่อรีซอร์ส"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "นำเข้าธีม"
 
@@ -9180,6 +9200,21 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Add Item Type"
+msgstr "เพิ่มไอเทม"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "��้ไขประเภทตัว�ปร"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "เปลี่ยนประเภท"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Show Default"
 msgstr "โหลดค่าเริ่มต้น"
 
@@ -9198,8 +9233,18 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
-msgid "Add Item Type"
-msgstr "เพิ่มไอเทม"
+msgid "Base Type"
+msgstr "เปลี่ยนประเภท"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
@@ -9914,18 +9959,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "พบ:"
@@ -12620,6 +12653,11 @@ msgid "Stack Frames"
 msgstr "ส�ตค"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "ตัว�รองไทล์"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "ตัวตรวจวิเคราะห์ประสิทธิภาพ (Profiler)"
 
@@ -13960,9 +13998,10 @@ msgstr "ชื่อ�พ็คเ�จผิดพลาด:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"โมดูล \"GodotPaymentV3\" ที่ไม่ถู�ต้องได้รวมอยู่ใน�ารตั้งค่าโปรเจ�ต์ \"android/"
-"modules\" (เปลี่ยน�ปลงใน Godot 3.2.2)\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
diff --git a/editor/translations/tl.po b/editor/translations/tl.po
index 3384446e1d..c943692efb 100644
--- a/editor/translations/tl.po
+++ b/editor/translations/tl.po
@@ -8,7 +8,7 @@ msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine editor\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
-"PO-Revision-Date: 2022-01-07 11:42+0000\n"
+"PO-Revision-Date: 2022-03-02 18:39+0000\n"
 "Last-Translator: Napstaguy04 <brokenscreen3@gmail.com>\n"
 "Language-Team: Tagalog <https://hosted.weblate.org/projects/godot-engine/"
 "godot/tl/>\n"
@@ -18,7 +18,7 @@ msgstr ""
 "Content-Transfer-Encoding: 8-bit\n"
 "Plural-Forms: nplurals=2; plural=n != 1 && n != 2 && n != 3 && (n % 10 == 4 "
 "|| n % 10 == 6 || n % 10 == 9);\n"
-"X-Generator: Weblate 4.10.1\n"
+"X-Generator: Weblate 4.11.1-dev\n"
 
 #: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
 #: modules/visual_script/visual_script_builtin_funcs.cpp
@@ -253,7 +253,7 @@ msgstr "Ipalit sa on/off ang track na ito."
 
 #: editor/animation_track_editor.cpp
 msgid "Update Mode (How this property is set)"
-msgstr "Paraang Nag-aapdate (Kung papano inayos ang katangian na ito)"
+msgstr "Paraan ng Pag-update (Kung papano inayos ang katangian na ito)"
 
 #: editor/animation_track_editor.cpp
 msgid "Interpolation Mode"
@@ -321,7 +321,7 @@ msgstr "Maglagay ng Key"
 
 #: editor/animation_track_editor.cpp
 msgid "Duplicate Key(s)"
-msgstr "Doblehin ang (mga) Key"
+msgstr "Duplikahin ang (mga) Key"
 
 #: editor/animation_track_editor.cpp
 msgid "Add RESET Value(s)"
@@ -548,7 +548,7 @@ msgstr ""
 
 #: editor/animation_track_editor.cpp
 msgid "Animation step value."
-msgstr ""
+msgstr "Bilang ng usog ng Animasyon."
 
 #: editor/animation_track_editor.cpp
 msgid "Seconds"
@@ -609,7 +609,7 @@ msgstr "Bumalik sa Nakaraang Hakbang"
 
 #: editor/animation_track_editor.cpp
 msgid "Apply Reset"
-msgstr ""
+msgstr "I-apply ang Reset"
 
 #: editor/animation_track_editor.cpp
 msgid "Optimize Animation"
@@ -633,7 +633,7 @@ msgstr "Gumawa ng (mga) RESET Track"
 
 #: editor/animation_track_editor.cpp
 msgid "Anim. Optimizer"
-msgstr ""
+msgstr "Tagapabilis ng Animasyon"
 
 #: editor/animation_track_editor.cpp
 msgid "Max. Linear Error:"
@@ -645,7 +645,7 @@ msgstr ""
 
 #: editor/animation_track_editor.cpp
 msgid "Max Optimizable Angle:"
-msgstr ""
+msgstr "Pinakahangganang Angulo na Mao-optimize:"
 
 #: editor/animation_track_editor.cpp
 msgid "Optimize"
@@ -1151,11 +1151,11 @@ msgstr "Mga Resources na Walang Tiyak na Pagmamayari:"
 
 #: editor/dictionary_property_edit.cpp
 msgid "Change Dictionary Key"
-msgstr ""
+msgstr "Ibahin ang Dictionary Key"
 
 #: editor/dictionary_property_edit.cpp
 msgid "Change Dictionary Value"
-msgstr ""
+msgstr "Ibahin ang Dictionary Value"
 
 #: editor/editor_about.cpp
 msgid "Thanks from the Godot community!"
@@ -1347,7 +1347,7 @@ msgstr "Ilipat ang Effect ng Bus"
 
 #: editor/editor_audio_buses.cpp
 msgid "Delete Bus Effect"
-msgstr ""
+msgstr "Alisin ang Effect sa Bus"
 
 #: editor/editor_audio_buses.cpp
 msgid "Drag & drop to rearrange."
@@ -1363,7 +1363,7 @@ msgstr "Nakatahimik"
 
 #: editor/editor_audio_buses.cpp
 msgid "Bypass"
-msgstr "Pasikot-sikot"
+msgstr "Ligtaan"
 
 #: editor/editor_audio_buses.cpp
 msgid "Bus Options"
@@ -1376,11 +1376,11 @@ msgstr "Doblehin"
 
 #: editor/editor_audio_buses.cpp
 msgid "Reset Volume"
-msgstr ""
+msgstr "I-balik sa dati ang Volume"
 
 #: editor/editor_audio_buses.cpp
 msgid "Delete Effect"
-msgstr ""
+msgstr "Alisin ang Effect"
 
 #: editor/editor_audio_buses.cpp
 msgid "Audio"
@@ -1440,7 +1440,7 @@ msgstr "Nabigong ang pagsave ang file: %s"
 
 #: editor/editor_audio_buses.cpp
 msgid "Add Bus"
-msgstr ""
+msgstr "Magdagdag ng Bus"
 
 #: editor/editor_audio_buses.cpp
 msgid "Add a new Audio Bus to this layout."
@@ -1476,6 +1476,11 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "I-save Ang Ayos ng Audio Bus Bilang..."
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Di-wastong pangalan."
@@ -1507,7 +1512,7 @@ msgstr ""
 
 #: editor/editor_autoload_settings.cpp
 msgid "Autoload '%s' already exists!"
-msgstr ""
+msgstr "Meron ng '%s' na Autoload!"
 
 #: editor/editor_autoload_settings.cpp
 msgid "Rename Autoload"
@@ -1572,11 +1577,11 @@ msgstr "Pangkalahatang (Global) Variable"
 
 #: editor/editor_data.cpp
 msgid "Paste Params"
-msgstr ""
+msgstr "I-pasta ang mga Params"
 
 #: editor/editor_data.cpp
 msgid "Updating Scene"
-msgstr ""
+msgstr "Sinasariwa ang Eksena"
 
 #: editor/editor_data.cpp
 msgid "Storing local changes..."
@@ -1821,6 +1826,8 @@ msgid ""
 "Profile '%s' already exists. Remove it first before importing, import "
 "aborted."
 msgstr ""
+"Meron ng '%s' na profile. Alisin muna ito bago mag-import. Naihinto ang pag-"
+"import."
 
 #: editor/editor_feature_profile.cpp
 msgid "Error saving profile to path: '%s'."
@@ -2030,12 +2037,12 @@ msgstr "Tingnan ang mga item bilang talaan."
 
 #: editor/editor_file_dialog.cpp scene/gui/file_dialog.cpp
 msgid "Directories & Files:"
-msgstr ""
+msgstr "Mga Direktoryo at mga File:"
 
 #: editor/editor_file_dialog.cpp editor/plugins/sprite_editor_plugin.cpp
 #: editor/plugins/style_box_editor_plugin.cpp editor/rename_dialog.cpp
 msgid "Preview:"
-msgstr ""
+msgstr "Pasilip:"
 
 #: editor/editor_file_dialog.cpp
 #: editor/plugins/version_control_editor_plugin.cpp scene/gui/file_dialog.cpp
@@ -2086,9 +2093,8 @@ msgid "Properties"
 msgstr "Mga Katangian"
 
 #: editor/editor_help.cpp
-#, fuzzy
 msgid "overrides %s:"
-msgstr "ipagpalit:"
+msgstr "Ipagpapalit sa %s:"
 
 #: editor/editor_help.cpp
 msgid "default:"
@@ -2104,7 +2110,7 @@ msgstr "Mga Katangian ng Theme"
 
 #: editor/editor_help.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Colors"
-msgstr ""
+msgstr "Mga Kulay"
 
 #: editor/editor_help.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Constants"
@@ -2112,15 +2118,15 @@ msgstr "Mga Konstant"
 
 #: editor/editor_help.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Fonts"
-msgstr ""
+msgstr "Mga Font"
 
 #: editor/editor_help.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Icons"
-msgstr ""
+msgstr "Mga Icon"
 
 #: editor/editor_help.cpp
 msgid "Styles"
-msgstr ""
+msgstr "Mga Estilo"
 
 #: editor/editor_help.cpp
 msgid "Enumerations"
@@ -2161,7 +2167,7 @@ msgstr "Maghanap sa Sanggunian"
 
 #: editor/editor_help_search.cpp
 msgid "Case Sensitive"
-msgstr ""
+msgstr "Sensitibo sa Case"
 
 #: editor/editor_help_search.cpp
 msgid "Show Hierarchy"
@@ -2228,9 +2234,8 @@ msgid "Property:"
 msgstr "Katangian:"
 
 #: editor/editor_inspector.cpp
-#, fuzzy
 msgid "Pin value"
-msgstr "(halaga)"
+msgstr "Halaga ng Pin"
 
 #: editor/editor_inspector.cpp
 msgid ""
@@ -2261,19 +2266,16 @@ msgid "Unpinned %s"
 msgstr ""
 
 #: editor/editor_inspector.cpp
-#, fuzzy
 msgid "Copy Property"
-msgstr "Katangian"
+msgstr "Kopyahin ang Katangian"
 
 #: editor/editor_inspector.cpp
-#, fuzzy
 msgid "Paste Property"
-msgstr "Katangian"
+msgstr "I-paste ang Katangian"
 
 #: editor/editor_inspector.cpp
-#, fuzzy
 msgid "Copy Property Path"
-msgstr "Kopyahin ang Kinaroroonan"
+msgstr "Kopyahin ang Kinaroroonan ng Katangian"
 
 #: editor/editor_log.cpp
 msgid "Output:"
@@ -2373,10 +2375,12 @@ msgid ""
 "This resource can't be saved because it does not belong to the edited scene. "
 "Make it unique first."
 msgstr ""
+"Hindi mai-ligtas ang resource na ito dahil hindi ito nabibilang sa ginagalaw "
+"na eksena. Gawing tangi (unique) muna ito."
 
 #: editor/editor_node.cpp editor/plugins/animation_player_editor_plugin.cpp
 msgid "Save Resource As..."
-msgstr "I-save ang Resource Bilang..."
+msgstr "I-ligtas ang Resource Bilang..."
 
 #: editor/editor_node.cpp
 msgid "Can't open file for writing:"
@@ -2440,11 +2444,11 @@ msgstr ""
 
 #: editor/editor_node.cpp
 msgid "Could not save one or more scenes!"
-msgstr ""
+msgstr "Hindi mai-iligtas ang ni isa o dalawang eksena!"
 
 #: editor/editor_node.cpp
 msgid "Save All Scenes"
-msgstr "Iimpok Lahat ng Mga Eksena"
+msgstr "I-ligtas Lahat ng Mga Eksena"
 
 #: editor/editor_node.cpp editor/scene_tree_dock.cpp
 msgid "Can't overwrite scene that is still open!"
@@ -2523,7 +2527,7 @@ msgstr ""
 
 #: editor/editor_node.cpp
 msgid "There is no defined scene to run."
-msgstr ""
+msgstr "Walang eksenang pinili upang patakbuhin ang aplikasyon."
 
 #: editor/editor_node.cpp
 msgid "Save scene before running..."
@@ -2531,7 +2535,7 @@ msgstr "Isave muna ang eksena bago ito patakbuhin..."
 
 #: editor/editor_node.cpp
 msgid "Could not start subprocess!"
-msgstr ""
+msgstr "Hindi maumpisa ang subprocess!"
 
 #: editor/editor_node.cpp editor/filesystem_dock.cpp
 msgid "Open Scene"
@@ -2539,11 +2543,11 @@ msgstr "Magbukas ng Eksena"
 
 #: editor/editor_node.cpp
 msgid "Open Base Scene"
-msgstr ""
+msgstr "Buksan ang Punong Eksena (Base Scene)"
 
 #: editor/editor_node.cpp
 msgid "Quick Open..."
-msgstr "Mabilisang Magbukas..."
+msgstr "Buksan Kaagad..."
 
 #: editor/editor_node.cpp
 msgid "Quick Open Scene..."
@@ -2579,7 +2583,7 @@ msgstr ""
 
 #: editor/editor_node.cpp
 msgid "Save Scene As..."
-msgstr ""
+msgstr "I-ligtas ang Eksena Bilang..."
 
 #: editor/editor_node.cpp modules/gltf/editor_scene_exporter_gltf_plugin.cpp
 msgid "This operation can't be done without a scene."
@@ -2797,11 +2801,11 @@ msgstr "Isara ang Tab"
 
 #: editor/editor_node.cpp
 msgid "Undo Close Tab"
-msgstr ""
+msgstr "Ibalik ang Nasarang Tab"
 
 #: editor/editor_node.cpp editor/plugins/script_editor_plugin.cpp
 msgid "Close Other Tabs"
-msgstr "Isara Ang Ibang Mga Tab"
+msgstr "Isara ang Ibang mga Tab"
 
 #: editor/editor_node.cpp
 msgid "Close Tabs to the Right"
@@ -2843,7 +2847,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr "Magdagdag ng panibagong eksena."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Eksena"
 
@@ -2885,7 +2889,7 @@ msgstr "Magbukas ng Eksena..."
 
 #: editor/editor_node.cpp editor/plugins/script_editor_plugin.cpp
 msgid "Open Recent"
-msgstr ""
+msgstr "Buksan ang Kumakailan"
 
 #: editor/editor_node.cpp
 msgid "Save Scene"
@@ -2906,12 +2910,12 @@ msgstr "TileSet..."
 #: editor/editor_node.cpp editor/plugins/script_text_editor.cpp
 #: scene/gui/line_edit.cpp scene/gui/text_edit.cpp
 msgid "Undo"
-msgstr ""
+msgstr "I-undo"
 
 #: editor/editor_node.cpp editor/plugins/script_text_editor.cpp
 #: scene/gui/line_edit.cpp scene/gui/text_edit.cpp
 msgid "Redo"
-msgstr ""
+msgstr "I-redo"
 
 #: editor/editor_node.cpp
 msgid "Miscellaneous project or scene-wide tools."
@@ -2947,9 +2951,8 @@ msgid "Install Android Build Template..."
 msgstr "Ikabit ang Android Build Template..."
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Open User Data Folder"
-msgstr "Buksan ang Folder ng Datos ng Proyekto"
+msgstr "Buksan ang User Data Folder ng Proyekto"
 
 #: editor/editor_node.cpp editor/plugins/tile_set_editor_plugin.cpp
 msgid "Tools"
@@ -3093,11 +3096,11 @@ msgstr ""
 
 #: editor/editor_node.cpp
 msgid "Open Editor Settings Folder"
-msgstr ""
+msgstr "Buksan ang Folder ng Editor Settings"
 
 #: editor/editor_node.cpp
 msgid "Manage Editor Features..."
-msgstr ""
+msgstr "Pangasiwaan ang mga Tampok ng Editor..."
 
 #: editor/editor_node.cpp
 msgid "Manage Export Templates..."
@@ -3232,7 +3235,7 @@ msgstr ""
 
 #: editor/editor_node.cpp
 msgid "Install from file"
-msgstr ""
+msgstr "Mag-install mula sa file"
 
 #: editor/editor_node.cpp
 msgid "Select android sources file"
@@ -3393,7 +3396,7 @@ msgstr "Sukat:"
 
 #: editor/editor_profiler.cpp
 msgid "Frame Time (ms)"
-msgstr ""
+msgstr "Oras ng Frame (ms)"
 
 #: editor/editor_profiler.cpp
 msgid "Average Time (ms)"
@@ -3485,7 +3488,7 @@ msgstr "Pumili ng Tinginan"
 
 #: editor/editor_properties.cpp editor/property_editor.cpp
 msgid "Selected node is not a Viewport!"
-msgstr ""
+msgstr "Ang piniling node ay hindi Viewport!"
 
 #: editor/editor_properties_array_dict.cpp
 msgid "Size: "
@@ -3524,7 +3527,7 @@ msgstr ""
 
 #: editor/editor_resource_picker.cpp editor/property_editor.cpp
 msgid "Make Unique"
-msgstr ""
+msgstr "Gawing Tangi (Unique)"
 
 #: editor/editor_resource_picker.cpp
 #: editor/plugins/animation_blend_space_1d_editor.cpp
@@ -3538,7 +3541,7 @@ msgstr ""
 #: editor/plugins/tile_map_editor_plugin.cpp editor/property_editor.cpp
 #: editor/scene_tree_dock.cpp scene/gui/line_edit.cpp scene/gui/text_edit.cpp
 msgid "Paste"
-msgstr "Idikit"
+msgstr "I-pasta"
 
 #: editor/editor_resource_picker.cpp editor/property_editor.cpp
 msgid "Convert to %s"
@@ -3631,7 +3634,7 @@ msgstr ""
 
 #: editor/export_template_manager.cpp
 msgid "Starting the download..."
-msgstr ""
+msgstr "Inuumpisahan ang pag-download..."
 
 #: editor/export_template_manager.cpp
 msgid "Error requesting URL:"
@@ -3708,7 +3711,7 @@ msgstr ""
 
 #: editor/export_template_manager.cpp
 msgid "Can't Resolve"
-msgstr ""
+msgstr "Hindi Mairesolba"
 
 #: editor/export_template_manager.cpp
 #: editor/plugins/asset_library_editor_plugin.cpp
@@ -3871,7 +3874,7 @@ msgstr ""
 
 #: editor/filesystem_dock.cpp
 msgid "Favorites"
-msgstr ""
+msgstr "Mga Paborito"
 
 #: editor/filesystem_dock.cpp
 msgid "Status: Import of file failed. Please fix file and reimport manually."
@@ -3938,19 +3941,19 @@ msgstr ""
 
 #: editor/filesystem_dock.cpp
 msgid "Renaming file:"
-msgstr ""
+msgstr "Pinapalitan ang pangalan ng file:"
 
 #: editor/filesystem_dock.cpp
 msgid "Renaming folder:"
-msgstr ""
+msgstr "Pinapalitan ang pangalan ng folder:"
 
 #: editor/filesystem_dock.cpp
 msgid "Duplicating file:"
-msgstr ""
+msgstr "Dinuduplicate ang file:"
 
 #: editor/filesystem_dock.cpp
 msgid "Duplicating folder:"
-msgstr ""
+msgstr "Dinuduplicate ang folder:"
 
 #: editor/filesystem_dock.cpp
 msgid "New Inherited Scene"
@@ -3970,15 +3973,15 @@ msgstr ""
 
 #: editor/filesystem_dock.cpp
 msgid "Add to Favorites"
-msgstr ""
+msgstr "Idagdag sa Paborito mo"
 
 #: editor/filesystem_dock.cpp
 msgid "Remove from Favorites"
-msgstr ""
+msgstr "Alisin sa Paborito mo"
 
 #: editor/filesystem_dock.cpp
 msgid "Edit Dependencies..."
-msgstr "Baguhin ang mga Kaasahan..."
+msgstr "Baguhin ang mga Kaasahan (Dependencies)..."
 
 #: editor/filesystem_dock.cpp
 msgid "View Owners..."
@@ -3998,7 +4001,7 @@ msgstr "Bagong Skrip..."
 
 #: editor/filesystem_dock.cpp
 msgid "New Resource..."
-msgstr ""
+msgstr "Bagong Resource..."
 
 #: editor/filesystem_dock.cpp editor/inspector_dock.cpp
 #: editor/plugins/visual_shader_editor_plugin.cpp
@@ -4034,15 +4037,15 @@ msgstr ""
 
 #: editor/filesystem_dock.cpp
 msgid "Sort by Last Modified"
-msgstr "Ayusin ayon sa Huling Binago"
+msgstr "Pagbukud-bukurin ayon sa Huling Binago"
 
 #: editor/filesystem_dock.cpp
 msgid "Sort by First Modified"
-msgstr ""
+msgstr "Pagbukud-bukurin ayon sa Unang Binago"
 
 #: editor/filesystem_dock.cpp editor/plugins/animation_player_editor_plugin.cpp
 msgid "Duplicate..."
-msgstr ""
+msgstr "I-duplicate..."
 
 #: editor/filesystem_dock.cpp editor/plugins/animation_player_editor_plugin.cpp
 msgid "Rename..."
@@ -4087,15 +4090,15 @@ msgstr "Ilipat"
 #: editor/project_manager.cpp editor/rename_dialog.cpp
 #: editor/scene_tree_dock.cpp
 msgid "Rename"
-msgstr ""
+msgstr "Baguhin ang Pangalan"
 
 #: editor/filesystem_dock.cpp
 msgid "Overwrite"
-msgstr ""
+msgstr "Ipagpalit"
 
 #: editor/filesystem_dock.cpp
 msgid "Create Scene"
-msgstr ""
+msgstr "Lumikha ng Eksena"
 
 #: editor/filesystem_dock.cpp editor/plugins/script_editor_plugin.cpp
 msgid "Create Script"
@@ -4111,11 +4114,11 @@ msgstr "Hanapin:"
 
 #: editor/find_in_files.cpp editor/rename_dialog.cpp
 msgid "Replace:"
-msgstr ""
+msgstr "Palitan:"
 
 #: editor/find_in_files.cpp
 msgid "Folder:"
-msgstr ""
+msgstr "Folder:"
 
 #: editor/find_in_files.cpp
 msgid "Filters:"
@@ -4130,11 +4133,11 @@ msgstr ""
 #: editor/find_in_files.cpp editor/plugins/script_editor_plugin.cpp
 #: editor/plugins/script_text_editor.cpp
 msgid "Find..."
-msgstr ""
+msgstr "Hanapin..."
 
 #: editor/find_in_files.cpp editor/plugins/script_text_editor.cpp
 msgid "Replace..."
-msgstr ""
+msgstr "Palitan..."
 
 #: editor/find_in_files.cpp editor/plugins/script_editor_plugin.cpp
 #, fuzzy
@@ -4156,7 +4159,7 @@ msgstr "Palitan Lahat"
 
 #: editor/find_in_files.cpp
 msgid "Searching..."
-msgstr ""
+msgstr "Naghahanap..."
 
 #: editor/find_in_files.cpp
 msgid "%d match in %d file."
@@ -4172,11 +4175,11 @@ msgstr ""
 
 #: editor/groups_editor.cpp
 msgid "Add to Group"
-msgstr ""
+msgstr "Idagdag sa Pangkat"
 
 #: editor/groups_editor.cpp
 msgid "Remove from Group"
-msgstr ""
+msgstr "Alisin sa Pangkat"
 
 #: editor/groups_editor.cpp
 msgid "Group name already exists."
@@ -4205,7 +4208,7 @@ msgstr ""
 #: editor/groups_editor.cpp editor/scene_tree_dock.cpp
 #: editor/scene_tree_editor.cpp
 msgid "Filter nodes"
-msgstr ""
+msgstr "Salain ang mga node"
 
 #: editor/groups_editor.cpp
 msgid "Nodes in Group"
@@ -4266,11 +4269,11 @@ msgstr ""
 #: editor/import/resource_importer_scene.cpp
 #: editor/plugins/mesh_library_editor_plugin.cpp
 msgid "Import Scene"
-msgstr ""
+msgstr "Mag-angkat ng Eksena"
 
 #: editor/import/resource_importer_scene.cpp
 msgid "Importing Scene..."
-msgstr ""
+msgstr "Inaangkat ang Eksena..."
 
 #: editor/import/resource_importer_scene.cpp
 msgid "Generating Lightmaps"
@@ -4302,7 +4305,7 @@ msgstr ""
 
 #: editor/import/resource_importer_scene.cpp
 msgid "Saving..."
-msgstr ""
+msgstr "Nililigtas..."
 
 #: editor/import_defaults_editor.cpp
 msgid "Select Importer"
@@ -4346,15 +4349,15 @@ msgstr ""
 
 #: editor/import_dock.cpp
 msgid "Import As:"
-msgstr ""
+msgstr "Iangkat Bilang:"
 
 #: editor/import_dock.cpp
 msgid "Preset"
-msgstr ""
+msgstr "Preset"
 
 #: editor/import_dock.cpp
 msgid "Save Scenes, Re-Import, and Restart"
-msgstr ""
+msgstr "I-ligtas ang mga Eksena, I-reimport at Mag-restart"
 
 #: editor/import_dock.cpp
 msgid "Changing the type of an imported file requires editor restart."
@@ -4377,11 +4380,11 @@ msgstr ""
 
 #: editor/inspector_dock.cpp
 msgid "Copy Properties"
-msgstr ""
+msgstr "Kopyahin ang mga Katangian"
 
 #: editor/inspector_dock.cpp
 msgid "Paste Properties"
-msgstr ""
+msgstr "I-pasta ang mga Katangian"
 
 #: editor/inspector_dock.cpp
 msgid "Make Sub-Resources Unique"
@@ -4403,7 +4406,7 @@ msgstr ""
 #: editor/plugins/script_editor_plugin.cpp
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Save As..."
-msgstr ""
+msgstr "I-ligtas Bilang..."
 
 #: editor/inspector_dock.cpp
 msgid "Extra resource options."
@@ -4435,11 +4438,11 @@ msgstr ""
 
 #: editor/inspector_dock.cpp
 msgid "Open documentation for this object."
-msgstr ""
+msgstr "Buksan ang dokumentasyon para sa object na ito."
 
 #: editor/inspector_dock.cpp editor/scene_tree_dock.cpp
 msgid "Open Documentation"
-msgstr ""
+msgstr "Buksan ang Dokumentasyon"
 
 #: editor/inspector_dock.cpp
 msgid "Filter properties"
@@ -4467,48 +4470,48 @@ msgstr ""
 
 #: editor/plugin_config_dialog.cpp
 msgid "Create a Plugin"
-msgstr ""
+msgstr "Gumawa ng Plugin"
 
 #: editor/plugin_config_dialog.cpp
 msgid "Plugin Name:"
-msgstr ""
+msgstr "Pangalan ng Plugin:"
 
 #: editor/plugin_config_dialog.cpp
 msgid "Subfolder:"
-msgstr ""
+msgstr "Subfolder:"
 
 #: editor/plugin_config_dialog.cpp
 #: editor/plugins/version_control_editor_plugin.cpp
 msgid "Author:"
-msgstr ""
+msgstr "May-akda:"
 
 #: editor/plugin_config_dialog.cpp
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Version:"
-msgstr ""
+msgstr "Bersyon:"
 
 #: editor/plugin_config_dialog.cpp editor/script_create_dialog.cpp
 msgid "Language:"
-msgstr ""
+msgstr "Wika:"
 
 #: editor/plugin_config_dialog.cpp
 msgid "Script Name:"
-msgstr ""
+msgstr "Pangalan ng Skript:"
 
 #: editor/plugin_config_dialog.cpp
 msgid "Activate now?"
-msgstr ""
+msgstr "Aktibahin na ngayon?"
 
 #: editor/plugins/abstract_polygon_2d_editor.cpp
 #: editor/plugins/polygon_2d_editor_plugin.cpp
 msgid "Create Polygon"
-msgstr ""
+msgstr "Lumikha ng Polygon"
 
 #: editor/plugins/abstract_polygon_2d_editor.cpp
 #: editor/plugins/animation_blend_space_1d_editor.cpp
 #: editor/plugins/animation_blend_space_2d_editor.cpp
 msgid "Create points."
-msgstr ""
+msgstr "Lumikha ng mga punto."
 
 #: editor/plugins/abstract_polygon_2d_editor.cpp
 msgid ""
@@ -4516,27 +4519,30 @@ msgid ""
 "LMB: Move Point\n"
 "RMB: Erase Point"
 msgstr ""
+"Ayusin ang mga punto.\n"
+"LMB: Maglipat ng Punto\n"
+"RMB: Magbura ng Punto"
 
 #: editor/plugins/abstract_polygon_2d_editor.cpp
 #: editor/plugins/animation_blend_space_1d_editor.cpp
 msgid "Erase points."
-msgstr ""
+msgstr "Burahin ang mga punto."
 
 #: editor/plugins/abstract_polygon_2d_editor.cpp
 msgid "Edit Polygon"
-msgstr ""
+msgstr "Ayusin ang Polygon"
 
 #: editor/plugins/abstract_polygon_2d_editor.cpp
 msgid "Insert Point"
-msgstr ""
+msgstr "Maglagay ng Punto"
 
 #: editor/plugins/abstract_polygon_2d_editor.cpp
 msgid "Edit Polygon (Remove Point)"
-msgstr ""
+msgstr "Ayusin ang Polygon (Alisin ang Punto)"
 
 #: editor/plugins/abstract_polygon_2d_editor.cpp
 msgid "Remove Polygon And Point"
-msgstr ""
+msgstr "Alisin ang Polygon At Punto"
 
 #: editor/plugins/animation_blend_space_1d_editor.cpp
 #: editor/plugins/animation_blend_space_2d_editor.cpp
@@ -4544,14 +4550,14 @@ msgstr ""
 #: editor/plugins/animation_state_machine_editor.cpp
 #: editor/plugins/sprite_frames_editor_plugin.cpp
 msgid "Add Animation"
-msgstr ""
+msgstr "Magdagdag ng Animation"
 
 #: editor/plugins/animation_blend_space_1d_editor.cpp
 #: editor/plugins/animation_blend_space_2d_editor.cpp
 #: editor/plugins/animation_blend_tree_editor_plugin.cpp
 #: editor/plugins/animation_state_machine_editor.cpp
 msgid "Load..."
-msgstr ""
+msgstr "Magload..."
 
 #: editor/plugins/animation_blend_space_1d_editor.cpp
 #: editor/plugins/animation_blend_space_2d_editor.cpp
@@ -4617,20 +4623,20 @@ msgstr ""
 #: editor/plugins/animation_blend_space_1d_editor.cpp
 #: editor/plugins/animation_blend_space_2d_editor.cpp
 msgid "Point"
-msgstr ""
+msgstr "Punto"
 
 #: editor/plugins/animation_blend_space_1d_editor.cpp
 #: editor/plugins/animation_blend_space_2d_editor.cpp
 #: editor/plugins/animation_blend_tree_editor_plugin.cpp
 msgid "Open Editor"
-msgstr ""
+msgstr "Buksan ang Editor"
 
 #: editor/plugins/animation_blend_space_1d_editor.cpp
 #: editor/plugins/animation_blend_space_2d_editor.cpp
 #: editor/plugins/animation_blend_tree_editor_plugin.cpp
 #: editor/plugins/animation_state_machine_editor.cpp
 msgid "Open Animation Node"
-msgstr ""
+msgstr "Buksan ang Animation Node"
 
 #: editor/plugins/animation_blend_space_2d_editor.cpp
 msgid "Triangle already exists."
@@ -4638,7 +4644,7 @@ msgstr ""
 
 #: editor/plugins/animation_blend_space_2d_editor.cpp
 msgid "Add Triangle"
-msgstr ""
+msgstr "Magdagdag ng Tatsulok"
 
 #: editor/plugins/animation_blend_space_2d_editor.cpp
 msgid "Change BlendSpace2D Limits"
@@ -4722,12 +4728,12 @@ msgstr ""
 
 #: editor/plugins/animation_blend_tree_editor_plugin.cpp
 msgid "Set Animation"
-msgstr ""
+msgstr "Itakda ang Animasyon"
 
 #: editor/plugins/animation_blend_tree_editor_plugin.cpp
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Delete Node"
-msgstr ""
+msgstr "Burahin ang Node"
 
 #: editor/plugins/animation_blend_tree_editor_plugin.cpp
 #: editor/scene_tree_dock.cpp
@@ -4790,42 +4796,42 @@ msgstr ""
 
 #: editor/plugins/animation_player_editor_plugin.cpp
 msgid "Toggle Autoplay"
-msgstr ""
+msgstr "I-toggle ang Kusang Pagpapalabas"
 
 #: editor/plugins/animation_player_editor_plugin.cpp
 msgid "New Animation Name:"
-msgstr ""
+msgstr "Bagong Pangalan ng Animation:"
 
 #: editor/plugins/animation_player_editor_plugin.cpp
 msgid "New Anim"
-msgstr ""
+msgstr "Bagong Anim"
 
 #: editor/plugins/animation_player_editor_plugin.cpp
 msgid "Change Animation Name:"
-msgstr ""
+msgstr "Baguhin ang Pangalan ng Animasyon:"
 
 #: editor/plugins/animation_player_editor_plugin.cpp
 #: editor/plugins/sprite_frames_editor_plugin.cpp
 msgid "Delete Animation?"
-msgstr ""
+msgstr "Alisin ang Animation?"
 
 #: editor/plugins/animation_player_editor_plugin.cpp
 #: editor/plugins/sprite_frames_editor_plugin.cpp
 msgid "Remove Animation"
-msgstr ""
+msgstr "Alisin ang Animation"
 
 #: editor/plugins/animation_player_editor_plugin.cpp
 msgid "Invalid animation name!"
-msgstr ""
+msgstr "Di-wastong pangalan ng animation!"
 
 #: editor/plugins/animation_player_editor_plugin.cpp
 msgid "Animation name already exists!"
-msgstr ""
+msgstr "May nakapangalan na parehas sa Animation na ito!"
 
 #: editor/plugins/animation_player_editor_plugin.cpp
 #: editor/plugins/sprite_frames_editor_plugin.cpp
 msgid "Rename Animation"
-msgstr ""
+msgstr "Palitan ang Pangalan ng Animation"
 
 #: editor/plugins/animation_player_editor_plugin.cpp
 msgid "Duplicate Animation"
@@ -4861,7 +4867,7 @@ msgstr ""
 
 #: editor/plugins/animation_player_editor_plugin.cpp
 msgid "No animation to edit!"
-msgstr ""
+msgstr "Walang animasyong pinagtratrabauhan!"
 
 #: editor/plugins/animation_player_editor_plugin.cpp
 msgid "Play selected animation backwards from current pos. (A)"
@@ -4906,7 +4912,7 @@ msgstr "Bago"
 
 #: editor/plugins/animation_player_editor_plugin.cpp
 msgid "Edit Transitions..."
-msgstr ""
+msgstr "Ayusin ang mga Transisyon..."
 
 #: editor/plugins/animation_player_editor_plugin.cpp
 msgid "Open in Inspector"
@@ -4930,7 +4936,7 @@ msgstr ""
 
 #: editor/plugins/animation_player_editor_plugin.cpp
 msgid "Directions"
-msgstr ""
+msgstr "Mga Direksyon"
 
 #: editor/plugins/animation_player_editor_plugin.cpp
 msgid "Past"
@@ -5062,6 +5068,9 @@ msgid ""
 "RMB to add new nodes.\n"
 "Shift+LMB to create connections."
 msgstr ""
+"Magpili at maglipad ng mga node.\n"
+"RMB upang magdagdag ng bagong mga node.\n"
+"Shift+LMB upang gumawa ng mga bagong koneksyon."
 
 #: editor/plugins/animation_state_machine_editor.cpp
 msgid "Create new nodes."
@@ -5175,15 +5184,15 @@ msgstr ""
 
 #: editor/plugins/animation_tree_player_editor_plugin.cpp
 msgid "Delete Input"
-msgstr ""
+msgstr "Alisin ang Input"
 
 #: editor/plugins/animation_tree_player_editor_plugin.cpp
 msgid "Animation tree is valid."
-msgstr ""
+msgstr "Wasto ang animation tree."
 
 #: editor/plugins/animation_tree_player_editor_plugin.cpp
 msgid "Animation tree is invalid."
-msgstr ""
+msgstr "Di-wasto ang animation tree."
 
 #: editor/plugins/animation_tree_player_editor_plugin.cpp
 msgid "Animation Node"
@@ -5235,27 +5244,27 @@ msgstr ""
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Contents:"
-msgstr ""
+msgstr "Laman:"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "View Files"
-msgstr ""
+msgstr "Tignan ang mga File"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Download"
-msgstr ""
+msgstr "I-download"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Connection error, please try again."
-msgstr ""
+msgstr "Nabigo sa pagkonekta, maaring subukan muli."
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Can't connect."
-msgstr ""
+msgstr "Hindi makakonekta."
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Can't connect to host:"
-msgstr ""
+msgstr "Hindi makakonekta sa host:"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "No response from host:"
@@ -5271,7 +5280,7 @@ msgstr ""
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Can't resolve."
-msgstr ""
+msgstr "Hindi mai-resolba."
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Request failed, return code:"
@@ -5283,7 +5292,7 @@ msgstr ""
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Write error."
-msgstr ""
+msgstr "Nabigo sa pag-write."
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Request failed, too many redirects"
@@ -5303,55 +5312,55 @@ msgstr ""
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Failed:"
-msgstr ""
+msgstr "Nabigo:"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Bad download hash, assuming file has been tampered with."
-msgstr ""
+msgstr "Di-wastong download hash, inaakalang may gumalaw ng file."
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Expected:"
-msgstr ""
+msgstr "Inaasahan:"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Got:"
-msgstr ""
+msgstr "Natanggap:"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Failed SHA-256 hash check"
-msgstr ""
+msgstr "Nabigo sa pagsusuri ng SHA-256 hash"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Asset Download Error:"
-msgstr ""
+msgstr "Nabigo sa Pagdownload ng Asset:"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Downloading (%s / %s)..."
-msgstr ""
+msgstr "Dinadawnlowd (%s/%s)..."
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Downloading..."
-msgstr ""
+msgstr "Dinadawnlowd..."
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Resolving..."
-msgstr ""
+msgstr "Rineresolba..."
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Error making request"
-msgstr ""
+msgstr "Nabigo sa paggawa ng hiling"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Idle"
-msgstr ""
+msgstr "Nakatenga"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Install..."
-msgstr ""
+msgstr "I-install..."
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Retry"
-msgstr ""
+msgstr "Subukan muli"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Download Error"
@@ -5371,23 +5380,23 @@ msgstr ""
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Name (A-Z)"
-msgstr ""
+msgstr "Pangalan (A-Z)"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Name (Z-A)"
-msgstr ""
+msgstr "Pangalan (Z-A)"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "License (A-Z)"
-msgstr ""
+msgstr "Lisensya (A-Z)"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "License (Z-A)"
-msgstr ""
+msgstr "Lisensya (Z-A)"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "First"
-msgstr ""
+msgstr "Panguna"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Previous"
@@ -5403,7 +5412,7 @@ msgstr ""
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "All"
-msgstr ""
+msgstr "Lahat"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Search templates, projects, and demos"
@@ -5423,31 +5432,31 @@ msgstr ""
 
 #: editor/plugins/asset_library_editor_plugin.cpp editor/project_manager.cpp
 msgid "Sort:"
-msgstr ""
+msgstr "Ipagbukud-bukod:"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Category:"
-msgstr ""
+msgstr "Kaurian:"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Site:"
-msgstr ""
+msgstr "Site:"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Support"
-msgstr ""
+msgstr "Naka-alalay"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Official"
-msgstr ""
+msgstr "Opisyal"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Testing"
-msgstr ""
+msgstr "Sinusubukan"
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Loading..."
-msgstr ""
+msgstr "Nagloload..."
 
 #: editor/plugins/asset_library_editor_plugin.cpp
 msgid "Assets ZIP File"
@@ -5493,13 +5502,17 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr ""
 
 #: editor/plugins/camera_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Preview"
-msgstr ""
+msgstr "Pasilip"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Configure Snap"
@@ -5567,7 +5580,7 @@ msgstr ""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Rotate %d CanvasItems"
-msgstr ""
+msgstr "Paikutin ang (mga) %d Canvasitems"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Rotate CanvasItem \"%s\" to %d degrees"
@@ -5715,7 +5728,7 @@ msgid ""
 "Project Camera Override\n"
 "Overrides the running project's camera with the editor viewport camera."
 msgstr ""
-"Pagpapalit ng Kamera ng Proyekto\n"
+"Pagpapalit sa Kamera ng Proyekto\n"
 "Pinapalitan ang kamera ng tumatakbong proyekto sa kamera ng editor viewport."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
@@ -5729,12 +5742,12 @@ msgstr ""
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Lock Selected"
-msgstr ""
+msgstr "I-lock ang nakapili"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Unlock Selected"
-msgstr ""
+msgstr "I-unlock ang nakapili"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -5748,7 +5761,7 @@ msgstr "Ibuwag Ang Pangkat ng Napili"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Paste Pose"
-msgstr ""
+msgstr "I-pasta ang Pose"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Clear Guides"
@@ -5764,11 +5777,11 @@ msgstr "Alisin Ang Mga Buto"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Make IK Chain"
-msgstr ""
+msgstr "Lumikha ng IK Chain"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Clear IK Chain"
-msgstr ""
+msgstr "Alisin ang IK Chain"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid ""
@@ -5781,7 +5794,7 @@ msgstr ""
 #: editor/plugins/texture_region_editor_plugin.cpp
 #: editor/plugins/tile_set_editor_plugin.cpp scene/gui/graph_edit.cpp
 msgid "Zoom Reset"
-msgstr ""
+msgstr "Ibalik sa Dati ang Zoom"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -5810,10 +5823,12 @@ msgstr "V: Itakda ang posisyon ng pivot sa node."
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Alt+RMB: Show list of all nodes at position clicked, including locked."
 msgstr ""
+"Alt+RMB: Ipakita ang listahan ng lahat ng node at posisyong pinindutan, "
+"kabilang ang mga naka-lock."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "RMB: Add node at position clicked."
-msgstr ""
+msgstr "RMB: Magdagdag ng node sa posisyong pinindutan."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -5832,7 +5847,7 @@ msgstr "Paraan ng Pagpapalaki"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Shift: Scale proportionally."
-msgstr ""
+msgstr "Shift: Palakihin na pa-proporsyonal."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -5861,7 +5876,7 @@ msgstr ""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Use Smart Snap"
-msgstr ""
+msgstr "Gamitin ang Smart Snap"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Toggle grid snapping."
@@ -5931,14 +5946,13 @@ msgstr ""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid "Lock Selected Node(s)"
-msgstr "Doblehin ang (mga) Napiling Key"
+msgstr "I-lock ang Nakapiling (mga) Node"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
 msgid "Unlock the selected object (can be moved)."
-msgstr ""
+msgstr "I-Unlock ang Napiling Object (maaring galawin)."
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -5964,9 +5978,8 @@ msgstr ""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 #: editor/plugins/spatial_editor_plugin.cpp
-#, fuzzy
 msgid "Ungroup Selected Node(s)"
-msgstr "Ibuwag Ang Pangkat ng Napili"
+msgstr "Ibuwag Ang Pangkat ng (mga) Napiling Node"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Skeleton Options"
@@ -5991,7 +6004,7 @@ msgstr "Tingnan"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Always Show Grid"
-msgstr ""
+msgstr "Parating Ipakita ang Grid"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Show Helpers"
@@ -6095,11 +6108,11 @@ msgstr ""
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Zoom to 3.125%"
-msgstr ""
+msgstr "I-zoom sa 3.125%"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Zoom to 6.25%"
-msgstr ""
+msgstr "I-zoom sa 6.25%"
 
 #: editor/plugins/canvas_item_editor_plugin.cpp
 msgid "Zoom to 12.5%"
@@ -6168,15 +6181,15 @@ msgstr ""
 
 #: editor/plugins/collision_polygon_editor_plugin.cpp
 msgid "Create Polygon3D"
-msgstr ""
+msgstr "Gumawa ng Polygon3D"
 
 #: editor/plugins/collision_polygon_editor_plugin.cpp
 msgid "Edit Poly"
-msgstr ""
+msgstr "Ayusin ang Poly"
 
 #: editor/plugins/collision_polygon_editor_plugin.cpp
 msgid "Edit Poly (Remove Point)"
-msgstr ""
+msgstr "Ayusin ang Poly (Magalis ng Punto)"
 
 #: editor/plugins/collision_shape_2d_editor_plugin.cpp
 msgid "Set Handle"
@@ -6192,7 +6205,7 @@ msgstr ""
 #: editor/plugins/particles_2d_editor_plugin.cpp
 #: editor/plugins/particles_editor_plugin.cpp
 msgid "Restart"
-msgstr ""
+msgstr "Simulan muli"
 
 #: editor/plugins/cpu_particles_2d_editor_plugin.cpp
 #: editor/plugins/particles_2d_editor_plugin.cpp
@@ -6247,12 +6260,12 @@ msgstr ""
 #: editor/plugins/cpu_particles_editor_plugin.cpp
 #: editor/plugins/particles_editor_plugin.cpp
 msgid "Create Emission Points From Mesh"
-msgstr ""
+msgstr "Gumawa ng mga Punto ng Bugahan Galing sa Mesh"
 
 #: editor/plugins/cpu_particles_editor_plugin.cpp
 #: editor/plugins/particles_editor_plugin.cpp
 msgid "Create Emission Points From Node"
-msgstr ""
+msgstr "Gumawa ng mga Punto ng Bugahan Galing sa Node"
 
 #: editor/plugins/curve_editor_plugin.cpp
 msgid "Flat 0"
@@ -6264,11 +6277,11 @@ msgstr ""
 
 #: editor/plugins/curve_editor_plugin.cpp editor/property_editor.cpp
 msgid "Ease In"
-msgstr ""
+msgstr "Suwabeng Pagpasok"
 
 #: editor/plugins/curve_editor_plugin.cpp editor/property_editor.cpp
 msgid "Ease Out"
-msgstr ""
+msgstr "Suwabeng Paglabas"
 
 #: editor/plugins/curve_editor_plugin.cpp
 msgid "Smoothstep"
@@ -6288,11 +6301,11 @@ msgstr ""
 
 #: editor/plugins/curve_editor_plugin.cpp
 msgid "Add Point"
-msgstr ""
+msgstr "Magdagdag ng Punto"
 
 #: editor/plugins/curve_editor_plugin.cpp
 msgid "Remove Point"
-msgstr ""
+msgstr "Magalis ng Punto"
 
 #: editor/plugins/curve_editor_plugin.cpp
 msgid "Left Linear"
@@ -7242,16 +7255,16 @@ msgstr ""
 #: editor/plugins/script_editor_plugin.cpp
 #: editor/plugins/script_text_editor.cpp
 msgid "Find Next"
-msgstr ""
+msgstr "Hanapin ang Susunod"
 
 #: editor/plugins/script_editor_plugin.cpp
 #: editor/plugins/script_text_editor.cpp
 msgid "Find Previous"
-msgstr ""
+msgstr "Hanapin ang Nakaraan"
 
 #: editor/plugins/script_editor_plugin.cpp
 msgid "Filter scripts"
-msgstr ""
+msgstr "Salain ang mga skrip"
 
 #: editor/plugins/script_editor_plugin.cpp
 msgid "Toggle alphabetical sorting of the method list."
@@ -7291,15 +7304,15 @@ msgstr ""
 
 #: editor/plugins/script_editor_plugin.cpp
 msgid "Open..."
-msgstr ""
+msgstr "Buksan..."
 
 #: editor/plugins/script_editor_plugin.cpp
 msgid "Reopen Closed Script"
-msgstr ""
+msgstr "Buksan Muli ang Naisarang Skrip"
 
 #: editor/plugins/script_editor_plugin.cpp
 msgid "Save All"
-msgstr ""
+msgstr "I-ligtas Lahat"
 
 #: editor/plugins/script_editor_plugin.cpp
 msgid "Soft Reload Script"
@@ -7416,7 +7429,7 @@ msgstr ""
 
 #: editor/plugins/script_editor_plugin.cpp
 msgid "Search Results"
-msgstr ""
+msgstr "Bunga ng Paghahanap"
 
 #: editor/plugins/script_editor_plugin.cpp
 msgid "Clear Recent Scripts"
@@ -7449,7 +7462,7 @@ msgstr ""
 
 #: editor/plugins/script_text_editor.cpp
 msgid "Go to Function"
-msgstr ""
+msgstr "Tumungo sa Punsyon"
 
 #: editor/plugins/script_text_editor.cpp
 msgid "Only resources from filesystem can be dropped."
@@ -7500,29 +7513,29 @@ msgstr ""
 #: editor/plugins/script_text_editor.cpp
 #: editor/plugins/shader_editor_plugin.cpp editor/plugins/text_editor.cpp
 msgid "Go To"
-msgstr ""
+msgstr "Pumunta sa"
 
 #: editor/plugins/script_text_editor.cpp editor/scene_tree_dock.cpp
 #: scene/gui/line_edit.cpp scene/gui/text_edit.cpp
 msgid "Cut"
-msgstr ""
+msgstr "Gupitin"
 
 #: editor/plugins/script_text_editor.cpp editor/plugins/theme_editor_plugin.cpp
 #: scene/gui/line_edit.cpp scene/gui/text_edit.cpp
 msgid "Select All"
-msgstr ""
+msgstr "Piliin Lahat"
 
 #: editor/plugins/script_text_editor.cpp
 msgid "Delete Line"
-msgstr ""
+msgstr "Burahin ang Linya"
 
 #: editor/plugins/script_text_editor.cpp
 msgid "Indent Left"
-msgstr ""
+msgstr "I-urong Pakaliwa"
 
 #: editor/plugins/script_text_editor.cpp
 msgid "Indent Right"
-msgstr ""
+msgstr "I-urong Pakanan"
 
 #: editor/plugins/script_text_editor.cpp
 msgid "Toggle Comment"
@@ -7595,11 +7608,11 @@ msgstr ""
 
 #: editor/plugins/script_text_editor.cpp
 msgid "Go to Function..."
-msgstr ""
+msgstr "Pumunta sa Punsyon..."
 
 #: editor/plugins/script_text_editor.cpp
 msgid "Go to Line..."
-msgstr ""
+msgstr "Pumunta sa Linya..."
 
 #: editor/plugins/script_text_editor.cpp
 #: modules/visual_script/visual_script_editor.cpp
@@ -7930,7 +7943,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8808,6 +8826,11 @@ msgid "Select Another Theme Resource:"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "Baguhin ang Pangalan ng Resource"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -8857,6 +8880,20 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr "Magdagdag ng Bagong Uri ng Item"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "Ibahin ang Punong-Uri"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Ibahin ang Punong-Uri"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr "Ipakita ang Karaniwan"
 
@@ -8873,8 +8910,19 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
-msgstr "Magdagdag ng Bagong Uri ng Item"
+#, fuzzy
+msgid "Base Type"
+msgstr "Ibahin ang Punong-Uri"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Theme:"
@@ -9559,18 +9607,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "Mga Tugma:"
@@ -10922,47 +10958,47 @@ msgstr ""
 
 #: editor/project_manager.cpp
 msgid "Scan"
-msgstr ""
+msgstr "Maghanap"
 
 #: editor/project_manager.cpp
 msgid "Scan Projects"
-msgstr ""
+msgstr "Maghanap ng mga Proyekto"
 
 #: editor/project_manager.cpp
 msgid "Select a Folder to Scan"
-msgstr ""
+msgstr "Pumili ng Folder na Paghahanapan"
 
 #: editor/project_manager.cpp
 msgid "New Project"
-msgstr ""
+msgstr "Bagong Proyekto"
 
 #: editor/project_manager.cpp
 msgid "Import Project"
-msgstr ""
+msgstr "Mag-angkat ng Proyekto"
 
 #: editor/project_manager.cpp
 msgid "Remove Project"
-msgstr ""
+msgstr "Alisin ang Proyekto"
 
 #: editor/project_manager.cpp
 msgid "Remove Missing"
-msgstr ""
+msgstr "Alisin ang Nawawala"
 
 #: editor/project_manager.cpp
 msgid "About"
-msgstr "Tungkol sa Godot"
+msgstr "Tungkol dito"
 
 #: editor/project_manager.cpp
 msgid "Asset Library Projects"
-msgstr ""
+msgstr "Mga Proyekto mula sa Asset Library"
 
 #: editor/project_manager.cpp
 msgid "Restart Now"
-msgstr ""
+msgstr "I-restart"
 
 #: editor/project_manager.cpp
 msgid "Remove All"
-msgstr ""
+msgstr "Alisin Lahat"
 
 #: editor/project_manager.cpp
 msgid "Also delete project contents (no undo!)"
@@ -10970,17 +11006,20 @@ msgstr ""
 
 #: editor/project_manager.cpp
 msgid "Can't run project"
-msgstr ""
+msgstr "Hindi mapatakbo ang proyekto"
 
 #: editor/project_manager.cpp
 msgid ""
 "You currently don't have any projects.\n"
 "Would you like to explore official example projects in the Asset Library?"
 msgstr ""
+"Kasalukuyang wala ka pang mga proyekto.\n"
+"Gusto mo bang pumunta sa mga opisyal na halimbawang proyekto sa Asset "
+"Library?"
 
 #: editor/project_manager.cpp
 msgid "Filter projects"
-msgstr ""
+msgstr "Salain ang mga proyekto"
 
 #: editor/project_manager.cpp
 msgid ""
@@ -10988,6 +11027,10 @@ msgid ""
 "To filter projects by name and full path, the query must contain at least "
 "one `/` character."
 msgstr ""
+"Ang patlang na ito ay nagsasala sa mga proyekto ayon sa pangalan at hulihang "
+"path component. \n"
+"Upang sumala ng mga proyekto ayon sa pangalan at full path, dapat mayroong "
+"kahit isang '/' na karakter sa paghahanap."
 
 #: editor/project_settings_editor.cpp
 msgid "Physical Key"
@@ -12136,6 +12179,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Salain ang mga hudyat"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -12153,7 +12201,7 @@ msgstr ""
 
 #: editor/script_editor_debugger.cpp
 msgid "Monitors"
-msgstr ""
+msgstr "Mga Tagasubaybay"
 
 #: editor/script_editor_debugger.cpp
 msgid "Pick one or more items from the list to display the graph."
@@ -13010,30 +13058,28 @@ msgid "Edit Member"
 msgstr "Ayusin ang Kasapi"
 
 #: modules/visual_script/visual_script_expression.cpp
-#, fuzzy
 msgid "Expression"
-msgstr "Ibahin ang Ekspresyon"
+msgstr "Ekspresyon"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "Return"
 msgstr ""
 
 #: modules/visual_script/visual_script_flow_control.cpp
-#, fuzzy
 msgid "Condition"
-msgstr "animation"
+msgstr "Kondisyon"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "if (cond) is:"
-msgstr ""
+msgstr "if (kondisyon) ay:"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "While"
-msgstr ""
+msgstr "While"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "while (cond):"
-msgstr ""
+msgstr "while (kondisyon):"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "Iterator"
@@ -13045,11 +13091,11 @@ msgstr ""
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "Input type not iterable: "
-msgstr ""
+msgstr "Hindi iterable ang uri ng input: "
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "Iterator became invalid"
-msgstr ""
+msgstr "Naging invalid ang Iterator"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "Iterator became invalid: "
@@ -13065,7 +13111,7 @@ msgstr ""
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "Switch"
-msgstr ""
+msgstr "Switch"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "'input' is:"
@@ -13078,7 +13124,7 @@ msgstr "Mga Uri:"
 
 #: modules/visual_script/visual_script_flow_control.cpp
 msgid "Is %s?"
-msgstr ""
+msgstr "%s ba?"
 
 #: modules/visual_script/visual_script_func_nodes.cpp
 msgid "On %s"
@@ -13351,7 +13397,7 @@ msgstr ""
 
 #: platform/android/export/export_plugin.cpp
 msgid "Exporting APK..."
-msgstr ""
+msgstr "Iniluluwas ang APK..."
 
 #: platform/android/export/export_plugin.cpp
 msgid "Uninstalling..."
@@ -13367,7 +13413,7 @@ msgstr ""
 
 #: platform/android/export/export_plugin.cpp
 msgid "Running on device..."
-msgstr ""
+msgstr "Tumatakbo sa device..."
 
 #: platform/android/export/export_plugin.cpp
 msgid "Could not execute on device."
@@ -13433,7 +13479,7 @@ msgstr ""
 
 #: platform/android/export/export_plugin.cpp
 msgid "Invalid public key for APK expansion."
-msgstr ""
+msgstr "Di-wastong public key para sa APK expansion."
 
 #: platform/android/export/export_plugin.cpp
 msgid "Invalid package name:"
@@ -13443,6 +13489,9 @@ msgstr "Di-wastong pangalan para sa pakete:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
@@ -13504,11 +13553,11 @@ msgstr "nagbalik ng may pagkakabigong #%d ang 'apksigner'"
 
 #: platform/android/export/export_plugin.cpp
 msgid "Verifying %s..."
-msgstr ""
+msgstr "Pinapatunayan ang %s..."
 
 #: platform/android/export/export_plugin.cpp
 msgid "'apksigner' verification of %s failed."
-msgstr ""
+msgstr "Nabigo ang pagpapatunay ng 'apksigner' ng %s."
 
 #: platform/android/export/export_plugin.cpp
 msgid "Exporting for Android"
@@ -13561,7 +13610,7 @@ msgstr ""
 
 #: platform/android/export/export_plugin.cpp
 msgid "Building Android Project (gradle)"
-msgstr ""
+msgstr "Binibuild ang Android Project (gradle)"
 
 #: platform/android/export/export_plugin.cpp
 msgid ""
@@ -13585,13 +13634,15 @@ msgstr ""
 
 #: platform/android/export/export_plugin.cpp
 msgid "Creating APK..."
-msgstr ""
+msgstr "Nililikha ang APK..."
 
 #: platform/android/export/export_plugin.cpp
 msgid ""
 "Could not find template APK to export:\n"
 "%s"
 msgstr ""
+"Walang mahanap na template APK upang iluwas:\n"
+"%s"
 
 #: platform/android/export/export_plugin.cpp
 msgid ""
@@ -13603,11 +13654,11 @@ msgstr ""
 
 #: platform/android/export/export_plugin.cpp
 msgid "Adding files..."
-msgstr ""
+msgstr "Dinadagdag ang mga file..."
 
 #: platform/android/export/export_plugin.cpp
 msgid "Could not export project files"
-msgstr ""
+msgstr "Hindi mai-luwas ang mga project file"
 
 #: platform/android/export/export_plugin.cpp
 msgid "Aligning APK..."
@@ -13635,11 +13686,11 @@ msgstr ""
 
 #: platform/javascript/export/export.cpp
 msgid "Stop HTTP Server"
-msgstr ""
+msgstr "Ihinto ang HTTP Server"
 
 #: platform/javascript/export/export.cpp
 msgid "Run in Browser"
-msgstr ""
+msgstr "Patakbuhin sa Browser"
 
 #: platform/javascript/export/export.cpp
 msgid "Run exported HTML in the system's default browser."
@@ -13703,9 +13754,8 @@ msgid "Failed to extract thin binary."
 msgstr ""
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid binary format."
-msgstr "Di-wastong pangalan."
+msgstr "Di-wastong binary format."
 
 #: platform/osx/export/codesign.cpp
 msgid "Already signed!"
diff --git a/editor/translations/tr.po b/editor/translations/tr.po
index 87535e17f4..81253d421c 100644
--- a/editor/translations/tr.po
+++ b/editor/translations/tr.po
@@ -1539,6 +1539,11 @@ msgstr "Varsayılan Bus Yerleşim Düzenini Yükle."
 msgid "Create a new Bus Layout."
 msgstr "Yeni bir Bus Yerleşim Düzeni oluştur."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Audio Bus Yerleşim Düzenini Aç"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Geçersiz ad."
@@ -2981,7 +2986,7 @@ msgstr "Dikkat-Dağıtmayan Kipine geç."
 msgid "Add a new scene."
 msgstr "Yeni bir sahne ekle."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Sahne"
 
@@ -5756,6 +5761,10 @@ msgid "Bake Lightmaps"
 msgstr "Işık-Haritalarını Pişir"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "Işık Haritası pişirme dosyası seçiniz:"
 
@@ -8235,7 +8244,13 @@ msgid "Cinematic Preview"
 msgstr "Sinematik Önizleme"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "GLES2 işleyici kullanılırken kullanılamaz."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9130,6 +9145,11 @@ msgid "Select Another Theme Resource:"
 msgstr "Başka Bir Tema Kaynağı Seçin:"
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "Kaynağı Yeniden Adlandır"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr "BaÅŸka Bir Tema"
 
@@ -9178,6 +9198,20 @@ msgstr ""
 "tipteki diğer tüm StyleBox'larda aynı özellikleri güncelleyecektir."
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr "Öğe Türü Ekle"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "DeÄŸiÅŸken Tipini Ayarla"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Temel Tipi DeÄŸiÅŸtir"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr "Varsayılanı Göster"
 
@@ -9194,8 +9228,19 @@ msgid "Override all default type items."
 msgstr "Tüm varsayılan tür öğelerini geçersiz kıl."
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
-msgstr "Öğe Türü Ekle"
+#, fuzzy
+msgid "Base Type"
+msgstr "Temel Tipi DeÄŸiÅŸtir"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Theme:"
@@ -9899,18 +9944,6 @@ msgid "Commit list size"
 msgstr "Ä°ÅŸlem listesi boyutu"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr "10"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr "20"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr "30"
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr "Dallar"
 
@@ -12642,6 +12675,11 @@ msgid "Stack Frames"
 msgstr "Çerçeveleri Yığ"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Döşemelerde Bul"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "Kesitçi"
 
@@ -13963,9 +14001,10 @@ msgstr "Geçersiz paket ismi:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"Geçersiz \"GodotPaymentV3\" modülü \"android/modüller\" proje ayarına dahil "
-"edildi (Godot 3.2.2'de deÄŸiÅŸtirildi).\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
diff --git a/editor/translations/tt.po b/editor/translations/tt.po
index 8459c61d41..afad464d26 100644
--- a/editor/translations/tt.po
+++ b/editor/translations/tt.po
@@ -1438,6 +1438,10 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+msgid "Audio Bus Layout"
+msgstr ""
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -2787,7 +2791,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5429,6 +5433,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr ""
 
@@ -7854,7 +7862,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8729,6 +8742,10 @@ msgid "Select Another Theme Resource:"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Theme Resource"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -8775,6 +8792,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr ""
 
@@ -8791,7 +8820,17 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+msgid "Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9469,18 +9508,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr ""
 
@@ -12034,6 +12061,10 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+msgid "Filter stack variables"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13317,6 +13348,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/tzm.po b/editor/translations/tzm.po
index 3b2ebd6275..478dc7420f 100644
--- a/editor/translations/tzm.po
+++ b/editor/translations/tzm.po
@@ -1436,6 +1436,10 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+msgid "Audio Bus Layout"
+msgstr ""
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -2785,7 +2789,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5427,6 +5431,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr ""
 
@@ -7852,7 +7860,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8727,6 +8740,10 @@ msgid "Select Another Theme Resource:"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Theme Resource"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -8773,6 +8790,18 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Variation Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Set Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr ""
 
@@ -8789,7 +8818,17 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+msgid "Base Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9465,18 +9504,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr ""
 
@@ -12030,6 +12057,10 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+msgid "Filter stack variables"
+msgstr ""
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13313,6 +13344,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/uk.po b/editor/translations/uk.po
index 63a2ecc734..d5e68f8a84 100644
--- a/editor/translations/uk.po
+++ b/editor/translations/uk.po
@@ -23,7 +23,7 @@ msgstr ""
 "Project-Id-Version: Ukrainian (Godot Engine)\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
 "POT-Creation-Date: \n"
-"PO-Revision-Date: 2022-01-24 02:05+0000\n"
+"PO-Revision-Date: 2022-02-16 16:36+0000\n"
 "Last-Translator: Yuri Chornoivan <yurchor@ukr.net>\n"
 "Language-Team: Ukrainian <https://hosted.weblate.org/projects/godot-engine/"
 "godot/uk/>\n"
@@ -1497,6 +1497,11 @@ msgstr "Завантажити типове компонуванн� шини."
 msgid "Create a new Bus Layout."
 msgstr "Створенн� нового компонуванн� шини."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Відкрити компонуванн� аудіо шини"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "�екоректна назва."
@@ -2117,7 +2122,6 @@ msgstr "Кла�:"
 
 #: editor/editor_help.cpp editor/scene_tree_editor.cpp
 #: editor/script_create_dialog.cpp
-#, fuzzy
 msgid "Inherits:"
 msgstr "У�падковує:"
 
@@ -2884,9 +2888,8 @@ msgstr "Видалити компонуванн�"
 
 #: editor/editor_node.cpp editor/import_dock.cpp
 #: editor/script_create_dialog.cpp
-#, fuzzy
 msgid "Default"
-msgstr "За замовчуванн�м"
+msgstr "Типовий"
 
 #: editor/editor_node.cpp editor/editor_resource_picker.cpp
 #: editor/plugins/script_editor_plugin.cpp editor/property_editor.cpp
@@ -2949,7 +2952,7 @@ msgstr "Перемкнути режим без відволіканн�."
 msgid "Add a new scene."
 msgstr "Додати нову �цену."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Сцена"
 
@@ -3325,14 +3328,12 @@ msgid "Update Continuously"
 msgstr "Оновлювати неперервно"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update All Changes"
-msgstr "Оновлювати при зміні"
+msgstr "Оновити у�і зміни"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update Vital Changes"
-msgstr "Зміни матеріалу:"
+msgstr "Оновити критичні зміни"
 
 #: editor/editor_node.cpp
 msgid "Hide Update Spinner"
@@ -4111,6 +4112,11 @@ msgid ""
 "After renaming to an unknown extension, the file won't be shown in the "
 "editor anymore."
 msgstr ""
+"Цей �уфік� назв файлів не розпізнано редактором.\n"
+"Якщо ви хочете виконати перейменуванн� попри це, �кори�тайте�� програмою дл� "
+"керуванн� файлами операційної �и�теми.\n"
+"Пі�л� перейменовуванн� із за�то�уванн�м невідомого �уфік�а назви, редактор "
+"більше не показуватиме файл у �пи�ку."
 
 #: editor/filesystem_dock.cpp
 msgid ""
@@ -5731,6 +5737,10 @@ msgid "Bake Lightmaps"
 msgstr "Запікати карти о�вітленн�"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "Виберіть файл приготуванн� карти о�вітленн�:"
 
@@ -8218,7 +8228,13 @@ msgid "Cinematic Preview"
 msgstr "Кінематичний перегл�д"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "Є недо�тупним, �кщо викори�товуєть�� обробник GLES2."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9115,6 +9131,11 @@ msgid "Select Another Theme Resource:"
 msgstr "Виберіть ре�ур� іншої теми:"
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "Перейменувати ре�ур�"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr "Інша тема"
 
@@ -9164,6 +9185,20 @@ msgstr ""
 "цього типу."
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr "Додати тип запи�у"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "В�тановити тип змінної"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Змінити базовий тип"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr "Показати типовий"
 
@@ -9181,8 +9216,19 @@ msgid "Override all default type items."
 msgstr "Перевизначити у�і запи�и �тандартних типів."
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
-msgstr "Додати тип запи�у"
+#, fuzzy
+msgid "Base Type"
+msgstr "Змінити базовий тип"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Theme:"
@@ -9890,18 +9936,6 @@ msgid "Commit list size"
 msgstr "Розмір �пи�ку вне�ку"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr "10"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr "20"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr "30"
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr "Гілки"
 
@@ -12655,6 +12689,11 @@ msgid "Stack Frames"
 msgstr "Сто�увати кадри"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "Фільтрувати плитки"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "За�іб профілюванн�"
 
@@ -12828,14 +12867,12 @@ msgid "Set Occluder Sphere Position"
 msgstr "В�тановити позицію �фери закупорюванн�"
 
 #: editor/spatial_editor_gizmos.cpp
-#, fuzzy
 msgid "Set Occluder Polygon Point Position"
-msgstr "Задати положенн� точки порталу"
+msgstr "Задати розташуванн� точки затінювального багатокутника"
 
 #: editor/spatial_editor_gizmos.cpp
-#, fuzzy
 msgid "Set Occluder Hole Point Position"
-msgstr "Задати положенн� точки кривої"
+msgstr "Задати розташуванн� точки отвору затінюванн�"
 
 #: modules/csg/csg_gizmos.cpp
 msgid "Change Cylinder Radius"
@@ -13978,9 +14015,10 @@ msgstr "�екоректна назва пакунка:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"�екоректний модуль «GodotPaymentV3» включено до параметрів проєкту «android/"
-"modules» (змінено у Godot 3.2.2).\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
@@ -14250,166 +14288,167 @@ msgstr "Помилка під ча� �проби запу�ку �ервера
 
 #: platform/osx/export/codesign.cpp
 msgid "Can't get filesystem access."
-msgstr ""
+msgstr "�е вдало�� отримати до�туп до файлової �и�теми."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to get Info.plist hash."
-msgstr ""
+msgstr "�е вдало�� отримати хеш-�уму Info.plist."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid Info.plist, no exe name."
-msgstr "�екоректна назва проєкту."
+msgstr "�екоректний вмі�т Info.plist — немає назви виконуваного файла."
 
 #: platform/osx/export/codesign.cpp
 msgid "Invalid Info.plist, no bundle id."
-msgstr ""
+msgstr "�екоректний вмі�т Info.plist — немає ідентифікатора комплекту."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid Info.plist, can't load."
-msgstr "�екоректна геометрі�, неможливо �творити багатокутник."
+msgstr "�екоректний вмі�т Info.plist — не вдало�� завантажити."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to create \"%s\" subfolder."
-msgstr "�еможливо �творити теку."
+msgstr "�е вдало�� �творити підтеку «%s»."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to extract thin binary."
-msgstr ""
+msgstr "�е вдало�� видобути «тонкі» двійкові дані."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid binary format."
-msgstr "�екоректний базовий шл�х."
+msgstr "�екоректний формат двійкових даних."
 
 #: platform/osx/export/codesign.cpp
 msgid "Already signed!"
-msgstr ""
+msgstr "Вже підпи�ано!"
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to process nested resources."
-msgstr "�е вдало�� завантажити ре�ур�."
+msgstr "�е вдало�� обробити вкладені ре�ур�и."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to create _CodeSignature subfolder."
-msgstr ""
+msgstr "�е вдало�� �творити підтеку _CodeSignature."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to get CodeResources hash."
-msgstr "�е вдало�� завантажити ре�ур�."
+msgstr "�е вдало�� отримати хеш-�уму CodeResources."
 
 #: platform/osx/export/codesign.cpp platform/osx/export/export.cpp
-#, fuzzy
 msgid "Invalid entitlements file."
-msgstr "�екоректний �уфік�."
+msgstr "�екоректний файл найменувань."
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid executable file."
-msgstr "�екоректний �уфік�."
+msgstr "�екоректний виконуваний файл."
 
 #: platform/osx/export/codesign.cpp
 msgid "Can't resize signature load command."
-msgstr ""
+msgstr "�е вдало�� змінити розмір команди завантаженн� підпи�у."
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to create fat binary."
-msgstr ""
+msgstr "�е вдало�� �творити «тов�ті» двійкові дані."
 
 #: platform/osx/export/codesign.cpp
 msgid "Unknown bundle type."
-msgstr ""
+msgstr "�евідомий тип комплекту."
 
 #: platform/osx/export/codesign.cpp
 msgid "Unknown object type."
-msgstr ""
+msgstr "�евідомий тип об'єктів."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Note: The notarization process generally takes less than an hour. When the "
 "process is completed, you'll receive an email."
 msgstr ""
+"Зауваженн�: процедура за�відченн�, загалом, триває не більше години. Щойно "
+"процедуру буде завершено, ви отримаєте повідомленн� електронною поштою."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "You can check progress manually by opening a Terminal and running the "
 "following command:"
 msgstr ""
+"Ви можете �тежити за по�тупом вручну — відкрийте термінал і віддайте у ньому "
+"таку команду:"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Run the following command to staple the notarization ticket to the exported "
 "application (optional):"
 msgstr ""
+"Віддайте таку команду дл� долученн� квитка за�відченн� до ек�портованої "
+"програми (необов'�зкова процедура):"
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "No identity found."
-msgstr "Піктограм не знайдено."
+msgstr "�е знайдено профілю."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Creating app bundle"
-msgstr "Створюємо мініатюру"
+msgstr "Створюємо комплект програми"
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Could not find template app to export:"
-msgstr ""
-"�е вдало�� знайти шаблон APK дл� ек�портуванн�:\n"
-"%s"
+msgstr "�е вдало�� знайти програму-шаблон дл� ек�портуванн�:"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Relative symlinks are not supported on this OS, the exported project might "
 "be broken!"
 msgstr ""
+"У цій операційній �и�темі не передбачено підтримки відно�них �имволічних "
+"по�илань. Ек�портований проєкт може ви�вити�� непрацездатним!"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Requested template binary '%s' not found. It might be missing from your "
 "template archive."
 msgstr ""
+"�е знайдено двійкового файла шаблона «%s». Ймовірно, його немає у вашому "
+"архіві шаблона."
 
 #: platform/osx/export/export.cpp
 msgid "Making PKG"
-msgstr ""
+msgstr "Створюємо PKG"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Ad-hoc signed applications require the 'Disable Library Validation' "
 "entitlement to load dynamic libraries."
 msgstr ""
+"Дл� одноразово підпи�аних програм потрібен параметр «Вимкнути перевірку "
+"бібліотек» дл� завантаженн� динамічних бібліотек."
 
 #: platform/osx/export/export.cpp
 msgid "Code signing bundle"
-msgstr ""
+msgstr "Комплект із підпи�уванн�м коду"
 
 #: platform/osx/export/export.cpp
 msgid "Making DMG"
-msgstr ""
+msgstr "Створюємо DMG"
 
 #: platform/osx/export/export.cpp
 msgid "Code signing DMG"
-msgstr ""
+msgstr "DMG із підпи�уванн�м коду"
 
 #: platform/osx/export/export.cpp
 msgid "Making ZIP"
-msgstr ""
+msgstr "Створюємо ZIP"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Notarization requires the app to be archived first, select the DMG or ZIP "
 "export format instead."
 msgstr ""
+"Дл� за�відченн� програму �лід �початку архівувати. Виберіть замі�ть "
+"поточного формат ек�портуванн� DMG або ZIP."
 
 #: platform/osx/export/export.cpp
 msgid "Sending archive for notarization"
-msgstr ""
+msgstr "�ад�илаємо архів дл� за�відченн�"
 
 #: platform/osx/export/export.cpp
 msgid "Invalid bundle identifier:"
@@ -14420,31 +14459,36 @@ msgid ""
 "Warning: Built-in \"codesign\" is selected in the Editor Settings. Code "
 "signing is limited to ad-hoc signature only."
 msgstr ""
+"Попередженн�: у параметрах редактора вибрано вбудований «codesign». "
+"Підпи�уванн� коду обмежено одноразовим підпи�ом."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Warning: Xcode command line tools are not installed, using built-in "
 "\"codesign\". Code signing is limited to ad-hoc signature only."
 msgstr ""
+"Попередженн�: не в�тановлено ін�трументи командного р�дка Xcode, "
+"викори�товуємо вбудований «codesign». Підпи�уванн� коду обмежено одноразовим "
+"підпи�ом."
 
 #: platform/osx/export/export.cpp
 msgid "Notarization: Notarization with an ad-hoc signature is not supported."
 msgstr ""
+"За�відченн�: підтримки за�відченн� із одноразовим підпи�ом не передбачено."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Code signing is required for notarization."
-msgstr "За�відченн�: потрібен код підпи�уванн�."
+msgstr "За�відченн�: дл� за�відченн� потрібне підпи�уванн� коду."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Hardened runtime is required for notarization."
-msgstr "За�відченн�: потрібне �тійке �ередовище запу�ку."
+msgstr "За�відченн�: дл� за�відченн� потрібне �тійке �ередовище запу�ку."
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Timestamp runtime is required for notarization."
-msgstr "За�відченн�: потрібне �тійке �ередовище запу�ку."
+msgstr ""
+"За�відченн�: дл� за�відченн� потрібне �ередовище запу�ку із ча�овими "
+"позначками."
 
 #: platform/osx/export/export.cpp
 msgid "Notarization: Apple ID name not specified."
@@ -14459,63 +14503,86 @@ msgid ""
 "Warning: Notarization is disabled. The exported project will be blocked by "
 "Gatekeeper if it's downloaded from an unknown source."
 msgstr ""
+"Попередженн�: за�відченн� вимкнено. Ек�портований проєкт буде заблоковано "
+"Gatekeeper, �кщо його отримано з невідомого джерела."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Code signing is disabled. The exported project will not run on Macs with "
 "enabled Gatekeeper and Apple Silicon powered Macs."
 msgstr ""
+"Підпи�уванн� коду вимкнено. Ек�портований проєкт не запу�катиметь�� на Macіз "
+"Gatekeeper та Mac на о�нові Apple Silicon."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Hardened Runtime is not compatible with ad-hoc signature, and will be "
 "disabled!"
 msgstr ""
+"Стійке �ередовище запу�ку є не�умі�ним із одноразовим підпи�ом — його буде "
+"вимкнено!"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Timestamping is not compatible with ad-hoc signature, and will be disabled!"
 msgstr ""
+"Викори�танн� ча�ових позначок є не�умі�ним із одноразовим підпи�ом — його "
+"буде вимкнено!"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Warning: Notarization is not supported from this OS. The exported project "
 "will be blocked by Gatekeeper if it's downloaded from an unknown source."
 msgstr ""
+"Попередженн�: підтримки за�відченн� у цій операційній �и�темі не "
+"передбачено. Ек�портований проєкт буде заблоковано Gatekeeper, �кщо його "
+"отримано із невідомого джерела."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Microphone access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Конфіденційні�ть: увімкнено до�туп до мікрофона, але опи� викори�танн� не "
+"вказано."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Camera access is enabled, but usage description is not specified."
 msgstr ""
+"Конфіденційні�ть: увімкнено до�туп до камери, але опи� викори�танн� не "
+"вказано."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Location information access is enabled, but usage description is "
 "not specified."
 msgstr ""
+"Конфіденційні�ть: увімкнено до�туп до даних щодо мі�ц� перебуванн�, але опи� "
+"викори�танн� не вказано."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Address book access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Конфіденційні�ть: увімкнено до�туп до адре�ної книги, але опи� викори�танн� "
+"не вказано."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Calendar access is enabled, but usage description is not specified."
 msgstr ""
+"Конфіденційні�ть: увімкнено до�туп до календар�, але опи� викори�танн� не "
+"вказано."
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Photo library access is enabled, but usage description is not "
 "specified."
 msgstr ""
+"Конфіденційні�ть: увімкнено до�туп до бібліотеки фотографій, але опи� "
+"викори�танн� не вказано."
 
 #: platform/uwp/export/export.cpp
 msgid "Invalid package short name."
@@ -14584,21 +14651,21 @@ msgid ""
 "The rcedit tool must be configured in the Editor Settings (Export > Windows "
 "> Rcedit) to change the icon or app information data."
 msgstr ""
+"Щоб мати змогу змінювати піктограму або дані щодо програми, має бути "
+"налаштовано ін�трумент rcedit у параметрах редактора (Ек�порт > Windows > "
+"Rcedit)."
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid icon path:"
-msgstr "�еправильний шл�х."
+msgstr "�екоректний шл�х до піктограм:"
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid file version:"
-msgstr "�екоректний �уфік�."
+msgstr "�екоректна вер�і� файла:"
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid product version:"
-msgstr "�екоректний GUID продукту."
+msgstr "�екоректна вер�і� продукту:"
 
 #: scene/2d/animated_sprite.cpp
 msgid ""
@@ -15344,14 +15411,13 @@ msgstr ""
 "Цей вузол вважаєть�� за�тарілим. Скори�тайте�� замі�ть нього AnimationTree."
 
 #: scene/gui/color_picker.cpp
-#, fuzzy
 msgid ""
 "Color: #%s\n"
 "LMB: Apply color\n"
 "RMB: Remove preset"
 msgstr ""
 "Колір: #%s\n"
-"Ліва кнопка: в�тановити колір\n"
+"Ліва кнопка: за�то�увати колір\n"
 "Права кнопка: вилучити взірець"
 
 #: scene/gui/color_picker.cpp
diff --git a/editor/translations/ur_PK.po b/editor/translations/ur_PK.po
index 90156465b3..3febf6aebe 100644
--- a/editor/translations/ur_PK.po
+++ b/editor/translations/ur_PK.po
@@ -1463,6 +1463,11 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr ".تمام کا انتخاب"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr ""
@@ -2844,7 +2849,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr ""
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr ""
 
@@ -5555,6 +5560,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 #, fuzzy
 msgid "Select lightmap bake file:"
 msgstr ".تمام کا انتخاب"
@@ -8061,7 +8070,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8979,6 +8993,11 @@ msgid "Select Another Theme Resource:"
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr ".تمام کا انتخاب"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr ""
 
@@ -9026,6 +9045,20 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr ".نوٹ�ئر کے اکسٹنٹ کو تبدیل کیجیۓ"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr ".نوٹ�ئر کے اکسٹنٹ کو تبدیل کیجیۓ"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr ""
 
@@ -9042,7 +9075,18 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+#, fuzzy
+msgid "Base Type"
+msgstr ".نوٹ�ئر کے اکسٹنٹ کو تبدیل کیجیۓ"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -9769,18 +9813,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr ""
 
@@ -12395,6 +12427,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "سب سکریپشن بنائیں"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -13739,6 +13776,9 @@ msgstr ""
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/vi.po b/editor/translations/vi.po
index 12cb91b7f9..3590c07d79 100644
--- a/editor/translations/vi.po
+++ b/editor/translations/vi.po
@@ -18,14 +18,14 @@
 # LetterC67 <hoangdeptoong@gmail.com>, 2020, 2021.
 # Rev <revolnoom7801@gmail.com>, 2021.
 # SyliawDeV <thanhlongstranger@gmail.com>, 2021.
-# IoeCmcomc <hopdaigia2004@gmail.com>, 2021.
+# IoeCmcomc <hopdaigia2004@gmail.com>, 2021, 2022.
 # Hung <hungthitkhia@gmail.com>, 2021.
 msgid ""
 msgstr ""
 "Project-Id-Version: Godot Engine editor\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
 "POT-Creation-Date: \n"
-"PO-Revision-Date: 2021-09-15 00:46+0000\n"
+"PO-Revision-Date: 2022-02-26 10:27+0000\n"
 "Last-Translator: IoeCmcomc <hopdaigia2004@gmail.com>\n"
 "Language-Team: Vietnamese <https://hosted.weblate.org/projects/godot-engine/"
 "godot/vi/>\n"
@@ -34,7 +34,7 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=1; plural=0;\n"
-"X-Generator: Weblate 4.9-dev\n"
+"X-Generator: Weblate 4.11.1-dev\n"
 
 #: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
 #: modules/visual_script/visual_script_builtin_funcs.cpp
@@ -815,7 +815,7 @@ msgid ""
 "target node."
 msgstr ""
 "Phương thức không được tìm thấy. Chỉ định phương thức hợp lệ hoặc đính kèm "
-"tệp lệnh vào nút."
+"tập lệnh vào nút."
 
 #: editor/connections_dialog.cpp
 msgid "Connect to Node:"
@@ -1495,6 +1495,11 @@ msgstr "Nạp bố cục Bus mặc định."
 msgid "Create a new Bus Layout."
 msgstr "Tạo bố cục Bus mới."
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "Mở bố cục Bus âm thanh"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "Tên không hợp lệ."
@@ -2103,7 +2108,7 @@ msgstr "Lá»›p:"
 #: editor/editor_help.cpp editor/scene_tree_editor.cpp
 #: editor/script_create_dialog.cpp
 msgid "Inherits:"
-msgstr "Thừa kế:"
+msgstr "Kế thừa:"
 
 #: editor/editor_help.cpp
 msgid "Inherited by:"
@@ -2145,7 +2150,7 @@ msgstr "Màu"
 
 #: editor/editor_help.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Constants"
-msgstr "Hằng số"
+msgstr "Hằng"
 
 #: editor/editor_help.cpp editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
@@ -2924,7 +2929,7 @@ msgstr "Bật tắt chế độ tập trung."
 msgid "Add a new scene."
 msgstr "Thêm cảnh mới."
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "Cảnh"
 
@@ -5674,6 +5679,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 #, fuzzy
 msgid "Select lightmap bake file:"
 msgstr "Ch�n tệp bake lightmap:"
@@ -8203,7 +8212,13 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "Không khả dụng khi sử dụng trình kết xuất GLES2."
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9145,6 +9160,11 @@ msgstr "Xóa tài nguyên"
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "�ổi tên tài nguyên"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "Nhập Tông màu"
 
@@ -9199,6 +9219,21 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Add Item Type"
+msgstr "Thêm mục"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "�ặt loại biến"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "Thay đổi loại cơ sở"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Show Default"
 msgstr "Nạp mặc định"
 
@@ -9217,8 +9252,18 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
-msgid "Add Item Type"
-msgstr "Thêm mục"
+msgid "Base Type"
+msgstr "Thay đổi loại cơ sở"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
@@ -9934,18 +9979,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "Phù hợp:"
@@ -10056,7 +10089,7 @@ msgstr "Tỷ lệ"
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Vector"
-msgstr "Vector"
+msgstr "Véc tơ"
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Boolean"
@@ -10178,11 +10211,11 @@ msgstr "hàm đen trắng"
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Converts HSV vector to RGB equivalent."
-msgstr "Chuyển vector màu HSV sang RGB tương ứng."
+msgstr "Chuyển véc tơ màu HSV sang RGB tương ứng."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Converts RGB vector to HSV equivalent."
-msgstr "Chuyển vector màu RGB sang HSV tương ứng."
+msgstr "Chuyển véc tơ màu RGB sang HSV tương ứng."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Sepia function."
@@ -10622,16 +10655,16 @@ msgid ""
 "whose number of rows is the number of components in 'c' and whose number of "
 "columns is the number of components in 'r'."
 msgstr ""
-"Tính tích ngoài của một cặp vector.\n"
+"Tính tích ngoài của một cặp véc tơ.\n"
 "\n"
-"Tích ngoài đặt tham số 'c' đầu tiên làm vector d�c (ma trận 1 cột) và tham "
-"số 'h' thứ hai là vector ngang (ma trận 1 hàng) rồi thực hiện phép nhân ma "
-"trận tuyến tính 'c * h', tạo ra ma trận có số hàng bằng số phần tử trong 'h' "
-"và số cột bằng số phần tử trong 'c'."
+"Tích ngoài coi tham số 'c' đầu tiên là véc tơ d�c (ma trận 1 cột) và tham số "
+"'h' thứ hai là véc tơ ngang (ma trận 1 hàng) rồi thực hiện phép nhân ma trận "
+"tuyến tính 'c * h', tạo ra ma trận có số hàng bằng số phần tử trong 'h' và "
+"số cột bằng số phần tử trong 'c'."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Composes transform from four vectors."
-msgstr "Tạo phép biến đổi từ 4 vector."
+msgstr "Tạo phép biến đổi từ 4 véc tơ."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Decomposes transform to four vectors."
@@ -10655,7 +10688,7 @@ msgstr "Nhân hai phép biến đổi."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Multiplies vector by transform."
-msgstr "Nhân vector với phép biến đổi."
+msgstr "Nhân véc tơ với phép biến đổi."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Transform constant."
@@ -10668,11 +10701,11 @@ msgstr "Tạo"
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Vector function."
-msgstr "Hàm Vector."
+msgstr "Hàm véc tơ."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Vector operator."
-msgstr ""
+msgstr "Toán tử véc tơ."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Composes vector from three scalars."
@@ -10680,7 +10713,7 @@ msgstr "Tạo vector từ ba giá trị vô hướng."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Decomposes vector to three scalars."
-msgstr "Tách vector thành ba giá trị vô hướng."
+msgstr "Tách véc tơ thành ba giá trị vô hướng."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Calculates the cross product of two vectors."
@@ -10692,7 +10725,7 @@ msgstr "Trả v� khoảng cách giữa hai điểm."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Calculates the dot product of two vectors."
-msgstr "Tính tích vô hướng của hai vector."
+msgstr "Tính tích vô hướng của hai véc tơ."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid ""
@@ -10704,7 +10737,7 @@ msgstr ""
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Calculates the length of a vector."
-msgstr "Tính chi�u dài vector."
+msgstr "Tính chi�u dài của một véc tơ."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Linear interpolation between two vectors."
@@ -10716,27 +10749,27 @@ msgstr ""
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Calculates the normalize product of vector."
-msgstr "Tính tích chuẩn hóa của vector."
+msgstr "Tính tích chuẩn hóa của véc tơ."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "1.0 - vector"
-msgstr "1.0 - vector"
+msgstr "1.0 - véc tơ"
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "1.0 / vector"
-msgstr "1.0 / vector"
+msgstr "1.0 / véc tơ"
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid ""
 "Returns the vector that points in the direction of reflection ( a : incident "
 "vector, b : normal vector )."
 msgstr ""
-"Trả v� vector chỉ hướng phản xạ ( a : vector tia tới, b : vector pháp "
+"Trả v� véc tơ chỉ hướng phản xạ ( a : vector tia tới, b : vector pháp "
 "tuyến )."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid "Returns the vector that points in the direction of refraction."
-msgstr "Trả v� vector chỉ hướng khúc xạ."
+msgstr "Trả v� véc tơ chỉ theo hướng khúc xạ."
 
 #: editor/plugins/visual_shader_editor_plugin.cpp
 msgid ""
@@ -11879,7 +11912,7 @@ msgstr "Tên nút"
 
 #: editor/rename_dialog.cpp
 msgid "Node's parent name, if available"
-msgstr "Tên cha mẹ của nút, nếu có sẵn"
+msgstr "Tên của nút mẹ, nếu có sẵn"
 
 #: editor/rename_dialog.cpp
 msgid "Node type"
@@ -11981,7 +12014,7 @@ msgstr "Tại kí tự %s"
 
 #: editor/reparent_dialog.cpp editor/scene_tree_dock.cpp
 msgid "Reparent Node"
-msgstr "�ổi cha mẹ của nút"
+msgstr "�ổi mẹ của nút"
 
 #: editor/reparent_dialog.cpp
 msgid "Reparent Location (Select new Parent):"
@@ -11993,7 +12026,7 @@ msgstr ""
 
 #: editor/reparent_dialog.cpp editor/scene_tree_dock.cpp
 msgid "Reparent"
-msgstr "�ổi nút cha"
+msgstr "�ổi nút mẹ"
 
 #: editor/run_settings_dialog.cpp
 msgid "Run Mode:"
@@ -12063,11 +12096,11 @@ msgstr "Thao tác này không thể áp dụng lên gốc của cây."
 
 #: editor/scene_tree_dock.cpp
 msgid "Move Node In Parent"
-msgstr "Chuyển nút trong cha mẹ"
+msgstr "Di chuyển nút trong nút mẹ"
 
 #: editor/scene_tree_dock.cpp
 msgid "Move Nodes In Parent"
-msgstr "Di chuyển các nút trong cha mẹ"
+msgstr "Di chuyển các nút trong nút mẹ"
 
 #: editor/scene_tree_dock.cpp
 msgid "Duplicate Node(s)"
@@ -12076,8 +12109,8 @@ msgstr "Nhân đôi các nút"
 #: editor/scene_tree_dock.cpp
 msgid "Can't reparent nodes in inherited scenes, order of nodes can't change."
 msgstr ""
-"Không thể đổi cha mẹ các nút trong cảnh kế thừa, thứ tự các nút không thể "
-"thay đổi."
+"Không thể đổi mẹ của các nút trong cảnh kế thừa, thứ tự các nút không thể "
+"được thay đổi."
 
 #: editor/scene_tree_dock.cpp
 msgid "Node must belong to the edited scene to become root."
@@ -12285,7 +12318,7 @@ msgstr "�ổi Kiểu"
 
 #: editor/scene_tree_dock.cpp
 msgid "Reparent to New Node"
-msgstr "Reparent đến nút mới"
+msgstr "Thay nút mẹ thành nút mới"
 
 #: editor/scene_tree_dock.cpp
 msgid "Make Scene Root"
@@ -12526,7 +12559,7 @@ msgstr "Tên Lớp không hợp lệ."
 
 #: editor/script_create_dialog.cpp
 msgid "Invalid inherited parent name or path."
-msgstr ""
+msgstr "Tên hoặc đư�ng dẫn nút mẹ được kế thừa không hợp lệ."
 
 #: editor/script_create_dialog.cpp
 #, fuzzy
@@ -12663,6 +12696,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "L�c ô"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -14026,9 +14064,10 @@ msgstr "Tên gói không hợp lệ:"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"Cài đặt dự án chứa module không hợp lệ \"GodotPaymentV3\" ở mục \"android/"
-"modules\" (đã thay đổi từ Godot 3.2.2).\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
diff --git a/editor/translations/zh_CN.po b/editor/translations/zh_CN.po
index 0675b564d3..47b66ad06d 100644
--- a/editor/translations/zh_CN.po
+++ b/editor/translations/zh_CN.po
@@ -88,7 +88,7 @@ msgstr ""
 "Project-Id-Version: Chinese (Simplified) (Godot Engine)\n"
 "Report-Msgid-Bugs-To: https://github.com/godotengine/godot\n"
 "POT-Creation-Date: 2018-01-20 12:15+0200\n"
-"PO-Revision-Date: 2022-02-12 21:43+0000\n"
+"PO-Revision-Date: 2022-03-08 15:20+0000\n"
 "Last-Translator: Haoyu Qiu <timothyqiu32@gmail.com>\n"
 "Language-Team: Chinese (Simplified) <https://hosted.weblate.org/projects/"
 "godot-engine/godot/zh_Hans/>\n"
@@ -97,7 +97,7 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=1; plural=0;\n"
-"X-Generator: Weblate 4.11-dev\n"
+"X-Generator: Weblate 4.12-dev\n"
 
 #: core/math/expression.cpp modules/gdscript/gdscript_functions.cpp
 #: modules/visual_script/visual_script_builtin_funcs.cpp
@@ -683,7 +683,7 @@ msgstr "优化动画"
 
 #: editor/animation_track_editor.cpp
 msgid "Clean-Up Animation"
-msgstr "清空动画"
+msgstr "清�动画"
 
 #: editor/animation_track_editor.cpp
 msgid "Pick the node that will be animated:"
@@ -723,19 +723,19 @@ msgstr "移除无效帧"
 
 #: editor/animation_track_editor.cpp
 msgid "Remove unresolved and empty tracks"
-msgstr "移除未分解的空轨�"
+msgstr "移除无法解�的轨�和空轨�"
 
 #: editor/animation_track_editor.cpp
 msgid "Clean-up all animations"
-msgstr "清除所有动画"
+msgstr "清�所有动画"
 
 #: editor/animation_track_editor.cpp
 msgid "Clean-Up Animation(s) (NO UNDO!)"
-msgstr "清除动画（无法撤销�）"
+msgstr "清�动画（无法撤销�）"
 
 #: editor/animation_track_editor.cpp
 msgid "Clean-Up"
-msgstr "清空"
+msgstr "清�"
 
 #: editor/animation_track_editor.cpp
 msgid "Scale Ratio:"
@@ -1538,6 +1538,11 @@ msgstr "加载默认总线布局。"
 msgid "Create a new Bus Layout."
 msgstr "创建新的总线布局。"
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "打开音频总线布局"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "�称无效。"
@@ -2930,7 +2935,7 @@ msgstr "切�专注模�。"
 msgid "Add a new scene."
 msgstr "添加新场景。"
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "场景"
 
@@ -3290,14 +3295,12 @@ msgid "Update Continuously"
 msgstr "�续更新"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update All Changes"
-msgstr "当有更改时更新"
+msgstr "更新所有修改"
 
 #: editor/editor_node.cpp
-#, fuzzy
 msgid "Update Vital Changes"
-msgstr "�质�更："
+msgstr "更新关键修改"
 
 #: editor/editor_node.cpp
 msgid "Hide Update Spinner"
@@ -4050,6 +4053,9 @@ msgid ""
 "After renaming to an unknown extension, the file won't be shown in the "
 "editor anymore."
 msgstr ""
+"编辑器无法识别该文件扩展�。\n"
+"如果你���命�，请使用�作系统的文件管�器。\n"
+"在�命�为未知扩展��，改文件�会�在编辑器中显示。"
 
 #: editor/filesystem_dock.cpp
 msgid ""
@@ -5135,7 +5141,7 @@ msgstr "接下�（自动队列）："
 
 #: editor/plugins/animation_player_editor_plugin.cpp
 msgid "Cross-Animation Blend Times"
-msgstr "跨动画时间混�"
+msgstr "跨动画混�时间"
 
 #: editor/plugins/animation_state_machine_editor.cpp
 msgid "Move Node"
@@ -5638,6 +5644,10 @@ msgid "Bake Lightmaps"
 msgstr "烘焙光照贴图"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "选择光照贴图烘焙文件："
 
@@ -8094,7 +8104,13 @@ msgid "Cinematic Preview"
 msgstr "效果预览"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "使用 GLES2 渲染器时��用。"
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8982,6 +8998,11 @@ msgid "Select Another Theme Resource:"
 msgstr "选择其他主题资�："
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "�命�资�"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr "其他主题"
 
@@ -9029,6 +9050,20 @@ msgstr ""
 "将此样�盒置顶为主样�。编辑其属性会更新该类型下其他所有样�盒的相�属性。"
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr "添加项目类型"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "设置��类型"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "修改基础类型"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr "显示默认"
 
@@ -9045,8 +9080,19 @@ msgid "Override all default type items."
 msgstr "覆盖所有默认类型项目。"
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
-msgstr "添加项目类型"
+#, fuzzy
+msgid "Base Type"
+msgstr "修改基础类型"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Theme:"
@@ -9739,18 +9785,6 @@ msgid "Commit list size"
 msgstr "�交列表大�"
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr "10"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr "20"
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr "30"
-
-#: editor/plugins/version_control_editor_plugin.cpp
 msgid "Branches"
 msgstr "分支"
 
@@ -12415,6 +12449,11 @@ msgid "Stack Frames"
 msgstr "栈帧"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "筛选图�"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "性能分�器"
 
@@ -12588,14 +12627,12 @@ msgid "Set Occluder Sphere Position"
 msgstr "设置�挡�体�置"
 
 #: editor/spatial_editor_gizmos.cpp
-#, fuzzy
 msgid "Set Occluder Polygon Point Position"
-msgstr "设置入�顶点�置"
+msgstr "设置�挡多边形顶点�置"
 
 #: editor/spatial_editor_gizmos.cpp
-#, fuzzy
 msgid "Set Occluder Hole Point Position"
-msgstr "设置曲线的顶点�置"
+msgstr "设置�挡空洞顶点�置"
 
 #: modules/csg/csg_gizmos.cpp
 msgid "Change Cylinder Radius"
@@ -13705,9 +13742,10 @@ msgstr "无效的包�称："
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"“android/modules� 项目设置（�更于Godot 3.2.2）中包�了无效模组 "
-"“GodotPaymentV3�。\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
@@ -13952,166 +13990,153 @@ msgstr "�动 HTTP �务器时出错："
 
 #: platform/osx/export/codesign.cpp
 msgid "Can't get filesystem access."
-msgstr ""
+msgstr "无法访问文件系统。"
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to get Info.plist hash."
-msgstr ""
+msgstr "获� Info.plist 哈希失败。"
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid Info.plist, no exe name."
-msgstr "项目�称无效。"
+msgstr "Info.plist 无效，没有�执行文件�称。"
 
 #: platform/osx/export/codesign.cpp
 msgid "Invalid Info.plist, no bundle id."
-msgstr ""
+msgstr "Info.plist 无效，没有�绑包 ID。"
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid Info.plist, can't load."
-msgstr "无效的几何体，无法创建多边形。"
+msgstr "Info.plist 无效，无法加载。"
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to create \"%s\" subfolder."
-msgstr "无法创建文件夹。"
+msgstr "创建“%s��文件夹失败。"
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to extract thin binary."
-msgstr ""
+msgstr "��瘦二进制文件失败。"
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid binary format."
-msgstr "无效的基本路径。"
+msgstr "二进制格�无效。"
 
 #: platform/osx/export/codesign.cpp
 msgid "Already signed!"
-msgstr ""
+msgstr "签�已存在�"
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to process nested resources."
-msgstr "加载资�失败。"
+msgstr "处�嵌套资�失败。"
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to create _CodeSignature subfolder."
-msgstr ""
+msgstr "创建 _CodeSignature �文件夹失败。"
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Failed to get CodeResources hash."
-msgstr "加载资�失败。"
+msgstr "获� CodeResources 哈希失败。"
 
 #: platform/osx/export/codesign.cpp platform/osx/export/export.cpp
-#, fuzzy
 msgid "Invalid entitlements file."
-msgstr "扩展�无效。"
+msgstr "授�文件无效。"
 
 #: platform/osx/export/codesign.cpp
-#, fuzzy
 msgid "Invalid executable file."
-msgstr "扩展�无效。"
+msgstr "�执行文件无效。"
 
 #: platform/osx/export/codesign.cpp
 msgid "Can't resize signature load command."
-msgstr ""
+msgstr "无法改�签�加载命令的大�。"
 
 #: platform/osx/export/codesign.cpp
 msgid "Failed to create fat binary."
-msgstr ""
+msgstr "无法创建胖二进制。"
 
 #: platform/osx/export/codesign.cpp
 msgid "Unknown bundle type."
-msgstr ""
+msgstr "未知�绑包类型。"
 
 #: platform/osx/export/codesign.cpp
 msgid "Unknown object type."
-msgstr ""
+msgstr "未知对象类型。"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Note: The notarization process generally takes less than an hour. When the "
 "process is completed, you'll receive an email."
-msgstr ""
+msgstr "注�：公�过程通常少于一个�时。过程结��，你会收到一�邮件。"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "You can check progress manually by opening a Terminal and running the "
 "following command:"
-msgstr ""
+msgstr "你�以手动检查进度，请打开终端并�行以下命令："
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Run the following command to staple the notarization ticket to the exported "
 "application (optional):"
-msgstr ""
+msgstr "�行以下命令将公�票�装订到导出的应用中（�选）："
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "No identity found."
-msgstr "没有图标。"
+msgstr "没有找到身份。"
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Creating app bundle"
-msgstr "正在创建缩略图"
+msgstr "正在创建应用�绑包"
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Could not find template app to export:"
-msgstr ""
-"找�到导出模� APK：\n"
-"%s"
+msgstr "无法找到导出的模�应用："
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Relative symlinks are not supported on this OS, the exported project might "
 "be broken!"
-msgstr ""
+msgstr "该�作系统上�支�相对符�链接，导出的项目�能���"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Requested template binary '%s' not found. It might be missing from your "
 "template archive."
-msgstr ""
+msgstr "未找到请求的二进制模�“%s�。你的模�归档中�能缺失该文件。"
 
 #: platform/osx/export/export.cpp
 msgid "Making PKG"
-msgstr ""
+msgstr "正在制作 PKG"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Ad-hoc signed applications require the 'Disable Library Validation' "
 "entitlement to load dynamic libraries."
-msgstr ""
+msgstr "Ad-hoc 签�的应用需�“Disable Library Validation�授��能加载动�库。"
 
 #: platform/osx/export/export.cpp
 msgid "Code signing bundle"
-msgstr ""
+msgstr "正在对�绑包进行代�签�"
 
 #: platform/osx/export/export.cpp
 msgid "Making DMG"
-msgstr ""
+msgstr "正在制作 DMG"
 
 #: platform/osx/export/export.cpp
 msgid "Code signing DMG"
-msgstr ""
+msgstr "正在对 DMG 进行代�签�"
 
 #: platform/osx/export/export.cpp
 msgid "Making ZIP"
-msgstr ""
+msgstr "正在制作 ZIP"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Notarization requires the app to be archived first, select the DMG or ZIP "
 "export format instead."
-msgstr ""
+msgstr "公��求该应用先进行归档，请选择 DMG 或 ZIP 导出格�。"
 
 #: platform/osx/export/export.cpp
 msgid "Sending archive for notarization"
-msgstr ""
+msgstr "正在��归档进行公�"
 
 #: platform/osx/export/export.cpp
 msgid "Invalid bundle identifier:"
@@ -14122,31 +14147,31 @@ msgid ""
 "Warning: Built-in \"codesign\" is selected in the Editor Settings. Code "
 "signing is limited to ad-hoc signature only."
 msgstr ""
+"警告：编辑器设置里选中的是内置的“codesign�。代�签�仅�于 ad-hoc 签�。"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Warning: Xcode command line tools are not installed, using built-in "
 "\"codesign\". Code signing is limited to ad-hoc signature only."
 msgstr ""
+"警告：未安装 Xcode 命令行工具，将使用内置的“codesign�。代�签�仅�于 ad-hoc "
+"签�。"
 
 #: platform/osx/export/export.cpp
 msgid "Notarization: Notarization with an ad-hoc signature is not supported."
-msgstr ""
+msgstr "公�：�支�使用 Ad-hoc 签�进行公�。"
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Code signing is required for notarization."
-msgstr "公�：需�代�签�。"
+msgstr "公�：公�需�代�签�。"
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Hardened runtime is required for notarization."
-msgstr "公�：需�加强的�行时环境。"
+msgstr "公�：公�需�加固�行时环境。"
 
 #: platform/osx/export/export.cpp
-#, fuzzy
 msgid "Notarization: Timestamp runtime is required for notarization."
-msgstr "公�：需�加强的�行时环境。"
+msgstr "公�：公�需�时间戳�行时环境。"
 
 #: platform/osx/export/export.cpp
 msgid "Notarization: Apple ID name not specified."
@@ -14161,63 +14186,69 @@ msgid ""
 "Warning: Notarization is disabled. The exported project will be blocked by "
 "Gatekeeper if it's downloaded from an unknown source."
 msgstr ""
+"警告：已�用公�。如果从未知��下载该导出�的项目，将被 Gatekeeper 阻止�"
+"行。"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Code signing is disabled. The exported project will not run on Macs with "
 "enabled Gatekeeper and Apple Silicon powered Macs."
 msgstr ""
+"已�用代�签�。导出�的项目将无法在�用 Gatekeeper 的 Mac 和使用 Apple "
+"Silicon 的 Mac 上�行。"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Hardened Runtime is not compatible with ad-hoc signature, and will be "
 "disabled!"
-msgstr ""
+msgstr "加固�行时环境与 Ad-hoc 签��兼容，将被�用�"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Timestamping is not compatible with ad-hoc signature, and will be disabled!"
-msgstr ""
+msgstr "时间戳�行时环境与 Ad-hoc 签��兼容，将被�用�"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Warning: Notarization is not supported from this OS. The exported project "
 "will be blocked by Gatekeeper if it's downloaded from an unknown source."
 msgstr ""
+"警告：�支�从该�作系统进行公�。如果从未知��下载该导出�的项目，将被 "
+"Gatekeeper 阻止�行。"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Microphone access is enabled, but usage description is not "
 "specified."
-msgstr ""
+msgstr "��：已�用麦克风访问，但未指定用途�述。"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Camera access is enabled, but usage description is not specified."
-msgstr ""
+msgstr "��：已�用相机访问，但未指定用途�述。"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Location information access is enabled, but usage description is "
 "not specified."
-msgstr ""
+msgstr "��：已�用�置信�访问，但未指定用途�述。"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Address book access is enabled, but usage description is not "
 "specified."
-msgstr ""
+msgstr "��：已�用地�簿访问，但未指定用途�述。"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Calendar access is enabled, but usage description is not specified."
-msgstr ""
+msgstr "��：已�用日历访问，但未指定用途�述。"
 
 #: platform/osx/export/export.cpp
 msgid ""
 "Privacy: Photo library access is enabled, but usage description is not "
 "specified."
-msgstr ""
+msgstr "��：已�用照片库访问，但未指定用途�述。"
 
 #: platform/uwp/export/export.cpp
 msgid "Invalid package short name."
@@ -14276,21 +14307,20 @@ msgid ""
 "The rcedit tool must be configured in the Editor Settings (Export > Windows "
 "> Rcedit) to change the icon or app information data."
 msgstr ""
+"必须在编辑器设置中�置 rcedit 工具（Export > Windows > Rcedit）�能修改图标或"
+"应用信�数�。"
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid icon path:"
-msgstr "路径无效。"
+msgstr "图标路径无效："
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid file version:"
-msgstr "扩展�无效。"
+msgstr "文件版本无效："
 
 #: platform/windows/export/export.cpp
-#, fuzzy
 msgid "Invalid product version:"
-msgstr "产� GUID 无效。"
+msgstr "产�版本无效："
 
 #: scene/2d/animated_sprite.cpp
 msgid ""
@@ -14967,14 +14997,13 @@ msgid "This node has been deprecated. Use AnimationTree instead."
 msgstr "该节点已废弃。请使用 AnimationTree 代替。"
 
 #: scene/gui/color_picker.cpp
-#, fuzzy
 msgid ""
 "Color: #%s\n"
 "LMB: Apply color\n"
 "RMB: Remove preset"
 msgstr ""
 "颜色：#%s\n"
-"鼠标左键：设置颜色\n"
+"鼠标左键：应用颜色\n"
 "鼠标�键：移除预设"
 
 #: scene/gui/color_picker.cpp
diff --git a/editor/translations/zh_HK.po b/editor/translations/zh_HK.po
index 3e58cca1e2..be7d27d9c9 100644
--- a/editor/translations/zh_HK.po
+++ b/editor/translations/zh_HK.po
@@ -1537,6 +1537,11 @@ msgstr ""
 msgid "Create a new Bus Layout."
 msgstr ""
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "編輯器佈局"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "無效�稱。"
@@ -2990,7 +2995,7 @@ msgstr ""
 msgid "Add a new scene."
 msgstr "新增軌迹"
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "場景"
 
@@ -5861,6 +5866,10 @@ msgid "Bake Lightmaps"
 msgstr ""
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 #, fuzzy
 msgid "Select lightmap bake file:"
 msgstr "��Template檔案"
@@ -8447,7 +8456,12 @@ msgid "Cinematic Preview"
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr ""
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -9400,6 +9414,11 @@ msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
+msgid "Theme Resource"
+msgstr "資�"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
 msgid "Another Theme"
 msgstr "檔案"
 
@@ -9452,6 +9471,20 @@ msgid ""
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "更改動畫循環"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "更改動畫循環"
+
+#: editor/plugins/theme_editor_plugin.cpp
 #, fuzzy
 msgid "Show Default"
 msgstr "�設"
@@ -9470,7 +9503,18 @@ msgid "Override all default type items."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
+#, fuzzy
+msgid "Base Type"
+msgstr "更改動畫循環"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
 msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
@@ -10227,18 +10271,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "��："
@@ -12956,6 +12988,11 @@ msgid "Stack Frames"
 msgstr ""
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "篩�檔案..."
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr ""
 
@@ -14331,6 +14368,9 @@ msgstr "無效�稱"
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
 
 #: platform/android/export/export_plugin.cpp
diff --git a/editor/translations/zh_TW.po b/editor/translations/zh_TW.po
index e58704257e..15a32eaec6 100644
--- a/editor/translations/zh_TW.po
+++ b/editor/translations/zh_TW.po
@@ -1486,6 +1486,11 @@ msgstr "載入�設匯�排�置。"
 msgid "Create a new Bus Layout."
 msgstr "建立新匯�排�置。"
 
+#: editor/editor_audio_buses.cpp
+#, fuzzy
+msgid "Audio Bus Layout"
+msgstr "開啟音訊匯�排�置"
+
 #: editor/editor_autoload_settings.cpp
 msgid "Invalid name."
 msgstr "無效的�稱。"
@@ -2885,7 +2890,7 @@ msgstr "切���消專注模�。"
 msgid "Add a new scene."
 msgstr "新增場景。"
 
-#: editor/editor_node.cpp
+#: editor/editor_node.cpp editor/plugins/theme_editor_plugin.cpp
 msgid "Scene"
 msgstr "場景"
 
@@ -5592,6 +5597,10 @@ msgid "Bake Lightmaps"
 msgstr "烘焙光照圖"
 
 #: editor/plugins/baked_lightmap_editor_plugin.cpp
+msgid "LightMap Bake"
+msgstr ""
+
+#: editor/plugins/baked_lightmap_editor_plugin.cpp
 msgid "Select lightmap bake file:"
 msgstr "�擇光照圖烘焙檔案："
 
@@ -8054,7 +8063,13 @@ msgid "Cinematic Preview"
 msgstr "效果�覽"
 
 #: editor/plugins/spatial_editor_plugin.cpp
-msgid "Not available when using the GLES2 renderer."
+msgid "(Not in GLES2)"
+msgstr ""
+
+#: editor/plugins/spatial_editor_plugin.cpp
+#, fuzzy
+msgid ""
+"Debug draw modes are only available when using the GLES3 renderer, not GLES2."
 msgstr "使用 GLES2 算繪引擎時無法使用。"
 
 #: editor/plugins/spatial_editor_plugin.cpp
@@ -8943,6 +8958,11 @@ msgid "Select Another Theme Resource:"
 msgstr "�擇其他主題資�："
 
 #: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Theme Resource"
+msgstr "�新命�資�"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Another Theme"
 msgstr "其他主題"
 
@@ -8993,6 +9013,20 @@ msgstr ""
 "釘�該樣�盒為主�樣�。編輯其屬性將更新所有其他�類別的樣�盒之相�屬性。"
 
 #: editor/plugins/theme_editor_plugin.cpp
+msgid "Add Item Type"
+msgstr "新增項目類型"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Variation Base Type"
+msgstr "設定變數型別"
+
+#: editor/plugins/theme_editor_plugin.cpp
+#, fuzzy
+msgid "Set Base Type"
+msgstr "更改基礎型別"
+
+#: editor/plugins/theme_editor_plugin.cpp
 msgid "Show Default"
 msgstr "顯示�設"
 
@@ -9009,8 +9043,19 @@ msgid "Override all default type items."
 msgstr "複寫所有�設類別項目。"
 
 #: editor/plugins/theme_editor_plugin.cpp
-msgid "Add Item Type"
-msgstr "新增項目類型"
+#, fuzzy
+msgid "Base Type"
+msgstr "更改基礎型別"
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid "Select the variation base type from a list of available types."
+msgstr ""
+
+#: editor/plugins/theme_editor_plugin.cpp
+msgid ""
+"A type associated with a built-in class cannot be marked as a variation of "
+"another type."
+msgstr ""
 
 #: editor/plugins/theme_editor_plugin.cpp
 msgid "Theme:"
@@ -9718,18 +9763,6 @@ msgid "Commit list size"
 msgstr ""
 
 #: editor/plugins/version_control_editor_plugin.cpp
-msgid "10"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "20"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
-msgid "30"
-msgstr ""
-
-#: editor/plugins/version_control_editor_plugin.cpp
 #, fuzzy
 msgid "Branches"
 msgstr "符��件："
@@ -12401,6 +12434,11 @@ msgid "Stack Frames"
 msgstr "堆疊框"
 
 #: editor/script_editor_debugger.cpp
+#, fuzzy
+msgid "Filter stack variables"
+msgstr "篩�圖塊"
+
+#: editor/script_editor_debugger.cpp
 msgid "Profiler"
 msgstr "分�工具"
 
@@ -13725,9 +13763,10 @@ msgstr "無效的套件�稱："
 msgid ""
 "Invalid \"GodotPaymentV3\" module included in the \"android/modules\" "
 "project setting (changed in Godot 3.2.2).\n"
+"Replace it with the first-party \"GodotGooglePlayBilling\" plugin.\n"
+"Note that the singleton was also renamed from \"GodotPayments\" to "
+"\"GodotGooglePlayBilling\"."
 msgstr ""
-"「andoird/modules�專案設定中包�了無效的「GodotPaymentV3�模組（更改於 "
-"Godot 3.2.2）。\n"
 
 #: platform/android/export/export_plugin.cpp
 msgid "\"Use Custom Build\" must be enabled to use the plugins."
diff --git a/main/main.cpp b/main/main.cpp
index da79020bac..97794ece1a 100644
--- a/main/main.cpp
+++ b/main/main.cpp
@@ -371,11 +371,6 @@ void Main::print_help(const char *p_binary) {
 	OS::get_singleton()->print("  --no-docbase                                 Disallow dumping the base types (used with --doctool).\n");
 	OS::get_singleton()->print("  --build-solutions                            Build the scripting solutions (e.g. for C# projects). Implies --editor and requires a valid project to edit.\n");
 	OS::get_singleton()->print("  --dump-extension-api                         Generate JSON dump of the Godot API for GDExtension bindings named 'extension_api.json' in the current folder.\n");
-#ifdef DEBUG_METHODS_ENABLED
-	// TODO: Should be removed together with nativescript eventually.
-	OS::get_singleton()->print("  --gdnative-generate-json-api <path>          Generate JSON dump of the Godot API for GDNative bindings and save it on the file specified in <path>.\n");
-	OS::get_singleton()->print("  --gdnative-generate-json-builtin-api <path>  Generate JSON dump of the Godot API of the builtin Variant types and utility functions for GDNative bindings and save it on the file specified in <path>.\n");
-#endif
 #ifdef TESTS_ENABLED
 	OS::get_singleton()->print("  --test [--help]                              Run unit tests. Use --test --help for more information.\n");
 #endif
@@ -946,15 +941,6 @@ Error Main::setup(const char *execpath, int argc, char *argv[], bool p_second_ph
 			auto_build_solutions = true;
 			editor = true;
 			cmdline_tool = true;
-#ifdef DEBUG_METHODS_ENABLED
-		} else if (I->get() == "--gdnative-generate-json-api" || I->get() == "--gdnative-generate-json-builtin-api") {
-			// Register as an editor instance to use low-end fallback if relevant.
-			editor = true;
-			cmdline_tool = true;
-			// We still pass it to the main arguments since the argument handling itself is not done in this function,
-			// it's done in nativescript init code.
-			main_args.push_back(I->get());
-#endif
 		} else if (I->get() == "--dump-extension-api") {
 			// Register as an editor instance to use low-end fallback if relevant.
 			editor = true;
diff --git a/misc/dist/ios_xcode/godot_ios.xcodeproj/project.pbxproj b/misc/dist/ios_xcode/godot_ios.xcodeproj/project.pbxproj
index e2505de3bf..69899cbe8d 100644
--- a/misc/dist/ios_xcode/godot_ios.xcodeproj/project.pbxproj
+++ b/misc/dist/ios_xcode/godot_ios.xcodeproj/project.pbxproj
@@ -45,6 +45,7 @@
 		D0BCFE3418AEBDA2004A7AAE /* $binary.app */ = {isa = PBXFileReference; explicitFileType = wrapper.application; includeInIndex = 0; path = "$binary.app"; sourceTree = BUILT_PRODUCTS_DIR; };
 		D0BCFE4318AEBDA2004A7AAE /* $binary-Info.plist */ = {isa = PBXFileReference; lastKnownFileType = text.plist.xml; path = "$binary-Info.plist"; sourceTree = "<group>"; };
 		D0BCFE4518AEBDA2004A7AAE /* en */ = {isa = PBXFileReference; lastKnownFileType = text.plist.strings; name = en; path = en.lproj/InfoPlist.strings; sourceTree = "<group>"; };
+		$pbx_locale_file_reference
 		D0BCFE7718AEBFEB004A7AAE /* $binary.pck */ = {isa = PBXFileReference; lastKnownFileType = file; path = "$binary.pck"; sourceTree = "<group>"; };
 		$pbx_launch_screen_file_reference
 /* End PBXFileReference section */
@@ -207,6 +208,7 @@
 			isa = PBXVariantGroup;
 			children = (
 				D0BCFE4518AEBDA2004A7AAE /* en */,
+				$pbx_locale_build_reference
 			);
 			name = InfoPlist.strings;
 			sourceTree = "<group>";
diff --git a/misc/dist/linux/godot.6 b/misc/dist/linux/godot.6
index 3e5bdefdce..07e2a389a7 100644
--- a/misc/dist/linux/godot.6
+++ b/misc/dist/linux/godot.6
@@ -150,9 +150,6 @@ Disallow dumping the base types (used with \fB\-\-doctool\fR).
 \fB\-\-build\-solutions\fR
 Build the scripting solutions (e.g. for C# projects). Implies \-\-editor and requires a valid project to edit.
 .TP
-\fB\-\-gdnative\-generate\-json\-api\fR
-Generate JSON dump of the Godot API for GDNative bindings.
-.TP
 \fB\-\-test\fR <test>
 Run a unit test ('string', 'math', 'physics', 'physics_2d', 'render', 'oa_hash_map', 'gui', 'shaderlang', 'gd_tokenizer', 'gd_parser', 'gd_compiler', 'gd_bytecode', 'ordered_hash_map', 'astar').
 .SH FILES
diff --git a/misc/dist/osx_template.app/Contents/Info.plist b/misc/dist/osx_template.app/Contents/Info.plist
index a087550290..43399ec6ce 100644
--- a/misc/dist/osx_template.app/Contents/Info.plist
+++ b/misc/dist/osx_template.app/Contents/Info.plist
@@ -8,6 +8,8 @@
 	<string>$binary</string>
 	<key>CFBundleName</key>
 	<string>$name</string>
+	<key>CFBundleDisplayName</key>
+	<string>$name</string>
 	<key>CFBundleGetInfoString</key>
 	<string>$info</string>
 	<key>CFBundleIconFile</key>
diff --git a/misc/dist/shell/_godot.zsh-completion b/misc/dist/shell/_godot.zsh-completion
index 9d42f4fe05..8548b18cb0 100644
--- a/misc/dist/shell/_godot.zsh-completion
+++ b/misc/dist/shell/_godot.zsh-completion
@@ -70,5 +70,4 @@ _arguments \
   '--doctool[dump the engine API reference to the given path in XML format, merging if existing files are found]:path to base Godot build directory:_dirs' \
   '--no-docbase[disallow dumping the base types (used with --doctool)]' \
   '--build-solutions[build the scripting solutions (e.g. for C# projects)]' \
-  '--gdnative-generate-json-api[generate JSON dump of the Godot API for GDNative bindings]' \
   '--test[run a unit test]:unit test name'
diff --git a/misc/dist/shell/godot.bash-completion b/misc/dist/shell/godot.bash-completion
index eeee538aba..56bf23a268 100644
--- a/misc/dist/shell/godot.bash-completion
+++ b/misc/dist/shell/godot.bash-completion
@@ -73,7 +73,6 @@ _complete_godot_options() {
 --doctool
 --no-docbase
 --build-solutions
---gdnative-generate-json-api
 --test
 " -- "$1"))
 }
diff --git a/misc/dist/shell/godot.fish b/misc/dist/shell/godot.fish
index 79df2de7f0..6aa3f38f1f 100644
--- a/misc/dist/shell/godot.fish
+++ b/misc/dist/shell/godot.fish
@@ -84,5 +84,4 @@ complete -c godot -l export-pack -d "Same as --export, but only export the game
 complete -c godot -l doctool -d "Dump the engine API reference to the given path in XML format, merging if existing files are found" -r
 complete -c godot -l no-docbase -d "Disallow dumping the base types (used with --doctool)"
 complete -c godot -l build-solutions -d "Build the scripting solutions (e.g. for C# projects)"
-complete -c godot -l gdnative-generate-json-api -d "Generate JSON dump of the Godot API for GDNative bindings"
 complete -c godot -l test -d "Run a unit test" -x
diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub
deleted file mode 100644
index 09509abc44..0000000000
--- a/modules/bullet/SCsub
+++ /dev/null
@@ -1,224 +0,0 @@
-#!/usr/bin/env python
-
-Import("env")
-Import("env_modules")
-
-env_bullet = env_modules.Clone()
-
-# Thirdparty source files
-
-thirdparty_obj = []
-
-if env["builtin_bullet"]:
-    # Build only "Bullet2" API (not "Bullet3" folders).
-    # Sync file list with relevant upstream CMakeLists.txt for each folder.
-    if env["float"] == "64":
-        env.Append(CPPDEFINES=["BT_USE_DOUBLE_PRECISION=1"])
-    thirdparty_dir = "#thirdparty/bullet/"
-
-    bullet2_src = [
-        # BulletCollision
-        "BulletCollision/BroadphaseCollision/btAxisSweep3.cpp",
-        "BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp",
-        "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp",
-        "BulletCollision/BroadphaseCollision/btDbvt.cpp",
-        "BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp",
-        "BulletCollision/BroadphaseCollision/btDispatcher.cpp",
-        "BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp",
-        "BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp",
-        "BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp",
-        "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp",
-        "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp",
-        "BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp",
-        "BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp",
-        "BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp",
-        "BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp",
-        "BulletCollision/CollisionDispatch/btCollisionObject.cpp",
-        "BulletCollision/CollisionDispatch/btCollisionWorld.cpp",
-        "BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp",
-        "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp",
-        "BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp",
-        "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp",
-        "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp",
-        "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp",
-        "BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp",
-        "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp",
-        "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp",
-        "BulletCollision/CollisionDispatch/btGhostObject.cpp",
-        "BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp",
-        "BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp",
-        "BulletCollision/CollisionDispatch/btManifoldResult.cpp",
-        "BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp",
-        "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp",
-        "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp",
-        "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp",
-        "BulletCollision/CollisionDispatch/btUnionFind.cpp",
-        "BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp",
-        "BulletCollision/CollisionShapes/btBoxShape.cpp",
-        "BulletCollision/CollisionShapes/btBox2dShape.cpp",
-        "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp",
-        "BulletCollision/CollisionShapes/btCapsuleShape.cpp",
-        "BulletCollision/CollisionShapes/btCollisionShape.cpp",
-        "BulletCollision/CollisionShapes/btCompoundShape.cpp",
-        "BulletCollision/CollisionShapes/btConcaveShape.cpp",
-        "BulletCollision/CollisionShapes/btConeShape.cpp",
-        "BulletCollision/CollisionShapes/btConvexHullShape.cpp",
-        "BulletCollision/CollisionShapes/btConvexInternalShape.cpp",
-        "BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp",
-        "BulletCollision/CollisionShapes/btConvexPolyhedron.cpp",
-        "BulletCollision/CollisionShapes/btConvexShape.cpp",
-        "BulletCollision/CollisionShapes/btConvex2dShape.cpp",
-        "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp",
-        "BulletCollision/CollisionShapes/btCylinderShape.cpp",
-        "BulletCollision/CollisionShapes/btEmptyShape.cpp",
-        "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp",
-        "BulletCollision/CollisionShapes/btMiniSDF.cpp",
-        "BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp",
-        "BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp",
-        "BulletCollision/CollisionShapes/btMultiSphereShape.cpp",
-        "BulletCollision/CollisionShapes/btOptimizedBvh.cpp",
-        "BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp",
-        "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp",
-        "BulletCollision/CollisionShapes/btSdfCollisionShape.cpp",
-        "BulletCollision/CollisionShapes/btShapeHull.cpp",
-        "BulletCollision/CollisionShapes/btSphereShape.cpp",
-        "BulletCollision/CollisionShapes/btStaticPlaneShape.cpp",
-        "BulletCollision/CollisionShapes/btStridingMeshInterface.cpp",
-        "BulletCollision/CollisionShapes/btTetrahedronShape.cpp",
-        "BulletCollision/CollisionShapes/btTriangleBuffer.cpp",
-        "BulletCollision/CollisionShapes/btTriangleCallback.cpp",
-        "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp",
-        "BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp",
-        "BulletCollision/CollisionShapes/btTriangleMesh.cpp",
-        "BulletCollision/CollisionShapes/btTriangleMeshShape.cpp",
-        "BulletCollision/CollisionShapes/btUniformScalingShape.cpp",
-        "BulletCollision/Gimpact/btContactProcessing.cpp",
-        "BulletCollision/Gimpact/btGenericPoolAllocator.cpp",
-        "BulletCollision/Gimpact/btGImpactBvh.cpp",
-        "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp",
-        "BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp",
-        "BulletCollision/Gimpact/btGImpactShape.cpp",
-        "BulletCollision/Gimpact/btTriangleShapeEx.cpp",
-        "BulletCollision/Gimpact/gim_box_set.cpp",
-        "BulletCollision/Gimpact/gim_contact.cpp",
-        "BulletCollision/Gimpact/gim_memory.cpp",
-        "BulletCollision/Gimpact/gim_tri_collision.cpp",
-        "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp",
-        "BulletCollision/NarrowPhaseCollision/btConvexCast.cpp",
-        "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp",
-        "BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp",
-        "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp",
-        "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp",
-        "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp",
-        "BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp",
-        "BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp",
-        "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp",
-        "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp",
-        "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp",
-        # BulletDynamics
-        "BulletDynamics/Character/btKinematicCharacterController.cpp",
-        "BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp",
-        "BulletDynamics/ConstraintSolver/btContactConstraint.cpp",
-        "BulletDynamics/ConstraintSolver/btFixedConstraint.cpp",
-        "BulletDynamics/ConstraintSolver/btGearConstraint.cpp",
-        "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp",
-        "BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp",
-        "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp",
-        "BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp",
-        "BulletDynamics/ConstraintSolver/btHingeConstraint.cpp",
-        "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp",
-        "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp",
-        "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp",
-        "BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp",
-        "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp",
-        "BulletDynamics/ConstraintSolver/btSliderConstraint.cpp",
-        "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp",
-        "BulletDynamics/ConstraintSolver/btTypedConstraint.cpp",
-        "BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp",
-        "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp",
-        "BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp",
-        "BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp",
-        "BulletDynamics/Dynamics/btRigidBody.cpp",
-        "BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp",
-        # "BulletDynamics/Dynamics/Bullet-C-API.cpp",
-        "BulletDynamics/Vehicle/btRaycastVehicle.cpp",
-        "BulletDynamics/Vehicle/btWheelInfo.cpp",
-        "BulletDynamics/Featherstone/btMultiBody.cpp",
-        "BulletDynamics/Featherstone/btMultiBodyConstraint.cpp",
-        "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp",
-        "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp",
-        "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp",
-        "BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp",
-        "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp",
-        "BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp",
-        "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp",
-        "BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp",
-        "BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp",
-        "BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp",
-        "BulletDynamics/MLCPSolvers/btDantzigLCP.cpp",
-        "BulletDynamics/MLCPSolvers/btMLCPSolver.cpp",
-        "BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp",
-        # BulletInverseDynamics
-        "BulletInverseDynamics/IDMath.cpp",
-        "BulletInverseDynamics/MultiBodyTree.cpp",
-        "BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp",
-        "BulletInverseDynamics/details/MultiBodyTreeImpl.cpp",
-        # BulletSoftBody
-        "BulletSoftBody/btSoftBody.cpp",
-        "BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp",
-        "BulletSoftBody/btSoftBodyHelpers.cpp",
-        "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp",
-        "BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp",
-        "BulletSoftBody/btSoftRigidDynamicsWorld.cpp",
-        "BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp",
-        "BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp",
-        "BulletSoftBody/btDefaultSoftBodySolver.cpp",
-        "BulletSoftBody/btDeformableBackwardEulerObjective.cpp",
-        "BulletSoftBody/btDeformableBodySolver.cpp",
-        "BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp",
-        "BulletSoftBody/btDeformableContactProjection.cpp",
-        "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp",
-        "BulletSoftBody/btDeformableContactConstraint.cpp",
-        "BulletSoftBody/poly34.cpp",
-        # clew
-        "clew/clew.c",
-        # LinearMath
-        "LinearMath/btAlignedAllocator.cpp",
-        "LinearMath/btConvexHull.cpp",
-        "LinearMath/btConvexHullComputer.cpp",
-        "LinearMath/btGeometryUtil.cpp",
-        "LinearMath/btPolarDecomposition.cpp",
-        "LinearMath/btQuickprof.cpp",
-        "LinearMath/btReducedVector.cpp",
-        "LinearMath/btSerializer.cpp",
-        "LinearMath/btSerializer64.cpp",
-        "LinearMath/btThreads.cpp",
-        "LinearMath/btVector3.cpp",
-        "LinearMath/TaskScheduler/btTaskScheduler.cpp",
-        "LinearMath/TaskScheduler/btThreadSupportPosix.cpp",
-        "LinearMath/TaskScheduler/btThreadSupportWin32.cpp",
-    ]
-
-    thirdparty_sources = [thirdparty_dir + file for file in bullet2_src]
-
-    env_bullet.Prepend(CPPPATH=[thirdparty_dir])
-    if env["target"] == "debug" or env["target"] == "release_debug":
-        env_bullet.Append(CPPDEFINES=["DEBUG"])
-
-    env_bullet.Append(CPPDEFINES=["BT_USE_OLD_DAMPING_METHOD", "BT_THREADSAFE"])
-
-    env_thirdparty = env_bullet.Clone()
-    env_thirdparty.disable_warnings()
-    env_thirdparty.add_source_files(thirdparty_obj, thirdparty_sources)
-    env.modules_sources += thirdparty_obj
-
-
-# Godot source files
-
-module_obj = []
-
-env_bullet.add_source_files(module_obj, "*.cpp")
-env.modules_sources += module_obj
-
-# Needed to force rebuilding the module files when the thirdparty library is updated.
-env.Depends(module_obj, thirdparty_obj)
diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp
deleted file mode 100644
index f816691cde..0000000000
--- a/modules/bullet/area_bullet.cpp
+++ /dev/null
@@ -1,324 +0,0 @@
-/*************************************************************************/
-/*  area_bullet.cpp                                                      */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "area_bullet.h"
-
-#include "bullet_physics_server.h"
-#include "bullet_types_converter.h"
-#include "bullet_utilities.h"
-#include "collision_object_bullet.h"
-#include "space_bullet.h"
-
-#include <BulletCollision/CollisionDispatch/btGhostObject.h>
-#include <btBulletCollisionCommon.h>
-
-AreaBullet::AreaBullet() :
-		RigidCollisionObjectBullet(CollisionObjectBullet::TYPE_AREA) {
-	btGhost = bulletnew(btGhostObject);
-	reload_shapes();
-	setupBulletCollisionObject(btGhost);
-	/// Collision objects with a callback still have collision response with dynamic rigid bodies.
-	/// In order to use collision objects as trigger, you have to disable the collision response.
-	set_collision_enabled(false);
-
-	for (int i = 0; i < 5; ++i) {
-		call_event_res_ptr[i] = &call_event_res[i];
-	}
-}
-
-AreaBullet::~AreaBullet() {
-	// signal are handled by godot, so just clear without notify
-	for (int i = 0; i < overlapping_shapes.size(); i++) {
-		overlapping_shapes[i].other_object->on_exit_area(this);
-	}
-}
-
-void AreaBullet::dispatch_callbacks() {
-	if (!isScratched) {
-		return;
-	}
-	isScratched = false;
-
-	// Reverse order so items can be removed.
-	for (int i = overlapping_shapes.size() - 1; i >= 0; i--) {
-		OverlappingShapeData &overlapping_shape = overlapping_shapes.write[i];
-
-		switch (overlapping_shape.state) {
-			case OVERLAP_STATE_ENTER:
-				overlapping_shape.state = OVERLAP_STATE_INSIDE;
-				call_event(overlapping_shape, PhysicsServer3D::AREA_BODY_ADDED);
-				if (_overlapping_shape_count(overlapping_shape.other_object) == 1) {
-					// This object's first shape being added.
-					overlapping_shape.other_object->on_enter_area(this);
-				}
-				break;
-			case OVERLAP_STATE_EXIT:
-				call_event(overlapping_shape, PhysicsServer3D::AREA_BODY_REMOVED);
-				if (_overlapping_shape_count(overlapping_shape.other_object) == 1) {
-					// This object's last shape being removed.
-					overlapping_shape.other_object->on_exit_area(this);
-				}
-				overlapping_shapes.remove_at(i); // Remove after callback
-				break;
-			case OVERLAP_STATE_INSIDE: {
-				if (overlapping_shape.other_object->getType() == TYPE_RIGID_BODY) {
-					RigidBodyBullet *body = static_cast<RigidBodyBullet *>(overlapping_shape.other_object);
-					body->scratch_space_override_modificator();
-				}
-				break;
-			}
-			case OVERLAP_STATE_DIRTY:
-				break;
-		}
-	}
-}
-
-void AreaBullet::call_event(const OverlappingShapeData &p_overlapping_shape, PhysicsServer3D::AreaBodyStatus p_status) {
-	InOutEventCallback &event = eventsCallbacks[static_cast<int>(p_overlapping_shape.other_object->getType())];
-
-	if (!event.event_callback.is_valid()) {
-		event.event_callback = Callable();
-		return;
-	}
-
-	call_event_res[0] = p_status;
-	call_event_res[1] = p_overlapping_shape.other_object->get_self(); // RID
-	call_event_res[2] = p_overlapping_shape.other_object->get_instance_id(); // Object ID
-	call_event_res[3] = p_overlapping_shape.other_shape_id; // Other object's shape ID
-	call_event_res[4] = p_overlapping_shape.our_shape_id; // This area's shape ID
-
-	Callable::CallError outResp;
-	Variant ret;
-	event.event_callback.call((const Variant **)call_event_res, 5, ret, outResp);
-}
-
-int AreaBullet::_overlapping_shape_count(CollisionObjectBullet *p_other_object) {
-	int count = 0;
-	for (int i = 0; i < overlapping_shapes.size(); i++) {
-		if (overlapping_shapes[i].other_object == p_other_object) {
-			count++;
-		}
-	}
-	return count;
-}
-
-int AreaBullet::_find_overlapping_shape(CollisionObjectBullet *p_other_object, uint32_t p_other_shape_id, uint32_t p_our_shape_id) {
-	for (int i = 0; i < overlapping_shapes.size(); i++) {
-		const OverlappingShapeData &overlapping_shape = overlapping_shapes[i];
-		if (overlapping_shape.other_object == p_other_object && overlapping_shape.other_shape_id == p_other_shape_id && overlapping_shape.our_shape_id == p_our_shape_id) {
-			return i;
-		}
-	}
-	return -1;
-}
-
-void AreaBullet::mark_all_overlaps_dirty() {
-	OverlappingShapeData *overlapping_shapes_w = overlapping_shapes.ptrw();
-	for (int i = 0; i < overlapping_shapes.size(); i++) {
-		// Don't overwrite OVERLAP_STATE_ENTER state.
-		if (overlapping_shapes_w[i].state != OVERLAP_STATE_ENTER) {
-			overlapping_shapes_w[i].state = OVERLAP_STATE_DIRTY;
-		}
-	}
-}
-
-void AreaBullet::mark_object_overlaps_inside(CollisionObjectBullet *p_other_object) {
-	OverlappingShapeData *overlapping_shapes_w = overlapping_shapes.ptrw();
-	for (int i = 0; i < overlapping_shapes.size(); i++) {
-		if (overlapping_shapes_w[i].other_object == p_other_object && overlapping_shapes_w[i].state == OVERLAP_STATE_DIRTY) {
-			overlapping_shapes_w[i].state = OVERLAP_STATE_INSIDE;
-		}
-	}
-}
-
-void AreaBullet::set_overlap(CollisionObjectBullet *p_other_object, uint32_t p_other_shape_id, uint32_t p_our_shape_id) {
-	int i = _find_overlapping_shape(p_other_object, p_other_shape_id, p_our_shape_id);
-	if (i == -1) { // Not found, create new one.
-		OverlappingShapeData overlapping_shape(p_other_object, OVERLAP_STATE_ENTER, p_other_shape_id, p_our_shape_id);
-		overlapping_shapes.push_back(overlapping_shape);
-		p_other_object->notify_new_overlap(this);
-		isScratched = true;
-	} else {
-		overlapping_shapes.ptrw()[i].state = OVERLAP_STATE_INSIDE;
-	}
-}
-
-void AreaBullet::mark_all_dirty_overlaps_as_exit() {
-	OverlappingShapeData *overlapping_shapes_w = overlapping_shapes.ptrw();
-	for (int i = 0; i < overlapping_shapes.size(); i++) {
-		if (overlapping_shapes[i].state == OVERLAP_STATE_DIRTY) {
-			overlapping_shapes_w[i].state = OVERLAP_STATE_EXIT;
-			isScratched = true;
-		}
-	}
-}
-
-void AreaBullet::remove_object_overlaps(CollisionObjectBullet *p_object) {
-	// Reverse order so items can be removed.
-	for (int i = overlapping_shapes.size() - 1; i >= 0; i--) {
-		if (overlapping_shapes[i].other_object == p_object) {
-			overlapping_shapes.remove_at(i);
-		}
-	}
-}
-
-void AreaBullet::clear_overlaps() {
-	for (int i = 0; i < overlapping_shapes.size(); i++) {
-		call_event(overlapping_shapes[i], PhysicsServer3D::AREA_BODY_REMOVED);
-		overlapping_shapes[i].other_object->on_exit_area(this);
-	}
-	overlapping_shapes.clear();
-}
-
-void AreaBullet::set_monitorable(bool p_monitorable) {
-	monitorable = p_monitorable;
-	updated = true;
-}
-
-bool AreaBullet::is_monitoring() const {
-	return get_godot_object_flags() & GOF_IS_MONITORING_AREA;
-}
-
-void AreaBullet::main_shape_changed() {
-	CRASH_COND(!get_main_shape());
-	btGhost->setCollisionShape(get_main_shape());
-	updated = true;
-}
-
-void AreaBullet::reload_body() {
-	if (space) {
-		space->remove_area(this);
-		space->add_area(this);
-	}
-}
-
-void AreaBullet::set_space(SpaceBullet *p_space) {
-	// Clear the old space if there is one
-	if (space) {
-		clear_overlaps();
-		isScratched = false;
-
-		// Remove this object form the physics world
-		space->remove_area(this);
-	}
-
-	space = p_space;
-
-	if (space) {
-		space->add_area(this);
-	}
-}
-
-void AreaBullet::on_collision_filters_change() {
-	if (space) {
-		space->reload_collision_filters(this);
-	}
-	updated = true;
-}
-
-void AreaBullet::set_param(PhysicsServer3D::AreaParameter p_param, const Variant &p_value) {
-	switch (p_param) {
-		case PhysicsServer3D::AREA_PARAM_GRAVITY:
-			set_spOv_gravityMag(p_value);
-			break;
-		case PhysicsServer3D::AREA_PARAM_GRAVITY_VECTOR:
-			set_spOv_gravityVec(p_value);
-			break;
-		case PhysicsServer3D::AREA_PARAM_LINEAR_DAMP:
-			set_spOv_linearDump(p_value);
-			break;
-		case PhysicsServer3D::AREA_PARAM_ANGULAR_DAMP:
-			set_spOv_angularDump(p_value);
-			break;
-		case PhysicsServer3D::AREA_PARAM_PRIORITY:
-			set_spOv_priority(p_value);
-			break;
-		case PhysicsServer3D::AREA_PARAM_GRAVITY_IS_POINT:
-			set_spOv_gravityPoint(p_value);
-			break;
-		case PhysicsServer3D::AREA_PARAM_GRAVITY_DISTANCE_SCALE:
-			set_spOv_gravityPointDistanceScale(p_value);
-			break;
-		case PhysicsServer3D::AREA_PARAM_GRAVITY_POINT_ATTENUATION:
-			set_spOv_gravityPointAttenuation(p_value);
-			break;
-		default:
-			WARN_PRINT("Area doesn't support this parameter in the Bullet backend: " + itos(p_param));
-	}
-	isScratched = true;
-}
-
-Variant AreaBullet::get_param(PhysicsServer3D::AreaParameter p_param) const {
-	switch (p_param) {
-		case PhysicsServer3D::AREA_PARAM_GRAVITY:
-			return spOv_gravityMag;
-		case PhysicsServer3D::AREA_PARAM_GRAVITY_VECTOR:
-			return spOv_gravityVec;
-		case PhysicsServer3D::AREA_PARAM_LINEAR_DAMP:
-			return spOv_linearDump;
-		case PhysicsServer3D::AREA_PARAM_ANGULAR_DAMP:
-			return spOv_angularDump;
-		case PhysicsServer3D::AREA_PARAM_PRIORITY:
-			return spOv_priority;
-		case PhysicsServer3D::AREA_PARAM_GRAVITY_IS_POINT:
-			return spOv_gravityPoint;
-		case PhysicsServer3D::AREA_PARAM_GRAVITY_DISTANCE_SCALE:
-			return spOv_gravityPointDistanceScale;
-		case PhysicsServer3D::AREA_PARAM_GRAVITY_POINT_ATTENUATION:
-			return spOv_gravityPointAttenuation;
-		default:
-			WARN_PRINT("Area doesn't support this parameter in the Bullet backend: " + itos(p_param));
-			return Variant();
-	}
-}
-
-void AreaBullet::set_event_callback(Type p_callbackObjectType, const Callable &p_callback) {
-	InOutEventCallback &ev = eventsCallbacks[static_cast<int>(p_callbackObjectType)];
-	ev.event_callback = p_callback;
-
-	/// Set if monitoring
-	if (!eventsCallbacks[0].event_callback.is_null() || !eventsCallbacks[1].event_callback.is_null()) {
-		set_godot_object_flags(get_godot_object_flags() | GOF_IS_MONITORING_AREA);
-	} else {
-		set_godot_object_flags(get_godot_object_flags() & (~GOF_IS_MONITORING_AREA));
-		clear_overlaps();
-	}
-}
-
-bool AreaBullet::has_event_callback(Type p_callbackObjectType) {
-	return !eventsCallbacks[static_cast<int>(p_callbackObjectType)].event_callback.is_null();
-}
-
-void AreaBullet::on_enter_area(AreaBullet *p_area) {
-}
-
-void AreaBullet::on_exit_area(AreaBullet *p_area) {
-	CollisionObjectBullet::on_exit_area(p_area);
-}
diff --git a/modules/bullet/area_bullet.h b/modules/bullet/area_bullet.h
deleted file mode 100644
index 740378d0e3..0000000000
--- a/modules/bullet/area_bullet.h
+++ /dev/null
@@ -1,162 +0,0 @@
-/*************************************************************************/
-/*  area_bullet.h                                                        */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef AREA_BULLET_H
-#define AREA_BULLET_H
-
-#include "collision_object_bullet.h"
-#include "core/templates/vector.h"
-#include "servers/physics_server_3d.h"
-#include "space_bullet.h"
-
-class btGhostObject;
-
-class AreaBullet : public RigidCollisionObjectBullet {
-public:
-	struct InOutEventCallback {
-		Callable event_callback;
-
-		InOutEventCallback() {}
-	};
-
-	enum OverlapState {
-		OVERLAP_STATE_DIRTY = 0, // Mark processed overlaps
-		OVERLAP_STATE_INSIDE, // Mark old overlap
-		OVERLAP_STATE_ENTER, // Mark just enter overlap
-		OVERLAP_STATE_EXIT // Mark ended overlaps
-	};
-
-	struct OverlappingShapeData {
-		CollisionObjectBullet *other_object = nullptr;
-		OverlapState state = OVERLAP_STATE_DIRTY;
-		uint32_t other_shape_id = 0;
-		uint32_t our_shape_id = 0;
-
-		OverlappingShapeData() {}
-
-		OverlappingShapeData(CollisionObjectBullet *p_other_object, OverlapState p_state, uint32_t p_other_shape_id, uint32_t p_our_shape_id) :
-				other_object(p_other_object),
-				state(p_state),
-				other_shape_id(p_other_shape_id),
-				our_shape_id(p_our_shape_id) {}
-	};
-
-private:
-	// These are used by function callEvent. Instead to create this each call I create if one time.
-	Variant call_event_res[5];
-	Variant *call_event_res_ptr[5] = {};
-
-	btGhostObject *btGhost = nullptr;
-	Vector<OverlappingShapeData> overlapping_shapes;
-	int _overlapping_shape_count(CollisionObjectBullet *p_other_object);
-	int _find_overlapping_shape(CollisionObjectBullet *p_other_object, uint32_t p_other_shape_id, uint32_t p_our_shape_id);
-	bool monitorable = true;
-
-	PhysicsServer3D::AreaSpaceOverrideMode spOv_mode = PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED;
-	bool spOv_gravityPoint = false;
-	real_t spOv_gravityPointDistanceScale = 0.0;
-	real_t spOv_gravityPointAttenuation = 1.0;
-	Vector3 spOv_gravityVec = Vector3(0, -1, 0);
-	real_t spOv_gravityMag = 10.0;
-	real_t spOv_linearDump = 0.1;
-	real_t spOv_angularDump = 0.1;
-	int spOv_priority = 0;
-
-	bool isScratched = false;
-
-	InOutEventCallback eventsCallbacks[2];
-
-public:
-	AreaBullet();
-	~AreaBullet();
-
-	_FORCE_INLINE_ btGhostObject *get_bt_ghost() const { return btGhost; }
-
-	void set_monitorable(bool p_monitorable);
-	_FORCE_INLINE_ bool is_monitorable() const { return monitorable; }
-
-	bool is_monitoring() const;
-
-	_FORCE_INLINE_ void set_spOv_mode(PhysicsServer3D::AreaSpaceOverrideMode p_mode) { spOv_mode = p_mode; }
-	_FORCE_INLINE_ PhysicsServer3D::AreaSpaceOverrideMode get_spOv_mode() { return spOv_mode; }
-
-	_FORCE_INLINE_ void set_spOv_gravityPoint(bool p_isGP) { spOv_gravityPoint = p_isGP; }
-	_FORCE_INLINE_ bool is_spOv_gravityPoint() { return spOv_gravityPoint; }
-
-	_FORCE_INLINE_ void set_spOv_gravityPointDistanceScale(real_t p_GPDS) { spOv_gravityPointDistanceScale = p_GPDS; }
-	_FORCE_INLINE_ real_t get_spOv_gravityPointDistanceScale() { return spOv_gravityPointDistanceScale; }
-
-	_FORCE_INLINE_ void set_spOv_gravityPointAttenuation(real_t p_GPA) { spOv_gravityPointAttenuation = p_GPA; }
-	_FORCE_INLINE_ real_t get_spOv_gravityPointAttenuation() { return spOv_gravityPointAttenuation; }
-
-	_FORCE_INLINE_ void set_spOv_gravityVec(Vector3 p_vec) { spOv_gravityVec = p_vec; }
-	_FORCE_INLINE_ const Vector3 &get_spOv_gravityVec() const { return spOv_gravityVec; }
-
-	_FORCE_INLINE_ void set_spOv_gravityMag(real_t p_gravityMag) { spOv_gravityMag = p_gravityMag; }
-	_FORCE_INLINE_ real_t get_spOv_gravityMag() { return spOv_gravityMag; }
-
-	_FORCE_INLINE_ void set_spOv_linearDump(real_t p_linearDump) { spOv_linearDump = p_linearDump; }
-	_FORCE_INLINE_ real_t get_spOv_linearDamp() { return spOv_linearDump; }
-
-	_FORCE_INLINE_ void set_spOv_angularDump(real_t p_angularDump) { spOv_angularDump = p_angularDump; }
-	_FORCE_INLINE_ real_t get_spOv_angularDamp() { return spOv_angularDump; }
-
-	_FORCE_INLINE_ void set_spOv_priority(int p_priority) { spOv_priority = p_priority; }
-	_FORCE_INLINE_ int get_spOv_priority() { return spOv_priority; }
-
-	virtual void main_shape_changed();
-	virtual void reload_body();
-	virtual void set_space(SpaceBullet *p_space);
-
-	virtual void dispatch_callbacks();
-	void call_event(const OverlappingShapeData &p_overlapping_shape, PhysicsServer3D::AreaBodyStatus p_status);
-
-	virtual void on_collision_filters_change();
-	virtual void on_collision_checker_start() {}
-	virtual void on_collision_checker_end() { updated = false; }
-
-	void mark_all_overlaps_dirty();
-	void mark_object_overlaps_inside(CollisionObjectBullet *p_other_object);
-	void set_overlap(CollisionObjectBullet *p_other_object, uint32_t p_other_shape_id, uint32_t p_our_shape_id);
-	void mark_all_dirty_overlaps_as_exit();
-	void remove_object_overlaps(CollisionObjectBullet *p_object);
-	void clear_overlaps();
-
-	void set_param(PhysicsServer3D::AreaParameter p_param, const Variant &p_value);
-	Variant get_param(PhysicsServer3D::AreaParameter p_param) const;
-
-	void set_event_callback(Type p_callbackObjectType, const Callable &p_callback);
-	bool has_event_callback(Type p_callbackObjectType);
-
-	virtual void on_enter_area(AreaBullet *p_area);
-	virtual void on_exit_area(AreaBullet *p_area);
-};
-
-#endif // AREA_BULLET_H
diff --git a/modules/bullet/btRayShape.cpp b/modules/bullet/btRayShape.cpp
deleted file mode 100644
index 14bc7442a7..0000000000
--- a/modules/bullet/btRayShape.cpp
+++ /dev/null
@@ -1,101 +0,0 @@
-/*************************************************************************/
-/*  btRayShape.cpp                                                       */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "btRayShape.h"
-
-#include "core/math/math_funcs.h"
-
-#include <LinearMath/btAabbUtil2.h>
-
-btRayShape::btRayShape(btScalar length) :
-		btConvexInternalShape() {
-	m_shapeType = CUSTOM_CONVEX_SHAPE_TYPE;
-	setLength(length);
-}
-
-btRayShape::~btRayShape() {
-}
-
-void btRayShape::setLength(btScalar p_length) {
-	m_length = p_length;
-	reload_cache();
-}
-
-void btRayShape::setMargin(btScalar margin) {
-	btConvexInternalShape::setMargin(margin);
-	reload_cache();
-}
-
-void btRayShape::setSlipsOnSlope(bool p_slipsOnSlope) {
-	slipsOnSlope = p_slipsOnSlope;
-}
-
-btVector3 btRayShape::localGetSupportingVertex(const btVector3 &vec) const {
-	return localGetSupportingVertexWithoutMargin(vec) + (m_shapeAxis * m_collisionMargin);
-}
-
-btVector3 btRayShape::localGetSupportingVertexWithoutMargin(const btVector3 &vec) const {
-	if (vec.z() > 0) {
-		return m_shapeAxis * m_cacheScaledLength;
-	} else {
-		return btVector3(0, 0, 0);
-	}
-}
-
-void btRayShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const {
-	for (int i = 0; i < numVectors; ++i) {
-		supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);
-	}
-}
-
-void btRayShape::getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const {
-	btVector3 localAabbMin(0, 0, 0);
-	btVector3 localAabbMax(m_shapeAxis * m_cacheScaledLength);
-	btTransformAabb(localAabbMin, localAabbMax, m_collisionMargin, t, aabbMin, aabbMax);
-}
-
-void btRayShape::calculateLocalInertia(btScalar mass, btVector3 &inertia) const {
-	inertia.setZero();
-}
-
-int btRayShape::getNumPreferredPenetrationDirections() const {
-	return 0;
-}
-
-void btRayShape::getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const {
-	penetrationVector.setZero();
-}
-
-void btRayShape::reload_cache() {
-	m_cacheScaledLength = m_length * m_localScaling[2];
-
-	m_cacheSupportPoint.setIdentity();
-	m_cacheSupportPoint.setOrigin(m_shapeAxis * m_cacheScaledLength);
-}
diff --git a/modules/bullet/btRayShape.h b/modules/bullet/btRayShape.h
deleted file mode 100644
index 90e4524d64..0000000000
--- a/modules/bullet/btRayShape.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/*************************************************************************/
-/*  btRayShape.h                                                         */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-/// IMPORTANT The class name and filename was created by following Bullet writing rules for an easy (eventually) porting to bullet
-/// This shape is a custom shape that is not present to Bullet physics engine
-#ifndef BTRAYSHAPE_H
-#define BTRAYSHAPE_H
-
-#include <BulletCollision/CollisionShapes/btConvexInternalShape.h>
-
-/// Ray shape around z axis
-ATTRIBUTE_ALIGNED16(class)
-btRayShape : public btConvexInternalShape {
-	btScalar m_length = 0;
-	bool slipsOnSlope = false;
-	/// The default axis is the z
-	btVector3 m_shapeAxis = btVector3(0, 0, 1);
-
-	btTransform m_cacheSupportPoint;
-	btScalar m_cacheScaledLength;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btRayShape(btScalar length);
-	virtual ~btRayShape();
-
-	void setLength(btScalar p_length);
-	btScalar getLength() const { return m_length; }
-
-	virtual void setMargin(btScalar margin);
-
-	void setSlipsOnSlope(bool p_slipsOnSlope);
-	bool getSlipsOnSlope() const { return slipsOnSlope; }
-
-	const btTransform &getSupportPoint() const { return m_cacheSupportPoint; }
-	const btScalar &getScaledLength() const { return m_cacheScaledLength; }
-
-	virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const;
-#ifndef __SPU__
-	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const;
-#endif //#ifndef __SPU__
-
-	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const;
-
-	///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
-	virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const;
-
-#ifndef __SPU__
-	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
-
-	virtual const char *getName() const {
-		return "RayZ";
-	}
-#endif //__SPU__
-
-	virtual int getNumPreferredPenetrationDirections() const;
-	virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const;
-
-private:
-	void reload_cache();
-};
-
-#endif // BTRAYSHAPE_H
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
deleted file mode 100644
index 7e9e621032..0000000000
--- a/modules/bullet/bullet_physics_server.cpp
+++ /dev/null
@@ -1,1535 +0,0 @@
-/*************************************************************************/
-/*  bullet_physics_server.cpp                                            */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "bullet_physics_server.h"
-
-#include "bullet_utilities.h"
-#include "cone_twist_joint_bullet.h"
-#include "core/error/error_macros.h"
-#include "core/object/class_db.h"
-#include "core/string/ustring.h"
-#include "generic_6dof_joint_bullet.h"
-#include "hinge_joint_bullet.h"
-#include "pin_joint_bullet.h"
-#include "shape_bullet.h"
-#include "slider_joint_bullet.h"
-
-#include <LinearMath/btVector3.h>
-
-#include <assert.h>
-
-#define CreateThenReturnRID(owner, ridData) \
-	RID rid = owner.make_rid(ridData);      \
-	ridData->set_self(rid);                 \
-	ridData->_set_physics_server(this);     \
-	return rid;
-
-// <--------------- Joint creation asserts
-/// Assert the body is assigned to a space
-#define JointAssertSpace(body, bIndex, ret)                                                          \
-	if (!body->get_space()) {                                                                        \
-		ERR_PRINT("Before create a joint the Body" + String(bIndex) + " must be added to a space!"); \
-		return ret;                                                                                  \
-	}
-
-/// Assert the two bodies of joint are in the same space
-#define JointAssertSameSpace(bodyA, bodyB, ret)                                                   \
-	if (bodyA->get_space() != bodyB->get_space()) {                                               \
-		ERR_PRINT("In order to create a joint the Body_A and Body_B must be in the same space!"); \
-		return RID();                                                                             \
-	}
-
-#define AddJointToSpace(body, joint) \
-	body->get_space()->add_constraint(joint, joint->is_disabled_collisions_between_bodies());
-// <--------------- Joint creation asserts
-
-void BulletPhysicsServer3D::_bind_methods() {
-	//ClassDB::bind_method(D_METHOD("DoTest"), &BulletPhysicsServer3D::DoTest);
-}
-
-BulletPhysicsServer3D::BulletPhysicsServer3D() :
-		PhysicsServer3D() {}
-
-BulletPhysicsServer3D::~BulletPhysicsServer3D() {}
-
-RID BulletPhysicsServer3D::shape_create(ShapeType p_shape) {
-	ShapeBullet *shape = nullptr;
-
-	switch (p_shape) {
-		case SHAPE_WORLD_BOUNDARY: {
-			shape = bulletnew(WorldBoundaryShapeBullet);
-		} break;
-		case SHAPE_SPHERE: {
-			shape = bulletnew(SphereShapeBullet);
-		} break;
-		case SHAPE_BOX: {
-			shape = bulletnew(BoxShapeBullet);
-		} break;
-		case SHAPE_CAPSULE: {
-			shape = bulletnew(CapsuleShapeBullet);
-		} break;
-		case SHAPE_CYLINDER: {
-			shape = bulletnew(CylinderShapeBullet);
-		} break;
-		case SHAPE_CONVEX_POLYGON: {
-			shape = bulletnew(ConvexPolygonShapeBullet);
-		} break;
-		case SHAPE_CONCAVE_POLYGON: {
-			shape = bulletnew(ConcavePolygonShapeBullet);
-		} break;
-		case SHAPE_HEIGHTMAP: {
-			shape = bulletnew(HeightMapShapeBullet);
-		} break;
-		case SHAPE_RAY: {
-			shape = bulletnew(RayShapeBullet);
-		} break;
-		case SHAPE_CUSTOM:
-		default:
-			ERR_FAIL_V(RID());
-			break;
-	}
-
-	CreateThenReturnRID(shape_owner, shape)
-}
-
-void BulletPhysicsServer3D::shape_set_data(RID p_shape, const Variant &p_data) {
-	ShapeBullet *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND(!shape);
-	shape->set_data(p_data);
-}
-
-void BulletPhysicsServer3D::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) {
-	//WARN_PRINT("Bias not supported by Bullet physics engine");
-}
-
-PhysicsServer3D::ShapeType BulletPhysicsServer3D::shape_get_type(RID p_shape) const {
-	ShapeBullet *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND_V(!shape, PhysicsServer3D::SHAPE_CUSTOM);
-	return shape->get_type();
-}
-
-Variant BulletPhysicsServer3D::shape_get_data(RID p_shape) const {
-	ShapeBullet *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND_V(!shape, Variant());
-	return shape->get_data();
-}
-
-void BulletPhysicsServer3D::shape_set_margin(RID p_shape, real_t p_margin) {
-	ShapeBullet *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND(!shape);
-	shape->set_margin(p_margin);
-}
-
-real_t BulletPhysicsServer3D::shape_get_margin(RID p_shape) const {
-	ShapeBullet *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND_V(!shape, 0.0);
-	return shape->get_margin();
-}
-
-real_t BulletPhysicsServer3D::shape_get_custom_solver_bias(RID p_shape) const {
-	//WARN_PRINT("Bias not supported by Bullet physics engine");
-	return 0.;
-}
-
-RID BulletPhysicsServer3D::space_create() {
-	SpaceBullet *space = bulletnew(SpaceBullet);
-	CreateThenReturnRID(space_owner, space);
-}
-
-void BulletPhysicsServer3D::space_set_active(RID p_space, bool p_active) {
-	SpaceBullet *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND(!space);
-
-	if (space_is_active(p_space) == p_active) {
-		return;
-	}
-
-	if (p_active) {
-		++active_spaces_count;
-		active_spaces.push_back(space);
-	} else {
-		--active_spaces_count;
-		active_spaces.erase(space);
-	}
-}
-
-bool BulletPhysicsServer3D::space_is_active(RID p_space) const {
-	SpaceBullet *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND_V(!space, false);
-
-	return -1 != active_spaces.find(space);
-}
-
-void BulletPhysicsServer3D::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) {
-	SpaceBullet *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND(!space);
-	space->set_param(p_param, p_value);
-}
-
-real_t BulletPhysicsServer3D::space_get_param(RID p_space, SpaceParameter p_param) const {
-	SpaceBullet *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND_V(!space, 0);
-	return space->get_param(p_param);
-}
-
-PhysicsDirectSpaceState3D *BulletPhysicsServer3D::space_get_direct_state(RID p_space) {
-	SpaceBullet *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND_V(!space, nullptr);
-
-	return space->get_direct_state();
-}
-
-void BulletPhysicsServer3D::space_set_debug_contacts(RID p_space, int p_max_contacts) {
-	SpaceBullet *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND(!space);
-
-	space->set_debug_contacts(p_max_contacts);
-}
-
-Vector<Vector3> BulletPhysicsServer3D::space_get_contacts(RID p_space) const {
-	SpaceBullet *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND_V(!space, Vector<Vector3>());
-
-	return space->get_debug_contacts();
-}
-
-int BulletPhysicsServer3D::space_get_contact_count(RID p_space) const {
-	SpaceBullet *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND_V(!space, 0);
-
-	return space->get_debug_contact_count();
-}
-
-RID BulletPhysicsServer3D::area_create() {
-	AreaBullet *area = bulletnew(AreaBullet);
-	area->set_collision_layer(1);
-	area->set_collision_mask(1);
-	CreateThenReturnRID(area_owner, area)
-}
-
-void BulletPhysicsServer3D::area_set_space(RID p_area, RID p_space) {
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-	SpaceBullet *space = nullptr;
-	if (p_space.is_valid()) {
-		space = space_owner.get_or_null(p_space);
-		ERR_FAIL_COND(!space);
-	}
-	area->set_space(space);
-}
-
-RID BulletPhysicsServer3D::area_get_space(RID p_area) const {
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	return area->get_space()->get_self();
-}
-
-void BulletPhysicsServer3D::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) {
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	area->set_spOv_mode(p_mode);
-}
-
-PhysicsServer3D::AreaSpaceOverrideMode BulletPhysicsServer3D::area_get_space_override_mode(RID p_area) const {
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND_V(!area, PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED);
-
-	return area->get_spOv_mode();
-}
-
-void BulletPhysicsServer3D::area_add_shape(RID p_area, RID p_shape, const Transform3D &p_transform, bool p_disabled) {
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	ShapeBullet *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND(!shape);
-
-	area->add_shape(shape, p_transform, p_disabled);
-}
-
-void BulletPhysicsServer3D::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	ShapeBullet *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND(!shape);
-
-	area->set_shape(p_shape_idx, shape);
-}
-
-void BulletPhysicsServer3D::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform3D &p_transform) {
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	area->set_shape_transform(p_shape_idx, p_transform);
-}
-
-int BulletPhysicsServer3D::area_get_shape_count(RID p_area) const {
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND_V(!area, 0);
-
-	return area->get_shape_count();
-}
-
-RID BulletPhysicsServer3D::area_get_shape(RID p_area, int p_shape_idx) const {
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND_V(!area, RID());
-
-	return area->get_shape(p_shape_idx)->get_self();
-}
-
-Transform3D BulletPhysicsServer3D::area_get_shape_transform(RID p_area, int p_shape_idx) const {
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND_V(!area, Transform3D());
-
-	return area->get_shape_transform(p_shape_idx);
-}
-
-void BulletPhysicsServer3D::area_remove_shape(RID p_area, int p_shape_idx) {
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-	return area->remove_shape_full(p_shape_idx);
-}
-
-void BulletPhysicsServer3D::area_clear_shapes(RID p_area) {
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	for (int i = area->get_shape_count(); 0 < i; --i) {
-		area->remove_shape_full(0);
-	}
-}
-
-void BulletPhysicsServer3D::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) {
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	area->set_shape_disabled(p_shape_idx, p_disabled);
-}
-
-void BulletPhysicsServer3D::area_attach_object_instance_id(RID p_area, ObjectID p_id) {
-	if (space_owner.owns(p_area)) {
-		return;
-	}
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-	area->set_instance_id(p_id);
-}
-
-ObjectID BulletPhysicsServer3D::area_get_object_instance_id(RID p_area) const {
-	if (space_owner.owns(p_area)) {
-		return ObjectID();
-	}
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND_V(!area, ObjectID());
-	return area->get_instance_id();
-}
-
-void BulletPhysicsServer3D::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) {
-	if (space_owner.owns(p_area)) {
-		SpaceBullet *space = space_owner.get_or_null(p_area);
-		if (space) {
-			space->set_param(p_param, p_value);
-		}
-	} else {
-		AreaBullet *area = area_owner.get_or_null(p_area);
-		ERR_FAIL_COND(!area);
-
-		area->set_param(p_param, p_value);
-	}
-}
-
-Variant BulletPhysicsServer3D::area_get_param(RID p_area, AreaParameter p_param) const {
-	if (space_owner.owns(p_area)) {
-		SpaceBullet *space = space_owner.get_or_null(p_area);
-		return space->get_param(p_param);
-	} else {
-		AreaBullet *area = area_owner.get_or_null(p_area);
-		ERR_FAIL_COND_V(!area, Variant());
-
-		return area->get_param(p_param);
-	}
-}
-
-void BulletPhysicsServer3D::area_set_transform(RID p_area, const Transform3D &p_transform) {
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-	area->set_transform(p_transform);
-}
-
-Transform3D BulletPhysicsServer3D::area_get_transform(RID p_area) const {
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND_V(!area, Transform3D());
-	return area->get_transform();
-}
-
-void BulletPhysicsServer3D::area_set_collision_mask(RID p_area, uint32_t p_mask) {
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-	area->set_collision_mask(p_mask);
-}
-
-void BulletPhysicsServer3D::area_set_collision_layer(RID p_area, uint32_t p_layer) {
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-	area->set_collision_layer(p_layer);
-}
-
-void BulletPhysicsServer3D::area_set_monitorable(RID p_area, bool p_monitorable) {
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	area->set_monitorable(p_monitorable);
-}
-
-void BulletPhysicsServer3D::area_set_monitor_callback(RID p_area, const Callable &p_callback) {
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	area->set_event_callback(CollisionObjectBullet::TYPE_RIGID_BODY, p_callback.is_valid() ? p_callback : Callable());
-}
-
-void BulletPhysicsServer3D::area_set_area_monitor_callback(RID p_area, const Callable &p_callback) {
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	area->set_event_callback(CollisionObjectBullet::TYPE_AREA, p_callback.is_valid() ? p_callback : Callable());
-}
-
-void BulletPhysicsServer3D::area_set_ray_pickable(RID p_area, bool p_enable) {
-	AreaBullet *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-	area->set_ray_pickable(p_enable);
-}
-
-RID BulletPhysicsServer3D::body_create(BodyMode p_mode, bool p_init_sleeping) {
-	RigidBodyBullet *body = bulletnew(RigidBodyBullet);
-	body->set_mode(p_mode);
-	body->set_collision_layer(1);
-	body->set_collision_mask(1);
-	if (p_init_sleeping) {
-		body->set_state(BODY_STATE_SLEEPING, p_init_sleeping);
-	}
-	CreateThenReturnRID(rigid_body_owner, body);
-}
-
-void BulletPhysicsServer3D::body_set_space(RID p_body, RID p_space) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	SpaceBullet *space = nullptr;
-
-	if (p_space.is_valid()) {
-		space = space_owner.get_or_null(p_space);
-		ERR_FAIL_COND(!space);
-	}
-
-	if (body->get_space() == space) {
-		return; //pointless
-	}
-
-	body->set_space(space);
-}
-
-RID BulletPhysicsServer3D::body_get_space(RID p_body) const {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, RID());
-
-	SpaceBullet *space = body->get_space();
-	if (!space) {
-		return RID();
-	}
-	return space->get_self();
-}
-
-void BulletPhysicsServer3D::body_set_mode(RID p_body, PhysicsServer3D::BodyMode p_mode) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_mode(p_mode);
-}
-
-PhysicsServer3D::BodyMode BulletPhysicsServer3D::body_get_mode(RID p_body) const {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, BODY_MODE_STATIC);
-	return body->get_mode();
-}
-
-void BulletPhysicsServer3D::body_add_shape(RID p_body, RID p_shape, const Transform3D &p_transform, bool p_disabled) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	ShapeBullet *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND(!shape);
-
-	body->add_shape(shape, p_transform, p_disabled);
-}
-
-void BulletPhysicsServer3D::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	ShapeBullet *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND(!shape);
-
-	body->set_shape(p_shape_idx, shape);
-}
-
-void BulletPhysicsServer3D::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform3D &p_transform) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_shape_transform(p_shape_idx, p_transform);
-}
-
-int BulletPhysicsServer3D::body_get_shape_count(RID p_body) const {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0);
-	return body->get_shape_count();
-}
-
-RID BulletPhysicsServer3D::body_get_shape(RID p_body, int p_shape_idx) const {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, RID());
-
-	ShapeBullet *shape = body->get_shape(p_shape_idx);
-	ERR_FAIL_COND_V(!shape, RID());
-
-	return shape->get_self();
-}
-
-Transform3D BulletPhysicsServer3D::body_get_shape_transform(RID p_body, int p_shape_idx) const {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, Transform3D());
-	return body->get_shape_transform(p_shape_idx);
-}
-
-void BulletPhysicsServer3D::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_shape_disabled(p_shape_idx, p_disabled);
-}
-
-void BulletPhysicsServer3D::body_remove_shape(RID p_body, int p_shape_idx) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->remove_shape_full(p_shape_idx);
-}
-
-void BulletPhysicsServer3D::body_clear_shapes(RID p_body) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->remove_all_shapes();
-}
-
-void BulletPhysicsServer3D::body_attach_object_instance_id(RID p_body, ObjectID p_id) {
-	CollisionObjectBullet *body = get_collision_object(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_instance_id(p_id);
-}
-
-ObjectID BulletPhysicsServer3D::body_get_object_instance_id(RID p_body) const {
-	CollisionObjectBullet *body = get_collision_object(p_body);
-	ERR_FAIL_COND_V(!body, ObjectID());
-
-	return body->get_instance_id();
-}
-
-void BulletPhysicsServer3D::body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_continuous_collision_detection(p_enable);
-}
-
-bool BulletPhysicsServer3D::body_is_continuous_collision_detection_enabled(RID p_body) const {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, false);
-
-	return body->is_continuous_collision_detection_enabled();
-}
-
-void BulletPhysicsServer3D::body_set_collision_layer(RID p_body, uint32_t p_layer) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_collision_layer(p_layer);
-}
-
-uint32_t BulletPhysicsServer3D::body_get_collision_layer(RID p_body) const {
-	const RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0);
-
-	return body->get_collision_layer();
-}
-
-void BulletPhysicsServer3D::body_set_collision_mask(RID p_body, uint32_t p_mask) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_collision_mask(p_mask);
-}
-
-uint32_t BulletPhysicsServer3D::body_get_collision_mask(RID p_body) const {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0);
-
-	return body->get_collision_mask();
-}
-
-void BulletPhysicsServer3D::body_set_user_flags(RID p_body, uint32_t p_flags) {
-	// This function is not currently supported
-}
-
-uint32_t BulletPhysicsServer3D::body_get_user_flags(RID p_body) const {
-	// This function is not currently supported
-	return 0;
-}
-
-void BulletPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, real_t p_value) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_param(p_param, p_value);
-}
-
-real_t BulletPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0);
-
-	return body->get_param(p_param);
-}
-
-void BulletPhysicsServer3D::body_set_kinematic_safe_margin(RID p_body, real_t p_margin) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	if (body->get_kinematic_utilities()) {
-		body->get_kinematic_utilities()->setSafeMargin(p_margin);
-	}
-}
-
-real_t BulletPhysicsServer3D::body_get_kinematic_safe_margin(RID p_body) const {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0);
-
-	if (body->get_kinematic_utilities()) {
-		return body->get_kinematic_utilities()->safe_margin;
-	}
-
-	return 0;
-}
-
-void BulletPhysicsServer3D::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_state(p_state, p_variant);
-}
-
-Variant BulletPhysicsServer3D::body_get_state(RID p_body, BodyState p_state) const {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, Variant());
-
-	return body->get_state(p_state);
-}
-
-void BulletPhysicsServer3D::body_set_applied_force(RID p_body, const Vector3 &p_force) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_applied_force(p_force);
-}
-
-Vector3 BulletPhysicsServer3D::body_get_applied_force(RID p_body) const {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, Vector3());
-	return body->get_applied_force();
-}
-
-void BulletPhysicsServer3D::body_set_applied_torque(RID p_body, const Vector3 &p_torque) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_applied_torque(p_torque);
-}
-
-Vector3 BulletPhysicsServer3D::body_get_applied_torque(RID p_body) const {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, Vector3());
-
-	return body->get_applied_torque();
-}
-
-void BulletPhysicsServer3D::body_add_central_force(RID p_body, const Vector3 &p_force) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->apply_central_force(p_force);
-}
-
-void BulletPhysicsServer3D::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->apply_force(p_force, p_position);
-}
-
-void BulletPhysicsServer3D::body_add_torque(RID p_body, const Vector3 &p_torque) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->apply_torque(p_torque);
-}
-
-void BulletPhysicsServer3D::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->apply_central_impulse(p_impulse);
-}
-
-void BulletPhysicsServer3D::body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->apply_impulse(p_impulse, p_position);
-}
-
-void BulletPhysicsServer3D::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->apply_torque_impulse(p_impulse);
-}
-
-void BulletPhysicsServer3D::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	Vector3 v = body->get_linear_velocity();
-	Vector3 axis = p_axis_velocity.normalized();
-	v -= axis * axis.dot(v);
-	v += p_axis_velocity;
-	body->set_linear_velocity(v);
-}
-
-void BulletPhysicsServer3D::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_axis_lock(p_axis, p_lock);
-}
-
-bool BulletPhysicsServer3D::body_is_axis_locked(RID p_body, BodyAxis p_axis) const {
-	const RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0);
-	return body->is_axis_locked(p_axis);
-}
-
-void BulletPhysicsServer3D::body_add_collision_exception(RID p_body, RID p_body_b) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	RigidBodyBullet *other_body = rigid_body_owner.get_or_null(p_body_b);
-	ERR_FAIL_COND(!other_body);
-
-	body->add_collision_exception(other_body);
-}
-
-void BulletPhysicsServer3D::body_remove_collision_exception(RID p_body, RID p_body_b) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	RigidBodyBullet *other_body = rigid_body_owner.get_or_null(p_body_b);
-	ERR_FAIL_COND(!other_body);
-
-	body->remove_collision_exception(other_body);
-}
-
-void BulletPhysicsServer3D::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	for (int i = 0; i < body->get_exceptions().size(); i++) {
-		p_exceptions->push_back(body->get_exceptions()[i]);
-	}
-}
-
-void BulletPhysicsServer3D::body_set_max_contacts_reported(RID p_body, int p_contacts) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_max_collisions_detection(p_contacts);
-}
-
-int BulletPhysicsServer3D::body_get_max_contacts_reported(RID p_body) const {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0);
-
-	return body->get_max_collisions_detection();
-}
-
-void BulletPhysicsServer3D::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) {
-	// Not supported by bullet and even Godot
-}
-
-real_t BulletPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_body) const {
-	// Not supported by bullet and even Godot
-	return 0.;
-}
-
-void BulletPhysicsServer3D::body_set_omit_force_integration(RID p_body, bool p_omit) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_omit_forces_integration(p_omit);
-}
-
-bool BulletPhysicsServer3D::body_is_omitting_force_integration(RID p_body) const {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, false);
-
-	return body->get_omit_forces_integration();
-}
-
-void BulletPhysicsServer3D::body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_force_integration_callback(p_callable, p_udata);
-}
-
-void BulletPhysicsServer3D::body_set_ray_pickable(RID p_body, bool p_enable) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_ray_pickable(p_enable);
-}
-
-PhysicsDirectBodyState3D *BulletPhysicsServer3D::body_get_direct_state(RID p_body) {
-	if (!rigid_body_owner.owns(p_body)) {
-		return nullptr;
-	}
-
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, nullptr);
-
-	if (!body->get_space()) {
-		return nullptr;
-	}
-
-	return BulletPhysicsDirectBodyState3D::get_singleton(body);
-}
-
-bool BulletPhysicsServer3D::body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, false);
-	ERR_FAIL_COND_V(!body->get_space(), false);
-
-	return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result, p_exclude_raycast_shapes, p_exclude);
-}
-
-int BulletPhysicsServer3D::body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) {
-	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0);
-	ERR_FAIL_COND_V(!body->get_space(), 0);
-
-	return body->get_space()->test_ray_separation(body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
-}
-
-RID BulletPhysicsServer3D::soft_body_create(bool p_init_sleeping) {
-	SoftBodyBullet *body = bulletnew(SoftBodyBullet);
-	body->set_collision_layer(1);
-	body->set_collision_mask(1);
-	if (p_init_sleeping) {
-		body->set_activation_state(false);
-	}
-	CreateThenReturnRID(soft_body_owner, body);
-}
-
-void BulletPhysicsServer3D::soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->update_rendering_server(p_rendering_server_handler);
-}
-
-void BulletPhysicsServer3D::soft_body_set_space(RID p_body, RID p_space) {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	SpaceBullet *space = nullptr;
-
-	if (p_space.is_valid()) {
-		space = space_owner.get_or_null(p_space);
-		ERR_FAIL_COND(!space);
-	}
-
-	if (body->get_space() == space) {
-		return; //pointless
-	}
-
-	body->set_space(space);
-}
-
-RID BulletPhysicsServer3D::soft_body_get_space(RID p_body) const {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, RID());
-
-	SpaceBullet *space = body->get_space();
-	if (!space) {
-		return RID();
-	}
-	return space->get_self();
-}
-
-void BulletPhysicsServer3D::soft_body_set_mesh(RID p_body, RID p_mesh) {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_soft_mesh(p_mesh);
-}
-
-AABB BulletPhysicsServer::soft_body_get_bounds(RID p_body) const {
-	SoftBodyBullet *body = soft_body_owner.get(p_body);
-	ERR_FAIL_COND_V(!body, AABB());
-
-	return body->get_bounds();
-}
-
-void BulletPhysicsServer3D::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_collision_layer(p_layer);
-}
-
-uint32_t BulletPhysicsServer3D::soft_body_get_collision_layer(RID p_body) const {
-	const SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0);
-
-	return body->get_collision_layer();
-}
-
-void BulletPhysicsServer3D::soft_body_set_collision_mask(RID p_body, uint32_t p_mask) {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_collision_mask(p_mask);
-}
-
-uint32_t BulletPhysicsServer3D::soft_body_get_collision_mask(RID p_body) const {
-	const SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0);
-
-	return body->get_collision_mask();
-}
-
-void BulletPhysicsServer3D::soft_body_add_collision_exception(RID p_body, RID p_body_b) {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	CollisionObjectBullet *other_body = rigid_body_owner.get_or_null(p_body_b);
-	if (!other_body) {
-		other_body = soft_body_owner.get_or_null(p_body_b);
-	}
-	ERR_FAIL_COND(!other_body);
-
-	body->add_collision_exception(other_body);
-}
-
-void BulletPhysicsServer3D::soft_body_remove_collision_exception(RID p_body, RID p_body_b) {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	CollisionObjectBullet *other_body = rigid_body_owner.get_or_null(p_body_b);
-	if (!other_body) {
-		other_body = soft_body_owner.get_or_null(p_body_b);
-	}
-	ERR_FAIL_COND(!other_body);
-
-	body->remove_collision_exception(other_body);
-}
-
-void BulletPhysicsServer3D::soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	for (int i = 0; i < body->get_exceptions().size(); i++) {
-		p_exceptions->push_back(body->get_exceptions()[i]);
-	}
-}
-
-void BulletPhysicsServer3D::soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
-	// FIXME: Must be implemented.
-	WARN_PRINT("soft_body_state is not implemented yet in Bullet backend.");
-}
-
-Variant BulletPhysicsServer3D::soft_body_get_state(RID p_body, BodyState p_state) const {
-	// FIXME: Must be implemented.
-	WARN_PRINT("soft_body_state is not implemented yet in Bullet backend.");
-	return Variant();
-}
-
-void BulletPhysicsServer3D::soft_body_set_transform(RID p_body, const Transform3D &p_transform) {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_soft_transform(p_transform);
-}
-
-void BulletPhysicsServer3D::soft_body_set_ray_pickable(RID p_body, bool p_enable) {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_ray_pickable(p_enable);
-}
-
-void BulletPhysicsServer3D::soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_simulation_precision(p_simulation_precision);
-}
-
-int BulletPhysicsServer3D::soft_body_get_simulation_precision(RID p_body) const {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0.f);
-	return body->get_simulation_precision();
-}
-
-void BulletPhysicsServer3D::soft_body_set_total_mass(RID p_body, real_t p_total_mass) {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_total_mass(p_total_mass);
-}
-
-real_t BulletPhysicsServer3D::soft_body_get_total_mass(RID p_body) const {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0.f);
-	return body->get_total_mass();
-}
-
-void BulletPhysicsServer3D::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) const {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_linear_stiffness(p_stiffness);
-}
-
-real_t BulletPhysicsServer3D::soft_body_get_linear_stiffness(RID p_body) {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0.f);
-	return body->get_linear_stiffness();
-}
-
-void BulletPhysicsServer3D::soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_pressure_coefficient(p_pressure_coefficient);
-}
-
-real_t BulletPhysicsServer3D::soft_body_get_pressure_coefficient(RID p_body) const {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0.f);
-	return body->get_pressure_coefficient();
-}
-
-void BulletPhysicsServer3D::soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_damping_coefficient(p_damping_coefficient);
-}
-
-real_t BulletPhysicsServer3D::soft_body_get_damping_coefficient(RID p_body) const {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0.f);
-	return body->get_damping_coefficient();
-}
-
-void BulletPhysicsServer3D::soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_drag_coefficient(p_drag_coefficient);
-}
-
-real_t BulletPhysicsServer3D::soft_body_get_drag_coefficient(RID p_body) const {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0.f);
-	return body->get_drag_coefficient();
-}
-
-void BulletPhysicsServer3D::soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_node_position(p_point_index, p_global_position);
-}
-
-Vector3 BulletPhysicsServer3D::soft_body_get_point_global_position(RID p_body, int p_point_index) const {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, Vector3(0., 0., 0.));
-	Vector3 pos;
-	body->get_node_position(p_point_index, pos);
-	return pos;
-}
-
-void BulletPhysicsServer3D::soft_body_remove_all_pinned_points(RID p_body) {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->reset_all_node_mass();
-}
-
-void BulletPhysicsServer3D::soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_node_mass(p_point_index, p_pin ? 0 : 1);
-}
-
-bool BulletPhysicsServer3D::soft_body_is_point_pinned(RID p_body, int p_point_index) const {
-	SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0.f);
-	return body->get_node_mass(p_point_index);
-}
-
-PhysicsServer3D::JointType BulletPhysicsServer3D::joint_get_type(RID p_joint) const {
-	JointBullet *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, JOINT_PIN);
-	return joint->get_type();
-}
-
-void BulletPhysicsServer3D::joint_set_solver_priority(RID p_joint, int p_priority) {
-	// Joint priority not supported by bullet
-}
-
-int BulletPhysicsServer3D::joint_get_solver_priority(RID p_joint) const {
-	// Joint priority not supported by bullet
-	return 0;
-}
-
-void BulletPhysicsServer3D::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) {
-	JointBullet *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!joint);
-
-	joint->disable_collisions_between_bodies(p_disable);
-}
-
-bool BulletPhysicsServer3D::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
-	JointBullet *joint(joint_owner.get_or_null(p_joint));
-	ERR_FAIL_COND_V(!joint, false);
-
-	return joint->is_disabled_collisions_between_bodies();
-}
-
-RID BulletPhysicsServer3D::joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) {
-	RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A);
-	ERR_FAIL_COND_V(!body_A, RID());
-
-	JointAssertSpace(body_A, "A", RID());
-
-	RigidBodyBullet *body_B = nullptr;
-	if (p_body_B.is_valid()) {
-		body_B = rigid_body_owner.get_or_null(p_body_B);
-		JointAssertSpace(body_B, "B", RID());
-		JointAssertSameSpace(body_A, body_B, RID());
-	}
-
-	ERR_FAIL_COND_V(body_A == body_B, RID());
-
-	JointBullet *joint = bulletnew(PinJointBullet(body_A, p_local_A, body_B, p_local_B));
-	AddJointToSpace(body_A, joint);
-
-	CreateThenReturnRID(joint_owner, joint);
-}
-
-void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) {
-	JointBullet *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!joint);
-	ERR_FAIL_COND(joint->get_type() != JOINT_PIN);
-	PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
-	pin_joint->set_param(p_param, p_value);
-}
-
-real_t BulletPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const {
-	JointBullet *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, 0);
-	ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, 0);
-	PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
-	return pin_joint->get_param(p_param);
-}
-
-void BulletPhysicsServer3D::pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) {
-	JointBullet *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!joint);
-	ERR_FAIL_COND(joint->get_type() != JOINT_PIN);
-	PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
-	pin_joint->setPivotInA(p_A);
-}
-
-Vector3 BulletPhysicsServer3D::pin_joint_get_local_a(RID p_joint) const {
-	JointBullet *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, Vector3());
-	ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, Vector3());
-	PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
-	return pin_joint->getPivotInA();
-}
-
-void BulletPhysicsServer3D::pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) {
-	JointBullet *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!joint);
-	ERR_FAIL_COND(joint->get_type() != JOINT_PIN);
-	PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
-	pin_joint->setPivotInB(p_B);
-}
-
-Vector3 BulletPhysicsServer3D::pin_joint_get_local_b(RID p_joint) const {
-	JointBullet *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, Vector3());
-	ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, Vector3());
-	PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
-	return pin_joint->getPivotInB();
-}
-
-RID BulletPhysicsServer3D::joint_create_hinge(RID p_body_A, const Transform3D &p_hinge_A, RID p_body_B, const Transform3D &p_hinge_B) {
-	RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A);
-	ERR_FAIL_COND_V(!body_A, RID());
-	JointAssertSpace(body_A, "A", RID());
-
-	RigidBodyBullet *body_B = nullptr;
-	if (p_body_B.is_valid()) {
-		body_B = rigid_body_owner.get_or_null(p_body_B);
-		JointAssertSpace(body_B, "B", RID());
-		JointAssertSameSpace(body_A, body_B, RID());
-	}
-
-	ERR_FAIL_COND_V(body_A == body_B, RID());
-
-	JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_hinge_A, p_hinge_B));
-	AddJointToSpace(body_A, joint);
-
-	CreateThenReturnRID(joint_owner, joint);
-}
-
-RID BulletPhysicsServer3D::joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) {
-	RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A);
-	ERR_FAIL_COND_V(!body_A, RID());
-	JointAssertSpace(body_A, "A", RID());
-
-	RigidBodyBullet *body_B = nullptr;
-	if (p_body_B.is_valid()) {
-		body_B = rigid_body_owner.get_or_null(p_body_B);
-		JointAssertSpace(body_B, "B", RID());
-		JointAssertSameSpace(body_A, body_B, RID());
-	}
-
-	ERR_FAIL_COND_V(body_A == body_B, RID());
-
-	JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_pivot_A, p_pivot_B, p_axis_A, p_axis_B));
-	AddJointToSpace(body_A, joint);
-
-	CreateThenReturnRID(joint_owner, joint);
-}
-
-void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) {
-	JointBullet *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!joint);
-	ERR_FAIL_COND(joint->get_type() != JOINT_HINGE);
-	HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint);
-	hinge_joint->set_param(p_param, p_value);
-}
-
-real_t BulletPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const {
-	JointBullet *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, 0);
-	ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, 0);
-	HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint);
-	return hinge_joint->get_param(p_param);
-}
-
-void BulletPhysicsServer3D::hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) {
-	JointBullet *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!joint);
-	ERR_FAIL_COND(joint->get_type() != JOINT_HINGE);
-	HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint);
-	hinge_joint->set_flag(p_flag, p_value);
-}
-
-bool BulletPhysicsServer3D::hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const {
-	JointBullet *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, false);
-	ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, false);
-	HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint);
-	return hinge_joint->get_flag(p_flag);
-}
-
-RID BulletPhysicsServer3D::joint_create_slider(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) {
-	RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A);
-	ERR_FAIL_COND_V(!body_A, RID());
-	JointAssertSpace(body_A, "A", RID());
-
-	RigidBodyBullet *body_B = nullptr;
-	if (p_body_B.is_valid()) {
-		body_B = rigid_body_owner.get_or_null(p_body_B);
-		JointAssertSpace(body_B, "B", RID());
-		JointAssertSameSpace(body_A, body_B, RID());
-	}
-
-	ERR_FAIL_COND_V(body_A == body_B, RID());
-
-	JointBullet *joint = bulletnew(SliderJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B));
-	AddJointToSpace(body_A, joint);
-
-	CreateThenReturnRID(joint_owner, joint);
-}
-
-void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) {
-	JointBullet *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!joint);
-	ERR_FAIL_COND(joint->get_type() != JOINT_SLIDER);
-	SliderJointBullet *slider_joint = static_cast<SliderJointBullet *>(joint);
-	slider_joint->set_param(p_param, p_value);
-}
-
-real_t BulletPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const {
-	JointBullet *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, 0);
-	ERR_FAIL_COND_V(joint->get_type() != JOINT_SLIDER, 0);
-	SliderJointBullet *slider_joint = static_cast<SliderJointBullet *>(joint);
-	return slider_joint->get_param(p_param);
-}
-
-RID BulletPhysicsServer3D::joint_create_cone_twist(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) {
-	RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A);
-	ERR_FAIL_COND_V(!body_A, RID());
-	JointAssertSpace(body_A, "A", RID());
-
-	RigidBodyBullet *body_B = nullptr;
-	if (p_body_B.is_valid()) {
-		body_B = rigid_body_owner.get_or_null(p_body_B);
-		JointAssertSpace(body_B, "B", RID());
-		JointAssertSameSpace(body_A, body_B, RID());
-	}
-
-	JointBullet *joint = bulletnew(ConeTwistJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B));
-	AddJointToSpace(body_A, joint);
-
-	CreateThenReturnRID(joint_owner, joint);
-}
-
-void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) {
-	JointBullet *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!joint);
-	ERR_FAIL_COND(joint->get_type() != JOINT_CONE_TWIST);
-	ConeTwistJointBullet *coneTwist_joint = static_cast<ConeTwistJointBullet *>(joint);
-	coneTwist_joint->set_param(p_param, p_value);
-}
-
-real_t BulletPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const {
-	JointBullet *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, 0.);
-	ERR_FAIL_COND_V(joint->get_type() != JOINT_CONE_TWIST, 0.);
-	ConeTwistJointBullet *coneTwist_joint = static_cast<ConeTwistJointBullet *>(joint);
-	return coneTwist_joint->get_param(p_param);
-}
-
-RID BulletPhysicsServer3D::joint_create_generic_6dof(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) {
-	RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A);
-	ERR_FAIL_COND_V(!body_A, RID());
-	JointAssertSpace(body_A, "A", RID());
-
-	RigidBodyBullet *body_B = nullptr;
-	if (p_body_B.is_valid()) {
-		body_B = rigid_body_owner.get_or_null(p_body_B);
-		JointAssertSpace(body_B, "B", RID());
-		JointAssertSameSpace(body_A, body_B, RID());
-	}
-
-	ERR_FAIL_COND_V(body_A == body_B, RID());
-
-	JointBullet *joint = bulletnew(Generic6DOFJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B));
-	AddJointToSpace(body_A, joint);
-
-	CreateThenReturnRID(joint_owner, joint);
-}
-
-void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) {
-	JointBullet *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!joint);
-	ERR_FAIL_COND(joint->get_type() != JOINT_6DOF);
-	Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
-	generic_6dof_joint->set_param(p_axis, p_param, p_value);
-}
-
-real_t BulletPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) {
-	JointBullet *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, 0);
-	ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0);
-	Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
-	return generic_6dof_joint->get_param(p_axis, p_param);
-}
-
-void BulletPhysicsServer3D::generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) {
-	JointBullet *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!joint);
-	ERR_FAIL_COND(joint->get_type() != JOINT_6DOF);
-	Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
-	generic_6dof_joint->set_flag(p_axis, p_flag, p_enable);
-}
-
-bool BulletPhysicsServer3D::generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) {
-	JointBullet *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, false);
-	ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, false);
-	Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
-	return generic_6dof_joint->get_flag(p_axis, p_flag);
-}
-
-void BulletPhysicsServer3D::free(RID p_rid) {
-	if (shape_owner.owns(p_rid)) {
-		ShapeBullet *shape = shape_owner.get_or_null(p_rid);
-
-		// Notify the shape is configured
-		for (const KeyValue<ShapeOwnerBullet *, int> &element : shape->get_owners()) {
-			static_cast<ShapeOwnerBullet *>(element.key)->remove_shape_full(shape);
-		}
-
-		shape_owner.free(p_rid);
-		bulletdelete(shape);
-	} else if (rigid_body_owner.owns(p_rid)) {
-		RigidBodyBullet *body = rigid_body_owner.get_or_null(p_rid);
-
-		body->set_space(nullptr);
-
-		body->remove_all_shapes(true, true);
-
-		rigid_body_owner.free(p_rid);
-		bulletdelete(body);
-
-	} else if (soft_body_owner.owns(p_rid)) {
-		SoftBodyBullet *body = soft_body_owner.get_or_null(p_rid);
-
-		body->set_space(nullptr);
-
-		soft_body_owner.free(p_rid);
-		bulletdelete(body);
-
-	} else if (area_owner.owns(p_rid)) {
-		AreaBullet *area = area_owner.get_or_null(p_rid);
-
-		area->set_space(nullptr);
-
-		area->remove_all_shapes(true, true);
-
-		area_owner.free(p_rid);
-		bulletdelete(area);
-
-	} else if (joint_owner.owns(p_rid)) {
-		JointBullet *joint = joint_owner.get_or_null(p_rid);
-		joint->destroy_internal_constraint();
-		joint_owner.free(p_rid);
-		bulletdelete(joint);
-
-	} else if (space_owner.owns(p_rid)) {
-		SpaceBullet *space = space_owner.get_or_null(p_rid);
-
-		space->remove_all_collision_objects();
-
-		space_set_active(p_rid, false);
-		space_owner.free(p_rid);
-		bulletdelete(space);
-	} else {
-		ERR_FAIL_MSG("Invalid ID.");
-	}
-}
-
-void BulletPhysicsServer3D::init() {
-	BulletPhysicsDirectBodyState3D::initSingleton();
-}
-
-void BulletPhysicsServer3D::step(real_t p_deltaTime) {
-	if (!active) {
-		return;
-	}
-
-	BulletPhysicsDirectBodyState3D::singleton_setDeltaTime(p_deltaTime);
-
-	for (int i = 0; i < active_spaces_count; ++i) {
-		active_spaces[i]->step(p_deltaTime);
-	}
-}
-
-void BulletPhysicsServer3D::flush_queries() {
-	if (!active) {
-		return;
-	}
-
-	for (int i = 0; i < active_spaces_count; ++i) {
-		active_spaces[i]->flush_queries();
-	}
-}
-
-void BulletPhysicsServer3D::finish() {
-	BulletPhysicsDirectBodyState3D::destroySingleton();
-}
-
-int BulletPhysicsServer3D::get_process_info(ProcessInfo p_info) {
-	return 0;
-}
-
-SpaceBullet *BulletPhysicsServer3D::get_space(RID p_rid) const {
-	ERR_FAIL_COND_V_MSG(space_owner.owns(p_rid) == false, nullptr, "The RID is not valid.");
-	return space_owner.get_or_null(p_rid);
-}
-
-ShapeBullet *BulletPhysicsServer3D::get_shape(RID p_rid) const {
-	ERR_FAIL_COND_V_MSG(shape_owner.owns(p_rid) == false, nullptr, "The RID is not valid.");
-	return shape_owner.get_or_null(p_rid);
-}
-
-CollisionObjectBullet *BulletPhysicsServer3D::get_collision_object(RID p_object) const {
-	if (rigid_body_owner.owns(p_object)) {
-		return rigid_body_owner.get_or_null(p_object);
-	}
-	if (area_owner.owns(p_object)) {
-		return area_owner.get_or_null(p_object);
-	}
-	if (soft_body_owner.owns(p_object)) {
-		return soft_body_owner.get_or_null(p_object);
-	}
-	ERR_FAIL_V_MSG(nullptr, "The RID is no valid.");
-}
-
-RigidCollisionObjectBullet *BulletPhysicsServer3D::get_rigid_collision_object(RID p_object) const {
-	if (rigid_body_owner.owns(p_object)) {
-		return rigid_body_owner.get_or_null(p_object);
-	}
-	if (area_owner.owns(p_object)) {
-		return area_owner.get_or_null(p_object);
-	}
-	ERR_FAIL_V_MSG(nullptr, "The RID is no valid.");
-}
-
-JointBullet *BulletPhysicsServer3D::get_joint(RID p_rid) const {
-	ERR_FAIL_COND_V_MSG(joint_owner.owns(p_rid) == false, nullptr, "The RID is not valid.");
-	return joint_owner.get_or_null(p_rid);
-}
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
deleted file mode 100644
index 06a6f62bcd..0000000000
--- a/modules/bullet/bullet_physics_server.h
+++ /dev/null
@@ -1,394 +0,0 @@
-/*************************************************************************/
-/*  bullet_physics_server.h                                              */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef BULLET_PHYSICS_SERVER_H
-#define BULLET_PHYSICS_SERVER_H
-
-#include "area_bullet.h"
-#include "core/templates/rid.h"
-#include "core/templates/rid_owner.h"
-#include "joint_bullet.h"
-#include "rigid_body_bullet.h"
-#include "servers/physics_server_3d.h"
-#include "shape_bullet.h"
-#include "soft_body_bullet.h"
-#include "space_bullet.h"
-
-class BulletPhysicsServer3D : public PhysicsServer3D {
-	GDCLASS(BulletPhysicsServer3D, PhysicsServer3D);
-
-	friend class BulletPhysicsDirectSpaceState;
-
-	bool active = true;
-	char active_spaces_count = 0;
-	Vector<SpaceBullet *> active_spaces;
-
-	mutable RID_PtrOwner<SpaceBullet> space_owner;
-	mutable RID_PtrOwner<ShapeBullet> shape_owner;
-	mutable RID_PtrOwner<AreaBullet> area_owner;
-	mutable RID_PtrOwner<RigidBodyBullet> rigid_body_owner;
-	mutable RID_PtrOwner<SoftBodyBullet> soft_body_owner;
-	mutable RID_PtrOwner<JointBullet> joint_owner;
-
-protected:
-	static void _bind_methods();
-
-public:
-	BulletPhysicsServer3D();
-	~BulletPhysicsServer3D();
-
-	_FORCE_INLINE_ RID_PtrOwner<SpaceBullet> *get_space_owner() {
-		return &space_owner;
-	}
-	_FORCE_INLINE_ RID_PtrOwner<ShapeBullet> *get_shape_owner() {
-		return &shape_owner;
-	}
-	_FORCE_INLINE_ RID_PtrOwner<AreaBullet> *get_area_owner() {
-		return &area_owner;
-	}
-	_FORCE_INLINE_ RID_PtrOwner<RigidBodyBullet> *get_rigid_body_owner() {
-		return &rigid_body_owner;
-	}
-	_FORCE_INLINE_ RID_PtrOwner<SoftBodyBullet> *get_soft_body_owner() {
-		return &soft_body_owner;
-	}
-	_FORCE_INLINE_ RID_PtrOwner<JointBullet> *get_joint_owner() {
-		return &joint_owner;
-	}
-
-	/* SHAPE API */
-	virtual RID shape_create(ShapeType p_shape) override;
-	virtual void shape_set_data(RID p_shape, const Variant &p_data) override;
-	virtual ShapeType shape_get_type(RID p_shape) const override;
-	virtual Variant shape_get_data(RID p_shape) const override;
-
-	virtual void shape_set_margin(RID p_shape, real_t p_margin) override;
-	virtual real_t shape_get_margin(RID p_shape) const override;
-
-	/// Not supported
-	virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias) override;
-	/// Not supported
-	virtual real_t shape_get_custom_solver_bias(RID p_shape) const override;
-
-	/* SPACE API */
-
-	virtual RID space_create() override;
-	virtual void space_set_active(RID p_space, bool p_active) override;
-	virtual bool space_is_active(RID p_space) const override;
-
-	/// Not supported
-	virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) override;
-	/// Not supported
-	virtual real_t space_get_param(RID p_space, SpaceParameter p_param) const override;
-
-	virtual PhysicsDirectSpaceState3D *space_get_direct_state(RID p_space) override;
-
-	virtual void space_set_debug_contacts(RID p_space, int p_max_contacts) override;
-	virtual Vector<Vector3> space_get_contacts(RID p_space) const override;
-	virtual int space_get_contact_count(RID p_space) const override;
-
-	/* AREA API */
-
-	/// Bullet Physics Engine not support "Area", this must be handled by the game developer in another way.
-	/// Since godot Physics use the concept of area even to define the main world, the API area_set_param is used to set initial physics world information.
-	/// The API area_set_param is a bit hacky, and allow Godot to set some parameters on Bullet's world, a different use print a warning to console.
-	/// All other APIs returns a warning message if used
-
-	virtual RID area_create() override;
-
-	virtual void area_set_space(RID p_area, RID p_space) override;
-
-	virtual RID area_get_space(RID p_area) const override;
-
-	virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) override;
-	virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const override;
-
-	virtual void area_add_shape(RID p_area, RID p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false) override;
-	virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape) override;
-	virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform3D &p_transform) override;
-	virtual int area_get_shape_count(RID p_area) const override;
-	virtual RID area_get_shape(RID p_area, int p_shape_idx) const override;
-	virtual Transform3D area_get_shape_transform(RID p_area, int p_shape_idx) const override;
-	virtual void area_remove_shape(RID p_area, int p_shape_idx) override;
-	virtual void area_clear_shapes(RID p_area) override;
-	virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) override;
-	virtual void area_attach_object_instance_id(RID p_area, ObjectID p_id) override;
-	virtual ObjectID area_get_object_instance_id(RID p_area) const override;
-
-	/// If you pass as p_area the SpaceBullet you can set some parameters as specified below
-	/// AREA_PARAM_GRAVITY
-	/// AREA_PARAM_GRAVITY_VECTOR
-	/// Otherwise you can set area parameters
-	virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) override;
-	virtual Variant area_get_param(RID p_area, AreaParameter p_param) const override;
-
-	virtual void area_set_transform(RID p_area, const Transform3D &p_transform) override;
-	virtual Transform3D area_get_transform(RID p_area) const override;
-
-	virtual void area_set_collision_mask(RID p_area, uint32_t p_mask) override;
-	virtual void area_set_collision_layer(RID p_area, uint32_t p_layer) override;
-
-	virtual void area_set_monitorable(RID p_area, bool p_monitorable) override;
-	virtual void area_set_monitor_callback(RID p_area, const Callable &p_callback) override;
-	virtual void area_set_area_monitor_callback(RID p_area, const Callable &p_callback) override;
-	virtual void area_set_ray_pickable(RID p_area, bool p_enable) override;
-
-	/* RIGID BODY API */
-
-	virtual RID body_create(BodyMode p_mode = BODY_MODE_DYNAMIC, bool p_init_sleeping = false) override;
-
-	virtual void body_set_space(RID p_body, RID p_space) override;
-	virtual RID body_get_space(RID p_body) const override;
-
-	virtual void body_set_mode(RID p_body, BodyMode p_mode) override;
-	virtual BodyMode body_get_mode(RID p_body) const override;
-
-	virtual void body_add_shape(RID p_body, RID p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false) override;
-	// Not supported, Please remove and add new shape
-	virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape) override;
-	virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform3D &p_transform) override;
-
-	virtual int body_get_shape_count(RID p_body) const override;
-	virtual RID body_get_shape(RID p_body, int p_shape_idx) const override;
-	virtual Transform3D body_get_shape_transform(RID p_body, int p_shape_idx) const override;
-
-	virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) override;
-
-	virtual void body_remove_shape(RID p_body, int p_shape_idx) override;
-	virtual void body_clear_shapes(RID p_body) override;
-
-	// Used for Rigid and Soft Bodies
-	virtual void body_attach_object_instance_id(RID p_body, ObjectID p_id) override;
-	virtual ObjectID body_get_object_instance_id(RID p_body) const override;
-
-	virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) override;
-	virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const override;
-
-	virtual void body_set_collision_layer(RID p_body, uint32_t p_layer) override;
-	virtual uint32_t body_get_collision_layer(RID p_body) const override;
-
-	virtual void body_set_collision_mask(RID p_body, uint32_t p_mask) override;
-	virtual uint32_t body_get_collision_mask(RID p_body) const override;
-
-	/// This is not supported by physics server
-	virtual void body_set_user_flags(RID p_body, uint32_t p_flags) override;
-	/// This is not supported by physics server
-	virtual uint32_t body_get_user_flags(RID p_body) const override;
-
-	virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value) override;
-	virtual real_t body_get_param(RID p_body, BodyParameter p_param) const override;
-
-	virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin) override;
-	virtual real_t body_get_kinematic_safe_margin(RID p_body) const override;
-
-	virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) override;
-	virtual Variant body_get_state(RID p_body, BodyState p_state) const override;
-
-	virtual void body_set_applied_force(RID p_body, const Vector3 &p_force) override;
-	virtual Vector3 body_get_applied_force(RID p_body) const override;
-
-	virtual void body_set_applied_torque(RID p_body, const Vector3 &p_torque) override;
-	virtual Vector3 body_get_applied_torque(RID p_body) const override;
-
-	virtual void body_add_central_force(RID p_body, const Vector3 &p_force) override;
-	virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()) override;
-	virtual void body_add_torque(RID p_body, const Vector3 &p_torque) override;
-
-	virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) override;
-	virtual void body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) override;
-	virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) override;
-	virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) override;
-
-	virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) override;
-	virtual bool body_is_axis_locked(RID p_body, BodyAxis p_axis) const override;
-
-	virtual void body_add_collision_exception(RID p_body, RID p_body_b) override;
-	virtual void body_remove_collision_exception(RID p_body, RID p_body_b) override;
-	virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) override;
-
-	virtual void body_set_max_contacts_reported(RID p_body, int p_contacts) override;
-	virtual int body_get_max_contacts_reported(RID p_body) const override;
-
-	virtual void body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) override;
-	virtual real_t body_get_contacts_reported_depth_threshold(RID p_body) const override;
-
-	virtual void body_set_omit_force_integration(RID p_body, bool p_omit) override;
-	virtual bool body_is_omitting_force_integration(RID p_body) const override;
-
-	virtual void body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata = Variant()) override;
-
-	virtual void body_set_ray_pickable(RID p_body, bool p_enable) override;
-
-	// this function only works on physics process, errors and returns null otherwise
-	virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) override;
-
-	virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>()) override;
-	virtual int body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override;
-
-	/* SOFT BODY API */
-
-	virtual RID soft_body_create(bool p_init_sleeping = false) override;
-
-	virtual void soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) override;
-
-	virtual void soft_body_set_space(RID p_body, RID p_space) override;
-	virtual RID soft_body_get_space(RID p_body) const override;
-
-	virtual void soft_body_set_mesh(RID p_body, RID p_mesh) override;
-
-	virtual AABB soft_body_get_bounds(RID p_body) const override;
-
-	virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer) override;
-	virtual uint32_t soft_body_get_collision_layer(RID p_body) const override;
-
-	virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask) override;
-	virtual uint32_t soft_body_get_collision_mask(RID p_body) const override;
-
-	virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b) override;
-	virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b) override;
-	virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) override;
-
-	virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) override;
-	virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const override;
-
-	/// Special function. This function has bad performance
-	virtual void soft_body_set_transform(RID p_body, const Transform3D &p_transform) override;
-
-	virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) override;
-
-	virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) override;
-	virtual int soft_body_get_simulation_precision(RID p_body) const override;
-
-	virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass) override;
-	virtual real_t soft_body_get_total_mass(RID p_body) const override;
-
-	virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) override;
-	virtual real_t soft_body_get_linear_stiffness(RID p_body) const override;
-
-	virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) override;
-	virtual real_t soft_body_get_pressure_coefficient(RID p_body) const override;
-
-	virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) override;
-	virtual real_t soft_body_get_damping_coefficient(RID p_body) const override;
-
-	virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) override;
-	virtual real_t soft_body_get_drag_coefficient(RID p_body) const override;
-
-	virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) override;
-	virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index) const override;
-
-	virtual void soft_body_remove_all_pinned_points(RID p_body) override;
-	virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) override;
-	virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) const override;
-
-	/* JOINT API */
-
-	virtual JointType joint_get_type(RID p_joint) const override;
-
-	virtual void joint_set_solver_priority(RID p_joint, int p_priority) override;
-	virtual int joint_get_solver_priority(RID p_joint) const override;
-
-	virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) override;
-	virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const override;
-
-	virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) override;
-
-	virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) override;
-	virtual real_t pin_joint_get_param(RID p_joint, PinJointParam p_param) const override;
-
-	virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) override;
-	virtual Vector3 pin_joint_get_local_a(RID p_joint) const override;
-
-	virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) override;
-	virtual Vector3 pin_joint_get_local_b(RID p_joint) const override;
-
-	virtual RID joint_create_hinge(RID p_body_A, const Transform3D &p_hinge_A, RID p_body_B, const Transform3D &p_hinge_B) override;
-	virtual RID joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) override;
-
-	virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) override;
-	virtual real_t hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const override;
-
-	virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) override;
-	virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const override;
-
-	/// Reference frame is A
-	virtual RID joint_create_slider(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) override;
-
-	virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) override;
-	virtual real_t slider_joint_get_param(RID p_joint, SliderJointParam p_param) const override;
-
-	/// Reference frame is A
-	virtual RID joint_create_cone_twist(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) override;
-
-	virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) override;
-	virtual real_t cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const override;
-
-	/// Reference frame is A
-	virtual RID joint_create_generic_6dof(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) override;
-
-	virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) override;
-	virtual real_t generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) override;
-
-	virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) override;
-	virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) override;
-
-	/* MISC */
-
-	virtual void free(RID p_rid) override;
-
-	virtual void set_active(bool p_active) override {
-		active = p_active;
-	}
-
-	static bool singleton_isActive() {
-		return static_cast<BulletPhysicsServer3D *>(get_singleton())->active;
-	}
-
-	bool isActive() {
-		return active;
-	}
-
-	virtual void init() override;
-	virtual void step(real_t p_deltaTime) override;
-	virtual void flush_queries() override;
-	virtual void finish() override;
-
-	virtual bool is_flushing_queries() const override { return false; }
-
-	virtual int get_process_info(ProcessInfo p_info) override;
-
-	SpaceBullet *get_space(RID p_rid) const;
-	ShapeBullet *get_shape(RID p_rid) const;
-	CollisionObjectBullet *get_collision_object(RID p_object) const;
-	RigidCollisionObjectBullet *get_rigid_collision_object(RID p_object) const;
-	JointBullet *get_joint(RID p_rid) const;
-};
-
-#endif // BULLET_PHYSICS_SERVER_H
diff --git a/modules/bullet/bullet_types_converter.cpp b/modules/bullet/bullet_types_converter.cpp
deleted file mode 100644
index a0698683e8..0000000000
--- a/modules/bullet/bullet_types_converter.cpp
+++ /dev/null
@@ -1,151 +0,0 @@
-/*************************************************************************/
-/*  bullet_types_converter.cpp                                           */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "bullet_types_converter.h"
-
-// ++ BULLET to GODOT ++++++++++
-void B_TO_G(btVector3 const &inVal, Vector3 &outVal) {
-	outVal[0] = inVal[0];
-	outVal[1] = inVal[1];
-	outVal[2] = inVal[2];
-}
-
-void INVERT_B_TO_G(btVector3 const &inVal, Vector3 &outVal) {
-	outVal[0] = inVal[0] != 0. ? 1. / inVal[0] : 0.;
-	outVal[1] = inVal[1] != 0. ? 1. / inVal[1] : 0.;
-	outVal[2] = inVal[2] != 0. ? 1. / inVal[2] : 0.;
-}
-
-void B_TO_G(btMatrix3x3 const &inVal, Basis &outVal) {
-	B_TO_G(inVal[0], outVal[0]);
-	B_TO_G(inVal[1], outVal[1]);
-	B_TO_G(inVal[2], outVal[2]);
-}
-
-void INVERT_B_TO_G(btMatrix3x3 const &inVal, Basis &outVal) {
-	INVERT_B_TO_G(inVal[0], outVal[0]);
-	INVERT_B_TO_G(inVal[1], outVal[1]);
-	INVERT_B_TO_G(inVal[2], outVal[2]);
-}
-
-void B_TO_G(btTransform const &inVal, Transform3D &outVal) {
-	B_TO_G(inVal.getBasis(), outVal.basis);
-	B_TO_G(inVal.getOrigin(), outVal.origin);
-}
-
-// ++ GODOT to BULLET ++++++++++
-void G_TO_B(Vector3 const &inVal, btVector3 &outVal) {
-	outVal[0] = inVal[0];
-	outVal[1] = inVal[1];
-	outVal[2] = inVal[2];
-}
-
-void INVERT_G_TO_B(Vector3 const &inVal, btVector3 &outVal) {
-	outVal[0] = inVal[0] != 0. ? 1. / inVal[0] : 0.;
-	outVal[1] = inVal[1] != 0. ? 1. / inVal[1] : 0.;
-	outVal[2] = inVal[2] != 0. ? 1. / inVal[2] : 0.;
-}
-
-void G_TO_B(Basis const &inVal, btMatrix3x3 &outVal) {
-	G_TO_B(inVal[0], outVal[0]);
-	G_TO_B(inVal[1], outVal[1]);
-	G_TO_B(inVal[2], outVal[2]);
-}
-
-void INVERT_G_TO_B(Basis const &inVal, btMatrix3x3 &outVal) {
-	INVERT_G_TO_B(inVal[0], outVal[0]);
-	INVERT_G_TO_B(inVal[1], outVal[1]);
-	INVERT_G_TO_B(inVal[2], outVal[2]);
-}
-
-void G_TO_B(Transform3D const &inVal, btTransform &outVal) {
-	G_TO_B(inVal.basis, outVal.getBasis());
-	G_TO_B(inVal.origin, outVal.getOrigin());
-}
-
-void UNSCALE_BT_BASIS(btTransform &scaledBasis) {
-	btMatrix3x3 &basis(scaledBasis.getBasis());
-	btVector3 column0 = basis.getColumn(0);
-	btVector3 column1 = basis.getColumn(1);
-	btVector3 column2 = basis.getColumn(2);
-
-	// Check for zero scaling.
-	if (column0.fuzzyZero()) {
-		if (column1.fuzzyZero()) {
-			if (column2.fuzzyZero()) {
-				// All dimensions are fuzzy zero. Create a default basis.
-				column0 = btVector3(1, 0, 0);
-				column1 = btVector3(0, 1, 0);
-				column2 = btVector3(0, 0, 1);
-			} else { // Column 2 scale not fuzzy zero.
-				// Create two vectors orthogonal to row 2.
-				// Ensure that a default basis is created if row 2 = <0, 0, 1>
-				column1 = btVector3(0, column2[2], -column2[1]);
-				column0 = column1.cross(column2);
-			}
-		} else { // Column 1 scale not fuzzy zero.
-			if (column2.fuzzyZero()) {
-				// Create two vectors orthogonal to column 1.
-				// Ensure that a default basis is created if column 1 = <0, 1, 0>
-				column0 = btVector3(column1[1], -column1[0], 0);
-				column2 = column0.cross(column1);
-			} else { // Column 1 and column 2 scales not fuzzy zero.
-				// Create column 0 orthogonal to column 1 and column 2.
-				column0 = column1.cross(column2);
-			}
-		}
-	} else { // Column 0 scale not fuzzy zero.
-		if (column1.fuzzyZero()) {
-			if (column2.fuzzyZero()) {
-				// Create two vectors orthogonal to column 0.
-				// Ensure that a default basis is created if column 0 = <1, 0, 0>
-				column2 = btVector3(-column0[2], 0, column0[0]);
-				column1 = column2.cross(column0);
-			} else { // Column 0 and column 2 scales not fuzzy zero.
-				// Create column 1 orthogonal to column 0 and column 2.
-				column1 = column2.cross(column0);
-			}
-		} else { // Column 0 and column 1 scales not fuzzy zero.
-			if (column2.fuzzyZero()) {
-				// Create column 2 orthogonal to column 0 and column 1.
-				column2 = column0.cross(column1);
-			}
-		}
-	}
-
-	// Normalize
-	column0.normalize();
-	column1.normalize();
-	column2.normalize();
-
-	basis.setValue(column0[0], column1[0], column2[0],
-			column0[1], column1[1], column2[1],
-			column0[2], column1[2], column2[2]);
-}
diff --git a/modules/bullet/bullet_types_converter.h b/modules/bullet/bullet_types_converter.h
deleted file mode 100644
index 4ee855c266..0000000000
--- a/modules/bullet/bullet_types_converter.h
+++ /dev/null
@@ -1,59 +0,0 @@
-/*************************************************************************/
-/*  bullet_types_converter.h                                             */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef BULLET_TYPES_CONVERTER_H
-#define BULLET_TYPES_CONVERTER_H
-
-#include "core/math/basis.h"
-#include "core/math/transform_3d.h"
-#include "core/math/vector3.h"
-#include "core/typedefs.h"
-
-#include <LinearMath/btMatrix3x3.h>
-#include <LinearMath/btTransform.h>
-#include <LinearMath/btVector3.h>
-
-// Bullet to Godot
-extern void B_TO_G(btVector3 const &inVal, Vector3 &outVal);
-extern void INVERT_B_TO_G(btVector3 const &inVal, Vector3 &outVal);
-extern void B_TO_G(btMatrix3x3 const &inVal, Basis &outVal);
-extern void INVERT_B_TO_G(btMatrix3x3 const &inVal, Basis &outVal);
-extern void B_TO_G(btTransform const &inVal, Transform3D &outVal);
-
-// Godot TO Bullet
-extern void G_TO_B(Vector3 const &inVal, btVector3 &outVal);
-extern void INVERT_G_TO_B(Vector3 const &inVal, btVector3 &outVal);
-extern void G_TO_B(Basis const &inVal, btMatrix3x3 &outVal);
-extern void INVERT_G_TO_B(Basis const &inVal, btMatrix3x3 &outVal);
-extern void G_TO_B(Transform3D const &inVal, btTransform &outVal);
-
-extern void UNSCALE_BT_BASIS(btTransform &scaledBasis);
-
-#endif // BULLET_TYPES_CONVERTER_H
diff --git a/modules/bullet/bullet_utilities.h b/modules/bullet/bullet_utilities.h
deleted file mode 100644
index ab24cb5de6..0000000000
--- a/modules/bullet/bullet_utilities.h
+++ /dev/null
@@ -1,43 +0,0 @@
-/*************************************************************************/
-/*  bullet_utilities.h                                                   */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef BULLET_UTILITIES_H
-#define BULLET_UTILITIES_H
-
-#define bulletnew(cl) \
-	new cl
-
-#define bulletdelete(cl) \
-	{                    \
-		delete cl;       \
-		cl = nullptr;    \
-	}
-
-#endif // BULLET_UTILITIES_H
diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp
deleted file mode 100644
index bc8e1a0718..0000000000
--- a/modules/bullet/collision_object_bullet.cpp
+++ /dev/null
@@ -1,396 +0,0 @@
-/*************************************************************************/
-/*  collision_object_bullet.cpp                                          */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "collision_object_bullet.h"
-
-#include "area_bullet.h"
-#include "bullet_physics_server.h"
-#include "bullet_types_converter.h"
-#include "bullet_utilities.h"
-#include "shape_bullet.h"
-#include "space_bullet.h"
-
-#include <btBulletCollisionCommon.h>
-
-// We enable dynamic AABB tree so that we can actually perform a broadphase on bodies with compound collision shapes.
-// This is crucial for the performance of kinematic bodies and for bodies with transforming shapes.
-#define enableDynamicAabbTree true
-
-CollisionObjectBullet::ShapeWrapper::~ShapeWrapper() {}
-
-void CollisionObjectBullet::ShapeWrapper::set_transform(const Transform3D &p_transform) {
-	G_TO_B(p_transform.get_basis().get_scale_abs(), scale);
-	G_TO_B(p_transform, transform);
-	UNSCALE_BT_BASIS(transform);
-}
-
-void CollisionObjectBullet::ShapeWrapper::set_transform(const btTransform &p_transform) {
-	transform = p_transform;
-}
-
-btTransform CollisionObjectBullet::ShapeWrapper::get_adjusted_transform() const {
-	if (shape->get_type() == PhysicsServer3D::SHAPE_HEIGHTMAP) {
-		const HeightMapShapeBullet *hm_shape = (const HeightMapShapeBullet *)shape; // should be safe to cast now
-		btTransform adjusted_transform;
-
-		// Bullet centers our heightmap:
-		// https://github.com/bulletphysics/bullet3/blob/master/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h#L33
-		// This is really counter intuitive so we're adjusting for it
-
-		adjusted_transform.setIdentity();
-		adjusted_transform.setOrigin(btVector3(0.0, hm_shape->min_height + ((hm_shape->max_height - hm_shape->min_height) * 0.5), 0.0));
-		adjusted_transform *= transform;
-
-		return adjusted_transform;
-	} else {
-		return transform;
-	}
-}
-
-void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) {
-	if (!bt_shape) {
-		if (active) {
-			bt_shape = shape->create_bt_shape(scale * body_scale);
-		} else {
-			bt_shape = ShapeBullet::create_shape_empty();
-		}
-	}
-}
-
-CollisionObjectBullet::CollisionObjectBullet(Type p_type) :
-		RIDBullet(),
-		type(p_type) {}
-
-CollisionObjectBullet::~CollisionObjectBullet() {
-	for (int i = 0; i < areasOverlapped.size(); i++) {
-		areasOverlapped[i]->remove_object_overlaps(this);
-	}
-	destroyBulletCollisionObject();
-}
-
-bool equal(real_t first, real_t second) {
-	return Math::abs(first - second) <= 0.001f;
-}
-
-void CollisionObjectBullet::set_body_scale(const Vector3 &p_new_scale) {
-	if (!equal(p_new_scale[0], body_scale[0]) || !equal(p_new_scale[1], body_scale[1]) || !equal(p_new_scale[2], body_scale[2])) {
-		body_scale = p_new_scale;
-		body_scale_changed();
-	}
-}
-
-btVector3 CollisionObjectBullet::get_bt_body_scale() const {
-	btVector3 s;
-	G_TO_B(body_scale, s);
-	return s;
-}
-
-void CollisionObjectBullet::body_scale_changed() {
-	force_shape_reset = true;
-}
-
-void CollisionObjectBullet::destroyBulletCollisionObject() {
-	bulletdelete(bt_collision_object);
-}
-
-void CollisionObjectBullet::setupBulletCollisionObject(btCollisionObject *p_collisionObject) {
-	bt_collision_object = p_collisionObject;
-	bt_collision_object->setUserPointer(this);
-	bt_collision_object->setUserIndex(type);
-	// Force the enabling of collision and avoid problems
-	set_collision_enabled(collisionsEnabled);
-	p_collisionObject->setCollisionFlags(p_collisionObject->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
-}
-
-void CollisionObjectBullet::add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) {
-	exceptions.insert(p_ignoreCollisionObject->get_self());
-	if (!bt_collision_object) {
-		return;
-	}
-	bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, true);
-	if (space) {
-		space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher());
-	}
-}
-
-void CollisionObjectBullet::remove_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) {
-	exceptions.erase(p_ignoreCollisionObject->get_self());
-	if (!bt_collision_object) {
-		return;
-	}
-	bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, false);
-	if (space) {
-		space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher());
-	}
-}
-
-bool CollisionObjectBullet::has_collision_exception(const CollisionObjectBullet *p_otherCollisionObject) const {
-	return exceptions.has(p_otherCollisionObject->get_self());
-}
-
-void CollisionObjectBullet::set_collision_enabled(bool p_enabled) {
-	collisionsEnabled = p_enabled;
-	if (!bt_collision_object) {
-		return;
-	}
-	if (collisionsEnabled) {
-		bt_collision_object->setCollisionFlags(bt_collision_object->getCollisionFlags() & (~btCollisionObject::CF_NO_CONTACT_RESPONSE));
-	} else {
-		bt_collision_object->setCollisionFlags(bt_collision_object->getCollisionFlags() | btCollisionObject::CF_NO_CONTACT_RESPONSE);
-	}
-}
-
-bool CollisionObjectBullet::is_collisions_response_enabled() {
-	return collisionsEnabled;
-}
-
-void CollisionObjectBullet::notify_new_overlap(AreaBullet *p_area) {
-	if (areasOverlapped.find(p_area) == -1) {
-		areasOverlapped.push_back(p_area);
-	}
-}
-
-void CollisionObjectBullet::on_exit_area(AreaBullet *p_area) {
-	areasOverlapped.erase(p_area);
-}
-
-void CollisionObjectBullet::set_godot_object_flags(int flags) {
-	bt_collision_object->setUserIndex2(flags);
-	updated = true;
-}
-
-int CollisionObjectBullet::get_godot_object_flags() const {
-	return bt_collision_object->getUserIndex2();
-}
-
-void CollisionObjectBullet::set_transform(const Transform3D &p_global_transform) {
-	set_body_scale(p_global_transform.basis.get_scale_abs());
-
-	btTransform bt_transform;
-	G_TO_B(p_global_transform, bt_transform);
-	UNSCALE_BT_BASIS(bt_transform);
-
-	set_transform__bullet(bt_transform);
-}
-
-Transform3D CollisionObjectBullet::get_transform() const {
-	Transform3D t;
-	B_TO_G(get_transform__bullet(), t);
-	t.basis.scale(body_scale);
-	return t;
-}
-
-void CollisionObjectBullet::set_transform__bullet(const btTransform &p_global_transform) {
-	bt_collision_object->setWorldTransform(p_global_transform);
-	notify_transform_changed();
-}
-
-const btTransform &CollisionObjectBullet::get_transform__bullet() const {
-	return bt_collision_object->getWorldTransform();
-}
-
-void CollisionObjectBullet::notify_transform_changed() {
-	updated = true;
-}
-
-RigidCollisionObjectBullet::~RigidCollisionObjectBullet() {
-	remove_all_shapes(true, true);
-	if (mainShape && mainShape->isCompound()) {
-		bulletdelete(mainShape);
-	}
-}
-
-void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform3D &p_transform, bool p_disabled) {
-	shapes.push_back(ShapeWrapper(p_shape, p_transform, !p_disabled));
-	p_shape->add_owner(this);
-	reload_shapes();
-}
-
-void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) {
-	ShapeWrapper &shp = shapes.write[p_index];
-	shp.shape->remove_owner(this);
-	p_shape->add_owner(this);
-	shp.shape = p_shape;
-	reload_shapes();
-}
-
-int RigidCollisionObjectBullet::get_shape_count() const {
-	return shapes.size();
-}
-
-ShapeBullet *RigidCollisionObjectBullet::get_shape(int p_index) const {
-	return shapes[p_index].shape;
-}
-
-btCollisionShape *RigidCollisionObjectBullet::get_bt_shape(int p_index) const {
-	return shapes[p_index].bt_shape;
-}
-
-int RigidCollisionObjectBullet::find_shape(ShapeBullet *p_shape) const {
-	const int size = shapes.size();
-	for (int i = 0; i < size; ++i) {
-		if (shapes[i].shape == p_shape) {
-			return i;
-		}
-	}
-	return -1;
-}
-
-void RigidCollisionObjectBullet::remove_shape_full(ShapeBullet *p_shape) {
-	// Remove the shape, all the times it appears
-	// Reverse order required for delete.
-	for (int i = shapes.size() - 1; 0 <= i; --i) {
-		if (p_shape == shapes[i].shape) {
-			internal_shape_destroy(i);
-			shapes.remove_at(i);
-		}
-	}
-	reload_shapes();
-}
-
-void RigidCollisionObjectBullet::remove_shape_full(int p_index) {
-	ERR_FAIL_INDEX(p_index, get_shape_count());
-	internal_shape_destroy(p_index);
-	shapes.remove_at(p_index);
-	reload_shapes();
-}
-
-void RigidCollisionObjectBullet::remove_all_shapes(bool p_permanentlyFromThisBody, bool p_force_not_reload) {
-	// Reverse order required for delete.
-	for (int i = shapes.size() - 1; 0 <= i; --i) {
-		internal_shape_destroy(i, p_permanentlyFromThisBody);
-	}
-	shapes.clear();
-	if (!p_force_not_reload) {
-		reload_shapes();
-	}
-}
-
-void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform3D &p_transform) {
-	ERR_FAIL_INDEX(p_index, get_shape_count());
-
-	shapes.write[p_index].set_transform(p_transform);
-	shape_changed(p_index);
-}
-
-const btTransform &RigidCollisionObjectBullet::get_bt_shape_transform(int p_index) const {
-	return shapes[p_index].transform;
-}
-
-Transform3D RigidCollisionObjectBullet::get_shape_transform(int p_index) const {
-	Transform3D trs;
-	B_TO_G(shapes[p_index].transform, trs);
-	return trs;
-}
-
-void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) {
-	if (shapes[p_index].active != p_disabled) {
-		return;
-	}
-	shapes.write[p_index].active = !p_disabled;
-	shape_changed(p_index);
-}
-
-bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) {
-	return !shapes[p_index].active;
-}
-
-void RigidCollisionObjectBullet::shape_changed(int p_shape_index) {
-	ShapeWrapper &shp = shapes.write[p_shape_index];
-	if (shp.bt_shape == mainShape) {
-		mainShape = nullptr;
-	}
-	bulletdelete(shp.bt_shape);
-	reload_shapes();
-}
-
-void RigidCollisionObjectBullet::reload_shapes() {
-	if (mainShape && mainShape->isCompound()) {
-		// Destroy compound
-		bulletdelete(mainShape);
-	}
-
-	mainShape = nullptr;
-
-	ShapeWrapper *shpWrapper;
-	const int shape_count = shapes.size();
-
-	// Reset shape if required
-	if (force_shape_reset) {
-		for (int i(0); i < shape_count; ++i) {
-			shpWrapper = &shapes.write[i];
-			bulletdelete(shpWrapper->bt_shape);
-		}
-		force_shape_reset = false;
-	}
-
-	const btVector3 body_scale(get_bt_body_scale());
-
-	// Try to optimize by not using compound
-	if (1 == shape_count) {
-		shpWrapper = &shapes.write[0];
-		btTransform transform = shpWrapper->get_adjusted_transform();
-		if (transform.getOrigin().isZero() && transform.getBasis() == transform.getBasis().getIdentity()) {
-			shpWrapper->claim_bt_shape(body_scale);
-			mainShape = shpWrapper->bt_shape;
-			main_shape_changed();
-			return;
-		}
-	}
-
-	// Optimization not possible use a compound shape
-	btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, shape_count));
-
-	for (int i(0); i < shape_count; ++i) {
-		shpWrapper = &shapes.write[i];
-		shpWrapper->claim_bt_shape(body_scale);
-		btTransform scaled_shape_transform(shpWrapper->get_adjusted_transform());
-		scaled_shape_transform.getOrigin() *= body_scale;
-		compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape);
-	}
-
-	compoundShape->recalculateLocalAabb();
-	mainShape = compoundShape;
-	main_shape_changed();
-}
-
-void RigidCollisionObjectBullet::body_scale_changed() {
-	CollisionObjectBullet::body_scale_changed();
-	reload_shapes();
-}
-
-void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody) {
-	ShapeWrapper &shp = shapes.write[p_index];
-	shp.shape->remove_owner(this, p_permanentlyFromThisBody);
-	if (shp.bt_shape == mainShape) {
-		mainShape = nullptr;
-	}
-	bulletdelete(shp.bt_shape);
-}
diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h
deleted file mode 100644
index 8e9c34df27..0000000000
--- a/modules/bullet/collision_object_bullet.h
+++ /dev/null
@@ -1,255 +0,0 @@
-/*************************************************************************/
-/*  collision_object_bullet.h                                            */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef COLLISION_OBJECT_BULLET_H
-#define COLLISION_OBJECT_BULLET_H
-
-#include "core/math/transform_3d.h"
-#include "core/math/vector3.h"
-#include "core/object/class_db.h"
-#include "core/templates/vset.h"
-#include "shape_owner_bullet.h"
-
-#include <LinearMath/btTransform.h>
-
-class AreaBullet;
-class ShapeBullet;
-class btCollisionObject;
-class btCompoundShape;
-class btCollisionShape;
-class SpaceBullet;
-
-class CollisionObjectBullet : public RIDBullet {
-public:
-	enum GodotObjectFlags {
-		GOF_IS_MONITORING_AREA = 1 << 0
-		// FLAG2 = 1 << 1,
-		// FLAG3 = 1 << 2,
-		// FLAG4 = 1 << 3,
-		// FLAG5 = 1 << 4,
-		// FLAG6 = 1 << 5
-		// etc..
-	};
-	enum Type {
-		TYPE_AREA = 0,
-		TYPE_RIGID_BODY,
-		TYPE_SOFT_BODY,
-		TYPE_KINEMATIC_GHOST_BODY
-	};
-
-	struct ShapeWrapper {
-		ShapeBullet *shape = nullptr;
-		btCollisionShape *bt_shape = nullptr;
-		btTransform transform;
-		btVector3 scale;
-		bool active = true;
-
-		ShapeWrapper() {}
-
-		ShapeWrapper(ShapeBullet *p_shape, const btTransform &p_transform, bool p_active) :
-				shape(p_shape),
-				active(p_active) {
-			set_transform(p_transform);
-		}
-
-		ShapeWrapper(ShapeBullet *p_shape, const Transform3D &p_transform, bool p_active) :
-				shape(p_shape),
-				active(p_active) {
-			set_transform(p_transform);
-		}
-		~ShapeWrapper();
-
-		ShapeWrapper(const ShapeWrapper &otherShape) {
-			operator=(otherShape);
-		}
-
-		void operator=(const ShapeWrapper &otherShape) {
-			shape = otherShape.shape;
-			bt_shape = otherShape.bt_shape;
-			transform = otherShape.transform;
-			scale = otherShape.scale;
-			active = otherShape.active;
-		}
-
-		void set_transform(const Transform3D &p_transform);
-		void set_transform(const btTransform &p_transform);
-		btTransform get_adjusted_transform() const;
-
-		void claim_bt_shape(const btVector3 &body_scale);
-	};
-
-protected:
-	Type type = TYPE_AREA;
-	ObjectID instance_id;
-	uint32_t collisionLayer = 0;
-	uint32_t collisionMask = 0;
-	bool collisionsEnabled = true;
-	bool m_isStatic = false;
-	bool ray_pickable = false;
-	btCollisionObject *bt_collision_object = nullptr;
-	Vector3 body_scale = Vector3(1, 1, 1);
-	bool force_shape_reset = false;
-	SpaceBullet *space = nullptr;
-
-	VSet<RID> exceptions;
-
-	/// This array is used to know all areas where this Object is overlapped in
-	/// New area is added when overlap with new area (AreaBullet::addOverlap), then is removed when it exit (CollisionObjectBullet::onExitArea)
-	/// This array is used mainly to know which area hold the pointer of this object
-	Vector<AreaBullet *> areasOverlapped;
-	bool updated = false;
-
-public:
-	CollisionObjectBullet(Type p_type);
-	virtual ~CollisionObjectBullet();
-
-	Type getType() { return type; }
-
-protected:
-	void destroyBulletCollisionObject();
-	void setupBulletCollisionObject(btCollisionObject *p_collisionObject);
-
-public:
-	_FORCE_INLINE_ btCollisionObject *get_bt_collision_object() { return bt_collision_object; }
-
-	_FORCE_INLINE_ void set_instance_id(const ObjectID &p_instance_id) { instance_id = p_instance_id; }
-	_FORCE_INLINE_ ObjectID get_instance_id() const { return instance_id; }
-
-	_FORCE_INLINE_ bool is_static() const { return m_isStatic; }
-
-	_FORCE_INLINE_ void set_ray_pickable(bool p_enable) { ray_pickable = p_enable; }
-	_FORCE_INLINE_ bool is_ray_pickable() const { return ray_pickable; }
-
-	void set_body_scale(const Vector3 &p_new_scale);
-	const Vector3 &get_body_scale() const { return body_scale; }
-	btVector3 get_bt_body_scale() const;
-	virtual void body_scale_changed();
-
-	void add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject);
-	void remove_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject);
-	bool has_collision_exception(const CollisionObjectBullet *p_otherCollisionObject) const;
-	_FORCE_INLINE_ const VSet<RID> &get_exceptions() const { return exceptions; }
-
-	_FORCE_INLINE_ void set_collision_layer(uint32_t p_layer) {
-		if (collisionLayer != p_layer) {
-			collisionLayer = p_layer;
-			on_collision_filters_change();
-		}
-	}
-	_FORCE_INLINE_ uint32_t get_collision_layer() const { return collisionLayer; }
-
-	_FORCE_INLINE_ void set_collision_mask(uint32_t p_mask) {
-		if (collisionMask != p_mask) {
-			collisionMask = p_mask;
-			on_collision_filters_change();
-		}
-	}
-	_FORCE_INLINE_ uint32_t get_collision_mask() const { return collisionMask; }
-
-	virtual void on_collision_filters_change() = 0;
-
-	_FORCE_INLINE_ bool test_collision_mask(CollisionObjectBullet *p_other) const {
-		return collisionLayer & p_other->collisionMask || p_other->collisionLayer & collisionMask;
-	}
-
-	virtual void reload_body() = 0;
-	virtual void set_space(SpaceBullet *p_space) = 0;
-	_FORCE_INLINE_ SpaceBullet *get_space() const { return space; }
-
-	virtual void on_collision_checker_start() = 0;
-	virtual void on_collision_checker_end() = 0;
-
-	virtual void dispatch_callbacks() = 0;
-
-	void set_collision_enabled(bool p_enabled);
-	bool is_collisions_response_enabled();
-
-	void notify_new_overlap(AreaBullet *p_area);
-	virtual void on_enter_area(AreaBullet *p_area) = 0;
-	virtual void on_exit_area(AreaBullet *p_area);
-
-	void set_godot_object_flags(int flags);
-	int get_godot_object_flags() const;
-
-	void set_transform(const Transform3D &p_global_transform);
-	Transform3D get_transform() const;
-	virtual void set_transform__bullet(const btTransform &p_global_transform);
-	virtual const btTransform &get_transform__bullet() const;
-	virtual void notify_transform_changed();
-
-	bool is_updated() const { return updated; }
-};
-
-class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwnerBullet {
-protected:
-	btCollisionShape *mainShape = nullptr;
-	Vector<ShapeWrapper> shapes;
-
-public:
-	RigidCollisionObjectBullet(Type p_type) :
-			CollisionObjectBullet(p_type) {}
-	~RigidCollisionObjectBullet();
-
-	_FORCE_INLINE_ const Vector<ShapeWrapper> &get_shapes_wrappers() const { return shapes; }
-
-	_FORCE_INLINE_ btCollisionShape *get_main_shape() const { return mainShape; }
-
-	void add_shape(ShapeBullet *p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false);
-	void set_shape(int p_index, ShapeBullet *p_shape);
-
-	int get_shape_count() const;
-	ShapeBullet *get_shape(int p_index) const;
-	btCollisionShape *get_bt_shape(int p_index) const;
-
-	int find_shape(ShapeBullet *p_shape) const;
-
-	virtual void remove_shape_full(ShapeBullet *p_shape);
-	void remove_shape_full(int p_index);
-	void remove_all_shapes(bool p_permanentlyFromThisBody = false, bool p_force_not_reload = false);
-
-	void set_shape_transform(int p_index, const Transform3D &p_transform);
-
-	const btTransform &get_bt_shape_transform(int p_index) const;
-	Transform3D get_shape_transform(int p_index) const;
-
-	void set_shape_disabled(int p_index, bool p_disabled);
-	bool is_shape_disabled(int p_index);
-
-	virtual void shape_changed(int p_shape_index);
-	virtual void reload_shapes();
-
-	virtual void main_shape_changed() = 0;
-	virtual void body_scale_changed();
-
-private:
-	void internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody = false);
-};
-
-#endif // COLLISION_OBJECT_BULLET_H
diff --git a/modules/bullet/cone_twist_joint_bullet.cpp b/modules/bullet/cone_twist_joint_bullet.cpp
deleted file mode 100644
index fc73036713..0000000000
--- a/modules/bullet/cone_twist_joint_bullet.cpp
+++ /dev/null
@@ -1,103 +0,0 @@
-/*************************************************************************/
-/*  cone_twist_joint_bullet.cpp                                          */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "cone_twist_joint_bullet.h"
-
-#include "bullet_types_converter.h"
-#include "bullet_utilities.h"
-#include "rigid_body_bullet.h"
-
-#include <BulletDynamics/ConstraintSolver/btConeTwistConstraint.h>
-
-ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame) :
-		JointBullet() {
-	Transform3D scaled_AFrame(rbAFrame.scaled(rbA->get_body_scale()));
-	scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
-
-	btTransform btFrameA;
-	G_TO_B(scaled_AFrame, btFrameA);
-
-	if (rbB) {
-		Transform3D scaled_BFrame(rbBFrame.scaled(rbB->get_body_scale()));
-		scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
-
-		btTransform btFrameB;
-		G_TO_B(scaled_BFrame, btFrameB);
-
-		coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
-	} else {
-		coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), btFrameA));
-	}
-	setup(coneConstraint);
-}
-
-void ConeTwistJointBullet::set_param(PhysicsServer3D::ConeTwistJointParam p_param, real_t p_value) {
-	switch (p_param) {
-		case PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN:
-			coneConstraint->setLimit(5, p_value);
-			coneConstraint->setLimit(4, p_value);
-			break;
-		case PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN:
-			coneConstraint->setLimit(3, p_value);
-			break;
-		case PhysicsServer3D::CONE_TWIST_JOINT_BIAS:
-			coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), coneConstraint->getLimitSoftness(), p_value, coneConstraint->getRelaxationFactor());
-			break;
-		case PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS:
-			coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), p_value, coneConstraint->getBiasFactor(), coneConstraint->getRelaxationFactor());
-			break;
-		case PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION:
-			coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), coneConstraint->getLimitSoftness(), coneConstraint->getBiasFactor(), p_value);
-			break;
-		case PhysicsServer3D::CONE_TWIST_MAX:
-			// Internal size value, nothing to do.
-			break;
-	}
-}
-
-real_t ConeTwistJointBullet::get_param(PhysicsServer3D::ConeTwistJointParam p_param) const {
-	switch (p_param) {
-		case PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN:
-			return coneConstraint->getSwingSpan1();
-		case PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN:
-			return coneConstraint->getTwistSpan();
-		case PhysicsServer3D::CONE_TWIST_JOINT_BIAS:
-			return coneConstraint->getBiasFactor();
-		case PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS:
-			return coneConstraint->getLimitSoftness();
-		case PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION:
-			return coneConstraint->getRelaxationFactor();
-		case PhysicsServer3D::CONE_TWIST_MAX:
-			// Internal size value, nothing to do.
-			return 0;
-	}
-	// Compiler doesn't seem to notice that all code paths are fulfilled...
-	return 0;
-}
diff --git a/modules/bullet/cone_twist_joint_bullet.h b/modules/bullet/cone_twist_joint_bullet.h
deleted file mode 100644
index c81e11f144..0000000000
--- a/modules/bullet/cone_twist_joint_bullet.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/*************************************************************************/
-/*  cone_twist_joint_bullet.h                                            */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef CONE_TWIST_JOINT_BULLET_H
-#define CONE_TWIST_JOINT_BULLET_H
-
-#include "joint_bullet.h"
-
-class RigidBodyBullet;
-
-class ConeTwistJointBullet : public JointBullet {
-	class btConeTwistConstraint *coneConstraint;
-
-public:
-	ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame);
-
-	virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_CONE_TWIST; }
-
-	void set_param(PhysicsServer3D::ConeTwistJointParam p_param, real_t p_value);
-	real_t get_param(PhysicsServer3D::ConeTwistJointParam p_param) const;
-};
-
-#endif // CONE_TWIST_JOINT_BULLET_H
diff --git a/modules/bullet/config.py b/modules/bullet/config.py
deleted file mode 100644
index 83605f1f9b..0000000000
--- a/modules/bullet/config.py
+++ /dev/null
@@ -1,8 +0,0 @@
-def can_build(env, platform):
-    # API Changed and bullet is disabled at the moment
-    return False
-    # Later change to return not env["disable_3d"]
-
-
-def configure(env):
-    pass
diff --git a/modules/bullet/constraint_bullet.h b/modules/bullet/constraint_bullet.h
deleted file mode 100644
index 5dc3958ee1..0000000000
--- a/modules/bullet/constraint_bullet.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/*************************************************************************/
-/*  constraint_bullet.h                                                  */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef CONSTRAINT_BULLET_H
-#define CONSTRAINT_BULLET_H
-
-#include "bullet_utilities.h"
-#include "rid_bullet.h"
-
-#include <BulletDynamics/ConstraintSolver/btTypedConstraint.h>
-
-class RigidBodyBullet;
-class SpaceBullet;
-class btTypedConstraint;
-
-class ConstraintBullet : public RIDBullet {
-protected:
-	SpaceBullet *space = nullptr;
-	btTypedConstraint *constraint = nullptr;
-	bool disabled_collisions_between_bodies = true;
-
-public:
-	ConstraintBullet();
-
-	virtual void setup(btTypedConstraint *p_constraint);
-	virtual void set_space(SpaceBullet *p_space);
-	virtual void destroy_internal_constraint();
-
-	void disable_collisions_between_bodies(const bool p_disabled);
-	_FORCE_INLINE_ bool is_disabled_collisions_between_bodies() const { return disabled_collisions_between_bodies; }
-
-public:
-	virtual ~ConstraintBullet() {
-		bulletdelete(constraint);
-		constraint = nullptr;
-	}
-
-	_FORCE_INLINE_ btTypedConstraint *get_bt_constraint() { return constraint; }
-};
-
-#endif // CONSTRAINT_BULLET_H
diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp
deleted file mode 100644
index 0210064dc8..0000000000
--- a/modules/bullet/generic_6dof_joint_bullet.cpp
+++ /dev/null
@@ -1,271 +0,0 @@
-/*************************************************************************/
-/*  generic_6dof_joint_bullet.cpp                                        */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "generic_6dof_joint_bullet.h"
-
-#include "bullet_types_converter.h"
-#include "bullet_utilities.h"
-#include "rigid_body_bullet.h"
-
-#include <BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h>
-
-Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameInA, const Transform3D &frameInB) :
-		JointBullet() {
-	for (int i = 0; i < 3; i++) {
-		for (int j = 0; j < PhysicsServer3D::G6DOF_JOINT_FLAG_MAX; j++) {
-			flags[i][j] = false;
-		}
-	}
-
-	Transform3D scaled_AFrame(frameInA.scaled(rbA->get_body_scale()));
-
-	scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
-
-	btTransform btFrameA;
-	G_TO_B(scaled_AFrame, btFrameA);
-
-	if (rbB) {
-		Transform3D scaled_BFrame(frameInB.scaled(rbB->get_body_scale()));
-
-		scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
-
-		btTransform btFrameB;
-		G_TO_B(scaled_BFrame, btFrameB);
-
-		sixDOFConstraint = bulletnew(btGeneric6DofSpring2Constraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
-	} else {
-		sixDOFConstraint = bulletnew(btGeneric6DofSpring2Constraint(*rbA->get_bt_rigid_body(), btFrameA));
-	}
-
-	setup(sixDOFConstraint);
-}
-
-Transform3D Generic6DOFJointBullet::getFrameOffsetA() const {
-	btTransform btTrs = sixDOFConstraint->getFrameOffsetA();
-	Transform3D gTrs;
-	B_TO_G(btTrs, gTrs);
-	return gTrs;
-}
-
-Transform3D Generic6DOFJointBullet::getFrameOffsetB() const {
-	btTransform btTrs = sixDOFConstraint->getFrameOffsetB();
-	Transform3D gTrs;
-	B_TO_G(btTrs, gTrs);
-	return gTrs;
-}
-
-Transform3D Generic6DOFJointBullet::getFrameOffsetA() {
-	btTransform btTrs = sixDOFConstraint->getFrameOffsetA();
-	Transform3D gTrs;
-	B_TO_G(btTrs, gTrs);
-	return gTrs;
-}
-
-Transform3D Generic6DOFJointBullet::getFrameOffsetB() {
-	btTransform btTrs = sixDOFConstraint->getFrameOffsetB();
-	Transform3D gTrs;
-	B_TO_G(btTrs, gTrs);
-	return gTrs;
-}
-
-void Generic6DOFJointBullet::set_linear_lower_limit(const Vector3 &linearLower) {
-	btVector3 btVec;
-	G_TO_B(linearLower, btVec);
-	sixDOFConstraint->setLinearLowerLimit(btVec);
-}
-
-void Generic6DOFJointBullet::set_linear_upper_limit(const Vector3 &linearUpper) {
-	btVector3 btVec;
-	G_TO_B(linearUpper, btVec);
-	sixDOFConstraint->setLinearUpperLimit(btVec);
-}
-
-void Generic6DOFJointBullet::set_angular_lower_limit(const Vector3 &angularLower) {
-	btVector3 btVec;
-	G_TO_B(angularLower, btVec);
-	sixDOFConstraint->setAngularLowerLimit(btVec);
-}
-
-void Generic6DOFJointBullet::set_angular_upper_limit(const Vector3 &angularUpper) {
-	btVector3 btVec;
-	G_TO_B(angularUpper, btVec);
-	sixDOFConstraint->setAngularUpperLimit(btVec);
-}
-
-void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param, real_t p_value) {
-	ERR_FAIL_INDEX(p_axis, 3);
-	switch (p_param) {
-		case PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
-			limits_lower[0][p_axis] = p_value;
-			set_flag(p_axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT]); // Reload bullet parameter
-			break;
-		case PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
-			limits_upper[0][p_axis] = p_value;
-			set_flag(p_axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT]); // Reload bullet parameter
-			break;
-		case PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
-			sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis] = p_value;
-			break;
-		case PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
-			sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis] = p_value;
-			break;
-		case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
-			sixDOFConstraint->getTranslationalLimitMotor()->m_springDamping.m_floats[p_axis] = p_value;
-			break;
-		case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
-			sixDOFConstraint->getTranslationalLimitMotor()->m_springStiffness.m_floats[p_axis] = p_value;
-			break;
-		case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
-			sixDOFConstraint->getTranslationalLimitMotor()->m_equilibriumPoint.m_floats[p_axis] = p_value;
-			break;
-		case PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
-			limits_lower[1][p_axis] = p_value;
-			set_flag(p_axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
-			break;
-		case PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
-			limits_upper[1][p_axis] = p_value;
-			set_flag(p_axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
-			break;
-		case PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION:
-			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce = p_value;
-			break;
-		case PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP:
-			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP = p_value;
-			break;
-		case PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY:
-			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity = p_value;
-			break;
-		case PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
-			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce = p_value;
-			break;
-		case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
-			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springStiffness = p_value;
-			break;
-		case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
-			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springDamping = p_value;
-			break;
-		case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
-			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint = p_value;
-			break;
-		case PhysicsServer3D::G6DOF_JOINT_MAX:
-			// Internal size value, nothing to do.
-			break;
-		default:
-			WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is deprecated.");
-			break;
-	}
-}
-
-real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param) const {
-	ERR_FAIL_INDEX_V(p_axis, 3, 0.);
-	switch (p_param) {
-		case PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
-			return limits_lower[0][p_axis];
-		case PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
-			return limits_upper[0][p_axis];
-		case PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
-			return sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis];
-		case PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
-			return sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis];
-		case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
-			return sixDOFConstraint->getTranslationalLimitMotor()->m_springDamping.m_floats[p_axis];
-		case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
-			return sixDOFConstraint->getTranslationalLimitMotor()->m_springStiffness.m_floats[p_axis];
-		case PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
-			return sixDOFConstraint->getTranslationalLimitMotor()->m_equilibriumPoint.m_floats[p_axis];
-		case PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
-			return limits_lower[1][p_axis];
-		case PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
-			return limits_upper[1][p_axis];
-		case PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION:
-			return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce;
-		case PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP:
-			return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP;
-		case PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY:
-			return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity;
-		case PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
-			return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce;
-		case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
-			return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springStiffness;
-		case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
-			return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springDamping;
-		case PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
-			return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint;
-		case PhysicsServer3D::G6DOF_JOINT_MAX:
-			// Internal size value, nothing to do.
-			return 0;
-		default:
-			WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is deprecated.");
-			return 0;
-	}
-}
-
-void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag, bool p_value) {
-	ERR_FAIL_INDEX(p_axis, 3);
-
-	flags[p_axis][p_flag] = p_value;
-
-	switch (p_flag) {
-		case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT:
-			if (flags[p_axis][p_flag]) {
-				sixDOFConstraint->setLimit(p_axis, limits_lower[0][p_axis], limits_upper[0][p_axis]);
-			} else {
-				sixDOFConstraint->setLimit(p_axis, 0, -1); // Free
-			}
-			break;
-		case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT:
-			if (flags[p_axis][p_flag]) {
-				sixDOFConstraint->setLimit(p_axis + 3, limits_lower[1][p_axis], limits_upper[1][p_axis]);
-			} else {
-				sixDOFConstraint->setLimit(p_axis + 3, 0, -1); // Free
-			}
-			break;
-		case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING:
-			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableSpring = p_value;
-			break;
-		case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING:
-			sixDOFConstraint->getTranslationalLimitMotor()->m_enableSpring[p_axis] = p_value;
-			break;
-		case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_MOTOR:
-			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = flags[p_axis][p_flag];
-			break;
-		case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR:
-			sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = flags[p_axis][p_flag];
-			break;
-		case PhysicsServer3D::G6DOF_JOINT_FLAG_MAX:
-			// Internal size value, nothing to do.
-			break;
-	}
-}
-
-bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const {
-	ERR_FAIL_INDEX_V(p_axis, 3, false);
-	return flags[p_axis][p_flag];
-}
diff --git a/modules/bullet/generic_6dof_joint_bullet.h b/modules/bullet/generic_6dof_joint_bullet.h
deleted file mode 100644
index cc4ccf7ac4..0000000000
--- a/modules/bullet/generic_6dof_joint_bullet.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*************************************************************************/
-/*  generic_6dof_joint_bullet.h                                          */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GENERIC_6DOF_JOINT_BULLET_H
-#define GENERIC_6DOF_JOINT_BULLET_H
-
-#include "joint_bullet.h"
-
-class RigidBodyBullet;
-
-class Generic6DOFJointBullet : public JointBullet {
-	class btGeneric6DofSpring2Constraint *sixDOFConstraint;
-
-	// First is linear second is angular
-	Vector3 limits_lower[2];
-	Vector3 limits_upper[2];
-	bool flags[3][PhysicsServer3D::G6DOF_JOINT_FLAG_MAX];
-
-public:
-	Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameInA, const Transform3D &frameInB);
-
-	virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_6DOF; }
-
-	Transform3D getFrameOffsetA() const;
-	Transform3D getFrameOffsetB() const;
-	Transform3D getFrameOffsetA();
-	Transform3D getFrameOffsetB();
-
-	void set_linear_lower_limit(const Vector3 &linearLower);
-	void set_linear_upper_limit(const Vector3 &linearUpper);
-
-	void set_angular_lower_limit(const Vector3 &angularLower);
-	void set_angular_upper_limit(const Vector3 &angularUpper);
-
-	void set_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param, real_t p_value);
-	real_t get_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param) const;
-
-	void set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag, bool p_value);
-	bool get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const;
-};
-
-#endif // GENERIC_6DOF_JOINT_BULLET_H
diff --git a/modules/bullet/godot_collision_configuration.cpp b/modules/bullet/godot_collision_configuration.cpp
deleted file mode 100644
index 354c4e271b..0000000000
--- a/modules/bullet/godot_collision_configuration.cpp
+++ /dev/null
@@ -1,126 +0,0 @@
-/*************************************************************************/
-/*  godot_collision_configuration.cpp                                    */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "godot_collision_configuration.h"
-
-#include "godot_ray_world_algorithm.h"
-
-#include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h>
-#include <BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h>
-
-GodotCollisionConfiguration::GodotCollisionConfiguration(const btDiscreteDynamicsWorld *world, const btDefaultCollisionConstructionInfo &constructionInfo) :
-		btDefaultCollisionConfiguration(constructionInfo) {
-	void *mem = nullptr;
-
-	mem = btAlignedAlloc(sizeof(GodotRayWorldAlgorithm::CreateFunc), 16);
-	m_rayWorldCF = new (mem) GodotRayWorldAlgorithm::CreateFunc(world);
-
-	mem = btAlignedAlloc(sizeof(GodotRayWorldAlgorithm::SwappedCreateFunc), 16);
-	m_swappedRayWorldCF = new (mem) GodotRayWorldAlgorithm::SwappedCreateFunc(world);
-}
-
-GodotCollisionConfiguration::~GodotCollisionConfiguration() {
-	m_rayWorldCF->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_rayWorldCF);
-
-	m_swappedRayWorldCF->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_swappedRayWorldCF);
-}
-
-btCollisionAlgorithmCreateFunc *GodotCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1) {
-	if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0 && CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) {
-		// This collision is not supported
-		return m_emptyCreateFunc;
-	} else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0) {
-		return m_rayWorldCF;
-	} else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) {
-		return m_swappedRayWorldCF;
-	} else {
-		return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0, proxyType1);
-	}
-}
-
-btCollisionAlgorithmCreateFunc *GodotCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1) {
-	if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0 && CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) {
-		// This collision is not supported
-		return m_emptyCreateFunc;
-	} else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0) {
-		return m_rayWorldCF;
-	} else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) {
-		return m_swappedRayWorldCF;
-	} else {
-		return btDefaultCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(proxyType0, proxyType1);
-	}
-}
-
-GodotSoftCollisionConfiguration::GodotSoftCollisionConfiguration(const btDiscreteDynamicsWorld *world, const btDefaultCollisionConstructionInfo &constructionInfo) :
-		btSoftBodyRigidBodyCollisionConfiguration(constructionInfo) {
-	void *mem = nullptr;
-
-	mem = btAlignedAlloc(sizeof(GodotRayWorldAlgorithm::CreateFunc), 16);
-	m_rayWorldCF = new (mem) GodotRayWorldAlgorithm::CreateFunc(world);
-
-	mem = btAlignedAlloc(sizeof(GodotRayWorldAlgorithm::SwappedCreateFunc), 16);
-	m_swappedRayWorldCF = new (mem) GodotRayWorldAlgorithm::SwappedCreateFunc(world);
-}
-
-GodotSoftCollisionConfiguration::~GodotSoftCollisionConfiguration() {
-	m_rayWorldCF->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_rayWorldCF);
-
-	m_swappedRayWorldCF->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_swappedRayWorldCF);
-}
-
-btCollisionAlgorithmCreateFunc *GodotSoftCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1) {
-	if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0 && CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) {
-		// This collision is not supported
-		return m_emptyCreateFunc;
-	} else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0) {
-		return m_rayWorldCF;
-	} else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) {
-		return m_swappedRayWorldCF;
-	} else {
-		return btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0, proxyType1);
-	}
-}
-
-btCollisionAlgorithmCreateFunc *GodotSoftCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1) {
-	if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0 && CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) {
-		// This collision is not supported
-		return m_emptyCreateFunc;
-	} else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0) {
-		return m_rayWorldCF;
-	} else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) {
-		return m_swappedRayWorldCF;
-	} else {
-		return btSoftBodyRigidBodyCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(proxyType0, proxyType1);
-	}
-}
diff --git a/modules/bullet/godot_collision_configuration.h b/modules/bullet/godot_collision_configuration.h
deleted file mode 100644
index 7e29f6e03a..0000000000
--- a/modules/bullet/godot_collision_configuration.h
+++ /dev/null
@@ -1,63 +0,0 @@
-/*************************************************************************/
-/*  godot_collision_configuration.h                                      */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_COLLISION_CONFIGURATION_H
-#define GODOT_COLLISION_CONFIGURATION_H
-
-#include <BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h>
-#include <BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h>
-
-class btDiscreteDynamicsWorld;
-
-class GodotCollisionConfiguration : public btDefaultCollisionConfiguration {
-	btCollisionAlgorithmCreateFunc *m_rayWorldCF;
-	btCollisionAlgorithmCreateFunc *m_swappedRayWorldCF;
-
-public:
-	GodotCollisionConfiguration(const btDiscreteDynamicsWorld *world, const btDefaultCollisionConstructionInfo &constructionInfo = btDefaultCollisionConstructionInfo());
-	virtual ~GodotCollisionConfiguration();
-
-	virtual btCollisionAlgorithmCreateFunc *getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1);
-	virtual btCollisionAlgorithmCreateFunc *getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1);
-};
-
-class GodotSoftCollisionConfiguration : public btSoftBodyRigidBodyCollisionConfiguration {
-	btCollisionAlgorithmCreateFunc *m_rayWorldCF;
-	btCollisionAlgorithmCreateFunc *m_swappedRayWorldCF;
-
-public:
-	GodotSoftCollisionConfiguration(const btDiscreteDynamicsWorld *world, const btDefaultCollisionConstructionInfo &constructionInfo = btDefaultCollisionConstructionInfo());
-	virtual ~GodotSoftCollisionConfiguration();
-
-	virtual btCollisionAlgorithmCreateFunc *getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1);
-	virtual btCollisionAlgorithmCreateFunc *getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1);
-};
-
-#endif // GODOT_COLLISION_CONFIGURATION_H
diff --git a/modules/bullet/godot_collision_dispatcher.cpp b/modules/bullet/godot_collision_dispatcher.cpp
deleted file mode 100644
index 2ab1c7dd84..0000000000
--- a/modules/bullet/godot_collision_dispatcher.cpp
+++ /dev/null
@@ -1,54 +0,0 @@
-/*************************************************************************/
-/*  godot_collision_dispatcher.cpp                                       */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "godot_collision_dispatcher.h"
-
-#include "collision_object_bullet.h"
-
-const int GodotCollisionDispatcher::CASTED_TYPE_AREA = static_cast<int>(CollisionObjectBullet::TYPE_AREA);
-
-GodotCollisionDispatcher::GodotCollisionDispatcher(btCollisionConfiguration *collisionConfiguration) :
-		btCollisionDispatcher(collisionConfiguration) {}
-
-bool GodotCollisionDispatcher::needsCollision(const btCollisionObject *body0, const btCollisionObject *body1) {
-	if (body0->getUserIndex() == CASTED_TYPE_AREA || body1->getUserIndex() == CASTED_TYPE_AREA) {
-		// Avoid area narrow phase
-		return false;
-	}
-	return btCollisionDispatcher::needsCollision(body0, body1);
-}
-
-bool GodotCollisionDispatcher::needsResponse(const btCollisionObject *body0, const btCollisionObject *body1) {
-	if (body0->getUserIndex() == CASTED_TYPE_AREA || body1->getUserIndex() == CASTED_TYPE_AREA) {
-		// Avoid area narrow phase
-		return false;
-	}
-	return btCollisionDispatcher::needsResponse(body0, body1);
-}
diff --git a/modules/bullet/godot_collision_dispatcher.h b/modules/bullet/godot_collision_dispatcher.h
deleted file mode 100644
index 97cae1ce6a..0000000000
--- a/modules/bullet/godot_collision_dispatcher.h
+++ /dev/null
@@ -1,47 +0,0 @@
-/*************************************************************************/
-/*  godot_collision_dispatcher.h                                         */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_COLLISION_DISPATCHER_H
-#define GODOT_COLLISION_DISPATCHER_H
-
-#include <btBulletDynamicsCommon.h>
-
-/// This class is required to implement custom collision behaviour in the narrowphase
-class GodotCollisionDispatcher : public btCollisionDispatcher {
-private:
-	static const int CASTED_TYPE_AREA;
-
-public:
-	GodotCollisionDispatcher(btCollisionConfiguration *collisionConfiguration);
-	virtual bool needsCollision(const btCollisionObject *body0, const btCollisionObject *body1);
-	virtual bool needsResponse(const btCollisionObject *body0, const btCollisionObject *body1);
-};
-
-#endif // GODOT_COLLISION_DISPATCHER_H
diff --git a/modules/bullet/godot_motion_state.h b/modules/bullet/godot_motion_state.h
deleted file mode 100644
index f1a5e0e3b5..0000000000
--- a/modules/bullet/godot_motion_state.h
+++ /dev/null
@@ -1,96 +0,0 @@
-/*************************************************************************/
-/*  godot_motion_state.h                                                 */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_MOTION_STATE_H
-#define GODOT_MOTION_STATE_H
-
-#include "rigid_body_bullet.h"
-
-#include <LinearMath/btMotionState.h>
-
-class RigidBodyBullet;
-
-// This class is responsible to move kinematic actor
-// and sincronize rendering engine with Bullet
-/// DOC:
-/// http://www.bulletphysics.org/mediawiki-1.5.8/index.php/MotionStates#What.27s_a_MotionState.3F
-class GodotMotionState : public btMotionState {
-	/// This data is used to store the new world position for kinematic body
-	btTransform bodyKinematicWorldTransf;
-	/// This data is used to store last world position
-	btTransform bodyCurrentWorldTransform;
-
-	RigidBodyBullet *owner = nullptr;
-
-public:
-	GodotMotionState(RigidBodyBullet *p_owner) :
-			bodyKinematicWorldTransf(btMatrix3x3(1., 0., 0., 0., 1., 0., 0., 0., 1.), btVector3(0., 0., 0.)),
-			bodyCurrentWorldTransform(btMatrix3x3(1., 0., 0., 0., 1., 0., 0., 0., 1.), btVector3(0., 0., 0.)),
-			owner(p_owner) {}
-
-	/// IMPORTANT DON'T USE THIS FUNCTION TO KNOW THE CURRENT BODY TRANSFORM
-	/// This class is used internally by Bullet
-	/// Use GodotMotionState::getCurrentWorldTransform to know current position
-	///
-	/// This function is used by Bullet to get the position of object in the world
-	/// if the body is kinematic Bullet will move the object to this location
-	/// if the body is static Bullet doesn't move at all
-	virtual void getWorldTransform(btTransform &worldTrans) const {
-		worldTrans = bodyKinematicWorldTransf;
-	}
-
-	/// IMPORTANT: to move the body use: moveBody
-	/// IMPORTANT: DON'T CALL THIS FUNCTION, IT IS CALLED BY BULLET TO UPDATE RENDERING ENGINE
-	///
-	/// This function is called each time by Bullet and set the current position of body
-	/// inside the physics world.
-	/// Don't allow Godot rendering scene takes world transform from this object because
-	/// the correct transform is set by Bullet only after the last step when there are sub steps
-	/// This function must update Godot transform rendering scene for this object.
-	virtual void setWorldTransform(const btTransform &worldTrans) {
-		bodyCurrentWorldTransform = worldTrans;
-
-		owner->notify_transform_changed();
-	}
-
-public:
-	/// Use this function to move kinematic body
-	/// -- or set initial transform before body creation.
-	void moveBody(const btTransform &newWorldTransform) {
-		bodyKinematicWorldTransf = newWorldTransform;
-	}
-
-	/// It returns the current body transform from last Bullet update
-	const btTransform &getCurrentWorldTransform() const {
-		return bodyCurrentWorldTransform;
-	}
-};
-
-#endif // GODOT_MOTION_STATE_H
diff --git a/modules/bullet/godot_ray_world_algorithm.cpp b/modules/bullet/godot_ray_world_algorithm.cpp
deleted file mode 100644
index 697ca12e7b..0000000000
--- a/modules/bullet/godot_ray_world_algorithm.cpp
+++ /dev/null
@@ -1,111 +0,0 @@
-/*************************************************************************/
-/*  godot_ray_world_algorithm.cpp                                        */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "godot_ray_world_algorithm.h"
-
-#include "btRayShape.h"
-#include "collision_object_bullet.h"
-
-#include <BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h>
-
-// Epsilon to account for floating point inaccuracies
-#define RAY_PENETRATION_DEPTH_EPSILON 0.01
-
-GodotRayWorldAlgorithm::CreateFunc::CreateFunc(const btDiscreteDynamicsWorld *world) :
-		m_world(world) {}
-
-GodotRayWorldAlgorithm::SwappedCreateFunc::SwappedCreateFunc(const btDiscreteDynamicsWorld *world) :
-		m_world(world) {}
-
-GodotRayWorldAlgorithm::GodotRayWorldAlgorithm(const btDiscreteDynamicsWorld *world, btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped) :
-		btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
-		m_world(world),
-		m_manifoldPtr(mf),
-		m_isSwapped(isSwapped) {}
-
-GodotRayWorldAlgorithm::~GodotRayWorldAlgorithm() {
-	if (m_ownManifold && m_manifoldPtr) {
-		m_dispatcher->releaseManifold(m_manifoldPtr);
-	}
-}
-
-void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) {
-	if (!m_manifoldPtr) {
-		if (m_isSwapped) {
-			m_manifoldPtr = m_dispatcher->getNewManifold(body1Wrap->getCollisionObject(), body0Wrap->getCollisionObject());
-		} else {
-			m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
-		}
-		m_ownManifold = true;
-	}
-	m_manifoldPtr->clearManifold();
-	resultOut->setPersistentManifold(m_manifoldPtr);
-
-	const btRayShape *ray_shape;
-	btTransform ray_transform;
-
-	const btCollisionObjectWrapper *other_co_wrapper;
-
-	if (m_isSwapped) {
-		ray_shape = static_cast<const btRayShape *>(body1Wrap->getCollisionShape());
-		ray_transform = body1Wrap->getWorldTransform();
-
-		other_co_wrapper = body0Wrap;
-	} else {
-		ray_shape = static_cast<const btRayShape *>(body0Wrap->getCollisionShape());
-		ray_transform = body0Wrap->getWorldTransform();
-
-		other_co_wrapper = body1Wrap;
-	}
-
-	btTransform to(ray_transform * ray_shape->getSupportPoint());
-
-	btCollisionWorld::ClosestRayResultCallback btResult(ray_transform.getOrigin(), to.getOrigin());
-
-	m_world->rayTestSingleInternal(ray_transform, to, other_co_wrapper, btResult);
-
-	if (btResult.hasHit()) {
-		btScalar depth(ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1));
-
-		if (depth > -RAY_PENETRATION_DEPTH_EPSILON) {
-			depth = 0.0;
-		}
-
-		if (ray_shape->getSlipsOnSlope()) {
-			resultOut->addContactPoint(btResult.m_hitNormalWorld, btResult.m_hitPointWorld, depth);
-		} else {
-			resultOut->addContactPoint((ray_transform.getOrigin() - to.getOrigin()).normalize(), btResult.m_hitPointWorld, depth);
-		}
-	}
-}
-
-btScalar GodotRayWorldAlgorithm::calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) {
-	return 1;
-}
diff --git a/modules/bullet/godot_ray_world_algorithm.h b/modules/bullet/godot_ray_world_algorithm.h
deleted file mode 100644
index 94bdefb720..0000000000
--- a/modules/bullet/godot_ray_world_algorithm.h
+++ /dev/null
@@ -1,80 +0,0 @@
-/*************************************************************************/
-/*  godot_ray_world_algorithm.h                                          */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_RAY_WORLD_ALGORITHM_H
-#define GODOT_RAY_WORLD_ALGORITHM_H
-
-#include <BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h>
-#include <BulletCollision/CollisionDispatch/btCollisionCreateFunc.h>
-#include <BulletCollision/CollisionDispatch/btCollisionDispatcher.h>
-
-class btDiscreteDynamicsWorld;
-
-class GodotRayWorldAlgorithm : public btActivatingCollisionAlgorithm {
-	const btDiscreteDynamicsWorld *m_world;
-	btPersistentManifold *m_manifoldPtr;
-	bool m_ownManifold = false;
-	bool m_isSwapped = false;
-
-public:
-	GodotRayWorldAlgorithm(const btDiscreteDynamicsWorld *world, btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped);
-	virtual ~GodotRayWorldAlgorithm();
-
-	virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut);
-	virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut);
-
-	virtual void getAllContactManifolds(btManifoldArray &manifoldArray) {
-		///should we use m_ownManifold to avoid adding duplicates?
-		if (m_manifoldPtr && m_ownManifold) {
-			manifoldArray.push_back(m_manifoldPtr);
-		}
-	}
-	struct CreateFunc : public btCollisionAlgorithmCreateFunc {
-		const btDiscreteDynamicsWorld *m_world;
-		CreateFunc(const btDiscreteDynamicsWorld *world);
-
-		virtual btCollisionAlgorithm *CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap) {
-			void *mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(GodotRayWorldAlgorithm));
-			return new (mem) GodotRayWorldAlgorithm(m_world, ci.m_manifold, ci, body0Wrap, body1Wrap, false);
-		}
-	};
-
-	struct SwappedCreateFunc : public btCollisionAlgorithmCreateFunc {
-		const btDiscreteDynamicsWorld *m_world;
-		SwappedCreateFunc(const btDiscreteDynamicsWorld *world);
-
-		virtual btCollisionAlgorithm *CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap) {
-			void *mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(GodotRayWorldAlgorithm));
-			return new (mem) GodotRayWorldAlgorithm(m_world, ci.m_manifold, ci, body0Wrap, body1Wrap, true);
-		}
-	};
-};
-
-#endif // GODOT_RAY_WORLD_ALGORITHM_H
diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp
deleted file mode 100644
index 35b26fc2ec..0000000000
--- a/modules/bullet/godot_result_callbacks.cpp
+++ /dev/null
@@ -1,377 +0,0 @@
-/*************************************************************************/
-/*  godot_result_callbacks.cpp                                           */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "godot_result_callbacks.h"
-
-#include "area_bullet.h"
-#include "bullet_types_converter.h"
-#include "collision_object_bullet.h"
-#include "rigid_body_bullet.h"
-
-#include <BulletCollision/CollisionDispatch/btInternalEdgeUtility.h>
-
-bool godotContactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
-	if (!colObj1Wrap->getCollisionObject()->getCollisionShape()->isCompound()) {
-		btAdjustInternalEdgeContacts(cp, colObj1Wrap, colObj0Wrap, partId1, index1);
-	}
-	return true;
-}
-
-bool GodotFilterCallback::needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const {
-	return (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) || (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
-}
-
-bool GodotClosestRayResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
-	if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
-		btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
-		CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
-
-		if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
-			if (!collide_with_areas) {
-				return false;
-			}
-		} else {
-			if (!collide_with_bodies) {
-				return false;
-			}
-		}
-
-		if (m_pickRay && !gObj->is_ray_pickable()) {
-			return false;
-		}
-
-		if (m_exclude->has(gObj->get_self())) {
-			return false;
-		}
-
-		return true;
-	} else {
-		return false;
-	}
-}
-
-bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
-	if (count >= m_resultMax) {
-		return false;
-	}
-
-	if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
-		btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
-		CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
-		if (m_exclude->has(gObj->get_self())) {
-			return false;
-		}
-
-		return true;
-	} else {
-		return false;
-	}
-}
-
-btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
-	if (count >= m_resultMax) {
-		return 1; // not used by bullet
-	}
-
-	CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(convexResult.m_hitCollisionObject->getUserPointer());
-
-	PhysicsDirectSpaceState3D::ShapeResult &result = m_results[count];
-
-	// Triangle index is an odd name but contains the compound shape ID.
-	// A shape part of -1 indicates the index is a shape index and not a triangle index.
-	if (convexResult.m_localShapeInfo && convexResult.m_localShapeInfo->m_shapePart == -1) {
-		result.shape = convexResult.m_localShapeInfo->m_triangleIndex;
-	} else {
-		result.shape = 0;
-	}
-
-	result.rid = gObj->get_self();
-	result.collider_id = gObj->get_instance_id();
-	result.collider = result.collider_id.is_null() ? nullptr : ObjectDB::get_instance(result.collider_id);
-
-	++count;
-	return 1; // not used by bullet
-}
-
-bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
-	if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
-		btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
-		CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
-		if (gObj == m_self_object) {
-			return false;
-		} else {
-			// A kinematic body can't be stopped by a rigid body since the mass of kinematic body is infinite
-			if (m_infinite_inertia && !btObj->isStaticOrKinematicObject()) {
-				return false;
-			}
-
-			if (gObj->getType() == CollisionObjectBullet::TYPE_AREA) {
-				return false;
-			}
-
-			if (m_self_object->has_collision_exception(gObj) || gObj->has_collision_exception(m_self_object)) {
-				return false;
-			}
-
-			if (m_exclude->has(gObj->get_self())) {
-				return false;
-			}
-		}
-		return true;
-	} else {
-		return false;
-	}
-}
-
-bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
-	if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
-		btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
-		CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
-
-		if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
-			if (!collide_with_areas) {
-				return false;
-			}
-		} else {
-			if (!collide_with_bodies) {
-				return false;
-			}
-		}
-
-		if (m_exclude->has(gObj->get_self())) {
-			return false;
-		}
-		return true;
-	} else {
-		return false;
-	}
-}
-
-btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
-	// Triangle index is an odd name but contains the compound shape ID.
-	// A shape part of -1 indicates the index is a shape index and not a triangle index.
-	if (convexResult.m_localShapeInfo && convexResult.m_localShapeInfo->m_shapePart == -1) {
-		m_shapeId = convexResult.m_localShapeInfo->m_triangleIndex;
-	} else {
-		m_shapeId = 0;
-	}
-
-	return btCollisionWorld::ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
-}
-
-bool GodotAllContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
-	if (m_count >= m_resultMax) {
-		return false;
-	}
-
-	if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
-		btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
-		CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
-
-		if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
-			if (!collide_with_areas) {
-				return false;
-			}
-		} else {
-			if (!collide_with_bodies) {
-				return false;
-			}
-		}
-
-		if (m_exclude->has(gObj->get_self())) {
-			return false;
-		}
-		return true;
-	} else {
-		return false;
-	}
-}
-
-btScalar GodotAllContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
-	if (m_count >= m_resultMax) {
-		return cp.getDistance();
-	}
-
-	if (cp.getDistance() <= 0) {
-		PhysicsDirectSpaceState3D::ShapeResult &result = m_results[m_count];
-		// Penetrated
-
-		CollisionObjectBullet *colObj;
-		if (m_self_object == colObj0Wrap->getCollisionObject()) {
-			colObj = static_cast<CollisionObjectBullet *>(colObj1Wrap->getCollisionObject()->getUserPointer());
-			// Checking for compound shape because the index might be uninitialized otherwise.
-			// A partId of -1 indicates the index is a shape index and not a triangle index.
-			if (colObj1Wrap->getCollisionObject()->getCollisionShape()->isCompound() && cp.m_partId1 == -1) {
-				result.shape = cp.m_index1;
-			} else {
-				result.shape = 0;
-			}
-		} else {
-			colObj = static_cast<CollisionObjectBullet *>(colObj0Wrap->getCollisionObject()->getUserPointer());
-			// Checking for compound shape because the index might be uninitialized otherwise.
-			// A partId of -1 indicates the index is a shape index and not a triangle index.
-			if (colObj0Wrap->getCollisionObject()->getCollisionShape()->isCompound() && cp.m_partId0 == -1) {
-				result.shape = cp.m_index0;
-			} else {
-				result.shape = 0;
-			}
-		}
-
-		result.collider_id = colObj->get_instance_id();
-		result.collider = result.collider_id.is_null() ? nullptr : ObjectDB::get_instance(result.collider_id);
-		result.rid = colObj->get_self();
-		++m_count;
-	}
-
-	return cp.getDistance();
-}
-
-bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
-	if (m_count >= m_resultMax) {
-		return false;
-	}
-
-	if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
-		btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
-		CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
-
-		if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
-			if (!collide_with_areas) {
-				return false;
-			}
-		} else {
-			if (!collide_with_bodies) {
-				return false;
-			}
-		}
-
-		if (m_exclude->has(gObj->get_self())) {
-			return false;
-		}
-		return true;
-	} else {
-		return false;
-	}
-}
-
-btScalar GodotContactPairContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
-	if (m_count >= m_resultMax) {
-		return 1; // not used by bullet
-	}
-
-	if (m_self_object == colObj0Wrap->getCollisionObject()) {
-		B_TO_G(cp.m_localPointA, m_results[m_count * 2 + 0]); // Local contact
-		B_TO_G(cp.m_localPointB, m_results[m_count * 2 + 1]);
-	} else {
-		B_TO_G(cp.m_localPointB, m_results[m_count * 2 + 0]); // Local contact
-		B_TO_G(cp.m_localPointA, m_results[m_count * 2 + 1]);
-	}
-
-	++m_count;
-
-	return 1; // Not used by bullet
-}
-
-bool GodotRestInfoContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
-	if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
-		btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
-		CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
-
-		if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
-			if (!collide_with_areas) {
-				return false;
-			}
-		} else {
-			if (!collide_with_bodies) {
-				return false;
-			}
-		}
-
-		if (m_exclude->has(gObj->get_self())) {
-			return false;
-		}
-		return true;
-	} else {
-		return false;
-	}
-}
-
-btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
-	if (cp.getDistance() <= m_min_distance) {
-		m_min_distance = cp.getDistance();
-
-		CollisionObjectBullet *colObj;
-		if (m_self_object == colObj0Wrap->getCollisionObject()) {
-			colObj = static_cast<CollisionObjectBullet *>(colObj1Wrap->getCollisionObject()->getUserPointer());
-			// Checking for compound shape because the index might be uninitialized otherwise.
-			// A partId of -1 indicates the index is a shape index and not a triangle index.
-			if (colObj1Wrap->getCollisionObject()->getCollisionShape()->isCompound() && cp.m_partId1 == -1) {
-				m_result->shape = cp.m_index1;
-			} else {
-				m_result->shape = 0;
-			}
-			B_TO_G(cp.getPositionWorldOnB(), m_result->point);
-			B_TO_G(cp.m_normalWorldOnB, m_result->normal);
-			m_rest_info_bt_point = cp.getPositionWorldOnB();
-			m_rest_info_collision_object = colObj1Wrap->getCollisionObject();
-		} else {
-			colObj = static_cast<CollisionObjectBullet *>(colObj0Wrap->getCollisionObject()->getUserPointer());
-			// Checking for compound shape because the index might be uninitialized otherwise.
-			// A partId of -1 indicates the index is a shape index and not a triangle index.
-			if (colObj0Wrap->getCollisionObject()->getCollisionShape()->isCompound() && cp.m_partId0 == -1) {
-				m_result->shape = cp.m_index0;
-			} else {
-				m_result->shape = 0;
-			}
-			B_TO_G(cp.m_normalWorldOnB * -1, m_result->normal);
-			m_rest_info_bt_point = cp.getPositionWorldOnA();
-			m_rest_info_collision_object = colObj0Wrap->getCollisionObject();
-		}
-
-		m_result->collider_id = colObj->get_instance_id();
-		m_result->rid = colObj->get_self();
-
-		m_collided = true;
-	}
-
-	return 1; // Not used by bullet
-}
-
-void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) {
-	if (m_penetration_distance > depth) { // Has penetration?
-
-		const bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
-		m_penetration_distance = depth;
-		m_other_compound_shape_index = isSwapped ? m_index0 : m_index1;
-		m_pointWorld = isSwapped ? (pointInWorldOnB + (normalOnBInWorld * depth)) : pointInWorldOnB;
-
-		m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
-	}
-}
diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h
deleted file mode 100644
index dd64762529..0000000000
--- a/modules/bullet/godot_result_callbacks.h
+++ /dev/null
@@ -1,225 +0,0 @@
-/*************************************************************************/
-/*  godot_result_callbacks.h                                             */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_RESULT_CALLBACKS_H
-#define GODOT_RESULT_CALLBACKS_H
-
-#include "servers/physics_server_3d.h"
-
-#include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h>
-#include <btBulletDynamicsCommon.h>
-
-class RigidBodyBullet;
-
-/// This callback is injected inside bullet server and allow me to smooth contacts against trimesh
-bool godotContactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
-
-/// This class is required to implement custom collision behaviour in the broadphase
-struct GodotFilterCallback : public btOverlapFilterCallback {
-	// return true when pairs need collision
-	virtual bool needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const;
-};
-
-/// It performs an additional check allow exclusions.
-struct GodotClosestRayResultCallback : public btCollisionWorld::ClosestRayResultCallback {
-	const Set<RID> *m_exclude;
-	bool m_pickRay = false;
-	int m_shapeId = 0;
-
-	bool collide_with_bodies = false;
-	bool collide_with_areas = false;
-
-public:
-	GodotClosestRayResultCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
-			btCollisionWorld::ClosestRayResultCallback(rayFromWorld, rayToWorld),
-			m_exclude(p_exclude),
-			collide_with_bodies(p_collide_with_bodies),
-			collide_with_areas(p_collide_with_areas) {}
-
-	virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
-
-	virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult &rayResult, bool normalInWorldSpace) {
-		// Triangle index is an odd name but contains the compound shape ID.
-		// A shape part of -1 indicates the index is a shape index and not a triangle index.
-		if (rayResult.m_localShapeInfo && rayResult.m_localShapeInfo->m_shapePart == -1) {
-			m_shapeId = rayResult.m_localShapeInfo->m_triangleIndex;
-		} else {
-			m_shapeId = 0;
-		}
-		return btCollisionWorld::ClosestRayResultCallback::addSingleResult(rayResult, normalInWorldSpace);
-	}
-};
-
-// store all colliding object
-struct GodotAllConvexResultCallback : public btCollisionWorld::ConvexResultCallback {
-public:
-	PhysicsDirectSpaceState3D::ShapeResult *m_results = nullptr;
-	int m_resultMax = 0;
-	const Set<RID> *m_exclude;
-	int count = 0;
-
-	GodotAllConvexResultCallback(PhysicsDirectSpaceState3D::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude) :
-			m_results(p_results),
-			m_resultMax(p_resultMax),
-			m_exclude(p_exclude) {}
-
-	virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
-
-	virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace);
-};
-
-struct GodotKinClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback {
-public:
-	const RigidBodyBullet *m_self_object;
-	const Set<RID> *m_exclude;
-	const bool m_infinite_inertia;
-
-	GodotKinClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const RigidBodyBullet *p_self_object, bool p_infinite_inertia, const Set<RID> *p_exclude) :
-			btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld),
-			m_self_object(p_self_object),
-			m_exclude(p_exclude),
-			m_infinite_inertia(p_infinite_inertia) {}
-
-	virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
-};
-
-struct GodotClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback {
-public:
-	const Set<RID> *m_exclude;
-	int m_shapeId = 0;
-
-	bool collide_with_bodies = false;
-	bool collide_with_areas = false;
-
-	GodotClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
-			btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld),
-			m_exclude(p_exclude),
-			collide_with_bodies(p_collide_with_bodies),
-			collide_with_areas(p_collide_with_areas) {}
-
-	virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
-
-	virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace);
-};
-
-struct GodotAllContactResultCallback : public btCollisionWorld::ContactResultCallback {
-public:
-	const btCollisionObject *m_self_object;
-	PhysicsDirectSpaceState3D::ShapeResult *m_results = nullptr;
-	int m_resultMax = 0;
-	const Set<RID> *m_exclude;
-	int m_count = 0;
-
-	bool collide_with_bodies = false;
-	bool collide_with_areas = false;
-
-	GodotAllContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState3D::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
-			m_self_object(p_self_object),
-			m_results(p_results),
-			m_resultMax(p_resultMax),
-			m_exclude(p_exclude),
-			collide_with_bodies(p_collide_with_bodies),
-			collide_with_areas(p_collide_with_areas) {}
-
-	virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
-
-	virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
-};
-
-/// Returns the list of contacts pairs in this order: Local contact, other body contact
-struct GodotContactPairContactResultCallback : public btCollisionWorld::ContactResultCallback {
-public:
-	const btCollisionObject *m_self_object;
-	Vector3 *m_results = nullptr;
-	int m_resultMax = 0;
-	const Set<RID> *m_exclude;
-	int m_count = 0;
-
-	bool collide_with_bodies = false;
-	bool collide_with_areas = false;
-
-	GodotContactPairContactResultCallback(btCollisionObject *p_self_object, Vector3 *p_results, int p_resultMax, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
-			m_self_object(p_self_object),
-			m_results(p_results),
-			m_resultMax(p_resultMax),
-			m_exclude(p_exclude),
-			collide_with_bodies(p_collide_with_bodies),
-			collide_with_areas(p_collide_with_areas) {}
-
-	virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
-
-	virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
-};
-
-struct GodotRestInfoContactResultCallback : public btCollisionWorld::ContactResultCallback {
-public:
-	const btCollisionObject *m_self_object;
-	PhysicsDirectSpaceState3D::ShapeRestInfo *m_result = nullptr;
-	const Set<RID> *m_exclude;
-	bool m_collided = false;
-	real_t m_min_distance = 0.0;
-	const btCollisionObject *m_rest_info_collision_object = nullptr;
-	btVector3 m_rest_info_bt_point;
-	bool collide_with_bodies = false;
-	bool collide_with_areas = false;
-
-	GodotRestInfoContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState3D::ShapeRestInfo *p_result, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
-			m_self_object(p_self_object),
-			m_result(p_result),
-			m_exclude(p_exclude),
-			collide_with_bodies(p_collide_with_bodies),
-			collide_with_areas(p_collide_with_areas) {}
-
-	virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
-
-	virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
-};
-
-struct GodotDeepPenetrationContactResultCallback : public btManifoldResult {
-	btVector3 m_pointNormalWorld;
-	btVector3 m_pointWorld;
-	btScalar m_penetration_distance = 0;
-	int m_other_compound_shape_index = 0;
-
-	GodotDeepPenetrationContactResultCallback(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap) :
-			btManifoldResult(body0Wrap, body1Wrap) {}
-
-	void reset() {
-		m_penetration_distance = 0;
-	}
-
-	bool hasHit() {
-		return m_penetration_distance < 0;
-	}
-
-	virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth);
-};
-
-#endif // GODOT_RESULT_CALLBACKS_H
diff --git a/modules/bullet/hinge_joint_bullet.cpp b/modules/bullet/hinge_joint_bullet.cpp
deleted file mode 100644
index 0b1bb7890d..0000000000
--- a/modules/bullet/hinge_joint_bullet.cpp
+++ /dev/null
@@ -1,170 +0,0 @@
-/*************************************************************************/
-/*  hinge_joint_bullet.cpp                                               */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "hinge_joint_bullet.h"
-
-#include "bullet_types_converter.h"
-#include "bullet_utilities.h"
-#include "rigid_body_bullet.h"
-
-#include <BulletDynamics/ConstraintSolver/btHingeConstraint.h>
-
-HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameA, const Transform3D &frameB) :
-		JointBullet() {
-	Transform3D scaled_AFrame(frameA.scaled(rbA->get_body_scale()));
-	scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
-
-	btTransform btFrameA;
-	G_TO_B(scaled_AFrame, btFrameA);
-
-	if (rbB) {
-		Transform3D scaled_BFrame(frameB.scaled(rbB->get_body_scale()));
-		scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
-
-		btTransform btFrameB;
-		G_TO_B(scaled_BFrame, btFrameB);
-
-		hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
-	} else {
-		hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), btFrameA));
-	}
-
-	setup(hingeConstraint);
-}
-
-HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB) :
-		JointBullet() {
-	btVector3 btPivotA;
-	btVector3 btAxisA;
-	G_TO_B(pivotInA * rbA->get_body_scale(), btPivotA);
-	G_TO_B(axisInA * rbA->get_body_scale(), btAxisA);
-
-	if (rbB) {
-		btVector3 btPivotB;
-		btVector3 btAxisB;
-		G_TO_B(pivotInB * rbB->get_body_scale(), btPivotB);
-		G_TO_B(axisInB * rbB->get_body_scale(), btAxisB);
-
-		hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btPivotA, btPivotB, btAxisA, btAxisB));
-	} else {
-		hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), btPivotA, btAxisA));
-	}
-
-	setup(hingeConstraint);
-}
-
-real_t HingeJointBullet::get_hinge_angle() {
-	return hingeConstraint->getHingeAngle();
-}
-
-void HingeJointBullet::set_param(PhysicsServer3D::HingeJointParam p_param, real_t p_value) {
-	switch (p_param) {
-		case PhysicsServer3D::HINGE_JOINT_BIAS:
-			WARN_DEPRECATED_MSG("The HingeJoint3D parameter \"bias\" is deprecated.");
-			break;
-		case PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER:
-			hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), p_value, hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor());
-			break;
-		case PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER:
-			hingeConstraint->setLimit(p_value, hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor());
-			break;
-		case PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS:
-			hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), p_value, hingeConstraint->getLimitRelaxationFactor());
-			break;
-		case PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS:
-			hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), p_value, hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor());
-			break;
-		case PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION:
-			hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), p_value);
-			break;
-		case PhysicsServer3D::HINGE_JOINT_MOTOR_TARGET_VELOCITY:
-			hingeConstraint->setMotorTargetVelocity(p_value);
-			break;
-		case PhysicsServer3D::HINGE_JOINT_MOTOR_MAX_IMPULSE:
-			hingeConstraint->setMaxMotorImpulse(p_value);
-			break;
-		case PhysicsServer3D::HINGE_JOINT_MAX:
-			// Internal size value, nothing to do.
-			break;
-	}
-}
-
-real_t HingeJointBullet::get_param(PhysicsServer3D::HingeJointParam p_param) const {
-	switch (p_param) {
-		case PhysicsServer3D::HINGE_JOINT_BIAS:
-			WARN_DEPRECATED_MSG("The HingeJoint3D parameter \"bias\" is deprecated.");
-			return 0;
-		case PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER:
-			return hingeConstraint->getUpperLimit();
-		case PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER:
-			return hingeConstraint->getLowerLimit();
-		case PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS:
-			return hingeConstraint->getLimitBiasFactor();
-		case PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS:
-			return hingeConstraint->getLimitSoftness();
-		case PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION:
-			return hingeConstraint->getLimitRelaxationFactor();
-		case PhysicsServer3D::HINGE_JOINT_MOTOR_TARGET_VELOCITY:
-			return hingeConstraint->getMotorTargetVelocity();
-		case PhysicsServer3D::HINGE_JOINT_MOTOR_MAX_IMPULSE:
-			return hingeConstraint->getMaxMotorImpulse();
-		case PhysicsServer3D::HINGE_JOINT_MAX:
-			// Internal size value, nothing to do.
-			return 0;
-	}
-	// Compiler doesn't seem to notice that all code paths are fulfilled...
-	return 0;
-}
-
-void HingeJointBullet::set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_value) {
-	switch (p_flag) {
-		case PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT:
-			if (!p_value) {
-				hingeConstraint->setLimit(-Math_PI, Math_PI);
-			}
-			break;
-		case PhysicsServer3D::HINGE_JOINT_FLAG_ENABLE_MOTOR:
-			hingeConstraint->enableMotor(p_value);
-			break;
-		case PhysicsServer3D::HINGE_JOINT_FLAG_MAX:
-			break; // Can't happen, but silences warning
-	}
-}
-
-bool HingeJointBullet::get_flag(PhysicsServer3D::HingeJointFlag p_flag) const {
-	switch (p_flag) {
-		case PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT:
-			return true;
-		case PhysicsServer3D::HINGE_JOINT_FLAG_ENABLE_MOTOR:
-			return hingeConstraint->getEnableAngularMotor();
-		default:
-			return false;
-	}
-}
diff --git a/modules/bullet/hinge_joint_bullet.h b/modules/bullet/hinge_joint_bullet.h
deleted file mode 100644
index 5575be564f..0000000000
--- a/modules/bullet/hinge_joint_bullet.h
+++ /dev/null
@@ -1,54 +0,0 @@
-/*************************************************************************/
-/*  hinge_joint_bullet.h                                                 */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef HINGE_JOINT_BULLET_H
-#define HINGE_JOINT_BULLET_H
-
-#include "joint_bullet.h"
-
-class HingeJointBullet : public JointBullet {
-	class btHingeConstraint *hingeConstraint;
-
-public:
-	HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameA, const Transform3D &frameB);
-	HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB);
-
-	virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_HINGE; }
-
-	real_t get_hinge_angle();
-
-	void set_param(PhysicsServer3D::HingeJointParam p_param, real_t p_value);
-	real_t get_param(PhysicsServer3D::HingeJointParam p_param) const;
-
-	void set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_value);
-	bool get_flag(PhysicsServer3D::HingeJointFlag p_flag) const;
-};
-
-#endif // HINGE_JOINT_BULLET_H
diff --git a/modules/bullet/joint_bullet.h b/modules/bullet/joint_bullet.h
deleted file mode 100644
index 427221dd77..0000000000
--- a/modules/bullet/joint_bullet.h
+++ /dev/null
@@ -1,48 +0,0 @@
-/*************************************************************************/
-/*  joint_bullet.h                                                       */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef JOINT_BULLET_H
-#define JOINT_BULLET_H
-
-#include "constraint_bullet.h"
-#include "servers/physics_server_3d.h"
-
-class RigidBodyBullet;
-class btTypedConstraint;
-
-class JointBullet : public ConstraintBullet {
-public:
-	JointBullet() {}
-	virtual ~JointBullet() {}
-
-	virtual PhysicsServer3D::JointType get_type() const = 0;
-};
-
-#endif // JOINT_BULLET_H
diff --git a/modules/bullet/pin_joint_bullet.cpp b/modules/bullet/pin_joint_bullet.cpp
deleted file mode 100644
index 72fdd5c408..0000000000
--- a/modules/bullet/pin_joint_bullet.cpp
+++ /dev/null
@@ -1,111 +0,0 @@
-/*************************************************************************/
-/*  pin_joint_bullet.cpp                                                 */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "pin_joint_bullet.h"
-
-#include "bullet_types_converter.h"
-#include "rigid_body_bullet.h"
-
-#include <BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h>
-
-PinJointBullet::PinJointBullet(RigidBodyBullet *p_body_a, const Vector3 &p_pos_a, RigidBodyBullet *p_body_b, const Vector3 &p_pos_b) :
-		JointBullet() {
-	if (p_body_b) {
-		btVector3 btPivotA;
-		btVector3 btPivotB;
-		G_TO_B(p_pos_a * p_body_a->get_body_scale(), btPivotA);
-		G_TO_B(p_pos_b * p_body_b->get_body_scale(), btPivotB);
-		p2pConstraint = bulletnew(btPoint2PointConstraint(*p_body_a->get_bt_rigid_body(),
-				*p_body_b->get_bt_rigid_body(),
-				btPivotA,
-				btPivotB));
-	} else {
-		btVector3 btPivotA;
-		G_TO_B(p_pos_a, btPivotA);
-		p2pConstraint = bulletnew(btPoint2PointConstraint(*p_body_a->get_bt_rigid_body(), btPivotA));
-	}
-
-	setup(p2pConstraint);
-}
-
-PinJointBullet::~PinJointBullet() {}
-
-void PinJointBullet::set_param(PhysicsServer3D::PinJointParam p_param, real_t p_value) {
-	switch (p_param) {
-		case PhysicsServer3D::PIN_JOINT_BIAS:
-			p2pConstraint->m_setting.m_tau = p_value;
-			break;
-		case PhysicsServer3D::PIN_JOINT_DAMPING:
-			p2pConstraint->m_setting.m_damping = p_value;
-			break;
-		case PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP:
-			p2pConstraint->m_setting.m_impulseClamp = p_value;
-			break;
-	}
-}
-
-real_t PinJointBullet::get_param(PhysicsServer3D::PinJointParam p_param) const {
-	switch (p_param) {
-		case PhysicsServer3D::PIN_JOINT_BIAS:
-			return p2pConstraint->m_setting.m_tau;
-		case PhysicsServer3D::PIN_JOINT_DAMPING:
-			return p2pConstraint->m_setting.m_damping;
-		case PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP:
-			return p2pConstraint->m_setting.m_impulseClamp;
-	}
-	// Compiler doesn't seem to notice that all code paths are fulfilled...
-	return 0;
-}
-
-void PinJointBullet::setPivotInA(const Vector3 &p_pos) {
-	btVector3 btVec;
-	G_TO_B(p_pos, btVec);
-	p2pConstraint->setPivotA(btVec);
-}
-
-void PinJointBullet::setPivotInB(const Vector3 &p_pos) {
-	btVector3 btVec;
-	G_TO_B(p_pos, btVec);
-	p2pConstraint->setPivotB(btVec);
-}
-
-Vector3 PinJointBullet::getPivotInA() {
-	btVector3 vec = p2pConstraint->getPivotInA();
-	Vector3 gVec;
-	B_TO_G(vec, gVec);
-	return gVec;
-}
-
-Vector3 PinJointBullet::getPivotInB() {
-	btVector3 vec = p2pConstraint->getPivotInB();
-	Vector3 gVec;
-	B_TO_G(vec, gVec);
-	return gVec;
-}
diff --git a/modules/bullet/pin_joint_bullet.h b/modules/bullet/pin_joint_bullet.h
deleted file mode 100644
index 0a688d55f9..0000000000
--- a/modules/bullet/pin_joint_bullet.h
+++ /dev/null
@@ -1,57 +0,0 @@
-/*************************************************************************/
-/*  pin_joint_bullet.h                                                   */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef PIN_JOINT_BULLET_H
-#define PIN_JOINT_BULLET_H
-
-#include "joint_bullet.h"
-
-class RigidBodyBullet;
-
-class PinJointBullet : public JointBullet {
-	class btPoint2PointConstraint *p2pConstraint;
-
-public:
-	PinJointBullet(RigidBodyBullet *p_body_a, const Vector3 &p_pos_a, RigidBodyBullet *p_body_b, const Vector3 &p_pos_b);
-	~PinJointBullet();
-
-	virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_PIN; }
-
-	void set_param(PhysicsServer3D::PinJointParam p_param, real_t p_value);
-	real_t get_param(PhysicsServer3D::PinJointParam p_param) const;
-
-	void setPivotInA(const Vector3 &p_pos);
-	void setPivotInB(const Vector3 &p_pos);
-
-	Vector3 getPivotInA();
-	Vector3 getPivotInB();
-};
-
-#endif // PIN_JOINT_BULLET_H
diff --git a/modules/bullet/register_types.cpp b/modules/bullet/register_types.cpp
deleted file mode 100644
index d5d0ee2cf4..0000000000
--- a/modules/bullet/register_types.cpp
+++ /dev/null
@@ -1,54 +0,0 @@
-/*************************************************************************/
-/*  register_types.cpp                                                   */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "register_types.h"
-
-#include "bullet_physics_server.h"
-#include "core/config/project_settings.h"
-#include "core/object/class_db.h"
-
-#ifndef _3D_DISABLED
-PhysicsServer3D *_createBulletPhysicsCallback() {
-	return memnew(BulletPhysicsServer3D);
-}
-#endif
-
-void register_bullet_types() {
-#ifndef _3D_DISABLED
-	PhysicsServer3DManager::register_server("Bullet", &_createBulletPhysicsCallback);
-	PhysicsServer3DManager::set_default_server("Bullet", 1);
-
-	GLOBAL_DEF("physics/3d/active_soft_world", true);
-	ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/active_soft_world", PropertyInfo(Variant::BOOL, "physics/3d/active_soft_world"));
-#endif
-}
-
-void unregister_bullet_types() {
-}
diff --git a/modules/bullet/register_types.h b/modules/bullet/register_types.h
deleted file mode 100644
index 93847d6dc3..0000000000
--- a/modules/bullet/register_types.h
+++ /dev/null
@@ -1,37 +0,0 @@
-/*************************************************************************/
-/*  register_types.h                                                     */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef REGISTER_BULLET_TYPES_H
-#define REGISTER_BULLET_TYPES_H
-
-void register_bullet_types();
-void unregister_bullet_types();
-
-#endif // REGISTER_BULLET_TYPES_H
diff --git a/modules/bullet/rid_bullet.h b/modules/bullet/rid_bullet.h
deleted file mode 100644
index 260d303cac..0000000000
--- a/modules/bullet/rid_bullet.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/*************************************************************************/
-/*  rid_bullet.h                                                         */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef RID_BULLET_H
-#define RID_BULLET_H
-
-#include "core/templates/rid.h"
-
-class BulletPhysicsServer3D;
-
-class RIDBullet {
-	RID self;
-	BulletPhysicsServer3D *physicsServer = nullptr;
-
-public:
-	_FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; }
-	_FORCE_INLINE_ RID get_self() const { return self; }
-
-	_FORCE_INLINE_ void _set_physics_server(BulletPhysicsServer3D *p_physicsServer) { physicsServer = p_physicsServer; }
-	_FORCE_INLINE_ BulletPhysicsServer3D *get_physics_server() const { return physicsServer; }
-};
-
-#endif // RID_BULLET_H
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
deleted file mode 100644
index 0603963332..0000000000
--- a/modules/bullet/rigid_body_bullet.cpp
+++ /dev/null
@@ -1,1050 +0,0 @@
-/*************************************************************************/
-/*  rigid_body_bullet.cpp                                                */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "rigid_body_bullet.h"
-
-#include "btRayShape.h"
-#include "bullet_physics_server.h"
-#include "bullet_types_converter.h"
-#include "bullet_utilities.h"
-#include "godot_motion_state.h"
-#include "joint_bullet.h"
-
-#include <BulletCollision/CollisionDispatch/btGhostObject.h>
-#include <BulletCollision/CollisionShapes/btConvexPointCloudShape.h>
-#include <BulletDynamics/Dynamics/btRigidBody.h>
-#include <btBulletCollisionCommon.h>
-
-BulletPhysicsDirectBodyState3D *BulletPhysicsDirectBodyState3D::singleton = nullptr;
-
-Vector3 BulletPhysicsDirectBodyState3D::get_total_gravity() const {
-	Vector3 gVec;
-	B_TO_G(body->btBody->getGravity(), gVec);
-	return gVec;
-}
-
-real_t BulletPhysicsDirectBodyState3D::get_total_angular_damp() const {
-	return body->btBody->getAngularDamping();
-}
-
-real_t BulletPhysicsDirectBodyState3D::get_total_linear_damp() const {
-	return body->btBody->getLinearDamping();
-}
-
-Vector3 BulletPhysicsDirectBodyState3D::get_center_of_mass() const {
-	Vector3 gVec;
-	B_TO_G(body->btBody->getCenterOfMassPosition(), gVec);
-	return gVec;
-}
-
-Basis BulletPhysicsDirectBodyState3D::get_principal_inertia_axes() const {
-	return Basis();
-}
-
-real_t BulletPhysicsDirectBodyState3D::get_inverse_mass() const {
-	return body->btBody->getInvMass();
-}
-
-Vector3 BulletPhysicsDirectBodyState3D::get_inverse_inertia() const {
-	Vector3 gVec;
-	B_TO_G(body->btBody->getInvInertiaDiagLocal(), gVec);
-	return gVec;
-}
-
-Basis BulletPhysicsDirectBodyState3D::get_inverse_inertia_tensor() const {
-	Basis gInertia;
-	B_TO_G(body->btBody->getInvInertiaTensorWorld(), gInertia);
-	return gInertia;
-}
-
-void BulletPhysicsDirectBodyState3D::set_linear_velocity(const Vector3 &p_velocity) {
-	body->set_linear_velocity(p_velocity);
-}
-
-Vector3 BulletPhysicsDirectBodyState3D::get_linear_velocity() const {
-	return body->get_linear_velocity();
-}
-
-void BulletPhysicsDirectBodyState3D::set_angular_velocity(const Vector3 &p_velocity) {
-	body->set_angular_velocity(p_velocity);
-}
-
-Vector3 BulletPhysicsDirectBodyState3D::get_angular_velocity() const {
-	return body->get_angular_velocity();
-}
-
-void BulletPhysicsDirectBodyState3D::set_transform(const Transform3D &p_transform) {
-	body->set_transform(p_transform);
-}
-
-Transform3D BulletPhysicsDirectBodyState3D::get_transform() const {
-	return body->get_transform();
-}
-
-Vector3 BulletPhysicsDirectBodyState3D::get_velocity_at_local_position(const Vector3 &p_position) const {
-	btVector3 local_position;
-	G_TO_B(p_position, local_position);
-
-	Vector3 velocity;
-	B_TO_G(body->btBody->getVelocityInLocalPoint(local_position), velocity);
-
-	return velocity;
-}
-
-void BulletPhysicsDirectBodyState3D::add_central_force(const Vector3 &p_force) {
-	body->apply_central_force(p_force);
-}
-
-void BulletPhysicsDirectBodyState3D::add_force(const Vector3 &p_force, const Vector3 &p_position) {
-	body->apply_force(p_force, p_position);
-}
-
-void BulletPhysicsDirectBodyState3D::add_torque(const Vector3 &p_torque) {
-	body->apply_torque(p_torque);
-}
-
-void BulletPhysicsDirectBodyState3D::apply_central_impulse(const Vector3 &p_impulse) {
-	body->apply_central_impulse(p_impulse);
-}
-
-void BulletPhysicsDirectBodyState3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
-	body->apply_impulse(p_impulse, p_position);
-}
-
-void BulletPhysicsDirectBodyState3D::apply_torque_impulse(const Vector3 &p_impulse) {
-	body->apply_torque_impulse(p_impulse);
-}
-
-void BulletPhysicsDirectBodyState3D::set_sleep_state(bool p_sleep) {
-	body->set_activation_state(!p_sleep);
-}
-
-bool BulletPhysicsDirectBodyState3D::is_sleeping() const {
-	return !body->is_active();
-}
-
-int BulletPhysicsDirectBodyState3D::get_contact_count() const {
-	return body->collisionsCount;
-}
-
-Vector3 BulletPhysicsDirectBodyState3D::get_contact_local_position(int p_contact_idx) const {
-	return body->collisions[p_contact_idx].hitLocalLocation;
-}
-
-Vector3 BulletPhysicsDirectBodyState3D::get_contact_local_normal(int p_contact_idx) const {
-	return body->collisions[p_contact_idx].hitNormal;
-}
-
-real_t BulletPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) const {
-	return body->collisions[p_contact_idx].appliedImpulse;
-}
-
-int BulletPhysicsDirectBodyState3D::get_contact_local_shape(int p_contact_idx) const {
-	return body->collisions[p_contact_idx].local_shape;
-}
-
-RID BulletPhysicsDirectBodyState3D::get_contact_collider(int p_contact_idx) const {
-	return body->collisions[p_contact_idx].otherObject->get_self();
-}
-
-Vector3 BulletPhysicsDirectBodyState3D::get_contact_collider_position(int p_contact_idx) const {
-	return body->collisions[p_contact_idx].hitWorldLocation;
-}
-
-ObjectID BulletPhysicsDirectBodyState3D::get_contact_collider_id(int p_contact_idx) const {
-	return body->collisions[p_contact_idx].otherObject->get_instance_id();
-}
-
-int BulletPhysicsDirectBodyState3D::get_contact_collider_shape(int p_contact_idx) const {
-	return body->collisions[p_contact_idx].other_object_shape;
-}
-
-Vector3 BulletPhysicsDirectBodyState3D::get_contact_collider_velocity_at_position(int p_contact_idx) const {
-	RigidBodyBullet::CollisionData &colDat = body->collisions.write[p_contact_idx];
-
-	btVector3 hitLocation;
-	G_TO_B(colDat.hitLocalLocation, hitLocation);
-
-	Vector3 velocityAtPoint;
-	B_TO_G(colDat.otherObject->get_bt_rigid_body()->getVelocityInLocalPoint(hitLocation), velocityAtPoint);
-
-	return velocityAtPoint;
-}
-
-PhysicsDirectSpaceState3D *BulletPhysicsDirectBodyState3D::get_space_state() {
-	return body->get_space()->get_direct_state();
-}
-
-RigidBodyBullet::KinematicUtilities::KinematicUtilities(RigidBodyBullet *p_owner) :
-		owner(p_owner),
-		safe_margin(0.001) {
-}
-
-RigidBodyBullet::KinematicUtilities::~KinematicUtilities() {
-	just_delete_shapes(shapes.size()); // don't need to resize
-}
-
-void RigidBodyBullet::KinematicUtilities::setSafeMargin(btScalar p_margin) {
-	safe_margin = p_margin;
-	copyAllOwnerShapes();
-}
-
-void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
-	const Vector<CollisionObjectBullet::ShapeWrapper> &shapes_wrappers(owner->get_shapes_wrappers());
-	const int shapes_count = shapes_wrappers.size();
-
-	just_delete_shapes(shapes_count);
-
-	const CollisionObjectBullet::ShapeWrapper *shape_wrapper;
-
-	btVector3 owner_scale(owner->get_bt_body_scale());
-
-	for (int i = shapes_count - 1; 0 <= i; --i) {
-		shape_wrapper = &shapes_wrappers[i];
-		if (!shape_wrapper->active) {
-			continue;
-		}
-
-		shapes.write[i].transform = shape_wrapper->transform;
-		shapes.write[i].transform.getOrigin() *= owner_scale;
-		switch (shape_wrapper->shape->get_type()) {
-			case PhysicsServer3D::SHAPE_SPHERE:
-			case PhysicsServer3D::SHAPE_BOX:
-			case PhysicsServer3D::SHAPE_CAPSULE:
-			case PhysicsServer3D::SHAPE_CYLINDER:
-			case PhysicsServer3D::SHAPE_CONVEX_POLYGON:
-			case PhysicsServer3D::SHAPE_RAY: {
-				shapes.write[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
-			} break;
-			default:
-				WARN_PRINT("This shape is not supported for kinematic collision.");
-				shapes.write[i].shape = nullptr;
-		}
-	}
-}
-
-void RigidBodyBullet::KinematicUtilities::just_delete_shapes(int new_size) {
-	for (int i = shapes.size() - 1; 0 <= i; --i) {
-		if (shapes[i].shape) {
-			bulletdelete(shapes.write[i].shape);
-		}
-	}
-	shapes.resize(new_size);
-}
-
-RigidBodyBullet::RigidBodyBullet() :
-		RigidCollisionObjectBullet(CollisionObjectBullet::TYPE_RIGID_BODY) {
-	godotMotionState = bulletnew(GodotMotionState(this));
-
-	// Initial properties
-	const btVector3 localInertia(0, 0, 0);
-	btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, nullptr, localInertia);
-
-	btBody = bulletnew(btRigidBody(cInfo));
-	btBody->setFriction(1.0);
-	reload_shapes();
-	setupBulletCollisionObject(btBody);
-
-	set_mode(PhysicsServer3D::BODY_MODE_DYNAMIC);
-	reload_axis_lock();
-
-	areasWhereIam.resize(maxAreasWhereIam);
-	for (int i = areasWhereIam.size() - 1; 0 <= i; --i) {
-		areasWhereIam.write[i] = nullptr;
-	}
-	btBody->setSleepingThresholds(0.2, 0.2);
-
-	prev_collision_traces = &collision_traces_1;
-	curr_collision_traces = &collision_traces_2;
-}
-
-RigidBodyBullet::~RigidBodyBullet() {
-	bulletdelete(godotMotionState);
-
-	if (force_integration_callback) {
-		memdelete(force_integration_callback);
-	}
-
-	destroy_kinematic_utilities();
-}
-
-void RigidBodyBullet::init_kinematic_utilities() {
-	kinematic_utilities = memnew(KinematicUtilities(this));
-	reload_kinematic_shapes();
-}
-
-void RigidBodyBullet::destroy_kinematic_utilities() {
-	if (kinematic_utilities) {
-		memdelete(kinematic_utilities);
-		kinematic_utilities = nullptr;
-	}
-}
-
-void RigidBodyBullet::main_shape_changed() {
-	CRASH_COND(!get_main_shape());
-	btBody->setCollisionShape(get_main_shape());
-	set_continuous_collision_detection(is_continuous_collision_detection_enabled()); // Reset
-}
-
-void RigidBodyBullet::reload_body() {
-	if (space) {
-		space->remove_rigid_body(this);
-		if (get_main_shape()) {
-			space->add_rigid_body(this);
-		}
-	}
-}
-
-void RigidBodyBullet::set_space(SpaceBullet *p_space) {
-	// Clear the old space if there is one
-	if (space) {
-		can_integrate_forces = false;
-		isScratchedSpaceOverrideModificator = false;
-		// Remove any constraints
-		space->remove_rigid_body_constraints(this);
-		// Remove this object form the physics world
-		space->remove_rigid_body(this);
-	}
-
-	space = p_space;
-
-	if (space) {
-		space->add_rigid_body(this);
-	}
-}
-
-void RigidBodyBullet::dispatch_callbacks() {
-	/// The check isFirstTransformChanged is necessary in order to call integrated forces only when the first transform is sent
-	if ((btBody->isKinematicObject() || btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && can_integrate_forces) {
-		if (omit_forces_integration) {
-			btBody->clearForces();
-		}
-
-		BulletPhysicsDirectBodyState3D *bodyDirect = BulletPhysicsDirectBodyState3D::get_singleton(this);
-
-		Variant variantBodyDirect = bodyDirect;
-
-		Object *obj = force_integration_callback->callable.get_object();
-		if (!obj) {
-			// Remove integration callback
-			set_force_integration_callback(Callable());
-		} else {
-			const Variant *vp[2] = { &variantBodyDirect, &force_integration_callback->udata };
-
-			Callable::CallError responseCallError;
-			int argc = (force_integration_callback->udata.get_type() == Variant::NIL) ? 1 : 2;
-			Variant rv;
-			force_integration_callback->callable.call(vp, argc, rv, responseCallError);
-		}
-	}
-
-	if (isScratchedSpaceOverrideModificator || 0 < countGravityPointSpaces) {
-		isScratchedSpaceOverrideModificator = false;
-		reload_space_override_modificator();
-	}
-
-	/// Lock axis
-	btBody->setLinearVelocity(btBody->getLinearVelocity() * btBody->getLinearFactor());
-	btBody->setAngularVelocity(btBody->getAngularVelocity() * btBody->getAngularFactor());
-
-	previousActiveState = btBody->isActive();
-}
-
-void RigidBodyBullet::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) {
-	if (force_integration_callback) {
-		memdelete(force_integration_callback);
-		force_integration_callback = nullptr;
-	}
-
-	if (p_callable.get_object()) {
-		force_integration_callback = memnew(ForceIntegrationCallback);
-		force_integration_callback->callable = p_callable;
-		force_integration_callback->udata = p_udata;
-	}
-}
-
-void RigidBodyBullet::scratch_space_override_modificator() {
-	isScratchedSpaceOverrideModificator = true;
-}
-
-void RigidBodyBullet::on_collision_filters_change() {
-	if (space) {
-		space->reload_collision_filters(this);
-	}
-
-	set_activation_state(true);
-}
-
-void RigidBodyBullet::on_collision_checker_start() {
-	prev_collision_count = collisionsCount;
-	collisionsCount = 0;
-
-	// Swap array
-	Vector<RigidBodyBullet *> *s = prev_collision_traces;
-	prev_collision_traces = curr_collision_traces;
-	curr_collision_traces = s;
-}
-
-void RigidBodyBullet::on_collision_checker_end() {
-	// Always true if active and not a static or kinematic body
-	updated = btBody->isActive() && !btBody->isStaticOrKinematicObject();
-}
-
-bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const real_t &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index) {
-	if (collisionsCount >= maxCollisionsDetection) {
-		return false;
-	}
-
-	CollisionData &cd = collisions.write[collisionsCount];
-	cd.hitLocalLocation = p_hitLocalLocation;
-	cd.otherObject = p_otherObject;
-	cd.hitWorldLocation = p_hitWorldLocation;
-	cd.hitNormal = p_hitNormal;
-	cd.appliedImpulse = p_appliedImpulse;
-	cd.other_object_shape = p_other_shape_index;
-	cd.local_shape = p_local_shape_index;
-
-	curr_collision_traces->write[collisionsCount] = p_otherObject;
-
-	++collisionsCount;
-	return true;
-}
-
-bool RigidBodyBullet::was_colliding(RigidBodyBullet *p_other_object) {
-	for (int i = prev_collision_count - 1; 0 <= i; --i) {
-		if ((*prev_collision_traces)[i] == p_other_object) {
-			return true;
-		}
-	}
-	return false;
-}
-
-void RigidBodyBullet::set_activation_state(bool p_active) {
-	if (p_active) {
-		btBody->activate();
-	} else {
-		btBody->setActivationState(WANTS_DEACTIVATION);
-	}
-}
-
-bool RigidBodyBullet::is_active() const {
-	return btBody->isActive();
-}
-
-void RigidBodyBullet::set_omit_forces_integration(bool p_omit) {
-	omit_forces_integration = p_omit;
-}
-
-void RigidBodyBullet::set_param(PhysicsServer3D::BodyParameter p_param, real_t p_value) {
-	switch (p_param) {
-		case PhysicsServer3D::BODY_PARAM_BOUNCE:
-			btBody->setRestitution(p_value);
-			break;
-		case PhysicsServer3D::BODY_PARAM_FRICTION:
-			btBody->setFriction(p_value);
-			break;
-		case PhysicsServer3D::BODY_PARAM_MASS: {
-			ERR_FAIL_COND(p_value < 0);
-			mass = p_value;
-			_internal_set_mass(p_value);
-			break;
-		}
-		case PhysicsServer3D::BODY_PARAM_LINEAR_DAMP:
-			linearDamp = p_value;
-			// Mark for updating total linear damping.
-			scratch_space_override_modificator();
-			break;
-		case PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP:
-			angularDamp = p_value;
-			// Mark for updating total angular damping.
-			scratch_space_override_modificator();
-			break;
-		case PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE:
-			gravity_scale = p_value;
-			// The Bullet gravity will be is set by reload_space_override_modificator.
-			// Mark for updating total gravity scale.
-			scratch_space_override_modificator();
-			break;
-		default:
-			WARN_PRINT("Parameter " + itos(p_param) + " not supported by bullet. Value: " + itos(p_value));
-	}
-}
-
-real_t RigidBodyBullet::get_param(PhysicsServer3D::BodyParameter p_param) const {
-	switch (p_param) {
-		case PhysicsServer3D::BODY_PARAM_BOUNCE:
-			return btBody->getRestitution();
-		case PhysicsServer3D::BODY_PARAM_FRICTION:
-			return btBody->getFriction();
-		case PhysicsServer3D::BODY_PARAM_MASS: {
-			const btScalar invMass = btBody->getInvMass();
-			return 0 == invMass ? 0 : 1 / invMass;
-		}
-		case PhysicsServer3D::BODY_PARAM_LINEAR_DAMP:
-			return linearDamp;
-		case PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP:
-			return angularDamp;
-		case PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE:
-			return gravity_scale;
-		default:
-			WARN_PRINT("Parameter " + itos(p_param) + " not supported by bullet");
-			return 0;
-	}
-}
-
-void RigidBodyBullet::set_mode(PhysicsServer3D::BodyMode p_mode) {
-	// This is necessary to block force_integration until next move
-	can_integrate_forces = false;
-	destroy_kinematic_utilities();
-	// The mode change is relevant to its mass
-	mode = p_mode;
-	switch (p_mode) {
-		case PhysicsServer3D::BODY_MODE_KINEMATIC:
-			reload_axis_lock();
-			_internal_set_mass(0);
-			init_kinematic_utilities();
-			break;
-		case PhysicsServer3D::BODY_MODE_STATIC:
-			reload_axis_lock();
-			_internal_set_mass(0);
-			break;
-		case PhysicsServer3D::BODY_MODE_DYNAMIC:
-			reload_axis_lock();
-			_internal_set_mass(0 == mass ? 1 : mass);
-			scratch_space_override_modificator();
-			break;
-		case PhysicsServer3D::MODE_DYNAMIC_LINEAR:
-			reload_axis_lock();
-			_internal_set_mass(0 == mass ? 1 : mass);
-			scratch_space_override_modificator();
-			break;
-	}
-
-	btBody->setAngularVelocity(btVector3(0, 0, 0));
-	btBody->setLinearVelocity(btVector3(0, 0, 0));
-}
-
-PhysicsServer3D::BodyMode RigidBodyBullet::get_mode() const {
-	return mode;
-}
-
-void RigidBodyBullet::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant) {
-	switch (p_state) {
-		case PhysicsServer3D::BODY_STATE_TRANSFORM:
-			set_transform(p_variant);
-			break;
-		case PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY:
-			set_linear_velocity(p_variant);
-			break;
-		case PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY:
-			set_angular_velocity(p_variant);
-			break;
-		case PhysicsServer3D::BODY_STATE_SLEEPING:
-			set_activation_state(!bool(p_variant));
-			break;
-		case PhysicsServer3D::BODY_STATE_CAN_SLEEP:
-			can_sleep = bool(p_variant);
-			if (!can_sleep) {
-				// Can't sleep
-				btBody->forceActivationState(DISABLE_DEACTIVATION);
-			} else {
-				btBody->forceActivationState(ACTIVE_TAG);
-			}
-			break;
-	}
-}
-
-Variant RigidBodyBullet::get_state(PhysicsServer3D::BodyState p_state) const {
-	switch (p_state) {
-		case PhysicsServer3D::BODY_STATE_TRANSFORM:
-			return get_transform();
-		case PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY:
-			return get_linear_velocity();
-		case PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY:
-			return get_angular_velocity();
-		case PhysicsServer3D::BODY_STATE_SLEEPING:
-			return !is_active();
-		case PhysicsServer3D::BODY_STATE_CAN_SLEEP:
-			return can_sleep;
-		default:
-			WARN_PRINT("This state " + itos(p_state) + " is not supported by Bullet");
-			return Variant();
-	}
-}
-
-void RigidBodyBullet::apply_central_impulse(const Vector3 &p_impulse) {
-	btVector3 btImpulse;
-	G_TO_B(p_impulse, btImpulse);
-	if (Vector3() != p_impulse) {
-		btBody->activate();
-	}
-	btBody->applyCentralImpulse(btImpulse);
-}
-
-void RigidBodyBullet::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
-	btVector3 btImpulse;
-	btVector3 btPosition;
-	G_TO_B(p_impulse, btImpulse);
-	G_TO_B(p_position, btPosition);
-	if (Vector3() != p_impulse) {
-		btBody->activate();
-	}
-	btBody->applyImpulse(btImpulse, btPosition);
-}
-
-void RigidBodyBullet::apply_torque_impulse(const Vector3 &p_impulse) {
-	btVector3 btImp;
-	G_TO_B(p_impulse, btImp);
-	if (Vector3() != p_impulse) {
-		btBody->activate();
-	}
-	btBody->applyTorqueImpulse(btImp);
-}
-
-void RigidBodyBullet::apply_force(const Vector3 &p_force, const Vector3 &p_position) {
-	btVector3 btForce;
-	btVector3 btPosition;
-	G_TO_B(p_force, btForce);
-	G_TO_B(p_position, btPosition);
-	if (Vector3() != p_force) {
-		btBody->activate();
-	}
-	btBody->applyForce(btForce, btPosition);
-}
-
-void RigidBodyBullet::apply_central_force(const Vector3 &p_force) {
-	btVector3 btForce;
-	G_TO_B(p_force, btForce);
-	if (Vector3() != p_force) {
-		btBody->activate();
-	}
-	btBody->applyCentralForce(btForce);
-}
-
-void RigidBodyBullet::apply_torque(const Vector3 &p_torque) {
-	btVector3 btTorq;
-	G_TO_B(p_torque, btTorq);
-	if (Vector3() != p_torque) {
-		btBody->activate();
-	}
-	btBody->applyTorque(btTorq);
-}
-
-void RigidBodyBullet::set_applied_force(const Vector3 &p_force) {
-	btVector3 btVec = btBody->getTotalTorque();
-
-	if (Vector3() != p_force) {
-		btBody->activate();
-	}
-
-	btBody->clearForces();
-	btBody->applyTorque(btVec);
-
-	G_TO_B(p_force, btVec);
-	btBody->applyCentralForce(btVec);
-}
-
-Vector3 RigidBodyBullet::get_applied_force() const {
-	Vector3 gTotForc;
-	B_TO_G(btBody->getTotalForce(), gTotForc);
-	return gTotForc;
-}
-
-void RigidBodyBullet::set_applied_torque(const Vector3 &p_torque) {
-	btVector3 btVec = btBody->getTotalForce();
-
-	if (Vector3() != p_torque) {
-		btBody->activate();
-	}
-
-	btBody->clearForces();
-	btBody->applyCentralForce(btVec);
-
-	G_TO_B(p_torque, btVec);
-	btBody->applyTorque(btVec);
-}
-
-Vector3 RigidBodyBullet::get_applied_torque() const {
-	Vector3 gTotTorq;
-	B_TO_G(btBody->getTotalTorque(), gTotTorq);
-	return gTotTorq;
-}
-
-void RigidBodyBullet::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool lock) {
-	if (lock) {
-		locked_axis |= p_axis;
-	} else {
-		locked_axis &= ~p_axis;
-	}
-
-	reload_axis_lock();
-}
-
-bool RigidBodyBullet::is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const {
-	return locked_axis & p_axis;
-}
-
-void RigidBodyBullet::reload_axis_lock() {
-	btBody->setLinearFactor(btVector3(btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_X)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Y)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Z))));
-	if (PhysicsServer3D::MODE_DYNAMIC_LINEAR == mode) {
-		/// When character angular is always locked
-		btBody->setAngularFactor(btVector3(0., 0., 0.));
-	} else {
-		btBody->setAngularFactor(btVector3(btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_X)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Y)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Z))));
-	}
-}
-
-void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) {
-	if (p_enable) {
-		// This threshold enable CCD if the object moves more than
-		// 1 meter in one simulation frame
-		btBody->setCcdMotionThreshold(1e-7);
-
-		/// Calculate using the rule write below the CCD swept sphere radius
-		///     CCD works on an embedded sphere of radius, make sure this radius
-		///     is embedded inside the convex objects, preferably smaller:
-		///     for an object of dimensions 1 meter, try 0.2
-		btScalar radius(1.0);
-		if (btBody->getCollisionShape()) {
-			btVector3 center;
-			btBody->getCollisionShape()->getBoundingSphere(center, radius);
-		}
-		btBody->setCcdSweptSphereRadius(radius * 0.2);
-	} else {
-		btBody->setCcdMotionThreshold(0.);
-		btBody->setCcdSweptSphereRadius(0.);
-	}
-}
-
-bool RigidBodyBullet::is_continuous_collision_detection_enabled() const {
-	return 0. < btBody->getCcdMotionThreshold();
-}
-
-void RigidBodyBullet::set_linear_velocity(const Vector3 &p_velocity) {
-	btVector3 btVec;
-	G_TO_B(p_velocity, btVec);
-	if (Vector3() != p_velocity) {
-		btBody->activate();
-	}
-	btBody->setLinearVelocity(btVec);
-}
-
-Vector3 RigidBodyBullet::get_linear_velocity() const {
-	Vector3 gVec;
-	B_TO_G(btBody->getLinearVelocity(), gVec);
-	return gVec;
-}
-
-void RigidBodyBullet::set_angular_velocity(const Vector3 &p_velocity) {
-	btVector3 btVec;
-	G_TO_B(p_velocity, btVec);
-	if (Vector3() != p_velocity) {
-		btBody->activate();
-	}
-	btBody->setAngularVelocity(btVec);
-}
-
-Vector3 RigidBodyBullet::get_angular_velocity() const {
-	Vector3 gVec;
-	B_TO_G(btBody->getAngularVelocity(), gVec);
-	return gVec;
-}
-
-void RigidBodyBullet::set_transform__bullet(const btTransform &p_global_transform) {
-	if (mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
-		if (space && space->get_delta_time() != 0) {
-			btBody->setLinearVelocity((p_global_transform.getOrigin() - btBody->getWorldTransform().getOrigin()) / space->get_delta_time());
-		}
-		// The kinematic use MotionState class
-		godotMotionState->moveBody(p_global_transform);
-	} else {
-		// Is necessary to avoid wrong location on the rendering side on the next frame
-		godotMotionState->setWorldTransform(p_global_transform);
-	}
-	CollisionObjectBullet::set_transform__bullet(p_global_transform);
-}
-
-const btTransform &RigidBodyBullet::get_transform__bullet() const {
-	if (is_static()) {
-		return RigidCollisionObjectBullet::get_transform__bullet();
-	} else {
-		return godotMotionState->getCurrentWorldTransform();
-	}
-}
-
-void RigidBodyBullet::reload_shapes() {
-	RigidCollisionObjectBullet::reload_shapes();
-
-	const btScalar invMass = btBody->getInvMass();
-	const btScalar mass = invMass == 0 ? 0 : 1 / invMass;
-
-	if (mainShape) {
-		// inertia initialised zero here because some of bullet's collision
-		// shapes incorrectly do not set the vector in calculateLocalIntertia.
-		// Arbitrary zero is preferable to undefined behaviour.
-		btVector3 inertia(0, 0, 0);
-		if (EMPTY_SHAPE_PROXYTYPE != mainShape->getShapeType()) { // Necessary to avoid assertion of the empty shape
-			mainShape->calculateLocalInertia(mass, inertia);
-		}
-		btBody->setMassProps(mass, inertia);
-	}
-	btBody->updateInertiaTensor();
-
-	reload_kinematic_shapes();
-	set_continuous_collision_detection(is_continuous_collision_detection_enabled());
-	reload_body();
-}
-
-void RigidBodyBullet::on_enter_area(AreaBullet *p_area) {
-	/// Add this area to the array in an ordered way
-	++areaWhereIamCount;
-	if (areaWhereIamCount >= maxAreasWhereIam) {
-		--areaWhereIamCount;
-		return;
-	}
-	for (int i = 0; i < areaWhereIamCount; ++i) {
-		if (nullptr == areasWhereIam[i]) {
-			// This area has the highest priority
-			areasWhereIam.write[i] = p_area;
-			break;
-		} else {
-			if (areasWhereIam[i]->get_spOv_priority() > p_area->get_spOv_priority()) {
-				// The position was found, just shift all elements
-				for (int j = areaWhereIamCount; j > i; j--) {
-					areasWhereIam.write[j] = areasWhereIam[j - 1];
-				}
-				areasWhereIam.write[i] = p_area;
-				break;
-			}
-		}
-	}
-	if (PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED != p_area->get_spOv_mode()) {
-		scratch_space_override_modificator();
-	}
-
-	if (p_area->is_spOv_gravityPoint()) {
-		++countGravityPointSpaces;
-		ERR_FAIL_COND(countGravityPointSpaces <= 0);
-	}
-}
-
-void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
-	RigidCollisionObjectBullet::on_exit_area(p_area);
-	/// Remove this area and keep the order
-	/// N.B. Since I don't want resize the array I can't use the "erase" function
-	bool wasTheAreaFound = false;
-	for (int i = 0; i < areaWhereIamCount; ++i) {
-		if (p_area == areasWhereIam[i]) {
-			// The area was found, just shift down all elements
-			for (int j = i; j < areaWhereIamCount; ++j) {
-				areasWhereIam.write[j] = areasWhereIam[j + 1];
-			}
-			wasTheAreaFound = true;
-			break;
-		}
-	}
-	if (wasTheAreaFound) {
-		if (p_area->is_spOv_gravityPoint()) {
-			--countGravityPointSpaces;
-			ERR_FAIL_COND(countGravityPointSpaces < 0);
-		}
-
-		--areaWhereIamCount;
-		areasWhereIam.write[areaWhereIamCount] = nullptr; // Even if this is not required, I clear the last element to be safe
-		if (PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED != p_area->get_spOv_mode()) {
-			scratch_space_override_modificator();
-		}
-	}
-}
-
-void RigidBodyBullet::reload_space_override_modificator() {
-	if (mode == PhysicsServer3D::BODY_MODE_STATIC) {
-		return;
-	}
-
-	Vector3 newGravity(0.0, 0.0, 0.0);
-	real_t newLinearDamp = MAX(0.0, linearDamp);
-	real_t newAngularDamp = MAX(0.0, angularDamp);
-
-	AreaBullet *currentArea;
-	// Variable used to calculate new gravity for gravity point areas, it is pointed by currentGravity pointer
-	Vector3 support_gravity(0, 0, 0);
-
-	bool stopped = false;
-	for (int i = areaWhereIamCount - 1; (0 <= i) && !stopped; --i) {
-		currentArea = areasWhereIam[i];
-
-		if (!currentArea || PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED == currentArea->get_spOv_mode()) {
-			continue;
-		}
-
-		/// Here is calculated the gravity
-		if (currentArea->is_spOv_gravityPoint()) {
-			/// It calculates the direction of new gravity
-			support_gravity = currentArea->get_transform().xform(currentArea->get_spOv_gravityVec()) - get_transform().get_origin();
-			real_t distanceMag = support_gravity.length();
-			// Normalized in this way to avoid the double call of function "length()"
-			if (distanceMag == 0) {
-				support_gravity.x = 0;
-				support_gravity.y = 0;
-				support_gravity.z = 0;
-			} else {
-				support_gravity.x /= distanceMag;
-				support_gravity.y /= distanceMag;
-				support_gravity.z /= distanceMag;
-			}
-
-			/// Here is calculated the final gravity
-			if (currentArea->get_spOv_gravityPointDistanceScale() > 0) {
-				// Scaled gravity by distance
-				support_gravity *= currentArea->get_spOv_gravityMag() / Math::pow(distanceMag * currentArea->get_spOv_gravityPointDistanceScale() + 1, 2);
-			} else {
-				// Unscaled gravity
-				support_gravity *= currentArea->get_spOv_gravityMag();
-			}
-		} else {
-			support_gravity = currentArea->get_spOv_gravityVec() * currentArea->get_spOv_gravityMag();
-		}
-
-		switch (currentArea->get_spOv_mode()) {
-			case PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED:
-				/// This area does not affect gravity/damp. These are generally areas
-				/// that exist only to detect collisions, and objects entering or exiting them.
-				break;
-			case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE:
-				/// This area adds its gravity/damp values to whatever has been
-				/// calculated so far. This way, many overlapping areas can combine
-				/// their physics to make interesting
-				newGravity += support_gravity;
-				newLinearDamp += currentArea->get_spOv_linearDamp();
-				newAngularDamp += currentArea->get_spOv_angularDamp();
-				break;
-			case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE:
-				/// This area adds its gravity/damp values to whatever has been calculated
-				/// so far. Then stops taking into account the rest of the areas, even the
-				/// default one.
-				newGravity += support_gravity;
-				newLinearDamp += currentArea->get_spOv_linearDamp();
-				newAngularDamp += currentArea->get_spOv_angularDamp();
-				stopped = true;
-				break;
-			case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE:
-				/// This area replaces any gravity/damp, even the default one, and
-				/// stops taking into account the rest of the areas.
-				newGravity = support_gravity;
-				newLinearDamp = currentArea->get_spOv_linearDamp();
-				newAngularDamp = currentArea->get_spOv_angularDamp();
-				stopped = true;
-				break;
-			case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE:
-				/// This area replaces any gravity/damp calculated so far, but keeps
-				/// calculating the rest of the areas, down to the default one.
-				newGravity = support_gravity;
-				newLinearDamp = currentArea->get_spOv_linearDamp();
-				newAngularDamp = currentArea->get_spOv_angularDamp();
-				break;
-		}
-	}
-
-	// Add default gravity and damping from space.
-	if (!stopped) {
-		newGravity += space->get_gravity_direction() * space->get_gravity_magnitude();
-		newLinearDamp += space->get_linear_damp();
-		newAngularDamp += space->get_angular_damp();
-	}
-
-	btVector3 newBtGravity;
-	G_TO_B(newGravity * gravity_scale, newBtGravity);
-
-	btBody->setGravity(newBtGravity);
-	btBody->setDamping(newLinearDamp, newAngularDamp);
-}
-
-void RigidBodyBullet::reload_kinematic_shapes() {
-	if (!kinematic_utilities) {
-		return;
-	}
-	kinematic_utilities->copyAllOwnerShapes();
-}
-
-void RigidBodyBullet::notify_transform_changed() {
-	RigidCollisionObjectBullet::notify_transform_changed();
-	can_integrate_forces = true;
-}
-
-void RigidBodyBullet::_internal_set_mass(real_t p_mass) {
-	btVector3 localInertia(0, 0, 0);
-
-	int clearedCurrentFlags = btBody->getCollisionFlags();
-	clearedCurrentFlags &= ~(btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT | btCollisionObject::CF_CHARACTER_OBJECT);
-
-	// Rigidbody is dynamic if and only if mass is non Zero, otherwise static
-	const bool isDynamic = p_mass != 0.f;
-	if (isDynamic) {
-		if (PhysicsServer3D::BODY_MODE_DYNAMIC != mode && PhysicsServer3D::MODE_DYNAMIC_LINEAR != mode) {
-			return;
-		}
-
-		m_isStatic = false;
-		if (mainShape) {
-			mainShape->calculateLocalInertia(p_mass, localInertia);
-		}
-
-		if (PhysicsServer3D::BODY_MODE_DYNAMIC == mode) {
-			btBody->setCollisionFlags(clearedCurrentFlags); // Just set the flags without Kin and Static
-		} else {
-			btBody->setCollisionFlags(clearedCurrentFlags | btCollisionObject::CF_CHARACTER_OBJECT);
-		}
-
-		if (can_sleep) {
-			btBody->forceActivationState(ACTIVE_TAG); // ACTIVE_TAG 1
-		} else {
-			btBody->forceActivationState(DISABLE_DEACTIVATION); // DISABLE_DEACTIVATION 4
-		}
-	} else {
-		if (PhysicsServer3D::BODY_MODE_STATIC != mode && PhysicsServer3D::BODY_MODE_KINEMATIC != mode) {
-			return;
-		}
-
-		m_isStatic = true;
-		if (PhysicsServer3D::BODY_MODE_STATIC == mode) {
-			btBody->setCollisionFlags(clearedCurrentFlags | btCollisionObject::CF_STATIC_OBJECT);
-		} else {
-			btBody->setCollisionFlags(clearedCurrentFlags | btCollisionObject::CF_KINEMATIC_OBJECT);
-			set_transform__bullet(btBody->getWorldTransform()); // Set current Transform using kinematic method
-		}
-		btBody->forceActivationState(DISABLE_SIMULATION); // DISABLE_SIMULATION 5
-	}
-
-	btBody->setMassProps(p_mass, localInertia);
-	btBody->updateInertiaTensor();
-
-	reload_body();
-}
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
deleted file mode 100644
index cd433c968f..0000000000
--- a/modules/bullet/rigid_body_bullet.h
+++ /dev/null
@@ -1,328 +0,0 @@
-/*************************************************************************/
-/*  rigid_body_bullet.h                                                  */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef RIGID_BODY_BULLET_H
-#define RIGID_BODY_BULLET_H
-
-#include "collision_object_bullet.h"
-#include "space_bullet.h"
-
-#include <BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h>
-#include <LinearMath/btTransform.h>
-
-class AreaBullet;
-class SpaceBullet;
-class btRigidBody;
-class GodotMotionState;
-class BulletPhysicsDirectBodyState3D;
-
-/// This class could be used in multi thread with few changes but currently
-/// is set to be only in one single thread.
-///
-/// In the system there is only one object at a time that manage all bodies and is
-/// created by BulletPhysicsServer3D and is held by the "singleton" variable of this class
-/// Each time something require it, the body must be set again.
-class BulletPhysicsDirectBodyState3D : public PhysicsDirectBodyState3D {
-	GDCLASS(BulletPhysicsDirectBodyState3D, PhysicsDirectBodyState3D);
-
-	static BulletPhysicsDirectBodyState3D *singleton;
-
-public:
-	/// This class avoid the creation of more object of this class
-	static void initSingleton() {
-		if (!singleton) {
-			singleton = memnew(BulletPhysicsDirectBodyState3D);
-		}
-	}
-
-	static void destroySingleton() {
-		memdelete(singleton);
-		singleton = nullptr;
-	}
-
-	static void singleton_setDeltaTime(real_t p_deltaTime) {
-		singleton->deltaTime = p_deltaTime;
-	}
-
-	static BulletPhysicsDirectBodyState3D *get_singleton(RigidBodyBullet *p_body) {
-		singleton->body = p_body;
-		return singleton;
-	}
-
-public:
-	RigidBodyBullet *body = nullptr;
-	real_t deltaTime = 0.0;
-
-private:
-	BulletPhysicsDirectBodyState3D() {}
-
-public:
-	virtual Vector3 get_total_gravity() const override;
-	virtual real_t get_total_angular_damp() const override;
-	virtual real_t get_total_linear_damp() const override;
-
-	virtual Vector3 get_center_of_mass() const override;
-	virtual Basis get_principal_inertia_axes() const override;
-	// get the mass
-	virtual real_t get_inverse_mass() const override;
-	// get density of this body space
-	virtual Vector3 get_inverse_inertia() const override;
-	// get density of this body space
-	virtual Basis get_inverse_inertia_tensor() const override;
-
-	virtual void set_linear_velocity(const Vector3 &p_velocity) override;
-	virtual Vector3 get_linear_velocity() const override;
-
-	virtual void set_angular_velocity(const Vector3 &p_velocity) override;
-	virtual Vector3 get_angular_velocity() const override;
-
-	virtual void set_transform(const Transform3D &p_transform) override;
-	virtual Transform3D get_transform() const override;
-
-	virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const override;
-
-	virtual void add_central_force(const Vector3 &p_force) override;
-	virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) override;
-	virtual void add_torque(const Vector3 &p_torque) override;
-	virtual void apply_central_impulse(const Vector3 &p_impulse) override;
-	virtual void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) override;
-	virtual void apply_torque_impulse(const Vector3 &p_impulse) override;
-
-	virtual void set_sleep_state(bool p_sleep) override;
-	virtual bool is_sleeping() const override;
-
-	virtual int get_contact_count() const override;
-
-	virtual Vector3 get_contact_local_position(int p_contact_idx) const override;
-	virtual Vector3 get_contact_local_normal(int p_contact_idx) const override;
-	virtual real_t get_contact_impulse(int p_contact_idx) const override;
-	virtual int get_contact_local_shape(int p_contact_idx) const override;
-
-	virtual RID get_contact_collider(int p_contact_idx) const override;
-	virtual Vector3 get_contact_collider_position(int p_contact_idx) const override;
-	virtual ObjectID get_contact_collider_id(int p_contact_idx) const override;
-	virtual int get_contact_collider_shape(int p_contact_idx) const override;
-	virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const override;
-
-	virtual real_t get_step() const override { return deltaTime; }
-	virtual void integrate_forces() override {
-		// Skip the execution of this function
-	}
-
-	virtual PhysicsDirectSpaceState3D *get_space_state() override;
-};
-
-class RigidBodyBullet : public RigidCollisionObjectBullet {
-public:
-	struct CollisionData {
-		RigidBodyBullet *otherObject = nullptr;
-		int other_object_shape = 0;
-		int local_shape = 0;
-		Vector3 hitLocalLocation;
-		Vector3 hitWorldLocation;
-		Vector3 hitNormal;
-		real_t appliedImpulse = 0.0;
-	};
-
-	struct ForceIntegrationCallback {
-		Callable callable;
-		Variant udata;
-	};
-
-	/// Used to hold shapes
-	struct KinematicShape {
-		class btConvexShape *shape = nullptr;
-		btTransform transform;
-
-		KinematicShape() {}
-		bool is_active() const { return shape; }
-	};
-
-	struct KinematicUtilities {
-		RigidBodyBullet *owner = nullptr;
-		btScalar safe_margin;
-		Vector<KinematicShape> shapes;
-
-		KinematicUtilities(RigidBodyBullet *p_owner);
-		~KinematicUtilities();
-
-		void setSafeMargin(btScalar p_margin);
-		/// Used to set the default shape to ghost
-		void copyAllOwnerShapes();
-
-	private:
-		void just_delete_shapes(int new_size);
-	};
-
-private:
-	friend class BulletPhysicsDirectBodyState3D;
-
-	// This is required only for Kinematic movement
-	KinematicUtilities *kinematic_utilities = nullptr;
-
-	PhysicsServer3D::BodyMode mode;
-	GodotMotionState *godotMotionState;
-	btRigidBody *btBody;
-	uint16_t locked_axis = 0;
-	real_t mass = 1.0;
-	real_t gravity_scale = 1.0;
-	real_t linearDamp = 0.0;
-	real_t angularDamp = 0.0;
-	bool can_sleep = true;
-	bool omit_forces_integration = false;
-	bool can_integrate_forces = false;
-
-	Vector<CollisionData> collisions;
-	Vector<RigidBodyBullet *> collision_traces_1;
-	Vector<RigidBodyBullet *> collision_traces_2;
-	Vector<RigidBodyBullet *> *prev_collision_traces;
-	Vector<RigidBodyBullet *> *curr_collision_traces;
-
-	// these parameters are used to avoid vector resize
-	int maxCollisionsDetection = 0;
-	int collisionsCount = 0;
-	int prev_collision_count = 0;
-
-	Vector<AreaBullet *> areasWhereIam;
-	// these parameters are used to avoid vector resize
-	int maxAreasWhereIam = 10;
-	int areaWhereIamCount = 0;
-	// Used to know if the area is used as gravity point
-	int countGravityPointSpaces = 0;
-	bool isScratchedSpaceOverrideModificator = false;
-
-	bool previousActiveState = true; // Last check state
-
-	ForceIntegrationCallback *force_integration_callback = nullptr;
-
-public:
-	RigidBodyBullet();
-	~RigidBodyBullet();
-
-	void init_kinematic_utilities();
-	void destroy_kinematic_utilities();
-	_FORCE_INLINE_ KinematicUtilities *get_kinematic_utilities() const { return kinematic_utilities; }
-
-	_FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; }
-
-	virtual void main_shape_changed();
-	virtual void reload_body();
-	virtual void set_space(SpaceBullet *p_space);
-
-	virtual void dispatch_callbacks();
-	void set_force_integration_callback(const Callable &p_callable, const Variant &p_udata = Variant());
-	void scratch_space_override_modificator();
-
-	virtual void on_collision_filters_change();
-	virtual void on_collision_checker_start();
-	virtual void on_collision_checker_end();
-
-	void set_max_collisions_detection(int p_maxCollisionsDetection) {
-		ERR_FAIL_COND(0 > p_maxCollisionsDetection);
-
-		maxCollisionsDetection = p_maxCollisionsDetection;
-
-		collisions.resize(p_maxCollisionsDetection);
-		collision_traces_1.resize(p_maxCollisionsDetection);
-		collision_traces_2.resize(p_maxCollisionsDetection);
-
-		collisionsCount = 0;
-		prev_collision_count = MIN(prev_collision_count, p_maxCollisionsDetection);
-	}
-	int get_max_collisions_detection() {
-		return maxCollisionsDetection;
-	}
-
-	bool can_add_collision() { return collisionsCount < maxCollisionsDetection; }
-	bool add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const real_t &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index);
-	bool was_colliding(RigidBodyBullet *p_other_object);
-
-	void set_activation_state(bool p_active);
-	bool is_active() const;
-
-	void set_omit_forces_integration(bool p_omit);
-	_FORCE_INLINE_ bool get_omit_forces_integration() const { return omit_forces_integration; }
-
-	void set_param(PhysicsServer3D::BodyParameter p_param, real_t);
-	real_t get_param(PhysicsServer3D::BodyParameter p_param) const;
-
-	void set_mode(PhysicsServer3D::BodyMode p_mode);
-	PhysicsServer3D::BodyMode get_mode() const;
-
-	void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant);
-	Variant get_state(PhysicsServer3D::BodyState p_state) const;
-
-	void apply_central_impulse(const Vector3 &p_impulse);
-	void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
-	void apply_torque_impulse(const Vector3 &p_impulse);
-
-	void apply_central_force(const Vector3 &p_force);
-	void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
-	void apply_torque(const Vector3 &p_torque);
-
-	void set_applied_force(const Vector3 &p_force);
-	Vector3 get_applied_force() const;
-	void set_applied_torque(const Vector3 &p_torque);
-	Vector3 get_applied_torque() const;
-
-	void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool lock);
-	bool is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const;
-	void reload_axis_lock();
-
-	/// Doc:
-	/// https://web.archive.org/web/20180404091446/https://www.bulletphysics.org/mediawiki-1.5.8/index.php/Anti_tunneling_by_Motion_Clamping
-	void set_continuous_collision_detection(bool p_enable);
-	bool is_continuous_collision_detection_enabled() const;
-
-	void set_linear_velocity(const Vector3 &p_velocity);
-	Vector3 get_linear_velocity() const;
-
-	void set_angular_velocity(const Vector3 &p_velocity);
-	Vector3 get_angular_velocity() const;
-
-	virtual void set_transform__bullet(const btTransform &p_global_transform);
-	virtual const btTransform &get_transform__bullet() const;
-
-	virtual void reload_shapes();
-
-	virtual void on_enter_area(AreaBullet *p_area);
-	virtual void on_exit_area(AreaBullet *p_area);
-	void reload_space_override_modificator();
-
-	/// Kinematic
-	void reload_kinematic_shapes();
-
-	virtual void notify_transform_changed();
-
-private:
-	void _internal_set_mass(real_t p_mass);
-};
-
-#endif // RIGID_BODY_BULLET_H
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
deleted file mode 100644
index 77a583ad86..0000000000
--- a/modules/bullet/shape_bullet.cpp
+++ /dev/null
@@ -1,595 +0,0 @@
-/*************************************************************************/
-/*  shape_bullet.cpp                                                     */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "shape_bullet.h"
-
-#include "btRayShape.h"
-#include "bullet_physics_server.h"
-#include "bullet_types_converter.h"
-#include "bullet_utilities.h"
-#include "core/config/project_settings.h"
-#include "shape_owner_bullet.h"
-
-#include <BulletCollision/CollisionDispatch/btInternalEdgeUtility.h>
-#include <BulletCollision/CollisionShapes/btConvexPointCloudShape.h>
-#include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
-#include <btBulletCollisionCommon.h>
-
-ShapeBullet::ShapeBullet() {}
-
-ShapeBullet::~ShapeBullet() {}
-
-btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge) {
-	btVector3 s;
-	G_TO_B(p_implicit_scale, s);
-	return create_bt_shape(s, p_extra_edge);
-}
-
-btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const {
-	p_btShape->setUserPointer(const_cast<ShapeBullet *>(this));
-	p_btShape->setMargin(margin);
-	return p_btShape;
-}
-
-void ShapeBullet::notifyShapeChanged() {
-	for (const KeyValue<ShapeOwnerBullet *, int> &E : owners) {
-		ShapeOwnerBullet *owner = static_cast<ShapeOwnerBullet *>(E.key);
-		owner->shape_changed(owner->find_shape(this));
-	}
-}
-
-void ShapeBullet::add_owner(ShapeOwnerBullet *p_owner) {
-	Map<ShapeOwnerBullet *, int>::Element *E = owners.find(p_owner);
-	if (E) {
-		E->get()++;
-	} else {
-		owners[p_owner] = 1; // add new owner
-	}
-}
-
-void ShapeBullet::remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody) {
-	Map<ShapeOwnerBullet *, int>::Element *E = owners.find(p_owner);
-	if (!E) {
-		return;
-	}
-	E->get()--;
-	if (p_permanentlyFromThisBody || 0 >= E->get()) {
-		owners.erase(E);
-	}
-}
-
-bool ShapeBullet::is_owner(ShapeOwnerBullet *p_owner) const {
-	return owners.has(p_owner);
-}
-
-const Map<ShapeOwnerBullet *, int> &ShapeBullet::get_owners() const {
-	return owners;
-}
-
-void ShapeBullet::set_margin(real_t p_margin) {
-	margin = p_margin;
-	notifyShapeChanged();
-}
-
-real_t ShapeBullet::get_margin() const {
-	return margin;
-}
-
-btEmptyShape *ShapeBullet::create_shape_empty() {
-	return bulletnew(btEmptyShape);
-}
-
-btStaticPlaneShape *ShapeBullet::create_shape_world_boundary(const btVector3 &planeNormal, btScalar planeConstant) {
-	return bulletnew(btStaticPlaneShape(planeNormal, planeConstant));
-}
-
-btSphereShape *ShapeBullet::create_shape_sphere(btScalar radius) {
-	return bulletnew(btSphereShape(radius));
-}
-
-btBoxShape *ShapeBullet::create_shape_box(const btVector3 &boxHalfExtents) {
-	return bulletnew(btBoxShape(boxHalfExtents));
-}
-
-btCapsuleShape *ShapeBullet::create_shape_capsule(btScalar radius, btScalar height) {
-	return bulletnew(btCapsuleShape(radius, height));
-}
-
-btCylinderShape *ShapeBullet::create_shape_cylinder(btScalar radius, btScalar height) {
-	return bulletnew(btCylinderShape(btVector3(radius, height / 2.0, radius)));
-}
-
-btConvexPointCloudShape *ShapeBullet::create_shape_convex(btAlignedObjectArray<btVector3> &p_vertices, const btVector3 &p_local_scaling) {
-	return bulletnew(btConvexPointCloudShape(&p_vertices[0], p_vertices.size(), p_local_scaling));
-}
-
-btScaledBvhTriangleMeshShape *ShapeBullet::create_shape_concave(btBvhTriangleMeshShape *p_mesh_shape, const btVector3 &p_local_scaling) {
-	if (p_mesh_shape) {
-		return bulletnew(btScaledBvhTriangleMeshShape(p_mesh_shape, p_local_scaling));
-	} else {
-		return nullptr;
-	}
-}
-
-btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
-	const btScalar ignoredHeightScale(1);
-	const int YAxis = 1; // 0=X, 1=Y, 2=Z
-	const bool flipQuadEdges = false;
-	const void *heightsPtr = p_heights.ptr();
-
-	btHeightfieldTerrainShape *heightfield = bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, p_min_height, p_max_height, YAxis, PHY_FLOAT, flipQuadEdges));
-
-	// The shape can be created without params when you do PhysicsServer3D.shape_create(PhysicsServer3D.SHAPE_HEIGHTMAP)
-	if (heightsPtr) {
-		heightfield->buildAccelerator(16);
-	}
-
-	return heightfield;
-}
-
-btRayShape *ShapeBullet::create_shape_ray(real_t p_length, bool p_slips_on_slope) {
-	btRayShape *r(bulletnew(btRayShape(p_length)));
-	r->setSlipsOnSlope(p_slips_on_slope);
-	return r;
-}
-
-/* World boundary */
-
-WorldBoundaryShapeBullet::WorldBoundaryShapeBullet() :
-		ShapeBullet() {}
-
-void WorldBoundaryShapeBullet::set_data(const Variant &p_data) {
-	setup(p_data);
-}
-
-Variant WorldBoundaryShapeBullet::get_data() const {
-	return plane;
-}
-
-PhysicsServer3D::ShapeType WorldBoundaryShapeBullet::get_type() const {
-	return PhysicsServer3D::SHAPE_WORLD_BOUNDARY;
-}
-
-void WorldBoundaryShapeBullet::setup(const Plane &p_plane) {
-	plane = p_plane;
-	notifyShapeChanged();
-}
-
-btCollisionShape *WorldBoundaryShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
-	btVector3 btPlaneNormal;
-	G_TO_B(plane.normal, btPlaneNormal);
-	return prepare(WorldBoundaryShapeBullet::create_shape_world_boundary(btPlaneNormal, plane.d));
-}
-
-/* Sphere */
-
-SphereShapeBullet::SphereShapeBullet() :
-		ShapeBullet() {}
-
-void SphereShapeBullet::set_data(const Variant &p_data) {
-	setup(p_data);
-}
-
-Variant SphereShapeBullet::get_data() const {
-	return radius;
-}
-
-PhysicsServer3D::ShapeType SphereShapeBullet::get_type() const {
-	return PhysicsServer3D::SHAPE_SPHERE;
-}
-
-void SphereShapeBullet::setup(real_t p_radius) {
-	radius = p_radius;
-	notifyShapeChanged();
-}
-
-btCollisionShape *SphereShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
-	return prepare(ShapeBullet::create_shape_sphere(radius * p_implicit_scale[0] + p_extra_edge));
-}
-
-/* Box */
-BoxShapeBullet::BoxShapeBullet() :
-		ShapeBullet() {}
-
-void BoxShapeBullet::set_data(const Variant &p_data) {
-	setup(p_data);
-}
-
-Variant BoxShapeBullet::get_data() const {
-	Vector3 g_half_extents;
-	B_TO_G(half_extents, g_half_extents);
-	return g_half_extents;
-}
-
-PhysicsServer3D::ShapeType BoxShapeBullet::get_type() const {
-	return PhysicsServer3D::SHAPE_BOX;
-}
-
-void BoxShapeBullet::setup(const Vector3 &p_half_extents) {
-	G_TO_B(p_half_extents, half_extents);
-	notifyShapeChanged();
-}
-
-btCollisionShape *BoxShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
-	return prepare(ShapeBullet::create_shape_box((half_extents * p_implicit_scale) + btVector3(p_extra_edge, p_extra_edge, p_extra_edge)));
-}
-
-/* Capsule */
-
-CapsuleShapeBullet::CapsuleShapeBullet() :
-		ShapeBullet() {}
-
-void CapsuleShapeBullet::set_data(const Variant &p_data) {
-	Dictionary d = p_data;
-	ERR_FAIL_COND(!d.has("radius"));
-	ERR_FAIL_COND(!d.has("height"));
-	setup(d["height"], d["radius"]);
-}
-
-Variant CapsuleShapeBullet::get_data() const {
-	Dictionary d;
-	d["radius"] = radius;
-	d["height"] = height;
-	return d;
-}
-
-PhysicsServer3D::ShapeType CapsuleShapeBullet::get_type() const {
-	return PhysicsServer3D::SHAPE_CAPSULE;
-}
-
-void CapsuleShapeBullet::setup(real_t p_height, real_t p_radius) {
-	radius = p_radius;
-	height = p_height;
-	notifyShapeChanged();
-}
-
-btCollisionShape *CapsuleShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
-	return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_extra_edge, height * p_implicit_scale[1]));
-}
-
-/* Cylinder */
-
-CylinderShapeBullet::CylinderShapeBullet() :
-		ShapeBullet() {}
-
-void CylinderShapeBullet::set_data(const Variant &p_data) {
-	Dictionary d = p_data;
-	ERR_FAIL_COND(!d.has("radius"));
-	ERR_FAIL_COND(!d.has("height"));
-	setup(d["height"], d["radius"]);
-}
-
-Variant CylinderShapeBullet::get_data() const {
-	Dictionary d;
-	d["radius"] = radius;
-	d["height"] = height;
-	return d;
-}
-
-PhysicsServer3D::ShapeType CylinderShapeBullet::get_type() const {
-	return PhysicsServer3D::SHAPE_CYLINDER;
-}
-
-void CylinderShapeBullet::setup(real_t p_height, real_t p_radius) {
-	radius = p_radius;
-	height = p_height;
-	notifyShapeChanged();
-}
-
-btCollisionShape *CylinderShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
-	return prepare(ShapeBullet::create_shape_cylinder(radius * p_implicit_scale[0] + p_margin, height * p_implicit_scale[1] + p_margin));
-}
-
-/* Convex polygon */
-
-ConvexPolygonShapeBullet::ConvexPolygonShapeBullet() :
-		ShapeBullet() {}
-
-void ConvexPolygonShapeBullet::set_data(const Variant &p_data) {
-	setup(p_data);
-}
-
-void ConvexPolygonShapeBullet::get_vertices(Vector<Vector3> &out_vertices) {
-	const int n_of_vertices = vertices.size();
-	out_vertices.resize(n_of_vertices);
-	for (int i = n_of_vertices - 1; 0 <= i; --i) {
-		B_TO_G(vertices[i], out_vertices.write[i]);
-	}
-}
-
-Variant ConvexPolygonShapeBullet::get_data() const {
-	ConvexPolygonShapeBullet *variable_self = const_cast<ConvexPolygonShapeBullet *>(this);
-	Vector<Vector3> out_vertices;
-	variable_self->get_vertices(out_vertices);
-	return out_vertices;
-}
-
-PhysicsServer3D::ShapeType ConvexPolygonShapeBullet::get_type() const {
-	return PhysicsServer3D::SHAPE_CONVEX_POLYGON;
-}
-
-void ConvexPolygonShapeBullet::setup(const Vector<Vector3> &p_vertices) {
-	// Make a copy of vertices
-	const int n_of_vertices = p_vertices.size();
-	vertices.resize(n_of_vertices);
-	for (int i = n_of_vertices - 1; 0 <= i; --i) {
-		G_TO_B(p_vertices[i], vertices[i]);
-	}
-	notifyShapeChanged();
-}
-
-btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
-	if (!vertices.size()) {
-		// This is necessary since 0 vertices
-		return prepare(ShapeBullet::create_shape_empty());
-	}
-	btCollisionShape *cs(ShapeBullet::create_shape_convex(vertices));
-	cs->setLocalScaling(p_implicit_scale);
-	prepare(cs);
-	return cs;
-}
-
-/* Concave polygon */
-
-ConcavePolygonShapeBullet::ConcavePolygonShapeBullet() :
-		ShapeBullet() {}
-
-ConcavePolygonShapeBullet::~ConcavePolygonShapeBullet() {
-	if (meshShape) {
-		delete meshShape->getMeshInterface();
-		delete meshShape->getTriangleInfoMap();
-		bulletdelete(meshShape);
-	}
-	faces = Vector<Vector3>();
-}
-
-void ConcavePolygonShapeBullet::set_data(const Variant &p_data) {
-	Dictionary d = p_data;
-	ERR_FAIL_COND(!d.has("faces"));
-
-	setup(d["faces"]);
-}
-
-Variant ConcavePolygonShapeBullet::get_data() const {
-	Dictionary d;
-	d["faces"] = faces;
-
-	return d;
-}
-
-PhysicsServer3D::ShapeType ConcavePolygonShapeBullet::get_type() const {
-	return PhysicsServer3D::SHAPE_CONCAVE_POLYGON;
-}
-
-void ConcavePolygonShapeBullet::setup(Vector<Vector3> p_faces) {
-	faces = p_faces;
-	if (meshShape) {
-		/// Clear previous created shape
-		delete meshShape->getMeshInterface();
-		delete meshShape->getTriangleInfoMap();
-		bulletdelete(meshShape);
-	}
-	int src_face_count = faces.size();
-	if (0 < src_face_count) {
-		// It counts the faces and assert the array contains the correct number of vertices.
-		ERR_FAIL_COND(src_face_count % 3);
-
-		btTriangleMesh *shapeInterface = bulletnew(btTriangleMesh);
-		src_face_count /= 3;
-		const Vector3 *r = p_faces.ptr();
-		const Vector3 *facesr = r;
-
-		btVector3 supVec_0;
-		btVector3 supVec_1;
-		btVector3 supVec_2;
-		for (int i = 0; i < src_face_count; ++i) {
-			G_TO_B(facesr[i * 3 + 0], supVec_0);
-			G_TO_B(facesr[i * 3 + 1], supVec_1);
-			G_TO_B(facesr[i * 3 + 2], supVec_2);
-
-			// Inverted from standard godot otherwise btGenerateInternalEdgeInfo generates wrong edge info
-			shapeInterface->addTriangle(supVec_2, supVec_1, supVec_0);
-		}
-
-		const bool useQuantizedAabbCompression = true;
-
-		meshShape = bulletnew(btBvhTriangleMeshShape(shapeInterface, useQuantizedAabbCompression));
-
-		if (GLOBAL_DEF("physics/3d/smooth_trimesh_collision", false)) {
-			btTriangleInfoMap *triangleInfoMap = new btTriangleInfoMap();
-			btGenerateInternalEdgeInfo(meshShape, triangleInfoMap);
-		}
-	} else {
-		meshShape = nullptr;
-		ERR_PRINT("The faces count are 0, the mesh shape cannot be created");
-	}
-	notifyShapeChanged();
-}
-
-btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
-	btCollisionShape *cs = ShapeBullet::create_shape_concave(meshShape);
-	if (!cs) {
-		// This is necessary since if 0 faces the creation of concave return null
-		cs = ShapeBullet::create_shape_empty();
-	}
-	cs->setLocalScaling(p_implicit_scale);
-	prepare(cs);
-	cs->setMargin(0);
-	return cs;
-}
-
-/* Height map shape */
-
-HeightMapShapeBullet::HeightMapShapeBullet() :
-		ShapeBullet() {}
-
-void HeightMapShapeBullet::set_data(const Variant &p_data) {
-	ERR_FAIL_COND(p_data.get_type() != Variant::DICTIONARY);
-	Dictionary d = p_data;
-	ERR_FAIL_COND(!d.has("width"));
-	ERR_FAIL_COND(!d.has("depth"));
-	ERR_FAIL_COND(!d.has("heights"));
-
-	real_t l_min_height = 0.0;
-	real_t l_max_height = 0.0;
-
-	// If specified, min and max height will be used as precomputed values
-	if (d.has("min_height")) {
-		l_min_height = d["min_height"];
-	}
-	if (d.has("max_height")) {
-		l_max_height = d["max_height"];
-	}
-
-	ERR_FAIL_COND(l_min_height > l_max_height);
-
-	int l_width = d["width"];
-	int l_depth = d["depth"];
-
-	ERR_FAIL_COND_MSG(l_width < 2, "Map width must be at least 2.");
-	ERR_FAIL_COND_MSG(l_depth < 2, "Map depth must be at least 2.");
-
-	Vector<float> l_heights;
-	Variant l_heights_v = d["heights"];
-
-	if (l_heights_v.get_type() == Variant::PACKED_FLOAT32_ARRAY) {
-		// Ready-to-use heights can be passed
-
-		l_heights = l_heights_v;
-
-	} else if (l_heights_v.get_type() == Variant::OBJECT) {
-		// If an image is passed, we have to convert it to a format Bullet supports.
-		// this would be expensive to do with a script, so it's nice to have it here.
-
-		Ref<Image> l_image = l_heights_v;
-		ERR_FAIL_COND(l_image.is_null());
-
-		// Float is the only common format between Godot and Bullet that can be used for decent collision.
-		// (Int16 would be nice too but we still don't have it)
-		// We could convert here automatically but it's better to not be intrusive and let the caller do it if necessary.
-		ERR_FAIL_COND(l_image->get_format() != Image::FORMAT_RF);
-
-		PackedByteArray im_data = l_image->get_data();
-
-		l_heights.resize(l_image->get_width() * l_image->get_height());
-
-		float *w = l_heights.ptrw();
-		const uint8_t *r = im_data.ptr();
-		float *rp = (float *)r;
-		// At this point, `rp` could be used directly for Bullet, but I don't know how safe it would be.
-
-		for (int i = 0; i < l_heights.size(); ++i) {
-			w[i] = rp[i];
-		}
-
-	} else {
-		ERR_FAIL_MSG("Expected PackedFloat32Array or float Image.");
-	}
-
-	ERR_FAIL_COND(l_width <= 0);
-	ERR_FAIL_COND(l_depth <= 0);
-	ERR_FAIL_COND(l_heights.size() != (l_width * l_depth));
-
-	// Compute min and max heights if not specified.
-	if (!d.has("min_height") && !d.has("max_height")) {
-		const float *r = l_heights.ptr();
-		int heights_size = l_heights.size();
-
-		for (int i = 0; i < heights_size; ++i) {
-			float h = r[i];
-
-			if (h < l_min_height) {
-				l_min_height = h;
-			} else if (h > l_max_height) {
-				l_max_height = h;
-			}
-		}
-	}
-
-	setup(l_heights, l_width, l_depth, l_min_height, l_max_height);
-}
-
-Variant HeightMapShapeBullet::get_data() const {
-	ERR_FAIL_V(Variant());
-}
-
-PhysicsServer3D::ShapeType HeightMapShapeBullet::get_type() const {
-	return PhysicsServer3D::SHAPE_HEIGHTMAP;
-}
-
-void HeightMapShapeBullet::setup(Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
-	// TODO cell size must be tweaked using localScaling, which is a shared property for all Bullet shapes
-
-	// If this array is resized outside of here, it should be preserved due to CoW
-	heights = p_heights;
-
-	width = p_width;
-	depth = p_depth;
-	min_height = p_min_height;
-	max_height = p_max_height;
-	notifyShapeChanged();
-}
-
-btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
-	btCollisionShape *cs(ShapeBullet::create_shape_height_field(heights, width, depth, min_height, max_height));
-	cs->setLocalScaling(p_implicit_scale);
-	prepare(cs);
-	return cs;
-}
-
-/* Ray shape */
-RayShapeBullet::RayShapeBullet() :
-		ShapeBullet() {}
-
-void RayShapeBullet::set_data(const Variant &p_data) {
-	Dictionary d = p_data;
-	setup(d["length"], d["slips_on_slope"]);
-}
-
-Variant RayShapeBullet::get_data() const {
-	Dictionary d;
-	d["length"] = length;
-	d["slips_on_slope"] = slips_on_slope;
-	return d;
-}
-
-PhysicsServer3D::ShapeType RayShapeBullet::get_type() const {
-	return PhysicsServer3D::SHAPE_RAY;
-}
-
-void RayShapeBullet::setup(real_t p_length, bool p_slips_on_slope) {
-	length = p_length;
-	slips_on_slope = p_slips_on_slope;
-	notifyShapeChanged();
-}
-
-btCollisionShape *RayShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
-	return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_extra_edge, slips_on_slope));
-}
diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h
deleted file mode 100644
index dffcadbcdc..0000000000
--- a/modules/bullet/shape_bullet.h
+++ /dev/null
@@ -1,244 +0,0 @@
-/*************************************************************************/
-/*  shape_bullet.h                                                       */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef SHAPE_BULLET_H
-#define SHAPE_BULLET_H
-
-#include "core/math/geometry_3d.h"
-#include "core/variant/variant.h"
-#include "rid_bullet.h"
-#include "servers/physics_server_3d.h"
-
-#include <LinearMath/btAlignedObjectArray.h>
-#include <LinearMath/btScalar.h>
-#include <LinearMath/btVector3.h>
-
-class ShapeBullet;
-class btCollisionShape;
-class ShapeOwnerBullet;
-class btBvhTriangleMeshShape;
-
-class ShapeBullet : public RIDBullet {
-	Map<ShapeOwnerBullet *, int> owners;
-	real_t margin = 0.04;
-
-protected:
-	/// return self
-	btCollisionShape *prepare(btCollisionShape *p_btShape) const;
-	void notifyShapeChanged();
-
-public:
-	ShapeBullet();
-	virtual ~ShapeBullet();
-
-	btCollisionShape *create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge = 0);
-	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0) = 0;
-
-	void add_owner(ShapeOwnerBullet *p_owner);
-	void remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody = false);
-	bool is_owner(ShapeOwnerBullet *p_owner) const;
-	const Map<ShapeOwnerBullet *, int> &get_owners() const;
-
-	void set_margin(real_t p_margin);
-	real_t get_margin() const;
-
-	/// Setup the shape
-	virtual void set_data(const Variant &p_data) = 0;
-	virtual Variant get_data() const = 0;
-
-	virtual PhysicsServer3D::ShapeType get_type() const = 0;
-
-public:
-	static class btEmptyShape *create_shape_empty();
-	static class btStaticPlaneShape *create_shape_world_boundary(const btVector3 &planeNormal, btScalar planeConstant);
-	static class btSphereShape *create_shape_sphere(btScalar radius);
-	static class btBoxShape *create_shape_box(const btVector3 &boxHalfExtents);
-	static class btCapsuleShape *create_shape_capsule(btScalar radius, btScalar height);
-	static class btCylinderShape *create_shape_cylinder(btScalar radius, btScalar height);
-	/// IMPORTANT: Remember to delete the shape interface by calling: delete my_shape->getMeshInterface();
-	static class btConvexPointCloudShape *create_shape_convex(btAlignedObjectArray<btVector3> &p_vertices, const btVector3 &p_local_scaling = btVector3(1, 1, 1));
-	static class btScaledBvhTriangleMeshShape *create_shape_concave(btBvhTriangleMeshShape *p_mesh_shape, const btVector3 &p_local_scaling = btVector3(1, 1, 1));
-	static class btHeightfieldTerrainShape *create_shape_height_field(Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
-	static class btRayShape *create_shape_ray(real_t p_length, bool p_slips_on_slope);
-};
-
-class WorldBoundaryShapeBullet : public ShapeBullet {
-	Plane plane;
-
-public:
-	WorldBoundaryShapeBullet();
-
-	virtual void set_data(const Variant &p_data);
-	virtual Variant get_data() const;
-	virtual PhysicsServer3D::ShapeType get_type() const;
-	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
-
-private:
-	void setup(const Plane &p_plane);
-};
-
-class SphereShapeBullet : public ShapeBullet {
-	real_t radius = 0.0;
-
-public:
-	SphereShapeBullet();
-
-	_FORCE_INLINE_ real_t get_radius() { return radius; }
-	virtual void set_data(const Variant &p_data);
-	virtual Variant get_data() const;
-	virtual PhysicsServer3D::ShapeType get_type() const;
-	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
-
-private:
-	void setup(real_t p_radius);
-};
-
-class BoxShapeBullet : public ShapeBullet {
-	btVector3 half_extents;
-
-public:
-	BoxShapeBullet();
-
-	_FORCE_INLINE_ const btVector3 &get_half_extents() { return half_extents; }
-	virtual void set_data(const Variant &p_data);
-	virtual Variant get_data() const;
-	virtual PhysicsServer3D::ShapeType get_type() const;
-	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
-
-private:
-	void setup(const Vector3 &p_half_extents);
-};
-
-class CapsuleShapeBullet : public ShapeBullet {
-	real_t height = 0.0;
-	real_t radius = 0.0;
-
-public:
-	CapsuleShapeBullet();
-
-	_FORCE_INLINE_ real_t get_height() { return height; }
-	_FORCE_INLINE_ real_t get_radius() { return radius; }
-	virtual void set_data(const Variant &p_data);
-	virtual Variant get_data() const;
-	virtual PhysicsServer3D::ShapeType get_type() const;
-	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
-
-private:
-	void setup(real_t p_height, real_t p_radius);
-};
-
-class CylinderShapeBullet : public ShapeBullet {
-	real_t height = 0.0;
-	real_t radius = 0.0;
-
-public:
-	CylinderShapeBullet();
-
-	_FORCE_INLINE_ real_t get_height() { return height; }
-	_FORCE_INLINE_ real_t get_radius() { return radius; }
-	virtual void set_data(const Variant &p_data);
-	virtual Variant get_data() const;
-	virtual PhysicsServer3D::ShapeType get_type() const;
-	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
-
-private:
-	void setup(real_t p_height, real_t p_radius);
-};
-
-class ConvexPolygonShapeBullet : public ShapeBullet {
-public:
-	btAlignedObjectArray<btVector3> vertices;
-
-	ConvexPolygonShapeBullet();
-
-	virtual void set_data(const Variant &p_data);
-	void get_vertices(Vector<Vector3> &out_vertices);
-	virtual Variant get_data() const;
-	virtual PhysicsServer3D::ShapeType get_type() const;
-	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
-
-private:
-	void setup(const Vector<Vector3> &p_vertices);
-};
-
-class ConcavePolygonShapeBullet : public ShapeBullet {
-	class btBvhTriangleMeshShape *meshShape = nullptr;
-
-public:
-	Vector<Vector3> faces;
-
-	ConcavePolygonShapeBullet();
-	virtual ~ConcavePolygonShapeBullet();
-
-	virtual void set_data(const Variant &p_data);
-	virtual Variant get_data() const;
-	virtual PhysicsServer3D::ShapeType get_type() const;
-	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
-
-private:
-	void setup(Vector<Vector3> p_faces);
-};
-
-class HeightMapShapeBullet : public ShapeBullet {
-public:
-	Vector<float> heights;
-	int width = 0;
-	int depth = 0;
-	real_t min_height = 0.0;
-	real_t max_height = 0.0;
-
-	HeightMapShapeBullet();
-
-	virtual void set_data(const Variant &p_data);
-	virtual Variant get_data() const;
-	virtual PhysicsServer3D::ShapeType get_type() const;
-	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
-
-private:
-	void setup(Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
-};
-
-class RayShapeBullet : public ShapeBullet {
-public:
-	real_t length = 1.0;
-	bool slips_on_slope = false;
-
-	RayShapeBullet();
-
-	virtual void set_data(const Variant &p_data);
-	virtual Variant get_data() const;
-	virtual PhysicsServer3D::ShapeType get_type() const;
-	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
-
-private:
-	void setup(real_t p_length, bool p_slips_on_slope);
-};
-
-#endif // SHAPE_BULLET_H
diff --git a/modules/bullet/shape_owner_bullet.h b/modules/bullet/shape_owner_bullet.h
deleted file mode 100644
index 11cf1bc2d5..0000000000
--- a/modules/bullet/shape_owner_bullet.h
+++ /dev/null
@@ -1,51 +0,0 @@
-/*************************************************************************/
-/*  shape_owner_bullet.h                                                 */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef SHAPE_OWNER_BULLET_H
-#define SHAPE_OWNER_BULLET_H
-
-#include "rid_bullet.h"
-
-class ShapeBullet;
-class btCollisionShape;
-class CollisionObjectBullet;
-
-/// Each class that want to use Shapes must inherit this class
-/// E.G. BodyShape is a child of this
-class ShapeOwnerBullet {
-public:
-	virtual int find_shape(ShapeBullet *p_shape) const = 0;
-	virtual void shape_changed(int p_shape_index) = 0;
-	virtual void reload_shapes() = 0;
-	virtual void remove_shape_full(class ShapeBullet *p_shape) = 0;
-	virtual ~ShapeOwnerBullet() {}
-};
-
-#endif // SHAPE_OWNER_BULLET_H
diff --git a/modules/bullet/slider_joint_bullet.cpp b/modules/bullet/slider_joint_bullet.cpp
deleted file mode 100644
index b06cdeaa6a..0000000000
--- a/modules/bullet/slider_joint_bullet.cpp
+++ /dev/null
@@ -1,461 +0,0 @@
-/*************************************************************************/
-/*  slider_joint_bullet.cpp                                              */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "slider_joint_bullet.h"
-
-#include "bullet_types_converter.h"
-#include "bullet_utilities.h"
-#include "rigid_body_bullet.h"
-
-#include <BulletDynamics/ConstraintSolver/btSliderConstraint.h>
-
-SliderJointBullet::SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameInA, const Transform3D &frameInB) :
-		JointBullet() {
-	Transform3D scaled_AFrame(frameInA.scaled(rbA->get_body_scale()));
-	scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
-
-	btTransform btFrameA;
-	G_TO_B(scaled_AFrame, btFrameA);
-
-	if (rbB) {
-		Transform3D scaled_BFrame(frameInB.scaled(rbB->get_body_scale()));
-		scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
-
-		btTransform btFrameB;
-		G_TO_B(scaled_BFrame, btFrameB);
-		sliderConstraint = bulletnew(btSliderConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, true));
-
-	} else {
-		sliderConstraint = bulletnew(btSliderConstraint(*rbA->get_bt_rigid_body(), btFrameA, true));
-	}
-	setup(sliderConstraint);
-}
-
-const RigidBodyBullet *SliderJointBullet::getRigidBodyA() const {
-	return static_cast<RigidBodyBullet *>(sliderConstraint->getRigidBodyA().getUserPointer());
-}
-
-const RigidBodyBullet *SliderJointBullet::getRigidBodyB() const {
-	return static_cast<RigidBodyBullet *>(sliderConstraint->getRigidBodyB().getUserPointer());
-}
-
-const Transform3D SliderJointBullet::getCalculatedTransformA() const {
-	btTransform btTransform = sliderConstraint->getCalculatedTransformA();
-	Transform3D gTrans;
-	B_TO_G(btTransform, gTrans);
-	return gTrans;
-}
-
-const Transform3D SliderJointBullet::getCalculatedTransformB() const {
-	btTransform btTransform = sliderConstraint->getCalculatedTransformB();
-	Transform3D gTrans;
-	B_TO_G(btTransform, gTrans);
-	return gTrans;
-}
-
-const Transform3D SliderJointBullet::getFrameOffsetA() const {
-	btTransform btTransform = sliderConstraint->getFrameOffsetA();
-	Transform3D gTrans;
-	B_TO_G(btTransform, gTrans);
-	return gTrans;
-}
-
-const Transform3D SliderJointBullet::getFrameOffsetB() const {
-	btTransform btTransform = sliderConstraint->getFrameOffsetB();
-	Transform3D gTrans;
-	B_TO_G(btTransform, gTrans);
-	return gTrans;
-}
-
-Transform3D SliderJointBullet::getFrameOffsetA() {
-	btTransform btTransform = sliderConstraint->getFrameOffsetA();
-	Transform3D gTrans;
-	B_TO_G(btTransform, gTrans);
-	return gTrans;
-}
-
-Transform3D SliderJointBullet::getFrameOffsetB() {
-	btTransform btTransform = sliderConstraint->getFrameOffsetB();
-	Transform3D gTrans;
-	B_TO_G(btTransform, gTrans);
-	return gTrans;
-}
-
-real_t SliderJointBullet::getLowerLinLimit() const {
-	return sliderConstraint->getLowerLinLimit();
-}
-
-void SliderJointBullet::setLowerLinLimit(real_t lowerLimit) {
-	sliderConstraint->setLowerLinLimit(lowerLimit);
-}
-
-real_t SliderJointBullet::getUpperLinLimit() const {
-	return sliderConstraint->getUpperLinLimit();
-}
-
-void SliderJointBullet::setUpperLinLimit(real_t upperLimit) {
-	sliderConstraint->setUpperLinLimit(upperLimit);
-}
-
-real_t SliderJointBullet::getLowerAngLimit() const {
-	return sliderConstraint->getLowerAngLimit();
-}
-
-void SliderJointBullet::setLowerAngLimit(real_t lowerLimit) {
-	sliderConstraint->setLowerAngLimit(lowerLimit);
-}
-
-real_t SliderJointBullet::getUpperAngLimit() const {
-	return sliderConstraint->getUpperAngLimit();
-}
-
-void SliderJointBullet::setUpperAngLimit(real_t upperLimit) {
-	sliderConstraint->setUpperAngLimit(upperLimit);
-}
-
-real_t SliderJointBullet::getSoftnessDirLin() const {
-	return sliderConstraint->getSoftnessDirLin();
-}
-
-real_t SliderJointBullet::getRestitutionDirLin() const {
-	return sliderConstraint->getRestitutionDirLin();
-}
-
-real_t SliderJointBullet::getDampingDirLin() const {
-	return sliderConstraint->getDampingDirLin();
-}
-
-real_t SliderJointBullet::getSoftnessDirAng() const {
-	return sliderConstraint->getSoftnessDirAng();
-}
-
-real_t SliderJointBullet::getRestitutionDirAng() const {
-	return sliderConstraint->getRestitutionDirAng();
-}
-
-real_t SliderJointBullet::getDampingDirAng() const {
-	return sliderConstraint->getDampingDirAng();
-}
-
-real_t SliderJointBullet::getSoftnessLimLin() const {
-	return sliderConstraint->getSoftnessLimLin();
-}
-
-real_t SliderJointBullet::getRestitutionLimLin() const {
-	return sliderConstraint->getRestitutionLimLin();
-}
-
-real_t SliderJointBullet::getDampingLimLin() const {
-	return sliderConstraint->getDampingLimLin();
-}
-
-real_t SliderJointBullet::getSoftnessLimAng() const {
-	return sliderConstraint->getSoftnessLimAng();
-}
-
-real_t SliderJointBullet::getRestitutionLimAng() const {
-	return sliderConstraint->getRestitutionLimAng();
-}
-
-real_t SliderJointBullet::getDampingLimAng() const {
-	return sliderConstraint->getDampingLimAng();
-}
-
-real_t SliderJointBullet::getSoftnessOrthoLin() const {
-	return sliderConstraint->getSoftnessOrthoLin();
-}
-
-real_t SliderJointBullet::getRestitutionOrthoLin() const {
-	return sliderConstraint->getRestitutionOrthoLin();
-}
-
-real_t SliderJointBullet::getDampingOrthoLin() const {
-	return sliderConstraint->getDampingOrthoLin();
-}
-
-real_t SliderJointBullet::getSoftnessOrthoAng() const {
-	return sliderConstraint->getSoftnessOrthoAng();
-}
-
-real_t SliderJointBullet::getRestitutionOrthoAng() const {
-	return sliderConstraint->getRestitutionOrthoAng();
-}
-
-real_t SliderJointBullet::getDampingOrthoAng() const {
-	return sliderConstraint->getDampingOrthoAng();
-}
-
-void SliderJointBullet::setSoftnessDirLin(real_t softnessDirLin) {
-	sliderConstraint->setSoftnessDirLin(softnessDirLin);
-}
-
-void SliderJointBullet::setRestitutionDirLin(real_t restitutionDirLin) {
-	sliderConstraint->setRestitutionDirLin(restitutionDirLin);
-}
-
-void SliderJointBullet::setDampingDirLin(real_t dampingDirLin) {
-	sliderConstraint->setDampingDirLin(dampingDirLin);
-}
-
-void SliderJointBullet::setSoftnessDirAng(real_t softnessDirAng) {
-	sliderConstraint->setSoftnessDirAng(softnessDirAng);
-}
-
-void SliderJointBullet::setRestitutionDirAng(real_t restitutionDirAng) {
-	sliderConstraint->setRestitutionDirAng(restitutionDirAng);
-}
-
-void SliderJointBullet::setDampingDirAng(real_t dampingDirAng) {
-	sliderConstraint->setDampingDirAng(dampingDirAng);
-}
-
-void SliderJointBullet::setSoftnessLimLin(real_t softnessLimLin) {
-	sliderConstraint->setSoftnessLimLin(softnessLimLin);
-}
-
-void SliderJointBullet::setRestitutionLimLin(real_t restitutionLimLin) {
-	sliderConstraint->setRestitutionLimLin(restitutionLimLin);
-}
-
-void SliderJointBullet::setDampingLimLin(real_t dampingLimLin) {
-	sliderConstraint->setDampingLimLin(dampingLimLin);
-}
-
-void SliderJointBullet::setSoftnessLimAng(real_t softnessLimAng) {
-	sliderConstraint->setSoftnessLimAng(softnessLimAng);
-}
-
-void SliderJointBullet::setRestitutionLimAng(real_t restitutionLimAng) {
-	sliderConstraint->setRestitutionLimAng(restitutionLimAng);
-}
-
-void SliderJointBullet::setDampingLimAng(real_t dampingLimAng) {
-	sliderConstraint->setDampingLimAng(dampingLimAng);
-}
-
-void SliderJointBullet::setSoftnessOrthoLin(real_t softnessOrthoLin) {
-	sliderConstraint->setSoftnessOrthoLin(softnessOrthoLin);
-}
-
-void SliderJointBullet::setRestitutionOrthoLin(real_t restitutionOrthoLin) {
-	sliderConstraint->setRestitutionOrthoLin(restitutionOrthoLin);
-}
-
-void SliderJointBullet::setDampingOrthoLin(real_t dampingOrthoLin) {
-	sliderConstraint->setDampingOrthoLin(dampingOrthoLin);
-}
-
-void SliderJointBullet::setSoftnessOrthoAng(real_t softnessOrthoAng) {
-	sliderConstraint->setSoftnessOrthoAng(softnessOrthoAng);
-}
-
-void SliderJointBullet::setRestitutionOrthoAng(real_t restitutionOrthoAng) {
-	sliderConstraint->setRestitutionOrthoAng(restitutionOrthoAng);
-}
-
-void SliderJointBullet::setDampingOrthoAng(real_t dampingOrthoAng) {
-	sliderConstraint->setDampingOrthoAng(dampingOrthoAng);
-}
-
-void SliderJointBullet::setPoweredLinMotor(bool onOff) {
-	sliderConstraint->setPoweredLinMotor(onOff);
-}
-
-bool SliderJointBullet::getPoweredLinMotor() {
-	return sliderConstraint->getPoweredLinMotor();
-}
-
-void SliderJointBullet::setTargetLinMotorVelocity(real_t targetLinMotorVelocity) {
-	sliderConstraint->setTargetLinMotorVelocity(targetLinMotorVelocity);
-}
-
-real_t SliderJointBullet::getTargetLinMotorVelocity() {
-	return sliderConstraint->getTargetLinMotorVelocity();
-}
-
-void SliderJointBullet::setMaxLinMotorForce(real_t maxLinMotorForce) {
-	sliderConstraint->setMaxLinMotorForce(maxLinMotorForce);
-}
-
-real_t SliderJointBullet::getMaxLinMotorForce() {
-	return sliderConstraint->getMaxLinMotorForce();
-}
-
-void SliderJointBullet::setPoweredAngMotor(bool onOff) {
-	sliderConstraint->setPoweredAngMotor(onOff);
-}
-
-bool SliderJointBullet::getPoweredAngMotor() {
-	return sliderConstraint->getPoweredAngMotor();
-}
-
-void SliderJointBullet::setTargetAngMotorVelocity(real_t targetAngMotorVelocity) {
-	sliderConstraint->setTargetAngMotorVelocity(targetAngMotorVelocity);
-}
-
-real_t SliderJointBullet::getTargetAngMotorVelocity() {
-	return sliderConstraint->getTargetAngMotorVelocity();
-}
-
-void SliderJointBullet::setMaxAngMotorForce(real_t maxAngMotorForce) {
-	sliderConstraint->setMaxAngMotorForce(maxAngMotorForce);
-}
-
-real_t SliderJointBullet::getMaxAngMotorForce() {
-	return sliderConstraint->getMaxAngMotorForce();
-}
-
-real_t SliderJointBullet::getLinearPos() {
-	return sliderConstraint->getLinearPos();
-}
-
-void SliderJointBullet::set_param(PhysicsServer3D::SliderJointParam p_param, real_t p_value) {
-	switch (p_param) {
-		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER:
-			setUpperLinLimit(p_value);
-			break;
-		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER:
-			setLowerLinLimit(p_value);
-			break;
-		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS:
-			setSoftnessLimLin(p_value);
-			break;
-		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION:
-			setRestitutionLimLin(p_value);
-			break;
-		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING:
-			setDampingLimLin(p_value);
-			break;
-		case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS:
-			setSoftnessDirLin(p_value);
-			break;
-		case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION:
-			setRestitutionDirLin(p_value);
-			break;
-		case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_DAMPING:
-			setDampingDirLin(p_value);
-			break;
-		case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS:
-			setSoftnessOrthoLin(p_value);
-			break;
-		case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION:
-			setRestitutionOrthoLin(p_value);
-			break;
-		case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING:
-			setDampingOrthoLin(p_value);
-			break;
-		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER:
-			setUpperAngLimit(p_value);
-			break;
-		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER:
-			setLowerAngLimit(p_value);
-			break;
-		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS:
-			setSoftnessLimAng(p_value);
-			break;
-		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION:
-			setRestitutionLimAng(p_value);
-			break;
-		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING:
-			setDampingLimAng(p_value);
-			break;
-		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS:
-			setSoftnessDirAng(p_value);
-			break;
-		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION:
-			setRestitutionDirAng(p_value);
-			break;
-		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_DAMPING:
-			setDampingDirAng(p_value);
-			break;
-		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS:
-			setSoftnessOrthoAng(p_value);
-			break;
-		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION:
-			setRestitutionOrthoAng(p_value);
-			break;
-		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING:
-			setDampingOrthoAng(p_value);
-			break;
-		case PhysicsServer3D::SLIDER_JOINT_MAX:
-			break; // Can't happen, but silences warning
-	}
-}
-
-real_t SliderJointBullet::get_param(PhysicsServer3D::SliderJointParam p_param) const {
-	switch (p_param) {
-		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER:
-			return getUpperLinLimit();
-		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER:
-			return getLowerLinLimit();
-		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS:
-			return getSoftnessLimLin();
-		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION:
-			return getRestitutionLimLin();
-		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING:
-			return getDampingLimLin();
-		case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS:
-			return getSoftnessDirLin();
-		case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION:
-			return getRestitutionDirLin();
-		case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_DAMPING:
-			return getDampingDirLin();
-		case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS:
-			return getSoftnessOrthoLin();
-		case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION:
-			return getRestitutionOrthoLin();
-		case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING:
-			return getDampingOrthoLin();
-		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER:
-			return getUpperAngLimit();
-		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER:
-			return getLowerAngLimit();
-		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS:
-			return getSoftnessLimAng();
-		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION:
-			return getRestitutionLimAng();
-		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING:
-			return getDampingLimAng();
-		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS:
-			return getSoftnessDirAng();
-		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION:
-			return getRestitutionDirAng();
-		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_DAMPING:
-			return getDampingDirAng();
-		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS:
-			return getSoftnessOrthoAng();
-		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION:
-			return getRestitutionOrthoAng();
-		case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING:
-			return getDampingOrthoAng();
-		default:
-			return 0;
-	}
-}
diff --git a/modules/bullet/slider_joint_bullet.h b/modules/bullet/slider_joint_bullet.h
deleted file mode 100644
index c355eb340b..0000000000
--- a/modules/bullet/slider_joint_bullet.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/*************************************************************************/
-/*  slider_joint_bullet.h                                                */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef SLIDER_JOINT_BULLET_H
-#define SLIDER_JOINT_BULLET_H
-
-#include "joint_bullet.h"
-
-class RigidBodyBullet;
-
-class SliderJointBullet : public JointBullet {
-	class btSliderConstraint *sliderConstraint;
-
-public:
-	/// Reference frame is A
-	SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameInA, const Transform3D &frameInB);
-
-	virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_SLIDER; }
-
-	const RigidBodyBullet *getRigidBodyA() const;
-	const RigidBodyBullet *getRigidBodyB() const;
-	const Transform3D getCalculatedTransformA() const;
-	const Transform3D getCalculatedTransformB() const;
-	const Transform3D getFrameOffsetA() const;
-	const Transform3D getFrameOffsetB() const;
-	Transform3D getFrameOffsetA();
-	Transform3D getFrameOffsetB();
-	real_t getLowerLinLimit() const;
-	void setLowerLinLimit(real_t lowerLimit);
-	real_t getUpperLinLimit() const;
-	void setUpperLinLimit(real_t upperLimit);
-	real_t getLowerAngLimit() const;
-	void setLowerAngLimit(real_t lowerLimit);
-	real_t getUpperAngLimit() const;
-	void setUpperAngLimit(real_t upperLimit);
-
-	real_t getSoftnessDirLin() const;
-	real_t getRestitutionDirLin() const;
-	real_t getDampingDirLin() const;
-	real_t getSoftnessDirAng() const;
-	real_t getRestitutionDirAng() const;
-	real_t getDampingDirAng() const;
-	real_t getSoftnessLimLin() const;
-	real_t getRestitutionLimLin() const;
-	real_t getDampingLimLin() const;
-	real_t getSoftnessLimAng() const;
-	real_t getRestitutionLimAng() const;
-	real_t getDampingLimAng() const;
-	real_t getSoftnessOrthoLin() const;
-	real_t getRestitutionOrthoLin() const;
-	real_t getDampingOrthoLin() const;
-	real_t getSoftnessOrthoAng() const;
-	real_t getRestitutionOrthoAng() const;
-	real_t getDampingOrthoAng() const;
-	void setSoftnessDirLin(real_t softnessDirLin);
-	void setRestitutionDirLin(real_t restitutionDirLin);
-	void setDampingDirLin(real_t dampingDirLin);
-	void setSoftnessDirAng(real_t softnessDirAng);
-	void setRestitutionDirAng(real_t restitutionDirAng);
-	void setDampingDirAng(real_t dampingDirAng);
-	void setSoftnessLimLin(real_t softnessLimLin);
-	void setRestitutionLimLin(real_t restitutionLimLin);
-	void setDampingLimLin(real_t dampingLimLin);
-	void setSoftnessLimAng(real_t softnessLimAng);
-	void setRestitutionLimAng(real_t restitutionLimAng);
-	void setDampingLimAng(real_t dampingLimAng);
-	void setSoftnessOrthoLin(real_t softnessOrthoLin);
-	void setRestitutionOrthoLin(real_t restitutionOrthoLin);
-	void setDampingOrthoLin(real_t dampingOrthoLin);
-	void setSoftnessOrthoAng(real_t softnessOrthoAng);
-	void setRestitutionOrthoAng(real_t restitutionOrthoAng);
-	void setDampingOrthoAng(real_t dampingOrthoAng);
-	void setPoweredLinMotor(bool onOff);
-	bool getPoweredLinMotor();
-	void setTargetLinMotorVelocity(real_t targetLinMotorVelocity);
-	real_t getTargetLinMotorVelocity();
-	void setMaxLinMotorForce(real_t maxLinMotorForce);
-	real_t getMaxLinMotorForce();
-	void setPoweredAngMotor(bool onOff);
-	bool getPoweredAngMotor();
-	void setTargetAngMotorVelocity(real_t targetAngMotorVelocity);
-	real_t getTargetAngMotorVelocity();
-	void setMaxAngMotorForce(real_t maxAngMotorForce);
-	real_t getMaxAngMotorForce();
-	real_t getLinearPos();
-
-	void set_param(PhysicsServer3D::SliderJointParam p_param, real_t p_value);
-	real_t get_param(PhysicsServer3D::SliderJointParam p_param) const;
-};
-
-#endif // SLIDER_JOINT_BULLET_H
diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp
deleted file mode 100644
index ea5a059b9e..0000000000
--- a/modules/bullet/soft_body_bullet.cpp
+++ /dev/null
@@ -1,456 +0,0 @@
-/*************************************************************************/
-/*  soft_body_bullet.cpp                                                 */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "soft_body_bullet.h"
-
-#include "bullet_types_converter.h"
-#include "bullet_utilities.h"
-#include "space_bullet.h"
-
-#include "servers/rendering_server.h"
-
-SoftBodyBullet::SoftBodyBullet() :
-		CollisionObjectBullet(CollisionObjectBullet::TYPE_SOFT_BODY) {}
-
-SoftBodyBullet::~SoftBodyBullet() {
-}
-
-void SoftBodyBullet::reload_body() {
-	if (space) {
-		space->remove_soft_body(this);
-		space->add_soft_body(this);
-	}
-}
-
-void SoftBodyBullet::set_space(SpaceBullet *p_space) {
-	if (space) {
-		isScratched = false;
-		space->remove_soft_body(this);
-	}
-
-	space = p_space;
-
-	if (space) {
-		space->add_soft_body(this);
-	}
-}
-
-void SoftBodyBullet::on_enter_area(AreaBullet *p_area) {}
-
-void SoftBodyBullet::on_exit_area(AreaBullet *p_area) {}
-
-void SoftBodyBullet::update_rendering_server(RenderingServerHandler *p_rendering_server_handler) {
-	if (!bt_soft_body) {
-		return;
-	}
-
-	/// Update rendering server vertices
-	const btSoftBody::tNodeArray &nodes(bt_soft_body->m_nodes);
-	const int nodes_count = nodes.size();
-
-	const Vector<int> *vs_indices;
-	const void *vertex_position;
-	const void *vertex_normal;
-
-	for (int vertex_index = 0; vertex_index < nodes_count; ++vertex_index) {
-		vertex_position = reinterpret_cast<const void *>(&nodes[vertex_index].m_x);
-		vertex_normal = reinterpret_cast<const void *>(&nodes[vertex_index].m_n);
-
-		vs_indices = &indices_table[vertex_index];
-
-		const int vs_indices_size(vs_indices->size());
-		for (int x = 0; x < vs_indices_size; ++x) {
-			p_rendering_server_handler->set_vertex((*vs_indices)[x], vertex_position);
-			p_rendering_server_handler->set_normal((*vs_indices)[x], vertex_normal);
-		}
-	}
-
-	/// Generate AABB
-	btVector3 aabb_min;
-	btVector3 aabb_max;
-	bt_soft_body->getAabb(aabb_min, aabb_max);
-
-	btVector3 size(aabb_max - aabb_min);
-
-	AABB aabb;
-	B_TO_G(aabb_min, aabb.position);
-	B_TO_G(size, aabb.size);
-
-	p_rendering_server_handler->set_aabb(aabb);
-}
-
-void SoftBodyBullet::set_soft_mesh(RID p_mesh) {
-	destroy_soft_body();
-
-	soft_mesh = p_mesh;
-
-	if (soft_mesh.is_null()) {
-		return;
-	}
-
-	Array arrays = RenderingServer::get_singleton()->mesh_surface_get_arrays(soft_mesh, 0);
-	ERR_FAIL_COND(arrays.is_empty());
-
-	bool success = set_trimesh_body_shape(arrays[RS::ARRAY_INDEX], arrays[RS::ARRAY_VERTEX]);
-	if (!success) {
-		destroy_soft_body();
-	}
-}
-
-void SoftBodyBullet::destroy_soft_body() {
-	soft_mesh = RID();
-
-	if (!bt_soft_body) {
-		return;
-	}
-
-	if (space) {
-		/// Remove from world before deletion
-		space->remove_soft_body(this);
-	}
-
-	destroyBulletCollisionObject();
-	bt_soft_body = nullptr;
-}
-
-void SoftBodyBullet::set_soft_transform(const Transform3D &p_transform) {
-	reset_all_node_positions();
-	move_all_nodes(p_transform);
-}
-
-AABB SoftBodyBullet::get_bounds() const {
-	if (!bt_soft_body) {
-		return AABB();
-	}
-
-	btVector3 aabb_min;
-	btVector3 aabb_max;
-	bt_soft_body->getAabb(aabb_min, aabb_max);
-
-	btVector3 size(aabb_max - aabb_min);
-
-	AABB aabb;
-	B_TO_G(aabb_min, aabb.position);
-	B_TO_G(size, aabb.size);
-
-	return aabb;
-}
-
-void SoftBodyBullet::move_all_nodes(const Transform3D &p_transform) {
-	if (!bt_soft_body) {
-		return;
-	}
-	btTransform bt_transf;
-	G_TO_B(p_transform, bt_transf);
-	bt_soft_body->transform(bt_transf);
-}
-
-void SoftBodyBullet::set_node_position(int p_node_index, const Vector3 &p_global_position) {
-	btVector3 bt_pos;
-	G_TO_B(p_global_position, bt_pos);
-	set_node_position(p_node_index, bt_pos);
-}
-
-void SoftBodyBullet::set_node_position(int p_node_index, const btVector3 &p_global_position) {
-	if (bt_soft_body) {
-		bt_soft_body->m_nodes[p_node_index].m_q = bt_soft_body->m_nodes[p_node_index].m_x;
-		bt_soft_body->m_nodes[p_node_index].m_x = p_global_position;
-	}
-}
-
-void SoftBodyBullet::get_node_position(int p_node_index, Vector3 &r_position) const {
-	if (bt_soft_body) {
-		B_TO_G(bt_soft_body->m_nodes[p_node_index].m_x, r_position);
-	}
-}
-
-void SoftBodyBullet::set_node_mass(int p_node_index, btScalar p_mass) {
-	if (0 >= p_mass) {
-		pin_node(p_node_index);
-	} else {
-		unpin_node(p_node_index);
-	}
-	if (bt_soft_body) {
-		ERR_FAIL_INDEX(p_node_index, bt_soft_body->m_nodes.size());
-		bt_soft_body->setMass(p_node_index, p_mass);
-	}
-}
-
-btScalar SoftBodyBullet::get_node_mass(int p_node_index) const {
-	if (bt_soft_body) {
-		ERR_FAIL_INDEX_V(p_node_index, bt_soft_body->m_nodes.size(), 1);
-		return bt_soft_body->getMass(p_node_index);
-	} else {
-		return -1 == search_node_pinned(p_node_index) ? 1 : 0;
-	}
-}
-
-void SoftBodyBullet::reset_all_node_mass() {
-	if (bt_soft_body) {
-		for (int i = pinned_nodes.size() - 1; 0 <= i; --i) {
-			bt_soft_body->setMass(pinned_nodes[i], 1);
-		}
-	}
-	pinned_nodes.resize(0);
-}
-
-void SoftBodyBullet::reset_all_node_positions() {
-	if (soft_mesh.is_null()) {
-		return;
-	}
-
-	Array arrays = soft_mesh->surface_get_arrays(0);
-	Vector<Vector3> vs_vertices(arrays[RS::ARRAY_VERTEX]);
-	const Vector3 *vs_vertices_read = vs_vertices.ptr();
-
-	for (int vertex_index = bt_soft_body->m_nodes.size() - 1; 0 <= vertex_index; --vertex_index) {
-		G_TO_B(vs_vertices_read[indices_table[vertex_index][0]], bt_soft_body->m_nodes[vertex_index].m_x);
-
-		bt_soft_body->m_nodes[vertex_index].m_q = bt_soft_body->m_nodes[vertex_index].m_x;
-		bt_soft_body->m_nodes[vertex_index].m_v = btVector3(0, 0, 0);
-		bt_soft_body->m_nodes[vertex_index].m_f = btVector3(0, 0, 0);
-	}
-}
-
-void SoftBodyBullet::set_activation_state(bool p_active) {
-	if (p_active) {
-		bt_soft_body->setActivationState(ACTIVE_TAG);
-	} else {
-		bt_soft_body->setActivationState(WANTS_DEACTIVATION);
-	}
-}
-
-void SoftBodyBullet::set_total_mass(real_t p_val) {
-	if (0 >= p_val) {
-		p_val = 1;
-	}
-	total_mass = p_val;
-	if (bt_soft_body) {
-		bt_soft_body->setTotalMass(total_mass);
-	}
-}
-
-void SoftBodyBullet::set_linear_stiffness(real_t p_val) {
-	linear_stiffness = p_val;
-	if (bt_soft_body) {
-		mat0->m_kLST = linear_stiffness;
-	}
-}
-
-void SoftBodyBullet::set_simulation_precision(int p_val) {
-	simulation_precision = p_val;
-	if (bt_soft_body) {
-		bt_soft_body->m_cfg.piterations = simulation_precision;
-		bt_soft_body->m_cfg.viterations = simulation_precision;
-		bt_soft_body->m_cfg.diterations = simulation_precision;
-		bt_soft_body->m_cfg.citerations = simulation_precision;
-	}
-}
-
-void SoftBodyBullet::set_pressure_coefficient(real_t p_val) {
-	pressure_coefficient = p_val;
-	if (bt_soft_body) {
-		bt_soft_body->m_cfg.kPR = pressure_coefficient;
-	}
-}
-
-void SoftBodyBullet::set_damping_coefficient(real_t p_val) {
-	damping_coefficient = p_val;
-	if (bt_soft_body) {
-		bt_soft_body->m_cfg.kDP = damping_coefficient;
-	}
-}
-
-void SoftBodyBullet::set_drag_coefficient(real_t p_val) {
-	drag_coefficient = p_val;
-	if (bt_soft_body) {
-		bt_soft_body->m_cfg.kDG = drag_coefficient;
-	}
-}
-
-bool SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector3> p_vertices) {
-	ERR_FAIL_COND_V(p_indices.is_empty(), false);
-	ERR_FAIL_COND_V(p_vertices.is_empty(), false);
-
-	/// Parse rendering server indices to physical indices.
-	/// Merge all overlapping vertices and create a map of physical vertices to rendering server
-
-	{
-		/// This is the map of rendering server indices to physics indices (So it's the inverse of idices_map), Thanks to it I don't need make a heavy search in the indices_map
-		Vector<int> vs_indices_to_physics_table;
-
-		{ // Map vertices
-			indices_table.resize(0);
-
-			int index = 0;
-			Map<Vector3, int> unique_vertices;
-
-			const int vs_vertices_size(p_vertices.size());
-
-			const Vector3 *p_vertices_read = p_vertices.ptr();
-
-			for (int vs_vertex_index = 0; vs_vertex_index < vs_vertices_size; ++vs_vertex_index) {
-				Map<Vector3, int>::Element *e = unique_vertices.find(p_vertices_read[vs_vertex_index]);
-				int vertex_id;
-				if (e) {
-					// Already existing
-					vertex_id = e->value();
-				} else {
-					// Create new one
-					unique_vertices[p_vertices_read[vs_vertex_index]] = vertex_id = index++;
-					indices_table.push_back(Vector<int>());
-				}
-
-				indices_table.write[vertex_id].push_back(vs_vertex_index);
-				vs_indices_to_physics_table.push_back(vertex_id);
-			}
-		}
-
-		const int indices_map_size(indices_table.size());
-
-		Vector<btScalar> bt_vertices;
-
-		{ // Parse vertices to bullet
-
-			bt_vertices.resize(indices_map_size * 3);
-			const Vector3 *p_vertices_read = p_vertices.ptr();
-
-			for (int i = 0; i < indices_map_size; ++i) {
-				bt_vertices.write[3 * i + 0] = p_vertices_read[indices_table[i][0]].x;
-				bt_vertices.write[3 * i + 1] = p_vertices_read[indices_table[i][0]].y;
-				bt_vertices.write[3 * i + 2] = p_vertices_read[indices_table[i][0]].z;
-			}
-		}
-
-		Vector<int> bt_triangles;
-		const int triangles_size(p_indices.size() / 3);
-
-		{ // Parse indices
-
-			bt_triangles.resize(triangles_size * 3);
-
-			const int *p_indices_read = p_indices.ptr();
-
-			for (int i = 0; i < triangles_size; ++i) {
-				bt_triangles.write[3 * i + 0] = vs_indices_to_physics_table[p_indices_read[3 * i + 2]];
-				bt_triangles.write[3 * i + 1] = vs_indices_to_physics_table[p_indices_read[3 * i + 1]];
-				bt_triangles.write[3 * i + 2] = vs_indices_to_physics_table[p_indices_read[3 * i + 0]];
-			}
-		}
-
-		btSoftBodyWorldInfo fake_world_info;
-		bt_soft_body = btSoftBodyHelpers::CreateFromTriMesh(fake_world_info, &bt_vertices[0], &bt_triangles[0], triangles_size, false);
-		setup_soft_body();
-	}
-
-	return true;
-}
-
-void SoftBodyBullet::setup_soft_body() {
-	if (!bt_soft_body) {
-		return;
-	}
-
-	// Soft body setup
-	setupBulletCollisionObject(bt_soft_body);
-	bt_soft_body->m_worldInfo = nullptr; // Remove fake world info
-	bt_soft_body->getCollisionShape()->setMargin(0.01);
-	bt_soft_body->setCollisionFlags(bt_soft_body->getCollisionFlags() & (~(btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT)));
-
-	// Space setup
-	if (space) {
-		space->add_soft_body(this);
-	}
-
-	mat0 = bt_soft_body->appendMaterial();
-
-	// Assign soft body data
-	bt_soft_body->generateBendingConstraints(2, mat0);
-
-	mat0->m_kLST = linear_stiffness;
-
-	// Clusters allow to have Soft vs Soft collision but doesn't work well right now
-
-	//bt_soft_body->m_cfg.kSRHR_CL = 1;// Soft vs rigid hardness [0,1] (cluster only)
-	//bt_soft_body->m_cfg.kSKHR_CL = 1;// Soft vs kinematic hardness [0,1] (cluster only)
-	//bt_soft_body->m_cfg.kSSHR_CL = 1;// Soft vs soft hardness [0,1] (cluster only)
-	//bt_soft_body->m_cfg.kSR_SPLT_CL = 1; // Soft vs rigid impulse split [0,1] (cluster only)
-	//bt_soft_body->m_cfg.kSK_SPLT_CL = 1; // Soft vs kinematic impulse split [0,1] (cluster only)
-	//bt_soft_body->m_cfg.kSS_SPLT_CL = 1; // Soft vs Soft impulse split [0,1] (cluster only)
-	//bt_soft_body->m_cfg.collisions = btSoftBody::fCollision::CL_SS + btSoftBody::fCollision::CL_RS + btSoftBody::fCollision::VF_SS;
-	//bt_soft_body->generateClusters(64);
-
-	bt_soft_body->m_cfg.piterations = simulation_precision;
-	bt_soft_body->m_cfg.viterations = simulation_precision;
-	bt_soft_body->m_cfg.diterations = simulation_precision;
-	bt_soft_body->m_cfg.citerations = simulation_precision;
-	bt_soft_body->m_cfg.kDP = damping_coefficient;
-	bt_soft_body->m_cfg.kDG = drag_coefficient;
-	bt_soft_body->m_cfg.kPR = pressure_coefficient;
-	bt_soft_body->setTotalMass(total_mass);
-
-	btSoftBodyHelpers::ReoptimizeLinkOrder(bt_soft_body);
-	bt_soft_body->updateBounds();
-
-	// Set pinned nodes
-	for (int i = pinned_nodes.size() - 1; 0 <= i; --i) {
-		const int node_index = pinned_nodes[i];
-		ERR_CONTINUE(0 > node_index || bt_soft_body->m_nodes.size() <= node_index);
-		bt_soft_body->setMass(node_index, 0);
-	}
-}
-
-void SoftBodyBullet::pin_node(int p_node_index) {
-	if (bt_soft_body) {
-		ERR_FAIL_INDEX(p_node_index, bt_soft_body->m_nodes.size());
-	}
-	if (-1 == search_node_pinned(p_node_index)) {
-		pinned_nodes.push_back(p_node_index);
-	}
-}
-
-void SoftBodyBullet::unpin_node(int p_node_index) {
-	if (bt_soft_body) {
-		ERR_FAIL_INDEX(p_node_index, bt_soft_body->m_nodes.size());
-	}
-	const int id = search_node_pinned(p_node_index);
-	if (-1 != id) {
-		pinned_nodes.remove_at(id);
-	}
-}
-
-int SoftBodyBullet::search_node_pinned(int p_node_index) const {
-	for (int i = pinned_nodes.size() - 1; 0 <= i; --i) {
-		if (p_node_index == pinned_nodes[i]) {
-			return i;
-		}
-	}
-	return -1;
-}
diff --git a/modules/bullet/soft_body_bullet.h b/modules/bullet/soft_body_bullet.h
deleted file mode 100644
index 82a7bb3b0c..0000000000
--- a/modules/bullet/soft_body_bullet.h
+++ /dev/null
@@ -1,144 +0,0 @@
-/*************************************************************************/
-/*  soft_body_bullet.h                                                   */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef SOFT_BODY_BULLET_H
-#define SOFT_BODY_BULLET_H
-
-#include "collision_object_bullet.h"
-
-#ifdef None
-/// This is required to remove the macro None defined by x11 compiler because this word "None" is used internally by Bullet
-#undef None
-#define x11_None 0L
-#endif
-
-#include "BulletSoftBody/btSoftBodyHelpers.h"
-#include "collision_object_bullet.h"
-#include "servers/physics_server_3d.h"
-
-#ifdef x11_None
-/// This is required to re add the macro None defined by x11 compiler
-#undef x11_None
-#define None 0L
-#endif
-
-class RenderingServerHandler;
-
-class SoftBodyBullet : public CollisionObjectBullet {
-private:
-	btSoftBody *bt_soft_body = nullptr;
-	Vector<Vector<int>> indices_table;
-	btSoftBody::Material *mat0 = nullptr; // This is just a copy of pointer managed by btSoftBody
-	bool isScratched = false;
-
-	RID soft_mesh;
-
-	int simulation_precision = 5;
-	real_t total_mass = 1.;
-	real_t linear_stiffness = 0.5; // [0,1]
-	real_t pressure_coefficient = 0.; // [-inf,+inf]
-	real_t damping_coefficient = 0.01; // [0,1]
-	real_t drag_coefficient = 0.; // [0,1]
-	Vector<int> pinned_nodes;
-
-	// Other property to add
-	//btScalar				kVC;			// Volume conversation coefficient [0,+inf]
-	//btScalar				kDF;			// Dynamic friction coefficient [0,1]
-	//btScalar				kMT;			// Pose matching coefficient [0,1]
-	//btScalar				kCHR;			// Rigid contacts hardness [0,1]
-	//btScalar				kKHR;			// Kinetic contacts hardness [0,1]
-	//btScalar				kSHR;			// Soft contacts hardness [0,1]
-
-public:
-	SoftBodyBullet();
-	~SoftBodyBullet();
-
-	virtual void reload_body();
-	virtual void set_space(SpaceBullet *p_space);
-
-	virtual void dispatch_callbacks() {}
-	virtual void on_collision_filters_change() {}
-	virtual void on_collision_checker_start() {}
-	virtual void on_collision_checker_end() {}
-	virtual void on_enter_area(AreaBullet *p_area);
-	virtual void on_exit_area(AreaBullet *p_area);
-
-	_FORCE_INLINE_ btSoftBody *get_bt_soft_body() const { return bt_soft_body; }
-
-	void update_rendering_server(RenderingServerHandler *p_rendering_server_handler);
-
-	void set_soft_mesh(RID p_mesh);
-	void destroy_soft_body();
-
-	// Special function. This function has bad performance
-	void set_soft_transform(const Transform3D &p_transform);
-
-	AABB get_bounds() const;
-
-	void move_all_nodes(const Transform3D &p_transform);
-	void set_node_position(int node_index, const Vector3 &p_global_position);
-	void set_node_position(int node_index, const btVector3 &p_global_position);
-	void get_node_position(int node_index, Vector3 &r_position) const;
-
-	void set_node_mass(int node_index, btScalar p_mass);
-	btScalar get_node_mass(int node_index) const;
-	void reset_all_node_mass();
-	void reset_all_node_positions();
-
-	void set_activation_state(bool p_active);
-
-	void set_total_mass(real_t p_val);
-	_FORCE_INLINE_ real_t get_total_mass() const { return total_mass; }
-
-	void set_linear_stiffness(real_t p_val);
-	_FORCE_INLINE_ real_t get_linear_stiffness() const { return linear_stiffness; }
-
-	void set_simulation_precision(int p_val);
-	_FORCE_INLINE_ int get_simulation_precision() const { return simulation_precision; }
-
-	void set_pressure_coefficient(real_t p_val);
-	_FORCE_INLINE_ real_t get_pressure_coefficient() const { return pressure_coefficient; }
-
-	void set_damping_coefficient(real_t p_val);
-	_FORCE_INLINE_ real_t get_damping_coefficient() const { return damping_coefficient; }
-
-	void set_drag_coefficient(real_t p_val);
-	_FORCE_INLINE_ real_t get_drag_coefficient() const { return drag_coefficient; }
-
-private:
-	bool set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector3> p_vertices);
-	void setup_soft_body();
-
-	void pin_node(int p_node_index);
-	void unpin_node(int p_node_index);
-	int search_node_pinned(int p_node_index) const;
-};
-
-#endif // SOFT_BODY_BULLET_H
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
deleted file mode 100644
index 460b78d778..0000000000
--- a/modules/bullet/space_bullet.cpp
+++ /dev/null
@@ -1,1436 +0,0 @@
-/*************************************************************************/
-/*  space_bullet.cpp                                                     */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "space_bullet.h"
-
-#include "bullet_physics_server.h"
-#include "bullet_types_converter.h"
-#include "bullet_utilities.h"
-#include "constraint_bullet.h"
-#include "core/config/project_settings.h"
-#include "core/string/ustring.h"
-#include "godot_collision_configuration.h"
-#include "godot_collision_dispatcher.h"
-#include "rigid_body_bullet.h"
-#include "servers/physics_server_3d.h"
-#include "soft_body_bullet.h"
-
-#include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h>
-#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
-#include <BulletCollision/CollisionDispatch/btGhostObject.h>
-#include <BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h>
-#include <BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h>
-#include <BulletCollision/NarrowPhaseCollision/btPointCollector.h>
-#include <BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h>
-#include <BulletSoftBody/btSoftRigidDynamicsWorld.h>
-#include <btBulletDynamicsCommon.h>
-
-#include <assert.h>
-
-BulletPhysicsDirectSpaceState::BulletPhysicsDirectSpaceState(SpaceBullet *p_space) :
-		PhysicsDirectSpaceState3D(),
-		space(p_space) {}
-
-int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
-	if (p_result_max <= 0) {
-		return 0;
-	}
-
-	btVector3 bt_point;
-	G_TO_B(p_point, bt_point);
-
-	btSphereShape sphere_point(0.001f);
-	btCollisionObject collision_object_point;
-	collision_object_point.setCollisionShape(&sphere_point);
-	collision_object_point.setWorldTransform(btTransform(btQuaternion::getIdentity(), bt_point));
-
-	// Setup query
-	GodotAllContactResultCallback btResult(&collision_object_point, r_results, p_result_max, &p_exclude, p_collide_with_bodies, p_collide_with_areas);
-	btResult.m_collisionFilterGroup = 0;
-	btResult.m_collisionFilterMask = p_collision_mask;
-	space->dynamicsWorld->contactTest(&collision_object_point, btResult);
-
-	// The results are already populated by GodotAllConvexResultCallback
-	return btResult.m_count;
-}
-
-bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_ray) {
-	btVector3 btVec_from;
-	btVector3 btVec_to;
-
-	G_TO_B(p_from, btVec_from);
-	G_TO_B(p_to, btVec_to);
-
-	// setup query
-	GodotClosestRayResultCallback btResult(btVec_from, btVec_to, &p_exclude, p_collide_with_bodies, p_collide_with_areas);
-	btResult.m_collisionFilterGroup = 0;
-	btResult.m_collisionFilterMask = p_collision_mask;
-	btResult.m_pickRay = p_pick_ray;
-
-	space->dynamicsWorld->rayTest(btVec_from, btVec_to, btResult);
-	if (btResult.hasHit()) {
-		B_TO_G(btResult.m_hitPointWorld, r_result.position);
-		B_TO_G(btResult.m_hitNormalWorld.normalize(), r_result.normal);
-		CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btResult.m_collisionObject->getUserPointer());
-		if (gObj) {
-			r_result.shape = btResult.m_shapeId;
-			r_result.rid = gObj->get_self();
-			r_result.collider_id = gObj->get_instance_id();
-			r_result.collider = r_result.collider_id.is_null() ? nullptr : ObjectDB::get_instance(r_result.collider_id);
-		} else {
-			WARN_PRINT("The raycast performed has hit a collision object that is not part of Godot scene, please check it.");
-		}
-		return true;
-	} else {
-		return false;
-	}
-}
-
-int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
-	if (p_result_max <= 0) {
-		return 0;
-	}
-
-	ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get_or_null(p_shape);
-	ERR_FAIL_COND_V(!shape, 0);
-
-	btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale_abs(), p_margin);
-	if (!btShape->isConvex()) {
-		bulletdelete(btShape);
-		ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
-		return 0;
-	}
-	btConvexShape *btConvex = static_cast<btConvexShape *>(btShape);
-
-	btTransform bt_xform;
-	G_TO_B(p_xform, bt_xform);
-	UNSCALE_BT_BASIS(bt_xform);
-
-	btCollisionObject collision_object;
-	collision_object.setCollisionShape(btConvex);
-	collision_object.setWorldTransform(bt_xform);
-
-	GodotAllContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude, p_collide_with_bodies, p_collide_with_areas);
-	btQuery.m_collisionFilterGroup = 0;
-	btQuery.m_collisionFilterMask = p_collision_mask;
-	btQuery.m_closestDistanceThreshold = 0;
-	space->dynamicsWorld->contactTest(&collision_object, btQuery);
-
-	bulletdelete(btConvex);
-
-	return btQuery.m_count;
-}
-
-bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) {
-	r_closest_safe = 0.0f;
-	r_closest_unsafe = 0.0f;
-	btVector3 bt_motion;
-	G_TO_B(p_motion, bt_motion);
-
-	ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get_or_null(p_shape);
-	ERR_FAIL_COND_V(!shape, false);
-
-	btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin);
-	if (!btShape->isConvex()) {
-		bulletdelete(btShape);
-		ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
-		return false;
-	}
-	btConvexShape *bt_convex_shape = static_cast<btConvexShape *>(btShape);
-
-	btTransform bt_xform_from;
-	G_TO_B(p_xform, bt_xform_from);
-	UNSCALE_BT_BASIS(bt_xform_from);
-
-	btTransform bt_xform_to(bt_xform_from);
-	bt_xform_to.getOrigin() += bt_motion;
-
-	if ((bt_xform_to.getOrigin() - bt_xform_from.getOrigin()).fuzzyZero()) {
-		r_closest_safe = 1.0f;
-		r_closest_unsafe = 1.0f;
-		bulletdelete(btShape);
-		return true;
-	}
-
-	GodotClosestConvexResultCallback btResult(bt_xform_from.getOrigin(), bt_xform_to.getOrigin(), &p_exclude, p_collide_with_bodies, p_collide_with_areas);
-	btResult.m_collisionFilterGroup = 0;
-	btResult.m_collisionFilterMask = p_collision_mask;
-
-	space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult, space->dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration);
-
-	if (btResult.hasHit()) {
-		const btScalar l = bt_motion.length();
-		r_closest_unsafe = btResult.m_closestHitFraction;
-		r_closest_safe = MAX(r_closest_unsafe - (1 - ((l - 0.01) / l)), 0);
-		if (r_info) {
-			if (btCollisionObject::CO_RIGID_BODY == btResult.m_hitCollisionObject->getInternalType()) {
-				B_TO_G(static_cast<const btRigidBody *>(btResult.m_hitCollisionObject)->getVelocityInLocalPoint(btResult.m_hitPointWorld), r_info->linear_velocity);
-			}
-			CollisionObjectBullet *collision_object = static_cast<CollisionObjectBullet *>(btResult.m_hitCollisionObject->getUserPointer());
-			B_TO_G(btResult.m_hitPointWorld, r_info->point);
-			B_TO_G(btResult.m_hitNormalWorld, r_info->normal);
-			r_info->rid = collision_object->get_self();
-			r_info->collider_id = collision_object->get_instance_id();
-			r_info->shape = btResult.m_shapeId;
-		}
-	} else {
-		r_closest_safe = 1.0f;
-		r_closest_unsafe = 1.0f;
-	}
-
-	bulletdelete(bt_convex_shape);
-	return true; // Mean success
-}
-
-/// Returns the list of contacts pairs in this order: Local contact, other body contact
-bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
-	if (p_result_max <= 0) {
-		return false;
-	}
-
-	ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get_or_null(p_shape);
-	ERR_FAIL_COND_V(!shape, false);
-
-	btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin);
-	if (!btShape->isConvex()) {
-		bulletdelete(btShape);
-		ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
-		return false;
-	}
-	btConvexShape *btConvex = static_cast<btConvexShape *>(btShape);
-
-	btTransform bt_xform;
-	G_TO_B(p_shape_xform, bt_xform);
-	UNSCALE_BT_BASIS(bt_xform);
-
-	btCollisionObject collision_object;
-	collision_object.setCollisionShape(btConvex);
-	collision_object.setWorldTransform(bt_xform);
-
-	GodotContactPairContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude, p_collide_with_bodies, p_collide_with_areas);
-	btQuery.m_collisionFilterGroup = 0;
-	btQuery.m_collisionFilterMask = p_collision_mask;
-	btQuery.m_closestDistanceThreshold = 0;
-	space->dynamicsWorld->contactTest(&collision_object, btQuery);
-
-	r_result_count = btQuery.m_count;
-	bulletdelete(btConvex);
-
-	return btQuery.m_count;
-}
-
-bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
-	ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get_or_null(p_shape);
-	ERR_FAIL_COND_V(!shape, false);
-
-	btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin);
-	if (!btShape->isConvex()) {
-		bulletdelete(btShape);
-		ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
-		return false;
-	}
-	btConvexShape *btConvex = static_cast<btConvexShape *>(btShape);
-
-	btTransform bt_xform;
-	G_TO_B(p_shape_xform, bt_xform);
-	UNSCALE_BT_BASIS(bt_xform);
-
-	btCollisionObject collision_object;
-	collision_object.setCollisionShape(btConvex);
-	collision_object.setWorldTransform(bt_xform);
-
-	GodotRestInfoContactResultCallback btQuery(&collision_object, r_info, &p_exclude, p_collide_with_bodies, p_collide_with_areas);
-	btQuery.m_collisionFilterGroup = 0;
-	btQuery.m_collisionFilterMask = p_collision_mask;
-	btQuery.m_closestDistanceThreshold = 0;
-	space->dynamicsWorld->contactTest(&collision_object, btQuery);
-
-	bulletdelete(btConvex);
-
-	if (btQuery.m_collided) {
-		if (btCollisionObject::CO_RIGID_BODY == btQuery.m_rest_info_collision_object->getInternalType()) {
-			B_TO_G(static_cast<const btRigidBody *>(btQuery.m_rest_info_collision_object)->getVelocityInLocalPoint(btQuery.m_rest_info_bt_point), r_info->linear_velocity);
-		}
-		B_TO_G(btQuery.m_rest_info_bt_point, r_info->point);
-	}
-
-	return btQuery.m_collided;
-}
-
-Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const {
-	RigidCollisionObjectBullet *rigid_object = space->get_physics_server()->get_rigid_collision_object(p_object);
-	ERR_FAIL_COND_V(!rigid_object, Vector3());
-
-	btVector3 out_closest_point(0, 0, 0);
-	btScalar out_distance = 1e20;
-
-	btVector3 bt_point;
-	G_TO_B(p_point, bt_point);
-
-	btSphereShape point_shape(0.);
-
-	btCollisionShape *shape;
-	btConvexShape *convex_shape;
-	btTransform child_transform;
-	btTransform body_transform(rigid_object->get_bt_collision_object()->getWorldTransform());
-
-	btGjkPairDetector::ClosestPointInput input;
-	input.m_transformA.getBasis().setIdentity();
-	input.m_transformA.setOrigin(bt_point);
-
-	bool shapes_found = false;
-
-	for (int i = rigid_object->get_shape_count() - 1; 0 <= i; --i) {
-		shape = rigid_object->get_bt_shape(i);
-		if (shape->isConvex()) {
-			child_transform = rigid_object->get_bt_shape_transform(i);
-			convex_shape = static_cast<btConvexShape *>(shape);
-
-			input.m_transformB = body_transform * child_transform;
-
-			btPointCollector result;
-			btGjkPairDetector gjk_pair_detector(&point_shape, convex_shape, space->gjk_simplex_solver, space->gjk_epa_pen_solver);
-			gjk_pair_detector.getClosestPoints(input, result, nullptr);
-
-			if (out_distance > result.m_distance) {
-				out_distance = result.m_distance;
-				out_closest_point = result.m_pointInWorld;
-			}
-		}
-		shapes_found = true;
-	}
-
-	if (shapes_found) {
-		Vector3 out;
-		B_TO_G(out_closest_point, out);
-		return out;
-	} else {
-		// no shapes found, use distance to origin.
-		return rigid_object->get_transform().get_origin();
-	}
-}
-
-SpaceBullet::SpaceBullet() {
-	create_empty_world(GLOBAL_DEF("physics/3d/active_soft_world", true));
-	direct_access = memnew(BulletPhysicsDirectSpaceState(this));
-}
-
-SpaceBullet::~SpaceBullet() {
-	memdelete(direct_access);
-	destroy_world();
-}
-
-void SpaceBullet::flush_queries() {
-	const btCollisionObjectArray &colObjArray = dynamicsWorld->getCollisionObjectArray();
-	for (int i = colObjArray.size() - 1; 0 <= i; --i) {
-		static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer())->dispatch_callbacks();
-	}
-}
-
-void SpaceBullet::step(real_t p_delta_time) {
-	delta_time = p_delta_time;
-	dynamicsWorld->stepSimulation(p_delta_time, 0, 0);
-}
-
-void SpaceBullet::set_param(PhysicsServer3D::AreaParameter p_param, const Variant &p_value) {
-	assert(dynamicsWorld);
-
-	switch (p_param) {
-		case PhysicsServer3D::AREA_PARAM_GRAVITY:
-			gravityMagnitude = p_value;
-			update_gravity();
-			break;
-		case PhysicsServer3D::AREA_PARAM_GRAVITY_VECTOR:
-			gravityDirection = p_value;
-			update_gravity();
-			break;
-		case PhysicsServer3D::AREA_PARAM_LINEAR_DAMP:
-			linear_damp = p_value;
-			break;
-		case PhysicsServer3D::AREA_PARAM_ANGULAR_DAMP:
-			angular_damp = p_value;
-			break;
-		case PhysicsServer3D::AREA_PARAM_PRIORITY:
-			// Priority is always 0, the lower
-			break;
-		case PhysicsServer3D::AREA_PARAM_GRAVITY_IS_POINT:
-		case PhysicsServer3D::AREA_PARAM_GRAVITY_DISTANCE_SCALE:
-		case PhysicsServer3D::AREA_PARAM_GRAVITY_POINT_ATTENUATION:
-			break;
-		default:
-			WARN_PRINT("This set parameter (" + itos(p_param) + ") is ignored, the SpaceBullet doesn't support it.");
-			break;
-	}
-}
-
-Variant SpaceBullet::get_param(PhysicsServer3D::AreaParameter p_param) {
-	switch (p_param) {
-		case PhysicsServer3D::AREA_PARAM_GRAVITY:
-			return gravityMagnitude;
-		case PhysicsServer3D::AREA_PARAM_GRAVITY_VECTOR:
-			return gravityDirection;
-		case PhysicsServer3D::AREA_PARAM_LINEAR_DAMP:
-			return linear_damp;
-		case PhysicsServer3D::AREA_PARAM_ANGULAR_DAMP:
-			return angular_damp;
-		case PhysicsServer3D::AREA_PARAM_PRIORITY:
-			return 0; // Priority is always 0, the lower
-		case PhysicsServer3D::AREA_PARAM_GRAVITY_IS_POINT:
-			return false;
-		case PhysicsServer3D::AREA_PARAM_GRAVITY_DISTANCE_SCALE:
-			return 0;
-		case PhysicsServer3D::AREA_PARAM_GRAVITY_POINT_ATTENUATION:
-			return 0;
-		default:
-			WARN_PRINT("This get parameter (" + itos(p_param) + ") is ignored, the SpaceBullet doesn't support it.");
-			return Variant();
-	}
-}
-
-void SpaceBullet::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_value) {
-	switch (p_param) {
-		case PhysicsServer3D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS:
-		case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_SEPARATION:
-		case PhysicsServer3D::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION:
-		case PhysicsServer3D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD:
-		case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD:
-		case PhysicsServer3D::SPACE_PARAM_BODY_TIME_TO_SLEEP:
-		default:
-			WARN_PRINT("This set parameter (" + itos(p_param) + ") is ignored, the SpaceBullet doesn't support it.");
-			break;
-	}
-}
-
-real_t SpaceBullet::get_param(PhysicsServer3D::SpaceParameter p_param) {
-	switch (p_param) {
-		case PhysicsServer3D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS:
-		case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_SEPARATION:
-		case PhysicsServer3D::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION:
-		case PhysicsServer3D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD:
-		case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD:
-		case PhysicsServer3D::SPACE_PARAM_BODY_TIME_TO_SLEEP:
-		default:
-			WARN_PRINT("The SpaceBullet doesn't support this get parameter (" + itos(p_param) + "), 0 is returned.");
-			return 0.f;
-	}
-}
-
-void SpaceBullet::add_area(AreaBullet *p_area) {
-	areas.push_back(p_area);
-	dynamicsWorld->addCollisionObject(p_area->get_bt_ghost(), p_area->get_collision_layer(), p_area->get_collision_mask());
-}
-
-void SpaceBullet::remove_area(AreaBullet *p_area) {
-	areas.erase(p_area);
-	dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost());
-}
-
-void SpaceBullet::reload_collision_filters(AreaBullet *p_area) {
-	btGhostObject *ghost_object = p_area->get_bt_ghost();
-
-	btBroadphaseProxy *ghost_proxy = ghost_object->getBroadphaseHandle();
-	ghost_proxy->m_collisionFilterGroup = p_area->get_collision_layer();
-	ghost_proxy->m_collisionFilterMask = p_area->get_collision_mask();
-
-	dynamicsWorld->refreshBroadphaseProxy(ghost_object);
-}
-
-void SpaceBullet::add_rigid_body(RigidBodyBullet *p_body) {
-	if (p_body->is_static()) {
-		dynamicsWorld->addCollisionObject(p_body->get_bt_rigid_body(), p_body->get_collision_layer(), p_body->get_collision_mask());
-	} else {
-		dynamicsWorld->addRigidBody(p_body->get_bt_rigid_body(), p_body->get_collision_layer(), p_body->get_collision_mask());
-		p_body->scratch_space_override_modificator();
-	}
-}
-
-void SpaceBullet::remove_rigid_body_constraints(RigidBodyBullet *p_body) {
-	btRigidBody *btBody = p_body->get_bt_rigid_body();
-
-	int constraints = btBody->getNumConstraintRefs();
-	if (constraints > 0) {
-		ERR_PRINT("A body connected to joints was removed.");
-		for (int i = 0; i < constraints; i++) {
-			dynamicsWorld->removeConstraint(btBody->getConstraintRef(i));
-		}
-	}
-}
-
-void SpaceBullet::remove_rigid_body(RigidBodyBullet *p_body) {
-	btRigidBody *btBody = p_body->get_bt_rigid_body();
-
-	if (p_body->is_static()) {
-		dynamicsWorld->removeCollisionObject(btBody);
-	} else {
-		dynamicsWorld->removeRigidBody(btBody);
-	}
-}
-
-void SpaceBullet::reload_collision_filters(RigidBodyBullet *p_body) {
-	btRigidBody *rigid_body = p_body->get_bt_rigid_body();
-
-	btBroadphaseProxy *body_proxy = rigid_body->getBroadphaseProxy();
-	body_proxy->m_collisionFilterGroup = p_body->get_collision_layer();
-	body_proxy->m_collisionFilterMask = p_body->get_collision_mask();
-
-	dynamicsWorld->refreshBroadphaseProxy(rigid_body);
-}
-
-void SpaceBullet::add_soft_body(SoftBodyBullet *p_body) {
-	if (is_using_soft_world()) {
-		if (p_body->get_bt_soft_body()) {
-			p_body->get_bt_soft_body()->m_worldInfo = get_soft_body_world_info();
-			static_cast<btSoftRigidDynamicsWorld *>(dynamicsWorld)->addSoftBody(p_body->get_bt_soft_body(), p_body->get_collision_layer(), p_body->get_collision_mask());
-		}
-	} else {
-		ERR_PRINT("This soft body can't be added to non soft world");
-	}
-}
-
-void SpaceBullet::remove_soft_body(SoftBodyBullet *p_body) {
-	if (is_using_soft_world()) {
-		if (p_body->get_bt_soft_body()) {
-			static_cast<btSoftRigidDynamicsWorld *>(dynamicsWorld)->removeSoftBody(p_body->get_bt_soft_body());
-			p_body->get_bt_soft_body()->m_worldInfo = nullptr;
-		}
-	}
-}
-
-void SpaceBullet::reload_collision_filters(SoftBodyBullet *p_body) {
-	// This is necessary to change collision filter
-	remove_soft_body(p_body);
-	add_soft_body(p_body);
-}
-
-void SpaceBullet::add_constraint(ConstraintBullet *p_constraint, bool disableCollisionsBetweenLinkedBodies) {
-	p_constraint->set_space(this);
-	dynamicsWorld->addConstraint(p_constraint->get_bt_constraint(), disableCollisionsBetweenLinkedBodies);
-}
-
-void SpaceBullet::remove_constraint(ConstraintBullet *p_constraint) {
-	dynamicsWorld->removeConstraint(p_constraint->get_bt_constraint());
-}
-
-int SpaceBullet::get_num_collision_objects() const {
-	return dynamicsWorld->getNumCollisionObjects();
-}
-
-void SpaceBullet::remove_all_collision_objects() {
-	for (int i = dynamicsWorld->getNumCollisionObjects() - 1; 0 <= i; --i) {
-		btCollisionObject *btObj = dynamicsWorld->getCollisionObjectArray()[i];
-		CollisionObjectBullet *colObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
-		colObj->set_space(nullptr);
-	}
-}
-
-void onBulletTickCallback(btDynamicsWorld *p_dynamicsWorld, btScalar timeStep) {
-	const btCollisionObjectArray &colObjArray = p_dynamicsWorld->getCollisionObjectArray();
-
-	// Notify all Collision objects the collision checker is started
-	for (int i = colObjArray.size() - 1; 0 <= i; --i) {
-		static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer())->on_collision_checker_start();
-	}
-
-	SpaceBullet *sb = static_cast<SpaceBullet *>(p_dynamicsWorld->getWorldUserInfo());
-	sb->check_ghost_overlaps();
-	sb->check_body_collision();
-
-	for (int i = colObjArray.size() - 1; 0 <= i; --i) {
-		static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer())->on_collision_checker_end();
-	}
-}
-
-BulletPhysicsDirectSpaceState *SpaceBullet::get_direct_state() {
-	return direct_access;
-}
-
-btScalar calculateGodotCombinedRestitution(const btCollisionObject *body0, const btCollisionObject *body1) {
-	return CLAMP(body0->getRestitution() + body1->getRestitution(), 0, 1);
-}
-
-btScalar calculateGodotCombinedFriction(const btCollisionObject *body0, const btCollisionObject *body1) {
-	return ABS(MIN(body0->getFriction(), body1->getFriction()));
-}
-
-void SpaceBullet::create_empty_world(bool p_create_soft_world) {
-	gjk_epa_pen_solver = bulletnew(btGjkEpaPenetrationDepthSolver);
-	gjk_simplex_solver = bulletnew(btVoronoiSimplexSolver);
-
-	void *world_mem;
-	if (p_create_soft_world) {
-		world_mem = malloc(sizeof(btSoftRigidDynamicsWorld));
-	} else {
-		world_mem = malloc(sizeof(btDiscreteDynamicsWorld));
-	}
-
-	ERR_FAIL_COND_MSG(!world_mem, "Out of memory.");
-
-	if (p_create_soft_world) {
-		collisionConfiguration = bulletnew(GodotSoftCollisionConfiguration(static_cast<btDiscreteDynamicsWorld *>(world_mem)));
-	} else {
-		collisionConfiguration = bulletnew(GodotCollisionConfiguration(static_cast<btDiscreteDynamicsWorld *>(world_mem)));
-	}
-
-	dispatcher = bulletnew(GodotCollisionDispatcher(collisionConfiguration));
-	broadphase = bulletnew(btDbvtBroadphase);
-	solver = bulletnew(btSequentialImpulseConstraintSolver);
-
-	if (p_create_soft_world) {
-		dynamicsWorld = new (world_mem) btSoftRigidDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
-		soft_body_world_info = bulletnew(btSoftBodyWorldInfo);
-	} else {
-		dynamicsWorld = new (world_mem) btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
-	}
-
-	ghostPairCallback = bulletnew(btGhostPairCallback);
-	godotFilterCallback = bulletnew(GodotFilterCallback);
-	gCalculateCombinedRestitutionCallback = &calculateGodotCombinedRestitution;
-	gCalculateCombinedFrictionCallback = &calculateGodotCombinedFriction;
-	gContactAddedCallback = &godotContactAddedCallback;
-
-	dynamicsWorld->setWorldUserInfo(this);
-
-	dynamicsWorld->setInternalTickCallback(onBulletTickCallback, this, false);
-	dynamicsWorld->getBroadphase()->getOverlappingPairCache()->setInternalGhostPairCallback(ghostPairCallback); // Setup ghost check
-	dynamicsWorld->getPairCache()->setOverlapFilterCallback(godotFilterCallback);
-
-	if (soft_body_world_info) {
-		soft_body_world_info->m_broadphase = broadphase;
-		soft_body_world_info->m_dispatcher = dispatcher;
-		soft_body_world_info->m_sparsesdf.Initialize();
-	}
-
-	update_gravity();
-}
-
-void SpaceBullet::destroy_world() {
-	/// The world elements (like: Collision Objects, Constraints, Shapes) are managed by godot
-
-	dynamicsWorld->getBroadphase()->getOverlappingPairCache()->setInternalGhostPairCallback(nullptr);
-	dynamicsWorld->getPairCache()->setOverlapFilterCallback(nullptr);
-
-	bulletdelete(ghostPairCallback);
-	bulletdelete(godotFilterCallback);
-
-	// Deallocate world
-	dynamicsWorld->~btDiscreteDynamicsWorld();
-	free(dynamicsWorld);
-	dynamicsWorld = nullptr;
-
-	bulletdelete(solver);
-	bulletdelete(broadphase);
-	bulletdelete(dispatcher);
-	bulletdelete(collisionConfiguration);
-	bulletdelete(soft_body_world_info);
-	bulletdelete(gjk_simplex_solver);
-	bulletdelete(gjk_epa_pen_solver);
-}
-
-void SpaceBullet::check_ghost_overlaps() {
-	// For each area
-	for (int area_idx = 0; area_idx < areas.size(); area_idx++) {
-		AreaBullet *area = areas[area_idx];
-		if (!area->is_monitoring()) {
-			continue;
-		}
-
-		btGhostObject *bt_ghost = area->get_bt_ghost();
-		const btTransform &area_transform = area->get_transform__bullet();
-		const btVector3 &area_scale(area->get_bt_body_scale());
-
-		// Mark all current overlapping shapes dirty.
-		area->mark_all_overlaps_dirty();
-
-		// Broadphase
-		const btAlignedObjectArray<btCollisionObject *> overlapping_pairs = bt_ghost->getOverlappingPairs();
-		// Narrowphase
-		for (int pair_idx = 0; pair_idx < overlapping_pairs.size(); pair_idx++) {
-			btCollisionObject *other_bt_collision_object = overlapping_pairs[pair_idx];
-			RigidCollisionObjectBullet *other_object = static_cast<RigidCollisionObjectBullet *>(other_bt_collision_object->getUserPointer());
-			const btTransform &other_transform = other_object->get_transform__bullet();
-			const btVector3 &other_scale(other_object->get_bt_body_scale());
-
-			if (!area->is_updated() && !other_object->is_updated()) {
-				area->mark_object_overlaps_inside(other_object);
-				continue;
-			}
-
-			if (other_bt_collision_object->getUserIndex() == CollisionObjectBullet::TYPE_AREA) {
-				if (!static_cast<AreaBullet *>(other_bt_collision_object->getUserPointer())->is_monitorable()) {
-					continue;
-				}
-			} else if (other_bt_collision_object->getUserIndex() != CollisionObjectBullet::TYPE_RIGID_BODY) {
-				continue;
-			}
-
-			// For each area shape
-			for (int our_shape_id = 0; our_shape_id < area->get_shape_count(); our_shape_id++) {
-				btCollisionShape *area_shape = area->get_bt_shape(our_shape_id);
-				if (!area_shape->isConvex()) {
-					continue;
-				}
-				btConvexShape *area_convex_shape = static_cast<btConvexShape *>(area_shape);
-
-				btTransform area_shape_transform(area->get_bt_shape_transform(our_shape_id));
-				area_shape_transform.getOrigin() *= area_scale;
-				btGjkPairDetector::ClosestPointInput gjk_input;
-				gjk_input.m_transformA = area_transform * area_shape_transform;
-
-				// For each other object shape
-				for (int other_shape_id = 0; other_shape_id < other_object->get_shape_count(); other_shape_id++) {
-					btCollisionShape *other_shape = other_object->get_bt_shape(other_shape_id);
-					btTransform other_shape_transform(other_object->get_bt_shape_transform(other_shape_id));
-					other_shape_transform.getOrigin() *= other_scale;
-					gjk_input.m_transformB = other_transform * other_shape_transform;
-
-					if (other_shape->isConvex()) {
-						btPointCollector result;
-						btGjkPairDetector gjk_pair_detector(
-								area_convex_shape,
-								static_cast<btConvexShape *>(other_shape),
-								gjk_simplex_solver,
-								gjk_epa_pen_solver);
-
-						gjk_pair_detector.getClosestPoints(gjk_input, result, nullptr);
-						if (result.m_distance <= 0) {
-							area->set_overlap(other_object, other_shape_id, our_shape_id);
-						}
-					} else { // Other shape is not convex.
-						btCollisionObjectWrapper obA(nullptr, area_convex_shape, bt_ghost, gjk_input.m_transformA, -1, our_shape_id);
-						btCollisionObjectWrapper obB(nullptr, other_shape, other_bt_collision_object, gjk_input.m_transformB, -1, other_shape_id);
-						btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, nullptr, BT_CONTACT_POINT_ALGORITHMS);
-
-						if (!algorithm) {
-							continue;
-						}
-
-						GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB);
-						algorithm->processCollision(&obA, &obB, dynamicsWorld->getDispatchInfo(), &contactPointResult);
-						algorithm->~btCollisionAlgorithm();
-						dispatcher->freeCollisionAlgorithm(algorithm);
-
-						if (contactPointResult.hasHit()) {
-							area->set_overlap(other_object, our_shape_id, other_shape_id);
-						}
-					}
-				} // End for each other object shape
-			} // End for each area shape
-		} // End for each overlapping pair
-
-		// All overlapping shapes still marked dirty must have exited.
-		area->mark_all_dirty_overlaps_as_exit();
-	} // End for each area
-}
-
-void SpaceBullet::check_body_collision() {
-#ifdef DEBUG_ENABLED
-	reset_debug_contact_count();
-#endif
-
-	const int numManifolds = dynamicsWorld->getDispatcher()->getNumManifolds();
-	for (int i = 0; i < numManifolds; ++i) {
-		btPersistentManifold *contactManifold = dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
-
-		// I know this static cast is a bit risky. But I'm checking its type just after it.
-		// This allow me to avoid a lot of other cast and checks
-		RigidBodyBullet *bodyA = static_cast<RigidBodyBullet *>(contactManifold->getBody0()->getUserPointer());
-		RigidBodyBullet *bodyB = static_cast<RigidBodyBullet *>(contactManifold->getBody1()->getUserPointer());
-
-		if (CollisionObjectBullet::TYPE_RIGID_BODY == bodyA->getType() && CollisionObjectBullet::TYPE_RIGID_BODY == bodyB->getType()) {
-			if (!bodyA->can_add_collision() && !bodyB->can_add_collision()) {
-				continue;
-			}
-
-			const int numContacts = contactManifold->getNumContacts();
-
-			/// Since I don't need report all contacts for these objects,
-			/// So report only the first
-#define REPORT_ALL_CONTACTS 0
-#if REPORT_ALL_CONTACTS
-			for (int j = 0; j < numContacts; j++) {
-				btManifoldPoint &pt = contactManifold->getContactPoint(j);
-#else
-			if (numContacts) {
-				btManifoldPoint &pt = contactManifold->getContactPoint(0);
-#endif
-				if (
-						pt.getDistance() < 0.0 ||
-						bodyA->was_colliding(bodyB) ||
-						bodyB->was_colliding(bodyA)) {
-					Vector3 collisionWorldPosition;
-					Vector3 collisionLocalPosition;
-					Vector3 normalOnB;
-					real_t appliedImpulse = pt.m_appliedImpulse;
-					B_TO_G(pt.m_normalWorldOnB, normalOnB);
-
-					// The pt.m_index only contains the shape index when more than one collision shape is used
-					// and only if the collision shape is not a concave collision shape.
-					// A value of -1 in pt.m_partId indicates the pt.m_index is a shape index.
-					int shape_index_a = 0;
-					if (bodyA->get_shape_count() > 1 && pt.m_partId0 == -1) {
-						shape_index_a = pt.m_index0;
-					}
-					int shape_index_b = 0;
-					if (bodyB->get_shape_count() > 1 && pt.m_partId1 == -1) {
-						shape_index_b = pt.m_index1;
-					}
-
-					if (bodyA->can_add_collision()) {
-						B_TO_G(pt.getPositionWorldOnB(), collisionWorldPosition);
-						/// pt.m_localPointB Doesn't report the exact point in local space
-						B_TO_G(pt.getPositionWorldOnB() - contactManifold->getBody1()->getWorldTransform().getOrigin(), collisionLocalPosition);
-						bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, appliedImpulse, shape_index_b, shape_index_a);
-					}
-					if (bodyB->can_add_collision()) {
-						B_TO_G(pt.getPositionWorldOnA(), collisionWorldPosition);
-						/// pt.m_localPointA Doesn't report the exact point in local space
-						B_TO_G(pt.getPositionWorldOnA() - contactManifold->getBody0()->getWorldTransform().getOrigin(), collisionLocalPosition);
-						bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, shape_index_a, shape_index_b);
-					}
-
-#ifdef DEBUG_ENABLED
-					if (is_debugging_contacts()) {
-						add_debug_contact(collisionWorldPosition);
-					}
-#endif
-				}
-			}
-		}
-	}
-}
-
-void SpaceBullet::update_gravity() {
-	btVector3 btGravity;
-	G_TO_B(gravityDirection * gravityMagnitude, btGravity);
-	//dynamicsWorld->setGravity(btGravity);
-	dynamicsWorld->setGravity(btVector3(0, 0, 0));
-	if (soft_body_world_info) {
-		soft_body_world_info->m_gravity = btGravity;
-	}
-}
-
-/// IMPORTANT: Please don't turn it ON this is not managed correctly!!
-/// I'm leaving this here just for future tests.
-/// Debug motion and normal vector drawing
-#define debug_test_motion 0
-
-#define RECOVERING_MOVEMENT_SCALE 0.4
-#define RECOVERING_MOVEMENT_CYCLES 4
-
-#if debug_test_motion
-
-#include "scene/3d/immediate_geometry.h"
-
-static ImmediateGeometry3D *motionVec(nullptr);
-static ImmediateGeometry3D *normalLine(nullptr);
-static Ref<StandardMaterial3D> red_mat;
-static Ref<StandardMaterial3D> blue_mat;
-#endif
-
-bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) {
-#if debug_test_motion
-	/// Yes I know this is not good, but I've used it as fast debugging hack.
-	/// I'm leaving it here just for speedup the other eventual debugs
-	if (!normalLine) {
-		motionVec = memnew(ImmediateGeometry3D);
-		normalLine = memnew(ImmediateGeometry3D);
-		SceneTree::get_singleton()->get_current_scene()->add_child(motionVec);
-		SceneTree::get_singleton()->get_current_scene()->add_child(normalLine);
-
-		motionVec->set_as_top_level(true);
-		normalLine->set_as_top_level(true);
-
-		red_mat = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
-		red_mat->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
-		red_mat->set_line_width(20.0);
-		red_mat->set_transparency(StandardMaterial3D::TRANSPARENCY_ALPHA);
-		red_mat->set_flag(StandardMaterial3D::FLAG_ALBEDO_FROM_VERTEX_COLOR, true);
-		red_mat->set_flag(StandardMaterial3D::FLAG_SRGB_VERTEX_COLOR, true);
-		red_mat->set_albedo(Color(1, 0, 0, 1));
-		motionVec->set_material_override(red_mat);
-
-		blue_mat = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
-		blue_mat->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
-		blue_mat->set_line_width(20.0);
-		blue_mat->set_transparency(StandardMaterial3D::TRANSPARENCY_ALPHA);
-		blue_mat->set_flag(StandardMaterial3D::FLAG_ALBEDO_FROM_VERTEX_COLOR, true);
-		blue_mat->set_flag(StandardMaterial3D::FLAG_SRGB_VERTEX_COLOR, true);
-		blue_mat->set_albedo(Color(0, 0, 1, 1));
-		normalLine->set_material_override(blue_mat);
-	}
-#endif
-
-	btTransform body_transform;
-	G_TO_B(p_from, body_transform);
-	UNSCALE_BT_BASIS(body_transform);
-
-	if (!p_body->get_kinematic_utilities()) {
-		p_body->init_kinematic_utilities();
-	}
-
-	btVector3 initial_recover_motion(0, 0, 0);
-	{ /// Phase one - multi shapes depenetration using margin
-		for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
-			if (!recover_from_penetration(p_body, body_transform, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, initial_recover_motion, nullptr, p_exclude)) {
-				break;
-			}
-		}
-		// Add recover movement in order to make it safe
-		body_transform.getOrigin() += initial_recover_motion;
-	}
-
-	btVector3 motion;
-	G_TO_B(p_motion, motion);
-	real_t total_length = motion.length();
-	real_t unsafe_fraction = 1.0;
-	real_t safe_fraction = 1.0;
-	{
-		// Phase two - sweep test, from a secure position without margin
-
-		const int shape_count(p_body->get_shape_count());
-
-#if debug_test_motion
-		Vector3 sup_line;
-		B_TO_G(body_safe_position.getOrigin(), sup_line);
-		motionVec->clear();
-		motionVec->begin(Mesh::PRIMITIVE_LINES, nullptr);
-		motionVec->add_vertex(sup_line);
-		motionVec->add_vertex(sup_line + p_motion * 10);
-		motionVec->end();
-#endif
-
-		for (int shIndex = 0; shIndex < shape_count; ++shIndex) {
-			if (p_body->is_shape_disabled(shIndex)) {
-				continue;
-			}
-
-			if (!p_body->get_bt_shape(shIndex)->isConvex()) {
-				// Skip no convex shape
-				continue;
-			}
-
-			if (p_exclude_raycast_shapes && p_body->get_bt_shape(shIndex)->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) {
-				// Skip rayshape in order to implement custom separation process
-				continue;
-			}
-
-			btConvexShape *convex_shape_test(static_cast<btConvexShape *>(p_body->get_bt_shape(shIndex)));
-
-			btTransform shape_world_from = body_transform * p_body->get_kinematic_utilities()->shapes[shIndex].transform;
-
-			btTransform shape_world_to(shape_world_from);
-			shape_world_to.getOrigin() += motion;
-
-			if ((shape_world_to.getOrigin() - shape_world_from.getOrigin()).fuzzyZero()) {
-				motion = btVector3(0, 0, 0);
-				break;
-			}
-
-			GodotKinClosestConvexResultCallback btResult(shape_world_from.getOrigin(), shape_world_to.getOrigin(), p_body, p_infinite_inertia, &p_exclude);
-			btResult.m_collisionFilterGroup = p_body->get_collision_layer();
-			btResult.m_collisionFilterMask = p_body->get_collision_mask();
-
-			dynamicsWorld->convexSweepTest(convex_shape_test, shape_world_from, shape_world_to, btResult, dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration);
-
-			if (btResult.hasHit()) {
-				if (total_length > CMP_EPSILON) {
-					real_t hit_fraction = btResult.m_closestHitFraction * motion.length() / total_length;
-					if (hit_fraction < unsafe_fraction) {
-						unsafe_fraction = hit_fraction;
-						real_t margin = p_body->get_kinematic_utilities()->safe_margin;
-						safe_fraction = MAX(hit_fraction - (1 - ((total_length - margin) / total_length)), 0);
-					}
-				}
-
-				/// Since for each sweep test I fix the motion of new shapes in base the recover result,
-				/// if another shape will hit something it means that has a deepest penetration respect the previous shape
-				motion *= btResult.m_closestHitFraction;
-			}
-		}
-
-		body_transform.getOrigin() += motion;
-	}
-
-	bool has_penetration = false;
-
-	{ /// Phase three - contact test with margin
-
-		btVector3 __rec(0, 0, 0);
-		RecoverResult r_recover_result;
-
-		has_penetration = recover_from_penetration(p_body, body_transform, 1, p_infinite_inertia, __rec, &r_recover_result, p_exclude);
-
-		// Parse results
-		if (r_result) {
-			B_TO_G(motion + initial_recover_motion + __rec, r_result->motion);
-
-			if (has_penetration) {
-				const btRigidBody *btRigid = static_cast<const btRigidBody *>(r_recover_result.other_collision_object);
-				CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(btRigid->getUserPointer());
-
-				B_TO_G(motion, r_result->remainder); // is the remaining movements
-				r_result->remainder = p_motion - r_result->remainder;
-
-				B_TO_G(r_recover_result.pointWorld, r_result->collision_point);
-				B_TO_G(r_recover_result.normal, r_result->collision_normal);
-				B_TO_G(btRigid->getVelocityInLocalPoint(r_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity); // It calculates velocity at point and assign it using special function Bullet_to_Godot
-				r_result->collider = collisionObject->get_self();
-				r_result->collider_id = collisionObject->get_instance_id();
-				r_result->collider_shape = r_recover_result.other_compound_shape_index;
-				r_result->collision_local_shape = r_recover_result.local_shape_most_recovered;
-				r_result->collision_depth = Math::abs(r_recover_result.penetration_distance);
-				r_result->collision_safe_fraction = safe_fraction;
-				r_result->collision_unsafe_fraction = unsafe_fraction;
-
-#if debug_test_motion
-				Vector3 sup_line2;
-				B_TO_G(motion, sup_line2);
-				normalLine->clear();
-				normalLine->begin(Mesh::PRIMITIVE_LINES, nullptr);
-				normalLine->add_vertex(r_result->collision_point);
-				normalLine->add_vertex(r_result->collision_point + r_result->collision_normal * 10);
-				normalLine->end();
-#endif
-			} else {
-				r_result->remainder = Vector3();
-			}
-		}
-	}
-
-	return has_penetration;
-}
-
-int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin) {
-	btTransform body_transform;
-	G_TO_B(p_transform, body_transform);
-	UNSCALE_BT_BASIS(body_transform);
-
-	if (!p_body->get_kinematic_utilities()) {
-		p_body->init_kinematic_utilities();
-	}
-
-	btVector3 recover_motion(0, 0, 0);
-
-	int rays_found = 0;
-	int rays_found_this_round = 0;
-
-	for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
-		PhysicsServer3D::SeparationResult *next_results = &r_results[rays_found];
-		rays_found_this_round = recover_from_penetration_ray(p_body, body_transform, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, p_result_max - rays_found, recover_motion, next_results);
-
-		rays_found += rays_found_this_round;
-		if (rays_found_this_round == 0) {
-			body_transform.getOrigin() += recover_motion;
-			break;
-		}
-	}
-
-	B_TO_G(recover_motion, r_recover_motion);
-	return rays_found;
-}
-
-struct RecoverPenetrationBroadPhaseCallback : public btBroadphaseAabbCallback {
-private:
-	btDbvtVolume bounds;
-
-	const btCollisionObject *self_collision_object;
-	uint32_t collision_layer = 0;
-
-	struct CompoundLeafCallback : btDbvt::ICollide {
-	private:
-		RecoverPenetrationBroadPhaseCallback *parent_callback = nullptr;
-		btCollisionObject *collision_object = nullptr;
-
-	public:
-		CompoundLeafCallback(RecoverPenetrationBroadPhaseCallback *p_parent_callback, btCollisionObject *p_collision_object) :
-				parent_callback(p_parent_callback),
-				collision_object(p_collision_object) {
-		}
-
-		void Process(const btDbvtNode *leaf) {
-			BroadphaseResult result;
-			result.collision_object = collision_object;
-			result.compound_child_index = leaf->dataAsInt;
-			parent_callback->results.push_back(result);
-		}
-	};
-
-public:
-	struct BroadphaseResult {
-		btCollisionObject *collision_object = nullptr;
-		int compound_child_index = 0;
-	};
-
-	Vector<BroadphaseResult> results;
-
-public:
-	RecoverPenetrationBroadPhaseCallback(const btCollisionObject *p_self_collision_object, uint32_t p_collision_layer, btVector3 p_aabb_min, btVector3 p_aabb_max) :
-			self_collision_object(p_self_collision_object),
-			collision_layer(p_collision_layer) {
-		bounds = btDbvtVolume::FromMM(p_aabb_min, p_aabb_max);
-	}
-
-	virtual ~RecoverPenetrationBroadPhaseCallback() {}
-
-	virtual bool process(const btBroadphaseProxy *proxy) {
-		btCollisionObject *co = static_cast<btCollisionObject *>(proxy->m_clientObject);
-		if (co->getInternalType() <= btCollisionObject::CO_RIGID_BODY) {
-			if (self_collision_object != proxy->m_clientObject && (proxy->collision_layer & m_collisionFilterMask)) {
-				if (co->getCollisionShape()->isCompound()) {
-					const btCompoundShape *cs = static_cast<btCompoundShape *>(co->getCollisionShape());
-
-					if (cs->getNumChildShapes() > 1) {
-						const btDbvt *tree = cs->getDynamicAabbTree();
-						ERR_FAIL_COND_V(tree == nullptr, true);
-
-						// Transform bounds into compound shape local space
-						const btTransform other_in_compound_space = co->getWorldTransform().inverse();
-						const btMatrix3x3 abs_b = other_in_compound_space.getBasis().absolute();
-						const btVector3 local_center = other_in_compound_space(bounds.Center());
-						const btVector3 local_extent = bounds.Extents().dot3(abs_b[0], abs_b[1], abs_b[2]);
-						const btVector3 local_aabb_min = local_center - local_extent;
-						const btVector3 local_aabb_max = local_center + local_extent;
-						const btDbvtVolume local_bounds = btDbvtVolume::FromMM(local_aabb_min, local_aabb_max);
-
-						// Test collision against compound child shapes using its AABB tree
-						CompoundLeafCallback compound_leaf_callback(this, co);
-						tree->collideTV(tree->m_root, local_bounds, compound_leaf_callback);
-					} else {
-						// If there's only a single child shape then there's no need to search any more, we know which child overlaps
-						BroadphaseResult result;
-						result.collision_object = co;
-						result.compound_child_index = 0;
-						results.push_back(result);
-					}
-				} else {
-					BroadphaseResult result;
-					result.collision_object = co;
-					result.compound_child_index = -1;
-					results.push_back(result);
-				}
-				return true;
-			}
-		}
-		return false;
-	}
-};
-
-bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result, const Set<RID> &p_exclude) {
-	// Calculate the cumulative AABB of all shapes of the kinematic body
-	btVector3 aabb_min, aabb_max;
-	bool shapes_found = false;
-
-	for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) {
-		const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]);
-		if (!kin_shape.is_active()) {
-			continue;
-		}
-
-		if (kin_shape.shape->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) {
-			// Skip rayshape in order to implement custom separation process
-			continue;
-		}
-
-		btTransform shape_transform = p_body_position * kin_shape.transform;
-		shape_transform.getOrigin() += r_delta_recover_movement;
-
-		btVector3 shape_aabb_min, shape_aabb_max;
-		kin_shape.shape->getAabb(shape_transform, shape_aabb_min, shape_aabb_max);
-
-		if (!shapes_found) {
-			aabb_min = shape_aabb_min;
-			aabb_max = shape_aabb_max;
-			shapes_found = true;
-		} else {
-			aabb_min.setX((aabb_min.x() < shape_aabb_min.x()) ? aabb_min.x() : shape_aabb_min.x());
-			aabb_min.setY((aabb_min.y() < shape_aabb_min.y()) ? aabb_min.y() : shape_aabb_min.y());
-			aabb_min.setZ((aabb_min.z() < shape_aabb_min.z()) ? aabb_min.z() : shape_aabb_min.z());
-
-			aabb_max.setX((aabb_max.x() > shape_aabb_max.x()) ? aabb_max.x() : shape_aabb_max.x());
-			aabb_max.setY((aabb_max.y() > shape_aabb_max.y()) ? aabb_max.y() : shape_aabb_max.y());
-			aabb_max.setZ((aabb_max.z() > shape_aabb_max.z()) ? aabb_max.z() : shape_aabb_max.z());
-		}
-	}
-
-	// If there are no shapes then there is no penetration either
-	if (!shapes_found) {
-		return false;
-	}
-
-	// Perform broadphase test
-	RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), aabb_min, aabb_max);
-	dynamicsWorld->getBroadphase()->aabbTest(aabb_min, aabb_max, recover_broad_result);
-
-	bool penetration = false;
-
-	// Perform narrowphase per shape
-	for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) {
-		const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]);
-		if (!kin_shape.is_active()) {
-			continue;
-		}
-
-		if (kin_shape.shape->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) {
-			// Skip rayshape in order to implement custom separation process
-			continue;
-		}
-
-		if (kin_shape.shape->getShapeType() == EMPTY_SHAPE_PROXYTYPE) {
-			continue;
-		}
-
-		btTransform shape_transform = p_body_position * kin_shape.transform;
-		shape_transform.getOrigin() += r_delta_recover_movement;
-
-		for (int i = recover_broad_result.results.size() - 1; 0 <= i; --i) {
-			btCollisionObject *otherObject = recover_broad_result.results[i].collision_object;
-
-			CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(otherObject->getUserPointer());
-			if (p_exclude.has(gObj->get_self())) {
-				continue;
-			}
-
-			if (p_infinite_inertia && !otherObject->isStaticOrKinematicObject()) {
-				otherObject->activate(); // Force activation of hitten rigid, soft body
-				continue;
-			} else if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object())) {
-				continue;
-			}
-
-			if (otherObject->getCollisionShape()->isCompound()) {
-				const btCompoundShape *cs = static_cast<const btCompoundShape *>(otherObject->getCollisionShape());
-				int shape_idx = recover_broad_result.results[i].compound_child_index;
-				ERR_FAIL_COND_V(shape_idx < 0 || shape_idx >= cs->getNumChildShapes(), false);
-
-				if (cs->getChildShape(shape_idx)->isConvex()) {
-					if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(shape_idx)), otherObject, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
-						penetration = true;
-					}
-				} else {
-					if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(shape_idx), p_body->get_bt_collision_object(), otherObject, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
-						penetration = true;
-					}
-				}
-			} else if (otherObject->getCollisionShape()->isConvex()) { /// Execute GJK test against object shape
-				if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
-					penetration = true;
-				}
-			} else {
-				if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
-					penetration = true;
-				}
-			}
-		}
-	}
-
-	return penetration;
-}
-
-bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
-	// Initialize GJK input
-	btGjkPairDetector::ClosestPointInput gjk_input;
-	gjk_input.m_transformA = p_transformA;
-	gjk_input.m_transformB = p_transformB;
-
-	// Perform GJK test
-	btPointCollector result;
-	btGjkPairDetector gjk_pair_detector(p_shapeA, p_shapeB, gjk_simplex_solver, gjk_epa_pen_solver);
-	gjk_pair_detector.getClosestPoints(gjk_input, result, nullptr);
-	if (0 > result.m_distance) {
-		// Has penetration
-		r_delta_recover_movement += result.m_normalOnBInWorld * (result.m_distance * -1 * p_recover_movement_scale);
-
-		if (r_recover_result) {
-			if (result.m_distance < r_recover_result->penetration_distance) {
-				r_recover_result->hasPenetration = true;
-				r_recover_result->local_shape_most_recovered = p_shapeId_A;
-				r_recover_result->other_collision_object = p_objectB;
-				r_recover_result->other_compound_shape_index = p_shapeId_B;
-				r_recover_result->penetration_distance = result.m_distance;
-				r_recover_result->pointWorld = result.m_pointInWorld;
-				r_recover_result->normal = result.m_normalOnBInWorld;
-			}
-		}
-		return true;
-	}
-	return false;
-}
-
-bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
-	/// Contact test
-
-	btTransform tA(p_transformA);
-
-	btCollisionObjectWrapper obA(nullptr, p_shapeA, p_objectA, tA, -1, p_shapeId_A);
-	btCollisionObjectWrapper obB(nullptr, p_shapeB, p_objectB, p_transformB, -1, p_shapeId_B);
-
-	btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, nullptr, BT_CONTACT_POINT_ALGORITHMS);
-	if (algorithm) {
-		GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB);
-		//discrete collision detection query
-		algorithm->processCollision(&obA, &obB, dynamicsWorld->getDispatchInfo(), &contactPointResult);
-
-		algorithm->~btCollisionAlgorithm();
-		dispatcher->freeCollisionAlgorithm(algorithm);
-
-		if (contactPointResult.hasHit()) {
-			r_delta_recover_movement += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * -1 * p_recover_movement_scale);
-			if (r_recover_result) {
-				if (contactPointResult.m_penetration_distance < r_recover_result->penetration_distance) {
-					r_recover_result->hasPenetration = true;
-					r_recover_result->local_shape_most_recovered = p_shapeId_A;
-					r_recover_result->other_collision_object = p_objectB;
-					r_recover_result->other_compound_shape_index = p_shapeId_B;
-					r_recover_result->penetration_distance = contactPointResult.m_penetration_distance;
-					r_recover_result->pointWorld = contactPointResult.m_pointWorld;
-					r_recover_result->normal = contactPointResult.m_pointNormalWorld;
-				}
-			}
-			return true;
-		}
-	}
-	return false;
-}
-
-int SpaceBullet::add_separation_result(PhysicsServer3D::SeparationResult *r_result, const SpaceBullet::RecoverResult &p_recover_result, int p_shape_id, const btCollisionObject *p_other_object) const {
-	// optimize results (ignore non-colliding)
-	if (p_recover_result.penetration_distance < 0.0) {
-		const btRigidBody *btRigid = static_cast<const btRigidBody *>(p_other_object);
-		CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(p_other_object->getUserPointer());
-
-		r_result->collision_depth = p_recover_result.penetration_distance;
-		B_TO_G(p_recover_result.pointWorld, r_result->collision_point);
-		B_TO_G(p_recover_result.normal, r_result->collision_normal);
-		B_TO_G(btRigid->getVelocityInLocalPoint(p_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity);
-		r_result->collision_local_shape = p_shape_id;
-		r_result->collider_id = collisionObject->get_instance_id();
-		r_result->collider = collisionObject->get_self();
-		r_result->collider_shape = p_recover_result.other_compound_shape_index;
-
-		return 1;
-	} else {
-		return 0;
-	}
-}
-
-int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, int p_result_max, btVector3 &r_delta_recover_movement, PhysicsServer3D::SeparationResult *r_results) {
-	// Calculate the cumulative AABB of all shapes of the kinematic body
-	btVector3 aabb_min, aabb_max;
-	bool shapes_found = false;
-
-	for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) {
-		const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]);
-		if (!kin_shape.is_active()) {
-			continue;
-		}
-
-		if (kin_shape.shape->getShapeType() != CUSTOM_CONVEX_SHAPE_TYPE) {
-			continue;
-		}
-
-		btTransform shape_transform = p_body_position * kin_shape.transform;
-		shape_transform.getOrigin() += r_delta_recover_movement;
-
-		btVector3 shape_aabb_min, shape_aabb_max;
-		kin_shape.shape->getAabb(shape_transform, shape_aabb_min, shape_aabb_max);
-
-		if (!shapes_found) {
-			aabb_min = shape_aabb_min;
-			aabb_max = shape_aabb_max;
-			shapes_found = true;
-		} else {
-			aabb_min.setX((aabb_min.x() < shape_aabb_min.x()) ? aabb_min.x() : shape_aabb_min.x());
-			aabb_min.setY((aabb_min.y() < shape_aabb_min.y()) ? aabb_min.y() : shape_aabb_min.y());
-			aabb_min.setZ((aabb_min.z() < shape_aabb_min.z()) ? aabb_min.z() : shape_aabb_min.z());
-
-			aabb_max.setX((aabb_max.x() > shape_aabb_max.x()) ? aabb_max.x() : shape_aabb_max.x());
-			aabb_max.setY((aabb_max.y() > shape_aabb_max.y()) ? aabb_max.y() : shape_aabb_max.y());
-			aabb_max.setZ((aabb_max.z() > shape_aabb_max.z()) ? aabb_max.z() : shape_aabb_max.z());
-		}
-	}
-
-	// If there are no shapes then there is no penetration either
-	if (!shapes_found) {
-		return 0;
-	}
-
-	// Perform broadphase test
-	RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), aabb_min, aabb_max);
-	dynamicsWorld->getBroadphase()->aabbTest(aabb_min, aabb_max, recover_broad_result);
-
-	int ray_count = 0;
-
-	// Perform narrowphase per shape
-	for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) {
-		if (ray_count >= p_result_max) {
-			break;
-		}
-
-		const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]);
-		if (!kin_shape.is_active()) {
-			continue;
-		}
-
-		if (kin_shape.shape->getShapeType() != CUSTOM_CONVEX_SHAPE_TYPE) {
-			continue;
-		}
-
-		btTransform shape_transform = p_body_position * kin_shape.transform;
-		shape_transform.getOrigin() += r_delta_recover_movement;
-
-		for (int i = recover_broad_result.results.size() - 1; 0 <= i; --i) {
-			btCollisionObject *otherObject = recover_broad_result.results[i].collision_object;
-			if (p_infinite_inertia && !otherObject->isStaticOrKinematicObject()) {
-				otherObject->activate(); // Force activation of hitten rigid, soft body
-				continue;
-			} else if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object())) {
-				continue;
-			}
-
-			if (otherObject->getCollisionShape()->isCompound()) {
-				const btCompoundShape *cs = static_cast<const btCompoundShape *>(otherObject->getCollisionShape());
-				int shape_idx = recover_broad_result.results[i].compound_child_index;
-				ERR_FAIL_COND_V(shape_idx < 0 || shape_idx >= cs->getNumChildShapes(), false);
-
-				RecoverResult recover_result;
-				if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(shape_idx), p_body->get_bt_collision_object(), otherObject, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, &recover_result)) {
-					ray_count = add_separation_result(&r_results[ray_count], recover_result, kinIndex, otherObject);
-				}
-			} else {
-				RecoverResult recover_result;
-				if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, &recover_result)) {
-					ray_count = add_separation_result(&r_results[ray_count], recover_result, kinIndex, otherObject);
-				}
-			}
-		}
-	}
-
-	return ray_count;
-}
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
deleted file mode 100644
index f858c5fcb5..0000000000
--- a/modules/bullet/space_bullet.h
+++ /dev/null
@@ -1,220 +0,0 @@
-/*************************************************************************/
-/*  space_bullet.h                                                       */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef SPACE_BULLET_H
-#define SPACE_BULLET_H
-
-#include "core/templates/vector.h"
-#include "core/variant/variant.h"
-#include "godot_result_callbacks.h"
-#include "rid_bullet.h"
-#include "servers/physics_server_3d.h"
-
-#include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h>
-#include <BulletCollision/BroadphaseCollision/btOverlappingPairCache.h>
-#include <LinearMath/btScalar.h>
-#include <LinearMath/btTransform.h>
-#include <LinearMath/btVector3.h>
-
-class AreaBullet;
-class btBroadphaseInterface;
-class btCollisionDispatcher;
-class btConstraintSolver;
-class btDefaultCollisionConfiguration;
-class btDynamicsWorld;
-class btDiscreteDynamicsWorld;
-class btEmptyShape;
-class btGhostPairCallback;
-class btSoftRigidDynamicsWorld;
-struct btSoftBodyWorldInfo;
-class ConstraintBullet;
-class CollisionObjectBullet;
-class RigidBodyBullet;
-class SpaceBullet;
-class SoftBodyBullet;
-class btGjkEpaPenetrationDepthSolver;
-
-extern ContactAddedCallback gContactAddedCallback;
-
-class BulletPhysicsDirectSpaceState : public PhysicsDirectSpaceState3D {
-	GDCLASS(BulletPhysicsDirectSpaceState, PhysicsDirectSpaceState3D);
-
-private:
-	SpaceBullet *space;
-
-public:
-	BulletPhysicsDirectSpaceState(SpaceBullet *p_space);
-
-	virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
-	virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) override;
-	virtual int intersect_shape(const RID &p_shape, const Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
-	virtual bool cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) override;
-	/// Returns the list of contacts pairs in this order: Local contact, other body contact
-	virtual bool collide_shape(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
-	virtual bool rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
-	virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const override;
-};
-
-class SpaceBullet : public RIDBullet {
-	friend class AreaBullet;
-	friend void onBulletTickCallback(btDynamicsWorld *world, btScalar timeStep);
-	friend class BulletPhysicsDirectSpaceState;
-
-	btBroadphaseInterface *broadphase = nullptr;
-	btDefaultCollisionConfiguration *collisionConfiguration = nullptr;
-	btCollisionDispatcher *dispatcher = nullptr;
-	btConstraintSolver *solver = nullptr;
-	btDiscreteDynamicsWorld *dynamicsWorld = nullptr;
-	btSoftBodyWorldInfo *soft_body_world_info = nullptr;
-	btGhostPairCallback *ghostPairCallback = nullptr;
-	GodotFilterCallback *godotFilterCallback = nullptr;
-
-	btGjkEpaPenetrationDepthSolver *gjk_epa_pen_solver = nullptr;
-	btVoronoiSimplexSolver *gjk_simplex_solver = nullptr;
-
-	BulletPhysicsDirectSpaceState *direct_access;
-	Vector3 gravityDirection = Vector3(0, -1, 0);
-	real_t gravityMagnitude = 10.0;
-
-	real_t linear_damp = 0.0;
-	real_t angular_damp = 0.0;
-
-	Vector<AreaBullet *> areas;
-
-	Vector<Vector3> contactDebug;
-	int contactDebugCount = 0;
-	real_t delta_time = 0.;
-
-public:
-	SpaceBullet();
-	virtual ~SpaceBullet();
-
-	void flush_queries();
-	real_t get_delta_time() { return delta_time; }
-	void step(real_t p_delta_time);
-
-	_FORCE_INLINE_ btBroadphaseInterface *get_broadphase() const { return broadphase; }
-	_FORCE_INLINE_ btDefaultCollisionConfiguration *get_collision_configuration() const { return collisionConfiguration; }
-	_FORCE_INLINE_ btCollisionDispatcher *get_dispatcher() const { return dispatcher; }
-	_FORCE_INLINE_ btConstraintSolver *get_solver() const { return solver; }
-	_FORCE_INLINE_ btDiscreteDynamicsWorld *get_dynamic_world() const { return dynamicsWorld; }
-	_FORCE_INLINE_ btSoftBodyWorldInfo *get_soft_body_world_info() const { return soft_body_world_info; }
-	_FORCE_INLINE_ bool is_using_soft_world() { return soft_body_world_info; }
-
-	/// Used to set some parameters to Bullet world
-	/// @param p_param:
-	///     AREA_PARAM_GRAVITY          to set the gravity magnitude of entire world
-	///     AREA_PARAM_GRAVITY_VECTOR   to set the gravity direction of entire world
-	void set_param(PhysicsServer3D::AreaParameter p_param, const Variant &p_value);
-	/// Used to get some parameters to Bullet world
-	/// @param p_param:
-	///     AREA_PARAM_GRAVITY          to get the gravity magnitude of entire world
-	///     AREA_PARAM_GRAVITY_VECTOR   to get the gravity direction of entire world
-	Variant get_param(PhysicsServer3D::AreaParameter p_param);
-
-	void set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_value);
-	real_t get_param(PhysicsServer3D::SpaceParameter p_param);
-
-	void add_area(AreaBullet *p_area);
-	void remove_area(AreaBullet *p_area);
-	void reload_collision_filters(AreaBullet *p_area);
-
-	void add_rigid_body(RigidBodyBullet *p_body);
-	void remove_rigid_body_constraints(RigidBodyBullet *p_body);
-	void remove_rigid_body(RigidBodyBullet *p_body);
-	void reload_collision_filters(RigidBodyBullet *p_body);
-
-	void add_soft_body(SoftBodyBullet *p_body);
-	void remove_soft_body(SoftBodyBullet *p_body);
-	void reload_collision_filters(SoftBodyBullet *p_body);
-
-	void add_constraint(ConstraintBullet *p_constraint, bool disableCollisionsBetweenLinkedBodies = false);
-	void remove_constraint(ConstraintBullet *p_constraint);
-
-	int get_num_collision_objects() const;
-	void remove_all_collision_objects();
-
-	BulletPhysicsDirectSpaceState *get_direct_state();
-
-	void set_debug_contacts(int p_amount) { contactDebug.resize(p_amount); }
-	_FORCE_INLINE_ bool is_debugging_contacts() const { return !contactDebug.is_empty(); }
-	_FORCE_INLINE_ void reset_debug_contact_count() {
-		contactDebugCount = 0;
-	}
-	_FORCE_INLINE_ void add_debug_contact(const Vector3 &p_contact) {
-		if (contactDebugCount < contactDebug.size()) {
-			contactDebug.write[contactDebugCount++] = p_contact;
-		}
-	}
-	_FORCE_INLINE_ Vector<Vector3> get_debug_contacts() { return contactDebug; }
-	_FORCE_INLINE_ int get_debug_contact_count() { return contactDebugCount; }
-
-	const Vector3 &get_gravity_direction() const { return gravityDirection; }
-	real_t get_gravity_magnitude() const { return gravityMagnitude; }
-
-	void update_gravity();
-
-	real_t get_linear_damp() const { return linear_damp; }
-	real_t get_angular_damp() const { return angular_damp; }
-
-	bool test_body_motion(RigidBodyBullet *p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude = Set<RID>());
-	int test_ray_separation(RigidBodyBullet *p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin);
-
-private:
-	void create_empty_world(bool p_create_soft_world);
-	void destroy_world();
-	void check_ghost_overlaps();
-	void check_body_collision();
-
-	struct RecoverResult {
-		bool hasPenetration = false;
-		btVector3 normal = btVector3(0, 0, 0);
-		btVector3 pointWorld = btVector3(0, 0, 0);
-		btScalar penetration_distance = 1e20; // Negative mean penetration
-		int other_compound_shape_index = 0;
-		const btCollisionObject *other_collision_object = nullptr;
-		int local_shape_most_recovered = 0;
-
-		RecoverResult() {}
-	};
-
-	bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = nullptr, const Set<RID> &p_exclude = Set<RID>());
-	/// This is an API that recover a kinematic object from penetration
-	/// This allow only Convex Convex test and it always use GJK algorithm, With this API we don't benefit of Bullet special accelerated functions
-	bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = nullptr);
-	/// This is an API that recover a kinematic object from penetration
-	/// Using this we leave Bullet to select the best algorithm, For example GJK in case we have Convex Convex, or a Bullet accelerated algorithm
-	bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = nullptr);
-
-	int add_separation_result(PhysicsServer3D::SeparationResult *r_results, const SpaceBullet::RecoverResult &p_recover_result, int p_shape_id, const btCollisionObject *p_other_object) const;
-	int recover_from_penetration_ray(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, int p_result_max, btVector3 &r_delta_recover_movement, PhysicsServer3D::SeparationResult *r_results);
-};
-
-#endif // SPACE_BULLET_H
diff --git a/modules/csg/csg_shape.cpp b/modules/csg/csg_shape.cpp
index 39e4751be3..137df52215 100644
--- a/modules/csg/csg_shape.cpp
+++ b/modules/csg/csg_shape.cpp
@@ -125,7 +125,7 @@ bool CSGShape3D::get_collision_mask_value(int p_layer_number) const {
 }
 
 bool CSGShape3D::is_root_shape() const {
-	return !parent;
+	return !parent_shape;
 }
 
 void CSGShape3D::set_snap(float p_snap) {
@@ -136,13 +136,13 @@ float CSGShape3D::get_snap() const {
 	return snap;
 }
 
-void CSGShape3D::_make_dirty() {
-	if (!is_inside_tree()) {
-		return;
+void CSGShape3D::_make_dirty(bool p_parent_removing) {
+	if ((p_parent_removing || is_root_shape()) && !dirty) {
+		call_deferred(SNAME("_update_shape")); // Must be deferred; otherwise, is_root_shape() will use the previous parent
 	}
 
-	if (parent) {
-		parent->_make_dirty();
+	if (!is_root_shape()) {
+		parent_shape->_make_dirty();
 	} else if (!dirty) {
 		call_deferred(SNAME("_update_shape"));
 	}
@@ -164,7 +164,7 @@ CSGBrush *CSGShape3D::_get_brush() {
 			if (!child) {
 				continue;
 			}
-			if (!child->is_visible_in_tree()) {
+			if (!child->is_visible()) {
 				continue;
 			}
 
@@ -280,7 +280,7 @@ void CSGShape3D::mikktSetTSpaceDefault(const SMikkTSpaceContext *pContext, const
 }
 
 void CSGShape3D::_update_shape() {
-	if (parent || !is_inside_tree()) {
+	if (!is_root_shape()) {
 		return;
 	}
 
@@ -345,27 +345,6 @@ void CSGShape3D::_update_shape() {
 		}
 	}
 
-	// Update collision faces.
-	if (root_collision_shape.is_valid()) {
-		Vector<Vector3> physics_faces;
-		physics_faces.resize(n->faces.size() * 3);
-		Vector3 *physicsw = physics_faces.ptrw();
-
-		for (int i = 0; i < n->faces.size(); i++) {
-			int order[3] = { 0, 1, 2 };
-
-			if (n->faces[i].invert) {
-				SWAP(order[1], order[2]);
-			}
-
-			physicsw[i * 3 + 0] = n->faces[i].vertices[order[0]];
-			physicsw[i * 3 + 1] = n->faces[i].vertices[order[1]];
-			physicsw[i * 3 + 2] = n->faces[i].vertices[order[2]];
-		}
-
-		root_collision_shape->set_faces(physics_faces);
-	}
-
 	//fill arrays
 	{
 		for (int i = 0; i < n->faces.size(); i++) {
@@ -458,6 +437,32 @@ void CSGShape3D::_update_shape() {
 	}
 
 	set_base(root_mesh->get_rid());
+
+	_update_collision_faces();
+}
+
+void CSGShape3D::_update_collision_faces() {
+	if (use_collision && is_root_shape() && root_collision_shape.is_valid()) {
+		CSGBrush *n = _get_brush();
+		ERR_FAIL_COND_MSG(!n, "Cannot get CSGBrush.");
+		Vector<Vector3> physics_faces;
+		physics_faces.resize(n->faces.size() * 3);
+		Vector3 *physicsw = physics_faces.ptrw();
+
+		for (int i = 0; i < n->faces.size(); i++) {
+			int order[3] = { 0, 1, 2 };
+
+			if (n->faces[i].invert) {
+				SWAP(order[1], order[2]);
+			}
+
+			physicsw[i * 3 + 0] = n->faces[i].vertices[order[0]];
+			physicsw[i * 3 + 1] = n->faces[i].vertices[order[1]];
+			physicsw[i * 3 + 2] = n->faces[i].vertices[order[2]];
+		}
+
+		root_collision_shape->set_faces(physics_faces);
+	}
 }
 
 AABB CSGShape3D::get_aabb() const {
@@ -486,67 +491,74 @@ Vector<Vector3> CSGShape3D::get_brush_faces() {
 	return faces;
 }
 
-Vector<Face3> CSGShape3D::get_faces(uint32_t p_usage_flags) const {
-	return Vector<Face3>();
-}
-
 void CSGShape3D::_notification(int p_what) {
 	switch (p_what) {
-		case NOTIFICATION_ENTER_TREE: {
+		case NOTIFICATION_PARENTED: {
 			Node *parentn = get_parent();
 			if (parentn) {
-				parent = Object::cast_to<CSGShape3D>(parentn);
-				if (parent) {
+				parent_shape = Object::cast_to<CSGShape3D>(parentn);
+				if (parent_shape) {
 					set_base(RID());
 					root_mesh.unref();
 				}
 			}
-
-			if (use_collision && is_root_shape()) {
-				root_collision_shape.instantiate();
-				root_collision_instance = PhysicsServer3D::get_singleton()->body_create();
-				PhysicsServer3D::get_singleton()->body_set_mode(root_collision_instance, PhysicsServer3D::BODY_MODE_STATIC);
-				PhysicsServer3D::get_singleton()->body_set_state(root_collision_instance, PhysicsServer3D::BODY_STATE_TRANSFORM, get_global_transform());
-				PhysicsServer3D::get_singleton()->body_add_shape(root_collision_instance, root_collision_shape->get_rid());
-				PhysicsServer3D::get_singleton()->body_set_space(root_collision_instance, get_world_3d()->get_space());
-				PhysicsServer3D::get_singleton()->body_attach_object_instance_id(root_collision_instance, get_instance_id());
-				set_collision_layer(collision_layer);
-				set_collision_mask(collision_mask);
+			if (!brush || parent_shape) {
+				// Update this node if uninitialized, or both this node and its new parent if it gets added to another CSG shape
+				_make_dirty();
 			}
+			last_visible = is_visible();
+		} break;
 
-			_make_dirty();
+		case NOTIFICATION_UNPARENTED: {
+			if (!is_root_shape()) {
+				// Update this node and its previous parent only if it's currently being removed from another CSG shape
+				_make_dirty(true); // Must be forced since is_root_shape() uses the previous parent
+			}
+			parent_shape = nullptr;
 		} break;
 
-		case NOTIFICATION_TRANSFORM_CHANGED: {
-			if (use_collision && is_root_shape() && root_collision_instance.is_valid()) {
-				PhysicsServer3D::get_singleton()->body_set_state(root_collision_instance, PhysicsServer3D::BODY_STATE_TRANSFORM, get_global_transform());
+		case NOTIFICATION_VISIBILITY_CHANGED: {
+			if (!is_root_shape() && last_visible != is_visible()) {
+				// Update this node's parent only if its own visibility has changed, not the visibility of parent nodes
+				parent_shape->_make_dirty();
 			}
+			last_visible = is_visible();
 		} break;
 
 		case NOTIFICATION_LOCAL_TRANSFORM_CHANGED: {
-			if (parent) {
-				parent->_make_dirty();
+			if (!is_root_shape()) {
+				// Update this node's parent only if its own transformation has changed, not the transformation of parent nodes
+				parent_shape->_make_dirty();
 			}
 		} break;
 
-		case NOTIFICATION_VISIBILITY_CHANGED: {
-			if (parent) {
-				parent->_make_dirty();
+		case NOTIFICATION_ENTER_TREE: {
+			if (use_collision && is_root_shape()) {
+				root_collision_shape.instantiate();
+				root_collision_instance = PhysicsServer3D::get_singleton()->body_create();
+				PhysicsServer3D::get_singleton()->body_set_mode(root_collision_instance, PhysicsServer3D::BODY_MODE_STATIC);
+				PhysicsServer3D::get_singleton()->body_set_state(root_collision_instance, PhysicsServer3D::BODY_STATE_TRANSFORM, get_global_transform());
+				PhysicsServer3D::get_singleton()->body_add_shape(root_collision_instance, root_collision_shape->get_rid());
+				PhysicsServer3D::get_singleton()->body_set_space(root_collision_instance, get_world_3d()->get_space());
+				PhysicsServer3D::get_singleton()->body_attach_object_instance_id(root_collision_instance, get_instance_id());
+				set_collision_layer(collision_layer);
+				set_collision_mask(collision_mask);
+				_update_collision_faces();
 			}
 		} break;
 
 		case NOTIFICATION_EXIT_TREE: {
-			if (parent) {
-				parent->_make_dirty();
-			}
-			parent = nullptr;
-
 			if (use_collision && is_root_shape() && root_collision_instance.is_valid()) {
 				PhysicsServer3D::get_singleton()->free(root_collision_instance);
 				root_collision_instance = RID();
 				root_collision_shape.unref();
 			}
-			_make_dirty();
+		} break;
+
+		case NOTIFICATION_TRANSFORM_CHANGED: {
+			if (use_collision && is_root_shape() && root_collision_instance.is_valid()) {
+				PhysicsServer3D::get_singleton()->body_set_state(root_collision_instance, PhysicsServer3D::BODY_STATE_TRANSFORM, get_global_transform());
+			}
 		} break;
 	}
 }
@@ -955,6 +967,10 @@ CSGBrush *CSGSphere3D::_build_brush() {
 				double u0 = double(j) / radial_segments;
 
 				double longitude1 = longitude_step * (j + 1);
+				if (j == radial_segments - 1) {
+					longitude1 = 0;
+				}
+
 				double x1 = Math::sin(longitude1);
 				double z1 = Math::cos(longitude1);
 				double u1 = double(j + 1) / radial_segments;
@@ -1271,6 +1287,9 @@ CSGBrush *CSGCylinder3D::_build_brush() {
 			for (int i = 0; i < sides; i++) {
 				float inc = float(i) / sides;
 				float inc_n = float((i + 1)) / sides;
+				if (i == sides - 1) {
+					inc_n = 0;
+				}
 
 				float ang = inc * Math_TAU;
 				float ang_n = inc_n * Math_TAU;
diff --git a/modules/csg/csg_shape.h b/modules/csg/csg_shape.h
index 6da9893368..4721d0c11c 100644
--- a/modules/csg/csg_shape.h
+++ b/modules/csg/csg_shape.h
@@ -52,13 +52,14 @@ public:
 
 private:
 	Operation operation = OPERATION_UNION;
-	CSGShape3D *parent = nullptr;
+	CSGShape3D *parent_shape = nullptr;
 
 	CSGBrush *brush = nullptr;
 
 	AABB node_aabb;
 
 	bool dirty = false;
+	bool last_visible = false;
 	float snap = 0.001;
 
 	bool use_collision = false;
@@ -104,11 +105,12 @@ private:
 			const tbool bIsOrientationPreserving, const int iFace, const int iVert);
 
 	void _update_shape();
+	void _update_collision_faces();
 
 protected:
 	void _notification(int p_what);
 	virtual CSGBrush *_build_brush() = 0;
-	void _make_dirty();
+	void _make_dirty(bool p_parent_removing = false);
 
 	static void _bind_methods();
 
@@ -126,7 +128,6 @@ public:
 	virtual Vector<Vector3> get_brush_faces();
 
 	virtual AABB get_aabb() const override;
-	virtual Vector<Face3> get_faces(uint32_t p_usage_flags) const override;
 
 	void set_use_collision(bool p_enable);
 	bool is_using_collision() const;
diff --git a/modules/csg/register_types.cpp b/modules/csg/register_types.cpp
index f01907bef3..f8db42b1a9 100644
--- a/modules/csg/register_types.cpp
+++ b/modules/csg/register_types.cpp
@@ -36,8 +36,8 @@
 void register_csg_types() {
 #ifndef _3D_DISABLED
 
-	GDREGISTER_VIRTUAL_CLASS(CSGShape3D);
-	GDREGISTER_VIRTUAL_CLASS(CSGPrimitive3D);
+	GDREGISTER_ABSTRACT_CLASS(CSGShape3D);
+	GDREGISTER_ABSTRACT_CLASS(CSGPrimitive3D);
 	GDREGISTER_CLASS(CSGMesh3D);
 	GDREGISTER_CLASS(CSGSphere3D);
 	GDREGISTER_CLASS(CSGBox3D);
diff --git a/modules/enet/register_types.cpp b/modules/enet/register_types.cpp
index 36a4e6e6e7..ebc5d95348 100644
--- a/modules/enet/register_types.cpp
+++ b/modules/enet/register_types.cpp
@@ -44,7 +44,7 @@ void register_enet_types() {
 	}
 
 	GDREGISTER_CLASS(ENetMultiplayerPeer);
-	GDREGISTER_VIRTUAL_CLASS(ENetPacketPeer);
+	GDREGISTER_ABSTRACT_CLASS(ENetPacketPeer);
 	GDREGISTER_CLASS(ENetConnection);
 }
 
diff --git a/modules/gdnative/SCsub b/modules/gdnative/SCsub
deleted file mode 100644
index f7f21a433e..0000000000
--- a/modules/gdnative/SCsub
+++ /dev/null
@@ -1,30 +0,0 @@
-#!/usr/bin/env python
-
-Import("env")
-Import("env_modules")
-
-env_gdnative = env_modules.Clone()
-env_gdnative.add_source_files(env.modules_sources, "gdnative.cpp")
-env_gdnative.add_source_files(env.modules_sources, "register_types.cpp")
-env_gdnative.add_source_files(env.modules_sources, "android/*.cpp")
-env_gdnative.add_source_files(env.modules_sources, "gdnative/*.cpp")
-env_gdnative.add_source_files(env.modules_sources, "nativescript/*.cpp")
-env_gdnative.add_source_files(env.modules_sources, "gdnative_library_singleton_editor.cpp")
-env_gdnative.add_source_files(env.modules_sources, "gdnative_library_editor_plugin.cpp")
-
-env_gdnative.Prepend(CPPPATH=["#modules/gdnative/include/"])
-
-Export("env_gdnative")
-
-SConscript("pluginscript/SCsub")
-SConscript("videodecoder/SCsub")
-
-
-import gdnative_builders
-
-_, gensource = env_gdnative.CommandNoCache(
-    ["include/gdnative_api_struct.gen.h", "gdnative_api_struct.gen.cpp"],
-    "gdnative_api.json",
-    env.Run(gdnative_builders.build_gdnative_api_struct, "Generating GDNative API."),
-)
-env_gdnative.add_source_files(env.modules_sources, [gensource])
diff --git a/modules/gdnative/android/android_gdn.cpp b/modules/gdnative/android/android_gdn.cpp
deleted file mode 100644
index 7411fc4031..0000000000
--- a/modules/gdnative/android/android_gdn.cpp
+++ /dev/null
@@ -1,86 +0,0 @@
-/*************************************************************************/
-/*  android_gdn.cpp                                                      */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "modules/gdnative/gdnative.h"
-
-// Code by Paritosh97 with minor tweaks by Mux213
-// These entry points are only for the android platform and are simple stubs in all others.
-
-#ifdef __ANDROID__
-#include "platform/android/java_godot_wrapper.h"
-#include "platform/android/os_android.h"
-#include "platform/android/thread_jandroid.h"
-#else
-#define JNIEnv void
-#define jobject void *
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-JNIEnv *GDAPI godot_android_get_env() {
-#ifdef __ANDROID__
-	return get_jni_env();
-#else
-	return nullptr;
-#endif
-}
-
-jobject GDAPI godot_android_get_activity() {
-#ifdef __ANDROID__
-	OS_Android *os_android = (OS_Android *)OS::get_singleton();
-	return os_android->get_godot_java()->get_activity();
-#else
-	return nullptr;
-#endif
-}
-
-jobject GDAPI godot_android_get_surface() {
-#ifdef __ANDROID__
-	OS_Android *os_android = (OS_Android *)OS::get_singleton();
-	return os_android->get_godot_java()->get_surface();
-#else
-	return nullptr;
-#endif
-}
-
-bool GDAPI godot_android_is_activity_resumed() {
-#ifdef __ANDROID__
-	OS_Android *os_android = (OS_Android *)OS::get_singleton();
-	return os_android->get_godot_java()->is_activity_resumed();
-#else
-	return false;
-#endif
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/config.py b/modules/gdnative/config.py
deleted file mode 100644
index 026a84a70f..0000000000
--- a/modules/gdnative/config.py
+++ /dev/null
@@ -1,20 +0,0 @@
-def can_build(env, platform):
-    return True
-
-
-def configure(env):
-    pass
-
-
-def get_doc_classes():
-    return [
-        "GDNative",
-        "GDNativeLibrary",
-        "NativeScript",
-        "PluginScript",
-        "VideoStreamGDNative",
-    ]
-
-
-def get_doc_path():
-    return "doc_classes"
diff --git a/modules/gdnative/doc_classes/GDNative.xml b/modules/gdnative/doc_classes/GDNative.xml
deleted file mode 100644
index 405365ad68..0000000000
--- a/modules/gdnative/doc_classes/GDNative.xml
+++ /dev/null
@@ -1,33 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<class name="GDNative" inherits="RefCounted" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../../doc/class.xsd">
-	<brief_description>
-	</brief_description>
-	<description>
-	</description>
-	<tutorials>
-	</tutorials>
-	<methods>
-		<method name="call_native">
-			<return type="Variant" />
-			<argument index="0" name="calling_type" type="StringName" />
-			<argument index="1" name="procedure_name" type="StringName" />
-			<argument index="2" name="arguments" type="Array" />
-			<description>
-			</description>
-		</method>
-		<method name="initialize">
-			<return type="bool" />
-			<description>
-			</description>
-		</method>
-		<method name="terminate">
-			<return type="bool" />
-			<description>
-			</description>
-		</method>
-	</methods>
-	<members>
-		<member name="library" type="GDNativeLibrary" setter="set_library" getter="get_library">
-		</member>
-	</members>
-</class>
diff --git a/modules/gdnative/doc_classes/GDNativeLibrary.xml b/modules/gdnative/doc_classes/GDNativeLibrary.xml
deleted file mode 100644
index 66811467fc..0000000000
--- a/modules/gdnative/doc_classes/GDNativeLibrary.xml
+++ /dev/null
@@ -1,48 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<class name="GDNativeLibrary" inherits="Resource" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../../doc/class.xsd">
-	<brief_description>
-		An external library containing functions or script classes to use in Godot.
-	</brief_description>
-	<description>
-		A GDNative library can implement [NativeScript]s, global functions to call with the [GDNative] class, or low-level engine extensions through interfaces such as XRInterfaceGDNative. The library must be compiled for each platform and architecture that the project will run on.
-	</description>
-	<tutorials>
-		<link title="GDNative C example">$DOCS_URL/tutorials/scripting/gdnative/gdnative_c_example.html</link>
-		<link title="GDNative C++ example">$DOCS_URL/tutorials/scripting/gdnative/gdnative_cpp_example.html</link>
-	</tutorials>
-	<methods>
-		<method name="get_current_dependencies" qualifiers="const">
-			<return type="PackedStringArray" />
-			<description>
-				Returns paths to all dependency libraries for the current platform and architecture.
-			</description>
-		</method>
-		<method name="get_current_library_path" qualifiers="const">
-			<return type="String" />
-			<description>
-				Returns the path to the dynamic library file for the current platform and architecture.
-			</description>
-		</method>
-	</methods>
-	<members>
-		<member name="config_file" type="ConfigFile" setter="set_config_file" getter="get_config_file">
-			This resource in INI-style [ConfigFile] format, as in [code].gdnlib[/code] files.
-		</member>
-		<member name="load_once" type="bool" setter="set_load_once" getter="should_load_once" default="true">
-			If [code]true[/code], Godot loads only one copy of the library and each script that references the library will share static data like static or global variables.
-			If [code]false[/code], Godot loads a separate copy of the library into memory for each script that references it.
-		</member>
-		<member name="reloadable" type="bool" setter="set_reloadable" getter="is_reloadable" default="true">
-			If [code]true[/code], the editor will temporarily unload the library whenever the user switches away from the editor window, allowing the user to recompile the library without restarting Godot.
-			[b]Note:[/b] If the library defines tool scripts that run inside the editor, [code]reloadable[/code] must be [code]false[/code]. Otherwise, the editor will attempt to unload the tool scripts while they're in use and crash.
-		</member>
-		<member name="singleton" type="bool" setter="set_singleton" getter="is_singleton" default="false">
-			If [code]true[/code], Godot loads the library at startup rather than the first time a script uses the library, calling [code]{prefix}gdnative_singleton[/code] after initializing the library (where [code]{prefix}[/code] is the value of [member symbol_prefix]). The library remains loaded as long as Godot is running.
-			[b]Note:[/b] A singleton library cannot be [member reloadable].
-		</member>
-		<member name="symbol_prefix" type="String" setter="set_symbol_prefix" getter="get_symbol_prefix" default="&quot;godot_&quot;">
-			The prefix this library's entry point functions begin with. For example, a GDNativeLibrary would declare its [code]gdnative_init[/code] function as [code]godot_gdnative_init[/code] by default.
-			On platforms that require statically linking libraries (currently only iOS), each library must have a different [code]symbol_prefix[/code].
-		</member>
-	</members>
-</class>
diff --git a/modules/gdnative/doc_classes/NativeScript.xml b/modules/gdnative/doc_classes/NativeScript.xml
deleted file mode 100644
index b752b66f7e..0000000000
--- a/modules/gdnative/doc_classes/NativeScript.xml
+++ /dev/null
@@ -1,55 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<class name="NativeScript" inherits="Script" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../../doc/class.xsd">
-	<brief_description>
-	</brief_description>
-	<description>
-	</description>
-	<tutorials>
-	</tutorials>
-	<methods>
-		<method name="get_class_documentation" qualifiers="const">
-			<return type="String" />
-			<description>
-				Returns the documentation string that was previously set with [code]godot_nativescript_set_class_documentation[/code].
-			</description>
-		</method>
-		<method name="get_method_documentation" qualifiers="const">
-			<return type="String" />
-			<argument index="0" name="method" type="StringName" />
-			<description>
-				Returns the documentation string that was previously set with [code]godot_nativescript_set_method_documentation[/code].
-			</description>
-		</method>
-		<method name="get_property_documentation" qualifiers="const">
-			<return type="String" />
-			<argument index="0" name="path" type="StringName" />
-			<description>
-				Returns the documentation string that was previously set with [code]godot_nativescript_set_property_documentation[/code].
-			</description>
-		</method>
-		<method name="get_signal_documentation" qualifiers="const">
-			<return type="String" />
-			<argument index="0" name="signal_name" type="StringName" />
-			<description>
-				Returns the documentation string that was previously set with [code]godot_nativescript_set_signal_documentation[/code].
-			</description>
-		</method>
-		<method name="new" qualifiers="vararg">
-			<return type="Variant" />
-			<description>
-				Constructs a new object of the base type with a script of this type already attached.
-				[b]Note:[/b] Any arguments passed to this function will be ignored and not passed to the native constructor function. This will change with in a future API extension.
-			</description>
-		</method>
-	</methods>
-	<members>
-		<member name="class_name" type="String" setter="set_class_name" getter="get_class_name" default="&quot;&quot;">
-		</member>
-		<member name="library" type="GDNativeLibrary" setter="set_library" getter="get_library">
-		</member>
-		<member name="script_class_icon_path" type="String" setter="set_script_class_icon_path" getter="get_script_class_icon_path" default="&quot;&quot;">
-		</member>
-		<member name="script_class_name" type="String" setter="set_script_class_name" getter="get_script_class_name" default="&quot;&quot;">
-		</member>
-	</members>
-</class>
diff --git a/modules/gdnative/doc_classes/PluginScript.xml b/modules/gdnative/doc_classes/PluginScript.xml
deleted file mode 100644
index 1fe6d95d3b..0000000000
--- a/modules/gdnative/doc_classes/PluginScript.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<class name="PluginScript" inherits="Script" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../../doc/class.xsd">
-	<brief_description>
-	</brief_description>
-	<description>
-	</description>
-	<tutorials>
-	</tutorials>
-	<methods>
-		<method name="new" qualifiers="vararg">
-			<return type="Variant" />
-			<description>
-				Returns a new instance of the script.
-			</description>
-		</method>
-	</methods>
-</class>
diff --git a/modules/gdnative/doc_classes/VideoStreamGDNative.xml b/modules/gdnative/doc_classes/VideoStreamGDNative.xml
deleted file mode 100644
index 2b27556fab..0000000000
--- a/modules/gdnative/doc_classes/VideoStreamGDNative.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<class name="VideoStreamGDNative" inherits="VideoStream" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../../doc/class.xsd">
-	<brief_description>
-		[VideoStream] resource for for video formats implemented via GDNative.
-	</brief_description>
-	<description>
-		[VideoStream] resource for for video formats implemented via GDNative.
-		It can be used via [url=https://github.com/KidRigger/godot-videodecoder]godot-videodecoder[/url] which uses the [url=https://ffmpeg.org]FFmpeg[/url] library.
-	</description>
-	<tutorials>
-	</tutorials>
-	<methods>
-		<method name="get_file">
-			<return type="String" />
-			<description>
-				Returns the video file handled by this [VideoStreamGDNative].
-			</description>
-		</method>
-		<method name="set_file">
-			<return type="void" />
-			<argument index="0" name="file" type="String" />
-			<description>
-				Sets the video file that this [VideoStreamGDNative] resource handles. The supported extensions depend on the GDNative plugins used to expose video formats.
-			</description>
-		</method>
-	</methods>
-</class>
diff --git a/modules/gdnative/gdnative.cpp b/modules/gdnative/gdnative.cpp
deleted file mode 100644
index 3950ce1ade..0000000000
--- a/modules/gdnative/gdnative.cpp
+++ /dev/null
@@ -1,583 +0,0 @@
-/*************************************************************************/
-/*  gdnative.cpp                                                         */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "gdnative.h"
-
-#include "core/config/project_settings.h"
-#include "core/core_constants.h"
-#include "core/io/dir_access.h"
-#include "core/io/file_access.h"
-#include "core/io/file_access_encrypted.h"
-#include "core/os/os.h"
-
-#include "scene/main/scene_tree.h"
-
-static const String init_symbol = "gdnative_init";
-static const String terminate_symbol = "gdnative_terminate";
-static const String default_symbol_prefix = "godot_";
-static const bool default_singleton = false;
-static const bool default_load_once = true;
-static const bool default_reloadable = true;
-
-// Defined in gdnative_api_struct.gen.cpp
-extern const godot_gdnative_core_api_struct api_struct;
-
-Map<String, Vector<Ref<GDNative>>> GDNativeLibrary::loaded_libraries;
-
-GDNativeLibrary::GDNativeLibrary() {
-	config_file.instantiate();
-
-	symbol_prefix = default_symbol_prefix;
-	load_once = default_load_once;
-	singleton = default_singleton;
-	reloadable = default_reloadable;
-}
-
-GDNativeLibrary::~GDNativeLibrary() {
-}
-
-bool GDNativeLibrary::_set(const StringName &p_name, const Variant &p_property) {
-	String name = p_name;
-
-	if (name.begins_with("entry/")) {
-		String key = name.substr(6, name.length() - 6);
-
-		config_file->set_value("entry", key, p_property);
-
-		set_config_file(config_file);
-
-		return true;
-	}
-
-	if (name.begins_with("dependency/")) {
-		String key = name.substr(11, name.length() - 11);
-
-		config_file->set_value("dependencies", key, p_property);
-
-		set_config_file(config_file);
-
-		return true;
-	}
-
-	return false;
-}
-
-bool GDNativeLibrary::_get(const StringName &p_name, Variant &r_property) const {
-	String name = p_name;
-
-	if (name.begins_with("entry/")) {
-		String key = name.substr(6, name.length() - 6);
-
-		r_property = config_file->get_value("entry", key);
-
-		return true;
-	}
-
-	if (name.begins_with("dependency/")) {
-		String key = name.substr(11, name.length() - 11);
-
-		r_property = config_file->get_value("dependencies", key);
-
-		return true;
-	}
-
-	return false;
-}
-
-void GDNativeLibrary::reset_state() {
-	config_file.instantiate();
-	current_library_path = "";
-	current_dependencies.clear();
-	symbol_prefix = default_symbol_prefix;
-	load_once = default_load_once;
-	singleton = default_singleton;
-	reloadable = default_reloadable;
-}
-
-void GDNativeLibrary::_get_property_list(List<PropertyInfo> *p_list) const {
-	// set entries
-	List<String> entry_key_list;
-
-	if (config_file->has_section("entry")) {
-		config_file->get_section_keys("entry", &entry_key_list);
-	}
-
-	for (const String &key : entry_key_list) {
-		PropertyInfo prop;
-
-		prop.type = Variant::STRING;
-		prop.name = "entry/" + key;
-
-		p_list->push_back(prop);
-	}
-
-	// set dependencies
-	List<String> dependency_key_list;
-
-	if (config_file->has_section("dependencies")) {
-		config_file->get_section_keys("dependencies", &dependency_key_list);
-	}
-
-	for (const String &key : dependency_key_list) {
-		PropertyInfo prop;
-
-		prop.type = Variant::STRING;
-		prop.name = "dependency/" + key;
-
-		p_list->push_back(prop);
-	}
-}
-
-void GDNativeLibrary::set_config_file(Ref<ConfigFile> p_config_file) {
-	ERR_FAIL_COND(p_config_file.is_null());
-
-	set_singleton(p_config_file->get_value("general", "singleton", default_singleton));
-	set_load_once(p_config_file->get_value("general", "load_once", default_load_once));
-	set_symbol_prefix(p_config_file->get_value("general", "symbol_prefix", default_symbol_prefix));
-	set_reloadable(p_config_file->get_value("general", "reloadable", default_reloadable));
-
-	String entry_lib_path;
-	{
-		List<String> entry_keys;
-
-		if (p_config_file->has_section("entry")) {
-			p_config_file->get_section_keys("entry", &entry_keys);
-		}
-
-		for (const String &key : entry_keys) {
-			Vector<String> tags = key.split(".");
-
-			bool skip = false;
-			for (int i = 0; i < tags.size(); i++) {
-				bool has_feature = OS::get_singleton()->has_feature(tags[i]);
-
-				if (!has_feature) {
-					skip = true;
-					break;
-				}
-			}
-
-			if (skip) {
-				continue;
-			}
-
-			entry_lib_path = p_config_file->get_value("entry", key);
-			break;
-		}
-	}
-
-	Vector<String> dependency_paths;
-	{
-		List<String> dependency_keys;
-
-		if (p_config_file->has_section("dependencies")) {
-			p_config_file->get_section_keys("dependencies", &dependency_keys);
-		}
-
-		for (const String &key : dependency_keys) {
-			Vector<String> tags = key.split(".");
-
-			bool skip = false;
-			for (int i = 0; i < tags.size(); i++) {
-				bool has_feature = OS::get_singleton()->has_feature(tags[i]);
-
-				if (!has_feature) {
-					skip = true;
-					break;
-				}
-			}
-
-			if (skip) {
-				continue;
-			}
-
-			dependency_paths = p_config_file->get_value("dependencies", key);
-			break;
-		}
-	}
-
-	current_library_path = entry_lib_path;
-	current_dependencies = dependency_paths;
-}
-
-void GDNativeLibrary::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("get_config_file"), &GDNativeLibrary::get_config_file);
-	ClassDB::bind_method(D_METHOD("set_config_file", "config_file"), &GDNativeLibrary::set_config_file);
-
-	ClassDB::bind_method(D_METHOD("get_current_library_path"), &GDNativeLibrary::get_current_library_path);
-	ClassDB::bind_method(D_METHOD("get_current_dependencies"), &GDNativeLibrary::get_current_dependencies);
-
-	ClassDB::bind_method(D_METHOD("should_load_once"), &GDNativeLibrary::should_load_once);
-	ClassDB::bind_method(D_METHOD("is_singleton"), &GDNativeLibrary::is_singleton);
-	ClassDB::bind_method(D_METHOD("get_symbol_prefix"), &GDNativeLibrary::get_symbol_prefix);
-	ClassDB::bind_method(D_METHOD("is_reloadable"), &GDNativeLibrary::is_reloadable);
-
-	ClassDB::bind_method(D_METHOD("set_load_once", "load_once"), &GDNativeLibrary::set_load_once);
-	ClassDB::bind_method(D_METHOD("set_singleton", "singleton"), &GDNativeLibrary::set_singleton);
-	ClassDB::bind_method(D_METHOD("set_symbol_prefix", "symbol_prefix"), &GDNativeLibrary::set_symbol_prefix);
-	ClassDB::bind_method(D_METHOD("set_reloadable", "reloadable"), &GDNativeLibrary::set_reloadable);
-
-	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "config_file", PROPERTY_HINT_RESOURCE_TYPE, "ConfigFile", PROPERTY_USAGE_NONE), "set_config_file", "get_config_file");
-
-	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "load_once"), "set_load_once", "should_load_once");
-	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "singleton"), "set_singleton", "is_singleton");
-	ADD_PROPERTY(PropertyInfo(Variant::STRING, "symbol_prefix"), "set_symbol_prefix", "get_symbol_prefix");
-	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "reloadable"), "set_reloadable", "is_reloadable");
-}
-
-GDNative::GDNative() {
-	native_handle = nullptr;
-	initialized = false;
-}
-
-GDNative::~GDNative() {
-}
-
-void GDNative::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("set_library", "library"), &GDNative::set_library);
-	ClassDB::bind_method(D_METHOD("get_library"), &GDNative::get_library);
-
-	ClassDB::bind_method(D_METHOD("initialize"), &GDNative::initialize);
-	ClassDB::bind_method(D_METHOD("terminate"), &GDNative::terminate);
-
-	ClassDB::bind_method(D_METHOD("call_native", "calling_type", "procedure_name", "arguments"), &GDNative::call_native);
-
-	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "library", PROPERTY_HINT_RESOURCE_TYPE, "GDNativeLibrary"), "set_library", "get_library");
-}
-
-void GDNative::set_library(Ref<GDNativeLibrary> p_library) {
-	ERR_FAIL_COND_MSG(library.is_valid(), "Tried to change library of GDNative when it is already set.");
-	library = p_library;
-}
-
-Ref<GDNativeLibrary> GDNative::get_library() const {
-	return library;
-}
-
-extern "C" void _gdnative_report_version_mismatch(const godot_object *p_library, const char *p_ext, godot_gdnative_api_version p_want, godot_gdnative_api_version p_have);
-extern "C" void _gdnative_report_loading_error(const godot_object *p_library, const char *p_what);
-
-bool GDNative::initialize() {
-	if (library.is_null()) {
-		ERR_PRINT("No library set, can't initialize GDNative object");
-		return false;
-	}
-
-	String lib_path = library->get_current_library_path();
-	if (lib_path.is_empty()) {
-		ERR_PRINT("No library set for this platform");
-		return false;
-	}
-#ifdef IPHONE_ENABLED
-	// On iOS we use static linking by default.
-	String path = "";
-
-	// On iOS dylibs is not allowed, but can be replaced with .framework or .xcframework.
-	// If they are used, we can run dlopen on them.
-	// They should be located under Frameworks directory, so we need to replace library path.
-	if (!lib_path.ends_with(".a")) {
-		path = ProjectSettings::get_singleton()->globalize_path(lib_path);
-
-		if (!FileAccess::exists(path)) {
-			String lib_name = lib_path.get_basename().get_file();
-			String framework_path_format = "Frameworks/$name.framework/$name";
-
-			Dictionary format_dict;
-			format_dict["name"] = lib_name;
-			String framework_path = framework_path_format.format(format_dict, "$_");
-
-			path = OS::get_singleton()->get_executable_path().get_base_dir().plus_file(framework_path);
-		}
-	}
-#elif defined(ANDROID_ENABLED)
-	// On Android dynamic libraries are located separately from resource assets,
-	// we should pass library name to dlopen(). The library name is flattened
-	// during export.
-	String path = lib_path.get_file();
-#elif defined(UWP_ENABLED)
-	// On UWP we use a relative path from the app
-	String path = lib_path.replace("res://", "");
-#elif defined(OSX_ENABLED)
-	// On OSX the exported libraries are located under the Frameworks directory.
-	// So we need to replace the library path.
-	String path = ProjectSettings::get_singleton()->globalize_path(lib_path);
-	DirAccess *da = DirAccess::create(DirAccess::ACCESS_FILESYSTEM);
-
-	if (!da->file_exists(path) && !da->dir_exists(path)) {
-		path = OS::get_singleton()->get_executable_path().get_base_dir().plus_file("../Frameworks").plus_file(lib_path.get_file());
-	}
-
-	if (da->dir_exists(path)) { // Target library is a ".framework", add library base name to the path.
-		path = path.plus_file(path.get_file().get_basename());
-	}
-
-	memdelete(da);
-
-#else
-	String path = ProjectSettings::get_singleton()->globalize_path(lib_path);
-#endif
-
-	if (library->should_load_once()) {
-		if (GDNativeLibrary::loaded_libraries.has(lib_path)) {
-			// already loaded. Don't load again.
-			// copy some of the stuff instead
-			this->native_handle = GDNativeLibrary::loaded_libraries[lib_path][0]->native_handle;
-			initialized = true;
-			return true;
-		}
-	}
-
-	Error err = OS::get_singleton()->open_dynamic_library(path, native_handle, true);
-	if (err != OK) {
-		return false;
-	}
-
-	void *library_init;
-
-	// we cheat here a little bit. you saw nothing
-	initialized = true;
-
-	err = get_symbol(library->get_symbol_prefix() + init_symbol, library_init, false);
-
-	initialized = false;
-
-	if (err || !library_init) {
-		OS::get_singleton()->close_dynamic_library(native_handle);
-		native_handle = nullptr;
-		ERR_PRINT("Failed to obtain " + library->get_symbol_prefix() + "gdnative_init symbol");
-		return false;
-	}
-
-	godot_gdnative_init_fn library_init_fpointer;
-	library_init_fpointer = (godot_gdnative_init_fn)library_init;
-
-	static uint64_t core_api_hash = 0;
-	static uint64_t editor_api_hash = 0;
-	static uint64_t no_api_hash = 0;
-
-	if (!(core_api_hash || editor_api_hash || no_api_hash)) {
-		core_api_hash = ClassDB::get_api_hash(ClassDB::API_CORE);
-		editor_api_hash = ClassDB::get_api_hash(ClassDB::API_EDITOR);
-		no_api_hash = ClassDB::get_api_hash(ClassDB::API_NONE);
-	}
-
-	godot_gdnative_init_options options;
-
-	options.api_struct = &api_struct;
-	options.in_editor = Engine::get_singleton()->is_editor_hint();
-	options.core_api_hash = core_api_hash;
-	options.editor_api_hash = editor_api_hash;
-	options.no_api_hash = no_api_hash;
-	options.report_version_mismatch = &_gdnative_report_version_mismatch;
-	options.report_loading_error = &_gdnative_report_loading_error;
-	options.gd_native_library = (godot_object *)(get_library().ptr());
-	options.active_library_path = (godot_string *)&path;
-
-	library_init_fpointer(&options);
-
-	initialized = true;
-
-	if (library->should_load_once() && !GDNativeLibrary::loaded_libraries.has(lib_path)) {
-		Vector<Ref<GDNative>> gdnatives;
-		gdnatives.resize(1);
-		gdnatives.write[0] = Ref<GDNative>(this);
-		GDNativeLibrary::loaded_libraries.insert(lib_path, gdnatives);
-	}
-
-	return true;
-}
-
-bool GDNative::terminate() {
-	if (!initialized) {
-		ERR_PRINT("No valid library handle, can't terminate GDNative object");
-		return false;
-	}
-
-	if (library->should_load_once()) {
-		Vector<Ref<GDNative>> *gdnatives = &GDNativeLibrary::loaded_libraries[library->get_current_library_path()];
-		if (gdnatives->size() > 1) {
-			// there are other GDNative's still using this library, so we actually don't terminate
-			gdnatives->erase(Ref<GDNative>(this));
-			initialized = false;
-			return true;
-		} else if (gdnatives->size() == 1) {
-			// we're the last one, terminate!
-			gdnatives->clear();
-			// whew this looks scary, but all it does is remove the entry completely
-			GDNativeLibrary::loaded_libraries.erase(GDNativeLibrary::loaded_libraries.find(library->get_current_library_path()));
-		}
-	}
-
-	void *library_terminate;
-	Error error = get_symbol(library->get_symbol_prefix() + terminate_symbol, library_terminate);
-	if (error || !library_terminate) {
-		OS::get_singleton()->close_dynamic_library(native_handle);
-		native_handle = nullptr;
-		initialized = false;
-		return true;
-	}
-
-	godot_gdnative_terminate_fn library_terminate_pointer;
-	library_terminate_pointer = (godot_gdnative_terminate_fn)library_terminate;
-
-	godot_gdnative_terminate_options options;
-	options.in_editor = Engine::get_singleton()->is_editor_hint();
-
-	library_terminate_pointer(&options);
-
-	initialized = false;
-
-	// GDNativeScriptLanguage::get_singleton()->initialized_libraries.erase(p_native_lib->path);
-
-	OS::get_singleton()->close_dynamic_library(native_handle);
-	native_handle = nullptr;
-
-	return true;
-}
-
-bool GDNative::is_initialized() const {
-	return initialized;
-}
-
-void GDNativeCallRegistry::register_native_call_type(StringName p_call_type, native_call_cb p_callback) {
-	native_calls.insert(p_call_type, p_callback);
-}
-
-Vector<StringName> GDNativeCallRegistry::get_native_call_types() {
-	Vector<StringName> call_types;
-	call_types.resize(native_calls.size());
-
-	size_t idx = 0;
-	for (Map<StringName, native_call_cb>::Element *E = native_calls.front(); E; E = E->next(), idx++) {
-		call_types.write[idx] = E->key();
-	}
-
-	return call_types;
-}
-
-Variant GDNative::call_native(StringName p_native_call_type, StringName p_procedure_name, Array p_arguments) {
-	Map<StringName, native_call_cb>::Element *E = GDNativeCallRegistry::singleton->native_calls.find(p_native_call_type);
-	if (!E) {
-		ERR_PRINT((String("No handler for native call type \"" + p_native_call_type) + "\" found").utf8().get_data());
-		return Variant();
-	}
-
-	void *procedure_handle;
-
-	Error err = OS::get_singleton()->get_dynamic_library_symbol_handle(
-			native_handle,
-			p_procedure_name,
-			procedure_handle);
-
-	if (err != OK || procedure_handle == nullptr) {
-		return Variant();
-	}
-
-	godot_variant result = E->get()(procedure_handle, (godot_array *)&p_arguments);
-
-	Variant res = *(Variant *)&result;
-	godot_variant_destroy(&result);
-	return res;
-}
-
-Error GDNative::get_symbol(StringName p_procedure_name, void *&r_handle, bool p_optional) const {
-	if (!initialized) {
-		ERR_PRINT("No valid library handle, can't get symbol from GDNative object");
-		return ERR_CANT_OPEN;
-	}
-
-	Error result = OS::get_singleton()->get_dynamic_library_symbol_handle(
-			native_handle,
-			p_procedure_name,
-			r_handle,
-			p_optional);
-
-	return result;
-}
-
-RES GDNativeLibraryResourceLoader::load(const String &p_path, const String &p_original_path, Error *r_error, bool p_use_sub_threads, float *r_progress, CacheMode p_cache_mode) {
-	Ref<GDNativeLibrary> lib;
-	lib.instantiate();
-
-	Ref<ConfigFile> config = lib->get_config_file();
-
-	Error err = config->load(p_path);
-
-	if (r_error) {
-		*r_error = err;
-	}
-
-	lib->set_config_file(config);
-
-	return lib;
-}
-
-void GDNativeLibraryResourceLoader::get_recognized_extensions(List<String> *p_extensions) const {
-	p_extensions->push_back("gdnlib");
-}
-
-bool GDNativeLibraryResourceLoader::handles_type(const String &p_type) const {
-	return p_type == "GDNativeLibrary";
-}
-
-String GDNativeLibraryResourceLoader::get_resource_type(const String &p_path) const {
-	String el = p_path.get_extension().to_lower();
-	if (el == "gdnlib") {
-		return "GDNativeLibrary";
-	}
-	return "";
-}
-
-Error GDNativeLibraryResourceSaver::save(const String &p_path, const RES &p_resource, uint32_t p_flags) {
-	Ref<GDNativeLibrary> lib = p_resource;
-
-	if (lib.is_null()) {
-		return ERR_INVALID_DATA;
-	}
-
-	Ref<ConfigFile> config = lib->get_config_file();
-
-	config->set_value("general", "singleton", lib->is_singleton());
-	config->set_value("general", "load_once", lib->should_load_once());
-	config->set_value("general", "symbol_prefix", lib->get_symbol_prefix());
-	config->set_value("general", "reloadable", lib->is_reloadable());
-
-	return config->save(p_path);
-}
-
-bool GDNativeLibraryResourceSaver::recognize(const RES &p_resource) const {
-	return Object::cast_to<GDNativeLibrary>(*p_resource) != nullptr;
-}
-
-void GDNativeLibraryResourceSaver::get_recognized_extensions(const RES &p_resource, List<String> *p_extensions) const {
-	if (Object::cast_to<GDNativeLibrary>(*p_resource) != nullptr) {
-		p_extensions->push_back("gdnlib");
-	}
-}
diff --git a/modules/gdnative/gdnative.h b/modules/gdnative/gdnative.h
deleted file mode 100644
index 8facd43743..0000000000
--- a/modules/gdnative/gdnative.h
+++ /dev/null
@@ -1,184 +0,0 @@
-/*************************************************************************/
-/*  gdnative.h                                                           */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GDNATIVE_H
-#define GDNATIVE_H
-
-#include "core/io/resource.h"
-#include "core/io/resource_loader.h"
-#include "core/io/resource_saver.h"
-#include "core/os/thread_safe.h"
-
-#include "gdnative/gdnative.h"
-#include "gdnative_api_struct.gen.h"
-
-#include "core/io/config_file.h"
-
-class GDNativeLibraryResourceLoader;
-class GDNative;
-
-class GDNativeLibrary : public Resource {
-	GDCLASS(GDNativeLibrary, Resource);
-
-	static Map<String, Vector<Ref<GDNative>>> loaded_libraries;
-
-	friend class GDNativeLibraryResourceLoader;
-	friend class GDNative;
-
-	Ref<ConfigFile> config_file;
-
-	String current_library_path;
-	Vector<String> current_dependencies;
-
-	bool singleton;
-	bool load_once;
-	String symbol_prefix;
-	bool reloadable;
-
-public:
-	virtual void reset_state() override;
-
-	GDNativeLibrary();
-	~GDNativeLibrary();
-
-	virtual bool _set(const StringName &p_name, const Variant &p_property);
-	virtual bool _get(const StringName &p_name, Variant &r_property) const;
-	virtual void _get_property_list(List<PropertyInfo> *p_list) const;
-
-	_FORCE_INLINE_ Ref<ConfigFile> get_config_file() { return config_file; }
-
-	void set_config_file(Ref<ConfigFile> p_config_file);
-
-	// things that change per-platform
-	// so there are no setters for this
-	_FORCE_INLINE_ String get_current_library_path() const {
-		return current_library_path;
-	}
-	_FORCE_INLINE_ Vector<String> get_current_dependencies() const {
-		return current_dependencies;
-	}
-
-	// things that are a property of the library itself, not platform specific
-	_FORCE_INLINE_ bool should_load_once() const {
-		return load_once;
-	}
-	_FORCE_INLINE_ bool is_singleton() const {
-		return singleton;
-	}
-	_FORCE_INLINE_ String get_symbol_prefix() const {
-		return symbol_prefix;
-	}
-
-	_FORCE_INLINE_ bool is_reloadable() const {
-		return reloadable;
-	}
-
-	_FORCE_INLINE_ void set_load_once(bool p_load_once) {
-		config_file->set_value("general", "load_once", p_load_once);
-		load_once = p_load_once;
-	}
-	_FORCE_INLINE_ void set_singleton(bool p_singleton) {
-		config_file->set_value("general", "singleton", p_singleton);
-		singleton = p_singleton;
-	}
-	_FORCE_INLINE_ void set_symbol_prefix(String p_symbol_prefix) {
-		config_file->set_value("general", "symbol_prefix", p_symbol_prefix);
-		symbol_prefix = p_symbol_prefix;
-	}
-
-	_FORCE_INLINE_ void set_reloadable(bool p_reloadable) {
-		config_file->set_value("general", "reloadable", p_reloadable);
-		reloadable = p_reloadable;
-	}
-
-	static void _bind_methods();
-};
-
-struct GDNativeCallRegistry {
-	static GDNativeCallRegistry *singleton;
-
-	inline static GDNativeCallRegistry *get_singleton() {
-		return singleton;
-	}
-
-	inline GDNativeCallRegistry() :
-			native_calls() {}
-
-	Map<StringName, native_call_cb> native_calls;
-
-	void register_native_call_type(StringName p_call_type, native_call_cb p_callback);
-
-	Vector<StringName> get_native_call_types();
-};
-
-class GDNative : public RefCounted {
-	GDCLASS(GDNative, RefCounted);
-
-	Ref<GDNativeLibrary> library;
-
-	void *native_handle;
-
-	bool initialized;
-
-public:
-	GDNative();
-	~GDNative();
-
-	static void _bind_methods();
-
-	void set_library(Ref<GDNativeLibrary> p_library);
-	Ref<GDNativeLibrary> get_library() const;
-
-	bool is_initialized() const;
-
-	bool initialize();
-	bool terminate();
-
-	Variant call_native(StringName p_native_call_type, StringName p_procedure_name, Array p_arguments = Array());
-
-	Error get_symbol(StringName p_procedure_name, void *&r_handle, bool p_optional = true) const;
-};
-
-class GDNativeLibraryResourceLoader : public ResourceFormatLoader {
-public:
-	virtual RES load(const String &p_path, const String &p_original_path, Error *r_error, bool p_use_sub_threads = false, float *r_progress = nullptr, CacheMode p_cache_mode = CACHE_MODE_REUSE);
-	virtual void get_recognized_extensions(List<String> *p_extensions) const;
-	virtual bool handles_type(const String &p_type) const;
-	virtual String get_resource_type(const String &p_path) const;
-};
-
-class GDNativeLibraryResourceSaver : public ResourceFormatSaver {
-public:
-	virtual Error save(const String &p_path, const RES &p_resource, uint32_t p_flags);
-	virtual bool recognize(const RES &p_resource) const;
-	virtual void get_recognized_extensions(const RES &p_resource, List<String> *p_extensions) const;
-};
-
-#endif // GDNATIVE_H
diff --git a/modules/gdnative/gdnative/aabb.cpp b/modules/gdnative/gdnative/aabb.cpp
deleted file mode 100644
index b8909433cc..0000000000
--- a/modules/gdnative/gdnative/aabb.cpp
+++ /dev/null
@@ -1,52 +0,0 @@
-/*************************************************************************/
-/*  aabb.cpp                                                             */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "gdnative/aabb.h"
-
-#include "core/math/aabb.h"
-#include "core/os/memory.h"
-
-static_assert(sizeof(godot_aabb) == sizeof(AABB), "AABB size mismatch");
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void GDAPI godot_aabb_new(godot_aabb *p_self) {
-	memnew_placement(p_self, AABB);
-}
-
-void GDAPI godot_aabb_new_copy(godot_aabb *r_dest, const godot_aabb *p_src) {
-	memnew_placement(r_dest, AABB(*(AABB *)p_src));
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/gdnative/array.cpp b/modules/gdnative/gdnative/array.cpp
deleted file mode 100644
index 31063e43c1..0000000000
--- a/modules/gdnative/gdnative/array.cpp
+++ /dev/null
@@ -1,66 +0,0 @@
-/*************************************************************************/
-/*  array.cpp                                                            */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "gdnative/array.h"
-
-#include "core/os/memory.h"
-#include "core/variant/array.h"
-
-static_assert(sizeof(godot_array) == sizeof(Array), "Array size mismatch");
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void GDAPI godot_array_new(godot_array *p_self) {
-	memnew_placement(p_self, Array);
-}
-
-void GDAPI godot_array_new_copy(godot_array *r_dest, const godot_array *p_src) {
-	memnew_placement(r_dest, Array(*(Array *)p_src));
-}
-
-void GDAPI godot_array_destroy(godot_array *p_self) {
-	((Array *)p_self)->~Array();
-}
-
-godot_variant GDAPI *godot_array_operator_index(godot_array *p_self, godot_int p_index) {
-	Array *self = (Array *)p_self;
-	return (godot_variant *)&self->operator[](p_index);
-}
-
-const godot_variant GDAPI *godot_array_operator_index_const(const godot_array *p_self, godot_int p_index) {
-	const Array *self = (const Array *)p_self;
-	return (const godot_variant *)&self->operator[](p_index);
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/gdnative/basis.cpp b/modules/gdnative/gdnative/basis.cpp
deleted file mode 100644
index af7f9a2399..0000000000
--- a/modules/gdnative/gdnative/basis.cpp
+++ /dev/null
@@ -1,61 +0,0 @@
-/*************************************************************************/
-/*  basis.cpp                                                            */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "gdnative/basis.h"
-
-#include "core/math/basis.h"
-
-static_assert(sizeof(godot_basis) == sizeof(Basis), "Basis size mismatch");
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void GDAPI godot_basis_new(godot_basis *p_self) {
-	memnew_placement(p_self, Basis);
-}
-
-void GDAPI godot_basis_new_copy(godot_basis *r_dest, const godot_basis *p_src) {
-	memnew_placement(r_dest, Basis(*(Basis *)p_src));
-}
-
-godot_vector3 GDAPI *godot_basis_operator_index(godot_basis *p_self, godot_int p_index) {
-	Basis *self = (Basis *)p_self;
-	return (godot_vector3 *)&self->operator[](p_index);
-}
-
-const godot_vector3 GDAPI *godot_basis_operator_index_const(const godot_basis *p_self, godot_int p_index) {
-	const Basis *self = (const Basis *)p_self;
-	return (const godot_vector3 *)&self->operator[](p_index);
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/gdnative/callable.cpp b/modules/gdnative/gdnative/callable.cpp
deleted file mode 100644
index 7ae1038a13..0000000000
--- a/modules/gdnative/gdnative/callable.cpp
+++ /dev/null
@@ -1,57 +0,0 @@
-/*************************************************************************/
-/*  callable.cpp                                                         */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "gdnative/callable.h"
-
-#include "core/variant/callable.h"
-#include "core/variant/variant.h"
-
-static_assert(sizeof(godot_callable) == sizeof(Callable), "Callable size mismatch");
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void GDAPI godot_callable_new(godot_callable *p_self) {
-	memnew_placement(p_self, Callable);
-}
-
-void GDAPI godot_callable_new_copy(godot_callable *r_dest, const godot_callable *p_src) {
-	memnew_placement(r_dest, Callable(*(Callable *)p_src));
-}
-
-void GDAPI godot_callable_destroy(godot_callable *p_self) {
-	Callable *self = (Callable *)p_self;
-	self->~Callable();
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/gdnative/color.cpp b/modules/gdnative/gdnative/color.cpp
deleted file mode 100644
index 8f13610b2c..0000000000
--- a/modules/gdnative/gdnative/color.cpp
+++ /dev/null
@@ -1,61 +0,0 @@
-/*************************************************************************/
-/*  color.cpp                                                            */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "gdnative/color.h"
-
-#include "core/math/color.h"
-
-static_assert(sizeof(godot_color) == sizeof(Color), "Color size mismatch");
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void GDAPI godot_color_new(godot_color *p_self) {
-	memnew_placement(p_self, Color);
-}
-
-void GDAPI godot_color_new_copy(godot_color *r_dest, const godot_color *p_src) {
-	memnew_placement(r_dest, Color(*(Color *)p_src));
-}
-
-float GDAPI *godot_color_operator_index(godot_color *p_self, godot_int p_index) {
-	Color *self = (Color *)p_self;
-	return (float *)&self->operator[](p_index);
-}
-
-const float GDAPI *godot_color_operator_index_const(const godot_color *p_self, godot_int p_index) {
-	const Color *self = (const Color *)p_self;
-	return (const float *)&self->operator[](p_index);
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/gdnative/dictionary.cpp b/modules/gdnative/gdnative/dictionary.cpp
deleted file mode 100644
index dea01dad43..0000000000
--- a/modules/gdnative/gdnative/dictionary.cpp
+++ /dev/null
@@ -1,67 +0,0 @@
-/*************************************************************************/
-/*  dictionary.cpp                                                       */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "gdnative/dictionary.h"
-
-#include "core/variant/dictionary.h"
-#include "core/variant/variant.h"
-
-static_assert(sizeof(godot_dictionary) == sizeof(Dictionary), "Dictionary size mismatch");
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void GDAPI godot_dictionary_new(godot_dictionary *p_self) {
-	memnew_placement(p_self, Dictionary);
-}
-
-void GDAPI godot_dictionary_new_copy(godot_dictionary *r_dest, const godot_dictionary *p_src) {
-	memnew_placement(r_dest, Dictionary(*(Dictionary *)p_src));
-}
-
-void GDAPI godot_dictionary_destroy(godot_dictionary *p_self) {
-	Dictionary *self = (Dictionary *)p_self;
-	self->~Dictionary();
-}
-
-godot_variant GDAPI *godot_dictionary_operator_index(godot_dictionary *p_self, const godot_variant *p_key) {
-	Dictionary *self = (Dictionary *)p_self;
-	return (godot_variant *)&self->operator[](*((const Variant *)p_key));
-}
-
-const godot_variant GDAPI *godot_dictionary_operator_index_const(const godot_dictionary *p_self, const godot_variant *p_key) {
-	const Dictionary *self = (const Dictionary *)p_self;
-	return (const godot_variant *)&self->operator[](*((const Variant *)p_key));
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/gdnative/gdnative.cpp b/modules/gdnative/gdnative/gdnative.cpp
deleted file mode 100644
index 8ba41b3224..0000000000
--- a/modules/gdnative/gdnative/gdnative.cpp
+++ /dev/null
@@ -1,193 +0,0 @@
-/*************************************************************************/
-/*  gdnative.cpp                                                         */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "gdnative/gdnative.h"
-
-#include "core/config/engine.h"
-#include "core/core_constants.h"
-#include "core/error/error_macros.h"
-#include "core/object/class_db.h"
-#include "core/os/os.h"
-#include "core/variant/variant.h"
-
-#include "modules/gdnative/gdnative.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void GDAPI godot_object_destroy(godot_object *p_o) {
-	memdelete((Object *)p_o);
-}
-
-// Singleton API
-
-godot_object GDAPI *godot_global_get_singleton(char *p_name) {
-	return (godot_object *)Engine::get_singleton()->get_singleton_object(String(p_name));
-} // result shouldn't be freed
-
-// MethodBind API
-
-godot_method_bind GDAPI *godot_method_bind_get_method(const char *p_classname, const char *p_methodname) {
-	MethodBind *mb = ClassDB::get_method(StringName(p_classname), StringName(p_methodname));
-	// MethodBind *mb = ClassDB::get_method("Node", "get_name");
-	return (godot_method_bind *)mb;
-}
-
-void GDAPI godot_method_bind_ptrcall(godot_method_bind *p_method_bind, godot_object *p_instance, const void **p_args, void *p_ret) {
-	MethodBind *mb = (MethodBind *)p_method_bind;
-	Object *o = (Object *)p_instance;
-	mb->ptrcall(o, p_args, p_ret);
-}
-
-godot_variant GDAPI godot_method_bind_call(godot_method_bind *p_method_bind, godot_object *p_instance, const godot_variant **p_args, const int p_arg_count, godot_variant_call_error *p_call_error) {
-	MethodBind *mb = (MethodBind *)p_method_bind;
-	Object *o = (Object *)p_instance;
-	const Variant **args = (const Variant **)p_args;
-
-	godot_variant ret;
-	godot_variant_new_nil(&ret);
-
-	Variant *ret_val = (Variant *)&ret;
-
-	Callable::CallError r_error;
-	*ret_val = mb->call(o, args, p_arg_count, r_error);
-
-	if (p_call_error) {
-		p_call_error->error = (godot_variant_call_error_error)r_error.error;
-		p_call_error->argument = r_error.argument;
-		p_call_error->expected = (godot_variant_type)r_error.expected;
-	}
-
-	return ret;
-}
-
-godot_class_constructor GDAPI godot_get_class_constructor(const char *p_classname) {
-	ClassDB::ClassInfo *class_info = ClassDB::classes.getptr(StringName(p_classname));
-	if (class_info) {
-		return (godot_class_constructor)class_info->creation_func;
-	}
-	return nullptr;
-}
-
-godot_dictionary GDAPI godot_get_global_constants() {
-	godot_dictionary constants;
-	memnew_placement(&constants, Dictionary);
-	Dictionary *p_constants = (Dictionary *)&constants;
-	const int constants_count = CoreConstants::get_global_constant_count();
-	for (int i = 0; i < constants_count; ++i) {
-		const char *name = CoreConstants::get_global_constant_name(i);
-		int value = CoreConstants::get_global_constant_value(i);
-		(*p_constants)[name] = value;
-	}
-	return constants;
-}
-
-// System functions
-void GDAPI godot_register_native_call_type(const char *p_call_type, native_call_cb p_callback) {
-	GDNativeCallRegistry::get_singleton()->register_native_call_type(StringName(p_call_type), p_callback);
-}
-
-void GDAPI *godot_alloc(int p_bytes) {
-	return memalloc(p_bytes);
-}
-
-void GDAPI *godot_realloc(void *p_ptr, int p_bytes) {
-	return memrealloc(p_ptr, p_bytes);
-}
-
-void GDAPI godot_free(void *p_ptr) {
-	memfree(p_ptr);
-}
-
-// Helper print functions.
-void GDAPI godot_print_error(const char *p_description, const char *p_function, const char *p_file, int p_line) {
-	_err_print_error(p_function, p_file, p_line, p_description, false, ERR_HANDLER_ERROR);
-}
-void GDAPI godot_print_warning(const char *p_description, const char *p_function, const char *p_file, int p_line) {
-	_err_print_error(p_function, p_file, p_line, p_description, false, ERR_HANDLER_WARNING);
-}
-void GDAPI godot_print_script_error(const char *p_description, const char *p_function, const char *p_file, int p_line) {
-	_err_print_error(p_function, p_file, p_line, p_description, false, ERR_HANDLER_SCRIPT);
-}
-
-void _gdnative_report_version_mismatch(const godot_object *p_library, const char *p_ext, godot_gdnative_api_version p_want, godot_gdnative_api_version p_have) {
-	String message = "Error loading GDNative file ";
-	GDNativeLibrary *library = (GDNativeLibrary *)p_library;
-
-	message += library->get_current_library_path() + ": Extension \"" + p_ext + "\" can't be loaded.\n";
-
-	Dictionary versions;
-	versions["have_major"] = p_have.major;
-	versions["have_minor"] = p_have.minor;
-	versions["want_major"] = p_want.major;
-	versions["want_minor"] = p_want.minor;
-
-	message += String("Got version {have_major}.{have_minor} but needs {want_major}.{want_minor}!").format(versions);
-
-	_err_print_error("gdnative_init", library->get_current_library_path().utf8().ptr(), 0, message.utf8().ptr());
-}
-
-void _gdnative_report_loading_error(const godot_object *p_library, const char *p_what) {
-	String message = "Error loading GDNative file ";
-	GDNativeLibrary *library = (GDNativeLibrary *)p_library;
-
-	message += library->get_current_library_path() + ": " + p_what;
-
-	_err_print_error("gdnative_init", library->get_current_library_path().utf8().ptr(), 0, message.utf8().ptr());
-}
-
-godot_object GDAPI *godot_instance_from_id(uint64_t p_instance_id) {
-	return (godot_object *)ObjectDB::get_instance(ObjectID(p_instance_id));
-}
-
-void *godot_get_class_tag(const godot_string_name *p_class) {
-	StringName class_name = *(StringName *)p_class;
-	ClassDB::ClassInfo *class_info = ClassDB::classes.getptr(class_name);
-	return class_info ? class_info->class_ptr : nullptr;
-}
-
-godot_object *godot_object_cast_to(const godot_object *p_object, void *p_class_tag) {
-	if (!p_object) {
-		return nullptr;
-	}
-	Object *o = (Object *)p_object;
-
-	return o->is_class_ptr(p_class_tag) ? (godot_object *)o : nullptr;
-}
-
-uint64_t GDAPI godot_object_get_instance_id(const godot_object *p_object) {
-	const Object *o = (const Object *)p_object;
-	return (uint64_t)o->get_instance_id();
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/gdnative/node_path.cpp b/modules/gdnative/gdnative/node_path.cpp
deleted file mode 100644
index 3db705f550..0000000000
--- a/modules/gdnative/gdnative/node_path.cpp
+++ /dev/null
@@ -1,56 +0,0 @@
-/*************************************************************************/
-/*  node_path.cpp                                                        */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "gdnative/node_path.h"
-
-#include "core/string/node_path.h"
-
-static_assert(sizeof(godot_node_path) == sizeof(NodePath), "NodePath size mismatch");
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void GDAPI godot_node_path_new(godot_node_path *p_self) {
-	memnew_placement(p_self, NodePath);
-}
-
-void GDAPI godot_node_path_new_copy(godot_node_path *r_dest, const godot_node_path *p_src) {
-	memnew_placement(r_dest, NodePath(*(NodePath *)p_src));
-}
-
-void GDAPI godot_node_path_destroy(godot_node_path *p_self) {
-	NodePath *self = (NodePath *)p_self;
-	self->~NodePath();
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/gdnative/packed_arrays.cpp b/modules/gdnative/gdnative/packed_arrays.cpp
deleted file mode 100644
index 0c49694e0b..0000000000
--- a/modules/gdnative/gdnative/packed_arrays.cpp
+++ /dev/null
@@ -1,320 +0,0 @@
-/*************************************************************************/
-/*  packed_arrays.cpp                                                    */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "gdnative/packed_arrays.h"
-
-#include "core/variant/variant.h"
-
-#include "core/math/vector2i.h"
-#include "core/math/vector3i.h"
-
-static_assert(sizeof(godot_packed_byte_array) == sizeof(PackedByteArray), "PackedByteArray size mismatch");
-static_assert(sizeof(godot_packed_int32_array) == sizeof(PackedInt32Array), "PackedInt32Array size mismatch");
-static_assert(sizeof(godot_packed_int64_array) == sizeof(PackedInt64Array), "PackedInt64Array size mismatch");
-static_assert(sizeof(godot_packed_float32_array) == sizeof(PackedFloat32Array), "PackedFloat32Array size mismatch");
-static_assert(sizeof(godot_packed_float64_array) == sizeof(PackedFloat64Array), "PackedFloat64Array size mismatch");
-static_assert(sizeof(godot_packed_string_array) == sizeof(PackedStringArray), "PackedStringArray size mismatch");
-static_assert(sizeof(godot_packed_vector2_array) == sizeof(PackedVector2Array), "PackedVector2Array size mismatch");
-static_assert(sizeof(godot_packed_vector2i_array) == sizeof(Vector<Vector2i>), "Vector<Vector2i> size mismatch");
-static_assert(sizeof(godot_packed_vector3_array) == sizeof(PackedVector3Array), "PackedVector3Array size mismatch");
-static_assert(sizeof(godot_packed_vector3i_array) == sizeof(Vector<Vector3i>), "Vector<Vector3i> size mismatch");
-static_assert(sizeof(godot_packed_color_array) == sizeof(PackedColorArray), "PackedColorArray size mismatch");
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// byte
-
-void GDAPI godot_packed_byte_array_new(godot_packed_byte_array *p_self) {
-	memnew_placement(p_self, PackedByteArray);
-}
-
-void GDAPI godot_packed_byte_array_new_copy(godot_packed_byte_array *r_dest, const godot_packed_byte_array *p_src) {
-	memnew_placement(r_dest, PackedByteArray(*(PackedByteArray *)p_src));
-}
-
-void GDAPI godot_packed_byte_array_destroy(godot_packed_byte_array *p_self) {
-	((PackedByteArray *)p_self)->~PackedByteArray();
-}
-
-uint8_t GDAPI *godot_packed_byte_array_operator_index(godot_packed_byte_array *p_self, godot_int p_index) {
-	PackedByteArray *self = (PackedByteArray *)p_self;
-	return (uint8_t *)&self->operator[](p_index);
-}
-
-const uint8_t GDAPI *godot_packed_byte_array_operator_index_const(const godot_packed_byte_array *p_self, godot_int p_index) {
-	const PackedByteArray *self = (const PackedByteArray *)p_self;
-	return (const uint8_t *)&self->operator[](p_index);
-}
-
-// int32
-
-void GDAPI godot_packed_int32_array_new(godot_packed_int32_array *p_self) {
-	memnew_placement(p_self, PackedInt32Array);
-}
-
-void GDAPI godot_packed_int32_array_new_copy(godot_packed_int32_array *r_dest, const godot_packed_int32_array *p_src) {
-	memnew_placement(r_dest, PackedInt32Array(*(PackedInt32Array *)p_src));
-}
-
-void GDAPI godot_packed_int32_array_destroy(godot_packed_int32_array *p_self) {
-	((PackedInt32Array *)p_self)->~PackedInt32Array();
-}
-
-int32_t GDAPI *godot_packed_int32_array_operator_index(godot_packed_int32_array *p_self, godot_int p_index) {
-	PackedInt32Array *self = (PackedInt32Array *)p_self;
-	return (int32_t *)&self->operator[](p_index);
-}
-
-const int32_t GDAPI *godot_packed_int32_array_operator_index_const(const godot_packed_int32_array *p_self, godot_int p_index) {
-	const PackedInt32Array *self = (const PackedInt32Array *)p_self;
-	return (const int32_t *)&self->operator[](p_index);
-}
-
-// int64
-
-void GDAPI godot_packed_int64_array_new(godot_packed_int64_array *p_self) {
-	memnew_placement(p_self, PackedInt64Array);
-}
-
-void GDAPI godot_packed_int64_array_new_copy(godot_packed_int64_array *r_dest, const godot_packed_int64_array *p_src) {
-	memnew_placement(r_dest, PackedInt64Array(*(PackedInt64Array *)p_src));
-}
-
-void GDAPI godot_packed_int64_array_destroy(godot_packed_int64_array *p_self) {
-	((PackedInt64Array *)p_self)->~PackedInt64Array();
-}
-
-int64_t GDAPI *godot_packed_int64_array_operator_index(godot_packed_int64_array *p_self, godot_int p_index) {
-	PackedInt64Array *self = (PackedInt64Array *)p_self;
-	return (int64_t *)&self->operator[](p_index);
-}
-
-const int64_t GDAPI *godot_packed_int64_array_operator_index_const(const godot_packed_int64_array *p_self, godot_int p_index) {
-	const PackedInt64Array *self = (const PackedInt64Array *)p_self;
-	return (const int64_t *)&self->operator[](p_index);
-}
-
-// float32
-
-void GDAPI godot_packed_float32_array_new(godot_packed_float32_array *p_self) {
-	memnew_placement(p_self, PackedFloat32Array);
-}
-
-void GDAPI godot_packed_float32_array_new_copy(godot_packed_float32_array *r_dest, const godot_packed_float32_array *p_src) {
-	memnew_placement(r_dest, PackedFloat32Array(*(PackedFloat32Array *)p_src));
-}
-
-void GDAPI godot_packed_float32_array_destroy(godot_packed_float32_array *p_self) {
-	((PackedFloat32Array *)p_self)->~PackedFloat32Array();
-}
-
-float GDAPI *godot_packed_float32_array_operator_index(godot_packed_float32_array *p_self, godot_int p_index) {
-	PackedFloat32Array *self = (PackedFloat32Array *)p_self;
-	return (float *)&self->operator[](p_index);
-}
-
-const float GDAPI *godot_packed_float32_array_operator_index_const(const godot_packed_float32_array *p_self, godot_int p_index) {
-	const PackedFloat32Array *self = (const PackedFloat32Array *)p_self;
-	return (const float *)&self->operator[](p_index);
-}
-
-// float64
-
-void GDAPI godot_packed_float64_array_new(godot_packed_float64_array *p_self) {
-	memnew_placement(p_self, PackedFloat64Array);
-}
-
-void GDAPI godot_packed_float64_array_new_copy(godot_packed_float64_array *r_dest, const godot_packed_float64_array *p_src) {
-	memnew_placement(r_dest, PackedFloat64Array(*(PackedFloat64Array *)p_src));
-}
-
-void GDAPI godot_packed_float64_array_destroy(godot_packed_float64_array *p_self) {
-	((PackedFloat64Array *)p_self)->~PackedFloat64Array();
-}
-
-double GDAPI *godot_packed_float64_array_operator_index(godot_packed_float64_array *p_self, godot_int p_index) {
-	PackedFloat64Array *self = (PackedFloat64Array *)p_self;
-	return (double *)&self->operator[](p_index);
-}
-
-const double GDAPI *godot_packed_float64_array_operator_index_const(const godot_packed_float64_array *p_self, godot_int p_index) {
-	const PackedFloat64Array *self = (const PackedFloat64Array *)p_self;
-	return (const double *)&self->operator[](p_index);
-}
-
-// string
-
-void GDAPI godot_packed_string_array_new(godot_packed_string_array *p_self) {
-	memnew_placement(p_self, PackedStringArray);
-}
-
-void GDAPI godot_packed_string_array_new_copy(godot_packed_string_array *r_dest, const godot_packed_string_array *p_src) {
-	memnew_placement(r_dest, PackedStringArray(*(PackedStringArray *)p_src));
-}
-
-void GDAPI godot_packed_string_array_destroy(godot_packed_string_array *p_self) {
-	((PackedStringArray *)p_self)->~PackedStringArray();
-}
-
-godot_string GDAPI *godot_packed_string_array_operator_index(godot_packed_string_array *p_self, godot_int p_index) {
-	PackedStringArray *self = (PackedStringArray *)p_self;
-	return (godot_string *)&self->operator[](p_index);
-}
-
-const godot_string GDAPI *godot_packed_string_array_operator_index_const(const godot_packed_string_array *p_self, godot_int p_index) {
-	const PackedStringArray *self = (const PackedStringArray *)p_self;
-	return (const godot_string *)&self->operator[](p_index);
-}
-
-// vector2
-
-void GDAPI godot_packed_vector2_array_new(godot_packed_vector2_array *p_self) {
-	memnew_placement(p_self, PackedVector2Array);
-}
-
-void GDAPI godot_packed_vector2_array_new_copy(godot_packed_vector2_array *r_dest, const godot_packed_vector2_array *p_src) {
-	memnew_placement(r_dest, PackedVector2Array(*(PackedVector2Array *)p_src));
-}
-
-void GDAPI godot_packed_vector2_array_destroy(godot_packed_vector2_array *p_self) {
-	((PackedVector2Array *)p_self)->~PackedVector2Array();
-}
-
-godot_vector2 GDAPI *godot_packed_vector2_array_operator_index(godot_packed_vector2_array *p_self, godot_int p_index) {
-	PackedVector2Array *self = (PackedVector2Array *)p_self;
-	return (godot_vector2 *)&self->operator[](p_index);
-}
-
-const godot_vector2 GDAPI *godot_packed_vector2_array_operator_index_const(const godot_packed_vector2_array *p_self, godot_int p_index) {
-	const PackedVector2Array *self = (const PackedVector2Array *)p_self;
-	return (const godot_vector2 *)&self->operator[](p_index);
-}
-
-// vector2i
-
-void GDAPI godot_packed_vector2i_array_new(godot_packed_vector2i_array *p_self) {
-	memnew_placement(p_self, Vector<Vector2i>);
-}
-
-void GDAPI godot_packed_vector2i_array_new_copy(godot_packed_vector2i_array *r_dest, const godot_packed_vector2i_array *p_src) {
-	memnew_placement(r_dest, Vector<Vector2i>(*(Vector<Vector2i> *)p_src));
-}
-
-void GDAPI godot_packed_vector2i_array_destroy(godot_packed_vector2i_array *p_self) {
-	((Vector<Vector2i> *)p_self)->~Vector();
-}
-
-godot_vector2i GDAPI *godot_packed_vector2i_array_operator_index(godot_packed_vector2i_array *p_self, godot_int p_index) {
-	Vector<Vector2i> *self = (Vector<Vector2i> *)p_self;
-	return (godot_vector2i *)&self->operator[](p_index);
-}
-
-const godot_vector2i GDAPI *godot_packed_vector2i_array_operator_index_const(const godot_packed_vector2i_array *p_self, godot_int p_index) {
-	const Vector<Vector2i> *self = (const Vector<Vector2i> *)p_self;
-	return (const godot_vector2i *)&self->operator[](p_index);
-}
-
-// vector3
-
-void GDAPI godot_packed_vector3_array_new(godot_packed_vector3_array *p_self) {
-	memnew_placement(p_self, PackedVector3Array);
-}
-
-void GDAPI godot_packed_vector3_array_new_copy(godot_packed_vector3_array *r_dest, const godot_packed_vector3_array *p_src) {
-	memnew_placement(r_dest, PackedVector3Array(*(PackedVector3Array *)p_src));
-}
-
-void GDAPI godot_packed_vector3_array_destroy(godot_packed_vector3_array *p_self) {
-	((PackedVector3Array *)p_self)->~PackedVector3Array();
-}
-
-godot_vector3 GDAPI *godot_packed_vector3_array_operator_index(godot_packed_vector3_array *p_self, godot_int p_index) {
-	PackedVector3Array *self = (PackedVector3Array *)p_self;
-	return (godot_vector3 *)&self->operator[](p_index);
-}
-
-const godot_vector3 GDAPI *godot_packed_vector3_array_operator_index_const(const godot_packed_vector3_array *p_self, godot_int p_index) {
-	const PackedVector3Array *self = (const PackedVector3Array *)p_self;
-	return (const godot_vector3 *)&self->operator[](p_index);
-}
-
-// vector3i
-
-void GDAPI godot_packed_vector3i_array_new(godot_packed_vector3i_array *p_self) {
-	memnew_placement(p_self, Vector<Vector3i>);
-}
-
-void GDAPI godot_packed_vector3i_array_new_copy(godot_packed_vector3i_array *r_dest, const godot_packed_vector3i_array *p_src) {
-	memnew_placement(r_dest, Vector<Vector3i>(*(Vector<Vector3i> *)p_src));
-}
-
-void GDAPI godot_packed_vector3i_array_destroy(godot_packed_vector3i_array *p_self) {
-	((Vector<Vector3i> *)p_self)->~Vector();
-}
-
-godot_vector3i GDAPI *godot_packed_vector3i_array_operator_index(godot_packed_vector3i_array *p_self, godot_int p_index) {
-	Vector<Vector3i> *self = (Vector<Vector3i> *)p_self;
-	return (godot_vector3i *)&self->operator[](p_index);
-}
-
-const godot_vector3i GDAPI *godot_packed_vector3i_array_operator_index_const(const godot_packed_vector3i_array *p_self, godot_int p_index) {
-	const Vector<Vector3i> *self = (const Vector<Vector3i> *)p_self;
-	return (const godot_vector3i *)&self->operator[](p_index);
-}
-
-// color
-
-void GDAPI godot_packed_color_array_new(godot_packed_color_array *p_self) {
-	memnew_placement(p_self, PackedColorArray);
-}
-
-void GDAPI godot_packed_color_array_new_copy(godot_packed_color_array *r_dest, const godot_packed_color_array *p_src) {
-	memnew_placement(r_dest, PackedColorArray(*(PackedColorArray *)p_src));
-}
-
-void GDAPI godot_packed_color_array_destroy(godot_packed_color_array *p_self) {
-	((PackedColorArray *)p_self)->~PackedColorArray();
-}
-
-godot_color GDAPI *godot_packed_color_array_operator_index(godot_packed_color_array *p_self, godot_int p_index) {
-	PackedColorArray *self = (PackedColorArray *)p_self;
-	return (godot_color *)&self->operator[](p_index);
-}
-
-const godot_color GDAPI *godot_packed_color_array_operator_index_const(const godot_packed_color_array *p_self, godot_int p_index) {
-	const PackedColorArray *self = (const PackedColorArray *)p_self;
-	return (const godot_color *)&self->operator[](p_index);
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/gdnative/plane.cpp b/modules/gdnative/gdnative/plane.cpp
deleted file mode 100644
index 41fa0da5db..0000000000
--- a/modules/gdnative/gdnative/plane.cpp
+++ /dev/null
@@ -1,52 +0,0 @@
-/*************************************************************************/
-/*  plane.cpp                                                            */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "gdnative/plane.h"
-
-#include "core/math/plane.h"
-#include "core/os/memory.h"
-
-static_assert(sizeof(godot_plane) == sizeof(Plane), "Plane size mismatch");
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void GDAPI godot_plane_new(godot_plane *p_self) {
-	memnew_placement(p_self, Plane);
-}
-
-void GDAPI godot_plane_new_copy(godot_plane *r_dest, const godot_plane *p_src) {
-	memnew_placement(r_dest, Plane(*(Plane *)p_src));
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/gdnative/quaternion.cpp b/modules/gdnative/gdnative/quaternion.cpp
deleted file mode 100644
index b91e47e77e..0000000000
--- a/modules/gdnative/gdnative/quaternion.cpp
+++ /dev/null
@@ -1,61 +0,0 @@
-/*************************************************************************/
-/*  quaternion.cpp                                                       */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "gdnative/quaternion.h"
-
-#include "core/math/quaternion.h"
-
-static_assert(sizeof(godot_quaternion) == sizeof(Quaternion), "Quaternion size mismatch");
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void GDAPI godot_quaternion_new(godot_quaternion *p_self) {
-	memnew_placement(p_self, Quaternion);
-}
-
-void GDAPI godot_quaternion_new_copy(godot_quaternion *r_dest, const godot_quaternion *p_src) {
-	memnew_placement(r_dest, Quaternion(*(Quaternion *)p_src));
-}
-
-godot_real_t GDAPI *godot_quaternion_operator_index(godot_quaternion *p_self, godot_int p_index) {
-	Quaternion *self = (Quaternion *)p_self;
-	return (godot_real_t *)&self->operator[](p_index);
-}
-
-const godot_real_t GDAPI *godot_quaternion_operator_index_const(const godot_quaternion *p_self, godot_int p_index) {
-	const Quaternion *self = (const Quaternion *)p_self;
-	return (const godot_real_t *)&self->operator[](p_index);
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/gdnative/rect2.cpp b/modules/gdnative/gdnative/rect2.cpp
deleted file mode 100644
index 7e0ce76c26..0000000000
--- a/modules/gdnative/gdnative/rect2.cpp
+++ /dev/null
@@ -1,62 +0,0 @@
-/*************************************************************************/
-/*  rect2.cpp                                                            */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "gdnative/rect2.h"
-
-#include "core/math/rect2.h"
-#include "core/math/rect2i.h"
-#include "core/os/memory.h"
-
-static_assert(sizeof(godot_rect2) == sizeof(Rect2), "Rect2 size mismatch");
-static_assert(sizeof(godot_rect2i) == sizeof(Rect2i), "Rect2i size mismatch");
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void GDAPI godot_rect2_new(godot_rect2 *p_self) {
-	memnew_placement(p_self, Rect2);
-}
-
-void GDAPI godot_rect2_new_copy(godot_rect2 *r_dest, const godot_rect2 *p_src) {
-	memnew_placement(r_dest, Rect2(*(Rect2 *)p_src));
-}
-
-void GDAPI godot_rect2i_new(godot_rect2i *p_self) {
-	memnew_placement(p_self, Rect2i);
-}
-
-void GDAPI godot_rect2i_new_copy(godot_rect2i *r_dest, const godot_rect2i *p_src) {
-	memnew_placement(r_dest, Rect2i(*(Rect2i *)p_src));
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/gdnative/rid.cpp b/modules/gdnative/gdnative/rid.cpp
deleted file mode 100644
index b40fa7c2c6..0000000000
--- a/modules/gdnative/gdnative/rid.cpp
+++ /dev/null
@@ -1,52 +0,0 @@
-/*************************************************************************/
-/*  rid.cpp                                                              */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "gdnative/rid.h"
-
-#include "core/os/memory.h"
-#include "core/templates/rid.h"
-
-static_assert(sizeof(godot_rid) == sizeof(RID), "RID size mismatch");
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void GDAPI godot_rid_new(godot_rid *p_self) {
-	memnew_placement(p_self, RID);
-}
-
-void GDAPI godot_rid_new_copy(godot_rid *r_dest, const godot_rid *p_src) {
-	memnew_placement(r_dest, RID(*(RID *)p_src));
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/gdnative/signal.cpp b/modules/gdnative/gdnative/signal.cpp
deleted file mode 100644
index 8293aed439..0000000000
--- a/modules/gdnative/gdnative/signal.cpp
+++ /dev/null
@@ -1,57 +0,0 @@
-/*************************************************************************/
-/*  signal.cpp                                                           */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "gdnative/signal.h"
-
-#include "core/variant/callable.h"
-#include "core/variant/variant.h"
-
-static_assert(sizeof(godot_signal) == sizeof(Signal), "Signal size mismatch");
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void GDAPI godot_signal_new(godot_signal *p_self) {
-	memnew_placement(p_self, Signal);
-}
-
-void GDAPI godot_signal_new_copy(godot_signal *r_dest, const godot_signal *p_src) {
-	memnew_placement(r_dest, Signal(*(Signal *)p_src));
-}
-
-void GDAPI godot_signal_destroy(godot_signal *p_self) {
-	Signal *self = (Signal *)p_self;
-	self->~Signal();
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/gdnative/string.cpp b/modules/gdnative/gdnative/string.cpp
deleted file mode 100644
index 7a5d8c6703..0000000000
--- a/modules/gdnative/gdnative/string.cpp
+++ /dev/null
@@ -1,171 +0,0 @@
-/*************************************************************************/
-/*  string.cpp                                                           */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "gdnative/string.h"
-
-#include "core/string/ustring.h"
-
-static_assert(sizeof(godot_string) == sizeof(String), "String size mismatch");
-static_assert(sizeof(godot_char_type) == sizeof(char32_t), "char32_t size mismatch");
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void GDAPI godot_string_new(godot_string *r_dest) {
-	String *dest = (String *)r_dest;
-	memnew_placement(dest, String);
-}
-
-void GDAPI godot_string_new_copy(godot_string *r_dest, const godot_string *p_src) {
-	memnew_placement(r_dest, String(*(String *)p_src));
-}
-
-void GDAPI godot_string_new_with_latin1_chars(godot_string *r_dest, const char *p_contents) {
-	String *dest = (String *)r_dest;
-	memnew_placement(dest, String);
-	*dest = String(p_contents);
-}
-
-void GDAPI godot_string_new_with_utf8_chars(godot_string *r_dest, const char *p_contents) {
-	String *dest = (String *)r_dest;
-	memnew_placement(dest, String);
-	dest->parse_utf8(p_contents);
-}
-
-void GDAPI godot_string_new_with_utf16_chars(godot_string *r_dest, const char16_t *p_contents) {
-	String *dest = (String *)r_dest;
-	memnew_placement(dest, String);
-	dest->parse_utf16(p_contents);
-}
-
-void GDAPI godot_string_new_with_utf32_chars(godot_string *r_dest, const char32_t *p_contents) {
-	String *dest = (String *)r_dest;
-	memnew_placement(dest, String);
-	*dest = String((const char32_t *)p_contents);
-}
-
-void GDAPI godot_string_new_with_wide_chars(godot_string *r_dest, const wchar_t *p_contents) {
-	String *dest = (String *)r_dest;
-	if (sizeof(wchar_t) == 2) {
-		// wchar_t is 16 bit, parse.
-		memnew_placement(dest, String);
-		dest->parse_utf16((const char16_t *)p_contents);
-	} else {
-		// wchar_t is 32 bit, copy.
-		memnew_placement(dest, String);
-		*dest = String((const char32_t *)p_contents);
-	}
-}
-
-void GDAPI godot_string_new_with_latin1_chars_and_len(godot_string *r_dest, const char *p_contents, const int p_size) {
-	String *dest = (String *)r_dest;
-	memnew_placement(dest, String);
-	*dest = String(p_contents, p_size);
-}
-
-void GDAPI godot_string_new_with_utf8_chars_and_len(godot_string *r_dest, const char *p_contents, const int p_size) {
-	String *dest = (String *)r_dest;
-	memnew_placement(dest, String);
-	dest->parse_utf8(p_contents, p_size);
-}
-
-void GDAPI godot_string_new_with_utf16_chars_and_len(godot_string *r_dest, const char16_t *p_contents, const int p_size) {
-	String *dest = (String *)r_dest;
-	memnew_placement(dest, String);
-	dest->parse_utf16(p_contents, p_size);
-}
-
-void GDAPI godot_string_new_with_utf32_chars_and_len(godot_string *r_dest, const char32_t *p_contents, const int p_size) {
-	String *dest = (String *)r_dest;
-	memnew_placement(dest, String);
-	*dest = String((const char32_t *)p_contents, p_size);
-}
-
-void GDAPI godot_string_new_with_wide_chars_and_len(godot_string *r_dest, const wchar_t *p_contents, const int p_size) {
-	String *dest = (String *)r_dest;
-	if (sizeof(wchar_t) == 2) {
-		// wchar_t is 16 bit, parse.
-		memnew_placement(dest, String);
-		dest->parse_utf16((const char16_t *)p_contents, p_size);
-	} else {
-		// wchar_t is 32 bit, copy.
-		memnew_placement(dest, String);
-		*dest = String((const char32_t *)p_contents, p_size);
-	}
-}
-
-const char GDAPI *godot_string_to_latin1_chars(const godot_string *p_self) {
-	String *self = (String *)p_self;
-	return self->ascii(true).get_data();
-}
-
-const char GDAPI *godot_string_to_utf8_chars(const godot_string *p_self) {
-	String *self = (String *)p_self;
-	return self->utf8().get_data();
-}
-
-const char16_t GDAPI *godot_string_to_utf16_chars(const godot_string *p_self) {
-	String *self = (String *)p_self;
-	return self->utf16().get_data();
-}
-
-const char32_t GDAPI *godot_string_to_utf32_chars(const godot_string *p_self) {
-	String *self = (String *)p_self;
-	return self->get_data();
-}
-
-const wchar_t GDAPI *godot_string_to_wide_chars(const godot_string *p_self) {
-	String *self = (String *)p_self;
-	if (sizeof(wchar_t) == 2) {
-		return (const wchar_t *)self->utf16().get_data();
-	} else {
-		return (const wchar_t *)self->get_data();
-	}
-}
-
-char32_t GDAPI *godot_string_operator_index(godot_string *p_self, godot_int p_index) {
-	String *self = (String *)p_self;
-	return self->ptrw();
-}
-
-const char32_t GDAPI *godot_string_operator_index_const(const godot_string *p_self, godot_int p_index) {
-	const String *self = (const String *)p_self;
-	return self->ptr();
-}
-
-void GDAPI godot_string_destroy(godot_string *p_self) {
-	String *self = (String *)p_self;
-	self->~String();
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/gdnative/string_name.cpp b/modules/gdnative/gdnative/string_name.cpp
deleted file mode 100644
index 0bdacd2e5d..0000000000
--- a/modules/gdnative/gdnative/string_name.cpp
+++ /dev/null
@@ -1,62 +0,0 @@
-/*************************************************************************/
-/*  string_name.cpp                                                      */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "gdnative/string_name.h"
-
-#include "core/string/string_name.h"
-
-static_assert(sizeof(godot_string_name) == sizeof(StringName), "StringName size mismatch");
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void GDAPI godot_string_name_new(godot_string_name *r_dest) {
-	StringName *dest = (StringName *)r_dest;
-	memnew_placement(dest, StringName);
-}
-
-void GDAPI godot_string_name_new_copy(godot_string_name *r_dest, const godot_string_name *p_src) {
-	memnew_placement(r_dest, StringName(*(StringName *)p_src));
-}
-
-void GDAPI godot_string_name_new_with_latin1_chars(godot_string_name *r_dest, const char *p_contents) {
-	StringName *dest = (StringName *)r_dest;
-	memnew_placement(dest, StringName(p_contents));
-}
-
-void GDAPI godot_string_name_destroy(godot_string_name *p_self) {
-	StringName *self = (StringName *)p_self;
-	self->~StringName();
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/gdnative/transform2d.cpp b/modules/gdnative/gdnative/transform2d.cpp
deleted file mode 100644
index 7dc07024e5..0000000000
--- a/modules/gdnative/gdnative/transform2d.cpp
+++ /dev/null
@@ -1,62 +0,0 @@
-/*************************************************************************/
-/*  transform2d.cpp                                                      */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "gdnative/transform2d.h"
-
-#include "core/math/transform_2d.h"
-#include "core/os/memory.h"
-
-static_assert(sizeof(godot_transform2d) == sizeof(Transform2D), "Transform2D size mismatch");
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void GDAPI godot_transform2d_new(godot_transform2d *p_self) {
-	memnew_placement(p_self, Transform2D);
-}
-
-void GDAPI godot_transform2d_new_copy(godot_transform2d *r_dest, const godot_transform2d *p_src) {
-	memnew_placement(r_dest, Transform2D(*(Transform2D *)p_src));
-}
-
-godot_vector2 GDAPI *godot_transform2d_operator_index(godot_transform2d *p_self, godot_int p_index) {
-	Transform2D *self = (Transform2D *)p_self;
-	return (godot_vector2 *)&self->operator[](p_index);
-}
-
-const godot_vector2 GDAPI *godot_transform2d_operator_index_const(const godot_transform2d *p_self, godot_int p_index) {
-	const Transform2D *self = (const Transform2D *)p_self;
-	return (const godot_vector2 *)&self->operator[](p_index);
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/gdnative/transform_3d.cpp b/modules/gdnative/gdnative/transform_3d.cpp
deleted file mode 100644
index b47e8e69de..0000000000
--- a/modules/gdnative/gdnative/transform_3d.cpp
+++ /dev/null
@@ -1,51 +0,0 @@
-/*************************************************************************/
-/*  transform_3d.cpp                                                     */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "gdnative/transform_3d.h"
-
-#include "core/math/transform_3d.h"
-
-static_assert(sizeof(godot_transform3d) == sizeof(Transform3D), "Transform3D size mismatch");
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void GDAPI godot_transform3d_new(godot_transform3d *p_self) {
-	memnew_placement(p_self, Transform3D);
-}
-
-void GDAPI godot_transform3d_new_copy(godot_transform3d *r_dest, const godot_transform3d *p_src) {
-	memnew_placement(r_dest, Transform3D(*(Transform3D *)p_src));
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/gdnative/variant.cpp b/modules/gdnative/gdnative/variant.cpp
deleted file mode 100644
index 42fa77a174..0000000000
--- a/modules/gdnative/gdnative/variant.cpp
+++ /dev/null
@@ -1,1273 +0,0 @@
-/*************************************************************************/
-/*  variant.cpp                                                          */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "gdnative/variant.h"
-
-#include "core/object/ref_counted.h"
-#include "core/variant/variant.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-static_assert(sizeof(godot_variant) == sizeof(Variant), "Variant size mismatch");
-
-// Workaround GCC ICE on armv7hl which was affected GCC 6.0 up to 8.0 (GH-16100).
-// It was fixed upstream in 8.1, and a fix was backported to 7.4.
-// This can be removed once no supported distro ships with versions older than 7.4.
-#if defined(__arm__) && defined(__GNUC__) && !defined(__clang__) && \
-		(__GNUC__ == 6 || (__GNUC__ == 7 && __GNUC_MINOR__ < 4) || (__GNUC__ == 8 && __GNUC_MINOR__ < 1))
-#pragma GCC push_options
-#pragma GCC optimize("-O0")
-#endif
-
-#if defined(__arm__) && defined(__GNUC__) && !defined(__clang__) && \
-		(__GNUC__ == 6 || (__GNUC__ == 7 && __GNUC_MINOR__ < 4) || (__GNUC__ == 8 && __GNUC_MINOR__ < 1))
-#pragma GCC pop_options
-#endif
-
-// Memory
-
-void GDAPI godot_variant_new_copy(godot_variant *p_dest, const godot_variant *p_src) {
-	Variant *dest = (Variant *)p_dest;
-	const Variant *src = (const Variant *)p_src;
-	memnew_placement(dest, Variant(*src));
-}
-
-void GDAPI godot_variant_new_nil(godot_variant *r_dest) {
-	Variant *dest = (Variant *)r_dest;
-	memnew_placement(dest, Variant);
-}
-
-void GDAPI godot_variant_new_bool(godot_variant *r_dest, const godot_bool p_b) {
-	Variant *dest = (Variant *)r_dest;
-	memnew_placement(dest, Variant(p_b));
-}
-
-void GDAPI godot_variant_new_int(godot_variant *r_dest, const godot_int p_i) {
-	Variant *dest = (Variant *)r_dest;
-	memnew_placement(dest, Variant(p_i));
-}
-
-void GDAPI godot_variant_new_float(godot_variant *r_dest, const godot_float p_r) {
-	Variant *dest = (Variant *)r_dest;
-	memnew_placement(dest, Variant(p_r));
-}
-
-void GDAPI godot_variant_new_string(godot_variant *r_dest, const godot_string *p_s) {
-	Variant *dest = (Variant *)r_dest;
-	const String *s = (const String *)p_s;
-	memnew_placement(dest, Variant(*s));
-}
-
-void GDAPI godot_variant_new_string_name(godot_variant *r_dest, const godot_string_name *p_s) {
-	Variant *dest = (Variant *)r_dest;
-	const StringName *s = (const StringName *)p_s;
-	memnew_placement(dest, Variant(*s));
-}
-
-void GDAPI godot_variant_new_vector2(godot_variant *r_dest, const godot_vector2 *p_v2) {
-	Variant *dest = (Variant *)r_dest;
-	const Vector2 *v2 = (const Vector2 *)p_v2;
-	memnew_placement(dest, Variant(*v2));
-}
-
-void GDAPI godot_variant_new_vector2i(godot_variant *r_dest, const godot_vector2i *p_v2) {
-	Variant *dest = (Variant *)r_dest;
-	const Vector2i *v2 = (const Vector2i *)p_v2;
-	memnew_placement(dest, Variant(*v2));
-}
-
-void GDAPI godot_variant_new_rect2(godot_variant *r_dest, const godot_rect2 *p_rect2) {
-	Variant *dest = (Variant *)r_dest;
-	const Rect2 *rect2 = (const Rect2 *)p_rect2;
-	memnew_placement(dest, Variant(*rect2));
-}
-
-void GDAPI godot_variant_new_rect2i(godot_variant *r_dest, const godot_rect2i *p_rect2) {
-	Variant *dest = (Variant *)r_dest;
-	const Rect2i *rect2 = (const Rect2i *)p_rect2;
-	memnew_placement(dest, Variant(*rect2));
-}
-
-void GDAPI godot_variant_new_vector3(godot_variant *r_dest, const godot_vector3 *p_v3) {
-	Variant *dest = (Variant *)r_dest;
-	const Vector3 *v3 = (const Vector3 *)p_v3;
-	memnew_placement(dest, Variant(*v3));
-}
-
-void GDAPI godot_variant_new_vector3i(godot_variant *r_dest, const godot_vector3i *p_v3) {
-	Variant *dest = (Variant *)r_dest;
-	const Vector3i *v3 = (const Vector3i *)p_v3;
-	memnew_placement(dest, Variant(*v3));
-}
-
-void GDAPI godot_variant_new_transform2d(godot_variant *r_dest, const godot_transform2d *p_t2d) {
-	Variant *dest = (Variant *)r_dest;
-	const Transform2D *t2d = (const Transform2D *)p_t2d;
-	memnew_placement(dest, Variant(*t2d));
-}
-
-void GDAPI godot_variant_new_plane(godot_variant *r_dest, const godot_plane *p_plane) {
-	Variant *dest = (Variant *)r_dest;
-	const Plane *plane = (const Plane *)p_plane;
-	memnew_placement(dest, Variant(*plane));
-}
-
-void GDAPI godot_variant_new_quaternion(godot_variant *r_dest, const godot_quaternion *p_quaternion) {
-	Variant *dest = (Variant *)r_dest;
-	const Quaternion *quaternion = (const Quaternion *)p_quaternion;
-	memnew_placement(dest, Variant(*quaternion));
-}
-
-void GDAPI godot_variant_new_aabb(godot_variant *r_dest, const godot_aabb *p_aabb) {
-	Variant *dest = (Variant *)r_dest;
-	const AABB *aabb = (const AABB *)p_aabb;
-	memnew_placement(dest, Variant(*aabb));
-}
-
-void GDAPI godot_variant_new_basis(godot_variant *r_dest, const godot_basis *p_basis) {
-	Variant *dest = (Variant *)r_dest;
-	const Basis *basis = (const Basis *)p_basis;
-	memnew_placement(dest, Variant(*basis));
-}
-
-void GDAPI godot_variant_new_transform3d(godot_variant *r_dest, const godot_transform3d *p_trans) {
-	Variant *dest = (Variant *)r_dest;
-	const Transform3D *trans = (const Transform3D *)p_trans;
-	memnew_placement(dest, Variant(*trans));
-}
-
-void GDAPI godot_variant_new_color(godot_variant *r_dest, const godot_color *p_color) {
-	Variant *dest = (Variant *)r_dest;
-	const Color *color = (const Color *)p_color;
-	memnew_placement(dest, Variant(*color));
-}
-
-void GDAPI godot_variant_new_node_path(godot_variant *r_dest, const godot_node_path *p_np) {
-	Variant *dest = (Variant *)r_dest;
-	const NodePath *np = (const NodePath *)p_np;
-	memnew_placement(dest, Variant(*np));
-}
-
-void GDAPI godot_variant_new_rid(godot_variant *r_dest, const godot_rid *p_rid) {
-	Variant *dest = (Variant *)r_dest;
-	const RID *rid = (const RID *)p_rid;
-	memnew_placement(dest, Variant(*rid));
-}
-
-void GDAPI godot_variant_new_callable(godot_variant *r_dest, const godot_callable *p_cb) {
-	Variant *dest = (Variant *)r_dest;
-	const Callable *cb = (const Callable *)p_cb;
-	memnew_placement(dest, Variant(*cb));
-}
-
-void GDAPI godot_variant_new_signal(godot_variant *r_dest, const godot_signal *p_signal) {
-	Variant *dest = (Variant *)r_dest;
-	const Signal *signal = (const Signal *)p_signal;
-	memnew_placement(dest, Variant(*signal));
-}
-
-void GDAPI godot_variant_new_object(godot_variant *r_dest, const godot_object *p_obj) {
-	Variant *dest = (Variant *)r_dest;
-	const Object *obj = (const Object *)p_obj;
-	const RefCounted *ref_counted = Object::cast_to<RefCounted>(obj);
-	REF ref;
-	if (ref_counted) {
-		ref = REF(ref_counted);
-	}
-	if (!ref.is_null()) {
-		memnew_placement(dest, Variant(ref));
-	} else {
-#if defined(DEBUG_METHODS_ENABLED)
-		if (ref_counted) {
-			ERR_PRINT("RefCounted object has 0 refcount in godot_variant_new_object - you lost it somewhere.");
-		}
-#endif
-		memnew_placement(dest, Variant(obj));
-	}
-}
-
-void GDAPI godot_variant_new_dictionary(godot_variant *r_dest, const godot_dictionary *p_dict) {
-	Variant *dest = (Variant *)r_dest;
-	const Dictionary *dict = (const Dictionary *)p_dict;
-	memnew_placement(dest, Variant(*dict));
-}
-
-void GDAPI godot_variant_new_array(godot_variant *r_dest, const godot_array *p_arr) {
-	Variant *dest = (Variant *)r_dest;
-	const Array *arr = (const Array *)p_arr;
-	memnew_placement(dest, Variant(*arr));
-}
-
-void GDAPI godot_variant_new_packed_byte_array(godot_variant *r_dest, const godot_packed_byte_array *p_pba) {
-	Variant *dest = (Variant *)r_dest;
-	const PackedByteArray *pba = (const PackedByteArray *)p_pba;
-	memnew_placement(dest, Variant(*pba));
-}
-
-void GDAPI godot_variant_new_packed_int32_array(godot_variant *r_dest, const godot_packed_int32_array *p_pia) {
-	Variant *dest = (Variant *)r_dest;
-	const PackedInt32Array *pia = (const PackedInt32Array *)p_pia;
-	memnew_placement(dest, Variant(*pia));
-}
-
-void GDAPI godot_variant_new_packed_int64_array(godot_variant *r_dest, const godot_packed_int64_array *p_pia) {
-	Variant *dest = (Variant *)r_dest;
-	const PackedInt64Array *pia = (const PackedInt64Array *)p_pia;
-	memnew_placement(dest, Variant(*pia));
-}
-
-void GDAPI godot_variant_new_packed_float32_array(godot_variant *r_dest, const godot_packed_float32_array *p_pra) {
-	Variant *dest = (Variant *)r_dest;
-	const PackedFloat32Array *pra = (const PackedFloat32Array *)p_pra;
-	memnew_placement(dest, Variant(*pra));
-}
-
-void GDAPI godot_variant_new_packed_float64_array(godot_variant *r_dest, const godot_packed_float64_array *p_pra) {
-	Variant *dest = (Variant *)r_dest;
-	const PackedFloat64Array *pra = (const PackedFloat64Array *)p_pra;
-	memnew_placement(dest, Variant(*pra));
-}
-
-void GDAPI godot_variant_new_packed_string_array(godot_variant *r_dest, const godot_packed_string_array *p_psa) {
-	Variant *dest = (Variant *)r_dest;
-	const PackedStringArray *psa = (const PackedStringArray *)p_psa;
-	memnew_placement(dest, Variant(*psa));
-}
-
-void GDAPI godot_variant_new_packed_vector2_array(godot_variant *r_dest, const godot_packed_vector2_array *p_pv2a) {
-	Variant *dest = (Variant *)r_dest;
-	const PackedVector2Array *pv2a = (const PackedVector2Array *)p_pv2a;
-	memnew_placement(dest, Variant(*pv2a));
-}
-
-void GDAPI godot_variant_new_packed_vector3_array(godot_variant *r_dest, const godot_packed_vector3_array *p_pv3a) {
-	Variant *dest = (Variant *)r_dest;
-	const PackedVector3Array *pv3a = (const PackedVector3Array *)p_pv3a;
-	memnew_placement(dest, Variant(*pv3a));
-}
-
-void GDAPI godot_variant_new_packed_color_array(godot_variant *r_dest, const godot_packed_color_array *p_pca) {
-	Variant *dest = (Variant *)r_dest;
-	const PackedColorArray *pca = (const PackedColorArray *)p_pca;
-	memnew_placement(dest, Variant(*pca));
-}
-
-godot_bool GDAPI godot_variant_as_bool(const godot_variant *p_self) {
-	const Variant *self = (const Variant *)p_self;
-	return self->operator bool();
-}
-
-godot_int GDAPI godot_variant_as_int(const godot_variant *p_self) {
-	const Variant *self = (const Variant *)p_self;
-	return self->operator int64_t();
-}
-
-godot_float GDAPI godot_variant_as_float(const godot_variant *p_self) {
-	const Variant *self = (const Variant *)p_self;
-	return self->operator double();
-}
-
-godot_string GDAPI godot_variant_as_string(const godot_variant *p_self) {
-	godot_string raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	String *dest = (String *)&raw_dest;
-	memnew_placement(dest, String(self->operator String())); // operator = is overloaded by String
-	return raw_dest;
-}
-
-godot_string_name GDAPI godot_variant_as_string_name(const godot_variant *p_self) {
-	godot_string_name raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	StringName *dest = (StringName *)&raw_dest;
-	memnew_placement(dest, StringName(self->operator StringName())); // operator = is overloaded by StringName
-	return raw_dest;
-}
-
-godot_vector2 GDAPI godot_variant_as_vector2(const godot_variant *p_self) {
-	godot_vector2 raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	Vector2 *dest = (Vector2 *)&raw_dest;
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_vector2i GDAPI godot_variant_as_vector2i(const godot_variant *p_self) {
-	godot_vector2i raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	Vector2i *dest = (Vector2i *)&raw_dest;
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_rect2 GDAPI godot_variant_as_rect2(const godot_variant *p_self) {
-	godot_rect2 raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	Rect2 *dest = (Rect2 *)&raw_dest;
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_rect2i GDAPI godot_variant_as_rect2i(const godot_variant *p_self) {
-	godot_rect2i raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	Rect2i *dest = (Rect2i *)&raw_dest;
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_vector3 GDAPI godot_variant_as_vector3(const godot_variant *p_self) {
-	godot_vector3 raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	Vector3 *dest = (Vector3 *)&raw_dest;
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_vector3i GDAPI godot_variant_as_vector3i(const godot_variant *p_self) {
-	godot_vector3i raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	Vector3i *dest = (Vector3i *)&raw_dest;
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_transform2d GDAPI godot_variant_as_transform2d(const godot_variant *p_self) {
-	godot_transform2d raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	Transform2D *dest = (Transform2D *)&raw_dest;
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_plane GDAPI godot_variant_as_plane(const godot_variant *p_self) {
-	godot_plane raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	Plane *dest = (Plane *)&raw_dest;
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_quaternion GDAPI godot_variant_as_quaternion(const godot_variant *p_self) {
-	godot_quaternion raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	Quaternion *dest = (Quaternion *)&raw_dest;
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_aabb GDAPI godot_variant_as_aabb(const godot_variant *p_self) {
-	godot_aabb raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	AABB *dest = (AABB *)&raw_dest;
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_basis GDAPI godot_variant_as_basis(const godot_variant *p_self) {
-	godot_basis raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	Basis *dest = (Basis *)&raw_dest;
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_transform3d GDAPI godot_variant_as_transform3d(const godot_variant *p_self) {
-	godot_transform3d raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	Transform3D *dest = (Transform3D *)&raw_dest;
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_color GDAPI godot_variant_as_color(const godot_variant *p_self) {
-	godot_color raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	Color *dest = (Color *)&raw_dest;
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_node_path GDAPI godot_variant_as_node_path(const godot_variant *p_self) {
-	godot_node_path raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	NodePath *dest = (NodePath *)&raw_dest;
-	memnew_placement(dest, NodePath(self->operator NodePath())); // operator = is overloaded by NodePath
-	return raw_dest;
-}
-
-godot_rid GDAPI godot_variant_as_rid(const godot_variant *p_self) {
-	godot_rid raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	RID *dest = (RID *)&raw_dest;
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_callable GDAPI godot_variant_as_callable(const godot_variant *p_self) {
-	godot_callable raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	Callable *dest = (Callable *)&raw_dest;
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_signal GDAPI godot_variant_as_signal(const godot_variant *p_self) {
-	godot_signal raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	Signal *dest = (Signal *)&raw_dest;
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_object GDAPI *godot_variant_as_object(const godot_variant *p_self) {
-	const Variant *self = (const Variant *)p_self;
-	Object *dest;
-	dest = *self;
-	return (godot_object *)dest;
-}
-
-godot_dictionary GDAPI godot_variant_as_dictionary(const godot_variant *p_self) {
-	godot_dictionary raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	Dictionary *dest = (Dictionary *)&raw_dest;
-	memnew_placement(dest, Dictionary(self->operator Dictionary())); // operator = is overloaded by Dictionary
-	return raw_dest;
-}
-
-godot_array GDAPI godot_variant_as_array(const godot_variant *p_self) {
-	godot_array raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	Array *dest = (Array *)&raw_dest;
-	memnew_placement(dest, Array(self->operator Array())); // operator = is overloaded by Array
-	return raw_dest;
-}
-
-godot_packed_byte_array GDAPI godot_variant_as_packed_byte_array(const godot_variant *p_self) {
-	godot_packed_byte_array raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	PackedByteArray *dest = (PackedByteArray *)&raw_dest;
-	memnew_placement(dest, PackedByteArray(self->operator PackedByteArray())); // operator = is overloaded by PackedByteArray
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_packed_int32_array GDAPI godot_variant_as_packed_int32_array(const godot_variant *p_self) {
-	godot_packed_int32_array raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	PackedInt32Array *dest = (PackedInt32Array *)&raw_dest;
-	memnew_placement(dest, PackedInt32Array(self->operator PackedInt32Array())); // operator = is overloaded by PackedInt32Array
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_packed_int64_array GDAPI godot_variant_as_packed_int64_array(const godot_variant *p_self) {
-	godot_packed_int64_array raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	PackedInt64Array *dest = (PackedInt64Array *)&raw_dest;
-	memnew_placement(dest, PackedInt64Array(self->operator PackedInt64Array())); // operator = is overloaded by PackedInt64Array
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_packed_float32_array GDAPI godot_variant_as_packed_float32_array(const godot_variant *p_self) {
-	godot_packed_float32_array raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	PackedFloat32Array *dest = (PackedFloat32Array *)&raw_dest;
-	memnew_placement(dest, PackedFloat32Array(self->operator PackedFloat32Array())); // operator = is overloaded by PackedFloat32Array
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_packed_float64_array GDAPI godot_variant_as_packed_float64_array(const godot_variant *p_self) {
-	godot_packed_float64_array raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	PackedFloat64Array *dest = (PackedFloat64Array *)&raw_dest;
-	memnew_placement(dest, PackedFloat64Array(self->operator PackedFloat64Array())); // operator = is overloaded by PackedFloat64Array
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_packed_string_array GDAPI godot_variant_as_packed_string_array(const godot_variant *p_self) {
-	godot_packed_string_array raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	PackedStringArray *dest = (PackedStringArray *)&raw_dest;
-	memnew_placement(dest, PackedStringArray(self->operator PackedStringArray())); // operator = is overloaded by PackedStringArray
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_packed_vector2_array GDAPI godot_variant_as_packed_vector2_array(const godot_variant *p_self) {
-	godot_packed_vector2_array raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	PackedVector2Array *dest = (PackedVector2Array *)&raw_dest;
-	memnew_placement(dest, PackedVector2Array(self->operator PackedVector2Array())); // operator = is overloaded by PackedVector2Array
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_packed_vector3_array GDAPI godot_variant_as_packed_vector3_array(const godot_variant *p_self) {
-	godot_packed_vector3_array raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	PackedVector3Array *dest = (PackedVector3Array *)&raw_dest;
-	memnew_placement(dest, PackedVector3Array(self->operator PackedVector3Array())); // operator = is overloaded by PackedVector3Array
-	*dest = *self;
-	return raw_dest;
-}
-
-godot_packed_color_array GDAPI godot_variant_as_packed_color_array(const godot_variant *p_self) {
-	godot_packed_color_array raw_dest;
-	const Variant *self = (const Variant *)p_self;
-	PackedColorArray *dest = (PackedColorArray *)&raw_dest;
-	memnew_placement(dest, PackedColorArray(self->operator PackedColorArray())); // operator = is overloaded by PackedColorArray
-	*dest = *self;
-	return raw_dest;
-}
-
-void GDAPI godot_variant_destroy(godot_variant *p_self) {
-	Variant *self = (Variant *)p_self;
-	self->~Variant();
-}
-
-// Dynamic interaction.
-
-void GDAPI godot_variant_call(godot_variant *p_self, const godot_string_name *p_method, const godot_variant **p_args, const godot_int p_argcount, godot_variant *r_return, godot_variant_call_error *r_error) {
-	Variant *self = (Variant *)p_self;
-	const StringName *method = (const StringName *)p_method;
-	const Variant **args = (const Variant **)p_args;
-	Variant ret;
-	Callable::CallError error;
-	self->call(*method, args, p_argcount, ret, error);
-	memnew_placement(r_return, Variant(ret));
-
-	if (r_error) {
-		r_error->error = (godot_variant_call_error_error)error.error;
-		r_error->argument = error.argument;
-		r_error->expected = (godot_variant_type)error.expected;
-	}
-}
-
-void GDAPI godot_variant_call_with_cstring(godot_variant *p_self, const char *p_method, const godot_variant **p_args, const godot_int p_argcount, godot_variant *r_return, godot_variant_call_error *r_error) {
-	Variant *self = (Variant *)p_self;
-	const StringName method(p_method);
-	const Variant **args = (const Variant **)p_args;
-	Variant ret;
-	Callable::CallError error;
-	self->call(method, args, p_argcount, ret, error);
-	memnew_placement(r_return, Variant(ret));
-
-	if (r_error) {
-		r_error->error = (godot_variant_call_error_error)error.error;
-		r_error->argument = error.argument;
-		r_error->expected = (godot_variant_type)error.expected;
-	}
-}
-
-void GDAPI godot_variant_call_static(godot_variant_type p_type, const godot_string_name *p_method, const godot_variant **p_args, const godot_int p_argcount, godot_variant *r_return, godot_variant_call_error *r_error) {
-	Variant::Type type = (Variant::Type)p_type;
-	const StringName *method = (const StringName *)p_method;
-	const Variant **args = (const Variant **)p_args;
-	Variant ret;
-	Callable::CallError error;
-	Variant::call_static(type, *method, args, p_argcount, ret, error);
-	memnew_placement(r_return, Variant(ret));
-
-	if (r_error) {
-		r_error->error = (godot_variant_call_error_error)error.error;
-		r_error->argument = error.argument;
-		r_error->expected = (godot_variant_type)error.expected;
-	}
-}
-
-void GDAPI godot_variant_call_static_with_cstring(godot_variant_type p_type, const char *p_method, const godot_variant **p_args, const godot_int p_argcount, godot_variant *r_return, godot_variant_call_error *r_error) {
-	Variant::Type type = (Variant::Type)p_type;
-	const StringName method(p_method);
-	const Variant **args = (const Variant **)p_args;
-	Variant ret;
-	Callable::CallError error;
-	Variant::call_static(type, method, args, p_argcount, ret, error);
-	memnew_placement(r_return, Variant(ret));
-
-	if (r_error) {
-		r_error->error = (godot_variant_call_error_error)error.error;
-		r_error->argument = error.argument;
-		r_error->expected = (godot_variant_type)error.expected;
-	}
-}
-
-void GDAPI godot_variant_evaluate(godot_variant_operator p_op, const godot_variant *p_a, const godot_variant *p_b, godot_variant *r_return, bool *r_valid) {
-	Variant::Operator op = (Variant::Operator)p_op;
-	const Variant *a = (const Variant *)p_a;
-	const Variant *b = (const Variant *)p_b;
-	Variant *ret = (Variant *)r_return;
-	Variant::evaluate(op, *a, *b, *ret, *r_valid);
-}
-
-void GDAPI godot_variant_set(godot_variant *p_self, const godot_variant *p_key, const godot_variant *p_value, bool *r_valid) {
-	Variant *self = (Variant *)p_self;
-	const Variant *key = (const Variant *)p_key;
-	const Variant *value = (const Variant *)p_value;
-
-	self->set(*key, *value, r_valid);
-}
-
-void GDAPI godot_variant_set_named(godot_variant *p_self, const godot_string_name *p_key, const godot_variant *p_value, bool *r_valid) {
-	Variant *self = (Variant *)p_self;
-	const StringName *key = (const StringName *)p_key;
-	const Variant *value = (const Variant *)p_value;
-
-	self->set_named(*key, *value, *r_valid);
-}
-
-void GDAPI godot_variant_set_named_with_cstring(godot_variant *p_self, const char *p_key, const godot_variant *p_value, bool *r_valid) {
-	Variant *self = (Variant *)p_self;
-	const StringName key(p_key);
-	const Variant *value = (const Variant *)p_value;
-
-	self->set_named(key, *value, *r_valid);
-}
-
-void GDAPI godot_variant_set_keyed(godot_variant *p_self, const godot_variant *p_key, const godot_variant *p_value, bool *r_valid) {
-	Variant *self = (Variant *)p_self;
-	const Variant *key = (const Variant *)p_key;
-	const Variant *value = (const Variant *)p_value;
-
-	self->set_keyed(*key, *value, *r_valid);
-}
-
-void GDAPI godot_variant_set_indexed(godot_variant *p_self, godot_int p_index, const godot_variant *p_value, bool *r_valid, bool *r_oob) {
-	Variant *self = (Variant *)p_self;
-	const Variant *value = (const Variant *)p_value;
-
-	self->set_indexed(p_index, value, *r_valid, *r_oob);
-}
-
-godot_variant GDAPI godot_variant_get(const godot_variant *p_self, const godot_variant *p_key, bool *r_valid) {
-	const Variant *self = (const Variant *)p_self;
-	const Variant *key = (const Variant *)p_key;
-	Variant ret;
-
-	ret = self->get(*key, r_valid);
-	godot_variant result;
-	memnew_placement(&result, Variant(ret));
-	return result;
-}
-
-godot_variant GDAPI godot_variant_get_named(const godot_variant *p_self, const godot_string_name *p_key, bool *r_valid) {
-	const Variant *self = (const Variant *)p_self;
-	const StringName *key = (const StringName *)p_key;
-	Variant ret;
-
-	ret = self->get_named(*key, *r_valid);
-	godot_variant result;
-	memnew_placement(&result, Variant(ret));
-	return result;
-}
-
-godot_variant GDAPI godot_variant_get_named_with_cstring(const godot_variant *p_self, const char *p_key, bool *r_valid) {
-	const Variant *self = (const Variant *)p_self;
-	const StringName *key = (const StringName *)p_key;
-	Variant ret;
-
-	ret = self->get_named(*key, *r_valid);
-	godot_variant result;
-	memnew_placement(&result, Variant(ret));
-	return result;
-}
-
-godot_variant GDAPI godot_variant_get_keyed(const godot_variant *p_self, const godot_variant *p_key, bool *r_valid) {
-	const Variant *self = (const Variant *)p_self;
-	const Variant *key = (const Variant *)p_key;
-	Variant ret;
-
-	ret = self->get_keyed(*key, *r_valid);
-	godot_variant result;
-	memnew_placement(&result, Variant(ret));
-	return result;
-}
-
-godot_variant GDAPI godot_variant_get_indexed(const godot_variant *p_self, godot_int p_index, bool *r_valid, bool *r_oob) {
-	const Variant *self = (const Variant *)p_self;
-	Variant ret;
-
-	ret = self->get_indexed(p_index, *r_valid, *r_oob);
-	godot_variant result;
-	memnew_placement(&result, Variant(ret));
-	return result;
-}
-
-/// Iteration.
-bool GDAPI godot_variant_iter_init(const godot_variant *p_self, godot_variant *r_iter, bool *r_valid) {
-	const Variant *self = (const Variant *)p_self;
-	Variant *iter = (Variant *)r_iter;
-
-	return self->iter_init(*iter, *r_valid);
-}
-
-bool GDAPI godot_variant_iter_next(const godot_variant *p_self, godot_variant *r_iter, bool *r_valid) {
-	const Variant *self = (const Variant *)p_self;
-	Variant *iter = (Variant *)r_iter;
-
-	return self->iter_next(*iter, *r_valid);
-}
-
-godot_variant GDAPI godot_variant_iter_get(const godot_variant *p_self, godot_variant *r_iter, bool *r_valid) {
-	const Variant *self = (const Variant *)p_self;
-	Variant *iter = (Variant *)r_iter;
-
-	Variant result = self->iter_next(*iter, *r_valid);
-	godot_variant ret;
-	memnew_placement(&ret, Variant(result));
-	return ret;
-}
-
-/// Variant functions.
-godot_bool GDAPI godot_variant_hash_compare(const godot_variant *p_self, const godot_variant *p_other) {
-	const Variant *self = (const Variant *)p_self;
-	const Variant *other = (const Variant *)p_other;
-	return self->hash_compare(*other);
-}
-
-godot_bool GDAPI godot_variant_booleanize(const godot_variant *p_self) {
-	const Variant *self = (const Variant *)p_self;
-	return self->booleanize();
-}
-
-void GDAPI godot_variant_blend(const godot_variant *p_a, const godot_variant *p_b, float p_c, godot_variant *r_dst) {
-	const Variant *a = (const Variant *)p_a;
-	const Variant *b = (const Variant *)p_b;
-	Variant *dst = (Variant *)r_dst;
-	Variant::blend(*a, *b, p_c, *dst);
-}
-
-void GDAPI godot_variant_interpolate(const godot_variant *p_a, const godot_variant *p_b, float p_c, godot_variant *r_dst) {
-	const Variant *a = (const Variant *)p_a;
-	const Variant *b = (const Variant *)p_b;
-	Variant *dst = (Variant *)r_dst;
-	Variant::interpolate(*a, *b, p_c, *dst);
-}
-
-godot_variant GDAPI godot_variant_duplicate(const godot_variant *p_self, godot_bool p_deep) {
-	const Variant *self = (const Variant *)p_self;
-	Variant result = self->duplicate(p_deep);
-	godot_variant ret;
-	memnew_placement(&ret, Variant(result));
-	return ret;
-}
-
-godot_string GDAPI godot_variant_stringify(const godot_variant *p_self) {
-	const Variant *self = (const Variant *)p_self;
-	String result = *self;
-	godot_string ret;
-	memnew_placement(&ret, String(result));
-	return ret;
-}
-
-// Discovery API
-
-/// Operators
-godot_validated_operator_evaluator GDAPI godot_variant_get_validated_operator_evaluator(godot_variant_operator p_operator, godot_variant_type p_type_a, godot_variant_type p_type_b) {
-	return (godot_validated_operator_evaluator)Variant::get_validated_operator_evaluator((Variant::Operator)p_operator, (Variant::Type)p_type_a, (Variant::Type)p_type_b);
-}
-
-godot_ptr_operator_evaluator GDAPI godot_variant_get_ptr_operator_evaluator(godot_variant_operator p_operator, godot_variant_type p_type_a, godot_variant_type p_type_b) {
-	return (godot_ptr_operator_evaluator)Variant::get_ptr_operator_evaluator((Variant::Operator)p_operator, (Variant::Type)p_type_a, (Variant::Type)p_type_b);
-}
-
-godot_variant_type GDAPI godot_variant_get_operator_return_type(godot_variant_operator p_operator, godot_variant_type p_type_a, godot_variant_type p_type_b) {
-	return (godot_variant_type)Variant::get_operator_return_type((Variant::Operator)p_operator, (Variant::Type)p_type_a, (Variant::Type)p_type_b);
-}
-
-godot_string GDAPI godot_variant_get_operator_name(godot_variant_operator p_operator) {
-	String op_name = Variant::get_operator_name((Variant::Operator)p_operator);
-	godot_string ret;
-	memnew_placement(&ret, String(op_name));
-	return ret;
-}
-
-/// Built-in Methods
-
-bool GDAPI godot_variant_has_builtin_method(godot_variant_type p_type, const godot_string_name *p_method) {
-	return Variant::has_builtin_method((Variant::Type)p_type, *((const StringName *)p_method));
-}
-
-bool GDAPI godot_variant_has_builtin_method_with_cstring(godot_variant_type p_type, const char *p_method) {
-	return Variant::has_builtin_method((Variant::Type)p_type, StringName(p_method));
-}
-
-godot_validated_builtin_method GDAPI godot_variant_get_validated_builtin_method(godot_variant_type p_type, const godot_string_name *p_method) {
-	return (godot_validated_builtin_method)Variant::get_validated_builtin_method((Variant::Type)p_type, *((const StringName *)p_method));
-}
-
-godot_validated_builtin_method GDAPI godot_variant_get_validated_builtin_method_with_cstring(godot_variant_type p_type, const char *p_method) {
-	return (godot_validated_builtin_method)Variant::get_validated_builtin_method((Variant::Type)p_type, StringName(p_method));
-}
-
-godot_ptr_builtin_method GDAPI godot_variant_get_ptr_builtin_method(godot_variant_type p_type, const godot_string_name *p_method) {
-	return (godot_ptr_builtin_method)Variant::get_ptr_builtin_method((Variant::Type)p_type, *((const StringName *)p_method));
-}
-
-godot_ptr_builtin_method GDAPI godot_variant_get_ptr_builtin_method_with_cstring(godot_variant_type p_type, const char *p_method) {
-	return (godot_ptr_builtin_method)Variant::get_ptr_builtin_method((Variant::Type)p_type, StringName(p_method));
-}
-
-int GDAPI godot_variant_get_builtin_method_argument_count(godot_variant_type p_type, const godot_string_name *p_method) {
-	return Variant::get_builtin_method_argument_count((Variant::Type)p_type, *((const StringName *)p_method));
-}
-
-int GDAPI godot_variant_get_builtin_method_argument_count_with_cstring(godot_variant_type p_type, const char *p_method) {
-	return Variant::get_builtin_method_argument_count((Variant::Type)p_type, StringName(p_method));
-}
-
-godot_variant_type GDAPI godot_variant_get_builtin_method_argument_type(godot_variant_type p_type, const godot_string_name *p_method, int p_argument) {
-	return (godot_variant_type)Variant::get_builtin_method_argument_type((Variant::Type)p_type, *((const StringName *)p_method), p_argument);
-}
-
-godot_variant_type GDAPI godot_variant_get_builtin_method_argument_type_with_cstring(godot_variant_type p_type, const char *p_method, int p_argument) {
-	return (godot_variant_type)Variant::get_builtin_method_argument_type((Variant::Type)p_type, StringName(p_method), p_argument);
-}
-
-godot_string GDAPI godot_variant_get_builtin_method_argument_name(godot_variant_type p_type, const godot_string_name *p_method, int p_argument) {
-	String name = Variant::get_builtin_method_argument_name((Variant::Type)p_type, *((const StringName *)p_method), p_argument);
-	return *(godot_string *)&name;
-}
-
-godot_string GDAPI godot_variant_get_builtin_method_argument_name_with_cstring(godot_variant_type p_type, const char *p_method, int p_argument) {
-	String name = Variant::get_builtin_method_argument_name((Variant::Type)p_type, StringName(p_method), p_argument);
-	return *(godot_string *)&name;
-}
-
-bool GDAPI godot_variant_has_builtin_method_return_value(godot_variant_type p_type, const godot_string_name *p_method) {
-	return Variant::has_builtin_method_return_value((Variant::Type)p_type, *((const StringName *)p_method));
-}
-
-bool GDAPI godot_variant_has_builtin_method_return_value_with_cstring(godot_variant_type p_type, const char *p_method) {
-	return Variant::has_builtin_method_return_value((Variant::Type)p_type, StringName(p_method));
-}
-
-godot_variant_type GDAPI godot_variant_get_builtin_method_return_type(godot_variant_type p_type, const godot_string_name *p_method) {
-	return (godot_variant_type)Variant::get_builtin_method_return_type((Variant::Type)p_type, *((const StringName *)p_method));
-}
-
-godot_variant_type GDAPI godot_variant_get_builtin_method_return_type_with_cstring(godot_variant_type p_type, const char *p_method) {
-	return (godot_variant_type)Variant::get_builtin_method_return_type((Variant::Type)p_type, StringName(p_method));
-}
-
-bool GDAPI godot_variant_is_builtin_method_const(godot_variant_type p_type, const godot_string_name *p_method) {
-	return Variant::is_builtin_method_const((Variant::Type)p_type, *((const StringName *)p_method));
-}
-
-bool GDAPI godot_variant_is_builtin_method_const_with_cstring(godot_variant_type p_type, const char *p_method) {
-	return Variant::is_builtin_method_const((Variant::Type)p_type, StringName(p_method));
-}
-
-bool GDAPI godot_variant_is_builtin_method_static(godot_variant_type p_type, const godot_string_name *p_method) {
-	return Variant::is_builtin_method_static((Variant::Type)p_type, *((const StringName *)p_method));
-}
-
-bool GDAPI godot_variant_is_builtin_method_static_with_cstring(godot_variant_type p_type, const char *p_method) {
-	return Variant::is_builtin_method_static((Variant::Type)p_type, StringName(p_method));
-}
-
-bool GDAPI godot_variant_is_builtin_method_vararg(godot_variant_type p_type, const godot_string_name *p_method) {
-	return Variant::is_builtin_method_vararg((Variant::Type)p_type, *((const StringName *)p_method));
-}
-
-bool GDAPI godot_variant_is_builtin_method_vararg_with_cstring(godot_variant_type p_type, const char *p_method) {
-	return Variant::is_builtin_method_vararg((Variant::Type)p_type, StringName(p_method));
-}
-
-int GDAPI godot_variant_get_builtin_method_count(godot_variant_type p_type) {
-	return Variant::get_builtin_method_count((Variant::Type)p_type);
-}
-
-void GDAPI godot_variant_get_builtin_method_list(godot_variant_type p_type, godot_string_name *r_list) {
-	List<StringName> list;
-	Variant::get_builtin_method_list((Variant::Type)p_type, &list);
-	int i = 0;
-	for (const StringName &E : list) {
-		memnew_placement(&r_list[i], StringName(E));
-	}
-}
-
-/// Constructors
-
-int GDAPI godot_variant_get_constructor_count(godot_variant_type p_type) {
-	return Variant::get_constructor_count((Variant::Type)p_type);
-}
-
-godot_validated_constructor GDAPI godot_variant_get_validated_constructor(godot_variant_type p_type, int p_constructor) {
-	return (godot_validated_constructor)Variant::get_validated_constructor((Variant::Type)p_type, p_constructor);
-}
-
-godot_ptr_constructor GDAPI godot_variant_get_ptr_constructor(godot_variant_type p_type, int p_constructor) {
-	return (godot_ptr_constructor)Variant::get_ptr_constructor((Variant::Type)p_type, p_constructor);
-}
-
-int GDAPI godot_variant_get_constructor_argument_count(godot_variant_type p_type, int p_constructor) {
-	return Variant::get_constructor_argument_count((Variant::Type)p_type, p_constructor);
-}
-
-godot_variant_type GDAPI godot_variant_get_constructor_argument_type(godot_variant_type p_type, int p_constructor, int p_argument) {
-	return (godot_variant_type)Variant::get_constructor_argument_type((Variant::Type)p_type, p_constructor, p_argument);
-}
-
-godot_string GDAPI godot_variant_get_constructor_argument_name(godot_variant_type p_type, int p_constructor, int p_argument) {
-	String name = Variant::get_constructor_argument_name((Variant::Type)p_type, p_constructor, p_argument);
-	godot_string ret;
-	memnew_placement(&ret, String(name));
-	return ret;
-}
-
-void GDAPI godot_variant_construct(godot_variant_type p_type, godot_variant *p_base, const godot_variant **p_args, int p_argcount, godot_variant_call_error *r_error) {
-	Variant::construct((Variant::Type)p_type, *((Variant *)p_base), (const Variant **)p_args, p_argcount, *((Callable::CallError *)r_error));
-}
-
-/// Properties.
-godot_variant_type GDAPI godot_variant_get_member_type(godot_variant_type p_type, const godot_string_name *p_member) {
-	return (godot_variant_type)Variant::get_member_type((Variant::Type)p_type, *((const StringName *)p_member));
-}
-
-godot_variant_type GDAPI godot_variant_get_member_type_with_cstring(godot_variant_type p_type, const char *p_member) {
-	return (godot_variant_type)Variant::get_member_type((Variant::Type)p_type, StringName(p_member));
-}
-
-int GDAPI godot_variant_get_member_count(godot_variant_type p_type) {
-	return Variant::get_member_count((Variant::Type)p_type);
-}
-
-void GDAPI godot_variant_get_member_list(godot_variant_type p_type, godot_string_name *r_list) {
-	List<StringName> members;
-	Variant::get_member_list((Variant::Type)p_type, &members);
-	int i = 0;
-	for (const StringName &E : members) {
-		memnew_placement(&r_list[i++], StringName(E));
-	}
-}
-
-godot_validated_setter GDAPI godot_variant_get_validated_setter(godot_variant_type p_type, const godot_string_name *p_member) {
-	return (godot_validated_setter)Variant::get_member_validated_setter((Variant::Type)p_type, *((const StringName *)p_member));
-}
-
-godot_validated_setter GDAPI godot_variant_get_validated_setter_with_cstring(godot_variant_type p_type, const char *p_member) {
-	return (godot_validated_setter)Variant::get_member_validated_setter((Variant::Type)p_type, StringName(p_member));
-}
-
-godot_validated_getter GDAPI godot_variant_get_validated_getter(godot_variant_type p_type, const godot_string_name *p_member) {
-	return (godot_validated_getter)Variant::get_member_validated_getter((Variant::Type)p_type, *((const StringName *)p_member));
-}
-
-godot_validated_getter GDAPI godot_variant_get_validated_getter_with_cstring(godot_variant_type p_type, const char *p_member) {
-	return (godot_validated_getter)Variant::get_member_validated_getter((Variant::Type)p_type, StringName(p_member));
-}
-
-godot_ptr_setter GDAPI godot_variant_get_ptr_setter(godot_variant_type p_type, const godot_string_name *p_member) {
-	return (godot_ptr_setter)Variant::get_member_ptr_setter((Variant::Type)p_type, *((const StringName *)p_member));
-}
-
-godot_ptr_setter GDAPI godot_variant_get_ptr_setter_with_cstring(godot_variant_type p_type, const char *p_member) {
-	return (godot_ptr_setter)Variant::get_member_ptr_setter((Variant::Type)p_type, StringName(p_member));
-}
-
-godot_ptr_getter GDAPI godot_variant_get_ptr_getter(godot_variant_type p_type, const godot_string_name *p_member) {
-	return (godot_ptr_getter)Variant::get_member_ptr_getter((Variant::Type)p_type, *((const StringName *)p_member));
-}
-
-godot_ptr_getter GDAPI godot_variant_get_ptr_getter_with_cstring(godot_variant_type p_type, const char *p_member) {
-	return (godot_ptr_getter)Variant::get_member_ptr_getter((Variant::Type)p_type, StringName(p_member));
-}
-
-/// Indexing.
-bool GDAPI godot_variant_has_indexing(godot_variant_type p_type) {
-	return Variant::has_indexing((Variant::Type)p_type);
-}
-
-godot_variant_type GDAPI godot_variant_get_indexed_element_type(godot_variant_type p_type) {
-	return (godot_variant_type)Variant::get_indexed_element_type((Variant::Type)p_type);
-}
-
-godot_validated_indexed_setter GDAPI godot_variant_get_validated_indexed_setter(godot_variant_type p_type) {
-	return (godot_validated_indexed_setter)Variant::get_member_validated_indexed_setter((Variant::Type)p_type);
-}
-
-godot_validated_indexed_getter GDAPI godot_variant_get_validated_indexed_getter(godot_variant_type p_type) {
-	return (godot_validated_indexed_getter)Variant::get_member_validated_indexed_getter((Variant::Type)p_type);
-}
-
-godot_ptr_indexed_setter GDAPI godot_variant_get_ptr_indexed_setter(godot_variant_type p_type) {
-	return (godot_ptr_indexed_setter)Variant::get_member_ptr_indexed_setter((Variant::Type)p_type);
-}
-
-godot_ptr_indexed_getter GDAPI godot_variant_get_ptr_indexed_getter(godot_variant_type p_type) {
-	return (godot_ptr_indexed_getter)Variant::get_member_ptr_indexed_getter((Variant::Type)p_type);
-}
-
-uint64_t GDAPI godot_variant_get_indexed_size(const godot_variant *p_self) {
-	const Variant *self = (const Variant *)p_self;
-	return self->get_indexed_size();
-}
-
-/// Keying.
-bool GDAPI godot_variant_is_keyed(godot_variant_type p_type) {
-	return Variant::is_keyed((Variant::Type)p_type);
-}
-
-godot_validated_keyed_setter GDAPI godot_variant_get_validated_keyed_setter(godot_variant_type p_type) {
-	return (godot_validated_keyed_setter)Variant::get_member_validated_keyed_setter((Variant::Type)p_type);
-}
-
-godot_validated_keyed_getter GDAPI godot_variant_get_validated_keyed_getter(godot_variant_type p_type) {
-	return (godot_validated_keyed_getter)Variant::get_member_validated_keyed_getter((Variant::Type)p_type);
-}
-
-godot_validated_keyed_checker GDAPI godot_variant_get_validated_keyed_checker(godot_variant_type p_type) {
-	return (godot_validated_keyed_checker)Variant::get_member_validated_keyed_checker((Variant::Type)p_type);
-}
-
-godot_ptr_keyed_setter GDAPI godot_variant_get_ptr_keyed_setter(godot_variant_type p_type) {
-	return (godot_ptr_keyed_setter)Variant::get_member_ptr_keyed_setter((Variant::Type)p_type);
-}
-
-godot_ptr_keyed_getter GDAPI godot_variant_get_ptr_keyed_getter(godot_variant_type p_type) {
-	return (godot_ptr_keyed_getter)Variant::get_member_ptr_keyed_getter((Variant::Type)p_type);
-}
-
-godot_ptr_keyed_checker GDAPI godot_variant_get_ptr_keyed_checker(godot_variant_type p_type) {
-	return (godot_ptr_keyed_checker)Variant::get_member_ptr_keyed_checker((Variant::Type)p_type);
-}
-
-/// Constants.
-int GDAPI godot_variant_get_constants_count(godot_variant_type p_type) {
-	return Variant::get_constants_count_for_type((Variant::Type)p_type);
-}
-
-void GDAPI godot_variant_get_constants_list(godot_variant_type p_type, godot_string_name *r_list) {
-	List<StringName> constants;
-	int i = 0;
-	Variant::get_constants_for_type((Variant::Type)p_type, &constants);
-	for (const StringName &E : constants) {
-		memnew_placement(&r_list[i++], StringName(E));
-	}
-}
-
-bool GDAPI godot_variant_has_constant(godot_variant_type p_type, const godot_string_name *p_constant) {
-	return Variant::has_constant((Variant::Type)p_type, *((const StringName *)p_constant));
-}
-
-bool GDAPI godot_variant_has_constant_with_cstring(godot_variant_type p_type, const char *p_constant) {
-	return Variant::has_constant((Variant::Type)p_type, StringName(p_constant));
-}
-
-godot_variant GDAPI godot_variant_get_constant_value(godot_variant_type p_type, const godot_string_name *p_constant) {
-	Variant constant = Variant::get_constant_value((Variant::Type)p_type, *((const StringName *)p_constant));
-	godot_variant ret;
-	memnew_placement(&ret, Variant(constant));
-	return ret;
-}
-
-godot_variant GDAPI godot_variant_get_constant_value_with_cstring(godot_variant_type p_type, const char *p_constant) {
-	Variant constant = Variant::get_constant_value((Variant::Type)p_type, StringName(p_constant));
-	godot_variant ret;
-	memnew_placement(&ret, Variant(constant));
-	return ret;
-}
-
-/// Utilities.
-bool GDAPI godot_variant_has_utility_function(const godot_string_name *p_function) {
-	return Variant::has_utility_function(*((const StringName *)p_function));
-}
-
-bool GDAPI godot_variant_has_utility_function_with_cstring(const char *p_function) {
-	return Variant::has_utility_function(StringName(p_function));
-}
-
-void GDAPI godot_variant_call_utility_function(const godot_string_name *p_function, godot_variant *r_ret, const godot_variant **p_args, int p_argument_count, godot_variant_call_error *r_error) {
-	const StringName *function = (const StringName *)p_function;
-	Variant *ret = (Variant *)r_ret;
-	const Variant **args = (const Variant **)p_args;
-	Callable::CallError error;
-
-	Variant::call_utility_function(*function, ret, args, p_argument_count, error);
-
-	if (r_error) {
-		r_error->error = (godot_variant_call_error_error)error.error;
-		r_error->argument = error.argument;
-		r_error->expected = (godot_variant_type)error.expected;
-	}
-}
-
-void GDAPI godot_variant_call_utility_function_with_cstring(const char *p_function, godot_variant *r_ret, const godot_variant **p_args, int p_argument_count, godot_variant_call_error *r_error) {
-	Variant *ret = (Variant *)r_ret;
-	const Variant **args = (const Variant **)p_args;
-	Callable::CallError error;
-
-	Variant::call_utility_function(StringName(p_function), ret, args, p_argument_count, error);
-
-	if (r_error) {
-		r_error->error = (godot_variant_call_error_error)error.error;
-		r_error->argument = error.argument;
-		r_error->expected = (godot_variant_type)error.expected;
-	}
-}
-
-godot_ptr_utility_function GDAPI godot_variant_get_ptr_utility_function(const godot_string_name *p_function) {
-	return (godot_ptr_utility_function)Variant::get_ptr_utility_function(*((const StringName *)p_function));
-}
-
-godot_ptr_utility_function GDAPI godot_variant_get_ptr_utility_function_with_cstring(const char *p_function) {
-	return (godot_ptr_utility_function)Variant::get_ptr_utility_function(StringName(p_function));
-}
-
-godot_validated_utility_function GDAPI godot_variant_get_validated_utility_function(const godot_string_name *p_function) {
-	return (godot_validated_utility_function)Variant::get_validated_utility_function(*((const StringName *)p_function));
-}
-
-godot_validated_utility_function GDAPI godot_variant_get_validated_utility_function_with_cstring(const char *p_function) {
-	return (godot_validated_utility_function)Variant::get_validated_utility_function(StringName(p_function));
-}
-
-godot_variant_utility_function_type GDAPI godot_variant_get_utility_function_type(const godot_string_name *p_function) {
-	return (godot_variant_utility_function_type)Variant::get_utility_function_type(*((const StringName *)p_function));
-}
-
-godot_variant_utility_function_type GDAPI godot_variant_get_utility_function_type_with_cstring(const char *p_function) {
-	return (godot_variant_utility_function_type)Variant::get_utility_function_type(StringName(p_function));
-}
-
-int GDAPI godot_variant_get_utility_function_argument_count(const godot_string_name *p_function) {
-	return Variant::get_utility_function_argument_count(*((const StringName *)p_function));
-}
-
-int GDAPI godot_variant_get_utility_function_argument_count_with_cstring(const char *p_function) {
-	return Variant::get_utility_function_argument_count(StringName(p_function));
-}
-
-godot_variant_type GDAPI godot_variant_get_utility_function_argument_type(const godot_string_name *p_function, int p_argument) {
-	return (godot_variant_type)Variant::get_utility_function_argument_type(*((const StringName *)p_function), p_argument);
-}
-
-godot_variant_type GDAPI godot_variant_get_utility_function_argument_type_with_cstring(const char *p_function, int p_argument) {
-	return (godot_variant_type)Variant::get_utility_function_argument_type(StringName(p_function), p_argument);
-}
-
-godot_string GDAPI godot_variant_get_utility_function_argument_name(const godot_string_name *p_function, int p_argument) {
-	String argument_name = Variant::get_utility_function_argument_name(*((const StringName *)p_function), p_argument);
-	godot_string ret;
-	memnew_placement(&ret, String(argument_name));
-	return ret;
-}
-
-godot_string GDAPI godot_variant_get_utility_function_argument_name_with_cstring(const char *p_function, int p_argument) {
-	String argument_name = Variant::get_utility_function_argument_name(StringName(p_function), p_argument);
-	godot_string ret;
-	memnew_placement(&ret, String(argument_name));
-	return ret;
-}
-
-bool GDAPI godot_variant_has_utility_function_return_value(const godot_string_name *p_function) {
-	return Variant::has_utility_function_return_value(*((const StringName *)p_function));
-}
-
-bool GDAPI godot_variant_has_utility_function_return_value_with_cstring(const char *p_function) {
-	return Variant::has_utility_function_return_value(StringName(p_function));
-}
-
-godot_variant_type GDAPI godot_variant_get_utility_function_return_type(const godot_string_name *p_function) {
-	return (godot_variant_type)Variant::get_utility_function_return_type(*((const StringName *)p_function));
-}
-
-godot_variant_type GDAPI godot_variant_get_utility_function_return_type_with_cstring(const char *p_function) {
-	return (godot_variant_type)Variant::get_utility_function_return_type(StringName(p_function));
-}
-
-bool GDAPI godot_variant_is_utility_function_vararg(const godot_string_name *p_function) {
-	return Variant::is_utility_function_vararg(*((const StringName *)p_function));
-}
-
-bool GDAPI godot_variant_is_utility_function_vararg_with_cstring(const char *p_function) {
-	return Variant::is_utility_function_vararg(StringName(p_function));
-}
-
-int GDAPI godot_variant_get_utility_function_count() {
-	return Variant::get_utility_function_count();
-}
-
-void GDAPI godot_variant_get_utility_function_list(godot_string_name *r_functions) {
-	List<StringName> functions;
-	godot_string_name *func = r_functions;
-	Variant::get_utility_function_list(&functions);
-
-	for (const StringName &E : functions) {
-		memnew_placement(func++, StringName(E));
-	}
-}
-
-// Introspection.
-
-godot_variant_type GDAPI godot_variant_get_type(const godot_variant *p_self) {
-	const Variant *self = (const Variant *)p_self;
-	return (godot_variant_type)self->get_type();
-}
-
-bool GDAPI godot_variant_has_method(const godot_variant *p_self, const godot_string_name *p_method) {
-	const Variant *self = (const Variant *)p_self;
-	const StringName *method = (const StringName *)p_method;
-	return self->has_method(*method);
-}
-
-bool GDAPI godot_variant_has_member(godot_variant_type p_type, const godot_string_name *p_member) {
-	return Variant::has_member((Variant::Type)p_type, *((const StringName *)p_member));
-}
-
-bool GDAPI godot_variant_has_key(const godot_variant *p_self, const godot_variant *p_key, bool *r_valid) {
-	const Variant *self = (const Variant *)p_self;
-	const Variant *key = (const Variant *)p_key;
-	return self->has_key(*key, *r_valid);
-}
-
-godot_string GDAPI godot_variant_get_type_name(godot_variant_type p_type) {
-	String name = Variant::get_type_name((Variant::Type)p_type);
-	godot_string ret;
-	memnew_placement(&ret, String(name));
-	return ret;
-}
-
-bool GDAPI godot_variant_can_convert(godot_variant_type p_from, godot_variant_type p_to) {
-	return Variant::can_convert((Variant::Type)p_from, (Variant::Type)p_to);
-}
-
-bool GDAPI godot_variant_can_convert_strict(godot_variant_type p_from, godot_variant_type p_to) {
-	return Variant::can_convert_strict((Variant::Type)p_from, (Variant::Type)p_to);
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/gdnative/vector2.cpp b/modules/gdnative/gdnative/vector2.cpp
deleted file mode 100644
index a8d4281d25..0000000000
--- a/modules/gdnative/gdnative/vector2.cpp
+++ /dev/null
@@ -1,82 +0,0 @@
-/*************************************************************************/
-/*  vector2.cpp                                                          */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "gdnative/vector2.h"
-
-#include "core/math/vector2.h"
-#include "core/math/vector2i.h"
-#include "core/os/memory.h"
-
-static_assert(sizeof(godot_vector2) == sizeof(Vector2), "Vector2 size mismatch");
-static_assert(sizeof(godot_vector2i) == sizeof(Vector2i), "Vector2i size mismatch");
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void GDAPI godot_vector2_new(godot_vector2 *p_self) {
-	memnew_placement(p_self, Vector2);
-}
-
-void GDAPI godot_vector2_new_copy(godot_vector2 *r_dest, const godot_vector2 *p_src) {
-	memnew_placement(r_dest, Vector2(*(Vector2 *)p_src));
-}
-
-void GDAPI godot_vector2i_new(godot_vector2i *p_self) {
-	memnew_placement(p_self, Vector2i);
-}
-
-void GDAPI godot_vector2i_new_copy(godot_vector2i *r_dest, const godot_vector2i *p_src) {
-	memnew_placement(r_dest, Vector2i(*(Vector2i *)p_src));
-}
-
-godot_real_t GDAPI *godot_vector2_operator_index(godot_vector2 *p_self, godot_int p_index) {
-	Vector2 *self = (Vector2 *)p_self;
-	return (godot_real_t *)&self->operator[](p_index);
-}
-
-const godot_real_t GDAPI *godot_vector2_operator_index_const(const godot_vector2 *p_self, godot_int p_index) {
-	const Vector2 *self = (const Vector2 *)p_self;
-	return (const godot_real_t *)&self->operator[](p_index);
-}
-
-int32_t GDAPI *godot_vector2i_operator_index(godot_vector2i *p_self, godot_int p_index) {
-	Vector2i *self = (Vector2i *)p_self;
-	return (int32_t *)&self->operator[](p_index);
-}
-
-const int32_t GDAPI *godot_vector2i_operator_index_const(const godot_vector2i *p_self, godot_int p_index) {
-	const Vector2i *self = (const Vector2i *)p_self;
-	return (const int32_t *)&self->operator[](p_index);
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/gdnative/vector3.cpp b/modules/gdnative/gdnative/vector3.cpp
deleted file mode 100644
index 37c88c3cca..0000000000
--- a/modules/gdnative/gdnative/vector3.cpp
+++ /dev/null
@@ -1,82 +0,0 @@
-/*************************************************************************/
-/*  vector3.cpp                                                          */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "gdnative/vector3.h"
-
-#include "core/math/vector3.h"
-#include "core/math/vector3i.h"
-#include "core/os/memory.h"
-
-static_assert(sizeof(godot_vector3) == sizeof(Vector3), "Vector3 size mismatch");
-static_assert(sizeof(godot_vector3i) == sizeof(Vector3i), "Vector3i size mismatch");
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void GDAPI godot_vector3_new(godot_vector3 *p_self) {
-	memnew_placement(p_self, Vector3);
-}
-
-void GDAPI godot_vector3_new_copy(godot_vector3 *r_dest, const godot_vector3 *p_src) {
-	memnew_placement(r_dest, Vector3(*(Vector3 *)p_src));
-}
-
-void GDAPI godot_vector3i_new(godot_vector3i *p_self) {
-	memnew_placement(p_self, Vector3i);
-}
-
-void GDAPI godot_vector3i_new_copy(godot_vector3i *r_dest, const godot_vector3i *p_src) {
-	memnew_placement(r_dest, Vector3i(*(Vector3i *)p_src));
-}
-
-godot_real_t GDAPI *godot_vector3_operator_index(godot_vector3 *p_self, godot_int p_index) {
-	Vector3 *self = (Vector3 *)p_self;
-	return (godot_real_t *)&self->operator[](p_index);
-}
-
-const godot_real_t GDAPI *godot_vector3_operator_index_const(const godot_vector3 *p_self, godot_int p_index) {
-	const Vector3 *self = (const Vector3 *)p_self;
-	return (const godot_real_t *)&self->operator[](p_index);
-}
-
-int32_t GDAPI *godot_vector3i_operator_index(godot_vector3i *p_self, godot_int p_index) {
-	Vector3i *self = (Vector3i *)p_self;
-	return (int32_t *)&self->operator[](p_index);
-}
-
-const int32_t GDAPI *godot_vector3i_operator_index_const(const godot_vector3i *p_self, godot_int p_index) {
-	const Vector3i *self = (const Vector3i *)p_self;
-	return (const int32_t *)&self->operator[](p_index);
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/gdnative_api.json b/modules/gdnative/gdnative_api.json
deleted file mode 100644
index cf1c7dc01f..0000000000
--- a/modules/gdnative/gdnative_api.json
+++ /dev/null
@@ -1,5108 +0,0 @@
-{
-	"core": {
-		"type": "CORE",
-		"version": {
-			"major": 4,
-			"minor": 0
-		},
-		"next": null,
-		"api": [
-			{
-				"name": "godot_object_destroy",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_object *",
-						"p_o"
-					]
-				]
-			},
-			{
-				"name": "godot_global_get_singleton",
-				"return_type": "godot_object *",
-				"arguments": [
-					[
-						"char *",
-						"p_name"
-					]
-				]
-			},
-			{
-				"name": "godot_method_bind_get_method",
-				"return_type": "godot_method_bind *",
-				"arguments": [
-					[
-						"const char *",
-						"p_classname"
-					],
-					[
-						"const char *",
-						"p_methodname"
-					]
-				]
-			},
-			{
-				"name": "godot_method_bind_ptrcall",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_method_bind *",
-						"p_method_bind"
-					],
-					[
-						"godot_object *",
-						"p_instance"
-					],
-					[
-						"const void **",
-						"p_args"
-					],
-					[
-						"void *",
-						"p_ret"
-					]
-				]
-			},
-			{
-				"name": "godot_method_bind_call",
-				"return_type": "godot_variant",
-				"arguments": [
-					[
-						"godot_method_bind *",
-						"p_method_bind"
-					],
-					[
-						"godot_object *",
-						"p_instance"
-					],
-					[
-						"const godot_variant **",
-						"p_args"
-					],
-					[
-						"const int",
-						"p_arg_count"
-					],
-					[
-						"godot_variant_call_error *",
-						"p_call_error"
-					]
-				]
-			},
-			{
-				"name": "godot_get_class_constructor",
-				"return_type": "godot_class_constructor",
-				"arguments": [
-					[
-						"const char *",
-						"p_classname"
-					]
-				]
-			},
-			{
-				"name": "godot_get_global_constants",
-				"return_type": "godot_dictionary",
-				"arguments": []
-			},
-			{
-				"name": "godot_register_native_call_type",
-				"return_type": "void",
-				"arguments": [
-					[
-						"const char *",
-						"call_type"
-					],
-					[
-						"native_call_cb",
-						"p_callback"
-					]
-				]
-			},
-			{
-				"name": "godot_alloc",
-				"return_type": "void *",
-				"arguments": [
-					[
-						"int",
-						"p_bytes"
-					]
-				]
-			},
-			{
-				"name": "godot_realloc",
-				"return_type": "void *",
-				"arguments": [
-					[
-						"void *",
-						"p_ptr"
-					],
-					[
-						"int",
-						"p_bytes"
-					]
-				]
-			},
-			{
-				"name": "godot_free",
-				"return_type": "void",
-				"arguments": [
-					[
-						"void *",
-						"p_ptr"
-					]
-				]
-			},
-			{
-				"name": "godot_print_error",
-				"return_type": "void",
-				"arguments": [
-					[
-						"const char *",
-						"p_description"
-					],
-					[
-						"const char *",
-						"p_function"
-					],
-					[
-						"const char *",
-						"p_file"
-					],
-					[
-						"int",
-						"p_line"
-					]
-				]
-			},
-			{
-				"name": "godot_print_warning",
-				"return_type": "void",
-				"arguments": [
-					[
-						"const char *",
-						"p_description"
-					],
-					[
-						"const char *",
-						"p_function"
-					],
-					[
-						"const char *",
-						"p_file"
-					],
-					[
-						"int",
-						"p_line"
-					]
-				]
-			},
-			{
-				"name": "godot_print_script_error",
-				"return_type": "void",
-				"arguments": [
-					[
-						"const char *",
-						"p_description"
-					],
-					[
-						"const char *",
-						"p_function"
-					],
-					[
-						"const char *",
-						"p_file"
-					],
-					[
-						"int",
-						"p_line"
-					]
-				]
-			},
-			{
-				"name": "godot_get_class_tag",
-				"return_type": "void *",
-				"arguments": [
-					[
-						"const godot_string_name *",
-						"p_class"
-					]
-				]
-			},
-			{
-				"name": "godot_object_cast_to",
-				"return_type": "godot_object *",
-				"arguments": [
-					[
-						"const godot_object *",
-						"p_object"
-					],
-					[
-						"void *",
-						"p_class_tag"
-					]
-				]
-			},
-			{
-				"name": "godot_instance_from_id",
-				"return_type": "godot_object *",
-				"arguments": [
-					[
-						"uint64_t",
-						"p_instance_id"
-					]
-				]
-			},
-			{
-				"name": "godot_object_get_instance_id",
-				"return_type": "uint64_t",
-				"arguments": [
-					[
-						"const godot_object *",
-						"p_object"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_copy",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_variant *",
-						"p_src"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_nil",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_bool",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_bool",
-						"p_b"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_int",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const int64_t",
-						"p_i"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_float",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const double",
-						"p_f"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_string",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_string *",
-						"p_s"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_string_name",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_string_name *",
-						"p_s"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_vector2",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_vector2 *",
-						"p_v2"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_vector2i",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_vector2i *",
-						"p_v2"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_rect2",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_rect2 *",
-						"p_rect2"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_rect2i",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_rect2i *",
-						"p_rect2"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_vector3",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_vector3 *",
-						"p_v3"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_vector3i",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_vector3i *",
-						"p_v3"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_transform2d",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_transform2d *",
-						"p_t2d"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_plane",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_plane *",
-						"p_plane"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_quaternion",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_quaternion *",
-						"p_quaternion"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_aabb",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_aabb *",
-						"p_aabb"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_basis",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_basis *",
-						"p_basis"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_transform3d",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_transform3d *",
-						"p_trans"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_color",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_color *",
-						"p_color"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_node_path",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_node_path *",
-						"p_np"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_rid",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_rid *",
-						"p_rid"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_object",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_object *",
-						"p_obj"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_callable",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_callable *",
-						"p_cb"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_signal",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_signal *",
-						"p_signal"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_dictionary",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_dictionary *",
-						"p_dict"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_array",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_array *",
-						"p_arr"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_packed_byte_array",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_packed_byte_array *",
-						"p_pba"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_packed_int32_array",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_packed_int32_array *",
-						"p_pia"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_packed_int64_array",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_packed_int64_array *",
-						"p_pia"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_packed_float32_array",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_packed_float32_array *",
-						"p_pra"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_packed_float64_array",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_packed_float64_array *",
-						"p_pra"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_packed_string_array",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_packed_string_array *",
-						"p_psa"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_packed_vector2_array",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_packed_vector2_array *",
-						"p_pv2a"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_packed_vector3_array",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_packed_vector3_array *",
-						"p_pv3a"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_new_packed_color_array",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"r_dest"
-					],
-					[
-						"const godot_packed_color_array *",
-						"p_pca"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_bool",
-				"return_type": "godot_bool",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_int",
-				"return_type": "int64_t",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_float",
-				"return_type": "double",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_string",
-				"return_type": "godot_string",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_string_name",
-				"return_type": "godot_string_name",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_vector2",
-				"return_type": "godot_vector2",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_vector2i",
-				"return_type": "godot_vector2i",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_rect2",
-				"return_type": "godot_rect2",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_rect2i",
-				"return_type": "godot_rect2i",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_vector3",
-				"return_type": "godot_vector3",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_vector3i",
-				"return_type": "godot_vector3i",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_transform2d",
-				"return_type": "godot_transform2d",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_plane",
-				"return_type": "godot_plane",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_quaternion",
-				"return_type": "godot_quaternion",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_aabb",
-				"return_type": "godot_aabb",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_basis",
-				"return_type": "godot_basis",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_transform3d",
-				"return_type": "godot_transform3d",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_color",
-				"return_type": "godot_color",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_node_path",
-				"return_type": "godot_node_path",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_rid",
-				"return_type": "godot_rid",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_object",
-				"return_type": "godot_object *",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_callable",
-				"return_type": "godot_callable",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_signal",
-				"return_type": "godot_signal",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_dictionary",
-				"return_type": "godot_dictionary",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_array",
-				"return_type": "godot_array",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_packed_byte_array",
-				"return_type": "godot_packed_byte_array",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_packed_int32_array",
-				"return_type": "godot_packed_int32_array",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_packed_int64_array",
-				"return_type": "godot_packed_int64_array",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_packed_float32_array",
-				"return_type": "godot_packed_float32_array",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_packed_float64_array",
-				"return_type": "godot_packed_float64_array",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_packed_string_array",
-				"return_type": "godot_packed_string_array",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_packed_vector2_array",
-				"return_type": "godot_packed_vector2_array",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_packed_vector3_array",
-				"return_type": "godot_packed_vector3_array",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_as_packed_color_array",
-				"return_type": "godot_packed_color_array",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_destroy",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_call",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"p_self"
-					],
-					[
-						"const godot_string_name *",
-						"p_method"
-					],
-					[
-						"const godot_variant **",
-						"p_args"
-					],
-					[
-						"const godot_int",
-						"p_argument_count"
-					],
-					[
-						"godot_variant *",
-						"r_return"
-					],
-					[
-						"godot_variant_call_error *",
-						"r_error"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_call_with_cstring",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"p_self"
-					],
-					[
-						"const char *",
-						"p_method"
-					],
-					[
-						"const godot_variant **",
-						"p_args"
-					],
-					[
-						"const godot_int",
-						"p_argument_count"
-					],
-					[
-						"godot_variant *",
-						"r_return"
-					],
-					[
-						"godot_variant_call_error *",
-						"r_error"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_evaluate",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant_operator",
-						"p_op"
-					],
-					[
-						"const godot_variant *",
-						"p_a"
-					],
-					[
-						"const godot_variant *",
-						"p_b"
-					],
-					[
-						"godot_variant *",
-						"r_return"
-					],
-					[
-						"bool *",
-						"r_valid"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_set",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"p_self"
-					],
-					[
-						"const godot_variant *",
-						"p_key"
-					],
-					[
-						"const godot_variant *",
-						"p_value"
-					],
-					[
-						"bool *",
-						"r_valid"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_set_named",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"p_self"
-					],
-					[
-						"const godot_string_name *",
-						"p_key"
-					],
-					[
-						"const godot_variant *",
-						"p_value"
-					],
-					[
-						"bool *",
-						"r_valid"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_set_named_with_cstring",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"p_self"
-					],
-					[
-						"const char *",
-						"p_key"
-					],
-					[
-						"const godot_variant *",
-						"p_value"
-					],
-					[
-						"bool *",
-						"r_valid"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_set_keyed",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"p_self"
-					],
-					[
-						"const godot_variant *",
-						"p_key"
-					],
-					[
-						"const godot_variant *",
-						"p_value"
-					],
-					[
-						"bool *",
-						"r_valid"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_set_indexed",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant *",
-						"p_self"
-					],
-					[
-						"godot_int",
-						"p_index"
-					],
-					[
-						"const godot_variant *",
-						"p_value"
-					],
-					[
-						"bool *",
-						"r_valid"
-					],
-					[
-						"bool *",
-						"r_oob"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get",
-				"return_type": "godot_variant",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					],
-					[
-						"const godot_variant *",
-						"p_key"
-					],
-					[
-						"bool *",
-						"r_valid"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_named",
-				"return_type": "godot_variant",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					],
-					[
-						"const godot_string_name *",
-						"p_key"
-					],
-					[
-						"bool *",
-						"r_valid"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_named_with_cstring",
-				"return_type": "godot_variant",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					],
-					[
-						"const char *",
-						"p_key"
-					],
-					[
-						"bool *",
-						"r_valid"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_keyed",
-				"return_type": "godot_variant",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					],
-					[
-						"const godot_variant *",
-						"p_key"
-					],
-					[
-						"bool *",
-						"r_valid"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_indexed",
-				"return_type": "godot_variant",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					],
-					[
-						"godot_int",
-						"p_index"
-					],
-					[
-						"bool *",
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-						"r_oob"
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-				"name": "godot_variant_iter_init",
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-						"const godot_variant *",
-						"p_self"
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-				"name": "godot_variant_iter_get",
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-						"const godot_variant *",
-						"p_self"
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-				"name": "godot_variant_hash_compare",
-				"return_type": "godot_bool",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
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-			{
-				"name": "godot_variant_booleanize",
-				"return_type": "godot_bool",
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-					[
-						"const godot_variant *",
-						"p_self"
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-				"return_type": "void",
-				"arguments": [
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-						"const godot_variant *",
-						"p_a"
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-					[
-						"const godot_variant *",
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-			{
-				"name": "godot_variant_interpolate",
-				"return_type": "void",
-				"arguments": [
-					[
-						"const godot_variant *",
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-				"name": "godot_variant_duplicate",
-				"return_type": "godot_variant",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
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-						"godot_bool",
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-			},
-			{
-				"name": "godot_variant_stringify",
-				"return_type": "godot_string",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
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-				"return_type": "godot_validated_operator_evaluator",
-				"arguments": [
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-						"godot_variant_operator",
-						"p_operator"
-					],
-					[
-						"godot_variant_type",
-						"p_type_a"
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-					[
-						"godot_variant_type",
-						"p_type_b"
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-				]
-			},
-			{
-				"name": "godot_variant_get_ptr_operator_evaluator",
-				"return_type": "godot_ptr_operator_evaluator",
-				"arguments": [
-					[
-						"godot_variant_operator",
-						"p_operator"
-					],
-					[
-						"godot_variant_type",
-						"p_type_a"
-					],
-					[
-						"godot_variant_type",
-						"p_type_b"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_operator_return_type",
-				"return_type": "godot_variant_type",
-				"arguments": [
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-						"godot_variant_operator",
-						"p_operator"
-					],
-					[
-						"godot_variant_type",
-						"p_type_a"
-					],
-					[
-						"godot_variant_type",
-						"p_type_b"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_operator_name",
-				"return_type": "godot_string",
-				"arguments": [
-					[
-						"godot_variant_operator",
-						"p_operator"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_has_builtin_method",
-				"return_type": "bool",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
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-						"const godot_string_name *",
-						"p_method"
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-				]
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-			{
-				"name": "godot_variant_has_builtin_method_with_cstring",
-				"return_type": "bool",
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-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const char *",
-						"p_method"
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-				]
-			},
-			{
-				"name": "godot_variant_get_validated_builtin_method",
-				"return_type": "godot_validated_builtin_method",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const godot_string_name *",
-						"p_method"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_validated_builtin_method_with_cstring",
-				"return_type": "godot_validated_builtin_method",
-				"arguments": [
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-						"godot_variant_type",
-						"p_type"
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-					[
-						"const char *",
-						"p_method"
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-				]
-			},
-			{
-				"name": "godot_variant_get_ptr_builtin_method",
-				"return_type": "godot_ptr_builtin_method",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const godot_string_name *",
-						"p_method"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_ptr_builtin_method_with_cstring",
-				"return_type": "godot_ptr_builtin_method",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const char *",
-						"p_method"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_builtin_method_argument_count",
-				"return_type": "int",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
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-						"const godot_string_name *",
-						"p_method"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_builtin_method_argument_count_with_cstring",
-				"return_type": "int",
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-						"godot_variant_type",
-						"p_type"
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-					[
-						"const char *",
-						"p_method"
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-				]
-			},
-			{
-				"name": "godot_variant_get_builtin_method_argument_type",
-				"return_type": "godot_variant_type",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
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-						"const godot_string_name *",
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-					],
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-						"int",
-						"p_argument"
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-				]
-			},
-			{
-				"name": "godot_variant_get_builtin_method_argument_type_with_cstring",
-				"return_type": "godot_variant_type",
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-						"godot_variant_type",
-						"p_type"
-					],
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-						"const char *",
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-					],
-					[
-						"int",
-						"p_argument"
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-				]
-			},
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-				"name": "godot_variant_get_builtin_method_argument_name",
-				"return_type": "godot_string",
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-						"godot_variant_type",
-						"p_type"
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-						"p_method"
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-						"int",
-						"p_argument"
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-			},
-			{
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-						"godot_variant_type",
-						"p_type"
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-						"p_method"
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-						"int",
-						"p_argument"
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-			},
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-						"godot_variant_type",
-						"p_type"
-					],
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-						"const godot_string_name *",
-						"p_method"
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-			},
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-				"return_type": "bool",
-				"arguments": [
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-						"godot_variant_type",
-						"p_type"
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-						"p_method"
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-				]
-			},
-			{
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-				"return_type": "godot_variant_type",
-				"arguments": [
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-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const godot_string_name *",
-						"p_method"
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-				]
-			},
-			{
-				"name": "godot_variant_get_builtin_method_return_type_with_cstring",
-				"return_type": "godot_variant_type",
-				"arguments": [
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-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const char *",
-						"p_method"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_is_builtin_method_const",
-				"return_type": "bool",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const godot_string_name *",
-						"p_method"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_is_builtin_method_const_with_cstring",
-				"return_type": "bool",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const char *",
-						"p_method"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_is_builtin_method_static",
-				"return_type": "bool",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const godot_string_name *",
-						"p_method"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_is_builtin_method_static_with_cstring",
-				"return_type": "bool",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const char *",
-						"p_method"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_is_builtin_method_vararg",
-				"return_type": "bool",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const godot_string_name *",
-						"p_method"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_is_builtin_method_vararg_with_cstring",
-				"return_type": "bool",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const char *",
-						"p_method"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_builtin_method_count",
-				"return_type": "int",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_builtin_method_list",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"godot_string_name *",
-						"r_list"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_constructor_count",
-				"return_type": "int",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_validated_constructor",
-				"return_type": "godot_validated_constructor",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"int",
-						"p_constructor"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_ptr_constructor",
-				"return_type": "godot_ptr_constructor",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"int",
-						"p_constructor"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_constructor_argument_count",
-				"return_type": "int",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"int",
-						"p_constructor"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_constructor_argument_type",
-				"return_type": "godot_variant_type",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"int",
-						"p_constructor"
-					],
-					[
-						"int",
-						"p_argument"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_constructor_argument_name",
-				"return_type": "godot_string",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"int",
-						"p_constructor"
-					],
-					[
-						"int",
-						"p_argument"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_construct",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"godot_variant *",
-						"p_base"
-					],
-					[
-						"const godot_variant **",
-						"p_args"
-					],
-					[
-						"int",
-						"p_argument_count"
-					],
-					[
-						"godot_variant_call_error *",
-						"r_error"
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-				]
-			},
-			{
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-				"return_type": "godot_variant_type",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const godot_string_name *",
-						"p_member"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_member_type_with_cstring",
-				"return_type": "godot_variant_type",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const char *",
-						"p_member"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_member_count",
-				"return_type": "int",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_member_list",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"godot_string_name *",
-						"r_list"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_validated_setter",
-				"return_type": "godot_validated_setter",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const godot_string_name *",
-						"p_member"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_validated_setter_with_cstring",
-				"return_type": "godot_validated_setter",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const char *",
-						"p_member"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_validated_getter",
-				"return_type": "godot_validated_getter",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const godot_string_name *",
-						"p_member"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_validated_getter_with_cstring",
-				"return_type": "godot_validated_getter",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const char *",
-						"p_member"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_ptr_setter",
-				"return_type": "godot_ptr_setter",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const godot_string_name *",
-						"p_member"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_ptr_setter_with_cstring",
-				"return_type": "godot_ptr_setter",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const char *",
-						"p_member"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_ptr_getter",
-				"return_type": "godot_ptr_getter",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const godot_string_name *",
-						"p_member"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_ptr_getter_with_cstring",
-				"return_type": "godot_ptr_getter",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const char *",
-						"p_member"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_has_indexing",
-				"return_type": "bool",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_indexed_element_type",
-				"return_type": "godot_variant_type",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_validated_indexed_setter",
-				"return_type": "godot_validated_indexed_setter",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_validated_indexed_getter",
-				"return_type": "godot_validated_indexed_getter",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_ptr_indexed_setter",
-				"return_type": "godot_ptr_indexed_setter",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_ptr_indexed_getter",
-				"return_type": "godot_ptr_indexed_getter",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_indexed_size",
-				"return_type": "uint64_t",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_is_keyed",
-				"return_type": "bool",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_validated_keyed_setter",
-				"return_type": "godot_validated_keyed_setter",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_validated_keyed_getter",
-				"return_type": "godot_validated_keyed_getter",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_validated_keyed_checker",
-				"return_type": "godot_validated_keyed_checker",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_ptr_keyed_setter",
-				"return_type": "godot_ptr_keyed_setter",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_ptr_keyed_getter",
-				"return_type": "godot_ptr_keyed_getter",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_ptr_keyed_checker",
-				"return_type": "godot_ptr_keyed_checker",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_constants_count",
-				"return_type": "int",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_constants_list",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"godot_string_name *",
-						"r_list"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_has_constant",
-				"return_type": "bool",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const godot_string_name *",
-						"p_constant"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_has_constant_with_cstring",
-				"return_type": "bool",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const char *",
-						"p_constant"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_constant_value",
-				"return_type": "godot_variant",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const godot_string_name *",
-						"p_constant"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_constant_value_with_cstring",
-				"return_type": "godot_variant",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const char *",
-						"p_constant"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_has_utility_function",
-				"return_type": "bool",
-				"arguments": [
-					[
-						"const godot_string_name *",
-						"p_function"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_has_utility_function_with_cstring",
-				"return_type": "bool",
-				"arguments": [
-					[
-						"const char *",
-						"p_function"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_call_utility_function",
-				"return_type": "void",
-				"arguments": [
-					[
-						"const godot_string_name *",
-						"p_function"
-					],
-					[
-						"godot_variant *",
-						"r_ret"
-					],
-					[
-						"const godot_variant **",
-						"p_args"
-					],
-					[
-						"int",
-						"p_argument_count"
-					],
-					[
-						"godot_variant_call_error *",
-						"r_error"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_call_utility_function_with_cstring",
-				"return_type": "void",
-				"arguments": [
-					[
-						"const char *",
-						"p_function"
-					],
-					[
-						"godot_variant *",
-						"r_ret"
-					],
-					[
-						"const godot_variant **",
-						"p_args"
-					],
-					[
-						"int",
-						"p_argument_count"
-					],
-					[
-						"godot_variant_call_error *",
-						"r_error"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_ptr_utility_function",
-				"return_type": "godot_ptr_utility_function",
-				"arguments": [
-					[
-						"const godot_string_name *",
-						"p_function"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_ptr_utility_function_with_cstring",
-				"return_type": "godot_ptr_utility_function",
-				"arguments": [
-					[
-						"const char *",
-						"p_function"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_validated_utility_function",
-				"return_type": "godot_validated_utility_function",
-				"arguments": [
-					[
-						"const godot_string_name *",
-						"p_function"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_validated_utility_function_with_cstring",
-				"return_type": "godot_validated_utility_function",
-				"arguments": [
-					[
-						"const char *",
-						"p_function"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_utility_function_type",
-				"return_type": "godot_variant_utility_function_type",
-				"arguments": [
-					[
-						"const godot_string_name *",
-						"p_function"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_utility_function_type_with_cstring",
-				"return_type": "godot_variant_utility_function_type",
-				"arguments": [
-					[
-						"const char *",
-						"p_function"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_utility_function_argument_count",
-				"return_type": "int",
-				"arguments": [
-					[
-						"const godot_string_name *",
-						"p_function"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_utility_function_argument_count_with_cstring",
-				"return_type": "int",
-				"arguments": [
-					[
-						"const char *",
-						"p_function"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_utility_function_argument_type",
-				"return_type": "godot_variant_type",
-				"arguments": [
-					[
-						"const godot_string_name *",
-						"p_function"
-					],
-					[
-						"int",
-						"p_argument"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_utility_function_argument_type_with_cstring",
-				"return_type": "godot_variant_type",
-				"arguments": [
-					[
-						"const char *",
-						"p_function"
-					],
-					[
-						"int",
-						"p_argument"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_utility_function_argument_name",
-				"return_type": "godot_string",
-				"arguments": [
-					[
-						"const godot_string_name *",
-						"p_function"
-					],
-					[
-						"int",
-						"p_argument"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_utility_function_argument_name_with_cstring",
-				"return_type": "godot_string",
-				"arguments": [
-					[
-						"const char *",
-						"p_function"
-					],
-					[
-						"int",
-						"p_argument"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_has_utility_function_return_value",
-				"return_type": "bool",
-				"arguments": [
-					[
-						"const godot_string_name *",
-						"p_function"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_has_utility_function_return_value_with_cstring",
-				"return_type": "bool",
-				"arguments": [
-					[
-						"const char *",
-						"p_function"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_utility_function_return_type",
-				"return_type": "godot_variant_type",
-				"arguments": [
-					[
-						"const godot_string_name *",
-						"p_function"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_utility_function_return_type_with_cstring",
-				"return_type": "godot_variant_type",
-				"arguments": [
-					[
-						"const char *",
-						"p_function"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_is_utility_function_vararg",
-				"return_type": "bool",
-				"arguments": [
-					[
-						"const godot_string_name *",
-						"p_function"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_is_utility_function_vararg_with_cstring",
-				"return_type": "bool",
-				"arguments": [
-					[
-						"const char *",
-						"p_function"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_utility_function_count",
-				"return_type": "int",
-				"arguments": []
-			},
-			{
-				"name": "godot_variant_get_utility_function_list",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_string_name *",
-						"r_functions"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_type",
-				"return_type": "godot_variant_type",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_has_method",
-				"return_type": "bool",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					],
-					[
-						"const godot_string_name *",
-						"p_method"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_has_member",
-				"return_type": "bool",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					],
-					[
-						"const godot_string_name *",
-						"p_member"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_has_key",
-				"return_type": "bool",
-				"arguments": [
-					[
-						"const godot_variant *",
-						"p_self"
-					],
-					[
-						"const godot_variant *",
-						"p_key"
-					],
-					[
-						"bool *",
-						"r_valid"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_get_type_name",
-				"return_type": "godot_string",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_type"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_can_convert",
-				"return_type": "bool",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_from"
-					],
-					[
-						"godot_variant_type",
-						"p_to"
-					]
-				]
-			},
-			{
-				"name": "godot_variant_can_convert_strict",
-				"return_type": "bool",
-				"arguments": [
-					[
-						"godot_variant_type",
-						"p_from"
-					],
-					[
-						"godot_variant_type",
-						"p_to"
-					]
-				]
-			},
-			{
-				"name": "godot_aabb_new",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_aabb *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_aabb_new_copy",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_aabb *",
-						"r_dest"
-					],
-					[
-						"const godot_aabb *",
-						"p_src"
-					]
-				]
-			},
-			{
-				"name": "godot_array_new",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_array *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_array_new_copy",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_array *",
-						"r_dest"
-					],
-					[
-						"const godot_array *",
-						"p_src"
-					]
-				]
-			},
-			{
-				"name": "godot_array_destroy",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_array *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_array_operator_index",
-				"return_type": "godot_variant *",
-				"arguments": [
-					[
-						"godot_array *",
-						"p_self"
-					],
-					[
-						"godot_int",
-						"p_index"
-					]
-				]
-			},
-			{
-				"name": "godot_array_operator_index_const",
-				"return_type": "const godot_variant *",
-				"arguments": [
-					[
-						"const godot_array *",
-						"p_self"
-					],
-					[
-						"godot_int",
-						"p_index"
-					]
-				]
-			},
-			{
-				"name": "godot_basis_new",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_basis *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_basis_new_copy",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_basis *",
-						"r_dest"
-					],
-					[
-						"const godot_basis *",
-						"p_src"
-					]
-				]
-			},
-			{
-				"name": "godot_basis_operator_index",
-				"return_type": "godot_vector3 *",
-				"arguments": [
-					[
-						"godot_basis *",
-						"p_self"
-					],
-					[
-						"godot_int",
-						"p_index"
-					]
-				]
-			},
-			{
-				"name": "godot_basis_operator_index_const",
-				"return_type": "const godot_vector3 *",
-				"arguments": [
-					[
-						"const godot_basis *",
-						"p_self"
-					],
-					[
-						"godot_int",
-						"p_index"
-					]
-				]
-			},
-			{
-				"name": "godot_callable_new",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_callable *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_callable_new_copy",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_callable *",
-						"r_dest"
-					],
-					[
-						"const godot_callable *",
-						"p_src"
-					]
-				]
-			},
-			{
-				"name": "godot_callable_destroy",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_callable *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_color_new",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_color *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_color_new_copy",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_color *",
-						"r_dest"
-					],
-					[
-						"const godot_color *",
-						"p_src"
-					]
-				]
-			},
-			{
-				"name": "godot_color_operator_index",
-				"return_type": "float *",
-				"arguments": [
-					[
-						"godot_color *",
-						"p_self"
-					],
-					[
-						"godot_int",
-						"p_index"
-					]
-				]
-			},
-			{
-				"name": "godot_color_operator_index_const",
-				"return_type": "const float *",
-				"arguments": [
-					[
-						"const godot_color *",
-						"p_self"
-					],
-					[
-						"godot_int",
-						"p_index"
-					]
-				]
-			},
-			{
-				"name": "godot_dictionary_new",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_dictionary *",
-						"p_self"
-					]
-				]
-			},
-			{
-				"name": "godot_dictionary_new_copy",
-				"return_type": "void",
-				"arguments": [
-					[
-						"godot_dictionary *",
-						"r_dest"
-					],
-					[
-						"const godot_dictionary *",
-						"p_src"
-					]
-				]
-			},
-			{
-				"name": "godot_dictionary_destroy",
-				"return_type": "void",
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-						"p_self"
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-						"godot_packed_color_array *",
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-						"godot_packed_color_array *",
-						"p_self"
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-						"godot_quaternion *",
-						"p_self"
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-						"godot_quaternion *",
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-						"godot_quaternion *",
-						"p_self"
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-						[
-							"void *",
-							"p_gdnative_handle"
-						],
-						[
-							"const char *",
-							"p_name"
-						],
-						[
-							"const godot_nativescript_signal *",
-							"p_signal"
-						]
-					]
-				},
-				{
-					"name": "godot_nativescript_get_userdata",
-					"return_type": "void *",
-					"arguments": [
-						[
-							"godot_object *",
-							"p_instance"
-						]
-					]
-				},
-				{
-					"name": "godot_nativescript_set_class_documentation",
-					"return_type": "void",
-					"arguments": [
-						[
-							"void *",
-							"p_gdnative_handle"
-						],
-						[
-							"const char *",
-							"p_name"
-						],
-						[
-							"godot_string",
-							"p_documentation"
-						]
-					]
-				},
-				{
-					"name": "godot_nativescript_set_method_documentation",
-					"return_type": "void",
-					"arguments": [
-						[
-							"void *",
-							"p_gdnative_handle"
-						],
-						[
-							"const char *",
-							"p_name"
-						],
-						[
-							"const char *",
-							"p_function_name"
-						],
-						[
-							"godot_string",
-							"p_documentation"
-						]
-					]
-				},
-				{
-					"name": "godot_nativescript_set_property_documentation",
-					"return_type": "void",
-					"arguments": [
-						[
-							"void *",
-							"p_gdnative_handle"
-						],
-						[
-							"const char *",
-							"p_name"
-						],
-						[
-							"const char *",
-							"p_path"
-						],
-						[
-							"godot_string",
-							"p_documentation"
-						]
-					]
-				},
-				{
-					"name": "godot_nativescript_set_signal_documentation",
-					"return_type": "void",
-					"arguments": [
-						[
-							"void *",
-							"p_gdnative_handle"
-						],
-						[
-							"const char *",
-							"p_name"
-						],
-						[
-							"const char *",
-							"p_signal_name"
-						],
-						[
-							"godot_string",
-							"p_documentation"
-						]
-					]
-				},
-				{
-					"name": "godot_nativescript_set_global_type_tag",
-					"return_type": "void",
-					"arguments": [
-						[
-							"int",
-							"p_idx"
-						],
-						[
-							"const char *",
-							"p_name"
-						],
-						[
-							"const void *",
-							"p_type_tag"
-						]
-					]
-				},
-				{
-					"name": "godot_nativescript_get_global_type_tag",
-					"return_type": "const void *",
-					"arguments": [
-						[
-							"int",
-							"p_idx"
-						],
-						[
-							"const char *",
-							"p_name"
-						]
-					]
-				},
-				{
-					"name": "godot_nativescript_set_type_tag",
-					"return_type": "void",
-					"arguments": [
-						[
-							"void *",
-							"p_gdnative_handle"
-						],
-						[
-							"const char *",
-							"p_name"
-						],
-						[
-							"const void *",
-							"p_type_tag"
-						]
-					]
-				},
-				{
-					"name": "godot_nativescript_get_type_tag",
-					"return_type": "const void *",
-					"arguments": [
-						[
-							"const godot_object *",
-							"p_object"
-						]
-					]
-				},
-				{
-					"name": "godot_nativescript_register_instance_binding_data_functions",
-					"return_type": "int",
-					"arguments": [
-						[
-							"godot_nativescript_instance_binding_functions",
-							"p_binding_functions"
-						]
-					]
-				},
-				{
-					"name": "godot_nativescript_unregister_instance_binding_data_functions",
-					"return_type": "void",
-					"arguments": [
-						[
-							"int",
-							"p_idx"
-						]
-					]
-				},
-				{
-					"name": "godot_nativescript_get_instance_binding_data",
-					"return_type": "void *",
-					"arguments": [
-						[
-							"int",
-							"p_idx"
-						],
-						[
-							"godot_object *",
-							"p_object"
-						]
-					]
-				},
-				{
-					"name": "godot_nativescript_profiling_add_data",
-					"return_type": "void",
-					"arguments": [
-						[
-							"const char *",
-							"p_signature"
-						],
-						[
-							"uint64_t",
-							"p_line"
-						]
-					]
-				}
-			]
-		},
-		{
-			"name": "pluginscript",
-			"type": "PLUGINSCRIPT",
-			"version": {
-				"major": 1,
-				"minor": 0
-			},
-			"next": null,
-			"api": [
-				{
-					"name": "godot_pluginscript_register_language",
-					"return_type": "void",
-					"arguments": [
-						[
-							"const godot_pluginscript_language_desc *",
-							"language_desc"
-						]
-					]
-				}
-			]
-		},
-		{
-			"name": "android",
-			"type": "ANDROID",
-			"version": {
-				"major": 1,
-				"minor": 1
-			},
-			"next": null,
-			"api": [
-				{
-					"name": "godot_android_get_env",
-					"return_type": "JNIEnv*",
-					"arguments": []
-				},
-				{
-					"name": "godot_android_get_activity",
-					"return_type": "jobject",
-					"arguments": []
-				},
-				{
-					"name": "godot_android_get_surface",
-					"return_type": "jobject",
-					"arguments": []
-				},
-				{
-					"name": "godot_android_is_activity_resumed",
-					"return_type": "bool",
-					"arguments": []
-				}
-			]
-		},
-		{
-			"name": "videodecoder",
-			"type": "VIDEODECODER",
-			"version": {
-				"major": 0,
-				"minor": 1
-			},
-			"next": null,
-			"api": [
-				{
-					"name": "godot_videodecoder_file_read",
-					"return_type": "godot_int",
-					"arguments": [
-						[
-							"void *",
-							"file_ptr"
-						],
-						[
-							"uint8_t *",
-							"buf"
-						],
-						[
-							"int",
-							"buf_size"
-						]
-					]
-				},
-				{
-					"name": "godot_videodecoder_file_seek",
-					"return_type": "int64_t",
-					"arguments": [
-						[
-							"void *",
-							"file_ptr"
-						],
-						[
-							"int64_t",
-							"pos"
-						],
-						[
-							"int",
-							"whence"
-						]
-					]
-				},
-				{
-					"name": "godot_videodecoder_register_decoder",
-					"return_type": "void",
-					"arguments": [
-						[
-							"const godot_videodecoder_interface_gdnative *",
-							"p_interface"
-						]
-					]
-				}
-			]
-		}
-	]
-}
diff --git a/modules/gdnative/gdnative_builders.py b/modules/gdnative/gdnative_builders.py
deleted file mode 100644
index 6c96e23426..0000000000
--- a/modules/gdnative/gdnative_builders.py
+++ /dev/null
@@ -1,263 +0,0 @@
-"""Functions used to generate source files during build time
-
-All such functions are invoked in a subprocess on Windows to prevent build flakiness.
-
-"""
-import json
-from platform_methods import subprocess_main
-
-
-def _spaced(e):
-    return e if e[-1] == "*" else e + " "
-
-
-def _build_gdnative_api_struct_header(api):
-    out = [
-        "/* THIS FILE IS GENERATED DO NOT EDIT */",
-        "#ifndef GODOT_GDNATIVE_API_STRUCT_H",
-        "#define GODOT_GDNATIVE_API_STRUCT_H",
-        "",
-        "#include <gdnative/gdnative.h>",
-        "#include <android/godot_android.h>",
-        "#include <nativescript/godot_nativescript.h>",
-        "#include <pluginscript/godot_pluginscript.h>",
-        "#include <videodecoder/godot_videodecoder.h>",
-        "",
-        "#ifdef __cplusplus",
-        'extern "C" {',
-        "#endif",
-        "",
-        "enum GDNATIVE_API_TYPES {",
-        "\tGDNATIVE_" + api["core"]["type"] + ",",
-    ]
-
-    for ext in api["extensions"]:
-        out += ["\tGDNATIVE_EXT_" + ext["type"] + ","]
-
-    out += ["};", ""]
-
-    def generate_extension_struct(name, ext, include_version=True):
-        ret_val = []
-        if ext["next"]:
-            ret_val += generate_extension_struct(name, ext["next"])
-
-        ret_val += [
-            "typedef struct godot_gdnative_ext_"
-            + name
-            + ("" if not include_version else ("_{0}_{1}".format(ext["version"]["major"], ext["version"]["minor"])))
-            + "_api_struct {",
-            "\tunsigned int type;",
-            "\tgodot_gdnative_api_version version;",
-            "\tconst godot_gdnative_api_struct *next;",
-        ]
-
-        for funcdef in ext["api"]:
-            args = ", ".join(["%s%s" % (_spaced(t), n) for t, n in funcdef["arguments"]])
-            ret_val.append("\t%s(*%s)(%s);" % (_spaced(funcdef["return_type"]), funcdef["name"], args))
-
-        ret_val += [
-            "} godot_gdnative_ext_"
-            + name
-            + ("" if not include_version else ("_{0}_{1}".format(ext["version"]["major"], ext["version"]["minor"])))
-            + "_api_struct;",
-            "",
-        ]
-
-        return ret_val
-
-    def generate_core_extension_struct(core):
-        ret_val = []
-        if core["next"]:
-            ret_val += generate_core_extension_struct(core["next"])
-
-        ret_val += [
-            "typedef struct godot_gdnative_core_"
-            + "{0}_{1}".format(core["version"]["major"], core["version"]["minor"])
-            + "_api_struct {",
-            "\tunsigned int type;",
-            "\tgodot_gdnative_api_version version;",
-            "\tconst godot_gdnative_api_struct *next;",
-        ]
-
-        for funcdef in core["api"]:
-            args = ", ".join(["%s%s" % (_spaced(t), n) for t, n in funcdef["arguments"]])
-            ret_val.append("\t%s(*%s)(%s);" % (_spaced(funcdef["return_type"]), funcdef["name"], args))
-
-        ret_val += [
-            "} godot_gdnative_core_"
-            + "{0}_{1}".format(core["version"]["major"], core["version"]["minor"])
-            + "_api_struct;",
-            "",
-        ]
-
-        return ret_val
-
-    for ext in api["extensions"]:
-        name = ext["name"]
-        out += generate_extension_struct(name, ext, False)
-
-    if api["core"]["next"]:
-        out += generate_core_extension_struct(api["core"]["next"])
-
-    out += [
-        "typedef struct godot_gdnative_core_api_struct {",
-        "\tunsigned int type;",
-        "\tgodot_gdnative_api_version version;",
-        "\tconst godot_gdnative_api_struct *next;",
-        "\tunsigned int num_extensions;",
-        "\tconst godot_gdnative_api_struct **extensions;",
-    ]
-
-    for funcdef in api["core"]["api"]:
-        args = ", ".join(["%s%s" % (_spaced(t), n) for t, n in funcdef["arguments"]])
-        out.append("\t%s(*%s)(%s);" % (_spaced(funcdef["return_type"]), funcdef["name"], args))
-
-    out += [
-        "} godot_gdnative_core_api_struct;",
-        "",
-        "#ifdef __cplusplus",
-        "}",
-        "#endif",
-        "",
-        "#endif // GODOT_GDNATIVE_API_STRUCT_H",
-        "",
-    ]
-    return "\n".join(out)
-
-
-def _build_gdnative_api_struct_source(api):
-    out = ["/* THIS FILE IS GENERATED DO NOT EDIT */", "", "#include <gdnative_api_struct.gen.h>", ""]
-
-    def get_extension_struct_name(name, ext, include_version=True):
-        return (
-            "godot_gdnative_ext_"
-            + name
-            + ("" if not include_version else ("_{0}_{1}".format(ext["version"]["major"], ext["version"]["minor"])))
-            + "_api_struct"
-        )
-
-    def get_extension_struct_instance_name(name, ext, include_version=True):
-        return (
-            "api_extension_"
-            + name
-            + ("" if not include_version else ("_{0}_{1}".format(ext["version"]["major"], ext["version"]["minor"])))
-            + "_struct"
-        )
-
-    def get_extension_struct_definition(name, ext, include_version=True):
-
-        ret_val = []
-
-        if ext["next"]:
-            ret_val += get_extension_struct_definition(name, ext["next"])
-
-        ret_val += [
-            "extern const "
-            + get_extension_struct_name(name, ext, include_version)
-            + " "
-            + get_extension_struct_instance_name(name, ext, include_version)
-            + " = {",
-            "\tGDNATIVE_EXT_" + ext["type"] + ",",
-            "\t{" + str(ext["version"]["major"]) + ", " + str(ext["version"]["minor"]) + "},",
-            "\t"
-            + (
-                "nullptr"
-                if not ext["next"]
-                else ("(const godot_gdnative_api_struct *)&" + get_extension_struct_instance_name(name, ext["next"]))
-            )
-            + ",",
-        ]
-
-        for funcdef in ext["api"]:
-            ret_val.append("\t%s," % funcdef["name"])
-
-        ret_val += ["};\n"]
-
-        return ret_val
-
-    def get_core_struct_definition(core):
-        ret_val = []
-
-        if core["next"]:
-            ret_val += get_core_struct_definition(core["next"])
-
-        ret_val += [
-            "extern const godot_gdnative_core_"
-            + "{0}_{1}_api_struct api_{0}_{1}".format(core["version"]["major"], core["version"]["minor"])
-            + " = {",
-            "\tGDNATIVE_" + core["type"] + ",",
-            "\t{" + str(core["version"]["major"]) + ", " + str(core["version"]["minor"]) + "},",
-            "\t"
-            + (
-                "nullptr"
-                if not core["next"]
-                else (
-                    "(const godot_gdnative_api_struct *)& api_{0}_{1}".format(
-                        core["next"]["version"]["major"], core["next"]["version"]["minor"]
-                    )
-                )
-            )
-            + ",",
-        ]
-
-        for funcdef in core["api"]:
-            ret_val.append("\t%s," % funcdef["name"])
-
-        ret_val += ["};\n"]
-
-        return ret_val
-
-    for ext in api["extensions"]:
-        name = ext["name"]
-        out += get_extension_struct_definition(name, ext, False)
-
-    out += ["", "const godot_gdnative_api_struct *gdnative_extensions_pointers[] = {"]
-
-    for ext in api["extensions"]:
-        name = ext["name"]
-        out += ["\t(godot_gdnative_api_struct *)&api_extension_" + name + "_struct,"]
-
-    out += ["};\n"]
-
-    if api["core"]["next"]:
-        out += get_core_struct_definition(api["core"]["next"])
-
-    out += [
-        "extern const godot_gdnative_core_api_struct api_struct = {",
-        "\tGDNATIVE_" + api["core"]["type"] + ",",
-        "\t{" + str(api["core"]["version"]["major"]) + ", " + str(api["core"]["version"]["minor"]) + "},",
-        "\t"
-        + (
-            "nullptr, "
-            if not api["core"]["next"]
-            else (
-                "(const godot_gdnative_api_struct *)& api_{0}_{1},".format(
-                    api["core"]["next"]["version"]["major"], api["core"]["next"]["version"]["minor"]
-                )
-            )
-        ),
-        "\t" + str(len(api["extensions"])) + ",",
-        "\tgdnative_extensions_pointers,",
-    ]
-
-    for funcdef in api["core"]["api"]:
-        out.append("\t%s," % funcdef["name"])
-    out.append("};\n")
-
-    return "\n".join(out)
-
-
-def build_gdnative_api_struct(target, source, env):
-
-    with open(source[0], "r") as fd:
-        api = json.load(fd)
-
-    header, source = target
-    with open(header, "w") as fd:
-        fd.write(_build_gdnative_api_struct_header(api))
-    with open(source, "w") as fd:
-        fd.write(_build_gdnative_api_struct_source(api))
-
-
-if __name__ == "__main__":
-    subprocess_main(globals())
diff --git a/modules/gdnative/gdnative_library_editor_plugin.cpp b/modules/gdnative/gdnative_library_editor_plugin.cpp
deleted file mode 100644
index 66c8ab7b37..0000000000
--- a/modules/gdnative/gdnative_library_editor_plugin.cpp
+++ /dev/null
@@ -1,420 +0,0 @@
-/*************************************************************************/
-/*  gdnative_library_editor_plugin.cpp                                   */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifdef TOOLS_ENABLED
-
-#include "gdnative_library_editor_plugin.h"
-
-#include "editor/editor_file_dialog.h"
-#include "editor/editor_node.h"
-#include "editor/editor_scale.h"
-#include "gdnative.h"
-
-void GDNativeLibraryEditor::edit(Ref<GDNativeLibrary> p_library) {
-	library = p_library;
-	Ref<ConfigFile> config = p_library->get_config_file();
-
-	for (KeyValue<String, NativePlatformConfig> &E : platforms) {
-		for (List<String>::Element *it = E.value.entries.front(); it; it = it->next()) {
-			String target = E.key + "." + it->get();
-			TargetConfig ecfg;
-			ecfg.library = config->get_value("entry", target, "");
-			ecfg.dependencies = config->get_value("dependencies", target, Array());
-			entry_configs[target] = ecfg;
-		}
-	}
-
-	_update_tree();
-}
-
-void GDNativeLibraryEditor::_bind_methods() {
-}
-
-void GDNativeLibraryEditor::_update_tree() {
-	tree->clear();
-	TreeItem *root = tree->create_item();
-
-	PopupMenu *filter_list = filter->get_popup();
-	String text = "";
-	for (int i = 0; i < filter_list->get_item_count(); i++) {
-		if (!filter_list->is_item_checked(i)) {
-			continue;
-		}
-		Map<String, NativePlatformConfig>::Element *E = platforms.find(filter_list->get_item_metadata(i));
-		if (!text.is_empty()) {
-			text += ", ";
-		}
-		text += E->get().name;
-
-		TreeItem *platform = tree->create_item(root);
-		platform->set_text(0, E->get().name);
-		platform->set_metadata(0, E->get().library_extension);
-
-		platform->set_custom_bg_color(0, get_theme_color(SNAME("prop_category"), SNAME("Editor")));
-		platform->set_custom_bg_color(1, get_theme_color(SNAME("prop_category"), SNAME("Editor")));
-		platform->set_custom_bg_color(2, get_theme_color(SNAME("prop_category"), SNAME("Editor")));
-		platform->set_selectable(0, false);
-		platform->set_expand_right(0, true);
-
-		for (List<String>::Element *it = E->value().entries.front(); it; it = it->next()) {
-			String target = E->key() + "." + it->get();
-			TreeItem *bit = tree->create_item(platform);
-
-			bit->set_text(0, it->get());
-			bit->set_metadata(0, target);
-			bit->set_selectable(0, false);
-			bit->set_custom_bg_color(0, get_theme_color(SNAME("prop_subsection"), SNAME("Editor")));
-
-			bit->add_button(1, get_theme_icon(SNAME("Folder"), SNAME("EditorIcons")), BUTTON_SELECT_LIBRARY, false, TTR("Select the dynamic library for this entry"));
-			String file = entry_configs[target].library;
-			if (!file.is_empty()) {
-				bit->add_button(1, get_theme_icon(SNAME("Clear"), SNAME("EditorIcons")), BUTTON_CLEAR_LIBRARY, false, TTR("Clear"));
-			}
-			bit->set_text(1, file);
-
-			bit->add_button(2, get_theme_icon(SNAME("Folder"), SNAME("EditorIcons")), BUTTON_SELECT_DEPENDENCES, false, TTR("Select dependencies of the library for this entry"));
-			Array files = entry_configs[target].dependencies;
-			if (files.size()) {
-				bit->add_button(2, get_theme_icon(SNAME("Clear"), SNAME("EditorIcons")), BUTTON_CLEAR_DEPENDENCES, false, TTR("Clear"));
-			}
-			bit->set_text(2, Variant(files));
-
-			bit->add_button(3, get_theme_icon(SNAME("MoveUp"), SNAME("EditorIcons")), BUTTON_MOVE_UP, false, TTR("Move Up"));
-			bit->add_button(3, get_theme_icon(SNAME("MoveDown"), SNAME("EditorIcons")), BUTTON_MOVE_DOWN, false, TTR("Move Down"));
-			bit->add_button(3, get_theme_icon(SNAME("Remove"), SNAME("EditorIcons")), BUTTON_ERASE_ENTRY, false, TTR("Remove current entry"));
-		}
-
-		TreeItem *new_arch = tree->create_item(platform);
-		new_arch->set_text(0, TTR("Double click to create a new entry"));
-		new_arch->set_text_alignment(0, HORIZONTAL_ALIGNMENT_CENTER);
-		new_arch->set_custom_color(0, get_theme_color(SNAME("accent_color"), SNAME("Editor")));
-		new_arch->set_expand_right(0, true);
-		new_arch->set_metadata(1, E->key());
-
-		platform->set_collapsed(collapsed_items.find(E->get().name) != nullptr);
-	}
-	filter->set_text(text);
-}
-
-void GDNativeLibraryEditor::_on_item_button(Object *item, int column, int id) {
-	String target = Object::cast_to<TreeItem>(item)->get_metadata(0);
-	String platform = target.substr(0, target.find("."));
-	String entry = target.substr(platform.length() + 1, target.length());
-	String section = (id == BUTTON_SELECT_DEPENDENCES || id == BUTTON_CLEAR_DEPENDENCES) ? "dependencies" : "entry";
-
-	if (id == BUTTON_SELECT_LIBRARY || id == BUTTON_SELECT_DEPENDENCES) {
-		TreeItem *treeItem = Object::cast_to<TreeItem>(item)->get_parent();
-		EditorFileDialog::FileMode mode = EditorFileDialog::FILE_MODE_OPEN_FILE;
-		if (id == BUTTON_SELECT_DEPENDENCES) {
-			mode = EditorFileDialog::FILE_MODE_OPEN_FILES;
-		} else if (treeItem->get_text(0) == "iOS" || treeItem->get_text(0) == "macOS") {
-			mode = EditorFileDialog::FILE_MODE_OPEN_ANY;
-		}
-
-		file_dialog->set_meta("target", target);
-		file_dialog->set_meta("section", section);
-		file_dialog->clear_filters();
-
-		String filter_string = treeItem->get_metadata(0);
-		Vector<String> filters = filter_string.split(",", false, 0);
-		for (int i = 0; i < filters.size(); i++) {
-			file_dialog->add_filter(filters[i]);
-		}
-
-		file_dialog->set_file_mode(mode);
-		file_dialog->popup_file_dialog();
-
-	} else if (id == BUTTON_CLEAR_LIBRARY) {
-		_set_target_value(section, target, "");
-	} else if (id == BUTTON_CLEAR_DEPENDENCES) {
-		_set_target_value(section, target, Array());
-	} else if (id == BUTTON_ERASE_ENTRY) {
-		_erase_entry(platform, entry);
-	} else if (id == BUTTON_MOVE_UP || id == BUTTON_MOVE_DOWN) {
-		_move_entry(platform, entry, id);
-	}
-}
-
-void GDNativeLibraryEditor::_on_library_selected(const String &file) {
-	_set_target_value(file_dialog->get_meta("section"), file_dialog->get_meta("target"), file);
-}
-
-void GDNativeLibraryEditor::_on_dependencies_selected(const PackedStringArray &files) {
-	_set_target_value(file_dialog->get_meta("section"), file_dialog->get_meta("target"), files);
-}
-
-void GDNativeLibraryEditor::_on_filter_selected(int index) {
-	PopupMenu *filter_list = filter->get_popup();
-	filter_list->set_item_checked(index, !filter_list->is_item_checked(index));
-	_update_tree();
-}
-
-void GDNativeLibraryEditor::_on_item_collapsed(Object *p_item) {
-	TreeItem *item = Object::cast_to<TreeItem>(p_item);
-	String name = item->get_text(0);
-
-	if (item->is_collapsed()) {
-		collapsed_items.insert(name);
-	} else if (Set<String>::Element *e = collapsed_items.find(name)) {
-		collapsed_items.erase(e);
-	}
-}
-
-void GDNativeLibraryEditor::_on_item_activated() {
-	TreeItem *item = tree->get_selected();
-	if (item && tree->get_selected_column() == 0 && item->get_metadata(0).get_type() == Variant::NIL) {
-		new_architecture_dialog->set_meta("platform", item->get_metadata(1));
-		new_architecture_dialog->popup_centered();
-	}
-}
-
-void GDNativeLibraryEditor::_on_create_new_entry() {
-	String platform = new_architecture_dialog->get_meta("platform");
-	String entry = new_architecture_input->get_text().strip_edges();
-	if (!entry.is_empty()) {
-		platforms[platform].entries.push_back(entry);
-		_update_tree();
-	}
-}
-
-void GDNativeLibraryEditor::_set_target_value(const String &section, const String &target, Variant file) {
-	if (section == "entry") {
-		entry_configs[target].library = file;
-	} else if (section == "dependencies") {
-		entry_configs[target].dependencies = file;
-	}
-	_translate_to_config_file();
-	_update_tree();
-}
-
-void GDNativeLibraryEditor::_erase_entry(const String &platform, const String &entry) {
-	if (platforms.has(platform)) {
-		if (List<String>::Element *E = platforms[platform].entries.find(entry)) {
-			String target = platform + "." + entry;
-
-			platforms[platform].entries.erase(E);
-			_set_target_value("entry", target, "");
-			_set_target_value("dependencies", target, Array());
-			_translate_to_config_file();
-			_update_tree();
-		}
-	}
-}
-
-void GDNativeLibraryEditor::_move_entry(const String &platform, const String &entry, int dir) {
-	if (List<String>::Element *E = platforms[platform].entries.find(entry)) {
-		if (E->prev() && dir == BUTTON_MOVE_UP) {
-			platforms[platform].entries.insert_before(E->prev(), E->get());
-			platforms[platform].entries.erase(E);
-		} else if (E->next() && dir == BUTTON_MOVE_DOWN) {
-			platforms[platform].entries.insert_after(E->next(), E->get());
-			platforms[platform].entries.erase(E);
-		}
-		_translate_to_config_file();
-		_update_tree();
-	}
-}
-
-void GDNativeLibraryEditor::_translate_to_config_file() {
-	if (!library.is_null()) {
-		Ref<ConfigFile> config = library->get_config_file();
-		config->erase_section("entry");
-		config->erase_section("dependencies");
-
-		for (KeyValue<String, NativePlatformConfig> &E : platforms) {
-			for (List<String>::Element *it = E.value.entries.front(); it; it = it->next()) {
-				String target = E.key + "." + it->get();
-				if (entry_configs[target].library.is_empty() && entry_configs[target].dependencies.is_empty()) {
-					continue;
-				}
-
-				config->set_value("entry", target, entry_configs[target].library);
-				config->set_value("dependencies", target, entry_configs[target].dependencies);
-			}
-		}
-
-		library->notify_property_list_changed();
-	}
-}
-
-GDNativeLibraryEditor::GDNativeLibraryEditor() {
-	{ // Define platforms
-		NativePlatformConfig platform_windows;
-		platform_windows.name = "Windows";
-		platform_windows.entries.push_back("64");
-		platform_windows.entries.push_back("32");
-		platform_windows.library_extension = "*.dll";
-		platforms["Windows"] = platform_windows;
-
-		NativePlatformConfig platform_linux;
-		platform_linux.name = "Linux/X11";
-		platform_linux.entries.push_back("64");
-		platform_linux.entries.push_back("32");
-		platform_linux.library_extension = "*.so";
-		platforms["X11"] = platform_linux;
-
-		NativePlatformConfig platform_osx;
-		platform_osx.name = "macOS";
-		platform_osx.entries.push_back("64");
-		platform_osx.library_extension = "*.framework; Framework, *.dylib; Dynamic Library";
-		platforms["macOS"] = platform_osx;
-
-		NativePlatformConfig platform_haiku;
-		platform_haiku.name = "Haiku";
-		platform_haiku.entries.push_back("64");
-		platform_haiku.entries.push_back("32");
-		platform_haiku.library_extension = "*.so";
-		platforms["Haiku"] = platform_haiku;
-
-		NativePlatformConfig platform_uwp;
-		platform_uwp.name = "UWP";
-		platform_uwp.entries.push_back("arm");
-		platform_uwp.entries.push_back("32");
-		platform_uwp.entries.push_back("64");
-		platform_uwp.library_extension = "*.dll";
-		platforms["UWP"] = platform_uwp;
-
-		NativePlatformConfig platform_android;
-		platform_android.name = "Android";
-		platform_android.entries.push_back("armeabi-v7a");
-		platform_android.entries.push_back("arm64-v8a");
-		platform_android.entries.push_back("x86");
-		platform_android.entries.push_back("x86_64");
-		platform_android.library_extension = "*.so";
-		platforms["Android"] = platform_android;
-
-		NativePlatformConfig platform_html5;
-		platform_html5.name = "HTML5";
-		platform_html5.entries.push_back("wasm32");
-		platform_html5.library_extension = "*.wasm";
-		platforms["HTML5"] = platform_html5;
-
-		NativePlatformConfig platform_ios;
-		platform_ios.name = "iOS";
-		platform_ios.entries.push_back("arm64");
-		platform_ios.entries.push_back("x86_64");
-		// iOS can use both Static and Dynamic libraries.
-		// Frameworks is actually a folder with files.
-		platform_ios.library_extension = "*.framework; Framework, *.xcframework; Binary Framework, *.a; Static Library, *.dylib; Dynamic Library";
-		platforms["iOS"] = platform_ios;
-	}
-
-	VBoxContainer *container = memnew(VBoxContainer);
-	add_child(container);
-	container->set_anchors_and_offsets_preset(PRESET_WIDE);
-
-	HBoxContainer *hbox = memnew(HBoxContainer);
-	container->add_child(hbox);
-	Label *label = memnew(Label);
-	label->set_text(TTR("Platform:"));
-	hbox->add_child(label);
-	filter = memnew(MenuButton);
-	filter->set_h_size_flags(SIZE_EXPAND_FILL);
-	filter->set_text_alignment(HORIZONTAL_ALIGNMENT_LEFT);
-	hbox->add_child(filter);
-	PopupMenu *filter_list = filter->get_popup();
-	filter_list->set_hide_on_checkable_item_selection(false);
-
-	int idx = 0;
-	for (const KeyValue<String, NativePlatformConfig> &E : platforms) {
-		filter_list->add_check_item(E.value.name, idx);
-		filter_list->set_item_metadata(idx, E.key);
-		filter_list->set_item_checked(idx, true);
-		idx += 1;
-	}
-	filter_list->connect("index_pressed", callable_mp(this, &GDNativeLibraryEditor::_on_filter_selected));
-
-	tree = memnew(Tree);
-	container->add_child(tree);
-	tree->set_v_size_flags(SIZE_EXPAND_FILL);
-	tree->set_hide_root(true);
-	tree->set_column_titles_visible(true);
-	tree->set_columns(4);
-	tree->set_column_expand(0, false);
-	tree->set_column_custom_minimum_width(0, int(200 * EDSCALE));
-	tree->set_column_title(0, TTR("Platform"));
-	tree->set_column_title(1, TTR("Dynamic Library"));
-	tree->set_column_title(2, TTR("Dependencies"));
-	tree->set_column_expand(3, false);
-	tree->set_column_custom_minimum_width(3, int(110 * EDSCALE));
-	tree->connect("button_pressed", callable_mp(this, &GDNativeLibraryEditor::_on_item_button));
-	tree->connect("item_collapsed", callable_mp(this, &GDNativeLibraryEditor::_on_item_collapsed));
-	tree->connect("item_activated", callable_mp(this, &GDNativeLibraryEditor::_on_item_activated));
-
-	file_dialog = memnew(EditorFileDialog);
-	file_dialog->set_access(EditorFileDialog::ACCESS_RESOURCES);
-	//file_dialog->set_resizable(true);
-	add_child(file_dialog);
-	file_dialog->connect("file_selected", callable_mp(this, &GDNativeLibraryEditor::_on_library_selected));
-	file_dialog->connect("dir_selected", callable_mp(this, &GDNativeLibraryEditor::_on_library_selected));
-	file_dialog->connect("files_selected", callable_mp(this, &GDNativeLibraryEditor::_on_dependencies_selected));
-
-	new_architecture_dialog = memnew(ConfirmationDialog);
-	add_child(new_architecture_dialog);
-	new_architecture_dialog->set_title(TTR("Add an architecture entry"));
-	new_architecture_input = memnew(LineEdit);
-	new_architecture_dialog->add_child(new_architecture_input);
-	//	new_architecture_dialog->set_custom_minimum_size(Vector2(300, 80) * EDSCALE);
-	new_architecture_input->set_anchors_and_offsets_preset(PRESET_HCENTER_WIDE, PRESET_MODE_MINSIZE, 5 * EDSCALE);
-	new_architecture_dialog->get_ok_button()->connect("pressed", callable_mp(this, &GDNativeLibraryEditor::_on_create_new_entry));
-}
-
-void GDNativeLibraryEditorPlugin::edit(Object *p_node) {
-	Ref<GDNativeLibrary> new_library = Object::cast_to<GDNativeLibrary>(p_node);
-	if (new_library.is_valid()) {
-		library_editor->edit(new_library);
-	}
-}
-
-bool GDNativeLibraryEditorPlugin::handles(Object *p_node) const {
-	return p_node->is_class("GDNativeLibrary");
-}
-
-void GDNativeLibraryEditorPlugin::make_visible(bool p_visible) {
-	if (p_visible) {
-		button->show();
-		EditorNode::get_singleton()->make_bottom_panel_item_visible(library_editor);
-
-	} else {
-		if (library_editor->is_visible_in_tree()) {
-			EditorNode::get_singleton()->hide_bottom_panel();
-		}
-		button->hide();
-	}
-}
-
-GDNativeLibraryEditorPlugin::GDNativeLibraryEditorPlugin() {
-	library_editor = memnew(GDNativeLibraryEditor);
-	library_editor->set_custom_minimum_size(Size2(0, 250 * EDSCALE));
-	button = EditorNode::get_singleton()->add_bottom_panel_item(TTR("GDNativeLibrary"), library_editor);
-	button->hide();
-}
-
-#endif
diff --git a/modules/gdnative/gdnative_library_editor_plugin.h b/modules/gdnative/gdnative_library_editor_plugin.h
deleted file mode 100644
index 797695366c..0000000000
--- a/modules/gdnative/gdnative_library_editor_plugin.h
+++ /dev/null
@@ -1,119 +0,0 @@
-/*************************************************************************/
-/*  gdnative_library_editor_plugin.h                                     */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GDNATIVE_LIBRARY_EDITOR_PLUGIN_H
-#define GDNATIVE_LIBRARY_EDITOR_PLUGIN_H
-
-#ifdef TOOLS_ENABLED
-
-#include "editor/editor_plugin.h"
-#include "gdnative.h"
-#include "scene/gui/control.h"
-#include "scene/gui/menu_button.h"
-#include "scene/gui/tree.h"
-
-class EditorFileDialog;
-
-class GDNativeLibraryEditor : public Control {
-	GDCLASS(GDNativeLibraryEditor, Control);
-
-	struct NativePlatformConfig {
-		String name;
-		String library_extension;
-		List<String> entries;
-	};
-
-	struct TargetConfig {
-		String library;
-		Array dependencies;
-	};
-
-	enum ItemButton {
-		BUTTON_SELECT_LIBRARY,
-		BUTTON_CLEAR_LIBRARY,
-		BUTTON_SELECT_DEPENDENCES,
-		BUTTON_CLEAR_DEPENDENCES,
-		BUTTON_ERASE_ENTRY,
-		BUTTON_MOVE_UP,
-		BUTTON_MOVE_DOWN,
-	};
-
-	Tree *tree;
-	MenuButton *filter;
-	EditorFileDialog *file_dialog;
-	ConfirmationDialog *new_architecture_dialog;
-	LineEdit *new_architecture_input;
-	Set<String> collapsed_items;
-
-	String showing_platform;
-	Ref<GDNativeLibrary> library;
-	Map<String, NativePlatformConfig> platforms;
-	Map<String, TargetConfig> entry_configs;
-
-protected:
-	static void _bind_methods();
-	void _update_tree();
-	void _on_item_button(Object *item, int column, int id);
-	void _on_library_selected(const String &file);
-	void _on_dependencies_selected(const PackedStringArray &files);
-	void _on_filter_selected(int id);
-	void _on_item_collapsed(Object *p_item);
-	void _on_item_activated();
-	void _on_create_new_entry();
-	void _set_target_value(const String &section, const String &target, Variant file);
-	void _erase_entry(const String &platform, const String &entry);
-	void _move_entry(const String &platform, const String &entry, int dir);
-	void _translate_to_config_file();
-
-public:
-	void edit(Ref<GDNativeLibrary> p_library);
-
-	GDNativeLibraryEditor();
-};
-
-class GDNativeLibraryEditorPlugin : public EditorPlugin {
-	GDCLASS(GDNativeLibraryEditorPlugin, EditorPlugin);
-
-	GDNativeLibraryEditor *library_editor = nullptr;
-	Button *button = nullptr;
-
-public:
-	virtual String get_name() const override { return "GDNativeLibrary"; }
-	bool has_main_screen() const override { return false; }
-	virtual void edit(Object *p_node) override;
-	virtual bool handles(Object *p_node) const override;
-	virtual void make_visible(bool p_visible) override;
-
-	GDNativeLibraryEditorPlugin();
-};
-
-#endif // TOOLS_ENABLED
-
-#endif // GDNATIVE_LIBRARY_EDITOR_PLUGIN_H
diff --git a/modules/gdnative/gdnative_library_singleton_editor.cpp b/modules/gdnative/gdnative_library_singleton_editor.cpp
deleted file mode 100644
index ce1f41bdf1..0000000000
--- a/modules/gdnative/gdnative_library_singleton_editor.cpp
+++ /dev/null
@@ -1,213 +0,0 @@
-/*************************************************************************/
-/*  gdnative_library_singleton_editor.cpp                                */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifdef TOOLS_ENABLED
-#include "gdnative_library_singleton_editor.h"
-#include "gdnative.h"
-
-#include "core/config/project_settings.h"
-#include "editor/editor_node.h"
-
-Set<String> GDNativeLibrarySingletonEditor::_find_singletons_recursive(EditorFileSystemDirectory *p_dir) {
-	Set<String> file_paths;
-
-	// check children
-
-	for (int i = 0; i < p_dir->get_file_count(); i++) {
-		String file_name = p_dir->get_file(i);
-		String file_type = p_dir->get_file_type(i);
-
-		if (file_type != "GDNativeLibrary") {
-			continue;
-		}
-
-		Ref<GDNativeLibrary> lib = ResourceLoader::load(p_dir->get_file_path(i));
-		if (lib.is_valid() && lib->is_singleton()) {
-			file_paths.insert(p_dir->get_file_path(i));
-		}
-	}
-
-	// check subdirectories
-	for (int i = 0; i < p_dir->get_subdir_count(); i++) {
-		Set<String> paths = _find_singletons_recursive(p_dir->get_subdir(i));
-
-		for (Set<String>::Element *E = paths.front(); E; E = E->next()) {
-			file_paths.insert(E->get());
-		}
-	}
-
-	return file_paths;
-}
-
-void GDNativeLibrarySingletonEditor::_discover_singletons() {
-	EditorFileSystemDirectory *dir = EditorFileSystem::get_singleton()->get_filesystem();
-
-	Set<String> file_paths = _find_singletons_recursive(dir);
-
-	bool changed = false;
-	Array current_files;
-	if (ProjectSettings::get_singleton()->has_setting("gdnative/singletons")) {
-		current_files = ProjectSettings::get_singleton()->get("gdnative/singletons");
-	}
-	Array files;
-	for (Set<String>::Element *E = file_paths.front(); E; E = E->next()) {
-		if (!current_files.has(E->get())) {
-			changed = true;
-		}
-		files.append(E->get());
-	}
-
-	// Check for removed files
-	if (!changed) {
-		// Removed singleton
-		for (int j = 0; j < current_files.size(); j++) {
-			if (!files.has(current_files[j])) {
-				changed = true;
-				break;
-			}
-		}
-	}
-
-	if (changed) {
-		ProjectSettings::get_singleton()->set("gdnative/singletons", files);
-		_update_libraries(); // So singleton options (i.e. disabled) updates too
-		ProjectSettings::get_singleton()->save();
-	}
-}
-
-void GDNativeLibrarySingletonEditor::_update_libraries() {
-	updating = true;
-	libraries->clear();
-	libraries->create_item(); // root item
-
-	Array singletons;
-	if (ProjectSettings::get_singleton()->has_setting("gdnative/singletons")) {
-		singletons = ProjectSettings::get_singleton()->get("gdnative/singletons");
-	}
-	Array singletons_disabled;
-	if (ProjectSettings::get_singleton()->has_setting("gdnative/singletons_disabled")) {
-		singletons_disabled = ProjectSettings::get_singleton()->get("gdnative/singletons_disabled");
-	}
-
-	Array updated_disabled;
-	for (int i = 0; i < singletons.size(); i++) {
-		bool enabled = true;
-		String path = singletons[i];
-		if (singletons_disabled.has(path)) {
-			enabled = false;
-			updated_disabled.push_back(path);
-		}
-		TreeItem *ti = libraries->create_item(libraries->get_root());
-		ti->set_text(0, path.get_file());
-		ti->set_tooltip(0, path);
-		ti->set_metadata(0, path);
-		ti->set_cell_mode(1, TreeItem::CELL_MODE_RANGE);
-		ti->set_text(1, "Disabled,Enabled");
-		ti->set_range(1, enabled ? 1 : 0);
-		ti->set_custom_color(1, enabled ? Color(0, 1, 0) : Color(1, 0, 0));
-		ti->set_editable(1, true);
-	}
-
-	// The singletons list changed, we must update the settings
-	if (updated_disabled.size() != singletons_disabled.size()) {
-		ProjectSettings::get_singleton()->set("gdnative/singletons_disabled", updated_disabled);
-	}
-
-	updating = false;
-}
-
-void GDNativeLibrarySingletonEditor::_item_edited() {
-	if (updating) {
-		return;
-	}
-
-	TreeItem *item = libraries->get_edited();
-	if (!item) {
-		return;
-	}
-
-	bool enabled = item->get_range(1);
-	String path = item->get_metadata(0);
-
-	Array disabled_paths;
-	Array undo_paths;
-	if (ProjectSettings::get_singleton()->has_setting("gdnative/singletons_disabled")) {
-		disabled_paths = ProjectSettings::get_singleton()->get("gdnative/singletons_disabled");
-		// Duplicate so redo works (not a reference)
-		disabled_paths = disabled_paths.duplicate();
-		// For undo, so we can reset the property.
-		undo_paths = disabled_paths.duplicate();
-	}
-
-	if (enabled) {
-		disabled_paths.erase(path);
-	} else {
-		if (disabled_paths.find(path) == -1) {
-			disabled_paths.push_back(path);
-		}
-	}
-
-	undo_redo->create_action(enabled ? TTR("Enabled GDNative Singleton") : TTR("Disabled GDNative Singleton"));
-	undo_redo->add_do_property(ProjectSettings::get_singleton(), "gdnative/singletons_disabled", disabled_paths);
-	undo_redo->add_do_method(this, "_update_libraries");
-	undo_redo->add_undo_property(ProjectSettings::get_singleton(), "gdnative/singletons_disabled", undo_paths);
-	undo_redo->add_undo_method(this, "_update_libraries");
-	undo_redo->commit_action();
-}
-
-void GDNativeLibrarySingletonEditor::_notification(int p_what) {
-	switch (p_what) {
-		case NOTIFICATION_VISIBILITY_CHANGED: {
-			if (is_visible_in_tree()) {
-				_update_libraries();
-			}
-		} break;
-	}
-}
-
-void GDNativeLibrarySingletonEditor::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("_update_libraries"), &GDNativeLibrarySingletonEditor::_update_libraries);
-}
-
-GDNativeLibrarySingletonEditor::GDNativeLibrarySingletonEditor() {
-	undo_redo = EditorNode::get_singleton()->get_undo_redo();
-	libraries = memnew(Tree);
-	libraries->set_columns(2);
-	libraries->set_column_titles_visible(true);
-	libraries->set_column_title(0, TTR("Library"));
-	libraries->set_column_title(1, TTR("Status"));
-	libraries->set_hide_root(true);
-	add_margin_child(TTR("Libraries: "), libraries, true);
-	updating = false;
-	libraries->connect("item_edited", callable_mp(this, &GDNativeLibrarySingletonEditor::_item_edited));
-	EditorFileSystem::get_singleton()->connect("filesystem_changed", callable_mp(this, &GDNativeLibrarySingletonEditor::_discover_singletons));
-}
-
-#endif // TOOLS_ENABLED
diff --git a/modules/gdnative/gdnative_library_singleton_editor.h b/modules/gdnative/gdnative_library_singleton_editor.h
deleted file mode 100644
index 16155723bc..0000000000
--- a/modules/gdnative/gdnative_library_singleton_editor.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/*************************************************************************/
-/*  gdnative_library_singleton_editor.h                                  */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GD_NATIVE_LIBRARY_EDITOR_H
-#define GD_NATIVE_LIBRARY_EDITOR_H
-
-#ifdef TOOLS_ENABLED
-#include "editor/editor_file_system.h"
-#include "editor/project_settings_editor.h"
-
-class GDNativeLibrarySingletonEditor : public VBoxContainer {
-	GDCLASS(GDNativeLibrarySingletonEditor, VBoxContainer);
-
-private:
-	Tree *libraries;
-	UndoRedo *undo_redo;
-
-	bool updating;
-
-	static Set<String> _find_singletons_recursive(EditorFileSystemDirectory *p_dir);
-
-protected:
-	void _notification(int p_what);
-	static void _bind_methods();
-
-	void _discover_singletons();
-	void _item_edited();
-	void _update_libraries();
-
-public:
-	GDNativeLibrarySingletonEditor();
-};
-
-#endif
-#endif // GD_NATIVE_LIBRARY_EDITOR_H
diff --git a/modules/gdnative/icons/GDNativeLibrary.svg b/modules/gdnative/icons/GDNativeLibrary.svg
deleted file mode 100644
index 0ddfd4e6f2..0000000000
--- a/modules/gdnative/icons/GDNativeLibrary.svg
+++ /dev/null
@@ -1 +0,0 @@
-<svg height="16" viewBox="0 0 16 16" width="16" xmlns="http://www.w3.org/2000/svg"><path d="m7 1-.56445 2.2578a5 5 0 0 0 -.68945.2793l-1.9883-1.1934-1.4141 1.4141 1.1953 1.9941a5 5 0 0 0 -.28516.68555l-2.2539.5625v2l2.2578.56445a5 5 0 0 0 .2793.6875l-1.1934 1.9902 1.4141 1.4141 1.9941-1.1953a5 5 0 0 0 .68555.28516l.5625 2.2539v-5.2695a2 2 0 0 1 -1-1.7305 2 2 0 0 1 1-1.7285v-.27148h1 4.5762a5 5 0 0 0 -.11328-.25195l1.1934-1.9902-1.4141-1.4141-1.9941 1.1953a5 5 0 0 0 -.68555-.28516l-.5625-2.2539h-2zm2 7v1 5 1h5c.55228 0 1-.4477 1-1v-5c0-.5523-.44772-1-1-1v4l-1-1-1 1v-4z" fill="#e0e0e0"/></svg>
diff --git a/modules/gdnative/icons/NativeScript.svg b/modules/gdnative/icons/NativeScript.svg
deleted file mode 100644
index 2224b36b29..0000000000
--- a/modules/gdnative/icons/NativeScript.svg
+++ /dev/null
@@ -1 +0,0 @@
-<svg height="16" viewBox="0 0 16 16" width="16" xmlns="http://www.w3.org/2000/svg"><path d="m7 1-.56445 2.2578a5 5 0 0 0 -.68945.2793l-1.9883-1.1934-1.4141 1.4141 1.1953 1.9941a5 5 0 0 0 -.28516.68555l-2.2539.5625h3v1 1h2v-.95117a2 2 0 0 1 0-.048828 2 2 0 0 1 2-2 2 2 0 0 1 2 2v1h5v-2l-2.2578-.56445a5 5 0 0 0 -.2793-.6875l1.1934-1.9902-1.4141-1.4141-1.9941 1.1953a5 5 0 0 0 -.68555-.28516l-.5625-2.2539h-2zm-6 7v4 4h2a3 3 0 0 0 3-3 3 3 0 0 0 -3-3v-2zm6 0v2h2v-2zm3 2v6h2v-4a1 1 0 0 1 1 1v3h2v-3a3 3 0 0 0 -3-3zm-7 2a1 1 0 0 1 1 1 1 1 0 0 1 -1 1zm4 0v4h2v-4z" fill="#e0e0e0"/></svg>
diff --git a/modules/gdnative/include/android/godot_android.h b/modules/gdnative/include/android/godot_android.h
deleted file mode 100644
index 859a85ae1e..0000000000
--- a/modules/gdnative/include/android/godot_android.h
+++ /dev/null
@@ -1,56 +0,0 @@
-/*************************************************************************/
-/*  godot_android.h                                                      */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_ANDROID_GDN_H
-#define GODOT_ANDROID_GDN_H
-
-#include <gdnative/gdnative.h>
-
-#ifdef __ANDROID__
-#include <jni.h>
-#else
-#define JNIEnv void
-#define jobject void *
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-JNIEnv *GDAPI godot_android_get_env();
-jobject GDAPI godot_android_get_activity();
-jobject GDAPI godot_android_get_surface();
-bool GDAPI godot_android_is_activity_resumed();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* !GODOT_ANDROID_GDN_H */
diff --git a/modules/gdnative/include/gdnative/aabb.h b/modules/gdnative/include/gdnative/aabb.h
deleted file mode 100644
index 67818f61c8..0000000000
--- a/modules/gdnative/include/gdnative/aabb.h
+++ /dev/null
@@ -1,58 +0,0 @@
-/*************************************************************************/
-/*  aabb.h                                                               */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_AABB_H
-#define GODOT_AABB_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <gdnative/math_defs.h>
-
-#define GODOT_AABB_SIZE (sizeof(godot_real_t) * 6)
-
-#ifndef GODOT_CORE_API_GODOT_AABB_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_AABB_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_AABB_SIZE];
-} godot_aabb;
-#endif
-
-#include <gdnative/gdnative.h>
-
-void GDAPI godot_aabb_new(godot_aabb *p_self);
-void GDAPI godot_aabb_new_copy(godot_aabb *r_dest, const godot_aabb *p_src);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // GODOT_AABB_H
diff --git a/modules/gdnative/include/gdnative/array.h b/modules/gdnative/include/gdnative/array.h
deleted file mode 100644
index cee641a7c5..0000000000
--- a/modules/gdnative/include/gdnative/array.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/*************************************************************************/
-/*  array.h                                                              */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_ARRAY_H
-#define GODOT_ARRAY_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdint.h>
-
-#define GODOT_ARRAY_SIZE sizeof(void *)
-
-#ifndef GODOT_CORE_API_GODOT_ARRAY_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_ARRAY_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_ARRAY_SIZE];
-} godot_array;
-#endif
-
-#include <gdnative/gdnative.h>
-#include <gdnative/variant_struct.h>
-
-void GDAPI godot_array_new(godot_array *p_self);
-void GDAPI godot_array_new_copy(godot_array *r_dest, const godot_array *p_src);
-void GDAPI godot_array_destroy(godot_array *p_self);
-godot_variant GDAPI *godot_array_operator_index(godot_array *p_self, godot_int p_index);
-const godot_variant GDAPI *godot_array_operator_index_const(const godot_array *p_self, godot_int p_index);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // GODOT_ARRAY_H
diff --git a/modules/gdnative/include/gdnative/basis.h b/modules/gdnative/include/gdnative/basis.h
deleted file mode 100644
index 50c9aa6408..0000000000
--- a/modules/gdnative/include/gdnative/basis.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/*************************************************************************/
-/*  basis.h                                                              */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_BASIS_H
-#define GODOT_BASIS_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <gdnative/math_defs.h>
-
-#define GODOT_BASIS_SIZE (sizeof(godot_real_t) * 9)
-
-#ifndef GODOT_CORE_API_GODOT_BASIS_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_BASIS_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_BASIS_SIZE];
-} godot_basis;
-#endif
-
-#include <gdnative/gdnative.h>
-
-void GDAPI godot_basis_new(godot_basis *p_self);
-void GDAPI godot_basis_new_copy(godot_basis *r_dest, const godot_basis *p_src);
-godot_vector3 GDAPI *godot_basis_operator_index(godot_basis *p_self, godot_int p_index);
-const godot_vector3 GDAPI *godot_basis_operator_index_const(const godot_basis *p_self, godot_int p_index);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // GODOT_BASIS_H
diff --git a/modules/gdnative/include/gdnative/callable.h b/modules/gdnative/include/gdnative/callable.h
deleted file mode 100644
index db068d2ac7..0000000000
--- a/modules/gdnative/include/gdnative/callable.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/*************************************************************************/
-/*  callable.h                                                           */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_CALLABLE_H
-#define GODOT_CALLABLE_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdint.h>
-
-// Alignment hardcoded in `core/variant/callable.h`.
-#define GODOT_CALLABLE_SIZE (16)
-
-#ifndef GODOT_CORE_API_GODOT_CALLABLE_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_CALLABLE_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_CALLABLE_SIZE];
-} godot_callable;
-#endif
-
-#include <gdnative/gdnative.h>
-
-void GDAPI godot_callable_new(godot_callable *p_self);
-void GDAPI godot_callable_new_copy(godot_callable *r_dest, const godot_callable *p_src);
-void GDAPI godot_callable_destroy(godot_callable *p_self);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/modules/gdnative/include/gdnative/color.h b/modules/gdnative/include/gdnative/color.h
deleted file mode 100644
index 2d64a323f9..0000000000
--- a/modules/gdnative/include/gdnative/color.h
+++ /dev/null
@@ -1,61 +0,0 @@
-/*************************************************************************/
-/*  color.h                                                              */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_COLOR_H
-#define GODOT_COLOR_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <gdnative/math_defs.h>
-
-// Colors should always use 32-bit floats, so don't use real_t here.
-#define GODOT_COLOR_SIZE (sizeof(float) * 4)
-
-#ifndef GODOT_CORE_API_GODOT_COLOR_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_COLOR_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_COLOR_SIZE];
-} godot_color;
-#endif
-
-#include <gdnative/gdnative.h>
-
-void GDAPI godot_color_new(godot_color *p_self);
-void GDAPI godot_color_new_copy(godot_color *r_dest, const godot_color *p_src);
-float GDAPI *godot_color_operator_index(godot_color *p_self, godot_int p_index);
-const float GDAPI *godot_color_operator_index_const(const godot_color *p_self, godot_int p_index);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // GODOT_COLOR_H
diff --git a/modules/gdnative/include/gdnative/dictionary.h b/modules/gdnative/include/gdnative/dictionary.h
deleted file mode 100644
index 4219753f71..0000000000
--- a/modules/gdnative/include/gdnative/dictionary.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/*************************************************************************/
-/*  dictionary.h                                                         */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_DICTIONARY_H
-#define GODOT_DICTIONARY_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdint.h>
-
-#define GODOT_DICTIONARY_SIZE sizeof(void *)
-
-#ifndef GODOT_CORE_API_GODOT_DICTIONARY_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_DICTIONARY_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_DICTIONARY_SIZE];
-} godot_dictionary;
-#endif
-
-#include <gdnative/gdnative.h>
-#include <gdnative/variant_struct.h>
-
-void GDAPI godot_dictionary_new(godot_dictionary *p_self);
-void GDAPI godot_dictionary_new_copy(godot_dictionary *r_dest, const godot_dictionary *p_src);
-void GDAPI godot_dictionary_destroy(godot_dictionary *p_self);
-godot_variant GDAPI *godot_dictionary_operator_index(godot_dictionary *p_self, const godot_variant *p_key);
-const godot_variant GDAPI *godot_dictionary_operator_index_const(const godot_dictionary *p_self, const godot_variant *p_key);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // GODOT_DICTIONARY_H
diff --git a/modules/gdnative/include/gdnative/gdnative.h b/modules/gdnative/include/gdnative/gdnative.h
deleted file mode 100644
index b46a00c185..0000000000
--- a/modules/gdnative/include/gdnative/gdnative.h
+++ /dev/null
@@ -1,287 +0,0 @@
-/*************************************************************************/
-/*  gdnative.h                                                           */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_GDNATIVE_H
-#define GODOT_GDNATIVE_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#if defined(_WIN32) || defined(__ANDROID__)
-#define GDCALLINGCONV
-#define GDAPI GDCALLINGCONV
-#elif defined(__APPLE__)
-#include "TargetConditionals.h"
-#if TARGET_OS_IPHONE
-#define GDCALLINGCONV __attribute__((visibility("default")))
-#define GDAPI GDCALLINGCONV
-#elif TARGET_OS_MAC
-#define GDCALLINGCONV __attribute__((sysv_abi))
-#define GDAPI GDCALLINGCONV
-#endif
-#else // !_WIN32 && !__APPLE__
-#define GDCALLINGCONV __attribute__((sysv_abi))
-#define GDAPI GDCALLINGCONV
-#endif
-
-// This is for libraries *using* the header, NOT GODOT EXPOSING STUFF!!
-#ifdef __GNUC__
-#define GDN_EXPORT __attribute__((visibility("default")))
-#elif defined(_WIN32)
-#define GDN_EXPORT __declspec(dllexport)
-#else
-#define GDN_EXPORT
-#endif
-
-#include <stdbool.h>
-#include <stdint.h>
-
-////// Error
-
-typedef enum {
-	GODOT_OK, // (0)
-	GODOT_FAILED, ///< Generic fail error
-	GODOT_ERR_UNAVAILABLE, ///< What is requested is unsupported/unavailable
-	GODOT_ERR_UNCONFIGURED, ///< The object being used hasn't been properly set up yet
-	GODOT_ERR_UNAUTHORIZED, ///< Missing credentials for requested resource
-	GODOT_ERR_PARAMETER_RANGE_ERROR, ///< Parameter given out of range (5)
-	GODOT_ERR_OUT_OF_MEMORY, ///< Out of memory
-	GODOT_ERR_FILE_NOT_FOUND,
-	GODOT_ERR_FILE_BAD_DRIVE,
-	GODOT_ERR_FILE_BAD_PATH,
-	GODOT_ERR_FILE_NO_PERMISSION, // (10)
-	GODOT_ERR_FILE_ALREADY_IN_USE,
-	GODOT_ERR_FILE_CANT_OPEN,
-	GODOT_ERR_FILE_CANT_WRITE,
-	GODOT_ERR_FILE_CANT_READ,
-	GODOT_ERR_FILE_UNRECOGNIZED, // (15)
-	GODOT_ERR_FILE_CORRUPT,
-	GODOT_ERR_FILE_MISSING_DEPENDENCIES,
-	GODOT_ERR_FILE_EOF,
-	GODOT_ERR_CANT_OPEN, ///< Can't open a resource/socket/file
-	GODOT_ERR_CANT_CREATE, // (20)
-	GODOT_ERR_QUERY_FAILED,
-	GODOT_ERR_ALREADY_IN_USE,
-	GODOT_ERR_LOCKED, ///< resource is locked
-	GODOT_ERR_TIMEOUT,
-	GODOT_ERR_CANT_CONNECT, // (25)
-	GODOT_ERR_CANT_RESOLVE,
-	GODOT_ERR_CONNECTION_ERROR,
-	GODOT_ERR_CANT_ACQUIRE_RESOURCE,
-	GODOT_ERR_CANT_FORK,
-	GODOT_ERR_INVALID_DATA, ///< Data passed is invalid (30)
-	GODOT_ERR_INVALID_PARAMETER, ///< Parameter passed is invalid
-	GODOT_ERR_ALREADY_EXISTS, ///< When adding, item already exists
-	GODOT_ERR_DOES_NOT_EXIST, ///< When retrieving/erasing, it item does not exist
-	GODOT_ERR_DATABASE_CANT_READ, ///< database is full
-	GODOT_ERR_DATABASE_CANT_WRITE, ///< database is full (35)
-	GODOT_ERR_COMPILATION_FAILED,
-	GODOT_ERR_METHOD_NOT_FOUND,
-	GODOT_ERR_LINK_FAILED,
-	GODOT_ERR_SCRIPT_FAILED,
-	GODOT_ERR_CYCLIC_LINK, // (40)
-	GODOT_ERR_INVALID_DECLARATION,
-	GODOT_ERR_DUPLICATE_SYMBOL,
-	GODOT_ERR_PARSE_ERROR,
-	GODOT_ERR_BUSY,
-	GODOT_ERR_SKIP, // (45)
-	GODOT_ERR_HELP, ///< user requested help!!
-	GODOT_ERR_BUG, ///< a bug in the software certainly happened, due to a double check failing or unexpected behavior.
-	GODOT_ERR_PRINTER_ON_FIRE, /// the parallel port printer is engulfed in flames
-} godot_error;
-
-/////// Object (forward declared)
-typedef void godot_object;
-
-/////// String
-
-#include <gdnative/string.h>
-
-/////// String name
-
-#include <gdnative/string_name.h>
-
-////// Vector2 & Vector2i
-
-#include <gdnative/vector2.h>
-
-////// Rect2 & Rect2i
-
-#include <gdnative/rect2.h>
-
-////// Vector3 & Vector3i
-
-#include <gdnative/vector3.h>
-
-////// Transform2D
-
-#include <gdnative/transform2d.h>
-
-/////// Plane
-
-#include <gdnative/plane.h>
-
-/////// Quaternion
-
-#include <gdnative/quaternion.h>
-
-/////// AABB
-
-#include <gdnative/aabb.h>
-
-/////// Basis
-
-#include <gdnative/basis.h>
-
-/////// Transform3D
-
-#include <gdnative/transform_3d.h>
-
-/////// Color
-
-#include <gdnative/color.h>
-
-/////// NodePath
-
-#include <gdnative/node_path.h>
-
-/////// RID
-
-#include <gdnative/rid.h>
-
-/////// Callable & Signal
-
-#include <gdnative/callable.h>
-
-/////// Dictionary
-
-#include <gdnative/dictionary.h>
-
-/////// Array
-
-#include <gdnative/array.h>
-
-// single API file for Packed*Array
-#include <gdnative/packed_arrays.h>
-
-void GDAPI godot_object_destroy(godot_object *p_o);
-
-////// Variant
-
-#include <gdnative/variant.h>
-
-////// Singleton API
-
-godot_object GDAPI *godot_global_get_singleton(char *p_name); // Result shouldn't be freed.
-
-////// MethodBind API
-
-typedef struct {
-	uint8_t _dont_touch_that[1]; // TODO
-} godot_method_bind;
-
-godot_method_bind GDAPI *godot_method_bind_get_method(const char *p_classname, const char *p_methodname);
-void GDAPI godot_method_bind_ptrcall(godot_method_bind *p_method_bind, godot_object *p_instance, const void **p_args, void *p_ret);
-godot_variant GDAPI godot_method_bind_call(godot_method_bind *p_method_bind, godot_object *p_instance, const godot_variant **p_args, const int p_arg_count, godot_variant_call_error *p_call_error);
-////// Script API
-
-typedef struct godot_gdnative_api_version {
-	unsigned int major;
-	unsigned int minor;
-} godot_gdnative_api_version;
-
-typedef struct godot_gdnative_api_struct godot_gdnative_api_struct;
-
-struct godot_gdnative_api_struct {
-	unsigned int type;
-	godot_gdnative_api_version version;
-	const godot_gdnative_api_struct *next;
-};
-
-#define GDNATIVE_VERSION_COMPATIBLE(want, have) (want.major == have.major && want.minor <= have.minor)
-
-typedef struct {
-	godot_bool in_editor;
-	uint64_t core_api_hash;
-	uint64_t editor_api_hash;
-	uint64_t no_api_hash;
-	void (*report_version_mismatch)(const godot_object *p_library, const char *p_what, godot_gdnative_api_version p_want, godot_gdnative_api_version p_have);
-	void (*report_loading_error)(const godot_object *p_library, const char *p_what);
-	godot_object *gd_native_library; // pointer to GDNativeLibrary that is being initialized
-	const struct godot_gdnative_core_api_struct *api_struct;
-	const godot_string *active_library_path;
-} godot_gdnative_init_options;
-
-typedef struct {
-	godot_bool in_editor;
-} godot_gdnative_terminate_options;
-
-// Calling convention?
-typedef godot_object *(*godot_class_constructor)();
-
-godot_class_constructor GDAPI godot_get_class_constructor(const char *p_classname);
-
-godot_dictionary GDAPI godot_get_global_constants();
-
-////// GDNative procedure types
-typedef void (*godot_gdnative_init_fn)(godot_gdnative_init_options *);
-typedef void (*godot_gdnative_terminate_fn)(godot_gdnative_terminate_options *);
-typedef godot_variant (*godot_gdnative_procedure_fn)(godot_array *);
-
-////// System Functions
-
-typedef godot_variant (*native_call_cb)(void *, godot_array *);
-void GDAPI godot_register_native_call_type(const char *p_call_type, native_call_cb p_callback);
-
-//using these will help Godot track how much memory is in use in debug mode
-void GDAPI *godot_alloc(int p_bytes);
-void GDAPI *godot_realloc(void *p_ptr, int p_bytes);
-void GDAPI godot_free(void *p_ptr);
-
-// Helper print functions.
-void GDAPI godot_print_error(const char *p_description, const char *p_function, const char *p_file, int p_line);
-void GDAPI godot_print_warning(const char *p_description, const char *p_function, const char *p_file, int p_line);
-void GDAPI godot_print_script_error(const char *p_description, const char *p_function, const char *p_file, int p_line);
-
-//tags used for safe dynamic casting
-void GDAPI *godot_get_class_tag(const godot_string_name *p_class);
-godot_object GDAPI *godot_object_cast_to(const godot_object *p_object, void *p_class_tag);
-
-// equivalent of GDScript's instance_from_id
-godot_object GDAPI *godot_instance_from_id(uint64_t p_instance_id);
-
-uint64_t GDAPI godot_object_get_instance_id(const godot_object *p_object);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // GODOT_GDNATIVE_H
diff --git a/modules/gdnative/include/gdnative/math_defs.h b/modules/gdnative/include/gdnative/math_defs.h
deleted file mode 100644
index dee027527e..0000000000
--- a/modules/gdnative/include/gdnative/math_defs.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/*************************************************************************/
-/*  math_defs.h                                                          */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_GDNATIVE_MATH_DEFS_H
-#define GODOT_GDNATIVE_MATH_DEFS_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdbool.h>
-#include <stdint.h>
-
-////// bool
-
-typedef bool godot_bool;
-
-#define GODOT_TRUE 1
-#define GODOT_FALSE 0
-
-/////// int
-
-typedef int64_t godot_int;
-
-/////// float
-
-typedef double godot_float;
-
-#ifdef REAL_T_IS_DOUBLE
-typedef double godot_real_t;
-#else
-typedef float godot_real_t;
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // GODOT_C_H
diff --git a/modules/gdnative/include/gdnative/node_path.h b/modules/gdnative/include/gdnative/node_path.h
deleted file mode 100644
index 46b693dcf6..0000000000
--- a/modules/gdnative/include/gdnative/node_path.h
+++ /dev/null
@@ -1,59 +0,0 @@
-/*************************************************************************/
-/*  node_path.h                                                          */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_NODE_PATH_H
-#define GODOT_NODE_PATH_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdint.h>
-
-#define GODOT_NODE_PATH_SIZE sizeof(void *)
-
-#ifndef GODOT_CORE_API_GODOT_NODE_PATH_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_NODE_PATH_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_NODE_PATH_SIZE];
-} godot_node_path;
-#endif
-
-#include <gdnative/gdnative.h>
-
-void GDAPI godot_node_path_new(godot_node_path *p_self);
-void GDAPI godot_node_path_new_copy(godot_node_path *r_dest, const godot_node_path *p_src);
-void GDAPI godot_node_path_destroy(godot_node_path *p_self);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // GODOT_NODE_PATH_H
diff --git a/modules/gdnative/include/gdnative/packed_arrays.h b/modules/gdnative/include/gdnative/packed_arrays.h
deleted file mode 100644
index f4935ee0dc..0000000000
--- a/modules/gdnative/include/gdnative/packed_arrays.h
+++ /dev/null
@@ -1,255 +0,0 @@
-/*************************************************************************/
-/*  packed_arrays.h                                                      */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_PACKED_ARRAYS_H
-#define GODOT_PACKED_ARRAYS_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdint.h>
-
-/////// PackedByteArray
-
-#define GODOT_PACKED_BYTE_ARRAY_SIZE (2 * sizeof(void *))
-
-#ifndef GODOT_CORE_API_GODOT_PACKED_BYTE_ARRAY_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_PACKED_BYTE_ARRAY_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_PACKED_BYTE_ARRAY_SIZE];
-} godot_packed_byte_array;
-#endif
-
-/////// PackedInt32Array
-
-#define GODOT_PACKED_INT32_ARRAY_SIZE (2 * sizeof(void *))
-
-#ifndef GODOT_CORE_API_GODOT_PACKED_INT32_ARRAY_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_PACKED_INT32_ARRAY_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_PACKED_INT32_ARRAY_SIZE];
-} godot_packed_int32_array;
-#endif
-
-/////// PackedInt64Array
-
-#define GODOT_PACKED_INT64_ARRAY_SIZE (2 * sizeof(void *))
-
-#ifndef GODOT_CORE_API_GODOT_PACKED_INT64_ARRAY_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_PACKED_INT64_ARRAY_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_PACKED_INT64_ARRAY_SIZE];
-} godot_packed_int64_array;
-#endif
-
-/////// PackedFloat32Array
-
-#define GODOT_PACKED_FLOAT32_ARRAY_SIZE (2 * sizeof(void *))
-
-#ifndef GODOT_CORE_API_GODOT_PACKED_FLOAT32_ARRAY_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_PACKED_FLOAT32_ARRAY_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_PACKED_FLOAT32_ARRAY_SIZE];
-} godot_packed_float32_array;
-#endif
-
-/////// PackedFloat64Array
-
-#define GODOT_PACKED_FLOAT64_ARRAY_SIZE (2 * sizeof(void *))
-
-#ifndef GODOT_CORE_API_GODOT_PACKED_FLOAT64_ARRAY_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_PACKED_FLOAT64_ARRAY_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_PACKED_FLOAT64_ARRAY_SIZE];
-} godot_packed_float64_array;
-#endif
-
-/////// PackedStringArray
-
-#define GODOT_PACKED_STRING_ARRAY_SIZE (2 * sizeof(void *))
-
-#ifndef GODOT_CORE_API_GODOT_PACKED_STRING_ARRAY_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_PACKED_STRING_ARRAY_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_PACKED_STRING_ARRAY_SIZE];
-} godot_packed_string_array;
-#endif
-
-/////// PackedVector2Array
-
-#define GODOT_PACKED_VECTOR2_ARRAY_SIZE (2 * sizeof(void *))
-
-#ifndef GODOT_CORE_API_GODOT_PACKED_VECTOR2_ARRAY_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_PACKED_VECTOR2_ARRAY_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_PACKED_VECTOR2_ARRAY_SIZE];
-} godot_packed_vector2_array;
-#endif
-
-/////// PackedVector2iArray
-
-#define GODOT_PACKED_VECTOR2I_ARRAY_SIZE (2 * sizeof(void *))
-
-#ifndef GODOT_CORE_API_GODOT_PACKED_VECTOR2I_ARRAY_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_PACKED_VECTOR2I_ARRAY_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_PACKED_VECTOR2I_ARRAY_SIZE];
-} godot_packed_vector2i_array;
-#endif
-
-/////// PackedVector3Array
-
-#define GODOT_PACKED_VECTOR3_ARRAY_SIZE (2 * sizeof(void *))
-
-#ifndef GODOT_CORE_API_GODOT_PACKED_VECTOR3_ARRAY_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_PACKED_VECTOR3_ARRAY_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_PACKED_VECTOR3_ARRAY_SIZE];
-} godot_packed_vector3_array;
-#endif
-
-/////// PackedVector3iArray
-
-#define GODOT_PACKED_VECTOR3I_ARRAY_SIZE (2 * sizeof(void *))
-
-#ifndef GODOT_CORE_API_GODOT_PACKED_VECTOR3I_ARRAY_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_PACKED_VECTOR3I_ARRAY_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_PACKED_VECTOR3I_ARRAY_SIZE];
-} godot_packed_vector3i_array;
-#endif
-
-/////// PackedColorArray
-
-#define GODOT_PACKED_COLOR_ARRAY_SIZE (2 * sizeof(void *))
-
-#ifndef GODOT_CORE_API_GODOT_PACKED_COLOR_ARRAY_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_PACKED_COLOR_ARRAY_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_PACKED_COLOR_ARRAY_SIZE];
-} godot_packed_color_array;
-#endif
-
-#include <gdnative/gdnative.h>
-
-// Byte.
-
-void GDAPI godot_packed_byte_array_new(godot_packed_byte_array *p_self);
-void GDAPI godot_packed_byte_array_new_copy(godot_packed_byte_array *r_dest, const godot_packed_byte_array *p_src);
-void GDAPI godot_packed_byte_array_destroy(godot_packed_byte_array *p_self);
-uint8_t GDAPI *godot_packed_byte_array_operator_index(godot_packed_byte_array *p_self, godot_int p_index);
-const uint8_t GDAPI *godot_packed_byte_array_operator_index_const(const godot_packed_byte_array *p_self, godot_int p_index);
-
-// Int32.
-
-void GDAPI godot_packed_int32_array_new(godot_packed_int32_array *p_self);
-void GDAPI godot_packed_int32_array_new_copy(godot_packed_int32_array *r_dest, const godot_packed_int32_array *p_src);
-void GDAPI godot_packed_int32_array_destroy(godot_packed_int32_array *p_self);
-int32_t GDAPI *godot_packed_int32_array_operator_index(godot_packed_int32_array *p_self, godot_int p_index);
-const int32_t GDAPI *godot_packed_int32_array_operator_index_const(const godot_packed_int32_array *p_self, godot_int p_index);
-
-// Int64.
-
-void GDAPI godot_packed_int64_array_new(godot_packed_int64_array *p_self);
-void GDAPI godot_packed_int64_array_new_copy(godot_packed_int64_array *r_dest, const godot_packed_int64_array *p_src);
-void GDAPI godot_packed_int64_array_destroy(godot_packed_int64_array *p_self);
-int64_t GDAPI *godot_packed_int64_array_operator_index(godot_packed_int64_array *p_self, godot_int p_index);
-const int64_t GDAPI *godot_packed_int64_array_operator_index_const(const godot_packed_int64_array *p_self, godot_int p_index);
-
-// Float32.
-
-void GDAPI godot_packed_float32_array_new(godot_packed_float32_array *p_self);
-void GDAPI godot_packed_float32_array_new_copy(godot_packed_float32_array *r_dest, const godot_packed_float32_array *p_src);
-void GDAPI godot_packed_float32_array_destroy(godot_packed_float32_array *p_self);
-float GDAPI *godot_packed_float32_array_operator_index(godot_packed_float32_array *p_self, godot_int p_index);
-const float GDAPI *godot_packed_float32_array_operator_index_const(const godot_packed_float32_array *p_self, godot_int p_index);
-
-// Float64.
-
-void GDAPI godot_packed_float64_array_new(godot_packed_float64_array *p_self);
-void GDAPI godot_packed_float64_array_new_copy(godot_packed_float64_array *r_dest, const godot_packed_float64_array *p_src);
-void GDAPI godot_packed_float64_array_destroy(godot_packed_float64_array *p_self);
-double GDAPI *godot_packed_float64_array_operator_index(godot_packed_float64_array *p_self, godot_int p_index);
-const double GDAPI *godot_packed_float64_array_operator_index_const(const godot_packed_float64_array *p_self, godot_int p_index);
-
-// String.
-
-void GDAPI godot_packed_string_array_new(godot_packed_string_array *p_self);
-void GDAPI godot_packed_string_array_new_copy(godot_packed_string_array *r_dest, const godot_packed_string_array *p_src);
-void GDAPI godot_packed_string_array_destroy(godot_packed_string_array *p_self);
-godot_string GDAPI *godot_packed_string_array_operator_index(godot_packed_string_array *p_self, godot_int p_index);
-const godot_string GDAPI *godot_packed_string_array_operator_index_const(const godot_packed_string_array *p_self, godot_int p_index);
-
-// Vector2.
-
-void GDAPI godot_packed_vector2_array_new(godot_packed_vector2_array *p_self);
-void GDAPI godot_packed_vector2_array_new_copy(godot_packed_vector2_array *r_dest, const godot_packed_vector2_array *p_src);
-void GDAPI godot_packed_vector2_array_destroy(godot_packed_vector2_array *p_self);
-godot_vector2 GDAPI *godot_packed_vector2_array_operator_index(godot_packed_vector2_array *p_self, godot_int p_index);
-const godot_vector2 GDAPI *godot_packed_vector2_array_operator_index_const(const godot_packed_vector2_array *p_self, godot_int p_index);
-
-// Vector2i.
-
-void GDAPI godot_packed_vector2i_array_new(godot_packed_vector2i_array *p_self);
-void GDAPI godot_packed_vector2i_array_new_copy(godot_packed_vector2i_array *r_dest, const godot_packed_vector2i_array *p_src);
-void GDAPI godot_packed_vector2i_array_destroy(godot_packed_vector2i_array *p_self);
-godot_vector2i GDAPI *godot_packed_vector2i_array_operator_index(godot_packed_vector2i_array *p_self, godot_int p_index);
-const godot_vector2i GDAPI *godot_packed_vector2i_array_operator_index_const(const godot_packed_vector2i_array *p_self, godot_int p_index);
-
-// Vector3.
-
-void GDAPI godot_packed_vector3_array_new(godot_packed_vector3_array *p_self);
-void GDAPI godot_packed_vector3_array_new_copy(godot_packed_vector3_array *r_dest, const godot_packed_vector3_array *p_src);
-void GDAPI godot_packed_vector3_array_destroy(godot_packed_vector3_array *p_self);
-godot_vector3 GDAPI *godot_packed_vector3_array_operator_index(godot_packed_vector3_array *p_self, godot_int p_index);
-const godot_vector3 GDAPI *godot_packed_vector3_array_operator_index_const(const godot_packed_vector3_array *p_self, godot_int p_index);
-
-// Vector3i.
-
-void GDAPI godot_packed_vector3i_array_new(godot_packed_vector3i_array *p_self);
-void GDAPI godot_packed_vector3i_array_new_copy(godot_packed_vector3i_array *r_dest, const godot_packed_vector3i_array *p_src);
-void GDAPI godot_packed_vector3i_array_destroy(godot_packed_vector3i_array *p_self);
-godot_vector3i GDAPI *godot_packed_vector3i_array_operator_index(godot_packed_vector3i_array *p_self, godot_int p_index);
-const godot_vector3i GDAPI *godot_packed_vector3i_array_operator_index_const(const godot_packed_vector3i_array *p_self, godot_int p_index);
-
-// Color.
-
-void GDAPI godot_packed_color_array_new(godot_packed_color_array *p_self);
-void GDAPI godot_packed_color_array_new_copy(godot_packed_color_array *r_dest, const godot_packed_color_array *p_src);
-void GDAPI godot_packed_color_array_destroy(godot_packed_color_array *p_self);
-godot_color GDAPI *godot_packed_color_array_operator_index(godot_packed_color_array *p_self, godot_int p_index);
-const godot_color GDAPI *godot_packed_color_array_operator_index_const(const godot_packed_color_array *p_self, godot_int p_index);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // GODOT_PACKED_ARRAYS_H
diff --git a/modules/gdnative/include/gdnative/plane.h b/modules/gdnative/include/gdnative/plane.h
deleted file mode 100644
index e8f4f13b99..0000000000
--- a/modules/gdnative/include/gdnative/plane.h
+++ /dev/null
@@ -1,58 +0,0 @@
-/*************************************************************************/
-/*  plane.h                                                              */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_PLANE_H
-#define GODOT_PLANE_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <gdnative/math_defs.h>
-
-#define GODOT_PLANE_SIZE (sizeof(godot_real_t) * 4)
-
-#ifndef GODOT_CORE_API_GODOT_PLANE_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_PLANE_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_PLANE_SIZE];
-} godot_plane;
-#endif
-
-#include <gdnative/gdnative.h>
-
-void GDAPI godot_plane_new(godot_plane *p_self);
-void GDAPI godot_plane_new_copy(godot_plane *r_dest, const godot_plane *p_src);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // GODOT_PLANE_H
diff --git a/modules/gdnative/include/gdnative/quaternion.h b/modules/gdnative/include/gdnative/quaternion.h
deleted file mode 100644
index 80e99c3a7c..0000000000
--- a/modules/gdnative/include/gdnative/quaternion.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/*************************************************************************/
-/*  quaternion.h                                                         */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_QUATERNION_H
-#define GODOT_QUATERNION_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <gdnative/math_defs.h>
-
-#define GODOT_QUATERNION_SIZE (sizeof(godot_real_t) * 4)
-
-#ifndef GODOT_CORE_API_GODOT_QUATERNION_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_QUATERNION_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_QUATERNION_SIZE];
-} godot_quaternion;
-#endif
-
-#include <gdnative/gdnative.h>
-
-void GDAPI godot_quaternion_new(godot_quaternion *p_self);
-void GDAPI godot_quaternion_new_copy(godot_quaternion *r_dest, const godot_quaternion *p_src);
-godot_real_t GDAPI *godot_quaternion_operator_index(godot_quaternion *p_self, godot_int p_index);
-const godot_real_t GDAPI *godot_quaternion_operator_index_const(const godot_quaternion *p_self, godot_int p_index);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // GODOT_QUATERNION_H
diff --git a/modules/gdnative/include/gdnative/rect2.h b/modules/gdnative/include/gdnative/rect2.h
deleted file mode 100644
index a901537fc4..0000000000
--- a/modules/gdnative/include/gdnative/rect2.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*************************************************************************/
-/*  rect2.h                                                              */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_RECT2_H
-#define GODOT_RECT2_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <gdnative/math_defs.h>
-
-#define GODOT_RECT2_SIZE (sizeof(godot_real_t) * 4)
-
-#ifndef GODOT_CORE_API_GODOT_RECT2_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_RECT2_TYPE_DEFINED
-typedef struct godot_rect2 {
-	uint8_t _dont_touch_that[GODOT_RECT2_SIZE];
-} godot_rect2;
-#endif
-
-#define GODOT_RECT2I_SIZE (sizeof(int32_t) * 4)
-
-#ifndef GODOT_CORE_API_GODOT_RECT2I_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_RECT2I_TYPE_DEFINED
-typedef struct godot_rect2i {
-	uint8_t _dont_touch_that[GODOT_RECT2I_SIZE];
-} godot_rect2i;
-#endif
-
-#include <gdnative/gdnative.h>
-
-void GDAPI godot_rect2_new(godot_rect2 *p_self);
-void GDAPI godot_rect2_new_copy(godot_rect2 *r_dest, const godot_rect2 *p_src);
-void GDAPI godot_rect2i_new(godot_rect2i *p_self);
-void GDAPI godot_rect2i_new_copy(godot_rect2i *r_dest, const godot_rect2i *p_src);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // GODOT_RECT2_H
diff --git a/modules/gdnative/include/gdnative/rid.h b/modules/gdnative/include/gdnative/rid.h
deleted file mode 100644
index f3013f36f0..0000000000
--- a/modules/gdnative/include/gdnative/rid.h
+++ /dev/null
@@ -1,58 +0,0 @@
-/*************************************************************************/
-/*  rid.h                                                                */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_RID_H
-#define GODOT_RID_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdint.h>
-
-#define GODOT_RID_SIZE sizeof(uint64_t)
-
-#ifndef GODOT_CORE_API_GODOT_RID_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_RID_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_RID_SIZE];
-} godot_rid;
-#endif
-
-#include <gdnative/gdnative.h>
-
-void GDAPI godot_rid_new(godot_rid *p_self);
-void GDAPI godot_rid_new_copy(godot_rid *r_dest, const godot_rid *p_src);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // GODOT_RID_H
diff --git a/modules/gdnative/include/gdnative/signal.h b/modules/gdnative/include/gdnative/signal.h
deleted file mode 100644
index 64aef1c918..0000000000
--- a/modules/gdnative/include/gdnative/signal.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/*************************************************************************/
-/*  signal.h                                                             */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_SIGNAL_H
-#define GODOT_SIGNAL_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdint.h>
-
-// Alignment hardcoded in `core/variant/callable.h`.
-#define GODOT_SIGNAL_SIZE (16)
-
-#ifndef GODOT_CORE_API_GODOT_SIGNAL_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_SIGNAL_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_SIGNAL_SIZE];
-} godot_signal;
-#endif
-
-#include <gdnative/gdnative.h>
-
-void GDAPI godot_signal_new(godot_signal *p_self);
-void GDAPI godot_signal_new_copy(godot_signal *r_dest, const godot_signal *p_src);
-void GDAPI godot_signal_destroy(godot_signal *p_self);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/modules/gdnative/include/gdnative/string.h b/modules/gdnative/include/gdnative/string.h
deleted file mode 100644
index 375e8f94c3..0000000000
--- a/modules/gdnative/include/gdnative/string.h
+++ /dev/null
@@ -1,89 +0,0 @@
-/*************************************************************************/
-/*  string.h                                                             */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_STRING_H
-#define GODOT_STRING_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stddef.h>
-#include <stdint.h>
-
-#ifndef __cplusplus
-typedef uint16_t char16_t;
-typedef uint32_t char32_t;
-#endif
-
-typedef char32_t godot_char_type;
-
-#define GODOT_STRING_SIZE sizeof(void *)
-
-#ifndef GODOT_CORE_API_GODOT_STRING_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_STRING_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_STRING_SIZE];
-} godot_string;
-#endif
-
-#include <gdnative/gdnative.h>
-#include <gdnative/math_defs.h>
-
-void GDAPI godot_string_new(godot_string *r_dest);
-void GDAPI godot_string_new_copy(godot_string *r_dest, const godot_string *p_src);
-void GDAPI godot_string_destroy(godot_string *p_self);
-
-void GDAPI godot_string_new_with_latin1_chars(godot_string *r_dest, const char *p_contents);
-void GDAPI godot_string_new_with_utf8_chars(godot_string *r_dest, const char *p_contents);
-void GDAPI godot_string_new_with_utf16_chars(godot_string *r_dest, const char16_t *p_contents);
-void GDAPI godot_string_new_with_utf32_chars(godot_string *r_dest, const char32_t *p_contents);
-void GDAPI godot_string_new_with_wide_chars(godot_string *r_dest, const wchar_t *p_contents);
-
-void GDAPI godot_string_new_with_latin1_chars_and_len(godot_string *r_dest, const char *p_contents, const int p_size);
-void GDAPI godot_string_new_with_utf8_chars_and_len(godot_string *r_dest, const char *p_contents, const int p_size);
-void GDAPI godot_string_new_with_utf16_chars_and_len(godot_string *r_dest, const char16_t *p_contents, const int p_size);
-void GDAPI godot_string_new_with_utf32_chars_and_len(godot_string *r_dest, const char32_t *p_contents, const int p_size);
-void GDAPI godot_string_new_with_wide_chars_and_len(godot_string *r_dest, const wchar_t *p_contents, const int p_size);
-
-const char GDAPI *godot_string_to_latin1_chars(const godot_string *p_self);
-const char GDAPI *godot_string_to_utf8_chars(const godot_string *p_self);
-const char16_t GDAPI *godot_string_to_utf16_chars(const godot_string *p_self);
-const char32_t GDAPI *godot_string_to_utf32_chars(const godot_string *p_self);
-const wchar_t GDAPI *godot_string_to_wide_chars(const godot_string *p_self);
-
-char32_t GDAPI *godot_string_operator_index(godot_string *p_self, godot_int p_index);
-const char32_t GDAPI *godot_string_operator_index_const(const godot_string *p_self, godot_int p_index);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // GODOT_STRING_H
diff --git a/modules/gdnative/include/gdnative/string_name.h b/modules/gdnative/include/gdnative/string_name.h
deleted file mode 100644
index 6f4d9c64fe..0000000000
--- a/modules/gdnative/include/gdnative/string_name.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/*************************************************************************/
-/*  string_name.h                                                        */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_STRING_NAME_H
-#define GODOT_STRING_NAME_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdint.h>
-#include <wchar.h>
-
-#define GODOT_STRING_NAME_SIZE sizeof(void *)
-
-#ifndef GODOT_CORE_API_GODOT_STRING_NAME_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_STRING_NAME_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_STRING_NAME_SIZE];
-} godot_string_name;
-#endif
-
-#include <gdnative/gdnative.h>
-
-void GDAPI godot_string_name_new(godot_string_name *r_dest);
-void GDAPI godot_string_name_new_copy(godot_string_name *r_dest, const godot_string_name *p_src);
-void GDAPI godot_string_name_destroy(godot_string_name *p_self);
-
-void GDAPI godot_string_name_new_with_latin1_chars(godot_string_name *r_dest, const char *p_contents);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // GODOT_STRING_NAME_H
diff --git a/modules/gdnative/include/gdnative/transform2d.h b/modules/gdnative/include/gdnative/transform2d.h
deleted file mode 100644
index a083e61a2c..0000000000
--- a/modules/gdnative/include/gdnative/transform2d.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/*************************************************************************/
-/*  transform2d.h                                                        */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_TRANSFORM2D_H
-#define GODOT_TRANSFORM2D_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <gdnative/math_defs.h>
-
-#define GODOT_TRANSFORM2D_SIZE (sizeof(godot_real_t) * 6)
-
-#ifndef GODOT_CORE_API_GODOT_TRANSFORM2D_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_TRANSFORM2D_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_TRANSFORM2D_SIZE];
-} godot_transform2d;
-#endif
-
-#include <gdnative/gdnative.h>
-
-void GDAPI godot_transform2d_new(godot_transform2d *p_self);
-void GDAPI godot_transform2d_new_copy(godot_transform2d *r_dest, const godot_transform2d *p_src);
-godot_vector2 GDAPI *godot_transform2d_operator_index(godot_transform2d *p_self, godot_int p_index);
-const godot_vector2 GDAPI *godot_transform2d_operator_index_const(const godot_transform2d *p_self, godot_int p_index);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // GODOT_TRANSFORM2D_H
diff --git a/modules/gdnative/include/gdnative/transform_3d.h b/modules/gdnative/include/gdnative/transform_3d.h
deleted file mode 100644
index abd64a4d1d..0000000000
--- a/modules/gdnative/include/gdnative/transform_3d.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/*************************************************************************/
-/*  transform_3d.h                                                       */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_TRANSFORM3D_H
-#define GODOT_TRANSFORM3D_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <gdnative/math_defs.h>
-
-#define GODOT_TRANSFORM3D_SIZE (sizeof(godot_real_t) * 12)
-
-#ifndef GODOT_CORE_API_GODOT_TRANSFORM3D_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_TRANSFORM3D_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_TRANSFORM3D_SIZE];
-} godot_transform3d;
-#endif
-
-#include <gdnative/gdnative.h>
-
-void GDAPI godot_transform3d_new(godot_transform3d *p_self);
-void GDAPI godot_transform3d_new_copy(godot_transform3d *r_dest, const godot_transform3d *p_src);
-godot_vector3 GDAPI *godot_transform3d_operator_index(godot_transform3d *p_self, godot_int p_index);
-const godot_vector3 GDAPI *godot_transform3d_operator_index_const(const godot_transform3d *p_self, godot_int p_index);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // GODOT_TRANSFORM3D_H
diff --git a/modules/gdnative/include/gdnative/variant.h b/modules/gdnative/include/gdnative/variant.h
deleted file mode 100644
index b716fdaca1..0000000000
--- a/modules/gdnative/include/gdnative/variant.h
+++ /dev/null
@@ -1,425 +0,0 @@
-/*************************************************************************/
-/*  variant.h                                                            */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_VARIANT_H
-#define GODOT_VARIANT_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <gdnative/math_defs.h>
-#include <gdnative/variant_struct.h>
-
-typedef enum godot_variant_type {
-	GODOT_VARIANT_TYPE_NIL,
-
-	// atomic types
-	GODOT_VARIANT_TYPE_BOOL,
-	GODOT_VARIANT_TYPE_INT,
-	GODOT_VARIANT_TYPE_FLOAT,
-	GODOT_VARIANT_TYPE_STRING,
-
-	// math types
-	GODOT_VARIANT_TYPE_VECTOR2,
-	GODOT_VARIANT_TYPE_VECTOR2I,
-	GODOT_VARIANT_TYPE_RECT2,
-	GODOT_VARIANT_TYPE_RECT2I,
-	GODOT_VARIANT_TYPE_VECTOR3,
-	GODOT_VARIANT_TYPE_VECTOR3I,
-	GODOT_VARIANT_TYPE_TRANSFORM2D,
-	GODOT_VARIANT_TYPE_PLANE,
-	GODOT_VARIANT_TYPE_QUATERNION,
-	GODOT_VARIANT_TYPE_AABB,
-	GODOT_VARIANT_TYPE_BASIS,
-	GODOT_VARIANT_TYPE_TRANSFORM3D,
-
-	// misc types
-	GODOT_VARIANT_TYPE_COLOR,
-	GODOT_VARIANT_TYPE_STRING_NAME,
-	GODOT_VARIANT_TYPE_NODE_PATH,
-	GODOT_VARIANT_TYPE_RID,
-	GODOT_VARIANT_TYPE_OBJECT,
-	GODOT_VARIANT_TYPE_CALLABLE,
-	GODOT_VARIANT_TYPE_SIGNAL,
-	GODOT_VARIANT_TYPE_DICTIONARY,
-	GODOT_VARIANT_TYPE_ARRAY,
-
-	// arrays
-	GODOT_VARIANT_TYPE_PACKED_BYTE_ARRAY,
-	GODOT_VARIANT_TYPE_PACKED_INT32_ARRAY,
-	GODOT_VARIANT_TYPE_PACKED_INT64_ARRAY,
-	GODOT_VARIANT_TYPE_PACKED_FLOAT32_ARRAY,
-	GODOT_VARIANT_TYPE_PACKED_FLOAT64_ARRAY,
-	GODOT_VARIANT_TYPE_PACKED_STRING_ARRAY,
-	GODOT_VARIANT_TYPE_PACKED_VECTOR2_ARRAY,
-	GODOT_VARIANT_TYPE_PACKED_VECTOR3_ARRAY,
-	GODOT_VARIANT_TYPE_PACKED_COLOR_ARRAY,
-} godot_variant_type;
-
-typedef enum godot_variant_call_error_error {
-	GODOT_CALL_ERROR_CALL_OK,
-	GODOT_CALL_ERROR_CALL_ERROR_INVALID_METHOD,
-	GODOT_CALL_ERROR_CALL_ERROR_INVALID_ARGUMENT,
-	GODOT_CALL_ERROR_CALL_ERROR_TOO_MANY_ARGUMENTS,
-	GODOT_CALL_ERROR_CALL_ERROR_TOO_FEW_ARGUMENTS,
-	GODOT_CALL_ERROR_CALL_ERROR_INSTANCE_IS_NULL,
-} godot_variant_call_error_error;
-
-typedef struct godot_variant_call_error {
-	godot_variant_call_error_error error;
-	int argument;
-	godot_variant_type expected;
-} godot_variant_call_error;
-
-typedef enum godot_variant_operator {
-	// comparison
-	GODOT_VARIANT_OP_EQUAL,
-	GODOT_VARIANT_OP_NOT_EQUAL,
-	GODOT_VARIANT_OP_LESS,
-	GODOT_VARIANT_OP_LESS_EQUAL,
-	GODOT_VARIANT_OP_GREATER,
-	GODOT_VARIANT_OP_GREATER_EQUAL,
-
-	// mathematic
-	GODOT_VARIANT_OP_ADD,
-	GODOT_VARIANT_OP_SUBTRACT,
-	GODOT_VARIANT_OP_MULTIPLY,
-	GODOT_VARIANT_OP_DIVIDE,
-	GODOT_VARIANT_OP_NEGATE,
-	GODOT_VARIANT_OP_POSITIVE,
-	GODOT_VARIANT_OP_MODULE,
-	GODOT_VARIANT_OP_STRING_CONCAT,
-
-	// bitwise
-	GODOT_VARIANT_OP_SHIFT_LEFT,
-	GODOT_VARIANT_OP_SHIFT_RIGHT,
-	GODOT_VARIANT_OP_BIT_AND,
-	GODOT_VARIANT_OP_BIT_OR,
-	GODOT_VARIANT_OP_BIT_XOR,
-	GODOT_VARIANT_OP_BIT_NEGATE,
-
-	// logic
-	GODOT_VARIANT_OP_AND,
-	GODOT_VARIANT_OP_OR,
-	GODOT_VARIANT_OP_XOR,
-	GODOT_VARIANT_OP_NOT,
-
-	// containment
-	GODOT_VARIANT_OP_IN,
-
-	GODOT_VARIANT_OP_MAX,
-} godot_variant_operator;
-
-typedef enum godot_variant_utility_function_type {
-	GODOT_UTILITY_FUNC_TYPE_MATH,
-	GODOT_UTILITY_FUNC_TYPE_RANDOM,
-	GODOT_UTILITY_FUNC_TYPE_GENERAL,
-} godot_variant_utility_function_type;
-
-// Types for function pointers.
-typedef void (*godot_validated_operator_evaluator)(const godot_variant *p_left, const godot_variant *p_right, godot_variant *r_result);
-typedef void (*godot_ptr_operator_evaluator)(const void *p_left, const void *p_right, void *r_result);
-typedef void (*godot_validated_builtin_method)(godot_variant *p_base, const godot_variant **p_args, int p_argument_count, godot_variant *r_return);
-typedef void (*godot_ptr_builtin_method)(void *p_base, const void **p_args, void *r_return, int p_argument_count);
-typedef void (*godot_validated_constructor)(godot_variant *p_base, const godot_variant **p_args);
-typedef void (*godot_ptr_constructor)(void *p_base, const void **p_args);
-typedef void (*godot_validated_setter)(godot_variant *p_base, const godot_variant *p_value);
-typedef void (*godot_validated_getter)(const godot_variant *p_base, godot_variant *r_value);
-typedef void (*godot_ptr_setter)(void *p_base, const void *p_value);
-typedef void (*godot_ptr_getter)(const void *p_base, void *r_value);
-typedef void (*godot_validated_indexed_setter)(godot_variant *p_base, godot_int p_index, const godot_variant *p_value, bool *r_oob);
-typedef void (*godot_validated_indexed_getter)(const godot_variant *p_base, godot_int p_index, godot_variant *r_value, bool *r_oob);
-typedef void (*godot_ptr_indexed_setter)(void *p_base, godot_int p_index, const void *p_value);
-typedef void (*godot_ptr_indexed_getter)(const void *p_base, godot_int p_index, void *r_value);
-typedef void (*godot_validated_keyed_setter)(godot_variant *p_base, const godot_variant *p_key, const godot_variant *p_value, bool *r_valid);
-typedef void (*godot_validated_keyed_getter)(const godot_variant *p_base, const godot_variant *p_key, godot_variant *r_value, bool *r_valid);
-typedef bool (*godot_validated_keyed_checker)(const godot_variant *p_base, const godot_variant *p_key, bool *r_valid);
-typedef void (*godot_ptr_keyed_setter)(void *p_base, const void *p_key, const void *p_value);
-typedef void (*godot_ptr_keyed_getter)(const void *p_base, const void *p_key, void *r_value);
-typedef uint32_t (*godot_ptr_keyed_checker)(const godot_variant *p_base, const godot_variant *p_key);
-typedef void (*godot_validated_utility_function)(godot_variant *r_return, const godot_variant **p_arguments, int p_argument_count);
-typedef void (*godot_ptr_utility_function)(void *r_return, const void **p_arguments, int p_argument_count);
-
-#include <gdnative/aabb.h>
-#include <gdnative/array.h>
-#include <gdnative/basis.h>
-#include <gdnative/callable.h>
-#include <gdnative/color.h>
-#include <gdnative/dictionary.h>
-#include <gdnative/node_path.h>
-#include <gdnative/packed_arrays.h>
-#include <gdnative/plane.h>
-#include <gdnative/quaternion.h>
-#include <gdnative/rect2.h>
-#include <gdnative/rid.h>
-#include <gdnative/signal.h>
-#include <gdnative/string.h>
-#include <gdnative/string_name.h>
-#include <gdnative/transform2d.h>
-#include <gdnative/transform_3d.h>
-#include <gdnative/variant.h>
-#include <gdnative/vector2.h>
-#include <gdnative/vector3.h>
-
-#include <gdnative/gdnative.h>
-
-// Memory.
-
-void GDAPI godot_variant_new_copy(godot_variant *r_dest, const godot_variant *p_src);
-
-void GDAPI godot_variant_new_nil(godot_variant *r_dest);
-void GDAPI godot_variant_new_bool(godot_variant *r_dest, const godot_bool p_b);
-void GDAPI godot_variant_new_int(godot_variant *r_dest, const godot_int p_i);
-void GDAPI godot_variant_new_float(godot_variant *r_dest, const godot_float p_f);
-void GDAPI godot_variant_new_string(godot_variant *r_dest, const godot_string *p_s);
-void GDAPI godot_variant_new_vector2(godot_variant *r_dest, const godot_vector2 *p_v2);
-void GDAPI godot_variant_new_vector2i(godot_variant *r_dest, const godot_vector2i *p_v2);
-void GDAPI godot_variant_new_rect2(godot_variant *r_dest, const godot_rect2 *p_rect2);
-void GDAPI godot_variant_new_rect2i(godot_variant *r_dest, const godot_rect2i *p_rect2);
-void GDAPI godot_variant_new_vector3(godot_variant *r_dest, const godot_vector3 *p_v3);
-void GDAPI godot_variant_new_vector3i(godot_variant *r_dest, const godot_vector3i *p_v3);
-void GDAPI godot_variant_new_transform2d(godot_variant *r_dest, const godot_transform2d *p_t2d);
-void GDAPI godot_variant_new_plane(godot_variant *r_dest, const godot_plane *p_plane);
-void GDAPI godot_variant_new_quaternion(godot_variant *r_dest, const godot_quaternion *p_quaternion);
-void GDAPI godot_variant_new_aabb(godot_variant *r_dest, const godot_aabb *p_aabb);
-void GDAPI godot_variant_new_basis(godot_variant *r_dest, const godot_basis *p_basis);
-void GDAPI godot_variant_new_transform3d(godot_variant *r_dest, const godot_transform3d *p_trans);
-void GDAPI godot_variant_new_color(godot_variant *r_dest, const godot_color *p_color);
-void GDAPI godot_variant_new_string_name(godot_variant *r_dest, const godot_string_name *p_s);
-void GDAPI godot_variant_new_node_path(godot_variant *r_dest, const godot_node_path *p_np);
-void GDAPI godot_variant_new_rid(godot_variant *r_dest, const godot_rid *p_rid);
-void GDAPI godot_variant_new_object(godot_variant *r_dest, const godot_object *p_obj);
-void GDAPI godot_variant_new_callable(godot_variant *r_dest, const godot_callable *p_callable);
-void GDAPI godot_variant_new_signal(godot_variant *r_dest, const godot_signal *p_signal);
-void GDAPI godot_variant_new_dictionary(godot_variant *r_dest, const godot_dictionary *p_dict);
-void GDAPI godot_variant_new_array(godot_variant *r_dest, const godot_array *p_arr);
-void GDAPI godot_variant_new_packed_byte_array(godot_variant *r_dest, const godot_packed_byte_array *p_pba);
-void GDAPI godot_variant_new_packed_int32_array(godot_variant *r_dest, const godot_packed_int32_array *p_pia);
-void GDAPI godot_variant_new_packed_int64_array(godot_variant *r_dest, const godot_packed_int64_array *p_pia);
-void GDAPI godot_variant_new_packed_float32_array(godot_variant *r_dest, const godot_packed_float32_array *p_pra);
-void GDAPI godot_variant_new_packed_float64_array(godot_variant *r_dest, const godot_packed_float64_array *p_pra);
-void GDAPI godot_variant_new_packed_string_array(godot_variant *r_dest, const godot_packed_string_array *p_psa);
-void GDAPI godot_variant_new_packed_vector2_array(godot_variant *r_dest, const godot_packed_vector2_array *p_pv2a);
-void GDAPI godot_variant_new_packed_vector3_array(godot_variant *r_dest, const godot_packed_vector3_array *p_pv3a);
-void GDAPI godot_variant_new_packed_color_array(godot_variant *r_dest, const godot_packed_color_array *p_pca);
-
-godot_bool GDAPI godot_variant_as_bool(const godot_variant *p_self);
-godot_int GDAPI godot_variant_as_int(const godot_variant *p_self);
-godot_float GDAPI godot_variant_as_float(const godot_variant *p_self);
-godot_string GDAPI godot_variant_as_string(const godot_variant *p_self);
-godot_vector2 GDAPI godot_variant_as_vector2(const godot_variant *p_self);
-godot_vector2i GDAPI godot_variant_as_vector2i(const godot_variant *p_self);
-godot_rect2 GDAPI godot_variant_as_rect2(const godot_variant *p_self);
-godot_rect2i GDAPI godot_variant_as_rect2i(const godot_variant *p_self);
-godot_vector3 GDAPI godot_variant_as_vector3(const godot_variant *p_self);
-godot_vector3i GDAPI godot_variant_as_vector3i(const godot_variant *p_self);
-godot_transform2d GDAPI godot_variant_as_transform2d(const godot_variant *p_self);
-godot_plane GDAPI godot_variant_as_plane(const godot_variant *p_self);
-godot_quaternion GDAPI godot_variant_as_quaternion(const godot_variant *p_self);
-godot_aabb GDAPI godot_variant_as_aabb(const godot_variant *p_self);
-godot_basis GDAPI godot_variant_as_basis(const godot_variant *p_self);
-godot_transform3d GDAPI godot_variant_as_transform3d(const godot_variant *p_self);
-godot_color GDAPI godot_variant_as_color(const godot_variant *p_self);
-godot_string_name GDAPI godot_variant_as_string_name(const godot_variant *p_self);
-godot_node_path GDAPI godot_variant_as_node_path(const godot_variant *p_self);
-godot_rid GDAPI godot_variant_as_rid(const godot_variant *p_self);
-godot_object GDAPI *godot_variant_as_object(const godot_variant *p_self);
-godot_callable GDAPI godot_variant_as_callable(const godot_variant *p_self);
-godot_signal GDAPI godot_variant_as_signal(const godot_variant *p_self);
-godot_dictionary GDAPI godot_variant_as_dictionary(const godot_variant *p_self);
-godot_array GDAPI godot_variant_as_array(const godot_variant *p_self);
-godot_packed_byte_array GDAPI godot_variant_as_packed_byte_array(const godot_variant *p_self);
-godot_packed_int32_array GDAPI godot_variant_as_packed_int32_array(const godot_variant *p_self);
-godot_packed_int64_array GDAPI godot_variant_as_packed_int64_array(const godot_variant *p_self);
-godot_packed_float32_array GDAPI godot_variant_as_packed_float32_array(const godot_variant *p_self);
-godot_packed_float64_array GDAPI godot_variant_as_packed_float64_array(const godot_variant *p_self);
-godot_packed_string_array GDAPI godot_variant_as_packed_string_array(const godot_variant *p_self);
-godot_packed_vector2_array GDAPI godot_variant_as_packed_vector2_array(const godot_variant *p_self);
-godot_packed_vector3_array GDAPI godot_variant_as_packed_vector3_array(const godot_variant *p_self);
-godot_packed_color_array GDAPI godot_variant_as_packed_color_array(const godot_variant *p_self);
-
-void GDAPI godot_variant_destroy(godot_variant *p_self);
-
-// Dynamic interaction.
-
-void GDAPI godot_variant_call(godot_variant *p_self, const godot_string_name *p_method, const godot_variant **p_args, const godot_int p_argument_count, godot_variant *r_return, godot_variant_call_error *r_error);
-void GDAPI godot_variant_call_with_cstring(godot_variant *p_self, const char *p_method, const godot_variant **p_args, const godot_int p_argument_count, godot_variant *r_return, godot_variant_call_error *r_error);
-void GDAPI godot_variant_call_static(godot_variant_type p_type, const godot_string_name *p_method, const godot_variant **p_args, const godot_int p_argument_count, godot_variant *r_return, godot_variant_call_error *r_error);
-void GDAPI godot_variant_call_static_with_cstring(godot_variant_type p_type, const char *p_method, const godot_variant **p_args, const godot_int p_argument_count, godot_variant *r_return, godot_variant_call_error *r_error);
-void GDAPI godot_variant_evaluate(godot_variant_operator p_op, const godot_variant *p_a, const godot_variant *p_b, godot_variant *r_return, bool *r_valid);
-void GDAPI godot_variant_set(godot_variant *p_self, const godot_variant *p_key, const godot_variant *p_value, bool *r_valid);
-void GDAPI godot_variant_set_named(godot_variant *p_self, const godot_string_name *p_name, const godot_variant *p_value, bool *r_valid);
-void GDAPI godot_variant_set_named_with_cstring(godot_variant *p_self, const char *p_name, const godot_variant *p_value, bool *r_valid);
-void GDAPI godot_variant_set_keyed(godot_variant *p_self, const godot_variant *p_key, const godot_variant *p_value, bool *r_valid);
-void GDAPI godot_variant_set_indexed(godot_variant *p_self, godot_int p_index, const godot_variant *p_value, bool *r_valid, bool *r_oob);
-godot_variant GDAPI godot_variant_get(const godot_variant *p_self, const godot_variant *p_key, bool *r_valid);
-godot_variant GDAPI godot_variant_get_named(const godot_variant *p_self, const godot_string_name *p_key, bool *r_valid);
-godot_variant GDAPI godot_variant_get_named_with_cstring(const godot_variant *p_self, const char *p_key, bool *r_valid);
-godot_variant GDAPI godot_variant_get_keyed(const godot_variant *p_self, const godot_variant *p_key, bool *r_valid);
-godot_variant GDAPI godot_variant_get_indexed(const godot_variant *p_self, godot_int p_index, bool *r_valid, bool *r_oob);
-/// Iteration.
-bool GDAPI godot_variant_iter_init(const godot_variant *p_self, godot_variant *r_iter, bool *r_valid);
-bool GDAPI godot_variant_iter_next(const godot_variant *p_self, godot_variant *r_iter, bool *r_valid);
-godot_variant GDAPI godot_variant_iter_get(const godot_variant *p_self, godot_variant *r_iter, bool *r_valid);
-
-/// Variant functions.
-godot_bool GDAPI godot_variant_hash_compare(const godot_variant *p_self, const godot_variant *p_other);
-godot_bool GDAPI godot_variant_booleanize(const godot_variant *p_self);
-void GDAPI godot_variant_blend(const godot_variant *p_a, const godot_variant *p_b, float p_c, godot_variant *r_dst);
-void GDAPI godot_variant_interpolate(const godot_variant *p_a, const godot_variant *p_b, float p_c, godot_variant *r_dst);
-godot_variant GDAPI godot_variant_duplicate(const godot_variant *p_self, godot_bool p_deep);
-godot_string GDAPI godot_variant_stringify(const godot_variant *p_self);
-
-// Discovery API.
-
-/// Operators.
-godot_validated_operator_evaluator GDAPI godot_variant_get_validated_operator_evaluator(godot_variant_operator p_operator, godot_variant_type p_type_a, godot_variant_type p_type_b);
-godot_ptr_operator_evaluator GDAPI godot_variant_get_ptr_operator_evaluator(godot_variant_operator p_operator, godot_variant_type p_type_a, godot_variant_type p_type_b);
-godot_variant_type GDAPI godot_variant_get_operator_return_type(godot_variant_operator p_operator, godot_variant_type p_type_a, godot_variant_type p_type_b);
-godot_string GDAPI godot_variant_get_operator_name(godot_variant_operator p_operator);
-
-/// Built-in methods.
-bool GDAPI godot_variant_has_builtin_method(godot_variant_type p_type, const godot_string_name *p_method);
-bool GDAPI godot_variant_has_builtin_method_with_cstring(godot_variant_type p_type, const char *p_method);
-godot_validated_builtin_method GDAPI godot_variant_get_validated_builtin_method(godot_variant_type p_type, const godot_string_name *p_method);
-godot_validated_builtin_method GDAPI godot_variant_get_validated_builtin_method_with_cstring(godot_variant_type p_type, const char *p_method);
-godot_ptr_builtin_method GDAPI godot_variant_get_ptr_builtin_method(godot_variant_type p_type, const godot_string_name *p_method);
-godot_ptr_builtin_method GDAPI godot_variant_get_ptr_builtin_method_with_cstring(godot_variant_type p_type, const char *p_method);
-int GDAPI godot_variant_get_builtin_method_argument_count(godot_variant_type p_type, const godot_string_name *p_method);
-int GDAPI godot_variant_get_builtin_method_argument_count_with_cstring(godot_variant_type p_type, const char *p_method);
-godot_variant_type GDAPI godot_variant_get_builtin_method_argument_type(godot_variant_type p_type, const godot_string_name *p_method, int p_argument);
-godot_variant_type GDAPI godot_variant_get_builtin_method_argument_type_with_cstring(godot_variant_type p_type, const char *p_method, int p_argument);
-godot_string GDAPI godot_variant_get_builtin_method_argument_name(godot_variant_type p_type, const godot_string_name *p_method, int p_argument);
-godot_string GDAPI godot_variant_get_builtin_method_argument_name_with_cstring(godot_variant_type p_type, const char *p_method, int p_argument);
-bool GDAPI godot_variant_has_builtin_method_return_value(godot_variant_type p_type, const godot_string_name *p_method);
-bool GDAPI godot_variant_has_builtin_method_return_value_with_cstring(godot_variant_type p_type, const char *p_method);
-godot_variant_type GDAPI godot_variant_get_builtin_method_return_type(godot_variant_type p_type, const godot_string_name *p_method);
-godot_variant_type GDAPI godot_variant_get_builtin_method_return_type_with_cstring(godot_variant_type p_type, const char *p_method);
-bool GDAPI godot_variant_is_builtin_method_const(godot_variant_type p_type, const godot_string_name *p_method);
-bool GDAPI godot_variant_is_builtin_method_const_with_cstring(godot_variant_type p_type, const char *p_method);
-bool GDAPI godot_variant_is_builtin_method_static(godot_variant_type p_type, const godot_string_name *p_method);
-bool GDAPI godot_variant_is_builtin_method_static_with_cstring(godot_variant_type p_type, const char *p_method);
-bool GDAPI godot_variant_is_builtin_method_vararg(godot_variant_type p_type, const godot_string_name *p_method);
-bool GDAPI godot_variant_is_builtin_method_vararg_with_cstring(godot_variant_type p_type, const char *p_method);
-int GDAPI godot_variant_get_builtin_method_count(godot_variant_type p_type);
-void GDAPI godot_variant_get_builtin_method_list(godot_variant_type p_type, godot_string_name *r_list);
-
-/// Constructors.
-int GDAPI godot_variant_get_constructor_count(godot_variant_type p_type);
-godot_validated_constructor GDAPI godot_variant_get_validated_constructor(godot_variant_type p_type, int p_constructor);
-godot_ptr_constructor GDAPI godot_variant_get_ptr_constructor(godot_variant_type p_type, int p_constructor);
-int GDAPI godot_variant_get_constructor_argument_count(godot_variant_type p_type, int p_constructor);
-godot_variant_type GDAPI godot_variant_get_constructor_argument_type(godot_variant_type p_type, int p_constructor, int p_argument);
-godot_string GDAPI godot_variant_get_constructor_argument_name(godot_variant_type p_type, int p_constructor, int p_argument);
-void GDAPI godot_variant_construct(godot_variant_type p_type, godot_variant *p_base, const godot_variant **p_args, int p_argument_count, godot_variant_call_error *r_error);
-
-/// Properties.
-godot_variant_type GDAPI godot_variant_get_member_type(godot_variant_type p_type, const godot_string_name *p_member);
-godot_variant_type GDAPI godot_variant_get_member_type_with_cstring(godot_variant_type p_type, const char *p_member);
-int GDAPI godot_variant_get_member_count(godot_variant_type p_type);
-void GDAPI godot_variant_get_member_list(godot_variant_type p_type, godot_string_name *r_list);
-godot_validated_setter GDAPI godot_variant_get_validated_setter(godot_variant_type p_type, const godot_string_name *p_member);
-godot_validated_setter GDAPI godot_variant_get_validated_setter_with_cstring(godot_variant_type p_type, const char *p_member);
-godot_validated_getter GDAPI godot_variant_get_validated_getter(godot_variant_type p_type, const godot_string_name *p_member);
-godot_validated_getter GDAPI godot_variant_get_validated_getter_with_cstring(godot_variant_type p_type, const char *p_member);
-godot_ptr_setter GDAPI godot_variant_get_ptr_setter(godot_variant_type p_type, const godot_string_name *p_member);
-godot_ptr_setter GDAPI godot_variant_get_ptr_setter_with_cstring(godot_variant_type p_type, const char *p_member);
-godot_ptr_getter GDAPI godot_variant_get_ptr_getter(godot_variant_type p_type, const godot_string_name *p_member);
-godot_ptr_getter GDAPI godot_variant_get_ptr_getter_with_cstring(godot_variant_type p_type, const char *p_member);
-
-/// Indexing.
-bool GDAPI godot_variant_has_indexing(godot_variant_type p_type);
-godot_variant_type GDAPI godot_variant_get_indexed_element_type(godot_variant_type p_type);
-godot_validated_indexed_setter GDAPI godot_variant_get_validated_indexed_setter(godot_variant_type p_type);
-godot_validated_indexed_getter GDAPI godot_variant_get_validated_indexed_getter(godot_variant_type p_type);
-godot_ptr_indexed_setter GDAPI godot_variant_get_ptr_indexed_setter(godot_variant_type p_type);
-godot_ptr_indexed_getter GDAPI godot_variant_get_ptr_indexed_getter(godot_variant_type p_type);
-uint64_t GDAPI godot_variant_get_indexed_size(const godot_variant *p_self);
-
-/// Keying.
-bool GDAPI godot_variant_is_keyed(godot_variant_type p_type);
-godot_validated_keyed_setter GDAPI godot_variant_get_validated_keyed_setter(godot_variant_type p_type);
-godot_validated_keyed_getter GDAPI godot_variant_get_validated_keyed_getter(godot_variant_type p_type);
-godot_validated_keyed_checker GDAPI godot_variant_get_validated_keyed_checker(godot_variant_type p_type);
-godot_ptr_keyed_setter GDAPI godot_variant_get_ptr_keyed_setter(godot_variant_type p_type);
-godot_ptr_keyed_getter GDAPI godot_variant_get_ptr_keyed_getter(godot_variant_type p_type);
-godot_ptr_keyed_checker GDAPI godot_variant_get_ptr_keyed_checker(godot_variant_type p_type);
-
-/// Constants.
-int GDAPI godot_variant_get_constants_count(godot_variant_type p_type);
-void GDAPI godot_variant_get_constants_list(godot_variant_type p_type, godot_string_name *r_list);
-bool GDAPI godot_variant_has_constant(godot_variant_type p_type, const godot_string_name *p_constant);
-bool GDAPI godot_variant_has_constant_with_cstring(godot_variant_type p_type, const char *p_constant);
-godot_variant GDAPI godot_variant_get_constant_value(godot_variant_type p_type, const godot_string_name *p_constant);
-godot_variant GDAPI godot_variant_get_constant_value_with_cstring(godot_variant_type p_type, const char *p_constant);
-
-/// Utilities.
-bool GDAPI godot_variant_has_utility_function(const godot_string_name *p_function);
-bool GDAPI godot_variant_has_utility_function_with_cstring(const char *p_function);
-void GDAPI godot_variant_call_utility_function(const godot_string_name *p_function, godot_variant *r_ret, const godot_variant **p_args, int p_argument_count, godot_variant_call_error *r_error);
-void GDAPI godot_variant_call_utility_function_with_cstring(const char *p_function, godot_variant *r_ret, const godot_variant **p_args, int p_argument_count, godot_variant_call_error *r_error);
-godot_ptr_utility_function GDAPI godot_variant_get_ptr_utility_function(const godot_string_name *p_function);
-godot_ptr_utility_function GDAPI godot_variant_get_ptr_utility_function_with_cstring(const char *p_function);
-godot_validated_utility_function GDAPI godot_variant_get_validated_utility_function(const godot_string_name *p_function);
-godot_validated_utility_function GDAPI godot_variant_get_validated_utility_function_with_cstring(const char *p_function);
-godot_variant_utility_function_type GDAPI godot_variant_get_utility_function_type(const godot_string_name *p_function);
-godot_variant_utility_function_type GDAPI godot_variant_get_utility_function_type_with_cstring(const char *p_function);
-int GDAPI godot_variant_get_utility_function_argument_count(const godot_string_name *p_function);
-int GDAPI godot_variant_get_utility_function_argument_count_with_cstring(const char *p_function);
-godot_variant_type GDAPI godot_variant_get_utility_function_argument_type(const godot_string_name *p_function, int p_argument);
-godot_variant_type GDAPI godot_variant_get_utility_function_argument_type_with_cstring(const char *p_function, int p_argument);
-godot_string GDAPI godot_variant_get_utility_function_argument_name(const godot_string_name *p_function, int p_argument);
-godot_string GDAPI godot_variant_get_utility_function_argument_name_with_cstring(const char *p_function, int p_argument);
-bool GDAPI godot_variant_has_utility_function_return_value(const godot_string_name *p_function);
-bool GDAPI godot_variant_has_utility_function_return_value_with_cstring(const char *p_function);
-godot_variant_type GDAPI godot_variant_get_utility_function_return_type(const godot_string_name *p_function);
-godot_variant_type GDAPI godot_variant_get_utility_function_return_type_with_cstring(const char *p_function);
-bool GDAPI godot_variant_is_utility_function_vararg(const godot_string_name *p_function);
-bool GDAPI godot_variant_is_utility_function_vararg_with_cstring(const char *p_function);
-int GDAPI godot_variant_get_utility_function_count();
-void GDAPI godot_variant_get_utility_function_list(godot_string_name *r_functions);
-
-// Introspection.
-
-godot_variant_type GDAPI godot_variant_get_type(const godot_variant *p_self);
-bool GDAPI godot_variant_has_method(const godot_variant *p_self, const godot_string_name *p_method);
-bool GDAPI godot_variant_has_member(godot_variant_type p_type, const godot_string_name *p_member);
-bool GDAPI godot_variant_has_key(const godot_variant *p_self, const godot_variant *p_key, bool *r_valid);
-
-godot_string GDAPI godot_variant_get_type_name(godot_variant_type p_type);
-bool GDAPI godot_variant_can_convert(godot_variant_type p_from, godot_variant_type p_to);
-bool GDAPI godot_variant_can_convert_strict(godot_variant_type p_from, godot_variant_type p_to);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/modules/gdnative/include/gdnative/variant_struct.h b/modules/gdnative/include/gdnative/variant_struct.h
deleted file mode 100644
index cc75a8c498..0000000000
--- a/modules/gdnative/include/gdnative/variant_struct.h
+++ /dev/null
@@ -1,53 +0,0 @@
-/*************************************************************************/
-/*  variant_struct.h                                                     */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_VARIANT_STRUCT_H
-#define GODOT_VARIANT_STRUCT_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <gdnative/math_defs.h>
-
-#define GODOT_VARIANT_SIZE (sizeof(godot_real_t) * 4 + sizeof(int64_t))
-
-#ifndef GODOT_CORE_API_GODOT_VARIANT_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_VARIANT_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_VARIANT_SIZE];
-} godot_variant;
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/modules/gdnative/include/gdnative/vector2.h b/modules/gdnative/include/gdnative/vector2.h
deleted file mode 100644
index f5b55fd4ce..0000000000
--- a/modules/gdnative/include/gdnative/vector2.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/*************************************************************************/
-/*  vector2.h                                                            */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_VECTOR2_H
-#define GODOT_VECTOR2_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <gdnative/math_defs.h>
-
-#define GODOT_VECTOR2_SIZE (sizeof(godot_real_t) * 2)
-
-#ifndef GODOT_CORE_API_GODOT_VECTOR2_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_VECTOR2_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_VECTOR2_SIZE];
-} godot_vector2;
-#endif
-
-#define GODOT_VECTOR2I_SIZE (sizeof(int32_t) * 2)
-
-#ifndef GODOT_CORE_API_GODOT_VECTOR2I_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_VECTOR2I_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_VECTOR2I_SIZE];
-} godot_vector2i;
-#endif
-
-#include <gdnative/gdnative.h>
-
-void GDAPI godot_vector2_new(godot_vector2 *p_self);
-void GDAPI godot_vector2_new_copy(godot_vector2 *r_dest, const godot_vector2 *p_src);
-void GDAPI godot_vector2i_new(godot_vector2i *p_self);
-void GDAPI godot_vector2i_new_copy(godot_vector2i *r_dest, const godot_vector2i *p_src);
-godot_real_t GDAPI *godot_vector2_operator_index(godot_vector2 *p_self, godot_int p_index);
-const godot_real_t GDAPI *godot_vector2_operator_index_const(const godot_vector2 *p_self, godot_int p_index);
-int32_t GDAPI *godot_vector2i_operator_index(godot_vector2i *p_self, godot_int p_index);
-const int32_t GDAPI *godot_vector2i_operator_index_const(const godot_vector2i *p_self, godot_int p_index);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // GODOT_VECTOR2_H
diff --git a/modules/gdnative/include/gdnative/vector3.h b/modules/gdnative/include/gdnative/vector3.h
deleted file mode 100644
index d52cd38a72..0000000000
--- a/modules/gdnative/include/gdnative/vector3.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/*************************************************************************/
-/*  vector3.h                                                            */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_VECTOR3_H
-#define GODOT_VECTOR3_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <gdnative/math_defs.h>
-
-#define GODOT_VECTOR3_SIZE (sizeof(godot_real_t) * 3)
-
-#ifndef GODOT_CORE_API_GODOT_VECTOR3_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_VECTOR3_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_VECTOR3_SIZE];
-} godot_vector3;
-#endif
-
-#define GODOT_VECTOR3I_SIZE (sizeof(int32_t) * 3)
-
-#ifndef GODOT_CORE_API_GODOT_VECTOR3I_TYPE_DEFINED
-#define GODOT_CORE_API_GODOT_VECTOR3I_TYPE_DEFINED
-typedef struct {
-	uint8_t _dont_touch_that[GODOT_VECTOR3I_SIZE];
-} godot_vector3i;
-#endif
-
-#include <gdnative/gdnative.h>
-
-void GDAPI godot_vector3_new(godot_vector3 *p_self);
-void GDAPI godot_vector3_new_copy(godot_vector3 *r_dest, const godot_vector3 *p_src);
-void GDAPI godot_vector3i_new(godot_vector3i *p_self);
-void GDAPI godot_vector3i_new_copy(godot_vector3i *r_dest, const godot_vector3i *p_src);
-godot_real_t GDAPI *godot_vector3_operator_index(godot_vector3 *p_self, godot_int p_index);
-const godot_real_t GDAPI *godot_vector3_operator_index_const(const godot_vector3 *p_self, godot_int p_index);
-int32_t GDAPI *godot_vector3i_operator_index(godot_vector3i *p_self, godot_int p_index);
-const int32_t GDAPI *godot_vector3i_operator_index_const(const godot_vector3i *p_self, godot_int p_index);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // GODOT_VECTOR3_H
diff --git a/modules/gdnative/include/nativescript/godot_nativescript.h b/modules/gdnative/include/nativescript/godot_nativescript.h
deleted file mode 100644
index 879291c2e0..0000000000
--- a/modules/gdnative/include/nativescript/godot_nativescript.h
+++ /dev/null
@@ -1,233 +0,0 @@
-/*************************************************************************/
-/*  godot_nativescript.h                                                 */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_NATIVESCRIPT_H
-#define GODOT_NATIVESCRIPT_H
-
-#include <gdnative/gdnative.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef enum {
-	GODOT_METHOD_RPC_MODE_DISABLED,
-	GODOT_METHOD_RPC_MODE_ANY_PEER,
-	GODOT_METHOD_RPC_MODE_AUTHORITY,
-} godot_nativescript_method_rpc_mode;
-
-typedef enum {
-	GODOT_PROPERTY_HINT_NONE, ///< no hint provided.
-	GODOT_PROPERTY_HINT_RANGE, ///< hint_text = "min,max,step,slider; //slider is optional"
-	GODOT_PROPERTY_HINT_EXP_RANGE, ///< hint_text = "min,max,step", exponential edit
-	GODOT_PROPERTY_HINT_ENUM, ///< hint_text= "val1,val2,val3,etc"
-	GODOT_PROPERTY_HINT_EXP_EASING, /// exponential easing function (Math::ease)
-	GODOT_PROPERTY_HINT_LENGTH, ///< hint_text= "length" (as integer)
-	GODOT_PROPERTY_HINT_KEY_ACCEL, ///< hint_text= "length" (as integer)
-	GODOT_PROPERTY_HINT_FLAGS, ///< hint_text= "flag1,flag2,etc" (as bit flags)
-	GODOT_PROPERTY_HINT_LAYERS_2D_RENDER,
-	GODOT_PROPERTY_HINT_LAYERS_2D_PHYSICS,
-	GODOT_PROPERTY_HINT_LAYERS_2D_NAVIGATION,
-	GODOT_PROPERTY_HINT_LAYERS_3D_RENDER,
-	GODOT_PROPERTY_HINT_LAYERS_3D_PHYSICS,
-	GODOT_PROPERTY_HINT_LAYERS_3D_NAVIGATION,
-	GODOT_PROPERTY_HINT_FILE, ///< a file path must be passed, hint_text (optionally) is a filter "*.png,*.wav,*.doc,"
-	GODOT_PROPERTY_HINT_DIR, ///< a directory path must be passed
-	GODOT_PROPERTY_HINT_GLOBAL_FILE, ///< a file path must be passed, hint_text (optionally) is a filter "*.png,*.wav,*.doc,"
-	GODOT_PROPERTY_HINT_GLOBAL_DIR, ///< a directory path must be passed
-	GODOT_PROPERTY_HINT_RESOURCE_TYPE, ///< a resource object type
-	GODOT_PROPERTY_HINT_MULTILINE_TEXT, ///< used for string properties that can contain multiple lines
-	GODOT_PROPERTY_HINT_PLACEHOLDER_TEXT, ///< used to set a placeholder text for string properties
-	GODOT_PROPERTY_HINT_COLOR_NO_ALPHA, ///< used for ignoring alpha component when editing a color
-	GODOT_PROPERTY_HINT_IMAGE_COMPRESS_LOSSY,
-	GODOT_PROPERTY_HINT_IMAGE_COMPRESS_LOSSLESS,
-	GODOT_PROPERTY_HINT_OBJECT_ID,
-	GODOT_PROPERTY_HINT_TYPE_STRING, ///< a type string, the hint is the base type to choose
-	GODOT_PROPERTY_HINT_NODE_PATH_TO_EDITED_NODE, ///< so something else can provide this (used in scripts)
-	GODOT_PROPERTY_HINT_METHOD_OF_VARIANT_TYPE, ///< a method of a type
-	GODOT_PROPERTY_HINT_METHOD_OF_BASE_TYPE, ///< a method of a base type
-	GODOT_PROPERTY_HINT_METHOD_OF_INSTANCE, ///< a method of an instance
-	GODOT_PROPERTY_HINT_METHOD_OF_SCRIPT, ///< a method of a script & base
-	GODOT_PROPERTY_HINT_PROPERTY_OF_VARIANT_TYPE, ///< a property of a type
-	GODOT_PROPERTY_HINT_PROPERTY_OF_BASE_TYPE, ///< a property of a base type
-	GODOT_PROPERTY_HINT_PROPERTY_OF_INSTANCE, ///< a property of an instance
-	GODOT_PROPERTY_HINT_PROPERTY_OF_SCRIPT, ///< a property of a script & base
-	GODOT_PROPERTY_HINT_LOCALE_ID,
-	GODOT_PROPERTY_HINT_MAX,
-} godot_nativescript_property_hint;
-
-typedef enum {
-	GODOT_PROPERTY_USAGE_STORAGE = 1,
-	GODOT_PROPERTY_USAGE_EDITOR = 2,
-	GODOT_PROPERTY_USAGE_NETWORK = 4,
-	GODOT_PROPERTY_USAGE_EDITOR_HELPER = 8,
-	GODOT_PROPERTY_USAGE_CHECKABLE = 16, //used for editing global variables
-	GODOT_PROPERTY_USAGE_CHECKED = 32, //used for editing global variables
-	GODOT_PROPERTY_USAGE_INTERNATIONALIZED = 64, //hint for internationalized strings
-	GODOT_PROPERTY_USAGE_GROUP = 128, //used for grouping props in the editor
-	GODOT_PROPERTY_USAGE_CATEGORY = 256,
-	GODOT_PROPERTY_USAGE_SUBGROUP = 512,
-	GODOT_PROPERTY_USAGE_NO_INSTANCE_STATE = 2048,
-	GODOT_PROPERTY_USAGE_RESTART_IF_CHANGED = 4096,
-	GODOT_PROPERTY_USAGE_SCRIPT_VARIABLE = 8192,
-	GODOT_PROPERTY_USAGE_STORE_IF_NULL = 16384,
-	GODOT_PROPERTY_USAGE_ANIMATE_AS_TRIGGER = 32768,
-	GODOT_PROPERTY_USAGE_UPDATE_ALL_IF_MODIFIED = 65536,
-
-	GODOT_PROPERTY_USAGE_DEFAULT = GODOT_PROPERTY_USAGE_STORAGE | GODOT_PROPERTY_USAGE_EDITOR | GODOT_PROPERTY_USAGE_NETWORK,
-	GODOT_PROPERTY_USAGE_DEFAULT_INTL = GODOT_PROPERTY_USAGE_STORAGE | GODOT_PROPERTY_USAGE_EDITOR | GODOT_PROPERTY_USAGE_NETWORK | GODOT_PROPERTY_USAGE_INTERNATIONALIZED,
-	GODOT_PROPERTY_USAGE_NO_EDITOR = GODOT_PROPERTY_USAGE_STORAGE | GODOT_PROPERTY_USAGE_NETWORK,
-} godot_nativescript_property_usage_flags;
-
-typedef struct {
-	godot_nativescript_method_rpc_mode rset_type;
-
-	godot_int type;
-	godot_nativescript_property_hint hint;
-	godot_string hint_string;
-	godot_nativescript_property_usage_flags usage;
-	godot_variant default_value;
-} godot_nativescript_property_attributes;
-
-typedef struct {
-	// instance pointer, method_data - return user data
-	GDCALLINGCONV void *(*create_func)(godot_object *, void *);
-	void *method_data;
-	GDCALLINGCONV void (*free_func)(void *);
-} godot_nativescript_instance_create_func;
-
-typedef struct {
-	// instance pointer, method data, user data
-	GDCALLINGCONV void (*destroy_func)(godot_object *, void *, void *);
-	void *method_data;
-	GDCALLINGCONV void (*free_func)(void *);
-} godot_nativescript_instance_destroy_func;
-
-void GDAPI godot_nativescript_register_class(void *p_gdnative_handle, const char *p_name, const char *p_base, godot_nativescript_instance_create_func p_create_func, godot_nativescript_instance_destroy_func p_destroy_func);
-
-void GDAPI godot_nativescript_register_tool_class(void *p_gdnative_handle, const char *p_name, const char *p_base, godot_nativescript_instance_create_func p_create_func, godot_nativescript_instance_destroy_func p_destroy_func);
-
-typedef struct {
-	godot_nativescript_method_rpc_mode rpc_type;
-} godot_nativescript_method_attributes;
-
-typedef struct {
-	godot_string name;
-
-	godot_variant_type type;
-	godot_nativescript_property_hint hint;
-	godot_string hint_string;
-} godot_nativescript_method_argument;
-
-typedef struct {
-	// instance pointer, method data, user data, num args, args - return result as variant
-	GDCALLINGCONV godot_variant (*method)(godot_object *, void *, void *, int, godot_variant **);
-	void *method_data;
-	GDCALLINGCONV void (*free_func)(void *);
-} godot_nativescript_instance_method;
-
-void GDAPI godot_nativescript_register_method(void *p_gdnative_handle, const char *p_name, const char *p_function_name, godot_nativescript_method_attributes p_attr, godot_nativescript_instance_method p_method);
-void GDAPI godot_nativescript_set_method_argument_information(void *p_gdnative_handle, const char *p_name, const char *p_function_name, int p_num_args, const godot_nativescript_method_argument *p_args);
-
-typedef struct {
-	// instance pointer, method data, user data, value
-	GDCALLINGCONV void (*set_func)(godot_object *, void *, void *, godot_variant *);
-	void *method_data;
-	GDCALLINGCONV void (*free_func)(void *);
-} godot_nativescript_property_set_func;
-
-typedef struct {
-	// instance pointer, method data, user data, value
-	GDCALLINGCONV godot_variant (*get_func)(godot_object *, void *, void *);
-	void *method_data;
-	GDCALLINGCONV void (*free_func)(void *);
-} godot_nativescript_property_get_func;
-
-void GDAPI godot_nativescript_register_property(void *p_gdnative_handle, const char *p_name, const char *p_path, godot_nativescript_property_attributes *p_attr, godot_nativescript_property_set_func p_set_func, godot_nativescript_property_get_func p_get_func);
-
-typedef struct {
-	godot_string name;
-	godot_int type;
-	godot_nativescript_property_hint hint;
-	godot_string hint_string;
-	godot_nativescript_property_usage_flags usage;
-	godot_variant default_value;
-} godot_nativescript_signal_argument;
-
-typedef struct {
-	godot_string name;
-	int num_args;
-	godot_nativescript_signal_argument *args;
-	int num_default_args;
-	godot_variant *default_args;
-} godot_nativescript_signal;
-
-void GDAPI godot_nativescript_register_signal(void *p_gdnative_handle, const char *p_name, const godot_nativescript_signal *p_signal);
-
-void GDAPI *godot_nativescript_get_userdata(godot_object *p_instance);
-
-// documentation
-
-void GDAPI godot_nativescript_set_class_documentation(void *p_gdnative_handle, const char *p_name, godot_string p_documentation);
-void GDAPI godot_nativescript_set_method_documentation(void *p_gdnative_handle, const char *p_name, const char *p_function_name, godot_string p_documentation);
-void GDAPI godot_nativescript_set_property_documentation(void *p_gdnative_handle, const char *p_name, const char *p_path, godot_string p_documentation);
-void GDAPI godot_nativescript_set_signal_documentation(void *p_gdnative_handle, const char *p_name, const char *p_signal_name, godot_string p_documentation);
-
-// type tag API
-
-void GDAPI godot_nativescript_set_global_type_tag(int p_idx, const char *p_name, const void *p_type_tag);
-const void GDAPI *godot_nativescript_get_global_type_tag(int p_idx, const char *p_name);
-
-void GDAPI godot_nativescript_set_type_tag(void *p_gdnative_handle, const char *p_name, const void *p_type_tag);
-const void GDAPI *godot_nativescript_get_type_tag(const godot_object *p_object);
-
-// instance binding API
-
-typedef struct {
-	GDCALLINGCONV void *(*alloc_instance_binding_data)(void *, const void *, godot_object *);
-	GDCALLINGCONV void (*free_instance_binding_data)(void *, void *);
-	GDCALLINGCONV void (*refcount_incremented_instance_binding)(void *, godot_object *);
-	GDCALLINGCONV bool (*refcount_decremented_instance_binding)(void *, godot_object *);
-	void *data;
-	GDCALLINGCONV void (*free_func)(void *);
-} godot_nativescript_instance_binding_functions;
-
-int GDAPI godot_nativescript_register_instance_binding_data_functions(godot_nativescript_instance_binding_functions p_binding_functions);
-void GDAPI godot_nativescript_unregister_instance_binding_data_functions(int p_idx);
-
-void GDAPI *godot_nativescript_get_instance_binding_data(int p_idx, godot_object *p_object);
-
-void GDAPI godot_nativescript_profiling_add_data(const char *p_signature, uint64_t p_time);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/modules/gdnative/include/pluginscript/godot_pluginscript.h b/modules/gdnative/include/pluginscript/godot_pluginscript.h
deleted file mode 100644
index 0042d79966..0000000000
--- a/modules/gdnative/include/pluginscript/godot_pluginscript.h
+++ /dev/null
@@ -1,171 +0,0 @@
-/*************************************************************************/
-/*  godot_pluginscript.h                                                 */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_PLUGINSCRIPT_H
-#define GODOT_PLUGINSCRIPT_H
-
-#include <gdnative/gdnative.h>
-#include <nativescript/godot_nativescript.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef void godot_pluginscript_instance_data;
-typedef void godot_pluginscript_script_data;
-typedef void godot_pluginscript_language_data;
-
-// --- Instance ---
-
-typedef struct {
-	godot_pluginscript_instance_data *(*init)(godot_pluginscript_script_data *p_data, godot_object *p_owner);
-	void (*finish)(godot_pluginscript_instance_data *p_data);
-
-	godot_bool (*set_prop)(godot_pluginscript_instance_data *p_data, const godot_string_name *p_name, const godot_variant *p_value);
-	godot_bool (*get_prop)(godot_pluginscript_instance_data *p_data, const godot_string_name *p_name, godot_variant *r_ret);
-
-	godot_variant (*call_method)(godot_pluginscript_instance_data *p_data,
-			const godot_string_name *p_method, const godot_variant **p_args,
-			int p_argcount, godot_variant_call_error *r_error);
-
-	void (*notification)(godot_pluginscript_instance_data *p_data, int p_notification);
-	godot_string (*to_string)(godot_pluginscript_instance_data *p_data, godot_bool *r_valid);
-
-	//this is used by script languages that keep a reference counter of their own
-	//you can make make Ref<> not die when it reaches zero, so deleting the reference
-	//depends entirely from the script.
-	// Note: You can set those function pointer to nullptr if not needed.
-	void (*refcount_incremented)(godot_pluginscript_instance_data *p_data);
-	bool (*refcount_decremented)(godot_pluginscript_instance_data *p_data); // return true if it can die
-} godot_pluginscript_instance_desc;
-
-// --- Script ---
-
-typedef struct {
-	godot_pluginscript_script_data *data;
-	godot_string_name name;
-	godot_bool is_tool;
-	godot_string_name base;
-	godot_string icon_path;
-
-	// Member lines format: {<string>: <int>}
-	godot_dictionary member_lines;
-	// Method info dictionary format
-	// {
-	//  name: <string>
-	//  args: [<dict:property>]
-	//  default_args: [<variant>]
-	//  return: <dict:property>
-	//  flags: <int>
-	//  rpc_mode: <int:godot_method_rpc_mode>
-	// }
-	godot_array methods;
-	// Same format than for methods
-	godot_array signals;
-	// Property info dictionary format
-	// {
-	//  name: <string>
-	//  type: <int:godot_variant_type>
-	//  hint: <int:godot_property_hint>
-	//  hint_string: <string>
-	//  usage: <int:godot_property_usage_flags>
-	//  default_value: <variant>
-	//  rset_mode: <int:godot_method_rpc_mode>
-	// }
-	godot_array properties;
-} godot_pluginscript_script_manifest;
-
-typedef struct {
-	godot_pluginscript_script_manifest (*init)(godot_pluginscript_language_data *p_data, const godot_string *p_path, const godot_string *p_source, godot_error *r_error);
-	void (*finish)(godot_pluginscript_script_data *p_data);
-	godot_pluginscript_instance_desc instance_desc;
-} godot_pluginscript_script_desc;
-
-// --- Language ---
-
-typedef struct {
-	godot_string_name signature;
-	godot_int call_count;
-	godot_int total_time; // In microseconds
-	godot_int self_time; // In microseconds
-} godot_pluginscript_profiling_data;
-
-typedef struct {
-	const char *name;
-	const char *type;
-	const char *extension;
-	const char **recognized_extensions; // nullptr terminated array
-	godot_pluginscript_language_data *(*init)();
-	void (*finish)(godot_pluginscript_language_data *p_data);
-	const char **reserved_words; // nullptr terminated array
-	const char **comment_delimiters; // nullptr terminated array
-	const char **string_delimiters; // nullptr terminated array
-	godot_bool has_named_classes;
-	godot_bool supports_builtin_mode;
-	godot_bool can_inherit_from_file;
-
-	godot_string (*get_template_source_code)(godot_pluginscript_language_data *p_data, const godot_string *p_class_name, const godot_string *p_base_class_name);
-	godot_bool (*validate)(godot_pluginscript_language_data *p_data, const godot_string *p_script, const godot_string *p_path, godot_packed_string_array *r_functions, godot_array *r_errors); // errors = Array of Dictionary with "line", "column", "message" keys
-	int (*find_function)(godot_pluginscript_language_data *p_data, const godot_string *p_function, const godot_string *p_code); // Can be nullptr
-	godot_string (*make_function)(godot_pluginscript_language_data *p_data, const godot_string *p_class, const godot_string *p_name, const godot_packed_string_array *p_args);
-	godot_error (*complete_code)(godot_pluginscript_language_data *p_data, const godot_string *p_code, const godot_string *p_path, godot_object *p_owner, godot_array *r_options, godot_bool *r_force, godot_string *r_call_hint);
-	void (*auto_indent_code)(godot_pluginscript_language_data *p_data, godot_string *p_code, int p_from_line, int p_to_line);
-
-	void (*add_global_constant)(godot_pluginscript_language_data *p_data, const godot_string_name *p_variable, const godot_variant *p_value);
-	godot_string (*debug_get_error)(godot_pluginscript_language_data *p_data);
-	int (*debug_get_stack_level_count)(godot_pluginscript_language_data *p_data);
-	int (*debug_get_stack_level_line)(godot_pluginscript_language_data *p_data, int p_level);
-	godot_string (*debug_get_stack_level_function)(godot_pluginscript_language_data *p_data, int p_level);
-	godot_string (*debug_get_stack_level_source)(godot_pluginscript_language_data *p_data, int p_level);
-	void (*debug_get_stack_level_locals)(godot_pluginscript_language_data *p_data, int p_level, godot_packed_string_array *p_locals, godot_array *p_values, int p_max_subitems, int p_max_depth);
-	void (*debug_get_stack_level_members)(godot_pluginscript_language_data *p_data, int p_level, godot_packed_string_array *p_members, godot_array *p_values, int p_max_subitems, int p_max_depth);
-	void (*debug_get_globals)(godot_pluginscript_language_data *p_data, godot_packed_string_array *p_locals, godot_array *p_values, int p_max_subitems, int p_max_depth);
-	godot_string (*debug_parse_stack_level_expression)(godot_pluginscript_language_data *p_data, int p_level, const godot_string *p_expression, int p_max_subitems, int p_max_depth);
-
-	// TODO: could this stuff be moved to the godot_pluginscript_language_desc ?
-	void (*get_public_functions)(godot_pluginscript_language_data *p_data, godot_array *r_functions);
-	void (*get_public_constants)(godot_pluginscript_language_data *p_data, godot_dictionary *r_constants);
-
-	void (*profiling_start)(godot_pluginscript_language_data *p_data);
-	void (*profiling_stop)(godot_pluginscript_language_data *p_data);
-	int (*profiling_get_accumulated_data)(godot_pluginscript_language_data *p_data, godot_pluginscript_profiling_data *r_info, int p_info_max);
-	int (*profiling_get_frame_data)(godot_pluginscript_language_data *p_data, godot_pluginscript_profiling_data *r_info, int p_info_max);
-	void (*profiling_frame)(godot_pluginscript_language_data *p_data);
-
-	godot_pluginscript_script_desc script_desc;
-} godot_pluginscript_language_desc;
-
-void GDAPI godot_pluginscript_register_language(const godot_pluginscript_language_desc *language_desc);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // GODOT_PLUGINSCRIPT_H
diff --git a/modules/gdnative/include/videodecoder/godot_videodecoder.h b/modules/gdnative/include/videodecoder/godot_videodecoder.h
deleted file mode 100644
index 16daba0a67..0000000000
--- a/modules/gdnative/include/videodecoder/godot_videodecoder.h
+++ /dev/null
@@ -1,75 +0,0 @@
-/*************************************************************************/
-/*  godot_videodecoder.h                                                 */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GODOT_NATIVEVIDEODECODER_H
-#define GODOT_NATIVEVIDEODECODER_H
-
-#include <gdnative/gdnative.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#define GODOTAV_API_MAJOR 0
-#define GODOTAV_API_MINOR 1
-
-typedef struct
-{
-	godot_gdnative_api_version version;
-	void *next;
-	void *(*constructor)(godot_object *);
-	void (*destructor)(void *);
-	const char *(*get_plugin_name)();
-	const char **(*get_supported_extensions)(int *count);
-	godot_bool (*open_file)(void *, void *); // data struct, and a FileAccess pointer
-	godot_float (*get_length)(const void *);
-	godot_float (*get_playback_position)(const void *);
-	void (*seek)(void *, godot_float);
-	void (*set_audio_track)(void *, godot_int);
-	void (*update)(void *, godot_float);
-	godot_packed_byte_array *(*get_videoframe)(void *);
-	godot_int (*get_audioframe)(void *, float *, int);
-	godot_int (*get_channels)(const void *);
-	godot_int (*get_mix_rate)(const void *);
-	godot_vector2 (*get_texture_size)(const void *);
-} godot_videodecoder_interface_gdnative;
-
-typedef int (*GDNativeAudioMixCallback)(void *, const float *, int);
-
-// FileAccess wrappers for custom FFmpeg IO
-godot_int GDAPI godot_videodecoder_file_read(void *file_ptr, uint8_t *buf, int buf_size);
-int64_t GDAPI godot_videodecoder_file_seek(void *file_ptr, int64_t pos, int whence);
-void GDAPI godot_videodecoder_register_decoder(const godot_videodecoder_interface_gdnative *p_interface);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* GODOT_NATIVEVIDEODECODER_H */
diff --git a/modules/gdnative/nativescript/SCsub b/modules/gdnative/nativescript/SCsub
deleted file mode 100644
index 4212e87a87..0000000000
--- a/modules/gdnative/nativescript/SCsub
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/usr/bin/env python
-
-Import("env")
-Import("env_gdnative")
-
-env_gdnative.add_source_files(env.modules_sources, "*.cpp")
-
-if "platform" in env and env["platform"] in ["linuxbsd", "iphone"]:
-    env.Append(LINKFLAGS=["-rdynamic"])
diff --git a/modules/gdnative/nativescript/api_generator.cpp b/modules/gdnative/nativescript/api_generator.cpp
deleted file mode 100644
index 0309d1d9c7..0000000000
--- a/modules/gdnative/nativescript/api_generator.cpp
+++ /dev/null
@@ -1,948 +0,0 @@
-/*************************************************************************/
-/*  api_generator.cpp                                                    */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "api_generator.h"
-
-#ifdef TOOLS_ENABLED
-
-#include "core/config/engine.h"
-#include "core/core_constants.h"
-#include "core/io/file_access.h"
-#include "core/object/class_db.h"
-#include "core/string/string_builder.h"
-#include "core/templates/pair.h"
-#include "core/variant/variant_parser.h"
-
-// helper stuff
-
-static Error save_file(const String &p_path, const List<String> &p_content) {
-	FileAccessRef file = FileAccess::open(p_path, FileAccess::WRITE);
-
-	ERR_FAIL_COND_V(!file, ERR_FILE_CANT_WRITE);
-
-	for (const List<String>::Element *e = p_content.front(); e != nullptr; e = e->next()) {
-		file->store_string(e->get());
-	}
-
-	file->close();
-
-	return OK;
-}
-
-// helper stuff end
-
-struct MethodAPI {
-	String method_name;
-	String return_type;
-
-	List<String> argument_types;
-	List<String> argument_names;
-
-	Map<int, Variant> default_arguments;
-
-	int argument_count = 0;
-	bool has_varargs = false;
-	bool is_editor = false;
-	bool is_noscript = false;
-	bool is_const = false;
-	bool is_static = false; // For builtin types.
-	bool is_reverse = false;
-	bool is_virtual = false;
-	bool is_from_script = false;
-};
-
-struct PropertyAPI {
-	String name;
-	String getter;
-	String setter;
-	String type;
-	int index = 0;
-};
-
-struct ConstantAPI {
-	String constant_name;
-	int constant_value = 0;
-	Variant builtin_constant_value; // For builtin types;
-	String builtin_constant_type; // For builtin types;
-};
-
-struct SignalAPI {
-	String name;
-	List<String> argument_types;
-	List<String> argument_names;
-	Map<int, Variant> default_arguments;
-};
-
-struct EnumAPI {
-	String name;
-	List<Pair<int, String>> values;
-};
-
-struct OperatorAPI { // For builtin types;
-	String name;
-	int oper = Variant::OP_MAX;
-	String other_type;
-	String return_type;
-};
-
-struct ClassAPI {
-	String class_name;
-	String super_class_name;
-
-	ClassDB::APIType api_type = ClassDB::API_NONE;
-
-	bool is_singleton = false;
-	String singleton_name;
-	bool is_instantiable = false;
-	// @Unclear
-	bool is_ref_counted = false;
-	bool has_indexing = false; // For builtin types.
-	String indexed_type; // For builtin types.
-	bool is_keyed = false; // For builtin types.
-
-	List<MethodAPI> methods;
-	List<MethodAPI> constructors; // For builtin types.
-	List<PropertyAPI> properties;
-	List<ConstantAPI> constants;
-	List<SignalAPI> signals_;
-	List<EnumAPI> enums;
-	List<OperatorAPI> operators; // For builtin types.
-};
-
-static String get_type_name(const PropertyInfo &info) {
-	if (info.type == Variant::INT && (info.usage & PROPERTY_USAGE_CLASS_IS_ENUM)) {
-		return String("enum.") + String(info.class_name).replace(".", "::");
-	}
-	if (info.class_name != StringName()) {
-		return info.class_name;
-	}
-	if (info.hint == PROPERTY_HINT_RESOURCE_TYPE) {
-		return info.class_name;
-	}
-	if (info.type == Variant::NIL && (info.usage & PROPERTY_USAGE_NIL_IS_VARIANT)) {
-		return "Variant";
-	}
-	if (info.type == Variant::NIL) {
-		return "void";
-	}
-	return Variant::get_type_name(info.type);
-}
-
-/*
- * Some comparison helper functions we need
- */
-
-struct MethodInfoComparator {
-	StringName::AlphCompare compare;
-	bool operator()(const MethodInfo &p_a, const MethodInfo &p_b) const {
-		return compare(p_a.name, p_b.name);
-	}
-};
-
-struct PropertyInfoComparator {
-	StringName::AlphCompare compare;
-	bool operator()(const PropertyInfo &p_a, const PropertyInfo &p_b) const {
-		return compare(p_a.name, p_b.name);
-	}
-};
-
-struct ConstantAPIComparator {
-	NoCaseComparator compare;
-	bool operator()(const ConstantAPI &p_a, const ConstantAPI &p_b) const {
-		return compare(p_a.constant_name, p_b.constant_name);
-	}
-};
-
-/*
- * Reads the entire Godot API to a list
- */
-List<ClassAPI> generate_c_api_classes() {
-	List<ClassAPI> api;
-
-	List<StringName> classes;
-	ClassDB::get_class_list(&classes);
-	classes.sort_custom<StringName::AlphCompare>();
-
-	// Register global constants as a fake CoreConstants singleton class
-	{
-		ClassAPI global_constants_api;
-		global_constants_api.class_name = "CoreConstants";
-		global_constants_api.api_type = ClassDB::API_CORE;
-		global_constants_api.is_singleton = true;
-		global_constants_api.singleton_name = "CoreConstants";
-		global_constants_api.is_instantiable = false;
-		const int constants_count = CoreConstants::get_global_constant_count();
-
-		Map<StringName, EnumAPI> enum_api_map;
-		for (int i = 0; i < constants_count; ++i) {
-			StringName enum_name = CoreConstants::get_global_constant_enum(i);
-			String name = String(CoreConstants::get_global_constant_name(i));
-			int value = CoreConstants::get_global_constant_value(i);
-
-			if (enum_name == StringName()) {
-				ConstantAPI constant_api;
-				constant_api.constant_name = name;
-				constant_api.constant_value = value;
-				global_constants_api.constants.push_back(constant_api);
-			} else {
-				EnumAPI enum_api;
-				if (enum_api_map.has(enum_name)) {
-					enum_api = enum_api_map[enum_name];
-				} else {
-					enum_api.name = String(enum_name);
-				}
-				enum_api.values.push_back(Pair(value, name));
-
-				enum_api_map[enum_name] = enum_api;
-			}
-		}
-		for (const KeyValue<StringName, EnumAPI> &E : enum_api_map) {
-			global_constants_api.enums.push_back(E.value);
-		}
-		global_constants_api.constants.sort_custom<ConstantAPIComparator>();
-		api.push_back(global_constants_api);
-	}
-
-	for (List<StringName>::Element *e = classes.front(); e != nullptr; e = e->next()) {
-		StringName class_name = e->get();
-
-		if (!ClassDB::is_class_exposed(class_name)) {
-			continue;
-		}
-
-		ClassAPI class_api;
-		class_api.api_type = ClassDB::get_api_type(e->get());
-		class_api.class_name = class_name;
-		class_api.super_class_name = ClassDB::get_parent_class(class_name);
-		{
-			class_api.is_singleton = Engine::get_singleton()->has_singleton(class_name);
-			if (class_api.is_singleton) {
-				class_api.singleton_name = class_name;
-			}
-		}
-		class_api.is_instantiable = !class_api.is_singleton && ClassDB::can_instantiate(class_name);
-
-		{
-			List<StringName> inheriters;
-			ClassDB::get_inheriters_from_class("RefCounted", &inheriters);
-			bool is_ref_counted = !!inheriters.find(class_name) || class_name == "RefCounted";
-			// @Unclear
-			class_api.is_ref_counted = !class_api.is_singleton && is_ref_counted;
-		}
-
-		// constants
-		{
-			List<String> constant;
-			ClassDB::get_integer_constant_list(class_name, &constant, true);
-			constant.sort_custom<NoCaseComparator>();
-			for (List<String>::Element *c = constant.front(); c != nullptr; c = c->next()) {
-				ConstantAPI constant_api;
-				constant_api.constant_name = c->get();
-				constant_api.constant_value = ClassDB::get_integer_constant(class_name, c->get());
-
-				class_api.constants.push_back(constant_api);
-			}
-		}
-
-		// signals
-		{
-			List<MethodInfo> signals_;
-			ClassDB::get_signal_list(class_name, &signals_, true);
-			signals_.sort_custom<MethodInfoComparator>();
-
-			for (int i = 0; i < signals_.size(); i++) {
-				SignalAPI signal;
-
-				MethodInfo method_info = signals_[i];
-				signal.name = method_info.name;
-
-				for (int j = 0; j < method_info.arguments.size(); j++) {
-					PropertyInfo argument = method_info.arguments[j];
-					String type;
-					String name = argument.name;
-
-					if (argument.name.contains(":")) {
-						type = argument.name.get_slice(":", 1);
-						name = argument.name.get_slice(":", 0);
-					} else {
-						type = get_type_name(argument);
-					}
-
-					signal.argument_names.push_back(name);
-					signal.argument_types.push_back(type);
-				}
-
-				Vector<Variant> default_arguments = method_info.default_arguments;
-
-				int default_start = signal.argument_names.size() - default_arguments.size();
-
-				for (int j = 0; j < default_arguments.size(); j++) {
-					signal.default_arguments[default_start + j] = default_arguments[j];
-				}
-
-				class_api.signals_.push_back(signal);
-			}
-		}
-
-		//properties
-		{
-			List<PropertyInfo> properties;
-			ClassDB::get_property_list(class_name, &properties, true);
-			properties.sort_custom<PropertyInfoComparator>();
-
-			for (List<PropertyInfo>::Element *p = properties.front(); p != nullptr; p = p->next()) {
-				PropertyAPI property_api;
-
-				property_api.name = p->get().name;
-				property_api.getter = ClassDB::get_property_getter(class_name, p->get().name);
-				property_api.setter = ClassDB::get_property_setter(class_name, p->get().name);
-
-				if (p->get().name.contains(":")) {
-					property_api.type = p->get().name.get_slice(":", 1);
-					property_api.name = p->get().name.get_slice(":", 0);
-				} else {
-					MethodInfo minfo;
-					ClassDB::get_method_info(class_name, property_api.getter, &minfo, true, false);
-					property_api.type = get_type_name(minfo.return_val);
-				}
-
-				property_api.index = ClassDB::get_property_index(class_name, p->get().name);
-
-				if (!property_api.setter.is_empty() || !property_api.getter.is_empty()) {
-					class_api.properties.push_back(property_api);
-				}
-			}
-		}
-
-		//methods
-		{
-			List<MethodInfo> methods;
-			ClassDB::get_method_list(class_name, &methods, true);
-			methods.sort_custom<MethodInfoComparator>();
-
-			for (List<MethodInfo>::Element *m = methods.front(); m != nullptr; m = m->next()) {
-				MethodAPI method_api;
-				MethodBind *method_bind = ClassDB::get_method(class_name, m->get().name);
-				MethodInfo &method_info = m->get();
-
-				//method name
-				method_api.method_name = method_info.name;
-				//method return type
-				if (method_api.method_name.contains(":")) {
-					method_api.return_type = method_api.method_name.get_slice(":", 1);
-					method_api.method_name = method_api.method_name.get_slice(":", 0);
-				} else {
-					method_api.return_type = get_type_name(m->get().return_val);
-				}
-
-				method_api.argument_count = method_info.arguments.size();
-				method_api.has_varargs = method_bind && method_bind->is_vararg();
-
-				// Method flags
-				method_api.is_virtual = false;
-				if (method_info.flags) {
-					const uint32_t flags = method_info.flags;
-					method_api.is_editor = flags & METHOD_FLAG_EDITOR;
-					method_api.is_noscript = flags & METHOD_FLAG_NOSCRIPT;
-					method_api.is_const = flags & METHOD_FLAG_CONST;
-					method_api.is_reverse = flags & METHOD_FLAG_REVERSE;
-					method_api.is_virtual = flags & METHOD_FLAG_VIRTUAL;
-					method_api.is_from_script = flags & METHOD_FLAG_FROM_SCRIPT;
-				}
-
-				method_api.is_virtual = method_api.is_virtual || method_api.method_name[0] == '_';
-
-				// method argument name and type
-
-				for (int i = 0; i < method_api.argument_count; i++) {
-					String arg_name;
-					String arg_type;
-					PropertyInfo arg_info = method_info.arguments[i];
-
-					arg_name = arg_info.name;
-
-					if (arg_info.name.contains(":")) {
-						arg_type = arg_info.name.get_slice(":", 1);
-						arg_name = arg_info.name.get_slice(":", 0);
-					} else if (arg_info.hint == PROPERTY_HINT_RESOURCE_TYPE) {
-						arg_type = arg_info.class_name;
-					} else if (arg_info.type == Variant::NIL) {
-						arg_type = "Variant";
-					} else if (arg_info.type == Variant::OBJECT) {
-						arg_type = arg_info.class_name;
-						if (arg_type.is_empty()) {
-							arg_type = Variant::get_type_name(arg_info.type);
-						}
-					} else {
-						arg_type = get_type_name(arg_info);
-					}
-
-					method_api.argument_names.push_back(arg_name);
-					method_api.argument_types.push_back(arg_type);
-
-					if (method_bind && method_bind->has_default_argument(i)) {
-						method_api.default_arguments[i] = method_bind->get_default_argument(i);
-					}
-				}
-
-				class_api.methods.push_back(method_api);
-			}
-		}
-
-		// enums
-		{
-			List<EnumAPI> enums;
-			List<StringName> enum_names;
-			ClassDB::get_enum_list(class_name, &enum_names, true);
-			for (const StringName &E : enum_names) {
-				List<StringName> value_names;
-				EnumAPI enum_api;
-				enum_api.name = E;
-				ClassDB::get_enum_constants(class_name, E, &value_names, true);
-				for (List<StringName>::Element *val_e = value_names.front(); val_e; val_e = val_e->next()) {
-					int int_val = ClassDB::get_integer_constant(class_name, val_e->get(), nullptr);
-					enum_api.values.push_back(Pair<int, String>(int_val, val_e->get()));
-				}
-				enum_api.values.sort_custom<PairSort<int, String>>();
-				class_api.enums.push_back(enum_api);
-			}
-		}
-
-		api.push_back(class_api);
-	}
-
-	return api;
-}
-
-/*
- * Reads the builtin Variant API to a list
- */
-List<ClassAPI> generate_c_builtin_api_types() {
-	List<ClassAPI> api;
-
-	// Special class for the utility methods.
-	{
-		ClassAPI utility_api;
-		utility_api.class_name = "Utilities";
-		utility_api.is_instantiable = false;
-
-		List<StringName> utility_functions;
-		Variant::get_utility_function_list(&utility_functions);
-		for (const StringName &E : utility_functions) {
-			const StringName &function_name = E;
-
-			MethodAPI function_api;
-			function_api.method_name = function_name;
-			function_api.has_varargs = Variant::is_utility_function_vararg(function_name);
-			function_api.argument_count = function_api.has_varargs ? 0 : Variant::get_utility_function_argument_count(function_name);
-			function_api.is_const = Variant::get_utility_function_type(function_name) == Variant::UTILITY_FUNC_TYPE_MATH;
-
-			for (int i = 0; i < function_api.argument_count; i++) {
-				function_api.argument_names.push_back(Variant::get_utility_function_argument_name(function_name, i));
-				Variant::Type arg_type = Variant::get_utility_function_argument_type(function_name, i);
-				function_api.argument_types.push_back(arg_type == Variant::NIL ? "Variant" : Variant::get_type_name(arg_type));
-			}
-
-			if (Variant::has_utility_function_return_value(function_name)) {
-				Variant::Type ret_type = Variant::get_utility_function_return_type(function_name);
-				function_api.return_type = ret_type == Variant::NIL ? "Variant" : Variant::get_type_name(ret_type);
-			} else {
-				function_api.return_type = "void";
-			}
-
-			utility_api.methods.push_back(function_api);
-		}
-
-		api.push_back(utility_api);
-	}
-
-	for (int t = 0; t < Variant::VARIANT_MAX; t++) {
-		Variant::Type type = (Variant::Type)t;
-
-		ClassAPI class_api;
-		class_api.class_name = Variant::get_type_name(type);
-		class_api.is_instantiable = true;
-		class_api.has_indexing = Variant::has_indexing(type);
-		class_api.indexed_type = Variant::get_type_name(Variant::get_indexed_element_type(type));
-		class_api.is_keyed = Variant::is_keyed(type);
-		// Types that are passed by reference.
-		switch (type) {
-			case Variant::OBJECT:
-			case Variant::DICTIONARY:
-			case Variant::ARRAY:
-			case Variant::PACKED_BYTE_ARRAY:
-			case Variant::PACKED_INT32_ARRAY:
-			case Variant::PACKED_INT64_ARRAY:
-			case Variant::PACKED_FLOAT32_ARRAY:
-			case Variant::PACKED_FLOAT64_ARRAY:
-			case Variant::PACKED_STRING_ARRAY:
-			case Variant::PACKED_VECTOR2_ARRAY:
-			case Variant::PACKED_VECTOR3_ARRAY:
-			case Variant::PACKED_COLOR_ARRAY:
-				class_api.is_ref_counted = true;
-				break;
-			default:
-				class_api.is_ref_counted = false;
-				break;
-		}
-
-		// Methods.
-
-		List<StringName> methods;
-		Variant::get_builtin_method_list(type, &methods);
-		for (const StringName &E : methods) {
-			const StringName &method_name = E;
-
-			MethodAPI method_api;
-
-			method_api.method_name = method_name;
-			method_api.argument_count = Variant::get_builtin_method_argument_count(type, method_name);
-			method_api.has_varargs = Variant::is_builtin_method_vararg(type, method_name);
-			method_api.is_const = Variant::is_builtin_method_const(type, method_name);
-			method_api.is_static = Variant::is_builtin_method_static(type, method_name);
-
-			for (int i = 0; i < method_api.argument_count; i++) {
-				method_api.argument_names.push_back(Variant::get_builtin_method_argument_name(type, method_name, i));
-				Variant::Type arg_type = Variant::get_builtin_method_argument_type(type, method_name, i);
-				method_api.argument_types.push_back(arg_type == Variant::NIL ? "Variant" : Variant::get_type_name(arg_type));
-			}
-
-			Vector<Variant> default_arguments = Variant::get_builtin_method_default_arguments(type, method_name);
-
-			int default_start = method_api.argument_names.size() - default_arguments.size();
-
-			for (int i = 0; i < default_arguments.size(); i++) {
-				method_api.default_arguments[default_start + i] = default_arguments[i];
-			}
-
-			if (Variant::has_builtin_method_return_value(type, method_name)) {
-				Variant::Type ret_type = Variant::get_builtin_method_return_type(type, method_name);
-				method_api.return_type = ret_type == Variant::NIL ? "Variant" : Variant::get_type_name(ret_type);
-			} else {
-				method_api.return_type = "void";
-			}
-
-			class_api.methods.push_back(method_api);
-		}
-
-		// Constructors.
-
-		for (int c = 0; c < Variant::get_constructor_count(type); c++) {
-			MethodAPI constructor_api;
-
-			constructor_api.method_name = Variant::get_type_name(type);
-			constructor_api.argument_count = Variant::get_constructor_argument_count(type, c);
-			constructor_api.return_type = Variant::get_type_name(type);
-
-			for (int i = 0; i < constructor_api.argument_count; i++) {
-				constructor_api.argument_names.push_back(Variant::get_constructor_argument_name(type, c, i));
-				Variant::Type arg_type = Variant::get_constructor_argument_type(type, c, i);
-				constructor_api.argument_types.push_back(arg_type == Variant::NIL ? "Variant" : Variant::get_type_name(arg_type));
-			}
-
-			class_api.constructors.push_back(constructor_api);
-		}
-
-		// Constants.
-
-		List<StringName> constants;
-		Variant::get_constants_for_type(type, &constants);
-		for (const StringName &E : constants) {
-			const StringName &constant_name = E;
-			ConstantAPI constant_api;
-
-			constant_api.constant_name = constant_name;
-			constant_api.builtin_constant_value = Variant::get_constant_value(type, constant_name);
-			constant_api.builtin_constant_type = Variant::get_type_name(constant_api.builtin_constant_value.get_type());
-
-			class_api.constants.push_back(constant_api);
-		}
-
-		// Members.
-
-		List<StringName> members;
-		Variant::get_member_list(type, &members);
-		for (const StringName &E : members) {
-			const StringName &member_name = E;
-
-			PropertyAPI member_api;
-			member_api.name = member_name;
-			Variant::Type member_type = Variant::get_member_type(type, member_name);
-			member_api.type = member_type == Variant::NIL ? "Variant" : Variant::get_type_name(member_type);
-
-			class_api.properties.push_back(member_api);
-		}
-
-		// Operators.
-
-		for (int op = 0; op < Variant::OP_MAX; op++) {
-			Variant::Operator oper = (Variant::Operator)op;
-
-			for (int ot = 0; ot < Variant::VARIANT_MAX; ot++) {
-				Variant::Type other_type = (Variant::Type)ot;
-
-				if (!Variant::get_validated_operator_evaluator(oper, type, other_type)) {
-					continue;
-				}
-
-				OperatorAPI oper_api;
-				oper_api.name = Variant::get_operator_name(oper);
-				oper_api.oper = oper;
-				oper_api.other_type = Variant::get_type_name(other_type);
-				oper_api.return_type = Variant::get_type_name(Variant::get_operator_return_type(oper, type, other_type));
-
-				class_api.operators.push_back(oper_api);
-			}
-		}
-
-		api.push_back(class_api);
-	}
-
-	return api;
-}
-
-/*
- * Generates the JSON source from the API in p_api
- */
-static List<String> generate_c_api_json(const List<ClassAPI> &p_api) {
-	// I'm sorry for the \t mess
-
-	List<String> source;
-	VariantWriter writer;
-
-	source.push_back("[\n");
-
-	for (const List<ClassAPI>::Element *c = p_api.front(); c != nullptr; c = c->next()) {
-		ClassAPI api = c->get();
-
-		source.push_back("\t{\n");
-
-		source.push_back("\t\t\"name\": \"" + api.class_name + "\",\n");
-		source.push_back("\t\t\"base_class\": \"" + api.super_class_name + "\",\n");
-		source.push_back(String("\t\t\"api_type\": \"") + (api.api_type == ClassDB::API_CORE ? "core" : (api.api_type == ClassDB::API_EDITOR ? "tools" : "none")) + "\",\n");
-		source.push_back(String("\t\t\"singleton\": ") + (api.is_singleton ? "true" : "false") + ",\n");
-		source.push_back("\t\t\"singleton_name\": \"" + api.singleton_name + "\",\n");
-		source.push_back(String("\t\t\"instantiable\": ") + (api.is_instantiable ? "true" : "false") + ",\n");
-		source.push_back(String("\t\t\"is_ref_counted\": ") + (api.is_ref_counted ? "true" : "false") + ",\n");
-
-		source.push_back("\t\t\"constants\": {\n");
-		for (List<ConstantAPI>::Element *e = api.constants.front(); e; e = e->next()) {
-			source.push_back("\t\t\t\"" + e->get().constant_name + "\": " + String::num_int64(e->get().constant_value) + (e->next() ? "," : "") + "\n");
-		}
-		source.push_back("\t\t},\n");
-
-		source.push_back("\t\t\"properties\": [\n");
-		for (List<PropertyAPI>::Element *e = api.properties.front(); e; e = e->next()) {
-			source.push_back("\t\t\t{\n");
-			source.push_back("\t\t\t\t\"name\": \"" + e->get().name + "\",\n");
-			source.push_back("\t\t\t\t\"type\": \"" + e->get().type + "\",\n");
-			source.push_back("\t\t\t\t\"getter\": \"" + e->get().getter + "\",\n");
-			source.push_back("\t\t\t\t\"setter\": \"" + e->get().setter + "\",\n");
-			source.push_back(String("\t\t\t\t\"index\": ") + itos(e->get().index) + "\n");
-			source.push_back(String("\t\t\t}") + (e->next() ? "," : "") + "\n");
-		}
-		source.push_back("\t\t],\n");
-
-		source.push_back("\t\t\"signals\": [\n");
-		for (List<SignalAPI>::Element *e = api.signals_.front(); e; e = e->next()) {
-			source.push_back("\t\t\t{\n");
-			source.push_back("\t\t\t\t\"name\": \"" + e->get().name + "\",\n");
-			source.push_back("\t\t\t\t\"arguments\": [\n");
-			for (int i = 0; i < e->get().argument_names.size(); i++) {
-				source.push_back("\t\t\t\t\t{\n");
-				source.push_back("\t\t\t\t\t\t\"name\": \"" + e->get().argument_names[i] + "\",\n");
-				source.push_back("\t\t\t\t\t\t\"type\": \"" + e->get().argument_types[i] + "\",\n");
-				source.push_back(String("\t\t\t\t\t\t\"has_default_value\": ") + (e->get().default_arguments.has(i) ? "true" : "false") + ",\n");
-				String default_value;
-				if (e->get().default_arguments.has(i)) {
-					writer.write_to_string(e->get().default_arguments[i], default_value);
-					default_value = default_value.replace("\n", "").json_escape();
-				}
-				source.push_back("\t\t\t\t\t\t\"default_value\": \"" + default_value + "\"\n");
-				source.push_back(String("\t\t\t\t\t}") + ((i < e->get().argument_names.size() - 1) ? "," : "") + "\n");
-			}
-			source.push_back("\t\t\t\t]\n");
-			source.push_back(String("\t\t\t}") + (e->next() ? "," : "") + "\n");
-		}
-		source.push_back("\t\t],\n");
-
-		source.push_back("\t\t\"methods\": [\n");
-		for (List<MethodAPI>::Element *e = api.methods.front(); e; e = e->next()) {
-			source.push_back("\t\t\t{\n");
-			source.push_back("\t\t\t\t\"name\": \"" + e->get().method_name + "\",\n");
-			source.push_back("\t\t\t\t\"return_type\": \"" + e->get().return_type + "\",\n");
-			source.push_back(String("\t\t\t\t\"is_editor\": ") + (e->get().is_editor ? "true" : "false") + ",\n");
-			source.push_back(String("\t\t\t\t\"is_noscript\": ") + (e->get().is_noscript ? "true" : "false") + ",\n");
-			source.push_back(String("\t\t\t\t\"is_const\": ") + (e->get().is_const ? "true" : "false") + ",\n");
-			source.push_back(String("\t\t\t\t\"is_reverse\": ") + (e->get().is_reverse ? "true" : "false") + ",\n");
-			source.push_back(String("\t\t\t\t\"is_virtual\": ") + (e->get().is_virtual ? "true" : "false") + ",\n");
-			source.push_back(String("\t\t\t\t\"has_varargs\": ") + (e->get().has_varargs ? "true" : "false") + ",\n");
-			source.push_back(String("\t\t\t\t\"is_from_script\": ") + (e->get().is_from_script ? "true" : "false") + ",\n");
-			source.push_back("\t\t\t\t\"arguments\": [\n");
-			for (int i = 0; i < e->get().argument_names.size(); i++) {
-				source.push_back("\t\t\t\t\t{\n");
-				source.push_back("\t\t\t\t\t\t\"name\": \"" + e->get().argument_names[i] + "\",\n");
-				source.push_back("\t\t\t\t\t\t\"type\": \"" + e->get().argument_types[i] + "\",\n");
-				source.push_back(String("\t\t\t\t\t\t\"has_default_value\": ") + (e->get().default_arguments.has(i) ? "true" : "false") + ",\n");
-				String default_value;
-				if (e->get().default_arguments.has(i)) {
-					writer.write_to_string(e->get().default_arguments[i], default_value);
-					default_value = default_value.replace("\n", "").json_escape();
-				}
-				source.push_back("\t\t\t\t\t\t\"default_value\": \"" + default_value + "\"\n");
-				source.push_back(String("\t\t\t\t\t}") + ((i < e->get().argument_names.size() - 1) ? "," : "") + "\n");
-			}
-			source.push_back("\t\t\t\t]\n");
-			source.push_back(String("\t\t\t}") + (e->next() ? "," : "") + "\n");
-		}
-		source.push_back("\t\t],\n");
-
-		source.push_back("\t\t\"enums\": [\n");
-		for (List<EnumAPI>::Element *e = api.enums.front(); e; e = e->next()) {
-			source.push_back("\t\t\t{\n");
-			source.push_back("\t\t\t\t\"name\": \"" + e->get().name + "\",\n");
-			source.push_back("\t\t\t\t\"values\": {\n");
-			for (List<Pair<int, String>>::Element *val_e = e->get().values.front(); val_e; val_e = val_e->next()) {
-				source.push_back("\t\t\t\t\t\"" + val_e->get().second + "\": " + itos(val_e->get().first));
-				source.push_back(String((val_e->next() ? "," : "")) + "\n");
-			}
-			source.push_back("\t\t\t\t}\n");
-			source.push_back(String("\t\t\t}") + (e->next() ? "," : "") + "\n");
-		}
-		source.push_back("\t\t]\n");
-
-		source.push_back(String("\t}") + (c->next() ? "," : "") + "\n");
-	}
-	source.push_back("]");
-
-	return source;
-}
-
-static int indent_level = 0;
-
-static void append_indented(StringBuilder &p_source, const String &p_text) {
-	for (int i = 0; i < indent_level; i++) {
-		p_source.append("\t");
-	}
-	p_source.append(p_text);
-	p_source.append("\n");
-}
-
-static void append_indented(StringBuilder &p_source, const char *p_text) {
-	for (int i = 0; i < indent_level; i++) {
-		p_source.append("\t");
-	}
-	p_source.append(p_text);
-	p_source.append("\n");
-}
-
-static void write_builtin_method(StringBuilder &p_source, const MethodAPI &p_method) {
-	VariantWriter writer;
-
-	append_indented(p_source, vformat(R"("name": "%s",)", p_method.method_name));
-	append_indented(p_source, vformat(R"("return_type": "%s",)", p_method.return_type));
-	append_indented(p_source, vformat(R"("is_const": %s,)", p_method.is_const ? "true" : "false"));
-	append_indented(p_source, vformat(R"("is_static": %s,)", p_method.is_static ? "true" : "false"));
-	append_indented(p_source, vformat(R"("has_varargs": %s,)", p_method.has_varargs ? "true" : "false"));
-
-	append_indented(p_source, R"("arguments": [)");
-	indent_level++;
-	for (int i = 0; i < p_method.argument_count; i++) {
-		append_indented(p_source, "{");
-		indent_level++;
-
-		append_indented(p_source, vformat(R"("name": "%s",)", p_method.argument_names[i]));
-		append_indented(p_source, vformat(R"("type": "%s",)", p_method.argument_types[i]));
-		append_indented(p_source, vformat(R"("has_default_value": %s,)", p_method.default_arguments.has(i) ? "true" : "false"));
-		String default_value;
-		if (p_method.default_arguments.has(i)) {
-			writer.write_to_string(p_method.default_arguments[i], default_value);
-			default_value = default_value.replace("\n", "").json_escape();
-		}
-		append_indented(p_source, vformat(R"("default_value": "%s")", default_value));
-
-		indent_level--;
-		append_indented(p_source, i < p_method.argument_count - 1 ? "}," : "}");
-	}
-	indent_level--;
-	append_indented(p_source, "]");
-}
-
-static List<String> generate_c_builtin_api_json(const List<ClassAPI> &p_api) {
-	StringBuilder source;
-
-	source.append("[\n");
-
-	indent_level = 1;
-
-	for (const List<ClassAPI>::Element *C = p_api.front(); C; C = C->next()) {
-		const ClassAPI &class_api = C->get();
-		append_indented(source, "{");
-		indent_level++;
-
-		append_indented(source, vformat(R"("name": "%s",)", class_api.class_name));
-		append_indented(source, vformat(R"("is_instantiable": %s,)", class_api.is_instantiable ? "true" : "false"));
-		append_indented(source, vformat(R"("is_ref_counted": %s,)", class_api.is_ref_counted ? "true" : "false"));
-		append_indented(source, vformat(R"("has_indexing": %s,)", class_api.has_indexing ? "true" : "false"));
-		append_indented(source, vformat(R"("indexed_type": "%s",)", class_api.has_indexing && class_api.indexed_type == "Nil" ? "Variant" : class_api.indexed_type));
-		append_indented(source, vformat(R"("is_keyed": %s,)", class_api.is_keyed ? "true" : "false"));
-
-		// Constructors.
-		append_indented(source, R"("constructors": [)");
-		indent_level++;
-		for (const List<MethodAPI>::Element *E = class_api.constructors.front(); E; E = E->next()) {
-			const MethodAPI &constructor = E->get();
-			append_indented(source, "{");
-			indent_level++;
-
-			write_builtin_method(source, constructor);
-
-			indent_level--;
-			append_indented(source, E->next() ? "}," : "}");
-		}
-		indent_level--;
-		append_indented(source, "],");
-
-		// Constants.
-		append_indented(source, R"("constants": [)");
-		indent_level++;
-		for (const List<ConstantAPI>::Element *E = class_api.constants.front(); E; E = E->next()) {
-			const ConstantAPI &constant = E->get();
-			append_indented(source, "{");
-			indent_level++;
-
-			append_indented(source, vformat(R"("name": "%s",)", constant.constant_name));
-			append_indented(source, vformat(R"("type": "%s",)", constant.builtin_constant_type));
-			append_indented(source, vformat(R"("value": "%s")", constant.builtin_constant_value.operator String()));
-
-			indent_level--;
-			append_indented(source, E->next() ? "}," : "}");
-		}
-		indent_level--;
-		append_indented(source, "],");
-
-		// Methods.
-		append_indented(source, R"("methods": [)");
-		indent_level++;
-		for (const List<MethodAPI>::Element *E = class_api.methods.front(); E; E = E->next()) {
-			const MethodAPI &method = E->get();
-			append_indented(source, "{");
-			indent_level++;
-
-			write_builtin_method(source, method);
-
-			indent_level--;
-			append_indented(source, E->next() ? "}," : "}");
-		}
-		indent_level--;
-		append_indented(source, "],");
-
-		// Members.
-		append_indented(source, R"("members": [)");
-		indent_level++;
-		for (const List<PropertyAPI>::Element *E = class_api.properties.front(); E; E = E->next()) {
-			const PropertyAPI &member = E->get();
-			append_indented(source, "{");
-			indent_level++;
-
-			append_indented(source, vformat(R"("name": "%s",)", member.name));
-			append_indented(source, vformat(R"("type": "%s")", member.type));
-
-			indent_level--;
-			append_indented(source, E->next() ? "}," : "}");
-		}
-		indent_level--;
-		append_indented(source, "],");
-
-		// Operators.
-		append_indented(source, R"("operators": [)");
-		indent_level++;
-		for (const List<OperatorAPI>::Element *E = class_api.operators.front(); E; E = E->next()) {
-			const OperatorAPI &oper = E->get();
-			append_indented(source, "{");
-			indent_level++;
-
-			append_indented(source, vformat(R"("name": "%s",)", oper.name));
-			append_indented(source, vformat(R"("operator": %d,)", oper.oper));
-			append_indented(source, vformat(R"("other_type": "%s",)", oper.other_type));
-			append_indented(source, vformat(R"("return_type": "%s")", oper.return_type));
-
-			indent_level--;
-			append_indented(source, E->next() ? "}," : "}");
-		}
-		indent_level--;
-		append_indented(source, "]");
-
-		indent_level--;
-		append_indented(source, C->next() ? "}," : "}");
-	}
-
-	indent_level--;
-	source.append("]\n");
-
-	List<String> result;
-	result.push_back(source.as_string());
-	return result;
-}
-
-#endif
-
-/*
- * Saves the whole Godot API to a JSON file located at
- *  p_path
- */
-Error generate_c_api(const String &p_path) {
-#ifndef TOOLS_ENABLED
-	return ERR_BUG;
-#else
-
-	List<ClassAPI> api = generate_c_api_classes();
-
-	List<String> json_source = generate_c_api_json(api);
-
-	return save_file(p_path, json_source);
-#endif
-}
-/*
- * Saves the builtin Godot API to a JSON file located at
- *  p_path
- */
-Error generate_c_builtin_api(const String &p_path) {
-#ifndef TOOLS_ENABLED
-	return ERR_BUG;
-#else
-
-	List<ClassAPI> api = generate_c_builtin_api_types();
-
-	List<String> json_source = generate_c_builtin_api_json(api);
-
-	return save_file(p_path, json_source);
-#endif
-}
diff --git a/modules/gdnative/nativescript/api_generator.h b/modules/gdnative/nativescript/api_generator.h
deleted file mode 100644
index 58e141f07e..0000000000
--- a/modules/gdnative/nativescript/api_generator.h
+++ /dev/null
@@ -1,40 +0,0 @@
-/*************************************************************************/
-/*  api_generator.h                                                      */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef API_GENERATOR_H
-#define API_GENERATOR_H
-
-#include "core/string/ustring.h"
-#include "core/typedefs.h"
-
-Error generate_c_api(const String &p_path);
-Error generate_c_builtin_api(const String &p_path);
-
-#endif // API_GENERATOR_H
diff --git a/modules/gdnative/nativescript/godot_nativescript.cpp b/modules/gdnative/nativescript/godot_nativescript.cpp
deleted file mode 100644
index 992eeba8f4..0000000000
--- a/modules/gdnative/nativescript/godot_nativescript.cpp
+++ /dev/null
@@ -1,344 +0,0 @@
-/*************************************************************************/
-/*  godot_nativescript.cpp                                               */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "nativescript/godot_nativescript.h"
-
-#include "core/config/project_settings.h"
-#include "core/core_constants.h"
-#include "core/error/error_macros.h"
-#include "core/object/class_db.h"
-#include "core/variant/variant.h"
-#include "gdnative/gdnative.h"
-#include <stdint.h>
-
-#include "nativescript.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-extern "C" void _native_script_hook() {
-}
-
-#define NSL NativeScriptLanguage::get_singleton()
-
-// Script API
-
-void GDAPI godot_nativescript_register_class(void *p_gdnative_handle, const char *p_name, const char *p_base, godot_nativescript_instance_create_func p_create_func, godot_nativescript_instance_destroy_func p_destroy_func) {
-	String *s = (String *)p_gdnative_handle;
-
-	Map<StringName, NativeScriptDesc> *classes = &NSL->library_classes[*s];
-
-	NativeScriptDesc desc;
-
-	desc.create_func = p_create_func;
-	desc.destroy_func = p_destroy_func;
-	desc.is_tool = false;
-
-	desc.base = p_base;
-
-	if (classes->has(p_base)) {
-		desc.base_data = &(*classes)[p_base];
-		desc.base_native_type = desc.base_data->base_native_type;
-
-		const NativeScriptDesc *b = desc.base_data;
-		while (b) {
-			desc.rpc_methods.append_array(b->rpc_methods);
-			b = b->base_data;
-		}
-
-	} else {
-		desc.base_data = nullptr;
-		desc.base_native_type = p_base;
-	}
-
-	classes->insert(p_name, desc);
-}
-
-void GDAPI godot_nativescript_register_tool_class(void *p_gdnative_handle, const char *p_name, const char *p_base, godot_nativescript_instance_create_func p_create_func, godot_nativescript_instance_destroy_func p_destroy_func) {
-	String *s = (String *)p_gdnative_handle;
-
-	Map<StringName, NativeScriptDesc> *classes = &NSL->library_classes[*s];
-
-	NativeScriptDesc desc;
-
-	desc.create_func = p_create_func;
-	desc.destroy_func = p_destroy_func;
-	desc.is_tool = true;
-	desc.base = p_base;
-
-	if (classes->has(p_base)) {
-		desc.base_data = &(*classes)[p_base];
-		desc.base_native_type = desc.base_data->base_native_type;
-
-		const NativeScriptDesc *b = desc.base_data;
-		while (b) {
-			desc.rpc_methods.append_array(b->rpc_methods);
-			b = b->base_data;
-		}
-
-	} else {
-		desc.base_data = nullptr;
-		desc.base_native_type = p_base;
-	}
-
-	classes->insert(p_name, desc);
-}
-
-void GDAPI godot_nativescript_register_method(void *p_gdnative_handle, const char *p_name, const char *p_function_name, godot_nativescript_method_attributes p_attr, godot_nativescript_instance_method p_method) {
-	String *s = (String *)p_gdnative_handle;
-
-	Map<StringName, NativeScriptDesc>::Element *E = NSL->library_classes[*s].find(p_name);
-	ERR_FAIL_COND_MSG(!E, "Attempted to register method on non-existent class.");
-
-	NativeScriptDesc::Method method;
-	method.method = p_method;
-	method.rpc_mode = p_attr.rpc_type;
-	method.rpc_method_id = UINT16_MAX;
-	method.info = MethodInfo(p_function_name);
-
-	E->get().methods.insert(p_function_name, method);
-
-	if (p_attr.rpc_type != GODOT_METHOD_RPC_MODE_DISABLED) {
-		Multiplayer::RPCConfig nd;
-		nd.name = String(p_name);
-		nd.rpc_mode = Multiplayer::RPCMode(p_attr.rpc_type);
-		E->get().rpc_methods.push_back(nd);
-	}
-}
-
-void GDAPI godot_nativescript_register_property(void *p_gdnative_handle, const char *p_name, const char *p_path, godot_nativescript_property_attributes *p_attr, godot_nativescript_property_set_func p_set_func, godot_nativescript_property_get_func p_get_func) {
-	String *s = (String *)p_gdnative_handle;
-
-	Map<StringName, NativeScriptDesc>::Element *E = NSL->library_classes[*s].find(p_name);
-	ERR_FAIL_COND_MSG(!E, "Attempted to register method on non-existent class.");
-
-	NativeScriptDesc::Property property;
-	property.default_value = *(Variant *)&p_attr->default_value;
-	property.getter = p_get_func;
-	property.setter = p_set_func;
-	property.info = PropertyInfo((Variant::Type)p_attr->type,
-			p_path,
-			(PropertyHint)p_attr->hint,
-			*(String *)&p_attr->hint_string,
-			(PropertyUsageFlags)p_attr->usage);
-
-	E->get().properties.insert(p_path, property);
-}
-
-void GDAPI godot_nativescript_register_signal(void *p_gdnative_handle, const char *p_name, const godot_nativescript_signal *p_signal) {
-	String *s = (String *)p_gdnative_handle;
-
-	Map<StringName, NativeScriptDesc>::Element *E = NSL->library_classes[*s].find(p_name);
-	ERR_FAIL_COND_MSG(!E, "Attempted to register method on non-existent class.");
-
-	List<PropertyInfo> args;
-	Vector<Variant> default_args;
-
-	for (int i = 0; i < p_signal->num_args; i++) {
-		PropertyInfo info;
-
-		godot_nativescript_signal_argument arg = p_signal->args[i];
-
-		info.hint = (PropertyHint)arg.hint;
-		info.hint_string = *(String *)&arg.hint_string;
-		info.name = *(String *)&arg.name;
-		info.type = (Variant::Type)arg.type;
-		info.usage = (PropertyUsageFlags)arg.usage;
-
-		args.push_back(info);
-	}
-
-	for (int i = 0; i < p_signal->num_default_args; i++) {
-		Variant *v;
-		godot_nativescript_signal_argument attrib = p_signal->args[i];
-
-		v = (Variant *)&attrib.default_value;
-
-		default_args.push_back(*v);
-	}
-
-	MethodInfo method_info;
-	method_info.name = *(String *)&p_signal->name;
-	method_info.arguments = args;
-	method_info.default_arguments = default_args;
-
-	NativeScriptDesc::Signal signal;
-	signal.signal = method_info;
-
-	E->get().signals_.insert(*(String *)&p_signal->name, signal);
-}
-
-void GDAPI *godot_nativescript_get_userdata(godot_object *p_instance) {
-	Object *instance = (Object *)p_instance;
-	if (!instance) {
-		return nullptr;
-	}
-	if (instance->get_script_instance() && instance->get_script_instance()->get_language() == NativeScriptLanguage::get_singleton()) {
-		return ((NativeScriptInstance *)instance->get_script_instance())->userdata;
-	}
-	return nullptr;
-}
-
-/*
- *
- *
- * NativeScript 1.1
- *
- *
- */
-
-void GDAPI godot_nativescript_set_method_argument_information(void *p_gdnative_handle, const char *p_name, const char *p_function_name, int p_num_args, const godot_nativescript_method_argument *p_args) {
-	String *s = (String *)p_gdnative_handle;
-
-	Map<StringName, NativeScriptDesc>::Element *E = NSL->library_classes[*s].find(p_name);
-	ERR_FAIL_COND_MSG(!E, "Attempted to add argument information for a method on a non-existent class.");
-
-	Map<StringName, NativeScriptDesc::Method>::Element *method = E->get().methods.find(p_function_name);
-	ERR_FAIL_COND_MSG(!method, "Attempted to add argument information to non-existent method.");
-
-	MethodInfo *method_information = &method->get().info;
-
-	List<PropertyInfo> args;
-
-	for (int i = 0; i < p_num_args; i++) {
-		godot_nativescript_method_argument arg = p_args[i];
-		String name = *(String *)&arg.name;
-		String hint_string = *(String *)&arg.hint_string;
-
-		Variant::Type type = (Variant::Type)arg.type;
-		PropertyHint hint = (PropertyHint)arg.hint;
-
-		args.push_back(PropertyInfo(type, p_name, hint, hint_string));
-	}
-
-	method_information->arguments = args;
-}
-
-void GDAPI godot_nativescript_set_class_documentation(void *p_gdnative_handle, const char *p_name, godot_string p_documentation) {
-	String *s = (String *)p_gdnative_handle;
-
-	Map<StringName, NativeScriptDesc>::Element *E = NSL->library_classes[*s].find(p_name);
-	ERR_FAIL_COND_MSG(!E, "Attempted to add documentation to a non-existent class.");
-
-	E->get().documentation = *(String *)&p_documentation;
-}
-
-void GDAPI godot_nativescript_set_method_documentation(void *p_gdnative_handle, const char *p_name, const char *p_function_name, godot_string p_documentation) {
-	String *s = (String *)p_gdnative_handle;
-
-	Map<StringName, NativeScriptDesc>::Element *E = NSL->library_classes[*s].find(p_name);
-	ERR_FAIL_COND_MSG(!E, "Attempted to add documentation to a method on a non-existent class.");
-
-	Map<StringName, NativeScriptDesc::Method>::Element *method = E->get().methods.find(p_function_name);
-	ERR_FAIL_COND_MSG(!method, "Attempted to add documentation to non-existent method.");
-
-	method->get().documentation = *(String *)&p_documentation;
-}
-
-void GDAPI godot_nativescript_set_property_documentation(void *p_gdnative_handle, const char *p_name, const char *p_path, godot_string p_documentation) {
-	String *s = (String *)p_gdnative_handle;
-
-	Map<StringName, NativeScriptDesc>::Element *E = NSL->library_classes[*s].find(p_name);
-	ERR_FAIL_COND_MSG(!E, "Attempted to add documentation to a property on a non-existent class.");
-
-	OrderedHashMap<StringName, NativeScriptDesc::Property>::Element property = E->get().properties.find(p_path);
-	ERR_FAIL_COND_MSG(!property, "Attempted to add documentation to non-existent property.");
-
-	property.get().documentation = *(String *)&p_documentation;
-}
-
-void GDAPI godot_nativescript_set_signal_documentation(void *p_gdnative_handle, const char *p_name, const char *p_signal_name, godot_string p_documentation) {
-	String *s = (String *)p_gdnative_handle;
-
-	Map<StringName, NativeScriptDesc>::Element *E = NSL->library_classes[*s].find(p_name);
-	ERR_FAIL_COND_MSG(!E, "Attempted to add documentation to a signal on a non-existent class.");
-
-	Map<StringName, NativeScriptDesc::Signal>::Element *signal = E->get().signals_.find(p_signal_name);
-	ERR_FAIL_COND_MSG(!signal, "Attempted to add documentation to non-existent signal.");
-
-	signal->get().documentation = *(String *)&p_documentation;
-}
-
-void GDAPI godot_nativescript_set_global_type_tag(int p_idx, const char *p_name, const void *p_type_tag) {
-	NativeScriptLanguage::get_singleton()->set_global_type_tag(p_idx, StringName(p_name), p_type_tag);
-}
-
-const void GDAPI *godot_nativescript_get_global_type_tag(int p_idx, const char *p_name) {
-	return NativeScriptLanguage::get_singleton()->get_global_type_tag(p_idx, StringName(p_name));
-}
-
-void GDAPI godot_nativescript_set_type_tag(void *p_gdnative_handle, const char *p_name, const void *p_type_tag) {
-	String *s = (String *)p_gdnative_handle;
-
-	Map<StringName, NativeScriptDesc>::Element *E = NSL->library_classes[*s].find(p_name);
-	ERR_FAIL_COND_MSG(!E, "Attempted to set type tag on a non-existent class.");
-
-	E->get().type_tag = p_type_tag;
-}
-
-const void GDAPI *godot_nativescript_get_type_tag(const godot_object *p_object) {
-	const Object *o = (Object *)p_object;
-
-	if (!o->get_script_instance()) {
-		return nullptr;
-	} else {
-		NativeScript *script = Object::cast_to<NativeScript>(o->get_script_instance()->get_script().ptr());
-		if (!script) {
-			return nullptr;
-		}
-
-		if (script->get_script_desc()) {
-			return script->get_script_desc()->type_tag;
-		}
-	}
-
-	return nullptr;
-}
-
-int GDAPI godot_nativescript_register_instance_binding_data_functions(godot_nativescript_instance_binding_functions p_binding_functions) {
-	return NativeScriptLanguage::get_singleton()->register_binding_functions(p_binding_functions);
-}
-
-void GDAPI godot_nativescript_unregister_instance_binding_data_functions(int p_idx) {
-	NativeScriptLanguage::get_singleton()->unregister_binding_functions(p_idx);
-}
-
-void GDAPI *godot_nativescript_get_instance_binding_data(int p_idx, godot_object *p_object) {
-	return nullptr;
-}
-
-void GDAPI godot_nativescript_profiling_add_data(const char *p_signature, uint64_t p_time) {
-	NativeScriptLanguage::get_singleton()->profiling_add_data(StringName(p_signature), p_time);
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/modules/gdnative/nativescript/nativescript.cpp b/modules/gdnative/nativescript/nativescript.cpp
deleted file mode 100644
index 95976a8827..0000000000
--- a/modules/gdnative/nativescript/nativescript.cpp
+++ /dev/null
@@ -1,1777 +0,0 @@
-/*************************************************************************/
-/*  nativescript.cpp                                                     */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "nativescript.h"
-
-#include <stdint.h>
-
-#include "gdnative/gdnative.h"
-
-#include "core/config/project_settings.h"
-#include "core/core_constants.h"
-#include "core/core_string_names.h"
-#include "core/io/file_access.h"
-#include "core/io/file_access_encrypted.h"
-#include "core/os/os.h"
-
-#include "main/main.h"
-
-#include "scene/main/scene_tree.h"
-#include "scene/resources/resource_format_text.h"
-
-#include <stdlib.h>
-
-#ifndef NO_THREADS
-#include "core/os/thread.h"
-#endif
-
-#if defined(TOOLS_ENABLED) && defined(DEBUG_METHODS_ENABLED)
-#include "api_generator.h"
-#endif
-
-#ifdef TOOLS_ENABLED
-#include "editor/editor_node.h"
-#endif
-
-void NativeScript::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("set_class_name", "class_name"), &NativeScript::set_class_name);
-	ClassDB::bind_method(D_METHOD("get_class_name"), &NativeScript::get_class_name);
-
-	ClassDB::bind_method(D_METHOD("set_library", "library"), &NativeScript::set_library);
-	ClassDB::bind_method(D_METHOD("get_library"), &NativeScript::get_library);
-
-	ClassDB::bind_method(D_METHOD("set_script_class_name", "class_name"), &NativeScript::set_script_class_name);
-	ClassDB::bind_method(D_METHOD("get_script_class_name"), &NativeScript::get_script_class_name);
-	ClassDB::bind_method(D_METHOD("set_script_class_icon_path", "icon_path"), &NativeScript::set_script_class_icon_path);
-	ClassDB::bind_method(D_METHOD("get_script_class_icon_path"), &NativeScript::get_script_class_icon_path);
-
-	ClassDB::bind_method(D_METHOD("get_class_documentation"), &NativeScript::get_class_documentation);
-	ClassDB::bind_method(D_METHOD("get_method_documentation", "method"), &NativeScript::get_method_documentation);
-	ClassDB::bind_method(D_METHOD("get_signal_documentation", "signal_name"), &NativeScript::get_signal_documentation);
-	ClassDB::bind_method(D_METHOD("get_property_documentation", "path"), &NativeScript::get_property_documentation);
-
-	ADD_PROPERTY(PropertyInfo(Variant::STRING, "class_name"), "set_class_name", "get_class_name");
-	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "library", PROPERTY_HINT_RESOURCE_TYPE, "GDNativeLibrary"), "set_library", "get_library");
-	ADD_GROUP("Script Class", "script_class_");
-	ADD_PROPERTY(PropertyInfo(Variant::STRING, "script_class_name"), "set_script_class_name", "get_script_class_name");
-	ADD_PROPERTY(PropertyInfo(Variant::STRING, "script_class_icon_path", PROPERTY_HINT_FILE), "set_script_class_icon_path", "get_script_class_icon_path");
-
-	ClassDB::bind_vararg_method(METHOD_FLAGS_DEFAULT, "new", &NativeScript::_new, MethodInfo("new"));
-}
-
-#define NSL NativeScriptLanguage::get_singleton()
-
-#ifdef TOOLS_ENABLED
-
-void NativeScript::_update_placeholder(PlaceHolderScriptInstance *p_placeholder) {
-	NativeScriptDesc *script_data = get_script_desc();
-
-	ERR_FAIL_COND(!script_data);
-
-	List<PropertyInfo> info;
-	get_script_property_list(&info);
-	Map<StringName, Variant> values;
-	for (const PropertyInfo &E : info) {
-		Variant value;
-		get_property_default_value(E.name, value);
-		values[E.name] = value;
-	}
-
-	p_placeholder->update(info, values);
-}
-
-void NativeScript::_placeholder_erased(PlaceHolderScriptInstance *p_placeholder) {
-	placeholders.erase(p_placeholder);
-}
-
-#endif
-
-bool NativeScript::inherits_script(const Ref<Script> &p_script) const {
-	Ref<NativeScript> ns = p_script;
-	if (ns.is_null()) {
-		return false;
-	}
-
-	const NativeScriptDesc *other_s = ns->get_script_desc();
-	if (!other_s) {
-		return false;
-	}
-
-	const NativeScriptDesc *s = get_script_desc();
-
-	while (s) {
-		if (s == other_s) {
-			return true;
-		}
-		s = s->base_data;
-	}
-
-	return false;
-}
-
-void NativeScript::set_class_name(String p_class_name) {
-	class_name = p_class_name;
-}
-
-String NativeScript::get_class_name() const {
-	return class_name;
-}
-
-void NativeScript::set_library(Ref<GDNativeLibrary> p_library) {
-	if (!library.is_null()) {
-		WARN_PRINT("Library in NativeScript already set. Do nothing.");
-		return;
-	}
-	if (p_library.is_null()) {
-		return;
-	}
-	library = p_library;
-	lib_path = library->get_current_library_path();
-
-#ifndef NO_THREADS
-	if (Thread::get_caller_id() != Thread::get_main_id()) {
-		NSL->defer_init_library(p_library, this);
-	} else
-#endif
-	{
-		NSL->init_library(p_library);
-		NSL->register_script(this);
-	}
-}
-
-Ref<GDNativeLibrary> NativeScript::get_library() const {
-	return library;
-}
-
-void NativeScript::set_script_class_name(String p_type) {
-	script_class_name = p_type;
-}
-
-String NativeScript::get_script_class_name() const {
-	return script_class_name;
-}
-
-void NativeScript::set_script_class_icon_path(String p_icon_path) {
-	script_class_icon_path = p_icon_path;
-}
-
-String NativeScript::get_script_class_icon_path() const {
-	return script_class_icon_path;
-}
-
-bool NativeScript::can_instantiate() const {
-	NativeScriptDesc *script_data = get_script_desc();
-
-#ifdef TOOLS_ENABLED
-	// Only valid if this is either a tool script or a "regular" script.
-	// (so, an environment where scripting is disabled (and not the editor) would not
-	// create objects).
-	return script_data && (is_tool() || ScriptServer::is_scripting_enabled());
-#else
-	return script_data;
-#endif
-}
-
-Ref<Script> NativeScript::get_base_script() const {
-	NativeScriptDesc *script_data = get_script_desc();
-
-	if (!script_data) {
-		return Ref<Script>();
-	}
-
-	NativeScript *script = (NativeScript *)NSL->create_script();
-	Ref<NativeScript> ns = Ref<NativeScript>(script);
-	ERR_FAIL_COND_V(!ns.is_valid(), Ref<Script>());
-
-	ns->set_class_name(script_data->base);
-	ns->set_library(get_library());
-	return ns;
-}
-
-StringName NativeScript::get_instance_base_type() const {
-	NativeScriptDesc *script_data = get_script_desc();
-
-	if (!script_data) {
-		return "";
-	}
-
-	return script_data->base_native_type;
-}
-
-ScriptInstance *NativeScript::instance_create(Object *p_this) {
-	NativeScriptDesc *script_data = get_script_desc();
-
-	if (!script_data) {
-		return nullptr;
-	}
-
-	NativeScriptInstance *nsi = memnew(NativeScriptInstance);
-
-	nsi->owner = p_this;
-	nsi->script = Ref<NativeScript>(this);
-
-#ifndef TOOLS_ENABLED
-	if (!ScriptServer::is_scripting_enabled()) {
-		nsi->userdata = nullptr;
-	} else {
-		nsi->userdata = script_data->create_func.create_func((godot_object *)p_this, script_data->create_func.method_data);
-	}
-#else
-	nsi->userdata = script_data->create_func.create_func((godot_object *)p_this, script_data->create_func.method_data);
-#endif
-
-	{
-		MutexLock lock(owners_lock);
-
-		instance_owners.insert(p_this);
-	}
-
-	return nsi;
-}
-
-PlaceHolderScriptInstance *NativeScript::placeholder_instance_create(Object *p_this) {
-#ifdef TOOLS_ENABLED
-	PlaceHolderScriptInstance *sins = memnew(PlaceHolderScriptInstance(NSL, Ref<Script>(this), p_this));
-	placeholders.insert(sins);
-
-	_update_placeholder(sins);
-
-	return sins;
-#else
-	return nullptr;
-#endif
-}
-
-bool NativeScript::instance_has(const Object *p_this) const {
-	return instance_owners.has((Object *)p_this);
-}
-
-bool NativeScript::has_source_code() const {
-	return false;
-}
-
-String NativeScript::get_source_code() const {
-	return "";
-}
-
-void NativeScript::set_source_code(const String &p_code) {
-}
-
-Error NativeScript::reload(bool p_keep_state) {
-	return FAILED;
-}
-
-bool NativeScript::has_method(const StringName &p_method) const {
-	NativeScriptDesc *script_data = get_script_desc();
-
-	while (script_data) {
-		if (script_data->methods.has(p_method)) {
-			return true;
-		}
-
-		script_data = script_data->base_data;
-	}
-	return false;
-}
-
-MethodInfo NativeScript::get_method_info(const StringName &p_method) const {
-	NativeScriptDesc *script_data = get_script_desc();
-
-	if (!script_data) {
-		return MethodInfo();
-	}
-
-	while (script_data) {
-		Map<StringName, NativeScriptDesc::Method>::Element *M = script_data->methods.find(p_method);
-
-		if (M) {
-			return M->get().info;
-		}
-
-		script_data = script_data->base_data;
-	}
-	return MethodInfo();
-}
-
-bool NativeScript::is_valid() const {
-	return true;
-}
-
-bool NativeScript::is_tool() const {
-	NativeScriptDesc *script_data = get_script_desc();
-
-	if (script_data) {
-		return script_data->is_tool;
-	}
-
-	return false;
-}
-
-ScriptLanguage *NativeScript::get_language() const {
-	return NativeScriptLanguage::get_singleton();
-}
-
-bool NativeScript::has_script_signal(const StringName &p_signal) const {
-	NativeScriptDesc *script_data = get_script_desc();
-
-	while (script_data) {
-		if (script_data->signals_.has(p_signal)) {
-			return true;
-		}
-		script_data = script_data->base_data;
-	}
-	return false;
-}
-
-void NativeScript::get_script_signal_list(List<MethodInfo> *r_signals) const {
-	NativeScriptDesc *script_data = get_script_desc();
-
-	if (!script_data) {
-		return;
-	}
-
-	Set<MethodInfo> signals_;
-
-	while (script_data) {
-		for (const KeyValue<StringName, NativeScriptDesc::Signal> &S : script_data->signals_) {
-			signals_.insert(S.value.signal);
-		}
-
-		script_data = script_data->base_data;
-	}
-
-	for (Set<MethodInfo>::Element *E = signals_.front(); E; E = E->next()) {
-		r_signals->push_back(E->get());
-	}
-}
-
-bool NativeScript::get_property_default_value(const StringName &p_property, Variant &r_value) const {
-	NativeScriptDesc *script_data = get_script_desc();
-
-	OrderedHashMap<StringName, NativeScriptDesc::Property>::Element P;
-	while (!P && script_data) {
-		P = script_data->properties.find(p_property);
-		script_data = script_data->base_data;
-	}
-	if (!P) {
-		return false;
-	}
-
-	r_value = P.get().default_value;
-	return true;
-}
-
-void NativeScript::update_exports() {
-}
-
-void NativeScript::get_script_method_list(List<MethodInfo> *p_list) const {
-	NativeScriptDesc *script_data = get_script_desc();
-
-	if (!script_data) {
-		return;
-	}
-
-	Set<MethodInfo> methods;
-
-	while (script_data) {
-		for (const KeyValue<StringName, NativeScriptDesc::Method> &E : script_data->methods) {
-			methods.insert(E.value.info);
-		}
-
-		script_data = script_data->base_data;
-	}
-
-	for (Set<MethodInfo>::Element *E = methods.front(); E; E = E->next()) {
-		p_list->push_back(E->get());
-	}
-}
-
-void NativeScript::get_script_property_list(List<PropertyInfo> *p_list) const {
-	NativeScriptDesc *script_data = get_script_desc();
-
-	Set<StringName> existing_properties;
-	List<PropertyInfo>::Element *original_back = p_list->back();
-	while (script_data) {
-		List<PropertyInfo>::Element *insert_position = original_back;
-
-		for (OrderedHashMap<StringName, NativeScriptDesc::Property>::Element E = script_data->properties.front(); E; E = E.next()) {
-			if (!existing_properties.has(E.key())) {
-				insert_position = p_list->insert_after(insert_position, E.get().info);
-				existing_properties.insert(E.key());
-			}
-		}
-		script_data = script_data->base_data;
-	}
-}
-
-const Vector<Multiplayer::RPCConfig> NativeScript::get_rpc_methods() const {
-	NativeScriptDesc *script_data = get_script_desc();
-	ERR_FAIL_COND_V(!script_data, Vector<Multiplayer::RPCConfig>());
-
-	return script_data->rpc_methods;
-}
-
-String NativeScript::get_class_documentation() const {
-	NativeScriptDesc *script_data = get_script_desc();
-
-	ERR_FAIL_COND_V_MSG(!script_data, "", "Attempt to get class documentation on invalid NativeScript.");
-
-	return script_data->documentation;
-}
-
-String NativeScript::get_method_documentation(const StringName &p_method) const {
-	NativeScriptDesc *script_data = get_script_desc();
-
-	ERR_FAIL_COND_V_MSG(!script_data, "", "Attempt to get method documentation on invalid NativeScript.");
-
-	while (script_data) {
-		Map<StringName, NativeScriptDesc::Method>::Element *method = script_data->methods.find(p_method);
-
-		if (method) {
-			return method->get().documentation;
-		}
-
-		script_data = script_data->base_data;
-	}
-
-	ERR_FAIL_V_MSG("", "Attempt to get method documentation for non-existent method.");
-}
-
-String NativeScript::get_signal_documentation(const StringName &p_signal_name) const {
-	NativeScriptDesc *script_data = get_script_desc();
-
-	ERR_FAIL_COND_V_MSG(!script_data, "", "Attempt to get signal documentation on invalid NativeScript.");
-
-	while (script_data) {
-		Map<StringName, NativeScriptDesc::Signal>::Element *signal = script_data->signals_.find(p_signal_name);
-
-		if (signal) {
-			return signal->get().documentation;
-		}
-
-		script_data = script_data->base_data;
-	}
-
-	ERR_FAIL_V_MSG("", "Attempt to get signal documentation for non-existent signal.");
-}
-
-String NativeScript::get_property_documentation(const StringName &p_path) const {
-	NativeScriptDesc *script_data = get_script_desc();
-
-	ERR_FAIL_COND_V_MSG(!script_data, "", "Attempt to get property documentation on invalid NativeScript.");
-
-	while (script_data) {
-		OrderedHashMap<StringName, NativeScriptDesc::Property>::Element property = script_data->properties.find(p_path);
-
-		if (property) {
-			return property.get().documentation;
-		}
-
-		script_data = script_data->base_data;
-	}
-
-	ERR_FAIL_V_MSG("", "Attempt to get property documentation for non-existent signal.");
-}
-
-Variant NativeScript::_new(const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
-	if (lib_path.is_empty() || class_name.is_empty() || library.is_null()) {
-		r_error.error = Callable::CallError::CALL_ERROR_INSTANCE_IS_NULL;
-		return Variant();
-	}
-
-	NativeScriptDesc *script_data = get_script_desc();
-
-	if (!script_data) {
-		r_error.error = Callable::CallError::CALL_ERROR_INSTANCE_IS_NULL;
-		return Variant();
-	}
-
-	r_error.error = Callable::CallError::CALL_OK;
-
-	REF ref;
-	Object *owner = nullptr;
-
-	if (!(script_data->base_native_type == "")) {
-		owner = ClassDB::instantiate(script_data->base_native_type);
-	} else {
-		owner = memnew(RefCounted);
-	}
-
-	if (!owner) {
-		r_error.error = Callable::CallError::CALL_ERROR_INSTANCE_IS_NULL;
-		return Variant();
-	}
-
-	RefCounted *r = Object::cast_to<RefCounted>(owner);
-	if (r) {
-		ref = REF(r);
-	}
-
-	NativeScriptInstance *instance = (NativeScriptInstance *)instance_create(owner);
-
-	owner->set_script_instance(instance);
-
-	if (!instance) {
-		if (ref.is_null()) {
-			memdelete(owner); //no owner, sorry
-		}
-		return Variant();
-	}
-
-	if (ref.is_valid()) {
-		return ref;
-	} else {
-		return owner;
-	}
-}
-
-NativeScript::NativeScript() {
-	library = Ref<GDNative>();
-	lib_path = "";
-	class_name = "";
-}
-
-NativeScript::~NativeScript() {
-	NSL->unregister_script(this);
-}
-
-#define GET_SCRIPT_DESC() script->get_script_desc()
-
-void NativeScriptInstance::_ml_call_reversed(NativeScriptDesc *script_data, const StringName &p_method, const Variant **p_args, int p_argcount) {
-	if (script_data->base_data) {
-		_ml_call_reversed(script_data->base_data, p_method, p_args, p_argcount);
-	}
-
-	Map<StringName, NativeScriptDesc::Method>::Element *E = script_data->methods.find(p_method);
-	if (E) {
-		godot_variant res = E->get().method.method((godot_object *)owner, E->get().method.method_data, userdata, p_argcount, (godot_variant **)p_args);
-		godot_variant_destroy(&res);
-	}
-}
-
-bool NativeScriptInstance::set(const StringName &p_name, const Variant &p_value) {
-	NativeScriptDesc *script_data = GET_SCRIPT_DESC();
-
-	while (script_data) {
-		OrderedHashMap<StringName, NativeScriptDesc::Property>::Element P = script_data->properties.find(p_name);
-		if (P) {
-			P.get().setter.set_func((godot_object *)owner,
-					P.get().setter.method_data,
-					userdata,
-					(godot_variant *)&p_value);
-			return true;
-		}
-
-		Map<StringName, NativeScriptDesc::Method>::Element *E = script_data->methods.find("_set");
-		if (E) {
-			Variant name = p_name;
-			const Variant *args[2] = { &name, &p_value };
-
-			godot_variant result;
-			result = E->get().method.method((godot_object *)owner,
-					E->get().method.method_data,
-					userdata,
-					2,
-					(godot_variant **)args);
-			bool handled = *(Variant *)&result;
-			godot_variant_destroy(&result);
-			if (handled) {
-				return true;
-			}
-		}
-
-		script_data = script_data->base_data;
-	}
-	return false;
-}
-
-bool NativeScriptInstance::get(const StringName &p_name, Variant &r_ret) const {
-	NativeScriptDesc *script_data = GET_SCRIPT_DESC();
-
-	while (script_data) {
-		OrderedHashMap<StringName, NativeScriptDesc::Property>::Element P = script_data->properties.find(p_name);
-		if (P) {
-			godot_variant value;
-			value = P.get().getter.get_func((godot_object *)owner,
-					P.get().getter.method_data,
-					userdata);
-			r_ret = *(Variant *)&value;
-			godot_variant_destroy(&value);
-			return true;
-		}
-
-		Map<StringName, NativeScriptDesc::Method>::Element *E = script_data->methods.find("_get");
-		if (E) {
-			Variant name = p_name;
-			const Variant *args[1] = { &name };
-
-			godot_variant result;
-			result = E->get().method.method((godot_object *)owner,
-					E->get().method.method_data,
-					userdata,
-					1,
-					(godot_variant **)args);
-			r_ret = *(Variant *)&result;
-			godot_variant_destroy(&result);
-			if (r_ret.get_type() != Variant::NIL) {
-				return true;
-			}
-		}
-
-		script_data = script_data->base_data;
-	}
-	return false;
-}
-
-void NativeScriptInstance::get_property_list(List<PropertyInfo> *p_properties) const {
-	script->get_script_property_list(p_properties);
-
-	NativeScriptDesc *script_data = GET_SCRIPT_DESC();
-
-	while (script_data) {
-		Map<StringName, NativeScriptDesc::Method>::Element *E = script_data->methods.find("_get_property_list");
-		if (E) {
-			godot_variant result;
-			result = E->get().method.method((godot_object *)owner,
-					E->get().method.method_data,
-					userdata,
-					0,
-					nullptr);
-			Variant res = *(Variant *)&result;
-			godot_variant_destroy(&result);
-
-			ERR_FAIL_COND_MSG(res.get_type() != Variant::ARRAY, "_get_property_list must return an array of dictionaries.");
-
-			Array arr = res;
-			for (int i = 0; i < arr.size(); i++) {
-				Dictionary d = arr[i];
-
-				ERR_CONTINUE(!d.has("name"));
-				ERR_CONTINUE(!d.has("type"));
-
-				PropertyInfo info;
-
-				info.type = Variant::Type(d["type"].operator int64_t());
-				ERR_CONTINUE(info.type < 0 || info.type >= Variant::VARIANT_MAX);
-
-				info.name = d["name"];
-				ERR_CONTINUE(info.name.is_empty());
-
-				if (d.has("hint")) {
-					info.hint = PropertyHint(d["hint"].operator int64_t());
-				}
-
-				if (d.has("hint_string")) {
-					info.hint_string = d["hint_string"];
-				}
-
-				if (d.has("usage")) {
-					info.usage = d["usage"];
-				}
-
-				p_properties->push_back(info);
-			}
-		}
-
-		script_data = script_data->base_data;
-	}
-	return;
-}
-
-Variant::Type NativeScriptInstance::get_property_type(const StringName &p_name, bool *r_is_valid) const {
-	NativeScriptDesc *script_data = GET_SCRIPT_DESC();
-
-	while (script_data) {
-		OrderedHashMap<StringName, NativeScriptDesc::Property>::Element P = script_data->properties.find(p_name);
-		if (P) {
-			*r_is_valid = true;
-			return P.get().info.type;
-		}
-
-		script_data = script_data->base_data;
-	}
-	return Variant::NIL;
-}
-
-void NativeScriptInstance::get_method_list(List<MethodInfo> *p_list) const {
-	script->get_script_method_list(p_list);
-}
-
-bool NativeScriptInstance::has_method(const StringName &p_method) const {
-	return script->has_method(p_method);
-}
-
-Variant NativeScriptInstance::call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
-	NativeScriptDesc *script_data = GET_SCRIPT_DESC();
-
-	while (script_data) {
-		Map<StringName, NativeScriptDesc::Method>::Element *E = script_data->methods.find(p_method);
-		if (E) {
-			godot_variant result;
-
-#ifdef DEBUG_ENABLED
-			current_method_call = p_method;
-#endif
-
-			result = E->get().method.method((godot_object *)owner,
-					E->get().method.method_data,
-					userdata,
-					p_argcount,
-					(godot_variant **)p_args);
-
-#ifdef DEBUG_ENABLED
-			current_method_call = "";
-#endif
-
-			Variant res = *(Variant *)&result;
-			godot_variant_destroy(&result);
-			r_error.error = Callable::CallError::CALL_OK;
-			return res;
-		}
-
-		script_data = script_data->base_data;
-	}
-
-	r_error.error = Callable::CallError::CALL_ERROR_INVALID_METHOD;
-	return Variant();
-}
-
-void NativeScriptInstance::notification(int p_what) {
-#ifdef DEBUG_ENABLED
-	switch (p_what) {
-		case MainLoop::NOTIFICATION_CRASH: {
-			if (current_method_call != StringName()) {
-				ERR_PRINT("NativeScriptInstance detected crash on method: " + current_method_call);
-				current_method_call = "";
-			}
-		} break;
-	}
-#endif
-
-	Variant value = p_what;
-	const Variant *args[1] = { &value };
-	Callable::CallError error;
-	call("_notification", args, 1, error);
-}
-
-String NativeScriptInstance::to_string(bool *r_valid) {
-	if (has_method(CoreStringNames::get_singleton()->_to_string)) {
-		Callable::CallError ce;
-		Variant ret = call(CoreStringNames::get_singleton()->_to_string, nullptr, 0, ce);
-		if (ce.error == Callable::CallError::CALL_OK) {
-			if (ret.get_type() != Variant::STRING) {
-				if (r_valid) {
-					*r_valid = false;
-				}
-				ERR_FAIL_V_MSG(String(), "Wrong type for " + CoreStringNames::get_singleton()->_to_string + ", must be a String.");
-			}
-			if (r_valid) {
-				*r_valid = true;
-			}
-			return ret.operator String();
-		}
-	}
-	if (r_valid) {
-		*r_valid = false;
-	}
-	return String();
-}
-
-void NativeScriptInstance::refcount_incremented() {
-	Callable::CallError err;
-	call("_refcount_incremented", nullptr, 0, err);
-	if (err.error != Callable::CallError::CALL_OK && err.error != Callable::CallError::CALL_ERROR_INVALID_METHOD) {
-		ERR_PRINT("Failed to invoke _refcount_incremented - should not happen");
-	}
-}
-
-bool NativeScriptInstance::refcount_decremented() {
-	Callable::CallError err;
-	Variant ret = call("_refcount_decremented", nullptr, 0, err);
-	if (err.error != Callable::CallError::CALL_OK && err.error != Callable::CallError::CALL_ERROR_INVALID_METHOD) {
-		ERR_PRINT("Failed to invoke _refcount_decremented - should not happen");
-		return true; // assume we can destroy the object
-	}
-	if (err.error == Callable::CallError::CALL_ERROR_INVALID_METHOD) {
-		// the method does not exist, default is true
-		return true;
-	}
-	return ret;
-}
-
-Ref<Script> NativeScriptInstance::get_script() const {
-	return script;
-}
-
-const Vector<Multiplayer::RPCConfig> NativeScriptInstance::get_rpc_methods() const {
-	return script->get_rpc_methods();
-}
-
-ScriptLanguage *NativeScriptInstance::get_language() {
-	return NativeScriptLanguage::get_singleton();
-}
-
-NativeScriptInstance::~NativeScriptInstance() {
-	NativeScriptDesc *script_data = GET_SCRIPT_DESC();
-
-	if (!script_data) {
-		return;
-	}
-
-	script_data->destroy_func.destroy_func((godot_object *)owner, script_data->destroy_func.method_data, userdata);
-
-	if (owner) {
-		MutexLock lock(script->owners_lock);
-
-		script->instance_owners.erase(owner);
-	}
-}
-
-NativeScriptLanguage *NativeScriptLanguage::singleton;
-
-void NativeScriptLanguage::_unload_stuff(bool p_reload) {
-	Map<String, Ref<GDNative>> erase_and_unload;
-
-	for (KeyValue<String, Map<StringName, NativeScriptDesc>> &L : library_classes) {
-		String lib_path = L.key;
-		Map<StringName, NativeScriptDesc> classes = L.value;
-
-		if (p_reload) {
-			Map<String, Ref<GDNative>>::Element *E = library_gdnatives.find(lib_path);
-			Ref<GDNative> gdn;
-
-			if (E) {
-				gdn = E->get();
-			}
-
-			bool should_reload = false;
-
-			if (gdn.is_valid()) {
-				Ref<GDNativeLibrary> lib = gdn->get_library();
-				if (lib.is_valid()) {
-					should_reload = lib->is_reloadable();
-				}
-			}
-
-			if (!should_reload) {
-				continue;
-			}
-		}
-
-		Map<String, Ref<GDNative>>::Element *E = library_gdnatives.find(lib_path);
-		Ref<GDNative> gdn;
-
-		if (E) {
-			gdn = E->get();
-		}
-
-		for (KeyValue<StringName, NativeScriptDesc> &C : classes) {
-			// free property stuff first
-			for (OrderedHashMap<StringName, NativeScriptDesc::Property>::Element P = C.value.properties.front(); P; P = P.next()) {
-				if (P.get().getter.free_func) {
-					P.get().getter.free_func(P.get().getter.method_data);
-				}
-
-				if (P.get().setter.free_func) {
-					P.get().setter.free_func(P.get().setter.method_data);
-				}
-			}
-
-			// free method stuff
-			for (const KeyValue<StringName, NativeScriptDesc::Method> &M : C.value.methods) {
-				if (M.value.method.free_func) {
-					M.value.method.free_func(M.value.method.method_data);
-				}
-			}
-
-			// free constructor/destructor
-			if (C.value.create_func.free_func) {
-				C.value.create_func.free_func(C.value.create_func.method_data);
-			}
-
-			if (C.value.destroy_func.free_func) {
-				C.value.destroy_func.free_func(C.value.destroy_func.method_data);
-			}
-		}
-
-		erase_and_unload.insert(lib_path, gdn);
-	}
-
-	for (KeyValue<String, Ref<GDNative>> &E : erase_and_unload) {
-		String lib_path = E.key;
-		Ref<GDNative> gdn = E.value;
-
-		library_classes.erase(lib_path);
-
-		if (gdn.is_valid() && gdn->get_library().is_valid()) {
-			Ref<GDNativeLibrary> lib = gdn->get_library();
-			void *terminate_fn;
-			Error err = gdn->get_symbol(lib->get_symbol_prefix() + _terminate_call_name, terminate_fn, true);
-
-			if (err == OK) {
-				void (*terminate)(void *) = (void (*)(void *))terminate_fn;
-
-				terminate((void *)&lib_path);
-			}
-		}
-	}
-}
-
-NativeScriptLanguage::NativeScriptLanguage() {
-	NativeScriptLanguage::singleton = this;
-
-	_init_call_type = "nativescript_init";
-	_init_call_name = "nativescript_init";
-	_terminate_call_name = "nativescript_terminate";
-	_noarg_call_type = "nativescript_no_arg";
-	_frame_call_name = "nativescript_frame";
-#ifndef NO_THREADS
-	_thread_enter_call_name = "nativescript_thread_enter";
-	_thread_exit_call_name = "nativescript_thread_exit";
-#endif
-}
-
-NativeScriptLanguage::~NativeScriptLanguage() {
-	for (KeyValue<String, Ref<GDNative>> &L : NSL->library_gdnatives) {
-		Ref<GDNative> lib = L.value;
-		// only shut down valid libs, duh!
-		if (lib.is_valid()) {
-			// If it's a singleton-library then the gdnative module
-			// manages the destruction at engine shutdown, not NativeScript.
-			if (!lib->get_library()->is_singleton()) {
-				lib->terminate();
-			}
-		}
-	}
-
-	NSL->library_classes.clear();
-	NSL->library_gdnatives.clear();
-	NSL->library_script_users.clear();
-}
-
-String NativeScriptLanguage::get_name() const {
-	return "NativeScript";
-}
-
-void _add_reload_node() {
-#ifdef TOOLS_ENABLED
-	NativeReloadNode *rn = memnew(NativeReloadNode);
-	EditorNode::get_singleton()->add_child(rn);
-#endif
-}
-
-void NativeScriptLanguage::init() {
-#if defined(TOOLS_ENABLED) && defined(DEBUG_METHODS_ENABLED)
-
-	List<String> args = OS::get_singleton()->get_cmdline_args();
-
-	List<String>::Element *E = args.find("--gdnative-generate-json-api");
-
-	if (E && E->next()) {
-		if (generate_c_api(E->next()->get()) != OK) {
-			ERR_PRINT("Failed to generate C API\n");
-		}
-		Main::cleanup(true);
-		exit(0);
-	}
-
-	E = args.find("--gdnative-generate-json-builtin-api");
-
-	if (E && E->next()) {
-		if (generate_c_builtin_api(E->next()->get()) != OK) {
-			ERR_PRINT("Failed to generate C builtin API\n");
-		}
-		Main::cleanup(true);
-		exit(0);
-	}
-#endif
-
-#ifdef TOOLS_ENABLED
-	EditorNode::add_init_callback(&_add_reload_node);
-#endif
-}
-
-String NativeScriptLanguage::get_type() const {
-	return "NativeScript";
-}
-
-String NativeScriptLanguage::get_extension() const {
-	return "gdns";
-}
-
-Error NativeScriptLanguage::execute_file(const String &p_path) {
-	return OK; // Qué?
-}
-
-void NativeScriptLanguage::finish() {
-	_unload_stuff();
-}
-
-void NativeScriptLanguage::get_reserved_words(List<String> *p_words) const {
-}
-
-bool NativeScriptLanguage::is_control_flow_keyword(String p_keyword) const {
-	return false;
-}
-
-void NativeScriptLanguage::get_comment_delimiters(List<String> *p_delimiters) const {
-}
-
-void NativeScriptLanguage::get_string_delimiters(List<String> *p_delimiters) const {
-}
-
-Ref<Script> NativeScriptLanguage::get_template(const String &p_class_name, const String &p_base_class_name) const {
-	NativeScript *s = memnew(NativeScript);
-	s->set_class_name(p_class_name);
-	return Ref<NativeScript>(s);
-}
-
-bool NativeScriptLanguage::validate(const String &p_script, const String &p_path, List<String> *r_functions, List<ScriptLanguage::ScriptError> *r_errors, List<ScriptLanguage::Warning> *r_warnings, Set<int> *r_safe_lines) const {
-	return true;
-}
-
-Script *NativeScriptLanguage::create_script() const {
-	NativeScript *script = memnew(NativeScript);
-	return script;
-}
-
-bool NativeScriptLanguage::has_named_classes() const {
-	return true;
-}
-
-bool NativeScriptLanguage::supports_builtin_mode() const {
-	return true;
-}
-
-int NativeScriptLanguage::find_function(const String &p_function, const String &p_code) const {
-	return -1;
-}
-
-String NativeScriptLanguage::make_function(const String &p_class, const String &p_name, const PackedStringArray &p_args) const {
-	return "";
-}
-
-void NativeScriptLanguage::auto_indent_code(String &p_code, int p_from_line, int p_to_line) const {
-}
-
-void NativeScriptLanguage::add_global_constant(const StringName &p_variable, const Variant &p_value) {
-}
-
-// Debugging stuff here. Not used for now.
-String NativeScriptLanguage::debug_get_error() const {
-	return "";
-}
-
-int NativeScriptLanguage::debug_get_stack_level_count() const {
-	return -1;
-}
-
-int NativeScriptLanguage::debug_get_stack_level_line(int p_level) const {
-	return -1;
-}
-
-String NativeScriptLanguage::debug_get_stack_level_function(int p_level) const {
-	return "";
-}
-
-String NativeScriptLanguage::debug_get_stack_level_source(int p_level) const {
-	return "";
-}
-
-void NativeScriptLanguage::debug_get_stack_level_locals(int p_level, List<String> *p_locals, List<Variant> *p_values, int p_max_subitems, int p_max_depth) {
-}
-
-void NativeScriptLanguage::debug_get_stack_level_members(int p_level, List<String> *p_members, List<Variant> *p_values, int p_max_subitems, int p_max_depth) {
-}
-
-void NativeScriptLanguage::debug_get_globals(List<String> *p_locals, List<Variant> *p_values, int p_max_subitems, int p_max_depth) {
-}
-
-String NativeScriptLanguage::debug_parse_stack_level_expression(int p_level, const String &p_expression, int p_max_subitems, int p_max_depth) {
-	return "";
-}
-
-// Debugging stuff end.
-
-void NativeScriptLanguage::reload_all_scripts() {
-}
-
-void NativeScriptLanguage::reload_tool_script(const Ref<Script> &p_script, bool p_soft_reload) {
-}
-
-void NativeScriptLanguage::get_recognized_extensions(List<String> *p_extensions) const {
-	p_extensions->push_back("gdns");
-}
-
-void NativeScriptLanguage::get_public_functions(List<MethodInfo> *p_functions) const {
-}
-
-void NativeScriptLanguage::get_public_constants(List<Pair<String, Variant>> *p_constants) const {
-}
-
-void NativeScriptLanguage::profiling_start() {
-#ifdef DEBUG_ENABLED
-	MutexLock lock(mutex);
-
-	profile_data.clear();
-#endif
-}
-
-void NativeScriptLanguage::profiling_stop() {
-#ifdef DEBUG_ENABLED
-	MutexLock lock(mutex);
-#endif
-}
-
-int NativeScriptLanguage::profiling_get_accumulated_data(ProfilingInfo *p_info_arr, int p_info_max) {
-#ifdef DEBUG_ENABLED
-	MutexLock lock(mutex);
-
-	int current = 0;
-
-	for (const KeyValue<StringName, ProfileData> &d : profile_data) {
-		if (current >= p_info_max) {
-			break;
-		}
-
-		p_info_arr[current].call_count = d.value.call_count;
-		p_info_arr[current].self_time = d.value.self_time;
-		p_info_arr[current].total_time = d.value.total_time;
-		p_info_arr[current].signature = d.value.signature;
-		current++;
-	}
-
-	return current;
-#else
-	return 0;
-#endif
-}
-
-int NativeScriptLanguage::profiling_get_frame_data(ProfilingInfo *p_info_arr, int p_info_max) {
-#ifdef DEBUG_ENABLED
-	MutexLock lock(mutex);
-
-	int current = 0;
-
-	for (const KeyValue<StringName, ProfileData> &d : profile_data) {
-		if (current >= p_info_max) {
-			break;
-		}
-
-		if (d.value.last_frame_call_count) {
-			p_info_arr[current].call_count = d.value.last_frame_call_count;
-			p_info_arr[current].self_time = d.value.last_frame_self_time;
-			p_info_arr[current].total_time = d.value.last_frame_total_time;
-			p_info_arr[current].signature = d.value.signature;
-			current++;
-		}
-	}
-
-	return current;
-#else
-	return 0;
-#endif
-}
-
-void NativeScriptLanguage::profiling_add_data(StringName p_signature, uint64_t p_time) {
-#ifdef DEBUG_ENABLED
-	MutexLock lock(mutex);
-
-	Map<StringName, ProfileData>::Element *d = profile_data.find(p_signature);
-	if (d) {
-		d->get().call_count += 1;
-		d->get().total_time += p_time;
-		d->get().frame_call_count += 1;
-		d->get().frame_total_time += p_time;
-	} else {
-		ProfileData data;
-
-		data.signature = p_signature;
-		data.call_count = 1;
-		data.self_time = 0;
-		data.total_time = p_time;
-		data.frame_call_count = 1;
-		data.frame_self_time = 0;
-		data.frame_total_time = p_time;
-		data.last_frame_call_count = 0;
-		data.last_frame_self_time = 0;
-		data.last_frame_total_time = 0;
-
-		profile_data.insert(p_signature, data);
-	}
-#endif
-}
-
-int NativeScriptLanguage::register_binding_functions(godot_nativescript_instance_binding_functions p_binding_functions) {
-	// find index
-
-	int idx = -1;
-
-	for (int i = 0; i < binding_functions.size(); i++) {
-		if (!binding_functions[i].first) {
-			// free, we'll take it
-			idx = i;
-			break;
-		}
-	}
-
-	if (idx == -1) {
-		idx = binding_functions.size();
-		binding_functions.resize(idx + 1);
-	}
-
-	// set the functions
-	binding_functions.write[idx].first = true;
-	binding_functions.write[idx].second = p_binding_functions;
-
-	return idx;
-}
-
-void NativeScriptLanguage::unregister_binding_functions(int p_idx) {
-	ERR_FAIL_INDEX(p_idx, binding_functions.size());
-
-	for (Set<Vector<void *> *>::Element *E = binding_instances.front(); E; E = E->next()) {
-		Vector<void *> &binding_data = *E->get();
-
-		if (p_idx < binding_data.size() && binding_data[p_idx] && binding_functions[p_idx].second.free_instance_binding_data) {
-			binding_functions[p_idx].second.free_instance_binding_data(binding_functions[p_idx].second.data, binding_data[p_idx]);
-		}
-	}
-
-	binding_functions.write[p_idx].first = false;
-
-	if (binding_functions[p_idx].second.free_func) {
-		binding_functions[p_idx].second.free_func(binding_functions[p_idx].second.data);
-	}
-}
-
-void *NativeScriptLanguage::get_instance_binding_data(int p_idx, Object *p_object) {
-	return nullptr;
-#if 0
-	ERR_FAIL_INDEX_V(p_idx, binding_functions.size(), nullptr);
-
-	ERR_FAIL_COND_V_MSG(!binding_functions[p_idx].first, nullptr, "Tried to get binding data for a nativescript binding that does not exist.");
-
-	Vector<void *> *binding_data = (Vector<void *> *)p_object->get_script_instance_binding(lang_idx);
-
-	if (!binding_data) {
-		return nullptr; // should never happen.
-	}
-
-	if (binding_data->size() <= p_idx) {
-		// okay, add new elements here.
-		int old_size = binding_data->size();
-
-		binding_data->resize(p_idx + 1);
-
-		for (int i = old_size; i <= p_idx; i++) {
-			(*binding_data).write[i] = nullptr;
-		}
-	}
-
-	if (!(*binding_data)[p_idx]) {
-		const void *global_type_tag = get_global_type_tag(p_idx, p_object->get_class_name());
-
-		// no binding data yet, soooooo alloc new one \o/
-		(*binding_data).write[p_idx] = binding_functions[p_idx].second.alloc_instance_binding_data(binding_functions[p_idx].second.data, global_type_tag, (godot_object *)p_object);
-	}
-
-	return (*binding_data)[p_idx];
-#endif
-}
-
-void *NativeScriptLanguage::alloc_instance_binding_data(Object *p_object) {
-	return nullptr;
-#if 0
-	Vector<void *> *binding_data = new Vector<void *>;
-
-	binding_data->resize(binding_functions.size());
-
-	for (int i = 0; i < binding_functions.size(); i++) {
-		(*binding_data).write[i] = nullptr;
-	}
-
-	binding_instances.insert(binding_data);
-
-	return (void *)binding_data;
-#endif
-}
-
-void NativeScriptLanguage::free_instance_binding_data(void *p_data) {
-#if 0
-	if (!p_data) {
-		return;
-	}
-
-	Vector<void *> &binding_data = *(Vector<void *> *)p_data;
-
-	for (int i = 0; i < binding_data.size(); i++) {
-		if (!binding_data[i]) {
-			continue;
-		}
-
-		if (binding_functions[i].first && binding_functions[i].second.free_instance_binding_data) {
-			binding_functions[i].second.free_instance_binding_data(binding_functions[i].second.data, binding_data[i]);
-		}
-	}
-
-	binding_instances.erase(&binding_data);
-
-	delete &binding_data;
-#endif
-}
-
-void NativeScriptLanguage::refcount_incremented_instance_binding(Object *p_object) {
-#if 0
-	void *data = p_object->get_script_instance_binding(lang_idx);
-
-	if (!data) {
-		return;
-	}
-
-	Vector<void *> &binding_data = *(Vector<void *> *)data;
-
-	for (int i = 0; i < binding_data.size(); i++) {
-		if (!binding_data[i]) {
-			continue;
-		}
-
-		if (!binding_functions[i].first) {
-			continue;
-		}
-
-		if (binding_functions[i].second.refcount_incremented_instance_binding) {
-			binding_functions[i].second.refcount_incremented_instance_binding(binding_data[i], p_object);
-		}
-	}
-#endif
-}
-
-bool NativeScriptLanguage::refcount_decremented_instance_binding(Object *p_object) {
-#if 0
-	void *data = p_object->get_script_instance_binding(lang_idx);
-
-	if (!data) {
-		return true;
-	}
-
-	Vector<void *> &binding_data = *(Vector<void *> *)data;
-
-	bool can_die = true;
-
-	for (int i = 0; i < binding_data.size(); i++) {
-		if (!binding_data[i]) {
-			continue;
-		}
-
-		if (!binding_functions[i].first) {
-			continue;
-		}
-
-		if (binding_functions[i].second.refcount_decremented_instance_binding) {
-			can_die = can_die && binding_functions[i].second.refcount_decremented_instance_binding(binding_data[i], p_object);
-		}
-	}
-
-	return can_die;
-#endif
-	return false;
-}
-
-void NativeScriptLanguage::set_global_type_tag(int p_idx, StringName p_class_name, const void *p_type_tag) {
-	if (!global_type_tags.has(p_idx)) {
-		global_type_tags.insert(p_idx, HashMap<StringName, const void *>());
-	}
-
-	HashMap<StringName, const void *> &tags = global_type_tags[p_idx];
-
-	tags.set(p_class_name, p_type_tag);
-}
-
-const void *NativeScriptLanguage::get_global_type_tag(int p_idx, StringName p_class_name) const {
-	if (!global_type_tags.has(p_idx)) {
-		return nullptr;
-	}
-
-	const HashMap<StringName, const void *> &tags = global_type_tags[p_idx];
-
-	if (!tags.has(p_class_name)) {
-		return nullptr;
-	}
-
-	const void *tag = tags.get(p_class_name);
-
-	return tag;
-}
-
-#ifndef NO_THREADS
-void NativeScriptLanguage::defer_init_library(Ref<GDNativeLibrary> lib, NativeScript *script) {
-	MutexLock lock(mutex);
-	libs_to_init.insert(lib);
-	scripts_to_register.insert(script);
-	has_objects_to_register.set();
-}
-#endif
-
-void NativeScriptLanguage::init_library(const Ref<GDNativeLibrary> &lib) {
-	MutexLock lock(mutex);
-
-	// See if this library was "registered" already.
-	const String &lib_path = lib->get_current_library_path();
-	ERR_FAIL_COND_MSG(lib_path.length() == 0, lib->get_name() + " does not have a library for the current platform.");
-	Map<String, Ref<GDNative>>::Element *E = library_gdnatives.find(lib_path);
-
-	if (!E) {
-		Ref<GDNative> gdn;
-		gdn.instantiate();
-		gdn->set_library(lib);
-
-		// TODO check the return value?
-		gdn->initialize();
-
-		library_gdnatives.insert(lib_path, gdn);
-
-		library_classes.insert(lib_path, Map<StringName, NativeScriptDesc>());
-
-		if (!library_script_users.has(lib_path)) {
-			library_script_users.insert(lib_path, Set<NativeScript *>());
-		}
-
-		void *proc_ptr;
-
-		Error err = gdn->get_symbol(lib->get_symbol_prefix() + _init_call_name, proc_ptr);
-
-		if (err != OK) {
-			ERR_PRINT(String("No " + _init_call_name + " in \"" + lib_path + "\" found").utf8().get_data());
-		} else {
-			((void (*)(godot_string *))proc_ptr)((godot_string *)&lib_path);
-		}
-	} else {
-		// already initialized. Nice.
-	}
-}
-
-void NativeScriptLanguage::register_script(NativeScript *script) {
-	MutexLock lock(mutex);
-
-	library_script_users[script->lib_path].insert(script);
-}
-
-void NativeScriptLanguage::unregister_script(NativeScript *script) {
-	MutexLock lock(mutex);
-
-	Map<String, Set<NativeScript *>>::Element *S = library_script_users.find(script->lib_path);
-	if (S) {
-		S->get().erase(script);
-		if (S->get().size() == 0) {
-			library_script_users.erase(S);
-
-			Map<String, Ref<GDNative>>::Element *G = library_gdnatives.find(script->lib_path);
-			if (G && G->get()->get_library()->is_reloadable()) {
-				// ONLY if the library is marked as reloadable, and no more instances of its scripts exist do we unload the library
-
-				// First remove meta data related to the library
-				Map<String, Map<StringName, NativeScriptDesc>>::Element *L = library_classes.find(script->lib_path);
-				if (L) {
-					Map<StringName, NativeScriptDesc> classes = L->get();
-
-					for (KeyValue<StringName, NativeScriptDesc> &C : classes) {
-						// free property stuff first
-						for (OrderedHashMap<StringName, NativeScriptDesc::Property>::Element P = C.value.properties.front(); P; P = P.next()) {
-							if (P.get().getter.free_func) {
-								P.get().getter.free_func(P.get().getter.method_data);
-							}
-
-							if (P.get().setter.free_func) {
-								P.get().setter.free_func(P.get().setter.method_data);
-							}
-						}
-
-						// free method stuff
-						for (const KeyValue<StringName, NativeScriptDesc::Method> &M : C.value.methods) {
-							if (M.value.method.free_func) {
-								M.value.method.free_func(M.value.method.method_data);
-							}
-						}
-
-						// free constructor/destructor
-						if (C.value.create_func.free_func) {
-							C.value.create_func.free_func(C.value.create_func.method_data);
-						}
-
-						if (C.value.destroy_func.free_func) {
-							C.value.destroy_func.free_func(C.value.destroy_func.method_data);
-						}
-					}
-
-					library_classes.erase(script->lib_path);
-				}
-
-				// now unload the library
-				G->get()->terminate();
-				library_gdnatives.erase(G);
-			}
-		}
-	}
-#ifndef NO_THREADS
-	scripts_to_register.erase(script);
-#endif
-}
-
-void NativeScriptLanguage::call_libraries_cb(const StringName &name) {
-	// library_gdnatives is modified only from the main thread, so it's safe not to use mutex here
-	for (KeyValue<String, Ref<GDNative>> &L : library_gdnatives) {
-		if (L.value.is_null()) {
-			continue;
-		}
-
-		if (L.value->is_initialized()) {
-			void *proc_ptr;
-			Error err = L.value->get_symbol(L.value->get_library()->get_symbol_prefix() + name, proc_ptr);
-
-			if (!err) {
-				((void (*)())proc_ptr)();
-			}
-		}
-	}
-}
-
-void NativeScriptLanguage::frame() {
-#ifndef NO_THREADS
-	if (has_objects_to_register.is_set()) {
-		MutexLock lock(mutex);
-		for (Set<Ref<GDNativeLibrary>>::Element *L = libs_to_init.front(); L; L = L->next()) {
-			init_library(L->get());
-		}
-		libs_to_init.clear();
-		for (Set<NativeScript *>::Element *S = scripts_to_register.front(); S; S = S->next()) {
-			register_script(S->get());
-		}
-		scripts_to_register.clear();
-		has_objects_to_register.clear();
-	}
-#endif
-
-#ifdef DEBUG_ENABLED
-	{
-		MutexLock lock(mutex);
-
-		for (KeyValue<StringName, ProfileData> &d : profile_data) {
-			d.value.last_frame_call_count = d.value.frame_call_count;
-			d.value.last_frame_self_time = d.value.frame_self_time;
-			d.value.last_frame_total_time = d.value.frame_total_time;
-			d.value.frame_call_count = 0;
-			d.value.frame_self_time = 0;
-			d.value.frame_total_time = 0;
-		}
-	}
-#endif
-
-	call_libraries_cb(_frame_call_name);
-}
-
-#ifndef NO_THREADS
-
-void NativeScriptLanguage::thread_enter() {
-	call_libraries_cb(_thread_enter_call_name);
-}
-
-void NativeScriptLanguage::thread_exit() {
-	call_libraries_cb(_thread_exit_call_name);
-}
-
-#endif // NO_THREADS
-
-bool NativeScriptLanguage::handles_global_class_type(const String &p_type) const {
-	return p_type == "NativeScript";
-}
-
-String NativeScriptLanguage::get_global_class_name(const String &p_path, String *r_base_type, String *r_icon_path) const {
-	if (!p_path.is_empty()) {
-		Ref<NativeScript> script = ResourceLoader::load(p_path, "NativeScript");
-		if (script.is_valid()) {
-			if (r_base_type) {
-				*r_base_type = script->get_instance_base_type();
-			}
-			if (r_icon_path) {
-				*r_icon_path = script->get_script_class_icon_path();
-			}
-			return script->get_script_class_name();
-		}
-		if (r_base_type) {
-			*r_base_type = String();
-		}
-		if (r_icon_path) {
-			*r_icon_path = String();
-		}
-	}
-	return String();
-}
-
-void NativeReloadNode::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("_notification"), &NativeReloadNode::_notification);
-}
-
-void NativeReloadNode::_notification(int p_what) {
-#ifdef TOOLS_ENABLED
-	switch (p_what) {
-		case NOTIFICATION_APPLICATION_FOCUS_OUT: {
-			if (unloaded) {
-				break;
-			}
-			MutexLock lock(NSL->mutex);
-			NSL->_unload_stuff(true);
-
-			for (KeyValue<String, Ref<GDNative>> &L : NSL->library_gdnatives) {
-				Ref<GDNative> gdn = L.value;
-
-				if (gdn.is_null()) {
-					continue;
-				}
-
-				// Don't unload what should not be reloaded!
-				if (!gdn->get_library()->is_reloadable()) {
-					continue;
-				}
-
-				// singleton libraries might have alive pointers living inside the
-				// editor. Also reloading a singleton library would mean that
-				// the singleton entry will not be called again, as this only
-				// happens at engine startup.
-				if (gdn->get_library()->is_singleton()) {
-					continue;
-				}
-
-				gdn->terminate();
-			}
-
-			unloaded = true;
-		} break;
-
-		case NOTIFICATION_APPLICATION_FOCUS_IN: {
-			if (!unloaded) {
-				break;
-			}
-			MutexLock lock(NSL->mutex);
-
-			Set<StringName> libs_to_remove;
-			for (KeyValue<String, Ref<GDNative>> &L : NSL->library_gdnatives) {
-				Ref<GDNative> gdn = L.value;
-
-				if (gdn.is_null()) {
-					continue;
-				}
-
-				if (!gdn->get_library()->is_reloadable()) {
-					continue;
-				}
-
-				// since singleton libraries are not unloaded there is no point
-				// in loading them again.
-				if (gdn->get_library()->is_singleton()) {
-					continue;
-				}
-
-				if (!gdn->initialize()) {
-					libs_to_remove.insert(L.key);
-					continue;
-				}
-
-				NSL->library_classes.insert(L.key, Map<StringName, NativeScriptDesc>());
-
-				// here the library registers all the classes and stuff.
-
-				void *proc_ptr;
-				Error err = gdn->get_symbol(gdn->get_library()->get_symbol_prefix() + "nativescript_init", proc_ptr);
-				if (err != OK) {
-					ERR_PRINT(String("No godot_nativescript_init in \"" + L.key + "\" found").utf8().get_data());
-				} else {
-					((void (*)(void *))proc_ptr)((void *)&L.key);
-				}
-
-				for (KeyValue<String, Set<NativeScript *>> &U : NSL->library_script_users) {
-					for (Set<NativeScript *>::Element *S = U.value.front(); S; S = S->next()) {
-						NativeScript *script = S->get();
-
-						if (script->placeholders.size() == 0) {
-							continue;
-						}
-
-						for (Set<PlaceHolderScriptInstance *>::Element *P = script->placeholders.front(); P; P = P->next()) {
-							script->_update_placeholder(P->get());
-						}
-					}
-				}
-			}
-
-			unloaded = false;
-
-			for (Set<StringName>::Element *R = libs_to_remove.front(); R; R = R->next()) {
-				NSL->library_gdnatives.erase(R->get());
-			}
-		} break;
-	}
-#endif
-}
-
-RES ResourceFormatLoaderNativeScript::load(const String &p_path, const String &p_original_path, Error *r_error, bool p_use_sub_threads, float *r_progress, CacheMode p_no_cache) {
-	return ResourceFormatLoaderText::singleton->load(p_path, p_original_path, r_error);
-}
-
-void ResourceFormatLoaderNativeScript::get_recognized_extensions(List<String> *p_extensions) const {
-	p_extensions->push_back("gdns");
-}
-
-bool ResourceFormatLoaderNativeScript::handles_type(const String &p_type) const {
-	return (p_type == "Script" || p_type == "NativeScript");
-}
-
-String ResourceFormatLoaderNativeScript::get_resource_type(const String &p_path) const {
-	String el = p_path.get_extension().to_lower();
-	if (el == "gdns") {
-		return "NativeScript";
-	}
-	return "";
-}
-
-Error ResourceFormatSaverNativeScript::save(const String &p_path, const RES &p_resource, uint32_t p_flags) {
-	ResourceFormatSaverText rfst;
-	return rfst.save(p_path, p_resource, p_flags);
-}
-
-bool ResourceFormatSaverNativeScript::recognize(const RES &p_resource) const {
-	return Object::cast_to<NativeScript>(*p_resource) != nullptr;
-}
-
-void ResourceFormatSaverNativeScript::get_recognized_extensions(const RES &p_resource, List<String> *p_extensions) const {
-	if (Object::cast_to<NativeScript>(*p_resource)) {
-		p_extensions->push_back("gdns");
-	}
-}
diff --git a/modules/gdnative/nativescript/nativescript.h b/modules/gdnative/nativescript/nativescript.h
deleted file mode 100644
index 2d01de5832..0000000000
--- a/modules/gdnative/nativescript/nativescript.h
+++ /dev/null
@@ -1,393 +0,0 @@
-/*************************************************************************/
-/*  nativescript.h                                                       */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef NATIVE_SCRIPT_H
-#define NATIVE_SCRIPT_H
-
-#include "core/doc_data.h"
-#include "core/io/resource.h"
-#include "core/io/resource_loader.h"
-#include "core/io/resource_saver.h"
-#include "core/object/script_language.h"
-#include "core/os/mutex.h"
-#include "core/os/thread_safe.h"
-#include "core/templates/oa_hash_map.h"
-#include "core/templates/ordered_hash_map.h"
-#include "core/templates/safe_refcount.h"
-#include "core/templates/self_list.h"
-#include "scene/main/node.h"
-
-#include "modules/gdnative/gdnative.h"
-
-#include <nativescript/godot_nativescript.h>
-
-struct NativeScriptDesc {
-	struct Method {
-		godot_nativescript_instance_method method;
-		MethodInfo info;
-		int rpc_mode = 0;
-		uint16_t rpc_method_id = 0;
-		String documentation;
-	};
-
-	struct Property {
-		godot_nativescript_property_set_func setter;
-		godot_nativescript_property_get_func getter;
-		PropertyInfo info;
-		Variant default_value;
-		String documentation;
-	};
-
-	struct Signal {
-		MethodInfo signal;
-		String documentation;
-	};
-
-	Map<StringName, Method> methods;
-	Vector<Multiplayer::RPCConfig> rpc_methods;
-	OrderedHashMap<StringName, Property> properties;
-	Map<StringName, Signal> signals_; // QtCreator doesn't like the name signals
-	StringName base;
-	StringName base_native_type;
-	NativeScriptDesc *base_data = nullptr;
-	godot_nativescript_instance_create_func create_func;
-	godot_nativescript_instance_destroy_func destroy_func;
-
-	String documentation;
-
-	const void *type_tag = nullptr;
-
-	bool is_tool = false;
-
-	inline NativeScriptDesc() {
-		memset(&create_func, 0, sizeof(godot_nativescript_instance_create_func));
-		memset(&destroy_func, 0, sizeof(godot_nativescript_instance_destroy_func));
-	}
-};
-
-class NativeScript : public Script {
-	GDCLASS(NativeScript, Script);
-
-#ifdef TOOLS_ENABLED
-	Set<PlaceHolderScriptInstance *> placeholders;
-	void _update_placeholder(PlaceHolderScriptInstance *p_placeholder);
-	virtual void _placeholder_erased(PlaceHolderScriptInstance *p_placeholder) override;
-#endif
-
-	friend class NativeScriptInstance;
-	friend class NativeScriptLanguage;
-	friend class NativeReloadNode;
-	friend class GDNativeLibrary;
-
-	Ref<GDNativeLibrary> library;
-
-	String lib_path;
-
-	String class_name;
-
-	String script_class_name;
-	String script_class_icon_path;
-
-	Mutex owners_lock;
-	Set<Object *> instance_owners;
-
-protected:
-	static void _bind_methods();
-
-public:
-	inline NativeScriptDesc *get_script_desc() const;
-
-	bool inherits_script(const Ref<Script> &p_script) const override;
-
-	void set_class_name(String p_class_name);
-	String get_class_name() const;
-
-	void set_library(Ref<GDNativeLibrary> p_library);
-	Ref<GDNativeLibrary> get_library() const;
-
-	void set_script_class_name(String p_type);
-	String get_script_class_name() const;
-	void set_script_class_icon_path(String p_icon_path);
-	String get_script_class_icon_path() const;
-
-	virtual bool can_instantiate() const override;
-
-	virtual Ref<Script> get_base_script() const override; //for script inheritance
-
-	virtual StringName get_instance_base_type() const override; // this may not work in all scripts, will return empty if so
-	virtual ScriptInstance *instance_create(Object *p_this) override;
-	virtual PlaceHolderScriptInstance *placeholder_instance_create(Object *p_this) override;
-	virtual bool instance_has(const Object *p_this) const override;
-
-	virtual bool has_source_code() const override;
-	virtual String get_source_code() const override;
-	virtual void set_source_code(const String &p_code) override;
-	virtual Error reload(bool p_keep_state = false) override;
-
-#ifdef TOOLS_ENABLED
-	virtual const Vector<DocData::ClassDoc> &get_documentation() const override {
-		static Vector<DocData::ClassDoc> docs;
-		return docs;
-	}
-#endif // TOOLS_ENABLED
-
-	virtual bool has_method(const StringName &p_method) const override;
-	virtual MethodInfo get_method_info(const StringName &p_method) const override;
-
-	virtual bool is_tool() const override;
-	virtual bool is_valid() const override;
-
-	virtual ScriptLanguage *get_language() const override;
-
-	virtual bool has_script_signal(const StringName &p_signal) const override;
-	virtual void get_script_signal_list(List<MethodInfo> *r_signals) const override;
-
-	virtual bool get_property_default_value(const StringName &p_property, Variant &r_value) const override;
-
-	virtual void update_exports() override; //editor tool
-	virtual void get_script_method_list(List<MethodInfo> *p_list) const override;
-	virtual void get_script_property_list(List<PropertyInfo> *p_list) const override;
-
-	virtual const Vector<Multiplayer::RPCConfig> get_rpc_methods() const override;
-
-	String get_class_documentation() const;
-	String get_method_documentation(const StringName &p_method) const;
-	String get_signal_documentation(const StringName &p_signal_name) const;
-	String get_property_documentation(const StringName &p_path) const;
-
-	Variant _new(const Variant **p_args, int p_argcount, Callable::CallError &r_error);
-
-	NativeScript();
-	~NativeScript();
-};
-
-class NativeScriptInstance : public ScriptInstance {
-	friend class NativeScript;
-
-	Object *owner;
-	Ref<NativeScript> script;
-#ifdef DEBUG_ENABLED
-	StringName current_method_call;
-#endif
-
-	void _ml_call_reversed(NativeScriptDesc *script_data, const StringName &p_method, const Variant **p_args, int p_argcount);
-
-public:
-	void *userdata;
-
-	virtual bool set(const StringName &p_name, const Variant &p_value);
-	virtual bool get(const StringName &p_name, Variant &r_ret) const;
-	virtual void get_property_list(List<PropertyInfo> *p_properties) const;
-	virtual Variant::Type get_property_type(const StringName &p_name, bool *r_is_valid) const;
-	virtual void get_method_list(List<MethodInfo> *p_list) const;
-	virtual bool has_method(const StringName &p_method) const;
-	virtual Variant call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error);
-	virtual void notification(int p_what);
-	String to_string(bool *r_valid);
-	virtual Ref<Script> get_script() const;
-
-	virtual const Vector<Multiplayer::RPCConfig> get_rpc_methods() const;
-
-	virtual ScriptLanguage *get_language();
-
-	virtual void refcount_incremented();
-	virtual bool refcount_decremented();
-
-	~NativeScriptInstance();
-};
-
-class NativeReloadNode;
-
-class NativeScriptLanguage : public ScriptLanguage {
-	friend class NativeScript;
-	friend class NativeScriptInstance;
-	friend class NativeReloadNode;
-
-private:
-	static NativeScriptLanguage *singleton;
-	int lang_idx = 0;
-
-	void _unload_stuff(bool p_reload = false);
-
-	Mutex mutex;
-#ifndef NO_THREADS
-	Set<Ref<GDNativeLibrary>> libs_to_init;
-	Set<NativeScript *> scripts_to_register;
-	SafeFlag has_objects_to_register; // so that we don't lock mutex every frame - it's rarely needed
-	void defer_init_library(Ref<GDNativeLibrary> lib, NativeScript *script);
-#endif
-
-	void init_library(const Ref<GDNativeLibrary> &lib);
-	void register_script(NativeScript *script);
-	void unregister_script(NativeScript *script);
-
-	void call_libraries_cb(const StringName &name);
-
-	Vector<Pair<bool, godot_nativescript_instance_binding_functions>> binding_functions;
-	Set<Vector<void *> *> binding_instances;
-
-	Map<int, HashMap<StringName, const void *>> global_type_tags;
-
-	struct ProfileData {
-		StringName signature;
-		uint64_t call_count = 0;
-		uint64_t self_time = 0;
-		uint64_t total_time = 0;
-		uint64_t frame_call_count = 0;
-		uint64_t frame_self_time = 0;
-		uint64_t frame_total_time = 0;
-		uint64_t last_frame_call_count = 0;
-		uint64_t last_frame_self_time = 0;
-		uint64_t last_frame_total_time = 0;
-	};
-
-	Map<StringName, ProfileData> profile_data;
-
-public:
-	// These two maps must only be touched on the main thread
-	Map<String, Map<StringName, NativeScriptDesc>> library_classes;
-	Map<String, Ref<GDNative>> library_gdnatives;
-
-	Map<String, Set<NativeScript *>> library_script_users;
-
-	StringName _init_call_type;
-	StringName _init_call_name;
-	StringName _terminate_call_name;
-	StringName _noarg_call_type;
-	StringName _frame_call_name;
-#ifndef NO_THREADS
-	StringName _thread_enter_call_name;
-	StringName _thread_exit_call_name;
-#endif
-
-	NativeScriptLanguage();
-	~NativeScriptLanguage();
-
-	inline static NativeScriptLanguage *get_singleton() {
-		return singleton;
-	}
-
-	_FORCE_INLINE_ void set_language_index(int p_idx) { lang_idx = p_idx; }
-
-#ifndef NO_THREADS
-	virtual void thread_enter();
-	virtual void thread_exit();
-#endif
-
-	virtual void frame();
-
-	virtual String get_name() const;
-	virtual void init();
-	virtual String get_type() const;
-	virtual String get_extension() const;
-	virtual Error execute_file(const String &p_path);
-	virtual void finish();
-	virtual void get_reserved_words(List<String> *p_words) const;
-	virtual bool is_control_flow_keyword(String p_keyword) const;
-	virtual void get_comment_delimiters(List<String> *p_delimiters) const;
-	virtual void get_string_delimiters(List<String> *p_delimiters) const;
-	virtual Ref<Script> get_template(const String &p_class_name, const String &p_base_class_name) const;
-	virtual bool validate(const String &p_script, const String &p_path, List<String> *r_functions, List<ScriptLanguage::ScriptError> *r_errors = nullptr, List<ScriptLanguage::Warning> *r_warnings = nullptr, Set<int> *r_safe_lines = nullptr) const;
-	virtual Script *create_script() const;
-	virtual bool has_named_classes() const;
-	virtual bool supports_builtin_mode() const;
-	virtual int find_function(const String &p_function, const String &p_code) const;
-	virtual String make_function(const String &p_class, const String &p_name, const PackedStringArray &p_args) const;
-	virtual void auto_indent_code(String &p_code, int p_from_line, int p_to_line) const;
-	virtual void add_global_constant(const StringName &p_variable, const Variant &p_value);
-	virtual String debug_get_error() const;
-	virtual int debug_get_stack_level_count() const;
-	virtual int debug_get_stack_level_line(int p_level) const;
-	virtual String debug_get_stack_level_function(int p_level) const;
-	virtual String debug_get_stack_level_source(int p_level) const;
-	virtual void debug_get_stack_level_locals(int p_level, List<String> *p_locals, List<Variant> *p_values, int p_max_subitems, int p_max_depth);
-	virtual void debug_get_stack_level_members(int p_level, List<String> *p_members, List<Variant> *p_values, int p_max_subitems, int p_max_depth);
-	virtual void debug_get_globals(List<String> *p_locals, List<Variant> *p_values, int p_max_subitems, int p_max_depth);
-	virtual String debug_parse_stack_level_expression(int p_level, const String &p_expression, int p_max_subitems, int p_max_depth);
-	virtual void reload_all_scripts();
-	virtual void reload_tool_script(const Ref<Script> &p_script, bool p_soft_reload);
-	virtual void get_recognized_extensions(List<String> *p_extensions) const;
-	virtual void get_public_functions(List<MethodInfo> *p_functions) const;
-	virtual void get_public_constants(List<Pair<String, Variant>> *p_constants) const;
-	virtual void profiling_start();
-	virtual void profiling_stop();
-	virtual int profiling_get_accumulated_data(ProfilingInfo *p_info_arr, int p_info_max);
-	virtual int profiling_get_frame_data(ProfilingInfo *p_info_arr, int p_info_max);
-
-	int register_binding_functions(godot_nativescript_instance_binding_functions p_binding_functions);
-	void unregister_binding_functions(int p_idx);
-
-	void *get_instance_binding_data(int p_idx, Object *p_object);
-
-	virtual void *alloc_instance_binding_data(Object *p_object);
-	virtual void free_instance_binding_data(void *p_data);
-	virtual void refcount_incremented_instance_binding(Object *p_object);
-	virtual bool refcount_decremented_instance_binding(Object *p_object);
-
-	void set_global_type_tag(int p_idx, StringName p_class_name, const void *p_type_tag);
-	const void *get_global_type_tag(int p_idx, StringName p_class_name) const;
-
-	virtual bool handles_global_class_type(const String &p_type) const;
-	virtual String get_global_class_name(const String &p_path, String *r_base_type, String *r_icon_path) const;
-
-	void profiling_add_data(StringName p_signature, uint64_t p_time);
-};
-
-inline NativeScriptDesc *NativeScript::get_script_desc() const {
-	Map<StringName, NativeScriptDesc>::Element *E = NativeScriptLanguage::singleton->library_classes[lib_path].find(class_name);
-	return E ? &E->get() : nullptr;
-}
-
-class NativeReloadNode : public Node {
-	GDCLASS(NativeReloadNode, Node);
-	bool unloaded = false;
-
-public:
-	static void _bind_methods();
-	void _notification(int p_what);
-
-	NativeReloadNode() {}
-};
-
-class ResourceFormatLoaderNativeScript : public ResourceFormatLoader {
-public:
-	virtual RES load(const String &p_path, const String &p_original_path = "", Error *r_error = nullptr, bool p_use_sub_threads = false, float *r_progress = nullptr, CacheMode p_cache_mode = CACHE_MODE_REUSE);
-	virtual void get_recognized_extensions(List<String> *p_extensions) const;
-	virtual bool handles_type(const String &p_type) const;
-	virtual String get_resource_type(const String &p_path) const;
-};
-
-class ResourceFormatSaverNativeScript : public ResourceFormatSaver {
-	virtual Error save(const String &p_path, const RES &p_resource, uint32_t p_flags = 0);
-	virtual bool recognize(const RES &p_resource) const;
-	virtual void get_recognized_extensions(const RES &p_resource, List<String> *p_extensions) const;
-};
-
-#endif // GDNATIVE_H
diff --git a/modules/gdnative/nativescript/register_types.cpp b/modules/gdnative/nativescript/register_types.cpp
deleted file mode 100644
index ee63dca9a3..0000000000
--- a/modules/gdnative/nativescript/register_types.cpp
+++ /dev/null
@@ -1,71 +0,0 @@
-/*************************************************************************/
-/*  register_types.cpp                                                   */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "register_types.h"
-
-#include "core/io/resource_loader.h"
-#include "core/io/resource_saver.h"
-
-#include "nativescript.h"
-
-#include "core/os/os.h"
-
-NativeScriptLanguage *native_script_language;
-
-Ref<ResourceFormatLoaderNativeScript> resource_loader_gdns;
-Ref<ResourceFormatSaverNativeScript> resource_saver_gdns;
-
-void register_nativescript_types() {
-	native_script_language = memnew(NativeScriptLanguage);
-
-	GDREGISTER_CLASS(NativeScript);
-
-	native_script_language->set_language_index(ScriptServer::get_language_count());
-	ScriptServer::register_language(native_script_language);
-
-	resource_saver_gdns.instantiate();
-	ResourceSaver::add_resource_format_saver(resource_saver_gdns);
-
-	resource_loader_gdns.instantiate();
-	ResourceLoader::add_resource_format_loader(resource_loader_gdns);
-}
-
-void unregister_nativescript_types() {
-	ResourceLoader::remove_resource_format_loader(resource_loader_gdns);
-	resource_loader_gdns.unref();
-
-	ResourceSaver::remove_resource_format_saver(resource_saver_gdns);
-	resource_saver_gdns.unref();
-
-	if (native_script_language) {
-		ScriptServer::unregister_language(native_script_language);
-		memdelete(native_script_language);
-	}
-}
diff --git a/modules/gdnative/nativescript/register_types.h b/modules/gdnative/nativescript/register_types.h
deleted file mode 100644
index ce6085f62a..0000000000
--- a/modules/gdnative/nativescript/register_types.h
+++ /dev/null
@@ -1,37 +0,0 @@
-/*************************************************************************/
-/*  register_types.h                                                     */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef NATIVESCRIPT_REGISTER_TYPES_H
-#define NATIVESCRIPT_REGISTER_TYPES_H
-
-void register_nativescript_types();
-void unregister_nativescript_types();
-
-#endif // NATIVESCRIPT_REGISTER_TYPES_H
diff --git a/modules/gdnative/pluginscript/SCsub b/modules/gdnative/pluginscript/SCsub
deleted file mode 100644
index 0b2db3b504..0000000000
--- a/modules/gdnative/pluginscript/SCsub
+++ /dev/null
@@ -1,6 +0,0 @@
-#!/usr/bin/env python
-
-Import("env")
-Import("env_gdnative")
-
-env_gdnative.add_source_files(env.modules_sources, "*.cpp")
diff --git a/modules/gdnative/pluginscript/pluginscript_instance.cpp b/modules/gdnative/pluginscript/pluginscript_instance.cpp
deleted file mode 100644
index 9236aceb3e..0000000000
--- a/modules/gdnative/pluginscript/pluginscript_instance.cpp
+++ /dev/null
@@ -1,140 +0,0 @@
-/*************************************************************************/
-/*  pluginscript_instance.cpp                                            */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "pluginscript_instance.h"
-
-// Godot imports
-#include "core/os/os.h"
-#include "core/variant/variant.h"
-
-// PluginScript imports
-#include "pluginscript_language.h"
-#include "pluginscript_script.h"
-
-bool PluginScriptInstance::set(const StringName &p_name, const Variant &p_value) {
-	return _desc->set_prop(_data, (const godot_string_name *)&p_name, (const godot_variant *)&p_value);
-}
-
-bool PluginScriptInstance::get(const StringName &p_name, Variant &r_ret) const {
-	return _desc->get_prop(_data, (const godot_string_name *)&p_name, (godot_variant *)&r_ret);
-}
-
-Ref<Script> PluginScriptInstance::get_script() const {
-	return _script;
-}
-
-ScriptLanguage *PluginScriptInstance::get_language() {
-	return _script->get_language();
-}
-
-Variant::Type PluginScriptInstance::get_property_type(const StringName &p_name, bool *r_is_valid) const {
-	if (!_script->has_property(p_name)) {
-		if (r_is_valid) {
-			*r_is_valid = false;
-		}
-		return Variant::NIL;
-	}
-	if (r_is_valid) {
-		*r_is_valid = true;
-	}
-	return _script->get_property_info(p_name).type;
-}
-
-void PluginScriptInstance::get_property_list(List<PropertyInfo> *p_properties) const {
-	_script->get_script_property_list(p_properties);
-}
-
-void PluginScriptInstance::get_method_list(List<MethodInfo> *p_list) const {
-	_script->get_script_method_list(p_list);
-}
-
-bool PluginScriptInstance::has_method(const StringName &p_method) const {
-	return _script->has_method(p_method);
-}
-
-Variant PluginScriptInstance::call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
-	// TODO: optimize when calling a Godot method from Godot to avoid param conversion ?
-	godot_variant ret = _desc->call_method(
-			_data, (godot_string_name *)&p_method, (const godot_variant **)p_args,
-			p_argcount, (godot_variant_call_error *)&r_error);
-	Variant var_ret = *(Variant *)&ret;
-	godot_variant_destroy(&ret);
-	return var_ret;
-}
-
-void PluginScriptInstance::notification(int p_notification) {
-	_desc->notification(_data, p_notification);
-}
-
-String PluginScriptInstance::to_string(bool *r_valid) {
-	godot_string ret = _desc->to_string(_data, r_valid);
-	String str_ret = *(String *)&ret;
-	godot_string_destroy(&ret);
-	return str_ret;
-}
-
-const Vector<Multiplayer::RPCConfig> PluginScriptInstance::get_rpc_methods() const {
-	return _script->get_rpc_methods();
-}
-
-void PluginScriptInstance::refcount_incremented() {
-	if (_desc->refcount_decremented) {
-		_desc->refcount_incremented(_data);
-	}
-}
-
-bool PluginScriptInstance::refcount_decremented() {
-	// Return true if it can die
-	if (_desc->refcount_decremented) {
-		return _desc->refcount_decremented(_data);
-	}
-	return true;
-}
-
-PluginScriptInstance::PluginScriptInstance() {
-}
-
-bool PluginScriptInstance::init(PluginScript *p_script, Object *p_owner) {
-	_owner = p_owner;
-	_owner_variant = Variant(p_owner);
-	_script = Ref<PluginScript>(p_script);
-	_desc = &p_script->_desc->instance_desc;
-	_data = _desc->init(p_script->_data, (godot_object *)p_owner);
-	ERR_FAIL_COND_V(_data == nullptr, false);
-	p_owner->set_script_instance(this);
-	return true;
-}
-
-PluginScriptInstance::~PluginScriptInstance() {
-	_desc->finish(_data);
-	_script->_language->lock();
-	_script->_instances.erase(_owner);
-	_script->_language->unlock();
-}
diff --git a/modules/gdnative/pluginscript/pluginscript_instance.h b/modules/gdnative/pluginscript/pluginscript_instance.h
deleted file mode 100644
index 09b051c008..0000000000
--- a/modules/gdnative/pluginscript/pluginscript_instance.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/*************************************************************************/
-/*  pluginscript_instance.h                                              */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef PLUGINSCRIPT_INSTANCE_H
-#define PLUGINSCRIPT_INSTANCE_H
-
-// Godot imports
-#include "core/object/script_language.h"
-
-// PluginScript imports
-#include <pluginscript/godot_pluginscript.h>
-
-class PluginScript;
-
-class PluginScriptInstance : public ScriptInstance {
-	friend class PluginScript;
-
-private:
-	Ref<PluginScript> _script;
-	Object *_owner = nullptr;
-	Variant _owner_variant;
-	godot_pluginscript_instance_data *_data = nullptr;
-	const godot_pluginscript_instance_desc *_desc = nullptr;
-
-public:
-	_FORCE_INLINE_ Object *get_owner() { return _owner; }
-
-	virtual bool set(const StringName &p_name, const Variant &p_value);
-	virtual bool get(const StringName &p_name, Variant &r_ret) const;
-	virtual void get_property_list(List<PropertyInfo> *p_properties) const;
-	virtual Variant::Type get_property_type(const StringName &p_name, bool *r_is_valid = nullptr) const;
-
-	virtual void get_method_list(List<MethodInfo> *p_list) const;
-	virtual bool has_method(const StringName &p_method) const;
-
-	virtual Variant call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error);
-
-	virtual void notification(int p_notification);
-	virtual String to_string(bool *r_valid);
-
-	virtual Ref<Script> get_script() const;
-
-	virtual ScriptLanguage *get_language();
-
-	virtual const Vector<Multiplayer::RPCConfig> get_rpc_methods() const;
-
-	virtual void refcount_incremented();
-	virtual bool refcount_decremented();
-
-	PluginScriptInstance();
-	bool init(PluginScript *p_script, Object *p_owner);
-	virtual ~PluginScriptInstance();
-};
-
-#endif // PLUGINSCRIPT_INSTANCE_H
diff --git a/modules/gdnative/pluginscript/pluginscript_language.cpp b/modules/gdnative/pluginscript/pluginscript_language.cpp
deleted file mode 100644
index 0e068dec3a..0000000000
--- a/modules/gdnative/pluginscript/pluginscript_language.cpp
+++ /dev/null
@@ -1,459 +0,0 @@
-/*************************************************************************/
-/*  pluginscript_language.cpp                                            */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-// Godot imports
-#include "core/config/project_settings.h"
-#include "core/io/file_access.h"
-#include "core/os/os.h"
-// PluginScript imports
-#include "pluginscript_language.h"
-#include "pluginscript_script.h"
-
-String PluginScriptLanguage::get_name() const {
-	return String(_desc.name);
-}
-
-void PluginScriptLanguage::init() {
-	_data = _desc.init();
-}
-
-String PluginScriptLanguage::get_type() const {
-	// We should use _desc.type here, however the returned type is used to
-	// query ClassDB which would complain given the type is not registered
-	// from his point of view...
-	// To solve this we just use a more generic (but present in ClassDB) type.
-	return String("PluginScript");
-}
-
-String PluginScriptLanguage::get_extension() const {
-	return String(_desc.extension);
-}
-
-Error PluginScriptLanguage::execute_file(const String &p_path) {
-	// TODO: pretty sure this method is totally deprecated and should be removed...
-	return OK;
-}
-
-void PluginScriptLanguage::finish() {
-	_desc.finish(_data);
-}
-
-/* EDITOR FUNCTIONS */
-
-void PluginScriptLanguage::get_reserved_words(List<String> *p_words) const {
-	if (_desc.reserved_words) {
-		const char **w = _desc.reserved_words;
-		while (*w) {
-			p_words->push_back(*w);
-			w++;
-		}
-	}
-}
-
-bool PluginScriptLanguage::is_control_flow_keyword(String p_keyword) const {
-	return false;
-}
-
-void PluginScriptLanguage::get_comment_delimiters(List<String> *p_delimiters) const {
-	if (_desc.comment_delimiters) {
-		const char **w = _desc.comment_delimiters;
-		while (*w) {
-			p_delimiters->push_back(*w);
-			w++;
-		}
-	}
-}
-
-void PluginScriptLanguage::get_string_delimiters(List<String> *p_delimiters) const {
-	if (_desc.string_delimiters) {
-		const char **w = _desc.string_delimiters;
-		while (*w) {
-			p_delimiters->push_back(*w);
-			w++;
-		}
-	}
-}
-
-Ref<Script> PluginScriptLanguage::get_template(const String &p_class_name, const String &p_base_class_name) const {
-	Script *ns = create_script();
-	Ref<Script> script = Ref<Script>(ns);
-	if (_desc.get_template_source_code) {
-		godot_string src = _desc.get_template_source_code(_data, (godot_string *)&p_class_name, (godot_string *)&p_base_class_name);
-		script->set_source_code(*(String *)&src);
-		godot_string_destroy(&src);
-	}
-	return script;
-}
-
-bool PluginScriptLanguage::validate(const String &p_script, const String &p_path, List<String> *r_functions, List<ScriptLanguage::ScriptError> *r_errors, List<ScriptLanguage::Warning> *r_warnings, Set<int> *r_safe_lines) const {
-	PackedStringArray functions;
-	Array errors;
-	if (_desc.validate) {
-		bool ret = _desc.validate(
-				_data,
-				(godot_string *)&p_script,
-				(godot_string *)&p_path,
-				(godot_packed_string_array *)&functions,
-				(godot_array *)&errors);
-		for (int i = 0; i < functions.size(); i++) {
-			r_functions->push_back(functions[i]);
-		}
-		if (r_errors) {
-			for (int i = 0; i < errors.size(); i++) {
-				Dictionary error = errors[i];
-				ScriptLanguage::ScriptError e;
-				e.line = error["line"];
-				e.column = error["column"];
-				e.message = error["message"];
-				r_errors->push_back(e);
-			}
-		}
-		return ret;
-	}
-	return true;
-}
-
-Script *PluginScriptLanguage::create_script() const {
-	PluginScript *script = memnew(PluginScript());
-	// I'm hurting kittens doing this I guess...
-	script->init(const_cast<PluginScriptLanguage *>(this));
-	return script;
-}
-
-bool PluginScriptLanguage::has_named_classes() const {
-	return _desc.has_named_classes;
-}
-
-bool PluginScriptLanguage::supports_builtin_mode() const {
-	return _desc.supports_builtin_mode;
-}
-
-bool PluginScriptLanguage::can_inherit_from_file() const {
-	return _desc.can_inherit_from_file;
-}
-
-int PluginScriptLanguage::find_function(const String &p_function, const String &p_code) const {
-	if (_desc.find_function) {
-		return _desc.find_function(_data, (godot_string *)&p_function, (godot_string *)&p_code);
-	}
-	return -1;
-}
-
-String PluginScriptLanguage::make_function(const String &p_class, const String &p_name, const PackedStringArray &p_args) const {
-	if (_desc.make_function) {
-		godot_string tmp = _desc.make_function(_data, (godot_string *)&p_class, (godot_string *)&p_name, (godot_packed_string_array *)&p_args);
-		String ret = *(String *)&tmp;
-		godot_string_destroy(&tmp);
-		return ret;
-	}
-	return String();
-}
-
-Error PluginScriptLanguage::complete_code(const String &p_code, const String &p_path, Object *p_owner, List<ScriptCodeCompletionOption> *r_options, bool &r_force, String &r_call_hint) {
-	if (_desc.complete_code) {
-		Array options;
-		godot_error tmp = _desc.complete_code(
-				_data,
-				(godot_string *)&p_code,
-				(godot_string *)&p_path,
-				(godot_object *)p_owner,
-				(godot_array *)&options,
-				&r_force,
-				(godot_string *)&r_call_hint);
-		for (int i = 0; i < options.size(); i++) {
-			ScriptCodeCompletionOption option(options[i], ScriptCodeCompletionOption::KIND_PLAIN_TEXT);
-			r_options->push_back(option);
-		}
-		return (Error)tmp;
-	}
-	return ERR_UNAVAILABLE;
-}
-
-void PluginScriptLanguage::auto_indent_code(String &p_code, int p_from_line, int p_to_line) const {
-	if (_desc.auto_indent_code) {
-		_desc.auto_indent_code(_data, (godot_string *)&p_code, p_from_line, p_to_line);
-	}
-	return;
-}
-
-void PluginScriptLanguage::add_global_constant(const StringName &p_variable, const Variant &p_value) {
-	_desc.add_global_constant(_data, (godot_string_name *)&p_variable, (godot_variant *)&p_value);
-}
-
-/* LOADER FUNCTIONS */
-
-void PluginScriptLanguage::get_recognized_extensions(List<String> *p_extensions) const {
-	for (int i = 0; _desc.recognized_extensions[i]; ++i) {
-		p_extensions->push_back(String(_desc.recognized_extensions[i]));
-	}
-}
-
-void PluginScriptLanguage::get_public_functions(List<MethodInfo> *p_functions) const {
-	// TODO: provide this statically in `godot_pluginscript_language_desc` ?
-	if (_desc.get_public_functions) {
-		Array functions;
-		_desc.get_public_functions(_data, (godot_array *)&functions);
-		for (int i = 0; i < functions.size(); i++) {
-			MethodInfo mi = MethodInfo::from_dict(functions[i]);
-			p_functions->push_back(mi);
-		}
-	}
-}
-
-void PluginScriptLanguage::get_public_constants(List<Pair<String, Variant>> *p_constants) const {
-	// TODO: provide this statically in `godot_pluginscript_language_desc` ?
-	if (_desc.get_public_constants) {
-		Dictionary constants;
-		_desc.get_public_constants(_data, (godot_dictionary *)&constants);
-		for (const Variant *key = constants.next(); key; key = constants.next(key)) {
-			Variant value = constants[*key];
-			p_constants->push_back(Pair<String, Variant>(*key, value));
-		}
-	}
-}
-
-void PluginScriptLanguage::profiling_start() {
-#ifdef DEBUG_ENABLED
-	if (_desc.profiling_start) {
-		lock();
-		_desc.profiling_start(_data);
-		unlock();
-	}
-#endif
-}
-
-void PluginScriptLanguage::profiling_stop() {
-#ifdef DEBUG_ENABLED
-	if (_desc.profiling_stop) {
-		lock();
-		_desc.profiling_stop(_data);
-		unlock();
-	}
-#endif
-}
-
-int PluginScriptLanguage::profiling_get_accumulated_data(ProfilingInfo *p_info_arr, int p_info_max) {
-	int info_count = 0;
-#ifdef DEBUG_ENABLED
-	if (_desc.profiling_get_accumulated_data) {
-		godot_pluginscript_profiling_data *info = (godot_pluginscript_profiling_data *)memalloc(
-				sizeof(godot_pluginscript_profiling_data) * p_info_max);
-		info_count = _desc.profiling_get_accumulated_data(_data, info, p_info_max);
-		for (int i = 0; i < info_count; ++i) {
-			p_info_arr[i].signature = *(StringName *)&info[i].signature;
-			p_info_arr[i].call_count = info[i].call_count;
-			p_info_arr[i].total_time = info[i].total_time;
-			p_info_arr[i].self_time = info[i].self_time;
-			godot_string_name_destroy(&info[i].signature);
-		}
-	}
-#endif
-	return info_count;
-}
-
-int PluginScriptLanguage::profiling_get_frame_data(ProfilingInfo *p_info_arr, int p_info_max) {
-	int info_count = 0;
-#ifdef DEBUG_ENABLED
-	if (_desc.profiling_get_frame_data) {
-		godot_pluginscript_profiling_data *info = (godot_pluginscript_profiling_data *)memalloc(
-				sizeof(godot_pluginscript_profiling_data) * p_info_max);
-		info_count = _desc.profiling_get_frame_data(_data, info, p_info_max);
-		for (int i = 0; i < info_count; ++i) {
-			p_info_arr[i].signature = *(StringName *)&info[i].signature;
-			p_info_arr[i].call_count = info[i].call_count;
-			p_info_arr[i].total_time = info[i].total_time;
-			p_info_arr[i].self_time = info[i].self_time;
-			godot_string_name_destroy(&info[i].signature);
-		}
-	}
-#endif
-	return info_count;
-}
-
-void PluginScriptLanguage::frame() {
-#ifdef DEBUG_ENABLED
-	if (_desc.profiling_frame) {
-		_desc.profiling_frame(_data);
-	}
-#endif
-}
-
-/* DEBUGGER FUNCTIONS */
-
-String PluginScriptLanguage::debug_get_error() const {
-	if (_desc.debug_get_error) {
-		godot_string tmp = _desc.debug_get_error(_data);
-		String ret = *(String *)&tmp;
-		godot_string_destroy(&tmp);
-		return ret;
-	}
-	return String("Nothing");
-}
-
-int PluginScriptLanguage::debug_get_stack_level_count() const {
-	if (_desc.debug_get_stack_level_count) {
-		return _desc.debug_get_stack_level_count(_data);
-	}
-	return 1;
-}
-
-int PluginScriptLanguage::debug_get_stack_level_line(int p_level) const {
-	if (_desc.debug_get_stack_level_line) {
-		return _desc.debug_get_stack_level_line(_data, p_level);
-	}
-	return 1;
-}
-
-String PluginScriptLanguage::debug_get_stack_level_function(int p_level) const {
-	if (_desc.debug_get_stack_level_function) {
-		godot_string tmp = _desc.debug_get_stack_level_function(_data, p_level);
-		String ret = *(String *)&tmp;
-		godot_string_destroy(&tmp);
-		return ret;
-	}
-	return String("Nothing");
-}
-
-String PluginScriptLanguage::debug_get_stack_level_source(int p_level) const {
-	if (_desc.debug_get_stack_level_source) {
-		godot_string tmp = _desc.debug_get_stack_level_source(_data, p_level);
-		String ret = *(String *)&tmp;
-		godot_string_destroy(&tmp);
-		return ret;
-	}
-	return String("Nothing");
-}
-
-void PluginScriptLanguage::debug_get_stack_level_locals(int p_level, List<String> *p_locals, List<Variant> *p_values, int p_max_subitems, int p_max_depth) {
-	if (_desc.debug_get_stack_level_locals) {
-		PackedStringArray locals;
-		Array values;
-		_desc.debug_get_stack_level_locals(_data, p_level, (godot_packed_string_array *)&locals, (godot_array *)&values, p_max_subitems, p_max_depth);
-		for (int i = 0; i < locals.size(); i++) {
-			p_locals->push_back(locals[i]);
-		}
-		for (int i = 0; i < values.size(); i++) {
-			p_values->push_back(values[i]);
-		}
-	}
-}
-
-void PluginScriptLanguage::debug_get_stack_level_members(int p_level, List<String> *p_members, List<Variant> *p_values, int p_max_subitems, int p_max_depth) {
-	if (_desc.debug_get_stack_level_members) {
-		PackedStringArray members;
-		Array values;
-		_desc.debug_get_stack_level_members(_data, p_level, (godot_packed_string_array *)&members, (godot_array *)&values, p_max_subitems, p_max_depth);
-		for (int i = 0; i < members.size(); i++) {
-			p_members->push_back(members[i]);
-		}
-		for (int i = 0; i < values.size(); i++) {
-			p_values->push_back(values[i]);
-		}
-	}
-}
-
-void PluginScriptLanguage::debug_get_globals(List<String> *p_locals, List<Variant> *p_values, int p_max_subitems, int p_max_depth) {
-	if (_desc.debug_get_globals) {
-		PackedStringArray locals;
-		Array values;
-		_desc.debug_get_globals(_data, (godot_packed_string_array *)&locals, (godot_array *)&values, p_max_subitems, p_max_depth);
-		for (int i = 0; i < locals.size(); i++) {
-			p_locals->push_back(locals[i]);
-		}
-		for (int i = 0; i < values.size(); i++) {
-			p_values->push_back(values[i]);
-		}
-	}
-}
-
-String PluginScriptLanguage::debug_parse_stack_level_expression(int p_level, const String &p_expression, int p_max_subitems, int p_max_depth) {
-	if (_desc.debug_parse_stack_level_expression) {
-		godot_string tmp = _desc.debug_parse_stack_level_expression(_data, p_level, (godot_string *)&p_expression, p_max_subitems, p_max_depth);
-		String ret = *(String *)&tmp;
-		godot_string_destroy(&tmp);
-		return ret;
-	}
-	return String("Nothing");
-}
-
-void PluginScriptLanguage::reload_all_scripts() {
-	// TODO
-}
-
-void PluginScriptLanguage::reload_tool_script(const Ref<Script> &p_script, bool p_soft_reload) {
-#ifdef DEBUG_ENABLED
-	lock();
-	// TODO
-	unlock();
-#endif
-}
-
-bool PluginScriptLanguage::handles_global_class_type(const String &p_type) const {
-	return p_type == "PluginScript";
-}
-
-String PluginScriptLanguage::get_global_class_name(const String &p_path, String *r_base_type, String *r_icon_path) const {
-	if (!p_path.is_empty()) {
-		Ref<PluginScript> script = ResourceLoader::load(p_path, "PluginScript");
-		if (script.is_valid()) {
-			if (r_base_type) {
-				*r_base_type = script->get_instance_base_type();
-			}
-			if (r_icon_path) {
-				*r_icon_path = script->get_script_class_icon_path();
-			}
-			return script->get_script_class_name();
-		}
-		if (r_base_type) {
-			*r_base_type = String();
-		}
-		if (r_icon_path) {
-			*r_icon_path = String();
-		}
-	}
-	return String();
-}
-
-void PluginScriptLanguage::lock() {
-	_lock.lock();
-}
-
-void PluginScriptLanguage::unlock() {
-	_lock.unlock();
-}
-
-PluginScriptLanguage::PluginScriptLanguage(const godot_pluginscript_language_desc *desc) :
-		_desc(*desc) {
-	_resource_loader = Ref<ResourceFormatLoaderPluginScript>(memnew(ResourceFormatLoaderPluginScript(this)));
-	_resource_saver = Ref<ResourceFormatSaverPluginScript>(memnew(ResourceFormatSaverPluginScript(this)));
-}
-
-PluginScriptLanguage::~PluginScriptLanguage() {
-}
diff --git a/modules/gdnative/pluginscript/pluginscript_language.h b/modules/gdnative/pluginscript/pluginscript_language.h
deleted file mode 100644
index 6039f807a8..0000000000
--- a/modules/gdnative/pluginscript/pluginscript_language.h
+++ /dev/null
@@ -1,138 +0,0 @@
-/*************************************************************************/
-/*  pluginscript_language.h                                              */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef PLUGINSCRIPT_LANGUAGE_H
-#define PLUGINSCRIPT_LANGUAGE_H
-
-// Godot imports
-#include "core/io/resource_loader.h"
-#include "core/io/resource_saver.h"
-#include "core/object/script_language.h"
-#include "core/templates/map.h"
-#include "core/templates/self_list.h"
-// PluginScript imports
-#include "pluginscript_loader.h"
-#include <pluginscript/godot_pluginscript.h>
-
-class PluginScript;
-class PluginScriptInstance;
-
-class PluginScriptLanguage : public ScriptLanguage {
-	friend class PluginScript;
-	friend class PluginScriptInstance;
-
-	Ref<ResourceFormatLoaderPluginScript> _resource_loader;
-	Ref<ResourceFormatSaverPluginScript> _resource_saver;
-	const godot_pluginscript_language_desc _desc;
-	godot_pluginscript_language_data *_data;
-
-	Mutex _lock;
-	SelfList<PluginScript>::List _script_list;
-
-public:
-	virtual String get_name() const;
-
-	_FORCE_INLINE_ Ref<ResourceFormatLoaderPluginScript> get_resource_loader() { return _resource_loader; }
-	_FORCE_INLINE_ Ref<ResourceFormatSaverPluginScript> get_resource_saver() { return _resource_saver; }
-
-	/* LANGUAGE FUNCTIONS */
-	virtual void init();
-	virtual String get_type() const;
-	virtual String get_extension() const;
-	virtual Error execute_file(const String &p_path);
-	virtual void finish();
-
-	/* EDITOR FUNCTIONS */
-	virtual void get_reserved_words(List<String> *p_words) const;
-	virtual bool is_control_flow_keyword(String p_keyword) const;
-	virtual void get_comment_delimiters(List<String> *p_delimiters) const;
-	virtual void get_string_delimiters(List<String> *p_delimiters) const;
-	virtual Ref<Script> get_template(const String &p_class_name, const String &p_base_class_name) const;
-	virtual bool validate(const String &p_script, const String &p_path = "", List<String> *r_functions = nullptr, List<ScriptLanguage::ScriptError> *r_errors = nullptr, List<ScriptLanguage::Warning> *r_warnings = nullptr, Set<int> *r_safe_lines = nullptr) const;
-	virtual Script *create_script() const;
-	virtual bool has_named_classes() const;
-	virtual bool supports_builtin_mode() const;
-	virtual bool can_inherit_from_file() const;
-	virtual int find_function(const String &p_function, const String &p_code) const;
-	virtual String make_function(const String &p_class, const String &p_name, const PackedStringArray &p_args) const;
-	virtual Error complete_code(const String &p_code, const String &p_path, Object *p_owner, List<ScriptCodeCompletionOption> *r_options, bool &r_force, String &r_call_hint);
-	virtual void auto_indent_code(String &p_code, int p_from_line, int p_to_line) const;
-	virtual void add_global_constant(const StringName &p_variable, const Variant &p_value);
-
-	/* MULTITHREAD FUNCTIONS */
-
-	//some VMs need to be notified of thread creation/exiting to allocate a stack
-	// void thread_enter() {}
-	// void thread_exit() {}
-
-	/* DEBUGGER FUNCTIONS */
-
-	virtual String debug_get_error() const;
-	virtual int debug_get_stack_level_count() const;
-	virtual int debug_get_stack_level_line(int p_level) const;
-	virtual String debug_get_stack_level_function(int p_level) const;
-	virtual String debug_get_stack_level_source(int p_level) const;
-	virtual void debug_get_stack_level_locals(int p_level, List<String> *p_locals, List<Variant> *p_values, int p_max_subitems = -1, int p_max_depth = -1);
-	virtual void debug_get_stack_level_members(int p_level, List<String> *p_members, List<Variant> *p_values, int p_max_subitems = -1, int p_max_depth = -1);
-	virtual void debug_get_globals(List<String> *p_locals, List<Variant> *p_values, int p_max_subitems = -1, int p_max_depth = -1);
-	virtual String debug_parse_stack_level_expression(int p_level, const String &p_expression, int p_max_subitems = -1, int p_max_depth = -1);
-
-	// virtual Vector<StackInfo> debug_get_current_stack_info() { return Vector<StackInfo>(); }
-
-	virtual void reload_all_scripts();
-	virtual void reload_tool_script(const Ref<Script> &p_script, bool p_soft_reload);
-
-	/* LOADER FUNCTIONS */
-
-	virtual void get_recognized_extensions(List<String> *p_extensions) const;
-	virtual void get_public_functions(List<MethodInfo> *p_functions) const;
-	virtual void get_public_constants(List<Pair<String, Variant>> *p_constants) const;
-
-	virtual void profiling_start();
-	virtual void profiling_stop();
-
-	virtual int profiling_get_accumulated_data(ProfilingInfo *p_info_arr, int p_info_max);
-	virtual int profiling_get_frame_data(ProfilingInfo *p_info_arr, int p_info_max);
-
-	virtual void frame();
-
-	/* GLOBAL CLASSES */
-
-	virtual bool handles_global_class_type(const String &p_type) const;
-	virtual String get_global_class_name(const String &p_path, String *r_base_type = nullptr, String *r_icon_path = nullptr) const;
-
-	void lock();
-	void unlock();
-
-	PluginScriptLanguage(const godot_pluginscript_language_desc *desc);
-	virtual ~PluginScriptLanguage();
-};
-
-#endif // PLUGINSCRIPT_LANGUAGE_H
diff --git a/modules/gdnative/pluginscript/pluginscript_loader.cpp b/modules/gdnative/pluginscript/pluginscript_loader.cpp
deleted file mode 100644
index a151d551dc..0000000000
--- a/modules/gdnative/pluginscript/pluginscript_loader.cpp
+++ /dev/null
@@ -1,114 +0,0 @@
-/*************************************************************************/
-/*  pluginscript_loader.cpp                                              */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-// Godot imports
-#include "core/io/file_access.h"
-// Pythonscript imports
-#include "pluginscript_language.h"
-#include "pluginscript_loader.h"
-#include "pluginscript_script.h"
-
-ResourceFormatLoaderPluginScript::ResourceFormatLoaderPluginScript(PluginScriptLanguage *language) {
-	_language = language;
-}
-
-RES ResourceFormatLoaderPluginScript::load(const String &p_path, const String &p_original_path, Error *r_error, bool p_use_sub_threads, float *r_progress, CacheMode p_cache_mode) {
-	if (r_error) {
-		*r_error = ERR_FILE_CANT_OPEN;
-	}
-
-	PluginScript *script = memnew(PluginScript);
-	script->init(_language);
-
-	Ref<PluginScript> scriptres(script);
-
-	Error err = script->load_source_code(p_path);
-	ERR_FAIL_COND_V(err != OK, RES());
-
-	script->set_path(p_original_path);
-
-	script->reload();
-
-	if (r_error) {
-		*r_error = OK;
-	}
-
-	return scriptres;
-}
-
-void ResourceFormatLoaderPluginScript::get_recognized_extensions(List<String> *p_extensions) const {
-	p_extensions->push_back(_language->get_extension());
-}
-
-bool ResourceFormatLoaderPluginScript::handles_type(const String &p_type) const {
-	return p_type == "Script" || p_type == _language->get_type();
-}
-
-String ResourceFormatLoaderPluginScript::get_resource_type(const String &p_path) const {
-	String el = p_path.get_extension().to_lower();
-	if (el == _language->get_extension()) {
-		return _language->get_type();
-	}
-	return "";
-}
-
-ResourceFormatSaverPluginScript::ResourceFormatSaverPluginScript(PluginScriptLanguage *language) {
-	_language = language;
-}
-
-Error ResourceFormatSaverPluginScript::save(const String &p_path, const RES &p_resource, uint32_t p_flags) {
-	Ref<PluginScript> sqscr = p_resource;
-	ERR_FAIL_COND_V(sqscr.is_null(), ERR_INVALID_PARAMETER);
-
-	String source = sqscr->get_source_code();
-
-	Error err;
-	FileAccess *file = FileAccess::open(p_path, FileAccess::WRITE, &err);
-	ERR_FAIL_COND_V(err, err);
-
-	file->store_string(source);
-	if (file->get_error() != OK && file->get_error() != ERR_FILE_EOF) {
-		memdelete(file);
-		return ERR_CANT_CREATE;
-	}
-	file->close();
-	memdelete(file);
-	return OK;
-}
-
-void ResourceFormatSaverPluginScript::get_recognized_extensions(const RES &p_resource, List<String> *p_extensions) const {
-	if (Object::cast_to<PluginScript>(*p_resource)) {
-		p_extensions->push_back(_language->get_extension());
-	}
-}
-
-bool ResourceFormatSaverPluginScript::recognize(const RES &p_resource) const {
-	return Object::cast_to<PluginScript>(*p_resource) != nullptr;
-}
diff --git a/modules/gdnative/pluginscript/pluginscript_loader.h b/modules/gdnative/pluginscript/pluginscript_loader.h
deleted file mode 100644
index bcce742aea..0000000000
--- a/modules/gdnative/pluginscript/pluginscript_loader.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/*************************************************************************/
-/*  pluginscript_loader.h                                                */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef PYTHONSCRIPT_PY_LOADER_H
-#define PYTHONSCRIPT_PY_LOADER_H
-
-// Godot imports
-#include "core/io/resource_loader.h"
-#include "core/io/resource_saver.h"
-#include "core/object/script_language.h"
-
-class PluginScriptLanguage;
-
-class ResourceFormatLoaderPluginScript : public ResourceFormatLoader {
-	PluginScriptLanguage *_language;
-
-public:
-	ResourceFormatLoaderPluginScript(PluginScriptLanguage *language);
-	virtual RES load(const String &p_path, const String &p_original_path = "", Error *r_error = nullptr, bool p_use_sub_threads = false, float *r_progress = nullptr, CacheMode p_cache_mode = CACHE_MODE_REUSE);
-	virtual void get_recognized_extensions(List<String> *p_extensions) const;
-	virtual bool handles_type(const String &p_type) const;
-	virtual String get_resource_type(const String &p_path) const;
-};
-
-class ResourceFormatSaverPluginScript : public ResourceFormatSaver {
-	PluginScriptLanguage *_language;
-
-public:
-	ResourceFormatSaverPluginScript(PluginScriptLanguage *language);
-	virtual Error save(const String &p_path, const RES &p_resource, uint32_t p_flags = 0);
-	virtual void get_recognized_extensions(const RES &p_resource, List<String> *p_extensions) const;
-	virtual bool recognize(const RES &p_resource) const;
-};
-
-#endif // PYTHONSCRIPT_PY_LOADER_H
diff --git a/modules/gdnative/pluginscript/pluginscript_script.cpp b/modules/gdnative/pluginscript/pluginscript_script.cpp
deleted file mode 100644
index ec3c9eb4ff..0000000000
--- a/modules/gdnative/pluginscript/pluginscript_script.cpp
+++ /dev/null
@@ -1,510 +0,0 @@
-/*************************************************************************/
-/*  pluginscript_script.cpp                                              */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-// Godot imports
-#include "core/io/file_access.h"
-// PluginScript imports
-#include "pluginscript_instance.h"
-#include "pluginscript_script.h"
-
-#include <stdint.h>
-
-#ifdef DEBUG_ENABLED
-#define __ASSERT_SCRIPT_REASON "Cannot retrieve PluginScript class for this script, is your code correct?"
-#define ASSERT_SCRIPT_VALID()                                          \
-	{                                                                  \
-		ERR_FAIL_COND_MSG(!can_instantiate(), __ASSERT_SCRIPT_REASON); \
-	}
-#define ASSERT_SCRIPT_VALID_V(ret)                                            \
-	{                                                                         \
-		ERR_FAIL_COND_V_MSG(!can_instantiate(), ret, __ASSERT_SCRIPT_REASON); \
-	}
-#else
-#define ASSERT_SCRIPT_VALID()
-#define ASSERT_SCRIPT_VALID_V(ret)
-#endif
-
-void PluginScript::_bind_methods() {
-	ClassDB::bind_vararg_method(METHOD_FLAGS_DEFAULT, "new", &PluginScript::_new, MethodInfo("new"));
-}
-
-PluginScriptInstance *PluginScript::_create_instance(const Variant **p_args, int p_argcount, Object *p_owner, Callable::CallError &r_error) {
-	r_error.error = Callable::CallError::CALL_OK;
-
-	// Create instance
-	PluginScriptInstance *instance = memnew(PluginScriptInstance());
-
-	if (instance->init(this, p_owner)) {
-		_language->lock();
-		_instances.insert(instance->get_owner());
-		_language->unlock();
-	} else {
-		r_error.error = Callable::CallError::CALL_ERROR_INSTANCE_IS_NULL;
-		memdelete(instance);
-		ERR_FAIL_V(nullptr);
-	}
-
-	// Construct
-	// TODO: Support arguments in the constructor?
-	// There is currently no way to get the constructor function name of the script.
-	// instance->call("__init__", p_args, p_argcount, r_error);
-	if (p_argcount > 0) {
-		WARN_PRINT("PluginScript doesn't support arguments in the constructor");
-	}
-
-	return instance;
-}
-
-Variant PluginScript::_new(const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
-	r_error.error = Callable::CallError::CALL_OK;
-
-	if (!_valid) {
-		r_error.error = Callable::CallError::CALL_ERROR_INVALID_METHOD;
-		return Variant();
-	}
-
-	REF ref;
-	Object *owner = nullptr;
-
-	if (get_instance_base_type() == StringName()) {
-		owner = memnew(RefCounted);
-	} else {
-		owner = ClassDB::instantiate(get_instance_base_type());
-	}
-
-	if (!owner) {
-		r_error.error = Callable::CallError::CALL_ERROR_INSTANCE_IS_NULL;
-		return Variant();
-	}
-
-	RefCounted *r = Object::cast_to<RefCounted>(owner);
-	if (r) {
-		ref = REF(r);
-	}
-
-	PluginScriptInstance *instance = _create_instance(p_args, p_argcount, owner, r_error);
-
-	if (!instance) {
-		if (ref.is_null()) {
-			memdelete(owner); //no owner, sorry
-		}
-		return Variant();
-	}
-
-	if (ref.is_valid()) {
-		return ref;
-	} else {
-		return owner;
-	}
-}
-
-#ifdef TOOLS_ENABLED
-
-void PluginScript::_placeholder_erased(PlaceHolderScriptInstance *p_placeholder) {
-	placeholders.erase(p_placeholder);
-}
-
-#endif
-
-bool PluginScript::can_instantiate() const {
-	bool can = _valid || (!_tool && !ScriptServer::is_scripting_enabled());
-	return can;
-}
-
-bool PluginScript::inherits_script(const Ref<Script> &p_script) const {
-	Ref<PluginScript> ps = p_script;
-	if (ps.is_null()) {
-		return false;
-	}
-
-	const PluginScript *s = this;
-
-	while (s) {
-		if (s == p_script.ptr()) {
-			return true;
-		}
-		s = Object::cast_to<PluginScript>(s->_ref_base_parent.ptr());
-	}
-
-	return false;
-}
-
-Ref<Script> PluginScript::get_base_script() const {
-	if (_ref_base_parent.is_valid()) {
-		return Ref<PluginScript>(_ref_base_parent);
-	} else {
-		return Ref<Script>();
-	}
-}
-
-StringName PluginScript::get_instance_base_type() const {
-	if (_native_parent) {
-		return _native_parent;
-	}
-	if (_ref_base_parent.is_valid()) {
-		return _ref_base_parent->get_instance_base_type();
-	}
-	return StringName();
-}
-
-void PluginScript::update_exports() {
-#ifdef TOOLS_ENABLED
-	ASSERT_SCRIPT_VALID();
-	if (placeholders.size()) {
-		//update placeholders if any
-		Map<StringName, Variant> propdefvalues;
-		List<PropertyInfo> propinfos;
-
-		get_script_property_list(&propinfos);
-		for (Set<PlaceHolderScriptInstance *>::Element *E = placeholders.front(); E; E = E->next()) {
-			E->get()->update(propinfos, _properties_default_values);
-		}
-	}
-#endif
-}
-
-// TODO: rename p_this "p_owner" ?
-ScriptInstance *PluginScript::instance_create(Object *p_this) {
-	ASSERT_SCRIPT_VALID_V(nullptr);
-	// TODO check script validity ?
-	if (!_tool && !ScriptServer::is_scripting_enabled()) {
-#ifdef TOOLS_ENABLED
-		// Instance a fake script for editing the values
-		PlaceHolderScriptInstance *si = memnew(PlaceHolderScriptInstance(get_language(), Ref<Script>(this), p_this));
-		placeholders.insert(si);
-		update_exports();
-		return si;
-#else
-		return nullptr;
-#endif
-	}
-
-	StringName base_type = get_instance_base_type();
-	if (base_type) {
-		if (!ClassDB::is_parent_class(p_this->get_class_name(), base_type)) {
-			String msg = "Script inherits from native type '" + String(base_type) + "', so it can't be instantiated in object of type: '" + p_this->get_class() + "'";
-			// TODO: implement PluginscriptLanguage::debug_break_parse
-			// if (EngineDebugger::is_active()) {
-			// 	_language->debug_break_parse(get_path(), 0, msg);
-			// }
-			ERR_FAIL_V_MSG(nullptr, msg);
-		}
-	}
-
-	Callable::CallError unchecked_error;
-	return _create_instance(nullptr, 0, p_this, unchecked_error);
-}
-
-bool PluginScript::instance_has(const Object *p_this) const {
-	ERR_FAIL_COND_V(!_language, false);
-
-	_language->lock();
-	bool hasit = _instances.has((Object *)p_this);
-	_language->unlock();
-	return hasit;
-}
-
-bool PluginScript::has_source_code() const {
-	return !_source.is_empty();
-}
-
-String PluginScript::get_source_code() const {
-	return _source;
-}
-
-void PluginScript::set_source_code(const String &p_code) {
-	if (_source == p_code) {
-		return;
-	}
-	_source = p_code;
-}
-
-Error PluginScript::reload(bool p_keep_state) {
-	ERR_FAIL_COND_V(!_language, ERR_UNCONFIGURED);
-
-	_language->lock();
-	ERR_FAIL_COND_V(!p_keep_state && _instances.size(), ERR_ALREADY_IN_USE);
-	_language->unlock();
-
-	_valid = false;
-	String basedir = _path;
-
-	if (basedir.is_empty()) {
-		basedir = get_path();
-	}
-
-	if (!basedir.is_empty()) {
-		basedir = basedir.get_base_dir();
-	}
-
-	if (_data) {
-		_desc->finish(_data);
-	}
-
-	Error err;
-	godot_pluginscript_script_manifest manifest = _desc->init(
-			_language->_data,
-			(godot_string *)&_path,
-			(godot_string *)&_source,
-			(godot_error *)&err);
-// Manifest's attributes must be explicitly freed
-#define FREE_SCRIPT_MANIFEST(manifest)                    \
-	{                                                     \
-		godot_string_name_destroy(&manifest.name);        \
-		godot_string_name_destroy(&manifest.base);        \
-		godot_dictionary_destroy(&manifest.member_lines); \
-		godot_array_destroy(&manifest.methods);           \
-		godot_array_destroy(&manifest.signals);           \
-		godot_array_destroy(&manifest.properties);        \
-	}
-
-	if (err) {
-		FREE_SCRIPT_MANIFEST(manifest);
-		// TODO: GDscript uses `ScriptDebugger` here to jump into the parsing error
-		return err;
-	}
-
-	// Script's parent is passed as base_name which can make reference to a
-	// ClassDB name (i.e. `Node2D`) or a resource path (i.e. `res://foo/bar.gd`)
-	StringName *base_name = (StringName *)&manifest.base;
-	if (*base_name) {
-		if (ClassDB::class_exists(*base_name)) {
-			_native_parent = *base_name;
-		} else {
-			Ref<Script> res = ResourceLoader::load(*base_name);
-			if (res.is_valid()) {
-				_ref_base_parent = res;
-			} else {
-				String name = *(StringName *)&manifest.name;
-				FREE_SCRIPT_MANIFEST(manifest);
-				ERR_FAIL_V_MSG(ERR_PARSE_ERROR, _path + ": Script '" + name + "' has an invalid parent '" + *base_name + "'.");
-			}
-		}
-	}
-
-	_valid = true;
-	// Use the manifest to configure this script object
-	_data = manifest.data;
-	_name = *(StringName *)&manifest.name;
-	_tool = manifest.is_tool;
-	_icon_path = *(String *)&manifest.icon_path;
-
-	Dictionary *members = (Dictionary *)&manifest.member_lines;
-	for (const Variant *key = members->next(); key != nullptr; key = members->next(key)) {
-		_member_lines[*key] = (*members)[*key];
-	}
-	Array *methods = (Array *)&manifest.methods;
-	_rpc_methods.clear();
-	if (_ref_base_parent.is_valid()) {
-		/// XXX TODO Should this be _rpc_methods.append_array(...)
-		_rpc_methods = _ref_base_parent->get_rpc_methods();
-	}
-	for (int i = 0; i < methods->size(); ++i) {
-		Dictionary v = (*methods)[i];
-		MethodInfo mi = MethodInfo::from_dict(v);
-		_methods_info[mi.name] = mi;
-		// rpc_mode is passed as an optional field and is not part of MethodInfo
-		Variant var = v["rpc_mode"];
-		if (var != Variant()) {
-			Multiplayer::RPCConfig nd;
-			nd.name = mi.name;
-			nd.rpc_mode = Multiplayer::RPCMode(int(var));
-			// TODO Transfer Channel
-			if (_rpc_methods.find(nd) == -1) {
-				_rpc_methods.push_back(nd);
-			}
-		}
-	}
-
-	// Sort so we are 100% that they are always the same.
-	_rpc_methods.sort_custom<Multiplayer::SortRPCConfig>();
-
-	Array *signals = (Array *)&manifest.signals;
-	for (int i = 0; i < signals->size(); ++i) {
-		Variant v = (*signals)[i];
-		MethodInfo mi = MethodInfo::from_dict(v);
-		_signals_info[mi.name] = mi;
-	}
-	Array *properties = (Array *)&manifest.properties;
-	for (int i = 0; i < properties->size(); ++i) {
-		Dictionary v = (*properties)[i];
-		PropertyInfo pi = PropertyInfo::from_dict(v);
-		_properties_info[pi.name] = pi;
-		_properties_default_values[pi.name] = v["default_value"];
-	}
-
-	FREE_SCRIPT_MANIFEST(manifest);
-	return OK;
-#undef FREE_SCRIPT_MANIFEST
-}
-
-void PluginScript::get_script_method_list(List<MethodInfo> *r_methods) const {
-	ASSERT_SCRIPT_VALID();
-	for (Map<StringName, MethodInfo>::Element *e = _methods_info.front(); e != nullptr; e = e->next()) {
-		r_methods->push_back(e->get());
-	}
-}
-
-void PluginScript::get_script_property_list(List<PropertyInfo> *r_properties) const {
-	ASSERT_SCRIPT_VALID();
-	for (Map<StringName, PropertyInfo>::Element *e = _properties_info.front(); e != nullptr; e = e->next()) {
-		r_properties->push_back(e->get());
-	}
-}
-
-bool PluginScript::has_method(const StringName &p_method) const {
-	ASSERT_SCRIPT_VALID_V(false);
-	return _methods_info.has(p_method);
-}
-
-MethodInfo PluginScript::get_method_info(const StringName &p_method) const {
-	ASSERT_SCRIPT_VALID_V(MethodInfo());
-	const Map<StringName, MethodInfo>::Element *e = _methods_info.find(p_method);
-	if (e != nullptr) {
-		return e->get();
-	} else {
-		return MethodInfo();
-	}
-}
-
-bool PluginScript::has_property(const StringName &p_method) const {
-	ASSERT_SCRIPT_VALID_V(false);
-	return _properties_info.has(p_method);
-}
-
-PropertyInfo PluginScript::get_property_info(const StringName &p_property) const {
-	ASSERT_SCRIPT_VALID_V(PropertyInfo());
-	const Map<StringName, PropertyInfo>::Element *e = _properties_info.find(p_property);
-	if (e != nullptr) {
-		return e->get();
-	} else {
-		return PropertyInfo();
-	}
-}
-
-bool PluginScript::get_property_default_value(const StringName &p_property, Variant &r_value) const {
-	ASSERT_SCRIPT_VALID_V(false);
-#ifdef TOOLS_ENABLED
-	const Map<StringName, Variant>::Element *e = _properties_default_values.find(p_property);
-	if (e != nullptr) {
-		r_value = e->get();
-		return true;
-	} else {
-		return false;
-	}
-#endif
-	return false;
-}
-
-ScriptLanguage *PluginScript::get_language() const {
-	return _language;
-}
-
-Error PluginScript::load_source_code(const String &p_path) {
-	Vector<uint8_t> sourcef;
-	Error err;
-	FileAccess *f = FileAccess::open(p_path, FileAccess::READ, &err);
-	ERR_FAIL_COND_V_MSG(err, err, "Cannot open file '" + p_path + "'.");
-
-	uint64_t len = f->get_length();
-	sourcef.resize(len + 1);
-	uint8_t *w = sourcef.ptrw();
-	uint64_t r = f->get_buffer(w, len);
-	f->close();
-	memdelete(f);
-	ERR_FAIL_COND_V(r != len, ERR_CANT_OPEN);
-	w[len] = 0;
-
-	String s;
-	if (s.parse_utf8((const char *)w)) {
-		ERR_FAIL_V_MSG(ERR_INVALID_DATA, "Script '" + p_path + "' contains invalid unicode (UTF-8), so it was not loaded. Please ensure that scripts are saved in valid UTF-8 unicode.");
-	}
-
-	_source = s;
-#ifdef TOOLS_ENABLED
-// source_changed_cache=true;
-#endif
-	_path = p_path;
-	return OK;
-}
-
-bool PluginScript::has_script_signal(const StringName &p_signal) const {
-	ASSERT_SCRIPT_VALID_V(false);
-	return _signals_info.has(p_signal);
-}
-
-void PluginScript::get_script_signal_list(List<MethodInfo> *r_signals) const {
-	ASSERT_SCRIPT_VALID();
-	for (Map<StringName, MethodInfo>::Element *e = _signals_info.front(); e != nullptr; e = e->next()) {
-		r_signals->push_back(e->get());
-	}
-}
-
-int PluginScript::get_member_line(const StringName &p_member) const {
-#ifdef TOOLS_ENABLED
-	if (_member_lines.has(p_member)) {
-		return _member_lines[p_member];
-	}
-#endif
-	return -1;
-}
-
-const Vector<Multiplayer::RPCConfig> PluginScript::get_rpc_methods() const {
-	return _rpc_methods;
-}
-
-PluginScript::PluginScript() :
-		_script_list(this) {
-}
-
-void PluginScript::init(PluginScriptLanguage *language) {
-	_desc = &language->_desc.script_desc;
-	_language = language;
-
-#ifdef DEBUG_ENABLED
-	_language->lock();
-	_language->_script_list.add(&_script_list);
-	_language->unlock();
-#endif
-}
-
-PluginScript::~PluginScript() {
-	if (_desc && _data) {
-		_desc->finish(_data);
-	}
-
-#ifdef DEBUG_ENABLED
-	if (_language) {
-		_language->lock();
-		_language->_script_list.remove(&_script_list);
-		_language->unlock();
-	}
-#endif
-}
diff --git a/modules/gdnative/pluginscript/pluginscript_script.h b/modules/gdnative/pluginscript/pluginscript_script.h
deleted file mode 100644
index 73c486f6d9..0000000000
--- a/modules/gdnative/pluginscript/pluginscript_script.h
+++ /dev/null
@@ -1,146 +0,0 @@
-/*************************************************************************/
-/*  pluginscript_script.h                                                */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef PLUGINSCRIPT_SCRIPT_H
-#define PLUGINSCRIPT_SCRIPT_H
-
-// Godot imports
-
-#include "core/doc_data.h"
-#include "core/object/script_language.h"
-// PluginScript imports
-#include "pluginscript_language.h"
-#include <pluginscript/godot_pluginscript.h>
-
-class PluginScript : public Script {
-	GDCLASS(PluginScript, Script);
-
-	friend class PluginScriptInstance;
-	friend class PluginScriptLanguage;
-
-private:
-	godot_pluginscript_script_data *_data = nullptr;
-	const godot_pluginscript_script_desc *_desc = nullptr;
-	PluginScriptLanguage *_language = nullptr;
-	bool _tool = false;
-	bool _valid = false;
-
-	Ref<Script> _ref_base_parent;
-	StringName _native_parent;
-	SelfList<PluginScript> _script_list;
-
-	Map<StringName, int> _member_lines;
-	Map<StringName, Variant> _properties_default_values;
-	Map<StringName, PropertyInfo> _properties_info;
-	Map<StringName, MethodInfo> _signals_info;
-	Map<StringName, MethodInfo> _methods_info;
-	Vector<Multiplayer::RPCConfig> _rpc_methods;
-
-	Set<Object *> _instances;
-	//exported members
-	String _source;
-	String _path;
-	StringName _name;
-	String _icon_path;
-
-protected:
-	static void _bind_methods();
-
-	bool inherits_script(const Ref<Script> &p_script) const override;
-
-	PluginScriptInstance *_create_instance(const Variant **p_args, int p_argcount, Object *p_owner, Callable::CallError &r_error);
-	Variant _new(const Variant **p_args, int p_argcount, Callable::CallError &r_error);
-
-#ifdef TOOLS_ENABLED
-	Set<PlaceHolderScriptInstance *> placeholders;
-	//void _update_placeholder(PlaceHolderScriptInstance *p_placeholder);
-	virtual void _placeholder_erased(PlaceHolderScriptInstance *p_placeholder) override;
-#endif
-public:
-	String get_script_class_name() const {
-		return _name;
-	}
-
-	String get_script_class_icon_path() const {
-		return _icon_path;
-	}
-
-	virtual bool can_instantiate() const override;
-
-	virtual Ref<Script> get_base_script() const override; //for script inheritance
-
-	virtual StringName get_instance_base_type() const override; // this may not work in all scripts, will return empty if so
-	virtual ScriptInstance *instance_create(Object *p_this) override;
-	virtual bool instance_has(const Object *p_this) const override;
-
-	virtual bool has_source_code() const override;
-	virtual String get_source_code() const override;
-	virtual void set_source_code(const String &p_code) override;
-	virtual Error reload(bool p_keep_state = false) override;
-	// TODO: load_source_code only allow utf-8 file, should handle bytecode as well ?
-	virtual Error load_source_code(const String &p_path);
-
-#ifdef TOOLS_ENABLED
-	virtual const Vector<DocData::ClassDoc> &get_documentation() const override {
-		static Vector<DocData::ClassDoc> docs;
-		return docs;
-	}
-#endif // TOOLS_ENABLED
-
-	virtual bool has_method(const StringName &p_method) const override;
-	virtual MethodInfo get_method_info(const StringName &p_method) const override;
-
-	bool has_property(const StringName &p_method) const;
-	PropertyInfo get_property_info(const StringName &p_property) const;
-
-	bool is_tool() const override { return _tool; }
-	bool is_valid() const override { return true; }
-
-	virtual ScriptLanguage *get_language() const override;
-
-	virtual bool has_script_signal(const StringName &p_signal) const override;
-	virtual void get_script_signal_list(List<MethodInfo> *r_signals) const override;
-
-	virtual bool get_property_default_value(const StringName &p_property, Variant &r_value) const override;
-
-	virtual void update_exports() override;
-	virtual void get_script_method_list(List<MethodInfo> *r_methods) const override;
-	virtual void get_script_property_list(List<PropertyInfo> *r_properties) const override;
-
-	virtual int get_member_line(const StringName &p_member) const override;
-
-	virtual const Vector<Multiplayer::RPCConfig> get_rpc_methods() const override;
-
-	PluginScript();
-	void init(PluginScriptLanguage *language);
-	virtual ~PluginScript();
-};
-
-#endif // PLUGINSCRIPT_SCRIPT_H
diff --git a/modules/gdnative/pluginscript/register_types.cpp b/modules/gdnative/pluginscript/register_types.cpp
deleted file mode 100644
index 39c8124c17..0000000000
--- a/modules/gdnative/pluginscript/register_types.cpp
+++ /dev/null
@@ -1,121 +0,0 @@
-/*************************************************************************/
-/*  register_types.cpp                                                   */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "register_types.h"
-
-#include "core/config/project_settings.h"
-#include "core/io/dir_access.h"
-#include "core/io/resource_loader.h"
-#include "core/io/resource_saver.h"
-#include "core/os/os.h"
-#include "scene/main/scene_tree.h"
-
-#include "pluginscript_language.h"
-#include "pluginscript_script.h"
-#include <pluginscript/godot_pluginscript.h>
-
-static List<PluginScriptLanguage *> pluginscript_languages;
-
-static Error _check_language_desc(const godot_pluginscript_language_desc *desc) {
-	ERR_FAIL_COND_V(!desc->name, ERR_BUG);
-	ERR_FAIL_COND_V(!desc->type, ERR_BUG);
-	ERR_FAIL_COND_V(!desc->extension, ERR_BUG);
-	ERR_FAIL_COND_V(!desc->recognized_extensions || !desc->recognized_extensions[0], ERR_BUG);
-	ERR_FAIL_COND_V(!desc->init, ERR_BUG);
-	ERR_FAIL_COND_V(!desc->finish, ERR_BUG);
-
-	// desc->reserved_words is not mandatory
-	// desc->comment_delimiters is not mandatory
-	// desc->string_delimiters is not mandatory
-
-	// desc->get_template_source_code is not mandatory
-	// desc->validate is not mandatory
-
-	// desc->get_template_source_code is not mandatory
-	// desc->validate is not mandatory
-	// desc->find_function is not mandatory
-	// desc->make_function is not mandatory
-	// desc->complete_code is not mandatory
-	// desc->auto_indent_code is not mandatory
-	ERR_FAIL_COND_V(!desc->add_global_constant, ERR_BUG);
-	// desc->debug_get_error is not mandatory
-	// desc->debug_get_stack_level_count is not mandatory
-	// desc->debug_get_stack_level_line is not mandatory
-	// desc->debug_get_stack_level_function is not mandatory
-	// desc->debug_get_stack_level_source is not mandatory
-	// desc->debug_get_stack_level_locals is not mandatory
-	// desc->debug_get_stack_level_members is not mandatory
-	// desc->debug_get_globals is not mandatory
-	// desc->debug_parse_stack_level_expression is not mandatory
-	// desc->profiling_start is not mandatory
-	// desc->profiling_stop is not mandatory
-	// desc->profiling_get_accumulated_data is not mandatory
-	// desc->profiling_get_frame_data is not mandatory
-	// desc->profiling_frame is not mandatory
-
-	ERR_FAIL_COND_V(!desc->script_desc.init, ERR_BUG);
-	ERR_FAIL_COND_V(!desc->script_desc.finish, ERR_BUG);
-
-	ERR_FAIL_COND_V(!desc->script_desc.instance_desc.init, ERR_BUG);
-	ERR_FAIL_COND_V(!desc->script_desc.instance_desc.finish, ERR_BUG);
-	ERR_FAIL_COND_V(!desc->script_desc.instance_desc.set_prop, ERR_BUG);
-	ERR_FAIL_COND_V(!desc->script_desc.instance_desc.get_prop, ERR_BUG);
-	ERR_FAIL_COND_V(!desc->script_desc.instance_desc.call_method, ERR_BUG);
-	ERR_FAIL_COND_V(!desc->script_desc.instance_desc.notification, ERR_BUG);
-	// desc->script_desc.instance_desc.refcount_incremented is not mandatory
-	// desc->script_desc.instance_desc.refcount_decremented is not mandatory
-	return OK;
-}
-
-void GDAPI godot_pluginscript_register_language(const godot_pluginscript_language_desc *language_desc) {
-	Error ret = _check_language_desc(language_desc);
-	if (ret) {
-		ERR_FAIL();
-	}
-	PluginScriptLanguage *language = memnew(PluginScriptLanguage(language_desc));
-	ScriptServer::register_language(language);
-	ResourceLoader::add_resource_format_loader(language->get_resource_loader());
-	ResourceSaver::add_resource_format_saver(language->get_resource_saver());
-	pluginscript_languages.push_back(language);
-}
-
-void register_pluginscript_types() {
-	GDREGISTER_CLASS(PluginScript);
-}
-
-void unregister_pluginscript_types() {
-	for (List<PluginScriptLanguage *>::Element *e = pluginscript_languages.front(); e; e = e->next()) {
-		PluginScriptLanguage *language = e->get();
-		ScriptServer::unregister_language(language);
-		ResourceLoader::remove_resource_format_loader(language->get_resource_loader());
-		ResourceSaver::remove_resource_format_saver(language->get_resource_saver());
-		memdelete(language);
-	}
-}
diff --git a/modules/gdnative/pluginscript/register_types.h b/modules/gdnative/pluginscript/register_types.h
deleted file mode 100644
index 49e7357a98..0000000000
--- a/modules/gdnative/pluginscript/register_types.h
+++ /dev/null
@@ -1,37 +0,0 @@
-/*************************************************************************/
-/*  register_types.h                                                     */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef PLUGINSCRIPT_REGISTER_TYPES_H
-#define PLUGINSCRIPT_REGISTER_TYPES_H
-
-void register_pluginscript_types();
-void unregister_pluginscript_types();
-
-#endif // PLUGINSCRIPT_REGISTER_TYPES_H
diff --git a/modules/gdnative/register_types.cpp b/modules/gdnative/register_types.cpp
deleted file mode 100644
index 1121fd0e03..0000000000
--- a/modules/gdnative/register_types.cpp
+++ /dev/null
@@ -1,360 +0,0 @@
-/*************************************************************************/
-/*  register_types.cpp                                                   */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "register_types.h"
-
-#include "gdnative/gdnative.h"
-
-#include "gdnative.h"
-
-#include "nativescript/register_types.h"
-#include "pluginscript/register_types.h"
-#include "videodecoder/register_types.h"
-
-#include "core/config/engine.h"
-#include "core/config/project_settings.h"
-#include "core/io/resource_loader.h"
-#include "core/io/resource_saver.h"
-#include "core/os/os.h"
-
-#ifdef TOOLS_ENABLED
-#include "editor/editor_export.h"
-#include "editor/editor_node.h"
-#include "gdnative_library_editor_plugin.h"
-#include "gdnative_library_singleton_editor.h"
-
-class GDNativeExportPlugin : public EditorExportPlugin {
-protected:
-	virtual void _export_file(const String &p_path, const String &p_type, const Set<String> &p_features);
-};
-
-struct LibrarySymbol {
-	const char *name;
-	bool is_required;
-};
-
-void GDNativeExportPlugin::_export_file(const String &p_path, const String &p_type, const Set<String> &p_features) {
-	if (p_type != "GDNativeLibrary") {
-		return;
-	}
-
-	Ref<GDNativeLibrary> lib = ResourceLoader::load(p_path);
-
-	if (lib.is_null()) {
-		return;
-	}
-
-	Ref<ConfigFile> config = lib->get_config_file();
-
-	{
-		List<String> entry_keys;
-		config->get_section_keys("entry", &entry_keys);
-
-		for (const String &key : entry_keys) {
-			Vector<String> tags = key.split(".");
-
-			bool skip = false;
-			for (int i = 0; i < tags.size(); i++) {
-				bool has_feature = p_features.has(tags[i]);
-
-				if (!has_feature) {
-					skip = true;
-					break;
-				}
-			}
-
-			if (skip) {
-				continue;
-			}
-
-			String entry_lib_path = config->get_value("entry", key);
-			if (!entry_lib_path.begins_with("res://")) {
-				print_line("Skipping export of out-of-project library " + entry_lib_path);
-				continue;
-			}
-
-			add_shared_object(entry_lib_path, tags);
-		}
-	}
-
-	{
-		List<String> dependency_keys;
-		config->get_section_keys("dependencies", &dependency_keys);
-
-		for (const String &key : dependency_keys) {
-			Vector<String> tags = key.split(".");
-
-			bool skip = false;
-			for (int i = 0; i < tags.size(); i++) {
-				bool has_feature = p_features.has(tags[i]);
-
-				if (!has_feature) {
-					skip = true;
-					break;
-				}
-			}
-
-			if (skip) {
-				continue;
-			}
-
-			Vector<String> dependency_paths = config->get_value("dependencies", key);
-			for (int i = 0; i < dependency_paths.size(); i++) {
-				if (!dependency_paths[i].begins_with("res://")) {
-					print_line("Skipping export of out-of-project library " + dependency_paths[i]);
-					continue;
-				}
-				add_shared_object(dependency_paths[i], tags);
-			}
-		}
-	}
-
-	// Add symbols for statically linked libraries on iOS
-	if (p_features.has("iOS")) {
-		bool should_fake_dynamic = false;
-
-		List<String> entry_keys;
-		config->get_section_keys("entry", &entry_keys);
-
-		for (const String &key : entry_keys) {
-			Vector<String> tags = key.split(".");
-
-			bool skip = false;
-			for (int i = 0; i < tags.size(); i++) {
-				bool has_feature = p_features.has(tags[i]);
-
-				if (!has_feature) {
-					skip = true;
-					break;
-				}
-			}
-
-			if (skip) {
-				continue;
-			}
-
-			String entry_lib_path = config->get_value("entry", key);
-			if (entry_lib_path.begins_with("res://") && entry_lib_path.ends_with(".a")) {
-				// If we find static library that was used for export
-				// we should add a fake lookup table.
-				// In case of dynamic library being used,
-				// this symbols will not cause any issues with library loading.
-				should_fake_dynamic = true;
-				break;
-			}
-		}
-
-		if (should_fake_dynamic) {
-			// Register symbols in the "fake" dynamic lookup table, because dlsym does not work well on iOS.
-			LibrarySymbol expected_symbols[] = {
-				{ "gdnative_init", true },
-				{ "gdnative_terminate", false },
-				{ "nativescript_init", false },
-				{ "nativescript_frame", false },
-				{ "nativescript_thread_enter", false },
-				{ "nativescript_thread_exit", false },
-				{ "gdnative_singleton", false }
-			};
-			String declare_pattern = "extern \"C\" void $name(void)$weak;\n";
-			String additional_code = "extern void register_dynamic_symbol(char *name, void *address);\n"
-									 "extern void add_ios_init_callback(void (*cb)());\n";
-			String linker_flags = "";
-			for (unsigned long i = 0; i < sizeof(expected_symbols) / sizeof(expected_symbols[0]); ++i) {
-				String full_name = lib->get_symbol_prefix() + expected_symbols[i].name;
-				String code = declare_pattern.replace("$name", full_name);
-				code = code.replace("$weak", expected_symbols[i].is_required ? "" : " __attribute__((weak))");
-				additional_code += code;
-
-				if (!expected_symbols[i].is_required) {
-					if (linker_flags.length() > 0) {
-						linker_flags += " ";
-					}
-					linker_flags += "-Wl,-U,_" + full_name;
-				}
-			}
-
-			additional_code += String("void $prefixinit() {\n").replace("$prefix", lib->get_symbol_prefix());
-			String register_pattern = "  if (&$name) register_dynamic_symbol((char *)\"$name\", (void *)$name);\n";
-			for (unsigned long i = 0; i < sizeof(expected_symbols) / sizeof(expected_symbols[0]); ++i) {
-				String full_name = lib->get_symbol_prefix() + expected_symbols[i].name;
-				additional_code += register_pattern.replace("$name", full_name);
-			}
-			additional_code += "}\n";
-			additional_code += String("struct $prefixstruct {$prefixstruct() {add_ios_init_callback($prefixinit);}};\n").replace("$prefix", lib->get_symbol_prefix());
-			additional_code += String("$prefixstruct $prefixstruct_instance;\n").replace("$prefix", lib->get_symbol_prefix());
-
-			add_ios_cpp_code(additional_code);
-			add_ios_linker_flags(linker_flags);
-		}
-	}
-}
-
-static void editor_init_callback() {
-	GDNativeLibrarySingletonEditor *library_editor = memnew(GDNativeLibrarySingletonEditor);
-	library_editor->set_name(TTR("GDNative"));
-	ProjectSettingsEditor::get_singleton()->get_tabs()->add_child(library_editor);
-
-	Ref<GDNativeExportPlugin> export_plugin;
-	export_plugin.instantiate();
-
-	EditorExport::get_singleton()->add_export_plugin(export_plugin);
-
-	EditorNode::get_singleton()->add_editor_plugin(memnew(GDNativeLibraryEditorPlugin));
-}
-
-#endif
-
-static godot_variant cb_standard_varcall(void *p_procedure_handle, godot_array *p_args) {
-	godot_gdnative_procedure_fn proc;
-	proc = (godot_gdnative_procedure_fn)p_procedure_handle;
-
-	return proc(p_args);
-}
-
-GDNativeCallRegistry *GDNativeCallRegistry::singleton;
-
-Vector<Ref<GDNative>> singleton_gdnatives;
-
-Ref<GDNativeLibraryResourceLoader> resource_loader_gdnlib;
-Ref<GDNativeLibraryResourceSaver> resource_saver_gdnlib;
-
-void register_gdnative_types() {
-#ifdef TOOLS_ENABLED
-
-	EditorNode::add_init_callback(editor_init_callback);
-#endif
-
-	GDREGISTER_CLASS(GDNativeLibrary);
-	GDREGISTER_CLASS(GDNative);
-
-	resource_loader_gdnlib.instantiate();
-	ResourceLoader::add_resource_format_loader(resource_loader_gdnlib);
-
-	resource_saver_gdnlib.instantiate();
-	ResourceSaver::add_resource_format_saver(resource_saver_gdnlib);
-
-	GDNativeCallRegistry::singleton = memnew(GDNativeCallRegistry);
-
-	GDNativeCallRegistry::singleton->register_native_call_type("standard_varcall", cb_standard_varcall);
-
-	register_nativescript_types();
-	register_pluginscript_types();
-	register_videodecoder_types();
-
-	// run singletons
-
-	Array singletons = Array();
-	if (ProjectSettings::get_singleton()->has_setting("gdnative/singletons")) {
-		singletons = ProjectSettings::get_singleton()->get("gdnative/singletons");
-	}
-	Array excluded = Array();
-	if (ProjectSettings::get_singleton()->has_setting("gdnative/singletons_disabled")) {
-		excluded = ProjectSettings::get_singleton()->get("gdnative/singletons_disabled");
-	}
-
-	for (int i = 0; i < singletons.size(); i++) {
-		String path = singletons[i];
-
-		if (excluded.has(path)) {
-			continue;
-		}
-
-		Ref<GDNativeLibrary> lib = ResourceLoader::load(path);
-		Ref<GDNative> singleton;
-		singleton.instantiate();
-		singleton->set_library(lib);
-
-		if (!singleton->initialize()) {
-			// Can't initialize. Don't make a native_call then
-			continue;
-		}
-
-		void *proc_ptr;
-		Error err = singleton->get_symbol(
-				lib->get_symbol_prefix() + "gdnative_singleton",
-				proc_ptr);
-
-		if (err != OK) {
-			ERR_PRINT("No " + lib->get_symbol_prefix() + "gdnative_singleton in \"" + singleton->get_library()->get_current_library_path() + "\" found");
-		} else {
-			singleton_gdnatives.push_back(singleton);
-			((void (*)())proc_ptr)();
-		}
-	}
-}
-
-void unregister_gdnative_types() {
-	for (int i = 0; i < singleton_gdnatives.size(); i++) {
-		if (singleton_gdnatives[i].is_null()) {
-			continue;
-		}
-
-		if (!singleton_gdnatives[i]->is_initialized()) {
-			continue;
-		}
-
-		singleton_gdnatives.write[i]->terminate();
-	}
-	singleton_gdnatives.clear();
-
-	unregister_videodecoder_types();
-	unregister_pluginscript_types();
-	unregister_nativescript_types();
-
-	memdelete(GDNativeCallRegistry::singleton);
-
-	ResourceLoader::remove_resource_format_loader(resource_loader_gdnlib);
-	resource_loader_gdnlib.unref();
-
-	ResourceSaver::remove_resource_format_saver(resource_saver_gdnlib);
-	resource_saver_gdnlib.unref();
-
-	// This is for printing out the sizes of the core types
-
-	/*
-	print_line(String("array:\t")     + itos(sizeof(Array)));
-	print_line(String("basis:\t")     + itos(sizeof(Basis)));
-	print_line(String("color:\t")     + itos(sizeof(Color)));
-	print_line(String("dict:\t" )     + itos(sizeof(Dictionary)));
-	print_line(String("node_path:\t") + itos(sizeof(NodePath)));
-	print_line(String("plane:\t")     + itos(sizeof(Plane)));
-	print_line(String("poolarray:\t") + itos(sizeof(PackedByteArray)));
-	print_line(String("quat:\t")      + itos(sizeof(Quat)));
-	print_line(String("rect2:\t")     + itos(sizeof(Rect2)));
-	print_line(String("aabb:\t")     + itos(sizeof(AABB)));
-	print_line(String("rid:\t")       + itos(sizeof(RID)));
-	print_line(String("string:\t")    + itos(sizeof(String)));
-	print_line(String("transform:\t") + itos(sizeof(Transform3D)));
-	print_line(String("transfo2D:\t") + itos(sizeof(Transform2D)));
-	print_line(String("variant:\t")   + itos(sizeof(Variant)));
-	print_line(String("vector2:\t")   + itos(sizeof(Vector2)));
-	print_line(String("vector3:\t")   + itos(sizeof(Vector3)));
-	*/
-}
diff --git a/modules/gdnative/register_types.h b/modules/gdnative/register_types.h
deleted file mode 100644
index 0e1cb46a55..0000000000
--- a/modules/gdnative/register_types.h
+++ /dev/null
@@ -1,37 +0,0 @@
-/*************************************************************************/
-/*  register_types.h                                                     */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef GDNATIVE_REGISTER_TYPES_H
-#define GDNATIVE_REGISTER_TYPES_H
-
-void register_gdnative_types();
-void unregister_gdnative_types();
-
-#endif // GDNATIVE_REGISTER_TYPES_H
diff --git a/modules/gdnative/tests/test_variant.h b/modules/gdnative/tests/test_variant.h
deleted file mode 100644
index fb6537cf42..0000000000
--- a/modules/gdnative/tests/test_variant.h
+++ /dev/null
@@ -1,205 +0,0 @@
-/*************************************************************************/
-/*  test_variant.h                                                       */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef TEST_GDNATIVE_VARIANT_H
-#define TEST_GDNATIVE_VARIANT_H
-
-#include <gdnative/gdnative.h>
-#include <gdnative/variant.h>
-
-#include "tests/test_macros.h"
-
-namespace TestGDNativeVariant {
-
-TEST_CASE("[GDNative Variant] New Variant with copy") {
-	godot_variant src;
-	godot_variant_new_int(&src, 42);
-
-	godot_variant copy;
-	godot_variant_new_copy(&copy, &src);
-
-	CHECK(godot_variant_as_int(&copy) == 42);
-	CHECK(godot_variant_get_type(&copy) == GODOT_VARIANT_TYPE_INT);
-
-	godot_variant_destroy(&src);
-	godot_variant_destroy(&copy);
-}
-
-TEST_CASE("[GDNative Variant] New Variant with Nil") {
-	godot_variant val;
-	godot_variant_new_nil(&val);
-
-	CHECK(godot_variant_get_type(&val) == GODOT_VARIANT_TYPE_NIL);
-
-	godot_variant_destroy(&val);
-}
-
-TEST_CASE("[GDNative Variant] New Variant with bool") {
-	godot_variant val;
-	godot_variant_new_bool(&val, true);
-
-	CHECK(godot_variant_as_bool(&val));
-	CHECK(godot_variant_get_type(&val) == GODOT_VARIANT_TYPE_BOOL);
-
-	godot_variant_destroy(&val);
-}
-
-TEST_CASE("[GDNative Variant] New Variant with float") {
-	godot_variant val;
-	godot_variant_new_float(&val, 4.2);
-
-	CHECK(godot_variant_as_float(&val) == 4.2);
-	CHECK(godot_variant_get_type(&val) == GODOT_VARIANT_TYPE_FLOAT);
-
-	godot_variant_destroy(&val);
-}
-
-TEST_CASE("[GDNative Variant] New Variant with String") {
-	String str = "something";
-
-	godot_variant val;
-	godot_variant_new_string(&val, (godot_string *)&str);
-	godot_string gd_str = godot_variant_as_string(&val);
-	String *result = (String *)&gd_str;
-
-	CHECK(*result == String("something"));
-	CHECK(godot_variant_get_type(&val) == GODOT_VARIANT_TYPE_STRING);
-
-	godot_variant_destroy(&val);
-	godot_string_destroy(&gd_str);
-}
-
-TEST_CASE("[GDNative Variant] Variant call") {
-	String str("something");
-	godot_variant self;
-	godot_variant_new_string(&self, (godot_string *)&str);
-
-	godot_variant ret;
-
-	godot_string_name method;
-	godot_string_name_new_with_latin1_chars(&method, "is_valid_identifier");
-
-	godot_variant_call_error error;
-	godot_variant_call(&self, &method, nullptr, 0, &ret, &error);
-
-	CHECK(godot_variant_get_type(&ret) == GODOT_VARIANT_TYPE_BOOL);
-	CHECK(godot_variant_as_bool(&ret));
-
-	godot_variant_destroy(&ret);
-	godot_variant_destroy(&self);
-	godot_string_name_destroy(&method);
-}
-
-TEST_CASE("[GDNative Variant] Variant evaluate") {
-	godot_variant one;
-	godot_variant_new_int(&one, 1);
-	godot_variant two;
-	godot_variant_new_int(&two, 2);
-
-	godot_variant three;
-	godot_variant_new_nil(&three);
-	bool valid = false;
-
-	godot_variant_evaluate(GODOT_VARIANT_OP_ADD, &one, &two, &three, &valid);
-
-	CHECK(godot_variant_get_type(&three) == GODOT_VARIANT_TYPE_INT);
-	CHECK(godot_variant_as_int(&three) == 3);
-	CHECK(valid);
-
-	godot_variant_destroy(&one);
-	godot_variant_destroy(&two);
-	godot_variant_destroy(&three);
-}
-
-TEST_CASE("[GDNative Variant] Variant set/get named") {
-	godot_string_name x;
-	godot_string_name_new_with_latin1_chars(&x, "x");
-
-	Vector2 vec(0, 0);
-	godot_variant self;
-	godot_variant_new_vector2(&self, (godot_vector2 *)&vec);
-
-	godot_variant set;
-	godot_variant_new_float(&set, 1.0);
-
-	bool set_valid = false;
-	godot_variant_set_named(&self, &x, &set, &set_valid);
-
-	bool get_valid = false;
-	godot_variant get = godot_variant_get_named(&self, &x, &get_valid);
-
-	CHECK(get_valid);
-	CHECK(set_valid);
-	CHECK(godot_variant_get_type(&get) == GODOT_VARIANT_TYPE_FLOAT);
-	CHECK(godot_variant_as_float(&get) == 1.0);
-
-	godot_string_name_destroy(&x);
-	godot_variant_destroy(&self);
-	godot_variant_destroy(&set);
-	godot_variant_destroy(&get);
-}
-
-TEST_CASE("[GDNative Variant] Get utility function argument name") {
-	godot_string_name function;
-	godot_string_name_new_with_latin1_chars(&function, "pow");
-
-	godot_string arg_name = godot_variant_get_utility_function_argument_name(&function, 0);
-
-	String *arg_name_str = (String *)&arg_name;
-
-	CHECK(*arg_name_str == "base");
-
-	godot_string_destroy(&arg_name);
-	godot_string_name_destroy(&function);
-}
-
-TEST_CASE("[GDNative Variant] Get utility function list") {
-	int count = godot_variant_get_utility_function_count();
-
-	godot_string_name *c_list = (godot_string_name *)godot_alloc(count * sizeof(godot_string_name));
-	godot_variant_get_utility_function_list(c_list);
-
-	List<StringName> cpp_list;
-	Variant::get_utility_function_list(&cpp_list);
-
-	godot_string_name *cur = c_list;
-
-	for (const StringName &E : cpp_list) {
-		const StringName &cpp_name = E;
-		StringName *c_name = (StringName *)cur++;
-
-		CHECK(*c_name == cpp_name);
-	}
-
-	godot_free(c_list);
-}
-} // namespace TestGDNativeVariant
-
-#endif // TEST_GDNATIVE_VARIANT_H
diff --git a/modules/gdnative/videodecoder/SCsub b/modules/gdnative/videodecoder/SCsub
deleted file mode 100644
index 5948b9a3dd..0000000000
--- a/modules/gdnative/videodecoder/SCsub
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/usr/bin/env python
-
-Import("env")
-Import("env_modules")
-
-env_vsdecoder_gdnative = env_modules.Clone()
-
-env_vsdecoder_gdnative.Prepend(CPPPATH=["#modules/gdnative/include/"])
-env_vsdecoder_gdnative.add_source_files(env.modules_sources, "*.cpp")
diff --git a/modules/gdnative/videodecoder/register_types.cpp b/modules/gdnative/videodecoder/register_types.cpp
deleted file mode 100644
index b28ff99bb8..0000000000
--- a/modules/gdnative/videodecoder/register_types.cpp
+++ /dev/null
@@ -1,48 +0,0 @@
-/*************************************************************************/
-/*  register_types.cpp                                                   */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "register_types.h"
-
-#include "core/object/class_db.h"
-#include "video_stream_gdnative.h"
-
-static Ref<ResourceFormatLoaderVideoStreamGDNative> resource_loader_vsgdnative;
-
-void register_videodecoder_types() {
-	resource_loader_vsgdnative.instantiate();
-	ResourceLoader::add_resource_format_loader(resource_loader_vsgdnative, true);
-
-	GDREGISTER_CLASS(VideoStreamGDNative);
-}
-
-void unregister_videodecoder_types() {
-	ResourceLoader::remove_resource_format_loader(resource_loader_vsgdnative);
-	resource_loader_vsgdnative.unref();
-}
diff --git a/modules/gdnative/videodecoder/register_types.h b/modules/gdnative/videodecoder/register_types.h
deleted file mode 100644
index b261c36503..0000000000
--- a/modules/gdnative/videodecoder/register_types.h
+++ /dev/null
@@ -1,37 +0,0 @@
-/*************************************************************************/
-/*  register_types.h                                                     */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef VIDEODECODER_REGISTER_TYPES_H
-#define VIDEODECODER_REGISTER_TYPES_H
-
-void register_videodecoder_types();
-void unregister_videodecoder_types();
-
-#endif // VIDEODECODER_REGISTER_TYPES_H
diff --git a/modules/gdnative/videodecoder/video_stream_gdnative.cpp b/modules/gdnative/videodecoder/video_stream_gdnative.cpp
deleted file mode 100644
index d3d295c494..0000000000
--- a/modules/gdnative/videodecoder/video_stream_gdnative.cpp
+++ /dev/null
@@ -1,389 +0,0 @@
-/*************************************************************************/
-/*  video_stream_gdnative.cpp                                            */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "video_stream_gdnative.h"
-
-#include "core/config/project_settings.h"
-#include "servers/audio_server.h"
-
-VideoDecoderServer *VideoDecoderServer::instance = nullptr;
-
-static VideoDecoderServer decoder_server;
-
-const int AUX_BUFFER_SIZE = 1024; // Buffer 1024 samples.
-
-// NOTE: Callbacks for the GDNative libraries.
-extern "C" {
-godot_int GDAPI godot_videodecoder_file_read(void *ptr, uint8_t *buf, int buf_size) {
-	// ptr is a FileAccess
-	FileAccess *file = reinterpret_cast<FileAccess *>(ptr);
-
-	// if file exists
-	if (file) {
-		int64_t bytes_read = file->get_buffer(buf, buf_size);
-		return bytes_read;
-	}
-	return -1;
-}
-
-int64_t GDAPI godot_videodecoder_file_seek(void *ptr, int64_t pos, int whence) {
-	// file
-	FileAccess *file = reinterpret_cast<FileAccess *>(ptr);
-
-	if (file) {
-		int64_t len = file->get_length();
-		switch (whence) {
-			case SEEK_SET: {
-				if (pos > len) {
-					return -1;
-				}
-				file->seek(pos);
-				return file->get_position();
-			} break;
-			case SEEK_CUR: {
-				// Just in case it doesn't exist
-				if (pos < 0 && -pos > (int64_t)file->get_position()) {
-					return -1;
-				}
-				file->seek(file->get_position() + pos);
-				return file->get_position();
-			} break;
-			case SEEK_END: {
-				// Just in case something goes wrong
-				if (-pos > len) {
-					return -1;
-				}
-				file->seek_end(pos);
-				return file->get_position();
-			} break;
-			default: {
-				// Only 4 possible options, hence default = AVSEEK_SIZE
-				// Asks to return the length of file
-				return len;
-			} break;
-		}
-	}
-	// In case nothing works out.
-	return -1;
-}
-
-void GDAPI godot_videodecoder_register_decoder(const godot_videodecoder_interface_gdnative *p_interface) {
-	decoder_server.register_decoder_interface(p_interface);
-}
-}
-
-// VideoStreamPlaybackGDNative starts here.
-
-bool VideoStreamPlaybackGDNative::open_file(const String &p_file) {
-	ERR_FAIL_COND_V(interface == nullptr, false);
-	file = FileAccess::open(p_file, FileAccess::READ);
-	bool file_opened = interface->open_file(data_struct, file);
-
-	if (file_opened) {
-		num_channels = interface->get_channels(data_struct);
-		mix_rate = interface->get_mix_rate(data_struct);
-
-		godot_vector2 vec = interface->get_texture_size(data_struct);
-		texture_size = *(Vector2 *)&vec;
-		// Only do memset if num_channels > 0 otherwise it will crash.
-		if (num_channels > 0) {
-			pcm = (float *)memalloc(num_channels * AUX_BUFFER_SIZE * sizeof(float));
-			memset(pcm, 0, num_channels * AUX_BUFFER_SIZE * sizeof(float));
-		}
-
-		pcm_write_idx = -1;
-		samples_decoded = 0;
-
-		Ref<Image> img;
-		img.instantiate();
-		img->create((int)texture_size.width, false, (int)texture_size.height, Image::FORMAT_RGBA8);
-
-		texture->create_from_image(img);
-	}
-
-	return file_opened;
-}
-
-void VideoStreamPlaybackGDNative::update(float p_delta) {
-	if (!playing || paused) {
-		return;
-	}
-	if (!file) {
-		return;
-	}
-	time += p_delta;
-	ERR_FAIL_COND(interface == nullptr);
-	interface->update(data_struct, p_delta);
-
-	// Don't mix if there's no audio (num_channels == 0).
-	if (mix_callback && num_channels > 0) {
-		if (pcm_write_idx >= 0) {
-			// Previous remains
-			int mixed = mix_callback(mix_udata, pcm + pcm_write_idx * num_channels, samples_decoded);
-			if (mixed == samples_decoded) {
-				pcm_write_idx = -1;
-			} else {
-				samples_decoded -= mixed;
-				pcm_write_idx += mixed;
-			}
-		}
-		if (pcm_write_idx < 0) {
-			samples_decoded = interface->get_audioframe(data_struct, pcm, AUX_BUFFER_SIZE);
-			pcm_write_idx = mix_callback(mix_udata, pcm, samples_decoded);
-			if (pcm_write_idx == samples_decoded) {
-				pcm_write_idx = -1;
-			} else {
-				samples_decoded -= pcm_write_idx;
-			}
-		}
-	}
-
-	if (seek_backward) {
-		update_texture();
-		seek_backward = false;
-	}
-
-	while (interface->get_playback_position(data_struct) < time && playing) {
-		update_texture();
-	}
-}
-
-void VideoStreamPlaybackGDNative::update_texture() {
-	PackedByteArray *pba = (PackedByteArray *)interface->get_videoframe(data_struct);
-
-	if (pba == nullptr) {
-		playing = false;
-		return;
-	}
-
-	Ref<Image> img = memnew(Image(texture_size.width, texture_size.height, 0, Image::FORMAT_RGBA8, *pba));
-
-	texture->update(img);
-}
-
-// ctor and dtor
-
-VideoStreamPlaybackGDNative::VideoStreamPlaybackGDNative() :
-		texture(Ref<ImageTexture>(memnew(ImageTexture))) {}
-
-VideoStreamPlaybackGDNative::~VideoStreamPlaybackGDNative() {
-	cleanup();
-}
-
-void VideoStreamPlaybackGDNative::cleanup() {
-	if (data_struct) {
-		interface->destructor(data_struct);
-	}
-	if (pcm) {
-		memfree(pcm);
-	}
-	if (file) {
-		file->close();
-		memdelete(file);
-		file = nullptr;
-	}
-	pcm = nullptr;
-	time = 0;
-	num_channels = -1;
-	interface = nullptr;
-	data_struct = nullptr;
-}
-
-void VideoStreamPlaybackGDNative::set_interface(const godot_videodecoder_interface_gdnative *p_interface) {
-	ERR_FAIL_COND(p_interface == nullptr);
-	if (interface != nullptr) {
-		cleanup();
-	}
-	interface = p_interface;
-	data_struct = interface->constructor((godot_object *)this);
-}
-
-// controls
-
-bool VideoStreamPlaybackGDNative::is_playing() const {
-	return playing;
-}
-
-bool VideoStreamPlaybackGDNative::is_paused() const {
-	return paused;
-}
-
-void VideoStreamPlaybackGDNative::play() {
-	stop();
-
-	playing = true;
-
-	delay_compensation = ProjectSettings::get_singleton()->get("audio/video/video_delay_compensation_ms");
-	delay_compensation /= 1000.0;
-}
-
-void VideoStreamPlaybackGDNative::stop() {
-	if (playing) {
-		seek(0);
-	}
-	playing = false;
-}
-
-void VideoStreamPlaybackGDNative::seek(float p_time) {
-	ERR_FAIL_COND(interface == nullptr);
-	interface->seek(data_struct, p_time);
-	if (p_time < time) {
-		seek_backward = true;
-	}
-	time = p_time;
-	// reset audio buffers
-	memset(pcm, 0, num_channels * AUX_BUFFER_SIZE * sizeof(float));
-	pcm_write_idx = -1;
-	samples_decoded = 0;
-}
-
-void VideoStreamPlaybackGDNative::set_paused(bool p_paused) {
-	paused = p_paused;
-}
-
-Ref<Texture2D> VideoStreamPlaybackGDNative::get_texture() const {
-	return texture;
-}
-
-float VideoStreamPlaybackGDNative::get_length() const {
-	ERR_FAIL_COND_V(interface == nullptr, 0);
-	return interface->get_length(data_struct);
-}
-
-float VideoStreamPlaybackGDNative::get_playback_position() const {
-	ERR_FAIL_COND_V(interface == nullptr, 0);
-	return interface->get_playback_position(data_struct);
-}
-
-bool VideoStreamPlaybackGDNative::has_loop() const {
-	// TODO: Implement looping?
-	return false;
-}
-
-void VideoStreamPlaybackGDNative::set_loop(bool p_enable) {
-	// Do nothing
-}
-
-void VideoStreamPlaybackGDNative::set_audio_track(int p_idx) {
-	ERR_FAIL_COND(interface == nullptr);
-	interface->set_audio_track(data_struct, p_idx);
-}
-
-void VideoStreamPlaybackGDNative::set_mix_callback(AudioMixCallback p_callback, void *p_userdata) {
-	mix_udata = p_userdata;
-	mix_callback = p_callback;
-}
-
-int VideoStreamPlaybackGDNative::get_channels() const {
-	ERR_FAIL_COND_V(interface == nullptr, 0);
-
-	return (num_channels > 0) ? num_channels : 0;
-}
-
-int VideoStreamPlaybackGDNative::get_mix_rate() const {
-	ERR_FAIL_COND_V(interface == nullptr, 0);
-
-	return mix_rate;
-}
-
-/* --- NOTE VideoStreamGDNative starts here. ----- */
-
-Ref<VideoStreamPlayback> VideoStreamGDNative::instance_playback() {
-	Ref<VideoStreamPlaybackGDNative> pb = memnew(VideoStreamPlaybackGDNative);
-	VideoDecoderGDNative *decoder = decoder_server.get_decoder(file.get_extension().to_lower());
-	if (decoder == nullptr) {
-		return nullptr;
-	}
-	pb->set_interface(decoder->interface);
-	pb->set_audio_track(audio_track);
-	if (pb->open_file(file)) {
-		return pb;
-	}
-	return nullptr;
-}
-
-void VideoStreamGDNative::set_file(const String &p_file) {
-	file = p_file;
-}
-
-String VideoStreamGDNative::get_file() {
-	return file;
-}
-
-void VideoStreamGDNative::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("set_file", "file"), &VideoStreamGDNative::set_file);
-	ClassDB::bind_method(D_METHOD("get_file"), &VideoStreamGDNative::get_file);
-
-	ADD_PROPERTY(PropertyInfo(Variant::STRING, "file", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR | PROPERTY_USAGE_INTERNAL), "set_file", "get_file");
-}
-
-void VideoStreamGDNative::set_audio_track(int p_track) {
-	audio_track = p_track;
-}
-
-/* --- NOTE ResourceFormatLoaderVideoStreamGDNative starts here. ----- */
-
-RES ResourceFormatLoaderVideoStreamGDNative::load(const String &p_path, const String &p_original_path, Error *r_error, bool p_use_sub_threads, float *r_progress, CacheMode p_cache_mode) {
-	FileAccess *f = FileAccess::open(p_path, FileAccess::READ);
-	if (!f) {
-		if (r_error) {
-			*r_error = ERR_CANT_OPEN;
-		}
-		return RES();
-	}
-	memdelete(f);
-	VideoStreamGDNative *stream = memnew(VideoStreamGDNative);
-	stream->set_file(p_path);
-	Ref<VideoStreamGDNative> ogv_stream = Ref<VideoStreamGDNative>(stream);
-	if (r_error) {
-		*r_error = OK;
-	}
-	return ogv_stream;
-}
-
-void ResourceFormatLoaderVideoStreamGDNative::get_recognized_extensions(List<String> *p_extensions) const {
-	Map<String, int>::Element *el = VideoDecoderServer::get_instance()->get_extensions().front();
-	while (el) {
-		p_extensions->push_back(el->key());
-		el = el->next();
-	}
-}
-
-bool ResourceFormatLoaderVideoStreamGDNative::handles_type(const String &p_type) const {
-	return ClassDB::is_parent_class(p_type, "VideoStream");
-}
-
-String ResourceFormatLoaderVideoStreamGDNative::get_resource_type(const String &p_path) const {
-	String el = p_path.get_extension().to_lower();
-	if (VideoDecoderServer::get_instance()->get_extensions().has(el)) {
-		return "VideoStreamGDNative";
-	}
-	return "";
-}
diff --git a/modules/gdnative/videodecoder/video_stream_gdnative.h b/modules/gdnative/videodecoder/video_stream_gdnative.h
deleted file mode 100644
index b0a10242be..0000000000
--- a/modules/gdnative/videodecoder/video_stream_gdnative.h
+++ /dev/null
@@ -1,205 +0,0 @@
-/*************************************************************************/
-/*  video_stream_gdnative.h                                              */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
-/*                                                                       */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the       */
-/* "Software"), to deal in the Software without restriction, including   */
-/* without limitation the rights to use, copy, modify, merge, publish,   */
-/* distribute, sublicense, and/or sell copies of the Software, and to    */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions:                                             */
-/*                                                                       */
-/* The above copyright notice and this permission notice shall be        */
-/* included in all copies or substantial portions of the Software.       */
-/*                                                                       */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#ifndef VIDEO_STREAM_GDNATIVE_H
-#define VIDEO_STREAM_GDNATIVE_H
-
-#include "../gdnative.h"
-#include "core/io/file_access.h"
-#include "scene/resources/texture.h"
-#include "scene/resources/video_stream.h"
-
-struct VideoDecoderGDNative {
-	const godot_videodecoder_interface_gdnative *interface = nullptr;
-	String plugin_name = "none";
-	Vector<String> supported_extensions;
-
-	VideoDecoderGDNative() {}
-
-	VideoDecoderGDNative(const godot_videodecoder_interface_gdnative *p_interface) :
-			interface(p_interface),
-			plugin_name(p_interface->get_plugin_name()) {
-		_get_supported_extensions();
-	}
-
-private:
-	void _get_supported_extensions() {
-		supported_extensions.clear();
-		int num_ext;
-		const char **supported_ext = interface->get_supported_extensions(&num_ext);
-		for (int i = 0; i < num_ext; i++) {
-			supported_extensions.push_back(supported_ext[i]);
-		}
-	}
-};
-
-class VideoDecoderServer {
-private:
-	Vector<VideoDecoderGDNative *> decoders;
-	Map<String, int> extensions;
-
-	static VideoDecoderServer *instance;
-
-public:
-	static VideoDecoderServer *get_instance() {
-		return instance;
-	}
-
-	const Map<String, int> &get_extensions() {
-		return extensions;
-	}
-
-	void register_decoder_interface(const godot_videodecoder_interface_gdnative *p_interface) {
-		VideoDecoderGDNative *decoder = memnew(VideoDecoderGDNative(p_interface));
-		int index = decoders.size();
-		for (int i = 0; i < decoder->supported_extensions.size(); i++) {
-			extensions[decoder->supported_extensions[i]] = index;
-		}
-		decoders.push_back(decoder);
-	}
-
-	VideoDecoderGDNative *get_decoder(const String &extension) {
-		if (extensions.size() == 0 || !extensions.has(extension)) {
-			return nullptr;
-		}
-		return decoders[extensions[extension]];
-	}
-
-	VideoDecoderServer() {
-		instance = this;
-	}
-
-	~VideoDecoderServer() {
-		for (int i = 0; i < decoders.size(); i++) {
-			memdelete(decoders[i]);
-		}
-		decoders.clear();
-		instance = nullptr;
-	}
-};
-
-class VideoStreamPlaybackGDNative : public VideoStreamPlayback {
-	GDCLASS(VideoStreamPlaybackGDNative, VideoStreamPlayback);
-
-	Ref<ImageTexture> texture;
-	bool playing = false;
-	bool paused = false;
-
-	Vector2 texture_size;
-
-	void *mix_udata = nullptr;
-	AudioMixCallback mix_callback = nullptr;
-
-	int num_channels = -1;
-	float time = 0.0;
-	bool seek_backward = false;
-	int mix_rate = 0;
-	double delay_compensation = 0;
-
-	float *pcm = nullptr;
-	int pcm_write_idx = 0;
-	int samples_decoded = 0;
-
-	void cleanup();
-	void update_texture();
-
-protected:
-	String file_name;
-
-	FileAccess *file = nullptr;
-
-	const godot_videodecoder_interface_gdnative *interface = nullptr;
-	void *data_struct = nullptr;
-
-public:
-	VideoStreamPlaybackGDNative();
-	~VideoStreamPlaybackGDNative();
-
-	void set_interface(const godot_videodecoder_interface_gdnative *p_interface);
-
-	bool open_file(const String &p_file);
-
-	virtual void stop() override;
-	virtual void play() override;
-
-	virtual bool is_playing() const override;
-
-	virtual void set_paused(bool p_paused) override;
-	virtual bool is_paused() const override;
-
-	virtual void set_loop(bool p_enable) override;
-	virtual bool has_loop() const override;
-
-	virtual float get_length() const override;
-
-	virtual float get_playback_position() const override;
-	virtual void seek(float p_time) override;
-
-	virtual void set_audio_track(int p_idx) override;
-
-	//virtual int mix(int16_t* p_buffer,int p_frames)=0;
-
-	virtual Ref<Texture2D> get_texture() const override;
-	virtual void update(float p_delta) override;
-
-	virtual void set_mix_callback(AudioMixCallback p_callback, void *p_userdata) override;
-	virtual int get_channels() const override;
-	virtual int get_mix_rate() const override;
-};
-
-class VideoStreamGDNative : public VideoStream {
-	GDCLASS(VideoStreamGDNative, VideoStream);
-
-	String file;
-	int audio_track = 0;
-
-protected:
-	static void
-	_bind_methods();
-
-public:
-	void set_file(const String &p_file);
-	String get_file();
-
-	virtual void set_audio_track(int p_track) override;
-	virtual Ref<VideoStreamPlayback> instance_playback() override;
-
-	VideoStreamGDNative() {}
-};
-
-class ResourceFormatLoaderVideoStreamGDNative : public ResourceFormatLoader {
-public:
-	virtual RES load(const String &p_path, const String &p_original_path = "", Error *r_error = nullptr, bool p_use_sub_threads = false, float *r_progress = nullptr, CacheMode p_cache_mode = CACHE_MODE_REUSE);
-	virtual void get_recognized_extensions(List<String> *p_extensions) const;
-	virtual bool handles_type(const String &p_type) const;
-	virtual String get_resource_type(const String &p_path) const;
-};
-
-#endif
diff --git a/modules/gdscript/doc_classes/@GDScript.xml b/modules/gdscript/doc_classes/@GDScript.xml
index 4d6320d8c3..d9fab01dce 100644
--- a/modules/gdscript/doc_classes/@GDScript.xml
+++ b/modules/gdscript/doc_classes/@GDScript.xml
@@ -186,6 +186,7 @@
 			<description>
 				Returns an array with the given range. Range can be 1 argument [code]N[/code] (0 to [code]N[/code] - 1), two arguments ([code]initial[/code], [code]final - 1[/code]) or three arguments ([code]initial[/code], [code]final - 1[/code], [code]increment[/code]). Returns an empty array if the range isn't valid (e.g. [code]range(2, 5, -1)[/code] or [code]range(5, 5, 1)[/code]).
 				Returns an array with the given range. [code]range()[/code] can have 1 argument N ([code]0[/code] to [code]N - 1[/code]), two arguments ([code]initial[/code], [code]final - 1[/code]) or three arguments ([code]initial[/code], [code]final - 1[/code], [code]increment[/code]). [code]increment[/code] can be negative. If [code]increment[/code] is negative, [code]final - 1[/code] will become [code]final + 1[/code]. Also, the initial value must be greater than the final value for the loop to run.
+				[code]range()(/code] converts all arguments to [int] before processing.
 				[codeblock]
 				print(range(4))
 				print(range(2, 5))
@@ -211,6 +212,17 @@
 				6
 				3
 				[/codeblock]
+				To iterate over [float], convert them in the loop.
+				[codeblock]
+				for i in range (3, 0, -1):
+				    print(i / 10.0)
+				[/codeblock]
+				Output:
+				[codeblock]
+				0.3
+				0.2
+				0.1
+				[/codeblock]
 			</description>
 		</method>
 		<method name="str" qualifiers="vararg">
diff --git a/modules/gdscript/editor_templates/VisualShaderNodeCustom/basic.gd b/modules/gdscript/editor_templates/VisualShaderNodeCustom/basic.gd
index d71f2592fe..cf6d68333d 100644
--- a/modules/gdscript/editor_templates/VisualShaderNodeCustom/basic.gd
+++ b/modules/gdscript/editor_templates/VisualShaderNodeCustom/basic.gd
@@ -34,5 +34,5 @@ func _get_output_port_name(port: int) -> String:
 func _get_output_port_type(port: int) -> int:
 	return PORT_TYPE_SCALAR
 
-func _get_code(input_vars: Array[String], output_vars: Array[String], mode: Shader.Mode, type: VisualShader.Type) -> String:
+func _get_code(input_vars: Array[String], output_vars: Array[String], mode: int, type: int) -> String:
 	return output_vars[0] + " = 0.0;"
diff --git a/modules/gdscript/gdscript.cpp b/modules/gdscript/gdscript.cpp
index 58a788e255..c12c1a43a3 100644
--- a/modules/gdscript/gdscript.cpp
+++ b/modules/gdscript/gdscript.cpp
@@ -796,7 +796,7 @@ void GDScript::_set_subclass_path(Ref<GDScript> &p_sc, const String &p_path) {
 
 String GDScript::_get_debug_path() const {
 	if (is_built_in() && !get_name().is_empty()) {
-		return get_name() + " (" + get_path().get_slice("::", 0) + ")";
+		return get_name() + " (" + get_path() + ")";
 	} else {
 		return get_path();
 	}
@@ -938,7 +938,7 @@ const Vector<Multiplayer::RPCConfig> GDScript::get_rpc_methods() const {
 	return rpc_functions;
 }
 
-Variant GDScript::call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
+Variant GDScript::callp(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
 	GDScript *top = this;
 	while (top) {
 		Map<StringName, GDScriptFunction *>::Element *E = top->member_functions.find(p_method);
@@ -952,7 +952,7 @@ Variant GDScript::call(const StringName &p_method, const Variant **p_args, int p
 
 	//none found, regular
 
-	return Script::call(p_method, p_args, p_argcount, r_error);
+	return Script::callp(p_method, p_args, p_argcount, r_error);
 }
 
 bool GDScript::_get(const StringName &p_name, Variant &r_ret) const {
@@ -1273,7 +1273,7 @@ bool GDScriptInstance::set(const StringName &p_name, const Variant &p_value) {
 			if (member->setter) {
 				const Variant *val = &p_value;
 				Callable::CallError err;
-				call(member->setter, &val, 1, err);
+				callp(member->setter, &val, 1, err);
 				if (err.error == Callable::CallError::CALL_OK) {
 					return true; //function exists, call was successful
 				} else {
@@ -1335,7 +1335,7 @@ bool GDScriptInstance::get(const StringName &p_name, Variant &r_ret) const {
 			if (E) {
 				if (E->get().getter) {
 					Callable::CallError err;
-					r_ret = const_cast<GDScriptInstance *>(this)->call(E->get().getter, nullptr, 0, err);
+					r_ret = const_cast<GDScriptInstance *>(this)->callp(E->get().getter, nullptr, 0, err);
 					if (err.error == Callable::CallError::CALL_OK) {
 						return true;
 					}
@@ -1520,7 +1520,7 @@ bool GDScriptInstance::has_method(const StringName &p_method) const {
 	return false;
 }
 
-Variant GDScriptInstance::call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
+Variant GDScriptInstance::callp(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
 	GDScript *sptr = script.ptr();
 	while (sptr) {
 		Map<StringName, GDScriptFunction *>::Element *E = sptr->member_functions.find(p_method);
@@ -1555,7 +1555,7 @@ void GDScriptInstance::notification(int p_notification) {
 String GDScriptInstance::to_string(bool *r_valid) {
 	if (has_method(CoreStringNames::get_singleton()->_to_string)) {
 		Callable::CallError ce;
-		Variant ret = call(CoreStringNames::get_singleton()->_to_string, nullptr, 0, ce);
+		Variant ret = callp(CoreStringNames::get_singleton()->_to_string, nullptr, 0, ce);
 		if (ce.error == Callable::CallError::CALL_OK) {
 			if (ret.get_type() != Variant::STRING) {
 				if (r_valid) {
diff --git a/modules/gdscript/gdscript.h b/modules/gdscript/gdscript.h
index 2b43e6d21b..30e60e2b91 100644
--- a/modules/gdscript/gdscript.h
+++ b/modules/gdscript/gdscript.h
@@ -166,7 +166,7 @@ protected:
 	bool _set(const StringName &p_name, const Variant &p_value);
 	void _get_property_list(List<PropertyInfo> *p_properties) const;
 
-	Variant call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) override;
+	Variant callp(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) override;
 
 	static void _bind_methods();
 
@@ -285,7 +285,7 @@ public:
 
 	virtual void get_method_list(List<MethodInfo> *p_list) const;
 	virtual bool has_method(const StringName &p_method) const;
-	virtual Variant call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error);
+	virtual Variant callp(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error);
 
 	Variant debug_get_member_by_index(int p_idx) const { return members[p_idx]; }
 
diff --git a/modules/gdscript/gdscript_analyzer.cpp b/modules/gdscript/gdscript_analyzer.cpp
index 9a79f3d016..326720ce86 100644
--- a/modules/gdscript/gdscript_analyzer.cpp
+++ b/modules/gdscript/gdscript_analyzer.cpp
@@ -1139,7 +1139,7 @@ void GDScriptAnalyzer::resolve_function_signature(GDScriptParser::FunctionNode *
 #endif // TOOLS_ENABLED
 	}
 
-	if (p_function->identifier->name == "_init") {
+	if (p_function->identifier->name == GDScriptLanguage::get_singleton()->strings._init) {
 		// Constructor.
 		GDScriptParser::DataType return_type = parser->current_class->get_datatype();
 		return_type.is_meta_type = false;
@@ -1153,6 +1153,57 @@ void GDScriptAnalyzer::resolve_function_signature(GDScriptParser::FunctionNode *
 	} else {
 		GDScriptParser::DataType return_type = resolve_datatype(p_function->return_type);
 		p_function->set_datatype(return_type);
+
+#ifdef TOOLS_ENABLED
+		// Check if the function signature matches the parent. If not it's an error since it breaks polymorphism.
+		// Not for the constructor which can vary in signature.
+		GDScriptParser::DataType base_type = parser->current_class->base_type;
+		GDScriptParser::DataType parent_return_type;
+		List<GDScriptParser::DataType> parameters_types;
+		int default_par_count = 0;
+		bool is_static = false;
+		bool is_vararg = false;
+		if (get_function_signature(p_function, false, base_type, p_function->identifier->name, parent_return_type, parameters_types, default_par_count, is_static, is_vararg)) {
+			bool valid = p_function->is_static == is_static;
+			valid = valid && parent_return_type == p_function->get_datatype();
+
+			int par_count_diff = p_function->parameters.size() - parameters_types.size();
+			valid = valid && par_count_diff >= 0;
+			valid = valid && p_function->default_arg_values.size() >= default_par_count + par_count_diff;
+
+			int i = 0;
+			for (const GDScriptParser::DataType &par_type : parameters_types) {
+				valid = valid && par_type == p_function->parameters[i++]->get_datatype();
+			}
+
+			if (!valid) {
+				// Compute parent signature as a string to show in the error message.
+				String parent_signature = parent_return_type.is_hard_type() ? parent_return_type.to_string() : "Variant";
+				if (parent_signature == "null") {
+					parent_signature = "void";
+				}
+				parent_signature += " " + p_function->identifier->name.operator String() + "(";
+				int j = 0;
+				for (const GDScriptParser::DataType &par_type : parameters_types) {
+					if (j > 0) {
+						parent_signature += ", ";
+					}
+					String parameter = par_type.to_string();
+					if (parameter == "null") {
+						parameter = "Variant";
+					}
+					parent_signature += parameter;
+					if (j == parameters_types.size() - default_par_count) {
+						parent_signature += " = default";
+					}
+
+					j++;
+				}
+				parent_signature += ")";
+				push_error(vformat(R"(The function signature doesn't match the parent. Parent signature is "%s".)", parent_signature), p_function);
+			}
+		}
+#endif
 	}
 
 	parser->current_function = previous_function;
@@ -1251,7 +1302,7 @@ void GDScriptAnalyzer::resolve_for(GDScriptParser::ForNode *p_for) {
 	bool list_resolved = false;
 
 	// Optimize constant range() call to not allocate an array.
-	// Use int, Vector2, Vector3 instead, which also can be used as range iterators.
+	// Use int, Vector2i, Vector3i instead, which also can be used as range iterators.
 	if (p_for->list && p_for->list->type == GDScriptParser::Node::CALL) {
 		GDScriptParser::CallNode *call = static_cast<GDScriptParser::CallNode *>(p_for->list);
 		GDScriptParser::Node::Type callee_type = call->get_callee_type();
@@ -1424,7 +1475,7 @@ void GDScriptAnalyzer::resolve_variable(GDScriptParser::VariableNode *p_variable
 				parser->push_warning(p_variable->initializer, GDScriptWarning::NARROWING_CONVERSION);
 #endif
 			}
-			if (p_variable->initializer->get_datatype().is_variant()) {
+			if (p_variable->initializer->get_datatype().is_variant() && !type.is_variant()) {
 				// TODO: Warn unsafe assign.
 				mark_node_unsafe(p_variable->initializer);
 				p_variable->use_conversion_assign = true;
@@ -2416,7 +2467,9 @@ void GDScriptAnalyzer::reduce_call(GDScriptParser::CallNode *p_call, bool p_is_a
 	GDScriptParser::DataType return_type;
 	List<GDScriptParser::DataType> par_types;
 
-	if (get_function_signature(p_call, base_type, p_call->function_name, return_type, par_types, default_arg_count, is_static, is_vararg)) {
+	bool is_constructor = (base_type.is_meta_type || (p_call->callee && p_call->callee->type == GDScriptParser::Node::IDENTIFIER)) && p_call->function_name == SNAME("new");
+
+	if (get_function_signature(p_call, is_constructor, base_type, p_call->function_name, return_type, par_types, default_arg_count, is_static, is_vararg)) {
 		// If the function require typed arrays we must make literals be typed.
 		for (const KeyValue<int, GDScriptParser::ArrayNode *> &E : arrays) {
 			int index = E.key;
@@ -2575,18 +2628,24 @@ void GDScriptAnalyzer::reduce_get_node(GDScriptParser::GetNodeNode *p_get_node)
 }
 
 GDScriptParser::DataType GDScriptAnalyzer::make_global_class_meta_type(const StringName &p_class_name, const GDScriptParser::Node *p_source) {
+	GDScriptParser::DataType type;
+
 	Ref<GDScriptParserRef> ref = get_parser_for(ScriptServer::get_global_class_path(p_class_name));
-	Error err = ref->raise_status(GDScriptParserRef::INTERFACE_SOLVED);
+	if (ref.is_null()) {
+		push_error(vformat(R"(Could not find script for class "%s".)", p_class_name), p_source);
+		type.type_source = GDScriptParser::DataType::UNDETECTED;
+		type.kind = GDScriptParser::DataType::VARIANT;
+		return type;
+	}
 
+	Error err = ref->raise_status(GDScriptParserRef::INTERFACE_SOLVED);
 	if (err) {
 		push_error(vformat(R"(Could not resolve class "%s", because of a parser error.)", p_class_name), p_source);
-		GDScriptParser::DataType type;
 		type.type_source = GDScriptParser::DataType::UNDETECTED;
 		type.kind = GDScriptParser::DataType::VARIANT;
 		return type;
 	}
 
-	GDScriptParser::DataType type;
 	type.type_source = GDScriptParser::DataType::ANNOTATED_EXPLICIT;
 	type.kind = GDScriptParser::DataType::CLASS;
 	type.builtin_type = Variant::OBJECT;
@@ -3570,7 +3629,7 @@ GDScriptParser::DataType GDScriptAnalyzer::type_from_property(const PropertyInfo
 	return result;
 }
 
-bool GDScriptAnalyzer::get_function_signature(GDScriptParser::CallNode *p_source, GDScriptParser::DataType p_base_type, const StringName &p_function, GDScriptParser::DataType &r_return_type, List<GDScriptParser::DataType> &r_par_types, int &r_default_arg_count, bool &r_static, bool &r_vararg) {
+bool GDScriptAnalyzer::get_function_signature(GDScriptParser::Node *p_source, bool p_is_constructor, GDScriptParser::DataType p_base_type, const StringName &p_function, GDScriptParser::DataType &r_return_type, List<GDScriptParser::DataType> &r_par_types, int &r_default_arg_count, bool &r_static, bool &r_vararg) {
 	r_static = false;
 	r_vararg = false;
 	r_default_arg_count = 0;
@@ -3610,8 +3669,7 @@ bool GDScriptAnalyzer::get_function_signature(GDScriptParser::CallNode *p_source
 		return false;
 	}
 
-	bool is_constructor = (p_base_type.is_meta_type || (p_source->callee && p_source->callee->type == GDScriptParser::Node::IDENTIFIER)) && p_function == StaticCString::create("new");
-	if (is_constructor) {
+	if (p_is_constructor) {
 		function_name = "_init";
 		r_static = true;
 	}
@@ -3632,7 +3690,7 @@ bool GDScriptAnalyzer::get_function_signature(GDScriptParser::CallNode *p_source
 	}
 
 	if (found_function != nullptr) {
-		r_static = is_constructor || found_function->is_static;
+		r_static = p_is_constructor || found_function->is_static;
 		for (int i = 0; i < found_function->parameters.size(); i++) {
 			r_par_types.push_back(found_function->parameters[i]->get_datatype());
 			if (found_function->parameters[i]->default_value != nullptr) {
@@ -3658,7 +3716,7 @@ bool GDScriptAnalyzer::get_function_signature(GDScriptParser::CallNode *p_source
 	}
 
 	// If the base is a script, it might be trying to access members of the Script class itself.
-	if (p_base_type.is_meta_type && !is_constructor && (p_base_type.kind == GDScriptParser::DataType::SCRIPT || p_base_type.kind == GDScriptParser::DataType::CLASS)) {
+	if (p_base_type.is_meta_type && !p_is_constructor && (p_base_type.kind == GDScriptParser::DataType::SCRIPT || p_base_type.kind == GDScriptParser::DataType::CLASS)) {
 		MethodInfo info;
 		StringName script_class = p_base_type.kind == GDScriptParser::DataType::SCRIPT ? p_base_type.script_type->get_class_name() : StringName(GDScript::get_class_static());
 
@@ -3678,7 +3736,7 @@ bool GDScriptAnalyzer::get_function_signature(GDScriptParser::CallNode *p_source
 	}
 #endif
 
-	if (is_constructor) {
+	if (p_is_constructor) {
 		// Native types always have a default constructor.
 		r_return_type = p_base_type;
 		r_return_type.type_source = GDScriptParser::DataType::ANNOTATED_EXPLICIT;
diff --git a/modules/gdscript/gdscript_analyzer.h b/modules/gdscript/gdscript_analyzer.h
index 2697a6ec2b..7b8883e1d3 100644
--- a/modules/gdscript/gdscript_analyzer.h
+++ b/modules/gdscript/gdscript_analyzer.h
@@ -105,7 +105,7 @@ class GDScriptAnalyzer {
 	GDScriptParser::DataType type_from_metatype(const GDScriptParser::DataType &p_meta_type) const;
 	GDScriptParser::DataType type_from_property(const PropertyInfo &p_property) const;
 	GDScriptParser::DataType make_global_class_meta_type(const StringName &p_class_name, const GDScriptParser::Node *p_source);
-	bool get_function_signature(GDScriptParser::CallNode *p_source, GDScriptParser::DataType base_type, const StringName &p_function, GDScriptParser::DataType &r_return_type, List<GDScriptParser::DataType> &r_par_types, int &r_default_arg_count, bool &r_static, bool &r_vararg);
+	bool get_function_signature(GDScriptParser::Node *p_source, bool p_is_constructor, GDScriptParser::DataType base_type, const StringName &p_function, GDScriptParser::DataType &r_return_type, List<GDScriptParser::DataType> &r_par_types, int &r_default_arg_count, bool &r_static, bool &r_vararg);
 	bool function_signature_from_info(const MethodInfo &p_info, GDScriptParser::DataType &r_return_type, List<GDScriptParser::DataType> &r_par_types, int &r_default_arg_count, bool &r_static, bool &r_vararg);
 	bool validate_call_arg(const List<GDScriptParser::DataType> &p_par_types, int p_default_args_count, bool p_is_vararg, const GDScriptParser::CallNode *p_call);
 	bool validate_call_arg(const MethodInfo &p_method, const GDScriptParser::CallNode *p_call);
diff --git a/modules/gdscript/gdscript_compiler.cpp b/modules/gdscript/gdscript_compiler.cpp
index 108c988add..8190eecbc7 100644
--- a/modules/gdscript/gdscript_compiler.cpp
+++ b/modules/gdscript/gdscript_compiler.cpp
@@ -98,6 +98,7 @@ GDScriptDataType GDScriptCompiler::_gdtype_from_datatype(const GDScriptParser::D
 		case GDScriptParser::DataType::NATIVE: {
 			result.kind = GDScriptDataType::NATIVE;
 			result.native_type = p_datatype.native_type;
+			result.builtin_type = p_datatype.builtin_type;
 		} break;
 		case GDScriptParser::DataType::SCRIPT: {
 			result.kind = GDScriptDataType::SCRIPT;
@@ -132,11 +133,13 @@ GDScriptDataType GDScriptCompiler::_gdtype_from_datatype(const GDScriptParser::D
 					result.kind = GDScriptDataType::GDSCRIPT;
 					result.script_type = script.ptr();
 					result.native_type = script->get_instance_base_type();
+					result.builtin_type = p_datatype.builtin_type;
 				} else {
 					result.kind = GDScriptDataType::GDSCRIPT;
 					result.script_type_ref = GDScriptCache::get_shallow_script(p_datatype.script_path, main_script->path);
 					result.script_type = result.script_type_ref.ptr();
 					result.native_type = p_datatype.native_type;
+					result.builtin_type = p_datatype.builtin_type;
 				}
 			}
 		} break;
@@ -291,16 +294,21 @@ GDScriptCodeGenerator::Address GDScriptCompiler::_parse_expression(CodeGen &code
 
 			// Try signals and methods (can be made callables).
 			{
-				if (codegen.class_node->members_indices.has(identifier)) {
-					const GDScriptParser::ClassNode::Member &member = codegen.class_node->members[codegen.class_node->members_indices[identifier]];
-					if (member.type == GDScriptParser::ClassNode::Member::FUNCTION || member.type == GDScriptParser::ClassNode::Member::SIGNAL) {
-						// Get like it was a property.
-						GDScriptCodeGenerator::Address temp = codegen.add_temporary(); // TODO: Get type here.
-						GDScriptCodeGenerator::Address self(GDScriptCodeGenerator::Address::SELF);
-
-						gen->write_get_named(temp, identifier, self);
-						return temp;
+				// Search upwards through parent classes:
+				const GDScriptParser::ClassNode *base_class = codegen.class_node;
+				while (base_class != nullptr) {
+					if (base_class->has_member(identifier)) {
+						const GDScriptParser::ClassNode::Member &member = base_class->get_member(identifier);
+						if (member.type == GDScriptParser::ClassNode::Member::FUNCTION || member.type == GDScriptParser::ClassNode::Member::SIGNAL) {
+							// Get like it was a property.
+							GDScriptCodeGenerator::Address temp = codegen.add_temporary(); // TODO: Get type here.
+							GDScriptCodeGenerator::Address self(GDScriptCodeGenerator::Address::SELF);
+
+							gen->write_get_named(temp, identifier, self);
+							return temp;
+						}
 					}
+					base_class = base_class->base_type.class_type;
 				}
 
 				// Try in native base.
diff --git a/modules/gdscript/gdscript_editor.cpp b/modules/gdscript/gdscript_editor.cpp
index 6fb95d32ca..350962ba1b 100644
--- a/modules/gdscript/gdscript_editor.cpp
+++ b/modules/gdscript/gdscript_editor.cpp
@@ -65,7 +65,7 @@ Ref<Script> GDScriptLanguage::make_template(const String &p_template, const Stri
 	script.instantiate();
 	String processed_template = p_template;
 #ifdef TOOLS_ENABLED
-	if (!EDITOR_DEF("text_editor/completion/add_type_hints", false)) {
+	if (!EDITOR_GET("text_editor/completion/add_type_hints")) {
 		processed_template = processed_template.replace(": int", "")
 									 .replace(": String", "")
 									 .replace(": float", "")
@@ -2771,10 +2771,10 @@ Error GDScriptLanguage::complete_code(const String &p_code, const String &p_path
 String GDScriptLanguage::_get_indentation() const {
 #ifdef TOOLS_ENABLED
 	if (Engine::get_singleton()->is_editor_hint()) {
-		bool use_space_indentation = EDITOR_DEF("text_editor/behavior/indent/type", false);
+		bool use_space_indentation = EDITOR_GET("text_editor/behavior/indent/type");
 
 		if (use_space_indentation) {
-			int indent_size = EDITOR_DEF("text_editor/behavior/indent/size", 4);
+			int indent_size = EDITOR_GET("text_editor/behavior/indent/size");
 
 			String space_indent = "";
 			for (int i = 0; i < indent_size; i++) {
diff --git a/modules/gdscript/gdscript_function.cpp b/modules/gdscript/gdscript_function.cpp
index 9424de9d22..3d708955ed 100644
--- a/modules/gdscript/gdscript_function.cpp
+++ b/modules/gdscript/gdscript_function.cpp
@@ -95,7 +95,7 @@ void GDScriptFunction::debug_get_stack_member_state(int p_line, List<Pair<String
 	int oc = 0;
 	Map<StringName, _GDFKC> sdmap;
 	for (const StackDebug &sd : stack_debug) {
-		if (sd.line > p_line) {
+		if (sd.line >= p_line) {
 			break;
 		}
 
diff --git a/modules/gdscript/gdscript_rpc_callable.cpp b/modules/gdscript/gdscript_rpc_callable.cpp
index 07e5ed4171..07ef5aefcb 100644
--- a/modules/gdscript/gdscript_rpc_callable.cpp
+++ b/modules/gdscript/gdscript_rpc_callable.cpp
@@ -64,7 +64,7 @@ ObjectID GDScriptRPCCallable::get_object() const {
 }
 
 void GDScriptRPCCallable::call(const Variant **p_arguments, int p_argcount, Variant &r_return_value, Callable::CallError &r_call_error) const {
-	r_return_value = object->call(method, p_arguments, p_argcount, r_call_error);
+	r_return_value = object->callp(method, p_arguments, p_argcount, r_call_error);
 }
 
 GDScriptRPCCallable::GDScriptRPCCallable(Object *p_object, const StringName &p_method) {
diff --git a/modules/gdscript/gdscript_vm.cpp b/modules/gdscript/gdscript_vm.cpp
index 6964f27423..41c59c7703 100644
--- a/modules/gdscript/gdscript_vm.cpp
+++ b/modules/gdscript/gdscript_vm.cpp
@@ -1447,7 +1447,7 @@ Variant GDScriptFunction::call(GDScriptInstance *p_instance, const Variant **p_a
 				const StringName native_type = _global_names_ptr[native_type_idx];
 
 				Array array;
-				array.set_typed(builtin_type, native_type, script_type);
+				array.set_typed(builtin_type, native_type, *script_type);
 				array.resize(argc);
 
 				for (int i = 0; i < argc; i++) {
@@ -1517,7 +1517,7 @@ Variant GDScriptFunction::call(GDScriptInstance *p_instance, const Variant **p_a
 				Callable::CallError err;
 				if (call_ret) {
 					GET_INSTRUCTION_ARG(ret, argc + 1);
-					base->call(*methodname, (const Variant **)argptrs, argc, *ret, err);
+					base->callp(*methodname, (const Variant **)argptrs, argc, *ret, err);
 #ifdef DEBUG_ENABLED
 					if (!call_async && ret->get_type() == Variant::OBJECT) {
 						// Check if getting a function state without await.
@@ -1536,7 +1536,7 @@ Variant GDScriptFunction::call(GDScriptInstance *p_instance, const Variant **p_a
 #endif
 				} else {
 					Variant ret;
-					base->call(*methodname, (const Variant **)argptrs, argc, ret, err);
+					base->callp(*methodname, (const Variant **)argptrs, argc, ret, err);
 				}
 #ifdef DEBUG_ENABLED
 				if (GDScriptLanguage::get_singleton()->profiling) {
@@ -2340,7 +2340,7 @@ Variant GDScriptFunction::call(GDScriptInstance *p_instance, const Variant **p_a
 				}
 
 				Array array;
-				array.set_typed(builtin_type, native_type, script_type);
+				array.set_typed(builtin_type, native_type, *script_type);
 
 #ifdef DEBUG_ENABLED
 				bool valid = array.typed_assign(*VariantInternal::get_array(r));
@@ -2810,7 +2810,7 @@ Variant GDScriptFunction::call(GDScriptInstance *p_instance, const Variant **p_a
 				args[0] = &vref;
 
 				Callable::CallError ce;
-				Variant has_next = obj->call(CoreStringNames::get_singleton()->_iter_init, (const Variant **)args, 1, ce);
+				Variant has_next = obj->callp(CoreStringNames::get_singleton()->_iter_init, (const Variant **)args, 1, ce);
 
 #ifdef DEBUG_ENABLED
 				if (ce.error != Callable::CallError::CALL_OK) {
@@ -2824,7 +2824,7 @@ Variant GDScriptFunction::call(GDScriptInstance *p_instance, const Variant **p_a
 					ip = jumpto;
 				} else {
 					GET_INSTRUCTION_ARG(iterator, 2);
-					*iterator = obj->call(CoreStringNames::get_singleton()->_iter_get, (const Variant **)args, 1, ce);
+					*iterator = obj->callp(CoreStringNames::get_singleton()->_iter_get, (const Variant **)args, 1, ce);
 #ifdef DEBUG_ENABLED
 					if (ce.error != Callable::CallError::CALL_OK) {
 						err_text = vformat(R"(There was an error calling "_iter_get" on iterator object of type %s.)", *container);
@@ -3141,7 +3141,7 @@ Variant GDScriptFunction::call(GDScriptInstance *p_instance, const Variant **p_a
 				args[0] = &vref;
 
 				Callable::CallError ce;
-				Variant has_next = obj->call(CoreStringNames::get_singleton()->_iter_next, (const Variant **)args, 1, ce);
+				Variant has_next = obj->callp(CoreStringNames::get_singleton()->_iter_next, (const Variant **)args, 1, ce);
 
 #ifdef DEBUG_ENABLED
 				if (ce.error != Callable::CallError::CALL_OK) {
@@ -3155,7 +3155,7 @@ Variant GDScriptFunction::call(GDScriptInstance *p_instance, const Variant **p_a
 					ip = jumpto;
 				} else {
 					GET_INSTRUCTION_ARG(iterator, 2);
-					*iterator = obj->call(CoreStringNames::get_singleton()->_iter_get, (const Variant **)args, 1, ce);
+					*iterator = obj->callp(CoreStringNames::get_singleton()->_iter_get, (const Variant **)args, 1, ce);
 #ifdef DEBUG_ENABLED
 					if (ce.error != Callable::CallError::CALL_OK) {
 						err_text = vformat(R"(There was an error calling "_iter_get" on iterator object of type %s.)", *container);
diff --git a/modules/gdscript/tests/gdscript_test_runner.cpp b/modules/gdscript/tests/gdscript_test_runner.cpp
index c2bb2caa29..e8ddf90836 100644
--- a/modules/gdscript/tests/gdscript_test_runner.cpp
+++ b/modules/gdscript/tests/gdscript_test_runner.cpp
@@ -573,7 +573,7 @@ GDScriptTest::TestResult GDScriptTest::execute_test_code(bool p_is_generating) {
 
 	// Call test function.
 	Callable::CallError call_err;
-	instance->call(GDScriptTestRunner::test_function_name, nullptr, 0, call_err);
+	instance->callp(GDScriptTestRunner::test_function_name, nullptr, 0, call_err);
 
 	// Tear down output handlers.
 	remove_print_handler(&_print_handler);
diff --git a/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_count_less.gd b/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_count_less.gd
new file mode 100644
index 0000000000..435711fcaf
--- /dev/null
+++ b/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_count_less.gd
@@ -0,0 +1,10 @@
+func test():
+	print("Shouldn't reach this")
+
+class Parent:
+	func my_function(_par1: int) -> int:
+		return 0
+
+class Child extends Parent:
+	func my_function() -> int:
+		return 0
diff --git a/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_count_less.out b/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_count_less.out
new file mode 100644
index 0000000000..3baeb17066
--- /dev/null
+++ b/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_count_less.out
@@ -0,0 +1,2 @@
+GDTEST_ANALYZER_ERROR
+The function signature doesn't match the parent. Parent signature is "int my_function(int)".
diff --git a/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_count_more.gd b/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_count_more.gd
new file mode 100644
index 0000000000..2bd392e8f8
--- /dev/null
+++ b/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_count_more.gd
@@ -0,0 +1,10 @@
+func test():
+	print("Shouldn't reach this")
+
+class Parent:
+	func my_function(_par1: int) -> int:
+		return 0
+
+class Child extends Parent:
+	func my_function(_pary1: int, _par2: int) -> int:
+		return 0
diff --git a/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_count_more.out b/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_count_more.out
new file mode 100644
index 0000000000..3baeb17066
--- /dev/null
+++ b/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_count_more.out
@@ -0,0 +1,2 @@
+GDTEST_ANALYZER_ERROR
+The function signature doesn't match the parent. Parent signature is "int my_function(int)".
diff --git a/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_default_values.gd b/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_default_values.gd
new file mode 100644
index 0000000000..49ec82ce2d
--- /dev/null
+++ b/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_default_values.gd
@@ -0,0 +1,10 @@
+func test():
+	print("Shouldn't reach this")
+
+class Parent:
+	func my_function(_par1: int = 0) -> int:
+		return 0
+
+class Child extends Parent:
+	func my_function(_par1: int) -> int:
+		return 0
diff --git a/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_default_values.out b/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_default_values.out
new file mode 100644
index 0000000000..665c229339
--- /dev/null
+++ b/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_default_values.out
@@ -0,0 +1,2 @@
+GDTEST_ANALYZER_ERROR
+The function signature doesn't match the parent. Parent signature is "int my_function(int = default)".
diff --git a/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_type.gd b/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_type.gd
new file mode 100644
index 0000000000..4a17a7831f
--- /dev/null
+++ b/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_type.gd
@@ -0,0 +1,10 @@
+func test():
+	print("Shouldn't reach this")
+
+class Parent:
+	func my_function(_par1: int) -> int:
+		return 0
+
+class Child extends Parent:
+	func my_function(_par1: Vector2) -> int:
+		return 0
diff --git a/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_type.out b/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_type.out
new file mode 100644
index 0000000000..3baeb17066
--- /dev/null
+++ b/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_parameter_type.out
@@ -0,0 +1,2 @@
+GDTEST_ANALYZER_ERROR
+The function signature doesn't match the parent. Parent signature is "int my_function(int)".
diff --git a/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_return_type.gd b/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_return_type.gd
new file mode 100644
index 0000000000..b205ec96ef
--- /dev/null
+++ b/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_return_type.gd
@@ -0,0 +1,10 @@
+func test():
+	print("Shouldn't reach this")
+
+class Parent:
+	func my_function() -> int:
+		return 0
+
+class Child extends Parent:
+	func my_function() -> Vector2:
+		return Vector2()
diff --git a/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_return_type.out b/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_return_type.out
new file mode 100644
index 0000000000..5b22739a93
--- /dev/null
+++ b/modules/gdscript/tests/scripts/analyzer/errors/function_dont_match_parent_signature_return_type.out
@@ -0,0 +1,2 @@
+GDTEST_ANALYZER_ERROR
+The function signature doesn't match the parent. Parent signature is "int my_function()".
diff --git a/modules/gdscript/tests/scripts/analyzer/features/function_match_parent_signature_with_extra_parameters.gd b/modules/gdscript/tests/scripts/analyzer/features/function_match_parent_signature_with_extra_parameters.gd
new file mode 100644
index 0000000000..d678f3acfc
--- /dev/null
+++ b/modules/gdscript/tests/scripts/analyzer/features/function_match_parent_signature_with_extra_parameters.gd
@@ -0,0 +1,17 @@
+func test():
+	var instance := Parent.new()
+	var result := instance.my_function(1)
+	print(result)
+	assert(result == 1)
+	instance = Child.new()
+	result = instance.my_function(2)
+	print(result)
+	assert(result == 0)
+
+class Parent:
+	func my_function(par1: int) -> int:
+		return par1
+
+class Child extends Parent:
+	func my_function(_par1: int, par2: int = 0) -> int:
+		return par2
diff --git a/modules/gdscript/tests/scripts/analyzer/features/function_match_parent_signature_with_extra_parameters.out b/modules/gdscript/tests/scripts/analyzer/features/function_match_parent_signature_with_extra_parameters.out
new file mode 100644
index 0000000000..fc5315a501
--- /dev/null
+++ b/modules/gdscript/tests/scripts/analyzer/features/function_match_parent_signature_with_extra_parameters.out
@@ -0,0 +1,3 @@
+GDTEST_OK
+1
+0
diff --git a/modules/gdscript/tests/scripts/parser/features/class_inheritance_access.gd b/modules/gdscript/tests/scripts/parser/features/class_inheritance_access.gd
new file mode 100644
index 0000000000..eb392672eb
--- /dev/null
+++ b/modules/gdscript/tests/scripts/parser/features/class_inheritance_access.gd
@@ -0,0 +1,40 @@
+# Test access visibility of parent elements in nested class architectures.
+class Parent:
+	const parent_const := 1
+
+	var parent_variable := 2
+
+	signal parent_signal
+
+	var parent_attribute: int:
+		get:
+			return 3
+
+	func parent_func():
+		return 4
+
+	class Nested:
+		const nested_const := 5
+
+
+class Child extends Parent:
+	func child_test():
+		print(parent_const)
+		print(self.parent_const)
+		print(parent_variable)
+		print(self.parent_variable)
+		print(parent_signal.get_name())
+		print(self.parent_signal.get_name())
+		print(parent_attribute)
+		print(self.parent_attribute)
+		print(parent_func.get_method())
+		print(self.parent_func.get_method())
+		print(parent_func())
+		print(self.parent_func())
+		print(Nested.nested_const)
+		print(self.Nested.nested_const)
+		print(Parent.Nested.nested_const)
+
+
+func test():
+	Child.new().child_test()
diff --git a/modules/gdscript/tests/scripts/parser/features/class_inheritance_access.out b/modules/gdscript/tests/scripts/parser/features/class_inheritance_access.out
new file mode 100644
index 0000000000..09e87bccfa
--- /dev/null
+++ b/modules/gdscript/tests/scripts/parser/features/class_inheritance_access.out
@@ -0,0 +1,16 @@
+GDTEST_OK
+1
+1
+2
+2
+parent_signal
+parent_signal
+3
+3
+parent_func
+parent_func
+4
+4
+5
+5
+5
diff --git a/modules/gltf/gltf_document.cpp b/modules/gltf/gltf_document.cpp
index 2c42879bd3..c70081a620 100644
--- a/modules/gltf/gltf_document.cpp
+++ b/modules/gltf/gltf_document.cpp
@@ -6470,8 +6470,8 @@ void GLTFDocument::_convert_animation(Ref<GLTFState> state, AnimationPlayer *ap,
 					gltf_animation->get_tracks().insert(transform_track_i.key, track);
 				}
 			}
-		} else if (String(orig_track_path).contains(":blend_shapes/")) {
-			const Vector<String> node_suffix = String(orig_track_path).split(":blend_shapes/");
+		} else if (String(orig_track_path).contains(":") && animation->track_get_type(track_i) == Animation::TYPE_BLEND_SHAPE) {
+			const Vector<String> node_suffix = String(orig_track_path).split(":");
 			const NodePath path = node_suffix[0];
 			const String suffix = node_suffix[1];
 			Node *node = ap->get_parent()->get_node_or_null(path);
diff --git a/modules/gridmap/grid_map_editor_plugin.cpp b/modules/gridmap/grid_map_editor_plugin.cpp
index a05905cbc3..e8e096d52b 100644
--- a/modules/gridmap/grid_map_editor_plugin.cpp
+++ b/modules/gridmap/grid_map_editor_plugin.cpp
@@ -823,7 +823,7 @@ void GridMapEditor::_icon_size_changed(float p_value) {
 void GridMapEditor::update_palette() {
 	int selected = mesh_library_palette->get_current();
 
-	float min_size = EDITOR_DEF("editors/grid_map/preview_size", 64);
+	float min_size = EDITOR_GET("editors/grid_map/preview_size");
 	min_size *= EDSCALE;
 
 	mesh_library_palette->clear();
@@ -1207,7 +1207,7 @@ GridMapEditor::GridMapEditor() {
 	settings_pick_distance->set_max(10000.0f);
 	settings_pick_distance->set_min(500.0f);
 	settings_pick_distance->set_step(1.0f);
-	settings_pick_distance->set_value(EDITOR_DEF("editors/grid_map/pick_distance", 5000.0));
+	settings_pick_distance->set_value(EDITOR_GET("editors/grid_map/pick_distance"));
 	settings_vbc->add_margin_child(TTR("Pick Distance:"), settings_pick_distance);
 
 	options->get_popup()->connect("id_pressed", callable_mp(this, &GridMapEditor::_menu_option));
diff --git a/modules/lightmapper_rd/lightmapper_rd.cpp b/modules/lightmapper_rd/lightmapper_rd.cpp
index 11715040c2..a4b3bfdbd0 100644
--- a/modules/lightmapper_rd/lightmapper_rd.cpp
+++ b/modules/lightmapper_rd/lightmapper_rd.cpp
@@ -618,14 +618,14 @@ LightmapperRD::BakeError LightmapperRD::_dilate(RenderingDevice *rd, Ref<RDShade
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 0;
-			u.ids.push_back(dest_light_tex);
+			u.append_id(dest_light_tex);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			u.binding = 1;
-			u.ids.push_back(source_light_tex);
+			u.append_id(source_light_tex);
 			uniforms.push_back(u);
 		}
 	}
@@ -856,70 +856,70 @@ LightmapperRD::BakeError LightmapperRD::bake(BakeQuality p_quality, bool p_use_d
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 1;
-			u.ids.push_back(vertex_buffer);
+			u.append_id(vertex_buffer);
 			base_uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 2;
-			u.ids.push_back(triangle_buffer);
+			u.append_id(triangle_buffer);
 			base_uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 3;
-			u.ids.push_back(triangle_cell_indices_buffer);
+			u.append_id(triangle_cell_indices_buffer);
 			base_uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 4;
-			u.ids.push_back(lights_buffer);
+			u.append_id(lights_buffer);
 			base_uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 5;
-			u.ids.push_back(seams_buffer);
+			u.append_id(seams_buffer);
 			base_uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 6;
-			u.ids.push_back(probe_positions_buffer);
+			u.append_id(probe_positions_buffer);
 			base_uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			u.binding = 7;
-			u.ids.push_back(grid_texture);
+			u.append_id(grid_texture);
 			base_uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			u.binding = 8;
-			u.ids.push_back(albedo_array_tex);
+			u.append_id(albedo_array_tex);
 			base_uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			u.binding = 9;
-			u.ids.push_back(emission_array_tex);
+			u.append_id(emission_array_tex);
 			base_uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
 			u.binding = 10;
-			u.ids.push_back(sampler);
+			u.append_id(sampler);
 			base_uniforms.push_back(u);
 		}
 	}
@@ -1057,14 +1057,14 @@ LightmapperRD::BakeError LightmapperRD::bake(BakeQuality p_quality, bool p_use_d
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 0;
-				u.ids.push_back(position_tex);
+				u.append_id(position_tex);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 1;
-				u.ids.push_back(unocclude_tex); //will be unused
+				u.append_id(unocclude_tex); //will be unused
 				uniforms.push_back(u);
 			}
 		}
@@ -1097,42 +1097,42 @@ LightmapperRD::BakeError LightmapperRD::bake(BakeQuality p_quality, bool p_use_d
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 0;
-				u.ids.push_back(light_source_tex);
+				u.append_id(light_source_tex);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 				u.binding = 1;
-				u.ids.push_back(light_dest_tex); //will be unused
+				u.append_id(light_dest_tex); //will be unused
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 				u.binding = 2;
-				u.ids.push_back(position_tex);
+				u.append_id(position_tex);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 				u.binding = 3;
-				u.ids.push_back(normal_tex);
+				u.append_id(normal_tex);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 4;
-				u.ids.push_back(light_accum_tex);
+				u.append_id(light_accum_tex);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 5;
-				u.ids.push_back(light_primary_dynamic_tex);
+				u.append_id(light_primary_dynamic_tex);
 				uniforms.push_back(u);
 			}
 		}
@@ -1176,57 +1176,57 @@ LightmapperRD::BakeError LightmapperRD::bake(BakeQuality p_quality, bool p_use_d
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 0;
-				u.ids.push_back(light_dest_tex);
+				u.append_id(light_dest_tex);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 				u.binding = 1;
-				u.ids.push_back(light_source_tex);
+				u.append_id(light_source_tex);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 				u.binding = 2;
-				u.ids.push_back(position_tex);
+				u.append_id(position_tex);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 				u.binding = 3;
-				u.ids.push_back(normal_tex);
+				u.append_id(normal_tex);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 4;
-				u.ids.push_back(light_accum_tex);
+				u.append_id(light_accum_tex);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 5;
-				u.ids.push_back(unocclude_tex); //reuse unocclude tex
+				u.append_id(unocclude_tex); //reuse unocclude tex
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 				u.binding = 6;
-				u.ids.push_back(light_environment_tex);
+				u.append_id(light_environment_tex);
 				uniforms.push_back(u);
 			}
 		}
 
 		RID secondary_uniform_set[2];
 		secondary_uniform_set[0] = rd->uniform_set_create(uniforms, compute_shader_secondary, 1);
-		uniforms.write[0].ids.write[0] = light_source_tex;
-		uniforms.write[1].ids.write[0] = light_dest_tex;
+		uniforms.write[0].set_id(0, light_source_tex);
+		uniforms.write[1].set_id(0, light_dest_tex);
 		secondary_uniform_set[1] = rd->uniform_set_create(uniforms, compute_shader_secondary, 1);
 
 		switch (p_quality) {
@@ -1332,28 +1332,28 @@ LightmapperRD::BakeError LightmapperRD::bake(BakeQuality p_quality, bool p_use_d
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 				u.binding = 0;
-				u.ids.push_back(light_probe_buffer);
+				u.append_id(light_probe_buffer);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 				u.binding = 1;
-				u.ids.push_back(light_dest_tex);
+				u.append_id(light_dest_tex);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 				u.binding = 2;
-				u.ids.push_back(light_primary_dynamic_tex);
+				u.append_id(light_primary_dynamic_tex);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 				u.binding = 3;
-				u.ids.push_back(light_environment_tex);
+				u.append_id(light_environment_tex);
 				uniforms.push_back(u);
 			}
 		}
@@ -1531,7 +1531,7 @@ LightmapperRD::BakeError LightmapperRD::bake(BakeQuality p_quality, bool p_use_d
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 				u.binding = 0;
-				u.ids.push_back(light_accum_tex2);
+				u.append_id(light_accum_tex2);
 				uniforms.push_back(u);
 			}
 		}
diff --git a/modules/minimp3/audio_stream_mp3.cpp b/modules/minimp3/audio_stream_mp3.cpp
index 63fec6db8c..b5b51403f7 100644
--- a/modules/minimp3/audio_stream_mp3.cpp
+++ b/modules/minimp3/audio_stream_mp3.cpp
@@ -83,7 +83,7 @@ void AudioStreamPlaybackMP3::start(float p_from_pos) {
 	active = true;
 	seek(p_from_pos);
 	loops = 0;
-	_begin_resample();
+	begin_resample();
 }
 
 void AudioStreamPlaybackMP3::stop() {
diff --git a/modules/mono/csharp_script.cpp b/modules/mono/csharp_script.cpp
index 085ab9a467..7ed0422236 100644
--- a/modules/mono/csharp_script.cpp
+++ b/modules/mono/csharp_script.cpp
@@ -527,10 +527,10 @@ String CSharpLanguage::make_function(const String &, const String &, const Packe
 String CSharpLanguage::_get_indentation() const {
 #ifdef TOOLS_ENABLED
 	if (Engine::get_singleton()->is_editor_hint()) {
-		bool use_space_indentation = EDITOR_DEF("text_editor/behavior/indent/type", 0);
+		bool use_space_indentation = EDITOR_GET("text_editor/behavior/indent/type");
 
 		if (use_space_indentation) {
-			int indent_size = EDITOR_DEF("text_editor/behavior/indent/size", 4);
+			int indent_size = EDITOR_GET("text_editor/behavior/indent/size");
 
 			String space_indent = "";
 			for (int i = 0; i < indent_size; i++) {
@@ -1893,7 +1893,7 @@ bool CSharpInstance::has_method(const StringName &p_method) const {
 	return false;
 }
 
-Variant CSharpInstance::call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
+Variant CSharpInstance::callp(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
 	ERR_FAIL_COND_V(!script.is_valid(), Variant());
 
 	GD_MONO_SCOPE_THREAD_ATTACH;
@@ -2908,7 +2908,7 @@ int CSharpScript::_try_get_member_export_hint(IMonoClassMember *p_member, Manage
 }
 #endif
 
-Variant CSharpScript::call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
+Variant CSharpScript::callp(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
 	if (unlikely(GDMono::get_singleton() == nullptr)) {
 		// Probably not the best error but eh.
 		r_error.error = Callable::CallError::CALL_ERROR_INSTANCE_IS_NULL;
@@ -2936,7 +2936,7 @@ Variant CSharpScript::call(const StringName &p_method, const Variant **p_args, i
 	}
 
 	// No static method found. Try regular instance calls
-	return Script::call(p_method, p_args, p_argcount, r_error);
+	return Script::callp(p_method, p_args, p_argcount, r_error);
 }
 
 void CSharpScript::_resource_path_changed() {
diff --git a/modules/mono/csharp_script.h b/modules/mono/csharp_script.h
index d6cd9e6e57..3b97d2acc4 100644
--- a/modules/mono/csharp_script.h
+++ b/modules/mono/csharp_script.h
@@ -184,7 +184,7 @@ private:
 protected:
 	static void _bind_methods();
 
-	Variant call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) override;
+	Variant callp(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) override;
 	void _resource_path_changed() override;
 	bool _get(const StringName &p_name, Variant &r_ret) const;
 	bool _set(const StringName &p_name, const Variant &p_value);
@@ -295,7 +295,7 @@ public:
 
 	void get_method_list(List<MethodInfo> *p_list) const override;
 	bool has_method(const StringName &p_method) const override;
-	Variant call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) override;
+	Variant callp(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) override;
 
 	void mono_object_disposed(MonoObject *p_obj);
 
diff --git a/modules/mono/editor/GodotTools/GodotTools/Build/BuildOutputView.cs b/modules/mono/editor/GodotTools/GodotTools/Build/BuildOutputView.cs
index 56fca6b5cb..bfc807c01a 100644
--- a/modules/mono/editor/GodotTools/GodotTools/Build/BuildOutputView.cs
+++ b/modules/mono/editor/GodotTools/GodotTools/Build/BuildOutputView.cs
@@ -350,7 +350,7 @@ namespace GodotTools.Build
 
             if (_issuesListContextMenu.ItemCount > 0)
             {
-                _issuesListContextMenu.Position = (Vector2i)(_issuesList.RectGlobalPosition + atPosition);
+                _issuesListContextMenu.Position = (Vector2i)(_issuesList.GlobalPosition + atPosition);
                 _issuesListContextMenu.Popup();
             }
         }
diff --git a/modules/mono/editor/GodotTools/GodotTools/Build/MSBuildPanel.cs b/modules/mono/editor/GodotTools/GodotTools/Build/MSBuildPanel.cs
index 2dbc78ab77..9e8f7ef1b1 100644
--- a/modules/mono/editor/GodotTools/GodotTools/Build/MSBuildPanel.cs
+++ b/modules/mono/editor/GodotTools/GodotTools/Build/MSBuildPanel.cs
@@ -126,7 +126,7 @@ namespace GodotTools.Build
         {
             base._Ready();
 
-            RectMinSize = new Vector2(0, 228) * EditorScale;
+            MinimumSize = new Vector2(0, 228) * EditorScale;
             SizeFlagsVertical = (int)SizeFlags.ExpandFill;
 
             var toolBarHBox = new HBoxContainer { SizeFlagsHorizontal = (int)SizeFlags.ExpandFill };
diff --git a/modules/mono/editor/bindings_generator.cpp b/modules/mono/editor/bindings_generator.cpp
index 07128770b7..272283432d 100644
--- a/modules/mono/editor/bindings_generator.cpp
+++ b/modules/mono/editor/bindings_generator.cpp
@@ -278,12 +278,12 @@ String BindingsGenerator::bbcode_to_xml(const String &p_bbcode, const TypeInterf
 		} else if (code_tag) {
 			xml_output.append("[");
 			pos = brk_pos + 1;
-		} else if (tag.begins_with("method ") || tag.begins_with("member ") || tag.begins_with("signal ") || tag.begins_with("enum ") || tag.begins_with("constant ")) {
+		} else if (tag.begins_with("method ") || tag.begins_with("member ") || tag.begins_with("signal ") || tag.begins_with("enum ") || tag.begins_with("constant ") || tag.begins_with("theme_item ")) {
 			const int tag_end = tag.find(" ");
 			const String link_tag = tag.substr(0, tag_end);
 			const String link_target = tag.substr(tag_end + 1, tag.length()).lstrip(" ");
 
-			Vector<String> link_target_parts = link_target.split(".");
+			const Vector<String> link_target_parts = link_target.split(".");
 
 			if (link_target_parts.size() <= 0 || link_target_parts.size() > 2) {
 				ERR_PRINT("Invalid reference format: '" + tag + "'.");
@@ -311,201 +311,18 @@ String BindingsGenerator::bbcode_to_xml(const String &p_bbcode, const TypeInterf
 			}
 
 			if (link_tag == "method") {
-				if (!target_itype || !target_itype->is_object_type) {
-					if (OS::get_singleton()->is_stdout_verbose()) {
-						if (target_itype) {
-							OS::get_singleton()->print("Cannot resolve method reference for non-Godot.Object type in documentation: %s\n", link_target.utf8().get_data());
-						} else {
-							OS::get_singleton()->print("Cannot resolve type from method reference in documentation: %s\n", link_target.utf8().get_data());
-						}
-					}
-
-					// TODO Map what we can
-					xml_output.append("<c>");
-					xml_output.append(link_target);
-					xml_output.append("</c>");
-				} else {
-					const MethodInterface *target_imethod = target_itype->find_method_by_name(target_cname);
-
-					if (target_imethod) {
-						xml_output.append("<see cref=\"" BINDINGS_NAMESPACE ".");
-						xml_output.append(target_itype->proxy_name);
-						xml_output.append(".");
-						xml_output.append(target_imethod->proxy_name);
-						xml_output.append("\"/>");
-					}
-				}
+				_append_xml_method(xml_output, target_itype, target_cname, link_target, link_target_parts);
 			} else if (link_tag == "member") {
-				if (!target_itype || !target_itype->is_object_type) {
-					if (OS::get_singleton()->is_stdout_verbose()) {
-						if (target_itype) {
-							OS::get_singleton()->print("Cannot resolve member reference for non-Godot.Object type in documentation: %s\n", link_target.utf8().get_data());
-						} else {
-							OS::get_singleton()->print("Cannot resolve type from member reference in documentation: %s\n", link_target.utf8().get_data());
-						}
-					}
-
-					// TODO Map what we can
-					xml_output.append("<c>");
-					xml_output.append(link_target);
-					xml_output.append("</c>");
-				} else {
-					const PropertyInterface *target_iprop = target_itype->find_property_by_name(target_cname);
-
-					if (target_iprop) {
-						xml_output.append("<see cref=\"" BINDINGS_NAMESPACE ".");
-						xml_output.append(target_itype->proxy_name);
-						xml_output.append(".");
-						xml_output.append(target_iprop->proxy_name);
-						xml_output.append("\"/>");
-					}
-				}
+				_append_xml_member(xml_output, target_itype, target_cname, link_target, link_target_parts);
 			} else if (link_tag == "signal") {
-				if (!target_itype || !target_itype->is_object_type) {
-					if (OS::get_singleton()->is_stdout_verbose()) {
-						if (target_itype) {
-							OS::get_singleton()->print("Cannot resolve signal reference for non-Godot.Object type in documentation: %s\n", link_target.utf8().get_data());
-						} else {
-							OS::get_singleton()->print("Cannot resolve type from signal reference in documentation: %s\n", link_target.utf8().get_data());
-						}
-					}
-
-					// TODO Map what we can
-					xml_output.append("<c>");
-					xml_output.append(link_target);
-					xml_output.append("</c>");
-				} else {
-					const SignalInterface *target_isignal = target_itype->find_signal_by_name(target_cname);
-
-					if (target_isignal) {
-						xml_output.append("<see cref=\"" BINDINGS_NAMESPACE ".");
-						xml_output.append(target_itype->proxy_name);
-						xml_output.append(".");
-						xml_output.append(target_isignal->proxy_name);
-						xml_output.append("\"/>");
-					} else {
-						ERR_PRINT("Cannot resolve signal reference in documentation: '" + link_target + "'.");
-
-						xml_output.append("<c>");
-						xml_output.append(link_target);
-						xml_output.append("</c>");
-					}
-				}
+				_append_xml_signal(xml_output, target_itype, target_cname, link_target, link_target_parts);
 			} else if (link_tag == "enum") {
-				const StringName search_cname = !target_itype ? target_cname : StringName(target_itype->name + "." + (String)target_cname);
-
-				const Map<StringName, TypeInterface>::Element *enum_match = enum_types.find(search_cname);
-
-				if (!enum_match && search_cname != target_cname) {
-					enum_match = enum_types.find(target_cname);
-				}
-
-				if (enum_match) {
-					const TypeInterface &target_enum_itype = enum_match->value();
-
-					xml_output.append("<see cref=\"" BINDINGS_NAMESPACE ".");
-					xml_output.append(target_enum_itype.proxy_name); // Includes nesting class if any
-					xml_output.append("\"/>");
-				} else {
-					ERR_PRINT("Cannot resolve enum reference in documentation: '" + link_target + "'.");
-
-					xml_output.append("<c>");
-					xml_output.append(link_target);
-					xml_output.append("</c>");
-				}
+				_append_xml_enum(xml_output, target_itype, target_cname, link_target, link_target_parts);
 			} else if (link_tag == "constant") {
-				if (!target_itype || !target_itype->is_object_type) {
-					if (OS::get_singleton()->is_stdout_verbose()) {
-						if (target_itype) {
-							OS::get_singleton()->print("Cannot resolve constant reference for non-Godot.Object type in documentation: %s\n", link_target.utf8().get_data());
-						} else {
-							OS::get_singleton()->print("Cannot resolve type from constant reference in documentation: %s\n", link_target.utf8().get_data());
-						}
-					}
-
-					// TODO Map what we can
-					xml_output.append("<c>");
-					xml_output.append(link_target);
-					xml_output.append("</c>");
-				} else if (!target_itype && target_cname == name_cache.type_at_GlobalScope) {
-					const String target_name = (String)target_cname;
-
-					// Try to find as a global constant
-					const ConstantInterface *target_iconst = find_constant_by_name(target_name, global_constants);
-
-					if (target_iconst) {
-						// Found global constant
-						xml_output.append("<see cref=\"" BINDINGS_NAMESPACE "." BINDINGS_GLOBAL_SCOPE_CLASS ".");
-						xml_output.append(target_iconst->proxy_name);
-						xml_output.append("\"/>");
-					} else {
-						// Try to find as global enum constant
-						const EnumInterface *target_ienum = nullptr;
-
-						for (const EnumInterface &ienum : global_enums) {
-							target_ienum = &ienum;
-							target_iconst = find_constant_by_name(target_name, target_ienum->constants);
-							if (target_iconst) {
-								break;
-							}
-						}
-
-						if (target_iconst) {
-							xml_output.append("<see cref=\"" BINDINGS_NAMESPACE ".");
-							xml_output.append(target_ienum->cname);
-							xml_output.append(".");
-							xml_output.append(target_iconst->proxy_name);
-							xml_output.append("\"/>");
-						} else {
-							ERR_PRINT("Cannot resolve global constant reference in documentation: '" + link_target + "'.");
-
-							xml_output.append("<c>");
-							xml_output.append(link_target);
-							xml_output.append("</c>");
-						}
-					}
-				} else {
-					const String target_name = (String)target_cname;
-
-					// Try to find the constant in the current class
-					const ConstantInterface *target_iconst = find_constant_by_name(target_name, target_itype->constants);
-
-					if (target_iconst) {
-						// Found constant in current class
-						xml_output.append("<see cref=\"" BINDINGS_NAMESPACE ".");
-						xml_output.append(target_itype->proxy_name);
-						xml_output.append(".");
-						xml_output.append(target_iconst->proxy_name);
-						xml_output.append("\"/>");
-					} else {
-						// Try to find as enum constant in the current class
-						const EnumInterface *target_ienum = nullptr;
-
-						for (const EnumInterface &ienum : target_itype->enums) {
-							target_ienum = &ienum;
-							target_iconst = find_constant_by_name(target_name, target_ienum->constants);
-							if (target_iconst) {
-								break;
-							}
-						}
-
-						if (target_iconst) {
-							xml_output.append("<see cref=\"" BINDINGS_NAMESPACE ".");
-							xml_output.append(target_itype->proxy_name);
-							xml_output.append(".");
-							xml_output.append(target_ienum->cname);
-							xml_output.append(".");
-							xml_output.append(target_iconst->proxy_name);
-							xml_output.append("\"/>");
-						} else {
-							ERR_PRINT("Cannot resolve constant reference in documentation: '" + link_target + "'.");
-
-							xml_output.append("<c>");
-							xml_output.append(link_target);
-							xml_output.append("</c>");
-						}
-					}
-				}
+				_append_xml_constant(xml_output, target_itype, target_cname, link_target, link_target_parts);
+			} else if (link_tag == "theme_item") {
+				// We do not declare theme_items in any way in C#, so there is nothing to reference
+				_append_xml_undeclared(xml_output, link_target);
 			}
 
 			pos = brk_end + 1;
@@ -670,6 +487,240 @@ String BindingsGenerator::bbcode_to_xml(const String &p_bbcode, const TypeInterf
 	return xml_output.as_string();
 }
 
+void BindingsGenerator::_append_xml_method(StringBuilder &p_xml_output, const TypeInterface *p_target_itype, const StringName &p_target_cname, const String &p_link_target, const Vector<String> &p_link_target_parts) {
+	if (p_link_target_parts[0] == name_cache.type_at_GlobalScope) {
+		if (OS::get_singleton()->is_stdout_verbose()) {
+			OS::get_singleton()->print("Cannot resolve @GlobalScope method reference in documentation: %s\n", p_link_target.utf8().get_data());
+		}
+
+		// TODO Map what we can
+		_append_xml_undeclared(p_xml_output, p_link_target);
+	} else if (!p_target_itype || !p_target_itype->is_object_type) {
+		if (OS::get_singleton()->is_stdout_verbose()) {
+			if (p_target_itype) {
+				OS::get_singleton()->print("Cannot resolve method reference for non-Godot.Object type in documentation: %s\n", p_link_target.utf8().get_data());
+			} else {
+				OS::get_singleton()->print("Cannot resolve type from method reference in documentation: %s\n", p_link_target.utf8().get_data());
+			}
+		}
+
+		// TODO Map what we can
+		_append_xml_undeclared(p_xml_output, p_link_target);
+	} else {
+		if (p_target_cname == "_init") {
+			// The _init method is not declared in C#, reference the constructor instead
+			p_xml_output.append("<see cref=\"" BINDINGS_NAMESPACE ".");
+			p_xml_output.append(p_target_itype->proxy_name);
+			p_xml_output.append(".");
+			p_xml_output.append(p_target_itype->proxy_name);
+			p_xml_output.append("()\"/>");
+		} else {
+			const MethodInterface *target_imethod = p_target_itype->find_method_by_name(p_target_cname);
+
+			if (target_imethod) {
+				p_xml_output.append("<see cref=\"" BINDINGS_NAMESPACE ".");
+				p_xml_output.append(p_target_itype->proxy_name);
+				p_xml_output.append(".");
+				p_xml_output.append(target_imethod->proxy_name);
+				p_xml_output.append("\"/>");
+			} else {
+				ERR_PRINT("Cannot resolve method reference in documentation: '" + p_link_target + "'.");
+				_append_xml_undeclared(p_xml_output, p_link_target);
+			}
+		}
+	}
+}
+
+void BindingsGenerator::_append_xml_member(StringBuilder &p_xml_output, const TypeInterface *p_target_itype, const StringName &p_target_cname, const String &p_link_target, const Vector<String> &p_link_target_parts) {
+	if (p_link_target.find("/") >= 0) {
+		// Properties with '/' (slash) in the name are not declared in C#, so there is nothing to reference.
+		_append_xml_undeclared(p_xml_output, p_link_target);
+	} else if (!p_target_itype || !p_target_itype->is_object_type) {
+		if (OS::get_singleton()->is_stdout_verbose()) {
+			if (p_target_itype) {
+				OS::get_singleton()->print("Cannot resolve member reference for non-Godot.Object type in documentation: %s\n", p_link_target.utf8().get_data());
+			} else {
+				OS::get_singleton()->print("Cannot resolve type from member reference in documentation: %s\n", p_link_target.utf8().get_data());
+			}
+		}
+
+		// TODO Map what we can
+		_append_xml_undeclared(p_xml_output, p_link_target);
+	} else {
+		const TypeInterface *current_itype = p_target_itype;
+		const PropertyInterface *target_iprop = nullptr;
+
+		while (target_iprop == nullptr && current_itype != nullptr) {
+			target_iprop = current_itype->find_property_by_name(p_target_cname);
+			if (target_iprop == nullptr) {
+				current_itype = _get_type_or_null(TypeReference(current_itype->base_name));
+			}
+		}
+
+		if (target_iprop) {
+			p_xml_output.append("<see cref=\"" BINDINGS_NAMESPACE ".");
+			p_xml_output.append(current_itype->proxy_name);
+			p_xml_output.append(".");
+			p_xml_output.append(target_iprop->proxy_name);
+			p_xml_output.append("\"/>");
+		} else {
+			ERR_PRINT("Cannot resolve member reference in documentation: '" + p_link_target + "'.");
+			_append_xml_undeclared(p_xml_output, p_link_target);
+		}
+	}
+}
+
+void BindingsGenerator::_append_xml_signal(StringBuilder &p_xml_output, const TypeInterface *p_target_itype, const StringName &p_target_cname, const String &p_link_target, const Vector<String> &p_link_target_parts) {
+	if (!p_target_itype || !p_target_itype->is_object_type) {
+		if (OS::get_singleton()->is_stdout_verbose()) {
+			if (p_target_itype) {
+				OS::get_singleton()->print("Cannot resolve signal reference for non-Godot.Object type in documentation: %s\n", p_link_target.utf8().get_data());
+			} else {
+				OS::get_singleton()->print("Cannot resolve type from signal reference in documentation: %s\n", p_link_target.utf8().get_data());
+			}
+		}
+
+		// TODO Map what we can
+		_append_xml_undeclared(p_xml_output, p_link_target);
+	} else {
+		const SignalInterface *target_isignal = p_target_itype->find_signal_by_name(p_target_cname);
+
+		if (target_isignal) {
+			p_xml_output.append("<see cref=\"" BINDINGS_NAMESPACE ".");
+			p_xml_output.append(p_target_itype->proxy_name);
+			p_xml_output.append(".");
+			p_xml_output.append(target_isignal->proxy_name);
+			p_xml_output.append("\"/>");
+		} else {
+			ERR_PRINT("Cannot resolve signal reference in documentation: '" + p_link_target + "'.");
+			_append_xml_undeclared(p_xml_output, p_link_target);
+		}
+	}
+}
+
+void BindingsGenerator::_append_xml_enum(StringBuilder &p_xml_output, const TypeInterface *p_target_itype, const StringName &p_target_cname, const String &p_link_target, const Vector<String> &p_link_target_parts) {
+	const StringName search_cname = !p_target_itype ? p_target_cname : StringName(p_target_itype->name + "." + (String)p_target_cname);
+
+	const Map<StringName, TypeInterface>::Element *enum_match = enum_types.find(search_cname);
+
+	if (!enum_match && search_cname != p_target_cname) {
+		enum_match = enum_types.find(p_target_cname);
+	}
+
+	if (enum_match) {
+		const TypeInterface &target_enum_itype = enum_match->value();
+
+		p_xml_output.append("<see cref=\"" BINDINGS_NAMESPACE ".");
+		p_xml_output.append(target_enum_itype.proxy_name); // Includes nesting class if any
+		p_xml_output.append("\"/>");
+	} else {
+		ERR_PRINT("Cannot resolve enum reference in documentation: '" + p_link_target + "'.");
+		_append_xml_undeclared(p_xml_output, p_link_target);
+	}
+}
+
+void BindingsGenerator::_append_xml_constant(StringBuilder &p_xml_output, const TypeInterface *p_target_itype, const StringName &p_target_cname, const String &p_link_target, const Vector<String> &p_link_target_parts) {
+	if (p_link_target_parts[0] == name_cache.type_at_GlobalScope) {
+		_append_xml_constant_in_global_scope(p_xml_output, p_target_cname, p_link_target);
+	} else if (!p_target_itype || !p_target_itype->is_object_type) {
+		// Search in @GlobalScope as a last resort if no class was specified
+		if (p_link_target_parts.size() == 1) {
+			_append_xml_constant_in_global_scope(p_xml_output, p_target_cname, p_link_target);
+			return;
+		}
+
+		if (OS::get_singleton()->is_stdout_verbose()) {
+			if (p_target_itype) {
+				OS::get_singleton()->print("Cannot resolve constant reference for non-Godot.Object type in documentation: %s\n", p_link_target.utf8().get_data());
+			} else {
+				OS::get_singleton()->print("Cannot resolve type from constant reference in documentation: %s\n", p_link_target.utf8().get_data());
+			}
+		}
+
+		// TODO Map what we can
+		_append_xml_undeclared(p_xml_output, p_link_target);
+	} else {
+		// Try to find the constant in the current class
+		const ConstantInterface *target_iconst = find_constant_by_name(p_target_cname, p_target_itype->constants);
+
+		if (target_iconst) {
+			// Found constant in current class
+			p_xml_output.append("<see cref=\"" BINDINGS_NAMESPACE ".");
+			p_xml_output.append(p_target_itype->proxy_name);
+			p_xml_output.append(".");
+			p_xml_output.append(target_iconst->proxy_name);
+			p_xml_output.append("\"/>");
+		} else {
+			// Try to find as enum constant in the current class
+			const EnumInterface *target_ienum = nullptr;
+
+			for (const EnumInterface &ienum : p_target_itype->enums) {
+				target_ienum = &ienum;
+				target_iconst = find_constant_by_name(p_target_cname, target_ienum->constants);
+				if (target_iconst) {
+					break;
+				}
+			}
+
+			if (target_iconst) {
+				p_xml_output.append("<see cref=\"" BINDINGS_NAMESPACE ".");
+				p_xml_output.append(p_target_itype->proxy_name);
+				p_xml_output.append(".");
+				p_xml_output.append(target_ienum->cname);
+				p_xml_output.append(".");
+				p_xml_output.append(target_iconst->proxy_name);
+				p_xml_output.append("\"/>");
+			} else if (p_link_target_parts.size() == 1) {
+				// Also search in @GlobalScope as a last resort if no class was specified
+				_append_xml_constant_in_global_scope(p_xml_output, p_target_cname, p_link_target);
+			} else {
+				ERR_PRINT("Cannot resolve constant reference in documentation: '" + p_link_target + "'.");
+				_append_xml_undeclared(p_xml_output, p_link_target);
+			}
+		}
+	}
+}
+
+void BindingsGenerator::_append_xml_constant_in_global_scope(StringBuilder &p_xml_output, const String &p_target_cname, const String &p_link_target) {
+	// Try to find as a global constant
+	const ConstantInterface *target_iconst = find_constant_by_name(p_target_cname, global_constants);
+
+	if (target_iconst) {
+		// Found global constant
+		p_xml_output.append("<see cref=\"" BINDINGS_NAMESPACE "." BINDINGS_GLOBAL_SCOPE_CLASS ".");
+		p_xml_output.append(target_iconst->proxy_name);
+		p_xml_output.append("\"/>");
+	} else {
+		// Try to find as global enum constant
+		const EnumInterface *target_ienum = nullptr;
+
+		for (const EnumInterface &ienum : global_enums) {
+			target_ienum = &ienum;
+			target_iconst = find_constant_by_name(p_target_cname, target_ienum->constants);
+			if (target_iconst) {
+				break;
+			}
+		}
+
+		if (target_iconst) {
+			p_xml_output.append("<see cref=\"" BINDINGS_NAMESPACE ".");
+			p_xml_output.append(target_ienum->cname);
+			p_xml_output.append(".");
+			p_xml_output.append(target_iconst->proxy_name);
+			p_xml_output.append("\"/>");
+		} else {
+			ERR_PRINT("Cannot resolve global constant reference in documentation: '" + p_link_target + "'.");
+			_append_xml_undeclared(p_xml_output, p_link_target);
+		}
+	}
+}
+
+void BindingsGenerator::_append_xml_undeclared(StringBuilder &p_xml_output, const String &p_link_target) {
+	p_xml_output.append("<c>");
+	p_xml_output.append(p_link_target);
+	p_xml_output.append("</c>");
+}
+
 int BindingsGenerator::_determine_enum_prefix(const EnumInterface &p_ienum) {
 	CRASH_COND(p_ienum.constants.is_empty());
 
diff --git a/modules/mono/editor/bindings_generator.h b/modules/mono/editor/bindings_generator.h
index 5460f018f0..f601ffde2b 100644
--- a/modules/mono/editor/bindings_generator.h
+++ b/modules/mono/editor/bindings_generator.h
@@ -658,6 +658,14 @@ class BindingsGenerator {
 
 	String bbcode_to_xml(const String &p_bbcode, const TypeInterface *p_itype);
 
+	void _append_xml_method(StringBuilder &p_xml_output, const TypeInterface *p_target_itype, const StringName &p_target_cname, const String &p_link_target, const Vector<String> &p_link_target_parts);
+	void _append_xml_member(StringBuilder &p_xml_output, const TypeInterface *p_target_itype, const StringName &p_target_cname, const String &p_link_target, const Vector<String> &p_link_target_parts);
+	void _append_xml_signal(StringBuilder &p_xml_output, const TypeInterface *p_target_itype, const StringName &p_target_cname, const String &p_link_target, const Vector<String> &p_link_target_parts);
+	void _append_xml_enum(StringBuilder &p_xml_output, const TypeInterface *p_target_itype, const StringName &p_target_cname, const String &p_link_target, const Vector<String> &p_link_target_parts);
+	void _append_xml_constant(StringBuilder &p_xml_output, const TypeInterface *p_target_itype, const StringName &p_target_cname, const String &p_link_target, const Vector<String> &p_link_target_parts);
+	void _append_xml_constant_in_global_scope(StringBuilder &p_xml_output, const String &p_target_cname, const String &p_link_target);
+	void _append_xml_undeclared(StringBuilder &p_xml_output, const String &p_link_target);
+
 	int _determine_enum_prefix(const EnumInterface &p_ienum);
 	void _apply_prefix_to_enum_constants(EnumInterface &p_ienum, int p_prefix_length);
 
diff --git a/modules/mono/editor/code_completion.cpp b/modules/mono/editor/code_completion.cpp
index 095fd831a3..3a41b3f6f5 100644
--- a/modules/mono/editor/code_completion.cpp
+++ b/modules/mono/editor/code_completion.cpp
@@ -120,7 +120,7 @@ PackedStringArray get_code_completion(CompletionKind p_kind, const String &p_scr
 		} break;
 		case CompletionKind::NODE_PATHS: {
 			{
-				// AutoLoads
+				// Autoloads.
 				OrderedHashMap<StringName, ProjectSettings::AutoloadInfo> autoloads = ProjectSettings::get_singleton()->get_autoload_list();
 
 				for (OrderedHashMap<StringName, ProjectSettings::AutoloadInfo>::Element E = autoloads.front(); E; E = E.next()) {
diff --git a/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector2.cs b/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector2.cs
index 8679f28132..ee218cb1f8 100644
--- a/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector2.cs
+++ b/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector2.cs
@@ -81,6 +81,15 @@ namespace Godot
             }
         }
 
+        /// <summary>
+        /// Helper method for deconstruction into a tuple.
+        /// </summary>
+        public void Deconstruct(out real_t x, out real_t y)
+        {
+            x = this.x;
+            y = this.y;
+        }
+
         internal void Normalize()
         {
             real_t lengthsq = LengthSquared();
diff --git a/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector2i.cs b/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector2i.cs
index 9b51de5c8c..412a885daa 100644
--- a/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector2i.cs
+++ b/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector2i.cs
@@ -82,6 +82,15 @@ namespace Godot
         }
 
         /// <summary>
+        /// Helper method for deconstruction into a tuple.
+        /// </summary>
+        public void Deconstruct(out int x, out int y)
+        {
+            x = this.x;
+            y = this.y;
+        }
+
+        /// <summary>
         /// Returns a new vector with all components in absolute values (i.e. positive).
         /// </summary>
         /// <returns>A vector with <see cref="Mathf.Abs(int)"/> called on each component.</returns>
diff --git a/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector3.cs b/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector3.cs
index 1e60fb9523..45e5287610 100644
--- a/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector3.cs
+++ b/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector3.cs
@@ -96,6 +96,16 @@ namespace Godot
             }
         }
 
+        /// <summary>
+        /// Helper method for deconstruction into a tuple.
+        /// </summary>
+        public void Deconstruct(out real_t x, out real_t y, out real_t z)
+        {
+            x = this.x;
+            y = this.y;
+            z = this.z;
+        }
+
         internal void Normalize()
         {
             real_t lengthsq = LengthSquared();
diff --git a/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector3i.cs b/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector3i.cs
index eb06d2b87e..abfd2ae720 100644
--- a/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector3i.cs
+++ b/modules/mono/glue/GodotSharp/GodotSharp/Core/Vector3i.cs
@@ -97,6 +97,16 @@ namespace Godot
         }
 
         /// <summary>
+        /// Helper method for deconstruction into a tuple.
+        /// </summary>
+        public void Deconstruct(out int x, out int y, out int z)
+        {
+            x = this.x;
+            y = this.y;
+            z = this.z;
+        }
+
+        /// <summary>
         /// Returns a new vector with all components in absolute values (i.e. positive).
         /// </summary>
         /// <returns>A vector with <see cref="Mathf.Abs(int)"/> called on each component.</returns>
diff --git a/modules/mono/glue/base_object_glue.cpp b/modules/mono/glue/base_object_glue.cpp
index 8e7b125ed5..b5f2c98af5 100644
--- a/modules/mono/glue/base_object_glue.cpp
+++ b/modules/mono/glue/base_object_glue.cpp
@@ -199,7 +199,7 @@ MonoBoolean godot_icall_DynamicGodotObject_InvokeMember(Object *p_ptr, MonoStrin
 	}
 
 	Callable::CallError error;
-	Variant result = p_ptr->call(StringName(name), args.ptr(), argc, error);
+	Variant result = p_ptr->callp(StringName(name), args.ptr(), argc, error);
 
 	*r_result = GDMonoMarshal::variant_to_mono_object(result);
 
diff --git a/modules/navigation/rvo_agent.cpp b/modules/navigation/rvo_agent.cpp
index c967d0bf98..a6a5660c0c 100644
--- a/modules/navigation/rvo_agent.cpp
+++ b/modules/navigation/rvo_agent.cpp
@@ -75,5 +75,5 @@ void RvoAgent::dispatch_callback() {
 
 	const Variant *vp[2] = { &callback.new_velocity, &callback.udata };
 	int argc = (callback.udata.get_type() == Variant::NIL) ? 1 : 2;
-	obj->call(callback.method, vp, argc, responseCallError);
+	obj->callp(callback.method, vp, argc, responseCallError);
 }
diff --git a/modules/openxr/doc_classes/OpenXRInterface.xml b/modules/openxr/doc_classes/OpenXRInterface.xml
index 1160061e04..74f708bc95 100644
--- a/modules/openxr/doc_classes/OpenXRInterface.xml
+++ b/modules/openxr/doc_classes/OpenXRInterface.xml
@@ -10,4 +10,31 @@
 	<tutorials>
 		<link title="OpenXR documentation">$DOCS_URL/tutorials/vr/openxr/index.html</link>
 	</tutorials>
+	<signals>
+		<signal name="pose_recentered">
+			<description>
+				Informs the user queued a recenter of the player position.
+			</description>
+		</signal>
+		<signal name="session_begun">
+			<description>
+				Informs our OpenXR session has been started.
+			</description>
+		</signal>
+		<signal name="session_focussed">
+			<description>
+				Informs our OpenXR session now has focus.
+			</description>
+		</signal>
+		<signal name="session_stopping">
+			<description>
+				Informs our OpenXR session is stopping.
+			</description>
+		</signal>
+		<signal name="session_visible">
+			<description>
+				Informs our OpenXR session is now visible (output is being sent to the HMD).
+			</description>
+		</signal>
+	</signals>
 </class>
diff --git a/modules/openxr/openxr_api.cpp b/modules/openxr/openxr_api.cpp
index e3da214cc8..4d533337f3 100644
--- a/modules/openxr/openxr_api.cpp
+++ b/modules/openxr/openxr_api.cpp
@@ -48,6 +48,8 @@
 #include "extensions/openxr_vulkan_extension.h"
 #endif
 
+#include "modules/openxr/openxr_interface.h"
+
 OpenXRAPI *OpenXRAPI::singleton = nullptr;
 
 void OpenXRAPI::setup_global_defs() {
@@ -877,7 +879,9 @@ bool OpenXRAPI::on_state_ready() {
 		wrapper->on_state_ready();
 	}
 
-	// TODO emit signal
+	if (xr_interface) {
+		xr_interface->on_state_ready();
+	}
 
 	// TODO Tell android
 
@@ -889,6 +893,13 @@ bool OpenXRAPI::on_state_synchronized() {
 	print_line("On state synchronized");
 #endif
 
+	// Just in case, see if we already have active trackers...
+	List<RID> trackers;
+	tracker_owner.get_owned_list(&trackers);
+	for (int i = 0; i < trackers.size(); i++) {
+		tracker_check_profile(trackers[i]);
+	}
+
 	for (OpenXRExtensionWrapper *wrapper : registered_extension_wrappers) {
 		wrapper->on_state_synchronized();
 	}
@@ -905,7 +916,9 @@ bool OpenXRAPI::on_state_visible() {
 		wrapper->on_state_visible();
 	}
 
-	// TODO emit signal
+	if (xr_interface) {
+		xr_interface->on_state_visible();
+	}
 
 	return true;
 }
@@ -919,7 +932,9 @@ bool OpenXRAPI::on_state_focused() {
 		wrapper->on_state_focused();
 	}
 
-	// TODO emit signal
+	if (xr_interface) {
+		xr_interface->on_state_focused();
+	}
 
 	return true;
 }
@@ -929,7 +944,9 @@ bool OpenXRAPI::on_state_stopping() {
 	print_line("On state stopping");
 #endif
 
-	// TODO emit signal
+	if (xr_interface) {
+		xr_interface->on_state_stopping();
+	}
 
 	for (OpenXRExtensionWrapper *wrapper : registered_extension_wrappers) {
 		wrapper->on_state_stopping();
@@ -1081,6 +1098,10 @@ void OpenXRAPI::finish() {
 	destroy_instance();
 }
 
+void OpenXRAPI::set_xr_interface(OpenXRInterface *p_xr_interface) {
+	xr_interface = p_xr_interface;
+}
+
 void OpenXRAPI::register_extension_wrapper(OpenXRExtensionWrapper *p_extension_wrapper) {
 	registered_extension_wrappers.push_back(p_extension_wrapper);
 }
@@ -1204,20 +1225,38 @@ bool OpenXRAPI::poll_events() {
 			handled |= wrapper->on_event_polled(runtimeEvent);
 		}
 		switch (runtimeEvent.type) {
-			// case XR_TYPE_EVENT_DATA_EVENTS_LOST: {
-			// } break;
-			// case XR_TYPE_EVENT_DATA_VISIBILITY_MASK_CHANGED_KHR: {
-			// } break;
-			// case XR_TYPE_EVENT_DATA_INSTANCE_LOSS_PENDING: {
-			// } break;
+			case XR_TYPE_EVENT_DATA_EVENTS_LOST: {
+				XrEventDataEventsLost *event = (XrEventDataEventsLost *)&runtimeEvent;
+
+				// We probably didn't poll fast enough, just output warning
+				WARN_PRINT("OpenXR EVENT: " + itos(event->lostEventCount) + " event data lost!");
+			} break;
+			case XR_TYPE_EVENT_DATA_VISIBILITY_MASK_CHANGED_KHR: {
+				// XrEventDataVisibilityMaskChangedKHR *event = (XrEventDataVisibilityMaskChangedKHR *)&runtimeEvent;
+
+				// TODO implement this in the future, we should call xrGetVisibilityMaskKHR to obtain a mask,
+				// this will allow us to prevent rendering the part of our view which is never displayed giving us
+				// a decent performance improvement.
+
+				print_verbose("OpenXR EVENT: STUB: visibility mask changed");
+			} break;
+			case XR_TYPE_EVENT_DATA_INSTANCE_LOSS_PENDING: {
+				XrEventDataInstanceLossPending *event = (XrEventDataInstanceLossPending *)&runtimeEvent;
+
+				// TODO We get this event if we're about to loose our OpenXR instance.
+				// We should queue exiting Godot at this point.
+
+				print_verbose("OpenXR EVENT: instance loss pending at " + itos(event->lossTime));
+				return false;
+			} break;
 			case XR_TYPE_EVENT_DATA_SESSION_STATE_CHANGED: {
 				XrEventDataSessionStateChanged *event = (XrEventDataSessionStateChanged *)&runtimeEvent;
 
 				session_state = event->state;
 				if (session_state >= XR_SESSION_STATE_MAX_ENUM) {
-					print_line("OpenXR EVENT: session state changed to UNKNOWN -", session_state);
+					print_verbose("OpenXR EVENT: session state changed to UNKNOWN - " + itos(session_state));
 				} else {
-					print_line("OpenXR EVENT: session state changed to", OpenXRUtil::get_session_state_name(session_state));
+					print_verbose("OpenXR EVENT: session state changed to " + OpenXRUtil::get_session_state_name(session_state));
 
 					switch (session_state) {
 						case XR_SESSION_STATE_IDLE:
@@ -1249,13 +1288,29 @@ bool OpenXRAPI::poll_events() {
 					}
 				}
 			} break;
-			// case XR_TYPE_EVENT_DATA_REFERENCE_SPACE_CHANGE_PENDING: {
-			// } break;
-			// case XR_TYPE_EVENT_DATA_INTERACTION_PROFILE_CHANGED: {
-			// } break;
+			case XR_TYPE_EVENT_DATA_REFERENCE_SPACE_CHANGE_PENDING: {
+				XrEventDataReferenceSpaceChangePending *event = (XrEventDataReferenceSpaceChangePending *)&runtimeEvent;
+
+				print_verbose("OpenXR EVENT: reference space type " + OpenXRUtil::get_reference_space_name(event->referenceSpaceType) + " change pending!");
+				if (event->poseValid && xr_interface) {
+					xr_interface->on_pose_recentered();
+				}
+			} break;
+			case XR_TYPE_EVENT_DATA_INTERACTION_PROFILE_CHANGED: {
+				print_verbose("OpenXR EVENT: interaction profile changed!");
+
+				XrEventDataInteractionProfileChanged *event = (XrEventDataInteractionProfileChanged *)&runtimeEvent;
+
+				List<RID> trackers;
+				tracker_owner.get_owned_list(&trackers);
+				for (int i = 0; i < trackers.size(); i++) {
+					tracker_check_profile(trackers[i], event->session);
+				}
+
+			} break;
 			default:
 				if (!handled) {
-					print_line("OpenXR Unhandled event type", OpenXRUtil::get_structure_type_name(runtimeEvent.type));
+					print_verbose("OpenXR Unhandled event type " + OpenXRUtil::get_structure_type_name(runtimeEvent.type));
 				}
 				break;
 		}
@@ -1348,9 +1403,21 @@ void OpenXRAPI::pre_render() {
 	XrResult result = xrWaitFrame(session, &frame_wait_info, &frame_state);
 	if (XR_FAILED(result)) {
 		print_line("OpenXR: xrWaitFrame() was not successful [", get_error_string(result), "]");
+
+		// reset just in case
+		frame_state.predictedDisplayTime = 0;
+		frame_state.predictedDisplayPeriod = 0;
+		frame_state.shouldRender = false;
+
 		return;
 	}
 
+	if (frame_state.predictedDisplayPeriod > 500000000) {
+		// display period more then 0.5 seconds? must be wrong data
+		print_verbose("OpenXR resetting invalid display period " + rtos(frame_state.predictedDisplayPeriod));
+		frame_state.predictedDisplayPeriod = 0;
+	}
+
 	for (OpenXRExtensionWrapper *wrapper : registered_extension_wrappers) {
 		wrapper->on_pre_render();
 	}
@@ -1691,38 +1758,97 @@ void OpenXRAPI::parse_velocities(const XrSpaceVelocity &p_velocity, Vector3 &r_l
 	}
 }
 
-RID OpenXRAPI::path_create(const String p_name) {
-	ERR_FAIL_COND_V(instance == XR_NULL_HANDLE, RID());
+RID OpenXRAPI::get_tracker_rid(XrPath p_path) {
+	List<RID> current;
+	tracker_owner.get_owned_list(&current);
+	for (int i = 0; i < current.size(); i++) {
+		Tracker *tracker = tracker_owner.get_or_null(current[i]);
+		if (tracker && tracker->toplevel_path == p_path) {
+			return current[i];
+		}
+	}
 
-	// Encoding our path as a RID is probably overkill but it does future proof this
-	// Note that we only do this for XrPaths that we access from outside of this class!
+	return RID();
+}
 
-	Path new_path;
+RID OpenXRAPI::tracker_create(const String p_name) {
+	ERR_FAIL_COND_V(instance == XR_NULL_HANDLE, RID());
 
-	print_line("Parsing path ", p_name);
+	Tracker new_tracker;
+	new_tracker.name = p_name;
+	new_tracker.toplevel_path = XR_NULL_PATH;
+	new_tracker.active_profile_rid = RID();
 
-	XrResult result = xrStringToPath(instance, p_name.utf8().get_data(), &new_path.path);
+	XrResult result = xrStringToPath(instance, p_name.utf8().get_data(), &new_tracker.toplevel_path);
 	if (XR_FAILED(result)) {
 		print_line("OpenXR: failed to get path for ", p_name, "! [", get_error_string(result), "]");
 		return RID();
 	}
 
-	return xr_path_owner.make_rid(new_path);
+	return tracker_owner.make_rid(new_tracker);
 }
 
-void OpenXRAPI::path_free(RID p_path) {
-	Path *path = xr_path_owner.get_or_null(p_path);
-	ERR_FAIL_NULL(path);
+String OpenXRAPI::tracker_get_name(RID p_tracker) {
+	if (p_tracker.is_null()) {
+		return String("None");
+	}
+
+	Tracker *tracker = tracker_owner.get_or_null(p_tracker);
+	ERR_FAIL_NULL_V(tracker, String());
+
+	return tracker->name;
+}
+
+void OpenXRAPI::tracker_check_profile(RID p_tracker, XrSession p_session) {
+	if (p_session == XR_NULL_HANDLE) {
+		p_session = session;
+	}
+
+	Tracker *tracker = tracker_owner.get_or_null(p_tracker);
+	ERR_FAIL_NULL(tracker);
+
+	if (tracker->toplevel_path == XR_NULL_PATH) {
+		// no path, how was this even created?
+		return;
+	}
+
+	XrInteractionProfileState profile_state = {
+		XR_TYPE_INTERACTION_PROFILE_STATE, // type
+		nullptr, // next
+		XR_NULL_PATH // interactionProfile
+	};
+
+	XrResult result = xrGetCurrentInteractionProfile(p_session, tracker->toplevel_path, &profile_state);
+	if (XR_FAILED(result)) {
+		print_line("OpenXR: Failed to get interaction profile for", itos(tracker->toplevel_path), "[", get_error_string(result), "]");
+		return;
+	}
+
+	XrPath new_profile = profile_state.interactionProfile;
+	XrPath was_profile = get_interaction_profile_path(tracker->active_profile_rid);
+	if (was_profile != new_profile) {
+		tracker->active_profile_rid = get_interaction_profile_rid(new_profile);
+
+		if (xr_interface) {
+			xr_interface->tracker_profile_changed(p_tracker, tracker->active_profile_rid);
+		}
+	}
+}
+
+void OpenXRAPI::tracker_free(RID p_tracker) {
+	Tracker *tracker = tracker_owner.get_or_null(p_tracker);
+	ERR_FAIL_NULL(tracker);
 
 	// there is nothing to free here
 
-	xr_path_owner.free(p_path);
+	tracker_owner.free(p_tracker);
 }
 
 RID OpenXRAPI::action_set_create(const String p_name, const String p_localized_name, const int p_priority) {
 	ERR_FAIL_COND_V(instance == XR_NULL_HANDLE, RID());
 	ActionSet action_set;
 
+	action_set.name = p_name;
 	action_set.is_attached = false;
 
 	// create our action set...
@@ -1737,7 +1863,7 @@ RID OpenXRAPI::action_set_create(const String p_name, const String p_localized_n
 	copy_string_to_char_buffer(p_name, action_set_info.actionSetName, XR_MAX_ACTION_SET_NAME_SIZE);
 	copy_string_to_char_buffer(p_localized_name, action_set_info.localizedActionSetName, XR_MAX_LOCALIZED_ACTION_SET_NAME_SIZE);
 
-	print_line("Creating action set ", action_set_info.actionSetName, " - ", action_set_info.localizedActionSetName, " (", itos(action_set_info.priority), ")");
+	// print_line("Creating action set ", action_set_info.actionSetName, " - ", action_set_info.localizedActionSetName, " (", itos(action_set_info.priority), ")");
 
 	XrResult result = xrCreateActionSet(instance, &action_set_info, &action_set.handle);
 	if (XR_FAILED(result)) {
@@ -1748,6 +1874,17 @@ RID OpenXRAPI::action_set_create(const String p_name, const String p_localized_n
 	return action_set_owner.make_rid(action_set);
 }
 
+String OpenXRAPI::action_set_get_name(RID p_action_set) {
+	if (p_action_set.is_null()) {
+		return String("None");
+	}
+
+	ActionSet *action_set = action_set_owner.get_or_null(p_action_set);
+	ERR_FAIL_NULL_V(action_set, String());
+
+	return action_set->name;
+}
+
 bool OpenXRAPI::action_set_attach(RID p_action_set) {
 	ActionSet *action_set = action_set_owner.get_or_null(p_action_set);
 	ERR_FAIL_NULL_V(action_set, false);
@@ -1776,6 +1913,24 @@ bool OpenXRAPI::action_set_attach(RID p_action_set) {
 
 	action_set->is_attached = true;
 
+	/* For debugging:
+	print_verbose("Attached set " + action_set->name);
+	List<RID> action_rids;
+	action_owner.get_owned_list(&action_rids);
+	for (int i = 0; i < action_rids.size(); i++) {
+		Action * action = action_owner.get_or_null(action_rids[i]);
+		if (action && action->action_set_rid == p_action_set) {
+			print_verbose(" - Action " + action->name + ": " + OpenXRUtil::get_action_type_name(action->action_type));
+			for (int j = 0; j < action->trackers.size(); j++) {
+				Tracker * tracker = tracker_owner.get_or_null(action->trackers[j].tracker_rid);
+				if (tracker) {
+					print_verbose("    - " + tracker->name);
+				}
+			}
+		}
+	}
+	*/
+
 	return true;
 }
 
@@ -1790,14 +1945,29 @@ void OpenXRAPI::action_set_free(RID p_action_set) {
 	action_set_owner.free(p_action_set);
 }
 
-RID OpenXRAPI::action_create(RID p_action_set, const String p_name, const String p_localized_name, OpenXRAction::ActionType p_action_type, const Vector<RID> &p_toplevel_paths) {
+RID OpenXRAPI::get_action_rid(XrAction p_action) {
+	List<RID> current;
+	action_owner.get_owned_list(&current);
+	for (int i = 0; i < current.size(); i++) {
+		Action *action = action_owner.get_or_null(current[i]);
+		if (action && action->handle == p_action) {
+			return current[i];
+		}
+	}
+
+	return RID();
+}
+
+RID OpenXRAPI::action_create(RID p_action_set, const String p_name, const String p_localized_name, OpenXRAction::ActionType p_action_type, const Vector<RID> &p_trackers) {
 	ERR_FAIL_COND_V(instance == XR_NULL_HANDLE, RID());
 
 	Action action;
+	action.name = p_name;
 
 	ActionSet *action_set = action_set_owner.get_or_null(p_action_set);
 	ERR_FAIL_NULL_V(action_set, RID());
 	ERR_FAIL_COND_V(action_set->handle == XR_NULL_HANDLE, RID());
+	action.action_set_rid = p_action_set;
 
 	switch (p_action_type) {
 		case OpenXRAction::OPENXR_ACTION_BOOL:
@@ -1821,17 +1991,17 @@ RID OpenXRAPI::action_create(RID p_action_set, const String p_name, const String
 	}
 
 	Vector<XrPath> toplevel_paths;
-	for (int i = 0; i < p_toplevel_paths.size(); i++) {
-		Path *xr_path = xr_path_owner.get_or_null(p_toplevel_paths[i]);
-		if (xr_path != nullptr && xr_path->path != XR_NULL_PATH) {
-			PathWithSpace path_with_space = {
-				xr_path->path, // toplevel_path
+	for (int i = 0; i < p_trackers.size(); i++) {
+		Tracker *tracker = tracker_owner.get_or_null(p_trackers[i]);
+		if (tracker != nullptr && tracker->toplevel_path != XR_NULL_PATH) {
+			ActionTracker action_tracker = {
+				p_trackers[i], // tracker
 				XR_NULL_HANDLE, // space
 				false // was_location_valid
 			};
-			action.toplevel_paths.push_back(path_with_space);
+			action.trackers.push_back(action_tracker);
 
-			toplevel_paths.push_back(xr_path->path);
+			toplevel_paths.push_back(tracker->toplevel_path);
 		}
 	}
 
@@ -1848,7 +2018,7 @@ RID OpenXRAPI::action_create(RID p_action_set, const String p_name, const String
 	copy_string_to_char_buffer(p_name, action_info.actionName, XR_MAX_ACTION_NAME_SIZE);
 	copy_string_to_char_buffer(p_localized_name, action_info.localizedActionName, XR_MAX_LOCALIZED_ACTION_NAME_SIZE);
 
-	print_line("Creating action ", action_info.actionName, action_info.localizedActionName, action_info.countSubactionPaths);
+	// print_line("Creating action ", action_info.actionName, action_info.localizedActionName, action_info.countSubactionPaths);
 
 	XrResult result = xrCreateAction(action_set->handle, &action_info, &action.handle);
 	if (XR_FAILED(result)) {
@@ -1859,6 +2029,17 @@ RID OpenXRAPI::action_create(RID p_action_set, const String p_name, const String
 	return action_owner.make_rid(action);
 }
 
+String OpenXRAPI::action_get_name(RID p_action) {
+	if (p_action.is_null()) {
+		return String("None");
+	}
+
+	Action *action = action_owner.get_or_null(p_action);
+	ERR_FAIL_NULL_V(action, String());
+
+	return action->name;
+}
+
 void OpenXRAPI::action_free(RID p_action) {
 	Action *action = action_owner.get_or_null(p_action);
 	ERR_FAIL_NULL(action);
@@ -1870,55 +2051,139 @@ void OpenXRAPI::action_free(RID p_action) {
 	action_owner.free(p_action);
 }
 
-bool OpenXRAPI::suggest_bindings(const String p_interaction_profile, const Vector<Binding> p_bindings) {
-	ERR_FAIL_COND_V(instance == XR_NULL_HANDLE, false);
+RID OpenXRAPI::get_interaction_profile_rid(XrPath p_path) {
+	List<RID> current;
+	interaction_profile_owner.get_owned_list(&current);
+	for (int i = 0; i < current.size(); i++) {
+		InteractionProfile *ip = interaction_profile_owner.get_or_null(current[i]);
+		if (ip && ip->path == p_path) {
+			return current[i];
+		}
+	}
+
+	return RID();
+}
+
+XrPath OpenXRAPI::get_interaction_profile_path(RID p_interaction_profile) {
+	if (p_interaction_profile.is_null()) {
+		return XR_NULL_PATH;
+	}
+
+	InteractionProfile *ip = interaction_profile_owner.get_or_null(p_interaction_profile);
+	ERR_FAIL_NULL_V(ip, XR_NULL_PATH);
 
-	XrPath interaction_profile;
-	Vector<XrActionSuggestedBinding> bindings;
+	return ip->path;
+}
 
-	XrResult result = xrStringToPath(instance, p_interaction_profile.utf8().get_data(), &interaction_profile);
+RID OpenXRAPI::interaction_profile_create(const String p_name) {
+	InteractionProfile new_interaction_profile;
+
+	XrResult result = xrStringToPath(instance, p_name.utf8().get_data(), &new_interaction_profile.path);
 	if (XR_FAILED(result)) {
-		print_line("OpenXR: failed to get path for ", p_interaction_profile, "! [", get_error_string(result), "]");
-		return false;
+		print_line("OpenXR: failed to get path for ", p_name, "! [", get_error_string(result), "]");
+		return RID();
 	}
 
-	for (int i = 0; i < p_bindings.size(); i++) {
-		XrActionSuggestedBinding binding;
+	RID existing_ip = get_interaction_profile_rid(new_interaction_profile.path);
+	if (existing_ip.is_valid()) {
+		return existing_ip;
+	}
 
-		Action *action = action_owner.get_or_null(p_bindings[i].action);
-		if (action == nullptr || action->handle == XR_NULL_HANDLE) {
-			// just skip it
-			continue;
-		}
+	new_interaction_profile.name = p_name;
+	return interaction_profile_owner.make_rid(new_interaction_profile);
+}
 
-		binding.action = action->handle;
+String OpenXRAPI::interaction_profile_get_name(RID p_interaction_profile) {
+	if (p_interaction_profile.is_null()) {
+		return String("None");
+	}
 
-		result = xrStringToPath(instance, p_bindings[i].path.utf8().get_data(), &binding.binding);
-		if (XR_FAILED(result)) {
-			print_line("OpenXR: failed to get path for ", p_bindings[i].path, "! [", get_error_string(result), "]");
-			continue;
-		}
+	InteractionProfile *ip = interaction_profile_owner.get_or_null(p_interaction_profile);
+	ERR_FAIL_NULL_V(ip, String());
+
+	return ip->name;
+}
+
+void OpenXRAPI::interaction_profile_clear_bindings(RID p_interaction_profile) {
+	InteractionProfile *ip = interaction_profile_owner.get_or_null(p_interaction_profile);
+	ERR_FAIL_NULL(ip);
+
+	ip->bindings.clear();
+}
+
+bool OpenXRAPI::interaction_profile_add_binding(RID p_interaction_profile, RID p_action, const String p_path) {
+	InteractionProfile *ip = interaction_profile_owner.get_or_null(p_interaction_profile);
+	ERR_FAIL_NULL_V(ip, false);
+
+	XrActionSuggestedBinding binding;
+
+	Action *action = action_owner.get_or_null(p_action);
+	ERR_FAIL_COND_V(action == nullptr || action->handle == XR_NULL_HANDLE, false);
 
-		bindings.push_back(binding);
+	binding.action = action->handle;
+
+	XrResult result = xrStringToPath(instance, p_path.utf8().get_data(), &binding.binding);
+	if (XR_FAILED(result)) {
+		print_line("OpenXR: failed to get path for ", p_path, "! [", get_error_string(result), "]");
+		return false;
 	}
 
+	ip->bindings.push_back(binding);
+
+	return true;
+}
+
+bool OpenXRAPI::interaction_profile_suggest_bindings(RID p_interaction_profile) {
+	ERR_FAIL_COND_V(instance == XR_NULL_HANDLE, false);
+
+	InteractionProfile *ip = interaction_profile_owner.get_or_null(p_interaction_profile);
+	ERR_FAIL_NULL_V(ip, false);
+
 	const XrInteractionProfileSuggestedBinding suggested_bindings = {
 		XR_TYPE_INTERACTION_PROFILE_SUGGESTED_BINDING, // type
 		nullptr, // next
-		interaction_profile, // interactionProfile
-		uint32_t(bindings.size()), // countSuggestedBindings
-		bindings.ptr() // suggestedBindings
+		ip->path, // interactionProfile
+		uint32_t(ip->bindings.size()), // countSuggestedBindings
+		ip->bindings.ptr() // suggestedBindings
 	};
 
-	result = xrSuggestInteractionProfileBindings(instance, &suggested_bindings);
-	if (XR_FAILED(result)) {
-		print_line("OpenXR: failed to suggest bindings for ", p_interaction_profile, "! [", get_error_string(result), "]");
+	XrResult result = xrSuggestInteractionProfileBindings(instance, &suggested_bindings);
+	if (result == XR_ERROR_PATH_UNSUPPORTED) {
+		// this is fine, not all runtimes support all devices.
+		print_verbose("OpenXR Interaction profile " + ip->name + " is not supported on this runtime");
+	} else if (XR_FAILED(result)) {
+		print_line("OpenXR: failed to suggest bindings for ", ip->name, "! [", get_error_string(result), "]");
 		// reporting is enough...
 	}
 
+	/* For debugging:
+	print_verbose("Suggested bindings for " + ip->name);
+	for (int i = 0; i < ip->bindings.size(); i++) {
+		uint32_t strlen;
+		char path[XR_MAX_PATH_LENGTH];
+
+		String action_name = action_get_name(get_action_rid(ip->bindings[i].action));
+
+		XrResult result = xrPathToString(instance, ip->bindings[i].binding, XR_MAX_PATH_LENGTH, &strlen, path);
+		if (XR_FAILED(result)) {
+			print_line("OpenXR: failed to retrieve bindings for ", action_name, "! [", get_error_string(result), "]");
+		}
+		print_verbose(" - " + action_name + " => " + String(path));
+	}
+	*/
+
 	return true;
 }
 
+void OpenXRAPI::interaction_profile_free(RID p_interaction_profile) {
+	InteractionProfile *ip = interaction_profile_owner.get_or_null(p_interaction_profile);
+	ERR_FAIL_NULL(ip);
+
+	ip->bindings.clear();
+
+	interaction_profile_owner.free(p_interaction_profile);
+}
+
 bool OpenXRAPI::sync_action_sets(const Vector<RID> p_active_sets) {
 	ERR_FAIL_COND_V(session == XR_NULL_HANDLE, false);
 
@@ -1955,12 +2220,12 @@ bool OpenXRAPI::sync_action_sets(const Vector<RID> p_active_sets) {
 	return true;
 }
 
-bool OpenXRAPI::get_action_bool(RID p_action, RID p_path) {
+bool OpenXRAPI::get_action_bool(RID p_action, RID p_tracker) {
 	ERR_FAIL_COND_V(session == XR_NULL_HANDLE, false);
 	Action *action = action_owner.get_or_null(p_action);
 	ERR_FAIL_NULL_V(action, false);
-	Path *path = xr_path_owner.get_or_null(p_path);
-	ERR_FAIL_NULL_V(path, false);
+	Tracker *tracker = tracker_owner.get_or_null(p_tracker);
+	ERR_FAIL_NULL_V(tracker, false);
 
 	if (!running) {
 		return false;
@@ -1972,7 +2237,7 @@ bool OpenXRAPI::get_action_bool(RID p_action, RID p_path) {
 		XR_TYPE_ACTION_STATE_GET_INFO, // type
 		nullptr, // next
 		action->handle, // action
-		path->path // subactionPath
+		tracker->toplevel_path // subactionPath
 	};
 
 	XrActionStateBoolean result_state;
@@ -1987,12 +2252,12 @@ bool OpenXRAPI::get_action_bool(RID p_action, RID p_path) {
 	return result_state.isActive && result_state.currentState;
 }
 
-float OpenXRAPI::get_action_float(RID p_action, RID p_path) {
+float OpenXRAPI::get_action_float(RID p_action, RID p_tracker) {
 	ERR_FAIL_COND_V(session == XR_NULL_HANDLE, 0.0);
 	Action *action = action_owner.get_or_null(p_action);
 	ERR_FAIL_NULL_V(action, 0.0);
-	Path *path = xr_path_owner.get_or_null(p_path);
-	ERR_FAIL_NULL_V(path, 0.0);
+	Tracker *tracker = tracker_owner.get_or_null(p_tracker);
+	ERR_FAIL_NULL_V(tracker, 0.0);
 
 	if (!running) {
 		return 0.0;
@@ -2004,7 +2269,7 @@ float OpenXRAPI::get_action_float(RID p_action, RID p_path) {
 		XR_TYPE_ACTION_STATE_GET_INFO, // type
 		nullptr, // next
 		action->handle, // action
-		path->path // subactionPath
+		tracker->toplevel_path // subactionPath
 	};
 
 	XrActionStateFloat result_state;
@@ -2019,12 +2284,12 @@ float OpenXRAPI::get_action_float(RID p_action, RID p_path) {
 	return result_state.isActive ? result_state.currentState : 0.0;
 }
 
-Vector2 OpenXRAPI::get_action_vector2(RID p_action, RID p_path) {
+Vector2 OpenXRAPI::get_action_vector2(RID p_action, RID p_tracker) {
 	ERR_FAIL_COND_V(session == XR_NULL_HANDLE, Vector2());
 	Action *action = action_owner.get_or_null(p_action);
 	ERR_FAIL_NULL_V(action, Vector2());
-	Path *path = xr_path_owner.get_or_null(p_path);
-	ERR_FAIL_NULL_V(path, Vector2());
+	Tracker *tracker = tracker_owner.get_or_null(p_tracker);
+	ERR_FAIL_NULL_V(tracker, Vector2());
 
 	if (!running) {
 		return Vector2();
@@ -2036,7 +2301,7 @@ Vector2 OpenXRAPI::get_action_vector2(RID p_action, RID p_path) {
 		XR_TYPE_ACTION_STATE_GET_INFO, // type
 		nullptr, // next
 		action->handle, // action
-		path->path // subactionPath
+		tracker->toplevel_path // subactionPath
 	};
 
 	XrActionStateVector2f result_state;
@@ -2051,12 +2316,12 @@ Vector2 OpenXRAPI::get_action_vector2(RID p_action, RID p_path) {
 	return result_state.isActive ? Vector2(result_state.currentState.x, result_state.currentState.y) : Vector2();
 }
 
-XRPose::TrackingConfidence OpenXRAPI::get_action_pose(RID p_action, RID p_path, Transform3D &r_transform, Vector3 &r_linear_velocity, Vector3 &r_angular_velocity) {
+XRPose::TrackingConfidence OpenXRAPI::get_action_pose(RID p_action, RID p_tracker, Transform3D &r_transform, Vector3 &r_linear_velocity, Vector3 &r_angular_velocity) {
 	ERR_FAIL_COND_V(session == XR_NULL_HANDLE, XRPose::XR_TRACKING_CONFIDENCE_NONE);
 	Action *action = action_owner.get_or_null(p_action);
 	ERR_FAIL_NULL_V(action, XRPose::XR_TRACKING_CONFIDENCE_NONE);
-	Path *path = xr_path_owner.get_or_null(p_path);
-	ERR_FAIL_NULL_V(path, XRPose::XR_TRACKING_CONFIDENCE_NONE);
+	Tracker *tracker = tracker_owner.get_or_null(p_tracker);
+	ERR_FAIL_NULL_V(tracker, XRPose::XR_TRACKING_CONFIDENCE_NONE);
 
 	if (!running) {
 		return XRPose::XR_TRACKING_CONFIDENCE_NONE;
@@ -2064,10 +2329,12 @@ XRPose::TrackingConfidence OpenXRAPI::get_action_pose(RID p_action, RID p_path,
 
 	ERR_FAIL_COND_V(action->action_type != XR_ACTION_TYPE_POSE_INPUT, XRPose::XR_TRACKING_CONFIDENCE_NONE);
 
+	// print_verbose("Checking " + action->name + " => " + tracker->name + " (" + itos(tracker->toplevel_path) + ")");
+
 	uint64_t index = 0xFFFFFFFF;
-	uint64_t size = uint64_t(action->toplevel_paths.size());
+	uint64_t size = uint64_t(action->trackers.size());
 	for (uint64_t i = 0; i < size && index == 0xFFFFFFFF; i++) {
-		if (action->toplevel_paths[i].toplevel_path == path->path) {
+		if (action->trackers[i].tracker_rid == p_tracker) {
 			index = i;
 		}
 	}
@@ -2077,14 +2344,19 @@ XRPose::TrackingConfidence OpenXRAPI::get_action_pose(RID p_action, RID p_path,
 		return XRPose::XR_TRACKING_CONFIDENCE_NONE;
 	}
 
-	if (action->toplevel_paths[index].space == XR_NULL_HANDLE) {
+	XrTime display_time = get_next_frame_time();
+	if (display_time == 0) {
+		return XRPose::XR_TRACKING_CONFIDENCE_NONE;
+	}
+
+	if (action->trackers[index].space == XR_NULL_HANDLE) {
 		// if this is a pose we need to define spaces
 
 		XrActionSpaceCreateInfo action_space_info = {
 			XR_TYPE_ACTION_SPACE_CREATE_INFO, // type
 			nullptr, // next
 			action->handle, // action
-			action->toplevel_paths[index].toplevel_path, // subactionPath
+			tracker->toplevel_path, // subactionPath
 			{
 					{ 0.0, 0.0, 0.0, 1.0 }, // orientation
 					{ 0.0, 0.0, 0.0 } // position
@@ -2098,11 +2370,9 @@ XRPose::TrackingConfidence OpenXRAPI::get_action_pose(RID p_action, RID p_path,
 			return XRPose::XR_TRACKING_CONFIDENCE_NONE;
 		}
 
-		action->toplevel_paths.ptrw()[index].space = space;
+		action->trackers.ptrw()[index].space = space;
 	}
 
-	XrTime display_time = get_next_frame_time();
-
 	XrSpaceVelocity velocity = {
 		XR_TYPE_SPACE_VELOCITY, // type
 		nullptr, // next
@@ -2121,7 +2391,7 @@ XRPose::TrackingConfidence OpenXRAPI::get_action_pose(RID p_action, RID p_path,
 		} // pose
 	};
 
-	XrResult result = xrLocateSpace(action->toplevel_paths[index].space, play_space, display_time, &location);
+	XrResult result = xrLocateSpace(action->trackers[index].space, play_space, display_time, &location);
 	if (XR_FAILED(result)) {
 		print_line("OpenXR: failed to locate space! [", get_error_string(result), "]");
 		return XRPose::XR_TRACKING_CONFIDENCE_NONE;
@@ -2133,12 +2403,12 @@ XRPose::TrackingConfidence OpenXRAPI::get_action_pose(RID p_action, RID p_path,
 	return confidence;
 }
 
-bool OpenXRAPI::trigger_haptic_pulse(RID p_action, RID p_path, float p_frequency, float p_amplitude, XrDuration p_duration_ns) {
+bool OpenXRAPI::trigger_haptic_pulse(RID p_action, RID p_tracker, float p_frequency, float p_amplitude, XrDuration p_duration_ns) {
 	ERR_FAIL_COND_V(session == XR_NULL_HANDLE, false);
 	Action *action = action_owner.get_or_null(p_action);
 	ERR_FAIL_NULL_V(action, false);
-	Path *path = xr_path_owner.get_or_null(p_path);
-	ERR_FAIL_NULL_V(path, false);
+	Tracker *tracker = tracker_owner.get_or_null(p_tracker);
+	ERR_FAIL_NULL_V(tracker, false);
 
 	if (!running) {
 		return false;
@@ -2150,7 +2420,7 @@ bool OpenXRAPI::trigger_haptic_pulse(RID p_action, RID p_path, float p_frequency
 		XR_TYPE_HAPTIC_ACTION_INFO, // type
 		nullptr, // next
 		action->handle, // action
-		path->path // subactionPath
+		tracker->toplevel_path // subactionPath
 	};
 
 	XrHapticVibration vibration = {
diff --git a/modules/openxr/openxr_api.h b/modules/openxr/openxr_api.h
index 33b503543a..e20826c849 100644
--- a/modules/openxr/openxr_api.h
+++ b/modules/openxr/openxr_api.h
@@ -55,12 +55,16 @@
 
 // forward declarations, we don't want to include these fully
 class OpenXRVulkanExtension;
+class OpenXRInterface;
 
 class OpenXRAPI {
 private:
 	// our singleton
 	static OpenXRAPI *singleton;
 
+	// linked XR interface
+	OpenXRInterface *xr_interface = nullptr;
+
 	// layers
 	uint32_t num_layer_properties = 0;
 	XrApiLayerProperties *layer_properties = nullptr;
@@ -148,29 +152,45 @@ private:
 	bool release_image(XrSwapchain p_swapchain);
 
 	// action map
-	struct Path {
-		XrPath path;
+	struct Tracker { // Trackers represent tracked physical objects such as controllers, pucks, etc.
+		String name; // Name for this tracker (i.e. "/user/hand/left")
+		XrPath toplevel_path; // OpenXR XrPath for this tracker
+		RID active_profile_rid; // RID of the active profile for this tracker
 	};
-	RID_Owner<Path, true> xr_path_owner;
+	RID_Owner<Tracker, true> tracker_owner;
+	RID get_tracker_rid(XrPath p_path);
 
-	struct ActionSet {
-		bool is_attached;
-		XrActionSet handle;
+	struct ActionSet { // Action sets define a set of actions that can be enabled together
+		String name; // Name for this action set (i.e. "godot_action_set")
+		bool is_attached; // If true our action set has been attached to the session and can no longer be modified
+		XrActionSet handle; // OpenXR handle for this action set
 	};
 	RID_Owner<ActionSet, true> action_set_owner;
 
-	struct PathWithSpace {
-		XrPath toplevel_path;
-		XrSpace space;
-		bool was_location_valid;
+	struct ActionTracker { // Links and action to a tracker
+		RID tracker_rid; // RID of the tracker
+		XrSpace space; // Optional space for pose actions
+		bool was_location_valid; // If true the last position we obtained was valid
 	};
 
-	struct Action {
-		XrActionType action_type;
-		Vector<PathWithSpace> toplevel_paths;
-		XrAction handle;
+	struct Action { // Actions define the inputs and outputs in OpenXR
+		RID action_set_rid; // RID of the action set this action belongs to
+		String name; // Name for this action (i.e. "aim_pose")
+		XrActionType action_type; // Type of action (bool, float, etc.)
+		Vector<ActionTracker> trackers; // The trackers this action can be used with
+		XrAction handle; // OpenXR handle for this action
 	};
 	RID_Owner<Action, true> action_owner;
+	RID get_action_rid(XrAction p_action);
+
+	struct InteractionProfile { // Interaction profiles define suggested bindings between the physical inputs on controller types and our actions
+		String name; // Name of the interaction profile (i.e. "/interaction_profiles/valve/index_controller")
+		XrPath path; // OpenXR path for this profile
+		Vector<XrActionSuggestedBinding> bindings; // OpenXR action bindings
+	};
+	RID_Owner<InteractionProfile, true> interaction_profile_owner;
+	RID get_interaction_profile_rid(XrPath p_path);
+	XrPath get_interaction_profile_path(RID p_interaction_profile);
 
 	// state changes
 	bool poll_events();
@@ -209,6 +229,7 @@ public:
 	String get_error_string(XrResult result);
 	String get_swapchain_format_name(int64_t p_swapchain_format) const;
 
+	void set_xr_interface(OpenXRInterface *p_xr_interface);
 	void register_extension_wrapper(OpenXRExtensionWrapper *p_extension_wrapper);
 
 	bool is_initialized();
@@ -233,26 +254,34 @@ public:
 
 	// action map
 	String get_default_action_map_resource_name();
-	RID path_create(const String p_name);
-	void path_free(RID p_path);
+
+	RID tracker_create(const String p_name);
+	String tracker_get_name(RID p_tracker);
+	void tracker_check_profile(RID p_tracker, XrSession p_session = XR_NULL_HANDLE);
+	void tracker_free(RID p_tracker);
+
 	RID action_set_create(const String p_name, const String p_localized_name, const int p_priority);
+	String action_set_get_name(RID p_action_set);
 	bool action_set_attach(RID p_action_set);
 	void action_set_free(RID p_action_set);
-	RID action_create(RID p_action_set, const String p_name, const String p_localized_name, OpenXRAction::ActionType p_action_type, const Vector<RID> &p_toplevel_paths);
+
+	RID action_create(RID p_action_set, const String p_name, const String p_localized_name, OpenXRAction::ActionType p_action_type, const Vector<RID> &p_trackers);
+	String action_get_name(RID p_action);
 	void action_free(RID p_action);
 
-	struct Binding {
-		RID action;
-		String path;
-	};
-	bool suggest_bindings(const String p_interaction_profile, const Vector<Binding> p_bindings);
+	RID interaction_profile_create(const String p_name);
+	String interaction_profile_get_name(RID p_interaction_profile);
+	void interaction_profile_clear_bindings(RID p_interaction_profile);
+	bool interaction_profile_add_binding(RID p_interaction_profile, RID p_action, const String p_path);
+	bool interaction_profile_suggest_bindings(RID p_interaction_profile);
+	void interaction_profile_free(RID p_interaction_profile);
 
 	bool sync_action_sets(const Vector<RID> p_active_sets);
-	bool get_action_bool(RID p_action, RID p_path);
-	float get_action_float(RID p_action, RID p_path);
-	Vector2 get_action_vector2(RID p_action, RID p_path);
-	XRPose::TrackingConfidence get_action_pose(RID p_action, RID p_path, Transform3D &r_transform, Vector3 &r_linear_velocity, Vector3 &r_angular_velocity);
-	bool trigger_haptic_pulse(RID p_action, RID p_path, float p_frequency, float p_amplitude, XrDuration p_duration_ns);
+	bool get_action_bool(RID p_action, RID p_tracker);
+	float get_action_float(RID p_action, RID p_tracker);
+	Vector2 get_action_vector2(RID p_action, RID p_tracker);
+	XRPose::TrackingConfidence get_action_pose(RID p_action, RID p_tracker, Transform3D &r_transform, Vector3 &r_linear_velocity, Vector3 &r_angular_velocity);
+	bool trigger_haptic_pulse(RID p_action, RID p_tracker, float p_frequency, float p_amplitude, XrDuration p_duration_ns);
 
 	OpenXRAPI();
 	~OpenXRAPI();
diff --git a/modules/openxr/openxr_interface.cpp b/modules/openxr/openxr_interface.cpp
index 394f634687..b89171543f 100644
--- a/modules/openxr/openxr_interface.cpp
+++ b/modules/openxr/openxr_interface.cpp
@@ -35,7 +35,12 @@
 #include "servers/rendering/rendering_server_globals.h"
 
 void OpenXRInterface::_bind_methods() {
-	// todo
+	// lifecycle signals
+	ADD_SIGNAL(MethodInfo("session_begun"));
+	ADD_SIGNAL(MethodInfo("session_stopping"));
+	ADD_SIGNAL(MethodInfo("session_focussed"));
+	ADD_SIGNAL(MethodInfo("session_visible"));
+	ADD_SIGNAL(MethodInfo("pose_recentered"));
 }
 
 StringName OpenXRInterface::get_name() const {
@@ -46,6 +51,18 @@ uint32_t OpenXRInterface::get_capabilities() const {
 	return XRInterface::XR_VR + XRInterface::XR_STEREO;
 };
 
+PackedStringArray OpenXRInterface::get_suggested_tracker_names() const {
+	// These are hardcoded in OpenXR, note that they will only be available if added to our action map
+
+	PackedStringArray arr = {
+		"left_hand", // /user/hand/left is mapped to our defaults
+		"right_hand", // /user/hand/right is mapped to our defaults
+		"/user/treadmill"
+	};
+
+	return arr;
+}
+
 XRInterface::TrackingStatus OpenXRInterface::get_tracking_status() const {
 	return tracking_state;
 }
@@ -64,8 +81,9 @@ void OpenXRInterface::_load_action_map() {
 	// This allow us to process the relevant actions each frame.
 
 	// just in case clean up
-	free_action_sets();
 	free_trackers();
+	free_interaction_profiles();
+	free_action_sets();
 
 	Ref<OpenXRActionMap> action_map;
 	if (Engine::get_singleton()->is_editor_hint()) {
@@ -95,7 +113,7 @@ void OpenXRInterface::_load_action_map() {
 
 	// process our action map
 	if (action_map.is_valid()) {
-		Map<Ref<OpenXRAction>, RID> action_rids;
+		Map<Ref<OpenXRAction>, Action *> xr_actions;
 
 		Array action_sets = action_map->get_action_sets();
 		for (int i = 0; i < action_sets.size(); i++) {
@@ -112,18 +130,16 @@ void OpenXRInterface::_load_action_map() {
 				Ref<OpenXRAction> xr_action = actions[j];
 
 				PackedStringArray toplevel_paths = xr_action->get_toplevel_paths();
-				Vector<RID> toplevel_rids;
 				Vector<Tracker *> trackers;
 
 				for (int k = 0; k < toplevel_paths.size(); k++) {
-					Tracker *tracker = get_tracker(toplevel_paths[k]);
+					Tracker *tracker = find_tracker(toplevel_paths[k], true);
 					if (tracker) {
-						toplevel_rids.push_back(tracker->path_rid);
 						trackers.push_back(tracker);
 					}
 				}
 
-				Action *action = create_action(action_set, xr_action->get_name(), xr_action->get_localized_name(), xr_action->get_action_type(), toplevel_rids);
+				Action *action = create_action(action_set, xr_action->get_name(), xr_action->get_localized_name(), xr_action->get_action_type(), trackers);
 				if (action) {
 					// we link our actions back to our trackers so we know which actions to check when we're processing our trackers
 					for (int t = 0; t < trackers.size(); t++) {
@@ -131,7 +147,7 @@ void OpenXRInterface::_load_action_map() {
 					}
 
 					// add this to our map for creating our interaction profiles
-					action_rids[xr_action] = action->action_rid;
+					xr_actions[xr_action] = action;
 				}
 			}
 		}
@@ -139,30 +155,38 @@ void OpenXRInterface::_load_action_map() {
 		// now do our suggestions
 		Array interaction_profiles = action_map->get_interaction_profiles();
 		for (int i = 0; i < interaction_profiles.size(); i++) {
-			Vector<OpenXRAPI::Binding> bindings;
 			Ref<OpenXRInteractionProfile> xr_interaction_profile = interaction_profiles[i];
 
+			// Note, we can only have one entry per interaction profile so if it already exists we clear it out
+			RID ip = openxr_api->interaction_profile_create(xr_interaction_profile->get_interaction_profile_path());
+			openxr_api->interaction_profile_clear_bindings(ip);
+
 			Array xr_bindings = xr_interaction_profile->get_bindings();
 			for (int j = 0; j < xr_bindings.size(); j++) {
 				Ref<OpenXRIPBinding> xr_binding = xr_bindings[j];
 				Ref<OpenXRAction> xr_action = xr_binding->get_action();
-				OpenXRAPI::Binding binding;
 
-				if (action_rids.has(xr_action)) {
-					binding.action = action_rids[xr_action];
+				Action *action = nullptr;
+				if (xr_actions.has(xr_action)) {
+					action = xr_actions[xr_action];
 				} else {
 					print_line("Action ", xr_action->get_name(), " isn't part of an action set!");
 					continue;
 				}
 
-				PackedStringArray xr_paths = xr_binding->get_paths();
-				for (int k = 0; k < xr_paths.size(); k++) {
-					binding.path = xr_paths[k];
-					bindings.push_back(binding);
+				PackedStringArray paths = xr_binding->get_paths();
+				for (int k = 0; k < paths.size(); k++) {
+					openxr_api->interaction_profile_add_binding(ip, action->action_rid, paths[k]);
 				}
 			}
 
-			openxr_api->suggest_bindings(xr_interaction_profile->get_interaction_profile_path(), bindings);
+			// Now submit our suggestions
+			openxr_api->interaction_profile_suggest_bindings(ip);
+
+			// And record it in our array so we can clean it up later on
+			if (interaction_profiles.has(ip)) {
+				interaction_profiles.push_back(ip);
+			}
 		}
 	}
 }
@@ -193,15 +217,16 @@ void OpenXRInterface::free_action_sets() {
 	for (int i = 0; i < action_sets.size(); i++) {
 		ActionSet *action_set = action_sets[i];
 
-		openxr_api->path_free(action_set->action_set_rid);
 		free_actions(action_set);
 
+		openxr_api->action_set_free(action_set->action_set_rid);
+
 		memfree(action_set);
 	}
 	action_sets.clear();
 }
 
-OpenXRInterface::Action *OpenXRInterface::create_action(ActionSet *p_action_set, const String &p_action_name, const String &p_localized_name, OpenXRAction::ActionType p_action_type, const Vector<RID> p_toplevel_paths) {
+OpenXRInterface::Action *OpenXRInterface::create_action(ActionSet *p_action_set, const String &p_action_name, const String &p_localized_name, OpenXRAction::ActionType p_action_type, const Vector<Tracker *> p_trackers) {
 	ERR_FAIL_NULL_V(openxr_api, nullptr);
 
 	for (int i = 0; i < p_action_set->actions.size(); i++) {
@@ -211,10 +236,31 @@ OpenXRInterface::Action *OpenXRInterface::create_action(ActionSet *p_action_set,
 		}
 	}
 
+	Vector<RID> tracker_rids;
+	for (int i = 0; i < p_trackers.size(); i++) {
+		tracker_rids.push_back(p_trackers[i]->tracker_rid);
+	}
+
 	Action *action = memnew(Action);
-	action->action_name = p_action_name;
+	if (p_action_type == OpenXRAction::OPENXR_ACTION_POSE) {
+		// We can't have dual action names in OpenXR hence we added _pose,
+		// but default, aim and grip and default pose action names in Godot so rename them on the tracker.
+		// NOTE need to decide on whether we should keep the naming convention or rename it on Godots side
+		if (p_action_name == "default_pose") {
+			action->action_name = "default";
+		} else if (p_action_name == "aim_pose") {
+			action->action_name = "aim";
+		} else if (p_action_name == "grip_pose") {
+			action->action_name = "grip";
+		} else {
+			action->action_name = p_action_name;
+		}
+	} else {
+		action->action_name = p_action_name;
+	}
+
 	action->action_type = p_action_type;
-	action->action_rid = openxr_api->action_create(p_action_set->action_set_rid, p_action_name, p_localized_name, p_action_type, p_toplevel_paths);
+	action->action_rid = openxr_api->action_create(p_action_set->action_set_rid, p_action_name, p_localized_name, p_action_type, tracker_rids);
 	p_action_set->actions.push_back(action);
 
 	return action;
@@ -248,7 +294,7 @@ void OpenXRInterface::free_actions(ActionSet *p_action_set) {
 	p_action_set->actions.clear();
 }
 
-OpenXRInterface::Tracker *OpenXRInterface::get_tracker(const String &p_path_name) {
+OpenXRInterface::Tracker *OpenXRInterface::find_tracker(const String &p_tracker_name, bool p_create) {
 	XRServer *xr_server = XRServer::get_singleton();
 	ERR_FAIL_NULL_V(xr_server, nullptr);
 	ERR_FAIL_NULL_V(openxr_api, nullptr);
@@ -256,52 +302,72 @@ OpenXRInterface::Tracker *OpenXRInterface::get_tracker(const String &p_path_name
 	Tracker *tracker = nullptr;
 	for (int i = 0; i < trackers.size(); i++) {
 		tracker = trackers[i];
-		if (tracker->path_name == p_path_name) {
+		if (tracker->tracker_name == p_tracker_name) {
 			return tracker;
 		}
 	}
 
+	if (!p_create) {
+		return nullptr;
+	}
+
+	// Create our RID
+	RID tracker_rid = openxr_api->tracker_create(p_tracker_name);
+	ERR_FAIL_COND_V(tracker_rid.is_null(), nullptr);
+
 	// create our positional tracker
 	Ref<XRPositionalTracker> positional_tracker;
 	positional_tracker.instantiate();
 
 	// We have standardised some names to make things nicer to the user so lets recognise the toplevel paths related to these.
-	if (p_path_name == "/user/hand/left") {
+	if (p_tracker_name == "/user/hand/left") {
 		positional_tracker->set_tracker_type(XRServer::TRACKER_CONTROLLER);
 		positional_tracker->set_tracker_name("left_hand");
 		positional_tracker->set_tracker_desc("Left hand controller");
 		positional_tracker->set_tracker_hand(XRPositionalTracker::TRACKER_HAND_LEFT);
-	} else if (p_path_name == "/user/hand/right") {
+	} else if (p_tracker_name == "/user/hand/right") {
 		positional_tracker->set_tracker_type(XRServer::TRACKER_CONTROLLER);
 		positional_tracker->set_tracker_name("right_hand");
 		positional_tracker->set_tracker_desc("Right hand controller");
 		positional_tracker->set_tracker_hand(XRPositionalTracker::TRACKER_HAND_RIGHT);
 	} else {
 		positional_tracker->set_tracker_type(XRServer::TRACKER_CONTROLLER);
-		positional_tracker->set_tracker_name(p_path_name);
-		positional_tracker->set_tracker_desc(p_path_name);
+		positional_tracker->set_tracker_name(p_tracker_name);
+		positional_tracker->set_tracker_desc(p_tracker_name);
 	}
+	positional_tracker->set_tracker_profile(INTERACTION_PROFILE_NONE);
 	xr_server->add_tracker(positional_tracker);
 
 	// create a new entry
 	tracker = memnew(Tracker);
-	tracker->path_name = p_path_name;
-	tracker->path_rid = openxr_api->path_create(p_path_name);
+	tracker->tracker_name = p_tracker_name;
+	tracker->tracker_rid = tracker_rid;
 	tracker->positional_tracker = positional_tracker;
+	tracker->interaction_profile = RID();
 	trackers.push_back(tracker);
 
 	return tracker;
 }
 
-OpenXRInterface::Tracker *OpenXRInterface::find_tracker(const String &p_positional_tracker_name) {
-	for (int i = 0; i < trackers.size(); i++) {
-		Tracker *tracker = trackers[i];
-		if (tracker->positional_tracker.is_valid() && tracker->positional_tracker->get_tracker_name() == p_positional_tracker_name) {
-			return tracker;
+void OpenXRInterface::tracker_profile_changed(RID p_tracker, RID p_interaction_profile) {
+	Tracker *tracker = nullptr;
+	for (int i = 0; i < trackers.size() && tracker == nullptr; i++) {
+		if (trackers[i]->tracker_rid == p_tracker) {
+			tracker = trackers[i];
 		}
 	}
+	ERR_FAIL_NULL(tracker);
 
-	return nullptr;
+	tracker->interaction_profile = p_interaction_profile;
+
+	if (p_interaction_profile.is_null()) {
+		print_verbose("OpenXR: Interaction profile for " + tracker->tracker_name + " changed to " + INTERACTION_PROFILE_NONE);
+		tracker->positional_tracker->set_tracker_profile(INTERACTION_PROFILE_NONE);
+	} else {
+		String name = openxr_api->interaction_profile_get_name(p_interaction_profile);
+		print_verbose("OpenXR: Interaction profile for " + tracker->tracker_name + " changed to " + name);
+		tracker->positional_tracker->set_tracker_profile(name);
+	}
 }
 
 void OpenXRInterface::link_action_to_tracker(Tracker *p_tracker, Action *p_action) {
@@ -314,40 +380,43 @@ void OpenXRInterface::handle_tracker(Tracker *p_tracker) {
 	ERR_FAIL_NULL(openxr_api);
 	ERR_FAIL_COND(p_tracker->positional_tracker.is_null());
 
-	// handle all the actions
+	// Note, which actions are actually bound to inputs are handled by our interaction profiles however interaction
+	// profiles are suggested bindings for controller types we know about. OpenXR runtimes can stray away from these
+	// and rebind them or even offer bindings to controllers that are not known to us.
+
+	// We don't really have a consistant way to detect whether a controller is active however as long as it is
+	// unbound it seems to be unavailable, so far unknown controller seem to mimic one of the profiles we've
+	// supplied.
+	if (p_tracker->interaction_profile.is_null()) {
+		return;
+	}
+
+	// We check all actions that are related to our tracker.
 	for (int i = 0; i < p_tracker->actions.size(); i++) {
 		Action *action = p_tracker->actions[i];
 		switch (action->action_type) {
 			case OpenXRAction::OPENXR_ACTION_BOOL: {
-				bool pressed = openxr_api->get_action_bool(action->action_rid, p_tracker->path_rid);
+				bool pressed = openxr_api->get_action_bool(action->action_rid, p_tracker->tracker_rid);
 				p_tracker->positional_tracker->set_input(action->action_name, Variant(pressed));
 			} break;
 			case OpenXRAction::OPENXR_ACTION_FLOAT: {
-				real_t value = openxr_api->get_action_float(action->action_rid, p_tracker->path_rid);
+				real_t value = openxr_api->get_action_float(action->action_rid, p_tracker->tracker_rid);
 				p_tracker->positional_tracker->set_input(action->action_name, Variant(value));
 			} break;
 			case OpenXRAction::OPENXR_ACTION_VECTOR2: {
-				Vector2 value = openxr_api->get_action_vector2(action->action_rid, p_tracker->path_rid);
+				Vector2 value = openxr_api->get_action_vector2(action->action_rid, p_tracker->tracker_rid);
 				p_tracker->positional_tracker->set_input(action->action_name, Variant(value));
 			} break;
 			case OpenXRAction::OPENXR_ACTION_POSE: {
 				Transform3D transform;
 				Vector3 linear, angular;
-				XRPose::TrackingConfidence confidence = openxr_api->get_action_pose(action->action_rid, p_tracker->path_rid, transform, linear, angular);
+
+				XRPose::TrackingConfidence confidence = openxr_api->get_action_pose(action->action_rid, p_tracker->tracker_rid, transform, linear, angular);
+
 				if (confidence != XRPose::XR_TRACKING_CONFIDENCE_NONE) {
-					String name;
-					// We can't have dual action names in OpenXR hence we added _pose, but default, aim and grip and default pose action names in Godot so rename them on the tracker.
-					// NOTE need to decide on whether we should keep the naming convention or rename it on Godots side
-					if (action->action_name == "default_pose") {
-						name = "default";
-					} else if (action->action_name == "aim_pose") {
-						name = "aim";
-					} else if (action->action_name == "grip_pose") {
-						name = "grip";
-					} else {
-						name = action->action_name;
-					}
-					p_tracker->positional_tracker->set_pose(name, transform, linear, angular, confidence);
+					p_tracker->positional_tracker->set_pose(action->action_name, transform, linear, angular, confidence);
+				} else {
+					p_tracker->positional_tracker->invalidate_pose(action->action_name);
 				}
 			} break;
 			default: {
@@ -368,7 +437,7 @@ void OpenXRInterface::trigger_haptic_pulse(const String &p_action_name, const St
 
 	XrDuration duration = XrDuration(p_duration_sec * 1000000000.0); // seconds -> nanoseconds
 
-	openxr_api->trigger_haptic_pulse(action->action_rid, tracker->path_rid, p_frequency, p_amplitude, duration);
+	openxr_api->trigger_haptic_pulse(action->action_rid, tracker->tracker_rid, p_frequency, p_amplitude, duration);
 }
 
 void OpenXRInterface::free_trackers() {
@@ -379,7 +448,7 @@ void OpenXRInterface::free_trackers() {
 	for (int i = 0; i < trackers.size(); i++) {
 		Tracker *tracker = trackers[i];
 
-		openxr_api->path_free(tracker->path_rid);
+		openxr_api->tracker_free(tracker->tracker_rid);
 		xr_server->remove_tracker(tracker->positional_tracker);
 		tracker->positional_tracker.unref();
 
@@ -388,6 +457,15 @@ void OpenXRInterface::free_trackers() {
 	trackers.clear();
 }
 
+void OpenXRInterface::free_interaction_profiles() {
+	ERR_FAIL_NULL(openxr_api);
+
+	for (int i = 0; i < interaction_profiles.size(); i++) {
+		openxr_api->interaction_profile_free(interaction_profiles[i]);
+	}
+	interaction_profiles.clear();
+}
+
 bool OpenXRInterface::initialise_on_startup() const {
 	if (openxr_api == nullptr) {
 		return false;
@@ -447,14 +525,14 @@ void OpenXRInterface::uninitialize() {
 	// end the session if we need to?
 
 	// cleanup stuff
-	free_action_sets();
 	free_trackers();
+	free_interaction_profiles();
+	free_action_sets();
 
 	XRServer *xr_server = XRServer::get_singleton();
 	if (xr_server) {
 		if (head.is_valid()) {
 			xr_server->remove_tracker(head);
-
 			head.unref();
 		}
 	}
@@ -649,8 +727,31 @@ void OpenXRInterface::end_frame() {
 	}
 }
 
+void OpenXRInterface::on_state_ready() {
+	emit_signal(SNAME("session_begun"));
+}
+
+void OpenXRInterface::on_state_visible() {
+	emit_signal(SNAME("session_visible"));
+}
+
+void OpenXRInterface::on_state_focused() {
+	emit_signal(SNAME("session_focussed"));
+}
+
+void OpenXRInterface::on_state_stopping() {
+	emit_signal(SNAME("session_stopping"));
+}
+
+void OpenXRInterface::on_pose_recentered() {
+	emit_signal(SNAME("pose_recentered"));
+}
+
 OpenXRInterface::OpenXRInterface() {
 	openxr_api = OpenXRAPI::get_singleton();
+	if (openxr_api) {
+		openxr_api->set_xr_interface(this);
+	}
 
 	// while we don't have head tracking, don't put the headset on the floor...
 	_set_default_pos(head_transform, 1.0, 0);
@@ -659,5 +760,11 @@ OpenXRInterface::OpenXRInterface() {
 }
 
 OpenXRInterface::~OpenXRInterface() {
-	openxr_api = nullptr;
+	// should already have been called but just in case...
+	uninitialize();
+
+	if (openxr_api) {
+		openxr_api->set_xr_interface(nullptr);
+		openxr_api = nullptr;
+	}
 }
diff --git a/modules/openxr/openxr_interface.h b/modules/openxr/openxr_interface.h
index ede7d481d2..421838e445 100644
--- a/modules/openxr/openxr_interface.h
+++ b/modules/openxr/openxr_interface.h
@@ -37,6 +37,9 @@
 #include "action_map/openxr_action_map.h"
 #include "openxr_api.h"
 
+// declare some default strings
+#define INTERACTION_PROFILE_NONE "/interaction_profiles/none"
+
 class OpenXRInterface : public XRInterface {
 	GDCLASS(OpenXRInterface, XRInterface);
 
@@ -54,40 +57,43 @@ private:
 
 	void _load_action_map();
 
-	struct Action {
-		String action_name;
-		OpenXRAction::ActionType action_type;
-		RID action_rid;
+	struct Action { // An action we've registered with OpenXR
+		String action_name; // Name of our action as presented to Godot (can be altered from the action map)
+		OpenXRAction::ActionType action_type; // The action type of this action
+		RID action_rid; // RID of the action registered with our OpenXR API
 	};
-	struct ActionSet {
-		String action_set_name;
-		bool is_active;
-		RID action_set_rid;
-		Vector<Action *> actions;
+	struct ActionSet { // An action set we've registered with OpenXR
+		String action_set_name; // Name of our action set
+		bool is_active; // If true this action set is active and we will sync it
+		Vector<Action *> actions; // List of actions in this action set
+		RID action_set_rid; // RID of the action registered with our OpenXR API
 	};
-	struct Tracker {
-		String path_name;
-		RID path_rid;
-		Ref<XRPositionalTracker> positional_tracker;
-		Vector<Action *> actions;
+	struct Tracker { // A tracker we've registered with OpenXR
+		String tracker_name; // Name of our tracker (can be altered from the action map)
+		Vector<Action *> actions; // Actions related to this tracker
+		Ref<XRPositionalTracker> positional_tracker; // Our positional tracker object that holds our tracker state
+		RID tracker_rid; // RID of the tracker registered with our OpenXR API
+		RID interaction_profile; // RID of the interaction profile bound to this tracker (can be null)
 	};
 
 	Vector<ActionSet *> action_sets;
+	Vector<RID> interaction_profiles;
 	Vector<Tracker *> trackers;
 
 	ActionSet *create_action_set(const String &p_action_set_name, const String &p_localized_name, const int p_priority);
 	void free_action_sets();
 
-	Action *create_action(ActionSet *p_action_set, const String &p_action_name, const String &p_localized_name, OpenXRAction::ActionType p_action_type, const Vector<RID> p_toplevel_paths);
+	Action *create_action(ActionSet *p_action_set, const String &p_action_name, const String &p_localized_name, OpenXRAction::ActionType p_action_type, const Vector<Tracker *> p_trackers);
 	Action *find_action(const String &p_action_name);
 	void free_actions(ActionSet *p_action_set);
 
-	Tracker *get_tracker(const String &p_path_name);
-	Tracker *find_tracker(const String &p_positional_tracker_name);
+	Tracker *find_tracker(const String &p_tracker_name, bool p_create = false);
 	void link_action_to_tracker(Tracker *p_tracker, Action *p_action);
 	void handle_tracker(Tracker *p_tracker);
 	void free_trackers();
 
+	void free_interaction_profiles();
+
 	void _set_default_pos(Transform3D &p_transform, double p_world_scale, uint64_t p_eye);
 
 protected:
@@ -97,6 +103,7 @@ public:
 	virtual StringName get_name() const override;
 	virtual uint32_t get_capabilities() const override;
 
+	virtual PackedStringArray get_suggested_tracker_names() const override;
 	virtual TrackingStatus get_tracking_status() const override;
 
 	bool initialise_on_startup() const;
@@ -122,6 +129,13 @@ public:
 	virtual Vector<BlitToScreen> post_draw_viewport(RID p_render_target, const Rect2 &p_screen_rect) override;
 	virtual void end_frame() override;
 
+	void on_state_ready();
+	void on_state_visible();
+	void on_state_focused();
+	void on_state_stopping();
+	void on_pose_recentered();
+	void tracker_profile_changed(RID p_tracker, RID p_interaction_profile);
+
 	OpenXRInterface();
 	~OpenXRInterface();
 };
diff --git a/modules/openxr/openxr_util.cpp b/modules/openxr/openxr_util.cpp
index e515336daa..230b10c5f1 100644
--- a/modules/openxr/openxr_util.cpp
+++ b/modules/openxr/openxr_util.cpp
@@ -278,6 +278,20 @@ String OpenXRUtil::get_session_state_name(XrSessionState p_session_state) {
 	}
 }
 
+String OpenXRUtil::get_action_type_name(XrActionType p_action_type) {
+	switch (p_action_type) {
+		ENUM_TO_STRING_CASE(XR_ACTION_TYPE_BOOLEAN_INPUT)
+		ENUM_TO_STRING_CASE(XR_ACTION_TYPE_FLOAT_INPUT)
+		ENUM_TO_STRING_CASE(XR_ACTION_TYPE_VECTOR2F_INPUT)
+		ENUM_TO_STRING_CASE(XR_ACTION_TYPE_POSE_INPUT)
+		ENUM_TO_STRING_CASE(XR_ACTION_TYPE_VIBRATION_OUTPUT)
+		ENUM_TO_STRING_CASE(XR_ACTION_TYPE_MAX_ENUM)
+		default: {
+			return String("Action type ") + String::num_int64(int64_t(p_action_type));
+		} break;
+	}
+}
+
 String OpenXRUtil::make_xr_version_string(XrVersion p_version) {
 	String version;
 
diff --git a/modules/openxr/openxr_util.h b/modules/openxr/openxr_util.h
index 1261268376..4371b74d2f 100644
--- a/modules/openxr/openxr_util.h
+++ b/modules/openxr/openxr_util.h
@@ -40,6 +40,7 @@ public:
 	static String get_reference_space_name(XrReferenceSpaceType p_reference_space);
 	static String get_structure_type_name(XrStructureType p_structure_type);
 	static String get_session_state_name(XrSessionState p_session_state);
+	static String get_action_type_name(XrActionType p_action_type);
 	static String make_xr_version_string(XrVersion p_version);
 };
 
diff --git a/modules/openxr/register_types.cpp b/modules/openxr/register_types.cpp
index 86ff368619..7a74c8c089 100644
--- a/modules/openxr/register_types.cpp
+++ b/modules/openxr/register_types.cpp
@@ -75,9 +75,18 @@ void register_openxr_types() {
 
 void unregister_openxr_types() {
 	if (openxr_interface.is_valid()) {
+		// uninitialise just in case
+		if (openxr_interface->is_initialized()) {
+			openxr_interface->uninitialize();
+		}
+
 		// unregister our interface from the XR server
-		if (XRServer::get_singleton()) {
-			XRServer::get_singleton()->remove_interface(openxr_interface);
+		XRServer *xr_server = XRServer::get_singleton();
+		if (xr_server) {
+			if (xr_server->get_primary_interface() == openxr_interface) {
+				xr_server->set_primary_interface(Ref<XRInterface>());
+			}
+			xr_server->remove_interface(openxr_interface);
 		}
 
 		// and release
diff --git a/modules/svg/SCsub b/modules/svg/SCsub
index bb03147731..93262f4f87 100644
--- a/modules/svg/SCsub
+++ b/modules/svg/SCsub
@@ -34,6 +34,7 @@ thirdparty_sources = [
     "src/loaders/svg/tvgSvgSceneBuilder.cpp",
     "src/loaders/svg/tvgSvgPath.cpp",
     "src/loaders/svg/tvgSvgLoader.cpp",
+    "src/loaders/svg/tvgSvgCssStyle.cpp",
     "src/loaders/tvg/tvgTvgBinInterpreter.cpp",
     "src/loaders/tvg/tvgTvgLoader.cpp",
     "src/loaders/jpg/tvgJpgLoader.cpp",
diff --git a/modules/theora/video_stream_theora.cpp b/modules/theora/video_stream_theora.cpp
index a9652cbba1..0a4ad96d97 100644
--- a/modules/theora/video_stream_theora.cpp
+++ b/modules/theora/video_stream_theora.cpp
@@ -604,7 +604,7 @@ float VideoStreamPlaybackTheora::get_playback_position() const {
 };
 
 void VideoStreamPlaybackTheora::seek(float p_time) {
-	WARN_PRINT_ONCE("Seeking in Theora videos is not implemented yet (it's only supported for GDNative-provided video streams).");
+	WARN_PRINT_ONCE("Seeking in Theora videos is not implemented yet (it's only supported for GDExtension-provided video streams).");
 }
 
 void VideoStreamPlaybackTheora::set_mix_callback(AudioMixCallback p_callback, void *p_userdata) {
diff --git a/modules/visual_script/editor/visual_script_editor.cpp b/modules/visual_script/editor/visual_script_editor.cpp
index 813902b54e..6fae049056 100644
--- a/modules/visual_script/editor/visual_script_editor.cpp
+++ b/modules/visual_script/editor/visual_script_editor.cpp
@@ -1621,7 +1621,7 @@ void VisualScriptEditor::_remove_output_port(int p_id, int p_port) {
 	conn_map.get_key_list(&keys);
 	for (const int &E : keys) {
 		for (const Set<int>::Element *F = conn_map[E].front(); F; F = F->next()) {
-			undo_redo->add_undo_method(script.ptr(), "data_connect", p_id, p_port, E, F);
+			undo_redo->add_undo_method(script.ptr(), "data_connect", p_id, p_port, E, F->get());
 		}
 	}
 
diff --git a/modules/visual_script/register_types.cpp b/modules/visual_script/register_types.cpp
index e7b5f58174..d19870921d 100644
--- a/modules/visual_script/register_types.cpp
+++ b/modules/visual_script/register_types.cpp
@@ -53,10 +53,10 @@ void register_visual_script_types() {
 	ScriptServer::register_language(visual_script_language);
 
 	GDREGISTER_CLASS(VisualScript);
-	GDREGISTER_VIRTUAL_CLASS(VisualScriptNode);
+	GDREGISTER_ABSTRACT_CLASS(VisualScriptNode);
 	GDREGISTER_CLASS(VisualScriptFunctionState);
 	GDREGISTER_CLASS(VisualScriptFunction);
-	GDREGISTER_VIRTUAL_CLASS(VisualScriptLists);
+	GDREGISTER_ABSTRACT_CLASS(VisualScriptLists);
 	GDREGISTER_CLASS(VisualScriptComposeArray);
 	GDREGISTER_CLASS(VisualScriptOperator);
 	GDREGISTER_CLASS(VisualScriptVariableSet);
diff --git a/modules/visual_script/visual_script.cpp b/modules/visual_script/visual_script.cpp
index 9549137aef..e8c44e2556 100644
--- a/modules/visual_script/visual_script.cpp
+++ b/modules/visual_script/visual_script.cpp
@@ -1705,7 +1705,7 @@ Variant VisualScriptInstance::_call_internal(const StringName &p_method, void *p
 	return return_value;
 }
 
-Variant VisualScriptInstance::call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
+Variant VisualScriptInstance::callp(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
 	r_error.error = Callable::CallError::CALL_OK; //ok by default
 
 	Map<StringName, Function>::Element *F = functions.find(p_method);
@@ -1798,13 +1798,13 @@ void VisualScriptInstance::notification(int p_notification) {
 	Variant what = p_notification;
 	const Variant *whatp = &what;
 	Callable::CallError ce;
-	call(VisualScriptLanguage::singleton->notification, &whatp, 1, ce); // Do as call.
+	callp(VisualScriptLanguage::singleton->notification, &whatp, 1, ce); // Do as call.
 }
 
 String VisualScriptInstance::to_string(bool *r_valid) {
 	if (has_method(CoreStringNames::get_singleton()->_to_string)) {
 		Callable::CallError ce;
-		Variant ret = call(CoreStringNames::get_singleton()->_to_string, nullptr, 0, ce);
+		Variant ret = callp(CoreStringNames::get_singleton()->_to_string, nullptr, 0, ce);
 		if (ce.error == Callable::CallError::CALL_OK) {
 			if (ret.get_type() != Variant::STRING) {
 				if (r_valid) {
diff --git a/modules/visual_script/visual_script.h b/modules/visual_script/visual_script.h
index e5c8ab48ee..d4dffdfc7a 100644
--- a/modules/visual_script/visual_script.h
+++ b/modules/visual_script/visual_script.h
@@ -410,7 +410,7 @@ public:
 
 	virtual void get_method_list(List<MethodInfo> *p_list) const;
 	virtual bool has_method(const StringName &p_method) const;
-	virtual Variant call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error);
+	virtual Variant callp(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error);
 	virtual void notification(int p_notification);
 	String to_string(bool *r_valid);
 
diff --git a/modules/visual_script/visual_script_expression.cpp b/modules/visual_script/visual_script_expression.cpp
index e8942b9788..a79e6df521 100644
--- a/modules/visual_script/visual_script_expression.cpp
+++ b/modules/visual_script/visual_script_expression.cpp
@@ -1500,7 +1500,7 @@ public:
 					argp.write[i] = &arr[i];
 				}
 
-				base.call(call->method, (const Variant **)argp.ptr(), argp.size(), r_ret, ce);
+				base.callp(call->method, (const Variant **)argp.ptr(), argp.size(), r_ret, ce);
 
 				if (ce.error != Callable::CallError::CALL_OK) {
 					r_error_str = "On call to '" + String(call->method) + "':";
diff --git a/modules/visual_script/visual_script_func_nodes.cpp b/modules/visual_script/visual_script_func_nodes.cpp
index ef6c1ecdb9..a63f3edc0d 100644
--- a/modules/visual_script/visual_script_func_nodes.cpp
+++ b/modules/visual_script/visual_script_func_nodes.cpp
@@ -772,9 +772,9 @@ public:
 				if (rpc_mode) {
 					call_rpc(object, p_inputs, input_args);
 				} else if (returns) {
-					*p_outputs[0] = object->call(function, p_inputs, input_args, r_error);
+					*p_outputs[0] = object->callp(function, p_inputs, input_args, r_error);
 				} else {
-					object->call(function, p_inputs, input_args, r_error);
+					object->callp(function, p_inputs, input_args, r_error);
 				}
 			} break;
 			case VisualScriptFunctionCall::CALL_MODE_NODE_PATH: {
@@ -795,9 +795,9 @@ public:
 				if (rpc_mode) {
 					call_rpc(node, p_inputs, input_args);
 				} else if (returns) {
-					*p_outputs[0] = another->call(function, p_inputs, input_args, r_error);
+					*p_outputs[0] = another->callp(function, p_inputs, input_args, r_error);
 				} else {
-					another->call(function, p_inputs, input_args, r_error);
+					another->callp(function, p_inputs, input_args, r_error);
 				}
 
 			} break;
@@ -813,21 +813,21 @@ public:
 				} else if (returns) {
 					if (call_mode == VisualScriptFunctionCall::CALL_MODE_INSTANCE) {
 						if (returns >= 2) {
-							v.call(function, p_inputs + 1, input_args, *p_outputs[1], r_error);
+							v.callp(function, p_inputs + 1, input_args, *p_outputs[1], r_error);
 						} else if (returns == 1) {
 							Variant ret;
-							v.call(function, p_inputs + 1, input_args, ret, r_error);
+							v.callp(function, p_inputs + 1, input_args, ret, r_error);
 						} else {
 							r_error.error = Callable::CallError::CALL_ERROR_INVALID_METHOD;
 							r_error_str = "Invalid returns count for call_mode == CALL_MODE_INSTANCE";
 							return 0;
 						}
 					} else {
-						v.call(function, p_inputs + 1, input_args, *p_outputs[0], r_error);
+						v.callp(function, p_inputs + 1, input_args, *p_outputs[0], r_error);
 					}
 				} else {
 					Variant ret;
-					v.call(function, p_inputs + 1, input_args, ret, r_error);
+					v.callp(function, p_inputs + 1, input_args, ret, r_error);
 				}
 
 				if (call_mode == VisualScriptFunctionCall::CALL_MODE_INSTANCE) {
@@ -846,9 +846,9 @@ public:
 				if (rpc_mode) {
 					call_rpc(object, p_inputs, input_args);
 				} else if (returns) {
-					*p_outputs[0] = object->call(function, p_inputs, input_args, r_error);
+					*p_outputs[0] = object->callp(function, p_inputs, input_args, r_error);
 				} else {
-					object->call(function, p_inputs, input_args, r_error);
+					object->callp(function, p_inputs, input_args, r_error);
 				}
 			} break;
 		}
@@ -2373,7 +2373,7 @@ public:
 	virtual int step(const Variant **p_inputs, Variant **p_outputs, StartMode p_start_mode, Variant *p_working_mem, Callable::CallError &r_error, String &r_error_str) {
 		Object *obj = instance->get_owner_ptr();
 
-		obj->emit_signal(name, p_inputs, argcount);
+		obj->emit_signalp(name, p_inputs, argcount);
 
 		return 0;
 	}
diff --git a/modules/visual_script/visual_script_nodes.cpp b/modules/visual_script/visual_script_nodes.cpp
index e672267b00..204b416c7d 100644
--- a/modules/visual_script/visual_script_nodes.cpp
+++ b/modules/visual_script/visual_script_nodes.cpp
@@ -3174,7 +3174,7 @@ public:
 			r_error.error = Callable::CallError::CALL_ERROR_INVALID_METHOD;
 			return 0;
 		}
-		*p_outputs[0] = subcall->call(VisualScriptLanguage::singleton->_subcall, p_inputs, input_args, r_error);
+		*p_outputs[0] = subcall->callp(VisualScriptLanguage::singleton->_subcall, p_inputs, input_args, r_error);
 		return 0;
 	}
 };
diff --git a/modules/vorbis/audio_stream_ogg_vorbis.cpp b/modules/vorbis/audio_stream_ogg_vorbis.cpp
index 049d816a5a..5ff5b2339c 100644
--- a/modules/vorbis/audio_stream_ogg_vorbis.cpp
+++ b/modules/vorbis/audio_stream_ogg_vorbis.cpp
@@ -166,7 +166,7 @@ void AudioStreamPlaybackOGGVorbis::start(float p_from_pos) {
 	active = true;
 	seek(p_from_pos);
 	loops = 0;
-	_begin_resample();
+	begin_resample();
 }
 
 void AudioStreamPlaybackOGGVorbis::stop() {
diff --git a/modules/webrtc/register_types.cpp b/modules/webrtc/register_types.cpp
index e6a8dcc31a..283e421e11 100644
--- a/modules/webrtc/register_types.cpp
+++ b/modules/webrtc/register_types.cpp
@@ -47,7 +47,7 @@ void register_webrtc_types() {
 	ClassDB::register_custom_instance_class<WebRTCPeerConnection>();
 	GDREGISTER_CLASS(WebRTCPeerConnectionExtension);
 
-	GDREGISTER_VIRTUAL_CLASS(WebRTCDataChannel);
+	GDREGISTER_ABSTRACT_CLASS(WebRTCDataChannel);
 	GDREGISTER_CLASS(WebRTCDataChannelExtension);
 
 	GDREGISTER_CLASS(WebRTCMultiplayerPeer);
diff --git a/modules/webrtc/webrtc_multiplayer_peer.cpp b/modules/webrtc/webrtc_multiplayer_peer.cpp
index bc3c0d9265..0bc42b104c 100644
--- a/modules/webrtc/webrtc_multiplayer_peer.cpp
+++ b/modules/webrtc/webrtc_multiplayer_peer.cpp
@@ -353,10 +353,8 @@ Error WebRTCMultiplayerPeer::put_packet(const uint8_t *p_buffer, int p_buffer_si
 		ch += CH_RESERVED_MAX - 1;
 	}
 
-	Map<int, Ref<ConnectedPeer>>::Element *E = nullptr;
-
 	if (target_peer > 0) {
-		E = peer_map.find(target_peer);
+		Map<int, Ref<ConnectedPeer>>::Element *E = peer_map.find(target_peer);
 		ERR_FAIL_COND_V_MSG(!E, ERR_INVALID_PARAMETER, "Invalid target peer: " + itos(target_peer) + ".");
 
 		ERR_FAIL_COND_V_MSG(E->value()->channels.size() <= ch, ERR_INVALID_PARAMETER, vformat("Unable to send packet on channel %d, max channels: %d", ch, E->value()->channels.size()));
@@ -372,7 +370,7 @@ Error WebRTCMultiplayerPeer::put_packet(const uint8_t *p_buffer, int p_buffer_si
 				continue;
 			}
 
-			ERR_CONTINUE_MSG(F.value->channels.size() <= ch, vformat("Unable to send packet on channel %d, max channels: %d", ch, E->value()->channels.size()));
+			ERR_CONTINUE_MSG(F.value->channels.size() <= ch, vformat("Unable to send packet on channel %d, max channels: %d", ch, F.value->channels.size()));
 			ERR_CONTINUE(F.value->channels[ch].is_null());
 			F.value->channels[ch]->put_packet(p_buffer, p_buffer_size);
 		}
diff --git a/modules/websocket/register_types.cpp b/modules/websocket/register_types.cpp
index 1e9a4c0392..ff900f496f 100644
--- a/modules/websocket/register_types.cpp
+++ b/modules/websocket/register_types.cpp
@@ -63,7 +63,7 @@ void register_websocket_types() {
 	WSLServer::make_default();
 #endif
 
-	GDREGISTER_VIRTUAL_CLASS(WebSocketMultiplayerPeer);
+	GDREGISTER_ABSTRACT_CLASS(WebSocketMultiplayerPeer);
 	ClassDB::register_custom_instance_class<WebSocketServer>();
 	ClassDB::register_custom_instance_class<WebSocketClient>();
 	ClassDB::register_custom_instance_class<WebSocketPeer>();
diff --git a/modules/webxr/register_types.cpp b/modules/webxr/register_types.cpp
index 78fed3fbd6..a15dc93248 100644
--- a/modules/webxr/register_types.cpp
+++ b/modules/webxr/register_types.cpp
@@ -38,7 +38,7 @@ Ref<WebXRInterfaceJS> webxr;
 #endif
 
 void register_webxr_types() {
-	GDREGISTER_VIRTUAL_CLASS(WebXRInterface);
+	GDREGISTER_ABSTRACT_CLASS(WebXRInterface);
 
 #ifdef JAVASCRIPT_ENABLED
 	webxr.instantiate();
diff --git a/platform/android/api/api.cpp b/platform/android/api/api.cpp
index f544f29b10..f80f1e3051 100644
--- a/platform/android/api/api.cpp
+++ b/platform/android/api/api.cpp
@@ -64,14 +64,14 @@ void JavaClassWrapper::_bind_methods() {
 
 #if !defined(ANDROID_ENABLED)
 
-Variant JavaClass::call(const StringName &, const Variant **, int, Callable::CallError &) {
+Variant JavaClass::callp(const StringName &, const Variant **, int, Callable::CallError &) {
 	return Variant();
 }
 
 JavaClass::JavaClass() {
 }
 
-Variant JavaObject::call(const StringName &, const Variant **, int, Callable::CallError &) {
+Variant JavaObject::callp(const StringName &, const Variant **, int, Callable::CallError &) {
 	return Variant();
 }
 
diff --git a/platform/android/api/java_class_wrapper.h b/platform/android/api/java_class_wrapper.h
index d4d1208757..96b7b48e48 100644
--- a/platform/android/api/java_class_wrapper.h
+++ b/platform/android/api/java_class_wrapper.h
@@ -179,7 +179,7 @@ class JavaClass : public RefCounted {
 #endif
 
 public:
-	virtual Variant call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) override;
+	virtual Variant callp(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) override;
 
 	JavaClass();
 };
@@ -195,7 +195,7 @@ class JavaObject : public RefCounted {
 #endif
 
 public:
-	virtual Variant call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) override;
+	virtual Variant callp(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) override;
 
 #ifdef ANDROID_ENABLED
 	JavaObject(const Ref<JavaClass> &p_base, jobject *p_instance);
diff --git a/platform/android/api/jni_singleton.h b/platform/android/api/jni_singleton.h
index 57d08ac83e..74ca10e5e2 100644
--- a/platform/android/api/jni_singleton.h
+++ b/platform/android/api/jni_singleton.h
@@ -52,7 +52,7 @@ class JNISingleton : public Object {
 #endif
 
 public:
-	virtual Variant call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) override {
+	virtual Variant callp(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) override {
 #ifdef ANDROID_ENABLED
 		Map<StringName, MethodData>::Element *E = method_map.find(p_method);
 
@@ -70,7 +70,7 @@ public:
 
 		if (call_error) {
 			// The method is not in this map, defaulting to the regular instance calls.
-			return Object::call(p_method, p_args, p_argcount, r_error);
+			return Object::callp(p_method, p_args, p_argcount, r_error);
 		}
 
 		ERR_FAIL_COND_V(!instance, Variant());
@@ -176,7 +176,7 @@ public:
 #else // ANDROID_ENABLED
 
 		// Defaulting to the regular instance calls.
-		return Object::call(p_method, p_args, p_argcount, r_error);
+		return Object::callp(p_method, p_args, p_argcount, r_error);
 #endif
 	}
 
diff --git a/platform/android/export/export_plugin.cpp b/platform/android/export/export_plugin.cpp
index 2c431028b0..ca6a45cb83 100644
--- a/platform/android/export/export_plugin.cpp
+++ b/platform/android/export/export_plugin.cpp
@@ -543,7 +543,7 @@ bool EditorExportPlatformAndroid::_should_compress_asset(const String &p_path, c
 		".webp", // Same reasoning as .png
 		".cfb", // Don't let small config files slow-down startup
 		".scn", // Binary scenes are usually already compressed
-		".stex", // Streamable textures are usually already compressed
+		".ctex", // Streamable textures are usually already compressed
 		// Trailer for easier processing
 		nullptr
 	};
diff --git a/platform/android/java/nativeSrcsConfigs/CMakeLists.txt b/platform/android/java/nativeSrcsConfigs/CMakeLists.txt
index 34925684da..966c02f7d7 100644
--- a/platform/android/java/nativeSrcsConfigs/CMakeLists.txt
+++ b/platform/android/java/nativeSrcsConfigs/CMakeLists.txt
@@ -15,5 +15,4 @@ file(GLOB_RECURSE HEADERS ${GODOT_ROOT_DIR}/*.h**)
 add_executable(${PROJECT_NAME} ${SOURCES} ${HEADERS})
 target_include_directories(${PROJECT_NAME}
         SYSTEM PUBLIC
-        ${GODOT_ROOT_DIR}
-        ${GODOT_ROOT_DIR}/modules/gdnative/include)
+        ${GODOT_ROOT_DIR})
diff --git a/platform/android/java_class_wrapper.cpp b/platform/android/java_class_wrapper.cpp
index 7c788b4dc4..1805807f90 100644
--- a/platform/android/java_class_wrapper.cpp
+++ b/platform/android/java_class_wrapper.cpp
@@ -485,14 +485,14 @@ bool JavaClass::_call_method(JavaObject *p_instance, const StringName &p_method,
 	return success;
 }
 
-Variant JavaClass::call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
+Variant JavaClass::callp(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
 	Variant ret;
 	bool found = _call_method(nullptr, p_method, p_args, p_argcount, r_error, ret);
 	if (found) {
 		return ret;
 	}
 
-	return RefCounted::call(p_method, p_args, p_argcount, r_error);
+	return RefCounted::callp(p_method, p_args, p_argcount, r_error);
 }
 
 JavaClass::JavaClass() {
@@ -500,7 +500,7 @@ JavaClass::JavaClass() {
 
 /////////////////////
 
-Variant JavaObject::call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
+Variant JavaObject::callp(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
 	return Variant();
 }
 
diff --git a/platform/android/java_godot_lib_jni.cpp b/platform/android/java_godot_lib_jni.cpp
index dd4fa9de7b..249717921f 100644
--- a/platform/android/java_godot_lib_jni.cpp
+++ b/platform/android/java_godot_lib_jni.cpp
@@ -446,7 +446,7 @@ JNIEXPORT void JNICALL Java_org_godotengine_godot_GodotLib_callobject(JNIEnv *en
 	}
 
 	Callable::CallError err;
-	obj->call(str_method, (const Variant **)vptr, count, err);
+	obj->callp(str_method, (const Variant **)vptr, count, err);
 	// something
 
 	env->PopLocalFrame(nullptr);
@@ -462,18 +462,20 @@ JNIEXPORT void JNICALL Java_org_godotengine_godot_GodotLib_calldeferred(JNIEnv *
 	String str_method = jstring_to_string(method, env);
 
 	int count = env->GetArrayLength(params);
-	Variant args[VARIANT_ARG_MAX];
 
-	for (int i = 0; i < MIN(count, VARIANT_ARG_MAX); i++) {
+	Variant *args = (Variant *)alloca(sizeof(Variant) * count);
+	const Variant **argptrs = (const Variant **)alloca(sizeof(Variant *) * count);
+
+	for (int i = 0; i < count; i++) {
 		jobject obj = env->GetObjectArrayElement(params, i);
 		if (obj) {
 			args[i] = _jobject_to_variant(env, obj);
 		}
 		env->DeleteLocalRef(obj);
+		argptrs[i] = &args[i];
 	}
 
-	static_assert(VARIANT_ARG_MAX == 8, "This code needs to be updated if VARIANT_ARG_MAX != 8");
-	obj->call_deferred(str_method, args[0], args[1], args[2], args[3], args[4], args[5], args[6], args[7]);
+	MessageQueue::get_singleton()->push_callp(obj, str_method, (const Variant **)argptrs, count);
 	// something
 	env->PopLocalFrame(nullptr);
 }
diff --git a/platform/android/plugin/godot_plugin_jni.cpp b/platform/android/plugin/godot_plugin_jni.cpp
index 48aeb3d070..158512803a 100644
--- a/platform/android/plugin/godot_plugin_jni.cpp
+++ b/platform/android/plugin/godot_plugin_jni.cpp
@@ -114,10 +114,9 @@ JNIEXPORT void JNICALL Java_org_godotengine_godot_plugin_GodotPlugin_nativeEmitS
 	String signal_name = jstring_to_string(j_signal_name, env);
 
 	int count = env->GetArrayLength(j_signal_params);
-	ERR_FAIL_COND_MSG(count > VARIANT_ARG_MAX, "Maximum argument count exceeded!");
 
-	Variant variant_params[VARIANT_ARG_MAX];
-	const Variant *args[VARIANT_ARG_MAX];
+	Variant *variant_params = (Variant *)alloca(sizeof(Variant) * count);
+	const Variant **args = (const Variant **)alloca(sizeof(Variant *) * count);
 
 	for (int i = 0; i < count; i++) {
 		jobject j_param = env->GetObjectArrayElement(j_signal_params, i);
@@ -126,7 +125,7 @@ JNIEXPORT void JNICALL Java_org_godotengine_godot_plugin_GodotPlugin_nativeEmitS
 		env->DeleteLocalRef(j_param);
 	};
 
-	singleton->emit_signal(StringName(signal_name), args, count);
+	singleton->emit_signalp(StringName(signal_name), args, count);
 }
 
 JNIEXPORT void JNICALL Java_org_godotengine_godot_plugin_GodotPlugin_nativeRegisterGDNativeLibraries(JNIEnv *env, jclass clazz, jobjectArray gdnlib_paths) {
diff --git a/platform/iphone/export/export_plugin.cpp b/platform/iphone/export/export_plugin.cpp
index 69c6df8a38..2eaf5e47ac 100644
--- a/platform/iphone/export/export_plugin.cpp
+++ b/platform/iphone/export/export_plugin.cpp
@@ -389,6 +389,36 @@ void EditorExportPlatformIOS::_fix_config_file(const Ref<EditorExportPreset> &p_
 			String value = value_format.format(value_dictionary, "$_");
 
 			strnew += lines[i].replace("$launch_screen_background_color", value) + "\n";
+		} else if (lines[i].find("$pbx_locale_file_reference") != -1) {
+			String locale_files;
+			Vector<String> translations = ProjectSettings::get_singleton()->get("internationalization/locale/translations");
+			if (translations.size() > 0) {
+				int index = 0;
+				for (const String &E : translations) {
+					Ref<Translation> tr = ResourceLoader::load(E);
+					if (tr.is_valid()) {
+						String lang = tr->get_locale();
+						locale_files += "D0BCFE4518AEBDA2004A" + itos(index).pad_zeros(4) + " /* " + lang + " */ = {isa = PBXFileReference; lastKnownFileType = text.plist.strings; name = " + lang + "; path = " + lang + ".lproj/InfoPlist.strings; sourceTree = \"<group>\"; };";
+					}
+					index++;
+				}
+			}
+			strnew += lines[i].replace("$pbx_locale_file_reference", locale_files);
+		} else if (lines[i].find("$pbx_locale_build_reference") != -1) {
+			String locale_files;
+			Vector<String> translations = ProjectSettings::get_singleton()->get("internationalization/locale/translations");
+			if (translations.size() > 0) {
+				int index = 0;
+				for (const String &E : translations) {
+					Ref<Translation> tr = ResourceLoader::load(E);
+					if (tr.is_valid()) {
+						String lang = tr->get_locale();
+						locale_files += "D0BCFE4518AEBDA2004A" + itos(index).pad_zeros(4) + " /* " + lang + " */,";
+					}
+					index++;
+				}
+			}
+			strnew += lines[i].replace("$pbx_locale_build_reference", locale_files);
 		} else {
 			strnew += lines[i] + "\n";
 		}
@@ -1593,6 +1623,29 @@ Error EditorExportPlatformIOS::export_project(const Ref<EditorExportPreset> &p_p
 		return ERR_FILE_NOT_FOUND;
 	}
 
+	Vector<String> translations = ProjectSettings::get_singleton()->get("internationalization/locale/translations");
+	if (translations.size() > 0) {
+		{
+			String fname = dest_dir + binary_name + "/en.lproj";
+			tmp_app_path->make_dir_recursive(fname);
+			FileAccessRef f = FileAccess::open(fname + "/InfoPlist.strings", FileAccess::WRITE);
+			f->store_line("CFBundleDisplayName = \"" + ProjectSettings::get_singleton()->get("application/config/name").operator String() + "\";");
+		}
+
+		for (const String &E : translations) {
+			Ref<Translation> tr = ResourceLoader::load(E);
+			if (tr.is_valid()) {
+				String fname = dest_dir + binary_name + "/" + tr->get_locale() + ".lproj";
+				tmp_app_path->make_dir_recursive(fname);
+				FileAccessRef f = FileAccess::open(fname + "/InfoPlist.strings", FileAccess::WRITE);
+				String prop = "application/config/name_" + tr->get_locale();
+				if (ProjectSettings::get_singleton()->has_setting(prop)) {
+					f->store_line("CFBundleDisplayName = \"" + ProjectSettings::get_singleton()->get(prop).operator String() + "\";");
+				}
+			}
+		}
+	}
+
 	// Copy project static libs to the project
 	Vector<Ref<EditorExportPlugin>> export_plugins = EditorExport::get_singleton()->get_export_plugins();
 	for (int i = 0; i < export_plugins.size(); i++) {
diff --git a/platform/javascript/api/api.cpp b/platform/javascript/api/api.cpp
index 4190b24b8e..46a0a816bf 100644
--- a/platform/javascript/api/api.cpp
+++ b/platform/javascript/api/api.cpp
@@ -37,8 +37,8 @@ static JavaScript *javascript_eval;
 
 void register_javascript_api() {
 	JavaScriptToolsEditorPlugin::initialize();
-	GDREGISTER_VIRTUAL_CLASS(JavaScriptObject);
-	GDREGISTER_VIRTUAL_CLASS(JavaScript);
+	GDREGISTER_ABSTRACT_CLASS(JavaScriptObject);
+	GDREGISTER_ABSTRACT_CLASS(JavaScript);
 	javascript_eval = memnew(JavaScript);
 	Engine::get_singleton()->add_singleton(Engine::Singleton("JavaScript", javascript_eval));
 }
diff --git a/platform/javascript/javascript_singleton.cpp b/platform/javascript/javascript_singleton.cpp
index eb5c02822f..c9c4d6e1b9 100644
--- a/platform/javascript/javascript_singleton.cpp
+++ b/platform/javascript/javascript_singleton.cpp
@@ -81,7 +81,7 @@ protected:
 public:
 	Variant getvar(const Variant &p_key, bool *r_valid = nullptr) const override;
 	void setvar(const Variant &p_key, const Variant &p_value, bool *r_valid = nullptr) override;
-	Variant call(const StringName &p_method, const Variant **p_args, int p_argc, Callable::CallError &r_error) override;
+	Variant callp(const StringName &p_method, const Variant **p_args, int p_argc, Callable::CallError &r_error) override;
 	JavaScriptObjectImpl() {}
 	JavaScriptObjectImpl(int p_id) { _js_id = p_id; }
 	~JavaScriptObjectImpl() {
@@ -231,7 +231,7 @@ int JavaScriptObjectImpl::_variant2js(const void **p_args, int p_pos, godot_js_w
 	return type;
 }
 
-Variant JavaScriptObjectImpl::call(const StringName &p_method, const Variant **p_args, int p_argc, Callable::CallError &r_error) {
+Variant JavaScriptObjectImpl::callp(const StringName &p_method, const Variant **p_args, int p_argc, Callable::CallError &r_error) {
 	godot_js_wrapper_ex exchange;
 	const String method = p_method;
 	void *lock = nullptr;
diff --git a/platform/javascript/js/libs/library_godot_fetch.js b/platform/javascript/js/libs/library_godot_fetch.js
index 007e7b70f5..285e50a035 100644
--- a/platform/javascript/js/libs/library_godot_fetch.js
+++ b/platform/javascript/js/libs/library_godot_fetch.js
@@ -89,7 +89,6 @@ const GodotFetch = {
 				method: method,
 				headers: headers,
 				body: body,
-				credentials: 'include',
 			};
 			obj.request = fetch(url, init);
 			obj.request.then(GodotFetch.onresponse.bind(null, id)).catch(GodotFetch.onerror.bind(null, id));
diff --git a/platform/linuxbsd/detect.py b/platform/linuxbsd/detect.py
index ab643b254a..03c85d09ad 100644
--- a/platform/linuxbsd/detect.py
+++ b/platform/linuxbsd/detect.py
@@ -261,27 +261,6 @@ def configure(env):
     if not env["builtin_libpng"]:
         env.ParseConfig("pkg-config libpng16 --cflags --libs")
 
-    if not env["builtin_bullet"]:
-        # We need at least version 2.90
-        min_bullet_version = "2.90"
-
-        import subprocess
-
-        bullet_version = subprocess.check_output(["pkg-config", "bullet", "--modversion"]).strip()
-        if str(bullet_version) < min_bullet_version:
-            # Abort as system bullet was requested but too old
-            print(
-                "Bullet: System version {0} does not match minimal requirements ({1}). Aborting.".format(
-                    bullet_version, min_bullet_version
-                )
-            )
-            sys.exit(255)
-        env.ParseConfig("pkg-config bullet --cflags --libs")
-
-    if False:  # not env['builtin_assimp']:
-        # FIXME: Add min version check
-        env.ParseConfig("pkg-config assimp --cflags --libs")
-
     if not env["builtin_enet"]:
         env.ParseConfig("pkg-config libenet --cflags --libs")
 
diff --git a/platform/linuxbsd/display_server_x11.cpp b/platform/linuxbsd/display_server_x11.cpp
index bf3bfe9553..07cb6a23e8 100644
--- a/platform/linuxbsd/display_server_x11.cpp
+++ b/platform/linuxbsd/display_server_x11.cpp
@@ -109,6 +109,15 @@ struct Hints {
 	unsigned long status = 0;
 };
 
+static String get_atom_name(Display *p_disp, Atom p_atom) {
+	char *name = XGetAtomName(p_disp, p_atom);
+	ERR_FAIL_NULL_V_MSG(name, String(), "Atom is invalid.");
+	String ret;
+	ret.parse_utf8(name);
+	XFree(name);
+	return ret;
+}
+
 bool DisplayServerX11::has_feature(Feature p_feature) const {
 	switch (p_feature) {
 		case FEATURE_SUBWINDOWS:
@@ -435,7 +444,7 @@ String DisplayServerX11::_clipboard_get_impl(Atom p_source, Window x11_window, A
 	Window selection_owner = XGetSelectionOwner(x11_display, p_source);
 	if (selection_owner == x11_window) {
 		static const char *target_type = "PRIMARY";
-		if (p_source != None && String(XGetAtomName(x11_display, p_source)) == target_type) {
+		if (p_source != None && get_atom_name(x11_display, p_source) == target_type) {
 			return internal_clipboard_primary;
 		} else {
 			return internal_clipboard;
@@ -2085,7 +2094,7 @@ void DisplayServerX11::window_set_flag(WindowFlags p_flag, bool p_enabled, Windo
 			XGetWindowAttributes(x11_display, wd.x11_window, &xwa);
 
 			ERR_FAIL_COND_MSG(p_window == MAIN_WINDOW_ID, "Main window can't be popup.");
-			ERR_FAIL_COND_MSG((xwa.map_state == IsViewable) && (wd.is_popup != p_enabled), "Pupup flag can't changed while window is opened.");
+			ERR_FAIL_COND_MSG((xwa.map_state == IsViewable) && (wd.is_popup != p_enabled), "Popup flag can't changed while window is opened.");
 			wd.is_popup = p_enabled;
 		} break;
 		default: {
@@ -2448,8 +2457,7 @@ String DisplayServerX11::keyboard_get_layout_language(int p_index) const {
 
 		Atom names = kbd->names->symbols;
 		if (names != None) {
-			char *name = XGetAtomName(x11_display, names);
-			Vector<String> info = String(name).split("+");
+			Vector<String> info = get_atom_name(x11_display, names).split("+");
 			if (p_index >= 0 && p_index < _group_count) {
 				if (p_index + 1 < info.size()) {
 					ret = info[p_index + 1]; // Skip "pc" at the start and "inet"/"group" at the end of symbols.
@@ -2459,7 +2467,6 @@ String DisplayServerX11::keyboard_get_layout_language(int p_index) const {
 			} else {
 				ERR_PRINT("Index " + itos(p_index) + "is out of bounds (" + itos(_group_count) + ").");
 			}
-			XFree(name);
 		}
 		XkbFreeKeyboard(kbd, 0, true);
 	}
@@ -2486,9 +2493,7 @@ String DisplayServerX11::keyboard_get_layout_name(int p_index) const {
 		}
 
 		if (p_index >= 0 && p_index < _group_count) {
-			char *full_name = XGetAtomName(x11_display, groups[p_index]);
-			ret.parse_utf8(full_name);
-			XFree(full_name);
+			ret = get_atom_name(x11_display, groups[p_index]);
 		} else {
 			ERR_PRINT("Index " + itos(p_index) + "is out of bounds (" + itos(_group_count) + ").");
 		}
@@ -2551,7 +2556,7 @@ static Atom pick_target_from_list(Display *p_display, Atom *p_list, int p_count)
 	for (int i = 0; i < p_count; i++) {
 		Atom atom = p_list[i];
 
-		if (atom != None && String(XGetAtomName(p_display, atom)) == target_type) {
+		if (atom != None && get_atom_name(p_display, atom) == target_type) {
 			return atom;
 		}
 	}
@@ -2560,15 +2565,15 @@ static Atom pick_target_from_list(Display *p_display, Atom *p_list, int p_count)
 
 static Atom pick_target_from_atoms(Display *p_disp, Atom p_t1, Atom p_t2, Atom p_t3) {
 	static const char *target_type = "text/uri-list";
-	if (p_t1 != None && String(XGetAtomName(p_disp, p_t1)) == target_type) {
+	if (p_t1 != None && get_atom_name(p_disp, p_t1) == target_type) {
 		return p_t1;
 	}
 
-	if (p_t2 != None && String(XGetAtomName(p_disp, p_t2)) == target_type) {
+	if (p_t2 != None && get_atom_name(p_disp, p_t2) == target_type) {
 		return p_t2;
 	}
 
-	if (p_t3 != None && String(XGetAtomName(p_disp, p_t3)) == target_type) {
+	if (p_t3 != None && get_atom_name(p_disp, p_t3) == target_type) {
 		return p_t3;
 	}
 
@@ -2890,7 +2895,7 @@ Atom DisplayServerX11::_process_selection_request_target(Atom p_target, Window p
 		// is the owner during a selection request.
 		CharString clip;
 		static const char *target_type = "PRIMARY";
-		if (p_selection != None && String(XGetAtomName(x11_display, p_selection)) == target_type) {
+		if (p_selection != None && get_atom_name(x11_display, p_selection) == target_type) {
 			clip = internal_clipboard_primary.utf8();
 		} else {
 			clip = internal_clipboard.utf8();
@@ -3655,10 +3660,14 @@ void DisplayServerX11::process_events() {
 
 				const WindowData &wd = windows[window_id];
 
+				XWindowAttributes xwa;
+				XSync(x11_display, False);
+				XGetWindowAttributes(x11_display, wd.x11_window, &xwa);
+
 				// Set focus when menu window is re-used.
 				// RevertToPointerRoot is used to make sure we don't lose all focus in case
 				// a subwindow and its parent are both destroyed.
-				if (!wd.no_focus && !wd.is_popup) {
+				if ((xwa.map_state == IsViewable) && !wd.no_focus && !wd.is_popup) {
 					XSetInputFocus(x11_display, wd.x11_window, RevertToPointerRoot, CurrentTime);
 				}
 
@@ -3914,6 +3923,7 @@ void DisplayServerX11::process_events() {
 					Property p = _read_property(x11_display, windows[window_id].x11_window, XInternAtom(x11_display, "PRIMARY", 0));
 
 					Vector<String> files = String((char *)p.data).split("\n", false);
+					XFree(p.data);
 					for (int i = 0; i < files.size(); i++) {
 						files.write[i] = files[i].replace("file://", "").uri_decode().strip_edges();
 					}
@@ -3956,6 +3966,7 @@ void DisplayServerX11::process_events() {
 					if (more_than_3) {
 						Property p = _read_property(x11_display, source, XInternAtom(x11_display, "XdndTypeList", False));
 						requested = pick_target_from_list(x11_display, (Atom *)p.data, p.nitems);
+						XFree(p.data);
 					} else {
 						requested = pick_target_from_atoms(x11_display, event.xclient.data.l[2], event.xclient.data.l[3], event.xclient.data.l[4]);
 					}
diff --git a/platform/linuxbsd/os_linuxbsd.cpp b/platform/linuxbsd/os_linuxbsd.cpp
index d876932a83..6461a3d9fe 100644
--- a/platform/linuxbsd/os_linuxbsd.cpp
+++ b/platform/linuxbsd/os_linuxbsd.cpp
@@ -32,6 +32,7 @@
 
 #include "core/io/dir_access.h"
 #include "main/main.h"
+#include "servers/display_server.h"
 
 #ifdef X11_ENABLED
 #include "display_server_x11.h"
diff --git a/platform/osx/display_server_osx.h b/platform/osx/display_server_osx.h
index 036e74c47c..cc9ac162ea 100644
--- a/platform/osx/display_server_osx.h
+++ b/platform/osx/display_server_osx.h
@@ -160,6 +160,7 @@ private:
 	float display_max_scale = 1.f;
 	Point2i origin;
 	bool displays_arrangement_dirty = true;
+	bool is_resizing = false;
 
 	CursorShape cursor_shape = CURSOR_ARROW;
 	NSCursor *cursors[CURSOR_MAX];
@@ -206,6 +207,8 @@ public:
 	void mouse_process_popups(bool p_close = false);
 	void popup_open(WindowID p_window);
 	void popup_close(WindowID p_window);
+	void set_is_resizing(bool p_is_resizing);
+	bool get_is_resizing() const;
 
 	void window_update(WindowID p_window);
 	void window_destroy(WindowID p_window);
diff --git a/platform/osx/display_server_osx.mm b/platform/osx/display_server_osx.mm
index 23f37a8e18..89ca6e50ec 100644
--- a/platform/osx/display_server_osx.mm
+++ b/platform/osx/display_server_osx.mm
@@ -599,6 +599,14 @@ void DisplayServerOSX::set_last_focused_window(WindowID p_window) {
 	last_focused_window = p_window;
 }
 
+void DisplayServerOSX::set_is_resizing(bool p_is_resizing) {
+	is_resizing = p_is_resizing;
+}
+
+bool DisplayServerOSX::get_is_resizing() const {
+	return is_resizing;
+}
+
 void DisplayServerOSX::window_update(WindowID p_window) {
 #if defined(GLES3_ENABLED)
 	if (gl_manager) {
@@ -1856,7 +1864,7 @@ void DisplayServerOSX::window_set_flag(WindowFlags p_flag, bool p_enabled, Windo
 		} break;
 		case WINDOW_FLAG_POPUP: {
 			ERR_FAIL_COND_MSG(p_window == MAIN_WINDOW_ID, "Main window can't be popup.");
-			ERR_FAIL_COND_MSG([wd.window_object isVisible] && (wd.is_popup != p_enabled), "Pupup flag can't changed while window is opened.");
+			ERR_FAIL_COND_MSG([wd.window_object isVisible] && (wd.is_popup != p_enabled), "Popup flag can't changed while window is opened.");
 			wd.is_popup = p_enabled;
 		} break;
 		default: {
diff --git a/platform/osx/export/export_plugin.cpp b/platform/osx/export/export_plugin.cpp
index 24b9bc02a2..4d0fc9add6 100644
--- a/platform/osx/export/export_plugin.cpp
+++ b/platform/osx/export/export_plugin.cpp
@@ -787,6 +787,7 @@ Error EditorExportPlatformOSX::export_project(const Ref<EditorExportPreset> &p_p
 			String fname = tmp_app_path_name + "/Contents/Resources/en.lproj";
 			tmp_app_dir->make_dir_recursive(fname);
 			FileAccessRef f = FileAccess::open(fname + "/InfoPlist.strings", FileAccess::WRITE);
+			f->store_line("CFBundleDisplayName = \"" + ProjectSettings::get_singleton()->get("application/config/name").operator String() + "\";");
 		}
 
 		for (const String &E : translations) {
@@ -795,6 +796,10 @@ Error EditorExportPlatformOSX::export_project(const Ref<EditorExportPreset> &p_p
 				String fname = tmp_app_path_name + "/Contents/Resources/" + tr->get_locale() + ".lproj";
 				tmp_app_dir->make_dir_recursive(fname);
 				FileAccessRef f = FileAccess::open(fname + "/InfoPlist.strings", FileAccess::WRITE);
+				String prop = "application/config/name_" + tr->get_locale();
+				if (ProjectSettings::get_singleton()->has_setting(prop)) {
+					f->store_line("CFBundleDisplayName = \"" + ProjectSettings::get_singleton()->get(prop).operator String() + "\";");
+				}
 			}
 		}
 	}
diff --git a/platform/osx/godot_window_delegate.mm b/platform/osx/godot_window_delegate.mm
index dbc244650e..9f49a6a4e9 100644
--- a/platform/osx/godot_window_delegate.mm
+++ b/platform/osx/godot_window_delegate.mm
@@ -149,6 +149,20 @@
 	}
 }
 
+- (void)windowWillStartLiveResize:(NSNotification *)notification {
+	DisplayServerOSX *ds = (DisplayServerOSX *)DisplayServer::get_singleton();
+	if (ds) {
+		ds->set_is_resizing(true);
+	}
+}
+
+- (void)windowDidEndLiveResize:(NSNotification *)notification {
+	DisplayServerOSX *ds = (DisplayServerOSX *)DisplayServer::get_singleton();
+	if (ds) {
+		ds->set_is_resizing(false);
+	}
+}
+
 - (void)windowDidResize:(NSNotification *)notification {
 	DisplayServerOSX *ds = (DisplayServerOSX *)DisplayServer::get_singleton();
 	if (!ds || !ds->has_window(window_id)) {
diff --git a/platform/osx/os_osx.mm b/platform/osx/os_osx.mm
index 6700f8fe82..7e0cf9f9cc 100644
--- a/platform/osx/os_osx.mm
+++ b/platform/osx/os_osx.mm
@@ -58,7 +58,8 @@ _FORCE_INLINE_ String OS_OSX::get_framework_executable(const String &p_path) {
 void OS_OSX::pre_wait_observer_cb(CFRunLoopObserverRef p_observer, CFRunLoopActivity p_activiy, void *p_context) {
 	// Prevent main loop from sleeping and redraw window during resize / modal popups.
 
-	if (get_singleton()->get_main_loop()) {
+	DisplayServerOSX *ds = (DisplayServerOSX *)DisplayServer::get_singleton();
+	if (get_singleton()->get_main_loop() && ds && (get_singleton()->get_render_thread_mode() != RENDER_SEPARATE_THREAD || !ds->get_is_resizing())) {
 		Main::force_redraw();
 		if (!Main::is_iterating()) { // Avoid cyclic loop.
 			Main::iteration();
diff --git a/platform/uwp/export/export_plugin.cpp b/platform/uwp/export/export_plugin.cpp
index 594495375a..a76ff042b2 100644
--- a/platform/uwp/export/export_plugin.cpp
+++ b/platform/uwp/export/export_plugin.cpp
@@ -98,13 +98,13 @@ void EditorExportPlatformUWP::get_export_options(List<ExportOption> *r_options)
 	r_options->push_back(ExportOption(PropertyInfo(Variant::BOOL, "orientation/portrait_flipped"), true));
 
 	r_options->push_back(ExportOption(PropertyInfo(Variant::STRING, "images/background_color"), "transparent"));
-	r_options->push_back(ExportOption(PropertyInfo(Variant::OBJECT, "images/store_logo", PROPERTY_HINT_RESOURCE_TYPE, "StreamTexture2D"), Variant()));
-	r_options->push_back(ExportOption(PropertyInfo(Variant::OBJECT, "images/square44x44_logo", PROPERTY_HINT_RESOURCE_TYPE, "StreamTexture2D"), Variant()));
-	r_options->push_back(ExportOption(PropertyInfo(Variant::OBJECT, "images/square71x71_logo", PROPERTY_HINT_RESOURCE_TYPE, "StreamTexture2D"), Variant()));
-	r_options->push_back(ExportOption(PropertyInfo(Variant::OBJECT, "images/square150x150_logo", PROPERTY_HINT_RESOURCE_TYPE, "StreamTexture2D"), Variant()));
-	r_options->push_back(ExportOption(PropertyInfo(Variant::OBJECT, "images/square310x310_logo", PROPERTY_HINT_RESOURCE_TYPE, "StreamTexture2D"), Variant()));
-	r_options->push_back(ExportOption(PropertyInfo(Variant::OBJECT, "images/wide310x150_logo", PROPERTY_HINT_RESOURCE_TYPE, "StreamTexture2D"), Variant()));
-	r_options->push_back(ExportOption(PropertyInfo(Variant::OBJECT, "images/splash_screen", PROPERTY_HINT_RESOURCE_TYPE, "StreamTexture2D"), Variant()));
+	r_options->push_back(ExportOption(PropertyInfo(Variant::OBJECT, "images/store_logo", PROPERTY_HINT_RESOURCE_TYPE, "CompressedTexture2D"), Variant()));
+	r_options->push_back(ExportOption(PropertyInfo(Variant::OBJECT, "images/square44x44_logo", PROPERTY_HINT_RESOURCE_TYPE, "CompressedTexture2D"), Variant()));
+	r_options->push_back(ExportOption(PropertyInfo(Variant::OBJECT, "images/square71x71_logo", PROPERTY_HINT_RESOURCE_TYPE, "CompressedTexture2D"), Variant()));
+	r_options->push_back(ExportOption(PropertyInfo(Variant::OBJECT, "images/square150x150_logo", PROPERTY_HINT_RESOURCE_TYPE, "CompressedTexture2D"), Variant()));
+	r_options->push_back(ExportOption(PropertyInfo(Variant::OBJECT, "images/square310x310_logo", PROPERTY_HINT_RESOURCE_TYPE, "CompressedTexture2D"), Variant()));
+	r_options->push_back(ExportOption(PropertyInfo(Variant::OBJECT, "images/wide310x150_logo", PROPERTY_HINT_RESOURCE_TYPE, "CompressedTexture2D"), Variant()));
+	r_options->push_back(ExportOption(PropertyInfo(Variant::OBJECT, "images/splash_screen", PROPERTY_HINT_RESOURCE_TYPE, "CompressedTexture2D"), Variant()));
 
 	r_options->push_back(ExportOption(PropertyInfo(Variant::BOOL, "tiles/show_name_on_square150x150"), false));
 	r_options->push_back(ExportOption(PropertyInfo(Variant::BOOL, "tiles/show_name_on_wide310x150"), false));
@@ -201,37 +201,37 @@ bool EditorExportPlatformUWP::can_export(const Ref<EditorExportPreset> &p_preset
 		err += TTR("Invalid background color.") + "\n";
 	}
 
-	if (!p_preset->get("images/store_logo").is_zero() && !_valid_image((Object::cast_to<StreamTexture2D>((Object *)p_preset->get("images/store_logo"))), 50, 50)) {
+	if (!p_preset->get("images/store_logo").is_zero() && !_valid_image((Object::cast_to<CompressedTexture2D>((Object *)p_preset->get("images/store_logo"))), 50, 50)) {
 		valid = false;
 		err += TTR("Invalid Store Logo image dimensions (should be 50x50).") + "\n";
 	}
 
-	if (!p_preset->get("images/square44x44_logo").is_zero() && !_valid_image((Object::cast_to<StreamTexture2D>((Object *)p_preset->get("images/square44x44_logo"))), 44, 44)) {
+	if (!p_preset->get("images/square44x44_logo").is_zero() && !_valid_image((Object::cast_to<CompressedTexture2D>((Object *)p_preset->get("images/square44x44_logo"))), 44, 44)) {
 		valid = false;
 		err += TTR("Invalid square 44x44 logo image dimensions (should be 44x44).") + "\n";
 	}
 
-	if (!p_preset->get("images/square71x71_logo").is_zero() && !_valid_image((Object::cast_to<StreamTexture2D>((Object *)p_preset->get("images/square71x71_logo"))), 71, 71)) {
+	if (!p_preset->get("images/square71x71_logo").is_zero() && !_valid_image((Object::cast_to<CompressedTexture2D>((Object *)p_preset->get("images/square71x71_logo"))), 71, 71)) {
 		valid = false;
 		err += TTR("Invalid square 71x71 logo image dimensions (should be 71x71).") + "\n";
 	}
 
-	if (!p_preset->get("images/square150x150_logo").is_zero() && !_valid_image((Object::cast_to<StreamTexture2D>((Object *)p_preset->get("images/square150x150_logo"))), 150, 150)) {
+	if (!p_preset->get("images/square150x150_logo").is_zero() && !_valid_image((Object::cast_to<CompressedTexture2D>((Object *)p_preset->get("images/square150x150_logo"))), 150, 150)) {
 		valid = false;
 		err += TTR("Invalid square 150x150 logo image dimensions (should be 150x150).") + "\n";
 	}
 
-	if (!p_preset->get("images/square310x310_logo").is_zero() && !_valid_image((Object::cast_to<StreamTexture2D>((Object *)p_preset->get("images/square310x310_logo"))), 310, 310)) {
+	if (!p_preset->get("images/square310x310_logo").is_zero() && !_valid_image((Object::cast_to<CompressedTexture2D>((Object *)p_preset->get("images/square310x310_logo"))), 310, 310)) {
 		valid = false;
 		err += TTR("Invalid square 310x310 logo image dimensions (should be 310x310).") + "\n";
 	}
 
-	if (!p_preset->get("images/wide310x150_logo").is_zero() && !_valid_image((Object::cast_to<StreamTexture2D>((Object *)p_preset->get("images/wide310x150_logo"))), 310, 150)) {
+	if (!p_preset->get("images/wide310x150_logo").is_zero() && !_valid_image((Object::cast_to<CompressedTexture2D>((Object *)p_preset->get("images/wide310x150_logo"))), 310, 150)) {
 		valid = false;
 		err += TTR("Invalid wide 310x150 logo image dimensions (should be 310x150).") + "\n";
 	}
 
-	if (!p_preset->get("images/splash_screen").is_zero() && !_valid_image((Object::cast_to<StreamTexture2D>((Object *)p_preset->get("images/splash_screen"))), 620, 300)) {
+	if (!p_preset->get("images/splash_screen").is_zero() && !_valid_image((Object::cast_to<CompressedTexture2D>((Object *)p_preset->get("images/splash_screen"))), 620, 300)) {
 		valid = false;
 		err += TTR("Invalid splash screen image dimensions (should be 620x300).") + "\n";
 	}
diff --git a/platform/uwp/export/export_plugin.h b/platform/uwp/export/export_plugin.h
index 4c2d25e533..bf89b10ffa 100644
--- a/platform/uwp/export/export_plugin.h
+++ b/platform/uwp/export/export_plugin.h
@@ -191,7 +191,7 @@ class EditorExportPlatformUWP : public EditorExportPlatform {
 		return false;
 	}
 
-	bool _valid_image(const StreamTexture2D *p_image, int p_width, int p_height) const {
+	bool _valid_image(const CompressedTexture2D *p_image, int p_width, int p_height) const {
 		if (!p_image) {
 			return false;
 		}
@@ -311,22 +311,22 @@ class EditorExportPlatformUWP : public EditorExportPlatform {
 
 	Vector<uint8_t> _get_image_data(const Ref<EditorExportPreset> &p_preset, const String &p_path) {
 		Vector<uint8_t> data;
-		StreamTexture2D *texture = nullptr;
+		CompressedTexture2D *texture = nullptr;
 
 		if (p_path.find("StoreLogo") != -1) {
-			texture = p_preset->get("images/store_logo").is_zero() ? nullptr : Object::cast_to<StreamTexture2D>(((Object *)p_preset->get("images/store_logo")));
+			texture = p_preset->get("images/store_logo").is_zero() ? nullptr : Object::cast_to<CompressedTexture2D>(((Object *)p_preset->get("images/store_logo")));
 		} else if (p_path.find("Square44x44Logo") != -1) {
-			texture = p_preset->get("images/square44x44_logo").is_zero() ? nullptr : Object::cast_to<StreamTexture2D>(((Object *)p_preset->get("images/square44x44_logo")));
+			texture = p_preset->get("images/square44x44_logo").is_zero() ? nullptr : Object::cast_to<CompressedTexture2D>(((Object *)p_preset->get("images/square44x44_logo")));
 		} else if (p_path.find("Square71x71Logo") != -1) {
-			texture = p_preset->get("images/square71x71_logo").is_zero() ? nullptr : Object::cast_to<StreamTexture2D>(((Object *)p_preset->get("images/square71x71_logo")));
+			texture = p_preset->get("images/square71x71_logo").is_zero() ? nullptr : Object::cast_to<CompressedTexture2D>(((Object *)p_preset->get("images/square71x71_logo")));
 		} else if (p_path.find("Square150x150Logo") != -1) {
-			texture = p_preset->get("images/square150x150_logo").is_zero() ? nullptr : Object::cast_to<StreamTexture2D>(((Object *)p_preset->get("images/square150x150_logo")));
+			texture = p_preset->get("images/square150x150_logo").is_zero() ? nullptr : Object::cast_to<CompressedTexture2D>(((Object *)p_preset->get("images/square150x150_logo")));
 		} else if (p_path.find("Square310x310Logo") != -1) {
-			texture = p_preset->get("images/square310x310_logo").is_zero() ? nullptr : Object::cast_to<StreamTexture2D>(((Object *)p_preset->get("images/square310x310_logo")));
+			texture = p_preset->get("images/square310x310_logo").is_zero() ? nullptr : Object::cast_to<CompressedTexture2D>(((Object *)p_preset->get("images/square310x310_logo")));
 		} else if (p_path.find("Wide310x150Logo") != -1) {
-			texture = p_preset->get("images/wide310x150_logo").is_zero() ? nullptr : Object::cast_to<StreamTexture2D>(((Object *)p_preset->get("images/wide310x150_logo")));
+			texture = p_preset->get("images/wide310x150_logo").is_zero() ? nullptr : Object::cast_to<CompressedTexture2D>(((Object *)p_preset->get("images/wide310x150_logo")));
 		} else if (p_path.find("SplashScreen") != -1) {
-			texture = p_preset->get("images/splash_screen").is_zero() ? nullptr : Object::cast_to<StreamTexture2D>(((Object *)p_preset->get("images/splash_screen")));
+			texture = p_preset->get("images/splash_screen").is_zero() ? nullptr : Object::cast_to<CompressedTexture2D>(((Object *)p_preset->get("images/splash_screen")));
 		} else {
 			ERR_PRINT("Unable to load logo");
 		}
@@ -393,7 +393,7 @@ class EditorExportPlatformUWP : public EditorExportPlatform {
 			".webp", // Same reasoning as .png
 			".cfb", // Don't let small config files slow-down startup
 			".scn", // Binary scenes are usually already compressed
-			".stex", // Streamable textures are usually already compressed
+			".ctex", // Streamable textures are usually already compressed
 			// Trailer for easier processing
 			nullptr
 		};
diff --git a/platform/windows/display_server_windows.cpp b/platform/windows/display_server_windows.cpp
index 163f5c350b..27b4a2018f 100644
--- a/platform/windows/display_server_windows.cpp
+++ b/platform/windows/display_server_windows.cpp
@@ -1238,7 +1238,7 @@ void DisplayServerWindows::window_set_flag(WindowFlags p_flag, bool p_enabled, W
 		} break;
 		case WINDOW_FLAG_POPUP: {
 			ERR_FAIL_COND_MSG(p_window == MAIN_WINDOW_ID, "Main window can't be popup.");
-			ERR_FAIL_COND_MSG(IsWindowVisible(wd.hWnd) && (wd.is_popup != p_enabled), "Pupup flag can't changed while window is opened.");
+			ERR_FAIL_COND_MSG(IsWindowVisible(wd.hWnd) && (wd.is_popup != p_enabled), "Popup flag can't changed while window is opened.");
 			wd.is_popup = p_enabled;
 		} break;
 		case WINDOW_FLAG_MAX:
diff --git a/scene/3d/cpu_particles_3d.cpp b/scene/3d/cpu_particles_3d.cpp
index a02b5f48a1..ab28a83806 100644
--- a/scene/3d/cpu_particles_3d.cpp
+++ b/scene/3d/cpu_particles_3d.cpp
@@ -39,10 +39,6 @@ AABB CPUParticles3D::get_aabb() const {
 	return AABB();
 }
 
-Vector<Face3> CPUParticles3D::get_faces(uint32_t p_usage_particle_flags) const {
-	return Vector<Face3>();
-}
-
 void CPUParticles3D::set_emitting(bool p_emitting) {
 	if (emitting == p_emitting) {
 		return;
diff --git a/scene/3d/cpu_particles_3d.h b/scene/3d/cpu_particles_3d.h
index bd736bdf24..5eeb5e75d3 100644
--- a/scene/3d/cpu_particles_3d.h
+++ b/scene/3d/cpu_particles_3d.h
@@ -201,7 +201,6 @@ protected:
 
 public:
 	AABB get_aabb() const override;
-	Vector<Face3> get_faces(uint32_t p_usage_flags) const override;
 
 	void set_emitting(bool p_emitting);
 	void set_amount(int p_amount);
diff --git a/scene/3d/decal.cpp b/scene/3d/decal.cpp
index dfac9055f5..8d0edfd1f3 100644
--- a/scene/3d/decal.cpp
+++ b/scene/3d/decal.cpp
@@ -152,10 +152,6 @@ AABB Decal::get_aabb() const {
 	return aabb;
 }
 
-Vector<Face3> Decal::get_faces(uint32_t p_usage_flags) const {
-	return Vector<Face3>();
-}
-
 void Decal::_validate_property(PropertyInfo &property) const {
 	if (!distance_fade_enabled && (property.name == "distance_fade_begin" || property.name == "distance_fade_length")) {
 		property.usage = PROPERTY_USAGE_NO_EDITOR;
diff --git a/scene/3d/decal.h b/scene/3d/decal.h
index 740dd2c407..d5990272c6 100644
--- a/scene/3d/decal.h
+++ b/scene/3d/decal.h
@@ -104,7 +104,6 @@ public:
 	uint32_t get_cull_mask() const;
 
 	virtual AABB get_aabb() const override;
-	virtual Vector<Face3> get_faces(uint32_t p_usage_flags) const override;
 
 	Decal();
 	~Decal();
diff --git a/scene/3d/fog_volume.h b/scene/3d/fog_volume.h
index 68d5c58169..556a92ad3f 100644
--- a/scene/3d/fog_volume.h
+++ b/scene/3d/fog_volume.h
@@ -62,7 +62,6 @@ public:
 	Ref<Material> get_material() const;
 
 	virtual AABB get_aabb() const override;
-	virtual Vector<Face3> get_faces(uint32_t p_usage_flags) const override { return Vector<Face3>(); }
 	TypedArray<String> get_configuration_warnings() const override;
 
 	FogVolume();
diff --git a/scene/3d/gpu_particles_3d.cpp b/scene/3d/gpu_particles_3d.cpp
index 4e35f37291..9fe2210de6 100644
--- a/scene/3d/gpu_particles_3d.cpp
+++ b/scene/3d/gpu_particles_3d.cpp
@@ -36,10 +36,6 @@ AABB GPUParticles3D::get_aabb() const {
 	return AABB();
 }
 
-Vector<Face3> GPUParticles3D::get_faces(uint32_t p_usage_flags) const {
-	return Vector<Face3>();
-}
-
 void GPUParticles3D::set_emitting(bool p_emitting) {
 	RS::get_singleton()->particles_set_emitting(particles, p_emitting);
 
diff --git a/scene/3d/gpu_particles_3d.h b/scene/3d/gpu_particles_3d.h
index 54ae84628a..f3eb52d124 100644
--- a/scene/3d/gpu_particles_3d.h
+++ b/scene/3d/gpu_particles_3d.h
@@ -98,7 +98,6 @@ protected:
 
 public:
 	AABB get_aabb() const override;
-	Vector<Face3> get_faces(uint32_t p_usage_flags) const override;
 
 	void set_emitting(bool p_emitting);
 	void set_amount(int p_amount);
diff --git a/scene/3d/gpu_particles_collision_3d.h b/scene/3d/gpu_particles_collision_3d.h
index b6de1d83fc..fdd2fa4b18 100644
--- a/scene/3d/gpu_particles_collision_3d.h
+++ b/scene/3d/gpu_particles_collision_3d.h
@@ -50,8 +50,6 @@ public:
 	void set_cull_mask(uint32_t p_cull_mask);
 	uint32_t get_cull_mask() const;
 
-	virtual Vector<Face3> get_faces(uint32_t p_usage_flags) const override { return Vector<Face3>(); }
-
 	~GPUParticlesCollision3D();
 };
 
@@ -274,8 +272,6 @@ public:
 	void set_directionality(real_t p_directionality);
 	real_t get_directionality() const;
 
-	virtual Vector<Face3> get_faces(uint32_t p_usage_flags) const override { return Vector<Face3>(); }
-
 	~GPUParticlesAttractor3D();
 };
 
diff --git a/scene/3d/light_3d.cpp b/scene/3d/light_3d.cpp
index b2e605a262..e7e164d7da 100644
--- a/scene/3d/light_3d.cpp
+++ b/scene/3d/light_3d.cpp
@@ -74,6 +74,43 @@ bool Light3D::is_negative() const {
 	return negative;
 }
 
+void Light3D::set_enable_distance_fade(bool p_enable) {
+	distance_fade_enabled = p_enable;
+	RS::get_singleton()->light_set_distance_fade(light, distance_fade_enabled, distance_fade_begin, distance_fade_shadow, distance_fade_length);
+	notify_property_list_changed();
+}
+
+bool Light3D::is_distance_fade_enabled() const {
+	return distance_fade_enabled;
+}
+
+void Light3D::set_distance_fade_begin(real_t p_distance) {
+	distance_fade_begin = p_distance;
+	RS::get_singleton()->light_set_distance_fade(light, distance_fade_enabled, distance_fade_begin, distance_fade_shadow, distance_fade_length);
+}
+
+real_t Light3D::get_distance_fade_begin() const {
+	return distance_fade_begin;
+}
+
+void Light3D::set_distance_fade_shadow(real_t p_distance) {
+	distance_fade_shadow = p_distance;
+	RS::get_singleton()->light_set_distance_fade(light, distance_fade_enabled, distance_fade_begin, distance_fade_shadow, distance_fade_length);
+}
+
+real_t Light3D::get_distance_fade_shadow() const {
+	return distance_fade_shadow;
+}
+
+void Light3D::set_distance_fade_length(real_t p_length) {
+	distance_fade_length = p_length;
+	RS::get_singleton()->light_set_distance_fade(light, distance_fade_enabled, distance_fade_begin, distance_fade_shadow, distance_fade_length);
+}
+
+real_t Light3D::get_distance_fade_length() const {
+	return distance_fade_length;
+}
+
 void Light3D::set_cull_mask(uint32_t p_cull_mask) {
 	cull_mask = p_cull_mask;
 	RS::get_singleton()->light_set_cull_mask(light, p_cull_mask);
@@ -94,15 +131,6 @@ Color Light3D::get_color() const {
 	return color;
 }
 
-void Light3D::set_shadow_color(const Color &p_shadow_color) {
-	shadow_color = p_shadow_color;
-	RS::get_singleton()->light_set_shadow_color(light, p_shadow_color);
-}
-
-Color Light3D::get_shadow_color() const {
-	return shadow_color;
-}
-
 void Light3D::set_shadow_reverse_cull_face(bool p_enable) {
 	reverse_cull = p_enable;
 	RS::get_singleton()->light_set_reverse_cull_face_mode(light, reverse_cull);
@@ -128,10 +156,6 @@ AABB Light3D::get_aabb() const {
 	return AABB();
 }
 
-Vector<Face3> Light3D::get_faces(uint32_t p_usage_flags) const {
-	return Vector<Face3>();
-}
-
 void Light3D::set_bake_mode(BakeMode p_mode) {
 	bake_mode = p_mode;
 	RS::get_singleton()->light_set_bake_mode(light, RS::LightBakeMode(p_mode));
@@ -195,7 +219,7 @@ bool Light3D::is_editor_only() const {
 }
 
 void Light3D::_validate_property(PropertyInfo &property) const {
-	if (!shadow && (property.name == "shadow_color" || property.name == "shadow_bias" || property.name == "shadow_normal_bias" || property.name == "shadow_reverse_cull_face" || property.name == "shadow_transmittance_bias" || property.name == "shadow_fog_fade" || property.name == "shadow_blur")) {
+	if (!shadow && (property.name == "shadow_bias" || property.name == "shadow_normal_bias" || property.name == "shadow_reverse_cull_face" || property.name == "shadow_transmittance_bias" || property.name == "shadow_fog_fade" || property.name == "shadow_blur" || property.name == "distance_fade_shadow")) {
 		property.usage = PROPERTY_USAGE_NO_EDITOR;
 	}
 
@@ -203,6 +227,11 @@ void Light3D::_validate_property(PropertyInfo &property) const {
 		// Angular distance is only used in DirectionalLight3D.
 		property.usage = PROPERTY_USAGE_NONE;
 	}
+
+	if (!distance_fade_enabled && (property.name == "distance_fade_begin" || property.name == "distance_fade_shadow" || property.name == "distance_fade_length")) {
+		property.usage = PROPERTY_USAGE_NO_EDITOR;
+	}
+
 	VisualInstance3D::_validate_property(property);
 }
 
@@ -222,15 +251,24 @@ void Light3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_cull_mask", "cull_mask"), &Light3D::set_cull_mask);
 	ClassDB::bind_method(D_METHOD("get_cull_mask"), &Light3D::get_cull_mask);
 
+	ClassDB::bind_method(D_METHOD("set_enable_distance_fade", "enable"), &Light3D::set_enable_distance_fade);
+	ClassDB::bind_method(D_METHOD("is_distance_fade_enabled"), &Light3D::is_distance_fade_enabled);
+
+	ClassDB::bind_method(D_METHOD("set_distance_fade_begin", "distance"), &Light3D::set_distance_fade_begin);
+	ClassDB::bind_method(D_METHOD("get_distance_fade_begin"), &Light3D::get_distance_fade_begin);
+
+	ClassDB::bind_method(D_METHOD("set_distance_fade_shadow", "distance"), &Light3D::set_distance_fade_shadow);
+	ClassDB::bind_method(D_METHOD("get_distance_fade_shadow"), &Light3D::get_distance_fade_shadow);
+
+	ClassDB::bind_method(D_METHOD("set_distance_fade_length", "distance"), &Light3D::set_distance_fade_length);
+	ClassDB::bind_method(D_METHOD("get_distance_fade_length"), &Light3D::get_distance_fade_length);
+
 	ClassDB::bind_method(D_METHOD("set_color", "color"), &Light3D::set_color);
 	ClassDB::bind_method(D_METHOD("get_color"), &Light3D::get_color);
 
 	ClassDB::bind_method(D_METHOD("set_shadow_reverse_cull_face", "enable"), &Light3D::set_shadow_reverse_cull_face);
 	ClassDB::bind_method(D_METHOD("get_shadow_reverse_cull_face"), &Light3D::get_shadow_reverse_cull_face);
 
-	ClassDB::bind_method(D_METHOD("set_shadow_color", "shadow_color"), &Light3D::set_shadow_color);
-	ClassDB::bind_method(D_METHOD("get_shadow_color"), &Light3D::get_shadow_color);
-
 	ClassDB::bind_method(D_METHOD("set_bake_mode", "bake_mode"), &Light3D::set_bake_mode);
 	ClassDB::bind_method(D_METHOD("get_bake_mode"), &Light3D::get_bake_mode);
 
@@ -250,13 +288,17 @@ void Light3D::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "light_cull_mask", PROPERTY_HINT_LAYERS_3D_RENDER), "set_cull_mask", "get_cull_mask");
 	ADD_GROUP("Shadow", "shadow_");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "shadow_enabled"), "set_shadow", "has_shadow");
-	ADD_PROPERTY(PropertyInfo(Variant::COLOR, "shadow_color", PROPERTY_HINT_COLOR_NO_ALPHA), "set_shadow_color", "get_shadow_color");
 	ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "shadow_bias", PROPERTY_HINT_RANGE, "0,10,0.001"), "set_param", "get_param", PARAM_SHADOW_BIAS);
 	ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "shadow_normal_bias", PROPERTY_HINT_RANGE, "0,10,0.001"), "set_param", "get_param", PARAM_SHADOW_NORMAL_BIAS);
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "shadow_reverse_cull_face"), "set_shadow_reverse_cull_face", "get_shadow_reverse_cull_face");
 	ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "shadow_transmittance_bias", PROPERTY_HINT_RANGE, "-16,16,0.01"), "set_param", "get_param", PARAM_TRANSMITTANCE_BIAS);
 	ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "shadow_fog_fade", PROPERTY_HINT_RANGE, "0.01,10,0.01"), "set_param", "get_param", PARAM_SHADOW_VOLUMETRIC_FOG_FADE);
 	ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "shadow_blur", PROPERTY_HINT_RANGE, "0.1,8,0.01"), "set_param", "get_param", PARAM_SHADOW_BLUR);
+	ADD_GROUP("Distance Fade", "distance_fade_");
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "distance_fade_enabled"), "set_enable_distance_fade", "is_distance_fade_enabled");
+	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "distance_fade_begin", PROPERTY_HINT_RANGE, "0.0,4096.0,0.01,or_greater"), "set_distance_fade_begin", "get_distance_fade_begin");
+	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "distance_fade_shadow", PROPERTY_HINT_RANGE, "0.0,4096.0,0.01,or_greater"), "set_distance_fade_shadow", "get_distance_fade_shadow");
+	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "distance_fade_length", PROPERTY_HINT_RANGE, "0.0,4096.0,0.01,or_greater"), "set_distance_fade_length", "get_distance_fade_length");
 	ADD_GROUP("Editor", "");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "editor_only"), "set_editor_only", "is_editor_only");
 	ADD_GROUP("", "");
@@ -391,6 +433,12 @@ void DirectionalLight3D::_validate_property(PropertyInfo &property) const {
 		property.usage = PROPERTY_USAGE_NONE;
 	}
 
+	if (property.name == "distance_fade_enabled" || property.name == "distance_fade_begin" || property.name == "distance_fade_shadow" || property.name == "distance_fade_length") {
+		// Not relevant for DirectionalLight3D, as the light LOD system only pertains to point lights.
+		// For DirectionalLight3D, `directional_shadow_max_distance` can be used instead.
+		property.usage = PROPERTY_USAGE_NONE;
+	}
+
 	Light3D::_validate_property(property);
 }
 
diff --git a/scene/3d/light_3d.h b/scene/3d/light_3d.h
index d5d2aee43d..ed9e0bdfff 100644
--- a/scene/3d/light_3d.h
+++ b/scene/3d/light_3d.h
@@ -70,11 +70,14 @@ public:
 private:
 	Color color;
 	real_t param[PARAM_MAX] = {};
-	Color shadow_color;
 	bool shadow = false;
 	bool negative = false;
 	bool reverse_cull = false;
 	uint32_t cull_mask = 0;
+	bool distance_fade_enabled = false;
+	real_t distance_fade_begin = 40.0;
+	real_t distance_fade_shadow = 50.0;
+	real_t distance_fade_length = 10.0;
 	RS::LightType type = RenderingServer::LIGHT_DIRECTIONAL;
 	bool editor_only = false;
 	void _update_visibility();
@@ -107,15 +110,24 @@ public:
 	void set_negative(bool p_enable);
 	bool is_negative() const;
 
+	void set_enable_distance_fade(bool p_enable);
+	bool is_distance_fade_enabled() const;
+
+	void set_distance_fade_begin(real_t p_distance);
+	real_t get_distance_fade_begin() const;
+
+	void set_distance_fade_shadow(real_t p_distance);
+	real_t get_distance_fade_shadow() const;
+
+	void set_distance_fade_length(real_t p_length);
+	real_t get_distance_fade_length() const;
+
 	void set_cull_mask(uint32_t p_cull_mask);
 	uint32_t get_cull_mask() const;
 
 	void set_color(const Color &p_color);
 	Color get_color() const;
 
-	void set_shadow_color(const Color &p_shadow_color);
-	Color get_shadow_color() const;
-
 	void set_shadow_reverse_cull_face(bool p_enable);
 	bool get_shadow_reverse_cull_face() const;
 
@@ -126,7 +138,6 @@ public:
 	Ref<Texture2D> get_projector() const;
 
 	virtual AABB get_aabb() const override;
-	virtual Vector<Face3> get_faces(uint32_t p_usage_flags) const override;
 
 	Light3D();
 	~Light3D();
diff --git a/scene/3d/lightmap_gi.cpp b/scene/3d/lightmap_gi.cpp
index 68d2b91fad..c74654b4bd 100644
--- a/scene/3d/lightmap_gi.cpp
+++ b/scene/3d/lightmap_gi.cpp
@@ -982,7 +982,7 @@ LightmapGI::BakeError LightmapGI::bake(Node *p_from_node, String p_image_data_pa
 		}
 
 		config->set_value("remap", "importer", "2d_array_texture");
-		config->set_value("remap", "type", "StreamTexture2DArray");
+		config->set_value("remap", "type", "CompressedTexture2DArray");
 		if (!config->has_section_key("params", "compress/mode")) {
 			config->set_value("params", "compress/mode", 2); //user may want another compression, so leave it be
 		}
@@ -1263,10 +1263,6 @@ AABB LightmapGI::get_aabb() const {
 	return AABB();
 }
 
-Vector<Face3> LightmapGI::get_faces(uint32_t p_usage_flags) const {
-	return Vector<Face3>();
-}
-
 void LightmapGI::set_use_denoiser(bool p_enable) {
 	use_denoiser = p_enable;
 }
diff --git a/scene/3d/lightmap_gi.h b/scene/3d/lightmap_gi.h
index 66acf4f487..d29d7a7c28 100644
--- a/scene/3d/lightmap_gi.h
+++ b/scene/3d/lightmap_gi.h
@@ -267,7 +267,6 @@ public:
 	GenerateProbes get_generate_probes() const;
 
 	AABB get_aabb() const override;
-	Vector<Face3> get_faces(uint32_t p_usage_flags) const override;
 
 	BakeError bake(Node *p_from_node, String p_image_data_path = "", Lightmapper::BakeStepFunc p_bake_step = nullptr, void *p_bake_userdata = nullptr);
 	LightmapGI();
diff --git a/scene/3d/mesh_instance_3d.cpp b/scene/3d/mesh_instance_3d.cpp
index fddfa17dbb..31c33a6b61 100644
--- a/scene/3d/mesh_instance_3d.cpp
+++ b/scene/3d/mesh_instance_3d.cpp
@@ -219,18 +219,6 @@ AABB MeshInstance3D::get_aabb() const {
 	return AABB();
 }
 
-Vector<Face3> MeshInstance3D::get_faces(uint32_t p_usage_flags) const {
-	if (!(p_usage_flags & (FACES_SOLID | FACES_ENCLOSING))) {
-		return Vector<Face3>();
-	}
-
-	if (mesh.is_null()) {
-		return Vector<Face3>();
-	}
-
-	return mesh->get_faces();
-}
-
 Node *MeshInstance3D::create_trimesh_collision_node() {
 	if (mesh.is_null()) {
 		return nullptr;
diff --git a/scene/3d/mesh_instance_3d.h b/scene/3d/mesh_instance_3d.h
index 03ee3cd608..0bf5c32410 100644
--- a/scene/3d/mesh_instance_3d.h
+++ b/scene/3d/mesh_instance_3d.h
@@ -93,7 +93,6 @@ public:
 	void create_debug_tangents();
 
 	virtual AABB get_aabb() const override;
-	virtual Vector<Face3> get_faces(uint32_t p_usage_flags) const override;
 
 	MeshInstance3D();
 	~MeshInstance3D();
diff --git a/scene/3d/multimesh_instance_3d.cpp b/scene/3d/multimesh_instance_3d.cpp
index 34b1e86435..d197388fad 100644
--- a/scene/3d/multimesh_instance_3d.cpp
+++ b/scene/3d/multimesh_instance_3d.cpp
@@ -49,10 +49,6 @@ Ref<MultiMesh> MultiMeshInstance3D::get_multimesh() const {
 	return multimesh;
 }
 
-Vector<Face3> MultiMeshInstance3D::get_faces(uint32_t p_usage_flags) const {
-	return Vector<Face3>();
-}
-
 AABB MultiMeshInstance3D::get_aabb() const {
 	if (multimesh.is_null()) {
 		return AABB();
diff --git a/scene/3d/multimesh_instance_3d.h b/scene/3d/multimesh_instance_3d.h
index d03b24eb4e..111f1e9c09 100644
--- a/scene/3d/multimesh_instance_3d.h
+++ b/scene/3d/multimesh_instance_3d.h
@@ -44,8 +44,6 @@ protected:
 	// bind helpers
 
 public:
-	virtual Vector<Face3> get_faces(uint32_t p_usage_flags) const override;
-
 	void set_multimesh(const Ref<MultiMesh> &p_multimesh);
 	Ref<MultiMesh> get_multimesh() const;
 
diff --git a/scene/3d/occluder_instance_3d.cpp b/scene/3d/occluder_instance_3d.cpp
index 855922c341..b82f05544b 100644
--- a/scene/3d/occluder_instance_3d.cpp
+++ b/scene/3d/occluder_instance_3d.cpp
@@ -433,10 +433,6 @@ AABB OccluderInstance3D::get_aabb() const {
 	return AABB();
 }
 
-Vector<Face3> OccluderInstance3D::get_faces(uint32_t p_usage_flags) const {
-	return Vector<Face3>();
-}
-
 void OccluderInstance3D::set_occluder(const Ref<Occluder3D> &p_occluder) {
 	if (occluder == p_occluder) {
 		return;
diff --git a/scene/3d/occluder_instance_3d.h b/scene/3d/occluder_instance_3d.h
index 669ddba775..ed6610074e 100644
--- a/scene/3d/occluder_instance_3d.h
+++ b/scene/3d/occluder_instance_3d.h
@@ -194,7 +194,6 @@ public:
 	Ref<Occluder3D> get_occluder() const;
 
 	virtual AABB get_aabb() const override;
-	virtual Vector<Face3> get_faces(uint32_t p_usage_flags) const override;
 
 	void set_bake_mask(uint32_t p_mask);
 	uint32_t get_bake_mask() const;
diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp
index 25411e54c0..47baa9e023 100644
--- a/scene/3d/physics_body_3d.cpp
+++ b/scene/3d/physics_body_3d.cpp
@@ -1425,7 +1425,7 @@ void CharacterBody3D::_move_and_slide_grounded(double p_delta, bool p_was_on_flo
 					const PhysicsServer3D::MotionCollision &collision = result.collisions[0];
 
 					Vector3 slide_motion = result.remainder.slide(collision.normal);
-					if (collision_state.floor && !collision_state.wall) {
+					if (collision_state.floor && !collision_state.wall && !motion_slide_up.is_equal_approx(Vector3())) {
 						// Slide using the intersection between the motion plane and the floor plane,
 						// in order to keep the direction intact.
 						real_t motion_length = slide_motion.length();
@@ -2159,6 +2159,37 @@ void PhysicalBone3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_po
 	PhysicsServer3D::get_singleton()->body_apply_impulse(get_rid(), p_impulse, p_position);
 }
 
+void PhysicalBone3D::set_linear_velocity(const Vector3 &p_velocity) {
+	linear_velocity = p_velocity;
+	PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, linear_velocity);
+}
+
+Vector3 PhysicalBone3D::get_linear_velocity() const {
+	return linear_velocity;
+}
+
+void PhysicalBone3D::set_angular_velocity(const Vector3 &p_velocity) {
+	angular_velocity = p_velocity;
+	PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, angular_velocity);
+}
+
+Vector3 PhysicalBone3D::get_angular_velocity() const {
+	return angular_velocity;
+}
+
+void PhysicalBone3D::set_use_custom_integrator(bool p_enable) {
+	if (custom_integrator == p_enable) {
+		return;
+	}
+
+	custom_integrator = p_enable;
+	PhysicsServer3D::get_singleton()->body_set_omit_force_integration(get_rid(), p_enable);
+}
+
+bool PhysicalBone3D::is_using_custom_integrator() {
+	return custom_integrator;
+}
+
 void PhysicalBone3D::reset_physics_simulation_state() {
 	if (simulate_physics) {
 		_start_physics_simulation();
@@ -2867,6 +2898,11 @@ void PhysicalBone3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) {
 		return;
 	}
 
+	linear_velocity = p_state->get_linear_velocity();
+	angular_velocity = p_state->get_angular_velocity();
+
+	GDVIRTUAL_CALL(_integrate_forces, p_state);
+
 	/// Update bone transform.
 
 	Transform3D global_transform(p_state->get_transform());
@@ -2929,9 +2965,20 @@ void PhysicalBone3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &PhysicalBone3D::set_angular_damp);
 	ClassDB::bind_method(D_METHOD("get_angular_damp"), &PhysicalBone3D::get_angular_damp);
 
+	ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &PhysicalBone3D::set_linear_velocity);
+	ClassDB::bind_method(D_METHOD("get_linear_velocity"), &PhysicalBone3D::get_linear_velocity);
+
+	ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &PhysicalBone3D::set_angular_velocity);
+	ClassDB::bind_method(D_METHOD("get_angular_velocity"), &PhysicalBone3D::get_angular_velocity);
+
+	ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &PhysicalBone3D::set_use_custom_integrator);
+	ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &PhysicalBone3D::is_using_custom_integrator);
+
 	ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &PhysicalBone3D::set_can_sleep);
 	ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &PhysicalBone3D::is_able_to_sleep);
 
+	GDVIRTUAL_BIND(_integrate_forces, "state");
+
 	ADD_GROUP("Joint", "joint_");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "joint_type", PROPERTY_HINT_ENUM, "None,PinJoint,ConeJoint,HingeJoint,SliderJoint,6DOFJoint"), "set_joint_type", "get_joint_type");
 	ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "joint_offset"), "set_joint_offset", "get_joint_offset");
@@ -2943,10 +2990,13 @@ void PhysicalBone3D::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "friction", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_friction", "get_friction");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_bounce", "get_bounce");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-10,10,0.01"), "set_gravity_scale", "get_gravity_scale");
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "custom_integrator"), "set_use_custom_integrator", "is_using_custom_integrator");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "linear_damp_mode", PROPERTY_HINT_ENUM, "Combine,Replace"), "set_linear_damp_mode", "get_linear_damp_mode");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "linear_damp", PROPERTY_HINT_RANGE, "0,100,0.001,or_greater"), "set_linear_damp", "get_linear_damp");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "angular_damp_mode", PROPERTY_HINT_ENUM, "Combine,Replace"), "set_angular_damp_mode", "get_angular_damp_mode");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_damp", PROPERTY_HINT_RANGE, "0,100,0.001,or_greater"), "set_angular_damp", "get_angular_damp");
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity");
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "angular_velocity"), "set_angular_velocity", "get_angular_velocity");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "can_sleep"), "set_can_sleep", "is_able_to_sleep");
 
 	BIND_ENUM_CONSTANT(DAMP_MODE_COMBINE);
diff --git a/scene/3d/physics_body_3d.h b/scene/3d/physics_body_3d.h
index 0f753fef76..6ace681021 100644
--- a/scene/3d/physics_body_3d.h
+++ b/scene/3d/physics_body_3d.h
@@ -662,9 +662,13 @@ private:
 	real_t bounce = 0.0;
 	real_t mass = 1.0;
 	real_t friction = 1.0;
+	Vector3 linear_velocity;
+	Vector3 angular_velocity;
 	real_t gravity_scale = 1.0;
 	bool can_sleep = true;
 
+	bool custom_integrator = false;
+
 	DampMode linear_damp_mode = DAMP_MODE_COMBINE;
 	DampMode angular_damp_mode = DAMP_MODE_COMBINE;
 
@@ -676,6 +680,7 @@ protected:
 	bool _get(const StringName &p_name, Variant &r_ret) const;
 	void _get_property_list(List<PropertyInfo> *p_list) const;
 	void _notification(int p_what);
+	GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *)
 	static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
 	void _body_state_changed(PhysicsDirectBodyState3D *p_state);
 
@@ -691,6 +696,15 @@ private:
 public:
 	void _on_bone_parent_changed();
 
+	void set_linear_velocity(const Vector3 &p_velocity);
+	Vector3 get_linear_velocity() const override;
+
+	void set_angular_velocity(const Vector3 &p_velocity);
+	Vector3 get_angular_velocity() const override;
+
+	void set_use_custom_integrator(bool p_enable);
+	bool is_using_custom_integrator();
+
 #ifdef TOOLS_ENABLED
 	void _set_gizmo_move_joint(bool p_move_joint);
 	virtual Transform3D get_global_gizmo_transform() const override;
diff --git a/scene/3d/reflection_probe.cpp b/scene/3d/reflection_probe.cpp
index be655e71db..1bebd8e335 100644
--- a/scene/3d/reflection_probe.cpp
+++ b/scene/3d/reflection_probe.cpp
@@ -178,10 +178,6 @@ AABB ReflectionProbe::get_aabb() const {
 	return aabb;
 }
 
-Vector<Face3> ReflectionProbe::get_faces(uint32_t p_usage_flags) const {
-	return Vector<Face3>();
-}
-
 void ReflectionProbe::_validate_property(PropertyInfo &property) const {
 	if (property.name == "interior/ambient_color" || property.name == "interior/ambient_color_energy") {
 		if (ambient_mode != AMBIENT_COLOR) {
diff --git a/scene/3d/reflection_probe.h b/scene/3d/reflection_probe.h
index d0643496a4..424976d895 100644
--- a/scene/3d/reflection_probe.h
+++ b/scene/3d/reflection_probe.h
@@ -113,7 +113,6 @@ public:
 	UpdateMode get_update_mode() const;
 
 	virtual AABB get_aabb() const override;
-	virtual Vector<Face3> get_faces(uint32_t p_usage_flags) const override;
 
 	ReflectionProbe();
 	~ReflectionProbe();
diff --git a/scene/3d/sprite_3d.cpp b/scene/3d/sprite_3d.cpp
index ce281c79bc..514bd4aba0 100644
--- a/scene/3d/sprite_3d.cpp
+++ b/scene/3d/sprite_3d.cpp
@@ -177,10 +177,6 @@ AABB SpriteBase3D::get_aabb() const {
 	return aabb;
 }
 
-Vector<Face3> SpriteBase3D::get_faces(uint32_t p_usage_flags) const {
-	return Vector<Face3>();
-}
-
 Ref<TriangleMesh> SpriteBase3D::generate_triangle_mesh() const {
 	if (triangle_mesh.is_valid()) {
 		return triangle_mesh;
diff --git a/scene/3d/sprite_3d.h b/scene/3d/sprite_3d.h
index 985103e190..92dbef0855 100644
--- a/scene/3d/sprite_3d.h
+++ b/scene/3d/sprite_3d.h
@@ -137,7 +137,7 @@ public:
 	virtual Rect2 get_item_rect() const = 0;
 
 	virtual AABB get_aabb() const override;
-	virtual Vector<Face3> get_faces(uint32_t p_usage_flags) const override;
+
 	Ref<TriangleMesh> generate_triangle_mesh() const;
 
 	SpriteBase3D();
diff --git a/scene/3d/visible_on_screen_notifier_3d.cpp b/scene/3d/visible_on_screen_notifier_3d.cpp
index 11367d7ca9..41cd604a4f 100644
--- a/scene/3d/visible_on_screen_notifier_3d.cpp
+++ b/scene/3d/visible_on_screen_notifier_3d.cpp
@@ -89,10 +89,6 @@ void VisibleOnScreenNotifier3D::_bind_methods() {
 	ADD_SIGNAL(MethodInfo("screen_exited"));
 }
 
-Vector<Face3> VisibleOnScreenNotifier3D::get_faces(uint32_t p_usage_flags) const {
-	return Vector<Face3>();
-}
-
 VisibleOnScreenNotifier3D::VisibleOnScreenNotifier3D() {
 	RID notifier = RS::get_singleton()->visibility_notifier_create();
 	RS::get_singleton()->visibility_notifier_set_aabb(notifier, aabb);
diff --git a/scene/3d/visible_on_screen_notifier_3d.h b/scene/3d/visible_on_screen_notifier_3d.h
index 852c7e2ed3..fe17f1e444 100644
--- a/scene/3d/visible_on_screen_notifier_3d.h
+++ b/scene/3d/visible_on_screen_notifier_3d.h
@@ -57,8 +57,6 @@ public:
 	virtual AABB get_aabb() const override;
 	bool is_on_screen() const;
 
-	virtual Vector<Face3> get_faces(uint32_t p_usage_flags) const override;
-
 	VisibleOnScreenNotifier3D();
 	~VisibleOnScreenNotifier3D();
 };
diff --git a/scene/3d/visual_instance_3d.cpp b/scene/3d/visual_instance_3d.cpp
index d8dffe6c7d..b8a68cdca9 100644
--- a/scene/3d/visual_instance_3d.cpp
+++ b/scene/3d/visual_instance_3d.cpp
@@ -32,6 +32,14 @@
 
 #include "scene/scene_string_names.h"
 
+AABB VisualInstance3D::get_aabb() const {
+	AABB ret;
+	if (GDVIRTUAL_CALL(_get_aabb, ret)) {
+		return ret;
+	}
+	return AABB();
+}
+
 AABB VisualInstance3D::get_transformed_aabb() const {
 	return get_global_transform().xform(get_aabb());
 }
@@ -115,6 +123,7 @@ void VisualInstance3D::_bind_methods() {
 
 	ClassDB::bind_method(D_METHOD("get_transformed_aabb"), &VisualInstance3D::get_transformed_aabb);
 
+	GDVIRTUAL_BIND(_get_aabb);
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "layers", PROPERTY_HINT_LAYERS_3D_RENDER), "set_layer_mask", "get_layer_mask");
 }
 
diff --git a/scene/3d/visual_instance_3d.h b/scene/3d/visual_instance_3d.h
index 02f62b41e5..1c044ba681 100644
--- a/scene/3d/visual_instance_3d.h
+++ b/scene/3d/visual_instance_3d.h
@@ -49,6 +49,7 @@ protected:
 	void _notification(int p_what);
 	static void _bind_methods();
 
+	GDVIRTUAL0RC(AABB, _get_aabb)
 public:
 	enum GetFacesFlags {
 		FACES_SOLID = 1, // solid geometry
@@ -58,8 +59,7 @@ public:
 	};
 
 	RID get_instance() const;
-	virtual AABB get_aabb() const = 0;
-	virtual Vector<Face3> get_faces(uint32_t p_usage_flags) const = 0;
+	virtual AABB get_aabb() const;
 
 	virtual AABB get_transformed_aabb() const; // helper
 
diff --git a/scene/3d/voxel_gi.cpp b/scene/3d/voxel_gi.cpp
index bfe3c80a4f..6840d15f78 100644
--- a/scene/3d/voxel_gi.cpp
+++ b/scene/3d/voxel_gi.cpp
@@ -450,10 +450,6 @@ AABB VoxelGI::get_aabb() const {
 	return AABB(-extents, extents * 2);
 }
 
-Vector<Face3> VoxelGI::get_faces(uint32_t p_usage_flags) const {
-	return Vector<Face3>();
-}
-
 TypedArray<String> VoxelGI::get_configuration_warnings() const {
 	TypedArray<String> warnings = Node::get_configuration_warnings();
 
diff --git a/scene/3d/voxel_gi.h b/scene/3d/voxel_gi.h
index 3678bd4f3b..e1a38dd7a0 100644
--- a/scene/3d/voxel_gi.h
+++ b/scene/3d/voxel_gi.h
@@ -149,7 +149,6 @@ public:
 	void bake(Node *p_from_node = nullptr, bool p_create_visual_debug = false);
 
 	virtual AABB get_aabb() const override;
-	virtual Vector<Face3> get_faces(uint32_t p_usage_flags) const override;
 
 	TypedArray<String> get_configuration_warnings() const override;
 
diff --git a/scene/animation/animation_player.cpp b/scene/animation/animation_player.cpp
index e243915c13..402418e5a9 100644
--- a/scene/animation/animation_player.cpp
+++ b/scene/animation/animation_player.cpp
@@ -401,6 +401,22 @@ void AnimationPlayer::_ensure_node_caches(AnimationData *p_anim, Node *p_root_ov
 	}
 }
 
+static void _call_object(Object *p_object, const StringName &p_method, const Vector<Variant> &p_params, bool p_deferred) {
+	// Separate function to use alloca() more efficiently
+	const Variant **argptrs = (const Variant **)alloca(sizeof(const Variant **) * p_params.size());
+	const Variant *args = p_params.ptr();
+	uint32_t argcount = p_params.size();
+	for (uint32_t i = 0; i < argcount; i++) {
+		argptrs[i] = &args[i];
+	}
+	if (p_deferred) {
+		MessageQueue::get_singleton()->push_callp(p_object, p_method, argptrs, argcount);
+	} else {
+		Callable::CallError ce;
+		p_object->callp(p_method, argptrs, argcount, ce);
+	}
+}
+
 void AnimationPlayer::_animation_process_animation(AnimationData *p_anim, double p_time, double p_delta, float p_interp, bool p_is_current, bool p_seeked, bool p_started, int p_pingponged) {
 	_ensure_node_caches(p_anim);
 	ERR_FAIL_COND(p_anim->node_cache.size() != p_anim->animation->get_track_count());
@@ -677,41 +693,14 @@ void AnimationPlayer::_animation_process_animation(AnimationData *p_anim, double
 					StringName method = a->method_track_get_name(i, E);
 					Vector<Variant> params = a->method_track_get_params(i, E);
 
-					int s = params.size();
-
-					ERR_CONTINUE(s > VARIANT_ARG_MAX);
 #ifdef DEBUG_ENABLED
 					if (!nc->node->has_method(method)) {
 						ERR_PRINT("Invalid method call '" + method + "'. '" + a->get_name() + "' at node '" + get_path() + "'.");
 					}
 #endif
 
-					static_assert(VARIANT_ARG_MAX == 8, "This code needs to be updated if VARIANT_ARG_MAX != 8");
 					if (can_call) {
-						if (method_call_mode == ANIMATION_METHOD_CALL_DEFERRED) {
-							MessageQueue::get_singleton()->push_call(
-									nc->node,
-									method,
-									s >= 1 ? params[0] : Variant(),
-									s >= 2 ? params[1] : Variant(),
-									s >= 3 ? params[2] : Variant(),
-									s >= 4 ? params[3] : Variant(),
-									s >= 5 ? params[4] : Variant(),
-									s >= 6 ? params[5] : Variant(),
-									s >= 7 ? params[6] : Variant(),
-									s >= 8 ? params[7] : Variant());
-						} else {
-							nc->node->call(
-									method,
-									s >= 1 ? params[0] : Variant(),
-									s >= 2 ? params[1] : Variant(),
-									s >= 3 ? params[2] : Variant(),
-									s >= 4 ? params[3] : Variant(),
-									s >= 5 ? params[4] : Variant(),
-									s >= 6 ? params[5] : Variant(),
-									s >= 7 ? params[6] : Variant(),
-									s >= 8 ? params[7] : Variant());
-						}
+						_call_object(nc->node, method, params, method_call_mode == ANIMATION_METHOD_CALL_DEFERRED);
 					}
 				}
 
@@ -754,7 +743,7 @@ void AnimationPlayer::_animation_process_animation(AnimationData *p_anim, double
 
 					Ref<AudioStream> stream = a->audio_track_get_key_stream(i, idx);
 					if (!stream.is_valid()) {
-						nc->node->call("stop");
+						nc->node->call(SNAME("stop"));
 						nc->audio_playing = false;
 						playing_caches.erase(nc);
 					} else {
@@ -764,14 +753,14 @@ void AnimationPlayer::_animation_process_animation(AnimationData *p_anim, double
 						float len = stream->get_length();
 
 						if (start_ofs > len - end_ofs) {
-							nc->node->call("stop");
+							nc->node->call(SNAME("stop"));
 							nc->audio_playing = false;
 							playing_caches.erase(nc);
 							continue;
 						}
 
-						nc->node->call("set_stream", stream);
-						nc->node->call("play", start_ofs);
+						nc->node->call(SNAME("set_stream"), stream);
+						nc->node->call(SNAME("play"), start_ofs);
 
 						nc->audio_playing = true;
 						playing_caches.insert(nc);
@@ -793,7 +782,7 @@ void AnimationPlayer::_animation_process_animation(AnimationData *p_anim, double
 
 						Ref<AudioStream> stream = a->audio_track_get_key_stream(i, idx);
 						if (!stream.is_valid()) {
-							nc->node->call("stop");
+							nc->node->call(SNAME("stop"));
 							nc->audio_playing = false;
 							playing_caches.erase(nc);
 						} else {
@@ -801,8 +790,8 @@ void AnimationPlayer::_animation_process_animation(AnimationData *p_anim, double
 							float end_ofs = a->audio_track_get_key_end_offset(i, idx);
 							float len = stream->get_length();
 
-							nc->node->call("set_stream", stream);
-							nc->node->call("play", start_ofs);
+							nc->node->call(SNAME("set_stream"), stream);
+							nc->node->call(SNAME("play"), start_ofs);
 
 							nc->audio_playing = true;
 							playing_caches.insert(nc);
@@ -833,7 +822,7 @@ void AnimationPlayer::_animation_process_animation(AnimationData *p_anim, double
 
 						if (stop) {
 							//time to stop
-							nc->node->call("stop");
+							nc->node->call(SNAME("stop"));
 							nc->audio_playing = false;
 							playing_caches.erase(nc);
 						}
@@ -1544,7 +1533,7 @@ void AnimationPlayer::_animation_changed() {
 void AnimationPlayer::_stop_playing_caches() {
 	for (Set<TrackNodeCache *>::Element *E = playing_caches.front(); E; E = E->next()) {
 		if (E->get()->node && E->get()->audio_playing) {
-			E->get()->node->call("stop");
+			E->get()->node->call(SNAME("stop"));
 		}
 		if (E->get()->node && E->get()->animation_playing) {
 			AnimationPlayer *player = Object::cast_to<AnimationPlayer>(E->get()->node);
diff --git a/scene/animation/animation_tree.cpp b/scene/animation/animation_tree.cpp
index a50618182d..e0e94d8632 100644
--- a/scene/animation/animation_tree.cpp
+++ b/scene/animation/animation_tree.cpp
@@ -490,7 +490,7 @@ void AnimationTree::set_active(bool p_active) {
 	if (!active && is_inside_tree()) {
 		for (Set<TrackCache *>::Element *E = playing_caches.front(); E; E = E->next()) {
 			if (ObjectDB::get_instance(E->get()->object_id)) {
-				E->get()->object->call("stop");
+				E->get()->object->call(SNAME("stop"));
 			}
 		}
 
@@ -796,6 +796,21 @@ void AnimationTree::_clear_caches() {
 	cache_valid = false;
 }
 
+static void _call_object(Object *p_object, const StringName &p_method, const Vector<Variant> &p_params, bool p_deferred) {
+	// Separate function to use alloca() more efficiently
+	const Variant **argptrs = (const Variant **)alloca(sizeof(const Variant **) * p_params.size());
+	const Variant *args = p_params.ptr();
+	uint32_t argcount = p_params.size();
+	for (uint32_t i = 0; i < argcount; i++) {
+		argptrs[i] = &args[i];
+	}
+	if (p_deferred) {
+		MessageQueue::get_singleton()->push_callp(p_object, p_method, argptrs, argcount);
+	} else {
+		Callable::CallError ce;
+		p_object->callp(p_method, argptrs, argcount, ce);
+	}
+}
 void AnimationTree::_process_graph(double p_delta) {
 	_update_properties(); //if properties need updating, update them
 
@@ -1286,25 +1301,10 @@ void AnimationTree::_process_graph(double p_delta) {
 						for (int &F : indices) {
 							StringName method = a->method_track_get_name(i, F);
 							Vector<Variant> params = a->method_track_get_params(i, F);
-
-							int s = params.size();
-
-							static_assert(VARIANT_ARG_MAX == 8, "This code needs to be updated if VARIANT_ARG_MAX != 8");
-							ERR_CONTINUE(s > VARIANT_ARG_MAX);
 							if (can_call) {
-								t->object->call_deferred(
-										method,
-										s >= 1 ? params[0] : Variant(),
-										s >= 2 ? params[1] : Variant(),
-										s >= 3 ? params[2] : Variant(),
-										s >= 4 ? params[3] : Variant(),
-										s >= 5 ? params[4] : Variant(),
-										s >= 6 ? params[5] : Variant(),
-										s >= 7 ? params[6] : Variant(),
-										s >= 8 ? params[7] : Variant());
+								_call_object(t->object, method, params, true);
 							}
 						}
-
 					} break;
 					case Animation::TYPE_BEZIER: {
 						TrackCacheBezier *t = static_cast<TrackCacheBezier *>(track);
@@ -1331,7 +1331,7 @@ void AnimationTree::_process_graph(double p_delta) {
 
 							Ref<AudioStream> stream = a->audio_track_get_key_stream(i, idx);
 							if (!stream.is_valid()) {
-								t->object->call("stop");
+								t->object->call(SNAME("stop"));
 								t->playing = false;
 								playing_caches.erase(t);
 							} else {
@@ -1341,14 +1341,14 @@ void AnimationTree::_process_graph(double p_delta) {
 								double len = stream->get_length();
 
 								if (start_ofs > len - end_ofs) {
-									t->object->call("stop");
+									t->object->call(SNAME("stop"));
 									t->playing = false;
 									playing_caches.erase(t);
 									continue;
 								}
 
-								t->object->call("set_stream", stream);
-								t->object->call("play", start_ofs);
+								t->object->call(SNAME("set_stream"), stream);
+								t->object->call(SNAME("play"), start_ofs);
 
 								t->playing = true;
 								playing_caches.insert(t);
@@ -1370,7 +1370,7 @@ void AnimationTree::_process_graph(double p_delta) {
 
 								Ref<AudioStream> stream = a->audio_track_get_key_stream(i, idx);
 								if (!stream.is_valid()) {
-									t->object->call("stop");
+									t->object->call(SNAME("stop"));
 									t->playing = false;
 									playing_caches.erase(t);
 								} else {
@@ -1378,8 +1378,8 @@ void AnimationTree::_process_graph(double p_delta) {
 									double end_ofs = a->audio_track_get_key_end_offset(i, idx);
 									double len = stream->get_length();
 
-									t->object->call("set_stream", stream);
-									t->object->call("play", start_ofs);
+									t->object->call(SNAME("set_stream"), stream);
+									t->object->call(SNAME("play"), start_ofs);
 
 									t->playing = true;
 									playing_caches.insert(t);
@@ -1416,7 +1416,7 @@ void AnimationTree::_process_graph(double p_delta) {
 
 								if (stop) {
 									//time to stop
-									t->object->call("stop");
+									t->object->call(SNAME("stop"));
 									t->playing = false;
 									playing_caches.erase(t);
 								}
@@ -1424,10 +1424,10 @@ void AnimationTree::_process_graph(double p_delta) {
 						}
 
 						real_t db = Math::linear2db(MAX(blend, 0.00001));
-						if (t->object->has_method("set_unit_db")) {
-							t->object->call("set_unit_db", db);
+						if (t->object->has_method(SNAME("set_unit_db"))) {
+							t->object->call(SNAME("set_unit_db"), db);
 						} else {
-							t->object->call("set_volume_db", db);
+							t->object->call(SNAME("set_volume_db"), db);
 						}
 					} break;
 					case Animation::TYPE_ANIMATION: {
diff --git a/scene/animation/root_motion_view.cpp b/scene/animation/root_motion_view.cpp
index 46fe832cf5..42adc1ea02 100644
--- a/scene/animation/root_motion_view.cpp
+++ b/scene/animation/root_motion_view.cpp
@@ -166,10 +166,6 @@ AABB RootMotionView::get_aabb() const {
 	return AABB(Vector3(-radius, 0, -radius), Vector3(radius * 2, 0.001, radius * 2));
 }
 
-Vector<Face3> RootMotionView::get_faces(uint32_t p_usage_flags) const {
-	return Vector<Face3>();
-}
-
 void RootMotionView::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_animation_path", "path"), &RootMotionView::set_animation_path);
 	ClassDB::bind_method(D_METHOD("get_animation_path"), &RootMotionView::get_animation_path);
diff --git a/scene/animation/root_motion_view.h b/scene/animation/root_motion_view.h
index e8b141c1fd..8cb8ea8a9a 100644
--- a/scene/animation/root_motion_view.h
+++ b/scene/animation/root_motion_view.h
@@ -71,7 +71,6 @@ public:
 	bool get_zero_y() const;
 
 	virtual AABB get_aabb() const override;
-	virtual Vector<Face3> get_faces(uint32_t p_usage_flags) const override;
 
 	RootMotionView();
 	~RootMotionView();
diff --git a/scene/debugger/scene_debugger.cpp b/scene/debugger/scene_debugger.cpp
index e5b81f9d8d..ac0d017a23 100644
--- a/scene/debugger/scene_debugger.cpp
+++ b/scene/debugger/scene_debugger.cpp
@@ -34,6 +34,7 @@
 #include "core/debugger/engine_profiler.h"
 #include "core/io/marshalls.h"
 #include "core/object/script_language.h"
+#include "core/templates/local_vector.h"
 #include "scene/main/scene_tree.h"
 #include "scene/main/window.h"
 #include "scene/resources/packed_scene.h"
@@ -236,12 +237,28 @@ Error SceneDebugger::parse_message(void *p_user, const String &p_msg, const Arra
 		live_editor->_res_set_func(p_args[0], p_args[1], p_args[2]);
 
 	} else if (p_msg == "live_node_call") {
-		ERR_FAIL_COND_V(p_args.size() < 10, ERR_INVALID_DATA);
-		live_editor->_node_call_func(p_args[0], p_args[1], p_args[2], p_args[3], p_args[4], p_args[5], p_args[6], p_args[7], p_args[8], p_args[9]);
+		LocalVector<Variant> args;
+		LocalVector<Variant *> argptrs;
+		args.resize(p_args.size() - 2);
+		argptrs.resize(args.size());
+		for (uint32_t i = 0; i < args.size(); i++) {
+			args[i] = p_args[i + 2];
+			argptrs[i] = &args[i];
+		}
+		live_editor->_node_call_func(p_args[0], p_args[1], (const Variant **)argptrs.ptr(), argptrs.size());
 
 	} else if (p_msg == "live_res_call") {
 		ERR_FAIL_COND_V(p_args.size() < 10, ERR_INVALID_DATA);
-		live_editor->_res_call_func(p_args[0], p_args[1], p_args[2], p_args[3], p_args[4], p_args[5], p_args[6], p_args[7], p_args[8], p_args[9]);
+
+		LocalVector<Variant> args;
+		LocalVector<Variant *> argptrs;
+		args.resize(p_args.size() - 2);
+		argptrs.resize(args.size());
+		for (uint32_t i = 0; i < args.size(); i++) {
+			args[i] = p_args[i + 2];
+			argptrs[i] = &args[i];
+		}
+		live_editor->_res_call_func(p_args[0], p_args[1], (const Variant **)argptrs.ptr(), argptrs.size());
 
 	} else if (p_msg == "live_create_node") {
 		ERR_FAIL_COND_V(p_args.size() < 3, ERR_INVALID_DATA);
@@ -636,7 +653,7 @@ void LiveEditor::_node_set_res_func(int p_id, const StringName &p_prop, const St
 	_node_set_func(p_id, p_prop, r);
 }
 
-void LiveEditor::_node_call_func(int p_id, const StringName &p_method, VARIANT_ARG_DECLARE) {
+void LiveEditor::_node_call_func(int p_id, const StringName &p_method, const Variant **p_args, int p_argcount) {
 	SceneTree *scene_tree = SceneTree::get_singleton();
 	if (!scene_tree) {
 		return;
@@ -668,7 +685,8 @@ void LiveEditor::_node_call_func(int p_id, const StringName &p_method, VARIANT_A
 		}
 		Node *n2 = n->get_node(np);
 
-		n2->call(p_method, VARIANT_ARG_PASS);
+		Callable::CallError ce;
+		n2->callp(p_method, p_args, p_argcount, ce);
 	}
 }
 
@@ -699,7 +717,7 @@ void LiveEditor::_res_set_res_func(int p_id, const StringName &p_prop, const Str
 	_res_set_func(p_id, p_prop, r);
 }
 
-void LiveEditor::_res_call_func(int p_id, const StringName &p_method, VARIANT_ARG_DECLARE) {
+void LiveEditor::_res_call_func(int p_id, const StringName &p_method, const Variant **p_args, int p_argcount) {
 	if (!live_edit_resource_cache.has(p_id)) {
 		return;
 	}
@@ -715,7 +733,8 @@ void LiveEditor::_res_call_func(int p_id, const StringName &p_method, VARIANT_AR
 		return;
 	}
 
-	r->call(p_method, VARIANT_ARG_PASS);
+	Callable::CallError ce;
+	r->callp(p_method, p_args, p_argcount, ce);
 }
 
 void LiveEditor::_root_func(const NodePath &p_scene_path, const String &p_scene_from) {
diff --git a/scene/debugger/scene_debugger.h b/scene/debugger/scene_debugger.h
index dd0a17c2dc..29d7da7d11 100644
--- a/scene/debugger/scene_debugger.h
+++ b/scene/debugger/scene_debugger.h
@@ -148,10 +148,10 @@ private:
 
 	void _node_set_func(int p_id, const StringName &p_prop, const Variant &p_value);
 	void _node_set_res_func(int p_id, const StringName &p_prop, const String &p_value);
-	void _node_call_func(int p_id, const StringName &p_method, VARIANT_ARG_DECLARE);
+	void _node_call_func(int p_id, const StringName &p_method, const Variant **p_args, int p_argcount);
 	void _res_set_func(int p_id, const StringName &p_prop, const Variant &p_value);
 	void _res_set_res_func(int p_id, const StringName &p_prop, const String &p_value);
-	void _res_call_func(int p_id, const StringName &p_method, VARIANT_ARG_DECLARE);
+	void _res_call_func(int p_id, const StringName &p_method, const Variant **p_args, int p_argcount);
 	void _root_func(const NodePath &p_scene_path, const String &p_scene_from);
 
 	void _create_node_func(const NodePath &p_parent, const String &p_type, const String &p_name);
diff --git a/scene/gui/base_button.cpp b/scene/gui/base_button.cpp
index 0338326bbe..ab86face7e 100644
--- a/scene/gui/base_button.cpp
+++ b/scene/gui/base_button.cpp
@@ -349,7 +349,7 @@ Ref<Shortcut> BaseButton::get_shortcut() const {
 void BaseButton::unhandled_key_input(const Ref<InputEvent> &p_event) {
 	ERR_FAIL_COND(p_event.is_null());
 
-	if (!_is_focus_owner_in_shorcut_context()) {
+	if (!_is_focus_owner_in_shortcut_context()) {
 		return;
 	}
 
@@ -404,7 +404,7 @@ Node *BaseButton::get_shortcut_context() const {
 	return ctx_node;
 }
 
-bool BaseButton::_is_focus_owner_in_shorcut_context() const {
+bool BaseButton::_is_focus_owner_in_shortcut_context() const {
 	if (shortcut_context == ObjectID()) {
 		// No context, therefore global - always "in" context.
 		return true;
diff --git a/scene/gui/base_button.h b/scene/gui/base_button.h
index 6bfffe7575..a2b6ee0845 100644
--- a/scene/gui/base_button.h
+++ b/scene/gui/base_button.h
@@ -80,7 +80,7 @@ protected:
 	virtual void unhandled_key_input(const Ref<InputEvent> &p_event) override;
 	void _notification(int p_what);
 
-	bool _is_focus_owner_in_shorcut_context() const;
+	bool _is_focus_owner_in_shortcut_context() const;
 
 	GDVIRTUAL0(_pressed)
 	GDVIRTUAL1(_toggled, bool)
diff --git a/scene/gui/button.cpp b/scene/gui/button.cpp
index 27e8b102be..724714b93b 100644
--- a/scene/gui/button.cpp
+++ b/scene/gui/button.cpp
@@ -583,8 +583,8 @@ void Button::_bind_methods() {
 Button::Button(const String &p_text) {
 	text_buf.instantiate();
 	text_buf->set_flags(TextServer::BREAK_MANDATORY);
-
 	set_mouse_filter(MOUSE_FILTER_STOP);
+
 	set_text(p_text);
 }
 
diff --git a/scene/gui/check_button.cpp b/scene/gui/check_button.cpp
index 5e3131f8a0..527b0061ac 100644
--- a/scene/gui/check_button.cpp
+++ b/scene/gui/check_button.cpp
@@ -111,9 +111,12 @@ void CheckButton::_notification(int p_what) {
 	}
 }
 
-CheckButton::CheckButton() {
+CheckButton::CheckButton(const String &p_text) :
+		Button(p_text) {
 	set_toggle_mode(true);
+
 	set_text_alignment(HORIZONTAL_ALIGNMENT_LEFT);
+
 	if (is_layout_rtl()) {
 		_set_internal_margin(SIDE_LEFT, get_icon_size().width);
 	} else {
diff --git a/scene/gui/check_button.h b/scene/gui/check_button.h
index 9a72d04db2..7d4bb8bdfc 100644
--- a/scene/gui/check_button.h
+++ b/scene/gui/check_button.h
@@ -42,7 +42,7 @@ protected:
 	void _notification(int p_what);
 
 public:
-	CheckButton();
+	CheckButton(const String &p_text = String());
 	~CheckButton();
 };
 
diff --git a/scene/gui/color_picker.cpp b/scene/gui/color_picker.cpp
index 3ea2a9795d..9f32ac223c 100644
--- a/scene/gui/color_picker.cpp
+++ b/scene/gui/color_picker.cpp
@@ -1304,7 +1304,7 @@ void ColorPickerButton::pressed() {
 
 	Size2 size = get_size() * get_viewport()->get_canvas_transform().get_scale();
 
-	popup->set_as_minsize();
+	popup->reset_size();
 	picker->_update_presets();
 
 	Rect2i usable_rect = popup->get_usable_parent_rect();
@@ -1429,7 +1429,8 @@ void ColorPickerButton::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "edit_alpha"), "set_edit_alpha", "is_editing_alpha");
 }
 
-ColorPickerButton::ColorPickerButton() {
+ColorPickerButton::ColorPickerButton(const String &p_text) :
+		Button(p_text) {
 	set_toggle_mode(true);
 }
 
diff --git a/scene/gui/color_picker.h b/scene/gui/color_picker.h
index d6067b1cf4..6f3e16009c 100644
--- a/scene/gui/color_picker.h
+++ b/scene/gui/color_picker.h
@@ -231,7 +231,7 @@ public:
 	ColorPicker *get_picker();
 	PopupPanel *get_popup();
 
-	ColorPickerButton();
+	ColorPickerButton(const String &p_text = String());
 };
 
 VARIANT_ENUM_CAST(ColorPicker::PickerShapeType);
diff --git a/scene/gui/control.cpp b/scene/gui/control.cpp
index 46f60c92d9..d8659b1f18 100644
--- a/scene/gui/control.cpp
+++ b/scene/gui/control.cpp
@@ -190,10 +190,10 @@ String Control::properties_managed_by_container[] = {
 	"anchor_top",
 	"anchor_right",
 	"anchor_bottom",
-	"rect_position",
-	"rect_rotation",
-	"rect_scale",
-	"rect_size"
+	"position",
+	"rotation",
+	"scale",
+	"size"
 };
 
 void Control::accept_event() {
@@ -250,42 +250,41 @@ Transform2D Control::_get_internal_transform() const {
 
 bool Control::_set(const StringName &p_name, const Variant &p_value) {
 	String name = p_name;
-	// Prefixes "custom_*" are supported for compatibility with 3.x.
-	if (!name.begins_with("theme_override") && !name.begins_with("custom")) {
+	if (!name.begins_with("theme_override")) {
 		return false;
 	}
 
 	if (p_value.get_type() == Variant::NIL || (p_value.get_type() == Variant::OBJECT && (Object *)p_value == nullptr)) {
-		if (name.begins_with("theme_override_icons/") || name.begins_with("custom_icons/")) {
+		if (name.begins_with("theme_override_icons/")) {
 			String dname = name.get_slicec('/', 1);
 			if (data.icon_override.has(dname)) {
 				data.icon_override[dname]->disconnect("changed", callable_mp(this, &Control::_override_changed));
 			}
 			data.icon_override.erase(dname);
 			notification(NOTIFICATION_THEME_CHANGED);
-		} else if (name.begins_with("theme_override_styles/") || name.begins_with("custom_styles/")) {
+		} else if (name.begins_with("theme_override_styles/")) {
 			String dname = name.get_slicec('/', 1);
 			if (data.style_override.has(dname)) {
 				data.style_override[dname]->disconnect("changed", callable_mp(this, &Control::_override_changed));
 			}
 			data.style_override.erase(dname);
 			notification(NOTIFICATION_THEME_CHANGED);
-		} else if (name.begins_with("theme_override_fonts/") || name.begins_with("custom_fonts/")) {
+		} else if (name.begins_with("theme_override_fonts/")) {
 			String dname = name.get_slicec('/', 1);
 			if (data.font_override.has(dname)) {
 				data.font_override[dname]->disconnect("changed", callable_mp(this, &Control::_override_changed));
 			}
 			data.font_override.erase(dname);
 			notification(NOTIFICATION_THEME_CHANGED);
-		} else if (name.begins_with("theme_override_font_sizes/") || name.begins_with("custom_font_sizes/")) {
+		} else if (name.begins_with("theme_override_font_sizes/")) {
 			String dname = name.get_slicec('/', 1);
 			data.font_size_override.erase(dname);
 			notification(NOTIFICATION_THEME_CHANGED);
-		} else if (name.begins_with("theme_override_colors/") || name.begins_with("custom_colors/")) {
+		} else if (name.begins_with("theme_override_colors/")) {
 			String dname = name.get_slicec('/', 1);
 			data.color_override.erase(dname);
 			notification(NOTIFICATION_THEME_CHANGED);
-		} else if (name.begins_with("theme_override_constants/") || name.begins_with("custom_constants/")) {
+		} else if (name.begins_with("theme_override_constants/")) {
 			String dname = name.get_slicec('/', 1);
 			data.constant_override.erase(dname);
 			notification(NOTIFICATION_THEME_CHANGED);
@@ -294,22 +293,22 @@ bool Control::_set(const StringName &p_name, const Variant &p_value) {
 		}
 
 	} else {
-		if (name.begins_with("theme_override_icons/") || name.begins_with("custom_icons/")) {
+		if (name.begins_with("theme_override_icons/")) {
 			String dname = name.get_slicec('/', 1);
 			add_theme_icon_override(dname, p_value);
-		} else if (name.begins_with("theme_override_styles/") || name.begins_with("custom_styles/")) {
+		} else if (name.begins_with("theme_override_styles/")) {
 			String dname = name.get_slicec('/', 1);
 			add_theme_style_override(dname, p_value);
-		} else if (name.begins_with("theme_override_fonts/") || name.begins_with("custom_fonts/")) {
+		} else if (name.begins_with("theme_override_fonts/")) {
 			String dname = name.get_slicec('/', 1);
 			add_theme_font_override(dname, p_value);
-		} else if (name.begins_with("theme_override_font_sizes/") || name.begins_with("custom_font_sizes/")) {
+		} else if (name.begins_with("theme_override_font_sizes/")) {
 			String dname = name.get_slicec('/', 1);
 			add_theme_font_size_override(dname, p_value);
-		} else if (name.begins_with("theme_override_colors/") || name.begins_with("custom_colors/")) {
+		} else if (name.begins_with("theme_override_colors/")) {
 			String dname = name.get_slicec('/', 1);
 			add_theme_color_override(dname, p_value);
-		} else if (name.begins_with("theme_override_constants/") || name.begins_with("custom_constants/")) {
+		} else if (name.begins_with("theme_override_constants/")) {
 			String dname = name.get_slicec('/', 1);
 			add_theme_constant_override(dname, p_value);
 		} else {
@@ -491,7 +490,7 @@ void Control::_validate_property(PropertyInfo &property) const {
 	} else if (Object::cast_to<Container>(parent_node)) {
 		// If the parent is a container, display only container-related properties.
 		if (property.name.begins_with("anchor_") || property.name.begins_with("offset_") || property.name.begins_with("grow_") || property.name == "anchors_preset" ||
-				(property.name.begins_with("rect_") && property.name != "rect_min_size" && property.name != "rect_clip_content" && property.name != "rect_global_position")) {
+				property.name == "position" || property.name == "rotation" || property.name == "scale" || property.name == "size" || property.name == "pivot_offset") {
 			property.usage ^= PROPERTY_USAGE_EDITOR;
 
 		} else if (property.name == "layout_mode") {
@@ -3343,8 +3342,8 @@ void Control::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("is_auto_translating"), &Control::is_auto_translating);
 
 	ADD_GROUP("Layout", "");
-	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "rect_clip_content"), "set_clip_contents", "is_clipping_contents");
-	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "rect_min_size"), "set_custom_minimum_size", "get_custom_minimum_size");
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "clip_contents"), "set_clip_contents", "is_clipping_contents");
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "minimum_size"), "set_custom_minimum_size", "get_custom_minimum_size");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "layout_direction", PROPERTY_HINT_ENUM, "Inherited,Locale,Left-to-Right,Right-to-Left"), "set_layout_direction", "get_layout_direction");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "layout_mode", PROPERTY_HINT_ENUM, "Position,Anchors,Container,Uncontrolled", PROPERTY_USAGE_EDITOR | PROPERTY_USAGE_INTERNAL), "_set_layout_mode", "_get_layout_mode");
 	ADD_PROPERTY_DEFAULT("layout_mode", LayoutMode::LAYOUT_MODE_POSITION);
@@ -3373,15 +3372,13 @@ void Control::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "grow_horizontal", PROPERTY_HINT_ENUM, "Left,Right,Both"), "set_h_grow_direction", "get_h_grow_direction");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "grow_vertical", PROPERTY_HINT_ENUM, "Top,Bottom,Both"), "set_v_grow_direction", "get_v_grow_direction");
 
-	ADD_SUBGROUP("Rectangle", "rect_");
-	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "rect_position", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_EDITOR), "_set_position", "get_position");
-	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "rect_global_position", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NONE), "_set_global_position", "get_global_position");
-	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "rect_size", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_EDITOR), "_set_size", "get_size");
-
-	ADD_SUBGROUP("Transform", "rect_");
-	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "rect_rotation", PROPERTY_HINT_RANGE, "-360,360,0.1,or_lesser,or_greater,radians"), "set_rotation", "get_rotation");
-	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "rect_scale"), "set_scale", "get_scale");
-	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "rect_pivot_offset"), "set_pivot_offset", "get_pivot_offset");
+	ADD_SUBGROUP("Transform", "");
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "size", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_EDITOR), "_set_size", "get_size");
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "position", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_EDITOR), "_set_position", "get_position");
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "global_position", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NONE), "_set_global_position", "get_global_position");
+	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "rotation", PROPERTY_HINT_RANGE, "-360,360,0.1,or_lesser,or_greater,radians"), "set_rotation", "get_rotation");
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "scale"), "set_scale", "get_scale");
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "pivot_offset"), "set_pivot_offset", "get_pivot_offset");
 
 	ADD_SUBGROUP("Container Sizing", "size_flags_");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "size_flags_horizontal", PROPERTY_HINT_FLAGS, "Fill:1,Expand:2,Shrink Center:4,Shrink End:8"), "set_h_size_flags", "get_h_size_flags");
diff --git a/scene/gui/file_dialog.cpp b/scene/gui/file_dialog.cpp
index 79aaf5c511..678229683f 100644
--- a/scene/gui/file_dialog.cpp
+++ b/scene/gui/file_dialog.cpp
@@ -262,7 +262,8 @@ void FileDialog::_action_pressed() {
 		return;
 	}
 
-	String f = dir_access->get_current_dir().plus_file(file->get_text());
+	String file_text = file->get_text();
+	String f = file_text.is_absolute_path() ? file_text : dir_access->get_current_dir().plus_file(file_text);
 
 	if ((mode == FILE_MODE_OPEN_ANY || mode == FILE_MODE_OPEN_FILE) && dir_access->file_exists(f)) {
 		emit_signal(SNAME("file_selected"), f);
diff --git a/scene/gui/line_edit.cpp b/scene/gui/line_edit.cpp
index ff4e071a95..da39a3d387 100644
--- a/scene/gui/line_edit.cpp
+++ b/scene/gui/line_edit.cpp
@@ -647,8 +647,8 @@ void LineEdit::_notification(int p_what) {
 #ifdef TOOLS_ENABLED
 		case NOTIFICATION_ENTER_TREE: {
 			if (Engine::get_singleton()->is_editor_hint() && !get_tree()->is_node_being_edited(this)) {
-				set_caret_blink_enabled(EDITOR_DEF("text_editor/appearance/caret/caret_blink", false));
-				set_caret_blink_speed(EDITOR_DEF("text_editor/appearance/caret/caret_blink_speed", 0.65));
+				set_caret_blink_enabled(EDITOR_GET("text_editor/appearance/caret/caret_blink"));
+				set_caret_blink_speed(EDITOR_GET("text_editor/appearance/caret/caret_blink_speed"));
 
 				if (!EditorSettings::get_singleton()->is_connected("settings_changed", callable_mp(this, &LineEdit::_editor_settings_changed))) {
 					EditorSettings::get_singleton()->connect("settings_changed", callable_mp(this, &LineEdit::_editor_settings_changed));
@@ -1944,8 +1944,8 @@ PopupMenu *LineEdit::get_menu() const {
 
 void LineEdit::_editor_settings_changed() {
 #ifdef TOOLS_ENABLED
-	set_caret_blink_enabled(EDITOR_DEF("text_editor/appearance/caret/caret_blink", false));
-	set_caret_blink_speed(EDITOR_DEF("text_editor/appearance/caret/caret_blink_speed", 0.65));
+	set_caret_blink_enabled(EDITOR_GET("text_editor/appearance/caret/caret_blink"));
+	set_caret_blink_speed(EDITOR_GET("text_editor/appearance/caret/caret_blink_speed"));
 #endif
 }
 
@@ -2437,7 +2437,7 @@ void LineEdit::_ensure_menu() {
 	}
 }
 
-LineEdit::LineEdit() {
+LineEdit::LineEdit(const String &p_placeholder) {
 	text_rid = TS->create_shaped_text();
 	_create_undo_state();
 
@@ -2452,6 +2452,8 @@ LineEdit::LineEdit() {
 	caret_blink_timer->connect("timeout", callable_mp(this, &LineEdit::_toggle_draw_caret));
 	set_caret_blink_enabled(false);
 
+	set_placeholder(p_placeholder);
+
 	set_editable(true); // Initialise to opposite first, so we get past the early-out in set_editable.
 }
 
diff --git a/scene/gui/line_edit.h b/scene/gui/line_edit.h
index 1519c09d73..444c9a1c50 100644
--- a/scene/gui/line_edit.h
+++ b/scene/gui/line_edit.h
@@ -332,7 +332,7 @@ public:
 
 	void show_virtual_keyboard();
 
-	LineEdit();
+	LineEdit(const String &p_placeholder = String());
 	~LineEdit();
 };
 
diff --git a/scene/gui/link_button.cpp b/scene/gui/link_button.cpp
index 8f40f717c2..dc4f09d22d 100644
--- a/scene/gui/link_button.cpp
+++ b/scene/gui/link_button.cpp
@@ -317,8 +317,10 @@ void LinkButton::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "structured_text_bidi_override_options"), "set_structured_text_bidi_override_options", "get_structured_text_bidi_override_options");
 }
 
-LinkButton::LinkButton() {
+LinkButton::LinkButton(const String &p_text) {
 	text_buf.instantiate();
 	set_focus_mode(FOCUS_NONE);
 	set_default_cursor_shape(CURSOR_POINTING_HAND);
+
+	set_text(p_text);
 }
diff --git a/scene/gui/link_button.h b/scene/gui/link_button.h
index a455e866b1..f996558f32 100644
--- a/scene/gui/link_button.h
+++ b/scene/gui/link_button.h
@@ -90,7 +90,7 @@ public:
 	void set_underline_mode(UnderlineMode p_underline_mode);
 	UnderlineMode get_underline_mode() const;
 
-	LinkButton();
+	LinkButton(const String &p_text = String());
 };
 
 VARIANT_ENUM_CAST(LinkButton::UnderlineMode);
diff --git a/scene/gui/menu_button.cpp b/scene/gui/menu_button.cpp
index 46d8a61ca1..7e724e4d71 100644
--- a/scene/gui/menu_button.cpp
+++ b/scene/gui/menu_button.cpp
@@ -36,7 +36,7 @@
 void MenuButton::unhandled_key_input(const Ref<InputEvent> &p_event) {
 	ERR_FAIL_COND(p_event.is_null());
 
-	if (!_is_focus_owner_in_shorcut_context()) {
+	if (!_is_focus_owner_in_shortcut_context()) {
 		return;
 	}
 
@@ -227,7 +227,8 @@ void MenuButton::set_disable_shortcuts(bool p_disabled) {
 	disable_shortcuts = p_disabled;
 }
 
-MenuButton::MenuButton() {
+MenuButton::MenuButton(const String &p_text) :
+		Button(p_text) {
 	set_flat(true);
 	set_toggle_mode(true);
 	set_disable_shortcuts(false);
diff --git a/scene/gui/menu_button.h b/scene/gui/menu_button.h
index 3647a69d33..9cfb780255 100644
--- a/scene/gui/menu_button.h
+++ b/scene/gui/menu_button.h
@@ -67,7 +67,7 @@ public:
 	void set_item_count(int p_count);
 	int get_item_count() const;
 
-	MenuButton();
+	MenuButton(const String &p_text = String());
 	~MenuButton();
 };
 
diff --git a/scene/gui/option_button.cpp b/scene/gui/option_button.cpp
index 698d74843c..b3804e73d9 100644
--- a/scene/gui/option_button.cpp
+++ b/scene/gui/option_button.cpp
@@ -412,7 +412,8 @@ void OptionButton::_bind_methods() {
 	ADD_SIGNAL(MethodInfo("item_focused", PropertyInfo(Variant::INT, "index")));
 }
 
-OptionButton::OptionButton() {
+OptionButton::OptionButton(const String &p_text) :
+		Button(p_text) {
 	set_toggle_mode(true);
 	set_text_alignment(HORIZONTAL_ALIGNMENT_LEFT);
 	if (is_layout_rtl()) {
diff --git a/scene/gui/option_button.h b/scene/gui/option_button.h
index adf2bb90ef..5352fe18a6 100644
--- a/scene/gui/option_button.h
+++ b/scene/gui/option_button.h
@@ -94,7 +94,7 @@ public:
 
 	virtual void get_translatable_strings(List<String> *p_strings) const override;
 
-	OptionButton();
+	OptionButton(const String &p_text = String());
 	~OptionButton();
 };
 
diff --git a/scene/gui/popup.cpp b/scene/gui/popup.cpp
index 24b91cd16a..b9e3e7814e 100644
--- a/scene/gui/popup.cpp
+++ b/scene/gui/popup.cpp
@@ -111,10 +111,6 @@ void Popup::_close_pressed() {
 	call_deferred(SNAME("hide"));
 }
 
-void Popup::set_as_minsize() {
-	set_size(get_contents_minimum_size());
-}
-
 void Popup::_bind_methods() {
 	ADD_SIGNAL(MethodInfo("popup_hide"));
 }
diff --git a/scene/gui/popup.h b/scene/gui/popup.h
index a3c56c9ff1..c45f4ddc24 100644
--- a/scene/gui/popup.h
+++ b/scene/gui/popup.h
@@ -58,8 +58,6 @@ protected:
 	static void _bind_methods();
 
 public:
-	void set_as_minsize();
-
 	Popup();
 	~Popup();
 };
diff --git a/scene/gui/popup_menu.cpp b/scene/gui/popup_menu.cpp
index af2edfa090..840c3d5c31 100644
--- a/scene/gui/popup_menu.cpp
+++ b/scene/gui/popup_menu.cpp
@@ -186,7 +186,7 @@ void PopupMenu::_activate_submenu(int p_over) {
 
 	float scroll_offset = control->get_position().y;
 
-	submenu_popup->set_as_minsize(); // Shrink the popup size to its contents.
+	submenu_popup->reset_size(); // Shrink the popup size to its contents.
 	Size2 submenu_size = submenu_popup->get_size();
 
 	Point2 submenu_pos;
diff --git a/scene/gui/range.cpp b/scene/gui/range.cpp
index 879f25c8d8..2fb6452a97 100644
--- a/scene/gui/range.cpp
+++ b/scene/gui/range.cpp
@@ -40,6 +40,9 @@ TypedArray<String> Range::get_configuration_warnings() const {
 	return warnings;
 }
 
+void Range::_value_changed(double p_value) {
+	GDVIRTUAL_CALL(_value_changed, p_value);
+}
 void Range::_value_changed_notify() {
 	_value_changed(shared->val);
 	emit_signal(SNAME("value_changed"), shared->val);
@@ -279,6 +282,8 @@ void Range::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "allow_greater"), "set_allow_greater", "is_greater_allowed");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "allow_lesser"), "set_allow_lesser", "is_lesser_allowed");
 
+	GDVIRTUAL_BIND(_value_changed);
+
 	ADD_LINKED_PROPERTY("min_value", "value");
 	ADD_LINKED_PROPERTY("min_value", "max_value");
 	ADD_LINKED_PROPERTY("min_value", "page");
diff --git a/scene/gui/range.h b/scene/gui/range.h
index c27eeee13c..597c50ca26 100644
--- a/scene/gui/range.h
+++ b/scene/gui/range.h
@@ -62,12 +62,14 @@ class Range : public Control {
 	void _validate_values();
 
 protected:
-	virtual void _value_changed(double) {}
+	virtual void _value_changed(double p_value);
 
 	static void _bind_methods();
 
 	bool _rounded_values = false;
 
+	GDVIRTUAL1(_value_changed, double)
+
 public:
 	void set_value(double p_val);
 	void set_min(double p_min);
diff --git a/scene/gui/rich_text_label.cpp b/scene/gui/rich_text_label.cpp
index dd07831b83..bad7be7d42 100644
--- a/scene/gui/rich_text_label.cpp
+++ b/scene/gui/rich_text_label.cpp
@@ -3250,6 +3250,10 @@ void RichTextLabel::append_text(const String &p_bbcode) {
 			push_paragraph(HORIZONTAL_ALIGNMENT_FILL);
 			pos = brk_end + 1;
 			tag_stack.push_front(tag);
+		} else if (tag == "left") {
+			push_paragraph(HORIZONTAL_ALIGNMENT_LEFT);
+			pos = brk_end + 1;
+			tag_stack.push_front(tag);
 		} else if (tag == "right") {
 			push_paragraph(HORIZONTAL_ALIGNMENT_RIGHT);
 			pos = brk_end + 1;
@@ -4712,7 +4716,7 @@ Dictionary RichTextLabel::parse_expressions_for_values(Vector<String> p_expressi
 	return d;
 }
 
-RichTextLabel::RichTextLabel() {
+RichTextLabel::RichTextLabel(const String &p_text) {
 	main = memnew(ItemFrame);
 	main->index = 0;
 	current = main;
@@ -4734,6 +4738,8 @@ RichTextLabel::RichTextLabel() {
 	vscroll->set_step(1);
 	vscroll->hide();
 
+	set_text(p_text);
+
 	set_clip_contents(true);
 }
 
diff --git a/scene/gui/rich_text_label.h b/scene/gui/rich_text_label.h
index 53c2046c8f..076b68a0da 100644
--- a/scene/gui/rich_text_label.h
+++ b/scene/gui/rich_text_label.h
@@ -620,7 +620,7 @@ public:
 	void set_fixed_size_to_width(int p_width);
 	virtual Size2 get_minimum_size() const override;
 
-	RichTextLabel();
+	RichTextLabel(const String &p_text = String());
 	~RichTextLabel();
 };
 
diff --git a/scene/gui/spin_box.cpp b/scene/gui/spin_box.cpp
index 5fd31c5416..e50d7e765c 100644
--- a/scene/gui/spin_box.cpp
+++ b/scene/gui/spin_box.cpp
@@ -39,7 +39,7 @@ Size2 SpinBox::get_minimum_size() const {
 	return ms;
 }
 
-void SpinBox::_value_changed(double) {
+void SpinBox::_value_changed(double p_value) {
 	String value = TS->format_number(String::num(get_value(), Math::range_step_decimals(get_step())));
 	if (!prefix.is_empty()) {
 		value = prefix + " " + value;
@@ -48,6 +48,7 @@ void SpinBox::_value_changed(double) {
 		value += " " + suffix;
 	}
 	line_edit->set_text(value);
+	Range::_value_changed(p_value);
 }
 
 void SpinBox::_text_submitted(const String &p_string) {
diff --git a/scene/gui/spin_box.h b/scene/gui/spin_box.h
index 0691a4b48d..a15e3fe5f5 100644
--- a/scene/gui/spin_box.h
+++ b/scene/gui/spin_box.h
@@ -47,7 +47,7 @@ class SpinBox : public Range {
 	void _release_mouse();
 
 	void _text_submitted(const String &p_string);
-	virtual void _value_changed(double) override;
+	virtual void _value_changed(double p_value) override;
 	void _text_changed(const String &p_string);
 
 	String prefix;
diff --git a/scene/gui/tab_bar.cpp b/scene/gui/tab_bar.cpp
index ce60da762f..af314b9545 100644
--- a/scene/gui/tab_bar.cpp
+++ b/scene/gui/tab_bar.cpp
@@ -71,7 +71,7 @@ Size2 TabBar::get_minimum_size() const {
 
 		Ref<Texture2D> tex = tabs[i].icon;
 		if (tex.is_valid()) {
-			ms.height = MAX(ms.height, tex->get_size().height);
+			ms.height = MAX(ms.height, tex->get_size().height + y_margin);
 			ms.width += tex->get_size().width + hseparation;
 		}
 
@@ -91,13 +91,13 @@ Size2 TabBar::get_minimum_size() const {
 				ms.width += button_highlight->get_margin(SIDE_LEFT) + rb->get_width() + hseparation;
 			}
 
-			ms.height = MAX(rb->get_height() + style->get_minimum_size().height, ms.height);
+			ms.height = MAX(ms.height, rb->get_height() + y_margin);
 		}
 
 		if (close_visible) {
 			ms.width += button_highlight->get_margin(SIDE_LEFT) + close->get_width() + hseparation;
 
-			ms.height = MAX(close->get_height() + style->get_minimum_size().height, ms.height);
+			ms.height = MAX(ms.height, close->get_height() + y_margin);
 		}
 
 		if (ms.width - ofs > style->get_minimum_size().width) {
@@ -552,10 +552,6 @@ void TabBar::set_current_tab(int p_current) {
 		emit_signal(SNAME("tab_selected"), current);
 		return;
 	}
-	// Triggered by dragging a tab from another TabBar to the selected index, to ensure that tab_changed is emitted.
-	if (previous == -1) {
-		previous = current;
-	}
 
 	emit_signal(SNAME("tab_selected"), current);
 
@@ -831,78 +827,52 @@ void TabBar::_update_cache() {
 	int limit_minus_buttons = limit - incr->get_width() - decr->get_width();
 
 	int w = 0;
-	int mw = 0;
-	int size_fixed = 0;
-	int count_resize = 0;
+
+	max_drawn_tab = tabs.size() - 1;
 
 	for (int i = 0; i < tabs.size(); i++) {
-		tabs.write[i].size_text = Math::ceil(tabs[i].text_buf->get_size().x);
 		tabs.write[i].text_buf->set_width(-1);
-
-		tabs.write[i].ofs_cache = 0;
+		tabs.write[i].size_text = Math::ceil(tabs[i].text_buf->get_size().x);
 		tabs.write[i].size_cache = get_tab_width(i);
 
-		if (!tabs[i].hidden) {
-			mw += tabs[i].size_cache;
+		if (max_width > 0 && tabs[i].size_cache > max_width) {
+			int size_textless = tabs[i].size_cache - tabs[i].size_text;
+			int mw = MAX(size_textless, max_width);
 
-			if (tabs[i].size_cache <= min_width || i == current) {
-				size_fixed += tabs[i].size_cache;
-			} else {
-				count_resize++;
-			}
+			tabs.write[i].size_text = MAX(mw - size_textless, 1);
+			tabs.write[i].text_buf->set_width(tabs[i].size_text);
+			tabs.write[i].size_cache = size_textless + tabs[i].size_text;
 		}
-	}
-
-	int m_width = min_width;
-	if (count_resize > 0) {
-		m_width = MAX((limit_minus_buttons - size_fixed) / count_resize, min_width);
-	}
-
-	for (int i = offset; i < tabs.size(); i++) {
-		if (tabs[i].hidden) {
-			tabs.write[i].ofs_cache = w;
-			max_drawn_tab = i;
 
+		if (i < offset || i > max_drawn_tab) {
+			tabs.write[i].ofs_cache = 0;
 			continue;
 		}
 
-		int lsize = tabs[i].size_cache;
-		int slen = tabs[i].size_text;
+		tabs.write[i].ofs_cache = w;
 
-		// FIXME: This is completely broken.
-		if (min_width > 0 && (mw > limit || (offset > 0 && mw > limit_minus_buttons)) && i != current && lsize > m_width) {
-			slen = MAX(m_width - tabs[i].size_cache + tabs[i].size_text, 1);
-			lsize = m_width;
+		if (tabs[i].hidden) {
+			continue;
 		}
 
-		tabs.write[i].ofs_cache = w;
-		tabs.write[i].size_cache = lsize;
-		tabs.write[i].size_text = slen;
-		tabs.write[i].text_buf->set_width(slen);
-
-		w += lsize;
-		max_drawn_tab = i;
+		w += tabs[i].size_cache;
 
 		// Check if all tabs would fit inside the area.
 		if (clip_tabs && i > offset && (w > limit || (offset > 0 && w > limit_minus_buttons))) {
 			tabs.write[i].ofs_cache = 0;
-			tabs.write[i].text_buf->set_width(-1);
 
 			w -= tabs[i].size_cache;
-			max_drawn_tab--;
+			max_drawn_tab = i - 1;
 
 			while (w > limit_minus_buttons && max_drawn_tab > offset) {
 				tabs.write[max_drawn_tab].ofs_cache = 0;
 
 				if (!tabs[max_drawn_tab].hidden) {
-					tabs.write[max_drawn_tab].text_buf->set_width(-1);
 					w -= tabs[max_drawn_tab].size_cache;
 				}
 
 				max_drawn_tab--;
 			}
-
-			break;
 		}
 	}
 
@@ -942,21 +912,28 @@ void TabBar::_on_mouse_exited() {
 void TabBar::add_tab(const String &p_str, const Ref<Texture2D> &p_icon) {
 	Tab t;
 	t.text = p_str;
-	t.xl_text = atr(p_str);
 	t.text_buf->set_direction(is_layout_rtl() ? TextServer::DIRECTION_RTL : TextServer::DIRECTION_LTR);
-	t.text_buf->add_string(t.xl_text, get_theme_font(SNAME("font")), get_theme_font_size(SNAME("font_size")), Dictionary(), TranslationServer::get_singleton()->get_tool_locale());
 	t.icon = p_icon;
 	tabs.push_back(t);
 
+	_shape(tabs.size() - 1);
 	_update_cache();
 	if (scroll_to_selected) {
 		ensure_tab_visible(current);
 	}
 	update();
 	update_minimum_size();
+
+	if (tabs.size() == 1 && is_inside_tree()) {
+		emit_signal(SNAME("tab_changed"), 0);
+	}
 }
 
 void TabBar::clear_tabs() {
+	if (tabs.is_empty()) {
+		return;
+	}
+
 	tabs.clear();
 	offset = 0;
 	max_drawn_tab = 0;
@@ -971,14 +948,16 @@ void TabBar::clear_tabs() {
 void TabBar::remove_tab(int p_idx) {
 	ERR_FAIL_INDEX(p_idx, tabs.size());
 	tabs.remove_at(p_idx);
-	if (current >= p_idx) {
+
+	bool is_tab_changing = current == p_idx && !tabs.is_empty();
+
+	if (current >= p_idx && current > 0) {
 		current--;
 	}
 
-	if (current < 0) {
+	if (tabs.is_empty()) {
 		offset = 0;
 		max_drawn_tab = 0;
-		current = 0;
 		previous = 0;
 	} else {
 		offset = MIN(offset, tabs.size() - 1);
@@ -986,7 +965,7 @@ void TabBar::remove_tab(int p_idx) {
 
 		_update_cache();
 		_ensure_no_over_offset();
-		if (scroll_to_selected && !tabs.is_empty()) {
+		if (scroll_to_selected) {
 			ensure_tab_visible(current);
 		}
 	}
@@ -994,15 +973,18 @@ void TabBar::remove_tab(int p_idx) {
 	update();
 	update_minimum_size();
 	notify_property_list_changed();
+
+	if (is_tab_changing && is_inside_tree()) {
+		emit_signal(SNAME("tab_changed"), current);
+	}
 }
 
 Variant TabBar::get_drag_data(const Point2 &p_point) {
 	if (!drag_to_rearrange_enabled) {
-		return Variant();
+		return Control::get_drag_data(p_point); // Allow stuff like TabContainer to override it.
 	}
 
 	int tab_over = get_tab_idx_at_point(p_point);
-
 	if (tab_over < 0) {
 		return Variant();
 	}
@@ -1025,12 +1007,13 @@ Variant TabBar::get_drag_data(const Point2 &p_point) {
 	drag_data["type"] = "tab_element";
 	drag_data["tab_element"] = tab_over;
 	drag_data["from_path"] = get_path();
+
 	return drag_data;
 }
 
 bool TabBar::can_drop_data(const Point2 &p_point, const Variant &p_data) const {
 	if (!drag_to_rearrange_enabled) {
-		return false;
+		return Control::can_drop_data(p_point, p_data); // Allow stuff like TabContainer to override it.
 	}
 
 	Dictionary d = p_data;
@@ -1052,16 +1035,16 @@ bool TabBar::can_drop_data(const Point2 &p_point, const Variant &p_data) const {
 			}
 		}
 	}
+
 	return false;
 }
 
 void TabBar::drop_data(const Point2 &p_point, const Variant &p_data) {
 	if (!drag_to_rearrange_enabled) {
+		Control::drop_data(p_point, p_data); // Allow stuff like TabContainer to override it.
 		return;
 	}
 
-	int hover_now = get_tab_idx_at_point(p_point);
-
 	Dictionary d = p_data;
 	if (!d.has("type")) {
 		return;
@@ -1069,6 +1052,7 @@ void TabBar::drop_data(const Point2 &p_point, const Variant &p_data) {
 
 	if (String(d["type"]) == "tab_element") {
 		int tab_from_id = d["tab_element"];
+		int hover_now = get_tab_idx_at_point(p_point);
 		NodePath from_path = d["from_path"];
 		NodePath to_path = get_path();
 
@@ -1096,15 +1080,25 @@ void TabBar::drop_data(const Point2 &p_point, const Variant &p_data) {
 					hover_now = get_tab_count();
 				}
 
-				// Workaround to ensure that tab_changed is emitted.
-				if (current == hover_now) {
-					current = -1;
+				from_tabs->remove_tab(tab_from_id);
+				tabs.insert(hover_now, moving_tab);
+
+				if (tabs.size() > 1) {
+					if (current >= hover_now) {
+						current++;
+					}
+					if (previous >= hover_now) {
+						previous++;
+					}
 				}
 
-				tabs.insert(hover_now, moving_tab);
-				from_tabs->remove_tab(tab_from_id);
 				set_current_tab(hover_now);
 				update_minimum_size();
+
+				if (tabs.size() == 1) {
+					emit_signal(SNAME("tab_selected"), 0);
+					emit_signal(SNAME("tab_changed"), 0);
+				}
 			}
 		}
 	}
@@ -1157,17 +1151,33 @@ bool TabBar::get_clip_tabs() const {
 	return clip_tabs;
 }
 
-void TabBar::move_tab(int from, int to) {
-	if (from == to) {
+void TabBar::move_tab(int p_from, int p_to) {
+	if (p_from == p_to) {
 		return;
 	}
 
-	ERR_FAIL_INDEX(from, tabs.size());
-	ERR_FAIL_INDEX(to, tabs.size());
+	ERR_FAIL_INDEX(p_from, tabs.size());
+	ERR_FAIL_INDEX(p_to, tabs.size());
+
+	Tab tab_from = tabs[p_from];
+	tabs.remove_at(p_from);
+	tabs.insert(p_to, tab_from);
+
+	if (current == p_from) {
+		current = p_to;
+	} else if (current > p_from && current <= p_to) {
+		current--;
+	} else if (current < p_from && current >= p_to) {
+		current++;
+	}
 
-	Tab tab_from = tabs[from];
-	tabs.remove_at(from);
-	tabs.insert(to, tab_from);
+	if (previous == p_from) {
+		previous = p_to;
+	} else if (previous > p_from && previous >= p_to) {
+		previous--;
+	} else if (previous < p_from && previous <= p_to) {
+		previous++;
+	}
 
 	_update_cache();
 	_ensure_no_over_offset();
@@ -1342,8 +1352,21 @@ TabBar::CloseButtonDisplayPolicy TabBar::get_tab_close_display_policy() const {
 	return cb_displaypolicy;
 }
 
-void TabBar::set_min_width(int p_width) {
-	min_width = p_width;
+void TabBar::set_max_tab_width(int p_width) {
+	ERR_FAIL_COND(p_width < 0);
+	max_width = p_width;
+
+	_update_cache();
+	_ensure_no_over_offset();
+	if (scroll_to_selected) {
+		ensure_tab_visible(current);
+	}
+	update();
+	update_minimum_size();
+}
+
+int TabBar::get_max_tab_width() const {
+	return max_width;
 }
 
 void TabBar::set_scrolling_enabled(bool p_enabled) {
@@ -1466,6 +1489,7 @@ void TabBar::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("is_tab_hidden", "tab_idx"), &TabBar::is_tab_hidden);
 	ClassDB::bind_method(D_METHOD("remove_tab", "tab_idx"), &TabBar::remove_tab);
 	ClassDB::bind_method(D_METHOD("add_tab", "title", "icon"), &TabBar::add_tab, DEFVAL(""), DEFVAL(Ref<Texture2D>()));
+	ClassDB::bind_method(D_METHOD("get_tab_idx_at_point", "point"), &TabBar::get_tab_idx_at_point);
 	ClassDB::bind_method(D_METHOD("set_tab_alignment", "alignment"), &TabBar::set_tab_alignment);
 	ClassDB::bind_method(D_METHOD("get_tab_alignment"), &TabBar::get_tab_alignment);
 	ClassDB::bind_method(D_METHOD("set_clip_tabs", "clip_tabs"), &TabBar::set_clip_tabs);
@@ -1477,6 +1501,8 @@ void TabBar::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("move_tab", "from", "to"), &TabBar::move_tab);
 	ClassDB::bind_method(D_METHOD("set_tab_close_display_policy", "policy"), &TabBar::set_tab_close_display_policy);
 	ClassDB::bind_method(D_METHOD("get_tab_close_display_policy"), &TabBar::get_tab_close_display_policy);
+	ClassDB::bind_method(D_METHOD("set_max_tab_width", "width"), &TabBar::set_max_tab_width);
+	ClassDB::bind_method(D_METHOD("get_max_tab_width"), &TabBar::get_max_tab_width);
 	ClassDB::bind_method(D_METHOD("set_scrolling_enabled", "enabled"), &TabBar::set_scrolling_enabled);
 	ClassDB::bind_method(D_METHOD("get_scrolling_enabled"), &TabBar::get_scrolling_enabled);
 	ClassDB::bind_method(D_METHOD("set_drag_to_rearrange_enabled", "enabled"), &TabBar::set_drag_to_rearrange_enabled);
@@ -1501,8 +1527,10 @@ void TabBar::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "tab_alignment", PROPERTY_HINT_ENUM, "Left,Center,Right"), "set_tab_alignment", "get_tab_alignment");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "clip_tabs"), "set_clip_tabs", "get_clip_tabs");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "tab_close_display_policy", PROPERTY_HINT_ENUM, "Show Never,Show Active Only,Show Always"), "set_tab_close_display_policy", "get_tab_close_display_policy");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "max_tab_width", PROPERTY_HINT_RANGE, "0,99999,1"), "set_max_tab_width", "get_max_tab_width");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "scrolling_enabled"), "set_scrolling_enabled", "get_scrolling_enabled");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "drag_to_rearrange_enabled"), "set_drag_to_rearrange_enabled", "get_drag_to_rearrange_enabled");
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "tabs_rearrange_group"), "set_tabs_rearrange_group", "get_tabs_rearrange_group");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "scroll_to_selected"), "set_scroll_to_selected", "get_scroll_to_selected");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "select_with_rmb"), "set_select_with_rmb", "get_select_with_rmb");
 
diff --git a/scene/gui/tab_bar.h b/scene/gui/tab_bar.h
index b428538570..0f2184aca7 100644
--- a/scene/gui/tab_bar.h
+++ b/scene/gui/tab_bar.h
@@ -98,7 +98,7 @@ private:
 	CloseButtonDisplayPolicy cb_displaypolicy = CLOSE_BUTTON_SHOW_NEVER;
 
 	int hover = -1; // Hovered tab.
-	int min_width = 0;
+	int max_width = 0;
 	bool scrolling_enabled = true;
 	bool drag_to_rearrange_enabled = false;
 	bool scroll_to_selected = true;
@@ -126,7 +126,6 @@ protected:
 	Variant get_drag_data(const Point2 &p_point) override;
 	bool can_drop_data(const Point2 &p_point, const Variant &p_data) const override;
 	void drop_data(const Point2 &p_point, const Variant &p_data) override;
-	int get_tab_idx_at_point(const Point2 &p_point) const;
 
 public:
 	void add_tab(const String &p_str = "", const Ref<Texture2D> &p_icon = Ref<Texture2D>());
@@ -156,13 +155,15 @@ public:
 	void set_tab_button_icon(int p_tab, const Ref<Texture2D> &p_icon);
 	Ref<Texture2D> get_tab_button_icon(int p_tab) const;
 
+	int get_tab_idx_at_point(const Point2 &p_point) const;
+
 	void set_tab_alignment(AlignmentMode p_alignment);
 	AlignmentMode get_tab_alignment() const;
 
 	void set_clip_tabs(bool p_clip_tabs);
 	bool get_clip_tabs() const;
 
-	void move_tab(int from, int to);
+	void move_tab(int p_from, int p_to);
 
 	void set_tab_close_display_policy(CloseButtonDisplayPolicy p_policy);
 	CloseButtonDisplayPolicy get_tab_close_display_policy() const;
@@ -197,7 +198,9 @@ public:
 	bool get_select_with_rmb() const;
 
 	void ensure_tab_visible(int p_idx);
-	void set_min_width(int p_width);
+
+	void set_max_tab_width(int p_width);
+	int get_max_tab_width() const;
 
 	Rect2 get_tab_rect(int p_tab) const;
 	Size2 get_minimum_size() const override;
diff --git a/scene/gui/tab_container.cpp b/scene/gui/tab_container.cpp
index 31a5e41086..ee61c862b7 100644
--- a/scene/gui/tab_container.cpp
+++ b/scene/gui/tab_container.cpp
@@ -30,44 +30,17 @@
 
 #include "tab_container.h"
 
-#include "core/object/message_queue.h"
-#include "core/string/translation.h"
 #include "scene/gui/box_container.h"
 #include "scene/gui/label.h"
 #include "scene/gui/texture_rect.h"
 
 int TabContainer::_get_top_margin() const {
-	if (!tabs_visible) {
-		return 0;
+	int height = 0;
+	if (tabs_visible && get_tab_count() > 0) {
+		height = tab_bar->get_minimum_size().height;
 	}
 
-	// Respect the minimum tab height.
-	Ref<StyleBox> tab_unselected = get_theme_stylebox(SNAME("tab_unselected"));
-	Ref<StyleBox> tab_selected = get_theme_stylebox(SNAME("tab_selected"));
-	Ref<StyleBox> tab_disabled = get_theme_stylebox(SNAME("tab_disabled"));
-
-	int tab_height = MAX(MAX(tab_unselected->get_minimum_size().height, tab_selected->get_minimum_size().height), tab_disabled->get_minimum_size().height);
-
-	// Font height or higher icon wins.
-	int content_height = 0;
-
-	Vector<Control *> tabs = _get_tabs();
-	for (int i = 0; i < tabs.size(); i++) {
-		content_height = MAX(content_height, text_buf[i]->get_size().y);
-
-		Control *c = tabs[i];
-		if (!c->has_meta("_tab_icon")) {
-			continue;
-		}
-
-		Ref<Texture2D> tex = c->get_meta("_tab_icon");
-		if (!tex.is_valid()) {
-			continue;
-		}
-		content_height = MAX(content_height, tex->get_size().height);
-	}
-
-	return tab_height + content_height;
+	return height;
 }
 
 void TabContainer::gui_input(const Ref<InputEvent> &p_event) {
@@ -113,77 +86,6 @@ void TabContainer::gui_input(const Ref<InputEvent> &p_event) {
 				return;
 			}
 		}
-
-		// Do not activate tabs when tabs is empty.
-		if (get_tab_count() == 0) {
-			return;
-		}
-
-		Vector<Control *> tabs = _get_tabs();
-
-		// Handle navigation buttons.
-		if (buttons_visible_cache) {
-			int popup_ofs = 0;
-			if (popup) {
-				popup_ofs = menu->get_width();
-			}
-
-			Ref<Texture2D> increment = get_theme_icon(SNAME("increment"));
-			Ref<Texture2D> decrement = get_theme_icon(SNAME("decrement"));
-			if (is_layout_rtl()) {
-				if (pos.x < popup_ofs + decrement->get_width()) {
-					if (last_tab_cache < tabs.size() - 1) {
-						first_tab_cache += 1;
-						update();
-					}
-					return;
-				} else if (pos.x < popup_ofs + increment->get_width() + decrement->get_width()) {
-					if (first_tab_cache > 0) {
-						first_tab_cache -= 1;
-						update();
-					}
-					return;
-				}
-			} else {
-				if (pos.x > size.width - increment->get_width() - popup_ofs && pos.x) {
-					if (last_tab_cache < tabs.size() - 1) {
-						first_tab_cache += 1;
-						update();
-					}
-					return;
-				} else if (pos.x > size.width - increment->get_width() - decrement->get_width() - popup_ofs) {
-					if (first_tab_cache > 0) {
-						first_tab_cache -= 1;
-						update();
-					}
-					return;
-				}
-			}
-		}
-
-		// Activate the clicked tab.
-		if (is_layout_rtl()) {
-			pos.x = size.width - pos.x;
-		}
-
-		if (pos.x < tabs_ofs_cache) {
-			return;
-		}
-
-		pos.x -= tabs_ofs_cache;
-		for (int i = first_tab_cache; i <= last_tab_cache; i++) {
-			if (get_tab_hidden(i)) {
-				continue;
-			}
-			int tab_width = _get_tab_width(i);
-			if (pos.x < tab_width) {
-				if (!get_tab_disabled(i)) {
-					set_current_tab(i);
-				}
-				break;
-			}
-			pos.x -= tab_width;
-		}
 	}
 
 	Ref<InputEventMouseMotion> mm = p_event;
@@ -194,9 +96,8 @@ void TabContainer::gui_input(const Ref<InputEvent> &p_event) {
 
 		// Mouse must be on tabs in the tab header area.
 		if (pos.y > _get_top_margin()) {
-			if (menu_hovered || highlight_arrow > -1) {
+			if (menu_hovered) {
 				menu_hovered = false;
-				highlight_arrow = -1;
 				update();
 			}
 			return;
@@ -208,7 +109,6 @@ void TabContainer::gui_input(const Ref<InputEvent> &p_event) {
 				if (pos.x <= menu->get_width()) {
 					if (!menu_hovered) {
 						menu_hovered = true;
-						highlight_arrow = -1;
 						update();
 						return;
 					}
@@ -220,7 +120,6 @@ void TabContainer::gui_input(const Ref<InputEvent> &p_event) {
 				if (pos.x >= size.width - menu->get_width()) {
 					if (!menu_hovered) {
 						menu_hovered = true;
-						highlight_arrow = -1;
 						update();
 						return;
 					}
@@ -234,102 +133,26 @@ void TabContainer::gui_input(const Ref<InputEvent> &p_event) {
 				return;
 			}
 		}
-
-		// Do not activate tabs when tabs is empty.
-		if ((get_tab_count() == 0 || !buttons_visible_cache) && menu_hovered) {
-			highlight_arrow = -1;
-			update();
-			return;
-		}
-
-		int popup_ofs = 0;
-		if (popup) {
-			popup_ofs = menu->get_width();
-		}
-
-		Ref<Texture2D> increment = get_theme_icon(SNAME("increment"));
-		Ref<Texture2D> decrement = get_theme_icon(SNAME("decrement"));
-
-		if (is_layout_rtl()) {
-			if (pos.x <= popup_ofs + decrement->get_width()) {
-				if (highlight_arrow != 1) {
-					highlight_arrow = 1;
-					update();
-				}
-			} else if (pos.x <= popup_ofs + increment->get_width() + decrement->get_width()) {
-				if (highlight_arrow != 0) {
-					highlight_arrow = 0;
-					update();
-				}
-			} else if (highlight_arrow > -1) {
-				highlight_arrow = -1;
-				update();
-			}
-		} else {
-			if (pos.x >= size.width - increment->get_width() - popup_ofs) {
-				if (highlight_arrow != 1) {
-					highlight_arrow = 1;
-					update();
-				}
-			} else if (pos.x >= size.width - increment->get_width() - decrement->get_width() - popup_ofs) {
-				if (highlight_arrow != 0) {
-					highlight_arrow = 0;
-					update();
-				}
-			} else if (highlight_arrow > -1) {
-				highlight_arrow = -1;
-				update();
-			}
-		}
 	}
 }
 
 void TabContainer::_notification(int p_what) {
 	switch (p_what) {
-		case NOTIFICATION_RESIZED: {
-			Vector<Control *> tabs = _get_tabs();
-			int side_margin = get_theme_constant(SNAME("side_margin"));
-			Ref<Texture2D> menu = get_theme_icon(SNAME("menu"));
-			Ref<Texture2D> increment = get_theme_icon(SNAME("increment"));
-			Ref<Texture2D> decrement = get_theme_icon(SNAME("decrement"));
-			int header_width = get_size().width - side_margin * 2;
-
-			// Find the width of the header area.
-			Popup *popup = get_popup();
-			if (popup) {
-				header_width -= menu->get_width();
-			}
-			if (buttons_visible_cache) {
-				header_width -= increment->get_width() + decrement->get_width();
-			}
-			if (popup || buttons_visible_cache) {
-				header_width += side_margin;
+		case NOTIFICATION_ENTER_TREE: {
+			// If some nodes happen to be renamed outside the tree, the tab names need to be updated manually.
+			if (get_tab_count() > 0) {
+				_refresh_tab_names();
 			}
+		} break;
 
-			// Find the width of all tabs after first_tab_cache.
-			int all_tabs_width = 0;
-			for (int i = first_tab_cache; i < tabs.size(); i++) {
-				int tab_width = _get_tab_width(i);
-				all_tabs_width += tab_width;
-			}
-
-			// Check if tabs before first_tab_cache would fit into the header area.
-			for (int i = first_tab_cache - 1; i >= 0; i--) {
-				int tab_width = _get_tab_width(i);
-
-				if (all_tabs_width + tab_width > header_width) {
-					break;
-				}
-
-				all_tabs_width += tab_width;
-				first_tab_cache--;
-			}
+		case NOTIFICATION_READY:
+		case NOTIFICATION_RESIZED: {
+			_update_margins();
 		} break;
 
 		case NOTIFICATION_DRAW: {
 			RID canvas = get_canvas_item();
 			Size2 size = get_size();
-			bool rtl = is_layout_rtl();
 
 			// Draw only the tab area if the header is hidden.
 			Ref<StyleBox> panel = get_theme_stylebox(SNAME("panel"));
@@ -338,481 +161,171 @@ void TabContainer::_notification(int p_what) {
 				return;
 			}
 
-			Vector<Control *> tabs = _get_tabs();
-			Ref<StyleBox> tab_unselected = get_theme_stylebox(SNAME("tab_unselected"));
-			Ref<StyleBox> tab_selected = get_theme_stylebox(SNAME("tab_selected"));
-			Ref<StyleBox> tab_disabled = get_theme_stylebox(SNAME("tab_disabled"));
-			Ref<Texture2D> increment = get_theme_icon(SNAME("increment"));
-			Ref<Texture2D> increment_hl = get_theme_icon(SNAME("increment_highlight"));
-			Ref<Texture2D> decrement = get_theme_icon(SNAME("decrement"));
-			Ref<Texture2D> decrement_hl = get_theme_icon(SNAME("decrement_highlight"));
-			Ref<Texture2D> menu = get_theme_icon(SNAME("menu"));
-			Ref<Texture2D> menu_hl = get_theme_icon(SNAME("menu_highlight"));
-			Color font_selected_color = get_theme_color(SNAME("font_selected_color"));
-			Color font_unselected_color = get_theme_color(SNAME("font_unselected_color"));
-			Color font_disabled_color = get_theme_color(SNAME("font_disabled_color"));
-			int side_margin = get_theme_constant(SNAME("side_margin"));
-
-			// Find out start and width of the header area.
-			int header_x = side_margin;
-			int header_width = size.width - side_margin * 2;
 			int header_height = _get_top_margin();
-			Popup *popup = get_popup();
-			if (popup) {
-				header_width -= menu->get_width();
-			}
-
-			// Check if all tabs would fit into the header area.
-			int all_tabs_width = 0;
-			for (int i = 0; i < tabs.size(); i++) {
-				if (get_tab_hidden(i)) {
-					continue;
-				}
-				int tab_width = _get_tab_width(i);
-				all_tabs_width += tab_width;
-
-				if (all_tabs_width > header_width) {
-					// Not all tabs are visible at the same time - reserve space for navigation buttons.
-					buttons_visible_cache = true;
-					header_width -= decrement->get_width() + increment->get_width();
-					break;
-				} else {
-					buttons_visible_cache = false;
-				}
-			}
-			// With buttons, a right side margin does not need to be respected.
-			if (popup || buttons_visible_cache) {
-				header_width += side_margin;
-			}
-
-			if (!buttons_visible_cache) {
-				first_tab_cache = 0;
-			}
-
-			// Go through the visible tabs to find the width they occupy.
-			all_tabs_width = 0;
-			Vector<int> tab_widths;
-			for (int i = first_tab_cache; i < tabs.size(); i++) {
-				if (get_tab_hidden(i)) {
-					tab_widths.push_back(0);
-					continue;
-				}
-				int tab_width = _get_tab_width(i);
-				if (all_tabs_width + tab_width > header_width && tab_widths.size() > 0) {
-					break;
-				}
-				all_tabs_width += tab_width;
-				tab_widths.push_back(tab_width);
-			}
-
-			// Find the offset at which to draw tabs, according to the alignment.
-			switch (alignment) {
-				case ALIGNMENT_LEFT:
-					tabs_ofs_cache = header_x;
-					break;
-				case ALIGNMENT_CENTER:
-					tabs_ofs_cache = header_x + (header_width / 2) - (all_tabs_width / 2);
-					break;
-				case ALIGNMENT_RIGHT:
-					tabs_ofs_cache = header_x + header_width - all_tabs_width;
-					break;
-			}
-
-			if (all_tabs_in_front) {
-				// Draw the tab area.
-				panel->draw(canvas, Rect2(0, header_height, size.width, size.height - header_height));
-			}
-
-			// Draw unselected tabs in back
-			int x = 0;
-			int x_current = 0;
-			int index = 0;
-			for (int i = 0; i < tab_widths.size(); i++) {
-				index = i + first_tab_cache;
-				if (get_tab_hidden(index)) {
-					continue;
-				}
-
-				int tab_width = tab_widths[i];
-				if (index == current) {
-					x_current = x;
-				} else if (get_tab_disabled(index)) {
-					if (rtl) {
-						_draw_tab(tab_disabled, font_disabled_color, index, size.width - (tabs_ofs_cache + x) - tab_width);
-					} else {
-						_draw_tab(tab_disabled, font_disabled_color, index, tabs_ofs_cache + x);
-					}
-				} else {
-					if (rtl) {
-						_draw_tab(tab_unselected, font_unselected_color, index, size.width - (tabs_ofs_cache + x) - tab_width);
-					} else {
-						_draw_tab(tab_unselected, font_unselected_color, index, tabs_ofs_cache + x);
-					}
-				}
 
-				x += tab_width;
-				last_tab_cache = index;
-			}
+			panel->draw(canvas, Rect2(0, header_height, size.width, size.height - header_height));
 
-			if (!all_tabs_in_front) {
-				// Draw the tab area.
-				panel->draw(canvas, Rect2(0, header_height, size.width, size.height - header_height));
-			}
+			// Draw the popup menu.
+			if (get_popup()) {
+				Ref<Texture2D> menu = get_theme_icon(SNAME("menu"));
+				Ref<Texture2D> menu_hl = get_theme_icon(SNAME("menu_highlight"));
 
-			// Draw selected tab in front. Only draw selected tab when it's in visible range.
-			if (tabs.size() > 0 && current - first_tab_cache < tab_widths.size() && current >= first_tab_cache) {
-				Ref<StyleBox> current_style_box = get_tab_disabled(current) ? tab_disabled : tab_selected;
-				if (rtl) {
-					_draw_tab(current_style_box, font_selected_color, current, size.width - (tabs_ofs_cache + x_current) - tab_widths[current]);
-				} else {
-					_draw_tab(current_style_box, font_selected_color, current, tabs_ofs_cache + x_current);
-				}
-			}
+				int x = is_layout_rtl() ? 0 : get_size().width - menu->get_width();
 
-			// Draw the popup menu.
-			if (rtl) {
-				x = 0;
-			} else {
-				x = get_size().width;
-			}
-			if (popup) {
-				if (!rtl) {
-					x -= menu->get_width();
-				}
 				if (menu_hovered) {
 					menu_hl->draw(get_canvas_item(), Size2(x, (header_height - menu_hl->get_height()) / 2));
 				} else {
 					menu->draw(get_canvas_item(), Size2(x, (header_height - menu->get_height()) / 2));
 				}
-				if (rtl) {
-					x += menu->get_width();
-				}
-			}
-
-			// Draw the navigation buttons.
-			if (buttons_visible_cache) {
-				if (rtl) {
-					if (last_tab_cache < tabs.size() - 1) {
-						draw_texture(highlight_arrow == 1 ? decrement_hl : decrement, Point2(x, (header_height - increment->get_height()) / 2));
-					} else {
-						draw_texture(decrement, Point2(x, (header_height - increment->get_height()) / 2), Color(1, 1, 1, 0.5));
-					}
-					x += increment->get_width();
-
-					if (first_tab_cache > 0) {
-						draw_texture(highlight_arrow == 0 ? increment_hl : increment, Point2(x, (header_height - decrement->get_height()) / 2));
-					} else {
-						draw_texture(increment, Point2(x, (header_height - decrement->get_height()) / 2), Color(1, 1, 1, 0.5));
-					}
-					x += decrement->get_width();
-				} else {
-					x -= increment->get_width();
-					if (last_tab_cache < tabs.size() - 1) {
-						draw_texture(highlight_arrow == 1 ? increment_hl : increment, Point2(x, (header_height - increment->get_height()) / 2));
-					} else {
-						draw_texture(increment, Point2(x, (header_height - increment->get_height()) / 2), Color(1, 1, 1, 0.5));
-					}
-
-					x -= decrement->get_width();
-					if (first_tab_cache > 0) {
-						draw_texture(highlight_arrow == 0 ? decrement_hl : decrement, Point2(x, (header_height - decrement->get_height()) / 2));
-					} else {
-						draw_texture(decrement, Point2(x, (header_height - decrement->get_height()) / 2), Color(1, 1, 1, 0.5));
-					}
-				}
 			}
 		} break;
 
 		case NOTIFICATION_TRANSLATION_CHANGED:
 		case NOTIFICATION_LAYOUT_DIRECTION_CHANGED:
 		case NOTIFICATION_THEME_CHANGED: {
-			Vector<Control *> tabs = _get_tabs();
-			for (int i = 0; i < tabs.size(); i++) {
-				text_buf.write[i]->clear();
-			}
-			_theme_changing = true;
+			theme_changing = true;
 			call_deferred(SNAME("_on_theme_changed")); // Wait until all changed theme.
 		} break;
 	}
 }
 
-void TabContainer::_draw_tab(Ref<StyleBox> &p_tab_style, Color &p_font_color, int p_index, float p_x) {
-	Control *control = get_tab_control(p_index);
-	RID canvas = get_canvas_item();
-	Color font_outline_color = get_theme_color(SNAME("font_outline_color"));
-	int outline_size = get_theme_constant(SNAME("outline_size"));
-	int icon_text_distance = get_theme_constant(SNAME("icon_separation"));
-	int tab_width = _get_tab_width(p_index);
-	int header_height = _get_top_margin();
-
-	// Draw the tab background.
-	Rect2 tab_rect(p_x, 0, tab_width, header_height);
-	p_tab_style->draw(canvas, tab_rect);
-
-	// Draw the tab contents.
-	String text = control->has_meta("_tab_name") ? String(atr(String(control->get_meta("_tab_name")))) : String(atr(control->get_name()));
-
-	int x_content = tab_rect.position.x + p_tab_style->get_margin(SIDE_LEFT);
-	int top_margin = p_tab_style->get_margin(SIDE_TOP);
-	int y_center = top_margin + (tab_rect.size.y - p_tab_style->get_minimum_size().y) / 2;
-
-	// Draw the tab icon.
-	if (control->has_meta("_tab_icon")) {
-		Ref<Texture2D> icon = control->get_meta("_tab_icon");
-		if (icon.is_valid()) {
-			int y = y_center - (icon->get_height() / 2);
-			icon->draw(canvas, Point2i(x_content, y));
-			if (!text.is_empty()) {
-				x_content += icon->get_width() + icon_text_distance;
-			}
-		}
-	}
-
-	// Draw the tab text.
-	Point2i text_pos(x_content, y_center - text_buf[p_index]->get_size().y / 2);
-	if (outline_size > 0 && font_outline_color.a > 0) {
-		text_buf[p_index]->draw_outline(canvas, text_pos, outline_size, font_outline_color);
-	}
-	text_buf[p_index]->draw(canvas, text_pos, p_font_color);
-}
-
-void TabContainer::_refresh_texts() {
-	text_buf.clear();
-	Vector<Control *> tabs = _get_tabs();
-	bool rtl = is_layout_rtl();
-	Ref<Font> font = get_theme_font(SNAME("font"));
-	int font_size = get_theme_font_size(SNAME("font_size"));
-	for (int i = 0; i < tabs.size(); i++) {
-		Control *control = Object::cast_to<Control>(tabs[i]);
-		String text = control->has_meta("_tab_name") ? String(atr(String(control->get_meta("_tab_name")))) : String(atr(control->get_name()));
-
-		Ref<TextLine> name;
-		name.instantiate();
-		name->set_direction(rtl ? TextServer::DIRECTION_RTL : TextServer::DIRECTION_LTR);
-		name->add_string(text, font, font_size, Dictionary(), TranslationServer::get_singleton()->get_tool_locale());
-		text_buf.push_back(name);
-	}
-}
-
 void TabContainer::_on_theme_changed() {
-	if (!_theme_changing) {
+	if (!theme_changing) {
 		return;
 	}
 
-	_refresh_texts();
-
-	update_minimum_size();
+	tab_bar->add_theme_style_override(SNAME("tab_unselected"), get_theme_stylebox(SNAME("tab_unselected")));
+	tab_bar->add_theme_style_override(SNAME("tab_selected"), get_theme_stylebox(SNAME("tab_selected")));
+	tab_bar->add_theme_style_override(SNAME("tab_disabled"), get_theme_stylebox(SNAME("tab_disabled")));
+	tab_bar->add_theme_icon_override(SNAME("increment"), get_theme_icon(SNAME("increment")));
+	tab_bar->add_theme_icon_override(SNAME("increment_highlight"), get_theme_icon(SNAME("increment_highlight")));
+	tab_bar->add_theme_icon_override(SNAME("decrement"), get_theme_icon(SNAME("decrement")));
+	tab_bar->add_theme_icon_override(SNAME("decrement_highlight"), get_theme_icon(SNAME("decrement_highlight")));
+	tab_bar->add_theme_color_override(SNAME("font_selected_color"), get_theme_color(SNAME("font_selected_color")));
+	tab_bar->add_theme_color_override(SNAME("font_unselected_color"), get_theme_color(SNAME("font_unselected_color")));
+	tab_bar->add_theme_color_override(SNAME("font_disabled_color"), get_theme_color(SNAME("font_disabled_color")));
+	tab_bar->add_theme_color_override(SNAME("font_outline_color"), get_theme_color(SNAME("font_outline_color")));
+	tab_bar->add_theme_font_override(SNAME("font"), get_theme_font(SNAME("font")));
+	tab_bar->add_theme_constant_override(SNAME("font_size"), get_theme_constant(SNAME("font_size")));
+	tab_bar->add_theme_constant_override(SNAME("icon_separation"), get_theme_constant(SNAME("icon_separation")));
+	tab_bar->add_theme_constant_override(SNAME("outline_size"), get_theme_constant(SNAME("outline_size")));
+
+	_update_margins();
 	if (get_tab_count() > 0) {
 		_repaint();
-		update();
+	} else {
+		update_minimum_size();
 	}
-	_theme_changing = false;
+	update();
+
+	theme_changing = false;
 }
 
 void TabContainer::_repaint() {
 	Ref<StyleBox> sb = get_theme_stylebox(SNAME("panel"));
-	Vector<Control *> tabs = _get_tabs();
-	for (int i = 0; i < tabs.size(); i++) {
-		Control *c = tabs[i];
+	Vector<Control *> controls = _get_tab_controls();
+	int current = get_current_tab();
+
+	for (int i = 0; i < controls.size(); i++) {
+		Control *c = controls[i];
+
 		if (i == current) {
 			c->show();
 			c->set_anchors_and_offsets_preset(Control::PRESET_WIDE);
+
 			if (tabs_visible) {
 				c->set_offset(SIDE_TOP, _get_top_margin());
 			}
+
 			c->set_offset(SIDE_TOP, c->get_offset(SIDE_TOP) + sb->get_margin(SIDE_TOP));
 			c->set_offset(SIDE_LEFT, c->get_offset(SIDE_LEFT) + sb->get_margin(SIDE_LEFT));
 			c->set_offset(SIDE_RIGHT, c->get_offset(SIDE_RIGHT) - sb->get_margin(SIDE_RIGHT));
 			c->set_offset(SIDE_BOTTOM, c->get_offset(SIDE_BOTTOM) - sb->get_margin(SIDE_BOTTOM));
-
 		} else {
 			c->hide();
 		}
 	}
-}
-
-void TabContainer::_on_mouse_exited() {
-	if (menu_hovered || highlight_arrow > -1) {
-		menu_hovered = false;
-		highlight_arrow = -1;
-		update();
-	}
-}
-
-int TabContainer::_get_tab_width(int p_index) const {
-	ERR_FAIL_INDEX_V(p_index, get_tab_count(), 0);
-	Control *control = get_tab_control(p_index);
-	if (!control || get_tab_hidden(p_index)) {
-		return 0;
-	}
-
-	// Get the width of the text displayed on the tab.
-	Ref<Font> font = get_theme_font(SNAME("font"));
-	int font_size = get_theme_font_size(SNAME("font_size"));
-	String text = control->has_meta("_tab_name") ? String(atr(String(control->get_meta("_tab_name")))) : String(atr(control->get_name()));
-	int width = font->get_string_size(text, font_size).width;
-
-	// Add space for a tab icon.
-	if (control->has_meta("_tab_icon")) {
-		Ref<Texture2D> icon = control->get_meta("_tab_icon");
-		if (icon.is_valid()) {
-			width += icon->get_width();
-			if (!text.is_empty()) {
-				width += get_theme_constant(SNAME("icon_separation"));
-			}
-		}
-	}
 
-	// Respect a minimum size.
-	Ref<StyleBox> tab_unselected = get_theme_stylebox(SNAME("tab_unselected"));
-	Ref<StyleBox> tab_selected = get_theme_stylebox(SNAME("tab_selected"));
-	Ref<StyleBox> tab_disabled = get_theme_stylebox(SNAME("tab_disabled"));
-	if (get_tab_disabled(p_index)) {
-		width += tab_disabled->get_minimum_size().width;
-	} else if (p_index == current) {
-		width += tab_selected->get_minimum_size().width;
-	} else {
-		width += tab_unselected->get_minimum_size().width;
-	}
-
-	return width;
+	update_minimum_size();
 }
 
-Vector<Control *> TabContainer::_get_tabs() const {
-	Vector<Control *> controls;
-	for (int i = 0; i < get_child_count(); i++) {
-		Control *control = Object::cast_to<Control>(get_child(i));
-		if (!control || control->is_set_as_top_level()) {
-			continue;
-		}
-
-		controls.push_back(control);
-	}
-	return controls;
-}
+void TabContainer::_update_margins() {
+	int menu_width = get_theme_icon(SNAME("menu"))->get_width();
+	int side_margin = get_theme_constant(SNAME("side_margin"));
 
-void TabContainer::_child_renamed_callback() {
-	_refresh_texts();
-	update();
-}
+	// Directly check for validity, to avoid errors when quitting.
+	bool has_popup = popup_obj_id.is_valid();
 
-void TabContainer::add_child_notify(Node *p_child) {
-	Container::add_child_notify(p_child);
+	if (get_tab_count() == 0) {
+		tab_bar->set_offset(SIDE_LEFT, 0);
+		tab_bar->set_offset(SIDE_RIGHT, has_popup ? -menu_width : 0);
 
-	Control *c = Object::cast_to<Control>(p_child);
-	if (!c || c->is_set_as_top_level()) {
 		return;
 	}
 
-	_refresh_texts();
-	call_deferred(SNAME("_repaint"));
-	update();
-
-	bool first = (_get_tabs().size() == 1);
-	if (first) {
-		current = 0;
-		previous = 0;
-	}
-
-	p_child->connect("renamed", callable_mp(this, &TabContainer::_child_renamed_callback));
-	if (first && is_inside_tree()) {
-		emit_signal(SNAME("tab_changed"), current);
-	}
-}
-
-void TabContainer::move_child_notify(Node *p_child) {
-	Container::move_child_notify(p_child);
-
-	Control *c = Object::cast_to<Control>(p_child);
-	if (!c || c->is_set_as_top_level()) {
-		return;
-	}
+	switch (get_tab_alignment()) {
+		case TabBar::ALIGNMENT_LEFT: {
+			tab_bar->set_offset(SIDE_LEFT, side_margin);
+			tab_bar->set_offset(SIDE_RIGHT, has_popup ? -menu_width : 0);
+		} break;
 
-	_update_current_tab();
-	update();
-}
+		case TabBar::ALIGNMENT_CENTER: {
+			tab_bar->set_offset(SIDE_LEFT, 0);
+			tab_bar->set_offset(SIDE_RIGHT, has_popup ? -menu_width : 0);
+		} break;
 
-int TabContainer::get_tab_count() const {
-	return _get_tabs().size();
-}
+		case TabBar::ALIGNMENT_RIGHT: {
+			tab_bar->set_offset(SIDE_LEFT, 0);
 
-void TabContainer::set_current_tab(int p_current) {
-	ERR_FAIL_INDEX(p_current, get_tab_count());
+			if (has_popup) {
+				tab_bar->set_offset(SIDE_RIGHT, -menu_width);
+				return;
+			}
 
-	int pending_previous = current;
-	current = p_current;
+			int first_tab_pos = tab_bar->get_tab_rect(0).position.x;
+			Rect2 last_tab_rect = tab_bar->get_tab_rect(get_tab_count() - 1);
+			int total_tabs_width = last_tab_rect.position.x - first_tab_pos + last_tab_rect.size.width;
 
-	_repaint();
+			// Calculate if all the tabs would still fit if the margin was present.
+			if (get_clip_tabs() && (tab_bar->get_offset_buttons_visible() || (get_tab_count() > 1 && (total_tabs_width + side_margin) > get_size().width))) {
+				tab_bar->set_offset(SIDE_RIGHT, has_popup ? -menu_width : 0);
+			} else {
+				tab_bar->set_offset(SIDE_RIGHT, -side_margin);
+			}
+		} break;
 
-	if (pending_previous == current) {
-		emit_signal(SNAME("tab_selected"), current);
-	} else {
-		previous = pending_previous;
-		emit_signal(SNAME("tab_selected"), current);
-		emit_signal(SNAME("tab_changed"), current);
+		case TabBar::ALIGNMENT_MAX:
+			break; // Can't happen, but silences warning.
 	}
-
-	update();
 }
 
-int TabContainer::get_current_tab() const {
-	return current;
-}
-
-int TabContainer::get_previous_tab() const {
-	return previous;
-}
-
-Control *TabContainer::get_tab_control(int p_idx) const {
-	Vector<Control *> tabs = _get_tabs();
-	if (p_idx >= 0 && p_idx < tabs.size()) {
-		return tabs[p_idx];
-	} else {
-		return nullptr;
+void TabContainer::_on_mouse_exited() {
+	if (menu_hovered) {
+		menu_hovered = false;
+		update();
 	}
 }
 
-Control *TabContainer::get_current_tab_control() const {
-	return get_tab_control(current);
-}
-
-void TabContainer::remove_child_notify(Node *p_child) {
-	Container::remove_child_notify(p_child);
+Vector<Control *> TabContainer::_get_tab_controls() const {
+	Vector<Control *> controls;
+	for (int i = 0; i < get_child_count(); i++) {
+		Control *control = Object::cast_to<Control>(get_child(i));
+		if (!control || control->is_set_as_top_level() || control == tab_bar) {
+			continue;
+		}
 
-	Control *c = Object::cast_to<Control>(p_child);
-	if (!c || c->is_set_as_top_level()) {
-		return;
+		controls.push_back(control);
 	}
 
-	// Defer the call because tab is not yet removed (remove_child_notify is called right before p_child is actually removed).
-	call_deferred(SNAME("_update_current_tab"));
-
-	p_child->disconnect("renamed", callable_mp(this, &TabContainer::_child_renamed_callback));
-
-	update();
-}
-
-void TabContainer::_update_current_tab() {
-	_refresh_texts();
-
-	int tc = get_tab_count();
-	if (current >= tc) {
-		current = tc - 1;
-	}
-	if (current < 0) {
-		current = 0;
-	} else {
-		set_current_tab(current);
-	}
+	return controls;
 }
 
-Variant TabContainer::get_drag_data(const Point2 &p_point) {
+Variant TabContainer::_get_drag_data_fw(const Point2 &p_point, Control *p_from_control) {
 	if (!drag_to_rearrange_enabled) {
 		return Variant();
 	}
 
 	int tab_over = get_tab_idx_at_point(p_point);
-
 	if (tab_over < 0) {
 		return Variant();
 	}
@@ -825,18 +338,20 @@ Variant TabContainer::get_drag_data(const Point2 &p_point) {
 		tf->set_texture(icon);
 		drag_preview->add_child(tf);
 	}
+
 	Label *label = memnew(Label(get_tab_title(tab_over)));
-	drag_preview->add_child(label);
 	set_drag_preview(drag_preview);
+	drag_preview->add_child(label);
 
 	Dictionary drag_data;
 	drag_data["type"] = "tabc_element";
 	drag_data["tabc_element"] = tab_over;
 	drag_data["from_path"] = get_path();
+
 	return drag_data;
 }
 
-bool TabContainer::can_drop_data(const Point2 &p_point, const Variant &p_data) const {
+bool TabContainer::_can_drop_data_fw(const Point2 &p_point, const Variant &p_data, Control *p_from_control) const {
 	if (!drag_to_rearrange_enabled) {
 		return false;
 	}
@@ -852,7 +367,7 @@ bool TabContainer::can_drop_data(const Point2 &p_point, const Variant &p_data) c
 		if (from_path == to_path) {
 			return true;
 		} else if (get_tabs_rearrange_group() != -1) {
-			// drag and drop between other TabContainers
+			// Drag and drop between other TabContainers.
 			Node *from_node = get_node(from_path);
 			TabContainer *from_tabc = Object::cast_to<TabContainer>(from_node);
 			if (from_tabc && from_tabc->get_tabs_rearrange_group() == get_tabs_rearrange_group()) {
@@ -860,10 +375,11 @@ bool TabContainer::can_drop_data(const Point2 &p_point, const Variant &p_data) c
 			}
 		}
 	}
+
 	return false;
 }
 
-void TabContainer::drop_data(const Point2 &p_point, const Variant &p_data) {
+void TabContainer::_drop_data_fw(const Point2 &p_point, const Variant &p_data, Control *p_from_control) {
 	if (!drag_to_rearrange_enabled) {
 		return;
 	}
@@ -883,85 +399,195 @@ void TabContainer::drop_data(const Point2 &p_point, const Variant &p_data) {
 			if (hover_now < 0) {
 				hover_now = get_tab_count() - 1;
 			}
-			move_child(get_tab_control(tab_from_id), get_tab_control(hover_now)->get_index());
-			set_current_tab(hover_now);
+
+			move_child(get_tab_control(tab_from_id), get_tab_control(hover_now)->get_index(false));
+			if (!is_tab_disabled(hover_now)) {
+				set_current_tab(hover_now);
+			}
+
 		} else if (get_tabs_rearrange_group() != -1) {
-			// drag and drop between TabContainers
+			// Drag and drop between TabContainers.
 			Node *from_node = get_node(from_path);
 			TabContainer *from_tabc = Object::cast_to<TabContainer>(from_node);
 			if (from_tabc && from_tabc->get_tabs_rearrange_group() == get_tabs_rearrange_group()) {
 				Control *moving_tabc = from_tabc->get_tab_control(tab_from_id);
 				from_tabc->remove_child(moving_tabc);
-				add_child(moving_tabc, false, INTERNAL_MODE_FRONT);
+				add_child(moving_tabc, true);
+
 				if (hover_now < 0) {
 					hover_now = get_tab_count() - 1;
 				}
-				move_child(moving_tabc, get_tab_control(hover_now)->get_index());
-				set_current_tab(hover_now);
-				emit_signal(SNAME("tab_changed"), hover_now);
+
+				move_child(moving_tabc, get_tab_control(hover_now)->get_index(false));
+				if (!is_tab_disabled(hover_now)) {
+					set_current_tab(hover_now);
+				}
 			}
 		}
 	}
-	update();
 }
 
-int TabContainer::get_tab_idx_at_point(const Point2 &p_point) const {
-	if (get_tab_count() == 0) {
-		return -1;
+void TabContainer::_on_tab_changed(int p_tab) {
+	call_deferred(SNAME("_repaint"));
+
+	emit_signal(SNAME("tab_changed"), p_tab);
+}
+
+void TabContainer::_on_tab_selected(int p_tab) {
+	if (p_tab != get_previous_tab()) {
+		call_deferred(SNAME("_repaint"));
+	}
+
+	emit_signal(SNAME("tab_selected"), p_tab);
+}
+
+void TabContainer::_refresh_tab_names() {
+	Vector<Control *> controls = _get_tab_controls();
+	for (int i = 0; i < controls.size(); i++) {
+		if (!controls[i]->has_meta("_tab_name") && String(controls[i]->get_name()) != get_tab_title(i)) {
+			tab_bar->set_tab_title(i, controls[i]->get_name());
+		}
 	}
+}
 
-	// must be on tabs in the tab header area.
-	if (p_point.y > _get_top_margin()) {
-		return -1;
+void TabContainer::add_child_notify(Node *p_child) {
+	if (p_child == tab_bar) {
+		return;
+	}
+
+	Container::add_child_notify(p_child);
+
+	Control *c = Object::cast_to<Control>(p_child);
+	if (!c || c->is_set_as_top_level()) {
+		return;
 	}
+	c->hide();
 
-	Size2 size = get_size();
-	int button_ofs = 0;
-	int px = p_point.x;
+	tab_bar->add_tab(p_child->get_name());
 
-	if (is_layout_rtl()) {
-		px = size.width - px;
+	_update_margins();
+
+	p_child->connect("renamed", callable_mp(this, &TabContainer::_refresh_tab_names));
+
+	// TabBar won't emit the "tab_changed" signal when not inside the tree.
+	if (!is_inside_tree()) {
+		call_deferred("_repaint");
 	}
+}
 
-	if (px < tabs_ofs_cache) {
-		return -1;
+void TabContainer::move_child_notify(Node *p_child) {
+	if (p_child == tab_bar) {
+		return;
 	}
 
-	Popup *popup = get_popup();
-	if (popup) {
-		Ref<Texture2D> menu = get_theme_icon(SNAME("menu"));
-		button_ofs += menu->get_width();
+	Container::move_child_notify(p_child);
+
+	Control *c = Object::cast_to<Control>(p_child);
+	if (c && !c->is_set_as_top_level()) {
+		int old_idx = -1;
+		String tab_name = c->has_meta("_tab_name") ? String(c->get_meta("_tab_name")) : String(c->get_name());
+
+		// Find the previous tab index of the control.
+		for (int i = 0; i < get_tab_count(); i++) {
+			if (get_tab_title(i) == tab_name) {
+				old_idx = i;
+				break;
+			}
+		}
+
+		tab_bar->move_tab(old_idx, get_tab_idx_from_control(c));
 	}
-	if (buttons_visible_cache) {
-		Ref<Texture2D> increment = get_theme_icon(SNAME("increment"));
-		Ref<Texture2D> decrement = get_theme_icon(SNAME("decrement"));
-		button_ofs += increment->get_width() + decrement->get_width();
+}
+
+void TabContainer::remove_child_notify(Node *p_child) {
+	if (p_child == tab_bar) {
+		return;
 	}
-	if (px > size.width - button_ofs) {
-		return -1;
+
+	Container::remove_child_notify(p_child);
+
+	Control *c = Object::cast_to<Control>(p_child);
+	if (!c || c->is_set_as_top_level()) {
+		return;
 	}
 
-	// get the tab at the point
-	Vector<Control *> tabs = _get_tabs();
-	px -= tabs_ofs_cache;
-	for (int i = first_tab_cache; i <= last_tab_cache; i++) {
-		int tab_width = _get_tab_width(i);
-		if (px < tab_width) {
+	tab_bar->remove_tab(get_tab_idx_from_control(c));
+
+	_update_margins();
+
+	if (p_child->has_meta("_tab_name")) {
+		p_child->remove_meta("_tab_name");
+	}
+	p_child->disconnect("renamed", callable_mp(this, &TabContainer::_refresh_tab_names));
+
+	// TabBar won't emit the "tab_changed" signal when not inside the tree.
+	if (!is_inside_tree()) {
+		call_deferred("_repaint");
+	}
+}
+
+int TabContainer::get_tab_count() const {
+	return tab_bar->get_tab_count();
+}
+
+void TabContainer::set_current_tab(int p_current) {
+	tab_bar->set_current_tab(p_current);
+}
+
+int TabContainer::get_current_tab() const {
+	return tab_bar->get_current_tab();
+}
+
+int TabContainer::get_previous_tab() const {
+	return tab_bar->get_previous_tab();
+}
+
+Control *TabContainer::get_tab_control(int p_idx) const {
+	Vector<Control *> controls = _get_tab_controls();
+	if (p_idx >= 0 && p_idx < controls.size()) {
+		return controls[p_idx];
+	} else {
+		return nullptr;
+	}
+}
+
+Control *TabContainer::get_current_tab_control() const {
+	return get_tab_control(tab_bar->get_current_tab());
+}
+
+int TabContainer::get_tab_idx_at_point(const Point2 &p_point) const {
+	return tab_bar->get_tab_idx_at_point(p_point);
+}
+
+int TabContainer::get_tab_idx_from_control(Control *p_child) const {
+	ERR_FAIL_NULL_V(p_child, -1);
+	ERR_FAIL_COND_V(p_child->get_parent() != this, -1);
+
+	Vector<Control *> controls = _get_tab_controls();
+	for (int i = 0; i < controls.size(); i++) {
+		if (controls[i] == p_child) {
 			return i;
 		}
-		px -= tab_width;
 	}
+
 	return -1;
 }
 
-void TabContainer::set_tab_alignment(AlignmentMode p_alignment) {
-	ERR_FAIL_INDEX(p_alignment, 3);
-	alignment = p_alignment;
-	update();
+void TabContainer::set_tab_alignment(TabBar::AlignmentMode p_alignment) {
+	tab_bar->set_tab_alignment(p_alignment);
+	_update_margins();
 }
 
-TabContainer::AlignmentMode TabContainer::get_tab_alignment() const {
-	return alignment;
+TabBar::AlignmentMode TabContainer::get_tab_alignment() const {
+	return tab_bar->get_tab_alignment();
+}
+
+void TabContainer::set_clip_tabs(bool p_clip_tabs) {
+	tab_bar->set_clip_tabs(p_clip_tabs);
+}
+
+bool TabContainer::get_clip_tabs() const {
+	return tab_bar->get_clip_tabs();
 }
 
 void TabContainer::set_tabs_visible(bool p_visible) {
@@ -970,11 +596,12 @@ void TabContainer::set_tabs_visible(bool p_visible) {
 	}
 
 	tabs_visible = p_visible;
+	tab_bar->set_visible(tabs_visible);
 
-	Vector<Control *> tabs = _get_tabs();
-	for (int i = 0; i < tabs.size(); i++) {
-		Control *c = tabs[i];
-		if (p_visible) {
+	Vector<Control *> controls = _get_tab_controls();
+	for (int i = 0; i < controls.size(); i++) {
+		Control *c = controls[i];
+		if (tabs_visible) {
 			c->set_offset(SIDE_TOP, _get_top_margin());
 		} else {
 			c->set_offset(SIDE_TOP, 0);
@@ -996,7 +623,8 @@ void TabContainer::set_all_tabs_in_front(bool p_in_front) {
 
 	all_tabs_in_front = p_in_front;
 
-	update();
+	remove_child(tab_bar);
+	add_child(tab_bar, false, all_tabs_in_front ? INTERNAL_MODE_FRONT : INTERNAL_MODE_BACK);
 }
 
 bool TabContainer::is_all_tabs_in_front() const {
@@ -1006,95 +634,78 @@ bool TabContainer::is_all_tabs_in_front() const {
 void TabContainer::set_tab_title(int p_tab, const String &p_title) {
 	Control *child = get_tab_control(p_tab);
 	ERR_FAIL_COND(!child);
-	child->set_meta("_tab_name", p_title);
-	_refresh_texts();
-	update();
-}
 
-String TabContainer::get_tab_title(int p_tab) const {
-	Control *child = get_tab_control(p_tab);
-	ERR_FAIL_COND_V(!child, "");
-	if (child->has_meta("_tab_name")) {
-		return child->get_meta("_tab_name");
+	tab_bar->set_tab_title(p_tab, p_title);
+
+	if (p_title == child->get_name()) {
+		if (child->has_meta("_tab_name")) {
+			child->remove_meta("_tab_name");
+		}
 	} else {
-		return child->get_name();
+		child->set_meta("_tab_name", p_title);
+	}
+
+	_update_margins();
+	if (!get_clip_tabs()) {
+		update_minimum_size();
 	}
 }
 
+String TabContainer::get_tab_title(int p_tab) const {
+	return tab_bar->get_tab_title(p_tab);
+}
+
 void TabContainer::set_tab_icon(int p_tab, const Ref<Texture2D> &p_icon) {
-	Control *child = get_tab_control(p_tab);
-	ERR_FAIL_COND(!child);
-	child->set_meta("_tab_icon", p_icon);
-	update();
+	tab_bar->set_tab_icon(p_tab, p_icon);
+
+	_update_margins();
+	_repaint();
 }
 
 Ref<Texture2D> TabContainer::get_tab_icon(int p_tab) const {
-	Control *child = get_tab_control(p_tab);
-	ERR_FAIL_COND_V(!child, Ref<Texture2D>());
-	if (child->has_meta("_tab_icon")) {
-		return child->get_meta("_tab_icon");
-	} else {
-		return Ref<Texture2D>();
-	}
+	return tab_bar->get_tab_icon(p_tab);
 }
 
 void TabContainer::set_tab_disabled(int p_tab, bool p_disabled) {
-	Control *child = get_tab_control(p_tab);
-	ERR_FAIL_COND(!child);
-	child->set_meta("_tab_disabled", p_disabled);
-	update();
-}
+	tab_bar->set_tab_disabled(p_tab, p_disabled);
 
-bool TabContainer::get_tab_disabled(int p_tab) const {
-	Control *child = get_tab_control(p_tab);
-	ERR_FAIL_COND_V(!child, false);
-	if (child->has_meta("_tab_disabled")) {
-		return child->get_meta("_tab_disabled");
-	} else {
-		return false;
+	_update_margins();
+	if (!get_clip_tabs()) {
+		update_minimum_size();
 	}
 }
 
+bool TabContainer::is_tab_disabled(int p_tab) const {
+	return tab_bar->is_tab_disabled(p_tab);
+}
+
 void TabContainer::set_tab_hidden(int p_tab, bool p_hidden) {
 	Control *child = get_tab_control(p_tab);
 	ERR_FAIL_COND(!child);
-	child->set_meta("_tab_hidden", p_hidden);
-	update();
-	for (int i = 0; i < get_tab_count(); i++) {
-		int try_tab = (p_tab + 1 + i) % get_tab_count();
-		if (get_tab_disabled(try_tab) || get_tab_hidden(try_tab)) {
-			continue;
-		}
 
-		set_current_tab(try_tab);
-		return;
-	}
-
-	//assumed no other tab can be switched to, just hide
+	tab_bar->set_tab_hidden(p_tab, p_hidden);
 	child->hide();
-}
 
-bool TabContainer::get_tab_hidden(int p_tab) const {
-	Control *child = get_tab_control(p_tab);
-	ERR_FAIL_COND_V(!child, false);
-	if (child->has_meta("_tab_hidden")) {
-		return child->get_meta("_tab_hidden");
-	} else {
-		return false;
+	_update_margins();
+	if (!get_clip_tabs()) {
+		update_minimum_size();
 	}
 }
 
+bool TabContainer::is_tab_hidden(int p_tab) const {
+	return tab_bar->is_tab_hidden(p_tab);
+}
+
 void TabContainer::get_translatable_strings(List<String> *p_strings) const {
-	Vector<Control *> tabs = _get_tabs();
-	for (int i = 0; i < tabs.size(); i++) {
-		Control *c = tabs[i];
+	Vector<Control *> controls = _get_tab_controls();
+	for (int i = 0; i < controls.size(); i++) {
+		Control *c = controls[i];
 
 		if (!c->has_meta("_tab_name")) {
 			continue;
 		}
 
 		String name = c->get_meta("_tab_name");
-
 		if (!name.is_empty()) {
 			p_strings->push_back(name);
 		}
@@ -1104,9 +715,26 @@ void TabContainer::get_translatable_strings(List<String> *p_strings) const {
 Size2 TabContainer::get_minimum_size() const {
 	Size2 ms;
 
-	Vector<Control *> tabs = _get_tabs();
-	for (int i = 0; i < tabs.size(); i++) {
-		Control *c = tabs[i];
+	if (tabs_visible) {
+		ms = tab_bar->get_minimum_size();
+
+		if (!get_clip_tabs()) {
+			if (get_popup()) {
+				ms.x += get_theme_icon(SNAME("menu"))->get_width();
+			}
+
+			int side_margin = get_theme_constant(SNAME("side_margin"));
+			if (side_margin > 0 && get_tab_alignment() != TabBar::ALIGNMENT_CENTER &&
+					(get_tab_alignment() != TabBar::ALIGNMENT_RIGHT || !get_popup())) {
+				ms.x += side_margin;
+			}
+		}
+	}
+
+	Vector<Control *> controls = _get_tab_controls();
+	int max_control_height = 0;
+	for (int i = 0; i < controls.size(); i++) {
+		Control *c = controls[i];
 
 		if (!c->is_visible_in_tree() && !use_hidden_tabs_for_min_size) {
 			continue;
@@ -1114,29 +742,30 @@ Size2 TabContainer::get_minimum_size() const {
 
 		Size2 cms = c->get_combined_minimum_size();
 		ms.x = MAX(ms.x, cms.x);
-		ms.y = MAX(ms.y, cms.y);
+		max_control_height = MAX(max_control_height, cms.y);
 	}
+	ms.y += max_control_height;
 
-	Ref<StyleBox> tab_unselected = get_theme_stylebox(SNAME("tab_unselected"));
-	Ref<StyleBox> tab_selected = get_theme_stylebox(SNAME("tab_selected"));
-	Ref<StyleBox> tab_disabled = get_theme_stylebox(SNAME("tab_disabled"));
-
-	if (tabs_visible) {
-		ms.y += MAX(MAX(tab_unselected->get_minimum_size().y, tab_selected->get_minimum_size().y), tab_disabled->get_minimum_size().y);
-		ms.y += _get_top_margin();
-	}
-
-	Ref<StyleBox> sb = get_theme_stylebox(SNAME("panel"));
-	ms += sb->get_minimum_size();
+	Size2 panel_ms = get_theme_stylebox(SNAME("panel"))->get_minimum_size();
+	ms.x = MAX(ms.x, panel_ms.x);
+	ms.y += panel_ms.y;
 
 	return ms;
 }
 
 void TabContainer::set_popup(Node *p_popup) {
-	ERR_FAIL_NULL(p_popup);
+	bool had_popup = get_popup();
+
 	Popup *popup = Object::cast_to<Popup>(p_popup);
 	popup_obj_id = popup ? popup->get_instance_id() : ObjectID();
-	update();
+
+	if (had_popup != bool(popup)) {
+		update();
+		_update_margins();
+		if (!get_clip_tabs()) {
+			update_minimum_size();
+		}
+	}
 }
 
 Popup *TabContainer::get_popup() const {
@@ -1151,6 +780,7 @@ Popup *TabContainer::get_popup() const {
 			popup_obj_id = ObjectID();
 		}
 	}
+
 	return nullptr;
 }
 
@@ -1163,15 +793,16 @@ bool TabContainer::get_drag_to_rearrange_enabled() const {
 }
 
 void TabContainer::set_tabs_rearrange_group(int p_group_id) {
-	tabs_rearrange_group = p_group_id;
+	tab_bar->set_tabs_rearrange_group(p_group_id);
 }
 
 int TabContainer::get_tabs_rearrange_group() const {
-	return tabs_rearrange_group;
+	return tab_bar->get_tabs_rearrange_group();
 }
 
 void TabContainer::set_use_hidden_tabs_for_min_size(bool p_use_hidden_tabs) {
 	use_hidden_tabs_for_min_size = p_use_hidden_tabs;
+	update_minimum_size();
 }
 
 bool TabContainer::get_use_hidden_tabs_for_min_size() const {
@@ -1195,6 +826,8 @@ void TabContainer::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("get_tab_control", "tab_idx"), &TabContainer::get_tab_control);
 	ClassDB::bind_method(D_METHOD("set_tab_alignment", "alignment"), &TabContainer::set_tab_alignment);
 	ClassDB::bind_method(D_METHOD("get_tab_alignment"), &TabContainer::get_tab_alignment);
+	ClassDB::bind_method(D_METHOD("set_clip_tabs", "clip_tabs"), &TabContainer::set_clip_tabs);
+	ClassDB::bind_method(D_METHOD("get_clip_tabs"), &TabContainer::get_clip_tabs);
 	ClassDB::bind_method(D_METHOD("set_tabs_visible", "visible"), &TabContainer::set_tabs_visible);
 	ClassDB::bind_method(D_METHOD("are_tabs_visible"), &TabContainer::are_tabs_visible);
 	ClassDB::bind_method(D_METHOD("set_all_tabs_in_front", "is_front"), &TabContainer::set_all_tabs_in_front);
@@ -1204,23 +837,25 @@ void TabContainer::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_tab_icon", "tab_idx", "icon"), &TabContainer::set_tab_icon);
 	ClassDB::bind_method(D_METHOD("get_tab_icon", "tab_idx"), &TabContainer::get_tab_icon);
 	ClassDB::bind_method(D_METHOD("set_tab_disabled", "tab_idx", "disabled"), &TabContainer::set_tab_disabled);
-	ClassDB::bind_method(D_METHOD("get_tab_disabled", "tab_idx"), &TabContainer::get_tab_disabled);
+	ClassDB::bind_method(D_METHOD("is_tab_disabled", "tab_idx"), &TabContainer::is_tab_disabled);
 	ClassDB::bind_method(D_METHOD("set_tab_hidden", "tab_idx", "hidden"), &TabContainer::set_tab_hidden);
-	ClassDB::bind_method(D_METHOD("get_tab_hidden", "tab_idx"), &TabContainer::get_tab_hidden);
+	ClassDB::bind_method(D_METHOD("is_tab_hidden", "tab_idx"), &TabContainer::is_tab_hidden);
 	ClassDB::bind_method(D_METHOD("get_tab_idx_at_point", "point"), &TabContainer::get_tab_idx_at_point);
+	ClassDB::bind_method(D_METHOD("get_tab_idx_from_control", "control"), &TabContainer::get_tab_idx_from_control);
 	ClassDB::bind_method(D_METHOD("set_popup", "popup"), &TabContainer::set_popup);
 	ClassDB::bind_method(D_METHOD("get_popup"), &TabContainer::get_popup);
 	ClassDB::bind_method(D_METHOD("set_drag_to_rearrange_enabled", "enabled"), &TabContainer::set_drag_to_rearrange_enabled);
 	ClassDB::bind_method(D_METHOD("get_drag_to_rearrange_enabled"), &TabContainer::get_drag_to_rearrange_enabled);
 	ClassDB::bind_method(D_METHOD("set_tabs_rearrange_group", "group_id"), &TabContainer::set_tabs_rearrange_group);
 	ClassDB::bind_method(D_METHOD("get_tabs_rearrange_group"), &TabContainer::get_tabs_rearrange_group);
-
 	ClassDB::bind_method(D_METHOD("set_use_hidden_tabs_for_min_size", "enabled"), &TabContainer::set_use_hidden_tabs_for_min_size);
 	ClassDB::bind_method(D_METHOD("get_use_hidden_tabs_for_min_size"), &TabContainer::get_use_hidden_tabs_for_min_size);
 
 	ClassDB::bind_method(D_METHOD("_repaint"), &TabContainer::_repaint);
 	ClassDB::bind_method(D_METHOD("_on_theme_changed"), &TabContainer::_on_theme_changed);
-	ClassDB::bind_method(D_METHOD("_update_current_tab"), &TabContainer::_update_current_tab);
+	ClassDB::bind_method(D_METHOD("_get_drag_data_fw"), &TabContainer::_get_drag_data_fw);
+	ClassDB::bind_method(D_METHOD("_can_drop_data_fw"), &TabContainer::_can_drop_data_fw);
+	ClassDB::bind_method(D_METHOD("_drop_data_fw"), &TabContainer::_drop_data_fw);
 
 	ADD_SIGNAL(MethodInfo("tab_changed", PropertyInfo(Variant::INT, "tab")));
 	ADD_SIGNAL(MethodInfo("tab_selected", PropertyInfo(Variant::INT, "tab")));
@@ -1228,16 +863,21 @@ void TabContainer::_bind_methods() {
 
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "tab_alignment", PROPERTY_HINT_ENUM, "Left,Center,Right"), "set_tab_alignment", "get_tab_alignment");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "current_tab", PROPERTY_HINT_RANGE, "-1,4096,1", PROPERTY_USAGE_EDITOR), "set_current_tab", "get_current_tab");
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "clip_tabs"), "set_clip_tabs", "get_clip_tabs");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "tabs_visible"), "set_tabs_visible", "are_tabs_visible");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "all_tabs_in_front"), "set_all_tabs_in_front", "is_all_tabs_in_front");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "drag_to_rearrange_enabled"), "set_drag_to_rearrange_enabled", "get_drag_to_rearrange_enabled");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "tabs_rearrange_group"), "set_tabs_rearrange_group", "get_tabs_rearrange_group");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "use_hidden_tabs_for_min_size"), "set_use_hidden_tabs_for_min_size", "get_use_hidden_tabs_for_min_size");
-
-	BIND_ENUM_CONSTANT(ALIGNMENT_LEFT);
-	BIND_ENUM_CONSTANT(ALIGNMENT_CENTER);
-	BIND_ENUM_CONSTANT(ALIGNMENT_RIGHT);
 }
 
 TabContainer::TabContainer() {
+	tab_bar = memnew(TabBar);
+	tab_bar->set_drag_forwarding(this);
+	add_child(tab_bar, false, INTERNAL_MODE_FRONT);
+	tab_bar->set_anchors_and_offsets_preset(Control::PRESET_TOP_WIDE);
+	tab_bar->connect("tab_changed", callable_mp(this, &TabContainer::_on_tab_changed));
+	tab_bar->connect("tab_selected", callable_mp(this, &TabContainer::_on_tab_selected));
+
 	connect("mouse_exited", callable_mp(this, &TabContainer::_on_mouse_exited));
 }
diff --git a/scene/gui/tab_container.h b/scene/gui/tab_container.h
index ee1b3fea51..c54934b37b 100644
--- a/scene/gui/tab_container.h
+++ b/scene/gui/tab_container.h
@@ -33,65 +33,51 @@
 
 #include "scene/gui/container.h"
 #include "scene/gui/popup.h"
-#include "scene/resources/text_line.h"
+#include "scene/gui/tab_bar.h"
 
 class TabContainer : public Container {
 	GDCLASS(TabContainer, Container);
 
-public:
-	enum AlignmentMode {
-		ALIGNMENT_LEFT,
-		ALIGNMENT_CENTER,
-		ALIGNMENT_RIGHT,
-	};
-
-private:
-	int first_tab_cache = 0;
-	int tabs_ofs_cache = 0;
-	int last_tab_cache = 0;
-	int current = 0;
-	int previous = 0;
+	TabBar *tab_bar;
 	bool tabs_visible = true;
 	bool all_tabs_in_front = false;
-	bool buttons_visible_cache = false;
 	bool menu_hovered = false;
-	int highlight_arrow = -1;
-	AlignmentMode alignment = ALIGNMENT_CENTER;
-	int _get_top_margin() const;
 	mutable ObjectID popup_obj_id;
 	bool drag_to_rearrange_enabled = false;
 	bool use_hidden_tabs_for_min_size = false;
-	int tabs_rearrange_group = -1;
+	bool theme_changing = false;
 
-	Vector<Ref<TextLine>> text_buf;
-	Vector<Control *> _get_tabs() const;
-	int _get_tab_width(int p_index) const;
-	bool _theme_changing = false;
+	int _get_top_margin() const;
+	Vector<Control *> _get_tab_controls() const;
 	void _on_theme_changed();
 	void _repaint();
+	void _refresh_tab_names();
+	void _update_margins();
 	void _on_mouse_exited();
-	void _update_current_tab();
-	void _draw_tab(Ref<StyleBox> &p_tab_style, Color &p_font_color, int p_index, float p_x);
-	void _refresh_texts();
+	void _on_tab_changed(int p_tab);
+	void _on_tab_selected(int p_tab);
+
+	Variant _get_drag_data_fw(const Point2 &p_point, Control *p_from_control);
+	bool _can_drop_data_fw(const Point2 &p_point, const Variant &p_data, Control *p_from_control) const;
+	void _drop_data_fw(const Point2 &p_point, const Variant &p_data, Control *p_from_control);
 
 protected:
-	void _child_renamed_callback();
 	virtual void gui_input(const Ref<InputEvent> &p_event) override;
 	void _notification(int p_what);
 	virtual void add_child_notify(Node *p_child) override;
 	virtual void move_child_notify(Node *p_child) override;
 	virtual void remove_child_notify(Node *p_child) override;
+	static void _bind_methods();
 
-	Variant get_drag_data(const Point2 &p_point) override;
-	bool can_drop_data(const Point2 &p_point, const Variant &p_data) const override;
-	void drop_data(const Point2 &p_point, const Variant &p_data) override;
+public:
 	int get_tab_idx_at_point(const Point2 &p_point) const;
+	int get_tab_idx_from_control(Control *p_child) const;
 
-	static void _bind_methods();
+	void set_tab_alignment(TabBar::AlignmentMode p_alignment);
+	TabBar::AlignmentMode get_tab_alignment() const;
 
-public:
-	void set_tab_alignment(AlignmentMode p_alignment);
-	AlignmentMode get_tab_alignment() const;
+	void set_clip_tabs(bool p_clip_tabs);
+	bool get_clip_tabs() const;
 
 	void set_tabs_visible(bool p_visible);
 	bool are_tabs_visible() const;
@@ -106,10 +92,10 @@ public:
 	Ref<Texture2D> get_tab_icon(int p_tab) const;
 
 	void set_tab_disabled(int p_tab, bool p_disabled);
-	bool get_tab_disabled(int p_tab) const;
+	bool is_tab_disabled(int p_tab) const;
 
 	void set_tab_hidden(int p_tab, bool p_hidden);
-	bool get_tab_hidden(int p_tab) const;
+	bool is_tab_hidden(int p_tab) const;
 
 	int get_tab_count() const;
 	void set_current_tab(int p_current);
@@ -139,6 +125,4 @@ public:
 	TabContainer();
 };
 
-VARIANT_ENUM_CAST(TabContainer::AlignmentMode);
-
 #endif // TAB_CONTAINER_H
diff --git a/scene/gui/text_edit.cpp b/scene/gui/text_edit.cpp
index 854a9e463c..05fda7128c 100644
--- a/scene/gui/text_edit.cpp
+++ b/scene/gui/text_edit.cpp
@@ -5664,8 +5664,10 @@ void TextEdit::_generate_context_menu() {
 	if (editable) {
 		menu->add_item(RTR("Paste"), MENU_PASTE, is_shortcut_keys_enabled() ? _get_menu_action_accelerator("ui_paste") : Key::NONE);
 	}
-	menu->add_separator();
-	if (is_selecting_enabled()) {
+	if (selecting_enabled || editable) {
+		menu->add_separator();
+	}
+	if (selecting_enabled) {
 		menu->add_item(RTR("Select All"), MENU_SELECT_ALL, is_shortcut_keys_enabled() ? _get_menu_action_accelerator("ui_text_select_all") : Key::NONE);
 	}
 	if (editable) {
@@ -6579,7 +6581,7 @@ void TextEdit::_base_remove_text(int p_from_line, int p_from_column, int p_to_li
 	emit_signal(SNAME("lines_edited_from"), p_to_line, p_from_line);
 }
 
-TextEdit::TextEdit() {
+TextEdit::TextEdit(const String &p_placeholder) {
 	placeholder_data_buf.instantiate();
 
 	clear();
@@ -6621,5 +6623,7 @@ TextEdit::TextEdit() {
 
 	undo_stack_max_size = GLOBAL_GET("gui/common/text_edit_undo_stack_max_size");
 
+	set_placeholder(p_placeholder);
+
 	set_editable(true);
 }
diff --git a/scene/gui/text_edit.h b/scene/gui/text_edit.h
index 83a63ae40a..6deaf76e5e 100644
--- a/scene/gui/text_edit.h
+++ b/scene/gui/text_edit.h
@@ -940,7 +940,7 @@ public:
 	void set_draw_spaces(bool p_enabled);
 	bool is_drawing_spaces() const;
 
-	TextEdit();
+	TextEdit(const String &p_placeholder = String());
 };
 
 VARIANT_ENUM_CAST(TextEdit::CaretType);
diff --git a/scene/gui/tree.cpp b/scene/gui/tree.cpp
index 5afc37061b..ff8d2b88b1 100644
--- a/scene/gui/tree.cpp
+++ b/scene/gui/tree.cpp
@@ -1186,7 +1186,7 @@ void recursive_call_aux(TreeItem *p_item, const StringName &p_method, const Vari
 	if (!p_item) {
 		return;
 	}
-	p_item->call(p_method, p_args, p_argcount, r_error);
+	p_item->callp(p_method, p_args, p_argcount, r_error);
 	TreeItem *c = p_item->get_first_child();
 	while (c) {
 		recursive_call_aux(c, p_method, p_args, p_argcount, r_error);
diff --git a/scene/main/node.cpp b/scene/main/node.cpp
index 211667ce38..208bbe4d72 100644
--- a/scene/main/node.cpp
+++ b/scene/main/node.cpp
@@ -211,7 +211,7 @@ void Node::_propagate_enter_tree() {
 	if (data.parent) {
 		Variant c = this;
 		const Variant *cptr = &c;
-		data.parent->emit_signal(SNAME("child_entered_tree"), &cptr, 1);
+		data.parent->emit_signalp(SNAME("child_entered_tree"), &cptr, 1);
 	}
 
 	data.blocked++;
@@ -287,7 +287,7 @@ void Node::_propagate_exit_tree() {
 	if (data.parent) {
 		Variant c = this;
 		const Variant *cptr = &c;
-		data.parent->emit_signal(SNAME("child_exited_tree"), &cptr, 1);
+		data.parent->emit_signalp(SNAME("child_exited_tree"), &cptr, 1);
 	}
 
 	// exit groups
@@ -582,34 +582,6 @@ uint16_t Node::rpc_config(const StringName &p_method, Multiplayer::RPCMode p_rpc
 
 /***** RPC FUNCTIONS ********/
 
-void Node::rpc(const StringName &p_method, VARIANT_ARG_DECLARE) {
-	VARIANT_ARGPTRS;
-
-	int argc = 0;
-	for (int i = 0; i < VARIANT_ARG_MAX; i++) {
-		if (argptr[i]->get_type() == Variant::NIL) {
-			break;
-		}
-		argc++;
-	}
-
-	rpcp(0, p_method, argptr, argc);
-}
-
-void Node::rpc_id(int p_peer_id, const StringName &p_method, VARIANT_ARG_DECLARE) {
-	VARIANT_ARGPTRS;
-
-	int argc = 0;
-	for (int i = 0; i < VARIANT_ARG_MAX; i++) {
-		if (argptr[i]->get_type() == Variant::NIL) {
-			break;
-		}
-		argc++;
-	}
-
-	rpcp(p_peer_id, p_method, argptr, argc);
-}
-
 Variant Node::_rpc_bind(const Variant **p_args, int p_argcount, Callable::CallError &r_error) {
 	if (p_argcount < 1) {
 		r_error.error = Callable::CallError::CALL_ERROR_TOO_FEW_ARGUMENTS;
@@ -2389,42 +2361,6 @@ void Node::_replace_connections_target(Node *p_new_target) {
 	}
 }
 
-Vector<Variant> Node::make_binds(VARIANT_ARG_DECLARE) {
-	Vector<Variant> ret;
-
-	if (p_arg1.get_type() == Variant::NIL) {
-		return ret;
-	} else {
-		ret.push_back(p_arg1);
-	}
-
-	if (p_arg2.get_type() == Variant::NIL) {
-		return ret;
-	} else {
-		ret.push_back(p_arg2);
-	}
-
-	if (p_arg3.get_type() == Variant::NIL) {
-		return ret;
-	} else {
-		ret.push_back(p_arg3);
-	}
-
-	if (p_arg4.get_type() == Variant::NIL) {
-		return ret;
-	} else {
-		ret.push_back(p_arg4);
-	}
-
-	if (p_arg5.get_type() == Variant::NIL) {
-		return ret;
-	} else {
-		ret.push_back(p_arg5);
-	}
-
-	return ret;
-}
-
 bool Node::has_node_and_resource(const NodePath &p_path) const {
 	if (!has_node(p_path)) {
 		return false;
diff --git a/scene/main/node.h b/scene/main/node.h
index 8e49f871a7..f5fbcf6587 100644
--- a/scene/main/node.h
+++ b/scene/main/node.h
@@ -420,7 +420,11 @@ public:
 	void set_scene_instance_load_placeholder(bool p_enable);
 	bool get_scene_instance_load_placeholder() const;
 
-	static Vector<Variant> make_binds(VARIANT_ARG_LIST);
+	template <typename... VarArgs>
+	Vector<Variant> make_binds(VarArgs... p_args) {
+		Vector<Variant> binds = { p_args... };
+		return binds;
+	}
 
 	void replace_by(Node *p_node, bool p_keep_data = false);
 
@@ -472,8 +476,26 @@ public:
 	uint16_t rpc_config(const StringName &p_method, Multiplayer::RPCMode p_rpc_mode, bool p_call_local = false, Multiplayer::TransferMode p_transfer_mode = Multiplayer::TRANSFER_MODE_RELIABLE, int p_channel = 0); // config a local method for RPC
 	Vector<Multiplayer::RPCConfig> get_node_rpc_methods() const;
 
-	void rpc(const StringName &p_method, VARIANT_ARG_LIST); // RPC, honors RPCMode, TransferMode, channel
-	void rpc_id(int p_peer_id, const StringName &p_method, VARIANT_ARG_LIST); // RPC to specific peer(s), honors RPCMode, TransferMode, channel
+	template <typename... VarArgs>
+	void rpc(const StringName &p_method, VarArgs... p_args) {
+		Variant args[sizeof...(p_args) + 1] = { p_args..., Variant() }; // +1 makes sure zero sized arrays are also supported.
+		const Variant *argptrs[sizeof...(p_args) + 1];
+		for (uint32_t i = 0; i < sizeof...(p_args); i++) {
+			argptrs[i] = &args[i];
+		}
+		rpcp(0, p_method, sizeof...(p_args) == 0 ? nullptr : (const Variant **)argptrs, sizeof...(p_args));
+	}
+
+	template <typename... VarArgs>
+	void rpc_id(int p_peer_id, const StringName &p_method, VarArgs... p_args) {
+		Variant args[sizeof...(p_args) + 1] = { p_args..., Variant() }; // +1 makes sure zero sized arrays are also supported.
+		const Variant *argptrs[sizeof...(p_args) + 1];
+		for (uint32_t i = 0; i < sizeof...(p_args); i++) {
+			argptrs[i] = &args[i];
+		}
+		rpcp(p_peer_id, p_method, sizeof...(p_args) == 0 ? nullptr : (const Variant **)argptrs, sizeof...(p_args));
+	}
+
 	void rpcp(int p_peer_id, const StringName &p_method, const Variant **p_arg, int p_argcount);
 
 	Ref<MultiplayerAPI> get_multiplayer() const;
diff --git a/scene/main/scene_tree.cpp b/scene/main/scene_tree.cpp
index 69e7472cf2..3ddce28b69 100644
--- a/scene/main/scene_tree.cpp
+++ b/scene/main/scene_tree.cpp
@@ -175,13 +175,13 @@ void SceneTree::_flush_ugc() {
 	while (unique_group_calls.size()) {
 		Map<UGCall, Vector<Variant>>::Element *E = unique_group_calls.front();
 
-		Variant v[VARIANT_ARG_MAX];
+		const Variant **argptrs = (const Variant **)alloca(E->get().size() * sizeof(Variant *));
+
 		for (int i = 0; i < E->get().size(); i++) {
-			v[i] = E->get()[i];
+			argptrs[i] = &E->get()[i];
 		}
 
-		static_assert(VARIANT_ARG_MAX == 8, "This code needs to be updated if VARIANT_ARG_MAX != 8");
-		call_group_flags(GROUP_CALL_REALTIME, E->key().group, E->key().call, v[0], v[1], v[2], v[3], v[4], v[5], v[6], v[7]);
+		call_group_flagsp(GROUP_CALL_REALTIME, E->key().group, E->key().call, argptrs, E->get().size());
 
 		unique_group_calls.erase(E);
 	}
@@ -210,7 +210,7 @@ void SceneTree::_update_group_order(Group &g, bool p_use_priority) {
 	g.changed = false;
 }
 
-void SceneTree::call_group_flags(uint32_t p_call_flags, const StringName &p_group, const StringName &p_function, VARIANT_ARG_DECLARE) {
+void SceneTree::call_group_flagsp(uint32_t p_call_flags, const StringName &p_group, const StringName &p_function, const Variant **p_args, int p_argcount) {
 	Map<StringName, Group>::Element *E = group_map.find(p_group);
 	if (!E) {
 		return;
@@ -231,14 +231,9 @@ void SceneTree::call_group_flags(uint32_t p_call_flags, const StringName &p_grou
 			return;
 		}
 
-		VARIANT_ARGPTRS;
-
 		Vector<Variant> args;
-		for (int i = 0; i < VARIANT_ARG_MAX; i++) {
-			if (argptr[i]->get_type() == Variant::NIL) {
-				break;
-			}
-			args.push_back(*argptr[i]);
+		for (int i = 0; i < p_argcount; i++) {
+			args.push_back(*p_args[i]);
 		}
 
 		unique_group_calls[ug] = args;
@@ -260,9 +255,10 @@ void SceneTree::call_group_flags(uint32_t p_call_flags, const StringName &p_grou
 			}
 
 			if (p_call_flags & GROUP_CALL_REALTIME) {
-				nodes[i]->call(p_function, VARIANT_ARG_PASS);
+				Callable::CallError ce;
+				nodes[i]->callp(p_function, p_args, p_argcount, ce);
 			} else {
-				MessageQueue::get_singleton()->push_call(nodes[i], p_function, VARIANT_ARG_PASS);
+				MessageQueue::get_singleton()->push_callp(nodes[i], p_function, p_args, p_argcount);
 			}
 		}
 
@@ -273,9 +269,10 @@ void SceneTree::call_group_flags(uint32_t p_call_flags, const StringName &p_grou
 			}
 
 			if (p_call_flags & GROUP_CALL_REALTIME) {
-				nodes[i]->call(p_function, VARIANT_ARG_PASS);
+				Callable::CallError ce;
+				nodes[i]->callp(p_function, p_args, p_argcount, ce);
 			} else {
-				MessageQueue::get_singleton()->push_call(nodes[i], p_function, VARIANT_ARG_PASS);
+				MessageQueue::get_singleton()->push_callp(nodes[i], p_function, p_args, p_argcount);
 			}
 		}
 	}
@@ -388,10 +385,6 @@ void SceneTree::set_group_flags(uint32_t p_call_flags, const StringName &p_group
 	}
 }
 
-void SceneTree::call_group(const StringName &p_group, const StringName &p_function, VARIANT_ARG_DECLARE) {
-	call_group_flags(0, p_group, p_function, VARIANT_ARG_PASS);
-}
-
 void SceneTree::notify_group(const StringName &p_group, int p_notification) {
 	notify_group_flags(0, p_group, p_notification);
 }
@@ -486,7 +479,7 @@ bool SceneTree::process(double p_time) {
 		}
 		E->get()->set_time_left(time_left);
 
-		if (time_left < 0) {
+		if (time_left <= 0) {
 			E->get()->emit_signal(SNAME("timeout"));
 			timers.erase(E);
 		}
@@ -930,14 +923,8 @@ Variant SceneTree::_call_group_flags(const Variant **p_args, int p_argcount, Cal
 	int flags = *p_args[0];
 	StringName group = *p_args[1];
 	StringName method = *p_args[2];
-	Variant v[VARIANT_ARG_MAX];
-
-	for (int i = 0; i < MIN(p_argcount - 3, 5); i++) {
-		v[i] = *p_args[i + 3];
-	}
 
-	static_assert(VARIANT_ARG_MAX == 8, "This code needs to be updated if VARIANT_ARG_MAX != 8");
-	call_group_flags(flags, group, method, v[0], v[1], v[2], v[3], v[4], v[5], v[6], v[7]);
+	call_group_flagsp(flags, group, method, p_args + 3, p_argcount - 3);
 	return Variant();
 }
 
@@ -950,14 +937,8 @@ Variant SceneTree::_call_group(const Variant **p_args, int p_argcount, Callable:
 
 	StringName group = *p_args[0];
 	StringName method = *p_args[1];
-	Variant v[VARIANT_ARG_MAX];
-
-	for (int i = 0; i < MIN(p_argcount - 2, 5); i++) {
-		v[i] = *p_args[i + 2];
-	}
 
-	static_assert(VARIANT_ARG_MAX == 8, "This code needs to be updated if VARIANT_ARG_MAX != 8");
-	call_group_flags(0, group, method, v[0], v[1], v[2], v[3], v[4], v[5], v[6], v[7]);
+	call_group_flagsp(0, group, method, p_args + 2, p_argcount - 2);
 	return Variant();
 }
 
diff --git a/scene/main/scene_tree.h b/scene/main/scene_tree.h
index 5f7c1729e8..6197e52fc1 100644
--- a/scene/main/scene_tree.h
+++ b/scene/main/scene_tree.h
@@ -229,14 +229,33 @@ public:
 
 	_FORCE_INLINE_ Window *get_root() const { return root; }
 
-	void call_group_flags(uint32_t p_call_flags, const StringName &p_group, const StringName &p_function, VARIANT_ARG_LIST);
+	void call_group_flagsp(uint32_t p_call_flags, const StringName &p_group, const StringName &p_function, const Variant **p_args, int p_argcount);
 	void notify_group_flags(uint32_t p_call_flags, const StringName &p_group, int p_notification);
 	void set_group_flags(uint32_t p_call_flags, const StringName &p_group, const String &p_name, const Variant &p_value);
 
-	void call_group(const StringName &p_group, const StringName &p_function, VARIANT_ARG_LIST);
 	void notify_group(const StringName &p_group, int p_notification);
 	void set_group(const StringName &p_group, const String &p_name, const Variant &p_value);
 
+	template <typename... VarArgs>
+	void call_group(const StringName &p_group, const StringName &p_function, VarArgs... p_args) {
+		Variant args[sizeof...(p_args) + 1] = { p_args..., Variant() }; // +1 makes sure zero sized arrays are also supported.
+		const Variant *argptrs[sizeof...(p_args) + 1];
+		for (uint32_t i = 0; i < sizeof...(p_args); i++) {
+			argptrs[i] = &args[i];
+		}
+		call_group_flagsp(0, p_group, p_function, sizeof...(p_args) == 0 ? nullptr : (const Variant **)argptrs, sizeof...(p_args));
+	}
+
+	template <typename... VarArgs>
+	void call_group_flags(uint32_t p_flags, const StringName &p_group, const StringName &p_function, VarArgs... p_args) {
+		Variant args[sizeof...(p_args) + 1] = { p_args..., Variant() }; // +1 makes sure zero sized arrays are also supported.
+		const Variant *argptrs[sizeof...(p_args) + 1];
+		for (uint32_t i = 0; i < sizeof...(p_args); i++) {
+			argptrs[i] = &args[i];
+		}
+		call_group_flagsp(p_flags, p_group, p_function, sizeof...(p_args) == 0 ? nullptr : (const Variant **)argptrs, sizeof...(p_args));
+	}
+
 	void flush_transform_notifications();
 
 	virtual void initialize() override;
diff --git a/scene/multiplayer/scene_rpc_interface.cpp b/scene/multiplayer/scene_rpc_interface.cpp
index 2239a5d81c..84700a82f3 100644
--- a/scene/multiplayer/scene_rpc_interface.cpp
+++ b/scene/multiplayer/scene_rpc_interface.cpp
@@ -278,7 +278,7 @@ void SceneRPCInterface::_process_rpc(Node *p_node, const uint16_t p_rpc_method_i
 
 	Callable::CallError ce;
 
-	p_node->call(config.name, (const Variant **)argp.ptr(), argc, ce);
+	p_node->callp(config.name, (const Variant **)argp.ptr(), argc, ce);
 	if (ce.error != Callable::CallError::CALL_OK) {
 		String error = Variant::get_call_error_text(p_node, config.name, (const Variant **)argp.ptr(), argc, ce);
 		error = "RPC - " + error;
@@ -480,7 +480,7 @@ void SceneRPCInterface::rpcp(Object *p_obj, int p_peer_id, const StringName &p_m
 		Callable::CallError ce;
 
 		multiplayer->set_remote_sender_override(peer->get_unique_id());
-		node->call(p_method, p_arg, p_argcount, ce);
+		node->callp(p_method, p_arg, p_argcount, ce);
 		multiplayer->set_remote_sender_override(0);
 
 		if (ce.error != Callable::CallError::CALL_OK) {
@@ -496,7 +496,7 @@ void SceneRPCInterface::rpcp(Object *p_obj, int p_peer_id, const StringName &p_m
 		ce.error = Callable::CallError::CALL_OK;
 
 		multiplayer->set_remote_sender_override(peer->get_unique_id());
-		node->get_script_instance()->call(p_method, p_arg, p_argcount, ce);
+		node->get_script_instance()->callp(p_method, p_arg, p_argcount, ce);
 		multiplayer->set_remote_sender_override(0);
 
 		if (ce.error != Callable::CallError::CALL_OK) {
diff --git a/scene/register_scene_types.cpp b/scene/register_scene_types.cpp
index 152a1616f8..fb5d57ab9e 100644
--- a/scene/register_scene_types.cpp
+++ b/scene/register_scene_types.cpp
@@ -260,9 +260,9 @@
 static Ref<ResourceFormatSaverText> resource_saver_text;
 static Ref<ResourceFormatLoaderText> resource_loader_text;
 
-static Ref<ResourceFormatLoaderStreamTexture2D> resource_loader_stream_texture;
-static Ref<ResourceFormatLoaderStreamTextureLayered> resource_loader_texture_layered;
-static Ref<ResourceFormatLoaderStreamTexture3D> resource_loader_texture_3d;
+static Ref<ResourceFormatLoaderCompressedTexture2D> resource_loader_stream_texture;
+static Ref<ResourceFormatLoaderCompressedTextureLayered> resource_loader_texture_layered;
+static Ref<ResourceFormatLoaderCompressedTexture3D> resource_loader_texture_3d;
 
 static Ref<ResourceFormatSaverShader> resource_saver_shader;
 static Ref<ResourceFormatLoaderShader> resource_loader_shader;
@@ -300,9 +300,9 @@ void register_scene_types() {
 	GDREGISTER_CLASS(Object);
 
 	GDREGISTER_CLASS(Node);
-	GDREGISTER_VIRTUAL_CLASS(InstancePlaceholder);
+	GDREGISTER_ABSTRACT_CLASS(InstancePlaceholder);
 
-	GDREGISTER_VIRTUAL_CLASS(Viewport);
+	GDREGISTER_ABSTRACT_CLASS(Viewport);
 	GDREGISTER_CLASS(SubViewport);
 	GDREGISTER_CLASS(ViewportTexture);
 	GDREGISTER_CLASS(HTTPRequest);
@@ -324,11 +324,11 @@ void register_scene_types() {
 	GDREGISTER_CLASS(Control);
 	GDREGISTER_CLASS(Button);
 	GDREGISTER_CLASS(Label);
-	GDREGISTER_VIRTUAL_CLASS(ScrollBar);
+	GDREGISTER_ABSTRACT_CLASS(ScrollBar);
 	GDREGISTER_CLASS(HScrollBar);
 	GDREGISTER_CLASS(VScrollBar);
 	GDREGISTER_CLASS(ProgressBar);
-	GDREGISTER_VIRTUAL_CLASS(Slider);
+	GDREGISTER_ABSTRACT_CLASS(Slider);
 	GDREGISTER_CLASS(HSlider);
 	GDREGISTER_CLASS(VSlider);
 	GDREGISTER_CLASS(Popup);
@@ -349,19 +349,19 @@ void register_scene_types() {
 	GDREGISTER_CLASS(AspectRatioContainer);
 	GDREGISTER_CLASS(TabContainer);
 	GDREGISTER_CLASS(TabBar);
-	GDREGISTER_VIRTUAL_CLASS(Separator);
+	GDREGISTER_ABSTRACT_CLASS(Separator);
 	GDREGISTER_CLASS(HSeparator);
 	GDREGISTER_CLASS(VSeparator);
 	GDREGISTER_CLASS(TextureButton);
 	GDREGISTER_CLASS(Container);
-	GDREGISTER_VIRTUAL_CLASS(BoxContainer);
+	GDREGISTER_ABSTRACT_CLASS(BoxContainer);
 	GDREGISTER_CLASS(HBoxContainer);
 	GDREGISTER_CLASS(VBoxContainer);
 	GDREGISTER_CLASS(GridContainer);
 	GDREGISTER_CLASS(CenterContainer);
 	GDREGISTER_CLASS(ScrollContainer);
 	GDREGISTER_CLASS(PanelContainer);
-	GDREGISTER_VIRTUAL_CLASS(FlowContainer);
+	GDREGISTER_ABSTRACT_CLASS(FlowContainer);
 	GDREGISTER_CLASS(HFlowContainer);
 	GDREGISTER_CLASS(VFlowContainer);
 
@@ -384,7 +384,7 @@ void register_scene_types() {
 	GDREGISTER_CLASS(SyntaxHighlighter);
 	GDREGISTER_CLASS(CodeHighlighter);
 
-	GDREGISTER_VIRTUAL_CLASS(TreeItem);
+	GDREGISTER_ABSTRACT_CLASS(TreeItem);
 	GDREGISTER_CLASS(OptionButton);
 	GDREGISTER_CLASS(SpinBox);
 	GDREGISTER_CLASS(ColorPicker);
@@ -398,7 +398,7 @@ void register_scene_types() {
 
 	GDREGISTER_CLASS(MarginContainer);
 	GDREGISTER_CLASS(SubViewportContainer);
-	GDREGISTER_VIRTUAL_CLASS(SplitContainer);
+	GDREGISTER_ABSTRACT_CLASS(SplitContainer);
 	GDREGISTER_CLASS(HSplitContainer);
 	GDREGISTER_CLASS(VSplitContainer);
 
@@ -418,7 +418,7 @@ void register_scene_types() {
 
 	GDREGISTER_CLASS(AnimationPlayer);
 	GDREGISTER_CLASS(Tween);
-	GDREGISTER_VIRTUAL_CLASS(Tweener);
+	GDREGISTER_ABSTRACT_CLASS(Tweener);
 	GDREGISTER_CLASS(PropertyTweener);
 	GDREGISTER_CLASS(IntervalTweener);
 	GDREGISTER_CLASS(CallbackTweener);
@@ -453,9 +453,9 @@ void register_scene_types() {
 
 #ifndef _3D_DISABLED
 	GDREGISTER_CLASS(Node3D);
-	GDREGISTER_VIRTUAL_CLASS(Node3DGizmo);
+	GDREGISTER_ABSTRACT_CLASS(Node3DGizmo);
 	GDREGISTER_CLASS(Skin);
-	GDREGISTER_VIRTUAL_CLASS(SkinReference);
+	GDREGISTER_ABSTRACT_CLASS(SkinReference);
 	GDREGISTER_CLASS(Skeleton3D);
 	GDREGISTER_CLASS(ImporterMesh);
 	GDREGISTER_CLASS(ImporterMeshInstance3D);
@@ -464,22 +464,22 @@ void register_scene_types() {
 	GDREGISTER_CLASS(Camera3D);
 	GDREGISTER_CLASS(AudioListener3D);
 	GDREGISTER_CLASS(XRCamera3D);
-	GDREGISTER_VIRTUAL_CLASS(XRNode3D);
+	GDREGISTER_ABSTRACT_CLASS(XRNode3D);
 	GDREGISTER_CLASS(XRController3D);
 	GDREGISTER_CLASS(XRAnchor3D);
 	GDREGISTER_CLASS(XROrigin3D);
 	GDREGISTER_CLASS(MeshInstance3D);
 	GDREGISTER_CLASS(OccluderInstance3D);
-	GDREGISTER_VIRTUAL_CLASS(Occluder3D);
+	GDREGISTER_ABSTRACT_CLASS(Occluder3D);
 	GDREGISTER_CLASS(ArrayOccluder3D);
 	GDREGISTER_CLASS(QuadOccluder3D);
 	GDREGISTER_CLASS(BoxOccluder3D);
 	GDREGISTER_CLASS(SphereOccluder3D);
 	GDREGISTER_CLASS(PolygonOccluder3D);
-	GDREGISTER_VIRTUAL_CLASS(SpriteBase3D);
+	GDREGISTER_ABSTRACT_CLASS(SpriteBase3D);
 	GDREGISTER_CLASS(Sprite3D);
 	GDREGISTER_CLASS(AnimatedSprite3D);
-	GDREGISTER_VIRTUAL_CLASS(Light3D);
+	GDREGISTER_ABSTRACT_CLASS(Light3D);
 	GDREGISTER_CLASS(DirectionalLight3D);
 	GDREGISTER_CLASS(OmniLight3D);
 	GDREGISTER_CLASS(SpotLight3D);
@@ -490,14 +490,14 @@ void register_scene_types() {
 	GDREGISTER_CLASS(LightmapGI);
 	GDREGISTER_CLASS(LightmapGIData);
 	GDREGISTER_CLASS(LightmapProbe);
-	GDREGISTER_VIRTUAL_CLASS(Lightmapper);
+	GDREGISTER_ABSTRACT_CLASS(Lightmapper);
 	GDREGISTER_CLASS(GPUParticles3D);
-	GDREGISTER_VIRTUAL_CLASS(GPUParticlesCollision3D);
+	GDREGISTER_ABSTRACT_CLASS(GPUParticlesCollision3D);
 	GDREGISTER_CLASS(GPUParticlesCollisionBox3D);
 	GDREGISTER_CLASS(GPUParticlesCollisionSphere3D);
 	GDREGISTER_CLASS(GPUParticlesCollisionSDF3D);
 	GDREGISTER_CLASS(GPUParticlesCollisionHeightField3D);
-	GDREGISTER_VIRTUAL_CLASS(GPUParticlesAttractor3D);
+	GDREGISTER_ABSTRACT_CLASS(GPUParticlesAttractor3D);
 	GDREGISTER_CLASS(GPUParticlesAttractorBox3D);
 	GDREGISTER_CLASS(GPUParticlesAttractorSphere3D);
 	GDREGISTER_CLASS(GPUParticlesAttractorVectorField3D);
@@ -509,8 +509,8 @@ void register_scene_types() {
 
 	OS::get_singleton()->yield(); // may take time to init
 
-	GDREGISTER_VIRTUAL_CLASS(CollisionObject3D);
-	GDREGISTER_VIRTUAL_CLASS(PhysicsBody3D);
+	GDREGISTER_ABSTRACT_CLASS(CollisionObject3D);
+	GDREGISTER_ABSTRACT_CLASS(PhysicsBody3D);
 	GDREGISTER_CLASS(StaticBody3D);
 	GDREGISTER_CLASS(AnimatableBody3D);
 	GDREGISTER_CLASS(RigidDynamicBody3D);
@@ -542,7 +542,7 @@ void register_scene_types() {
 	GDREGISTER_CLASS(FogMaterial);
 	GDREGISTER_CLASS(RemoteTransform3D);
 
-	GDREGISTER_VIRTUAL_CLASS(Joint3D);
+	GDREGISTER_ABSTRACT_CLASS(Joint3D);
 	GDREGISTER_CLASS(PinJoint3D);
 	GDREGISTER_CLASS(HingeJoint3D);
 	GDREGISTER_CLASS(SliderJoint3D);
@@ -560,14 +560,14 @@ void register_scene_types() {
 
 	GDREGISTER_CLASS(Shader);
 	GDREGISTER_CLASS(VisualShader);
-	GDREGISTER_VIRTUAL_CLASS(VisualShaderNode);
+	GDREGISTER_ABSTRACT_CLASS(VisualShaderNode);
 	GDREGISTER_CLASS(VisualShaderNodeCustom);
 	GDREGISTER_CLASS(VisualShaderNodeInput);
-	GDREGISTER_VIRTUAL_CLASS(VisualShaderNodeOutput);
-	GDREGISTER_VIRTUAL_CLASS(VisualShaderNodeResizableBase);
-	GDREGISTER_VIRTUAL_CLASS(VisualShaderNodeGroupBase);
-	GDREGISTER_VIRTUAL_CLASS(VisualShaderNodeConstant);
-	GDREGISTER_VIRTUAL_CLASS(VisualShaderNodeVectorBase);
+	GDREGISTER_ABSTRACT_CLASS(VisualShaderNodeOutput);
+	GDREGISTER_ABSTRACT_CLASS(VisualShaderNodeResizableBase);
+	GDREGISTER_ABSTRACT_CLASS(VisualShaderNodeGroupBase);
+	GDREGISTER_ABSTRACT_CLASS(VisualShaderNodeConstant);
+	GDREGISTER_ABSTRACT_CLASS(VisualShaderNodeVectorBase);
 	GDREGISTER_CLASS(VisualShaderNodeComment);
 	GDREGISTER_CLASS(VisualShaderNodeFloatConstant);
 	GDREGISTER_CLASS(VisualShaderNodeIntConstant);
@@ -607,11 +607,11 @@ void register_scene_types() {
 	GDREGISTER_CLASS(VisualShaderNodeTexture);
 	GDREGISTER_CLASS(VisualShaderNodeCurveTexture);
 	GDREGISTER_CLASS(VisualShaderNodeCurveXYZTexture);
-	GDREGISTER_VIRTUAL_CLASS(VisualShaderNodeSample3D);
+	GDREGISTER_ABSTRACT_CLASS(VisualShaderNodeSample3D);
 	GDREGISTER_CLASS(VisualShaderNodeTexture2DArray);
 	GDREGISTER_CLASS(VisualShaderNodeTexture3D);
 	GDREGISTER_CLASS(VisualShaderNodeCubemap);
-	GDREGISTER_VIRTUAL_CLASS(VisualShaderNodeUniform);
+	GDREGISTER_ABSTRACT_CLASS(VisualShaderNodeUniform);
 	GDREGISTER_CLASS(VisualShaderNodeUniformRef);
 	GDREGISTER_CLASS(VisualShaderNodeFloatUniform);
 	GDREGISTER_CLASS(VisualShaderNodeIntUniform);
@@ -634,6 +634,9 @@ void register_scene_types() {
 	GDREGISTER_CLASS(VisualShaderNodeCompare);
 	GDREGISTER_CLASS(VisualShaderNodeMultiplyAdd);
 	GDREGISTER_CLASS(VisualShaderNodeBillboard);
+	GDREGISTER_ABSTRACT_CLASS(VisualShaderNodeVarying);
+	GDREGISTER_CLASS(VisualShaderNodeVaryingSetter);
+	GDREGISTER_CLASS(VisualShaderNodeVaryingGetter);
 
 	GDREGISTER_CLASS(VisualShaderNodeSDFToScreenUV);
 	GDREGISTER_CLASS(VisualShaderNodeScreenUVToSDF);
@@ -642,7 +645,7 @@ void register_scene_types() {
 	GDREGISTER_CLASS(VisualShaderNodeSDFRaymarch);
 
 	GDREGISTER_CLASS(VisualShaderNodeParticleOutput);
-	GDREGISTER_VIRTUAL_CLASS(VisualShaderNodeParticleEmitter);
+	GDREGISTER_ABSTRACT_CLASS(VisualShaderNodeParticleEmitter);
 	GDREGISTER_CLASS(VisualShaderNodeParticleSphereEmitter);
 	GDREGISTER_CLASS(VisualShaderNodeParticleBoxEmitter);
 	GDREGISTER_CLASS(VisualShaderNodeParticleRingEmitter);
@@ -654,7 +657,7 @@ void register_scene_types() {
 	GDREGISTER_CLASS(VisualShaderNodeParticleEmit);
 
 	GDREGISTER_CLASS(ShaderMaterial);
-	GDREGISTER_VIRTUAL_CLASS(CanvasItem);
+	GDREGISTER_ABSTRACT_CLASS(CanvasItem);
 	GDREGISTER_CLASS(CanvasTexture);
 	GDREGISTER_CLASS(CanvasItemMaterial);
 	SceneTree::add_idle_callback(CanvasItemMaterial::flush_changes);
@@ -673,8 +676,8 @@ void register_scene_types() {
 	GDREGISTER_CLASS(Line2D);
 	GDREGISTER_CLASS(MeshInstance2D);
 	GDREGISTER_CLASS(MultiMeshInstance2D);
-	GDREGISTER_VIRTUAL_CLASS(CollisionObject2D);
-	GDREGISTER_VIRTUAL_CLASS(PhysicsBody2D);
+	GDREGISTER_ABSTRACT_CLASS(CollisionObject2D);
+	GDREGISTER_ABSTRACT_CLASS(PhysicsBody2D);
 	GDREGISTER_CLASS(StaticBody2D);
 	GDREGISTER_CLASS(AnimatableBody2D);
 	GDREGISTER_CLASS(RigidDynamicBody2D);
@@ -690,7 +693,7 @@ void register_scene_types() {
 	GDREGISTER_CLASS(Polygon2D);
 	GDREGISTER_CLASS(Skeleton2D);
 	GDREGISTER_CLASS(Bone2D);
-	GDREGISTER_VIRTUAL_CLASS(Light2D);
+	GDREGISTER_ABSTRACT_CLASS(Light2D);
 	GDREGISTER_CLASS(PointLight2D);
 	GDREGISTER_CLASS(DirectionalLight2D);
 	GDREGISTER_CLASS(LightOccluder2D);
@@ -701,12 +704,12 @@ void register_scene_types() {
 
 	GDREGISTER_CLASS(Camera2D);
 	GDREGISTER_CLASS(AudioListener2D);
-	GDREGISTER_VIRTUAL_CLASS(Joint2D);
+	GDREGISTER_ABSTRACT_CLASS(Joint2D);
 	GDREGISTER_CLASS(PinJoint2D);
 	GDREGISTER_CLASS(GrooveJoint2D);
 	GDREGISTER_CLASS(DampedSpringJoint2D);
 	GDREGISTER_CLASS(TileSet);
-	GDREGISTER_VIRTUAL_CLASS(TileSetSource);
+	GDREGISTER_ABSTRACT_CLASS(TileSetSource);
 	GDREGISTER_CLASS(TileSetAtlasSource);
 	GDREGISTER_CLASS(TileSetScenesCollectionSource);
 	GDREGISTER_CLASS(TileMapPattern);
@@ -733,7 +736,7 @@ void register_scene_types() {
 
 	/* REGISTER RESOURCES */
 
-	GDREGISTER_VIRTUAL_CLASS(Shader);
+	GDREGISTER_ABSTRACT_CLASS(Shader);
 	GDREGISTER_CLASS(ParticlesMaterial);
 	SceneTree::add_idle_callback(ParticlesMaterial::flush_changes);
 	ParticlesMaterial::init_shaders();
@@ -762,7 +765,7 @@ void register_scene_types() {
 	GDREGISTER_CLASS(RibbonTrailMesh);
 	GDREGISTER_CLASS(PointMesh);
 	GDREGISTER_VIRTUAL_CLASS(Material);
-	GDREGISTER_VIRTUAL_CLASS(BaseMaterial3D);
+	GDREGISTER_ABSTRACT_CLASS(BaseMaterial3D);
 	GDREGISTER_CLASS(StandardMaterial3D);
 	GDREGISTER_CLASS(ORMMaterial3D);
 	SceneTree::add_idle_callback(BaseMaterial3D::flush_changes);
@@ -772,7 +775,7 @@ void register_scene_types() {
 
 	OS::get_singleton()->yield(); // may take time to init
 
-	GDREGISTER_VIRTUAL_CLASS(Shape3D);
+	GDREGISTER_ABSTRACT_CLASS(Shape3D);
 	GDREGISTER_CLASS(SeparationRayShape3D);
 	GDREGISTER_CLASS(SphereShape3D);
 	GDREGISTER_CLASS(BoxShape3D);
@@ -805,7 +808,7 @@ void register_scene_types() {
 	GDREGISTER_VIRTUAL_CLASS(Texture);
 	GDREGISTER_VIRTUAL_CLASS(Texture2D);
 	GDREGISTER_CLASS(Sky);
-	GDREGISTER_CLASS(StreamTexture2D);
+	GDREGISTER_CLASS(CompressedTexture2D);
 	GDREGISTER_CLASS(ImageTexture);
 	GDREGISTER_CLASS(AtlasTexture);
 	GDREGISTER_CLASS(MeshTexture);
@@ -817,17 +820,17 @@ void register_scene_types() {
 	GDREGISTER_CLASS(AnimatedTexture);
 	GDREGISTER_CLASS(CameraTexture);
 	GDREGISTER_VIRTUAL_CLASS(TextureLayered);
-	GDREGISTER_VIRTUAL_CLASS(ImageTextureLayered);
+	GDREGISTER_ABSTRACT_CLASS(ImageTextureLayered);
 	GDREGISTER_VIRTUAL_CLASS(Texture3D);
 	GDREGISTER_CLASS(ImageTexture3D);
-	GDREGISTER_CLASS(StreamTexture3D);
+	GDREGISTER_CLASS(CompressedTexture3D);
 	GDREGISTER_CLASS(Cubemap);
 	GDREGISTER_CLASS(CubemapArray);
 	GDREGISTER_CLASS(Texture2DArray);
-	GDREGISTER_VIRTUAL_CLASS(StreamTextureLayered);
-	GDREGISTER_CLASS(StreamCubemap);
-	GDREGISTER_CLASS(StreamCubemapArray);
-	GDREGISTER_CLASS(StreamTexture2DArray);
+	GDREGISTER_ABSTRACT_CLASS(CompressedTextureLayered);
+	GDREGISTER_CLASS(CompressedCubemap);
+	GDREGISTER_CLASS(CompressedCubemapArray);
+	GDREGISTER_CLASS(CompressedTexture2DArray);
 
 	GDREGISTER_CLASS(Animation);
 	GDREGISTER_CLASS(FontData);
@@ -857,12 +860,12 @@ void register_scene_types() {
 #ifndef _3D_DISABLED
 	GDREGISTER_CLASS(AudioStreamPlayer3D);
 #endif
-	GDREGISTER_VIRTUAL_CLASS(VideoStream);
+	GDREGISTER_ABSTRACT_CLASS(VideoStream);
 	GDREGISTER_CLASS(AudioStreamSample);
 
 	OS::get_singleton()->yield(); // may take time to init
 
-	GDREGISTER_VIRTUAL_CLASS(Shape2D);
+	GDREGISTER_ABSTRACT_CLASS(Shape2D);
 	GDREGISTER_CLASS(WorldBoundaryShape2D);
 	GDREGISTER_CLASS(SegmentShape2D);
 	GDREGISTER_CLASS(SeparationRayShape2D);
@@ -883,11 +886,11 @@ void register_scene_types() {
 
 	OS::get_singleton()->yield(); // may take time to init
 
-	GDREGISTER_VIRTUAL_CLASS(SceneState);
+	GDREGISTER_ABSTRACT_CLASS(SceneState);
 	GDREGISTER_CLASS(PackedScene);
 
 	GDREGISTER_CLASS(SceneTree);
-	GDREGISTER_VIRTUAL_CLASS(SceneTreeTimer); // sorry, you can't create it
+	GDREGISTER_ABSTRACT_CLASS(SceneTreeTimer); // sorry, you can't create it
 
 #ifndef DISABLE_DEPRECATED
 	// Dropped in 4.0, near approximation.
@@ -925,8 +928,6 @@ void register_scene_types() {
 	ClassDB::add_compatibility_class("ARVRServer", "XRServer");
 	ClassDB::add_compatibility_class("BoneAttachment", "BoneAttachment3D");
 	ClassDB::add_compatibility_class("BoxShape", "BoxShape3D");
-	ClassDB::add_compatibility_class("BulletPhysicsDirectBodyState", "BulletPhysicsDirectBodyState3D");
-	ClassDB::add_compatibility_class("BulletPhysicsServer", "BulletPhysicsServer3D");
 	ClassDB::add_compatibility_class("Camera", "Camera3D");
 	ClassDB::add_compatibility_class("CapsuleShape", "CapsuleShape3D");
 	ClassDB::add_compatibility_class("ClippedCamera", "ClippedCamera3D");
@@ -1013,7 +1014,7 @@ void register_scene_types() {
 	ClassDB::add_compatibility_class("SpringArm", "SpringArm3D");
 	ClassDB::add_compatibility_class("Sprite", "Sprite2D");
 	ClassDB::add_compatibility_class("StaticBody", "StaticBody3D");
-	ClassDB::add_compatibility_class("StreamTexture", "StreamTexture2D");
+	ClassDB::add_compatibility_class("StreamTexture", "CompressedTexture2D");
 	ClassDB::add_compatibility_class("TextureProgress", "TextureProgressBar");
 	ClassDB::add_compatibility_class("VehicleBody", "VehicleBody3D");
 	ClassDB::add_compatibility_class("VehicleWheel", "VehicleWheel3D");
@@ -1043,6 +1044,14 @@ void register_scene_types() {
 	ClassDB::add_compatibility_class("VisualShaderNodeScalarDerivativeFunc", "VisualShaderNodeDerivativeFunc");
 	ClassDB::add_compatibility_class("VisualShaderNodeVectorDerivativeFunc", "VisualShaderNodeDerivativeFunc");
 	ClassDB::add_compatibility_class("World", "World3D");
+
+	// Renamed during 4.0 alpha, added to ease transition between alphas.
+	ClassDB::add_compatibility_class("StreamCubemap", "CompressedCubemap");
+	ClassDB::add_compatibility_class("StreamCubemapArray", "CompressedCubemapArray");
+	ClassDB::add_compatibility_class("StreamTexture2D", "CompressedTexture2D");
+	ClassDB::add_compatibility_class("StreamTexture2DArray", "CompressedTexture2DArray");
+	ClassDB::add_compatibility_class("StreamTexture3D", "CompressedTexture3D");
+	ClassDB::add_compatibility_class("StreamTextureLayered", "CompressedTextureLayered");
 #endif /* DISABLE_DEPRECATED */
 
 	OS::get_singleton()->yield(); // may take time to init
diff --git a/scene/resources/animation.cpp b/scene/resources/animation.cpp
index 312a557602..f6e0df0265 100644
--- a/scene/resources/animation.cpp
+++ b/scene/resources/animation.cpp
@@ -4347,7 +4347,7 @@ struct AnimationCompressionDataState {
 		if (temp_packets.size() == 0) {
 			return; //nohing to do
 		}
-#define DEBUG_PACKET_PUSH
+//#define DEBUG_PACKET_PUSH
 #ifdef DEBUG_PACKET_PUSH
 #ifndef _MSC_VER
 #warning Debugging packet push, disable this code in production to gain a bit more import performance.
@@ -4378,7 +4378,7 @@ struct AnimationCompressionDataState {
 			header_bytes += 2;
 		}
 
-		while (header_bytes % 4 != 0) {
+		while (header_bytes < 8 && header_bytes % 4 != 0) { // First cond needed to silence wrong GCC warning.
 			header[header_bytes++] = 0;
 		}
 
diff --git a/scene/resources/material.cpp b/scene/resources/material.cpp
index 6fb0c0468d..a0e6cc28ce 100644
--- a/scene/resources/material.cpp
+++ b/scene/resources/material.cpp
@@ -88,6 +88,37 @@ void Material::inspect_native_shader_code() {
 	}
 }
 
+RID Material::get_shader_rid() const {
+	RID ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_get_shader_rid, ret)) {
+		return ret;
+	}
+	return RID();
+}
+Shader::Mode Material::get_shader_mode() const {
+	Shader::Mode ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_get_shader_mode, ret)) {
+		return ret;
+	}
+
+	return Shader::MODE_MAX;
+}
+
+bool Material::_can_do_next_pass() const {
+	bool ret;
+	if (GDVIRTUAL_CALL(_can_do_next_pass, ret)) {
+		return ret;
+	}
+	return false;
+}
+bool Material::_can_use_render_priority() const {
+	bool ret;
+	if (GDVIRTUAL_CALL(_can_use_render_priority, ret)) {
+		return ret;
+	}
+	return false;
+}
+
 void Material::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_next_pass", "next_pass"), &Material::set_next_pass);
 	ClassDB::bind_method(D_METHOD("get_next_pass"), &Material::get_next_pass);
@@ -103,6 +134,11 @@ void Material::_bind_methods() {
 
 	BIND_CONSTANT(RENDER_PRIORITY_MAX);
 	BIND_CONSTANT(RENDER_PRIORITY_MIN);
+
+	GDVIRTUAL_BIND(_get_shader_rid)
+	GDVIRTUAL_BIND(_get_shader_mode)
+	GDVIRTUAL_BIND(_can_do_next_pass)
+	GDVIRTUAL_BIND(_can_use_render_priority)
 }
 
 Material::Material() {
diff --git a/scene/resources/material.h b/scene/resources/material.h
index a79f072f9a..07227c037c 100644
--- a/scene/resources/material.h
+++ b/scene/resources/material.h
@@ -51,11 +51,15 @@ class Material : public Resource {
 protected:
 	_FORCE_INLINE_ RID _get_material() const { return material; }
 	static void _bind_methods();
-	virtual bool _can_do_next_pass() const { return false; }
-	virtual bool _can_use_render_priority() const { return false; }
+	virtual bool _can_do_next_pass() const;
+	virtual bool _can_use_render_priority() const;
 
 	void _validate_property(PropertyInfo &property) const override;
 
+	GDVIRTUAL0RC(RID, _get_shader_rid)
+	GDVIRTUAL0RC(Shader::Mode, _get_shader_mode)
+	GDVIRTUAL0RC(bool, _can_do_next_pass)
+	GDVIRTUAL0RC(bool, _can_use_render_priority)
 public:
 	enum {
 		RENDER_PRIORITY_MAX = RS::MATERIAL_RENDER_PRIORITY_MAX,
@@ -68,9 +72,8 @@ public:
 	int get_render_priority() const;
 
 	virtual RID get_rid() const override;
-	virtual RID get_shader_rid() const = 0;
-
-	virtual Shader::Mode get_shader_mode() const = 0;
+	virtual RID get_shader_rid() const;
+	virtual Shader::Mode get_shader_mode() const;
 	Material();
 	virtual ~Material();
 };
diff --git a/scene/resources/mesh.cpp b/scene/resources/mesh.cpp
index 6b44b05e02..3c67a20f50 100644
--- a/scene/resources/mesh.cpp
+++ b/scene/resources/mesh.cpp
@@ -40,6 +40,122 @@
 
 Mesh::ConvexDecompositionFunc Mesh::convex_decomposition_function = nullptr;
 
+int Mesh::get_surface_count() const {
+	int ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_get_surface_count, ret)) {
+		return ret;
+	}
+	return 0;
+}
+
+int Mesh::surface_get_array_len(int p_idx) const {
+	int ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_surface_get_array_len, p_idx, ret)) {
+		return ret;
+	}
+	return 0;
+}
+
+int Mesh::surface_get_array_index_len(int p_idx) const {
+	int ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_surface_get_array_index_len, p_idx, ret)) {
+		return ret;
+	}
+	return 0;
+}
+
+Array Mesh::surface_get_arrays(int p_surface) const {
+	Array ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_surface_get_arrays, p_surface, ret)) {
+		return ret;
+	}
+	return Array();
+}
+
+Array Mesh::surface_get_blend_shape_arrays(int p_surface) const {
+	Array ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_surface_get_blend_shape_arrays, p_surface, ret)) {
+		return ret;
+	}
+
+	return Array();
+}
+
+Dictionary Mesh::surface_get_lods(int p_surface) const {
+	Dictionary ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_surface_get_lods, p_surface, ret)) {
+		return ret;
+	}
+
+	return Dictionary();
+}
+
+uint32_t Mesh::surface_get_format(int p_idx) const {
+	uint32_t ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_surface_get_format, p_idx, ret)) {
+		return ret;
+	}
+
+	return 0;
+}
+
+Mesh::PrimitiveType Mesh::surface_get_primitive_type(int p_idx) const {
+	uint32_t ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_surface_get_primitive_type, p_idx, ret)) {
+		return (Mesh::PrimitiveType)ret;
+	}
+
+	return PRIMITIVE_MAX;
+}
+
+void Mesh::surface_set_material(int p_idx, const Ref<Material> &p_material) {
+	if (GDVIRTUAL_REQUIRED_CALL(_surface_set_material, p_idx, p_material)) {
+		return;
+	}
+}
+
+Ref<Material> Mesh::surface_get_material(int p_idx) const {
+	Ref<Material> ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_surface_get_material, p_idx, ret)) {
+		return ret;
+	}
+
+	return Ref<Material>();
+}
+
+int Mesh::get_blend_shape_count() const {
+	int ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_get_blend_shape_count, ret)) {
+		return ret;
+	}
+
+	return 0;
+}
+
+StringName Mesh::get_blend_shape_name(int p_index) const {
+	StringName ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_get_blend_shape_name, p_index, ret)) {
+		return ret;
+	}
+
+	return StringName();
+}
+
+void Mesh::set_blend_shape_name(int p_index, const StringName &p_name) {
+	if (GDVIRTUAL_REQUIRED_CALL(_set_blend_shape_name, p_index, p_name)) {
+		return;
+	}
+}
+
+AABB Mesh::get_aabb() const {
+	AABB ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_get_aabb, ret)) {
+		return ret;
+	}
+
+	return AABB();
+}
+
 Ref<TriangleMesh> Mesh::generate_triangle_mesh() const {
 	if (triangle_mesh.is_valid()) {
 		return triangle_mesh;
@@ -502,6 +618,21 @@ void Mesh::_bind_methods() {
 
 	BIND_ENUM_CONSTANT(BLEND_SHAPE_MODE_NORMALIZED);
 	BIND_ENUM_CONSTANT(BLEND_SHAPE_MODE_RELATIVE);
+
+	GDVIRTUAL_BIND(_get_surface_count)
+	GDVIRTUAL_BIND(_surface_get_array_len, "index")
+	GDVIRTUAL_BIND(_surface_get_array_index_len, "index")
+	GDVIRTUAL_BIND(_surface_get_arrays, "index")
+	GDVIRTUAL_BIND(_surface_get_blend_shape_arrays, "index")
+	GDVIRTUAL_BIND(_surface_get_lods, "index")
+	GDVIRTUAL_BIND(_surface_get_format, "index")
+	GDVIRTUAL_BIND(_surface_get_primitive_type, "index")
+	GDVIRTUAL_BIND(_surface_set_material, "index", "material")
+	GDVIRTUAL_BIND(_surface_get_material, "index")
+	GDVIRTUAL_BIND(_get_blend_shape_count)
+	GDVIRTUAL_BIND(_get_blend_shape_name, "index")
+	GDVIRTUAL_BIND(_set_blend_shape_name, "index", "name")
+	GDVIRTUAL_BIND(_get_aabb)
 }
 
 void Mesh::clear_cache() const {
diff --git a/scene/resources/mesh.h b/scene/resources/mesh.h
index 08d834bdb9..652c045a24 100644
--- a/scene/resources/mesh.h
+++ b/scene/resources/mesh.h
@@ -45,9 +45,34 @@ class Mesh : public Resource {
 	mutable Vector<Vector3> debug_lines;
 	Size2i lightmap_size_hint;
 
+public:
+	enum PrimitiveType {
+		PRIMITIVE_POINTS = RenderingServer::PRIMITIVE_POINTS,
+		PRIMITIVE_LINES = RenderingServer::PRIMITIVE_LINES,
+		PRIMITIVE_LINE_STRIP = RenderingServer::PRIMITIVE_LINE_STRIP,
+		PRIMITIVE_TRIANGLES = RenderingServer::PRIMITIVE_TRIANGLES,
+		PRIMITIVE_TRIANGLE_STRIP = RenderingServer::PRIMITIVE_TRIANGLE_STRIP,
+		PRIMITIVE_MAX = RenderingServer::PRIMITIVE_MAX,
+	};
+
 protected:
 	static void _bind_methods();
 
+	GDVIRTUAL0RC(int, _get_surface_count)
+	GDVIRTUAL1RC(int, _surface_get_array_len, int)
+	GDVIRTUAL1RC(int, _surface_get_array_index_len, int)
+	GDVIRTUAL1RC(Array, _surface_get_arrays, int)
+	GDVIRTUAL1RC(Array, _surface_get_blend_shape_arrays, int)
+	GDVIRTUAL1RC(Dictionary, _surface_get_lods, int)
+	GDVIRTUAL1RC(uint32_t, _surface_get_format, int)
+	GDVIRTUAL1RC(uint32_t, _surface_get_primitive_type, int)
+	GDVIRTUAL2(_surface_set_material, int, Ref<Material>)
+	GDVIRTUAL1RC(Ref<Material>, _surface_get_material, int)
+	GDVIRTUAL0RC(int, _get_blend_shape_count)
+	GDVIRTUAL1RC(StringName, _get_blend_shape_name, int)
+	GDVIRTUAL2(_set_blend_shape_name, int, StringName)
+	GDVIRTUAL0RC(AABB, _get_aabb)
+
 public:
 	enum {
 		NO_INDEX_ARRAY = RenderingServer::NO_INDEX_ARRAY,
@@ -120,28 +145,20 @@ public:
 
 	};
 
-	enum PrimitiveType {
-		PRIMITIVE_POINTS = RenderingServer::PRIMITIVE_POINTS,
-		PRIMITIVE_LINES = RenderingServer::PRIMITIVE_LINES,
-		PRIMITIVE_LINE_STRIP = RenderingServer::PRIMITIVE_LINE_STRIP,
-		PRIMITIVE_TRIANGLES = RenderingServer::PRIMITIVE_TRIANGLES,
-		PRIMITIVE_TRIANGLE_STRIP = RenderingServer::PRIMITIVE_TRIANGLE_STRIP,
-		PRIMITIVE_MAX = RenderingServer::PRIMITIVE_MAX,
-	};
-
-	virtual int get_surface_count() const = 0;
-	virtual int surface_get_array_len(int p_idx) const = 0;
-	virtual int surface_get_array_index_len(int p_idx) const = 0;
-	virtual Array surface_get_arrays(int p_surface) const = 0;
-	virtual Array surface_get_blend_shape_arrays(int p_surface) const = 0;
-	virtual Dictionary surface_get_lods(int p_surface) const = 0;
-	virtual uint32_t surface_get_format(int p_idx) const = 0;
-	virtual PrimitiveType surface_get_primitive_type(int p_idx) const = 0;
-	virtual void surface_set_material(int p_idx, const Ref<Material> &p_material) = 0;
-	virtual Ref<Material> surface_get_material(int p_idx) const = 0;
-	virtual int get_blend_shape_count() const = 0;
-	virtual StringName get_blend_shape_name(int p_index) const = 0;
-	virtual void set_blend_shape_name(int p_index, const StringName &p_name) = 0;
+	virtual int get_surface_count() const;
+	virtual int surface_get_array_len(int p_idx) const;
+	virtual int surface_get_array_index_len(int p_idx) const;
+	virtual Array surface_get_arrays(int p_surface) const;
+	virtual Array surface_get_blend_shape_arrays(int p_surface) const;
+	virtual Dictionary surface_get_lods(int p_surface) const;
+	virtual uint32_t surface_get_format(int p_idx) const;
+	virtual PrimitiveType surface_get_primitive_type(int p_idx) const;
+	virtual void surface_set_material(int p_idx, const Ref<Material> &p_material);
+	virtual Ref<Material> surface_get_material(int p_idx) const;
+	virtual int get_blend_shape_count() const;
+	virtual StringName get_blend_shape_name(int p_index) const;
+	virtual void set_blend_shape_name(int p_index, const StringName &p_name);
+	virtual AABB get_aabb() const;
 
 	Vector<Face3> get_faces() const;
 	Ref<TriangleMesh> generate_triangle_mesh() const;
@@ -153,8 +170,6 @@ public:
 
 	Ref<Mesh> create_outline(float p_margin) const;
 
-	virtual AABB get_aabb() const = 0;
-
 	void set_lightmap_size_hint(const Size2i &p_size);
 	Size2i get_lightmap_size_hint() const;
 	void clear_cache() const;
diff --git a/scene/resources/packed_scene.cpp b/scene/resources/packed_scene.cpp
index 9d388d465d..2f1ac7a83a 100644
--- a/scene/resources/packed_scene.cpp
+++ b/scene/resources/packed_scene.cpp
@@ -1653,7 +1653,7 @@ void PackedScene::recreate_state() {
 #endif
 }
 
-Ref<SceneState> PackedScene::get_state() {
+Ref<SceneState> PackedScene::get_state() const {
 	return state;
 }
 
diff --git a/scene/resources/packed_scene.h b/scene/resources/packed_scene.h
index 81b38840d9..96222937d0 100644
--- a/scene/resources/packed_scene.h
+++ b/scene/resources/packed_scene.h
@@ -228,7 +228,7 @@ public:
 	virtual void set_last_modified_time(uint64_t p_time) override { state->set_last_modified_time(p_time); }
 
 #endif
-	Ref<SceneState> get_state();
+	Ref<SceneState> get_state() const;
 
 	PackedScene();
 };
diff --git a/scene/resources/primitive_meshes.cpp b/scene/resources/primitive_meshes.cpp
index 38acd0af0a..781e219f1f 100644
--- a/scene/resources/primitive_meshes.cpp
+++ b/scene/resources/primitive_meshes.cpp
@@ -36,11 +36,17 @@
 */
 void PrimitiveMesh::_update() const {
 	Array arr;
-	arr.resize(RS::ARRAY_MAX);
-	_create_mesh_array(arr);
+	if (GDVIRTUAL_CALL(_create_mesh_array, arr)) {
+		ERR_FAIL_COND_MSG(arr.size() != RS::ARRAY_MAX, "_create_mesh_array must return an array of Mesh.ARRAY_MAX elements.");
+	} else {
+		arr.resize(RS::ARRAY_MAX);
+		_create_mesh_array(arr);
+	}
 
 	Vector<Vector3> points = arr[RS::ARRAY_VERTEX];
 
+	ERR_FAIL_COND_MSG(points.size() == 0, "_create_mesh_array must return at least a vertex array.");
+
 	aabb = AABB();
 
 	int pc = points.size();
@@ -210,6 +216,8 @@ void PrimitiveMesh::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "material", PROPERTY_HINT_RESOURCE_TYPE, "BaseMaterial3D,ShaderMaterial"), "set_material", "get_material");
 	ADD_PROPERTY(PropertyInfo(Variant::AABB, "custom_aabb", PROPERTY_HINT_NONE, ""), "set_custom_aabb", "get_custom_aabb");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "flip_faces"), "set_flip_faces", "get_flip_faces");
+
+	GDVIRTUAL_BIND(_create_mesh_array);
 }
 
 void PrimitiveMesh::set_material(const Ref<Material> &p_material) {
diff --git a/scene/resources/primitive_meshes.h b/scene/resources/primitive_meshes.h
index 3fc5fd4a16..eef5eb3f7d 100644
--- a/scene/resources/primitive_meshes.h
+++ b/scene/resources/primitive_meshes.h
@@ -64,8 +64,9 @@ protected:
 
 	static void _bind_methods();
 
-	virtual void _create_mesh_array(Array &p_arr) const = 0;
+	virtual void _create_mesh_array(Array &p_arr) const {}
 	void _request_update();
+	GDVIRTUAL0RC(Array, _create_mesh_array)
 
 public:
 	virtual int get_surface_count() const override;
diff --git a/scene/resources/style_box.cpp b/scene/resources/style_box.cpp
index 5afd424e03..fe52761482 100644
--- a/scene/resources/style_box.cpp
+++ b/scene/resources/style_box.cpp
@@ -34,10 +34,28 @@
 
 #include <limits.h>
 
+float StyleBox::get_style_margin(Side p_side) const {
+	float ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_get_style_margin, p_side, ret)) {
+		return ret;
+	}
+	return 0;
+}
 bool StyleBox::test_mask(const Point2 &p_point, const Rect2 &p_rect) const {
+	bool ret;
+	if (GDVIRTUAL_CALL(_test_mask, p_point, p_rect, ret)) {
+		return ret;
+	}
+
 	return true;
 }
 
+void StyleBox::draw(RID p_canvas_item, const Rect2 &p_rect) const {
+	if (GDVIRTUAL_REQUIRED_CALL(_draw, p_canvas_item, p_rect)) {
+		return;
+	}
+}
+
 void StyleBox::set_default_margin(Side p_side, float p_value) {
 	ERR_FAIL_INDEX((int)p_side, 4);
 
@@ -74,10 +92,19 @@ Point2 StyleBox::get_offset() const {
 }
 
 Size2 StyleBox::get_center_size() const {
+	Size2 ret;
+	if (GDVIRTUAL_CALL(_get_center_size, ret)) {
+		return ret;
+	}
+
 	return Size2();
 }
 
 Rect2 StyleBox::get_draw_rect(const Rect2 &p_rect) const {
+	Rect2 ret;
+	if (GDVIRTUAL_CALL(_get_draw_rect, p_rect, ret)) {
+		return ret;
+	}
 	return p_rect;
 }
 
@@ -100,6 +127,12 @@ void StyleBox::_bind_methods() {
 	ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "content_margin_right", PROPERTY_HINT_RANGE, "-1,2048,1"), "set_default_margin", "get_default_margin", SIDE_RIGHT);
 	ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "content_margin_top", PROPERTY_HINT_RANGE, "-1,2048,1"), "set_default_margin", "get_default_margin", SIDE_TOP);
 	ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "content_margin_bottom", PROPERTY_HINT_RANGE, "-1,2048,1"), "set_default_margin", "get_default_margin", SIDE_BOTTOM);
+
+	GDVIRTUAL_BIND(_get_style_margin, "side")
+	GDVIRTUAL_BIND(_test_mask, "point", "rect")
+	GDVIRTUAL_BIND(_get_center_size)
+	GDVIRTUAL_BIND(_get_draw_rect, "rect")
+	GDVIRTUAL_BIND(_draw, "to_canvas_item", "rect")
 }
 
 StyleBox::StyleBox() {
diff --git a/scene/resources/style_box.h b/scene/resources/style_box.h
index 4c41f42293..68ad41b69c 100644
--- a/scene/resources/style_box.h
+++ b/scene/resources/style_box.h
@@ -44,9 +44,15 @@ class StyleBox : public Resource {
 	float margin[4];
 
 protected:
-	virtual float get_style_margin(Side p_side) const = 0;
+	virtual float get_style_margin(Side p_side) const;
 	static void _bind_methods();
 
+	GDVIRTUAL1RC(float, _get_style_margin, Side)
+	GDVIRTUAL2RC(bool, _test_mask, Point2, Rect2)
+	GDVIRTUAL0RC(Size2, _get_center_size)
+	GDVIRTUAL1RC(Rect2, _get_draw_rect, Rect2)
+	GDVIRTUAL2C(_draw, RID, Rect2)
+
 public:
 	virtual bool test_mask(const Point2 &p_point, const Rect2 &p_rect) const;
 
@@ -56,7 +62,7 @@ public:
 	virtual Size2 get_center_size() const;
 
 	virtual Rect2 get_draw_rect(const Rect2 &p_rect) const;
-	virtual void draw(RID p_canvas_item, const Rect2 &p_rect) const = 0;
+	virtual void draw(RID p_canvas_item, const Rect2 &p_rect) const;
 
 	CanvasItem *get_current_item_drawn() const;
 
diff --git a/scene/resources/texture.cpp b/scene/resources/texture.cpp
index 0ee0e4b33e..d541284381 100644
--- a/scene/resources/texture.cpp
+++ b/scene/resources/texture.cpp
@@ -38,23 +38,61 @@
 #include "scene/resources/bit_map.h"
 #include "servers/camera/camera_feed.h"
 
+int Texture2D::get_width() const {
+	int ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_get_width, ret)) {
+		return ret;
+	}
+	return 0;
+}
+
+int Texture2D::get_height() const {
+	int ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_get_height, ret)) {
+		return ret;
+	}
+	return 0;
+}
+
 Size2 Texture2D::get_size() const {
 	return Size2(get_width(), get_height());
 }
 
 bool Texture2D::is_pixel_opaque(int p_x, int p_y) const {
+	bool ret;
+	if (GDVIRTUAL_CALL(_is_pixel_opaque, p_x, p_y, ret)) {
+		return ret;
+	}
+
+	return true;
+}
+bool Texture2D::has_alpha() const {
+	bool ret;
+	if (GDVIRTUAL_CALL(_has_alpha, ret)) {
+		return ret;
+	}
+
 	return true;
 }
 
 void Texture2D::draw(RID p_canvas_item, const Point2 &p_pos, const Color &p_modulate, bool p_transpose) const {
+	if (GDVIRTUAL_CALL(_draw, p_canvas_item, p_pos, p_modulate, p_transpose)) {
+		return;
+	}
 	RenderingServer::get_singleton()->canvas_item_add_texture_rect(p_canvas_item, Rect2(p_pos, get_size()), get_rid(), false, p_modulate, p_transpose);
 }
 
 void Texture2D::draw_rect(RID p_canvas_item, const Rect2 &p_rect, bool p_tile, const Color &p_modulate, bool p_transpose) const {
+	if (GDVIRTUAL_CALL(_draw_rect, p_canvas_item, p_rect, p_tile, p_modulate, p_transpose)) {
+		return;
+	}
 	RenderingServer::get_singleton()->canvas_item_add_texture_rect(p_canvas_item, p_rect, get_rid(), p_tile, p_modulate, p_transpose);
 }
 
 void Texture2D::draw_rect_region(RID p_canvas_item, const Rect2 &p_rect, const Rect2 &p_src_rect, const Color &p_modulate, bool p_transpose, bool p_clip_uv) const {
+	if (GDVIRTUAL_CALL(_draw_rect_region, p_canvas_item, p_rect, p_src_rect, p_modulate, p_transpose, p_clip_uv)) {
+		return;
+	}
 	RenderingServer::get_singleton()->canvas_item_add_texture_rect_region(p_canvas_item, p_rect, get_rid(), p_src_rect, p_modulate, p_transpose, p_clip_uv);
 }
 
@@ -75,6 +113,15 @@ void Texture2D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("get_image"), &Texture2D::get_image);
 
 	ADD_GROUP("", "");
+
+	GDVIRTUAL_BIND(_get_width);
+	GDVIRTUAL_BIND(_get_height);
+	GDVIRTUAL_BIND(_is_pixel_opaque, "x", "y");
+	GDVIRTUAL_BIND(_has_alpha);
+
+	GDVIRTUAL_BIND(_draw, "to_canvas_item", "pos", "modulate", "transpose")
+	GDVIRTUAL_BIND(_draw_rect, "to_canvas_item", "rect", "tile", "modulate", "transpose")
+	GDVIRTUAL_BIND(_draw_rect_region, "tp_canvas_item", "rect", "src_rect", "modulate", "transpose", "clip_uv");
 }
 
 Texture2D::Texture2D() {
@@ -293,7 +340,7 @@ ImageTexture::~ImageTexture() {
 
 //////////////////////////////////////////
 
-Ref<Image> StreamTexture2D::load_image_from_file(FileAccess *f, int p_size_limit) {
+Ref<Image> CompressedTexture2D::load_image_from_file(FileAccess *f, int p_size_limit) {
 	uint32_t data_format = f->get_32();
 	uint32_t w = f->get_16();
 	uint32_t h = f->get_16();
@@ -426,7 +473,7 @@ Ref<Image> StreamTexture2D::load_image_from_file(FileAccess *f, int p_size_limit
 	return Ref<Image>();
 }
 
-void StreamTexture2D::set_path(const String &p_path, bool p_take_over) {
+void CompressedTexture2D::set_path(const String &p_path, bool p_take_over) {
 	if (texture.is_valid()) {
 		RenderingServer::get_singleton()->texture_set_path(texture, p_path);
 	}
@@ -434,36 +481,36 @@ void StreamTexture2D::set_path(const String &p_path, bool p_take_over) {
 	Resource::set_path(p_path, p_take_over);
 }
 
-void StreamTexture2D::_requested_3d(void *p_ud) {
-	StreamTexture2D *st = (StreamTexture2D *)p_ud;
-	Ref<StreamTexture2D> stex(st);
+void CompressedTexture2D::_requested_3d(void *p_ud) {
+	CompressedTexture2D *st = (CompressedTexture2D *)p_ud;
+	Ref<CompressedTexture2D> stex(st);
 	ERR_FAIL_COND(!request_3d_callback);
 	request_3d_callback(stex);
 }
 
-void StreamTexture2D::_requested_roughness(void *p_ud, const String &p_normal_path, RS::TextureDetectRoughnessChannel p_roughness_channel) {
-	StreamTexture2D *st = (StreamTexture2D *)p_ud;
-	Ref<StreamTexture2D> stex(st);
+void CompressedTexture2D::_requested_roughness(void *p_ud, const String &p_normal_path, RS::TextureDetectRoughnessChannel p_roughness_channel) {
+	CompressedTexture2D *st = (CompressedTexture2D *)p_ud;
+	Ref<CompressedTexture2D> stex(st);
 	ERR_FAIL_COND(!request_roughness_callback);
 	request_roughness_callback(stex, p_normal_path, p_roughness_channel);
 }
 
-void StreamTexture2D::_requested_normal(void *p_ud) {
-	StreamTexture2D *st = (StreamTexture2D *)p_ud;
-	Ref<StreamTexture2D> stex(st);
+void CompressedTexture2D::_requested_normal(void *p_ud) {
+	CompressedTexture2D *st = (CompressedTexture2D *)p_ud;
+	Ref<CompressedTexture2D> stex(st);
 	ERR_FAIL_COND(!request_normal_callback);
 	request_normal_callback(stex);
 }
 
-StreamTexture2D::TextureFormatRequestCallback StreamTexture2D::request_3d_callback = nullptr;
-StreamTexture2D::TextureFormatRoughnessRequestCallback StreamTexture2D::request_roughness_callback = nullptr;
-StreamTexture2D::TextureFormatRequestCallback StreamTexture2D::request_normal_callback = nullptr;
+CompressedTexture2D::TextureFormatRequestCallback CompressedTexture2D::request_3d_callback = nullptr;
+CompressedTexture2D::TextureFormatRoughnessRequestCallback CompressedTexture2D::request_roughness_callback = nullptr;
+CompressedTexture2D::TextureFormatRequestCallback CompressedTexture2D::request_normal_callback = nullptr;
 
-Image::Format StreamTexture2D::get_format() const {
+Image::Format CompressedTexture2D::get_format() const {
 	return format;
 }
 
-Error StreamTexture2D::_load_data(const String &p_path, int &r_width, int &r_height, Ref<Image> &image, bool &r_request_3d, bool &r_request_normal, bool &r_request_roughness, int &mipmap_limit, int p_size_limit) {
+Error CompressedTexture2D::_load_data(const String &p_path, int &r_width, int &r_height, Ref<Image> &image, bool &r_request_3d, bool &r_request_normal, bool &r_request_roughness, int &mipmap_limit, int p_size_limit) {
 	alpha_cache.unref();
 
 	ERR_FAIL_COND_V(image.is_null(), ERR_INVALID_PARAMETER);
@@ -523,7 +570,7 @@ Error StreamTexture2D::_load_data(const String &p_path, int &r_width, int &r_hei
 	return OK;
 }
 
-Error StreamTexture2D::load(const String &p_path) {
+Error CompressedTexture2D::load(const String &p_path) {
 	int lw, lh;
 	Ref<Image> image;
 	image.instantiate();
@@ -590,51 +637,51 @@ Error StreamTexture2D::load(const String &p_path) {
 	return OK;
 }
 
-String StreamTexture2D::get_load_path() const {
+String CompressedTexture2D::get_load_path() const {
 	return path_to_file;
 }
 
-int StreamTexture2D::get_width() const {
+int CompressedTexture2D::get_width() const {
 	return w;
 }
 
-int StreamTexture2D::get_height() const {
+int CompressedTexture2D::get_height() const {
 	return h;
 }
 
-RID StreamTexture2D::get_rid() const {
+RID CompressedTexture2D::get_rid() const {
 	if (!texture.is_valid()) {
 		texture = RS::get_singleton()->texture_2d_placeholder_create();
 	}
 	return texture;
 }
 
-void StreamTexture2D::draw(RID p_canvas_item, const Point2 &p_pos, const Color &p_modulate, bool p_transpose) const {
+void CompressedTexture2D::draw(RID p_canvas_item, const Point2 &p_pos, const Color &p_modulate, bool p_transpose) const {
 	if ((w | h) == 0) {
 		return;
 	}
 	RenderingServer::get_singleton()->canvas_item_add_texture_rect(p_canvas_item, Rect2(p_pos, Size2(w, h)), texture, false, p_modulate, p_transpose);
 }
 
-void StreamTexture2D::draw_rect(RID p_canvas_item, const Rect2 &p_rect, bool p_tile, const Color &p_modulate, bool p_transpose) const {
+void CompressedTexture2D::draw_rect(RID p_canvas_item, const Rect2 &p_rect, bool p_tile, const Color &p_modulate, bool p_transpose) const {
 	if ((w | h) == 0) {
 		return;
 	}
 	RenderingServer::get_singleton()->canvas_item_add_texture_rect(p_canvas_item, p_rect, texture, p_tile, p_modulate, p_transpose);
 }
 
-void StreamTexture2D::draw_rect_region(RID p_canvas_item, const Rect2 &p_rect, const Rect2 &p_src_rect, const Color &p_modulate, bool p_transpose, bool p_clip_uv) const {
+void CompressedTexture2D::draw_rect_region(RID p_canvas_item, const Rect2 &p_rect, const Rect2 &p_src_rect, const Color &p_modulate, bool p_transpose, bool p_clip_uv) const {
 	if ((w | h) == 0) {
 		return;
 	}
 	RenderingServer::get_singleton()->canvas_item_add_texture_rect_region(p_canvas_item, p_rect, texture, p_src_rect, p_modulate, p_transpose, p_clip_uv);
 }
 
-bool StreamTexture2D::has_alpha() const {
+bool CompressedTexture2D::has_alpha() const {
 	return false;
 }
 
-Ref<Image> StreamTexture2D::get_image() const {
+Ref<Image> CompressedTexture2D::get_image() const {
 	if (texture.is_valid()) {
 		return RS::get_singleton()->texture_2d_get(texture);
 	} else {
@@ -642,7 +689,7 @@ Ref<Image> StreamTexture2D::get_image() const {
 	}
 }
 
-bool StreamTexture2D::is_pixel_opaque(int p_x, int p_y) const {
+bool CompressedTexture2D::is_pixel_opaque(int p_x, int p_y) const {
 	if (!alpha_cache.is_valid()) {
 		Ref<Image> img = get_image();
 		if (img.is_valid()) {
@@ -676,7 +723,7 @@ bool StreamTexture2D::is_pixel_opaque(int p_x, int p_y) const {
 	return true;
 }
 
-void StreamTexture2D::reload_from_file() {
+void CompressedTexture2D::reload_from_file() {
 	String path = get_path();
 	if (!path.is_resource_file()) {
 		return;
@@ -691,26 +738,26 @@ void StreamTexture2D::reload_from_file() {
 	load(path);
 }
 
-void StreamTexture2D::_validate_property(PropertyInfo &property) const {
+void CompressedTexture2D::_validate_property(PropertyInfo &property) const {
 }
 
-void StreamTexture2D::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("load", "path"), &StreamTexture2D::load);
-	ClassDB::bind_method(D_METHOD("get_load_path"), &StreamTexture2D::get_load_path);
+void CompressedTexture2D::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("load", "path"), &CompressedTexture2D::load);
+	ClassDB::bind_method(D_METHOD("get_load_path"), &CompressedTexture2D::get_load_path);
 
-	ADD_PROPERTY(PropertyInfo(Variant::STRING, "load_path", PROPERTY_HINT_FILE, "*.stex"), "load", "get_load_path");
+	ADD_PROPERTY(PropertyInfo(Variant::STRING, "load_path", PROPERTY_HINT_FILE, "*.ctex"), "load", "get_load_path");
 }
 
-StreamTexture2D::StreamTexture2D() {}
+CompressedTexture2D::CompressedTexture2D() {}
 
-StreamTexture2D::~StreamTexture2D() {
+CompressedTexture2D::~CompressedTexture2D() {
 	if (texture.is_valid()) {
 		RS::get_singleton()->free(texture);
 	}
 }
 
-RES ResourceFormatLoaderStreamTexture2D::load(const String &p_path, const String &p_original_path, Error *r_error, bool p_use_sub_threads, float *r_progress, CacheMode p_cache_mode) {
-	Ref<StreamTexture2D> st;
+RES ResourceFormatLoaderCompressedTexture2D::load(const String &p_path, const String &p_original_path, Error *r_error, bool p_use_sub_threads, float *r_progress, CacheMode p_cache_mode) {
+	Ref<CompressedTexture2D> st;
 	st.instantiate();
 	Error err = st->load(p_path);
 	if (r_error) {
@@ -723,24 +770,24 @@ RES ResourceFormatLoaderStreamTexture2D::load(const String &p_path, const String
 	return st;
 }
 
-void ResourceFormatLoaderStreamTexture2D::get_recognized_extensions(List<String> *p_extensions) const {
-	p_extensions->push_back("stex");
+void ResourceFormatLoaderCompressedTexture2D::get_recognized_extensions(List<String> *p_extensions) const {
+	p_extensions->push_back("ctex");
 }
 
-bool ResourceFormatLoaderStreamTexture2D::handles_type(const String &p_type) const {
-	return p_type == "StreamTexture2D";
+bool ResourceFormatLoaderCompressedTexture2D::handles_type(const String &p_type) const {
+	return p_type == "CompressedTexture2D";
 }
 
-String ResourceFormatLoaderStreamTexture2D::get_resource_type(const String &p_path) const {
-	if (p_path.get_extension().to_lower() == "stex") {
-		return "StreamTexture2D";
+String ResourceFormatLoaderCompressedTexture2D::get_resource_type(const String &p_path) const {
+	if (p_path.get_extension().to_lower() == "ctex") {
+		return "CompressedTexture2D";
 	}
 	return "";
 }
 
 ////////////////////////////////////
 
-TypedArray<Image> Texture3D::_get_data() const {
+TypedArray<Image> Texture3D::_get_datai() const {
 	Vector<Ref<Image>> data = get_data();
 
 	TypedArray<Image> ret;
@@ -751,13 +798,73 @@ TypedArray<Image> Texture3D::_get_data() const {
 	return ret;
 }
 
+Image::Format Texture3D::get_format() const {
+	Image::Format ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_get_format, ret)) {
+		return ret;
+	}
+	return Image::FORMAT_MAX;
+}
+
+int Texture3D::get_width() const {
+	int ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_get_width, ret)) {
+		return ret;
+	}
+	return 0;
+}
+
+int Texture3D::get_height() const {
+	int ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_get_height, ret)) {
+		return ret;
+	}
+	return 0;
+}
+
+int Texture3D::get_depth() const {
+	int ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_get_depth, ret)) {
+		return ret;
+	}
+
+	return 0;
+}
+
+bool Texture3D::has_mipmaps() const {
+	bool ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_has_mipmaps, ret)) {
+		return ret;
+	}
+	return 0;
+}
+
+Vector<Ref<Image>> Texture3D::get_data() const {
+	TypedArray<Image> ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_get_data, ret)) {
+		Vector<Ref<Image>> data;
+		data.resize(ret.size());
+		for (int i = 0; i < data.size(); i++) {
+			data.write[i] = ret[i];
+		}
+		return data;
+	}
+	return Vector<Ref<Image>>();
+}
 void Texture3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("get_format"), &Texture3D::get_format);
 	ClassDB::bind_method(D_METHOD("get_width"), &Texture3D::get_width);
 	ClassDB::bind_method(D_METHOD("get_height"), &Texture3D::get_height);
 	ClassDB::bind_method(D_METHOD("get_depth"), &Texture3D::get_depth);
 	ClassDB::bind_method(D_METHOD("has_mipmaps"), &Texture3D::has_mipmaps);
-	ClassDB::bind_method(D_METHOD("get_data"), &Texture3D::_get_data);
+	ClassDB::bind_method(D_METHOD("get_data"), &Texture3D::_get_datai);
+
+	GDVIRTUAL_BIND(_get_format);
+	GDVIRTUAL_BIND(_get_width);
+	GDVIRTUAL_BIND(_get_height);
+	GDVIRTUAL_BIND(_get_depth);
+	GDVIRTUAL_BIND(_has_mipmaps);
+	GDVIRTUAL_BIND(_get_data);
 }
 //////////////////////////////////////////
 
@@ -846,7 +953,7 @@ ImageTexture3D::~ImageTexture3D() {
 
 ////////////////////////////////////////////
 
-void StreamTexture3D::set_path(const String &p_path, bool p_take_over) {
+void CompressedTexture3D::set_path(const String &p_path, bool p_take_over) {
 	if (texture.is_valid()) {
 		RenderingServer::get_singleton()->texture_set_path(texture, p_path);
 	}
@@ -854,11 +961,11 @@ void StreamTexture3D::set_path(const String &p_path, bool p_take_over) {
 	Resource::set_path(p_path, p_take_over);
 }
 
-Image::Format StreamTexture3D::get_format() const {
+Image::Format CompressedTexture3D::get_format() const {
 	return format;
 }
 
-Error StreamTexture3D::_load_data(const String &p_path, Vector<Ref<Image>> &r_data, Image::Format &r_format, int &r_width, int &r_height, int &r_depth, bool &r_mipmaps) {
+Error CompressedTexture3D::_load_data(const String &p_path, Vector<Ref<Image>> &r_data, Image::Format &r_format, int &r_width, int &r_height, int &r_depth, bool &r_mipmaps) {
 	FileAccessRef f = FileAccess::open(p_path, FileAccess::READ);
 	ERR_FAIL_COND_V_MSG(!f, ERR_CANT_OPEN, vformat("Unable to open file: %s.", p_path));
 
@@ -887,7 +994,7 @@ Error StreamTexture3D::_load_data(const String &p_path, Vector<Ref<Image>> &r_da
 	r_data.clear();
 
 	for (int i = 0; i < (r_depth + mipmaps); i++) {
-		Ref<Image> image = StreamTexture2D::load_image_from_file(f, 0);
+		Ref<Image> image = CompressedTexture2D::load_image_from_file(f, 0);
 		ERR_FAIL_COND_V(image.is_null() || image->is_empty(), ERR_CANT_OPEN);
 		if (i == 0) {
 			r_format = image->get_format();
@@ -900,7 +1007,7 @@ Error StreamTexture3D::_load_data(const String &p_path, Vector<Ref<Image>> &r_da
 	return OK;
 }
 
-Error StreamTexture3D::load(const String &p_path) {
+Error CompressedTexture3D::load(const String &p_path) {
 	Vector<Ref<Image>> data;
 
 	int tw, th, td;
@@ -937,34 +1044,34 @@ Error StreamTexture3D::load(const String &p_path) {
 	return OK;
 }
 
-String StreamTexture3D::get_load_path() const {
+String CompressedTexture3D::get_load_path() const {
 	return path_to_file;
 }
 
-int StreamTexture3D::get_width() const {
+int CompressedTexture3D::get_width() const {
 	return w;
 }
 
-int StreamTexture3D::get_height() const {
+int CompressedTexture3D::get_height() const {
 	return h;
 }
 
-int StreamTexture3D::get_depth() const {
+int CompressedTexture3D::get_depth() const {
 	return d;
 }
 
-bool StreamTexture3D::has_mipmaps() const {
+bool CompressedTexture3D::has_mipmaps() const {
 	return mipmaps;
 }
 
-RID StreamTexture3D::get_rid() const {
+RID CompressedTexture3D::get_rid() const {
 	if (!texture.is_valid()) {
 		texture = RS::get_singleton()->texture_3d_placeholder_create();
 	}
 	return texture;
 }
 
-Vector<Ref<Image>> StreamTexture3D::get_data() const {
+Vector<Ref<Image>> CompressedTexture3D::get_data() const {
 	if (texture.is_valid()) {
 		return RS::get_singleton()->texture_3d_get(texture);
 	} else {
@@ -972,7 +1079,7 @@ Vector<Ref<Image>> StreamTexture3D::get_data() const {
 	}
 }
 
-void StreamTexture3D::reload_from_file() {
+void CompressedTexture3D::reload_from_file() {
 	String path = get_path();
 	if (!path.is_resource_file()) {
 		return;
@@ -987,19 +1094,19 @@ void StreamTexture3D::reload_from_file() {
 	load(path);
 }
 
-void StreamTexture3D::_validate_property(PropertyInfo &property) const {
+void CompressedTexture3D::_validate_property(PropertyInfo &property) const {
 }
 
-void StreamTexture3D::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("load", "path"), &StreamTexture3D::load);
-	ClassDB::bind_method(D_METHOD("get_load_path"), &StreamTexture3D::get_load_path);
+void CompressedTexture3D::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("load", "path"), &CompressedTexture3D::load);
+	ClassDB::bind_method(D_METHOD("get_load_path"), &CompressedTexture3D::get_load_path);
 
-	ADD_PROPERTY(PropertyInfo(Variant::STRING, "load_path", PROPERTY_HINT_FILE, "*.stex"), "load", "get_load_path");
+	ADD_PROPERTY(PropertyInfo(Variant::STRING, "load_path", PROPERTY_HINT_FILE, "*.ctex"), "load", "get_load_path");
 }
 
-StreamTexture3D::StreamTexture3D() {}
+CompressedTexture3D::CompressedTexture3D() {}
 
-StreamTexture3D::~StreamTexture3D() {
+CompressedTexture3D::~CompressedTexture3D() {
 	if (texture.is_valid()) {
 		RS::get_singleton()->free(texture);
 	}
@@ -1007,8 +1114,8 @@ StreamTexture3D::~StreamTexture3D() {
 
 /////////////////////////////
 
-RES ResourceFormatLoaderStreamTexture3D::load(const String &p_path, const String &p_original_path, Error *r_error, bool p_use_sub_threads, float *r_progress, CacheMode p_cache_mode) {
-	Ref<StreamTexture3D> st;
+RES ResourceFormatLoaderCompressedTexture3D::load(const String &p_path, const String &p_original_path, Error *r_error, bool p_use_sub_threads, float *r_progress, CacheMode p_cache_mode) {
+	Ref<CompressedTexture3D> st;
 	st.instantiate();
 	Error err = st->load(p_path);
 	if (r_error) {
@@ -1021,17 +1128,17 @@ RES ResourceFormatLoaderStreamTexture3D::load(const String &p_path, const String
 	return st;
 }
 
-void ResourceFormatLoaderStreamTexture3D::get_recognized_extensions(List<String> *p_extensions) const {
+void ResourceFormatLoaderCompressedTexture3D::get_recognized_extensions(List<String> *p_extensions) const {
 	p_extensions->push_back("stex3d");
 }
 
-bool ResourceFormatLoaderStreamTexture3D::handles_type(const String &p_type) const {
-	return p_type == "StreamTexture3D";
+bool ResourceFormatLoaderCompressedTexture3D::handles_type(const String &p_type) const {
+	return p_type == "CompressedTexture3D";
 }
 
-String ResourceFormatLoaderStreamTexture3D::get_resource_type(const String &p_path) const {
+String ResourceFormatLoaderCompressedTexture3D::get_resource_type(const String &p_path) const {
 	if (p_path.get_extension().to_lower() == "stex3d") {
-		return "StreamTexture3D";
+		return "CompressedTexture3D";
 	}
 	return "";
 }
@@ -2446,6 +2553,63 @@ AnimatedTexture::~AnimatedTexture() {
 
 ///////////////////////////////
 
+Image::Format TextureLayered::get_format() const {
+	Image::Format ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_get_format, ret)) {
+		return ret;
+	}
+	return Image::FORMAT_MAX;
+}
+
+TextureLayered::LayeredType TextureLayered::get_layered_type() const {
+	uint32_t ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_get_layered_type, ret)) {
+		return (LayeredType)ret;
+	}
+	return LAYERED_TYPE_2D_ARRAY;
+}
+
+int TextureLayered::get_width() const {
+	int ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_get_width, ret)) {
+		return ret;
+	}
+	return 0;
+}
+
+int TextureLayered::get_height() const {
+	int ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_get_height, ret)) {
+		return ret;
+	}
+	return 0;
+}
+
+int TextureLayered::get_layers() const {
+	int ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_get_layers, ret)) {
+		return ret;
+	}
+
+	return 0;
+}
+
+bool TextureLayered::has_mipmaps() const {
+	bool ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_has_mipmaps, ret)) {
+		return ret;
+	}
+	return false;
+}
+
+Ref<Image> TextureLayered::get_layer_data(int p_layer) const {
+	Ref<Image> ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_get_layer_data, p_layer, ret)) {
+		return ret;
+	}
+	return Ref<Image>();
+}
+
 void TextureLayered::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("get_format"), &TextureLayered::get_format);
 	ClassDB::bind_method(D_METHOD("get_layered_type"), &TextureLayered::get_layered_type);
@@ -2458,6 +2622,14 @@ void TextureLayered::_bind_methods() {
 	BIND_ENUM_CONSTANT(LAYERED_TYPE_2D_ARRAY);
 	BIND_ENUM_CONSTANT(LAYERED_TYPE_CUBEMAP);
 	BIND_ENUM_CONSTANT(LAYERED_TYPE_CUBEMAP_ARRAY);
+
+	GDVIRTUAL_BIND(_get_format);
+	GDVIRTUAL_BIND(_get_layered_type);
+	GDVIRTUAL_BIND(_get_width);
+	GDVIRTUAL_BIND(_get_height);
+	GDVIRTUAL_BIND(_get_layers);
+	GDVIRTUAL_BIND(_has_mipmaps);
+	GDVIRTUAL_BIND(_get_layer_data, "layer_index");
 }
 
 ///////////////////////////////
@@ -2599,7 +2771,7 @@ ImageTextureLayered::~ImageTextureLayered() {
 
 ///////////////////////////////////////////
 
-void StreamTextureLayered::set_path(const String &p_path, bool p_take_over) {
+void CompressedTextureLayered::set_path(const String &p_path, bool p_take_over) {
 	if (texture.is_valid()) {
 		RenderingServer::get_singleton()->texture_set_path(texture, p_path);
 	}
@@ -2607,11 +2779,11 @@ void StreamTextureLayered::set_path(const String &p_path, bool p_take_over) {
 	Resource::set_path(p_path, p_take_over);
 }
 
-Image::Format StreamTextureLayered::get_format() const {
+Image::Format CompressedTextureLayered::get_format() const {
 	return format;
 }
 
-Error StreamTextureLayered::_load_data(const String &p_path, Vector<Ref<Image>> &images, int &mipmap_limit, int p_size_limit) {
+Error CompressedTextureLayered::_load_data(const String &p_path, Vector<Ref<Image>> &images, int &mipmap_limit, int p_size_limit) {
 	ERR_FAIL_COND_V(images.size() != 0, ERR_INVALID_PARAMETER);
 
 	FileAccessRef f = FileAccess::open(p_path, FileAccess::READ);
@@ -2647,7 +2819,7 @@ Error StreamTextureLayered::_load_data(const String &p_path, Vector<Ref<Image>>
 	images.resize(layer_count);
 
 	for (uint32_t i = 0; i < layer_count; i++) {
-		Ref<Image> image = StreamTexture2D::load_image_from_file(f, p_size_limit);
+		Ref<Image> image = CompressedTexture2D::load_image_from_file(f, p_size_limit);
 		ERR_FAIL_COND_V(image.is_null() || image->is_empty(), ERR_CANT_OPEN);
 		images.write[i] = image;
 	}
@@ -2655,7 +2827,7 @@ Error StreamTextureLayered::_load_data(const String &p_path, Vector<Ref<Image>>
 	return OK;
 }
 
-Error StreamTextureLayered::load(const String &p_path) {
+Error CompressedTextureLayered::load(const String &p_path) {
 	Vector<Ref<Image>> images;
 
 	int mipmap_limit;
@@ -2690,38 +2862,38 @@ Error StreamTextureLayered::load(const String &p_path) {
 	return OK;
 }
 
-String StreamTextureLayered::get_load_path() const {
+String CompressedTextureLayered::get_load_path() const {
 	return path_to_file;
 }
 
-int StreamTextureLayered::get_width() const {
+int CompressedTextureLayered::get_width() const {
 	return w;
 }
 
-int StreamTextureLayered::get_height() const {
+int CompressedTextureLayered::get_height() const {
 	return h;
 }
 
-int StreamTextureLayered::get_layers() const {
+int CompressedTextureLayered::get_layers() const {
 	return layers;
 }
 
-bool StreamTextureLayered::has_mipmaps() const {
+bool CompressedTextureLayered::has_mipmaps() const {
 	return mipmaps;
 }
 
-TextureLayered::LayeredType StreamTextureLayered::get_layered_type() const {
+TextureLayered::LayeredType CompressedTextureLayered::get_layered_type() const {
 	return layered_type;
 }
 
-RID StreamTextureLayered::get_rid() const {
+RID CompressedTextureLayered::get_rid() const {
 	if (!texture.is_valid()) {
 		texture = RS::get_singleton()->texture_2d_layered_placeholder_create(RS::TextureLayeredType(layered_type));
 	}
 	return texture;
 }
 
-Ref<Image> StreamTextureLayered::get_layer_data(int p_layer) const {
+Ref<Image> CompressedTextureLayered::get_layer_data(int p_layer) const {
 	if (texture.is_valid()) {
 		return RS::get_singleton()->texture_2d_layer_get(texture, p_layer);
 	} else {
@@ -2729,7 +2901,7 @@ Ref<Image> StreamTextureLayered::get_layer_data(int p_layer) const {
 	}
 }
 
-void StreamTextureLayered::reload_from_file() {
+void CompressedTextureLayered::reload_from_file() {
 	String path = get_path();
 	if (!path.is_resource_file()) {
 		return;
@@ -2744,21 +2916,21 @@ void StreamTextureLayered::reload_from_file() {
 	load(path);
 }
 
-void StreamTextureLayered::_validate_property(PropertyInfo &property) const {
+void CompressedTextureLayered::_validate_property(PropertyInfo &property) const {
 }
 
-void StreamTextureLayered::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("load", "path"), &StreamTextureLayered::load);
-	ClassDB::bind_method(D_METHOD("get_load_path"), &StreamTextureLayered::get_load_path);
+void CompressedTextureLayered::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("load", "path"), &CompressedTextureLayered::load);
+	ClassDB::bind_method(D_METHOD("get_load_path"), &CompressedTextureLayered::get_load_path);
 
-	ADD_PROPERTY(PropertyInfo(Variant::STRING, "load_path", PROPERTY_HINT_FILE, "*.stex"), "load", "get_load_path");
+	ADD_PROPERTY(PropertyInfo(Variant::STRING, "load_path", PROPERTY_HINT_FILE, "*.ctex"), "load", "get_load_path");
 }
 
-StreamTextureLayered::StreamTextureLayered(LayeredType p_type) {
+CompressedTextureLayered::CompressedTextureLayered(LayeredType p_type) {
 	layered_type = p_type;
 }
 
-StreamTextureLayered::~StreamTextureLayered() {
+CompressedTextureLayered::~CompressedTextureLayered() {
 	if (texture.is_valid()) {
 		RS::get_singleton()->free(texture);
 	}
@@ -2766,18 +2938,18 @@ StreamTextureLayered::~StreamTextureLayered() {
 
 /////////////////////////////////////////////////
 
-RES ResourceFormatLoaderStreamTextureLayered::load(const String &p_path, const String &p_original_path, Error *r_error, bool p_use_sub_threads, float *r_progress, CacheMode p_cache_mode) {
-	Ref<StreamTextureLayered> st;
+RES ResourceFormatLoaderCompressedTextureLayered::load(const String &p_path, const String &p_original_path, Error *r_error, bool p_use_sub_threads, float *r_progress, CacheMode p_cache_mode) {
+	Ref<CompressedTextureLayered> st;
 	if (p_path.get_extension().to_lower() == "stexarray") {
-		Ref<StreamTexture2DArray> s;
+		Ref<CompressedTexture2DArray> s;
 		s.instantiate();
 		st = s;
 	} else if (p_path.get_extension().to_lower() == "scube") {
-		Ref<StreamCubemap> s;
+		Ref<CompressedCubemap> s;
 		s.instantiate();
 		st = s;
 	} else if (p_path.get_extension().to_lower() == "scubearray") {
-		Ref<StreamCubemapArray> s;
+		Ref<CompressedCubemapArray> s;
 		s.instantiate();
 		st = s;
 	} else {
@@ -2797,25 +2969,25 @@ RES ResourceFormatLoaderStreamTextureLayered::load(const String &p_path, const S
 	return st;
 }
 
-void ResourceFormatLoaderStreamTextureLayered::get_recognized_extensions(List<String> *p_extensions) const {
+void ResourceFormatLoaderCompressedTextureLayered::get_recognized_extensions(List<String> *p_extensions) const {
 	p_extensions->push_back("stexarray");
 	p_extensions->push_back("scube");
 	p_extensions->push_back("scubearray");
 }
 
-bool ResourceFormatLoaderStreamTextureLayered::handles_type(const String &p_type) const {
-	return p_type == "StreamTexture2DArray" || p_type == "StreamCubemap" || p_type == "StreamCubemapArray";
+bool ResourceFormatLoaderCompressedTextureLayered::handles_type(const String &p_type) const {
+	return p_type == "CompressedTexture2DArray" || p_type == "CompressedCubemap" || p_type == "CompressedCubemapArray";
 }
 
-String ResourceFormatLoaderStreamTextureLayered::get_resource_type(const String &p_path) const {
+String ResourceFormatLoaderCompressedTextureLayered::get_resource_type(const String &p_path) const {
 	if (p_path.get_extension().to_lower() == "stexarray") {
-		return "StreamTexture2DArray";
+		return "CompressedTexture2DArray";
 	}
 	if (p_path.get_extension().to_lower() == "scube") {
-		return "StreamCubemap";
+		return "CompressedCubemap";
 	}
 	if (p_path.get_extension().to_lower() == "scubearray") {
-		return "StreamCubemapArray";
+		return "CompressedCubemapArray";
 	}
 	return "";
 }
diff --git a/scene/resources/texture.h b/scene/resources/texture.h
index 8075497c42..1e07b83547 100644
--- a/scene/resources/texture.h
+++ b/scene/resources/texture.h
@@ -57,14 +57,23 @@ class Texture2D : public Texture {
 protected:
 	static void _bind_methods();
 
+	GDVIRTUAL0RC(int, _get_width)
+	GDVIRTUAL0RC(int, _get_height)
+	GDVIRTUAL2RC(bool, _is_pixel_opaque, int, int)
+	GDVIRTUAL0RC(bool, _has_alpha)
+
+	GDVIRTUAL4C(_draw, RID, Point2, Color, bool)
+	GDVIRTUAL5C(_draw_rect, RID, Rect2, bool, Color, bool)
+	GDVIRTUAL6C(_draw_rect_region, RID, Rect2, Rect2, Color, bool, bool)
+
 public:
-	virtual int get_width() const = 0;
-	virtual int get_height() const = 0;
+	virtual int get_width() const;
+	virtual int get_height() const;
 	virtual Size2 get_size() const;
 
 	virtual bool is_pixel_opaque(int p_x, int p_y) const;
 
-	virtual bool has_alpha() const = 0;
+	virtual bool has_alpha() const;
 
 	virtual void draw(RID p_canvas_item, const Point2 &p_pos, const Color &p_modulate = Color(1, 1, 1), bool p_transpose = false) const;
 	virtual void draw_rect(RID p_canvas_item, const Rect2 &p_rect, bool p_tile = false, const Color &p_modulate = Color(1, 1, 1), bool p_transpose = false) const;
@@ -128,8 +137,8 @@ public:
 	~ImageTexture();
 };
 
-class StreamTexture2D : public Texture2D {
-	GDCLASS(StreamTexture2D, Texture2D);
+class CompressedTexture2D : public Texture2D {
+	GDCLASS(CompressedTexture2D, Texture2D);
 
 public:
 	enum DataFormat {
@@ -174,8 +183,8 @@ protected:
 public:
 	static Ref<Image> load_image_from_file(FileAccess *p_file, int p_size_limit);
 
-	typedef void (*TextureFormatRequestCallback)(const Ref<StreamTexture2D> &);
-	typedef void (*TextureFormatRoughnessRequestCallback)(const Ref<StreamTexture2D> &, const String &p_normal_path, RS::TextureDetectRoughnessChannel p_roughness_channel);
+	typedef void (*TextureFormatRequestCallback)(const Ref<CompressedTexture2D> &);
+	typedef void (*TextureFormatRoughnessRequestCallback)(const Ref<CompressedTexture2D> &, const String &p_normal_path, RS::TextureDetectRoughnessChannel p_roughness_channel);
 
 	static TextureFormatRequestCallback request_3d_callback;
 	static TextureFormatRoughnessRequestCallback request_roughness_callback;
@@ -200,11 +209,11 @@ public:
 
 	virtual Ref<Image> get_image() const override;
 
-	StreamTexture2D();
-	~StreamTexture2D();
+	CompressedTexture2D();
+	~CompressedTexture2D();
 };
 
-class ResourceFormatLoaderStreamTexture2D : public ResourceFormatLoader {
+class ResourceFormatLoaderCompressedTexture2D : public ResourceFormatLoader {
 public:
 	virtual RES load(const String &p_path, const String &p_original_path = "", Error *r_error = nullptr, bool p_use_sub_threads = false, float *r_progress = nullptr, CacheMode p_cache_mode = CACHE_MODE_REUSE);
 	virtual void get_recognized_extensions(List<String> *p_extensions) const;
@@ -300,6 +309,13 @@ class TextureLayered : public Texture {
 protected:
 	static void _bind_methods();
 
+	GDVIRTUAL0RC(Image::Format, _get_format)
+	GDVIRTUAL0RC(uint32_t, _get_layered_type)
+	GDVIRTUAL0RC(int, _get_width)
+	GDVIRTUAL0RC(int, _get_height)
+	GDVIRTUAL0RC(int, _get_layers)
+	GDVIRTUAL0RC(bool, _has_mipmaps)
+	GDVIRTUAL1RC(Ref<Image>, _get_layer_data, int)
 public:
 	enum LayeredType {
 		LAYERED_TYPE_2D_ARRAY,
@@ -307,13 +323,15 @@ public:
 		LAYERED_TYPE_CUBEMAP_ARRAY
 	};
 
-	virtual Image::Format get_format() const = 0;
-	virtual LayeredType get_layered_type() const = 0;
-	virtual int get_width() const = 0;
-	virtual int get_height() const = 0;
-	virtual int get_layers() const = 0;
-	virtual bool has_mipmaps() const = 0;
-	virtual Ref<Image> get_layer_data(int p_layer) const = 0;
+	virtual Image::Format get_format() const;
+	virtual LayeredType get_layered_type() const;
+	virtual int get_width() const;
+	virtual int get_height() const;
+	virtual int get_layers() const;
+	virtual bool has_mipmaps() const;
+	virtual Ref<Image> get_layer_data(int p_layer) const;
+
+	TextureLayered() {}
 };
 
 VARIANT_ENUM_CAST(TextureLayered::LayeredType)
@@ -380,8 +398,8 @@ public:
 			ImageTextureLayered(LAYERED_TYPE_CUBEMAP_ARRAY) {}
 };
 
-class StreamTextureLayered : public TextureLayered {
-	GDCLASS(StreamTextureLayered, TextureLayered);
+class CompressedTextureLayered : public TextureLayered {
+	GDCLASS(CompressedTextureLayered, TextureLayered);
 
 public:
 	enum DataFormat {
@@ -433,34 +451,34 @@ public:
 
 	virtual Ref<Image> get_layer_data(int p_layer) const override;
 
-	StreamTextureLayered(LayeredType p_layered_type);
-	~StreamTextureLayered();
+	CompressedTextureLayered(LayeredType p_layered_type);
+	~CompressedTextureLayered();
 };
 
-class StreamTexture2DArray : public StreamTextureLayered {
-	GDCLASS(StreamTexture2DArray, StreamTextureLayered)
+class CompressedTexture2DArray : public CompressedTextureLayered {
+	GDCLASS(CompressedTexture2DArray, CompressedTextureLayered)
 public:
-	StreamTexture2DArray() :
-			StreamTextureLayered(LAYERED_TYPE_2D_ARRAY) {}
+	CompressedTexture2DArray() :
+			CompressedTextureLayered(LAYERED_TYPE_2D_ARRAY) {}
 };
 
-class StreamCubemap : public StreamTextureLayered {
-	GDCLASS(StreamCubemap, StreamTextureLayered);
+class CompressedCubemap : public CompressedTextureLayered {
+	GDCLASS(CompressedCubemap, CompressedTextureLayered);
 
 public:
-	StreamCubemap() :
-			StreamTextureLayered(LAYERED_TYPE_CUBEMAP) {}
+	CompressedCubemap() :
+			CompressedTextureLayered(LAYERED_TYPE_CUBEMAP) {}
 };
 
-class StreamCubemapArray : public StreamTextureLayered {
-	GDCLASS(StreamCubemapArray, StreamTextureLayered);
+class CompressedCubemapArray : public CompressedTextureLayered {
+	GDCLASS(CompressedCubemapArray, CompressedTextureLayered);
 
 public:
-	StreamCubemapArray() :
-			StreamTextureLayered(LAYERED_TYPE_CUBEMAP_ARRAY) {}
+	CompressedCubemapArray() :
+			CompressedTextureLayered(LAYERED_TYPE_CUBEMAP_ARRAY) {}
 };
 
-class ResourceFormatLoaderStreamTextureLayered : public ResourceFormatLoader {
+class ResourceFormatLoaderCompressedTextureLayered : public ResourceFormatLoader {
 public:
 	virtual RES load(const String &p_path, const String &p_original_path = "", Error *r_error = nullptr, bool p_use_sub_threads = false, float *r_progress = nullptr, CacheMode p_cache_mode = CACHE_MODE_REUSE);
 	virtual void get_recognized_extensions(List<String> *p_extensions) const;
@@ -474,15 +492,21 @@ class Texture3D : public Texture {
 protected:
 	static void _bind_methods();
 
-	TypedArray<Image> _get_data() const;
-
-public:
-	virtual Image::Format get_format() const = 0;
-	virtual int get_width() const = 0;
-	virtual int get_height() const = 0;
-	virtual int get_depth() const = 0;
-	virtual bool has_mipmaps() const = 0;
-	virtual Vector<Ref<Image>> get_data() const = 0;
+	TypedArray<Image> _get_datai() const;
+
+	GDVIRTUAL0RC(Image::Format, _get_format)
+	GDVIRTUAL0RC(int, _get_width)
+	GDVIRTUAL0RC(int, _get_height)
+	GDVIRTUAL0RC(int, _get_depth)
+	GDVIRTUAL0RC(bool, _has_mipmaps)
+	GDVIRTUAL0RC(TypedArray<Image>, _get_data)
+public:
+	virtual Image::Format get_format() const;
+	virtual int get_width() const;
+	virtual int get_height() const;
+	virtual int get_depth() const;
+	virtual bool has_mipmaps() const;
+	virtual Vector<Ref<Image>> get_data() const;
 };
 
 class ImageTexture3D : public Texture3D {
@@ -520,8 +544,8 @@ public:
 	~ImageTexture3D();
 };
 
-class StreamTexture3D : public Texture3D {
-	GDCLASS(StreamTexture3D, Texture3D);
+class CompressedTexture3D : public Texture3D {
+	GDCLASS(CompressedTexture3D, Texture3D);
 
 public:
 	enum DataFormat {
@@ -571,11 +595,11 @@ public:
 
 	virtual Vector<Ref<Image>> get_data() const override;
 
-	StreamTexture3D();
-	~StreamTexture3D();
+	CompressedTexture3D();
+	~CompressedTexture3D();
 };
 
-class ResourceFormatLoaderStreamTexture3D : public ResourceFormatLoader {
+class ResourceFormatLoaderCompressedTexture3D : public ResourceFormatLoader {
 public:
 	virtual RES load(const String &p_path, const String &p_original_path = "", Error *r_error = nullptr, bool p_use_sub_threads = false, float *r_progress = nullptr, CacheMode p_cache_mode = CACHE_MODE_REUSE);
 	virtual void get_recognized_extensions(List<String> *p_extensions) const;
diff --git a/scene/resources/visual_shader.cpp b/scene/resources/visual_shader.cpp
index 47ca643029..d3e61dbc84 100644
--- a/scene/resources/visual_shader.cpp
+++ b/scene/resources/visual_shader.cpp
@@ -455,32 +455,69 @@ String VisualShaderNodeCustom::generate_code(Shader::Mode p_mode, VisualShader::
 	for (int i = 0; i < get_output_port_count(); i++) {
 		output_vars.push_back(p_output_vars[i]);
 	}
-	String code = "	{\n";
+
 	String _code;
 	GDVIRTUAL_CALL(_get_code, input_vars, output_vars, p_mode, p_type, _code);
-	bool nend = _code.ends_with("\n");
-	_code = _code.insert(0, "		");
-	_code = _code.replace("\n", "\n		");
-	code += _code;
-	if (!nend) {
-		code += "\n	}";
-	} else {
-		code.remove_at(code.size() - 1);
-		code += "}";
+	if (_is_valid_code(_code)) {
+		String code = "	{\n";
+		bool nend = _code.ends_with("\n");
+		_code = _code.insert(0, "		");
+		_code = _code.replace("\n", "\n		");
+		code += _code;
+		if (!nend) {
+			code += "\n	}";
+		} else {
+			code.remove_at(code.size() - 1);
+			code += "}";
+		}
+		code += "\n";
+		return code;
 	}
-	code += "\n";
-	return code;
+	return String();
 }
 
 String VisualShaderNodeCustom::generate_global_per_node(Shader::Mode p_mode, int p_id) const {
-	String ret;
-	if (GDVIRTUAL_CALL(_get_global_code, p_mode, ret)) {
-		String code = "// " + get_caption() + "\n";
-		code += ret;
-		code += "\n";
-		return code;
+	String _code;
+	if (GDVIRTUAL_CALL(_get_global_code, p_mode, _code)) {
+		if (_is_valid_code(_code)) {
+			String code = "// " + get_caption() + "\n";
+			code += _code;
+			code += "\n";
+			return code;
+		}
 	}
-	return "";
+	return String();
+}
+
+String VisualShaderNodeCustom::generate_global_per_func(Shader::Mode p_mode, VisualShader::Type p_type, int p_id) const {
+	String _code;
+	if (GDVIRTUAL_CALL(_get_func_code, p_mode, p_type, _code)) {
+		if (_is_valid_code(_code)) {
+			bool nend = _code.ends_with("\n");
+			String code = "// " + get_caption() + "\n";
+			code += "	{\n";
+			_code = _code.insert(0, "	");
+			_code = _code.replace("\n", "\n		");
+			code += _code;
+			if (!nend) {
+				code += "\n	}";
+			} else {
+				code.remove_at(code.size() - 1);
+				code += "}";
+			}
+			code += "\n";
+			return code;
+		}
+	}
+	return String();
+}
+
+bool VisualShaderNodeCustom::is_available(Shader::Mode p_mode, VisualShader::Type p_type) const {
+	bool ret;
+	if (GDVIRTUAL_CALL(_is_available, p_mode, p_type, ret)) {
+		return ret;
+	}
+	return true;
 }
 
 void VisualShaderNodeCustom::set_input_port_default_value(int p_port, const Variant &p_value, const Variant &p_prev_value) {
@@ -511,6 +548,13 @@ void VisualShaderNodeCustom::_set_input_port_default_value(int p_port, const Var
 	VisualShaderNode::set_input_port_default_value(p_port, p_value);
 }
 
+bool VisualShaderNodeCustom::_is_valid_code(const String &p_code) const {
+	if (p_code.is_empty() || p_code == "null") {
+		return false;
+	}
+	return true;
+}
+
 bool VisualShaderNodeCustom::_is_initialized() {
 	return is_initialized;
 }
@@ -531,8 +575,10 @@ void VisualShaderNodeCustom::_bind_methods() {
 	GDVIRTUAL_BIND(_get_output_port_type, "port");
 	GDVIRTUAL_BIND(_get_output_port_name, "port");
 	GDVIRTUAL_BIND(_get_code, "input_vars", "output_vars", "mode", "type");
+	GDVIRTUAL_BIND(_get_func_code, "mode", "type");
 	GDVIRTUAL_BIND(_get_global_code, "mode");
 	GDVIRTUAL_BIND(_is_highend);
+	GDVIRTUAL_BIND(_is_available, "mode", "type");
 
 	ClassDB::bind_method(D_METHOD("_set_initialized", "enabled"), &VisualShaderNodeCustom::_set_initialized);
 	ClassDB::bind_method(D_METHOD("_is_initialized"), &VisualShaderNodeCustom::_is_initialized);
@@ -555,6 +601,72 @@ VisualShader::Type VisualShader::get_shader_type() const {
 	return current_type;
 }
 
+void VisualShader::add_varying(const String &p_name, VaryingMode p_mode, VaryingType p_type) {
+	ERR_FAIL_COND(!p_name.is_valid_identifier());
+	ERR_FAIL_INDEX((int)p_mode, (int)VARYING_MODE_MAX);
+	ERR_FAIL_INDEX((int)p_type, (int)VARYING_TYPE_MAX);
+	ERR_FAIL_COND(varyings.has(p_name));
+	Varying var = Varying(p_name, p_mode, p_type);
+	varyings[p_name] = var;
+	varyings_list.push_back(var);
+	_queue_update();
+}
+
+void VisualShader::remove_varying(const String &p_name) {
+	ERR_FAIL_COND(!varyings.has(p_name));
+	varyings.erase(p_name);
+	for (List<Varying>::Element *E = varyings_list.front(); E; E = E->next()) {
+		if (E->get().name == p_name) {
+			varyings_list.erase(E);
+			break;
+		}
+	}
+	_queue_update();
+}
+
+bool VisualShader::has_varying(const String &p_name) const {
+	return varyings.has(p_name);
+}
+
+int VisualShader::get_varyings_count() const {
+	return varyings_list.size();
+}
+
+const VisualShader::Varying *VisualShader::get_varying_by_index(int p_idx) const {
+	ERR_FAIL_INDEX_V(p_idx, varyings_list.size(), nullptr);
+	return &varyings_list[p_idx];
+}
+
+void VisualShader::set_varying_mode(const String &p_name, VaryingMode p_mode) {
+	ERR_FAIL_INDEX((int)p_mode, (int)VARYING_MODE_MAX);
+	ERR_FAIL_COND(!varyings.has(p_name));
+	if (varyings[p_name].mode == p_mode) {
+		return;
+	}
+	varyings[p_name].mode = p_mode;
+	_queue_update();
+}
+
+VisualShader::VaryingMode VisualShader::get_varying_mode(const String &p_name) {
+	ERR_FAIL_COND_V(!varyings.has(p_name), VARYING_MODE_MAX);
+	return varyings[p_name].mode;
+}
+
+void VisualShader::set_varying_type(const String &p_name, VaryingType p_type) {
+	ERR_FAIL_INDEX((int)p_type, (int)VARYING_TYPE_MAX);
+	ERR_FAIL_COND(!varyings.has(p_name));
+	if (varyings[p_name].type == p_type) {
+		return;
+	}
+	varyings[p_name].type = p_type;
+	_queue_update();
+}
+
+VisualShader::VaryingType VisualShader::get_varying_type(const String &p_name) {
+	ERR_FAIL_COND_V(!varyings.has(p_name), VARYING_TYPE_MAX);
+	return varyings[p_name].type;
+}
+
 void VisualShader::set_engine_version(const Dictionary &p_engine_version) {
 	ERR_FAIL_COND(!p_engine_version.has("major"));
 	ERR_FAIL_COND(!p_engine_version.has("minor"));
@@ -1072,7 +1184,7 @@ String VisualShader::generate_preview_shader(Type p_type, int p_node, int p_port
 	code += "\nvoid fragment() {\n";
 
 	Set<int> processed;
-	Error err = _write_node(p_type, global_code, global_code_per_node, global_code_per_func, code, default_tex_params, input_connections, output_connections, p_node, processed, true, classes);
+	Error err = _write_node(p_type, &global_code, &global_code_per_node, &global_code_per_func, code, default_tex_params, input_connections, output_connections, p_node, processed, true, classes);
 	ERR_FAIL_COND_V(err != OK, String());
 
 	switch (node->get_output_port_type(p_port)) {
@@ -1253,6 +1365,16 @@ bool VisualShader::_set(const StringName &p_name, const Variant &p_value) {
 		}
 		_queue_update();
 		return true;
+	} else if (name.begins_with("varyings/")) {
+		String var_name = name.get_slicec('/', 1);
+		Varying value = Varying();
+		value.name = var_name;
+		if (value.from_string(p_value) && !varyings.has(var_name)) {
+			varyings[var_name] = value;
+			varyings_list.push_back(value);
+		}
+		_queue_update();
+		return true;
 	} else if (name.begins_with("nodes/")) {
 		String typestr = name.get_slicec('/', 1);
 		Type type = TYPE_VERTEX;
@@ -1317,6 +1439,14 @@ bool VisualShader::_get(const StringName &p_name, Variant &r_ret) const {
 			r_ret = 0;
 		}
 		return true;
+	} else if (name.begins_with("varyings/")) {
+		String var_name = name.get_slicec('/', 1);
+		if (varyings.has(var_name)) {
+			r_ret = varyings[var_name].to_string();
+		} else {
+			r_ret = String();
+		}
+		return true;
 	} else if (name.begins_with("nodes/")) {
 		String typestr = name.get_slicec('/', 1);
 		Type type = TYPE_VERTEX;
@@ -1411,6 +1541,10 @@ void VisualShader::_get_property_list(List<PropertyInfo> *p_list) const {
 		p_list->push_back(PropertyInfo(Variant::BOOL, "flags/" + E->get()));
 	}
 
+	for (const KeyValue<String, Varying> &E : varyings) {
+		p_list->push_back(PropertyInfo(Variant::STRING, "varyings/" + E.key));
+	}
+
 	for (int i = 0; i < TYPE_MAX; i++) {
 		for (const KeyValue<int, Node> &E : graph[i].nodes) {
 			String prop_name = "nodes/";
@@ -1435,7 +1569,7 @@ void VisualShader::_get_property_list(List<PropertyInfo> *p_list) const {
 	}
 }
 
-Error VisualShader::_write_node(Type type, StringBuilder &global_code, StringBuilder &global_code_per_node, Map<Type, StringBuilder> &global_code_per_func, StringBuilder &code, Vector<VisualShader::DefaultTextureParam> &def_tex_params, const VMap<ConnectionKey, const List<Connection>::Element *> &input_connections, const VMap<ConnectionKey, const List<Connection>::Element *> &output_connections, int node, Set<int> &processed, bool for_preview, Set<StringName> &r_classes) const {
+Error VisualShader::_write_node(Type type, StringBuilder *global_code, StringBuilder *global_code_per_node, Map<Type, StringBuilder> *global_code_per_func, StringBuilder &code, Vector<VisualShader::DefaultTextureParam> &def_tex_params, const VMap<ConnectionKey, const List<Connection>::Element *> &input_connections, const VMap<ConnectionKey, const List<Connection>::Element *> &output_connections, int node, Set<int> &processed, bool for_preview, Set<StringName> &r_classes) const {
 	const Ref<VisualShaderNode> vsnode = graph[type].nodes[node].node;
 
 	if (vsnode->is_disabled()) {
@@ -1477,7 +1611,9 @@ Error VisualShader::_write_node(Type type, StringBuilder &global_code, StringBui
 	if (!skip_global) {
 		Ref<VisualShaderNodeUniform> uniform = vsnode;
 		if (!uniform.is_valid() || !uniform->is_global_code_generated()) {
-			global_code += vsnode->generate_global(get_mode(), type, node);
+			if (global_code) {
+				*global_code += vsnode->generate_global(get_mode(), type, node);
+			}
 		}
 
 		String class_name = vsnode->get_class_name();
@@ -1485,9 +1621,13 @@ Error VisualShader::_write_node(Type type, StringBuilder &global_code, StringBui
 			class_name = vsnode->get_script_instance()->get_script()->get_path();
 		}
 		if (!r_classes.has(class_name)) {
-			global_code_per_node += vsnode->generate_global_per_node(get_mode(), node);
+			if (global_code_per_node) {
+				*global_code_per_node += vsnode->generate_global_per_node(get_mode(), node);
+			}
 			for (int i = 0; i < TYPE_MAX; i++) {
-				global_code_per_func[Type(i)] += vsnode->generate_global_per_func(get_mode(), Type(i), node);
+				if (global_code_per_func) {
+					(*global_code_per_func)[Type(i)] += vsnode->generate_global_per_func(get_mode(), Type(i), node);
+				}
 			}
 			r_classes.insert(class_name);
 		}
@@ -1940,6 +2080,7 @@ void VisualShader::_update_shader() const {
 	Set<String> used_uniform_names;
 	List<VisualShaderNodeUniform *> uniforms;
 	Map<int, List<int>> emitters;
+	Map<int, List<int>> varying_setters;
 
 	for (int i = 0, index = 0; i < TYPE_MAX; i++) {
 		if (!has_func_name(RenderingServer::ShaderMode(shader_mode), func_name[i])) {
@@ -1964,18 +2105,19 @@ void VisualShader::_update_shader() const {
 			if (uniform.is_valid()) {
 				uniforms.push_back(uniform.ptr());
 			}
+			Ref<VisualShaderNodeVaryingSetter> varying_setter = Object::cast_to<VisualShaderNodeVaryingSetter>(E->get().node.ptr());
+			if (varying_setter.is_valid() && varying_setter->is_input_port_connected(0)) {
+				if (!varying_setters.has(i)) {
+					varying_setters.insert(i, List<int>());
+				}
+				varying_setters[i].push_back(E->key());
+			}
 			Ref<VisualShaderNodeParticleEmit> emit_particle = Object::cast_to<VisualShaderNodeParticleEmit>(E->get().node.ptr());
 			if (emit_particle.is_valid()) {
 				if (!emitters.has(i)) {
 					emitters.insert(i, List<int>());
 				}
-
-				for (const KeyValue<int, Node> &M : graph[i].nodes) {
-					if (M.value.node == emit_particle.ptr()) {
-						emitters[i].push_back(M.key);
-						break;
-					}
-				}
+				emitters[i].push_back(E->key());
 			}
 		}
 	}
@@ -1990,6 +2132,36 @@ void VisualShader::_update_shader() const {
 		}
 	}
 
+	if (!varyings.is_empty()) {
+		global_code += "\n// Varyings\n";
+
+		for (const KeyValue<String, Varying> &E : varyings) {
+			global_code += "varying ";
+			switch (E.value.type) {
+				case VaryingType::VARYING_TYPE_FLOAT:
+					global_code += "float ";
+					break;
+				case VaryingType::VARYING_TYPE_VECTOR_2D:
+					global_code += "vec2 ";
+					break;
+				case VaryingType::VARYING_TYPE_VECTOR_3D:
+					global_code += "vec3 ";
+					break;
+				case VaryingType::VARYING_TYPE_COLOR:
+					global_code += "vec4 ";
+					break;
+				case VaryingType::VARYING_TYPE_TRANSFORM:
+					global_code += "mat4 ";
+					break;
+				default:
+					break;
+			}
+			global_code += E.key + ";\n";
+		}
+
+		global_code += "\n";
+	}
+
 	Map<int, String> code_map;
 	Set<int> empty_funcs;
 
@@ -2003,12 +2175,54 @@ void VisualShader::_update_shader() const {
 		VMap<ConnectionKey, const List<Connection>::Element *> output_connections;
 
 		StringBuilder func_code;
+		Set<int> processed;
 
 		bool is_empty_func = false;
 		if (shader_mode != Shader::MODE_PARTICLES && shader_mode != Shader::MODE_SKY && shader_mode != Shader::MODE_FOG) {
 			is_empty_func = true;
 		}
 
+		String varying_code;
+		if (shader_mode == Shader::MODE_SPATIAL || shader_mode == Shader::MODE_CANVAS_ITEM) {
+			for (const KeyValue<String, Varying> &E : varyings) {
+				if ((E.value.mode == VARYING_MODE_VERTEX_TO_FRAG_LIGHT && i == TYPE_VERTEX) || (E.value.mode == VARYING_MODE_FRAG_TO_LIGHT && i == TYPE_FRAGMENT)) {
+					bool found = false;
+					for (int key : varying_setters[i]) {
+						Ref<VisualShaderNodeVaryingSetter> setter = Object::cast_to<VisualShaderNodeVaryingSetter>(const_cast<VisualShaderNode *>(graph[i].nodes[key].node.ptr()));
+						if (setter.is_valid() && E.value.name == setter->get_varying_name()) {
+							found = true;
+							break;
+						}
+					}
+
+					if (!found) {
+						String code2;
+						switch (E.value.type) {
+							case VaryingType::VARYING_TYPE_FLOAT:
+								code2 += "0.0";
+								break;
+							case VaryingType::VARYING_TYPE_VECTOR_2D:
+								code2 += "vec2(0.0)";
+								break;
+							case VaryingType::VARYING_TYPE_VECTOR_3D:
+								code2 += "vec3(0.0)";
+								break;
+							case VaryingType::VARYING_TYPE_COLOR:
+								code2 += "vec4(0.0)";
+								break;
+							case VaryingType::VARYING_TYPE_TRANSFORM:
+								code2 += "mat4(1.0)";
+								break;
+							default:
+								break;
+						}
+						varying_code += vformat("	%s = %s;\n", E.key, code2);
+					}
+					is_empty_func = false;
+				}
+			}
+		}
+
 		for (const List<Connection>::Element *E = graph[i].connections.front(); E; E = E->next()) {
 			ConnectionKey from_key;
 			from_key.node = E->get().from_node;
@@ -2037,13 +2251,19 @@ void VisualShader::_update_shader() const {
 		}
 		insertion_pos.insert(i, code.get_string_length() + func_code.get_string_length());
 
-		Set<int> processed;
-		Error err = _write_node(Type(i), global_code, global_code_per_node, global_code_per_func, func_code, default_tex_params, input_connections, output_connections, NODE_ID_OUTPUT, processed, false, classes);
+		Error err = _write_node(Type(i), &global_code, &global_code_per_node, &global_code_per_func, func_code, default_tex_params, input_connections, output_connections, NODE_ID_OUTPUT, processed, false, classes);
 		ERR_FAIL_COND(err != OK);
 
+		if (varying_setters.has(i)) {
+			for (int &E : varying_setters[i]) {
+				err = _write_node(Type(i), nullptr, nullptr, nullptr, func_code, default_tex_params, input_connections, output_connections, E, processed, false, classes);
+				ERR_FAIL_COND(err != OK);
+			}
+		}
+
 		if (emitters.has(i)) {
 			for (int &E : emitters[i]) {
-				err = _write_node(Type(i), global_code, global_code_per_node, global_code_per_func, func_code, default_tex_params, input_connections, output_connections, E, processed, false, classes);
+				err = _write_node(Type(i), &global_code, &global_code_per_node, &global_code_per_func, func_code, default_tex_params, input_connections, output_connections, E, processed, false, classes);
 				ERR_FAIL_COND(err != OK);
 			}
 		}
@@ -2051,6 +2271,7 @@ void VisualShader::_update_shader() const {
 		if (shader_mode == Shader::MODE_PARTICLES) {
 			code_map.insert(i, func_code);
 		} else {
+			func_code += varying_code;
 			func_code += "}\n";
 			code += func_code;
 		}
@@ -2276,6 +2497,10 @@ void VisualShader::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_graph_offset", "offset"), &VisualShader::set_graph_offset);
 	ClassDB::bind_method(D_METHOD("get_graph_offset"), &VisualShader::get_graph_offset);
 
+	ClassDB::bind_method(D_METHOD("add_varying", "name", "mode", "type"), &VisualShader::add_varying);
+	ClassDB::bind_method(D_METHOD("remove_varying", "name"), &VisualShader::remove_varying);
+	ClassDB::bind_method(D_METHOD("has_varying", "name"), &VisualShader::has_varying);
+
 	ClassDB::bind_method(D_METHOD("_update_shader"), &VisualShader::_update_shader);
 
 	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "graph_offset", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_graph_offset", "get_graph_offset");
@@ -2295,6 +2520,17 @@ void VisualShader::_bind_methods() {
 	BIND_ENUM_CONSTANT(TYPE_FOG);
 	BIND_ENUM_CONSTANT(TYPE_MAX);
 
+	BIND_ENUM_CONSTANT(VARYING_MODE_VERTEX_TO_FRAG_LIGHT);
+	BIND_ENUM_CONSTANT(VARYING_MODE_FRAG_TO_LIGHT);
+	BIND_ENUM_CONSTANT(VARYING_MODE_MAX);
+
+	BIND_ENUM_CONSTANT(VARYING_TYPE_FLOAT);
+	BIND_ENUM_CONSTANT(VARYING_TYPE_VECTOR_2D);
+	BIND_ENUM_CONSTANT(VARYING_TYPE_VECTOR_3D);
+	BIND_ENUM_CONSTANT(VARYING_TYPE_COLOR);
+	BIND_ENUM_CONSTANT(VARYING_TYPE_TRANSFORM);
+	BIND_ENUM_CONSTANT(VARYING_TYPE_MAX);
+
 	BIND_CONSTANT(NODE_ID_INVALID);
 	BIND_CONSTANT(NODE_ID_OUTPUT);
 }
@@ -2327,6 +2563,7 @@ const VisualShaderNodeInput::Port VisualShaderNodeInput::ports[] = {
 
 	// Node3D, Vertex
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_VERTEX, VisualShaderNode::PORT_TYPE_VECTOR_3D, "vertex", "VERTEX" },
+	{ Shader::MODE_SPATIAL, VisualShader::TYPE_VERTEX, VisualShaderNode::PORT_TYPE_SCALAR_INT, "vertex_id", "VERTEX_ID" },
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_VERTEX, VisualShaderNode::PORT_TYPE_VECTOR_3D, "normal", "NORMAL" },
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_VERTEX, VisualShaderNode::PORT_TYPE_VECTOR_3D, "tangent", "TANGENT" },
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_VERTEX, VisualShaderNode::PORT_TYPE_VECTOR_3D, "binormal", "BINORMAL" },
@@ -2348,6 +2585,9 @@ const VisualShaderNodeInput::Port VisualShaderNodeInput::ports[] = {
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_VERTEX, VisualShaderNode::PORT_TYPE_SCALAR, "time", "TIME" },
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_VERTEX, VisualShaderNode::PORT_TYPE_VECTOR_2D, "viewport_size", "VIEWPORT_SIZE" },
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_VERTEX, VisualShaderNode::PORT_TYPE_BOOLEAN, "output_is_srgb", "OUTPUT_IS_SRGB" },
+	{ Shader::MODE_SPATIAL, VisualShader::TYPE_VERTEX, VisualShaderNode::PORT_TYPE_SCALAR_INT, "view_index", "VIEW_INDEX" },
+	{ Shader::MODE_SPATIAL, VisualShader::TYPE_VERTEX, VisualShaderNode::PORT_TYPE_SCALAR_INT, "view_mono_left", "VIEW_MONO_LEFT" },
+	{ Shader::MODE_SPATIAL, VisualShader::TYPE_VERTEX, VisualShaderNode::PORT_TYPE_SCALAR_INT, "view_right", "VIEW_RIGHT" },
 
 	// Node3D, Fragment
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_FRAGMENT, VisualShaderNode::PORT_TYPE_VECTOR_3D, "fragcoord", "FRAGCOORD.xyz" },
@@ -2374,6 +2614,9 @@ const VisualShaderNodeInput::Port VisualShaderNodeInput::ports[] = {
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_FRAGMENT, VisualShaderNode::PORT_TYPE_SAMPLER, "screen_texture", "SCREEN_TEXTURE" },
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_FRAGMENT, VisualShaderNode::PORT_TYPE_SAMPLER, "normal_roughness_texture", "NORMAL_ROUGHNESS_TEXTURE" },
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_FRAGMENT, VisualShaderNode::PORT_TYPE_SAMPLER, "depth_texture", "DEPTH_TEXTURE" },
+	{ Shader::MODE_SPATIAL, VisualShader::TYPE_FRAGMENT, VisualShaderNode::PORT_TYPE_SCALAR_INT, "view_index", "VIEW_INDEX" },
+	{ Shader::MODE_SPATIAL, VisualShader::TYPE_FRAGMENT, VisualShaderNode::PORT_TYPE_SCALAR_INT, "view_mono_left", "VIEW_MONO_LEFT" },
+	{ Shader::MODE_SPATIAL, VisualShader::TYPE_FRAGMENT, VisualShaderNode::PORT_TYPE_SCALAR_INT, "view_right", "VIEW_RIGHT" },
 
 	// Node3D, Light
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_LIGHT, VisualShaderNode::PORT_TYPE_VECTOR_3D, "fragcoord", "FRAGCOORD.xyz" },
@@ -2384,6 +2627,7 @@ const VisualShaderNodeInput::Port VisualShaderNodeInput::ports[] = {
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_LIGHT, VisualShaderNode::PORT_TYPE_VECTOR_3D, "light", "LIGHT" },
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_LIGHT, VisualShaderNode::PORT_TYPE_VECTOR_3D, "light_color", "LIGHT_COLOR" },
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_LIGHT, VisualShaderNode::PORT_TYPE_SCALAR, "attenuation", "ATTENUATION" },
+	{ Shader::MODE_SPATIAL, VisualShader::TYPE_LIGHT, VisualShaderNode::PORT_TYPE_VECTOR_3D, "shadow_attenuation", "SHADOW_ATTENUATION" },
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_LIGHT, VisualShaderNode::PORT_TYPE_VECTOR_3D, "albedo", "ALBEDO" },
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_LIGHT, VisualShaderNode::PORT_TYPE_VECTOR_3D, "backlight", "BACKLIGHT" },
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_LIGHT, VisualShaderNode::PORT_TYPE_VECTOR_3D, "diffuse", "DIFFUSE_LIGHT" },
@@ -2415,6 +2659,8 @@ const VisualShaderNodeInput::Port VisualShaderNodeInput::ports[] = {
 	{ Shader::MODE_CANVAS_ITEM, VisualShader::TYPE_VERTEX, VisualShaderNode::PORT_TYPE_BOOLEAN, "at_light_pass", "AT_LIGHT_PASS" },
 	{ Shader::MODE_CANVAS_ITEM, VisualShader::TYPE_VERTEX, VisualShaderNode::PORT_TYPE_VECTOR_3D, "instance_custom", "INSTANCE_CUSTOM.rgb" },
 	{ Shader::MODE_CANVAS_ITEM, VisualShader::TYPE_VERTEX, VisualShaderNode::PORT_TYPE_SCALAR, "instance_custom_alpha", "INSTANCE_CUSTOM.a" },
+	{ Shader::MODE_CANVAS_ITEM, VisualShader::TYPE_VERTEX, VisualShaderNode::PORT_TYPE_SCALAR_INT, "instance_id", "INSTANCE_ID" },
+	{ Shader::MODE_CANVAS_ITEM, VisualShader::TYPE_VERTEX, VisualShaderNode::PORT_TYPE_SCALAR_INT, "vertex_id", "VERTEX_ID" },
 
 	// Canvas Item, Fragment
 	{ Shader::MODE_CANVAS_ITEM, VisualShader::TYPE_FRAGMENT, VisualShaderNode::PORT_TYPE_VECTOR_3D, "fragcoord", "FRAGCOORD.xyz" },
@@ -3144,6 +3390,7 @@ const VisualShaderNodeOutput::Port VisualShaderNodeOutput::ports[] = {
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_VERTEX, VisualShaderNode::PORT_TYPE_VECTOR_3D, "color", "COLOR.rgb" },
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_VERTEX, VisualShaderNode::PORT_TYPE_SCALAR, "alpha", "COLOR.a" },
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_VERTEX, VisualShaderNode::PORT_TYPE_SCALAR, "roughness", "ROUGHNESS" },
+	{ Shader::MODE_SPATIAL, VisualShader::TYPE_VERTEX, VisualShaderNode::PORT_TYPE_SCALAR, "point_size", "POINT_SIZE" },
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_VERTEX, VisualShaderNode::PORT_TYPE_TRANSFORM, "model_view_matrix", "MODELVIEW_MATRIX" },
 	////////////////////////////////////////////////////////////////////////
 	// Node3D, Fragment.
@@ -3155,6 +3402,7 @@ const VisualShaderNodeOutput::Port VisualShaderNodeOutput::ports[] = {
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_FRAGMENT, VisualShaderNode::PORT_TYPE_SCALAR, "specular", "SPECULAR" },
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_FRAGMENT, VisualShaderNode::PORT_TYPE_VECTOR_3D, "emission", "EMISSION" },
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_FRAGMENT, VisualShaderNode::PORT_TYPE_SCALAR, "ao", "AO" },
+	{ Shader::MODE_SPATIAL, VisualShader::TYPE_FRAGMENT, VisualShaderNode::PORT_TYPE_SCALAR, "ao_light_affect", "AO_LIGHT_AFFECT" },
 
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_FRAGMENT, VisualShaderNode::PORT_TYPE_VECTOR_3D, "normal", "NORMAL" },
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_FRAGMENT, VisualShaderNode::PORT_TYPE_VECTOR_3D, "normal_map", "NORMAL_MAP" },
@@ -3170,7 +3418,10 @@ const VisualShaderNodeOutput::Port VisualShaderNodeOutput::ports[] = {
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_FRAGMENT, VisualShaderNode::PORT_TYPE_VECTOR_3D, "backlight", "BACKLIGHT" },
 
 	{ Shader::MODE_SPATIAL, VisualShader::TYPE_FRAGMENT, VisualShaderNode::PORT_TYPE_SCALAR, "alpha_scissor_threshold", "ALPHA_SCISSOR_THRESHOLD" },
-	{ Shader::MODE_SPATIAL, VisualShader::TYPE_FRAGMENT, VisualShaderNode::PORT_TYPE_SCALAR, "ao_light_affect", "AO_LIGHT_AFFECT" },
+	{ Shader::MODE_SPATIAL, VisualShader::TYPE_FRAGMENT, VisualShaderNode::PORT_TYPE_SCALAR, "alpha_hash_scale", "ALPHA_HASH_SCALE" },
+	{ Shader::MODE_SPATIAL, VisualShader::TYPE_FRAGMENT, VisualShaderNode::PORT_TYPE_SCALAR, "alpha_aa_edge", "ALPHA_ANTIALIASING_EDGE" },
+	{ Shader::MODE_SPATIAL, VisualShader::TYPE_FRAGMENT, VisualShaderNode::PORT_TYPE_VECTOR_2D, "alpha_uv", "ALPHA_TEXTURE_COORDINATE" },
+
 	////////////////////////////////////////////////////////////////////////
 	// Node3D, Light.
 	////////////////////////////////////////////////////////////////////////
@@ -3294,7 +3545,7 @@ bool VisualShaderNodeOutput::is_port_separator(int p_index) const {
 	}
 	if (shader_mode == Shader::MODE_SPATIAL && shader_type == VisualShader::TYPE_FRAGMENT) {
 		String name = get_input_port_name(p_index);
-		return bool(name == "Normal" || name == "Rim" || name == "Alpha Scissor Threshold");
+		return bool(name == "Ao" || name == "Normal" || name == "Rim" || name == "Clearcoat" || name == "Anisotropy" || name == "Subsurf Scatter" || name == "Alpha Scissor Threshold");
 	}
 	return false;
 }
@@ -4199,3 +4450,299 @@ String VisualShaderNodeGlobalExpression::generate_global(Shader::Mode p_mode, Vi
 VisualShaderNodeGlobalExpression::VisualShaderNodeGlobalExpression() {
 	set_editable(false);
 }
+
+////////////// Varying
+
+List<VisualShaderNodeVarying::Varying> varyings;
+
+void VisualShaderNodeVarying::add_varying(const String &p_name, VisualShader::VaryingMode p_mode, VisualShader::VaryingType p_type) { // static
+	varyings.push_back({ p_name, p_mode, p_type });
+}
+
+void VisualShaderNodeVarying::clear_varyings() { // static
+	varyings.clear();
+}
+
+bool VisualShaderNodeVarying::has_varying(const String &p_name) { // static
+	for (const VisualShaderNodeVarying::Varying &E : varyings) {
+		if (E.name == p_name) {
+			return true;
+		}
+	}
+	return false;
+}
+
+int VisualShaderNodeVarying::get_varyings_count() const {
+	return varyings.size();
+}
+
+String VisualShaderNodeVarying::get_varying_name_by_index(int p_idx) const {
+	if (p_idx >= 0 && p_idx < varyings.size()) {
+		return varyings[p_idx].name;
+	}
+	return "";
+}
+
+VisualShader::VaryingType VisualShaderNodeVarying::get_varying_type_by_name(const String &p_name) const {
+	for (int i = 0; i < varyings.size(); i++) {
+		if (varyings[i].name == p_name) {
+			return varyings[i].type;
+		}
+	}
+	return VisualShader::VARYING_TYPE_FLOAT;
+}
+
+VisualShader::VaryingType VisualShaderNodeVarying::get_varying_type_by_index(int p_idx) const {
+	if (p_idx >= 0 && p_idx < varyings.size()) {
+		return varyings[p_idx].type;
+	}
+	return VisualShader::VARYING_TYPE_FLOAT;
+}
+
+VisualShader::VaryingMode VisualShaderNodeVarying::get_varying_mode_by_name(const String &p_name) const {
+	for (int i = 0; i < varyings.size(); i++) {
+		if (varyings[i].name == p_name) {
+			return varyings[i].mode;
+		}
+	}
+	return VisualShader::VARYING_MODE_VERTEX_TO_FRAG_LIGHT;
+}
+
+VisualShader::VaryingMode VisualShaderNodeVarying::get_varying_mode_by_index(int p_idx) const {
+	if (p_idx >= 0 && p_idx < varyings.size()) {
+		return varyings[p_idx].mode;
+	}
+	return VisualShader::VARYING_MODE_VERTEX_TO_FRAG_LIGHT;
+}
+
+VisualShaderNodeVarying::PortType VisualShaderNodeVarying::get_port_type_by_index(int p_idx) const {
+	if (p_idx >= 0 && p_idx < varyings.size()) {
+		return get_port_type(varyings[p_idx].type, 0);
+	}
+	return PORT_TYPE_SCALAR;
+}
+
+//////////////
+
+void VisualShaderNodeVarying::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("set_varying_name", "name"), &VisualShaderNodeVarying::set_varying_name);
+	ClassDB::bind_method(D_METHOD("get_varying_name"), &VisualShaderNodeVarying::get_varying_name);
+
+	ClassDB::bind_method(D_METHOD("set_varying_type", "type"), &VisualShaderNodeVarying::set_varying_type);
+	ClassDB::bind_method(D_METHOD("get_varying_type"), &VisualShaderNodeVarying::get_varying_type);
+
+	ADD_PROPERTY(PropertyInfo(Variant::STRING_NAME, "varying_name"), "set_varying_name", "get_varying_name");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "varying_type", PROPERTY_HINT_ENUM, "Float,Vector,Transform"), "set_varying_type", "get_varying_type");
+}
+
+String VisualShaderNodeVarying::get_type_str() const {
+	switch (varying_type) {
+		case VisualShader::VARYING_TYPE_FLOAT:
+			return "float";
+		case VisualShader::VARYING_TYPE_VECTOR_2D:
+			return "vec2";
+		case VisualShader::VARYING_TYPE_VECTOR_3D:
+			return "vec3";
+		case VisualShader::VARYING_TYPE_COLOR:
+			return "vec4";
+		case VisualShader::VARYING_TYPE_TRANSFORM:
+			return "mat4";
+		default:
+			break;
+	}
+	return "";
+}
+
+VisualShaderNodeVarying::PortType VisualShaderNodeVarying::get_port_type(VisualShader::VaryingType p_type, int p_port) const {
+	switch (p_type) {
+		case VisualShader::VARYING_TYPE_VECTOR_2D:
+			return PORT_TYPE_VECTOR_2D;
+		case VisualShader::VARYING_TYPE_VECTOR_3D:
+			return PORT_TYPE_VECTOR_3D;
+		case VisualShader::VARYING_TYPE_COLOR:
+			if (p_port == 1) {
+				break; // scalar
+			}
+			return PORT_TYPE_VECTOR_3D;
+		case VisualShader::VARYING_TYPE_TRANSFORM:
+			return PORT_TYPE_TRANSFORM;
+		default:
+			break;
+	}
+	return PORT_TYPE_SCALAR;
+}
+
+void VisualShaderNodeVarying::set_varying_name(String p_varying_name) {
+	if (varying_name == p_varying_name) {
+		return;
+	}
+	varying_name = p_varying_name;
+	emit_changed();
+}
+
+String VisualShaderNodeVarying::get_varying_name() const {
+	return varying_name;
+}
+
+void VisualShaderNodeVarying::set_varying_type(VisualShader::VaryingType p_varying_type) {
+	ERR_FAIL_INDEX(p_varying_type, VisualShader::VARYING_TYPE_MAX);
+	if (varying_type == p_varying_type) {
+		return;
+	}
+	varying_type = p_varying_type;
+	emit_changed();
+}
+
+VisualShader::VaryingType VisualShaderNodeVarying::get_varying_type() const {
+	return varying_type;
+}
+
+VisualShaderNodeVarying::VisualShaderNodeVarying() {
+}
+
+////////////// Varying Setter
+
+String VisualShaderNodeVaryingSetter::get_caption() const {
+	return vformat("VaryingSetter");
+}
+
+int VisualShaderNodeVaryingSetter::get_input_port_count() const {
+	if (varying_type == VisualShader::VARYING_TYPE_COLOR) {
+		return 2;
+	}
+	return 1;
+}
+
+VisualShaderNodeVaryingSetter::PortType VisualShaderNodeVaryingSetter::get_input_port_type(int p_port) const {
+	return get_port_type(varying_type, p_port);
+}
+
+String VisualShaderNodeVaryingSetter::get_input_port_name(int p_port) const {
+	if (varying_type == VisualShader::VARYING_TYPE_COLOR) {
+		if (p_port == 0) {
+			return "color";
+		} else {
+			return "alpha";
+		}
+	}
+	return "";
+}
+
+int VisualShaderNodeVaryingSetter::get_output_port_count() const {
+	return 0;
+}
+
+VisualShaderNodeVaryingSetter::PortType VisualShaderNodeVaryingSetter::get_output_port_type(int p_port) const {
+	return PORT_TYPE_SCALAR;
+}
+
+String VisualShaderNodeVaryingSetter::get_output_port_name(int p_port) const {
+	return "";
+}
+
+String VisualShaderNodeVaryingSetter::generate_global(Shader::Mode p_mode, VisualShader::Type p_type, int p_id) const {
+	return vformat("varying %s %s;\n", get_type_str(), varying_name);
+}
+
+String VisualShaderNodeVaryingSetter::generate_code(Shader::Mode p_mode, VisualShader::Type p_type, int p_id, const String *p_input_vars, const String *p_output_vars, bool p_for_preview) const {
+	String code;
+	if (varying_name == "[None]") {
+		return code;
+	}
+	if (varying_type == VisualShader::VARYING_TYPE_COLOR) {
+		code += vformat("	%s = vec4(%s, %s);\n", varying_name, p_input_vars[0], p_input_vars[1]);
+	} else {
+		code += vformat("	%s = %s;\n", varying_name, p_input_vars[0]);
+	}
+	return code;
+}
+
+VisualShaderNodeVaryingSetter::VisualShaderNodeVaryingSetter() {
+}
+
+////////////// Varying Getter
+
+String VisualShaderNodeVaryingGetter::get_caption() const {
+	return vformat("VaryingGetter");
+}
+
+int VisualShaderNodeVaryingGetter::get_input_port_count() const {
+	return 0;
+}
+
+VisualShaderNodeVaryingGetter::PortType VisualShaderNodeVaryingGetter::get_input_port_type(int p_port) const {
+	return PORT_TYPE_SCALAR;
+}
+
+String VisualShaderNodeVaryingGetter::get_input_port_name(int p_port) const {
+	return "";
+}
+
+int VisualShaderNodeVaryingGetter::get_output_port_count() const {
+	if (varying_type == VisualShader::VARYING_TYPE_COLOR) {
+		return 2;
+	}
+	return 1;
+}
+
+VisualShaderNodeVaryingGetter::PortType VisualShaderNodeVaryingGetter::get_output_port_type(int p_port) const {
+	return get_port_type(varying_type, p_port);
+}
+
+String VisualShaderNodeVaryingGetter::get_output_port_name(int p_port) const {
+	if (varying_type == VisualShader::VARYING_TYPE_COLOR) {
+		if (p_port == 0) {
+			return "color";
+		} else {
+			return "alpha";
+		}
+	}
+	return "";
+}
+
+bool VisualShaderNodeVaryingGetter::has_output_port_preview(int p_port) const {
+	return false;
+}
+
+String VisualShaderNodeVaryingGetter::generate_code(Shader::Mode p_mode, VisualShader::Type p_type, int p_id, const String *p_input_vars, const String *p_output_vars, bool p_for_preview) const {
+	String from = varying_name;
+	String from2;
+
+	if (varying_name == "[None]") {
+		switch (varying_type) {
+			case VisualShader::VARYING_TYPE_FLOAT:
+				from = "0.0";
+				break;
+			case VisualShader::VARYING_TYPE_VECTOR_2D:
+				from = "vec2(0.0)";
+				break;
+			case VisualShader::VARYING_TYPE_VECTOR_3D:
+				from = "vec3(0.0)";
+				break;
+			case VisualShader::VARYING_TYPE_COLOR:
+				from = "vec3(0.0)";
+				from2 = "0.0";
+				break;
+			case VisualShader::VARYING_TYPE_TRANSFORM:
+				from = "mat4(1.0)";
+				break;
+			default:
+				break;
+		}
+	} else if (varying_type == VisualShader::VARYING_TYPE_COLOR) {
+		from = varying_name + ".rgb";
+		from2 = varying_name + ".a";
+	}
+
+	if (varying_type == VisualShader::VARYING_TYPE_COLOR) {
+		String code;
+		code += vformat("	%s = %s;\n", p_output_vars[0], from);
+		code += vformat("	%s = %s;\n", p_output_vars[1], from2);
+		return code;
+	}
+	return vformat("	%s = %s;\n", p_output_vars[0], from);
+}
+
+VisualShaderNodeVaryingGetter::VisualShaderNodeVaryingGetter() {
+	varying_name = "[None]";
+}
diff --git a/scene/resources/visual_shader.h b/scene/resources/visual_shader.h
index d3b5365893..2d4b2852e9 100644
--- a/scene/resources/visual_shader.h
+++ b/scene/resources/visual_shader.h
@@ -73,6 +73,49 @@ public:
 		List<Ref<Texture2D>> params;
 	};
 
+	enum VaryingMode {
+		VARYING_MODE_VERTEX_TO_FRAG_LIGHT,
+		VARYING_MODE_FRAG_TO_LIGHT,
+		VARYING_MODE_MAX,
+	};
+
+	enum VaryingType {
+		VARYING_TYPE_FLOAT,
+		VARYING_TYPE_VECTOR_2D,
+		VARYING_TYPE_VECTOR_3D,
+		VARYING_TYPE_COLOR,
+		VARYING_TYPE_TRANSFORM,
+		VARYING_TYPE_MAX,
+	};
+
+	struct Varying {
+		String name;
+		VaryingMode mode;
+		VaryingType type;
+
+		Varying() {
+		}
+
+		Varying(String p_name, VaryingMode p_mode, VaryingType p_type) :
+				name(p_name), mode(p_mode), type(p_type) {}
+
+		bool from_string(const String &p_str) {
+			Vector<String> arr = p_str.split(",");
+			if (arr.size() != 2) {
+				return false;
+			}
+
+			mode = (VaryingMode)arr[0].to_int();
+			type = (VaryingType)arr[1].to_int();
+
+			return true;
+		}
+
+		String to_string() const {
+			return vformat("%s,%s", itos((int)mode), itos((int)type));
+		}
+	};
+
 private:
 	Type current_type;
 
@@ -94,14 +137,12 @@ private:
 
 	Vector2 graph_offset;
 
-	struct RenderModeEnums {
-		Shader::Mode mode = Shader::Mode::MODE_MAX;
-		const char *string;
-	};
-
 	HashMap<String, int> modes;
 	Set<StringName> flags;
 
+	Map<String, Varying> varyings;
+	List<Varying> varyings_list;
+
 	mutable SafeFlag dirty;
 	void _queue_update();
 
@@ -116,7 +157,7 @@ private:
 		}
 	};
 
-	Error _write_node(Type p_type, StringBuilder &global_code, StringBuilder &global_code_per_node, Map<Type, StringBuilder> &global_code_per_func, StringBuilder &code, Vector<DefaultTextureParam> &def_tex_params, const VMap<ConnectionKey, const List<Connection>::Element *> &input_connections, const VMap<ConnectionKey, const List<Connection>::Element *> &output_connections, int node, Set<int> &processed, bool for_preview, Set<StringName> &r_classes) const;
+	Error _write_node(Type p_type, StringBuilder *global_code, StringBuilder *global_code_per_node, Map<Type, StringBuilder> *global_code_per_func, StringBuilder &code, Vector<DefaultTextureParam> &def_tex_params, const VMap<ConnectionKey, const List<Connection>::Element *> &input_connections, const VMap<ConnectionKey, const List<Connection>::Element *> &output_connections, int node, Set<int> &processed, bool for_preview, Set<StringName> &r_classes) const;
 
 	void _input_type_changed(Type p_type, int p_id);
 	bool has_func_name(RenderingServer::ShaderMode p_mode, const String &p_func_name) const;
@@ -151,6 +192,18 @@ public:
 	void add_node(Type p_type, const Ref<VisualShaderNode> &p_node, const Vector2 &p_position, int p_id);
 	void set_node_position(Type p_type, int p_id, const Vector2 &p_position);
 
+	void add_varying(const String &p_name, VaryingMode p_mode, VaryingType p_type);
+	void remove_varying(const String &p_name);
+	bool has_varying(const String &p_name) const;
+	int get_varyings_count() const;
+	const Varying *get_varying_by_index(int p_idx) const;
+
+	void set_varying_mode(const String &p_name, VaryingMode p_mode);
+	VaryingMode get_varying_mode(const String &p_name);
+
+	void set_varying_type(const String &p_name, VaryingType p_type);
+	VaryingType get_varying_type(const String &p_name);
+
 	Vector2 get_node_position(Type p_type, int p_id) const;
 	Ref<VisualShaderNode> get_node(Type p_type, int p_id) const;
 
@@ -190,6 +243,8 @@ public:
 };
 
 VARIANT_ENUM_CAST(VisualShader::Type)
+VARIANT_ENUM_CAST(VisualShader::VaryingMode)
+VARIANT_ENUM_CAST(VisualShader::VaryingType)
 ///
 ///
 ///
@@ -328,14 +383,20 @@ protected:
 	GDVIRTUAL1RC(int, _get_output_port_type, int)
 	GDVIRTUAL1RC(String, _get_output_port_name, int)
 	GDVIRTUAL4RC(String, _get_code, TypedArray<String>, TypedArray<String>, Shader::Mode, VisualShader::Type)
+	GDVIRTUAL2RC(String, _get_func_code, Shader::Mode, VisualShader::Type)
 	GDVIRTUAL1RC(String, _get_global_code, Shader::Mode)
 	GDVIRTUAL0RC(bool, _is_highend)
+	GDVIRTUAL2RC(bool, _is_available, Shader::Mode, VisualShader::Type)
+
+	bool _is_valid_code(const String &p_code) const;
 
 protected:
 	void _set_input_port_default_value(int p_port, const Variant &p_value);
 
+	bool is_available(Shader::Mode p_mode, VisualShader::Type p_type) const;
 	virtual String generate_code(Shader::Mode p_mode, VisualShader::Type p_type, int p_id, const String *p_input_vars, const String *p_output_vars, bool p_for_preview = false) const override;
 	virtual String generate_global_per_node(Shader::Mode p_mode, int p_id) const override;
+	virtual String generate_global_per_func(Shader::Mode p_mode, VisualShader::Type p_type, int p_id) const override;
 
 	static void _bind_methods();
 
@@ -697,6 +758,103 @@ public:
 	VisualShaderNodeGlobalExpression();
 };
 
+class VisualShaderNodeVarying : public VisualShaderNode {
+	GDCLASS(VisualShaderNodeVarying, VisualShaderNode);
+
+public:
+	struct Varying {
+		String name;
+		VisualShader::VaryingMode mode;
+		VisualShader::VaryingType type;
+		bool assigned = false;
+	};
+
+protected:
+	VisualShader::VaryingType varying_type = VisualShader::VARYING_TYPE_FLOAT;
+	String varying_name = "[None]";
+
+public: // internal
+	static void add_varying(const String &p_name, VisualShader::VaryingMode p_mode, VisualShader::VaryingType p_type);
+	static void clear_varyings();
+	static bool has_varying(const String &p_name);
+
+	int get_varyings_count() const;
+	String get_varying_name_by_index(int p_idx) const;
+	VisualShader::VaryingMode get_varying_mode_by_name(const String &p_name) const;
+	VisualShader::VaryingMode get_varying_mode_by_index(int p_idx) const;
+	VisualShader::VaryingType get_varying_type_by_name(const String &p_name) const;
+	VisualShader::VaryingType get_varying_type_by_index(int p_idx) const;
+	PortType get_port_type_by_index(int p_idx) const;
+
+protected:
+	static void _bind_methods();
+
+protected:
+	String get_type_str() const;
+	PortType get_port_type(VisualShader::VaryingType p_type, int p_port) const;
+
+public:
+	virtual String get_caption() const override = 0;
+
+	virtual int get_input_port_count() const override = 0;
+	virtual PortType get_input_port_type(int p_port) const override = 0;
+	virtual String get_input_port_name(int p_port) const override = 0;
+
+	virtual int get_output_port_count() const override = 0;
+	virtual PortType get_output_port_type(int p_port) const override = 0;
+	virtual String get_output_port_name(int p_port) const override = 0;
+
+	virtual String generate_code(Shader::Mode p_mode, VisualShader::Type p_type, int p_id, const String *p_input_vars, const String *p_output_vars, bool p_for_preview = false) const override = 0;
+
+	void set_varying_name(String p_varying_name);
+	String get_varying_name() const;
+
+	void set_varying_type(VisualShader::VaryingType p_varying_type);
+	VisualShader::VaryingType get_varying_type() const;
+
+	VisualShaderNodeVarying();
+};
+
+class VisualShaderNodeVaryingSetter : public VisualShaderNodeVarying {
+	GDCLASS(VisualShaderNodeVaryingSetter, VisualShaderNodeVarying);
+
+public:
+	virtual String get_caption() const override;
+
+	virtual int get_input_port_count() const override;
+	virtual PortType get_input_port_type(int p_port) const override;
+	virtual String get_input_port_name(int p_port) const override;
+
+	virtual int get_output_port_count() const override;
+	virtual PortType get_output_port_type(int p_port) const override;
+	virtual String get_output_port_name(int p_port) const override;
+
+	virtual String generate_global(Shader::Mode p_mode, VisualShader::Type p_type, int p_id) const override;
+	virtual String generate_code(Shader::Mode p_mode, VisualShader::Type p_type, int p_id, const String *p_input_vars, const String *p_output_vars, bool p_for_preview = false) const override;
+
+	VisualShaderNodeVaryingSetter();
+};
+
+class VisualShaderNodeVaryingGetter : public VisualShaderNodeVarying {
+	GDCLASS(VisualShaderNodeVaryingGetter, VisualShaderNodeVarying);
+
+public:
+	virtual String get_caption() const override;
+
+	virtual int get_input_port_count() const override;
+	virtual PortType get_input_port_type(int p_port) const override;
+	virtual String get_input_port_name(int p_port) const override;
+
+	virtual int get_output_port_count() const override;
+	virtual PortType get_output_port_type(int p_port) const override;
+	virtual String get_output_port_name(int p_port) const override;
+	virtual bool has_output_port_preview(int p_port) const override;
+
+	virtual String generate_code(Shader::Mode p_mode, VisualShader::Type p_type, int p_id, const String *p_input_vars, const String *p_output_vars, bool p_for_preview = false) const override;
+
+	VisualShaderNodeVaryingGetter();
+};
+
 extern String make_unique_id(VisualShader::Type p_type, int p_id, const String &p_name);
 
 #endif // VISUAL_SHADER_H
diff --git a/scene/resources/visual_shader_nodes.cpp b/scene/resources/visual_shader_nodes.cpp
index a6aa6d8c49..7b4d7e66d4 100644
--- a/scene/resources/visual_shader_nodes.cpp
+++ b/scene/resources/visual_shader_nodes.cpp
@@ -5696,7 +5696,7 @@ String VisualShaderNodeTextureUniformTriplanar::get_input_port_name(int p_port)
 String VisualShaderNodeTextureUniformTriplanar::generate_global_per_node(Shader::Mode p_mode, int p_id) const {
 	String code;
 
-	code += "// TRIPLANAR FUNCTION GLOBAL CODE\n";
+	code += "// " + get_caption() + "\n";
 	code += "	vec4 triplanar_texture(sampler2D p_sampler, vec3 p_weights, vec3 p_triplanar_pos) {\n";
 	code += "		vec4 samp = vec4(0.0);\n";
 	code += "		samp += texture(p_sampler, p_triplanar_pos.xy) * p_weights.z;\n";
@@ -5719,11 +5719,13 @@ String VisualShaderNodeTextureUniformTriplanar::generate_global_per_func(Shader:
 	String code;
 
 	if (p_type == VisualShader::TYPE_VERTEX) {
-		code += "	// TRIPLANAR FUNCTION VERTEX CODE\n";
+		code += "// " + get_caption() + "\n";
+		code += "	{\n";
 		code += "		triplanar_power_normal = pow(abs(NORMAL), vec3(triplanar_sharpness));\n";
 		code += "		triplanar_power_normal /= dot(triplanar_power_normal, vec3(1.0));\n";
 		code += "		triplanar_pos = VERTEX * triplanar_scale + triplanar_offset;\n";
 		code += "		triplanar_pos *= vec3(1.0, -1.0, 1.0);\n";
+		code += "	}\n";
 	}
 
 	return code;
diff --git a/servers/audio/audio_effect.cpp b/servers/audio/audio_effect.cpp
index b9eca14a4c..f38d0adfb2 100644
--- a/servers/audio/audio_effect.cpp
+++ b/servers/audio/audio_effect.cpp
@@ -30,5 +30,36 @@
 
 #include "audio_effect.h"
 
+void AudioEffectInstance::process(const AudioFrame *p_src_frames, AudioFrame *p_dst_frames, int p_frame_count) {
+	if (GDVIRTUAL_REQUIRED_CALL(_process, p_src_frames, p_dst_frames, p_frame_count)) {
+		return;
+	}
+}
+bool AudioEffectInstance::process_silence() const {
+	bool ret;
+	if (GDVIRTUAL_CALL(_process_silence, ret)) {
+		return ret;
+	}
+	return false;
+}
+
+void AudioEffectInstance::_bind_methods() {
+	GDVIRTUAL_BIND(_process, "src_buffer", "dst_buffer", "frame_count");
+	GDVIRTUAL_BIND(_process_silence);
+}
+
+////
+
+Ref<AudioEffectInstance> AudioEffect::instantiate() {
+	Ref<AudioEffectInstance> ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_instantiate, ret)) {
+		return ret;
+	}
+	return Ref<AudioEffectInstance>();
+}
+void AudioEffect::_bind_methods() {
+	GDVIRTUAL_BIND(_instantiate);
+}
+
 AudioEffect::AudioEffect() {
 }
diff --git a/servers/audio/audio_effect.h b/servers/audio/audio_effect.h
index 00a5d6c004..3a0578679d 100644
--- a/servers/audio/audio_effect.h
+++ b/servers/audio/audio_effect.h
@@ -33,20 +33,32 @@
 
 #include "core/io/resource.h"
 #include "core/math/audio_frame.h"
+#include "core/object/gdvirtual.gen.inc"
+#include "core/object/script_language.h"
+#include "core/variant/native_ptr.h"
 
 class AudioEffectInstance : public RefCounted {
 	GDCLASS(AudioEffectInstance, RefCounted);
 
+protected:
+	GDVIRTUAL3(_process, GDNativeConstPtr<AudioFrame>, GDNativePtr<AudioFrame>, int)
+	GDVIRTUAL0RC(bool, _process_silence)
+	static void _bind_methods();
+
 public:
-	virtual void process(const AudioFrame *p_src_frames, AudioFrame *p_dst_frames, int p_frame_count) = 0;
-	virtual bool process_silence() const { return false; }
+	virtual void process(const AudioFrame *p_src_frames, AudioFrame *p_dst_frames, int p_frame_count);
+	virtual bool process_silence() const;
 };
 
 class AudioEffect : public Resource {
 	GDCLASS(AudioEffect, Resource);
 
+protected:
+	GDVIRTUAL0R(Ref<AudioEffectInstance>, _instantiate)
+	static void _bind_methods();
+
 public:
-	virtual Ref<AudioEffectInstance> instantiate() = 0;
+	virtual Ref<AudioEffectInstance> instantiate();
 	AudioEffect();
 };
 
diff --git a/servers/audio/audio_stream.cpp b/servers/audio/audio_stream.cpp
index a710658bff..1ebd57fa7f 100644
--- a/servers/audio/audio_stream.cpp
+++ b/servers/audio/audio_stream.cpp
@@ -76,10 +76,10 @@ void AudioStreamPlayback::seek(float p_time) {
 
 int AudioStreamPlayback::mix(AudioFrame *p_buffer, float p_rate_scale, int p_frames) {
 	int ret;
-	if (GDVIRTUAL_CALL(_mix, p_buffer, p_rate_scale, p_frames, ret)) {
+	if (GDVIRTUAL_REQUIRED_CALL(_mix, p_buffer, p_rate_scale, p_frames, ret)) {
 		return ret;
 	}
-	WARN_PRINT_ONCE("AudioStreamPlayback::mix unimplemented!");
+
 	return 0;
 }
 
@@ -94,7 +94,7 @@ void AudioStreamPlayback::_bind_methods() {
 }
 //////////////////////////////
 
-void AudioStreamPlaybackResampled::_begin_resample() {
+void AudioStreamPlaybackResampled::begin_resample() {
 	//clear cubic interpolation history
 	internal_buffer[0] = AudioFrame(0.0, 0.0);
 	internal_buffer[1] = AudioFrame(0.0, 0.0);
@@ -105,6 +105,30 @@ void AudioStreamPlaybackResampled::_begin_resample() {
 	mix_offset = 0;
 }
 
+int AudioStreamPlaybackResampled::_mix_internal(AudioFrame *p_buffer, int p_frames) {
+	int ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_mix_resampled, p_buffer, p_frames, ret)) {
+		return ret;
+	}
+
+	return 0;
+}
+float AudioStreamPlaybackResampled::get_stream_sampling_rate() {
+	float ret;
+	if (GDVIRTUAL_REQUIRED_CALL(_get_stream_sampling_rate, ret)) {
+		return ret;
+	}
+
+	return 0;
+}
+
+void AudioStreamPlaybackResampled::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("begin_resample"), &AudioStreamPlaybackResampled::begin_resample);
+
+	GDVIRTUAL_BIND(_mix_resampled, "dst_buffer", "frame_count");
+	GDVIRTUAL_BIND(_get_stream_sampling_rate);
+}
+
 int AudioStreamPlaybackResampled::mix(AudioFrame *p_buffer, float p_rate_scale, int p_frames) {
 	float target_rate = AudioServer::get_singleton()->get_mix_rate();
 	float playback_speed_scale = AudioServer::get_singleton()->get_playback_speed_scale();
@@ -315,7 +339,7 @@ void AudioStreamPlaybackMicrophone::start(float p_from_pos) {
 
 	if (AudioDriver::get_singleton()->capture_start() == OK) {
 		active = true;
-		_begin_resample();
+		begin_resample();
 	}
 }
 
diff --git a/servers/audio/audio_stream.h b/servers/audio/audio_stream.h
index ce9bcabb9c..55031dec2c 100644
--- a/servers/audio/audio_stream.h
+++ b/servers/audio/audio_stream.h
@@ -81,10 +81,15 @@ class AudioStreamPlaybackResampled : public AudioStreamPlayback {
 	uint64_t mix_offset;
 
 protected:
-	void _begin_resample();
+	void begin_resample();
 	// Returns the number of frames that were mixed.
-	virtual int _mix_internal(AudioFrame *p_buffer, int p_frames) = 0;
-	virtual float get_stream_sampling_rate() = 0;
+	virtual int _mix_internal(AudioFrame *p_buffer, int p_frames);
+	virtual float get_stream_sampling_rate();
+
+	GDVIRTUAL2R(int, _mix_resampled, GDNativePtr<AudioFrame>, int)
+	GDVIRTUAL0RC(float, _get_stream_sampling_rate)
+
+	static void _bind_methods();
 
 public:
 	virtual int mix(AudioFrame *p_buffer, float p_rate_scale, int p_frames) override;
diff --git a/servers/audio/effects/audio_stream_generator.cpp b/servers/audio/effects/audio_stream_generator.cpp
index 6c917f3eb6..a3d615b925 100644
--- a/servers/audio/effects/audio_stream_generator.cpp
+++ b/servers/audio/effects/audio_stream_generator.cpp
@@ -169,7 +169,7 @@ float AudioStreamGeneratorPlayback::get_stream_sampling_rate() {
 
 void AudioStreamGeneratorPlayback::start(float p_from_pos) {
 	if (mixed == 0.0) {
-		_begin_resample();
+		begin_resample();
 	}
 	skips = 0;
 	active = true;
diff --git a/servers/camera/camera_feed.cpp b/servers/camera/camera_feed.cpp
index 3aab995857..624c06ecf1 100644
--- a/servers/camera/camera_feed.cpp
+++ b/servers/camera/camera_feed.cpp
@@ -33,7 +33,7 @@
 #include "servers/rendering_server.h"
 
 void CameraFeed::_bind_methods() {
-	// The setters prefixed with _ are only exposed so we can have feeds through GDNative!
+	// The setters prefixed with _ are only exposed so we can have feeds through GDExtension!
 	// They should not be called by the end user.
 
 	ClassDB::bind_method(D_METHOD("get_id"), &CameraFeed::get_id);
diff --git a/servers/physics_2d/godot_broad_phase_2d_bvh.cpp b/servers/physics_2d/godot_broad_phase_2d_bvh.cpp
index 5a96dae8ca..06f035a506 100644
--- a/servers/physics_2d/godot_broad_phase_2d_bvh.cpp
+++ b/servers/physics_2d/godot_broad_phase_2d_bvh.cpp
@@ -32,7 +32,9 @@
 #include "godot_collision_object_2d.h"
 
 GodotBroadPhase2D::ID GodotBroadPhase2DBVH::create(GodotCollisionObject2D *p_object, int p_subindex, const Rect2 &p_aabb, bool p_static) {
-	ID oid = bvh.create(p_object, true, p_aabb, p_subindex, !p_static, 1 << p_object->get_type(), p_static ? 0 : 0xFFFFF); // Pair everything, don't care?
+	uint32_t tree_id = p_static ? TREE_STATIC : TREE_DYNAMIC;
+	uint32_t tree_collision_mask = p_static ? TREE_FLAG_DYNAMIC : (TREE_FLAG_STATIC | TREE_FLAG_DYNAMIC);
+	ID oid = bvh.create(p_object, true, tree_id, tree_collision_mask, p_aabb, p_subindex); // Pair everything, don't care?
 	return oid + 1;
 }
 
@@ -41,8 +43,9 @@ void GodotBroadPhase2DBVH::move(ID p_id, const Rect2 &p_aabb) {
 }
 
 void GodotBroadPhase2DBVH::set_static(ID p_id, bool p_static) {
-	GodotCollisionObject2D *it = bvh.get(p_id - 1);
-	bvh.set_pairable(p_id - 1, !p_static, 1 << it->get_type(), p_static ? 0 : 0xFFFFF, false); // Pair everything, don't care?
+	uint32_t tree_id = p_static ? TREE_STATIC : TREE_DYNAMIC;
+	uint32_t tree_collision_mask = p_static ? TREE_FLAG_DYNAMIC : (TREE_FLAG_STATIC | TREE_FLAG_DYNAMIC);
+	bvh.set_tree(p_id - 1, tree_id, tree_collision_mask, false);
 }
 
 void GodotBroadPhase2DBVH::remove(ID p_id) {
@@ -56,7 +59,8 @@ GodotCollisionObject2D *GodotBroadPhase2DBVH::get_object(ID p_id) const {
 }
 
 bool GodotBroadPhase2DBVH::is_static(ID p_id) const {
-	return !bvh.is_pairable(p_id - 1);
+	uint32_t tree_id = bvh.get_tree_id(p_id - 1);
+	return tree_id == 0;
 }
 
 int GodotBroadPhase2DBVH::get_subindex(ID p_id) const {
@@ -64,11 +68,11 @@ int GodotBroadPhase2DBVH::get_subindex(ID p_id) const {
 }
 
 int GodotBroadPhase2DBVH::cull_segment(const Vector2 &p_from, const Vector2 &p_to, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices) {
-	return bvh.cull_segment(p_from, p_to, p_results, p_max_results, p_result_indices);
+	return bvh.cull_segment(p_from, p_to, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices);
 }
 
 int GodotBroadPhase2DBVH::cull_aabb(const Rect2 &p_aabb, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices) {
-	return bvh.cull_aabb(p_aabb, p_results, p_max_results, p_result_indices);
+	return bvh.cull_aabb(p_aabb, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices);
 }
 
 void *GodotBroadPhase2DBVH::_pair_callback(void *self, uint32_t p_A, GodotCollisionObject2D *p_object_A, int subindex_A, uint32_t p_B, GodotCollisionObject2D *p_object_B, int subindex_B) {
diff --git a/servers/physics_2d/godot_broad_phase_2d_bvh.h b/servers/physics_2d/godot_broad_phase_2d_bvh.h
index d77e0574eb..b11ad0e75e 100644
--- a/servers/physics_2d/godot_broad_phase_2d_bvh.h
+++ b/servers/physics_2d/godot_broad_phase_2d_bvh.h
@@ -38,7 +38,34 @@
 #include "core/math/vector2.h"
 
 class GodotBroadPhase2DBVH : public GodotBroadPhase2D {
-	BVH_Manager<GodotCollisionObject2D, true, 128, Rect2, Vector2> bvh;
+	template <class T>
+	class UserPairTestFunction {
+	public:
+		static bool user_pair_check(const T *p_a, const T *p_b) {
+			// return false if no collision, decided by masks etc
+			return p_a->interacts_with(p_b);
+		}
+	};
+
+	template <class T>
+	class UserCullTestFunction {
+	public:
+		static bool user_cull_check(const T *p_a, const T *p_b) {
+			return true;
+		}
+	};
+
+	enum Tree {
+		TREE_STATIC = 0,
+		TREE_DYNAMIC = 1,
+	};
+
+	enum TreeFlag {
+		TREE_FLAG_STATIC = 1 << TREE_STATIC,
+		TREE_FLAG_DYNAMIC = 1 << TREE_DYNAMIC,
+	};
+
+	BVH_Manager<GodotCollisionObject2D, 2, true, 128, UserPairTestFunction<GodotCollisionObject2D>, UserCullTestFunction<GodotCollisionObject2D>, Rect2, Vector2> bvh;
 
 	static void *_pair_callback(void *, uint32_t, GodotCollisionObject2D *, int, uint32_t, GodotCollisionObject2D *, int);
 	static void _unpair_callback(void *, uint32_t, GodotCollisionObject2D *, int, uint32_t, GodotCollisionObject2D *, int, void *);
diff --git a/servers/physics_2d/godot_collision_object_2d.h b/servers/physics_2d/godot_collision_object_2d.h
index 1e9baad8d9..19d6e91561 100644
--- a/servers/physics_2d/godot_collision_object_2d.h
+++ b/servers/physics_2d/godot_collision_object_2d.h
@@ -180,7 +180,7 @@ public:
 		return p_other->collision_layer & collision_mask;
 	}
 
-	_FORCE_INLINE_ bool interacts_with(GodotCollisionObject2D *p_other) const {
+	_FORCE_INLINE_ bool interacts_with(const GodotCollisionObject2D *p_other) const {
 		return collision_layer & p_other->collision_mask || p_other->collision_layer & collision_mask;
 	}
 
diff --git a/servers/physics_2d/godot_space_2d.cpp b/servers/physics_2d/godot_space_2d.cpp
index 68dac67d21..04b8d3c741 100644
--- a/servers/physics_2d/godot_space_2d.cpp
+++ b/servers/physics_2d/godot_space_2d.cpp
@@ -995,11 +995,8 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
 	return collided;
 }
 
+// Assumes a valid collision pair, this should have been checked beforehand in the BVH or octree.
 void *GodotSpace2D::_broadphase_pair(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_self) {
-	if (!A->interacts_with(B)) {
-		return nullptr;
-	}
-
 	GodotCollisionObject2D::Type type_A = A->get_type();
 	GodotCollisionObject2D::Type type_B = B->get_type();
 	if (type_A > type_B) {
diff --git a/servers/physics_3d/godot_broad_phase_3d_bvh.cpp b/servers/physics_3d/godot_broad_phase_3d_bvh.cpp
index 9a6b96c411..ecdf74fd41 100644
--- a/servers/physics_3d/godot_broad_phase_3d_bvh.cpp
+++ b/servers/physics_3d/godot_broad_phase_3d_bvh.cpp
@@ -33,7 +33,9 @@
 #include "godot_collision_object_3d.h"
 
 GodotBroadPhase3DBVH::ID GodotBroadPhase3DBVH::create(GodotCollisionObject3D *p_object, int p_subindex, const AABB &p_aabb, bool p_static) {
-	ID oid = bvh.create(p_object, true, p_aabb, p_subindex, !p_static, 1 << p_object->get_type(), p_static ? 0 : 0xFFFFF); // Pair everything, don't care?
+	uint32_t tree_id = p_static ? TREE_STATIC : TREE_DYNAMIC;
+	uint32_t tree_collision_mask = p_static ? TREE_FLAG_DYNAMIC : (TREE_FLAG_STATIC | TREE_FLAG_DYNAMIC);
+	ID oid = bvh.create(p_object, true, tree_id, tree_collision_mask, p_aabb, p_subindex); // Pair everything, don't care?
 	return oid + 1;
 }
 
@@ -42,8 +44,9 @@ void GodotBroadPhase3DBVH::move(ID p_id, const AABB &p_aabb) {
 }
 
 void GodotBroadPhase3DBVH::set_static(ID p_id, bool p_static) {
-	GodotCollisionObject3D *it = bvh.get(p_id - 1);
-	bvh.set_pairable(p_id - 1, !p_static, 1 << it->get_type(), p_static ? 0 : 0xFFFFF, false); // Pair everything, don't care?
+	uint32_t tree_id = p_static ? TREE_STATIC : TREE_DYNAMIC;
+	uint32_t tree_collision_mask = p_static ? TREE_FLAG_DYNAMIC : (TREE_FLAG_STATIC | TREE_FLAG_DYNAMIC);
+	bvh.set_tree(p_id - 1, tree_id, tree_collision_mask, false);
 }
 
 void GodotBroadPhase3DBVH::remove(ID p_id) {
@@ -57,7 +60,8 @@ GodotCollisionObject3D *GodotBroadPhase3DBVH::get_object(ID p_id) const {
 }
 
 bool GodotBroadPhase3DBVH::is_static(ID p_id) const {
-	return !bvh.is_pairable(p_id - 1);
+	uint32_t tree_id = bvh.get_tree_id(p_id - 1);
+	return tree_id == 0;
 }
 
 int GodotBroadPhase3DBVH::get_subindex(ID p_id) const {
@@ -65,15 +69,15 @@ int GodotBroadPhase3DBVH::get_subindex(ID p_id) const {
 }
 
 int GodotBroadPhase3DBVH::cull_point(const Vector3 &p_point, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices) {
-	return bvh.cull_point(p_point, p_results, p_max_results, p_result_indices);
+	return bvh.cull_point(p_point, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices);
 }
 
 int GodotBroadPhase3DBVH::cull_segment(const Vector3 &p_from, const Vector3 &p_to, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices) {
-	return bvh.cull_segment(p_from, p_to, p_results, p_max_results, p_result_indices);
+	return bvh.cull_segment(p_from, p_to, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices);
 }
 
 int GodotBroadPhase3DBVH::cull_aabb(const AABB &p_aabb, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices) {
-	return bvh.cull_aabb(p_aabb, p_results, p_max_results, p_result_indices);
+	return bvh.cull_aabb(p_aabb, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices);
 }
 
 void *GodotBroadPhase3DBVH::_pair_callback(void *self, uint32_t p_A, GodotCollisionObject3D *p_object_A, int subindex_A, uint32_t p_B, GodotCollisionObject3D *p_object_B, int subindex_B) {
diff --git a/servers/physics_3d/godot_broad_phase_3d_bvh.h b/servers/physics_3d/godot_broad_phase_3d_bvh.h
index 7138019a9c..7660030195 100644
--- a/servers/physics_3d/godot_broad_phase_3d_bvh.h
+++ b/servers/physics_3d/godot_broad_phase_3d_bvh.h
@@ -36,7 +36,34 @@
 #include "core/math/bvh.h"
 
 class GodotBroadPhase3DBVH : public GodotBroadPhase3D {
-	BVH_Manager<GodotCollisionObject3D, true, 128> bvh;
+	template <class T>
+	class UserPairTestFunction {
+	public:
+		static bool user_pair_check(const T *p_a, const T *p_b) {
+			// return false if no collision, decided by masks etc
+			return p_a->interacts_with(p_b);
+		}
+	};
+
+	template <class T>
+	class UserCullTestFunction {
+	public:
+		static bool user_cull_check(const T *p_a, const T *p_b) {
+			return true;
+		}
+	};
+
+	enum Tree {
+		TREE_STATIC = 0,
+		TREE_DYNAMIC = 1,
+	};
+
+	enum TreeFlag {
+		TREE_FLAG_STATIC = 1 << TREE_STATIC,
+		TREE_FLAG_DYNAMIC = 1 << TREE_DYNAMIC,
+	};
+
+	BVH_Manager<GodotCollisionObject3D, 2, true, 128, UserPairTestFunction<GodotCollisionObject3D>, UserCullTestFunction<GodotCollisionObject3D>> bvh;
 
 	static void *_pair_callback(void *, uint32_t, GodotCollisionObject3D *, int, uint32_t, GodotCollisionObject3D *, int);
 	static void _unpair_callback(void *, uint32_t, GodotCollisionObject3D *, int, uint32_t, GodotCollisionObject3D *, int, void *);
diff --git a/servers/physics_3d/godot_collision_object_3d.h b/servers/physics_3d/godot_collision_object_3d.h
index 0178838a25..515b945564 100644
--- a/servers/physics_3d/godot_collision_object_3d.h
+++ b/servers/physics_3d/godot_collision_object_3d.h
@@ -169,7 +169,7 @@ public:
 		return p_other->collision_layer & collision_mask;
 	}
 
-	_FORCE_INLINE_ bool interacts_with(GodotCollisionObject3D *p_other) const {
+	_FORCE_INLINE_ bool interacts_with(const GodotCollisionObject3D *p_other) const {
 		return collision_layer & p_other->collision_mask || p_other->collision_layer & collision_mask;
 	}
 
diff --git a/servers/physics_3d/godot_space_3d.cpp b/servers/physics_3d/godot_space_3d.cpp
index 2490a2f506..e28b6da0d9 100644
--- a/servers/physics_3d/godot_space_3d.cpp
+++ b/servers/physics_3d/godot_space_3d.cpp
@@ -1007,11 +1007,8 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::
 	return collided;
 }
 
+// Assumes a valid collision pair, this should have been checked beforehand in the BVH or octree.
 void *GodotSpace3D::_broadphase_pair(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_self) {
-	if (!A->interacts_with(B)) {
-		return nullptr;
-	}
-
 	GodotCollisionObject3D::Type type_A = A->get_type();
 	GodotCollisionObject3D::Type type_B = B->get_type();
 	if (type_A > type_B) {
diff --git a/servers/register_server_types.cpp b/servers/register_server_types.cpp
index f405dea770..6848620b48 100644
--- a/servers/register_server_types.cpp
+++ b/servers/register_server_types.cpp
@@ -110,7 +110,7 @@ void preregister_server_types() {
 	shader_types = memnew(ShaderTypes);
 
 	GDREGISTER_CLASS(TextServerManager);
-	GDREGISTER_VIRTUAL_CLASS(TextServer);
+	GDREGISTER_ABSTRACT_CLASS(TextServer);
 	GDREGISTER_CLASS(TextServerExtension);
 
 	Engine::get_singleton()->add_singleton(Engine::Singleton("TextServerManager", TextServerManager::get_singleton(), "TextServerManager"));
@@ -119,20 +119,20 @@ void preregister_server_types() {
 void register_server_types() {
 	OS::get_singleton()->set_has_server_feature_callback(has_server_feature_callback);
 
-	GDREGISTER_VIRTUAL_CLASS(DisplayServer);
-	GDREGISTER_VIRTUAL_CLASS(RenderingServer);
+	GDREGISTER_ABSTRACT_CLASS(DisplayServer);
+	GDREGISTER_ABSTRACT_CLASS(RenderingServer);
 	GDREGISTER_CLASS(AudioServer);
 
-	GDREGISTER_VIRTUAL_CLASS(PhysicsServer2D);
-	GDREGISTER_VIRTUAL_CLASS(PhysicsServer3D);
-	GDREGISTER_VIRTUAL_CLASS(NavigationServer2D);
-	GDREGISTER_VIRTUAL_CLASS(NavigationServer3D);
+	GDREGISTER_ABSTRACT_CLASS(PhysicsServer2D);
+	GDREGISTER_ABSTRACT_CLASS(PhysicsServer3D);
+	GDREGISTER_ABSTRACT_CLASS(NavigationServer2D);
+	GDREGISTER_ABSTRACT_CLASS(NavigationServer3D);
 	GDREGISTER_CLASS(XRServer);
 	GDREGISTER_CLASS(CameraServer);
 
-	GDREGISTER_VIRTUAL_CLASS(RenderingDevice);
+	GDREGISTER_ABSTRACT_CLASS(RenderingDevice);
 
-	GDREGISTER_VIRTUAL_CLASS(XRInterface);
+	GDREGISTER_ABSTRACT_CLASS(XRInterface);
 	GDREGISTER_CLASS(XRInterfaceExtension); // can't register this as virtual because we need a creation function for our extensions.
 	GDREGISTER_CLASS(XRPose);
 	GDREGISTER_CLASS(XRPositionalTracker);
@@ -149,7 +149,7 @@ void register_server_types() {
 	GDREGISTER_CLASS(AudioBusLayout);
 
 	GDREGISTER_CLASS(AudioStreamGenerator);
-	GDREGISTER_VIRTUAL_CLASS(AudioStreamGeneratorPlayback);
+	GDREGISTER_ABSTRACT_CLASS(AudioStreamGeneratorPlayback);
 
 	{
 		//audio effects
@@ -183,12 +183,12 @@ void register_server_types() {
 
 		GDREGISTER_CLASS(AudioEffectRecord);
 		GDREGISTER_CLASS(AudioEffectSpectrumAnalyzer);
-		GDREGISTER_VIRTUAL_CLASS(AudioEffectSpectrumAnalyzerInstance);
+		GDREGISTER_ABSTRACT_CLASS(AudioEffectSpectrumAnalyzerInstance);
 
 		GDREGISTER_CLASS(AudioEffectCapture);
 	}
 
-	GDREGISTER_VIRTUAL_CLASS(RenderingDevice);
+	GDREGISTER_ABSTRACT_CLASS(RenderingDevice);
 	GDREGISTER_CLASS(RDTextureFormat);
 	GDREGISTER_CLASS(RDTextureView);
 	GDREGISTER_CLASS(RDAttachmentFormat);
@@ -208,16 +208,16 @@ void register_server_types() {
 
 	GDREGISTER_CLASS(CameraFeed);
 
-	GDREGISTER_VIRTUAL_CLASS(PhysicsDirectBodyState2D);
-	GDREGISTER_VIRTUAL_CLASS(PhysicsDirectSpaceState2D);
+	GDREGISTER_ABSTRACT_CLASS(PhysicsDirectBodyState2D);
+	GDREGISTER_ABSTRACT_CLASS(PhysicsDirectSpaceState2D);
 	GDREGISTER_CLASS(PhysicsRayQueryParameters2D);
 	GDREGISTER_CLASS(PhysicsPointQueryParameters2D);
 	GDREGISTER_CLASS(PhysicsShapeQueryParameters2D);
 	GDREGISTER_CLASS(PhysicsTestMotionParameters2D);
 	GDREGISTER_CLASS(PhysicsTestMotionResult2D);
 
-	GDREGISTER_VIRTUAL_CLASS(PhysicsDirectBodyState3D);
-	GDREGISTER_VIRTUAL_CLASS(PhysicsDirectSpaceState3D);
+	GDREGISTER_ABSTRACT_CLASS(PhysicsDirectBodyState3D);
+	GDREGISTER_ABSTRACT_CLASS(PhysicsDirectSpaceState3D);
 	GDREGISTER_CLASS(PhysicsRayQueryParameters3D);
 	GDREGISTER_CLASS(PhysicsPointQueryParameters3D);
 	GDREGISTER_CLASS(PhysicsShapeQueryParameters3D);
diff --git a/servers/rendering/rasterizer_dummy.h b/servers/rendering/rasterizer_dummy.h
index 74c080660d..8f82356d11 100644
--- a/servers/rendering/rasterizer_dummy.h
+++ b/servers/rendering/rasterizer_dummy.h
@@ -408,10 +408,10 @@ public:
 	void light_set_color(RID p_light, const Color &p_color) override {}
 	void light_set_param(RID p_light, RS::LightParam p_param, float p_value) override {}
 	void light_set_shadow(RID p_light, bool p_enabled) override {}
-	void light_set_shadow_color(RID p_light, const Color &p_color) override {}
 	void light_set_projector(RID p_light, RID p_texture) override {}
 	void light_set_negative(RID p_light, bool p_enable) override {}
 	void light_set_cull_mask(RID p_light, uint32_t p_mask) override {}
+	void light_set_distance_fade(RID p_light, bool p_enabled, float p_begin, float p_shadow, float p_length) override {}
 	void light_set_reverse_cull_face_mode(RID p_light, bool p_enabled) override {}
 	void light_set_bake_mode(RID p_light, RS::LightBakeMode p_bake_mode) override {}
 	void light_set_max_sdfgi_cascade(RID p_light, uint32_t p_cascade) override {}
diff --git a/servers/rendering/renderer_canvas_cull.cpp b/servers/rendering/renderer_canvas_cull.cpp
index 418d2bc42e..a96f873088 100644
--- a/servers/rendering/renderer_canvas_cull.cpp
+++ b/servers/rendering/renderer_canvas_cull.cpp
@@ -66,7 +66,7 @@ void RendererCanvasCull::_render_canvas_item_tree(RID p_to_render_target, Canvas
 		}
 	}
 
-	RENDER_TIMESTAMP("Render Canvas Items");
+	RENDER_TIMESTAMP("Render CanvasItems");
 
 	bool sdf_flag;
 	RSG::canvas_render->canvas_render_items(p_to_render_target, list, p_modulate, p_lights, p_directional_lights, p_transform, p_default_filter, p_default_repeat, p_snap_2d_vertices_to_pixel, sdf_flag);
@@ -338,7 +338,7 @@ void RendererCanvasCull::_cull_canvas_item(Item *p_canvas_item, const Transform2
 }
 
 void RendererCanvasCull::render_canvas(RID p_render_target, Canvas *p_canvas, const Transform2D &p_transform, RendererCanvasRender::Light *p_lights, RendererCanvasRender::Light *p_directional_lights, const Rect2 &p_clip_rect, RenderingServer::CanvasItemTextureFilter p_default_filter, RenderingServer::CanvasItemTextureRepeat p_default_repeat, bool p_snap_2d_transforms_to_pixel, bool p_snap_2d_vertices_to_pixel) {
-	RENDER_TIMESTAMP(">Render Canvas");
+	RENDER_TIMESTAMP("> Render Canvas");
 
 	sdf_used = false;
 	snapping_2d_transforms_to_pixel = p_snap_2d_transforms_to_pixel;
@@ -384,7 +384,7 @@ void RendererCanvasCull::render_canvas(RID p_render_target, Canvas *p_canvas, co
 		}
 	}
 
-	RENDER_TIMESTAMP("<End Render Canvas");
+	RENDER_TIMESTAMP("< Render Canvas");
 }
 
 bool RendererCanvasCull::was_sdf_used() {
diff --git a/servers/rendering/renderer_rd/cluster_builder_rd.cpp b/servers/rendering/renderer_rd/cluster_builder_rd.cpp
index 6ad3556969..24108b3a59 100644
--- a/servers/rendering/renderer_rd/cluster_builder_rd.cpp
+++ b/servers/rendering/renderer_rd/cluster_builder_rd.cpp
@@ -287,21 +287,21 @@ void ClusterBuilderRD::setup(Size2i p_screen_size, uint32_t p_max_elements, RID
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
 			u.binding = 1;
-			u.ids.push_back(state_uniform);
+			u.append_id(state_uniform);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 2;
-			u.ids.push_back(element_buffer);
+			u.append_id(element_buffer);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 3;
-			u.ids.push_back(cluster_render_buffer);
+			u.append_id(cluster_render_buffer);
 			uniforms.push_back(u);
 		}
 
@@ -314,14 +314,14 @@ void ClusterBuilderRD::setup(Size2i p_screen_size, uint32_t p_max_elements, RID
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 1;
-			u.ids.push_back(cluster_render_buffer);
+			u.append_id(cluster_render_buffer);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 2;
-			u.ids.push_back(cluster_buffer);
+			u.append_id(cluster_buffer);
 			uniforms.push_back(u);
 		}
 
@@ -329,7 +329,7 @@ void ClusterBuilderRD::setup(Size2i p_screen_size, uint32_t p_max_elements, RID
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 3;
-			u.ids.push_back(element_buffer);
+			u.append_id(element_buffer);
 			uniforms.push_back(u);
 		}
 
@@ -342,14 +342,14 @@ void ClusterBuilderRD::setup(Size2i p_screen_size, uint32_t p_max_elements, RID
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 1;
-			u.ids.push_back(cluster_buffer);
+			u.append_id(cluster_buffer);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 2;
-			u.ids.push_back(p_color_buffer);
+			u.append_id(p_color_buffer);
 			uniforms.push_back(u);
 		}
 
@@ -357,14 +357,14 @@ void ClusterBuilderRD::setup(Size2i p_screen_size, uint32_t p_max_elements, RID
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			u.binding = 3;
-			u.ids.push_back(p_depth_buffer);
+			u.append_id(p_depth_buffer);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
 			u.binding = 4;
-			u.ids.push_back(p_depth_buffer_sampler);
+			u.append_id(p_depth_buffer_sampler);
 			uniforms.push_back(u);
 		}
 
@@ -398,7 +398,7 @@ void ClusterBuilderRD::begin(const Transform3D &p_view_transform, const CameraMa
 }
 
 void ClusterBuilderRD::bake_cluster() {
-	RENDER_TIMESTAMP(">Bake Cluster");
+	RENDER_TIMESTAMP("> Bake 3D Cluster");
 
 	RD::get_singleton()->draw_command_begin_label("Bake Light Cluster");
 
@@ -429,7 +429,7 @@ void ClusterBuilderRD::bake_cluster() {
 
 		RD::get_singleton()->buffer_update(element_buffer, 0, sizeof(RenderElementData) * render_element_count, render_elements, RD::BARRIER_MASK_RASTER | RD::BARRIER_MASK_COMPUTE);
 
-		RENDER_TIMESTAMP("Render Elements");
+		RENDER_TIMESTAMP("Render 3D Cluster Elements");
 
 		//render elements
 		{
@@ -466,7 +466,7 @@ void ClusterBuilderRD::bake_cluster() {
 			RD::get_singleton()->draw_list_end(RD::BARRIER_MASK_COMPUTE);
 		}
 		//store elements
-		RENDER_TIMESTAMP("Pack Elements");
+		RENDER_TIMESTAMP("Pack 3D Cluster Elements");
 
 		{
 			RD::ComputeListID compute_list = RD::get_singleton()->compute_list_begin();
@@ -492,7 +492,7 @@ void ClusterBuilderRD::bake_cluster() {
 	} else {
 		RD::get_singleton()->barrier(RD::BARRIER_MASK_TRANSFER, RD::BARRIER_MASK_RASTER | RD::BARRIER_MASK_COMPUTE);
 	}
-	RENDER_TIMESTAMP("<Bake Cluster");
+	RENDER_TIMESTAMP("< Bake 3D Cluster");
 	RD::get_singleton()->draw_command_end_label();
 }
 
diff --git a/servers/rendering/renderer_rd/effects_rd.cpp b/servers/rendering/renderer_rd/effects_rd.cpp
index fe3863fec7..a5a9dae0b9 100644
--- a/servers/rendering/renderer_rd/effects_rd.cpp
+++ b/servers/rendering/renderer_rd/effects_rd.cpp
@@ -60,7 +60,7 @@ RID EffectsRD::_get_uniform_set_from_image(RID p_image) {
 	RD::Uniform u;
 	u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 	u.binding = 0;
-	u.ids.push_back(p_image);
+	u.append_id(p_image);
 	uniforms.push_back(u);
 	//any thing with the same configuration (one texture in binding 0 for set 0), is good
 	RID uniform_set = RD::get_singleton()->uniform_set_create(uniforms, luminance_reduce.shader.version_get_shader(luminance_reduce.shader_version, 0), 1);
@@ -82,7 +82,7 @@ RID EffectsRD::_get_uniform_set_for_input(RID p_texture) {
 	RD::Uniform u;
 	u.uniform_type = RD::UNIFORM_TYPE_INPUT_ATTACHMENT;
 	u.binding = 0;
-	u.ids.push_back(p_texture);
+	u.append_id(p_texture);
 	uniforms.push_back(u);
 	// This is specific to our subpass shader
 	RID uniform_set = RD::get_singleton()->uniform_set_create(uniforms, tonemap.shader.version_get_shader(tonemap.shader_version, TONEMAP_MODE_SUBPASS), 0);
@@ -104,8 +104,8 @@ RID EffectsRD::_get_uniform_set_from_texture(RID p_texture, bool p_use_mipmaps)
 	RD::Uniform u;
 	u.uniform_type = RD::UNIFORM_TYPE_SAMPLER_WITH_TEXTURE;
 	u.binding = 0;
-	u.ids.push_back(p_use_mipmaps ? default_mipmap_sampler : default_sampler);
-	u.ids.push_back(p_texture);
+	u.append_id(p_use_mipmaps ? default_mipmap_sampler : default_sampler);
+	u.append_id(p_texture);
 	uniforms.push_back(u);
 	// anything with the same configuration (one texture in binding 0 for set 0), is good
 	RID uniform_set = RD::get_singleton()->uniform_set_create(uniforms, tonemap.shader.version_get_shader(tonemap.shader_version, 0), 0);
@@ -132,16 +132,16 @@ RID EffectsRD::_get_uniform_set_from_texture_pair(RID p_texture1, RID p_texture2
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_SAMPLER_WITH_TEXTURE;
 		u.binding = 0;
-		u.ids.push_back(p_use_mipmaps ? default_mipmap_sampler : default_sampler);
-		u.ids.push_back(p_texture1);
+		u.append_id(p_use_mipmaps ? default_mipmap_sampler : default_sampler);
+		u.append_id(p_texture1);
 		uniforms.push_back(u);
 	}
 	{
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_SAMPLER_WITH_TEXTURE;
 		u.binding = 1;
-		u.ids.push_back(p_use_mipmaps ? default_mipmap_sampler : default_sampler);
-		u.ids.push_back(p_texture2);
+		u.append_id(p_use_mipmaps ? default_mipmap_sampler : default_sampler);
+		u.append_id(p_texture2);
 		uniforms.push_back(u);
 	}
 	// anything with the same configuration (one texture in binding 0 for set 0), is good
@@ -164,8 +164,8 @@ RID EffectsRD::_get_compute_uniform_set_from_texture(RID p_texture, bool p_use_m
 	RD::Uniform u;
 	u.uniform_type = RD::UNIFORM_TYPE_SAMPLER_WITH_TEXTURE;
 	u.binding = 0;
-	u.ids.push_back(p_use_mipmaps ? default_mipmap_sampler : default_sampler);
-	u.ids.push_back(p_texture);
+	u.append_id(p_use_mipmaps ? default_mipmap_sampler : default_sampler);
+	u.append_id(p_texture);
 	uniforms.push_back(u);
 	//any thing with the same configuration (one texture in binding 0 for set 0), is good
 	RID uniform_set = RD::get_singleton()->uniform_set_create(uniforms, luminance_reduce.shader.version_get_shader(luminance_reduce.shader_version, 0), 0);
@@ -191,8 +191,8 @@ RID EffectsRD::_get_compute_uniform_set_from_texture_and_sampler(RID p_texture,
 	RD::Uniform u;
 	u.uniform_type = RD::UNIFORM_TYPE_SAMPLER_WITH_TEXTURE;
 	u.binding = 0;
-	u.ids.push_back(p_sampler);
-	u.ids.push_back(p_texture);
+	u.append_id(p_sampler);
+	u.append_id(p_texture);
 	uniforms.push_back(u);
 	//any thing with the same configuration (one texture in binding 0 for set 0), is good
 	RID uniform_set = RD::get_singleton()->uniform_set_create(uniforms, ssao.blur_shader.version_get_shader(ssao.blur_shader_version, 0), 0);
@@ -219,16 +219,16 @@ RID EffectsRD::_get_compute_uniform_set_from_texture_pair(RID p_texture1, RID p_
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_SAMPLER_WITH_TEXTURE;
 		u.binding = 0;
-		u.ids.push_back(p_use_mipmaps ? default_mipmap_sampler : default_sampler);
-		u.ids.push_back(p_texture1);
+		u.append_id(p_use_mipmaps ? default_mipmap_sampler : default_sampler);
+		u.append_id(p_texture1);
 		uniforms.push_back(u);
 	}
 	{
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_SAMPLER_WITH_TEXTURE;
 		u.binding = 1;
-		u.ids.push_back(p_use_mipmaps ? default_mipmap_sampler : default_sampler);
-		u.ids.push_back(p_texture2);
+		u.append_id(p_use_mipmaps ? default_mipmap_sampler : default_sampler);
+		u.append_id(p_texture2);
 		uniforms.push_back(u);
 	}
 	//any thing with the same configuration (one texture in binding 0 for set 0), is good
@@ -256,14 +256,14 @@ RID EffectsRD::_get_compute_uniform_set_from_image_pair(RID p_texture1, RID p_te
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 		u.binding = 0;
-		u.ids.push_back(p_texture1);
+		u.append_id(p_texture1);
 		uniforms.push_back(u);
 	}
 	{
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 		u.binding = 1;
-		u.ids.push_back(p_texture2);
+		u.append_id(p_texture2);
 		uniforms.push_back(u);
 	}
 	//any thing with the same configuration (one texture in binding 0 for set 0), is good
@@ -1389,28 +1389,28 @@ void EffectsRD::downsample_depth(RID p_depth_buffer, const Vector<RID> &p_depth_
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 0;
-			u.ids.push_back(p_depth_mipmaps[depth_index + 1]);
+			u.append_id(p_depth_mipmaps[depth_index + 1]);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 1;
-			u.ids.push_back(p_depth_mipmaps[depth_index + 2]);
+			u.append_id(p_depth_mipmaps[depth_index + 2]);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 2;
-			u.ids.push_back(p_depth_mipmaps[depth_index + 3]);
+			u.append_id(p_depth_mipmaps[depth_index + 3]);
 			uniforms.push_back(u);
 		}
 		if (use_full_mips) {
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 3;
-			u.ids.push_back(p_depth_mipmaps[4]);
+			u.append_id(p_depth_mipmaps[4]);
 			uniforms.push_back(u);
 		}
 		ss_effects.downsample_uniform_set = RD::get_singleton()->uniform_set_create(uniforms, ss_effects.downsample_shader.version_get_shader(ss_effects.downsample_shader_version, use_full_mips ? 6 : 2), 2);
@@ -1537,22 +1537,22 @@ void EffectsRD::generate_ssao(RID p_normal_buffer, RID p_depth_mipmaps_texture,
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_SAMPLER_WITH_TEXTURE;
 				u.binding = 0;
-				u.ids.push_back(default_sampler);
-				u.ids.push_back(p_depth_mipmaps_texture);
+				u.append_id(default_sampler);
+				u.append_id(p_depth_mipmaps_texture);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 1;
-				u.ids.push_back(p_normal_buffer);
+				u.append_id(p_normal_buffer);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
 				u.binding = 2;
-				u.ids.push_back(ss_effects.gather_constants_buffer);
+				u.append_id(ss_effects.gather_constants_buffer);
 				uniforms.push_back(u);
 			}
 			r_gather_uniform_set = RD::get_singleton()->uniform_set_create(uniforms, ssao.gather_shader.version_get_shader(ssao.gather_shader_version, 0), 0);
@@ -1564,22 +1564,22 @@ void EffectsRD::generate_ssao(RID p_normal_buffer, RID p_depth_mipmaps_texture,
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 0;
-				u.ids.push_back(p_ao_pong);
+				u.append_id(p_ao_pong);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_SAMPLER_WITH_TEXTURE;
 				u.binding = 1;
-				u.ids.push_back(default_sampler);
-				u.ids.push_back(p_importance_map);
+				u.append_id(default_sampler);
+				u.append_id(p_importance_map);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 				u.binding = 2;
-				u.ids.push_back(ssao.importance_map_load_counter);
+				u.append_id(ssao.importance_map_load_counter);
 				uniforms.push_back(u);
 			}
 			r_importance_map_uniform_set = RD::get_singleton()->uniform_set_create(uniforms, ssao.gather_shader.version_get_shader(ssao.gather_shader_version, 2), 1);
@@ -1811,15 +1811,15 @@ void EffectsRD::screen_space_indirect_lighting(RID p_diffuse, RID p_destination,
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_SAMPLER_WITH_TEXTURE;
 				u.binding = 0;
-				u.ids.push_back(default_mipmap_sampler);
-				u.ids.push_back(p_diffuse);
+				u.append_id(default_mipmap_sampler);
+				u.append_id(p_diffuse);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
 				u.binding = 1;
-				u.ids.push_back(ssil.projection_uniform_buffer);
+				u.append_id(ssil.projection_uniform_buffer);
 				uniforms.push_back(u);
 			}
 			r_projection_uniform_set = RD::get_singleton()->uniform_set_create(uniforms, ssil.gather_shader.version_get_shader(ssil.gather_shader_version, 0), 3);
@@ -1831,22 +1831,22 @@ void EffectsRD::screen_space_indirect_lighting(RID p_diffuse, RID p_destination,
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_SAMPLER_WITH_TEXTURE;
 				u.binding = 0;
-				u.ids.push_back(default_sampler);
-				u.ids.push_back(p_depth_mipmaps_texture);
+				u.append_id(default_sampler);
+				u.append_id(p_depth_mipmaps_texture);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 1;
-				u.ids.push_back(p_normal_buffer);
+				u.append_id(p_normal_buffer);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
 				u.binding = 2;
-				u.ids.push_back(ss_effects.gather_constants_buffer);
+				u.append_id(ss_effects.gather_constants_buffer);
 				uniforms.push_back(u);
 			}
 			r_gather_uniform_set = RD::get_singleton()->uniform_set_create(uniforms, ssil.gather_shader.version_get_shader(ssil.gather_shader_version, 0), 0);
@@ -1858,22 +1858,22 @@ void EffectsRD::screen_space_indirect_lighting(RID p_diffuse, RID p_destination,
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 0;
-				u.ids.push_back(p_ssil_pong);
+				u.append_id(p_ssil_pong);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_SAMPLER_WITH_TEXTURE;
 				u.binding = 1;
-				u.ids.push_back(default_sampler);
-				u.ids.push_back(p_importance_map);
+				u.append_id(default_sampler);
+				u.append_id(p_importance_map);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 				u.binding = 2;
-				u.ids.push_back(ssil.importance_map_load_counter);
+				u.append_id(ssil.importance_map_load_counter);
 				uniforms.push_back(u);
 			}
 			r_importance_map_uniform_set = RD::get_singleton()->uniform_set_create(uniforms, ssil.gather_shader.version_get_shader(ssil.gather_shader_version, 2), 1);
@@ -2131,7 +2131,7 @@ void EffectsRD::cubemap_filter(RID p_source_cubemap, Vector<RID> p_dest_cubemap,
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 		u.binding = i;
-		u.ids.push_back(p_dest_cubemap[i]);
+		u.append_id(p_dest_cubemap[i]);
 		uniforms.push_back(u);
 	}
 	if (RD::get_singleton()->uniform_set_is_valid(filter.image_uniform_set)) {
@@ -2651,7 +2651,7 @@ EffectsRD::EffectsRD(bool p_prefer_raster_effects) {
 					RD::Uniform u;
 					u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 					u.binding = 0;
-					u.ids.push_back(ssao.importance_map_load_counter);
+					u.append_id(ssao.importance_map_load_counter);
 					uniforms.push_back(u);
 				}
 				ssao.counter_uniform_set = RD::get_singleton()->uniform_set_create(uniforms, ssao.importance_map_shader.version_get_shader(ssao.importance_map_shader_version, 2), 2);
@@ -2766,7 +2766,7 @@ EffectsRD::EffectsRD(bool p_prefer_raster_effects) {
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 				u.binding = 0;
-				u.ids.push_back(filter.coefficient_buffer);
+				u.append_id(filter.coefficient_buffer);
 				uniforms.push_back(u);
 			}
 			filter.uniform_set = RD::get_singleton()->uniform_set_create(uniforms, filter.raster_shader.version_get_shader(filter.shader_version, filter.use_high_quality ? 0 : 1), 1);
@@ -2784,7 +2784,7 @@ EffectsRD::EffectsRD(bool p_prefer_raster_effects) {
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 				u.binding = 0;
-				u.ids.push_back(filter.coefficient_buffer);
+				u.append_id(filter.coefficient_buffer);
 				uniforms.push_back(u);
 			}
 			filter.uniform_set = RD::get_singleton()->uniform_set_create(uniforms, filter.compute_shader.version_get_shader(filter.shader_version, filter.use_high_quality ? 0 : 1), 1);
@@ -2921,7 +2921,7 @@ EffectsRD::EffectsRD(bool p_prefer_raster_effects) {
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 				u.binding = 0;
-				u.ids.push_back(ssil.importance_map_load_counter);
+				u.append_id(ssil.importance_map_load_counter);
 				uniforms.push_back(u);
 			}
 			ssil.counter_uniform_set = RD::get_singleton()->uniform_set_create(uniforms, ssil.importance_map_shader.version_get_shader(ssil.importance_map_shader_version, 2), 2);
diff --git a/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.cpp b/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.cpp
index d113fcd4f0..6b500260ef 100644
--- a/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.cpp
+++ b/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.cpp
@@ -30,6 +30,7 @@
 
 #include "render_forward_clustered.h"
 #include "core/config/project_settings.h"
+#include "servers/rendering/renderer_rd/uniform_set_cache_rd.h"
 #include "servers/rendering/rendering_device.h"
 #include "servers/rendering/rendering_server_default.h"
 
@@ -824,7 +825,6 @@ void RenderForwardClustered::_setup_environment(const RenderDataRD *p_render_dat
 	if (p_index >= (int)scene_state.uniform_buffers.size()) {
 		uint32_t from = scene_state.uniform_buffers.size();
 		scene_state.uniform_buffers.resize(p_index + 1);
-		render_pass_uniform_sets.resize(p_index + 1);
 		for (uint32_t i = from; i < scene_state.uniform_buffers.size(); i++) {
 			scene_state.uniform_buffers[i] = RD::get_singleton()->uniform_buffer_create(sizeof(SceneState::UBO));
 		}
@@ -1417,7 +1417,7 @@ void RenderForwardClustered::_render_scene(RenderDataRD *p_render_data, const Co
 
 		bool needs_pre_resolve = _needs_post_prepass_render(p_render_data, using_sdfgi || using_voxelgi);
 		if (needs_pre_resolve) {
-			RENDER_TIMESTAMP("GI + Render Depth Pre-Pass (parallel)");
+			RENDER_TIMESTAMP("GI + Render Depth Pre-Pass (Parallel)");
 		} else {
 			RENDER_TIMESTAMP("Render Depth Pre-Pass");
 		}
@@ -1444,8 +1444,8 @@ void RenderForwardClustered::_render_scene(RenderDataRD *p_render_data, const Co
 		}
 
 		if (render_buffer && render_buffer->msaa != RS::VIEWPORT_MSAA_DISABLED) {
-			RENDER_TIMESTAMP("Resolve Depth Pre-Pass");
-			RD::get_singleton()->draw_command_begin_label("Resolve Depth Pre-Pass");
+			RENDER_TIMESTAMP("Resolve Depth Pre-Pass (MSAA)");
+			RD::get_singleton()->draw_command_begin_label("Resolve Depth Pre-Pass (MSAA)");
 			if (depth_pass_mode == PASS_MODE_DEPTH_NORMAL_ROUGHNESS || depth_pass_mode == PASS_MODE_DEPTH_NORMAL_ROUGHNESS_VOXEL_GI) {
 				if (needs_pre_resolve) {
 					RD::get_singleton()->barrier(RD::BARRIER_MASK_RASTER, RD::BARRIER_MASK_COMPUTE);
@@ -1562,15 +1562,15 @@ void RenderForwardClustered::_render_scene(RenderDataRD *p_render_data, const Co
 
 	if (using_separate_specular) {
 		if (using_sss) {
-			RENDER_TIMESTAMP("Sub Surface Scattering");
-			RD::get_singleton()->draw_command_begin_label("Process Sub Surface Scattering");
+			RENDER_TIMESTAMP("Sub-Surface Scattering");
+			RD::get_singleton()->draw_command_begin_label("Process Sub-Surface Scattering");
 			_process_sss(p_render_data->render_buffers, p_render_data->cam_projection);
 			RD::get_singleton()->draw_command_end_label();
 		}
 
 		if (using_ssr) {
-			RENDER_TIMESTAMP("Screen Space Reflection");
-			RD::get_singleton()->draw_command_begin_label("Process Screen Space Reflections");
+			RENDER_TIMESTAMP("Screen-Space Reflections");
+			RD::get_singleton()->draw_command_begin_label("Process Screen-Space Reflections");
 			_process_ssr(p_render_data->render_buffers, render_buffer->color_fb, render_buffer->normal_roughness_buffer, render_buffer->specular, render_buffer->specular, Color(0, 0, 0, 1), p_render_data->environment, p_render_data->cam_projection, render_buffer->msaa == RS::VIEWPORT_MSAA_DISABLED);
 			RD::get_singleton()->draw_command_end_label();
 		} else {
@@ -1590,9 +1590,9 @@ void RenderForwardClustered::_render_scene(RenderDataRD *p_render_data, const Co
 		_render_buffers_copy_depth_texture(p_render_data);
 	}
 
-	RENDER_TIMESTAMP("Render Transparent Pass");
+	RENDER_TIMESTAMP("Render 3D Transparent Pass");
 
-	RD::get_singleton()->draw_command_begin_label("Render Transparent Pass");
+	RD::get_singleton()->draw_command_begin_label("Render 3D Transparent Pass");
 
 	rp_uniform_set = _setup_render_pass_uniform_set(RENDER_LIST_ALPHA, p_render_data, radiance_texture, true);
 
@@ -1618,7 +1618,7 @@ void RenderForwardClustered::_render_scene(RenderDataRD *p_render_data, const Co
 
 	RD::get_singleton()->draw_command_begin_label("Copy framebuffer for SSIL");
 	if (using_ssil) {
-		RENDER_TIMESTAMP("Copy Final Framebuffer");
+		RENDER_TIMESTAMP("Copy Final Framebuffer (SSIL)");
 		_copy_framebuffer_to_ssil(p_render_data->render_buffers);
 	}
 	RD::get_singleton()->draw_command_end_label();
@@ -1731,7 +1731,7 @@ void RenderForwardClustered::_render_shadow_end(uint32_t p_barrier) {
 }
 
 void RenderForwardClustered::_render_particle_collider_heightfield(RID p_fb, const Transform3D &p_cam_transform, const CameraMatrix &p_cam_projection, const PagedArray<GeometryInstance *> &p_instances) {
-	RENDER_TIMESTAMP("Setup Render Collider Heightfield");
+	RENDER_TIMESTAMP("Setup GPUParticlesCollisionHeightField3D");
 
 	RD::get_singleton()->draw_command_begin_label("Render Collider Heightfield");
 
@@ -1769,9 +1769,9 @@ void RenderForwardClustered::_render_particle_collider_heightfield(RID p_fb, con
 }
 
 void RenderForwardClustered::_render_material(const Transform3D &p_cam_transform, const CameraMatrix &p_cam_projection, bool p_cam_ortogonal, const PagedArray<GeometryInstance *> &p_instances, RID p_framebuffer, const Rect2i &p_region) {
-	RENDER_TIMESTAMP("Setup Rendering Material");
+	RENDER_TIMESTAMP("Setup Rendering 3D Material");
 
-	RD::get_singleton()->draw_command_begin_label("Render Material");
+	RD::get_singleton()->draw_command_begin_label("Render 3D Material");
 
 	RenderDataRD render_data;
 	render_data.cam_projection = p_cam_projection;
@@ -1795,7 +1795,7 @@ void RenderForwardClustered::_render_material(const Transform3D &p_cam_transform
 
 	RID rp_uniform_set = _setup_render_pass_uniform_set(RENDER_LIST_SECONDARY, nullptr, RID());
 
-	RENDER_TIMESTAMP("Render Material");
+	RENDER_TIMESTAMP("Render 3D Material");
 
 	{
 		RenderListParameters render_list_params(render_list[RENDER_LIST_SECONDARY].elements.ptr(), render_list[RENDER_LIST_SECONDARY].element_info.ptr(), render_list[RENDER_LIST_SECONDARY].elements.size(), true, pass_mode, true, false, rp_uniform_set);
@@ -1841,7 +1841,7 @@ void RenderForwardClustered::_render_uv2(const PagedArray<GeometryInstance *> &p
 
 	RID rp_uniform_set = _setup_render_pass_uniform_set(RENDER_LIST_SECONDARY, nullptr, RID());
 
-	RENDER_TIMESTAMP("Render Material");
+	RENDER_TIMESTAMP("Render 3D Material");
 
 	{
 		RenderListParameters render_list_params(render_list[RENDER_LIST_SECONDARY].elements.ptr(), render_list[RENDER_LIST_SECONDARY].element_info.ptr(), render_list[RENDER_LIST_SECONDARY].elements.size(), true, pass_mode, true, false, rp_uniform_set, true);
@@ -1991,11 +1991,9 @@ void RenderForwardClustered::_update_render_base_uniform_set() {
 		Vector<RD::Uniform> uniforms;
 
 		{
-			RD::Uniform u;
-			u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
-			u.binding = 1;
-			u.ids.resize(12);
-			RID *ids_ptr = u.ids.ptrw();
+			Vector<RID> ids;
+			ids.resize(12);
+			RID *ids_ptr = ids.ptrw();
 			ids_ptr[0] = storage->sampler_rd_get_custom(RS::CANVAS_ITEM_TEXTURE_FILTER_NEAREST, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED);
 			ids_ptr[1] = storage->sampler_rd_get_custom(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED);
 			ids_ptr[2] = storage->sampler_rd_get_custom(RS::CANVAS_ITEM_TEXTURE_FILTER_NEAREST_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED);
@@ -2008,6 +2006,9 @@ void RenderForwardClustered::_update_render_base_uniform_set() {
 			ids_ptr[9] = storage->sampler_rd_get_custom(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_ENABLED);
 			ids_ptr[10] = storage->sampler_rd_get_custom(RS::CANVAS_ITEM_TEXTURE_FILTER_NEAREST_WITH_MIPMAPS_ANISOTROPIC, RS::CANVAS_ITEM_TEXTURE_REPEAT_ENABLED);
 			ids_ptr[11] = storage->sampler_rd_get_custom(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS_ANISOTROPIC, RS::CANVAS_ITEM_TEXTURE_REPEAT_ENABLED);
+
+			RD::Uniform u(RD::UNIFORM_TYPE_SAMPLER, 1, ids);
+
 			uniforms.push_back(u);
 		}
 
@@ -2015,7 +2016,7 @@ void RenderForwardClustered::_update_render_base_uniform_set() {
 			RD::Uniform u;
 			u.binding = 2;
 			u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
-			u.ids.push_back(scene_shader.shadow_sampler);
+			u.append_id(scene_shader.shadow_sampler);
 			uniforms.push_back(u);
 		}
 
@@ -2042,7 +2043,7 @@ void RenderForwardClustered::_update_render_base_uniform_set() {
 				} break;
 			}
 
-			u.ids.push_back(sampler);
+			u.append_id(sampler);
 			uniforms.push_back(u);
 		}
 
@@ -2069,7 +2070,7 @@ void RenderForwardClustered::_update_render_base_uniform_set() {
 				} break;
 			}
 
-			u.ids.push_back(sampler);
+			u.append_id(sampler);
 			uniforms.push_back(u);
 		}
 
@@ -2077,14 +2078,14 @@ void RenderForwardClustered::_update_render_base_uniform_set() {
 			RD::Uniform u;
 			u.binding = 5;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
-			u.ids.push_back(get_omni_light_buffer());
+			u.append_id(get_omni_light_buffer());
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 6;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
-			u.ids.push_back(get_spot_light_buffer());
+			u.append_id(get_spot_light_buffer());
 			uniforms.push_back(u);
 		}
 
@@ -2092,28 +2093,28 @@ void RenderForwardClustered::_update_render_base_uniform_set() {
 			RD::Uniform u;
 			u.binding = 7;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
-			u.ids.push_back(get_reflection_probe_buffer());
+			u.append_id(get_reflection_probe_buffer());
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 8;
 			u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
-			u.ids.push_back(get_directional_light_buffer());
+			u.append_id(get_directional_light_buffer());
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 9;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
-			u.ids.push_back(scene_state.lightmap_buffer);
+			u.append_id(scene_state.lightmap_buffer);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 10;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
-			u.ids.push_back(scene_state.lightmap_capture_buffer);
+			u.append_id(scene_state.lightmap_capture_buffer);
 			uniforms.push_back(u);
 		}
 		{
@@ -2121,7 +2122,7 @@ void RenderForwardClustered::_update_render_base_uniform_set() {
 			u.binding = 11;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			RID decal_atlas = storage->decal_atlas_get_texture();
-			u.ids.push_back(decal_atlas);
+			u.append_id(decal_atlas);
 			uniforms.push_back(u);
 		}
 		{
@@ -2129,14 +2130,14 @@ void RenderForwardClustered::_update_render_base_uniform_set() {
 			u.binding = 12;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			RID decal_atlas = storage->decal_atlas_get_texture_srgb();
-			u.ids.push_back(decal_atlas);
+			u.append_id(decal_atlas);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 13;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
-			u.ids.push_back(get_decal_buffer());
+			u.append_id(get_decal_buffer());
 			uniforms.push_back(u);
 		}
 
@@ -2144,7 +2145,7 @@ void RenderForwardClustered::_update_render_base_uniform_set() {
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 14;
-			u.ids.push_back(storage->global_variables_get_storage_buffer());
+			u.append_id(storage->global_variables_get_storage_buffer());
 			uniforms.push_back(u);
 		}
 
@@ -2152,7 +2153,7 @@ void RenderForwardClustered::_update_render_base_uniform_set() {
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
 			u.binding = 15;
-			u.ids.push_back(sdfgi_get_ubo());
+			u.append_id(sdfgi_get_ubo());
 			uniforms.push_back(u);
 		}
 
@@ -2161,9 +2162,6 @@ void RenderForwardClustered::_update_render_base_uniform_set() {
 }
 
 RID RenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_render_list, const RenderDataRD *p_render_data, RID p_radiance_texture, bool p_use_directional_shadow_atlas, int p_index) {
-	//there should always be enough uniform buffers for render passes, otherwise bugs
-	ERR_FAIL_INDEX_V(p_index, (int)scene_state.uniform_buffers.size(), RID());
-
 	RenderBufferDataForwardClustered *rb = nullptr;
 	if (p_render_data && p_render_data->render_buffers.is_valid()) {
 		rb = (RenderBufferDataForwardClustered *)render_buffers_get_data(p_render_data->render_buffers);
@@ -2177,7 +2175,7 @@ RID RenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_rend
 		RD::Uniform u;
 		u.binding = 0;
 		u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
-		u.ids.push_back(scene_state.uniform_buffers[p_index]);
+		u.append_id(scene_state.uniform_buffers[p_index]);
 		uniforms.push_back(u);
 	}
 	{
@@ -2188,7 +2186,7 @@ RID RenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_rend
 		if (instance_buffer == RID()) {
 			instance_buffer = scene_shader.default_vec4_xform_buffer; // any buffer will do since its not used
 		}
-		u.ids.push_back(instance_buffer);
+		u.append_id(instance_buffer);
 		uniforms.push_back(u);
 	}
 	{
@@ -2201,7 +2199,7 @@ RID RenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_rend
 		RD::Uniform u;
 		u.binding = 2;
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
-		u.ids.push_back(radiance_texture);
+		u.append_id(radiance_texture);
 		uniforms.push_back(u);
 	}
 
@@ -2211,9 +2209,9 @@ RID RenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_rend
 		u.binding = 3;
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 		if (ref_texture.is_valid()) {
-			u.ids.push_back(ref_texture);
+			u.append_id(ref_texture);
 		} else {
-			u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_CUBEMAP_ARRAY_BLACK));
+			u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_CUBEMAP_ARRAY_BLACK));
 		}
 		uniforms.push_back(u);
 	}
@@ -2229,7 +2227,7 @@ RID RenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_rend
 		if (!texture.is_valid()) {
 			texture = storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_WHITE);
 		}
-		u.ids.push_back(texture);
+		u.append_id(texture);
 		uniforms.push_back(u);
 	}
 	{
@@ -2237,9 +2235,9 @@ RID RenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_rend
 		u.binding = 5;
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 		if (p_use_directional_shadow_atlas && directional_shadow_get_texture().is_valid()) {
-			u.ids.push_back(directional_shadow_get_texture());
+			u.append_id(directional_shadow_get_texture());
 		} else {
-			u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_WHITE));
+			u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_WHITE));
 		}
 		uniforms.push_back(u);
 	}
@@ -2247,16 +2245,16 @@ RID RenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_rend
 		RD::Uniform u;
 		u.binding = 6;
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
-		u.ids.resize(scene_state.max_lightmaps);
+
 		RID default_tex = storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_2D_ARRAY_WHITE);
 		for (uint32_t i = 0; i < scene_state.max_lightmaps; i++) {
 			if (p_render_data && i < p_render_data->lightmaps->size()) {
 				RID base = lightmap_instance_get_lightmap((*p_render_data->lightmaps)[i]);
 				RID texture = storage->lightmap_get_texture(base);
 				RID rd_texture = storage->texture_get_rd_texture(texture);
-				u.ids.write[i] = rd_texture;
+				u.append_id(rd_texture);
 			} else {
-				u.ids.write[i] = default_tex;
+				u.append_id(default_tex);
 			}
 		}
 
@@ -2266,7 +2264,6 @@ RID RenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_rend
 		RD::Uniform u;
 		u.binding = 7;
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
-		u.ids.resize(MAX_VOXEL_GI_INSTANCESS);
 		RID default_tex = storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE);
 		for (int i = 0; i < MAX_VOXEL_GI_INSTANCESS; i++) {
 			if (p_render_data && i < (int)p_render_data->voxel_gi_instances->size()) {
@@ -2274,9 +2271,9 @@ RID RenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_rend
 				if (!tex.is_valid()) {
 					tex = default_tex;
 				}
-				u.ids.write[i] = tex;
+				u.append_id(tex);
 			} else {
-				u.ids.write[i] = default_tex;
+				u.append_id(default_tex);
 			}
 		}
 
@@ -2288,7 +2285,7 @@ RID RenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_rend
 		u.binding = 8;
 		u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 		RID cb = (p_render_data && p_render_data->cluster_buffer.is_valid()) ? p_render_data->cluster_buffer : scene_shader.default_vec4_xform_buffer;
-		u.ids.push_back(cb);
+		u.append_id(cb);
 		uniforms.push_back(u);
 	}
 
@@ -2298,7 +2295,7 @@ RID RenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_rend
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 		RID dbt = rb ? render_buffers_get_back_depth_texture(p_render_data->render_buffers) : RID();
 		RID texture = (dbt.is_valid()) ? dbt : storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_WHITE);
-		u.ids.push_back(texture);
+		u.append_id(texture);
 		uniforms.push_back(u);
 	}
 	{
@@ -2307,7 +2304,7 @@ RID RenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_rend
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 		RID bbt = rb ? render_buffers_get_back_buffer_texture(p_render_data->render_buffers) : RID();
 		RID texture = bbt.is_valid() ? bbt : storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_BLACK);
-		u.ids.push_back(texture);
+		u.append_id(texture);
 		uniforms.push_back(u);
 	}
 
@@ -2317,7 +2314,7 @@ RID RenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_rend
 			u.binding = 11;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			RID texture = rb && rb->normal_roughness_buffer.is_valid() ? rb->normal_roughness_buffer : storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_NORMAL);
-			u.ids.push_back(texture);
+			u.append_id(texture);
 			uniforms.push_back(u);
 		}
 
@@ -2327,7 +2324,7 @@ RID RenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_rend
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			RID aot = rb ? render_buffers_get_ao_texture(p_render_data->render_buffers) : RID();
 			RID texture = aot.is_valid() ? aot : storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_BLACK);
-			u.ids.push_back(texture);
+			u.append_id(texture);
 			uniforms.push_back(u);
 		}
 
@@ -2337,7 +2334,7 @@ RID RenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_rend
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			RID ambient_buffer = rb ? render_buffers_get_gi_ambient_texture(p_render_data->render_buffers) : RID();
 			RID texture = ambient_buffer.is_valid() ? ambient_buffer : storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_BLACK);
-			u.ids.push_back(texture);
+			u.append_id(texture);
 			uniforms.push_back(u);
 		}
 
@@ -2347,7 +2344,7 @@ RID RenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_rend
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			RID reflection_buffer = rb ? render_buffers_get_gi_reflection_texture(p_render_data->render_buffers) : RID();
 			RID texture = reflection_buffer.is_valid() ? reflection_buffer : storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_BLACK);
-			u.ids.push_back(texture);
+			u.append_id(texture);
 			uniforms.push_back(u);
 		}
 		{
@@ -2360,7 +2357,7 @@ RID RenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_rend
 			} else {
 				t = storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_2D_ARRAY_WHITE);
 			}
-			u.ids.push_back(t);
+			u.append_id(t);
 			uniforms.push_back(u);
 		}
 		{
@@ -2368,9 +2365,9 @@ RID RenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_rend
 			u.binding = 16;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			if (rb && render_buffers_is_sdfgi_enabled(p_render_data->render_buffers)) {
-				u.ids.push_back(render_buffers_get_sdfgi_occlusion_texture(p_render_data->render_buffers));
+				u.append_id(render_buffers_get_sdfgi_occlusion_texture(p_render_data->render_buffers));
 			} else {
-				u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
+				u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
 			}
 			uniforms.push_back(u);
 		}
@@ -2378,7 +2375,7 @@ RID RenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_rend
 			RD::Uniform u;
 			u.binding = 17;
 			u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
-			u.ids.push_back(rb ? render_buffers_get_voxel_gi_buffer(p_render_data->render_buffers) : render_buffers_get_default_voxel_gi_buffer());
+			u.append_id(rb ? render_buffers_get_voxel_gi_buffer(p_render_data->render_buffers) : render_buffers_get_default_voxel_gi_buffer());
 			uniforms.push_back(u);
 		}
 		{
@@ -2394,7 +2391,7 @@ RID RenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_rend
 			} else {
 				vfog = storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE);
 			}
-			u.ids.push_back(vfog);
+			u.append_id(vfog);
 			uniforms.push_back(u);
 		}
 		{
@@ -2403,42 +2400,29 @@ RID RenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_rend
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			RID ssil = rb ? render_buffers_get_ssil_texture(p_render_data->render_buffers) : RID();
 			RID texture = ssil.is_valid() ? ssil : storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_BLACK);
-			u.ids.push_back(texture);
+			u.append_id(texture);
 			uniforms.push_back(u);
 		}
 	}
 
-	if (p_index >= (int)render_pass_uniform_sets.size()) {
-		render_pass_uniform_sets.resize(p_index + 1);
-	}
-
-	if (render_pass_uniform_sets[p_index].is_valid() && RD::get_singleton()->uniform_set_is_valid(render_pass_uniform_sets[p_index])) {
-		RD::get_singleton()->free(render_pass_uniform_sets[p_index]);
-	}
-
-	render_pass_uniform_sets[p_index] = RD::get_singleton()->uniform_set_create(uniforms, scene_shader.default_shader_rd, RENDER_PASS_UNIFORM_SET);
-	return render_pass_uniform_sets[p_index];
+	return UniformSetCacheRD::get_singleton()->get_cache_vec(scene_shader.default_shader_rd, RENDER_PASS_UNIFORM_SET, uniforms);
 }
 
 RID RenderForwardClustered::_setup_sdfgi_render_pass_uniform_set(RID p_albedo_texture, RID p_emission_texture, RID p_emission_aniso_texture, RID p_geom_facing_texture) {
-	if (sdfgi_pass_uniform_set.is_valid() && RD::get_singleton()->uniform_set_is_valid(sdfgi_pass_uniform_set)) {
-		RD::get_singleton()->free(sdfgi_pass_uniform_set);
-	}
-
 	Vector<RD::Uniform> uniforms;
 
 	{
 		RD::Uniform u;
 		u.binding = 0;
 		u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
-		u.ids.push_back(scene_state.uniform_buffers[0]);
+		u.append_id(scene_state.uniform_buffers[0]);
 		uniforms.push_back(u);
 	}
 	{
 		RD::Uniform u;
 		u.binding = 1;
 		u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
-		u.ids.push_back(scene_state.instance_buffer[RENDER_LIST_SECONDARY]);
+		u.append_id(scene_state.instance_buffer[RENDER_LIST_SECONDARY]);
 		uniforms.push_back(u);
 	}
 	{
@@ -2447,7 +2431,7 @@ RID RenderForwardClustered::_setup_sdfgi_render_pass_uniform_set(RID p_albedo_te
 		RD::Uniform u;
 		u.binding = 2;
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
-		u.ids.push_back(radiance_texture);
+		u.append_id(radiance_texture);
 		uniforms.push_back(u);
 	}
 
@@ -2457,7 +2441,7 @@ RID RenderForwardClustered::_setup_sdfgi_render_pass_uniform_set(RID p_albedo_te
 		RD::Uniform u;
 		u.binding = 3;
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
-		u.ids.push_back(ref_texture);
+		u.append_id(ref_texture);
 		uniforms.push_back(u);
 	}
 
@@ -2467,7 +2451,7 @@ RID RenderForwardClustered::_setup_sdfgi_render_pass_uniform_set(RID p_albedo_te
 		u.binding = 4;
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 		RID texture = storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_WHITE);
-		u.ids.push_back(texture);
+		u.append_id(texture);
 		uniforms.push_back(u);
 	}
 
@@ -2477,7 +2461,7 @@ RID RenderForwardClustered::_setup_sdfgi_render_pass_uniform_set(RID p_albedo_te
 		u.binding = 5;
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 		RID texture = storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_WHITE);
-		u.ids.push_back(texture);
+		u.append_id(texture);
 		uniforms.push_back(u);
 	}
 
@@ -2486,10 +2470,10 @@ RID RenderForwardClustered::_setup_sdfgi_render_pass_uniform_set(RID p_albedo_te
 		RD::Uniform u;
 		u.binding = 6;
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
-		u.ids.resize(scene_state.max_lightmaps);
+
 		RID default_tex = storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_2D_ARRAY_WHITE);
 		for (uint32_t i = 0; i < scene_state.max_lightmaps; i++) {
-			u.ids.write[i] = default_tex;
+			u.append_id(default_tex);
 		}
 
 		uniforms.push_back(u);
@@ -2500,10 +2484,10 @@ RID RenderForwardClustered::_setup_sdfgi_render_pass_uniform_set(RID p_albedo_te
 		RD::Uniform u;
 		u.binding = 7;
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
-		u.ids.resize(MAX_VOXEL_GI_INSTANCESS);
+
 		RID default_tex = storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE);
 		for (int i = 0; i < MAX_VOXEL_GI_INSTANCESS; i++) {
-			u.ids.write[i] = default_tex;
+			u.append_id(default_tex);
 		}
 
 		uniforms.push_back(u);
@@ -2514,7 +2498,7 @@ RID RenderForwardClustered::_setup_sdfgi_render_pass_uniform_set(RID p_albedo_te
 		u.binding = 8;
 		u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 		RID cb = scene_shader.default_vec4_xform_buffer;
-		u.ids.push_back(cb);
+		u.append_id(cb);
 		uniforms.push_back(u);
 	}
 
@@ -2524,33 +2508,32 @@ RID RenderForwardClustered::_setup_sdfgi_render_pass_uniform_set(RID p_albedo_te
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 		u.binding = 9;
-		u.ids.push_back(p_albedo_texture);
+		u.append_id(p_albedo_texture);
 		uniforms.push_back(u);
 	}
 	{
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 		u.binding = 10;
-		u.ids.push_back(p_emission_texture);
+		u.append_id(p_emission_texture);
 		uniforms.push_back(u);
 	}
 	{
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 		u.binding = 11;
-		u.ids.push_back(p_emission_aniso_texture);
+		u.append_id(p_emission_aniso_texture);
 		uniforms.push_back(u);
 	}
 	{
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 		u.binding = 12;
-		u.ids.push_back(p_geom_facing_texture);
+		u.append_id(p_geom_facing_texture);
 		uniforms.push_back(u);
 	}
 
-	sdfgi_pass_uniform_set = RD::get_singleton()->uniform_set_create(uniforms, scene_shader.default_shader_sdfgi_rd, RENDER_PASS_UNIFORM_SET);
-	return sdfgi_pass_uniform_set;
+	return UniformSetCacheRD::get_singleton()->get_cache_vec(scene_shader.default_shader_sdfgi_rd, RENDER_PASS_UNIFORM_SET, uniforms);
 }
 
 RID RenderForwardClustered::_render_buffers_get_normal_texture(RID p_render_buffers) {
@@ -3218,17 +3201,6 @@ RenderForwardClustered::RenderForwardClustered(RendererStorageRD *p_storage) :
 RenderForwardClustered::~RenderForwardClustered() {
 	directional_shadow_atlas_set_size(0);
 
-	//clear base uniform set if still valid
-	for (uint32_t i = 0; i < render_pass_uniform_sets.size(); i++) {
-		if (render_pass_uniform_sets[i].is_valid() && RD::get_singleton()->uniform_set_is_valid(render_pass_uniform_sets[i])) {
-			RD::get_singleton()->free(render_pass_uniform_sets[i]);
-		}
-	}
-
-	if (sdfgi_pass_uniform_set.is_valid() && RD::get_singleton()->uniform_set_is_valid(sdfgi_pass_uniform_set)) {
-		RD::get_singleton()->free(sdfgi_pass_uniform_set);
-	}
-
 	{
 		for (uint32_t i = 0; i < scene_state.uniform_buffers.size(); i++) {
 			RD::get_singleton()->free(scene_state.uniform_buffers[i]);
diff --git a/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.h b/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.h
index f858887bd0..dd5c719352 100644
--- a/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.h
+++ b/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.h
@@ -121,8 +121,6 @@ class RenderForwardClustered : public RendererSceneRenderRD {
 	void _allocate_normal_roughness_texture(RenderBufferDataForwardClustered *rb);
 
 	RID render_base_uniform_set;
-	LocalVector<RID> render_pass_uniform_sets;
-	RID sdfgi_pass_uniform_set;
 
 	uint64_t lightmap_texture_array_version = 0xFFFFFFFF;
 
diff --git a/servers/rendering/renderer_rd/forward_clustered/scene_shader_forward_clustered.cpp b/servers/rendering/renderer_rd/forward_clustered/scene_shader_forward_clustered.cpp
index 24be451e78..b4def4e11c 100644
--- a/servers/rendering/renderer_rd/forward_clustered/scene_shader_forward_clustered.cpp
+++ b/servers/rendering/renderer_rd/forward_clustered/scene_shader_forward_clustered.cpp
@@ -751,7 +751,7 @@ void fragment() {
 		Vector<RD::Uniform> uniforms;
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
-		u.ids.push_back(default_vec4_xform_buffer);
+		u.append_id(default_vec4_xform_buffer);
 		u.binding = 0;
 		uniforms.push_back(u);
 
diff --git a/servers/rendering/renderer_rd/forward_mobile/render_forward_mobile.cpp b/servers/rendering/renderer_rd/forward_mobile/render_forward_mobile.cpp
index a623af7533..957b490664 100644
--- a/servers/rendering/renderer_rd/forward_mobile/render_forward_mobile.cpp
+++ b/servers/rendering/renderer_rd/forward_mobile/render_forward_mobile.cpp
@@ -306,7 +306,7 @@ RID RenderForwardMobile::_setup_render_pass_uniform_set(RenderListType p_render_
 		RD::Uniform u;
 		u.binding = 0;
 		u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
-		u.ids.push_back(scene_state.uniform_buffers[p_index]);
+		u.append_id(scene_state.uniform_buffers[p_index]);
 		uniforms.push_back(u);
 	}
 
@@ -320,7 +320,7 @@ RID RenderForwardMobile::_setup_render_pass_uniform_set(RenderListType p_render_
 		RD::Uniform u;
 		u.binding = 2;
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
-		u.ids.push_back(radiance_texture);
+		u.append_id(radiance_texture);
 		uniforms.push_back(u);
 	}
 
@@ -330,9 +330,9 @@ RID RenderForwardMobile::_setup_render_pass_uniform_set(RenderListType p_render_
 		u.binding = 3;
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 		if (ref_texture.is_valid()) {
-			u.ids.push_back(ref_texture);
+			u.append_id(ref_texture);
 		} else {
-			u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_CUBEMAP_ARRAY_BLACK));
+			u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_CUBEMAP_ARRAY_BLACK));
 		}
 		uniforms.push_back(u);
 	}
@@ -348,7 +348,7 @@ RID RenderForwardMobile::_setup_render_pass_uniform_set(RenderListType p_render_
 		if (!texture.is_valid()) {
 			texture = storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_WHITE);
 		}
-		u.ids.push_back(texture);
+		u.append_id(texture);
 		uniforms.push_back(u);
 	}
 	{
@@ -356,9 +356,9 @@ RID RenderForwardMobile::_setup_render_pass_uniform_set(RenderListType p_render_
 		u.binding = 5;
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 		if (p_use_directional_shadow_atlas && directional_shadow_get_texture().is_valid()) {
-			u.ids.push_back(directional_shadow_get_texture());
+			u.append_id(directional_shadow_get_texture());
 		} else {
-			u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_WHITE));
+			u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_WHITE));
 		}
 		uniforms.push_back(u);
 	}
@@ -368,16 +368,16 @@ RID RenderForwardMobile::_setup_render_pass_uniform_set(RenderListType p_render_
 		RD::Uniform u;
 		u.binding = 6;
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
-		u.ids.resize(scene_state.max_lightmaps);
+
 		RID default_tex = storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_2D_ARRAY_WHITE);
 		for (uint32_t i = 0; i < scene_state.max_lightmaps; i++) {
 			if (p_render_data && i < p_render_data->lightmaps->size()) {
 				RID base = lightmap_instance_get_lightmap((*p_render_data->lightmaps)[i]);
 				RID texture = storage->lightmap_get_texture(base);
 				RID rd_texture = storage->texture_get_rd_texture(texture);
-				u.ids.write[i] = rd_texture;
+				u.append_id(rd_texture);
 			} else {
-				u.ids.write[i] = default_tex;
+				u.append_id(default_tex);
 			}
 		}
 
@@ -411,7 +411,7 @@ RID RenderForwardMobile::_setup_render_pass_uniform_set(RenderListType p_render_
 		u.binding = 8;
 		u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 		RID cb = p_cluster_buffer.is_valid() ? p_cluster_buffer : default_vec4_xform_buffer;
-		u.ids.push_back(cb);
+		u.append_id(cb);
 		uniforms.push_back(u);
 	}
 	*/
@@ -422,7 +422,7 @@ RID RenderForwardMobile::_setup_render_pass_uniform_set(RenderListType p_render_
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 		RID dbt = rb ? render_buffers_get_back_depth_texture(p_render_data->render_buffers) : RID();
 		RID texture = (dbt.is_valid()) ? dbt : storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_WHITE);
-		u.ids.push_back(texture);
+		u.append_id(texture);
 		uniforms.push_back(u);
 	}
 	{
@@ -431,7 +431,7 @@ RID RenderForwardMobile::_setup_render_pass_uniform_set(RenderListType p_render_
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 		RID bbt = rb ? render_buffers_get_back_buffer_texture(p_render_data->render_buffers) : RID();
 		RID texture = bbt.is_valid() ? bbt : storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_BLACK);
-		u.ids.push_back(texture);
+		u.append_id(texture);
 		uniforms.push_back(u);
 	}
 
@@ -653,9 +653,9 @@ void RenderForwardMobile::_render_scene(RenderDataRD *p_render_data, const Color
 	if (draw_sky || draw_sky_fog_only) {
 		// !BAS! @TODO See if we can limit doing some things double and maybe even move this into _pre_opaque_render
 		// and change Forward Clustered in the same way as we have here (but without using subpasses)
-		RENDER_TIMESTAMP("Setup Sky resolution buffers");
+		RENDER_TIMESTAMP("Setup Sky Resolution Buffers");
 
-		RD::get_singleton()->draw_command_begin_label("Setup Sky resolution buffers");
+		RD::get_singleton()->draw_command_begin_label("Setup Sky Resolution Buffers");
 
 		if (p_render_data->reflection_probe.is_valid()) {
 			CameraMatrix correction;
@@ -972,9 +972,9 @@ void RenderForwardMobile::_render_shadow_end(uint32_t p_barrier) {
 /* */
 
 void RenderForwardMobile::_render_material(const Transform3D &p_cam_transform, const CameraMatrix &p_cam_projection, bool p_cam_ortogonal, const PagedArray<GeometryInstance *> &p_instances, RID p_framebuffer, const Rect2i &p_region) {
-	RENDER_TIMESTAMP("Setup Rendering Material");
+	RENDER_TIMESTAMP("Setup Rendering 3D Material");
 
-	RD::get_singleton()->draw_command_begin_label("Render Material");
+	RD::get_singleton()->draw_command_begin_label("Render 3D Material");
 
 	_update_render_base_uniform_set();
 
@@ -997,7 +997,7 @@ void RenderForwardMobile::_render_material(const Transform3D &p_cam_transform, c
 
 	RID rp_uniform_set = _setup_render_pass_uniform_set(RENDER_LIST_SECONDARY, nullptr, RID());
 
-	RENDER_TIMESTAMP("Render Material");
+	RENDER_TIMESTAMP("Render 3D Material");
 
 	{
 		RenderListParameters render_list_params(render_list[RENDER_LIST_SECONDARY].elements.ptr(), render_list[RENDER_LIST_SECONDARY].element_info.ptr(), render_list[RENDER_LIST_SECONDARY].elements.size(), true, pass_mode, rp_uniform_set, 0);
@@ -1039,7 +1039,7 @@ void RenderForwardMobile::_render_uv2(const PagedArray<GeometryInstance *> &p_in
 
 	RID rp_uniform_set = _setup_render_pass_uniform_set(RENDER_LIST_SECONDARY, nullptr, RID());
 
-	RENDER_TIMESTAMP("Render Material");
+	RENDER_TIMESTAMP("Render 3D Material");
 
 	{
 		RenderListParameters render_list_params(render_list[RENDER_LIST_SECONDARY].elements.ptr(), render_list[RENDER_LIST_SECONDARY].element_info.ptr(), render_list[RENDER_LIST_SECONDARY].elements.size(), true, pass_mode, rp_uniform_set, true, false);
@@ -1089,7 +1089,7 @@ void RenderForwardMobile::_render_sdfgi(RID p_render_buffers, const Vector3i &p_
 }
 
 void RenderForwardMobile::_render_particle_collider_heightfield(RID p_fb, const Transform3D &p_cam_transform, const CameraMatrix &p_cam_projection, const PagedArray<GeometryInstance *> &p_instances) {
-	RENDER_TIMESTAMP("Setup Render Collider Heightfield");
+	RENDER_TIMESTAMP("Setup GPUParticlesCollisionHeightField3D");
 
 	RD::get_singleton()->draw_command_begin_label("Render Collider Heightfield");
 
@@ -1145,11 +1145,9 @@ void RenderForwardMobile::_update_render_base_uniform_set() {
 		Vector<RD::Uniform> uniforms;
 
 		{
-			RD::Uniform u;
-			u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
-			u.binding = 1;
-			u.ids.resize(12);
-			RID *ids_ptr = u.ids.ptrw();
+			Vector<RID> ids;
+			ids.resize(12);
+			RID *ids_ptr = ids.ptrw();
 			ids_ptr[0] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_NEAREST, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED);
 			ids_ptr[1] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED);
 			ids_ptr[2] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_NEAREST_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED);
@@ -1162,6 +1160,9 @@ void RenderForwardMobile::_update_render_base_uniform_set() {
 			ids_ptr[9] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_ENABLED);
 			ids_ptr[10] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_NEAREST_WITH_MIPMAPS_ANISOTROPIC, RS::CANVAS_ITEM_TEXTURE_REPEAT_ENABLED);
 			ids_ptr[11] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS_ANISOTROPIC, RS::CANVAS_ITEM_TEXTURE_REPEAT_ENABLED);
+
+			RD::Uniform u(RD::UNIFORM_TYPE_SAMPLER, 1, ids);
+
 			uniforms.push_back(u);
 		}
 
@@ -1169,7 +1170,7 @@ void RenderForwardMobile::_update_render_base_uniform_set() {
 			RD::Uniform u;
 			u.binding = 2;
 			u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
-			u.ids.push_back(scene_shader.shadow_sampler);
+			u.append_id(scene_shader.shadow_sampler);
 			uniforms.push_back(u);
 		}
 
@@ -1196,7 +1197,7 @@ void RenderForwardMobile::_update_render_base_uniform_set() {
 				} break;
 			}
 
-			u.ids.push_back(sampler);
+			u.append_id(sampler);
 			uniforms.push_back(u);
 		}
 
@@ -1223,7 +1224,7 @@ void RenderForwardMobile::_update_render_base_uniform_set() {
 				} break;
 			}
 
-			u.ids.push_back(sampler);
+			u.append_id(sampler);
 			uniforms.push_back(u);
 		}
 
@@ -1231,14 +1232,14 @@ void RenderForwardMobile::_update_render_base_uniform_set() {
 			RD::Uniform u;
 			u.binding = 5;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
-			u.ids.push_back(get_omni_light_buffer());
+			u.append_id(get_omni_light_buffer());
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 6;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
-			u.ids.push_back(get_spot_light_buffer());
+			u.append_id(get_spot_light_buffer());
 			uniforms.push_back(u);
 		}
 
@@ -1246,28 +1247,28 @@ void RenderForwardMobile::_update_render_base_uniform_set() {
 			RD::Uniform u;
 			u.binding = 7;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
-			u.ids.push_back(get_reflection_probe_buffer());
+			u.append_id(get_reflection_probe_buffer());
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 8;
 			u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
-			u.ids.push_back(get_directional_light_buffer());
+			u.append_id(get_directional_light_buffer());
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 9;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
-			u.ids.push_back(scene_state.lightmap_buffer);
+			u.append_id(scene_state.lightmap_buffer);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 10;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
-			u.ids.push_back(scene_state.lightmap_capture_buffer);
+			u.append_id(scene_state.lightmap_capture_buffer);
 			uniforms.push_back(u);
 		}
 		{
@@ -1275,7 +1276,7 @@ void RenderForwardMobile::_update_render_base_uniform_set() {
 			u.binding = 11;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			RID decal_atlas = storage->decal_atlas_get_texture();
-			u.ids.push_back(decal_atlas);
+			u.append_id(decal_atlas);
 			uniforms.push_back(u);
 		}
 		{
@@ -1283,14 +1284,14 @@ void RenderForwardMobile::_update_render_base_uniform_set() {
 			u.binding = 12;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			RID decal_atlas = storage->decal_atlas_get_texture_srgb();
-			u.ids.push_back(decal_atlas);
+			u.append_id(decal_atlas);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 13;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
-			u.ids.push_back(get_decal_buffer());
+			u.append_id(get_decal_buffer());
 			uniforms.push_back(u);
 		}
 
@@ -1298,7 +1299,7 @@ void RenderForwardMobile::_update_render_base_uniform_set() {
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 14;
-			u.ids.push_back(storage->global_variables_get_storage_buffer());
+			u.append_id(storage->global_variables_get_storage_buffer());
 			uniforms.push_back(u);
 		}
 
diff --git a/servers/rendering/renderer_rd/forward_mobile/scene_shader_forward_mobile.cpp b/servers/rendering/renderer_rd/forward_mobile/scene_shader_forward_mobile.cpp
index 34b2fa9440..4dc56e8970 100644
--- a/servers/rendering/renderer_rd/forward_mobile/scene_shader_forward_mobile.cpp
+++ b/servers/rendering/renderer_rd/forward_mobile/scene_shader_forward_mobile.cpp
@@ -734,7 +734,7 @@ void fragment() {
 		Vector<RD::Uniform> uniforms;
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
-		u.ids.push_back(default_vec4_xform_buffer);
+		u.append_id(default_vec4_xform_buffer);
 		u.binding = 0;
 		uniforms.push_back(u);
 
diff --git a/servers/rendering/renderer_rd/renderer_canvas_render_rd.cpp b/servers/rendering/renderer_rd/renderer_canvas_render_rd.cpp
index 0f3daef371..38234cf0e7 100644
--- a/servers/rendering/renderer_rd/renderer_canvas_render_rd.cpp
+++ b/servers/rendering/renderer_rd/renderer_canvas_render_rd.cpp
@@ -931,7 +931,7 @@ RID RendererCanvasRenderRD::_create_base_uniform_set(RID p_to_render_target, boo
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
 		u.binding = 1;
-		u.ids.push_back(state.canvas_state_buffer);
+		u.append_id(state.canvas_state_buffer);
 		uniforms.push_back(u);
 	}
 
@@ -939,7 +939,7 @@ RID RendererCanvasRenderRD::_create_base_uniform_set(RID p_to_render_target, boo
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
 		u.binding = 2;
-		u.ids.push_back(state.lights_uniform_buffer);
+		u.append_id(state.lights_uniform_buffer);
 		uniforms.push_back(u);
 	}
 
@@ -947,7 +947,7 @@ RID RendererCanvasRenderRD::_create_base_uniform_set(RID p_to_render_target, boo
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 		u.binding = 3;
-		u.ids.push_back(storage->decal_atlas_get_texture());
+		u.append_id(storage->decal_atlas_get_texture());
 		uniforms.push_back(u);
 	}
 
@@ -955,7 +955,7 @@ RID RendererCanvasRenderRD::_create_base_uniform_set(RID p_to_render_target, boo
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 		u.binding = 4;
-		u.ids.push_back(state.shadow_texture);
+		u.append_id(state.shadow_texture);
 		uniforms.push_back(u);
 	}
 
@@ -963,7 +963,7 @@ RID RendererCanvasRenderRD::_create_base_uniform_set(RID p_to_render_target, boo
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
 		u.binding = 5;
-		u.ids.push_back(state.shadow_sampler);
+		u.append_id(state.shadow_sampler);
 		uniforms.push_back(u);
 	}
 
@@ -980,7 +980,7 @@ RID RendererCanvasRenderRD::_create_base_uniform_set(RID p_to_render_target, boo
 				screen = storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_WHITE);
 			}
 		}
-		u.ids.push_back(screen);
+		u.append_id(screen);
 		uniforms.push_back(u);
 	}
 
@@ -989,17 +989,15 @@ RID RendererCanvasRenderRD::_create_base_uniform_set(RID p_to_render_target, boo
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 		u.binding = 7;
 		RID sdf = storage->render_target_get_sdf_texture(p_to_render_target);
-		u.ids.push_back(sdf);
+		u.append_id(sdf);
 		uniforms.push_back(u);
 	}
 
 	{
 		//needs samplers for the material (uses custom textures) create them
-		RD::Uniform u;
-		u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
-		u.binding = 8;
-		u.ids.resize(12);
-		RID *ids_ptr = u.ids.ptrw();
+		Vector<RID> ids;
+		ids.resize(12);
+		RID *ids_ptr = ids.ptrw();
 		ids_ptr[0] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_NEAREST, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED);
 		ids_ptr[1] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED);
 		ids_ptr[2] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_NEAREST_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED);
@@ -1012,6 +1010,9 @@ RID RendererCanvasRenderRD::_create_base_uniform_set(RID p_to_render_target, boo
 		ids_ptr[9] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_ENABLED);
 		ids_ptr[10] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_NEAREST_WITH_MIPMAPS_ANISOTROPIC, RS::CANVAS_ITEM_TEXTURE_REPEAT_ENABLED);
 		ids_ptr[11] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS_ANISOTROPIC, RS::CANVAS_ITEM_TEXTURE_REPEAT_ENABLED);
+
+		RD::Uniform u(RD::UNIFORM_TYPE_SAMPLER, 8, ids);
+
 		uniforms.push_back(u);
 	}
 
@@ -1019,7 +1020,7 @@ RID RendererCanvasRenderRD::_create_base_uniform_set(RID p_to_render_target, boo
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 		u.binding = 9;
-		u.ids.push_back(storage->global_variables_get_storage_buffer());
+		u.append_id(storage->global_variables_get_storage_buffer());
 		uniforms.push_back(u);
 	}
 
@@ -2567,7 +2568,7 @@ RendererCanvasRenderRD::RendererCanvasRenderRD(RendererStorageRD *p_storage) {
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 0;
-			u.ids.push_back(storage->get_default_rd_storage_buffer());
+			u.append_id(storage->get_default_rd_storage_buffer());
 			uniforms.push_back(u);
 		}
 
diff --git a/servers/rendering/renderer_rd/renderer_compositor_rd.cpp b/servers/rendering/renderer_rd/renderer_compositor_rd.cpp
index 606527ed24..e8978e7dca 100644
--- a/servers/rendering/renderer_rd/renderer_compositor_rd.cpp
+++ b/servers/rendering/renderer_rd/renderer_compositor_rd.cpp
@@ -56,8 +56,8 @@ void RendererCompositorRD::blit_render_targets_to_screen(DisplayServer::WindowID
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_SAMPLER_WITH_TEXTURE;
 			u.binding = 0;
-			u.ids.push_back(blit.sampler);
-			u.ids.push_back(rd_texture);
+			u.append_id(blit.sampler);
+			u.append_id(rd_texture);
 			uniforms.push_back(u);
 			RID uniform_set = RD::get_singleton()->uniform_set_create(uniforms, blit.shader.version_get_shader(blit.shader_version, BLIT_MODE_NORMAL), 0);
 
@@ -175,8 +175,8 @@ void RendererCompositorRD::set_boot_image(const Ref<Image> &p_image, const Color
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_SAMPLER_WITH_TEXTURE;
 		u.binding = 0;
-		u.ids.push_back(blit.sampler);
-		u.ids.push_back(rd_texture);
+		u.append_id(blit.sampler);
+		u.append_id(rd_texture);
 		uniforms.push_back(u);
 		uset = RD::get_singleton()->uniform_set_create(uniforms, blit.shader.version_get_shader(blit.shader_version, BLIT_MODE_NORMAL), 0);
 	}
@@ -241,6 +241,8 @@ void RendererCompositorRD::set_boot_image(const Ref<Image> &p_image, const Color
 RendererCompositorRD *RendererCompositorRD::singleton = nullptr;
 
 RendererCompositorRD::RendererCompositorRD() {
+	uniform_set_cache = memnew(UniformSetCacheRD);
+
 	{
 		String shader_cache_dir = Engine::get_singleton()->get_shader_cache_path();
 		if (shader_cache_dir.is_empty()) {
@@ -301,5 +303,6 @@ RendererCompositorRD::RendererCompositorRD() {
 }
 
 RendererCompositorRD::~RendererCompositorRD() {
+	memdelete(uniform_set_cache);
 	ShaderRD::set_shader_cache_dir(String());
 }
diff --git a/servers/rendering/renderer_rd/renderer_compositor_rd.h b/servers/rendering/renderer_rd/renderer_compositor_rd.h
index 9a992d5819..e526b95677 100644
--- a/servers/rendering/renderer_rd/renderer_compositor_rd.h
+++ b/servers/rendering/renderer_rd/renderer_compositor_rd.h
@@ -39,9 +39,11 @@
 #include "servers/rendering/renderer_rd/renderer_canvas_render_rd.h"
 #include "servers/rendering/renderer_rd/renderer_storage_rd.h"
 #include "servers/rendering/renderer_rd/shaders/blit.glsl.gen.h"
+#include "servers/rendering/renderer_rd/uniform_set_cache_rd.h"
 
 class RendererCompositorRD : public RendererCompositor {
 protected:
+	UniformSetCacheRD *uniform_set_cache;
 	RendererCanvasRenderRD *canvas;
 	RendererStorageRD *storage;
 	RendererSceneRenderRD *scene;
diff --git a/servers/rendering/renderer_rd/renderer_scene_gi_rd.cpp b/servers/rendering/renderer_rd/renderer_scene_gi_rd.cpp
index 1a84bafbd0..8f0e1d36db 100644
--- a/servers/rendering/renderer_rd/renderer_scene_gi_rd.cpp
+++ b/servers/rendering/renderer_rd/renderer_scene_gi_rd.cpp
@@ -221,14 +221,14 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 1;
-				u.ids.push_back(render_sdf[(passes & 1) ? 1 : 0]); //if passes are even, we read from buffer 0, else we read from buffer 1
+				u.append_id(render_sdf[(passes & 1) ? 1 : 0]); //if passes are even, we read from buffer 0, else we read from buffer 1
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 2;
-				u.ids.push_back(render_albedo);
+				u.append_id(render_albedo);
 				uniforms.push_back(u);
 			}
 			{
@@ -236,7 +236,7 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 3;
 				for (int j = 0; j < 8; j++) {
-					u.ids.push_back(render_occlusion[j]);
+					u.append_id(render_occlusion[j]);
 				}
 				uniforms.push_back(u);
 			}
@@ -244,21 +244,21 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 4;
-				u.ids.push_back(render_emission);
+				u.append_id(render_emission);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 5;
-				u.ids.push_back(render_emission_aniso);
+				u.append_id(render_emission_aniso);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 6;
-				u.ids.push_back(render_geom_facing);
+				u.append_id(render_geom_facing);
 				uniforms.push_back(u);
 			}
 
@@ -266,28 +266,28 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 7;
-				u.ids.push_back(cascade.sdf_tex);
+				u.append_id(cascade.sdf_tex);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 8;
-				u.ids.push_back(occlusion_data);
+				u.append_id(occlusion_data);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 				u.binding = 10;
-				u.ids.push_back(cascade.solid_cell_dispatch_buffer);
+				u.append_id(cascade.solid_cell_dispatch_buffer);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 				u.binding = 11;
-				u.ids.push_back(cascade.solid_cell_buffer);
+				u.append_id(cascade.solid_cell_buffer);
 				uniforms.push_back(u);
 			}
 
@@ -300,42 +300,42 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 1;
-				u.ids.push_back(render_albedo);
+				u.append_id(render_albedo);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 2;
-				u.ids.push_back(render_geom_facing);
+				u.append_id(render_geom_facing);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 3;
-				u.ids.push_back(render_emission);
+				u.append_id(render_emission);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 4;
-				u.ids.push_back(render_emission_aniso);
+				u.append_id(render_emission_aniso);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 				u.binding = 5;
-				u.ids.push_back(cascade.solid_cell_dispatch_buffer);
+				u.append_id(cascade.solid_cell_dispatch_buffer);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 				u.binding = 6;
-				u.ids.push_back(cascade.solid_cell_buffer);
+				u.append_id(cascade.solid_cell_buffer);
 				uniforms.push_back(u);
 			}
 
@@ -348,7 +348,7 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 1;
 				for (int j = 0; j < 8; j++) {
-					u.ids.push_back(render_occlusion[j]);
+					u.append_id(render_occlusion[j]);
 				}
 				uniforms.push_back(u);
 			}
@@ -356,7 +356,7 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 2;
-				u.ids.push_back(occlusion_data);
+				u.append_id(occlusion_data);
 				uniforms.push_back(u);
 			}
 
@@ -375,9 +375,9 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			for (uint32_t j = 0; j < SDFGI::MAX_CASCADES; j++) {
 				if (j < cascades.size()) {
-					u.ids.push_back(cascades[j].sdf_tex);
+					u.append_id(cascades[j].sdf_tex);
 				} else {
-					u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
+					u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
 				}
 			}
 			uniforms.push_back(u);
@@ -386,70 +386,70 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 			RD::Uniform u;
 			u.binding = 2;
 			u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
-			u.ids.push_back(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
+			u.append_id(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 3;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
-			u.ids.push_back(cascade.solid_cell_dispatch_buffer);
+			u.append_id(cascade.solid_cell_dispatch_buffer);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 4;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
-			u.ids.push_back(cascade.solid_cell_buffer);
+			u.append_id(cascade.solid_cell_buffer);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 5;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
-			u.ids.push_back(cascade.light_data);
+			u.append_id(cascade.light_data);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 6;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
-			u.ids.push_back(cascade.light_aniso_0_tex);
+			u.append_id(cascade.light_aniso_0_tex);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 7;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
-			u.ids.push_back(cascade.light_aniso_1_tex);
+			u.append_id(cascade.light_aniso_1_tex);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 8;
 			u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
-			u.ids.push_back(cascades_ubo);
+			u.append_id(cascades_ubo);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 9;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
-			u.ids.push_back(cascade.lights_buffer);
+			u.append_id(cascade.lights_buffer);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 10;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
-			u.ids.push_back(lightprobe_texture);
+			u.append_id(lightprobe_texture);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 11;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
-			u.ids.push_back(occlusion_texture);
+			u.append_id(occlusion_texture);
 			uniforms.push_back(u);
 		}
 
@@ -463,14 +463,14 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 1;
-			u.ids.push_back(render_albedo);
+			u.append_id(render_albedo);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 2;
-			u.ids.push_back(render_sdf[0]);
+			u.append_id(render_sdf[0]);
 			uniforms.push_back(u);
 		}
 
@@ -483,14 +483,14 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 1;
-			u.ids.push_back(render_albedo);
+			u.append_id(render_albedo);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 2;
-			u.ids.push_back(render_sdf_half[0]);
+			u.append_id(render_sdf_half[0]);
 			uniforms.push_back(u);
 		}
 
@@ -504,19 +504,22 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 1;
-			u.ids.push_back(render_sdf[0]);
+			u.append_id(render_sdf[0]);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 2;
-			u.ids.push_back(render_sdf[1]);
+			u.append_id(render_sdf[1]);
 			uniforms.push_back(u);
 		}
 
 		jump_flood_uniform_set[0] = RD::get_singleton()->uniform_set_create(uniforms, gi->sdfgi_shader.preprocess.version_get_shader(gi->sdfgi_shader.preprocess_shader, SDFGIShader::PRE_PROCESS_JUMP_FLOOD), 0);
-		SWAP(uniforms.write[0].ids.write[0], uniforms.write[1].ids.write[0]);
+		RID aux0 = uniforms.write[0].get_id(0);
+		RID aux1 = uniforms.write[1].get_id(0);
+		uniforms.write[0].set_id(0, aux1);
+		uniforms.write[1].set_id(0, aux0);
 		jump_flood_uniform_set[1] = RD::get_singleton()->uniform_set_create(uniforms, gi->sdfgi_shader.preprocess.version_get_shader(gi->sdfgi_shader.preprocess_shader, SDFGIShader::PRE_PROCESS_JUMP_FLOOD), 0);
 	}
 	//jump flood half uniform set
@@ -526,19 +529,22 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 1;
-			u.ids.push_back(render_sdf_half[0]);
+			u.append_id(render_sdf_half[0]);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 2;
-			u.ids.push_back(render_sdf_half[1]);
+			u.append_id(render_sdf_half[1]);
 			uniforms.push_back(u);
 		}
 
 		jump_flood_half_uniform_set[0] = RD::get_singleton()->uniform_set_create(uniforms, gi->sdfgi_shader.preprocess.version_get_shader(gi->sdfgi_shader.preprocess_shader, SDFGIShader::PRE_PROCESS_JUMP_FLOOD), 0);
-		SWAP(uniforms.write[0].ids.write[0], uniforms.write[1].ids.write[0]);
+		RID aux0 = uniforms.write[0].get_id(0);
+		RID aux1 = uniforms.write[1].get_id(0);
+		uniforms.write[0].set_id(0, aux1);
+		uniforms.write[1].set_id(0, aux0);
 		jump_flood_half_uniform_set[1] = RD::get_singleton()->uniform_set_create(uniforms, gi->sdfgi_shader.preprocess.version_get_shader(gi->sdfgi_shader.preprocess_shader, SDFGIShader::PRE_PROCESS_JUMP_FLOOD), 0);
 	}
 
@@ -549,21 +555,21 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 1;
-			u.ids.push_back(render_albedo);
+			u.append_id(render_albedo);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 2;
-			u.ids.push_back(render_sdf_half[(passes & 1) ? 0 : 1]); //reverse pass order because half size
+			u.append_id(render_sdf_half[(passes & 1) ? 0 : 1]); //reverse pass order because half size
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 3;
-			u.ids.push_back(render_sdf[(passes & 1) ? 0 : 1]); //reverse pass order because it needs an extra JFA pass
+			u.append_id(render_sdf[(passes & 1) ? 0 : 1]); //reverse pass order because it needs an extra JFA pass
 			uniforms.push_back(u);
 		}
 
@@ -578,7 +584,7 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 1;
-			u.ids.push_back(render_albedo);
+			u.append_id(render_albedo);
 			uniforms.push_back(u);
 		}
 		{
@@ -586,7 +592,7 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 2;
 			for (int i = 0; i < 8; i++) {
-				u.ids.push_back(render_occlusion[i]);
+				u.append_id(render_occlusion[i]);
 			}
 			uniforms.push_back(u);
 		}
@@ -594,7 +600,7 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 3;
-			u.ids.push_back(render_geom_facing);
+			u.append_id(render_geom_facing);
 			uniforms.push_back(u);
 		}
 
@@ -612,9 +618,9 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			for (uint32_t j = 0; j < SDFGI::MAX_CASCADES; j++) {
 				if (j < cascades.size()) {
-					u.ids.push_back(cascades[j].sdf_tex);
+					u.append_id(cascades[j].sdf_tex);
 				} else {
-					u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
+					u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
 				}
 			}
 			uniforms.push_back(u);
@@ -625,9 +631,9 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			for (uint32_t j = 0; j < SDFGI::MAX_CASCADES; j++) {
 				if (j < cascades.size()) {
-					u.ids.push_back(cascades[j].light_tex);
+					u.append_id(cascades[j].light_tex);
 				} else {
-					u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
+					u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
 				}
 			}
 			uniforms.push_back(u);
@@ -638,9 +644,9 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			for (uint32_t j = 0; j < SDFGI::MAX_CASCADES; j++) {
 				if (j < cascades.size()) {
-					u.ids.push_back(cascades[j].light_aniso_0_tex);
+					u.append_id(cascades[j].light_aniso_0_tex);
 				} else {
-					u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
+					u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
 				}
 			}
 			uniforms.push_back(u);
@@ -651,9 +657,9 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			for (uint32_t j = 0; j < SDFGI::MAX_CASCADES; j++) {
 				if (j < cascades.size()) {
-					u.ids.push_back(cascades[j].light_aniso_1_tex);
+					u.append_id(cascades[j].light_aniso_1_tex);
 				} else {
-					u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
+					u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
 				}
 			}
 			uniforms.push_back(u);
@@ -662,7 +668,7 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
 			u.binding = 6;
-			u.ids.push_back(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
+			u.append_id(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
 			uniforms.push_back(u);
 		}
 
@@ -670,14 +676,14 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
 			u.binding = 7;
-			u.ids.push_back(cascades_ubo);
+			u.append_id(cascades_ubo);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 8;
-			u.ids.push_back(lightprobe_data);
+			u.append_id(lightprobe_data);
 			uniforms.push_back(u);
 		}
 
@@ -685,14 +691,14 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 9;
-			u.ids.push_back(cascades[i].lightprobe_history_tex);
+			u.append_id(cascades[i].lightprobe_history_tex);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 10;
-			u.ids.push_back(cascades[i].lightprobe_average_tex);
+			u.append_id(cascades[i].lightprobe_average_tex);
 			uniforms.push_back(u);
 		}
 
@@ -700,14 +706,14 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 11;
-			u.ids.push_back(lightprobe_history_scroll);
+			u.append_id(lightprobe_history_scroll);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 12;
-			u.ids.push_back(lightprobe_average_scroll);
+			u.append_id(lightprobe_average_scroll);
 			uniforms.push_back(u);
 		}
 		{
@@ -723,14 +729,14 @@ void RendererSceneGIRD::SDFGI::create(RendererSceneEnvironmentRD *p_env, const V
 			} else {
 				parent_average = cascades[i - 1].lightprobe_average_tex; //to use something, but it won't be used
 			}
-			u.ids.push_back(parent_average);
+			u.append_id(parent_average);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 14;
-			u.ids.push_back(ambient_texture);
+			u.append_id(ambient_texture);
 			uniforms.push_back(u);
 		}
 
@@ -934,7 +940,7 @@ void RendererSceneGIRD::SDFGI::update_probes(RendererSceneEnvironmentRD *p_env,
 						RD::Uniform u;
 						u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 						u.binding = 0;
-						u.ids.push_back(p_sky->radiance);
+						u.append_id(p_sky->radiance);
 						uniforms.push_back(u);
 					}
 
@@ -942,7 +948,7 @@ void RendererSceneGIRD::SDFGI::update_probes(RendererSceneEnvironmentRD *p_env,
 						RD::Uniform u;
 						u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
 						u.binding = 1;
-						u.ids.push_back(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
+						u.append_id(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
 						uniforms.push_back(u);
 					}
 
@@ -1002,7 +1008,7 @@ void RendererSceneGIRD::SDFGI::store_probes() {
 	push_constant.y_mult = y_mult;
 
 	// Then store values into the lightprobe texture. Separating these steps has a small performance hit, but it allows for multiple bounces
-	RENDER_TIMESTAMP("Average Probes");
+	RENDER_TIMESTAMP("Average SDFGI Probes");
 
 	RD::ComputeListID compute_list = RD::get_singleton()->compute_list_begin();
 	RD::get_singleton()->compute_list_bind_compute_pipeline(compute_list, gi->sdfgi_shader.integrate_pipeline[SDFGIShader::INTEGRATE_MODE_STORE]);
@@ -1110,9 +1116,9 @@ void RendererSceneGIRD::SDFGI::debug_draw(const CameraMatrix &p_projection, cons
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			for (uint32_t i = 0; i < SDFGI::MAX_CASCADES; i++) {
 				if (i < cascades.size()) {
-					u.ids.push_back(cascades[i].sdf_tex);
+					u.append_id(cascades[i].sdf_tex);
 				} else {
-					u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
+					u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
 				}
 			}
 			uniforms.push_back(u);
@@ -1123,9 +1129,9 @@ void RendererSceneGIRD::SDFGI::debug_draw(const CameraMatrix &p_projection, cons
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			for (uint32_t i = 0; i < SDFGI::MAX_CASCADES; i++) {
 				if (i < cascades.size()) {
-					u.ids.push_back(cascades[i].light_tex);
+					u.append_id(cascades[i].light_tex);
 				} else {
-					u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
+					u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
 				}
 			}
 			uniforms.push_back(u);
@@ -1136,9 +1142,9 @@ void RendererSceneGIRD::SDFGI::debug_draw(const CameraMatrix &p_projection, cons
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			for (uint32_t i = 0; i < SDFGI::MAX_CASCADES; i++) {
 				if (i < cascades.size()) {
-					u.ids.push_back(cascades[i].light_aniso_0_tex);
+					u.append_id(cascades[i].light_aniso_0_tex);
 				} else {
-					u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
+					u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
 				}
 			}
 			uniforms.push_back(u);
@@ -1149,9 +1155,9 @@ void RendererSceneGIRD::SDFGI::debug_draw(const CameraMatrix &p_projection, cons
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			for (uint32_t i = 0; i < SDFGI::MAX_CASCADES; i++) {
 				if (i < cascades.size()) {
-					u.ids.push_back(cascades[i].light_aniso_1_tex);
+					u.append_id(cascades[i].light_aniso_1_tex);
 				} else {
-					u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
+					u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
 				}
 			}
 			uniforms.push_back(u);
@@ -1160,35 +1166,35 @@ void RendererSceneGIRD::SDFGI::debug_draw(const CameraMatrix &p_projection, cons
 			RD::Uniform u;
 			u.binding = 5;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
-			u.ids.push_back(occlusion_texture);
+			u.append_id(occlusion_texture);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 8;
 			u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
-			u.ids.push_back(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
+			u.append_id(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 9;
 			u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
-			u.ids.push_back(cascades_ubo);
+			u.append_id(cascades_ubo);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 10;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
-			u.ids.push_back(p_texture);
+			u.append_id(p_texture);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 11;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
-			u.ids.push_back(lightprobe_texture);
+			u.append_id(lightprobe_texture);
 			uniforms.push_back(u);
 		}
 		debug_uniform_set = RD::get_singleton()->uniform_set_create(uniforms, gi->sdfgi_shader.debug_shader_version, 0);
@@ -1273,28 +1279,28 @@ void RendererSceneGIRD::SDFGI::debug_probes(RD::DrawListID p_draw_list, RID p_fr
 			RD::Uniform u;
 			u.binding = 1;
 			u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
-			u.ids.push_back(cascades_ubo);
+			u.append_id(cascades_ubo);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 2;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
-			u.ids.push_back(lightprobe_texture);
+			u.append_id(lightprobe_texture);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 3;
 			u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
-			u.ids.push_back(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
+			u.append_id(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.binding = 4;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
-			u.ids.push_back(occlusion_texture);
+			u.append_id(occlusion_texture);
 			uniforms.push_back(u);
 		}
 
@@ -1555,14 +1561,14 @@ void RendererSceneGIRD::SDFGI::render_region(RID p_render_buffers, int p_region,
 	if (cascade_next != cascade) {
 		RD::get_singleton()->draw_command_begin_label("SDFGI Pre-Process Cascade");
 
-		RENDER_TIMESTAMP(">SDFGI Update SDF");
+		RENDER_TIMESTAMP("> SDFGI Update SDF");
 		//done rendering! must update SDF
 		//clear dispatch indirect data
 
 		SDFGIShader::PreprocessPushConstant push_constant;
 		memset(&push_constant, 0, sizeof(SDFGIShader::PreprocessPushConstant));
 
-		RENDER_TIMESTAMP("Scroll SDF");
+		RENDER_TIMESTAMP("SDFGI Scroll SDF");
 
 		//scroll
 		if (cascades[cascade].dirty_regions != SDFGI::Cascade::DIRTY_ALL) {
@@ -1701,7 +1707,7 @@ void RendererSceneGIRD::SDFGI::render_region(RID p_render_buffers, int p_region,
 
 			push_constant.half_size = true;
 			{
-				RENDER_TIMESTAMP("SDFGI Jump Flood (Half Size)");
+				RENDER_TIMESTAMP("SDFGI Jump Flood (Half-Size)");
 
 				uint32_t s = cascade_half_size;
 
@@ -1723,7 +1729,7 @@ void RendererSceneGIRD::SDFGI::render_region(RID p_render_buffers, int p_region,
 					}
 				}
 
-				RENDER_TIMESTAMP("SDFGI Jump Flood Optimized (Half Size)");
+				RENDER_TIMESTAMP("SDFGI Jump Flood Optimized (Half-Size)");
 
 				//continue with optimized jump flood for smaller reads
 				RD::get_singleton()->compute_list_bind_compute_pipeline(compute_list, gi->sdfgi_shader.preprocess_pipeline[SDFGIShader::PRE_PROCESS_JUMP_FLOOD_OPTIMIZED]);
@@ -1759,7 +1765,7 @@ void RendererSceneGIRD::SDFGI::render_region(RID p_render_buffers, int p_region,
 
 		} else {
 			//full size jumpflood
-			RENDER_TIMESTAMP("SDFGI Jump Flood");
+			RENDER_TIMESTAMP("SDFGI Jump Flood (Full-Size)");
 
 			RD::get_singleton()->compute_list_bind_compute_pipeline(compute_list, gi->sdfgi_shader.preprocess_pipeline[SDFGIShader::PRE_PROCESS_JUMP_FLOOD_INITIALIZE]);
 			RD::get_singleton()->compute_list_bind_uniform_set(compute_list, sdf_initialize_uniform_set, 0);
@@ -1790,7 +1796,7 @@ void RendererSceneGIRD::SDFGI::render_region(RID p_render_buffers, int p_region,
 					}
 				}
 
-				RENDER_TIMESTAMP("SDFGI Jump Flood Optimized");
+				RENDER_TIMESTAMP("SDFGI Jump Flood Optimized (Full-Size)");
 
 				//continue with optimized jump flood for smaller reads
 				RD::get_singleton()->compute_list_bind_compute_pipeline(compute_list, gi->sdfgi_shader.preprocess_pipeline[SDFGIShader::PRE_PROCESS_JUMP_FLOOD_OPTIMIZED]);
@@ -1882,7 +1888,7 @@ void RendererSceneGIRD::SDFGI::render_region(RID p_render_buffers, int p_region,
 		//finalize render and update sdf
 #endif
 
-		RENDER_TIMESTAMP("<SDFGI Update SDF");
+		RENDER_TIMESTAMP("< SDFGI Update SDF");
 		RD::get_singleton()->draw_command_end_label();
 	}
 }
@@ -1891,7 +1897,7 @@ void RendererSceneGIRD::SDFGI::render_static_lights(RID p_render_buffers, uint32
 	RendererSceneRenderRD::RenderBuffers *rb = p_scene_render->render_buffers_owner.get_or_null(p_render_buffers);
 	ERR_FAIL_COND(!rb); // we wouldn't be here if this failed but...
 
-	RD::get_singleton()->draw_command_begin_label("SDFGI Render Static Lighs");
+	RD::get_singleton()->draw_command_begin_label("SDFGI Render Static Lights");
 
 	update_cascades();
 
@@ -2073,14 +2079,14 @@ void RendererSceneGIRD::VoxelGIInstance::update(bool p_update_light_instances, c
 					RD::Uniform u;
 					u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 					u.binding = 1;
-					u.ids.push_back(storage->voxel_gi_get_octree_buffer(probe));
+					u.append_id(storage->voxel_gi_get_octree_buffer(probe));
 					uniforms.push_back(u);
 				}
 				{
 					RD::Uniform u;
 					u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 					u.binding = 2;
-					u.ids.push_back(storage->voxel_gi_get_data_buffer(probe));
+					u.append_id(storage->voxel_gi_get_data_buffer(probe));
 					uniforms.push_back(u);
 				}
 
@@ -2088,21 +2094,21 @@ void RendererSceneGIRD::VoxelGIInstance::update(bool p_update_light_instances, c
 					RD::Uniform u;
 					u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 					u.binding = 4;
-					u.ids.push_back(write_buffer);
+					u.append_id(write_buffer);
 					uniforms.push_back(u);
 				}
 				{
 					RD::Uniform u;
 					u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 					u.binding = 9;
-					u.ids.push_back(storage->voxel_gi_get_sdf_texture(probe));
+					u.append_id(storage->voxel_gi_get_sdf_texture(probe));
 					uniforms.push_back(u);
 				}
 				{
 					RD::Uniform u;
 					u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
 					u.binding = 10;
-					u.ids.push_back(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
+					u.append_id(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
 					uniforms.push_back(u);
 				}
 
@@ -2113,7 +2119,7 @@ void RendererSceneGIRD::VoxelGIInstance::update(bool p_update_light_instances, c
 							RD::Uniform u;
 							u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
 							u.binding = 3;
-							u.ids.push_back(gi->voxel_gi_lights_uniform);
+							u.append_id(gi->voxel_gi_lights_uniform);
 							copy_uniforms.push_back(u);
 						}
 
@@ -2125,7 +2131,7 @@ void RendererSceneGIRD::VoxelGIInstance::update(bool p_update_light_instances, c
 							RD::Uniform u;
 							u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 							u.binding = 5;
-							u.ids.push_back(texture);
+							u.append_id(texture);
 							copy_uniforms.push_back(u);
 						}
 						mipmap.second_bounce_uniform_set = RD::get_singleton()->uniform_set_create(copy_uniforms, gi->voxel_gi_lighting_shader_version_shaders[VOXEL_GI_SHADER_VERSION_COMPUTE_SECOND_BOUNCE], 0);
@@ -2138,7 +2144,7 @@ void RendererSceneGIRD::VoxelGIInstance::update(bool p_update_light_instances, c
 					RD::Uniform u;
 					u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 					u.binding = 5;
-					u.ids.push_back(mipmap.texture);
+					u.append_id(mipmap.texture);
 					uniforms.push_back(u);
 				}
 
@@ -2213,7 +2219,7 @@ void RendererSceneGIRD::VoxelGIInstance::update(bool p_update_light_instances, c
 								RD::Uniform u;
 								u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
 								u.binding = 3;
-								u.ids.push_back(gi->voxel_gi_lights_uniform);
+								u.append_id(gi->voxel_gi_lights_uniform);
 								uniforms.push_back(u);
 							}
 
@@ -2221,56 +2227,56 @@ void RendererSceneGIRD::VoxelGIInstance::update(bool p_update_light_instances, c
 								RD::Uniform u;
 								u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 								u.binding = 5;
-								u.ids.push_back(dmap.albedo);
+								u.append_id(dmap.albedo);
 								uniforms.push_back(u);
 							}
 							{
 								RD::Uniform u;
 								u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 								u.binding = 6;
-								u.ids.push_back(dmap.normal);
+								u.append_id(dmap.normal);
 								uniforms.push_back(u);
 							}
 							{
 								RD::Uniform u;
 								u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 								u.binding = 7;
-								u.ids.push_back(dmap.orm);
+								u.append_id(dmap.orm);
 								uniforms.push_back(u);
 							}
 							{
 								RD::Uniform u;
 								u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 								u.binding = 8;
-								u.ids.push_back(dmap.fb_depth);
+								u.append_id(dmap.fb_depth);
 								uniforms.push_back(u);
 							}
 							{
 								RD::Uniform u;
 								u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 								u.binding = 9;
-								u.ids.push_back(storage->voxel_gi_get_sdf_texture(probe));
+								u.append_id(storage->voxel_gi_get_sdf_texture(probe));
 								uniforms.push_back(u);
 							}
 							{
 								RD::Uniform u;
 								u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
 								u.binding = 10;
-								u.ids.push_back(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
+								u.append_id(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
 								uniforms.push_back(u);
 							}
 							{
 								RD::Uniform u;
 								u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 								u.binding = 11;
-								u.ids.push_back(dmap.texture);
+								u.append_id(dmap.texture);
 								uniforms.push_back(u);
 							}
 							{
 								RD::Uniform u;
 								u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 								u.binding = 12;
-								u.ids.push_back(dmap.depth);
+								u.append_id(dmap.depth);
 								uniforms.push_back(u);
 							}
 
@@ -2286,14 +2292,14 @@ void RendererSceneGIRD::VoxelGIInstance::update(bool p_update_light_instances, c
 							RD::Uniform u;
 							u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 							u.binding = 5;
-							u.ids.push_back(dynamic_maps[dynamic_maps.size() - 1].texture);
+							u.append_id(dynamic_maps[dynamic_maps.size() - 1].texture);
 							uniforms.push_back(u);
 						}
 						{
 							RD::Uniform u;
 							u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 							u.binding = 6;
-							u.ids.push_back(dynamic_maps[dynamic_maps.size() - 1].depth);
+							u.append_id(dynamic_maps[dynamic_maps.size() - 1].depth);
 							uniforms.push_back(u);
 						}
 
@@ -2302,14 +2308,14 @@ void RendererSceneGIRD::VoxelGIInstance::update(bool p_update_light_instances, c
 								RD::Uniform u;
 								u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 								u.binding = 7;
-								u.ids.push_back(dmap.texture);
+								u.append_id(dmap.texture);
 								uniforms.push_back(u);
 							}
 							{
 								RD::Uniform u;
 								u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 								u.binding = 8;
-								u.ids.push_back(dmap.depth);
+								u.append_id(dmap.depth);
 								uniforms.push_back(u);
 							}
 						}
@@ -2318,14 +2324,14 @@ void RendererSceneGIRD::VoxelGIInstance::update(bool p_update_light_instances, c
 							RD::Uniform u;
 							u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 							u.binding = 9;
-							u.ids.push_back(storage->voxel_gi_get_sdf_texture(probe));
+							u.append_id(storage->voxel_gi_get_sdf_texture(probe));
 							uniforms.push_back(u);
 						}
 						{
 							RD::Uniform u;
 							u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
 							u.binding = 10;
-							u.ids.push_back(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
+							u.append_id(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
 							uniforms.push_back(u);
 						}
 
@@ -2334,7 +2340,7 @@ void RendererSceneGIRD::VoxelGIInstance::update(bool p_update_light_instances, c
 								RD::Uniform u;
 								u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 								u.binding = 11;
-								u.ids.push_back(mipmaps[dmap.mipmap].texture);
+								u.append_id(mipmaps[dmap.mipmap].texture);
 								uniforms.push_back(u);
 							}
 						}
@@ -2747,21 +2753,21 @@ void RendererSceneGIRD::VoxelGIInstance::debug(RD::DrawListID p_draw_list, RID p
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 		u.binding = 1;
-		u.ids.push_back(storage->voxel_gi_get_data_buffer(probe));
+		u.append_id(storage->voxel_gi_get_data_buffer(probe));
 		uniforms.push_back(u);
 	}
 	{
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 		u.binding = 2;
-		u.ids.push_back(texture);
+		u.append_id(texture);
 		uniforms.push_back(u);
 	}
 	{
 		RD::Uniform u;
 		u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
 		u.binding = 3;
-		u.ids.push_back(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_NEAREST, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
+		u.append_id(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_NEAREST, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
 		uniforms.push_back(u);
 	}
 
@@ -2918,14 +2924,14 @@ void RendererSceneGIRD::init(RendererStorageRD *p_storage, RendererSceneSkyRD *p
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 				u.binding = 0;
-				u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_CUBEMAP_WHITE));
+				u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_CUBEMAP_WHITE));
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
 				u.binding = 1;
-				u.ids.push_back(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
+				u.append_id(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
 				uniforms.push_back(u);
 			}
 
@@ -3178,9 +3184,9 @@ void RendererSceneGIRD::process_gi(RID p_render_buffers, RID p_normal_roughness_
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			for (uint32_t j = 0; j < SDFGI::MAX_CASCADES; j++) {
 				if (rb->sdfgi && j < rb->sdfgi->cascades.size()) {
-					u.ids.push_back(rb->sdfgi->cascades[j].sdf_tex);
+					u.append_id(rb->sdfgi->cascades[j].sdf_tex);
 				} else {
-					u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
+					u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
 				}
 			}
 			uniforms.push_back(u);
@@ -3191,9 +3197,9 @@ void RendererSceneGIRD::process_gi(RID p_render_buffers, RID p_normal_roughness_
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			for (uint32_t j = 0; j < SDFGI::MAX_CASCADES; j++) {
 				if (rb->sdfgi && j < rb->sdfgi->cascades.size()) {
-					u.ids.push_back(rb->sdfgi->cascades[j].light_tex);
+					u.append_id(rb->sdfgi->cascades[j].light_tex);
 				} else {
-					u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
+					u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
 				}
 			}
 			uniforms.push_back(u);
@@ -3204,9 +3210,9 @@ void RendererSceneGIRD::process_gi(RID p_render_buffers, RID p_normal_roughness_
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			for (uint32_t j = 0; j < SDFGI::MAX_CASCADES; j++) {
 				if (rb->sdfgi && j < rb->sdfgi->cascades.size()) {
-					u.ids.push_back(rb->sdfgi->cascades[j].light_aniso_0_tex);
+					u.append_id(rb->sdfgi->cascades[j].light_aniso_0_tex);
 				} else {
-					u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
+					u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
 				}
 			}
 			uniforms.push_back(u);
@@ -3217,9 +3223,9 @@ void RendererSceneGIRD::process_gi(RID p_render_buffers, RID p_normal_roughness_
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			for (uint32_t j = 0; j < SDFGI::MAX_CASCADES; j++) {
 				if (rb->sdfgi && j < rb->sdfgi->cascades.size()) {
-					u.ids.push_back(rb->sdfgi->cascades[j].light_aniso_1_tex);
+					u.append_id(rb->sdfgi->cascades[j].light_aniso_1_tex);
 				} else {
-					u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
+					u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
 				}
 			}
 			uniforms.push_back(u);
@@ -3229,9 +3235,9 @@ void RendererSceneGIRD::process_gi(RID p_render_buffers, RID p_normal_roughness_
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			u.binding = 5;
 			if (rb->sdfgi) {
-				u.ids.push_back(rb->sdfgi->occlusion_texture);
+				u.append_id(rb->sdfgi->occlusion_texture);
 			} else {
-				u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
+				u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE));
 			}
 			uniforms.push_back(u);
 		}
@@ -3239,14 +3245,14 @@ void RendererSceneGIRD::process_gi(RID p_render_buffers, RID p_normal_roughness_
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
 			u.binding = 6;
-			u.ids.push_back(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
+			u.append_id(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
 			u.binding = 7;
-			u.ids.push_back(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
+			u.append_id(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
 			uniforms.push_back(u);
 		}
 
@@ -3254,7 +3260,7 @@ void RendererSceneGIRD::process_gi(RID p_render_buffers, RID p_normal_roughness_
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 9;
-			u.ids.push_back(rb->ambient_buffer);
+			u.append_id(rb->ambient_buffer);
 			uniforms.push_back(u);
 		}
 
@@ -3262,7 +3268,7 @@ void RendererSceneGIRD::process_gi(RID p_render_buffers, RID p_normal_roughness_
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 10;
-			u.ids.push_back(rb->reflection_buffer);
+			u.append_id(rb->reflection_buffer);
 			uniforms.push_back(u);
 		}
 
@@ -3271,9 +3277,9 @@ void RendererSceneGIRD::process_gi(RID p_render_buffers, RID p_normal_roughness_
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			u.binding = 11;
 			if (rb->sdfgi) {
-				u.ids.push_back(rb->sdfgi->lightprobe_texture);
+				u.append_id(rb->sdfgi->lightprobe_texture);
 			} else {
-				u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_2D_ARRAY_WHITE));
+				u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_2D_ARRAY_WHITE));
 			}
 			uniforms.push_back(u);
 		}
@@ -3281,14 +3287,14 @@ void RendererSceneGIRD::process_gi(RID p_render_buffers, RID p_normal_roughness_
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			u.binding = 12;
-			u.ids.push_back(rb->depth_texture);
+			u.append_id(rb->depth_texture);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			u.binding = 13;
-			u.ids.push_back(p_normal_roughness_buffer);
+			u.append_id(p_normal_roughness_buffer);
 			uniforms.push_back(u);
 		}
 		{
@@ -3296,21 +3302,21 @@ void RendererSceneGIRD::process_gi(RID p_render_buffers, RID p_normal_roughness_
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			u.binding = 14;
 			RID buffer = p_voxel_gi_buffer.is_valid() ? p_voxel_gi_buffer : storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_BLACK);
-			u.ids.push_back(buffer);
+			u.append_id(buffer);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
 			u.binding = 15;
-			u.ids.push_back(sdfgi_ubo);
+			u.append_id(sdfgi_ubo);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
 			u.binding = 16;
-			u.ids.push_back(rb->gi.voxel_gi_buffer);
+			u.append_id(rb->gi.voxel_gi_buffer);
 			uniforms.push_back(u);
 		}
 		{
@@ -3318,7 +3324,7 @@ void RendererSceneGIRD::process_gi(RID p_render_buffers, RID p_normal_roughness_
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			u.binding = 17;
 			for (int i = 0; i < MAX_VOXEL_GI_INSTANCES; i++) {
-				u.ids.push_back(rb->gi.voxel_gi_textures[i]);
+				u.append_id(rb->gi.voxel_gi_textures[i]);
 			}
 			uniforms.push_back(u);
 		}
diff --git a/servers/rendering/renderer_rd/renderer_scene_gi_rd.h b/servers/rendering/renderer_rd/renderer_scene_gi_rd.h
index 25f0dca3b7..f2d1a17099 100644
--- a/servers/rendering/renderer_rd/renderer_scene_gi_rd.h
+++ b/servers/rendering/renderer_rd/renderer_scene_gi_rd.h
@@ -250,8 +250,6 @@ private:
 			float cos_spot_angle;
 			float inv_spot_attenuation;
 			float radius;
-
-			float shadow_color[4];
 		};
 
 		struct DirectLightPushConstant {
diff --git a/servers/rendering/renderer_rd/renderer_scene_render_rd.cpp b/servers/rendering/renderer_rd/renderer_scene_render_rd.cpp
index db8f5461cf..6296e10962 100644
--- a/servers/rendering/renderer_rd/renderer_scene_render_rd.cpp
+++ b/servers/rendering/renderer_rd/renderer_scene_render_rd.cpp
@@ -3316,43 +3316,8 @@ void RendererSceneRenderRD::_setup_lights(const PagedArray<RID> &p_lights, const
 
 				light_data.size = 1.0 - Math::cos(Math::deg2rad(size)); //angle to cosine offset
 
-				Color shadow_col = storage->light_get_shadow_color(base).to_linear();
-
 				if (get_debug_draw_mode() == RS::VIEWPORT_DEBUG_DRAW_PSSM_SPLITS) {
-					light_data.shadow_color1[0] = 1.0;
-					light_data.shadow_color1[1] = 0.0;
-					light_data.shadow_color1[2] = 0.0;
-					light_data.shadow_color1[3] = 1.0;
-					light_data.shadow_color2[0] = 0.0;
-					light_data.shadow_color2[1] = 1.0;
-					light_data.shadow_color2[2] = 0.0;
-					light_data.shadow_color2[3] = 1.0;
-					light_data.shadow_color3[0] = 0.0;
-					light_data.shadow_color3[1] = 0.0;
-					light_data.shadow_color3[2] = 1.0;
-					light_data.shadow_color3[3] = 1.0;
-					light_data.shadow_color4[0] = 1.0;
-					light_data.shadow_color4[1] = 1.0;
-					light_data.shadow_color4[2] = 0.0;
-					light_data.shadow_color4[3] = 1.0;
-
-				} else {
-					light_data.shadow_color1[0] = shadow_col.r;
-					light_data.shadow_color1[1] = shadow_col.g;
-					light_data.shadow_color1[2] = shadow_col.b;
-					light_data.shadow_color1[3] = 1.0;
-					light_data.shadow_color2[0] = shadow_col.r;
-					light_data.shadow_color2[1] = shadow_col.g;
-					light_data.shadow_color2[2] = shadow_col.b;
-					light_data.shadow_color2[3] = 1.0;
-					light_data.shadow_color3[0] = shadow_col.r;
-					light_data.shadow_color3[1] = shadow_col.g;
-					light_data.shadow_color3[2] = shadow_col.b;
-					light_data.shadow_color3[3] = 1.0;
-					light_data.shadow_color4[0] = shadow_col.r;
-					light_data.shadow_color4[1] = shadow_col.g;
-					light_data.shadow_color4[2] = shadow_col.b;
-					light_data.shadow_color4[3] = 1.0;
+					WARN_PRINT_ONCE("The DirectionalLight3D PSSM splits debug draw mode is not reimplemented yet.");
 				}
 
 				light_data.shadow_enabled = p_using_shadows && storage->light_has_shadow(base);
@@ -3440,8 +3405,22 @@ void RendererSceneRenderRD::_setup_lights(const PagedArray<RID> &p_lights, const
 					continue;
 				}
 
+				const real_t distance = camera_plane.distance_to(li->transform.origin);
+
+				if (storage->light_is_distance_fade_enabled(li->light)) {
+					const float fade_begin = storage->light_get_distance_fade_begin(li->light);
+					const float fade_length = storage->light_get_distance_fade_length(li->light);
+
+					if (distance > fade_begin) {
+						if (distance > fade_begin + fade_length) {
+							// Out of range, don't draw this light to improve performance.
+							continue;
+						}
+					}
+				}
+
 				cluster.omni_light_sort[cluster.omni_light_count].instance = li;
-				cluster.omni_light_sort[cluster.omni_light_count].depth = camera_plane.distance_to(li->transform.origin);
+				cluster.omni_light_sort[cluster.omni_light_count].depth = distance;
 				cluster.omni_light_count++;
 			} break;
 			case RS::LIGHT_SPOT: {
@@ -3449,8 +3428,22 @@ void RendererSceneRenderRD::_setup_lights(const PagedArray<RID> &p_lights, const
 					continue;
 				}
 
+				const real_t distance = camera_plane.distance_to(li->transform.origin);
+
+				if (storage->light_is_distance_fade_enabled(li->light)) {
+					const float fade_begin = storage->light_get_distance_fade_begin(li->light);
+					const float fade_length = storage->light_get_distance_fade_length(li->light);
+
+					if (distance > fade_begin) {
+						if (distance > fade_begin + fade_length) {
+							// Out of range, don't draw this light to improve performance.
+							continue;
+						}
+					}
+				}
+
 				cluster.spot_light_sort[cluster.spot_light_count].instance = li;
-				cluster.spot_light_sort[cluster.spot_light_count].depth = camera_plane.distance_to(li->transform.origin);
+				cluster.spot_light_sort[cluster.spot_light_count].depth = distance;
 				cluster.spot_light_count++;
 			} break;
 		}
@@ -3494,7 +3487,24 @@ void RendererSceneRenderRD::_setup_lights(const PagedArray<RID> &p_lights, const
 
 		light_data.attenuation = storage->light_get_param(base, RS::LIGHT_PARAM_ATTENUATION);
 
-		float energy = sign * storage->light_get_param(base, RS::LIGHT_PARAM_ENERGY) * Math_PI;
+		// Reuse fade begin, fade length and distance for shadow LOD determination later.
+		float fade_begin = 0.0;
+		float fade_length = 0.0;
+		real_t distance = 0.0;
+
+		float fade = 1.0;
+		if (storage->light_is_distance_fade_enabled(li->light)) {
+			fade_begin = storage->light_get_distance_fade_begin(li->light);
+			fade_length = storage->light_get_distance_fade_length(li->light);
+			distance = camera_plane.distance_to(li->transform.origin);
+
+			if (distance > fade_begin) {
+				// Use `smoothstep()` to make opacity changes more gradual and less noticeable to the player.
+				fade = Math::smoothstep(0.0f, 1.0f, 1.0f - float(distance - fade_begin) / fade_length);
+			}
+		}
+
+		float energy = sign * storage->light_get_param(base, RS::LIGHT_PARAM_ENERGY) * Math_PI * fade;
 
 		light_data.color[0] = linear_col.r * energy;
 		light_data.color[1] = linear_col.g * energy;
@@ -3555,7 +3565,17 @@ void RendererSceneRenderRD::_setup_lights(const PagedArray<RID> &p_lights, const
 			light_data.projector_rect[3] = 0;
 		}
 
-		if (shadow_atlas && shadow_atlas->shadow_owners.has(li->self)) {
+		const bool needs_shadow = shadow_atlas && shadow_atlas->shadow_owners.has(li->self);
+
+		bool in_shadow_range = true;
+		if (needs_shadow && storage->light_is_distance_fade_enabled(li->light)) {
+			if (distance > storage->light_get_distance_fade_shadow(li->light)) {
+				// Out of range, don't draw shadows to improve performance.
+				in_shadow_range = false;
+			}
+		}
+
+		if (needs_shadow && in_shadow_range) {
 			// fill in the shadow information
 
 			light_data.shadow_enabled = true;
@@ -4064,7 +4084,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 		return;
 	}
 
-	RENDER_TIMESTAMP(">Volumetric Fog");
+	RENDER_TIMESTAMP("> Volumetric Fog");
 	RD::get_singleton()->draw_command_begin_label("Volumetric Fog");
 
 	if (env && env->volumetric_fog_enabled && !rb->volumetric_fog) {
@@ -4126,7 +4146,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 			RD::Uniform u;
 			u.binding = 0;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
-			u.ids.push_back(rb->volumetric_fog->fog_map);
+			u.append_id(rb->volumetric_fog->fog_map);
 			uniforms.push_back(u);
 		}
 
@@ -4136,7 +4156,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 	if (p_fog_volumes.size() > 0) {
 		RD::get_singleton()->draw_command_begin_label("Render Volumetric Fog Volumes");
 
-		RENDER_TIMESTAMP("Render Fog Volumes");
+		RENDER_TIMESTAMP("Render FogVolumes");
 
 		VolumetricFogShader::VolumeUBO params;
 
@@ -4191,7 +4211,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 #endif
 				u.binding = 1;
-				u.ids.push_back(rb->volumetric_fog->emissive_map);
+				u.append_id(rb->volumetric_fog->emissive_map);
 				uniforms.push_back(u);
 			}
 
@@ -4199,7 +4219,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
 				u.binding = 2;
-				u.ids.push_back(volumetric_fog.volume_ubo);
+				u.append_id(volumetric_fog.volume_ubo);
 				uniforms.push_back(u);
 			}
 
@@ -4211,7 +4231,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 #endif
 				u.binding = 3;
-				u.ids.push_back(rb->volumetric_fog->density_map);
+				u.append_id(rb->volumetric_fog->density_map);
 				uniforms.push_back(u);
 			}
 
@@ -4223,7 +4243,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 #endif
 				u.binding = 4;
-				u.ids.push_back(rb->volumetric_fog->light_map);
+				u.append_id(rb->volumetric_fog->light_map);
 				uniforms.push_back(u);
 			}
 
@@ -4344,9 +4364,9 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 			u.binding = 1;
 			ShadowAtlas *shadow_atlas = shadow_atlas_owner.get_or_null(p_shadow_atlas);
 			if (shadow_atlas == nullptr || shadow_atlas->depth.is_null()) {
-				u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_BLACK));
+				u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_BLACK));
 			} else {
-				u.ids.push_back(shadow_atlas->depth);
+				u.append_id(shadow_atlas->depth);
 			}
 
 			uniforms.push_back(u);
@@ -4358,9 +4378,9 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			u.binding = 2;
 			if (directional_shadow.depth.is_valid()) {
-				u.ids.push_back(directional_shadow.depth);
+				u.append_id(directional_shadow.depth);
 			} else {
-				u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_BLACK));
+				u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_BLACK));
 			}
 			uniforms.push_back(u);
 			copy_uniforms.push_back(u);
@@ -4370,7 +4390,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 3;
-			u.ids.push_back(get_omni_light_buffer());
+			u.append_id(get_omni_light_buffer());
 			uniforms.push_back(u);
 			copy_uniforms.push_back(u);
 		}
@@ -4378,7 +4398,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 4;
-			u.ids.push_back(get_spot_light_buffer());
+			u.append_id(get_spot_light_buffer());
 			uniforms.push_back(u);
 			copy_uniforms.push_back(u);
 		}
@@ -4387,7 +4407,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
 			u.binding = 5;
-			u.ids.push_back(get_directional_light_buffer());
+			u.append_id(get_directional_light_buffer());
 			uniforms.push_back(u);
 			copy_uniforms.push_back(u);
 		}
@@ -4396,7 +4416,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 6;
-			u.ids.push_back(rb->cluster_builder->get_cluster_buffer());
+			u.append_id(rb->cluster_builder->get_cluster_buffer());
 			uniforms.push_back(u);
 			copy_uniforms.push_back(u);
 		}
@@ -4405,7 +4425,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
 			u.binding = 7;
-			u.ids.push_back(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
+			u.append_id(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
 			uniforms.push_back(u);
 			copy_uniforms.push_back(u);
 		}
@@ -4414,7 +4434,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 8;
-			u.ids.push_back(rb->volumetric_fog->light_density_map);
+			u.append_id(rb->volumetric_fog->light_density_map);
 			uniforms.push_back(u);
 			copy_uniforms.push_back(u);
 		}
@@ -4423,7 +4443,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 9;
-			u.ids.push_back(rb->volumetric_fog->fog_map);
+			u.append_id(rb->volumetric_fog->fog_map);
 			uniforms.push_back(u);
 		}
 
@@ -4431,7 +4451,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 9;
-			u.ids.push_back(rb->volumetric_fog->prev_light_density_map);
+			u.append_id(rb->volumetric_fog->prev_light_density_map);
 			copy_uniforms.push_back(u);
 		}
 
@@ -4439,7 +4459,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
 			u.binding = 10;
-			u.ids.push_back(shadow_sampler);
+			u.append_id(shadow_sampler);
 			uniforms.push_back(u);
 			copy_uniforms.push_back(u);
 		}
@@ -4448,7 +4468,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
 			u.binding = 11;
-			u.ids.push_back(render_buffers_get_voxel_gi_buffer(p_render_buffers));
+			u.append_id(render_buffers_get_voxel_gi_buffer(p_render_buffers));
 			uniforms.push_back(u);
 			copy_uniforms.push_back(u);
 		}
@@ -4458,7 +4478,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			u.binding = 12;
 			for (int i = 0; i < RendererSceneGIRD::MAX_VOXEL_GI_INSTANCES; i++) {
-				u.ids.push_back(rb->gi.voxel_gi_textures[i]);
+				u.append_id(rb->gi.voxel_gi_textures[i]);
 			}
 			uniforms.push_back(u);
 			copy_uniforms.push_back(u);
@@ -4467,7 +4487,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
 			u.binding = 13;
-			u.ids.push_back(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
+			u.append_id(storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED));
 			uniforms.push_back(u);
 			copy_uniforms.push_back(u);
 		}
@@ -4475,7 +4495,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
 			u.binding = 14;
-			u.ids.push_back(volumetric_fog.params_ubo);
+			u.append_id(volumetric_fog.params_ubo);
 			uniforms.push_back(u);
 			copy_uniforms.push_back(u);
 		}
@@ -4483,7 +4503,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			u.binding = 15;
-			u.ids.push_back(rb->volumetric_fog->prev_light_density_map);
+			u.append_id(rb->volumetric_fog->prev_light_density_map);
 			uniforms.push_back(u);
 		}
 		{
@@ -4494,7 +4514,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 #endif
 			u.binding = 16;
-			u.ids.push_back(rb->volumetric_fog->density_map);
+			u.append_id(rb->volumetric_fog->density_map);
 			uniforms.push_back(u);
 		}
 		{
@@ -4505,7 +4525,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 #endif
 			u.binding = 17;
-			u.ids.push_back(rb->volumetric_fog->light_map);
+			u.append_id(rb->volumetric_fog->light_map);
 			uniforms.push_back(u);
 		}
 
@@ -4517,7 +4537,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 #endif
 			u.binding = 18;
-			u.ids.push_back(rb->volumetric_fog->emissive_map);
+			u.append_id(rb->volumetric_fog->emissive_map);
 			uniforms.push_back(u);
 		}
 
@@ -4527,7 +4547,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 			u.binding = 19;
 			RID radiance_texture = storage->texture_rd_get_default(is_using_radiance_cubemap_array() ? RendererStorageRD::DEFAULT_RD_TEXTURE_CUBEMAP_ARRAY_BLACK : RendererStorageRD::DEFAULT_RD_TEXTURE_CUBEMAP_BLACK);
 			RID sky_texture = env->sky.is_valid() ? sky.sky_get_radiance_texture_rd(env->sky) : RID();
-			u.ids.push_back(sky_texture.is_valid() ? sky_texture : radiance_texture);
+			u.append_id(sky_texture.is_valid() ? sky_texture : radiance_texture);
 			uniforms.push_back(u);
 		}
 
@@ -4535,7 +4555,11 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 
 		rb->volumetric_fog->process_uniform_set = RD::get_singleton()->uniform_set_create(uniforms, volumetric_fog.process_shader.version_get_shader(volumetric_fog.process_shader_version, VolumetricFogShader::VOLUMETRIC_FOG_PROCESS_SHADER_DENSITY), 0);
 
-		SWAP(uniforms.write[7].ids.write[0], uniforms.write[8].ids.write[0]);
+		RID aux7 = uniforms.write[7].get_id(0);
+		RID aux8 = uniforms.write[8].get_id(0);
+
+		uniforms.write[7].set_id(0, aux8);
+		uniforms.write[8].set_id(0, aux7);
 
 		rb->volumetric_fog->process_uniform_set2 = RD::get_singleton()->uniform_set_create(uniforms, volumetric_fog.process_shader.version_get_shader(volumetric_fog.process_shader_version, 0), 0);
 	}
@@ -4550,7 +4574,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
 				u.binding = 0;
-				u.ids.push_back(gi.sdfgi_ubo);
+				u.append_id(gi.sdfgi_ubo);
 				uniforms.push_back(u);
 			}
 
@@ -4558,7 +4582,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 				u.binding = 1;
-				u.ids.push_back(rb->sdfgi->ambient_texture);
+				u.append_id(rb->sdfgi->ambient_texture);
 				uniforms.push_back(u);
 			}
 
@@ -4566,7 +4590,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 				u.binding = 2;
-				u.ids.push_back(rb->sdfgi->occlusion_texture);
+				u.append_id(rb->sdfgi->occlusion_texture);
 				uniforms.push_back(u);
 			}
 
@@ -4730,7 +4754,7 @@ void RendererSceneRenderRD::_update_volumetric_fog(RID p_render_buffers, RID p_e
 
 	RD::get_singleton()->compute_list_end(RD::BARRIER_MASK_RASTER);
 
-	RENDER_TIMESTAMP("<Volumetric Fog");
+	RENDER_TIMESTAMP("< Volumetric Fog");
 	RD::get_singleton()->draw_command_end_label();
 	RD::get_singleton()->draw_command_end_label();
 
@@ -4819,7 +4843,7 @@ void RendererSceneRenderRD::_pre_opaque_render(RenderDataRD *p_render_data, bool
 	bool render_gi = p_render_data->render_buffers.is_valid() && p_use_gi;
 
 	if (render_shadows && render_gi) {
-		RENDER_TIMESTAMP("Render GI + Render Shadows (parallel)");
+		RENDER_TIMESTAMP("Render GI + Render Shadows (Parallel)");
 	} else if (render_shadows) {
 		RENDER_TIMESTAMP("Render Shadows");
 	} else if (render_gi) {
@@ -5699,11 +5723,9 @@ void fog() {
 			Vector<RD::Uniform> uniforms;
 
 			{
-				RD::Uniform u;
-				u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
-				u.binding = 1;
-				u.ids.resize(12);
-				RID *ids_ptr = u.ids.ptrw();
+				Vector<RID> ids;
+				ids.resize(12);
+				RID *ids_ptr = ids.ptrw();
 				ids_ptr[0] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_NEAREST, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED);
 				ids_ptr[1] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED);
 				ids_ptr[2] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_NEAREST_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED);
@@ -5716,6 +5738,8 @@ void fog() {
 				ids_ptr[9] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_ENABLED);
 				ids_ptr[10] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_NEAREST_WITH_MIPMAPS_ANISOTROPIC, RS::CANVAS_ITEM_TEXTURE_REPEAT_ENABLED);
 				ids_ptr[11] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS_ANISOTROPIC, RS::CANVAS_ITEM_TEXTURE_REPEAT_ENABLED);
+
+				RD::Uniform u(RD::UNIFORM_TYPE_SAMPLER, 1, ids);
 				uniforms.push_back(u);
 			}
 
@@ -5723,7 +5747,7 @@ void fog() {
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 				u.binding = 2;
-				u.ids.push_back(storage->global_variables_get_storage_buffer());
+				u.append_id(storage->global_variables_get_storage_buffer());
 				uniforms.push_back(u);
 			}
 
diff --git a/servers/rendering/renderer_rd/renderer_scene_render_rd.h b/servers/rendering/renderer_rd/renderer_scene_render_rd.h
index 47bc0af1db..4a86ced322 100644
--- a/servers/rendering/renderer_rd/renderer_scene_render_rd.h
+++ b/servers/rendering/renderer_rd/renderer_scene_render_rd.h
@@ -678,10 +678,6 @@ private:
 			float shadow_range_begin[4];
 			float shadow_split_offsets[4];
 			float shadow_matrices[4][16];
-			float shadow_color1[4];
-			float shadow_color2[4];
-			float shadow_color3[4];
-			float shadow_color4[4];
 			float uv_scale1[2];
 			float uv_scale2[2];
 			float uv_scale3[2];
diff --git a/servers/rendering/renderer_rd/renderer_scene_sky_rd.cpp b/servers/rendering/renderer_rd/renderer_scene_sky_rd.cpp
index b44ae6cf8d..d39fe306f4 100644
--- a/servers/rendering/renderer_rd/renderer_scene_sky_rd.cpp
+++ b/servers/rendering/renderer_rd/renderer_scene_sky_rd.cpp
@@ -630,9 +630,9 @@ RID RendererSceneSkyRD::Sky::get_textures(RendererStorageRD *p_storage, SkyTextu
 		u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 		u.binding = 0;
 		if (radiance.is_valid() && p_version <= SKY_TEXTURE_SET_QUARTER_RES) {
-			u.ids.push_back(radiance);
+			u.append_id(radiance);
 		} else {
-			u.ids.push_back(p_storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_CUBEMAP_BLACK));
+			u.append_id(p_storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_CUBEMAP_BLACK));
 		}
 		uniforms.push_back(u);
 	}
@@ -642,15 +642,15 @@ RID RendererSceneSkyRD::Sky::get_textures(RendererStorageRD *p_storage, SkyTextu
 		u.binding = 1; // half res
 		if (half_res_pass.is_valid() && p_version != SKY_TEXTURE_SET_HALF_RES && p_version != SKY_TEXTURE_SET_CUBEMAP_HALF_RES) {
 			if (p_version >= SKY_TEXTURE_SET_CUBEMAP) {
-				u.ids.push_back(reflection.layers[0].views[1]);
+				u.append_id(reflection.layers[0].views[1]);
 			} else {
-				u.ids.push_back(half_res_pass);
+				u.append_id(half_res_pass);
 			}
 		} else {
 			if (p_version < SKY_TEXTURE_SET_CUBEMAP) {
-				u.ids.push_back(p_storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_WHITE));
+				u.append_id(p_storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_WHITE));
 			} else {
-				u.ids.push_back(p_storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_CUBEMAP_BLACK));
+				u.append_id(p_storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_CUBEMAP_BLACK));
 			}
 		}
 		uniforms.push_back(u);
@@ -661,15 +661,15 @@ RID RendererSceneSkyRD::Sky::get_textures(RendererStorageRD *p_storage, SkyTextu
 		u.binding = 2; // quarter res
 		if (quarter_res_pass.is_valid() && p_version != SKY_TEXTURE_SET_QUARTER_RES && p_version != SKY_TEXTURE_SET_CUBEMAP_QUARTER_RES) {
 			if (p_version >= SKY_TEXTURE_SET_CUBEMAP) {
-				u.ids.push_back(reflection.layers[0].views[2]);
+				u.append_id(reflection.layers[0].views[2]);
 			} else {
-				u.ids.push_back(quarter_res_pass);
+				u.append_id(quarter_res_pass);
 			}
 		} else {
 			if (p_version < SKY_TEXTURE_SET_CUBEMAP) {
-				u.ids.push_back(p_storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_WHITE));
+				u.append_id(p_storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_WHITE));
 			} else {
-				u.ids.push_back(p_storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_CUBEMAP_BLACK));
+				u.append_id(p_storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_CUBEMAP_BLACK));
 			}
 		}
 		uniforms.push_back(u);
@@ -918,11 +918,9 @@ void sky() {
 		Vector<RD::Uniform> uniforms;
 
 		{
-			RD::Uniform u;
-			u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
-			u.binding = 0;
-			u.ids.resize(12);
-			RID *ids_ptr = u.ids.ptrw();
+			Vector<RID> ids;
+			ids.resize(12);
+			RID *ids_ptr = ids.ptrw();
 			ids_ptr[0] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_NEAREST, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED);
 			ids_ptr[1] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED);
 			ids_ptr[2] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_NEAREST_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED);
@@ -935,6 +933,9 @@ void sky() {
 			ids_ptr[9] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_ENABLED);
 			ids_ptr[10] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_NEAREST_WITH_MIPMAPS_ANISOTROPIC, RS::CANVAS_ITEM_TEXTURE_REPEAT_ENABLED);
 			ids_ptr[11] = storage->sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS_ANISOTROPIC, RS::CANVAS_ITEM_TEXTURE_REPEAT_ENABLED);
+
+			RD::Uniform u(RD::UNIFORM_TYPE_SAMPLER, 0, ids);
+
 			uniforms.push_back(u);
 		}
 
@@ -942,7 +943,7 @@ void sky() {
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 1;
-			u.ids.push_back(storage->global_variables_get_storage_buffer());
+			u.append_id(storage->global_variables_get_storage_buffer());
 			uniforms.push_back(u);
 		}
 
@@ -950,7 +951,7 @@ void sky() {
 			RD::Uniform u;
 			u.binding = 2;
 			u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
-			u.ids.push_back(sky_scene_state.uniform_buffer);
+			u.append_id(sky_scene_state.uniform_buffer);
 			uniforms.push_back(u);
 		}
 
@@ -958,7 +959,7 @@ void sky() {
 			RD::Uniform u;
 			u.binding = 3;
 			u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
-			u.ids.push_back(sky_scene_state.directional_light_buffer);
+			u.append_id(sky_scene_state.directional_light_buffer);
 			uniforms.push_back(u);
 		}
 
@@ -972,7 +973,7 @@ void sky() {
 			u.binding = 0;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			RID vfog = storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_3D_WHITE);
-			u.ids.push_back(vfog);
+			u.append_id(vfog);
 			uniforms.push_back(u);
 		}
 
@@ -1005,21 +1006,21 @@ void sky() {
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			u.binding = 0;
-			u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_CUBEMAP_BLACK));
+			u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_CUBEMAP_BLACK));
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			u.binding = 1;
-			u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_WHITE));
+			u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_WHITE));
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 			u.binding = 2;
-			u.ids.push_back(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_WHITE));
+			u.append_id(storage->texture_rd_get_default(RendererStorageRD::DEFAULT_RD_TEXTURE_WHITE));
 			uniforms.push_back(u);
 		}
 
diff --git a/servers/rendering/renderer_rd/renderer_storage_rd.cpp b/servers/rendering/renderer_rd/renderer_storage_rd.cpp
index 1473a92a1a..e4ddc1b41f 100644
--- a/servers/rendering/renderer_rd/renderer_storage_rd.cpp
+++ b/servers/rendering/renderer_rd/renderer_storage_rd.cpp
@@ -1320,10 +1320,10 @@ bool RendererStorageRD::canvas_texture_get_uniform_set(RID p_texture, RS::Canvas
 
 			t = texture_owner.get_or_null(ct->diffuse);
 			if (!t) {
-				u.ids.push_back(texture_rd_get_default(DEFAULT_RD_TEXTURE_WHITE));
+				u.append_id(texture_rd_get_default(DEFAULT_RD_TEXTURE_WHITE));
 				ct->size_cache = Size2i(1, 1);
 			} else {
-				u.ids.push_back(t->rd_texture);
+				u.append_id(t->rd_texture);
 				ct->size_cache = Size2i(t->width_2d, t->height_2d);
 			}
 			uniforms.push_back(u);
@@ -1335,10 +1335,10 @@ bool RendererStorageRD::canvas_texture_get_uniform_set(RID p_texture, RS::Canvas
 
 			t = texture_owner.get_or_null(ct->normal_map);
 			if (!t) {
-				u.ids.push_back(texture_rd_get_default(DEFAULT_RD_TEXTURE_NORMAL));
+				u.append_id(texture_rd_get_default(DEFAULT_RD_TEXTURE_NORMAL));
 				ct->use_normal_cache = false;
 			} else {
-				u.ids.push_back(t->rd_texture);
+				u.append_id(t->rd_texture);
 				ct->use_normal_cache = true;
 			}
 			uniforms.push_back(u);
@@ -1350,10 +1350,10 @@ bool RendererStorageRD::canvas_texture_get_uniform_set(RID p_texture, RS::Canvas
 
 			t = texture_owner.get_or_null(ct->specular);
 			if (!t) {
-				u.ids.push_back(texture_rd_get_default(DEFAULT_RD_TEXTURE_WHITE));
+				u.append_id(texture_rd_get_default(DEFAULT_RD_TEXTURE_WHITE));
 				ct->use_specular_cache = false;
 			} else {
-				u.ids.push_back(t->rd_texture);
+				u.append_id(t->rd_texture);
 				ct->use_specular_cache = true;
 			}
 			uniforms.push_back(u);
@@ -1362,7 +1362,7 @@ bool RendererStorageRD::canvas_texture_get_uniform_set(RID p_texture, RS::Canvas
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
 			u.binding = 3;
-			u.ids.push_back(sampler_rd_get_default(filter, repeat));
+			u.append_id(sampler_rd_get_default(filter, repeat));
 			uniforms.push_back(u);
 		}
 
@@ -2933,7 +2933,7 @@ bool RendererStorageRD::MaterialData::update_parameters_uniform_set(const Map<St
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_UNIFORM_BUFFER;
 			u.binding = 0;
-			u.ids.push_back(uniform_buffer);
+			u.append_id(uniform_buffer);
 			uniforms.push_back(u);
 		}
 
@@ -2946,10 +2946,10 @@ bool RendererStorageRD::MaterialData::update_parameters_uniform_set(const Map<St
 			u.binding = 1 + k;
 			if (array_size > 0) {
 				for (int j = 0; j < array_size; j++) {
-					u.ids.push_back(textures[k++]);
+					u.append_id(textures[k++]);
 				}
 			} else {
-				u.ids.push_back(textures[k++]);
+				u.append_id(textures[k++]);
 			}
 			uniforms.push_back(u);
 		}
@@ -3155,7 +3155,7 @@ void RendererStorageRD::mesh_add_surface(RID p_mesh, const RS::SurfaceData &p_su
 			RD::Uniform u;
 			u.binding = 0;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
-			u.ids.push_back(s->vertex_buffer);
+			u.append_id(s->vertex_buffer);
 			uniforms.push_back(u);
 		}
 		{
@@ -3163,9 +3163,9 @@ void RendererStorageRD::mesh_add_surface(RID p_mesh, const RS::SurfaceData &p_su
 			u.binding = 1;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			if (s->skin_buffer.is_valid()) {
-				u.ids.push_back(s->skin_buffer);
+				u.append_id(s->skin_buffer);
 			} else {
-				u.ids.push_back(default_rd_storage_buffer);
+				u.append_id(default_rd_storage_buffer);
 			}
 			uniforms.push_back(u);
 		}
@@ -3174,9 +3174,9 @@ void RendererStorageRD::mesh_add_surface(RID p_mesh, const RS::SurfaceData &p_su
 			u.binding = 2;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			if (s->blend_shape_buffer.is_valid()) {
-				u.ids.push_back(s->blend_shape_buffer);
+				u.append_id(s->blend_shape_buffer);
 			} else {
-				u.ids.push_back(default_rd_storage_buffer);
+				u.append_id(default_rd_storage_buffer);
 			}
 			uniforms.push_back(u);
 		}
@@ -3618,7 +3618,7 @@ void RendererStorageRD::_mesh_instance_add_surface(MeshInstance *mi, Mesh *mesh,
 			RD::Uniform u;
 			u.binding = 1;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
-			u.ids.push_back(s.vertex_buffer);
+			u.append_id(s.vertex_buffer);
 			uniforms.push_back(u);
 		}
 		{
@@ -3626,9 +3626,9 @@ void RendererStorageRD::_mesh_instance_add_surface(MeshInstance *mi, Mesh *mesh,
 			u.binding = 2;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			if (mi->blend_weights_buffer.is_valid()) {
-				u.ids.push_back(mi->blend_weights_buffer);
+				u.append_id(mi->blend_weights_buffer);
 			} else {
-				u.ids.push_back(default_rd_storage_buffer);
+				u.append_id(default_rd_storage_buffer);
 			}
 			uniforms.push_back(u);
 		}
@@ -4953,14 +4953,14 @@ void RendererStorageRD::_particles_process(Particles *p_particles, double p_delt
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 0;
-			u.ids.push_back(p_particles->frame_params_buffer);
+			u.append_id(p_particles->frame_params_buffer);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 1;
-			u.ids.push_back(p_particles->particle_buffer);
+			u.append_id(p_particles->particle_buffer);
 			uniforms.push_back(u);
 		}
 
@@ -4969,9 +4969,9 @@ void RendererStorageRD::_particles_process(Particles *p_particles, double p_delt
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 2;
 			if (p_particles->emission_storage_buffer.is_valid()) {
-				u.ids.push_back(p_particles->emission_storage_buffer);
+				u.append_id(p_particles->emission_storage_buffer);
 			} else {
-				u.ids.push_back(default_rd_storage_buffer);
+				u.append_id(default_rd_storage_buffer);
 			}
 			uniforms.push_back(u);
 		}
@@ -4984,9 +4984,9 @@ void RendererStorageRD::_particles_process(Particles *p_particles, double p_delt
 				if (sub_emitter->emission_buffer == nullptr) { //no emission buffer, allocate emission buffer
 					_particles_allocate_emission_buffer(sub_emitter);
 				}
-				u.ids.push_back(sub_emitter->emission_storage_buffer);
+				u.append_id(sub_emitter->emission_storage_buffer);
 			} else {
-				u.ids.push_back(default_rd_storage_buffer);
+				u.append_id(default_rd_storage_buffer);
 			}
 			uniforms.push_back(u);
 		}
@@ -5257,7 +5257,7 @@ void RendererStorageRD::_particles_process(Particles *p_particles, double p_delt
 					if (rd_tex == RID()) {
 						rd_tex = default_rd_textures[DEFAULT_RD_TEXTURE_3D_WHITE];
 					}
-					u.ids.push_back(rd_tex);
+					u.append_id(rd_tex);
 				}
 				uniforms.push_back(u);
 			}
@@ -5266,9 +5266,9 @@ void RendererStorageRD::_particles_process(Particles *p_particles, double p_delt
 				u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
 				u.binding = 1;
 				if (collision_heightmap_texture.is_valid()) {
-					u.ids.push_back(collision_heightmap_texture);
+					u.append_id(collision_heightmap_texture);
 				} else {
-					u.ids.push_back(default_rd_textures[DEFAULT_RD_TEXTURE_BLACK]);
+					u.append_id(default_rd_textures[DEFAULT_RD_TEXTURE_BLACK]);
 				}
 				uniforms.push_back(u);
 			}
@@ -5402,7 +5402,7 @@ void RendererStorageRD::particles_set_view_axis(RID p_particles, const Vector3 &
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 				u.binding = 0;
-				u.ids.push_back(particles->particles_sort_buffer);
+				u.append_id(particles->particles_sort_buffer);
 				uniforms.push_back(u);
 			}
 
@@ -5522,14 +5522,14 @@ void RendererStorageRD::_particles_update_buffers(Particles *particles) {
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 				u.binding = 1;
-				u.ids.push_back(particles->particle_buffer);
+				u.append_id(particles->particle_buffer);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 				u.binding = 2;
-				u.ids.push_back(particles->particle_instance_buffer);
+				u.append_id(particles->particle_instance_buffer);
 				uniforms.push_back(u);
 			}
 
@@ -5627,9 +5627,9 @@ void RendererStorageRD::update_particles() {
 					u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 					u.binding = 0;
 					if (particles->trail_bind_pose_buffer.is_valid()) {
-						u.ids.push_back(particles->trail_bind_pose_buffer);
+						u.append_id(particles->trail_bind_pose_buffer);
 					} else {
-						u.ids.push_back(default_rd_storage_buffer);
+						u.append_id(default_rd_storage_buffer);
 					}
 					uniforms.push_back(u);
 				}
@@ -6315,7 +6315,7 @@ void RendererStorageRD::skeleton_allocate_data(RID p_skeleton, int p_bones, bool
 				RD::Uniform u;
 				u.binding = 0;
 				u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
-				u.ids.push_back(skeleton->buffer);
+				u.append_id(skeleton->buffer);
 				uniforms.push_back(u);
 			}
 			skeleton->uniform_set_mi = RD::get_singleton()->uniform_set_create(uniforms, skeleton_shader.version_shader[0], SkeletonShader::UNIFORM_SET_SKELETON);
@@ -6555,12 +6555,6 @@ void RendererStorageRD::light_set_shadow(RID p_light, bool p_enabled) {
 	light->dependency.changed_notify(DEPENDENCY_CHANGED_LIGHT);
 }
 
-void RendererStorageRD::light_set_shadow_color(RID p_light, const Color &p_color) {
-	Light *light = light_owner.get_or_null(p_light);
-	ERR_FAIL_COND(!light);
-	light->shadow_color = p_color;
-}
-
 void RendererStorageRD::light_set_projector(RID p_light, RID p_texture) {
 	Light *light = light_owner.get_or_null(p_light);
 	ERR_FAIL_COND(!light);
@@ -6600,6 +6594,16 @@ void RendererStorageRD::light_set_cull_mask(RID p_light, uint32_t p_mask) {
 	light->dependency.changed_notify(DEPENDENCY_CHANGED_LIGHT);
 }
 
+void RendererStorageRD::light_set_distance_fade(RID p_light, bool p_enabled, float p_begin, float p_shadow, float p_length) {
+	Light *light = light_owner.get_or_null(p_light);
+	ERR_FAIL_COND(!light);
+
+	light->distance_fade = p_enabled;
+	light->distance_fade_begin = p_begin;
+	light->distance_fade_shadow = p_shadow;
+	light->distance_fade_length = p_length;
+}
+
 void RendererStorageRD::light_set_reverse_cull_face_mode(RID p_light, bool p_enabled) {
 	Light *light = light_owner.get_or_null(p_light);
 	ERR_FAIL_COND(!light);
@@ -7136,21 +7140,21 @@ void RendererStorageRD::voxel_gi_allocate_data(RID p_voxel_gi, const Transform3D
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 				u.binding = 1;
-				u.ids.push_back(voxel_gi->octree_buffer);
+				u.append_id(voxel_gi->octree_buffer);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 				u.binding = 2;
-				u.ids.push_back(voxel_gi->data_buffer);
+				u.append_id(voxel_gi->data_buffer);
 				uniforms.push_back(u);
 			}
 			{
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 				u.binding = 3;
-				u.ids.push_back(shared_tex);
+				u.append_id(shared_tex);
 				uniforms.push_back(u);
 			}
 
@@ -7998,33 +8002,36 @@ void RendererStorageRD::_render_target_allocate_sdf(RenderTarget *rt) {
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 1;
-			u.ids.push_back(rt->sdf_buffer_write);
+			u.append_id(rt->sdf_buffer_write);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 2;
-			u.ids.push_back(rt->sdf_buffer_read);
+			u.append_id(rt->sdf_buffer_read);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 3;
-			u.ids.push_back(rt->sdf_buffer_process[0]);
+			u.append_id(rt->sdf_buffer_process[0]);
 			uniforms.push_back(u);
 		}
 		{
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_IMAGE;
 			u.binding = 4;
-			u.ids.push_back(rt->sdf_buffer_process[1]);
+			u.append_id(rt->sdf_buffer_process[1]);
 			uniforms.push_back(u);
 		}
 
 		rt->sdf_buffer_process_uniform_sets[0] = RD::get_singleton()->uniform_set_create(uniforms, rt_sdf.shader.version_get_shader(rt_sdf.shader_version, 0), 0);
-		SWAP(uniforms.write[2].ids.write[0], uniforms.write[3].ids.write[0]);
+		RID aux2 = uniforms.write[2].get_id(0);
+		RID aux3 = uniforms.write[3].get_id(0);
+		uniforms.write[2].set_id(0, aux3);
+		uniforms.write[3].set_id(0, aux2);
 		rt->sdf_buffer_process_uniform_sets[1] = RD::get_singleton()->uniform_set_create(uniforms, rt_sdf.shader.version_get_shader(rt_sdf.shader_version, 0), 0);
 	}
 }
@@ -10064,11 +10071,9 @@ void process() {
 		Vector<RD::Uniform> uniforms;
 
 		{
-			RD::Uniform u;
-			u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
-			u.binding = 1;
-			u.ids.resize(12);
-			RID *ids_ptr = u.ids.ptrw();
+			Vector<RID> ids;
+			ids.resize(12);
+			RID *ids_ptr = ids.ptrw();
 			ids_ptr[0] = sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_NEAREST, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED);
 			ids_ptr[1] = sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED);
 			ids_ptr[2] = sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_NEAREST_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_DISABLED);
@@ -10081,6 +10086,8 @@ void process() {
 			ids_ptr[9] = sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS, RS::CANVAS_ITEM_TEXTURE_REPEAT_ENABLED);
 			ids_ptr[10] = sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_NEAREST_WITH_MIPMAPS_ANISOTROPIC, RS::CANVAS_ITEM_TEXTURE_REPEAT_ENABLED);
 			ids_ptr[11] = sampler_rd_get_default(RS::CANVAS_ITEM_TEXTURE_FILTER_LINEAR_WITH_MIPMAPS_ANISOTROPIC, RS::CANVAS_ITEM_TEXTURE_REPEAT_ENABLED);
+
+			RD::Uniform u(RD::UNIFORM_TYPE_SAMPLER, 1, ids);
 			uniforms.push_back(u);
 		}
 
@@ -10088,7 +10095,7 @@ void process() {
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 2;
-			u.ids.push_back(global_variables_get_storage_buffer());
+			u.append_id(global_variables_get_storage_buffer());
 			uniforms.push_back(u);
 		}
 
@@ -10157,7 +10164,7 @@ void process() {
 				RD::Uniform u;
 				u.binding = 0;
 				u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
-				u.ids.push_back(default_rd_storage_buffer);
+				u.append_id(default_rd_storage_buffer);
 				uniforms.push_back(u);
 			}
 			skeleton_shader.default_skeleton_uniform_set = RD::get_singleton()->uniform_set_create(uniforms, skeleton_shader.version_shader[0], SkeletonShader::UNIFORM_SET_SKELETON);
diff --git a/servers/rendering/renderer_rd/renderer_storage_rd.h b/servers/rendering/renderer_rd/renderer_storage_rd.h
index 33a3b8e229..9416d04cdd 100644
--- a/servers/rendering/renderer_rd/renderer_storage_rd.h
+++ b/servers/rendering/renderer_rd/renderer_storage_rd.h
@@ -1025,7 +1025,6 @@ private:
 		RS::LightType type;
 		float param[RS::LIGHT_PARAM_MAX];
 		Color color = Color(1, 1, 1, 1);
-		Color shadow_color;
 		RID projector;
 		bool shadow = false;
 		bool negative = false;
@@ -1033,6 +1032,10 @@ private:
 		RS::LightBakeMode bake_mode = RS::LIGHT_BAKE_DYNAMIC;
 		uint32_t max_sdfgi_cascade = 2;
 		uint32_t cull_mask = 0xFFFFFFFF;
+		bool distance_fade = false;
+		real_t distance_fade_begin = 40.0;
+		real_t distance_fade_shadow = 50.0;
+		real_t distance_fade_length = 10.0;
 		RS::LightOmniShadowMode omni_shadow_mode = RS::LIGHT_OMNI_SHADOW_DUAL_PARABOLOID;
 		RS::LightDirectionalShadowMode directional_shadow_mode = RS::LIGHT_DIRECTIONAL_SHADOW_ORTHOGONAL;
 		bool directional_blend_splits = false;
@@ -1761,7 +1764,7 @@ public:
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 0;
-			u.ids.push_back(multimesh->buffer);
+			u.append_id(multimesh->buffer);
 			uniforms.push_back(u);
 			multimesh->uniform_set_3d = RD::get_singleton()->uniform_set_create(uniforms, p_shader, p_set);
 		}
@@ -1776,7 +1779,7 @@ public:
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 0;
-			u.ids.push_back(multimesh->buffer);
+			u.append_id(multimesh->buffer);
 			uniforms.push_back(u);
 			multimesh->uniform_set_2d = RD::get_singleton()->uniform_set_create(uniforms, p_shader, p_set);
 		}
@@ -1814,7 +1817,7 @@ public:
 			RD::Uniform u;
 			u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 			u.binding = 0;
-			u.ids.push_back(skeleton->buffer);
+			u.append_id(skeleton->buffer);
 			uniforms.push_back(u);
 			skeleton->uniform_set_3d = RD::get_singleton()->uniform_set_create(uniforms, p_shader, p_set);
 		}
@@ -1837,10 +1840,10 @@ public:
 	void light_set_color(RID p_light, const Color &p_color);
 	void light_set_param(RID p_light, RS::LightParam p_param, float p_value);
 	void light_set_shadow(RID p_light, bool p_enabled);
-	void light_set_shadow_color(RID p_light, const Color &p_color);
 	void light_set_projector(RID p_light, RID p_texture);
 	void light_set_negative(RID p_light, bool p_enable);
 	void light_set_cull_mask(RID p_light, uint32_t p_mask);
+	void light_set_distance_fade(RID p_light, bool p_enabled, float p_begin, float p_shadow, float p_length);
 	void light_set_reverse_cull_face_mode(RID p_light, bool p_enabled);
 	void light_set_bake_mode(RID p_light, RS::LightBakeMode p_bake_mode);
 	void light_set_max_sdfgi_cascade(RID p_light, uint32_t p_cascade);
@@ -1885,18 +1888,31 @@ public:
 		return light->color;
 	}
 
-	_FORCE_INLINE_ Color light_get_shadow_color(RID p_light) {
+	_FORCE_INLINE_ uint32_t light_get_cull_mask(RID p_light) {
 		const Light *light = light_owner.get_or_null(p_light);
-		ERR_FAIL_COND_V(!light, Color());
+		ERR_FAIL_COND_V(!light, 0);
 
-		return light->shadow_color;
+		return light->cull_mask;
 	}
 
-	_FORCE_INLINE_ uint32_t light_get_cull_mask(RID p_light) {
+	_FORCE_INLINE_ bool light_is_distance_fade_enabled(RID p_light) {
 		const Light *light = light_owner.get_or_null(p_light);
-		ERR_FAIL_COND_V(!light, 0);
+		return light->distance_fade;
+	}
 
-		return light->cull_mask;
+	_FORCE_INLINE_ float light_get_distance_fade_begin(RID p_light) {
+		const Light *light = light_owner.get_or_null(p_light);
+		return light->distance_fade_begin;
+	}
+
+	_FORCE_INLINE_ float light_get_distance_fade_shadow(RID p_light) {
+		const Light *light = light_owner.get_or_null(p_light);
+		return light->distance_fade_shadow;
+	}
+
+	_FORCE_INLINE_ float light_get_distance_fade_length(RID p_light) {
+		const Light *light = light_owner.get_or_null(p_light);
+		return light->distance_fade_length;
 	}
 
 	_FORCE_INLINE_ bool light_has_shadow(RID p_light) const {
@@ -2251,7 +2267,7 @@ public:
 				RD::Uniform u;
 				u.uniform_type = RD::UNIFORM_TYPE_STORAGE_BUFFER;
 				u.binding = 0;
-				u.ids.push_back(particles->particle_instance_buffer);
+				u.append_id(particles->particle_instance_buffer);
 				uniforms.push_back(u);
 			}
 
diff --git a/servers/rendering/renderer_rd/shaders/light_data_inc.glsl b/servers/rendering/renderer_rd/shaders/light_data_inc.glsl
index 52787bb204..61c8488a05 100644
--- a/servers/rendering/renderer_rd/shaders/light_data_inc.glsl
+++ b/servers/rendering/renderer_rd/shaders/light_data_inc.glsl
@@ -76,10 +76,6 @@ struct DirectionalLightData {
 	highp mat4 shadow_matrix2;
 	highp mat4 shadow_matrix3;
 	highp mat4 shadow_matrix4;
-	mediump vec4 shadow_color1;
-	mediump vec4 shadow_color2;
-	mediump vec4 shadow_color3;
-	mediump vec4 shadow_color4;
 	highp vec2 uv_scale1;
 	highp vec2 uv_scale2;
 	highp vec2 uv_scale3;
diff --git a/servers/rendering/renderer_rd/shaders/scene_forward_mobile.glsl b/servers/rendering/renderer_rd/shaders/scene_forward_mobile.glsl
index a1cf1d3c04..0fcf449659 100644
--- a/servers/rendering/renderer_rd/shaders/scene_forward_mobile.glsl
+++ b/servers/rendering/renderer_rd/shaders/scene_forward_mobile.glsl
@@ -1054,6 +1054,12 @@ void main() {
 		if (reflection_accum.a > 0.0) {
 			specular_light = reflection_accum.rgb / reflection_accum.a;
 		}
+
+#if !defined(USE_LIGHTMAP)
+		if (ambient_accum.a > 0.0) {
+			ambient_light = ambient_accum.rgb / ambient_accum.a;
+		}
+#endif
 	} //Reflection probes
 
 	// finalize ambient light here
@@ -1124,7 +1130,6 @@ void main() {
 				float depth_z = -vertex.z;
 
 				vec4 pssm_coord;
-				vec3 shadow_color = vec3(0.0);
 				vec3 light_dir = directional_lights.data[i].direction;
 
 #define BIAS_FUNC(m_var, m_idx)                                                                                                                                       \
@@ -1150,9 +1155,6 @@ void main() {
 					} else {
 						shadow = sample_directional_pcf_shadow(directional_shadow_atlas, scene_data.directional_shadow_pixel_size * directional_lights.data[i].soft_shadow_scale, pssm_coord);
 					}
-
-					shadow_color = directional_lights.data[i].shadow_color1.rgb;
-
 				} else if (depth_z < directional_lights.data[i].shadow_split_offsets.y) {
 					vec4 v = vec4(vertex, 1.0);
 
@@ -1170,8 +1172,6 @@ void main() {
 					} else {
 						shadow = sample_directional_pcf_shadow(directional_shadow_atlas, scene_data.directional_shadow_pixel_size * directional_lights.data[i].soft_shadow_scale, pssm_coord);
 					}
-
-					shadow_color = directional_lights.data[i].shadow_color2.rgb;
 				} else if (depth_z < directional_lights.data[i].shadow_split_offsets.z) {
 					vec4 v = vec4(vertex, 1.0);
 
@@ -1189,9 +1189,6 @@ void main() {
 					} else {
 						shadow = sample_directional_pcf_shadow(directional_shadow_atlas, scene_data.directional_shadow_pixel_size * directional_lights.data[i].soft_shadow_scale, pssm_coord);
 					}
-
-					shadow_color = directional_lights.data[i].shadow_color3.rgb;
-
 				} else {
 					vec4 v = vec4(vertex, 1.0);
 
@@ -1209,12 +1206,9 @@ void main() {
 					} else {
 						shadow = sample_directional_pcf_shadow(directional_shadow_atlas, scene_data.directional_shadow_pixel_size * directional_lights.data[i].soft_shadow_scale, pssm_coord);
 					}
-
-					shadow_color = directional_lights.data[i].shadow_color4.rgb;
 				}
 
 				if (directional_lights.data[i].blend_splits) {
-					vec3 shadow_color_blend = vec3(0.0);
 					float pssm_blend;
 					float shadow2;
 
@@ -1235,7 +1229,6 @@ void main() {
 						}
 
 						pssm_blend = smoothstep(0.0, directional_lights.data[i].shadow_split_offsets.x, depth_z);
-						shadow_color_blend = directional_lights.data[i].shadow_color2.rgb;
 					} else if (depth_z < directional_lights.data[i].shadow_split_offsets.y) {
 						vec4 v = vec4(vertex, 1.0);
 						BIAS_FUNC(v, 2)
@@ -1253,8 +1246,6 @@ void main() {
 						}
 
 						pssm_blend = smoothstep(directional_lights.data[i].shadow_split_offsets.x, directional_lights.data[i].shadow_split_offsets.y, depth_z);
-
-						shadow_color_blend = directional_lights.data[i].shadow_color3.rgb;
 					} else if (depth_z < directional_lights.data[i].shadow_split_offsets.z) {
 						vec4 v = vec4(vertex, 1.0);
 						BIAS_FUNC(v, 3)
@@ -1271,7 +1262,6 @@ void main() {
 						}
 
 						pssm_blend = smoothstep(directional_lights.data[i].shadow_split_offsets.y, directional_lights.data[i].shadow_split_offsets.z, depth_z);
-						shadow_color_blend = directional_lights.data[i].shadow_color4.rgb;
 					} else {
 						pssm_blend = 0.0; //if no blend, same coord will be used (divide by z will result in same value, and already cached)
 					}
@@ -1279,7 +1269,6 @@ void main() {
 					pssm_blend = sqrt(pssm_blend);
 
 					shadow = mix(shadow, shadow2, pssm_blend);
-					shadow_color = mix(shadow_color, shadow_color_blend, pssm_blend);
 				}
 
 				shadow = mix(shadow, 1.0, smoothstep(directional_lights.data[i].fade_from, directional_lights.data[i].fade_to, vertex.z)); //done with negative values for performance
diff --git a/servers/rendering/renderer_rd/shaders/sdfgi_direct_light.glsl b/servers/rendering/renderer_rd/shaders/sdfgi_direct_light.glsl
index 5bda15236c..b95fad650e 100644
--- a/servers/rendering/renderer_rd/shaders/sdfgi_direct_light.glsl
+++ b/servers/rendering/renderer_rd/shaders/sdfgi_direct_light.glsl
@@ -70,8 +70,6 @@ struct Light {
 	float cos_spot_angle;
 	float inv_spot_attenuation;
 	float radius;
-
-	vec4 shadow_color;
 };
 
 layout(set = 0, binding = 9, std140) buffer restrict readonly Lights {
diff --git a/servers/rendering/renderer_rd/shaders/volumetric_fog_process.glsl b/servers/rendering/renderer_rd/shaders/volumetric_fog_process.glsl
index 7a0cea421e..347fd13b28 100644
--- a/servers/rendering/renderer_rd/shaders/volumetric_fog_process.glsl
+++ b/servers/rendering/renderer_rd/shaders/volumetric_fog_process.glsl
@@ -382,7 +382,6 @@ void main() {
 				float depth_z = -view_pos.z;
 
 				vec4 pssm_coord;
-				vec3 shadow_color = directional_lights.data[i].shadow_color1.rgb;
 				vec3 light_dir = directional_lights.data[i].direction;
 				vec4 v = vec4(view_pos, 1.0);
 				float z_range;
@@ -413,7 +412,7 @@ void main() {
 
 				shadow = mix(shadow, 1.0, smoothstep(directional_lights.data[i].fade_from, directional_lights.data[i].fade_to, view_pos.z)); //done with negative values for performance
 
-				shadow_attenuation = mix(shadow_color, vec3(1.0), shadow);
+				shadow_attenuation = mix(vec3(0.0), vec3(1.0), shadow);
 			}
 
 			total_light += shadow_attenuation * directional_lights.data[i].color * directional_lights.data[i].energy * henyey_greenstein(dot(normalize(view_pos), normalize(directional_lights.data[i].direction)), params.phase_g);
diff --git a/modules/bullet/constraint_bullet.cpp b/servers/rendering/renderer_rd/uniform_set_cache_rd.cpp
index c788f09cb9..5843b9db24 100644
--- a/modules/bullet/constraint_bullet.cpp
+++ b/servers/rendering/renderer_rd/uniform_set_cache_rd.cpp
@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  constraint_bullet.cpp                                                */
+/*  uniform_set_cache_rd.cpp                                             */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,31 +28,37 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "constraint_bullet.h"
+#include "uniform_set_cache_rd.h"
 
-#include "collision_object_bullet.h"
-#include "space_bullet.h"
+UniformSetCacheRD *UniformSetCacheRD::singleton = nullptr;
 
-ConstraintBullet::ConstraintBullet() {}
+void UniformSetCacheRD::_invalidate(Cache *p_cache) {
+	if (p_cache->prev) {
+		p_cache->prev->next = p_cache->next;
+	} else {
+		// At begining of table
+		uint32_t table_idx = p_cache->hash % HASH_TABLE_SIZE;
+		hash_table[table_idx] = p_cache->next;
+	}
 
-void ConstraintBullet::setup(btTypedConstraint *p_constraint) {
-	constraint = p_constraint;
-	constraint->setUserConstraintPtr(this);
-}
+	if (p_cache->next) {
+		p_cache->next->prev = p_cache->prev;
+	}
 
-void ConstraintBullet::set_space(SpaceBullet *p_space) {
-	space = p_space;
+	cache_allocator.free(p_cache);
+	cache_instances_used--;
 }
-
-void ConstraintBullet::destroy_internal_constraint() {
-	space->remove_constraint(this);
+void UniformSetCacheRD::_uniform_set_invalidation_callback(void *p_userdata) {
+	singleton->_invalidate(reinterpret_cast<Cache *>(p_userdata));
 }
 
-void ConstraintBullet::disable_collisions_between_bodies(const bool p_disabled) {
-	disabled_collisions_between_bodies = p_disabled;
+UniformSetCacheRD::UniformSetCacheRD() {
+	ERR_FAIL_COND(singleton != nullptr);
+	singleton = this;
+}
 
-	if (space) {
-		space->remove_constraint(this);
-		space->add_constraint(this, disabled_collisions_between_bodies);
+UniformSetCacheRD::~UniformSetCacheRD() {
+	if (cache_instances_used > 0) {
+		ERR_PRINT("At exit: " + itos(cache_instances_used) + " uniform set cache instance(s) still in use.");
 	}
 }
diff --git a/servers/rendering/renderer_rd/uniform_set_cache_rd.h b/servers/rendering/renderer_rd/uniform_set_cache_rd.h
new file mode 100644
index 0000000000..e49cf4dafa
--- /dev/null
+++ b/servers/rendering/renderer_rd/uniform_set_cache_rd.h
@@ -0,0 +1,221 @@
+/*************************************************************************/
+/*  uniform_set_cache_rd.h                                               */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                      https://godotengine.org                          */
+/*************************************************************************/
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
+/*                                                                       */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the       */
+/* "Software"), to deal in the Software without restriction, including   */
+/* without limitation the rights to use, copy, modify, merge, publish,   */
+/* distribute, sublicense, and/or sell copies of the Software, and to    */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions:                                             */
+/*                                                                       */
+/* The above copyright notice and this permission notice shall be        */
+/* included in all copies or substantial portions of the Software.       */
+/*                                                                       */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
+/*************************************************************************/
+
+#ifndef UNIFORM_SET_CACHE_H
+#define UNIFORM_SET_CACHE_H
+
+#include "core/templates/local_vector.h"
+#include "core/templates/paged_allocator.h"
+#include "servers/rendering/rendering_device.h"
+
+class UniformSetCacheRD : public Object {
+	GDCLASS(UniformSetCacheRD, Object)
+
+	struct Cache {
+		Cache *prev = nullptr;
+		Cache *next = nullptr;
+		uint32_t hash = 0;
+		RID shader;
+		uint32_t set = 0;
+		RID cache;
+		LocalVector<RD::Uniform> uniforms;
+	};
+
+	PagedAllocator<Cache> cache_allocator;
+
+	enum {
+		HASH_TABLE_SIZE = 16381 // Prime
+	};
+
+	Cache *hash_table[HASH_TABLE_SIZE] = {};
+
+	static _FORCE_INLINE_ uint32_t _hash_uniform(const RD::Uniform &u, uint32_t h) {
+		h = hash_djb2_one_32(u.uniform_type, h);
+		h = hash_djb2_one_32(u.binding, h);
+		uint32_t rsize = u.get_id_count();
+		for (uint32_t j = 0; j < rsize; j++) {
+			h = hash_djb2_one_64(u.get_id(j).get_id(), h);
+		}
+		return h;
+	}
+
+	static _FORCE_INLINE_ bool _compare_uniform(const RD::Uniform &a, const RD::Uniform &b) {
+		if (a.binding != b.binding) {
+			return false;
+		}
+		if (a.uniform_type != b.uniform_type) {
+			return false;
+		}
+		uint32_t rsize = a.get_id_count();
+		if (rsize != b.get_id_count()) {
+			return false;
+		}
+		for (uint32_t j = 0; j < rsize; j++) {
+			if (a.get_id(j) != b.get_id(j)) {
+				return false;
+			}
+		}
+		return true;
+	}
+
+	_FORCE_INLINE_ uint32_t _hash_args(uint32_t h, const RD::Uniform &arg) {
+		return _hash_uniform(arg, h);
+	}
+
+	template <typename... Args>
+	uint32_t _hash_args(uint32_t h, const RD::Uniform &arg, Args... args) {
+		h = _hash_uniform(arg, h);
+		return _hash_args(h, args...);
+	}
+
+	_FORCE_INLINE_ bool _compare_args(uint32_t idx, const LocalVector<RD::Uniform> &uniforms, const RD::Uniform &arg) {
+		return _compare_uniform(uniforms[idx], arg);
+	}
+
+	template <typename... Args>
+	_FORCE_INLINE_ bool _compare_args(uint32_t idx, const LocalVector<RD::Uniform> &uniforms, const RD::Uniform &arg, Args... args) {
+		if (!_compare_uniform(uniforms[idx], arg)) {
+			return false;
+		}
+		return _compare_args(idx + 1, uniforms, args...);
+	}
+
+	_FORCE_INLINE_ void _create_args(Vector<RD::Uniform> &uniforms, const RD::Uniform &arg) {
+		uniforms.push_back(arg);
+	}
+
+	template <typename... Args>
+	_FORCE_INLINE_ void _create_args(Vector<RD::Uniform> &uniforms, const RD::Uniform &arg, Args... args) {
+		uniforms.push_back(arg);
+		_create_args(uniforms, args...);
+	}
+
+	static UniformSetCacheRD *singleton;
+
+	uint32_t cache_instances_used = 0;
+
+	void _invalidate(Cache *p_cache);
+	static void _uniform_set_invalidation_callback(void *p_userdata);
+
+	RID _allocate_from_uniforms(RID p_shader, uint32_t p_set, uint32_t p_hash, uint32_t p_table_idx, const Vector<RD::Uniform> &p_uniforms) {
+		RID rid = RD::get_singleton()->uniform_set_create(p_uniforms, p_shader, p_set);
+		ERR_FAIL_COND_V(rid.is_null(), rid);
+
+		Cache *c = cache_allocator.alloc();
+		c->hash = p_hash;
+		c->set = p_set;
+		c->shader = p_shader;
+		c->cache = rid;
+		c->uniforms.resize(p_uniforms.size());
+		for (uint32_t i = 0; i < c->uniforms.size(); i++) {
+			c->uniforms[i] = p_uniforms[i];
+		}
+		c->prev = nullptr;
+		c->next = hash_table[p_table_idx];
+		if (hash_table[p_table_idx]) {
+			hash_table[p_table_idx]->prev = c;
+		}
+		hash_table[p_table_idx] = c;
+
+		RD::get_singleton()->uniform_set_set_invalidation_callback(rid, _uniform_set_invalidation_callback, c);
+
+		cache_instances_used++;
+
+		return rid;
+	}
+
+public:
+	template <typename... Args>
+	RID get_cache(RID p_shader, uint32_t p_set, Args... args) {
+		uint32_t h = hash_djb2_one_64(p_shader.get_id());
+		h = hash_djb2_one_32(p_set, h);
+		h = _hash_args(h, args...);
+
+		uint32_t table_idx = h % HASH_TABLE_SIZE;
+		{
+			const Cache *c = hash_table[table_idx];
+
+			while (c) {
+				if (c->hash == h && c->set == p_set && c->shader == p_shader && _compare_args(0, c->uniforms, args...)) {
+					return c->cache;
+				}
+				c = c->next;
+			}
+		}
+
+		// Not in cache, create:
+
+		Vector<RD::Uniform> uniforms;
+		_create_args(uniforms, args...);
+
+		return _allocate_from_uniforms(p_shader, p_set, h, table_idx, uniforms);
+	}
+
+	template <typename... Args>
+	RID get_cache_vec(RID p_shader, uint32_t p_set, const Vector<RD::Uniform> &p_uniforms) {
+		uint32_t h = hash_djb2_one_64(p_shader.get_id());
+		h = hash_djb2_one_32(p_set, h);
+		for (int i = 0; i < p_uniforms.size(); i++) {
+			h = _hash_uniform(p_uniforms[i], h);
+		}
+
+		uint32_t table_idx = h % HASH_TABLE_SIZE;
+		{
+			const Cache *c = hash_table[table_idx];
+
+			while (c) {
+				if (c->hash == h && c->set == p_set && c->shader == p_shader) {
+					bool all_ok = true;
+					for (int i = 0; i < p_uniforms.size(); i++) {
+						if (!_compare_uniform(p_uniforms[i], c->uniforms[i])) {
+							all_ok = false;
+							break;
+						}
+					}
+
+					if (all_ok) {
+						return c->cache;
+					}
+				}
+				c = c->next;
+			}
+		}
+
+		// Not in cache, create:
+		return _allocate_from_uniforms(p_shader, p_set, h, table_idx, p_uniforms);
+	}
+
+	static UniformSetCacheRD *get_singleton() { return singleton; }
+
+	UniformSetCacheRD();
+	~UniformSetCacheRD();
+};
+
+#endif // UNIFORMSETCACHE_H
diff --git a/servers/rendering/renderer_scene_cull.cpp b/servers/rendering/renderer_scene_cull.cpp
index 5bdc7ce600..485cd7ba9d 100644
--- a/servers/rendering/renderer_scene_cull.cpp
+++ b/servers/rendering/renderer_scene_cull.cpp
@@ -2039,7 +2039,7 @@ void RendererSceneCull::_light_instance_setup_directional_shadow(int p_shadow_in
 	cull.shadows[p_shadow_index].light_instance = light->instance;
 
 	for (int i = 0; i < splits; i++) {
-		RENDER_TIMESTAMP("Culling Directional Light split" + itos(i));
+		RENDER_TIMESTAMP("Cull DirectionalLight3D, Split " + itos(i));
 
 		// setup a camera matrix for that range!
 		CameraMatrix camera_matrix;
@@ -2227,7 +2227,7 @@ bool RendererSceneCull::_light_instance_update_shadow(Instance *p_instance, cons
 				}
 				for (int i = 0; i < 2; i++) {
 					//using this one ensures that raster deferred will have it
-					RENDER_TIMESTAMP("Culling Shadow Paraboloid" + itos(i));
+					RENDER_TIMESTAMP("Cull OmniLight3D Shadow Paraboloid, Half " + itos(i));
 
 					real_t radius = RSG::storage->light_get_param(p_instance->base, RS::LIGHT_PARAM_RANGE);
 
@@ -2295,7 +2295,7 @@ bool RendererSceneCull::_light_instance_update_shadow(Instance *p_instance, cons
 				cm.set_perspective(90, 1, radius * 0.005f, radius);
 
 				for (int i = 0; i < 6; i++) {
-					RENDER_TIMESTAMP("Culling Shadow Cube side" + itos(i));
+					RENDER_TIMESTAMP("Cull OmniLight3D Shadow Cube, Side " + itos(i));
 					//using this one ensures that raster deferred will have it
 
 					static const Vector3 view_normals[6] = {
@@ -2368,7 +2368,7 @@ bool RendererSceneCull::_light_instance_update_shadow(Instance *p_instance, cons
 
 		} break;
 		case RS::LIGHT_SPOT: {
-			RENDER_TIMESTAMP("Culling Spot Light");
+			RENDER_TIMESTAMP("Cull SpotLight3D Shadow");
 
 			if (max_shadows_used + 1 > MAX_UPDATE_SHADOWS) {
 				return true;
@@ -2508,7 +2508,7 @@ void RendererSceneCull::render_camera(RID p_render_buffers, RID p_camera, RID p_
 
 	RID environment = _render_get_environment(p_camera, p_scenario);
 
-	RENDER_TIMESTAMP("Update occlusion buffer")
+	RENDER_TIMESTAMP("Update Occlusion Buffer")
 	// For now just cull on the first camera
 	RendererSceneOcclusionCull::get_singleton()->buffer_update(p_viewport, camera_data.main_transform, camera_data.main_projection, camera_data.is_ortogonal, RendererThreadPool::singleton->thread_work_pool);
 
@@ -2890,7 +2890,7 @@ void RendererSceneCull::_render_scene(const RendererSceneRender::CameraData *p_c
 		scene_render->sdfgi_update(p_render_buffers, p_environment, p_camera_data->main_transform.origin); //update conditions for SDFGI (whether its used or not)
 	}
 
-	RENDER_TIMESTAMP("Visibility Dependencies");
+	RENDER_TIMESTAMP("Update Visibility Dependencies");
 
 	if (scenario->instance_visibility.get_bin_count() > 0) {
 		if (!scenario->viewport_visibility_masks.has(p_viewport)) {
@@ -2918,7 +2918,7 @@ void RendererSceneCull::_render_scene(const RendererSceneRender::CameraData *p_c
 		}
 	}
 
-	RENDER_TIMESTAMP("Culling");
+	RENDER_TIMESTAMP("Cull 3D Scene");
 
 	//rasterizer->set_camera(p_camera_data->main_transform, p_camera_data.main_projection, p_camera_data.is_ortogonal);
 
@@ -3155,9 +3155,9 @@ void RendererSceneCull::_render_scene(const RendererSceneRender::CameraData *p_c
 
 			if (redraw && max_shadows_used < MAX_UPDATE_SHADOWS) {
 				//must redraw!
-				RENDER_TIMESTAMP(">Rendering Light " + itos(i));
+				RENDER_TIMESTAMP("> Render Light3D " + itos(i));
 				light->shadow_dirty = _light_instance_update_shadow(ins, p_camera_data->main_transform, p_camera_data->main_projection, p_camera_data->is_ortogonal, p_camera_data->vaspect, p_shadow_atlas, scenario, p_screen_mesh_lod_threshold);
-				RENDER_TIMESTAMP("<Rendering Light " + itos(i));
+				RENDER_TIMESTAMP("< Render Light3D " + itos(i));
 			} else {
 				light->shadow_dirty = redraw;
 			}
@@ -3217,7 +3217,7 @@ void RendererSceneCull::_render_scene(const RendererSceneRender::CameraData *p_c
 		occluders_tex = RSG::viewport->viewport_get_occluder_debug_texture(p_viewport);
 	}
 
-	RENDER_TIMESTAMP("Render Scene ");
+	RENDER_TIMESTAMP("Render 3D Scene");
 	scene_render->render_scene(p_render_buffers, p_camera_data, scene_cull_result.geometry_instances, scene_cull_result.light_instances, scene_cull_result.reflections, scene_cull_result.voxel_gi_instances, scene_cull_result.decals, scene_cull_result.lightmaps, scene_cull_result.fog_volumes, p_environment, camera_effects, p_shadow_atlas, occluders_tex, p_reflection_probe.is_valid() ? RID() : scenario->reflection_atlas, p_reflection_probe, p_reflection_probe_pass, p_screen_mesh_lod_threshold, render_shadow_data, max_shadows_used, render_sdfgi_data, cull.sdfgi.region_count, &sdfgi_update_data, r_render_info);
 
 	for (uint32_t i = 0; i < max_shadows_used; i++) {
@@ -3263,7 +3263,7 @@ void RendererSceneCull::render_empty_scene(RID p_render_buffers, RID p_scenario,
 	} else {
 		environment = scenario->fallback_environment;
 	}
-	RENDER_TIMESTAMP("Render Empty Scene ");
+	RENDER_TIMESTAMP("Render Empty 3D Scene");
 
 	RendererSceneRender::CameraData camera_data;
 	camera_data.set_camera(Transform3D(), CameraMatrix(), true, false);
@@ -3337,7 +3337,7 @@ bool RendererSceneCull::_render_reflection_probe_step(Instance *p_instance, int
 			environment = scenario->fallback_environment;
 		}
 
-		RENDER_TIMESTAMP("Render Reflection Probe, Step " + itos(p_step));
+		RENDER_TIMESTAMP("Render ReflectionProbe, Step " + itos(p_step));
 		RendererSceneRender::CameraData camera_data;
 		camera_data.set_camera(xform, cm, false, false);
 
@@ -3345,7 +3345,7 @@ bool RendererSceneCull::_render_reflection_probe_step(Instance *p_instance, int
 
 	} else {
 		//do roughness postprocess step until it believes it's done
-		RENDER_TIMESTAMP("Post-Process Reflection Probe, Step " + itos(p_step));
+		RENDER_TIMESTAMP("Post-Process ReflectionProbe, Step " + itos(p_step));
 		return scene_render->reflection_probe_instance_postprocess_step(reflection_probe->instance);
 	}
 
@@ -3398,7 +3398,7 @@ void RendererSceneCull::render_probes() {
 	SelfList<InstanceVoxelGIData> *voxel_gi = voxel_gi_update_list.first();
 
 	if (voxel_gi) {
-		RENDER_TIMESTAMP("Render GI Probes");
+		RENDER_TIMESTAMP("Render VoxelGI");
 	}
 
 	while (voxel_gi) {
diff --git a/servers/rendering/renderer_storage.h b/servers/rendering/renderer_storage.h
index a2df7ad38e..ca3d3a048d 100644
--- a/servers/rendering/renderer_storage.h
+++ b/servers/rendering/renderer_storage.h
@@ -317,10 +317,10 @@ public:
 	virtual void light_set_color(RID p_light, const Color &p_color) = 0;
 	virtual void light_set_param(RID p_light, RS::LightParam p_param, float p_value) = 0;
 	virtual void light_set_shadow(RID p_light, bool p_enabled) = 0;
-	virtual void light_set_shadow_color(RID p_light, const Color &p_color) = 0;
 	virtual void light_set_projector(RID p_light, RID p_texture) = 0;
 	virtual void light_set_negative(RID p_light, bool p_enable) = 0;
 	virtual void light_set_cull_mask(RID p_light, uint32_t p_mask) = 0;
+	virtual void light_set_distance_fade(RID p_light, bool p_enabled, float p_begin, float p_shadow, float p_length) = 0;
 	virtual void light_set_reverse_cull_face_mode(RID p_light, bool p_enabled) = 0;
 	virtual void light_set_bake_mode(RID p_light, RS::LightBakeMode p_bake_mode) = 0;
 	virtual void light_set_max_sdfgi_cascade(RID p_light, uint32_t p_cascade) = 0;
diff --git a/servers/rendering/renderer_viewport.cpp b/servers/rendering/renderer_viewport.cpp
index 69c017a1c8..b448a15d8e 100644
--- a/servers/rendering/renderer_viewport.cpp
+++ b/servers/rendering/renderer_viewport.cpp
@@ -145,7 +145,7 @@ void RendererViewport::_configure_3d_render_buffers(Viewport *p_viewport) {
 }
 
 void RendererViewport::_draw_3d(Viewport *p_viewport) {
-	RENDER_TIMESTAMP(">Begin Rendering 3D Scene");
+	RENDER_TIMESTAMP("> Render 3D Scene");
 
 	Ref<XRInterface> xr_interface;
 	if (p_viewport->use_xr && XRServer::get_singleton() != nullptr) {
@@ -170,7 +170,7 @@ void RendererViewport::_draw_3d(Viewport *p_viewport) {
 	float screen_mesh_lod_threshold = p_viewport->mesh_lod_threshold / float(p_viewport->size.width);
 	RSG::scene->render_camera(p_viewport->render_buffers, p_viewport->camera, p_viewport->scenario, p_viewport->self, p_viewport->internal_size, screen_mesh_lod_threshold, p_viewport->shadow_atlas, xr_interface, &p_viewport->render_info);
 
-	RENDER_TIMESTAMP("<End Rendering 3D Scene");
+	RENDER_TIMESTAMP("< Render 3D Scene");
 }
 
 void RendererViewport::_draw_viewport(Viewport *p_viewport) {
@@ -281,7 +281,7 @@ void RendererViewport::_draw_viewport(Viewport *p_viewport) {
 		int shadow_count = 0;
 		int directional_light_count = 0;
 
-		RENDER_TIMESTAMP("Cull Canvas Lights");
+		RENDER_TIMESTAMP("Cull 2D Lights");
 		for (KeyValue<RID, Viewport::CanvasData> &E : p_viewport->canvas_map) {
 			RendererCanvasCull::Canvas *canvas = static_cast<RendererCanvasCull::Canvas *>(E.value.canvas);
 
@@ -355,8 +355,8 @@ void RendererViewport::_draw_viewport(Viewport *p_viewport) {
 
 			RendererCanvasRender::LightOccluderInstance *occluders = nullptr;
 
-			RENDER_TIMESTAMP(">Render 2D Shadows");
-			RENDER_TIMESTAMP("Cull Occluders");
+			RENDER_TIMESTAMP("> Render PointLight2D Shadows");
+			RENDER_TIMESTAMP("Cull LightOccluder2Ds");
 
 			//make list of occluders
 			for (KeyValue<RID, Viewport::CanvasData> &E : p_viewport->canvas_map) {
@@ -378,13 +378,13 @@ void RendererViewport::_draw_viewport(Viewport *p_viewport) {
 
 			RendererCanvasRender::Light *light = lights_with_shadow;
 			while (light) {
-				RENDER_TIMESTAMP("Render Shadow");
+				RENDER_TIMESTAMP("Render PointLight2D Shadow");
 
 				RSG::canvas_render->light_update_shadow(light->light_internal, shadow_count++, light->xform_cache.affine_inverse(), light->item_shadow_mask, light->radius_cache / 1000.0, light->radius_cache * 1.1, occluders);
 				light = light->shadows_next_ptr;
 			}
 
-			RENDER_TIMESTAMP("<End rendering 2D Shadows");
+			RENDER_TIMESTAMP("< Render PointLight2D Shadows");
 		}
 
 		if (directional_lights_with_shadow) {
@@ -436,7 +436,7 @@ void RendererViewport::_draw_viewport(Viewport *p_viewport) {
 
 				RendererCanvasRender::LightOccluderInstance *occluders = nullptr;
 
-				RENDER_TIMESTAMP(">Render Directional 2D Shadows");
+				RENDER_TIMESTAMP("> Render DirectionalLight2D Shadows");
 
 				//make list of occluders
 				int occ_cullded = 0;
@@ -467,7 +467,7 @@ void RendererViewport::_draw_viewport(Viewport *p_viewport) {
 				light = light->shadows_next_ptr;
 			}
 
-			RENDER_TIMESTAMP("<Render Directional 2D Shadows");
+			RENDER_TIMESTAMP("< Render DirectionalLight2D Shadows");
 		}
 
 		if (scenario_draw_canvas_bg && canvas_map.front() && canvas_map.front()->key().get_layer() > scenario_canvas_max_layer) {
@@ -566,7 +566,7 @@ void RendererViewport::draw_viewports() {
 
 	Map<DisplayServer::WindowID, Vector<BlitToScreen>> blit_to_screen_list;
 	//draw viewports
-	RENDER_TIMESTAMP(">Render Viewports");
+	RENDER_TIMESTAMP("> Render Viewports");
 
 	//determine what is visible
 	draw_viewports_pass++;
@@ -641,7 +641,7 @@ void RendererViewport::draw_viewports() {
 			continue; //should not draw
 		}
 
-		RENDER_TIMESTAMP(">Rendering Viewport " + itos(i));
+		RENDER_TIMESTAMP("> Render Viewport " + itos(i));
 
 		RSG::storage->render_target_set_as_unused(vp->render_target);
 		if (vp->use_xr && xr_interface.is_valid()) {
@@ -699,7 +699,7 @@ void RendererViewport::draw_viewports() {
 			vp->update_mode = RS::VIEWPORT_UPDATE_DISABLED;
 		}
 
-		RENDER_TIMESTAMP("<Rendering Viewport " + itos(i));
+		RENDER_TIMESTAMP("< Render Viewport " + itos(i));
 
 		objects_drawn += vp->render_info.info[RS::VIEWPORT_RENDER_INFO_TYPE_VISIBLE][RS::VIEWPORT_RENDER_INFO_OBJECTS_IN_FRAME] + vp->render_info.info[RS::VIEWPORT_RENDER_INFO_TYPE_SHADOW][RS::VIEWPORT_RENDER_INFO_OBJECTS_IN_FRAME];
 		vertices_drawn += vp->render_info.info[RS::VIEWPORT_RENDER_INFO_TYPE_VISIBLE][RS::VIEWPORT_RENDER_INFO_PRIMITIVES_IN_FRAME] + vp->render_info.info[RS::VIEWPORT_RENDER_INFO_TYPE_SHADOW][RS::VIEWPORT_RENDER_INFO_PRIMITIVES_IN_FRAME];
@@ -711,7 +711,7 @@ void RendererViewport::draw_viewports() {
 	total_vertices_drawn = vertices_drawn;
 	total_draw_calls_used = draw_calls_used;
 
-	RENDER_TIMESTAMP("<Render Viewports");
+	RENDER_TIMESTAMP("< Render Viewports");
 	//this needs to be called to make screen swapping more efficient
 	RSG::rasterizer->prepare_for_blitting_render_targets();
 
diff --git a/servers/rendering/rendering_device.h b/servers/rendering/rendering_device.h
index 49d89bcadc..1880415342 100644
--- a/servers/rendering/rendering_device.h
+++ b/servers/rendering/rendering_device.h
@@ -726,16 +726,65 @@ public:
 
 	struct Uniform {
 		UniformType uniform_type;
-		int binding; //binding index as specified in shader
+		int binding; // Binding index as specified in shader.
 
-		//for single items, provide one ID, for
-		//multiple items (declared as arrays in shader),
-		//provide more
-		//for sampler with texture, supply two IDs for each.
-		//accepted IDs are: Sampler, Texture, Uniform Buffer and Texture Buffer
-		Vector<RID> ids;
+	private:
+		// In most cases only one ID is provided per binding, so avoid allocating memory unnecesarily for performance.
+		RID id; // If only one is provided, this is used.
+		Vector<RID> ids; // If multiple ones are provided, this is used instead.
 
-		Uniform() {
+	public:
+		_FORCE_INLINE_ uint32_t get_id_count() const {
+			return (id.is_valid() ? 1 : ids.size());
+		}
+
+		_FORCE_INLINE_ RID get_id(uint32_t p_idx) const {
+			if (id.is_valid()) {
+				ERR_FAIL_COND_V(p_idx != 0, RID());
+				return id;
+			} else {
+				return ids[p_idx];
+			}
+		}
+		_FORCE_INLINE_ void set_id(uint32_t p_idx, RID p_id) {
+			if (id.is_valid()) {
+				ERR_FAIL_COND(p_idx != 0);
+				id = p_id;
+			} else {
+				ids.write[p_idx] = p_id;
+			}
+		}
+
+		_FORCE_INLINE_ void append_id(RID p_id) {
+			if (ids.is_empty()) {
+				if (id == RID()) {
+					id = p_id;
+				} else {
+					ids.push_back(id);
+					ids.push_back(p_id);
+					id = RID();
+				}
+			} else {
+				ids.push_back(p_id);
+			}
+		}
+
+		_FORCE_INLINE_ void clear_ids() {
+			id = RID();
+			ids.clear();
+		}
+
+		_FORCE_INLINE_ Uniform(UniformType p_type, int p_binding, RID p_id) {
+			uniform_type = p_type;
+			binding = p_binding;
+			id = p_id;
+		}
+		_FORCE_INLINE_ Uniform(UniformType p_type, int p_binding, const Vector<RID> &p_ids) {
+			uniform_type = p_type;
+			binding = p_binding;
+			ids = p_ids;
+		}
+		_FORCE_INLINE_ Uniform() {
 			uniform_type = UNIFORM_TYPE_IMAGE;
 			binding = 0;
 		}
diff --git a/servers/rendering/rendering_device_binds.h b/servers/rendering/rendering_device_binds.h
index b07857364b..ee5bf8b891 100644
--- a/servers/rendering/rendering_device_binds.h
+++ b/servers/rendering/rendering_device_binds.h
@@ -441,23 +441,23 @@ public:
 	RD_SETGET(RD::UniformType, uniform_type)
 	RD_SETGET(int32_t, binding)
 
-	void add_id(const RID &p_id) { base.ids.push_back(p_id); }
-	void clear_ids() { base.ids.clear(); }
+	void add_id(const RID &p_id) { base.append_id(p_id); }
+	void clear_ids() { base.clear_ids(); }
 	Array get_ids() const {
 		Array ids;
-		for (int i = 0; i < base.ids.size(); i++) {
-			ids.push_back(base.ids[i]);
+		for (uint32_t i = 0; i < base.get_id_count(); i++) {
+			ids.push_back(base.get_id(i));
 		}
 		return ids;
 	}
 
 protected:
 	void _set_ids(const Array &p_ids) {
-		base.ids.clear();
+		base.clear_ids();
 		for (int i = 0; i < p_ids.size(); i++) {
 			RID id = p_ids[i];
 			ERR_FAIL_COND(id.is_null());
-			base.ids.push_back(id);
+			base.append_id(id);
 		}
 	}
 	static void _bind_methods() {
diff --git a/servers/rendering/rendering_server_default.h b/servers/rendering/rendering_server_default.h
index 6d2c36537b..4a8944ccdd 100644
--- a/servers/rendering/rendering_server_default.h
+++ b/servers/rendering/rendering_server_default.h
@@ -342,10 +342,10 @@ public:
 	FUNC2(light_set_color, RID, const Color &)
 	FUNC3(light_set_param, RID, LightParam, float)
 	FUNC2(light_set_shadow, RID, bool)
-	FUNC2(light_set_shadow_color, RID, const Color &)
 	FUNC2(light_set_projector, RID, RID)
 	FUNC2(light_set_negative, RID, bool)
 	FUNC2(light_set_cull_mask, RID, uint32_t)
+	FUNC5(light_set_distance_fade, RID, bool, float, float, float)
 	FUNC2(light_set_reverse_cull_face_mode, RID, bool)
 	FUNC2(light_set_bake_mode, RID, LightBakeMode)
 	FUNC2(light_set_max_sdfgi_cascade, RID, uint32_t)
diff --git a/servers/rendering_server.cpp b/servers/rendering_server.cpp
index fe5c7dc0de..d34fd572ad 100644
--- a/servers/rendering_server.cpp
+++ b/servers/rendering_server.cpp
@@ -1879,10 +1879,10 @@ void RenderingServer::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("light_set_color", "light", "color"), &RenderingServer::light_set_color);
 	ClassDB::bind_method(D_METHOD("light_set_param", "light", "param", "value"), &RenderingServer::light_set_param);
 	ClassDB::bind_method(D_METHOD("light_set_shadow", "light", "enabled"), &RenderingServer::light_set_shadow);
-	ClassDB::bind_method(D_METHOD("light_set_shadow_color", "light", "color"), &RenderingServer::light_set_shadow_color);
 	ClassDB::bind_method(D_METHOD("light_set_projector", "light", "texture"), &RenderingServer::light_set_projector);
 	ClassDB::bind_method(D_METHOD("light_set_negative", "light", "enable"), &RenderingServer::light_set_negative);
 	ClassDB::bind_method(D_METHOD("light_set_cull_mask", "light", "mask"), &RenderingServer::light_set_cull_mask);
+	ClassDB::bind_method(D_METHOD("light_set_distance_fade", "decal", "enabled", "begin", "shadow", "length"), &RenderingServer::light_set_distance_fade);
 	ClassDB::bind_method(D_METHOD("light_set_reverse_cull_face_mode", "light", "enabled"), &RenderingServer::light_set_reverse_cull_face_mode);
 	ClassDB::bind_method(D_METHOD("light_set_bake_mode", "light", "bake_mode"), &RenderingServer::light_set_bake_mode);
 	ClassDB::bind_method(D_METHOD("light_set_max_sdfgi_cascade", "light", "cascade"), &RenderingServer::light_set_max_sdfgi_cascade);
diff --git a/servers/rendering_server.h b/servers/rendering_server.h
index 5748d8808b..94d9cb8800 100644
--- a/servers/rendering_server.h
+++ b/servers/rendering_server.h
@@ -439,10 +439,10 @@ public:
 	virtual void light_set_color(RID p_light, const Color &p_color) = 0;
 	virtual void light_set_param(RID p_light, LightParam p_param, float p_value) = 0;
 	virtual void light_set_shadow(RID p_light, bool p_enabled) = 0;
-	virtual void light_set_shadow_color(RID p_light, const Color &p_color) = 0;
 	virtual void light_set_projector(RID p_light, RID p_texture) = 0;
 	virtual void light_set_negative(RID p_light, bool p_enable) = 0;
 	virtual void light_set_cull_mask(RID p_light, uint32_t p_mask) = 0;
+	virtual void light_set_distance_fade(RID p_light, bool p_enabled, float p_begin, float p_shadow, float p_length) = 0;
 	virtual void light_set_reverse_cull_face_mode(RID p_light, bool p_enabled) = 0;
 
 	enum LightBakeMode {
diff --git a/servers/text_server.cpp b/servers/text_server.cpp
index 37cc6599b1..e84c0f05cc 100644
--- a/servers/text_server.cpp
+++ b/servers/text_server.cpp
@@ -752,15 +752,19 @@ PackedInt32Array TextServer::shaped_text_get_word_breaks(RID p_shaped, int p_gra
 	for (int i = 0; i < l_size; i++) {
 		if (l_gl[i].count > 0) {
 			if ((l_gl[i].flags & p_grapheme_flags) != 0) {
-				words.push_back(word_start);
-				words.push_back(l_gl[i].start);
+				if (word_start != l_gl[i].start) {
+					words.push_back(word_start);
+					words.push_back(l_gl[i].start);
+				}
 				word_start = l_gl[i].end;
 			}
 		}
 	}
 	if (l_size > 0) {
-		words.push_back(word_start);
-		words.push_back(range.y);
+		if (word_start != range.y) {
+			words.push_back(word_start);
+			words.push_back(range.y);
+		}
 	}
 
 	return words;
diff --git a/servers/xr/xr_interface.h b/servers/xr/xr_interface.h
index 6e105ffc26..62eba2f00b 100644
--- a/servers/xr/xr_interface.h
+++ b/servers/xr/xr_interface.h
@@ -45,7 +45,7 @@ struct BlitToScreen;
 
 	If the user wants to enable AR/VR the choose the interface they want to use and initialize it.
 
-	Note that we may make this into a fully instantiable class for GDNative support.
+	Note that we may make this into a fully instantiable class for GDExtension support.
 */
 
 class XRInterface : public RefCounted {
diff --git a/servers/xr/xr_positional_tracker.cpp b/servers/xr/xr_positional_tracker.cpp
index 671eb7a111..4857167a8e 100644
--- a/servers/xr/xr_positional_tracker.cpp
+++ b/servers/xr/xr_positional_tracker.cpp
@@ -49,6 +49,10 @@ void XRPositionalTracker::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_tracker_desc", "description"), &XRPositionalTracker::set_tracker_desc);
 	ADD_PROPERTY(PropertyInfo(Variant::STRING, "description"), "set_tracker_desc", "get_tracker_desc");
 
+	ClassDB::bind_method(D_METHOD("get_tracker_profile"), &XRPositionalTracker::get_tracker_profile);
+	ClassDB::bind_method(D_METHOD("set_tracker_profile", "profile"), &XRPositionalTracker::set_tracker_profile);
+	ADD_PROPERTY(PropertyInfo(Variant::STRING, "profile"), "set_tracker_profile", "get_tracker_profile");
+
 	ClassDB::bind_method(D_METHOD("get_tracker_hand"), &XRPositionalTracker::get_tracker_hand);
 	ClassDB::bind_method(D_METHOD("set_tracker_hand", "hand"), &XRPositionalTracker::set_tracker_hand);
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "hand", PROPERTY_HINT_ENUM, "Unknown,Left,Right"), "set_tracker_hand", "get_tracker_hand");
@@ -65,6 +69,7 @@ void XRPositionalTracker::_bind_methods() {
 	ADD_SIGNAL(MethodInfo("button_released", PropertyInfo(Variant::STRING, "name")));
 	ADD_SIGNAL(MethodInfo("input_value_changed", PropertyInfo(Variant::STRING, "name"), PropertyInfo(Variant::FLOAT, "value")));
 	ADD_SIGNAL(MethodInfo("input_axis_changed", PropertyInfo(Variant::STRING, "name"), PropertyInfo(Variant::VECTOR2, "vector")));
+	ADD_SIGNAL(MethodInfo("profile_changed", PropertyInfo(Variant::STRING, "role")));
 };
 
 void XRPositionalTracker::set_tracker_type(XRServer::TrackerType p_type) {
@@ -95,6 +100,18 @@ String XRPositionalTracker::get_tracker_desc() const {
 	return description;
 }
 
+void XRPositionalTracker::set_tracker_profile(const String &p_profile) {
+	if (profile != p_profile) {
+		profile = p_profile;
+
+		emit_signal("profile_changed", profile);
+	}
+}
+
+String XRPositionalTracker::get_tracker_profile() const {
+	return profile;
+}
+
 XRPositionalTracker::TrackerHand XRPositionalTracker::get_tracker_hand() const {
 	return hand;
 };
diff --git a/servers/xr/xr_positional_tracker.h b/servers/xr/xr_positional_tracker.h
index ccb30bbbe6..cd06d4a087 100644
--- a/servers/xr/xr_positional_tracker.h
+++ b/servers/xr/xr_positional_tracker.h
@@ -56,7 +56,8 @@ public:
 private:
 	XRServer::TrackerType type; // type of tracker
 	StringName name; // (unique) name of the tracker
-	String description; // description of the tracker, this is interface dependent, for OpenXR this will be the interaction profile bound for to the tracker
+	String description; // description of the tracker
+	String profile; // this is interface dependent, for OpenXR this will be the interaction profile bound for to the tracker
 	TrackerHand hand; // if known, the hand this tracker is held in
 
 	Map<StringName, Ref<XRPose>> poses;
@@ -72,6 +73,8 @@ public:
 	StringName get_tracker_name() const;
 	void set_tracker_desc(const String &p_desc);
 	String get_tracker_desc() const;
+	void set_tracker_profile(const String &p_profile);
+	String get_tracker_profile() const;
 	XRPositionalTracker::TrackerHand get_tracker_hand() const;
 	void set_tracker_hand(const XRPositionalTracker::TrackerHand p_hand);
 
diff --git a/tests/SCsub b/tests/SCsub
index 31466fffc1..25b06f2312 100644
--- a/tests/SCsub
+++ b/tests/SCsub
@@ -6,10 +6,6 @@ env.tests_sources = []
 
 env_tests = env.Clone()
 
-# Include GDNative headers.
-if env["module_gdnative_enabled"]:
-    env_tests.Append(CPPPATH=["#modules/gdnative/include"])
-
 # We must disable the THREAD_LOCAL entirely in doctest to prevent crashes on debugging
 # Since we link with /MT thread_local is always expired when the header is used
 # So the debugger crashes the engine and it causes weird errors
diff --git a/tests/core/object/test_object.h b/tests/core/object/test_object.h
index f9158eccec..e44b93bb66 100644
--- a/tests/core/object/test_object.h
+++ b/tests/core/object/test_object.h
@@ -87,7 +87,7 @@ public:
 	bool has_method(const StringName &p_method) const override {
 		return false;
 	}
-	Variant call(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) override {
+	Variant callp(const StringName &p_method, const Variant **p_args, int p_argcount, Callable::CallError &r_error) override {
 		return Variant();
 	}
 	void notification(int p_notification) override {
diff --git a/thirdparty/README.md b/thirdparty/README.md
index d591d2cbd8..c5ce022d39 100644
--- a/thirdparty/README.md
+++ b/thirdparty/README.md
@@ -29,20 +29,6 @@ Files extracted from upstream source:
 - `LICENSE`
 
 
-## bullet
-
-- Upstream: https://github.com/bulletphysics/bullet3
-- Version: 3.17 (ebe1916b90acae8b13cd8c6b637d8327cdc64e94, 2021)
-- License: zlib
-
-Files extracted from upstream source:
-
-- `src/*` apart from CMakeLists.txt and premake4.lua files
-- `LICENSE.txt`, and `VERSION` as `VERSION.txt`
-
-Includes some patches in the `patches` folder which have been sent upstream.
-
-
 ## certs
 
 - Upstream: Mozilla, via https://github.com/bagder/ca-bundle
@@ -627,7 +613,7 @@ instead of `miniz.h` as an external dependency.
 ## thorvg
 
 - Upstream: https://github.com/Samsung/thorvg
-- Version: 0.7.1 (d53eb2a880002cb770ace1c1ace9c5dfcfc28252, 2022)
+- Version: 0.8.0 (41093c17b3cac440bdcc53f8b69abeb5734696b5, 2022)
 - License: MIT
 
 Files extracted from upstream source:
diff --git a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3BroadphaseCallback.h b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3BroadphaseCallback.h
deleted file mode 100644
index bec0800a6f..0000000000
--- a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3BroadphaseCallback.h
+++ /dev/null
@@ -1,38 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_BROADPHASE_CALLBACK_H
-#define B3_BROADPHASE_CALLBACK_H
-
-#include "Bullet3Common/b3Vector3.h"
-struct b3BroadphaseProxy;
-
-struct b3BroadphaseAabbCallback
-{
-	virtual ~b3BroadphaseAabbCallback() {}
-	virtual bool process(const b3BroadphaseProxy* proxy) = 0;
-};
-
-struct b3BroadphaseRayCallback : public b3BroadphaseAabbCallback
-{
-	///added some cached data to accelerate ray-AABB tests
-	b3Vector3 m_rayDirectionInverse;
-	unsigned int m_signs[3];
-	b3Scalar m_lambda_max;
-
-	virtual ~b3BroadphaseRayCallback() {}
-};
-
-#endif  //B3_BROADPHASE_CALLBACK_H
diff --git a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.cpp b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.cpp
deleted file mode 100644
index a0dc1da95d..0000000000
--- a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.cpp
+++ /dev/null
@@ -1,1352 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-///b3DynamicBvh implementation by Nathanael Presson
-
-#include "b3DynamicBvh.h"
-
-//
-typedef b3AlignedObjectArray<b3DbvtNode*> b3NodeArray;
-typedef b3AlignedObjectArray<const b3DbvtNode*> b3ConstNodeArray;
-
-//
-struct b3DbvtNodeEnumerator : b3DynamicBvh::ICollide
-{
-	b3ConstNodeArray nodes;
-	void Process(const b3DbvtNode* n) { nodes.push_back(n); }
-};
-
-//
-static B3_DBVT_INLINE int b3IndexOf(const b3DbvtNode* node)
-{
-	return (node->parent->childs[1] == node);
-}
-
-//
-static B3_DBVT_INLINE b3DbvtVolume b3Merge(const b3DbvtVolume& a,
-										   const b3DbvtVolume& b)
-{
-#if (B3_DBVT_MERGE_IMPL == B3_DBVT_IMPL_SSE)
-	B3_ATTRIBUTE_ALIGNED16(char locals[sizeof(b3DbvtAabbMm)]);
-	b3DbvtVolume& res = *(b3DbvtVolume*)locals;
-#else
-	b3DbvtVolume res;
-#endif
-	b3Merge(a, b, res);
-	return (res);
-}
-
-// volume+edge lengths
-static B3_DBVT_INLINE b3Scalar b3Size(const b3DbvtVolume& a)
-{
-	const b3Vector3 edges = a.Lengths();
-	return (edges.x * edges.y * edges.z +
-			edges.x + edges.y + edges.z);
-}
-
-//
-static void b3GetMaxDepth(const b3DbvtNode* node, int depth, int& maxdepth)
-{
-	if (node->isinternal())
-	{
-		b3GetMaxDepth(node->childs[0], depth + 1, maxdepth);
-		b3GetMaxDepth(node->childs[1], depth + 1, maxdepth);
-	}
-	else
-		maxdepth = b3Max(maxdepth, depth);
-}
-
-//
-static B3_DBVT_INLINE void b3DeleteNode(b3DynamicBvh* pdbvt,
-										b3DbvtNode* node)
-{
-	b3AlignedFree(pdbvt->m_free);
-	pdbvt->m_free = node;
-}
-
-//
-static void b3RecurseDeleteNode(b3DynamicBvh* pdbvt,
-								b3DbvtNode* node)
-{
-	if (!node->isleaf())
-	{
-		b3RecurseDeleteNode(pdbvt, node->childs[0]);
-		b3RecurseDeleteNode(pdbvt, node->childs[1]);
-	}
-	if (node == pdbvt->m_root) pdbvt->m_root = 0;
-	b3DeleteNode(pdbvt, node);
-}
-
-//
-static B3_DBVT_INLINE b3DbvtNode* b3CreateNode(b3DynamicBvh* pdbvt,
-											   b3DbvtNode* parent,
-											   void* data)
-{
-	b3DbvtNode* node;
-	if (pdbvt->m_free)
-	{
-		node = pdbvt->m_free;
-		pdbvt->m_free = 0;
-	}
-	else
-	{
-		node = new (b3AlignedAlloc(sizeof(b3DbvtNode), 16)) b3DbvtNode();
-	}
-	node->parent = parent;
-	node->data = data;
-	node->childs[1] = 0;
-	return (node);
-}
-
-//
-static B3_DBVT_INLINE b3DbvtNode* b3CreateNode(b3DynamicBvh* pdbvt,
-											   b3DbvtNode* parent,
-											   const b3DbvtVolume& volume,
-											   void* data)
-{
-	b3DbvtNode* node = b3CreateNode(pdbvt, parent, data);
-	node->volume = volume;
-	return (node);
-}
-
-//
-static B3_DBVT_INLINE b3DbvtNode* b3CreateNode(b3DynamicBvh* pdbvt,
-											   b3DbvtNode* parent,
-											   const b3DbvtVolume& volume0,
-											   const b3DbvtVolume& volume1,
-											   void* data)
-{
-	b3DbvtNode* node = b3CreateNode(pdbvt, parent, data);
-	b3Merge(volume0, volume1, node->volume);
-	return (node);
-}
-
-//
-static void b3InsertLeaf(b3DynamicBvh* pdbvt,
-						 b3DbvtNode* root,
-						 b3DbvtNode* leaf)
-{
-	if (!pdbvt->m_root)
-	{
-		pdbvt->m_root = leaf;
-		leaf->parent = 0;
-	}
-	else
-	{
-		if (!root->isleaf())
-		{
-			do
-			{
-				root = root->childs[b3Select(leaf->volume,
-											 root->childs[0]->volume,
-											 root->childs[1]->volume)];
-			} while (!root->isleaf());
-		}
-		b3DbvtNode* prev = root->parent;
-		b3DbvtNode* node = b3CreateNode(pdbvt, prev, leaf->volume, root->volume, 0);
-		if (prev)
-		{
-			prev->childs[b3IndexOf(root)] = node;
-			node->childs[0] = root;
-			root->parent = node;
-			node->childs[1] = leaf;
-			leaf->parent = node;
-			do
-			{
-				if (!prev->volume.Contain(node->volume))
-					b3Merge(prev->childs[0]->volume, prev->childs[1]->volume, prev->volume);
-				else
-					break;
-				node = prev;
-			} while (0 != (prev = node->parent));
-		}
-		else
-		{
-			node->childs[0] = root;
-			root->parent = node;
-			node->childs[1] = leaf;
-			leaf->parent = node;
-			pdbvt->m_root = node;
-		}
-	}
-}
-
-//
-static b3DbvtNode* b3RemoveLeaf(b3DynamicBvh* pdbvt,
-								b3DbvtNode* leaf)
-{
-	if (leaf == pdbvt->m_root)
-	{
-		pdbvt->m_root = 0;
-		return (0);
-	}
-	else
-	{
-		b3DbvtNode* parent = leaf->parent;
-		b3DbvtNode* prev = parent->parent;
-		b3DbvtNode* sibling = parent->childs[1 - b3IndexOf(leaf)];
-		if (prev)
-		{
-			prev->childs[b3IndexOf(parent)] = sibling;
-			sibling->parent = prev;
-			b3DeleteNode(pdbvt, parent);
-			while (prev)
-			{
-				const b3DbvtVolume pb = prev->volume;
-				b3Merge(prev->childs[0]->volume, prev->childs[1]->volume, prev->volume);
-				if (b3NotEqual(pb, prev->volume))
-				{
-					prev = prev->parent;
-				}
-				else
-					break;
-			}
-			return (prev ? prev : pdbvt->m_root);
-		}
-		else
-		{
-			pdbvt->m_root = sibling;
-			sibling->parent = 0;
-			b3DeleteNode(pdbvt, parent);
-			return (pdbvt->m_root);
-		}
-	}
-}
-
-//
-static void b3FetchLeaves(b3DynamicBvh* pdbvt,
-						  b3DbvtNode* root,
-						  b3NodeArray& leaves,
-						  int depth = -1)
-{
-	if (root->isinternal() && depth)
-	{
-		b3FetchLeaves(pdbvt, root->childs[0], leaves, depth - 1);
-		b3FetchLeaves(pdbvt, root->childs[1], leaves, depth - 1);
-		b3DeleteNode(pdbvt, root);
-	}
-	else
-	{
-		leaves.push_back(root);
-	}
-}
-
-static bool b3LeftOfAxis(const b3DbvtNode* node,
-						 const b3Vector3& org,
-						 const b3Vector3& axis)
-{
-	return b3Dot(axis, node->volume.Center() - org) <= 0;
-}
-
-// Partitions leaves such that leaves[0, n) are on the
-// left of axis, and leaves[n, count) are on the right
-// of axis. returns N.
-static int b3Split(b3DbvtNode** leaves,
-				   int count,
-				   const b3Vector3& org,
-				   const b3Vector3& axis)
-{
-	int begin = 0;
-	int end = count;
-	for (;;)
-	{
-		while (begin != end && b3LeftOfAxis(leaves[begin], org, axis))
-		{
-			++begin;
-		}
-
-		if (begin == end)
-		{
-			break;
-		}
-
-		while (begin != end && !b3LeftOfAxis(leaves[end - 1], org, axis))
-		{
-			--end;
-		}
-
-		if (begin == end)
-		{
-			break;
-		}
-
-		// swap out of place nodes
-		--end;
-		b3DbvtNode* temp = leaves[begin];
-		leaves[begin] = leaves[end];
-		leaves[end] = temp;
-		++begin;
-	}
-
-	return begin;
-}
-
-//
-static b3DbvtVolume b3Bounds(b3DbvtNode** leaves,
-							 int count)
-{
-#if B3_DBVT_MERGE_IMPL == B3_DBVT_IMPL_SSE
-	B3_ATTRIBUTE_ALIGNED16(char locals[sizeof(b3DbvtVolume)]);
-	b3DbvtVolume& volume = *(b3DbvtVolume*)locals;
-	volume = leaves[0]->volume;
-#else
-	b3DbvtVolume volume = leaves[0]->volume;
-#endif
-	for (int i = 1, ni = count; i < ni; ++i)
-	{
-		b3Merge(volume, leaves[i]->volume, volume);
-	}
-	return (volume);
-}
-
-//
-static void b3BottomUp(b3DynamicBvh* pdbvt,
-					   b3DbvtNode** leaves,
-					   int count)
-{
-	while (count > 1)
-	{
-		b3Scalar minsize = B3_INFINITY;
-		int minidx[2] = {-1, -1};
-		for (int i = 0; i < count; ++i)
-		{
-			for (int j = i + 1; j < count; ++j)
-			{
-				const b3Scalar sz = b3Size(b3Merge(leaves[i]->volume, leaves[j]->volume));
-				if (sz < minsize)
-				{
-					minsize = sz;
-					minidx[0] = i;
-					minidx[1] = j;
-				}
-			}
-		}
-		b3DbvtNode* n[] = {leaves[minidx[0]], leaves[minidx[1]]};
-		b3DbvtNode* p = b3CreateNode(pdbvt, 0, n[0]->volume, n[1]->volume, 0);
-		p->childs[0] = n[0];
-		p->childs[1] = n[1];
-		n[0]->parent = p;
-		n[1]->parent = p;
-		leaves[minidx[0]] = p;
-		leaves[minidx[1]] = leaves[count - 1];
-		--count;
-	}
-}
-
-//
-static b3DbvtNode* b3TopDown(b3DynamicBvh* pdbvt,
-							 b3DbvtNode** leaves,
-							 int count,
-							 int bu_treshold)
-{
-	static const b3Vector3 axis[] = {b3MakeVector3(1, 0, 0),
-									 b3MakeVector3(0, 1, 0),
-									 b3MakeVector3(0, 0, 1)};
-	b3Assert(bu_treshold > 1);
-	if (count > 1)
-	{
-		if (count > bu_treshold)
-		{
-			const b3DbvtVolume vol = b3Bounds(leaves, count);
-			const b3Vector3 org = vol.Center();
-			int partition;
-			int bestaxis = -1;
-			int bestmidp = count;
-			int splitcount[3][2] = {{0, 0}, {0, 0}, {0, 0}};
-			int i;
-			for (i = 0; i < count; ++i)
-			{
-				const b3Vector3 x = leaves[i]->volume.Center() - org;
-				for (int j = 0; j < 3; ++j)
-				{
-					++splitcount[j][b3Dot(x, axis[j]) > 0 ? 1 : 0];
-				}
-			}
-			for (i = 0; i < 3; ++i)
-			{
-				if ((splitcount[i][0] > 0) && (splitcount[i][1] > 0))
-				{
-					const int midp = (int)b3Fabs(b3Scalar(splitcount[i][0] - splitcount[i][1]));
-					if (midp < bestmidp)
-					{
-						bestaxis = i;
-						bestmidp = midp;
-					}
-				}
-			}
-			if (bestaxis >= 0)
-			{
-				partition = b3Split(leaves, count, org, axis[bestaxis]);
-				b3Assert(partition != 0 && partition != count);
-			}
-			else
-			{
-				partition = count / 2 + 1;
-			}
-			b3DbvtNode* node = b3CreateNode(pdbvt, 0, vol, 0);
-			node->childs[0] = b3TopDown(pdbvt, &leaves[0], partition, bu_treshold);
-			node->childs[1] = b3TopDown(pdbvt, &leaves[partition], count - partition, bu_treshold);
-			node->childs[0]->parent = node;
-			node->childs[1]->parent = node;
-			return (node);
-		}
-		else
-		{
-			b3BottomUp(pdbvt, leaves, count);
-			return (leaves[0]);
-		}
-	}
-	return (leaves[0]);
-}
-
-//
-static B3_DBVT_INLINE b3DbvtNode* b3Sort(b3DbvtNode* n, b3DbvtNode*& r)
-{
-	b3DbvtNode* p = n->parent;
-	b3Assert(n->isinternal());
-	if (p > n)
-	{
-		const int i = b3IndexOf(n);
-		const int j = 1 - i;
-		b3DbvtNode* s = p->childs[j];
-		b3DbvtNode* q = p->parent;
-		b3Assert(n == p->childs[i]);
-		if (q)
-			q->childs[b3IndexOf(p)] = n;
-		else
-			r = n;
-		s->parent = n;
-		p->parent = n;
-		n->parent = q;
-		p->childs[0] = n->childs[0];
-		p->childs[1] = n->childs[1];
-		n->childs[0]->parent = p;
-		n->childs[1]->parent = p;
-		n->childs[i] = p;
-		n->childs[j] = s;
-		b3Swap(p->volume, n->volume);
-		return (p);
-	}
-	return (n);
-}
-
-#if 0
-static B3_DBVT_INLINE b3DbvtNode*	walkup(b3DbvtNode* n,int count)
-{
-	while(n&&(count--)) n=n->parent;
-	return(n);
-}
-#endif
-
-//
-// Api
-//
-
-//
-b3DynamicBvh::b3DynamicBvh()
-{
-	m_root = 0;
-	m_free = 0;
-	m_lkhd = -1;
-	m_leaves = 0;
-	m_opath = 0;
-}
-
-//
-b3DynamicBvh::~b3DynamicBvh()
-{
-	clear();
-}
-
-//
-void b3DynamicBvh::clear()
-{
-	if (m_root)
-		b3RecurseDeleteNode(this, m_root);
-	b3AlignedFree(m_free);
-	m_free = 0;
-	m_lkhd = -1;
-	m_stkStack.clear();
-	m_opath = 0;
-}
-
-//
-void b3DynamicBvh::optimizeBottomUp()
-{
-	if (m_root)
-	{
-		b3NodeArray leaves;
-		leaves.reserve(m_leaves);
-		b3FetchLeaves(this, m_root, leaves);
-		b3BottomUp(this, &leaves[0], leaves.size());
-		m_root = leaves[0];
-	}
-}
-
-//
-void b3DynamicBvh::optimizeTopDown(int bu_treshold)
-{
-	if (m_root)
-	{
-		b3NodeArray leaves;
-		leaves.reserve(m_leaves);
-		b3FetchLeaves(this, m_root, leaves);
-		m_root = b3TopDown(this, &leaves[0], leaves.size(), bu_treshold);
-	}
-}
-
-//
-void b3DynamicBvh::optimizeIncremental(int passes)
-{
-	if (passes < 0) passes = m_leaves;
-	if (m_root && (passes > 0))
-	{
-		do
-		{
-			b3DbvtNode* node = m_root;
-			unsigned bit = 0;
-			while (node->isinternal())
-			{
-				node = b3Sort(node, m_root)->childs[(m_opath >> bit) & 1];
-				bit = (bit + 1) & (sizeof(unsigned) * 8 - 1);
-			}
-			update(node);
-			++m_opath;
-		} while (--passes);
-	}
-}
-
-//
-b3DbvtNode* b3DynamicBvh::insert(const b3DbvtVolume& volume, void* data)
-{
-	b3DbvtNode* leaf = b3CreateNode(this, 0, volume, data);
-	b3InsertLeaf(this, m_root, leaf);
-	++m_leaves;
-	return (leaf);
-}
-
-//
-void b3DynamicBvh::update(b3DbvtNode* leaf, int lookahead)
-{
-	b3DbvtNode* root = b3RemoveLeaf(this, leaf);
-	if (root)
-	{
-		if (lookahead >= 0)
-		{
-			for (int i = 0; (i < lookahead) && root->parent; ++i)
-			{
-				root = root->parent;
-			}
-		}
-		else
-			root = m_root;
-	}
-	b3InsertLeaf(this, root, leaf);
-}
-
-//
-void b3DynamicBvh::update(b3DbvtNode* leaf, b3DbvtVolume& volume)
-{
-	b3DbvtNode* root = b3RemoveLeaf(this, leaf);
-	if (root)
-	{
-		if (m_lkhd >= 0)
-		{
-			for (int i = 0; (i < m_lkhd) && root->parent; ++i)
-			{
-				root = root->parent;
-			}
-		}
-		else
-			root = m_root;
-	}
-	leaf->volume = volume;
-	b3InsertLeaf(this, root, leaf);
-}
-
-//
-bool b3DynamicBvh::update(b3DbvtNode* leaf, b3DbvtVolume& volume, const b3Vector3& velocity, b3Scalar margin)
-{
-	if (leaf->volume.Contain(volume)) return (false);
-	volume.Expand(b3MakeVector3(margin, margin, margin));
-	volume.SignedExpand(velocity);
-	update(leaf, volume);
-	return (true);
-}
-
-//
-bool b3DynamicBvh::update(b3DbvtNode* leaf, b3DbvtVolume& volume, const b3Vector3& velocity)
-{
-	if (leaf->volume.Contain(volume)) return (false);
-	volume.SignedExpand(velocity);
-	update(leaf, volume);
-	return (true);
-}
-
-//
-bool b3DynamicBvh::update(b3DbvtNode* leaf, b3DbvtVolume& volume, b3Scalar margin)
-{
-	if (leaf->volume.Contain(volume)) return (false);
-	volume.Expand(b3MakeVector3(margin, margin, margin));
-	update(leaf, volume);
-	return (true);
-}
-
-//
-void b3DynamicBvh::remove(b3DbvtNode* leaf)
-{
-	b3RemoveLeaf(this, leaf);
-	b3DeleteNode(this, leaf);
-	--m_leaves;
-}
-
-//
-void b3DynamicBvh::write(IWriter* iwriter) const
-{
-	b3DbvtNodeEnumerator nodes;
-	nodes.nodes.reserve(m_leaves * 2);
-	enumNodes(m_root, nodes);
-	iwriter->Prepare(m_root, nodes.nodes.size());
-	for (int i = 0; i < nodes.nodes.size(); ++i)
-	{
-		const b3DbvtNode* n = nodes.nodes[i];
-		int p = -1;
-		if (n->parent) p = nodes.nodes.findLinearSearch(n->parent);
-		if (n->isinternal())
-		{
-			const int c0 = nodes.nodes.findLinearSearch(n->childs[0]);
-			const int c1 = nodes.nodes.findLinearSearch(n->childs[1]);
-			iwriter->WriteNode(n, i, p, c0, c1);
-		}
-		else
-		{
-			iwriter->WriteLeaf(n, i, p);
-		}
-	}
-}
-
-//
-void b3DynamicBvh::clone(b3DynamicBvh& dest, IClone* iclone) const
-{
-	dest.clear();
-	if (m_root != 0)
-	{
-		b3AlignedObjectArray<sStkCLN> stack;
-		stack.reserve(m_leaves);
-		stack.push_back(sStkCLN(m_root, 0));
-		do
-		{
-			const int i = stack.size() - 1;
-			const sStkCLN e = stack[i];
-			b3DbvtNode* n = b3CreateNode(&dest, e.parent, e.node->volume, e.node->data);
-			stack.pop_back();
-			if (e.parent != 0)
-				e.parent->childs[i & 1] = n;
-			else
-				dest.m_root = n;
-			if (e.node->isinternal())
-			{
-				stack.push_back(sStkCLN(e.node->childs[0], n));
-				stack.push_back(sStkCLN(e.node->childs[1], n));
-			}
-			else
-			{
-				iclone->CloneLeaf(n);
-			}
-		} while (stack.size() > 0);
-	}
-}
-
-//
-int b3DynamicBvh::maxdepth(const b3DbvtNode* node)
-{
-	int depth = 0;
-	if (node) b3GetMaxDepth(node, 1, depth);
-	return (depth);
-}
-
-//
-int b3DynamicBvh::countLeaves(const b3DbvtNode* node)
-{
-	if (node->isinternal())
-		return (countLeaves(node->childs[0]) + countLeaves(node->childs[1]));
-	else
-		return (1);
-}
-
-//
-void b3DynamicBvh::extractLeaves(const b3DbvtNode* node, b3AlignedObjectArray<const b3DbvtNode*>& leaves)
-{
-	if (node->isinternal())
-	{
-		extractLeaves(node->childs[0], leaves);
-		extractLeaves(node->childs[1], leaves);
-	}
-	else
-	{
-		leaves.push_back(node);
-	}
-}
-
-//
-#if B3_DBVT_ENABLE_BENCHMARK
-
-#include <stdio.h>
-#include <stdlib.h>
-
-/*
-q6600,2.4ghz
-
-/Ox /Ob2 /Oi /Ot /I "." /I "..\.." /I "..\..\src" /D "NDEBUG" /D "_LIB" /D "_WINDOWS" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE" /D "WIN32"
-/GF /FD /MT /GS- /Gy /arch:SSE2 /Zc:wchar_t- /Fp"..\..\out\release8\build\libbulletcollision\libbulletcollision.pch"
-/Fo"..\..\out\release8\build\libbulletcollision\\"
-/Fd"..\..\out\release8\build\libbulletcollision\bulletcollision.pdb"
-/W3 /nologo /c /Wp64 /Zi /errorReport:prompt
-
-Benchmarking dbvt...
-World scale: 100.000000
-Extents base: 1.000000
-Extents range: 4.000000
-Leaves: 8192
-sizeof(b3DbvtVolume): 32 bytes
-sizeof(b3DbvtNode):   44 bytes
-[1] b3DbvtVolume intersections: 3499 ms (-1%)
-[2] b3DbvtVolume merges: 1934 ms (0%)
-[3] b3DynamicBvh::collideTT: 5485 ms (-21%)
-[4] b3DynamicBvh::collideTT self: 2814 ms (-20%)
-[5] b3DynamicBvh::collideTT xform: 7379 ms (-1%)
-[6] b3DynamicBvh::collideTT xform,self: 7270 ms (-2%)
-[7] b3DynamicBvh::rayTest: 6314 ms (0%),(332143 r/s)
-[8] insert/remove: 2093 ms (0%),(1001983 ir/s)
-[9] updates (teleport): 1879 ms (-3%),(1116100 u/s)
-[10] updates (jitter): 1244 ms (-4%),(1685813 u/s)
-[11] optimize (incremental): 2514 ms (0%),(1668000 o/s)
-[12] b3DbvtVolume notequal: 3659 ms (0%)
-[13] culling(OCL+fullsort): 2218 ms (0%),(461 t/s)
-[14] culling(OCL+qsort): 3688 ms (5%),(2221 t/s)
-[15] culling(KDOP+qsort): 1139 ms (-1%),(7192 t/s)
-[16] insert/remove batch(256): 5092 ms (0%),(823704 bir/s)
-[17] b3DbvtVolume select: 3419 ms (0%)
-*/
-
-struct b3DbvtBenchmark
-{
-	struct NilPolicy : b3DynamicBvh::ICollide
-	{
-		NilPolicy() : m_pcount(0), m_depth(-B3_INFINITY), m_checksort(true) {}
-		void Process(const b3DbvtNode*, const b3DbvtNode*) { ++m_pcount; }
-		void Process(const b3DbvtNode*) { ++m_pcount; }
-		void Process(const b3DbvtNode*, b3Scalar depth)
-		{
-			++m_pcount;
-			if (m_checksort)
-			{
-				if (depth >= m_depth)
-					m_depth = depth;
-				else
-					printf("wrong depth: %f (should be >= %f)\r\n", depth, m_depth);
-			}
-		}
-		int m_pcount;
-		b3Scalar m_depth;
-		bool m_checksort;
-	};
-	struct P14 : b3DynamicBvh::ICollide
-	{
-		struct Node
-		{
-			const b3DbvtNode* leaf;
-			b3Scalar depth;
-		};
-		void Process(const b3DbvtNode* leaf, b3Scalar depth)
-		{
-			Node n;
-			n.leaf = leaf;
-			n.depth = depth;
-		}
-		static int sortfnc(const Node& a, const Node& b)
-		{
-			if (a.depth < b.depth) return (+1);
-			if (a.depth > b.depth) return (-1);
-			return (0);
-		}
-		b3AlignedObjectArray<Node> m_nodes;
-	};
-	struct P15 : b3DynamicBvh::ICollide
-	{
-		struct Node
-		{
-			const b3DbvtNode* leaf;
-			b3Scalar depth;
-		};
-		void Process(const b3DbvtNode* leaf)
-		{
-			Node n;
-			n.leaf = leaf;
-			n.depth = dot(leaf->volume.Center(), m_axis);
-		}
-		static int sortfnc(const Node& a, const Node& b)
-		{
-			if (a.depth < b.depth) return (+1);
-			if (a.depth > b.depth) return (-1);
-			return (0);
-		}
-		b3AlignedObjectArray<Node> m_nodes;
-		b3Vector3 m_axis;
-	};
-	static b3Scalar RandUnit()
-	{
-		return (rand() / (b3Scalar)RAND_MAX);
-	}
-	static b3Vector3 RandVector3()
-	{
-		return (b3Vector3(RandUnit(), RandUnit(), RandUnit()));
-	}
-	static b3Vector3 RandVector3(b3Scalar cs)
-	{
-		return (RandVector3() * cs - b3Vector3(cs, cs, cs) / 2);
-	}
-	static b3DbvtVolume RandVolume(b3Scalar cs, b3Scalar eb, b3Scalar es)
-	{
-		return (b3DbvtVolume::FromCE(RandVector3(cs), b3Vector3(eb, eb, eb) + RandVector3() * es));
-	}
-	static b3Transform RandTransform(b3Scalar cs)
-	{
-		b3Transform t;
-		t.setOrigin(RandVector3(cs));
-		t.setRotation(b3Quaternion(RandUnit() * B3_PI * 2, RandUnit() * B3_PI * 2, RandUnit() * B3_PI * 2).normalized());
-		return (t);
-	}
-	static void RandTree(b3Scalar cs, b3Scalar eb, b3Scalar es, int leaves, b3DynamicBvh& dbvt)
-	{
-		dbvt.clear();
-		for (int i = 0; i < leaves; ++i)
-		{
-			dbvt.insert(RandVolume(cs, eb, es), 0);
-		}
-	}
-};
-
-void b3DynamicBvh::benchmark()
-{
-	static const b3Scalar cfgVolumeCenterScale = 100;
-	static const b3Scalar cfgVolumeExentsBase = 1;
-	static const b3Scalar cfgVolumeExentsScale = 4;
-	static const int cfgLeaves = 8192;
-	static const bool cfgEnable = true;
-
-	//[1] b3DbvtVolume intersections
-	bool cfgBenchmark1_Enable = cfgEnable;
-	static const int cfgBenchmark1_Iterations = 8;
-	static const int cfgBenchmark1_Reference = 3499;
-	//[2] b3DbvtVolume merges
-	bool cfgBenchmark2_Enable = cfgEnable;
-	static const int cfgBenchmark2_Iterations = 4;
-	static const int cfgBenchmark2_Reference = 1945;
-	//[3] b3DynamicBvh::collideTT
-	bool cfgBenchmark3_Enable = cfgEnable;
-	static const int cfgBenchmark3_Iterations = 512;
-	static const int cfgBenchmark3_Reference = 5485;
-	//[4] b3DynamicBvh::collideTT self
-	bool cfgBenchmark4_Enable = cfgEnable;
-	static const int cfgBenchmark4_Iterations = 512;
-	static const int cfgBenchmark4_Reference = 2814;
-	//[5] b3DynamicBvh::collideTT xform
-	bool cfgBenchmark5_Enable = cfgEnable;
-	static const int cfgBenchmark5_Iterations = 512;
-	static const b3Scalar cfgBenchmark5_OffsetScale = 2;
-	static const int cfgBenchmark5_Reference = 7379;
-	//[6] b3DynamicBvh::collideTT xform,self
-	bool cfgBenchmark6_Enable = cfgEnable;
-	static const int cfgBenchmark6_Iterations = 512;
-	static const b3Scalar cfgBenchmark6_OffsetScale = 2;
-	static const int cfgBenchmark6_Reference = 7270;
-	//[7] b3DynamicBvh::rayTest
-	bool cfgBenchmark7_Enable = cfgEnable;
-	static const int cfgBenchmark7_Passes = 32;
-	static const int cfgBenchmark7_Iterations = 65536;
-	static const int cfgBenchmark7_Reference = 6307;
-	//[8] insert/remove
-	bool cfgBenchmark8_Enable = cfgEnable;
-	static const int cfgBenchmark8_Passes = 32;
-	static const int cfgBenchmark8_Iterations = 65536;
-	static const int cfgBenchmark8_Reference = 2105;
-	//[9] updates (teleport)
-	bool cfgBenchmark9_Enable = cfgEnable;
-	static const int cfgBenchmark9_Passes = 32;
-	static const int cfgBenchmark9_Iterations = 65536;
-	static const int cfgBenchmark9_Reference = 1879;
-	//[10] updates (jitter)
-	bool cfgBenchmark10_Enable = cfgEnable;
-	static const b3Scalar cfgBenchmark10_Scale = cfgVolumeCenterScale / 10000;
-	static const int cfgBenchmark10_Passes = 32;
-	static const int cfgBenchmark10_Iterations = 65536;
-	static const int cfgBenchmark10_Reference = 1244;
-	//[11] optimize (incremental)
-	bool cfgBenchmark11_Enable = cfgEnable;
-	static const int cfgBenchmark11_Passes = 64;
-	static const int cfgBenchmark11_Iterations = 65536;
-	static const int cfgBenchmark11_Reference = 2510;
-	//[12] b3DbvtVolume notequal
-	bool cfgBenchmark12_Enable = cfgEnable;
-	static const int cfgBenchmark12_Iterations = 32;
-	static const int cfgBenchmark12_Reference = 3677;
-	//[13] culling(OCL+fullsort)
-	bool cfgBenchmark13_Enable = cfgEnable;
-	static const int cfgBenchmark13_Iterations = 1024;
-	static const int cfgBenchmark13_Reference = 2231;
-	//[14] culling(OCL+qsort)
-	bool cfgBenchmark14_Enable = cfgEnable;
-	static const int cfgBenchmark14_Iterations = 8192;
-	static const int cfgBenchmark14_Reference = 3500;
-	//[15] culling(KDOP+qsort)
-	bool cfgBenchmark15_Enable = cfgEnable;
-	static const int cfgBenchmark15_Iterations = 8192;
-	static const int cfgBenchmark15_Reference = 1151;
-	//[16] insert/remove batch
-	bool cfgBenchmark16_Enable = cfgEnable;
-	static const int cfgBenchmark16_BatchCount = 256;
-	static const int cfgBenchmark16_Passes = 16384;
-	static const int cfgBenchmark16_Reference = 5138;
-	//[17] select
-	bool cfgBenchmark17_Enable = cfgEnable;
-	static const int cfgBenchmark17_Iterations = 4;
-	static const int cfgBenchmark17_Reference = 3390;
-
-	b3Clock wallclock;
-	printf("Benchmarking dbvt...\r\n");
-	printf("\tWorld scale: %f\r\n", cfgVolumeCenterScale);
-	printf("\tExtents base: %f\r\n", cfgVolumeExentsBase);
-	printf("\tExtents range: %f\r\n", cfgVolumeExentsScale);
-	printf("\tLeaves: %u\r\n", cfgLeaves);
-	printf("\tsizeof(b3DbvtVolume): %u bytes\r\n", sizeof(b3DbvtVolume));
-	printf("\tsizeof(b3DbvtNode):   %u bytes\r\n", sizeof(b3DbvtNode));
-	if (cfgBenchmark1_Enable)
-	{  // Benchmark 1
-		srand(380843);
-		b3AlignedObjectArray<b3DbvtVolume> volumes;
-		b3AlignedObjectArray<bool> results;
-		volumes.resize(cfgLeaves);
-		results.resize(cfgLeaves);
-		for (int i = 0; i < cfgLeaves; ++i)
-		{
-			volumes[i] = b3DbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale);
-		}
-		printf("[1] b3DbvtVolume intersections: ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark1_Iterations; ++i)
-		{
-			for (int j = 0; j < cfgLeaves; ++j)
-			{
-				for (int k = 0; k < cfgLeaves; ++k)
-				{
-					results[k] = Intersect(volumes[j], volumes[k]);
-				}
-			}
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark1_Reference) * 100 / time);
-	}
-	if (cfgBenchmark2_Enable)
-	{  // Benchmark 2
-		srand(380843);
-		b3AlignedObjectArray<b3DbvtVolume> volumes;
-		b3AlignedObjectArray<b3DbvtVolume> results;
-		volumes.resize(cfgLeaves);
-		results.resize(cfgLeaves);
-		for (int i = 0; i < cfgLeaves; ++i)
-		{
-			volumes[i] = b3DbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale);
-		}
-		printf("[2] b3DbvtVolume merges: ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark2_Iterations; ++i)
-		{
-			for (int j = 0; j < cfgLeaves; ++j)
-			{
-				for (int k = 0; k < cfgLeaves; ++k)
-				{
-					Merge(volumes[j], volumes[k], results[k]);
-				}
-			}
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark2_Reference) * 100 / time);
-	}
-	if (cfgBenchmark3_Enable)
-	{  // Benchmark 3
-		srand(380843);
-		b3DynamicBvh dbvt[2];
-		b3DbvtBenchmark::NilPolicy policy;
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt[0]);
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt[1]);
-		dbvt[0].optimizeTopDown();
-		dbvt[1].optimizeTopDown();
-		printf("[3] b3DynamicBvh::collideTT: ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark3_Iterations; ++i)
-		{
-			b3DynamicBvh::collideTT(dbvt[0].m_root, dbvt[1].m_root, policy);
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark3_Reference) * 100 / time);
-	}
-	if (cfgBenchmark4_Enable)
-	{  // Benchmark 4
-		srand(380843);
-		b3DynamicBvh dbvt;
-		b3DbvtBenchmark::NilPolicy policy;
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
-		dbvt.optimizeTopDown();
-		printf("[4] b3DynamicBvh::collideTT self: ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark4_Iterations; ++i)
-		{
-			b3DynamicBvh::collideTT(dbvt.m_root, dbvt.m_root, policy);
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark4_Reference) * 100 / time);
-	}
-	if (cfgBenchmark5_Enable)
-	{  // Benchmark 5
-		srand(380843);
-		b3DynamicBvh dbvt[2];
-		b3AlignedObjectArray<b3Transform> transforms;
-		b3DbvtBenchmark::NilPolicy policy;
-		transforms.resize(cfgBenchmark5_Iterations);
-		for (int i = 0; i < transforms.size(); ++i)
-		{
-			transforms[i] = b3DbvtBenchmark::RandTransform(cfgVolumeCenterScale * cfgBenchmark5_OffsetScale);
-		}
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt[0]);
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt[1]);
-		dbvt[0].optimizeTopDown();
-		dbvt[1].optimizeTopDown();
-		printf("[5] b3DynamicBvh::collideTT xform: ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark5_Iterations; ++i)
-		{
-			b3DynamicBvh::collideTT(dbvt[0].m_root, dbvt[1].m_root, transforms[i], policy);
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark5_Reference) * 100 / time);
-	}
-	if (cfgBenchmark6_Enable)
-	{  // Benchmark 6
-		srand(380843);
-		b3DynamicBvh dbvt;
-		b3AlignedObjectArray<b3Transform> transforms;
-		b3DbvtBenchmark::NilPolicy policy;
-		transforms.resize(cfgBenchmark6_Iterations);
-		for (int i = 0; i < transforms.size(); ++i)
-		{
-			transforms[i] = b3DbvtBenchmark::RandTransform(cfgVolumeCenterScale * cfgBenchmark6_OffsetScale);
-		}
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
-		dbvt.optimizeTopDown();
-		printf("[6] b3DynamicBvh::collideTT xform,self: ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark6_Iterations; ++i)
-		{
-			b3DynamicBvh::collideTT(dbvt.m_root, dbvt.m_root, transforms[i], policy);
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark6_Reference) * 100 / time);
-	}
-	if (cfgBenchmark7_Enable)
-	{  // Benchmark 7
-		srand(380843);
-		b3DynamicBvh dbvt;
-		b3AlignedObjectArray<b3Vector3> rayorg;
-		b3AlignedObjectArray<b3Vector3> raydir;
-		b3DbvtBenchmark::NilPolicy policy;
-		rayorg.resize(cfgBenchmark7_Iterations);
-		raydir.resize(cfgBenchmark7_Iterations);
-		for (int i = 0; i < rayorg.size(); ++i)
-		{
-			rayorg[i] = b3DbvtBenchmark::RandVector3(cfgVolumeCenterScale * 2);
-			raydir[i] = b3DbvtBenchmark::RandVector3(cfgVolumeCenterScale * 2);
-		}
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
-		dbvt.optimizeTopDown();
-		printf("[7] b3DynamicBvh::rayTest: ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark7_Passes; ++i)
-		{
-			for (int j = 0; j < cfgBenchmark7_Iterations; ++j)
-			{
-				b3DynamicBvh::rayTest(dbvt.m_root, rayorg[j], rayorg[j] + raydir[j], policy);
-			}
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		unsigned rays = cfgBenchmark7_Passes * cfgBenchmark7_Iterations;
-		printf("%u ms (%i%%),(%u r/s)\r\n", time, (time - cfgBenchmark7_Reference) * 100 / time, (rays * 1000) / time);
-	}
-	if (cfgBenchmark8_Enable)
-	{  // Benchmark 8
-		srand(380843);
-		b3DynamicBvh dbvt;
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
-		dbvt.optimizeTopDown();
-		printf("[8] insert/remove: ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark8_Passes; ++i)
-		{
-			for (int j = 0; j < cfgBenchmark8_Iterations; ++j)
-			{
-				dbvt.remove(dbvt.insert(b3DbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale), 0));
-			}
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		const int ir = cfgBenchmark8_Passes * cfgBenchmark8_Iterations;
-		printf("%u ms (%i%%),(%u ir/s)\r\n", time, (time - cfgBenchmark8_Reference) * 100 / time, ir * 1000 / time);
-	}
-	if (cfgBenchmark9_Enable)
-	{  // Benchmark 9
-		srand(380843);
-		b3DynamicBvh dbvt;
-		b3AlignedObjectArray<const b3DbvtNode*> leaves;
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
-		dbvt.optimizeTopDown();
-		dbvt.extractLeaves(dbvt.m_root, leaves);
-		printf("[9] updates (teleport): ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark9_Passes; ++i)
-		{
-			for (int j = 0; j < cfgBenchmark9_Iterations; ++j)
-			{
-				dbvt.update(const_cast<b3DbvtNode*>(leaves[rand() % cfgLeaves]),
-							b3DbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale));
-			}
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		const int up = cfgBenchmark9_Passes * cfgBenchmark9_Iterations;
-		printf("%u ms (%i%%),(%u u/s)\r\n", time, (time - cfgBenchmark9_Reference) * 100 / time, up * 1000 / time);
-	}
-	if (cfgBenchmark10_Enable)
-	{  // Benchmark 10
-		srand(380843);
-		b3DynamicBvh dbvt;
-		b3AlignedObjectArray<const b3DbvtNode*> leaves;
-		b3AlignedObjectArray<b3Vector3> vectors;
-		vectors.resize(cfgBenchmark10_Iterations);
-		for (int i = 0; i < vectors.size(); ++i)
-		{
-			vectors[i] = (b3DbvtBenchmark::RandVector3() * 2 - b3Vector3(1, 1, 1)) * cfgBenchmark10_Scale;
-		}
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
-		dbvt.optimizeTopDown();
-		dbvt.extractLeaves(dbvt.m_root, leaves);
-		printf("[10] updates (jitter): ");
-		wallclock.reset();
-
-		for (int i = 0; i < cfgBenchmark10_Passes; ++i)
-		{
-			for (int j = 0; j < cfgBenchmark10_Iterations; ++j)
-			{
-				const b3Vector3& d = vectors[j];
-				b3DbvtNode* l = const_cast<b3DbvtNode*>(leaves[rand() % cfgLeaves]);
-				b3DbvtVolume v = b3DbvtVolume::FromMM(l->volume.Mins() + d, l->volume.Maxs() + d);
-				dbvt.update(l, v);
-			}
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		const int up = cfgBenchmark10_Passes * cfgBenchmark10_Iterations;
-		printf("%u ms (%i%%),(%u u/s)\r\n", time, (time - cfgBenchmark10_Reference) * 100 / time, up * 1000 / time);
-	}
-	if (cfgBenchmark11_Enable)
-	{  // Benchmark 11
-		srand(380843);
-		b3DynamicBvh dbvt;
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
-		dbvt.optimizeTopDown();
-		printf("[11] optimize (incremental): ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark11_Passes; ++i)
-		{
-			dbvt.optimizeIncremental(cfgBenchmark11_Iterations);
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		const int op = cfgBenchmark11_Passes * cfgBenchmark11_Iterations;
-		printf("%u ms (%i%%),(%u o/s)\r\n", time, (time - cfgBenchmark11_Reference) * 100 / time, op / time * 1000);
-	}
-	if (cfgBenchmark12_Enable)
-	{  // Benchmark 12
-		srand(380843);
-		b3AlignedObjectArray<b3DbvtVolume> volumes;
-		b3AlignedObjectArray<bool> results;
-		volumes.resize(cfgLeaves);
-		results.resize(cfgLeaves);
-		for (int i = 0; i < cfgLeaves; ++i)
-		{
-			volumes[i] = b3DbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale);
-		}
-		printf("[12] b3DbvtVolume notequal: ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark12_Iterations; ++i)
-		{
-			for (int j = 0; j < cfgLeaves; ++j)
-			{
-				for (int k = 0; k < cfgLeaves; ++k)
-				{
-					results[k] = NotEqual(volumes[j], volumes[k]);
-				}
-			}
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark12_Reference) * 100 / time);
-	}
-	if (cfgBenchmark13_Enable)
-	{  // Benchmark 13
-		srand(380843);
-		b3DynamicBvh dbvt;
-		b3AlignedObjectArray<b3Vector3> vectors;
-		b3DbvtBenchmark::NilPolicy policy;
-		vectors.resize(cfgBenchmark13_Iterations);
-		for (int i = 0; i < vectors.size(); ++i)
-		{
-			vectors[i] = (b3DbvtBenchmark::RandVector3() * 2 - b3Vector3(1, 1, 1)).normalized();
-		}
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
-		dbvt.optimizeTopDown();
-		printf("[13] culling(OCL+fullsort): ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark13_Iterations; ++i)
-		{
-			static const b3Scalar offset = 0;
-			policy.m_depth = -B3_INFINITY;
-			dbvt.collideOCL(dbvt.m_root, &vectors[i], &offset, vectors[i], 1, policy);
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		const int t = cfgBenchmark13_Iterations;
-		printf("%u ms (%i%%),(%u t/s)\r\n", time, (time - cfgBenchmark13_Reference) * 100 / time, (t * 1000) / time);
-	}
-	if (cfgBenchmark14_Enable)
-	{  // Benchmark 14
-		srand(380843);
-		b3DynamicBvh dbvt;
-		b3AlignedObjectArray<b3Vector3> vectors;
-		b3DbvtBenchmark::P14 policy;
-		vectors.resize(cfgBenchmark14_Iterations);
-		for (int i = 0; i < vectors.size(); ++i)
-		{
-			vectors[i] = (b3DbvtBenchmark::RandVector3() * 2 - b3Vector3(1, 1, 1)).normalized();
-		}
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
-		dbvt.optimizeTopDown();
-		policy.m_nodes.reserve(cfgLeaves);
-		printf("[14] culling(OCL+qsort): ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark14_Iterations; ++i)
-		{
-			static const b3Scalar offset = 0;
-			policy.m_nodes.resize(0);
-			dbvt.collideOCL(dbvt.m_root, &vectors[i], &offset, vectors[i], 1, policy, false);
-			policy.m_nodes.quickSort(b3DbvtBenchmark::P14::sortfnc);
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		const int t = cfgBenchmark14_Iterations;
-		printf("%u ms (%i%%),(%u t/s)\r\n", time, (time - cfgBenchmark14_Reference) * 100 / time, (t * 1000) / time);
-	}
-	if (cfgBenchmark15_Enable)
-	{  // Benchmark 15
-		srand(380843);
-		b3DynamicBvh dbvt;
-		b3AlignedObjectArray<b3Vector3> vectors;
-		b3DbvtBenchmark::P15 policy;
-		vectors.resize(cfgBenchmark15_Iterations);
-		for (int i = 0; i < vectors.size(); ++i)
-		{
-			vectors[i] = (b3DbvtBenchmark::RandVector3() * 2 - b3Vector3(1, 1, 1)).normalized();
-		}
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
-		dbvt.optimizeTopDown();
-		policy.m_nodes.reserve(cfgLeaves);
-		printf("[15] culling(KDOP+qsort): ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark15_Iterations; ++i)
-		{
-			static const b3Scalar offset = 0;
-			policy.m_nodes.resize(0);
-			policy.m_axis = vectors[i];
-			dbvt.collideKDOP(dbvt.m_root, &vectors[i], &offset, 1, policy);
-			policy.m_nodes.quickSort(b3DbvtBenchmark::P15::sortfnc);
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		const int t = cfgBenchmark15_Iterations;
-		printf("%u ms (%i%%),(%u t/s)\r\n", time, (time - cfgBenchmark15_Reference) * 100 / time, (t * 1000) / time);
-	}
-	if (cfgBenchmark16_Enable)
-	{  // Benchmark 16
-		srand(380843);
-		b3DynamicBvh dbvt;
-		b3AlignedObjectArray<b3DbvtNode*> batch;
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
-		dbvt.optimizeTopDown();
-		batch.reserve(cfgBenchmark16_BatchCount);
-		printf("[16] insert/remove batch(%u): ", cfgBenchmark16_BatchCount);
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark16_Passes; ++i)
-		{
-			for (int j = 0; j < cfgBenchmark16_BatchCount; ++j)
-			{
-				batch.push_back(dbvt.insert(b3DbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale), 0));
-			}
-			for (int j = 0; j < cfgBenchmark16_BatchCount; ++j)
-			{
-				dbvt.remove(batch[j]);
-			}
-			batch.resize(0);
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		const int ir = cfgBenchmark16_Passes * cfgBenchmark16_BatchCount;
-		printf("%u ms (%i%%),(%u bir/s)\r\n", time, (time - cfgBenchmark16_Reference) * 100 / time, int(ir * 1000.0 / time));
-	}
-	if (cfgBenchmark17_Enable)
-	{  // Benchmark 17
-		srand(380843);
-		b3AlignedObjectArray<b3DbvtVolume> volumes;
-		b3AlignedObjectArray<int> results;
-		b3AlignedObjectArray<int> indices;
-		volumes.resize(cfgLeaves);
-		results.resize(cfgLeaves);
-		indices.resize(cfgLeaves);
-		for (int i = 0; i < cfgLeaves; ++i)
-		{
-			indices[i] = i;
-			volumes[i] = b3DbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale);
-		}
-		for (int i = 0; i < cfgLeaves; ++i)
-		{
-			b3Swap(indices[i], indices[rand() % cfgLeaves]);
-		}
-		printf("[17] b3DbvtVolume select: ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark17_Iterations; ++i)
-		{
-			for (int j = 0; j < cfgLeaves; ++j)
-			{
-				for (int k = 0; k < cfgLeaves; ++k)
-				{
-					const int idx = indices[k];
-					results[idx] = Select(volumes[idx], volumes[j], volumes[k]);
-				}
-			}
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark17_Reference) * 100 / time);
-	}
-	printf("\r\n\r\n");
-}
-#endif
diff --git a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.h b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.h
deleted file mode 100644
index f44e3377fe..0000000000
--- a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.h
+++ /dev/null
@@ -1,1332 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-///b3DynamicBvh implementation by Nathanael Presson
-
-#ifndef B3_DYNAMIC_BOUNDING_VOLUME_TREE_H
-#define B3_DYNAMIC_BOUNDING_VOLUME_TREE_H
-
-#include "Bullet3Common/b3AlignedObjectArray.h"
-#include "Bullet3Common/b3Vector3.h"
-#include "Bullet3Common/b3Transform.h"
-#include "Bullet3Geometry/b3AabbUtil.h"
-
-//
-// Compile time configuration
-//
-
-// Implementation profiles
-#define B3_DBVT_IMPL_GENERIC 0  // Generic implementation
-#define B3_DBVT_IMPL_SSE 1      // SSE
-
-// Template implementation of ICollide
-#ifdef _WIN32
-#if (defined(_MSC_VER) && _MSC_VER >= 1400)
-#define B3_DBVT_USE_TEMPLATE 1
-#else
-#define B3_DBVT_USE_TEMPLATE 0
-#endif
-#else
-#define B3_DBVT_USE_TEMPLATE 0
-#endif
-
-// Use only intrinsics instead of inline asm
-#define B3_DBVT_USE_INTRINSIC_SSE 1
-
-// Using memmov for collideOCL
-#define B3_DBVT_USE_MEMMOVE 1
-
-// Enable benchmarking code
-#define B3_DBVT_ENABLE_BENCHMARK 0
-
-// Inlining
-#define B3_DBVT_INLINE B3_FORCE_INLINE
-
-// Specific methods implementation
-
-//SSE gives errors on a MSVC 7.1
-#if defined(B3_USE_SSE)  //&& defined (_WIN32)
-#define B3_DBVT_SELECT_IMPL B3_DBVT_IMPL_SSE
-#define B3_DBVT_MERGE_IMPL B3_DBVT_IMPL_SSE
-#define B3_DBVT_INT0_IMPL B3_DBVT_IMPL_SSE
-#else
-#define B3_DBVT_SELECT_IMPL B3_DBVT_IMPL_GENERIC
-#define B3_DBVT_MERGE_IMPL B3_DBVT_IMPL_GENERIC
-#define B3_DBVT_INT0_IMPL B3_DBVT_IMPL_GENERIC
-#endif
-
-#if (B3_DBVT_SELECT_IMPL == B3_DBVT_IMPL_SSE) || \
-	(B3_DBVT_MERGE_IMPL == B3_DBVT_IMPL_SSE) ||  \
-	(B3_DBVT_INT0_IMPL == B3_DBVT_IMPL_SSE)
-#include <emmintrin.h>
-#endif
-
-//
-// Auto config and checks
-//
-
-#if B3_DBVT_USE_TEMPLATE
-#define B3_DBVT_VIRTUAL
-#define B3_DBVT_VIRTUAL_DTOR(a)
-#define B3_DBVT_PREFIX template <typename T>
-#define B3_DBVT_IPOLICY T& policy
-#define B3_DBVT_CHECKTYPE                        \
-	static const ICollide& typechecker = *(T*)1; \
-	(void)typechecker;
-#else
-#define B3_DBVT_VIRTUAL_DTOR(a) \
-	virtual ~a() {}
-#define B3_DBVT_VIRTUAL virtual
-#define B3_DBVT_PREFIX
-#define B3_DBVT_IPOLICY ICollide& policy
-#define B3_DBVT_CHECKTYPE
-#endif
-
-#if B3_DBVT_USE_MEMMOVE
-#if !defined(__CELLOS_LV2__) && !defined(__MWERKS__)
-#include <memory.h>
-#endif
-#include <string.h>
-#endif
-
-#ifndef B3_DBVT_USE_TEMPLATE
-#error "B3_DBVT_USE_TEMPLATE undefined"
-#endif
-
-#ifndef B3_DBVT_USE_MEMMOVE
-#error "B3_DBVT_USE_MEMMOVE undefined"
-#endif
-
-#ifndef B3_DBVT_ENABLE_BENCHMARK
-#error "B3_DBVT_ENABLE_BENCHMARK undefined"
-#endif
-
-#ifndef B3_DBVT_SELECT_IMPL
-#error "B3_DBVT_SELECT_IMPL undefined"
-#endif
-
-#ifndef B3_DBVT_MERGE_IMPL
-#error "B3_DBVT_MERGE_IMPL undefined"
-#endif
-
-#ifndef B3_DBVT_INT0_IMPL
-#error "B3_DBVT_INT0_IMPL undefined"
-#endif
-
-//
-// Defaults volumes
-//
-
-/* b3DbvtAabbMm			*/
-struct b3DbvtAabbMm
-{
-	B3_DBVT_INLINE b3Vector3 Center() const { return ((mi + mx) / 2); }
-	B3_DBVT_INLINE b3Vector3 Lengths() const { return (mx - mi); }
-	B3_DBVT_INLINE b3Vector3 Extents() const { return ((mx - mi) / 2); }
-	B3_DBVT_INLINE const b3Vector3& Mins() const { return (mi); }
-	B3_DBVT_INLINE const b3Vector3& Maxs() const { return (mx); }
-	static inline b3DbvtAabbMm FromCE(const b3Vector3& c, const b3Vector3& e);
-	static inline b3DbvtAabbMm FromCR(const b3Vector3& c, b3Scalar r);
-	static inline b3DbvtAabbMm FromMM(const b3Vector3& mi, const b3Vector3& mx);
-	static inline b3DbvtAabbMm FromPoints(const b3Vector3* pts, int n);
-	static inline b3DbvtAabbMm FromPoints(const b3Vector3** ppts, int n);
-	B3_DBVT_INLINE void Expand(const b3Vector3& e);
-	B3_DBVT_INLINE void SignedExpand(const b3Vector3& e);
-	B3_DBVT_INLINE bool Contain(const b3DbvtAabbMm& a) const;
-	B3_DBVT_INLINE int Classify(const b3Vector3& n, b3Scalar o, int s) const;
-	B3_DBVT_INLINE b3Scalar ProjectMinimum(const b3Vector3& v, unsigned signs) const;
-	B3_DBVT_INLINE friend bool b3Intersect(const b3DbvtAabbMm& a,
-										   const b3DbvtAabbMm& b);
-
-	B3_DBVT_INLINE friend bool b3Intersect(const b3DbvtAabbMm& a,
-										   const b3Vector3& b);
-
-	B3_DBVT_INLINE friend b3Scalar b3Proximity(const b3DbvtAabbMm& a,
-											   const b3DbvtAabbMm& b);
-	B3_DBVT_INLINE friend int b3Select(const b3DbvtAabbMm& o,
-									   const b3DbvtAabbMm& a,
-									   const b3DbvtAabbMm& b);
-	B3_DBVT_INLINE friend void b3Merge(const b3DbvtAabbMm& a,
-									   const b3DbvtAabbMm& b,
-									   b3DbvtAabbMm& r);
-	B3_DBVT_INLINE friend bool b3NotEqual(const b3DbvtAabbMm& a,
-										  const b3DbvtAabbMm& b);
-
-	B3_DBVT_INLINE b3Vector3& tMins() { return (mi); }
-	B3_DBVT_INLINE b3Vector3& tMaxs() { return (mx); }
-
-private:
-	B3_DBVT_INLINE void AddSpan(const b3Vector3& d, b3Scalar& smi, b3Scalar& smx) const;
-
-private:
-	b3Vector3 mi, mx;
-};
-
-// Types
-typedef b3DbvtAabbMm b3DbvtVolume;
-
-/* b3DbvtNode				*/
-struct b3DbvtNode
-{
-	b3DbvtVolume volume;
-	b3DbvtNode* parent;
-	B3_DBVT_INLINE bool isleaf() const { return (childs[1] == 0); }
-	B3_DBVT_INLINE bool isinternal() const { return (!isleaf()); }
-	union {
-		b3DbvtNode* childs[2];
-		void* data;
-		int dataAsInt;
-	};
-};
-
-///The b3DynamicBvh class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree).
-///This b3DynamicBvh is used for soft body collision detection and for the b3DynamicBvhBroadphase. It has a fast insert, remove and update of nodes.
-///Unlike the b3QuantizedBvh, nodes can be dynamically moved around, which allows for change in topology of the underlying data structure.
-struct b3DynamicBvh
-{
-	/* Stack element	*/
-	struct sStkNN
-	{
-		const b3DbvtNode* a;
-		const b3DbvtNode* b;
-		sStkNN() {}
-		sStkNN(const b3DbvtNode* na, const b3DbvtNode* nb) : a(na), b(nb) {}
-	};
-	struct sStkNP
-	{
-		const b3DbvtNode* node;
-		int mask;
-		sStkNP(const b3DbvtNode* n, unsigned m) : node(n), mask(m) {}
-	};
-	struct sStkNPS
-	{
-		const b3DbvtNode* node;
-		int mask;
-		b3Scalar value;
-		sStkNPS() {}
-		sStkNPS(const b3DbvtNode* n, unsigned m, b3Scalar v) : node(n), mask(m), value(v) {}
-	};
-	struct sStkCLN
-	{
-		const b3DbvtNode* node;
-		b3DbvtNode* parent;
-		sStkCLN(const b3DbvtNode* n, b3DbvtNode* p) : node(n), parent(p) {}
-	};
-	// Policies/Interfaces
-
-	/* ICollide	*/
-	struct ICollide
-	{
-		B3_DBVT_VIRTUAL_DTOR(ICollide)
-		B3_DBVT_VIRTUAL void Process(const b3DbvtNode*, const b3DbvtNode*) {}
-		B3_DBVT_VIRTUAL void Process(const b3DbvtNode*) {}
-		B3_DBVT_VIRTUAL void Process(const b3DbvtNode* n, b3Scalar) { Process(n); }
-		B3_DBVT_VIRTUAL bool Descent(const b3DbvtNode*) { return (true); }
-		B3_DBVT_VIRTUAL bool AllLeaves(const b3DbvtNode*) { return (true); }
-	};
-	/* IWriter	*/
-	struct IWriter
-	{
-		virtual ~IWriter() {}
-		virtual void Prepare(const b3DbvtNode* root, int numnodes) = 0;
-		virtual void WriteNode(const b3DbvtNode*, int index, int parent, int child0, int child1) = 0;
-		virtual void WriteLeaf(const b3DbvtNode*, int index, int parent) = 0;
-	};
-	/* IClone	*/
-	struct IClone
-	{
-		virtual ~IClone() {}
-		virtual void CloneLeaf(b3DbvtNode*) {}
-	};
-
-	// Constants
-	enum
-	{
-		B3_SIMPLE_STACKSIZE = 64,
-		B3_DOUBLE_STACKSIZE = B3_SIMPLE_STACKSIZE * 2
-	};
-
-	// Fields
-	b3DbvtNode* m_root;
-	b3DbvtNode* m_free;
-	int m_lkhd;
-	int m_leaves;
-	unsigned m_opath;
-
-	b3AlignedObjectArray<sStkNN> m_stkStack;
-	mutable b3AlignedObjectArray<const b3DbvtNode*> m_rayTestStack;
-
-	// Methods
-	b3DynamicBvh();
-	~b3DynamicBvh();
-	void clear();
-	bool empty() const { return (0 == m_root); }
-	void optimizeBottomUp();
-	void optimizeTopDown(int bu_treshold = 128);
-	void optimizeIncremental(int passes);
-	b3DbvtNode* insert(const b3DbvtVolume& box, void* data);
-	void update(b3DbvtNode* leaf, int lookahead = -1);
-	void update(b3DbvtNode* leaf, b3DbvtVolume& volume);
-	bool update(b3DbvtNode* leaf, b3DbvtVolume& volume, const b3Vector3& velocity, b3Scalar margin);
-	bool update(b3DbvtNode* leaf, b3DbvtVolume& volume, const b3Vector3& velocity);
-	bool update(b3DbvtNode* leaf, b3DbvtVolume& volume, b3Scalar margin);
-	void remove(b3DbvtNode* leaf);
-	void write(IWriter* iwriter) const;
-	void clone(b3DynamicBvh& dest, IClone* iclone = 0) const;
-	static int maxdepth(const b3DbvtNode* node);
-	static int countLeaves(const b3DbvtNode* node);
-	static void extractLeaves(const b3DbvtNode* node, b3AlignedObjectArray<const b3DbvtNode*>& leaves);
-#if B3_DBVT_ENABLE_BENCHMARK
-	static void benchmark();
-#else
-	static void benchmark()
-	{
-	}
-#endif
-	// B3_DBVT_IPOLICY must support ICollide policy/interface
-	B3_DBVT_PREFIX
-	static void enumNodes(const b3DbvtNode* root,
-						  B3_DBVT_IPOLICY);
-	B3_DBVT_PREFIX
-	static void enumLeaves(const b3DbvtNode* root,
-						   B3_DBVT_IPOLICY);
-	B3_DBVT_PREFIX
-	void collideTT(const b3DbvtNode* root0,
-				   const b3DbvtNode* root1,
-				   B3_DBVT_IPOLICY);
-
-	B3_DBVT_PREFIX
-	void collideTTpersistentStack(const b3DbvtNode* root0,
-								  const b3DbvtNode* root1,
-								  B3_DBVT_IPOLICY);
-#if 0
-	B3_DBVT_PREFIX
-		void		collideTT(	const b3DbvtNode* root0,
-		const b3DbvtNode* root1,
-		const b3Transform& xform,
-		B3_DBVT_IPOLICY);
-	B3_DBVT_PREFIX
-		void		collideTT(	const b3DbvtNode* root0,
-		const b3Transform& xform0,
-		const b3DbvtNode* root1,
-		const b3Transform& xform1,
-		B3_DBVT_IPOLICY);
-#endif
-
-	B3_DBVT_PREFIX
-	void collideTV(const b3DbvtNode* root,
-				   const b3DbvtVolume& volume,
-				   B3_DBVT_IPOLICY) const;
-	///rayTest is a re-entrant ray test, and can be called in parallel as long as the b3AlignedAlloc is thread-safe (uses locking etc)
-	///rayTest is slower than rayTestInternal, because it builds a local stack, using memory allocations, and it recomputes signs/rayDirectionInverses each time
-	B3_DBVT_PREFIX
-	static void rayTest(const b3DbvtNode* root,
-						const b3Vector3& rayFrom,
-						const b3Vector3& rayTo,
-						B3_DBVT_IPOLICY);
-	///rayTestInternal is faster than rayTest, because it uses a persistent stack (to reduce dynamic memory allocations to a minimum) and it uses precomputed signs/rayInverseDirections
-	///rayTestInternal is used by b3DynamicBvhBroadphase to accelerate world ray casts
-	B3_DBVT_PREFIX
-	void rayTestInternal(const b3DbvtNode* root,
-						 const b3Vector3& rayFrom,
-						 const b3Vector3& rayTo,
-						 const b3Vector3& rayDirectionInverse,
-						 unsigned int signs[3],
-						 b3Scalar lambda_max,
-						 const b3Vector3& aabbMin,
-						 const b3Vector3& aabbMax,
-						 B3_DBVT_IPOLICY) const;
-
-	B3_DBVT_PREFIX
-	static void collideKDOP(const b3DbvtNode* root,
-							const b3Vector3* normals,
-							const b3Scalar* offsets,
-							int count,
-							B3_DBVT_IPOLICY);
-	B3_DBVT_PREFIX
-	static void collideOCL(const b3DbvtNode* root,
-						   const b3Vector3* normals,
-						   const b3Scalar* offsets,
-						   const b3Vector3& sortaxis,
-						   int count,
-						   B3_DBVT_IPOLICY,
-						   bool fullsort = true);
-	B3_DBVT_PREFIX
-	static void collideTU(const b3DbvtNode* root,
-						  B3_DBVT_IPOLICY);
-	// Helpers
-	static B3_DBVT_INLINE int nearest(const int* i, const b3DynamicBvh::sStkNPS* a, b3Scalar v, int l, int h)
-	{
-		int m = 0;
-		while (l < h)
-		{
-			m = (l + h) >> 1;
-			if (a[i[m]].value >= v)
-				l = m + 1;
-			else
-				h = m;
-		}
-		return (h);
-	}
-	static B3_DBVT_INLINE int allocate(b3AlignedObjectArray<int>& ifree,
-									   b3AlignedObjectArray<sStkNPS>& stock,
-									   const sStkNPS& value)
-	{
-		int i;
-		if (ifree.size() > 0)
-		{
-			i = ifree[ifree.size() - 1];
-			ifree.pop_back();
-			stock[i] = value;
-		}
-		else
-		{
-			i = stock.size();
-			stock.push_back(value);
-		}
-		return (i);
-	}
-	//
-private:
-	b3DynamicBvh(const b3DynamicBvh&) {}
-};
-
-//
-// Inline's
-//
-
-//
-inline b3DbvtAabbMm b3DbvtAabbMm::FromCE(const b3Vector3& c, const b3Vector3& e)
-{
-	b3DbvtAabbMm box;
-	box.mi = c - e;
-	box.mx = c + e;
-	return (box);
-}
-
-//
-inline b3DbvtAabbMm b3DbvtAabbMm::FromCR(const b3Vector3& c, b3Scalar r)
-{
-	return (FromCE(c, b3MakeVector3(r, r, r)));
-}
-
-//
-inline b3DbvtAabbMm b3DbvtAabbMm::FromMM(const b3Vector3& mi, const b3Vector3& mx)
-{
-	b3DbvtAabbMm box;
-	box.mi = mi;
-	box.mx = mx;
-	return (box);
-}
-
-//
-inline b3DbvtAabbMm b3DbvtAabbMm::FromPoints(const b3Vector3* pts, int n)
-{
-	b3DbvtAabbMm box;
-	box.mi = box.mx = pts[0];
-	for (int i = 1; i < n; ++i)
-	{
-		box.mi.setMin(pts[i]);
-		box.mx.setMax(pts[i]);
-	}
-	return (box);
-}
-
-//
-inline b3DbvtAabbMm b3DbvtAabbMm::FromPoints(const b3Vector3** ppts, int n)
-{
-	b3DbvtAabbMm box;
-	box.mi = box.mx = *ppts[0];
-	for (int i = 1; i < n; ++i)
-	{
-		box.mi.setMin(*ppts[i]);
-		box.mx.setMax(*ppts[i]);
-	}
-	return (box);
-}
-
-//
-B3_DBVT_INLINE void b3DbvtAabbMm::Expand(const b3Vector3& e)
-{
-	mi -= e;
-	mx += e;
-}
-
-//
-B3_DBVT_INLINE void b3DbvtAabbMm::SignedExpand(const b3Vector3& e)
-{
-	if (e.x > 0)
-		mx.setX(mx.x + e[0]);
-	else
-		mi.setX(mi.x + e[0]);
-	if (e.y > 0)
-		mx.setY(mx.y + e[1]);
-	else
-		mi.setY(mi.y + e[1]);
-	if (e.z > 0)
-		mx.setZ(mx.z + e[2]);
-	else
-		mi.setZ(mi.z + e[2]);
-}
-
-//
-B3_DBVT_INLINE bool b3DbvtAabbMm::Contain(const b3DbvtAabbMm& a) const
-{
-	return ((mi.x <= a.mi.x) &&
-			(mi.y <= a.mi.y) &&
-			(mi.z <= a.mi.z) &&
-			(mx.x >= a.mx.x) &&
-			(mx.y >= a.mx.y) &&
-			(mx.z >= a.mx.z));
-}
-
-//
-B3_DBVT_INLINE int b3DbvtAabbMm::Classify(const b3Vector3& n, b3Scalar o, int s) const
-{
-	b3Vector3 pi, px;
-	switch (s)
-	{
-		case (0 + 0 + 0):
-			px = b3MakeVector3(mi.x, mi.y, mi.z);
-			pi = b3MakeVector3(mx.x, mx.y, mx.z);
-			break;
-		case (1 + 0 + 0):
-			px = b3MakeVector3(mx.x, mi.y, mi.z);
-			pi = b3MakeVector3(mi.x, mx.y, mx.z);
-			break;
-		case (0 + 2 + 0):
-			px = b3MakeVector3(mi.x, mx.y, mi.z);
-			pi = b3MakeVector3(mx.x, mi.y, mx.z);
-			break;
-		case (1 + 2 + 0):
-			px = b3MakeVector3(mx.x, mx.y, mi.z);
-			pi = b3MakeVector3(mi.x, mi.y, mx.z);
-			break;
-		case (0 + 0 + 4):
-			px = b3MakeVector3(mi.x, mi.y, mx.z);
-			pi = b3MakeVector3(mx.x, mx.y, mi.z);
-			break;
-		case (1 + 0 + 4):
-			px = b3MakeVector3(mx.x, mi.y, mx.z);
-			pi = b3MakeVector3(mi.x, mx.y, mi.z);
-			break;
-		case (0 + 2 + 4):
-			px = b3MakeVector3(mi.x, mx.y, mx.z);
-			pi = b3MakeVector3(mx.x, mi.y, mi.z);
-			break;
-		case (1 + 2 + 4):
-			px = b3MakeVector3(mx.x, mx.y, mx.z);
-			pi = b3MakeVector3(mi.x, mi.y, mi.z);
-			break;
-	}
-	if ((b3Dot(n, px) + o) < 0) return (-1);
-	if ((b3Dot(n, pi) + o) >= 0) return (+1);
-	return (0);
-}
-
-//
-B3_DBVT_INLINE b3Scalar b3DbvtAabbMm::ProjectMinimum(const b3Vector3& v, unsigned signs) const
-{
-	const b3Vector3* b[] = {&mx, &mi};
-	const b3Vector3 p = b3MakeVector3(b[(signs >> 0) & 1]->x,
-									  b[(signs >> 1) & 1]->y,
-									  b[(signs >> 2) & 1]->z);
-	return (b3Dot(p, v));
-}
-
-//
-B3_DBVT_INLINE void b3DbvtAabbMm::AddSpan(const b3Vector3& d, b3Scalar& smi, b3Scalar& smx) const
-{
-	for (int i = 0; i < 3; ++i)
-	{
-		if (d[i] < 0)
-		{
-			smi += mx[i] * d[i];
-			smx += mi[i] * d[i];
-		}
-		else
-		{
-			smi += mi[i] * d[i];
-			smx += mx[i] * d[i];
-		}
-	}
-}
-
-//
-B3_DBVT_INLINE bool b3Intersect(const b3DbvtAabbMm& a,
-								const b3DbvtAabbMm& b)
-{
-#if B3_DBVT_INT0_IMPL == B3_DBVT_IMPL_SSE
-	const __m128 rt(_mm_or_ps(_mm_cmplt_ps(_mm_load_ps(b.mx), _mm_load_ps(a.mi)),
-							  _mm_cmplt_ps(_mm_load_ps(a.mx), _mm_load_ps(b.mi))));
-#if defined(_WIN32)
-	const __int32* pu((const __int32*)&rt);
-#else
-	const int* pu((const int*)&rt);
-#endif
-	return ((pu[0] | pu[1] | pu[2]) == 0);
-#else
-	return ((a.mi.x <= b.mx.x) &&
-			(a.mx.x >= b.mi.x) &&
-			(a.mi.y <= b.mx.y) &&
-			(a.mx.y >= b.mi.y) &&
-			(a.mi.z <= b.mx.z) &&
-			(a.mx.z >= b.mi.z));
-#endif
-}
-
-//
-B3_DBVT_INLINE bool b3Intersect(const b3DbvtAabbMm& a,
-								const b3Vector3& b)
-{
-	return ((b.x >= a.mi.x) &&
-			(b.y >= a.mi.y) &&
-			(b.z >= a.mi.z) &&
-			(b.x <= a.mx.x) &&
-			(b.y <= a.mx.y) &&
-			(b.z <= a.mx.z));
-}
-
-//////////////////////////////////////
-
-//
-B3_DBVT_INLINE b3Scalar b3Proximity(const b3DbvtAabbMm& a,
-									const b3DbvtAabbMm& b)
-{
-	const b3Vector3 d = (a.mi + a.mx) - (b.mi + b.mx);
-	return (b3Fabs(d.x) + b3Fabs(d.y) + b3Fabs(d.z));
-}
-
-//
-B3_DBVT_INLINE int b3Select(const b3DbvtAabbMm& o,
-							const b3DbvtAabbMm& a,
-							const b3DbvtAabbMm& b)
-{
-#if B3_DBVT_SELECT_IMPL == B3_DBVT_IMPL_SSE
-
-#if defined(_WIN32)
-	static B3_ATTRIBUTE_ALIGNED16(const unsigned __int32) mask[] = {0x7fffffff, 0x7fffffff, 0x7fffffff, 0x7fffffff};
-#else
-	static B3_ATTRIBUTE_ALIGNED16(const unsigned int) mask[] = {0x7fffffff, 0x7fffffff, 0x7fffffff, 0x00000000 /*0x7fffffff*/};
-#endif
-	///@todo: the intrinsic version is 11% slower
-#if B3_DBVT_USE_INTRINSIC_SSE
-
-	union b3SSEUnion  ///NOTE: if we use more intrinsics, move b3SSEUnion into the LinearMath directory
-	{
-		__m128 ssereg;
-		float floats[4];
-		int ints[4];
-	};
-
-	__m128 omi(_mm_load_ps(o.mi));
-	omi = _mm_add_ps(omi, _mm_load_ps(o.mx));
-	__m128 ami(_mm_load_ps(a.mi));
-	ami = _mm_add_ps(ami, _mm_load_ps(a.mx));
-	ami = _mm_sub_ps(ami, omi);
-	ami = _mm_and_ps(ami, _mm_load_ps((const float*)mask));
-	__m128 bmi(_mm_load_ps(b.mi));
-	bmi = _mm_add_ps(bmi, _mm_load_ps(b.mx));
-	bmi = _mm_sub_ps(bmi, omi);
-	bmi = _mm_and_ps(bmi, _mm_load_ps((const float*)mask));
-	__m128 t0(_mm_movehl_ps(ami, ami));
-	ami = _mm_add_ps(ami, t0);
-	ami = _mm_add_ss(ami, _mm_shuffle_ps(ami, ami, 1));
-	__m128 t1(_mm_movehl_ps(bmi, bmi));
-	bmi = _mm_add_ps(bmi, t1);
-	bmi = _mm_add_ss(bmi, _mm_shuffle_ps(bmi, bmi, 1));
-
-	b3SSEUnion tmp;
-	tmp.ssereg = _mm_cmple_ss(bmi, ami);
-	return tmp.ints[0] & 1;
-
-#else
-	B3_ATTRIBUTE_ALIGNED16(__int32 r[1]);
-	__asm
-	{
-		mov		eax,o
-			mov		ecx,a
-			mov		edx,b
-			movaps	xmm0,[eax]
-		movaps	xmm5,mask
-			addps	xmm0,[eax+16]	
-		movaps	xmm1,[ecx]
-		movaps	xmm2,[edx]
-		addps	xmm1,[ecx+16]
-		addps	xmm2,[edx+16]
-		subps	xmm1,xmm0
-			subps	xmm2,xmm0
-			andps	xmm1,xmm5
-			andps	xmm2,xmm5
-			movhlps	xmm3,xmm1
-			movhlps	xmm4,xmm2
-			addps	xmm1,xmm3
-			addps	xmm2,xmm4
-			pshufd	xmm3,xmm1,1
-			pshufd	xmm4,xmm2,1
-			addss	xmm1,xmm3
-			addss	xmm2,xmm4
-			cmpless	xmm2,xmm1
-			movss	r,xmm2
-	}
-	return (r[0] & 1);
-#endif
-#else
-	return (b3Proximity(o, a) < b3Proximity(o, b) ? 0 : 1);
-#endif
-}
-
-//
-B3_DBVT_INLINE void b3Merge(const b3DbvtAabbMm& a,
-							const b3DbvtAabbMm& b,
-							b3DbvtAabbMm& r)
-{
-#if B3_DBVT_MERGE_IMPL == B3_DBVT_IMPL_SSE
-	__m128 ami(_mm_load_ps(a.mi));
-	__m128 amx(_mm_load_ps(a.mx));
-	__m128 bmi(_mm_load_ps(b.mi));
-	__m128 bmx(_mm_load_ps(b.mx));
-	ami = _mm_min_ps(ami, bmi);
-	amx = _mm_max_ps(amx, bmx);
-	_mm_store_ps(r.mi, ami);
-	_mm_store_ps(r.mx, amx);
-#else
-	for (int i = 0; i < 3; ++i)
-	{
-		if (a.mi[i] < b.mi[i])
-			r.mi[i] = a.mi[i];
-		else
-			r.mi[i] = b.mi[i];
-		if (a.mx[i] > b.mx[i])
-			r.mx[i] = a.mx[i];
-		else
-			r.mx[i] = b.mx[i];
-	}
-#endif
-}
-
-//
-B3_DBVT_INLINE bool b3NotEqual(const b3DbvtAabbMm& a,
-							   const b3DbvtAabbMm& b)
-{
-	return ((a.mi.x != b.mi.x) ||
-			(a.mi.y != b.mi.y) ||
-			(a.mi.z != b.mi.z) ||
-			(a.mx.x != b.mx.x) ||
-			(a.mx.y != b.mx.y) ||
-			(a.mx.z != b.mx.z));
-}
-
-//
-// Inline's
-//
-
-//
-B3_DBVT_PREFIX
-inline void b3DynamicBvh::enumNodes(const b3DbvtNode* root,
-									B3_DBVT_IPOLICY)
-{
-	B3_DBVT_CHECKTYPE
-	policy.Process(root);
-	if (root->isinternal())
-	{
-		enumNodes(root->childs[0], policy);
-		enumNodes(root->childs[1], policy);
-	}
-}
-
-//
-B3_DBVT_PREFIX
-inline void b3DynamicBvh::enumLeaves(const b3DbvtNode* root,
-									 B3_DBVT_IPOLICY)
-{
-	B3_DBVT_CHECKTYPE
-	if (root->isinternal())
-	{
-		enumLeaves(root->childs[0], policy);
-		enumLeaves(root->childs[1], policy);
-	}
-	else
-	{
-		policy.Process(root);
-	}
-}
-
-//
-B3_DBVT_PREFIX
-inline void b3DynamicBvh::collideTT(const b3DbvtNode* root0,
-									const b3DbvtNode* root1,
-									B3_DBVT_IPOLICY)
-{
-	B3_DBVT_CHECKTYPE
-	if (root0 && root1)
-	{
-		int depth = 1;
-		int treshold = B3_DOUBLE_STACKSIZE - 4;
-		b3AlignedObjectArray<sStkNN> stkStack;
-		stkStack.resize(B3_DOUBLE_STACKSIZE);
-		stkStack[0] = sStkNN(root0, root1);
-		do
-		{
-			sStkNN p = stkStack[--depth];
-			if (depth > treshold)
-			{
-				stkStack.resize(stkStack.size() * 2);
-				treshold = stkStack.size() - 4;
-			}
-			if (p.a == p.b)
-			{
-				if (p.a->isinternal())
-				{
-					stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[0]);
-					stkStack[depth++] = sStkNN(p.a->childs[1], p.a->childs[1]);
-					stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[1]);
-				}
-			}
-			else if (b3Intersect(p.a->volume, p.b->volume))
-			{
-				if (p.a->isinternal())
-				{
-					if (p.b->isinternal())
-					{
-						stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[0]);
-						stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[0]);
-						stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[1]);
-						stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[1]);
-					}
-					else
-					{
-						stkStack[depth++] = sStkNN(p.a->childs[0], p.b);
-						stkStack[depth++] = sStkNN(p.a->childs[1], p.b);
-					}
-				}
-				else
-				{
-					if (p.b->isinternal())
-					{
-						stkStack[depth++] = sStkNN(p.a, p.b->childs[0]);
-						stkStack[depth++] = sStkNN(p.a, p.b->childs[1]);
-					}
-					else
-					{
-						policy.Process(p.a, p.b);
-					}
-				}
-			}
-		} while (depth);
-	}
-}
-
-B3_DBVT_PREFIX
-inline void b3DynamicBvh::collideTTpersistentStack(const b3DbvtNode* root0,
-												   const b3DbvtNode* root1,
-												   B3_DBVT_IPOLICY)
-{
-	B3_DBVT_CHECKTYPE
-	if (root0 && root1)
-	{
-		int depth = 1;
-		int treshold = B3_DOUBLE_STACKSIZE - 4;
-
-		m_stkStack.resize(B3_DOUBLE_STACKSIZE);
-		m_stkStack[0] = sStkNN(root0, root1);
-		do
-		{
-			sStkNN p = m_stkStack[--depth];
-			if (depth > treshold)
-			{
-				m_stkStack.resize(m_stkStack.size() * 2);
-				treshold = m_stkStack.size() - 4;
-			}
-			if (p.a == p.b)
-			{
-				if (p.a->isinternal())
-				{
-					m_stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[0]);
-					m_stkStack[depth++] = sStkNN(p.a->childs[1], p.a->childs[1]);
-					m_stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[1]);
-				}
-			}
-			else if (b3Intersect(p.a->volume, p.b->volume))
-			{
-				if (p.a->isinternal())
-				{
-					if (p.b->isinternal())
-					{
-						m_stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[0]);
-						m_stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[0]);
-						m_stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[1]);
-						m_stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[1]);
-					}
-					else
-					{
-						m_stkStack[depth++] = sStkNN(p.a->childs[0], p.b);
-						m_stkStack[depth++] = sStkNN(p.a->childs[1], p.b);
-					}
-				}
-				else
-				{
-					if (p.b->isinternal())
-					{
-						m_stkStack[depth++] = sStkNN(p.a, p.b->childs[0]);
-						m_stkStack[depth++] = sStkNN(p.a, p.b->childs[1]);
-					}
-					else
-					{
-						policy.Process(p.a, p.b);
-					}
-				}
-			}
-		} while (depth);
-	}
-}
-
-#if 0
-//
-B3_DBVT_PREFIX
-inline void		b3DynamicBvh::collideTT(	const b3DbvtNode* root0,
-								  const b3DbvtNode* root1,
-								  const b3Transform& xform,
-								  B3_DBVT_IPOLICY)
-{
-	B3_DBVT_CHECKTYPE
-		if(root0&&root1)
-		{
-			int								depth=1;
-			int								treshold=B3_DOUBLE_STACKSIZE-4;
-			b3AlignedObjectArray<sStkNN>	stkStack;
-			stkStack.resize(B3_DOUBLE_STACKSIZE);
-			stkStack[0]=sStkNN(root0,root1);
-			do	{
-				sStkNN	p=stkStack[--depth];
-				if(b3Intersect(p.a->volume,p.b->volume,xform))
-				{
-					if(depth>treshold)
-					{
-						stkStack.resize(stkStack.size()*2);
-						treshold=stkStack.size()-4;
-					}
-					if(p.a->isinternal())
-					{
-						if(p.b->isinternal())
-						{					
-							stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
-							stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
-							stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
-							stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
-						}
-						else
-						{
-							stkStack[depth++]=sStkNN(p.a->childs[0],p.b);
-							stkStack[depth++]=sStkNN(p.a->childs[1],p.b);
-						}
-					}
-					else
-					{
-						if(p.b->isinternal())
-						{
-							stkStack[depth++]=sStkNN(p.a,p.b->childs[0]);
-							stkStack[depth++]=sStkNN(p.a,p.b->childs[1]);
-						}
-						else
-						{
-							policy.Process(p.a,p.b);
-						}
-					}
-				}
-			} while(depth);
-		}
-}
-//
-B3_DBVT_PREFIX
-inline void		b3DynamicBvh::collideTT(	const b3DbvtNode* root0,
-								  const b3Transform& xform0,
-								  const b3DbvtNode* root1,
-								  const b3Transform& xform1,
-								  B3_DBVT_IPOLICY)
-{
-	const b3Transform	xform=xform0.inverse()*xform1;
-	collideTT(root0,root1,xform,policy);
-}
-#endif
-
-//
-B3_DBVT_PREFIX
-inline void b3DynamicBvh::collideTV(const b3DbvtNode* root,
-									const b3DbvtVolume& vol,
-									B3_DBVT_IPOLICY) const
-{
-	B3_DBVT_CHECKTYPE
-	if (root)
-	{
-		B3_ATTRIBUTE_ALIGNED16(b3DbvtVolume)
-		volume(vol);
-		b3AlignedObjectArray<const b3DbvtNode*> stack;
-		stack.resize(0);
-		stack.reserve(B3_SIMPLE_STACKSIZE);
-		stack.push_back(root);
-		do
-		{
-			const b3DbvtNode* n = stack[stack.size() - 1];
-			stack.pop_back();
-			if (b3Intersect(n->volume, volume))
-			{
-				if (n->isinternal())
-				{
-					stack.push_back(n->childs[0]);
-					stack.push_back(n->childs[1]);
-				}
-				else
-				{
-					policy.Process(n);
-				}
-			}
-		} while (stack.size() > 0);
-	}
-}
-
-B3_DBVT_PREFIX
-inline void b3DynamicBvh::rayTestInternal(const b3DbvtNode* root,
-										  const b3Vector3& rayFrom,
-										  const b3Vector3& rayTo,
-										  const b3Vector3& rayDirectionInverse,
-										  unsigned int signs[3],
-										  b3Scalar lambda_max,
-										  const b3Vector3& aabbMin,
-										  const b3Vector3& aabbMax,
-										  B3_DBVT_IPOLICY) const
-{
-	(void)rayTo;
-	B3_DBVT_CHECKTYPE
-	if (root)
-	{
-		int depth = 1;
-		int treshold = B3_DOUBLE_STACKSIZE - 2;
-		b3AlignedObjectArray<const b3DbvtNode*>& stack = m_rayTestStack;
-		stack.resize(B3_DOUBLE_STACKSIZE);
-		stack[0] = root;
-		b3Vector3 bounds[2];
-		do
-		{
-			const b3DbvtNode* node = stack[--depth];
-			bounds[0] = node->volume.Mins() - aabbMax;
-			bounds[1] = node->volume.Maxs() - aabbMin;
-			b3Scalar tmin = 1.f, lambda_min = 0.f;
-			unsigned int result1 = false;
-			result1 = b3RayAabb2(rayFrom, rayDirectionInverse, signs, bounds, tmin, lambda_min, lambda_max);
-			if (result1)
-			{
-				if (node->isinternal())
-				{
-					if (depth > treshold)
-					{
-						stack.resize(stack.size() * 2);
-						treshold = stack.size() - 2;
-					}
-					stack[depth++] = node->childs[0];
-					stack[depth++] = node->childs[1];
-				}
-				else
-				{
-					policy.Process(node);
-				}
-			}
-		} while (depth);
-	}
-}
-
-//
-B3_DBVT_PREFIX
-inline void b3DynamicBvh::rayTest(const b3DbvtNode* root,
-								  const b3Vector3& rayFrom,
-								  const b3Vector3& rayTo,
-								  B3_DBVT_IPOLICY)
-{
-	B3_DBVT_CHECKTYPE
-	if (root)
-	{
-		b3Vector3 rayDir = (rayTo - rayFrom);
-		rayDir.normalize();
-
-		///what about division by zero? --> just set rayDirection[i] to INF/B3_LARGE_FLOAT
-		b3Vector3 rayDirectionInverse;
-		rayDirectionInverse[0] = rayDir[0] == b3Scalar(0.0) ? b3Scalar(B3_LARGE_FLOAT) : b3Scalar(1.0) / rayDir[0];
-		rayDirectionInverse[1] = rayDir[1] == b3Scalar(0.0) ? b3Scalar(B3_LARGE_FLOAT) : b3Scalar(1.0) / rayDir[1];
-		rayDirectionInverse[2] = rayDir[2] == b3Scalar(0.0) ? b3Scalar(B3_LARGE_FLOAT) : b3Scalar(1.0) / rayDir[2];
-		unsigned int signs[3] = {rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
-
-		b3Scalar lambda_max = rayDir.dot(rayTo - rayFrom);
-#ifdef COMPARE_BTRAY_AABB2
-		b3Vector3 resultNormal;
-#endif  //COMPARE_BTRAY_AABB2
-
-		b3AlignedObjectArray<const b3DbvtNode*> stack;
-
-		int depth = 1;
-		int treshold = B3_DOUBLE_STACKSIZE - 2;
-
-		stack.resize(B3_DOUBLE_STACKSIZE);
-		stack[0] = root;
-		b3Vector3 bounds[2];
-		do
-		{
-			const b3DbvtNode* node = stack[--depth];
-
-			bounds[0] = node->volume.Mins();
-			bounds[1] = node->volume.Maxs();
-
-			b3Scalar tmin = 1.f, lambda_min = 0.f;
-			unsigned int result1 = b3RayAabb2(rayFrom, rayDirectionInverse, signs, bounds, tmin, lambda_min, lambda_max);
-
-#ifdef COMPARE_BTRAY_AABB2
-			b3Scalar param = 1.f;
-			bool result2 = b3RayAabb(rayFrom, rayTo, node->volume.Mins(), node->volume.Maxs(), param, resultNormal);
-			b3Assert(result1 == result2);
-#endif  //TEST_BTRAY_AABB2
-
-			if (result1)
-			{
-				if (node->isinternal())
-				{
-					if (depth > treshold)
-					{
-						stack.resize(stack.size() * 2);
-						treshold = stack.size() - 2;
-					}
-					stack[depth++] = node->childs[0];
-					stack[depth++] = node->childs[1];
-				}
-				else
-				{
-					policy.Process(node);
-				}
-			}
-		} while (depth);
-	}
-}
-
-//
-B3_DBVT_PREFIX
-inline void b3DynamicBvh::collideKDOP(const b3DbvtNode* root,
-									  const b3Vector3* normals,
-									  const b3Scalar* offsets,
-									  int count,
-									  B3_DBVT_IPOLICY)
-{
-	B3_DBVT_CHECKTYPE
-	if (root)
-	{
-		const int inside = (1 << count) - 1;
-		b3AlignedObjectArray<sStkNP> stack;
-		int signs[sizeof(unsigned) * 8];
-		b3Assert(count < int(sizeof(signs) / sizeof(signs[0])));
-		for (int i = 0; i < count; ++i)
-		{
-			signs[i] = ((normals[i].x >= 0) ? 1 : 0) +
-					   ((normals[i].y >= 0) ? 2 : 0) +
-					   ((normals[i].z >= 0) ? 4 : 0);
-		}
-		stack.reserve(B3_SIMPLE_STACKSIZE);
-		stack.push_back(sStkNP(root, 0));
-		do
-		{
-			sStkNP se = stack[stack.size() - 1];
-			bool out = false;
-			stack.pop_back();
-			for (int i = 0, j = 1; (!out) && (i < count); ++i, j <<= 1)
-			{
-				if (0 == (se.mask & j))
-				{
-					const int side = se.node->volume.Classify(normals[i], offsets[i], signs[i]);
-					switch (side)
-					{
-						case -1:
-							out = true;
-							break;
-						case +1:
-							se.mask |= j;
-							break;
-					}
-				}
-			}
-			if (!out)
-			{
-				if ((se.mask != inside) && (se.node->isinternal()))
-				{
-					stack.push_back(sStkNP(se.node->childs[0], se.mask));
-					stack.push_back(sStkNP(se.node->childs[1], se.mask));
-				}
-				else
-				{
-					if (policy.AllLeaves(se.node)) enumLeaves(se.node, policy);
-				}
-			}
-		} while (stack.size());
-	}
-}
-
-//
-B3_DBVT_PREFIX
-inline void b3DynamicBvh::collideOCL(const b3DbvtNode* root,
-									 const b3Vector3* normals,
-									 const b3Scalar* offsets,
-									 const b3Vector3& sortaxis,
-									 int count,
-									 B3_DBVT_IPOLICY,
-									 bool fsort)
-{
-	B3_DBVT_CHECKTYPE
-	if (root)
-	{
-		const unsigned srtsgns = (sortaxis[0] >= 0 ? 1 : 0) +
-								 (sortaxis[1] >= 0 ? 2 : 0) +
-								 (sortaxis[2] >= 0 ? 4 : 0);
-		const int inside = (1 << count) - 1;
-		b3AlignedObjectArray<sStkNPS> stock;
-		b3AlignedObjectArray<int> ifree;
-		b3AlignedObjectArray<int> stack;
-		int signs[sizeof(unsigned) * 8];
-		b3Assert(count < int(sizeof(signs) / sizeof(signs[0])));
-		for (int i = 0; i < count; ++i)
-		{
-			signs[i] = ((normals[i].x >= 0) ? 1 : 0) +
-					   ((normals[i].y >= 0) ? 2 : 0) +
-					   ((normals[i].z >= 0) ? 4 : 0);
-		}
-		stock.reserve(B3_SIMPLE_STACKSIZE);
-		stack.reserve(B3_SIMPLE_STACKSIZE);
-		ifree.reserve(B3_SIMPLE_STACKSIZE);
-		stack.push_back(allocate(ifree, stock, sStkNPS(root, 0, root->volume.ProjectMinimum(sortaxis, srtsgns))));
-		do
-		{
-			const int id = stack[stack.size() - 1];
-			sStkNPS se = stock[id];
-			stack.pop_back();
-			ifree.push_back(id);
-			if (se.mask != inside)
-			{
-				bool out = false;
-				for (int i = 0, j = 1; (!out) && (i < count); ++i, j <<= 1)
-				{
-					if (0 == (se.mask & j))
-					{
-						const int side = se.node->volume.Classify(normals[i], offsets[i], signs[i]);
-						switch (side)
-						{
-							case -1:
-								out = true;
-								break;
-							case +1:
-								se.mask |= j;
-								break;
-						}
-					}
-				}
-				if (out) continue;
-			}
-			if (policy.Descent(se.node))
-			{
-				if (se.node->isinternal())
-				{
-					const b3DbvtNode* pns[] = {se.node->childs[0], se.node->childs[1]};
-					sStkNPS nes[] = {sStkNPS(pns[0], se.mask, pns[0]->volume.ProjectMinimum(sortaxis, srtsgns)),
-									 sStkNPS(pns[1], se.mask, pns[1]->volume.ProjectMinimum(sortaxis, srtsgns))};
-					const int q = nes[0].value < nes[1].value ? 1 : 0;
-					int j = stack.size();
-					if (fsort && (j > 0))
-					{
-						/* Insert 0	*/
-						j = nearest(&stack[0], &stock[0], nes[q].value, 0, stack.size());
-						stack.push_back(0);
-#if B3_DBVT_USE_MEMMOVE
-						memmove(&stack[j + 1], &stack[j], sizeof(int) * (stack.size() - j - 1));
-#else
-						for (int k = stack.size() - 1; k > j; --k) stack[k] = stack[k - 1];
-#endif
-						stack[j] = allocate(ifree, stock, nes[q]);
-						/* Insert 1	*/
-						j = nearest(&stack[0], &stock[0], nes[1 - q].value, j, stack.size());
-						stack.push_back(0);
-#if B3_DBVT_USE_MEMMOVE
-						memmove(&stack[j + 1], &stack[j], sizeof(int) * (stack.size() - j - 1));
-#else
-						for (int k = stack.size() - 1; k > j; --k) stack[k] = stack[k - 1];
-#endif
-						stack[j] = allocate(ifree, stock, nes[1 - q]);
-					}
-					else
-					{
-						stack.push_back(allocate(ifree, stock, nes[q]));
-						stack.push_back(allocate(ifree, stock, nes[1 - q]));
-					}
-				}
-				else
-				{
-					policy.Process(se.node, se.value);
-				}
-			}
-		} while (stack.size());
-	}
-}
-
-//
-B3_DBVT_PREFIX
-inline void b3DynamicBvh::collideTU(const b3DbvtNode* root,
-									B3_DBVT_IPOLICY)
-{
-	B3_DBVT_CHECKTYPE
-	if (root)
-	{
-		b3AlignedObjectArray<const b3DbvtNode*> stack;
-		stack.reserve(B3_SIMPLE_STACKSIZE);
-		stack.push_back(root);
-		do
-		{
-			const b3DbvtNode* n = stack[stack.size() - 1];
-			stack.pop_back();
-			if (policy.Descent(n))
-			{
-				if (n->isinternal())
-				{
-					stack.push_back(n->childs[0]);
-					stack.push_back(n->childs[1]);
-				}
-				else
-				{
-					policy.Process(n);
-				}
-			}
-		} while (stack.size() > 0);
-	}
-}
-
-//
-// PP Cleanup
-//
-
-#undef B3_DBVT_USE_MEMMOVE
-#undef B3_DBVT_USE_TEMPLATE
-#undef B3_DBVT_VIRTUAL_DTOR
-#undef B3_DBVT_VIRTUAL
-#undef B3_DBVT_PREFIX
-#undef B3_DBVT_IPOLICY
-#undef B3_DBVT_CHECKTYPE
-#undef B3_DBVT_IMPL_GENERIC
-#undef B3_DBVT_IMPL_SSE
-#undef B3_DBVT_USE_INTRINSIC_SSE
-#undef B3_DBVT_SELECT_IMPL
-#undef B3_DBVT_MERGE_IMPL
-#undef B3_DBVT_INT0_IMPL
-
-#endif
diff --git a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.cpp b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.cpp
deleted file mode 100644
index dea2ddb0f2..0000000000
--- a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.cpp
+++ /dev/null
@@ -1,808 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///b3DynamicBvhBroadphase implementation by Nathanael Presson
-
-#include "b3DynamicBvhBroadphase.h"
-#include "b3OverlappingPair.h"
-
-//
-// Profiling
-//
-
-#if B3_DBVT_BP_PROFILE || B3_DBVT_BP_ENABLE_BENCHMARK
-#include <stdio.h>
-#endif
-
-#if B3_DBVT_BP_PROFILE
-struct b3ProfileScope
-{
-	__forceinline b3ProfileScope(b3Clock& clock, unsigned long& value) : m_clock(&clock), m_value(&value), m_base(clock.getTimeMicroseconds())
-	{
-	}
-	__forceinline ~b3ProfileScope()
-	{
-		(*m_value) += m_clock->getTimeMicroseconds() - m_base;
-	}
-	b3Clock* m_clock;
-	unsigned long* m_value;
-	unsigned long m_base;
-};
-#define b3SPC(_value_) b3ProfileScope spc_scope(m_clock, _value_)
-#else
-#define b3SPC(_value_)
-#endif
-
-//
-// Helpers
-//
-
-//
-template <typename T>
-static inline void b3ListAppend(T* item, T*& list)
-{
-	item->links[0] = 0;
-	item->links[1] = list;
-	if (list) list->links[0] = item;
-	list = item;
-}
-
-//
-template <typename T>
-static inline void b3ListRemove(T* item, T*& list)
-{
-	if (item->links[0])
-		item->links[0]->links[1] = item->links[1];
-	else
-		list = item->links[1];
-	if (item->links[1]) item->links[1]->links[0] = item->links[0];
-}
-
-//
-template <typename T>
-static inline int b3ListCount(T* root)
-{
-	int n = 0;
-	while (root)
-	{
-		++n;
-		root = root->links[1];
-	}
-	return (n);
-}
-
-//
-template <typename T>
-static inline void b3Clear(T& value)
-{
-	static const struct ZeroDummy : T
-	{
-	} zerodummy;
-	value = zerodummy;
-}
-
-//
-// Colliders
-//
-
-/* Tree collider	*/
-struct b3DbvtTreeCollider : b3DynamicBvh::ICollide
-{
-	b3DynamicBvhBroadphase* pbp;
-	b3DbvtProxy* proxy;
-	b3DbvtTreeCollider(b3DynamicBvhBroadphase* p) : pbp(p) {}
-	void Process(const b3DbvtNode* na, const b3DbvtNode* nb)
-	{
-		if (na != nb)
-		{
-			b3DbvtProxy* pa = (b3DbvtProxy*)na->data;
-			b3DbvtProxy* pb = (b3DbvtProxy*)nb->data;
-#if B3_DBVT_BP_SORTPAIRS
-			if (pa->m_uniqueId > pb->m_uniqueId)
-				b3Swap(pa, pb);
-#endif
-			pbp->m_paircache->addOverlappingPair(pa->getUid(), pb->getUid());
-			++pbp->m_newpairs;
-		}
-	}
-	void Process(const b3DbvtNode* n)
-	{
-		Process(n, proxy->leaf);
-	}
-};
-
-//
-// b3DynamicBvhBroadphase
-//
-
-//
-b3DynamicBvhBroadphase::b3DynamicBvhBroadphase(int proxyCapacity, b3OverlappingPairCache* paircache)
-{
-	m_deferedcollide = false;
-	m_needcleanup = true;
-	m_releasepaircache = (paircache != 0) ? false : true;
-	m_prediction = 0;
-	m_stageCurrent = 0;
-	m_fixedleft = 0;
-	m_fupdates = 1;
-	m_dupdates = 0;
-	m_cupdates = 10;
-	m_newpairs = 1;
-	m_updates_call = 0;
-	m_updates_done = 0;
-	m_updates_ratio = 0;
-	m_paircache = paircache ? paircache : new (b3AlignedAlloc(sizeof(b3HashedOverlappingPairCache), 16)) b3HashedOverlappingPairCache();
-
-	m_pid = 0;
-	m_cid = 0;
-	for (int i = 0; i <= STAGECOUNT; ++i)
-	{
-		m_stageRoots[i] = 0;
-	}
-#if B3_DBVT_BP_PROFILE
-	b3Clear(m_profiling);
-#endif
-	m_proxies.resize(proxyCapacity);
-}
-
-//
-b3DynamicBvhBroadphase::~b3DynamicBvhBroadphase()
-{
-	if (m_releasepaircache)
-	{
-		m_paircache->~b3OverlappingPairCache();
-		b3AlignedFree(m_paircache);
-	}
-}
-
-//
-b3BroadphaseProxy* b3DynamicBvhBroadphase::createProxy(const b3Vector3& aabbMin,
-													   const b3Vector3& aabbMax,
-													   int objectId,
-													   void* userPtr,
-													   int collisionFilterGroup,
-													   int collisionFilterMask)
-{
-	b3DbvtProxy* mem = &m_proxies[objectId];
-	b3DbvtProxy* proxy = new (mem) b3DbvtProxy(aabbMin, aabbMax, userPtr,
-											   collisionFilterGroup,
-											   collisionFilterMask);
-
-	b3DbvtAabbMm aabb = b3DbvtVolume::FromMM(aabbMin, aabbMax);
-
-	//bproxy->aabb			=	b3DbvtVolume::FromMM(aabbMin,aabbMax);
-	proxy->stage = m_stageCurrent;
-	proxy->m_uniqueId = objectId;
-	proxy->leaf = m_sets[0].insert(aabb, proxy);
-	b3ListAppend(proxy, m_stageRoots[m_stageCurrent]);
-	if (!m_deferedcollide)
-	{
-		b3DbvtTreeCollider collider(this);
-		collider.proxy = proxy;
-		m_sets[0].collideTV(m_sets[0].m_root, aabb, collider);
-		m_sets[1].collideTV(m_sets[1].m_root, aabb, collider);
-	}
-	return (proxy);
-}
-
-//
-void b3DynamicBvhBroadphase::destroyProxy(b3BroadphaseProxy* absproxy,
-										  b3Dispatcher* dispatcher)
-{
-	b3DbvtProxy* proxy = (b3DbvtProxy*)absproxy;
-	if (proxy->stage == STAGECOUNT)
-		m_sets[1].remove(proxy->leaf);
-	else
-		m_sets[0].remove(proxy->leaf);
-	b3ListRemove(proxy, m_stageRoots[proxy->stage]);
-	m_paircache->removeOverlappingPairsContainingProxy(proxy->getUid(), dispatcher);
-
-	m_needcleanup = true;
-}
-
-void b3DynamicBvhBroadphase::getAabb(int objectId, b3Vector3& aabbMin, b3Vector3& aabbMax) const
-{
-	const b3DbvtProxy* proxy = &m_proxies[objectId];
-	aabbMin = proxy->m_aabbMin;
-	aabbMax = proxy->m_aabbMax;
-}
-/*
-void	b3DynamicBvhBroadphase::getAabb(b3BroadphaseProxy* absproxy,b3Vector3& aabbMin, b3Vector3& aabbMax ) const
-{
-	b3DbvtProxy*						proxy=(b3DbvtProxy*)absproxy;
-	aabbMin = proxy->m_aabbMin;
-	aabbMax = proxy->m_aabbMax;
-}
-*/
-
-struct BroadphaseRayTester : b3DynamicBvh::ICollide
-{
-	b3BroadphaseRayCallback& m_rayCallback;
-	BroadphaseRayTester(b3BroadphaseRayCallback& orgCallback)
-		: m_rayCallback(orgCallback)
-	{
-	}
-	void Process(const b3DbvtNode* leaf)
-	{
-		b3DbvtProxy* proxy = (b3DbvtProxy*)leaf->data;
-		m_rayCallback.process(proxy);
-	}
-};
-
-void b3DynamicBvhBroadphase::rayTest(const b3Vector3& rayFrom, const b3Vector3& rayTo, b3BroadphaseRayCallback& rayCallback, const b3Vector3& aabbMin, const b3Vector3& aabbMax)
-{
-	BroadphaseRayTester callback(rayCallback);
-
-	m_sets[0].rayTestInternal(m_sets[0].m_root,
-							  rayFrom,
-							  rayTo,
-							  rayCallback.m_rayDirectionInverse,
-							  rayCallback.m_signs,
-							  rayCallback.m_lambda_max,
-							  aabbMin,
-							  aabbMax,
-							  callback);
-
-	m_sets[1].rayTestInternal(m_sets[1].m_root,
-							  rayFrom,
-							  rayTo,
-							  rayCallback.m_rayDirectionInverse,
-							  rayCallback.m_signs,
-							  rayCallback.m_lambda_max,
-							  aabbMin,
-							  aabbMax,
-							  callback);
-}
-
-struct BroadphaseAabbTester : b3DynamicBvh::ICollide
-{
-	b3BroadphaseAabbCallback& m_aabbCallback;
-	BroadphaseAabbTester(b3BroadphaseAabbCallback& orgCallback)
-		: m_aabbCallback(orgCallback)
-	{
-	}
-	void Process(const b3DbvtNode* leaf)
-	{
-		b3DbvtProxy* proxy = (b3DbvtProxy*)leaf->data;
-		m_aabbCallback.process(proxy);
-	}
-};
-
-void b3DynamicBvhBroadphase::aabbTest(const b3Vector3& aabbMin, const b3Vector3& aabbMax, b3BroadphaseAabbCallback& aabbCallback)
-{
-	BroadphaseAabbTester callback(aabbCallback);
-
-	const B3_ATTRIBUTE_ALIGNED16(b3DbvtVolume) bounds = b3DbvtVolume::FromMM(aabbMin, aabbMax);
-	//process all children, that overlap with  the given AABB bounds
-	m_sets[0].collideTV(m_sets[0].m_root, bounds, callback);
-	m_sets[1].collideTV(m_sets[1].m_root, bounds, callback);
-}
-
-//
-void b3DynamicBvhBroadphase::setAabb(int objectId,
-									 const b3Vector3& aabbMin,
-									 const b3Vector3& aabbMax,
-									 b3Dispatcher* /*dispatcher*/)
-{
-	b3DbvtProxy* proxy = &m_proxies[objectId];
-	//	b3DbvtProxy*						proxy=(b3DbvtProxy*)absproxy;
-	B3_ATTRIBUTE_ALIGNED16(b3DbvtVolume)
-	aabb = b3DbvtVolume::FromMM(aabbMin, aabbMax);
-#if B3_DBVT_BP_PREVENTFALSEUPDATE
-	if (b3NotEqual(aabb, proxy->leaf->volume))
-#endif
-	{
-		bool docollide = false;
-		if (proxy->stage == STAGECOUNT)
-		{ /* fixed -> dynamic set	*/
-			m_sets[1].remove(proxy->leaf);
-			proxy->leaf = m_sets[0].insert(aabb, proxy);
-			docollide = true;
-		}
-		else
-		{ /* dynamic set				*/
-			++m_updates_call;
-			if (b3Intersect(proxy->leaf->volume, aabb))
-			{ /* Moving				*/
-
-				const b3Vector3 delta = aabbMin - proxy->m_aabbMin;
-				b3Vector3 velocity(((proxy->m_aabbMax - proxy->m_aabbMin) / 2) * m_prediction);
-				if (delta[0] < 0) velocity[0] = -velocity[0];
-				if (delta[1] < 0) velocity[1] = -velocity[1];
-				if (delta[2] < 0) velocity[2] = -velocity[2];
-				if (
-#ifdef B3_DBVT_BP_MARGIN
-					m_sets[0].update(proxy->leaf, aabb, velocity, B3_DBVT_BP_MARGIN)
-#else
-					m_sets[0].update(proxy->leaf, aabb, velocity)
-#endif
-				)
-				{
-					++m_updates_done;
-					docollide = true;
-				}
-			}
-			else
-			{ /* Teleporting			*/
-				m_sets[0].update(proxy->leaf, aabb);
-				++m_updates_done;
-				docollide = true;
-			}
-		}
-		b3ListRemove(proxy, m_stageRoots[proxy->stage]);
-		proxy->m_aabbMin = aabbMin;
-		proxy->m_aabbMax = aabbMax;
-		proxy->stage = m_stageCurrent;
-		b3ListAppend(proxy, m_stageRoots[m_stageCurrent]);
-		if (docollide)
-		{
-			m_needcleanup = true;
-			if (!m_deferedcollide)
-			{
-				b3DbvtTreeCollider collider(this);
-				m_sets[1].collideTTpersistentStack(m_sets[1].m_root, proxy->leaf, collider);
-				m_sets[0].collideTTpersistentStack(m_sets[0].m_root, proxy->leaf, collider);
-			}
-		}
-	}
-}
-
-//
-void b3DynamicBvhBroadphase::setAabbForceUpdate(b3BroadphaseProxy* absproxy,
-												const b3Vector3& aabbMin,
-												const b3Vector3& aabbMax,
-												b3Dispatcher* /*dispatcher*/)
-{
-	b3DbvtProxy* proxy = (b3DbvtProxy*)absproxy;
-	B3_ATTRIBUTE_ALIGNED16(b3DbvtVolume)
-	aabb = b3DbvtVolume::FromMM(aabbMin, aabbMax);
-	bool docollide = false;
-	if (proxy->stage == STAGECOUNT)
-	{ /* fixed -> dynamic set	*/
-		m_sets[1].remove(proxy->leaf);
-		proxy->leaf = m_sets[0].insert(aabb, proxy);
-		docollide = true;
-	}
-	else
-	{ /* dynamic set				*/
-		++m_updates_call;
-		/* Teleporting			*/
-		m_sets[0].update(proxy->leaf, aabb);
-		++m_updates_done;
-		docollide = true;
-	}
-	b3ListRemove(proxy, m_stageRoots[proxy->stage]);
-	proxy->m_aabbMin = aabbMin;
-	proxy->m_aabbMax = aabbMax;
-	proxy->stage = m_stageCurrent;
-	b3ListAppend(proxy, m_stageRoots[m_stageCurrent]);
-	if (docollide)
-	{
-		m_needcleanup = true;
-		if (!m_deferedcollide)
-		{
-			b3DbvtTreeCollider collider(this);
-			m_sets[1].collideTTpersistentStack(m_sets[1].m_root, proxy->leaf, collider);
-			m_sets[0].collideTTpersistentStack(m_sets[0].m_root, proxy->leaf, collider);
-		}
-	}
-}
-
-//
-void b3DynamicBvhBroadphase::calculateOverlappingPairs(b3Dispatcher* dispatcher)
-{
-	collide(dispatcher);
-#if B3_DBVT_BP_PROFILE
-	if (0 == (m_pid % B3_DBVT_BP_PROFILING_RATE))
-	{
-		printf("fixed(%u) dynamics(%u) pairs(%u)\r\n", m_sets[1].m_leaves, m_sets[0].m_leaves, m_paircache->getNumOverlappingPairs());
-		unsigned int total = m_profiling.m_total;
-		if (total <= 0) total = 1;
-		printf("ddcollide: %u%% (%uus)\r\n", (50 + m_profiling.m_ddcollide * 100) / total, m_profiling.m_ddcollide / B3_DBVT_BP_PROFILING_RATE);
-		printf("fdcollide: %u%% (%uus)\r\n", (50 + m_profiling.m_fdcollide * 100) / total, m_profiling.m_fdcollide / B3_DBVT_BP_PROFILING_RATE);
-		printf("cleanup:   %u%% (%uus)\r\n", (50 + m_profiling.m_cleanup * 100) / total, m_profiling.m_cleanup / B3_DBVT_BP_PROFILING_RATE);
-		printf("total:     %uus\r\n", total / B3_DBVT_BP_PROFILING_RATE);
-		const unsigned long sum = m_profiling.m_ddcollide +
-								  m_profiling.m_fdcollide +
-								  m_profiling.m_cleanup;
-		printf("leaked: %u%% (%uus)\r\n", 100 - ((50 + sum * 100) / total), (total - sum) / B3_DBVT_BP_PROFILING_RATE);
-		printf("job counts: %u%%\r\n", (m_profiling.m_jobcount * 100) / ((m_sets[0].m_leaves + m_sets[1].m_leaves) * B3_DBVT_BP_PROFILING_RATE));
-		b3Clear(m_profiling);
-		m_clock.reset();
-	}
-#endif
-
-	performDeferredRemoval(dispatcher);
-}
-
-void b3DynamicBvhBroadphase::performDeferredRemoval(b3Dispatcher* dispatcher)
-{
-	if (m_paircache->hasDeferredRemoval())
-	{
-		b3BroadphasePairArray& overlappingPairArray = m_paircache->getOverlappingPairArray();
-
-		//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
-		overlappingPairArray.quickSort(b3BroadphasePairSortPredicate());
-
-		int invalidPair = 0;
-
-		int i;
-
-		b3BroadphasePair previousPair = b3MakeBroadphasePair(-1, -1);
-
-		for (i = 0; i < overlappingPairArray.size(); i++)
-		{
-			b3BroadphasePair& pair = overlappingPairArray[i];
-
-			bool isDuplicate = (pair == previousPair);
-
-			previousPair = pair;
-
-			bool needsRemoval = false;
-
-			if (!isDuplicate)
-			{
-				//important to perform AABB check that is consistent with the broadphase
-				b3DbvtProxy* pa = &m_proxies[pair.x];
-				b3DbvtProxy* pb = &m_proxies[pair.y];
-				bool hasOverlap = b3Intersect(pa->leaf->volume, pb->leaf->volume);
-
-				if (hasOverlap)
-				{
-					needsRemoval = false;
-				}
-				else
-				{
-					needsRemoval = true;
-				}
-			}
-			else
-			{
-				//remove duplicate
-				needsRemoval = true;
-				//should have no algorithm
-			}
-
-			if (needsRemoval)
-			{
-				m_paircache->cleanOverlappingPair(pair, dispatcher);
-
-				pair.x = -1;
-				pair.y = -1;
-				invalidPair++;
-			}
-		}
-
-		//perform a sort, to sort 'invalid' pairs to the end
-		overlappingPairArray.quickSort(b3BroadphasePairSortPredicate());
-		overlappingPairArray.resize(overlappingPairArray.size() - invalidPair);
-	}
-}
-
-//
-void b3DynamicBvhBroadphase::collide(b3Dispatcher* dispatcher)
-{
-	/*printf("---------------------------------------------------------\n");
-	printf("m_sets[0].m_leaves=%d\n",m_sets[0].m_leaves);
-	printf("m_sets[1].m_leaves=%d\n",m_sets[1].m_leaves);
-	printf("numPairs = %d\n",getOverlappingPairCache()->getNumOverlappingPairs());
-	{
-		int i;
-		for (i=0;i<getOverlappingPairCache()->getNumOverlappingPairs();i++)
-		{
-			printf("pair[%d]=(%d,%d),",i,getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy0->getUid(),
-				getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy1->getUid());
-		}
-		printf("\n");
-	}
-*/
-
-	b3SPC(m_profiling.m_total);
-	/* optimize				*/
-	m_sets[0].optimizeIncremental(1 + (m_sets[0].m_leaves * m_dupdates) / 100);
-	if (m_fixedleft)
-	{
-		const int count = 1 + (m_sets[1].m_leaves * m_fupdates) / 100;
-		m_sets[1].optimizeIncremental(1 + (m_sets[1].m_leaves * m_fupdates) / 100);
-		m_fixedleft = b3Max<int>(0, m_fixedleft - count);
-	}
-	/* dynamic -> fixed set	*/
-	m_stageCurrent = (m_stageCurrent + 1) % STAGECOUNT;
-	b3DbvtProxy* current = m_stageRoots[m_stageCurrent];
-	if (current)
-	{
-		b3DbvtTreeCollider collider(this);
-		do
-		{
-			b3DbvtProxy* next = current->links[1];
-			b3ListRemove(current, m_stageRoots[current->stage]);
-			b3ListAppend(current, m_stageRoots[STAGECOUNT]);
-#if B3_DBVT_BP_ACCURATESLEEPING
-			m_paircache->removeOverlappingPairsContainingProxy(current, dispatcher);
-			collider.proxy = current;
-			b3DynamicBvh::collideTV(m_sets[0].m_root, current->aabb, collider);
-			b3DynamicBvh::collideTV(m_sets[1].m_root, current->aabb, collider);
-#endif
-			m_sets[0].remove(current->leaf);
-			B3_ATTRIBUTE_ALIGNED16(b3DbvtVolume)
-			curAabb = b3DbvtVolume::FromMM(current->m_aabbMin, current->m_aabbMax);
-			current->leaf = m_sets[1].insert(curAabb, current);
-			current->stage = STAGECOUNT;
-			current = next;
-		} while (current);
-		m_fixedleft = m_sets[1].m_leaves;
-		m_needcleanup = true;
-	}
-	/* collide dynamics		*/
-	{
-		b3DbvtTreeCollider collider(this);
-		if (m_deferedcollide)
-		{
-			b3SPC(m_profiling.m_fdcollide);
-			m_sets[0].collideTTpersistentStack(m_sets[0].m_root, m_sets[1].m_root, collider);
-		}
-		if (m_deferedcollide)
-		{
-			b3SPC(m_profiling.m_ddcollide);
-			m_sets[0].collideTTpersistentStack(m_sets[0].m_root, m_sets[0].m_root, collider);
-		}
-	}
-	/* clean up				*/
-	if (m_needcleanup)
-	{
-		b3SPC(m_profiling.m_cleanup);
-		b3BroadphasePairArray& pairs = m_paircache->getOverlappingPairArray();
-		if (pairs.size() > 0)
-		{
-			int ni = b3Min(pairs.size(), b3Max<int>(m_newpairs, (pairs.size() * m_cupdates) / 100));
-			for (int i = 0; i < ni; ++i)
-			{
-				b3BroadphasePair& p = pairs[(m_cid + i) % pairs.size()];
-				b3DbvtProxy* pa = &m_proxies[p.x];
-				b3DbvtProxy* pb = &m_proxies[p.y];
-				if (!b3Intersect(pa->leaf->volume, pb->leaf->volume))
-				{
-#if B3_DBVT_BP_SORTPAIRS
-					if (pa->m_uniqueId > pb->m_uniqueId)
-						b3Swap(pa, pb);
-#endif
-					m_paircache->removeOverlappingPair(pa->getUid(), pb->getUid(), dispatcher);
-					--ni;
-					--i;
-				}
-			}
-			if (pairs.size() > 0)
-				m_cid = (m_cid + ni) % pairs.size();
-			else
-				m_cid = 0;
-		}
-	}
-	++m_pid;
-	m_newpairs = 1;
-	m_needcleanup = false;
-	if (m_updates_call > 0)
-	{
-		m_updates_ratio = m_updates_done / (b3Scalar)m_updates_call;
-	}
-	else
-	{
-		m_updates_ratio = 0;
-	}
-	m_updates_done /= 2;
-	m_updates_call /= 2;
-}
-
-//
-void b3DynamicBvhBroadphase::optimize()
-{
-	m_sets[0].optimizeTopDown();
-	m_sets[1].optimizeTopDown();
-}
-
-//
-b3OverlappingPairCache* b3DynamicBvhBroadphase::getOverlappingPairCache()
-{
-	return (m_paircache);
-}
-
-//
-const b3OverlappingPairCache* b3DynamicBvhBroadphase::getOverlappingPairCache() const
-{
-	return (m_paircache);
-}
-
-//
-void b3DynamicBvhBroadphase::getBroadphaseAabb(b3Vector3& aabbMin, b3Vector3& aabbMax) const
-{
-	B3_ATTRIBUTE_ALIGNED16(b3DbvtVolume)
-	bounds;
-
-	if (!m_sets[0].empty())
-		if (!m_sets[1].empty())
-			b3Merge(m_sets[0].m_root->volume,
-					m_sets[1].m_root->volume, bounds);
-		else
-			bounds = m_sets[0].m_root->volume;
-	else if (!m_sets[1].empty())
-		bounds = m_sets[1].m_root->volume;
-	else
-		bounds = b3DbvtVolume::FromCR(b3MakeVector3(0, 0, 0), 0);
-	aabbMin = bounds.Mins();
-	aabbMax = bounds.Maxs();
-}
-
-void b3DynamicBvhBroadphase::resetPool(b3Dispatcher* dispatcher)
-{
-	int totalObjects = m_sets[0].m_leaves + m_sets[1].m_leaves;
-	if (!totalObjects)
-	{
-		//reset internal dynamic tree data structures
-		m_sets[0].clear();
-		m_sets[1].clear();
-
-		m_deferedcollide = false;
-		m_needcleanup = true;
-		m_stageCurrent = 0;
-		m_fixedleft = 0;
-		m_fupdates = 1;
-		m_dupdates = 0;
-		m_cupdates = 10;
-		m_newpairs = 1;
-		m_updates_call = 0;
-		m_updates_done = 0;
-		m_updates_ratio = 0;
-
-		m_pid = 0;
-		m_cid = 0;
-		for (int i = 0; i <= STAGECOUNT; ++i)
-		{
-			m_stageRoots[i] = 0;
-		}
-	}
-}
-
-//
-void b3DynamicBvhBroadphase::printStats()
-{
-}
-
-//
-#if B3_DBVT_BP_ENABLE_BENCHMARK
-
-struct b3BroadphaseBenchmark
-{
-	struct Experiment
-	{
-		const char* name;
-		int object_count;
-		int update_count;
-		int spawn_count;
-		int iterations;
-		b3Scalar speed;
-		b3Scalar amplitude;
-	};
-	struct Object
-	{
-		b3Vector3 center;
-		b3Vector3 extents;
-		b3BroadphaseProxy* proxy;
-		b3Scalar time;
-		void update(b3Scalar speed, b3Scalar amplitude, b3BroadphaseInterface* pbi)
-		{
-			time += speed;
-			center[0] = b3Cos(time * (b3Scalar)2.17) * amplitude +
-						b3Sin(time) * amplitude / 2;
-			center[1] = b3Cos(time * (b3Scalar)1.38) * amplitude +
-						b3Sin(time) * amplitude;
-			center[2] = b3Sin(time * (b3Scalar)0.777) * amplitude;
-			pbi->setAabb(proxy, center - extents, center + extents, 0);
-		}
-	};
-	static int UnsignedRand(int range = RAND_MAX - 1) { return (rand() % (range + 1)); }
-	static b3Scalar UnitRand() { return (UnsignedRand(16384) / (b3Scalar)16384); }
-	static void OutputTime(const char* name, b3Clock& c, unsigned count = 0)
-	{
-		const unsigned long us = c.getTimeMicroseconds();
-		const unsigned long ms = (us + 500) / 1000;
-		const b3Scalar sec = us / (b3Scalar)(1000 * 1000);
-		if (count > 0)
-			printf("%s : %u us (%u ms), %.2f/s\r\n", name, us, ms, count / sec);
-		else
-			printf("%s : %u us (%u ms)\r\n", name, us, ms);
-	}
-};
-
-void b3DynamicBvhBroadphase::benchmark(b3BroadphaseInterface* pbi)
-{
-	static const b3BroadphaseBenchmark::Experiment experiments[] =
-		{
-			{"1024o.10%", 1024, 10, 0, 8192, (b3Scalar)0.005, (b3Scalar)100},
-			/*{"4096o.10%",4096,10,0,8192,(b3Scalar)0.005,(b3Scalar)100},
-		{"8192o.10%",8192,10,0,8192,(b3Scalar)0.005,(b3Scalar)100},*/
-		};
-	static const int nexperiments = sizeof(experiments) / sizeof(experiments[0]);
-	b3AlignedObjectArray<b3BroadphaseBenchmark::Object*> objects;
-	b3Clock wallclock;
-	/* Begin			*/
-	for (int iexp = 0; iexp < nexperiments; ++iexp)
-	{
-		const b3BroadphaseBenchmark::Experiment& experiment = experiments[iexp];
-		const int object_count = experiment.object_count;
-		const int update_count = (object_count * experiment.update_count) / 100;
-		const int spawn_count = (object_count * experiment.spawn_count) / 100;
-		const b3Scalar speed = experiment.speed;
-		const b3Scalar amplitude = experiment.amplitude;
-		printf("Experiment #%u '%s':\r\n", iexp, experiment.name);
-		printf("\tObjects: %u\r\n", object_count);
-		printf("\tUpdate: %u\r\n", update_count);
-		printf("\tSpawn: %u\r\n", spawn_count);
-		printf("\tSpeed: %f\r\n", speed);
-		printf("\tAmplitude: %f\r\n", amplitude);
-		srand(180673);
-		/* Create objects	*/
-		wallclock.reset();
-		objects.reserve(object_count);
-		for (int i = 0; i < object_count; ++i)
-		{
-			b3BroadphaseBenchmark::Object* po = new b3BroadphaseBenchmark::Object();
-			po->center[0] = b3BroadphaseBenchmark::UnitRand() * 50;
-			po->center[1] = b3BroadphaseBenchmark::UnitRand() * 50;
-			po->center[2] = b3BroadphaseBenchmark::UnitRand() * 50;
-			po->extents[0] = b3BroadphaseBenchmark::UnitRand() * 2 + 2;
-			po->extents[1] = b3BroadphaseBenchmark::UnitRand() * 2 + 2;
-			po->extents[2] = b3BroadphaseBenchmark::UnitRand() * 2 + 2;
-			po->time = b3BroadphaseBenchmark::UnitRand() * 2000;
-			po->proxy = pbi->createProxy(po->center - po->extents, po->center + po->extents, 0, po, 1, 1, 0, 0);
-			objects.push_back(po);
-		}
-		b3BroadphaseBenchmark::OutputTime("\tInitialization", wallclock);
-		/* First update		*/
-		wallclock.reset();
-		for (int i = 0; i < objects.size(); ++i)
-		{
-			objects[i]->update(speed, amplitude, pbi);
-		}
-		b3BroadphaseBenchmark::OutputTime("\tFirst update", wallclock);
-		/* Updates			*/
-		wallclock.reset();
-		for (int i = 0; i < experiment.iterations; ++i)
-		{
-			for (int j = 0; j < update_count; ++j)
-			{
-				objects[j]->update(speed, amplitude, pbi);
-			}
-			pbi->calculateOverlappingPairs(0);
-		}
-		b3BroadphaseBenchmark::OutputTime("\tUpdate", wallclock, experiment.iterations);
-		/* Clean up			*/
-		wallclock.reset();
-		for (int i = 0; i < objects.size(); ++i)
-		{
-			pbi->destroyProxy(objects[i]->proxy, 0);
-			delete objects[i];
-		}
-		objects.resize(0);
-		b3BroadphaseBenchmark::OutputTime("\tRelease", wallclock);
-	}
-}
-#else
-/*void							b3DynamicBvhBroadphase::benchmark(b3BroadphaseInterface*)
-{}
-*/
-#endif
-
-#if B3_DBVT_BP_PROFILE
-#undef b3SPC
-#endif
diff --git a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h
deleted file mode 100644
index c235e40148..0000000000
--- a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h
+++ /dev/null
@@ -1,197 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///b3DynamicBvhBroadphase implementation by Nathanael Presson
-#ifndef B3_DBVT_BROADPHASE_H
-#define B3_DBVT_BROADPHASE_H
-
-#include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.h"
-#include "Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-
-#include "b3BroadphaseCallback.h"
-
-//
-// Compile time config
-//
-
-#define B3_DBVT_BP_PROFILE 0
-//#define B3_DBVT_BP_SORTPAIRS				1
-#define B3_DBVT_BP_PREVENTFALSEUPDATE 0
-#define B3_DBVT_BP_ACCURATESLEEPING 0
-#define B3_DBVT_BP_ENABLE_BENCHMARK 0
-#define B3_DBVT_BP_MARGIN (b3Scalar)0.05
-
-#if B3_DBVT_BP_PROFILE
-#define B3_DBVT_BP_PROFILING_RATE 256
-
-#endif
-
-B3_ATTRIBUTE_ALIGNED16(struct)
-b3BroadphaseProxy
-{
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-	///optional filtering to cull potential collisions
-	enum CollisionFilterGroups
-	{
-		DefaultFilter = 1,
-		StaticFilter = 2,
-		KinematicFilter = 4,
-		DebrisFilter = 8,
-		SensorTrigger = 16,
-		CharacterFilter = 32,
-		AllFilter = -1  //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
-	};
-
-	//Usually the client b3CollisionObject or Rigidbody class
-	void* m_clientObject;
-	int m_collisionFilterGroup;
-	int m_collisionFilterMask;
-	int m_uniqueId;  //m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
-
-	b3Vector3 m_aabbMin;
-	b3Vector3 m_aabbMax;
-
-	B3_FORCE_INLINE int getUid() const
-	{
-		return m_uniqueId;
-	}
-
-	//used for memory pools
-	b3BroadphaseProxy() : m_clientObject(0)
-	{
-	}
-
-	b3BroadphaseProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, void* userPtr, int collisionFilterGroup, int collisionFilterMask)
-		: m_clientObject(userPtr),
-		  m_collisionFilterGroup(collisionFilterGroup),
-		  m_collisionFilterMask(collisionFilterMask),
-		  m_aabbMin(aabbMin),
-		  m_aabbMax(aabbMax)
-	{
-	}
-};
-
-//
-// b3DbvtProxy
-//
-struct b3DbvtProxy : b3BroadphaseProxy
-{
-	/* Fields		*/
-	//b3DbvtAabbMm	aabb;
-	b3DbvtNode* leaf;
-	b3DbvtProxy* links[2];
-	int stage;
-	/* ctor			*/
-
-	explicit b3DbvtProxy() {}
-	b3DbvtProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, void* userPtr, int collisionFilterGroup, int collisionFilterMask) : b3BroadphaseProxy(aabbMin, aabbMax, userPtr, collisionFilterGroup, collisionFilterMask)
-	{
-		links[0] = links[1] = 0;
-	}
-};
-
-typedef b3AlignedObjectArray<b3DbvtProxy*> b3DbvtProxyArray;
-
-///The b3DynamicBvhBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees (see b3DynamicBvh).
-///One tree is used for static/non-moving objects, and another tree is used for dynamic objects. Objects can move from one tree to the other.
-///This is a very fast broadphase, especially for very dynamic worlds where many objects are moving. Its insert/add and remove of objects is generally faster than the sweep and prune broadphases b3AxisSweep3 and b332BitAxisSweep3.
-struct b3DynamicBvhBroadphase
-{
-	/* Config		*/
-	enum
-	{
-		DYNAMIC_SET = 0, /* Dynamic set index	*/
-		FIXED_SET = 1,   /* Fixed set index		*/
-		STAGECOUNT = 2   /* Number of stages		*/
-	};
-	/* Fields		*/
-	b3DynamicBvh m_sets[2];                     // Dbvt sets
-	b3DbvtProxy* m_stageRoots[STAGECOUNT + 1];  // Stages list
-
-	b3AlignedObjectArray<b3DbvtProxy> m_proxies;
-	b3OverlappingPairCache* m_paircache;  // Pair cache
-	b3Scalar m_prediction;                // Velocity prediction
-	int m_stageCurrent;                   // Current stage
-	int m_fupdates;                       // % of fixed updates per frame
-	int m_dupdates;                       // % of dynamic updates per frame
-	int m_cupdates;                       // % of cleanup updates per frame
-	int m_newpairs;                       // Number of pairs created
-	int m_fixedleft;                      // Fixed optimization left
-	unsigned m_updates_call;              // Number of updates call
-	unsigned m_updates_done;              // Number of updates done
-	b3Scalar m_updates_ratio;             // m_updates_done/m_updates_call
-	int m_pid;                            // Parse id
-	int m_cid;                            // Cleanup index
-	bool m_releasepaircache;              // Release pair cache on delete
-	bool m_deferedcollide;                // Defere dynamic/static collision to collide call
-	bool m_needcleanup;                   // Need to run cleanup?
-#if B3_DBVT_BP_PROFILE
-	b3Clock m_clock;
-	struct
-	{
-		unsigned long m_total;
-		unsigned long m_ddcollide;
-		unsigned long m_fdcollide;
-		unsigned long m_cleanup;
-		unsigned long m_jobcount;
-	} m_profiling;
-#endif
-	/* Methods		*/
-	b3DynamicBvhBroadphase(int proxyCapacity, b3OverlappingPairCache* paircache = 0);
-	virtual ~b3DynamicBvhBroadphase();
-	void collide(b3Dispatcher* dispatcher);
-	void optimize();
-
-	/* b3BroadphaseInterface Implementation	*/
-	b3BroadphaseProxy* createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int objectIndex, void* userPtr, int collisionFilterGroup, int collisionFilterMask);
-	virtual void destroyProxy(b3BroadphaseProxy* proxy, b3Dispatcher* dispatcher);
-	virtual void setAabb(int objectId, const b3Vector3& aabbMin, const b3Vector3& aabbMax, b3Dispatcher* dispatcher);
-	virtual void rayTest(const b3Vector3& rayFrom, const b3Vector3& rayTo, b3BroadphaseRayCallback& rayCallback, const b3Vector3& aabbMin = b3MakeVector3(0, 0, 0), const b3Vector3& aabbMax = b3MakeVector3(0, 0, 0));
-	virtual void aabbTest(const b3Vector3& aabbMin, const b3Vector3& aabbMax, b3BroadphaseAabbCallback& callback);
-
-	//virtual void					getAabb(b3BroadphaseProxy* proxy,b3Vector3& aabbMin, b3Vector3& aabbMax ) const;
-	virtual void getAabb(int objectId, b3Vector3& aabbMin, b3Vector3& aabbMax) const;
-	virtual void calculateOverlappingPairs(b3Dispatcher* dispatcher = 0);
-	virtual b3OverlappingPairCache* getOverlappingPairCache();
-	virtual const b3OverlappingPairCache* getOverlappingPairCache() const;
-	virtual void getBroadphaseAabb(b3Vector3& aabbMin, b3Vector3& aabbMax) const;
-	virtual void printStats();
-
-	///reset broadphase internal structures, to ensure determinism/reproducability
-	virtual void resetPool(b3Dispatcher* dispatcher);
-
-	void performDeferredRemoval(b3Dispatcher* dispatcher);
-
-	void setVelocityPrediction(b3Scalar prediction)
-	{
-		m_prediction = prediction;
-	}
-	b3Scalar getVelocityPrediction() const
-	{
-		return m_prediction;
-	}
-
-	///this setAabbForceUpdate is similar to setAabb but always forces the aabb update.
-	///it is not part of the b3BroadphaseInterface but specific to b3DynamicBvhBroadphase.
-	///it bypasses certain optimizations that prevent aabb updates (when the aabb shrinks), see
-	///http://code.google.com/p/bullet/issues/detail?id=223
-	void setAabbForceUpdate(b3BroadphaseProxy* absproxy, const b3Vector3& aabbMin, const b3Vector3& aabbMax, b3Dispatcher* /*dispatcher*/);
-
-	//static void						benchmark(b3BroadphaseInterface*);
-};
-
-#endif
diff --git a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3OverlappingPair.h b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3OverlappingPair.h
deleted file mode 100644
index 4ff9ebae81..0000000000
--- a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3OverlappingPair.h
+++ /dev/null
@@ -1,70 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_OVERLAPPING_PAIR_H
-#define B3_OVERLAPPING_PAIR_H
-
-#include "Bullet3Common/shared/b3Int4.h"
-
-#define B3_NEW_PAIR_MARKER -1
-#define B3_REMOVED_PAIR_MARKER -2
-
-typedef b3Int4 b3BroadphasePair;
-
-inline b3Int4 b3MakeBroadphasePair(int xx, int yy)
-{
-	b3Int4 pair;
-
-	if (xx < yy)
-	{
-		pair.x = xx;
-		pair.y = yy;
-	}
-	else
-	{
-		pair.x = yy;
-		pair.y = xx;
-	}
-	pair.z = B3_NEW_PAIR_MARKER;
-	pair.w = B3_NEW_PAIR_MARKER;
-	return pair;
-}
-
-/*struct b3BroadphasePair : public b3Int4
-{
-	explicit b3BroadphasePair(){}
-	
-};
-*/
-
-class b3BroadphasePairSortPredicate
-{
-public:
-	bool operator()(const b3BroadphasePair& a, const b3BroadphasePair& b) const
-	{
-		const int uidA0 = a.x;
-		const int uidB0 = b.x;
-		const int uidA1 = a.y;
-		const int uidB1 = b.y;
-		return uidA0 > uidB0 || (uidA0 == uidB0 && uidA1 > uidB1);
-	}
-};
-
-B3_FORCE_INLINE bool operator==(const b3BroadphasePair& a, const b3BroadphasePair& b)
-{
-	return (a.x == b.x) && (a.y == b.y);
-}
-
-#endif  //B3_OVERLAPPING_PAIR_H
diff --git a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.cpp b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.cpp
deleted file mode 100644
index 19773244be..0000000000
--- a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.cpp
+++ /dev/null
@@ -1,559 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "b3OverlappingPairCache.h"
-
-//#include "b3Dispatcher.h"
-//#include "b3CollisionAlgorithm.h"
-#include "Bullet3Geometry/b3AabbUtil.h"
-
-#include <stdio.h>
-
-int b3g_overlappingPairs = 0;
-int b3g_removePairs = 0;
-int b3g_addedPairs = 0;
-int b3g_findPairs = 0;
-
-b3HashedOverlappingPairCache::b3HashedOverlappingPairCache() : m_overlapFilterCallback(0)
-//,	m_blockedForChanges(false)
-{
-	int initialAllocatedSize = 2;
-	m_overlappingPairArray.reserve(initialAllocatedSize);
-	growTables();
-}
-
-b3HashedOverlappingPairCache::~b3HashedOverlappingPairCache()
-{
-}
-
-void b3HashedOverlappingPairCache::cleanOverlappingPair(b3BroadphasePair& pair, b3Dispatcher* dispatcher)
-{
-	/*	if (pair.m_algorithm)
-	{
-		{
-			pair.m_algorithm->~b3CollisionAlgorithm();
-			dispatcher->freeCollisionAlgorithm(pair.m_algorithm);
-			pair.m_algorithm=0;
-		}
-	}
-	*/
-}
-
-void b3HashedOverlappingPairCache::cleanProxyFromPairs(int proxy, b3Dispatcher* dispatcher)
-{
-	class CleanPairCallback : public b3OverlapCallback
-	{
-		int m_cleanProxy;
-		b3OverlappingPairCache* m_pairCache;
-		b3Dispatcher* m_dispatcher;
-
-	public:
-		CleanPairCallback(int cleanProxy, b3OverlappingPairCache* pairCache, b3Dispatcher* dispatcher)
-			: m_cleanProxy(cleanProxy),
-			  m_pairCache(pairCache),
-			  m_dispatcher(dispatcher)
-		{
-		}
-		virtual bool processOverlap(b3BroadphasePair& pair)
-		{
-			if ((pair.x == m_cleanProxy) ||
-				(pair.y == m_cleanProxy))
-			{
-				m_pairCache->cleanOverlappingPair(pair, m_dispatcher);
-			}
-			return false;
-		}
-	};
-
-	CleanPairCallback cleanPairs(proxy, this, dispatcher);
-
-	processAllOverlappingPairs(&cleanPairs, dispatcher);
-}
-
-void b3HashedOverlappingPairCache::removeOverlappingPairsContainingProxy(int proxy, b3Dispatcher* dispatcher)
-{
-	class RemovePairCallback : public b3OverlapCallback
-	{
-		int m_obsoleteProxy;
-
-	public:
-		RemovePairCallback(int obsoleteProxy)
-			: m_obsoleteProxy(obsoleteProxy)
-		{
-		}
-		virtual bool processOverlap(b3BroadphasePair& pair)
-		{
-			return ((pair.x == m_obsoleteProxy) ||
-					(pair.y == m_obsoleteProxy));
-		}
-	};
-
-	RemovePairCallback removeCallback(proxy);
-
-	processAllOverlappingPairs(&removeCallback, dispatcher);
-}
-
-b3BroadphasePair* b3HashedOverlappingPairCache::findPair(int proxy0, int proxy1)
-{
-	b3g_findPairs++;
-	if (proxy0 > proxy1)
-		b3Swap(proxy0, proxy1);
-	int proxyId1 = proxy0;
-	int proxyId2 = proxy1;
-
-	/*if (proxyId1 > proxyId2) 
-		b3Swap(proxyId1, proxyId2);*/
-
-	int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));
-
-	if (hash >= m_hashTable.size())
-	{
-		return NULL;
-	}
-
-	int index = m_hashTable[hash];
-	while (index != B3_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
-	{
-		index = m_next[index];
-	}
-
-	if (index == B3_NULL_PAIR)
-	{
-		return NULL;
-	}
-
-	b3Assert(index < m_overlappingPairArray.size());
-
-	return &m_overlappingPairArray[index];
-}
-
-//#include <stdio.h>
-
-void b3HashedOverlappingPairCache::growTables()
-{
-	int newCapacity = m_overlappingPairArray.capacity();
-
-	if (m_hashTable.size() < newCapacity)
-	{
-		//grow hashtable and next table
-		int curHashtableSize = m_hashTable.size();
-
-		m_hashTable.resize(newCapacity);
-		m_next.resize(newCapacity);
-
-		int i;
-
-		for (i = 0; i < newCapacity; ++i)
-		{
-			m_hashTable[i] = B3_NULL_PAIR;
-		}
-		for (i = 0; i < newCapacity; ++i)
-		{
-			m_next[i] = B3_NULL_PAIR;
-		}
-
-		for (i = 0; i < curHashtableSize; i++)
-		{
-			const b3BroadphasePair& pair = m_overlappingPairArray[i];
-			int proxyId1 = pair.x;
-			int proxyId2 = pair.y;
-			/*if (proxyId1 > proxyId2) 
-				b3Swap(proxyId1, proxyId2);*/
-			int hashValue = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));  // New hash value with new mask
-			m_next[i] = m_hashTable[hashValue];
-			m_hashTable[hashValue] = i;
-		}
-	}
-}
-
-b3BroadphasePair* b3HashedOverlappingPairCache::internalAddPair(int proxy0, int proxy1)
-{
-	if (proxy0 > proxy1)
-		b3Swap(proxy0, proxy1);
-	int proxyId1 = proxy0;
-	int proxyId2 = proxy1;
-
-	/*if (proxyId1 > proxyId2) 
-		b3Swap(proxyId1, proxyId2);*/
-
-	int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));  // New hash value with new mask
-
-	b3BroadphasePair* pair = internalFindPair(proxy0, proxy1, hash);
-	if (pair != NULL)
-	{
-		return pair;
-	}
-	/*for(int i=0;i<m_overlappingPairArray.size();++i)
-		{
-		if(	(m_overlappingPairArray[i].m_pProxy0==proxy0)&&
-			(m_overlappingPairArray[i].m_pProxy1==proxy1))
-			{
-			printf("Adding duplicated %u<>%u\r\n",proxyId1,proxyId2);
-			internalFindPair(proxy0, proxy1, hash);
-			}
-		}*/
-	int count = m_overlappingPairArray.size();
-	int oldCapacity = m_overlappingPairArray.capacity();
-	pair = &m_overlappingPairArray.expandNonInitializing();
-
-	//this is where we add an actual pair, so also call the 'ghost'
-	//	if (m_ghostPairCallback)
-	//		m_ghostPairCallback->addOverlappingPair(proxy0,proxy1);
-
-	int newCapacity = m_overlappingPairArray.capacity();
-
-	if (oldCapacity < newCapacity)
-	{
-		growTables();
-		//hash with new capacity
-		hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));
-	}
-
-	*pair = b3MakeBroadphasePair(proxy0, proxy1);
-
-	//	pair->m_pProxy0 = proxy0;
-	//	pair->m_pProxy1 = proxy1;
-	//pair->m_algorithm = 0;
-	//pair->m_internalTmpValue = 0;
-
-	m_next[count] = m_hashTable[hash];
-	m_hashTable[hash] = count;
-
-	return pair;
-}
-
-void* b3HashedOverlappingPairCache::removeOverlappingPair(int proxy0, int proxy1, b3Dispatcher* dispatcher)
-{
-	b3g_removePairs++;
-	if (proxy0 > proxy1)
-		b3Swap(proxy0, proxy1);
-	int proxyId1 = proxy0;
-	int proxyId2 = proxy1;
-
-	/*if (proxyId1 > proxyId2) 
-		b3Swap(proxyId1, proxyId2);*/
-
-	int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));
-
-	b3BroadphasePair* pair = internalFindPair(proxy0, proxy1, hash);
-	if (pair == NULL)
-	{
-		return 0;
-	}
-
-	cleanOverlappingPair(*pair, dispatcher);
-
-	int pairIndex = int(pair - &m_overlappingPairArray[0]);
-	b3Assert(pairIndex < m_overlappingPairArray.size());
-
-	// Remove the pair from the hash table.
-	int index = m_hashTable[hash];
-	b3Assert(index != B3_NULL_PAIR);
-
-	int previous = B3_NULL_PAIR;
-	while (index != pairIndex)
-	{
-		previous = index;
-		index = m_next[index];
-	}
-
-	if (previous != B3_NULL_PAIR)
-	{
-		b3Assert(m_next[previous] == pairIndex);
-		m_next[previous] = m_next[pairIndex];
-	}
-	else
-	{
-		m_hashTable[hash] = m_next[pairIndex];
-	}
-
-	// We now move the last pair into spot of the
-	// pair being removed. We need to fix the hash
-	// table indices to support the move.
-
-	int lastPairIndex = m_overlappingPairArray.size() - 1;
-
-	//if (m_ghostPairCallback)
-	//	m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1,dispatcher);
-
-	// If the removed pair is the last pair, we are done.
-	if (lastPairIndex == pairIndex)
-	{
-		m_overlappingPairArray.pop_back();
-		return 0;
-	}
-
-	// Remove the last pair from the hash table.
-	const b3BroadphasePair* last = &m_overlappingPairArray[lastPairIndex];
-	/* missing swap here too, Nat. */
-	int lastHash = static_cast<int>(getHash(static_cast<unsigned int>(last->x), static_cast<unsigned int>(last->y)) & (m_overlappingPairArray.capacity() - 1));
-
-	index = m_hashTable[lastHash];
-	b3Assert(index != B3_NULL_PAIR);
-
-	previous = B3_NULL_PAIR;
-	while (index != lastPairIndex)
-	{
-		previous = index;
-		index = m_next[index];
-	}
-
-	if (previous != B3_NULL_PAIR)
-	{
-		b3Assert(m_next[previous] == lastPairIndex);
-		m_next[previous] = m_next[lastPairIndex];
-	}
-	else
-	{
-		m_hashTable[lastHash] = m_next[lastPairIndex];
-	}
-
-	// Copy the last pair into the remove pair's spot.
-	m_overlappingPairArray[pairIndex] = m_overlappingPairArray[lastPairIndex];
-
-	// Insert the last pair into the hash table
-	m_next[pairIndex] = m_hashTable[lastHash];
-	m_hashTable[lastHash] = pairIndex;
-
-	m_overlappingPairArray.pop_back();
-
-	return 0;
-}
-//#include <stdio.h>
-
-void b3HashedOverlappingPairCache::processAllOverlappingPairs(b3OverlapCallback* callback, b3Dispatcher* dispatcher)
-{
-	int i;
-
-	//	printf("m_overlappingPairArray.size()=%d\n",m_overlappingPairArray.size());
-	for (i = 0; i < m_overlappingPairArray.size();)
-	{
-		b3BroadphasePair* pair = &m_overlappingPairArray[i];
-		if (callback->processOverlap(*pair))
-		{
-			removeOverlappingPair(pair->x, pair->y, dispatcher);
-
-			b3g_overlappingPairs--;
-		}
-		else
-		{
-			i++;
-		}
-	}
-}
-
-void b3HashedOverlappingPairCache::sortOverlappingPairs(b3Dispatcher* dispatcher)
-{
-	///need to keep hashmap in sync with pair address, so rebuild all
-	b3BroadphasePairArray tmpPairs;
-	int i;
-	for (i = 0; i < m_overlappingPairArray.size(); i++)
-	{
-		tmpPairs.push_back(m_overlappingPairArray[i]);
-	}
-
-	for (i = 0; i < tmpPairs.size(); i++)
-	{
-		removeOverlappingPair(tmpPairs[i].x, tmpPairs[i].y, dispatcher);
-	}
-
-	for (i = 0; i < m_next.size(); i++)
-	{
-		m_next[i] = B3_NULL_PAIR;
-	}
-
-	tmpPairs.quickSort(b3BroadphasePairSortPredicate());
-
-	for (i = 0; i < tmpPairs.size(); i++)
-	{
-		addOverlappingPair(tmpPairs[i].x, tmpPairs[i].y);
-	}
-}
-
-void* b3SortedOverlappingPairCache::removeOverlappingPair(int proxy0, int proxy1, b3Dispatcher* dispatcher)
-{
-	if (!hasDeferredRemoval())
-	{
-		b3BroadphasePair findPair = b3MakeBroadphasePair(proxy0, proxy1);
-
-		int findIndex = m_overlappingPairArray.findLinearSearch(findPair);
-		if (findIndex < m_overlappingPairArray.size())
-		{
-			b3g_overlappingPairs--;
-			b3BroadphasePair& pair = m_overlappingPairArray[findIndex];
-
-			cleanOverlappingPair(pair, dispatcher);
-			//if (m_ghostPairCallback)
-			//	m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1,dispatcher);
-
-			m_overlappingPairArray.swap(findIndex, m_overlappingPairArray.capacity() - 1);
-			m_overlappingPairArray.pop_back();
-			return 0;
-		}
-	}
-
-	return 0;
-}
-
-b3BroadphasePair* b3SortedOverlappingPairCache::addOverlappingPair(int proxy0, int proxy1)
-{
-	//don't add overlap with own
-	b3Assert(proxy0 != proxy1);
-
-	if (!needsBroadphaseCollision(proxy0, proxy1))
-		return 0;
-
-	b3BroadphasePair* pair = &m_overlappingPairArray.expandNonInitializing();
-	*pair = b3MakeBroadphasePair(proxy0, proxy1);
-
-	b3g_overlappingPairs++;
-	b3g_addedPairs++;
-
-	//	if (m_ghostPairCallback)
-	//		m_ghostPairCallback->addOverlappingPair(proxy0, proxy1);
-	return pair;
-}
-
-///this findPair becomes really slow. Either sort the list to speedup the query, or
-///use a different solution. It is mainly used for Removing overlapping pairs. Removal could be delayed.
-///we could keep a linked list in each proxy, and store pair in one of the proxies (with lowest memory address)
-///Also we can use a 2D bitmap, which can be useful for a future GPU implementation
-b3BroadphasePair* b3SortedOverlappingPairCache::findPair(int proxy0, int proxy1)
-{
-	if (!needsBroadphaseCollision(proxy0, proxy1))
-		return 0;
-
-	b3BroadphasePair tmpPair = b3MakeBroadphasePair(proxy0, proxy1);
-	int findIndex = m_overlappingPairArray.findLinearSearch(tmpPair);
-
-	if (findIndex < m_overlappingPairArray.size())
-	{
-		//b3Assert(it != m_overlappingPairSet.end());
-		b3BroadphasePair* pair = &m_overlappingPairArray[findIndex];
-		return pair;
-	}
-	return 0;
-}
-
-//#include <stdio.h>
-
-void b3SortedOverlappingPairCache::processAllOverlappingPairs(b3OverlapCallback* callback, b3Dispatcher* dispatcher)
-{
-	int i;
-
-	for (i = 0; i < m_overlappingPairArray.size();)
-	{
-		b3BroadphasePair* pair = &m_overlappingPairArray[i];
-		if (callback->processOverlap(*pair))
-		{
-			cleanOverlappingPair(*pair, dispatcher);
-			pair->x = -1;
-			pair->y = -1;
-			m_overlappingPairArray.swap(i, m_overlappingPairArray.size() - 1);
-			m_overlappingPairArray.pop_back();
-			b3g_overlappingPairs--;
-		}
-		else
-		{
-			i++;
-		}
-	}
-}
-
-b3SortedOverlappingPairCache::b3SortedOverlappingPairCache() : m_blockedForChanges(false),
-															   m_hasDeferredRemoval(true),
-															   m_overlapFilterCallback(0)
-
-{
-	int initialAllocatedSize = 2;
-	m_overlappingPairArray.reserve(initialAllocatedSize);
-}
-
-b3SortedOverlappingPairCache::~b3SortedOverlappingPairCache()
-{
-}
-
-void b3SortedOverlappingPairCache::cleanOverlappingPair(b3BroadphasePair& pair, b3Dispatcher* dispatcher)
-{
-	/*	if (pair.m_algorithm)
-	{
-		{
-			pair.m_algorithm->~b3CollisionAlgorithm();
-			dispatcher->freeCollisionAlgorithm(pair.m_algorithm);
-			pair.m_algorithm=0;
-			b3g_removePairs--;
-		}
-	}
-	*/
-}
-
-void b3SortedOverlappingPairCache::cleanProxyFromPairs(int proxy, b3Dispatcher* dispatcher)
-{
-	class CleanPairCallback : public b3OverlapCallback
-	{
-		int m_cleanProxy;
-		b3OverlappingPairCache* m_pairCache;
-		b3Dispatcher* m_dispatcher;
-
-	public:
-		CleanPairCallback(int cleanProxy, b3OverlappingPairCache* pairCache, b3Dispatcher* dispatcher)
-			: m_cleanProxy(cleanProxy),
-			  m_pairCache(pairCache),
-			  m_dispatcher(dispatcher)
-		{
-		}
-		virtual bool processOverlap(b3BroadphasePair& pair)
-		{
-			if ((pair.x == m_cleanProxy) ||
-				(pair.y == m_cleanProxy))
-			{
-				m_pairCache->cleanOverlappingPair(pair, m_dispatcher);
-			}
-			return false;
-		}
-	};
-
-	CleanPairCallback cleanPairs(proxy, this, dispatcher);
-
-	processAllOverlappingPairs(&cleanPairs, dispatcher);
-}
-
-void b3SortedOverlappingPairCache::removeOverlappingPairsContainingProxy(int proxy, b3Dispatcher* dispatcher)
-{
-	class RemovePairCallback : public b3OverlapCallback
-	{
-		int m_obsoleteProxy;
-
-	public:
-		RemovePairCallback(int obsoleteProxy)
-			: m_obsoleteProxy(obsoleteProxy)
-		{
-		}
-		virtual bool processOverlap(b3BroadphasePair& pair)
-		{
-			return ((pair.x == m_obsoleteProxy) ||
-					(pair.y == m_obsoleteProxy));
-		}
-	};
-
-	RemovePairCallback removeCallback(proxy);
-
-	processAllOverlappingPairs(&removeCallback, dispatcher);
-}
-
-void b3SortedOverlappingPairCache::sortOverlappingPairs(b3Dispatcher* dispatcher)
-{
-	//should already be sorted
-}
diff --git a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.h b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.h
deleted file mode 100644
index f1de1d94eb..0000000000
--- a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.h
+++ /dev/null
@@ -1,427 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_OVERLAPPING_PAIR_CACHE_H
-#define B3_OVERLAPPING_PAIR_CACHE_H
-
-#include "Bullet3Common/shared/b3Int2.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-
-class b3Dispatcher;
-#include "b3OverlappingPair.h"
-
-typedef b3AlignedObjectArray<b3BroadphasePair> b3BroadphasePairArray;
-
-struct b3OverlapCallback
-{
-	virtual ~b3OverlapCallback()
-	{
-	}
-	//return true for deletion of the pair
-	virtual bool processOverlap(b3BroadphasePair& pair) = 0;
-};
-
-struct b3OverlapFilterCallback
-{
-	virtual ~b3OverlapFilterCallback()
-	{
-	}
-	// return true when pairs need collision
-	virtual bool needBroadphaseCollision(int proxy0, int proxy1) const = 0;
-};
-
-extern int b3g_removePairs;
-extern int b3g_addedPairs;
-extern int b3g_findPairs;
-
-const int B3_NULL_PAIR = 0xffffffff;
-
-///The b3OverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the b3BroadphaseInterface broadphases.
-///The b3HashedOverlappingPairCache and b3SortedOverlappingPairCache classes are two implementations.
-class b3OverlappingPairCache
-{
-public:
-	virtual ~b3OverlappingPairCache() {}  // this is needed so we can get to the derived class destructor
-
-	virtual b3BroadphasePair* getOverlappingPairArrayPtr() = 0;
-
-	virtual const b3BroadphasePair* getOverlappingPairArrayPtr() const = 0;
-
-	virtual b3BroadphasePairArray& getOverlappingPairArray() = 0;
-
-	virtual void cleanOverlappingPair(b3BroadphasePair& pair, b3Dispatcher* dispatcher) = 0;
-
-	virtual int getNumOverlappingPairs() const = 0;
-
-	virtual void cleanProxyFromPairs(int proxy, b3Dispatcher* dispatcher) = 0;
-
-	virtual void setOverlapFilterCallback(b3OverlapFilterCallback* callback) = 0;
-
-	virtual void processAllOverlappingPairs(b3OverlapCallback*, b3Dispatcher* dispatcher) = 0;
-
-	virtual b3BroadphasePair* findPair(int proxy0, int proxy1) = 0;
-
-	virtual bool hasDeferredRemoval() = 0;
-
-	//virtual	void	setInternalGhostPairCallback(b3OverlappingPairCallback* ghostPairCallback)=0;
-
-	virtual b3BroadphasePair* addOverlappingPair(int proxy0, int proxy1) = 0;
-	virtual void* removeOverlappingPair(int proxy0, int proxy1, b3Dispatcher* dispatcher) = 0;
-	virtual void removeOverlappingPairsContainingProxy(int /*proxy0*/, b3Dispatcher* /*dispatcher*/) = 0;
-
-	virtual void sortOverlappingPairs(b3Dispatcher* dispatcher) = 0;
-};
-
-/// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com
-class b3HashedOverlappingPairCache : public b3OverlappingPairCache
-{
-	b3BroadphasePairArray m_overlappingPairArray;
-	b3OverlapFilterCallback* m_overlapFilterCallback;
-	//	bool		m_blockedForChanges;
-
-public:
-	b3HashedOverlappingPairCache();
-	virtual ~b3HashedOverlappingPairCache();
-
-	virtual void removeOverlappingPairsContainingProxy(int proxy, b3Dispatcher* dispatcher);
-
-	virtual void* removeOverlappingPair(int proxy0, int proxy1, b3Dispatcher* dispatcher);
-
-	B3_FORCE_INLINE bool needsBroadphaseCollision(int proxy0, int proxy1) const
-	{
-		if (m_overlapFilterCallback)
-			return m_overlapFilterCallback->needBroadphaseCollision(proxy0, proxy1);
-
-		bool collides = true;  //(proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
-		//collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
-
-		return collides;
-	}
-
-	// Add a pair and return the new pair. If the pair already exists,
-	// no new pair is created and the old one is returned.
-	virtual b3BroadphasePair* addOverlappingPair(int proxy0, int proxy1)
-	{
-		b3g_addedPairs++;
-
-		if (!needsBroadphaseCollision(proxy0, proxy1))
-			return 0;
-
-		return internalAddPair(proxy0, proxy1);
-	}
-
-	void cleanProxyFromPairs(int proxy, b3Dispatcher* dispatcher);
-
-	virtual void processAllOverlappingPairs(b3OverlapCallback*, b3Dispatcher* dispatcher);
-
-	virtual b3BroadphasePair* getOverlappingPairArrayPtr()
-	{
-		return &m_overlappingPairArray[0];
-	}
-
-	const b3BroadphasePair* getOverlappingPairArrayPtr() const
-	{
-		return &m_overlappingPairArray[0];
-	}
-
-	b3BroadphasePairArray& getOverlappingPairArray()
-	{
-		return m_overlappingPairArray;
-	}
-
-	const b3BroadphasePairArray& getOverlappingPairArray() const
-	{
-		return m_overlappingPairArray;
-	}
-
-	void cleanOverlappingPair(b3BroadphasePair& pair, b3Dispatcher* dispatcher);
-
-	b3BroadphasePair* findPair(int proxy0, int proxy1);
-
-	int GetCount() const { return m_overlappingPairArray.size(); }
-	//	b3BroadphasePair* GetPairs() { return m_pairs; }
-
-	b3OverlapFilterCallback* getOverlapFilterCallback()
-	{
-		return m_overlapFilterCallback;
-	}
-
-	void setOverlapFilterCallback(b3OverlapFilterCallback* callback)
-	{
-		m_overlapFilterCallback = callback;
-	}
-
-	int getNumOverlappingPairs() const
-	{
-		return m_overlappingPairArray.size();
-	}
-
-private:
-	b3BroadphasePair* internalAddPair(int proxy0, int proxy1);
-
-	void growTables();
-
-	B3_FORCE_INLINE bool equalsPair(const b3BroadphasePair& pair, int proxyId1, int proxyId2)
-	{
-		return pair.x == proxyId1 && pair.y == proxyId2;
-	}
-
-	/*
-	// Thomas Wang's hash, see: http://www.concentric.net/~Ttwang/tech/inthash.htm
-	// This assumes proxyId1 and proxyId2 are 16-bit.
-	B3_FORCE_INLINE int getHash(int proxyId1, int proxyId2)
-	{
-		int key = (proxyId2 << 16) | proxyId1;
-		key = ~key + (key << 15);
-		key = key ^ (key >> 12);
-		key = key + (key << 2);
-		key = key ^ (key >> 4);
-		key = key * 2057;
-		key = key ^ (key >> 16);
-		return key;
-	}
-	*/
-
-	B3_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
-	{
-		int key = static_cast<int>(((unsigned int)proxyId1) | (((unsigned int)proxyId2) << 16));
-		// Thomas Wang's hash
-
-		key += ~(key << 15);
-		key ^= (key >> 10);
-		key += (key << 3);
-		key ^= (key >> 6);
-		key += ~(key << 11);
-		key ^= (key >> 16);
-		return static_cast<unsigned int>(key);
-	}
-
-	B3_FORCE_INLINE b3BroadphasePair* internalFindPair(int proxy0, int proxy1, int hash)
-	{
-		int proxyId1 = proxy0;
-		int proxyId2 = proxy1;
-#if 0  // wrong, 'equalsPair' use unsorted uids, copy-past devil striked again. Nat.
-		if (proxyId1 > proxyId2) 
-			b3Swap(proxyId1, proxyId2);
-#endif
-
-		int index = m_hashTable[hash];
-
-		while (index != B3_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
-		{
-			index = m_next[index];
-		}
-
-		if (index == B3_NULL_PAIR)
-		{
-			return NULL;
-		}
-
-		b3Assert(index < m_overlappingPairArray.size());
-
-		return &m_overlappingPairArray[index];
-	}
-
-	virtual bool hasDeferredRemoval()
-	{
-		return false;
-	}
-
-	/*	virtual	void	setInternalGhostPairCallback(b3OverlappingPairCallback* ghostPairCallback)
-	{
-		m_ghostPairCallback = ghostPairCallback;
-	}
-	*/
-
-	virtual void sortOverlappingPairs(b3Dispatcher* dispatcher);
-
-protected:
-	b3AlignedObjectArray<int> m_hashTable;
-	b3AlignedObjectArray<int> m_next;
-	//	b3OverlappingPairCallback*	m_ghostPairCallback;
-};
-
-///b3SortedOverlappingPairCache maintains the objects with overlapping AABB
-///Typically managed by the Broadphase, Axis3Sweep or b3SimpleBroadphase
-class b3SortedOverlappingPairCache : public b3OverlappingPairCache
-{
-protected:
-	//avoid brute-force finding all the time
-	b3BroadphasePairArray m_overlappingPairArray;
-
-	//during the dispatch, check that user doesn't destroy/create proxy
-	bool m_blockedForChanges;
-
-	///by default, do the removal during the pair traversal
-	bool m_hasDeferredRemoval;
-
-	//if set, use the callback instead of the built in filter in needBroadphaseCollision
-	b3OverlapFilterCallback* m_overlapFilterCallback;
-
-	//		b3OverlappingPairCallback*	m_ghostPairCallback;
-
-public:
-	b3SortedOverlappingPairCache();
-	virtual ~b3SortedOverlappingPairCache();
-
-	virtual void processAllOverlappingPairs(b3OverlapCallback*, b3Dispatcher* dispatcher);
-
-	void* removeOverlappingPair(int proxy0, int proxy1, b3Dispatcher* dispatcher);
-
-	void cleanOverlappingPair(b3BroadphasePair& pair, b3Dispatcher* dispatcher);
-
-	b3BroadphasePair* addOverlappingPair(int proxy0, int proxy1);
-
-	b3BroadphasePair* findPair(int proxy0, int proxy1);
-
-	void cleanProxyFromPairs(int proxy, b3Dispatcher* dispatcher);
-
-	virtual void removeOverlappingPairsContainingProxy(int proxy, b3Dispatcher* dispatcher);
-
-	inline bool needsBroadphaseCollision(int proxy0, int proxy1) const
-	{
-		if (m_overlapFilterCallback)
-			return m_overlapFilterCallback->needBroadphaseCollision(proxy0, proxy1);
-
-		bool collides = true;  //(proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
-		//collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
-
-		return collides;
-	}
-
-	b3BroadphasePairArray& getOverlappingPairArray()
-	{
-		return m_overlappingPairArray;
-	}
-
-	const b3BroadphasePairArray& getOverlappingPairArray() const
-	{
-		return m_overlappingPairArray;
-	}
-
-	b3BroadphasePair* getOverlappingPairArrayPtr()
-	{
-		return &m_overlappingPairArray[0];
-	}
-
-	const b3BroadphasePair* getOverlappingPairArrayPtr() const
-	{
-		return &m_overlappingPairArray[0];
-	}
-
-	int getNumOverlappingPairs() const
-	{
-		return m_overlappingPairArray.size();
-	}
-
-	b3OverlapFilterCallback* getOverlapFilterCallback()
-	{
-		return m_overlapFilterCallback;
-	}
-
-	void setOverlapFilterCallback(b3OverlapFilterCallback* callback)
-	{
-		m_overlapFilterCallback = callback;
-	}
-
-	virtual bool hasDeferredRemoval()
-	{
-		return m_hasDeferredRemoval;
-	}
-
-	/*		virtual	void	setInternalGhostPairCallback(b3OverlappingPairCallback* ghostPairCallback)
-		{
-			m_ghostPairCallback = ghostPairCallback;
-		}
-		*/
-	virtual void sortOverlappingPairs(b3Dispatcher* dispatcher);
-};
-
-///b3NullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and unit testing.
-class b3NullPairCache : public b3OverlappingPairCache
-{
-	b3BroadphasePairArray m_overlappingPairArray;
-
-public:
-	virtual b3BroadphasePair* getOverlappingPairArrayPtr()
-	{
-		return &m_overlappingPairArray[0];
-	}
-	const b3BroadphasePair* getOverlappingPairArrayPtr() const
-	{
-		return &m_overlappingPairArray[0];
-	}
-	b3BroadphasePairArray& getOverlappingPairArray()
-	{
-		return m_overlappingPairArray;
-	}
-
-	virtual void cleanOverlappingPair(b3BroadphasePair& /*pair*/, b3Dispatcher* /*dispatcher*/)
-	{
-	}
-
-	virtual int getNumOverlappingPairs() const
-	{
-		return 0;
-	}
-
-	virtual void cleanProxyFromPairs(int /*proxy*/, b3Dispatcher* /*dispatcher*/)
-	{
-	}
-
-	virtual void setOverlapFilterCallback(b3OverlapFilterCallback* /*callback*/)
-	{
-	}
-
-	virtual void processAllOverlappingPairs(b3OverlapCallback*, b3Dispatcher* /*dispatcher*/)
-	{
-	}
-
-	virtual b3BroadphasePair* findPair(int /*proxy0*/, int /*proxy1*/)
-	{
-		return 0;
-	}
-
-	virtual bool hasDeferredRemoval()
-	{
-		return true;
-	}
-
-	//	virtual	void	setInternalGhostPairCallback(b3OverlappingPairCallback* /* ghostPairCallback */)
-	//	{
-	//
-	//	}
-
-	virtual b3BroadphasePair* addOverlappingPair(int /*proxy0*/, int /*proxy1*/)
-	{
-		return 0;
-	}
-
-	virtual void* removeOverlappingPair(int /*proxy0*/, int /*proxy1*/, b3Dispatcher* /*dispatcher*/)
-	{
-		return 0;
-	}
-
-	virtual void removeOverlappingPairsContainingProxy(int /*proxy0*/, b3Dispatcher* /*dispatcher*/)
-	{
-	}
-
-	virtual void sortOverlappingPairs(b3Dispatcher* dispatcher)
-	{
-		(void)dispatcher;
-	}
-};
-
-#endif  //B3_OVERLAPPING_PAIR_CACHE_H
diff --git a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h
deleted file mode 100644
index 343a2c0e21..0000000000
--- a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h
+++ /dev/null
@@ -1,56 +0,0 @@
-
-#ifndef B3_AABB_H
-#define B3_AABB_H
-
-#include "Bullet3Common/shared/b3Float4.h"
-#include "Bullet3Common/shared/b3Mat3x3.h"
-
-typedef struct b3Aabb b3Aabb_t;
-
-struct b3Aabb
-{
-	union {
-		float m_min[4];
-		b3Float4 m_minVec;
-		int m_minIndices[4];
-	};
-	union {
-		float m_max[4];
-		b3Float4 m_maxVec;
-		int m_signedMaxIndices[4];
-	};
-};
-
-inline void b3TransformAabb2(b3Float4ConstArg localAabbMin, b3Float4ConstArg localAabbMax, float margin,
-							 b3Float4ConstArg pos,
-							 b3QuatConstArg orn,
-							 b3Float4* aabbMinOut, b3Float4* aabbMaxOut)
-{
-	b3Float4 localHalfExtents = 0.5f * (localAabbMax - localAabbMin);
-	localHalfExtents += b3MakeFloat4(margin, margin, margin, 0.f);
-	b3Float4 localCenter = 0.5f * (localAabbMax + localAabbMin);
-	b3Mat3x3 m;
-	m = b3QuatGetRotationMatrix(orn);
-	b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);
-	b3Float4 center = b3TransformPoint(localCenter, pos, orn);
-
-	b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents, b3GetRow(abs_b, 0)),
-								   b3Dot3F4(localHalfExtents, b3GetRow(abs_b, 1)),
-								   b3Dot3F4(localHalfExtents, b3GetRow(abs_b, 2)),
-								   0.f);
-	*aabbMinOut = center - extent;
-	*aabbMaxOut = center + extent;
-}
-
-/// conservative test for overlap between two aabbs
-inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1, b3Float4ConstArg aabbMax1,
-								  b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)
-{
-	bool overlap = true;
-	overlap = (aabbMin1.x > aabbMax2.x || aabbMax1.x < aabbMin2.x) ? false : overlap;
-	overlap = (aabbMin1.z > aabbMax2.z || aabbMax1.z < aabbMin2.z) ? false : overlap;
-	overlap = (aabbMin1.y > aabbMax2.y || aabbMax1.y < aabbMin2.y) ? false : overlap;
-	return overlap;
-}
-
-#endif  //B3_AABB_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3Config.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3Config.h
deleted file mode 100644
index 518da89c54..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3Config.h
+++ /dev/null
@@ -1,39 +0,0 @@
-#ifndef B3_CONFIG_H
-#define B3_CONFIG_H
-
-struct b3Config
-{
-	int m_maxConvexBodies;
-	int m_maxConvexShapes;
-	int m_maxBroadphasePairs;
-	int m_maxContactCapacity;
-	int m_compoundPairCapacity;
-
-	int m_maxVerticesPerFace;
-	int m_maxFacesPerShape;
-	int m_maxConvexVertices;
-	int m_maxConvexIndices;
-	int m_maxConvexUniqueEdges;
-
-	int m_maxCompoundChildShapes;
-
-	int m_maxTriConvexPairCapacity;
-
-	b3Config()
-		: m_maxConvexBodies(128 * 1024),
-		  m_maxVerticesPerFace(64),
-		  m_maxFacesPerShape(12),
-		  m_maxConvexVertices(8192),
-		  m_maxConvexIndices(81920),
-		  m_maxConvexUniqueEdges(8192),
-		  m_maxCompoundChildShapes(8192),
-		  m_maxTriConvexPairCapacity(256 * 1024)
-	{
-		m_maxConvexShapes = m_maxConvexBodies;
-		m_maxBroadphasePairs = 16 * m_maxConvexBodies;
-		m_maxContactCapacity = m_maxBroadphasePairs;
-		m_compoundPairCapacity = 1024 * 1024;
-	}
-};
-
-#endif  //B3_CONFIG_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h
deleted file mode 100644
index c2cd3c729b..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h
+++ /dev/null
@@ -1,55 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_CONTACT4_H
-#define B3_CONTACT4_H
-
-#include "Bullet3Common/b3Vector3.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
-
-B3_ATTRIBUTE_ALIGNED16(struct)
-b3Contact4 : public b3Contact4Data
-{
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-	int getBodyA() const { return abs(m_bodyAPtrAndSignBit); }
-	int getBodyB() const { return abs(m_bodyBPtrAndSignBit); }
-	bool isBodyAFixed() const { return m_bodyAPtrAndSignBit < 0; }
-	bool isBodyBFixed() const { return m_bodyBPtrAndSignBit < 0; }
-	//	todo. make it safer
-	int& getBatchIdx() { return m_batchIdx; }
-	const int& getBatchIdx() const { return m_batchIdx; }
-	float getRestituitionCoeff() const { return ((float)m_restituitionCoeffCmp / (float)0xffff); }
-	void setRestituitionCoeff(float c)
-	{
-		b3Assert(c >= 0.f && c <= 1.f);
-		m_restituitionCoeffCmp = (unsigned short)(c * 0xffff);
-	}
-	float getFrictionCoeff() const { return ((float)m_frictionCoeffCmp / (float)0xffff); }
-	void setFrictionCoeff(float c)
-	{
-		b3Assert(c >= 0.f && c <= 1.f);
-		m_frictionCoeffCmp = (unsigned short)(c * 0xffff);
-	}
-
-	//float& getNPoints() { return m_worldNormal[3]; }
-	int getNPoints() const { return (int)m_worldNormalOnB.w; }
-
-	float getPenetration(int idx) const { return m_worldPosB[idx].w; }
-
-	bool isInvalid() const { return (getBodyA() == 0 || getBodyB() == 0); }
-};
-
-#endif  //B3_CONTACT4_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.cpp b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.cpp
deleted file mode 100644
index a5dab74a34..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.cpp
+++ /dev/null
@@ -1,500 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Erwin Coumans
-
-#include "b3ConvexUtility.h"
-#include "Bullet3Geometry/b3ConvexHullComputer.h"
-#include "Bullet3Geometry/b3GrahamScan2dConvexHull.h"
-#include "Bullet3Common/b3Quaternion.h"
-#include "Bullet3Common/b3HashMap.h"
-
-b3ConvexUtility::~b3ConvexUtility()
-{
-}
-
-bool b3ConvexUtility::initializePolyhedralFeatures(const b3Vector3* orgVertices, int numPoints, bool mergeCoplanarTriangles)
-{
-	b3ConvexHullComputer conv;
-	conv.compute(&orgVertices[0].getX(), sizeof(b3Vector3), numPoints, 0.f, 0.f);
-
-	b3AlignedObjectArray<b3Vector3> faceNormals;
-	int numFaces = conv.faces.size();
-	faceNormals.resize(numFaces);
-	b3ConvexHullComputer* convexUtil = &conv;
-
-	b3AlignedObjectArray<b3MyFace> tmpFaces;
-	tmpFaces.resize(numFaces);
-
-	int numVertices = convexUtil->vertices.size();
-	m_vertices.resize(numVertices);
-	for (int p = 0; p < numVertices; p++)
-	{
-		m_vertices[p] = convexUtil->vertices[p];
-	}
-
-	for (int i = 0; i < numFaces; i++)
-	{
-		int face = convexUtil->faces[i];
-		//printf("face=%d\n",face);
-		const b3ConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face];
-		const b3ConvexHullComputer::Edge* edge = firstEdge;
-
-		b3Vector3 edges[3];
-		int numEdges = 0;
-		//compute face normals
-
-		do
-		{
-			int src = edge->getSourceVertex();
-			tmpFaces[i].m_indices.push_back(src);
-			int targ = edge->getTargetVertex();
-			b3Vector3 wa = convexUtil->vertices[src];
-
-			b3Vector3 wb = convexUtil->vertices[targ];
-			b3Vector3 newEdge = wb - wa;
-			newEdge.normalize();
-			if (numEdges < 2)
-				edges[numEdges++] = newEdge;
-
-			edge = edge->getNextEdgeOfFace();
-		} while (edge != firstEdge);
-
-		b3Scalar planeEq = 1e30f;
-
-		if (numEdges == 2)
-		{
-			faceNormals[i] = edges[0].cross(edges[1]);
-			faceNormals[i].normalize();
-			tmpFaces[i].m_plane[0] = faceNormals[i].getX();
-			tmpFaces[i].m_plane[1] = faceNormals[i].getY();
-			tmpFaces[i].m_plane[2] = faceNormals[i].getZ();
-			tmpFaces[i].m_plane[3] = planeEq;
-		}
-		else
-		{
-			b3Assert(0);  //degenerate?
-			faceNormals[i].setZero();
-		}
-
-		for (int v = 0; v < tmpFaces[i].m_indices.size(); v++)
-		{
-			b3Scalar eq = m_vertices[tmpFaces[i].m_indices[v]].dot(faceNormals[i]);
-			if (planeEq > eq)
-			{
-				planeEq = eq;
-			}
-		}
-		tmpFaces[i].m_plane[3] = -planeEq;
-	}
-
-	//merge coplanar faces and copy them to m_polyhedron
-
-	b3Scalar faceWeldThreshold = 0.999f;
-	b3AlignedObjectArray<int> todoFaces;
-	for (int i = 0; i < tmpFaces.size(); i++)
-		todoFaces.push_back(i);
-
-	while (todoFaces.size())
-	{
-		b3AlignedObjectArray<int> coplanarFaceGroup;
-		int refFace = todoFaces[todoFaces.size() - 1];
-
-		coplanarFaceGroup.push_back(refFace);
-		b3MyFace& faceA = tmpFaces[refFace];
-		todoFaces.pop_back();
-
-		b3Vector3 faceNormalA = b3MakeVector3(faceA.m_plane[0], faceA.m_plane[1], faceA.m_plane[2]);
-		for (int j = todoFaces.size() - 1; j >= 0; j--)
-		{
-			int i = todoFaces[j];
-			b3MyFace& faceB = tmpFaces[i];
-			b3Vector3 faceNormalB = b3MakeVector3(faceB.m_plane[0], faceB.m_plane[1], faceB.m_plane[2]);
-			if (faceNormalA.dot(faceNormalB) > faceWeldThreshold)
-			{
-				coplanarFaceGroup.push_back(i);
-				todoFaces.remove(i);
-			}
-		}
-
-		bool did_merge = false;
-		if (coplanarFaceGroup.size() > 1)
-		{
-			//do the merge: use Graham Scan 2d convex hull
-
-			b3AlignedObjectArray<b3GrahamVector3> orgpoints;
-			b3Vector3 averageFaceNormal = b3MakeVector3(0, 0, 0);
-
-			for (int i = 0; i < coplanarFaceGroup.size(); i++)
-			{
-				//				m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
-
-				b3MyFace& face = tmpFaces[coplanarFaceGroup[i]];
-				b3Vector3 faceNormal = b3MakeVector3(face.m_plane[0], face.m_plane[1], face.m_plane[2]);
-				averageFaceNormal += faceNormal;
-				for (int f = 0; f < face.m_indices.size(); f++)
-				{
-					int orgIndex = face.m_indices[f];
-					b3Vector3 pt = m_vertices[orgIndex];
-
-					bool found = false;
-
-					for (int i = 0; i < orgpoints.size(); i++)
-					{
-						//if ((orgpoints[i].m_orgIndex == orgIndex) || ((rotatedPt-orgpoints[i]).length2()<0.0001))
-						if (orgpoints[i].m_orgIndex == orgIndex)
-						{
-							found = true;
-							break;
-						}
-					}
-					if (!found)
-						orgpoints.push_back(b3GrahamVector3(pt, orgIndex));
-				}
-			}
-
-			b3MyFace combinedFace;
-			for (int i = 0; i < 4; i++)
-				combinedFace.m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i];
-
-			b3AlignedObjectArray<b3GrahamVector3> hull;
-
-			averageFaceNormal.normalize();
-			b3GrahamScanConvexHull2D(orgpoints, hull, averageFaceNormal);
-
-			for (int i = 0; i < hull.size(); i++)
-			{
-				combinedFace.m_indices.push_back(hull[i].m_orgIndex);
-				for (int k = 0; k < orgpoints.size(); k++)
-				{
-					if (orgpoints[k].m_orgIndex == hull[i].m_orgIndex)
-					{
-						orgpoints[k].m_orgIndex = -1;  // invalidate...
-						break;
-					}
-				}
-			}
-
-			// are there rejected vertices?
-			bool reject_merge = false;
-
-			for (int i = 0; i < orgpoints.size(); i++)
-			{
-				if (orgpoints[i].m_orgIndex == -1)
-					continue;  // this is in the hull...
-				// this vertex is rejected -- is anybody else using this vertex?
-				for (int j = 0; j < tmpFaces.size(); j++)
-				{
-					b3MyFace& face = tmpFaces[j];
-					// is this a face of the current coplanar group?
-					bool is_in_current_group = false;
-					for (int k = 0; k < coplanarFaceGroup.size(); k++)
-					{
-						if (coplanarFaceGroup[k] == j)
-						{
-							is_in_current_group = true;
-							break;
-						}
-					}
-					if (is_in_current_group)  // ignore this face...
-						continue;
-					// does this face use this rejected vertex?
-					for (int v = 0; v < face.m_indices.size(); v++)
-					{
-						if (face.m_indices[v] == orgpoints[i].m_orgIndex)
-						{
-							// this rejected vertex is used in another face -- reject merge
-							reject_merge = true;
-							break;
-						}
-					}
-					if (reject_merge)
-						break;
-				}
-				if (reject_merge)
-					break;
-			}
-
-			if (!reject_merge)
-			{
-				// do this merge!
-				did_merge = true;
-				m_faces.push_back(combinedFace);
-			}
-		}
-		if (!did_merge)
-		{
-			for (int i = 0; i < coplanarFaceGroup.size(); i++)
-			{
-				b3MyFace face = tmpFaces[coplanarFaceGroup[i]];
-				m_faces.push_back(face);
-			}
-		}
-	}
-
-	initialize();
-
-	return true;
-}
-
-inline bool IsAlmostZero(const b3Vector3& v)
-{
-	if (fabsf(v.getX()) > 1e-6 || fabsf(v.getY()) > 1e-6 || fabsf(v.getZ()) > 1e-6) return false;
-	return true;
-}
-
-struct b3InternalVertexPair
-{
-	b3InternalVertexPair(short int v0, short int v1)
-		: m_v0(v0),
-		  m_v1(v1)
-	{
-		if (m_v1 > m_v0)
-			b3Swap(m_v0, m_v1);
-	}
-	short int m_v0;
-	short int m_v1;
-	int getHash() const
-	{
-		return m_v0 + (m_v1 << 16);
-	}
-	bool equals(const b3InternalVertexPair& other) const
-	{
-		return m_v0 == other.m_v0 && m_v1 == other.m_v1;
-	}
-};
-
-struct b3InternalEdge
-{
-	b3InternalEdge()
-		: m_face0(-1),
-		  m_face1(-1)
-	{
-	}
-	short int m_face0;
-	short int m_face1;
-};
-
-//
-
-#ifdef TEST_INTERNAL_OBJECTS
-bool b3ConvexUtility::testContainment() const
-{
-	for (int p = 0; p < 8; p++)
-	{
-		b3Vector3 LocalPt;
-		if (p == 0)
-			LocalPt = m_localCenter + b3Vector3(m_extents[0], m_extents[1], m_extents[2]);
-		else if (p == 1)
-			LocalPt = m_localCenter + b3Vector3(m_extents[0], m_extents[1], -m_extents[2]);
-		else if (p == 2)
-			LocalPt = m_localCenter + b3Vector3(m_extents[0], -m_extents[1], m_extents[2]);
-		else if (p == 3)
-			LocalPt = m_localCenter + b3Vector3(m_extents[0], -m_extents[1], -m_extents[2]);
-		else if (p == 4)
-			LocalPt = m_localCenter + b3Vector3(-m_extents[0], m_extents[1], m_extents[2]);
-		else if (p == 5)
-			LocalPt = m_localCenter + b3Vector3(-m_extents[0], m_extents[1], -m_extents[2]);
-		else if (p == 6)
-			LocalPt = m_localCenter + b3Vector3(-m_extents[0], -m_extents[1], m_extents[2]);
-		else if (p == 7)
-			LocalPt = m_localCenter + b3Vector3(-m_extents[0], -m_extents[1], -m_extents[2]);
-
-		for (int i = 0; i < m_faces.size(); i++)
-		{
-			const b3Vector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
-			const b3Scalar d = LocalPt.dot(Normal) + m_faces[i].m_plane[3];
-			if (d > 0.0f)
-				return false;
-		}
-	}
-	return true;
-}
-#endif
-
-void b3ConvexUtility::initialize()
-{
-	b3HashMap<b3InternalVertexPair, b3InternalEdge> edges;
-
-	b3Scalar TotalArea = 0.0f;
-
-	m_localCenter.setValue(0, 0, 0);
-	for (int i = 0; i < m_faces.size(); i++)
-	{
-		int numVertices = m_faces[i].m_indices.size();
-		int NbTris = numVertices;
-		for (int j = 0; j < NbTris; j++)
-		{
-			int k = (j + 1) % numVertices;
-			b3InternalVertexPair vp(m_faces[i].m_indices[j], m_faces[i].m_indices[k]);
-			b3InternalEdge* edptr = edges.find(vp);
-			b3Vector3 edge = m_vertices[vp.m_v1] - m_vertices[vp.m_v0];
-			edge.normalize();
-
-			bool found = false;
-			b3Vector3 diff, diff2;
-
-			for (int p = 0; p < m_uniqueEdges.size(); p++)
-			{
-				diff = m_uniqueEdges[p] - edge;
-				diff2 = m_uniqueEdges[p] + edge;
-
-				//	if ((diff.length2()==0.f) ||
-				//	(diff2.length2()==0.f))
-
-				if (IsAlmostZero(diff) ||
-					IsAlmostZero(diff2))
-				{
-					found = true;
-					break;
-				}
-			}
-
-			if (!found)
-			{
-				m_uniqueEdges.push_back(edge);
-			}
-
-			if (edptr)
-			{
-				//TBD: figure out why I added this assert
-				//				b3Assert(edptr->m_face0>=0);
-				//			b3Assert(edptr->m_face1<0);
-				edptr->m_face1 = i;
-			}
-			else
-			{
-				b3InternalEdge ed;
-				ed.m_face0 = i;
-				edges.insert(vp, ed);
-			}
-		}
-	}
-
-#ifdef USE_CONNECTED_FACES
-	for (int i = 0; i < m_faces.size(); i++)
-	{
-		int numVertices = m_faces[i].m_indices.size();
-		m_faces[i].m_connectedFaces.resize(numVertices);
-
-		for (int j = 0; j < numVertices; j++)
-		{
-			int k = (j + 1) % numVertices;
-			b3InternalVertexPair vp(m_faces[i].m_indices[j], m_faces[i].m_indices[k]);
-			b3InternalEdge* edptr = edges.find(vp);
-			b3Assert(edptr);
-			b3Assert(edptr->m_face0 >= 0);
-			b3Assert(edptr->m_face1 >= 0);
-
-			int connectedFace = (edptr->m_face0 == i) ? edptr->m_face1 : edptr->m_face0;
-			m_faces[i].m_connectedFaces[j] = connectedFace;
-		}
-	}
-#endif  //USE_CONNECTED_FACES
-
-	for (int i = 0; i < m_faces.size(); i++)
-	{
-		int numVertices = m_faces[i].m_indices.size();
-		int NbTris = numVertices - 2;
-
-		const b3Vector3& p0 = m_vertices[m_faces[i].m_indices[0]];
-		for (int j = 1; j <= NbTris; j++)
-		{
-			int k = (j + 1) % numVertices;
-			const b3Vector3& p1 = m_vertices[m_faces[i].m_indices[j]];
-			const b3Vector3& p2 = m_vertices[m_faces[i].m_indices[k]];
-			b3Scalar Area = ((p0 - p1).cross(p0 - p2)).length() * 0.5f;
-			b3Vector3 Center = (p0 + p1 + p2) / 3.0f;
-			m_localCenter += Area * Center;
-			TotalArea += Area;
-		}
-	}
-	m_localCenter /= TotalArea;
-
-#ifdef TEST_INTERNAL_OBJECTS
-	if (1)
-	{
-		m_radius = FLT_MAX;
-		for (int i = 0; i < m_faces.size(); i++)
-		{
-			const b3Vector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
-			const b3Scalar dist = b3Fabs(m_localCenter.dot(Normal) + m_faces[i].m_plane[3]);
-			if (dist < m_radius)
-				m_radius = dist;
-		}
-
-		b3Scalar MinX = FLT_MAX;
-		b3Scalar MinY = FLT_MAX;
-		b3Scalar MinZ = FLT_MAX;
-		b3Scalar MaxX = -FLT_MAX;
-		b3Scalar MaxY = -FLT_MAX;
-		b3Scalar MaxZ = -FLT_MAX;
-		for (int i = 0; i < m_vertices.size(); i++)
-		{
-			const b3Vector3& pt = m_vertices[i];
-			if (pt.getX() < MinX) MinX = pt.getX();
-			if (pt.getX() > MaxX) MaxX = pt.getX();
-			if (pt.getY() < MinY) MinY = pt.getY();
-			if (pt.getY() > MaxY) MaxY = pt.getY();
-			if (pt.getZ() < MinZ) MinZ = pt.getZ();
-			if (pt.getZ() > MaxZ) MaxZ = pt.getZ();
-		}
-		mC.setValue(MaxX + MinX, MaxY + MinY, MaxZ + MinZ);
-		mE.setValue(MaxX - MinX, MaxY - MinY, MaxZ - MinZ);
-
-		//		const b3Scalar r = m_radius / sqrtf(2.0f);
-		const b3Scalar r = m_radius / sqrtf(3.0f);
-		const int LargestExtent = mE.maxAxis();
-		const b3Scalar Step = (mE[LargestExtent] * 0.5f - r) / 1024.0f;
-		m_extents[0] = m_extents[1] = m_extents[2] = r;
-		m_extents[LargestExtent] = mE[LargestExtent] * 0.5f;
-		bool FoundBox = false;
-		for (int j = 0; j < 1024; j++)
-		{
-			if (testContainment())
-			{
-				FoundBox = true;
-				break;
-			}
-
-			m_extents[LargestExtent] -= Step;
-		}
-		if (!FoundBox)
-		{
-			m_extents[0] = m_extents[1] = m_extents[2] = r;
-		}
-		else
-		{
-			// Refine the box
-			const b3Scalar Step = (m_radius - r) / 1024.0f;
-			const int e0 = (1 << LargestExtent) & 3;
-			const int e1 = (1 << e0) & 3;
-
-			for (int j = 0; j < 1024; j++)
-			{
-				const b3Scalar Saved0 = m_extents[e0];
-				const b3Scalar Saved1 = m_extents[e1];
-				m_extents[e0] += Step;
-				m_extents[e1] += Step;
-
-				if (!testContainment())
-				{
-					m_extents[e0] = Saved0;
-					m_extents[e1] = Saved1;
-					break;
-				}
-			}
-		}
-	}
-#endif
-}
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h
deleted file mode 100644
index 4c8a88cbda..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h
+++ /dev/null
@@ -1,55 +0,0 @@
-
-/*
-Copyright (c) 2012 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Erwin Coumans
-
-#ifndef _BT_CONVEX_UTILITY_H
-#define _BT_CONVEX_UTILITY_H
-
-#include "Bullet3Common/b3AlignedObjectArray.h"
-#include "Bullet3Common/b3Transform.h"
-
-struct b3MyFace
-{
-	b3AlignedObjectArray<int> m_indices;
-	b3Scalar m_plane[4];
-};
-
-B3_ATTRIBUTE_ALIGNED16(class)
-b3ConvexUtility
-{
-public:
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-	b3Vector3 m_localCenter;
-	b3Vector3 m_extents;
-	b3Vector3 mC;
-	b3Vector3 mE;
-	b3Scalar m_radius;
-
-	b3AlignedObjectArray<b3Vector3> m_vertices;
-	b3AlignedObjectArray<b3MyFace> m_faces;
-	b3AlignedObjectArray<b3Vector3> m_uniqueEdges;
-
-	b3ConvexUtility()
-	{
-	}
-	virtual ~b3ConvexUtility();
-
-	bool initializePolyhedralFeatures(const b3Vector3* orgVertices, int numVertices, bool mergeCoplanarTriangles = true);
-
-	void initialize();
-	bool testContainment() const;
-};
-#endif
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.cpp b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.cpp
deleted file mode 100644
index e0b2161100..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.cpp
+++ /dev/null
@@ -1,297 +0,0 @@
-#include "b3CpuNarrowPhase.h"
-#include "Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h"
-#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h"
-
-struct b3CpuNarrowPhaseInternalData
-{
-	b3AlignedObjectArray<b3Aabb> m_localShapeAABBCPU;
-	b3AlignedObjectArray<b3Collidable> m_collidablesCPU;
-	b3AlignedObjectArray<b3ConvexUtility*> m_convexData;
-	b3Config m_config;
-
-	b3AlignedObjectArray<b3ConvexPolyhedronData> m_convexPolyhedra;
-	b3AlignedObjectArray<b3Vector3> m_uniqueEdges;
-	b3AlignedObjectArray<b3Vector3> m_convexVertices;
-	b3AlignedObjectArray<int> m_convexIndices;
-	b3AlignedObjectArray<b3GpuFace> m_convexFaces;
-
-	b3AlignedObjectArray<b3Contact4Data> m_contacts;
-
-	int m_numAcceleratedShapes;
-};
-
-const b3AlignedObjectArray<b3Contact4Data>& b3CpuNarrowPhase::getContacts() const
-{
-	return m_data->m_contacts;
-}
-
-b3Collidable& b3CpuNarrowPhase::getCollidableCpu(int collidableIndex)
-{
-	return m_data->m_collidablesCPU[collidableIndex];
-}
-
-const b3Collidable& b3CpuNarrowPhase::getCollidableCpu(int collidableIndex) const
-{
-	return m_data->m_collidablesCPU[collidableIndex];
-}
-
-b3CpuNarrowPhase::b3CpuNarrowPhase(const struct b3Config& config)
-{
-	m_data = new b3CpuNarrowPhaseInternalData;
-	m_data->m_config = config;
-	m_data->m_numAcceleratedShapes = 0;
-}
-
-b3CpuNarrowPhase::~b3CpuNarrowPhase()
-{
-	delete m_data;
-}
-
-void b3CpuNarrowPhase::computeContacts(b3AlignedObjectArray<b3Int4>& pairs, b3AlignedObjectArray<b3Aabb>& aabbsWorldSpace, b3AlignedObjectArray<b3RigidBodyData>& bodies)
-{
-	int nPairs = pairs.size();
-	int numContacts = 0;
-	int maxContactCapacity = m_data->m_config.m_maxContactCapacity;
-	m_data->m_contacts.resize(maxContactCapacity);
-
-	for (int i = 0; i < nPairs; i++)
-	{
-		int bodyIndexA = pairs[i].x;
-		int bodyIndexB = pairs[i].y;
-		int collidableIndexA = bodies[bodyIndexA].m_collidableIdx;
-		int collidableIndexB = bodies[bodyIndexB].m_collidableIdx;
-
-		if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
-			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
-		{
-			//			computeContactSphereConvex(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&bodies[0],
-			//				&m_data->m_collidablesCPU[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
-		}
-
-		if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
-			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_SPHERE)
-		{
-			//			computeContactSphereConvex(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&bodies[0],
-			//				&m_data->m_collidablesCPU[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
-			//printf("convex-sphere\n");
-		}
-
-		if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
-			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_PLANE)
-		{
-			//			computeContactPlaneConvex(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&bodies[0],
-			//			&m_data->m_collidablesCPU[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
-			//			printf("convex-plane\n");
-		}
-
-		if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_PLANE &&
-			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
-		{
-			//			computeContactPlaneConvex(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&bodies[0],
-			//			&m_data->m_collidablesCPU[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
-			//			printf("plane-convex\n");
-		}
-
-		if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS &&
-			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS)
-		{
-			//			computeContactCompoundCompound(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&bodies[0],
-			//			&m_data->m_collidablesCPU[0],&hostConvexData[0],&cpuChildShapes[0], hostAabbsWorldSpace,hostAabbsLocalSpace,hostVertices,hostUniqueEdges,hostIndices,hostFaces,&hostContacts[0],
-			//			nContacts,maxContactCapacity,treeNodesCPU,subTreesCPU,bvhInfoCPU);
-			//			printf("convex-plane\n");
-		}
-
-		if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS &&
-			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_PLANE)
-		{
-			//			computeContactPlaneCompound(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&bodies[0],
-			//			&m_data->m_collidablesCPU[0],&hostConvexData[0],&cpuChildShapes[0], &hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
-			//			printf("convex-plane\n");
-		}
-
-		if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_PLANE &&
-			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS)
-		{
-			//			computeContactPlaneCompound(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&bodies[0],
-			//			&m_data->m_collidablesCPU[0],&hostConvexData[0],&cpuChildShapes[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
-			//			printf("plane-convex\n");
-		}
-
-		if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
-			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
-		{
-			//printf("pairs[i].z=%d\n",pairs[i].z);
-			//int contactIndex = computeContactConvexConvex2(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,bodies,
-			//		m_data->m_collidablesCPU,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
-			int contactIndex = b3ContactConvexConvexSAT(i, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, bodies,
-														m_data->m_collidablesCPU, m_data->m_convexPolyhedra, m_data->m_convexVertices, m_data->m_uniqueEdges, m_data->m_convexIndices, m_data->m_convexFaces, m_data->m_contacts, numContacts, maxContactCapacity);
-
-			if (contactIndex >= 0)
-			{
-				pairs[i].z = contactIndex;
-			}
-			//			printf("plane-convex\n");
-		}
-	}
-
-	m_data->m_contacts.resize(numContacts);
-}
-
-int b3CpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* utilPtr)
-{
-	int collidableIndex = allocateCollidable();
-	if (collidableIndex < 0)
-		return collidableIndex;
-
-	b3Collidable& col = m_data->m_collidablesCPU[collidableIndex];
-	col.m_shapeType = SHAPE_CONVEX_HULL;
-	col.m_shapeIndex = -1;
-
-	{
-		b3Vector3 localCenter = b3MakeVector3(0, 0, 0);
-		for (int i = 0; i < utilPtr->m_vertices.size(); i++)
-			localCenter += utilPtr->m_vertices[i];
-		localCenter *= (1.f / utilPtr->m_vertices.size());
-		utilPtr->m_localCenter = localCenter;
-
-		col.m_shapeIndex = registerConvexHullShapeInternal(utilPtr, col);
-	}
-
-	if (col.m_shapeIndex >= 0)
-	{
-		b3Aabb aabb;
-
-		b3Vector3 myAabbMin = b3MakeVector3(1e30f, 1e30f, 1e30f);
-		b3Vector3 myAabbMax = b3MakeVector3(-1e30f, -1e30f, -1e30f);
-
-		for (int i = 0; i < utilPtr->m_vertices.size(); i++)
-		{
-			myAabbMin.setMin(utilPtr->m_vertices[i]);
-			myAabbMax.setMax(utilPtr->m_vertices[i]);
-		}
-		aabb.m_min[0] = myAabbMin[0];
-		aabb.m_min[1] = myAabbMin[1];
-		aabb.m_min[2] = myAabbMin[2];
-		aabb.m_minIndices[3] = 0;
-
-		aabb.m_max[0] = myAabbMax[0];
-		aabb.m_max[1] = myAabbMax[1];
-		aabb.m_max[2] = myAabbMax[2];
-		aabb.m_signedMaxIndices[3] = 0;
-
-		m_data->m_localShapeAABBCPU.push_back(aabb);
-	}
-
-	return collidableIndex;
-}
-
-int b3CpuNarrowPhase::allocateCollidable()
-{
-	int curSize = m_data->m_collidablesCPU.size();
-	if (curSize < m_data->m_config.m_maxConvexShapes)
-	{
-		m_data->m_collidablesCPU.expand();
-		return curSize;
-	}
-	else
-	{
-		b3Error("allocateCollidable out-of-range %d\n", m_data->m_config.m_maxConvexShapes);
-	}
-	return -1;
-}
-
-int b3CpuNarrowPhase::registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling)
-{
-	b3AlignedObjectArray<b3Vector3> verts;
-
-	unsigned char* vts = (unsigned char*)vertices;
-	for (int i = 0; i < numVertices; i++)
-	{
-		float* vertex = (float*)&vts[i * strideInBytes];
-		verts.push_back(b3MakeVector3(vertex[0] * scaling[0], vertex[1] * scaling[1], vertex[2] * scaling[2]));
-	}
-
-	b3ConvexUtility* utilPtr = new b3ConvexUtility();
-	bool merge = true;
-	if (numVertices)
-	{
-		utilPtr->initializePolyhedralFeatures(&verts[0], verts.size(), merge);
-	}
-
-	int collidableIndex = registerConvexHullShape(utilPtr);
-
-	delete utilPtr;
-	return collidableIndex;
-}
-
-int b3CpuNarrowPhase::registerConvexHullShapeInternal(b3ConvexUtility* convexPtr, b3Collidable& col)
-{
-	m_data->m_convexData.resize(m_data->m_numAcceleratedShapes + 1);
-	m_data->m_convexPolyhedra.resize(m_data->m_numAcceleratedShapes + 1);
-
-	b3ConvexPolyhedronData& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size() - 1);
-	convex.mC = convexPtr->mC;
-	convex.mE = convexPtr->mE;
-	convex.m_extents = convexPtr->m_extents;
-	convex.m_localCenter = convexPtr->m_localCenter;
-	convex.m_radius = convexPtr->m_radius;
-
-	convex.m_numUniqueEdges = convexPtr->m_uniqueEdges.size();
-	int edgeOffset = m_data->m_uniqueEdges.size();
-	convex.m_uniqueEdgesOffset = edgeOffset;
-
-	m_data->m_uniqueEdges.resize(edgeOffset + convex.m_numUniqueEdges);
-
-	//convex data here
-	int i;
-	for (i = 0; i < convexPtr->m_uniqueEdges.size(); i++)
-	{
-		m_data->m_uniqueEdges[edgeOffset + i] = convexPtr->m_uniqueEdges[i];
-	}
-
-	int faceOffset = m_data->m_convexFaces.size();
-	convex.m_faceOffset = faceOffset;
-	convex.m_numFaces = convexPtr->m_faces.size();
-
-	m_data->m_convexFaces.resize(faceOffset + convex.m_numFaces);
-
-	for (i = 0; i < convexPtr->m_faces.size(); i++)
-	{
-		m_data->m_convexFaces[convex.m_faceOffset + i].m_plane = b3MakeVector3(convexPtr->m_faces[i].m_plane[0],
-																			   convexPtr->m_faces[i].m_plane[1],
-																			   convexPtr->m_faces[i].m_plane[2],
-																			   convexPtr->m_faces[i].m_plane[3]);
-
-		int indexOffset = m_data->m_convexIndices.size();
-		int numIndices = convexPtr->m_faces[i].m_indices.size();
-		m_data->m_convexFaces[convex.m_faceOffset + i].m_numIndices = numIndices;
-		m_data->m_convexFaces[convex.m_faceOffset + i].m_indexOffset = indexOffset;
-		m_data->m_convexIndices.resize(indexOffset + numIndices);
-		for (int p = 0; p < numIndices; p++)
-		{
-			m_data->m_convexIndices[indexOffset + p] = convexPtr->m_faces[i].m_indices[p];
-		}
-	}
-
-	convex.m_numVertices = convexPtr->m_vertices.size();
-	int vertexOffset = m_data->m_convexVertices.size();
-	convex.m_vertexOffset = vertexOffset;
-
-	m_data->m_convexVertices.resize(vertexOffset + convex.m_numVertices);
-	for (int i = 0; i < convexPtr->m_vertices.size(); i++)
-	{
-		m_data->m_convexVertices[vertexOffset + i] = convexPtr->m_vertices[i];
-	}
-
-	(m_data->m_convexData)[m_data->m_numAcceleratedShapes] = convexPtr;
-
-	return m_data->m_numAcceleratedShapes++;
-}
-
-const b3Aabb& b3CpuNarrowPhase::getLocalSpaceAabb(int collidableIndex) const
-{
-	return m_data->m_localShapeAABBCPU[collidableIndex];
-}
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h
deleted file mode 100644
index f02353c265..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h
+++ /dev/null
@@ -1,92 +0,0 @@
-#ifndef B3_CPU_NARROWPHASE_H
-#define B3_CPU_NARROWPHASE_H
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-#include "Bullet3Common/b3Vector3.h"
-#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
-#include "Bullet3Common/shared/b3Int4.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
-
-class b3CpuNarrowPhase
-{
-protected:
-	struct b3CpuNarrowPhaseInternalData* m_data;
-	int m_acceleratedCompanionShapeIndex;
-	int m_planeBodyIndex;
-	int m_static0Index;
-
-	int registerConvexHullShapeInternal(class b3ConvexUtility* convexPtr, b3Collidable& col);
-	int registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, b3Collidable& col, const float* scaling);
-
-public:
-	b3CpuNarrowPhase(const struct b3Config& config);
-
-	virtual ~b3CpuNarrowPhase(void);
-
-	int registerSphereShape(float radius);
-	int registerPlaneShape(const b3Vector3& planeNormal, float planeConstant);
-
-	int registerCompoundShape(b3AlignedObjectArray<b3GpuChildShape>* childShapes);
-	int registerFace(const b3Vector3& faceNormal, float faceConstant);
-
-	int registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, const float* scaling);
-
-	//do they need to be merged?
-
-	int registerConvexHullShape(b3ConvexUtility* utilPtr);
-	int registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling);
-
-	//int registerRigidBody(int collidableIndex, float mass, const float* position, const float* orientation, const float* aabbMin, const float* aabbMax,bool writeToGpu);
-	void setObjectTransform(const float* position, const float* orientation, int bodyIndex);
-
-	void writeAllBodiesToGpu();
-	void reset();
-	void readbackAllBodiesToCpu();
-	bool getObjectTransformFromCpu(float* position, float* orientation, int bodyIndex) const;
-
-	void setObjectTransformCpu(float* position, float* orientation, int bodyIndex);
-	void setObjectVelocityCpu(float* linVel, float* angVel, int bodyIndex);
-
-	//virtual void computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbsWorldSpace, int numObjects);
-	virtual void computeContacts(b3AlignedObjectArray<b3Int4>& pairs, b3AlignedObjectArray<b3Aabb>& aabbsWorldSpace, b3AlignedObjectArray<b3RigidBodyData>& bodies);
-
-	const struct b3RigidBodyData* getBodiesCpu() const;
-	//struct b3RigidBodyData* getBodiesCpu();
-
-	int getNumBodiesGpu() const;
-
-	int getNumBodyInertiasGpu() const;
-
-	const struct b3Collidable* getCollidablesCpu() const;
-	int getNumCollidablesGpu() const;
-
-	/*const struct b3Contact4* getContactsCPU() const;
-
-	
-	int	getNumContactsGpu() const;
-	*/
-
-	const b3AlignedObjectArray<b3Contact4Data>& getContacts() const;
-
-	int getNumRigidBodies() const;
-
-	int allocateCollidable();
-
-	int getStatic0Index() const
-	{
-		return m_static0Index;
-	}
-	b3Collidable& getCollidableCpu(int collidableIndex);
-	const b3Collidable& getCollidableCpu(int collidableIndex) const;
-
-	const b3CpuNarrowPhaseInternalData* getInternalData() const
-	{
-		return m_data;
-	}
-
-	const struct b3Aabb& getLocalSpaceAabb(int collidableIndex) const;
-};
-
-#endif  //B3_CPU_NARROWPHASE_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h
deleted file mode 100644
index b50c0eca4f..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h
+++ /dev/null
@@ -1,25 +0,0 @@
-
-#ifndef B3_RAYCAST_INFO_H
-#define B3_RAYCAST_INFO_H
-
-#include "Bullet3Common/b3Vector3.h"
-
-B3_ATTRIBUTE_ALIGNED16(struct)
-b3RayInfo
-{
-	b3Vector3 m_from;
-	b3Vector3 m_to;
-};
-
-B3_ATTRIBUTE_ALIGNED16(struct)
-b3RayHit
-{
-	b3Scalar m_hitFraction;
-	int m_hitBody;
-	int m_hitResult1;
-	int m_hitResult2;
-	b3Vector3 m_hitPoint;
-	b3Vector3 m_hitNormal;
-};
-
-#endif  //B3_RAYCAST_INFO_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h
deleted file mode 100644
index be1be57f05..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h
+++ /dev/null
@@ -1,28 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_RIGID_BODY_CL
-#define B3_RIGID_BODY_CL
-
-#include "Bullet3Common/b3Scalar.h"
-#include "Bullet3Common/b3Matrix3x3.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-
-inline float b3GetInvMass(const b3RigidBodyData& body)
-{
-	return body.m_invMass;
-}
-
-#endif  //B3_RIGID_BODY_CL
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h
deleted file mode 100644
index d6beb662b5..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h
+++ /dev/null
@@ -1,19 +0,0 @@
-
-#ifndef B3_BVH_SUBTREE_INFO_DATA_H
-#define B3_BVH_SUBTREE_INFO_DATA_H
-
-typedef struct b3BvhSubtreeInfoData b3BvhSubtreeInfoData_t;
-
-struct b3BvhSubtreeInfoData
-{
-	//12 bytes
-	unsigned short int m_quantizedAabbMin[3];
-	unsigned short int m_quantizedAabbMax[3];
-	//4 bytes, points to the root of the subtree
-	int m_rootNodeIndex;
-	//4 bytes
-	int m_subtreeSize;
-	int m_padding[3];
-};
-
-#endif  //B3_BVH_SUBTREE_INFO_DATA_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h
deleted file mode 100644
index 7c2507cc98..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h
+++ /dev/null
@@ -1,123 +0,0 @@
-
-
-#include "Bullet3Common/shared/b3Int4.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
-#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h"
-
-// work-in-progress
-void b3BvhTraversal(__global const b3Int4* pairs,
-					__global const b3RigidBodyData* rigidBodies,
-					__global const b3Collidable* collidables,
-					__global b3Aabb* aabbs,
-					__global b3Int4* concavePairsOut,
-					__global volatile int* numConcavePairsOut,
-					__global const b3BvhSubtreeInfo* subtreeHeadersRoot,
-					__global const b3QuantizedBvhNode* quantizedNodesRoot,
-					__global const b3BvhInfo* bvhInfos,
-					int numPairs,
-					int maxNumConcavePairsCapacity,
-					int id)
-{
-	int bodyIndexA = pairs[id].x;
-	int bodyIndexB = pairs[id].y;
-	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-
-	//once the broadphase avoids static-static pairs, we can remove this test
-	if ((rigidBodies[bodyIndexA].m_invMass == 0) && (rigidBodies[bodyIndexB].m_invMass == 0))
-	{
-		return;
-	}
-
-	if (collidables[collidableIndexA].m_shapeType != SHAPE_CONCAVE_TRIMESH)
-		return;
-
-	int shapeTypeB = collidables[collidableIndexB].m_shapeType;
-
-	if (shapeTypeB != SHAPE_CONVEX_HULL &&
-		shapeTypeB != SHAPE_SPHERE &&
-		shapeTypeB != SHAPE_COMPOUND_OF_CONVEX_HULLS)
-		return;
-
-	b3BvhInfo bvhInfo = bvhInfos[collidables[collidableIndexA].m_numChildShapes];
-
-	b3Float4 bvhAabbMin = bvhInfo.m_aabbMin;
-	b3Float4 bvhAabbMax = bvhInfo.m_aabbMax;
-	b3Float4 bvhQuantization = bvhInfo.m_quantization;
-	int numSubtreeHeaders = bvhInfo.m_numSubTrees;
-	__global const b3BvhSubtreeInfoData* subtreeHeaders = &subtreeHeadersRoot[bvhInfo.m_subTreeOffset];
-	__global const b3QuantizedBvhNodeData* quantizedNodes = &quantizedNodesRoot[bvhInfo.m_nodeOffset];
-
-	unsigned short int quantizedQueryAabbMin[3];
-	unsigned short int quantizedQueryAabbMax[3];
-	b3QuantizeWithClamp(quantizedQueryAabbMin, aabbs[bodyIndexB].m_minVec, false, bvhAabbMin, bvhAabbMax, bvhQuantization);
-	b3QuantizeWithClamp(quantizedQueryAabbMax, aabbs[bodyIndexB].m_maxVec, true, bvhAabbMin, bvhAabbMax, bvhQuantization);
-
-	for (int i = 0; i < numSubtreeHeaders; i++)
-	{
-		b3BvhSubtreeInfoData subtree = subtreeHeaders[i];
-
-		int overlap = b3TestQuantizedAabbAgainstQuantizedAabbSlow(quantizedQueryAabbMin, quantizedQueryAabbMax, subtree.m_quantizedAabbMin, subtree.m_quantizedAabbMax);
-		if (overlap != 0)
-		{
-			int startNodeIndex = subtree.m_rootNodeIndex;
-			int endNodeIndex = subtree.m_rootNodeIndex + subtree.m_subtreeSize;
-			int curIndex = startNodeIndex;
-			int escapeIndex;
-			int isLeafNode;
-			int aabbOverlap;
-			while (curIndex < endNodeIndex)
-			{
-				b3QuantizedBvhNodeData rootNode = quantizedNodes[curIndex];
-				aabbOverlap = b3TestQuantizedAabbAgainstQuantizedAabbSlow(quantizedQueryAabbMin, quantizedQueryAabbMax, rootNode.m_quantizedAabbMin, rootNode.m_quantizedAabbMax);
-				isLeafNode = b3IsLeaf(&rootNode);
-				if (aabbOverlap)
-				{
-					if (isLeafNode)
-					{
-						int triangleIndex = b3GetTriangleIndex(&rootNode);
-						if (shapeTypeB == SHAPE_COMPOUND_OF_CONVEX_HULLS)
-						{
-							int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
-							int pairIdx = b3AtomicAdd(numConcavePairsOut, numChildrenB);
-							for (int b = 0; b < numChildrenB; b++)
-							{
-								if ((pairIdx + b) < maxNumConcavePairsCapacity)
-								{
-									int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex + b;
-									b3Int4 newPair = b3MakeInt4(bodyIndexA, bodyIndexB, triangleIndex, childShapeIndexB);
-									concavePairsOut[pairIdx + b] = newPair;
-								}
-							}
-						}
-						else
-						{
-							int pairIdx = b3AtomicInc(numConcavePairsOut);
-							if (pairIdx < maxNumConcavePairsCapacity)
-							{
-								b3Int4 newPair = b3MakeInt4(bodyIndexA, bodyIndexB, triangleIndex, 0);
-								concavePairsOut[pairIdx] = newPair;
-							}
-						}
-					}
-					curIndex++;
-				}
-				else
-				{
-					if (isLeafNode)
-					{
-						curIndex++;
-					}
-					else
-					{
-						escapeIndex = b3GetEscapeIndex(&rootNode);
-						curIndex += escapeIndex;
-					}
-				}
-			}
-		}
-	}
-}
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ClipFaces.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ClipFaces.h
deleted file mode 100644
index 0d9b13f1d6..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ClipFaces.h
+++ /dev/null
@@ -1,171 +0,0 @@
-#ifndef B3_CLIP_FACES_H
-#define B3_CLIP_FACES_H
-
-#include "Bullet3Common/shared/b3Int4.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
-#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
-
-inline b3Float4 b3Lerp3(b3Float4ConstArg a, b3Float4ConstArg b, float t)
-{
-	return b3MakeFloat4(a.x + (b.x - a.x) * t,
-						a.y + (b.y - a.y) * t,
-						a.z + (b.z - a.z) * t,
-						0.f);
-}
-
-// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut
-int clipFaceGlobal(__global const b3Float4* pVtxIn, int numVertsIn, b3Float4ConstArg planeNormalWS, float planeEqWS, __global b3Float4* ppVtxOut)
-{
-	int ve;
-	float ds, de;
-	int numVertsOut = 0;
-	//double-check next test
-	//	if (numVertsIn < 2)
-	//		return 0;
-
-	b3Float4 firstVertex = pVtxIn[numVertsIn - 1];
-	b3Float4 endVertex = pVtxIn[0];
-
-	ds = b3Dot(planeNormalWS, firstVertex) + planeEqWS;
-
-	for (ve = 0; ve < numVertsIn; ve++)
-	{
-		endVertex = pVtxIn[ve];
-		de = b3Dot(planeNormalWS, endVertex) + planeEqWS;
-		if (ds < 0)
-		{
-			if (de < 0)
-			{
-				// Start < 0, end < 0, so output endVertex
-				ppVtxOut[numVertsOut++] = endVertex;
-			}
-			else
-			{
-				// Start < 0, end >= 0, so output intersection
-				ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex, (ds * 1.f / (ds - de)));
-			}
-		}
-		else
-		{
-			if (de < 0)
-			{
-				// Start >= 0, end < 0 so output intersection and end
-				ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex, (ds * 1.f / (ds - de)));
-				ppVtxOut[numVertsOut++] = endVertex;
-			}
-		}
-		firstVertex = endVertex;
-		ds = de;
-	}
-	return numVertsOut;
-}
-
-__kernel void clipFacesAndFindContactsKernel(__global const b3Float4* separatingNormals,
-											 __global const int* hasSeparatingAxis,
-											 __global b3Int4* clippingFacesOut,
-											 __global b3Float4* worldVertsA1,
-											 __global b3Float4* worldNormalsA1,
-											 __global b3Float4* worldVertsB1,
-											 __global b3Float4* worldVertsB2,
-											 int vertexFaceCapacity,
-											 int pairIndex)
-{
-	//    int i = get_global_id(0);
-	//int pairIndex = i;
-	int i = pairIndex;
-
-	float minDist = -1e30f;
-	float maxDist = 0.02f;
-
-	//	if (i<numPairs)
-	{
-		if (hasSeparatingAxis[i])
-		{
-			//			int bodyIndexA = pairs[i].x;
-			//		int bodyIndexB = pairs[i].y;
-
-			int numLocalContactsOut = 0;
-
-			int capacityWorldVertsB2 = vertexFaceCapacity;
-
-			__global b3Float4* pVtxIn = &worldVertsB1[pairIndex * capacityWorldVertsB2];
-			__global b3Float4* pVtxOut = &worldVertsB2[pairIndex * capacityWorldVertsB2];
-
-			{
-				__global b3Int4* clippingFaces = clippingFacesOut;
-
-				int closestFaceA = clippingFaces[pairIndex].x;
-				// int closestFaceB = clippingFaces[pairIndex].y;
-				int numVertsInA = clippingFaces[pairIndex].z;
-				int numVertsInB = clippingFaces[pairIndex].w;
-
-				int numVertsOut = 0;
-
-				if (closestFaceA >= 0)
-				{
-					// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
-
-					for (int e0 = 0; e0 < numVertsInA; e0++)
-					{
-						const b3Float4 aw = worldVertsA1[pairIndex * capacityWorldVertsB2 + e0];
-						const b3Float4 bw = worldVertsA1[pairIndex * capacityWorldVertsB2 + ((e0 + 1) % numVertsInA)];
-						const b3Float4 WorldEdge0 = aw - bw;
-						b3Float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex];
-						b3Float4 planeNormalWS1 = -b3Cross(WorldEdge0, worldPlaneAnormal1);
-						b3Float4 worldA1 = aw;
-						float planeEqWS1 = -b3Dot(worldA1, planeNormalWS1);
-						b3Float4 planeNormalWS = planeNormalWS1;
-						float planeEqWS = planeEqWS1;
-						numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS, planeEqWS, pVtxOut);
-						__global b3Float4* tmp = pVtxOut;
-						pVtxOut = pVtxIn;
-						pVtxIn = tmp;
-						numVertsInB = numVertsOut;
-						numVertsOut = 0;
-					}
-
-					b3Float4 planeNormalWS = worldNormalsA1[pairIndex];
-					float planeEqWS = -b3Dot(planeNormalWS, worldVertsA1[pairIndex * capacityWorldVertsB2]);
-
-					for (int i = 0; i < numVertsInB; i++)
-					{
-						float depth = b3Dot(planeNormalWS, pVtxIn[i]) + planeEqWS;
-						if (depth <= minDist)
-						{
-							depth = minDist;
-						}
-						/*
-						static float maxDepth = 0.f;
-						if (depth < maxDepth)
-						{
-							maxDepth = depth;
-							if (maxDepth < -10)
-							{
-								printf("error at framecount %d?\n",myframecount);
-							}
-							printf("maxDepth = %f\n", maxDepth);
-
-						}
-*/
-						if (depth <= maxDist)
-						{
-							b3Float4 pointInWorld = pVtxIn[i];
-							pVtxOut[numLocalContactsOut++] = b3MakeFloat4(pointInWorld.x, pointInWorld.y, pointInWorld.z, depth);
-						}
-					}
-				}
-				clippingFaces[pairIndex].w = numLocalContactsOut;
-			}
-
-			for (int i = 0; i < numLocalContactsOut; i++)
-				pVtxIn[i] = pVtxOut[i];
-
-		}  //		if (hasSeparatingAxis[i])
-	}      //	if (i<numPairs)
-}
-
-#endif  //B3_CLIP_FACES_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h
deleted file mode 100644
index 9a8c668af2..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h
+++ /dev/null
@@ -1,69 +0,0 @@
-
-#ifndef B3_COLLIDABLE_H
-#define B3_COLLIDABLE_H
-
-#include "Bullet3Common/shared/b3Float4.h"
-#include "Bullet3Common/shared/b3Quat.h"
-
-enum b3ShapeTypes
-{
-	SHAPE_HEIGHT_FIELD = 1,
-
-	SHAPE_CONVEX_HULL = 3,
-	SHAPE_PLANE = 4,
-	SHAPE_CONCAVE_TRIMESH = 5,
-	SHAPE_COMPOUND_OF_CONVEX_HULLS = 6,
-	SHAPE_SPHERE = 7,
-	MAX_NUM_SHAPE_TYPES,
-};
-
-typedef struct b3Collidable b3Collidable_t;
-
-struct b3Collidable
-{
-	union {
-		int m_numChildShapes;
-		int m_bvhIndex;
-	};
-	union {
-		float m_radius;
-		int m_compoundBvhIndex;
-	};
-
-	int m_shapeType;
-	union {
-		int m_shapeIndex;
-		float m_height;
-	};
-};
-
-typedef struct b3GpuChildShape b3GpuChildShape_t;
-struct b3GpuChildShape
-{
-	b3Float4 m_childPosition;
-	b3Quat m_childOrientation;
-	union {
-		int m_shapeIndex;  //used for SHAPE_COMPOUND_OF_CONVEX_HULLS
-		int m_capsuleAxis;
-	};
-	union {
-		float m_radius;        //used for childshape of SHAPE_COMPOUND_OF_SPHERES or SHAPE_COMPOUND_OF_CAPSULES
-		int m_numChildShapes;  //used for compound shape
-	};
-	union {
-		float m_height;  //used for childshape of SHAPE_COMPOUND_OF_CAPSULES
-		int m_collidableShapeIndex;
-	};
-	int m_shapeType;
-};
-
-struct b3CompoundOverlappingPair
-{
-	int m_bodyIndexA;
-	int m_bodyIndexB;
-	//	int	m_pairType;
-	int m_childShapeIndexA;
-	int m_childShapeIndexB;
-};
-
-#endif  //B3_COLLIDABLE_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h
deleted file mode 100644
index d5f6daa993..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#ifndef B3_CONTACT4DATA_H
-#define B3_CONTACT4DATA_H
-
-#include "Bullet3Common/shared/b3Float4.h"
-
-typedef struct b3Contact4Data b3Contact4Data_t;
-
-struct b3Contact4Data
-{
-	b3Float4 m_worldPosB[4];
-	//	b3Float4	m_localPosA[4];
-	//	b3Float4	m_localPosB[4];
-	b3Float4 m_worldNormalOnB;  //	w: m_nPoints
-	unsigned short m_restituitionCoeffCmp;
-	unsigned short m_frictionCoeffCmp;
-	int m_batchIdx;
-	int m_bodyAPtrAndSignBit;  //x:m_bodyAPtr, y:m_bodyBPtr
-	int m_bodyBPtrAndSignBit;
-
-	int m_childIndexA;
-	int m_childIndexB;
-	int m_unused1;
-	int m_unused2;
-};
-
-inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)
-{
-	return (int)contact->m_worldNormalOnB.w;
-};
-
-inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)
-{
-	contact->m_worldNormalOnB.w = (float)numPoints;
-};
-
-#endif  //B3_CONTACT4DATA_H
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h
deleted file mode 100644
index ca68f4bc4e..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h
+++ /dev/null
@@ -1,486 +0,0 @@
-
-#ifndef B3_CONTACT_CONVEX_CONVEX_SAT_H
-#define B3_CONTACT_CONVEX_CONVEX_SAT_H
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h"
-
-#define B3_MAX_VERTS 1024
-
-inline b3Float4 b3Lerp3(const b3Float4& a, const b3Float4& b, float t)
-{
-	return b3MakeVector3(a.x + (b.x - a.x) * t,
-						 a.y + (b.y - a.y) * t,
-						 a.z + (b.z - a.z) * t,
-						 0.f);
-}
-
-// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut
-inline int b3ClipFace(const b3Float4* pVtxIn, int numVertsIn, b3Float4& planeNormalWS, float planeEqWS, b3Float4* ppVtxOut)
-{
-	int ve;
-	float ds, de;
-	int numVertsOut = 0;
-	if (numVertsIn < 2)
-		return 0;
-
-	b3Float4 firstVertex = pVtxIn[numVertsIn - 1];
-	b3Float4 endVertex = pVtxIn[0];
-
-	ds = b3Dot3F4(planeNormalWS, firstVertex) + planeEqWS;
-
-	for (ve = 0; ve < numVertsIn; ve++)
-	{
-		endVertex = pVtxIn[ve];
-
-		de = b3Dot3F4(planeNormalWS, endVertex) + planeEqWS;
-
-		if (ds < 0)
-		{
-			if (de < 0)
-			{
-				// Start < 0, end < 0, so output endVertex
-				ppVtxOut[numVertsOut++] = endVertex;
-			}
-			else
-			{
-				// Start < 0, end >= 0, so output intersection
-				ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex, (ds * 1.f / (ds - de)));
-			}
-		}
-		else
-		{
-			if (de < 0)
-			{
-				// Start >= 0, end < 0 so output intersection and end
-				ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex, (ds * 1.f / (ds - de)));
-				ppVtxOut[numVertsOut++] = endVertex;
-			}
-		}
-		firstVertex = endVertex;
-		ds = de;
-	}
-	return numVertsOut;
-}
-
-inline int b3ClipFaceAgainstHull(const b3Float4& separatingNormal, const b3ConvexPolyhedronData* hullA,
-								 const b3Float4& posA, const b3Quaternion& ornA, b3Float4* worldVertsB1, int numWorldVertsB1,
-								 b3Float4* worldVertsB2, int capacityWorldVertsB2,
-								 const float minDist, float maxDist,
-								 const b3AlignedObjectArray<b3Float4>& verticesA, const b3AlignedObjectArray<b3GpuFace>& facesA, const b3AlignedObjectArray<int>& indicesA,
-								 //const b3Float4* verticesB,	const b3GpuFace* facesB,	const int* indicesB,
-								 b3Float4* contactsOut,
-								 int contactCapacity)
-{
-	int numContactsOut = 0;
-
-	b3Float4* pVtxIn = worldVertsB1;
-	b3Float4* pVtxOut = worldVertsB2;
-
-	int numVertsIn = numWorldVertsB1;
-	int numVertsOut = 0;
-
-	int closestFaceA = -1;
-	{
-		float dmin = FLT_MAX;
-		for (int face = 0; face < hullA->m_numFaces; face++)
-		{
-			const b3Float4 Normal = b3MakeVector3(
-				facesA[hullA->m_faceOffset + face].m_plane.x,
-				facesA[hullA->m_faceOffset + face].m_plane.y,
-				facesA[hullA->m_faceOffset + face].m_plane.z, 0.f);
-			const b3Float4 faceANormalWS = b3QuatRotate(ornA, Normal);
-
-			float d = b3Dot3F4(faceANormalWS, separatingNormal);
-			if (d < dmin)
-			{
-				dmin = d;
-				closestFaceA = face;
-			}
-		}
-	}
-	if (closestFaceA < 0)
-		return numContactsOut;
-
-	b3GpuFace polyA = facesA[hullA->m_faceOffset + closestFaceA];
-
-	// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
-	//int numContacts = numWorldVertsB1;
-	int numVerticesA = polyA.m_numIndices;
-	for (int e0 = 0; e0 < numVerticesA; e0++)
-	{
-		const b3Float4 a = verticesA[hullA->m_vertexOffset + indicesA[polyA.m_indexOffset + e0]];
-		const b3Float4 b = verticesA[hullA->m_vertexOffset + indicesA[polyA.m_indexOffset + ((e0 + 1) % numVerticesA)]];
-		const b3Float4 edge0 = a - b;
-		const b3Float4 WorldEdge0 = b3QuatRotate(ornA, edge0);
-		b3Float4 planeNormalA = b3MakeFloat4(polyA.m_plane.x, polyA.m_plane.y, polyA.m_plane.z, 0.f);
-		b3Float4 worldPlaneAnormal1 = b3QuatRotate(ornA, planeNormalA);
-
-		b3Float4 planeNormalWS1 = -b3Cross3(WorldEdge0, worldPlaneAnormal1);
-		b3Float4 worldA1 = b3TransformPoint(a, posA, ornA);
-		float planeEqWS1 = -b3Dot3F4(worldA1, planeNormalWS1);
-
-		b3Float4 planeNormalWS = planeNormalWS1;
-		float planeEqWS = planeEqWS1;
-
-		//clip face
-		//clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);
-		numVertsOut = b3ClipFace(pVtxIn, numVertsIn, planeNormalWS, planeEqWS, pVtxOut);
-
-		//btSwap(pVtxIn,pVtxOut);
-		b3Float4* tmp = pVtxOut;
-		pVtxOut = pVtxIn;
-		pVtxIn = tmp;
-		numVertsIn = numVertsOut;
-		numVertsOut = 0;
-	}
-
-	// only keep points that are behind the witness face
-	{
-		b3Float4 localPlaneNormal = b3MakeFloat4(polyA.m_plane.x, polyA.m_plane.y, polyA.m_plane.z, 0.f);
-		float localPlaneEq = polyA.m_plane.w;
-		b3Float4 planeNormalWS = b3QuatRotate(ornA, localPlaneNormal);
-		float planeEqWS = localPlaneEq - b3Dot3F4(planeNormalWS, posA);
-		for (int i = 0; i < numVertsIn; i++)
-		{
-			float depth = b3Dot3F4(planeNormalWS, pVtxIn[i]) + planeEqWS;
-			if (depth <= minDist)
-			{
-				depth = minDist;
-			}
-			if (numContactsOut < contactCapacity)
-			{
-				if (depth <= maxDist)
-				{
-					b3Float4 pointInWorld = pVtxIn[i];
-					//resultOut.addContactPoint(separatingNormal,point,depth);
-					contactsOut[numContactsOut++] = b3MakeVector3(pointInWorld.x, pointInWorld.y, pointInWorld.z, depth);
-					//printf("depth=%f\n",depth);
-				}
-			}
-			else
-			{
-				b3Error("exceeding contact capacity (%d,%df)\n", numContactsOut, contactCapacity);
-			}
-		}
-	}
-
-	return numContactsOut;
-}
-
-inline int b3ClipHullAgainstHull(const b3Float4& separatingNormal,
-								 const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
-								 const b3Float4& posA, const b3Quaternion& ornA, const b3Float4& posB, const b3Quaternion& ornB,
-								 b3Float4* worldVertsB1, b3Float4* worldVertsB2, int capacityWorldVerts,
-								 const float minDist, float maxDist,
-								 const b3AlignedObjectArray<b3Float4>& verticesA, const b3AlignedObjectArray<b3GpuFace>& facesA, const b3AlignedObjectArray<int>& indicesA,
-								 const b3AlignedObjectArray<b3Float4>& verticesB, const b3AlignedObjectArray<b3GpuFace>& facesB, const b3AlignedObjectArray<int>& indicesB,
-
-								 b3Float4* contactsOut,
-								 int contactCapacity)
-{
-	int numContactsOut = 0;
-	int numWorldVertsB1 = 0;
-
-	B3_PROFILE("clipHullAgainstHull");
-
-	//float curMaxDist=maxDist;
-	int closestFaceB = -1;
-	float dmax = -FLT_MAX;
-
-	{
-		//B3_PROFILE("closestFaceB");
-		if (hullB.m_numFaces != 1)
-		{
-			//printf("wtf\n");
-		}
-		static bool once = true;
-		//printf("separatingNormal=%f,%f,%f\n",separatingNormal.x,separatingNormal.y,separatingNormal.z);
-
-		for (int face = 0; face < hullB.m_numFaces; face++)
-		{
-#ifdef BT_DEBUG_SAT_FACE
-			if (once)
-				printf("face %d\n", face);
-			const b3GpuFace* faceB = &facesB[hullB.m_faceOffset + face];
-			if (once)
-			{
-				for (int i = 0; i < faceB->m_numIndices; i++)
-				{
-					b3Float4 vert = verticesB[hullB.m_vertexOffset + indicesB[faceB->m_indexOffset + i]];
-					printf("vert[%d] = %f,%f,%f\n", i, vert.x, vert.y, vert.z);
-				}
-			}
-#endif  //BT_DEBUG_SAT_FACE \
-	//if (facesB[hullB.m_faceOffset+face].m_numIndices>2)
-			{
-				const b3Float4 Normal = b3MakeVector3(facesB[hullB.m_faceOffset + face].m_plane.x,
-													  facesB[hullB.m_faceOffset + face].m_plane.y, facesB[hullB.m_faceOffset + face].m_plane.z, 0.f);
-				const b3Float4 WorldNormal = b3QuatRotate(ornB, Normal);
-#ifdef BT_DEBUG_SAT_FACE
-				if (once)
-					printf("faceNormal = %f,%f,%f\n", Normal.x, Normal.y, Normal.z);
-#endif
-				float d = b3Dot3F4(WorldNormal, separatingNormal);
-				if (d > dmax)
-				{
-					dmax = d;
-					closestFaceB = face;
-				}
-			}
-		}
-		once = false;
-	}
-
-	b3Assert(closestFaceB >= 0);
-	{
-		//B3_PROFILE("worldVertsB1");
-		const b3GpuFace& polyB = facesB[hullB.m_faceOffset + closestFaceB];
-		const int numVertices = polyB.m_numIndices;
-		for (int e0 = 0; e0 < numVertices; e0++)
-		{
-			const b3Float4& b = verticesB[hullB.m_vertexOffset + indicesB[polyB.m_indexOffset + e0]];
-			worldVertsB1[numWorldVertsB1++] = b3TransformPoint(b, posB, ornB);
-		}
-	}
-
-	if (closestFaceB >= 0)
-	{
-		//B3_PROFILE("clipFaceAgainstHull");
-		numContactsOut = b3ClipFaceAgainstHull((b3Float4&)separatingNormal, &hullA,
-											   posA, ornA,
-											   worldVertsB1, numWorldVertsB1, worldVertsB2, capacityWorldVerts, minDist, maxDist,
-											   verticesA, facesA, indicesA,
-											   contactsOut, contactCapacity);
-	}
-
-	return numContactsOut;
-}
-
-inline int b3ClipHullHullSingle(
-	int bodyIndexA, int bodyIndexB,
-	const b3Float4& posA,
-	const b3Quaternion& ornA,
-	const b3Float4& posB,
-	const b3Quaternion& ornB,
-
-	int collidableIndexA, int collidableIndexB,
-
-	const b3AlignedObjectArray<b3RigidBodyData>* bodyBuf,
-	b3AlignedObjectArray<b3Contact4Data>* globalContactOut,
-	int& nContacts,
-
-	const b3AlignedObjectArray<b3ConvexPolyhedronData>& hostConvexDataA,
-	const b3AlignedObjectArray<b3ConvexPolyhedronData>& hostConvexDataB,
-
-	const b3AlignedObjectArray<b3Vector3>& verticesA,
-	const b3AlignedObjectArray<b3Vector3>& uniqueEdgesA,
-	const b3AlignedObjectArray<b3GpuFace>& facesA,
-	const b3AlignedObjectArray<int>& indicesA,
-
-	const b3AlignedObjectArray<b3Vector3>& verticesB,
-	const b3AlignedObjectArray<b3Vector3>& uniqueEdgesB,
-	const b3AlignedObjectArray<b3GpuFace>& facesB,
-	const b3AlignedObjectArray<int>& indicesB,
-
-	const b3AlignedObjectArray<b3Collidable>& hostCollidablesA,
-	const b3AlignedObjectArray<b3Collidable>& hostCollidablesB,
-	const b3Vector3& sepNormalWorldSpace,
-	int maxContactCapacity)
-{
-	int contactIndex = -1;
-	b3ConvexPolyhedronData hullA, hullB;
-
-	b3Collidable colA = hostCollidablesA[collidableIndexA];
-	hullA = hostConvexDataA[colA.m_shapeIndex];
-	//printf("numvertsA = %d\n",hullA.m_numVertices);
-
-	b3Collidable colB = hostCollidablesB[collidableIndexB];
-	hullB = hostConvexDataB[colB.m_shapeIndex];
-	//printf("numvertsB = %d\n",hullB.m_numVertices);
-
-	b3Float4 contactsOut[B3_MAX_VERTS];
-	int localContactCapacity = B3_MAX_VERTS;
-
-#ifdef _WIN32
-	b3Assert(_finite(bodyBuf->at(bodyIndexA).m_pos.x));
-	b3Assert(_finite(bodyBuf->at(bodyIndexB).m_pos.x));
-#endif
-
-	{
-		b3Float4 worldVertsB1[B3_MAX_VERTS];
-		b3Float4 worldVertsB2[B3_MAX_VERTS];
-		int capacityWorldVerts = B3_MAX_VERTS;
-
-		b3Float4 hostNormal = b3MakeFloat4(sepNormalWorldSpace.x, sepNormalWorldSpace.y, sepNormalWorldSpace.z, 0.f);
-		int shapeA = hostCollidablesA[collidableIndexA].m_shapeIndex;
-		int shapeB = hostCollidablesB[collidableIndexB].m_shapeIndex;
-
-		b3Scalar minDist = -1;
-		b3Scalar maxDist = 0.;
-
-		b3Transform trA, trB;
-		{
-			//B3_PROFILE("b3TransformPoint computation");
-			//trA.setIdentity();
-			trA.setOrigin(b3MakeVector3(posA.x, posA.y, posA.z));
-			trA.setRotation(b3Quaternion(ornA.x, ornA.y, ornA.z, ornA.w));
-
-			//trB.setIdentity();
-			trB.setOrigin(b3MakeVector3(posB.x, posB.y, posB.z));
-			trB.setRotation(b3Quaternion(ornB.x, ornB.y, ornB.z, ornB.w));
-		}
-
-		b3Quaternion trAorn = trA.getRotation();
-		b3Quaternion trBorn = trB.getRotation();
-
-		int numContactsOut = b3ClipHullAgainstHull(hostNormal,
-												   hostConvexDataA.at(shapeA),
-												   hostConvexDataB.at(shapeB),
-												   (b3Float4&)trA.getOrigin(), (b3Quaternion&)trAorn,
-												   (b3Float4&)trB.getOrigin(), (b3Quaternion&)trBorn,
-												   worldVertsB1, worldVertsB2, capacityWorldVerts,
-												   minDist, maxDist,
-												   verticesA, facesA, indicesA,
-												   verticesB, facesB, indicesB,
-
-												   contactsOut, localContactCapacity);
-
-		if (numContactsOut > 0)
-		{
-			B3_PROFILE("overlap");
-
-			b3Float4 normalOnSurfaceB = (b3Float4&)hostNormal;
-			//			b3Float4 centerOut;
-
-			b3Int4 contactIdx;
-			contactIdx.x = 0;
-			contactIdx.y = 1;
-			contactIdx.z = 2;
-			contactIdx.w = 3;
-
-			int numPoints = 0;
-
-			{
-				B3_PROFILE("extractManifold");
-				numPoints = b3ReduceContacts(contactsOut, numContactsOut, normalOnSurfaceB, &contactIdx);
-			}
-
-			b3Assert(numPoints);
-
-			if (nContacts < maxContactCapacity)
-			{
-				contactIndex = nContacts;
-				globalContactOut->expand();
-				b3Contact4Data& contact = globalContactOut->at(nContacts);
-				contact.m_batchIdx = 0;  //i;
-				contact.m_bodyAPtrAndSignBit = (bodyBuf->at(bodyIndexA).m_invMass == 0) ? -bodyIndexA : bodyIndexA;
-				contact.m_bodyBPtrAndSignBit = (bodyBuf->at(bodyIndexB).m_invMass == 0) ? -bodyIndexB : bodyIndexB;
-
-				contact.m_frictionCoeffCmp = 45874;
-				contact.m_restituitionCoeffCmp = 0;
-
-				//	float distance = 0.f;
-				for (int p = 0; p < numPoints; p++)
-				{
-					contact.m_worldPosB[p] = contactsOut[contactIdx.s[p]];  //check if it is actually on B
-					contact.m_worldNormalOnB = normalOnSurfaceB;
-				}
-				//printf("bodyIndexA %d,bodyIndexB %d,normal=%f,%f,%f numPoints %d\n",bodyIndexA,bodyIndexB,normalOnSurfaceB.x,normalOnSurfaceB.y,normalOnSurfaceB.z,numPoints);
-				contact.m_worldNormalOnB.w = (b3Scalar)numPoints;
-				nContacts++;
-			}
-			else
-			{
-				b3Error("Error: exceeding contact capacity (%d/%d)\n", nContacts, maxContactCapacity);
-			}
-		}
-	}
-	return contactIndex;
-}
-
-inline int b3ContactConvexConvexSAT(
-	int pairIndex,
-	int bodyIndexA, int bodyIndexB,
-	int collidableIndexA, int collidableIndexB,
-	const b3AlignedObjectArray<b3RigidBodyData>& rigidBodies,
-	const b3AlignedObjectArray<b3Collidable>& collidables,
-	const b3AlignedObjectArray<b3ConvexPolyhedronData>& convexShapes,
-	const b3AlignedObjectArray<b3Float4>& convexVertices,
-	const b3AlignedObjectArray<b3Float4>& uniqueEdges,
-	const b3AlignedObjectArray<int>& convexIndices,
-	const b3AlignedObjectArray<b3GpuFace>& faces,
-	b3AlignedObjectArray<b3Contact4Data>& globalContactsOut,
-	int& nGlobalContactsOut,
-	int maxContactCapacity)
-{
-	int contactIndex = -1;
-
-	b3Float4 posA = rigidBodies[bodyIndexA].m_pos;
-	b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
-	b3Float4 posB = rigidBodies[bodyIndexB].m_pos;
-	b3Quaternion ornB = rigidBodies[bodyIndexB].m_quat;
-
-	b3ConvexPolyhedronData hullA, hullB;
-
-	b3Float4 sepNormalWorldSpace;
-
-	b3Collidable colA = collidables[collidableIndexA];
-	hullA = convexShapes[colA.m_shapeIndex];
-	//printf("numvertsA = %d\n",hullA.m_numVertices);
-
-	b3Collidable colB = collidables[collidableIndexB];
-	hullB = convexShapes[colB.m_shapeIndex];
-	//printf("numvertsB = %d\n",hullB.m_numVertices);
-
-#ifdef _WIN32
-	b3Assert(_finite(rigidBodies[bodyIndexA].m_pos.x));
-	b3Assert(_finite(rigidBodies[bodyIndexB].m_pos.x));
-#endif
-
-	bool foundSepAxis = b3FindSeparatingAxis(hullA, hullB,
-											 posA,
-											 ornA,
-											 posB,
-											 ornB,
-
-											 convexVertices, uniqueEdges, faces, convexIndices,
-											 convexVertices, uniqueEdges, faces, convexIndices,
-
-											 sepNormalWorldSpace);
-
-	if (foundSepAxis)
-	{
-		contactIndex = b3ClipHullHullSingle(
-			bodyIndexA, bodyIndexB,
-			posA, ornA,
-			posB, ornB,
-			collidableIndexA, collidableIndexB,
-			&rigidBodies,
-			&globalContactsOut,
-			nGlobalContactsOut,
-
-			convexShapes,
-			convexShapes,
-
-			convexVertices,
-			uniqueEdges,
-			faces,
-			convexIndices,
-
-			convexVertices,
-			uniqueEdges,
-			faces,
-			convexIndices,
-
-			collidables,
-			collidables,
-			sepNormalWorldSpace,
-			maxContactCapacity);
-	}
-
-	return contactIndex;
-}
-
-#endif  //B3_CONTACT_CONVEX_CONVEX_SAT_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactSphereSphere.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactSphereSphere.h
deleted file mode 100644
index acf7c1b180..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactSphereSphere.h
+++ /dev/null
@@ -1,153 +0,0 @@
-
-#ifndef B3_CONTACT_SPHERE_SPHERE_H
-#define B3_CONTACT_SPHERE_SPHERE_H
-
-void computeContactSphereConvex(int pairIndex,
-								int bodyIndexA, int bodyIndexB,
-								int collidableIndexA, int collidableIndexB,
-								const b3RigidBodyData* rigidBodies,
-								const b3Collidable* collidables,
-								const b3ConvexPolyhedronData* convexShapes,
-								const b3Vector3* convexVertices,
-								const int* convexIndices,
-								const b3GpuFace* faces,
-								b3Contact4* globalContactsOut,
-								int& nGlobalContactsOut,
-								int maxContactCapacity)
-{
-	float radius = collidables[collidableIndexA].m_radius;
-	float4 spherePos1 = rigidBodies[bodyIndexA].m_pos;
-	b3Quaternion sphereOrn = rigidBodies[bodyIndexA].m_quat;
-
-	float4 pos = rigidBodies[bodyIndexB].m_pos;
-
-	b3Quaternion quat = rigidBodies[bodyIndexB].m_quat;
-
-	b3Transform tr;
-	tr.setIdentity();
-	tr.setOrigin(pos);
-	tr.setRotation(quat);
-	b3Transform trInv = tr.inverse();
-
-	float4 spherePos = trInv(spherePos1);
-
-	int collidableIndex = rigidBodies[bodyIndexB].m_collidableIdx;
-	int shapeIndex = collidables[collidableIndex].m_shapeIndex;
-	int numFaces = convexShapes[shapeIndex].m_numFaces;
-	float4 closestPnt = b3MakeVector3(0, 0, 0, 0);
-	float4 hitNormalWorld = b3MakeVector3(0, 0, 0, 0);
-	float minDist = -1000000.f;  // TODO: What is the largest/smallest float?
-	bool bCollide = true;
-	int region = -1;
-	float4 localHitNormal;
-	for (int f = 0; f < numFaces; f++)
-	{
-		b3GpuFace face = faces[convexShapes[shapeIndex].m_faceOffset + f];
-		float4 planeEqn;
-		float4 localPlaneNormal = b3MakeVector3(face.m_plane.x, face.m_plane.y, face.m_plane.z, 0.f);
-		float4 n1 = localPlaneNormal;  //quatRotate(quat,localPlaneNormal);
-		planeEqn = n1;
-		planeEqn[3] = face.m_plane.w;
-
-		float4 pntReturn;
-		float dist = signedDistanceFromPointToPlane(spherePos, planeEqn, &pntReturn);
-
-		if (dist > radius)
-		{
-			bCollide = false;
-			break;
-		}
-
-		if (dist > 0)
-		{
-			//might hit an edge or vertex
-			b3Vector3 out;
-
-			bool isInPoly = IsPointInPolygon(spherePos,
-											 &face,
-											 &convexVertices[convexShapes[shapeIndex].m_vertexOffset],
-											 convexIndices,
-											 &out);
-			if (isInPoly)
-			{
-				if (dist > minDist)
-				{
-					minDist = dist;
-					closestPnt = pntReturn;
-					localHitNormal = planeEqn;
-					region = 1;
-				}
-			}
-			else
-			{
-				b3Vector3 tmp = spherePos - out;
-				b3Scalar l2 = tmp.length2();
-				if (l2 < radius * radius)
-				{
-					dist = b3Sqrt(l2);
-					if (dist > minDist)
-					{
-						minDist = dist;
-						closestPnt = out;
-						localHitNormal = tmp / dist;
-						region = 2;
-					}
-				}
-				else
-				{
-					bCollide = false;
-					break;
-				}
-			}
-		}
-		else
-		{
-			if (dist > minDist)
-			{
-				minDist = dist;
-				closestPnt = pntReturn;
-				localHitNormal = planeEqn;
-				region = 3;
-			}
-		}
-	}
-	static int numChecks = 0;
-	numChecks++;
-
-	if (bCollide && minDist > -10000)
-	{
-		float4 normalOnSurfaceB1 = tr.getBasis() * localHitNormal;  //-hitNormalWorld;
-		float4 pOnB1 = tr(closestPnt);
-		//printf("dist ,%f,",minDist);
-		float actualDepth = minDist - radius;
-		if (actualDepth < 0)
-		{
-			//printf("actualDepth = ,%f,", actualDepth);
-			//printf("normalOnSurfaceB1 = ,%f,%f,%f,", normalOnSurfaceB1.x,normalOnSurfaceB1.y,normalOnSurfaceB1.z);
-			//printf("region=,%d,\n", region);
-			pOnB1[3] = actualDepth;
-
-			int dstIdx;
-			//    dstIdx = nGlobalContactsOut++;//AppendInc( nGlobalContactsOut, dstIdx );
-
-			if (nGlobalContactsOut < maxContactCapacity)
-			{
-				dstIdx = nGlobalContactsOut;
-				nGlobalContactsOut++;
-
-				b3Contact4* c = &globalContactsOut[dstIdx];
-				c->m_worldNormalOnB = normalOnSurfaceB1;
-				c->setFrictionCoeff(0.7);
-				c->setRestituitionCoeff(0.f);
-
-				c->m_batchIdx = pairIndex;
-				c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass == 0 ? -bodyIndexA : bodyIndexA;
-				c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass == 0 ? -bodyIndexB : bodyIndexB;
-				c->m_worldPosB[0] = pOnB1;
-				int numPoints = 1;
-				c->m_worldNormalOnB.w = (b3Scalar)numPoints;
-			}  //if (dstIdx < numPairs)
-		}
-	}  //if (hasCollision)
-}
-#endif  //B3_CONTACT_SPHERE_SPHERE_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h
deleted file mode 100644
index d5a73bd4f5..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h
+++ /dev/null
@@ -1,38 +0,0 @@
-
-#ifndef B3_CONVEX_POLYHEDRON_DATA_H
-#define B3_CONVEX_POLYHEDRON_DATA_H
-
-#include "Bullet3Common/shared/b3Float4.h"
-#include "Bullet3Common/shared/b3Quat.h"
-
-typedef struct b3GpuFace b3GpuFace_t;
-struct b3GpuFace
-{
-	b3Float4 m_plane;
-	int m_indexOffset;
-	int m_numIndices;
-	int m_unusedPadding1;
-	int m_unusedPadding2;
-};
-
-typedef struct b3ConvexPolyhedronData b3ConvexPolyhedronData_t;
-
-struct b3ConvexPolyhedronData
-{
-	b3Float4 m_localCenter;
-	b3Float4 m_extents;
-	b3Float4 mC;
-	b3Float4 mE;
-
-	float m_radius;
-	int m_faceOffset;
-	int m_numFaces;
-	int m_numVertices;
-
-	int m_vertexOffset;
-	int m_uniqueEdgesOffset;
-	int m_numUniqueEdges;
-	int m_unused;
-};
-
-#endif  //B3_CONVEX_POLYHEDRON_DATA_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h
deleted file mode 100644
index 983554eb2e..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h
+++ /dev/null
@@ -1,797 +0,0 @@
-#ifndef B3_FIND_CONCAVE_SEPARATING_AXIS_H
-#define B3_FIND_CONCAVE_SEPARATING_AXIS_H
-
-#define B3_TRIANGLE_NUM_CONVEX_FACES 5
-
-#include "Bullet3Common/shared/b3Int4.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
-#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
-
-inline void b3Project(__global const b3ConvexPolyhedronData* hull, b3Float4ConstArg pos, b3QuatConstArg orn,
-					  const b3Float4* dir, __global const b3Float4* vertices, float* min, float* max)
-{
-	min[0] = FLT_MAX;
-	max[0] = -FLT_MAX;
-	int numVerts = hull->m_numVertices;
-
-	const b3Float4 localDir = b3QuatRotate(b3QuatInverse(orn), *dir);
-	float offset = b3Dot(pos, *dir);
-	for (int i = 0; i < numVerts; i++)
-	{
-		float dp = b3Dot(vertices[hull->m_vertexOffset + i], localDir);
-		if (dp < min[0])
-			min[0] = dp;
-		if (dp > max[0])
-			max[0] = dp;
-	}
-	if (min[0] > max[0])
-	{
-		float tmp = min[0];
-		min[0] = max[0];
-		max[0] = tmp;
-	}
-	min[0] += offset;
-	max[0] += offset;
-}
-
-inline bool b3TestSepAxis(const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB,
-						  b3Float4ConstArg posA, b3QuatConstArg ornA,
-						  b3Float4ConstArg posB, b3QuatConstArg ornB,
-						  b3Float4* sep_axis, const b3Float4* verticesA, __global const b3Float4* verticesB, float* depth)
-{
-	float Min0, Max0;
-	float Min1, Max1;
-	b3Project(hullA, posA, ornA, sep_axis, verticesA, &Min0, &Max0);
-	b3Project(hullB, posB, ornB, sep_axis, verticesB, &Min1, &Max1);
-
-	if (Max0 < Min1 || Max1 < Min0)
-		return false;
-
-	float d0 = Max0 - Min1;
-	float d1 = Max1 - Min0;
-	*depth = d0 < d1 ? d0 : d1;
-	return true;
-}
-
-bool b3FindSeparatingAxis(const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB,
-						  b3Float4ConstArg posA1,
-						  b3QuatConstArg ornA,
-						  b3Float4ConstArg posB1,
-						  b3QuatConstArg ornB,
-						  b3Float4ConstArg DeltaC2,
-
-						  const b3Float4* verticesA,
-						  const b3Float4* uniqueEdgesA,
-						  const b3GpuFace* facesA,
-						  const int* indicesA,
-
-						  __global const b3Float4* verticesB,
-						  __global const b3Float4* uniqueEdgesB,
-						  __global const b3GpuFace* facesB,
-						  __global const int* indicesB,
-						  b3Float4* sep,
-						  float* dmin)
-{
-	b3Float4 posA = posA1;
-	posA.w = 0.f;
-	b3Float4 posB = posB1;
-	posB.w = 0.f;
-	/*
-	static int maxFaceVertex = 0;
-
-	int curFaceVertexAB = hullA->m_numFaces*hullB->m_numVertices;
-	curFaceVertexAB+= hullB->m_numFaces*hullA->m_numVertices;
-
-	if (curFaceVertexAB>maxFaceVertex)
-	{
-		maxFaceVertex = curFaceVertexAB;
-		printf("curFaceVertexAB = %d\n",curFaceVertexAB);
-		printf("hullA->m_numFaces = %d\n",hullA->m_numFaces);
-		printf("hullA->m_numVertices = %d\n",hullA->m_numVertices);
-		printf("hullB->m_numVertices = %d\n",hullB->m_numVertices);
-	}
-*/
-
-	int curPlaneTests = 0;
-	{
-		int numFacesA = hullA->m_numFaces;
-		// Test normals from hullA
-		for (int i = 0; i < numFacesA; i++)
-		{
-			const b3Float4 normal = facesA[hullA->m_faceOffset + i].m_plane;
-			b3Float4 faceANormalWS = b3QuatRotate(ornA, normal);
-			if (b3Dot(DeltaC2, faceANormalWS) < 0)
-				faceANormalWS *= -1.f;
-			curPlaneTests++;
-			float d;
-			if (!b3TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, &faceANormalWS, verticesA, verticesB, &d))
-				return false;
-			if (d < *dmin)
-			{
-				*dmin = d;
-				*sep = faceANormalWS;
-			}
-		}
-	}
-	if ((b3Dot(-DeltaC2, *sep)) > 0.0f)
-	{
-		*sep = -(*sep);
-	}
-	return true;
-}
-
-b3Vector3 unitSphere162[] =
-	{
-		b3MakeVector3(0.000000, -1.000000, 0.000000),
-		b3MakeVector3(0.203181, -0.967950, 0.147618),
-		b3MakeVector3(-0.077607, -0.967950, 0.238853),
-		b3MakeVector3(0.723607, -0.447220, 0.525725),
-		b3MakeVector3(0.609547, -0.657519, 0.442856),
-		b3MakeVector3(0.812729, -0.502301, 0.295238),
-		b3MakeVector3(-0.251147, -0.967949, 0.000000),
-		b3MakeVector3(-0.077607, -0.967950, -0.238853),
-		b3MakeVector3(0.203181, -0.967950, -0.147618),
-		b3MakeVector3(0.860698, -0.251151, 0.442858),
-		b3MakeVector3(-0.276388, -0.447220, 0.850649),
-		b3MakeVector3(-0.029639, -0.502302, 0.864184),
-		b3MakeVector3(-0.155215, -0.251152, 0.955422),
-		b3MakeVector3(-0.894426, -0.447216, 0.000000),
-		b3MakeVector3(-0.831051, -0.502299, 0.238853),
-		b3MakeVector3(-0.956626, -0.251149, 0.147618),
-		b3MakeVector3(-0.276388, -0.447220, -0.850649),
-		b3MakeVector3(-0.483971, -0.502302, -0.716565),
-		b3MakeVector3(-0.436007, -0.251152, -0.864188),
-		b3MakeVector3(0.723607, -0.447220, -0.525725),
-		b3MakeVector3(0.531941, -0.502302, -0.681712),
-		b3MakeVector3(0.687159, -0.251152, -0.681715),
-		b3MakeVector3(0.687159, -0.251152, 0.681715),
-		b3MakeVector3(-0.436007, -0.251152, 0.864188),
-		b3MakeVector3(-0.956626, -0.251149, -0.147618),
-		b3MakeVector3(-0.155215, -0.251152, -0.955422),
-		b3MakeVector3(0.860698, -0.251151, -0.442858),
-		b3MakeVector3(0.276388, 0.447220, 0.850649),
-		b3MakeVector3(0.483971, 0.502302, 0.716565),
-		b3MakeVector3(0.232822, 0.657519, 0.716563),
-		b3MakeVector3(-0.723607, 0.447220, 0.525725),
-		b3MakeVector3(-0.531941, 0.502302, 0.681712),
-		b3MakeVector3(-0.609547, 0.657519, 0.442856),
-		b3MakeVector3(-0.723607, 0.447220, -0.525725),
-		b3MakeVector3(-0.812729, 0.502301, -0.295238),
-		b3MakeVector3(-0.609547, 0.657519, -0.442856),
-		b3MakeVector3(0.276388, 0.447220, -0.850649),
-		b3MakeVector3(0.029639, 0.502302, -0.864184),
-		b3MakeVector3(0.232822, 0.657519, -0.716563),
-		b3MakeVector3(0.894426, 0.447216, 0.000000),
-		b3MakeVector3(0.831051, 0.502299, -0.238853),
-		b3MakeVector3(0.753442, 0.657515, 0.000000),
-		b3MakeVector3(-0.232822, -0.657519, 0.716563),
-		b3MakeVector3(-0.162456, -0.850654, 0.499995),
-		b3MakeVector3(0.052790, -0.723612, 0.688185),
-		b3MakeVector3(0.138199, -0.894429, 0.425321),
-		b3MakeVector3(0.262869, -0.525738, 0.809012),
-		b3MakeVector3(0.361805, -0.723611, 0.587779),
-		b3MakeVector3(0.531941, -0.502302, 0.681712),
-		b3MakeVector3(0.425323, -0.850654, 0.309011),
-		b3MakeVector3(0.812729, -0.502301, -0.295238),
-		b3MakeVector3(0.609547, -0.657519, -0.442856),
-		b3MakeVector3(0.850648, -0.525736, 0.000000),
-		b3MakeVector3(0.670817, -0.723611, -0.162457),
-		b3MakeVector3(0.670817, -0.723610, 0.162458),
-		b3MakeVector3(0.425323, -0.850654, -0.309011),
-		b3MakeVector3(0.447211, -0.894428, 0.000001),
-		b3MakeVector3(-0.753442, -0.657515, 0.000000),
-		b3MakeVector3(-0.525730, -0.850652, 0.000000),
-		b3MakeVector3(-0.638195, -0.723609, 0.262864),
-		b3MakeVector3(-0.361801, -0.894428, 0.262864),
-		b3MakeVector3(-0.688189, -0.525736, 0.499997),
-		b3MakeVector3(-0.447211, -0.723610, 0.525729),
-		b3MakeVector3(-0.483971, -0.502302, 0.716565),
-		b3MakeVector3(-0.232822, -0.657519, -0.716563),
-		b3MakeVector3(-0.162456, -0.850654, -0.499995),
-		b3MakeVector3(-0.447211, -0.723611, -0.525727),
-		b3MakeVector3(-0.361801, -0.894429, -0.262863),
-		b3MakeVector3(-0.688189, -0.525736, -0.499997),
-		b3MakeVector3(-0.638195, -0.723609, -0.262863),
-		b3MakeVector3(-0.831051, -0.502299, -0.238853),
-		b3MakeVector3(0.361804, -0.723612, -0.587779),
-		b3MakeVector3(0.138197, -0.894429, -0.425321),
-		b3MakeVector3(0.262869, -0.525738, -0.809012),
-		b3MakeVector3(0.052789, -0.723611, -0.688186),
-		b3MakeVector3(-0.029639, -0.502302, -0.864184),
-		b3MakeVector3(0.956626, 0.251149, 0.147618),
-		b3MakeVector3(0.956626, 0.251149, -0.147618),
-		b3MakeVector3(0.951058, -0.000000, 0.309013),
-		b3MakeVector3(1.000000, 0.000000, 0.000000),
-		b3MakeVector3(0.947213, -0.276396, 0.162458),
-		b3MakeVector3(0.951058, 0.000000, -0.309013),
-		b3MakeVector3(0.947213, -0.276396, -0.162458),
-		b3MakeVector3(0.155215, 0.251152, 0.955422),
-		b3MakeVector3(0.436007, 0.251152, 0.864188),
-		b3MakeVector3(-0.000000, -0.000000, 1.000000),
-		b3MakeVector3(0.309017, 0.000000, 0.951056),
-		b3MakeVector3(0.138199, -0.276398, 0.951055),
-		b3MakeVector3(0.587786, 0.000000, 0.809017),
-		b3MakeVector3(0.447216, -0.276398, 0.850648),
-		b3MakeVector3(-0.860698, 0.251151, 0.442858),
-		b3MakeVector3(-0.687159, 0.251152, 0.681715),
-		b3MakeVector3(-0.951058, -0.000000, 0.309013),
-		b3MakeVector3(-0.809018, 0.000000, 0.587783),
-		b3MakeVector3(-0.861803, -0.276396, 0.425324),
-		b3MakeVector3(-0.587786, 0.000000, 0.809017),
-		b3MakeVector3(-0.670819, -0.276397, 0.688191),
-		b3MakeVector3(-0.687159, 0.251152, -0.681715),
-		b3MakeVector3(-0.860698, 0.251151, -0.442858),
-		b3MakeVector3(-0.587786, -0.000000, -0.809017),
-		b3MakeVector3(-0.809018, -0.000000, -0.587783),
-		b3MakeVector3(-0.670819, -0.276397, -0.688191),
-		b3MakeVector3(-0.951058, 0.000000, -0.309013),
-		b3MakeVector3(-0.861803, -0.276396, -0.425324),
-		b3MakeVector3(0.436007, 0.251152, -0.864188),
-		b3MakeVector3(0.155215, 0.251152, -0.955422),
-		b3MakeVector3(0.587786, -0.000000, -0.809017),
-		b3MakeVector3(0.309017, -0.000000, -0.951056),
-		b3MakeVector3(0.447216, -0.276398, -0.850648),
-		b3MakeVector3(0.000000, 0.000000, -1.000000),
-		b3MakeVector3(0.138199, -0.276398, -0.951055),
-		b3MakeVector3(0.670820, 0.276396, 0.688190),
-		b3MakeVector3(0.809019, -0.000002, 0.587783),
-		b3MakeVector3(0.688189, 0.525736, 0.499997),
-		b3MakeVector3(0.861804, 0.276394, 0.425323),
-		b3MakeVector3(0.831051, 0.502299, 0.238853),
-		b3MakeVector3(-0.447216, 0.276397, 0.850649),
-		b3MakeVector3(-0.309017, -0.000001, 0.951056),
-		b3MakeVector3(-0.262869, 0.525738, 0.809012),
-		b3MakeVector3(-0.138199, 0.276397, 0.951055),
-		b3MakeVector3(0.029639, 0.502302, 0.864184),
-		b3MakeVector3(-0.947213, 0.276396, -0.162458),
-		b3MakeVector3(-1.000000, 0.000001, 0.000000),
-		b3MakeVector3(-0.850648, 0.525736, -0.000000),
-		b3MakeVector3(-0.947213, 0.276397, 0.162458),
-		b3MakeVector3(-0.812729, 0.502301, 0.295238),
-		b3MakeVector3(-0.138199, 0.276397, -0.951055),
-		b3MakeVector3(-0.309016, -0.000000, -0.951057),
-		b3MakeVector3(-0.262869, 0.525738, -0.809012),
-		b3MakeVector3(-0.447215, 0.276397, -0.850649),
-		b3MakeVector3(-0.531941, 0.502302, -0.681712),
-		b3MakeVector3(0.861804, 0.276396, -0.425322),
-		b3MakeVector3(0.809019, 0.000000, -0.587782),
-		b3MakeVector3(0.688189, 0.525736, -0.499997),
-		b3MakeVector3(0.670821, 0.276397, -0.688189),
-		b3MakeVector3(0.483971, 0.502302, -0.716565),
-		b3MakeVector3(0.077607, 0.967950, 0.238853),
-		b3MakeVector3(0.251147, 0.967949, 0.000000),
-		b3MakeVector3(0.000000, 1.000000, 0.000000),
-		b3MakeVector3(0.162456, 0.850654, 0.499995),
-		b3MakeVector3(0.361800, 0.894429, 0.262863),
-		b3MakeVector3(0.447209, 0.723612, 0.525728),
-		b3MakeVector3(0.525730, 0.850652, 0.000000),
-		b3MakeVector3(0.638194, 0.723610, 0.262864),
-		b3MakeVector3(-0.203181, 0.967950, 0.147618),
-		b3MakeVector3(-0.425323, 0.850654, 0.309011),
-		b3MakeVector3(-0.138197, 0.894430, 0.425320),
-		b3MakeVector3(-0.361804, 0.723612, 0.587778),
-		b3MakeVector3(-0.052790, 0.723612, 0.688185),
-		b3MakeVector3(-0.203181, 0.967950, -0.147618),
-		b3MakeVector3(-0.425323, 0.850654, -0.309011),
-		b3MakeVector3(-0.447210, 0.894429, 0.000000),
-		b3MakeVector3(-0.670817, 0.723611, -0.162457),
-		b3MakeVector3(-0.670817, 0.723611, 0.162457),
-		b3MakeVector3(0.077607, 0.967950, -0.238853),
-		b3MakeVector3(0.162456, 0.850654, -0.499995),
-		b3MakeVector3(-0.138197, 0.894430, -0.425320),
-		b3MakeVector3(-0.052790, 0.723612, -0.688185),
-		b3MakeVector3(-0.361804, 0.723612, -0.587778),
-		b3MakeVector3(0.361800, 0.894429, -0.262863),
-		b3MakeVector3(0.638194, 0.723610, -0.262864),
-		b3MakeVector3(0.447209, 0.723612, -0.525728)};
-
-bool b3FindSeparatingAxisEdgeEdge(const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB,
-								  b3Float4ConstArg posA1,
-								  b3QuatConstArg ornA,
-								  b3Float4ConstArg posB1,
-								  b3QuatConstArg ornB,
-								  b3Float4ConstArg DeltaC2,
-								  const b3Float4* verticesA,
-								  const b3Float4* uniqueEdgesA,
-								  const b3GpuFace* facesA,
-								  const int* indicesA,
-								  __global const b3Float4* verticesB,
-								  __global const b3Float4* uniqueEdgesB,
-								  __global const b3GpuFace* facesB,
-								  __global const int* indicesB,
-								  b3Float4* sep,
-								  float* dmin,
-								  bool searchAllEdgeEdge)
-{
-	b3Float4 posA = posA1;
-	posA.w = 0.f;
-	b3Float4 posB = posB1;
-	posB.w = 0.f;
-
-	//	int curPlaneTests=0;
-
-	int curEdgeEdge = 0;
-	// Test edges
-	static int maxEdgeTests = 0;
-	int curEdgeTests = hullA->m_numUniqueEdges * hullB->m_numUniqueEdges;
-	if (curEdgeTests > maxEdgeTests)
-	{
-		maxEdgeTests = curEdgeTests;
-		printf("maxEdgeTests = %d\n", maxEdgeTests);
-		printf("hullA->m_numUniqueEdges = %d\n", hullA->m_numUniqueEdges);
-		printf("hullB->m_numUniqueEdges = %d\n", hullB->m_numUniqueEdges);
-	}
-
-	if (searchAllEdgeEdge)
-	{
-		for (int e0 = 0; e0 < hullA->m_numUniqueEdges; e0++)
-		{
-			const b3Float4 edge0 = uniqueEdgesA[hullA->m_uniqueEdgesOffset + e0];
-			b3Float4 edge0World = b3QuatRotate(ornA, edge0);
-
-			for (int e1 = 0; e1 < hullB->m_numUniqueEdges; e1++)
-			{
-				const b3Float4 edge1 = uniqueEdgesB[hullB->m_uniqueEdgesOffset + e1];
-				b3Float4 edge1World = b3QuatRotate(ornB, edge1);
-
-				b3Float4 crossje = b3Cross(edge0World, edge1World);
-
-				curEdgeEdge++;
-				if (!b3IsAlmostZero(crossje))
-				{
-					crossje = b3Normalized(crossje);
-					if (b3Dot(DeltaC2, crossje) < 0)
-						crossje *= -1.f;
-
-					float dist;
-					bool result = true;
-					{
-						float Min0, Max0;
-						float Min1, Max1;
-						b3Project(hullA, posA, ornA, &crossje, verticesA, &Min0, &Max0);
-						b3Project(hullB, posB, ornB, &crossje, verticesB, &Min1, &Max1);
-
-						if (Max0 < Min1 || Max1 < Min0)
-							return false;
-
-						float d0 = Max0 - Min1;
-						float d1 = Max1 - Min0;
-						dist = d0 < d1 ? d0 : d1;
-						result = true;
-					}
-
-					if (dist < *dmin)
-					{
-						*dmin = dist;
-						*sep = crossje;
-					}
-				}
-			}
-		}
-	}
-	else
-	{
-		int numDirections = sizeof(unitSphere162) / sizeof(b3Vector3);
-		//printf("numDirections =%d\n",numDirections );
-
-		for (int i = 0; i < numDirections; i++)
-		{
-			b3Float4 crossje = unitSphere162[i];
-			{
-				//if (b3Dot(DeltaC2,crossje)>0)
-				{
-					float dist;
-					bool result = true;
-					{
-						float Min0, Max0;
-						float Min1, Max1;
-						b3Project(hullA, posA, ornA, &crossje, verticesA, &Min0, &Max0);
-						b3Project(hullB, posB, ornB, &crossje, verticesB, &Min1, &Max1);
-
-						if (Max0 < Min1 || Max1 < Min0)
-							return false;
-
-						float d0 = Max0 - Min1;
-						float d1 = Max1 - Min0;
-						dist = d0 < d1 ? d0 : d1;
-						result = true;
-					}
-
-					if (dist < *dmin)
-					{
-						*dmin = dist;
-						*sep = crossje;
-					}
-				}
-			}
-		}
-	}
-
-	if ((b3Dot(-DeltaC2, *sep)) > 0.0f)
-	{
-		*sep = -(*sep);
-	}
-	return true;
-}
-
-inline int b3FindClippingFaces(b3Float4ConstArg separatingNormal,
-							   __global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB,
-							   b3Float4ConstArg posA, b3QuatConstArg ornA, b3Float4ConstArg posB, b3QuatConstArg ornB,
-							   __global b3Float4* worldVertsA1,
-							   __global b3Float4* worldNormalsA1,
-							   __global b3Float4* worldVertsB1,
-							   int capacityWorldVerts,
-							   const float minDist, float maxDist,
-							   __global const b3Float4* verticesA,
-							   __global const b3GpuFace_t* facesA,
-							   __global const int* indicesA,
-							   __global const b3Float4* verticesB,
-							   __global const b3GpuFace_t* facesB,
-							   __global const int* indicesB,
-
-							   __global b3Int4* clippingFaces, int pairIndex)
-{
-	int numContactsOut = 0;
-	int numWorldVertsB1 = 0;
-
-	int closestFaceB = -1;
-	float dmax = -FLT_MAX;
-
-	{
-		for (int face = 0; face < hullB->m_numFaces; face++)
-		{
-			const b3Float4 Normal = b3MakeFloat4(facesB[hullB->m_faceOffset + face].m_plane.x,
-												 facesB[hullB->m_faceOffset + face].m_plane.y, facesB[hullB->m_faceOffset + face].m_plane.z, 0.f);
-			const b3Float4 WorldNormal = b3QuatRotate(ornB, Normal);
-			float d = b3Dot(WorldNormal, separatingNormal);
-			if (d > dmax)
-			{
-				dmax = d;
-				closestFaceB = face;
-			}
-		}
-	}
-
-	{
-		const b3GpuFace_t polyB = facesB[hullB->m_faceOffset + closestFaceB];
-		const int numVertices = polyB.m_numIndices;
-		for (int e0 = 0; e0 < numVertices; e0++)
-		{
-			const b3Float4 b = verticesB[hullB->m_vertexOffset + indicesB[polyB.m_indexOffset + e0]];
-			worldVertsB1[pairIndex * capacityWorldVerts + numWorldVertsB1++] = b3TransformPoint(b, posB, ornB);
-		}
-	}
-
-	int closestFaceA = -1;
-	{
-		float dmin = FLT_MAX;
-		for (int face = 0; face < hullA->m_numFaces; face++)
-		{
-			const b3Float4 Normal = b3MakeFloat4(
-				facesA[hullA->m_faceOffset + face].m_plane.x,
-				facesA[hullA->m_faceOffset + face].m_plane.y,
-				facesA[hullA->m_faceOffset + face].m_plane.z,
-				0.f);
-			const b3Float4 faceANormalWS = b3QuatRotate(ornA, Normal);
-
-			float d = b3Dot(faceANormalWS, separatingNormal);
-			if (d < dmin)
-			{
-				dmin = d;
-				closestFaceA = face;
-				worldNormalsA1[pairIndex] = faceANormalWS;
-			}
-		}
-	}
-
-	int numVerticesA = facesA[hullA->m_faceOffset + closestFaceA].m_numIndices;
-	for (int e0 = 0; e0 < numVerticesA; e0++)
-	{
-		const b3Float4 a = verticesA[hullA->m_vertexOffset + indicesA[facesA[hullA->m_faceOffset + closestFaceA].m_indexOffset + e0]];
-		worldVertsA1[pairIndex * capacityWorldVerts + e0] = b3TransformPoint(a, posA, ornA);
-	}
-
-	clippingFaces[pairIndex].x = closestFaceA;
-	clippingFaces[pairIndex].y = closestFaceB;
-	clippingFaces[pairIndex].z = numVerticesA;
-	clippingFaces[pairIndex].w = numWorldVertsB1;
-
-	return numContactsOut;
-}
-
-__kernel void b3FindConcaveSeparatingAxisKernel(__global b3Int4* concavePairs,
-												__global const b3RigidBodyData* rigidBodies,
-												__global const b3Collidable* collidables,
-												__global const b3ConvexPolyhedronData* convexShapes,
-												__global const b3Float4* vertices,
-												__global const b3Float4* uniqueEdges,
-												__global const b3GpuFace* faces,
-												__global const int* indices,
-												__global const b3GpuChildShape* gpuChildShapes,
-												__global b3Aabb* aabbs,
-												__global b3Float4* concaveSeparatingNormalsOut,
-												__global b3Int4* clippingFacesOut,
-												__global b3Vector3* worldVertsA1Out,
-												__global b3Vector3* worldNormalsA1Out,
-												__global b3Vector3* worldVertsB1Out,
-												__global int* hasSeparatingNormals,
-												int vertexFaceCapacity,
-												int numConcavePairs,
-												int pairIdx)
-{
-	int i = pairIdx;
-	/*	int i = get_global_id(0);
-	if (i>=numConcavePairs)
-		return;
-	int pairIdx = i;
-	*/
-
-	int bodyIndexA = concavePairs[i].x;
-	int bodyIndexB = concavePairs[i].y;
-
-	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-
-	int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
-	int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-
-	if (collidables[collidableIndexB].m_shapeType != SHAPE_CONVEX_HULL &&
-		collidables[collidableIndexB].m_shapeType != SHAPE_COMPOUND_OF_CONVEX_HULLS)
-	{
-		concavePairs[pairIdx].w = -1;
-		return;
-	}
-
-	hasSeparatingNormals[i] = 0;
-
-	//	int numFacesA = convexShapes[shapeIndexA].m_numFaces;
-	int numActualConcaveConvexTests = 0;
-
-	int f = concavePairs[i].z;
-
-	bool overlap = false;
-
-	b3ConvexPolyhedronData convexPolyhedronA;
-
-	//add 3 vertices of the triangle
-	convexPolyhedronA.m_numVertices = 3;
-	convexPolyhedronA.m_vertexOffset = 0;
-	b3Float4 localCenter = b3MakeFloat4(0.f, 0.f, 0.f, 0.f);
-
-	b3GpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset + f];
-	b3Aabb triAabb;
-	triAabb.m_minVec = b3MakeFloat4(1e30f, 1e30f, 1e30f, 0.f);
-	triAabb.m_maxVec = b3MakeFloat4(-1e30f, -1e30f, -1e30f, 0.f);
-
-	b3Float4 verticesA[3];
-	for (int i = 0; i < 3; i++)
-	{
-		int index = indices[face.m_indexOffset + i];
-		b3Float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset + index];
-		verticesA[i] = vert;
-		localCenter += vert;
-
-		triAabb.m_minVec = b3MinFloat4(triAabb.m_minVec, vert);
-		triAabb.m_maxVec = b3MaxFloat4(triAabb.m_maxVec, vert);
-	}
-
-	overlap = true;
-	overlap = (triAabb.m_minVec.x > aabbs[bodyIndexB].m_maxVec.x || triAabb.m_maxVec.x < aabbs[bodyIndexB].m_minVec.x) ? false : overlap;
-	overlap = (triAabb.m_minVec.z > aabbs[bodyIndexB].m_maxVec.z || triAabb.m_maxVec.z < aabbs[bodyIndexB].m_minVec.z) ? false : overlap;
-	overlap = (triAabb.m_minVec.y > aabbs[bodyIndexB].m_maxVec.y || triAabb.m_maxVec.y < aabbs[bodyIndexB].m_minVec.y) ? false : overlap;
-
-	if (overlap)
-	{
-		float dmin = FLT_MAX;
-		int hasSeparatingAxis = 5;
-		b3Float4 sepAxis = b3MakeFloat4(1, 2, 3, 4);
-
-		//	int localCC=0;
-		numActualConcaveConvexTests++;
-
-		//a triangle has 3 unique edges
-		convexPolyhedronA.m_numUniqueEdges = 3;
-		convexPolyhedronA.m_uniqueEdgesOffset = 0;
-		b3Float4 uniqueEdgesA[3];
-
-		uniqueEdgesA[0] = (verticesA[1] - verticesA[0]);
-		uniqueEdgesA[1] = (verticesA[2] - verticesA[1]);
-		uniqueEdgesA[2] = (verticesA[0] - verticesA[2]);
-
-		convexPolyhedronA.m_faceOffset = 0;
-
-		b3Float4 normal = b3MakeFloat4(face.m_plane.x, face.m_plane.y, face.m_plane.z, 0.f);
-
-		b3GpuFace facesA[B3_TRIANGLE_NUM_CONVEX_FACES];
-		int indicesA[3 + 3 + 2 + 2 + 2];
-		int curUsedIndices = 0;
-		int fidx = 0;
-
-		//front size of triangle
-		{
-			facesA[fidx].m_indexOffset = curUsedIndices;
-			indicesA[0] = 0;
-			indicesA[1] = 1;
-			indicesA[2] = 2;
-			curUsedIndices += 3;
-			float c = face.m_plane.w;
-			facesA[fidx].m_plane.x = normal.x;
-			facesA[fidx].m_plane.y = normal.y;
-			facesA[fidx].m_plane.z = normal.z;
-			facesA[fidx].m_plane.w = c;
-			facesA[fidx].m_numIndices = 3;
-		}
-		fidx++;
-		//back size of triangle
-		{
-			facesA[fidx].m_indexOffset = curUsedIndices;
-			indicesA[3] = 2;
-			indicesA[4] = 1;
-			indicesA[5] = 0;
-			curUsedIndices += 3;
-			float c = b3Dot(normal, verticesA[0]);
-			//	float c1 = -face.m_plane.w;
-			facesA[fidx].m_plane.x = -normal.x;
-			facesA[fidx].m_plane.y = -normal.y;
-			facesA[fidx].m_plane.z = -normal.z;
-			facesA[fidx].m_plane.w = c;
-			facesA[fidx].m_numIndices = 3;
-		}
-		fidx++;
-
-		bool addEdgePlanes = true;
-		if (addEdgePlanes)
-		{
-			int numVertices = 3;
-			int prevVertex = numVertices - 1;
-			for (int i = 0; i < numVertices; i++)
-			{
-				b3Float4 v0 = verticesA[i];
-				b3Float4 v1 = verticesA[prevVertex];
-
-				b3Float4 edgeNormal = b3Normalized(b3Cross(normal, v1 - v0));
-				float c = -b3Dot(edgeNormal, v0);
-
-				facesA[fidx].m_numIndices = 2;
-				facesA[fidx].m_indexOffset = curUsedIndices;
-				indicesA[curUsedIndices++] = i;
-				indicesA[curUsedIndices++] = prevVertex;
-
-				facesA[fidx].m_plane.x = edgeNormal.x;
-				facesA[fidx].m_plane.y = edgeNormal.y;
-				facesA[fidx].m_plane.z = edgeNormal.z;
-				facesA[fidx].m_plane.w = c;
-				fidx++;
-				prevVertex = i;
-			}
-		}
-		convexPolyhedronA.m_numFaces = B3_TRIANGLE_NUM_CONVEX_FACES;
-		convexPolyhedronA.m_localCenter = localCenter * (1.f / 3.f);
-
-		b3Float4 posA = rigidBodies[bodyIndexA].m_pos;
-		posA.w = 0.f;
-		b3Float4 posB = rigidBodies[bodyIndexB].m_pos;
-		posB.w = 0.f;
-
-		b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
-		b3Quaternion ornB = rigidBodies[bodyIndexB].m_quat;
-
-		///////////////////
-		///compound shape support
-
-		if (collidables[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS)
-		{
-			int compoundChild = concavePairs[pairIdx].w;
-			int childShapeIndexB = compoundChild;  //collidables[collidableIndexB].m_shapeIndex+compoundChild;
-			int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
-			b3Float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
-			b3Quaternion childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
-			b3Float4 newPosB = b3TransformPoint(childPosB, posB, ornB);
-			b3Quaternion newOrnB = b3QuatMul(ornB, childOrnB);
-			posB = newPosB;
-			ornB = newOrnB;
-			shapeIndexB = collidables[childColIndexB].m_shapeIndex;
-		}
-		//////////////////
-
-		b3Float4 c0local = convexPolyhedronA.m_localCenter;
-		b3Float4 c0 = b3TransformPoint(c0local, posA, ornA);
-		b3Float4 c1local = convexShapes[shapeIndexB].m_localCenter;
-		b3Float4 c1 = b3TransformPoint(c1local, posB, ornB);
-		const b3Float4 DeltaC2 = c0 - c1;
-
-		bool sepA = b3FindSeparatingAxis(&convexPolyhedronA, &convexShapes[shapeIndexB],
-										 posA, ornA,
-										 posB, ornB,
-										 DeltaC2,
-										 verticesA, uniqueEdgesA, facesA, indicesA,
-										 vertices, uniqueEdges, faces, indices,
-										 &sepAxis, &dmin);
-		hasSeparatingAxis = 4;
-		if (!sepA)
-		{
-			hasSeparatingAxis = 0;
-		}
-		else
-		{
-			bool sepB = b3FindSeparatingAxis(&convexShapes[shapeIndexB], &convexPolyhedronA,
-											 posB, ornB,
-											 posA, ornA,
-											 DeltaC2,
-											 vertices, uniqueEdges, faces, indices,
-											 verticesA, uniqueEdgesA, facesA, indicesA,
-											 &sepAxis, &dmin);
-
-			if (!sepB)
-			{
-				hasSeparatingAxis = 0;
-			}
-			else
-			{
-				bool sepEE = b3FindSeparatingAxisEdgeEdge(&convexPolyhedronA, &convexShapes[shapeIndexB],
-														  posA, ornA,
-														  posB, ornB,
-														  DeltaC2,
-														  verticesA, uniqueEdgesA, facesA, indicesA,
-														  vertices, uniqueEdges, faces, indices,
-														  &sepAxis, &dmin, true);
-
-				if (!sepEE)
-				{
-					hasSeparatingAxis = 0;
-				}
-				else
-				{
-					hasSeparatingAxis = 1;
-				}
-			}
-		}
-
-		if (hasSeparatingAxis)
-		{
-			hasSeparatingNormals[i] = 1;
-			sepAxis.w = dmin;
-			concaveSeparatingNormalsOut[pairIdx] = sepAxis;
-
-			//now compute clipping faces A and B, and world-space clipping vertices A and B...
-
-			float minDist = -1e30f;
-			float maxDist = 0.02f;
-
-			b3FindClippingFaces(sepAxis,
-								&convexPolyhedronA,
-								&convexShapes[shapeIndexB],
-								posA, ornA,
-								posB, ornB,
-								worldVertsA1Out,
-								worldNormalsA1Out,
-								worldVertsB1Out,
-								vertexFaceCapacity,
-								minDist, maxDist,
-								verticesA,
-								facesA,
-								indicesA,
-
-								vertices,
-								faces,
-								indices,
-								clippingFacesOut, pairIdx);
-		}
-		else
-		{
-			//mark this pair as in-active
-			concavePairs[pairIdx].w = -1;
-		}
-	}
-	else
-	{
-		//mark this pair as in-active
-		concavePairs[pairIdx].w = -1;
-	}
-}
-
-#endif  //B3_FIND_CONCAVE_SEPARATING_AXIS_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h
deleted file mode 100644
index b4981ae654..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h
+++ /dev/null
@@ -1,197 +0,0 @@
-#ifndef B3_FIND_SEPARATING_AXIS_H
-#define B3_FIND_SEPARATING_AXIS_H
-
-inline void b3ProjectAxis(const b3ConvexPolyhedronData& hull, const b3Float4& pos, const b3Quaternion& orn, const b3Float4& dir, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar& min, b3Scalar& max)
-{
-	min = FLT_MAX;
-	max = -FLT_MAX;
-	int numVerts = hull.m_numVertices;
-
-	const b3Float4 localDir = b3QuatRotate(orn.inverse(), dir);
-
-	b3Scalar offset = b3Dot3F4(pos, dir);
-
-	for (int i = 0; i < numVerts; i++)
-	{
-		//b3Vector3 pt = trans * vertices[m_vertexOffset+i];
-		//b3Scalar dp = pt.dot(dir);
-		//b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
-		b3Scalar dp = b3Dot3F4((b3Float4&)vertices[hull.m_vertexOffset + i], localDir);
-		//b3Assert(dp==dpL);
-		if (dp < min) min = dp;
-		if (dp > max) max = dp;
-	}
-	if (min > max)
-	{
-		b3Scalar tmp = min;
-		min = max;
-		max = tmp;
-	}
-	min += offset;
-	max += offset;
-}
-
-inline bool b3TestSepAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
-						  const b3Float4& posA, const b3Quaternion& ornA,
-						  const b3Float4& posB, const b3Quaternion& ornB,
-						  const b3Float4& sep_axis, const b3AlignedObjectArray<b3Vector3>& verticesA, const b3AlignedObjectArray<b3Vector3>& verticesB, b3Scalar& depth)
-{
-	b3Scalar Min0, Max0;
-	b3Scalar Min1, Max1;
-	b3ProjectAxis(hullA, posA, ornA, sep_axis, verticesA, Min0, Max0);
-	b3ProjectAxis(hullB, posB, ornB, sep_axis, verticesB, Min1, Max1);
-
-	if (Max0 < Min1 || Max1 < Min0)
-		return false;
-
-	b3Scalar d0 = Max0 - Min1;
-	b3Assert(d0 >= 0.0f);
-	b3Scalar d1 = Max1 - Min0;
-	b3Assert(d1 >= 0.0f);
-	depth = d0 < d1 ? d0 : d1;
-	return true;
-}
-
-inline bool b3FindSeparatingAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
-								 const b3Float4& posA1,
-								 const b3Quaternion& ornA,
-								 const b3Float4& posB1,
-								 const b3Quaternion& ornB,
-								 const b3AlignedObjectArray<b3Vector3>& verticesA,
-								 const b3AlignedObjectArray<b3Vector3>& uniqueEdgesA,
-								 const b3AlignedObjectArray<b3GpuFace>& facesA,
-								 const b3AlignedObjectArray<int>& indicesA,
-								 const b3AlignedObjectArray<b3Vector3>& verticesB,
-								 const b3AlignedObjectArray<b3Vector3>& uniqueEdgesB,
-								 const b3AlignedObjectArray<b3GpuFace>& facesB,
-								 const b3AlignedObjectArray<int>& indicesB,
-
-								 b3Vector3& sep)
-{
-	B3_PROFILE("findSeparatingAxis");
-
-	b3Float4 posA = posA1;
-	posA.w = 0.f;
-	b3Float4 posB = posB1;
-	posB.w = 0.f;
-	//#ifdef TEST_INTERNAL_OBJECTS
-	b3Float4 c0local = (b3Float4&)hullA.m_localCenter;
-
-	b3Float4 c0 = b3TransformPoint(c0local, posA, ornA);
-	b3Float4 c1local = (b3Float4&)hullB.m_localCenter;
-	b3Float4 c1 = b3TransformPoint(c1local, posB, ornB);
-	const b3Float4 deltaC2 = c0 - c1;
-	//#endif
-
-	b3Scalar dmin = FLT_MAX;
-	int curPlaneTests = 0;
-
-	int numFacesA = hullA.m_numFaces;
-	// Test normals from hullA
-	for (int i = 0; i < numFacesA; i++)
-	{
-		const b3Float4& normal = (b3Float4&)facesA[hullA.m_faceOffset + i].m_plane;
-		b3Float4 faceANormalWS = b3QuatRotate(ornA, normal);
-
-		if (b3Dot3F4(deltaC2, faceANormalWS) < 0)
-			faceANormalWS *= -1.f;
-
-		curPlaneTests++;
-#ifdef TEST_INTERNAL_OBJECTS
-		gExpectedNbTests++;
-		if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, faceANormalWS, hullA, hullB, dmin))
-			continue;
-		gActualNbTests++;
-#endif
-
-		b3Scalar d;
-		if (!b3TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, faceANormalWS, verticesA, verticesB, d))
-			return false;
-
-		if (d < dmin)
-		{
-			dmin = d;
-			sep = (b3Vector3&)faceANormalWS;
-		}
-	}
-
-	int numFacesB = hullB.m_numFaces;
-	// Test normals from hullB
-	for (int i = 0; i < numFacesB; i++)
-	{
-		b3Float4 normal = (b3Float4&)facesB[hullB.m_faceOffset + i].m_plane;
-		b3Float4 WorldNormal = b3QuatRotate(ornB, normal);
-
-		if (b3Dot3F4(deltaC2, WorldNormal) < 0)
-		{
-			WorldNormal *= -1.f;
-		}
-		curPlaneTests++;
-#ifdef TEST_INTERNAL_OBJECTS
-		gExpectedNbTests++;
-		if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, WorldNormal, hullA, hullB, dmin))
-			continue;
-		gActualNbTests++;
-#endif
-
-		b3Scalar d;
-		if (!b3TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, WorldNormal, verticesA, verticesB, d))
-			return false;
-
-		if (d < dmin)
-		{
-			dmin = d;
-			sep = (b3Vector3&)WorldNormal;
-		}
-	}
-
-	//	b3Vector3 edgeAstart,edgeAend,edgeBstart,edgeBend;
-
-	int curEdgeEdge = 0;
-	// Test edges
-	for (int e0 = 0; e0 < hullA.m_numUniqueEdges; e0++)
-	{
-		const b3Float4& edge0 = (b3Float4&)uniqueEdgesA[hullA.m_uniqueEdgesOffset + e0];
-		b3Float4 edge0World = b3QuatRotate(ornA, (b3Float4&)edge0);
-
-		for (int e1 = 0; e1 < hullB.m_numUniqueEdges; e1++)
-		{
-			const b3Vector3 edge1 = uniqueEdgesB[hullB.m_uniqueEdgesOffset + e1];
-			b3Float4 edge1World = b3QuatRotate(ornB, (b3Float4&)edge1);
-
-			b3Float4 crossje = b3Cross3(edge0World, edge1World);
-
-			curEdgeEdge++;
-			if (!b3IsAlmostZero((b3Vector3&)crossje))
-			{
-				crossje = b3FastNormalized3(crossje);
-				if (b3Dot3F4(deltaC2, crossje) < 0)
-					crossje *= -1.f;
-
-#ifdef TEST_INTERNAL_OBJECTS
-				gExpectedNbTests++;
-				if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, Cross, hullA, hullB, dmin))
-					continue;
-				gActualNbTests++;
-#endif
-
-				b3Scalar dist;
-				if (!b3TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, crossje, verticesA, verticesB, dist))
-					return false;
-
-				if (dist < dmin)
-				{
-					dmin = dist;
-					sep = (b3Vector3&)crossje;
-				}
-			}
-		}
-	}
-
-	if ((b3Dot3F4(-deltaC2, (b3Float4&)sep)) > 0.0f)
-		sep = -sep;
-
-	return true;
-}
-
-#endif  //B3_FIND_SEPARATING_AXIS_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h
deleted file mode 100644
index a3bfbf2995..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h
+++ /dev/null
@@ -1,888 +0,0 @@
-
-/***
- * ---------------------------------
- * Copyright (c)2012 Daniel Fiser <danfis@danfis.cz>
- *
- *  This file was ported from mpr.c file, part of libccd.
- *  The Minkoski Portal Refinement implementation was ported 
- *  to OpenCL by Erwin Coumans for the Bullet 3 Physics library.
- *  at http://github.com/erwincoumans/bullet3
- *
- *  Distributed under the OSI-approved BSD License (the "License");
- *  see <http://www.opensource.org/licenses/bsd-license.php>.
- *  This software is distributed WITHOUT ANY WARRANTY; without even the
- *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *  See the License for more information.
- */
-
-#ifndef B3_MPR_PENETRATION_H
-#define B3_MPR_PENETRATION_H
-
-#include "Bullet3Common/shared/b3PlatformDefinitions.h"
-#include "Bullet3Common/shared/b3Float4.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
-
-#ifdef __cplusplus
-#define B3_MPR_SQRT sqrtf
-#else
-#define B3_MPR_SQRT sqrt
-#endif
-#define B3_MPR_FMIN(x, y) ((x) < (y) ? (x) : (y))
-#define B3_MPR_FABS fabs
-
-#define B3_MPR_TOLERANCE 1E-6f
-#define B3_MPR_MAX_ITERATIONS 1000
-
-struct _b3MprSupport_t
-{
-	b3Float4 v;   //!< Support point in minkowski sum
-	b3Float4 v1;  //!< Support point in obj1
-	b3Float4 v2;  //!< Support point in obj2
-};
-typedef struct _b3MprSupport_t b3MprSupport_t;
-
-struct _b3MprSimplex_t
-{
-	b3MprSupport_t ps[4];
-	int last;  //!< index of last added point
-};
-typedef struct _b3MprSimplex_t b3MprSimplex_t;
-
-inline b3MprSupport_t *b3MprSimplexPointW(b3MprSimplex_t *s, int idx)
-{
-	return &s->ps[idx];
-}
-
-inline void b3MprSimplexSetSize(b3MprSimplex_t *s, int size)
-{
-	s->last = size - 1;
-}
-
-inline int b3MprSimplexSize(const b3MprSimplex_t *s)
-{
-	return s->last + 1;
-}
-
-inline const b3MprSupport_t *b3MprSimplexPoint(const b3MprSimplex_t *s, int idx)
-{
-	// here is no check on boundaries
-	return &s->ps[idx];
-}
-
-inline void b3MprSupportCopy(b3MprSupport_t *d, const b3MprSupport_t *s)
-{
-	*d = *s;
-}
-
-inline void b3MprSimplexSet(b3MprSimplex_t *s, size_t pos, const b3MprSupport_t *a)
-{
-	b3MprSupportCopy(s->ps + pos, a);
-}
-
-inline void b3MprSimplexSwap(b3MprSimplex_t *s, size_t pos1, size_t pos2)
-{
-	b3MprSupport_t supp;
-
-	b3MprSupportCopy(&supp, &s->ps[pos1]);
-	b3MprSupportCopy(&s->ps[pos1], &s->ps[pos2]);
-	b3MprSupportCopy(&s->ps[pos2], &supp);
-}
-
-inline int b3MprIsZero(float val)
-{
-	return B3_MPR_FABS(val) < FLT_EPSILON;
-}
-
-inline int b3MprEq(float _a, float _b)
-{
-	float ab;
-	float a, b;
-
-	ab = B3_MPR_FABS(_a - _b);
-	if (B3_MPR_FABS(ab) < FLT_EPSILON)
-		return 1;
-
-	a = B3_MPR_FABS(_a);
-	b = B3_MPR_FABS(_b);
-	if (b > a)
-	{
-		return ab < FLT_EPSILON * b;
-	}
-	else
-	{
-		return ab < FLT_EPSILON * a;
-	}
-}
-
-inline int b3MprVec3Eq(const b3Float4 *a, const b3Float4 *b)
-{
-	return b3MprEq((*a).x, (*b).x) && b3MprEq((*a).y, (*b).y) && b3MprEq((*a).z, (*b).z);
-}
-
-inline b3Float4 b3LocalGetSupportVertex(b3Float4ConstArg supportVec, __global const b3ConvexPolyhedronData_t *hull, b3ConstArray(b3Float4) verticesA)
-{
-	b3Float4 supVec = b3MakeFloat4(0, 0, 0, 0);
-	float maxDot = -B3_LARGE_FLOAT;
-
-	if (0 < hull->m_numVertices)
-	{
-		const b3Float4 scaled = supportVec;
-		int index = b3MaxDot(scaled, &verticesA[hull->m_vertexOffset], hull->m_numVertices, &maxDot);
-		return verticesA[hull->m_vertexOffset + index];
-	}
-
-	return supVec;
-}
-
-B3_STATIC void b3MprConvexSupport(int pairIndex, int bodyIndex, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
-								  b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
-								  b3ConstArray(b3Collidable_t) cpuCollidables,
-								  b3ConstArray(b3Float4) cpuVertices,
-								  __global b3Float4 *sepAxis,
-								  const b3Float4 *_dir, b3Float4 *outp, int logme)
-{
-	//dir is in worldspace, move to local space
-
-	b3Float4 pos = cpuBodyBuf[bodyIndex].m_pos;
-	b3Quat orn = cpuBodyBuf[bodyIndex].m_quat;
-
-	b3Float4 dir = b3MakeFloat4((*_dir).x, (*_dir).y, (*_dir).z, 0.f);
-
-	const b3Float4 localDir = b3QuatRotate(b3QuatInverse(orn), dir);
-
-	//find local support vertex
-	int colIndex = cpuBodyBuf[bodyIndex].m_collidableIdx;
-
-	b3Assert(cpuCollidables[colIndex].m_shapeType == SHAPE_CONVEX_HULL);
-	__global const b3ConvexPolyhedronData_t *hull = &cpuConvexData[cpuCollidables[colIndex].m_shapeIndex];
-
-	b3Float4 pInA;
-	if (logme)
-	{
-		//	b3Float4 supVec = b3MakeFloat4(0,0,0,0);
-		float maxDot = -B3_LARGE_FLOAT;
-
-		if (0 < hull->m_numVertices)
-		{
-			const b3Float4 scaled = localDir;
-			int index = b3MaxDot(scaled, &cpuVertices[hull->m_vertexOffset], hull->m_numVertices, &maxDot);
-			pInA = cpuVertices[hull->m_vertexOffset + index];
-		}
-	}
-	else
-	{
-		pInA = b3LocalGetSupportVertex(localDir, hull, cpuVertices);
-	}
-
-	//move vertex to world space
-	*outp = b3TransformPoint(pInA, pos, orn);
-}
-
-inline void b3MprSupport(int pairIndex, int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
-						 b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
-						 b3ConstArray(b3Collidable_t) cpuCollidables,
-						 b3ConstArray(b3Float4) cpuVertices,
-						 __global b3Float4 *sepAxis,
-						 const b3Float4 *_dir, b3MprSupport_t *supp)
-{
-	b3Float4 dir;
-	dir = *_dir;
-	b3MprConvexSupport(pairIndex, bodyIndexA, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, &supp->v1, 0);
-	dir = *_dir * -1.f;
-	b3MprConvexSupport(pairIndex, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, &supp->v2, 0);
-	supp->v = supp->v1 - supp->v2;
-}
-
-inline void b3FindOrigin(int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, b3MprSupport_t *center)
-{
-	center->v1 = cpuBodyBuf[bodyIndexA].m_pos;
-	center->v2 = cpuBodyBuf[bodyIndexB].m_pos;
-	center->v = center->v1 - center->v2;
-}
-
-inline void b3MprVec3Set(b3Float4 *v, float x, float y, float z)
-{
-	(*v).x = x;
-	(*v).y = y;
-	(*v).z = z;
-	(*v).w = 0.f;
-}
-
-inline void b3MprVec3Add(b3Float4 *v, const b3Float4 *w)
-{
-	(*v).x += (*w).x;
-	(*v).y += (*w).y;
-	(*v).z += (*w).z;
-}
-
-inline void b3MprVec3Copy(b3Float4 *v, const b3Float4 *w)
-{
-	*v = *w;
-}
-
-inline void b3MprVec3Scale(b3Float4 *d, float k)
-{
-	*d *= k;
-}
-
-inline float b3MprVec3Dot(const b3Float4 *a, const b3Float4 *b)
-{
-	float dot;
-
-	dot = b3Dot3F4(*a, *b);
-	return dot;
-}
-
-inline float b3MprVec3Len2(const b3Float4 *v)
-{
-	return b3MprVec3Dot(v, v);
-}
-
-inline void b3MprVec3Normalize(b3Float4 *d)
-{
-	float k = 1.f / B3_MPR_SQRT(b3MprVec3Len2(d));
-	b3MprVec3Scale(d, k);
-}
-
-inline void b3MprVec3Cross(b3Float4 *d, const b3Float4 *a, const b3Float4 *b)
-{
-	*d = b3Cross3(*a, *b);
-}
-
-inline void b3MprVec3Sub2(b3Float4 *d, const b3Float4 *v, const b3Float4 *w)
-{
-	*d = *v - *w;
-}
-
-inline void b3PortalDir(const b3MprSimplex_t *portal, b3Float4 *dir)
-{
-	b3Float4 v2v1, v3v1;
-
-	b3MprVec3Sub2(&v2v1, &b3MprSimplexPoint(portal, 2)->v,
-				  &b3MprSimplexPoint(portal, 1)->v);
-	b3MprVec3Sub2(&v3v1, &b3MprSimplexPoint(portal, 3)->v,
-				  &b3MprSimplexPoint(portal, 1)->v);
-	b3MprVec3Cross(dir, &v2v1, &v3v1);
-	b3MprVec3Normalize(dir);
-}
-
-inline int portalEncapsulesOrigin(const b3MprSimplex_t *portal,
-								  const b3Float4 *dir)
-{
-	float dot;
-	dot = b3MprVec3Dot(dir, &b3MprSimplexPoint(portal, 1)->v);
-	return b3MprIsZero(dot) || dot > 0.f;
-}
-
-inline int portalReachTolerance(const b3MprSimplex_t *portal,
-								const b3MprSupport_t *v4,
-								const b3Float4 *dir)
-{
-	float dv1, dv2, dv3, dv4;
-	float dot1, dot2, dot3;
-
-	// find the smallest dot product of dir and {v1-v4, v2-v4, v3-v4}
-
-	dv1 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, dir);
-	dv2 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, dir);
-	dv3 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, dir);
-	dv4 = b3MprVec3Dot(&v4->v, dir);
-
-	dot1 = dv4 - dv1;
-	dot2 = dv4 - dv2;
-	dot3 = dv4 - dv3;
-
-	dot1 = B3_MPR_FMIN(dot1, dot2);
-	dot1 = B3_MPR_FMIN(dot1, dot3);
-
-	return b3MprEq(dot1, B3_MPR_TOLERANCE) || dot1 < B3_MPR_TOLERANCE;
-}
-
-inline int portalCanEncapsuleOrigin(const b3MprSimplex_t *portal,
-									const b3MprSupport_t *v4,
-									const b3Float4 *dir)
-{
-	float dot;
-	dot = b3MprVec3Dot(&v4->v, dir);
-	return b3MprIsZero(dot) || dot > 0.f;
-}
-
-inline void b3ExpandPortal(b3MprSimplex_t *portal,
-						   const b3MprSupport_t *v4)
-{
-	float dot;
-	b3Float4 v4v0;
-
-	b3MprVec3Cross(&v4v0, &v4->v, &b3MprSimplexPoint(portal, 0)->v);
-	dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, &v4v0);
-	if (dot > 0.f)
-	{
-		dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, &v4v0);
-		if (dot > 0.f)
-		{
-			b3MprSimplexSet(portal, 1, v4);
-		}
-		else
-		{
-			b3MprSimplexSet(portal, 3, v4);
-		}
-	}
-	else
-	{
-		dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, &v4v0);
-		if (dot > 0.f)
-		{
-			b3MprSimplexSet(portal, 2, v4);
-		}
-		else
-		{
-			b3MprSimplexSet(portal, 1, v4);
-		}
-	}
-}
-
-B3_STATIC int b3DiscoverPortal(int pairIndex, int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
-							   b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
-							   b3ConstArray(b3Collidable_t) cpuCollidables,
-							   b3ConstArray(b3Float4) cpuVertices,
-							   __global b3Float4 *sepAxis,
-							   __global int *hasSepAxis,
-							   b3MprSimplex_t *portal)
-{
-	b3Float4 dir, va, vb;
-	float dot;
-	int cont;
-
-	// vertex 0 is center of portal
-	b3FindOrigin(bodyIndexA, bodyIndexB, cpuBodyBuf, b3MprSimplexPointW(portal, 0));
-	// vertex 0 is center of portal
-	b3MprSimplexSetSize(portal, 1);
-
-	b3Float4 zero = b3MakeFloat4(0, 0, 0, 0);
-	b3Float4 *b3mpr_vec3_origin = &zero;
-
-	if (b3MprVec3Eq(&b3MprSimplexPoint(portal, 0)->v, b3mpr_vec3_origin))
-	{
-		// Portal's center lies on origin (0,0,0) => we know that objects
-		// intersect but we would need to know penetration info.
-		// So move center little bit...
-		b3MprVec3Set(&va, FLT_EPSILON * 10.f, 0.f, 0.f);
-		b3MprVec3Add(&b3MprSimplexPointW(portal, 0)->v, &va);
-	}
-
-	// vertex 1 = support in direction of origin
-	b3MprVec3Copy(&dir, &b3MprSimplexPoint(portal, 0)->v);
-	b3MprVec3Scale(&dir, -1.f);
-	b3MprVec3Normalize(&dir);
-
-	b3MprSupport(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, b3MprSimplexPointW(portal, 1));
-
-	b3MprSimplexSetSize(portal, 2);
-
-	// test if origin isn't outside of v1
-	dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, &dir);
-
-	if (b3MprIsZero(dot) || dot < 0.f)
-		return -1;
-
-	// vertex 2
-	b3MprVec3Cross(&dir, &b3MprSimplexPoint(portal, 0)->v,
-				   &b3MprSimplexPoint(portal, 1)->v);
-	if (b3MprIsZero(b3MprVec3Len2(&dir)))
-	{
-		if (b3MprVec3Eq(&b3MprSimplexPoint(portal, 1)->v, b3mpr_vec3_origin))
-		{
-			// origin lies on v1
-			return 1;
-		}
-		else
-		{
-			// origin lies on v0-v1 segment
-			return 2;
-		}
-	}
-
-	b3MprVec3Normalize(&dir);
-	b3MprSupport(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, b3MprSimplexPointW(portal, 2));
-
-	dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, &dir);
-	if (b3MprIsZero(dot) || dot < 0.f)
-		return -1;
-
-	b3MprSimplexSetSize(portal, 3);
-
-	// vertex 3 direction
-	b3MprVec3Sub2(&va, &b3MprSimplexPoint(portal, 1)->v,
-				  &b3MprSimplexPoint(portal, 0)->v);
-	b3MprVec3Sub2(&vb, &b3MprSimplexPoint(portal, 2)->v,
-				  &b3MprSimplexPoint(portal, 0)->v);
-	b3MprVec3Cross(&dir, &va, &vb);
-	b3MprVec3Normalize(&dir);
-
-	// it is better to form portal faces to be oriented "outside" origin
-	dot = b3MprVec3Dot(&dir, &b3MprSimplexPoint(portal, 0)->v);
-	if (dot > 0.f)
-	{
-		b3MprSimplexSwap(portal, 1, 2);
-		b3MprVec3Scale(&dir, -1.f);
-	}
-
-	while (b3MprSimplexSize(portal) < 4)
-	{
-		b3MprSupport(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, b3MprSimplexPointW(portal, 3));
-
-		dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, &dir);
-		if (b3MprIsZero(dot) || dot < 0.f)
-			return -1;
-
-		cont = 0;
-
-		// test if origin is outside (v1, v0, v3) - set v2 as v3 and
-		// continue
-		b3MprVec3Cross(&va, &b3MprSimplexPoint(portal, 1)->v,
-					   &b3MprSimplexPoint(portal, 3)->v);
-		dot = b3MprVec3Dot(&va, &b3MprSimplexPoint(portal, 0)->v);
-		if (dot < 0.f && !b3MprIsZero(dot))
-		{
-			b3MprSimplexSet(portal, 2, b3MprSimplexPoint(portal, 3));
-			cont = 1;
-		}
-
-		if (!cont)
-		{
-			// test if origin is outside (v3, v0, v2) - set v1 as v3 and
-			// continue
-			b3MprVec3Cross(&va, &b3MprSimplexPoint(portal, 3)->v,
-						   &b3MprSimplexPoint(portal, 2)->v);
-			dot = b3MprVec3Dot(&va, &b3MprSimplexPoint(portal, 0)->v);
-			if (dot < 0.f && !b3MprIsZero(dot))
-			{
-				b3MprSimplexSet(portal, 1, b3MprSimplexPoint(portal, 3));
-				cont = 1;
-			}
-		}
-
-		if (cont)
-		{
-			b3MprVec3Sub2(&va, &b3MprSimplexPoint(portal, 1)->v,
-						  &b3MprSimplexPoint(portal, 0)->v);
-			b3MprVec3Sub2(&vb, &b3MprSimplexPoint(portal, 2)->v,
-						  &b3MprSimplexPoint(portal, 0)->v);
-			b3MprVec3Cross(&dir, &va, &vb);
-			b3MprVec3Normalize(&dir);
-		}
-		else
-		{
-			b3MprSimplexSetSize(portal, 4);
-		}
-	}
-
-	return 0;
-}
-
-B3_STATIC int b3RefinePortal(int pairIndex, int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
-							 b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
-							 b3ConstArray(b3Collidable_t) cpuCollidables,
-							 b3ConstArray(b3Float4) cpuVertices,
-							 __global b3Float4 *sepAxis,
-							 b3MprSimplex_t *portal)
-{
-	b3Float4 dir;
-	b3MprSupport_t v4;
-
-	for (int i = 0; i < B3_MPR_MAX_ITERATIONS; i++)
-	//while (1)
-	{
-		// compute direction outside the portal (from v0 throught v1,v2,v3
-		// face)
-		b3PortalDir(portal, &dir);
-
-		// test if origin is inside the portal
-		if (portalEncapsulesOrigin(portal, &dir))
-			return 0;
-
-		// get next support point
-
-		b3MprSupport(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, &v4);
-
-		// test if v4 can expand portal to contain origin and if portal
-		// expanding doesn't reach given tolerance
-		if (!portalCanEncapsuleOrigin(portal, &v4, &dir) || portalReachTolerance(portal, &v4, &dir))
-		{
-			return -1;
-		}
-
-		// v1-v2-v3 triangle must be rearranged to face outside Minkowski
-		// difference (direction from v0).
-		b3ExpandPortal(portal, &v4);
-	}
-
-	return -1;
-}
-
-B3_STATIC void b3FindPos(const b3MprSimplex_t *portal, b3Float4 *pos)
-{
-	b3Float4 zero = b3MakeFloat4(0, 0, 0, 0);
-	b3Float4 *b3mpr_vec3_origin = &zero;
-
-	b3Float4 dir;
-	size_t i;
-	float b[4], sum, inv;
-	b3Float4 vec, p1, p2;
-
-	b3PortalDir(portal, &dir);
-
-	// use barycentric coordinates of tetrahedron to find origin
-	b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 1)->v,
-				   &b3MprSimplexPoint(portal, 2)->v);
-	b[0] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 3)->v);
-
-	b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 3)->v,
-				   &b3MprSimplexPoint(portal, 2)->v);
-	b[1] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 0)->v);
-
-	b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 0)->v,
-				   &b3MprSimplexPoint(portal, 1)->v);
-	b[2] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 3)->v);
-
-	b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 2)->v,
-				   &b3MprSimplexPoint(portal, 1)->v);
-	b[3] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 0)->v);
-
-	sum = b[0] + b[1] + b[2] + b[3];
-
-	if (b3MprIsZero(sum) || sum < 0.f)
-	{
-		b[0] = 0.f;
-
-		b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 2)->v,
-					   &b3MprSimplexPoint(portal, 3)->v);
-		b[1] = b3MprVec3Dot(&vec, &dir);
-		b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 3)->v,
-					   &b3MprSimplexPoint(portal, 1)->v);
-		b[2] = b3MprVec3Dot(&vec, &dir);
-		b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 1)->v,
-					   &b3MprSimplexPoint(portal, 2)->v);
-		b[3] = b3MprVec3Dot(&vec, &dir);
-
-		sum = b[1] + b[2] + b[3];
-	}
-
-	inv = 1.f / sum;
-
-	b3MprVec3Copy(&p1, b3mpr_vec3_origin);
-	b3MprVec3Copy(&p2, b3mpr_vec3_origin);
-	for (i = 0; i < 4; i++)
-	{
-		b3MprVec3Copy(&vec, &b3MprSimplexPoint(portal, i)->v1);
-		b3MprVec3Scale(&vec, b[i]);
-		b3MprVec3Add(&p1, &vec);
-
-		b3MprVec3Copy(&vec, &b3MprSimplexPoint(portal, i)->v2);
-		b3MprVec3Scale(&vec, b[i]);
-		b3MprVec3Add(&p2, &vec);
-	}
-	b3MprVec3Scale(&p1, inv);
-	b3MprVec3Scale(&p2, inv);
-
-	b3MprVec3Copy(pos, &p1);
-	b3MprVec3Add(pos, &p2);
-	b3MprVec3Scale(pos, 0.5);
-}
-
-inline float b3MprVec3Dist2(const b3Float4 *a, const b3Float4 *b)
-{
-	b3Float4 ab;
-	b3MprVec3Sub2(&ab, a, b);
-	return b3MprVec3Len2(&ab);
-}
-
-inline float _b3MprVec3PointSegmentDist2(const b3Float4 *P,
-										 const b3Float4 *x0,
-										 const b3Float4 *b,
-										 b3Float4 *witness)
-{
-	// The computation comes from solving equation of segment:
-	//      S(t) = x0 + t.d
-	//          where - x0 is initial point of segment
-	//                - d is direction of segment from x0 (|d| > 0)
-	//                - t belongs to <0, 1> interval
-	//
-	// Than, distance from a segment to some point P can be expressed:
-	//      D(t) = |x0 + t.d - P|^2
-	//          which is distance from any point on segment. Minimization
-	//          of this function brings distance from P to segment.
-	// Minimization of D(t) leads to simple quadratic equation that's
-	// solving is straightforward.
-	//
-	// Bonus of this method is witness point for free.
-
-	float dist, t;
-	b3Float4 d, a;
-
-	// direction of segment
-	b3MprVec3Sub2(&d, b, x0);
-
-	// precompute vector from P to x0
-	b3MprVec3Sub2(&a, x0, P);
-
-	t = -1.f * b3MprVec3Dot(&a, &d);
-	t /= b3MprVec3Len2(&d);
-
-	if (t < 0.f || b3MprIsZero(t))
-	{
-		dist = b3MprVec3Dist2(x0, P);
-		if (witness)
-			b3MprVec3Copy(witness, x0);
-	}
-	else if (t > 1.f || b3MprEq(t, 1.f))
-	{
-		dist = b3MprVec3Dist2(b, P);
-		if (witness)
-			b3MprVec3Copy(witness, b);
-	}
-	else
-	{
-		if (witness)
-		{
-			b3MprVec3Copy(witness, &d);
-			b3MprVec3Scale(witness, t);
-			b3MprVec3Add(witness, x0);
-			dist = b3MprVec3Dist2(witness, P);
-		}
-		else
-		{
-			// recycling variables
-			b3MprVec3Scale(&d, t);
-			b3MprVec3Add(&d, &a);
-			dist = b3MprVec3Len2(&d);
-		}
-	}
-
-	return dist;
-}
-
-inline float b3MprVec3PointTriDist2(const b3Float4 *P,
-									const b3Float4 *x0, const b3Float4 *B,
-									const b3Float4 *C,
-									b3Float4 *witness)
-{
-	// Computation comes from analytic expression for triangle (x0, B, C)
-	//      T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and
-	// Then equation for distance is:
-	//      D(s, t) = | T(s, t) - P |^2
-	// This leads to minimization of quadratic function of two variables.
-	// The solution from is taken only if s is between 0 and 1, t is
-	// between 0 and 1 and t + s < 1, otherwise distance from segment is
-	// computed.
-
-	b3Float4 d1, d2, a;
-	float u, v, w, p, q, r;
-	float s, t, dist, dist2;
-	b3Float4 witness2;
-
-	b3MprVec3Sub2(&d1, B, x0);
-	b3MprVec3Sub2(&d2, C, x0);
-	b3MprVec3Sub2(&a, x0, P);
-
-	u = b3MprVec3Dot(&a, &a);
-	v = b3MprVec3Dot(&d1, &d1);
-	w = b3MprVec3Dot(&d2, &d2);
-	p = b3MprVec3Dot(&a, &d1);
-	q = b3MprVec3Dot(&a, &d2);
-	r = b3MprVec3Dot(&d1, &d2);
-
-	s = (q * r - w * p) / (w * v - r * r);
-	t = (-s * r - q) / w;
-
-	if ((b3MprIsZero(s) || s > 0.f) && (b3MprEq(s, 1.f) || s < 1.f) && (b3MprIsZero(t) || t > 0.f) && (b3MprEq(t, 1.f) || t < 1.f) && (b3MprEq(t + s, 1.f) || t + s < 1.f))
-	{
-		if (witness)
-		{
-			b3MprVec3Scale(&d1, s);
-			b3MprVec3Scale(&d2, t);
-			b3MprVec3Copy(witness, x0);
-			b3MprVec3Add(witness, &d1);
-			b3MprVec3Add(witness, &d2);
-
-			dist = b3MprVec3Dist2(witness, P);
-		}
-		else
-		{
-			dist = s * s * v;
-			dist += t * t * w;
-			dist += 2.f * s * t * r;
-			dist += 2.f * s * p;
-			dist += 2.f * t * q;
-			dist += u;
-		}
-	}
-	else
-	{
-		dist = _b3MprVec3PointSegmentDist2(P, x0, B, witness);
-
-		dist2 = _b3MprVec3PointSegmentDist2(P, x0, C, &witness2);
-		if (dist2 < dist)
-		{
-			dist = dist2;
-			if (witness)
-				b3MprVec3Copy(witness, &witness2);
-		}
-
-		dist2 = _b3MprVec3PointSegmentDist2(P, B, C, &witness2);
-		if (dist2 < dist)
-		{
-			dist = dist2;
-			if (witness)
-				b3MprVec3Copy(witness, &witness2);
-		}
-	}
-
-	return dist;
-}
-
-B3_STATIC void b3FindPenetr(int pairIndex, int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
-							b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
-							b3ConstArray(b3Collidable_t) cpuCollidables,
-							b3ConstArray(b3Float4) cpuVertices,
-							__global b3Float4 *sepAxis,
-							b3MprSimplex_t *portal,
-							float *depth, b3Float4 *pdir, b3Float4 *pos)
-{
-	b3Float4 dir;
-	b3MprSupport_t v4;
-	unsigned long iterations;
-
-	b3Float4 zero = b3MakeFloat4(0, 0, 0, 0);
-	b3Float4 *b3mpr_vec3_origin = &zero;
-
-	iterations = 1UL;
-	for (int i = 0; i < B3_MPR_MAX_ITERATIONS; i++)
-	//while (1)
-	{
-		// compute portal direction and obtain next support point
-		b3PortalDir(portal, &dir);
-
-		b3MprSupport(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, &v4);
-
-		// reached tolerance -> find penetration info
-		if (portalReachTolerance(portal, &v4, &dir) || iterations == B3_MPR_MAX_ITERATIONS)
-		{
-			*depth = b3MprVec3PointTriDist2(b3mpr_vec3_origin, &b3MprSimplexPoint(portal, 1)->v, &b3MprSimplexPoint(portal, 2)->v, &b3MprSimplexPoint(portal, 3)->v, pdir);
-			*depth = B3_MPR_SQRT(*depth);
-
-			if (b3MprIsZero((*pdir).x) && b3MprIsZero((*pdir).y) && b3MprIsZero((*pdir).z))
-			{
-				*pdir = dir;
-			}
-			b3MprVec3Normalize(pdir);
-
-			// barycentric coordinates:
-			b3FindPos(portal, pos);
-
-			return;
-		}
-
-		b3ExpandPortal(portal, &v4);
-
-		iterations++;
-	}
-}
-
-B3_STATIC void b3FindPenetrTouch(b3MprSimplex_t *portal, float *depth, b3Float4 *dir, b3Float4 *pos)
-{
-	// Touching contact on portal's v1 - so depth is zero and direction
-	// is unimportant and pos can be guessed
-	*depth = 0.f;
-	b3Float4 zero = b3MakeFloat4(0, 0, 0, 0);
-	b3Float4 *b3mpr_vec3_origin = &zero;
-
-	b3MprVec3Copy(dir, b3mpr_vec3_origin);
-
-	b3MprVec3Copy(pos, &b3MprSimplexPoint(portal, 1)->v1);
-	b3MprVec3Add(pos, &b3MprSimplexPoint(portal, 1)->v2);
-	b3MprVec3Scale(pos, 0.5);
-}
-
-B3_STATIC void b3FindPenetrSegment(b3MprSimplex_t *portal,
-								   float *depth, b3Float4 *dir, b3Float4 *pos)
-{
-	// Origin lies on v0-v1 segment.
-	// Depth is distance to v1, direction also and position must be
-	// computed
-
-	b3MprVec3Copy(pos, &b3MprSimplexPoint(portal, 1)->v1);
-	b3MprVec3Add(pos, &b3MprSimplexPoint(portal, 1)->v2);
-	b3MprVec3Scale(pos, 0.5f);
-
-	b3MprVec3Copy(dir, &b3MprSimplexPoint(portal, 1)->v);
-	*depth = B3_MPR_SQRT(b3MprVec3Len2(dir));
-	b3MprVec3Normalize(dir);
-}
-
-inline int b3MprPenetration(int pairIndex, int bodyIndexA, int bodyIndexB,
-							b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
-							b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
-							b3ConstArray(b3Collidable_t) cpuCollidables,
-							b3ConstArray(b3Float4) cpuVertices,
-							__global b3Float4 *sepAxis,
-							__global int *hasSepAxis,
-							float *depthOut, b3Float4 *dirOut, b3Float4 *posOut)
-{
-	b3MprSimplex_t portal;
-
-	//	if (!hasSepAxis[pairIndex])
-	//	return -1;
-
-	hasSepAxis[pairIndex] = 0;
-	int res;
-
-	// Phase 1: Portal discovery
-	res = b3DiscoverPortal(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, hasSepAxis, &portal);
-
-	//sepAxis[pairIndex] = *pdir;//or -dir?
-
-	switch (res)
-	{
-		case 0:
-		{
-			// Phase 2: Portal refinement
-
-			res = b3RefinePortal(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &portal);
-			if (res < 0)
-				return -1;
-
-			// Phase 3. Penetration info
-			b3FindPenetr(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &portal, depthOut, dirOut, posOut);
-			hasSepAxis[pairIndex] = 1;
-			sepAxis[pairIndex] = -*dirOut;
-			break;
-		}
-		case 1:
-		{
-			// Touching contact on portal's v1.
-			b3FindPenetrTouch(&portal, depthOut, dirOut, posOut);
-			break;
-		}
-		case 2:
-		{
-			b3FindPenetrSegment(&portal, depthOut, dirOut, posOut);
-			break;
-		}
-		default:
-		{
-			hasSepAxis[pairIndex] = 0;
-			//if (res < 0)
-			//{
-			// Origin isn't inside portal - no collision.
-			return -1;
-			//}
-		}
-	};
-
-	return 0;
-};
-
-#endif  //B3_MPR_PENETRATION_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h
deleted file mode 100644
index 6e991e14b0..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h
+++ /dev/null
@@ -1,175 +0,0 @@
-
-#ifndef B3_NEW_CONTACT_REDUCTION_H
-#define B3_NEW_CONTACT_REDUCTION_H
-
-#include "Bullet3Common/shared/b3Float4.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
-
-#define GET_NPOINTS(x) (x).m_worldNormalOnB.w
-
-int b3ExtractManifoldSequentialGlobal(__global const b3Float4* p, int nPoints, b3Float4ConstArg nearNormal, b3Int4* contactIdx)
-{
-	if (nPoints == 0)
-		return 0;
-
-	if (nPoints <= 4)
-		return nPoints;
-
-	if (nPoints > 64)
-		nPoints = 64;
-
-	b3Float4 center = b3MakeFloat4(0, 0, 0, 0);
-	{
-		for (int i = 0; i < nPoints; i++)
-			center += p[i];
-		center /= (float)nPoints;
-	}
-
-	//	sample 4 directions
-
-	b3Float4 aVector = p[0] - center;
-	b3Float4 u = b3Cross(nearNormal, aVector);
-	b3Float4 v = b3Cross(nearNormal, u);
-	u = b3Normalized(u);
-	v = b3Normalized(v);
-
-	//keep point with deepest penetration
-	float minW = FLT_MAX;
-
-	int minIndex = -1;
-
-	b3Float4 maxDots;
-	maxDots.x = FLT_MIN;
-	maxDots.y = FLT_MIN;
-	maxDots.z = FLT_MIN;
-	maxDots.w = FLT_MIN;
-
-	//	idx, distance
-	for (int ie = 0; ie < nPoints; ie++)
-	{
-		if (p[ie].w < minW)
-		{
-			minW = p[ie].w;
-			minIndex = ie;
-		}
-		float f;
-		b3Float4 r = p[ie] - center;
-		f = b3Dot(u, r);
-		if (f < maxDots.x)
-		{
-			maxDots.x = f;
-			contactIdx[0].x = ie;
-		}
-
-		f = b3Dot(-u, r);
-		if (f < maxDots.y)
-		{
-			maxDots.y = f;
-			contactIdx[0].y = ie;
-		}
-
-		f = b3Dot(v, r);
-		if (f < maxDots.z)
-		{
-			maxDots.z = f;
-			contactIdx[0].z = ie;
-		}
-
-		f = b3Dot(-v, r);
-		if (f < maxDots.w)
-		{
-			maxDots.w = f;
-			contactIdx[0].w = ie;
-		}
-	}
-
-	if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
-	{
-		//replace the first contact with minimum (todo: replace contact with least penetration)
-		contactIdx[0].x = minIndex;
-	}
-
-	return 4;
-}
-
-__kernel void b3NewContactReductionKernel(__global b3Int4* pairs,
-										  __global const b3RigidBodyData_t* rigidBodies,
-										  __global const b3Float4* separatingNormals,
-										  __global const int* hasSeparatingAxis,
-										  __global struct b3Contact4Data* globalContactsOut,
-										  __global b3Int4* clippingFaces,
-										  __global b3Float4* worldVertsB2,
-										  volatile __global int* nGlobalContactsOut,
-										  int vertexFaceCapacity,
-										  int contactCapacity,
-										  int numPairs,
-										  int pairIndex)
-{
-	//    int i = get_global_id(0);
-	//int pairIndex = i;
-	int i = pairIndex;
-
-	b3Int4 contactIdx;
-	contactIdx = b3MakeInt4(0, 1, 2, 3);
-
-	if (i < numPairs)
-	{
-		if (hasSeparatingAxis[i])
-		{
-			int nPoints = clippingFaces[pairIndex].w;
-
-			if (nPoints > 0)
-			{
-				__global b3Float4* pointsIn = &worldVertsB2[pairIndex * vertexFaceCapacity];
-				b3Float4 normal = -separatingNormals[i];
-
-				int nReducedContacts = b3ExtractManifoldSequentialGlobal(pointsIn, nPoints, normal, &contactIdx);
-
-				int dstIdx;
-				dstIdx = b3AtomicInc(nGlobalContactsOut);
-
-				//#if 0
-				b3Assert(dstIdx < contactCapacity);
-				if (dstIdx < contactCapacity)
-				{
-					__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
-					c->m_worldNormalOnB = -normal;
-					c->m_restituitionCoeffCmp = (0.f * 0xffff);
-					c->m_frictionCoeffCmp = (0.7f * 0xffff);
-					c->m_batchIdx = pairIndex;
-					int bodyA = pairs[pairIndex].x;
-					int bodyB = pairs[pairIndex].y;
-
-					pairs[pairIndex].w = dstIdx;
-
-					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass == 0 ? -bodyA : bodyA;
-					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass == 0 ? -bodyB : bodyB;
-					c->m_childIndexA = -1;
-					c->m_childIndexB = -1;
-
-					switch (nReducedContacts)
-					{
-						case 4:
-							c->m_worldPosB[3] = pointsIn[contactIdx.w];
-						case 3:
-							c->m_worldPosB[2] = pointsIn[contactIdx.z];
-						case 2:
-							c->m_worldPosB[1] = pointsIn[contactIdx.y];
-						case 1:
-							c->m_worldPosB[0] = pointsIn[contactIdx.x];
-						default:
-						{
-						}
-					};
-
-					GET_NPOINTS(*c) = nReducedContacts;
-				}
-
-				//#endif
-
-			}  //		if (numContactsOut>0)
-		}      //		if (hasSeparatingAxis[i])
-	}          //	if (i<numPairs)
-}
-#endif
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h
deleted file mode 100644
index ba796eac72..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h
+++ /dev/null
@@ -1,88 +0,0 @@
-
-
-#ifndef B3_QUANTIZED_BVH_NODE_H
-#define B3_QUANTIZED_BVH_NODE_H
-
-#include "Bullet3Common/shared/b3Float4.h"
-
-#define B3_MAX_NUM_PARTS_IN_BITS 10
-
-///b3QuantizedBvhNodeData is a compressed aabb node, 16 bytes.
-///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
-typedef struct b3QuantizedBvhNodeData b3QuantizedBvhNodeData_t;
-
-struct b3QuantizedBvhNodeData
-{
-	//12 bytes
-	unsigned short int m_quantizedAabbMin[3];
-	unsigned short int m_quantizedAabbMax[3];
-	//4 bytes
-	int m_escapeIndexOrTriangleIndex;
-};
-
-inline int b3GetTriangleIndex(const b3QuantizedBvhNodeData* rootNode)
-{
-	unsigned int x = 0;
-	unsigned int y = (~(x & 0)) << (31 - B3_MAX_NUM_PARTS_IN_BITS);
-	// Get only the lower bits where the triangle index is stored
-	return (rootNode->m_escapeIndexOrTriangleIndex & ~(y));
-}
-
-inline int b3IsLeaf(const b3QuantizedBvhNodeData* rootNode)
-{
-	//skipindex is negative (internal node), triangleindex >=0 (leafnode)
-	return (rootNode->m_escapeIndexOrTriangleIndex >= 0) ? 1 : 0;
-}
-
-inline int b3GetEscapeIndex(const b3QuantizedBvhNodeData* rootNode)
-{
-	return -rootNode->m_escapeIndexOrTriangleIndex;
-}
-
-inline void b3QuantizeWithClamp(unsigned short* out, b3Float4ConstArg point2, int isMax, b3Float4ConstArg bvhAabbMin, b3Float4ConstArg bvhAabbMax, b3Float4ConstArg bvhQuantization)
-{
-	b3Float4 clampedPoint = b3MaxFloat4(point2, bvhAabbMin);
-	clampedPoint = b3MinFloat4(clampedPoint, bvhAabbMax);
-
-	b3Float4 v = (clampedPoint - bvhAabbMin) * bvhQuantization;
-	if (isMax)
-	{
-		out[0] = (unsigned short)(((unsigned short)(v.x + 1.f) | 1));
-		out[1] = (unsigned short)(((unsigned short)(v.y + 1.f) | 1));
-		out[2] = (unsigned short)(((unsigned short)(v.z + 1.f) | 1));
-	}
-	else
-	{
-		out[0] = (unsigned short)(((unsigned short)(v.x) & 0xfffe));
-		out[1] = (unsigned short)(((unsigned short)(v.y) & 0xfffe));
-		out[2] = (unsigned short)(((unsigned short)(v.z) & 0xfffe));
-	}
-}
-
-inline int b3TestQuantizedAabbAgainstQuantizedAabbSlow(
-	const unsigned short int* aabbMin1,
-	const unsigned short int* aabbMax1,
-	const unsigned short int* aabbMin2,
-	const unsigned short int* aabbMax2)
-{
-	//int overlap = 1;
-	if (aabbMin1[0] > aabbMax2[0])
-		return 0;
-	if (aabbMax1[0] < aabbMin2[0])
-		return 0;
-	if (aabbMin1[1] > aabbMax2[1])
-		return 0;
-	if (aabbMax1[1] < aabbMin2[1])
-		return 0;
-	if (aabbMin1[2] > aabbMax2[2])
-		return 0;
-	if (aabbMax1[2] < aabbMin2[2])
-		return 0;
-	return 1;
-	//overlap = ((aabbMin1[0] > aabbMax2[0]) || (aabbMax1[0] < aabbMin2[0])) ? 0 : overlap;
-	//overlap = ((aabbMin1[2] > aabbMax2[2]) || (aabbMax1[2] < aabbMin2[2])) ? 0 : overlap;
-	//overlap = ((aabbMin1[1] > aabbMax2[1]) || (aabbMax1[1] < aabbMin2[1])) ? 0 : overlap;
-	//return overlap;
-}
-
-#endif  //B3_QUANTIZED_BVH_NODE_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h
deleted file mode 100644
index c108255b9f..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h
+++ /dev/null
@@ -1,89 +0,0 @@
-#ifndef B3_REDUCE_CONTACTS_H
-#define B3_REDUCE_CONTACTS_H
-
-inline int b3ReduceContacts(const b3Float4* p, int nPoints, const b3Float4& nearNormal, b3Int4* contactIdx)
-{
-	if (nPoints == 0)
-		return 0;
-
-	if (nPoints <= 4)
-		return nPoints;
-
-	if (nPoints > 64)
-		nPoints = 64;
-
-	b3Float4 center = b3MakeFloat4(0, 0, 0, 0);
-	{
-		for (int i = 0; i < nPoints; i++)
-			center += p[i];
-		center /= (float)nPoints;
-	}
-
-	//	sample 4 directions
-
-	b3Float4 aVector = p[0] - center;
-	b3Float4 u = b3Cross3(nearNormal, aVector);
-	b3Float4 v = b3Cross3(nearNormal, u);
-	u = b3FastNormalized3(u);
-	v = b3FastNormalized3(v);
-
-	//keep point with deepest penetration
-	float minW = FLT_MAX;
-
-	int minIndex = -1;
-
-	b3Float4 maxDots;
-	maxDots.x = FLT_MIN;
-	maxDots.y = FLT_MIN;
-	maxDots.z = FLT_MIN;
-	maxDots.w = FLT_MIN;
-
-	//	idx, distance
-	for (int ie = 0; ie < nPoints; ie++)
-	{
-		if (p[ie].w < minW)
-		{
-			minW = p[ie].w;
-			minIndex = ie;
-		}
-		float f;
-		b3Float4 r = p[ie] - center;
-		f = b3Dot3F4(u, r);
-		if (f < maxDots.x)
-		{
-			maxDots.x = f;
-			contactIdx[0].x = ie;
-		}
-
-		f = b3Dot3F4(-u, r);
-		if (f < maxDots.y)
-		{
-			maxDots.y = f;
-			contactIdx[0].y = ie;
-		}
-
-		f = b3Dot3F4(v, r);
-		if (f < maxDots.z)
-		{
-			maxDots.z = f;
-			contactIdx[0].z = ie;
-		}
-
-		f = b3Dot3F4(-v, r);
-		if (f < maxDots.w)
-		{
-			maxDots.w = f;
-			contactIdx[0].w = ie;
-		}
-	}
-
-	if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
-	{
-		//replace the first contact with minimum (todo: replace contact with least penetration)
-		contactIdx[0].x = minIndex;
-	}
-
-	return 4;
-}
-
-#endif  //B3_REDUCE_CONTACTS_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h
deleted file mode 100644
index 663e946fc1..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h
+++ /dev/null
@@ -1,31 +0,0 @@
-#ifndef B3_RIGIDBODY_DATA_H
-#define B3_RIGIDBODY_DATA_H
-
-#include "Bullet3Common/shared/b3Float4.h"
-#include "Bullet3Common/shared/b3Quat.h"
-#include "Bullet3Common/shared/b3Mat3x3.h"
-
-typedef struct b3RigidBodyData b3RigidBodyData_t;
-
-struct b3RigidBodyData
-{
-	b3Float4 m_pos;
-	b3Quat m_quat;
-	b3Float4 m_linVel;
-	b3Float4 m_angVel;
-
-	int m_collidableIdx;
-	float m_invMass;
-	float m_restituitionCoeff;
-	float m_frictionCoeff;
-};
-
-typedef struct b3InertiaData b3InertiaData_t;
-
-struct b3InertiaData
-{
-	b3Mat3x3 m_invInertiaWorld;
-	b3Mat3x3 m_initInvInertia;
-};
-
-#endif  //B3_RIGIDBODY_DATA_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h
deleted file mode 100644
index e0c3a5cf97..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h
+++ /dev/null
@@ -1,35 +0,0 @@
-#ifndef B3_UPDATE_AABBS_H
-#define B3_UPDATE_AABBS_H
-
-#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-
-void b3ComputeWorldAabb(int bodyId, __global const b3RigidBodyData_t* bodies, __global const b3Collidable_t* collidables, __global const b3Aabb_t* localShapeAABB, __global b3Aabb_t* worldAabbs)
-{
-	__global const b3RigidBodyData_t* body = &bodies[bodyId];
-
-	b3Float4 position = body->m_pos;
-	b3Quat orientation = body->m_quat;
-
-	int collidableIndex = body->m_collidableIdx;
-	int shapeIndex = collidables[collidableIndex].m_shapeIndex;
-
-	if (shapeIndex >= 0)
-	{
-		b3Aabb_t localAabb = localShapeAABB[collidableIndex];
-		b3Aabb_t worldAabb;
-
-		b3Float4 aabbAMinOut, aabbAMaxOut;
-		float margin = 0.f;
-		b3TransformAabb2(localAabb.m_minVec, localAabb.m_maxVec, margin, position, orientation, &aabbAMinOut, &aabbAMaxOut);
-
-		worldAabb.m_minVec = aabbAMinOut;
-		worldAabb.m_minIndices[3] = bodyId;
-		worldAabb.m_maxVec = aabbAMaxOut;
-		worldAabb.m_signedMaxIndices[3] = body[bodyId].m_invMass == 0.f ? 0 : 1;
-		worldAabbs[bodyId] = worldAabb;
-	}
-}
-
-#endif  //B3_UPDATE_AABBS_H
diff --git a/thirdparty/bullet/Bullet3Common/b3AlignedAllocator.cpp b/thirdparty/bullet/Bullet3Common/b3AlignedAllocator.cpp
deleted file mode 100644
index d546d5e066..0000000000
--- a/thirdparty/bullet/Bullet3Common/b3AlignedAllocator.cpp
+++ /dev/null
@@ -1,186 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "b3AlignedAllocator.h"
-
-#ifdef B3_ALLOCATOR_STATISTICS
-int b3g_numAlignedAllocs = 0;
-int b3g_numAlignedFree = 0;
-int b3g_totalBytesAlignedAllocs = 0;  //detect memory leaks
-#endif
-
-static void *b3AllocDefault(size_t size)
-{
-	return malloc(size);
-}
-
-static void b3FreeDefault(void *ptr)
-{
-	free(ptr);
-}
-
-static b3AllocFunc *b3s_allocFunc = b3AllocDefault;
-static b3FreeFunc *b3s_freeFunc = b3FreeDefault;
-
-#if defined(B3_HAS_ALIGNED_ALLOCATOR)
-#include <malloc.h>
-static void *b3AlignedAllocDefault(size_t size, int alignment)
-{
-	return _aligned_malloc(size, (size_t)alignment);
-}
-
-static void b3AlignedFreeDefault(void *ptr)
-{
-	_aligned_free(ptr);
-}
-#elif defined(__CELLOS_LV2__)
-#include <stdlib.h>
-
-static inline void *b3AlignedAllocDefault(size_t size, int alignment)
-{
-	return memalign(alignment, size);
-}
-
-static inline void b3AlignedFreeDefault(void *ptr)
-{
-	free(ptr);
-}
-#else
-
-static inline void *b3AlignedAllocDefault(size_t size, int alignment)
-{
-	void *ret;
-	char *real;
-	real = (char *)b3s_allocFunc(size + sizeof(void *) + (alignment - 1));
-	if (real)
-	{
-		ret = b3AlignPointer(real + sizeof(void *), alignment);
-		*((void **)(ret)-1) = (void *)(real);
-	}
-	else
-	{
-		ret = (void *)(real);
-	}
-	return (ret);
-}
-
-static inline void b3AlignedFreeDefault(void *ptr)
-{
-	void *real;
-
-	if (ptr)
-	{
-		real = *((void **)(ptr)-1);
-		b3s_freeFunc(real);
-	}
-}
-#endif
-
-static b3AlignedAllocFunc *b3s_alignedAllocFunc = b3AlignedAllocDefault;
-static b3AlignedFreeFunc *b3s_alignedFreeFunc = b3AlignedFreeDefault;
-
-void b3AlignedAllocSetCustomAligned(b3AlignedAllocFunc *allocFunc, b3AlignedFreeFunc *freeFunc)
-{
-	b3s_alignedAllocFunc = allocFunc ? allocFunc : b3AlignedAllocDefault;
-	b3s_alignedFreeFunc = freeFunc ? freeFunc : b3AlignedFreeDefault;
-}
-
-void b3AlignedAllocSetCustom(b3AllocFunc *allocFunc, b3FreeFunc *freeFunc)
-{
-	b3s_allocFunc = allocFunc ? allocFunc : b3AllocDefault;
-	b3s_freeFunc = freeFunc ? freeFunc : b3FreeDefault;
-}
-
-#ifdef B3_DEBUG_MEMORY_ALLOCATIONS
-//this generic allocator provides the total allocated number of bytes
-#include <stdio.h>
-
-void *b3AlignedAllocInternal(size_t size, int alignment, int line, char *filename)
-{
-	void *ret;
-	char *real;
-#ifdef B3_ALLOCATOR_STATISTICS
-	b3g_totalBytesAlignedAllocs += size;
-	b3g_numAlignedAllocs++;
-#endif
-	real = (char *)b3s_allocFunc(size + 2 * sizeof(void *) + (alignment - 1));
-	if (real)
-	{
-		ret = (void *)b3AlignPointer(real + 2 * sizeof(void *), alignment);
-		*((void **)(ret)-1) = (void *)(real);
-		*((int *)(ret)-2) = size;
-	}
-	else
-	{
-		ret = (void *)(real);  //??
-	}
-
-	b3Printf("allocation#%d at address %x, from %s,line %d, size %d\n", b3g_numAlignedAllocs, real, filename, line, size);
-
-	int *ptr = (int *)ret;
-	*ptr = 12;
-	return (ret);
-}
-
-void b3AlignedFreeInternal(void *ptr, int line, char *filename)
-{
-	void *real;
-#ifdef B3_ALLOCATOR_STATISTICS
-	b3g_numAlignedFree++;
-#endif
-	if (ptr)
-	{
-		real = *((void **)(ptr)-1);
-		int size = *((int *)(ptr)-2);
-#ifdef B3_ALLOCATOR_STATISTICS
-		b3g_totalBytesAlignedAllocs -= size;
-#endif
-		b3Printf("free #%d at address %x, from %s,line %d, size %d\n", b3g_numAlignedFree, real, filename, line, size);
-
-		b3s_freeFunc(real);
-	}
-	else
-	{
-		b3Printf("NULL ptr\n");
-	}
-}
-
-#else  //B3_DEBUG_MEMORY_ALLOCATIONS
-
-void *b3AlignedAllocInternal(size_t size, int alignment)
-{
-#ifdef B3_ALLOCATOR_STATISTICS
-	b3g_numAlignedAllocs++;
-#endif
-	void *ptr;
-	ptr = b3s_alignedAllocFunc(size, alignment);
-	//	b3Printf("b3AlignedAllocInternal %d, %x\n",size,ptr);
-	return ptr;
-}
-
-void b3AlignedFreeInternal(void *ptr)
-{
-	if (!ptr)
-	{
-		return;
-	}
-#ifdef B3_ALLOCATOR_STATISTICS
-	b3g_numAlignedFree++;
-#endif
-	//	b3Printf("b3AlignedFreeInternal %x\n",ptr);
-	b3s_alignedFreeFunc(ptr);
-}
-
-#endif  //B3_DEBUG_MEMORY_ALLOCATIONS
diff --git a/thirdparty/bullet/Bullet3Common/b3AlignedAllocator.h b/thirdparty/bullet/Bullet3Common/b3AlignedAllocator.h
deleted file mode 100644
index bcff9f128e..0000000000
--- a/thirdparty/bullet/Bullet3Common/b3AlignedAllocator.h
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_ALIGNED_ALLOCATOR
-#define B3_ALIGNED_ALLOCATOR
-
-///we probably replace this with our own aligned memory allocator
-///so we replace _aligned_malloc and _aligned_free with our own
-///that is better portable and more predictable
-
-#include "b3Scalar.h"
-//#define B3_DEBUG_MEMORY_ALLOCATIONS 1
-#ifdef B3_DEBUG_MEMORY_ALLOCATIONS
-
-#define b3AlignedAlloc(a, b) \
-	b3AlignedAllocInternal(a, b, __LINE__, __FILE__)
-
-#define b3AlignedFree(ptr) \
-	b3AlignedFreeInternal(ptr, __LINE__, __FILE__)
-
-void* b3AlignedAllocInternal(size_t size, int alignment, int line, char* filename);
-
-void b3AlignedFreeInternal(void* ptr, int line, char* filename);
-
-#else
-void* b3AlignedAllocInternal(size_t size, int alignment);
-void b3AlignedFreeInternal(void* ptr);
-
-#define b3AlignedAlloc(size, alignment) b3AlignedAllocInternal(size, alignment)
-#define b3AlignedFree(ptr) b3AlignedFreeInternal(ptr)
-
-#endif
-typedef int btSizeType;
-
-typedef void*(b3AlignedAllocFunc)(size_t size, int alignment);
-typedef void(b3AlignedFreeFunc)(void* memblock);
-typedef void*(b3AllocFunc)(size_t size);
-typedef void(b3FreeFunc)(void* memblock);
-
-///The developer can let all Bullet memory allocations go through a custom memory allocator, using b3AlignedAllocSetCustom
-void b3AlignedAllocSetCustom(b3AllocFunc* allocFunc, b3FreeFunc* freeFunc);
-///If the developer has already an custom aligned allocator, then b3AlignedAllocSetCustomAligned can be used. The default aligned allocator pre-allocates extra memory using the non-aligned allocator, and instruments it.
-void b3AlignedAllocSetCustomAligned(b3AlignedAllocFunc* allocFunc, b3AlignedFreeFunc* freeFunc);
-
-///The b3AlignedAllocator is a portable class for aligned memory allocations.
-///Default implementations for unaligned and aligned allocations can be overridden by a custom allocator using b3AlignedAllocSetCustom and b3AlignedAllocSetCustomAligned.
-template <typename T, unsigned Alignment>
-class b3AlignedAllocator
-{
-	typedef b3AlignedAllocator<T, Alignment> self_type;
-
-public:
-	//just going down a list:
-	b3AlignedAllocator() {}
-	/*
-	b3AlignedAllocator( const self_type & ) {}
-	*/
-
-	template <typename Other>
-	b3AlignedAllocator(const b3AlignedAllocator<Other, Alignment>&)
-	{
-	}
-
-	typedef const T* const_pointer;
-	typedef const T& const_reference;
-	typedef T* pointer;
-	typedef T& reference;
-	typedef T value_type;
-
-	pointer address(reference ref) const { return &ref; }
-	const_pointer address(const_reference ref) const { return &ref; }
-	pointer allocate(btSizeType n, const_pointer* hint = 0)
-	{
-		(void)hint;
-		return reinterpret_cast<pointer>(b3AlignedAlloc(sizeof(value_type) * n, Alignment));
-	}
-	void construct(pointer ptr, const value_type& value) { new (ptr) value_type(value); }
-	void deallocate(pointer ptr)
-	{
-		b3AlignedFree(reinterpret_cast<void*>(ptr));
-	}
-	void destroy(pointer ptr) { ptr->~value_type(); }
-
-	template <typename O>
-	struct rebind
-	{
-		typedef b3AlignedAllocator<O, Alignment> other;
-	};
-	template <typename O>
-	self_type& operator=(const b3AlignedAllocator<O, Alignment>&)
-	{
-		return *this;
-	}
-
-	friend bool operator==(const self_type&, const self_type&) { return true; }
-};
-
-#endif  //B3_ALIGNED_ALLOCATOR
diff --git a/thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h b/thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h
deleted file mode 100644
index 249e381bf1..0000000000
--- a/thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h
+++ /dev/null
@@ -1,522 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_OBJECT_ARRAY__
-#define B3_OBJECT_ARRAY__
-
-#include "b3Scalar.h"  // has definitions like B3_FORCE_INLINE
-#include "b3AlignedAllocator.h"
-
-///If the platform doesn't support placement new, you can disable B3_USE_PLACEMENT_NEW
-///then the b3AlignedObjectArray doesn't support objects with virtual methods, and non-trivial constructors/destructors
-///You can enable B3_USE_MEMCPY, then swapping elements in the array will use memcpy instead of operator=
-///see discussion here: http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1231 and
-///http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1240
-
-#define B3_USE_PLACEMENT_NEW 1
-//#define B3_USE_MEMCPY 1 //disable, because it is cumbersome to find out for each platform where memcpy is defined. It can be in <memory.h> or <string.h> or otherwise...
-#define B3_ALLOW_ARRAY_COPY_OPERATOR  // enabling this can accidently perform deep copies of data if you are not careful
-
-#ifdef B3_USE_MEMCPY
-#include <memory.h>
-#include <string.h>
-#endif  //B3_USE_MEMCPY
-
-#ifdef B3_USE_PLACEMENT_NEW
-#include <new>  //for placement new
-#endif          //B3_USE_PLACEMENT_NEW
-
-///The b3AlignedObjectArray template class uses a subset of the stl::vector interface for its methods
-///It is developed to replace stl::vector to avoid portability issues, including STL alignment issues to add SIMD/SSE data
-template <typename T>
-//template <class T>
-class b3AlignedObjectArray
-{
-	b3AlignedAllocator<T, 16> m_allocator;
-
-	int m_size;
-	int m_capacity;
-	T* m_data;
-	//PCK: added this line
-	bool m_ownsMemory;
-
-#ifdef B3_ALLOW_ARRAY_COPY_OPERATOR
-public:
-	B3_FORCE_INLINE b3AlignedObjectArray<T>& operator=(const b3AlignedObjectArray<T>& other)
-	{
-		copyFromArray(other);
-		return *this;
-	}
-#else   //B3_ALLOW_ARRAY_COPY_OPERATOR
-private:
-	B3_FORCE_INLINE b3AlignedObjectArray<T>& operator=(const b3AlignedObjectArray<T>& other);
-#endif  //B3_ALLOW_ARRAY_COPY_OPERATOR
-
-protected:
-	B3_FORCE_INLINE int allocSize(int size)
-	{
-		return (size ? size * 2 : 1);
-	}
-	B3_FORCE_INLINE void copy(int start, int end, T* dest) const
-	{
-		int i;
-		for (i = start; i < end; ++i)
-#ifdef B3_USE_PLACEMENT_NEW
-			new (&dest[i]) T(m_data[i]);
-#else
-			dest[i] = m_data[i];
-#endif  //B3_USE_PLACEMENT_NEW
-	}
-
-	B3_FORCE_INLINE void init()
-	{
-		//PCK: added this line
-		m_ownsMemory = true;
-		m_data = 0;
-		m_size = 0;
-		m_capacity = 0;
-	}
-	B3_FORCE_INLINE void destroy(int first, int last)
-	{
-		int i;
-		for (i = first; i < last; i++)
-		{
-			m_data[i].~T();
-		}
-	}
-
-	B3_FORCE_INLINE void* allocate(int size)
-	{
-		if (size)
-			return m_allocator.allocate(size);
-		return 0;
-	}
-
-	B3_FORCE_INLINE void deallocate()
-	{
-		if (m_data)
-		{
-			//PCK: enclosed the deallocation in this block
-			if (m_ownsMemory)
-			{
-				m_allocator.deallocate(m_data);
-			}
-			m_data = 0;
-		}
-	}
-
-public:
-	b3AlignedObjectArray()
-	{
-		init();
-	}
-
-	~b3AlignedObjectArray()
-	{
-		clear();
-	}
-
-	///Generally it is best to avoid using the copy constructor of an b3AlignedObjectArray, and use a (const) reference to the array instead.
-	b3AlignedObjectArray(const b3AlignedObjectArray& otherArray)
-	{
-		init();
-
-		int otherSize = otherArray.size();
-		resize(otherSize);
-		otherArray.copy(0, otherSize, m_data);
-	}
-
-	/// return the number of elements in the array
-	B3_FORCE_INLINE int size() const
-	{
-		return m_size;
-	}
-
-	B3_FORCE_INLINE const T& at(int n) const
-	{
-		b3Assert(n >= 0);
-		b3Assert(n < size());
-		return m_data[n];
-	}
-
-	B3_FORCE_INLINE T& at(int n)
-	{
-		b3Assert(n >= 0);
-		b3Assert(n < size());
-		return m_data[n];
-	}
-
-	B3_FORCE_INLINE const T& operator[](int n) const
-	{
-		b3Assert(n >= 0);
-		b3Assert(n < size());
-		return m_data[n];
-	}
-
-	B3_FORCE_INLINE T& operator[](int n)
-	{
-		b3Assert(n >= 0);
-		b3Assert(n < size());
-		return m_data[n];
-	}
-
-	///clear the array, deallocated memory. Generally it is better to use array.resize(0), to reduce performance overhead of run-time memory (de)allocations.
-	B3_FORCE_INLINE void clear()
-	{
-		destroy(0, size());
-
-		deallocate();
-
-		init();
-	}
-
-	B3_FORCE_INLINE void pop_back()
-	{
-		b3Assert(m_size > 0);
-		m_size--;
-		m_data[m_size].~T();
-	}
-
-	///resize changes the number of elements in the array. If the new size is larger, the new elements will be constructed using the optional second argument.
-	///when the new number of elements is smaller, the destructor will be called, but memory will not be freed, to reduce performance overhead of run-time memory (de)allocations.
-	B3_FORCE_INLINE void resizeNoInitialize(int newsize)
-	{
-		int curSize = size();
-
-		if (newsize < curSize)
-		{
-		}
-		else
-		{
-			if (newsize > size())
-			{
-				reserve(newsize);
-			}
-			//leave this uninitialized
-		}
-		m_size = newsize;
-	}
-
-	B3_FORCE_INLINE void resize(int newsize, const T& fillData = T())
-	{
-		int curSize = size();
-
-		if (newsize < curSize)
-		{
-			for (int i = newsize; i < curSize; i++)
-			{
-				m_data[i].~T();
-			}
-		}
-		else
-		{
-			if (newsize > size())
-			{
-				reserve(newsize);
-			}
-#ifdef B3_USE_PLACEMENT_NEW
-			for (int i = curSize; i < newsize; i++)
-			{
-				new (&m_data[i]) T(fillData);
-			}
-#endif  //B3_USE_PLACEMENT_NEW
-		}
-
-		m_size = newsize;
-	}
-	B3_FORCE_INLINE T& expandNonInitializing()
-	{
-		int sz = size();
-		if (sz == capacity())
-		{
-			reserve(allocSize(size()));
-		}
-		m_size++;
-
-		return m_data[sz];
-	}
-
-	B3_FORCE_INLINE T& expand(const T& fillValue = T())
-	{
-		int sz = size();
-		if (sz == capacity())
-		{
-			reserve(allocSize(size()));
-		}
-		m_size++;
-#ifdef B3_USE_PLACEMENT_NEW
-		new (&m_data[sz]) T(fillValue);  //use the in-place new (not really allocating heap memory)
-#endif
-
-		return m_data[sz];
-	}
-
-	B3_FORCE_INLINE void push_back(const T& _Val)
-	{
-		int sz = size();
-		if (sz == capacity())
-		{
-			reserve(allocSize(size()));
-		}
-
-#ifdef B3_USE_PLACEMENT_NEW
-		new (&m_data[m_size]) T(_Val);
-#else
-		m_data[size()] = _Val;
-#endif  //B3_USE_PLACEMENT_NEW
-
-		m_size++;
-	}
-
-	/// return the pre-allocated (reserved) elements, this is at least as large as the total number of elements,see size() and reserve()
-	B3_FORCE_INLINE int capacity() const
-	{
-		return m_capacity;
-	}
-
-	B3_FORCE_INLINE void reserve(int _Count)
-	{  // determine new minimum length of allocated storage
-		if (capacity() < _Count)
-		{  // not enough room, reallocate
-			T* s = (T*)allocate(_Count);
-			b3Assert(s);
-			if (s == 0)
-			{
-				b3Error("b3AlignedObjectArray reserve out-of-memory\n");
-				_Count = 0;
-				m_size = 0;
-			}
-			copy(0, size(), s);
-
-			destroy(0, size());
-
-			deallocate();
-
-			//PCK: added this line
-			m_ownsMemory = true;
-
-			m_data = s;
-
-			m_capacity = _Count;
-		}
-	}
-
-	class less
-	{
-	public:
-		bool operator()(const T& a, const T& b)
-		{
-			return (a < b);
-		}
-	};
-
-	template <typename L>
-	void quickSortInternal(const L& CompareFunc, int lo, int hi)
-	{
-		//  lo is the lower index, hi is the upper index
-		//  of the region of array a that is to be sorted
-		int i = lo, j = hi;
-		T x = m_data[(lo + hi) / 2];
-
-		//  partition
-		do
-		{
-			while (CompareFunc(m_data[i], x))
-				i++;
-			while (CompareFunc(x, m_data[j]))
-				j--;
-			if (i <= j)
-			{
-				swap(i, j);
-				i++;
-				j--;
-			}
-		} while (i <= j);
-
-		//  recursion
-		if (lo < j)
-			quickSortInternal(CompareFunc, lo, j);
-		if (i < hi)
-			quickSortInternal(CompareFunc, i, hi);
-	}
-
-	template <typename L>
-	void quickSort(const L& CompareFunc)
-	{
-		//don't sort 0 or 1 elements
-		if (size() > 1)
-		{
-			quickSortInternal(CompareFunc, 0, size() - 1);
-		}
-	}
-
-	///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/
-	template <typename L>
-	void downHeap(T* pArr, int k, int n, const L& CompareFunc)
-	{
-		/*  PRE: a[k+1..N] is a heap */
-		/* POST:  a[k..N]  is a heap */
-
-		T temp = pArr[k - 1];
-		/* k has child(s) */
-		while (k <= n / 2)
-		{
-			int child = 2 * k;
-
-			if ((child < n) && CompareFunc(pArr[child - 1], pArr[child]))
-			{
-				child++;
-			}
-			/* pick larger child */
-			if (CompareFunc(temp, pArr[child - 1]))
-			{
-				/* move child up */
-				pArr[k - 1] = pArr[child - 1];
-				k = child;
-			}
-			else
-			{
-				break;
-			}
-		}
-		pArr[k - 1] = temp;
-	} /*downHeap*/
-
-	void swap(int index0, int index1)
-	{
-#ifdef B3_USE_MEMCPY
-		char temp[sizeof(T)];
-		memcpy(temp, &m_data[index0], sizeof(T));
-		memcpy(&m_data[index0], &m_data[index1], sizeof(T));
-		memcpy(&m_data[index1], temp, sizeof(T));
-#else
-		T temp = m_data[index0];
-		m_data[index0] = m_data[index1];
-		m_data[index1] = temp;
-#endif  //B3_USE_PLACEMENT_NEW
-	}
-
-	template <typename L>
-	void heapSort(const L& CompareFunc)
-	{
-		/* sort a[0..N-1],  N.B. 0 to N-1 */
-		int k;
-		int n = m_size;
-		for (k = n / 2; k > 0; k--)
-		{
-			downHeap(m_data, k, n, CompareFunc);
-		}
-
-		/* a[1..N] is now a heap */
-		while (n >= 1)
-		{
-			swap(0, n - 1); /* largest of a[0..n-1] */
-
-			n = n - 1;
-			/* restore a[1..i-1] heap */
-			downHeap(m_data, 1, n, CompareFunc);
-		}
-	}
-
-	///non-recursive binary search, assumes sorted array
-	int findBinarySearch(const T& key) const
-	{
-		int first = 0;
-		int last = size() - 1;
-
-		//assume sorted array
-		while (first <= last)
-		{
-			int mid = (first + last) / 2;  // compute mid point.
-			if (key > m_data[mid])
-				first = mid + 1;  // repeat search in top half.
-			else if (key < m_data[mid])
-				last = mid - 1;  // repeat search in bottom half.
-			else
-				return mid;  // found it. return position /////
-		}
-		return size();  // failed to find key
-	}
-
-	int findLinearSearch(const T& key) const
-	{
-		int index = size();
-		int i;
-
-		for (i = 0; i < size(); i++)
-		{
-			if (m_data[i] == key)
-			{
-				index = i;
-				break;
-			}
-		}
-		return index;
-	}
-
-	int findLinearSearch2(const T& key) const
-	{
-		int index = -1;
-		int i;
-
-		for (i = 0; i < size(); i++)
-		{
-			if (m_data[i] == key)
-			{
-				index = i;
-				break;
-			}
-		}
-		return index;
-	}
-
-	void remove(const T& key)
-	{
-		int findIndex = findLinearSearch(key);
-		if (findIndex < size())
-		{
-			swap(findIndex, size() - 1);
-			pop_back();
-		}
-	}
-
-	//PCK: whole function
-	void initializeFromBuffer(void* buffer, int size, int capacity)
-	{
-		clear();
-		m_ownsMemory = false;
-		m_data = (T*)buffer;
-		m_size = size;
-		m_capacity = capacity;
-	}
-
-	void copyFromArray(const b3AlignedObjectArray& otherArray)
-	{
-		int otherSize = otherArray.size();
-		resize(otherSize);
-		otherArray.copy(0, otherSize, m_data);
-	}
-
-	void removeAtIndex(int index)
-	{
-		if (index < size())
-		{
-			swap(index, size() - 1);
-			pop_back();
-		}
-	}
-};
-
-#endif  //B3_OBJECT_ARRAY__
diff --git a/thirdparty/bullet/Bullet3Common/b3CommandLineArgs.h b/thirdparty/bullet/Bullet3Common/b3CommandLineArgs.h
deleted file mode 100644
index 5fe4f25f8d..0000000000
--- a/thirdparty/bullet/Bullet3Common/b3CommandLineArgs.h
+++ /dev/null
@@ -1,106 +0,0 @@
-#ifndef COMMAND_LINE_ARGS_H
-#define COMMAND_LINE_ARGS_H
-
-/******************************************************************************
- * Command-line parsing
- ******************************************************************************/
-#include <map>
-#include <algorithm>
-#include <string>
-#include <cstring>
-#include <sstream>
-class b3CommandLineArgs
-{
-protected:
-	std::map<std::string, std::string> pairs;
-
-public:
-	// Constructor
-	b3CommandLineArgs(int argc, char **argv)
-	{
-		addArgs(argc, argv);
-	}
-
-	void addArgs(int argc, char **argv)
-	{
-		for (int i = 1; i < argc; i++)
-		{
-			std::string arg = argv[i];
-
-			if ((arg.length() < 2) || (arg[0] != '-') || (arg[1] != '-'))
-			{
-				continue;
-			}
-
-			std::string::size_type pos;
-			std::string key, val;
-			if ((pos = arg.find('=')) == std::string::npos)
-			{
-				key = std::string(arg, 2, arg.length() - 2);
-				val = "";
-			}
-			else
-			{
-				key = std::string(arg, 2, pos - 2);
-				val = std::string(arg, pos + 1, arg.length() - 1);
-			}
-
-			//only add new keys, don't replace existing
-			if (pairs.find(key) == pairs.end())
-			{
-				pairs[key] = val;
-			}
-		}
-	}
-
-	bool CheckCmdLineFlag(const char *arg_name)
-	{
-		std::map<std::string, std::string>::iterator itr;
-		if ((itr = pairs.find(arg_name)) != pairs.end())
-		{
-			return true;
-		}
-		return false;
-	}
-
-	template <typename T>
-	bool GetCmdLineArgument(const char *arg_name, T &val);
-
-	int ParsedArgc()
-	{
-		return pairs.size();
-	}
-};
-
-template <typename T>
-inline bool b3CommandLineArgs::GetCmdLineArgument(const char *arg_name, T &val)
-{
-	std::map<std::string, std::string>::iterator itr;
-	if ((itr = pairs.find(arg_name)) != pairs.end())
-	{
-		std::istringstream strstream(itr->second);
-		strstream >> val;
-		return true;
-	}
-	return false;
-}
-
-template <>
-inline bool b3CommandLineArgs::GetCmdLineArgument<char *>(const char *arg_name, char *&val)
-{
-	std::map<std::string, std::string>::iterator itr;
-	if ((itr = pairs.find(arg_name)) != pairs.end())
-	{
-		std::string s = itr->second;
-		val = (char *)malloc(sizeof(char) * (s.length() + 1));
-		std::strcpy(val, s.c_str());
-		return true;
-	}
-	else
-	{
-		val = NULL;
-	}
-	return false;
-}
-
-#endif  //COMMAND_LINE_ARGS_H
diff --git a/thirdparty/bullet/Bullet3Common/b3FileUtils.h b/thirdparty/bullet/Bullet3Common/b3FileUtils.h
deleted file mode 100644
index 9ded17eaaf..0000000000
--- a/thirdparty/bullet/Bullet3Common/b3FileUtils.h
+++ /dev/null
@@ -1,133 +0,0 @@
-#ifndef B3_FILE_UTILS_H
-#define B3_FILE_UTILS_H
-
-#include <stdio.h>
-#include "b3Scalar.h"
-#include <stddef.h>  //ptrdiff_h
-#include <string.h>
-
-struct b3FileUtils
-{
-	b3FileUtils()
-	{
-	}
-	virtual ~b3FileUtils()
-	{
-	}
-
-	static bool findFile(const char* orgFileName, char* relativeFileName, int maxRelativeFileNameMaxLen)
-	{
-		FILE* f = 0;
-		f = fopen(orgFileName, "rb");
-		if (f)
-		{
-			//printf("original file found: [%s]\n", orgFileName);
-			sprintf(relativeFileName, "%s", orgFileName);
-			fclose(f);
-			return true;
-		}
-
-		//printf("Trying various directories, relative to current working directory\n");
-		const char* prefix[] = {"./", "./data/", "../data/", "../../data/", "../../../data/", "../../../../data/"};
-		int numPrefixes = sizeof(prefix) / sizeof(const char*);
-
-		f = 0;
-		bool fileFound = false;
-
-		for (int i = 0; !f && i < numPrefixes; i++)
-		{
-#ifdef _MSC_VER
-			sprintf_s(relativeFileName, maxRelativeFileNameMaxLen, "%s%s", prefix[i], orgFileName);
-#else
-			sprintf(relativeFileName, "%s%s", prefix[i], orgFileName);
-#endif
-			f = fopen(relativeFileName, "rb");
-			if (f)
-			{
-				fileFound = true;
-				break;
-			}
-		}
-		if (f)
-		{
-			fclose(f);
-		}
-
-		return fileFound;
-	}
-
-	static const char* strip2(const char* name, const char* pattern)
-	{
-		size_t const patlen = strlen(pattern);
-		size_t patcnt = 0;
-		const char* oriptr;
-		const char* patloc;
-		// find how many times the pattern occurs in the original string
-		for (oriptr = name; (patloc = strstr(oriptr, pattern)); oriptr = patloc + patlen)
-		{
-			patcnt++;
-		}
-		return oriptr;
-	}
-
-	static int extractPath(const char* fileName, char* path, int maxPathLength)
-	{
-		const char* stripped = strip2(fileName, "/");
-		stripped = strip2(stripped, "\\");
-
-		ptrdiff_t len = stripped - fileName;
-		b3Assert((len + 1) < maxPathLength);
-
-		if (len && ((len + 1) < maxPathLength))
-		{
-			for (int i = 0; i < len; i++)
-			{
-				path[i] = fileName[i];
-			}
-			path[len] = 0;
-		}
-		else
-		{
-			len = 0;
-			b3Assert(maxPathLength > 0);
-			if (maxPathLength > 0)
-			{
-				path[len] = 0;
-			}
-		}
-		return len;
-	}
-
-	static char toLowerChar(const char t)
-	{
-		if (t >= (char)'A' && t <= (char)'Z')
-			return t + ((char)'a' - (char)'A');
-		else
-			return t;
-	}
-
-	static void toLower(char* str)
-	{
-		int len = strlen(str);
-		for (int i = 0; i < len; i++)
-		{
-			str[i] = toLowerChar(str[i]);
-		}
-	}
-
-	/*static const char* strip2(const char* name, const char* pattern)
-	{
-		size_t const patlen = strlen(pattern);
-		size_t patcnt = 0;
-		const char * oriptr;
-		const char * patloc;
-		// find how many times the pattern occurs in the original string
-		for (oriptr = name; patloc = strstr(oriptr, pattern); oriptr = patloc + patlen)
-		{
-			patcnt++;
-		}
-		return oriptr;
-	}
-	*/
-};
-#endif  //B3_FILE_UTILS_H
diff --git a/thirdparty/bullet/Bullet3Common/b3HashMap.h b/thirdparty/bullet/Bullet3Common/b3HashMap.h
deleted file mode 100644
index 3009e2cf2f..0000000000
--- a/thirdparty/bullet/Bullet3Common/b3HashMap.h
+++ /dev/null
@@ -1,462 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_HASH_MAP_H
-#define B3_HASH_MAP_H
-
-#include "b3AlignedObjectArray.h"
-
-#include <string>
-
-///very basic hashable string implementation, compatible with b3HashMap
-struct b3HashString
-{
-	std::string m_string;
-	unsigned int m_hash;
-
-	B3_FORCE_INLINE unsigned int getHash() const
-	{
-		return m_hash;
-	}
-
-	b3HashString(const char* name)
-		: m_string(name)
-	{
-		/* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */
-		static const unsigned int InitialFNV = 2166136261u;
-		static const unsigned int FNVMultiple = 16777619u;
-
-		/* Fowler / Noll / Vo (FNV) Hash */
-		unsigned int hash = InitialFNV;
-		int len = m_string.length();
-		for (int i = 0; i < len; i++)
-		{
-			hash = hash ^ (m_string[i]); /* xor  the low 8 bits */
-			hash = hash * FNVMultiple;   /* multiply by the magic number */
-		}
-		m_hash = hash;
-	}
-
-	int portableStringCompare(const char* src, const char* dst) const
-	{
-		int ret = 0;
-
-		while (!(ret = *(unsigned char*)src - *(unsigned char*)dst) && *dst)
-			++src, ++dst;
-
-		if (ret < 0)
-			ret = -1;
-		else if (ret > 0)
-			ret = 1;
-
-		return (ret);
-	}
-
-	bool equals(const b3HashString& other) const
-	{
-		return (m_string == other.m_string);
-	}
-};
-
-const int B3_HASH_NULL = 0xffffffff;
-
-class b3HashInt
-{
-	int m_uid;
-
-public:
-	b3HashInt(int uid) : m_uid(uid)
-	{
-	}
-
-	int getUid1() const
-	{
-		return m_uid;
-	}
-
-	void setUid1(int uid)
-	{
-		m_uid = uid;
-	}
-
-	bool equals(const b3HashInt& other) const
-	{
-		return getUid1() == other.getUid1();
-	}
-	//to our success
-	B3_FORCE_INLINE unsigned int getHash() const
-	{
-		int key = m_uid;
-		// Thomas Wang's hash
-		key += ~(key << 15);
-		key ^= (key >> 10);
-		key += (key << 3);
-		key ^= (key >> 6);
-		key += ~(key << 11);
-		key ^= (key >> 16);
-		return key;
-	}
-};
-
-class b3HashPtr
-{
-	union {
-		const void* m_pointer;
-		int m_hashValues[2];
-	};
-
-public:
-	b3HashPtr(const void* ptr)
-		: m_pointer(ptr)
-	{
-	}
-
-	const void* getPointer() const
-	{
-		return m_pointer;
-	}
-
-	bool equals(const b3HashPtr& other) const
-	{
-		return getPointer() == other.getPointer();
-	}
-
-	//to our success
-	B3_FORCE_INLINE unsigned int getHash() const
-	{
-		const bool VOID_IS_8 = ((sizeof(void*) == 8));
-
-		int key = VOID_IS_8 ? m_hashValues[0] + m_hashValues[1] : m_hashValues[0];
-
-		// Thomas Wang's hash
-		key += ~(key << 15);
-		key ^= (key >> 10);
-		key += (key << 3);
-		key ^= (key >> 6);
-		key += ~(key << 11);
-		key ^= (key >> 16);
-		return key;
-	}
-};
-
-template <class Value>
-class b3HashKeyPtr
-{
-	int m_uid;
-
-public:
-	b3HashKeyPtr(int uid) : m_uid(uid)
-	{
-	}
-
-	int getUid1() const
-	{
-		return m_uid;
-	}
-
-	bool equals(const b3HashKeyPtr<Value>& other) const
-	{
-		return getUid1() == other.getUid1();
-	}
-
-	//to our success
-	B3_FORCE_INLINE unsigned int getHash() const
-	{
-		int key = m_uid;
-		// Thomas Wang's hash
-		key += ~(key << 15);
-		key ^= (key >> 10);
-		key += (key << 3);
-		key ^= (key >> 6);
-		key += ~(key << 11);
-		key ^= (key >> 16);
-		return key;
-	}
-};
-
-template <class Value>
-class b3HashKey
-{
-	int m_uid;
-
-public:
-	b3HashKey(int uid) : m_uid(uid)
-	{
-	}
-
-	int getUid1() const
-	{
-		return m_uid;
-	}
-
-	bool equals(const b3HashKey<Value>& other) const
-	{
-		return getUid1() == other.getUid1();
-	}
-	//to our success
-	B3_FORCE_INLINE unsigned int getHash() const
-	{
-		int key = m_uid;
-		// Thomas Wang's hash
-		key += ~(key << 15);
-		key ^= (key >> 10);
-		key += (key << 3);
-		key ^= (key >> 6);
-		key += ~(key << 11);
-		key ^= (key >> 16);
-		return key;
-	}
-};
-
-///The b3HashMap template class implements a generic and lightweight hashmap.
-///A basic sample of how to use b3HashMap is located in Demos\BasicDemo\main.cpp
-template <class Key, class Value>
-class b3HashMap
-{
-protected:
-	b3AlignedObjectArray<int> m_hashTable;
-	b3AlignedObjectArray<int> m_next;
-
-	b3AlignedObjectArray<Value> m_valueArray;
-	b3AlignedObjectArray<Key> m_keyArray;
-
-	void growTables(const Key& /*key*/)
-	{
-		int newCapacity = m_valueArray.capacity();
-
-		if (m_hashTable.size() < newCapacity)
-		{
-			//grow hashtable and next table
-			int curHashtableSize = m_hashTable.size();
-
-			m_hashTable.resize(newCapacity);
-			m_next.resize(newCapacity);
-
-			int i;
-
-			for (i = 0; i < newCapacity; ++i)
-			{
-				m_hashTable[i] = B3_HASH_NULL;
-			}
-			for (i = 0; i < newCapacity; ++i)
-			{
-				m_next[i] = B3_HASH_NULL;
-			}
-
-			for (i = 0; i < curHashtableSize; i++)
-			{
-				//const Value& value = m_valueArray[i];
-				//const Key& key = m_keyArray[i];
-
-				int hashValue = m_keyArray[i].getHash() & (m_valueArray.capacity() - 1);  // New hash value with new mask
-				m_next[i] = m_hashTable[hashValue];
-				m_hashTable[hashValue] = i;
-			}
-		}
-	}
-
-public:
-	void insert(const Key& key, const Value& value)
-	{
-		int hash = key.getHash() & (m_valueArray.capacity() - 1);
-
-		//replace value if the key is already there
-		int index = findIndex(key);
-		if (index != B3_HASH_NULL)
-		{
-			m_valueArray[index] = value;
-			return;
-		}
-
-		int count = m_valueArray.size();
-		int oldCapacity = m_valueArray.capacity();
-		m_valueArray.push_back(value);
-		m_keyArray.push_back(key);
-
-		int newCapacity = m_valueArray.capacity();
-		if (oldCapacity < newCapacity)
-		{
-			growTables(key);
-			//hash with new capacity
-			hash = key.getHash() & (m_valueArray.capacity() - 1);
-		}
-		m_next[count] = m_hashTable[hash];
-		m_hashTable[hash] = count;
-	}
-
-	void remove(const Key& key)
-	{
-		int hash = key.getHash() & (m_valueArray.capacity() - 1);
-
-		int pairIndex = findIndex(key);
-
-		if (pairIndex == B3_HASH_NULL)
-		{
-			return;
-		}
-
-		// Remove the pair from the hash table.
-		int index = m_hashTable[hash];
-		b3Assert(index != B3_HASH_NULL);
-
-		int previous = B3_HASH_NULL;
-		while (index != pairIndex)
-		{
-			previous = index;
-			index = m_next[index];
-		}
-
-		if (previous != B3_HASH_NULL)
-		{
-			b3Assert(m_next[previous] == pairIndex);
-			m_next[previous] = m_next[pairIndex];
-		}
-		else
-		{
-			m_hashTable[hash] = m_next[pairIndex];
-		}
-
-		// We now move the last pair into spot of the
-		// pair being removed. We need to fix the hash
-		// table indices to support the move.
-
-		int lastPairIndex = m_valueArray.size() - 1;
-
-		// If the removed pair is the last pair, we are done.
-		if (lastPairIndex == pairIndex)
-		{
-			m_valueArray.pop_back();
-			m_keyArray.pop_back();
-			return;
-		}
-
-		// Remove the last pair from the hash table.
-		int lastHash = m_keyArray[lastPairIndex].getHash() & (m_valueArray.capacity() - 1);
-
-		index = m_hashTable[lastHash];
-		b3Assert(index != B3_HASH_NULL);
-
-		previous = B3_HASH_NULL;
-		while (index != lastPairIndex)
-		{
-			previous = index;
-			index = m_next[index];
-		}
-
-		if (previous != B3_HASH_NULL)
-		{
-			b3Assert(m_next[previous] == lastPairIndex);
-			m_next[previous] = m_next[lastPairIndex];
-		}
-		else
-		{
-			m_hashTable[lastHash] = m_next[lastPairIndex];
-		}
-
-		// Copy the last pair into the remove pair's spot.
-		m_valueArray[pairIndex] = m_valueArray[lastPairIndex];
-		m_keyArray[pairIndex] = m_keyArray[lastPairIndex];
-
-		// Insert the last pair into the hash table
-		m_next[pairIndex] = m_hashTable[lastHash];
-		m_hashTable[lastHash] = pairIndex;
-
-		m_valueArray.pop_back();
-		m_keyArray.pop_back();
-	}
-
-	int size() const
-	{
-		return m_valueArray.size();
-	}
-
-	const Value* getAtIndex(int index) const
-	{
-		b3Assert(index < m_valueArray.size());
-
-		return &m_valueArray[index];
-	}
-
-	Value* getAtIndex(int index)
-	{
-		b3Assert(index < m_valueArray.size());
-
-		return &m_valueArray[index];
-	}
-
-	Key getKeyAtIndex(int index)
-	{
-		b3Assert(index < m_keyArray.size());
-		return m_keyArray[index];
-	}
-
-	const Key getKeyAtIndex(int index) const
-	{
-		b3Assert(index < m_keyArray.size());
-		return m_keyArray[index];
-	}
-
-	Value* operator[](const Key& key)
-	{
-		return find(key);
-	}
-
-	const Value* find(const Key& key) const
-	{
-		int index = findIndex(key);
-		if (index == B3_HASH_NULL)
-		{
-			return NULL;
-		}
-		return &m_valueArray[index];
-	}
-
-	Value* find(const Key& key)
-	{
-		int index = findIndex(key);
-		if (index == B3_HASH_NULL)
-		{
-			return NULL;
-		}
-		return &m_valueArray[index];
-	}
-
-	int findIndex(const Key& key) const
-	{
-		unsigned int hash = key.getHash() & (m_valueArray.capacity() - 1);
-
-		if (hash >= (unsigned int)m_hashTable.size())
-		{
-			return B3_HASH_NULL;
-		}
-
-		int index = m_hashTable[hash];
-		while ((index != B3_HASH_NULL) && key.equals(m_keyArray[index]) == false)
-		{
-			index = m_next[index];
-		}
-		return index;
-	}
-
-	void clear()
-	{
-		m_hashTable.clear();
-		m_next.clear();
-		m_valueArray.clear();
-		m_keyArray.clear();
-	}
-};
-
-#endif  //B3_HASH_MAP_H
diff --git a/thirdparty/bullet/Bullet3Common/b3Logging.cpp b/thirdparty/bullet/Bullet3Common/b3Logging.cpp
deleted file mode 100644
index 9c9f7c09ea..0000000000
--- a/thirdparty/bullet/Bullet3Common/b3Logging.cpp
+++ /dev/null
@@ -1,145 +0,0 @@
-/*
-Copyright (c) 2013 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Erwin Coumans
-
-#include "b3Logging.h"
-
-#include <stdio.h>
-#include <stdarg.h>
-
-#ifdef _WIN32
-#include <windows.h>
-#endif  //_WIN32
-
-void b3PrintfFuncDefault(const char* msg)
-{
-#ifdef _WIN32
-	OutputDebugStringA(msg);
-#endif
-	printf("%s", msg);
-	//is this portable?
-	fflush(stdout);
-}
-
-void b3WarningMessageFuncDefault(const char* msg)
-{
-#ifdef _WIN32
-	OutputDebugStringA(msg);
-#endif
-	printf("%s", msg);
-	//is this portable?
-	fflush(stdout);
-}
-
-void b3ErrorMessageFuncDefault(const char* msg)
-{
-#ifdef _WIN32
-	OutputDebugStringA(msg);
-#endif
-	printf("%s", msg);
-
-	//is this portable?
-	fflush(stdout);
-}
-
-static b3PrintfFunc* b3s_printfFunc = b3PrintfFuncDefault;
-static b3WarningMessageFunc* b3s_warningMessageFunc = b3WarningMessageFuncDefault;
-static b3ErrorMessageFunc* b3s_errorMessageFunc = b3ErrorMessageFuncDefault;
-
-///The developer can route b3Printf output using their own implementation
-void b3SetCustomPrintfFunc(b3PrintfFunc* printfFunc)
-{
-	b3s_printfFunc = printfFunc;
-}
-void b3SetCustomWarningMessageFunc(b3PrintfFunc* warningMessageFunc)
-{
-	b3s_warningMessageFunc = warningMessageFunc;
-}
-void b3SetCustomErrorMessageFunc(b3PrintfFunc* errorMessageFunc)
-{
-	b3s_errorMessageFunc = errorMessageFunc;
-}
-
-//#define B3_MAX_DEBUG_STRING_LENGTH 2048
-#define B3_MAX_DEBUG_STRING_LENGTH 32768
-
-void b3OutputPrintfVarArgsInternal(const char* str, ...)
-{
-	char strDebug[B3_MAX_DEBUG_STRING_LENGTH] = {0};
-	va_list argList;
-	va_start(argList, str);
-#ifdef _MSC_VER
-	vsprintf_s(strDebug, B3_MAX_DEBUG_STRING_LENGTH, str, argList);
-#else
-	vsnprintf(strDebug, B3_MAX_DEBUG_STRING_LENGTH, str, argList);
-#endif
-	(b3s_printfFunc)(strDebug);
-	va_end(argList);
-}
-void b3OutputWarningMessageVarArgsInternal(const char* str, ...)
-{
-	char strDebug[B3_MAX_DEBUG_STRING_LENGTH] = {0};
-	va_list argList;
-	va_start(argList, str);
-#ifdef _MSC_VER
-	vsprintf_s(strDebug, B3_MAX_DEBUG_STRING_LENGTH, str, argList);
-#else
-	vsnprintf(strDebug, B3_MAX_DEBUG_STRING_LENGTH, str, argList);
-#endif
-	(b3s_warningMessageFunc)(strDebug);
-	va_end(argList);
-}
-void b3OutputErrorMessageVarArgsInternal(const char* str, ...)
-{
-	char strDebug[B3_MAX_DEBUG_STRING_LENGTH] = {0};
-	va_list argList;
-	va_start(argList, str);
-#ifdef _MSC_VER
-	vsprintf_s(strDebug, B3_MAX_DEBUG_STRING_LENGTH, str, argList);
-#else
-	vsnprintf(strDebug, B3_MAX_DEBUG_STRING_LENGTH, str, argList);
-#endif
-	(b3s_errorMessageFunc)(strDebug);
-	va_end(argList);
-}
-
-void b3EnterProfileZoneDefault(const char* name)
-{
-}
-void b3LeaveProfileZoneDefault()
-{
-}
-static b3EnterProfileZoneFunc* b3s_enterFunc = b3EnterProfileZoneDefault;
-static b3LeaveProfileZoneFunc* b3s_leaveFunc = b3LeaveProfileZoneDefault;
-void b3EnterProfileZone(const char* name)
-{
-	(b3s_enterFunc)(name);
-}
-void b3LeaveProfileZone()
-{
-	(b3s_leaveFunc)();
-}
-
-void b3SetCustomEnterProfileZoneFunc(b3EnterProfileZoneFunc* enterFunc)
-{
-	b3s_enterFunc = enterFunc;
-}
-void b3SetCustomLeaveProfileZoneFunc(b3LeaveProfileZoneFunc* leaveFunc)
-{
-	b3s_leaveFunc = leaveFunc;
-}
-
-#ifndef _MSC_VER
-#undef vsprintf_s
-#endif
diff --git a/thirdparty/bullet/Bullet3Common/b3Logging.h b/thirdparty/bullet/Bullet3Common/b3Logging.h
deleted file mode 100644
index f61149de77..0000000000
--- a/thirdparty/bullet/Bullet3Common/b3Logging.h
+++ /dev/null
@@ -1,74 +0,0 @@
-
-#ifndef B3_LOGGING_H
-#define B3_LOGGING_H
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-///We add the do/while so that the statement "if (condition) b3Printf("test"); else {...}" would fail
-///You can also customize the message by uncommenting out a different line below
-#define b3Printf(...) b3OutputPrintfVarArgsInternal(__VA_ARGS__)
-	//#define b3Printf(...) do {b3OutputPrintfVarArgsInternal("b3Printf[%s,%d]:",__FILE__,__LINE__);b3OutputPrintfVarArgsInternal(__VA_ARGS__); } while(0)
-	//#define b3Printf b3OutputPrintfVarArgsInternal
-	//#define b3Printf(...) printf(__VA_ARGS__)
-	//#define b3Printf(...)
-#define b3Warning(...) do{	b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n", __FILE__, __LINE__);b3OutputWarningMessageVarArgsInternal(__VA_ARGS__);} while (0)
-#define b3Error(...)do	{b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n", __FILE__, __LINE__);b3OutputErrorMessageVarArgsInternal(__VA_ARGS__);} while (0)
-#ifndef B3_NO_PROFILE
-
-	void b3EnterProfileZone(const char* name);
-	void b3LeaveProfileZone();
-#ifdef __cplusplus
-
-	class b3ProfileZone
-	{
-	public:
-		b3ProfileZone(const char* name)
-		{
-			b3EnterProfileZone(name);
-		}
-
-		~b3ProfileZone()
-		{
-			b3LeaveProfileZone();
-		}
-	};
-
-#define B3_PROFILE(name) b3ProfileZone __profile(name)
-#endif
-
-#else  //B3_NO_PROFILE
-
-#define B3_PROFILE(name)
-#define b3StartProfile(a)
-#define b3StopProfile
-
-#endif  //#ifndef B3_NO_PROFILE
-
-	typedef void(b3PrintfFunc)(const char* msg);
-	typedef void(b3WarningMessageFunc)(const char* msg);
-	typedef void(b3ErrorMessageFunc)(const char* msg);
-	typedef void(b3EnterProfileZoneFunc)(const char* msg);
-	typedef void(b3LeaveProfileZoneFunc)();
-
-	///The developer can route b3Printf output using their own implementation
-	void b3SetCustomPrintfFunc(b3PrintfFunc* printfFunc);
-	void b3SetCustomWarningMessageFunc(b3WarningMessageFunc* warningMsgFunc);
-	void b3SetCustomErrorMessageFunc(b3ErrorMessageFunc* errorMsgFunc);
-
-	///Set custom profile zone functions (zones can be nested)
-	void b3SetCustomEnterProfileZoneFunc(b3EnterProfileZoneFunc* enterFunc);
-	void b3SetCustomLeaveProfileZoneFunc(b3LeaveProfileZoneFunc* leaveFunc);
-
-	///Don't use those internal functions directly, use the b3Printf or b3SetCustomPrintfFunc instead (or warning/error version)
-	void b3OutputPrintfVarArgsInternal(const char* str, ...);
-	void b3OutputWarningMessageVarArgsInternal(const char* str, ...);
-	void b3OutputErrorMessageVarArgsInternal(const char* str, ...);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  //B3_LOGGING_H
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3Common/b3Matrix3x3.h b/thirdparty/bullet/Bullet3Common/b3Matrix3x3.h
deleted file mode 100644
index 6c46536a81..0000000000
--- a/thirdparty/bullet/Bullet3Common/b3Matrix3x3.h
+++ /dev/null
@@ -1,1354 +0,0 @@
-/*
-Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_MATRIX3x3_H
-#define B3_MATRIX3x3_H
-
-#include "b3Vector3.h"
-#include "b3Quaternion.h"
-#include <stdio.h>
-
-#ifdef B3_USE_SSE
-//const __m128 B3_ATTRIBUTE_ALIGNED16(b3v2220) = {2.0f, 2.0f, 2.0f, 0.0f};
-const __m128 B3_ATTRIBUTE_ALIGNED16(b3vMPPP) = {-0.0f, +0.0f, +0.0f, +0.0f};
-#endif
-
-#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
-const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3v1000) = {1.0f, 0.0f, 0.0f, 0.0f};
-const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3v0100) = {0.0f, 1.0f, 0.0f, 0.0f};
-const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3v0010) = {0.0f, 0.0f, 1.0f, 0.0f};
-#endif
-
-#ifdef B3_USE_DOUBLE_PRECISION
-#define b3Matrix3x3Data b3Matrix3x3DoubleData
-#else
-#define b3Matrix3x3Data b3Matrix3x3FloatData
-#endif  //B3_USE_DOUBLE_PRECISION
-
-/**@brief The b3Matrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with b3Quaternion, b3Transform and b3Vector3.
-* Make sure to only include a pure orthogonal matrix without scaling. */
-B3_ATTRIBUTE_ALIGNED16(class)
-b3Matrix3x3
-{
-	///Data storage for the matrix, each vector is a row of the matrix
-	b3Vector3 m_el[3];
-
-public:
-	/** @brief No initializaion constructor */
-	b3Matrix3x3() {}
-
-	//		explicit b3Matrix3x3(const b3Scalar *m) { setFromOpenGLSubMatrix(m); }
-
-	/**@brief Constructor from Quaternion */
-	explicit b3Matrix3x3(const b3Quaternion& q) { setRotation(q); }
-	/*
-	template <typename b3Scalar>
-	Matrix3x3(const b3Scalar& yaw, const b3Scalar& pitch, const b3Scalar& roll)
-	{ 
-	setEulerYPR(yaw, pitch, roll);
-	}
-	*/
-	/** @brief Constructor with row major formatting */
-	b3Matrix3x3(const b3Scalar& xx, const b3Scalar& xy, const b3Scalar& xz,
-				const b3Scalar& yx, const b3Scalar& yy, const b3Scalar& yz,
-				const b3Scalar& zx, const b3Scalar& zy, const b3Scalar& zz)
-	{
-		setValue(xx, xy, xz,
-				 yx, yy, yz,
-				 zx, zy, zz);
-	}
-
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON)
-	B3_FORCE_INLINE b3Matrix3x3(const b3SimdFloat4 v0, const b3SimdFloat4 v1, const b3SimdFloat4 v2)
-	{
-		m_el[0].mVec128 = v0;
-		m_el[1].mVec128 = v1;
-		m_el[2].mVec128 = v2;
-	}
-
-	B3_FORCE_INLINE b3Matrix3x3(const b3Vector3& v0, const b3Vector3& v1, const b3Vector3& v2)
-	{
-		m_el[0] = v0;
-		m_el[1] = v1;
-		m_el[2] = v2;
-	}
-
-	// Copy constructor
-	B3_FORCE_INLINE b3Matrix3x3(const b3Matrix3x3& rhs)
-	{
-		m_el[0].mVec128 = rhs.m_el[0].mVec128;
-		m_el[1].mVec128 = rhs.m_el[1].mVec128;
-		m_el[2].mVec128 = rhs.m_el[2].mVec128;
-	}
-
-	// Assignment Operator
-	B3_FORCE_INLINE b3Matrix3x3& operator=(const b3Matrix3x3& m)
-	{
-		m_el[0].mVec128 = m.m_el[0].mVec128;
-		m_el[1].mVec128 = m.m_el[1].mVec128;
-		m_el[2].mVec128 = m.m_el[2].mVec128;
-
-		return *this;
-	}
-
-#else
-
-	/** @brief Copy constructor */
-	B3_FORCE_INLINE b3Matrix3x3(const b3Matrix3x3& other)
-	{
-		m_el[0] = other.m_el[0];
-		m_el[1] = other.m_el[1];
-		m_el[2] = other.m_el[2];
-	}
-
-	/** @brief Assignment Operator */
-	B3_FORCE_INLINE b3Matrix3x3& operator=(const b3Matrix3x3& other)
-	{
-		m_el[0] = other.m_el[0];
-		m_el[1] = other.m_el[1];
-		m_el[2] = other.m_el[2];
-		return *this;
-	}
-
-#endif
-
-	/** @brief Get a column of the matrix as a vector 
-	*  @param i Column number 0 indexed */
-	B3_FORCE_INLINE b3Vector3 getColumn(int i) const
-	{
-		return b3MakeVector3(m_el[0][i], m_el[1][i], m_el[2][i]);
-	}
-
-	/** @brief Get a row of the matrix as a vector 
-	*  @param i Row number 0 indexed */
-	B3_FORCE_INLINE const b3Vector3& getRow(int i) const
-	{
-		b3FullAssert(0 <= i && i < 3);
-		return m_el[i];
-	}
-
-	/** @brief Get a mutable reference to a row of the matrix as a vector 
-	*  @param i Row number 0 indexed */
-	B3_FORCE_INLINE b3Vector3& operator[](int i)
-	{
-		b3FullAssert(0 <= i && i < 3);
-		return m_el[i];
-	}
-
-	/** @brief Get a const reference to a row of the matrix as a vector 
-	*  @param i Row number 0 indexed */
-	B3_FORCE_INLINE const b3Vector3& operator[](int i) const
-	{
-		b3FullAssert(0 <= i && i < 3);
-		return m_el[i];
-	}
-
-	/** @brief Multiply by the target matrix on the right
-	*  @param m Rotation matrix to be applied 
-	* Equivilant to this = this * m */
-	b3Matrix3x3& operator*=(const b3Matrix3x3& m);
-
-	/** @brief Adds by the target matrix on the right
-	*  @param m matrix to be applied 
-	* Equivilant to this = this + m */
-	b3Matrix3x3& operator+=(const b3Matrix3x3& m);
-
-	/** @brief Substractss by the target matrix on the right
-	*  @param m matrix to be applied 
-	* Equivilant to this = this - m */
-	b3Matrix3x3& operator-=(const b3Matrix3x3& m);
-
-	/** @brief Set from the rotational part of a 4x4 OpenGL matrix
-	*  @param m A pointer to the beginning of the array of scalars*/
-	void setFromOpenGLSubMatrix(const b3Scalar* m)
-	{
-		m_el[0].setValue(m[0], m[4], m[8]);
-		m_el[1].setValue(m[1], m[5], m[9]);
-		m_el[2].setValue(m[2], m[6], m[10]);
-	}
-	/** @brief Set the values of the matrix explicitly (row major)
-	*  @param xx Top left
-	*  @param xy Top Middle
-	*  @param xz Top Right
-	*  @param yx Middle Left
-	*  @param yy Middle Middle
-	*  @param yz Middle Right
-	*  @param zx Bottom Left
-	*  @param zy Bottom Middle
-	*  @param zz Bottom Right*/
-	void setValue(const b3Scalar& xx, const b3Scalar& xy, const b3Scalar& xz,
-				  const b3Scalar& yx, const b3Scalar& yy, const b3Scalar& yz,
-				  const b3Scalar& zx, const b3Scalar& zy, const b3Scalar& zz)
-	{
-		m_el[0].setValue(xx, xy, xz);
-		m_el[1].setValue(yx, yy, yz);
-		m_el[2].setValue(zx, zy, zz);
-	}
-
-	/** @brief Set the matrix from a quaternion
-	*  @param q The Quaternion to match */
-	void setRotation(const b3Quaternion& q)
-	{
-		b3Scalar d = q.length2();
-		b3FullAssert(d != b3Scalar(0.0));
-		b3Scalar s = b3Scalar(2.0) / d;
-
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		__m128 vs, Q = q.get128();
-		__m128i Qi = b3CastfTo128i(Q);
-		__m128 Y, Z;
-		__m128 V1, V2, V3;
-		__m128 V11, V21, V31;
-		__m128 NQ = _mm_xor_ps(Q, b3vMzeroMask);
-		__m128i NQi = b3CastfTo128i(NQ);
-
-		V1 = b3CastiTo128f(_mm_shuffle_epi32(Qi, B3_SHUFFLE(1, 0, 2, 3)));  // Y X Z W
-		V2 = _mm_shuffle_ps(NQ, Q, B3_SHUFFLE(0, 0, 1, 3));                 // -X -X  Y  W
-		V3 = b3CastiTo128f(_mm_shuffle_epi32(Qi, B3_SHUFFLE(2, 1, 0, 3)));  // Z Y X W
-		V1 = _mm_xor_ps(V1, b3vMPPP);                                       //	change the sign of the first element
-
-		V11 = b3CastiTo128f(_mm_shuffle_epi32(Qi, B3_SHUFFLE(1, 1, 0, 3)));  // Y Y X W
-		V21 = _mm_unpackhi_ps(Q, Q);                                         //  Z  Z  W  W
-		V31 = _mm_shuffle_ps(Q, NQ, B3_SHUFFLE(0, 2, 0, 3));                 //  X  Z -X -W
-
-		V2 = V2 * V1;   //
-		V1 = V1 * V11;  //
-		V3 = V3 * V31;  //
-
-		V11 = _mm_shuffle_ps(NQ, Q, B3_SHUFFLE(2, 3, 1, 3));                //	-Z -W  Y  W
-		V11 = V11 * V21;                                                    //
-		V21 = _mm_xor_ps(V21, b3vMPPP);                                     //	change the sign of the first element
-		V31 = _mm_shuffle_ps(Q, NQ, B3_SHUFFLE(3, 3, 1, 3));                //	 W  W -Y -W
-		V31 = _mm_xor_ps(V31, b3vMPPP);                                     //	change the sign of the first element
-		Y = b3CastiTo128f(_mm_shuffle_epi32(NQi, B3_SHUFFLE(3, 2, 0, 3)));  // -W -Z -X -W
-		Z = b3CastiTo128f(_mm_shuffle_epi32(Qi, B3_SHUFFLE(1, 0, 1, 3)));   //  Y  X  Y  W
-
-		vs = _mm_load_ss(&s);
-		V21 = V21 * Y;
-		V31 = V31 * Z;
-
-		V1 = V1 + V11;
-		V2 = V2 + V21;
-		V3 = V3 + V31;
-
-		vs = b3_splat3_ps(vs, 0);
-		//	s ready
-		V1 = V1 * vs;
-		V2 = V2 * vs;
-		V3 = V3 * vs;
-
-		V1 = V1 + b3v1000;
-		V2 = V2 + b3v0100;
-		V3 = V3 + b3v0010;
-
-		m_el[0] = b3MakeVector3(V1);
-		m_el[1] = b3MakeVector3(V2);
-		m_el[2] = b3MakeVector3(V3);
-#else
-		b3Scalar xs = q.getX() * s, ys = q.getY() * s, zs = q.getZ() * s;
-		b3Scalar wx = q.getW() * xs, wy = q.getW() * ys, wz = q.getW() * zs;
-		b3Scalar xx = q.getX() * xs, xy = q.getX() * ys, xz = q.getX() * zs;
-		b3Scalar yy = q.getY() * ys, yz = q.getY() * zs, zz = q.getZ() * zs;
-		setValue(
-			b3Scalar(1.0) - (yy + zz), xy - wz, xz + wy,
-			xy + wz, b3Scalar(1.0) - (xx + zz), yz - wx,
-			xz - wy, yz + wx, b3Scalar(1.0) - (xx + yy));
-#endif
-	}
-
-	/** @brief Set the matrix from euler angles using YPR around YXZ respectively
-	*  @param yaw Yaw about Y axis
-	*  @param pitch Pitch about X axis
-	*  @param roll Roll about Z axis 
-	*/
-	void setEulerYPR(const b3Scalar& yaw, const b3Scalar& pitch, const b3Scalar& roll)
-	{
-		setEulerZYX(roll, pitch, yaw);
-	}
-
-	/** @brief Set the matrix from euler angles YPR around ZYX axes
-	* @param eulerX Roll about X axis
-	* @param eulerY Pitch around Y axis
-	* @param eulerZ Yaw aboud Z axis
-	* 
-	* These angles are used to produce a rotation matrix. The euler
-	* angles are applied in ZYX order. I.e a vector is first rotated 
-	* about X then Y and then Z
-	**/
-	void setEulerZYX(b3Scalar eulerX, b3Scalar eulerY, b3Scalar eulerZ)
-	{
-		///@todo proposed to reverse this since it's labeled zyx but takes arguments xyz and it will match all other parts of the code
-		b3Scalar ci(b3Cos(eulerX));
-		b3Scalar cj(b3Cos(eulerY));
-		b3Scalar ch(b3Cos(eulerZ));
-		b3Scalar si(b3Sin(eulerX));
-		b3Scalar sj(b3Sin(eulerY));
-		b3Scalar sh(b3Sin(eulerZ));
-		b3Scalar cc = ci * ch;
-		b3Scalar cs = ci * sh;
-		b3Scalar sc = si * ch;
-		b3Scalar ss = si * sh;
-
-		setValue(cj * ch, sj * sc - cs, sj * cc + ss,
-				 cj * sh, sj * ss + cc, sj * cs - sc,
-				 -sj, cj * si, cj * ci);
-	}
-
-	/**@brief Set the matrix to the identity */
-	void setIdentity()
-	{
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON)
-		m_el[0] = b3MakeVector3(b3v1000);
-		m_el[1] = b3MakeVector3(b3v0100);
-		m_el[2] = b3MakeVector3(b3v0010);
-#else
-		setValue(b3Scalar(1.0), b3Scalar(0.0), b3Scalar(0.0),
-				 b3Scalar(0.0), b3Scalar(1.0), b3Scalar(0.0),
-				 b3Scalar(0.0), b3Scalar(0.0), b3Scalar(1.0));
-#endif
-	}
-
-	static const b3Matrix3x3& getIdentity()
-	{
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON)
-		static const b3Matrix3x3
-			identityMatrix(b3v1000, b3v0100, b3v0010);
-#else
-		static const b3Matrix3x3
-			identityMatrix(
-				b3Scalar(1.0), b3Scalar(0.0), b3Scalar(0.0),
-				b3Scalar(0.0), b3Scalar(1.0), b3Scalar(0.0),
-				b3Scalar(0.0), b3Scalar(0.0), b3Scalar(1.0));
-#endif
-		return identityMatrix;
-	}
-
-	/**@brief Fill the rotational part of an OpenGL matrix and clear the shear/perspective
-	* @param m The array to be filled */
-	void getOpenGLSubMatrix(b3Scalar * m) const
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		__m128 v0 = m_el[0].mVec128;
-		__m128 v1 = m_el[1].mVec128;
-		__m128 v2 = m_el[2].mVec128;  //  x2 y2 z2 w2
-		__m128* vm = (__m128*)m;
-		__m128 vT;
-
-		v2 = _mm_and_ps(v2, b3vFFF0fMask);  //  x2 y2 z2 0
-
-		vT = _mm_unpackhi_ps(v0, v1);  //	z0 z1 * *
-		v0 = _mm_unpacklo_ps(v0, v1);  //	x0 x1 y0 y1
-
-		v1 = _mm_shuffle_ps(v0, v2, B3_SHUFFLE(2, 3, 1, 3));                    // y0 y1 y2 0
-		v0 = _mm_shuffle_ps(v0, v2, B3_SHUFFLE(0, 1, 0, 3));                    // x0 x1 x2 0
-		v2 = b3CastdTo128f(_mm_move_sd(b3CastfTo128d(v2), b3CastfTo128d(vT)));  // z0 z1 z2 0
-
-		vm[0] = v0;
-		vm[1] = v1;
-		vm[2] = v2;
-#elif defined(B3_USE_NEON)
-		// note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions.
-		static const uint32x2_t zMask = (const uint32x2_t){-1, 0};
-		float32x4_t* vm = (float32x4_t*)m;
-		float32x4x2_t top = vtrnq_f32(m_el[0].mVec128, m_el[1].mVec128);               // {x0 x1 z0 z1}, {y0 y1 w0 w1}
-		float32x2x2_t bl = vtrn_f32(vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f));  // {x2  0 }, {y2 0}
-		float32x4_t v0 = vcombine_f32(vget_low_f32(top.val[0]), bl.val[0]);
-		float32x4_t v1 = vcombine_f32(vget_low_f32(top.val[1]), bl.val[1]);
-		float32x2_t q = (float32x2_t)vand_u32((uint32x2_t)vget_high_f32(m_el[2].mVec128), zMask);
-		float32x4_t v2 = vcombine_f32(vget_high_f32(top.val[0]), q);  // z0 z1 z2  0
-
-		vm[0] = v0;
-		vm[1] = v1;
-		vm[2] = v2;
-#else
-		m[0] = b3Scalar(m_el[0].getX());
-		m[1] = b3Scalar(m_el[1].getX());
-		m[2] = b3Scalar(m_el[2].getX());
-		m[3] = b3Scalar(0.0);
-		m[4] = b3Scalar(m_el[0].getY());
-		m[5] = b3Scalar(m_el[1].getY());
-		m[6] = b3Scalar(m_el[2].getY());
-		m[7] = b3Scalar(0.0);
-		m[8] = b3Scalar(m_el[0].getZ());
-		m[9] = b3Scalar(m_el[1].getZ());
-		m[10] = b3Scalar(m_el[2].getZ());
-		m[11] = b3Scalar(0.0);
-#endif
-	}
-
-	/**@brief Get the matrix represented as a quaternion 
-	* @param q The quaternion which will be set */
-	void getRotation(b3Quaternion & q) const
-	{
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON)
-		b3Scalar trace = m_el[0].getX() + m_el[1].getY() + m_el[2].getZ();
-		b3Scalar s, x;
-
-		union {
-			b3SimdFloat4 vec;
-			b3Scalar f[4];
-		} temp;
-
-		if (trace > b3Scalar(0.0))
-		{
-			x = trace + b3Scalar(1.0);
-
-			temp.f[0] = m_el[2].getY() - m_el[1].getZ();
-			temp.f[1] = m_el[0].getZ() - m_el[2].getX();
-			temp.f[2] = m_el[1].getX() - m_el[0].getY();
-			temp.f[3] = x;
-			//temp.f[3]= s * b3Scalar(0.5);
-		}
-		else
-		{
-			int i, j, k;
-			if (m_el[0].getX() < m_el[1].getY())
-			{
-				if (m_el[1].getY() < m_el[2].getZ())
-				{
-					i = 2;
-					j = 0;
-					k = 1;
-				}
-				else
-				{
-					i = 1;
-					j = 2;
-					k = 0;
-				}
-			}
-			else
-			{
-				if (m_el[0].getX() < m_el[2].getZ())
-				{
-					i = 2;
-					j = 0;
-					k = 1;
-				}
-				else
-				{
-					i = 0;
-					j = 1;
-					k = 2;
-				}
-			}
-
-			x = m_el[i][i] - m_el[j][j] - m_el[k][k] + b3Scalar(1.0);
-
-			temp.f[3] = (m_el[k][j] - m_el[j][k]);
-			temp.f[j] = (m_el[j][i] + m_el[i][j]);
-			temp.f[k] = (m_el[k][i] + m_el[i][k]);
-			temp.f[i] = x;
-			//temp.f[i] = s * b3Scalar(0.5);
-		}
-
-		s = b3Sqrt(x);
-		q.set128(temp.vec);
-		s = b3Scalar(0.5) / s;
-
-		q *= s;
-#else
-		b3Scalar trace = m_el[0].getX() + m_el[1].getY() + m_el[2].getZ();
-
-		b3Scalar temp[4];
-
-		if (trace > b3Scalar(0.0))
-		{
-			b3Scalar s = b3Sqrt(trace + b3Scalar(1.0));
-			temp[3] = (s * b3Scalar(0.5));
-			s = b3Scalar(0.5) / s;
-
-			temp[0] = ((m_el[2].getY() - m_el[1].getZ()) * s);
-			temp[1] = ((m_el[0].getZ() - m_el[2].getX()) * s);
-			temp[2] = ((m_el[1].getX() - m_el[0].getY()) * s);
-		}
-		else
-		{
-			int i = m_el[0].getX() < m_el[1].getY() ? (m_el[1].getY() < m_el[2].getZ() ? 2 : 1) : (m_el[0].getX() < m_el[2].getZ() ? 2 : 0);
-			int j = (i + 1) % 3;
-			int k = (i + 2) % 3;
-
-			b3Scalar s = b3Sqrt(m_el[i][i] - m_el[j][j] - m_el[k][k] + b3Scalar(1.0));
-			temp[i] = s * b3Scalar(0.5);
-			s = b3Scalar(0.5) / s;
-
-			temp[3] = (m_el[k][j] - m_el[j][k]) * s;
-			temp[j] = (m_el[j][i] + m_el[i][j]) * s;
-			temp[k] = (m_el[k][i] + m_el[i][k]) * s;
-		}
-		q.setValue(temp[0], temp[1], temp[2], temp[3]);
-#endif
-	}
-
-	/**@brief Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR
-	* @param yaw Yaw around Y axis
-	* @param pitch Pitch around X axis
-	* @param roll around Z axis */
-	void getEulerYPR(b3Scalar & yaw, b3Scalar & pitch, b3Scalar & roll) const
-	{
-		// first use the normal calculus
-		yaw = b3Scalar(b3Atan2(m_el[1].getX(), m_el[0].getX()));
-		pitch = b3Scalar(b3Asin(-m_el[2].getX()));
-		roll = b3Scalar(b3Atan2(m_el[2].getY(), m_el[2].getZ()));
-
-		// on pitch = +/-HalfPI
-		if (b3Fabs(pitch) == B3_HALF_PI)
-		{
-			if (yaw > 0)
-				yaw -= B3_PI;
-			else
-				yaw += B3_PI;
-
-			if (roll > 0)
-				roll -= B3_PI;
-			else
-				roll += B3_PI;
-		}
-	};
-
-	/**@brief Get the matrix represented as euler angles around ZYX
-	* @param yaw Yaw around X axis
-	* @param pitch Pitch around Y axis
-	* @param roll around X axis 
-	* @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/
-	void getEulerZYX(b3Scalar & yaw, b3Scalar & pitch, b3Scalar & roll, unsigned int solution_number = 1) const
-	{
-		struct Euler
-		{
-			b3Scalar yaw;
-			b3Scalar pitch;
-			b3Scalar roll;
-		};
-
-		Euler euler_out;
-		Euler euler_out2;  //second solution
-		//get the pointer to the raw data
-
-		// Check that pitch is not at a singularity
-		if (b3Fabs(m_el[2].getX()) >= 1)
-		{
-			euler_out.yaw = 0;
-			euler_out2.yaw = 0;
-
-			// From difference of angles formula
-			b3Scalar delta = b3Atan2(m_el[0].getX(), m_el[0].getZ());
-			if (m_el[2].getX() > 0)  //gimbal locked up
-			{
-				euler_out.pitch = B3_PI / b3Scalar(2.0);
-				euler_out2.pitch = B3_PI / b3Scalar(2.0);
-				euler_out.roll = euler_out.pitch + delta;
-				euler_out2.roll = euler_out.pitch + delta;
-			}
-			else  // gimbal locked down
-			{
-				euler_out.pitch = -B3_PI / b3Scalar(2.0);
-				euler_out2.pitch = -B3_PI / b3Scalar(2.0);
-				euler_out.roll = -euler_out.pitch + delta;
-				euler_out2.roll = -euler_out.pitch + delta;
-			}
-		}
-		else
-		{
-			euler_out.pitch = -b3Asin(m_el[2].getX());
-			euler_out2.pitch = B3_PI - euler_out.pitch;
-
-			euler_out.roll = b3Atan2(m_el[2].getY() / b3Cos(euler_out.pitch),
-									 m_el[2].getZ() / b3Cos(euler_out.pitch));
-			euler_out2.roll = b3Atan2(m_el[2].getY() / b3Cos(euler_out2.pitch),
-									  m_el[2].getZ() / b3Cos(euler_out2.pitch));
-
-			euler_out.yaw = b3Atan2(m_el[1].getX() / b3Cos(euler_out.pitch),
-									m_el[0].getX() / b3Cos(euler_out.pitch));
-			euler_out2.yaw = b3Atan2(m_el[1].getX() / b3Cos(euler_out2.pitch),
-									 m_el[0].getX() / b3Cos(euler_out2.pitch));
-		}
-
-		if (solution_number == 1)
-		{
-			yaw = euler_out.yaw;
-			pitch = euler_out.pitch;
-			roll = euler_out.roll;
-		}
-		else
-		{
-			yaw = euler_out2.yaw;
-			pitch = euler_out2.pitch;
-			roll = euler_out2.roll;
-		}
-	}
-
-	/**@brief Create a scaled copy of the matrix 
-	* @param s Scaling vector The elements of the vector will scale each column */
-
-	b3Matrix3x3 scaled(const b3Vector3& s) const
-	{
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON)
-		return b3Matrix3x3(m_el[0] * s, m_el[1] * s, m_el[2] * s);
-#else
-		return b3Matrix3x3(
-			m_el[0].getX() * s.getX(), m_el[0].getY() * s.getY(), m_el[0].getZ() * s.getZ(),
-			m_el[1].getX() * s.getX(), m_el[1].getY() * s.getY(), m_el[1].getZ() * s.getZ(),
-			m_el[2].getX() * s.getX(), m_el[2].getY() * s.getY(), m_el[2].getZ() * s.getZ());
-#endif
-	}
-
-	/**@brief Return the determinant of the matrix */
-	b3Scalar determinant() const;
-	/**@brief Return the adjoint of the matrix */
-	b3Matrix3x3 adjoint() const;
-	/**@brief Return the matrix with all values non negative */
-	b3Matrix3x3 absolute() const;
-	/**@brief Return the transpose of the matrix */
-	b3Matrix3x3 transpose() const;
-	/**@brief Return the inverse of the matrix */
-	b3Matrix3x3 inverse() const;
-
-	b3Matrix3x3 transposeTimes(const b3Matrix3x3& m) const;
-	b3Matrix3x3 timesTranspose(const b3Matrix3x3& m) const;
-
-	B3_FORCE_INLINE b3Scalar tdotx(const b3Vector3& v) const
-	{
-		return m_el[0].getX() * v.getX() + m_el[1].getX() * v.getY() + m_el[2].getX() * v.getZ();
-	}
-	B3_FORCE_INLINE b3Scalar tdoty(const b3Vector3& v) const
-	{
-		return m_el[0].getY() * v.getX() + m_el[1].getY() * v.getY() + m_el[2].getY() * v.getZ();
-	}
-	B3_FORCE_INLINE b3Scalar tdotz(const b3Vector3& v) const
-	{
-		return m_el[0].getZ() * v.getX() + m_el[1].getZ() * v.getY() + m_el[2].getZ() * v.getZ();
-	}
-
-	/**@brief diagonalizes this matrix by the Jacobi method.
-	* @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original
-	* coordinate system, i.e., old_this = rot * new_this * rot^T. 
-	* @param threshold See iteration
-	* @param iteration The iteration stops when all off-diagonal elements are less than the threshold multiplied 
-	* by the sum of the absolute values of the diagonal, or when maxSteps have been executed. 
-	* 
-	* Note that this matrix is assumed to be symmetric. 
-	*/
-	void diagonalize(b3Matrix3x3 & rot, b3Scalar threshold, int maxSteps)
-	{
-		rot.setIdentity();
-		for (int step = maxSteps; step > 0; step--)
-		{
-			// find off-diagonal element [p][q] with largest magnitude
-			int p = 0;
-			int q = 1;
-			int r = 2;
-			b3Scalar max = b3Fabs(m_el[0][1]);
-			b3Scalar v = b3Fabs(m_el[0][2]);
-			if (v > max)
-			{
-				q = 2;
-				r = 1;
-				max = v;
-			}
-			v = b3Fabs(m_el[1][2]);
-			if (v > max)
-			{
-				p = 1;
-				q = 2;
-				r = 0;
-				max = v;
-			}
-
-			b3Scalar t = threshold * (b3Fabs(m_el[0][0]) + b3Fabs(m_el[1][1]) + b3Fabs(m_el[2][2]));
-			if (max <= t)
-			{
-				if (max <= B3_EPSILON * t)
-				{
-					return;
-				}
-				step = 1;
-			}
-
-			// compute Jacobi rotation J which leads to a zero for element [p][q]
-			b3Scalar mpq = m_el[p][q];
-			b3Scalar theta = (m_el[q][q] - m_el[p][p]) / (2 * mpq);
-			b3Scalar theta2 = theta * theta;
-			b3Scalar cos;
-			b3Scalar sin;
-			if (theta2 * theta2 < b3Scalar(10 / B3_EPSILON))
-			{
-				t = (theta >= 0) ? 1 / (theta + b3Sqrt(1 + theta2))
-								 : 1 / (theta - b3Sqrt(1 + theta2));
-				cos = 1 / b3Sqrt(1 + t * t);
-				sin = cos * t;
-			}
-			else
-			{
-				// approximation for large theta-value, i.e., a nearly diagonal matrix
-				t = 1 / (theta * (2 + b3Scalar(0.5) / theta2));
-				cos = 1 - b3Scalar(0.5) * t * t;
-				sin = cos * t;
-			}
-
-			// apply rotation to matrix (this = J^T * this * J)
-			m_el[p][q] = m_el[q][p] = 0;
-			m_el[p][p] -= t * mpq;
-			m_el[q][q] += t * mpq;
-			b3Scalar mrp = m_el[r][p];
-			b3Scalar mrq = m_el[r][q];
-			m_el[r][p] = m_el[p][r] = cos * mrp - sin * mrq;
-			m_el[r][q] = m_el[q][r] = cos * mrq + sin * mrp;
-
-			// apply rotation to rot (rot = rot * J)
-			for (int i = 0; i < 3; i++)
-			{
-				b3Vector3& row = rot[i];
-				mrp = row[p];
-				mrq = row[q];
-				row[p] = cos * mrp - sin * mrq;
-				row[q] = cos * mrq + sin * mrp;
-			}
-		}
-	}
-
-	/**@brief Calculate the matrix cofactor 
-	* @param r1 The first row to use for calculating the cofactor
-	* @param c1 The first column to use for calculating the cofactor
-	* @param r1 The second row to use for calculating the cofactor
-	* @param c1 The second column to use for calculating the cofactor
-	* See http://en.wikipedia.org/wiki/Cofactor_(linear_algebra) for more details
-	*/
-	b3Scalar cofac(int r1, int c1, int r2, int c2) const
-	{
-		return m_el[r1][c1] * m_el[r2][c2] - m_el[r1][c2] * m_el[r2][c1];
-	}
-
-	void serialize(struct b3Matrix3x3Data & dataOut) const;
-
-	void serializeFloat(struct b3Matrix3x3FloatData & dataOut) const;
-
-	void deSerialize(const struct b3Matrix3x3Data& dataIn);
-
-	void deSerializeFloat(const struct b3Matrix3x3FloatData& dataIn);
-
-	void deSerializeDouble(const struct b3Matrix3x3DoubleData& dataIn);
-};
-
-B3_FORCE_INLINE b3Matrix3x3&
-b3Matrix3x3::operator*=(const b3Matrix3x3& m)
-{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-	__m128 rv00, rv01, rv02;
-	__m128 rv10, rv11, rv12;
-	__m128 rv20, rv21, rv22;
-	__m128 mv0, mv1, mv2;
-
-	rv02 = m_el[0].mVec128;
-	rv12 = m_el[1].mVec128;
-	rv22 = m_el[2].mVec128;
-
-	mv0 = _mm_and_ps(m[0].mVec128, b3vFFF0fMask);
-	mv1 = _mm_and_ps(m[1].mVec128, b3vFFF0fMask);
-	mv2 = _mm_and_ps(m[2].mVec128, b3vFFF0fMask);
-
-	// rv0
-	rv00 = b3_splat_ps(rv02, 0);
-	rv01 = b3_splat_ps(rv02, 1);
-	rv02 = b3_splat_ps(rv02, 2);
-
-	rv00 = _mm_mul_ps(rv00, mv0);
-	rv01 = _mm_mul_ps(rv01, mv1);
-	rv02 = _mm_mul_ps(rv02, mv2);
-
-	// rv1
-	rv10 = b3_splat_ps(rv12, 0);
-	rv11 = b3_splat_ps(rv12, 1);
-	rv12 = b3_splat_ps(rv12, 2);
-
-	rv10 = _mm_mul_ps(rv10, mv0);
-	rv11 = _mm_mul_ps(rv11, mv1);
-	rv12 = _mm_mul_ps(rv12, mv2);
-
-	// rv2
-	rv20 = b3_splat_ps(rv22, 0);
-	rv21 = b3_splat_ps(rv22, 1);
-	rv22 = b3_splat_ps(rv22, 2);
-
-	rv20 = _mm_mul_ps(rv20, mv0);
-	rv21 = _mm_mul_ps(rv21, mv1);
-	rv22 = _mm_mul_ps(rv22, mv2);
-
-	rv00 = _mm_add_ps(rv00, rv01);
-	rv10 = _mm_add_ps(rv10, rv11);
-	rv20 = _mm_add_ps(rv20, rv21);
-
-	m_el[0].mVec128 = _mm_add_ps(rv00, rv02);
-	m_el[1].mVec128 = _mm_add_ps(rv10, rv12);
-	m_el[2].mVec128 = _mm_add_ps(rv20, rv22);
-
-#elif defined(B3_USE_NEON)
-
-	float32x4_t rv0, rv1, rv2;
-	float32x4_t v0, v1, v2;
-	float32x4_t mv0, mv1, mv2;
-
-	v0 = m_el[0].mVec128;
-	v1 = m_el[1].mVec128;
-	v2 = m_el[2].mVec128;
-
-	mv0 = (float32x4_t)vandq_s32((int32x4_t)m[0].mVec128, b3vFFF0Mask);
-	mv1 = (float32x4_t)vandq_s32((int32x4_t)m[1].mVec128, b3vFFF0Mask);
-	mv2 = (float32x4_t)vandq_s32((int32x4_t)m[2].mVec128, b3vFFF0Mask);
-
-	rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0);
-	rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0);
-	rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0);
-
-	rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1);
-	rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1);
-	rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1);
-
-	rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0);
-	rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0);
-	rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0);
-
-	m_el[0].mVec128 = rv0;
-	m_el[1].mVec128 = rv1;
-	m_el[2].mVec128 = rv2;
-#else
-	setValue(
-		m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]),
-		m.tdotx(m_el[1]), m.tdoty(m_el[1]), m.tdotz(m_el[1]),
-		m.tdotx(m_el[2]), m.tdoty(m_el[2]), m.tdotz(m_el[2]));
-#endif
-	return *this;
-}
-
-B3_FORCE_INLINE b3Matrix3x3&
-b3Matrix3x3::operator+=(const b3Matrix3x3& m)
-{
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON)
-	m_el[0].mVec128 = m_el[0].mVec128 + m.m_el[0].mVec128;
-	m_el[1].mVec128 = m_el[1].mVec128 + m.m_el[1].mVec128;
-	m_el[2].mVec128 = m_el[2].mVec128 + m.m_el[2].mVec128;
-#else
-	setValue(
-		m_el[0][0] + m.m_el[0][0],
-		m_el[0][1] + m.m_el[0][1],
-		m_el[0][2] + m.m_el[0][2],
-		m_el[1][0] + m.m_el[1][0],
-		m_el[1][1] + m.m_el[1][1],
-		m_el[1][2] + m.m_el[1][2],
-		m_el[2][0] + m.m_el[2][0],
-		m_el[2][1] + m.m_el[2][1],
-		m_el[2][2] + m.m_el[2][2]);
-#endif
-	return *this;
-}
-
-B3_FORCE_INLINE b3Matrix3x3
-operator*(const b3Matrix3x3& m, const b3Scalar& k)
-{
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))
-	__m128 vk = b3_splat_ps(_mm_load_ss((float*)&k), 0x80);
-	return b3Matrix3x3(
-		_mm_mul_ps(m[0].mVec128, vk),
-		_mm_mul_ps(m[1].mVec128, vk),
-		_mm_mul_ps(m[2].mVec128, vk));
-#elif defined(B3_USE_NEON)
-	return b3Matrix3x3(
-		vmulq_n_f32(m[0].mVec128, k),
-		vmulq_n_f32(m[1].mVec128, k),
-		vmulq_n_f32(m[2].mVec128, k));
-#else
-	return b3Matrix3x3(
-		m[0].getX() * k, m[0].getY() * k, m[0].getZ() * k,
-		m[1].getX() * k, m[1].getY() * k, m[1].getZ() * k,
-		m[2].getX() * k, m[2].getY() * k, m[2].getZ() * k);
-#endif
-}
-
-B3_FORCE_INLINE b3Matrix3x3
-operator+(const b3Matrix3x3& m1, const b3Matrix3x3& m2)
-{
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON)
-	return b3Matrix3x3(
-		m1[0].mVec128 + m2[0].mVec128,
-		m1[1].mVec128 + m2[1].mVec128,
-		m1[2].mVec128 + m2[2].mVec128);
-#else
-	return b3Matrix3x3(
-		m1[0][0] + m2[0][0],
-		m1[0][1] + m2[0][1],
-		m1[0][2] + m2[0][2],
-
-		m1[1][0] + m2[1][0],
-		m1[1][1] + m2[1][1],
-		m1[1][2] + m2[1][2],
-
-		m1[2][0] + m2[2][0],
-		m1[2][1] + m2[2][1],
-		m1[2][2] + m2[2][2]);
-#endif
-}
-
-B3_FORCE_INLINE b3Matrix3x3
-operator-(const b3Matrix3x3& m1, const b3Matrix3x3& m2)
-{
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON)
-	return b3Matrix3x3(
-		m1[0].mVec128 - m2[0].mVec128,
-		m1[1].mVec128 - m2[1].mVec128,
-		m1[2].mVec128 - m2[2].mVec128);
-#else
-	return b3Matrix3x3(
-		m1[0][0] - m2[0][0],
-		m1[0][1] - m2[0][1],
-		m1[0][2] - m2[0][2],
-
-		m1[1][0] - m2[1][0],
-		m1[1][1] - m2[1][1],
-		m1[1][2] - m2[1][2],
-
-		m1[2][0] - m2[2][0],
-		m1[2][1] - m2[2][1],
-		m1[2][2] - m2[2][2]);
-#endif
-}
-
-B3_FORCE_INLINE b3Matrix3x3&
-b3Matrix3x3::operator-=(const b3Matrix3x3& m)
-{
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON)
-	m_el[0].mVec128 = m_el[0].mVec128 - m.m_el[0].mVec128;
-	m_el[1].mVec128 = m_el[1].mVec128 - m.m_el[1].mVec128;
-	m_el[2].mVec128 = m_el[2].mVec128 - m.m_el[2].mVec128;
-#else
-	setValue(
-		m_el[0][0] - m.m_el[0][0],
-		m_el[0][1] - m.m_el[0][1],
-		m_el[0][2] - m.m_el[0][2],
-		m_el[1][0] - m.m_el[1][0],
-		m_el[1][1] - m.m_el[1][1],
-		m_el[1][2] - m.m_el[1][2],
-		m_el[2][0] - m.m_el[2][0],
-		m_el[2][1] - m.m_el[2][1],
-		m_el[2][2] - m.m_el[2][2]);
-#endif
-	return *this;
-}
-
-B3_FORCE_INLINE b3Scalar
-b3Matrix3x3::determinant() const
-{
-	return b3Triple((*this)[0], (*this)[1], (*this)[2]);
-}
-
-B3_FORCE_INLINE b3Matrix3x3
-b3Matrix3x3::absolute() const
-{
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))
-	return b3Matrix3x3(
-		_mm_and_ps(m_el[0].mVec128, b3vAbsfMask),
-		_mm_and_ps(m_el[1].mVec128, b3vAbsfMask),
-		_mm_and_ps(m_el[2].mVec128, b3vAbsfMask));
-#elif defined(B3_USE_NEON)
-	return b3Matrix3x3(
-		(float32x4_t)vandq_s32((int32x4_t)m_el[0].mVec128, b3v3AbsMask),
-		(float32x4_t)vandq_s32((int32x4_t)m_el[1].mVec128, b3v3AbsMask),
-		(float32x4_t)vandq_s32((int32x4_t)m_el[2].mVec128, b3v3AbsMask));
-#else
-	return b3Matrix3x3(
-		b3Fabs(m_el[0].getX()), b3Fabs(m_el[0].getY()), b3Fabs(m_el[0].getZ()),
-		b3Fabs(m_el[1].getX()), b3Fabs(m_el[1].getY()), b3Fabs(m_el[1].getZ()),
-		b3Fabs(m_el[2].getX()), b3Fabs(m_el[2].getY()), b3Fabs(m_el[2].getZ()));
-#endif
-}
-
-B3_FORCE_INLINE b3Matrix3x3
-b3Matrix3x3::transpose() const
-{
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))
-	__m128 v0 = m_el[0].mVec128;
-	__m128 v1 = m_el[1].mVec128;
-	__m128 v2 = m_el[2].mVec128;  //  x2 y2 z2 w2
-	__m128 vT;
-
-	v2 = _mm_and_ps(v2, b3vFFF0fMask);  //  x2 y2 z2 0
-
-	vT = _mm_unpackhi_ps(v0, v1);  //	z0 z1 * *
-	v0 = _mm_unpacklo_ps(v0, v1);  //	x0 x1 y0 y1
-
-	v1 = _mm_shuffle_ps(v0, v2, B3_SHUFFLE(2, 3, 1, 3));                    // y0 y1 y2 0
-	v0 = _mm_shuffle_ps(v0, v2, B3_SHUFFLE(0, 1, 0, 3));                    // x0 x1 x2 0
-	v2 = b3CastdTo128f(_mm_move_sd(b3CastfTo128d(v2), b3CastfTo128d(vT)));  // z0 z1 z2 0
-
-	return b3Matrix3x3(v0, v1, v2);
-#elif defined(B3_USE_NEON)
-	// note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions.
-	static const uint32x2_t zMask = (const uint32x2_t){-1, 0};
-	float32x4x2_t top = vtrnq_f32(m_el[0].mVec128, m_el[1].mVec128);               // {x0 x1 z0 z1}, {y0 y1 w0 w1}
-	float32x2x2_t bl = vtrn_f32(vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f));  // {x2  0 }, {y2 0}
-	float32x4_t v0 = vcombine_f32(vget_low_f32(top.val[0]), bl.val[0]);
-	float32x4_t v1 = vcombine_f32(vget_low_f32(top.val[1]), bl.val[1]);
-	float32x2_t q = (float32x2_t)vand_u32((uint32x2_t)vget_high_f32(m_el[2].mVec128), zMask);
-	float32x4_t v2 = vcombine_f32(vget_high_f32(top.val[0]), q);  // z0 z1 z2  0
-	return b3Matrix3x3(v0, v1, v2);
-#else
-	return b3Matrix3x3(m_el[0].getX(), m_el[1].getX(), m_el[2].getX(),
-					   m_el[0].getY(), m_el[1].getY(), m_el[2].getY(),
-					   m_el[0].getZ(), m_el[1].getZ(), m_el[2].getZ());
-#endif
-}
-
-B3_FORCE_INLINE b3Matrix3x3
-b3Matrix3x3::adjoint() const
-{
-	return b3Matrix3x3(cofac(1, 1, 2, 2), cofac(0, 2, 2, 1), cofac(0, 1, 1, 2),
-					   cofac(1, 2, 2, 0), cofac(0, 0, 2, 2), cofac(0, 2, 1, 0),
-					   cofac(1, 0, 2, 1), cofac(0, 1, 2, 0), cofac(0, 0, 1, 1));
-}
-
-B3_FORCE_INLINE b3Matrix3x3
-b3Matrix3x3::inverse() const
-{
-	b3Vector3 co = b3MakeVector3(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1));
-	b3Scalar det = (*this)[0].dot(co);
-	b3FullAssert(det != b3Scalar(0.0));
-	b3Scalar s = b3Scalar(1.0) / det;
-	return b3Matrix3x3(co.getX() * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s,
-					   co.getY() * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,
-					   co.getZ() * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s);
-}
-
-B3_FORCE_INLINE b3Matrix3x3
-b3Matrix3x3::transposeTimes(const b3Matrix3x3& m) const
-{
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))
-	// zeros w
-	//    static const __m128i xyzMask = (const __m128i){ -1ULL, 0xffffffffULL };
-	__m128 row = m_el[0].mVec128;
-	__m128 m0 = _mm_and_ps(m.getRow(0).mVec128, b3vFFF0fMask);
-	__m128 m1 = _mm_and_ps(m.getRow(1).mVec128, b3vFFF0fMask);
-	__m128 m2 = _mm_and_ps(m.getRow(2).mVec128, b3vFFF0fMask);
-	__m128 r0 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0));
-	__m128 r1 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0x55));
-	__m128 r2 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0xaa));
-	row = m_el[1].mVec128;
-	r0 = _mm_add_ps(r0, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0)));
-	r1 = _mm_add_ps(r1, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0x55)));
-	r2 = _mm_add_ps(r2, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0xaa)));
-	row = m_el[2].mVec128;
-	r0 = _mm_add_ps(r0, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0)));
-	r1 = _mm_add_ps(r1, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0x55)));
-	r2 = _mm_add_ps(r2, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0xaa)));
-	return b3Matrix3x3(r0, r1, r2);
-
-#elif defined B3_USE_NEON
-	// zeros w
-	static const uint32x4_t xyzMask = (const uint32x4_t){-1, -1, -1, 0};
-	float32x4_t m0 = (float32x4_t)vandq_u32((uint32x4_t)m.getRow(0).mVec128, xyzMask);
-	float32x4_t m1 = (float32x4_t)vandq_u32((uint32x4_t)m.getRow(1).mVec128, xyzMask);
-	float32x4_t m2 = (float32x4_t)vandq_u32((uint32x4_t)m.getRow(2).mVec128, xyzMask);
-	float32x4_t row = m_el[0].mVec128;
-	float32x4_t r0 = vmulq_lane_f32(m0, vget_low_f32(row), 0);
-	float32x4_t r1 = vmulq_lane_f32(m0, vget_low_f32(row), 1);
-	float32x4_t r2 = vmulq_lane_f32(m0, vget_high_f32(row), 0);
-	row = m_el[1].mVec128;
-	r0 = vmlaq_lane_f32(r0, m1, vget_low_f32(row), 0);
-	r1 = vmlaq_lane_f32(r1, m1, vget_low_f32(row), 1);
-	r2 = vmlaq_lane_f32(r2, m1, vget_high_f32(row), 0);
-	row = m_el[2].mVec128;
-	r0 = vmlaq_lane_f32(r0, m2, vget_low_f32(row), 0);
-	r1 = vmlaq_lane_f32(r1, m2, vget_low_f32(row), 1);
-	r2 = vmlaq_lane_f32(r2, m2, vget_high_f32(row), 0);
-	return b3Matrix3x3(r0, r1, r2);
-#else
-	return b3Matrix3x3(
-		m_el[0].getX() * m[0].getX() + m_el[1].getX() * m[1].getX() + m_el[2].getX() * m[2].getX(),
-		m_el[0].getX() * m[0].getY() + m_el[1].getX() * m[1].getY() + m_el[2].getX() * m[2].getY(),
-		m_el[0].getX() * m[0].getZ() + m_el[1].getX() * m[1].getZ() + m_el[2].getX() * m[2].getZ(),
-		m_el[0].getY() * m[0].getX() + m_el[1].getY() * m[1].getX() + m_el[2].getY() * m[2].getX(),
-		m_el[0].getY() * m[0].getY() + m_el[1].getY() * m[1].getY() + m_el[2].getY() * m[2].getY(),
-		m_el[0].getY() * m[0].getZ() + m_el[1].getY() * m[1].getZ() + m_el[2].getY() * m[2].getZ(),
-		m_el[0].getZ() * m[0].getX() + m_el[1].getZ() * m[1].getX() + m_el[2].getZ() * m[2].getX(),
-		m_el[0].getZ() * m[0].getY() + m_el[1].getZ() * m[1].getY() + m_el[2].getZ() * m[2].getY(),
-		m_el[0].getZ() * m[0].getZ() + m_el[1].getZ() * m[1].getZ() + m_el[2].getZ() * m[2].getZ());
-#endif
-}
-
-B3_FORCE_INLINE b3Matrix3x3
-b3Matrix3x3::timesTranspose(const b3Matrix3x3& m) const
-{
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))
-	__m128 a0 = m_el[0].mVec128;
-	__m128 a1 = m_el[1].mVec128;
-	__m128 a2 = m_el[2].mVec128;
-
-	b3Matrix3x3 mT = m.transpose();  // we rely on transpose() zeroing w channel so that we don't have to do it here
-	__m128 mx = mT[0].mVec128;
-	__m128 my = mT[1].mVec128;
-	__m128 mz = mT[2].mVec128;
-
-	__m128 r0 = _mm_mul_ps(mx, _mm_shuffle_ps(a0, a0, 0x00));
-	__m128 r1 = _mm_mul_ps(mx, _mm_shuffle_ps(a1, a1, 0x00));
-	__m128 r2 = _mm_mul_ps(mx, _mm_shuffle_ps(a2, a2, 0x00));
-	r0 = _mm_add_ps(r0, _mm_mul_ps(my, _mm_shuffle_ps(a0, a0, 0x55)));
-	r1 = _mm_add_ps(r1, _mm_mul_ps(my, _mm_shuffle_ps(a1, a1, 0x55)));
-	r2 = _mm_add_ps(r2, _mm_mul_ps(my, _mm_shuffle_ps(a2, a2, 0x55)));
-	r0 = _mm_add_ps(r0, _mm_mul_ps(mz, _mm_shuffle_ps(a0, a0, 0xaa)));
-	r1 = _mm_add_ps(r1, _mm_mul_ps(mz, _mm_shuffle_ps(a1, a1, 0xaa)));
-	r2 = _mm_add_ps(r2, _mm_mul_ps(mz, _mm_shuffle_ps(a2, a2, 0xaa)));
-	return b3Matrix3x3(r0, r1, r2);
-
-#elif defined B3_USE_NEON
-	float32x4_t a0 = m_el[0].mVec128;
-	float32x4_t a1 = m_el[1].mVec128;
-	float32x4_t a2 = m_el[2].mVec128;
-
-	b3Matrix3x3 mT = m.transpose();  // we rely on transpose() zeroing w channel so that we don't have to do it here
-	float32x4_t mx = mT[0].mVec128;
-	float32x4_t my = mT[1].mVec128;
-	float32x4_t mz = mT[2].mVec128;
-
-	float32x4_t r0 = vmulq_lane_f32(mx, vget_low_f32(a0), 0);
-	float32x4_t r1 = vmulq_lane_f32(mx, vget_low_f32(a1), 0);
-	float32x4_t r2 = vmulq_lane_f32(mx, vget_low_f32(a2), 0);
-	r0 = vmlaq_lane_f32(r0, my, vget_low_f32(a0), 1);
-	r1 = vmlaq_lane_f32(r1, my, vget_low_f32(a1), 1);
-	r2 = vmlaq_lane_f32(r2, my, vget_low_f32(a2), 1);
-	r0 = vmlaq_lane_f32(r0, mz, vget_high_f32(a0), 0);
-	r1 = vmlaq_lane_f32(r1, mz, vget_high_f32(a1), 0);
-	r2 = vmlaq_lane_f32(r2, mz, vget_high_f32(a2), 0);
-	return b3Matrix3x3(r0, r1, r2);
-
-#else
-	return b3Matrix3x3(
-		m_el[0].dot(m[0]), m_el[0].dot(m[1]), m_el[0].dot(m[2]),
-		m_el[1].dot(m[0]), m_el[1].dot(m[1]), m_el[1].dot(m[2]),
-		m_el[2].dot(m[0]), m_el[2].dot(m[1]), m_el[2].dot(m[2]));
-#endif
-}
-
-B3_FORCE_INLINE b3Vector3
-operator*(const b3Matrix3x3& m, const b3Vector3& v)
-{
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON)
-	return v.dot3(m[0], m[1], m[2]);
-#else
-	return b3MakeVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v));
-#endif
-}
-
-B3_FORCE_INLINE b3Vector3
-operator*(const b3Vector3& v, const b3Matrix3x3& m)
-{
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))
-
-	const __m128 vv = v.mVec128;
-
-	__m128 c0 = b3_splat_ps(vv, 0);
-	__m128 c1 = b3_splat_ps(vv, 1);
-	__m128 c2 = b3_splat_ps(vv, 2);
-
-	c0 = _mm_mul_ps(c0, _mm_and_ps(m[0].mVec128, b3vFFF0fMask));
-	c1 = _mm_mul_ps(c1, _mm_and_ps(m[1].mVec128, b3vFFF0fMask));
-	c0 = _mm_add_ps(c0, c1);
-	c2 = _mm_mul_ps(c2, _mm_and_ps(m[2].mVec128, b3vFFF0fMask));
-
-	return b3MakeVector3(_mm_add_ps(c0, c2));
-#elif defined(B3_USE_NEON)
-	const float32x4_t vv = v.mVec128;
-	const float32x2_t vlo = vget_low_f32(vv);
-	const float32x2_t vhi = vget_high_f32(vv);
-
-	float32x4_t c0, c1, c2;
-
-	c0 = (float32x4_t)vandq_s32((int32x4_t)m[0].mVec128, b3vFFF0Mask);
-	c1 = (float32x4_t)vandq_s32((int32x4_t)m[1].mVec128, b3vFFF0Mask);
-	c2 = (float32x4_t)vandq_s32((int32x4_t)m[2].mVec128, b3vFFF0Mask);
-
-	c0 = vmulq_lane_f32(c0, vlo, 0);
-	c1 = vmulq_lane_f32(c1, vlo, 1);
-	c2 = vmulq_lane_f32(c2, vhi, 0);
-	c0 = vaddq_f32(c0, c1);
-	c0 = vaddq_f32(c0, c2);
-
-	return b3MakeVector3(c0);
-#else
-	return b3MakeVector3(m.tdotx(v), m.tdoty(v), m.tdotz(v));
-#endif
-}
-
-B3_FORCE_INLINE b3Matrix3x3
-operator*(const b3Matrix3x3& m1, const b3Matrix3x3& m2)
-{
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))
-
-	__m128 m10 = m1[0].mVec128;
-	__m128 m11 = m1[1].mVec128;
-	__m128 m12 = m1[2].mVec128;
-
-	__m128 m2v = _mm_and_ps(m2[0].mVec128, b3vFFF0fMask);
-
-	__m128 c0 = b3_splat_ps(m10, 0);
-	__m128 c1 = b3_splat_ps(m11, 0);
-	__m128 c2 = b3_splat_ps(m12, 0);
-
-	c0 = _mm_mul_ps(c0, m2v);
-	c1 = _mm_mul_ps(c1, m2v);
-	c2 = _mm_mul_ps(c2, m2v);
-
-	m2v = _mm_and_ps(m2[1].mVec128, b3vFFF0fMask);
-
-	__m128 c0_1 = b3_splat_ps(m10, 1);
-	__m128 c1_1 = b3_splat_ps(m11, 1);
-	__m128 c2_1 = b3_splat_ps(m12, 1);
-
-	c0_1 = _mm_mul_ps(c0_1, m2v);
-	c1_1 = _mm_mul_ps(c1_1, m2v);
-	c2_1 = _mm_mul_ps(c2_1, m2v);
-
-	m2v = _mm_and_ps(m2[2].mVec128, b3vFFF0fMask);
-
-	c0 = _mm_add_ps(c0, c0_1);
-	c1 = _mm_add_ps(c1, c1_1);
-	c2 = _mm_add_ps(c2, c2_1);
-
-	m10 = b3_splat_ps(m10, 2);
-	m11 = b3_splat_ps(m11, 2);
-	m12 = b3_splat_ps(m12, 2);
-
-	m10 = _mm_mul_ps(m10, m2v);
-	m11 = _mm_mul_ps(m11, m2v);
-	m12 = _mm_mul_ps(m12, m2v);
-
-	c0 = _mm_add_ps(c0, m10);
-	c1 = _mm_add_ps(c1, m11);
-	c2 = _mm_add_ps(c2, m12);
-
-	return b3Matrix3x3(c0, c1, c2);
-
-#elif defined(B3_USE_NEON)
-
-	float32x4_t rv0, rv1, rv2;
-	float32x4_t v0, v1, v2;
-	float32x4_t mv0, mv1, mv2;
-
-	v0 = m1[0].mVec128;
-	v1 = m1[1].mVec128;
-	v2 = m1[2].mVec128;
-
-	mv0 = (float32x4_t)vandq_s32((int32x4_t)m2[0].mVec128, b3vFFF0Mask);
-	mv1 = (float32x4_t)vandq_s32((int32x4_t)m2[1].mVec128, b3vFFF0Mask);
-	mv2 = (float32x4_t)vandq_s32((int32x4_t)m2[2].mVec128, b3vFFF0Mask);
-
-	rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0);
-	rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0);
-	rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0);
-
-	rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1);
-	rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1);
-	rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1);
-
-	rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0);
-	rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0);
-	rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0);
-
-	return b3Matrix3x3(rv0, rv1, rv2);
-
-#else
-	return b3Matrix3x3(
-		m2.tdotx(m1[0]), m2.tdoty(m1[0]), m2.tdotz(m1[0]),
-		m2.tdotx(m1[1]), m2.tdoty(m1[1]), m2.tdotz(m1[1]),
-		m2.tdotx(m1[2]), m2.tdoty(m1[2]), m2.tdotz(m1[2]));
-#endif
-}
-
-/*
-B3_FORCE_INLINE b3Matrix3x3 b3MultTransposeLeft(const b3Matrix3x3& m1, const b3Matrix3x3& m2) {
-return b3Matrix3x3(
-m1[0][0] * m2[0][0] + m1[1][0] * m2[1][0] + m1[2][0] * m2[2][0],
-m1[0][0] * m2[0][1] + m1[1][0] * m2[1][1] + m1[2][0] * m2[2][1],
-m1[0][0] * m2[0][2] + m1[1][0] * m2[1][2] + m1[2][0] * m2[2][2],
-m1[0][1] * m2[0][0] + m1[1][1] * m2[1][0] + m1[2][1] * m2[2][0],
-m1[0][1] * m2[0][1] + m1[1][1] * m2[1][1] + m1[2][1] * m2[2][1],
-m1[0][1] * m2[0][2] + m1[1][1] * m2[1][2] + m1[2][1] * m2[2][2],
-m1[0][2] * m2[0][0] + m1[1][2] * m2[1][0] + m1[2][2] * m2[2][0],
-m1[0][2] * m2[0][1] + m1[1][2] * m2[1][1] + m1[2][2] * m2[2][1],
-m1[0][2] * m2[0][2] + m1[1][2] * m2[1][2] + m1[2][2] * m2[2][2]);
-}
-*/
-
-/**@brief Equality operator between two matrices
-* It will test all elements are equal.  */
-B3_FORCE_INLINE bool operator==(const b3Matrix3x3& m1, const b3Matrix3x3& m2)
-{
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))
-
-	__m128 c0, c1, c2;
-
-	c0 = _mm_cmpeq_ps(m1[0].mVec128, m2[0].mVec128);
-	c1 = _mm_cmpeq_ps(m1[1].mVec128, m2[1].mVec128);
-	c2 = _mm_cmpeq_ps(m1[2].mVec128, m2[2].mVec128);
-
-	c0 = _mm_and_ps(c0, c1);
-	c0 = _mm_and_ps(c0, c2);
-
-	return (0x7 == _mm_movemask_ps((__m128)c0));
-#else
-	return (m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] &&
-			m1[0][1] == m2[0][1] && m1[1][1] == m2[1][1] && m1[2][1] == m2[2][1] &&
-			m1[0][2] == m2[0][2] && m1[1][2] == m2[1][2] && m1[2][2] == m2[2][2]);
-#endif
-}
-
-///for serialization
-struct b3Matrix3x3FloatData
-{
-	b3Vector3FloatData m_el[3];
-};
-
-///for serialization
-struct b3Matrix3x3DoubleData
-{
-	b3Vector3DoubleData m_el[3];
-};
-
-B3_FORCE_INLINE void b3Matrix3x3::serialize(struct b3Matrix3x3Data& dataOut) const
-{
-	for (int i = 0; i < 3; i++)
-		m_el[i].serialize(dataOut.m_el[i]);
-}
-
-B3_FORCE_INLINE void b3Matrix3x3::serializeFloat(struct b3Matrix3x3FloatData& dataOut) const
-{
-	for (int i = 0; i < 3; i++)
-		m_el[i].serializeFloat(dataOut.m_el[i]);
-}
-
-B3_FORCE_INLINE void b3Matrix3x3::deSerialize(const struct b3Matrix3x3Data& dataIn)
-{
-	for (int i = 0; i < 3; i++)
-		m_el[i].deSerialize(dataIn.m_el[i]);
-}
-
-B3_FORCE_INLINE void b3Matrix3x3::deSerializeFloat(const struct b3Matrix3x3FloatData& dataIn)
-{
-	for (int i = 0; i < 3; i++)
-		m_el[i].deSerializeFloat(dataIn.m_el[i]);
-}
-
-B3_FORCE_INLINE void b3Matrix3x3::deSerializeDouble(const struct b3Matrix3x3DoubleData& dataIn)
-{
-	for (int i = 0; i < 3; i++)
-		m_el[i].deSerializeDouble(dataIn.m_el[i]);
-}
-
-#endif  //B3_MATRIX3x3_H
diff --git a/thirdparty/bullet/Bullet3Common/b3MinMax.h b/thirdparty/bullet/Bullet3Common/b3MinMax.h
deleted file mode 100644
index c09c3db3f5..0000000000
--- a/thirdparty/bullet/Bullet3Common/b3MinMax.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
-Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_GEN_MINMAX_H
-#define B3_GEN_MINMAX_H
-
-#include "b3Scalar.h"
-
-template <class T>
-B3_FORCE_INLINE const T& b3Min(const T& a, const T& b)
-{
-	return a < b ? a : b;
-}
-
-template <class T>
-B3_FORCE_INLINE const T& b3Max(const T& a, const T& b)
-{
-	return a > b ? a : b;
-}
-
-template <class T>
-B3_FORCE_INLINE const T& b3Clamped(const T& a, const T& lb, const T& ub)
-{
-	return a < lb ? lb : (ub < a ? ub : a);
-}
-
-template <class T>
-B3_FORCE_INLINE void b3SetMin(T& a, const T& b)
-{
-	if (b < a)
-	{
-		a = b;
-	}
-}
-
-template <class T>
-B3_FORCE_INLINE void b3SetMax(T& a, const T& b)
-{
-	if (a < b)
-	{
-		a = b;
-	}
-}
-
-template <class T>
-B3_FORCE_INLINE void b3Clamp(T& a, const T& lb, const T& ub)
-{
-	if (a < lb)
-	{
-		a = lb;
-	}
-	else if (ub < a)
-	{
-		a = ub;
-	}
-}
-
-#endif  //B3_GEN_MINMAX_H
diff --git a/thirdparty/bullet/Bullet3Common/b3PoolAllocator.h b/thirdparty/bullet/Bullet3Common/b3PoolAllocator.h
deleted file mode 100644
index ed56bc627d..0000000000
--- a/thirdparty/bullet/Bullet3Common/b3PoolAllocator.h
+++ /dev/null
@@ -1,121 +0,0 @@
-/*
-Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef _BT_POOL_ALLOCATOR_H
-#define _BT_POOL_ALLOCATOR_H
-
-#include "b3Scalar.h"
-#include "b3AlignedAllocator.h"
-
-///The b3PoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamically allocating them separately.
-class b3PoolAllocator
-{
-	int m_elemSize;
-	int m_maxElements;
-	int m_freeCount;
-	void* m_firstFree;
-	unsigned char* m_pool;
-
-public:
-	b3PoolAllocator(int elemSize, int maxElements)
-		: m_elemSize(elemSize),
-		  m_maxElements(maxElements)
-	{
-		m_pool = (unsigned char*)b3AlignedAlloc(static_cast<unsigned int>(m_elemSize * m_maxElements), 16);
-
-		unsigned char* p = m_pool;
-		m_firstFree = p;
-		m_freeCount = m_maxElements;
-		int count = m_maxElements;
-		while (--count)
-		{
-			*(void**)p = (p + m_elemSize);
-			p += m_elemSize;
-		}
-		*(void**)p = 0;
-	}
-
-	~b3PoolAllocator()
-	{
-		b3AlignedFree(m_pool);
-	}
-
-	int getFreeCount() const
-	{
-		return m_freeCount;
-	}
-
-	int getUsedCount() const
-	{
-		return m_maxElements - m_freeCount;
-	}
-
-	int getMaxCount() const
-	{
-		return m_maxElements;
-	}
-
-	void* allocate(int size)
-	{
-		// release mode fix
-		(void)size;
-		b3Assert(!size || size <= m_elemSize);
-		b3Assert(m_freeCount > 0);
-		void* result = m_firstFree;
-		m_firstFree = *(void**)m_firstFree;
-		--m_freeCount;
-		return result;
-	}
-
-	bool validPtr(void* ptr)
-	{
-		if (ptr)
-		{
-			if (((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize))
-			{
-				return true;
-			}
-		}
-		return false;
-	}
-
-	void freeMemory(void* ptr)
-	{
-		if (ptr)
-		{
-			b3Assert((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize);
-
-			*(void**)ptr = m_firstFree;
-			m_firstFree = ptr;
-			++m_freeCount;
-		}
-	}
-
-	int getElementSize() const
-	{
-		return m_elemSize;
-	}
-
-	unsigned char* getPoolAddress()
-	{
-		return m_pool;
-	}
-
-	const unsigned char* getPoolAddress() const
-	{
-		return m_pool;
-	}
-};
-
-#endif  //_BT_POOL_ALLOCATOR_H
diff --git a/thirdparty/bullet/Bullet3Common/b3QuadWord.h b/thirdparty/bullet/Bullet3Common/b3QuadWord.h
deleted file mode 100644
index 0def305fac..0000000000
--- a/thirdparty/bullet/Bullet3Common/b3QuadWord.h
+++ /dev/null
@@ -1,242 +0,0 @@
-/*
-Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_SIMD_QUADWORD_H
-#define B3_SIMD_QUADWORD_H
-
-#include "b3Scalar.h"
-#include "b3MinMax.h"
-
-#if defined(__CELLOS_LV2) && defined(__SPU__)
-#include <altivec.h>
-#endif
-
-/**@brief The b3QuadWord class is base class for b3Vector3 and b3Quaternion. 
- * Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword.
- */
-#ifndef USE_LIBSPE2
-B3_ATTRIBUTE_ALIGNED16(class)
-b3QuadWord
-#else
-class b3QuadWord
-#endif
-{
-protected:
-#if defined(__SPU__) && defined(__CELLOS_LV2__)
-	union {
-		vec_float4 mVec128;
-		b3Scalar m_floats[4];
-	};
-
-public:
-	vec_float4 get128() const
-	{
-		return mVec128;
-	}
-
-#else  //__CELLOS_LV2__ __SPU__
-
-#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
-public:
-	union {
-		b3SimdFloat4 mVec128;
-		b3Scalar m_floats[4];
-		struct
-		{
-			b3Scalar x, y, z, w;
-		};
-	};
-
-public:
-	B3_FORCE_INLINE b3SimdFloat4 get128() const
-	{
-		return mVec128;
-	}
-	B3_FORCE_INLINE void set128(b3SimdFloat4 v128)
-	{
-		mVec128 = v128;
-	}
-#else
-public:
-	union {
-		b3Scalar m_floats[4];
-		struct
-		{
-			b3Scalar x, y, z, w;
-		};
-	};
-#endif  // B3_USE_SSE
-
-#endif  //__CELLOS_LV2__ __SPU__
-
-public:
-#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
-
-	// Set Vector
-	B3_FORCE_INLINE b3QuadWord(const b3SimdFloat4 vec)
-	{
-		mVec128 = vec;
-	}
-
-	// Copy constructor
-	B3_FORCE_INLINE b3QuadWord(const b3QuadWord& rhs)
-	{
-		mVec128 = rhs.mVec128;
-	}
-
-	// Assignment Operator
-	B3_FORCE_INLINE b3QuadWord&
-	operator=(const b3QuadWord& v)
-	{
-		mVec128 = v.mVec128;
-
-		return *this;
-	}
-
-#endif
-
-	/**@brief Return the x value */
-	B3_FORCE_INLINE const b3Scalar& getX() const { return m_floats[0]; }
-	/**@brief Return the y value */
-	B3_FORCE_INLINE const b3Scalar& getY() const { return m_floats[1]; }
-	/**@brief Return the z value */
-	B3_FORCE_INLINE const b3Scalar& getZ() const { return m_floats[2]; }
-	/**@brief Set the x value */
-	B3_FORCE_INLINE void setX(b3Scalar _x) { m_floats[0] = _x; };
-	/**@brief Set the y value */
-	B3_FORCE_INLINE void setY(b3Scalar _y) { m_floats[1] = _y; };
-	/**@brief Set the z value */
-	B3_FORCE_INLINE void setZ(b3Scalar _z) { m_floats[2] = _z; };
-	/**@brief Set the w value */
-	B3_FORCE_INLINE void setW(b3Scalar _w) { m_floats[3] = _w; };
-	/**@brief Return the x value */
-
-	//B3_FORCE_INLINE b3Scalar&       operator[](int i)       { return (&m_floats[0])[i];	}
-	//B3_FORCE_INLINE const b3Scalar& operator[](int i) const { return (&m_floats[0])[i]; }
-	///operator b3Scalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
-	B3_FORCE_INLINE operator b3Scalar*() { return &m_floats[0]; }
-	B3_FORCE_INLINE operator const b3Scalar*() const { return &m_floats[0]; }
-
-	B3_FORCE_INLINE bool operator==(const b3QuadWord& other) const
-	{
-#ifdef B3_USE_SSE
-		return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
-#else
-		return ((m_floats[3] == other.m_floats[3]) &&
-				(m_floats[2] == other.m_floats[2]) &&
-				(m_floats[1] == other.m_floats[1]) &&
-				(m_floats[0] == other.m_floats[0]));
-#endif
-	}
-
-	B3_FORCE_INLINE bool operator!=(const b3QuadWord& other) const
-	{
-		return !(*this == other);
-	}
-
-	/**@brief Set x,y,z and zero w 
-   * @param x Value of x
-   * @param y Value of y
-   * @param z Value of z
-   */
-	B3_FORCE_INLINE void setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z)
-	{
-		m_floats[0] = _x;
-		m_floats[1] = _y;
-		m_floats[2] = _z;
-		m_floats[3] = 0.f;
-	}
-
-	/*		void getValue(b3Scalar *m) const 
-		{
-			m[0] = m_floats[0];
-			m[1] = m_floats[1];
-			m[2] = m_floats[2];
-		}
-*/
-	/**@brief Set the values 
-   * @param x Value of x
-   * @param y Value of y
-   * @param z Value of z
-   * @param w Value of w
-   */
-	B3_FORCE_INLINE void setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z, const b3Scalar& _w)
-	{
-		m_floats[0] = _x;
-		m_floats[1] = _y;
-		m_floats[2] = _z;
-		m_floats[3] = _w;
-	}
-	/**@brief No initialization constructor */
-	B3_FORCE_INLINE b3QuadWord()
-	//	:m_floats[0](b3Scalar(0.)),m_floats[1](b3Scalar(0.)),m_floats[2](b3Scalar(0.)),m_floats[3](b3Scalar(0.))
-	{
-	}
-
-	/**@brief Three argument constructor (zeros w)
-   * @param x Value of x
-   * @param y Value of y
-   * @param z Value of z
-   */
-	B3_FORCE_INLINE b3QuadWord(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z)
-	{
-		m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f;
-	}
-
-	/**@brief Initializing constructor
-   * @param x Value of x
-   * @param y Value of y
-   * @param z Value of z
-   * @param w Value of w
-   */
-	B3_FORCE_INLINE b3QuadWord(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z, const b3Scalar& _w)
-	{
-		m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = _w;
-	}
-
-	/**@brief Set each element to the max of the current values and the values of another b3QuadWord
-   * @param other The other b3QuadWord to compare with 
-   */
-	B3_FORCE_INLINE void setMax(const b3QuadWord& other)
-	{
-#ifdef B3_USE_SSE
-		mVec128 = _mm_max_ps(mVec128, other.mVec128);
-#elif defined(B3_USE_NEON)
-		mVec128 = vmaxq_f32(mVec128, other.mVec128);
-#else
-		b3SetMax(m_floats[0], other.m_floats[0]);
-		b3SetMax(m_floats[1], other.m_floats[1]);
-		b3SetMax(m_floats[2], other.m_floats[2]);
-		b3SetMax(m_floats[3], other.m_floats[3]);
-#endif
-	}
-	/**@brief Set each element to the min of the current values and the values of another b3QuadWord
-   * @param other The other b3QuadWord to compare with 
-   */
-	B3_FORCE_INLINE void setMin(const b3QuadWord& other)
-	{
-#ifdef B3_USE_SSE
-		mVec128 = _mm_min_ps(mVec128, other.mVec128);
-#elif defined(B3_USE_NEON)
-		mVec128 = vminq_f32(mVec128, other.mVec128);
-#else
-		b3SetMin(m_floats[0], other.m_floats[0]);
-		b3SetMin(m_floats[1], other.m_floats[1]);
-		b3SetMin(m_floats[2], other.m_floats[2]);
-		b3SetMin(m_floats[3], other.m_floats[3]);
-#endif
-	}
-};
-
-#endif  //B3_SIMD_QUADWORD_H
diff --git a/thirdparty/bullet/Bullet3Common/b3Quaternion.h b/thirdparty/bullet/Bullet3Common/b3Quaternion.h
deleted file mode 100644
index 4fdd72dcc4..0000000000
--- a/thirdparty/bullet/Bullet3Common/b3Quaternion.h
+++ /dev/null
@@ -1,908 +0,0 @@
-/*
-Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_SIMD__QUATERNION_H_
-#define B3_SIMD__QUATERNION_H_
-
-#include "b3Vector3.h"
-#include "b3QuadWord.h"
-
-#ifdef B3_USE_SSE
-
-const __m128 B3_ATTRIBUTE_ALIGNED16(b3vOnes) = {1.0f, 1.0f, 1.0f, 1.0f};
-
-#endif
-
-#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
-
-const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3vQInv) = {-0.0f, -0.0f, -0.0f, +0.0f};
-const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3vPPPM) = {+0.0f, +0.0f, +0.0f, -0.0f};
-
-#endif
-
-/**@brief The b3Quaternion implements quaternion to perform linear algebra rotations in combination with b3Matrix3x3, b3Vector3 and b3Transform. */
-class b3Quaternion : public b3QuadWord
-{
-public:
-	/**@brief No initialization constructor */
-	b3Quaternion() {}
-
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON)
-	// Set Vector
-	B3_FORCE_INLINE b3Quaternion(const b3SimdFloat4 vec)
-	{
-		mVec128 = vec;
-	}
-
-	// Copy constructor
-	B3_FORCE_INLINE b3Quaternion(const b3Quaternion& rhs)
-	{
-		mVec128 = rhs.mVec128;
-	}
-
-	// Assignment Operator
-	B3_FORCE_INLINE b3Quaternion&
-	operator=(const b3Quaternion& v)
-	{
-		mVec128 = v.mVec128;
-
-		return *this;
-	}
-
-#endif
-
-	//		template <typename b3Scalar>
-	//		explicit Quaternion(const b3Scalar *v) : Tuple4<b3Scalar>(v) {}
-	/**@brief Constructor from scalars */
-	b3Quaternion(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z, const b3Scalar& _w)
-		: b3QuadWord(_x, _y, _z, _w)
-	{
-		//b3Assert(!((_x==1.f) && (_y==0.f) && (_z==0.f) && (_w==0.f)));
-	}
-	/**@brief Axis angle Constructor
-   * @param axis The axis which the rotation is around
-   * @param angle The magnitude of the rotation around the angle (Radians) */
-	b3Quaternion(const b3Vector3& _axis, const b3Scalar& _angle)
-	{
-		setRotation(_axis, _angle);
-	}
-	/**@brief Constructor from Euler angles
-   * @param yaw Angle around Y unless B3_EULER_DEFAULT_ZYX defined then Z
-   * @param pitch Angle around X unless B3_EULER_DEFAULT_ZYX defined then Y
-   * @param roll Angle around Z unless B3_EULER_DEFAULT_ZYX defined then X */
-	b3Quaternion(const b3Scalar& yaw, const b3Scalar& pitch, const b3Scalar& roll)
-	{
-#ifndef B3_EULER_DEFAULT_ZYX
-		setEuler(yaw, pitch, roll);
-#else
-		setEulerZYX(yaw, pitch, roll);
-#endif
-	}
-	/**@brief Set the rotation using axis angle notation 
-   * @param axis The axis around which to rotate
-   * @param angle The magnitude of the rotation in Radians */
-	void setRotation(const b3Vector3& axis1, const b3Scalar& _angle)
-	{
-		b3Vector3 axis = axis1;
-		axis.safeNormalize();
-		
-		b3Scalar d = axis.length();
-		b3Assert(d != b3Scalar(0.0));
-		if (d < B3_EPSILON)
-		{
-			setValue(0, 0, 0, 1);
-		}
-		else
-		{
-			b3Scalar s = b3Sin(_angle * b3Scalar(0.5)) / d;
-			setValue(axis.getX() * s, axis.getY() * s, axis.getZ() * s,
-				b3Cos(_angle * b3Scalar(0.5)));
-		}
-	}
-	/**@brief Set the quaternion using Euler angles
-   * @param yaw Angle around Y
-   * @param pitch Angle around X
-   * @param roll Angle around Z */
-	void setEuler(const b3Scalar& yaw, const b3Scalar& pitch, const b3Scalar& roll)
-	{
-		b3Scalar halfYaw = b3Scalar(yaw) * b3Scalar(0.5);
-		b3Scalar halfPitch = b3Scalar(pitch) * b3Scalar(0.5);
-		b3Scalar halfRoll = b3Scalar(roll) * b3Scalar(0.5);
-		b3Scalar cosYaw = b3Cos(halfYaw);
-		b3Scalar sinYaw = b3Sin(halfYaw);
-		b3Scalar cosPitch = b3Cos(halfPitch);
-		b3Scalar sinPitch = b3Sin(halfPitch);
-		b3Scalar cosRoll = b3Cos(halfRoll);
-		b3Scalar sinRoll = b3Sin(halfRoll);
-		setValue(cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw,
-				 cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw,
-				 sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw,
-				 cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw);
-	}
-
-	/**@brief Set the quaternion using euler angles 
-   * @param yaw Angle around Z
-   * @param pitch Angle around Y
-   * @param roll Angle around X */
-	void setEulerZYX(const b3Scalar& yawZ, const b3Scalar& pitchY, const b3Scalar& rollX)
-	{
-		b3Scalar halfYaw = b3Scalar(yawZ) * b3Scalar(0.5);
-		b3Scalar halfPitch = b3Scalar(pitchY) * b3Scalar(0.5);
-		b3Scalar halfRoll = b3Scalar(rollX) * b3Scalar(0.5);
-		b3Scalar cosYaw = b3Cos(halfYaw);
-		b3Scalar sinYaw = b3Sin(halfYaw);
-		b3Scalar cosPitch = b3Cos(halfPitch);
-		b3Scalar sinPitch = b3Sin(halfPitch);
-		b3Scalar cosRoll = b3Cos(halfRoll);
-		b3Scalar sinRoll = b3Sin(halfRoll);
-		setValue(sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw,   //x
-				 cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw,   //y
-				 cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw,   //z
-				 cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw);  //formerly yzx
-		normalize();
-	}
-
-	/**@brief Get the euler angles from this quaternion
-	   * @param yaw Angle around Z
-	   * @param pitch Angle around Y
-	   * @param roll Angle around X */
-	void getEulerZYX(b3Scalar& yawZ, b3Scalar& pitchY, b3Scalar& rollX) const
-	{
-		b3Scalar squ;
-		b3Scalar sqx;
-		b3Scalar sqy;
-		b3Scalar sqz;
-		b3Scalar sarg;
-		sqx = m_floats[0] * m_floats[0];
-		sqy = m_floats[1] * m_floats[1];
-		sqz = m_floats[2] * m_floats[2];
-		squ = m_floats[3] * m_floats[3];
-		rollX = b3Atan2(2 * (m_floats[1] * m_floats[2] + m_floats[3] * m_floats[0]), squ - sqx - sqy + sqz);
-		sarg = b3Scalar(-2.) * (m_floats[0] * m_floats[2] - m_floats[3] * m_floats[1]);
-		pitchY = sarg <= b3Scalar(-1.0) ? b3Scalar(-0.5) * B3_PI : (sarg >= b3Scalar(1.0) ? b3Scalar(0.5) * B3_PI : b3Asin(sarg));
-		yawZ = b3Atan2(2 * (m_floats[0] * m_floats[1] + m_floats[3] * m_floats[2]), squ + sqx - sqy - sqz);
-	}
-
-	/**@brief Add two quaternions
-   * @param q The quaternion to add to this one */
-	B3_FORCE_INLINE b3Quaternion& operator+=(const b3Quaternion& q)
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		mVec128 = _mm_add_ps(mVec128, q.mVec128);
-#elif defined(B3_USE_NEON)
-		mVec128 = vaddq_f32(mVec128, q.mVec128);
-#else
-		m_floats[0] += q.getX();
-		m_floats[1] += q.getY();
-		m_floats[2] += q.getZ();
-		m_floats[3] += q.m_floats[3];
-#endif
-		return *this;
-	}
-
-	/**@brief Subtract out a quaternion
-   * @param q The quaternion to subtract from this one */
-	b3Quaternion& operator-=(const b3Quaternion& q)
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		mVec128 = _mm_sub_ps(mVec128, q.mVec128);
-#elif defined(B3_USE_NEON)
-		mVec128 = vsubq_f32(mVec128, q.mVec128);
-#else
-		m_floats[0] -= q.getX();
-		m_floats[1] -= q.getY();
-		m_floats[2] -= q.getZ();
-		m_floats[3] -= q.m_floats[3];
-#endif
-		return *this;
-	}
-
-	/**@brief Scale this quaternion
-   * @param s The scalar to scale by */
-	b3Quaternion& operator*=(const b3Scalar& s)
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
-		vs = b3_pshufd_ps(vs, 0);     //	(S S S S)
-		mVec128 = _mm_mul_ps(mVec128, vs);
-#elif defined(B3_USE_NEON)
-		mVec128 = vmulq_n_f32(mVec128, s);
-#else
-		m_floats[0] *= s;
-		m_floats[1] *= s;
-		m_floats[2] *= s;
-		m_floats[3] *= s;
-#endif
-		return *this;
-	}
-
-	/**@brief Multiply this quaternion by q on the right
-   * @param q The other quaternion 
-   * Equivilant to this = this * q */
-	b3Quaternion& operator*=(const b3Quaternion& q)
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		__m128 vQ2 = q.get128();
-
-		__m128 A1 = b3_pshufd_ps(mVec128, B3_SHUFFLE(0, 1, 2, 0));
-		__m128 B1 = b3_pshufd_ps(vQ2, B3_SHUFFLE(3, 3, 3, 0));
-
-		A1 = A1 * B1;
-
-		__m128 A2 = b3_pshufd_ps(mVec128, B3_SHUFFLE(1, 2, 0, 1));
-		__m128 B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(2, 0, 1, 1));
-
-		A2 = A2 * B2;
-
-		B1 = b3_pshufd_ps(mVec128, B3_SHUFFLE(2, 0, 1, 2));
-		B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(1, 2, 0, 2));
-
-		B1 = B1 * B2;  //	A3 *= B3
-
-		mVec128 = b3_splat_ps(mVec128, 3);  //	A0
-		mVec128 = mVec128 * vQ2;            //	A0 * B0
-
-		A1 = A1 + A2;                  //	AB12
-		mVec128 = mVec128 - B1;        //	AB03 = AB0 - AB3
-		A1 = _mm_xor_ps(A1, b3vPPPM);  //	change sign of the last element
-		mVec128 = mVec128 + A1;        //	AB03 + AB12
-
-#elif defined(B3_USE_NEON)
-
-		float32x4_t vQ1 = mVec128;
-		float32x4_t vQ2 = q.get128();
-		float32x4_t A0, A1, B1, A2, B2, A3, B3;
-		float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
-
-		{
-			float32x2x2_t tmp;
-			tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1));  // {z x}, {w y}
-			vQ1zx = tmp.val[0];
-
-			tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2));  // {z x}, {w y}
-			vQ2zx = tmp.val[0];
-		}
-		vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1);
-
-		vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
-
-		vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
-		vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
-
-		A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                     // X Y  z x
-		B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx);  // W W  W X
-
-		A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
-		B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
-
-		A3 = vcombine_f32(vQ1zx, vQ1yz);  // Z X Y Z
-		B3 = vcombine_f32(vQ2yz, vQ2xz);  // Y Z x z
-
-		A1 = vmulq_f32(A1, B1);
-		A2 = vmulq_f32(A2, B2);
-		A3 = vmulq_f32(A3, B3);                           //	A3 *= B3
-		A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1);  //	A0 * B0
-
-		A1 = vaddq_f32(A1, A2);  //	AB12 = AB1 + AB2
-		A0 = vsubq_f32(A0, A3);  //	AB03 = AB0 - AB3
-
-		//	change the sign of the last element
-		A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM);
-		A0 = vaddq_f32(A0, A1);  //	AB03 + AB12
-
-		mVec128 = A0;
-#else
-		setValue(
-			m_floats[3] * q.getX() + m_floats[0] * q.m_floats[3] + m_floats[1] * q.getZ() - m_floats[2] * q.getY(),
-			m_floats[3] * q.getY() + m_floats[1] * q.m_floats[3] + m_floats[2] * q.getX() - m_floats[0] * q.getZ(),
-			m_floats[3] * q.getZ() + m_floats[2] * q.m_floats[3] + m_floats[0] * q.getY() - m_floats[1] * q.getX(),
-			m_floats[3] * q.m_floats[3] - m_floats[0] * q.getX() - m_floats[1] * q.getY() - m_floats[2] * q.getZ());
-#endif
-		return *this;
-	}
-	/**@brief Return the dot product between this quaternion and another
-   * @param q The other quaternion */
-	b3Scalar dot(const b3Quaternion& q) const
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		__m128 vd;
-
-		vd = _mm_mul_ps(mVec128, q.mVec128);
-
-		__m128 t = _mm_movehl_ps(vd, vd);
-		vd = _mm_add_ps(vd, t);
-		t = _mm_shuffle_ps(vd, vd, 0x55);
-		vd = _mm_add_ss(vd, t);
-
-		return _mm_cvtss_f32(vd);
-#elif defined(B3_USE_NEON)
-		float32x4_t vd = vmulq_f32(mVec128, q.mVec128);
-		float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_high_f32(vd));
-		x = vpadd_f32(x, x);
-		return vget_lane_f32(x, 0);
-#else
-		return m_floats[0] * q.getX() +
-			   m_floats[1] * q.getY() +
-			   m_floats[2] * q.getZ() +
-			   m_floats[3] * q.m_floats[3];
-#endif
-	}
-
-	/**@brief Return the length squared of the quaternion */
-	b3Scalar length2() const
-	{
-		return dot(*this);
-	}
-
-	/**@brief Return the length of the quaternion */
-	b3Scalar length() const
-	{
-		return b3Sqrt(length2());
-	}
-
-	/**@brief Normalize the quaternion 
-   * Such that x^2 + y^2 + z^2 +w^2 = 1 */
-	b3Quaternion& normalize()
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		__m128 vd;
-
-		vd = _mm_mul_ps(mVec128, mVec128);
-
-		__m128 t = _mm_movehl_ps(vd, vd);
-		vd = _mm_add_ps(vd, t);
-		t = _mm_shuffle_ps(vd, vd, 0x55);
-		vd = _mm_add_ss(vd, t);
-
-		vd = _mm_sqrt_ss(vd);
-		vd = _mm_div_ss(b3vOnes, vd);
-		vd = b3_pshufd_ps(vd, 0);  // splat
-		mVec128 = _mm_mul_ps(mVec128, vd);
-
-		return *this;
-#else
-		return *this /= length();
-#endif
-	}
-
-	/**@brief Return a scaled version of this quaternion
-   * @param s The scale factor */
-	B3_FORCE_INLINE b3Quaternion
-	operator*(const b3Scalar& s) const
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
-		vs = b3_pshufd_ps(vs, 0x00);  //	(S S S S)
-
-		return b3Quaternion(_mm_mul_ps(mVec128, vs));
-#elif defined(B3_USE_NEON)
-		return b3Quaternion(vmulq_n_f32(mVec128, s));
-#else
-		return b3Quaternion(getX() * s, getY() * s, getZ() * s, m_floats[3] * s);
-#endif
-	}
-
-	/**@brief Return an inversely scaled versionof this quaternion
-   * @param s The inverse scale factor */
-	b3Quaternion operator/(const b3Scalar& s) const
-	{
-		b3Assert(s != b3Scalar(0.0));
-		return *this * (b3Scalar(1.0) / s);
-	}
-
-	/**@brief Inversely scale this quaternion
-   * @param s The scale factor */
-	b3Quaternion& operator/=(const b3Scalar& s)
-	{
-		b3Assert(s != b3Scalar(0.0));
-		return *this *= b3Scalar(1.0) / s;
-	}
-
-	/**@brief Return a normalized version of this quaternion */
-	b3Quaternion normalized() const
-	{
-		return *this / length();
-	}
-	/**@brief Return the angle between this quaternion and the other 
-   * @param q The other quaternion */
-	b3Scalar angle(const b3Quaternion& q) const
-	{
-		b3Scalar s = b3Sqrt(length2() * q.length2());
-		b3Assert(s != b3Scalar(0.0));
-		return b3Acos(dot(q) / s);
-	}
-	/**@brief Return the angle of rotation represented by this quaternion */
-	b3Scalar getAngle() const
-	{
-		b3Scalar s = b3Scalar(2.) * b3Acos(m_floats[3]);
-		return s;
-	}
-
-	/**@brief Return the axis of the rotation represented by this quaternion */
-	b3Vector3 getAxis() const
-	{
-		b3Scalar s_squared = 1.f - m_floats[3] * m_floats[3];
-
-		if (s_squared < b3Scalar(10.) * B3_EPSILON)  //Check for divide by zero
-			return b3MakeVector3(1.0, 0.0, 0.0);     // Arbitrary
-		b3Scalar s = 1.f / b3Sqrt(s_squared);
-		return b3MakeVector3(m_floats[0] * s, m_floats[1] * s, m_floats[2] * s);
-	}
-
-	/**@brief Return the inverse of this quaternion */
-	b3Quaternion inverse() const
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		return b3Quaternion(_mm_xor_ps(mVec128, b3vQInv));
-#elif defined(B3_USE_NEON)
-		return b3Quaternion((b3SimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)b3vQInv));
-#else
-		return b3Quaternion(-m_floats[0], -m_floats[1], -m_floats[2], m_floats[3]);
-#endif
-	}
-
-	/**@brief Return the sum of this quaternion and the other 
-   * @param q2 The other quaternion */
-	B3_FORCE_INLINE b3Quaternion
-	operator+(const b3Quaternion& q2) const
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		return b3Quaternion(_mm_add_ps(mVec128, q2.mVec128));
-#elif defined(B3_USE_NEON)
-		return b3Quaternion(vaddq_f32(mVec128, q2.mVec128));
-#else
-		const b3Quaternion& q1 = *this;
-		return b3Quaternion(q1.getX() + q2.getX(), q1.getY() + q2.getY(), q1.getZ() + q2.getZ(), q1.m_floats[3] + q2.m_floats[3]);
-#endif
-	}
-
-	/**@brief Return the difference between this quaternion and the other 
-   * @param q2 The other quaternion */
-	B3_FORCE_INLINE b3Quaternion
-	operator-(const b3Quaternion& q2) const
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		return b3Quaternion(_mm_sub_ps(mVec128, q2.mVec128));
-#elif defined(B3_USE_NEON)
-		return b3Quaternion(vsubq_f32(mVec128, q2.mVec128));
-#else
-		const b3Quaternion& q1 = *this;
-		return b3Quaternion(q1.getX() - q2.getX(), q1.getY() - q2.getY(), q1.getZ() - q2.getZ(), q1.m_floats[3] - q2.m_floats[3]);
-#endif
-	}
-
-	/**@brief Return the negative of this quaternion 
-   * This simply negates each element */
-	B3_FORCE_INLINE b3Quaternion operator-() const
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		return b3Quaternion(_mm_xor_ps(mVec128, b3vMzeroMask));
-#elif defined(B3_USE_NEON)
-		return b3Quaternion((b3SimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)b3vMzeroMask));
-#else
-		const b3Quaternion& q2 = *this;
-		return b3Quaternion(-q2.getX(), -q2.getY(), -q2.getZ(), -q2.m_floats[3]);
-#endif
-	}
-	/**@todo document this and it's use */
-	B3_FORCE_INLINE b3Quaternion farthest(const b3Quaternion& qd) const
-	{
-		b3Quaternion diff, sum;
-		diff = *this - qd;
-		sum = *this + qd;
-		if (diff.dot(diff) > sum.dot(sum))
-			return qd;
-		return (-qd);
-	}
-
-	/**@todo document this and it's use */
-	B3_FORCE_INLINE b3Quaternion nearest(const b3Quaternion& qd) const
-	{
-		b3Quaternion diff, sum;
-		diff = *this - qd;
-		sum = *this + qd;
-		if (diff.dot(diff) < sum.dot(sum))
-			return qd;
-		return (-qd);
-	}
-
-	/**@brief Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion
-   * @param q The other quaternion to interpolate with 
-   * @param t The ratio between this and q to interpolate.  If t = 0 the result is this, if t=1 the result is q.
-   * Slerp interpolates assuming constant velocity.  */
-	b3Quaternion slerp(const b3Quaternion& q, const b3Scalar& t) const
-	{
-		b3Scalar magnitude = b3Sqrt(length2() * q.length2());
-		b3Assert(magnitude > b3Scalar(0));
-
-		b3Scalar product = dot(q) / magnitude;
-		if (b3Fabs(product) < b3Scalar(1))
-		{
-			// Take care of long angle case see http://en.wikipedia.org/wiki/Slerp
-			const b3Scalar sign = (product < 0) ? b3Scalar(-1) : b3Scalar(1);
-
-			const b3Scalar theta = b3Acos(sign * product);
-			const b3Scalar s1 = b3Sin(sign * t * theta);
-			const b3Scalar d = b3Scalar(1.0) / b3Sin(theta);
-			const b3Scalar s0 = b3Sin((b3Scalar(1.0) - t) * theta);
-
-			return b3Quaternion(
-				(m_floats[0] * s0 + q.getX() * s1) * d,
-				(m_floats[1] * s0 + q.getY() * s1) * d,
-				(m_floats[2] * s0 + q.getZ() * s1) * d,
-				(m_floats[3] * s0 + q.m_floats[3] * s1) * d);
-		}
-		else
-		{
-			return *this;
-		}
-	}
-
-	static const b3Quaternion& getIdentity()
-	{
-		static const b3Quaternion identityQuat(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.), b3Scalar(1.));
-		return identityQuat;
-	}
-
-	B3_FORCE_INLINE const b3Scalar& getW() const { return m_floats[3]; }
-};
-
-/**@brief Return the product of two quaternions */
-B3_FORCE_INLINE b3Quaternion
-operator*(const b3Quaternion& q1, const b3Quaternion& q2)
-{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-	__m128 vQ1 = q1.get128();
-	__m128 vQ2 = q2.get128();
-	__m128 A0, A1, B1, A2, B2;
-
-	A1 = b3_pshufd_ps(vQ1, B3_SHUFFLE(0, 1, 2, 0));  // X Y  z x     //      vtrn
-	B1 = b3_pshufd_ps(vQ2, B3_SHUFFLE(3, 3, 3, 0));  // W W  W X     // vdup vext
-
-	A1 = A1 * B1;
-
-	A2 = b3_pshufd_ps(vQ1, B3_SHUFFLE(1, 2, 0, 1));  // Y Z  X Y     // vext
-	B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(2, 0, 1, 1));  // z x  Y Y     // vtrn vdup
-
-	A2 = A2 * B2;
-
-	B1 = b3_pshufd_ps(vQ1, B3_SHUFFLE(2, 0, 1, 2));  // z x Y Z      // vtrn vext
-	B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(1, 2, 0, 2));  // Y Z x z      // vext vtrn
-
-	B1 = B1 * B2;  //	A3 *= B3
-
-	A0 = b3_splat_ps(vQ1, 3);  //	A0
-	A0 = A0 * vQ2;             //	A0 * B0
-
-	A1 = A1 + A2;  //	AB12
-	A0 = A0 - B1;  //	AB03 = AB0 - AB3
-
-	A1 = _mm_xor_ps(A1, b3vPPPM);  //	change sign of the last element
-	A0 = A0 + A1;                  //	AB03 + AB12
-
-	return b3Quaternion(A0);
-
-#elif defined(B3_USE_NEON)
-
-	float32x4_t vQ1 = q1.get128();
-	float32x4_t vQ2 = q2.get128();
-	float32x4_t A0, A1, B1, A2, B2, A3, B3;
-	float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
-
-	{
-		float32x2x2_t tmp;
-		tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1));  // {z x}, {w y}
-		vQ1zx = tmp.val[0];
-
-		tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2));  // {z x}, {w y}
-		vQ2zx = tmp.val[0];
-	}
-	vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1);
-
-	vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
-
-	vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
-	vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
-
-	A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                     // X Y  z x
-	B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx);  // W W  W X
-
-	A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
-	B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
-
-	A3 = vcombine_f32(vQ1zx, vQ1yz);  // Z X Y Z
-	B3 = vcombine_f32(vQ2yz, vQ2xz);  // Y Z x z
-
-	A1 = vmulq_f32(A1, B1);
-	A2 = vmulq_f32(A2, B2);
-	A3 = vmulq_f32(A3, B3);                           //	A3 *= B3
-	A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1);  //	A0 * B0
-
-	A1 = vaddq_f32(A1, A2);  //	AB12 = AB1 + AB2
-	A0 = vsubq_f32(A0, A3);  //	AB03 = AB0 - AB3
-
-	//	change the sign of the last element
-	A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM);
-	A0 = vaddq_f32(A0, A1);  //	AB03 + AB12
-
-	return b3Quaternion(A0);
-
-#else
-	return b3Quaternion(
-		q1.getW() * q2.getX() + q1.getX() * q2.getW() + q1.getY() * q2.getZ() - q1.getZ() * q2.getY(),
-		q1.getW() * q2.getY() + q1.getY() * q2.getW() + q1.getZ() * q2.getX() - q1.getX() * q2.getZ(),
-		q1.getW() * q2.getZ() + q1.getZ() * q2.getW() + q1.getX() * q2.getY() - q1.getY() * q2.getX(),
-		q1.getW() * q2.getW() - q1.getX() * q2.getX() - q1.getY() * q2.getY() - q1.getZ() * q2.getZ());
-#endif
-}
-
-B3_FORCE_INLINE b3Quaternion
-operator*(const b3Quaternion& q, const b3Vector3& w)
-{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-	__m128 vQ1 = q.get128();
-	__m128 vQ2 = w.get128();
-	__m128 A1, B1, A2, B2, A3, B3;
-
-	A1 = b3_pshufd_ps(vQ1, B3_SHUFFLE(3, 3, 3, 0));
-	B1 = b3_pshufd_ps(vQ2, B3_SHUFFLE(0, 1, 2, 0));
-
-	A1 = A1 * B1;
-
-	A2 = b3_pshufd_ps(vQ1, B3_SHUFFLE(1, 2, 0, 1));
-	B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(2, 0, 1, 1));
-
-	A2 = A2 * B2;
-
-	A3 = b3_pshufd_ps(vQ1, B3_SHUFFLE(2, 0, 1, 2));
-	B3 = b3_pshufd_ps(vQ2, B3_SHUFFLE(1, 2, 0, 2));
-
-	A3 = A3 * B3;  //	A3 *= B3
-
-	A1 = A1 + A2;                  //	AB12
-	A1 = _mm_xor_ps(A1, b3vPPPM);  //	change sign of the last element
-	A1 = A1 - A3;                  //	AB123 = AB12 - AB3
-
-	return b3Quaternion(A1);
-
-#elif defined(B3_USE_NEON)
-
-	float32x4_t vQ1 = q.get128();
-	float32x4_t vQ2 = w.get128();
-	float32x4_t A1, B1, A2, B2, A3, B3;
-	float32x2_t vQ1wx, vQ2zx, vQ1yz, vQ2yz, vQ1zx, vQ2xz;
-
-	vQ1wx = vext_f32(vget_high_f32(vQ1), vget_low_f32(vQ1), 1);
-	{
-		float32x2x2_t tmp;
-
-		tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2));  // {z x}, {w y}
-		vQ2zx = tmp.val[0];
-
-		tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1));  // {z x}, {w y}
-		vQ1zx = tmp.val[0];
-	}
-
-	vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
-
-	vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
-	vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
-
-	A1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ1), 1), vQ1wx);  // W W  W X
-	B1 = vcombine_f32(vget_low_f32(vQ2), vQ2zx);                     // X Y  z x
-
-	A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
-	B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
-
-	A3 = vcombine_f32(vQ1zx, vQ1yz);  // Z X Y Z
-	B3 = vcombine_f32(vQ2yz, vQ2xz);  // Y Z x z
-
-	A1 = vmulq_f32(A1, B1);
-	A2 = vmulq_f32(A2, B2);
-	A3 = vmulq_f32(A3, B3);  //	A3 *= B3
-
-	A1 = vaddq_f32(A1, A2);  //	AB12 = AB1 + AB2
-
-	//	change the sign of the last element
-	A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM);
-
-	A1 = vsubq_f32(A1, A3);  //	AB123 = AB12 - AB3
-
-	return b3Quaternion(A1);
-
-#else
-	return b3Quaternion(
-		q.getW() * w.getX() + q.getY() * w.getZ() - q.getZ() * w.getY(),
-		q.getW() * w.getY() + q.getZ() * w.getX() - q.getX() * w.getZ(),
-		q.getW() * w.getZ() + q.getX() * w.getY() - q.getY() * w.getX(),
-		-q.getX() * w.getX() - q.getY() * w.getY() - q.getZ() * w.getZ());
-#endif
-}
-
-B3_FORCE_INLINE b3Quaternion
-operator*(const b3Vector3& w, const b3Quaternion& q)
-{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-	__m128 vQ1 = w.get128();
-	__m128 vQ2 = q.get128();
-	__m128 A1, B1, A2, B2, A3, B3;
-
-	A1 = b3_pshufd_ps(vQ1, B3_SHUFFLE(0, 1, 2, 0));  // X Y  z x
-	B1 = b3_pshufd_ps(vQ2, B3_SHUFFLE(3, 3, 3, 0));  // W W  W X
-
-	A1 = A1 * B1;
-
-	A2 = b3_pshufd_ps(vQ1, B3_SHUFFLE(1, 2, 0, 1));
-	B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(2, 0, 1, 1));
-
-	A2 = A2 * B2;
-
-	A3 = b3_pshufd_ps(vQ1, B3_SHUFFLE(2, 0, 1, 2));
-	B3 = b3_pshufd_ps(vQ2, B3_SHUFFLE(1, 2, 0, 2));
-
-	A3 = A3 * B3;  //	A3 *= B3
-
-	A1 = A1 + A2;                  //	AB12
-	A1 = _mm_xor_ps(A1, b3vPPPM);  //	change sign of the last element
-	A1 = A1 - A3;                  //	AB123 = AB12 - AB3
-
-	return b3Quaternion(A1);
-
-#elif defined(B3_USE_NEON)
-
-	float32x4_t vQ1 = w.get128();
-	float32x4_t vQ2 = q.get128();
-	float32x4_t A1, B1, A2, B2, A3, B3;
-	float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
-
-	{
-		float32x2x2_t tmp;
-
-		tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1));  // {z x}, {w y}
-		vQ1zx = tmp.val[0];
-
-		tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2));  // {z x}, {w y}
-		vQ2zx = tmp.val[0];
-	}
-	vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1);
-
-	vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
-
-	vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
-	vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
-
-	A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                     // X Y  z x
-	B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx);  // W W  W X
-
-	A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
-	B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
-
-	A3 = vcombine_f32(vQ1zx, vQ1yz);  // Z X Y Z
-	B3 = vcombine_f32(vQ2yz, vQ2xz);  // Y Z x z
-
-	A1 = vmulq_f32(A1, B1);
-	A2 = vmulq_f32(A2, B2);
-	A3 = vmulq_f32(A3, B3);  //	A3 *= B3
-
-	A1 = vaddq_f32(A1, A2);  //	AB12 = AB1 + AB2
-
-	//	change the sign of the last element
-	A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM);
-
-	A1 = vsubq_f32(A1, A3);  //	AB123 = AB12 - AB3
-
-	return b3Quaternion(A1);
-
-#else
-	return b3Quaternion(
-		+w.getX() * q.getW() + w.getY() * q.getZ() - w.getZ() * q.getY(),
-		+w.getY() * q.getW() + w.getZ() * q.getX() - w.getX() * q.getZ(),
-		+w.getZ() * q.getW() + w.getX() * q.getY() - w.getY() * q.getX(),
-		-w.getX() * q.getX() - w.getY() * q.getY() - w.getZ() * q.getZ());
-#endif
-}
-
-/**@brief Calculate the dot product between two quaternions */
-B3_FORCE_INLINE b3Scalar
-b3Dot(const b3Quaternion& q1, const b3Quaternion& q2)
-{
-	return q1.dot(q2);
-}
-
-/**@brief Return the length of a quaternion */
-B3_FORCE_INLINE b3Scalar
-b3Length(const b3Quaternion& q)
-{
-	return q.length();
-}
-
-/**@brief Return the angle between two quaternions*/
-B3_FORCE_INLINE b3Scalar
-b3Angle(const b3Quaternion& q1, const b3Quaternion& q2)
-{
-	return q1.angle(q2);
-}
-
-/**@brief Return the inverse of a quaternion*/
-B3_FORCE_INLINE b3Quaternion
-b3Inverse(const b3Quaternion& q)
-{
-	return q.inverse();
-}
-
-/**@brief Return the result of spherical linear interpolation betwen two quaternions 
- * @param q1 The first quaternion
- * @param q2 The second quaternion 
- * @param t The ration between q1 and q2.  t = 0 return q1, t=1 returns q2 
- * Slerp assumes constant velocity between positions. */
-B3_FORCE_INLINE b3Quaternion
-b3Slerp(const b3Quaternion& q1, const b3Quaternion& q2, const b3Scalar& t)
-{
-	return q1.slerp(q2, t);
-}
-
-B3_FORCE_INLINE b3Quaternion
-b3QuatMul(const b3Quaternion& rot0, const b3Quaternion& rot1)
-{
-	return rot0 * rot1;
-}
-
-B3_FORCE_INLINE b3Quaternion
-b3QuatNormalized(const b3Quaternion& orn)
-{
-	return orn.normalized();
-}
-
-B3_FORCE_INLINE b3Vector3
-b3QuatRotate(const b3Quaternion& rotation, const b3Vector3& v)
-{
-	b3Quaternion q = rotation * v;
-	q *= rotation.inverse();
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-	return b3MakeVector3(_mm_and_ps(q.get128(), b3vFFF0fMask));
-#elif defined(B3_USE_NEON)
-	return b3MakeVector3((float32x4_t)vandq_s32((int32x4_t)q.get128(), b3vFFF0Mask));
-#else
-	return b3MakeVector3(q.getX(), q.getY(), q.getZ());
-#endif
-}
-
-B3_FORCE_INLINE b3Quaternion
-b3ShortestArcQuat(const b3Vector3& v0, const b3Vector3& v1)  // Game Programming Gems 2.10. make sure v0,v1 are normalized
-{
-	b3Vector3 c = v0.cross(v1);
-	b3Scalar d = v0.dot(v1);
-
-	if (d < -1.0 + B3_EPSILON)
-	{
-		b3Vector3 n, unused;
-		b3PlaneSpace1(v0, n, unused);
-		return b3Quaternion(n.getX(), n.getY(), n.getZ(), 0.0f);  // just pick any vector that is orthogonal to v0
-	}
-
-	b3Scalar s = b3Sqrt((1.0f + d) * 2.0f);
-	b3Scalar rs = 1.0f / s;
-
-	return b3Quaternion(c.getX() * rs, c.getY() * rs, c.getZ() * rs, s * 0.5f);
-}
-
-B3_FORCE_INLINE b3Quaternion
-b3ShortestArcQuatNormalize2(b3Vector3& v0, b3Vector3& v1)
-{
-	v0.normalize();
-	v1.normalize();
-	return b3ShortestArcQuat(v0, v1);
-}
-
-#endif  //B3_SIMD__QUATERNION_H_
diff --git a/thirdparty/bullet/Bullet3Common/b3Random.h b/thirdparty/bullet/Bullet3Common/b3Random.h
deleted file mode 100644
index c2e21496c7..0000000000
--- a/thirdparty/bullet/Bullet3Common/b3Random.h
+++ /dev/null
@@ -1,46 +0,0 @@
-/*
-Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_GEN_RANDOM_H
-#define B3_GEN_RANDOM_H
-
-#include "b3Scalar.h"
-
-#ifdef MT19937
-
-#include <limits.h>
-#include <mt19937.h>
-
-#define B3_RAND_MAX UINT_MAX
-
-B3_FORCE_INLINE void b3Srand(unsigned int seed) { init_genrand(seed); }
-B3_FORCE_INLINE unsigned int b3rand() { return genrand_int32(); }
-
-#else
-
-#include <stdlib.h>
-
-#define B3_RAND_MAX RAND_MAX
-
-B3_FORCE_INLINE void b3Srand(unsigned int seed) { srand(seed); }
-B3_FORCE_INLINE unsigned int b3rand() { return rand(); }
-
-#endif
-
-inline b3Scalar b3RandRange(b3Scalar minRange, b3Scalar maxRange)
-{
-	return (b3rand() / (b3Scalar(B3_RAND_MAX) + b3Scalar(1.0))) * (maxRange - minRange) + minRange;
-}
-
-#endif  //B3_GEN_RANDOM_H
diff --git a/thirdparty/bullet/Bullet3Common/b3ResizablePool.h b/thirdparty/bullet/Bullet3Common/b3ResizablePool.h
deleted file mode 100644
index cafe3ff396..0000000000
--- a/thirdparty/bullet/Bullet3Common/b3ResizablePool.h
+++ /dev/null
@@ -1,171 +0,0 @@
-
-#ifndef B3_RESIZABLE_POOL_H
-#define B3_RESIZABLE_POOL_H
-
-#include "Bullet3Common/b3AlignedObjectArray.h"
-
-enum
-{
-	B3_POOL_HANDLE_TERMINAL_FREE = -1,
-	B3_POOL_HANDLE_TERMINAL_USED = -2
-};
-
-template <typename U>
-struct b3PoolBodyHandle : public U
-{
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-	int m_nextFreeHandle;
-	void setNextFree(int next)
-	{
-		m_nextFreeHandle = next;
-	}
-	int getNextFree() const
-	{
-		return m_nextFreeHandle;
-	}
-};
-
-template <typename T>
-class b3ResizablePool
-{
-protected:
-	b3AlignedObjectArray<T> m_bodyHandles;
-	int m_numUsedHandles;   // number of active handles
-	int m_firstFreeHandle;  // free handles list
-
-	T* getHandleInternal(int handle)
-	{
-		return &m_bodyHandles[handle];
-	}
-	const T* getHandleInternal(int handle) const
-	{
-		return &m_bodyHandles[handle];
-	}
-
-public:
-	b3ResizablePool()
-	{
-		initHandles();
-	}
-
-	virtual ~b3ResizablePool()
-	{
-		exitHandles();
-	}
-	///handle management
-
-	int getNumHandles() const
-	{
-		return m_bodyHandles.size();
-	}
-
-	void getUsedHandles(b3AlignedObjectArray<int>& usedHandles) const
-	{
-		for (int i = 0; i < m_bodyHandles.size(); i++)
-		{
-			if (m_bodyHandles[i].getNextFree() == B3_POOL_HANDLE_TERMINAL_USED)
-			{
-				usedHandles.push_back(i);
-			}
-		}
-	}
-
-	T* getHandle(int handle)
-	{
-		b3Assert(handle >= 0);
-		b3Assert(handle < m_bodyHandles.size());
-		if ((handle < 0) || (handle >= m_bodyHandles.size()))
-		{
-			return 0;
-		}
-
-		if (m_bodyHandles[handle].getNextFree() == B3_POOL_HANDLE_TERMINAL_USED)
-		{
-			return &m_bodyHandles[handle];
-		}
-		return 0;
-	}
-	const T* getHandle(int handle) const
-	{
-		b3Assert(handle >= 0);
-		b3Assert(handle < m_bodyHandles.size());
-		if ((handle < 0) || (handle >= m_bodyHandles.size()))
-		{
-			return 0;
-		}
-
-		if (m_bodyHandles[handle].getNextFree() == B3_POOL_HANDLE_TERMINAL_USED)
-		{
-			return &m_bodyHandles[handle];
-		}
-		return 0;
-	}
-
-	void increaseHandleCapacity(int extraCapacity)
-	{
-		int curCapacity = m_bodyHandles.size();
-		//b3Assert(curCapacity == m_numUsedHandles);
-		int newCapacity = curCapacity + extraCapacity;
-		m_bodyHandles.resize(newCapacity);
-
-		{
-			for (int i = curCapacity; i < newCapacity; i++)
-				m_bodyHandles[i].setNextFree(i + 1);
-
-			m_bodyHandles[newCapacity - 1].setNextFree(-1);
-		}
-		m_firstFreeHandle = curCapacity;
-	}
-	void initHandles()
-	{
-		m_numUsedHandles = 0;
-		m_firstFreeHandle = -1;
-
-		increaseHandleCapacity(1);
-	}
-
-	void exitHandles()
-	{
-		m_bodyHandles.resize(0);
-		m_firstFreeHandle = -1;
-		m_numUsedHandles = 0;
-	}
-
-	int allocHandle()
-	{
-		b3Assert(m_firstFreeHandle >= 0);
-
-		int handle = m_firstFreeHandle;
-		m_firstFreeHandle = getHandleInternal(handle)->getNextFree();
-		m_numUsedHandles++;
-
-		if (m_firstFreeHandle < 0)
-		{
-			//int curCapacity = m_bodyHandles.size();
-			int additionalCapacity = m_bodyHandles.size();
-			increaseHandleCapacity(additionalCapacity);
-
-			getHandleInternal(handle)->setNextFree(m_firstFreeHandle);
-		}
-		getHandleInternal(handle)->setNextFree(B3_POOL_HANDLE_TERMINAL_USED);
-		getHandleInternal(handle)->clear();
-		return handle;
-	}
-
-	void freeHandle(int handle)
-	{
-		b3Assert(handle >= 0);
-
-		if (m_bodyHandles[handle].getNextFree() == B3_POOL_HANDLE_TERMINAL_USED)
-		{
-			getHandleInternal(handle)->clear();
-			getHandleInternal(handle)->setNextFree(m_firstFreeHandle);
-			m_firstFreeHandle = handle;
-			m_numUsedHandles--;
-		}
-	}
-};
-///end handle management
-
-#endif  //B3_RESIZABLE_POOL_H
diff --git a/thirdparty/bullet/Bullet3Common/b3Scalar.h b/thirdparty/bullet/Bullet3Common/b3Scalar.h
deleted file mode 100644
index eeb70ed632..0000000000
--- a/thirdparty/bullet/Bullet3Common/b3Scalar.h
+++ /dev/null
@@ -1,689 +0,0 @@
-/*
-Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_SCALAR_H
-#define B3_SCALAR_H
-
-#ifdef B3_MANAGED_CODE
-//Aligned data types not supported in managed code
-#pragma unmanaged
-#endif
-
-#include <math.h>
-#include <stdlib.h>  //size_t for MSVC 6.0
-#include <float.h>
-
-//Original repository is at http://github.com/erwincoumans/bullet3
-#define B3_BULLET_VERSION 300
-
-inline int b3GetVersion()
-{
-	return B3_BULLET_VERSION;
-}
-
-#if defined(DEBUG) || defined(_DEBUG)
-#define B3_DEBUG
-#endif
-
-#include "b3Logging.h"  //for b3Error
-
-#ifdef _WIN32
-
-#if  defined(__GNUC__)	// it should handle both MINGW and CYGWIN
-#define B3_FORCE_INLINE             __inline__ __attribute__((always_inline))
-#define B3_ATTRIBUTE_ALIGNED16(a)   a __attribute__((aligned(16)))
-#define B3_ATTRIBUTE_ALIGNED64(a)   a __attribute__((aligned(64)))
-#define B3_ATTRIBUTE_ALIGNED128(a)  a __attribute__((aligned(128)))
-#elif ( defined(_MSC_VER) && _MSC_VER < 1300 )
-#define B3_FORCE_INLINE inline
-#define B3_ATTRIBUTE_ALIGNED16(a) a
-#define B3_ATTRIBUTE_ALIGNED64(a) a
-#define B3_ATTRIBUTE_ALIGNED128(a) a
-#else
-//#define B3_HAS_ALIGNED_ALLOCATOR
-#pragma warning(disable : 4324)  // disable padding warning
-//			#pragma warning(disable:4530) // Disable the exception disable but used in MSCV Stl warning.
-#pragma warning(disable : 4996)  //Turn off warnings about deprecated C routines
-//			#pragma warning(disable:4786) // Disable the "debug name too long" warning
-
-#define B3_FORCE_INLINE __forceinline
-#define B3_ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
-#define B3_ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a
-#define B3_ATTRIBUTE_ALIGNED128(a) __declspec(align(128)) a
-#ifdef _XBOX
-#define B3_USE_VMX128
-
-#include <ppcintrinsics.h>
-#define B3_HAVE_NATIVE_FSEL
-#define b3Fsel(a, b, c) __fsel((a), (b), (c))
-#else
-
-#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(B3_USE_DOUBLE_PRECISION))
-#if (defined(_M_IX86) || defined(_M_X64))
-
-
-#ifdef __clang__
-//#define B3_NO_SIMD_OPERATOR_OVERLOADS
-#define B3_DISABLE_SSE
-#endif //__clang__
-
-#ifndef B3_DISABLE_SSE
-#define B3_USE_SSE
-#endif //B3_DISABLE_SSE
-
-#ifdef B3_USE_SSE
-//B3_USE_SSE_IN_API is disabled under Windows by default, because
-//it makes it harder to integrate Bullet into your application under Windows
-//(structured embedding Bullet structs/classes need to be 16-byte aligned)
-//with relatively little performance gain
-//If you are not embedded Bullet data in your classes, or make sure that you align those classes on 16-byte boundaries
-//you can manually enable this line or set it in the build system for a bit of performance gain (a few percent, dependent on usage)
-//#define B3_USE_SSE_IN_API
-#endif  //B3_USE_SSE
-#include <emmintrin.h>
-#endif
-#endif
-
-#endif  //_XBOX
-
-#endif  //__MINGW32__
-
-#ifdef B3_DEBUG
-#ifdef _MSC_VER
-#include <stdio.h>
-#define b3Assert(x) { if(!(x)){b3Error("Assert " __FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak();	}}
-#else  //_MSC_VER
-#include <assert.h>
-#define b3Assert assert
-#endif  //_MSC_VER
-#else
-#define b3Assert(x)
-#endif
-//b3FullAssert is optional, slows down a lot
-#define b3FullAssert(x)
-
-#define b3Likely(_c) _c
-#define b3Unlikely(_c) _c
-
-#else
-
-#if defined(__CELLOS_LV2__)
-#define B3_FORCE_INLINE inline __attribute__((always_inline))
-#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16)))
-#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64)))
-#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128)))
-#ifndef assert
-#include <assert.h>
-#endif
-#ifdef B3_DEBUG
-#ifdef __SPU__
-#include <spu_printf.h>
-#define printf spu_printf
-#define b3Assert(x)               \
-	{                             \
-		if (!(x))                 \
-		{                         \
-			b3Error(              \
-				"Assert "__FILE__ \
-				":%u (" #x ")\n", \
-				__LINE__);        \
-			spu_hcmpeq(0, 0);     \
-		}                         \
-	}
-#else
-#define b3Assert assert
-#endif
-
-#else
-#define b3Assert(x)
-#endif
-//b3FullAssert is optional, slows down a lot
-#define b3FullAssert(x)
-
-#define b3Likely(_c) _c
-#define b3Unlikely(_c) _c
-
-#else
-
-#ifdef USE_LIBSPE2
-
-#define B3_FORCE_INLINE __inline
-#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16)))
-#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64)))
-#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128)))
-#ifndef assert
-#include <assert.h>
-#endif
-#ifdef B3_DEBUG
-#define b3Assert assert
-#else
-#define b3Assert(x)
-#endif
-//b3FullAssert is optional, slows down a lot
-#define b3FullAssert(x)
-
-#define b3Likely(_c) __builtin_expect((_c), 1)
-#define b3Unlikely(_c) __builtin_expect((_c), 0)
-
-#else
-//non-windows systems
-
-#if (defined(__APPLE__) && (!defined(B3_USE_DOUBLE_PRECISION)))
-#if defined(__i386__) || defined(__x86_64__)
-#define B3_USE_SSE
-//B3_USE_SSE_IN_API is enabled on Mac OSX by default, because memory is automatically aligned on 16-byte boundaries
-//if apps run into issues, we will disable the next line
-#define B3_USE_SSE_IN_API
-#ifdef B3_USE_SSE
-// include appropriate SSE level
-#if defined(__SSE4_1__)
-#include <smmintrin.h>
-#elif defined(__SSSE3__)
-#include <tmmintrin.h>
-#elif defined(__SSE3__)
-#include <pmmintrin.h>
-#else
-#include <emmintrin.h>
-#endif
-#endif  //B3_USE_SSE
-#elif defined(__armv7__)
-#ifdef __clang__
-#define B3_USE_NEON 1
-
-#if defined B3_USE_NEON && defined(__clang__)
-#include <arm_neon.h>
-#endif  //B3_USE_NEON
-#endif  //__clang__
-#endif  //__arm__
-
-#define B3_FORCE_INLINE inline __attribute__((always_inline))
-///@todo: check out alignment methods for other platforms/compilers
-#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16)))
-#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64)))
-#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128)))
-#ifndef assert
-#include <assert.h>
-#endif
-
-#if defined(DEBUG) || defined(_DEBUG)
-#if defined(__i386__) || defined(__x86_64__)
-#include <stdio.h>
-#define b3Assert(x)                                                             \
-	{                                                                           \
-		if (!(x))                                                               \
-		{                                                                       \
-			b3Error("Assert %s in line %d, file %s\n", #x, __LINE__, __FILE__); \
-			asm volatile("int3");                                               \
-		}                                                                       \
-	}
-#else  //defined (__i386__) || defined (__x86_64__)
-#define b3Assert assert
-#endif  //defined (__i386__) || defined (__x86_64__)
-#else   //defined(DEBUG) || defined (_DEBUG)
-#define b3Assert(x)
-#endif  //defined(DEBUG) || defined (_DEBUG)
-
-//b3FullAssert is optional, slows down a lot
-#define b3FullAssert(x)
-#define b3Likely(_c) _c
-#define b3Unlikely(_c) _c
-
-#else
-
-#define B3_FORCE_INLINE inline
-///@todo: check out alignment methods for other platforms/compilers
-#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16)))
-#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64)))
-#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128)))
-///#define B3_ATTRIBUTE_ALIGNED16(a) a
-///#define B3_ATTRIBUTE_ALIGNED64(a) a
-///#define B3_ATTRIBUTE_ALIGNED128(a) a
-#ifndef assert
-#include <assert.h>
-#endif
-
-#if defined(DEBUG) || defined(_DEBUG)
-#define b3Assert assert
-#else
-#define b3Assert(x)
-#endif
-
-//b3FullAssert is optional, slows down a lot
-#define b3FullAssert(x)
-#define b3Likely(_c) _c
-#define b3Unlikely(_c) _c
-#endif  //__APPLE__
-
-#endif  // LIBSPE2
-
-#endif  //__CELLOS_LV2__
-#endif
-
-///The b3Scalar type abstracts floating point numbers, to easily switch between double and single floating point precision.
-#if defined(B3_USE_DOUBLE_PRECISION)
-typedef double b3Scalar;
-//this number could be bigger in double precision
-#define B3_LARGE_FLOAT 1e30
-#else
-typedef float b3Scalar;
-//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX
-#define B3_LARGE_FLOAT 1e18f
-#endif
-
-#ifdef B3_USE_SSE
-typedef __m128 b3SimdFloat4;
-#endif  //B3_USE_SSE
-
-#if defined B3_USE_SSE_IN_API && defined(B3_USE_SSE)
-#ifdef _WIN32
-
-#ifndef B3_NAN
-static int b3NanMask = 0x7F800001;
-#define B3_NAN (*(float *)&b3NanMask)
-#endif
-
-#ifndef B3_INFINITY_MASK
-static int b3InfinityMask = 0x7F800000;
-#define B3_INFINITY_MASK (*(float *)&b3InfinityMask)
-#endif
-#ifndef B3_NO_SIMD_OPERATOR_OVERLOADS
-inline __m128 operator+(const __m128 A, const __m128 B)
-{
-	return _mm_add_ps(A, B);
-}
-
-inline __m128 operator-(const __m128 A, const __m128 B)
-{
-	return _mm_sub_ps(A, B);
-}
-
-inline __m128 operator*(const __m128 A, const __m128 B)
-{
-	return _mm_mul_ps(A, B);
-}
-#endif //B3_NO_SIMD_OPERATOR_OVERLOADS
-#define b3CastfTo128i(a) (_mm_castps_si128(a))
-#define b3CastfTo128d(a) (_mm_castps_pd(a))
-#define b3CastiTo128f(a) (_mm_castsi128_ps(a))
-#define b3CastdTo128f(a) (_mm_castpd_ps(a))
-#define b3CastdTo128i(a) (_mm_castpd_si128(a))
-#define b3Assign128(r0, r1, r2, r3) _mm_setr_ps(r0, r1, r2, r3)
-
-#else  //_WIN32
-
-#define b3CastfTo128i(a) ((__m128i)(a))
-#define b3CastfTo128d(a) ((__m128d)(a))
-#define b3CastiTo128f(a) ((__m128)(a))
-#define b3CastdTo128f(a) ((__m128)(a))
-#define b3CastdTo128i(a) ((__m128i)(a))
-#define b3Assign128(r0, r1, r2, r3) \
-	(__m128) { r0, r1, r2, r3 }
-#endif  //_WIN32
-#endif  //B3_USE_SSE_IN_API
-
-#ifdef B3_USE_NEON
-#include <arm_neon.h>
-
-typedef float32x4_t b3SimdFloat4;
-#define B3_INFINITY INFINITY
-#define B3_NAN NAN
-#define b3Assign128(r0, r1, r2, r3) \
-	(float32x4_t) { r0, r1, r2, r3 }
-#endif
-
-#define B3_DECLARE_ALIGNED_ALLOCATOR()                                                                   \
-	B3_FORCE_INLINE void *operator new(size_t sizeInBytes) { return b3AlignedAlloc(sizeInBytes, 16); }   \
-	B3_FORCE_INLINE void operator delete(void *ptr) { b3AlignedFree(ptr); }                              \
-	B3_FORCE_INLINE void *operator new(size_t, void *ptr) { return ptr; }                                \
-	B3_FORCE_INLINE void operator delete(void *, void *) {}                                              \
-	B3_FORCE_INLINE void *operator new[](size_t sizeInBytes) { return b3AlignedAlloc(sizeInBytes, 16); } \
-	B3_FORCE_INLINE void operator delete[](void *ptr) { b3AlignedFree(ptr); }                            \
-	B3_FORCE_INLINE void *operator new[](size_t, void *ptr) { return ptr; }                              \
-	B3_FORCE_INLINE void operator delete[](void *, void *) {}
-
-#if defined(B3_USE_DOUBLE_PRECISION) || defined(B3_FORCE_DOUBLE_FUNCTIONS)
-
-B3_FORCE_INLINE b3Scalar b3Sqrt(b3Scalar x)
-{
-	return sqrt(x);
-}
-B3_FORCE_INLINE b3Scalar b3Fabs(b3Scalar x) { return fabs(x); }
-B3_FORCE_INLINE b3Scalar b3Cos(b3Scalar x) { return cos(x); }
-B3_FORCE_INLINE b3Scalar b3Sin(b3Scalar x) { return sin(x); }
-B3_FORCE_INLINE b3Scalar b3Tan(b3Scalar x) { return tan(x); }
-B3_FORCE_INLINE b3Scalar b3Acos(b3Scalar x)
-{
-	if (x < b3Scalar(-1)) x = b3Scalar(-1);
-	if (x > b3Scalar(1)) x = b3Scalar(1);
-	return acos(x);
-}
-B3_FORCE_INLINE b3Scalar b3Asin(b3Scalar x)
-{
-	if (x < b3Scalar(-1)) x = b3Scalar(-1);
-	if (x > b3Scalar(1)) x = b3Scalar(1);
-	return asin(x);
-}
-B3_FORCE_INLINE b3Scalar b3Atan(b3Scalar x) { return atan(x); }
-B3_FORCE_INLINE b3Scalar b3Atan2(b3Scalar x, b3Scalar y) { return atan2(x, y); }
-B3_FORCE_INLINE b3Scalar b3Exp(b3Scalar x) { return exp(x); }
-B3_FORCE_INLINE b3Scalar b3Log(b3Scalar x) { return log(x); }
-B3_FORCE_INLINE b3Scalar b3Pow(b3Scalar x, b3Scalar y) { return pow(x, y); }
-B3_FORCE_INLINE b3Scalar b3Fmod(b3Scalar x, b3Scalar y) { return fmod(x, y); }
-
-#else
-
-B3_FORCE_INLINE b3Scalar b3Sqrt(b3Scalar y)
-{
-#ifdef USE_APPROXIMATION
-	double x, z, tempf;
-	unsigned long *tfptr = ((unsigned long *)&tempf) + 1;
-
-	tempf = y;
-	*tfptr = (0xbfcdd90a - *tfptr) >> 1; /* estimate of 1/sqrt(y) */
-	x = tempf;
-	z = y * b3Scalar(0.5);
-	x = (b3Scalar(1.5) * x) - (x * x) * (x * z); /* iteration formula     */
-	x = (b3Scalar(1.5) * x) - (x * x) * (x * z);
-	x = (b3Scalar(1.5) * x) - (x * x) * (x * z);
-	x = (b3Scalar(1.5) * x) - (x * x) * (x * z);
-	x = (b3Scalar(1.5) * x) - (x * x) * (x * z);
-	return x * y;
-#else
-	return sqrtf(y);
-#endif
-}
-B3_FORCE_INLINE b3Scalar b3Fabs(b3Scalar x) { return fabsf(x); }
-B3_FORCE_INLINE b3Scalar b3Cos(b3Scalar x) { return cosf(x); }
-B3_FORCE_INLINE b3Scalar b3Sin(b3Scalar x) { return sinf(x); }
-B3_FORCE_INLINE b3Scalar b3Tan(b3Scalar x) { return tanf(x); }
-B3_FORCE_INLINE b3Scalar b3Acos(b3Scalar x)
-{
-	if (x < b3Scalar(-1))
-		x = b3Scalar(-1);
-	if (x > b3Scalar(1))
-		x = b3Scalar(1);
-	return acosf(x);
-}
-B3_FORCE_INLINE b3Scalar b3Asin(b3Scalar x)
-{
-	if (x < b3Scalar(-1))
-		x = b3Scalar(-1);
-	if (x > b3Scalar(1))
-		x = b3Scalar(1);
-	return asinf(x);
-}
-B3_FORCE_INLINE b3Scalar b3Atan(b3Scalar x) { return atanf(x); }
-B3_FORCE_INLINE b3Scalar b3Atan2(b3Scalar x, b3Scalar y) { return atan2f(x, y); }
-B3_FORCE_INLINE b3Scalar b3Exp(b3Scalar x) { return expf(x); }
-B3_FORCE_INLINE b3Scalar b3Log(b3Scalar x) { return logf(x); }
-B3_FORCE_INLINE b3Scalar b3Pow(b3Scalar x, b3Scalar y) { return powf(x, y); }
-B3_FORCE_INLINE b3Scalar b3Fmod(b3Scalar x, b3Scalar y) { return fmodf(x, y); }
-
-#endif
-
-#define B3_2_PI b3Scalar(6.283185307179586232)
-#define B3_PI (B3_2_PI * b3Scalar(0.5))
-#define B3_HALF_PI (B3_2_PI * b3Scalar(0.25))
-#define B3_RADS_PER_DEG (B3_2_PI / b3Scalar(360.0))
-#define B3_DEGS_PER_RAD (b3Scalar(360.0) / B3_2_PI)
-#define B3_SQRT12 b3Scalar(0.7071067811865475244008443621048490)
-
-#define b3RecipSqrt(x) ((b3Scalar)(b3Scalar(1.0) / b3Sqrt(b3Scalar(x)))) /* reciprocal square root */
-
-#ifdef B3_USE_DOUBLE_PRECISION
-#define B3_EPSILON DBL_EPSILON
-#define B3_INFINITY DBL_MAX
-#else
-#define B3_EPSILON FLT_EPSILON
-#define B3_INFINITY FLT_MAX
-#endif
-
-B3_FORCE_INLINE b3Scalar b3Atan2Fast(b3Scalar y, b3Scalar x)
-{
-	b3Scalar coeff_1 = B3_PI / 4.0f;
-	b3Scalar coeff_2 = 3.0f * coeff_1;
-	b3Scalar abs_y = b3Fabs(y);
-	b3Scalar angle;
-	if (x >= 0.0f)
-	{
-		b3Scalar r = (x - abs_y) / (x + abs_y);
-		angle = coeff_1 - coeff_1 * r;
-	}
-	else
-	{
-		b3Scalar r = (x + abs_y) / (abs_y - x);
-		angle = coeff_2 - coeff_1 * r;
-	}
-	return (y < 0.0f) ? -angle : angle;
-}
-
-B3_FORCE_INLINE bool b3FuzzyZero(b3Scalar x) { return b3Fabs(x) < B3_EPSILON; }
-
-B3_FORCE_INLINE bool b3Equal(b3Scalar a, b3Scalar eps)
-{
-	return (((a) <= eps) && !((a) < -eps));
-}
-B3_FORCE_INLINE bool b3GreaterEqual(b3Scalar a, b3Scalar eps)
-{
-	return (!((a) <= eps));
-}
-
-B3_FORCE_INLINE int b3IsNegative(b3Scalar x)
-{
-	return x < b3Scalar(0.0) ? 1 : 0;
-}
-
-B3_FORCE_INLINE b3Scalar b3Radians(b3Scalar x) { return x * B3_RADS_PER_DEG; }
-B3_FORCE_INLINE b3Scalar b3Degrees(b3Scalar x) { return x * B3_DEGS_PER_RAD; }
-
-#define B3_DECLARE_HANDLE(name) \
-	typedef struct name##__     \
-	{                           \
-		int unused;             \
-	} * name
-
-#ifndef b3Fsel
-B3_FORCE_INLINE b3Scalar b3Fsel(b3Scalar a, b3Scalar b, b3Scalar c)
-{
-	return a >= 0 ? b : c;
-}
-#endif
-#define b3Fsels(a, b, c) (b3Scalar) b3Fsel(a, b, c)
-
-B3_FORCE_INLINE bool b3MachineIsLittleEndian()
-{
-	long int i = 1;
-	const char *p = (const char *)&i;
-	if (p[0] == 1)  // Lowest address contains the least significant byte
-		return true;
-	else
-		return false;
-}
-
-///b3Select avoids branches, which makes performance much better for consoles like Playstation 3 and XBox 360
-///Thanks Phil Knight. See also http://www.cellperformance.com/articles/2006/04/more_techniques_for_eliminatin_1.html
-B3_FORCE_INLINE unsigned b3Select(unsigned condition, unsigned valueIfConditionNonZero, unsigned valueIfConditionZero)
-{
-	// Set testNz to 0xFFFFFFFF if condition is nonzero, 0x00000000 if condition is zero
-	// Rely on positive value or'ed with its negative having sign bit on
-	// and zero value or'ed with its negative (which is still zero) having sign bit off
-	// Use arithmetic shift right, shifting the sign bit through all 32 bits
-	unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31);
-	unsigned testEqz = ~testNz;
-	return ((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz));
-}
-B3_FORCE_INLINE int b3Select(unsigned condition, int valueIfConditionNonZero, int valueIfConditionZero)
-{
-	unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31);
-	unsigned testEqz = ~testNz;
-	return static_cast<int>((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz));
-}
-B3_FORCE_INLINE float b3Select(unsigned condition, float valueIfConditionNonZero, float valueIfConditionZero)
-{
-#ifdef B3_HAVE_NATIVE_FSEL
-	return (float)b3Fsel((b3Scalar)condition - b3Scalar(1.0f), valueIfConditionNonZero, valueIfConditionZero);
-#else
-	return (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero;
-#endif
-}
-
-template <typename T>
-B3_FORCE_INLINE void b3Swap(T &a, T &b)
-{
-	T tmp = a;
-	a = b;
-	b = tmp;
-}
-
-//PCK: endian swapping functions
-B3_FORCE_INLINE unsigned b3SwapEndian(unsigned val)
-{
-	return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8) | ((val & 0x000000ff) << 24));
-}
-
-B3_FORCE_INLINE unsigned short b3SwapEndian(unsigned short val)
-{
-	return static_cast<unsigned short>(((val & 0xff00) >> 8) | ((val & 0x00ff) << 8));
-}
-
-B3_FORCE_INLINE unsigned b3SwapEndian(int val)
-{
-	return b3SwapEndian((unsigned)val);
-}
-
-B3_FORCE_INLINE unsigned short b3SwapEndian(short val)
-{
-	return b3SwapEndian((unsigned short)val);
-}
-
-///b3SwapFloat uses using char pointers to swap the endianness
-////b3SwapFloat/b3SwapDouble will NOT return a float, because the machine might 'correct' invalid floating point values
-///Not all values of sign/exponent/mantissa are valid floating point numbers according to IEEE 754.
-///When a floating point unit is faced with an invalid value, it may actually change the value, or worse, throw an exception.
-///In most systems, running user mode code, you wouldn't get an exception, but instead the hardware/os/runtime will 'fix' the number for you.
-///so instead of returning a float/double, we return integer/long long integer
-B3_FORCE_INLINE unsigned int b3SwapEndianFloat(float d)
-{
-	unsigned int a = 0;
-	unsigned char *dst = (unsigned char *)&a;
-	unsigned char *src = (unsigned char *)&d;
-
-	dst[0] = src[3];
-	dst[1] = src[2];
-	dst[2] = src[1];
-	dst[3] = src[0];
-	return a;
-}
-
-// unswap using char pointers
-B3_FORCE_INLINE float b3UnswapEndianFloat(unsigned int a)
-{
-	float d = 0.0f;
-	unsigned char *src = (unsigned char *)&a;
-	unsigned char *dst = (unsigned char *)&d;
-
-	dst[0] = src[3];
-	dst[1] = src[2];
-	dst[2] = src[1];
-	dst[3] = src[0];
-
-	return d;
-}
-
-// swap using char pointers
-B3_FORCE_INLINE void b3SwapEndianDouble(double d, unsigned char *dst)
-{
-	unsigned char *src = (unsigned char *)&d;
-
-	dst[0] = src[7];
-	dst[1] = src[6];
-	dst[2] = src[5];
-	dst[3] = src[4];
-	dst[4] = src[3];
-	dst[5] = src[2];
-	dst[6] = src[1];
-	dst[7] = src[0];
-}
-
-// unswap using char pointers
-B3_FORCE_INLINE double b3UnswapEndianDouble(const unsigned char *src)
-{
-	double d = 0.0;
-	unsigned char *dst = (unsigned char *)&d;
-
-	dst[0] = src[7];
-	dst[1] = src[6];
-	dst[2] = src[5];
-	dst[3] = src[4];
-	dst[4] = src[3];
-	dst[5] = src[2];
-	dst[6] = src[1];
-	dst[7] = src[0];
-
-	return d;
-}
-
-// returns normalized value in range [-B3_PI, B3_PI]
-B3_FORCE_INLINE b3Scalar b3NormalizeAngle(b3Scalar angleInRadians)
-{
-	angleInRadians = b3Fmod(angleInRadians, B3_2_PI);
-	if (angleInRadians < -B3_PI)
-	{
-		return angleInRadians + B3_2_PI;
-	}
-	else if (angleInRadians > B3_PI)
-	{
-		return angleInRadians - B3_2_PI;
-	}
-	else
-	{
-		return angleInRadians;
-	}
-}
-
-///rudimentary class to provide type info
-struct b3TypedObject
-{
-	b3TypedObject(int objectType)
-		: m_objectType(objectType)
-	{
-	}
-	int m_objectType;
-	inline int getObjectType() const
-	{
-		return m_objectType;
-	}
-};
-
-///align a pointer to the provided alignment, upwards
-template <typename T>
-T *b3AlignPointer(T *unalignedPtr, size_t alignment)
-{
-	struct b3ConvertPointerSizeT
-	{
-		union {
-			T *ptr;
-			size_t integer;
-		};
-	};
-	b3ConvertPointerSizeT converter;
-
-	const size_t bit_mask = ~(alignment - 1);
-	converter.ptr = unalignedPtr;
-	converter.integer += alignment - 1;
-	converter.integer &= bit_mask;
-	return converter.ptr;
-}
-
-#endif  //B3_SCALAR_H
diff --git a/thirdparty/bullet/Bullet3Common/b3StackAlloc.h b/thirdparty/bullet/Bullet3Common/b3StackAlloc.h
deleted file mode 100644
index 4972236ac7..0000000000
--- a/thirdparty/bullet/Bullet3Common/b3StackAlloc.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/*
-Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/*
-StackAlloc extracted from GJK-EPA collision solver by Nathanael Presson
-Nov.2006
-*/
-
-#ifndef B3_STACK_ALLOC
-#define B3_STACK_ALLOC
-
-#include "b3Scalar.h"  //for b3Assert
-#include "b3AlignedAllocator.h"
-
-///The b3Block class is an internal structure for the b3StackAlloc memory allocator.
-struct b3Block
-{
-	b3Block* previous;
-	unsigned char* address;
-};
-
-///The StackAlloc class provides some fast stack-based memory allocator (LIFO last-in first-out)
-class b3StackAlloc
-{
-public:
-	b3StackAlloc(unsigned int size)
-	{
-		ctor();
-		create(size);
-	}
-	~b3StackAlloc() { destroy(); }
-
-	inline void create(unsigned int size)
-	{
-		destroy();
-		data = (unsigned char*)b3AlignedAlloc(size, 16);
-		totalsize = size;
-	}
-	inline void destroy()
-	{
-		b3Assert(usedsize == 0);
-		//Raise(L"StackAlloc is still in use");
-
-		if (usedsize == 0)
-		{
-			if (!ischild && data)
-				b3AlignedFree(data);
-
-			data = 0;
-			usedsize = 0;
-		}
-	}
-
-	int getAvailableMemory() const
-	{
-		return static_cast<int>(totalsize - usedsize);
-	}
-
-	unsigned char* allocate(unsigned int size)
-	{
-		const unsigned int nus(usedsize + size);
-		if (nus < totalsize)
-		{
-			usedsize = nus;
-			return (data + (usedsize - size));
-		}
-		b3Assert(0);
-		//&& (L"Not enough memory"));
-
-		return (0);
-	}
-	B3_FORCE_INLINE b3Block* beginBlock()
-	{
-		b3Block* pb = (b3Block*)allocate(sizeof(b3Block));
-		pb->previous = current;
-		pb->address = data + usedsize;
-		current = pb;
-		return (pb);
-	}
-	B3_FORCE_INLINE void endBlock(b3Block* block)
-	{
-		b3Assert(block == current);
-		//Raise(L"Unmatched blocks");
-		if (block == current)
-		{
-			current = block->previous;
-			usedsize = (unsigned int)((block->address - data) - sizeof(b3Block));
-		}
-	}
-
-private:
-	void ctor()
-	{
-		data = 0;
-		totalsize = 0;
-		usedsize = 0;
-		current = 0;
-		ischild = false;
-	}
-	unsigned char* data;
-	unsigned int totalsize;
-	unsigned int usedsize;
-	b3Block* current;
-	bool ischild;
-};
-
-#endif  //B3_STACK_ALLOC
diff --git a/thirdparty/bullet/Bullet3Common/b3Transform.h b/thirdparty/bullet/Bullet3Common/b3Transform.h
deleted file mode 100644
index 149da9d148..0000000000
--- a/thirdparty/bullet/Bullet3Common/b3Transform.h
+++ /dev/null
@@ -1,286 +0,0 @@
-/*
-Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_TRANSFORM_H
-#define B3_TRANSFORM_H
-
-#include "b3Matrix3x3.h"
-
-#ifdef B3_USE_DOUBLE_PRECISION
-#define b3TransformData b3TransformDoubleData
-#else
-#define b3TransformData b3TransformFloatData
-#endif
-
-/**@brief The b3Transform class supports rigid transforms with only translation and rotation and no scaling/shear.
- *It can be used in combination with b3Vector3, b3Quaternion and b3Matrix3x3 linear algebra classes. */
-B3_ATTRIBUTE_ALIGNED16(class)
-b3Transform
-{
-	///Storage for the rotation
-	b3Matrix3x3 m_basis;
-	///Storage for the translation
-	b3Vector3 m_origin;
-
-public:
-	/**@brief No initialization constructor */
-	b3Transform() {}
-	/**@brief Constructor from b3Quaternion (optional b3Vector3 )
-   * @param q Rotation from quaternion 
-   * @param c Translation from Vector (default 0,0,0) */
-	explicit B3_FORCE_INLINE b3Transform(const b3Quaternion& q,
-										 const b3Vector3& c = b3MakeVector3(b3Scalar(0), b3Scalar(0), b3Scalar(0)))
-		: m_basis(q),
-		  m_origin(c)
-	{
-	}
-
-	/**@brief Constructor from b3Matrix3x3 (optional b3Vector3)
-   * @param b Rotation from Matrix 
-   * @param c Translation from Vector default (0,0,0)*/
-	explicit B3_FORCE_INLINE b3Transform(const b3Matrix3x3& b,
-										 const b3Vector3& c = b3MakeVector3(b3Scalar(0), b3Scalar(0), b3Scalar(0)))
-		: m_basis(b),
-		  m_origin(c)
-	{
-	}
-	/**@brief Copy constructor */
-	B3_FORCE_INLINE b3Transform(const b3Transform& other)
-		: m_basis(other.m_basis),
-		  m_origin(other.m_origin)
-	{
-	}
-	/**@brief Assignment Operator */
-	B3_FORCE_INLINE b3Transform& operator=(const b3Transform& other)
-	{
-		m_basis = other.m_basis;
-		m_origin = other.m_origin;
-		return *this;
-	}
-
-	/**@brief Set the current transform as the value of the product of two transforms
-   * @param t1 Transform 1
-   * @param t2 Transform 2
-   * This = Transform1 * Transform2 */
-	B3_FORCE_INLINE void mult(const b3Transform& t1, const b3Transform& t2)
-	{
-		m_basis = t1.m_basis * t2.m_basis;
-		m_origin = t1(t2.m_origin);
-	}
-
-	/*		void multInverseLeft(const b3Transform& t1, const b3Transform& t2) {
-			b3Vector3 v = t2.m_origin - t1.m_origin;
-			m_basis = b3MultTransposeLeft(t1.m_basis, t2.m_basis);
-			m_origin = v * t1.m_basis;
-		}
-		*/
-
-	/**@brief Return the transform of the vector */
-	B3_FORCE_INLINE b3Vector3 operator()(const b3Vector3& x) const
-	{
-		return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin;
-	}
-
-	/**@brief Return the transform of the vector */
-	B3_FORCE_INLINE b3Vector3 operator*(const b3Vector3& x) const
-	{
-		return (*this)(x);
-	}
-
-	/**@brief Return the transform of the b3Quaternion */
-	B3_FORCE_INLINE b3Quaternion operator*(const b3Quaternion& q) const
-	{
-		return getRotation() * q;
-	}
-
-	/**@brief Return the basis matrix for the rotation */
-	B3_FORCE_INLINE b3Matrix3x3& getBasis() { return m_basis; }
-	/**@brief Return the basis matrix for the rotation */
-	B3_FORCE_INLINE const b3Matrix3x3& getBasis() const { return m_basis; }
-
-	/**@brief Return the origin vector translation */
-	B3_FORCE_INLINE b3Vector3& getOrigin() { return m_origin; }
-	/**@brief Return the origin vector translation */
-	B3_FORCE_INLINE const b3Vector3& getOrigin() const { return m_origin; }
-
-	/**@brief Return a quaternion representing the rotation */
-	b3Quaternion getRotation() const
-	{
-		b3Quaternion q;
-		m_basis.getRotation(q);
-		return q;
-	}
-
-	/**@brief Set from an array 
-   * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
-	void setFromOpenGLMatrix(const b3Scalar* m)
-	{
-		m_basis.setFromOpenGLSubMatrix(m);
-		m_origin.setValue(m[12], m[13], m[14]);
-	}
-
-	/**@brief Fill an array representation
-   * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
-	void getOpenGLMatrix(b3Scalar * m) const
-	{
-		m_basis.getOpenGLSubMatrix(m);
-		m[12] = m_origin.getX();
-		m[13] = m_origin.getY();
-		m[14] = m_origin.getZ();
-		m[15] = b3Scalar(1.0);
-	}
-
-	/**@brief Set the translational element
-   * @param origin The vector to set the translation to */
-	B3_FORCE_INLINE void setOrigin(const b3Vector3& origin)
-	{
-		m_origin = origin;
-	}
-
-	B3_FORCE_INLINE b3Vector3 invXform(const b3Vector3& inVec) const;
-
-	/**@brief Set the rotational element by b3Matrix3x3 */
-	B3_FORCE_INLINE void setBasis(const b3Matrix3x3& basis)
-	{
-		m_basis = basis;
-	}
-
-	/**@brief Set the rotational element by b3Quaternion */
-	B3_FORCE_INLINE void setRotation(const b3Quaternion& q)
-	{
-		m_basis.setRotation(q);
-	}
-
-	/**@brief Set this transformation to the identity */
-	void setIdentity()
-	{
-		m_basis.setIdentity();
-		m_origin.setValue(b3Scalar(0.0), b3Scalar(0.0), b3Scalar(0.0));
-	}
-
-	/**@brief Multiply this Transform by another(this = this * another) 
-   * @param t The other transform */
-	b3Transform& operator*=(const b3Transform& t)
-	{
-		m_origin += m_basis * t.m_origin;
-		m_basis *= t.m_basis;
-		return *this;
-	}
-
-	/**@brief Return the inverse of this transform */
-	b3Transform inverse() const
-	{
-		b3Matrix3x3 inv = m_basis.transpose();
-		return b3Transform(inv, inv * -m_origin);
-	}
-
-	/**@brief Return the inverse of this transform times the other transform
-   * @param t The other transform 
-   * return this.inverse() * the other */
-	b3Transform inverseTimes(const b3Transform& t) const;
-
-	/**@brief Return the product of this transform and the other */
-	b3Transform operator*(const b3Transform& t) const;
-
-	/**@brief Return an identity transform */
-	static const b3Transform& getIdentity()
-	{
-		static const b3Transform identityTransform(b3Matrix3x3::getIdentity());
-		return identityTransform;
-	}
-
-	void serialize(struct b3TransformData & dataOut) const;
-
-	void serializeFloat(struct b3TransformFloatData & dataOut) const;
-
-	void deSerialize(const struct b3TransformData& dataIn);
-
-	void deSerializeDouble(const struct b3TransformDoubleData& dataIn);
-
-	void deSerializeFloat(const struct b3TransformFloatData& dataIn);
-};
-
-B3_FORCE_INLINE b3Vector3
-b3Transform::invXform(const b3Vector3& inVec) const
-{
-	b3Vector3 v = inVec - m_origin;
-	return (m_basis.transpose() * v);
-}
-
-B3_FORCE_INLINE b3Transform
-b3Transform::inverseTimes(const b3Transform& t) const
-{
-	b3Vector3 v = t.getOrigin() - m_origin;
-	return b3Transform(m_basis.transposeTimes(t.m_basis),
-					   v * m_basis);
-}
-
-B3_FORCE_INLINE b3Transform
-	b3Transform::operator*(const b3Transform& t) const
-{
-	return b3Transform(m_basis * t.m_basis,
-					   (*this)(t.m_origin));
-}
-
-/**@brief Test if two transforms have all elements equal */
-B3_FORCE_INLINE bool operator==(const b3Transform& t1, const b3Transform& t2)
-{
-	return (t1.getBasis() == t2.getBasis() &&
-			t1.getOrigin() == t2.getOrigin());
-}
-
-///for serialization
-struct b3TransformFloatData
-{
-	b3Matrix3x3FloatData m_basis;
-	b3Vector3FloatData m_origin;
-};
-
-struct b3TransformDoubleData
-{
-	b3Matrix3x3DoubleData m_basis;
-	b3Vector3DoubleData m_origin;
-};
-
-B3_FORCE_INLINE void b3Transform::serialize(b3TransformData& dataOut) const
-{
-	m_basis.serialize(dataOut.m_basis);
-	m_origin.serialize(dataOut.m_origin);
-}
-
-B3_FORCE_INLINE void b3Transform::serializeFloat(b3TransformFloatData& dataOut) const
-{
-	m_basis.serializeFloat(dataOut.m_basis);
-	m_origin.serializeFloat(dataOut.m_origin);
-}
-
-B3_FORCE_INLINE void b3Transform::deSerialize(const b3TransformData& dataIn)
-{
-	m_basis.deSerialize(dataIn.m_basis);
-	m_origin.deSerialize(dataIn.m_origin);
-}
-
-B3_FORCE_INLINE void b3Transform::deSerializeFloat(const b3TransformFloatData& dataIn)
-{
-	m_basis.deSerializeFloat(dataIn.m_basis);
-	m_origin.deSerializeFloat(dataIn.m_origin);
-}
-
-B3_FORCE_INLINE void b3Transform::deSerializeDouble(const b3TransformDoubleData& dataIn)
-{
-	m_basis.deSerializeDouble(dataIn.m_basis);
-	m_origin.deSerializeDouble(dataIn.m_origin);
-}
-
-#endif  //B3_TRANSFORM_H
diff --git a/thirdparty/bullet/Bullet3Common/b3TransformUtil.h b/thirdparty/bullet/Bullet3Common/b3TransformUtil.h
deleted file mode 100644
index 1850a9be5f..0000000000
--- a/thirdparty/bullet/Bullet3Common/b3TransformUtil.h
+++ /dev/null
@@ -1,210 +0,0 @@
-/*
-Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_TRANSFORM_UTIL_H
-#define B3_TRANSFORM_UTIL_H
-
-#include "b3Transform.h"
-#define B3_ANGULAR_MOTION_THRESHOLD b3Scalar(0.5) * B3_HALF_PI
-
-B3_FORCE_INLINE b3Vector3 b3AabbSupport(const b3Vector3& halfExtents, const b3Vector3& supportDir)
-{
-	return b3MakeVector3(supportDir.getX() < b3Scalar(0.0) ? -halfExtents.getX() : halfExtents.getX(),
-						 supportDir.getY() < b3Scalar(0.0) ? -halfExtents.getY() : halfExtents.getY(),
-						 supportDir.getZ() < b3Scalar(0.0) ? -halfExtents.getZ() : halfExtents.getZ());
-}
-
-/// Utils related to temporal transforms
-class b3TransformUtil
-{
-public:
-	static void integrateTransform(const b3Transform& curTrans, const b3Vector3& linvel, const b3Vector3& angvel, b3Scalar timeStep, b3Transform& predictedTransform)
-	{
-		predictedTransform.setOrigin(curTrans.getOrigin() + linvel * timeStep);
-		//	#define QUATERNION_DERIVATIVE
-#ifdef QUATERNION_DERIVATIVE
-		b3Quaternion predictedOrn = curTrans.getRotation();
-		predictedOrn += (angvel * predictedOrn) * (timeStep * b3Scalar(0.5));
-		predictedOrn.normalize();
-#else
-		//Exponential map
-		//google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
-
-		b3Vector3 axis;
-		b3Scalar fAngle = angvel.length();
-		//limit the angular motion
-		if (fAngle * timeStep > B3_ANGULAR_MOTION_THRESHOLD)
-		{
-			fAngle = B3_ANGULAR_MOTION_THRESHOLD / timeStep;
-		}
-
-		if (fAngle < b3Scalar(0.001))
-		{
-			// use Taylor's expansions of sync function
-			axis = angvel * (b3Scalar(0.5) * timeStep - (timeStep * timeStep * timeStep) * (b3Scalar(0.020833333333)) * fAngle * fAngle);
-		}
-		else
-		{
-			// sync(fAngle) = sin(c*fAngle)/t
-			axis = angvel * (b3Sin(b3Scalar(0.5) * fAngle * timeStep) / fAngle);
-		}
-		b3Quaternion dorn(axis.getX(), axis.getY(), axis.getZ(), b3Cos(fAngle * timeStep * b3Scalar(0.5)));
-		b3Quaternion orn0 = curTrans.getRotation();
-
-		b3Quaternion predictedOrn = dorn * orn0;
-		predictedOrn.normalize();
-#endif
-		predictedTransform.setRotation(predictedOrn);
-	}
-
-	static void calculateVelocityQuaternion(const b3Vector3& pos0, const b3Vector3& pos1, const b3Quaternion& orn0, const b3Quaternion& orn1, b3Scalar timeStep, b3Vector3& linVel, b3Vector3& angVel)
-	{
-		linVel = (pos1 - pos0) / timeStep;
-		b3Vector3 axis;
-		b3Scalar angle;
-		if (orn0 != orn1)
-		{
-			calculateDiffAxisAngleQuaternion(orn0, orn1, axis, angle);
-			angVel = axis * angle / timeStep;
-		}
-		else
-		{
-			angVel.setValue(0, 0, 0);
-		}
-	}
-
-	static void calculateDiffAxisAngleQuaternion(const b3Quaternion& orn0, const b3Quaternion& orn1a, b3Vector3& axis, b3Scalar& angle)
-	{
-		b3Quaternion orn1 = orn0.nearest(orn1a);
-		b3Quaternion dorn = orn1 * orn0.inverse();
-		angle = dorn.getAngle();
-		axis = b3MakeVector3(dorn.getX(), dorn.getY(), dorn.getZ());
-		axis[3] = b3Scalar(0.);
-		//check for axis length
-		b3Scalar len = axis.length2();
-		if (len < B3_EPSILON * B3_EPSILON)
-			axis = b3MakeVector3(b3Scalar(1.), b3Scalar(0.), b3Scalar(0.));
-		else
-			axis /= b3Sqrt(len);
-	}
-
-	static void calculateVelocity(const b3Transform& transform0, const b3Transform& transform1, b3Scalar timeStep, b3Vector3& linVel, b3Vector3& angVel)
-	{
-		linVel = (transform1.getOrigin() - transform0.getOrigin()) / timeStep;
-		b3Vector3 axis;
-		b3Scalar angle;
-		calculateDiffAxisAngle(transform0, transform1, axis, angle);
-		angVel = axis * angle / timeStep;
-	}
-
-	static void calculateDiffAxisAngle(const b3Transform& transform0, const b3Transform& transform1, b3Vector3& axis, b3Scalar& angle)
-	{
-		b3Matrix3x3 dmat = transform1.getBasis() * transform0.getBasis().inverse();
-		b3Quaternion dorn;
-		dmat.getRotation(dorn);
-
-		///floating point inaccuracy can lead to w component > 1..., which breaks
-		dorn.normalize();
-
-		angle = dorn.getAngle();
-		axis = b3MakeVector3(dorn.getX(), dorn.getY(), dorn.getZ());
-		axis[3] = b3Scalar(0.);
-		//check for axis length
-		b3Scalar len = axis.length2();
-		if (len < B3_EPSILON * B3_EPSILON)
-			axis = b3MakeVector3(b3Scalar(1.), b3Scalar(0.), b3Scalar(0.));
-		else
-			axis /= b3Sqrt(len);
-	}
-};
-
-///The b3ConvexSeparatingDistanceUtil can help speed up convex collision detection
-///by conservatively updating a cached separating distance/vector instead of re-calculating the closest distance
-class b3ConvexSeparatingDistanceUtil
-{
-	b3Quaternion m_ornA;
-	b3Quaternion m_ornB;
-	b3Vector3 m_posA;
-	b3Vector3 m_posB;
-
-	b3Vector3 m_separatingNormal;
-
-	b3Scalar m_boundingRadiusA;
-	b3Scalar m_boundingRadiusB;
-	b3Scalar m_separatingDistance;
-
-public:
-	b3ConvexSeparatingDistanceUtil(b3Scalar boundingRadiusA, b3Scalar boundingRadiusB)
-		: m_boundingRadiusA(boundingRadiusA),
-		  m_boundingRadiusB(boundingRadiusB),
-		  m_separatingDistance(0.f)
-	{
-	}
-
-	b3Scalar getConservativeSeparatingDistance()
-	{
-		return m_separatingDistance;
-	}
-
-	void updateSeparatingDistance(const b3Transform& transA, const b3Transform& transB)
-	{
-		const b3Vector3& toPosA = transA.getOrigin();
-		const b3Vector3& toPosB = transB.getOrigin();
-		b3Quaternion toOrnA = transA.getRotation();
-		b3Quaternion toOrnB = transB.getRotation();
-
-		if (m_separatingDistance > 0.f)
-		{
-			b3Vector3 linVelA, angVelA, linVelB, angVelB;
-			b3TransformUtil::calculateVelocityQuaternion(m_posA, toPosA, m_ornA, toOrnA, b3Scalar(1.), linVelA, angVelA);
-			b3TransformUtil::calculateVelocityQuaternion(m_posB, toPosB, m_ornB, toOrnB, b3Scalar(1.), linVelB, angVelB);
-			b3Scalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB;
-			b3Vector3 relLinVel = (linVelB - linVelA);
-			b3Scalar relLinVelocLength = relLinVel.dot(m_separatingNormal);
-			if (relLinVelocLength < 0.f)
-			{
-				relLinVelocLength = 0.f;
-			}
-
-			b3Scalar projectedMotion = maxAngularProjectedVelocity + relLinVelocLength;
-			m_separatingDistance -= projectedMotion;
-		}
-
-		m_posA = toPosA;
-		m_posB = toPosB;
-		m_ornA = toOrnA;
-		m_ornB = toOrnB;
-	}
-
-	void initSeparatingDistance(const b3Vector3& separatingVector, b3Scalar separatingDistance, const b3Transform& transA, const b3Transform& transB)
-	{
-		m_separatingDistance = separatingDistance;
-
-		if (m_separatingDistance > 0.f)
-		{
-			m_separatingNormal = separatingVector;
-
-			const b3Vector3& toPosA = transA.getOrigin();
-			const b3Vector3& toPosB = transB.getOrigin();
-			b3Quaternion toOrnA = transA.getRotation();
-			b3Quaternion toOrnB = transB.getRotation();
-			m_posA = toPosA;
-			m_posB = toPosB;
-			m_ornA = toOrnA;
-			m_ornB = toOrnB;
-		}
-	}
-};
-
-#endif  //B3_TRANSFORM_UTIL_H
diff --git a/thirdparty/bullet/Bullet3Common/b3Vector3.cpp b/thirdparty/bullet/Bullet3Common/b3Vector3.cpp
deleted file mode 100644
index 100fb774c1..0000000000
--- a/thirdparty/bullet/Bullet3Common/b3Vector3.cpp
+++ /dev/null
@@ -1,1637 +0,0 @@
-/*
- Copyright (c) 2011-213 Apple Inc. http://bulletphysics.org
-
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
-
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
-
- This source version has been altered.
- */
-
-#if defined(_WIN32) || defined(__i386__)
-#define B3_USE_SSE_IN_API
-#endif
-
-#include "b3Vector3.h"
-
-#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
-
-#ifdef __APPLE__
-#include <stdint.h>
-typedef float float4 __attribute__((vector_size(16)));
-#else
-#define float4 __m128
-#endif
-//typedef  uint32_t uint4 __attribute__ ((vector_size(16)));
-
-#if defined B3_USE_SSE || defined _WIN32
-
-#define LOG2_ARRAY_SIZE 6
-#define STACK_ARRAY_COUNT (1UL << LOG2_ARRAY_SIZE)
-
-#include <emmintrin.h>
-
-long b3_maxdot_large(const float *vv, const float *vec, unsigned long count, float *dotResult);
-long b3_maxdot_large(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	const float4 *vertices = (const float4 *)vv;
-	static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0};
-	float4 dotMax = b3Assign128(-B3_INFINITY, -B3_INFINITY, -B3_INFINITY, -B3_INFINITY);
-	float4 vvec = _mm_loadu_ps(vec);
-	float4 vHi = b3CastiTo128f(_mm_shuffle_epi32(b3CastfTo128i(vvec), 0xaa));  /// zzzz
-	float4 vLo = _mm_movelh_ps(vvec, vvec);                                    /// xyxy
-
-	long maxIndex = -1L;
-
-	size_t segment = 0;
-	float4 stack_array[STACK_ARRAY_COUNT];
-
-#if DEBUG
-	// memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) );
-#endif
-
-	size_t index;
-	float4 max;
-	// Faster loop without cleanup code for full tiles
-	for (segment = 0; segment + STACK_ARRAY_COUNT * 4 <= count; segment += STACK_ARRAY_COUNT * 4)
-	{
-		max = dotMax;
-
-		for (index = 0; index < STACK_ARRAY_COUNT; index += 4)
-		{  // do four dot products at a time. Carefully avoid touching the w element.
-			float4 v0 = vertices[0];
-			float4 v1 = vertices[1];
-			float4 v2 = vertices[2];
-			float4 v3 = vertices[3];
-			vertices += 4;
-
-			float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 1] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 2] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 3] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			// It is too costly to keep the index of the max here. We will look for it again later.  We save a lot of work this way.
-		}
-
-		// If we found a new max
-		if (0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(max, dotMax)))
-		{
-			// copy the new max across all lanes of our max accumulator
-			max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0x4e));
-			max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0xb1));
-
-			dotMax = max;
-
-			// find first occurrence of that max
-			size_t test;
-			for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], max))); index++)  // local_count must be a multiple of 4
-			{
-			}
-			// record where it is.
-			maxIndex = 4 * index + segment + indexTable[test];
-		}
-	}
-
-	// account for work we've already done
-	count -= segment;
-
-	// Deal with the last < STACK_ARRAY_COUNT vectors
-	max = dotMax;
-	index = 0;
-
-	if (b3Unlikely(count > 16))
-	{
-		for (; index + 4 <= count / 4; index += 4)
-		{  // do four dot products at a time. Carefully avoid touching the w element.
-			float4 v0 = vertices[0];
-			float4 v1 = vertices[1];
-			float4 v2 = vertices[2];
-			float4 v3 = vertices[3];
-			vertices += 4;
-
-			float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 1] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 2] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 3] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			// It is too costly to keep the index of the max here. We will look for it again later.  We save a lot of work this way.
-		}
-	}
-
-	size_t localCount = (count & -4L) - 4 * index;
-	if (localCount)
-	{
-#ifdef __APPLE__
-		float4 t0, t1, t2, t3, t4;
-		float4 *sap = &stack_array[index + localCount / 4];
-		vertices += localCount;  // counter the offset
-		size_t byteIndex = -(localCount) * sizeof(float);
-		//AT&T Code style assembly
-		asm volatile(
-			".align 4                                                                   \n\
-             0: movaps  %[max], %[t2]                            // move max out of the way to avoid propagating NaNs in max \n\
-          movaps  (%[vertices], %[byteIndex], 4),    %[t0]    // vertices[0]      \n\
-          movaps  16(%[vertices], %[byteIndex], 4),  %[t1]    // vertices[1]      \n\
-          movaps  %[t0], %[max]                               // vertices[0]      \n\
-          movlhps %[t1], %[max]                               // x0y0x1y1         \n\
-         movaps  32(%[vertices], %[byteIndex], 4),  %[t3]    // vertices[2]      \n\
-         movaps  48(%[vertices], %[byteIndex], 4),  %[t4]    // vertices[3]      \n\
-          mulps   %[vLo], %[max]                              // x0y0x1y1 * vLo   \n\
-         movhlps %[t0], %[t1]                                // z0w0z1w1         \n\
-         movaps  %[t3], %[t0]                                // vertices[2]      \n\
-         movlhps %[t4], %[t0]                                // x2y2x3y3         \n\
-         mulps   %[vLo], %[t0]                               // x2y2x3y3 * vLo   \n\
-          movhlps %[t3], %[t4]                                // z2w2z3w3         \n\
-          shufps  $0x88, %[t4], %[t1]                         // z0z1z2z3         \n\
-          mulps   %[vHi], %[t1]                               // z0z1z2z3 * vHi   \n\
-         movaps  %[max], %[t3]                               // x0y0x1y1 * vLo   \n\
-         shufps  $0x88, %[t0], %[max]                        // x0x1x2x3 * vLo.x \n\
-         shufps  $0xdd, %[t0], %[t3]                         // y0y1y2y3 * vLo.y \n\
-         addps   %[t3], %[max]                               // x + y            \n\
-         addps   %[t1], %[max]                               // x + y + z        \n\
-         movaps  %[max], (%[sap], %[byteIndex])              // record result for later scrutiny \n\
-         maxps   %[t2], %[max]                               // record max, restore max   \n\
-         add     $16, %[byteIndex]                           // advance loop counter\n\
-         jnz     0b                                          \n\
-     "
-			: [max] "+x"(max), [t0] "=&x"(t0), [t1] "=&x"(t1), [t2] "=&x"(t2), [t3] "=&x"(t3), [t4] "=&x"(t4), [byteIndex] "+r"(byteIndex)
-			: [vLo] "x"(vLo), [vHi] "x"(vHi), [vertices] "r"(vertices), [sap] "r"(sap)
-			: "memory", "cc");
-		index += localCount / 4;
-#else
-		{
-			for (unsigned int i = 0; i < localCount / 4; i++, index++)
-			{  // do four dot products at a time. Carefully avoid touching the w element.
-				float4 v0 = vertices[0];
-				float4 v1 = vertices[1];
-				float4 v2 = vertices[2];
-				float4 v3 = vertices[3];
-				vertices += 4;
-
-				float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-				float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-				float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-				float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-				lo0 = lo0 * vLo;
-				lo1 = lo1 * vLo;
-				float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-				float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-				float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-				z = z * vHi;
-				x = x + y;
-				x = x + z;
-				stack_array[index] = x;
-				max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-			}
-		}
-#endif  //__APPLE__
-	}
-
-	// process the last few points
-	if (count & 3)
-	{
-		float4 v0, v1, v2, x, y, z;
-		switch (count & 3)
-		{
-			case 3:
-			{
-				v0 = vertices[0];
-				v1 = vertices[1];
-				v2 = vertices[2];
-
-				// Calculate 3 dot products, transpose, duplicate v2
-				float4 lo0 = _mm_movelh_ps(v0, v1);  // xyxy.lo
-				float4 hi0 = _mm_movehl_ps(v1, v0);  // z?z?.lo
-				lo0 = lo0 * vLo;
-				z = _mm_shuffle_ps(hi0, v2, 0xa8);  // z0z1z2z2
-				z = z * vHi;
-				float4 lo1 = _mm_movelh_ps(v2, v2);  // xyxy
-				lo1 = lo1 * vLo;
-				x = _mm_shuffle_ps(lo0, lo1, 0x88);
-				y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			}
-			break;
-			case 2:
-			{
-				v0 = vertices[0];
-				v1 = vertices[1];
-				float4 xy = _mm_movelh_ps(v0, v1);
-				z = _mm_movehl_ps(v1, v0);
-				xy = xy * vLo;
-				z = _mm_shuffle_ps(z, z, 0xa8);
-				x = _mm_shuffle_ps(xy, xy, 0xa8);
-				y = _mm_shuffle_ps(xy, xy, 0xfd);
-				z = z * vHi;
-			}
-			break;
-			case 1:
-			{
-				float4 xy = vertices[0];
-				z = _mm_shuffle_ps(xy, xy, 0xaa);
-				xy = xy * vLo;
-				z = z * vHi;
-				x = _mm_shuffle_ps(xy, xy, 0);
-				y = _mm_shuffle_ps(xy, xy, 0x55);
-			}
-			break;
-		}
-		x = x + y;
-		x = x + z;
-		stack_array[index] = x;
-		max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-		index++;
-	}
-
-	// if we found a new max.
-	if (0 == segment || 0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(max, dotMax)))
-	{  // we found a new max. Search for it
-		// find max across the max vector, place in all elements of max -- big latency hit here
-		max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0x4e));
-		max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0xb1));
-
-		// It is slightly faster to do this part in scalar code when count < 8. However, the common case for
-		// this where it actually makes a difference is handled in the early out at the top of the function,
-		// so it is less than a 1% difference here. I opted for improved code size, fewer branches and reduced
-		// complexity, and removed it.
-
-		dotMax = max;
-
-		// scan for the first occurence of max in the array
-		size_t test;
-		for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], max))); index++)  // local_count must be a multiple of 4
-		{
-		}
-		maxIndex = 4 * index + segment + indexTable[test];
-	}
-
-	_mm_store_ss(dotResult, dotMax);
-	return maxIndex;
-}
-
-long b3_mindot_large(const float *vv, const float *vec, unsigned long count, float *dotResult);
-
-long b3_mindot_large(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	const float4 *vertices = (const float4 *)vv;
-	static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0};
-
-	float4 dotmin = b3Assign128(B3_INFINITY, B3_INFINITY, B3_INFINITY, B3_INFINITY);
-	float4 vvec = _mm_loadu_ps(vec);
-	float4 vHi = b3CastiTo128f(_mm_shuffle_epi32(b3CastfTo128i(vvec), 0xaa));  /// zzzz
-	float4 vLo = _mm_movelh_ps(vvec, vvec);                                    /// xyxy
-
-	long minIndex = -1L;
-
-	size_t segment = 0;
-	float4 stack_array[STACK_ARRAY_COUNT];
-
-#if DEBUG
-	// memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) );
-#endif
-
-	size_t index;
-	float4 min;
-	// Faster loop without cleanup code for full tiles
-	for (segment = 0; segment + STACK_ARRAY_COUNT * 4 <= count; segment += STACK_ARRAY_COUNT * 4)
-	{
-		min = dotmin;
-
-		for (index = 0; index < STACK_ARRAY_COUNT; index += 4)
-		{  // do four dot products at a time. Carefully avoid touching the w element.
-			float4 v0 = vertices[0];
-			float4 v1 = vertices[1];
-			float4 v2 = vertices[2];
-			float4 v3 = vertices[3];
-			vertices += 4;
-
-			float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 1] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 2] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 3] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			// It is too costly to keep the index of the min here. We will look for it again later.  We save a lot of work this way.
-		}
-
-		// If we found a new min
-		if (0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(min, dotmin)))
-		{
-			// copy the new min across all lanes of our min accumulator
-			min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0x4e));
-			min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0xb1));
-
-			dotmin = min;
-
-			// find first occurrence of that min
-			size_t test;
-			for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], min))); index++)  // local_count must be a multiple of 4
-			{
-			}
-			// record where it is.
-			minIndex = 4 * index + segment + indexTable[test];
-		}
-	}
-
-	// account for work we've already done
-	count -= segment;
-
-	// Deal with the last < STACK_ARRAY_COUNT vectors
-	min = dotmin;
-	index = 0;
-
-	if (b3Unlikely(count > 16))
-	{
-		for (; index + 4 <= count / 4; index += 4)
-		{  // do four dot products at a time. Carefully avoid touching the w element.
-			float4 v0 = vertices[0];
-			float4 v1 = vertices[1];
-			float4 v2 = vertices[2];
-			float4 v3 = vertices[3];
-			vertices += 4;
-
-			float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 1] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 2] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 3] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			// It is too costly to keep the index of the min here. We will look for it again later.  We save a lot of work this way.
-		}
-	}
-
-	size_t localCount = (count & -4L) - 4 * index;
-	if (localCount)
-	{
-#ifdef __APPLE__
-		vertices += localCount;  // counter the offset
-		float4 t0, t1, t2, t3, t4;
-		size_t byteIndex = -(localCount) * sizeof(float);
-		float4 *sap = &stack_array[index + localCount / 4];
-
-		asm volatile(
-			".align 4                                                                   \n\
-             0: movaps  %[min], %[t2]                            // move min out of the way to avoid propagating NaNs in min \n\
-             movaps  (%[vertices], %[byteIndex], 4),    %[t0]    // vertices[0]      \n\
-             movaps  16(%[vertices], %[byteIndex], 4),  %[t1]    // vertices[1]      \n\
-             movaps  %[t0], %[min]                               // vertices[0]      \n\
-             movlhps %[t1], %[min]                               // x0y0x1y1         \n\
-             movaps  32(%[vertices], %[byteIndex], 4),  %[t3]    // vertices[2]      \n\
-             movaps  48(%[vertices], %[byteIndex], 4),  %[t4]    // vertices[3]      \n\
-             mulps   %[vLo], %[min]                              // x0y0x1y1 * vLo   \n\
-             movhlps %[t0], %[t1]                                // z0w0z1w1         \n\
-             movaps  %[t3], %[t0]                                // vertices[2]      \n\
-             movlhps %[t4], %[t0]                                // x2y2x3y3         \n\
-             movhlps %[t3], %[t4]                                // z2w2z3w3         \n\
-             mulps   %[vLo], %[t0]                               // x2y2x3y3 * vLo   \n\
-             shufps  $0x88, %[t4], %[t1]                         // z0z1z2z3         \n\
-             mulps   %[vHi], %[t1]                               // z0z1z2z3 * vHi   \n\
-             movaps  %[min], %[t3]                               // x0y0x1y1 * vLo   \n\
-             shufps  $0x88, %[t0], %[min]                        // x0x1x2x3 * vLo.x \n\
-             shufps  $0xdd, %[t0], %[t3]                         // y0y1y2y3 * vLo.y \n\
-             addps   %[t3], %[min]                               // x + y            \n\
-             addps   %[t1], %[min]                               // x + y + z        \n\
-             movaps  %[min], (%[sap], %[byteIndex])              // record result for later scrutiny \n\
-             minps   %[t2], %[min]                               // record min, restore min   \n\
-             add     $16, %[byteIndex]                           // advance loop counter\n\
-             jnz     0b                                          \n\
-             "
-			: [min] "+x"(min), [t0] "=&x"(t0), [t1] "=&x"(t1), [t2] "=&x"(t2), [t3] "=&x"(t3), [t4] "=&x"(t4), [byteIndex] "+r"(byteIndex)
-			: [vLo] "x"(vLo), [vHi] "x"(vHi), [vertices] "r"(vertices), [sap] "r"(sap)
-			: "memory", "cc");
-		index += localCount / 4;
-#else
-		{
-			for (unsigned int i = 0; i < localCount / 4; i++, index++)
-			{  // do four dot products at a time. Carefully avoid touching the w element.
-				float4 v0 = vertices[0];
-				float4 v1 = vertices[1];
-				float4 v2 = vertices[2];
-				float4 v3 = vertices[3];
-				vertices += 4;
-
-				float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-				float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-				float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-				float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-				lo0 = lo0 * vLo;
-				lo1 = lo1 * vLo;
-				float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-				float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-				float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-				z = z * vHi;
-				x = x + y;
-				x = x + z;
-				stack_array[index] = x;
-				min = _mm_min_ps(x, min);  // control the order here so that max is never NaN even if x is nan
-			}
-		}
-
-#endif
-	}
-
-	// process the last few points
-	if (count & 3)
-	{
-		float4 v0, v1, v2, x, y, z;
-		switch (count & 3)
-		{
-			case 3:
-			{
-				v0 = vertices[0];
-				v1 = vertices[1];
-				v2 = vertices[2];
-
-				// Calculate 3 dot products, transpose, duplicate v2
-				float4 lo0 = _mm_movelh_ps(v0, v1);  // xyxy.lo
-				float4 hi0 = _mm_movehl_ps(v1, v0);  // z?z?.lo
-				lo0 = lo0 * vLo;
-				z = _mm_shuffle_ps(hi0, v2, 0xa8);  // z0z1z2z2
-				z = z * vHi;
-				float4 lo1 = _mm_movelh_ps(v2, v2);  // xyxy
-				lo1 = lo1 * vLo;
-				x = _mm_shuffle_ps(lo0, lo1, 0x88);
-				y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			}
-			break;
-			case 2:
-			{
-				v0 = vertices[0];
-				v1 = vertices[1];
-				float4 xy = _mm_movelh_ps(v0, v1);
-				z = _mm_movehl_ps(v1, v0);
-				xy = xy * vLo;
-				z = _mm_shuffle_ps(z, z, 0xa8);
-				x = _mm_shuffle_ps(xy, xy, 0xa8);
-				y = _mm_shuffle_ps(xy, xy, 0xfd);
-				z = z * vHi;
-			}
-			break;
-			case 1:
-			{
-				float4 xy = vertices[0];
-				z = _mm_shuffle_ps(xy, xy, 0xaa);
-				xy = xy * vLo;
-				z = z * vHi;
-				x = _mm_shuffle_ps(xy, xy, 0);
-				y = _mm_shuffle_ps(xy, xy, 0x55);
-			}
-			break;
-		}
-		x = x + y;
-		x = x + z;
-		stack_array[index] = x;
-		min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-		index++;
-	}
-
-	// if we found a new min.
-	if (0 == segment || 0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(min, dotmin)))
-	{  // we found a new min. Search for it
-		// find min across the min vector, place in all elements of min -- big latency hit here
-		min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0x4e));
-		min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0xb1));
-
-		// It is slightly faster to do this part in scalar code when count < 8. However, the common case for
-		// this where it actually makes a difference is handled in the early out at the top of the function,
-		// so it is less than a 1% difference here. I opted for improved code size, fewer branches and reduced
-		// complexity, and removed it.
-
-		dotmin = min;
-
-		// scan for the first occurence of min in the array
-		size_t test;
-		for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], min))); index++)  // local_count must be a multiple of 4
-		{
-		}
-		minIndex = 4 * index + segment + indexTable[test];
-	}
-
-	_mm_store_ss(dotResult, dotmin);
-	return minIndex;
-}
-
-#elif defined B3_USE_NEON
-#define ARM_NEON_GCC_COMPATIBILITY 1
-#include <arm_neon.h>
-
-static long b3_maxdot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult);
-static long b3_maxdot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult);
-static long b3_maxdot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult);
-static long b3_mindot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult);
-static long b3_mindot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult);
-static long b3_mindot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult);
-
-long (*b3_maxdot_large)(const float *vv, const float *vec, unsigned long count, float *dotResult) = b3_maxdot_large_sel;
-long (*b3_mindot_large)(const float *vv, const float *vec, unsigned long count, float *dotResult) = b3_mindot_large_sel;
-
-extern "C"
-{
-	int _get_cpu_capabilities(void);
-}
-
-static long b3_maxdot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	if (_get_cpu_capabilities() & 0x2000)
-		b3_maxdot_large = _maxdot_large_v1;
-	else
-		b3_maxdot_large = _maxdot_large_v0;
-
-	return b3_maxdot_large(vv, vec, count, dotResult);
-}
-
-static long b3_mindot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	if (_get_cpu_capabilities() & 0x2000)
-		b3_mindot_large = _mindot_large_v1;
-	else
-		b3_mindot_large = _mindot_large_v0;
-
-	return b3_mindot_large(vv, vec, count, dotResult);
-}
-
-#define vld1q_f32_aligned_postincrement(_ptr) ({ float32x4_t _r; asm( "vld1.f32  {%0}, [%1, :128]!\n" : "=w" (_r), "+r" (_ptr) ); /*return*/ _r; })
-
-long b3_maxdot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	unsigned long i = 0;
-	float32x4_t vvec = vld1q_f32_aligned_postincrement(vec);
-	float32x2_t vLo = vget_low_f32(vvec);
-	float32x2_t vHi = vdup_lane_f32(vget_high_f32(vvec), 0);
-	float32x2_t dotMaxLo = (float32x2_t){-B3_INFINITY, -B3_INFINITY};
-	float32x2_t dotMaxHi = (float32x2_t){-B3_INFINITY, -B3_INFINITY};
-	uint32x2_t indexLo = (uint32x2_t){0, 1};
-	uint32x2_t indexHi = (uint32x2_t){2, 3};
-	uint32x2_t iLo = (uint32x2_t){-1, -1};
-	uint32x2_t iHi = (uint32x2_t){-1, -1};
-	const uint32x2_t four = (uint32x2_t){4, 4};
-
-	for (; i + 8 <= count; i += 8)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-		float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-		float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
-		float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo);
-
-		float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
-		float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-		float32x2_t zHi = vmul_f32(z1.val[0], vHi);
-
-		float32x2_t rLo = vpadd_f32(xy0, xy1);
-		float32x2_t rHi = vpadd_f32(xy2, xy3);
-		rLo = vadd_f32(rLo, zLo);
-		rHi = vadd_f32(rHi, zHi);
-
-		uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
-		uint32x2_t maskHi = vcgt_f32(rHi, dotMaxHi);
-		dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
-		dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi);
-		iLo = vbsl_u32(maskLo, indexLo, iLo);
-		iHi = vbsl_u32(maskHi, indexHi, iHi);
-		indexLo = vadd_u32(indexLo, four);
-		indexHi = vadd_u32(indexHi, four);
-
-		v0 = vld1q_f32_aligned_postincrement(vv);
-		v1 = vld1q_f32_aligned_postincrement(vv);
-		v2 = vld1q_f32_aligned_postincrement(vv);
-		v3 = vld1q_f32_aligned_postincrement(vv);
-
-		xy0 = vmul_f32(vget_low_f32(v0), vLo);
-		xy1 = vmul_f32(vget_low_f32(v1), vLo);
-		xy2 = vmul_f32(vget_low_f32(v2), vLo);
-		xy3 = vmul_f32(vget_low_f32(v3), vLo);
-
-		z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-		z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
-		zLo = vmul_f32(z0.val[0], vHi);
-		zHi = vmul_f32(z1.val[0], vHi);
-
-		rLo = vpadd_f32(xy0, xy1);
-		rHi = vpadd_f32(xy2, xy3);
-		rLo = vadd_f32(rLo, zLo);
-		rHi = vadd_f32(rHi, zHi);
-
-		maskLo = vcgt_f32(rLo, dotMaxLo);
-		maskHi = vcgt_f32(rHi, dotMaxHi);
-		dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
-		dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi);
-		iLo = vbsl_u32(maskLo, indexLo, iLo);
-		iHi = vbsl_u32(maskHi, indexHi, iHi);
-		indexLo = vadd_u32(indexLo, four);
-		indexHi = vadd_u32(indexHi, four);
-	}
-
-	for (; i + 4 <= count; i += 4)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-		float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-		float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
-		float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo);
-
-		float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
-		float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-		float32x2_t zHi = vmul_f32(z1.val[0], vHi);
-
-		float32x2_t rLo = vpadd_f32(xy0, xy1);
-		float32x2_t rHi = vpadd_f32(xy2, xy3);
-		rLo = vadd_f32(rLo, zLo);
-		rHi = vadd_f32(rHi, zHi);
-
-		uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
-		uint32x2_t maskHi = vcgt_f32(rHi, dotMaxHi);
-		dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
-		dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi);
-		iLo = vbsl_u32(maskLo, indexLo, iLo);
-		iHi = vbsl_u32(maskHi, indexHi, iHi);
-		indexLo = vadd_u32(indexLo, four);
-		indexHi = vadd_u32(indexHi, four);
-	}
-
-	switch (count & 3)
-	{
-		case 3:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-
-			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-			float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-			float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
-
-			float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-			float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-			float32x2_t zHi = vmul_f32(vdup_lane_f32(vget_high_f32(v2), 0), vHi);
-
-			float32x2_t rLo = vpadd_f32(xy0, xy1);
-			float32x2_t rHi = vpadd_f32(xy2, xy2);
-			rLo = vadd_f32(rLo, zLo);
-			rHi = vadd_f32(rHi, zHi);
-
-			uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
-			uint32x2_t maskHi = vcgt_f32(rHi, dotMaxHi);
-			dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
-			dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi);
-			iLo = vbsl_u32(maskLo, indexLo, iLo);
-			iHi = vbsl_u32(maskHi, indexHi, iHi);
-		}
-		break;
-		case 2:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-
-			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-			float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-
-			float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-			float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-
-			float32x2_t rLo = vpadd_f32(xy0, xy1);
-			rLo = vadd_f32(rLo, zLo);
-
-			uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
-			dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
-			iLo = vbsl_u32(maskLo, indexLo, iLo);
-		}
-		break;
-		case 1:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-			float32x2_t z0 = vdup_lane_f32(vget_high_f32(v0), 0);
-			float32x2_t zLo = vmul_f32(z0, vHi);
-			float32x2_t rLo = vpadd_f32(xy0, xy0);
-			rLo = vadd_f32(rLo, zLo);
-			uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
-			dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
-			iLo = vbsl_u32(maskLo, indexLo, iLo);
-		}
-		break;
-
-		default:
-			break;
-	}
-
-	// select best answer between hi and lo results
-	uint32x2_t mask = vcgt_f32(dotMaxHi, dotMaxLo);
-	dotMaxLo = vbsl_f32(mask, dotMaxHi, dotMaxLo);
-	iLo = vbsl_u32(mask, iHi, iLo);
-
-	// select best answer between even and odd results
-	dotMaxHi = vdup_lane_f32(dotMaxLo, 1);
-	iHi = vdup_lane_u32(iLo, 1);
-	mask = vcgt_f32(dotMaxHi, dotMaxLo);
-	dotMaxLo = vbsl_f32(mask, dotMaxHi, dotMaxLo);
-	iLo = vbsl_u32(mask, iHi, iLo);
-
-	*dotResult = vget_lane_f32(dotMaxLo, 0);
-	return vget_lane_u32(iLo, 0);
-}
-
-long b3_maxdot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	float32x4_t vvec = vld1q_f32_aligned_postincrement(vec);
-	float32x4_t vLo = vcombine_f32(vget_low_f32(vvec), vget_low_f32(vvec));
-	float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0);
-	const uint32x4_t four = (uint32x4_t){4, 4, 4, 4};
-	uint32x4_t local_index = (uint32x4_t){0, 1, 2, 3};
-	uint32x4_t index = (uint32x4_t){-1, -1, -1, -1};
-	float32x4_t maxDot = (float32x4_t){-B3_INFINITY, -B3_INFINITY, -B3_INFINITY, -B3_INFINITY};
-
-	unsigned long i = 0;
-	for (; i + 8 <= count; i += 8)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-		float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
-
-		xy0 = vmulq_f32(xy0, vLo);
-		xy1 = vmulq_f32(xy1, vLo);
-
-		float32x4x2_t zb = vuzpq_f32(z0, z1);
-		float32x4_t z = vmulq_f32(zb.val[0], vHi);
-		float32x4x2_t xy = vuzpq_f32(xy0, xy1);
-		float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-		x = vaddq_f32(x, z);
-
-		uint32x4_t mask = vcgtq_f32(x, maxDot);
-		maxDot = vbslq_f32(mask, x, maxDot);
-		index = vbslq_u32(mask, local_index, index);
-		local_index = vaddq_u32(local_index, four);
-
-		v0 = vld1q_f32_aligned_postincrement(vv);
-		v1 = vld1q_f32_aligned_postincrement(vv);
-		v2 = vld1q_f32_aligned_postincrement(vv);
-		v3 = vld1q_f32_aligned_postincrement(vv);
-
-		// the next two lines should resolve to a single vswp d, d
-		xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-		xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
-		// the next two lines should resolve to a single vswp d, d
-		z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-		z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
-
-		xy0 = vmulq_f32(xy0, vLo);
-		xy1 = vmulq_f32(xy1, vLo);
-
-		zb = vuzpq_f32(z0, z1);
-		z = vmulq_f32(zb.val[0], vHi);
-		xy = vuzpq_f32(xy0, xy1);
-		x = vaddq_f32(xy.val[0], xy.val[1]);
-		x = vaddq_f32(x, z);
-
-		mask = vcgtq_f32(x, maxDot);
-		maxDot = vbslq_f32(mask, x, maxDot);
-		index = vbslq_u32(mask, local_index, index);
-		local_index = vaddq_u32(local_index, four);
-	}
-
-	for (; i + 4 <= count; i += 4)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-		float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
-
-		xy0 = vmulq_f32(xy0, vLo);
-		xy1 = vmulq_f32(xy1, vLo);
-
-		float32x4x2_t zb = vuzpq_f32(z0, z1);
-		float32x4_t z = vmulq_f32(zb.val[0], vHi);
-		float32x4x2_t xy = vuzpq_f32(xy0, xy1);
-		float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-		x = vaddq_f32(x, z);
-
-		uint32x4_t mask = vcgtq_f32(x, maxDot);
-		maxDot = vbslq_f32(mask, x, maxDot);
-		index = vbslq_u32(mask, local_index, index);
-		local_index = vaddq_u32(local_index, four);
-	}
-
-	switch (count & 3)
-	{
-		case 3:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-			float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v2));
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-			float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v2));
-
-			xy0 = vmulq_f32(xy0, vLo);
-			xy1 = vmulq_f32(xy1, vLo);
-
-			float32x4x2_t zb = vuzpq_f32(z0, z1);
-			float32x4_t z = vmulq_f32(zb.val[0], vHi);
-			float32x4x2_t xy = vuzpq_f32(xy0, xy1);
-			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-			x = vaddq_f32(x, z);
-
-			uint32x4_t mask = vcgtq_f32(x, maxDot);
-			maxDot = vbslq_f32(mask, x, maxDot);
-			index = vbslq_u32(mask, local_index, index);
-			local_index = vaddq_u32(local_index, four);
-		}
-		break;
-
-		case 2:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-
-			xy0 = vmulq_f32(xy0, vLo);
-
-			float32x4x2_t zb = vuzpq_f32(z0, z0);
-			float32x4_t z = vmulq_f32(zb.val[0], vHi);
-			float32x4x2_t xy = vuzpq_f32(xy0, xy0);
-			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-			x = vaddq_f32(x, z);
-
-			uint32x4_t mask = vcgtq_f32(x, maxDot);
-			maxDot = vbslq_f32(mask, x, maxDot);
-			index = vbslq_u32(mask, local_index, index);
-			local_index = vaddq_u32(local_index, four);
-		}
-		break;
-
-		case 1:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v0));
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t z = vdupq_lane_f32(vget_high_f32(v0), 0);
-
-			xy0 = vmulq_f32(xy0, vLo);
-
-			z = vmulq_f32(z, vHi);
-			float32x4x2_t xy = vuzpq_f32(xy0, xy0);
-			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-			x = vaddq_f32(x, z);
-
-			uint32x4_t mask = vcgtq_f32(x, maxDot);
-			maxDot = vbslq_f32(mask, x, maxDot);
-			index = vbslq_u32(mask, local_index, index);
-			local_index = vaddq_u32(local_index, four);
-		}
-		break;
-
-		default:
-			break;
-	}
-
-	// select best answer between hi and lo results
-	uint32x2_t mask = vcgt_f32(vget_high_f32(maxDot), vget_low_f32(maxDot));
-	float32x2_t maxDot2 = vbsl_f32(mask, vget_high_f32(maxDot), vget_low_f32(maxDot));
-	uint32x2_t index2 = vbsl_u32(mask, vget_high_u32(index), vget_low_u32(index));
-
-	// select best answer between even and odd results
-	float32x2_t maxDotO = vdup_lane_f32(maxDot2, 1);
-	uint32x2_t indexHi = vdup_lane_u32(index2, 1);
-	mask = vcgt_f32(maxDotO, maxDot2);
-	maxDot2 = vbsl_f32(mask, maxDotO, maxDot2);
-	index2 = vbsl_u32(mask, indexHi, index2);
-
-	*dotResult = vget_lane_f32(maxDot2, 0);
-	return vget_lane_u32(index2, 0);
-}
-
-long b3_mindot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	unsigned long i = 0;
-	float32x4_t vvec = vld1q_f32_aligned_postincrement(vec);
-	float32x2_t vLo = vget_low_f32(vvec);
-	float32x2_t vHi = vdup_lane_f32(vget_high_f32(vvec), 0);
-	float32x2_t dotMinLo = (float32x2_t){B3_INFINITY, B3_INFINITY};
-	float32x2_t dotMinHi = (float32x2_t){B3_INFINITY, B3_INFINITY};
-	uint32x2_t indexLo = (uint32x2_t){0, 1};
-	uint32x2_t indexHi = (uint32x2_t){2, 3};
-	uint32x2_t iLo = (uint32x2_t){-1, -1};
-	uint32x2_t iHi = (uint32x2_t){-1, -1};
-	const uint32x2_t four = (uint32x2_t){4, 4};
-
-	for (; i + 8 <= count; i += 8)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-		float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-		float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
-		float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo);
-
-		float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
-		float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-		float32x2_t zHi = vmul_f32(z1.val[0], vHi);
-
-		float32x2_t rLo = vpadd_f32(xy0, xy1);
-		float32x2_t rHi = vpadd_f32(xy2, xy3);
-		rLo = vadd_f32(rLo, zLo);
-		rHi = vadd_f32(rHi, zHi);
-
-		uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
-		uint32x2_t maskHi = vclt_f32(rHi, dotMinHi);
-		dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
-		dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi);
-		iLo = vbsl_u32(maskLo, indexLo, iLo);
-		iHi = vbsl_u32(maskHi, indexHi, iHi);
-		indexLo = vadd_u32(indexLo, four);
-		indexHi = vadd_u32(indexHi, four);
-
-		v0 = vld1q_f32_aligned_postincrement(vv);
-		v1 = vld1q_f32_aligned_postincrement(vv);
-		v2 = vld1q_f32_aligned_postincrement(vv);
-		v3 = vld1q_f32_aligned_postincrement(vv);
-
-		xy0 = vmul_f32(vget_low_f32(v0), vLo);
-		xy1 = vmul_f32(vget_low_f32(v1), vLo);
-		xy2 = vmul_f32(vget_low_f32(v2), vLo);
-		xy3 = vmul_f32(vget_low_f32(v3), vLo);
-
-		z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-		z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
-		zLo = vmul_f32(z0.val[0], vHi);
-		zHi = vmul_f32(z1.val[0], vHi);
-
-		rLo = vpadd_f32(xy0, xy1);
-		rHi = vpadd_f32(xy2, xy3);
-		rLo = vadd_f32(rLo, zLo);
-		rHi = vadd_f32(rHi, zHi);
-
-		maskLo = vclt_f32(rLo, dotMinLo);
-		maskHi = vclt_f32(rHi, dotMinHi);
-		dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
-		dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi);
-		iLo = vbsl_u32(maskLo, indexLo, iLo);
-		iHi = vbsl_u32(maskHi, indexHi, iHi);
-		indexLo = vadd_u32(indexLo, four);
-		indexHi = vadd_u32(indexHi, four);
-	}
-
-	for (; i + 4 <= count; i += 4)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-		float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-		float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
-		float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo);
-
-		float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
-		float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-		float32x2_t zHi = vmul_f32(z1.val[0], vHi);
-
-		float32x2_t rLo = vpadd_f32(xy0, xy1);
-		float32x2_t rHi = vpadd_f32(xy2, xy3);
-		rLo = vadd_f32(rLo, zLo);
-		rHi = vadd_f32(rHi, zHi);
-
-		uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
-		uint32x2_t maskHi = vclt_f32(rHi, dotMinHi);
-		dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
-		dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi);
-		iLo = vbsl_u32(maskLo, indexLo, iLo);
-		iHi = vbsl_u32(maskHi, indexHi, iHi);
-		indexLo = vadd_u32(indexLo, four);
-		indexHi = vadd_u32(indexHi, four);
-	}
-	switch (count & 3)
-	{
-		case 3:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-
-			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-			float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-			float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
-
-			float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-			float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-			float32x2_t zHi = vmul_f32(vdup_lane_f32(vget_high_f32(v2), 0), vHi);
-
-			float32x2_t rLo = vpadd_f32(xy0, xy1);
-			float32x2_t rHi = vpadd_f32(xy2, xy2);
-			rLo = vadd_f32(rLo, zLo);
-			rHi = vadd_f32(rHi, zHi);
-
-			uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
-			uint32x2_t maskHi = vclt_f32(rHi, dotMinHi);
-			dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
-			dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi);
-			iLo = vbsl_u32(maskLo, indexLo, iLo);
-			iHi = vbsl_u32(maskHi, indexHi, iHi);
-		}
-		break;
-		case 2:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-
-			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-			float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-
-			float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-			float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-
-			float32x2_t rLo = vpadd_f32(xy0, xy1);
-			rLo = vadd_f32(rLo, zLo);
-
-			uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
-			dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
-			iLo = vbsl_u32(maskLo, indexLo, iLo);
-		}
-		break;
-		case 1:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-			float32x2_t z0 = vdup_lane_f32(vget_high_f32(v0), 0);
-			float32x2_t zLo = vmul_f32(z0, vHi);
-			float32x2_t rLo = vpadd_f32(xy0, xy0);
-			rLo = vadd_f32(rLo, zLo);
-			uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
-			dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
-			iLo = vbsl_u32(maskLo, indexLo, iLo);
-		}
-		break;
-
-		default:
-			break;
-	}
-
-	// select best answer between hi and lo results
-	uint32x2_t mask = vclt_f32(dotMinHi, dotMinLo);
-	dotMinLo = vbsl_f32(mask, dotMinHi, dotMinLo);
-	iLo = vbsl_u32(mask, iHi, iLo);
-
-	// select best answer between even and odd results
-	dotMinHi = vdup_lane_f32(dotMinLo, 1);
-	iHi = vdup_lane_u32(iLo, 1);
-	mask = vclt_f32(dotMinHi, dotMinLo);
-	dotMinLo = vbsl_f32(mask, dotMinHi, dotMinLo);
-	iLo = vbsl_u32(mask, iHi, iLo);
-
-	*dotResult = vget_lane_f32(dotMinLo, 0);
-	return vget_lane_u32(iLo, 0);
-}
-
-long b3_mindot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	float32x4_t vvec = vld1q_f32_aligned_postincrement(vec);
-	float32x4_t vLo = vcombine_f32(vget_low_f32(vvec), vget_low_f32(vvec));
-	float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0);
-	const uint32x4_t four = (uint32x4_t){4, 4, 4, 4};
-	uint32x4_t local_index = (uint32x4_t){0, 1, 2, 3};
-	uint32x4_t index = (uint32x4_t){-1, -1, -1, -1};
-	float32x4_t minDot = (float32x4_t){B3_INFINITY, B3_INFINITY, B3_INFINITY, B3_INFINITY};
-
-	unsigned long i = 0;
-	for (; i + 8 <= count; i += 8)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-		float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
-
-		xy0 = vmulq_f32(xy0, vLo);
-		xy1 = vmulq_f32(xy1, vLo);
-
-		float32x4x2_t zb = vuzpq_f32(z0, z1);
-		float32x4_t z = vmulq_f32(zb.val[0], vHi);
-		float32x4x2_t xy = vuzpq_f32(xy0, xy1);
-		float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-		x = vaddq_f32(x, z);
-
-		uint32x4_t mask = vcltq_f32(x, minDot);
-		minDot = vbslq_f32(mask, x, minDot);
-		index = vbslq_u32(mask, local_index, index);
-		local_index = vaddq_u32(local_index, four);
-
-		v0 = vld1q_f32_aligned_postincrement(vv);
-		v1 = vld1q_f32_aligned_postincrement(vv);
-		v2 = vld1q_f32_aligned_postincrement(vv);
-		v3 = vld1q_f32_aligned_postincrement(vv);
-
-		// the next two lines should resolve to a single vswp d, d
-		xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-		xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
-		// the next two lines should resolve to a single vswp d, d
-		z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-		z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
-
-		xy0 = vmulq_f32(xy0, vLo);
-		xy1 = vmulq_f32(xy1, vLo);
-
-		zb = vuzpq_f32(z0, z1);
-		z = vmulq_f32(zb.val[0], vHi);
-		xy = vuzpq_f32(xy0, xy1);
-		x = vaddq_f32(xy.val[0], xy.val[1]);
-		x = vaddq_f32(x, z);
-
-		mask = vcltq_f32(x, minDot);
-		minDot = vbslq_f32(mask, x, minDot);
-		index = vbslq_u32(mask, local_index, index);
-		local_index = vaddq_u32(local_index, four);
-	}
-
-	for (; i + 4 <= count; i += 4)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-		float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
-
-		xy0 = vmulq_f32(xy0, vLo);
-		xy1 = vmulq_f32(xy1, vLo);
-
-		float32x4x2_t zb = vuzpq_f32(z0, z1);
-		float32x4_t z = vmulq_f32(zb.val[0], vHi);
-		float32x4x2_t xy = vuzpq_f32(xy0, xy1);
-		float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-		x = vaddq_f32(x, z);
-
-		uint32x4_t mask = vcltq_f32(x, minDot);
-		minDot = vbslq_f32(mask, x, minDot);
-		index = vbslq_u32(mask, local_index, index);
-		local_index = vaddq_u32(local_index, four);
-	}
-
-	switch (count & 3)
-	{
-		case 3:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-			float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v2));
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-			float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v2));
-
-			xy0 = vmulq_f32(xy0, vLo);
-			xy1 = vmulq_f32(xy1, vLo);
-
-			float32x4x2_t zb = vuzpq_f32(z0, z1);
-			float32x4_t z = vmulq_f32(zb.val[0], vHi);
-			float32x4x2_t xy = vuzpq_f32(xy0, xy1);
-			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-			x = vaddq_f32(x, z);
-
-			uint32x4_t mask = vcltq_f32(x, minDot);
-			minDot = vbslq_f32(mask, x, minDot);
-			index = vbslq_u32(mask, local_index, index);
-			local_index = vaddq_u32(local_index, four);
-		}
-		break;
-
-		case 2:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-
-			xy0 = vmulq_f32(xy0, vLo);
-
-			float32x4x2_t zb = vuzpq_f32(z0, z0);
-			float32x4_t z = vmulq_f32(zb.val[0], vHi);
-			float32x4x2_t xy = vuzpq_f32(xy0, xy0);
-			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-			x = vaddq_f32(x, z);
-
-			uint32x4_t mask = vcltq_f32(x, minDot);
-			minDot = vbslq_f32(mask, x, minDot);
-			index = vbslq_u32(mask, local_index, index);
-			local_index = vaddq_u32(local_index, four);
-		}
-		break;
-
-		case 1:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v0));
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t z = vdupq_lane_f32(vget_high_f32(v0), 0);
-
-			xy0 = vmulq_f32(xy0, vLo);
-
-			z = vmulq_f32(z, vHi);
-			float32x4x2_t xy = vuzpq_f32(xy0, xy0);
-			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-			x = vaddq_f32(x, z);
-
-			uint32x4_t mask = vcltq_f32(x, minDot);
-			minDot = vbslq_f32(mask, x, minDot);
-			index = vbslq_u32(mask, local_index, index);
-			local_index = vaddq_u32(local_index, four);
-		}
-		break;
-
-		default:
-			break;
-	}
-
-	// select best answer between hi and lo results
-	uint32x2_t mask = vclt_f32(vget_high_f32(minDot), vget_low_f32(minDot));
-	float32x2_t minDot2 = vbsl_f32(mask, vget_high_f32(minDot), vget_low_f32(minDot));
-	uint32x2_t index2 = vbsl_u32(mask, vget_high_u32(index), vget_low_u32(index));
-
-	// select best answer between even and odd results
-	float32x2_t minDotO = vdup_lane_f32(minDot2, 1);
-	uint32x2_t indexHi = vdup_lane_u32(index2, 1);
-	mask = vclt_f32(minDotO, minDot2);
-	minDot2 = vbsl_f32(mask, minDotO, minDot2);
-	index2 = vbsl_u32(mask, indexHi, index2);
-
-	*dotResult = vget_lane_f32(minDot2, 0);
-	return vget_lane_u32(index2, 0);
-}
-
-#else
-#error Unhandled __APPLE__ arch
-#endif
-
-#endif /* __APPLE__ */
diff --git a/thirdparty/bullet/Bullet3Common/b3Vector3.h b/thirdparty/bullet/Bullet3Common/b3Vector3.h
deleted file mode 100644
index a70d68d6e1..0000000000
--- a/thirdparty/bullet/Bullet3Common/b3Vector3.h
+++ /dev/null
@@ -1,1303 +0,0 @@
-/*
-Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_VECTOR3_H
-#define B3_VECTOR3_H
-
-//#include <stdint.h>
-#include "b3Scalar.h"
-#include "b3MinMax.h"
-#include "b3AlignedAllocator.h"
-
-#ifdef B3_USE_DOUBLE_PRECISION
-#define b3Vector3Data b3Vector3DoubleData
-#define b3Vector3DataName "b3Vector3DoubleData"
-#else
-#define b3Vector3Data b3Vector3FloatData
-#define b3Vector3DataName "b3Vector3FloatData"
-#endif  //B3_USE_DOUBLE_PRECISION
-
-#if defined B3_USE_SSE
-
-//typedef  uint32_t __m128i __attribute__ ((vector_size(16)));
-
-#ifdef _MSC_VER
-#pragma warning(disable : 4556)  // value of intrinsic immediate argument '4294967239' is out of range '0 - 255'
-#endif
-
-#define B3_SHUFFLE(x, y, z, w) (((w) << 6 | (z) << 4 | (y) << 2 | (x)) & 0xff)
-//#define b3_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) )
-#define b3_pshufd_ps(_a, _mask) _mm_shuffle_ps((_a), (_a), (_mask))
-#define b3_splat3_ps(_a, _i) b3_pshufd_ps((_a), B3_SHUFFLE(_i, _i, _i, 3))
-#define b3_splat_ps(_a, _i) b3_pshufd_ps((_a), B3_SHUFFLE(_i, _i, _i, _i))
-
-#define b3v3AbsiMask (_mm_set_epi32(0x00000000, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF))
-#define b3vAbsMask (_mm_set_epi32(0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF))
-#define b3vFFF0Mask (_mm_set_epi32(0x00000000, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF))
-#define b3v3AbsfMask b3CastiTo128f(b3v3AbsiMask)
-#define b3vFFF0fMask b3CastiTo128f(b3vFFF0Mask)
-#define b3vxyzMaskf b3vFFF0fMask
-#define b3vAbsfMask b3CastiTo128f(b3vAbsMask)
-
-const __m128 B3_ATTRIBUTE_ALIGNED16(b3vMzeroMask) = {-0.0f, -0.0f, -0.0f, -0.0f};
-const __m128 B3_ATTRIBUTE_ALIGNED16(b3v1110) = {1.0f, 1.0f, 1.0f, 0.0f};
-const __m128 B3_ATTRIBUTE_ALIGNED16(b3vHalf) = {0.5f, 0.5f, 0.5f, 0.5f};
-const __m128 B3_ATTRIBUTE_ALIGNED16(b3v1_5) = {1.5f, 1.5f, 1.5f, 1.5f};
-
-#endif
-
-#ifdef B3_USE_NEON
-
-const float32x4_t B3_ATTRIBUTE_ALIGNED16(b3vMzeroMask) = (float32x4_t){-0.0f, -0.0f, -0.0f, -0.0f};
-const int32x4_t B3_ATTRIBUTE_ALIGNED16(b3vFFF0Mask) = (int32x4_t){0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF, 0x0};
-const int32x4_t B3_ATTRIBUTE_ALIGNED16(b3vAbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF};
-const int32x4_t B3_ATTRIBUTE_ALIGNED16(b3v3AbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x0};
-
-#endif
-
-class b3Vector3;
-class b3Vector4;
-
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-//#if defined (B3_USE_SSE) || defined (B3_USE_NEON)
-inline b3Vector3 b3MakeVector3(b3SimdFloat4 v);
-inline b3Vector4 b3MakeVector4(b3SimdFloat4 vec);
-#endif
-
-inline b3Vector3 b3MakeVector3(b3Scalar x, b3Scalar y, b3Scalar z);
-inline b3Vector3 b3MakeVector3(b3Scalar x, b3Scalar y, b3Scalar z, b3Scalar w);
-inline b3Vector4 b3MakeVector4(b3Scalar x, b3Scalar y, b3Scalar z, b3Scalar w);
-
-/**@brief b3Vector3 can be used to represent 3D points and vectors.
- * It has an un-used w component to suit 16-byte alignment when b3Vector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user
- * Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers
- */
-B3_ATTRIBUTE_ALIGNED16(class)
-b3Vector3
-{
-public:
-#if defined(B3_USE_SSE) || defined(B3_USE_NEON)  // _WIN32 || ARM
-	union {
-		b3SimdFloat4 mVec128;
-		float m_floats[4];
-		struct
-		{
-			float x, y, z, w;
-		};
-	};
-#else
-	union {
-		float m_floats[4];
-		struct
-		{
-			float x, y, z, w;
-		};
-	};
-#endif
-
-public:
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-#if defined(B3_USE_SSE) || defined(B3_USE_NEON)  // _WIN32 || ARM
-
-	/*B3_FORCE_INLINE		b3Vector3()
-	{
-	}
-	*/
-
-	B3_FORCE_INLINE b3SimdFloat4 get128() const
-	{
-		return mVec128;
-	}
-	B3_FORCE_INLINE void set128(b3SimdFloat4 v128)
-	{
-		mVec128 = v128;
-	}
-#endif
-
-public:
-	/**@brief Add a vector to this one
- * @param The vector to add to this one */
-	B3_FORCE_INLINE b3Vector3& operator+=(const b3Vector3& v)
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		mVec128 = _mm_add_ps(mVec128, v.mVec128);
-#elif defined(B3_USE_NEON)
-		mVec128 = vaddq_f32(mVec128, v.mVec128);
-#else
-		m_floats[0] += v.m_floats[0];
-		m_floats[1] += v.m_floats[1];
-		m_floats[2] += v.m_floats[2];
-#endif
-		return *this;
-	}
-
-	/**@brief Subtract a vector from this one
-   * @param The vector to subtract */
-	B3_FORCE_INLINE b3Vector3& operator-=(const b3Vector3& v)
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		mVec128 = _mm_sub_ps(mVec128, v.mVec128);
-#elif defined(B3_USE_NEON)
-		mVec128 = vsubq_f32(mVec128, v.mVec128);
-#else
-		m_floats[0] -= v.m_floats[0];
-		m_floats[1] -= v.m_floats[1];
-		m_floats[2] -= v.m_floats[2];
-#endif
-		return *this;
-	}
-
-	/**@brief Scale the vector
-   * @param s Scale factor */
-	B3_FORCE_INLINE b3Vector3& operator*=(const b3Scalar& s)
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
-		vs = b3_pshufd_ps(vs, 0x80);  //	(S S S 0.0)
-		mVec128 = _mm_mul_ps(mVec128, vs);
-#elif defined(B3_USE_NEON)
-		mVec128 = vmulq_n_f32(mVec128, s);
-#else
-		m_floats[0] *= s;
-		m_floats[1] *= s;
-		m_floats[2] *= s;
-#endif
-		return *this;
-	}
-
-	/**@brief Inversely scale the vector
-   * @param s Scale factor to divide by */
-	B3_FORCE_INLINE b3Vector3& operator/=(const b3Scalar& s)
-	{
-		b3FullAssert(s != b3Scalar(0.0));
-
-#if 0  //defined(B3_USE_SSE_IN_API)
-// this code is not faster !
-		__m128 vs = _mm_load_ss(&s);
-		vs = _mm_div_ss(b3v1110, vs);
-		vs = b3_pshufd_ps(vs, 0x00);	//	(S S S S)
-
-		mVec128 = _mm_mul_ps(mVec128, vs);
-
-		return *this;
-#else
-		return *this *= b3Scalar(1.0) / s;
-#endif
-	}
-
-	/**@brief Return the dot product
-   * @param v The other vector in the dot product */
-	B3_FORCE_INLINE b3Scalar dot(const b3Vector3& v) const
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		__m128 vd = _mm_mul_ps(mVec128, v.mVec128);
-		__m128 z = _mm_movehl_ps(vd, vd);
-		__m128 y = _mm_shuffle_ps(vd, vd, 0x55);
-		vd = _mm_add_ss(vd, y);
-		vd = _mm_add_ss(vd, z);
-		return _mm_cvtss_f32(vd);
-#elif defined(B3_USE_NEON)
-		float32x4_t vd = vmulq_f32(mVec128, v.mVec128);
-		float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_low_f32(vd));
-		x = vadd_f32(x, vget_high_f32(vd));
-		return vget_lane_f32(x, 0);
-#else
-		return m_floats[0] * v.m_floats[0] +
-			   m_floats[1] * v.m_floats[1] +
-			   m_floats[2] * v.m_floats[2];
-#endif
-	}
-
-	/**@brief Return the length of the vector squared */
-	B3_FORCE_INLINE b3Scalar length2() const
-	{
-		return dot(*this);
-	}
-
-	/**@brief Return the length of the vector */
-	B3_FORCE_INLINE b3Scalar length() const
-	{
-		return b3Sqrt(length2());
-	}
-
-	/**@brief Return the distance squared between the ends of this and another vector
-   * This is symantically treating the vector like a point */
-	B3_FORCE_INLINE b3Scalar distance2(const b3Vector3& v) const;
-
-	/**@brief Return the distance between the ends of this and another vector
-   * This is symantically treating the vector like a point */
-	B3_FORCE_INLINE b3Scalar distance(const b3Vector3& v) const;
-
-	B3_FORCE_INLINE b3Vector3& safeNormalize()
-	{
-		b3Scalar l2 = length2();
-		//triNormal.normalize();
-		if (l2 >= B3_EPSILON * B3_EPSILON)
-		{
-			(*this) /= b3Sqrt(l2);
-		}
-		else
-		{
-			setValue(1, 0, 0);
-		}
-		return *this;
-	}
-
-	/**@brief Normalize this vector
-   * x^2 + y^2 + z^2 = 1 */
-	B3_FORCE_INLINE b3Vector3& normalize()
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		// dot product first
-		__m128 vd = _mm_mul_ps(mVec128, mVec128);
-		__m128 z = _mm_movehl_ps(vd, vd);
-		__m128 y = _mm_shuffle_ps(vd, vd, 0x55);
-		vd = _mm_add_ss(vd, y);
-		vd = _mm_add_ss(vd, z);
-
-#if 0
-        vd = _mm_sqrt_ss(vd);
-		vd = _mm_div_ss(b3v1110, vd);
-		vd = b3_splat_ps(vd, 0x80);
-		mVec128 = _mm_mul_ps(mVec128, vd);
-#else
-
-		// NR step 1/sqrt(x) - vd is x, y is output
-		y = _mm_rsqrt_ss(vd);  // estimate
-
-		//  one step NR
-		z = b3v1_5;
-		vd = _mm_mul_ss(vd, b3vHalf);  // vd * 0.5
-		//x2 = vd;
-		vd = _mm_mul_ss(vd, y);  // vd * 0.5 * y0
-		vd = _mm_mul_ss(vd, y);  // vd * 0.5 * y0 * y0
-		z = _mm_sub_ss(z, vd);   // 1.5 - vd * 0.5 * y0 * y0
-
-		y = _mm_mul_ss(y, z);  // y0 * (1.5 - vd * 0.5 * y0 * y0)
-
-		y = b3_splat_ps(y, 0x80);
-		mVec128 = _mm_mul_ps(mVec128, y);
-
-#endif
-
-		return *this;
-#else
-		return *this /= length();
-#endif
-	}
-
-	/**@brief Return a normalized version of this vector */
-	B3_FORCE_INLINE b3Vector3 normalized() const;
-
-	/**@brief Return a rotated version of this vector
-   * @param wAxis The axis to rotate about
-   * @param angle The angle to rotate by */
-	B3_FORCE_INLINE b3Vector3 rotate(const b3Vector3& wAxis, const b3Scalar angle) const;
-
-	/**@brief Return the angle between this and another vector
-   * @param v The other vector */
-	B3_FORCE_INLINE b3Scalar angle(const b3Vector3& v) const
-	{
-		b3Scalar s = b3Sqrt(length2() * v.length2());
-		b3FullAssert(s != b3Scalar(0.0));
-		return b3Acos(dot(v) / s);
-	}
-
-	/**@brief Return a vector will the absolute values of each element */
-	B3_FORCE_INLINE b3Vector3 absolute() const
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		return b3MakeVector3(_mm_and_ps(mVec128, b3v3AbsfMask));
-#elif defined(B3_USE_NEON)
-		return b3Vector3(vabsq_f32(mVec128));
-#else
-		return b3MakeVector3(
-			b3Fabs(m_floats[0]),
-			b3Fabs(m_floats[1]),
-			b3Fabs(m_floats[2]));
-#endif
-	}
-
-	/**@brief Return the cross product between this and another vector
-   * @param v The other vector */
-	B3_FORCE_INLINE b3Vector3 cross(const b3Vector3& v) const
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		__m128 T, V;
-
-		T = b3_pshufd_ps(mVec128, B3_SHUFFLE(1, 2, 0, 3));    //	(Y Z X 0)
-		V = b3_pshufd_ps(v.mVec128, B3_SHUFFLE(1, 2, 0, 3));  //	(Y Z X 0)
-
-		V = _mm_mul_ps(V, mVec128);
-		T = _mm_mul_ps(T, v.mVec128);
-		V = _mm_sub_ps(V, T);
-
-		V = b3_pshufd_ps(V, B3_SHUFFLE(1, 2, 0, 3));
-		return b3MakeVector3(V);
-#elif defined(B3_USE_NEON)
-		float32x4_t T, V;
-		// form (Y, Z, X, _) of mVec128 and v.mVec128
-		float32x2_t Tlow = vget_low_f32(mVec128);
-		float32x2_t Vlow = vget_low_f32(v.mVec128);
-		T = vcombine_f32(vext_f32(Tlow, vget_high_f32(mVec128), 1), Tlow);
-		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v.mVec128), 1), Vlow);
-
-		V = vmulq_f32(V, mVec128);
-		T = vmulq_f32(T, v.mVec128);
-		V = vsubq_f32(V, T);
-		Vlow = vget_low_f32(V);
-		// form (Y, Z, X, _);
-		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow);
-		V = (float32x4_t)vandq_s32((int32x4_t)V, b3vFFF0Mask);
-
-		return b3Vector3(V);
-#else
-		return b3MakeVector3(
-			m_floats[1] * v.m_floats[2] - m_floats[2] * v.m_floats[1],
-			m_floats[2] * v.m_floats[0] - m_floats[0] * v.m_floats[2],
-			m_floats[0] * v.m_floats[1] - m_floats[1] * v.m_floats[0]);
-#endif
-	}
-
-	B3_FORCE_INLINE b3Scalar triple(const b3Vector3& v1, const b3Vector3& v2) const
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		// cross:
-		__m128 T = _mm_shuffle_ps(v1.mVec128, v1.mVec128, B3_SHUFFLE(1, 2, 0, 3));  //	(Y Z X 0)
-		__m128 V = _mm_shuffle_ps(v2.mVec128, v2.mVec128, B3_SHUFFLE(1, 2, 0, 3));  //	(Y Z X 0)
-
-		V = _mm_mul_ps(V, v1.mVec128);
-		T = _mm_mul_ps(T, v2.mVec128);
-		V = _mm_sub_ps(V, T);
-
-		V = _mm_shuffle_ps(V, V, B3_SHUFFLE(1, 2, 0, 3));
-
-		// dot:
-		V = _mm_mul_ps(V, mVec128);
-		__m128 z = _mm_movehl_ps(V, V);
-		__m128 y = _mm_shuffle_ps(V, V, 0x55);
-		V = _mm_add_ss(V, y);
-		V = _mm_add_ss(V, z);
-		return _mm_cvtss_f32(V);
-
-#elif defined(B3_USE_NEON)
-		// cross:
-		float32x4_t T, V;
-		// form (Y, Z, X, _) of mVec128 and v.mVec128
-		float32x2_t Tlow = vget_low_f32(v1.mVec128);
-		float32x2_t Vlow = vget_low_f32(v2.mVec128);
-		T = vcombine_f32(vext_f32(Tlow, vget_high_f32(v1.mVec128), 1), Tlow);
-		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v2.mVec128), 1), Vlow);
-
-		V = vmulq_f32(V, v1.mVec128);
-		T = vmulq_f32(T, v2.mVec128);
-		V = vsubq_f32(V, T);
-		Vlow = vget_low_f32(V);
-		// form (Y, Z, X, _);
-		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow);
-
-		// dot:
-		V = vmulq_f32(mVec128, V);
-		float32x2_t x = vpadd_f32(vget_low_f32(V), vget_low_f32(V));
-		x = vadd_f32(x, vget_high_f32(V));
-		return vget_lane_f32(x, 0);
-#else
-		return m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) +
-			   m_floats[1] * (v1.m_floats[2] * v2.m_floats[0] - v1.m_floats[0] * v2.m_floats[2]) +
-			   m_floats[2] * (v1.m_floats[0] * v2.m_floats[1] - v1.m_floats[1] * v2.m_floats[0]);
-#endif
-	}
-
-	/**@brief Return the axis with the smallest value
-   * Note return values are 0,1,2 for x, y, or z */
-	B3_FORCE_INLINE int minAxis() const
-	{
-		return m_floats[0] < m_floats[1] ? (m_floats[0] < m_floats[2] ? 0 : 2) : (m_floats[1] < m_floats[2] ? 1 : 2);
-	}
-
-	/**@brief Return the axis with the largest value
-   * Note return values are 0,1,2 for x, y, or z */
-	B3_FORCE_INLINE int maxAxis() const
-	{
-		return m_floats[0] < m_floats[1] ? (m_floats[1] < m_floats[2] ? 2 : 1) : (m_floats[0] < m_floats[2] ? 2 : 0);
-	}
-
-	B3_FORCE_INLINE int furthestAxis() const
-	{
-		return absolute().minAxis();
-	}
-
-	B3_FORCE_INLINE int closestAxis() const
-	{
-		return absolute().maxAxis();
-	}
-
-	B3_FORCE_INLINE void setInterpolate3(const b3Vector3& v0, const b3Vector3& v1, b3Scalar rt)
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		__m128 vrt = _mm_load_ss(&rt);  //	(rt 0 0 0)
-		b3Scalar s = b3Scalar(1.0) - rt;
-		__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
-		vs = b3_pshufd_ps(vs, 0x80);  //	(S S S 0.0)
-		__m128 r0 = _mm_mul_ps(v0.mVec128, vs);
-		vrt = b3_pshufd_ps(vrt, 0x80);  //	(rt rt rt 0.0)
-		__m128 r1 = _mm_mul_ps(v1.mVec128, vrt);
-		__m128 tmp3 = _mm_add_ps(r0, r1);
-		mVec128 = tmp3;
-#elif defined(B3_USE_NEON)
-		float32x4_t vl = vsubq_f32(v1.mVec128, v0.mVec128);
-		vl = vmulq_n_f32(vl, rt);
-		mVec128 = vaddq_f32(vl, v0.mVec128);
-#else
-		b3Scalar s = b3Scalar(1.0) - rt;
-		m_floats[0] = s * v0.m_floats[0] + rt * v1.m_floats[0];
-		m_floats[1] = s * v0.m_floats[1] + rt * v1.m_floats[1];
-		m_floats[2] = s * v0.m_floats[2] + rt * v1.m_floats[2];
-		//don't do the unused w component
-		//		m_co[3] = s * v0[3] + rt * v1[3];
-#endif
-	}
-
-	/**@brief Return the linear interpolation between this and another vector
-   * @param v The other vector
-   * @param t The ration of this to v (t = 0 => return this, t=1 => return other) */
-	B3_FORCE_INLINE b3Vector3 lerp(const b3Vector3& v, const b3Scalar& t) const
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		__m128 vt = _mm_load_ss(&t);  //	(t 0 0 0)
-		vt = b3_pshufd_ps(vt, 0x80);  //	(rt rt rt 0.0)
-		__m128 vl = _mm_sub_ps(v.mVec128, mVec128);
-		vl = _mm_mul_ps(vl, vt);
-		vl = _mm_add_ps(vl, mVec128);
-
-		return b3MakeVector3(vl);
-#elif defined(B3_USE_NEON)
-		float32x4_t vl = vsubq_f32(v.mVec128, mVec128);
-		vl = vmulq_n_f32(vl, t);
-		vl = vaddq_f32(vl, mVec128);
-
-		return b3Vector3(vl);
-#else
-		return b3MakeVector3(m_floats[0] + (v.m_floats[0] - m_floats[0]) * t,
-							 m_floats[1] + (v.m_floats[1] - m_floats[1]) * t,
-							 m_floats[2] + (v.m_floats[2] - m_floats[2]) * t);
-#endif
-	}
-
-	/**@brief Elementwise multiply this vector by the other
-   * @param v The other vector */
-	B3_FORCE_INLINE b3Vector3& operator*=(const b3Vector3& v)
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		mVec128 = _mm_mul_ps(mVec128, v.mVec128);
-#elif defined(B3_USE_NEON)
-		mVec128 = vmulq_f32(mVec128, v.mVec128);
-#else
-		m_floats[0] *= v.m_floats[0];
-		m_floats[1] *= v.m_floats[1];
-		m_floats[2] *= v.m_floats[2];
-#endif
-		return *this;
-	}
-
-	/**@brief Return the x value */
-	B3_FORCE_INLINE const b3Scalar& getX() const { return m_floats[0]; }
-	/**@brief Return the y value */
-	B3_FORCE_INLINE const b3Scalar& getY() const { return m_floats[1]; }
-	/**@brief Return the z value */
-	B3_FORCE_INLINE const b3Scalar& getZ() const { return m_floats[2]; }
-	/**@brief Return the w value */
-	B3_FORCE_INLINE const b3Scalar& getW() const { return m_floats[3]; }
-
-	/**@brief Set the x value */
-	B3_FORCE_INLINE void setX(b3Scalar _x) { m_floats[0] = _x; };
-	/**@brief Set the y value */
-	B3_FORCE_INLINE void setY(b3Scalar _y) { m_floats[1] = _y; };
-	/**@brief Set the z value */
-	B3_FORCE_INLINE void setZ(b3Scalar _z) { m_floats[2] = _z; };
-	/**@brief Set the w value */
-	B3_FORCE_INLINE void setW(b3Scalar _w) { m_floats[3] = _w; };
-
-	//B3_FORCE_INLINE b3Scalar&       operator[](int i)       { return (&m_floats[0])[i];	}
-	//B3_FORCE_INLINE const b3Scalar& operator[](int i) const { return (&m_floats[0])[i]; }
-	///operator b3Scalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
-	B3_FORCE_INLINE operator b3Scalar*() { return &m_floats[0]; }
-	B3_FORCE_INLINE operator const b3Scalar*() const { return &m_floats[0]; }
-
-	B3_FORCE_INLINE bool operator==(const b3Vector3& other) const
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
-#else
-		return ((m_floats[3] == other.m_floats[3]) &&
-				(m_floats[2] == other.m_floats[2]) &&
-				(m_floats[1] == other.m_floats[1]) &&
-				(m_floats[0] == other.m_floats[0]));
-#endif
-	}
-
-	B3_FORCE_INLINE bool operator!=(const b3Vector3& other) const
-	{
-		return !(*this == other);
-	}
-
-	/**@brief Set each element to the max of the current values and the values of another b3Vector3
-   * @param other The other b3Vector3 to compare with
-   */
-	B3_FORCE_INLINE void setMax(const b3Vector3& other)
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		mVec128 = _mm_max_ps(mVec128, other.mVec128);
-#elif defined(B3_USE_NEON)
-		mVec128 = vmaxq_f32(mVec128, other.mVec128);
-#else
-		b3SetMax(m_floats[0], other.m_floats[0]);
-		b3SetMax(m_floats[1], other.m_floats[1]);
-		b3SetMax(m_floats[2], other.m_floats[2]);
-		b3SetMax(m_floats[3], other.m_floats[3]);
-#endif
-	}
-
-	/**@brief Set each element to the min of the current values and the values of another b3Vector3
-   * @param other The other b3Vector3 to compare with
-   */
-	B3_FORCE_INLINE void setMin(const b3Vector3& other)
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		mVec128 = _mm_min_ps(mVec128, other.mVec128);
-#elif defined(B3_USE_NEON)
-		mVec128 = vminq_f32(mVec128, other.mVec128);
-#else
-		b3SetMin(m_floats[0], other.m_floats[0]);
-		b3SetMin(m_floats[1], other.m_floats[1]);
-		b3SetMin(m_floats[2], other.m_floats[2]);
-		b3SetMin(m_floats[3], other.m_floats[3]);
-#endif
-	}
-
-	B3_FORCE_INLINE void setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z)
-	{
-		m_floats[0] = _x;
-		m_floats[1] = _y;
-		m_floats[2] = _z;
-		m_floats[3] = b3Scalar(0.f);
-	}
-
-	void getSkewSymmetricMatrix(b3Vector3 * v0, b3Vector3 * v1, b3Vector3 * v2) const
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-
-		__m128 V = _mm_and_ps(mVec128, b3vFFF0fMask);
-		__m128 V0 = _mm_xor_ps(b3vMzeroMask, V);
-		__m128 V2 = _mm_movelh_ps(V0, V);
-
-		__m128 V1 = _mm_shuffle_ps(V, V0, 0xCE);
-
-		V0 = _mm_shuffle_ps(V0, V, 0xDB);
-		V2 = _mm_shuffle_ps(V2, V, 0xF9);
-
-		v0->mVec128 = V0;
-		v1->mVec128 = V1;
-		v2->mVec128 = V2;
-#else
-		v0->setValue(0., -getZ(), getY());
-		v1->setValue(getZ(), 0., -getX());
-		v2->setValue(-getY(), getX(), 0.);
-#endif
-	}
-
-	void setZero()
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		mVec128 = (__m128)_mm_xor_ps(mVec128, mVec128);
-#elif defined(B3_USE_NEON)
-		int32x4_t vi = vdupq_n_s32(0);
-		mVec128 = vreinterpretq_f32_s32(vi);
-#else
-		setValue(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
-#endif
-	}
-
-	B3_FORCE_INLINE bool isZero() const
-	{
-		return m_floats[0] == b3Scalar(0) && m_floats[1] == b3Scalar(0) && m_floats[2] == b3Scalar(0);
-	}
-
-	B3_FORCE_INLINE bool fuzzyZero() const
-	{
-		return length2() < B3_EPSILON;
-	}
-
-	B3_FORCE_INLINE void serialize(struct b3Vector3Data & dataOut) const;
-
-	B3_FORCE_INLINE void deSerialize(const struct b3Vector3Data& dataIn);
-
-	B3_FORCE_INLINE void serializeFloat(struct b3Vector3FloatData & dataOut) const;
-
-	B3_FORCE_INLINE void deSerializeFloat(const struct b3Vector3FloatData& dataIn);
-
-	B3_FORCE_INLINE void serializeDouble(struct b3Vector3DoubleData & dataOut) const;
-
-	B3_FORCE_INLINE void deSerializeDouble(const struct b3Vector3DoubleData& dataIn);
-
-	/**@brief returns index of maximum dot product between this and vectors in array[]
-         * @param array The other vectors
-         * @param array_count The number of other vectors
-         * @param dotOut The maximum dot product */
-	B3_FORCE_INLINE long maxDot(const b3Vector3* array, long array_count, b3Scalar& dotOut) const;
-
-	/**@brief returns index of minimum dot product between this and vectors in array[]
-         * @param array The other vectors
-         * @param array_count The number of other vectors
-         * @param dotOut The minimum dot product */
-	B3_FORCE_INLINE long minDot(const b3Vector3* array, long array_count, b3Scalar& dotOut) const;
-
-	/* create a vector as  b3Vector3( this->dot( b3Vector3 v0 ), this->dot( b3Vector3 v1), this->dot( b3Vector3 v2 ))  */
-	B3_FORCE_INLINE b3Vector3 dot3(const b3Vector3& v0, const b3Vector3& v1, const b3Vector3& v2) const
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-
-		__m128 a0 = _mm_mul_ps(v0.mVec128, this->mVec128);
-		__m128 a1 = _mm_mul_ps(v1.mVec128, this->mVec128);
-		__m128 a2 = _mm_mul_ps(v2.mVec128, this->mVec128);
-		__m128 b0 = _mm_unpacklo_ps(a0, a1);
-		__m128 b1 = _mm_unpackhi_ps(a0, a1);
-		__m128 b2 = _mm_unpacklo_ps(a2, _mm_setzero_ps());
-		__m128 r = _mm_movelh_ps(b0, b2);
-		r = _mm_add_ps(r, _mm_movehl_ps(b2, b0));
-		a2 = _mm_and_ps(a2, b3vxyzMaskf);
-		r = _mm_add_ps(r, b3CastdTo128f(_mm_move_sd(b3CastfTo128d(a2), b3CastfTo128d(b1))));
-		return b3MakeVector3(r);
-
-#elif defined(B3_USE_NEON)
-		static const uint32x4_t xyzMask = (const uint32x4_t){-1, -1, -1, 0};
-		float32x4_t a0 = vmulq_f32(v0.mVec128, this->mVec128);
-		float32x4_t a1 = vmulq_f32(v1.mVec128, this->mVec128);
-		float32x4_t a2 = vmulq_f32(v2.mVec128, this->mVec128);
-		float32x2x2_t zLo = vtrn_f32(vget_high_f32(a0), vget_high_f32(a1));
-		a2 = (float32x4_t)vandq_u32((uint32x4_t)a2, xyzMask);
-		float32x2_t b0 = vadd_f32(vpadd_f32(vget_low_f32(a0), vget_low_f32(a1)), zLo.val[0]);
-		float32x2_t b1 = vpadd_f32(vpadd_f32(vget_low_f32(a2), vget_high_f32(a2)), vdup_n_f32(0.0f));
-		return b3Vector3(vcombine_f32(b0, b1));
-#else
-		return b3MakeVector3(dot(v0), dot(v1), dot(v2));
-#endif
-	}
-};
-
-/**@brief Return the sum of two vectors (Point symantics)*/
-B3_FORCE_INLINE b3Vector3
-operator+(const b3Vector3& v1, const b3Vector3& v2)
-{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-	return b3MakeVector3(_mm_add_ps(v1.mVec128, v2.mVec128));
-#elif defined(B3_USE_NEON)
-	return b3MakeVector3(vaddq_f32(v1.mVec128, v2.mVec128));
-#else
-	return b3MakeVector3(
-		v1.m_floats[0] + v2.m_floats[0],
-		v1.m_floats[1] + v2.m_floats[1],
-		v1.m_floats[2] + v2.m_floats[2]);
-#endif
-}
-
-/**@brief Return the elementwise product of two vectors */
-B3_FORCE_INLINE b3Vector3
-operator*(const b3Vector3& v1, const b3Vector3& v2)
-{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-	return b3MakeVector3(_mm_mul_ps(v1.mVec128, v2.mVec128));
-#elif defined(B3_USE_NEON)
-	return b3MakeVector3(vmulq_f32(v1.mVec128, v2.mVec128));
-#else
-	return b3MakeVector3(
-		v1.m_floats[0] * v2.m_floats[0],
-		v1.m_floats[1] * v2.m_floats[1],
-		v1.m_floats[2] * v2.m_floats[2]);
-#endif
-}
-
-/**@brief Return the difference between two vectors */
-B3_FORCE_INLINE b3Vector3
-operator-(const b3Vector3& v1, const b3Vector3& v2)
-{
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))
-
-	//	without _mm_and_ps this code causes slowdown in Concave moving
-	__m128 r = _mm_sub_ps(v1.mVec128, v2.mVec128);
-	return b3MakeVector3(_mm_and_ps(r, b3vFFF0fMask));
-#elif defined(B3_USE_NEON)
-	float32x4_t r = vsubq_f32(v1.mVec128, v2.mVec128);
-	return b3MakeVector3((float32x4_t)vandq_s32((int32x4_t)r, b3vFFF0Mask));
-#else
-	return b3MakeVector3(
-		v1.m_floats[0] - v2.m_floats[0],
-		v1.m_floats[1] - v2.m_floats[1],
-		v1.m_floats[2] - v2.m_floats[2]);
-#endif
-}
-
-/**@brief Return the negative of the vector */
-B3_FORCE_INLINE b3Vector3
-operator-(const b3Vector3& v)
-{
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))
-	__m128 r = _mm_xor_ps(v.mVec128, b3vMzeroMask);
-	return b3MakeVector3(_mm_and_ps(r, b3vFFF0fMask));
-#elif defined(B3_USE_NEON)
-	return b3MakeVector3((b3SimdFloat4)veorq_s32((int32x4_t)v.mVec128, (int32x4_t)b3vMzeroMask));
-#else
-	return b3MakeVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]);
-#endif
-}
-
-/**@brief Return the vector scaled by s */
-B3_FORCE_INLINE b3Vector3
-operator*(const b3Vector3& v, const b3Scalar& s)
-{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-	__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
-	vs = b3_pshufd_ps(vs, 0x80);  //	(S S S 0.0)
-	return b3MakeVector3(_mm_mul_ps(v.mVec128, vs));
-#elif defined(B3_USE_NEON)
-	float32x4_t r = vmulq_n_f32(v.mVec128, s);
-	return b3MakeVector3((float32x4_t)vandq_s32((int32x4_t)r, b3vFFF0Mask));
-#else
-	return b3MakeVector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s);
-#endif
-}
-
-/**@brief Return the vector scaled by s */
-B3_FORCE_INLINE b3Vector3
-operator*(const b3Scalar& s, const b3Vector3& v)
-{
-	return v * s;
-}
-
-/**@brief Return the vector inversely scaled by s */
-B3_FORCE_INLINE b3Vector3
-operator/(const b3Vector3& v, const b3Scalar& s)
-{
-	b3FullAssert(s != b3Scalar(0.0));
-#if 0  //defined(B3_USE_SSE_IN_API)
-// this code is not faster !
-	__m128 vs = _mm_load_ss(&s);
-    vs = _mm_div_ss(b3v1110, vs);
-	vs = b3_pshufd_ps(vs, 0x00);	//	(S S S S)
-
-	return b3Vector3(_mm_mul_ps(v.mVec128, vs));
-#else
-	return v * (b3Scalar(1.0) / s);
-#endif
-}
-
-/**@brief Return the vector inversely scaled by s */
-B3_FORCE_INLINE b3Vector3
-operator/(const b3Vector3& v1, const b3Vector3& v2)
-{
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))
-	__m128 vec = _mm_div_ps(v1.mVec128, v2.mVec128);
-	vec = _mm_and_ps(vec, b3vFFF0fMask);
-	return b3MakeVector3(vec);
-#elif defined(B3_USE_NEON)
-	float32x4_t x, y, v, m;
-
-	x = v1.mVec128;
-	y = v2.mVec128;
-
-	v = vrecpeq_f32(y);     // v ~ 1/y
-	m = vrecpsq_f32(y, v);  // m = (2-v*y)
-	v = vmulq_f32(v, m);    // vv = v*m ~~ 1/y
-	m = vrecpsq_f32(y, v);  // mm = (2-vv*y)
-	v = vmulq_f32(v, x);    // x*vv
-	v = vmulq_f32(v, m);    // (x*vv)*(2-vv*y) = x*(vv(2-vv*y)) ~~~ x/y
-
-	return b3Vector3(v);
-#else
-	return b3MakeVector3(
-		v1.m_floats[0] / v2.m_floats[0],
-		v1.m_floats[1] / v2.m_floats[1],
-		v1.m_floats[2] / v2.m_floats[2]);
-#endif
-}
-
-/**@brief Return the dot product between two vectors */
-B3_FORCE_INLINE b3Scalar
-b3Dot(const b3Vector3& v1, const b3Vector3& v2)
-{
-	return v1.dot(v2);
-}
-
-/**@brief Return the distance squared between two vectors */
-B3_FORCE_INLINE b3Scalar
-b3Distance2(const b3Vector3& v1, const b3Vector3& v2)
-{
-	return v1.distance2(v2);
-}
-
-/**@brief Return the distance between two vectors */
-B3_FORCE_INLINE b3Scalar
-b3Distance(const b3Vector3& v1, const b3Vector3& v2)
-{
-	return v1.distance(v2);
-}
-
-/**@brief Return the angle between two vectors */
-B3_FORCE_INLINE b3Scalar
-b3Angle(const b3Vector3& v1, const b3Vector3& v2)
-{
-	return v1.angle(v2);
-}
-
-/**@brief Return the cross product of two vectors */
-B3_FORCE_INLINE b3Vector3
-b3Cross(const b3Vector3& v1, const b3Vector3& v2)
-{
-	return v1.cross(v2);
-}
-
-B3_FORCE_INLINE b3Scalar
-b3Triple(const b3Vector3& v1, const b3Vector3& v2, const b3Vector3& v3)
-{
-	return v1.triple(v2, v3);
-}
-
-/**@brief Return the linear interpolation between two vectors
- * @param v1 One vector
- * @param v2 The other vector
- * @param t The ration of this to v (t = 0 => return v1, t=1 => return v2) */
-B3_FORCE_INLINE b3Vector3
-b3Lerp(const b3Vector3& v1, const b3Vector3& v2, const b3Scalar& t)
-{
-	return v1.lerp(v2, t);
-}
-
-B3_FORCE_INLINE b3Scalar b3Vector3::distance2(const b3Vector3& v) const
-{
-	return (v - *this).length2();
-}
-
-B3_FORCE_INLINE b3Scalar b3Vector3::distance(const b3Vector3& v) const
-{
-	return (v - *this).length();
-}
-
-B3_FORCE_INLINE b3Vector3 b3Vector3::normalized() const
-{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-	b3Vector3 norm = *this;
-
-	return norm.normalize();
-#else
-	return *this / length();
-#endif
-}
-
-B3_FORCE_INLINE b3Vector3 b3Vector3::rotate(const b3Vector3& wAxis, const b3Scalar _angle) const
-{
-	// wAxis must be a unit lenght vector
-
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-
-	__m128 O = _mm_mul_ps(wAxis.mVec128, mVec128);
-	b3Scalar ssin = b3Sin(_angle);
-	__m128 C = wAxis.cross(b3MakeVector3(mVec128)).mVec128;
-	O = _mm_and_ps(O, b3vFFF0fMask);
-	b3Scalar scos = b3Cos(_angle);
-
-	__m128 vsin = _mm_load_ss(&ssin);  //	(S 0 0 0)
-	__m128 vcos = _mm_load_ss(&scos);  //	(S 0 0 0)
-
-	__m128 Y = b3_pshufd_ps(O, 0xC9);  //	(Y Z X 0)
-	__m128 Z = b3_pshufd_ps(O, 0xD2);  //	(Z X Y 0)
-	O = _mm_add_ps(O, Y);
-	vsin = b3_pshufd_ps(vsin, 0x80);  //	(S S S 0)
-	O = _mm_add_ps(O, Z);
-	vcos = b3_pshufd_ps(vcos, 0x80);  //	(S S S 0)
-
-	vsin = vsin * C;
-	O = O * wAxis.mVec128;
-	__m128 X = mVec128 - O;
-
-	O = O + vsin;
-	vcos = vcos * X;
-	O = O + vcos;
-
-	return b3MakeVector3(O);
-#else
-	b3Vector3 o = wAxis * wAxis.dot(*this);
-	b3Vector3 _x = *this - o;
-	b3Vector3 _y;
-
-	_y = wAxis.cross(*this);
-
-	return (o + _x * b3Cos(_angle) + _y * b3Sin(_angle));
-#endif
-}
-
-B3_FORCE_INLINE long b3Vector3::maxDot(const b3Vector3* array, long array_count, b3Scalar& dotOut) const
-{
-#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
-#if defined _WIN32 || defined(B3_USE_SSE)
-	const long scalar_cutoff = 10;
-	long b3_maxdot_large(const float* array, const float* vec, unsigned long array_count, float* dotOut);
-#elif defined B3_USE_NEON
-	const long scalar_cutoff = 4;
-	extern long (*_maxdot_large)(const float* array, const float* vec, unsigned long array_count, float* dotOut);
-#endif
-	if (array_count < scalar_cutoff)
-#else
-
-#endif  //B3_USE_SSE || B3_USE_NEON
-	{
-		b3Scalar maxDot = -B3_INFINITY;
-		int i = 0;
-		int ptIndex = -1;
-		for (i = 0; i < array_count; i++)
-		{
-			b3Scalar dot = array[i].dot(*this);
-
-			if (dot > maxDot)
-			{
-				maxDot = dot;
-				ptIndex = i;
-			}
-		}
-
-		b3Assert(ptIndex >= 0);
-		if (ptIndex < 0)
-		{
-			ptIndex = 0;
-		}
-		dotOut = maxDot;
-		return ptIndex;
-	}
-#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
-	return b3_maxdot_large((float*)array, (float*)&m_floats[0], array_count, &dotOut);
-#endif
-}
-
-B3_FORCE_INLINE long b3Vector3::minDot(const b3Vector3* array, long array_count, b3Scalar& dotOut) const
-{
-#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
-#if defined B3_USE_SSE
-	const long scalar_cutoff = 10;
-	long b3_mindot_large(const float* array, const float* vec, unsigned long array_count, float* dotOut);
-#elif defined B3_USE_NEON
-	const long scalar_cutoff = 4;
-	extern long (*b3_mindot_large)(const float* array, const float* vec, unsigned long array_count, float* dotOut);
-#else
-#error unhandled arch!
-#endif
-
-	if (array_count < scalar_cutoff)
-#endif  //B3_USE_SSE || B3_USE_NEON
-	{
-		b3Scalar minDot = B3_INFINITY;
-		int i = 0;
-		int ptIndex = -1;
-
-		for (i = 0; i < array_count; i++)
-		{
-			b3Scalar dot = array[i].dot(*this);
-
-			if (dot < minDot)
-			{
-				minDot = dot;
-				ptIndex = i;
-			}
-		}
-
-		dotOut = minDot;
-
-		return ptIndex;
-	}
-#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
-	return b3_mindot_large((float*)array, (float*)&m_floats[0], array_count, &dotOut);
-#endif
-}
-
-class b3Vector4 : public b3Vector3
-{
-public:
-	B3_FORCE_INLINE b3Vector4 absolute4() const
-	{
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-		return b3MakeVector4(_mm_and_ps(mVec128, b3vAbsfMask));
-#elif defined(B3_USE_NEON)
-		return b3Vector4(vabsq_f32(mVec128));
-#else
-		return b3MakeVector4(
-			b3Fabs(m_floats[0]),
-			b3Fabs(m_floats[1]),
-			b3Fabs(m_floats[2]),
-			b3Fabs(m_floats[3]));
-#endif
-	}
-
-	b3Scalar getW() const { return m_floats[3]; }
-
-	B3_FORCE_INLINE int maxAxis4() const
-	{
-		int maxIndex = -1;
-		b3Scalar maxVal = b3Scalar(-B3_LARGE_FLOAT);
-		if (m_floats[0] > maxVal)
-		{
-			maxIndex = 0;
-			maxVal = m_floats[0];
-		}
-		if (m_floats[1] > maxVal)
-		{
-			maxIndex = 1;
-			maxVal = m_floats[1];
-		}
-		if (m_floats[2] > maxVal)
-		{
-			maxIndex = 2;
-			maxVal = m_floats[2];
-		}
-		if (m_floats[3] > maxVal)
-		{
-			maxIndex = 3;
-		}
-
-		return maxIndex;
-	}
-
-	B3_FORCE_INLINE int minAxis4() const
-	{
-		int minIndex = -1;
-		b3Scalar minVal = b3Scalar(B3_LARGE_FLOAT);
-		if (m_floats[0] < minVal)
-		{
-			minIndex = 0;
-			minVal = m_floats[0];
-		}
-		if (m_floats[1] < minVal)
-		{
-			minIndex = 1;
-			minVal = m_floats[1];
-		}
-		if (m_floats[2] < minVal)
-		{
-			minIndex = 2;
-			minVal = m_floats[2];
-		}
-		if (m_floats[3] < minVal)
-		{
-			minIndex = 3;
-			minVal = m_floats[3];
-		}
-
-		return minIndex;
-	}
-
-	B3_FORCE_INLINE int closestAxis4() const
-	{
-		return absolute4().maxAxis4();
-	}
-
-	/**@brief Set x,y,z and zero w
-   * @param x Value of x
-   * @param y Value of y
-   * @param z Value of z
-   */
-
-	/*		void getValue(b3Scalar *m) const
-		{
-			m[0] = m_floats[0];
-			m[1] = m_floats[1];
-			m[2] =m_floats[2];
-		}
-*/
-	/**@brief Set the values
-   * @param x Value of x
-   * @param y Value of y
-   * @param z Value of z
-   * @param w Value of w
-   */
-	B3_FORCE_INLINE void setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z, const b3Scalar& _w)
-	{
-		m_floats[0] = _x;
-		m_floats[1] = _y;
-		m_floats[2] = _z;
-		m_floats[3] = _w;
-	}
-};
-
-///b3SwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
-B3_FORCE_INLINE void b3SwapScalarEndian(const b3Scalar& sourceVal, b3Scalar& destVal)
-{
-#ifdef B3_USE_DOUBLE_PRECISION
-	unsigned char* dest = (unsigned char*)&destVal;
-	unsigned char* src = (unsigned char*)&sourceVal;
-	dest[0] = src[7];
-	dest[1] = src[6];
-	dest[2] = src[5];
-	dest[3] = src[4];
-	dest[4] = src[3];
-	dest[5] = src[2];
-	dest[6] = src[1];
-	dest[7] = src[0];
-#else
-	unsigned char* dest = (unsigned char*)&destVal;
-	unsigned char* src = (unsigned char*)&sourceVal;
-	dest[0] = src[3];
-	dest[1] = src[2];
-	dest[2] = src[1];
-	dest[3] = src[0];
-#endif  //B3_USE_DOUBLE_PRECISION
-}
-///b3SwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
-B3_FORCE_INLINE void b3SwapVector3Endian(const b3Vector3& sourceVec, b3Vector3& destVec)
-{
-	for (int i = 0; i < 4; i++)
-	{
-		b3SwapScalarEndian(sourceVec[i], destVec[i]);
-	}
-}
-
-///b3UnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
-B3_FORCE_INLINE void b3UnSwapVector3Endian(b3Vector3& vector)
-{
-	b3Vector3 swappedVec;
-	for (int i = 0; i < 4; i++)
-	{
-		b3SwapScalarEndian(vector[i], swappedVec[i]);
-	}
-	vector = swappedVec;
-}
-
-template <class T>
-B3_FORCE_INLINE void b3PlaneSpace1(const T& n, T& p, T& q)
-{
-	if (b3Fabs(n[2]) > B3_SQRT12)
-	{
-		// choose p in y-z plane
-		b3Scalar a = n[1] * n[1] + n[2] * n[2];
-		b3Scalar k = b3RecipSqrt(a);
-		p[0] = 0;
-		p[1] = -n[2] * k;
-		p[2] = n[1] * k;
-		// set q = n x p
-		q[0] = a * k;
-		q[1] = -n[0] * p[2];
-		q[2] = n[0] * p[1];
-	}
-	else
-	{
-		// choose p in x-y plane
-		b3Scalar a = n[0] * n[0] + n[1] * n[1];
-		b3Scalar k = b3RecipSqrt(a);
-		p[0] = -n[1] * k;
-		p[1] = n[0] * k;
-		p[2] = 0;
-		// set q = n x p
-		q[0] = -n[2] * p[1];
-		q[1] = n[2] * p[0];
-		q[2] = a * k;
-	}
-}
-
-struct b3Vector3FloatData
-{
-	float m_floats[4];
-};
-
-struct b3Vector3DoubleData
-{
-	double m_floats[4];
-};
-
-B3_FORCE_INLINE void b3Vector3::serializeFloat(struct b3Vector3FloatData& dataOut) const
-{
-	///could also do a memcpy, check if it is worth it
-	for (int i = 0; i < 4; i++)
-		dataOut.m_floats[i] = float(m_floats[i]);
-}
-
-B3_FORCE_INLINE void b3Vector3::deSerializeFloat(const struct b3Vector3FloatData& dataIn)
-{
-	for (int i = 0; i < 4; i++)
-		m_floats[i] = b3Scalar(dataIn.m_floats[i]);
-}
-
-B3_FORCE_INLINE void b3Vector3::serializeDouble(struct b3Vector3DoubleData& dataOut) const
-{
-	///could also do a memcpy, check if it is worth it
-	for (int i = 0; i < 4; i++)
-		dataOut.m_floats[i] = double(m_floats[i]);
-}
-
-B3_FORCE_INLINE void b3Vector3::deSerializeDouble(const struct b3Vector3DoubleData& dataIn)
-{
-	for (int i = 0; i < 4; i++)
-		m_floats[i] = b3Scalar(dataIn.m_floats[i]);
-}
-
-B3_FORCE_INLINE void b3Vector3::serialize(struct b3Vector3Data& dataOut) const
-{
-	///could also do a memcpy, check if it is worth it
-	for (int i = 0; i < 4; i++)
-		dataOut.m_floats[i] = m_floats[i];
-}
-
-B3_FORCE_INLINE void b3Vector3::deSerialize(const struct b3Vector3Data& dataIn)
-{
-	for (int i = 0; i < 4; i++)
-		m_floats[i] = dataIn.m_floats[i];
-}
-
-inline b3Vector3 b3MakeVector3(b3Scalar x, b3Scalar y, b3Scalar z)
-{
-	b3Vector3 tmp;
-	tmp.setValue(x, y, z);
-	return tmp;
-}
-
-inline b3Vector3 b3MakeVector3(b3Scalar x, b3Scalar y, b3Scalar z, b3Scalar w)
-{
-	b3Vector3 tmp;
-	tmp.setValue(x, y, z);
-	tmp.w = w;
-	return tmp;
-}
-
-inline b3Vector4 b3MakeVector4(b3Scalar x, b3Scalar y, b3Scalar z, b3Scalar w)
-{
-	b3Vector4 tmp;
-	tmp.setValue(x, y, z, w);
-	return tmp;
-}
-
-#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
-
-inline b3Vector3 b3MakeVector3(b3SimdFloat4 v)
-{
-	b3Vector3 tmp;
-	tmp.set128(v);
-	return tmp;
-}
-
-inline b3Vector4 b3MakeVector4(b3SimdFloat4 vec)
-{
-	b3Vector4 tmp;
-	tmp.set128(vec);
-	return tmp;
-}
-
-#endif
-
-#endif  //B3_VECTOR3_H
diff --git a/thirdparty/bullet/Bullet3Common/shared/b3Float4.h b/thirdparty/bullet/Bullet3Common/shared/b3Float4.h
deleted file mode 100644
index d8a9f47411..0000000000
--- a/thirdparty/bullet/Bullet3Common/shared/b3Float4.h
+++ /dev/null
@@ -1,90 +0,0 @@
-#ifndef B3_FLOAT4_H
-#define B3_FLOAT4_H
-
-#include "Bullet3Common/shared/b3PlatformDefinitions.h"
-
-#ifdef __cplusplus
-#include "Bullet3Common/b3Vector3.h"
-#define b3Float4 b3Vector3
-#define b3Float4ConstArg const b3Vector3&
-#define b3Dot3F4 b3Dot
-#define b3Cross3 b3Cross
-#define b3MakeFloat4 b3MakeVector3
-inline b3Vector3 b3Normalized(const b3Vector3& vec)
-{
-	return vec.normalized();
-}
-
-inline b3Float4 b3FastNormalized3(b3Float4ConstArg v)
-{
-	return v.normalized();
-}
-
-inline b3Float4 b3MaxFloat4(const b3Float4& a, const b3Float4& b)
-{
-	b3Float4 tmp = a;
-	tmp.setMax(b);
-	return tmp;
-}
-inline b3Float4 b3MinFloat4(const b3Float4& a, const b3Float4& b)
-{
-	b3Float4 tmp = a;
-	tmp.setMin(b);
-	return tmp;
-}
-
-#else
-typedef float4 b3Float4;
-#define b3Float4ConstArg const b3Float4
-#define b3MakeFloat4 (float4)
-float b3Dot3F4(b3Float4ConstArg v0, b3Float4ConstArg v1)
-{
-	float4 a1 = b3MakeFloat4(v0.xyz, 0.f);
-	float4 b1 = b3MakeFloat4(v1.xyz, 0.f);
-	return dot(a1, b1);
-}
-b3Float4 b3Cross3(b3Float4ConstArg v0, b3Float4ConstArg v1)
-{
-	float4 a1 = b3MakeFloat4(v0.xyz, 0.f);
-	float4 b1 = b3MakeFloat4(v1.xyz, 0.f);
-	return cross(a1, b1);
-}
-#define b3MinFloat4 min
-#define b3MaxFloat4 max
-
-#define b3Normalized(a) normalize(a)
-
-#endif
-
-inline bool b3IsAlmostZero(b3Float4ConstArg v)
-{
-	if (b3Fabs(v.x) > 1e-6 || b3Fabs(v.y) > 1e-6 || b3Fabs(v.z) > 1e-6)
-		return false;
-	return true;
-}
-
-inline int b3MaxDot(b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut)
-{
-	float maxDot = -B3_INFINITY;
-	int i = 0;
-	int ptIndex = -1;
-	for (i = 0; i < vecLen; i++)
-	{
-		float dot = b3Dot3F4(vecArray[i], vec);
-
-		if (dot > maxDot)
-		{
-			maxDot = dot;
-			ptIndex = i;
-		}
-	}
-	b3Assert(ptIndex >= 0);
-	if (ptIndex < 0)
-	{
-		ptIndex = 0;
-	}
-	*dotOut = maxDot;
-	return ptIndex;
-}
-
-#endif  //B3_FLOAT4_H
diff --git a/thirdparty/bullet/Bullet3Common/shared/b3Int2.h b/thirdparty/bullet/Bullet3Common/shared/b3Int2.h
deleted file mode 100644
index 7b84de4436..0000000000
--- a/thirdparty/bullet/Bullet3Common/shared/b3Int2.h
+++ /dev/null
@@ -1,63 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_INT2_H
-#define B3_INT2_H
-
-#ifdef __cplusplus
-
-struct b3UnsignedInt2
-{
-	union {
-		struct
-		{
-			unsigned int x, y;
-		};
-		struct
-		{
-			unsigned int s[2];
-		};
-	};
-};
-
-struct b3Int2
-{
-	union {
-		struct
-		{
-			int x, y;
-		};
-		struct
-		{
-			int s[2];
-		};
-	};
-};
-
-inline b3Int2 b3MakeInt2(int x, int y)
-{
-	b3Int2 v;
-	v.s[0] = x;
-	v.s[1] = y;
-	return v;
-}
-#else
-
-#define b3UnsignedInt2 uint2
-#define b3Int2 int2
-#define b3MakeInt2 (int2)
-
-#endif  //__cplusplus
-#endif
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3Common/shared/b3Int4.h b/thirdparty/bullet/Bullet3Common/shared/b3Int4.h
deleted file mode 100644
index f6a1754245..0000000000
--- a/thirdparty/bullet/Bullet3Common/shared/b3Int4.h
+++ /dev/null
@@ -1,71 +0,0 @@
-#ifndef B3_INT4_H
-#define B3_INT4_H
-
-#ifdef __cplusplus
-
-#include "Bullet3Common/b3Scalar.h"
-
-B3_ATTRIBUTE_ALIGNED16(struct)
-b3UnsignedInt4
-{
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-	union {
-		struct
-		{
-			unsigned int x, y, z, w;
-		};
-		struct
-		{
-			unsigned int s[4];
-		};
-	};
-};
-
-B3_ATTRIBUTE_ALIGNED16(struct)
-b3Int4
-{
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-	union {
-		struct
-		{
-			int x, y, z, w;
-		};
-		struct
-		{
-			int s[4];
-		};
-	};
-};
-
-B3_FORCE_INLINE b3Int4 b3MakeInt4(int x, int y, int z, int w = 0)
-{
-	b3Int4 v;
-	v.s[0] = x;
-	v.s[1] = y;
-	v.s[2] = z;
-	v.s[3] = w;
-	return v;
-}
-
-B3_FORCE_INLINE b3UnsignedInt4 b3MakeUnsignedInt4(unsigned int x, unsigned int y, unsigned int z, unsigned int w = 0)
-{
-	b3UnsignedInt4 v;
-	v.s[0] = x;
-	v.s[1] = y;
-	v.s[2] = z;
-	v.s[3] = w;
-	return v;
-}
-
-#else
-
-#define b3UnsignedInt4 uint4
-#define b3Int4 int4
-#define b3MakeInt4 (int4)
-#define b3MakeUnsignedInt4 (uint4)
-
-#endif  //__cplusplus
-
-#endif  //B3_INT4_H
diff --git a/thirdparty/bullet/Bullet3Common/shared/b3Mat3x3.h b/thirdparty/bullet/Bullet3Common/shared/b3Mat3x3.h
deleted file mode 100644
index ce6482b5a6..0000000000
--- a/thirdparty/bullet/Bullet3Common/shared/b3Mat3x3.h
+++ /dev/null
@@ -1,157 +0,0 @@
-
-#ifndef B3_MAT3x3_H
-#define B3_MAT3x3_H
-
-#include "Bullet3Common/shared/b3Quat.h"
-
-#ifdef __cplusplus
-
-#include "Bullet3Common/b3Matrix3x3.h"
-
-#define b3Mat3x3 b3Matrix3x3
-#define b3Mat3x3ConstArg const b3Matrix3x3&
-
-inline b3Mat3x3 b3QuatGetRotationMatrix(b3QuatConstArg quat)
-{
-	return b3Mat3x3(quat);
-}
-
-inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg mat)
-{
-	return mat.absolute();
-}
-
-#define b3GetRow(m, row) m.getRow(row)
-
-__inline b3Float4 mtMul3(b3Float4ConstArg a, b3Mat3x3ConstArg b)
-{
-	return b * a;
-}
-
-#else
-
-typedef struct
-{
-	b3Float4 m_row[3];
-} b3Mat3x3;
-
-#define b3Mat3x3ConstArg const b3Mat3x3
-#define b3GetRow(m, row) (m.m_row[row])
-
-inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)
-{
-	b3Float4 quat2 = (b3Float4)(quat.x * quat.x, quat.y * quat.y, quat.z * quat.z, 0.f);
-	b3Mat3x3 out;
-
-	out.m_row[0].x = 1 - 2 * quat2.y - 2 * quat2.z;
-	out.m_row[0].y = 2 * quat.x * quat.y - 2 * quat.w * quat.z;
-	out.m_row[0].z = 2 * quat.x * quat.z + 2 * quat.w * quat.y;
-	out.m_row[0].w = 0.f;
-
-	out.m_row[1].x = 2 * quat.x * quat.y + 2 * quat.w * quat.z;
-	out.m_row[1].y = 1 - 2 * quat2.x - 2 * quat2.z;
-	out.m_row[1].z = 2 * quat.y * quat.z - 2 * quat.w * quat.x;
-	out.m_row[1].w = 0.f;
-
-	out.m_row[2].x = 2 * quat.x * quat.z - 2 * quat.w * quat.y;
-	out.m_row[2].y = 2 * quat.y * quat.z + 2 * quat.w * quat.x;
-	out.m_row[2].z = 1 - 2 * quat2.x - 2 * quat2.y;
-	out.m_row[2].w = 0.f;
-
-	return out;
-}
-
-inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)
-{
-	b3Mat3x3 out;
-	out.m_row[0] = fabs(matIn.m_row[0]);
-	out.m_row[1] = fabs(matIn.m_row[1]);
-	out.m_row[2] = fabs(matIn.m_row[2]);
-	return out;
-}
-
-__inline b3Mat3x3 mtZero();
-
-__inline b3Mat3x3 mtIdentity();
-
-__inline b3Mat3x3 mtTranspose(b3Mat3x3 m);
-
-__inline b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);
-
-__inline b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);
-
-__inline b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);
-
-__inline b3Mat3x3 mtZero()
-{
-	b3Mat3x3 m;
-	m.m_row[0] = (b3Float4)(0.f);
-	m.m_row[1] = (b3Float4)(0.f);
-	m.m_row[2] = (b3Float4)(0.f);
-	return m;
-}
-
-__inline b3Mat3x3 mtIdentity()
-{
-	b3Mat3x3 m;
-	m.m_row[0] = (b3Float4)(1, 0, 0, 0);
-	m.m_row[1] = (b3Float4)(0, 1, 0, 0);
-	m.m_row[2] = (b3Float4)(0, 0, 1, 0);
-	return m;
-}
-
-__inline b3Mat3x3 mtTranspose(b3Mat3x3 m)
-{
-	b3Mat3x3 out;
-	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);
-	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);
-	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);
-	return out;
-}
-
-__inline b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)
-{
-	b3Mat3x3 transB;
-	transB = mtTranspose(b);
-	b3Mat3x3 ans;
-	//	why this doesn't run when 0ing in the for{}
-	a.m_row[0].w = 0.f;
-	a.m_row[1].w = 0.f;
-	a.m_row[2].w = 0.f;
-	for (int i = 0; i < 3; i++)
-	{
-		//	a.m_row[i].w = 0.f;
-		ans.m_row[i].x = b3Dot3F4(a.m_row[i], transB.m_row[0]);
-		ans.m_row[i].y = b3Dot3F4(a.m_row[i], transB.m_row[1]);
-		ans.m_row[i].z = b3Dot3F4(a.m_row[i], transB.m_row[2]);
-		ans.m_row[i].w = 0.f;
-	}
-	return ans;
-}
-
-__inline b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)
-{
-	b3Float4 ans;
-	ans.x = b3Dot3F4(a.m_row[0], b);
-	ans.y = b3Dot3F4(a.m_row[1], b);
-	ans.z = b3Dot3F4(a.m_row[2], b);
-	ans.w = 0.f;
-	return ans;
-}
-
-__inline b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)
-{
-	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);
-	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);
-	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);
-
-	b3Float4 ans;
-	ans.x = b3Dot3F4(a, colx);
-	ans.y = b3Dot3F4(a, coly);
-	ans.z = b3Dot3F4(a, colz);
-	return ans;
-}
-
-#endif
-
-#endif  //B3_MAT3x3_H
diff --git a/thirdparty/bullet/Bullet3Common/shared/b3PlatformDefinitions.h b/thirdparty/bullet/Bullet3Common/shared/b3PlatformDefinitions.h
deleted file mode 100644
index b72bee9310..0000000000
--- a/thirdparty/bullet/Bullet3Common/shared/b3PlatformDefinitions.h
+++ /dev/null
@@ -1,41 +0,0 @@
-#ifndef B3_PLATFORM_DEFINITIONS_H
-#define B3_PLATFORM_DEFINITIONS_H
-
-struct MyTest
-{
-	int bla;
-};
-
-#ifdef __cplusplus
-//#define b3ConstArray(a) const b3AlignedObjectArray<a>&
-#define b3ConstArray(a) const a *
-#define b3AtomicInc(a) ((*a)++)
-
-inline int b3AtomicAdd(volatile int *p, int val)
-{
-	int oldValue = *p;
-	int newValue = oldValue + val;
-	*p = newValue;
-	return oldValue;
-}
-
-#define __global
-
-#define B3_STATIC static
-#else
-//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX
-#define B3_LARGE_FLOAT 1e18f
-#define B3_INFINITY 1e18f
-#define b3Assert(a)
-#define b3ConstArray(a) __global const a *
-#define b3AtomicInc atomic_inc
-#define b3AtomicAdd atomic_add
-#define b3Fabs fabs
-#define b3Sqrt native_sqrt
-#define b3Sin native_sin
-#define b3Cos native_cos
-
-#define B3_STATIC
-#endif
-
-#endif
diff --git a/thirdparty/bullet/Bullet3Common/shared/b3Quat.h b/thirdparty/bullet/Bullet3Common/shared/b3Quat.h
deleted file mode 100644
index 940610c77b..0000000000
--- a/thirdparty/bullet/Bullet3Common/shared/b3Quat.h
+++ /dev/null
@@ -1,100 +0,0 @@
-#ifndef B3_QUAT_H
-#define B3_QUAT_H
-
-#include "Bullet3Common/shared/b3PlatformDefinitions.h"
-#include "Bullet3Common/shared/b3Float4.h"
-
-#ifdef __cplusplus
-#include "Bullet3Common/b3Quaternion.h"
-#include "Bullet3Common/b3Transform.h"
-
-#define b3Quat b3Quaternion
-#define b3QuatConstArg const b3Quaternion&
-inline b3Quat b3QuatInverse(b3QuatConstArg orn)
-{
-	return orn.inverse();
-}
-
-inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation)
-{
-	b3Transform tr;
-	tr.setOrigin(translation);
-	tr.setRotation(orientation);
-	return tr(point);
-}
-
-#else
-typedef float4 b3Quat;
-#define b3QuatConstArg const b3Quat
-
-inline float4 b3FastNormalize4(float4 v)
-{
-	v = (float4)(v.xyz, 0.f);
-	return fast_normalize(v);
-}
-
-inline b3Quat b3QuatMul(b3Quat a, b3Quat b);
-inline b3Quat b3QuatNormalized(b3QuatConstArg in);
-inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);
-inline b3Quat b3QuatInvert(b3QuatConstArg q);
-inline b3Quat b3QuatInverse(b3QuatConstArg q);
-
-inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)
-{
-	b3Quat ans;
-	ans = b3Cross3(a, b);
-	ans += a.w * b + b.w * a;
-	//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
-	ans.w = a.w * b.w - b3Dot3F4(a, b);
-	return ans;
-}
-
-inline b3Quat b3QuatNormalized(b3QuatConstArg in)
-{
-	b3Quat q;
-	q = in;
-	//return b3FastNormalize4(in);
-	float len = native_sqrt(dot(q, q));
-	if (len > 0.f)
-	{
-		q *= 1.f / len;
-	}
-	else
-	{
-		q.x = q.y = q.z = 0.f;
-		q.w = 1.f;
-	}
-	return q;
-}
-inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)
-{
-	b3Quat qInv = b3QuatInvert(q);
-	float4 vcpy = vec;
-	vcpy.w = 0.f;
-	float4 out = b3QuatMul(b3QuatMul(q, vcpy), qInv);
-	return out;
-}
-
-inline b3Quat b3QuatInverse(b3QuatConstArg q)
-{
-	return (b3Quat)(-q.xyz, q.w);
-}
-
-inline b3Quat b3QuatInvert(b3QuatConstArg q)
-{
-	return (b3Quat)(-q.xyz, q.w);
-}
-
-inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)
-{
-	return b3QuatRotate(b3QuatInvert(q), vec);
-}
-
-inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation)
-{
-	return b3QuatRotate(orientation, point) + (translation);
-}
-
-#endif
-
-#endif  //B3_QUAT_H
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h
deleted file mode 100644
index 049c9116fd..0000000000
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h
+++ /dev/null
@@ -1,149 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_CONTACT_SOLVER_INFO
-#define B3_CONTACT_SOLVER_INFO
-
-#include "Bullet3Common/b3Scalar.h"
-
-enum b3SolverMode
-{
-	B3_SOLVER_RANDMIZE_ORDER = 1,
-	B3_SOLVER_FRICTION_SEPARATE = 2,
-	B3_SOLVER_USE_WARMSTARTING = 4,
-	B3_SOLVER_USE_2_FRICTION_DIRECTIONS = 16,
-	B3_SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32,
-	B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64,
-	B3_SOLVER_CACHE_FRIENDLY = 128,
-	B3_SOLVER_SIMD = 256,
-	B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512,
-	B3_SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024
-};
-
-struct b3ContactSolverInfoData
-{
-	b3Scalar m_tau;
-	b3Scalar m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
-	b3Scalar m_friction;
-	b3Scalar m_timeStep;
-	b3Scalar m_restitution;
-	int m_numIterations;
-	b3Scalar m_maxErrorReduction;
-	b3Scalar m_sor;
-	b3Scalar m_erp;        //used as Baumgarte factor
-	b3Scalar m_erp2;       //used in Split Impulse
-	b3Scalar m_globalCfm;  //constraint force mixing
-	int m_splitImpulse;
-	b3Scalar m_splitImpulsePenetrationThreshold;
-	b3Scalar m_splitImpulseTurnErp;
-	b3Scalar m_linearSlop;
-	b3Scalar m_warmstartingFactor;
-
-	int m_solverMode;
-	int m_restingContactRestitutionThreshold;
-	int m_minimumSolverBatchSize;
-	b3Scalar m_maxGyroscopicForce;
-	b3Scalar m_singleAxisRollingFrictionThreshold;
-};
-
-struct b3ContactSolverInfo : public b3ContactSolverInfoData
-{
-	inline b3ContactSolverInfo()
-	{
-		m_tau = b3Scalar(0.6);
-		m_damping = b3Scalar(1.0);
-		m_friction = b3Scalar(0.3);
-		m_timeStep = b3Scalar(1.f / 60.f);
-		m_restitution = b3Scalar(0.);
-		m_maxErrorReduction = b3Scalar(20.);
-		m_numIterations = 10;
-		m_erp = b3Scalar(0.2);
-		m_erp2 = b3Scalar(0.8);
-		m_globalCfm = b3Scalar(0.);
-		m_sor = b3Scalar(1.);
-		m_splitImpulse = true;
-		m_splitImpulsePenetrationThreshold = -.04f;
-		m_splitImpulseTurnErp = 0.1f;
-		m_linearSlop = b3Scalar(0.0);
-		m_warmstartingFactor = b3Scalar(0.85);
-		//m_solverMode =  B3_SOLVER_USE_WARMSTARTING |  B3_SOLVER_SIMD | B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|B3_SOLVER_USE_2_FRICTION_DIRECTIONS|B3_SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | B3_SOLVER_RANDMIZE_ORDER;
-		m_solverMode = B3_SOLVER_USE_WARMSTARTING | B3_SOLVER_SIMD;  // | B3_SOLVER_RANDMIZE_ORDER;
-		m_restingContactRestitutionThreshold = 2;                    //unused as of 2.81
-		m_minimumSolverBatchSize = 128;                              //try to combine islands until the amount of constraints reaches this limit
-		m_maxGyroscopicForce = 100.f;                                ///only used to clamp forces for bodies that have their B3_ENABLE_GYROPSCOPIC_FORCE flag set (using b3RigidBody::setFlag)
-		m_singleAxisRollingFrictionThreshold = 1e30f;                ///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
-	}
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct b3ContactSolverInfoDoubleData
-{
-	double m_tau;
-	double m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
-	double m_friction;
-	double m_timeStep;
-	double m_restitution;
-	double m_maxErrorReduction;
-	double m_sor;
-	double m_erp;        //used as Baumgarte factor
-	double m_erp2;       //used in Split Impulse
-	double m_globalCfm;  //constraint force mixing
-	double m_splitImpulsePenetrationThreshold;
-	double m_splitImpulseTurnErp;
-	double m_linearSlop;
-	double m_warmstartingFactor;
-	double m_maxGyroscopicForce;
-	double m_singleAxisRollingFrictionThreshold;
-
-	int m_numIterations;
-	int m_solverMode;
-	int m_restingContactRestitutionThreshold;
-	int m_minimumSolverBatchSize;
-	int m_splitImpulse;
-	char m_padding[4];
-};
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct b3ContactSolverInfoFloatData
-{
-	float m_tau;
-	float m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
-	float m_friction;
-	float m_timeStep;
-
-	float m_restitution;
-	float m_maxErrorReduction;
-	float m_sor;
-	float m_erp;  //used as Baumgarte factor
-
-	float m_erp2;       //used in Split Impulse
-	float m_globalCfm;  //constraint force mixing
-	float m_splitImpulsePenetrationThreshold;
-	float m_splitImpulseTurnErp;
-
-	float m_linearSlop;
-	float m_warmstartingFactor;
-	float m_maxGyroscopicForce;
-	float m_singleAxisRollingFrictionThreshold;
-
-	int m_numIterations;
-	int m_solverMode;
-	int m_restingContactRestitutionThreshold;
-	int m_minimumSolverBatchSize;
-
-	int m_splitImpulse;
-	char m_padding[4];
-};
-
-#endif  //B3_CONTACT_SOLVER_INFO
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3FixedConstraint.cpp b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3FixedConstraint.cpp
deleted file mode 100644
index ace4b18388..0000000000
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3FixedConstraint.cpp
+++ /dev/null
@@ -1,103 +0,0 @@
-
-#include "b3FixedConstraint.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3Common/b3TransformUtil.h"
-#include <new>
-
-b3FixedConstraint::b3FixedConstraint(int rbA, int rbB, const b3Transform& frameInA, const b3Transform& frameInB)
-	: b3TypedConstraint(B3_FIXED_CONSTRAINT_TYPE, rbA, rbB)
-{
-	m_pivotInA = frameInA.getOrigin();
-	m_pivotInB = frameInB.getOrigin();
-	m_relTargetAB = frameInA.getRotation() * frameInB.getRotation().inverse();
-}
-
-b3FixedConstraint::~b3FixedConstraint()
-{
-}
-
-void b3FixedConstraint::getInfo1(b3ConstraintInfo1* info, const b3RigidBodyData* bodies)
-{
-	info->m_numConstraintRows = 6;
-	info->nub = 6;
-}
-
-void b3FixedConstraint::getInfo2(b3ConstraintInfo2* info, const b3RigidBodyData* bodies)
-{
-	//fix the 3 linear degrees of freedom
-
-	const b3Vector3& worldPosA = bodies[m_rbA].m_pos;
-	const b3Quaternion& worldOrnA = bodies[m_rbA].m_quat;
-	const b3Vector3& worldPosB = bodies[m_rbB].m_pos;
-	const b3Quaternion& worldOrnB = bodies[m_rbB].m_quat;
-
-	info->m_J1linearAxis[0] = 1;
-	info->m_J1linearAxis[info->rowskip + 1] = 1;
-	info->m_J1linearAxis[2 * info->rowskip + 2] = 1;
-
-	b3Vector3 a1 = b3QuatRotate(worldOrnA, m_pivotInA);
-	{
-		b3Vector3* angular0 = (b3Vector3*)(info->m_J1angularAxis);
-		b3Vector3* angular1 = (b3Vector3*)(info->m_J1angularAxis + info->rowskip);
-		b3Vector3* angular2 = (b3Vector3*)(info->m_J1angularAxis + 2 * info->rowskip);
-		b3Vector3 a1neg = -a1;
-		a1neg.getSkewSymmetricMatrix(angular0, angular1, angular2);
-	}
-
-	if (info->m_J2linearAxis)
-	{
-		info->m_J2linearAxis[0] = -1;
-		info->m_J2linearAxis[info->rowskip + 1] = -1;
-		info->m_J2linearAxis[2 * info->rowskip + 2] = -1;
-	}
-
-	b3Vector3 a2 = b3QuatRotate(worldOrnB, m_pivotInB);
-
-	{
-		//	b3Vector3 a2n = -a2;
-		b3Vector3* angular0 = (b3Vector3*)(info->m_J2angularAxis);
-		b3Vector3* angular1 = (b3Vector3*)(info->m_J2angularAxis + info->rowskip);
-		b3Vector3* angular2 = (b3Vector3*)(info->m_J2angularAxis + 2 * info->rowskip);
-		a2.getSkewSymmetricMatrix(angular0, angular1, angular2);
-	}
-
-	// set right hand side for the linear dofs
-	b3Scalar k = info->fps * info->erp;
-	b3Vector3 linearError = k * (a2 + worldPosB - a1 - worldPosA);
-	int j;
-	for (j = 0; j < 3; j++)
-	{
-		info->m_constraintError[j * info->rowskip] = linearError[j];
-		//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
-	}
-
-	//fix the 3 angular degrees of freedom
-
-	int start_row = 3;
-	int s = info->rowskip;
-	int start_index = start_row * s;
-
-	// 3 rows to make body rotations equal
-	info->m_J1angularAxis[start_index] = 1;
-	info->m_J1angularAxis[start_index + s + 1] = 1;
-	info->m_J1angularAxis[start_index + s * 2 + 2] = 1;
-	if (info->m_J2angularAxis)
-	{
-		info->m_J2angularAxis[start_index] = -1;
-		info->m_J2angularAxis[start_index + s + 1] = -1;
-		info->m_J2angularAxis[start_index + s * 2 + 2] = -1;
-	}
-
-	// set right hand side for the angular dofs
-
-	b3Vector3 diff;
-	b3Scalar angle;
-	b3Quaternion qrelCur = worldOrnA * worldOrnB.inverse();
-
-	b3TransformUtil::calculateDiffAxisAngleQuaternion(m_relTargetAB, qrelCur, diff, angle);
-	diff *= -angle;
-	for (j = 0; j < 3; j++)
-	{
-		info->m_constraintError[(3 + j) * info->rowskip] = k * diff[j];
-	}
-}
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3FixedConstraint.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3FixedConstraint.h
deleted file mode 100644
index 64809666e4..0000000000
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3FixedConstraint.h
+++ /dev/null
@@ -1,34 +0,0 @@
-
-#ifndef B3_FIXED_CONSTRAINT_H
-#define B3_FIXED_CONSTRAINT_H
-
-#include "b3TypedConstraint.h"
-
-B3_ATTRIBUTE_ALIGNED16(class)
-b3FixedConstraint : public b3TypedConstraint
-{
-	b3Vector3 m_pivotInA;
-	b3Vector3 m_pivotInB;
-	b3Quaternion m_relTargetAB;
-
-public:
-	b3FixedConstraint(int rbA, int rbB, const b3Transform& frameInA, const b3Transform& frameInB);
-
-	virtual ~b3FixedConstraint();
-
-	virtual void getInfo1(b3ConstraintInfo1 * info, const b3RigidBodyData* bodies);
-
-	virtual void getInfo2(b3ConstraintInfo2 * info, const b3RigidBodyData* bodies);
-
-	virtual void setParam(int num, b3Scalar value, int axis = -1)
-	{
-		b3Assert(0);
-	}
-	virtual b3Scalar getParam(int num, int axis = -1) const
-	{
-		b3Assert(0);
-		return 0.f;
-	}
-};
-
-#endif  //B3_FIXED_CONSTRAINT_H
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp
deleted file mode 100644
index 0d5bb2014b..0000000000
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp
+++ /dev/null
@@ -1,737 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-/*
-2007-09-09
-Refactored by Francisco Le?n
-email: projectileman@yahoo.com
-http://gimpact.sf.net
-*/
-
-#include "b3Generic6DofConstraint.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-
-#include "Bullet3Common/b3TransformUtil.h"
-#include "Bullet3Common/b3TransformUtil.h"
-#include <new>
-
-#define D6_USE_OBSOLETE_METHOD false
-#define D6_USE_FRAME_OFFSET true
-
-b3Generic6DofConstraint::b3Generic6DofConstraint(int rbA, int rbB, const b3Transform& frameInA, const b3Transform& frameInB, bool useLinearReferenceFrameA, const b3RigidBodyData* bodies)
-	: b3TypedConstraint(B3_D6_CONSTRAINT_TYPE, rbA, rbB), m_frameInA(frameInA), m_frameInB(frameInB), m_useLinearReferenceFrameA(useLinearReferenceFrameA), m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET), m_flags(0)
-{
-	calculateTransforms(bodies);
-}
-
-#define GENERIC_D6_DISABLE_WARMSTARTING 1
-
-b3Scalar btGetMatrixElem(const b3Matrix3x3& mat, int index);
-b3Scalar btGetMatrixElem(const b3Matrix3x3& mat, int index)
-{
-	int i = index % 3;
-	int j = index / 3;
-	return mat[i][j];
-}
-
-///MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html
-bool matrixToEulerXYZ(const b3Matrix3x3& mat, b3Vector3& xyz);
-bool matrixToEulerXYZ(const b3Matrix3x3& mat, b3Vector3& xyz)
-{
-	//	// rot =  cy*cz          -cy*sz           sy
-	//	//        cz*sx*sy+cx*sz  cx*cz-sx*sy*sz -cy*sx
-	//	//       -cx*cz*sy+sx*sz  cz*sx+cx*sy*sz  cx*cy
-	//
-
-	b3Scalar fi = btGetMatrixElem(mat, 2);
-	if (fi < b3Scalar(1.0f))
-	{
-		if (fi > b3Scalar(-1.0f))
-		{
-			xyz[0] = b3Atan2(-btGetMatrixElem(mat, 5), btGetMatrixElem(mat, 8));
-			xyz[1] = b3Asin(btGetMatrixElem(mat, 2));
-			xyz[2] = b3Atan2(-btGetMatrixElem(mat, 1), btGetMatrixElem(mat, 0));
-			return true;
-		}
-		else
-		{
-			// WARNING.  Not unique.  XA - ZA = -atan2(r10,r11)
-			xyz[0] = -b3Atan2(btGetMatrixElem(mat, 3), btGetMatrixElem(mat, 4));
-			xyz[1] = -B3_HALF_PI;
-			xyz[2] = b3Scalar(0.0);
-			return false;
-		}
-	}
-	else
-	{
-		// WARNING.  Not unique.  XAngle + ZAngle = atan2(r10,r11)
-		xyz[0] = b3Atan2(btGetMatrixElem(mat, 3), btGetMatrixElem(mat, 4));
-		xyz[1] = B3_HALF_PI;
-		xyz[2] = 0.0;
-	}
-	return false;
-}
-
-//////////////////////////// b3RotationalLimitMotor ////////////////////////////////////
-
-int b3RotationalLimitMotor::testLimitValue(b3Scalar test_value)
-{
-	if (m_loLimit > m_hiLimit)
-	{
-		m_currentLimit = 0;  //Free from violation
-		return 0;
-	}
-	if (test_value < m_loLimit)
-	{
-		m_currentLimit = 1;  //low limit violation
-		m_currentLimitError = test_value - m_loLimit;
-		if (m_currentLimitError > B3_PI)
-			m_currentLimitError -= B3_2_PI;
-		else if (m_currentLimitError < -B3_PI)
-			m_currentLimitError += B3_2_PI;
-		return 1;
-	}
-	else if (test_value > m_hiLimit)
-	{
-		m_currentLimit = 2;  //High limit violation
-		m_currentLimitError = test_value - m_hiLimit;
-		if (m_currentLimitError > B3_PI)
-			m_currentLimitError -= B3_2_PI;
-		else if (m_currentLimitError < -B3_PI)
-			m_currentLimitError += B3_2_PI;
-		return 2;
-	};
-
-	m_currentLimit = 0;  //Free from violation
-	return 0;
-}
-
-//////////////////////////// End b3RotationalLimitMotor ////////////////////////////////////
-
-//////////////////////////// b3TranslationalLimitMotor ////////////////////////////////////
-
-int b3TranslationalLimitMotor::testLimitValue(int limitIndex, b3Scalar test_value)
-{
-	b3Scalar loLimit = m_lowerLimit[limitIndex];
-	b3Scalar hiLimit = m_upperLimit[limitIndex];
-	if (loLimit > hiLimit)
-	{
-		m_currentLimit[limitIndex] = 0;  //Free from violation
-		m_currentLimitError[limitIndex] = b3Scalar(0.f);
-		return 0;
-	}
-
-	if (test_value < loLimit)
-	{
-		m_currentLimit[limitIndex] = 2;  //low limit violation
-		m_currentLimitError[limitIndex] = test_value - loLimit;
-		return 2;
-	}
-	else if (test_value > hiLimit)
-	{
-		m_currentLimit[limitIndex] = 1;  //High limit violation
-		m_currentLimitError[limitIndex] = test_value - hiLimit;
-		return 1;
-	};
-
-	m_currentLimit[limitIndex] = 0;  //Free from violation
-	m_currentLimitError[limitIndex] = b3Scalar(0.f);
-	return 0;
-}
-
-//////////////////////////// b3TranslationalLimitMotor ////////////////////////////////////
-
-void b3Generic6DofConstraint::calculateAngleInfo()
-{
-	b3Matrix3x3 relative_frame = m_calculatedTransformA.getBasis().inverse() * m_calculatedTransformB.getBasis();
-	matrixToEulerXYZ(relative_frame, m_calculatedAxisAngleDiff);
-	// in euler angle mode we do not actually constrain the angular velocity
-	// along the axes axis[0] and axis[2] (although we do use axis[1]) :
-	//
-	//    to get			constrain w2-w1 along		...not
-	//    ------			---------------------		------
-	//    d(angle[0])/dt = 0	ax[1] x ax[2]			ax[0]
-	//    d(angle[1])/dt = 0	ax[1]
-	//    d(angle[2])/dt = 0	ax[0] x ax[1]			ax[2]
-	//
-	// constraining w2-w1 along an axis 'a' means that a'*(w2-w1)=0.
-	// to prove the result for angle[0], write the expression for angle[0] from
-	// GetInfo1 then take the derivative. to prove this for angle[2] it is
-	// easier to take the euler rate expression for d(angle[2])/dt with respect
-	// to the components of w and set that to 0.
-	b3Vector3 axis0 = m_calculatedTransformB.getBasis().getColumn(0);
-	b3Vector3 axis2 = m_calculatedTransformA.getBasis().getColumn(2);
-
-	m_calculatedAxis[1] = axis2.cross(axis0);
-	m_calculatedAxis[0] = m_calculatedAxis[1].cross(axis2);
-	m_calculatedAxis[2] = axis0.cross(m_calculatedAxis[1]);
-
-	m_calculatedAxis[0].normalize();
-	m_calculatedAxis[1].normalize();
-	m_calculatedAxis[2].normalize();
-}
-
-static b3Transform getCenterOfMassTransform(const b3RigidBodyData& body)
-{
-	b3Transform tr(body.m_quat, body.m_pos);
-	return tr;
-}
-
-void b3Generic6DofConstraint::calculateTransforms(const b3RigidBodyData* bodies)
-{
-	b3Transform transA;
-	b3Transform transB;
-	transA = getCenterOfMassTransform(bodies[m_rbA]);
-	transB = getCenterOfMassTransform(bodies[m_rbB]);
-	calculateTransforms(transA, transB, bodies);
-}
-
-void b3Generic6DofConstraint::calculateTransforms(const b3Transform& transA, const b3Transform& transB, const b3RigidBodyData* bodies)
-{
-	m_calculatedTransformA = transA * m_frameInA;
-	m_calculatedTransformB = transB * m_frameInB;
-	calculateLinearInfo();
-	calculateAngleInfo();
-	if (m_useOffsetForConstraintFrame)
-	{  //  get weight factors depending on masses
-		b3Scalar miA = bodies[m_rbA].m_invMass;
-		b3Scalar miB = bodies[m_rbB].m_invMass;
-		m_hasStaticBody = (miA < B3_EPSILON) || (miB < B3_EPSILON);
-		b3Scalar miS = miA + miB;
-		if (miS > b3Scalar(0.f))
-		{
-			m_factA = miB / miS;
-		}
-		else
-		{
-			m_factA = b3Scalar(0.5f);
-		}
-		m_factB = b3Scalar(1.0f) - m_factA;
-	}
-}
-
-bool b3Generic6DofConstraint::testAngularLimitMotor(int axis_index)
-{
-	b3Scalar angle = m_calculatedAxisAngleDiff[axis_index];
-	angle = b3AdjustAngleToLimits(angle, m_angularLimits[axis_index].m_loLimit, m_angularLimits[axis_index].m_hiLimit);
-	m_angularLimits[axis_index].m_currentPosition = angle;
-	//test limits
-	m_angularLimits[axis_index].testLimitValue(angle);
-	return m_angularLimits[axis_index].needApplyTorques();
-}
-
-void b3Generic6DofConstraint::getInfo1(b3ConstraintInfo1* info, const b3RigidBodyData* bodies)
-{
-	//prepare constraint
-	calculateTransforms(getCenterOfMassTransform(bodies[m_rbA]), getCenterOfMassTransform(bodies[m_rbB]), bodies);
-	info->m_numConstraintRows = 0;
-	info->nub = 6;
-	int i;
-	//test linear limits
-	for (i = 0; i < 3; i++)
-	{
-		if (m_linearLimits.needApplyForce(i))
-		{
-			info->m_numConstraintRows++;
-			info->nub--;
-		}
-	}
-	//test angular limits
-	for (i = 0; i < 3; i++)
-	{
-		if (testAngularLimitMotor(i))
-		{
-			info->m_numConstraintRows++;
-			info->nub--;
-		}
-	}
-	//	printf("info->m_numConstraintRows=%d\n",info->m_numConstraintRows);
-}
-
-void b3Generic6DofConstraint::getInfo1NonVirtual(b3ConstraintInfo1* info, const b3RigidBodyData* bodies)
-{
-	//pre-allocate all 6
-	info->m_numConstraintRows = 6;
-	info->nub = 0;
-}
-
-void b3Generic6DofConstraint::getInfo2(b3ConstraintInfo2* info, const b3RigidBodyData* bodies)
-{
-	b3Transform transA = getCenterOfMassTransform(bodies[m_rbA]);
-	b3Transform transB = getCenterOfMassTransform(bodies[m_rbB]);
-	const b3Vector3& linVelA = bodies[m_rbA].m_linVel;
-	const b3Vector3& linVelB = bodies[m_rbB].m_linVel;
-	const b3Vector3& angVelA = bodies[m_rbA].m_angVel;
-	const b3Vector3& angVelB = bodies[m_rbB].m_angVel;
-
-	if (m_useOffsetForConstraintFrame)
-	{  // for stability better to solve angular limits first
-		int row = setAngularLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
-		setLinearLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
-	}
-	else
-	{  // leave old version for compatibility
-		int row = setLinearLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
-		setAngularLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
-	}
-}
-
-void b3Generic6DofConstraint::getInfo2NonVirtual(b3ConstraintInfo2* info, const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB, const b3RigidBodyData* bodies)
-{
-	//prepare constraint
-	calculateTransforms(transA, transB, bodies);
-
-	int i;
-	for (i = 0; i < 3; i++)
-	{
-		testAngularLimitMotor(i);
-	}
-
-	if (m_useOffsetForConstraintFrame)
-	{  // for stability better to solve angular limits first
-		int row = setAngularLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
-		setLinearLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
-	}
-	else
-	{  // leave old version for compatibility
-		int row = setLinearLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
-		setAngularLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
-	}
-}
-
-int b3Generic6DofConstraint::setLinearLimits(b3ConstraintInfo2* info, int row, const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB)
-{
-	//	int row = 0;
-	//solve linear limits
-	b3RotationalLimitMotor limot;
-	for (int i = 0; i < 3; i++)
-	{
-		if (m_linearLimits.needApplyForce(i))
-		{  // re-use rotational motor code
-			limot.m_bounce = b3Scalar(0.f);
-			limot.m_currentLimit = m_linearLimits.m_currentLimit[i];
-			limot.m_currentPosition = m_linearLimits.m_currentLinearDiff[i];
-			limot.m_currentLimitError = m_linearLimits.m_currentLimitError[i];
-			limot.m_damping = m_linearLimits.m_damping;
-			limot.m_enableMotor = m_linearLimits.m_enableMotor[i];
-			limot.m_hiLimit = m_linearLimits.m_upperLimit[i];
-			limot.m_limitSoftness = m_linearLimits.m_limitSoftness;
-			limot.m_loLimit = m_linearLimits.m_lowerLimit[i];
-			limot.m_maxLimitForce = b3Scalar(0.f);
-			limot.m_maxMotorForce = m_linearLimits.m_maxMotorForce[i];
-			limot.m_targetVelocity = m_linearLimits.m_targetVelocity[i];
-			b3Vector3 axis = m_calculatedTransformA.getBasis().getColumn(i);
-			int flags = m_flags >> (i * B3_6DOF_FLAGS_AXIS_SHIFT);
-			limot.m_normalCFM = (flags & B3_6DOF_FLAGS_CFM_NORM) ? m_linearLimits.m_normalCFM[i] : info->cfm[0];
-			limot.m_stopCFM = (flags & B3_6DOF_FLAGS_CFM_STOP) ? m_linearLimits.m_stopCFM[i] : info->cfm[0];
-			limot.m_stopERP = (flags & B3_6DOF_FLAGS_ERP_STOP) ? m_linearLimits.m_stopERP[i] : info->erp;
-			if (m_useOffsetForConstraintFrame)
-			{
-				int indx1 = (i + 1) % 3;
-				int indx2 = (i + 2) % 3;
-				int rotAllowed = 1;  // rotations around orthos to current axis
-				if (m_angularLimits[indx1].m_currentLimit && m_angularLimits[indx2].m_currentLimit)
-				{
-					rotAllowed = 0;
-				}
-				row += get_limit_motor_info2(&limot, transA, transB, linVelA, linVelB, angVelA, angVelB, info, row, axis, 0, rotAllowed);
-			}
-			else
-			{
-				row += get_limit_motor_info2(&limot, transA, transB, linVelA, linVelB, angVelA, angVelB, info, row, axis, 0);
-			}
-		}
-	}
-	return row;
-}
-
-int b3Generic6DofConstraint::setAngularLimits(b3ConstraintInfo2* info, int row_offset, const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB)
-{
-	b3Generic6DofConstraint* d6constraint = this;
-	int row = row_offset;
-	//solve angular limits
-	for (int i = 0; i < 3; i++)
-	{
-		if (d6constraint->getRotationalLimitMotor(i)->needApplyTorques())
-		{
-			b3Vector3 axis = d6constraint->getAxis(i);
-			int flags = m_flags >> ((i + 3) * B3_6DOF_FLAGS_AXIS_SHIFT);
-			if (!(flags & B3_6DOF_FLAGS_CFM_NORM))
-			{
-				m_angularLimits[i].m_normalCFM = info->cfm[0];
-			}
-			if (!(flags & B3_6DOF_FLAGS_CFM_STOP))
-			{
-				m_angularLimits[i].m_stopCFM = info->cfm[0];
-			}
-			if (!(flags & B3_6DOF_FLAGS_ERP_STOP))
-			{
-				m_angularLimits[i].m_stopERP = info->erp;
-			}
-			row += get_limit_motor_info2(d6constraint->getRotationalLimitMotor(i),
-										 transA, transB, linVelA, linVelB, angVelA, angVelB, info, row, axis, 1);
-		}
-	}
-
-	return row;
-}
-
-void b3Generic6DofConstraint::updateRHS(b3Scalar timeStep)
-{
-	(void)timeStep;
-}
-
-void b3Generic6DofConstraint::setFrames(const b3Transform& frameA, const b3Transform& frameB, const b3RigidBodyData* bodies)
-{
-	m_frameInA = frameA;
-	m_frameInB = frameB;
-
-	calculateTransforms(bodies);
-}
-
-b3Vector3 b3Generic6DofConstraint::getAxis(int axis_index) const
-{
-	return m_calculatedAxis[axis_index];
-}
-
-b3Scalar b3Generic6DofConstraint::getRelativePivotPosition(int axisIndex) const
-{
-	return m_calculatedLinearDiff[axisIndex];
-}
-
-b3Scalar b3Generic6DofConstraint::getAngle(int axisIndex) const
-{
-	return m_calculatedAxisAngleDiff[axisIndex];
-}
-
-void b3Generic6DofConstraint::calcAnchorPos(const b3RigidBodyData* bodies)
-{
-	b3Scalar imA = bodies[m_rbA].m_invMass;
-	b3Scalar imB = bodies[m_rbB].m_invMass;
-	b3Scalar weight;
-	if (imB == b3Scalar(0.0))
-	{
-		weight = b3Scalar(1.0);
-	}
-	else
-	{
-		weight = imA / (imA + imB);
-	}
-	const b3Vector3& pA = m_calculatedTransformA.getOrigin();
-	const b3Vector3& pB = m_calculatedTransformB.getOrigin();
-	m_AnchorPos = pA * weight + pB * (b3Scalar(1.0) - weight);
-	return;
-}
-
-void b3Generic6DofConstraint::calculateLinearInfo()
-{
-	m_calculatedLinearDiff = m_calculatedTransformB.getOrigin() - m_calculatedTransformA.getOrigin();
-	m_calculatedLinearDiff = m_calculatedTransformA.getBasis().inverse() * m_calculatedLinearDiff;
-	for (int i = 0; i < 3; i++)
-	{
-		m_linearLimits.m_currentLinearDiff[i] = m_calculatedLinearDiff[i];
-		m_linearLimits.testLimitValue(i, m_calculatedLinearDiff[i]);
-	}
-}
-
-int b3Generic6DofConstraint::get_limit_motor_info2(
-	b3RotationalLimitMotor* limot,
-	const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB,
-	b3ConstraintInfo2* info, int row, b3Vector3& ax1, int rotational, int rotAllowed)
-{
-	int srow = row * info->rowskip;
-	bool powered = limot->m_enableMotor;
-	int limit = limot->m_currentLimit;
-	if (powered || limit)
-	{  // if the joint is powered, or has joint limits, add in the extra row
-		b3Scalar* J1 = rotational ? info->m_J1angularAxis : info->m_J1linearAxis;
-		b3Scalar* J2 = rotational ? info->m_J2angularAxis : info->m_J2linearAxis;
-		if (J1)
-		{
-			J1[srow + 0] = ax1[0];
-			J1[srow + 1] = ax1[1];
-			J1[srow + 2] = ax1[2];
-		}
-		if (J2)
-		{
-			J2[srow + 0] = -ax1[0];
-			J2[srow + 1] = -ax1[1];
-			J2[srow + 2] = -ax1[2];
-		}
-		if ((!rotational))
-		{
-			if (m_useOffsetForConstraintFrame)
-			{
-				b3Vector3 tmpA, tmpB, relA, relB;
-				// get vector from bodyB to frameB in WCS
-				relB = m_calculatedTransformB.getOrigin() - transB.getOrigin();
-				// get its projection to constraint axis
-				b3Vector3 projB = ax1 * relB.dot(ax1);
-				// get vector directed from bodyB to constraint axis (and orthogonal to it)
-				b3Vector3 orthoB = relB - projB;
-				// same for bodyA
-				relA = m_calculatedTransformA.getOrigin() - transA.getOrigin();
-				b3Vector3 projA = ax1 * relA.dot(ax1);
-				b3Vector3 orthoA = relA - projA;
-				// get desired offset between frames A and B along constraint axis
-				b3Scalar desiredOffs = limot->m_currentPosition - limot->m_currentLimitError;
-				// desired vector from projection of center of bodyA to projection of center of bodyB to constraint axis
-				b3Vector3 totalDist = projA + ax1 * desiredOffs - projB;
-				// get offset vectors relA and relB
-				relA = orthoA + totalDist * m_factA;
-				relB = orthoB - totalDist * m_factB;
-				tmpA = relA.cross(ax1);
-				tmpB = relB.cross(ax1);
-				if (m_hasStaticBody && (!rotAllowed))
-				{
-					tmpA *= m_factA;
-					tmpB *= m_factB;
-				}
-				int i;
-				for (i = 0; i < 3; i++) info->m_J1angularAxis[srow + i] = tmpA[i];
-				for (i = 0; i < 3; i++) info->m_J2angularAxis[srow + i] = -tmpB[i];
-			}
-			else
-			{
-				b3Vector3 ltd;  // Linear Torque Decoupling vector
-				b3Vector3 c = m_calculatedTransformB.getOrigin() - transA.getOrigin();
-				ltd = c.cross(ax1);
-				info->m_J1angularAxis[srow + 0] = ltd[0];
-				info->m_J1angularAxis[srow + 1] = ltd[1];
-				info->m_J1angularAxis[srow + 2] = ltd[2];
-
-				c = m_calculatedTransformB.getOrigin() - transB.getOrigin();
-				ltd = -c.cross(ax1);
-				info->m_J2angularAxis[srow + 0] = ltd[0];
-				info->m_J2angularAxis[srow + 1] = ltd[1];
-				info->m_J2angularAxis[srow + 2] = ltd[2];
-			}
-		}
-		// if we're limited low and high simultaneously, the joint motor is
-		// ineffective
-		if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = false;
-		info->m_constraintError[srow] = b3Scalar(0.f);
-		if (powered)
-		{
-			info->cfm[srow] = limot->m_normalCFM;
-			if (!limit)
-			{
-				b3Scalar tag_vel = rotational ? limot->m_targetVelocity : -limot->m_targetVelocity;
-
-				b3Scalar mot_fact = getMotorFactor(limot->m_currentPosition,
-												   limot->m_loLimit,
-												   limot->m_hiLimit,
-												   tag_vel,
-												   info->fps * limot->m_stopERP);
-				info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity;
-				info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps;
-				info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps;
-			}
-		}
-		if (limit)
-		{
-			b3Scalar k = info->fps * limot->m_stopERP;
-			if (!rotational)
-			{
-				info->m_constraintError[srow] += k * limot->m_currentLimitError;
-			}
-			else
-			{
-				info->m_constraintError[srow] += -k * limot->m_currentLimitError;
-			}
-			info->cfm[srow] = limot->m_stopCFM;
-			if (limot->m_loLimit == limot->m_hiLimit)
-			{  // limited low and high simultaneously
-				info->m_lowerLimit[srow] = -B3_INFINITY;
-				info->m_upperLimit[srow] = B3_INFINITY;
-			}
-			else
-			{
-				if (limit == 1)
-				{
-					info->m_lowerLimit[srow] = 0;
-					info->m_upperLimit[srow] = B3_INFINITY;
-				}
-				else
-				{
-					info->m_lowerLimit[srow] = -B3_INFINITY;
-					info->m_upperLimit[srow] = 0;
-				}
-				// deal with bounce
-				if (limot->m_bounce > 0)
-				{
-					// calculate joint velocity
-					b3Scalar vel;
-					if (rotational)
-					{
-						vel = angVelA.dot(ax1);
-						//make sure that if no body -> angVelB == zero vec
-						//                        if (body1)
-						vel -= angVelB.dot(ax1);
-					}
-					else
-					{
-						vel = linVelA.dot(ax1);
-						//make sure that if no body -> angVelB == zero vec
-						//                        if (body1)
-						vel -= linVelB.dot(ax1);
-					}
-					// only apply bounce if the velocity is incoming, and if the
-					// resulting c[] exceeds what we already have.
-					if (limit == 1)
-					{
-						if (vel < 0)
-						{
-							b3Scalar newc = -limot->m_bounce * vel;
-							if (newc > info->m_constraintError[srow])
-								info->m_constraintError[srow] = newc;
-						}
-					}
-					else
-					{
-						if (vel > 0)
-						{
-							b3Scalar newc = -limot->m_bounce * vel;
-							if (newc < info->m_constraintError[srow])
-								info->m_constraintError[srow] = newc;
-						}
-					}
-				}
-			}
-		}
-		return 1;
-	}
-	else
-		return 0;
-}
-
-///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
-///If no axis is provided, it uses the default axis for this constraint.
-void b3Generic6DofConstraint::setParam(int num, b3Scalar value, int axis)
-{
-	if ((axis >= 0) && (axis < 3))
-	{
-		switch (num)
-		{
-			case B3_CONSTRAINT_STOP_ERP:
-				m_linearLimits.m_stopERP[axis] = value;
-				m_flags |= B3_6DOF_FLAGS_ERP_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
-				break;
-			case B3_CONSTRAINT_STOP_CFM:
-				m_linearLimits.m_stopCFM[axis] = value;
-				m_flags |= B3_6DOF_FLAGS_CFM_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
-				break;
-			case B3_CONSTRAINT_CFM:
-				m_linearLimits.m_normalCFM[axis] = value;
-				m_flags |= B3_6DOF_FLAGS_CFM_NORM << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
-				break;
-			default:
-				b3AssertConstrParams(0);
-		}
-	}
-	else if ((axis >= 3) && (axis < 6))
-	{
-		switch (num)
-		{
-			case B3_CONSTRAINT_STOP_ERP:
-				m_angularLimits[axis - 3].m_stopERP = value;
-				m_flags |= B3_6DOF_FLAGS_ERP_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
-				break;
-			case B3_CONSTRAINT_STOP_CFM:
-				m_angularLimits[axis - 3].m_stopCFM = value;
-				m_flags |= B3_6DOF_FLAGS_CFM_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
-				break;
-			case B3_CONSTRAINT_CFM:
-				m_angularLimits[axis - 3].m_normalCFM = value;
-				m_flags |= B3_6DOF_FLAGS_CFM_NORM << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
-				break;
-			default:
-				b3AssertConstrParams(0);
-		}
-	}
-	else
-	{
-		b3AssertConstrParams(0);
-	}
-}
-
-///return the local value of parameter
-b3Scalar b3Generic6DofConstraint::getParam(int num, int axis) const
-{
-	b3Scalar retVal = 0;
-	if ((axis >= 0) && (axis < 3))
-	{
-		switch (num)
-		{
-			case B3_CONSTRAINT_STOP_ERP:
-				b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_ERP_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
-				retVal = m_linearLimits.m_stopERP[axis];
-				break;
-			case B3_CONSTRAINT_STOP_CFM:
-				b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_CFM_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
-				retVal = m_linearLimits.m_stopCFM[axis];
-				break;
-			case B3_CONSTRAINT_CFM:
-				b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_CFM_NORM << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
-				retVal = m_linearLimits.m_normalCFM[axis];
-				break;
-			default:
-				b3AssertConstrParams(0);
-		}
-	}
-	else if ((axis >= 3) && (axis < 6))
-	{
-		switch (num)
-		{
-			case B3_CONSTRAINT_STOP_ERP:
-				b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_ERP_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
-				retVal = m_angularLimits[axis - 3].m_stopERP;
-				break;
-			case B3_CONSTRAINT_STOP_CFM:
-				b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_CFM_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
-				retVal = m_angularLimits[axis - 3].m_stopCFM;
-				break;
-			case B3_CONSTRAINT_CFM:
-				b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_CFM_NORM << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
-				retVal = m_angularLimits[axis - 3].m_normalCFM;
-				break;
-			default:
-				b3AssertConstrParams(0);
-		}
-	}
-	else
-	{
-		b3AssertConstrParams(0);
-	}
-	return retVal;
-}
-
-void b3Generic6DofConstraint::setAxis(const b3Vector3& axis1, const b3Vector3& axis2, const b3RigidBodyData* bodies)
-{
-	b3Vector3 zAxis = axis1.normalized();
-	b3Vector3 yAxis = axis2.normalized();
-	b3Vector3 xAxis = yAxis.cross(zAxis);  // we want right coordinate system
-
-	b3Transform frameInW;
-	frameInW.setIdentity();
-	frameInW.getBasis().setValue(xAxis[0], yAxis[0], zAxis[0],
-								 xAxis[1], yAxis[1], zAxis[1],
-								 xAxis[2], yAxis[2], zAxis[2]);
-
-	// now get constraint frame in local coordinate systems
-	m_frameInA = getCenterOfMassTransform(bodies[m_rbA]).inverse() * frameInW;
-	m_frameInB = getCenterOfMassTransform(bodies[m_rbB]).inverse() * frameInW;
-
-	calculateTransforms(bodies);
-}
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h
deleted file mode 100644
index 1597809db3..0000000000
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h
+++ /dev/null
@@ -1,517 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/// 2009 March: b3Generic6DofConstraint refactored by Roman Ponomarev
-/// Added support for generic constraint solver through getInfo1/getInfo2 methods
-
-/*
-2007-09-09
-b3Generic6DofConstraint Refactored by Francisco Le?n
-email: projectileman@yahoo.com
-http://gimpact.sf.net
-*/
-
-#ifndef B3_GENERIC_6DOF_CONSTRAINT_H
-#define B3_GENERIC_6DOF_CONSTRAINT_H
-
-#include "Bullet3Common/b3Vector3.h"
-#include "b3JacobianEntry.h"
-#include "b3TypedConstraint.h"
-
-struct b3RigidBodyData;
-
-//! Rotation Limit structure for generic joints
-class b3RotationalLimitMotor
-{
-public:
-	//! limit_parameters
-	//!@{
-	b3Scalar m_loLimit;         //!< joint limit
-	b3Scalar m_hiLimit;         //!< joint limit
-	b3Scalar m_targetVelocity;  //!< target motor velocity
-	b3Scalar m_maxMotorForce;   //!< max force on motor
-	b3Scalar m_maxLimitForce;   //!< max force on limit
-	b3Scalar m_damping;         //!< Damping.
-	b3Scalar m_limitSoftness;   //! Relaxation factor
-	b3Scalar m_normalCFM;       //!< Constraint force mixing factor
-	b3Scalar m_stopERP;         //!< Error tolerance factor when joint is at limit
-	b3Scalar m_stopCFM;         //!< Constraint force mixing factor when joint is at limit
-	b3Scalar m_bounce;          //!< restitution factor
-	bool m_enableMotor;
-
-	//!@}
-
-	//! temp_variables
-	//!@{
-	b3Scalar m_currentLimitError;  //!  How much is violated this limit
-	b3Scalar m_currentPosition;    //!  current value of angle
-	int m_currentLimit;            //!< 0=free, 1=at lo limit, 2=at hi limit
-	b3Scalar m_accumulatedImpulse;
-	//!@}
-
-	b3RotationalLimitMotor()
-	{
-		m_accumulatedImpulse = 0.f;
-		m_targetVelocity = 0;
-		m_maxMotorForce = 6.0f;
-		m_maxLimitForce = 300.0f;
-		m_loLimit = 1.0f;
-		m_hiLimit = -1.0f;
-		m_normalCFM = 0.f;
-		m_stopERP = 0.2f;
-		m_stopCFM = 0.f;
-		m_bounce = 0.0f;
-		m_damping = 1.0f;
-		m_limitSoftness = 0.5f;
-		m_currentLimit = 0;
-		m_currentLimitError = 0;
-		m_enableMotor = false;
-	}
-
-	b3RotationalLimitMotor(const b3RotationalLimitMotor& limot)
-	{
-		m_targetVelocity = limot.m_targetVelocity;
-		m_maxMotorForce = limot.m_maxMotorForce;
-		m_limitSoftness = limot.m_limitSoftness;
-		m_loLimit = limot.m_loLimit;
-		m_hiLimit = limot.m_hiLimit;
-		m_normalCFM = limot.m_normalCFM;
-		m_stopERP = limot.m_stopERP;
-		m_stopCFM = limot.m_stopCFM;
-		m_bounce = limot.m_bounce;
-		m_currentLimit = limot.m_currentLimit;
-		m_currentLimitError = limot.m_currentLimitError;
-		m_enableMotor = limot.m_enableMotor;
-	}
-
-	//! Is limited
-	bool isLimited()
-	{
-		if (m_loLimit > m_hiLimit) return false;
-		return true;
-	}
-
-	//! Need apply correction
-	bool needApplyTorques()
-	{
-		if (m_currentLimit == 0 && m_enableMotor == false) return false;
-		return true;
-	}
-
-	//! calculates  error
-	/*!
-	calculates m_currentLimit and m_currentLimitError.
-	*/
-	int testLimitValue(b3Scalar test_value);
-
-	//! apply the correction impulses for two bodies
-	b3Scalar solveAngularLimits(b3Scalar timeStep, b3Vector3& axis, b3Scalar jacDiagABInv, b3RigidBodyData* body0, b3RigidBodyData* body1);
-};
-
-class b3TranslationalLimitMotor
-{
-public:
-	b3Vector3 m_lowerLimit;  //!< the constraint lower limits
-	b3Vector3 m_upperLimit;  //!< the constraint upper limits
-	b3Vector3 m_accumulatedImpulse;
-	//! Linear_Limit_parameters
-	//!@{
-	b3Vector3 m_normalCFM;          //!< Constraint force mixing factor
-	b3Vector3 m_stopERP;            //!< Error tolerance factor when joint is at limit
-	b3Vector3 m_stopCFM;            //!< Constraint force mixing factor when joint is at limit
-	b3Vector3 m_targetVelocity;     //!< target motor velocity
-	b3Vector3 m_maxMotorForce;      //!< max force on motor
-	b3Vector3 m_currentLimitError;  //!  How much is violated this limit
-	b3Vector3 m_currentLinearDiff;  //!  Current relative offset of constraint frames
-	b3Scalar m_limitSoftness;       //!< Softness for linear limit
-	b3Scalar m_damping;             //!< Damping for linear limit
-	b3Scalar m_restitution;         //! Bounce parameter for linear limit
-	//!@}
-	bool m_enableMotor[3];
-	int m_currentLimit[3];  //!< 0=free, 1=at lower limit, 2=at upper limit
-
-	b3TranslationalLimitMotor()
-	{
-		m_lowerLimit.setValue(0.f, 0.f, 0.f);
-		m_upperLimit.setValue(0.f, 0.f, 0.f);
-		m_accumulatedImpulse.setValue(0.f, 0.f, 0.f);
-		m_normalCFM.setValue(0.f, 0.f, 0.f);
-		m_stopERP.setValue(0.2f, 0.2f, 0.2f);
-		m_stopCFM.setValue(0.f, 0.f, 0.f);
-
-		m_limitSoftness = 0.7f;
-		m_damping = b3Scalar(1.0f);
-		m_restitution = b3Scalar(0.5f);
-		for (int i = 0; i < 3; i++)
-		{
-			m_enableMotor[i] = false;
-			m_targetVelocity[i] = b3Scalar(0.f);
-			m_maxMotorForce[i] = b3Scalar(0.f);
-		}
-	}
-
-	b3TranslationalLimitMotor(const b3TranslationalLimitMotor& other)
-	{
-		m_lowerLimit = other.m_lowerLimit;
-		m_upperLimit = other.m_upperLimit;
-		m_accumulatedImpulse = other.m_accumulatedImpulse;
-
-		m_limitSoftness = other.m_limitSoftness;
-		m_damping = other.m_damping;
-		m_restitution = other.m_restitution;
-		m_normalCFM = other.m_normalCFM;
-		m_stopERP = other.m_stopERP;
-		m_stopCFM = other.m_stopCFM;
-
-		for (int i = 0; i < 3; i++)
-		{
-			m_enableMotor[i] = other.m_enableMotor[i];
-			m_targetVelocity[i] = other.m_targetVelocity[i];
-			m_maxMotorForce[i] = other.m_maxMotorForce[i];
-		}
-	}
-
-	//! Test limit
-	/*!
-    - free means upper < lower,
-    - locked means upper == lower
-    - limited means upper > lower
-    - limitIndex: first 3 are linear, next 3 are angular
-    */
-	inline bool isLimited(int limitIndex)
-	{
-		return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
-	}
-	inline bool needApplyForce(int limitIndex)
-	{
-		if (m_currentLimit[limitIndex] == 0 && m_enableMotor[limitIndex] == false) return false;
-		return true;
-	}
-	int testLimitValue(int limitIndex, b3Scalar test_value);
-
-	b3Scalar solveLinearAxis(
-		b3Scalar timeStep,
-		b3Scalar jacDiagABInv,
-		b3RigidBodyData& body1, const b3Vector3& pointInA,
-		b3RigidBodyData& body2, const b3Vector3& pointInB,
-		int limit_index,
-		const b3Vector3& axis_normal_on_a,
-		const b3Vector3& anchorPos);
-};
-
-enum b36DofFlags
-{
-	B3_6DOF_FLAGS_CFM_NORM = 1,
-	B3_6DOF_FLAGS_CFM_STOP = 2,
-	B3_6DOF_FLAGS_ERP_STOP = 4
-};
-#define B3_6DOF_FLAGS_AXIS_SHIFT 3  // bits per axis
-
-/// b3Generic6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
-/*!
-b3Generic6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'.
-currently this limit supports rotational motors<br>
-<ul>
-<li> For Linear limits, use b3Generic6DofConstraint.setLinearUpperLimit, b3Generic6DofConstraint.setLinearLowerLimit. You can set the parameters with the b3TranslationalLimitMotor structure accsesible through the b3Generic6DofConstraint.getTranslationalLimitMotor method.
-At this moment translational motors are not supported. May be in the future. </li>
-
-<li> For Angular limits, use the b3RotationalLimitMotor structure for configuring the limit.
-This is accessible through b3Generic6DofConstraint.getLimitMotor method,
-This brings support for limit parameters and motors. </li>
-
-<li> Angulars limits have these possible ranges:
-<table border=1 >
-<tr>
-	<td><b>AXIS</b></td>
-	<td><b>MIN ANGLE</b></td>
-	<td><b>MAX ANGLE</b></td>
-</tr><tr>
-	<td>X</td>
-	<td>-PI</td>
-	<td>PI</td>
-</tr><tr>
-	<td>Y</td>
-	<td>-PI/2</td>
-	<td>PI/2</td>
-</tr><tr>
-	<td>Z</td>
-	<td>-PI</td>
-	<td>PI</td>
-</tr>
-</table>
-</li>
-</ul>
-
-*/
-B3_ATTRIBUTE_ALIGNED16(class)
-b3Generic6DofConstraint : public b3TypedConstraint
-{
-protected:
-	//! relative_frames
-	//!@{
-	b3Transform m_frameInA;  //!< the constraint space w.r.t body A
-	b3Transform m_frameInB;  //!< the constraint space w.r.t body B
-	//!@}
-
-	//! Jacobians
-	//!@{
-	//    b3JacobianEntry	m_jacLinear[3];//!< 3 orthogonal linear constraints
-	//    b3JacobianEntry	m_jacAng[3];//!< 3 orthogonal angular constraints
-	//!@}
-
-	//! Linear_Limit_parameters
-	//!@{
-	b3TranslationalLimitMotor m_linearLimits;
-	//!@}
-
-	//! hinge_parameters
-	//!@{
-	b3RotationalLimitMotor m_angularLimits[3];
-	//!@}
-
-protected:
-	//! temporal variables
-	//!@{
-	b3Transform m_calculatedTransformA;
-	b3Transform m_calculatedTransformB;
-	b3Vector3 m_calculatedAxisAngleDiff;
-	b3Vector3 m_calculatedAxis[3];
-	b3Vector3 m_calculatedLinearDiff;
-	b3Scalar m_timeStep;
-	b3Scalar m_factA;
-	b3Scalar m_factB;
-	bool m_hasStaticBody;
-
-	b3Vector3 m_AnchorPos;  // point betwen pivots of bodies A and B to solve linear axes
-
-	bool m_useLinearReferenceFrameA;
-	bool m_useOffsetForConstraintFrame;
-
-	int m_flags;
-
-	//!@}
-
-	b3Generic6DofConstraint& operator=(b3Generic6DofConstraint& other)
-	{
-		b3Assert(0);
-		(void)other;
-		return *this;
-	}
-
-	int setAngularLimits(b3ConstraintInfo2 * info, int row_offset, const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB);
-
-	int setLinearLimits(b3ConstraintInfo2 * info, int row, const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB);
-
-	// tests linear limits
-	void calculateLinearInfo();
-
-	//! calcs the euler angles between the two bodies.
-	void calculateAngleInfo();
-
-public:
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-	b3Generic6DofConstraint(int rbA, int rbB, const b3Transform& frameInA, const b3Transform& frameInB, bool useLinearReferenceFrameA, const b3RigidBodyData* bodies);
-
-	//! Calcs global transform of the offsets
-	/*!
-	Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.
-	\sa b3Generic6DofConstraint.getCalculatedTransformA , b3Generic6DofConstraint.getCalculatedTransformB, b3Generic6DofConstraint.calculateAngleInfo
-	*/
-	void calculateTransforms(const b3Transform& transA, const b3Transform& transB, const b3RigidBodyData* bodies);
-
-	void calculateTransforms(const b3RigidBodyData* bodies);
-
-	//! Gets the global transform of the offset for body A
-	/*!
-    \sa b3Generic6DofConstraint.getFrameOffsetA, b3Generic6DofConstraint.getFrameOffsetB, b3Generic6DofConstraint.calculateAngleInfo.
-    */
-	const b3Transform& getCalculatedTransformA() const
-	{
-		return m_calculatedTransformA;
-	}
-
-	//! Gets the global transform of the offset for body B
-	/*!
-    \sa b3Generic6DofConstraint.getFrameOffsetA, b3Generic6DofConstraint.getFrameOffsetB, b3Generic6DofConstraint.calculateAngleInfo.
-    */
-	const b3Transform& getCalculatedTransformB() const
-	{
-		return m_calculatedTransformB;
-	}
-
-	const b3Transform& getFrameOffsetA() const
-	{
-		return m_frameInA;
-	}
-
-	const b3Transform& getFrameOffsetB() const
-	{
-		return m_frameInB;
-	}
-
-	b3Transform& getFrameOffsetA()
-	{
-		return m_frameInA;
-	}
-
-	b3Transform& getFrameOffsetB()
-	{
-		return m_frameInB;
-	}
-
-	virtual void getInfo1(b3ConstraintInfo1 * info, const b3RigidBodyData* bodies);
-
-	void getInfo1NonVirtual(b3ConstraintInfo1 * info, const b3RigidBodyData* bodies);
-
-	virtual void getInfo2(b3ConstraintInfo2 * info, const b3RigidBodyData* bodies);
-
-	void getInfo2NonVirtual(b3ConstraintInfo2 * info, const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB, const b3RigidBodyData* bodies);
-
-	void updateRHS(b3Scalar timeStep);
-
-	//! Get the rotation axis in global coordinates
-	b3Vector3 getAxis(int axis_index) const;
-
-	//! Get the relative Euler angle
-	/*!
-	\pre b3Generic6DofConstraint::calculateTransforms() must be called previously.
-	*/
-	b3Scalar getAngle(int axis_index) const;
-
-	//! Get the relative position of the constraint pivot
-	/*!
-	\pre b3Generic6DofConstraint::calculateTransforms() must be called previously.
-	*/
-	b3Scalar getRelativePivotPosition(int axis_index) const;
-
-	void setFrames(const b3Transform& frameA, const b3Transform& frameB, const b3RigidBodyData* bodies);
-
-	//! Test angular limit.
-	/*!
-	Calculates angular correction and returns true if limit needs to be corrected.
-	\pre b3Generic6DofConstraint::calculateTransforms() must be called previously.
-	*/
-	bool testAngularLimitMotor(int axis_index);
-
-	void setLinearLowerLimit(const b3Vector3& linearLower)
-	{
-		m_linearLimits.m_lowerLimit = linearLower;
-	}
-
-	void getLinearLowerLimit(b3Vector3 & linearLower)
-	{
-		linearLower = m_linearLimits.m_lowerLimit;
-	}
-
-	void setLinearUpperLimit(const b3Vector3& linearUpper)
-	{
-		m_linearLimits.m_upperLimit = linearUpper;
-	}
-
-	void getLinearUpperLimit(b3Vector3 & linearUpper)
-	{
-		linearUpper = m_linearLimits.m_upperLimit;
-	}
-
-	void setAngularLowerLimit(const b3Vector3& angularLower)
-	{
-		for (int i = 0; i < 3; i++)
-			m_angularLimits[i].m_loLimit = b3NormalizeAngle(angularLower[i]);
-	}
-
-	void getAngularLowerLimit(b3Vector3 & angularLower)
-	{
-		for (int i = 0; i < 3; i++)
-			angularLower[i] = m_angularLimits[i].m_loLimit;
-	}
-
-	void setAngularUpperLimit(const b3Vector3& angularUpper)
-	{
-		for (int i = 0; i < 3; i++)
-			m_angularLimits[i].m_hiLimit = b3NormalizeAngle(angularUpper[i]);
-	}
-
-	void getAngularUpperLimit(b3Vector3 & angularUpper)
-	{
-		for (int i = 0; i < 3; i++)
-			angularUpper[i] = m_angularLimits[i].m_hiLimit;
-	}
-
-	//! Retrieves the angular limit informacion
-	b3RotationalLimitMotor* getRotationalLimitMotor(int index)
-	{
-		return &m_angularLimits[index];
-	}
-
-	//! Retrieves the  limit informacion
-	b3TranslationalLimitMotor* getTranslationalLimitMotor()
-	{
-		return &m_linearLimits;
-	}
-
-	//first 3 are linear, next 3 are angular
-	void setLimit(int axis, b3Scalar lo, b3Scalar hi)
-	{
-		if (axis < 3)
-		{
-			m_linearLimits.m_lowerLimit[axis] = lo;
-			m_linearLimits.m_upperLimit[axis] = hi;
-		}
-		else
-		{
-			lo = b3NormalizeAngle(lo);
-			hi = b3NormalizeAngle(hi);
-			m_angularLimits[axis - 3].m_loLimit = lo;
-			m_angularLimits[axis - 3].m_hiLimit = hi;
-		}
-	}
-
-	//! Test limit
-	/*!
-    - free means upper < lower,
-    - locked means upper == lower
-    - limited means upper > lower
-    - limitIndex: first 3 are linear, next 3 are angular
-    */
-	bool isLimited(int limitIndex)
-	{
-		if (limitIndex < 3)
-		{
-			return m_linearLimits.isLimited(limitIndex);
-		}
-		return m_angularLimits[limitIndex - 3].isLimited();
-	}
-
-	virtual void calcAnchorPos(const b3RigidBodyData* bodies);  // overridable
-
-	int get_limit_motor_info2(b3RotationalLimitMotor * limot,
-							  const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB,
-							  b3ConstraintInfo2* info, int row, b3Vector3& ax1, int rotational, int rotAllowed = false);
-
-	// access for UseFrameOffset
-	bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
-	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
-
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
-	///If no axis is provided, it uses the default axis for this constraint.
-	virtual void setParam(int num, b3Scalar value, int axis = -1);
-	///return the local value of parameter
-	virtual b3Scalar getParam(int num, int axis = -1) const;
-
-	void setAxis(const b3Vector3& axis1, const b3Vector3& axis2, const b3RigidBodyData* bodies);
-};
-
-#endif  //B3_GENERIC_6DOF_CONSTRAINT_H
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3JacobianEntry.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3JacobianEntry.h
deleted file mode 100644
index 13269debf6..0000000000
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3JacobianEntry.h
+++ /dev/null
@@ -1,150 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_JACOBIAN_ENTRY_H
-#define B3_JACOBIAN_ENTRY_H
-
-#include "Bullet3Common/b3Matrix3x3.h"
-
-//notes:
-// Another memory optimization would be to store m_1MinvJt in the remaining 3 w components
-// which makes the b3JacobianEntry memory layout 16 bytes
-// if you only are interested in angular part, just feed massInvA and massInvB zero
-
-/// Jacobian entry is an abstraction that allows to describe constraints
-/// it can be used in combination with a constraint solver
-/// Can be used to relate the effect of an impulse to the constraint error
-B3_ATTRIBUTE_ALIGNED16(class)
-b3JacobianEntry
-{
-public:
-	b3JacobianEntry(){};
-	//constraint between two different rigidbodies
-	b3JacobianEntry(
-		const b3Matrix3x3& world2A,
-		const b3Matrix3x3& world2B,
-		const b3Vector3& rel_pos1, const b3Vector3& rel_pos2,
-		const b3Vector3& jointAxis,
-		const b3Vector3& inertiaInvA,
-		const b3Scalar massInvA,
-		const b3Vector3& inertiaInvB,
-		const b3Scalar massInvB)
-		: m_linearJointAxis(jointAxis)
-	{
-		m_aJ = world2A * (rel_pos1.cross(m_linearJointAxis));
-		m_bJ = world2B * (rel_pos2.cross(-m_linearJointAxis));
-		m_0MinvJt = inertiaInvA * m_aJ;
-		m_1MinvJt = inertiaInvB * m_bJ;
-		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
-
-		b3Assert(m_Adiag > b3Scalar(0.0));
-	}
-
-	//angular constraint between two different rigidbodies
-	b3JacobianEntry(const b3Vector3& jointAxis,
-					const b3Matrix3x3& world2A,
-					const b3Matrix3x3& world2B,
-					const b3Vector3& inertiaInvA,
-					const b3Vector3& inertiaInvB)
-		: m_linearJointAxis(b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.)))
-	{
-		m_aJ = world2A * jointAxis;
-		m_bJ = world2B * -jointAxis;
-		m_0MinvJt = inertiaInvA * m_aJ;
-		m_1MinvJt = inertiaInvB * m_bJ;
-		m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
-
-		b3Assert(m_Adiag > b3Scalar(0.0));
-	}
-
-	//angular constraint between two different rigidbodies
-	b3JacobianEntry(const b3Vector3& axisInA,
-					const b3Vector3& axisInB,
-					const b3Vector3& inertiaInvA,
-					const b3Vector3& inertiaInvB)
-		: m_linearJointAxis(b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.))), m_aJ(axisInA), m_bJ(-axisInB)
-	{
-		m_0MinvJt = inertiaInvA * m_aJ;
-		m_1MinvJt = inertiaInvB * m_bJ;
-		m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
-
-		b3Assert(m_Adiag > b3Scalar(0.0));
-	}
-
-	//constraint on one rigidbody
-	b3JacobianEntry(
-		const b3Matrix3x3& world2A,
-		const b3Vector3& rel_pos1, const b3Vector3& rel_pos2,
-		const b3Vector3& jointAxis,
-		const b3Vector3& inertiaInvA,
-		const b3Scalar massInvA)
-		: m_linearJointAxis(jointAxis)
-	{
-		m_aJ = world2A * (rel_pos1.cross(jointAxis));
-		m_bJ = world2A * (rel_pos2.cross(-jointAxis));
-		m_0MinvJt = inertiaInvA * m_aJ;
-		m_1MinvJt = b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
-		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
-
-		b3Assert(m_Adiag > b3Scalar(0.0));
-	}
-
-	b3Scalar getDiagonal() const { return m_Adiag; }
-
-	// for two constraints on the same rigidbody (for example vehicle friction)
-	b3Scalar getNonDiagonal(const b3JacobianEntry& jacB, const b3Scalar massInvA) const
-	{
-		const b3JacobianEntry& jacA = *this;
-		b3Scalar lin = massInvA * jacA.m_linearJointAxis.dot(jacB.m_linearJointAxis);
-		b3Scalar ang = jacA.m_0MinvJt.dot(jacB.m_aJ);
-		return lin + ang;
-	}
-
-	// for two constraints on sharing two same rigidbodies (for example two contact points between two rigidbodies)
-	b3Scalar getNonDiagonal(const b3JacobianEntry& jacB, const b3Scalar massInvA, const b3Scalar massInvB) const
-	{
-		const b3JacobianEntry& jacA = *this;
-		b3Vector3 lin = jacA.m_linearJointAxis * jacB.m_linearJointAxis;
-		b3Vector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ;
-		b3Vector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ;
-		b3Vector3 lin0 = massInvA * lin;
-		b3Vector3 lin1 = massInvB * lin;
-		b3Vector3 sum = ang0 + ang1 + lin0 + lin1;
-		return sum[0] + sum[1] + sum[2];
-	}
-
-	b3Scalar getRelativeVelocity(const b3Vector3& linvelA, const b3Vector3& angvelA, const b3Vector3& linvelB, const b3Vector3& angvelB)
-	{
-		b3Vector3 linrel = linvelA - linvelB;
-		b3Vector3 angvela = angvelA * m_aJ;
-		b3Vector3 angvelb = angvelB * m_bJ;
-		linrel *= m_linearJointAxis;
-		angvela += angvelb;
-		angvela += linrel;
-		b3Scalar rel_vel2 = angvela[0] + angvela[1] + angvela[2];
-		return rel_vel2 + B3_EPSILON;
-	}
-	//private:
-
-	b3Vector3 m_linearJointAxis;
-	b3Vector3 m_aJ;
-	b3Vector3 m_bJ;
-	b3Vector3 m_0MinvJt;
-	b3Vector3 m_1MinvJt;
-	//Optimization: can be stored in the w/last component of one of the vectors
-	b3Scalar m_Adiag;
-};
-
-#endif  //B3_JACOBIAN_ENTRY_H
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.cpp b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.cpp
deleted file mode 100644
index b7050b1070..0000000000
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.cpp
+++ /dev/null
@@ -1,1696 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2012 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-//enable B3_SOLVER_DEBUG if you experience solver crashes
-//#define B3_SOLVER_DEBUG
-//#define COMPUTE_IMPULSE_DENOM 1
-//It is not necessary (redundant) to refresh contact manifolds, this refresh has been moved to the collision algorithms.
-
-//#define DISABLE_JOINTS
-
-#include "b3PgsJacobiSolver.h"
-#include "Bullet3Common/b3MinMax.h"
-#include "b3TypedConstraint.h"
-#include <new>
-#include "Bullet3Common/b3StackAlloc.h"
-
-//#include "b3SolverBody.h"
-//#include "b3SolverConstraint.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-#include <string.h>  //for memset
-//#include "../../dynamics/basic_demo/Stubs/AdlContact4.h"
-#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-
-static b3Transform getWorldTransform(b3RigidBodyData* rb)
-{
-	b3Transform newTrans;
-	newTrans.setOrigin(rb->m_pos);
-	newTrans.setRotation(rb->m_quat);
-	return newTrans;
-}
-
-static const b3Matrix3x3& getInvInertiaTensorWorld(b3InertiaData* inertia)
-{
-	return inertia->m_invInertiaWorld;
-}
-
-static const b3Vector3& getLinearVelocity(b3RigidBodyData* rb)
-{
-	return rb->m_linVel;
-}
-
-static const b3Vector3& getAngularVelocity(b3RigidBodyData* rb)
-{
-	return rb->m_angVel;
-}
-
-static b3Vector3 getVelocityInLocalPoint(b3RigidBodyData* rb, const b3Vector3& rel_pos)
-{
-	//we also calculate lin/ang velocity for kinematic objects
-	return getLinearVelocity(rb) + getAngularVelocity(rb).cross(rel_pos);
-}
-
-struct b3ContactPoint
-{
-	b3Vector3 m_positionWorldOnA;
-	b3Vector3 m_positionWorldOnB;
-	b3Vector3 m_normalWorldOnB;
-	b3Scalar m_appliedImpulse;
-	b3Scalar m_distance;
-	b3Scalar m_combinedRestitution;
-
-	///information related to friction
-	b3Scalar m_combinedFriction;
-	b3Vector3 m_lateralFrictionDir1;
-	b3Vector3 m_lateralFrictionDir2;
-	b3Scalar m_appliedImpulseLateral1;
-	b3Scalar m_appliedImpulseLateral2;
-	b3Scalar m_combinedRollingFriction;
-	b3Scalar m_contactMotion1;
-	b3Scalar m_contactMotion2;
-	b3Scalar m_contactCFM1;
-	b3Scalar m_contactCFM2;
-
-	bool m_lateralFrictionInitialized;
-
-	b3Vector3 getPositionWorldOnA()
-	{
-		return m_positionWorldOnA;
-	}
-	b3Vector3 getPositionWorldOnB()
-	{
-		return m_positionWorldOnB;
-	}
-	b3Scalar getDistance()
-	{
-		return m_distance;
-	}
-};
-
-void getContactPoint(b3Contact4* contact, int contactIndex, b3ContactPoint& pointOut)
-{
-	pointOut.m_appliedImpulse = 0.f;
-	pointOut.m_appliedImpulseLateral1 = 0.f;
-	pointOut.m_appliedImpulseLateral2 = 0.f;
-	pointOut.m_combinedFriction = contact->getFrictionCoeff();
-	pointOut.m_combinedRestitution = contact->getRestituitionCoeff();
-	pointOut.m_combinedRollingFriction = 0.f;
-	pointOut.m_contactCFM1 = 0.f;
-	pointOut.m_contactCFM2 = 0.f;
-	pointOut.m_contactMotion1 = 0.f;
-	pointOut.m_contactMotion2 = 0.f;
-	pointOut.m_distance = contact->getPenetration(contactIndex);  //??0.01f
-	b3Vector3 normalOnB = contact->m_worldNormalOnB;
-	normalOnB.normalize();  //is this needed?
-
-	b3Vector3 l1, l2;
-	b3PlaneSpace1(normalOnB, l1, l2);
-
-	pointOut.m_normalWorldOnB = normalOnB;
-	//printf("normalOnB = %f,%f,%f\n",normalOnB.getX(),normalOnB.getY(),normalOnB.getZ());
-	pointOut.m_lateralFrictionDir1 = l1;
-	pointOut.m_lateralFrictionDir2 = l2;
-	pointOut.m_lateralFrictionInitialized = true;
-
-	b3Vector3 worldPosB = contact->m_worldPosB[contactIndex];
-	pointOut.m_positionWorldOnB = worldPosB;
-	pointOut.m_positionWorldOnA = worldPosB + normalOnB * pointOut.m_distance;
-}
-
-int getNumContacts(b3Contact4* contact)
-{
-	return contact->getNPoints();
-}
-
-b3PgsJacobiSolver::b3PgsJacobiSolver(bool usePgs)
-	: m_usePgs(usePgs),
-	  m_numSplitImpulseRecoveries(0),
-	  m_btSeed2(0)
-{
-}
-
-b3PgsJacobiSolver::~b3PgsJacobiSolver()
-{
-}
-
-void b3PgsJacobiSolver::solveContacts(int numBodies, b3RigidBodyData* bodies, b3InertiaData* inertias, int numContacts, b3Contact4* contacts, int numConstraints, b3TypedConstraint** constraints)
-{
-	b3ContactSolverInfo infoGlobal;
-	infoGlobal.m_splitImpulse = false;
-	infoGlobal.m_timeStep = 1.f / 60.f;
-	infoGlobal.m_numIterations = 4;  //4;
-									 //	infoGlobal.m_solverMode|=B3_SOLVER_USE_2_FRICTION_DIRECTIONS|B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS|B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION;
-	//infoGlobal.m_solverMode|=B3_SOLVER_USE_2_FRICTION_DIRECTIONS|B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS;
-	infoGlobal.m_solverMode |= B3_SOLVER_USE_2_FRICTION_DIRECTIONS;
-
-	//if (infoGlobal.m_solverMode & B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
-	//if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
-
-	solveGroup(bodies, inertias, numBodies, contacts, numContacts, constraints, numConstraints, infoGlobal);
-
-	if (!numContacts)
-		return;
-}
-
-/// b3PgsJacobiSolver Sequentially applies impulses
-b3Scalar b3PgsJacobiSolver::solveGroup(b3RigidBodyData* bodies,
-									   b3InertiaData* inertias,
-									   int numBodies,
-									   b3Contact4* manifoldPtr,
-									   int numManifolds,
-									   b3TypedConstraint** constraints,
-									   int numConstraints,
-									   const b3ContactSolverInfo& infoGlobal)
-{
-	B3_PROFILE("solveGroup");
-	//you need to provide at least some bodies
-
-	solveGroupCacheFriendlySetup(bodies, inertias, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal);
-
-	solveGroupCacheFriendlyIterations(constraints, numConstraints, infoGlobal);
-
-	solveGroupCacheFriendlyFinish(bodies, inertias, numBodies, infoGlobal);
-
-	return 0.f;
-}
-
-#ifdef USE_SIMD
-#include <emmintrin.h>
-#define b3VecSplat(x, e) _mm_shuffle_ps(x, x, _MM_SHUFFLE(e, e, e, e))
-static inline __m128 b3SimdDot3(__m128 vec0, __m128 vec1)
-{
-	__m128 result = _mm_mul_ps(vec0, vec1);
-	return _mm_add_ps(b3VecSplat(result, 0), _mm_add_ps(b3VecSplat(result, 1), b3VecSplat(result, 2)));
-}
-#endif  //USE_SIMD
-
-// Project Gauss Seidel or the equivalent Sequential Impulse
-void b3PgsJacobiSolver::resolveSingleConstraintRowGenericSIMD(b3SolverBody& body1, b3SolverBody& body2, const b3SolverConstraint& c)
-{
-#ifdef USE_SIMD
-	__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
-	__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
-	__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
-	__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse), _mm_set1_ps(c.m_cfm)));
-	__m128 deltaVel1Dotn = _mm_add_ps(b3SimdDot3(c.m_contactNormal.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), b3SimdDot3(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128));
-	__m128 deltaVel2Dotn = _mm_sub_ps(b3SimdDot3(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128), b3SimdDot3((c.m_contactNormal).mVec128, body2.internalGetDeltaLinearVelocity().mVec128));
-	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
-	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
-	b3SimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse);
-	b3SimdScalar resultLowerLess, resultUpperLess;
-	resultLowerLess = _mm_cmplt_ps(sum, lowerLimit1);
-	resultUpperLess = _mm_cmplt_ps(sum, upperLimit1);
-	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1, cpAppliedImp);
-	deltaImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse));
-	c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum));
-	__m128 upperMinApplied = _mm_sub_ps(upperLimit1, cpAppliedImp);
-	deltaImpulse = _mm_or_ps(_mm_and_ps(resultUpperLess, deltaImpulse), _mm_andnot_ps(resultUpperLess, upperMinApplied));
-	c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultUpperLess, c.m_appliedImpulse), _mm_andnot_ps(resultUpperLess, upperLimit1));
-	__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128, body1.internalGetInvMass().mVec128);
-	__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128, body2.internalGetInvMass().mVec128);
-	__m128 impulseMagnitude = deltaImpulse;
-	body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude));
-	body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
-	body2.internalGetDeltaLinearVelocity().mVec128 = _mm_sub_ps(body2.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude));
-	body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude));
-#else
-	resolveSingleConstraintRowGeneric(body1, body2, c);
-#endif
-}
-
-// Project Gauss Seidel or the equivalent Sequential Impulse
-void b3PgsJacobiSolver::resolveSingleConstraintRowGeneric(b3SolverBody& body1, b3SolverBody& body2, const b3SolverConstraint& c)
-{
-	b3Scalar deltaImpulse = c.m_rhs - b3Scalar(c.m_appliedImpulse) * c.m_cfm;
-	const b3Scalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
-	const b3Scalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
-
-	//	const b3Scalar delta_rel_vel	=	deltaVel1Dotn-deltaVel2Dotn;
-	deltaImpulse -= deltaVel1Dotn * c.m_jacDiagABInv;
-	deltaImpulse -= deltaVel2Dotn * c.m_jacDiagABInv;
-
-	const b3Scalar sum = b3Scalar(c.m_appliedImpulse) + deltaImpulse;
-	if (sum < c.m_lowerLimit)
-	{
-		deltaImpulse = c.m_lowerLimit - c.m_appliedImpulse;
-		c.m_appliedImpulse = c.m_lowerLimit;
-	}
-	else if (sum > c.m_upperLimit)
-	{
-		deltaImpulse = c.m_upperLimit - c.m_appliedImpulse;
-		c.m_appliedImpulse = c.m_upperLimit;
-	}
-	else
-	{
-		c.m_appliedImpulse = sum;
-	}
-
-	body1.internalApplyImpulse(c.m_contactNormal * body1.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
-	body2.internalApplyImpulse(-c.m_contactNormal * body2.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
-}
-
-void b3PgsJacobiSolver::resolveSingleConstraintRowLowerLimitSIMD(b3SolverBody& body1, b3SolverBody& body2, const b3SolverConstraint& c)
-{
-#ifdef USE_SIMD
-	__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
-	__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
-	__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
-	__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse), _mm_set1_ps(c.m_cfm)));
-	__m128 deltaVel1Dotn = _mm_add_ps(b3SimdDot3(c.m_contactNormal.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), b3SimdDot3(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128));
-	__m128 deltaVel2Dotn = _mm_sub_ps(b3SimdDot3(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128), b3SimdDot3((c.m_contactNormal).mVec128, body2.internalGetDeltaLinearVelocity().mVec128));
-	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
-	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
-	b3SimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse);
-	b3SimdScalar resultLowerLess, resultUpperLess;
-	resultLowerLess = _mm_cmplt_ps(sum, lowerLimit1);
-	resultUpperLess = _mm_cmplt_ps(sum, upperLimit1);
-	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1, cpAppliedImp);
-	deltaImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse));
-	c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum));
-	__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128, body1.internalGetInvMass().mVec128);
-	__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128, body2.internalGetInvMass().mVec128);
-	__m128 impulseMagnitude = deltaImpulse;
-	body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude));
-	body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
-	body2.internalGetDeltaLinearVelocity().mVec128 = _mm_sub_ps(body2.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude));
-	body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude));
-#else
-	resolveSingleConstraintRowLowerLimit(body1, body2, c);
-#endif
-}
-
-// Project Gauss Seidel or the equivalent Sequential Impulse
-void b3PgsJacobiSolver::resolveSingleConstraintRowLowerLimit(b3SolverBody& body1, b3SolverBody& body2, const b3SolverConstraint& c)
-{
-	b3Scalar deltaImpulse = c.m_rhs - b3Scalar(c.m_appliedImpulse) * c.m_cfm;
-	const b3Scalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
-	const b3Scalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
-
-	deltaImpulse -= deltaVel1Dotn * c.m_jacDiagABInv;
-	deltaImpulse -= deltaVel2Dotn * c.m_jacDiagABInv;
-	const b3Scalar sum = b3Scalar(c.m_appliedImpulse) + deltaImpulse;
-	if (sum < c.m_lowerLimit)
-	{
-		deltaImpulse = c.m_lowerLimit - c.m_appliedImpulse;
-		c.m_appliedImpulse = c.m_lowerLimit;
-	}
-	else
-	{
-		c.m_appliedImpulse = sum;
-	}
-	body1.internalApplyImpulse(c.m_contactNormal * body1.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
-	body2.internalApplyImpulse(-c.m_contactNormal * body2.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
-}
-
-void b3PgsJacobiSolver::resolveSplitPenetrationImpulseCacheFriendly(
-	b3SolverBody& body1,
-	b3SolverBody& body2,
-	const b3SolverConstraint& c)
-{
-	if (c.m_rhsPenetration)
-	{
-		m_numSplitImpulseRecoveries++;
-		b3Scalar deltaImpulse = c.m_rhsPenetration - b3Scalar(c.m_appliedPushImpulse) * c.m_cfm;
-		const b3Scalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetPushVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetTurnVelocity());
-		const b3Scalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetTurnVelocity());
-
-		deltaImpulse -= deltaVel1Dotn * c.m_jacDiagABInv;
-		deltaImpulse -= deltaVel2Dotn * c.m_jacDiagABInv;
-		const b3Scalar sum = b3Scalar(c.m_appliedPushImpulse) + deltaImpulse;
-		if (sum < c.m_lowerLimit)
-		{
-			deltaImpulse = c.m_lowerLimit - c.m_appliedPushImpulse;
-			c.m_appliedPushImpulse = c.m_lowerLimit;
-		}
-		else
-		{
-			c.m_appliedPushImpulse = sum;
-		}
-		body1.internalApplyPushImpulse(c.m_contactNormal * body1.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
-		body2.internalApplyPushImpulse(-c.m_contactNormal * body2.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
-	}
-}
-
-void b3PgsJacobiSolver::resolveSplitPenetrationSIMD(b3SolverBody& body1, b3SolverBody& body2, const b3SolverConstraint& c)
-{
-#ifdef USE_SIMD
-	if (!c.m_rhsPenetration)
-		return;
-
-	m_numSplitImpulseRecoveries++;
-
-	__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedPushImpulse);
-	__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
-	__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
-	__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhsPenetration), _mm_mul_ps(_mm_set1_ps(c.m_appliedPushImpulse), _mm_set1_ps(c.m_cfm)));
-	__m128 deltaVel1Dotn = _mm_add_ps(b3SimdDot3(c.m_contactNormal.mVec128, body1.internalGetPushVelocity().mVec128), b3SimdDot3(c.m_relpos1CrossNormal.mVec128, body1.internalGetTurnVelocity().mVec128));
-	__m128 deltaVel2Dotn = _mm_sub_ps(b3SimdDot3(c.m_relpos2CrossNormal.mVec128, body2.internalGetTurnVelocity().mVec128), b3SimdDot3((c.m_contactNormal).mVec128, body2.internalGetPushVelocity().mVec128));
-	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
-	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
-	b3SimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse);
-	b3SimdScalar resultLowerLess, resultUpperLess;
-	resultLowerLess = _mm_cmplt_ps(sum, lowerLimit1);
-	resultUpperLess = _mm_cmplt_ps(sum, upperLimit1);
-	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1, cpAppliedImp);
-	deltaImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse));
-	c.m_appliedPushImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum));
-	__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128, body1.internalGetInvMass().mVec128);
-	__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128, body2.internalGetInvMass().mVec128);
-	__m128 impulseMagnitude = deltaImpulse;
-	body1.internalGetPushVelocity().mVec128 = _mm_add_ps(body1.internalGetPushVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude));
-	body1.internalGetTurnVelocity().mVec128 = _mm_add_ps(body1.internalGetTurnVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
-	body2.internalGetPushVelocity().mVec128 = _mm_sub_ps(body2.internalGetPushVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude));
-	body2.internalGetTurnVelocity().mVec128 = _mm_add_ps(body2.internalGetTurnVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude));
-#else
-	resolveSplitPenetrationImpulseCacheFriendly(body1, body2, c);
-#endif
-}
-
-unsigned long b3PgsJacobiSolver::b3Rand2()
-{
-	m_btSeed2 = (1664525L * m_btSeed2 + 1013904223L) & 0xffffffff;
-	return m_btSeed2;
-}
-
-//See ODE: adam's all-int straightforward(?) dRandInt (0..n-1)
-int b3PgsJacobiSolver::b3RandInt2(int n)
-{
-	// seems good; xor-fold and modulus
-	const unsigned long un = static_cast<unsigned long>(n);
-	unsigned long r = b3Rand2();
-
-	// note: probably more aggressive than it needs to be -- might be
-	//       able to get away without one or two of the innermost branches.
-	if (un <= 0x00010000UL)
-	{
-		r ^= (r >> 16);
-		if (un <= 0x00000100UL)
-		{
-			r ^= (r >> 8);
-			if (un <= 0x00000010UL)
-			{
-				r ^= (r >> 4);
-				if (un <= 0x00000004UL)
-				{
-					r ^= (r >> 2);
-					if (un <= 0x00000002UL)
-					{
-						r ^= (r >> 1);
-					}
-				}
-			}
-		}
-	}
-
-	return (int)(r % un);
-}
-
-void b3PgsJacobiSolver::initSolverBody(int bodyIndex, b3SolverBody* solverBody, b3RigidBodyData* rb)
-{
-	solverBody->m_deltaLinearVelocity.setValue(0.f, 0.f, 0.f);
-	solverBody->m_deltaAngularVelocity.setValue(0.f, 0.f, 0.f);
-	solverBody->internalGetPushVelocity().setValue(0.f, 0.f, 0.f);
-	solverBody->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f);
-
-	if (rb)
-	{
-		solverBody->m_worldTransform = getWorldTransform(rb);
-		solverBody->internalSetInvMass(b3MakeVector3(rb->m_invMass, rb->m_invMass, rb->m_invMass));
-		solverBody->m_originalBodyIndex = bodyIndex;
-		solverBody->m_angularFactor = b3MakeVector3(1, 1, 1);
-		solverBody->m_linearFactor = b3MakeVector3(1, 1, 1);
-		solverBody->m_linearVelocity = getLinearVelocity(rb);
-		solverBody->m_angularVelocity = getAngularVelocity(rb);
-	}
-	else
-	{
-		solverBody->m_worldTransform.setIdentity();
-		solverBody->internalSetInvMass(b3MakeVector3(0, 0, 0));
-		solverBody->m_originalBodyIndex = bodyIndex;
-		solverBody->m_angularFactor.setValue(1, 1, 1);
-		solverBody->m_linearFactor.setValue(1, 1, 1);
-		solverBody->m_linearVelocity.setValue(0, 0, 0);
-		solverBody->m_angularVelocity.setValue(0, 0, 0);
-	}
-}
-
-b3Scalar b3PgsJacobiSolver::restitutionCurve(b3Scalar rel_vel, b3Scalar restitution)
-{
-	b3Scalar rest = restitution * -rel_vel;
-	return rest;
-}
-
-void b3PgsJacobiSolver::setupFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis, int solverBodyIdA, int solverBodyIdB, b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2, b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity, b3Scalar cfmSlip)
-{
-	solverConstraint.m_contactNormal = normalAxis;
-	b3SolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA];
-	b3SolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB];
-
-	b3RigidBodyData* body0 = &bodies[solverBodyA.m_originalBodyIndex];
-	b3RigidBodyData* body1 = &bodies[solverBodyB.m_originalBodyIndex];
-
-	solverConstraint.m_solverBodyIdA = solverBodyIdA;
-	solverConstraint.m_solverBodyIdB = solverBodyIdB;
-
-	solverConstraint.m_friction = cp.m_combinedFriction;
-	solverConstraint.m_originalContactPoint = 0;
-
-	solverConstraint.m_appliedImpulse = 0.f;
-	solverConstraint.m_appliedPushImpulse = 0.f;
-
-	{
-		b3Vector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal);
-		solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
-		solverConstraint.m_angularComponentA = body0 ? getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex]) * ftorqueAxis1 : b3MakeVector3(0, 0, 0);
-	}
-	{
-		b3Vector3 ftorqueAxis1 = rel_pos2.cross(-solverConstraint.m_contactNormal);
-		solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
-		solverConstraint.m_angularComponentB = body1 ? getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex]) * ftorqueAxis1 : b3MakeVector3(0, 0, 0);
-	}
-
-	b3Scalar scaledDenom;
-
-	{
-		b3Vector3 vec;
-		b3Scalar denom0 = 0.f;
-		b3Scalar denom1 = 0.f;
-		if (body0)
-		{
-			vec = (solverConstraint.m_angularComponentA).cross(rel_pos1);
-			denom0 = body0->m_invMass + normalAxis.dot(vec);
-		}
-		if (body1)
-		{
-			vec = (-solverConstraint.m_angularComponentB).cross(rel_pos2);
-			denom1 = body1->m_invMass + normalAxis.dot(vec);
-		}
-
-		b3Scalar denom;
-		if (m_usePgs)
-		{
-			scaledDenom = denom = relaxation / (denom0 + denom1);
-		}
-		else
-		{
-			denom = relaxation / (denom0 + denom1);
-			b3Scalar countA = body0->m_invMass ? b3Scalar(m_bodyCount[solverBodyA.m_originalBodyIndex]) : 1.f;
-			b3Scalar countB = body1->m_invMass ? b3Scalar(m_bodyCount[solverBodyB.m_originalBodyIndex]) : 1.f;
-
-			scaledDenom = relaxation / (denom0 * countA + denom1 * countB);
-		}
-
-		solverConstraint.m_jacDiagABInv = denom;
-	}
-
-	{
-		b3Scalar rel_vel;
-		b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0 ? solverBodyA.m_linearVelocity : b3MakeVector3(0, 0, 0)) + solverConstraint.m_relpos1CrossNormal.dot(body0 ? solverBodyA.m_angularVelocity : b3MakeVector3(0, 0, 0));
-		b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1 ? solverBodyB.m_linearVelocity : b3MakeVector3(0, 0, 0)) + solverConstraint.m_relpos2CrossNormal.dot(body1 ? solverBodyB.m_angularVelocity : b3MakeVector3(0, 0, 0));
-
-		rel_vel = vel1Dotn + vel2Dotn;
-
-		//		b3Scalar positionalError = 0.f;
-
-		b3SimdScalar velocityError = desiredVelocity - rel_vel;
-		b3SimdScalar velocityImpulse = velocityError * b3SimdScalar(scaledDenom);  //solverConstraint.m_jacDiagABInv);
-		solverConstraint.m_rhs = velocityImpulse;
-		solverConstraint.m_cfm = cfmSlip;
-		solverConstraint.m_lowerLimit = 0;
-		solverConstraint.m_upperLimit = 1e10f;
-	}
-}
-
-b3SolverConstraint& b3PgsJacobiSolver::addFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, const b3Vector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2, b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity, b3Scalar cfmSlip)
-{
-	b3SolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing();
-	solverConstraint.m_frictionIndex = frictionIndex;
-	setupFrictionConstraint(bodies, inertias, solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2,
-							colObj0, colObj1, relaxation, desiredVelocity, cfmSlip);
-	return solverConstraint;
-}
-
-void b3PgsJacobiSolver::setupRollingFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis1, int solverBodyIdA, int solverBodyIdB,
-													   b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2,
-													   b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation,
-													   b3Scalar desiredVelocity, b3Scalar cfmSlip)
-
-{
-	b3Vector3 normalAxis = b3MakeVector3(0, 0, 0);
-
-	solverConstraint.m_contactNormal = normalAxis;
-	b3SolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA];
-	b3SolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB];
-
-	b3RigidBodyData* body0 = &bodies[m_tmpSolverBodyPool[solverBodyIdA].m_originalBodyIndex];
-	b3RigidBodyData* body1 = &bodies[m_tmpSolverBodyPool[solverBodyIdB].m_originalBodyIndex];
-
-	solverConstraint.m_solverBodyIdA = solverBodyIdA;
-	solverConstraint.m_solverBodyIdB = solverBodyIdB;
-
-	solverConstraint.m_friction = cp.m_combinedRollingFriction;
-	solverConstraint.m_originalContactPoint = 0;
-
-	solverConstraint.m_appliedImpulse = 0.f;
-	solverConstraint.m_appliedPushImpulse = 0.f;
-
-	{
-		b3Vector3 ftorqueAxis1 = -normalAxis1;
-		solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
-		solverConstraint.m_angularComponentA = body0 ? getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex]) * ftorqueAxis1 : b3MakeVector3(0, 0, 0);
-	}
-	{
-		b3Vector3 ftorqueAxis1 = normalAxis1;
-		solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
-		solverConstraint.m_angularComponentB = body1 ? getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex]) * ftorqueAxis1 : b3MakeVector3(0, 0, 0);
-	}
-
-	{
-		b3Vector3 iMJaA = body0 ? getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex]) * solverConstraint.m_relpos1CrossNormal : b3MakeVector3(0, 0, 0);
-		b3Vector3 iMJaB = body1 ? getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex]) * solverConstraint.m_relpos2CrossNormal : b3MakeVector3(0, 0, 0);
-		b3Scalar sum = 0;
-		sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
-		sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
-		solverConstraint.m_jacDiagABInv = b3Scalar(1.) / sum;
-	}
-
-	{
-		b3Scalar rel_vel;
-		b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0 ? solverBodyA.m_linearVelocity : b3MakeVector3(0, 0, 0)) + solverConstraint.m_relpos1CrossNormal.dot(body0 ? solverBodyA.m_angularVelocity : b3MakeVector3(0, 0, 0));
-		b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1 ? solverBodyB.m_linearVelocity : b3MakeVector3(0, 0, 0)) + solverConstraint.m_relpos2CrossNormal.dot(body1 ? solverBodyB.m_angularVelocity : b3MakeVector3(0, 0, 0));
-
-		rel_vel = vel1Dotn + vel2Dotn;
-
-		//		b3Scalar positionalError = 0.f;
-
-		b3SimdScalar velocityError = desiredVelocity - rel_vel;
-		b3SimdScalar velocityImpulse = velocityError * b3SimdScalar(solverConstraint.m_jacDiagABInv);
-		solverConstraint.m_rhs = velocityImpulse;
-		solverConstraint.m_cfm = cfmSlip;
-		solverConstraint.m_lowerLimit = 0;
-		solverConstraint.m_upperLimit = 1e10f;
-	}
-}
-
-b3SolverConstraint& b3PgsJacobiSolver::addRollingFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, const b3Vector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2, b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity, b3Scalar cfmSlip)
-{
-	b3SolverConstraint& solverConstraint = m_tmpSolverContactRollingFrictionConstraintPool.expandNonInitializing();
-	solverConstraint.m_frictionIndex = frictionIndex;
-	setupRollingFrictionConstraint(bodies, inertias, solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2,
-								   colObj0, colObj1, relaxation, desiredVelocity, cfmSlip);
-	return solverConstraint;
-}
-
-int b3PgsJacobiSolver::getOrInitSolverBody(int bodyIndex, b3RigidBodyData* bodies, b3InertiaData* inertias)
-{
-	//b3Assert(bodyIndex< m_tmpSolverBodyPool.size());
-
-	b3RigidBodyData& body = bodies[bodyIndex];
-	int curIndex = -1;
-	if (m_usePgs || body.m_invMass == 0.f)
-	{
-		if (m_bodyCount[bodyIndex] < 0)
-		{
-			curIndex = m_tmpSolverBodyPool.size();
-			b3SolverBody& solverBody = m_tmpSolverBodyPool.expand();
-			initSolverBody(bodyIndex, &solverBody, &body);
-			solverBody.m_originalBodyIndex = bodyIndex;
-			m_bodyCount[bodyIndex] = curIndex;
-		}
-		else
-		{
-			curIndex = m_bodyCount[bodyIndex];
-		}
-	}
-	else
-	{
-		b3Assert(m_bodyCount[bodyIndex] > 0);
-		m_bodyCountCheck[bodyIndex]++;
-		curIndex = m_tmpSolverBodyPool.size();
-		b3SolverBody& solverBody = m_tmpSolverBodyPool.expand();
-		initSolverBody(bodyIndex, &solverBody, &body);
-		solverBody.m_originalBodyIndex = bodyIndex;
-	}
-
-	b3Assert(curIndex >= 0);
-	return curIndex;
-}
-#include <stdio.h>
-
-void b3PgsJacobiSolver::setupContactConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, b3SolverConstraint& solverConstraint,
-											   int solverBodyIdA, int solverBodyIdB,
-											   b3ContactPoint& cp, const b3ContactSolverInfo& infoGlobal,
-											   b3Vector3& vel, b3Scalar& rel_vel, b3Scalar& relaxation,
-											   b3Vector3& rel_pos1, b3Vector3& rel_pos2)
-{
-	const b3Vector3& pos1 = cp.getPositionWorldOnA();
-	const b3Vector3& pos2 = cp.getPositionWorldOnB();
-
-	b3SolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA];
-	b3SolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB];
-
-	b3RigidBodyData* rb0 = &bodies[bodyA->m_originalBodyIndex];
-	b3RigidBodyData* rb1 = &bodies[bodyB->m_originalBodyIndex];
-
-	//			b3Vector3 rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin();
-	//			b3Vector3 rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
-	rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin();
-	rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
-
-	relaxation = 1.f;
-
-	b3Vector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
-	solverConstraint.m_angularComponentA = rb0 ? getInvInertiaTensorWorld(&inertias[bodyA->m_originalBodyIndex]) * torqueAxis0 : b3MakeVector3(0, 0, 0);
-	b3Vector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);
-	solverConstraint.m_angularComponentB = rb1 ? getInvInertiaTensorWorld(&inertias[bodyB->m_originalBodyIndex]) * -torqueAxis1 : b3MakeVector3(0, 0, 0);
-
-	b3Scalar scaledDenom;
-	{
-#ifdef COMPUTE_IMPULSE_DENOM
-		b3Scalar denom0 = rb0->computeImpulseDenominator(pos1, cp.m_normalWorldOnB);
-		b3Scalar denom1 = rb1->computeImpulseDenominator(pos2, cp.m_normalWorldOnB);
-#else
-		b3Vector3 vec;
-		b3Scalar denom0 = 0.f;
-		b3Scalar denom1 = 0.f;
-		if (rb0)
-		{
-			vec = (solverConstraint.m_angularComponentA).cross(rel_pos1);
-			denom0 = rb0->m_invMass + cp.m_normalWorldOnB.dot(vec);
-		}
-		if (rb1)
-		{
-			vec = (-solverConstraint.m_angularComponentB).cross(rel_pos2);
-			denom1 = rb1->m_invMass + cp.m_normalWorldOnB.dot(vec);
-		}
-#endif  //COMPUTE_IMPULSE_DENOM
-
-		b3Scalar denom;
-		if (m_usePgs)
-		{
-			scaledDenom = denom = relaxation / (denom0 + denom1);
-		}
-		else
-		{
-			denom = relaxation / (denom0 + denom1);
-
-			b3Scalar countA = rb0->m_invMass ? b3Scalar(m_bodyCount[bodyA->m_originalBodyIndex]) : 1.f;
-			b3Scalar countB = rb1->m_invMass ? b3Scalar(m_bodyCount[bodyB->m_originalBodyIndex]) : 1.f;
-			scaledDenom = relaxation / (denom0 * countA + denom1 * countB);
-		}
-		solverConstraint.m_jacDiagABInv = denom;
-	}
-
-	solverConstraint.m_contactNormal = cp.m_normalWorldOnB;
-	solverConstraint.m_relpos1CrossNormal = torqueAxis0;
-	solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
-
-	b3Scalar restitution = 0.f;
-	b3Scalar penetration = cp.getDistance() + infoGlobal.m_linearSlop;
-
-	{
-		b3Vector3 vel1, vel2;
-
-		vel1 = rb0 ? getVelocityInLocalPoint(rb0, rel_pos1) : b3MakeVector3(0, 0, 0);
-		vel2 = rb1 ? getVelocityInLocalPoint(rb1, rel_pos2) : b3MakeVector3(0, 0, 0);
-
-		//			b3Vector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : b3Vector3(0,0,0);
-		vel = vel1 - vel2;
-		rel_vel = cp.m_normalWorldOnB.dot(vel);
-
-		solverConstraint.m_friction = cp.m_combinedFriction;
-
-		restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution);
-		if (restitution <= b3Scalar(0.))
-		{
-			restitution = 0.f;
-		};
-	}
-
-	///warm starting (or zero if disabled)
-	if (infoGlobal.m_solverMode & B3_SOLVER_USE_WARMSTARTING)
-	{
-		solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
-		if (rb0)
-			bodyA->internalApplyImpulse(solverConstraint.m_contactNormal * bodyA->internalGetInvMass(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse);
-		if (rb1)
-			bodyB->internalApplyImpulse(solverConstraint.m_contactNormal * bodyB->internalGetInvMass(), -solverConstraint.m_angularComponentB, -(b3Scalar)solverConstraint.m_appliedImpulse);
-	}
-	else
-	{
-		solverConstraint.m_appliedImpulse = 0.f;
-	}
-
-	solverConstraint.m_appliedPushImpulse = 0.f;
-
-	{
-		b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(rb0 ? bodyA->m_linearVelocity : b3MakeVector3(0, 0, 0)) + solverConstraint.m_relpos1CrossNormal.dot(rb0 ? bodyA->m_angularVelocity : b3MakeVector3(0, 0, 0));
-		b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rb1 ? bodyB->m_linearVelocity : b3MakeVector3(0, 0, 0)) + solverConstraint.m_relpos2CrossNormal.dot(rb1 ? bodyB->m_angularVelocity : b3MakeVector3(0, 0, 0));
-		b3Scalar rel_vel = vel1Dotn + vel2Dotn;
-
-		b3Scalar positionalError = 0.f;
-		b3Scalar velocityError = restitution - rel_vel;  // * damping;
-
-		b3Scalar erp = infoGlobal.m_erp2;
-		if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
-		{
-			erp = infoGlobal.m_erp;
-		}
-
-		if (penetration > 0)
-		{
-			positionalError = 0;
-
-			velocityError -= penetration / infoGlobal.m_timeStep;
-		}
-		else
-		{
-			positionalError = -penetration * erp / infoGlobal.m_timeStep;
-		}
-
-		b3Scalar penetrationImpulse = positionalError * scaledDenom;  //solverConstraint.m_jacDiagABInv;
-		b3Scalar velocityImpulse = velocityError * scaledDenom;       //solverConstraint.m_jacDiagABInv;
-
-		if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
-		{
-			//combine position and velocity into rhs
-			solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;
-			solverConstraint.m_rhsPenetration = 0.f;
-		}
-		else
-		{
-			//split position and velocity into rhs and m_rhsPenetration
-			solverConstraint.m_rhs = velocityImpulse;
-			solverConstraint.m_rhsPenetration = penetrationImpulse;
-		}
-		solverConstraint.m_cfm = 0.f;
-		solverConstraint.m_lowerLimit = 0;
-		solverConstraint.m_upperLimit = 1e10f;
-	}
-}
-
-void b3PgsJacobiSolver::setFrictionConstraintImpulse(b3RigidBodyData* bodies, b3InertiaData* inertias, b3SolverConstraint& solverConstraint,
-													 int solverBodyIdA, int solverBodyIdB,
-													 b3ContactPoint& cp, const b3ContactSolverInfo& infoGlobal)
-{
-	b3SolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA];
-	b3SolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB];
-
-	{
-		b3SolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex];
-		if (infoGlobal.m_solverMode & B3_SOLVER_USE_WARMSTARTING)
-		{
-			frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
-			if (bodies[bodyA->m_originalBodyIndex].m_invMass)
-				bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal * bodies[bodyA->m_originalBodyIndex].m_invMass, frictionConstraint1.m_angularComponentA, frictionConstraint1.m_appliedImpulse);
-			if (bodies[bodyB->m_originalBodyIndex].m_invMass)
-				bodyB->internalApplyImpulse(frictionConstraint1.m_contactNormal * bodies[bodyB->m_originalBodyIndex].m_invMass, -frictionConstraint1.m_angularComponentB, -(b3Scalar)frictionConstraint1.m_appliedImpulse);
-		}
-		else
-		{
-			frictionConstraint1.m_appliedImpulse = 0.f;
-		}
-	}
-
-	if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS))
-	{
-		b3SolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex + 1];
-		if (infoGlobal.m_solverMode & B3_SOLVER_USE_WARMSTARTING)
-		{
-			frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor;
-			if (bodies[bodyA->m_originalBodyIndex].m_invMass)
-				bodyA->internalApplyImpulse(frictionConstraint2.m_contactNormal * bodies[bodyA->m_originalBodyIndex].m_invMass, frictionConstraint2.m_angularComponentA, frictionConstraint2.m_appliedImpulse);
-			if (bodies[bodyB->m_originalBodyIndex].m_invMass)
-				bodyB->internalApplyImpulse(frictionConstraint2.m_contactNormal * bodies[bodyB->m_originalBodyIndex].m_invMass, -frictionConstraint2.m_angularComponentB, -(b3Scalar)frictionConstraint2.m_appliedImpulse);
-		}
-		else
-		{
-			frictionConstraint2.m_appliedImpulse = 0.f;
-		}
-	}
-}
-
-void b3PgsJacobiSolver::convertContact(b3RigidBodyData* bodies, b3InertiaData* inertias, b3Contact4* manifold, const b3ContactSolverInfo& infoGlobal)
-{
-	b3RigidBodyData *colObj0 = 0, *colObj1 = 0;
-
-	int solverBodyIdA = getOrInitSolverBody(manifold->getBodyA(), bodies, inertias);
-	int solverBodyIdB = getOrInitSolverBody(manifold->getBodyB(), bodies, inertias);
-
-	//	b3RigidBody* bodyA = b3RigidBody::upcast(colObj0);
-	//	b3RigidBody* bodyB = b3RigidBody::upcast(colObj1);
-
-	b3SolverBody* solverBodyA = &m_tmpSolverBodyPool[solverBodyIdA];
-	b3SolverBody* solverBodyB = &m_tmpSolverBodyPool[solverBodyIdB];
-
-	///avoid collision response between two static objects
-	if (solverBodyA->m_invMass.isZero() && solverBodyB->m_invMass.isZero())
-		return;
-
-	int rollingFriction = 1;
-	int numContacts = getNumContacts(manifold);
-	for (int j = 0; j < numContacts; j++)
-	{
-		b3ContactPoint cp;
-		getContactPoint(manifold, j, cp);
-
-		if (cp.getDistance() <= getContactProcessingThreshold(manifold))
-		{
-			b3Vector3 rel_pos1;
-			b3Vector3 rel_pos2;
-			b3Scalar relaxation;
-			b3Scalar rel_vel;
-			b3Vector3 vel;
-
-			int frictionIndex = m_tmpSolverContactConstraintPool.size();
-			b3SolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing();
-			//			b3RigidBody* rb0 = b3RigidBody::upcast(colObj0);
-			//			b3RigidBody* rb1 = b3RigidBody::upcast(colObj1);
-			solverConstraint.m_solverBodyIdA = solverBodyIdA;
-			solverConstraint.m_solverBodyIdB = solverBodyIdB;
-
-			solverConstraint.m_originalContactPoint = &cp;
-
-			setupContactConstraint(bodies, inertias, solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, vel, rel_vel, relaxation, rel_pos1, rel_pos2);
-
-			//			const b3Vector3& pos1 = cp.getPositionWorldOnA();
-			//			const b3Vector3& pos2 = cp.getPositionWorldOnB();
-
-			/////setup the friction constraints
-
-			solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size();
-
-			b3Vector3 angVelA, angVelB;
-			solverBodyA->getAngularVelocity(angVelA);
-			solverBodyB->getAngularVelocity(angVelB);
-			b3Vector3 relAngVel = angVelB - angVelA;
-
-			if ((cp.m_combinedRollingFriction > 0.f) && (rollingFriction > 0))
-			{
-				//only a single rollingFriction per manifold
-				rollingFriction--;
-				if (relAngVel.length() > infoGlobal.m_singleAxisRollingFrictionThreshold)
-				{
-					relAngVel.normalize();
-					if (relAngVel.length() > 0.001)
-						addRollingFrictionConstraint(bodies, inertias, relAngVel, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
-				}
-				else
-				{
-					addRollingFrictionConstraint(bodies, inertias, cp.m_normalWorldOnB, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
-					b3Vector3 axis0, axis1;
-					b3PlaneSpace1(cp.m_normalWorldOnB, axis0, axis1);
-					if (axis0.length() > 0.001)
-						addRollingFrictionConstraint(bodies, inertias, axis0, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
-					if (axis1.length() > 0.001)
-						addRollingFrictionConstraint(bodies, inertias, axis1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
-				}
-			}
-
-			///Bullet has several options to set the friction directions
-			///By default, each contact has only a single friction direction that is recomputed automatically very frame
-			///based on the relative linear velocity.
-			///If the relative velocity it zero, it will automatically compute a friction direction.
-
-			///You can also enable two friction directions, using the B3_SOLVER_USE_2_FRICTION_DIRECTIONS.
-			///In that case, the second friction direction will be orthogonal to both contact normal and first friction direction.
-			///
-			///If you choose B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, then the friction will be independent from the relative projected velocity.
-			///
-			///The user can manually override the friction directions for certain contacts using a contact callback,
-			///and set the cp.m_lateralFrictionInitialized to true
-			///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2)
-			///this will give a conveyor belt effect
-			///
-			if (!(infoGlobal.m_solverMode & B3_SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !cp.m_lateralFrictionInitialized)
-			{
-				cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
-				b3Scalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
-				if (!(infoGlobal.m_solverMode & B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > B3_EPSILON)
-				{
-					cp.m_lateralFrictionDir1 *= 1.f / b3Sqrt(lat_rel_vel);
-					if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS))
-					{
-						cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
-						cp.m_lateralFrictionDir2.normalize();  //??
-						addFrictionConstraint(bodies, inertias, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
-					}
-
-					addFrictionConstraint(bodies, inertias, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
-				}
-				else
-				{
-					b3PlaneSpace1(cp.m_normalWorldOnB, cp.m_lateralFrictionDir1, cp.m_lateralFrictionDir2);
-
-					if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS))
-					{
-						addFrictionConstraint(bodies, inertias, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
-					}
-
-					addFrictionConstraint(bodies, inertias, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
-
-					if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
-					{
-						cp.m_lateralFrictionInitialized = true;
-					}
-				}
-			}
-			else
-			{
-				addFrictionConstraint(bodies, inertias, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, cp.m_contactMotion1, cp.m_contactCFM1);
-
-				if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS))
-					addFrictionConstraint(bodies, inertias, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, cp.m_contactMotion2, cp.m_contactCFM2);
-
-				setFrictionConstraintImpulse(bodies, inertias, solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
-			}
-		}
-	}
-}
-
-b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, b3Contact4* manifoldPtr, int numManifolds, b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal)
-{
-	B3_PROFILE("solveGroupCacheFriendlySetup");
-
-	m_maxOverrideNumSolverIterations = 0;
-
-	m_tmpSolverBodyPool.resize(0);
-
-	m_bodyCount.resize(0);
-	m_bodyCount.resize(numBodies, 0);
-	m_bodyCountCheck.resize(0);
-	m_bodyCountCheck.resize(numBodies, 0);
-
-	m_deltaLinearVelocities.resize(0);
-	m_deltaLinearVelocities.resize(numBodies, b3MakeVector3(0, 0, 0));
-	m_deltaAngularVelocities.resize(0);
-	m_deltaAngularVelocities.resize(numBodies, b3MakeVector3(0, 0, 0));
-
-	//int totalBodies = 0;
-
-	for (int i = 0; i < numConstraints; i++)
-	{
-		int bodyIndexA = constraints[i]->getRigidBodyA();
-		int bodyIndexB = constraints[i]->getRigidBodyB();
-		if (m_usePgs)
-		{
-			m_bodyCount[bodyIndexA] = -1;
-			m_bodyCount[bodyIndexB] = -1;
-		}
-		else
-		{
-			//didn't implement joints with Jacobi version yet
-			b3Assert(0);
-		}
-	}
-	for (int i = 0; i < numManifolds; i++)
-	{
-		int bodyIndexA = manifoldPtr[i].getBodyA();
-		int bodyIndexB = manifoldPtr[i].getBodyB();
-		if (m_usePgs)
-		{
-			m_bodyCount[bodyIndexA] = -1;
-			m_bodyCount[bodyIndexB] = -1;
-		}
-		else
-		{
-			if (bodies[bodyIndexA].m_invMass)
-			{
-				//m_bodyCount[bodyIndexA]+=manifoldPtr[i].getNPoints();
-				m_bodyCount[bodyIndexA]++;
-			}
-			else
-				m_bodyCount[bodyIndexA] = -1;
-
-			if (bodies[bodyIndexB].m_invMass)
-				//	m_bodyCount[bodyIndexB]+=manifoldPtr[i].getNPoints();
-				m_bodyCount[bodyIndexB]++;
-			else
-				m_bodyCount[bodyIndexB] = -1;
-		}
-	}
-
-	if (1)
-	{
-		int j;
-		for (j = 0; j < numConstraints; j++)
-		{
-			b3TypedConstraint* constraint = constraints[j];
-
-			constraint->internalSetAppliedImpulse(0.0f);
-		}
-	}
-
-	//b3RigidBody* rb0=0,*rb1=0;
-	//if (1)
-	{
-		{
-			int totalNumRows = 0;
-			int i;
-
-			m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints);
-			//calculate the total number of contraint rows
-			for (i = 0; i < numConstraints; i++)
-			{
-				b3TypedConstraint::b3ConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
-				b3JointFeedback* fb = constraints[i]->getJointFeedback();
-				if (fb)
-				{
-					fb->m_appliedForceBodyA.setZero();
-					fb->m_appliedTorqueBodyA.setZero();
-					fb->m_appliedForceBodyB.setZero();
-					fb->m_appliedTorqueBodyB.setZero();
-				}
-
-				if (constraints[i]->isEnabled())
-				{
-				}
-				if (constraints[i]->isEnabled())
-				{
-					constraints[i]->getInfo1(&info1, bodies);
-				}
-				else
-				{
-					info1.m_numConstraintRows = 0;
-					info1.nub = 0;
-				}
-				totalNumRows += info1.m_numConstraintRows;
-			}
-			m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows);
-
-#ifndef DISABLE_JOINTS
-			///setup the b3SolverConstraints
-			int currentRow = 0;
-
-			for (i = 0; i < numConstraints; i++)
-			{
-				const b3TypedConstraint::b3ConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
-
-				if (info1.m_numConstraintRows)
-				{
-					b3Assert(currentRow < totalNumRows);
-
-					b3SolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow];
-					b3TypedConstraint* constraint = constraints[i];
-
-					b3RigidBodyData& rbA = bodies[constraint->getRigidBodyA()];
-					//b3RigidBody& rbA = constraint->getRigidBodyA();
-					//				b3RigidBody& rbB = constraint->getRigidBodyB();
-					b3RigidBodyData& rbB = bodies[constraint->getRigidBodyB()];
-
-					int solverBodyIdA = getOrInitSolverBody(constraint->getRigidBodyA(), bodies, inertias);
-					int solverBodyIdB = getOrInitSolverBody(constraint->getRigidBodyB(), bodies, inertias);
-
-					b3SolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA];
-					b3SolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB];
-
-					int overrideNumSolverIterations = constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;
-					if (overrideNumSolverIterations > m_maxOverrideNumSolverIterations)
-						m_maxOverrideNumSolverIterations = overrideNumSolverIterations;
-
-					int j;
-					for (j = 0; j < info1.m_numConstraintRows; j++)
-					{
-						memset(&currentConstraintRow[j], 0, sizeof(b3SolverConstraint));
-						currentConstraintRow[j].m_lowerLimit = -B3_INFINITY;
-						currentConstraintRow[j].m_upperLimit = B3_INFINITY;
-						currentConstraintRow[j].m_appliedImpulse = 0.f;
-						currentConstraintRow[j].m_appliedPushImpulse = 0.f;
-						currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA;
-						currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB;
-						currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations;
-					}
-
-					bodyAPtr->internalGetDeltaLinearVelocity().setValue(0.f, 0.f, 0.f);
-					bodyAPtr->internalGetDeltaAngularVelocity().setValue(0.f, 0.f, 0.f);
-					bodyAPtr->internalGetPushVelocity().setValue(0.f, 0.f, 0.f);
-					bodyAPtr->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f);
-					bodyBPtr->internalGetDeltaLinearVelocity().setValue(0.f, 0.f, 0.f);
-					bodyBPtr->internalGetDeltaAngularVelocity().setValue(0.f, 0.f, 0.f);
-					bodyBPtr->internalGetPushVelocity().setValue(0.f, 0.f, 0.f);
-					bodyBPtr->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f);
-
-					b3TypedConstraint::b3ConstraintInfo2 info2;
-					info2.fps = 1.f / infoGlobal.m_timeStep;
-					info2.erp = infoGlobal.m_erp;
-					info2.m_J1linearAxis = currentConstraintRow->m_contactNormal;
-					info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal;
-					info2.m_J2linearAxis = 0;
-					info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal;
-					info2.rowskip = sizeof(b3SolverConstraint) / sizeof(b3Scalar);  //check this
-																					///the size of b3SolverConstraint needs be a multiple of b3Scalar
-					b3Assert(info2.rowskip * sizeof(b3Scalar) == sizeof(b3SolverConstraint));
-					info2.m_constraintError = &currentConstraintRow->m_rhs;
-					currentConstraintRow->m_cfm = infoGlobal.m_globalCfm;
-					info2.m_damping = infoGlobal.m_damping;
-					info2.cfm = &currentConstraintRow->m_cfm;
-					info2.m_lowerLimit = &currentConstraintRow->m_lowerLimit;
-					info2.m_upperLimit = &currentConstraintRow->m_upperLimit;
-					info2.m_numIterations = infoGlobal.m_numIterations;
-					constraints[i]->getInfo2(&info2, bodies);
-
-					///finalize the constraint setup
-					for (j = 0; j < info1.m_numConstraintRows; j++)
-					{
-						b3SolverConstraint& solverConstraint = currentConstraintRow[j];
-
-						if (solverConstraint.m_upperLimit >= constraints[i]->getBreakingImpulseThreshold())
-						{
-							solverConstraint.m_upperLimit = constraints[i]->getBreakingImpulseThreshold();
-						}
-
-						if (solverConstraint.m_lowerLimit <= -constraints[i]->getBreakingImpulseThreshold())
-						{
-							solverConstraint.m_lowerLimit = -constraints[i]->getBreakingImpulseThreshold();
-						}
-
-						solverConstraint.m_originalContactPoint = constraint;
-
-						b3Matrix3x3& invInertiaWorldA = inertias[constraint->getRigidBodyA()].m_invInertiaWorld;
-						{
-							//b3Vector3 angularFactorA(1,1,1);
-							const b3Vector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal;
-							solverConstraint.m_angularComponentA = invInertiaWorldA * ftorqueAxis1;  //*angularFactorA;
-						}
-
-						b3Matrix3x3& invInertiaWorldB = inertias[constraint->getRigidBodyB()].m_invInertiaWorld;
-						{
-							const b3Vector3& ftorqueAxis2 = solverConstraint.m_relpos2CrossNormal;
-							solverConstraint.m_angularComponentB = invInertiaWorldB * ftorqueAxis2;  //*constraint->getRigidBodyB().getAngularFactor();
-						}
-
-						{
-							//it is ok to use solverConstraint.m_contactNormal instead of -solverConstraint.m_contactNormal
-							//because it gets multiplied iMJlB
-							b3Vector3 iMJlA = solverConstraint.m_contactNormal * rbA.m_invMass;
-							b3Vector3 iMJaA = invInertiaWorldA * solverConstraint.m_relpos1CrossNormal;
-							b3Vector3 iMJlB = solverConstraint.m_contactNormal * rbB.m_invMass;  //sign of normal?
-							b3Vector3 iMJaB = invInertiaWorldB * solverConstraint.m_relpos2CrossNormal;
-
-							b3Scalar sum = iMJlA.dot(solverConstraint.m_contactNormal);
-							sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
-							sum += iMJlB.dot(solverConstraint.m_contactNormal);
-							sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
-							b3Scalar fsum = b3Fabs(sum);
-							b3Assert(fsum > B3_EPSILON);
-							solverConstraint.m_jacDiagABInv = fsum > B3_EPSILON ? b3Scalar(1.) / sum : 0.f;
-						}
-
-						///fix rhs
-						///todo: add force/torque accelerators
-						{
-							b3Scalar rel_vel;
-							b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(rbA.m_linVel) + solverConstraint.m_relpos1CrossNormal.dot(rbA.m_angVel);
-							b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rbB.m_linVel) + solverConstraint.m_relpos2CrossNormal.dot(rbB.m_angVel);
-
-							rel_vel = vel1Dotn + vel2Dotn;
-
-							b3Scalar restitution = 0.f;
-							b3Scalar positionalError = solverConstraint.m_rhs;  //already filled in by getConstraintInfo2
-							b3Scalar velocityError = restitution - rel_vel * info2.m_damping;
-							b3Scalar penetrationImpulse = positionalError * solverConstraint.m_jacDiagABInv;
-							b3Scalar velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
-							solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;
-							solverConstraint.m_appliedImpulse = 0.f;
-						}
-					}
-				}
-				currentRow += m_tmpConstraintSizesPool[i].m_numConstraintRows;
-			}
-#endif  //DISABLE_JOINTS
-		}
-
-		{
-			int i;
-
-			for (i = 0; i < numManifolds; i++)
-			{
-				b3Contact4& manifold = manifoldPtr[i];
-				convertContact(bodies, inertias, &manifold, infoGlobal);
-			}
-		}
-	}
-
-	//	b3ContactSolverInfo info = infoGlobal;
-
-	int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
-	int numConstraintPool = m_tmpSolverContactConstraintPool.size();
-	int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
-
-	///@todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
-	m_orderNonContactConstraintPool.resizeNoInitialize(numNonContactPool);
-	if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS))
-		m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool * 2);
-	else
-		m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool);
-
-	m_orderFrictionConstraintPool.resizeNoInitialize(numFrictionPool);
-	{
-		int i;
-		for (i = 0; i < numNonContactPool; i++)
-		{
-			m_orderNonContactConstraintPool[i] = i;
-		}
-		for (i = 0; i < numConstraintPool; i++)
-		{
-			m_orderTmpConstraintPool[i] = i;
-		}
-		for (i = 0; i < numFrictionPool; i++)
-		{
-			m_orderFrictionConstraintPool[i] = i;
-		}
-	}
-
-	return 0.f;
-}
-
-b3Scalar b3PgsJacobiSolver::solveSingleIteration(int iteration, b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal)
-{
-	int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
-	int numConstraintPool = m_tmpSolverContactConstraintPool.size();
-	int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
-
-	if (infoGlobal.m_solverMode & B3_SOLVER_RANDMIZE_ORDER)
-	{
-		if (1)  // uncomment this for a bit less random ((iteration & 7) == 0)
-		{
-			for (int j = 0; j < numNonContactPool; ++j)
-			{
-				int tmp = m_orderNonContactConstraintPool[j];
-				int swapi = b3RandInt2(j + 1);
-				m_orderNonContactConstraintPool[j] = m_orderNonContactConstraintPool[swapi];
-				m_orderNonContactConstraintPool[swapi] = tmp;
-			}
-
-			//contact/friction constraints are not solved more than
-			if (iteration < infoGlobal.m_numIterations)
-			{
-				for (int j = 0; j < numConstraintPool; ++j)
-				{
-					int tmp = m_orderTmpConstraintPool[j];
-					int swapi = b3RandInt2(j + 1);
-					m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi];
-					m_orderTmpConstraintPool[swapi] = tmp;
-				}
-
-				for (int j = 0; j < numFrictionPool; ++j)
-				{
-					int tmp = m_orderFrictionConstraintPool[j];
-					int swapi = b3RandInt2(j + 1);
-					m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi];
-					m_orderFrictionConstraintPool[swapi] = tmp;
-				}
-			}
-		}
-	}
-
-	if (infoGlobal.m_solverMode & B3_SOLVER_SIMD)
-	{
-		///solve all joint constraints, using SIMD, if available
-		for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++)
-		{
-			b3SolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
-			if (iteration < constraint.m_overrideNumSolverIterations)
-				resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[constraint.m_solverBodyIdA], m_tmpSolverBodyPool[constraint.m_solverBodyIdB], constraint);
-		}
-
-		if (iteration < infoGlobal.m_numIterations)
-		{
-			///solve all contact constraints using SIMD, if available
-			if (infoGlobal.m_solverMode & B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
-			{
-				int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-				int multiplier = (infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS) ? 2 : 1;
-
-				for (int c = 0; c < numPoolConstraints; c++)
-				{
-					b3Scalar totalImpulse = 0;
-
-					{
-						const b3SolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]];
-						resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-						totalImpulse = solveManifold.m_appliedImpulse;
-					}
-					bool applyFriction = true;
-					if (applyFriction)
-					{
-						{
-							b3SolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier]];
-
-							if (totalImpulse > b3Scalar(0))
-							{
-								solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
-								solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
-
-								resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-							}
-						}
-
-						if (infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS)
-						{
-							b3SolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier + 1]];
-
-							if (totalImpulse > b3Scalar(0))
-							{
-								solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
-								solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
-
-								resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-							}
-						}
-					}
-				}
-			}
-			else  //B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
-			{
-				//solve the friction constraints after all contact constraints, don't interleave them
-				int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-				int j;
-
-				for (j = 0; j < numPoolConstraints; j++)
-				{
-					const b3SolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-					resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-				}
-
-				if (!m_usePgs)
-					averageVelocities();
-
-				///solve all friction constraints, using SIMD, if available
-
-				int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
-				for (j = 0; j < numFrictionPoolConstraints; j++)
-				{
-					b3SolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
-					b3Scalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
-
-					if (totalImpulse > b3Scalar(0))
-					{
-						solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
-						solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
-
-						resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-					}
-				}
-
-				int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
-				for (j = 0; j < numRollingFrictionPoolConstraints; j++)
-				{
-					b3SolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
-					b3Scalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
-					if (totalImpulse > b3Scalar(0))
-					{
-						b3Scalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse;
-						if (rollingFrictionMagnitude > rollingFrictionConstraint.m_friction)
-							rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
-
-						rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
-						rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
-
-						resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint);
-					}
-				}
-			}
-		}
-	}
-	else
-	{
-		//non-SIMD version
-		///solve all joint constraints
-		for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++)
-		{
-			b3SolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
-			if (iteration < constraint.m_overrideNumSolverIterations)
-				resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA], m_tmpSolverBodyPool[constraint.m_solverBodyIdB], constraint);
-		}
-
-		if (iteration < infoGlobal.m_numIterations)
-		{
-			///solve all contact constraints
-			int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-			for (int j = 0; j < numPoolConstraints; j++)
-			{
-				const b3SolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-				resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-			}
-			///solve all friction constraints
-			int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
-			for (int j = 0; j < numFrictionPoolConstraints; j++)
-			{
-				b3SolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
-				b3Scalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
-
-				if (totalImpulse > b3Scalar(0))
-				{
-					solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
-					solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
-
-					resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-				}
-			}
-
-			int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
-			for (int j = 0; j < numRollingFrictionPoolConstraints; j++)
-			{
-				b3SolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
-				b3Scalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
-				if (totalImpulse > b3Scalar(0))
-				{
-					b3Scalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse;
-					if (rollingFrictionMagnitude > rollingFrictionConstraint.m_friction)
-						rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
-
-					rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
-					rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
-
-					resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint);
-				}
-			}
-		}
-	}
-	return 0.f;
-}
-
-void b3PgsJacobiSolver::solveGroupCacheFriendlySplitImpulseIterations(b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal)
-{
-	int iteration;
-	if (infoGlobal.m_splitImpulse)
-	{
-		if (infoGlobal.m_solverMode & B3_SOLVER_SIMD)
-		{
-			for (iteration = 0; iteration < infoGlobal.m_numIterations; iteration++)
-			{
-				{
-					int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-					int j;
-					for (j = 0; j < numPoolConstraints; j++)
-					{
-						const b3SolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-
-						resolveSplitPenetrationSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-					}
-				}
-			}
-		}
-		else
-		{
-			for (iteration = 0; iteration < infoGlobal.m_numIterations; iteration++)
-			{
-				{
-					int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-					int j;
-					for (j = 0; j < numPoolConstraints; j++)
-					{
-						const b3SolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-
-						resolveSplitPenetrationImpulseCacheFriendly(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-					}
-				}
-			}
-		}
-	}
-}
-
-b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlyIterations(b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal)
-{
-	B3_PROFILE("solveGroupCacheFriendlyIterations");
-
-	{
-		///this is a special step to resolve penetrations (just for contacts)
-		solveGroupCacheFriendlySplitImpulseIterations(constraints, numConstraints, infoGlobal);
-
-		int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
-
-		for (int iteration = 0; iteration < maxIterations; iteration++)
-		//for ( int iteration = maxIterations-1  ; iteration >= 0;iteration--)
-		{
-			solveSingleIteration(iteration, constraints, numConstraints, infoGlobal);
-
-			if (!m_usePgs)
-			{
-				averageVelocities();
-			}
-		}
-	}
-	return 0.f;
-}
-
-void b3PgsJacobiSolver::averageVelocities()
-{
-	B3_PROFILE("averaging");
-	//average the velocities
-	int numBodies = m_bodyCount.size();
-
-	m_deltaLinearVelocities.resize(0);
-	m_deltaLinearVelocities.resize(numBodies, b3MakeVector3(0, 0, 0));
-	m_deltaAngularVelocities.resize(0);
-	m_deltaAngularVelocities.resize(numBodies, b3MakeVector3(0, 0, 0));
-
-	for (int i = 0; i < m_tmpSolverBodyPool.size(); i++)
-	{
-		if (!m_tmpSolverBodyPool[i].m_invMass.isZero())
-		{
-			int orgBodyIndex = m_tmpSolverBodyPool[i].m_originalBodyIndex;
-			m_deltaLinearVelocities[orgBodyIndex] += m_tmpSolverBodyPool[i].getDeltaLinearVelocity();
-			m_deltaAngularVelocities[orgBodyIndex] += m_tmpSolverBodyPool[i].getDeltaAngularVelocity();
-		}
-	}
-
-	for (int i = 0; i < m_tmpSolverBodyPool.size(); i++)
-	{
-		int orgBodyIndex = m_tmpSolverBodyPool[i].m_originalBodyIndex;
-
-		if (!m_tmpSolverBodyPool[i].m_invMass.isZero())
-		{
-			b3Assert(m_bodyCount[orgBodyIndex] == m_bodyCountCheck[orgBodyIndex]);
-
-			b3Scalar factor = 1.f / b3Scalar(m_bodyCount[orgBodyIndex]);
-
-			m_tmpSolverBodyPool[i].m_deltaLinearVelocity = m_deltaLinearVelocities[orgBodyIndex] * factor;
-			m_tmpSolverBodyPool[i].m_deltaAngularVelocity = m_deltaAngularVelocities[orgBodyIndex] * factor;
-		}
-	}
-}
-
-b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlyFinish(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, const b3ContactSolverInfo& infoGlobal)
-{
-	B3_PROFILE("solveGroupCacheFriendlyFinish");
-	int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-	int i, j;
-
-	if (infoGlobal.m_solverMode & B3_SOLVER_USE_WARMSTARTING)
-	{
-		for (j = 0; j < numPoolConstraints; j++)
-		{
-			const b3SolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[j];
-			b3ContactPoint* pt = (b3ContactPoint*)solveManifold.m_originalContactPoint;
-			b3Assert(pt);
-			pt->m_appliedImpulse = solveManifold.m_appliedImpulse;
-			//	float f = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
-			//	printf("pt->m_appliedImpulseLateral1 = %f\n", f);
-			pt->m_appliedImpulseLateral1 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
-			//printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1);
-			if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS))
-			{
-				pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex + 1].m_appliedImpulse;
-			}
-			//do a callback here?
-		}
-	}
-
-	numPoolConstraints = m_tmpSolverNonContactConstraintPool.size();
-	for (j = 0; j < numPoolConstraints; j++)
-	{
-		const b3SolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j];
-		b3TypedConstraint* constr = (b3TypedConstraint*)solverConstr.m_originalContactPoint;
-		b3JointFeedback* fb = constr->getJointFeedback();
-		if (fb)
-		{
-			b3SolverBody* bodyA = &m_tmpSolverBodyPool[solverConstr.m_solverBodyIdA];
-			b3SolverBody* bodyB = &m_tmpSolverBodyPool[solverConstr.m_solverBodyIdB];
-
-			fb->m_appliedForceBodyA += solverConstr.m_contactNormal * solverConstr.m_appliedImpulse * bodyA->m_linearFactor / infoGlobal.m_timeStep;
-			fb->m_appliedForceBodyB += -solverConstr.m_contactNormal * solverConstr.m_appliedImpulse * bodyB->m_linearFactor / infoGlobal.m_timeStep;
-			fb->m_appliedTorqueBodyA += solverConstr.m_relpos1CrossNormal * bodyA->m_angularFactor * solverConstr.m_appliedImpulse / infoGlobal.m_timeStep;
-			fb->m_appliedTorqueBodyB += -solverConstr.m_relpos1CrossNormal * bodyB->m_angularFactor * solverConstr.m_appliedImpulse / infoGlobal.m_timeStep;
-		}
-
-		constr->internalSetAppliedImpulse(solverConstr.m_appliedImpulse);
-		if (b3Fabs(solverConstr.m_appliedImpulse) >= constr->getBreakingImpulseThreshold())
-		{
-			constr->setEnabled(false);
-		}
-	}
-
-	{
-		B3_PROFILE("write back velocities and transforms");
-		for (i = 0; i < m_tmpSolverBodyPool.size(); i++)
-		{
-			int bodyIndex = m_tmpSolverBodyPool[i].m_originalBodyIndex;
-			//b3Assert(i==bodyIndex);
-
-			b3RigidBodyData* body = &bodies[bodyIndex];
-			if (body->m_invMass)
-			{
-				if (infoGlobal.m_splitImpulse)
-					m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp);
-				else
-					m_tmpSolverBodyPool[i].writebackVelocity();
-
-				if (m_usePgs)
-				{
-					body->m_linVel = m_tmpSolverBodyPool[i].m_linearVelocity;
-					body->m_angVel = m_tmpSolverBodyPool[i].m_angularVelocity;
-				}
-				else
-				{
-					b3Scalar factor = 1.f / b3Scalar(m_bodyCount[bodyIndex]);
-
-					b3Vector3 deltaLinVel = m_deltaLinearVelocities[bodyIndex] * factor;
-					b3Vector3 deltaAngVel = m_deltaAngularVelocities[bodyIndex] * factor;
-					//printf("body %d\n",bodyIndex);
-					//printf("deltaLinVel = %f,%f,%f\n",deltaLinVel.getX(),deltaLinVel.getY(),deltaLinVel.getZ());
-					//printf("deltaAngVel = %f,%f,%f\n",deltaAngVel.getX(),deltaAngVel.getY(),deltaAngVel.getZ());
-
-					body->m_linVel += deltaLinVel;
-					body->m_angVel += deltaAngVel;
-				}
-
-				if (infoGlobal.m_splitImpulse)
-				{
-					body->m_pos = m_tmpSolverBodyPool[i].m_worldTransform.getOrigin();
-					b3Quaternion orn;
-					orn = m_tmpSolverBodyPool[i].m_worldTransform.getRotation();
-					body->m_quat = orn;
-				}
-			}
-		}
-	}
-
-	m_tmpSolverContactConstraintPool.resizeNoInitialize(0);
-	m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0);
-	m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0);
-	m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0);
-
-	m_tmpSolverBodyPool.resizeNoInitialize(0);
-	return 0.f;
-}
-
-void b3PgsJacobiSolver::reset()
-{
-	m_btSeed2 = 0;
-}
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.h
deleted file mode 100644
index 5b616541d9..0000000000
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.h
+++ /dev/null
@@ -1,133 +0,0 @@
-#ifndef B3_PGS_JACOBI_SOLVER
-#define B3_PGS_JACOBI_SOLVER
-
-struct b3Contact4;
-struct b3ContactPoint;
-
-class b3Dispatcher;
-
-#include "b3TypedConstraint.h"
-#include "b3ContactSolverInfo.h"
-#include "b3SolverBody.h"
-#include "b3SolverConstraint.h"
-
-struct b3RigidBodyData;
-struct b3InertiaData;
-
-class b3PgsJacobiSolver
-{
-protected:
-	b3AlignedObjectArray<b3SolverBody> m_tmpSolverBodyPool;
-	b3ConstraintArray m_tmpSolverContactConstraintPool;
-	b3ConstraintArray m_tmpSolverNonContactConstraintPool;
-	b3ConstraintArray m_tmpSolverContactFrictionConstraintPool;
-	b3ConstraintArray m_tmpSolverContactRollingFrictionConstraintPool;
-
-	b3AlignedObjectArray<int> m_orderTmpConstraintPool;
-	b3AlignedObjectArray<int> m_orderNonContactConstraintPool;
-	b3AlignedObjectArray<int> m_orderFrictionConstraintPool;
-	b3AlignedObjectArray<b3TypedConstraint::b3ConstraintInfo1> m_tmpConstraintSizesPool;
-
-	b3AlignedObjectArray<int> m_bodyCount;
-	b3AlignedObjectArray<int> m_bodyCountCheck;
-
-	b3AlignedObjectArray<b3Vector3> m_deltaLinearVelocities;
-	b3AlignedObjectArray<b3Vector3> m_deltaAngularVelocities;
-
-	bool m_usePgs;
-	void averageVelocities();
-
-	int m_maxOverrideNumSolverIterations;
-
-	int m_numSplitImpulseRecoveries;
-
-	b3Scalar getContactProcessingThreshold(b3Contact4* contact)
-	{
-		return 0.02f;
-	}
-	void setupFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis, int solverBodyIdA, int solverBodyIdB,
-								 b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2,
-								 b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation,
-								 b3Scalar desiredVelocity = 0., b3Scalar cfmSlip = 0.);
-
-	void setupRollingFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis, int solverBodyIdA, int solverBodyIdB,
-										b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2,
-										b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation,
-										b3Scalar desiredVelocity = 0., b3Scalar cfmSlip = 0.);
-
-	b3SolverConstraint& addFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, const b3Vector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2, b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity = 0., b3Scalar cfmSlip = 0.);
-	b3SolverConstraint& addRollingFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, const b3Vector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2, b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity = 0, b3Scalar cfmSlip = 0.f);
-
-	void setupContactConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias,
-								b3SolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, b3ContactPoint& cp,
-								const b3ContactSolverInfo& infoGlobal, b3Vector3& vel, b3Scalar& rel_vel, b3Scalar& relaxation,
-								b3Vector3& rel_pos1, b3Vector3& rel_pos2);
-
-	void setFrictionConstraintImpulse(b3RigidBodyData* bodies, b3InertiaData* inertias, b3SolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB,
-									  b3ContactPoint& cp, const b3ContactSolverInfo& infoGlobal);
-
-	///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
-	unsigned long m_btSeed2;
-
-	b3Scalar restitutionCurve(b3Scalar rel_vel, b3Scalar restitution);
-
-	void convertContact(b3RigidBodyData* bodies, b3InertiaData* inertias, b3Contact4* manifold, const b3ContactSolverInfo& infoGlobal);
-
-	void resolveSplitPenetrationSIMD(
-		b3SolverBody& bodyA, b3SolverBody& bodyB,
-		const b3SolverConstraint& contactConstraint);
-
-	void resolveSplitPenetrationImpulseCacheFriendly(
-		b3SolverBody& bodyA, b3SolverBody& bodyB,
-		const b3SolverConstraint& contactConstraint);
-
-	//internal method
-	int getOrInitSolverBody(int bodyIndex, b3RigidBodyData* bodies, b3InertiaData* inertias);
-	void initSolverBody(int bodyIndex, b3SolverBody* solverBody, b3RigidBodyData* collisionObject);
-
-	void resolveSingleConstraintRowGeneric(b3SolverBody& bodyA, b3SolverBody& bodyB, const b3SolverConstraint& contactConstraint);
-
-	void resolveSingleConstraintRowGenericSIMD(b3SolverBody& bodyA, b3SolverBody& bodyB, const b3SolverConstraint& contactConstraint);
-
-	void resolveSingleConstraintRowLowerLimit(b3SolverBody& bodyA, b3SolverBody& bodyB, const b3SolverConstraint& contactConstraint);
-
-	void resolveSingleConstraintRowLowerLimitSIMD(b3SolverBody& bodyA, b3SolverBody& bodyB, const b3SolverConstraint& contactConstraint);
-
-protected:
-	virtual b3Scalar solveGroupCacheFriendlySetup(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, b3Contact4* manifoldPtr, int numManifolds, b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal);
-
-	virtual b3Scalar solveGroupCacheFriendlyIterations(b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal);
-	virtual void solveGroupCacheFriendlySplitImpulseIterations(b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal);
-	b3Scalar solveSingleIteration(int iteration, b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal);
-
-	virtual b3Scalar solveGroupCacheFriendlyFinish(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, const b3ContactSolverInfo& infoGlobal);
-
-public:
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-	b3PgsJacobiSolver(bool usePgs);
-	virtual ~b3PgsJacobiSolver();
-
-	//	void	solveContacts(int numBodies, b3RigidBodyData* bodies, b3InertiaData* inertias, int numContacts, b3Contact4* contacts);
-	void solveContacts(int numBodies, b3RigidBodyData* bodies, b3InertiaData* inertias, int numContacts, b3Contact4* contacts, int numConstraints, b3TypedConstraint** constraints);
-
-	b3Scalar solveGroup(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, b3Contact4* manifoldPtr, int numManifolds, b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal);
-
-	///clear internal cached data and reset random seed
-	virtual void reset();
-
-	unsigned long b3Rand2();
-
-	int b3RandInt2(int n);
-
-	void setRandSeed(unsigned long seed)
-	{
-		m_btSeed2 = seed;
-	}
-	unsigned long getRandSeed() const
-	{
-		return m_btSeed2;
-	}
-};
-
-#endif  //B3_PGS_JACOBI_SOLVER
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp
deleted file mode 100644
index cfa7c7dd11..0000000000
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp
+++ /dev/null
@@ -1,190 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "b3Point2PointConstraint.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-
-#include <new>
-
-b3Point2PointConstraint::b3Point2PointConstraint(int rbA, int rbB, const b3Vector3& pivotInA, const b3Vector3& pivotInB)
-	: b3TypedConstraint(B3_POINT2POINT_CONSTRAINT_TYPE, rbA, rbB), m_pivotInA(pivotInA), m_pivotInB(pivotInB), m_flags(0)
-{
-}
-
-/*
-b3Point2PointConstraint::b3Point2PointConstraint(int  rbA,const b3Vector3& pivotInA)
-:b3TypedConstraint(B3_POINT2POINT_CONSTRAINT_TYPE,rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)),
-m_flags(0),
-m_useSolveConstraintObsolete(false)
-{
-	
-}
-*/
-
-void b3Point2PointConstraint::getInfo1(b3ConstraintInfo1* info, const b3RigidBodyData* bodies)
-{
-	getInfo1NonVirtual(info, bodies);
-}
-
-void b3Point2PointConstraint::getInfo1NonVirtual(b3ConstraintInfo1* info, const b3RigidBodyData* bodies)
-{
-	info->m_numConstraintRows = 3;
-	info->nub = 3;
-}
-
-void b3Point2PointConstraint::getInfo2(b3ConstraintInfo2* info, const b3RigidBodyData* bodies)
-{
-	b3Transform trA;
-	trA.setIdentity();
-	trA.setOrigin(bodies[m_rbA].m_pos);
-	trA.setRotation(bodies[m_rbA].m_quat);
-
-	b3Transform trB;
-	trB.setIdentity();
-	trB.setOrigin(bodies[m_rbB].m_pos);
-	trB.setRotation(bodies[m_rbB].m_quat);
-
-	getInfo2NonVirtual(info, trA, trB);
-}
-
-void b3Point2PointConstraint::getInfo2NonVirtual(b3ConstraintInfo2* info, const b3Transform& body0_trans, const b3Transform& body1_trans)
-{
-	//retrieve matrices
-
-	// anchor points in global coordinates with respect to body PORs.
-
-	// set jacobian
-	info->m_J1linearAxis[0] = 1;
-	info->m_J1linearAxis[info->rowskip + 1] = 1;
-	info->m_J1linearAxis[2 * info->rowskip + 2] = 1;
-
-	b3Vector3 a1 = body0_trans.getBasis() * getPivotInA();
-	//b3Vector3 a1a = b3QuatRotate(body0_trans.getRotation(),getPivotInA());
-
-	{
-		b3Vector3* angular0 = (b3Vector3*)(info->m_J1angularAxis);
-		b3Vector3* angular1 = (b3Vector3*)(info->m_J1angularAxis + info->rowskip);
-		b3Vector3* angular2 = (b3Vector3*)(info->m_J1angularAxis + 2 * info->rowskip);
-		b3Vector3 a1neg = -a1;
-		a1neg.getSkewSymmetricMatrix(angular0, angular1, angular2);
-	}
-
-	if (info->m_J2linearAxis)
-	{
-		info->m_J2linearAxis[0] = -1;
-		info->m_J2linearAxis[info->rowskip + 1] = -1;
-		info->m_J2linearAxis[2 * info->rowskip + 2] = -1;
-	}
-
-	b3Vector3 a2 = body1_trans.getBasis() * getPivotInB();
-
-	{
-		//	b3Vector3 a2n = -a2;
-		b3Vector3* angular0 = (b3Vector3*)(info->m_J2angularAxis);
-		b3Vector3* angular1 = (b3Vector3*)(info->m_J2angularAxis + info->rowskip);
-		b3Vector3* angular2 = (b3Vector3*)(info->m_J2angularAxis + 2 * info->rowskip);
-		a2.getSkewSymmetricMatrix(angular0, angular1, angular2);
-	}
-
-	// set right hand side
-	b3Scalar currERP = (m_flags & B3_P2P_FLAGS_ERP) ? m_erp : info->erp;
-	b3Scalar k = info->fps * currERP;
-	int j;
-	for (j = 0; j < 3; j++)
-	{
-		info->m_constraintError[j * info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]);
-		//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
-	}
-	if (m_flags & B3_P2P_FLAGS_CFM)
-	{
-		for (j = 0; j < 3; j++)
-		{
-			info->cfm[j * info->rowskip] = m_cfm;
-		}
-	}
-
-	b3Scalar impulseClamp = m_setting.m_impulseClamp;  //
-	for (j = 0; j < 3; j++)
-	{
-		if (m_setting.m_impulseClamp > 0)
-		{
-			info->m_lowerLimit[j * info->rowskip] = -impulseClamp;
-			info->m_upperLimit[j * info->rowskip] = impulseClamp;
-		}
-	}
-	info->m_damping = m_setting.m_damping;
-}
-
-void b3Point2PointConstraint::updateRHS(b3Scalar timeStep)
-{
-	(void)timeStep;
-}
-
-///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
-///If no axis is provided, it uses the default axis for this constraint.
-void b3Point2PointConstraint::setParam(int num, b3Scalar value, int axis)
-{
-	if (axis != -1)
-	{
-		b3AssertConstrParams(0);
-	}
-	else
-	{
-		switch (num)
-		{
-			case B3_CONSTRAINT_ERP:
-			case B3_CONSTRAINT_STOP_ERP:
-				m_erp = value;
-				m_flags |= B3_P2P_FLAGS_ERP;
-				break;
-			case B3_CONSTRAINT_CFM:
-			case B3_CONSTRAINT_STOP_CFM:
-				m_cfm = value;
-				m_flags |= B3_P2P_FLAGS_CFM;
-				break;
-			default:
-				b3AssertConstrParams(0);
-		}
-	}
-}
-
-///return the local value of parameter
-b3Scalar b3Point2PointConstraint::getParam(int num, int axis) const
-{
-	b3Scalar retVal(B3_INFINITY);
-	if (axis != -1)
-	{
-		b3AssertConstrParams(0);
-	}
-	else
-	{
-		switch (num)
-		{
-			case B3_CONSTRAINT_ERP:
-			case B3_CONSTRAINT_STOP_ERP:
-				b3AssertConstrParams(m_flags & B3_P2P_FLAGS_ERP);
-				retVal = m_erp;
-				break;
-			case B3_CONSTRAINT_CFM:
-			case B3_CONSTRAINT_STOP_CFM:
-				b3AssertConstrParams(m_flags & B3_P2P_FLAGS_CFM);
-				retVal = m_cfm;
-				break;
-			default:
-				b3AssertConstrParams(0);
-		}
-	}
-	return retVal;
-}
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h
deleted file mode 100644
index 14762a3e35..0000000000
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h
+++ /dev/null
@@ -1,153 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_POINT2POINTCONSTRAINT_H
-#define B3_POINT2POINTCONSTRAINT_H
-
-#include "Bullet3Common/b3Vector3.h"
-//#include "b3JacobianEntry.h"
-#include "b3TypedConstraint.h"
-
-class b3RigidBody;
-
-#ifdef B3_USE_DOUBLE_PRECISION
-#define b3Point2PointConstraintData b3Point2PointConstraintDoubleData
-#define b3Point2PointConstraintDataName "b3Point2PointConstraintDoubleData"
-#else
-#define b3Point2PointConstraintData b3Point2PointConstraintFloatData
-#define b3Point2PointConstraintDataName "b3Point2PointConstraintFloatData"
-#endif  //B3_USE_DOUBLE_PRECISION
-
-struct b3ConstraintSetting
-{
-	b3ConstraintSetting() : m_tau(b3Scalar(0.3)),
-							m_damping(b3Scalar(1.)),
-							m_impulseClamp(b3Scalar(0.))
-	{
-	}
-	b3Scalar m_tau;
-	b3Scalar m_damping;
-	b3Scalar m_impulseClamp;
-};
-
-enum b3Point2PointFlags
-{
-	B3_P2P_FLAGS_ERP = 1,
-	B3_P2P_FLAGS_CFM = 2
-};
-
-/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
-B3_ATTRIBUTE_ALIGNED16(class)
-b3Point2PointConstraint : public b3TypedConstraint
-{
-#ifdef IN_PARALLELL_SOLVER
-public:
-#endif
-
-	b3Vector3 m_pivotInA;
-	b3Vector3 m_pivotInB;
-
-	int m_flags;
-	b3Scalar m_erp;
-	b3Scalar m_cfm;
-
-public:
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-	b3ConstraintSetting m_setting;
-
-	b3Point2PointConstraint(int rbA, int rbB, const b3Vector3& pivotInA, const b3Vector3& pivotInB);
-
-	//b3Point2PointConstraint(int  rbA,const b3Vector3& pivotInA);
-
-	virtual void getInfo1(b3ConstraintInfo1 * info, const b3RigidBodyData* bodies);
-
-	void getInfo1NonVirtual(b3ConstraintInfo1 * info, const b3RigidBodyData* bodies);
-
-	virtual void getInfo2(b3ConstraintInfo2 * info, const b3RigidBodyData* bodies);
-
-	void getInfo2NonVirtual(b3ConstraintInfo2 * info, const b3Transform& body0_trans, const b3Transform& body1_trans);
-
-	void updateRHS(b3Scalar timeStep);
-
-	void setPivotA(const b3Vector3& pivotA)
-	{
-		m_pivotInA = pivotA;
-	}
-
-	void setPivotB(const b3Vector3& pivotB)
-	{
-		m_pivotInB = pivotB;
-	}
-
-	const b3Vector3& getPivotInA() const
-	{
-		return m_pivotInA;
-	}
-
-	const b3Vector3& getPivotInB() const
-	{
-		return m_pivotInB;
-	}
-
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
-	///If no axis is provided, it uses the default axis for this constraint.
-	virtual void setParam(int num, b3Scalar value, int axis = -1);
-	///return the local value of parameter
-	virtual b3Scalar getParam(int num, int axis = -1) const;
-
-	//	virtual	int	calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	//	virtual	const char*	serialize(void* dataBuffer, b3Serializer* serializer) const;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct b3Point2PointConstraintFloatData
-{
-	b3TypedConstraintData m_typeConstraintData;
-	b3Vector3FloatData m_pivotInA;
-	b3Vector3FloatData m_pivotInB;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct b3Point2PointConstraintDoubleData
-{
-	b3TypedConstraintData m_typeConstraintData;
-	b3Vector3DoubleData m_pivotInA;
-	b3Vector3DoubleData m_pivotInB;
-};
-
-/*
-B3_FORCE_INLINE	int	b3Point2PointConstraint::calculateSerializeBufferSize() const
-{
-	return sizeof(b3Point2PointConstraintData);
-
-}
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-B3_FORCE_INLINE	const char*	b3Point2PointConstraint::serialize(void* dataBuffer, b3Serializer* serializer) const
-{
-	b3Point2PointConstraintData* p2pData = (b3Point2PointConstraintData*)dataBuffer;
-
-	b3TypedConstraint::serialize(&p2pData->m_typeConstraintData,serializer);
-	m_pivotInA.serialize(p2pData->m_pivotInA);
-	m_pivotInB.serialize(p2pData->m_pivotInB);
-
-	return b3Point2PointConstraintDataName;
-}
-*/
-
-#endif  //B3_POINT2POINTCONSTRAINT_H
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3SolverBody.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3SolverBody.h
deleted file mode 100644
index 196d0e5793..0000000000
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3SolverBody.h
+++ /dev/null
@@ -1,281 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_SOLVER_BODY_H
-#define B3_SOLVER_BODY_H
-
-#include "Bullet3Common/b3Vector3.h"
-#include "Bullet3Common/b3Matrix3x3.h"
-
-#include "Bullet3Common/b3AlignedAllocator.h"
-#include "Bullet3Common/b3TransformUtil.h"
-
-///Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later, and not double precision
-#ifdef B3_USE_SSE
-#define USE_SIMD 1
-#endif  //
-
-#ifdef USE_SIMD
-
-struct b3SimdScalar
-{
-	B3_FORCE_INLINE b3SimdScalar()
-	{
-	}
-
-	B3_FORCE_INLINE b3SimdScalar(float fl)
-		: m_vec128(_mm_set1_ps(fl))
-	{
-	}
-
-	B3_FORCE_INLINE b3SimdScalar(__m128 v128)
-		: m_vec128(v128)
-	{
-	}
-	union {
-		__m128 m_vec128;
-		float m_floats[4];
-		float x, y, z, w;
-		int m_ints[4];
-		b3Scalar m_unusedPadding;
-	};
-	B3_FORCE_INLINE __m128 get128()
-	{
-		return m_vec128;
-	}
-
-	B3_FORCE_INLINE const __m128 get128() const
-	{
-		return m_vec128;
-	}
-
-	B3_FORCE_INLINE void set128(__m128 v128)
-	{
-		m_vec128 = v128;
-	}
-
-	B3_FORCE_INLINE operator __m128()
-	{
-		return m_vec128;
-	}
-	B3_FORCE_INLINE operator const __m128() const
-	{
-		return m_vec128;
-	}
-
-	B3_FORCE_INLINE operator float() const
-	{
-		return m_floats[0];
-	}
-};
-
-///@brief Return the elementwise product of two b3SimdScalar
-B3_FORCE_INLINE b3SimdScalar
-operator*(const b3SimdScalar& v1, const b3SimdScalar& v2)
-{
-	return b3SimdScalar(_mm_mul_ps(v1.get128(), v2.get128()));
-}
-
-///@brief Return the elementwise product of two b3SimdScalar
-B3_FORCE_INLINE b3SimdScalar
-operator+(const b3SimdScalar& v1, const b3SimdScalar& v2)
-{
-	return b3SimdScalar(_mm_add_ps(v1.get128(), v2.get128()));
-}
-
-#else
-#define b3SimdScalar b3Scalar
-#endif
-
-///The b3SolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
-B3_ATTRIBUTE_ALIGNED16(struct)
-b3SolverBody
-{
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-	b3Transform m_worldTransform;
-	b3Vector3 m_deltaLinearVelocity;
-	b3Vector3 m_deltaAngularVelocity;
-	b3Vector3 m_angularFactor;
-	b3Vector3 m_linearFactor;
-	b3Vector3 m_invMass;
-	b3Vector3 m_pushVelocity;
-	b3Vector3 m_turnVelocity;
-	b3Vector3 m_linearVelocity;
-	b3Vector3 m_angularVelocity;
-
-	union {
-		void* m_originalBody;
-		int m_originalBodyIndex;
-	};
-
-	int padding[3];
-
-	void setWorldTransform(const b3Transform& worldTransform)
-	{
-		m_worldTransform = worldTransform;
-	}
-
-	const b3Transform& getWorldTransform() const
-	{
-		return m_worldTransform;
-	}
-
-	B3_FORCE_INLINE void getVelocityInLocalPointObsolete(const b3Vector3& rel_pos, b3Vector3& velocity) const
-	{
-		if (m_originalBody)
-			velocity = m_linearVelocity + m_deltaLinearVelocity + (m_angularVelocity + m_deltaAngularVelocity).cross(rel_pos);
-		else
-			velocity.setValue(0, 0, 0);
-	}
-
-	B3_FORCE_INLINE void getAngularVelocity(b3Vector3 & angVel) const
-	{
-		if (m_originalBody)
-			angVel = m_angularVelocity + m_deltaAngularVelocity;
-		else
-			angVel.setValue(0, 0, 0);
-	}
-
-	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
-	B3_FORCE_INLINE void applyImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent, const b3Scalar impulseMagnitude)
-	{
-		if (m_originalBody)
-		{
-			m_deltaLinearVelocity += linearComponent * impulseMagnitude * m_linearFactor;
-			m_deltaAngularVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
-		}
-	}
-
-	B3_FORCE_INLINE void internalApplyPushImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent, b3Scalar impulseMagnitude)
-	{
-		if (m_originalBody)
-		{
-			m_pushVelocity += linearComponent * impulseMagnitude * m_linearFactor;
-			m_turnVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
-		}
-	}
-
-	const b3Vector3& getDeltaLinearVelocity() const
-	{
-		return m_deltaLinearVelocity;
-	}
-
-	const b3Vector3& getDeltaAngularVelocity() const
-	{
-		return m_deltaAngularVelocity;
-	}
-
-	const b3Vector3& getPushVelocity() const
-	{
-		return m_pushVelocity;
-	}
-
-	const b3Vector3& getTurnVelocity() const
-	{
-		return m_turnVelocity;
-	}
-
-	////////////////////////////////////////////////
-	///some internal methods, don't use them
-
-	b3Vector3& internalGetDeltaLinearVelocity()
-	{
-		return m_deltaLinearVelocity;
-	}
-
-	b3Vector3& internalGetDeltaAngularVelocity()
-	{
-		return m_deltaAngularVelocity;
-	}
-
-	const b3Vector3& internalGetAngularFactor() const
-	{
-		return m_angularFactor;
-	}
-
-	const b3Vector3& internalGetInvMass() const
-	{
-		return m_invMass;
-	}
-
-	void internalSetInvMass(const b3Vector3& invMass)
-	{
-		m_invMass = invMass;
-	}
-
-	b3Vector3& internalGetPushVelocity()
-	{
-		return m_pushVelocity;
-	}
-
-	b3Vector3& internalGetTurnVelocity()
-	{
-		return m_turnVelocity;
-	}
-
-	B3_FORCE_INLINE void internalGetVelocityInLocalPointObsolete(const b3Vector3& rel_pos, b3Vector3& velocity) const
-	{
-		velocity = m_linearVelocity + m_deltaLinearVelocity + (m_angularVelocity + m_deltaAngularVelocity).cross(rel_pos);
-	}
-
-	B3_FORCE_INLINE void internalGetAngularVelocity(b3Vector3 & angVel) const
-	{
-		angVel = m_angularVelocity + m_deltaAngularVelocity;
-	}
-
-	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
-	B3_FORCE_INLINE void internalApplyImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent, const b3Scalar impulseMagnitude)
-	{
-		//if (m_originalBody)
-		{
-			m_deltaLinearVelocity += linearComponent * impulseMagnitude * m_linearFactor;
-			m_deltaAngularVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
-		}
-	}
-
-	void writebackVelocity()
-	{
-		//if (m_originalBody>=0)
-		{
-			m_linearVelocity += m_deltaLinearVelocity;
-			m_angularVelocity += m_deltaAngularVelocity;
-
-			//m_originalBody->setCompanionId(-1);
-		}
-	}
-
-	void writebackVelocityAndTransform(b3Scalar timeStep, b3Scalar splitImpulseTurnErp)
-	{
-		(void)timeStep;
-		if (m_originalBody)
-		{
-			m_linearVelocity += m_deltaLinearVelocity;
-			m_angularVelocity += m_deltaAngularVelocity;
-
-			//correct the position/orientation based on push/turn recovery
-			b3Transform newTransform;
-			if (m_pushVelocity[0] != 0.f || m_pushVelocity[1] != 0 || m_pushVelocity[2] != 0 || m_turnVelocity[0] != 0.f || m_turnVelocity[1] != 0 || m_turnVelocity[2] != 0)
-			{
-				//	b3Quaternion orn = m_worldTransform.getRotation();
-				b3TransformUtil::integrateTransform(m_worldTransform, m_pushVelocity, m_turnVelocity * splitImpulseTurnErp, timeStep, newTransform);
-				m_worldTransform = newTransform;
-			}
-			//m_worldTransform.setRotation(orn);
-			//m_originalBody->setCompanionId(-1);
-		}
-	}
-};
-
-#endif  //B3_SOLVER_BODY_H
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h
deleted file mode 100644
index 4927ae4288..0000000000
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_SOLVER_CONSTRAINT_H
-#define B3_SOLVER_CONSTRAINT_H
-
-#include "Bullet3Common/b3Vector3.h"
-#include "Bullet3Common/b3Matrix3x3.h"
-//#include "b3JacobianEntry.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-
-//#define NO_FRICTION_TANGENTIALS 1
-#include "b3SolverBody.h"
-
-///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
-B3_ATTRIBUTE_ALIGNED16(struct)
-b3SolverConstraint
-{
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-	b3Vector3 m_relpos1CrossNormal;
-	b3Vector3 m_contactNormal;
-
-	b3Vector3 m_relpos2CrossNormal;
-	//b3Vector3		m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal
-
-	b3Vector3 m_angularComponentA;
-	b3Vector3 m_angularComponentB;
-
-	mutable b3SimdScalar m_appliedPushImpulse;
-	mutable b3SimdScalar m_appliedImpulse;
-	int m_padding1;
-	int m_padding2;
-	b3Scalar m_friction;
-	b3Scalar m_jacDiagABInv;
-	b3Scalar m_rhs;
-	b3Scalar m_cfm;
-
-	b3Scalar m_lowerLimit;
-	b3Scalar m_upperLimit;
-	b3Scalar m_rhsPenetration;
-	union {
-		void* m_originalContactPoint;
-		b3Scalar m_unusedPadding4;
-	};
-
-	int m_overrideNumSolverIterations;
-	int m_frictionIndex;
-	int m_solverBodyIdA;
-	int m_solverBodyIdB;
-
-	enum b3SolverConstraintType
-	{
-		B3_SOLVER_CONTACT_1D = 0,
-		B3_SOLVER_FRICTION_1D
-	};
-};
-
-typedef b3AlignedObjectArray<b3SolverConstraint> b3ConstraintArray;
-
-#endif  //B3_SOLVER_CONSTRAINT_H
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.cpp b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.cpp
deleted file mode 100644
index 885e277d8c..0000000000
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.cpp
+++ /dev/null
@@ -1,151 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "b3TypedConstraint.h"
-//#include "Bullet3Common/b3Serializer.h"
-
-#define B3_DEFAULT_DEBUGDRAW_SIZE b3Scalar(0.3f)
-
-b3TypedConstraint::b3TypedConstraint(b3TypedConstraintType type, int rbA, int rbB)
-	: b3TypedObject(type),
-	  m_userConstraintType(-1),
-	  m_userConstraintPtr((void*)-1),
-	  m_breakingImpulseThreshold(B3_INFINITY),
-	  m_isEnabled(true),
-	  m_needsFeedback(false),
-	  m_overrideNumSolverIterations(-1),
-	  m_rbA(rbA),
-	  m_rbB(rbB),
-	  m_appliedImpulse(b3Scalar(0.)),
-	  m_dbgDrawSize(B3_DEFAULT_DEBUGDRAW_SIZE),
-	  m_jointFeedback(0)
-{
-}
-
-b3Scalar b3TypedConstraint::getMotorFactor(b3Scalar pos, b3Scalar lowLim, b3Scalar uppLim, b3Scalar vel, b3Scalar timeFact)
-{
-	if (lowLim > uppLim)
-	{
-		return b3Scalar(1.0f);
-	}
-	else if (lowLim == uppLim)
-	{
-		return b3Scalar(0.0f);
-	}
-	b3Scalar lim_fact = b3Scalar(1.0f);
-	b3Scalar delta_max = vel / timeFact;
-	if (delta_max < b3Scalar(0.0f))
-	{
-		if ((pos >= lowLim) && (pos < (lowLim - delta_max)))
-		{
-			lim_fact = (lowLim - pos) / delta_max;
-		}
-		else if (pos < lowLim)
-		{
-			lim_fact = b3Scalar(0.0f);
-		}
-		else
-		{
-			lim_fact = b3Scalar(1.0f);
-		}
-	}
-	else if (delta_max > b3Scalar(0.0f))
-	{
-		if ((pos <= uppLim) && (pos > (uppLim - delta_max)))
-		{
-			lim_fact = (uppLim - pos) / delta_max;
-		}
-		else if (pos > uppLim)
-		{
-			lim_fact = b3Scalar(0.0f);
-		}
-		else
-		{
-			lim_fact = b3Scalar(1.0f);
-		}
-	}
-	else
-	{
-		lim_fact = b3Scalar(0.0f);
-	}
-	return lim_fact;
-}
-
-void b3AngularLimit::set(b3Scalar low, b3Scalar high, b3Scalar _softness, b3Scalar _biasFactor, b3Scalar _relaxationFactor)
-{
-	m_halfRange = (high - low) / 2.0f;
-	m_center = b3NormalizeAngle(low + m_halfRange);
-	m_softness = _softness;
-	m_biasFactor = _biasFactor;
-	m_relaxationFactor = _relaxationFactor;
-}
-
-void b3AngularLimit::test(const b3Scalar angle)
-{
-	m_correction = 0.0f;
-	m_sign = 0.0f;
-	m_solveLimit = false;
-
-	if (m_halfRange >= 0.0f)
-	{
-		b3Scalar deviation = b3NormalizeAngle(angle - m_center);
-		if (deviation < -m_halfRange)
-		{
-			m_solveLimit = true;
-			m_correction = -(deviation + m_halfRange);
-			m_sign = +1.0f;
-		}
-		else if (deviation > m_halfRange)
-		{
-			m_solveLimit = true;
-			m_correction = m_halfRange - deviation;
-			m_sign = -1.0f;
-		}
-	}
-}
-
-b3Scalar b3AngularLimit::getError() const
-{
-	return m_correction * m_sign;
-}
-
-void b3AngularLimit::fit(b3Scalar& angle) const
-{
-	if (m_halfRange > 0.0f)
-	{
-		b3Scalar relativeAngle = b3NormalizeAngle(angle - m_center);
-		if (!b3Equal(relativeAngle, m_halfRange))
-		{
-			if (relativeAngle > 0.0f)
-			{
-				angle = getHigh();
-			}
-			else
-			{
-				angle = getLow();
-			}
-		}
-	}
-}
-
-b3Scalar b3AngularLimit::getLow() const
-{
-	return b3NormalizeAngle(m_center - m_halfRange);
-}
-
-b3Scalar b3AngularLimit::getHigh() const
-{
-	return b3NormalizeAngle(m_center + m_halfRange);
-}
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h
deleted file mode 100644
index f74aec4d3c..0000000000
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h
+++ /dev/null
@@ -1,469 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2010 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_TYPED_CONSTRAINT_H
-#define B3_TYPED_CONSTRAINT_H
-
-#include "Bullet3Common/b3Scalar.h"
-#include "b3SolverConstraint.h"
-
-class b3Serializer;
-
-//Don't change any of the existing enum values, so add enum types at the end for serialization compatibility
-enum b3TypedConstraintType
-{
-	B3_POINT2POINT_CONSTRAINT_TYPE = 3,
-	B3_HINGE_CONSTRAINT_TYPE,
-	B3_CONETWIST_CONSTRAINT_TYPE,
-	B3_D6_CONSTRAINT_TYPE,
-	B3_SLIDER_CONSTRAINT_TYPE,
-	B3_CONTACT_CONSTRAINT_TYPE,
-	B3_D6_SPRING_CONSTRAINT_TYPE,
-	B3_GEAR_CONSTRAINT_TYPE,
-	B3_FIXED_CONSTRAINT_TYPE,
-	B3_MAX_CONSTRAINT_TYPE
-};
-
-enum b3ConstraintParams
-{
-	B3_CONSTRAINT_ERP = 1,
-	B3_CONSTRAINT_STOP_ERP,
-	B3_CONSTRAINT_CFM,
-	B3_CONSTRAINT_STOP_CFM
-};
-
-#if 1
-#define b3AssertConstrParams(_par) b3Assert(_par)
-#else
-#define b3AssertConstrParams(_par)
-#endif
-
-B3_ATTRIBUTE_ALIGNED16(struct)
-b3JointFeedback
-{
-	b3Vector3 m_appliedForceBodyA;
-	b3Vector3 m_appliedTorqueBodyA;
-	b3Vector3 m_appliedForceBodyB;
-	b3Vector3 m_appliedTorqueBodyB;
-};
-
-struct b3RigidBodyData;
-
-///TypedConstraint is the baseclass for Bullet constraints and vehicles
-B3_ATTRIBUTE_ALIGNED16(class)
-b3TypedConstraint : public b3TypedObject
-{
-	int m_userConstraintType;
-
-	union {
-		int m_userConstraintId;
-		void* m_userConstraintPtr;
-	};
-
-	b3Scalar m_breakingImpulseThreshold;
-	bool m_isEnabled;
-	bool m_needsFeedback;
-	int m_overrideNumSolverIterations;
-
-	b3TypedConstraint& operator=(b3TypedConstraint& other)
-	{
-		b3Assert(0);
-		(void)other;
-		return *this;
-	}
-
-protected:
-	int m_rbA;
-	int m_rbB;
-	b3Scalar m_appliedImpulse;
-	b3Scalar m_dbgDrawSize;
-	b3JointFeedback* m_jointFeedback;
-
-	///internal method used by the constraint solver, don't use them directly
-	b3Scalar getMotorFactor(b3Scalar pos, b3Scalar lowLim, b3Scalar uppLim, b3Scalar vel, b3Scalar timeFact);
-
-public:
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-	virtual ~b3TypedConstraint(){};
-	b3TypedConstraint(b3TypedConstraintType type, int bodyA, int bodyB);
-
-	struct b3ConstraintInfo1
-	{
-		int m_numConstraintRows, nub;
-	};
-
-	struct b3ConstraintInfo2
-	{
-		// integrator parameters: frames per second (1/stepsize), default error
-		// reduction parameter (0..1).
-		b3Scalar fps, erp;
-
-		// for the first and second body, pointers to two (linear and angular)
-		// n*3 jacobian sub matrices, stored by rows. these matrices will have
-		// been initialized to 0 on entry. if the second body is zero then the
-		// J2xx pointers may be 0.
-		b3Scalar *m_J1linearAxis, *m_J1angularAxis, *m_J2linearAxis, *m_J2angularAxis;
-
-		// elements to jump from one row to the next in J's
-		int rowskip;
-
-		// right hand sides of the equation J*v = c + cfm * lambda. cfm is the
-		// "constraint force mixing" vector. c is set to zero on entry, cfm is
-		// set to a constant value (typically very small or zero) value on entry.
-		b3Scalar *m_constraintError, *cfm;
-
-		// lo and hi limits for variables (set to -/+ infinity on entry).
-		b3Scalar *m_lowerLimit, *m_upperLimit;
-
-		// findex vector for variables. see the LCP solver interface for a
-		// description of what this does. this is set to -1 on entry.
-		// note that the returned indexes are relative to the first index of
-		// the constraint.
-		int* findex;
-		// number of solver iterations
-		int m_numIterations;
-
-		//damping of the velocity
-		b3Scalar m_damping;
-	};
-
-	int getOverrideNumSolverIterations() const
-	{
-		return m_overrideNumSolverIterations;
-	}
-
-	///override the number of constraint solver iterations used to solve this constraint
-	///-1 will use the default number of iterations, as specified in SolverInfo.m_numIterations
-	void setOverrideNumSolverIterations(int overideNumIterations)
-	{
-		m_overrideNumSolverIterations = overideNumIterations;
-	}
-
-	///internal method used by the constraint solver, don't use them directly
-	virtual void setupSolverConstraint(b3ConstraintArray & ca, int solverBodyA, int solverBodyB, b3Scalar timeStep)
-	{
-		(void)ca;
-		(void)solverBodyA;
-		(void)solverBodyB;
-		(void)timeStep;
-	}
-
-	///internal method used by the constraint solver, don't use them directly
-	virtual void getInfo1(b3ConstraintInfo1 * info, const b3RigidBodyData* bodies) = 0;
-
-	///internal method used by the constraint solver, don't use them directly
-	virtual void getInfo2(b3ConstraintInfo2 * info, const b3RigidBodyData* bodies) = 0;
-
-	///internal method used by the constraint solver, don't use them directly
-	void internalSetAppliedImpulse(b3Scalar appliedImpulse)
-	{
-		m_appliedImpulse = appliedImpulse;
-	}
-	///internal method used by the constraint solver, don't use them directly
-	b3Scalar internalGetAppliedImpulse()
-	{
-		return m_appliedImpulse;
-	}
-
-	b3Scalar getBreakingImpulseThreshold() const
-	{
-		return m_breakingImpulseThreshold;
-	}
-
-	void setBreakingImpulseThreshold(b3Scalar threshold)
-	{
-		m_breakingImpulseThreshold = threshold;
-	}
-
-	bool isEnabled() const
-	{
-		return m_isEnabled;
-	}
-
-	void setEnabled(bool enabled)
-	{
-		m_isEnabled = enabled;
-	}
-
-	///internal method used by the constraint solver, don't use them directly
-	virtual void solveConstraintObsolete(b3SolverBody& /*bodyA*/, b3SolverBody& /*bodyB*/, b3Scalar /*timeStep*/){};
-
-	int getRigidBodyA() const
-	{
-		return m_rbA;
-	}
-	int getRigidBodyB() const
-	{
-		return m_rbB;
-	}
-
-	int getRigidBodyA()
-	{
-		return m_rbA;
-	}
-	int getRigidBodyB()
-	{
-		return m_rbB;
-	}
-
-	int getUserConstraintType() const
-	{
-		return m_userConstraintType;
-	}
-
-	void setUserConstraintType(int userConstraintType)
-	{
-		m_userConstraintType = userConstraintType;
-	};
-
-	void setUserConstraintId(int uid)
-	{
-		m_userConstraintId = uid;
-	}
-
-	int getUserConstraintId() const
-	{
-		return m_userConstraintId;
-	}
-
-	void setUserConstraintPtr(void* ptr)
-	{
-		m_userConstraintPtr = ptr;
-	}
-
-	void* getUserConstraintPtr()
-	{
-		return m_userConstraintPtr;
-	}
-
-	void setJointFeedback(b3JointFeedback * jointFeedback)
-	{
-		m_jointFeedback = jointFeedback;
-	}
-
-	const b3JointFeedback* getJointFeedback() const
-	{
-		return m_jointFeedback;
-	}
-
-	b3JointFeedback* getJointFeedback()
-	{
-		return m_jointFeedback;
-	}
-
-	int getUid() const
-	{
-		return m_userConstraintId;
-	}
-
-	bool needsFeedback() const
-	{
-		return m_needsFeedback;
-	}
-
-	///enableFeedback will allow to read the applied linear and angular impulse
-	///use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information
-	void enableFeedback(bool needsFeedback)
-	{
-		m_needsFeedback = needsFeedback;
-	}
-
-	///getAppliedImpulse is an estimated total applied impulse.
-	///This feedback could be used to determine breaking constraints or playing sounds.
-	b3Scalar getAppliedImpulse() const
-	{
-		b3Assert(m_needsFeedback);
-		return m_appliedImpulse;
-	}
-
-	b3TypedConstraintType getConstraintType() const
-	{
-		return b3TypedConstraintType(m_objectType);
-	}
-
-	void setDbgDrawSize(b3Scalar dbgDrawSize)
-	{
-		m_dbgDrawSize = dbgDrawSize;
-	}
-	b3Scalar getDbgDrawSize()
-	{
-		return m_dbgDrawSize;
-	}
-
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
-	///If no axis is provided, it uses the default axis for this constraint.
-	virtual void setParam(int num, b3Scalar value, int axis = -1) = 0;
-
-	///return the local value of parameter
-	virtual b3Scalar getParam(int num, int axis = -1) const = 0;
-
-	//	virtual	int	calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	//virtual	const char*	serialize(void* dataBuffer, b3Serializer* serializer) const;
-};
-
-// returns angle in range [-B3_2_PI, B3_2_PI], closest to one of the limits
-// all arguments should be normalized angles (i.e. in range [-B3_PI, B3_PI])
-B3_FORCE_INLINE b3Scalar b3AdjustAngleToLimits(b3Scalar angleInRadians, b3Scalar angleLowerLimitInRadians, b3Scalar angleUpperLimitInRadians)
-{
-	if (angleLowerLimitInRadians >= angleUpperLimitInRadians)
-	{
-		return angleInRadians;
-	}
-	else if (angleInRadians < angleLowerLimitInRadians)
-	{
-		b3Scalar diffLo = b3Fabs(b3NormalizeAngle(angleLowerLimitInRadians - angleInRadians));
-		b3Scalar diffHi = b3Fabs(b3NormalizeAngle(angleUpperLimitInRadians - angleInRadians));
-		return (diffLo < diffHi) ? angleInRadians : (angleInRadians + B3_2_PI);
-	}
-	else if (angleInRadians > angleUpperLimitInRadians)
-	{
-		b3Scalar diffHi = b3Fabs(b3NormalizeAngle(angleInRadians - angleUpperLimitInRadians));
-		b3Scalar diffLo = b3Fabs(b3NormalizeAngle(angleInRadians - angleLowerLimitInRadians));
-		return (diffLo < diffHi) ? (angleInRadians - B3_2_PI) : angleInRadians;
-	}
-	else
-	{
-		return angleInRadians;
-	}
-}
-
-// clang-format off
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	b3TypedConstraintData
-{
-	int		m_bodyA;
-	int		m_bodyB;
-	char	*m_name;
-
-	int	m_objectType;
-	int	m_userConstraintType;
-	int	m_userConstraintId;
-	int	m_needsFeedback;
-
-	float	m_appliedImpulse;
-	float	m_dbgDrawSize;
-
-	int	m_disableCollisionsBetweenLinkedBodies;
-	int	m_overrideNumSolverIterations;
-
-	float	m_breakingImpulseThreshold;
-	int		m_isEnabled;
-	
-};
-
-// clang-format on
-
-/*B3_FORCE_INLINE	int	b3TypedConstraint::calculateSerializeBufferSize() const
-{
-	return sizeof(b3TypedConstraintData);
-}
-*/
-
-class b3AngularLimit
-{
-private:
-	b3Scalar
-		m_center,
-		m_halfRange,
-		m_softness,
-		m_biasFactor,
-		m_relaxationFactor,
-		m_correction,
-		m_sign;
-
-	bool
-		m_solveLimit;
-
-public:
-	/// Default constructor initializes limit as inactive, allowing free constraint movement
-	b3AngularLimit()
-		: m_center(0.0f),
-		  m_halfRange(-1.0f),
-		  m_softness(0.9f),
-		  m_biasFactor(0.3f),
-		  m_relaxationFactor(1.0f),
-		  m_correction(0.0f),
-		  m_sign(0.0f),
-		  m_solveLimit(false)
-	{
-	}
-
-	/// Sets all limit's parameters.
-	/// When low > high limit becomes inactive.
-	/// When high - low > 2PI limit is ineffective too becouse no angle can exceed the limit
-	void set(b3Scalar low, b3Scalar high, b3Scalar _softness = 0.9f, b3Scalar _biasFactor = 0.3f, b3Scalar _relaxationFactor = 1.0f);
-
-	/// Checks conastaint angle against limit. If limit is active and the angle violates the limit
-	/// correction is calculated.
-	void test(const b3Scalar angle);
-
-	/// Returns limit's softness
-	inline b3Scalar getSoftness() const
-	{
-		return m_softness;
-	}
-
-	/// Returns limit's bias factor
-	inline b3Scalar getBiasFactor() const
-	{
-		return m_biasFactor;
-	}
-
-	/// Returns limit's relaxation factor
-	inline b3Scalar getRelaxationFactor() const
-	{
-		return m_relaxationFactor;
-	}
-
-	/// Returns correction value evaluated when test() was invoked
-	inline b3Scalar getCorrection() const
-	{
-		return m_correction;
-	}
-
-	/// Returns sign value evaluated when test() was invoked
-	inline b3Scalar getSign() const
-	{
-		return m_sign;
-	}
-
-	/// Gives half of the distance between min and max limit angle
-	inline b3Scalar getHalfRange() const
-	{
-		return m_halfRange;
-	}
-
-	/// Returns true when the last test() invocation recognized limit violation
-	inline bool isLimit() const
-	{
-		return m_solveLimit;
-	}
-
-	/// Checks given angle against limit. If limit is active and angle doesn't fit it, the angle
-	/// returned is modified so it equals to the limit closest to given angle.
-	void fit(b3Scalar& angle) const;
-
-	/// Returns correction value multiplied by sign value
-	b3Scalar getError() const;
-
-	b3Scalar getLow() const;
-
-	b3Scalar getHigh() const;
-};
-
-#endif  //B3_TYPED_CONSTRAINT_H
diff --git a/thirdparty/bullet/Bullet3Dynamics/b3CpuRigidBodyPipeline.cpp b/thirdparty/bullet/Bullet3Dynamics/b3CpuRigidBodyPipeline.cpp
deleted file mode 100644
index f1080d9d5e..0000000000
--- a/thirdparty/bullet/Bullet3Dynamics/b3CpuRigidBodyPipeline.cpp
+++ /dev/null
@@ -1,447 +0,0 @@
-#include "b3CpuRigidBodyPipeline.h"
-
-#include "Bullet3Dynamics/shared/b3IntegrateTransforms.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h"
-#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
-#include "Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h"
-#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
-#include "Bullet3Common/b3Vector3.h"
-#include "Bullet3Dynamics/shared/b3ContactConstraint4.h"
-#include "Bullet3Dynamics/shared/b3Inertia.h"
-
-struct b3CpuRigidBodyPipelineInternalData
-{
-	b3AlignedObjectArray<b3RigidBodyData> m_rigidBodies;
-	b3AlignedObjectArray<b3Inertia> m_inertias;
-	b3AlignedObjectArray<b3Aabb> m_aabbWorldSpace;
-
-	b3DynamicBvhBroadphase* m_bp;
-	b3CpuNarrowPhase* m_np;
-	b3Config m_config;
-};
-
-b3CpuRigidBodyPipeline::b3CpuRigidBodyPipeline(class b3CpuNarrowPhase* narrowphase, struct b3DynamicBvhBroadphase* broadphaseDbvt, const b3Config& config)
-{
-	m_data = new b3CpuRigidBodyPipelineInternalData;
-	m_data->m_np = narrowphase;
-	m_data->m_bp = broadphaseDbvt;
-	m_data->m_config = config;
-}
-
-b3CpuRigidBodyPipeline::~b3CpuRigidBodyPipeline()
-{
-	delete m_data;
-}
-
-void b3CpuRigidBodyPipeline::updateAabbWorldSpace()
-{
-	for (int i = 0; i < this->getNumBodies(); i++)
-	{
-		b3RigidBodyData* body = &m_data->m_rigidBodies[i];
-		b3Float4 position = body->m_pos;
-		b3Quat orientation = body->m_quat;
-
-		int collidableIndex = body->m_collidableIdx;
-		b3Collidable& collidable = m_data->m_np->getCollidableCpu(collidableIndex);
-		int shapeIndex = collidable.m_shapeIndex;
-
-		if (shapeIndex >= 0)
-		{
-			b3Aabb localAabb = m_data->m_np->getLocalSpaceAabb(shapeIndex);
-			b3Aabb& worldAabb = m_data->m_aabbWorldSpace[i];
-			float margin = 0.f;
-			b3TransformAabb2(localAabb.m_minVec, localAabb.m_maxVec, margin, position, orientation, &worldAabb.m_minVec, &worldAabb.m_maxVec);
-			m_data->m_bp->setAabb(i, worldAabb.m_minVec, worldAabb.m_maxVec, 0);
-		}
-	}
-}
-
-void b3CpuRigidBodyPipeline::computeOverlappingPairs()
-{
-	int numPairs = m_data->m_bp->getOverlappingPairCache()->getNumOverlappingPairs();
-	m_data->m_bp->calculateOverlappingPairs();
-	numPairs = m_data->m_bp->getOverlappingPairCache()->getNumOverlappingPairs();
-	printf("numPairs=%d\n", numPairs);
-}
-
-void b3CpuRigidBodyPipeline::computeContactPoints()
-{
-	b3AlignedObjectArray<b3Int4>& pairs = m_data->m_bp->getOverlappingPairCache()->getOverlappingPairArray();
-
-	m_data->m_np->computeContacts(pairs, m_data->m_aabbWorldSpace, m_data->m_rigidBodies);
-}
-void b3CpuRigidBodyPipeline::stepSimulation(float deltaTime)
-{
-	//update world space aabb's
-	updateAabbWorldSpace();
-
-	//compute overlapping pairs
-	computeOverlappingPairs();
-
-	//compute contacts
-	computeContactPoints();
-
-	//solve contacts
-
-	//update transforms
-	integrate(deltaTime);
-}
-
-static inline float b3CalcRelVel(const b3Vector3& l0, const b3Vector3& l1, const b3Vector3& a0, const b3Vector3& a1,
-								 const b3Vector3& linVel0, const b3Vector3& angVel0, const b3Vector3& linVel1, const b3Vector3& angVel1)
-{
-	return b3Dot(l0, linVel0) + b3Dot(a0, angVel0) + b3Dot(l1, linVel1) + b3Dot(a1, angVel1);
-}
-
-static inline void b3SetLinearAndAngular(const b3Vector3& n, const b3Vector3& r0, const b3Vector3& r1,
-										 b3Vector3& linear, b3Vector3& angular0, b3Vector3& angular1)
-{
-	linear = -n;
-	angular0 = -b3Cross(r0, n);
-	angular1 = b3Cross(r1, n);
-}
-
-static inline void b3SolveContact(b3ContactConstraint4& cs,
-								  const b3Vector3& posA, b3Vector3& linVelA, b3Vector3& angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
-								  const b3Vector3& posB, b3Vector3& linVelB, b3Vector3& angVelB, float invMassB, const b3Matrix3x3& invInertiaB,
-								  float maxRambdaDt[4], float minRambdaDt[4])
-{
-	b3Vector3 dLinVelA;
-	dLinVelA.setZero();
-	b3Vector3 dAngVelA;
-	dAngVelA.setZero();
-	b3Vector3 dLinVelB;
-	dLinVelB.setZero();
-	b3Vector3 dAngVelB;
-	dAngVelB.setZero();
-
-	for (int ic = 0; ic < 4; ic++)
-	{
-		//	dont necessary because this makes change to 0
-		if (cs.m_jacCoeffInv[ic] == 0.f) continue;
-
-		{
-			b3Vector3 angular0, angular1, linear;
-			b3Vector3 r0 = cs.m_worldPos[ic] - (b3Vector3&)posA;
-			b3Vector3 r1 = cs.m_worldPos[ic] - (b3Vector3&)posB;
-			b3SetLinearAndAngular((const b3Vector3&)-cs.m_linear, (const b3Vector3&)r0, (const b3Vector3&)r1, linear, angular0, angular1);
-
-			float rambdaDt = b3CalcRelVel((const b3Vector3&)cs.m_linear, (const b3Vector3&)-cs.m_linear, angular0, angular1,
-										  linVelA, angVelA, linVelB, angVelB) +
-							 cs.m_b[ic];
-			rambdaDt *= cs.m_jacCoeffInv[ic];
-
-			{
-				float prevSum = cs.m_appliedRambdaDt[ic];
-				float updated = prevSum;
-				updated += rambdaDt;
-				updated = b3Max(updated, minRambdaDt[ic]);
-				updated = b3Min(updated, maxRambdaDt[ic]);
-				rambdaDt = updated - prevSum;
-				cs.m_appliedRambdaDt[ic] = updated;
-			}
-
-			b3Vector3 linImp0 = invMassA * linear * rambdaDt;
-			b3Vector3 linImp1 = invMassB * (-linear) * rambdaDt;
-			b3Vector3 angImp0 = (invInertiaA * angular0) * rambdaDt;
-			b3Vector3 angImp1 = (invInertiaB * angular1) * rambdaDt;
-#ifdef _WIN32
-			b3Assert(_finite(linImp0.getX()));
-			b3Assert(_finite(linImp1.getX()));
-#endif
-			{
-				linVelA += linImp0;
-				angVelA += angImp0;
-				linVelB += linImp1;
-				angVelB += angImp1;
-			}
-		}
-	}
-}
-
-static inline void b3SolveFriction(b3ContactConstraint4& cs,
-								   const b3Vector3& posA, b3Vector3& linVelA, b3Vector3& angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
-								   const b3Vector3& posB, b3Vector3& linVelB, b3Vector3& angVelB, float invMassB, const b3Matrix3x3& invInertiaB,
-								   float maxRambdaDt[4], float minRambdaDt[4])
-{
-	if (cs.m_fJacCoeffInv[0] == 0 && cs.m_fJacCoeffInv[0] == 0) return;
-	const b3Vector3& center = (const b3Vector3&)cs.m_center;
-
-	b3Vector3 n = -(const b3Vector3&)cs.m_linear;
-
-	b3Vector3 tangent[2];
-
-	b3PlaneSpace1(n, tangent[0], tangent[1]);
-
-	b3Vector3 angular0, angular1, linear;
-	b3Vector3 r0 = center - posA;
-	b3Vector3 r1 = center - posB;
-	for (int i = 0; i < 2; i++)
-	{
-		b3SetLinearAndAngular(tangent[i], r0, r1, linear, angular0, angular1);
-		float rambdaDt = b3CalcRelVel(linear, -linear, angular0, angular1,
-									  linVelA, angVelA, linVelB, angVelB);
-		rambdaDt *= cs.m_fJacCoeffInv[i];
-
-		{
-			float prevSum = cs.m_fAppliedRambdaDt[i];
-			float updated = prevSum;
-			updated += rambdaDt;
-			updated = b3Max(updated, minRambdaDt[i]);
-			updated = b3Min(updated, maxRambdaDt[i]);
-			rambdaDt = updated - prevSum;
-			cs.m_fAppliedRambdaDt[i] = updated;
-		}
-
-		b3Vector3 linImp0 = invMassA * linear * rambdaDt;
-		b3Vector3 linImp1 = invMassB * (-linear) * rambdaDt;
-		b3Vector3 angImp0 = (invInertiaA * angular0) * rambdaDt;
-		b3Vector3 angImp1 = (invInertiaB * angular1) * rambdaDt;
-#ifdef _WIN32
-		b3Assert(_finite(linImp0.getX()));
-		b3Assert(_finite(linImp1.getX()));
-#endif
-		linVelA += linImp0;
-		angVelA += angImp0;
-		linVelB += linImp1;
-		angVelB += angImp1;
-	}
-
-	{  //	angular damping for point constraint
-		b3Vector3 ab = (posB - posA).normalized();
-		b3Vector3 ac = (center - posA).normalized();
-		if (b3Dot(ab, ac) > 0.95f || (invMassA == 0.f || invMassB == 0.f))
-		{
-			float angNA = b3Dot(n, angVelA);
-			float angNB = b3Dot(n, angVelB);
-
-			angVelA -= (angNA * 0.1f) * n;
-			angVelB -= (angNB * 0.1f) * n;
-		}
-	}
-}
-
-struct b3SolveTask  // : public ThreadPool::Task
-{
-	b3SolveTask(b3AlignedObjectArray<b3RigidBodyData>& bodies,
-				b3AlignedObjectArray<b3Inertia>& shapes,
-				b3AlignedObjectArray<b3ContactConstraint4>& constraints,
-				int start, int nConstraints,
-				int maxNumBatches,
-				b3AlignedObjectArray<int>* wgUsedBodies, int curWgidx)
-		: m_bodies(bodies), m_shapes(shapes), m_constraints(constraints), m_wgUsedBodies(wgUsedBodies), m_curWgidx(curWgidx), m_start(start), m_nConstraints(nConstraints), m_solveFriction(true), m_maxNumBatches(maxNumBatches)
-	{
-	}
-
-	unsigned short int getType() { return 0; }
-
-	void run(int tIdx)
-	{
-		b3AlignedObjectArray<int> usedBodies;
-		//printf("run..............\n");
-
-		for (int bb = 0; bb < m_maxNumBatches; bb++)
-		{
-			usedBodies.resize(0);
-			for (int ic = m_nConstraints - 1; ic >= 0; ic--)
-			//for(int ic=0; ic<m_nConstraints; ic++)
-			{
-				int i = m_start + ic;
-				if (m_constraints[i].m_batchIdx != bb)
-					continue;
-
-				float frictionCoeff = b3GetFrictionCoeff(&m_constraints[i]);
-				int aIdx = (int)m_constraints[i].m_bodyA;
-				int bIdx = (int)m_constraints[i].m_bodyB;
-				//int localBatch = m_constraints[i].m_batchIdx;
-				b3RigidBodyData& bodyA = m_bodies[aIdx];
-				b3RigidBodyData& bodyB = m_bodies[bIdx];
-
-#if 0
-				if ((bodyA.m_invMass) && (bodyB.m_invMass))
-				{
-				//	printf("aIdx=%d, bIdx=%d\n", aIdx,bIdx);
-				}
-				if (bIdx==10)
-				{
-					//printf("ic(b)=%d, localBatch=%d\n",ic,localBatch);
-				}
-#endif
-				if (aIdx == 10)
-				{
-					//printf("ic(a)=%d, localBatch=%d\n",ic,localBatch);
-				}
-				if (usedBodies.size() < (aIdx + 1))
-				{
-					usedBodies.resize(aIdx + 1, 0);
-				}
-
-				if (usedBodies.size() < (bIdx + 1))
-				{
-					usedBodies.resize(bIdx + 1, 0);
-				}
-
-				if (bodyA.m_invMass)
-				{
-					b3Assert(usedBodies[aIdx] == 0);
-					usedBodies[aIdx]++;
-				}
-
-				if (bodyB.m_invMass)
-				{
-					b3Assert(usedBodies[bIdx] == 0);
-					usedBodies[bIdx]++;
-				}
-
-				if (!m_solveFriction)
-				{
-					float maxRambdaDt[4] = {FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX};
-					float minRambdaDt[4] = {0.f, 0.f, 0.f, 0.f};
-
-					b3SolveContact(m_constraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass, (const b3Matrix3x3&)m_shapes[aIdx].m_invInertiaWorld,
-								   (b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, (const b3Matrix3x3&)m_shapes[bIdx].m_invInertiaWorld,
-								   maxRambdaDt, minRambdaDt);
-				}
-				else
-				{
-					float maxRambdaDt[4] = {FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX};
-					float minRambdaDt[4] = {0.f, 0.f, 0.f, 0.f};
-
-					float sum = 0;
-					for (int j = 0; j < 4; j++)
-					{
-						sum += m_constraints[i].m_appliedRambdaDt[j];
-					}
-					frictionCoeff = 0.7f;
-					for (int j = 0; j < 4; j++)
-					{
-						maxRambdaDt[j] = frictionCoeff * sum;
-						minRambdaDt[j] = -maxRambdaDt[j];
-					}
-
-					b3SolveFriction(m_constraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass, (const b3Matrix3x3&)m_shapes[aIdx].m_invInertiaWorld,
-									(b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, (const b3Matrix3x3&)m_shapes[bIdx].m_invInertiaWorld,
-									maxRambdaDt, minRambdaDt);
-				}
-			}
-
-			if (m_wgUsedBodies)
-			{
-				if (m_wgUsedBodies[m_curWgidx].size() < usedBodies.size())
-				{
-					m_wgUsedBodies[m_curWgidx].resize(usedBodies.size());
-				}
-				for (int i = 0; i < usedBodies.size(); i++)
-				{
-					if (usedBodies[i])
-					{
-						//printf("cell %d uses body %d\n", m_curWgidx,i);
-						m_wgUsedBodies[m_curWgidx][i] = 1;
-					}
-				}
-			}
-		}
-	}
-
-	b3AlignedObjectArray<b3RigidBodyData>& m_bodies;
-	b3AlignedObjectArray<b3Inertia>& m_shapes;
-	b3AlignedObjectArray<b3ContactConstraint4>& m_constraints;
-	b3AlignedObjectArray<int>* m_wgUsedBodies;
-	int m_curWgidx;
-	int m_start;
-	int m_nConstraints;
-	bool m_solveFriction;
-	int m_maxNumBatches;
-};
-
-void b3CpuRigidBodyPipeline::solveContactConstraints()
-{
-	int m_nIterations = 4;
-
-	b3AlignedObjectArray<b3ContactConstraint4> contactConstraints;
-	//	const b3AlignedObjectArray<b3Contact4Data>& contacts = m_data->m_np->getContacts();
-	int n = contactConstraints.size();
-	//convert contacts...
-
-	int maxNumBatches = 250;
-
-	for (int iter = 0; iter < m_nIterations; iter++)
-	{
-		b3SolveTask task(m_data->m_rigidBodies, m_data->m_inertias, contactConstraints, 0, n, maxNumBatches, 0, 0);
-		task.m_solveFriction = false;
-		task.run(0);
-	}
-
-	for (int iter = 0; iter < m_nIterations; iter++)
-	{
-		b3SolveTask task(m_data->m_rigidBodies, m_data->m_inertias, contactConstraints, 0, n, maxNumBatches, 0, 0);
-		task.m_solveFriction = true;
-		task.run(0);
-	}
-}
-
-void b3CpuRigidBodyPipeline::integrate(float deltaTime)
-{
-	float angDamping = 0.f;
-	b3Vector3 gravityAcceleration = b3MakeVector3(0, -9, 0);
-
-	//integrate transforms (external forces/gravity should be moved into constraint solver)
-	for (int i = 0; i < m_data->m_rigidBodies.size(); i++)
-	{
-		b3IntegrateTransform(&m_data->m_rigidBodies[i], deltaTime, angDamping, gravityAcceleration);
-	}
-}
-
-int b3CpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* position, const float* orientation, int collidableIndex, int userData)
-{
-	b3RigidBodyData body;
-	int bodyIndex = m_data->m_rigidBodies.size();
-	body.m_invMass = mass ? 1.f / mass : 0.f;
-	body.m_angVel.setValue(0, 0, 0);
-	body.m_collidableIdx = collidableIndex;
-	body.m_frictionCoeff = 0.3f;
-	body.m_linVel.setValue(0, 0, 0);
-	body.m_pos.setValue(position[0], position[1], position[2]);
-	body.m_quat.setValue(orientation[0], orientation[1], orientation[2], orientation[3]);
-	body.m_restituitionCoeff = 0.f;
-
-	m_data->m_rigidBodies.push_back(body);
-
-	if (collidableIndex >= 0)
-	{
-		b3Aabb& worldAabb = m_data->m_aabbWorldSpace.expand();
-
-		b3Aabb localAabb = m_data->m_np->getLocalSpaceAabb(collidableIndex);
-		b3Vector3 localAabbMin = b3MakeVector3(localAabb.m_min[0], localAabb.m_min[1], localAabb.m_min[2]);
-		b3Vector3 localAabbMax = b3MakeVector3(localAabb.m_max[0], localAabb.m_max[1], localAabb.m_max[2]);
-
-		b3Scalar margin = 0.01f;
-		b3Transform t;
-		t.setIdentity();
-		t.setOrigin(b3MakeVector3(position[0], position[1], position[2]));
-		t.setRotation(b3Quaternion(orientation[0], orientation[1], orientation[2], orientation[3]));
-		b3TransformAabb(localAabbMin, localAabbMax, margin, t, worldAabb.m_minVec, worldAabb.m_maxVec);
-
-		m_data->m_bp->createProxy(worldAabb.m_minVec, worldAabb.m_maxVec, bodyIndex, 0, 1, 1);
-		//		b3Vector3 aabbMin,aabbMax;
-		//	m_data->m_bp->getAabb(bodyIndex,aabbMin,aabbMax);
-	}
-	else
-	{
-		b3Error("registerPhysicsInstance using invalid collidableIndex\n");
-	}
-
-	return bodyIndex;
-}
-
-const struct b3RigidBodyData* b3CpuRigidBodyPipeline::getBodyBuffer() const
-{
-	return m_data->m_rigidBodies.size() ? &m_data->m_rigidBodies[0] : 0;
-}
-
-int b3CpuRigidBodyPipeline::getNumBodies() const
-{
-	return m_data->m_rigidBodies.size();
-}
diff --git a/thirdparty/bullet/Bullet3Dynamics/b3CpuRigidBodyPipeline.h b/thirdparty/bullet/Bullet3Dynamics/b3CpuRigidBodyPipeline.h
deleted file mode 100644
index 9c65419f26..0000000000
--- a/thirdparty/bullet/Bullet3Dynamics/b3CpuRigidBodyPipeline.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
-Copyright (c) 2013 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Erwin Coumans
-
-#ifndef B3_CPU_RIGIDBODY_PIPELINE_H
-#define B3_CPU_RIGIDBODY_PIPELINE_H
-
-#include "Bullet3Common/b3AlignedObjectArray.h"
-#include "Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h"
-
-class b3CpuRigidBodyPipeline
-{
-protected:
-	struct b3CpuRigidBodyPipelineInternalData* m_data;
-
-	int allocateCollidable();
-
-public:
-	b3CpuRigidBodyPipeline(class b3CpuNarrowPhase* narrowphase, struct b3DynamicBvhBroadphase* broadphaseDbvt, const struct b3Config& config);
-	virtual ~b3CpuRigidBodyPipeline();
-
-	virtual void stepSimulation(float deltaTime);
-	virtual void integrate(float timeStep);
-	virtual void updateAabbWorldSpace();
-	virtual void computeOverlappingPairs();
-	virtual void computeContactPoints();
-	virtual void solveContactConstraints();
-
-	int registerConvexPolyhedron(class b3ConvexUtility* convex);
-
-	int registerPhysicsInstance(float mass, const float* position, const float* orientation, int collisionShapeIndex, int userData);
-	void writeAllInstancesToGpu();
-	void copyConstraintsToHost();
-	void setGravity(const float* grav);
-	void reset();
-
-	int createPoint2PointConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, float breakingThreshold);
-	int createFixedConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, const float* relTargetAB, float breakingThreshold);
-	void removeConstraintByUid(int uid);
-
-	void addConstraint(class b3TypedConstraint* constraint);
-	void removeConstraint(b3TypedConstraint* constraint);
-
-	void castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults);
-
-	const struct b3RigidBodyData* getBodyBuffer() const;
-
-	int getNumBodies() const;
-};
-
-#endif  //B3_CPU_RIGIDBODY_PIPELINE_H
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3Dynamics/shared/b3ContactConstraint4.h b/thirdparty/bullet/Bullet3Dynamics/shared/b3ContactConstraint4.h
deleted file mode 100644
index cf2eed0e7c..0000000000
--- a/thirdparty/bullet/Bullet3Dynamics/shared/b3ContactConstraint4.h
+++ /dev/null
@@ -1,31 +0,0 @@
-#ifndef B3_CONTACT_CONSTRAINT5_H
-#define B3_CONTACT_CONSTRAINT5_H
-
-#include "Bullet3Common/shared/b3Float4.h"
-
-typedef struct b3ContactConstraint4 b3ContactConstraint4_t;
-
-struct b3ContactConstraint4
-{
-	b3Float4 m_linear;  //normal?
-	b3Float4 m_worldPos[4];
-	b3Float4 m_center;  //	friction
-	float m_jacCoeffInv[4];
-	float m_b[4];
-	float m_appliedRambdaDt[4];
-	float m_fJacCoeffInv[2];      //	friction
-	float m_fAppliedRambdaDt[2];  //	friction
-
-	unsigned int m_bodyA;
-	unsigned int m_bodyB;
-	int m_batchIdx;
-	unsigned int m_paddings;
-};
-
-//inline	void setFrictionCoeff(float value) { m_linear[3] = value; }
-inline float b3GetFrictionCoeff(b3ContactConstraint4_t* constraint)
-{
-	return constraint->m_linear.w;
-}
-
-#endif  //B3_CONTACT_CONSTRAINT5_H
diff --git a/thirdparty/bullet/Bullet3Dynamics/shared/b3ConvertConstraint4.h b/thirdparty/bullet/Bullet3Dynamics/shared/b3ConvertConstraint4.h
deleted file mode 100644
index 3e72f1c3f2..0000000000
--- a/thirdparty/bullet/Bullet3Dynamics/shared/b3ConvertConstraint4.h
+++ /dev/null
@@ -1,148 +0,0 @@
-
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
-#include "Bullet3Dynamics/shared/b3ContactConstraint4.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-
-void b3PlaneSpace1(b3Float4ConstArg n, b3Float4* p, b3Float4* q);
-void b3PlaneSpace1(b3Float4ConstArg n, b3Float4* p, b3Float4* q)
-{
-	if (b3Fabs(n.z) > 0.70710678f)
-	{
-		// choose p in y-z plane
-		float a = n.y * n.y + n.z * n.z;
-		float k = 1.f / sqrt(a);
-		p[0].x = 0;
-		p[0].y = -n.z * k;
-		p[0].z = n.y * k;
-		// set q = n x p
-		q[0].x = a * k;
-		q[0].y = -n.x * p[0].z;
-		q[0].z = n.x * p[0].y;
-	}
-	else
-	{
-		// choose p in x-y plane
-		float a = n.x * n.x + n.y * n.y;
-		float k = 1.f / sqrt(a);
-		p[0].x = -n.y * k;
-		p[0].y = n.x * k;
-		p[0].z = 0;
-		// set q = n x p
-		q[0].x = -n.z * p[0].y;
-		q[0].y = n.z * p[0].x;
-		q[0].z = a * k;
-	}
-}
-
-void setLinearAndAngular(b3Float4ConstArg n, b3Float4ConstArg r0, b3Float4ConstArg r1, b3Float4* linear, b3Float4* angular0, b3Float4* angular1)
-{
-	*linear = b3MakeFloat4(n.x, n.y, n.z, 0.f);
-	*angular0 = b3Cross3(r0, n);
-	*angular1 = -b3Cross3(r1, n);
-}
-
-float calcRelVel(b3Float4ConstArg l0, b3Float4ConstArg l1, b3Float4ConstArg a0, b3Float4ConstArg a1, b3Float4ConstArg linVel0,
-				 b3Float4ConstArg angVel0, b3Float4ConstArg linVel1, b3Float4ConstArg angVel1)
-{
-	return b3Dot3F4(l0, linVel0) + b3Dot3F4(a0, angVel0) + b3Dot3F4(l1, linVel1) + b3Dot3F4(a1, angVel1);
-}
-
-float calcJacCoeff(b3Float4ConstArg linear0, b3Float4ConstArg linear1, b3Float4ConstArg angular0, b3Float4ConstArg angular1,
-				   float invMass0, const b3Mat3x3* invInertia0, float invMass1, const b3Mat3x3* invInertia1)
-{
-	//	linear0,1 are normlized
-	float jmj0 = invMass0;  //b3Dot3F4(linear0, linear0)*invMass0;
-	float jmj1 = b3Dot3F4(mtMul3(angular0, *invInertia0), angular0);
-	float jmj2 = invMass1;  //b3Dot3F4(linear1, linear1)*invMass1;
-	float jmj3 = b3Dot3F4(mtMul3(angular1, *invInertia1), angular1);
-	return -1.f / (jmj0 + jmj1 + jmj2 + jmj3);
-}
-
-void setConstraint4(b3Float4ConstArg posA, b3Float4ConstArg linVelA, b3Float4ConstArg angVelA, float invMassA, b3Mat3x3ConstArg invInertiaA,
-					b3Float4ConstArg posB, b3Float4ConstArg linVelB, b3Float4ConstArg angVelB, float invMassB, b3Mat3x3ConstArg invInertiaB,
-					__global struct b3Contact4Data* src, float dt, float positionDrift, float positionConstraintCoeff,
-					b3ContactConstraint4_t* dstC)
-{
-	dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);
-	dstC->m_bodyB = abs(src->m_bodyBPtrAndSignBit);
-
-	float dtInv = 1.f / dt;
-	for (int ic = 0; ic < 4; ic++)
-	{
-		dstC->m_appliedRambdaDt[ic] = 0.f;
-	}
-	dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f;
-
-	dstC->m_linear = src->m_worldNormalOnB;
-	dstC->m_linear.w = 0.7f;  //src->getFrictionCoeff() );
-	for (int ic = 0; ic < 4; ic++)
-	{
-		b3Float4 r0 = src->m_worldPosB[ic] - posA;
-		b3Float4 r1 = src->m_worldPosB[ic] - posB;
-
-		if (ic >= src->m_worldNormalOnB.w)  //npoints
-		{
-			dstC->m_jacCoeffInv[ic] = 0.f;
-			continue;
-		}
-
-		float relVelN;
-		{
-			b3Float4 linear, angular0, angular1;
-			setLinearAndAngular(src->m_worldNormalOnB, r0, r1, &linear, &angular0, &angular1);
-
-			dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,
-												   invMassA, &invInertiaA, invMassB, &invInertiaB);
-
-			relVelN = calcRelVel(linear, -linear, angular0, angular1,
-								 linVelA, angVelA, linVelB, angVelB);
-
-			float e = 0.f;  //src->getRestituitionCoeff();
-			if (relVelN * relVelN < 0.004f) e = 0.f;
-
-			dstC->m_b[ic] = e * relVelN;
-			//float penetration = src->m_worldPosB[ic].w;
-			dstC->m_b[ic] += (src->m_worldPosB[ic].w + positionDrift) * positionConstraintCoeff * dtInv;
-			dstC->m_appliedRambdaDt[ic] = 0.f;
-		}
-	}
-
-	if (src->m_worldNormalOnB.w > 0)  //npoints
-	{                                 //	prepare friction
-		b3Float4 center = b3MakeFloat4(0.f, 0.f, 0.f, 0.f);
-		for (int i = 0; i < src->m_worldNormalOnB.w; i++)
-			center += src->m_worldPosB[i];
-		center /= (float)src->m_worldNormalOnB.w;
-
-		b3Float4 tangent[2];
-		b3PlaneSpace1(src->m_worldNormalOnB, &tangent[0], &tangent[1]);
-
-		b3Float4 r[2];
-		r[0] = center - posA;
-		r[1] = center - posB;
-
-		for (int i = 0; i < 2; i++)
-		{
-			b3Float4 linear, angular0, angular1;
-			setLinearAndAngular(tangent[i], r[0], r[1], &linear, &angular0, &angular1);
-
-			dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1,
-												   invMassA, &invInertiaA, invMassB, &invInertiaB);
-			dstC->m_fAppliedRambdaDt[i] = 0.f;
-		}
-		dstC->m_center = center;
-	}
-
-	for (int i = 0; i < 4; i++)
-	{
-		if (i < src->m_worldNormalOnB.w)
-		{
-			dstC->m_worldPos[i] = src->m_worldPosB[i];
-		}
-		else
-		{
-			dstC->m_worldPos[i] = b3MakeFloat4(0.f, 0.f, 0.f, 0.f);
-		}
-	}
-}
diff --git a/thirdparty/bullet/Bullet3Dynamics/shared/b3Inertia.h b/thirdparty/bullet/Bullet3Dynamics/shared/b3Inertia.h
deleted file mode 100644
index 602a1335aa..0000000000
--- a/thirdparty/bullet/Bullet3Dynamics/shared/b3Inertia.h
+++ /dev/null
@@ -1,14 +0,0 @@
-
-
-#ifndef B3_INERTIA_H
-#define B3_INERTIA_H
-
-#include "Bullet3Common/shared/b3Mat3x3.h"
-
-struct b3Inertia
-{
-	b3Mat3x3 m_invInertiaWorld;
-	b3Mat3x3 m_initInvInertia;
-};
-
-#endif  //B3_INERTIA_H
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3Dynamics/shared/b3IntegrateTransforms.h b/thirdparty/bullet/Bullet3Dynamics/shared/b3IntegrateTransforms.h
deleted file mode 100644
index 56d9118f95..0000000000
--- a/thirdparty/bullet/Bullet3Dynamics/shared/b3IntegrateTransforms.h
+++ /dev/null
@@ -1,106 +0,0 @@
-
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-
-inline void integrateSingleTransform(__global b3RigidBodyData_t* bodies, int nodeID, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)
-{
-	if (bodies[nodeID].m_invMass != 0.f)
-	{
-		float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);
-
-		//angular velocity
-		{
-			b3Float4 axis;
-			//add some hardcoded angular damping
-			bodies[nodeID].m_angVel.x *= angularDamping;
-			bodies[nodeID].m_angVel.y *= angularDamping;
-			bodies[nodeID].m_angVel.z *= angularDamping;
-
-			b3Float4 angvel = bodies[nodeID].m_angVel;
-
-			float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));
-
-			//limit the angular motion
-			if (fAngle * timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)
-			{
-				fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;
-			}
-			if (fAngle < 0.001f)
-			{
-				// use Taylor's expansions of sync function
-				axis = angvel * (0.5f * timeStep - (timeStep * timeStep * timeStep) * 0.020833333333f * fAngle * fAngle);
-			}
-			else
-			{
-				// sync(fAngle) = sin(c*fAngle)/t
-				axis = angvel * (b3Sin(0.5f * fAngle * timeStep) / fAngle);
-			}
-
-			b3Quat dorn;
-			dorn.x = axis.x;
-			dorn.y = axis.y;
-			dorn.z = axis.z;
-			dorn.w = b3Cos(fAngle * timeStep * 0.5f);
-			b3Quat orn0 = bodies[nodeID].m_quat;
-			b3Quat predictedOrn = b3QuatMul(dorn, orn0);
-			predictedOrn = b3QuatNormalized(predictedOrn);
-			bodies[nodeID].m_quat = predictedOrn;
-		}
-		//linear velocity
-		bodies[nodeID].m_pos += bodies[nodeID].m_linVel * timeStep;
-
-		//apply gravity
-		bodies[nodeID].m_linVel += gravityAcceleration * timeStep;
-	}
-}
-
-inline void b3IntegrateTransform(__global b3RigidBodyData_t* body, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)
-{
-	float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);
-
-	if ((body->m_invMass != 0.f))
-	{
-		//angular velocity
-		{
-			b3Float4 axis;
-			//add some hardcoded angular damping
-			body->m_angVel.x *= angularDamping;
-			body->m_angVel.y *= angularDamping;
-			body->m_angVel.z *= angularDamping;
-
-			b3Float4 angvel = body->m_angVel;
-			float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));
-			//limit the angular motion
-			if (fAngle * timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)
-			{
-				fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;
-			}
-			if (fAngle < 0.001f)
-			{
-				// use Taylor's expansions of sync function
-				axis = angvel * (0.5f * timeStep - (timeStep * timeStep * timeStep) * 0.020833333333f * fAngle * fAngle);
-			}
-			else
-			{
-				// sync(fAngle) = sin(c*fAngle)/t
-				axis = angvel * (b3Sin(0.5f * fAngle * timeStep) / fAngle);
-			}
-			b3Quat dorn;
-			dorn.x = axis.x;
-			dorn.y = axis.y;
-			dorn.z = axis.z;
-			dorn.w = b3Cos(fAngle * timeStep * 0.5f);
-			b3Quat orn0 = body->m_quat;
-
-			b3Quat predictedOrn = b3QuatMul(dorn, orn0);
-			predictedOrn = b3QuatNormalized(predictedOrn);
-			body->m_quat = predictedOrn;
-		}
-
-		//apply gravity
-		body->m_linVel += gravityAcceleration * timeStep;
-
-		//linear velocity
-		body->m_pos += body->m_linVel * timeStep;
-	}
-}
diff --git a/thirdparty/bullet/Bullet3Geometry/b3AabbUtil.h b/thirdparty/bullet/Bullet3Geometry/b3AabbUtil.h
deleted file mode 100644
index 396a401450..0000000000
--- a/thirdparty/bullet/Bullet3Geometry/b3AabbUtil.h
+++ /dev/null
@@ -1,217 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_AABB_UTIL2
-#define B3_AABB_UTIL2
-
-#include "Bullet3Common/b3Transform.h"
-#include "Bullet3Common/b3Vector3.h"
-#include "Bullet3Common/b3MinMax.h"
-
-B3_FORCE_INLINE void b3AabbExpand(b3Vector3& aabbMin,
-								  b3Vector3& aabbMax,
-								  const b3Vector3& expansionMin,
-								  const b3Vector3& expansionMax)
-{
-	aabbMin = aabbMin + expansionMin;
-	aabbMax = aabbMax + expansionMax;
-}
-
-/// conservative test for overlap between two aabbs
-B3_FORCE_INLINE bool b3TestPointAgainstAabb2(const b3Vector3& aabbMin1, const b3Vector3& aabbMax1,
-											 const b3Vector3& point)
-{
-	bool overlap = true;
-	overlap = (aabbMin1.getX() > point.getX() || aabbMax1.getX() < point.getX()) ? false : overlap;
-	overlap = (aabbMin1.getZ() > point.getZ() || aabbMax1.getZ() < point.getZ()) ? false : overlap;
-	overlap = (aabbMin1.getY() > point.getY() || aabbMax1.getY() < point.getY()) ? false : overlap;
-	return overlap;
-}
-
-/// conservative test for overlap between two aabbs
-B3_FORCE_INLINE bool b3TestAabbAgainstAabb2(const b3Vector3& aabbMin1, const b3Vector3& aabbMax1,
-											const b3Vector3& aabbMin2, const b3Vector3& aabbMax2)
-{
-	bool overlap = true;
-	overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap;
-	overlap = (aabbMin1.getZ() > aabbMax2.getZ() || aabbMax1.getZ() < aabbMin2.getZ()) ? false : overlap;
-	overlap = (aabbMin1.getY() > aabbMax2.getY() || aabbMax1.getY() < aabbMin2.getY()) ? false : overlap;
-	return overlap;
-}
-
-/// conservative test for overlap between triangle and aabb
-B3_FORCE_INLINE bool b3TestTriangleAgainstAabb2(const b3Vector3* vertices,
-												const b3Vector3& aabbMin, const b3Vector3& aabbMax)
-{
-	const b3Vector3& p1 = vertices[0];
-	const b3Vector3& p2 = vertices[1];
-	const b3Vector3& p3 = vertices[2];
-
-	if (b3Min(b3Min(p1[0], p2[0]), p3[0]) > aabbMax[0]) return false;
-	if (b3Max(b3Max(p1[0], p2[0]), p3[0]) < aabbMin[0]) return false;
-
-	if (b3Min(b3Min(p1[2], p2[2]), p3[2]) > aabbMax[2]) return false;
-	if (b3Max(b3Max(p1[2], p2[2]), p3[2]) < aabbMin[2]) return false;
-
-	if (b3Min(b3Min(p1[1], p2[1]), p3[1]) > aabbMax[1]) return false;
-	if (b3Max(b3Max(p1[1], p2[1]), p3[1]) < aabbMin[1]) return false;
-	return true;
-}
-
-B3_FORCE_INLINE int b3Outcode(const b3Vector3& p, const b3Vector3& halfExtent)
-{
-	return (p.getX() < -halfExtent.getX() ? 0x01 : 0x0) |
-		   (p.getX() > halfExtent.getX() ? 0x08 : 0x0) |
-		   (p.getY() < -halfExtent.getY() ? 0x02 : 0x0) |
-		   (p.getY() > halfExtent.getY() ? 0x10 : 0x0) |
-		   (p.getZ() < -halfExtent.getZ() ? 0x4 : 0x0) |
-		   (p.getZ() > halfExtent.getZ() ? 0x20 : 0x0);
-}
-
-B3_FORCE_INLINE bool b3RayAabb2(const b3Vector3& rayFrom,
-								const b3Vector3& rayInvDirection,
-								const unsigned int raySign[3],
-								const b3Vector3 bounds[2],
-								b3Scalar& tmin,
-								b3Scalar lambda_min,
-								b3Scalar lambda_max)
-{
-	b3Scalar tmax, tymin, tymax, tzmin, tzmax;
-	tmin = (bounds[raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
-	tmax = (bounds[1 - raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
-	tymin = (bounds[raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
-	tymax = (bounds[1 - raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
-
-	if ((tmin > tymax) || (tymin > tmax))
-		return false;
-
-	if (tymin > tmin)
-		tmin = tymin;
-
-	if (tymax < tmax)
-		tmax = tymax;
-
-	tzmin = (bounds[raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
-	tzmax = (bounds[1 - raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
-
-	if ((tmin > tzmax) || (tzmin > tmax))
-		return false;
-	if (tzmin > tmin)
-		tmin = tzmin;
-	if (tzmax < tmax)
-		tmax = tzmax;
-	return ((tmin < lambda_max) && (tmax > lambda_min));
-}
-
-B3_FORCE_INLINE bool b3RayAabb(const b3Vector3& rayFrom,
-							   const b3Vector3& rayTo,
-							   const b3Vector3& aabbMin,
-							   const b3Vector3& aabbMax,
-							   b3Scalar& param, b3Vector3& normal)
-{
-	b3Vector3 aabbHalfExtent = (aabbMax - aabbMin) * b3Scalar(0.5);
-	b3Vector3 aabbCenter = (aabbMax + aabbMin) * b3Scalar(0.5);
-	b3Vector3 source = rayFrom - aabbCenter;
-	b3Vector3 target = rayTo - aabbCenter;
-	int sourceOutcode = b3Outcode(source, aabbHalfExtent);
-	int targetOutcode = b3Outcode(target, aabbHalfExtent);
-	if ((sourceOutcode & targetOutcode) == 0x0)
-	{
-		b3Scalar lambda_enter = b3Scalar(0.0);
-		b3Scalar lambda_exit = param;
-		b3Vector3 r = target - source;
-		int i;
-		b3Scalar normSign = 1;
-		b3Vector3 hitNormal = b3MakeVector3(0, 0, 0);
-		int bit = 1;
-
-		for (int j = 0; j < 2; j++)
-		{
-			for (i = 0; i != 3; ++i)
-			{
-				if (sourceOutcode & bit)
-				{
-					b3Scalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i];
-					if (lambda_enter <= lambda)
-					{
-						lambda_enter = lambda;
-						hitNormal.setValue(0, 0, 0);
-						hitNormal[i] = normSign;
-					}
-				}
-				else if (targetOutcode & bit)
-				{
-					b3Scalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i];
-					b3SetMin(lambda_exit, lambda);
-				}
-				bit <<= 1;
-			}
-			normSign = b3Scalar(-1.);
-		}
-		if (lambda_enter <= lambda_exit)
-		{
-			param = lambda_enter;
-			normal = hitNormal;
-			return true;
-		}
-	}
-	return false;
-}
-
-B3_FORCE_INLINE void b3TransformAabb(const b3Vector3& halfExtents, b3Scalar margin, const b3Transform& t, b3Vector3& aabbMinOut, b3Vector3& aabbMaxOut)
-{
-	b3Vector3 halfExtentsWithMargin = halfExtents + b3MakeVector3(margin, margin, margin);
-	b3Matrix3x3 abs_b = t.getBasis().absolute();
-	b3Vector3 center = t.getOrigin();
-	b3Vector3 extent = halfExtentsWithMargin.dot3(abs_b[0], abs_b[1], abs_b[2]);
-	aabbMinOut = center - extent;
-	aabbMaxOut = center + extent;
-}
-
-B3_FORCE_INLINE void b3TransformAabb(const b3Vector3& localAabbMin, const b3Vector3& localAabbMax, b3Scalar margin, const b3Transform& trans, b3Vector3& aabbMinOut, b3Vector3& aabbMaxOut)
-{
-	//b3Assert(localAabbMin.getX() <= localAabbMax.getX());
-	//b3Assert(localAabbMin.getY() <= localAabbMax.getY());
-	//b3Assert(localAabbMin.getZ() <= localAabbMax.getZ());
-	b3Vector3 localHalfExtents = b3Scalar(0.5) * (localAabbMax - localAabbMin);
-	localHalfExtents += b3MakeVector3(margin, margin, margin);
-
-	b3Vector3 localCenter = b3Scalar(0.5) * (localAabbMax + localAabbMin);
-	b3Matrix3x3 abs_b = trans.getBasis().absolute();
-	b3Vector3 center = trans(localCenter);
-	b3Vector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
-	aabbMinOut = center - extent;
-	aabbMaxOut = center + extent;
-}
-
-#define B3_USE_BANCHLESS 1
-#ifdef B3_USE_BANCHLESS
-//This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360)
-B3_FORCE_INLINE unsigned b3TestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1, const unsigned short int* aabbMax1, const unsigned short int* aabbMin2, const unsigned short int* aabbMax2)
-{
-	return static_cast<unsigned int>(b3Select((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0]) & (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2]) & (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
-											  1, 0));
-}
-#else
-B3_FORCE_INLINE bool b3TestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1, const unsigned short int* aabbMax1, const unsigned short int* aabbMin2, const unsigned short int* aabbMax2)
-{
-	bool overlap = true;
-	overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
-	overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
-	overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
-	return overlap;
-}
-#endif  //B3_USE_BANCHLESS
-
-#endif  //B3_AABB_UTIL2
diff --git a/thirdparty/bullet/Bullet3Geometry/b3ConvexHullComputer.cpp b/thirdparty/bullet/Bullet3Geometry/b3ConvexHullComputer.cpp
deleted file mode 100644
index b37652456e..0000000000
--- a/thirdparty/bullet/Bullet3Geometry/b3ConvexHullComputer.cpp
+++ /dev/null
@@ -1,2745 +0,0 @@
-/*
-Copyright (c) 2011 Ole Kniemeyer, MAXON, www.maxon.net
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include <string.h>
-
-#include "b3ConvexHullComputer.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-#include "Bullet3Common/b3MinMax.h"
-#include "Bullet3Common/b3Vector3.h"
-
-#ifdef __GNUC__
-#include <stdint.h>
-typedef int32_t btInt32_t;
-typedef int64_t btInt64_t;
-typedef uint32_t btUint32_t;
-typedef uint64_t btUint64_t;
-#elif defined(_MSC_VER)
-typedef __int32 btInt32_t;
-typedef __int64 btInt64_t;
-typedef unsigned __int32 btUint32_t;
-typedef unsigned __int64 btUint64_t;
-#else
-typedef int btInt32_t;
-typedef long long int btInt64_t;
-typedef unsigned int btUint32_t;
-typedef unsigned long long int btUint64_t;
-#endif
-
-//The definition of USE_X86_64_ASM is moved into the build system. You can enable it manually by commenting out the following lines
-//#if (defined(__GNUC__) && defined(__x86_64__) && !defined(__ICL))  // || (defined(__ICL) && defined(_M_X64))   bug in Intel compiler, disable inline assembly
-//	#define USE_X86_64_ASM
-//#endif
-
-//#define DEBUG_CONVEX_HULL
-//#define SHOW_ITERATIONS
-
-#if defined(DEBUG_CONVEX_HULL) || defined(SHOW_ITERATIONS)
-#include <stdio.h>
-#endif
-
-// Convex hull implementation based on Preparata and Hong
-// Ole Kniemeyer, MAXON Computer GmbH
-class b3ConvexHullInternal
-{
-public:
-	class Point64
-	{
-	public:
-		btInt64_t x;
-		btInt64_t y;
-		btInt64_t z;
-
-		Point64(btInt64_t x, btInt64_t y, btInt64_t z) : x(x), y(y), z(z)
-		{
-		}
-
-		bool isZero()
-		{
-			return (x == 0) && (y == 0) && (z == 0);
-		}
-
-		btInt64_t dot(const Point64& b) const
-		{
-			return x * b.x + y * b.y + z * b.z;
-		}
-	};
-
-	class Point32
-	{
-	public:
-		btInt32_t x;
-		btInt32_t y;
-		btInt32_t z;
-		int index;
-
-		Point32()
-		{
-		}
-
-		Point32(btInt32_t x, btInt32_t y, btInt32_t z) : x(x), y(y), z(z), index(-1)
-		{
-		}
-
-		bool operator==(const Point32& b) const
-		{
-			return (x == b.x) && (y == b.y) && (z == b.z);
-		}
-
-		bool operator!=(const Point32& b) const
-		{
-			return (x != b.x) || (y != b.y) || (z != b.z);
-		}
-
-		bool isZero()
-		{
-			return (x == 0) && (y == 0) && (z == 0);
-		}
-
-		Point64 cross(const Point32& b) const
-		{
-			return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x);
-		}
-
-		Point64 cross(const Point64& b) const
-		{
-			return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x);
-		}
-
-		btInt64_t dot(const Point32& b) const
-		{
-			return x * b.x + y * b.y + z * b.z;
-		}
-
-		btInt64_t dot(const Point64& b) const
-		{
-			return x * b.x + y * b.y + z * b.z;
-		}
-
-		Point32 operator+(const Point32& b) const
-		{
-			return Point32(x + b.x, y + b.y, z + b.z);
-		}
-
-		Point32 operator-(const Point32& b) const
-		{
-			return Point32(x - b.x, y - b.y, z - b.z);
-		}
-	};
-
-	class Int128
-	{
-	public:
-		btUint64_t low;
-		btUint64_t high;
-
-		Int128()
-		{
-		}
-
-		Int128(btUint64_t low, btUint64_t high) : low(low), high(high)
-		{
-		}
-
-		Int128(btUint64_t low) : low(low), high(0)
-		{
-		}
-
-		Int128(btInt64_t value) : low(value), high((value >= 0) ? 0 : (btUint64_t)-1LL)
-		{
-		}
-
-		static Int128 mul(btInt64_t a, btInt64_t b);
-
-		static Int128 mul(btUint64_t a, btUint64_t b);
-
-		Int128 operator-() const
-		{
-			return Int128((btUint64_t) - (btInt64_t)low, ~high + (low == 0));
-		}
-
-		Int128 operator+(const Int128& b) const
-		{
-#ifdef USE_X86_64_ASM
-			Int128 result;
-			__asm__(
-				"addq %[bl], %[rl]\n\t"
-				"adcq %[bh], %[rh]\n\t"
-				: [rl] "=r"(result.low), [rh] "=r"(result.high)
-				: "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high)
-				: "cc");
-			return result;
-#else
-			btUint64_t lo = low + b.low;
-			return Int128(lo, high + b.high + (lo < low));
-#endif
-		}
-
-		Int128 operator-(const Int128& b) const
-		{
-#ifdef USE_X86_64_ASM
-			Int128 result;
-			__asm__(
-				"subq %[bl], %[rl]\n\t"
-				"sbbq %[bh], %[rh]\n\t"
-				: [rl] "=r"(result.low), [rh] "=r"(result.high)
-				: "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high)
-				: "cc");
-			return result;
-#else
-			return *this + -b;
-#endif
-		}
-
-		Int128& operator+=(const Int128& b)
-		{
-#ifdef USE_X86_64_ASM
-			__asm__(
-				"addq %[bl], %[rl]\n\t"
-				"adcq %[bh], %[rh]\n\t"
-				: [rl] "=r"(low), [rh] "=r"(high)
-				: "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high)
-				: "cc");
-#else
-			btUint64_t lo = low + b.low;
-			if (lo < low)
-			{
-				++high;
-			}
-			low = lo;
-			high += b.high;
-#endif
-			return *this;
-		}
-
-		Int128& operator++()
-		{
-			if (++low == 0)
-			{
-				++high;
-			}
-			return *this;
-		}
-
-		Int128 operator*(btInt64_t b) const;
-
-		b3Scalar toScalar() const
-		{
-			return ((btInt64_t)high >= 0) ? b3Scalar(high) * (b3Scalar(0x100000000LL) * b3Scalar(0x100000000LL)) + b3Scalar(low)
-										  : -(-*this).toScalar();
-		}
-
-		int getSign() const
-		{
-			return ((btInt64_t)high < 0) ? -1 : (high || low) ? 1 : 0;
-		}
-
-		bool operator<(const Int128& b) const
-		{
-			return (high < b.high) || ((high == b.high) && (low < b.low));
-		}
-
-		int ucmp(const Int128& b) const
-		{
-			if (high < b.high)
-			{
-				return -1;
-			}
-			if (high > b.high)
-			{
-				return 1;
-			}
-			if (low < b.low)
-			{
-				return -1;
-			}
-			if (low > b.low)
-			{
-				return 1;
-			}
-			return 0;
-		}
-	};
-
-	class Rational64
-	{
-	private:
-		btUint64_t m_numerator;
-		btUint64_t m_denominator;
-		int sign;
-
-	public:
-		Rational64(btInt64_t numerator, btInt64_t denominator)
-		{
-			if (numerator > 0)
-			{
-				sign = 1;
-				m_numerator = (btUint64_t)numerator;
-			}
-			else if (numerator < 0)
-			{
-				sign = -1;
-				m_numerator = (btUint64_t)-numerator;
-			}
-			else
-			{
-				sign = 0;
-				m_numerator = 0;
-			}
-			if (denominator > 0)
-			{
-				m_denominator = (btUint64_t)denominator;
-			}
-			else if (denominator < 0)
-			{
-				sign = -sign;
-				m_denominator = (btUint64_t)-denominator;
-			}
-			else
-			{
-				m_denominator = 0;
-			}
-		}
-
-		bool isNegativeInfinity() const
-		{
-			return (sign < 0) && (m_denominator == 0);
-		}
-
-		bool isNaN() const
-		{
-			return (sign == 0) && (m_denominator == 0);
-		}
-
-		int compare(const Rational64& b) const;
-
-		b3Scalar toScalar() const
-		{
-			return sign * ((m_denominator == 0) ? B3_INFINITY : (b3Scalar)m_numerator / m_denominator);
-		}
-	};
-
-	class Rational128
-	{
-	private:
-		Int128 numerator;
-		Int128 denominator;
-		int sign;
-		bool isInt64;
-
-	public:
-		Rational128(btInt64_t value)
-		{
-			if (value > 0)
-			{
-				sign = 1;
-				this->numerator = value;
-			}
-			else if (value < 0)
-			{
-				sign = -1;
-				this->numerator = -value;
-			}
-			else
-			{
-				sign = 0;
-				this->numerator = (btUint64_t)0;
-			}
-			this->denominator = (btUint64_t)1;
-			isInt64 = true;
-		}
-
-		Rational128(const Int128& numerator, const Int128& denominator)
-		{
-			sign = numerator.getSign();
-			if (sign >= 0)
-			{
-				this->numerator = numerator;
-			}
-			else
-			{
-				this->numerator = -numerator;
-			}
-			int dsign = denominator.getSign();
-			if (dsign >= 0)
-			{
-				this->denominator = denominator;
-			}
-			else
-			{
-				sign = -sign;
-				this->denominator = -denominator;
-			}
-			isInt64 = false;
-		}
-
-		int compare(const Rational128& b) const;
-
-		int compare(btInt64_t b) const;
-
-		b3Scalar toScalar() const
-		{
-			return sign * ((denominator.getSign() == 0) ? B3_INFINITY : numerator.toScalar() / denominator.toScalar());
-		}
-	};
-
-	class PointR128
-	{
-	public:
-		Int128 x;
-		Int128 y;
-		Int128 z;
-		Int128 denominator;
-
-		PointR128()
-		{
-		}
-
-		PointR128(Int128 x, Int128 y, Int128 z, Int128 denominator) : x(x), y(y), z(z), denominator(denominator)
-		{
-		}
-
-		b3Scalar xvalue() const
-		{
-			return x.toScalar() / denominator.toScalar();
-		}
-
-		b3Scalar yvalue() const
-		{
-			return y.toScalar() / denominator.toScalar();
-		}
-
-		b3Scalar zvalue() const
-		{
-			return z.toScalar() / denominator.toScalar();
-		}
-	};
-
-	class Edge;
-	class Face;
-
-	class Vertex
-	{
-	public:
-		Vertex* next;
-		Vertex* prev;
-		Edge* edges;
-		Face* firstNearbyFace;
-		Face* lastNearbyFace;
-		PointR128 point128;
-		Point32 point;
-		int copy;
-
-		Vertex() : next(NULL), prev(NULL), edges(NULL), firstNearbyFace(NULL), lastNearbyFace(NULL), copy(-1)
-		{
-		}
-
-#ifdef DEBUG_CONVEX_HULL
-		void print()
-		{
-			b3Printf("V%d (%d, %d, %d)", point.index, point.x, point.y, point.z);
-		}
-
-		void printGraph();
-#endif
-
-		Point32 operator-(const Vertex& b) const
-		{
-			return point - b.point;
-		}
-
-		Rational128 dot(const Point64& b) const
-		{
-			return (point.index >= 0) ? Rational128(point.dot(b))
-									  : Rational128(point128.x * b.x + point128.y * b.y + point128.z * b.z, point128.denominator);
-		}
-
-		b3Scalar xvalue() const
-		{
-			return (point.index >= 0) ? b3Scalar(point.x) : point128.xvalue();
-		}
-
-		b3Scalar yvalue() const
-		{
-			return (point.index >= 0) ? b3Scalar(point.y) : point128.yvalue();
-		}
-
-		b3Scalar zvalue() const
-		{
-			return (point.index >= 0) ? b3Scalar(point.z) : point128.zvalue();
-		}
-
-		void receiveNearbyFaces(Vertex* src)
-		{
-			if (lastNearbyFace)
-			{
-				lastNearbyFace->nextWithSameNearbyVertex = src->firstNearbyFace;
-			}
-			else
-			{
-				firstNearbyFace = src->firstNearbyFace;
-			}
-			if (src->lastNearbyFace)
-			{
-				lastNearbyFace = src->lastNearbyFace;
-			}
-			for (Face* f = src->firstNearbyFace; f; f = f->nextWithSameNearbyVertex)
-			{
-				b3Assert(f->nearbyVertex == src);
-				f->nearbyVertex = this;
-			}
-			src->firstNearbyFace = NULL;
-			src->lastNearbyFace = NULL;
-		}
-	};
-
-	class Edge
-	{
-	public:
-		Edge* next;
-		Edge* prev;
-		Edge* reverse;
-		Vertex* target;
-		Face* face;
-		int copy;
-
-		~Edge()
-		{
-			next = NULL;
-			prev = NULL;
-			reverse = NULL;
-			target = NULL;
-			face = NULL;
-		}
-
-		void link(Edge* n)
-		{
-			b3Assert(reverse->target == n->reverse->target);
-			next = n;
-			n->prev = this;
-		}
-
-#ifdef DEBUG_CONVEX_HULL
-		void print()
-		{
-			b3Printf("E%p : %d -> %d,  n=%p p=%p   (0 %d\t%d\t%d) -> (%d %d %d)", this, reverse->target->point.index, target->point.index, next, prev,
-					 reverse->target->point.x, reverse->target->point.y, reverse->target->point.z, target->point.x, target->point.y, target->point.z);
-		}
-#endif
-	};
-
-	class Face
-	{
-	public:
-		Face* next;
-		Vertex* nearbyVertex;
-		Face* nextWithSameNearbyVertex;
-		Point32 origin;
-		Point32 dir0;
-		Point32 dir1;
-
-		Face() : next(NULL), nearbyVertex(NULL), nextWithSameNearbyVertex(NULL)
-		{
-		}
-
-		void init(Vertex* a, Vertex* b, Vertex* c)
-		{
-			nearbyVertex = a;
-			origin = a->point;
-			dir0 = *b - *a;
-			dir1 = *c - *a;
-			if (a->lastNearbyFace)
-			{
-				a->lastNearbyFace->nextWithSameNearbyVertex = this;
-			}
-			else
-			{
-				a->firstNearbyFace = this;
-			}
-			a->lastNearbyFace = this;
-		}
-
-		Point64 getNormal()
-		{
-			return dir0.cross(dir1);
-		}
-	};
-
-	template <typename UWord, typename UHWord>
-	class DMul
-	{
-	private:
-		static btUint32_t high(btUint64_t value)
-		{
-			return (btUint32_t)(value >> 32);
-		}
-
-		static btUint32_t low(btUint64_t value)
-		{
-			return (btUint32_t)value;
-		}
-
-		static btUint64_t mul(btUint32_t a, btUint32_t b)
-		{
-			return (btUint64_t)a * (btUint64_t)b;
-		}
-
-		static void shlHalf(btUint64_t& value)
-		{
-			value <<= 32;
-		}
-
-		static btUint64_t high(Int128 value)
-		{
-			return value.high;
-		}
-
-		static btUint64_t low(Int128 value)
-		{
-			return value.low;
-		}
-
-		static Int128 mul(btUint64_t a, btUint64_t b)
-		{
-			return Int128::mul(a, b);
-		}
-
-		static void shlHalf(Int128& value)
-		{
-			value.high = value.low;
-			value.low = 0;
-		}
-
-	public:
-		static void mul(UWord a, UWord b, UWord& resLow, UWord& resHigh)
-		{
-			UWord p00 = mul(low(a), low(b));
-			UWord p01 = mul(low(a), high(b));
-			UWord p10 = mul(high(a), low(b));
-			UWord p11 = mul(high(a), high(b));
-			UWord p0110 = UWord(low(p01)) + UWord(low(p10));
-			p11 += high(p01);
-			p11 += high(p10);
-			p11 += high(p0110);
-			shlHalf(p0110);
-			p00 += p0110;
-			if (p00 < p0110)
-			{
-				++p11;
-			}
-			resLow = p00;
-			resHigh = p11;
-		}
-	};
-
-private:
-	class IntermediateHull
-	{
-	public:
-		Vertex* minXy;
-		Vertex* maxXy;
-		Vertex* minYx;
-		Vertex* maxYx;
-
-		IntermediateHull() : minXy(NULL), maxXy(NULL), minYx(NULL), maxYx(NULL)
-		{
-		}
-
-		void print();
-	};
-
-	enum Orientation
-	{
-		NONE,
-		CLOCKWISE,
-		COUNTER_CLOCKWISE
-	};
-
-	template <typename T>
-	class PoolArray
-	{
-	private:
-		T* array;
-		int size;
-
-	public:
-		PoolArray<T>* next;
-
-		PoolArray(int size) : size(size), next(NULL)
-		{
-			array = (T*)b3AlignedAlloc(sizeof(T) * size, 16);
-		}
-
-		~PoolArray()
-		{
-			b3AlignedFree(array);
-		}
-
-		T* init()
-		{
-			T* o = array;
-			for (int i = 0; i < size; i++, o++)
-			{
-				o->next = (i + 1 < size) ? o + 1 : NULL;
-			}
-			return array;
-		}
-	};
-
-	template <typename T>
-	class Pool
-	{
-	private:
-		PoolArray<T>* arrays;
-		PoolArray<T>* nextArray;
-		T* freeObjects;
-		int arraySize;
-
-	public:
-		Pool() : arrays(NULL), nextArray(NULL), freeObjects(NULL), arraySize(256)
-		{
-		}
-
-		~Pool()
-		{
-			while (arrays)
-			{
-				PoolArray<T>* p = arrays;
-				arrays = p->next;
-				p->~PoolArray<T>();
-				b3AlignedFree(p);
-			}
-		}
-
-		void reset()
-		{
-			nextArray = arrays;
-			freeObjects = NULL;
-		}
-
-		void setArraySize(int arraySize)
-		{
-			this->arraySize = arraySize;
-		}
-
-		T* newObject()
-		{
-			T* o = freeObjects;
-			if (!o)
-			{
-				PoolArray<T>* p = nextArray;
-				if (p)
-				{
-					nextArray = p->next;
-				}
-				else
-				{
-					p = new (b3AlignedAlloc(sizeof(PoolArray<T>), 16)) PoolArray<T>(arraySize);
-					p->next = arrays;
-					arrays = p;
-				}
-				o = p->init();
-			}
-			freeObjects = o->next;
-			return new (o) T();
-		};
-
-		void freeObject(T* object)
-		{
-			object->~T();
-			object->next = freeObjects;
-			freeObjects = object;
-		}
-	};
-
-	b3Vector3 scaling;
-	b3Vector3 center;
-	Pool<Vertex> vertexPool;
-	Pool<Edge> edgePool;
-	Pool<Face> facePool;
-	b3AlignedObjectArray<Vertex*> originalVertices;
-	int mergeStamp;
-	int minAxis;
-	int medAxis;
-	int maxAxis;
-	int usedEdgePairs;
-	int maxUsedEdgePairs;
-
-	static Orientation getOrientation(const Edge* prev, const Edge* next, const Point32& s, const Point32& t);
-	Edge* findMaxAngle(bool ccw, const Vertex* start, const Point32& s, const Point64& rxs, const Point64& sxrxs, Rational64& minCot);
-	void findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge*& e0, Edge*& e1, Vertex* stop0, Vertex* stop1);
-
-	Edge* newEdgePair(Vertex* from, Vertex* to);
-
-	void removeEdgePair(Edge* edge)
-	{
-		Edge* n = edge->next;
-		Edge* r = edge->reverse;
-
-		b3Assert(edge->target && r->target);
-
-		if (n != edge)
-		{
-			n->prev = edge->prev;
-			edge->prev->next = n;
-			r->target->edges = n;
-		}
-		else
-		{
-			r->target->edges = NULL;
-		}
-
-		n = r->next;
-
-		if (n != r)
-		{
-			n->prev = r->prev;
-			r->prev->next = n;
-			edge->target->edges = n;
-		}
-		else
-		{
-			edge->target->edges = NULL;
-		}
-
-		edgePool.freeObject(edge);
-		edgePool.freeObject(r);
-		usedEdgePairs--;
-	}
-
-	void computeInternal(int start, int end, IntermediateHull& result);
-
-	bool mergeProjection(IntermediateHull& h0, IntermediateHull& h1, Vertex*& c0, Vertex*& c1);
-
-	void merge(IntermediateHull& h0, IntermediateHull& h1);
-
-	b3Vector3 toBtVector(const Point32& v);
-
-	b3Vector3 getBtNormal(Face* face);
-
-	bool shiftFace(Face* face, b3Scalar amount, b3AlignedObjectArray<Vertex*> stack);
-
-public:
-	Vertex* vertexList;
-
-	void compute(const void* coords, bool doubleCoords, int stride, int count);
-
-	b3Vector3 getCoordinates(const Vertex* v);
-
-	b3Scalar shrink(b3Scalar amount, b3Scalar clampAmount);
-};
-
-b3ConvexHullInternal::Int128 b3ConvexHullInternal::Int128::operator*(btInt64_t b) const
-{
-	bool negative = (btInt64_t)high < 0;
-	Int128 a = negative ? -*this : *this;
-	if (b < 0)
-	{
-		negative = !negative;
-		b = -b;
-	}
-	Int128 result = mul(a.low, (btUint64_t)b);
-	result.high += a.high * (btUint64_t)b;
-	return negative ? -result : result;
-}
-
-b3ConvexHullInternal::Int128 b3ConvexHullInternal::Int128::mul(btInt64_t a, btInt64_t b)
-{
-	Int128 result;
-
-#ifdef USE_X86_64_ASM
-	__asm__("imulq %[b]"
-			: "=a"(result.low), "=d"(result.high)
-			: "0"(a), [b] "r"(b)
-			: "cc");
-	return result;
-
-#else
-	bool negative = a < 0;
-	if (negative)
-	{
-		a = -a;
-	}
-	if (b < 0)
-	{
-		negative = !negative;
-		b = -b;
-	}
-	DMul<btUint64_t, btUint32_t>::mul((btUint64_t)a, (btUint64_t)b, result.low, result.high);
-	return negative ? -result : result;
-#endif
-}
-
-b3ConvexHullInternal::Int128 b3ConvexHullInternal::Int128::mul(btUint64_t a, btUint64_t b)
-{
-	Int128 result;
-
-#ifdef USE_X86_64_ASM
-	__asm__("mulq %[b]"
-			: "=a"(result.low), "=d"(result.high)
-			: "0"(a), [b] "r"(b)
-			: "cc");
-
-#else
-	DMul<btUint64_t, btUint32_t>::mul(a, b, result.low, result.high);
-#endif
-
-	return result;
-}
-
-int b3ConvexHullInternal::Rational64::compare(const Rational64& b) const
-{
-	if (sign != b.sign)
-	{
-		return sign - b.sign;
-	}
-	else if (sign == 0)
-	{
-		return 0;
-	}
-
-	//	return (numerator * b.denominator > b.numerator * denominator) ? sign : (numerator * b.denominator < b.numerator * denominator) ? -sign : 0;
-
-#ifdef USE_X86_64_ASM
-
-	int result;
-	btInt64_t tmp;
-	btInt64_t dummy;
-	__asm__(
-		"mulq %[bn]\n\t"
-		"movq %%rax, %[tmp]\n\t"
-		"movq %%rdx, %%rbx\n\t"
-		"movq %[tn], %%rax\n\t"
-		"mulq %[bd]\n\t"
-		"subq %[tmp], %%rax\n\t"
-		"sbbq %%rbx, %%rdx\n\t"  // rdx:rax contains 128-bit-difference "numerator*b.denominator - b.numerator*denominator"
-		"setnsb %%bh\n\t"        // bh=1 if difference is non-negative, bh=0 otherwise
-		"orq %%rdx, %%rax\n\t"
-		"setnzb %%bl\n\t"      // bl=1 if difference if non-zero, bl=0 if it is zero
-		"decb %%bh\n\t"        // now bx=0x0000 if difference is zero, 0xff01 if it is negative, 0x0001 if it is positive (i.e., same sign as difference)
-		"shll $16, %%ebx\n\t"  // ebx has same sign as difference
-		: "=&b"(result), [tmp] "=&r"(tmp), "=a"(dummy)
-		: "a"(denominator), [bn] "g"(b.numerator), [tn] "g"(numerator), [bd] "g"(b.denominator)
-		: "%rdx", "cc");
-	return result ? result ^ sign  // if sign is +1, only bit 0 of result is inverted, which does not change the sign of result (and cannot result in zero)
-								   // if sign is -1, all bits of result are inverted, which changes the sign of result (and again cannot result in zero)
-				  : 0;
-
-#else
-
-	return sign * Int128::mul(m_numerator, b.m_denominator).ucmp(Int128::mul(m_denominator, b.m_numerator));
-
-#endif
-}
-
-int b3ConvexHullInternal::Rational128::compare(const Rational128& b) const
-{
-	if (sign != b.sign)
-	{
-		return sign - b.sign;
-	}
-	else if (sign == 0)
-	{
-		return 0;
-	}
-	if (isInt64)
-	{
-		return -b.compare(sign * (btInt64_t)numerator.low);
-	}
-
-	Int128 nbdLow, nbdHigh, dbnLow, dbnHigh;
-	DMul<Int128, btUint64_t>::mul(numerator, b.denominator, nbdLow, nbdHigh);
-	DMul<Int128, btUint64_t>::mul(denominator, b.numerator, dbnLow, dbnHigh);
-
-	int cmp = nbdHigh.ucmp(dbnHigh);
-	if (cmp)
-	{
-		return cmp * sign;
-	}
-	return nbdLow.ucmp(dbnLow) * sign;
-}
-
-int b3ConvexHullInternal::Rational128::compare(btInt64_t b) const
-{
-	if (isInt64)
-	{
-		btInt64_t a = sign * (btInt64_t)numerator.low;
-		return (a > b) ? 1 : (a < b) ? -1 : 0;
-	}
-	if (b > 0)
-	{
-		if (sign <= 0)
-		{
-			return -1;
-		}
-	}
-	else if (b < 0)
-	{
-		if (sign >= 0)
-		{
-			return 1;
-		}
-		b = -b;
-	}
-	else
-	{
-		return sign;
-	}
-
-	return numerator.ucmp(denominator * b) * sign;
-}
-
-b3ConvexHullInternal::Edge* b3ConvexHullInternal::newEdgePair(Vertex* from, Vertex* to)
-{
-	b3Assert(from && to);
-	Edge* e = edgePool.newObject();
-	Edge* r = edgePool.newObject();
-	e->reverse = r;
-	r->reverse = e;
-	e->copy = mergeStamp;
-	r->copy = mergeStamp;
-	e->target = to;
-	r->target = from;
-	e->face = NULL;
-	r->face = NULL;
-	usedEdgePairs++;
-	if (usedEdgePairs > maxUsedEdgePairs)
-	{
-		maxUsedEdgePairs = usedEdgePairs;
-	}
-	return e;
-}
-
-bool b3ConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHull& h1, Vertex*& c0, Vertex*& c1)
-{
-	Vertex* v0 = h0.maxYx;
-	Vertex* v1 = h1.minYx;
-	if ((v0->point.x == v1->point.x) && (v0->point.y == v1->point.y))
-	{
-		b3Assert(v0->point.z < v1->point.z);
-		Vertex* v1p = v1->prev;
-		if (v1p == v1)
-		{
-			c0 = v0;
-			if (v1->edges)
-			{
-				b3Assert(v1->edges->next == v1->edges);
-				v1 = v1->edges->target;
-				b3Assert(v1->edges->next == v1->edges);
-			}
-			c1 = v1;
-			return false;
-		}
-		Vertex* v1n = v1->next;
-		v1p->next = v1n;
-		v1n->prev = v1p;
-		if (v1 == h1.minXy)
-		{
-			if ((v1n->point.x < v1p->point.x) || ((v1n->point.x == v1p->point.x) && (v1n->point.y < v1p->point.y)))
-			{
-				h1.minXy = v1n;
-			}
-			else
-			{
-				h1.minXy = v1p;
-			}
-		}
-		if (v1 == h1.maxXy)
-		{
-			if ((v1n->point.x > v1p->point.x) || ((v1n->point.x == v1p->point.x) && (v1n->point.y > v1p->point.y)))
-			{
-				h1.maxXy = v1n;
-			}
-			else
-			{
-				h1.maxXy = v1p;
-			}
-		}
-	}
-
-	v0 = h0.maxXy;
-	v1 = h1.maxXy;
-	Vertex* v00 = NULL;
-	Vertex* v10 = NULL;
-	btInt32_t sign = 1;
-
-	for (int side = 0; side <= 1; side++)
-	{
-		btInt32_t dx = (v1->point.x - v0->point.x) * sign;
-		if (dx > 0)
-		{
-			while (true)
-			{
-				btInt32_t dy = v1->point.y - v0->point.y;
-
-				Vertex* w0 = side ? v0->next : v0->prev;
-				if (w0 != v0)
-				{
-					btInt32_t dx0 = (w0->point.x - v0->point.x) * sign;
-					btInt32_t dy0 = w0->point.y - v0->point.y;
-					if ((dy0 <= 0) && ((dx0 == 0) || ((dx0 < 0) && (dy0 * dx <= dy * dx0))))
-					{
-						v0 = w0;
-						dx = (v1->point.x - v0->point.x) * sign;
-						continue;
-					}
-				}
-
-				Vertex* w1 = side ? v1->next : v1->prev;
-				if (w1 != v1)
-				{
-					btInt32_t dx1 = (w1->point.x - v1->point.x) * sign;
-					btInt32_t dy1 = w1->point.y - v1->point.y;
-					btInt32_t dxn = (w1->point.x - v0->point.x) * sign;
-					if ((dxn > 0) && (dy1 < 0) && ((dx1 == 0) || ((dx1 < 0) && (dy1 * dx < dy * dx1))))
-					{
-						v1 = w1;
-						dx = dxn;
-						continue;
-					}
-				}
-
-				break;
-			}
-		}
-		else if (dx < 0)
-		{
-			while (true)
-			{
-				btInt32_t dy = v1->point.y - v0->point.y;
-
-				Vertex* w1 = side ? v1->prev : v1->next;
-				if (w1 != v1)
-				{
-					btInt32_t dx1 = (w1->point.x - v1->point.x) * sign;
-					btInt32_t dy1 = w1->point.y - v1->point.y;
-					if ((dy1 >= 0) && ((dx1 == 0) || ((dx1 < 0) && (dy1 * dx <= dy * dx1))))
-					{
-						v1 = w1;
-						dx = (v1->point.x - v0->point.x) * sign;
-						continue;
-					}
-				}
-
-				Vertex* w0 = side ? v0->prev : v0->next;
-				if (w0 != v0)
-				{
-					btInt32_t dx0 = (w0->point.x - v0->point.x) * sign;
-					btInt32_t dy0 = w0->point.y - v0->point.y;
-					btInt32_t dxn = (v1->point.x - w0->point.x) * sign;
-					if ((dxn < 0) && (dy0 > 0) && ((dx0 == 0) || ((dx0 < 0) && (dy0 * dx < dy * dx0))))
-					{
-						v0 = w0;
-						dx = dxn;
-						continue;
-					}
-				}
-
-				break;
-			}
-		}
-		else
-		{
-			btInt32_t x = v0->point.x;
-			btInt32_t y0 = v0->point.y;
-			Vertex* w0 = v0;
-			Vertex* t;
-			while (((t = side ? w0->next : w0->prev) != v0) && (t->point.x == x) && (t->point.y <= y0))
-			{
-				w0 = t;
-				y0 = t->point.y;
-			}
-			v0 = w0;
-
-			btInt32_t y1 = v1->point.y;
-			Vertex* w1 = v1;
-			while (((t = side ? w1->prev : w1->next) != v1) && (t->point.x == x) && (t->point.y >= y1))
-			{
-				w1 = t;
-				y1 = t->point.y;
-			}
-			v1 = w1;
-		}
-
-		if (side == 0)
-		{
-			v00 = v0;
-			v10 = v1;
-
-			v0 = h0.minXy;
-			v1 = h1.minXy;
-			sign = -1;
-		}
-	}
-
-	v0->prev = v1;
-	v1->next = v0;
-
-	v00->next = v10;
-	v10->prev = v00;
-
-	if (h1.minXy->point.x < h0.minXy->point.x)
-	{
-		h0.minXy = h1.minXy;
-	}
-	if (h1.maxXy->point.x >= h0.maxXy->point.x)
-	{
-		h0.maxXy = h1.maxXy;
-	}
-
-	h0.maxYx = h1.maxYx;
-
-	c0 = v00;
-	c1 = v10;
-
-	return true;
-}
-
-void b3ConvexHullInternal::computeInternal(int start, int end, IntermediateHull& result)
-{
-	int n = end - start;
-	switch (n)
-	{
-		case 0:
-			result.minXy = NULL;
-			result.maxXy = NULL;
-			result.minYx = NULL;
-			result.maxYx = NULL;
-			return;
-		case 2:
-		{
-			Vertex* v = originalVertices[start];
-			Vertex* w = v + 1;
-			if (v->point != w->point)
-			{
-				btInt32_t dx = v->point.x - w->point.x;
-				btInt32_t dy = v->point.y - w->point.y;
-
-				if ((dx == 0) && (dy == 0))
-				{
-					if (v->point.z > w->point.z)
-					{
-						Vertex* t = w;
-						w = v;
-						v = t;
-					}
-					b3Assert(v->point.z < w->point.z);
-					v->next = v;
-					v->prev = v;
-					result.minXy = v;
-					result.maxXy = v;
-					result.minYx = v;
-					result.maxYx = v;
-				}
-				else
-				{
-					v->next = w;
-					v->prev = w;
-					w->next = v;
-					w->prev = v;
-
-					if ((dx < 0) || ((dx == 0) && (dy < 0)))
-					{
-						result.minXy = v;
-						result.maxXy = w;
-					}
-					else
-					{
-						result.minXy = w;
-						result.maxXy = v;
-					}
-
-					if ((dy < 0) || ((dy == 0) && (dx < 0)))
-					{
-						result.minYx = v;
-						result.maxYx = w;
-					}
-					else
-					{
-						result.minYx = w;
-						result.maxYx = v;
-					}
-				}
-
-				Edge* e = newEdgePair(v, w);
-				e->link(e);
-				v->edges = e;
-
-				e = e->reverse;
-				e->link(e);
-				w->edges = e;
-
-				return;
-			}
-		}
-		// lint -fallthrough
-		case 1:
-		{
-			Vertex* v = originalVertices[start];
-			v->edges = NULL;
-			v->next = v;
-			v->prev = v;
-
-			result.minXy = v;
-			result.maxXy = v;
-			result.minYx = v;
-			result.maxYx = v;
-
-			return;
-		}
-	}
-
-	int split0 = start + n / 2;
-	Point32 p = originalVertices[split0 - 1]->point;
-	int split1 = split0;
-	while ((split1 < end) && (originalVertices[split1]->point == p))
-	{
-		split1++;
-	}
-	computeInternal(start, split0, result);
-	IntermediateHull hull1;
-	computeInternal(split1, end, hull1);
-#ifdef DEBUG_CONVEX_HULL
-	b3Printf("\n\nMerge\n");
-	result.print();
-	hull1.print();
-#endif
-	merge(result, hull1);
-#ifdef DEBUG_CONVEX_HULL
-	b3Printf("\n  Result\n");
-	result.print();
-#endif
-}
-
-#ifdef DEBUG_CONVEX_HULL
-void b3ConvexHullInternal::IntermediateHull::print()
-{
-	b3Printf("    Hull\n");
-	for (Vertex* v = minXy; v;)
-	{
-		b3Printf("      ");
-		v->print();
-		if (v == maxXy)
-		{
-			b3Printf(" maxXy");
-		}
-		if (v == minYx)
-		{
-			b3Printf(" minYx");
-		}
-		if (v == maxYx)
-		{
-			b3Printf(" maxYx");
-		}
-		if (v->next->prev != v)
-		{
-			b3Printf(" Inconsistency");
-		}
-		b3Printf("\n");
-		v = v->next;
-		if (v == minXy)
-		{
-			break;
-		}
-	}
-	if (minXy)
-	{
-		minXy->copy = (minXy->copy == -1) ? -2 : -1;
-		minXy->printGraph();
-	}
-}
-
-void b3ConvexHullInternal::Vertex::printGraph()
-{
-	print();
-	b3Printf("\nEdges\n");
-	Edge* e = edges;
-	if (e)
-	{
-		do
-		{
-			e->print();
-			b3Printf("\n");
-			e = e->next;
-		} while (e != edges);
-		do
-		{
-			Vertex* v = e->target;
-			if (v->copy != copy)
-			{
-				v->copy = copy;
-				v->printGraph();
-			}
-			e = e->next;
-		} while (e != edges);
-	}
-}
-#endif
-
-b3ConvexHullInternal::Orientation b3ConvexHullInternal::getOrientation(const Edge* prev, const Edge* next, const Point32& s, const Point32& t)
-{
-	b3Assert(prev->reverse->target == next->reverse->target);
-	if (prev->next == next)
-	{
-		if (prev->prev == next)
-		{
-			Point64 n = t.cross(s);
-			Point64 m = (*prev->target - *next->reverse->target).cross(*next->target - *next->reverse->target);
-			b3Assert(!m.isZero());
-			btInt64_t dot = n.dot(m);
-			b3Assert(dot != 0);
-			return (dot > 0) ? COUNTER_CLOCKWISE : CLOCKWISE;
-		}
-		return COUNTER_CLOCKWISE;
-	}
-	else if (prev->prev == next)
-	{
-		return CLOCKWISE;
-	}
-	else
-	{
-		return NONE;
-	}
-}
-
-b3ConvexHullInternal::Edge* b3ConvexHullInternal::findMaxAngle(bool ccw, const Vertex* start, const Point32& s, const Point64& rxs, const Point64& sxrxs, Rational64& minCot)
-{
-	Edge* minEdge = NULL;
-
-#ifdef DEBUG_CONVEX_HULL
-	b3Printf("find max edge for %d\n", start->point.index);
-#endif
-	Edge* e = start->edges;
-	if (e)
-	{
-		do
-		{
-			if (e->copy > mergeStamp)
-			{
-				Point32 t = *e->target - *start;
-				Rational64 cot(t.dot(sxrxs), t.dot(rxs));
-#ifdef DEBUG_CONVEX_HULL
-				b3Printf("      Angle is %f (%d) for ", (float)b3Atan(cot.toScalar()), (int)cot.isNaN());
-				e->print();
-#endif
-				if (cot.isNaN())
-				{
-					b3Assert(ccw ? (t.dot(s) < 0) : (t.dot(s) > 0));
-				}
-				else
-				{
-					int cmp;
-					if (minEdge == NULL)
-					{
-						minCot = cot;
-						minEdge = e;
-					}
-					else if ((cmp = cot.compare(minCot)) < 0)
-					{
-						minCot = cot;
-						minEdge = e;
-					}
-					else if ((cmp == 0) && (ccw == (getOrientation(minEdge, e, s, t) == COUNTER_CLOCKWISE)))
-					{
-						minEdge = e;
-					}
-				}
-#ifdef DEBUG_CONVEX_HULL
-				b3Printf("\n");
-#endif
-			}
-			e = e->next;
-		} while (e != start->edges);
-	}
-	return minEdge;
-}
-
-void b3ConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge*& e0, Edge*& e1, Vertex* stop0, Vertex* stop1)
-{
-	Edge* start0 = e0;
-	Edge* start1 = e1;
-	Point32 et0 = start0 ? start0->target->point : c0->point;
-	Point32 et1 = start1 ? start1->target->point : c1->point;
-	Point32 s = c1->point - c0->point;
-	Point64 normal = ((start0 ? start0 : start1)->target->point - c0->point).cross(s);
-	btInt64_t dist = c0->point.dot(normal);
-	b3Assert(!start1 || (start1->target->point.dot(normal) == dist));
-	Point64 perp = s.cross(normal);
-	b3Assert(!perp.isZero());
-
-#ifdef DEBUG_CONVEX_HULL
-	b3Printf("   Advancing %d %d  (%p %p, %d %d)\n", c0->point.index, c1->point.index, start0, start1, start0 ? start0->target->point.index : -1, start1 ? start1->target->point.index : -1);
-#endif
-
-	btInt64_t maxDot0 = et0.dot(perp);
-	if (e0)
-	{
-		while (e0->target != stop0)
-		{
-			Edge* e = e0->reverse->prev;
-			if (e->target->point.dot(normal) < dist)
-			{
-				break;
-			}
-			b3Assert(e->target->point.dot(normal) == dist);
-			if (e->copy == mergeStamp)
-			{
-				break;
-			}
-			btInt64_t dot = e->target->point.dot(perp);
-			if (dot <= maxDot0)
-			{
-				break;
-			}
-			maxDot0 = dot;
-			e0 = e;
-			et0 = e->target->point;
-		}
-	}
-
-	btInt64_t maxDot1 = et1.dot(perp);
-	if (e1)
-	{
-		while (e1->target != stop1)
-		{
-			Edge* e = e1->reverse->next;
-			if (e->target->point.dot(normal) < dist)
-			{
-				break;
-			}
-			b3Assert(e->target->point.dot(normal) == dist);
-			if (e->copy == mergeStamp)
-			{
-				break;
-			}
-			btInt64_t dot = e->target->point.dot(perp);
-			if (dot <= maxDot1)
-			{
-				break;
-			}
-			maxDot1 = dot;
-			e1 = e;
-			et1 = e->target->point;
-		}
-	}
-
-#ifdef DEBUG_CONVEX_HULL
-	b3Printf("   Starting at %d %d\n", et0.index, et1.index);
-#endif
-
-	btInt64_t dx = maxDot1 - maxDot0;
-	if (dx > 0)
-	{
-		while (true)
-		{
-			btInt64_t dy = (et1 - et0).dot(s);
-
-			if (e0 && (e0->target != stop0))
-			{
-				Edge* f0 = e0->next->reverse;
-				if (f0->copy > mergeStamp)
-				{
-					btInt64_t dx0 = (f0->target->point - et0).dot(perp);
-					btInt64_t dy0 = (f0->target->point - et0).dot(s);
-					if ((dx0 == 0) ? (dy0 < 0) : ((dx0 < 0) && (Rational64(dy0, dx0).compare(Rational64(dy, dx)) >= 0)))
-					{
-						et0 = f0->target->point;
-						dx = (et1 - et0).dot(perp);
-						e0 = (e0 == start0) ? NULL : f0;
-						continue;
-					}
-				}
-			}
-
-			if (e1 && (e1->target != stop1))
-			{
-				Edge* f1 = e1->reverse->next;
-				if (f1->copy > mergeStamp)
-				{
-					Point32 d1 = f1->target->point - et1;
-					if (d1.dot(normal) == 0)
-					{
-						btInt64_t dx1 = d1.dot(perp);
-						btInt64_t dy1 = d1.dot(s);
-						btInt64_t dxn = (f1->target->point - et0).dot(perp);
-						if ((dxn > 0) && ((dx1 == 0) ? (dy1 < 0) : ((dx1 < 0) && (Rational64(dy1, dx1).compare(Rational64(dy, dx)) > 0))))
-						{
-							e1 = f1;
-							et1 = e1->target->point;
-							dx = dxn;
-							continue;
-						}
-					}
-					else
-					{
-						b3Assert((e1 == start1) && (d1.dot(normal) < 0));
-					}
-				}
-			}
-
-			break;
-		}
-	}
-	else if (dx < 0)
-	{
-		while (true)
-		{
-			btInt64_t dy = (et1 - et0).dot(s);
-
-			if (e1 && (e1->target != stop1))
-			{
-				Edge* f1 = e1->prev->reverse;
-				if (f1->copy > mergeStamp)
-				{
-					btInt64_t dx1 = (f1->target->point - et1).dot(perp);
-					btInt64_t dy1 = (f1->target->point - et1).dot(s);
-					if ((dx1 == 0) ? (dy1 > 0) : ((dx1 < 0) && (Rational64(dy1, dx1).compare(Rational64(dy, dx)) <= 0)))
-					{
-						et1 = f1->target->point;
-						dx = (et1 - et0).dot(perp);
-						e1 = (e1 == start1) ? NULL : f1;
-						continue;
-					}
-				}
-			}
-
-			if (e0 && (e0->target != stop0))
-			{
-				Edge* f0 = e0->reverse->prev;
-				if (f0->copy > mergeStamp)
-				{
-					Point32 d0 = f0->target->point - et0;
-					if (d0.dot(normal) == 0)
-					{
-						btInt64_t dx0 = d0.dot(perp);
-						btInt64_t dy0 = d0.dot(s);
-						btInt64_t dxn = (et1 - f0->target->point).dot(perp);
-						if ((dxn < 0) && ((dx0 == 0) ? (dy0 > 0) : ((dx0 < 0) && (Rational64(dy0, dx0).compare(Rational64(dy, dx)) < 0))))
-						{
-							e0 = f0;
-							et0 = e0->target->point;
-							dx = dxn;
-							continue;
-						}
-					}
-					else
-					{
-						b3Assert((e0 == start0) && (d0.dot(normal) < 0));
-					}
-				}
-			}
-
-			break;
-		}
-	}
-#ifdef DEBUG_CONVEX_HULL
-	b3Printf("   Advanced edges to %d %d\n", et0.index, et1.index);
-#endif
-}
-
-void b3ConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
-{
-	if (!h1.maxXy)
-	{
-		return;
-	}
-	if (!h0.maxXy)
-	{
-		h0 = h1;
-		return;
-	}
-
-	mergeStamp--;
-
-	Vertex* c0 = NULL;
-	Edge* toPrev0 = NULL;
-	Edge* firstNew0 = NULL;
-	Edge* pendingHead0 = NULL;
-	Edge* pendingTail0 = NULL;
-	Vertex* c1 = NULL;
-	Edge* toPrev1 = NULL;
-	Edge* firstNew1 = NULL;
-	Edge* pendingHead1 = NULL;
-	Edge* pendingTail1 = NULL;
-	Point32 prevPoint;
-
-	if (mergeProjection(h0, h1, c0, c1))
-	{
-		Point32 s = *c1 - *c0;
-		Point64 normal = Point32(0, 0, -1).cross(s);
-		Point64 t = s.cross(normal);
-		b3Assert(!t.isZero());
-
-		Edge* e = c0->edges;
-		Edge* start0 = NULL;
-		if (e)
-		{
-			do
-			{
-				btInt64_t dot = (*e->target - *c0).dot(normal);
-				b3Assert(dot <= 0);
-				if ((dot == 0) && ((*e->target - *c0).dot(t) > 0))
-				{
-					if (!start0 || (getOrientation(start0, e, s, Point32(0, 0, -1)) == CLOCKWISE))
-					{
-						start0 = e;
-					}
-				}
-				e = e->next;
-			} while (e != c0->edges);
-		}
-
-		e = c1->edges;
-		Edge* start1 = NULL;
-		if (e)
-		{
-			do
-			{
-				btInt64_t dot = (*e->target - *c1).dot(normal);
-				b3Assert(dot <= 0);
-				if ((dot == 0) && ((*e->target - *c1).dot(t) > 0))
-				{
-					if (!start1 || (getOrientation(start1, e, s, Point32(0, 0, -1)) == COUNTER_CLOCKWISE))
-					{
-						start1 = e;
-					}
-				}
-				e = e->next;
-			} while (e != c1->edges);
-		}
-
-		if (start0 || start1)
-		{
-			findEdgeForCoplanarFaces(c0, c1, start0, start1, NULL, NULL);
-			if (start0)
-			{
-				c0 = start0->target;
-			}
-			if (start1)
-			{
-				c1 = start1->target;
-			}
-		}
-
-		prevPoint = c1->point;
-		prevPoint.z++;
-	}
-	else
-	{
-		prevPoint = c1->point;
-		prevPoint.x++;
-	}
-
-	Vertex* first0 = c0;
-	Vertex* first1 = c1;
-	bool firstRun = true;
-
-	while (true)
-	{
-		Point32 s = *c1 - *c0;
-		Point32 r = prevPoint - c0->point;
-		Point64 rxs = r.cross(s);
-		Point64 sxrxs = s.cross(rxs);
-
-#ifdef DEBUG_CONVEX_HULL
-		b3Printf("\n  Checking %d %d\n", c0->point.index, c1->point.index);
-#endif
-		Rational64 minCot0(0, 0);
-		Edge* min0 = findMaxAngle(false, c0, s, rxs, sxrxs, minCot0);
-		Rational64 minCot1(0, 0);
-		Edge* min1 = findMaxAngle(true, c1, s, rxs, sxrxs, minCot1);
-		if (!min0 && !min1)
-		{
-			Edge* e = newEdgePair(c0, c1);
-			e->link(e);
-			c0->edges = e;
-
-			e = e->reverse;
-			e->link(e);
-			c1->edges = e;
-			return;
-		}
-		else
-		{
-			int cmp = !min0 ? 1 : !min1 ? -1 : minCot0.compare(minCot1);
-#ifdef DEBUG_CONVEX_HULL
-			b3Printf("    -> Result %d\n", cmp);
-#endif
-			if (firstRun || ((cmp >= 0) ? !minCot1.isNegativeInfinity() : !minCot0.isNegativeInfinity()))
-			{
-				Edge* e = newEdgePair(c0, c1);
-				if (pendingTail0)
-				{
-					pendingTail0->prev = e;
-				}
-				else
-				{
-					pendingHead0 = e;
-				}
-				e->next = pendingTail0;
-				pendingTail0 = e;
-
-				e = e->reverse;
-				if (pendingTail1)
-				{
-					pendingTail1->next = e;
-				}
-				else
-				{
-					pendingHead1 = e;
-				}
-				e->prev = pendingTail1;
-				pendingTail1 = e;
-			}
-
-			Edge* e0 = min0;
-			Edge* e1 = min1;
-
-#ifdef DEBUG_CONVEX_HULL
-			b3Printf("   Found min edges to %d %d\n", e0 ? e0->target->point.index : -1, e1 ? e1->target->point.index : -1);
-#endif
-
-			if (cmp == 0)
-			{
-				findEdgeForCoplanarFaces(c0, c1, e0, e1, NULL, NULL);
-			}
-
-			if ((cmp >= 0) && e1)
-			{
-				if (toPrev1)
-				{
-					for (Edge *e = toPrev1->next, *n = NULL; e != min1; e = n)
-					{
-						n = e->next;
-						removeEdgePair(e);
-					}
-				}
-
-				if (pendingTail1)
-				{
-					if (toPrev1)
-					{
-						toPrev1->link(pendingHead1);
-					}
-					else
-					{
-						min1->prev->link(pendingHead1);
-						firstNew1 = pendingHead1;
-					}
-					pendingTail1->link(min1);
-					pendingHead1 = NULL;
-					pendingTail1 = NULL;
-				}
-				else if (!toPrev1)
-				{
-					firstNew1 = min1;
-				}
-
-				prevPoint = c1->point;
-				c1 = e1->target;
-				toPrev1 = e1->reverse;
-			}
-
-			if ((cmp <= 0) && e0)
-			{
-				if (toPrev0)
-				{
-					for (Edge *e = toPrev0->prev, *n = NULL; e != min0; e = n)
-					{
-						n = e->prev;
-						removeEdgePair(e);
-					}
-				}
-
-				if (pendingTail0)
-				{
-					if (toPrev0)
-					{
-						pendingHead0->link(toPrev0);
-					}
-					else
-					{
-						pendingHead0->link(min0->next);
-						firstNew0 = pendingHead0;
-					}
-					min0->link(pendingTail0);
-					pendingHead0 = NULL;
-					pendingTail0 = NULL;
-				}
-				else if (!toPrev0)
-				{
-					firstNew0 = min0;
-				}
-
-				prevPoint = c0->point;
-				c0 = e0->target;
-				toPrev0 = e0->reverse;
-			}
-		}
-
-		if ((c0 == first0) && (c1 == first1))
-		{
-			if (toPrev0 == NULL)
-			{
-				pendingHead0->link(pendingTail0);
-				c0->edges = pendingTail0;
-			}
-			else
-			{
-				for (Edge *e = toPrev0->prev, *n = NULL; e != firstNew0; e = n)
-				{
-					n = e->prev;
-					removeEdgePair(e);
-				}
-				if (pendingTail0)
-				{
-					pendingHead0->link(toPrev0);
-					firstNew0->link(pendingTail0);
-				}
-			}
-
-			if (toPrev1 == NULL)
-			{
-				pendingTail1->link(pendingHead1);
-				c1->edges = pendingTail1;
-			}
-			else
-			{
-				for (Edge *e = toPrev1->next, *n = NULL; e != firstNew1; e = n)
-				{
-					n = e->next;
-					removeEdgePair(e);
-				}
-				if (pendingTail1)
-				{
-					toPrev1->link(pendingHead1);
-					pendingTail1->link(firstNew1);
-				}
-			}
-
-			return;
-		}
-
-		firstRun = false;
-	}
-}
-
-static bool b3PointCmp(const b3ConvexHullInternal::Point32& p, const b3ConvexHullInternal::Point32& q)
-{
-	return (p.y < q.y) || ((p.y == q.y) && ((p.x < q.x) || ((p.x == q.x) && (p.z < q.z))));
-}
-
-void b3ConvexHullInternal::compute(const void* coords, bool doubleCoords, int stride, int count)
-{
-	b3Vector3 min = b3MakeVector3(b3Scalar(1e30), b3Scalar(1e30), b3Scalar(1e30)), max = b3MakeVector3(b3Scalar(-1e30), b3Scalar(-1e30), b3Scalar(-1e30));
-	const char* ptr = (const char*)coords;
-	if (doubleCoords)
-	{
-		for (int i = 0; i < count; i++)
-		{
-			const double* v = (const double*)ptr;
-			b3Vector3 p = b3MakeVector3((b3Scalar)v[0], (b3Scalar)v[1], (b3Scalar)v[2]);
-			ptr += stride;
-			min.setMin(p);
-			max.setMax(p);
-		}
-	}
-	else
-	{
-		for (int i = 0; i < count; i++)
-		{
-			const float* v = (const float*)ptr;
-			b3Vector3 p = b3MakeVector3(v[0], v[1], v[2]);
-			ptr += stride;
-			min.setMin(p);
-			max.setMax(p);
-		}
-	}
-
-	b3Vector3 s = max - min;
-	maxAxis = s.maxAxis();
-	minAxis = s.minAxis();
-	if (minAxis == maxAxis)
-	{
-		minAxis = (maxAxis + 1) % 3;
-	}
-	medAxis = 3 - maxAxis - minAxis;
-
-	s /= b3Scalar(10216);
-	if (((medAxis + 1) % 3) != maxAxis)
-	{
-		s *= -1;
-	}
-	scaling = s;
-
-	if (s[0] != 0)
-	{
-		s[0] = b3Scalar(1) / s[0];
-	}
-	if (s[1] != 0)
-	{
-		s[1] = b3Scalar(1) / s[1];
-	}
-	if (s[2] != 0)
-	{
-		s[2] = b3Scalar(1) / s[2];
-	}
-
-	center = (min + max) * b3Scalar(0.5);
-
-	b3AlignedObjectArray<Point32> points;
-	points.resize(count);
-	ptr = (const char*)coords;
-	if (doubleCoords)
-	{
-		for (int i = 0; i < count; i++)
-		{
-			const double* v = (const double*)ptr;
-			b3Vector3 p = b3MakeVector3((b3Scalar)v[0], (b3Scalar)v[1], (b3Scalar)v[2]);
-			ptr += stride;
-			p = (p - center) * s;
-			points[i].x = (btInt32_t)p[medAxis];
-			points[i].y = (btInt32_t)p[maxAxis];
-			points[i].z = (btInt32_t)p[minAxis];
-			points[i].index = i;
-		}
-	}
-	else
-	{
-		for (int i = 0; i < count; i++)
-		{
-			const float* v = (const float*)ptr;
-			b3Vector3 p = b3MakeVector3(v[0], v[1], v[2]);
-			ptr += stride;
-			p = (p - center) * s;
-			points[i].x = (btInt32_t)p[medAxis];
-			points[i].y = (btInt32_t)p[maxAxis];
-			points[i].z = (btInt32_t)p[minAxis];
-			points[i].index = i;
-		}
-	}
-	points.quickSort(b3PointCmp);
-
-	vertexPool.reset();
-	vertexPool.setArraySize(count);
-	originalVertices.resize(count);
-	for (int i = 0; i < count; i++)
-	{
-		Vertex* v = vertexPool.newObject();
-		v->edges = NULL;
-		v->point = points[i];
-		v->copy = -1;
-		originalVertices[i] = v;
-	}
-
-	points.clear();
-
-	edgePool.reset();
-	edgePool.setArraySize(6 * count);
-
-	usedEdgePairs = 0;
-	maxUsedEdgePairs = 0;
-
-	mergeStamp = -3;
-
-	IntermediateHull hull;
-	computeInternal(0, count, hull);
-	vertexList = hull.minXy;
-#ifdef DEBUG_CONVEX_HULL
-	b3Printf("max. edges %d (3v = %d)", maxUsedEdgePairs, 3 * count);
-#endif
-}
-
-b3Vector3 b3ConvexHullInternal::toBtVector(const Point32& v)
-{
-	b3Vector3 p;
-	p[medAxis] = b3Scalar(v.x);
-	p[maxAxis] = b3Scalar(v.y);
-	p[minAxis] = b3Scalar(v.z);
-	return p * scaling;
-}
-
-b3Vector3 b3ConvexHullInternal::getBtNormal(Face* face)
-{
-	return toBtVector(face->dir0).cross(toBtVector(face->dir1)).normalized();
-}
-
-b3Vector3 b3ConvexHullInternal::getCoordinates(const Vertex* v)
-{
-	b3Vector3 p;
-	p[medAxis] = v->xvalue();
-	p[maxAxis] = v->yvalue();
-	p[minAxis] = v->zvalue();
-	return p * scaling + center;
-}
-
-b3Scalar b3ConvexHullInternal::shrink(b3Scalar amount, b3Scalar clampAmount)
-{
-	if (!vertexList)
-	{
-		return 0;
-	}
-	int stamp = --mergeStamp;
-	b3AlignedObjectArray<Vertex*> stack;
-	vertexList->copy = stamp;
-	stack.push_back(vertexList);
-	b3AlignedObjectArray<Face*> faces;
-
-	Point32 ref = vertexList->point;
-	Int128 hullCenterX(0, 0);
-	Int128 hullCenterY(0, 0);
-	Int128 hullCenterZ(0, 0);
-	Int128 volume(0, 0);
-
-	while (stack.size() > 0)
-	{
-		Vertex* v = stack[stack.size() - 1];
-		stack.pop_back();
-		Edge* e = v->edges;
-		if (e)
-		{
-			do
-			{
-				if (e->target->copy != stamp)
-				{
-					e->target->copy = stamp;
-					stack.push_back(e->target);
-				}
-				if (e->copy != stamp)
-				{
-					Face* face = facePool.newObject();
-					face->init(e->target, e->reverse->prev->target, v);
-					faces.push_back(face);
-					Edge* f = e;
-
-					Vertex* a = NULL;
-					Vertex* b = NULL;
-					do
-					{
-						if (a && b)
-						{
-							btInt64_t vol = (v->point - ref).dot((a->point - ref).cross(b->point - ref));
-							b3Assert(vol >= 0);
-							Point32 c = v->point + a->point + b->point + ref;
-							hullCenterX += vol * c.x;
-							hullCenterY += vol * c.y;
-							hullCenterZ += vol * c.z;
-							volume += vol;
-						}
-
-						b3Assert(f->copy != stamp);
-						f->copy = stamp;
-						f->face = face;
-
-						a = b;
-						b = f->target;
-
-						f = f->reverse->prev;
-					} while (f != e);
-				}
-				e = e->next;
-			} while (e != v->edges);
-		}
-	}
-
-	if (volume.getSign() <= 0)
-	{
-		return 0;
-	}
-
-	b3Vector3 hullCenter;
-	hullCenter[medAxis] = hullCenterX.toScalar();
-	hullCenter[maxAxis] = hullCenterY.toScalar();
-	hullCenter[minAxis] = hullCenterZ.toScalar();
-	hullCenter /= 4 * volume.toScalar();
-	hullCenter *= scaling;
-
-	int faceCount = faces.size();
-
-	if (clampAmount > 0)
-	{
-		b3Scalar minDist = B3_INFINITY;
-		for (int i = 0; i < faceCount; i++)
-		{
-			b3Vector3 normal = getBtNormal(faces[i]);
-			b3Scalar dist = normal.dot(toBtVector(faces[i]->origin) - hullCenter);
-			if (dist < minDist)
-			{
-				minDist = dist;
-			}
-		}
-
-		if (minDist <= 0)
-		{
-			return 0;
-		}
-
-		amount = b3Min(amount, minDist * clampAmount);
-	}
-
-	unsigned int seed = 243703;
-	for (int i = 0; i < faceCount; i++, seed = 1664525 * seed + 1013904223)
-	{
-		b3Swap(faces[i], faces[seed % faceCount]);
-	}
-
-	for (int i = 0; i < faceCount; i++)
-	{
-		if (!shiftFace(faces[i], amount, stack))
-		{
-			return -amount;
-		}
-	}
-
-	return amount;
-}
-
-bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjectArray<Vertex*> stack)
-{
-	b3Vector3 origShift = getBtNormal(face) * -amount;
-	if (scaling[0] != 0)
-	{
-		origShift[0] /= scaling[0];
-	}
-	if (scaling[1] != 0)
-	{
-		origShift[1] /= scaling[1];
-	}
-	if (scaling[2] != 0)
-	{
-		origShift[2] /= scaling[2];
-	}
-	Point32 shift((btInt32_t)origShift[medAxis], (btInt32_t)origShift[maxAxis], (btInt32_t)origShift[minAxis]);
-	if (shift.isZero())
-	{
-		return true;
-	}
-	Point64 normal = face->getNormal();
-#ifdef DEBUG_CONVEX_HULL
-	b3Printf("\nShrinking face (%d %d %d) (%d %d %d) (%d %d %d) by (%d %d %d)\n",
-			 face->origin.x, face->origin.y, face->origin.z, face->dir0.x, face->dir0.y, face->dir0.z, face->dir1.x, face->dir1.y, face->dir1.z, shift.x, shift.y, shift.z);
-#endif
-	btInt64_t origDot = face->origin.dot(normal);
-	Point32 shiftedOrigin = face->origin + shift;
-	btInt64_t shiftedDot = shiftedOrigin.dot(normal);
-	b3Assert(shiftedDot <= origDot);
-	if (shiftedDot >= origDot)
-	{
-		return false;
-	}
-
-	Edge* intersection = NULL;
-
-	Edge* startEdge = face->nearbyVertex->edges;
-#ifdef DEBUG_CONVEX_HULL
-	b3Printf("Start edge is ");
-	startEdge->print();
-	b3Printf(", normal is (%lld %lld %lld), shifted dot is %lld\n", normal.x, normal.y, normal.z, shiftedDot);
-#endif
-	Rational128 optDot = face->nearbyVertex->dot(normal);
-	int cmp = optDot.compare(shiftedDot);
-#ifdef SHOW_ITERATIONS
-	int n = 0;
-#endif
-	if (cmp >= 0)
-	{
-		Edge* e = startEdge;
-		do
-		{
-#ifdef SHOW_ITERATIONS
-			n++;
-#endif
-			Rational128 dot = e->target->dot(normal);
-			b3Assert(dot.compare(origDot) <= 0);
-#ifdef DEBUG_CONVEX_HULL
-			b3Printf("Moving downwards, edge is ");
-			e->print();
-			b3Printf(", dot is %f (%f %lld)\n", (float)dot.toScalar(), (float)optDot.toScalar(), shiftedDot);
-#endif
-			if (dot.compare(optDot) < 0)
-			{
-				int c = dot.compare(shiftedDot);
-				optDot = dot;
-				e = e->reverse;
-				startEdge = e;
-				if (c < 0)
-				{
-					intersection = e;
-					break;
-				}
-				cmp = c;
-			}
-			e = e->prev;
-		} while (e != startEdge);
-
-		if (!intersection)
-		{
-			return false;
-		}
-	}
-	else
-	{
-		Edge* e = startEdge;
-		do
-		{
-#ifdef SHOW_ITERATIONS
-			n++;
-#endif
-			Rational128 dot = e->target->dot(normal);
-			b3Assert(dot.compare(origDot) <= 0);
-#ifdef DEBUG_CONVEX_HULL
-			b3Printf("Moving upwards, edge is ");
-			e->print();
-			b3Printf(", dot is %f (%f %lld)\n", (float)dot.toScalar(), (float)optDot.toScalar(), shiftedDot);
-#endif
-			if (dot.compare(optDot) > 0)
-			{
-				cmp = dot.compare(shiftedDot);
-				if (cmp >= 0)
-				{
-					intersection = e;
-					break;
-				}
-				optDot = dot;
-				e = e->reverse;
-				startEdge = e;
-			}
-			e = e->prev;
-		} while (e != startEdge);
-
-		if (!intersection)
-		{
-			return true;
-		}
-	}
-
-#ifdef SHOW_ITERATIONS
-	b3Printf("Needed %d iterations to find initial intersection\n", n);
-#endif
-
-	if (cmp == 0)
-	{
-		Edge* e = intersection->reverse->next;
-#ifdef SHOW_ITERATIONS
-		n = 0;
-#endif
-		while (e->target->dot(normal).compare(shiftedDot) <= 0)
-		{
-#ifdef SHOW_ITERATIONS
-			n++;
-#endif
-			e = e->next;
-			if (e == intersection->reverse)
-			{
-				return true;
-			}
-#ifdef DEBUG_CONVEX_HULL
-			b3Printf("Checking for outwards edge, current edge is ");
-			e->print();
-			b3Printf("\n");
-#endif
-		}
-#ifdef SHOW_ITERATIONS
-		b3Printf("Needed %d iterations to check for complete containment\n", n);
-#endif
-	}
-
-	Edge* firstIntersection = NULL;
-	Edge* faceEdge = NULL;
-	Edge* firstFaceEdge = NULL;
-
-#ifdef SHOW_ITERATIONS
-	int m = 0;
-#endif
-	while (true)
-	{
-#ifdef SHOW_ITERATIONS
-		m++;
-#endif
-#ifdef DEBUG_CONVEX_HULL
-		b3Printf("Intersecting edge is ");
-		intersection->print();
-		b3Printf("\n");
-#endif
-		if (cmp == 0)
-		{
-			Edge* e = intersection->reverse->next;
-			startEdge = e;
-#ifdef SHOW_ITERATIONS
-			n = 0;
-#endif
-			while (true)
-			{
-#ifdef SHOW_ITERATIONS
-				n++;
-#endif
-				if (e->target->dot(normal).compare(shiftedDot) >= 0)
-				{
-					break;
-				}
-				intersection = e->reverse;
-				e = e->next;
-				if (e == startEdge)
-				{
-					return true;
-				}
-			}
-#ifdef SHOW_ITERATIONS
-			b3Printf("Needed %d iterations to advance intersection\n", n);
-#endif
-		}
-
-#ifdef DEBUG_CONVEX_HULL
-		b3Printf("Advanced intersecting edge to ");
-		intersection->print();
-		b3Printf(", cmp = %d\n", cmp);
-#endif
-
-		if (!firstIntersection)
-		{
-			firstIntersection = intersection;
-		}
-		else if (intersection == firstIntersection)
-		{
-			break;
-		}
-
-		int prevCmp = cmp;
-		Edge* prevIntersection = intersection;
-		Edge* prevFaceEdge = faceEdge;
-
-		Edge* e = intersection->reverse;
-#ifdef SHOW_ITERATIONS
-		n = 0;
-#endif
-		while (true)
-		{
-#ifdef SHOW_ITERATIONS
-			n++;
-#endif
-			e = e->reverse->prev;
-			b3Assert(e != intersection->reverse);
-			cmp = e->target->dot(normal).compare(shiftedDot);
-#ifdef DEBUG_CONVEX_HULL
-			b3Printf("Testing edge ");
-			e->print();
-			b3Printf(" -> cmp = %d\n", cmp);
-#endif
-			if (cmp >= 0)
-			{
-				intersection = e;
-				break;
-			}
-		}
-#ifdef SHOW_ITERATIONS
-		b3Printf("Needed %d iterations to find other intersection of face\n", n);
-#endif
-
-		if (cmp > 0)
-		{
-			Vertex* removed = intersection->target;
-			e = intersection->reverse;
-			if (e->prev == e)
-			{
-				removed->edges = NULL;
-			}
-			else
-			{
-				removed->edges = e->prev;
-				e->prev->link(e->next);
-				e->link(e);
-			}
-#ifdef DEBUG_CONVEX_HULL
-			b3Printf("1: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z);
-#endif
-
-			Point64 n0 = intersection->face->getNormal();
-			Point64 n1 = intersection->reverse->face->getNormal();
-			btInt64_t m00 = face->dir0.dot(n0);
-			btInt64_t m01 = face->dir1.dot(n0);
-			btInt64_t m10 = face->dir0.dot(n1);
-			btInt64_t m11 = face->dir1.dot(n1);
-			btInt64_t r0 = (intersection->face->origin - shiftedOrigin).dot(n0);
-			btInt64_t r1 = (intersection->reverse->face->origin - shiftedOrigin).dot(n1);
-			Int128 det = Int128::mul(m00, m11) - Int128::mul(m01, m10);
-			b3Assert(det.getSign() != 0);
-			Vertex* v = vertexPool.newObject();
-			v->point.index = -1;
-			v->copy = -1;
-			v->point128 = PointR128(Int128::mul(face->dir0.x * r0, m11) - Int128::mul(face->dir0.x * r1, m01) + Int128::mul(face->dir1.x * r1, m00) - Int128::mul(face->dir1.x * r0, m10) + det * shiftedOrigin.x,
-									Int128::mul(face->dir0.y * r0, m11) - Int128::mul(face->dir0.y * r1, m01) + Int128::mul(face->dir1.y * r1, m00) - Int128::mul(face->dir1.y * r0, m10) + det * shiftedOrigin.y,
-									Int128::mul(face->dir0.z * r0, m11) - Int128::mul(face->dir0.z * r1, m01) + Int128::mul(face->dir1.z * r1, m00) - Int128::mul(face->dir1.z * r0, m10) + det * shiftedOrigin.z,
-									det);
-			v->point.x = (btInt32_t)v->point128.xvalue();
-			v->point.y = (btInt32_t)v->point128.yvalue();
-			v->point.z = (btInt32_t)v->point128.zvalue();
-			intersection->target = v;
-			v->edges = e;
-
-			stack.push_back(v);
-			stack.push_back(removed);
-			stack.push_back(NULL);
-		}
-
-		if (cmp || prevCmp || (prevIntersection->reverse->next->target != intersection->target))
-		{
-			faceEdge = newEdgePair(prevIntersection->target, intersection->target);
-			if (prevCmp == 0)
-			{
-				faceEdge->link(prevIntersection->reverse->next);
-			}
-			if ((prevCmp == 0) || prevFaceEdge)
-			{
-				prevIntersection->reverse->link(faceEdge);
-			}
-			if (cmp == 0)
-			{
-				intersection->reverse->prev->link(faceEdge->reverse);
-			}
-			faceEdge->reverse->link(intersection->reverse);
-		}
-		else
-		{
-			faceEdge = prevIntersection->reverse->next;
-		}
-
-		if (prevFaceEdge)
-		{
-			if (prevCmp > 0)
-			{
-				faceEdge->link(prevFaceEdge->reverse);
-			}
-			else if (faceEdge != prevFaceEdge->reverse)
-			{
-				stack.push_back(prevFaceEdge->target);
-				while (faceEdge->next != prevFaceEdge->reverse)
-				{
-					Vertex* removed = faceEdge->next->target;
-					removeEdgePair(faceEdge->next);
-					stack.push_back(removed);
-#ifdef DEBUG_CONVEX_HULL
-					b3Printf("2: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z);
-#endif
-				}
-				stack.push_back(NULL);
-			}
-		}
-		faceEdge->face = face;
-		faceEdge->reverse->face = intersection->face;
-
-		if (!firstFaceEdge)
-		{
-			firstFaceEdge = faceEdge;
-		}
-	}
-#ifdef SHOW_ITERATIONS
-	b3Printf("Needed %d iterations to process all intersections\n", m);
-#endif
-
-	if (cmp > 0)
-	{
-		firstFaceEdge->reverse->target = faceEdge->target;
-		firstIntersection->reverse->link(firstFaceEdge);
-		firstFaceEdge->link(faceEdge->reverse);
-	}
-	else if (firstFaceEdge != faceEdge->reverse)
-	{
-		stack.push_back(faceEdge->target);
-		while (firstFaceEdge->next != faceEdge->reverse)
-		{
-			Vertex* removed = firstFaceEdge->next->target;
-			removeEdgePair(firstFaceEdge->next);
-			stack.push_back(removed);
-#ifdef DEBUG_CONVEX_HULL
-			b3Printf("3: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z);
-#endif
-		}
-		stack.push_back(NULL);
-	}
-
-	b3Assert(stack.size() > 0);
-	vertexList = stack[0];
-
-#ifdef DEBUG_CONVEX_HULL
-	b3Printf("Removing part\n");
-#endif
-#ifdef SHOW_ITERATIONS
-	n = 0;
-#endif
-	int pos = 0;
-	while (pos < stack.size())
-	{
-		int end = stack.size();
-		while (pos < end)
-		{
-			Vertex* kept = stack[pos++];
-#ifdef DEBUG_CONVEX_HULL
-			kept->print();
-#endif
-			bool deeper = false;
-			Vertex* removed;
-			while ((removed = stack[pos++]) != NULL)
-			{
-#ifdef SHOW_ITERATIONS
-				n++;
-#endif
-				kept->receiveNearbyFaces(removed);
-				while (removed->edges)
-				{
-					if (!deeper)
-					{
-						deeper = true;
-						stack.push_back(kept);
-					}
-					stack.push_back(removed->edges->target);
-					removeEdgePair(removed->edges);
-				}
-			}
-			if (deeper)
-			{
-				stack.push_back(NULL);
-			}
-		}
-	}
-#ifdef SHOW_ITERATIONS
-	b3Printf("Needed %d iterations to remove part\n", n);
-#endif
-
-	stack.resize(0);
-	face->origin = shiftedOrigin;
-
-	return true;
-}
-
-static int getVertexCopy(b3ConvexHullInternal::Vertex* vertex, b3AlignedObjectArray<b3ConvexHullInternal::Vertex*>& vertices)
-{
-	int index = vertex->copy;
-	if (index < 0)
-	{
-		index = vertices.size();
-		vertex->copy = index;
-		vertices.push_back(vertex);
-#ifdef DEBUG_CONVEX_HULL
-		b3Printf("Vertex %d gets index *%d\n", vertex->point.index, index);
-#endif
-	}
-	return index;
-}
-
-b3Scalar b3ConvexHullComputer::compute(const void* coords, bool doubleCoords, int stride, int count, b3Scalar shrink, b3Scalar shrinkClamp)
-{
-	if (count <= 0)
-	{
-		vertices.clear();
-		edges.clear();
-		faces.clear();
-		return 0;
-	}
-
-	b3ConvexHullInternal hull;
-	hull.compute(coords, doubleCoords, stride, count);
-
-	b3Scalar shift = 0;
-	if ((shrink > 0) && ((shift = hull.shrink(shrink, shrinkClamp)) < 0))
-	{
-		vertices.clear();
-		edges.clear();
-		faces.clear();
-		return shift;
-	}
-
-	vertices.resize(0);
-	edges.resize(0);
-	faces.resize(0);
-
-	b3AlignedObjectArray<b3ConvexHullInternal::Vertex*> oldVertices;
-	getVertexCopy(hull.vertexList, oldVertices);
-	int copied = 0;
-	while (copied < oldVertices.size())
-	{
-		b3ConvexHullInternal::Vertex* v = oldVertices[copied];
-		vertices.push_back(hull.getCoordinates(v));
-		b3ConvexHullInternal::Edge* firstEdge = v->edges;
-		if (firstEdge)
-		{
-			int firstCopy = -1;
-			int prevCopy = -1;
-			b3ConvexHullInternal::Edge* e = firstEdge;
-			do
-			{
-				if (e->copy < 0)
-				{
-					int s = edges.size();
-					edges.push_back(Edge());
-					edges.push_back(Edge());
-					Edge* c = &edges[s];
-					Edge* r = &edges[s + 1];
-					e->copy = s;
-					e->reverse->copy = s + 1;
-					c->reverse = 1;
-					r->reverse = -1;
-					c->targetVertex = getVertexCopy(e->target, oldVertices);
-					r->targetVertex = copied;
-#ifdef DEBUG_CONVEX_HULL
-					b3Printf("      CREATE: Vertex *%d has edge to *%d\n", copied, c->getTargetVertex());
-#endif
-				}
-				if (prevCopy >= 0)
-				{
-					edges[e->copy].next = prevCopy - e->copy;
-				}
-				else
-				{
-					firstCopy = e->copy;
-				}
-				prevCopy = e->copy;
-				e = e->next;
-			} while (e != firstEdge);
-			edges[firstCopy].next = prevCopy - firstCopy;
-		}
-		copied++;
-	}
-
-	for (int i = 0; i < copied; i++)
-	{
-		b3ConvexHullInternal::Vertex* v = oldVertices[i];
-		b3ConvexHullInternal::Edge* firstEdge = v->edges;
-		if (firstEdge)
-		{
-			b3ConvexHullInternal::Edge* e = firstEdge;
-			do
-			{
-				if (e->copy >= 0)
-				{
-#ifdef DEBUG_CONVEX_HULL
-					b3Printf("Vertex *%d has edge to *%d\n", i, edges[e->copy].getTargetVertex());
-#endif
-					faces.push_back(e->copy);
-					b3ConvexHullInternal::Edge* f = e;
-					do
-					{
-#ifdef DEBUG_CONVEX_HULL
-						b3Printf("   Face *%d\n", edges[f->copy].getTargetVertex());
-#endif
-						f->copy = -1;
-						f = f->reverse->prev;
-					} while (f != e);
-				}
-				e = e->next;
-			} while (e != firstEdge);
-		}
-	}
-
-	return shift;
-}
diff --git a/thirdparty/bullet/Bullet3Geometry/b3ConvexHullComputer.h b/thirdparty/bullet/Bullet3Geometry/b3ConvexHullComputer.h
deleted file mode 100644
index 8852c5a524..0000000000
--- a/thirdparty/bullet/Bullet3Geometry/b3ConvexHullComputer.h
+++ /dev/null
@@ -1,99 +0,0 @@
-/*
-Copyright (c) 2011 Ole Kniemeyer, MAXON, www.maxon.net
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_CONVEX_HULL_COMPUTER_H
-#define B3_CONVEX_HULL_COMPUTER_H
-
-#include "Bullet3Common/b3Vector3.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-
-/// Convex hull implementation based on Preparata and Hong
-/// See http://code.google.com/p/bullet/issues/detail?id=275
-/// Ole Kniemeyer, MAXON Computer GmbH
-class b3ConvexHullComputer
-{
-private:
-	b3Scalar compute(const void* coords, bool doubleCoords, int stride, int count, b3Scalar shrink, b3Scalar shrinkClamp);
-
-public:
-	class Edge
-	{
-	private:
-		int next;
-		int reverse;
-		int targetVertex;
-
-		friend class b3ConvexHullComputer;
-
-	public:
-		int getSourceVertex() const
-		{
-			return (this + reverse)->targetVertex;
-		}
-
-		int getTargetVertex() const
-		{
-			return targetVertex;
-		}
-
-		const Edge* getNextEdgeOfVertex() const  // clockwise list of all edges of a vertex
-		{
-			return this + next;
-		}
-
-		const Edge* getNextEdgeOfFace() const  // counter-clockwise list of all edges of a face
-		{
-			return (this + reverse)->getNextEdgeOfVertex();
-		}
-
-		const Edge* getReverseEdge() const
-		{
-			return this + reverse;
-		}
-	};
-
-	// Vertices of the output hull
-	b3AlignedObjectArray<b3Vector3> vertices;
-
-	// Edges of the output hull
-	b3AlignedObjectArray<Edge> edges;
-
-	// Faces of the convex hull. Each entry is an index into the "edges" array pointing to an edge of the face. Faces are planar n-gons
-	b3AlignedObjectArray<int> faces;
-
-	/*
-		Compute convex hull of "count" vertices stored in "coords". "stride" is the difference in bytes
-		between the addresses of consecutive vertices. If "shrink" is positive, the convex hull is shrunken
-		by that amount (each face is moved by "shrink" length units towards the center along its normal).
-		If "shrinkClamp" is positive, "shrink" is clamped to not exceed "shrinkClamp * innerRadius", where "innerRadius"
-		is the minimum distance of a face to the center of the convex hull.
-
-		The returned value is the amount by which the hull has been shrunken. If it is negative, the amount was so large
-		that the resulting convex hull is empty.
-
-		The output convex hull can be found in the member variables "vertices", "edges", "faces".
-		*/
-	b3Scalar compute(const float* coords, int stride, int count, b3Scalar shrink, b3Scalar shrinkClamp)
-	{
-		return compute(coords, false, stride, count, shrink, shrinkClamp);
-	}
-
-	// same as above, but double precision
-	b3Scalar compute(const double* coords, int stride, int count, b3Scalar shrink, b3Scalar shrinkClamp)
-	{
-		return compute(coords, true, stride, count, shrink, shrinkClamp);
-	}
-};
-
-#endif  //B3_CONVEX_HULL_COMPUTER_H
diff --git a/thirdparty/bullet/Bullet3Geometry/b3GeometryUtil.cpp b/thirdparty/bullet/Bullet3Geometry/b3GeometryUtil.cpp
deleted file mode 100644
index c4041003ca..0000000000
--- a/thirdparty/bullet/Bullet3Geometry/b3GeometryUtil.cpp
+++ /dev/null
@@ -1,174 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "b3GeometryUtil.h"
-
-/*
-  Make sure this dummy function never changes so that it
-  can be used by probes that are checking whether the
-  library is actually installed.
-*/
-extern "C"
-{
-	void b3BulletMathProbe();
-
-	void b3BulletMathProbe() {}
-}
-
-bool b3GeometryUtil::isPointInsidePlanes(const b3AlignedObjectArray<b3Vector3>& planeEquations, const b3Vector3& point, b3Scalar margin)
-{
-	int numbrushes = planeEquations.size();
-	for (int i = 0; i < numbrushes; i++)
-	{
-		const b3Vector3& N1 = planeEquations[i];
-		b3Scalar dist = b3Scalar(N1.dot(point)) + b3Scalar(N1[3]) - margin;
-		if (dist > b3Scalar(0.))
-		{
-			return false;
-		}
-	}
-	return true;
-}
-
-bool b3GeometryUtil::areVerticesBehindPlane(const b3Vector3& planeNormal, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar margin)
-{
-	int numvertices = vertices.size();
-	for (int i = 0; i < numvertices; i++)
-	{
-		const b3Vector3& N1 = vertices[i];
-		b3Scalar dist = b3Scalar(planeNormal.dot(N1)) + b3Scalar(planeNormal[3]) - margin;
-		if (dist > b3Scalar(0.))
-		{
-			return false;
-		}
-	}
-	return true;
-}
-
-bool notExist(const b3Vector3& planeEquation, const b3AlignedObjectArray<b3Vector3>& planeEquations);
-
-bool notExist(const b3Vector3& planeEquation, const b3AlignedObjectArray<b3Vector3>& planeEquations)
-{
-	int numbrushes = planeEquations.size();
-	for (int i = 0; i < numbrushes; i++)
-	{
-		const b3Vector3& N1 = planeEquations[i];
-		if (planeEquation.dot(N1) > b3Scalar(0.999))
-		{
-			return false;
-		}
-	}
-	return true;
-}
-
-void b3GeometryUtil::getPlaneEquationsFromVertices(b3AlignedObjectArray<b3Vector3>& vertices, b3AlignedObjectArray<b3Vector3>& planeEquationsOut)
-{
-	const int numvertices = vertices.size();
-	// brute force:
-	for (int i = 0; i < numvertices; i++)
-	{
-		const b3Vector3& N1 = vertices[i];
-
-		for (int j = i + 1; j < numvertices; j++)
-		{
-			const b3Vector3& N2 = vertices[j];
-
-			for (int k = j + 1; k < numvertices; k++)
-			{
-				const b3Vector3& N3 = vertices[k];
-
-				b3Vector3 planeEquation, edge0, edge1;
-				edge0 = N2 - N1;
-				edge1 = N3 - N1;
-				b3Scalar normalSign = b3Scalar(1.);
-				for (int ww = 0; ww < 2; ww++)
-				{
-					planeEquation = normalSign * edge0.cross(edge1);
-					if (planeEquation.length2() > b3Scalar(0.0001))
-					{
-						planeEquation.normalize();
-						if (notExist(planeEquation, planeEquationsOut))
-						{
-							planeEquation[3] = -planeEquation.dot(N1);
-
-							//check if inside, and replace supportingVertexOut if needed
-							if (areVerticesBehindPlane(planeEquation, vertices, b3Scalar(0.01)))
-							{
-								planeEquationsOut.push_back(planeEquation);
-							}
-						}
-					}
-					normalSign = b3Scalar(-1.);
-				}
-			}
-		}
-	}
-}
-
-void b3GeometryUtil::getVerticesFromPlaneEquations(const b3AlignedObjectArray<b3Vector3>& planeEquations, b3AlignedObjectArray<b3Vector3>& verticesOut)
-{
-	const int numbrushes = planeEquations.size();
-	// brute force:
-	for (int i = 0; i < numbrushes; i++)
-	{
-		const b3Vector3& N1 = planeEquations[i];
-
-		for (int j = i + 1; j < numbrushes; j++)
-		{
-			const b3Vector3& N2 = planeEquations[j];
-
-			for (int k = j + 1; k < numbrushes; k++)
-			{
-				const b3Vector3& N3 = planeEquations[k];
-
-				b3Vector3 n2n3;
-				n2n3 = N2.cross(N3);
-				b3Vector3 n3n1;
-				n3n1 = N3.cross(N1);
-				b3Vector3 n1n2;
-				n1n2 = N1.cross(N2);
-
-				if ((n2n3.length2() > b3Scalar(0.0001)) &&
-					(n3n1.length2() > b3Scalar(0.0001)) &&
-					(n1n2.length2() > b3Scalar(0.0001)))
-				{
-					//point P out of 3 plane equations:
-
-					//	d1 ( N2 * N3 ) + d2 ( N3 * N1 ) + d3 ( N1 * N2 )
-					//P =  -------------------------------------------------------------------------
-					//   N1 . ( N2 * N3 )
-
-					b3Scalar quotient = (N1.dot(n2n3));
-					if (b3Fabs(quotient) > b3Scalar(0.000001))
-					{
-						quotient = b3Scalar(-1.) / quotient;
-						n2n3 *= N1[3];
-						n3n1 *= N2[3];
-						n1n2 *= N3[3];
-						b3Vector3 potentialVertex = n2n3;
-						potentialVertex += n3n1;
-						potentialVertex += n1n2;
-						potentialVertex *= quotient;
-
-						//check if inside, and replace supportingVertexOut if needed
-						if (isPointInsidePlanes(planeEquations, potentialVertex, b3Scalar(0.01)))
-						{
-							verticesOut.push_back(potentialVertex);
-						}
-					}
-				}
-			}
-		}
-	}
-}
diff --git a/thirdparty/bullet/Bullet3Geometry/b3GeometryUtil.h b/thirdparty/bullet/Bullet3Geometry/b3GeometryUtil.h
deleted file mode 100644
index 967c8d67e9..0000000000
--- a/thirdparty/bullet/Bullet3Geometry/b3GeometryUtil.h
+++ /dev/null
@@ -1,36 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_GEOMETRY_UTIL_H
-#define B3_GEOMETRY_UTIL_H
-
-#include "Bullet3Common/b3Vector3.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-
-///The b3GeometryUtil helper class provides a few methods to convert between plane equations and vertices.
-class b3GeometryUtil
-{
-public:
-	static void getPlaneEquationsFromVertices(b3AlignedObjectArray<b3Vector3>& vertices, b3AlignedObjectArray<b3Vector3>& planeEquationsOut);
-
-	static void getVerticesFromPlaneEquations(const b3AlignedObjectArray<b3Vector3>& planeEquations, b3AlignedObjectArray<b3Vector3>& verticesOut);
-
-	static bool isInside(const b3AlignedObjectArray<b3Vector3>& vertices, const b3Vector3& planeNormal, b3Scalar margin);
-
-	static bool isPointInsidePlanes(const b3AlignedObjectArray<b3Vector3>& planeEquations, const b3Vector3& point, b3Scalar margin);
-
-	static bool areVerticesBehindPlane(const b3Vector3& planeNormal, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar margin);
-};
-
-#endif  //B3_GEOMETRY_UTIL_H
diff --git a/thirdparty/bullet/Bullet3Geometry/b3GrahamScan2dConvexHull.h b/thirdparty/bullet/Bullet3Geometry/b3GrahamScan2dConvexHull.h
deleted file mode 100644
index 8881c9a638..0000000000
--- a/thirdparty/bullet/Bullet3Geometry/b3GrahamScan2dConvexHull.h
+++ /dev/null
@@ -1,116 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2011 Advanced Micro Devices, Inc.  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_GRAHAM_SCAN_2D_CONVEX_HULL_H
-#define B3_GRAHAM_SCAN_2D_CONVEX_HULL_H
-
-#include "Bullet3Common/b3Vector3.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-
-struct b3GrahamVector3 : public b3Vector3
-{
-	b3GrahamVector3(const b3Vector3& org, int orgIndex)
-		: b3Vector3(org),
-		  m_orgIndex(orgIndex)
-	{
-	}
-	b3Scalar m_angle;
-	int m_orgIndex;
-};
-
-struct b3AngleCompareFunc
-{
-	b3Vector3 m_anchor;
-	b3AngleCompareFunc(const b3Vector3& anchor)
-		: m_anchor(anchor)
-	{
-	}
-	bool operator()(const b3GrahamVector3& a, const b3GrahamVector3& b) const
-	{
-		if (a.m_angle != b.m_angle)
-			return a.m_angle < b.m_angle;
-		else
-		{
-			b3Scalar al = (a - m_anchor).length2();
-			b3Scalar bl = (b - m_anchor).length2();
-			if (al != bl)
-				return al < bl;
-			else
-			{
-				return a.m_orgIndex < b.m_orgIndex;
-			}
-		}
-	}
-};
-
-inline void b3GrahamScanConvexHull2D(b3AlignedObjectArray<b3GrahamVector3>& originalPoints, b3AlignedObjectArray<b3GrahamVector3>& hull, const b3Vector3& normalAxis)
-{
-	b3Vector3 axis0, axis1;
-	b3PlaneSpace1(normalAxis, axis0, axis1);
-
-	if (originalPoints.size() <= 1)
-	{
-		for (int i = 0; i < originalPoints.size(); i++)
-			hull.push_back(originalPoints[0]);
-		return;
-	}
-	//step1 : find anchor point with smallest projection on axis0 and move it to first location
-	for (int i = 0; i < originalPoints.size(); i++)
-	{
-		//		const b3Vector3& left = originalPoints[i];
-		//		const b3Vector3& right = originalPoints[0];
-		b3Scalar projL = originalPoints[i].dot(axis0);
-		b3Scalar projR = originalPoints[0].dot(axis0);
-		if (projL < projR)
-		{
-			originalPoints.swap(0, i);
-		}
-	}
-
-	//also precompute angles
-	originalPoints[0].m_angle = -1e30f;
-	for (int i = 1; i < originalPoints.size(); i++)
-	{
-		b3Vector3 xvec = axis0;
-		b3Vector3 ar = originalPoints[i] - originalPoints[0];
-		originalPoints[i].m_angle = b3Cross(xvec, ar).dot(normalAxis) / ar.length();
-	}
-
-	//step 2: sort all points, based on 'angle' with this anchor
-	b3AngleCompareFunc comp(originalPoints[0]);
-	originalPoints.quickSortInternal(comp, 1, originalPoints.size() - 1);
-
-	int i;
-	for (i = 0; i < 2; i++)
-		hull.push_back(originalPoints[i]);
-
-	//step 3: keep all 'convex' points and discard concave points (using back tracking)
-	for (; i != originalPoints.size(); i++)
-	{
-		bool isConvex = false;
-		while (!isConvex && hull.size() > 1)
-		{
-			b3Vector3& a = hull[hull.size() - 2];
-			b3Vector3& b = hull[hull.size() - 1];
-			isConvex = b3Cross(a - b, a - originalPoints[i]).dot(normalAxis) > 0;
-			if (!isConvex)
-				hull.pop_back();
-			else
-				hull.push_back(originalPoints[i]);
-		}
-	}
-}
-
-#endif  //B3_GRAHAM_SCAN_2D_CONVEX_HULL_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h
deleted file mode 100644
index b296992525..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h
+++ /dev/null
@@ -1,42 +0,0 @@
-
-#ifndef B3_GPU_BROADPHASE_INTERFACE_H
-#define B3_GPU_BROADPHASE_INTERFACE_H
-
-#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
-#include "Bullet3Common/b3Vector3.h"
-#include "b3SapAabb.h"
-#include "Bullet3Common/shared/b3Int2.h"
-#include "Bullet3Common/shared/b3Int4.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
-
-class b3GpuBroadphaseInterface
-{
-public:
-	typedef class b3GpuBroadphaseInterface*(CreateFunc)(cl_context ctx, cl_device_id device, cl_command_queue q);
-
-	virtual ~b3GpuBroadphaseInterface()
-	{
-	}
-
-	virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask) = 0;
-	virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask) = 0;
-
-	virtual void calculateOverlappingPairs(int maxPairs) = 0;
-	virtual void calculateOverlappingPairsHost(int maxPairs) = 0;
-
-	//call writeAabbsToGpu after done making all changes (createProxy etc)
-	virtual void writeAabbsToGpu() = 0;
-
-	virtual cl_mem getAabbBufferWS() = 0;
-	virtual int getNumOverlap() = 0;
-	virtual cl_mem getOverlappingPairBuffer() = 0;
-
-	virtual b3OpenCLArray<b3SapAabb>& getAllAabbsGPU() = 0;
-	virtual b3AlignedObjectArray<b3SapAabb>& getAllAabbsCPU() = 0;
-
-	virtual b3OpenCLArray<b3Int4>& getOverlappingPairsGPU() = 0;
-	virtual b3OpenCLArray<int>& getSmallAabbIndicesGPU() = 0;
-	virtual b3OpenCLArray<int>& getLargeAabbIndicesGPU() = 0;
-};
-
-#endif  //B3_GPU_BROADPHASE_INTERFACE_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp
deleted file mode 100644
index e714fadac3..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp
+++ /dev/null
@@ -1,338 +0,0 @@
-
-#include "b3GpuGridBroadphase.h"
-#include "Bullet3Geometry/b3AabbUtil.h"
-#include "kernels/gridBroadphaseKernels.h"
-#include "kernels/sapKernels.h"
-//#include "kernels/gridBroadphase.cl"
-
-#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
-
-#define B3_BROADPHASE_SAP_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl"
-#define B3_GRID_BROADPHASE_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphase.cl"
-
-cl_kernel kCalcHashAABB;
-cl_kernel kClearCellStart;
-cl_kernel kFindCellStart;
-cl_kernel kFindOverlappingPairs;
-cl_kernel m_copyAabbsKernel;
-cl_kernel m_sap2Kernel;
-
-//int maxPairsPerBody = 64;
-int maxBodiesPerCell = 256;  //??
-
-b3GpuGridBroadphase::b3GpuGridBroadphase(cl_context ctx, cl_device_id device, cl_command_queue q)
-	: m_context(ctx),
-	  m_device(device),
-	  m_queue(q),
-	  m_allAabbsGPU1(ctx, q),
-	  m_smallAabbsMappingGPU(ctx, q),
-	  m_largeAabbsMappingGPU(ctx, q),
-	  m_gpuPairs(ctx, q),
-
-	  m_hashGpu(ctx, q),
-
-	  m_cellStartGpu(ctx, q),
-	  m_paramsGPU(ctx, q)
-{
-	b3Vector3 gridSize = b3MakeVector3(3, 3, 3);
-	b3Vector3 invGridSize = b3MakeVector3(1.f / gridSize[0], 1.f / gridSize[1], 1.f / gridSize[2]);
-
-	m_paramsCPU.m_gridSize[0] = 128;
-	m_paramsCPU.m_gridSize[1] = 128;
-	m_paramsCPU.m_gridSize[2] = 128;
-	m_paramsCPU.m_gridSize[3] = maxBodiesPerCell;
-	m_paramsCPU.setMaxBodiesPerCell(maxBodiesPerCell);
-	m_paramsCPU.m_invCellSize[0] = invGridSize[0];
-	m_paramsCPU.m_invCellSize[1] = invGridSize[1];
-	m_paramsCPU.m_invCellSize[2] = invGridSize[2];
-	m_paramsCPU.m_invCellSize[3] = 0.f;
-	m_paramsGPU.push_back(m_paramsCPU);
-
-	cl_int errNum = 0;
-
-	{
-		const char* sapSrc = sapCL;
-		cl_program sapProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, sapSrc, &errNum, "", B3_BROADPHASE_SAP_PATH);
-		b3Assert(errNum == CL_SUCCESS);
-		m_copyAabbsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "copyAabbsKernel", &errNum, sapProg);
-		m_sap2Kernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelTwoArrays", &errNum, sapProg);
-		b3Assert(errNum == CL_SUCCESS);
-	}
-
-	{
-		cl_program gridProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, gridBroadphaseCL, &errNum, "", B3_GRID_BROADPHASE_PATH);
-		b3Assert(errNum == CL_SUCCESS);
-
-		kCalcHashAABB = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, gridBroadphaseCL, "kCalcHashAABB", &errNum, gridProg);
-		b3Assert(errNum == CL_SUCCESS);
-
-		kClearCellStart = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, gridBroadphaseCL, "kClearCellStart", &errNum, gridProg);
-		b3Assert(errNum == CL_SUCCESS);
-
-		kFindCellStart = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, gridBroadphaseCL, "kFindCellStart", &errNum, gridProg);
-		b3Assert(errNum == CL_SUCCESS);
-
-		kFindOverlappingPairs = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, gridBroadphaseCL, "kFindOverlappingPairs", &errNum, gridProg);
-		b3Assert(errNum == CL_SUCCESS);
-	}
-
-	m_sorter = new b3RadixSort32CL(m_context, m_device, m_queue);
-}
-b3GpuGridBroadphase::~b3GpuGridBroadphase()
-{
-	clReleaseKernel(kCalcHashAABB);
-	clReleaseKernel(kClearCellStart);
-	clReleaseKernel(kFindCellStart);
-	clReleaseKernel(kFindOverlappingPairs);
-	clReleaseKernel(m_sap2Kernel);
-	clReleaseKernel(m_copyAabbsKernel);
-
-	delete m_sorter;
-}
-
-void b3GpuGridBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask)
-{
-	b3SapAabb aabb;
-	aabb.m_minVec = aabbMin;
-	aabb.m_maxVec = aabbMax;
-	aabb.m_minIndices[3] = userPtr;
-	aabb.m_signedMaxIndices[3] = m_allAabbsCPU1.size();  //NOT userPtr;
-	m_smallAabbsMappingCPU.push_back(m_allAabbsCPU1.size());
-
-	m_allAabbsCPU1.push_back(aabb);
-}
-void b3GpuGridBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask)
-{
-	b3SapAabb aabb;
-	aabb.m_minVec = aabbMin;
-	aabb.m_maxVec = aabbMax;
-	aabb.m_minIndices[3] = userPtr;
-	aabb.m_signedMaxIndices[3] = m_allAabbsCPU1.size();  //NOT userPtr;
-	m_largeAabbsMappingCPU.push_back(m_allAabbsCPU1.size());
-
-	m_allAabbsCPU1.push_back(aabb);
-}
-
-void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
-{
-	B3_PROFILE("b3GpuGridBroadphase::calculateOverlappingPairs");
-
-	if (0)
-	{
-		calculateOverlappingPairsHost(maxPairs);
-		/*
-		b3AlignedObjectArray<b3Int4> cpuPairs;
-		m_gpuPairs.copyToHost(cpuPairs);
-		printf("host m_gpuPairs.size()=%d\n",m_gpuPairs.size());
-		for (int i=0;i<m_gpuPairs.size();i++)
-		{
-			printf("host pair %d = %d,%d\n",i,cpuPairs[i].x,cpuPairs[i].y);
-		}
-		*/
-		return;
-	}
-
-	int numSmallAabbs = m_smallAabbsMappingGPU.size();
-
-	b3OpenCLArray<int> pairCount(m_context, m_queue);
-	pairCount.push_back(0);
-	m_gpuPairs.resize(maxPairs);  //numSmallAabbs*maxPairsPerBody);
-
-	{
-		int numLargeAabbs = m_largeAabbsMappingGPU.size();
-		if (numLargeAabbs && numSmallAabbs)
-		{
-			B3_PROFILE("sap2Kernel");
-			b3BufferInfoCL bInfo[] = {
-				b3BufferInfoCL(m_allAabbsGPU1.getBufferCL()),
-				b3BufferInfoCL(m_largeAabbsMappingGPU.getBufferCL()),
-				b3BufferInfoCL(m_smallAabbsMappingGPU.getBufferCL()),
-				b3BufferInfoCL(m_gpuPairs.getBufferCL()),
-				b3BufferInfoCL(pairCount.getBufferCL())};
-			b3LauncherCL launcher(m_queue, m_sap2Kernel, "m_sap2Kernel");
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(numLargeAabbs);
-			launcher.setConst(numSmallAabbs);
-			launcher.setConst(0);  //axis is not used
-			launcher.setConst(maxPairs);
-			//@todo: use actual maximum work item sizes of the device instead of hardcoded values
-			launcher.launch2D(numLargeAabbs, numSmallAabbs, 4, 64);
-
-			int numPairs = pairCount.at(0);
-
-			if (numPairs > maxPairs)
-			{
-				b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
-				numPairs = maxPairs;
-			}
-		}
-	}
-
-	if (numSmallAabbs)
-	{
-		B3_PROFILE("gridKernel");
-		m_hashGpu.resize(numSmallAabbs);
-		{
-			B3_PROFILE("kCalcHashAABB");
-			b3LauncherCL launch(m_queue, kCalcHashAABB, "kCalcHashAABB");
-			launch.setConst(numSmallAabbs);
-			launch.setBuffer(m_allAabbsGPU1.getBufferCL());
-			launch.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
-			launch.setBuffer(m_hashGpu.getBufferCL());
-			launch.setBuffer(this->m_paramsGPU.getBufferCL());
-			launch.launch1D(numSmallAabbs);
-		}
-
-		m_sorter->execute(m_hashGpu);
-
-		int numCells = this->m_paramsCPU.m_gridSize[0] * this->m_paramsCPU.m_gridSize[1] * this->m_paramsCPU.m_gridSize[2];
-		m_cellStartGpu.resize(numCells);
-		//b3AlignedObjectArray<int >			cellStartCpu;
-
-		{
-			B3_PROFILE("kClearCellStart");
-			b3LauncherCL launch(m_queue, kClearCellStart, "kClearCellStart");
-			launch.setConst(numCells);
-			launch.setBuffer(m_cellStartGpu.getBufferCL());
-			launch.launch1D(numCells);
-			//m_cellStartGpu.copyToHost(cellStartCpu);
-			//printf("??\n");
-		}
-
-		{
-			B3_PROFILE("kFindCellStart");
-			b3LauncherCL launch(m_queue, kFindCellStart, "kFindCellStart");
-			launch.setConst(numSmallAabbs);
-			launch.setBuffer(m_hashGpu.getBufferCL());
-			launch.setBuffer(m_cellStartGpu.getBufferCL());
-			launch.launch1D(numSmallAabbs);
-			//m_cellStartGpu.copyToHost(cellStartCpu);
-			//printf("??\n");
-		}
-
-		{
-			B3_PROFILE("kFindOverlappingPairs");
-
-			b3LauncherCL launch(m_queue, kFindOverlappingPairs, "kFindOverlappingPairs");
-			launch.setConst(numSmallAabbs);
-			launch.setBuffer(m_allAabbsGPU1.getBufferCL());
-			launch.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
-			launch.setBuffer(m_hashGpu.getBufferCL());
-			launch.setBuffer(m_cellStartGpu.getBufferCL());
-
-			launch.setBuffer(m_paramsGPU.getBufferCL());
-			//launch.setBuffer(0);
-			launch.setBuffer(pairCount.getBufferCL());
-			launch.setBuffer(m_gpuPairs.getBufferCL());
-
-			launch.setConst(maxPairs);
-			launch.launch1D(numSmallAabbs);
-
-			int numPairs = pairCount.at(0);
-			if (numPairs > maxPairs)
-			{
-				b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
-				numPairs = maxPairs;
-			}
-
-			m_gpuPairs.resize(numPairs);
-
-			if (0)
-			{
-				b3AlignedObjectArray<b3Int4> pairsCpu;
-				m_gpuPairs.copyToHost(pairsCpu);
-
-				int sz = m_gpuPairs.size();
-				printf("m_gpuPairs.size()=%d\n", sz);
-				for (int i = 0; i < m_gpuPairs.size(); i++)
-				{
-					printf("pair %d = %d,%d\n", i, pairsCpu[i].x, pairsCpu[i].y);
-				}
-
-				printf("?!?\n");
-			}
-		}
-	}
-
-	//calculateOverlappingPairsHost(maxPairs);
-}
-void b3GpuGridBroadphase::calculateOverlappingPairsHost(int maxPairs)
-{
-	m_hostPairs.resize(0);
-	m_allAabbsGPU1.copyToHost(m_allAabbsCPU1);
-	for (int i = 0; i < m_allAabbsCPU1.size(); i++)
-	{
-		for (int j = i + 1; j < m_allAabbsCPU1.size(); j++)
-		{
-			if (b3TestAabbAgainstAabb2(m_allAabbsCPU1[i].m_minVec, m_allAabbsCPU1[i].m_maxVec,
-									   m_allAabbsCPU1[j].m_minVec, m_allAabbsCPU1[j].m_maxVec))
-			{
-				b3Int4 pair;
-				int a = m_allAabbsCPU1[j].m_minIndices[3];
-				int b = m_allAabbsCPU1[i].m_minIndices[3];
-				if (a <= b)
-				{
-					pair.x = a;
-					pair.y = b;  //store the original index in the unsorted aabb array
-				}
-				else
-				{
-					pair.x = b;
-					pair.y = a;  //store the original index in the unsorted aabb array
-				}
-
-				if (m_hostPairs.size() < maxPairs)
-				{
-					m_hostPairs.push_back(pair);
-				}
-			}
-		}
-	}
-
-	m_gpuPairs.copyFromHost(m_hostPairs);
-}
-
-//call writeAabbsToGpu after done making all changes (createProxy etc)
-void b3GpuGridBroadphase::writeAabbsToGpu()
-{
-	m_allAabbsGPU1.copyFromHost(m_allAabbsCPU1);
-	m_smallAabbsMappingGPU.copyFromHost(m_smallAabbsMappingCPU);
-	m_largeAabbsMappingGPU.copyFromHost(m_largeAabbsMappingCPU);
-}
-
-cl_mem b3GpuGridBroadphase::getAabbBufferWS()
-{
-	return this->m_allAabbsGPU1.getBufferCL();
-}
-int b3GpuGridBroadphase::getNumOverlap()
-{
-	return m_gpuPairs.size();
-}
-cl_mem b3GpuGridBroadphase::getOverlappingPairBuffer()
-{
-	return m_gpuPairs.getBufferCL();
-}
-
-b3OpenCLArray<b3SapAabb>& b3GpuGridBroadphase::getAllAabbsGPU()
-{
-	return m_allAabbsGPU1;
-}
-
-b3AlignedObjectArray<b3SapAabb>& b3GpuGridBroadphase::getAllAabbsCPU()
-{
-	return m_allAabbsCPU1;
-}
-
-b3OpenCLArray<b3Int4>& b3GpuGridBroadphase::getOverlappingPairsGPU()
-{
-	return m_gpuPairs;
-}
-b3OpenCLArray<int>& b3GpuGridBroadphase::getSmallAabbIndicesGPU()
-{
-	return m_smallAabbsMappingGPU;
-}
-b3OpenCLArray<int>& b3GpuGridBroadphase::getLargeAabbIndicesGPU()
-{
-	return m_largeAabbsMappingGPU;
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.h
deleted file mode 100644
index b76cb43b68..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.h
+++ /dev/null
@@ -1,80 +0,0 @@
-#ifndef B3_GPU_GRID_BROADPHASE_H
-#define B3_GPU_GRID_BROADPHASE_H
-
-#include "b3GpuBroadphaseInterface.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
-
-struct b3ParamsGridBroadphaseCL
-{
-	float m_invCellSize[4];
-	int m_gridSize[4];
-
-	int getMaxBodiesPerCell() const
-	{
-		return m_gridSize[3];
-	}
-
-	void setMaxBodiesPerCell(int maxOverlap)
-	{
-		m_gridSize[3] = maxOverlap;
-	}
-};
-
-class b3GpuGridBroadphase : public b3GpuBroadphaseInterface
-{
-protected:
-	cl_context m_context;
-	cl_device_id m_device;
-	cl_command_queue m_queue;
-
-	b3OpenCLArray<b3SapAabb> m_allAabbsGPU1;
-	b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU1;
-
-	b3OpenCLArray<int> m_smallAabbsMappingGPU;
-	b3AlignedObjectArray<int> m_smallAabbsMappingCPU;
-
-	b3OpenCLArray<int> m_largeAabbsMappingGPU;
-	b3AlignedObjectArray<int> m_largeAabbsMappingCPU;
-
-	b3AlignedObjectArray<b3Int4> m_hostPairs;
-	b3OpenCLArray<b3Int4> m_gpuPairs;
-
-	b3OpenCLArray<b3SortData> m_hashGpu;
-	b3OpenCLArray<int> m_cellStartGpu;
-
-	b3ParamsGridBroadphaseCL m_paramsCPU;
-	b3OpenCLArray<b3ParamsGridBroadphaseCL> m_paramsGPU;
-
-	class b3RadixSort32CL* m_sorter;
-
-public:
-	b3GpuGridBroadphase(cl_context ctx, cl_device_id device, cl_command_queue q);
-	virtual ~b3GpuGridBroadphase();
-
-	static b3GpuBroadphaseInterface* CreateFunc(cl_context ctx, cl_device_id device, cl_command_queue q)
-	{
-		return new b3GpuGridBroadphase(ctx, device, q);
-	}
-
-	virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask);
-	virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask);
-
-	virtual void calculateOverlappingPairs(int maxPairs);
-	virtual void calculateOverlappingPairsHost(int maxPairs);
-
-	//call writeAabbsToGpu after done making all changes (createProxy etc)
-	virtual void writeAabbsToGpu();
-
-	virtual cl_mem getAabbBufferWS();
-	virtual int getNumOverlap();
-	virtual cl_mem getOverlappingPairBuffer();
-
-	virtual b3OpenCLArray<b3SapAabb>& getAllAabbsGPU();
-	virtual b3AlignedObjectArray<b3SapAabb>& getAllAabbsCPU();
-
-	virtual b3OpenCLArray<b3Int4>& getOverlappingPairsGPU();
-	virtual b3OpenCLArray<int>& getSmallAabbIndicesGPU();
-	virtual b3OpenCLArray<int>& getLargeAabbIndicesGPU();
-};
-
-#endif  //B3_GPU_GRID_BROADPHASE_H
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp
deleted file mode 100644
index 616fc34f3a..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp
+++ /dev/null
@@ -1,557 +0,0 @@
-/*
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Initial Author Jackson Lee, 2014
-
-#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
-
-#include "b3GpuParallelLinearBvh.h"
-
-b3GpuParallelLinearBvh::b3GpuParallelLinearBvh(cl_context context, cl_device_id device, cl_command_queue queue) : m_queue(queue),
-																												  m_radixSorter(context, device, queue),
-
-																												  m_rootNodeIndex(context, queue),
-																												  m_maxDistanceFromRoot(context, queue),
-																												  m_temp(context, queue),
-
-																												  m_internalNodeAabbs(context, queue),
-																												  m_internalNodeLeafIndexRanges(context, queue),
-																												  m_internalNodeChildNodes(context, queue),
-																												  m_internalNodeParentNodes(context, queue),
-
-																												  m_commonPrefixes(context, queue),
-																												  m_commonPrefixLengths(context, queue),
-																												  m_distanceFromRoot(context, queue),
-
-																												  m_leafNodeParentNodes(context, queue),
-																												  m_mortonCodesAndAabbIndicies(context, queue),
-																												  m_mergedAabb(context, queue),
-																												  m_leafNodeAabbs(context, queue),
-
-																												  m_largeAabbs(context, queue)
-{
-	m_rootNodeIndex.resize(1);
-	m_maxDistanceFromRoot.resize(1);
-	m_temp.resize(1);
-
-	//
-	const char CL_PROGRAM_PATH[] = "src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl";
-
-	const char* kernelSource = parallelLinearBvhCL;  //parallelLinearBvhCL.h
-	cl_int error;
-	char* additionalMacros = 0;
-	m_parallelLinearBvhProgram = b3OpenCLUtils::compileCLProgramFromString(context, device, kernelSource, &error, additionalMacros, CL_PROGRAM_PATH);
-	b3Assert(m_parallelLinearBvhProgram);
-
-	m_separateAabbsKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "separateAabbs", &error, m_parallelLinearBvhProgram, additionalMacros);
-	b3Assert(m_separateAabbsKernel);
-	m_findAllNodesMergedAabbKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "findAllNodesMergedAabb", &error, m_parallelLinearBvhProgram, additionalMacros);
-	b3Assert(m_findAllNodesMergedAabbKernel);
-	m_assignMortonCodesAndAabbIndiciesKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "assignMortonCodesAndAabbIndicies", &error, m_parallelLinearBvhProgram, additionalMacros);
-	b3Assert(m_assignMortonCodesAndAabbIndiciesKernel);
-
-	m_computeAdjacentPairCommonPrefixKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "computeAdjacentPairCommonPrefix", &error, m_parallelLinearBvhProgram, additionalMacros);
-	b3Assert(m_computeAdjacentPairCommonPrefixKernel);
-	m_buildBinaryRadixTreeLeafNodesKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "buildBinaryRadixTreeLeafNodes", &error, m_parallelLinearBvhProgram, additionalMacros);
-	b3Assert(m_buildBinaryRadixTreeLeafNodesKernel);
-	m_buildBinaryRadixTreeInternalNodesKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "buildBinaryRadixTreeInternalNodes", &error, m_parallelLinearBvhProgram, additionalMacros);
-	b3Assert(m_buildBinaryRadixTreeInternalNodesKernel);
-	m_findDistanceFromRootKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "findDistanceFromRoot", &error, m_parallelLinearBvhProgram, additionalMacros);
-	b3Assert(m_findDistanceFromRootKernel);
-	m_buildBinaryRadixTreeAabbsRecursiveKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "buildBinaryRadixTreeAabbsRecursive", &error, m_parallelLinearBvhProgram, additionalMacros);
-	b3Assert(m_buildBinaryRadixTreeAabbsRecursiveKernel);
-
-	m_findLeafIndexRangesKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "findLeafIndexRanges", &error, m_parallelLinearBvhProgram, additionalMacros);
-	b3Assert(m_findLeafIndexRangesKernel);
-
-	m_plbvhCalculateOverlappingPairsKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "plbvhCalculateOverlappingPairs", &error, m_parallelLinearBvhProgram, additionalMacros);
-	b3Assert(m_plbvhCalculateOverlappingPairsKernel);
-	m_plbvhRayTraverseKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "plbvhRayTraverse", &error, m_parallelLinearBvhProgram, additionalMacros);
-	b3Assert(m_plbvhRayTraverseKernel);
-	m_plbvhLargeAabbAabbTestKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "plbvhLargeAabbAabbTest", &error, m_parallelLinearBvhProgram, additionalMacros);
-	b3Assert(m_plbvhLargeAabbAabbTestKernel);
-	m_plbvhLargeAabbRayTestKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "plbvhLargeAabbRayTest", &error, m_parallelLinearBvhProgram, additionalMacros);
-	b3Assert(m_plbvhLargeAabbRayTestKernel);
-}
-
-b3GpuParallelLinearBvh::~b3GpuParallelLinearBvh()
-{
-	clReleaseKernel(m_separateAabbsKernel);
-	clReleaseKernel(m_findAllNodesMergedAabbKernel);
-	clReleaseKernel(m_assignMortonCodesAndAabbIndiciesKernel);
-
-	clReleaseKernel(m_computeAdjacentPairCommonPrefixKernel);
-	clReleaseKernel(m_buildBinaryRadixTreeLeafNodesKernel);
-	clReleaseKernel(m_buildBinaryRadixTreeInternalNodesKernel);
-	clReleaseKernel(m_findDistanceFromRootKernel);
-	clReleaseKernel(m_buildBinaryRadixTreeAabbsRecursiveKernel);
-
-	clReleaseKernel(m_findLeafIndexRangesKernel);
-
-	clReleaseKernel(m_plbvhCalculateOverlappingPairsKernel);
-	clReleaseKernel(m_plbvhRayTraverseKernel);
-	clReleaseKernel(m_plbvhLargeAabbAabbTestKernel);
-	clReleaseKernel(m_plbvhLargeAabbRayTestKernel);
-
-	clReleaseProgram(m_parallelLinearBvhProgram);
-}
-
-void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs, const b3OpenCLArray<int>& smallAabbIndices,
-								   const b3OpenCLArray<int>& largeAabbIndices)
-{
-	B3_PROFILE("b3ParallelLinearBvh::build()");
-
-	int numLargeAabbs = largeAabbIndices.size();
-	int numSmallAabbs = smallAabbIndices.size();
-
-	//Since all AABBs(both large and small) are input as a contiguous array,
-	//with 2 additional arrays used to indicate the indices of large and small AABBs,
-	//it is necessary to separate the AABBs so that the large AABBs will not degrade the quality of the BVH.
-	{
-		B3_PROFILE("Separate large and small AABBs");
-
-		m_largeAabbs.resize(numLargeAabbs);
-		m_leafNodeAabbs.resize(numSmallAabbs);
-
-		//Write large AABBs into m_largeAabbs
-		{
-			b3BufferInfoCL bufferInfo[] =
-				{
-					b3BufferInfoCL(worldSpaceAabbs.getBufferCL()),
-					b3BufferInfoCL(largeAabbIndices.getBufferCL()),
-
-					b3BufferInfoCL(m_largeAabbs.getBufferCL())};
-
-			b3LauncherCL launcher(m_queue, m_separateAabbsKernel, "m_separateAabbsKernel");
-			launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(numLargeAabbs);
-
-			launcher.launch1D(numLargeAabbs);
-		}
-
-		//Write small AABBs into m_leafNodeAabbs
-		{
-			b3BufferInfoCL bufferInfo[] =
-				{
-					b3BufferInfoCL(worldSpaceAabbs.getBufferCL()),
-					b3BufferInfoCL(smallAabbIndices.getBufferCL()),
-
-					b3BufferInfoCL(m_leafNodeAabbs.getBufferCL())};
-
-			b3LauncherCL launcher(m_queue, m_separateAabbsKernel, "m_separateAabbsKernel");
-			launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(numSmallAabbs);
-
-			launcher.launch1D(numSmallAabbs);
-		}
-
-		clFinish(m_queue);
-	}
-
-	//
-	int numLeaves = numSmallAabbs;  //Number of leaves in the BVH == Number of rigid bodies with small AABBs
-	int numInternalNodes = numLeaves - 1;
-
-	if (numLeaves < 2)
-	{
-		//Number of leaf nodes is checked in calculateOverlappingPairs() and testRaysAgainstBvhAabbs(),
-		//so it does not matter if numLeaves == 0 and rootNodeIndex == -1
-		int rootNodeIndex = numLeaves - 1;
-		m_rootNodeIndex.copyFromHostPointer(&rootNodeIndex, 1);
-
-		//Since the AABBs need to be rearranged(sorted) for the BVH construction algorithm,
-		//m_mortonCodesAndAabbIndicies.m_value is used to map a sorted AABB index to the unsorted AABB index
-		//instead of directly moving the AABBs. It needs to be set for the ray cast traversal kernel to work.
-		//( m_mortonCodesAndAabbIndicies[].m_value == unsorted index == index of m_leafNodeAabbs )
-		if (numLeaves == 1)
-		{
-			b3SortData leaf;
-			leaf.m_value = 0;  //1 leaf so index is always 0; leaf.m_key does not need to be set
-
-			m_mortonCodesAndAabbIndicies.resize(1);
-			m_mortonCodesAndAabbIndicies.copyFromHostPointer(&leaf, 1);
-		}
-
-		return;
-	}
-
-	//
-	{
-		m_internalNodeAabbs.resize(numInternalNodes);
-		m_internalNodeLeafIndexRanges.resize(numInternalNodes);
-		m_internalNodeChildNodes.resize(numInternalNodes);
-		m_internalNodeParentNodes.resize(numInternalNodes);
-
-		m_commonPrefixes.resize(numInternalNodes);
-		m_commonPrefixLengths.resize(numInternalNodes);
-		m_distanceFromRoot.resize(numInternalNodes);
-
-		m_leafNodeParentNodes.resize(numLeaves);
-		m_mortonCodesAndAabbIndicies.resize(numLeaves);
-		m_mergedAabb.resize(numLeaves);
-	}
-
-	//Find the merged AABB of all small AABBs; this is used to define the size of
-	//each cell in the virtual grid for the next kernel(2^10 cells in each dimension).
-	{
-		B3_PROFILE("Find AABB of merged nodes");
-
-		m_mergedAabb.copyFromOpenCLArray(m_leafNodeAabbs);  //Need to make a copy since the kernel modifies the array
-
-		for (int numAabbsNeedingMerge = numLeaves; numAabbsNeedingMerge >= 2;
-			 numAabbsNeedingMerge = numAabbsNeedingMerge / 2 + numAabbsNeedingMerge % 2)
-		{
-			b3BufferInfoCL bufferInfo[] =
-				{
-					b3BufferInfoCL(m_mergedAabb.getBufferCL())  //Resulting AABB is stored in m_mergedAabb[0]
-				};
-
-			b3LauncherCL launcher(m_queue, m_findAllNodesMergedAabbKernel, "m_findAllNodesMergedAabbKernel");
-			launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(numAabbsNeedingMerge);
-
-			launcher.launch1D(numAabbsNeedingMerge);
-		}
-
-		clFinish(m_queue);
-	}
-
-	//Insert the center of the AABBs into a virtual grid,
-	//then convert the discrete grid coordinates into a morton code
-	//For each element in m_mortonCodesAndAabbIndicies, set
-	//	m_key == morton code (value to sort by)
-	//	m_value == small AABB index
-	{
-		B3_PROFILE("Assign morton codes");
-
-		b3BufferInfoCL bufferInfo[] =
-			{
-				b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()),
-				b3BufferInfoCL(m_mergedAabb.getBufferCL()),
-				b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL())};
-
-		b3LauncherCL launcher(m_queue, m_assignMortonCodesAndAabbIndiciesKernel, "m_assignMortonCodesAndAabbIndiciesKernel");
-		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(numLeaves);
-
-		launcher.launch1D(numLeaves);
-		clFinish(m_queue);
-	}
-
-	//
-	{
-		B3_PROFILE("Sort leaves by morton codes");
-
-		m_radixSorter.execute(m_mortonCodesAndAabbIndicies);
-		clFinish(m_queue);
-	}
-
-	//
-	constructBinaryRadixTree();
-
-	//Since it is a sorted binary radix tree, each internal node contains a contiguous subset of leaf node indices.
-	//The root node contains leaf node indices in the range [0, numLeafNodes - 1].
-	//The child nodes of each node split their parent's index range into 2 contiguous halves.
-	//
-	//For example, if the root has indices [0, 31], its children might partition that range into [0, 11] and [12, 31].
-	//The next level in the tree could then split those ranges into [0, 2], [3, 11], [12, 22], and [23, 31].
-	//
-	//This property can be used for optimizing calculateOverlappingPairs(), to avoid testing each AABB pair twice
-	{
-		B3_PROFILE("m_findLeafIndexRangesKernel");
-
-		b3BufferInfoCL bufferInfo[] =
-			{
-				b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()),
-				b3BufferInfoCL(m_internalNodeLeafIndexRanges.getBufferCL())};
-
-		b3LauncherCL launcher(m_queue, m_findLeafIndexRangesKernel, "m_findLeafIndexRangesKernel");
-		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(numInternalNodes);
-
-		launcher.launch1D(numInternalNodes);
-		clFinish(m_queue);
-	}
-}
-
-void b3GpuParallelLinearBvh::calculateOverlappingPairs(b3OpenCLArray<b3Int4>& out_overlappingPairs)
-{
-	int maxPairs = out_overlappingPairs.size();
-	b3OpenCLArray<int>& numPairsGpu = m_temp;
-
-	int reset = 0;
-	numPairsGpu.copyFromHostPointer(&reset, 1);
-
-	//
-	if (m_leafNodeAabbs.size() > 1)
-	{
-		B3_PROFILE("PLBVH small-small AABB test");
-
-		int numQueryAabbs = m_leafNodeAabbs.size();
-
-		b3BufferInfoCL bufferInfo[] =
-			{
-				b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()),
-
-				b3BufferInfoCL(m_rootNodeIndex.getBufferCL()),
-				b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()),
-				b3BufferInfoCL(m_internalNodeAabbs.getBufferCL()),
-				b3BufferInfoCL(m_internalNodeLeafIndexRanges.getBufferCL()),
-				b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL()),
-
-				b3BufferInfoCL(numPairsGpu.getBufferCL()),
-				b3BufferInfoCL(out_overlappingPairs.getBufferCL())};
-
-		b3LauncherCL launcher(m_queue, m_plbvhCalculateOverlappingPairsKernel, "m_plbvhCalculateOverlappingPairsKernel");
-		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(maxPairs);
-		launcher.setConst(numQueryAabbs);
-
-		launcher.launch1D(numQueryAabbs);
-		clFinish(m_queue);
-	}
-
-	int numLargeAabbRigids = m_largeAabbs.size();
-	if (numLargeAabbRigids > 0 && m_leafNodeAabbs.size() > 0)
-	{
-		B3_PROFILE("PLBVH large-small AABB test");
-
-		int numQueryAabbs = m_leafNodeAabbs.size();
-
-		b3BufferInfoCL bufferInfo[] =
-			{
-				b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()),
-				b3BufferInfoCL(m_largeAabbs.getBufferCL()),
-
-				b3BufferInfoCL(numPairsGpu.getBufferCL()),
-				b3BufferInfoCL(out_overlappingPairs.getBufferCL())};
-
-		b3LauncherCL launcher(m_queue, m_plbvhLargeAabbAabbTestKernel, "m_plbvhLargeAabbAabbTestKernel");
-		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(maxPairs);
-		launcher.setConst(numLargeAabbRigids);
-		launcher.setConst(numQueryAabbs);
-
-		launcher.launch1D(numQueryAabbs);
-		clFinish(m_queue);
-	}
-
-	//
-	int numPairs = -1;
-	numPairsGpu.copyToHostPointer(&numPairs, 1);
-	if (numPairs > maxPairs)
-	{
-		b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
-		numPairs = maxPairs;
-		numPairsGpu.copyFromHostPointer(&maxPairs, 1);
-	}
-
-	out_overlappingPairs.resize(numPairs);
-}
-
-void b3GpuParallelLinearBvh::testRaysAgainstBvhAabbs(const b3OpenCLArray<b3RayInfo>& rays,
-													 b3OpenCLArray<int>& out_numRayRigidPairs, b3OpenCLArray<b3Int2>& out_rayRigidPairs)
-{
-	B3_PROFILE("PLBVH testRaysAgainstBvhAabbs()");
-
-	int numRays = rays.size();
-	int maxRayRigidPairs = out_rayRigidPairs.size();
-
-	int reset = 0;
-	out_numRayRigidPairs.copyFromHostPointer(&reset, 1);
-
-	//
-	if (m_leafNodeAabbs.size() > 0)
-	{
-		B3_PROFILE("PLBVH ray test small AABB");
-
-		b3BufferInfoCL bufferInfo[] =
-			{
-				b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()),
-
-				b3BufferInfoCL(m_rootNodeIndex.getBufferCL()),
-				b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()),
-				b3BufferInfoCL(m_internalNodeAabbs.getBufferCL()),
-				b3BufferInfoCL(m_internalNodeLeafIndexRanges.getBufferCL()),
-				b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL()),
-
-				b3BufferInfoCL(rays.getBufferCL()),
-
-				b3BufferInfoCL(out_numRayRigidPairs.getBufferCL()),
-				b3BufferInfoCL(out_rayRigidPairs.getBufferCL())};
-
-		b3LauncherCL launcher(m_queue, m_plbvhRayTraverseKernel, "m_plbvhRayTraverseKernel");
-		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(maxRayRigidPairs);
-		launcher.setConst(numRays);
-
-		launcher.launch1D(numRays);
-		clFinish(m_queue);
-	}
-
-	int numLargeAabbRigids = m_largeAabbs.size();
-	if (numLargeAabbRigids > 0)
-	{
-		B3_PROFILE("PLBVH ray test large AABB");
-
-		b3BufferInfoCL bufferInfo[] =
-			{
-				b3BufferInfoCL(m_largeAabbs.getBufferCL()),
-				b3BufferInfoCL(rays.getBufferCL()),
-
-				b3BufferInfoCL(out_numRayRigidPairs.getBufferCL()),
-				b3BufferInfoCL(out_rayRigidPairs.getBufferCL())};
-
-		b3LauncherCL launcher(m_queue, m_plbvhLargeAabbRayTestKernel, "m_plbvhLargeAabbRayTestKernel");
-		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(numLargeAabbRigids);
-		launcher.setConst(maxRayRigidPairs);
-		launcher.setConst(numRays);
-
-		launcher.launch1D(numRays);
-		clFinish(m_queue);
-	}
-
-	//
-	int numRayRigidPairs = -1;
-	out_numRayRigidPairs.copyToHostPointer(&numRayRigidPairs, 1);
-
-	if (numRayRigidPairs > maxRayRigidPairs)
-		b3Error("Error running out of rayRigid pairs: numRayRigidPairs = %d, maxRayRigidPairs = %d.\n", numRayRigidPairs, maxRayRigidPairs);
-}
-
-void b3GpuParallelLinearBvh::constructBinaryRadixTree()
-{
-	B3_PROFILE("b3GpuParallelLinearBvh::constructBinaryRadixTree()");
-
-	int numLeaves = m_leafNodeAabbs.size();
-	int numInternalNodes = numLeaves - 1;
-
-	//Each internal node is placed in between 2 leaf nodes.
-	//By using this arrangement and computing the common prefix between
-	//these 2 adjacent leaf nodes, it is possible to quickly construct a binary radix tree.
-	{
-		B3_PROFILE("m_computeAdjacentPairCommonPrefixKernel");
-
-		b3BufferInfoCL bufferInfo[] =
-			{
-				b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL()),
-				b3BufferInfoCL(m_commonPrefixes.getBufferCL()),
-				b3BufferInfoCL(m_commonPrefixLengths.getBufferCL())};
-
-		b3LauncherCL launcher(m_queue, m_computeAdjacentPairCommonPrefixKernel, "m_computeAdjacentPairCommonPrefixKernel");
-		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(numInternalNodes);
-
-		launcher.launch1D(numInternalNodes);
-		clFinish(m_queue);
-	}
-
-	//For each leaf node, select its parent node by
-	//comparing the 2 nearest internal nodes and assign child node indices
-	{
-		B3_PROFILE("m_buildBinaryRadixTreeLeafNodesKernel");
-
-		b3BufferInfoCL bufferInfo[] =
-			{
-				b3BufferInfoCL(m_commonPrefixLengths.getBufferCL()),
-				b3BufferInfoCL(m_leafNodeParentNodes.getBufferCL()),
-				b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL())};
-
-		b3LauncherCL launcher(m_queue, m_buildBinaryRadixTreeLeafNodesKernel, "m_buildBinaryRadixTreeLeafNodesKernel");
-		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(numLeaves);
-
-		launcher.launch1D(numLeaves);
-		clFinish(m_queue);
-	}
-
-	//For each internal node, perform 2 binary searches among the other internal nodes
-	//to its left and right to find its potential parent nodes and assign child node indices
-	{
-		B3_PROFILE("m_buildBinaryRadixTreeInternalNodesKernel");
-
-		b3BufferInfoCL bufferInfo[] =
-			{
-				b3BufferInfoCL(m_commonPrefixes.getBufferCL()),
-				b3BufferInfoCL(m_commonPrefixLengths.getBufferCL()),
-				b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()),
-				b3BufferInfoCL(m_internalNodeParentNodes.getBufferCL()),
-				b3BufferInfoCL(m_rootNodeIndex.getBufferCL())};
-
-		b3LauncherCL launcher(m_queue, m_buildBinaryRadixTreeInternalNodesKernel, "m_buildBinaryRadixTreeInternalNodesKernel");
-		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(numInternalNodes);
-
-		launcher.launch1D(numInternalNodes);
-		clFinish(m_queue);
-	}
-
-	//Find the number of nodes separating each internal node and the root node
-	//so that the AABBs can be set using the next kernel.
-	//Also determine the maximum number of nodes separating an internal node and the root node.
-	{
-		B3_PROFILE("m_findDistanceFromRootKernel");
-
-		b3BufferInfoCL bufferInfo[] =
-			{
-				b3BufferInfoCL(m_rootNodeIndex.getBufferCL()),
-				b3BufferInfoCL(m_internalNodeParentNodes.getBufferCL()),
-				b3BufferInfoCL(m_maxDistanceFromRoot.getBufferCL()),
-				b3BufferInfoCL(m_distanceFromRoot.getBufferCL())};
-
-		b3LauncherCL launcher(m_queue, m_findDistanceFromRootKernel, "m_findDistanceFromRootKernel");
-		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(numInternalNodes);
-
-		launcher.launch1D(numInternalNodes);
-		clFinish(m_queue);
-	}
-
-	//Starting from the internal nodes nearest to the leaf nodes, recursively move up
-	//the tree towards the root to set the AABBs of each internal node; each internal node
-	//checks its children and merges their AABBs
-	{
-		B3_PROFILE("m_buildBinaryRadixTreeAabbsRecursiveKernel");
-
-		int maxDistanceFromRoot = -1;
-		{
-			B3_PROFILE("copy maxDistanceFromRoot to CPU");
-			m_maxDistanceFromRoot.copyToHostPointer(&maxDistanceFromRoot, 1);
-			clFinish(m_queue);
-		}
-
-		for (int distanceFromRoot = maxDistanceFromRoot; distanceFromRoot >= 0; --distanceFromRoot)
-		{
-			b3BufferInfoCL bufferInfo[] =
-				{
-					b3BufferInfoCL(m_distanceFromRoot.getBufferCL()),
-					b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL()),
-					b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()),
-					b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()),
-					b3BufferInfoCL(m_internalNodeAabbs.getBufferCL())};
-
-			b3LauncherCL launcher(m_queue, m_buildBinaryRadixTreeAabbsRecursiveKernel, "m_buildBinaryRadixTreeAabbsRecursiveKernel");
-			launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(maxDistanceFromRoot);
-			launcher.setConst(distanceFromRoot);
-			launcher.setConst(numInternalNodes);
-
-			//It may seem inefficent to launch a thread for each internal node when a
-			//much smaller number of nodes is actually processed, but this is actually
-			//faster than determining the exact nodes that are ready to merge their child AABBs.
-			launcher.launch1D(numInternalNodes);
-		}
-
-		clFinish(m_queue);
-	}
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.h
deleted file mode 100644
index b390775129..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.h
+++ /dev/null
@@ -1,125 +0,0 @@
-/*
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Initial Author Jackson Lee, 2014
-
-#ifndef B3_GPU_PARALLEL_LINEAR_BVH_H
-#define B3_GPU_PARALLEL_LINEAR_BVH_H
-
-//#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
-#include "Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h"
-#include "Bullet3Common/shared/b3Int2.h"
-#include "Bullet3Common/shared/b3Int4.h"
-#include "Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h"
-
-#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h"
-
-#include "Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h"
-
-#define b3Int64 cl_long
-
-///@brief GPU Parallel Linearized Bounding Volume Heirarchy(LBVH) that is reconstructed every frame
-///@remarks
-///See presentation in docs/b3GpuParallelLinearBvh.pdf for algorithm details.
-///@par
-///Related papers: \n
-///"Fast BVH Construction on GPUs" [Lauterbach et al. 2009] \n
-///"Maximizing Parallelism in the Construction of BVHs, Octrees, and k-d trees" [Karras 2012] \n
-///@par
-///The basic algorithm for building the BVH as presented in [Lauterbach et al. 2009] consists of 4 stages:
-/// - [fully parallel] Assign morton codes for each AABB using its center (after quantizing the AABB centers into a virtual grid)
-/// - [fully parallel] Sort morton codes
-/// - [somewhat parallel] Build binary radix tree (assign parent/child pointers for internal nodes of the BVH)
-/// - [somewhat parallel] Set internal node AABBs
-///@par
-///[Karras 2012] improves on the algorithm by introducing fully parallel methods for the last 2 stages.
-///The BVH implementation here shares many concepts with [Karras 2012], but a different method is used for constructing the tree.
-///Instead of searching for the child nodes of each internal node, we search for the parent node of each node.
-///Additionally, a non-atomic traversal that starts from the leaf nodes and moves towards the root node is used to set the AABBs.
-class b3GpuParallelLinearBvh
-{
-	cl_command_queue m_queue;
-
-	cl_program m_parallelLinearBvhProgram;
-
-	cl_kernel m_separateAabbsKernel;
-	cl_kernel m_findAllNodesMergedAabbKernel;
-	cl_kernel m_assignMortonCodesAndAabbIndiciesKernel;
-
-	//Binary radix tree construction kernels
-	cl_kernel m_computeAdjacentPairCommonPrefixKernel;
-	cl_kernel m_buildBinaryRadixTreeLeafNodesKernel;
-	cl_kernel m_buildBinaryRadixTreeInternalNodesKernel;
-	cl_kernel m_findDistanceFromRootKernel;
-	cl_kernel m_buildBinaryRadixTreeAabbsRecursiveKernel;
-
-	cl_kernel m_findLeafIndexRangesKernel;
-
-	//Traversal kernels
-	cl_kernel m_plbvhCalculateOverlappingPairsKernel;
-	cl_kernel m_plbvhRayTraverseKernel;
-	cl_kernel m_plbvhLargeAabbAabbTestKernel;
-	cl_kernel m_plbvhLargeAabbRayTestKernel;
-
-	b3RadixSort32CL m_radixSorter;
-
-	//1 element
-	b3OpenCLArray<int> m_rootNodeIndex;        //Most significant bit(0x80000000) is set to indicate internal node
-	b3OpenCLArray<int> m_maxDistanceFromRoot;  //Max number of internal nodes between an internal node and the root node
-	b3OpenCLArray<int> m_temp;                 //Used to hold the number of pairs in calculateOverlappingPairs()
-
-	//1 element per internal node (number_of_internal_nodes == number_of_leaves - 1)
-	b3OpenCLArray<b3SapAabb> m_internalNodeAabbs;
-	b3OpenCLArray<b3Int2> m_internalNodeLeafIndexRanges;  //x == min leaf index, y == max leaf index
-	b3OpenCLArray<b3Int2> m_internalNodeChildNodes;       //x == left child, y == right child; msb(0x80000000) is set to indicate internal node
-	b3OpenCLArray<int> m_internalNodeParentNodes;         //For parent node index, msb(0x80000000) is not set since it is always internal
-
-	//1 element per internal node; for binary radix tree construction
-	b3OpenCLArray<b3Int64> m_commonPrefixes;
-	b3OpenCLArray<int> m_commonPrefixLengths;
-	b3OpenCLArray<int> m_distanceFromRoot;  //Number of internal nodes between this node and the root
-
-	//1 element per leaf node (leaf nodes only include small AABBs)
-	b3OpenCLArray<int> m_leafNodeParentNodes;                //For parent node index, msb(0x80000000) is not set since it is always internal
-	b3OpenCLArray<b3SortData> m_mortonCodesAndAabbIndicies;  //m_key == morton code, m_value == aabb index in m_leafNodeAabbs
-	b3OpenCLArray<b3SapAabb> m_mergedAabb;                   //m_mergedAabb[0] contains the merged AABB of all leaf nodes
-	b3OpenCLArray<b3SapAabb> m_leafNodeAabbs;                //Contains only small AABBs
-
-	//1 element per large AABB, which is not stored in the BVH
-	b3OpenCLArray<b3SapAabb> m_largeAabbs;
-
-public:
-	b3GpuParallelLinearBvh(cl_context context, cl_device_id device, cl_command_queue queue);
-	virtual ~b3GpuParallelLinearBvh();
-
-	///Must be called before any other function
-	void build(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs, const b3OpenCLArray<int>& smallAabbIndices,
-			   const b3OpenCLArray<int>& largeAabbIndices);
-
-	///calculateOverlappingPairs() uses the worldSpaceAabbs parameter of b3GpuParallelLinearBvh::build() as the query AABBs.
-	///@param out_overlappingPairs The size() of this array is used to determine the max number of pairs.
-	///If the number of overlapping pairs is < out_overlappingPairs.size(), out_overlappingPairs is resized.
-	void calculateOverlappingPairs(b3OpenCLArray<b3Int4>& out_overlappingPairs);
-
-	///@param out_numRigidRayPairs Array of length 1; contains the number of detected ray-rigid AABB intersections;
-	///this value may be greater than out_rayRigidPairs.size() if out_rayRigidPairs is not large enough.
-	///@param out_rayRigidPairs Contains an array of rays intersecting rigid AABBs; x == ray index, y == rigid body index.
-	///If the size of this array is insufficient to hold all ray-rigid AABB intersections, additional intersections are discarded.
-	void testRaysAgainstBvhAabbs(const b3OpenCLArray<b3RayInfo>& rays,
-								 b3OpenCLArray<int>& out_numRayRigidPairs, b3OpenCLArray<b3Int2>& out_rayRigidPairs);
-
-private:
-	void constructBinaryRadixTree();
-};
-
-#endif
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.cpp b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.cpp
deleted file mode 100644
index 62ea7a32df..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.cpp
+++ /dev/null
@@ -1,76 +0,0 @@
-/*
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Initial Author Jackson Lee, 2014
-
-#include "b3GpuParallelLinearBvhBroadphase.h"
-
-b3GpuParallelLinearBvhBroadphase::b3GpuParallelLinearBvhBroadphase(cl_context context, cl_device_id device, cl_command_queue queue) : m_plbvh(context, device, queue),
-
-																																	  m_overlappingPairsGpu(context, queue),
-
-																																	  m_aabbsGpu(context, queue),
-																																	  m_smallAabbsMappingGpu(context, queue),
-																																	  m_largeAabbsMappingGpu(context, queue)
-{
-}
-
-void b3GpuParallelLinearBvhBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask)
-{
-	int newAabbIndex = m_aabbsCpu.size();
-
-	b3SapAabb aabb;
-	aabb.m_minVec = aabbMin;
-	aabb.m_maxVec = aabbMax;
-
-	aabb.m_minIndices[3] = userPtr;
-	aabb.m_signedMaxIndices[3] = newAabbIndex;
-
-	m_smallAabbsMappingCpu.push_back(newAabbIndex);
-
-	m_aabbsCpu.push_back(aabb);
-}
-void b3GpuParallelLinearBvhBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask)
-{
-	int newAabbIndex = m_aabbsCpu.size();
-
-	b3SapAabb aabb;
-	aabb.m_minVec = aabbMin;
-	aabb.m_maxVec = aabbMax;
-
-	aabb.m_minIndices[3] = userPtr;
-	aabb.m_signedMaxIndices[3] = newAabbIndex;
-
-	m_largeAabbsMappingCpu.push_back(newAabbIndex);
-
-	m_aabbsCpu.push_back(aabb);
-}
-
-void b3GpuParallelLinearBvhBroadphase::calculateOverlappingPairs(int maxPairs)
-{
-	//Reconstruct BVH
-	m_plbvh.build(m_aabbsGpu, m_smallAabbsMappingGpu, m_largeAabbsMappingGpu);
-
-	//
-	m_overlappingPairsGpu.resize(maxPairs);
-	m_plbvh.calculateOverlappingPairs(m_overlappingPairsGpu);
-}
-void b3GpuParallelLinearBvhBroadphase::calculateOverlappingPairsHost(int maxPairs)
-{
-	b3Assert(0);  //CPU version not implemented
-}
-
-void b3GpuParallelLinearBvhBroadphase::writeAabbsToGpu()
-{
-	m_aabbsGpu.copyFromHost(m_aabbsCpu);
-	m_smallAabbsMappingGpu.copyFromHost(m_smallAabbsMappingCpu);
-	m_largeAabbsMappingGpu.copyFromHost(m_largeAabbsMappingCpu);
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.h
deleted file mode 100644
index dda0eea7be..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/*
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Initial Author Jackson Lee, 2014
-
-#ifndef B3_GPU_PARALLEL_LINEAR_BVH_BROADPHASE_H
-#define B3_GPU_PARALLEL_LINEAR_BVH_BROADPHASE_H
-
-#include "Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h"
-
-#include "b3GpuParallelLinearBvh.h"
-
-class b3GpuParallelLinearBvhBroadphase : public b3GpuBroadphaseInterface
-{
-	b3GpuParallelLinearBvh m_plbvh;
-
-	b3OpenCLArray<b3Int4> m_overlappingPairsGpu;
-
-	b3OpenCLArray<b3SapAabb> m_aabbsGpu;
-	b3OpenCLArray<int> m_smallAabbsMappingGpu;
-	b3OpenCLArray<int> m_largeAabbsMappingGpu;
-
-	b3AlignedObjectArray<b3SapAabb> m_aabbsCpu;
-	b3AlignedObjectArray<int> m_smallAabbsMappingCpu;
-	b3AlignedObjectArray<int> m_largeAabbsMappingCpu;
-
-public:
-	b3GpuParallelLinearBvhBroadphase(cl_context context, cl_device_id device, cl_command_queue queue);
-	virtual ~b3GpuParallelLinearBvhBroadphase() {}
-
-	virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask);
-	virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask);
-
-	virtual void calculateOverlappingPairs(int maxPairs);
-	virtual void calculateOverlappingPairsHost(int maxPairs);
-
-	//call writeAabbsToGpu after done making all changes (createProxy etc)
-	virtual void writeAabbsToGpu();
-
-	virtual int getNumOverlap() { return m_overlappingPairsGpu.size(); }
-	virtual cl_mem getOverlappingPairBuffer() { return m_overlappingPairsGpu.getBufferCL(); }
-
-	virtual cl_mem getAabbBufferWS() { return m_aabbsGpu.getBufferCL(); }
-	virtual b3OpenCLArray<b3SapAabb>& getAllAabbsGPU() { return m_aabbsGpu; }
-
-	virtual b3OpenCLArray<b3Int4>& getOverlappingPairsGPU() { return m_overlappingPairsGpu; }
-	virtual b3OpenCLArray<int>& getSmallAabbIndicesGPU() { return m_smallAabbsMappingGpu; }
-	virtual b3OpenCLArray<int>& getLargeAabbIndicesGPU() { return m_largeAabbsMappingGpu; }
-
-	virtual b3AlignedObjectArray<b3SapAabb>& getAllAabbsCPU() { return m_aabbsCpu; }
-
-	static b3GpuBroadphaseInterface* CreateFunc(cl_context context, cl_device_id device, cl_command_queue queue)
-	{
-		return new b3GpuParallelLinearBvhBroadphase(context, device, queue);
-	}
-};
-
-#endif
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp
deleted file mode 100644
index 4126d03ed0..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp
+++ /dev/null
@@ -1,1298 +0,0 @@
-
-bool searchIncremental3dSapOnGpu = true;
-#include <limits.h>
-#include "b3GpuSapBroadphase.h"
-#include "Bullet3Common/b3Vector3.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.h"
-
-#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
-#include "kernels/sapKernels.h"
-
-#include "Bullet3Common/b3MinMax.h"
-
-#define B3_BROADPHASE_SAP_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl"
-
-/*
-	
- 
-	
-	
-	
- 
-	b3OpenCLArray<int> m_pairCount;
- 
- 
-	b3OpenCLArray<b3SapAabb>	m_allAabbsGPU;
-	b3AlignedObjectArray<b3SapAabb>	m_allAabbsCPU;
- 
-	virtual b3OpenCLArray<b3SapAabb>&	getAllAabbsGPU()
-	{
- return m_allAabbsGPU;
-	}
-	virtual b3AlignedObjectArray<b3SapAabb>&	getAllAabbsCPU()
-	{
- return m_allAabbsCPU;
-	}
- 
-	b3OpenCLArray<b3Vector3>	m_sum;
-	b3OpenCLArray<b3Vector3>	m_sum2;
-	b3OpenCLArray<b3Vector3>	m_dst;
- 
-	b3OpenCLArray<int>	m_smallAabbsMappingGPU;
-	b3AlignedObjectArray<int> m_smallAabbsMappingCPU;
- 
-	b3OpenCLArray<int>	m_largeAabbsMappingGPU;
-	b3AlignedObjectArray<int> m_largeAabbsMappingCPU;
- 
-	
-	b3OpenCLArray<b3Int4>		m_overlappingPairs;
- 
-	//temporary gpu work memory
-	b3OpenCLArray<b3SortData>	m_gpuSmallSortData;
-	b3OpenCLArray<b3SapAabb>	m_gpuSmallSortedAabbs;
- 
-	class b3PrefixScanFloat4CL*		m_prefixScanFloat4;
- */
-
-b3GpuSapBroadphase::b3GpuSapBroadphase(cl_context ctx, cl_device_id device, cl_command_queue q, b3GpuSapKernelType kernelType)
-	: m_context(ctx),
-	  m_device(device),
-	  m_queue(q),
-
-	  m_objectMinMaxIndexGPUaxis0(ctx, q),
-	  m_objectMinMaxIndexGPUaxis1(ctx, q),
-	  m_objectMinMaxIndexGPUaxis2(ctx, q),
-	  m_objectMinMaxIndexGPUaxis0prev(ctx, q),
-	  m_objectMinMaxIndexGPUaxis1prev(ctx, q),
-	  m_objectMinMaxIndexGPUaxis2prev(ctx, q),
-	  m_sortedAxisGPU0(ctx, q),
-	  m_sortedAxisGPU1(ctx, q),
-	  m_sortedAxisGPU2(ctx, q),
-	  m_sortedAxisGPU0prev(ctx, q),
-	  m_sortedAxisGPU1prev(ctx, q),
-	  m_sortedAxisGPU2prev(ctx, q),
-	  m_addedHostPairsGPU(ctx, q),
-	  m_removedHostPairsGPU(ctx, q),
-	  m_addedCountGPU(ctx, q),
-	  m_removedCountGPU(ctx, q),
-	  m_currentBuffer(-1),
-	  m_pairCount(ctx, q),
-	  m_allAabbsGPU(ctx, q),
-	  m_sum(ctx, q),
-	  m_sum2(ctx, q),
-	  m_dst(ctx, q),
-	  m_smallAabbsMappingGPU(ctx, q),
-	  m_largeAabbsMappingGPU(ctx, q),
-	  m_overlappingPairs(ctx, q),
-	  m_gpuSmallSortData(ctx, q),
-	  m_gpuSmallSortedAabbs(ctx, q)
-{
-	const char* sapSrc = sapCL;
-
-	cl_int errNum = 0;
-
-	b3Assert(m_context);
-	b3Assert(m_device);
-	cl_program sapProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, sapSrc, &errNum, "", B3_BROADPHASE_SAP_PATH);
-	b3Assert(errNum == CL_SUCCESS);
-
-	b3Assert(errNum == CL_SUCCESS);
-#ifndef __APPLE__
-	m_prefixScanFloat4 = new b3PrefixScanFloat4CL(m_context, m_device, m_queue);
-#else
-	m_prefixScanFloat4 = 0;
-#endif
-	m_sapKernel = 0;
-
-	switch (kernelType)
-	{
-		case B3_GPU_SAP_KERNEL_BRUTE_FORCE_CPU:
-		{
-			m_sapKernel = 0;
-			break;
-		}
-		case B3_GPU_SAP_KERNEL_BRUTE_FORCE_GPU:
-		{
-			m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelBruteForce", &errNum, sapProg);
-			break;
-		}
-
-		case B3_GPU_SAP_KERNEL_ORIGINAL:
-		{
-			m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelOriginal", &errNum, sapProg);
-			break;
-		}
-		case B3_GPU_SAP_KERNEL_BARRIER:
-		{
-			m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelBarrier", &errNum, sapProg);
-			break;
-		}
-		case B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY:
-		{
-			m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelLocalSharedMemory", &errNum, sapProg);
-			break;
-		}
-
-		default:
-		{
-			m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelLocalSharedMemory", &errNum, sapProg);
-			b3Error("Unknown 3D GPU SAP provided, fallback to computePairsKernelLocalSharedMemory");
-		}
-	};
-
-	m_sap2Kernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelTwoArrays", &errNum, sapProg);
-	b3Assert(errNum == CL_SUCCESS);
-
-	m_prepareSumVarianceKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "prepareSumVarianceKernel", &errNum, sapProg);
-	b3Assert(errNum == CL_SUCCESS);
-
-	m_flipFloatKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "flipFloatKernel", &errNum, sapProg);
-
-	m_copyAabbsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "copyAabbsKernel", &errNum, sapProg);
-
-	m_scatterKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "scatterKernel", &errNum, sapProg);
-
-	m_sorter = new b3RadixSort32CL(m_context, m_device, m_queue);
-}
-
-b3GpuSapBroadphase::~b3GpuSapBroadphase()
-{
-	delete m_sorter;
-	delete m_prefixScanFloat4;
-
-	clReleaseKernel(m_scatterKernel);
-	clReleaseKernel(m_flipFloatKernel);
-	clReleaseKernel(m_copyAabbsKernel);
-	clReleaseKernel(m_sapKernel);
-	clReleaseKernel(m_sap2Kernel);
-	clReleaseKernel(m_prepareSumVarianceKernel);
-}
-
-/// conservative test for overlap between two aabbs
-static bool TestAabbAgainstAabb2(const b3Vector3& aabbMin1, const b3Vector3& aabbMax1,
-								 const b3Vector3& aabbMin2, const b3Vector3& aabbMax2)
-{
-	bool overlap = true;
-	overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap;
-	overlap = (aabbMin1.getZ() > aabbMax2.getZ() || aabbMax1.getZ() < aabbMin2.getZ()) ? false : overlap;
-	overlap = (aabbMin1.getY() > aabbMax2.getY() || aabbMax1.getY() < aabbMin2.getY()) ? false : overlap;
-	return overlap;
-}
-
-//http://stereopsis.com/radix.html
-static unsigned int FloatFlip(float fl)
-{
-	unsigned int f = *(unsigned int*)&fl;
-	unsigned int mask = -(int)(f >> 31) | 0x80000000;
-	return f ^ mask;
-};
-
-void b3GpuSapBroadphase::init3dSap()
-{
-	if (m_currentBuffer < 0)
-	{
-		m_allAabbsGPU.copyToHost(m_allAabbsCPU);
-
-		m_currentBuffer = 0;
-		for (int axis = 0; axis < 3; axis++)
-		{
-			for (int buf = 0; buf < 2; buf++)
-			{
-				int totalNumAabbs = m_allAabbsCPU.size();
-				int numEndPoints = 2 * totalNumAabbs;
-				m_sortedAxisCPU[axis][buf].resize(numEndPoints);
-
-				if (buf == m_currentBuffer)
-				{
-					for (int i = 0; i < totalNumAabbs; i++)
-					{
-						m_sortedAxisCPU[axis][buf][i * 2].m_key = FloatFlip(m_allAabbsCPU[i].m_min[axis]) - 1;
-						m_sortedAxisCPU[axis][buf][i * 2].m_value = i * 2;
-						m_sortedAxisCPU[axis][buf][i * 2 + 1].m_key = FloatFlip(m_allAabbsCPU[i].m_max[axis]) + 1;
-						m_sortedAxisCPU[axis][buf][i * 2 + 1].m_value = i * 2 + 1;
-					}
-				}
-			}
-		}
-
-		for (int axis = 0; axis < 3; axis++)
-		{
-			m_sorter->executeHost(m_sortedAxisCPU[axis][m_currentBuffer]);
-		}
-
-		for (int axis = 0; axis < 3; axis++)
-		{
-			//int totalNumAabbs = m_allAabbsCPU.size();
-			int numEndPoints = m_sortedAxisCPU[axis][m_currentBuffer].size();
-			m_objectMinMaxIndexCPU[axis][m_currentBuffer].resize(numEndPoints);
-			for (int i = 0; i < numEndPoints; i++)
-			{
-				int destIndex = m_sortedAxisCPU[axis][m_currentBuffer][i].m_value;
-				int newDest = destIndex / 2;
-				if (destIndex & 1)
-				{
-					m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].y = i;
-				}
-				else
-				{
-					m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].x = i;
-				}
-			}
-		}
-	}
-}
-
-static bool b3PairCmp(const b3Int4& p, const b3Int4& q)
-{
-	return ((p.x < q.x) || ((p.x == q.x) && (p.y < q.y)));
-}
-
-static bool operator==(const b3Int4& a, const b3Int4& b)
-{
-	return a.x == b.x && a.y == b.y;
-};
-
-static bool operator<(const b3Int4& a, const b3Int4& b)
-{
-	return a.x < b.x || (a.x == b.x && a.y < b.y);
-};
-
-static bool operator>(const b3Int4& a, const b3Int4& b)
-{
-	return a.x > b.x || (a.x == b.x && a.y > b.y);
-};
-
-b3AlignedObjectArray<b3Int4> addedHostPairs;
-b3AlignedObjectArray<b3Int4> removedHostPairs;
-
-b3AlignedObjectArray<b3SapAabb> preAabbs;
-
-void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
-{
-	//static int framepje = 0;
-	//printf("framepje=%d\n",framepje++);
-
-	B3_PROFILE("calculateOverlappingPairsHostIncremental3Sap");
-
-	addedHostPairs.resize(0);
-	removedHostPairs.resize(0);
-
-	b3Assert(m_currentBuffer >= 0);
-
-	{
-		preAabbs.resize(m_allAabbsCPU.size());
-		for (int i = 0; i < preAabbs.size(); i++)
-		{
-			preAabbs[i] = m_allAabbsCPU[i];
-		}
-	}
-
-	if (m_currentBuffer < 0)
-		return;
-	{
-		B3_PROFILE("m_allAabbsGPU.copyToHost");
-		m_allAabbsGPU.copyToHost(m_allAabbsCPU);
-	}
-
-	b3AlignedObjectArray<b3Int4> allPairs;
-	{
-		B3_PROFILE("m_overlappingPairs.copyToHost");
-		m_overlappingPairs.copyToHost(allPairs);
-	}
-	if (0)
-	{
-		{
-			printf("ab[40].min=%f,%f,%f,ab[40].max=%f,%f,%f\n",
-				   m_allAabbsCPU[40].m_min[0], m_allAabbsCPU[40].m_min[1], m_allAabbsCPU[40].m_min[2],
-				   m_allAabbsCPU[40].m_max[0], m_allAabbsCPU[40].m_max[1], m_allAabbsCPU[40].m_max[2]);
-		}
-
-		{
-			printf("ab[53].min=%f,%f,%f,ab[53].max=%f,%f,%f\n",
-				   m_allAabbsCPU[53].m_min[0], m_allAabbsCPU[53].m_min[1], m_allAabbsCPU[53].m_min[2],
-				   m_allAabbsCPU[53].m_max[0], m_allAabbsCPU[53].m_max[1], m_allAabbsCPU[53].m_max[2]);
-		}
-
-		{
-			b3Int4 newPair;
-			newPair.x = 40;
-			newPair.y = 53;
-			int index = allPairs.findBinarySearch(newPair);
-			printf("hasPair(40,53)=%d out of %d\n", index, allPairs.size());
-
-			{
-				int overlap = TestAabbAgainstAabb2((const b3Vector3&)m_allAabbsCPU[40].m_min, (const b3Vector3&)m_allAabbsCPU[40].m_max, (const b3Vector3&)m_allAabbsCPU[53].m_min, (const b3Vector3&)m_allAabbsCPU[53].m_max);
-				printf("overlap=%d\n", overlap);
-			}
-
-			if (preAabbs.size())
-			{
-				int prevOverlap = TestAabbAgainstAabb2((const b3Vector3&)preAabbs[40].m_min, (const b3Vector3&)preAabbs[40].m_max, (const b3Vector3&)preAabbs[53].m_min, (const b3Vector3&)preAabbs[53].m_max);
-				printf("prevoverlap=%d\n", prevOverlap);
-			}
-			else
-			{
-				printf("unknown prevoverlap\n");
-			}
-		}
-	}
-
-	if (0)
-	{
-		for (int i = 0; i < m_allAabbsCPU.size(); i++)
-		{
-			//printf("aabb[%d] min=%f,%f,%f max=%f,%f,%f\n",i,m_allAabbsCPU[i].m_min[0],m_allAabbsCPU[i].m_min[1],m_allAabbsCPU[i].m_min[2],			m_allAabbsCPU[i].m_max[0],m_allAabbsCPU[i].m_max[1],m_allAabbsCPU[i].m_max[2]);
-		}
-
-		for (int axis = 0; axis < 3; axis++)
-		{
-			for (int buf = 0; buf < 2; buf++)
-			{
-				b3Assert(m_sortedAxisCPU[axis][buf].size() == m_allAabbsCPU.size() * 2);
-			}
-		}
-	}
-
-	m_currentBuffer = 1 - m_currentBuffer;
-
-	int totalNumAabbs = m_allAabbsCPU.size();
-
-	{
-		B3_PROFILE("assign m_sortedAxisCPU(FloatFlip)");
-		for (int i = 0; i < totalNumAabbs; i++)
-		{
-			unsigned int keyMin[3];
-			unsigned int keyMax[3];
-			for (int axis = 0; axis < 3; axis++)
-			{
-				float vmin = m_allAabbsCPU[i].m_min[axis];
-				float vmax = m_allAabbsCPU[i].m_max[axis];
-				keyMin[axis] = FloatFlip(vmin);
-				keyMax[axis] = FloatFlip(vmax);
-
-				m_sortedAxisCPU[axis][m_currentBuffer][i * 2].m_key = keyMin[axis] - 1;
-				m_sortedAxisCPU[axis][m_currentBuffer][i * 2].m_value = i * 2;
-				m_sortedAxisCPU[axis][m_currentBuffer][i * 2 + 1].m_key = keyMax[axis] + 1;
-				m_sortedAxisCPU[axis][m_currentBuffer][i * 2 + 1].m_value = i * 2 + 1;
-			}
-			//printf("aabb[%d] min=%u,%u,%u max %u,%u,%u\n", i,keyMin[0],keyMin[1],keyMin[2],keyMax[0],keyMax[1],keyMax[2]);
-		}
-	}
-
-	{
-		B3_PROFILE("sort m_sortedAxisCPU");
-		for (int axis = 0; axis < 3; axis++)
-			m_sorter->executeHost(m_sortedAxisCPU[axis][m_currentBuffer]);
-	}
-
-#if 0
-	if (0)
-	{
-		for (int axis=0;axis<3;axis++)
-		{
-			//printf("axis %d\n",axis);
-			for (int i=0;i<m_sortedAxisCPU[axis][m_currentBuffer].size();i++)
-			{
-				//int key = m_sortedAxisCPU[axis][m_currentBuffer][i].m_key;
-				//int value = m_sortedAxisCPU[axis][m_currentBuffer][i].m_value;
-				//printf("[%d]=%d\n",i,value);
-			}
-
-		}
-	}
-#endif
-
-	{
-		B3_PROFILE("assign m_objectMinMaxIndexCPU");
-		for (int axis = 0; axis < 3; axis++)
-		{
-			int totalNumAabbs = m_allAabbsCPU.size();
-			int numEndPoints = m_sortedAxisCPU[axis][m_currentBuffer].size();
-			m_objectMinMaxIndexCPU[axis][m_currentBuffer].resize(totalNumAabbs);
-			for (int i = 0; i < numEndPoints; i++)
-			{
-				int destIndex = m_sortedAxisCPU[axis][m_currentBuffer][i].m_value;
-				int newDest = destIndex / 2;
-				if (destIndex & 1)
-				{
-					m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].y = i;
-				}
-				else
-				{
-					m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].x = i;
-				}
-			}
-		}
-	}
-
-#if 0
-	if (0)
-	{	
-		printf("==========================\n");
-		for (int axis=0;axis<3;axis++)
-		{
-			unsigned int curMinIndex40 = m_objectMinMaxIndexCPU[axis][m_currentBuffer][40].x;
-			unsigned int curMaxIndex40 = m_objectMinMaxIndexCPU[axis][m_currentBuffer][40].y;
-			unsigned int prevMaxIndex40 = m_objectMinMaxIndexCPU[axis][1-m_currentBuffer][40].y;
-			unsigned int prevMinIndex40 = m_objectMinMaxIndexCPU[axis][1-m_currentBuffer][40].x;
-
-			int dmin40 = curMinIndex40 - prevMinIndex40;
-			int dmax40 = curMinIndex40 - prevMinIndex40;
-			printf("axis %d curMinIndex40=%d prevMinIndex40=%d\n",axis,curMinIndex40, prevMinIndex40);
-			printf("axis %d curMaxIndex40=%d prevMaxIndex40=%d\n",axis,curMaxIndex40, prevMaxIndex40);
-		}
-		printf(".........................\n");
-		for (int axis=0;axis<3;axis++)
-		{
-			unsigned int curMinIndex53 = m_objectMinMaxIndexCPU[axis][m_currentBuffer][53].x;
-			unsigned int curMaxIndex53 = m_objectMinMaxIndexCPU[axis][m_currentBuffer][53].y;
-			unsigned int prevMaxIndex53 = m_objectMinMaxIndexCPU[axis][1-m_currentBuffer][53].y;
-			unsigned int prevMinIndex53 = m_objectMinMaxIndexCPU[axis][1-m_currentBuffer][53].x;
-
-			int dmin40 = curMinIndex53 - prevMinIndex53;
-			int dmax40 = curMinIndex53 - prevMinIndex53;
-			printf("axis %d curMinIndex53=%d prevMinIndex53=%d\n",axis,curMinIndex53, prevMinIndex53);
-			printf("axis %d curMaxIndex53=%d prevMaxIndex53=%d\n",axis,curMaxIndex53, prevMaxIndex53);
-		}
-
-	}
-#endif
-
-	int a = m_objectMinMaxIndexCPU[0][m_currentBuffer].size();
-	int b = m_objectMinMaxIndexCPU[1][m_currentBuffer].size();
-	int c = m_objectMinMaxIndexCPU[2][m_currentBuffer].size();
-	b3Assert(a == b);
-	b3Assert(b == c);
-	/*
-	if (searchIncremental3dSapOnGpu)
-	{
-		B3_PROFILE("computePairsIncremental3dSapKernelGPU");
-		int numObjects = m_objectMinMaxIndexCPU[0][m_currentBuffer].size();
-		int maxCapacity = 1024*1024;
-		{
-			B3_PROFILE("copy from host");
-			m_objectMinMaxIndexGPUaxis0.copyFromHost(m_objectMinMaxIndexCPU[0][m_currentBuffer]);
-			m_objectMinMaxIndexGPUaxis1.copyFromHost(m_objectMinMaxIndexCPU[1][m_currentBuffer]);
-			m_objectMinMaxIndexGPUaxis2.copyFromHost(m_objectMinMaxIndexCPU[2][m_currentBuffer]);
-			m_objectMinMaxIndexGPUaxis0prev.copyFromHost(m_objectMinMaxIndexCPU[0][1-m_currentBuffer]);
-			m_objectMinMaxIndexGPUaxis1prev.copyFromHost(m_objectMinMaxIndexCPU[1][1-m_currentBuffer]);
-			m_objectMinMaxIndexGPUaxis2prev.copyFromHost(m_objectMinMaxIndexCPU[2][1-m_currentBuffer]);
-
-			m_sortedAxisGPU0.copyFromHost(m_sortedAxisCPU[0][m_currentBuffer]);
-			m_sortedAxisGPU1.copyFromHost(m_sortedAxisCPU[1][m_currentBuffer]);
-			m_sortedAxisGPU2.copyFromHost(m_sortedAxisCPU[2][m_currentBuffer]);
-			m_sortedAxisGPU0prev.copyFromHost(m_sortedAxisCPU[0][1-m_currentBuffer]);
-			m_sortedAxisGPU1prev.copyFromHost(m_sortedAxisCPU[1][1-m_currentBuffer]);
-			m_sortedAxisGPU2prev.copyFromHost(m_sortedAxisCPU[2][1-m_currentBuffer]);
-
-		
-			m_addedHostPairsGPU.resize(maxCapacity);
-			m_removedHostPairsGPU.resize(maxCapacity);
-
-			m_addedCountGPU.resize(0);
-			m_addedCountGPU.push_back(0);
-			m_removedCountGPU.resize(0);
-			m_removedCountGPU.push_back(0);
-		}
-
-		{
-			B3_PROFILE("launch1D");
-			b3LauncherCL launcher(m_queue,  m_computePairsIncremental3dSapKernel,"m_computePairsIncremental3dSapKernel");
-			launcher.setBuffer(m_objectMinMaxIndexGPUaxis0.getBufferCL());
-			launcher.setBuffer(m_objectMinMaxIndexGPUaxis1.getBufferCL());
-			launcher.setBuffer(m_objectMinMaxIndexGPUaxis2.getBufferCL());
-			launcher.setBuffer(m_objectMinMaxIndexGPUaxis0prev.getBufferCL());
-			launcher.setBuffer(m_objectMinMaxIndexGPUaxis1prev.getBufferCL());
-			launcher.setBuffer(m_objectMinMaxIndexGPUaxis2prev.getBufferCL());
-
-			launcher.setBuffer(m_sortedAxisGPU0.getBufferCL());
-			launcher.setBuffer(m_sortedAxisGPU1.getBufferCL());
-			launcher.setBuffer(m_sortedAxisGPU2.getBufferCL());
-			launcher.setBuffer(m_sortedAxisGPU0prev.getBufferCL());
-			launcher.setBuffer(m_sortedAxisGPU1prev.getBufferCL());
-			launcher.setBuffer(m_sortedAxisGPU2prev.getBufferCL());
-
-		
-			launcher.setBuffer(m_addedHostPairsGPU.getBufferCL());
-			launcher.setBuffer(m_removedHostPairsGPU.getBufferCL());
-			launcher.setBuffer(m_addedCountGPU.getBufferCL());
-			launcher.setBuffer(m_removedCountGPU.getBufferCL());
-			launcher.setConst(maxCapacity);
-			launcher.setConst( numObjects);
-			launcher.launch1D( numObjects);
-			clFinish(m_queue);
-		}
-
-		{
-			B3_PROFILE("copy to host");
-			int addedCountGPU = m_addedCountGPU.at(0);
-			m_addedHostPairsGPU.resize(addedCountGPU);
-			m_addedHostPairsGPU.copyToHost(addedHostPairs);
-
-			//printf("addedCountGPU=%d\n",addedCountGPU);
-			int removedCountGPU = m_removedCountGPU.at(0);
-			m_removedHostPairsGPU.resize(removedCountGPU);
-			m_removedHostPairsGPU.copyToHost(removedHostPairs);
-			//printf("removedCountGPU=%d\n",removedCountGPU);
-
-		}
-
-
-
-	} 
-	else
-	*/
-	{
-		int numObjects = m_objectMinMaxIndexCPU[0][m_currentBuffer].size();
-
-		B3_PROFILE("actual search");
-		for (int i = 0; i < numObjects; i++)
-		{
-			//int numObjects = m_objectMinMaxIndexCPU[axis][m_currentBuffer].size();
-			//int checkObjects[]={40,53};
-			//int numCheckObjects = sizeof(checkObjects)/sizeof(int);
-
-			//for (int a=0;a<numCheckObjects ;a++)
-
-			for (int axis = 0; axis < 3; axis++)
-			{
-				//int i = checkObjects[a];
-
-				unsigned int curMinIndex = m_objectMinMaxIndexCPU[axis][m_currentBuffer][i].x;
-				unsigned int curMaxIndex = m_objectMinMaxIndexCPU[axis][m_currentBuffer][i].y;
-				unsigned int prevMinIndex = m_objectMinMaxIndexCPU[axis][1 - m_currentBuffer][i].x;
-				int dmin = curMinIndex - prevMinIndex;
-
-				unsigned int prevMaxIndex = m_objectMinMaxIndexCPU[axis][1 - m_currentBuffer][i].y;
-
-				int dmax = curMaxIndex - prevMaxIndex;
-				if (dmin != 0)
-				{
-					//printf("for object %d, dmin=%d\n",i,dmin);
-				}
-				if (dmax != 0)
-				{
-					//printf("for object %d, dmax=%d\n",i,dmax);
-				}
-				for (int otherbuffer = 0; otherbuffer < 2; otherbuffer++)
-				{
-					if (dmin != 0)
-					{
-						int stepMin = dmin < 0 ? -1 : 1;
-						for (int j = prevMinIndex; j != curMinIndex; j += stepMin)
-						{
-							int otherIndex2 = m_sortedAxisCPU[axis][otherbuffer][j].y;
-							int otherIndex = otherIndex2 / 2;
-							if (otherIndex != i)
-							{
-								bool otherIsMax = ((otherIndex2 & 1) != 0);
-
-								if (otherIsMax)
-								{
-									//bool overlap = TestAabbAgainstAabb2((const b3Vector3&)m_allAabbsCPU[i].m_min, (const b3Vector3&)m_allAabbsCPU[i].m_max,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_min,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_max);
-									//bool prevOverlap = TestAabbAgainstAabb2((const b3Vector3&)preAabbs[i].m_min, (const b3Vector3&)preAabbs[i].m_max,(const b3Vector3&)preAabbs[otherIndex].m_min,(const b3Vector3&)preAabbs[otherIndex].m_max);
-
-									bool overlap = true;
-
-									for (int ax = 0; ax < 3; ax++)
-									{
-										if ((m_objectMinMaxIndexCPU[ax][m_currentBuffer][i].x > m_objectMinMaxIndexCPU[ax][m_currentBuffer][otherIndex].y) ||
-											(m_objectMinMaxIndexCPU[ax][m_currentBuffer][i].y < m_objectMinMaxIndexCPU[ax][m_currentBuffer][otherIndex].x))
-											overlap = false;
-									}
-
-									//	b3Assert(overlap2==overlap);
-
-									bool prevOverlap = true;
-
-									for (int ax = 0; ax < 3; ax++)
-									{
-										if ((m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][i].x > m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][otherIndex].y) ||
-											(m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][i].y < m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][otherIndex].x))
-											prevOverlap = false;
-									}
-
-									//b3Assert(overlap==overlap2);
-
-									if (dmin < 0)
-									{
-										if (overlap && !prevOverlap)
-										{
-											//add a pair
-											b3Int4 newPair;
-											if (i <= otherIndex)
-											{
-												newPair.x = i;
-												newPair.y = otherIndex;
-											}
-											else
-											{
-												newPair.x = otherIndex;
-												newPair.y = i;
-											}
-											addedHostPairs.push_back(newPair);
-										}
-									}
-									else
-									{
-										if (!overlap && prevOverlap)
-										{
-											//remove a pair
-											b3Int4 removedPair;
-											if (i <= otherIndex)
-											{
-												removedPair.x = i;
-												removedPair.y = otherIndex;
-											}
-											else
-											{
-												removedPair.x = otherIndex;
-												removedPair.y = i;
-											}
-											removedHostPairs.push_back(removedPair);
-										}
-									}  //otherisMax
-								}      //if (dmin<0)
-							}          //if (otherIndex!=i)
-						}              //for (int j=
-					}
-
-					if (dmax != 0)
-					{
-						int stepMax = dmax < 0 ? -1 : 1;
-						for (int j = prevMaxIndex; j != curMaxIndex; j += stepMax)
-						{
-							int otherIndex2 = m_sortedAxisCPU[axis][otherbuffer][j].y;
-							int otherIndex = otherIndex2 / 2;
-							if (otherIndex != i)
-							{
-								//bool otherIsMin = ((otherIndex2&1)==0);
-								//if (otherIsMin)
-								{
-									//bool overlap = TestAabbAgainstAabb2((const b3Vector3&)m_allAabbsCPU[i].m_min, (const b3Vector3&)m_allAabbsCPU[i].m_max,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_min,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_max);
-									//bool prevOverlap = TestAabbAgainstAabb2((const b3Vector3&)preAabbs[i].m_min, (const b3Vector3&)preAabbs[i].m_max,(const b3Vector3&)preAabbs[otherIndex].m_min,(const b3Vector3&)preAabbs[otherIndex].m_max);
-
-									bool overlap = true;
-
-									for (int ax = 0; ax < 3; ax++)
-									{
-										if ((m_objectMinMaxIndexCPU[ax][m_currentBuffer][i].x > m_objectMinMaxIndexCPU[ax][m_currentBuffer][otherIndex].y) ||
-											(m_objectMinMaxIndexCPU[ax][m_currentBuffer][i].y < m_objectMinMaxIndexCPU[ax][m_currentBuffer][otherIndex].x))
-											overlap = false;
-									}
-									//b3Assert(overlap2==overlap);
-
-									bool prevOverlap = true;
-
-									for (int ax = 0; ax < 3; ax++)
-									{
-										if ((m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][i].x > m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][otherIndex].y) ||
-											(m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][i].y < m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][otherIndex].x))
-											prevOverlap = false;
-									}
-
-									if (dmax > 0)
-									{
-										if (overlap && !prevOverlap)
-										{
-											//add a pair
-											b3Int4 newPair;
-											if (i <= otherIndex)
-											{
-												newPair.x = i;
-												newPair.y = otherIndex;
-											}
-											else
-											{
-												newPair.x = otherIndex;
-												newPair.y = i;
-											}
-											addedHostPairs.push_back(newPair);
-										}
-									}
-									else
-									{
-										if (!overlap && prevOverlap)
-										{
-											//if (otherIndex2&1==0) -> min?
-											//remove a pair
-											b3Int4 removedPair;
-											if (i <= otherIndex)
-											{
-												removedPair.x = i;
-												removedPair.y = otherIndex;
-											}
-											else
-											{
-												removedPair.x = otherIndex;
-												removedPair.y = i;
-											}
-											removedHostPairs.push_back(removedPair);
-										}
-									}
-
-								}  //if (dmin<0)
-							}      //if (otherIndex!=i)
-						}          //for (int j=
-					}
-				}  //for (int otherbuffer
-			}      //for (int axis=0;
-		}          //for (int i=0;i<numObjects
-	}
-
-	//remove duplicates and add/remove then to existing m_overlappingPairs
-
-	{
-		{
-			B3_PROFILE("sort allPairs");
-			allPairs.quickSort(b3PairCmp);
-		}
-		{
-			B3_PROFILE("sort addedHostPairs");
-			addedHostPairs.quickSort(b3PairCmp);
-		}
-		{
-			B3_PROFILE("sort removedHostPairs");
-			removedHostPairs.quickSort(b3PairCmp);
-		}
-	}
-
-	b3Int4 prevPair;
-	prevPair.x = -1;
-	prevPair.y = -1;
-
-	int uniqueRemovedPairs = 0;
-
-	b3AlignedObjectArray<int> removedPositions;
-
-	{
-		B3_PROFILE("actual removing");
-		for (int i = 0; i < removedHostPairs.size(); i++)
-		{
-			b3Int4 removedPair = removedHostPairs[i];
-			if ((removedPair.x != prevPair.x) || (removedPair.y != prevPair.y))
-			{
-				int index1 = allPairs.findBinarySearch(removedPair);
-
-				//#ifdef _DEBUG
-
-				int index2 = allPairs.findLinearSearch(removedPair);
-				b3Assert(index1 == index2);
-
-				//b3Assert(index1!=allPairs.size());
-				if (index1 < allPairs.size())
-				//#endif//_DEBUG
-				{
-					uniqueRemovedPairs++;
-					removedPositions.push_back(index1);
-					{
-						//printf("framepje(%d) remove pair(%d):%d,%d\n",framepje,i,removedPair.x,removedPair.y);
-					}
-				}
-			}
-			prevPair = removedPair;
-		}
-
-		if (uniqueRemovedPairs)
-		{
-			for (int i = 0; i < removedPositions.size(); i++)
-			{
-				allPairs[removedPositions[i]].x = INT_MAX;
-				allPairs[removedPositions[i]].y = INT_MAX;
-			}
-			allPairs.quickSort(b3PairCmp);
-			allPairs.resize(allPairs.size() - uniqueRemovedPairs);
-		}
-	}
-	//if (uniqueRemovedPairs)
-	//	printf("uniqueRemovedPairs=%d\n",uniqueRemovedPairs);
-	//printf("removedHostPairs.size = %d\n",removedHostPairs.size());
-
-	prevPair.x = -1;
-	prevPair.y = -1;
-
-	int uniqueAddedPairs = 0;
-	b3AlignedObjectArray<b3Int4> actualAddedPairs;
-
-	{
-		B3_PROFILE("actual adding");
-		for (int i = 0; i < addedHostPairs.size(); i++)
-		{
-			b3Int4 newPair = addedHostPairs[i];
-			if ((newPair.x != prevPair.x) || (newPair.y != prevPair.y))
-			{
-				//#ifdef _DEBUG
-				int index1 = allPairs.findBinarySearch(newPair);
-
-				int index2 = allPairs.findLinearSearch(newPair);
-				b3Assert(index1 == index2);
-
-				b3Assert(index1 == allPairs.size());
-				if (index1 != allPairs.size())
-				{
-					printf("??\n");
-				}
-
-				if (index1 == allPairs.size())
-				//#endif //_DEBUG
-				{
-					uniqueAddedPairs++;
-					actualAddedPairs.push_back(newPair);
-				}
-			}
-			prevPair = newPair;
-		}
-		for (int i = 0; i < actualAddedPairs.size(); i++)
-		{
-			//printf("framepje (%d), new pair(%d):%d,%d\n",framepje,i,actualAddedPairs[i].x,actualAddedPairs[i].y);
-			allPairs.push_back(actualAddedPairs[i]);
-		}
-	}
-
-	//if (uniqueAddedPairs)
-	//	printf("uniqueAddedPairs=%d\n", uniqueAddedPairs);
-
-	{
-		B3_PROFILE("m_overlappingPairs.copyFromHost");
-		m_overlappingPairs.copyFromHost(allPairs);
-	}
-}
-
-void b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
-{
-	//test
-	//	if (m_currentBuffer>=0)
-	//	return calculateOverlappingPairsHostIncremental3Sap();
-
-	b3Assert(m_allAabbsCPU.size() == m_allAabbsGPU.size());
-	m_allAabbsGPU.copyToHost(m_allAabbsCPU);
-
-	int axis = 0;
-	{
-		B3_PROFILE("CPU compute best variance axis");
-		b3Vector3 s = b3MakeVector3(0, 0, 0), s2 = b3MakeVector3(0, 0, 0);
-		int numRigidBodies = m_smallAabbsMappingCPU.size();
-
-		for (int i = 0; i < numRigidBodies; i++)
-		{
-			b3SapAabb aabb = this->m_allAabbsCPU[m_smallAabbsMappingCPU[i]];
-
-			b3Vector3 maxAabb = b3MakeVector3(aabb.m_max[0], aabb.m_max[1], aabb.m_max[2]);
-			b3Vector3 minAabb = b3MakeVector3(aabb.m_min[0], aabb.m_min[1], aabb.m_min[2]);
-			b3Vector3 centerAabb = (maxAabb + minAabb) * 0.5f;
-
-			s += centerAabb;
-			s2 += centerAabb * centerAabb;
-		}
-		b3Vector3 v = s2 - (s * s) / (float)numRigidBodies;
-
-		if (v[1] > v[0])
-			axis = 1;
-		if (v[2] > v[axis])
-			axis = 2;
-	}
-
-	b3AlignedObjectArray<b3Int4> hostPairs;
-
-	{
-		int numSmallAabbs = m_smallAabbsMappingCPU.size();
-		for (int i = 0; i < numSmallAabbs; i++)
-		{
-			b3SapAabb smallAabbi = m_allAabbsCPU[m_smallAabbsMappingCPU[i]];
-			//float reference = smallAabbi.m_max[axis];
-
-			for (int j = i + 1; j < numSmallAabbs; j++)
-			{
-				b3SapAabb smallAabbj = m_allAabbsCPU[m_smallAabbsMappingCPU[j]];
-
-				if (TestAabbAgainstAabb2((b3Vector3&)smallAabbi.m_min, (b3Vector3&)smallAabbi.m_max,
-										 (b3Vector3&)smallAabbj.m_min, (b3Vector3&)smallAabbj.m_max))
-				{
-					b3Int4 pair;
-					int a = smallAabbi.m_minIndices[3];
-					int b = smallAabbj.m_minIndices[3];
-					if (a <= b)
-					{
-						pair.x = a;  //store the original index in the unsorted aabb array
-						pair.y = b;
-					}
-					else
-					{
-						pair.x = b;  //store the original index in the unsorted aabb array
-						pair.y = a;
-					}
-					hostPairs.push_back(pair);
-				}
-			}
-		}
-	}
-
-	{
-		int numSmallAabbs = m_smallAabbsMappingCPU.size();
-		for (int i = 0; i < numSmallAabbs; i++)
-		{
-			b3SapAabb smallAabbi = m_allAabbsCPU[m_smallAabbsMappingCPU[i]];
-
-			//float reference = smallAabbi.m_max[axis];
-			int numLargeAabbs = m_largeAabbsMappingCPU.size();
-
-			for (int j = 0; j < numLargeAabbs; j++)
-			{
-				b3SapAabb largeAabbj = m_allAabbsCPU[m_largeAabbsMappingCPU[j]];
-				if (TestAabbAgainstAabb2((b3Vector3&)smallAabbi.m_min, (b3Vector3&)smallAabbi.m_max,
-										 (b3Vector3&)largeAabbj.m_min, (b3Vector3&)largeAabbj.m_max))
-				{
-					b3Int4 pair;
-					int a = largeAabbj.m_minIndices[3];
-					int b = smallAabbi.m_minIndices[3];
-					if (a <= b)
-					{
-						pair.x = a;
-						pair.y = b;  //store the original index in the unsorted aabb array
-					}
-					else
-					{
-						pair.x = b;
-						pair.y = a;  //store the original index in the unsorted aabb array
-					}
-
-					hostPairs.push_back(pair);
-				}
-			}
-		}
-	}
-
-	if (hostPairs.size() > maxPairs)
-	{
-		hostPairs.resize(maxPairs);
-	}
-
-	if (hostPairs.size())
-	{
-		m_overlappingPairs.copyFromHost(hostPairs);
-	}
-	else
-	{
-		m_overlappingPairs.resize(0);
-	}
-
-	//init3dSap();
-}
-
-void b3GpuSapBroadphase::reset()
-{
-	m_allAabbsGPU.resize(0);
-	m_allAabbsCPU.resize(0);
-
-	m_smallAabbsMappingGPU.resize(0);
-	m_smallAabbsMappingCPU.resize(0);
-
-	m_pairCount.resize(0);
-
-	m_largeAabbsMappingGPU.resize(0);
-	m_largeAabbsMappingCPU.resize(0);
-}
-
-void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
-{
-	if (m_sapKernel == 0)
-	{
-		calculateOverlappingPairsHost(maxPairs);
-		return;
-	}
-
-	//if (m_currentBuffer>=0)
-	//	return calculateOverlappingPairsHostIncremental3Sap();
-
-	//calculateOverlappingPairsHost(maxPairs);
-
-	B3_PROFILE("GPU 1-axis SAP calculateOverlappingPairs");
-
-	int axis = 0;
-
-	{
-		//bool syncOnHost = false;
-
-		int numSmallAabbs = m_smallAabbsMappingCPU.size();
-		if (m_prefixScanFloat4 && numSmallAabbs)
-		{
-			B3_PROFILE("GPU compute best variance axis");
-
-			if (m_dst.size() != (numSmallAabbs + 1))
-			{
-				m_dst.resize(numSmallAabbs + 128);
-				m_sum.resize(numSmallAabbs + 128);
-				m_sum2.resize(numSmallAabbs + 128);
-				m_sum.at(numSmallAabbs) = b3MakeVector3(0, 0, 0);   //slow?
-				m_sum2.at(numSmallAabbs) = b3MakeVector3(0, 0, 0);  //slow?
-			}
-
-			b3LauncherCL launcher(m_queue, m_prepareSumVarianceKernel, "m_prepareSumVarianceKernel");
-			launcher.setBuffer(m_allAabbsGPU.getBufferCL());
-
-			launcher.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
-			launcher.setBuffer(m_sum.getBufferCL());
-			launcher.setBuffer(m_sum2.getBufferCL());
-			launcher.setConst(numSmallAabbs);
-			int num = numSmallAabbs;
-			launcher.launch1D(num);
-
-			b3Vector3 s;
-			b3Vector3 s2;
-			m_prefixScanFloat4->execute(m_sum, m_dst, numSmallAabbs + 1, &s);
-			m_prefixScanFloat4->execute(m_sum2, m_dst, numSmallAabbs + 1, &s2);
-
-			b3Vector3 v = s2 - (s * s) / (float)numSmallAabbs;
-
-			if (v[1] > v[0])
-				axis = 1;
-			if (v[2] > v[axis])
-				axis = 2;
-		}
-
-		m_gpuSmallSortData.resize(numSmallAabbs);
-
-#if 1
-		if (m_smallAabbsMappingGPU.size())
-		{
-			B3_PROFILE("flipFloatKernel");
-			b3BufferInfoCL bInfo[] = {
-				b3BufferInfoCL(m_allAabbsGPU.getBufferCL(), true),
-				b3BufferInfoCL(m_smallAabbsMappingGPU.getBufferCL(), true),
-				b3BufferInfoCL(m_gpuSmallSortData.getBufferCL())};
-			b3LauncherCL launcher(m_queue, m_flipFloatKernel, "m_flipFloatKernel");
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(numSmallAabbs);
-			launcher.setConst(axis);
-
-			int num = numSmallAabbs;
-			launcher.launch1D(num);
-			clFinish(m_queue);
-		}
-
-		if (m_gpuSmallSortData.size())
-		{
-			B3_PROFILE("gpu radix sort");
-			m_sorter->execute(m_gpuSmallSortData);
-			clFinish(m_queue);
-		}
-
-		m_gpuSmallSortedAabbs.resize(numSmallAabbs);
-		if (numSmallAabbs)
-		{
-			B3_PROFILE("scatterKernel");
-
-			b3BufferInfoCL bInfo[] = {
-				b3BufferInfoCL(m_allAabbsGPU.getBufferCL(), true),
-				b3BufferInfoCL(m_smallAabbsMappingGPU.getBufferCL(), true),
-				b3BufferInfoCL(m_gpuSmallSortData.getBufferCL(), true),
-				b3BufferInfoCL(m_gpuSmallSortedAabbs.getBufferCL())};
-			b3LauncherCL launcher(m_queue, m_scatterKernel, "m_scatterKernel ");
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(numSmallAabbs);
-			int num = numSmallAabbs;
-			launcher.launch1D(num);
-			clFinish(m_queue);
-		}
-
-		m_overlappingPairs.resize(maxPairs);
-
-		m_pairCount.resize(0);
-		m_pairCount.push_back(0);
-		int numPairs = 0;
-
-		{
-			int numLargeAabbs = m_largeAabbsMappingGPU.size();
-			if (numLargeAabbs && numSmallAabbs)
-			{
-				//@todo
-				B3_PROFILE("sap2Kernel");
-				b3BufferInfoCL bInfo[] = {
-					b3BufferInfoCL(m_allAabbsGPU.getBufferCL()),
-					b3BufferInfoCL(m_largeAabbsMappingGPU.getBufferCL()),
-					b3BufferInfoCL(m_smallAabbsMappingGPU.getBufferCL()),
-					b3BufferInfoCL(m_overlappingPairs.getBufferCL()),
-					b3BufferInfoCL(m_pairCount.getBufferCL())};
-				b3LauncherCL launcher(m_queue, m_sap2Kernel, "m_sap2Kernel");
-				launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-				launcher.setConst(numLargeAabbs);
-				launcher.setConst(numSmallAabbs);
-				launcher.setConst(axis);
-				launcher.setConst(maxPairs);
-				//@todo: use actual maximum work item sizes of the device instead of hardcoded values
-				launcher.launch2D(numLargeAabbs, numSmallAabbs, 4, 64);
-
-				numPairs = m_pairCount.at(0);
-				if (numPairs > maxPairs)
-				{
-					b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
-					numPairs = maxPairs;
-				}
-			}
-		}
-		if (m_gpuSmallSortedAabbs.size())
-		{
-			B3_PROFILE("sapKernel");
-			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(m_gpuSmallSortedAabbs.getBufferCL()), b3BufferInfoCL(m_overlappingPairs.getBufferCL()), b3BufferInfoCL(m_pairCount.getBufferCL())};
-			b3LauncherCL launcher(m_queue, m_sapKernel, "m_sapKernel");
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(numSmallAabbs);
-			launcher.setConst(axis);
-			launcher.setConst(maxPairs);
-
-			int num = numSmallAabbs;
-#if 0                
-                int buffSize = launcher.getSerializationBufferSize();
-                unsigned char* buf = new unsigned char[buffSize+sizeof(int)];
-                for (int i=0;i<buffSize+1;i++)
-                {
-                    unsigned char* ptr = (unsigned char*)&buf[i];
-                    *ptr = 0xff;
-                }
-                int actualWrite = launcher.serializeArguments(buf,buffSize);
-                
-                unsigned char* cptr = (unsigned char*)&buf[buffSize];
-    //            printf("buf[buffSize] = %d\n",*cptr);
-                
-                assert(buf[buffSize]==0xff);//check for buffer overrun
-                int* ptr = (int*)&buf[buffSize];
-                
-                *ptr = num;
-                
-                FILE* f = fopen("m_sapKernelArgs.bin","wb");
-                fwrite(buf,buffSize+sizeof(int),1,f);
-                fclose(f);
-#endif  //
-
-			launcher.launch1D(num);
-			clFinish(m_queue);
-
-			numPairs = m_pairCount.at(0);
-			if (numPairs > maxPairs)
-			{
-				b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
-				numPairs = maxPairs;
-				m_pairCount.resize(0);
-				m_pairCount.push_back(maxPairs);
-			}
-		}
-
-#else
-		int numPairs = 0;
-
-		b3LauncherCL launcher(m_queue, m_sapKernel);
-
-		const char* fileName = "m_sapKernelArgs.bin";
-		FILE* f = fopen(fileName, "rb");
-		if (f)
-		{
-			int sizeInBytes = 0;
-			if (fseek(f, 0, SEEK_END) || (sizeInBytes = ftell(f)) == EOF || fseek(f, 0, SEEK_SET))
-			{
-				printf("error, cannot get file size\n");
-				exit(0);
-			}
-
-			unsigned char* buf = (unsigned char*)malloc(sizeInBytes);
-			fread(buf, sizeInBytes, 1, f);
-			int serializedBytes = launcher.deserializeArgs(buf, sizeInBytes, m_context);
-			int num = *(int*)&buf[serializedBytes];
-			launcher.launch1D(num);
-
-			b3OpenCLArray<int> pairCount(m_context, m_queue);
-			int numElements = launcher.m_arrays[2]->size() / sizeof(int);
-			pairCount.setFromOpenCLBuffer(launcher.m_arrays[2]->getBufferCL(), numElements);
-			numPairs = pairCount.at(0);
-			//printf("overlapping pairs = %d\n",numPairs);
-			b3AlignedObjectArray<b3Int4> hostOoverlappingPairs;
-			b3OpenCLArray<b3Int4> tmpGpuPairs(m_context, m_queue);
-			tmpGpuPairs.setFromOpenCLBuffer(launcher.m_arrays[1]->getBufferCL(), numPairs);
-
-			tmpGpuPairs.copyToHost(hostOoverlappingPairs);
-			m_overlappingPairs.copyFromHost(hostOoverlappingPairs);
-			//printf("hello %d\n", m_overlappingPairs.size());
-			free(buf);
-			fclose(f);
-		}
-		else
-		{
-			printf("error: cannot find file %s\n", fileName);
-		}
-
-		clFinish(m_queue);
-
-#endif
-
-		m_overlappingPairs.resize(numPairs);
-
-	}  //B3_PROFILE("GPU_RADIX SORT");
-	   //init3dSap();
-}
-
-void b3GpuSapBroadphase::writeAabbsToGpu()
-{
-	m_smallAabbsMappingGPU.copyFromHost(m_smallAabbsMappingCPU);
-	m_largeAabbsMappingGPU.copyFromHost(m_largeAabbsMappingCPU);
-
-	m_allAabbsGPU.copyFromHost(m_allAabbsCPU);  //might not be necessary, the 'setupGpuAabbsFull' already takes care of this
-}
-
-void b3GpuSapBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask)
-{
-	int index = userPtr;
-	b3SapAabb aabb;
-	for (int i = 0; i < 4; i++)
-	{
-		aabb.m_min[i] = aabbMin[i];
-		aabb.m_max[i] = aabbMax[i];
-	}
-	aabb.m_minIndices[3] = index;
-	aabb.m_signedMaxIndices[3] = m_allAabbsCPU.size();
-	m_largeAabbsMappingCPU.push_back(m_allAabbsCPU.size());
-
-	m_allAabbsCPU.push_back(aabb);
-}
-
-void b3GpuSapBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask)
-{
-	int index = userPtr;
-	b3SapAabb aabb;
-	for (int i = 0; i < 4; i++)
-	{
-		aabb.m_min[i] = aabbMin[i];
-		aabb.m_max[i] = aabbMax[i];
-	}
-	aabb.m_minIndices[3] = index;
-	aabb.m_signedMaxIndices[3] = m_allAabbsCPU.size();
-	m_smallAabbsMappingCPU.push_back(m_allAabbsCPU.size());
-
-	m_allAabbsCPU.push_back(aabb);
-}
-
-cl_mem b3GpuSapBroadphase::getAabbBufferWS()
-{
-	return m_allAabbsGPU.getBufferCL();
-}
-
-int b3GpuSapBroadphase::getNumOverlap()
-{
-	return m_overlappingPairs.size();
-}
-cl_mem b3GpuSapBroadphase::getOverlappingPairBuffer()
-{
-	return m_overlappingPairs.getBufferCL();
-}
-
-b3OpenCLArray<b3Int4>& b3GpuSapBroadphase::getOverlappingPairsGPU()
-{
-	return m_overlappingPairs;
-}
-b3OpenCLArray<int>& b3GpuSapBroadphase::getSmallAabbIndicesGPU()
-{
-	return m_smallAabbsMappingGPU;
-}
-b3OpenCLArray<int>& b3GpuSapBroadphase::getLargeAabbIndicesGPU()
-{
-	return m_largeAabbsMappingGPU;
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h
deleted file mode 100644
index d17590b14a..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h
+++ /dev/null
@@ -1,143 +0,0 @@
-#ifndef B3_GPU_SAP_BROADPHASE_H
-#define B3_GPU_SAP_BROADPHASE_H
-
-#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h"  //b3Int2
-class b3Vector3;
-#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
-
-#include "b3SapAabb.h"
-#include "Bullet3Common/shared/b3Int2.h"
-
-#include "b3GpuBroadphaseInterface.h"
-
-class b3GpuSapBroadphase : public b3GpuBroadphaseInterface
-{
-	cl_context m_context;
-	cl_device_id m_device;
-	cl_command_queue m_queue;
-	cl_kernel m_flipFloatKernel;
-	cl_kernel m_scatterKernel;
-	cl_kernel m_copyAabbsKernel;
-	cl_kernel m_sapKernel;
-	cl_kernel m_sap2Kernel;
-	cl_kernel m_prepareSumVarianceKernel;
-
-	class b3RadixSort32CL* m_sorter;
-
-	///test for 3d SAP
-	b3AlignedObjectArray<b3SortData> m_sortedAxisCPU[3][2];
-	b3AlignedObjectArray<b3UnsignedInt2> m_objectMinMaxIndexCPU[3][2];
-	b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis0;
-	b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis1;
-	b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis2;
-	b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis0prev;
-	b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis1prev;
-	b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis2prev;
-
-	b3OpenCLArray<b3SortData> m_sortedAxisGPU0;
-	b3OpenCLArray<b3SortData> m_sortedAxisGPU1;
-	b3OpenCLArray<b3SortData> m_sortedAxisGPU2;
-	b3OpenCLArray<b3SortData> m_sortedAxisGPU0prev;
-	b3OpenCLArray<b3SortData> m_sortedAxisGPU1prev;
-	b3OpenCLArray<b3SortData> m_sortedAxisGPU2prev;
-
-	b3OpenCLArray<b3Int4> m_addedHostPairsGPU;
-	b3OpenCLArray<b3Int4> m_removedHostPairsGPU;
-	b3OpenCLArray<int> m_addedCountGPU;
-	b3OpenCLArray<int> m_removedCountGPU;
-
-	int m_currentBuffer;
-
-public:
-	b3OpenCLArray<int> m_pairCount;
-
-	b3OpenCLArray<b3SapAabb> m_allAabbsGPU;
-	b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU;
-
-	virtual b3OpenCLArray<b3SapAabb>& getAllAabbsGPU()
-	{
-		return m_allAabbsGPU;
-	}
-	virtual b3AlignedObjectArray<b3SapAabb>& getAllAabbsCPU()
-	{
-		return m_allAabbsCPU;
-	}
-
-	b3OpenCLArray<b3Vector3> m_sum;
-	b3OpenCLArray<b3Vector3> m_sum2;
-	b3OpenCLArray<b3Vector3> m_dst;
-
-	b3OpenCLArray<int> m_smallAabbsMappingGPU;
-	b3AlignedObjectArray<int> m_smallAabbsMappingCPU;
-
-	b3OpenCLArray<int> m_largeAabbsMappingGPU;
-	b3AlignedObjectArray<int> m_largeAabbsMappingCPU;
-
-	b3OpenCLArray<b3Int4> m_overlappingPairs;
-
-	//temporary gpu work memory
-	b3OpenCLArray<b3SortData> m_gpuSmallSortData;
-	b3OpenCLArray<b3SapAabb> m_gpuSmallSortedAabbs;
-
-	class b3PrefixScanFloat4CL* m_prefixScanFloat4;
-
-	enum b3GpuSapKernelType
-	{
-		B3_GPU_SAP_KERNEL_BRUTE_FORCE_CPU = 1,
-		B3_GPU_SAP_KERNEL_BRUTE_FORCE_GPU,
-		B3_GPU_SAP_KERNEL_ORIGINAL,
-		B3_GPU_SAP_KERNEL_BARRIER,
-		B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY
-	};
-
-	b3GpuSapBroadphase(cl_context ctx, cl_device_id device, cl_command_queue q, b3GpuSapKernelType kernelType = B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY);
-	virtual ~b3GpuSapBroadphase();
-
-	static b3GpuBroadphaseInterface* CreateFuncBruteForceCpu(cl_context ctx, cl_device_id device, cl_command_queue q)
-	{
-		return new b3GpuSapBroadphase(ctx, device, q, B3_GPU_SAP_KERNEL_BRUTE_FORCE_CPU);
-	}
-
-	static b3GpuBroadphaseInterface* CreateFuncBruteForceGpu(cl_context ctx, cl_device_id device, cl_command_queue q)
-	{
-		return new b3GpuSapBroadphase(ctx, device, q, B3_GPU_SAP_KERNEL_BRUTE_FORCE_GPU);
-	}
-
-	static b3GpuBroadphaseInterface* CreateFuncOriginal(cl_context ctx, cl_device_id device, cl_command_queue q)
-	{
-		return new b3GpuSapBroadphase(ctx, device, q, B3_GPU_SAP_KERNEL_ORIGINAL);
-	}
-	static b3GpuBroadphaseInterface* CreateFuncBarrier(cl_context ctx, cl_device_id device, cl_command_queue q)
-	{
-		return new b3GpuSapBroadphase(ctx, device, q, B3_GPU_SAP_KERNEL_BARRIER);
-	}
-	static b3GpuBroadphaseInterface* CreateFuncLocalMemory(cl_context ctx, cl_device_id device, cl_command_queue q)
-	{
-		return new b3GpuSapBroadphase(ctx, device, q, B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY);
-	}
-
-	virtual void calculateOverlappingPairs(int maxPairs);
-	virtual void calculateOverlappingPairsHost(int maxPairs);
-
-	void reset();
-
-	void init3dSap();
-	virtual void calculateOverlappingPairsHostIncremental3Sap();
-
-	virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask);
-	virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask);
-
-	//call writeAabbsToGpu after done making all changes (createProxy etc)
-	virtual void writeAabbsToGpu();
-
-	virtual cl_mem getAabbBufferWS();
-	virtual int getNumOverlap();
-	virtual cl_mem getOverlappingPairBuffer();
-
-	virtual b3OpenCLArray<b3Int4>& getOverlappingPairsGPU();
-	virtual b3OpenCLArray<int>& getSmallAabbIndicesGPU();
-	virtual b3OpenCLArray<int>& getLargeAabbIndicesGPU();
-};
-
-#endif  //B3_GPU_SAP_BROADPHASE_H
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h
deleted file mode 100644
index 60570f2605..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h
+++ /dev/null
@@ -1,13 +0,0 @@
-#ifndef B3_SAP_AABB_H
-#define B3_SAP_AABB_H
-
-#include "Bullet3Common/b3Scalar.h"
-#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
-
-///just make sure that the b3Aabb is 16-byte aligned
-B3_ATTRIBUTE_ALIGNED16(struct)
-b3SapAabb : public b3Aabb{
-
-			};
-
-#endif  //B3_SAP_AABB_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphase.cl b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphase.cl
deleted file mode 100644
index ded4796d33..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphase.cl
+++ /dev/null
@@ -1,216 +0,0 @@
-
-
-int getPosHash(int4 gridPos, __global float4* pParams)
-{
-	int4 gridDim = *((__global int4*)(pParams + 1));
-	gridPos.x &= gridDim.x - 1;
-	gridPos.y &= gridDim.y - 1;
-	gridPos.z &= gridDim.z - 1;
-	int hash = gridPos.z * gridDim.y * gridDim.x + gridPos.y * gridDim.x + gridPos.x;
-	return hash;
-} 
-
-int4 getGridPos(float4 worldPos, __global float4* pParams)
-{
-    int4 gridPos;
-	int4 gridDim = *((__global int4*)(pParams + 1));
-    gridPos.x = (int)floor(worldPos.x * pParams[0].x) & (gridDim.x - 1);
-    gridPos.y = (int)floor(worldPos.y * pParams[0].y) & (gridDim.y - 1);
-    gridPos.z = (int)floor(worldPos.z * pParams[0].z) & (gridDim.z - 1);
-    return gridPos;
-}
-
-
-// calculate grid hash value for each body using its AABB
-__kernel void kCalcHashAABB(int numObjects, __global float4* allpAABB, __global const int* smallAabbMapping, __global int2* pHash, __global float4* pParams )
-{
-    int index = get_global_id(0);
-    if(index >= numObjects)
-	{
-		return;
-	}
-	float4 bbMin = allpAABB[smallAabbMapping[index]*2];
-	float4 bbMax = allpAABB[smallAabbMapping[index]*2 + 1];
-	float4 pos;
-	pos.x = (bbMin.x + bbMax.x) * 0.5f;
-	pos.y = (bbMin.y + bbMax.y) * 0.5f;
-	pos.z = (bbMin.z + bbMax.z) * 0.5f;
-	pos.w = 0.f;
-    // get address in grid
-    int4 gridPos = getGridPos(pos, pParams);
-    int gridHash = getPosHash(gridPos, pParams);
-    // store grid hash and body index
-    int2 hashVal;
-    hashVal.x = gridHash;
-    hashVal.y = index;
-    pHash[index] = hashVal;
-}
-
-__kernel void kClearCellStart(	int numCells, 
-								__global int* pCellStart )
-{
-    int index = get_global_id(0);
-    if(index >= numCells)
-	{
-		return;
-	}
-	pCellStart[index] = -1;
-}
-
-__kernel void kFindCellStart(int numObjects, __global int2* pHash, __global int* cellStart )
-{
-	__local int sharedHash[513];
-    int index = get_global_id(0);
-	int2 sortedData;
-
-    if(index < numObjects)
-	{
-		sortedData = pHash[index];
-		// Load hash data into shared memory so that we can look 
-		// at neighboring body's hash value without loading
-		// two hash values per thread
-		sharedHash[get_local_id(0) + 1] = sortedData.x;
-		if((index > 0) && (get_local_id(0) == 0))
-		{
-			// first thread in block must load neighbor body hash
-			sharedHash[0] = pHash[index-1].x;
-		}
-	}
-    barrier(CLK_LOCAL_MEM_FENCE);
-    if(index < numObjects)
-	{
-		if((index == 0) || (sortedData.x != sharedHash[get_local_id(0)]))
-		{
-			cellStart[sortedData.x] = index;
-		}
-	}
-}
-
-int testAABBOverlap(float4 min0, float4 max0, float4 min1, float4 max1)
-{
-	return	(min0.x <= max1.x)&& (min1.x <= max0.x) && 
-			(min0.y <= max1.y)&& (min1.y <= max0.y) && 
-			(min0.z <= max1.z)&& (min1.z <= max0.z); 
-}
-
-
-
-
-//search for AABB 'index' against other AABBs' in this cell
-void findPairsInCell(	int numObjects,
-						int4	gridPos,
-						int    index,
-						__global int2*  pHash,
-						__global int*   pCellStart,
-						__global float4* allpAABB, 
-						__global const int* smallAabbMapping,
-						__global float4* pParams,
-							volatile  __global int* pairCount,
-						__global int4*   pPairBuff2,
-						int maxPairs
-						)
-{
-	int4 pGridDim = *((__global int4*)(pParams + 1));
-	int maxBodiesPerCell = pGridDim.w;
-    int gridHash = getPosHash(gridPos, pParams);
-    // get start of bucket for this cell
-    int bucketStart = pCellStart[gridHash];
-    if (bucketStart == -1)
-	{
-        return;   // cell empty
-	}
-	// iterate over bodies in this cell
-    int2 sortedData = pHash[index];
-	int unsorted_indx = sortedData.y;
-    float4 min0 = allpAABB[smallAabbMapping[unsorted_indx]*2 + 0]; 
-	float4 max0 = allpAABB[smallAabbMapping[unsorted_indx]*2 + 1];
-	int handleIndex =  as_int(min0.w);
-	
-	int bucketEnd = bucketStart + maxBodiesPerCell;
-	bucketEnd = (bucketEnd > numObjects) ? numObjects : bucketEnd;
-	for(int index2 = bucketStart; index2 < bucketEnd; index2++) 
-	{
-        int2 cellData = pHash[index2];
-        if (cellData.x != gridHash)
-        {
-			break;   // no longer in same bucket
-		}
-		int unsorted_indx2 = cellData.y;
-        //if (unsorted_indx2 < unsorted_indx) // check not colliding with self
-		if (unsorted_indx2 != unsorted_indx) // check not colliding with self
-        {   
-			float4 min1 = allpAABB[smallAabbMapping[unsorted_indx2]*2 + 0];
-			float4 max1 = allpAABB[smallAabbMapping[unsorted_indx2]*2 + 1];
-			if(testAABBOverlap(min0, max0, min1, max1))
-			{
-				if (pairCount)
-				{
-					int handleIndex2 = as_int(min1.w);
-					if (handleIndex<handleIndex2)
-					{
-						int curPair = atomic_add(pairCount,1);
-						if (curPair<maxPairs)
-						{
-							int4 newpair;
-							newpair.x = handleIndex;
-							newpair.y = handleIndex2;
-							newpair.z = -1;
-							newpair.w = -1;
-							pPairBuff2[curPair] = newpair;
-						}
-					}
-				
-				}
-			}
-		}
-	}
-}
-
-__kernel void kFindOverlappingPairs(	int numObjects,
-										__global float4* allpAABB, 
-										__global const int* smallAabbMapping,
-										__global int2* pHash, 
-										__global int* pCellStart, 
-										__global float4* pParams ,
-										volatile  __global int* pairCount,
-										__global int4*   pPairBuff2,
-										int maxPairs
-										)
-
-{
-    int index = get_global_id(0);
-    if(index >= numObjects)
-	{
-		return;
-	}
-    int2 sortedData = pHash[index];
-	int unsorted_indx = sortedData.y;
-	float4 bbMin = allpAABB[smallAabbMapping[unsorted_indx]*2 + 0];
-	float4 bbMax = allpAABB[smallAabbMapping[unsorted_indx]*2 + 1];
-	float4 pos;
-	pos.x = (bbMin.x + bbMax.x) * 0.5f;
-	pos.y = (bbMin.y + bbMax.y) * 0.5f;
-	pos.z = (bbMin.z + bbMax.z) * 0.5f;
-    // get address in grid
-    int4 gridPosA = getGridPos(pos, pParams);
-    int4 gridPosB; 
-    // examine only neighbouring cells
-    for(int z=-1; z<=1; z++) 
-    {
-		gridPosB.z = gridPosA.z + z;
-        for(int y=-1; y<=1; y++) 
-        {
-			gridPosB.y = gridPosA.y + y;
-            for(int x=-1; x<=1; x++) 
-            {
-				gridPosB.x = gridPosA.x + x;
-                findPairsInCell(numObjects, gridPosB, index, pHash, pCellStart, allpAABB,smallAabbMapping, pParams, pairCount,pPairBuff2, maxPairs);
-            }
-        }
-    }
-}
-
-
-
-
-
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphaseKernels.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphaseKernels.h
deleted file mode 100644
index 0185417786..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphaseKernels.h
+++ /dev/null
@@ -1,198 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* gridBroadphaseCL =
-	"int getPosHash(int4 gridPos, __global float4* pParams)\n"
-	"{\n"
-	"	int4 gridDim = *((__global int4*)(pParams + 1));\n"
-	"	gridPos.x &= gridDim.x - 1;\n"
-	"	gridPos.y &= gridDim.y - 1;\n"
-	"	gridPos.z &= gridDim.z - 1;\n"
-	"	int hash = gridPos.z * gridDim.y * gridDim.x + gridPos.y * gridDim.x + gridPos.x;\n"
-	"	return hash;\n"
-	"} \n"
-	"int4 getGridPos(float4 worldPos, __global float4* pParams)\n"
-	"{\n"
-	"    int4 gridPos;\n"
-	"	int4 gridDim = *((__global int4*)(pParams + 1));\n"
-	"    gridPos.x = (int)floor(worldPos.x * pParams[0].x) & (gridDim.x - 1);\n"
-	"    gridPos.y = (int)floor(worldPos.y * pParams[0].y) & (gridDim.y - 1);\n"
-	"    gridPos.z = (int)floor(worldPos.z * pParams[0].z) & (gridDim.z - 1);\n"
-	"    return gridPos;\n"
-	"}\n"
-	"// calculate grid hash value for each body using its AABB\n"
-	"__kernel void kCalcHashAABB(int numObjects, __global float4* allpAABB, __global const int* smallAabbMapping, __global int2* pHash, __global float4* pParams )\n"
-	"{\n"
-	"    int index = get_global_id(0);\n"
-	"    if(index >= numObjects)\n"
-	"	{\n"
-	"		return;\n"
-	"	}\n"
-	"	float4 bbMin = allpAABB[smallAabbMapping[index]*2];\n"
-	"	float4 bbMax = allpAABB[smallAabbMapping[index]*2 + 1];\n"
-	"	float4 pos;\n"
-	"	pos.x = (bbMin.x + bbMax.x) * 0.5f;\n"
-	"	pos.y = (bbMin.y + bbMax.y) * 0.5f;\n"
-	"	pos.z = (bbMin.z + bbMax.z) * 0.5f;\n"
-	"	pos.w = 0.f;\n"
-	"    // get address in grid\n"
-	"    int4 gridPos = getGridPos(pos, pParams);\n"
-	"    int gridHash = getPosHash(gridPos, pParams);\n"
-	"    // store grid hash and body index\n"
-	"    int2 hashVal;\n"
-	"    hashVal.x = gridHash;\n"
-	"    hashVal.y = index;\n"
-	"    pHash[index] = hashVal;\n"
-	"}\n"
-	"__kernel void kClearCellStart(	int numCells, \n"
-	"								__global int* pCellStart )\n"
-	"{\n"
-	"    int index = get_global_id(0);\n"
-	"    if(index >= numCells)\n"
-	"	{\n"
-	"		return;\n"
-	"	}\n"
-	"	pCellStart[index] = -1;\n"
-	"}\n"
-	"__kernel void kFindCellStart(int numObjects, __global int2* pHash, __global int* cellStart )\n"
-	"{\n"
-	"	__local int sharedHash[513];\n"
-	"    int index = get_global_id(0);\n"
-	"	int2 sortedData;\n"
-	"    if(index < numObjects)\n"
-	"	{\n"
-	"		sortedData = pHash[index];\n"
-	"		// Load hash data into shared memory so that we can look \n"
-	"		// at neighboring body's hash value without loading\n"
-	"		// two hash values per thread\n"
-	"		sharedHash[get_local_id(0) + 1] = sortedData.x;\n"
-	"		if((index > 0) && (get_local_id(0) == 0))\n"
-	"		{\n"
-	"			// first thread in block must load neighbor body hash\n"
-	"			sharedHash[0] = pHash[index-1].x;\n"
-	"		}\n"
-	"	}\n"
-	"    barrier(CLK_LOCAL_MEM_FENCE);\n"
-	"    if(index < numObjects)\n"
-	"	{\n"
-	"		if((index == 0) || (sortedData.x != sharedHash[get_local_id(0)]))\n"
-	"		{\n"
-	"			cellStart[sortedData.x] = index;\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"int testAABBOverlap(float4 min0, float4 max0, float4 min1, float4 max1)\n"
-	"{\n"
-	"	return	(min0.x <= max1.x)&& (min1.x <= max0.x) && \n"
-	"			(min0.y <= max1.y)&& (min1.y <= max0.y) && \n"
-	"			(min0.z <= max1.z)&& (min1.z <= max0.z); \n"
-	"}\n"
-	"//search for AABB 'index' against other AABBs' in this cell\n"
-	"void findPairsInCell(	int numObjects,\n"
-	"						int4	gridPos,\n"
-	"						int    index,\n"
-	"						__global int2*  pHash,\n"
-	"						__global int*   pCellStart,\n"
-	"						__global float4* allpAABB, \n"
-	"						__global const int* smallAabbMapping,\n"
-	"						__global float4* pParams,\n"
-	"							volatile  __global int* pairCount,\n"
-	"						__global int4*   pPairBuff2,\n"
-	"						int maxPairs\n"
-	"						)\n"
-	"{\n"
-	"	int4 pGridDim = *((__global int4*)(pParams + 1));\n"
-	"	int maxBodiesPerCell = pGridDim.w;\n"
-	"    int gridHash = getPosHash(gridPos, pParams);\n"
-	"    // get start of bucket for this cell\n"
-	"    int bucketStart = pCellStart[gridHash];\n"
-	"    if (bucketStart == -1)\n"
-	"	{\n"
-	"        return;   // cell empty\n"
-	"	}\n"
-	"	// iterate over bodies in this cell\n"
-	"    int2 sortedData = pHash[index];\n"
-	"	int unsorted_indx = sortedData.y;\n"
-	"    float4 min0 = allpAABB[smallAabbMapping[unsorted_indx]*2 + 0]; \n"
-	"	float4 max0 = allpAABB[smallAabbMapping[unsorted_indx]*2 + 1];\n"
-	"	int handleIndex =  as_int(min0.w);\n"
-	"	\n"
-	"	int bucketEnd = bucketStart + maxBodiesPerCell;\n"
-	"	bucketEnd = (bucketEnd > numObjects) ? numObjects : bucketEnd;\n"
-	"	for(int index2 = bucketStart; index2 < bucketEnd; index2++) \n"
-	"	{\n"
-	"        int2 cellData = pHash[index2];\n"
-	"        if (cellData.x != gridHash)\n"
-	"        {\n"
-	"			break;   // no longer in same bucket\n"
-	"		}\n"
-	"		int unsorted_indx2 = cellData.y;\n"
-	"        //if (unsorted_indx2 < unsorted_indx) // check not colliding with self\n"
-	"		if (unsorted_indx2 != unsorted_indx) // check not colliding with self\n"
-	"        {   \n"
-	"			float4 min1 = allpAABB[smallAabbMapping[unsorted_indx2]*2 + 0];\n"
-	"			float4 max1 = allpAABB[smallAabbMapping[unsorted_indx2]*2 + 1];\n"
-	"			if(testAABBOverlap(min0, max0, min1, max1))\n"
-	"			{\n"
-	"				if (pairCount)\n"
-	"				{\n"
-	"					int handleIndex2 = as_int(min1.w);\n"
-	"					if (handleIndex<handleIndex2)\n"
-	"					{\n"
-	"						int curPair = atomic_add(pairCount,1);\n"
-	"						if (curPair<maxPairs)\n"
-	"						{\n"
-	"							int4 newpair;\n"
-	"							newpair.x = handleIndex;\n"
-	"							newpair.y = handleIndex2;\n"
-	"							newpair.z = -1;\n"
-	"							newpair.w = -1;\n"
-	"							pPairBuff2[curPair] = newpair;\n"
-	"						}\n"
-	"					}\n"
-	"				\n"
-	"				}\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"__kernel void kFindOverlappingPairs(	int numObjects,\n"
-	"										__global float4* allpAABB, \n"
-	"										__global const int* smallAabbMapping,\n"
-	"										__global int2* pHash, \n"
-	"										__global int* pCellStart, \n"
-	"										__global float4* pParams ,\n"
-	"										volatile  __global int* pairCount,\n"
-	"										__global int4*   pPairBuff2,\n"
-	"										int maxPairs\n"
-	"										)\n"
-	"{\n"
-	"    int index = get_global_id(0);\n"
-	"    if(index >= numObjects)\n"
-	"	{\n"
-	"		return;\n"
-	"	}\n"
-	"    int2 sortedData = pHash[index];\n"
-	"	int unsorted_indx = sortedData.y;\n"
-	"	float4 bbMin = allpAABB[smallAabbMapping[unsorted_indx]*2 + 0];\n"
-	"	float4 bbMax = allpAABB[smallAabbMapping[unsorted_indx]*2 + 1];\n"
-	"	float4 pos;\n"
-	"	pos.x = (bbMin.x + bbMax.x) * 0.5f;\n"
-	"	pos.y = (bbMin.y + bbMax.y) * 0.5f;\n"
-	"	pos.z = (bbMin.z + bbMax.z) * 0.5f;\n"
-	"    // get address in grid\n"
-	"    int4 gridPosA = getGridPos(pos, pParams);\n"
-	"    int4 gridPosB; \n"
-	"    // examine only neighbouring cells\n"
-	"    for(int z=-1; z<=1; z++) \n"
-	"    {\n"
-	"		gridPosB.z = gridPosA.z + z;\n"
-	"        for(int y=-1; y<=1; y++) \n"
-	"        {\n"
-	"			gridPosB.y = gridPosA.y + y;\n"
-	"            for(int x=-1; x<=1; x++) \n"
-	"            {\n"
-	"				gridPosB.x = gridPosA.x + x;\n"
-	"                findPairsInCell(numObjects, gridPosB, index, pHash, pCellStart, allpAABB,smallAabbMapping, pParams, pairCount,pPairBuff2, maxPairs);\n"
-	"            }\n"
-	"        }\n"
-	"    }\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl
deleted file mode 100644
index c375b9bf37..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl
+++ /dev/null
@@ -1,767 +0,0 @@
-/*
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Initial Author Jackson Lee, 2014
-
-typedef float b3Scalar;
-typedef float4 b3Vector3;
-#define b3Max max
-#define b3Min min
-#define b3Sqrt sqrt
-
-typedef struct
-{
-	unsigned int m_key;
-	unsigned int m_value;
-} SortDataCL;
-
-typedef struct 
-{
-	union
-	{
-		float4	m_min;
-		float   m_minElems[4];
-		int			m_minIndices[4];
-	};
-	union
-	{
-		float4	m_max;
-		float   m_maxElems[4];
-		int			m_maxIndices[4];
-	};
-} b3AabbCL;
-
-
-unsigned int interleaveBits(unsigned int x)
-{
-	//........ ........ ......12 3456789A	//x
-	//....1..2 ..3..4.. 5..6..7. .8..9..A	//x after interleaving bits
-	
-	//......12 3456789A ......12 3456789A	//x ^ (x << 16)
-	//11111111 ........ ........ 11111111	//0x FF 00 00 FF
-	//......12 ........ ........ 3456789A	//x = (x ^ (x << 16)) & 0xFF0000FF;
-	
-	//......12 ........ 3456789A 3456789A	//x ^ (x <<  8)
-	//......11 ........ 1111.... ....1111	//0x 03 00 F0 0F
-	//......12 ........ 3456.... ....789A	//x = (x ^ (x <<  8)) & 0x0300F00F;
-	
-	//..12..12 ....3456 3456.... 789A789A	//x ^ (x <<  4)
-	//......11 ....11.. ..11.... 11....11	//0x 03 0C 30 C3
-	//......12 ....34.. ..56.... 78....9A	//x = (x ^ (x <<  4)) & 0x030C30C3;
-	
-	//....1212 ..3434.. 5656..78 78..9A9A	//x ^ (x <<  2)
-	//....1..1 ..1..1.. 1..1..1. .1..1..1	//0x 09 24 92 49
-	//....1..2 ..3..4.. 5..6..7. .8..9..A	//x = (x ^ (x <<  2)) & 0x09249249;
-	
-	//........ ........ ......11 11111111	//0x000003FF
-	x &= 0x000003FF;		//Clear all bits above bit 10
-	
-	x = (x ^ (x << 16)) & 0xFF0000FF;
-	x = (x ^ (x <<  8)) & 0x0300F00F;
-	x = (x ^ (x <<  4)) & 0x030C30C3;
-	x = (x ^ (x <<  2)) & 0x09249249;
-	
-	return x;
-}
-unsigned int getMortonCode(unsigned int x, unsigned int y, unsigned int z)
-{
-	return interleaveBits(x) << 0 | interleaveBits(y) << 1 | interleaveBits(z) << 2;
-}
-
-__kernel void separateAabbs(__global b3AabbCL* unseparatedAabbs, __global int* aabbIndices, __global b3AabbCL* out_aabbs, int numAabbsToSeparate)
-{
-	int separatedAabbIndex = get_global_id(0);
-	if(separatedAabbIndex >= numAabbsToSeparate) return;
-
-	int unseparatedAabbIndex = aabbIndices[separatedAabbIndex];
-	out_aabbs[separatedAabbIndex] = unseparatedAabbs[unseparatedAabbIndex];
-}
-
-//Should replace with an optimized parallel reduction
-__kernel void findAllNodesMergedAabb(__global b3AabbCL* out_mergedAabb, int numAabbsNeedingMerge)
-{
-	//Each time this kernel is added to the command queue, 
-	//the number of AABBs needing to be merged is halved
-	//
-	//Example with 159 AABBs:
-	//	numRemainingAabbs == 159 / 2 + 159 % 2 == 80
-	//	numMergedAabbs == 159 - 80 == 79
-	//So, indices [0, 78] are merged with [0 + 80, 78 + 80]
-	
-	int numRemainingAabbs = numAabbsNeedingMerge / 2 + numAabbsNeedingMerge % 2;
-	int numMergedAabbs = numAabbsNeedingMerge - numRemainingAabbs;
-	
-	int aabbIndex = get_global_id(0);
-	if(aabbIndex >= numMergedAabbs) return;
-	
-	int otherAabbIndex = aabbIndex + numRemainingAabbs;
-	
-	b3AabbCL aabb = out_mergedAabb[aabbIndex];
-	b3AabbCL otherAabb = out_mergedAabb[otherAabbIndex];
-		
-	b3AabbCL mergedAabb;
-	mergedAabb.m_min = b3Min(aabb.m_min, otherAabb.m_min);
-	mergedAabb.m_max = b3Max(aabb.m_max, otherAabb.m_max);
-	out_mergedAabb[aabbIndex] = mergedAabb;
-}
-
-__kernel void assignMortonCodesAndAabbIndicies(__global b3AabbCL* worldSpaceAabbs, __global b3AabbCL* mergedAabbOfAllNodes, 
-												__global SortDataCL* out_mortonCodesAndAabbIndices, int numAabbs)
-{
-	int leafNodeIndex = get_global_id(0);	//Leaf node index == AABB index
-	if(leafNodeIndex >= numAabbs) return;
-	
-	b3AabbCL mergedAabb = mergedAabbOfAllNodes[0];
-	b3Vector3 gridCenter = (mergedAabb.m_min + mergedAabb.m_max) * 0.5f;
-	b3Vector3 gridCellSize = (mergedAabb.m_max - mergedAabb.m_min) / (float)1024;
-	
-	b3AabbCL aabb = worldSpaceAabbs[leafNodeIndex];
-	b3Vector3 aabbCenter = (aabb.m_min + aabb.m_max) * 0.5f;
-	b3Vector3 aabbCenterRelativeToGrid = aabbCenter - gridCenter;
-	
-	//Quantize into integer coordinates
-	//floor() is needed to prevent the center cell, at (0,0,0) from being twice the size
-	b3Vector3 gridPosition = aabbCenterRelativeToGrid / gridCellSize;
-	
-	int4 discretePosition;
-	discretePosition.x = (int)( (gridPosition.x >= 0.0f) ? gridPosition.x : floor(gridPosition.x) );
-	discretePosition.y = (int)( (gridPosition.y >= 0.0f) ? gridPosition.y : floor(gridPosition.y) );
-	discretePosition.z = (int)( (gridPosition.z >= 0.0f) ? gridPosition.z : floor(gridPosition.z) );
-	
-	//Clamp coordinates into [-512, 511], then convert range from [-512, 511] to [0, 1023]
-	discretePosition = b3Max( -512, b3Min(discretePosition, 511) );
-	discretePosition += 512;
-	
-	//Interleave bits(assign a morton code, also known as a z-curve)
-	unsigned int mortonCode = getMortonCode(discretePosition.x, discretePosition.y, discretePosition.z);
-	
-	//
-	SortDataCL mortonCodeIndexPair;
-	mortonCodeIndexPair.m_key = mortonCode;
-	mortonCodeIndexPair.m_value = leafNodeIndex;
-	
-	out_mortonCodesAndAabbIndices[leafNodeIndex] = mortonCodeIndexPair;
-}
-
-#define B3_PLVBH_TRAVERSE_MAX_STACK_SIZE 128
-
-//The most significant bit(0x80000000) of a int32 is used to distinguish between leaf and internal nodes.
-//If it is set, then the index is for an internal node; otherwise, it is a leaf node. 
-//In both cases, the bit should be cleared to access the actual node index.
-int isLeafNode(int index) { return (index >> 31 == 0); }
-int getIndexWithInternalNodeMarkerRemoved(int index) { return index & (~0x80000000); }
-int getIndexWithInternalNodeMarkerSet(int isLeaf, int index) { return (isLeaf) ? index : (index | 0x80000000); }
-
-//From sap.cl
-#define NEW_PAIR_MARKER -1
-
-bool TestAabbAgainstAabb2(const b3AabbCL* aabb1, const b3AabbCL* aabb2)
-{
-	bool overlap = true;
-	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;
-	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;
-	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;
-	return overlap;
-}
-//From sap.cl
-
-__kernel void plbvhCalculateOverlappingPairs(__global b3AabbCL* rigidAabbs, 
-
-											__global int* rootNodeIndex, 
-											__global int2* internalNodeChildIndices, 
-											__global b3AabbCL* internalNodeAabbs,
-											__global int2* internalNodeLeafIndexRanges,
-											
-											__global SortDataCL* mortonCodesAndAabbIndices,
-											__global int* out_numPairs, __global int4* out_overlappingPairs, 
-											int maxPairs, int numQueryAabbs)
-{
-	//Using get_group_id()/get_local_id() is Faster than get_global_id(0) since
-	//mortonCodesAndAabbIndices[] contains rigid body indices sorted along the z-curve (more spatially coherent)
-	int queryBvhNodeIndex = get_group_id(0) * get_local_size(0) + get_local_id(0);
-	if(queryBvhNodeIndex >= numQueryAabbs) return;
-	
-	int queryRigidIndex = mortonCodesAndAabbIndices[queryBvhNodeIndex].m_value;
-	b3AabbCL queryAabb = rigidAabbs[queryRigidIndex];
-	
-	int stack[B3_PLVBH_TRAVERSE_MAX_STACK_SIZE];
-	
-	int stackSize = 1;
-	stack[0] = *rootNodeIndex;
-	
-	while(stackSize)
-	{
-		int internalOrLeafNodeIndex = stack[ stackSize - 1 ];
-		--stackSize;
-		
-		int isLeaf = isLeafNode(internalOrLeafNodeIndex);	//Internal node if false
-		int bvhNodeIndex = getIndexWithInternalNodeMarkerRemoved(internalOrLeafNodeIndex);
-		
-		//Optimization - if the BVH is structured as a binary radix tree, then
-		//each internal node corresponds to a contiguous range of leaf nodes(internalNodeLeafIndexRanges[]).
-		//This can be used to avoid testing each AABB-AABB pair twice, including preventing each node from colliding with itself.
-		{
-			int highestLeafIndex = (isLeaf) ? bvhNodeIndex : internalNodeLeafIndexRanges[bvhNodeIndex].y;
-			if(highestLeafIndex <= queryBvhNodeIndex) continue;
-		}
-		
-		//bvhRigidIndex is not used if internal node
-		int bvhRigidIndex = (isLeaf) ? mortonCodesAndAabbIndices[bvhNodeIndex].m_value : -1;
-	
-		b3AabbCL bvhNodeAabb = (isLeaf) ? rigidAabbs[bvhRigidIndex] : internalNodeAabbs[bvhNodeIndex];
-		if( TestAabbAgainstAabb2(&queryAabb, &bvhNodeAabb) )
-		{
-			if(isLeaf)
-			{
-				int4 pair;
-				pair.x = rigidAabbs[queryRigidIndex].m_minIndices[3];
-				pair.y = rigidAabbs[bvhRigidIndex].m_minIndices[3];
-				pair.z = NEW_PAIR_MARKER;
-				pair.w = NEW_PAIR_MARKER;
-				
-				int pairIndex = atomic_inc(out_numPairs);
-				if(pairIndex < maxPairs) out_overlappingPairs[pairIndex] = pair;
-			}
-			
-			if(!isLeaf)	//Internal node
-			{
-				if(stackSize + 2 > B3_PLVBH_TRAVERSE_MAX_STACK_SIZE)
-				{
-					//Error
-				}
-				else
-				{
-					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].x;
-					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].y;
-				}
-			}
-		}
-		
-	}
-}
-
-
-//From rayCastKernels.cl
-typedef struct
-{
-	float4 m_from;
-	float4 m_to;
-} b3RayInfo;
-//From rayCastKernels.cl
-
-b3Vector3 b3Vector3_normalize(b3Vector3 v)
-{
-	b3Vector3 normal = (b3Vector3){v.x, v.y, v.z, 0.f};
-	return normalize(normal);	//OpenCL normalize == vector4 normalize
-}
-b3Scalar b3Vector3_length2(b3Vector3 v) { return v.x*v.x + v.y*v.y + v.z*v.z; }
-b3Scalar b3Vector3_dot(b3Vector3 a, b3Vector3 b) { return a.x*b.x + a.y*b.y + a.z*b.z; }
-
-int rayIntersectsAabb(b3Vector3 rayOrigin, b3Scalar rayLength, b3Vector3 rayNormalizedDirection, b3AabbCL aabb)
-{
-	//AABB is considered as 3 pairs of 2 planes( {x_min, x_max}, {y_min, y_max}, {z_min, z_max} ).
-	//t_min is the point of intersection with the closer plane, t_max is the point of intersection with the farther plane.
-	//
-	//if (rayNormalizedDirection.x < 0.0f), then max.x will be the near plane 
-	//and min.x will be the far plane; otherwise, it is reversed.
-	//
-	//In order for there to be a collision, the t_min and t_max of each pair must overlap.
-	//This can be tested for by selecting the highest t_min and lowest t_max and comparing them.
-	
-	int4 isNegative = isless( rayNormalizedDirection, ((b3Vector3){0.0f, 0.0f, 0.0f, 0.0f}) );	//isless(x,y) returns (x < y)
-	
-	//When using vector types, the select() function checks the most signficant bit, 
-	//but isless() sets the least significant bit.
-	isNegative <<= 31;
-
-	//select(b, a, condition) == condition ? a : b
-	//When using select() with vector types, (condition[i]) is true if its most significant bit is 1
-	b3Vector3 t_min = ( select(aabb.m_min, aabb.m_max, isNegative) - rayOrigin ) / rayNormalizedDirection;
-	b3Vector3 t_max = ( select(aabb.m_max, aabb.m_min, isNegative) - rayOrigin ) / rayNormalizedDirection;
-	
-	b3Scalar t_min_final = 0.0f;
-	b3Scalar t_max_final = rayLength;
-	
-	//Must use fmin()/fmax(); if one of the parameters is NaN, then the parameter that is not NaN is returned. 
-	//Behavior of min()/max() with NaNs is undefined. (See OpenCL Specification 1.2 [6.12.2] and [6.12.4])
-	//Since the innermost fmin()/fmax() is always not NaN, this should never return NaN.
-	t_min_final = fmax( t_min.z, fmax(t_min.y, fmax(t_min.x, t_min_final)) );
-	t_max_final = fmin( t_max.z, fmin(t_max.y, fmin(t_max.x, t_max_final)) );
-	
-	return (t_min_final <= t_max_final);
-}
-
-__kernel void plbvhRayTraverse(__global b3AabbCL* rigidAabbs,
-
-								__global int* rootNodeIndex, 
-								__global int2* internalNodeChildIndices, 
-								__global b3AabbCL* internalNodeAabbs,
-								__global int2* internalNodeLeafIndexRanges,
-								__global SortDataCL* mortonCodesAndAabbIndices,
-								
-								__global b3RayInfo* rays,
-								
-								__global int* out_numRayRigidPairs, 
-								__global int2* out_rayRigidPairs,
-								int maxRayRigidPairs, int numRays)
-{
-	int rayIndex = get_global_id(0);
-	if(rayIndex >= numRays) return;
-	
-	//
-	b3Vector3 rayFrom = rays[rayIndex].m_from;
-	b3Vector3 rayTo = rays[rayIndex].m_to;
-	b3Vector3 rayNormalizedDirection = b3Vector3_normalize(rayTo - rayFrom);
-	b3Scalar rayLength = b3Sqrt( b3Vector3_length2(rayTo - rayFrom) );
-	
-	//
-	int stack[B3_PLVBH_TRAVERSE_MAX_STACK_SIZE];
-	
-	int stackSize = 1;
-	stack[0] = *rootNodeIndex;
-	
-	while(stackSize)
-	{
-		int internalOrLeafNodeIndex = stack[ stackSize - 1 ];
-		--stackSize;
-		
-		int isLeaf = isLeafNode(internalOrLeafNodeIndex);	//Internal node if false
-		int bvhNodeIndex = getIndexWithInternalNodeMarkerRemoved(internalOrLeafNodeIndex);
-		
-		//bvhRigidIndex is not used if internal node
-		int bvhRigidIndex = (isLeaf) ? mortonCodesAndAabbIndices[bvhNodeIndex].m_value : -1;
-	
-		b3AabbCL bvhNodeAabb = (isLeaf) ? rigidAabbs[bvhRigidIndex] : internalNodeAabbs[bvhNodeIndex];
-		if( rayIntersectsAabb(rayFrom, rayLength, rayNormalizedDirection, bvhNodeAabb)  )
-		{
-			if(isLeaf)
-			{
-				int2 rayRigidPair;
-				rayRigidPair.x = rayIndex;
-				rayRigidPair.y = rigidAabbs[bvhRigidIndex].m_minIndices[3];
-				
-				int pairIndex = atomic_inc(out_numRayRigidPairs);
-				if(pairIndex < maxRayRigidPairs) out_rayRigidPairs[pairIndex] = rayRigidPair;
-			}
-			
-			if(!isLeaf)	//Internal node
-			{
-				if(stackSize + 2 > B3_PLVBH_TRAVERSE_MAX_STACK_SIZE)
-				{
-					//Error
-				}
-				else
-				{
-					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].x;
-					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].y;
-				}
-			}
-		}
-	}
-}
-
-__kernel void plbvhLargeAabbAabbTest(__global b3AabbCL* smallAabbs, __global b3AabbCL* largeAabbs, 
-									__global int* out_numPairs, __global int4* out_overlappingPairs, 
-									int maxPairs, int numLargeAabbRigids, int numSmallAabbRigids)
-{
-	int smallAabbIndex = get_global_id(0);
-	if(smallAabbIndex >= numSmallAabbRigids) return;
-	
-	b3AabbCL smallAabb = smallAabbs[smallAabbIndex];
-	for(int i = 0; i < numLargeAabbRigids; ++i)
-	{
-		b3AabbCL largeAabb = largeAabbs[i];
-		if( TestAabbAgainstAabb2(&smallAabb, &largeAabb) )
-		{
-			int4 pair;
-			pair.x = largeAabb.m_minIndices[3];
-			pair.y = smallAabb.m_minIndices[3];
-			pair.z = NEW_PAIR_MARKER;
-			pair.w = NEW_PAIR_MARKER;
-			
-			int pairIndex = atomic_inc(out_numPairs);
-			if(pairIndex < maxPairs) out_overlappingPairs[pairIndex] = pair;
-		}
-	}
-}
-__kernel void plbvhLargeAabbRayTest(__global b3AabbCL* largeRigidAabbs, __global b3RayInfo* rays,
-									__global int* out_numRayRigidPairs,  __global int2* out_rayRigidPairs,
-									int numLargeAabbRigids, int maxRayRigidPairs, int numRays)
-{
-	int rayIndex = get_global_id(0);
-	if(rayIndex >= numRays) return;
-	
-	b3Vector3 rayFrom = rays[rayIndex].m_from;
-	b3Vector3 rayTo = rays[rayIndex].m_to;
-	b3Vector3 rayNormalizedDirection = b3Vector3_normalize(rayTo - rayFrom);
-	b3Scalar rayLength = b3Sqrt( b3Vector3_length2(rayTo - rayFrom) );
-	
-	for(int i = 0; i < numLargeAabbRigids; ++i)
-	{
-		b3AabbCL rigidAabb = largeRigidAabbs[i];
-		if( rayIntersectsAabb(rayFrom, rayLength, rayNormalizedDirection, rigidAabb) )
-		{
-			int2 rayRigidPair;
-			rayRigidPair.x = rayIndex;
-			rayRigidPair.y = rigidAabb.m_minIndices[3];
-			
-			int pairIndex = atomic_inc(out_numRayRigidPairs);
-			if(pairIndex < maxRayRigidPairs) out_rayRigidPairs[pairIndex] = rayRigidPair;
-		}
-	}
-}
-
-
-//Set so that it is always greater than the actual common prefixes, and never selected as a parent node.
-//If there are no duplicates, then the highest common prefix is 32 or 64, depending on the number of bits used for the z-curve.
-//Duplicate common prefixes increase the highest common prefix at most by the number of bits used to index the leaf node.
-//Since 32 bit ints are used to index leaf nodes, the max prefix is 64(32 + 32 bit z-curve) or 96(32 + 64 bit z-curve).
-#define B3_PLBVH_INVALID_COMMON_PREFIX 128
-
-#define B3_PLBVH_ROOT_NODE_MARKER -1
-
-#define b3Int64 long
-
-int computeCommonPrefixLength(b3Int64 i, b3Int64 j) { return (int)clz(i ^ j); }
-b3Int64 computeCommonPrefix(b3Int64 i, b3Int64 j) 
-{
-	//This function only needs to return (i & j) in order for the algorithm to work,
-	//but it may help with debugging to mask out the lower bits.
-
-	b3Int64 commonPrefixLength = (b3Int64)computeCommonPrefixLength(i, j);
-
-	b3Int64 sharedBits = i & j;
-	b3Int64 bitmask = ((b3Int64)(~0)) << (64 - commonPrefixLength);	//Set all bits after the common prefix to 0
-	
-	return sharedBits & bitmask;
-}
-
-//Same as computeCommonPrefixLength(), but allows for prefixes with different lengths
-int getSharedPrefixLength(b3Int64 prefixA, int prefixLengthA, b3Int64 prefixB, int prefixLengthB)
-{
-	return b3Min( computeCommonPrefixLength(prefixA, prefixB), b3Min(prefixLengthA, prefixLengthB) );
-}
-
-__kernel void computeAdjacentPairCommonPrefix(__global SortDataCL* mortonCodesAndAabbIndices,
-											__global b3Int64* out_commonPrefixes,
-											__global int* out_commonPrefixLengths,
-											int numInternalNodes)
-{
-	int internalNodeIndex = get_global_id(0);
-	if (internalNodeIndex >= numInternalNodes) return;
-	
-	//Here, (internalNodeIndex + 1) is never out of bounds since it is a leaf node index,
-	//and the number of internal nodes is always numLeafNodes - 1
-	int leftLeafIndex = internalNodeIndex;
-	int rightLeafIndex = internalNodeIndex + 1;
-	
-	int leftLeafMortonCode = mortonCodesAndAabbIndices[leftLeafIndex].m_key;
-	int rightLeafMortonCode = mortonCodesAndAabbIndices[rightLeafIndex].m_key;
-	
-	//Binary radix tree construction algorithm does not work if there are duplicate morton codes.
-	//Append the index of each leaf node to each morton code so that there are no duplicates.
-	//The algorithm also requires that the morton codes are sorted in ascending order; this requirement
-	//is also satisfied with this method, as (leftLeafIndex < rightLeafIndex) is always true.
-	//
-	//upsample(a, b) == ( ((b3Int64)a) << 32) | b
-	b3Int64 nonduplicateLeftMortonCode = upsample(leftLeafMortonCode, leftLeafIndex);
-	b3Int64 nonduplicateRightMortonCode = upsample(rightLeafMortonCode, rightLeafIndex);
-	
-	out_commonPrefixes[internalNodeIndex] = computeCommonPrefix(nonduplicateLeftMortonCode, nonduplicateRightMortonCode);
-	out_commonPrefixLengths[internalNodeIndex] = computeCommonPrefixLength(nonduplicateLeftMortonCode, nonduplicateRightMortonCode);
-}
-
-
-__kernel void buildBinaryRadixTreeLeafNodes(__global int* commonPrefixLengths, __global int* out_leafNodeParentNodes,
-											__global int2* out_childNodes, int numLeafNodes)
-{
-	int leafNodeIndex = get_global_id(0);
-	if (leafNodeIndex >= numLeafNodes) return;
-	
-	int numInternalNodes = numLeafNodes - 1;
-	
-	int leftSplitIndex = leafNodeIndex - 1;
-	int rightSplitIndex = leafNodeIndex;
-	
-	int leftCommonPrefix = (leftSplitIndex >= 0) ? commonPrefixLengths[leftSplitIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;
-	int rightCommonPrefix = (rightSplitIndex < numInternalNodes) ? commonPrefixLengths[rightSplitIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;
-	
-	//Parent node is the highest adjacent common prefix that is lower than the node's common prefix
-	//Leaf nodes are considered as having the highest common prefix
-	int isLeftHigherCommonPrefix = (leftCommonPrefix > rightCommonPrefix);
-	
-	//Handle cases for the edge nodes; the first and last node
-	//For leaf nodes, leftCommonPrefix and rightCommonPrefix should never both be B3_PLBVH_INVALID_COMMON_PREFIX
-	if(leftCommonPrefix == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherCommonPrefix = false;
-	if(rightCommonPrefix == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherCommonPrefix = true;
-	
-	int parentNodeIndex = (isLeftHigherCommonPrefix) ? leftSplitIndex : rightSplitIndex;
-	out_leafNodeParentNodes[leafNodeIndex] = parentNodeIndex;
-	
-	int isRightChild = (isLeftHigherCommonPrefix);	//If the left node is the parent, then this node is its right child and vice versa
-	
-	//out_childNodesAsInt[0] == int2.x == left child
-	//out_childNodesAsInt[1] == int2.y == right child
-	int isLeaf = 1;
-	__global int* out_childNodesAsInt = (__global int*)(&out_childNodes[parentNodeIndex]);
-	out_childNodesAsInt[isRightChild] = getIndexWithInternalNodeMarkerSet(isLeaf, leafNodeIndex);
-}
-
-__kernel void buildBinaryRadixTreeInternalNodes(__global b3Int64* commonPrefixes, __global int* commonPrefixLengths,
-												__global int2* out_childNodes,
-												__global int* out_internalNodeParentNodes, __global int* out_rootNodeIndex,
-												int numInternalNodes)
-{
-	int internalNodeIndex = get_group_id(0) * get_local_size(0) + get_local_id(0);
-	if(internalNodeIndex >= numInternalNodes) return;
-	
-	b3Int64 nodePrefix = commonPrefixes[internalNodeIndex];
-	int nodePrefixLength = commonPrefixLengths[internalNodeIndex];
-	
-//#define USE_LINEAR_SEARCH
-#ifdef USE_LINEAR_SEARCH
-	int leftIndex = -1;
-	int rightIndex = -1;
-	
-	//Find nearest element to left with a lower common prefix
-	for(int i = internalNodeIndex - 1; i >= 0; --i)
-	{
-		int nodeLeftSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, commonPrefixes[i], commonPrefixLengths[i]);
-		if(nodeLeftSharedPrefixLength < nodePrefixLength)
-		{
-			leftIndex = i;
-			break;
-		}
-	}
-	
-	//Find nearest element to right with a lower common prefix
-	for(int i = internalNodeIndex + 1; i < numInternalNodes; ++i)
-	{
-		int nodeRightSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, commonPrefixes[i], commonPrefixLengths[i]);
-		if(nodeRightSharedPrefixLength < nodePrefixLength)
-		{
-			rightIndex = i;
-			break;
-		}
-	}
-	
-#else //Use binary search
-
-	//Find nearest element to left with a lower common prefix
-	int leftIndex = -1;
-	{
-		int lower = 0;
-		int upper = internalNodeIndex - 1;
-		
-		while(lower <= upper)
-		{
-			int mid = (lower + upper) / 2;
-			b3Int64 midPrefix = commonPrefixes[mid];
-			int midPrefixLength = commonPrefixLengths[mid];
-			
-			int nodeMidSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, midPrefix, midPrefixLength);
-			if(nodeMidSharedPrefixLength < nodePrefixLength) 
-			{
-				int right = mid + 1;
-				if(right < internalNodeIndex)
-				{
-					b3Int64 rightPrefix = commonPrefixes[right];
-					int rightPrefixLength = commonPrefixLengths[right];
-					
-					int nodeRightSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, rightPrefix, rightPrefixLength);
-					if(nodeRightSharedPrefixLength < nodePrefixLength) 
-					{
-						lower = right;
-						leftIndex = right;
-					}
-					else 
-					{
-						leftIndex = mid;
-						break;
-					}
-				}
-				else 
-				{
-					leftIndex = mid;
-					break;
-				}
-			}
-			else upper = mid - 1;
-		}
-	}
-	
-	//Find nearest element to right with a lower common prefix
-	int rightIndex = -1;
-	{
-		int lower = internalNodeIndex + 1;
-		int upper = numInternalNodes - 1;
-		
-		while(lower <= upper)
-		{
-			int mid = (lower + upper) / 2;
-			b3Int64 midPrefix = commonPrefixes[mid];
-			int midPrefixLength = commonPrefixLengths[mid];
-			
-			int nodeMidSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, midPrefix, midPrefixLength);
-			if(nodeMidSharedPrefixLength < nodePrefixLength) 
-			{
-				int left = mid - 1;
-				if(left > internalNodeIndex)
-				{
-					b3Int64 leftPrefix = commonPrefixes[left];
-					int leftPrefixLength = commonPrefixLengths[left];
-				
-					int nodeLeftSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, leftPrefix, leftPrefixLength);
-					if(nodeLeftSharedPrefixLength < nodePrefixLength) 
-					{
-						upper = left;
-						rightIndex = left;
-					}
-					else 
-					{
-						rightIndex = mid;
-						break;
-					}
-				}
-				else 
-				{
-					rightIndex = mid;
-					break;
-				}
-			}
-			else lower = mid + 1;
-		}
-	}
-#endif
-	
-	//Select parent
-	{
-		int leftPrefixLength = (leftIndex != -1) ? commonPrefixLengths[leftIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;
-		int rightPrefixLength =  (rightIndex != -1) ? commonPrefixLengths[rightIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;
-		
-		int isLeftHigherPrefixLength = (leftPrefixLength > rightPrefixLength);
-		
-		if(leftPrefixLength == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherPrefixLength = false;
-		else if(rightPrefixLength == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherPrefixLength = true;
-		
-		int parentNodeIndex = (isLeftHigherPrefixLength) ? leftIndex : rightIndex;
-		
-		int isRootNode = (leftIndex == -1 && rightIndex == -1);
-		out_internalNodeParentNodes[internalNodeIndex] = (!isRootNode) ? parentNodeIndex : B3_PLBVH_ROOT_NODE_MARKER;
-		
-		int isLeaf = 0;
-		if(!isRootNode)
-		{
-			int isRightChild = (isLeftHigherPrefixLength);	//If the left node is the parent, then this node is its right child and vice versa
-			
-			//out_childNodesAsInt[0] == int2.x == left child
-			//out_childNodesAsInt[1] == int2.y == right child
-			__global int* out_childNodesAsInt = (__global int*)(&out_childNodes[parentNodeIndex]);
-			out_childNodesAsInt[isRightChild] = getIndexWithInternalNodeMarkerSet(isLeaf, internalNodeIndex);
-		}
-		else *out_rootNodeIndex = getIndexWithInternalNodeMarkerSet(isLeaf, internalNodeIndex);
-	}
-}
-
-__kernel void findDistanceFromRoot(__global int* rootNodeIndex, __global int* internalNodeParentNodes,
-									__global int* out_maxDistanceFromRoot, __global int* out_distanceFromRoot, int numInternalNodes)
-{
-	if( get_global_id(0) == 0 ) atomic_xchg(out_maxDistanceFromRoot, 0);
-
-	int internalNodeIndex = get_global_id(0);
-	if(internalNodeIndex >= numInternalNodes) return;
-	
-	//
-	int distanceFromRoot = 0;
-	{
-		int parentIndex = internalNodeParentNodes[internalNodeIndex];
-		while(parentIndex != B3_PLBVH_ROOT_NODE_MARKER)
-		{
-			parentIndex = internalNodeParentNodes[parentIndex];
-			++distanceFromRoot;
-		}
-	}
-	out_distanceFromRoot[internalNodeIndex] = distanceFromRoot;
-	
-	//
-	__local int localMaxDistanceFromRoot;
-	if( get_local_id(0) == 0 ) localMaxDistanceFromRoot = 0;
-	barrier(CLK_LOCAL_MEM_FENCE);
-	
-	atomic_max(&localMaxDistanceFromRoot, distanceFromRoot);
-	barrier(CLK_LOCAL_MEM_FENCE);
-	
-	if( get_local_id(0) == 0 ) atomic_max(out_maxDistanceFromRoot, localMaxDistanceFromRoot);
-}
-
-__kernel void buildBinaryRadixTreeAabbsRecursive(__global int* distanceFromRoot, __global SortDataCL* mortonCodesAndAabbIndices,
-												__global int2* childNodes,
-												__global b3AabbCL* leafNodeAabbs, __global b3AabbCL* internalNodeAabbs,
-												int maxDistanceFromRoot, int processedDistance, int numInternalNodes)
-{
-	int internalNodeIndex = get_global_id(0);
-	if(internalNodeIndex >= numInternalNodes) return;
-	
-	int distance = distanceFromRoot[internalNodeIndex];
-	
-	if(distance == processedDistance)
-	{
-		int leftChildIndex = childNodes[internalNodeIndex].x;
-		int rightChildIndex = childNodes[internalNodeIndex].y;
-		
-		int isLeftChildLeaf = isLeafNode(leftChildIndex);
-		int isRightChildLeaf = isLeafNode(rightChildIndex);
-		
-		leftChildIndex = getIndexWithInternalNodeMarkerRemoved(leftChildIndex);
-		rightChildIndex = getIndexWithInternalNodeMarkerRemoved(rightChildIndex);
-		
-		//leftRigidIndex/rightRigidIndex is not used if internal node
-		int leftRigidIndex = (isLeftChildLeaf) ? mortonCodesAndAabbIndices[leftChildIndex].m_value : -1;
-		int rightRigidIndex = (isRightChildLeaf) ? mortonCodesAndAabbIndices[rightChildIndex].m_value : -1;
-		
-		b3AabbCL leftChildAabb = (isLeftChildLeaf) ? leafNodeAabbs[leftRigidIndex] : internalNodeAabbs[leftChildIndex];
-		b3AabbCL rightChildAabb = (isRightChildLeaf) ? leafNodeAabbs[rightRigidIndex] : internalNodeAabbs[rightChildIndex];
-		
-		b3AabbCL mergedAabb;
-		mergedAabb.m_min = b3Min(leftChildAabb.m_min, rightChildAabb.m_min);
-		mergedAabb.m_max = b3Max(leftChildAabb.m_max, rightChildAabb.m_max);
-		internalNodeAabbs[internalNodeIndex] = mergedAabb;
-	}
-}
-
-__kernel void findLeafIndexRanges(__global int2* internalNodeChildNodes, __global int2* out_leafIndexRanges, int numInternalNodes)
-{
-	int internalNodeIndex = get_global_id(0);
-	if(internalNodeIndex >= numInternalNodes) return;
-	
-	int numLeafNodes = numInternalNodes + 1;
-	
-	int2 childNodes = internalNodeChildNodes[internalNodeIndex];
-	
-	int2 leafIndexRange;	//x == min leaf index, y == max leaf index
-	
-	//Find lowest leaf index covered by this internal node
-	{
-		int lowestIndex = childNodes.x;		//childNodes.x == Left child
-		while( !isLeafNode(lowestIndex) ) lowestIndex = internalNodeChildNodes[ getIndexWithInternalNodeMarkerRemoved(lowestIndex) ].x;
-		leafIndexRange.x = lowestIndex;
-	}
-	
-	//Find highest leaf index covered by this internal node
-	{
-		int highestIndex = childNodes.y;	//childNodes.y == Right child
-		while( !isLeafNode(highestIndex) ) highestIndex = internalNodeChildNodes[ getIndexWithInternalNodeMarkerRemoved(highestIndex) ].y;
-		leafIndexRange.y = highestIndex;
-	}
-	
-	//
-	out_leafIndexRanges[internalNodeIndex] = leafIndexRange;
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h
deleted file mode 100644
index c02877dde9..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h
+++ /dev/null
@@ -1,728 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* parallelLinearBvhCL =
-	"/*\n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose,\n"
-	"including commercial applications, and to alter it and redistribute it freely,\n"
-	"subject to the following restrictions:\n"
-	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Initial Author Jackson Lee, 2014\n"
-	"typedef float b3Scalar;\n"
-	"typedef float4 b3Vector3;\n"
-	"#define b3Max max\n"
-	"#define b3Min min\n"
-	"#define b3Sqrt sqrt\n"
-	"typedef struct\n"
-	"{\n"
-	"	unsigned int m_key;\n"
-	"	unsigned int m_value;\n"
-	"} SortDataCL;\n"
-	"typedef struct \n"
-	"{\n"
-	"	union\n"
-	"	{\n"
-	"		float4	m_min;\n"
-	"		float   m_minElems[4];\n"
-	"		int			m_minIndices[4];\n"
-	"	};\n"
-	"	union\n"
-	"	{\n"
-	"		float4	m_max;\n"
-	"		float   m_maxElems[4];\n"
-	"		int			m_maxIndices[4];\n"
-	"	};\n"
-	"} b3AabbCL;\n"
-	"unsigned int interleaveBits(unsigned int x)\n"
-	"{\n"
-	"	//........ ........ ......12 3456789A	//x\n"
-	"	//....1..2 ..3..4.. 5..6..7. .8..9..A	//x after interleaving bits\n"
-	"	\n"
-	"	//......12 3456789A ......12 3456789A	//x ^ (x << 16)\n"
-	"	//11111111 ........ ........ 11111111	//0x FF 00 00 FF\n"
-	"	//......12 ........ ........ 3456789A	//x = (x ^ (x << 16)) & 0xFF0000FF;\n"
-	"	\n"
-	"	//......12 ........ 3456789A 3456789A	//x ^ (x <<  8)\n"
-	"	//......11 ........ 1111.... ....1111	//0x 03 00 F0 0F\n"
-	"	//......12 ........ 3456.... ....789A	//x = (x ^ (x <<  8)) & 0x0300F00F;\n"
-	"	\n"
-	"	//..12..12 ....3456 3456.... 789A789A	//x ^ (x <<  4)\n"
-	"	//......11 ....11.. ..11.... 11....11	//0x 03 0C 30 C3\n"
-	"	//......12 ....34.. ..56.... 78....9A	//x = (x ^ (x <<  4)) & 0x030C30C3;\n"
-	"	\n"
-	"	//....1212 ..3434.. 5656..78 78..9A9A	//x ^ (x <<  2)\n"
-	"	//....1..1 ..1..1.. 1..1..1. .1..1..1	//0x 09 24 92 49\n"
-	"	//....1..2 ..3..4.. 5..6..7. .8..9..A	//x = (x ^ (x <<  2)) & 0x09249249;\n"
-	"	\n"
-	"	//........ ........ ......11 11111111	//0x000003FF\n"
-	"	x &= 0x000003FF;		//Clear all bits above bit 10\n"
-	"	\n"
-	"	x = (x ^ (x << 16)) & 0xFF0000FF;\n"
-	"	x = (x ^ (x <<  8)) & 0x0300F00F;\n"
-	"	x = (x ^ (x <<  4)) & 0x030C30C3;\n"
-	"	x = (x ^ (x <<  2)) & 0x09249249;\n"
-	"	\n"
-	"	return x;\n"
-	"}\n"
-	"unsigned int getMortonCode(unsigned int x, unsigned int y, unsigned int z)\n"
-	"{\n"
-	"	return interleaveBits(x) << 0 | interleaveBits(y) << 1 | interleaveBits(z) << 2;\n"
-	"}\n"
-	"__kernel void separateAabbs(__global b3AabbCL* unseparatedAabbs, __global int* aabbIndices, __global b3AabbCL* out_aabbs, int numAabbsToSeparate)\n"
-	"{\n"
-	"	int separatedAabbIndex = get_global_id(0);\n"
-	"	if(separatedAabbIndex >= numAabbsToSeparate) return;\n"
-	"	int unseparatedAabbIndex = aabbIndices[separatedAabbIndex];\n"
-	"	out_aabbs[separatedAabbIndex] = unseparatedAabbs[unseparatedAabbIndex];\n"
-	"}\n"
-	"//Should replace with an optimized parallel reduction\n"
-	"__kernel void findAllNodesMergedAabb(__global b3AabbCL* out_mergedAabb, int numAabbsNeedingMerge)\n"
-	"{\n"
-	"	//Each time this kernel is added to the command queue, \n"
-	"	//the number of AABBs needing to be merged is halved\n"
-	"	//\n"
-	"	//Example with 159 AABBs:\n"
-	"	//	numRemainingAabbs == 159 / 2 + 159 % 2 == 80\n"
-	"	//	numMergedAabbs == 159 - 80 == 79\n"
-	"	//So, indices [0, 78] are merged with [0 + 80, 78 + 80]\n"
-	"	\n"
-	"	int numRemainingAabbs = numAabbsNeedingMerge / 2 + numAabbsNeedingMerge % 2;\n"
-	"	int numMergedAabbs = numAabbsNeedingMerge - numRemainingAabbs;\n"
-	"	\n"
-	"	int aabbIndex = get_global_id(0);\n"
-	"	if(aabbIndex >= numMergedAabbs) return;\n"
-	"	\n"
-	"	int otherAabbIndex = aabbIndex + numRemainingAabbs;\n"
-	"	\n"
-	"	b3AabbCL aabb = out_mergedAabb[aabbIndex];\n"
-	"	b3AabbCL otherAabb = out_mergedAabb[otherAabbIndex];\n"
-	"		\n"
-	"	b3AabbCL mergedAabb;\n"
-	"	mergedAabb.m_min = b3Min(aabb.m_min, otherAabb.m_min);\n"
-	"	mergedAabb.m_max = b3Max(aabb.m_max, otherAabb.m_max);\n"
-	"	out_mergedAabb[aabbIndex] = mergedAabb;\n"
-	"}\n"
-	"__kernel void assignMortonCodesAndAabbIndicies(__global b3AabbCL* worldSpaceAabbs, __global b3AabbCL* mergedAabbOfAllNodes, \n"
-	"												__global SortDataCL* out_mortonCodesAndAabbIndices, int numAabbs)\n"
-	"{\n"
-	"	int leafNodeIndex = get_global_id(0);	//Leaf node index == AABB index\n"
-	"	if(leafNodeIndex >= numAabbs) return;\n"
-	"	\n"
-	"	b3AabbCL mergedAabb = mergedAabbOfAllNodes[0];\n"
-	"	b3Vector3 gridCenter = (mergedAabb.m_min + mergedAabb.m_max) * 0.5f;\n"
-	"	b3Vector3 gridCellSize = (mergedAabb.m_max - mergedAabb.m_min) / (float)1024;\n"
-	"	\n"
-	"	b3AabbCL aabb = worldSpaceAabbs[leafNodeIndex];\n"
-	"	b3Vector3 aabbCenter = (aabb.m_min + aabb.m_max) * 0.5f;\n"
-	"	b3Vector3 aabbCenterRelativeToGrid = aabbCenter - gridCenter;\n"
-	"	\n"
-	"	//Quantize into integer coordinates\n"
-	"	//floor() is needed to prevent the center cell, at (0,0,0) from being twice the size\n"
-	"	b3Vector3 gridPosition = aabbCenterRelativeToGrid / gridCellSize;\n"
-	"	\n"
-	"	int4 discretePosition;\n"
-	"	discretePosition.x = (int)( (gridPosition.x >= 0.0f) ? gridPosition.x : floor(gridPosition.x) );\n"
-	"	discretePosition.y = (int)( (gridPosition.y >= 0.0f) ? gridPosition.y : floor(gridPosition.y) );\n"
-	"	discretePosition.z = (int)( (gridPosition.z >= 0.0f) ? gridPosition.z : floor(gridPosition.z) );\n"
-	"	\n"
-	"	//Clamp coordinates into [-512, 511], then convert range from [-512, 511] to [0, 1023]\n"
-	"	discretePosition = b3Max( -512, b3Min(discretePosition, 511) );\n"
-	"	discretePosition += 512;\n"
-	"	\n"
-	"	//Interleave bits(assign a morton code, also known as a z-curve)\n"
-	"	unsigned int mortonCode = getMortonCode(discretePosition.x, discretePosition.y, discretePosition.z);\n"
-	"	\n"
-	"	//\n"
-	"	SortDataCL mortonCodeIndexPair;\n"
-	"	mortonCodeIndexPair.m_key = mortonCode;\n"
-	"	mortonCodeIndexPair.m_value = leafNodeIndex;\n"
-	"	\n"
-	"	out_mortonCodesAndAabbIndices[leafNodeIndex] = mortonCodeIndexPair;\n"
-	"}\n"
-	"#define B3_PLVBH_TRAVERSE_MAX_STACK_SIZE 128\n"
-	"//The most significant bit(0x80000000) of a int32 is used to distinguish between leaf and internal nodes.\n"
-	"//If it is set, then the index is for an internal node; otherwise, it is a leaf node. \n"
-	"//In both cases, the bit should be cleared to access the actual node index.\n"
-	"int isLeafNode(int index) { return (index >> 31 == 0); }\n"
-	"int getIndexWithInternalNodeMarkerRemoved(int index) { return index & (~0x80000000); }\n"
-	"int getIndexWithInternalNodeMarkerSet(int isLeaf, int index) { return (isLeaf) ? index : (index | 0x80000000); }\n"
-	"//From sap.cl\n"
-	"#define NEW_PAIR_MARKER -1\n"
-	"bool TestAabbAgainstAabb2(const b3AabbCL* aabb1, const b3AabbCL* aabb2)\n"
-	"{\n"
-	"	bool overlap = true;\n"
-	"	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;\n"
-	"	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;\n"
-	"	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;\n"
-	"	return overlap;\n"
-	"}\n"
-	"//From sap.cl\n"
-	"__kernel void plbvhCalculateOverlappingPairs(__global b3AabbCL* rigidAabbs, \n"
-	"											__global int* rootNodeIndex, \n"
-	"											__global int2* internalNodeChildIndices, \n"
-	"											__global b3AabbCL* internalNodeAabbs,\n"
-	"											__global int2* internalNodeLeafIndexRanges,\n"
-	"											\n"
-	"											__global SortDataCL* mortonCodesAndAabbIndices,\n"
-	"											__global int* out_numPairs, __global int4* out_overlappingPairs, \n"
-	"											int maxPairs, int numQueryAabbs)\n"
-	"{\n"
-	"	//Using get_group_id()/get_local_id() is Faster than get_global_id(0) since\n"
-	"	//mortonCodesAndAabbIndices[] contains rigid body indices sorted along the z-curve (more spatially coherent)\n"
-	"	int queryBvhNodeIndex = get_group_id(0) * get_local_size(0) + get_local_id(0);\n"
-	"	if(queryBvhNodeIndex >= numQueryAabbs) return;\n"
-	"	\n"
-	"	int queryRigidIndex = mortonCodesAndAabbIndices[queryBvhNodeIndex].m_value;\n"
-	"	b3AabbCL queryAabb = rigidAabbs[queryRigidIndex];\n"
-	"	\n"
-	"	int stack[B3_PLVBH_TRAVERSE_MAX_STACK_SIZE];\n"
-	"	\n"
-	"	int stackSize = 1;\n"
-	"	stack[0] = *rootNodeIndex;\n"
-	"	\n"
-	"	while(stackSize)\n"
-	"	{\n"
-	"		int internalOrLeafNodeIndex = stack[ stackSize - 1 ];\n"
-	"		--stackSize;\n"
-	"		\n"
-	"		int isLeaf = isLeafNode(internalOrLeafNodeIndex);	//Internal node if false\n"
-	"		int bvhNodeIndex = getIndexWithInternalNodeMarkerRemoved(internalOrLeafNodeIndex);\n"
-	"		\n"
-	"		//Optimization - if the BVH is structured as a binary radix tree, then\n"
-	"		//each internal node corresponds to a contiguous range of leaf nodes(internalNodeLeafIndexRanges[]).\n"
-	"		//This can be used to avoid testing each AABB-AABB pair twice, including preventing each node from colliding with itself.\n"
-	"		{\n"
-	"			int highestLeafIndex = (isLeaf) ? bvhNodeIndex : internalNodeLeafIndexRanges[bvhNodeIndex].y;\n"
-	"			if(highestLeafIndex <= queryBvhNodeIndex) continue;\n"
-	"		}\n"
-	"		\n"
-	"		//bvhRigidIndex is not used if internal node\n"
-	"		int bvhRigidIndex = (isLeaf) ? mortonCodesAndAabbIndices[bvhNodeIndex].m_value : -1;\n"
-	"	\n"
-	"		b3AabbCL bvhNodeAabb = (isLeaf) ? rigidAabbs[bvhRigidIndex] : internalNodeAabbs[bvhNodeIndex];\n"
-	"		if( TestAabbAgainstAabb2(&queryAabb, &bvhNodeAabb) )\n"
-	"		{\n"
-	"			if(isLeaf)\n"
-	"			{\n"
-	"				int4 pair;\n"
-	"				pair.x = rigidAabbs[queryRigidIndex].m_minIndices[3];\n"
-	"				pair.y = rigidAabbs[bvhRigidIndex].m_minIndices[3];\n"
-	"				pair.z = NEW_PAIR_MARKER;\n"
-	"				pair.w = NEW_PAIR_MARKER;\n"
-	"				\n"
-	"				int pairIndex = atomic_inc(out_numPairs);\n"
-	"				if(pairIndex < maxPairs) out_overlappingPairs[pairIndex] = pair;\n"
-	"			}\n"
-	"			\n"
-	"			if(!isLeaf)	//Internal node\n"
-	"			{\n"
-	"				if(stackSize + 2 > B3_PLVBH_TRAVERSE_MAX_STACK_SIZE)\n"
-	"				{\n"
-	"					//Error\n"
-	"				}\n"
-	"				else\n"
-	"				{\n"
-	"					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].x;\n"
-	"					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].y;\n"
-	"				}\n"
-	"			}\n"
-	"		}\n"
-	"		\n"
-	"	}\n"
-	"}\n"
-	"//From rayCastKernels.cl\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_from;\n"
-	"	float4 m_to;\n"
-	"} b3RayInfo;\n"
-	"//From rayCastKernels.cl\n"
-	"b3Vector3 b3Vector3_normalize(b3Vector3 v)\n"
-	"{\n"
-	"	b3Vector3 normal = (b3Vector3){v.x, v.y, v.z, 0.f};\n"
-	"	return normalize(normal);	//OpenCL normalize == vector4 normalize\n"
-	"}\n"
-	"b3Scalar b3Vector3_length2(b3Vector3 v) { return v.x*v.x + v.y*v.y + v.z*v.z; }\n"
-	"b3Scalar b3Vector3_dot(b3Vector3 a, b3Vector3 b) { return a.x*b.x + a.y*b.y + a.z*b.z; }\n"
-	"int rayIntersectsAabb(b3Vector3 rayOrigin, b3Scalar rayLength, b3Vector3 rayNormalizedDirection, b3AabbCL aabb)\n"
-	"{\n"
-	"	//AABB is considered as 3 pairs of 2 planes( {x_min, x_max}, {y_min, y_max}, {z_min, z_max} ).\n"
-	"	//t_min is the point of intersection with the closer plane, t_max is the point of intersection with the farther plane.\n"
-	"	//\n"
-	"	//if (rayNormalizedDirection.x < 0.0f), then max.x will be the near plane \n"
-	"	//and min.x will be the far plane; otherwise, it is reversed.\n"
-	"	//\n"
-	"	//In order for there to be a collision, the t_min and t_max of each pair must overlap.\n"
-	"	//This can be tested for by selecting the highest t_min and lowest t_max and comparing them.\n"
-	"	\n"
-	"	int4 isNegative = isless( rayNormalizedDirection, ((b3Vector3){0.0f, 0.0f, 0.0f, 0.0f}) );	//isless(x,y) returns (x < y)\n"
-	"	\n"
-	"	//When using vector types, the select() function checks the most signficant bit, \n"
-	"	//but isless() sets the least significant bit.\n"
-	"	isNegative <<= 31;\n"
-	"	//select(b, a, condition) == condition ? a : b\n"
-	"	//When using select() with vector types, (condition[i]) is true if its most significant bit is 1\n"
-	"	b3Vector3 t_min = ( select(aabb.m_min, aabb.m_max, isNegative) - rayOrigin ) / rayNormalizedDirection;\n"
-	"	b3Vector3 t_max = ( select(aabb.m_max, aabb.m_min, isNegative) - rayOrigin ) / rayNormalizedDirection;\n"
-	"	\n"
-	"	b3Scalar t_min_final = 0.0f;\n"
-	"	b3Scalar t_max_final = rayLength;\n"
-	"	\n"
-	"	//Must use fmin()/fmax(); if one of the parameters is NaN, then the parameter that is not NaN is returned. \n"
-	"	//Behavior of min()/max() with NaNs is undefined. (See OpenCL Specification 1.2 [6.12.2] and [6.12.4])\n"
-	"	//Since the innermost fmin()/fmax() is always not NaN, this should never return NaN.\n"
-	"	t_min_final = fmax( t_min.z, fmax(t_min.y, fmax(t_min.x, t_min_final)) );\n"
-	"	t_max_final = fmin( t_max.z, fmin(t_max.y, fmin(t_max.x, t_max_final)) );\n"
-	"	\n"
-	"	return (t_min_final <= t_max_final);\n"
-	"}\n"
-	"__kernel void plbvhRayTraverse(__global b3AabbCL* rigidAabbs,\n"
-	"								__global int* rootNodeIndex, \n"
-	"								__global int2* internalNodeChildIndices, \n"
-	"								__global b3AabbCL* internalNodeAabbs,\n"
-	"								__global int2* internalNodeLeafIndexRanges,\n"
-	"								__global SortDataCL* mortonCodesAndAabbIndices,\n"
-	"								\n"
-	"								__global b3RayInfo* rays,\n"
-	"								\n"
-	"								__global int* out_numRayRigidPairs, \n"
-	"								__global int2* out_rayRigidPairs,\n"
-	"								int maxRayRigidPairs, int numRays)\n"
-	"{\n"
-	"	int rayIndex = get_global_id(0);\n"
-	"	if(rayIndex >= numRays) return;\n"
-	"	\n"
-	"	//\n"
-	"	b3Vector3 rayFrom = rays[rayIndex].m_from;\n"
-	"	b3Vector3 rayTo = rays[rayIndex].m_to;\n"
-	"	b3Vector3 rayNormalizedDirection = b3Vector3_normalize(rayTo - rayFrom);\n"
-	"	b3Scalar rayLength = b3Sqrt( b3Vector3_length2(rayTo - rayFrom) );\n"
-	"	\n"
-	"	//\n"
-	"	int stack[B3_PLVBH_TRAVERSE_MAX_STACK_SIZE];\n"
-	"	\n"
-	"	int stackSize = 1;\n"
-	"	stack[0] = *rootNodeIndex;\n"
-	"	\n"
-	"	while(stackSize)\n"
-	"	{\n"
-	"		int internalOrLeafNodeIndex = stack[ stackSize - 1 ];\n"
-	"		--stackSize;\n"
-	"		\n"
-	"		int isLeaf = isLeafNode(internalOrLeafNodeIndex);	//Internal node if false\n"
-	"		int bvhNodeIndex = getIndexWithInternalNodeMarkerRemoved(internalOrLeafNodeIndex);\n"
-	"		\n"
-	"		//bvhRigidIndex is not used if internal node\n"
-	"		int bvhRigidIndex = (isLeaf) ? mortonCodesAndAabbIndices[bvhNodeIndex].m_value : -1;\n"
-	"	\n"
-	"		b3AabbCL bvhNodeAabb = (isLeaf) ? rigidAabbs[bvhRigidIndex] : internalNodeAabbs[bvhNodeIndex];\n"
-	"		if( rayIntersectsAabb(rayFrom, rayLength, rayNormalizedDirection, bvhNodeAabb)  )\n"
-	"		{\n"
-	"			if(isLeaf)\n"
-	"			{\n"
-	"				int2 rayRigidPair;\n"
-	"				rayRigidPair.x = rayIndex;\n"
-	"				rayRigidPair.y = rigidAabbs[bvhRigidIndex].m_minIndices[3];\n"
-	"				\n"
-	"				int pairIndex = atomic_inc(out_numRayRigidPairs);\n"
-	"				if(pairIndex < maxRayRigidPairs) out_rayRigidPairs[pairIndex] = rayRigidPair;\n"
-	"			}\n"
-	"			\n"
-	"			if(!isLeaf)	//Internal node\n"
-	"			{\n"
-	"				if(stackSize + 2 > B3_PLVBH_TRAVERSE_MAX_STACK_SIZE)\n"
-	"				{\n"
-	"					//Error\n"
-	"				}\n"
-	"				else\n"
-	"				{\n"
-	"					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].x;\n"
-	"					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].y;\n"
-	"				}\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"__kernel void plbvhLargeAabbAabbTest(__global b3AabbCL* smallAabbs, __global b3AabbCL* largeAabbs, \n"
-	"									__global int* out_numPairs, __global int4* out_overlappingPairs, \n"
-	"									int maxPairs, int numLargeAabbRigids, int numSmallAabbRigids)\n"
-	"{\n"
-	"	int smallAabbIndex = get_global_id(0);\n"
-	"	if(smallAabbIndex >= numSmallAabbRigids) return;\n"
-	"	\n"
-	"	b3AabbCL smallAabb = smallAabbs[smallAabbIndex];\n"
-	"	for(int i = 0; i < numLargeAabbRigids; ++i)\n"
-	"	{\n"
-	"		b3AabbCL largeAabb = largeAabbs[i];\n"
-	"		if( TestAabbAgainstAabb2(&smallAabb, &largeAabb) )\n"
-	"		{\n"
-	"			int4 pair;\n"
-	"			pair.x = largeAabb.m_minIndices[3];\n"
-	"			pair.y = smallAabb.m_minIndices[3];\n"
-	"			pair.z = NEW_PAIR_MARKER;\n"
-	"			pair.w = NEW_PAIR_MARKER;\n"
-	"			\n"
-	"			int pairIndex = atomic_inc(out_numPairs);\n"
-	"			if(pairIndex < maxPairs) out_overlappingPairs[pairIndex] = pair;\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"__kernel void plbvhLargeAabbRayTest(__global b3AabbCL* largeRigidAabbs, __global b3RayInfo* rays,\n"
-	"									__global int* out_numRayRigidPairs,  __global int2* out_rayRigidPairs,\n"
-	"									int numLargeAabbRigids, int maxRayRigidPairs, int numRays)\n"
-	"{\n"
-	"	int rayIndex = get_global_id(0);\n"
-	"	if(rayIndex >= numRays) return;\n"
-	"	\n"
-	"	b3Vector3 rayFrom = rays[rayIndex].m_from;\n"
-	"	b3Vector3 rayTo = rays[rayIndex].m_to;\n"
-	"	b3Vector3 rayNormalizedDirection = b3Vector3_normalize(rayTo - rayFrom);\n"
-	"	b3Scalar rayLength = b3Sqrt( b3Vector3_length2(rayTo - rayFrom) );\n"
-	"	\n"
-	"	for(int i = 0; i < numLargeAabbRigids; ++i)\n"
-	"	{\n"
-	"		b3AabbCL rigidAabb = largeRigidAabbs[i];\n"
-	"		if( rayIntersectsAabb(rayFrom, rayLength, rayNormalizedDirection, rigidAabb) )\n"
-	"		{\n"
-	"			int2 rayRigidPair;\n"
-	"			rayRigidPair.x = rayIndex;\n"
-	"			rayRigidPair.y = rigidAabb.m_minIndices[3];\n"
-	"			\n"
-	"			int pairIndex = atomic_inc(out_numRayRigidPairs);\n"
-	"			if(pairIndex < maxRayRigidPairs) out_rayRigidPairs[pairIndex] = rayRigidPair;\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"//Set so that it is always greater than the actual common prefixes, and never selected as a parent node.\n"
-	"//If there are no duplicates, then the highest common prefix is 32 or 64, depending on the number of bits used for the z-curve.\n"
-	"//Duplicate common prefixes increase the highest common prefix at most by the number of bits used to index the leaf node.\n"
-	"//Since 32 bit ints are used to index leaf nodes, the max prefix is 64(32 + 32 bit z-curve) or 96(32 + 64 bit z-curve).\n"
-	"#define B3_PLBVH_INVALID_COMMON_PREFIX 128\n"
-	"#define B3_PLBVH_ROOT_NODE_MARKER -1\n"
-	"#define b3Int64 long\n"
-	"int computeCommonPrefixLength(b3Int64 i, b3Int64 j) { return (int)clz(i ^ j); }\n"
-	"b3Int64 computeCommonPrefix(b3Int64 i, b3Int64 j) \n"
-	"{\n"
-	"	//This function only needs to return (i & j) in order for the algorithm to work,\n"
-	"	//but it may help with debugging to mask out the lower bits.\n"
-	"	b3Int64 commonPrefixLength = (b3Int64)computeCommonPrefixLength(i, j);\n"
-	"	b3Int64 sharedBits = i & j;\n"
-	"	b3Int64 bitmask = ((b3Int64)(~0)) << (64 - commonPrefixLength);	//Set all bits after the common prefix to 0\n"
-	"	\n"
-	"	return sharedBits & bitmask;\n"
-	"}\n"
-	"//Same as computeCommonPrefixLength(), but allows for prefixes with different lengths\n"
-	"int getSharedPrefixLength(b3Int64 prefixA, int prefixLengthA, b3Int64 prefixB, int prefixLengthB)\n"
-	"{\n"
-	"	return b3Min( computeCommonPrefixLength(prefixA, prefixB), b3Min(prefixLengthA, prefixLengthB) );\n"
-	"}\n"
-	"__kernel void computeAdjacentPairCommonPrefix(__global SortDataCL* mortonCodesAndAabbIndices,\n"
-	"											__global b3Int64* out_commonPrefixes,\n"
-	"											__global int* out_commonPrefixLengths,\n"
-	"											int numInternalNodes)\n"
-	"{\n"
-	"	int internalNodeIndex = get_global_id(0);\n"
-	"	if (internalNodeIndex >= numInternalNodes) return;\n"
-	"	\n"
-	"	//Here, (internalNodeIndex + 1) is never out of bounds since it is a leaf node index,\n"
-	"	//and the number of internal nodes is always numLeafNodes - 1\n"
-	"	int leftLeafIndex = internalNodeIndex;\n"
-	"	int rightLeafIndex = internalNodeIndex + 1;\n"
-	"	\n"
-	"	int leftLeafMortonCode = mortonCodesAndAabbIndices[leftLeafIndex].m_key;\n"
-	"	int rightLeafMortonCode = mortonCodesAndAabbIndices[rightLeafIndex].m_key;\n"
-	"	\n"
-	"	//Binary radix tree construction algorithm does not work if there are duplicate morton codes.\n"
-	"	//Append the index of each leaf node to each morton code so that there are no duplicates.\n"
-	"	//The algorithm also requires that the morton codes are sorted in ascending order; this requirement\n"
-	"	//is also satisfied with this method, as (leftLeafIndex < rightLeafIndex) is always true.\n"
-	"	//\n"
-	"	//upsample(a, b) == ( ((b3Int64)a) << 32) | b\n"
-	"	b3Int64 nonduplicateLeftMortonCode = upsample(leftLeafMortonCode, leftLeafIndex);\n"
-	"	b3Int64 nonduplicateRightMortonCode = upsample(rightLeafMortonCode, rightLeafIndex);\n"
-	"	\n"
-	"	out_commonPrefixes[internalNodeIndex] = computeCommonPrefix(nonduplicateLeftMortonCode, nonduplicateRightMortonCode);\n"
-	"	out_commonPrefixLengths[internalNodeIndex] = computeCommonPrefixLength(nonduplicateLeftMortonCode, nonduplicateRightMortonCode);\n"
-	"}\n"
-	"__kernel void buildBinaryRadixTreeLeafNodes(__global int* commonPrefixLengths, __global int* out_leafNodeParentNodes,\n"
-	"											__global int2* out_childNodes, int numLeafNodes)\n"
-	"{\n"
-	"	int leafNodeIndex = get_global_id(0);\n"
-	"	if (leafNodeIndex >= numLeafNodes) return;\n"
-	"	\n"
-	"	int numInternalNodes = numLeafNodes - 1;\n"
-	"	\n"
-	"	int leftSplitIndex = leafNodeIndex - 1;\n"
-	"	int rightSplitIndex = leafNodeIndex;\n"
-	"	\n"
-	"	int leftCommonPrefix = (leftSplitIndex >= 0) ? commonPrefixLengths[leftSplitIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;\n"
-	"	int rightCommonPrefix = (rightSplitIndex < numInternalNodes) ? commonPrefixLengths[rightSplitIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;\n"
-	"	\n"
-	"	//Parent node is the highest adjacent common prefix that is lower than the node's common prefix\n"
-	"	//Leaf nodes are considered as having the highest common prefix\n"
-	"	int isLeftHigherCommonPrefix = (leftCommonPrefix > rightCommonPrefix);\n"
-	"	\n"
-	"	//Handle cases for the edge nodes; the first and last node\n"
-	"	//For leaf nodes, leftCommonPrefix and rightCommonPrefix should never both be B3_PLBVH_INVALID_COMMON_PREFIX\n"
-	"	if(leftCommonPrefix == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherCommonPrefix = false;\n"
-	"	if(rightCommonPrefix == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherCommonPrefix = true;\n"
-	"	\n"
-	"	int parentNodeIndex = (isLeftHigherCommonPrefix) ? leftSplitIndex : rightSplitIndex;\n"
-	"	out_leafNodeParentNodes[leafNodeIndex] = parentNodeIndex;\n"
-	"	\n"
-	"	int isRightChild = (isLeftHigherCommonPrefix);	//If the left node is the parent, then this node is its right child and vice versa\n"
-	"	\n"
-	"	//out_childNodesAsInt[0] == int2.x == left child\n"
-	"	//out_childNodesAsInt[1] == int2.y == right child\n"
-	"	int isLeaf = 1;\n"
-	"	__global int* out_childNodesAsInt = (__global int*)(&out_childNodes[parentNodeIndex]);\n"
-	"	out_childNodesAsInt[isRightChild] = getIndexWithInternalNodeMarkerSet(isLeaf, leafNodeIndex);\n"
-	"}\n"
-	"__kernel void buildBinaryRadixTreeInternalNodes(__global b3Int64* commonPrefixes, __global int* commonPrefixLengths,\n"
-	"												__global int2* out_childNodes,\n"
-	"												__global int* out_internalNodeParentNodes, __global int* out_rootNodeIndex,\n"
-	"												int numInternalNodes)\n"
-	"{\n"
-	"	int internalNodeIndex = get_group_id(0) * get_local_size(0) + get_local_id(0);\n"
-	"	if(internalNodeIndex >= numInternalNodes) return;\n"
-	"	\n"
-	"	b3Int64 nodePrefix = commonPrefixes[internalNodeIndex];\n"
-	"	int nodePrefixLength = commonPrefixLengths[internalNodeIndex];\n"
-	"	\n"
-	"//#define USE_LINEAR_SEARCH\n"
-	"#ifdef USE_LINEAR_SEARCH\n"
-	"	int leftIndex = -1;\n"
-	"	int rightIndex = -1;\n"
-	"	\n"
-	"	//Find nearest element to left with a lower common prefix\n"
-	"	for(int i = internalNodeIndex - 1; i >= 0; --i)\n"
-	"	{\n"
-	"		int nodeLeftSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, commonPrefixes[i], commonPrefixLengths[i]);\n"
-	"		if(nodeLeftSharedPrefixLength < nodePrefixLength)\n"
-	"		{\n"
-	"			leftIndex = i;\n"
-	"			break;\n"
-	"		}\n"
-	"	}\n"
-	"	\n"
-	"	//Find nearest element to right with a lower common prefix\n"
-	"	for(int i = internalNodeIndex + 1; i < numInternalNodes; ++i)\n"
-	"	{\n"
-	"		int nodeRightSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, commonPrefixes[i], commonPrefixLengths[i]);\n"
-	"		if(nodeRightSharedPrefixLength < nodePrefixLength)\n"
-	"		{\n"
-	"			rightIndex = i;\n"
-	"			break;\n"
-	"		}\n"
-	"	}\n"
-	"	\n"
-	"#else //Use binary search\n"
-	"	//Find nearest element to left with a lower common prefix\n"
-	"	int leftIndex = -1;\n"
-	"	{\n"
-	"		int lower = 0;\n"
-	"		int upper = internalNodeIndex - 1;\n"
-	"		\n"
-	"		while(lower <= upper)\n"
-	"		{\n"
-	"			int mid = (lower + upper) / 2;\n"
-	"			b3Int64 midPrefix = commonPrefixes[mid];\n"
-	"			int midPrefixLength = commonPrefixLengths[mid];\n"
-	"			\n"
-	"			int nodeMidSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, midPrefix, midPrefixLength);\n"
-	"			if(nodeMidSharedPrefixLength < nodePrefixLength) \n"
-	"			{\n"
-	"				int right = mid + 1;\n"
-	"				if(right < internalNodeIndex)\n"
-	"				{\n"
-	"					b3Int64 rightPrefix = commonPrefixes[right];\n"
-	"					int rightPrefixLength = commonPrefixLengths[right];\n"
-	"					\n"
-	"					int nodeRightSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, rightPrefix, rightPrefixLength);\n"
-	"					if(nodeRightSharedPrefixLength < nodePrefixLength) \n"
-	"					{\n"
-	"						lower = right;\n"
-	"						leftIndex = right;\n"
-	"					}\n"
-	"					else \n"
-	"					{\n"
-	"						leftIndex = mid;\n"
-	"						break;\n"
-	"					}\n"
-	"				}\n"
-	"				else \n"
-	"				{\n"
-	"					leftIndex = mid;\n"
-	"					break;\n"
-	"				}\n"
-	"			}\n"
-	"			else upper = mid - 1;\n"
-	"		}\n"
-	"	}\n"
-	"	\n"
-	"	//Find nearest element to right with a lower common prefix\n"
-	"	int rightIndex = -1;\n"
-	"	{\n"
-	"		int lower = internalNodeIndex + 1;\n"
-	"		int upper = numInternalNodes - 1;\n"
-	"		\n"
-	"		while(lower <= upper)\n"
-	"		{\n"
-	"			int mid = (lower + upper) / 2;\n"
-	"			b3Int64 midPrefix = commonPrefixes[mid];\n"
-	"			int midPrefixLength = commonPrefixLengths[mid];\n"
-	"			\n"
-	"			int nodeMidSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, midPrefix, midPrefixLength);\n"
-	"			if(nodeMidSharedPrefixLength < nodePrefixLength) \n"
-	"			{\n"
-	"				int left = mid - 1;\n"
-	"				if(left > internalNodeIndex)\n"
-	"				{\n"
-	"					b3Int64 leftPrefix = commonPrefixes[left];\n"
-	"					int leftPrefixLength = commonPrefixLengths[left];\n"
-	"				\n"
-	"					int nodeLeftSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, leftPrefix, leftPrefixLength);\n"
-	"					if(nodeLeftSharedPrefixLength < nodePrefixLength) \n"
-	"					{\n"
-	"						upper = left;\n"
-	"						rightIndex = left;\n"
-	"					}\n"
-	"					else \n"
-	"					{\n"
-	"						rightIndex = mid;\n"
-	"						break;\n"
-	"					}\n"
-	"				}\n"
-	"				else \n"
-	"				{\n"
-	"					rightIndex = mid;\n"
-	"					break;\n"
-	"				}\n"
-	"			}\n"
-	"			else lower = mid + 1;\n"
-	"		}\n"
-	"	}\n"
-	"#endif\n"
-	"	\n"
-	"	//Select parent\n"
-	"	{\n"
-	"		int leftPrefixLength = (leftIndex != -1) ? commonPrefixLengths[leftIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;\n"
-	"		int rightPrefixLength =  (rightIndex != -1) ? commonPrefixLengths[rightIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;\n"
-	"		\n"
-	"		int isLeftHigherPrefixLength = (leftPrefixLength > rightPrefixLength);\n"
-	"		\n"
-	"		if(leftPrefixLength == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherPrefixLength = false;\n"
-	"		else if(rightPrefixLength == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherPrefixLength = true;\n"
-	"		\n"
-	"		int parentNodeIndex = (isLeftHigherPrefixLength) ? leftIndex : rightIndex;\n"
-	"		\n"
-	"		int isRootNode = (leftIndex == -1 && rightIndex == -1);\n"
-	"		out_internalNodeParentNodes[internalNodeIndex] = (!isRootNode) ? parentNodeIndex : B3_PLBVH_ROOT_NODE_MARKER;\n"
-	"		\n"
-	"		int isLeaf = 0;\n"
-	"		if(!isRootNode)\n"
-	"		{\n"
-	"			int isRightChild = (isLeftHigherPrefixLength);	//If the left node is the parent, then this node is its right child and vice versa\n"
-	"			\n"
-	"			//out_childNodesAsInt[0] == int2.x == left child\n"
-	"			//out_childNodesAsInt[1] == int2.y == right child\n"
-	"			__global int* out_childNodesAsInt = (__global int*)(&out_childNodes[parentNodeIndex]);\n"
-	"			out_childNodesAsInt[isRightChild] = getIndexWithInternalNodeMarkerSet(isLeaf, internalNodeIndex);\n"
-	"		}\n"
-	"		else *out_rootNodeIndex = getIndexWithInternalNodeMarkerSet(isLeaf, internalNodeIndex);\n"
-	"	}\n"
-	"}\n"
-	"__kernel void findDistanceFromRoot(__global int* rootNodeIndex, __global int* internalNodeParentNodes,\n"
-	"									__global int* out_maxDistanceFromRoot, __global int* out_distanceFromRoot, int numInternalNodes)\n"
-	"{\n"
-	"	if( get_global_id(0) == 0 ) atomic_xchg(out_maxDistanceFromRoot, 0);\n"
-	"	int internalNodeIndex = get_global_id(0);\n"
-	"	if(internalNodeIndex >= numInternalNodes) return;\n"
-	"	\n"
-	"	//\n"
-	"	int distanceFromRoot = 0;\n"
-	"	{\n"
-	"		int parentIndex = internalNodeParentNodes[internalNodeIndex];\n"
-	"		while(parentIndex != B3_PLBVH_ROOT_NODE_MARKER)\n"
-	"		{\n"
-	"			parentIndex = internalNodeParentNodes[parentIndex];\n"
-	"			++distanceFromRoot;\n"
-	"		}\n"
-	"	}\n"
-	"	out_distanceFromRoot[internalNodeIndex] = distanceFromRoot;\n"
-	"	\n"
-	"	//\n"
-	"	__local int localMaxDistanceFromRoot;\n"
-	"	if( get_local_id(0) == 0 ) localMaxDistanceFromRoot = 0;\n"
-	"	barrier(CLK_LOCAL_MEM_FENCE);\n"
-	"	\n"
-	"	atomic_max(&localMaxDistanceFromRoot, distanceFromRoot);\n"
-	"	barrier(CLK_LOCAL_MEM_FENCE);\n"
-	"	\n"
-	"	if( get_local_id(0) == 0 ) atomic_max(out_maxDistanceFromRoot, localMaxDistanceFromRoot);\n"
-	"}\n"
-	"__kernel void buildBinaryRadixTreeAabbsRecursive(__global int* distanceFromRoot, __global SortDataCL* mortonCodesAndAabbIndices,\n"
-	"												__global int2* childNodes,\n"
-	"												__global b3AabbCL* leafNodeAabbs, __global b3AabbCL* internalNodeAabbs,\n"
-	"												int maxDistanceFromRoot, int processedDistance, int numInternalNodes)\n"
-	"{\n"
-	"	int internalNodeIndex = get_global_id(0);\n"
-	"	if(internalNodeIndex >= numInternalNodes) return;\n"
-	"	\n"
-	"	int distance = distanceFromRoot[internalNodeIndex];\n"
-	"	\n"
-	"	if(distance == processedDistance)\n"
-	"	{\n"
-	"		int leftChildIndex = childNodes[internalNodeIndex].x;\n"
-	"		int rightChildIndex = childNodes[internalNodeIndex].y;\n"
-	"		\n"
-	"		int isLeftChildLeaf = isLeafNode(leftChildIndex);\n"
-	"		int isRightChildLeaf = isLeafNode(rightChildIndex);\n"
-	"		\n"
-	"		leftChildIndex = getIndexWithInternalNodeMarkerRemoved(leftChildIndex);\n"
-	"		rightChildIndex = getIndexWithInternalNodeMarkerRemoved(rightChildIndex);\n"
-	"		\n"
-	"		//leftRigidIndex/rightRigidIndex is not used if internal node\n"
-	"		int leftRigidIndex = (isLeftChildLeaf) ? mortonCodesAndAabbIndices[leftChildIndex].m_value : -1;\n"
-	"		int rightRigidIndex = (isRightChildLeaf) ? mortonCodesAndAabbIndices[rightChildIndex].m_value : -1;\n"
-	"		\n"
-	"		b3AabbCL leftChildAabb = (isLeftChildLeaf) ? leafNodeAabbs[leftRigidIndex] : internalNodeAabbs[leftChildIndex];\n"
-	"		b3AabbCL rightChildAabb = (isRightChildLeaf) ? leafNodeAabbs[rightRigidIndex] : internalNodeAabbs[rightChildIndex];\n"
-	"		\n"
-	"		b3AabbCL mergedAabb;\n"
-	"		mergedAabb.m_min = b3Min(leftChildAabb.m_min, rightChildAabb.m_min);\n"
-	"		mergedAabb.m_max = b3Max(leftChildAabb.m_max, rightChildAabb.m_max);\n"
-	"		internalNodeAabbs[internalNodeIndex] = mergedAabb;\n"
-	"	}\n"
-	"}\n"
-	"__kernel void findLeafIndexRanges(__global int2* internalNodeChildNodes, __global int2* out_leafIndexRanges, int numInternalNodes)\n"
-	"{\n"
-	"	int internalNodeIndex = get_global_id(0);\n"
-	"	if(internalNodeIndex >= numInternalNodes) return;\n"
-	"	\n"
-	"	int numLeafNodes = numInternalNodes + 1;\n"
-	"	\n"
-	"	int2 childNodes = internalNodeChildNodes[internalNodeIndex];\n"
-	"	\n"
-	"	int2 leafIndexRange;	//x == min leaf index, y == max leaf index\n"
-	"	\n"
-	"	//Find lowest leaf index covered by this internal node\n"
-	"	{\n"
-	"		int lowestIndex = childNodes.x;		//childNodes.x == Left child\n"
-	"		while( !isLeafNode(lowestIndex) ) lowestIndex = internalNodeChildNodes[ getIndexWithInternalNodeMarkerRemoved(lowestIndex) ].x;\n"
-	"		leafIndexRange.x = lowestIndex;\n"
-	"	}\n"
-	"	\n"
-	"	//Find highest leaf index covered by this internal node\n"
-	"	{\n"
-	"		int highestIndex = childNodes.y;	//childNodes.y == Right child\n"
-	"		while( !isLeafNode(highestIndex) ) highestIndex = internalNodeChildNodes[ getIndexWithInternalNodeMarkerRemoved(highestIndex) ].y;\n"
-	"		leafIndexRange.y = highestIndex;\n"
-	"	}\n"
-	"	\n"
-	"	//\n"
-	"	out_leafIndexRanges[internalNodeIndex] = leafIndexRange;\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl
deleted file mode 100644
index 93f77a6433..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl
+++ /dev/null
@@ -1,389 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Erwin Coumans
-
-#define NEW_PAIR_MARKER -1
-
-typedef struct 
-{
-	union
-	{
-		float4	m_min;
-		float   m_minElems[4];
-		int			m_minIndices[4];
-	};
-	union
-	{
-		float4	m_max;
-		float   m_maxElems[4];
-		int			m_maxIndices[4];
-	};
-} btAabbCL;
-
-
-/// conservative test for overlap between two aabbs
-bool TestAabbAgainstAabb2(const btAabbCL* aabb1, __local const btAabbCL* aabb2);
-bool TestAabbAgainstAabb2(const btAabbCL* aabb1, __local const btAabbCL* aabb2)
-{
-	bool overlap = true;
-	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;
-	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;
-	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;
-	return overlap;
-}
-bool TestAabbAgainstAabb2GlobalGlobal(__global const btAabbCL* aabb1, __global const btAabbCL* aabb2);
-bool TestAabbAgainstAabb2GlobalGlobal(__global const btAabbCL* aabb1, __global const btAabbCL* aabb2)
-{
-	bool overlap = true;
-	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;
-	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;
-	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;
-	return overlap;
-}
-
-bool TestAabbAgainstAabb2Global(const btAabbCL* aabb1, __global const btAabbCL* aabb2);
-bool TestAabbAgainstAabb2Global(const btAabbCL* aabb1, __global const btAabbCL* aabb2)
-{
-	bool overlap = true;
-	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;
-	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;
-	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;
-	return overlap;
-}
-
-
-__kernel void   computePairsKernelTwoArrays( __global const btAabbCL* unsortedAabbs, __global const int* unsortedAabbMapping,  __global const int* unsortedAabbMapping2, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numUnsortedAabbs, int numUnSortedAabbs2, int axis, int maxPairs)
-{
-	int i = get_global_id(0);
-	if (i>=numUnsortedAabbs)
-		return;
-
-	int j = get_global_id(1);
-	if (j>=numUnSortedAabbs2)
-		return;
-
-
-	__global const btAabbCL* unsortedAabbPtr = &unsortedAabbs[unsortedAabbMapping[i]];
-	__global const btAabbCL* unsortedAabbPtr2 = &unsortedAabbs[unsortedAabbMapping2[j]];
-
-	if (TestAabbAgainstAabb2GlobalGlobal(unsortedAabbPtr,unsortedAabbPtr2))
-	{
-		int4 myPair;
-		
-		int xIndex = unsortedAabbPtr[0].m_minIndices[3];
-		int yIndex = unsortedAabbPtr2[0].m_minIndices[3];
-		if (xIndex>yIndex)
-		{
-			int tmp = xIndex;
-			xIndex=yIndex;
-			yIndex=tmp;
-		}
-		
-		myPair.x = xIndex;
-		myPair.y = yIndex;
-		myPair.z = NEW_PAIR_MARKER;
-		myPair.w = NEW_PAIR_MARKER;
-
-
-		int curPair = atomic_inc (pairCount);
-		if (curPair<maxPairs)
-		{
-				pairsOut[curPair] = myPair; //flush to main memory
-		}
-	}
-}
-
-
-
-__kernel void   computePairsKernelBruteForce( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)
-{
-	int i = get_global_id(0);
-	if (i>=numObjects)
-		return;
-	for (int j=i+1;j<numObjects;j++)
-	{
-		if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))
-		{
-			int4 myPair;
-			myPair.x = aabbs[i].m_minIndices[3];
-			myPair.y = aabbs[j].m_minIndices[3];
-			myPair.z = NEW_PAIR_MARKER;
-			myPair.w = NEW_PAIR_MARKER;
-
-			int curPair = atomic_inc (pairCount);
-			if (curPair<maxPairs)
-			{
-					pairsOut[curPair] = myPair; //flush to main memory
-			}
-		}
-	}
-}
-
-__kernel void   computePairsKernelOriginal( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)
-{
-	int i = get_global_id(0);
-	if (i>=numObjects)
-		return;
-	for (int j=i+1;j<numObjects;j++)
-	{
-  	if(aabbs[i].m_maxElems[axis] < (aabbs[j].m_minElems[axis])) 
-		{
-			break;
-		}
-		if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))
-		{
-			int4 myPair;
-			myPair.x = aabbs[i].m_minIndices[3];
-			myPair.y = aabbs[j].m_minIndices[3];
-			myPair.z = NEW_PAIR_MARKER;
-			myPair.w = NEW_PAIR_MARKER;
-
-			int curPair = atomic_inc (pairCount);
-			if (curPair<maxPairs)
-			{
-					pairsOut[curPair] = myPair; //flush to main memory
-			}
-		}
-	}
-}
-
-
-
-
-__kernel void   computePairsKernelBarrier( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)
-{
-	int i = get_global_id(0);
-	int localId = get_local_id(0);
-
-	__local int numActiveWgItems[1];
-	__local int breakRequest[1];
-
-	if (localId==0)
-	{
-		numActiveWgItems[0] = 0;
-		breakRequest[0] = 0;
-	}
-	barrier(CLK_LOCAL_MEM_FENCE);
-	atomic_inc(numActiveWgItems);
-	barrier(CLK_LOCAL_MEM_FENCE);
-	int localBreak = 0;
-
-	int j=i+1;
-	do
-	{
-		barrier(CLK_LOCAL_MEM_FENCE);
-	
-		if (j<numObjects)
-		{
-	  	if(aabbs[i].m_maxElems[axis] < (aabbs[j].m_minElems[axis])) 
-			{
-				if (!localBreak)
-				{
-					atomic_inc(breakRequest);
-					localBreak = 1;
-				}
-			}
-		}
-		
-		barrier(CLK_LOCAL_MEM_FENCE);
-		
-		if (j>=numObjects && !localBreak)
-		{
-			atomic_inc(breakRequest);
-			localBreak = 1;
-		}
-		barrier(CLK_LOCAL_MEM_FENCE);
-		
-		if (!localBreak)
-		{
-			if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))
-			{
-				int4 myPair;
-				myPair.x = aabbs[i].m_minIndices[3];
-				myPair.y = aabbs[j].m_minIndices[3];
-				myPair.z = NEW_PAIR_MARKER;
-				myPair.w = NEW_PAIR_MARKER;
-
-				int curPair = atomic_inc (pairCount);
-				if (curPair<maxPairs)
-				{
-						pairsOut[curPair] = myPair; //flush to main memory
-				}
-			}
-		}
-		j++;
-
-	} while (breakRequest[0]<numActiveWgItems[0]);
-}
-
-
-__kernel void   computePairsKernelLocalSharedMemory( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)
-{
-	int i = get_global_id(0);
-	int localId = get_local_id(0);
-
-	__local int numActiveWgItems[1];
-	__local int breakRequest[1];
-	__local btAabbCL localAabbs[128];// = aabbs[i];
-	
-	btAabbCL myAabb;
-	
-	myAabb = (i<numObjects)? aabbs[i]:aabbs[0];
-	float testValue = 	myAabb.m_maxElems[axis];
-	
-	if (localId==0)
-	{
-		numActiveWgItems[0] = 0;
-		breakRequest[0] = 0;
-	}
-	int localCount=0;
-	int block=0;
-	localAabbs[localId] = (i+block)<numObjects? aabbs[i+block] : aabbs[0];
-	localAabbs[localId+64] = (i+block+64)<numObjects? aabbs[i+block+64]: aabbs[0];
-	
-	barrier(CLK_LOCAL_MEM_FENCE);
-	atomic_inc(numActiveWgItems);
-	barrier(CLK_LOCAL_MEM_FENCE);
-	int localBreak = 0;
-	
-	int j=i+1;
-	do
-	{
-		barrier(CLK_LOCAL_MEM_FENCE);
-	
-		if (j<numObjects)
-		{
-	  	if(testValue < (localAabbs[localCount+localId+1].m_minElems[axis])) 
-			{
-				if (!localBreak)
-				{
-					atomic_inc(breakRequest);
-					localBreak = 1;
-				}
-			}
-		}
-		
-		barrier(CLK_LOCAL_MEM_FENCE);
-		
-		if (j>=numObjects && !localBreak)
-		{
-			atomic_inc(breakRequest);
-			localBreak = 1;
-		}
-		barrier(CLK_LOCAL_MEM_FENCE);
-		
-		if (!localBreak)
-		{
-			if (TestAabbAgainstAabb2(&myAabb,&localAabbs[localCount+localId+1]))
-			{
-				int4 myPair;
-				myPair.x = myAabb.m_minIndices[3];
-				myPair.y = localAabbs[localCount+localId+1].m_minIndices[3];
-				myPair.z = NEW_PAIR_MARKER;
-				myPair.w = NEW_PAIR_MARKER;
-
-				int curPair = atomic_inc (pairCount);
-				if (curPair<maxPairs)
-				{
-						pairsOut[curPair] = myPair; //flush to main memory
-				}
-			}
-		}
-		
-		barrier(CLK_LOCAL_MEM_FENCE);
-
-		localCount++;
-		if (localCount==64)
-		{
-			localCount = 0;
-			block+=64;			
-			localAabbs[localId] = ((i+block)<numObjects) ? aabbs[i+block] : aabbs[0];
-			localAabbs[localId+64] = ((i+64+block)<numObjects) ? aabbs[i+block+64] : aabbs[0];
-		}
-		j++;
-		
-	} while (breakRequest[0]<numActiveWgItems[0]);
-	
-}
-
-
-
-
-//http://stereopsis.com/radix.html
-unsigned int FloatFlip(float fl);
-unsigned int FloatFlip(float fl)
-{
-	unsigned int f = *(unsigned int*)&fl;
-	unsigned int mask = -(int)(f >> 31) | 0x80000000;
-	return f ^ mask;
-}
-float IFloatFlip(unsigned int f);
-float IFloatFlip(unsigned int f)
-{
-	unsigned int mask = ((f >> 31) - 1) | 0x80000000;
-	unsigned int fl = f ^ mask;
-	return *(float*)&fl;
-}
-
-
-
-
-__kernel void   copyAabbsKernel( __global const btAabbCL* allAabbs, __global btAabbCL* destAabbs, int numObjects)
-{
-	int i = get_global_id(0);
-	if (i>=numObjects)
-		return;
-	int src = destAabbs[i].m_maxIndices[3];
-	destAabbs[i] = allAabbs[src];
-	destAabbs[i].m_maxIndices[3] = src;
-}
-
-
-__kernel void   flipFloatKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, __global int2* sortData, int numObjects, int axis)
-{
-	int i = get_global_id(0);
-	if (i>=numObjects)
-		return;
-	
-	
-	sortData[i].x = FloatFlip(allAabbs[smallAabbMapping[i]].m_minElems[axis]);
-	sortData[i].y = i;
-		
-}
-
-
-__kernel void   scatterKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, volatile __global const int2* sortData, __global btAabbCL* sortedAabbs, int numObjects)
-{
-	int i = get_global_id(0);
-	if (i>=numObjects)
-		return;
-	
-	sortedAabbs[i] = allAabbs[smallAabbMapping[sortData[i].y]];
-}
-
-
-
-__kernel void   prepareSumVarianceKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, __global float4* sum, __global float4* sum2,int numAabbs)
-{
-	int i = get_global_id(0);
-	if (i>=numAabbs)
-		return;
-	
-	btAabbCL smallAabb = allAabbs[smallAabbMapping[i]];
-	
-	float4 s;
-	s = (smallAabb.m_max+smallAabb.m_min)*0.5f;
-	sum[i]=s;
-	sum2[i]=s*s;	
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/sapKernels.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/sapKernels.h
deleted file mode 100644
index d6999b94cb..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/sapKernels.h
+++ /dev/null
@@ -1,341 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* sapCL =
-	"/*\n"
-	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose, \n"
-	"including commercial applications, and to alter it and redistribute it freely, \n"
-	"subject to the following restrictions:\n"
-	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Originally written by Erwin Coumans\n"
-	"#define NEW_PAIR_MARKER -1\n"
-	"typedef struct \n"
-	"{\n"
-	"	union\n"
-	"	{\n"
-	"		float4	m_min;\n"
-	"		float   m_minElems[4];\n"
-	"		int			m_minIndices[4];\n"
-	"	};\n"
-	"	union\n"
-	"	{\n"
-	"		float4	m_max;\n"
-	"		float   m_maxElems[4];\n"
-	"		int			m_maxIndices[4];\n"
-	"	};\n"
-	"} btAabbCL;\n"
-	"/// conservative test for overlap between two aabbs\n"
-	"bool TestAabbAgainstAabb2(const btAabbCL* aabb1, __local const btAabbCL* aabb2);\n"
-	"bool TestAabbAgainstAabb2(const btAabbCL* aabb1, __local const btAabbCL* aabb2)\n"
-	"{\n"
-	"	bool overlap = true;\n"
-	"	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;\n"
-	"	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;\n"
-	"	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;\n"
-	"	return overlap;\n"
-	"}\n"
-	"bool TestAabbAgainstAabb2GlobalGlobal(__global const btAabbCL* aabb1, __global const btAabbCL* aabb2);\n"
-	"bool TestAabbAgainstAabb2GlobalGlobal(__global const btAabbCL* aabb1, __global const btAabbCL* aabb2)\n"
-	"{\n"
-	"	bool overlap = true;\n"
-	"	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;\n"
-	"	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;\n"
-	"	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;\n"
-	"	return overlap;\n"
-	"}\n"
-	"bool TestAabbAgainstAabb2Global(const btAabbCL* aabb1, __global const btAabbCL* aabb2);\n"
-	"bool TestAabbAgainstAabb2Global(const btAabbCL* aabb1, __global const btAabbCL* aabb2)\n"
-	"{\n"
-	"	bool overlap = true;\n"
-	"	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;\n"
-	"	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;\n"
-	"	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;\n"
-	"	return overlap;\n"
-	"}\n"
-	"__kernel void   computePairsKernelTwoArrays( __global const btAabbCL* unsortedAabbs, __global const int* unsortedAabbMapping,  __global const int* unsortedAabbMapping2, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numUnsortedAabbs, int numUnSortedAabbs2, int axis, int maxPairs)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	if (i>=numUnsortedAabbs)\n"
-	"		return;\n"
-	"	int j = get_global_id(1);\n"
-	"	if (j>=numUnSortedAabbs2)\n"
-	"		return;\n"
-	"	__global const btAabbCL* unsortedAabbPtr = &unsortedAabbs[unsortedAabbMapping[i]];\n"
-	"	__global const btAabbCL* unsortedAabbPtr2 = &unsortedAabbs[unsortedAabbMapping2[j]];\n"
-	"	if (TestAabbAgainstAabb2GlobalGlobal(unsortedAabbPtr,unsortedAabbPtr2))\n"
-	"	{\n"
-	"		int4 myPair;\n"
-	"		\n"
-	"		int xIndex = unsortedAabbPtr[0].m_minIndices[3];\n"
-	"		int yIndex = unsortedAabbPtr2[0].m_minIndices[3];\n"
-	"		if (xIndex>yIndex)\n"
-	"		{\n"
-	"			int tmp = xIndex;\n"
-	"			xIndex=yIndex;\n"
-	"			yIndex=tmp;\n"
-	"		}\n"
-	"		\n"
-	"		myPair.x = xIndex;\n"
-	"		myPair.y = yIndex;\n"
-	"		myPair.z = NEW_PAIR_MARKER;\n"
-	"		myPair.w = NEW_PAIR_MARKER;\n"
-	"		int curPair = atomic_inc (pairCount);\n"
-	"		if (curPair<maxPairs)\n"
-	"		{\n"
-	"				pairsOut[curPair] = myPair; //flush to main memory\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"__kernel void   computePairsKernelBruteForce( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	if (i>=numObjects)\n"
-	"		return;\n"
-	"	for (int j=i+1;j<numObjects;j++)\n"
-	"	{\n"
-	"		if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))\n"
-	"		{\n"
-	"			int4 myPair;\n"
-	"			myPair.x = aabbs[i].m_minIndices[3];\n"
-	"			myPair.y = aabbs[j].m_minIndices[3];\n"
-	"			myPair.z = NEW_PAIR_MARKER;\n"
-	"			myPair.w = NEW_PAIR_MARKER;\n"
-	"			int curPair = atomic_inc (pairCount);\n"
-	"			if (curPair<maxPairs)\n"
-	"			{\n"
-	"					pairsOut[curPair] = myPair; //flush to main memory\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"__kernel void   computePairsKernelOriginal( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	if (i>=numObjects)\n"
-	"		return;\n"
-	"	for (int j=i+1;j<numObjects;j++)\n"
-	"	{\n"
-	"  	if(aabbs[i].m_maxElems[axis] < (aabbs[j].m_minElems[axis])) \n"
-	"		{\n"
-	"			break;\n"
-	"		}\n"
-	"		if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))\n"
-	"		{\n"
-	"			int4 myPair;\n"
-	"			myPair.x = aabbs[i].m_minIndices[3];\n"
-	"			myPair.y = aabbs[j].m_minIndices[3];\n"
-	"			myPair.z = NEW_PAIR_MARKER;\n"
-	"			myPair.w = NEW_PAIR_MARKER;\n"
-	"			int curPair = atomic_inc (pairCount);\n"
-	"			if (curPair<maxPairs)\n"
-	"			{\n"
-	"					pairsOut[curPair] = myPair; //flush to main memory\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"__kernel void   computePairsKernelBarrier( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	int localId = get_local_id(0);\n"
-	"	__local int numActiveWgItems[1];\n"
-	"	__local int breakRequest[1];\n"
-	"	if (localId==0)\n"
-	"	{\n"
-	"		numActiveWgItems[0] = 0;\n"
-	"		breakRequest[0] = 0;\n"
-	"	}\n"
-	"	barrier(CLK_LOCAL_MEM_FENCE);\n"
-	"	atomic_inc(numActiveWgItems);\n"
-	"	barrier(CLK_LOCAL_MEM_FENCE);\n"
-	"	int localBreak = 0;\n"
-	"	int j=i+1;\n"
-	"	do\n"
-	"	{\n"
-	"		barrier(CLK_LOCAL_MEM_FENCE);\n"
-	"	\n"
-	"		if (j<numObjects)\n"
-	"		{\n"
-	"	  	if(aabbs[i].m_maxElems[axis] < (aabbs[j].m_minElems[axis])) \n"
-	"			{\n"
-	"				if (!localBreak)\n"
-	"				{\n"
-	"					atomic_inc(breakRequest);\n"
-	"					localBreak = 1;\n"
-	"				}\n"
-	"			}\n"
-	"		}\n"
-	"		\n"
-	"		barrier(CLK_LOCAL_MEM_FENCE);\n"
-	"		\n"
-	"		if (j>=numObjects && !localBreak)\n"
-	"		{\n"
-	"			atomic_inc(breakRequest);\n"
-	"			localBreak = 1;\n"
-	"		}\n"
-	"		barrier(CLK_LOCAL_MEM_FENCE);\n"
-	"		\n"
-	"		if (!localBreak)\n"
-	"		{\n"
-	"			if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))\n"
-	"			{\n"
-	"				int4 myPair;\n"
-	"				myPair.x = aabbs[i].m_minIndices[3];\n"
-	"				myPair.y = aabbs[j].m_minIndices[3];\n"
-	"				myPair.z = NEW_PAIR_MARKER;\n"
-	"				myPair.w = NEW_PAIR_MARKER;\n"
-	"				int curPair = atomic_inc (pairCount);\n"
-	"				if (curPair<maxPairs)\n"
-	"				{\n"
-	"						pairsOut[curPair] = myPair; //flush to main memory\n"
-	"				}\n"
-	"			}\n"
-	"		}\n"
-	"		j++;\n"
-	"	} while (breakRequest[0]<numActiveWgItems[0]);\n"
-	"}\n"
-	"__kernel void   computePairsKernelLocalSharedMemory( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	int localId = get_local_id(0);\n"
-	"	__local int numActiveWgItems[1];\n"
-	"	__local int breakRequest[1];\n"
-	"	__local btAabbCL localAabbs[128];// = aabbs[i];\n"
-	"	\n"
-	"	btAabbCL myAabb;\n"
-	"	\n"
-	"	myAabb = (i<numObjects)? aabbs[i]:aabbs[0];\n"
-	"	float testValue = 	myAabb.m_maxElems[axis];\n"
-	"	\n"
-	"	if (localId==0)\n"
-	"	{\n"
-	"		numActiveWgItems[0] = 0;\n"
-	"		breakRequest[0] = 0;\n"
-	"	}\n"
-	"	int localCount=0;\n"
-	"	int block=0;\n"
-	"	localAabbs[localId] = (i+block)<numObjects? aabbs[i+block] : aabbs[0];\n"
-	"	localAabbs[localId+64] = (i+block+64)<numObjects? aabbs[i+block+64]: aabbs[0];\n"
-	"	\n"
-	"	barrier(CLK_LOCAL_MEM_FENCE);\n"
-	"	atomic_inc(numActiveWgItems);\n"
-	"	barrier(CLK_LOCAL_MEM_FENCE);\n"
-	"	int localBreak = 0;\n"
-	"	\n"
-	"	int j=i+1;\n"
-	"	do\n"
-	"	{\n"
-	"		barrier(CLK_LOCAL_MEM_FENCE);\n"
-	"	\n"
-	"		if (j<numObjects)\n"
-	"		{\n"
-	"	  	if(testValue < (localAabbs[localCount+localId+1].m_minElems[axis])) \n"
-	"			{\n"
-	"				if (!localBreak)\n"
-	"				{\n"
-	"					atomic_inc(breakRequest);\n"
-	"					localBreak = 1;\n"
-	"				}\n"
-	"			}\n"
-	"		}\n"
-	"		\n"
-	"		barrier(CLK_LOCAL_MEM_FENCE);\n"
-	"		\n"
-	"		if (j>=numObjects && !localBreak)\n"
-	"		{\n"
-	"			atomic_inc(breakRequest);\n"
-	"			localBreak = 1;\n"
-	"		}\n"
-	"		barrier(CLK_LOCAL_MEM_FENCE);\n"
-	"		\n"
-	"		if (!localBreak)\n"
-	"		{\n"
-	"			if (TestAabbAgainstAabb2(&myAabb,&localAabbs[localCount+localId+1]))\n"
-	"			{\n"
-	"				int4 myPair;\n"
-	"				myPair.x = myAabb.m_minIndices[3];\n"
-	"				myPair.y = localAabbs[localCount+localId+1].m_minIndices[3];\n"
-	"				myPair.z = NEW_PAIR_MARKER;\n"
-	"				myPair.w = NEW_PAIR_MARKER;\n"
-	"				int curPair = atomic_inc (pairCount);\n"
-	"				if (curPair<maxPairs)\n"
-	"				{\n"
-	"						pairsOut[curPair] = myPair; //flush to main memory\n"
-	"				}\n"
-	"			}\n"
-	"		}\n"
-	"		\n"
-	"		barrier(CLK_LOCAL_MEM_FENCE);\n"
-	"		localCount++;\n"
-	"		if (localCount==64)\n"
-	"		{\n"
-	"			localCount = 0;\n"
-	"			block+=64;			\n"
-	"			localAabbs[localId] = ((i+block)<numObjects) ? aabbs[i+block] : aabbs[0];\n"
-	"			localAabbs[localId+64] = ((i+64+block)<numObjects) ? aabbs[i+block+64] : aabbs[0];\n"
-	"		}\n"
-	"		j++;\n"
-	"		\n"
-	"	} while (breakRequest[0]<numActiveWgItems[0]);\n"
-	"	\n"
-	"}\n"
-	"//http://stereopsis.com/radix.html\n"
-	"unsigned int FloatFlip(float fl);\n"
-	"unsigned int FloatFlip(float fl)\n"
-	"{\n"
-	"	unsigned int f = *(unsigned int*)&fl;\n"
-	"	unsigned int mask = -(int)(f >> 31) | 0x80000000;\n"
-	"	return f ^ mask;\n"
-	"}\n"
-	"float IFloatFlip(unsigned int f);\n"
-	"float IFloatFlip(unsigned int f)\n"
-	"{\n"
-	"	unsigned int mask = ((f >> 31) - 1) | 0x80000000;\n"
-	"	unsigned int fl = f ^ mask;\n"
-	"	return *(float*)&fl;\n"
-	"}\n"
-	"__kernel void   copyAabbsKernel( __global const btAabbCL* allAabbs, __global btAabbCL* destAabbs, int numObjects)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	if (i>=numObjects)\n"
-	"		return;\n"
-	"	int src = destAabbs[i].m_maxIndices[3];\n"
-	"	destAabbs[i] = allAabbs[src];\n"
-	"	destAabbs[i].m_maxIndices[3] = src;\n"
-	"}\n"
-	"__kernel void   flipFloatKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, __global int2* sortData, int numObjects, int axis)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	if (i>=numObjects)\n"
-	"		return;\n"
-	"	\n"
-	"	\n"
-	"	sortData[i].x = FloatFlip(allAabbs[smallAabbMapping[i]].m_minElems[axis]);\n"
-	"	sortData[i].y = i;\n"
-	"		\n"
-	"}\n"
-	"__kernel void   scatterKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, volatile __global const int2* sortData, __global btAabbCL* sortedAabbs, int numObjects)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	if (i>=numObjects)\n"
-	"		return;\n"
-	"	\n"
-	"	sortedAabbs[i] = allAabbs[smallAabbMapping[sortData[i].y]];\n"
-	"}\n"
-	"__kernel void   prepareSumVarianceKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, __global float4* sum, __global float4* sum2,int numAabbs)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	if (i>=numAabbs)\n"
-	"		return;\n"
-	"	\n"
-	"	btAabbCL smallAabb = allAabbs[smallAabbMapping[i]];\n"
-	"	\n"
-	"	float4 s;\n"
-	"	s = (smallAabb.m_max+smallAabb.m_min)*0.5f;\n"
-	"	sum[i]=s;\n"
-	"	sum2[i]=s*s;	\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLInclude.h b/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLInclude.h
deleted file mode 100644
index 6146538263..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLInclude.h
+++ /dev/null
@@ -1,51 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2011 Advanced Micro Devices, Inc.  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_OPENCL_INCLUDE_H
-#define B3_OPENCL_INCLUDE_H
-
-#ifdef B3_USE_CLEW
-#include "clew/clew.h"
-#else
-
-#ifdef __APPLE__
-#ifdef USE_MINICL
-#include <MiniCL/cl.h>
-#else
-#include <OpenCL/cl.h>
-#include <OpenCL/cl_ext.h>  //clLogMessagesToStderrAPPLE
-#endif
-#else
-#ifdef USE_MINICL
-#include <MiniCL/cl.h>
-#else
-#include <CL/cl.h>
-#ifdef _WIN32
-#include "CL/cl_gl.h"
-#endif  //_WIN32
-#endif
-#endif  //__APPLE__
-#endif  //B3_USE_CLEW
-
-#include <assert.h>
-#include <stdio.h>
-#define oclCHECKERROR(a, b)              \
-	if ((a) != (b))                      \
-	{                                    \
-		printf("OCL Error : %d\n", (a)); \
-		assert((a) == (b));              \
-	}
-
-#endif  //B3_OPENCL_INCLUDE_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp b/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp
deleted file mode 100644
index fe54ea5ec9..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp
+++ /dev/null
@@ -1,963 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
-Copyright (C) 2006 - 2011 Sony Computer Entertainment Inc.
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-//Original author: Roman Ponomarev
-//Mostly Reimplemented by Erwin Coumans
-
-bool gDebugForceLoadingFromSource = false;
-bool gDebugSkipLoadingBinary = false;
-
-#include "Bullet3Common/b3Logging.h"
-
-#include <string.h>
-
-#ifdef _WIN32
-#pragma warning(disable : 4996)
-#endif
-#include "b3OpenCLUtils.h"
-//#include "b3OpenCLInclude.h"
-
-#include <stdio.h>
-#include <stdlib.h>
-
-#define B3_MAX_CL_DEVICES 16  //who needs 16 devices?
-
-#ifdef _WIN32
-#include <windows.h>
-#endif
-
-#include <assert.h>
-#define b3Assert assert
-#ifndef _WIN32
-#include <sys/stat.h>
-
-#endif
-
-static const char* sCachedBinaryPath = "cache";
-
-//Set the preferred platform vendor using the OpenCL SDK
-static const char* spPlatformVendor =
-#if defined(CL_PLATFORM_MINI_CL)
-	"MiniCL, SCEA";
-#elif defined(CL_PLATFORM_AMD)
-	"Advanced Micro Devices, Inc.";
-#elif defined(CL_PLATFORM_NVIDIA)
-	"NVIDIA Corporation";
-#elif defined(CL_PLATFORM_INTEL)
-	"Intel(R) Corporation";
-#elif defined(B3_USE_CLEW)
-	"clew (OpenCL Extension Wrangler library)";
-#else
-	"Unknown Vendor";
-#endif
-
-#ifndef CL_PLATFORM_MINI_CL
-#ifdef _WIN32
-#ifndef B3_USE_CLEW
-#include "CL/cl_gl.h"
-#endif  //B3_USE_CLEW
-#endif  //_WIN32
-#endif
-
-void MyFatalBreakAPPLE(const char* errstr,
-					   const void* private_info,
-					   size_t cb,
-					   void* user_data)
-{
-	const char* patloc = strstr(errstr, "Warning");
-	//find out if it is a warning or error, exit if error
-
-	if (patloc)
-	{
-		b3Warning("Warning: %s\n", errstr);
-	}
-	else
-	{
-		b3Error("Error: %s\n", errstr);
-		b3Assert(0);
-	}
-}
-
-#ifdef B3_USE_CLEW
-
-int b3OpenCLUtils_clewInit()
-{
-	int result = -1;
-
-#ifdef _WIN32
-	const char* cl = "OpenCL.dll";
-#elif defined __APPLE__
-	const char* cl = "/System/Library/Frameworks/OpenCL.framework/Versions/Current/OpenCL";
-#else  //presumable Linux? \
-	   //linux (tested on Ubuntu 12.10 with Catalyst 13.4 beta drivers, not that there is no symbolic link from libOpenCL.so
-	const char* cl = "libOpenCL.so.1";
-	result = clewInit(cl);
-	if (result != CLEW_SUCCESS)
-	{
-		cl = "libOpenCL.so";
-	}
-	else
-	{
-		clewExit();
-	}
-#endif
-	result = clewInit(cl);
-	if (result != CLEW_SUCCESS)
-	{
-		b3Error("clewInit failed with error code %d\n", result);
-	}
-	else
-	{
-		b3Printf("clewInit succesfull using %s\n", cl);
-	}
-	return result;
-}
-#endif
-
-int b3OpenCLUtils_getNumPlatforms(cl_int* pErrNum)
-{
-#ifdef B3_USE_CLEW
-	b3OpenCLUtils_clewInit();
-#endif
-
-	cl_platform_id pPlatforms[10] = {0};
-
-	cl_uint numPlatforms = 0;
-	cl_int ciErrNum = clGetPlatformIDs(10, pPlatforms, &numPlatforms);
-	//cl_int ciErrNum = clGetPlatformIDs(0, NULL, &numPlatforms);
-
-	if (ciErrNum != CL_SUCCESS)
-	{
-		if (pErrNum != NULL)
-			*pErrNum = ciErrNum;
-	}
-	return numPlatforms;
-}
-
-const char* b3OpenCLUtils_getSdkVendorName()
-{
-	return spPlatformVendor;
-}
-
-void b3OpenCLUtils_setCachePath(const char* path)
-{
-	sCachedBinaryPath = path;
-}
-
-cl_platform_id b3OpenCLUtils_getPlatform(int platformIndex0, cl_int* pErrNum)
-{
-#ifdef B3_USE_CLEW
-	b3OpenCLUtils_clewInit();
-#endif
-
-	cl_platform_id platform = 0;
-	unsigned int platformIndex = (unsigned int)platformIndex0;
-	cl_uint numPlatforms;
-	cl_int ciErrNum = clGetPlatformIDs(0, NULL, &numPlatforms);
-
-	if (platformIndex < numPlatforms)
-	{
-		cl_platform_id* platforms = (cl_platform_id*)malloc(sizeof(cl_platform_id) * numPlatforms);
-		ciErrNum = clGetPlatformIDs(numPlatforms, platforms, NULL);
-		if (ciErrNum != CL_SUCCESS)
-		{
-			if (pErrNum != NULL)
-				*pErrNum = ciErrNum;
-			return platform;
-		}
-
-		platform = platforms[platformIndex];
-
-		free(platforms);
-	}
-
-	return platform;
-}
-
-void b3OpenCLUtils::getPlatformInfo(cl_platform_id platform, b3OpenCLPlatformInfo* platformInfo)
-{
-	b3Assert(platform);
-	cl_int ciErrNum;
-	ciErrNum = clGetPlatformInfo(platform, CL_PLATFORM_VENDOR, B3_MAX_STRING_LENGTH, platformInfo->m_platformVendor, NULL);
-	oclCHECKERROR(ciErrNum, CL_SUCCESS);
-	ciErrNum = clGetPlatformInfo(platform, CL_PLATFORM_NAME, B3_MAX_STRING_LENGTH, platformInfo->m_platformName, NULL);
-	oclCHECKERROR(ciErrNum, CL_SUCCESS);
-	ciErrNum = clGetPlatformInfo(platform, CL_PLATFORM_VERSION, B3_MAX_STRING_LENGTH, platformInfo->m_platformVersion, NULL);
-	oclCHECKERROR(ciErrNum, CL_SUCCESS);
-}
-
-void b3OpenCLUtils_printPlatformInfo(cl_platform_id platform)
-{
-	b3OpenCLPlatformInfo platformInfo;
-	b3OpenCLUtils::getPlatformInfo(platform, &platformInfo);
-	b3Printf("Platform info:\n");
-	b3Printf("  CL_PLATFORM_VENDOR: \t\t\t%s\n", platformInfo.m_platformVendor);
-	b3Printf("  CL_PLATFORM_NAME: \t\t\t%s\n", platformInfo.m_platformName);
-	b3Printf("  CL_PLATFORM_VERSION: \t\t\t%s\n", platformInfo.m_platformVersion);
-}
-
-cl_context b3OpenCLUtils_createContextFromPlatform(cl_platform_id platform, cl_device_type deviceType, cl_int* pErrNum, void* pGLContext, void* pGLDC, int preferredDeviceIndex, int preferredPlatformIndex)
-{
-	cl_context retContext = 0;
-	cl_int ciErrNum = 0;
-	cl_uint num_entries;
-	cl_device_id devices[B3_MAX_CL_DEVICES];
-	cl_uint num_devices;
-	cl_context_properties* cprops;
-
-	/*
-	* If we could find our platform, use it. Otherwise pass a NULL and get whatever the
-	* implementation thinks we should be using.
-	*/
-	cl_context_properties cps[7] = {0, 0, 0, 0, 0, 0, 0};
-	cps[0] = CL_CONTEXT_PLATFORM;
-	cps[1] = (cl_context_properties)platform;
-#ifdef _WIN32
-#ifndef B3_USE_CLEW
-	if (pGLContext && pGLDC)
-	{
-		cps[2] = CL_GL_CONTEXT_KHR;
-		cps[3] = (cl_context_properties)pGLContext;
-		cps[4] = CL_WGL_HDC_KHR;
-		cps[5] = (cl_context_properties)pGLDC;
-	}
-#endif  //B3_USE_CLEW
-#endif  //_WIN32
-	num_entries = B3_MAX_CL_DEVICES;
-
-	num_devices = -1;
-
-	ciErrNum = clGetDeviceIDs(
-		platform,
-		deviceType,
-		num_entries,
-		devices,
-		&num_devices);
-
-	if (ciErrNum < 0)
-	{
-		b3Printf("clGetDeviceIDs returned %d\n", ciErrNum);
-		return 0;
-	}
-	cprops = (NULL == platform) ? NULL : cps;
-
-	if (!num_devices)
-		return 0;
-
-	if (pGLContext)
-	{
-		//search for the GPU that relates to the OpenCL context
-		unsigned int i;
-		for (i = 0; i < num_devices; i++)
-		{
-			retContext = clCreateContext(cprops, 1, &devices[i], NULL, NULL, &ciErrNum);
-			if (ciErrNum == CL_SUCCESS)
-				break;
-		}
-	}
-	else
-	{
-		if (preferredDeviceIndex >= 0 && (unsigned int)preferredDeviceIndex < num_devices)
-		{
-			//create a context of the preferred device index
-			retContext = clCreateContext(cprops, 1, &devices[preferredDeviceIndex], NULL, NULL, &ciErrNum);
-		}
-		else
-		{
-			//create a context of all devices
-#if defined(__APPLE__)
-			retContext = clCreateContext(cprops, num_devices, devices, MyFatalBreakAPPLE, NULL, &ciErrNum);
-#else
-			b3Printf("numDevices=%d\n", num_devices);
-
-			retContext = clCreateContext(cprops, num_devices, devices, NULL, NULL, &ciErrNum);
-#endif
-		}
-	}
-	if (pErrNum != NULL)
-	{
-		*pErrNum = ciErrNum;
-	};
-
-	return retContext;
-}
-
-cl_context b3OpenCLUtils_createContextFromType(cl_device_type deviceType, cl_int* pErrNum, void* pGLContext, void* pGLDC, int preferredDeviceIndex, int preferredPlatformIndex, cl_platform_id* retPlatformId)
-{
-#ifdef B3_USE_CLEW
-	b3OpenCLUtils_clewInit();
-#endif
-
-	cl_uint numPlatforms;
-	cl_context retContext = 0;
-	unsigned int i;
-
-	cl_int ciErrNum = clGetPlatformIDs(0, NULL, &numPlatforms);
-	if (ciErrNum != CL_SUCCESS)
-	{
-		if (pErrNum != NULL) *pErrNum = ciErrNum;
-		return NULL;
-	}
-	if (numPlatforms > 0)
-	{
-		cl_platform_id* platforms = (cl_platform_id*)malloc(sizeof(cl_platform_id) * numPlatforms);
-		ciErrNum = clGetPlatformIDs(numPlatforms, platforms, NULL);
-		if (ciErrNum != CL_SUCCESS)
-		{
-			if (pErrNum != NULL)
-				*pErrNum = ciErrNum;
-			free(platforms);
-			return NULL;
-		}
-
-		for (i = 0; i < numPlatforms; ++i)
-		{
-			char pbuf[128];
-			ciErrNum = clGetPlatformInfo(platforms[i],
-										 CL_PLATFORM_VENDOR,
-										 sizeof(pbuf),
-										 pbuf,
-										 NULL);
-			if (ciErrNum != CL_SUCCESS)
-			{
-				if (pErrNum != NULL) *pErrNum = ciErrNum;
-				return NULL;
-			}
-
-			if (preferredPlatformIndex >= 0 && i == preferredPlatformIndex)
-			{
-				cl_platform_id tmpPlatform = platforms[0];
-				platforms[0] = platforms[i];
-				platforms[i] = tmpPlatform;
-				break;
-			}
-			else
-			{
-				if (!strcmp(pbuf, spPlatformVendor))
-				{
-					cl_platform_id tmpPlatform = platforms[0];
-					platforms[0] = platforms[i];
-					platforms[i] = tmpPlatform;
-				}
-			}
-		}
-
-		for (i = 0; i < numPlatforms; ++i)
-		{
-			cl_platform_id platform = platforms[i];
-			assert(platform);
-
-			retContext = b3OpenCLUtils_createContextFromPlatform(platform, deviceType, pErrNum, pGLContext, pGLDC, preferredDeviceIndex, preferredPlatformIndex);
-
-			if (retContext)
-			{
-				//				printf("OpenCL platform details:\n");
-				b3OpenCLPlatformInfo platformInfo;
-
-				b3OpenCLUtils::getPlatformInfo(platform, &platformInfo);
-
-				if (retPlatformId)
-					*retPlatformId = platform;
-
-				break;
-			}
-		}
-
-		free(platforms);
-	}
-	return retContext;
-}
-
-//////////////////////////////////////////////////////////////////////////////
-//! Gets the id of the nth device from the context
-//!
-//! @return the id or -1 when out of range
-//! @param cxMainContext         OpenCL context
-//! @param device_idx            index of the device of interest
-//////////////////////////////////////////////////////////////////////////////
-cl_device_id b3OpenCLUtils_getDevice(cl_context cxMainContext, int deviceIndex)
-{
-	assert(cxMainContext);
-
-	size_t szParmDataBytes;
-	cl_device_id* cdDevices;
-	cl_device_id device;
-
-	// get the list of devices associated with context
-	clGetContextInfo(cxMainContext, CL_CONTEXT_DEVICES, 0, NULL, &szParmDataBytes);
-
-	if (szParmDataBytes / sizeof(cl_device_id) < (unsigned int)deviceIndex)
-	{
-		return (cl_device_id)-1;
-	}
-
-	cdDevices = (cl_device_id*)malloc(szParmDataBytes);
-
-	clGetContextInfo(cxMainContext, CL_CONTEXT_DEVICES, szParmDataBytes, cdDevices, NULL);
-
-	device = cdDevices[deviceIndex];
-	free(cdDevices);
-
-	return device;
-}
-
-int b3OpenCLUtils_getNumDevices(cl_context cxMainContext)
-{
-	size_t szParamDataBytes;
-	int device_count;
-	clGetContextInfo(cxMainContext, CL_CONTEXT_DEVICES, 0, NULL, &szParamDataBytes);
-	device_count = (int)szParamDataBytes / sizeof(cl_device_id);
-	return device_count;
-}
-
-void b3OpenCLUtils::getDeviceInfo(cl_device_id device, b3OpenCLDeviceInfo* info)
-{
-	// CL_DEVICE_NAME
-	clGetDeviceInfo(device, CL_DEVICE_NAME, B3_MAX_STRING_LENGTH, &info->m_deviceName, NULL);
-
-	// CL_DEVICE_VENDOR
-	clGetDeviceInfo(device, CL_DEVICE_VENDOR, B3_MAX_STRING_LENGTH, &info->m_deviceVendor, NULL);
-
-	// CL_DRIVER_VERSION
-	clGetDeviceInfo(device, CL_DRIVER_VERSION, B3_MAX_STRING_LENGTH, &info->m_driverVersion, NULL);
-
-	// CL_DEVICE_INFO
-	clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(cl_device_type), &info->m_deviceType, NULL);
-
-	// CL_DEVICE_MAX_COMPUTE_UNITS
-	clGetDeviceInfo(device, CL_DEVICE_MAX_COMPUTE_UNITS, sizeof(info->m_computeUnits), &info->m_computeUnits, NULL);
-
-	// CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS
-	clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS, sizeof(info->m_workitemDims), &info->m_workitemDims, NULL);
-
-	// CL_DEVICE_MAX_WORK_ITEM_SIZES
-	clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_ITEM_SIZES, sizeof(info->m_workItemSize), &info->m_workItemSize, NULL);
-
-	// CL_DEVICE_MAX_WORK_GROUP_SIZE
-	clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(info->m_workgroupSize), &info->m_workgroupSize, NULL);
-
-	// CL_DEVICE_MAX_CLOCK_FREQUENCY
-	clGetDeviceInfo(device, CL_DEVICE_MAX_CLOCK_FREQUENCY, sizeof(info->m_clockFrequency), &info->m_clockFrequency, NULL);
-
-	// CL_DEVICE_ADDRESS_BITS
-	clGetDeviceInfo(device, CL_DEVICE_ADDRESS_BITS, sizeof(info->m_addressBits), &info->m_addressBits, NULL);
-
-	// CL_DEVICE_MAX_MEM_ALLOC_SIZE
-	clGetDeviceInfo(device, CL_DEVICE_MAX_MEM_ALLOC_SIZE, sizeof(info->m_maxMemAllocSize), &info->m_maxMemAllocSize, NULL);
-
-	// CL_DEVICE_GLOBAL_MEM_SIZE
-	clGetDeviceInfo(device, CL_DEVICE_GLOBAL_MEM_SIZE, sizeof(info->m_globalMemSize), &info->m_globalMemSize, NULL);
-
-	// CL_DEVICE_ERROR_CORRECTION_SUPPORT
-	clGetDeviceInfo(device, CL_DEVICE_ERROR_CORRECTION_SUPPORT, sizeof(info->m_errorCorrectionSupport), &info->m_errorCorrectionSupport, NULL);
-
-	// CL_DEVICE_LOCAL_MEM_TYPE
-	clGetDeviceInfo(device, CL_DEVICE_LOCAL_MEM_TYPE, sizeof(info->m_localMemType), &info->m_localMemType, NULL);
-
-	// CL_DEVICE_LOCAL_MEM_SIZE
-	clGetDeviceInfo(device, CL_DEVICE_LOCAL_MEM_SIZE, sizeof(info->m_localMemSize), &info->m_localMemSize, NULL);
-
-	// CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE
-	clGetDeviceInfo(device, CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE, sizeof(info->m_constantBufferSize), &info->m_constantBufferSize, NULL);
-
-	// CL_DEVICE_QUEUE_PROPERTIES
-	clGetDeviceInfo(device, CL_DEVICE_QUEUE_PROPERTIES, sizeof(info->m_queueProperties), &info->m_queueProperties, NULL);
-
-	// CL_DEVICE_IMAGE_SUPPORT
-	clGetDeviceInfo(device, CL_DEVICE_IMAGE_SUPPORT, sizeof(info->m_imageSupport), &info->m_imageSupport, NULL);
-
-	// CL_DEVICE_MAX_READ_IMAGE_ARGS
-	clGetDeviceInfo(device, CL_DEVICE_MAX_READ_IMAGE_ARGS, sizeof(info->m_maxReadImageArgs), &info->m_maxReadImageArgs, NULL);
-
-	// CL_DEVICE_MAX_WRITE_IMAGE_ARGS
-	clGetDeviceInfo(device, CL_DEVICE_MAX_WRITE_IMAGE_ARGS, sizeof(info->m_maxWriteImageArgs), &info->m_maxWriteImageArgs, NULL);
-
-	// CL_DEVICE_IMAGE2D_MAX_WIDTH, CL_DEVICE_IMAGE2D_MAX_HEIGHT, CL_DEVICE_IMAGE3D_MAX_WIDTH, CL_DEVICE_IMAGE3D_MAX_HEIGHT, CL_DEVICE_IMAGE3D_MAX_DEPTH
-	clGetDeviceInfo(device, CL_DEVICE_IMAGE2D_MAX_WIDTH, sizeof(size_t), &info->m_image2dMaxWidth, NULL);
-	clGetDeviceInfo(device, CL_DEVICE_IMAGE2D_MAX_HEIGHT, sizeof(size_t), &info->m_image2dMaxHeight, NULL);
-	clGetDeviceInfo(device, CL_DEVICE_IMAGE3D_MAX_WIDTH, sizeof(size_t), &info->m_image3dMaxWidth, NULL);
-	clGetDeviceInfo(device, CL_DEVICE_IMAGE3D_MAX_HEIGHT, sizeof(size_t), &info->m_image3dMaxHeight, NULL);
-	clGetDeviceInfo(device, CL_DEVICE_IMAGE3D_MAX_DEPTH, sizeof(size_t), &info->m_image3dMaxDepth, NULL);
-
-	// CL_DEVICE_EXTENSIONS: get device extensions, and if any then parse & log the string onto separate lines
-	clGetDeviceInfo(device, CL_DEVICE_EXTENSIONS, B3_MAX_STRING_LENGTH, &info->m_deviceExtensions, NULL);
-
-	// CL_DEVICE_PREFERRED_VECTOR_WIDTH_<type>
-	clGetDeviceInfo(device, CL_DEVICE_PREFERRED_VECTOR_WIDTH_CHAR, sizeof(cl_uint), &info->m_vecWidthChar, NULL);
-	clGetDeviceInfo(device, CL_DEVICE_PREFERRED_VECTOR_WIDTH_SHORT, sizeof(cl_uint), &info->m_vecWidthShort, NULL);
-	clGetDeviceInfo(device, CL_DEVICE_PREFERRED_VECTOR_WIDTH_INT, sizeof(cl_uint), &info->m_vecWidthInt, NULL);
-	clGetDeviceInfo(device, CL_DEVICE_PREFERRED_VECTOR_WIDTH_LONG, sizeof(cl_uint), &info->m_vecWidthLong, NULL);
-	clGetDeviceInfo(device, CL_DEVICE_PREFERRED_VECTOR_WIDTH_FLOAT, sizeof(cl_uint), &info->m_vecWidthFloat, NULL);
-	clGetDeviceInfo(device, CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE, sizeof(cl_uint), &info->m_vecWidthDouble, NULL);
-}
-
-void b3OpenCLUtils_printDeviceInfo(cl_device_id device)
-{
-	b3OpenCLDeviceInfo info;
-	b3OpenCLUtils::getDeviceInfo(device, &info);
-	b3Printf("Device Info:\n");
-	b3Printf("  CL_DEVICE_NAME: \t\t\t%s\n", info.m_deviceName);
-	b3Printf("  CL_DEVICE_VENDOR: \t\t\t%s\n", info.m_deviceVendor);
-	b3Printf("  CL_DRIVER_VERSION: \t\t\t%s\n", info.m_driverVersion);
-
-	if (info.m_deviceType & CL_DEVICE_TYPE_CPU)
-		b3Printf("  CL_DEVICE_TYPE:\t\t\t%s\n", "CL_DEVICE_TYPE_CPU");
-	if (info.m_deviceType & CL_DEVICE_TYPE_GPU)
-		b3Printf("  CL_DEVICE_TYPE:\t\t\t%s\n", "CL_DEVICE_TYPE_GPU");
-	if (info.m_deviceType & CL_DEVICE_TYPE_ACCELERATOR)
-		b3Printf("  CL_DEVICE_TYPE:\t\t\t%s\n", "CL_DEVICE_TYPE_ACCELERATOR");
-	if (info.m_deviceType & CL_DEVICE_TYPE_DEFAULT)
-		b3Printf("  CL_DEVICE_TYPE:\t\t\t%s\n", "CL_DEVICE_TYPE_DEFAULT");
-
-	b3Printf("  CL_DEVICE_MAX_COMPUTE_UNITS:\t\t%u\n", info.m_computeUnits);
-	b3Printf("  CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS:\t%u\n", info.m_workitemDims);
-	b3Printf("  CL_DEVICE_MAX_WORK_ITEM_SIZES:\t%u / %u / %u \n", info.m_workItemSize[0], info.m_workItemSize[1], info.m_workItemSize[2]);
-	b3Printf("  CL_DEVICE_MAX_WORK_GROUP_SIZE:\t%u\n", info.m_workgroupSize);
-	b3Printf("  CL_DEVICE_MAX_CLOCK_FREQUENCY:\t%u MHz\n", info.m_clockFrequency);
-	b3Printf("  CL_DEVICE_ADDRESS_BITS:\t\t%u\n", info.m_addressBits);
-	b3Printf("  CL_DEVICE_MAX_MEM_ALLOC_SIZE:\t\t%u MByte\n", (unsigned int)(info.m_maxMemAllocSize / (1024 * 1024)));
-	b3Printf("  CL_DEVICE_GLOBAL_MEM_SIZE:\t\t%u MByte\n", (unsigned int)(info.m_globalMemSize / (1024 * 1024)));
-	b3Printf("  CL_DEVICE_ERROR_CORRECTION_SUPPORT:\t%s\n", info.m_errorCorrectionSupport == CL_TRUE ? "yes" : "no");
-	b3Printf("  CL_DEVICE_LOCAL_MEM_TYPE:\t\t%s\n", info.m_localMemType == 1 ? "local" : "global");
-	b3Printf("  CL_DEVICE_LOCAL_MEM_SIZE:\t\t%u KByte\n", (unsigned int)(info.m_localMemSize / 1024));
-	b3Printf("  CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE:\t%u KByte\n", (unsigned int)(info.m_constantBufferSize / 1024));
-	if (info.m_queueProperties & CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE)
-		b3Printf("  CL_DEVICE_QUEUE_PROPERTIES:\t\t%s\n", "CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE");
-	if (info.m_queueProperties & CL_QUEUE_PROFILING_ENABLE)
-		b3Printf("  CL_DEVICE_QUEUE_PROPERTIES:\t\t%s\n", "CL_QUEUE_PROFILING_ENABLE");
-
-	b3Printf("  CL_DEVICE_IMAGE_SUPPORT:\t\t%u\n", info.m_imageSupport);
-
-	b3Printf("  CL_DEVICE_MAX_READ_IMAGE_ARGS:\t%u\n", info.m_maxReadImageArgs);
-	b3Printf("  CL_DEVICE_MAX_WRITE_IMAGE_ARGS:\t%u\n", info.m_maxWriteImageArgs);
-	b3Printf("\n  CL_DEVICE_IMAGE <dim>");
-	b3Printf("\t\t\t2D_MAX_WIDTH\t %u\n", info.m_image2dMaxWidth);
-	b3Printf("\t\t\t\t\t2D_MAX_HEIGHT\t %u\n", info.m_image2dMaxHeight);
-	b3Printf("\t\t\t\t\t3D_MAX_WIDTH\t %u\n", info.m_image3dMaxWidth);
-	b3Printf("\t\t\t\t\t3D_MAX_HEIGHT\t %u\n", info.m_image3dMaxHeight);
-	b3Printf("\t\t\t\t\t3D_MAX_DEPTH\t %u\n", info.m_image3dMaxDepth);
-	if (*info.m_deviceExtensions != 0)
-	{
-		b3Printf("\n  CL_DEVICE_EXTENSIONS:%s\n", info.m_deviceExtensions);
-	}
-	else
-	{
-		b3Printf("  CL_DEVICE_EXTENSIONS: None\n");
-	}
-	b3Printf("  CL_DEVICE_PREFERRED_VECTOR_WIDTH_<t>\t");
-	b3Printf("CHAR %u, SHORT %u, INT %u,LONG %u, FLOAT %u, DOUBLE %u\n\n\n",
-			 info.m_vecWidthChar, info.m_vecWidthShort, info.m_vecWidthInt, info.m_vecWidthLong, info.m_vecWidthFloat, info.m_vecWidthDouble);
-}
-
-static const char* strip2(const char* name, const char* pattern)
-{
-	size_t const patlen = strlen(pattern);
-	size_t patcnt = 0;
-	const char* oriptr;
-	const char* patloc;
-	// find how many times the pattern occurs in the original string
-	for (oriptr = name; (patloc = strstr(oriptr, pattern)); oriptr = patloc + patlen)
-	{
-		patcnt++;
-	}
-	return oriptr;
-}
-
-cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_device_id device, const char* kernelSourceOrg, cl_int* pErrNum, const char* additionalMacrosArg, const char* clFileNameForCaching, bool disableBinaryCaching)
-{
-	const char* additionalMacros = additionalMacrosArg ? additionalMacrosArg : "";
-
-	if (disableBinaryCaching)
-	{
-		//kernelSourceOrg = 0;
-	}
-
-	cl_program m_cpProgram = 0;
-	cl_int status;
-
-	char binaryFileName[B3_MAX_STRING_LENGTH];
-
-	char deviceName[256];
-	char driverVersion[256];
-	const char* strippedName;
-	int fileUpToDate = 0;
-#ifdef _WIN32
-	int binaryFileValid = 0;
-#endif
-	if (!disableBinaryCaching && clFileNameForCaching)
-	{
-		clGetDeviceInfo(device, CL_DEVICE_NAME, 256, &deviceName, NULL);
-		clGetDeviceInfo(device, CL_DRIVER_VERSION, 256, &driverVersion, NULL);
-
-		strippedName = strip2(clFileNameForCaching, "\\");
-		strippedName = strip2(strippedName, "/");
-
-#ifdef _MSC_VER
-		sprintf_s(binaryFileName, B3_MAX_STRING_LENGTH, "%s/%s.%s.%s.bin", sCachedBinaryPath, strippedName, deviceName, driverVersion);
-#else
-		sprintf(binaryFileName, "%s/%s.%s.%s.bin", sCachedBinaryPath, strippedName, deviceName, driverVersion);
-#endif
-	}
-	if (clFileNameForCaching && !(disableBinaryCaching || gDebugSkipLoadingBinary || gDebugForceLoadingFromSource))
-	{
-#ifdef _WIN32
-		char* bla = 0;
-
-		//printf("searching for %s\n", binaryFileName);
-
-		FILETIME modtimeBinary;
-		CreateDirectoryA(sCachedBinaryPath, 0);
-		{
-			HANDLE binaryFileHandle = CreateFileA(binaryFileName, GENERIC_READ, 0, 0, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, 0);
-			if (binaryFileHandle == INVALID_HANDLE_VALUE)
-			{
-				DWORD errorCode;
-				errorCode = GetLastError();
-				switch (errorCode)
-				{
-					case ERROR_FILE_NOT_FOUND:
-					{
-						b3Warning("\nCached file not found %s\n", binaryFileName);
-						break;
-					}
-					case ERROR_PATH_NOT_FOUND:
-					{
-						b3Warning("\nCached file path not found %s\n", binaryFileName);
-						break;
-					}
-					default:
-					{
-						b3Warning("\nFailed reading cached file with errorCode = %d\n", errorCode);
-					}
-				}
-			}
-			else
-			{
-				if (GetFileTime(binaryFileHandle, NULL, NULL, &modtimeBinary) == 0)
-				{
-					DWORD errorCode;
-					errorCode = GetLastError();
-					b3Warning("\nGetFileTime errorCode = %d\n", errorCode);
-				}
-				else
-				{
-					binaryFileValid = 1;
-				}
-				CloseHandle(binaryFileHandle);
-			}
-
-			if (binaryFileValid)
-			{
-				HANDLE srcFileHandle = CreateFileA(clFileNameForCaching, GENERIC_READ, 0, 0, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, 0);
-
-				if (srcFileHandle == INVALID_HANDLE_VALUE)
-				{
-					const char* prefix[] = {"./", "../", "../../", "../../../", "../../../../"};
-					for (int i = 0; (srcFileHandle == INVALID_HANDLE_VALUE) && i < 5; i++)
-					{
-						char relativeFileName[1024];
-						sprintf(relativeFileName, "%s%s", prefix[i], clFileNameForCaching);
-						srcFileHandle = CreateFileA(relativeFileName, GENERIC_READ, 0, 0, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, 0);
-					}
-				}
-
-				if (srcFileHandle != INVALID_HANDLE_VALUE)
-				{
-					FILETIME modtimeSrc;
-					if (GetFileTime(srcFileHandle, NULL, NULL, &modtimeSrc) == 0)
-					{
-						DWORD errorCode;
-						errorCode = GetLastError();
-						b3Warning("\nGetFileTime errorCode = %d\n", errorCode);
-					}
-					if ((modtimeSrc.dwHighDateTime < modtimeBinary.dwHighDateTime) || ((modtimeSrc.dwHighDateTime == modtimeBinary.dwHighDateTime) && (modtimeSrc.dwLowDateTime <= modtimeBinary.dwLowDateTime)))
-					{
-						fileUpToDate = 1;
-					}
-					else
-					{
-						b3Warning("\nCached binary file out-of-date (%s)\n", binaryFileName);
-					}
-					CloseHandle(srcFileHandle);
-				}
-				else
-				{
-#ifdef _DEBUG
-					DWORD errorCode;
-					errorCode = GetLastError();
-					switch (errorCode)
-					{
-						case ERROR_FILE_NOT_FOUND:
-						{
-							b3Warning("\nSrc file not found %s\n", clFileNameForCaching);
-							break;
-						}
-						case ERROR_PATH_NOT_FOUND:
-						{
-							b3Warning("\nSrc path not found %s\n", clFileNameForCaching);
-							break;
-						}
-						default:
-						{
-							b3Warning("\nnSrc file reading errorCode = %d\n", errorCode);
-						}
-					}
-
-					//we should make sure the src file exists so we can verify the timestamp with binary
-					//					assert(0);
-					b3Warning("Warning: cannot find OpenCL kernel %s to verify timestamp of binary cached kernel %s\n", clFileNameForCaching, binaryFileName);
-					fileUpToDate = true;
-#else
-					//if we cannot find the source, assume it is OK in release builds
-					fileUpToDate = true;
-#endif
-				}
-			}
-		}
-
-#else
-		fileUpToDate = true;
-		if (mkdir(sCachedBinaryPath, 0777) == -1)
-		{
-		}
-		else
-		{
-			b3Printf("Succesfully created cache directory: %s\n", sCachedBinaryPath);
-		}
-#endif  //_WIN32
-	}
-
-	if (fileUpToDate)
-	{
-#ifdef _MSC_VER
-		FILE* file;
-		if (fopen_s(&file, binaryFileName, "rb") != 0)
-			file = 0;
-#else
-		FILE* file = fopen(binaryFileName, "rb");
-#endif
-
-		if (file)
-		{
-			size_t binarySize = 0;
-			char* binary = 0;
-
-			fseek(file, 0L, SEEK_END);
-			binarySize = ftell(file);
-			rewind(file);
-			binary = (char*)malloc(sizeof(char) * binarySize);
-			int bytesRead;
-			bytesRead = fread(binary, sizeof(char), binarySize, file);
-			fclose(file);
-
-			m_cpProgram = clCreateProgramWithBinary(clContext, 1, &device, &binarySize, (const unsigned char**)&binary, 0, &status);
-			b3Assert(status == CL_SUCCESS);
-			status = clBuildProgram(m_cpProgram, 1, &device, additionalMacros, 0, 0);
-			b3Assert(status == CL_SUCCESS);
-
-			if (status != CL_SUCCESS)
-			{
-				char* build_log;
-				size_t ret_val_size;
-				clGetProgramBuildInfo(m_cpProgram, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &ret_val_size);
-				build_log = (char*)malloc(sizeof(char) * (ret_val_size + 1));
-				clGetProgramBuildInfo(m_cpProgram, device, CL_PROGRAM_BUILD_LOG, ret_val_size, build_log, NULL);
-				build_log[ret_val_size] = '\0';
-				b3Error("%s\n", build_log);
-				free(build_log);
-				b3Assert(0);
-				m_cpProgram = 0;
-
-				b3Warning("clBuildProgram reported failure on cached binary: %s\n", binaryFileName);
-			}
-			else
-			{
-				b3Printf("clBuildProgram successfully compiled cached binary: %s\n", binaryFileName);
-			}
-			free(binary);
-		}
-		else
-		{
-			b3Warning("Cannot open cached binary: %s\n", binaryFileName);
-		}
-	}
-
-	if (!m_cpProgram)
-	{
-		cl_int localErrNum;
-		char* compileFlags;
-		int flagsize;
-
-		const char* kernelSource = kernelSourceOrg;
-
-		if (!kernelSourceOrg || gDebugForceLoadingFromSource)
-		{
-			if (clFileNameForCaching)
-			{
-				FILE* file = fopen(clFileNameForCaching, "rb");
-				//in many cases the relative path is a few levels up the directory hierarchy, so try it
-				if (!file)
-				{
-					const char* prefix[] = {"../", "../../", "../../../", "../../../../"};
-					for (int i = 0; !file && i < 3; i++)
-					{
-						char relativeFileName[1024];
-						sprintf(relativeFileName, "%s%s", prefix[i], clFileNameForCaching);
-						file = fopen(relativeFileName, "rb");
-					}
-				}
-
-				if (file)
-				{
-					char* kernelSrc = 0;
-					fseek(file, 0L, SEEK_END);
-					int kernelSize = ftell(file);
-					rewind(file);
-					kernelSrc = (char*)malloc(kernelSize + 1);
-					int readBytes;
-					readBytes = fread((void*)kernelSrc, 1, kernelSize, file);
-					kernelSrc[kernelSize] = 0;
-					fclose(file);
-					kernelSource = kernelSrc;
-				}
-			}
-		}
-
-		size_t program_length = kernelSource ? strlen(kernelSource) : 0;
-#ifdef MAC  //or __APPLE__?
-		char* flags = "-cl-mad-enable -DMAC ";
-#else
-		const char* flags = "";
-#endif
-
-		m_cpProgram = clCreateProgramWithSource(clContext, 1, (const char**)&kernelSource, &program_length, &localErrNum);
-		if (localErrNum != CL_SUCCESS)
-		{
-			if (pErrNum)
-				*pErrNum = localErrNum;
-			return 0;
-		}
-
-		// Build the program with 'mad' Optimization option
-
-		flagsize = sizeof(char) * (strlen(additionalMacros) + strlen(flags) + 5);
-		compileFlags = (char*)malloc(flagsize);
-#ifdef _MSC_VER
-		sprintf_s(compileFlags, flagsize, "%s %s", flags, additionalMacros);
-#else
-		sprintf(compileFlags, "%s %s", flags, additionalMacros);
-#endif
-		localErrNum = clBuildProgram(m_cpProgram, 1, &device, compileFlags, NULL, NULL);
-		if (localErrNum != CL_SUCCESS)
-		{
-			char* build_log;
-			size_t ret_val_size;
-			clGetProgramBuildInfo(m_cpProgram, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &ret_val_size);
-			build_log = (char*)malloc(sizeof(char) * (ret_val_size + 1));
-			clGetProgramBuildInfo(m_cpProgram, device, CL_PROGRAM_BUILD_LOG, ret_val_size, build_log, NULL);
-
-			// to be carefully, terminate with \0
-			// there's no information in the reference whether the string is 0 terminated or not
-			build_log[ret_val_size] = '\0';
-
-			b3Error("Error in clBuildProgram, Line %u in file %s, Log: \n%s\n !!!\n\n", __LINE__, __FILE__, build_log);
-			free(build_log);
-			if (pErrNum)
-				*pErrNum = localErrNum;
-			return 0;
-		}
-
-		if (!disableBinaryCaching && clFileNameForCaching)
-		{  //	write to binary
-
-			cl_uint numAssociatedDevices;
-			status = clGetProgramInfo(m_cpProgram, CL_PROGRAM_NUM_DEVICES, sizeof(cl_uint), &numAssociatedDevices, 0);
-			b3Assert(status == CL_SUCCESS);
-			if (numAssociatedDevices == 1)
-			{
-				size_t binarySize;
-				char* binary;
-
-				status = clGetProgramInfo(m_cpProgram, CL_PROGRAM_BINARY_SIZES, sizeof(size_t), &binarySize, 0);
-				b3Assert(status == CL_SUCCESS);
-
-				binary = (char*)malloc(sizeof(char) * binarySize);
-
-				status = clGetProgramInfo(m_cpProgram, CL_PROGRAM_BINARIES, sizeof(char*), &binary, 0);
-				b3Assert(status == CL_SUCCESS);
-
-				{
-					FILE* file = 0;
-#ifdef _MSC_VER
-					if (fopen_s(&file, binaryFileName, "wb") != 0)
-						file = 0;
-#else
-					file = fopen(binaryFileName, "wb");
-#endif
-					if (file)
-					{
-						fwrite(binary, sizeof(char), binarySize, file);
-						fclose(file);
-					}
-					else
-					{
-						b3Warning("cannot write file %s\n", binaryFileName);
-					}
-				}
-
-				free(binary);
-			}
-		}
-
-		free(compileFlags);
-	}
-	return m_cpProgram;
-}
-
-cl_kernel b3OpenCLUtils_compileCLKernelFromString(cl_context clContext, cl_device_id device, const char* kernelSource, const char* kernelName, cl_int* pErrNum, cl_program prog, const char* additionalMacros)
-{
-	cl_kernel kernel;
-	cl_int localErrNum;
-
-	cl_program m_cpProgram = prog;
-
-	b3Printf("compiling kernel %s ", kernelName);
-
-	if (!m_cpProgram)
-	{
-		m_cpProgram = b3OpenCLUtils_compileCLProgramFromString(clContext, device, kernelSource, pErrNum, additionalMacros, 0, false);
-	}
-
-	// Create the kernel
-	kernel = clCreateKernel(m_cpProgram, kernelName, &localErrNum);
-	if (localErrNum != CL_SUCCESS)
-	{
-		b3Error("Error in clCreateKernel, Line %u in file %s, cannot find kernel function %s !!!\n\n", __LINE__, __FILE__, kernelName);
-		assert(0);
-		if (pErrNum)
-			*pErrNum = localErrNum;
-		return 0;
-	}
-
-	if (!prog && m_cpProgram)
-	{
-		clReleaseProgram(m_cpProgram);
-	}
-	b3Printf("ready. \n");
-
-	if (pErrNum)
-		*pErrNum = CL_SUCCESS;
-	return kernel;
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.h b/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.h
deleted file mode 100644
index 6c82eed2a6..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.h
+++ /dev/null
@@ -1,190 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
-Copyright (C) 2006 - 2011 Sony Computer Entertainment Inc. 
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-//original author: Roman Ponomarev
-//cleanup by Erwin Coumans
-
-#ifndef B3_OPENCL_UTILS_H
-#define B3_OPENCL_UTILS_H
-
-#include "b3OpenCLInclude.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-	///C API for OpenCL utilities: convenience functions, see below for C++ API
-
-	/// CL Context optionally takes a GL context. This is a generic type because we don't really want this code
-	/// to have to understand GL types. It is a HGLRC in _WIN32 or a GLXContext otherwise.
-	cl_context b3OpenCLUtils_createContextFromType(cl_device_type deviceType, cl_int* pErrNum, void* pGLCtx, void* pGLDC, int preferredDeviceIndex, int preferredPlatformIndex, cl_platform_id* platformId);
-
-	int b3OpenCLUtils_getNumDevices(cl_context cxMainContext);
-
-	cl_device_id b3OpenCLUtils_getDevice(cl_context cxMainContext, int nr);
-
-	void b3OpenCLUtils_printDeviceInfo(cl_device_id device);
-
-	cl_kernel b3OpenCLUtils_compileCLKernelFromString(cl_context clContext, cl_device_id device, const char* kernelSource, const char* kernelName, cl_int* pErrNum, cl_program prog, const char* additionalMacros);
-
-	//optional
-	cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_device_id device, const char* kernelSource, cl_int* pErrNum, const char* additionalMacros, const char* srcFileNameForCaching, bool disableBinaryCaching);
-
-	//the following optional APIs provide access using specific platform information
-	int b3OpenCLUtils_getNumPlatforms(cl_int* pErrNum);
-
-	///get the nr'th platform, where nr is in the range [0..getNumPlatforms)
-	cl_platform_id b3OpenCLUtils_getPlatform(int nr, cl_int* pErrNum);
-
-	void b3OpenCLUtils_printPlatformInfo(cl_platform_id platform);
-
-	const char* b3OpenCLUtils_getSdkVendorName();
-
-	///set the path (directory/folder) where the compiled OpenCL kernel are stored
-	void b3OpenCLUtils_setCachePath(const char* path);
-
-	cl_context b3OpenCLUtils_createContextFromPlatform(cl_platform_id platform, cl_device_type deviceType, cl_int* pErrNum, void* pGLCtx, void* pGLDC, int preferredDeviceIndex, int preferredPlatformIndex);
-
-#ifdef __cplusplus
-}
-
-#define B3_MAX_STRING_LENGTH 1024
-
-typedef struct
-{
-	char m_deviceName[B3_MAX_STRING_LENGTH];
-	char m_deviceVendor[B3_MAX_STRING_LENGTH];
-	char m_driverVersion[B3_MAX_STRING_LENGTH];
-	char m_deviceExtensions[B3_MAX_STRING_LENGTH];
-
-	cl_device_type m_deviceType;
-	cl_uint m_computeUnits;
-	size_t m_workitemDims;
-	size_t m_workItemSize[3];
-	size_t m_image2dMaxWidth;
-	size_t m_image2dMaxHeight;
-	size_t m_image3dMaxWidth;
-	size_t m_image3dMaxHeight;
-	size_t m_image3dMaxDepth;
-	size_t m_workgroupSize;
-	cl_uint m_clockFrequency;
-	cl_ulong m_constantBufferSize;
-	cl_ulong m_localMemSize;
-	cl_ulong m_globalMemSize;
-	cl_bool m_errorCorrectionSupport;
-	cl_device_local_mem_type m_localMemType;
-	cl_uint m_maxReadImageArgs;
-	cl_uint m_maxWriteImageArgs;
-
-	cl_uint m_addressBits;
-	cl_ulong m_maxMemAllocSize;
-	cl_command_queue_properties m_queueProperties;
-	cl_bool m_imageSupport;
-	cl_uint m_vecWidthChar;
-	cl_uint m_vecWidthShort;
-	cl_uint m_vecWidthInt;
-	cl_uint m_vecWidthLong;
-	cl_uint m_vecWidthFloat;
-	cl_uint m_vecWidthDouble;
-
-} b3OpenCLDeviceInfo;
-
-struct b3OpenCLPlatformInfo
-{
-	char m_platformVendor[B3_MAX_STRING_LENGTH];
-	char m_platformName[B3_MAX_STRING_LENGTH];
-	char m_platformVersion[B3_MAX_STRING_LENGTH];
-
-	b3OpenCLPlatformInfo()
-	{
-		m_platformVendor[0] = 0;
-		m_platformName[0] = 0;
-		m_platformVersion[0] = 0;
-	}
-};
-
-///C++ API for OpenCL utilities: convenience functions
-struct b3OpenCLUtils
-{
-	/// CL Context optionally takes a GL context. This is a generic type because we don't really want this code
-	/// to have to understand GL types. It is a HGLRC in _WIN32 or a GLXContext otherwise.
-	static inline cl_context createContextFromType(cl_device_type deviceType, cl_int* pErrNum, void* pGLCtx = 0, void* pGLDC = 0, int preferredDeviceIndex = -1, int preferredPlatformIndex = -1, cl_platform_id* platformId = 0)
-	{
-		return b3OpenCLUtils_createContextFromType(deviceType, pErrNum, pGLCtx, pGLDC, preferredDeviceIndex, preferredPlatformIndex, platformId);
-	}
-
-	static inline int getNumDevices(cl_context cxMainContext)
-	{
-		return b3OpenCLUtils_getNumDevices(cxMainContext);
-	}
-	static inline cl_device_id getDevice(cl_context cxMainContext, int nr)
-	{
-		return b3OpenCLUtils_getDevice(cxMainContext, nr);
-	}
-
-	static void getDeviceInfo(cl_device_id device, b3OpenCLDeviceInfo* info);
-
-	static inline void printDeviceInfo(cl_device_id device)
-	{
-		b3OpenCLUtils_printDeviceInfo(device);
-	}
-
-	static inline cl_kernel compileCLKernelFromString(cl_context clContext, cl_device_id device, const char* kernelSource, const char* kernelName, cl_int* pErrNum = 0, cl_program prog = 0, const char* additionalMacros = "")
-	{
-		return b3OpenCLUtils_compileCLKernelFromString(clContext, device, kernelSource, kernelName, pErrNum, prog, additionalMacros);
-	}
-
-	//optional
-	static inline cl_program compileCLProgramFromString(cl_context clContext, cl_device_id device, const char* kernelSource, cl_int* pErrNum = 0, const char* additionalMacros = "", const char* srcFileNameForCaching = 0, bool disableBinaryCaching = false)
-	{
-		return b3OpenCLUtils_compileCLProgramFromString(clContext, device, kernelSource, pErrNum, additionalMacros, srcFileNameForCaching, disableBinaryCaching);
-	}
-
-	//the following optional APIs provide access using specific platform information
-	static inline int getNumPlatforms(cl_int* pErrNum = 0)
-	{
-		return b3OpenCLUtils_getNumPlatforms(pErrNum);
-	}
-	///get the nr'th platform, where nr is in the range [0..getNumPlatforms)
-	static inline cl_platform_id getPlatform(int nr, cl_int* pErrNum = 0)
-	{
-		return b3OpenCLUtils_getPlatform(nr, pErrNum);
-	}
-
-	static void getPlatformInfo(cl_platform_id platform, b3OpenCLPlatformInfo* platformInfo);
-
-	static inline void printPlatformInfo(cl_platform_id platform)
-	{
-		b3OpenCLUtils_printPlatformInfo(platform);
-	}
-
-	static inline const char* getSdkVendorName()
-	{
-		return b3OpenCLUtils_getSdkVendorName();
-	}
-	static inline cl_context createContextFromPlatform(cl_platform_id platform, cl_device_type deviceType, cl_int* pErrNum, void* pGLCtx = 0, void* pGLDC = 0, int preferredDeviceIndex = -1, int preferredPlatformIndex = -1)
-	{
-		return b3OpenCLUtils_createContextFromPlatform(platform, deviceType, pErrNum, pGLCtx, pGLDC, preferredDeviceIndex, preferredPlatformIndex);
-	}
-	static void setCachePath(const char* path)
-	{
-		b3OpenCLUtils_setCachePath(path);
-	}
-};
-
-#endif  //__cplusplus
-
-#endif  // B3_OPENCL_UTILS_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3BvhInfo.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3BvhInfo.h
deleted file mode 100644
index 27835bb747..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3BvhInfo.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#ifndef B3_BVH_INFO_H
-#define B3_BVH_INFO_H
-
-#include "Bullet3Common/b3Vector3.h"
-
-struct b3BvhInfo
-{
-	b3Vector3 m_aabbMin;
-	b3Vector3 m_aabbMax;
-	b3Vector3 m_quantization;
-	int m_numNodes;
-	int m_numSubTrees;
-	int m_nodeOffset;
-	int m_subTreeOffset;
-};
-
-#endif  //B3_BVH_INFO_H
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.cpp
deleted file mode 100644
index 4db717f8c3..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.cpp
+++ /dev/null
@@ -1,253 +0,0 @@
-
-#if 0
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "b3ContactCache.h"
-#include "Bullet3Common/b3Transform.h"
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
-
-b3Scalar					gContactBreakingThreshold = b3Scalar(0.02);
-
-///gContactCalcArea3Points will approximate the convex hull area using 3 points
-///when setting it to false, it will use 4 points to compute the area: it is more accurate but slower
-bool						gContactCalcArea3Points = true;
-
-
-
-
-static inline b3Scalar calcArea4Points(const b3Vector3 &p0,const b3Vector3 &p1,const b3Vector3 &p2,const b3Vector3 &p3)
-{
-	// It calculates possible 3 area constructed from random 4 points and returns the biggest one.
-
-	b3Vector3 a[3],b[3];
-	a[0] = p0 - p1;
-	a[1] = p0 - p2;
-	a[2] = p0 - p3;
-	b[0] = p2 - p3;
-	b[1] = p1 - p3;
-	b[2] = p1 - p2;
-
-	//todo: Following 3 cross production can be easily optimized by SIMD.
-	b3Vector3 tmp0 = a[0].cross(b[0]);
-	b3Vector3 tmp1 = a[1].cross(b[1]);
-	b3Vector3 tmp2 = a[2].cross(b[2]);
-
-	return b3Max(b3Max(tmp0.length2(),tmp1.length2()),tmp2.length2());
-}
-#if 0
-
-//using localPointA for all points
-int b3ContactCache::sortCachedPoints(const b3Vector3& pt) 
-{
-		//calculate 4 possible cases areas, and take biggest area
-		//also need to keep 'deepest'
-		
-		int maxPenetrationIndex = -1;
-#define KEEP_DEEPEST_POINT 1
-#ifdef KEEP_DEEPEST_POINT
-		b3Scalar maxPenetration = pt.getDistance();
-		for (int i=0;i<4;i++)
-		{
-			if (m_pointCache[i].getDistance() < maxPenetration)
-			{
-				maxPenetrationIndex = i;
-				maxPenetration = m_pointCache[i].getDistance();
-			}
-		}
-#endif  //KEEP_DEEPEST_POINT
-		
-		b3Scalar res0(b3Scalar(0.)),res1(b3Scalar(0.)),res2(b3Scalar(0.)),res3(b3Scalar(0.));
-
-	if (gContactCalcArea3Points)
-	{
-		if (maxPenetrationIndex != 0)
-		{
-			b3Vector3 a0 = pt.m_localPointA-m_pointCache[1].m_localPointA;
-			b3Vector3 b0 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
-			b3Vector3 cross = a0.cross(b0);
-			res0 = cross.length2();
-		}
-		if (maxPenetrationIndex != 1)
-		{
-			b3Vector3 a1 = pt.m_localPointA-m_pointCache[0].m_localPointA;
-			b3Vector3 b1 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
-			b3Vector3 cross = a1.cross(b1);
-			res1 = cross.length2();
-		}
-
-		if (maxPenetrationIndex != 2)
-		{
-			b3Vector3 a2 = pt.m_localPointA-m_pointCache[0].m_localPointA;
-			b3Vector3 b2 = m_pointCache[3].m_localPointA-m_pointCache[1].m_localPointA;
-			b3Vector3 cross = a2.cross(b2);
-			res2 = cross.length2();
-		}
-
-		if (maxPenetrationIndex != 3)
-		{
-			b3Vector3 a3 = pt.m_localPointA-m_pointCache[0].m_localPointA;
-			b3Vector3 b3 = m_pointCache[2].m_localPointA-m_pointCache[1].m_localPointA;
-			b3Vector3 cross = a3.cross(b3);
-			res3 = cross.length2();
-		}
-	} 
-	else
-	{
-		if(maxPenetrationIndex != 0) {
-			res0 = calcArea4Points(pt.m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[2].m_localPointA,m_pointCache[3].m_localPointA);
-		}
-
-		if(maxPenetrationIndex != 1) {
-			res1 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[2].m_localPointA,m_pointCache[3].m_localPointA);
-		}
-
-		if(maxPenetrationIndex != 2) {
-			res2 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[3].m_localPointA);
-		}
-
-		if(maxPenetrationIndex != 3) {
-			res3 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[2].m_localPointA);
-		}
-	}
-	b3Vector4 maxvec(res0,res1,res2,res3);
-	int biggestarea = maxvec.closestAxis4();
-	return biggestarea;
-	
-}
-
-
-int b3ContactCache::getCacheEntry(const b3Vector3& newPoint) const
-{
-	b3Scalar shortestDist =  getContactBreakingThreshold() * getContactBreakingThreshold();
-	int size = getNumContacts();
-	int nearestPoint = -1;
-	for( int i = 0; i < size; i++ )
-	{
-		const b3Vector3 &mp = m_pointCache[i];
-
-		b3Vector3 diffA =  mp.m_localPointA- newPoint.m_localPointA;
-		const b3Scalar distToManiPoint = diffA.dot(diffA);
-		if( distToManiPoint < shortestDist )
-		{
-			shortestDist = distToManiPoint;
-			nearestPoint = i;
-		}
-	}
-	return nearestPoint;
-}
-
-int b3ContactCache::addManifoldPoint(const b3Vector3& newPoint)
-{
-	b3Assert(validContactDistance(newPoint));
-	
-	int insertIndex = getNumContacts();
-	if (insertIndex == MANIFOLD_CACHE_SIZE)
-	{
-#if MANIFOLD_CACHE_SIZE >= 4
-		//sort cache so best points come first, based on area
-		insertIndex = sortCachedPoints(newPoint);
-#else
-		insertIndex = 0;
-#endif
-		clearUserCache(m_pointCache[insertIndex]);
-		
-	} else
-	{
-		m_cachedPoints++;
-
-		
-	}
-	if (insertIndex<0)
-		insertIndex=0;
-
-	//b3Assert(m_pointCache[insertIndex].m_userPersistentData==0);
-	m_pointCache[insertIndex] = newPoint;
-	return insertIndex;
-}
-
-#endif
-
-bool b3ContactCache::validContactDistance(const b3Vector3& pt)
-{
-	return pt.w <= gContactBreakingThreshold;
-}
-
-void b3ContactCache::removeContactPoint(struct b3Contact4Data& newContactCache,int i)
-{
-	int numContacts = b3Contact4Data_getNumPoints(&newContactCache);
-	if (i!=(numContacts-1))
-	{
-		b3Swap(newContactCache.m_localPosA[i],newContactCache.m_localPosA[numContacts-1]);
-		b3Swap(newContactCache.m_localPosB[i],newContactCache.m_localPosB[numContacts-1]);
-		b3Swap(newContactCache.m_worldPosB[i],newContactCache.m_worldPosB[numContacts-1]);
-	}
-	b3Contact4Data_setNumPoints(&newContactCache,numContacts-1);
-
-}
-
-
-void b3ContactCache::refreshContactPoints(const b3Transform& trA,const b3Transform& trB, struct b3Contact4Data& contacts)
-{
-
-	int numContacts = b3Contact4Data_getNumPoints(&contacts);
-	
-
-	int i;
-	/// first refresh worldspace positions and distance
-	for (i=numContacts-1;i>=0;i--)
-	{
-		b3Vector3 worldPosA = trA( contacts.m_localPosA[i]);
-		b3Vector3 worldPosB = trB( contacts.m_localPosB[i]);
-		contacts.m_worldPosB[i] = worldPosB;
-		float distance = (worldPosA -  worldPosB).dot(contacts.m_worldNormalOnB);
-		contacts.m_worldPosB[i].w = distance;
-	}
-
-	/// then 
-	b3Scalar distance2d;
-	b3Vector3 projectedDifference,projectedPoint;
-	for (i=numContacts-1;i>=0;i--)
-	{
-		b3Vector3 worldPosA = trA( contacts.m_localPosA[i]);
-		b3Vector3 worldPosB = trB( contacts.m_localPosB[i]);
-		b3Vector3&pt = contacts.m_worldPosB[i];
-		//contact becomes invalid when signed distance exceeds margin (projected on contactnormal direction)
-		if (!validContactDistance(pt))
-		{
-			removeContactPoint(contacts,i);
-		} else
-		{
-			//contact also becomes invalid when relative movement orthogonal to normal exceeds margin
-			projectedPoint = worldPosA - contacts.m_worldNormalOnB * contacts.m_worldPosB[i].w;
-			projectedDifference = contacts.m_worldPosB[i] - projectedPoint;
-			distance2d = projectedDifference.dot(projectedDifference);
-			if (distance2d  > gContactBreakingThreshold*gContactBreakingThreshold )
-			{
-				removeContactPoint(contacts,i);
-			} else
-			{
-				////contact point processed callback
-				//if (gContactProcessedCallback)
-				//	(*gContactProcessedCallback)(manifoldPoint,(void*)m_body0,(void*)m_body1);
-			}
-		}
-	}
-	
-
-}
-
-#endif
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.h
deleted file mode 100644
index a15fd0b2a9..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.h
+++ /dev/null
@@ -1,62 +0,0 @@
-
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_CONTACT_CACHE_H
-#define B3_CONTACT_CACHE_H
-
-#include "Bullet3Common/b3Vector3.h"
-#include "Bullet3Common/b3Transform.h"
-#include "Bullet3Common/b3AlignedAllocator.h"
-
-///maximum contact breaking and merging threshold
-extern b3Scalar gContactBreakingThreshold;
-
-#define MANIFOLD_CACHE_SIZE 4
-
-///b3ContactCache is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase.
-///Those contact points are created by the collision narrow phase.
-///The cache can be empty, or hold 1,2,3 or 4 points. Some collision algorithms (GJK) might only add one point at a time.
-///updates/refreshes old contact points, and throw them away if necessary (distance becomes too large)
-///reduces the cache to 4 points, when more then 4 points are added, using following rules:
-///the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points
-///note that some pairs of objects might have more then one contact manifold.
-B3_ATTRIBUTE_ALIGNED16(class)
-b3ContactCache
-{
-	/// sort cached points so most isolated points come first
-	int sortCachedPoints(const b3Vector3& pt);
-
-public:
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-	int addManifoldPoint(const b3Vector3& newPoint);
-
-	/*void replaceContactPoint(const b3Vector3& newPoint,int insertIndex)
-	{
-		b3Assert(validContactDistance(newPoint));
-		m_pointCache[insertIndex] = newPoint;
-	}
-	*/
-
-	static bool validContactDistance(const b3Vector3& pt);
-
-	/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
-	static void refreshContactPoints(const b3Transform& trA, const b3Transform& trB, struct b3Contact4Data& newContactCache);
-
-	static void removeContactPoint(struct b3Contact4Data & newContactCache, int i);
-};
-
-#endif  //B3_CONTACT_CACHE_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
deleted file mode 100644
index 54a104c5c8..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
+++ /dev/null
@@ -1,4408 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2011 Advanced Micro Devices, Inc.  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-bool findSeparatingAxisOnGpu = true;
-bool splitSearchSepAxisConcave = false;
-bool splitSearchSepAxisConvex = true;
-bool useMprGpu = true;  //use mpr for edge-edge  (+contact point) or sat. Needs testing on main OpenCL platforms, before enabling...
-bool bvhTraversalKernelGPU = true;
-bool findConcaveSeparatingAxisKernelGPU = true;
-bool clipConcaveFacesAndFindContactsCPU = false;  //false;//true;
-bool clipConvexFacesAndFindContactsCPU = false;   //false;//true;
-bool reduceConcaveContactsOnGPU = true;           //false;
-bool reduceConvexContactsOnGPU = true;            //false;
-bool findConvexClippingFacesGPU = true;
-bool useGjk = false;          ///option for CPU/host testing, when findSeparatingAxisOnGpu = false
-bool useGjkContacts = false;  //////option for CPU/host testing when findSeparatingAxisOnGpu = false
-
-static int myframecount = 0;  ///for testing
-
-///This file was written by Erwin Coumans
-///Separating axis rest based on work from Pierre Terdiman, see
-///And contact clipping based on work from Simon Hobbs
-
-//#define B3_DEBUG_SAT_FACE
-
-//#define CHECK_ON_HOST
-
-#ifdef CHECK_ON_HOST
-//#define PERSISTENT_CONTACTS_HOST
-#endif
-
-int b3g_actualSATPairTests = 0;
-
-#include "b3ConvexHullContact.h"
-#include <string.h>  //memcpy
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h"
-
-#include "Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.h"
-#include "Bullet3Geometry/b3AabbUtil.h"
-
-typedef b3AlignedObjectArray<b3Vector3> b3VertexArray;
-
-#include <float.h>  //for FLT_MAX
-#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
-//#include "AdlQuaternion.h"
-
-#include "kernels/satKernels.h"
-#include "kernels/mprKernels.h"
-
-#include "kernels/satConcaveKernels.h"
-
-#include "kernels/satClipHullContacts.h"
-#include "kernels/bvhTraversal.h"
-#include "kernels/primitiveContacts.h"
-
-#include "Bullet3Geometry/b3AabbUtil.h"
-
-#define BT_NARROWPHASE_SAT_PATH "src/Bullet3OpenCL/NarrowphaseCollision/kernels/sat.cl"
-#define BT_NARROWPHASE_SAT_CONCAVE_PATH "src/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcave.cl"
-
-#define BT_NARROWPHASE_MPR_PATH "src/Bullet3OpenCL/NarrowphaseCollision/kernels/mpr.cl"
-
-#define BT_NARROWPHASE_CLIPHULL_PATH "src/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.cl"
-#define BT_NARROWPHASE_BVH_TRAVERSAL_PATH "src/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.cl"
-#define BT_NARROWPHASE_PRIMITIVE_CONTACT_PATH "src/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.cl"
-
-#ifndef __global
-#define __global
-#endif
-
-#ifndef __kernel
-#define __kernel
-#endif
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ClipFaces.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h"
-
-#define dot3F4 b3Dot
-
-GpuSatCollision::GpuSatCollision(cl_context ctx, cl_device_id device, cl_command_queue q)
-	: m_context(ctx),
-	  m_device(device),
-	  m_queue(q),
-
-	  m_findSeparatingAxisKernel(0),
-	  m_findSeparatingAxisVertexFaceKernel(0),
-	  m_findSeparatingAxisEdgeEdgeKernel(0),
-	  m_unitSphereDirections(m_context, m_queue),
-
-	  m_totalContactsOut(m_context, m_queue),
-	  m_sepNormals(m_context, m_queue),
-	  m_dmins(m_context, m_queue),
-
-	  m_hasSeparatingNormals(m_context, m_queue),
-	  m_concaveSepNormals(m_context, m_queue),
-	  m_concaveHasSeparatingNormals(m_context, m_queue),
-	  m_numConcavePairsOut(m_context, m_queue),
-
-	  m_gpuCompoundPairs(m_context, m_queue),
-
-	  m_gpuCompoundSepNormals(m_context, m_queue),
-	  m_gpuHasCompoundSepNormals(m_context, m_queue),
-
-	  m_numCompoundPairsOut(m_context, m_queue)
-{
-	m_totalContactsOut.push_back(0);
-
-	cl_int errNum = 0;
-
-	if (1)
-	{
-		const char* mprSrc = mprKernelsCL;
-
-		const char* srcConcave = satConcaveKernelsCL;
-		char flags[1024] = {0};
-		//#ifdef CL_PLATFORM_INTEL
-		//		sprintf(flags,"-g -s \"%s\"","C:/develop/bullet3_experiments2/opencl/gpu_narrowphase/kernels/sat.cl");
-		//#endif
-		m_mprPenetrationKernel = 0;
-		m_findSeparatingAxisUnitSphereKernel = 0;
-
-		if (useMprGpu)
-		{
-			cl_program mprProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, mprSrc, &errNum, flags, BT_NARROWPHASE_MPR_PATH);
-			b3Assert(errNum == CL_SUCCESS);
-
-			m_mprPenetrationKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, mprSrc, "mprPenetrationKernel", &errNum, mprProg);
-			b3Assert(m_mprPenetrationKernel);
-			b3Assert(errNum == CL_SUCCESS);
-
-			m_findSeparatingAxisUnitSphereKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, mprSrc, "findSeparatingAxisUnitSphereKernel", &errNum, mprProg);
-			b3Assert(m_findSeparatingAxisUnitSphereKernel);
-			b3Assert(errNum == CL_SUCCESS);
-
-			int numDirections = sizeof(unitSphere162) / sizeof(b3Vector3);
-			m_unitSphereDirections.resize(numDirections);
-			m_unitSphereDirections.copyFromHostPointer(unitSphere162, numDirections, 0, true);
-		}
-
-		cl_program satProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, satKernelsCL, &errNum, flags, BT_NARROWPHASE_SAT_PATH);
-		b3Assert(errNum == CL_SUCCESS);
-
-		cl_program satConcaveProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, srcConcave, &errNum, flags, BT_NARROWPHASE_SAT_CONCAVE_PATH);
-		b3Assert(errNum == CL_SUCCESS);
-
-		m_findSeparatingAxisKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, satKernelsCL, "findSeparatingAxisKernel", &errNum, satProg);
-		b3Assert(m_findSeparatingAxisKernel);
-		b3Assert(errNum == CL_SUCCESS);
-
-		m_findSeparatingAxisVertexFaceKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, satKernelsCL, "findSeparatingAxisVertexFaceKernel", &errNum, satProg);
-		b3Assert(m_findSeparatingAxisVertexFaceKernel);
-
-		m_findSeparatingAxisEdgeEdgeKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, satKernelsCL, "findSeparatingAxisEdgeEdgeKernel", &errNum, satProg);
-		b3Assert(m_findSeparatingAxisVertexFaceKernel);
-
-		m_findConcaveSeparatingAxisKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, satKernelsCL, "findConcaveSeparatingAxisKernel", &errNum, satProg);
-		b3Assert(m_findConcaveSeparatingAxisKernel);
-		b3Assert(errNum == CL_SUCCESS);
-
-		m_findConcaveSeparatingAxisVertexFaceKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, srcConcave, "findConcaveSeparatingAxisVertexFaceKernel", &errNum, satConcaveProg);
-		b3Assert(m_findConcaveSeparatingAxisVertexFaceKernel);
-		b3Assert(errNum == CL_SUCCESS);
-
-		m_findConcaveSeparatingAxisEdgeEdgeKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, srcConcave, "findConcaveSeparatingAxisEdgeEdgeKernel", &errNum, satConcaveProg);
-		b3Assert(m_findConcaveSeparatingAxisEdgeEdgeKernel);
-		b3Assert(errNum == CL_SUCCESS);
-
-		m_findCompoundPairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, satKernelsCL, "findCompoundPairsKernel", &errNum, satProg);
-		b3Assert(m_findCompoundPairsKernel);
-		b3Assert(errNum == CL_SUCCESS);
-		m_processCompoundPairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, satKernelsCL, "processCompoundPairsKernel", &errNum, satProg);
-		b3Assert(m_processCompoundPairsKernel);
-		b3Assert(errNum == CL_SUCCESS);
-	}
-
-	if (1)
-	{
-		const char* srcClip = satClipKernelsCL;
-
-		char flags[1024] = {0};
-		//#ifdef CL_PLATFORM_INTEL
-		//		sprintf(flags,"-g -s \"%s\"","C:/develop/bullet3_experiments2/opencl/gpu_narrowphase/kernels/satClipHullContacts.cl");
-		//#endif
-
-		cl_program satClipContactsProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, srcClip, &errNum, flags, BT_NARROWPHASE_CLIPHULL_PATH);
-		b3Assert(errNum == CL_SUCCESS);
-
-		m_clipHullHullKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, srcClip, "clipHullHullKernel", &errNum, satClipContactsProg);
-		b3Assert(errNum == CL_SUCCESS);
-
-		m_clipCompoundsHullHullKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, srcClip, "clipCompoundsHullHullKernel", &errNum, satClipContactsProg);
-		b3Assert(errNum == CL_SUCCESS);
-
-		m_findClippingFacesKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, srcClip, "findClippingFacesKernel", &errNum, satClipContactsProg);
-		b3Assert(errNum == CL_SUCCESS);
-
-		m_clipFacesAndFindContacts = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, srcClip, "clipFacesAndFindContactsKernel", &errNum, satClipContactsProg);
-		b3Assert(errNum == CL_SUCCESS);
-
-		m_clipHullHullConcaveConvexKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, srcClip, "clipHullHullConcaveConvexKernel", &errNum, satClipContactsProg);
-		b3Assert(errNum == CL_SUCCESS);
-
-		//		m_extractManifoldAndAddContactKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "extractManifoldAndAddContactKernel",&errNum,satClipContactsProg);
-		//	b3Assert(errNum==CL_SUCCESS);
-
-		m_newContactReductionKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, srcClip,
-																			   "newContactReductionKernel", &errNum, satClipContactsProg);
-		b3Assert(errNum == CL_SUCCESS);
-	}
-	else
-	{
-		m_clipHullHullKernel = 0;
-		m_clipCompoundsHullHullKernel = 0;
-		m_findClippingFacesKernel = 0;
-		m_newContactReductionKernel = 0;
-		m_clipFacesAndFindContacts = 0;
-		m_clipHullHullConcaveConvexKernel = 0;
-		//		m_extractManifoldAndAddContactKernel = 0;
-	}
-
-	if (1)
-	{
-		const char* srcBvh = bvhTraversalKernelCL;
-		cl_program bvhTraversalProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, srcBvh, &errNum, "", BT_NARROWPHASE_BVH_TRAVERSAL_PATH);
-		b3Assert(errNum == CL_SUCCESS);
-
-		m_bvhTraversalKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, srcBvh, "bvhTraversalKernel", &errNum, bvhTraversalProg, "");
-		b3Assert(errNum == CL_SUCCESS);
-	}
-
-	{
-		const char* primitiveContactsSrc = primitiveContactsKernelsCL;
-		cl_program primitiveContactsProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, primitiveContactsSrc, &errNum, "", BT_NARROWPHASE_PRIMITIVE_CONTACT_PATH);
-		b3Assert(errNum == CL_SUCCESS);
-
-		m_primitiveContactsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, primitiveContactsSrc, "primitiveContactsKernel", &errNum, primitiveContactsProg, "");
-		b3Assert(errNum == CL_SUCCESS);
-
-		m_findConcaveSphereContactsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, primitiveContactsSrc, "findConcaveSphereContactsKernel", &errNum, primitiveContactsProg);
-		b3Assert(errNum == CL_SUCCESS);
-		b3Assert(m_findConcaveSphereContactsKernel);
-
-		m_processCompoundPairsPrimitivesKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, primitiveContactsSrc, "processCompoundPairsPrimitivesKernel", &errNum, primitiveContactsProg, "");
-		b3Assert(errNum == CL_SUCCESS);
-		b3Assert(m_processCompoundPairsPrimitivesKernel);
-	}
-}
-
-GpuSatCollision::~GpuSatCollision()
-{
-	if (m_findSeparatingAxisVertexFaceKernel)
-		clReleaseKernel(m_findSeparatingAxisVertexFaceKernel);
-
-	if (m_findSeparatingAxisEdgeEdgeKernel)
-		clReleaseKernel(m_findSeparatingAxisEdgeEdgeKernel);
-
-	if (m_findSeparatingAxisUnitSphereKernel)
-		clReleaseKernel(m_findSeparatingAxisUnitSphereKernel);
-
-	if (m_mprPenetrationKernel)
-		clReleaseKernel(m_mprPenetrationKernel);
-
-	if (m_findSeparatingAxisKernel)
-		clReleaseKernel(m_findSeparatingAxisKernel);
-
-	if (m_findConcaveSeparatingAxisVertexFaceKernel)
-		clReleaseKernel(m_findConcaveSeparatingAxisVertexFaceKernel);
-
-	if (m_findConcaveSeparatingAxisEdgeEdgeKernel)
-		clReleaseKernel(m_findConcaveSeparatingAxisEdgeEdgeKernel);
-
-	if (m_findConcaveSeparatingAxisKernel)
-		clReleaseKernel(m_findConcaveSeparatingAxisKernel);
-
-	if (m_findCompoundPairsKernel)
-		clReleaseKernel(m_findCompoundPairsKernel);
-
-	if (m_processCompoundPairsKernel)
-		clReleaseKernel(m_processCompoundPairsKernel);
-
-	if (m_findClippingFacesKernel)
-		clReleaseKernel(m_findClippingFacesKernel);
-
-	if (m_clipFacesAndFindContacts)
-		clReleaseKernel(m_clipFacesAndFindContacts);
-	if (m_newContactReductionKernel)
-		clReleaseKernel(m_newContactReductionKernel);
-	if (m_primitiveContactsKernel)
-		clReleaseKernel(m_primitiveContactsKernel);
-
-	if (m_findConcaveSphereContactsKernel)
-		clReleaseKernel(m_findConcaveSphereContactsKernel);
-
-	if (m_processCompoundPairsPrimitivesKernel)
-		clReleaseKernel(m_processCompoundPairsPrimitivesKernel);
-
-	if (m_clipHullHullKernel)
-		clReleaseKernel(m_clipHullHullKernel);
-	if (m_clipCompoundsHullHullKernel)
-		clReleaseKernel(m_clipCompoundsHullHullKernel);
-
-	if (m_clipHullHullConcaveConvexKernel)
-		clReleaseKernel(m_clipHullHullConcaveConvexKernel);
-	//	if (m_extractManifoldAndAddContactKernel)
-	//	clReleaseKernel(m_extractManifoldAndAddContactKernel);
-
-	if (m_bvhTraversalKernel)
-		clReleaseKernel(m_bvhTraversalKernel);
-}
-
-struct MyTriangleCallback : public b3NodeOverlapCallback
-{
-	int m_bodyIndexA;
-	int m_bodyIndexB;
-
-	virtual void processNode(int subPart, int triangleIndex)
-	{
-		printf("bodyIndexA %d, bodyIndexB %d\n", m_bodyIndexA, m_bodyIndexB);
-		printf("triangleIndex %d\n", triangleIndex);
-	}
-};
-
-#define float4 b3Vector3
-#define make_float4(x, y, z, w) b3MakeVector3(x, y, z, w)
-
-float signedDistanceFromPointToPlane(const float4& point, const float4& planeEqn, float4* closestPointOnFace)
-{
-	float4 n = planeEqn;
-	n[3] = 0.f;
-	float dist = dot3F4(n, point) + planeEqn[3];
-	*closestPointOnFace = point - dist * n;
-	return dist;
-}
-
-#define cross3(a, b) (a.cross(b))
-b3Vector3 transform(const b3Vector3* v, const b3Vector3* pos, const b3Quaternion* orn)
-{
-	b3Transform tr;
-	tr.setIdentity();
-	tr.setOrigin(*pos);
-	tr.setRotation(*orn);
-	b3Vector3 res = tr(*v);
-	return res;
-}
-
-inline bool IsPointInPolygon(const float4& p,
-							 const b3GpuFace* face,
-							 const float4* baseVertex,
-							 const int* convexIndices,
-							 float4* out)
-{
-	float4 a;
-	float4 b;
-	float4 ab;
-	float4 ap;
-	float4 v;
-
-	float4 plane = b3MakeVector3(face->m_plane.x, face->m_plane.y, face->m_plane.z, 0.f);
-
-	if (face->m_numIndices < 2)
-		return false;
-
-	float4 v0 = baseVertex[convexIndices[face->m_indexOffset + face->m_numIndices - 1]];
-	b = v0;
-
-	for (unsigned i = 0; i != face->m_numIndices; ++i)
-	{
-		a = b;
-		float4 vi = baseVertex[convexIndices[face->m_indexOffset + i]];
-		b = vi;
-		ab = b - a;
-		ap = p - a;
-		v = cross3(ab, plane);
-
-		if (b3Dot(ap, v) > 0.f)
-		{
-			float ab_m2 = b3Dot(ab, ab);
-			float rt = ab_m2 != 0.f ? b3Dot(ab, ap) / ab_m2 : 0.f;
-			if (rt <= 0.f)
-			{
-				*out = a;
-			}
-			else if (rt >= 1.f)
-			{
-				*out = b;
-			}
-			else
-			{
-				float s = 1.f - rt;
-				out[0].x = s * a.x + rt * b.x;
-				out[0].y = s * a.y + rt * b.y;
-				out[0].z = s * a.z + rt * b.z;
-			}
-			return false;
-		}
-	}
-	return true;
-}
-
-#define normalize3(a) (a.normalize())
-
-int extractManifoldSequentialGlobal(const float4* p, int nPoints, const float4& nearNormal, b3Int4* contactIdx)
-{
-	if (nPoints == 0)
-		return 0;
-
-	if (nPoints <= 4)
-		return nPoints;
-
-	if (nPoints > 64)
-		nPoints = 64;
-
-	float4 center = b3MakeVector3(0, 0, 0, 0);
-	{
-		for (int i = 0; i < nPoints; i++)
-			center += p[i];
-		center /= (float)nPoints;
-	}
-
-	//	sample 4 directions
-
-	float4 aVector = p[0] - center;
-	float4 u = cross3(nearNormal, aVector);
-	float4 v = cross3(nearNormal, u);
-	u = normalize3(u);
-	v = normalize3(v);
-
-	//keep point with deepest penetration
-	float minW = FLT_MAX;
-
-	int minIndex = -1;
-
-	float4 maxDots;
-	maxDots.x = FLT_MIN;
-	maxDots.y = FLT_MIN;
-	maxDots.z = FLT_MIN;
-	maxDots.w = FLT_MIN;
-
-	//	idx, distance
-	for (int ie = 0; ie < nPoints; ie++)
-	{
-		if (p[ie].w < minW)
-		{
-			minW = p[ie].w;
-			minIndex = ie;
-		}
-		float f;
-		float4 r = p[ie] - center;
-		f = dot3F4(u, r);
-		if (f < maxDots.x)
-		{
-			maxDots.x = f;
-			contactIdx[0].x = ie;
-		}
-
-		f = dot3F4(-u, r);
-		if (f < maxDots.y)
-		{
-			maxDots.y = f;
-			contactIdx[0].y = ie;
-		}
-
-		f = dot3F4(v, r);
-		if (f < maxDots.z)
-		{
-			maxDots.z = f;
-			contactIdx[0].z = ie;
-		}
-
-		f = dot3F4(-v, r);
-		if (f < maxDots.w)
-		{
-			maxDots.w = f;
-			contactIdx[0].w = ie;
-		}
-	}
-
-	if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
-	{
-		//replace the first contact with minimum (todo: replace contact with least penetration)
-		contactIdx[0].x = minIndex;
-	}
-
-	return 4;
-}
-
-#define MAX_VERTS 1024
-
-inline void project(const b3ConvexPolyhedronData& hull, const float4& pos, const b3Quaternion& orn, const float4& dir, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar& min, b3Scalar& max)
-{
-	min = FLT_MAX;
-	max = -FLT_MAX;
-	int numVerts = hull.m_numVertices;
-
-	const float4 localDir = b3QuatRotate(orn.inverse(), dir);
-
-	b3Scalar offset = dot3F4(pos, dir);
-
-	for (int i = 0; i < numVerts; i++)
-	{
-		//b3Vector3 pt = trans * vertices[m_vertexOffset+i];
-		//b3Scalar dp = pt.dot(dir);
-		//b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
-		b3Scalar dp = dot3F4((float4&)vertices[hull.m_vertexOffset + i], localDir);
-		//b3Assert(dp==dpL);
-		if (dp < min) min = dp;
-		if (dp > max) max = dp;
-	}
-	if (min > max)
-	{
-		b3Scalar tmp = min;
-		min = max;
-		max = tmp;
-	}
-	min += offset;
-	max += offset;
-}
-
-static bool TestSepAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
-						const float4& posA, const b3Quaternion& ornA,
-						const float4& posB, const b3Quaternion& ornB,
-						const float4& sep_axis, const b3AlignedObjectArray<b3Vector3>& verticesA, const b3AlignedObjectArray<b3Vector3>& verticesB, b3Scalar& depth)
-{
-	b3Scalar Min0, Max0;
-	b3Scalar Min1, Max1;
-	project(hullA, posA, ornA, sep_axis, verticesA, Min0, Max0);
-	project(hullB, posB, ornB, sep_axis, verticesB, Min1, Max1);
-
-	if (Max0 < Min1 || Max1 < Min0)
-		return false;
-
-	b3Scalar d0 = Max0 - Min1;
-	assert(d0 >= 0.0f);
-	b3Scalar d1 = Max1 - Min0;
-	assert(d1 >= 0.0f);
-	depth = d0 < d1 ? d0 : d1;
-	return true;
-}
-
-inline bool IsAlmostZero(const b3Vector3& v)
-{
-	if (fabsf(v.x) > 1e-6 || fabsf(v.y) > 1e-6 || fabsf(v.z) > 1e-6) return false;
-	return true;
-}
-
-static bool findSeparatingAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
-							   const float4& posA1,
-							   const b3Quaternion& ornA,
-							   const float4& posB1,
-							   const b3Quaternion& ornB,
-							   const b3AlignedObjectArray<b3Vector3>& verticesA,
-							   const b3AlignedObjectArray<b3Vector3>& uniqueEdgesA,
-							   const b3AlignedObjectArray<b3GpuFace>& facesA,
-							   const b3AlignedObjectArray<int>& indicesA,
-							   const b3AlignedObjectArray<b3Vector3>& verticesB,
-							   const b3AlignedObjectArray<b3Vector3>& uniqueEdgesB,
-							   const b3AlignedObjectArray<b3GpuFace>& facesB,
-							   const b3AlignedObjectArray<int>& indicesB,
-
-							   b3Vector3& sep)
-{
-	B3_PROFILE("findSeparatingAxis");
-
-	b3g_actualSATPairTests++;
-	float4 posA = posA1;
-	posA.w = 0.f;
-	float4 posB = posB1;
-	posB.w = 0.f;
-	//#ifdef TEST_INTERNAL_OBJECTS
-	float4 c0local = (float4&)hullA.m_localCenter;
-	float4 c0 = transform(&c0local, &posA, &ornA);
-	float4 c1local = (float4&)hullB.m_localCenter;
-	float4 c1 = transform(&c1local, &posB, &ornB);
-	const float4 deltaC2 = c0 - c1;
-	//#endif
-
-	b3Scalar dmin = FLT_MAX;
-	int curPlaneTests = 0;
-
-	int numFacesA = hullA.m_numFaces;
-	// Test normals from hullA
-	for (int i = 0; i < numFacesA; i++)
-	{
-		const float4& normal = (float4&)facesA[hullA.m_faceOffset + i].m_plane;
-		float4 faceANormalWS = b3QuatRotate(ornA, normal);
-
-		if (dot3F4(deltaC2, faceANormalWS) < 0)
-			faceANormalWS *= -1.f;
-
-		curPlaneTests++;
-#ifdef TEST_INTERNAL_OBJECTS
-		gExpectedNbTests++;
-		if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, faceANormalWS, hullA, hullB, dmin))
-			continue;
-		gActualNbTests++;
-#endif
-
-		b3Scalar d;
-		if (!TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, faceANormalWS, verticesA, verticesB, d))
-			return false;
-
-		if (d < dmin)
-		{
-			dmin = d;
-			sep = (b3Vector3&)faceANormalWS;
-		}
-	}
-
-	int numFacesB = hullB.m_numFaces;
-	// Test normals from hullB
-	for (int i = 0; i < numFacesB; i++)
-	{
-		float4 normal = (float4&)facesB[hullB.m_faceOffset + i].m_plane;
-		float4 WorldNormal = b3QuatRotate(ornB, normal);
-
-		if (dot3F4(deltaC2, WorldNormal) < 0)
-		{
-			WorldNormal *= -1.f;
-		}
-		curPlaneTests++;
-#ifdef TEST_INTERNAL_OBJECTS
-		gExpectedNbTests++;
-		if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, WorldNormal, hullA, hullB, dmin))
-			continue;
-		gActualNbTests++;
-#endif
-
-		b3Scalar d;
-		if (!TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, WorldNormal, verticesA, verticesB, d))
-			return false;
-
-		if (d < dmin)
-		{
-			dmin = d;
-			sep = (b3Vector3&)WorldNormal;
-		}
-	}
-
-	int curEdgeEdge = 0;
-	// Test edges
-	for (int e0 = 0; e0 < hullA.m_numUniqueEdges; e0++)
-	{
-		const float4& edge0 = (float4&)uniqueEdgesA[hullA.m_uniqueEdgesOffset + e0];
-		float4 edge0World = b3QuatRotate(ornA, (float4&)edge0);
-
-		for (int e1 = 0; e1 < hullB.m_numUniqueEdges; e1++)
-		{
-			const b3Vector3 edge1 = uniqueEdgesB[hullB.m_uniqueEdgesOffset + e1];
-			float4 edge1World = b3QuatRotate(ornB, (float4&)edge1);
-
-			float4 crossje = cross3(edge0World, edge1World);
-
-			curEdgeEdge++;
-			if (!IsAlmostZero((b3Vector3&)crossje))
-			{
-				crossje = normalize3(crossje);
-				if (dot3F4(deltaC2, crossje) < 0)
-					crossje *= -1.f;
-
-#ifdef TEST_INTERNAL_OBJECTS
-				gExpectedNbTests++;
-				if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, Cross, hullA, hullB, dmin))
-					continue;
-				gActualNbTests++;
-#endif
-
-				b3Scalar dist;
-				if (!TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, crossje, verticesA, verticesB, dist))
-					return false;
-
-				if (dist < dmin)
-				{
-					dmin = dist;
-					sep = (b3Vector3&)crossje;
-				}
-			}
-		}
-	}
-
-	if ((dot3F4(-deltaC2, (float4&)sep)) > 0.0f)
-		sep = -sep;
-
-	return true;
-}
-
-bool findSeparatingAxisEdgeEdge(__global const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB,
-								const b3Float4& posA1,
-								const b3Quat& ornA,
-								const b3Float4& posB1,
-								const b3Quat& ornB,
-								const b3Float4& DeltaC2,
-								__global const b3AlignedObjectArray<float4>& vertices,
-								__global const b3AlignedObjectArray<float4>& uniqueEdges,
-								__global const b3AlignedObjectArray<b3GpuFace>& faces,
-								__global const b3AlignedObjectArray<int>& indices,
-								float4* sep,
-								float* dmin)
-{
-	//	int i = get_global_id(0);
-
-	float4 posA = posA1;
-	posA.w = 0.f;
-	float4 posB = posB1;
-	posB.w = 0.f;
-
-	//int curPlaneTests=0;
-
-	int curEdgeEdge = 0;
-	// Test edges
-	for (int e0 = 0; e0 < hullA->m_numUniqueEdges; e0++)
-	{
-		const float4 edge0 = uniqueEdges[hullA->m_uniqueEdgesOffset + e0];
-		float4 edge0World = b3QuatRotate(ornA, edge0);
-
-		for (int e1 = 0; e1 < hullB->m_numUniqueEdges; e1++)
-		{
-			const float4 edge1 = uniqueEdges[hullB->m_uniqueEdgesOffset + e1];
-			float4 edge1World = b3QuatRotate(ornB, edge1);
-
-			float4 crossje = cross3(edge0World, edge1World);
-
-			curEdgeEdge++;
-			if (!IsAlmostZero(crossje))
-			{
-				crossje = normalize3(crossje);
-				if (dot3F4(DeltaC2, crossje) < 0)
-					crossje *= -1.f;
-
-				float dist;
-				bool result = true;
-				{
-					float Min0, Max0;
-					float Min1, Max1;
-					project(*hullA, posA, ornA, crossje, vertices, Min0, Max0);
-					project(*hullB, posB, ornB, crossje, vertices, Min1, Max1);
-
-					if (Max0 < Min1 || Max1 < Min0)
-						result = false;
-
-					float d0 = Max0 - Min1;
-					float d1 = Max1 - Min0;
-					dist = d0 < d1 ? d0 : d1;
-					result = true;
-				}
-
-				if (dist < *dmin)
-				{
-					*dmin = dist;
-					*sep = crossje;
-				}
-			}
-		}
-	}
-
-	if ((dot3F4(-DeltaC2, *sep)) > 0.0f)
-	{
-		*sep = -(*sep);
-	}
-	return true;
-}
-
-__inline float4 lerp3(const float4& a, const float4& b, float t)
-{
-	return b3MakeVector3(a.x + (b.x - a.x) * t,
-						 a.y + (b.y - a.y) * t,
-						 a.z + (b.z - a.z) * t,
-						 0.f);
-}
-
-// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut
-int clipFace(const float4* pVtxIn, int numVertsIn, float4& planeNormalWS, float planeEqWS, float4* ppVtxOut)
-{
-	int ve;
-	float ds, de;
-	int numVertsOut = 0;
-	if (numVertsIn < 2)
-		return 0;
-
-	float4 firstVertex = pVtxIn[numVertsIn - 1];
-	float4 endVertex = pVtxIn[0];
-
-	ds = dot3F4(planeNormalWS, firstVertex) + planeEqWS;
-
-	for (ve = 0; ve < numVertsIn; ve++)
-	{
-		endVertex = pVtxIn[ve];
-
-		de = dot3F4(planeNormalWS, endVertex) + planeEqWS;
-
-		if (ds < 0)
-		{
-			if (de < 0)
-			{
-				// Start < 0, end < 0, so output endVertex
-				ppVtxOut[numVertsOut++] = endVertex;
-			}
-			else
-			{
-				// Start < 0, end >= 0, so output intersection
-				ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex, (ds * 1.f / (ds - de)));
-			}
-		}
-		else
-		{
-			if (de < 0)
-			{
-				// Start >= 0, end < 0 so output intersection and end
-				ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex, (ds * 1.f / (ds - de)));
-				ppVtxOut[numVertsOut++] = endVertex;
-			}
-		}
-		firstVertex = endVertex;
-		ds = de;
-	}
-	return numVertsOut;
-}
-
-int clipFaceAgainstHull(const float4& separatingNormal, const b3ConvexPolyhedronData* hullA,
-						const float4& posA, const b3Quaternion& ornA, float4* worldVertsB1, int numWorldVertsB1,
-						float4* worldVertsB2, int capacityWorldVertsB2,
-						const float minDist, float maxDist,
-						const b3AlignedObjectArray<float4>& verticesA, const b3AlignedObjectArray<b3GpuFace>& facesA, const b3AlignedObjectArray<int>& indicesA,
-						//const float4* verticesB,	const b3GpuFace* facesB,	const int* indicesB,
-						float4* contactsOut,
-						int contactCapacity)
-{
-	int numContactsOut = 0;
-
-	float4* pVtxIn = worldVertsB1;
-	float4* pVtxOut = worldVertsB2;
-
-	int numVertsIn = numWorldVertsB1;
-	int numVertsOut = 0;
-
-	int closestFaceA = -1;
-	{
-		float dmin = FLT_MAX;
-		for (int face = 0; face < hullA->m_numFaces; face++)
-		{
-			const float4 Normal = b3MakeVector3(
-				facesA[hullA->m_faceOffset + face].m_plane.x,
-				facesA[hullA->m_faceOffset + face].m_plane.y,
-				facesA[hullA->m_faceOffset + face].m_plane.z, 0.f);
-			const float4 faceANormalWS = b3QuatRotate(ornA, Normal);
-
-			float d = dot3F4(faceANormalWS, separatingNormal);
-			if (d < dmin)
-			{
-				dmin = d;
-				closestFaceA = face;
-			}
-		}
-	}
-	if (closestFaceA < 0)
-		return numContactsOut;
-
-	b3GpuFace polyA = facesA[hullA->m_faceOffset + closestFaceA];
-
-	// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
-	//	int numContacts = numWorldVertsB1;
-	int numVerticesA = polyA.m_numIndices;
-	for (int e0 = 0; e0 < numVerticesA; e0++)
-	{
-		const float4 a = verticesA[hullA->m_vertexOffset + indicesA[polyA.m_indexOffset + e0]];
-		const float4 b = verticesA[hullA->m_vertexOffset + indicesA[polyA.m_indexOffset + ((e0 + 1) % numVerticesA)]];
-		const float4 edge0 = a - b;
-		const float4 WorldEdge0 = b3QuatRotate(ornA, edge0);
-		float4 planeNormalA = make_float4(polyA.m_plane.x, polyA.m_plane.y, polyA.m_plane.z, 0.f);
-		float4 worldPlaneAnormal1 = b3QuatRotate(ornA, planeNormalA);
-
-		float4 planeNormalWS1 = -cross3(WorldEdge0, worldPlaneAnormal1);
-		float4 worldA1 = transform(&a, &posA, &ornA);
-		float planeEqWS1 = -dot3F4(worldA1, planeNormalWS1);
-
-		float4 planeNormalWS = planeNormalWS1;
-		float planeEqWS = planeEqWS1;
-
-		//clip face
-		//clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);
-		numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS, planeEqWS, pVtxOut);
-
-		//btSwap(pVtxIn,pVtxOut);
-		float4* tmp = pVtxOut;
-		pVtxOut = pVtxIn;
-		pVtxIn = tmp;
-		numVertsIn = numVertsOut;
-		numVertsOut = 0;
-	}
-
-	// only keep points that are behind the witness face
-	{
-		float4 localPlaneNormal = make_float4(polyA.m_plane.x, polyA.m_plane.y, polyA.m_plane.z, 0.f);
-		float localPlaneEq = polyA.m_plane.w;
-		float4 planeNormalWS = b3QuatRotate(ornA, localPlaneNormal);
-		float planeEqWS = localPlaneEq - dot3F4(planeNormalWS, posA);
-		for (int i = 0; i < numVertsIn; i++)
-		{
-			float depth = dot3F4(planeNormalWS, pVtxIn[i]) + planeEqWS;
-			if (depth <= minDist)
-			{
-				depth = minDist;
-			}
-			if (numContactsOut < contactCapacity)
-			{
-				if (depth <= maxDist)
-				{
-					float4 pointInWorld = pVtxIn[i];
-					//resultOut.addContactPoint(separatingNormal,point,depth);
-					contactsOut[numContactsOut++] = b3MakeVector3(pointInWorld.x, pointInWorld.y, pointInWorld.z, depth);
-					//printf("depth=%f\n",depth);
-				}
-			}
-			else
-			{
-				b3Error("exceeding contact capacity (%d,%df)\n", numContactsOut, contactCapacity);
-			}
-		}
-	}
-
-	return numContactsOut;
-}
-
-static int clipHullAgainstHull(const float4& separatingNormal,
-							   const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
-							   const float4& posA, const b3Quaternion& ornA, const float4& posB, const b3Quaternion& ornB,
-							   float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,
-							   const float minDist, float maxDist,
-							   const b3AlignedObjectArray<float4>& verticesA, const b3AlignedObjectArray<b3GpuFace>& facesA, const b3AlignedObjectArray<int>& indicesA,
-							   const b3AlignedObjectArray<float4>& verticesB, const b3AlignedObjectArray<b3GpuFace>& facesB, const b3AlignedObjectArray<int>& indicesB,
-
-							   float4* contactsOut,
-							   int contactCapacity)
-{
-	int numContactsOut = 0;
-	int numWorldVertsB1 = 0;
-
-	B3_PROFILE("clipHullAgainstHull");
-
-	//	float curMaxDist=maxDist;
-	int closestFaceB = -1;
-	float dmax = -FLT_MAX;
-
-	{
-		//B3_PROFILE("closestFaceB");
-		if (hullB.m_numFaces != 1)
-		{
-			//printf("wtf\n");
-		}
-		static bool once = true;
-		//printf("separatingNormal=%f,%f,%f\n",separatingNormal.x,separatingNormal.y,separatingNormal.z);
-
-		for (int face = 0; face < hullB.m_numFaces; face++)
-		{
-#ifdef BT_DEBUG_SAT_FACE
-			if (once)
-				printf("face %d\n", face);
-			const b3GpuFace* faceB = &facesB[hullB.m_faceOffset + face];
-			if (once)
-			{
-				for (int i = 0; i < faceB->m_numIndices; i++)
-				{
-					float4 vert = verticesB[hullB.m_vertexOffset + indicesB[faceB->m_indexOffset + i]];
-					printf("vert[%d] = %f,%f,%f\n", i, vert.x, vert.y, vert.z);
-				}
-			}
-#endif  //BT_DEBUG_SAT_FACE \
-	//if (facesB[hullB.m_faceOffset+face].m_numIndices>2)
-			{
-				const float4 Normal = b3MakeVector3(facesB[hullB.m_faceOffset + face].m_plane.x,
-													facesB[hullB.m_faceOffset + face].m_plane.y, facesB[hullB.m_faceOffset + face].m_plane.z, 0.f);
-				const float4 WorldNormal = b3QuatRotate(ornB, Normal);
-#ifdef BT_DEBUG_SAT_FACE
-				if (once)
-					printf("faceNormal = %f,%f,%f\n", Normal.x, Normal.y, Normal.z);
-#endif
-				float d = dot3F4(WorldNormal, separatingNormal);
-				if (d > dmax)
-				{
-					dmax = d;
-					closestFaceB = face;
-				}
-			}
-		}
-		once = false;
-	}
-
-	b3Assert(closestFaceB >= 0);
-	{
-		//B3_PROFILE("worldVertsB1");
-		const b3GpuFace& polyB = facesB[hullB.m_faceOffset + closestFaceB];
-		const int numVertices = polyB.m_numIndices;
-		for (int e0 = 0; e0 < numVertices; e0++)
-		{
-			const float4& b = verticesB[hullB.m_vertexOffset + indicesB[polyB.m_indexOffset + e0]];
-			worldVertsB1[numWorldVertsB1++] = transform(&b, &posB, &ornB);
-		}
-	}
-
-	if (closestFaceB >= 0)
-	{
-		//B3_PROFILE("clipFaceAgainstHull");
-		numContactsOut = clipFaceAgainstHull((float4&)separatingNormal, &hullA,
-											 posA, ornA,
-											 worldVertsB1, numWorldVertsB1, worldVertsB2, capacityWorldVerts, minDist, maxDist,
-											 verticesA, facesA, indicesA,
-											 contactsOut, contactCapacity);
-	}
-
-	return numContactsOut;
-}
-
-#define PARALLEL_SUM(v, n) \
-	for (int j = 1; j < n; j++) v[0] += v[j];
-#define PARALLEL_DO(execution, n)  \
-	for (int ie = 0; ie < n; ie++) \
-	{                              \
-		execution;                 \
-	}
-#define REDUCE_MAX(v, n)                                                                                     \
-	{                                                                                                        \
-		int i = 0;                                                                                           \
-		for (int offset = 0; offset < n; offset++) v[i] = (v[i].y > v[i + offset].y) ? v[i] : v[i + offset]; \
-	}
-#define REDUCE_MIN(v, n)                                                                                     \
-	{                                                                                                        \
-		int i = 0;                                                                                           \
-		for (int offset = 0; offset < n; offset++) v[i] = (v[i].y < v[i + offset].y) ? v[i] : v[i + offset]; \
-	}
-
-int extractManifold(const float4* p, int nPoints, const float4& nearNormal, b3Int4* contactIdx)
-{
-	if (nPoints == 0)
-		return 0;
-
-	if (nPoints <= 4)
-		return nPoints;
-
-	if (nPoints > 64)
-		nPoints = 64;
-
-	float4 center = make_float4(0, 0, 0, 0);
-	{
-		for (int i = 0; i < nPoints; i++)
-			center += p[i];
-		center /= (float)nPoints;
-	}
-
-	//	sample 4 directions
-
-	float4 aVector = p[0] - center;
-	float4 u = cross3(nearNormal, aVector);
-	float4 v = cross3(nearNormal, u);
-	u = normalize3(u);
-	v = normalize3(v);
-
-	//keep point with deepest penetration
-	float minW = FLT_MAX;
-
-	int minIndex = -1;
-
-	float4 maxDots;
-	maxDots.x = FLT_MIN;
-	maxDots.y = FLT_MIN;
-	maxDots.z = FLT_MIN;
-	maxDots.w = FLT_MIN;
-
-	//	idx, distance
-	for (int ie = 0; ie < nPoints; ie++)
-	{
-		if (p[ie].w < minW)
-		{
-			minW = p[ie].w;
-			minIndex = ie;
-		}
-		float f;
-		float4 r = p[ie] - center;
-		f = dot3F4(u, r);
-		if (f < maxDots.x)
-		{
-			maxDots.x = f;
-			contactIdx[0].x = ie;
-		}
-
-		f = dot3F4(-u, r);
-		if (f < maxDots.y)
-		{
-			maxDots.y = f;
-			contactIdx[0].y = ie;
-		}
-
-		f = dot3F4(v, r);
-		if (f < maxDots.z)
-		{
-			maxDots.z = f;
-			contactIdx[0].z = ie;
-		}
-
-		f = dot3F4(-v, r);
-		if (f < maxDots.w)
-		{
-			maxDots.w = f;
-			contactIdx[0].w = ie;
-		}
-	}
-
-	if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
-	{
-		//replace the first contact with minimum (todo: replace contact with least penetration)
-		contactIdx[0].x = minIndex;
-	}
-
-	return 4;
-}
-
-int clipHullHullSingle(
-	int bodyIndexA, int bodyIndexB,
-	const float4& posA,
-	const b3Quaternion& ornA,
-	const float4& posB,
-	const b3Quaternion& ornB,
-
-	int collidableIndexA, int collidableIndexB,
-
-	const b3AlignedObjectArray<b3RigidBodyData>* bodyBuf,
-	b3AlignedObjectArray<b3Contact4>* globalContactOut,
-	int& nContacts,
-
-	const b3AlignedObjectArray<b3ConvexPolyhedronData>& hostConvexDataA,
-	const b3AlignedObjectArray<b3ConvexPolyhedronData>& hostConvexDataB,
-
-	const b3AlignedObjectArray<b3Vector3>& verticesA,
-	const b3AlignedObjectArray<b3Vector3>& uniqueEdgesA,
-	const b3AlignedObjectArray<b3GpuFace>& facesA,
-	const b3AlignedObjectArray<int>& indicesA,
-
-	const b3AlignedObjectArray<b3Vector3>& verticesB,
-	const b3AlignedObjectArray<b3Vector3>& uniqueEdgesB,
-	const b3AlignedObjectArray<b3GpuFace>& facesB,
-	const b3AlignedObjectArray<int>& indicesB,
-
-	const b3AlignedObjectArray<b3Collidable>& hostCollidablesA,
-	const b3AlignedObjectArray<b3Collidable>& hostCollidablesB,
-	const b3Vector3& sepNormalWorldSpace,
-	int maxContactCapacity)
-{
-	int contactIndex = -1;
-	b3ConvexPolyhedronData hullA, hullB;
-
-	b3Collidable colA = hostCollidablesA[collidableIndexA];
-	hullA = hostConvexDataA[colA.m_shapeIndex];
-	//printf("numvertsA = %d\n",hullA.m_numVertices);
-
-	b3Collidable colB = hostCollidablesB[collidableIndexB];
-	hullB = hostConvexDataB[colB.m_shapeIndex];
-	//printf("numvertsB = %d\n",hullB.m_numVertices);
-
-	float4 contactsOut[MAX_VERTS];
-	int localContactCapacity = MAX_VERTS;
-
-#ifdef _WIN32
-	b3Assert(_finite(bodyBuf->at(bodyIndexA).m_pos.x));
-	b3Assert(_finite(bodyBuf->at(bodyIndexB).m_pos.x));
-#endif
-
-	{
-		float4 worldVertsB1[MAX_VERTS];
-		float4 worldVertsB2[MAX_VERTS];
-		int capacityWorldVerts = MAX_VERTS;
-
-		float4 hostNormal = make_float4(sepNormalWorldSpace.x, sepNormalWorldSpace.y, sepNormalWorldSpace.z, 0.f);
-		int shapeA = hostCollidablesA[collidableIndexA].m_shapeIndex;
-		int shapeB = hostCollidablesB[collidableIndexB].m_shapeIndex;
-
-		b3Scalar minDist = -1;
-		b3Scalar maxDist = 0.;
-
-		b3Transform trA, trB;
-		{
-			//B3_PROFILE("transform computation");
-			//trA.setIdentity();
-			trA.setOrigin(b3MakeVector3(posA.x, posA.y, posA.z));
-			trA.setRotation(b3Quaternion(ornA.x, ornA.y, ornA.z, ornA.w));
-
-			//trB.setIdentity();
-			trB.setOrigin(b3MakeVector3(posB.x, posB.y, posB.z));
-			trB.setRotation(b3Quaternion(ornB.x, ornB.y, ornB.z, ornB.w));
-		}
-
-		b3Quaternion trAorn = trA.getRotation();
-		b3Quaternion trBorn = trB.getRotation();
-
-		int numContactsOut = clipHullAgainstHull(hostNormal,
-												 hostConvexDataA.at(shapeA),
-												 hostConvexDataB.at(shapeB),
-												 (float4&)trA.getOrigin(), (b3Quaternion&)trAorn,
-												 (float4&)trB.getOrigin(), (b3Quaternion&)trBorn,
-												 worldVertsB1, worldVertsB2, capacityWorldVerts,
-												 minDist, maxDist,
-												 verticesA, facesA, indicesA,
-												 verticesB, facesB, indicesB,
-
-												 contactsOut, localContactCapacity);
-
-		if (numContactsOut > 0)
-		{
-			B3_PROFILE("overlap");
-
-			float4 normalOnSurfaceB = (float4&)hostNormal;
-
-			b3Int4 contactIdx;
-			contactIdx.x = 0;
-			contactIdx.y = 1;
-			contactIdx.z = 2;
-			contactIdx.w = 3;
-
-			int numPoints = 0;
-
-			{
-				//	B3_PROFILE("extractManifold");
-				numPoints = extractManifold(contactsOut, numContactsOut, normalOnSurfaceB, &contactIdx);
-			}
-
-			b3Assert(numPoints);
-
-			if (nContacts < maxContactCapacity)
-			{
-				contactIndex = nContacts;
-				globalContactOut->expand();
-				b3Contact4& contact = globalContactOut->at(nContacts);
-				contact.m_batchIdx = 0;  //i;
-				contact.m_bodyAPtrAndSignBit = (bodyBuf->at(bodyIndexA).m_invMass == 0) ? -bodyIndexA : bodyIndexA;
-				contact.m_bodyBPtrAndSignBit = (bodyBuf->at(bodyIndexB).m_invMass == 0) ? -bodyIndexB : bodyIndexB;
-
-				contact.m_frictionCoeffCmp = 45874;
-				contact.m_restituitionCoeffCmp = 0;
-
-				//			float distance = 0.f;
-				for (int p = 0; p < numPoints; p++)
-				{
-					contact.m_worldPosB[p] = contactsOut[contactIdx.s[p]];  //check if it is actually on B
-					contact.m_worldNormalOnB = normalOnSurfaceB;
-				}
-				//printf("bodyIndexA %d,bodyIndexB %d,normal=%f,%f,%f numPoints %d\n",bodyIndexA,bodyIndexB,normalOnSurfaceB.x,normalOnSurfaceB.y,normalOnSurfaceB.z,numPoints);
-				contact.m_worldNormalOnB.w = (b3Scalar)numPoints;
-				nContacts++;
-			}
-			else
-			{
-				b3Error("Error: exceeding contact capacity (%d/%d)\n", nContacts, maxContactCapacity);
-			}
-		}
-	}
-	return contactIndex;
-}
-
-void computeContactPlaneConvex(int pairIndex,
-							   int bodyIndexA, int bodyIndexB,
-							   int collidableIndexA, int collidableIndexB,
-							   const b3RigidBodyData* rigidBodies,
-							   const b3Collidable* collidables,
-							   const b3ConvexPolyhedronData* convexShapes,
-							   const b3Vector3* convexVertices,
-							   const int* convexIndices,
-							   const b3GpuFace* faces,
-							   b3Contact4* globalContactsOut,
-							   int& nGlobalContactsOut,
-							   int maxContactCapacity)
-{
-	int shapeIndex = collidables[collidableIndexB].m_shapeIndex;
-	const b3ConvexPolyhedronData* hullB = &convexShapes[shapeIndex];
-
-	b3Vector3 posB = rigidBodies[bodyIndexB].m_pos;
-	b3Quaternion ornB = rigidBodies[bodyIndexB].m_quat;
-	b3Vector3 posA = rigidBodies[bodyIndexA].m_pos;
-	b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
-
-	//	int numContactsOut = 0;
-	//	int numWorldVertsB1= 0;
-
-	b3Vector3 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
-	b3Vector3 planeNormal = b3MakeVector3(planeEq.x, planeEq.y, planeEq.z);
-	b3Vector3 planeNormalWorld = b3QuatRotate(ornA, planeNormal);
-	float planeConstant = planeEq.w;
-	b3Transform convexWorldTransform;
-	convexWorldTransform.setIdentity();
-	convexWorldTransform.setOrigin(posB);
-	convexWorldTransform.setRotation(ornB);
-	b3Transform planeTransform;
-	planeTransform.setIdentity();
-	planeTransform.setOrigin(posA);
-	planeTransform.setRotation(ornA);
-
-	b3Transform planeInConvex;
-	planeInConvex = convexWorldTransform.inverse() * planeTransform;
-	b3Transform convexInPlane;
-	convexInPlane = planeTransform.inverse() * convexWorldTransform;
-
-	b3Vector3 planeNormalInConvex = planeInConvex.getBasis() * -planeNormal;
-	float maxDot = -1e30;
-	int hitVertex = -1;
-	b3Vector3 hitVtx;
-
-#define MAX_PLANE_CONVEX_POINTS 64
-
-	b3Vector3 contactPoints[MAX_PLANE_CONVEX_POINTS];
-	int numPoints = 0;
-
-	b3Int4 contactIdx;
-	contactIdx.s[0] = 0;
-	contactIdx.s[1] = 1;
-	contactIdx.s[2] = 2;
-	contactIdx.s[3] = 3;
-
-	for (int i = 0; i < hullB->m_numVertices; i++)
-	{
-		b3Vector3 vtx = convexVertices[hullB->m_vertexOffset + i];
-		float curDot = vtx.dot(planeNormalInConvex);
-
-		if (curDot > maxDot)
-		{
-			hitVertex = i;
-			maxDot = curDot;
-			hitVtx = vtx;
-			//make sure the deepest points is always included
-			if (numPoints == MAX_PLANE_CONVEX_POINTS)
-				numPoints--;
-		}
-
-		if (numPoints < MAX_PLANE_CONVEX_POINTS)
-		{
-			b3Vector3 vtxWorld = convexWorldTransform * vtx;
-			b3Vector3 vtxInPlane = planeTransform.inverse() * vtxWorld;
-			float dist = planeNormal.dot(vtxInPlane) - planeConstant;
-			if (dist < 0.f)
-			{
-				vtxWorld.w = dist;
-				contactPoints[numPoints] = vtxWorld;
-				numPoints++;
-			}
-		}
-	}
-
-	int numReducedPoints = 0;
-
-	numReducedPoints = numPoints;
-
-	if (numPoints > 4)
-	{
-		numReducedPoints = extractManifoldSequentialGlobal(contactPoints, numPoints, planeNormalInConvex, &contactIdx);
-	}
-	int dstIdx;
-	//    dstIdx = nGlobalContactsOut++;//AppendInc( nGlobalContactsOut, dstIdx );
-
-	if (numReducedPoints > 0)
-	{
-		if (nGlobalContactsOut < maxContactCapacity)
-		{
-			dstIdx = nGlobalContactsOut;
-			nGlobalContactsOut++;
-
-			b3Contact4* c = &globalContactsOut[dstIdx];
-			c->m_worldNormalOnB = -planeNormalWorld;
-			c->setFrictionCoeff(0.7);
-			c->setRestituitionCoeff(0.f);
-
-			c->m_batchIdx = pairIndex;
-			c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass == 0 ? -bodyIndexA : bodyIndexA;
-			c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass == 0 ? -bodyIndexB : bodyIndexB;
-			for (int i = 0; i < numReducedPoints; i++)
-			{
-				b3Vector3 pOnB1 = contactPoints[contactIdx.s[i]];
-				c->m_worldPosB[i] = pOnB1;
-			}
-			c->m_worldNormalOnB.w = (b3Scalar)numReducedPoints;
-		}  //if (dstIdx < numPairs)
-	}
-
-	//	printf("computeContactPlaneConvex\n");
-}
-
-B3_FORCE_INLINE b3Vector3 MyUnQuantize(const unsigned short* vecIn, const b3Vector3& quantization, const b3Vector3& bvhAabbMin)
-{
-	b3Vector3 vecOut;
-	vecOut.setValue(
-		(b3Scalar)(vecIn[0]) / (quantization.x),
-		(b3Scalar)(vecIn[1]) / (quantization.y),
-		(b3Scalar)(vecIn[2]) / (quantization.z));
-	vecOut += bvhAabbMin;
-	return vecOut;
-}
-
-void traverseTreeTree()
-{
-}
-
-#include "Bullet3Common/shared/b3Mat3x3.h"
-
-int numAabbChecks = 0;
-int maxNumAabbChecks = 0;
-int maxDepth = 0;
-
-// work-in-progress
-__kernel void findCompoundPairsKernel(
-	int pairIndex,
-	int bodyIndexA,
-	int bodyIndexB,
-	int collidableIndexA,
-	int collidableIndexB,
-	__global const b3RigidBodyData* rigidBodies,
-	__global const b3Collidable* collidables,
-	__global const b3ConvexPolyhedronData* convexShapes,
-	__global const b3AlignedObjectArray<b3Float4>& vertices,
-	__global const b3AlignedObjectArray<b3Aabb>& aabbsWorldSpace,
-	__global const b3AlignedObjectArray<b3Aabb>& aabbsLocalSpace,
-	__global const b3GpuChildShape* gpuChildShapes,
-	__global b3Int4* gpuCompoundPairsOut,
-	__global int* numCompoundPairsOut,
-	int maxNumCompoundPairsCapacity,
-	b3AlignedObjectArray<b3QuantizedBvhNode>& treeNodesCPU,
-	b3AlignedObjectArray<b3BvhSubtreeInfo>& subTreesCPU,
-	b3AlignedObjectArray<b3BvhInfo>& bvhInfoCPU)
-{
-	numAabbChecks = 0;
-	maxNumAabbChecks = 0;
-	//	int i = pairIndex;
-	{
-		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
-		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-
-		//once the broadphase avoids static-static pairs, we can remove this test
-		if ((rigidBodies[bodyIndexA].m_invMass == 0) && (rigidBodies[bodyIndexB].m_invMass == 0))
-		{
-			return;
-		}
-
-		if ((collidables[collidableIndexA].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS) && (collidables[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS))
-		{
-			int bvhA = collidables[collidableIndexA].m_compoundBvhIndex;
-			int bvhB = collidables[collidableIndexB].m_compoundBvhIndex;
-			int numSubTreesA = bvhInfoCPU[bvhA].m_numSubTrees;
-			int subTreesOffsetA = bvhInfoCPU[bvhA].m_subTreeOffset;
-			int subTreesOffsetB = bvhInfoCPU[bvhB].m_subTreeOffset;
-
-			int numSubTreesB = bvhInfoCPU[bvhB].m_numSubTrees;
-
-			float4 posA = rigidBodies[bodyIndexA].m_pos;
-			b3Quat ornA = rigidBodies[bodyIndexA].m_quat;
-
-			b3Transform transA;
-			transA.setIdentity();
-			transA.setOrigin(posA);
-			transA.setRotation(ornA);
-
-			b3Quat ornB = rigidBodies[bodyIndexB].m_quat;
-			float4 posB = rigidBodies[bodyIndexB].m_pos;
-
-			b3Transform transB;
-			transB.setIdentity();
-			transB.setOrigin(posB);
-			transB.setRotation(ornB);
-
-			for (int p = 0; p < numSubTreesA; p++)
-			{
-				b3BvhSubtreeInfo subtreeA = subTreesCPU[subTreesOffsetA + p];
-				//bvhInfoCPU[bvhA].m_quantization
-				b3Vector3 treeAminLocal = MyUnQuantize(subtreeA.m_quantizedAabbMin, bvhInfoCPU[bvhA].m_quantization, bvhInfoCPU[bvhA].m_aabbMin);
-				b3Vector3 treeAmaxLocal = MyUnQuantize(subtreeA.m_quantizedAabbMax, bvhInfoCPU[bvhA].m_quantization, bvhInfoCPU[bvhA].m_aabbMin);
-
-				b3Vector3 aabbAMinOut, aabbAMaxOut;
-				float margin = 0.f;
-				b3TransformAabb2(treeAminLocal, treeAmaxLocal, margin, transA.getOrigin(), transA.getRotation(), &aabbAMinOut, &aabbAMaxOut);
-
-				for (int q = 0; q < numSubTreesB; q++)
-				{
-					b3BvhSubtreeInfo subtreeB = subTreesCPU[subTreesOffsetB + q];
-
-					b3Vector3 treeBminLocal = MyUnQuantize(subtreeB.m_quantizedAabbMin, bvhInfoCPU[bvhB].m_quantization, bvhInfoCPU[bvhB].m_aabbMin);
-					b3Vector3 treeBmaxLocal = MyUnQuantize(subtreeB.m_quantizedAabbMax, bvhInfoCPU[bvhB].m_quantization, bvhInfoCPU[bvhB].m_aabbMin);
-
-					b3Vector3 aabbBMinOut, aabbBMaxOut;
-					float margin = 0.f;
-					b3TransformAabb2(treeBminLocal, treeBmaxLocal, margin, transB.getOrigin(), transB.getRotation(), &aabbBMinOut, &aabbBMaxOut);
-
-					numAabbChecks = 0;
-					bool aabbOverlap = b3TestAabbAgainstAabb(aabbAMinOut, aabbAMaxOut, aabbBMinOut, aabbBMaxOut);
-					if (aabbOverlap)
-					{
-						int startNodeIndexA = subtreeA.m_rootNodeIndex + bvhInfoCPU[bvhA].m_nodeOffset;
-						//				int endNodeIndexA = startNodeIndexA+subtreeA.m_subtreeSize;
-
-						int startNodeIndexB = subtreeB.m_rootNodeIndex + bvhInfoCPU[bvhB].m_nodeOffset;
-						//				int endNodeIndexB = startNodeIndexB+subtreeB.m_subtreeSize;
-
-						b3AlignedObjectArray<b3Int2> nodeStack;
-						b3Int2 node0;
-						node0.x = startNodeIndexA;
-						node0.y = startNodeIndexB;
-
-						int maxStackDepth = 1024;
-						nodeStack.resize(maxStackDepth);
-						int depth = 0;
-						nodeStack[depth++] = node0;
-
-						do
-						{
-							if (depth > maxDepth)
-							{
-								maxDepth = depth;
-								printf("maxDepth=%d\n", maxDepth);
-							}
-							b3Int2 node = nodeStack[--depth];
-
-							b3Vector3 aMinLocal = MyUnQuantize(treeNodesCPU[node.x].m_quantizedAabbMin, bvhInfoCPU[bvhA].m_quantization, bvhInfoCPU[bvhA].m_aabbMin);
-							b3Vector3 aMaxLocal = MyUnQuantize(treeNodesCPU[node.x].m_quantizedAabbMax, bvhInfoCPU[bvhA].m_quantization, bvhInfoCPU[bvhA].m_aabbMin);
-
-							b3Vector3 bMinLocal = MyUnQuantize(treeNodesCPU[node.y].m_quantizedAabbMin, bvhInfoCPU[bvhB].m_quantization, bvhInfoCPU[bvhB].m_aabbMin);
-							b3Vector3 bMaxLocal = MyUnQuantize(treeNodesCPU[node.y].m_quantizedAabbMax, bvhInfoCPU[bvhB].m_quantization, bvhInfoCPU[bvhB].m_aabbMin);
-
-							float margin = 0.f;
-							b3Vector3 aabbAMinOut, aabbAMaxOut;
-							b3TransformAabb2(aMinLocal, aMaxLocal, margin, transA.getOrigin(), transA.getRotation(), &aabbAMinOut, &aabbAMaxOut);
-
-							b3Vector3 aabbBMinOut, aabbBMaxOut;
-							b3TransformAabb2(bMinLocal, bMaxLocal, margin, transB.getOrigin(), transB.getRotation(), &aabbBMinOut, &aabbBMaxOut);
-
-							numAabbChecks++;
-							bool nodeOverlap = b3TestAabbAgainstAabb(aabbAMinOut, aabbAMaxOut, aabbBMinOut, aabbBMaxOut);
-							if (nodeOverlap)
-							{
-								bool isLeafA = treeNodesCPU[node.x].isLeafNode();
-								bool isLeafB = treeNodesCPU[node.y].isLeafNode();
-								bool isInternalA = !isLeafA;
-								bool isInternalB = !isLeafB;
-
-								//fail, even though it might hit two leaf nodes
-								if (depth + 4 > maxStackDepth && !(isLeafA && isLeafB))
-								{
-									b3Error("Error: traversal exceeded maxStackDepth\n");
-									continue;
-								}
-
-								if (isInternalA)
-								{
-									int nodeAleftChild = node.x + 1;
-									bool isNodeALeftChildLeaf = treeNodesCPU[node.x + 1].isLeafNode();
-									int nodeArightChild = isNodeALeftChildLeaf ? node.x + 2 : node.x + 1 + treeNodesCPU[node.x + 1].getEscapeIndex();
-
-									if (isInternalB)
-									{
-										int nodeBleftChild = node.y + 1;
-										bool isNodeBLeftChildLeaf = treeNodesCPU[node.y + 1].isLeafNode();
-										int nodeBrightChild = isNodeBLeftChildLeaf ? node.y + 2 : node.y + 1 + treeNodesCPU[node.y + 1].getEscapeIndex();
-
-										nodeStack[depth++] = b3MakeInt2(nodeAleftChild, nodeBleftChild);
-										nodeStack[depth++] = b3MakeInt2(nodeArightChild, nodeBleftChild);
-										nodeStack[depth++] = b3MakeInt2(nodeAleftChild, nodeBrightChild);
-										nodeStack[depth++] = b3MakeInt2(nodeArightChild, nodeBrightChild);
-									}
-									else
-									{
-										nodeStack[depth++] = b3MakeInt2(nodeAleftChild, node.y);
-										nodeStack[depth++] = b3MakeInt2(nodeArightChild, node.y);
-									}
-								}
-								else
-								{
-									if (isInternalB)
-									{
-										int nodeBleftChild = node.y + 1;
-										bool isNodeBLeftChildLeaf = treeNodesCPU[node.y + 1].isLeafNode();
-										int nodeBrightChild = isNodeBLeftChildLeaf ? node.y + 2 : node.y + 1 + treeNodesCPU[node.y + 1].getEscapeIndex();
-										nodeStack[depth++] = b3MakeInt2(node.x, nodeBleftChild);
-										nodeStack[depth++] = b3MakeInt2(node.x, nodeBrightChild);
-									}
-									else
-									{
-										int compoundPairIdx = b3AtomicInc(numCompoundPairsOut);
-										if (compoundPairIdx < maxNumCompoundPairsCapacity)
-										{
-											int childShapeIndexA = treeNodesCPU[node.x].getTriangleIndex();
-											int childShapeIndexB = treeNodesCPU[node.y].getTriangleIndex();
-											gpuCompoundPairsOut[compoundPairIdx] = b3MakeInt4(bodyIndexA, bodyIndexB, childShapeIndexA, childShapeIndexB);
-										}
-									}
-								}
-							}
-						} while (depth);
-						maxNumAabbChecks = b3Max(numAabbChecks, maxNumAabbChecks);
-					}
-				}
-			}
-
-			return;
-		}
-
-		if ((collidables[collidableIndexA].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS) || (collidables[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS))
-		{
-			if (collidables[collidableIndexA].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS)
-			{
-				int numChildrenA = collidables[collidableIndexA].m_numChildShapes;
-				for (int c = 0; c < numChildrenA; c++)
-				{
-					int childShapeIndexA = collidables[collidableIndexA].m_shapeIndex + c;
-					int childColIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;
-
-					float4 posA = rigidBodies[bodyIndexA].m_pos;
-					b3Quat ornA = rigidBodies[bodyIndexA].m_quat;
-					float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;
-					b3Quat childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;
-					float4 newPosA = b3QuatRotate(ornA, childPosA) + posA;
-					b3Quat newOrnA = b3QuatMul(ornA, childOrnA);
-
-					b3Aabb aabbA = aabbsLocalSpace[childColIndexA];
-
-					b3Transform transA;
-					transA.setIdentity();
-					transA.setOrigin(newPosA);
-					transA.setRotation(newOrnA);
-					b3Scalar margin = 0.0f;
-
-					b3Vector3 aabbAMinOut, aabbAMaxOut;
-
-					b3TransformAabb2((const b3Float4&)aabbA.m_min, (const b3Float4&)aabbA.m_max, margin, transA.getOrigin(), transA.getRotation(), &aabbAMinOut, &aabbAMaxOut);
-
-					if (collidables[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS)
-					{
-						int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
-						for (int b = 0; b < numChildrenB; b++)
-						{
-							int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex + b;
-							int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
-							b3Quat ornB = rigidBodies[bodyIndexB].m_quat;
-							float4 posB = rigidBodies[bodyIndexB].m_pos;
-							float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
-							b3Quat childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
-							float4 newPosB = transform(&childPosB, &posB, &ornB);
-							b3Quat newOrnB = b3QuatMul(ornB, childOrnB);
-
-							b3Aabb aabbB = aabbsLocalSpace[childColIndexB];
-
-							b3Transform transB;
-							transB.setIdentity();
-							transB.setOrigin(newPosB);
-							transB.setRotation(newOrnB);
-
-							b3Vector3 aabbBMinOut, aabbBMaxOut;
-							b3TransformAabb2((const b3Float4&)aabbB.m_min, (const b3Float4&)aabbB.m_max, margin, transB.getOrigin(), transB.getRotation(), &aabbBMinOut, &aabbBMaxOut);
-
-							numAabbChecks++;
-							bool aabbOverlap = b3TestAabbAgainstAabb(aabbAMinOut, aabbAMaxOut, aabbBMinOut, aabbBMaxOut);
-							if (aabbOverlap)
-							{
-								/*
-								int numFacesA = convexShapes[shapeIndexA].m_numFaces;
-								float dmin = FLT_MAX;
-								float4 posA = newPosA;
-								posA.w = 0.f;
-								float4 posB = newPosB;
-								posB.w = 0.f;
-								float4 c0local = convexShapes[shapeIndexA].m_localCenter;
-								b3Quat ornA = newOrnA;
-								float4 c0 = transform(&c0local, &posA, &ornA);
-								float4 c1local = convexShapes[shapeIndexB].m_localCenter;
-								b3Quat ornB =newOrnB;
-								float4 c1 = transform(&c1local,&posB,&ornB);
-								const float4 DeltaC2 = c0 - c1;
-								*/
-								{  //
-									int compoundPairIdx = b3AtomicInc(numCompoundPairsOut);
-									if (compoundPairIdx < maxNumCompoundPairsCapacity)
-									{
-										gpuCompoundPairsOut[compoundPairIdx] = b3MakeInt4(bodyIndexA, bodyIndexB, childShapeIndexA, childShapeIndexB);
-									}
-								}  //
-							}      //fi(1)
-						}          //for (int b=0
-					}              //if (collidables[collidableIndexB].
-					else           //if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
-					{
-						if (1)
-						{
-							//	int numFacesA = convexShapes[shapeIndexA].m_numFaces;
-							//	float dmin = FLT_MAX;
-							float4 posA = newPosA;
-							posA.w = 0.f;
-							float4 posB = rigidBodies[bodyIndexB].m_pos;
-							posB.w = 0.f;
-							float4 c0local = convexShapes[shapeIndexA].m_localCenter;
-							b3Quat ornA = newOrnA;
-							float4 c0;
-							c0 = transform(&c0local, &posA, &ornA);
-							float4 c1local = convexShapes[shapeIndexB].m_localCenter;
-							b3Quat ornB = rigidBodies[bodyIndexB].m_quat;
-							float4 c1;
-							c1 = transform(&c1local, &posB, &ornB);
-							//	const float4 DeltaC2 = c0 - c1;
-
-							{
-								int compoundPairIdx = b3AtomicInc(numCompoundPairsOut);
-								if (compoundPairIdx < maxNumCompoundPairsCapacity)
-								{
-									gpuCompoundPairsOut[compoundPairIdx] = b3MakeInt4(bodyIndexA, bodyIndexB, childShapeIndexA, -1);
-								}  //if (compoundPairIdx<maxNumCompoundPairsCapacity)
-							}      //
-						}          //fi (1)
-					}              //if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
-				}                  //for (int b=0;b<numChildrenB;b++)
-				return;
-			}  //if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
-			if ((collidables[collidableIndexA].m_shapeType != SHAPE_CONCAVE_TRIMESH) && (collidables[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS))
-			{
-				int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
-				for (int b = 0; b < numChildrenB; b++)
-				{
-					int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex + b;
-					int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
-					b3Quat ornB = rigidBodies[bodyIndexB].m_quat;
-					float4 posB = rigidBodies[bodyIndexB].m_pos;
-					float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
-					b3Quat childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
-					float4 newPosB = b3QuatRotate(ornB, childPosB) + posB;
-					b3Quat newOrnB = b3QuatMul(ornB, childOrnB);
-
-					int shapeIndexB = collidables[childColIndexB].m_shapeIndex;
-
-					//////////////////////////////////////
-
-					if (1)
-					{
-						//	int numFacesA = convexShapes[shapeIndexA].m_numFaces;
-						//	float dmin = FLT_MAX;
-						float4 posA = rigidBodies[bodyIndexA].m_pos;
-						posA.w = 0.f;
-						float4 posB = newPosB;
-						posB.w = 0.f;
-						float4 c0local = convexShapes[shapeIndexA].m_localCenter;
-						b3Quat ornA = rigidBodies[bodyIndexA].m_quat;
-						float4 c0;
-						c0 = transform(&c0local, &posA, &ornA);
-						float4 c1local = convexShapes[shapeIndexB].m_localCenter;
-						b3Quat ornB = newOrnB;
-						float4 c1;
-						c1 = transform(&c1local, &posB, &ornB);
-						//	const float4 DeltaC2 = c0 - c1;
-						{  //
-							int compoundPairIdx = b3AtomicInc(numCompoundPairsOut);
-							if (compoundPairIdx < maxNumCompoundPairsCapacity)
-							{
-								gpuCompoundPairsOut[compoundPairIdx] = b3MakeInt4(bodyIndexA, bodyIndexB, -1, childShapeIndexB);
-							}  //fi (compoundPairIdx<maxNumCompoundPairsCapacity)
-						}      //
-					}          //fi (1)
-				}              //for (int b=0;b<numChildrenB;b++)
-				return;
-			}  //if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
-			return;
-		}  //fi ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) ||(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))
-	}      //i<numPairs
-}
-
-__kernel void processCompoundPairsKernel(__global const b3Int4* gpuCompoundPairs,
-										 __global const b3RigidBodyData* rigidBodies,
-										 __global const b3Collidable* collidables,
-										 __global const b3ConvexPolyhedronData* convexShapes,
-										 __global const b3AlignedObjectArray<b3Float4>& vertices,
-										 __global const b3AlignedObjectArray<b3Float4>& uniqueEdges,
-										 __global const b3AlignedObjectArray<b3GpuFace>& faces,
-										 __global const b3AlignedObjectArray<int>& indices,
-										 __global b3Aabb* aabbs,
-										 __global const b3GpuChildShape* gpuChildShapes,
-										 __global b3AlignedObjectArray<b3Float4>& gpuCompoundSepNormalsOut,
-										 __global b3AlignedObjectArray<int>& gpuHasCompoundSepNormalsOut,
-										 int numCompoundPairs,
-										 int i)
-{
-	//	int i = get_global_id(0);
-	if (i < numCompoundPairs)
-	{
-		int bodyIndexA = gpuCompoundPairs[i].x;
-		int bodyIndexB = gpuCompoundPairs[i].y;
-
-		int childShapeIndexA = gpuCompoundPairs[i].z;
-		int childShapeIndexB = gpuCompoundPairs[i].w;
-
-		int collidableIndexA = -1;
-		int collidableIndexB = -1;
-
-		b3Quat ornA = rigidBodies[bodyIndexA].m_quat;
-		float4 posA = rigidBodies[bodyIndexA].m_pos;
-
-		b3Quat ornB = rigidBodies[bodyIndexB].m_quat;
-		float4 posB = rigidBodies[bodyIndexB].m_pos;
-
-		if (childShapeIndexA >= 0)
-		{
-			collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;
-			float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;
-			b3Quat childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;
-			float4 newPosA = b3QuatRotate(ornA, childPosA) + posA;
-			b3Quat newOrnA = b3QuatMul(ornA, childOrnA);
-			posA = newPosA;
-			ornA = newOrnA;
-		}
-		else
-		{
-			collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-		}
-
-		if (childShapeIndexB >= 0)
-		{
-			collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
-			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
-			b3Quat childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
-			float4 newPosB = b3QuatRotate(ornB, childPosB) + posB;
-			b3Quat newOrnB = b3QuatMul(ornB, childOrnB);
-			posB = newPosB;
-			ornB = newOrnB;
-		}
-		else
-		{
-			collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-		}
-
-		gpuHasCompoundSepNormalsOut[i] = 0;
-
-		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
-		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-
-		int shapeTypeA = collidables[collidableIndexA].m_shapeType;
-		int shapeTypeB = collidables[collidableIndexB].m_shapeType;
-
-		if ((shapeTypeA != SHAPE_CONVEX_HULL) || (shapeTypeB != SHAPE_CONVEX_HULL))
-		{
-			return;
-		}
-
-		int hasSeparatingAxis = 5;
-
-		//	int numFacesA = convexShapes[shapeIndexA].m_numFaces;
-		float dmin = FLT_MAX;
-		posA.w = 0.f;
-		posB.w = 0.f;
-		float4 c0local = convexShapes[shapeIndexA].m_localCenter;
-		float4 c0 = transform(&c0local, &posA, &ornA);
-		float4 c1local = convexShapes[shapeIndexB].m_localCenter;
-		float4 c1 = transform(&c1local, &posB, &ornB);
-		const float4 DeltaC2 = c0 - c1;
-		float4 sepNormal = make_float4(1, 0, 0, 0);
-		//		bool sepA = findSeparatingAxis(	convexShapes[shapeIndexA], convexShapes[shapeIndexB],posA,ornA,posB,ornB,DeltaC2,vertices,uniqueEdges,faces,indices,&sepNormal,&dmin);
-		bool sepA = findSeparatingAxis(convexShapes[shapeIndexA], convexShapes[shapeIndexB], posA, ornA, posB, ornB, vertices, uniqueEdges, faces, indices, vertices, uniqueEdges, faces, indices, sepNormal);  //,&dmin);
-
-		hasSeparatingAxis = 4;
-		if (!sepA)
-		{
-			hasSeparatingAxis = 0;
-		}
-		else
-		{
-			bool sepB = findSeparatingAxis(convexShapes[shapeIndexB], convexShapes[shapeIndexA], posB, ornB, posA, ornA, vertices, uniqueEdges, faces, indices, vertices, uniqueEdges, faces, indices, sepNormal);  //,&dmin);
-
-			if (!sepB)
-			{
-				hasSeparatingAxis = 0;
-			}
-			else  //(!sepB)
-			{
-				bool sepEE = findSeparatingAxisEdgeEdge(&convexShapes[shapeIndexA], &convexShapes[shapeIndexB], posA, ornA, posB, ornB, DeltaC2, vertices, uniqueEdges, faces, indices, &sepNormal, &dmin);
-				if (sepEE)
-				{
-					gpuCompoundSepNormalsOut[i] = sepNormal;  //fastNormalize4(sepNormal);
-					gpuHasCompoundSepNormalsOut[i] = 1;
-				}  //sepEE
-			}      //(!sepB)
-		}          //(!sepA)
-	}
-}
-
-__kernel void clipCompoundsHullHullKernel(__global const b3Int4* gpuCompoundPairs,
-										  __global const b3RigidBodyData* rigidBodies,
-										  __global const b3Collidable* collidables,
-										  __global const b3ConvexPolyhedronData* convexShapes,
-										  __global const b3AlignedObjectArray<b3Float4>& vertices,
-										  __global const b3AlignedObjectArray<b3Float4>& uniqueEdges,
-										  __global const b3AlignedObjectArray<b3GpuFace>& faces,
-										  __global const b3AlignedObjectArray<int>& indices,
-										  __global const b3GpuChildShape* gpuChildShapes,
-										  __global const b3AlignedObjectArray<b3Float4>& gpuCompoundSepNormalsOut,
-										  __global const b3AlignedObjectArray<int>& gpuHasCompoundSepNormalsOut,
-										  __global struct b3Contact4Data* globalContactsOut,
-										  int* nGlobalContactsOut,
-										  int numCompoundPairs, int maxContactCapacity, int i)
-{
-	//	int i = get_global_id(0);
-	int pairIndex = i;
-
-	float4 worldVertsB1[64];
-	float4 worldVertsB2[64];
-	int capacityWorldVerts = 64;
-
-	float4 localContactsOut[64];
-	int localContactCapacity = 64;
-
-	float minDist = -1e30f;
-	float maxDist = 0.0f;
-
-	if (i < numCompoundPairs)
-	{
-		if (gpuHasCompoundSepNormalsOut[i])
-		{
-			int bodyIndexA = gpuCompoundPairs[i].x;
-			int bodyIndexB = gpuCompoundPairs[i].y;
-
-			int childShapeIndexA = gpuCompoundPairs[i].z;
-			int childShapeIndexB = gpuCompoundPairs[i].w;
-
-			int collidableIndexA = -1;
-			int collidableIndexB = -1;
-
-			b3Quat ornA = rigidBodies[bodyIndexA].m_quat;
-			float4 posA = rigidBodies[bodyIndexA].m_pos;
-
-			b3Quat ornB = rigidBodies[bodyIndexB].m_quat;
-			float4 posB = rigidBodies[bodyIndexB].m_pos;
-
-			if (childShapeIndexA >= 0)
-			{
-				collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;
-				float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;
-				b3Quat childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;
-				float4 newPosA = b3QuatRotate(ornA, childPosA) + posA;
-				b3Quat newOrnA = b3QuatMul(ornA, childOrnA);
-				posA = newPosA;
-				ornA = newOrnA;
-			}
-			else
-			{
-				collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-			}
-
-			if (childShapeIndexB >= 0)
-			{
-				collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
-				float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
-				b3Quat childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
-				float4 newPosB = b3QuatRotate(ornB, childPosB) + posB;
-				b3Quat newOrnB = b3QuatMul(ornB, childOrnB);
-				posB = newPosB;
-				ornB = newOrnB;
-			}
-			else
-			{
-				collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-			}
-
-			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
-			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-
-			int numLocalContactsOut = clipHullAgainstHull(gpuCompoundSepNormalsOut[i],
-														  convexShapes[shapeIndexA], convexShapes[shapeIndexB],
-														  posA, ornA,
-														  posB, ornB,
-														  worldVertsB1, worldVertsB2, capacityWorldVerts,
-														  minDist, maxDist,
-														  vertices, faces, indices,
-														  vertices, faces, indices,
-														  localContactsOut, localContactCapacity);
-
-			if (numLocalContactsOut > 0)
-			{
-				float4 normal = -gpuCompoundSepNormalsOut[i];
-				int nPoints = numLocalContactsOut;
-				float4* pointsIn = localContactsOut;
-				b3Int4 contactIdx;  // = {-1,-1,-1,-1};
-
-				contactIdx.s[0] = 0;
-				contactIdx.s[1] = 1;
-				contactIdx.s[2] = 2;
-				contactIdx.s[3] = 3;
-
-				int nReducedContacts = extractManifoldSequentialGlobal(pointsIn, nPoints, normal, &contactIdx);
-
-				int dstIdx;
-				dstIdx = b3AtomicInc(nGlobalContactsOut);
-				if ((dstIdx + nReducedContacts) < maxContactCapacity)
-				{
-					__global struct b3Contact4Data* c = globalContactsOut + dstIdx;
-					c->m_worldNormalOnB = -normal;
-					c->m_restituitionCoeffCmp = (0.f * 0xffff);
-					c->m_frictionCoeffCmp = (0.7f * 0xffff);
-					c->m_batchIdx = pairIndex;
-					int bodyA = gpuCompoundPairs[pairIndex].x;
-					int bodyB = gpuCompoundPairs[pairIndex].y;
-					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass == 0 ? -bodyA : bodyA;
-					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass == 0 ? -bodyB : bodyB;
-					c->m_childIndexA = childShapeIndexA;
-					c->m_childIndexB = childShapeIndexB;
-					for (int i = 0; i < nReducedContacts; i++)
-					{
-						c->m_worldPosB[i] = pointsIn[contactIdx.s[i]];
-					}
-					b3Contact4Data_setNumPoints(c, nReducedContacts);
-				}
-
-			}  //		if (numContactsOut>0)
-		}      //		if (gpuHasCompoundSepNormalsOut[i])
-	}          //	if (i<numCompoundPairs)
-}
-
-void computeContactCompoundCompound(int pairIndex,
-									int bodyIndexA, int bodyIndexB,
-									int collidableIndexA, int collidableIndexB,
-									const b3RigidBodyData* rigidBodies,
-									const b3Collidable* collidables,
-									const b3ConvexPolyhedronData* convexShapes,
-									const b3GpuChildShape* cpuChildShapes,
-									const b3AlignedObjectArray<b3Aabb>& hostAabbsWorldSpace,
-									const b3AlignedObjectArray<b3Aabb>& hostAabbsLocalSpace,
-
-									const b3AlignedObjectArray<b3Vector3>& convexVertices,
-									const b3AlignedObjectArray<b3Vector3>& hostUniqueEdges,
-									const b3AlignedObjectArray<int>& convexIndices,
-									const b3AlignedObjectArray<b3GpuFace>& faces,
-
-									b3Contact4* globalContactsOut,
-									int& nGlobalContactsOut,
-									int maxContactCapacity,
-									b3AlignedObjectArray<b3QuantizedBvhNode>& treeNodesCPU,
-									b3AlignedObjectArray<b3BvhSubtreeInfo>& subTreesCPU,
-									b3AlignedObjectArray<b3BvhInfo>& bvhInfoCPU)
-{
-	int shapeTypeB = collidables[collidableIndexB].m_shapeType;
-	b3Assert(shapeTypeB == SHAPE_COMPOUND_OF_CONVEX_HULLS);
-
-	b3AlignedObjectArray<b3Int4> cpuCompoundPairsOut;
-	int numCompoundPairsOut = 0;
-	int maxNumCompoundPairsCapacity = 8192;  //1024;
-	cpuCompoundPairsOut.resize(maxNumCompoundPairsCapacity);
-
-	// work-in-progress
-	findCompoundPairsKernel(
-		pairIndex,
-		bodyIndexA, bodyIndexB,
-		collidableIndexA, collidableIndexB,
-		rigidBodies,
-		collidables,
-		convexShapes,
-		convexVertices,
-		hostAabbsWorldSpace,
-		hostAabbsLocalSpace,
-		cpuChildShapes,
-		&cpuCompoundPairsOut[0],
-		&numCompoundPairsOut,
-		maxNumCompoundPairsCapacity,
-		treeNodesCPU,
-		subTreesCPU,
-		bvhInfoCPU);
-
-	printf("maxNumAabbChecks=%d\n", maxNumAabbChecks);
-	if (numCompoundPairsOut > maxNumCompoundPairsCapacity)
-	{
-		b3Error("numCompoundPairsOut exceeded maxNumCompoundPairsCapacity (%d)\n", maxNumCompoundPairsCapacity);
-		numCompoundPairsOut = maxNumCompoundPairsCapacity;
-	}
-	b3AlignedObjectArray<b3Float4> cpuCompoundSepNormalsOut;
-	b3AlignedObjectArray<int> cpuHasCompoundSepNormalsOut;
-	cpuCompoundSepNormalsOut.resize(numCompoundPairsOut);
-	cpuHasCompoundSepNormalsOut.resize(numCompoundPairsOut);
-
-	for (int i = 0; i < numCompoundPairsOut; i++)
-	{
-		processCompoundPairsKernel(&cpuCompoundPairsOut[0], rigidBodies, collidables, convexShapes, convexVertices, hostUniqueEdges, faces, convexIndices, 0, cpuChildShapes,
-								   cpuCompoundSepNormalsOut, cpuHasCompoundSepNormalsOut, numCompoundPairsOut, i);
-	}
-
-	for (int i = 0; i < numCompoundPairsOut; i++)
-	{
-		clipCompoundsHullHullKernel(&cpuCompoundPairsOut[0], rigidBodies, collidables, convexShapes, convexVertices, hostUniqueEdges, faces, convexIndices, cpuChildShapes,
-									cpuCompoundSepNormalsOut, cpuHasCompoundSepNormalsOut, globalContactsOut, &nGlobalContactsOut, numCompoundPairsOut, maxContactCapacity, i);
-	}
-	/*
-		int childColIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;
-
-					float4 posA = rigidBodies[bodyIndexA].m_pos;
-					b3Quat ornA = rigidBodies[bodyIndexA].m_quat;
-					float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;
-					b3Quat childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;
-					float4 newPosA = b3QuatRotate(ornA,childPosA)+posA;
-					b3Quat newOrnA = b3QuatMul(ornA,childOrnA);
-
-					int shapeIndexA = collidables[childColIndexA].m_shapeIndex;
-
-
-			bool foundSepAxis = findSeparatingAxis(hullA,hullB,
-							posA,
-							ornA,
-							posB,
-							ornB,
-
-							convexVertices,uniqueEdges,faces,convexIndices,
-							convexVertices,uniqueEdges,faces,convexIndices,
-							
-							sepNormalWorldSpace
-							);
-							*/
-
-	/*
-	if (foundSepAxis)
-	{
-		
-		
-		contactIndex = clipHullHullSingle(
-			bodyIndexA, bodyIndexB,
-						   posA,ornA,
-						   posB,ornB,
-			collidableIndexA, collidableIndexB,
-			&rigidBodies, 
-			&globalContactsOut,
-			nGlobalContactsOut,
-			
-			convexShapes,
-			convexShapes,
-	
-			convexVertices, 
-			uniqueEdges, 
-			faces,
-			convexIndices,
-	
-			convexVertices,
-			uniqueEdges,
-			faces,
-			convexIndices,
-
-			collidables,
-			collidables,
-			sepNormalWorldSpace,
-			maxContactCapacity);
-			
-	}
-	*/
-
-	//	return contactIndex;
-
-	/*
-
-	int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
-	for (int c=0;c<numChildrenB;c++)
-	{
-		int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+c;
-		int childColIndexB = cpuChildShapes[childShapeIndexB].m_shapeIndex;
-
-		float4 rootPosB = rigidBodies[bodyIndexB].m_pos;
-		b3Quaternion rootOrnB = rigidBodies[bodyIndexB].m_quat;
-		b3Vector3 childPosB = cpuChildShapes[childShapeIndexB].m_childPosition;
-		b3Quaternion childOrnB = cpuChildShapes[childShapeIndexB].m_childOrientation;
-		float4  posB = b3QuatRotate(rootOrnB,childPosB)+rootPosB;
-		b3Quaternion ornB = b3QuatMul(rootOrnB,childOrnB);//b3QuatMul(ornB,childOrnB);
-
-		int shapeIndexB = collidables[childColIndexB].m_shapeIndex;
-
-		const b3ConvexPolyhedronData* hullB = &convexShapes[shapeIndexB];
-
-	}
-	*/
-}
-
-void computeContactPlaneCompound(int pairIndex,
-								 int bodyIndexA, int bodyIndexB,
-								 int collidableIndexA, int collidableIndexB,
-								 const b3RigidBodyData* rigidBodies,
-								 const b3Collidable* collidables,
-								 const b3ConvexPolyhedronData* convexShapes,
-								 const b3GpuChildShape* cpuChildShapes,
-								 const b3Vector3* convexVertices,
-								 const int* convexIndices,
-								 const b3GpuFace* faces,
-
-								 b3Contact4* globalContactsOut,
-								 int& nGlobalContactsOut,
-								 int maxContactCapacity)
-{
-	int shapeTypeB = collidables[collidableIndexB].m_shapeType;
-	b3Assert(shapeTypeB == SHAPE_COMPOUND_OF_CONVEX_HULLS);
-
-	int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
-	for (int c = 0; c < numChildrenB; c++)
-	{
-		int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex + c;
-		int childColIndexB = cpuChildShapes[childShapeIndexB].m_shapeIndex;
-
-		float4 rootPosB = rigidBodies[bodyIndexB].m_pos;
-		b3Quaternion rootOrnB = rigidBodies[bodyIndexB].m_quat;
-		b3Vector3 childPosB = cpuChildShapes[childShapeIndexB].m_childPosition;
-		b3Quaternion childOrnB = cpuChildShapes[childShapeIndexB].m_childOrientation;
-		float4 posB = b3QuatRotate(rootOrnB, childPosB) + rootPosB;
-		b3Quaternion ornB = rootOrnB * childOrnB;  //b3QuatMul(ornB,childOrnB);
-
-		int shapeIndexB = collidables[childColIndexB].m_shapeIndex;
-
-		const b3ConvexPolyhedronData* hullB = &convexShapes[shapeIndexB];
-
-		b3Vector3 posA = rigidBodies[bodyIndexA].m_pos;
-		b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
-
-		//	int numContactsOut = 0;
-		//	int numWorldVertsB1= 0;
-
-		b3Vector3 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
-		b3Vector3 planeNormal = b3MakeVector3(planeEq.x, planeEq.y, planeEq.z);
-		b3Vector3 planeNormalWorld = b3QuatRotate(ornA, planeNormal);
-		float planeConstant = planeEq.w;
-		b3Transform convexWorldTransform;
-		convexWorldTransform.setIdentity();
-		convexWorldTransform.setOrigin(posB);
-		convexWorldTransform.setRotation(ornB);
-		b3Transform planeTransform;
-		planeTransform.setIdentity();
-		planeTransform.setOrigin(posA);
-		planeTransform.setRotation(ornA);
-
-		b3Transform planeInConvex;
-		planeInConvex = convexWorldTransform.inverse() * planeTransform;
-		b3Transform convexInPlane;
-		convexInPlane = planeTransform.inverse() * convexWorldTransform;
-
-		b3Vector3 planeNormalInConvex = planeInConvex.getBasis() * -planeNormal;
-		float maxDot = -1e30;
-		int hitVertex = -1;
-		b3Vector3 hitVtx;
-
-#define MAX_PLANE_CONVEX_POINTS 64
-
-		b3Vector3 contactPoints[MAX_PLANE_CONVEX_POINTS];
-		int numPoints = 0;
-
-		b3Int4 contactIdx;
-		contactIdx.s[0] = 0;
-		contactIdx.s[1] = 1;
-		contactIdx.s[2] = 2;
-		contactIdx.s[3] = 3;
-
-		for (int i = 0; i < hullB->m_numVertices; i++)
-		{
-			b3Vector3 vtx = convexVertices[hullB->m_vertexOffset + i];
-			float curDot = vtx.dot(planeNormalInConvex);
-
-			if (curDot > maxDot)
-			{
-				hitVertex = i;
-				maxDot = curDot;
-				hitVtx = vtx;
-				//make sure the deepest points is always included
-				if (numPoints == MAX_PLANE_CONVEX_POINTS)
-					numPoints--;
-			}
-
-			if (numPoints < MAX_PLANE_CONVEX_POINTS)
-			{
-				b3Vector3 vtxWorld = convexWorldTransform * vtx;
-				b3Vector3 vtxInPlane = planeTransform.inverse() * vtxWorld;
-				float dist = planeNormal.dot(vtxInPlane) - planeConstant;
-				if (dist < 0.f)
-				{
-					vtxWorld.w = dist;
-					contactPoints[numPoints] = vtxWorld;
-					numPoints++;
-				}
-			}
-		}
-
-		int numReducedPoints = 0;
-
-		numReducedPoints = numPoints;
-
-		if (numPoints > 4)
-		{
-			numReducedPoints = extractManifoldSequentialGlobal(contactPoints, numPoints, planeNormalInConvex, &contactIdx);
-		}
-		int dstIdx;
-		//    dstIdx = nGlobalContactsOut++;//AppendInc( nGlobalContactsOut, dstIdx );
-
-		if (numReducedPoints > 0)
-		{
-			if (nGlobalContactsOut < maxContactCapacity)
-			{
-				dstIdx = nGlobalContactsOut;
-				nGlobalContactsOut++;
-
-				b3Contact4* c = &globalContactsOut[dstIdx];
-				c->m_worldNormalOnB = -planeNormalWorld;
-				c->setFrictionCoeff(0.7);
-				c->setRestituitionCoeff(0.f);
-
-				c->m_batchIdx = pairIndex;
-				c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass == 0 ? -bodyIndexA : bodyIndexA;
-				c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass == 0 ? -bodyIndexB : bodyIndexB;
-				for (int i = 0; i < numReducedPoints; i++)
-				{
-					b3Vector3 pOnB1 = contactPoints[contactIdx.s[i]];
-					c->m_worldPosB[i] = pOnB1;
-				}
-				c->m_worldNormalOnB.w = (b3Scalar)numReducedPoints;
-			}  //if (dstIdx < numPairs)
-		}
-	}
-}
-
-void computeContactSphereConvex(int pairIndex,
-								int bodyIndexA, int bodyIndexB,
-								int collidableIndexA, int collidableIndexB,
-								const b3RigidBodyData* rigidBodies,
-								const b3Collidable* collidables,
-								const b3ConvexPolyhedronData* convexShapes,
-								const b3Vector3* convexVertices,
-								const int* convexIndices,
-								const b3GpuFace* faces,
-								b3Contact4* globalContactsOut,
-								int& nGlobalContactsOut,
-								int maxContactCapacity)
-{
-	float radius = collidables[collidableIndexA].m_radius;
-	float4 spherePos1 = rigidBodies[bodyIndexA].m_pos;
-	b3Quaternion sphereOrn = rigidBodies[bodyIndexA].m_quat;
-
-	float4 pos = rigidBodies[bodyIndexB].m_pos;
-
-	b3Quaternion quat = rigidBodies[bodyIndexB].m_quat;
-
-	b3Transform tr;
-	tr.setIdentity();
-	tr.setOrigin(pos);
-	tr.setRotation(quat);
-	b3Transform trInv = tr.inverse();
-
-	float4 spherePos = trInv(spherePos1);
-
-	int collidableIndex = rigidBodies[bodyIndexB].m_collidableIdx;
-	int shapeIndex = collidables[collidableIndex].m_shapeIndex;
-	int numFaces = convexShapes[shapeIndex].m_numFaces;
-	float4 closestPnt = b3MakeVector3(0, 0, 0, 0);
-	//	float4 hitNormalWorld = b3MakeVector3(0, 0, 0, 0);
-	float minDist = -1000000.f;  // TODO: What is the largest/smallest float?
-	bool bCollide = true;
-	int region = -1;
-	float4 localHitNormal;
-	for (int f = 0; f < numFaces; f++)
-	{
-		b3GpuFace face = faces[convexShapes[shapeIndex].m_faceOffset + f];
-		float4 planeEqn;
-		float4 localPlaneNormal = b3MakeVector3(face.m_plane.x, face.m_plane.y, face.m_plane.z, 0.f);
-		float4 n1 = localPlaneNormal;  //quatRotate(quat,localPlaneNormal);
-		planeEqn = n1;
-		planeEqn[3] = face.m_plane.w;
-
-		float4 pntReturn;
-		float dist = signedDistanceFromPointToPlane(spherePos, planeEqn, &pntReturn);
-
-		if (dist > radius)
-		{
-			bCollide = false;
-			break;
-		}
-
-		if (dist > 0)
-		{
-			//might hit an edge or vertex
-			b3Vector3 out;
-
-			bool isInPoly = IsPointInPolygon(spherePos,
-											 &face,
-											 &convexVertices[convexShapes[shapeIndex].m_vertexOffset],
-											 convexIndices,
-											 &out);
-			if (isInPoly)
-			{
-				if (dist > minDist)
-				{
-					minDist = dist;
-					closestPnt = pntReturn;
-					localHitNormal = planeEqn;
-					region = 1;
-				}
-			}
-			else
-			{
-				b3Vector3 tmp = spherePos - out;
-				b3Scalar l2 = tmp.length2();
-				if (l2 < radius * radius)
-				{
-					dist = b3Sqrt(l2);
-					if (dist > minDist)
-					{
-						minDist = dist;
-						closestPnt = out;
-						localHitNormal = tmp / dist;
-						region = 2;
-					}
-				}
-				else
-				{
-					bCollide = false;
-					break;
-				}
-			}
-		}
-		else
-		{
-			if (dist > minDist)
-			{
-				minDist = dist;
-				closestPnt = pntReturn;
-				localHitNormal = planeEqn;
-				region = 3;
-			}
-		}
-	}
-	static int numChecks = 0;
-	numChecks++;
-
-	if (bCollide && minDist > -10000)
-	{
-		float4 normalOnSurfaceB1 = tr.getBasis() * localHitNormal;  //-hitNormalWorld;
-		float4 pOnB1 = tr(closestPnt);
-		//printf("dist ,%f,",minDist);
-		float actualDepth = minDist - radius;
-		if (actualDepth < 0)
-		{
-			//printf("actualDepth = ,%f,", actualDepth);
-			//printf("normalOnSurfaceB1 = ,%f,%f,%f,", normalOnSurfaceB1.x,normalOnSurfaceB1.y,normalOnSurfaceB1.z);
-			//printf("region=,%d,\n", region);
-			pOnB1[3] = actualDepth;
-
-			int dstIdx;
-			//    dstIdx = nGlobalContactsOut++;//AppendInc( nGlobalContactsOut, dstIdx );
-
-			if (nGlobalContactsOut < maxContactCapacity)
-			{
-				dstIdx = nGlobalContactsOut;
-				nGlobalContactsOut++;
-
-				b3Contact4* c = &globalContactsOut[dstIdx];
-				c->m_worldNormalOnB = normalOnSurfaceB1;
-				c->setFrictionCoeff(0.7);
-				c->setRestituitionCoeff(0.f);
-
-				c->m_batchIdx = pairIndex;
-				c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass == 0 ? -bodyIndexA : bodyIndexA;
-				c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass == 0 ? -bodyIndexB : bodyIndexB;
-				c->m_worldPosB[0] = pOnB1;
-				int numPoints = 1;
-				c->m_worldNormalOnB.w = (b3Scalar)numPoints;
-			}  //if (dstIdx < numPairs)
-		}
-	}  //if (hasCollision)
-}
-
-int computeContactConvexConvex2(
-	int pairIndex,
-	int bodyIndexA, int bodyIndexB,
-	int collidableIndexA, int collidableIndexB,
-	const b3AlignedObjectArray<b3RigidBodyData>& rigidBodies,
-	const b3AlignedObjectArray<b3Collidable>& collidables,
-	const b3AlignedObjectArray<b3ConvexPolyhedronData>& convexShapes,
-	const b3AlignedObjectArray<b3Vector3>& convexVertices,
-	const b3AlignedObjectArray<b3Vector3>& uniqueEdges,
-	const b3AlignedObjectArray<int>& convexIndices,
-	const b3AlignedObjectArray<b3GpuFace>& faces,
-	b3AlignedObjectArray<b3Contact4>& globalContactsOut,
-	int& nGlobalContactsOut,
-	int maxContactCapacity,
-	const b3AlignedObjectArray<b3Contact4>& oldContacts)
-{
-	int contactIndex = -1;
-	b3Vector3 posA = rigidBodies[bodyIndexA].m_pos;
-	b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
-	b3Vector3 posB = rigidBodies[bodyIndexB].m_pos;
-	b3Quaternion ornB = rigidBodies[bodyIndexB].m_quat;
-
-	b3ConvexPolyhedronData hullA, hullB;
-
-	b3Vector3 sepNormalWorldSpace;
-
-	b3Collidable colA = collidables[collidableIndexA];
-	hullA = convexShapes[colA.m_shapeIndex];
-	//printf("numvertsA = %d\n",hullA.m_numVertices);
-
-	b3Collidable colB = collidables[collidableIndexB];
-	hullB = convexShapes[colB.m_shapeIndex];
-	//printf("numvertsB = %d\n",hullB.m_numVertices);
-
-	//	int contactCapacity = MAX_VERTS;
-	//int numContactsOut=0;
-
-#ifdef _WIN32
-	b3Assert(_finite(rigidBodies[bodyIndexA].m_pos.x));
-	b3Assert(_finite(rigidBodies[bodyIndexB].m_pos.x));
-#endif
-
-	bool foundSepAxis = findSeparatingAxis(hullA, hullB,
-										   posA,
-										   ornA,
-										   posB,
-										   ornB,
-
-										   convexVertices, uniqueEdges, faces, convexIndices,
-										   convexVertices, uniqueEdges, faces, convexIndices,
-
-										   sepNormalWorldSpace);
-
-	if (foundSepAxis)
-	{
-		contactIndex = clipHullHullSingle(
-			bodyIndexA, bodyIndexB,
-			posA, ornA,
-			posB, ornB,
-			collidableIndexA, collidableIndexB,
-			&rigidBodies,
-			&globalContactsOut,
-			nGlobalContactsOut,
-
-			convexShapes,
-			convexShapes,
-
-			convexVertices,
-			uniqueEdges,
-			faces,
-			convexIndices,
-
-			convexVertices,
-			uniqueEdges,
-			faces,
-			convexIndices,
-
-			collidables,
-			collidables,
-			sepNormalWorldSpace,
-			maxContactCapacity);
-	}
-
-	return contactIndex;
-}
-
-void GpuSatCollision::computeConvexConvexContactsGPUSAT(b3OpenCLArray<b3Int4>* pairs, int nPairs,
-														const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
-														b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
-														const b3OpenCLArray<b3Contact4>* oldContacts,
-														int maxContactCapacity,
-														int compoundPairCapacity,
-														const b3OpenCLArray<b3ConvexPolyhedronData>& convexData,
-														const b3OpenCLArray<b3Vector3>& gpuVertices,
-														const b3OpenCLArray<b3Vector3>& gpuUniqueEdges,
-														const b3OpenCLArray<b3GpuFace>& gpuFaces,
-														const b3OpenCLArray<int>& gpuIndices,
-														const b3OpenCLArray<b3Collidable>& gpuCollidables,
-														const b3OpenCLArray<b3GpuChildShape>& gpuChildShapes,
-
-														const b3OpenCLArray<b3Aabb>& clAabbsWorldSpace,
-														const b3OpenCLArray<b3Aabb>& clAabbsLocalSpace,
-
-														b3OpenCLArray<b3Vector3>& worldVertsB1GPU,
-														b3OpenCLArray<b3Int4>& clippingFacesOutGPU,
-														b3OpenCLArray<b3Vector3>& worldNormalsAGPU,
-														b3OpenCLArray<b3Vector3>& worldVertsA1GPU,
-														b3OpenCLArray<b3Vector3>& worldVertsB2GPU,
-														b3AlignedObjectArray<class b3OptimizedBvh*>& bvhDataUnused,
-														b3OpenCLArray<b3QuantizedBvhNode>* treeNodesGPU,
-														b3OpenCLArray<b3BvhSubtreeInfo>* subTreesGPU,
-														b3OpenCLArray<b3BvhInfo>* bvhInfo,
-
-														int numObjects,
-														int maxTriConvexPairCapacity,
-														b3OpenCLArray<b3Int4>& triangleConvexPairsOut,
-														int& numTriConvexPairsOut)
-{
-	myframecount++;
-
-	if (!nPairs)
-		return;
-
-#ifdef CHECK_ON_HOST
-
-	b3AlignedObjectArray<b3QuantizedBvhNode> treeNodesCPU;
-	treeNodesGPU->copyToHost(treeNodesCPU);
-
-	b3AlignedObjectArray<b3BvhSubtreeInfo> subTreesCPU;
-	subTreesGPU->copyToHost(subTreesCPU);
-
-	b3AlignedObjectArray<b3BvhInfo> bvhInfoCPU;
-	bvhInfo->copyToHost(bvhInfoCPU);
-
-	b3AlignedObjectArray<b3Aabb> hostAabbsWorldSpace;
-	clAabbsWorldSpace.copyToHost(hostAabbsWorldSpace);
-
-	b3AlignedObjectArray<b3Aabb> hostAabbsLocalSpace;
-	clAabbsLocalSpace.copyToHost(hostAabbsLocalSpace);
-
-	b3AlignedObjectArray<b3Int4> hostPairs;
-	pairs->copyToHost(hostPairs);
-
-	b3AlignedObjectArray<b3RigidBodyData> hostBodyBuf;
-	bodyBuf->copyToHost(hostBodyBuf);
-
-	b3AlignedObjectArray<b3ConvexPolyhedronData> hostConvexData;
-	convexData.copyToHost(hostConvexData);
-
-	b3AlignedObjectArray<b3Vector3> hostVertices;
-	gpuVertices.copyToHost(hostVertices);
-
-	b3AlignedObjectArray<b3Vector3> hostUniqueEdges;
-	gpuUniqueEdges.copyToHost(hostUniqueEdges);
-	b3AlignedObjectArray<b3GpuFace> hostFaces;
-	gpuFaces.copyToHost(hostFaces);
-	b3AlignedObjectArray<int> hostIndices;
-	gpuIndices.copyToHost(hostIndices);
-	b3AlignedObjectArray<b3Collidable> hostCollidables;
-	gpuCollidables.copyToHost(hostCollidables);
-
-	b3AlignedObjectArray<b3GpuChildShape> cpuChildShapes;
-	gpuChildShapes.copyToHost(cpuChildShapes);
-
-	b3AlignedObjectArray<b3Int4> hostTriangleConvexPairs;
-
-	b3AlignedObjectArray<b3Contact4> hostContacts;
-	if (nContacts)
-	{
-		contactOut->copyToHost(hostContacts);
-	}
-
-	b3AlignedObjectArray<b3Contact4> oldHostContacts;
-
-	if (oldContacts->size())
-	{
-		oldContacts->copyToHost(oldHostContacts);
-	}
-
-	hostContacts.resize(maxContactCapacity);
-
-	for (int i = 0; i < nPairs; i++)
-	{
-		int bodyIndexA = hostPairs[i].x;
-		int bodyIndexB = hostPairs[i].y;
-		int collidableIndexA = hostBodyBuf[bodyIndexA].m_collidableIdx;
-		int collidableIndexB = hostBodyBuf[bodyIndexB].m_collidableIdx;
-
-		if (hostCollidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
-			hostCollidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
-		{
-			computeContactSphereConvex(i, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, &hostBodyBuf[0],
-									   &hostCollidables[0], &hostConvexData[0], &hostVertices[0], &hostIndices[0], &hostFaces[0], &hostContacts[0], nContacts, maxContactCapacity);
-		}
-
-		if (hostCollidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
-			hostCollidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
-		{
-			computeContactSphereConvex(i, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA, &hostBodyBuf[0],
-									   &hostCollidables[0], &hostConvexData[0], &hostVertices[0], &hostIndices[0], &hostFaces[0], &hostContacts[0], nContacts, maxContactCapacity);
-			//printf("convex-sphere\n");
-		}
-
-		if (hostCollidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
-			hostCollidables[collidableIndexB].m_shapeType == SHAPE_PLANE)
-		{
-			computeContactPlaneConvex(i, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA, &hostBodyBuf[0],
-									  &hostCollidables[0], &hostConvexData[0], &hostVertices[0], &hostIndices[0], &hostFaces[0], &hostContacts[0], nContacts, maxContactCapacity);
-			//			printf("convex-plane\n");
-		}
-
-		if (hostCollidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&
-			hostCollidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
-		{
-			computeContactPlaneConvex(i, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, &hostBodyBuf[0],
-									  &hostCollidables[0], &hostConvexData[0], &hostVertices[0], &hostIndices[0], &hostFaces[0], &hostContacts[0], nContacts, maxContactCapacity);
-			//			printf("plane-convex\n");
-		}
-
-		if (hostCollidables[collidableIndexA].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS &&
-			hostCollidables[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS)
-		{
-			computeContactCompoundCompound(i, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA, &hostBodyBuf[0],
-										   &hostCollidables[0], &hostConvexData[0], &cpuChildShapes[0], hostAabbsWorldSpace, hostAabbsLocalSpace, hostVertices, hostUniqueEdges, hostIndices, hostFaces, &hostContacts[0],
-										   nContacts, maxContactCapacity, treeNodesCPU, subTreesCPU, bvhInfoCPU);
-			//			printf("convex-plane\n");
-		}
-
-		if (hostCollidables[collidableIndexA].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS &&
-			hostCollidables[collidableIndexB].m_shapeType == SHAPE_PLANE)
-		{
-			computeContactPlaneCompound(i, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA, &hostBodyBuf[0],
-										&hostCollidables[0], &hostConvexData[0], &cpuChildShapes[0], &hostVertices[0], &hostIndices[0], &hostFaces[0], &hostContacts[0], nContacts, maxContactCapacity);
-			//			printf("convex-plane\n");
-		}
-
-		if (hostCollidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&
-			hostCollidables[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS)
-		{
-			computeContactPlaneCompound(i, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, &hostBodyBuf[0],
-										&hostCollidables[0], &hostConvexData[0], &cpuChildShapes[0], &hostVertices[0], &hostIndices[0], &hostFaces[0], &hostContacts[0], nContacts, maxContactCapacity);
-			//			printf("plane-convex\n");
-		}
-
-		if (hostCollidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
-			hostCollidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
-		{
-			//printf("hostPairs[i].z=%d\n",hostPairs[i].z);
-			int contactIndex = computeContactConvexConvex2(i, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, hostBodyBuf, hostCollidables, hostConvexData, hostVertices, hostUniqueEdges, hostIndices, hostFaces, hostContacts, nContacts, maxContactCapacity, oldHostContacts);
-			//int contactIndex = computeContactConvexConvex(hostPairs,i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
-
-			if (contactIndex >= 0)
-			{
-				//				printf("convex convex contactIndex = %d\n",contactIndex);
-				hostPairs[i].z = contactIndex;
-			}
-			//			printf("plane-convex\n");
-		}
-	}
-
-	if (hostPairs.size())
-	{
-		pairs->copyFromHost(hostPairs);
-	}
-
-	hostContacts.resize(nContacts);
-	if (nContacts)
-	{
-		contactOut->copyFromHost(hostContacts);
-	}
-	else
-	{
-		contactOut->resize(0);
-	}
-
-	m_totalContactsOut.copyFromHostPointer(&nContacts, 1, 0, true);
-	//printf("(HOST) nContacts = %d\n",nContacts);
-
-#else
-
-	{
-		if (nPairs)
-		{
-			m_totalContactsOut.copyFromHostPointer(&nContacts, 1, 0, true);
-
-			B3_PROFILE("primitiveContactsKernel");
-			b3BufferInfoCL bInfo[] = {
-				b3BufferInfoCL(pairs->getBufferCL(), true),
-				b3BufferInfoCL(bodyBuf->getBufferCL(), true),
-				b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
-				b3BufferInfoCL(convexData.getBufferCL(), true),
-				b3BufferInfoCL(gpuVertices.getBufferCL(), true),
-				b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
-				b3BufferInfoCL(gpuFaces.getBufferCL(), true),
-				b3BufferInfoCL(gpuIndices.getBufferCL(), true),
-				b3BufferInfoCL(contactOut->getBufferCL()),
-				b3BufferInfoCL(m_totalContactsOut.getBufferCL())};
-
-			b3LauncherCL launcher(m_queue, m_primitiveContactsKernel, "m_primitiveContactsKernel");
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(nPairs);
-			launcher.setConst(maxContactCapacity);
-			int num = nPairs;
-			launcher.launch1D(num);
-			clFinish(m_queue);
-
-			nContacts = m_totalContactsOut.at(0);
-			contactOut->resize(nContacts);
-		}
-	}
-
-#endif  //CHECK_ON_HOST
-
-	B3_PROFILE("computeConvexConvexContactsGPUSAT");
-	// printf("nContacts = %d\n",nContacts);
-
-	m_sepNormals.resize(nPairs);
-	m_hasSeparatingNormals.resize(nPairs);
-
-	int concaveCapacity = maxTriConvexPairCapacity;
-	m_concaveSepNormals.resize(concaveCapacity);
-	m_concaveHasSeparatingNormals.resize(concaveCapacity);
-	m_numConcavePairsOut.resize(0);
-	m_numConcavePairsOut.push_back(0);
-
-	m_gpuCompoundPairs.resize(compoundPairCapacity);
-
-	m_gpuCompoundSepNormals.resize(compoundPairCapacity);
-
-	m_gpuHasCompoundSepNormals.resize(compoundPairCapacity);
-
-	m_numCompoundPairsOut.resize(0);
-	m_numCompoundPairsOut.push_back(0);
-
-	int numCompoundPairs = 0;
-
-	int numConcavePairs = 0;
-
-	{
-		clFinish(m_queue);
-		if (findSeparatingAxisOnGpu)
-		{
-			m_dmins.resize(nPairs);
-			if (splitSearchSepAxisConvex)
-			{
-				if (useMprGpu)
-				{
-					nContacts = m_totalContactsOut.at(0);
-					{
-						B3_PROFILE("mprPenetrationKernel");
-						b3BufferInfoCL bInfo[] = {
-							b3BufferInfoCL(pairs->getBufferCL(), true),
-							b3BufferInfoCL(bodyBuf->getBufferCL(), true),
-							b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
-							b3BufferInfoCL(convexData.getBufferCL(), true),
-							b3BufferInfoCL(gpuVertices.getBufferCL(), true),
-							b3BufferInfoCL(m_sepNormals.getBufferCL()),
-							b3BufferInfoCL(m_hasSeparatingNormals.getBufferCL()),
-							b3BufferInfoCL(contactOut->getBufferCL()),
-							b3BufferInfoCL(m_totalContactsOut.getBufferCL())};
-
-						b3LauncherCL launcher(m_queue, m_mprPenetrationKernel, "mprPenetrationKernel");
-						launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-
-						launcher.setConst(maxContactCapacity);
-						launcher.setConst(nPairs);
-
-						int num = nPairs;
-						launcher.launch1D(num);
-						clFinish(m_queue);
-						/*
-						b3AlignedObjectArray<int>hostHasSepAxis;
-						m_hasSeparatingNormals.copyToHost(hostHasSepAxis);
-						b3AlignedObjectArray<b3Vector3>hostSepAxis;
-						m_sepNormals.copyToHost(hostSepAxis);
-						*/
-						nContacts = m_totalContactsOut.at(0);
-						contactOut->resize(nContacts);
-						//	printf("nContacts (after mprPenetrationKernel) = %d\n",nContacts);
-						if (nContacts > maxContactCapacity)
-						{
-							b3Error("Error: contacts exceeds capacity (%d/%d)\n", nContacts, maxContactCapacity);
-							nContacts = maxContactCapacity;
-						}
-					}
-				}
-
-				if (1)
-				{
-					if (1)
-					{
-						{
-							B3_PROFILE("findSeparatingAxisVertexFaceKernel");
-							b3BufferInfoCL bInfo[] = {
-								b3BufferInfoCL(pairs->getBufferCL(), true),
-								b3BufferInfoCL(bodyBuf->getBufferCL(), true),
-								b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
-								b3BufferInfoCL(convexData.getBufferCL(), true),
-								b3BufferInfoCL(gpuVertices.getBufferCL(), true),
-								b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
-								b3BufferInfoCL(gpuFaces.getBufferCL(), true),
-								b3BufferInfoCL(gpuIndices.getBufferCL(), true),
-								b3BufferInfoCL(clAabbsWorldSpace.getBufferCL(), true),
-								b3BufferInfoCL(m_sepNormals.getBufferCL()),
-								b3BufferInfoCL(m_hasSeparatingNormals.getBufferCL()),
-								b3BufferInfoCL(m_dmins.getBufferCL())};
-
-							b3LauncherCL launcher(m_queue, m_findSeparatingAxisVertexFaceKernel, "findSeparatingAxisVertexFaceKernel");
-							launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-							launcher.setConst(nPairs);
-
-							int num = nPairs;
-							launcher.launch1D(num);
-							clFinish(m_queue);
-						}
-
-						int numDirections = sizeof(unitSphere162) / sizeof(b3Vector3);
-
-						{
-							B3_PROFILE("findSeparatingAxisEdgeEdgeKernel");
-							b3BufferInfoCL bInfo[] = {
-								b3BufferInfoCL(pairs->getBufferCL(), true),
-								b3BufferInfoCL(bodyBuf->getBufferCL(), true),
-								b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
-								b3BufferInfoCL(convexData.getBufferCL(), true),
-								b3BufferInfoCL(gpuVertices.getBufferCL(), true),
-								b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
-								b3BufferInfoCL(gpuFaces.getBufferCL(), true),
-								b3BufferInfoCL(gpuIndices.getBufferCL(), true),
-								b3BufferInfoCL(clAabbsWorldSpace.getBufferCL(), true),
-								b3BufferInfoCL(m_sepNormals.getBufferCL()),
-								b3BufferInfoCL(m_hasSeparatingNormals.getBufferCL()),
-								b3BufferInfoCL(m_dmins.getBufferCL()),
-								b3BufferInfoCL(m_unitSphereDirections.getBufferCL(), true)
-
-							};
-
-							b3LauncherCL launcher(m_queue, m_findSeparatingAxisEdgeEdgeKernel, "findSeparatingAxisEdgeEdgeKernel");
-							launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-							launcher.setConst(numDirections);
-							launcher.setConst(nPairs);
-							int num = nPairs;
-							launcher.launch1D(num);
-							clFinish(m_queue);
-						}
-					}
-					if (useMprGpu)
-					{
-						B3_PROFILE("findSeparatingAxisUnitSphereKernel");
-						b3BufferInfoCL bInfo[] = {
-							b3BufferInfoCL(pairs->getBufferCL(), true),
-							b3BufferInfoCL(bodyBuf->getBufferCL(), true),
-							b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
-							b3BufferInfoCL(convexData.getBufferCL(), true),
-							b3BufferInfoCL(gpuVertices.getBufferCL(), true),
-							b3BufferInfoCL(m_unitSphereDirections.getBufferCL(), true),
-							b3BufferInfoCL(m_sepNormals.getBufferCL()),
-							b3BufferInfoCL(m_hasSeparatingNormals.getBufferCL()),
-							b3BufferInfoCL(m_dmins.getBufferCL())};
-
-						b3LauncherCL launcher(m_queue, m_findSeparatingAxisUnitSphereKernel, "findSeparatingAxisUnitSphereKernel");
-						launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-						int numDirections = sizeof(unitSphere162) / sizeof(b3Vector3);
-						launcher.setConst(numDirections);
-
-						launcher.setConst(nPairs);
-
-						int num = nPairs;
-						launcher.launch1D(num);
-						clFinish(m_queue);
-					}
-				}
-			}
-			else
-			{
-				B3_PROFILE("findSeparatingAxisKernel");
-				b3BufferInfoCL bInfo[] = {
-					b3BufferInfoCL(pairs->getBufferCL(), true),
-					b3BufferInfoCL(bodyBuf->getBufferCL(), true),
-					b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
-					b3BufferInfoCL(convexData.getBufferCL(), true),
-					b3BufferInfoCL(gpuVertices.getBufferCL(), true),
-					b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
-					b3BufferInfoCL(gpuFaces.getBufferCL(), true),
-					b3BufferInfoCL(gpuIndices.getBufferCL(), true),
-					b3BufferInfoCL(clAabbsWorldSpace.getBufferCL(), true),
-					b3BufferInfoCL(m_sepNormals.getBufferCL()),
-					b3BufferInfoCL(m_hasSeparatingNormals.getBufferCL())};
-
-				b3LauncherCL launcher(m_queue, m_findSeparatingAxisKernel, "m_findSeparatingAxisKernel");
-				launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-				launcher.setConst(nPairs);
-
-				int num = nPairs;
-				launcher.launch1D(num);
-				clFinish(m_queue);
-			}
-		}
-		else
-		{
-			B3_PROFILE("findSeparatingAxisKernel CPU");
-
-			b3AlignedObjectArray<b3Int4> hostPairs;
-			pairs->copyToHost(hostPairs);
-			b3AlignedObjectArray<b3RigidBodyData> hostBodyBuf;
-			bodyBuf->copyToHost(hostBodyBuf);
-
-			b3AlignedObjectArray<b3Collidable> hostCollidables;
-			gpuCollidables.copyToHost(hostCollidables);
-
-			b3AlignedObjectArray<b3GpuChildShape> cpuChildShapes;
-			gpuChildShapes.copyToHost(cpuChildShapes);
-
-			b3AlignedObjectArray<b3ConvexPolyhedronData> hostConvexShapeData;
-			convexData.copyToHost(hostConvexShapeData);
-
-			b3AlignedObjectArray<b3Vector3> hostVertices;
-			gpuVertices.copyToHost(hostVertices);
-
-			b3AlignedObjectArray<int> hostHasSepAxis;
-			hostHasSepAxis.resize(nPairs);
-			b3AlignedObjectArray<b3Vector3> hostSepAxis;
-			hostSepAxis.resize(nPairs);
-
-			b3AlignedObjectArray<b3Vector3> hostUniqueEdges;
-			gpuUniqueEdges.copyToHost(hostUniqueEdges);
-			b3AlignedObjectArray<b3GpuFace> hostFaces;
-			gpuFaces.copyToHost(hostFaces);
-
-			b3AlignedObjectArray<int> hostIndices;
-			gpuIndices.copyToHost(hostIndices);
-
-			b3AlignedObjectArray<b3Contact4> hostContacts;
-			if (nContacts)
-			{
-				contactOut->copyToHost(hostContacts);
-			}
-			hostContacts.resize(maxContactCapacity);
-			int nGlobalContactsOut = nContacts;
-
-			for (int i = 0; i < nPairs; i++)
-			{
-				int bodyIndexA = hostPairs[i].x;
-				int bodyIndexB = hostPairs[i].y;
-				int collidableIndexA = hostBodyBuf[bodyIndexA].m_collidableIdx;
-				int collidableIndexB = hostBodyBuf[bodyIndexB].m_collidableIdx;
-
-				int shapeIndexA = hostCollidables[collidableIndexA].m_shapeIndex;
-				int shapeIndexB = hostCollidables[collidableIndexB].m_shapeIndex;
-
-				hostHasSepAxis[i] = 0;
-
-				//once the broadphase avoids static-static pairs, we can remove this test
-				if ((hostBodyBuf[bodyIndexA].m_invMass == 0) && (hostBodyBuf[bodyIndexB].m_invMass == 0))
-				{
-					continue;
-				}
-
-				if ((hostCollidables[collidableIndexA].m_shapeType != SHAPE_CONVEX_HULL) || (hostCollidables[collidableIndexB].m_shapeType != SHAPE_CONVEX_HULL))
-				{
-					continue;
-				}
-
-				float dmin = FLT_MAX;
-
-				b3ConvexPolyhedronData* convexShapeA = &hostConvexShapeData[shapeIndexA];
-				b3ConvexPolyhedronData* convexShapeB = &hostConvexShapeData[shapeIndexB];
-				b3Vector3 posA = hostBodyBuf[bodyIndexA].m_pos;
-				b3Vector3 posB = hostBodyBuf[bodyIndexB].m_pos;
-				b3Quaternion ornA = hostBodyBuf[bodyIndexA].m_quat;
-				b3Quaternion ornB = hostBodyBuf[bodyIndexB].m_quat;
-
-				if (useGjk)
-				{
-					//first approximate the separating axis, to 'fail-proof' GJK+EPA or MPR
-					{
-						b3Vector3 c0local = hostConvexShapeData[shapeIndexA].m_localCenter;
-						b3Vector3 c0 = b3TransformPoint(c0local, posA, ornA);
-						b3Vector3 c1local = hostConvexShapeData[shapeIndexB].m_localCenter;
-						b3Vector3 c1 = b3TransformPoint(c1local, posB, ornB);
-						b3Vector3 DeltaC2 = c0 - c1;
-
-						b3Vector3 sepAxis;
-
-						bool hasSepAxisA = b3FindSeparatingAxis(convexShapeA, convexShapeB, posA, ornA, posB, ornB, DeltaC2,
-																&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
-																&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
-																&sepAxis, &dmin);
-
-						if (hasSepAxisA)
-						{
-							bool hasSepAxisB = b3FindSeparatingAxis(convexShapeB, convexShapeA, posB, ornB, posA, ornA, DeltaC2,
-																	&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
-																	&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
-																	&sepAxis, &dmin);
-							if (hasSepAxisB)
-							{
-								bool hasEdgeEdge = b3FindSeparatingAxisEdgeEdge(convexShapeA, convexShapeB, posA, ornA, posB, ornB, DeltaC2,
-																				&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
-																				&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
-																				&sepAxis, &dmin, false);
-
-								if (hasEdgeEdge)
-								{
-									hostHasSepAxis[i] = 1;
-									hostSepAxis[i] = sepAxis;
-									hostSepAxis[i].w = dmin;
-								}
-							}
-						}
-					}
-
-					if (hostHasSepAxis[i])
-					{
-						int pairIndex = i;
-
-						bool useMpr = true;
-						if (useMpr)
-						{
-							int res = 0;
-							float depth = 0.f;
-							b3Vector3 sepAxis2 = b3MakeVector3(1, 0, 0);
-							b3Vector3 resultPointOnBWorld = b3MakeVector3(0, 0, 0);
-
-							float depthOut;
-							b3Vector3 dirOut;
-							b3Vector3 posOut;
-
-							//res = b3MprPenetration(bodyIndexA,bodyIndexB,hostBodyBuf,hostConvexShapeData,hostCollidables,hostVertices,&mprConfig,&depthOut,&dirOut,&posOut);
-							res = b3MprPenetration(pairIndex, bodyIndexA, bodyIndexB, &hostBodyBuf[0], &hostConvexShapeData[0], &hostCollidables[0], &hostVertices[0], &hostSepAxis[0], &hostHasSepAxis[0], &depthOut, &dirOut, &posOut);
-							depth = depthOut;
-							sepAxis2 = b3MakeVector3(-dirOut.x, -dirOut.y, -dirOut.z);
-							resultPointOnBWorld = posOut;
-							//hostHasSepAxis[i] = 0;
-
-							if (res == 0)
-							{
-								//add point?
-								//printf("depth = %f\n",depth);
-								//printf("normal = %f,%f,%f\n",dir.v[0],dir.v[1],dir.v[2]);
-								//qprintf("pos = %f,%f,%f\n",pos.v[0],pos.v[1],pos.v[2]);
-
-								float dist = 0.f;
-
-								const b3ConvexPolyhedronData& hullA = hostConvexShapeData[hostCollidables[hostBodyBuf[bodyIndexA].m_collidableIdx].m_shapeIndex];
-								const b3ConvexPolyhedronData& hullB = hostConvexShapeData[hostCollidables[hostBodyBuf[bodyIndexB].m_collidableIdx].m_shapeIndex];
-
-								if (b3TestSepAxis(&hullA, &hullB, posA, ornA, posB, ornB, &sepAxis2, &hostVertices[0], &hostVertices[0], &dist))
-								{
-									if (depth > dist)
-									{
-										float diff = depth - dist;
-
-										static float maxdiff = 0.f;
-										if (maxdiff < diff)
-										{
-											maxdiff = diff;
-											printf("maxdiff = %20.10f\n", maxdiff);
-										}
-									}
-								}
-								if (depth > dmin)
-								{
-									b3Vector3 oldAxis = hostSepAxis[i];
-									depth = dmin;
-									sepAxis2 = oldAxis;
-								}
-
-								if (b3TestSepAxis(&hullA, &hullB, posA, ornA, posB, ornB, &sepAxis2, &hostVertices[0], &hostVertices[0], &dist))
-								{
-									if (depth > dist)
-									{
-										float diff = depth - dist;
-										//printf("?diff  = %f\n",diff );
-										static float maxdiff = 0.f;
-										if (maxdiff < diff)
-										{
-											maxdiff = diff;
-											printf("maxdiff = %20.10f\n", maxdiff);
-										}
-									}
-									//this is used for SAT
-									//hostHasSepAxis[i] = 1;
-									//hostSepAxis[i] = sepAxis2;
-
-									//add contact point
-
-									//int contactIndex = nGlobalContactsOut;
-									b3Contact4& newContact = hostContacts.at(nGlobalContactsOut);
-									nGlobalContactsOut++;
-									newContact.m_batchIdx = 0;  //i;
-									newContact.m_bodyAPtrAndSignBit = (hostBodyBuf.at(bodyIndexA).m_invMass == 0) ? -bodyIndexA : bodyIndexA;
-									newContact.m_bodyBPtrAndSignBit = (hostBodyBuf.at(bodyIndexB).m_invMass == 0) ? -bodyIndexB : bodyIndexB;
-
-									newContact.m_frictionCoeffCmp = 45874;
-									newContact.m_restituitionCoeffCmp = 0;
-
-									static float maxDepth = 0.f;
-
-									if (depth > maxDepth)
-									{
-										maxDepth = depth;
-										printf("MPR maxdepth = %f\n", maxDepth);
-									}
-
-									resultPointOnBWorld.w = -depth;
-									newContact.m_worldPosB[0] = resultPointOnBWorld;
-									//b3Vector3 resultPointOnAWorld = resultPointOnBWorld+depth*sepAxis2;
-									newContact.m_worldNormalOnB = sepAxis2;
-									newContact.m_worldNormalOnB.w = (b3Scalar)1;
-								}
-								else
-								{
-									printf("rejected\n");
-								}
-							}
-						}
-						else
-						{
-							//int contactIndex = computeContactConvexConvex2(           i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf, hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
-							b3AlignedObjectArray<b3Contact4> oldHostContacts;
-							int result;
-							result = computeContactConvexConvex2(  //hostPairs,
-								pairIndex,
-								bodyIndexA, bodyIndexB,
-								collidableIndexA, collidableIndexB,
-								hostBodyBuf,
-								hostCollidables,
-								hostConvexShapeData,
-								hostVertices,
-								hostUniqueEdges,
-								hostIndices,
-								hostFaces,
-								hostContacts,
-								nGlobalContactsOut,
-								maxContactCapacity,
-								oldHostContacts
-								//hostHasSepAxis,
-								//hostSepAxis
-
-							);
-						}  //mpr
-					}      //hostHasSepAxis[i] = 1;
-				}
-				else
-				{
-					b3Vector3 c0local = hostConvexShapeData[shapeIndexA].m_localCenter;
-					b3Vector3 c0 = b3TransformPoint(c0local, posA, ornA);
-					b3Vector3 c1local = hostConvexShapeData[shapeIndexB].m_localCenter;
-					b3Vector3 c1 = b3TransformPoint(c1local, posB, ornB);
-					b3Vector3 DeltaC2 = c0 - c1;
-
-					b3Vector3 sepAxis;
-
-					bool hasSepAxisA = b3FindSeparatingAxis(convexShapeA, convexShapeB, posA, ornA, posB, ornB, DeltaC2,
-															&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
-															&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
-															&sepAxis, &dmin);
-
-					if (hasSepAxisA)
-					{
-						bool hasSepAxisB = b3FindSeparatingAxis(convexShapeB, convexShapeA, posB, ornB, posA, ornA, DeltaC2,
-																&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
-																&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
-																&sepAxis, &dmin);
-						if (hasSepAxisB)
-						{
-							bool hasEdgeEdge = b3FindSeparatingAxisEdgeEdge(convexShapeA, convexShapeB, posA, ornA, posB, ornB, DeltaC2,
-																			&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
-																			&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
-																			&sepAxis, &dmin, true);
-
-							if (hasEdgeEdge)
-							{
-								hostHasSepAxis[i] = 1;
-								hostSepAxis[i] = sepAxis;
-							}
-						}
-					}
-				}
-			}
-
-			if (useGjkContacts)  //nGlobalContactsOut>0)
-			{
-				//printf("nGlobalContactsOut=%d\n",nGlobalContactsOut);
-				nContacts = nGlobalContactsOut;
-				contactOut->copyFromHost(hostContacts);
-
-				m_totalContactsOut.copyFromHostPointer(&nContacts, 1, 0, true);
-			}
-
-			m_hasSeparatingNormals.copyFromHost(hostHasSepAxis);
-			m_sepNormals.copyFromHost(hostSepAxis);
-
-			/*
-             //double-check results from GPU (comment-out the 'else' so both paths are executed
-            b3AlignedObjectArray<int> checkHasSepAxis;
-            m_hasSeparatingNormals.copyToHost(checkHasSepAxis);
-            static int frameCount = 0;
-            frameCount++;
-            for (int i=0;i<nPairs;i++)
-            {
-                if (hostHasSepAxis[i] != checkHasSepAxis[i])
-                {
-                    printf("at frameCount %d hostHasSepAxis[%d] = %d but checkHasSepAxis[i] = %d\n",
-                           frameCount,i,hostHasSepAxis[i],checkHasSepAxis[i]);
-                }
-            }
-            //m_hasSeparatingNormals.copyFromHost(hostHasSepAxis);
-            //    m_sepNormals.copyFromHost(hostSepAxis);
-            */
-		}
-
-		numCompoundPairs = m_numCompoundPairsOut.at(0);
-		bool useGpuFindCompoundPairs = true;
-		if (useGpuFindCompoundPairs)
-		{
-			B3_PROFILE("findCompoundPairsKernel");
-			b3BufferInfoCL bInfo[] =
-				{
-					b3BufferInfoCL(pairs->getBufferCL(), true),
-					b3BufferInfoCL(bodyBuf->getBufferCL(), true),
-					b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
-					b3BufferInfoCL(convexData.getBufferCL(), true),
-					b3BufferInfoCL(gpuVertices.getBufferCL(), true),
-					b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
-					b3BufferInfoCL(gpuFaces.getBufferCL(), true),
-					b3BufferInfoCL(gpuIndices.getBufferCL(), true),
-					b3BufferInfoCL(clAabbsLocalSpace.getBufferCL(), true),
-					b3BufferInfoCL(gpuChildShapes.getBufferCL(), true),
-					b3BufferInfoCL(m_gpuCompoundPairs.getBufferCL()),
-					b3BufferInfoCL(m_numCompoundPairsOut.getBufferCL()),
-					b3BufferInfoCL(subTreesGPU->getBufferCL()),
-					b3BufferInfoCL(treeNodesGPU->getBufferCL()),
-					b3BufferInfoCL(bvhInfo->getBufferCL())};
-
-			b3LauncherCL launcher(m_queue, m_findCompoundPairsKernel, "m_findCompoundPairsKernel");
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(nPairs);
-			launcher.setConst(compoundPairCapacity);
-
-			int num = nPairs;
-			launcher.launch1D(num);
-			clFinish(m_queue);
-
-			numCompoundPairs = m_numCompoundPairsOut.at(0);
-			//printf("numCompoundPairs =%d\n",numCompoundPairs );
-			if (numCompoundPairs)
-			{
-				//printf("numCompoundPairs=%d\n",numCompoundPairs);
-			}
-		}
-		else
-		{
-			b3AlignedObjectArray<b3QuantizedBvhNode> treeNodesCPU;
-			treeNodesGPU->copyToHost(treeNodesCPU);
-
-			b3AlignedObjectArray<b3BvhSubtreeInfo> subTreesCPU;
-			subTreesGPU->copyToHost(subTreesCPU);
-
-			b3AlignedObjectArray<b3BvhInfo> bvhInfoCPU;
-			bvhInfo->copyToHost(bvhInfoCPU);
-
-			b3AlignedObjectArray<b3Aabb> hostAabbsWorldSpace;
-			clAabbsWorldSpace.copyToHost(hostAabbsWorldSpace);
-
-			b3AlignedObjectArray<b3Aabb> hostAabbsLocalSpace;
-			clAabbsLocalSpace.copyToHost(hostAabbsLocalSpace);
-
-			b3AlignedObjectArray<b3Int4> hostPairs;
-			pairs->copyToHost(hostPairs);
-
-			b3AlignedObjectArray<b3RigidBodyData> hostBodyBuf;
-			bodyBuf->copyToHost(hostBodyBuf);
-
-			b3AlignedObjectArray<b3Int4> cpuCompoundPairsOut;
-			cpuCompoundPairsOut.resize(compoundPairCapacity);
-
-			b3AlignedObjectArray<b3Collidable> hostCollidables;
-			gpuCollidables.copyToHost(hostCollidables);
-
-			b3AlignedObjectArray<b3GpuChildShape> cpuChildShapes;
-			gpuChildShapes.copyToHost(cpuChildShapes);
-
-			b3AlignedObjectArray<b3ConvexPolyhedronData> hostConvexData;
-			convexData.copyToHost(hostConvexData);
-
-			b3AlignedObjectArray<b3Vector3> hostVertices;
-			gpuVertices.copyToHost(hostVertices);
-
-			for (int pairIndex = 0; pairIndex < nPairs; pairIndex++)
-			{
-				int bodyIndexA = hostPairs[pairIndex].x;
-				int bodyIndexB = hostPairs[pairIndex].y;
-				int collidableIndexA = hostBodyBuf[bodyIndexA].m_collidableIdx;
-				int collidableIndexB = hostBodyBuf[bodyIndexB].m_collidableIdx;
-				if (cpuChildShapes.size())
-				{
-					findCompoundPairsKernel(
-						pairIndex,
-						bodyIndexA,
-						bodyIndexB,
-						collidableIndexA,
-						collidableIndexB,
-						&hostBodyBuf[0],
-						&hostCollidables[0],
-						&hostConvexData[0],
-						hostVertices,
-						hostAabbsWorldSpace,
-						hostAabbsLocalSpace,
-						&cpuChildShapes[0],
-						&cpuCompoundPairsOut[0],
-						&numCompoundPairs,
-						compoundPairCapacity,
-						treeNodesCPU,
-						subTreesCPU,
-						bvhInfoCPU);
-				}
-			}
-
-			m_numCompoundPairsOut.copyFromHostPointer(&numCompoundPairs, 1, 0, true);
-			if (numCompoundPairs)
-			{
-				b3CompoundOverlappingPair* ptr = (b3CompoundOverlappingPair*)&cpuCompoundPairsOut[0];
-				m_gpuCompoundPairs.copyFromHostPointer(ptr, numCompoundPairs, 0, true);
-			}
-			//cpuCompoundPairsOut
-		}
-		if (numCompoundPairs)
-		{
-			printf("numCompoundPairs=%d\n", numCompoundPairs);
-		}
-
-		if (numCompoundPairs > compoundPairCapacity)
-		{
-			b3Error("Exceeded compound pair capacity (%d/%d)\n", numCompoundPairs, compoundPairCapacity);
-			numCompoundPairs = compoundPairCapacity;
-		}
-
-		m_gpuCompoundPairs.resize(numCompoundPairs);
-		m_gpuHasCompoundSepNormals.resize(numCompoundPairs);
-		m_gpuCompoundSepNormals.resize(numCompoundPairs);
-
-		if (numCompoundPairs)
-		{
-			B3_PROFILE("processCompoundPairsPrimitivesKernel");
-			b3BufferInfoCL bInfo[] =
-				{
-					b3BufferInfoCL(m_gpuCompoundPairs.getBufferCL(), true),
-					b3BufferInfoCL(bodyBuf->getBufferCL(), true),
-					b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
-					b3BufferInfoCL(convexData.getBufferCL(), true),
-					b3BufferInfoCL(gpuVertices.getBufferCL(), true),
-					b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
-					b3BufferInfoCL(gpuFaces.getBufferCL(), true),
-					b3BufferInfoCL(gpuIndices.getBufferCL(), true),
-					b3BufferInfoCL(clAabbsWorldSpace.getBufferCL(), true),
-					b3BufferInfoCL(gpuChildShapes.getBufferCL(), true),
-					b3BufferInfoCL(contactOut->getBufferCL()),
-					b3BufferInfoCL(m_totalContactsOut.getBufferCL())};
-
-			b3LauncherCL launcher(m_queue, m_processCompoundPairsPrimitivesKernel, "m_processCompoundPairsPrimitivesKernel");
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(numCompoundPairs);
-			launcher.setConst(maxContactCapacity);
-
-			int num = numCompoundPairs;
-			launcher.launch1D(num);
-			clFinish(m_queue);
-			nContacts = m_totalContactsOut.at(0);
-			//printf("nContacts (after processCompoundPairsPrimitivesKernel) = %d\n",nContacts);
-			if (nContacts > maxContactCapacity)
-			{
-				b3Error("Error: contacts exceeds capacity (%d/%d)\n", nContacts, maxContactCapacity);
-				nContacts = maxContactCapacity;
-			}
-		}
-
-		if (numCompoundPairs)
-		{
-			B3_PROFILE("processCompoundPairsKernel");
-			b3BufferInfoCL bInfo[] =
-				{
-					b3BufferInfoCL(m_gpuCompoundPairs.getBufferCL(), true),
-					b3BufferInfoCL(bodyBuf->getBufferCL(), true),
-					b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
-					b3BufferInfoCL(convexData.getBufferCL(), true),
-					b3BufferInfoCL(gpuVertices.getBufferCL(), true),
-					b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
-					b3BufferInfoCL(gpuFaces.getBufferCL(), true),
-					b3BufferInfoCL(gpuIndices.getBufferCL(), true),
-					b3BufferInfoCL(clAabbsWorldSpace.getBufferCL(), true),
-					b3BufferInfoCL(gpuChildShapes.getBufferCL(), true),
-					b3BufferInfoCL(m_gpuCompoundSepNormals.getBufferCL()),
-					b3BufferInfoCL(m_gpuHasCompoundSepNormals.getBufferCL())};
-
-			b3LauncherCL launcher(m_queue, m_processCompoundPairsKernel, "m_processCompoundPairsKernel");
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(numCompoundPairs);
-
-			int num = numCompoundPairs;
-			launcher.launch1D(num);
-			clFinish(m_queue);
-		}
-
-		//printf("numConcave  = %d\n",numConcave);
-
-		//		printf("hostNormals.size()=%d\n",hostNormals.size());
-		//int numPairs = pairCount.at(0);
-	}
-	int vertexFaceCapacity = 64;
-
-	{
-		//now perform the tree query on GPU
-
-		if (treeNodesGPU->size() && treeNodesGPU->size())
-		{
-			if (bvhTraversalKernelGPU)
-			{
-				B3_PROFILE("m_bvhTraversalKernel");
-
-				numConcavePairs = m_numConcavePairsOut.at(0);
-
-				b3LauncherCL launcher(m_queue, m_bvhTraversalKernel, "m_bvhTraversalKernel");
-				launcher.setBuffer(pairs->getBufferCL());
-				launcher.setBuffer(bodyBuf->getBufferCL());
-				launcher.setBuffer(gpuCollidables.getBufferCL());
-				launcher.setBuffer(clAabbsWorldSpace.getBufferCL());
-				launcher.setBuffer(triangleConvexPairsOut.getBufferCL());
-				launcher.setBuffer(m_numConcavePairsOut.getBufferCL());
-				launcher.setBuffer(subTreesGPU->getBufferCL());
-				launcher.setBuffer(treeNodesGPU->getBufferCL());
-				launcher.setBuffer(bvhInfo->getBufferCL());
-
-				launcher.setConst(nPairs);
-				launcher.setConst(maxTriConvexPairCapacity);
-				int num = nPairs;
-				launcher.launch1D(num);
-				clFinish(m_queue);
-				numConcavePairs = m_numConcavePairsOut.at(0);
-			}
-			else
-			{
-				b3AlignedObjectArray<b3Int4> hostPairs;
-				pairs->copyToHost(hostPairs);
-				b3AlignedObjectArray<b3RigidBodyData> hostBodyBuf;
-				bodyBuf->copyToHost(hostBodyBuf);
-				b3AlignedObjectArray<b3Collidable> hostCollidables;
-				gpuCollidables.copyToHost(hostCollidables);
-				b3AlignedObjectArray<b3Aabb> hostAabbsWorldSpace;
-				clAabbsWorldSpace.copyToHost(hostAabbsWorldSpace);
-
-				//int maxTriConvexPairCapacity,
-				b3AlignedObjectArray<b3Int4> triangleConvexPairsOutHost;
-				triangleConvexPairsOutHost.resize(maxTriConvexPairCapacity);
-
-				//int numTriConvexPairsOutHost=0;
-				numConcavePairs = 0;
-				//m_numConcavePairsOut
-
-				b3AlignedObjectArray<b3QuantizedBvhNode> treeNodesCPU;
-				treeNodesGPU->copyToHost(treeNodesCPU);
-				b3AlignedObjectArray<b3BvhSubtreeInfo> subTreesCPU;
-				subTreesGPU->copyToHost(subTreesCPU);
-				b3AlignedObjectArray<b3BvhInfo> bvhInfoCPU;
-				bvhInfo->copyToHost(bvhInfoCPU);
-				//compute it...
-
-				volatile int hostNumConcavePairsOut = 0;
-
-				//
-				for (int i = 0; i < nPairs; i++)
-				{
-					b3BvhTraversal(&hostPairs.at(0),
-								   &hostBodyBuf.at(0),
-								   &hostCollidables.at(0),
-								   &hostAabbsWorldSpace.at(0),
-								   &triangleConvexPairsOutHost.at(0),
-								   &hostNumConcavePairsOut,
-								   &subTreesCPU.at(0),
-								   &treeNodesCPU.at(0),
-								   &bvhInfoCPU.at(0),
-								   nPairs,
-								   maxTriConvexPairCapacity,
-								   i);
-				}
-				numConcavePairs = hostNumConcavePairsOut;
-
-				if (hostNumConcavePairsOut)
-				{
-					triangleConvexPairsOutHost.resize(hostNumConcavePairsOut);
-					triangleConvexPairsOut.copyFromHost(triangleConvexPairsOutHost);
-				}
-				//
-
-				m_numConcavePairsOut.resize(0);
-				m_numConcavePairsOut.push_back(numConcavePairs);
-			}
-
-			//printf("numConcavePairs=%d (max = %d\n",numConcavePairs,maxTriConvexPairCapacity);
-
-			if (numConcavePairs > maxTriConvexPairCapacity)
-			{
-				static int exceeded_maxTriConvexPairCapacity_count = 0;
-				b3Error("Exceeded the maxTriConvexPairCapacity (found %d but max is %d, it happened %d times)\n",
-						numConcavePairs, maxTriConvexPairCapacity, exceeded_maxTriConvexPairCapacity_count++);
-				numConcavePairs = maxTriConvexPairCapacity;
-			}
-			triangleConvexPairsOut.resize(numConcavePairs);
-
-			if (numConcavePairs)
-			{
-				clippingFacesOutGPU.resize(numConcavePairs);
-				worldNormalsAGPU.resize(numConcavePairs);
-				worldVertsA1GPU.resize(vertexFaceCapacity * (numConcavePairs));
-				worldVertsB1GPU.resize(vertexFaceCapacity * (numConcavePairs));
-
-				if (findConcaveSeparatingAxisKernelGPU)
-				{
-					/*
-					m_concaveHasSeparatingNormals.copyFromHost(concaveHasSeparatingNormalsCPU);
-						clippingFacesOutGPU.copyFromHost(clippingFacesOutCPU);
-						worldVertsA1GPU.copyFromHost(worldVertsA1CPU);
-						worldNormalsAGPU.copyFromHost(worldNormalsACPU);
-						worldVertsB1GPU.copyFromHost(worldVertsB1CPU);
-					*/
-
-					//now perform a SAT test for each triangle-convex element (stored in triangleConvexPairsOut)
-					if (splitSearchSepAxisConcave)
-					{
-						//printf("numConcavePairs = %d\n",numConcavePairs);
-						m_dmins.resize(numConcavePairs);
-						{
-							B3_PROFILE("findConcaveSeparatingAxisVertexFaceKernel");
-							b3BufferInfoCL bInfo[] = {
-								b3BufferInfoCL(triangleConvexPairsOut.getBufferCL()),
-								b3BufferInfoCL(bodyBuf->getBufferCL(), true),
-								b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
-								b3BufferInfoCL(convexData.getBufferCL(), true),
-								b3BufferInfoCL(gpuVertices.getBufferCL(), true),
-								b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
-								b3BufferInfoCL(gpuFaces.getBufferCL(), true),
-								b3BufferInfoCL(gpuIndices.getBufferCL(), true),
-								b3BufferInfoCL(gpuChildShapes.getBufferCL(), true),
-								b3BufferInfoCL(clAabbsWorldSpace.getBufferCL(), true),
-								b3BufferInfoCL(m_concaveSepNormals.getBufferCL()),
-								b3BufferInfoCL(m_concaveHasSeparatingNormals.getBufferCL()),
-								b3BufferInfoCL(clippingFacesOutGPU.getBufferCL()),
-								b3BufferInfoCL(worldVertsA1GPU.getBufferCL()),
-								b3BufferInfoCL(worldNormalsAGPU.getBufferCL()),
-								b3BufferInfoCL(worldVertsB1GPU.getBufferCL()),
-								b3BufferInfoCL(m_dmins.getBufferCL())};
-
-							b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisVertexFaceKernel, "m_findConcaveSeparatingAxisVertexFaceKernel");
-							launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-							launcher.setConst(vertexFaceCapacity);
-							launcher.setConst(numConcavePairs);
-
-							int num = numConcavePairs;
-							launcher.launch1D(num);
-							clFinish(m_queue);
-						}
-						//                        numConcavePairs = 0;
-						if (1)
-						{
-							B3_PROFILE("findConcaveSeparatingAxisEdgeEdgeKernel");
-							b3BufferInfoCL bInfo[] = {
-								b3BufferInfoCL(triangleConvexPairsOut.getBufferCL()),
-								b3BufferInfoCL(bodyBuf->getBufferCL(), true),
-								b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
-								b3BufferInfoCL(convexData.getBufferCL(), true),
-								b3BufferInfoCL(gpuVertices.getBufferCL(), true),
-								b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
-								b3BufferInfoCL(gpuFaces.getBufferCL(), true),
-								b3BufferInfoCL(gpuIndices.getBufferCL(), true),
-								b3BufferInfoCL(gpuChildShapes.getBufferCL(), true),
-								b3BufferInfoCL(clAabbsWorldSpace.getBufferCL(), true),
-								b3BufferInfoCL(m_concaveSepNormals.getBufferCL()),
-								b3BufferInfoCL(m_concaveHasSeparatingNormals.getBufferCL()),
-								b3BufferInfoCL(clippingFacesOutGPU.getBufferCL()),
-								b3BufferInfoCL(worldVertsA1GPU.getBufferCL()),
-								b3BufferInfoCL(worldNormalsAGPU.getBufferCL()),
-								b3BufferInfoCL(worldVertsB1GPU.getBufferCL()),
-								b3BufferInfoCL(m_dmins.getBufferCL())};
-
-							b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisEdgeEdgeKernel, "m_findConcaveSeparatingAxisEdgeEdgeKernel");
-							launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-							launcher.setConst(vertexFaceCapacity);
-							launcher.setConst(numConcavePairs);
-
-							int num = numConcavePairs;
-							launcher.launch1D(num);
-							clFinish(m_queue);
-						}
-
-						// numConcavePairs = 0;
-					}
-					else
-					{
-						B3_PROFILE("findConcaveSeparatingAxisKernel");
-						b3BufferInfoCL bInfo[] = {
-							b3BufferInfoCL(triangleConvexPairsOut.getBufferCL()),
-							b3BufferInfoCL(bodyBuf->getBufferCL(), true),
-							b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
-							b3BufferInfoCL(convexData.getBufferCL(), true),
-							b3BufferInfoCL(gpuVertices.getBufferCL(), true),
-							b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
-							b3BufferInfoCL(gpuFaces.getBufferCL(), true),
-							b3BufferInfoCL(gpuIndices.getBufferCL(), true),
-							b3BufferInfoCL(gpuChildShapes.getBufferCL(), true),
-							b3BufferInfoCL(clAabbsWorldSpace.getBufferCL(), true),
-							b3BufferInfoCL(m_concaveSepNormals.getBufferCL()),
-							b3BufferInfoCL(m_concaveHasSeparatingNormals.getBufferCL()),
-							b3BufferInfoCL(clippingFacesOutGPU.getBufferCL()),
-							b3BufferInfoCL(worldVertsA1GPU.getBufferCL()),
-							b3BufferInfoCL(worldNormalsAGPU.getBufferCL()),
-							b3BufferInfoCL(worldVertsB1GPU.getBufferCL())};
-
-						b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisKernel, "m_findConcaveSeparatingAxisKernel");
-						launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-						launcher.setConst(vertexFaceCapacity);
-						launcher.setConst(numConcavePairs);
-
-						int num = numConcavePairs;
-						launcher.launch1D(num);
-						clFinish(m_queue);
-					}
-				}
-				else
-				{
-					b3AlignedObjectArray<b3Int4> clippingFacesOutCPU;
-					b3AlignedObjectArray<b3Vector3> worldVertsA1CPU;
-					b3AlignedObjectArray<b3Vector3> worldNormalsACPU;
-					b3AlignedObjectArray<b3Vector3> worldVertsB1CPU;
-					b3AlignedObjectArray<int> concaveHasSeparatingNormalsCPU;
-
-					b3AlignedObjectArray<b3Int4> triangleConvexPairsOutHost;
-					triangleConvexPairsOut.copyToHost(triangleConvexPairsOutHost);
-					//triangleConvexPairsOutHost.resize(maxTriConvexPairCapacity);
-					b3AlignedObjectArray<b3RigidBodyData> hostBodyBuf;
-					bodyBuf->copyToHost(hostBodyBuf);
-					b3AlignedObjectArray<b3Collidable> hostCollidables;
-					gpuCollidables.copyToHost(hostCollidables);
-					b3AlignedObjectArray<b3Aabb> hostAabbsWorldSpace;
-					clAabbsWorldSpace.copyToHost(hostAabbsWorldSpace);
-
-					b3AlignedObjectArray<b3ConvexPolyhedronData> hostConvexData;
-					convexData.copyToHost(hostConvexData);
-
-					b3AlignedObjectArray<b3Vector3> hostVertices;
-					gpuVertices.copyToHost(hostVertices);
-
-					b3AlignedObjectArray<b3Vector3> hostUniqueEdges;
-					gpuUniqueEdges.copyToHost(hostUniqueEdges);
-					b3AlignedObjectArray<b3GpuFace> hostFaces;
-					gpuFaces.copyToHost(hostFaces);
-					b3AlignedObjectArray<int> hostIndices;
-					gpuIndices.copyToHost(hostIndices);
-					b3AlignedObjectArray<b3GpuChildShape> cpuChildShapes;
-					gpuChildShapes.copyToHost(cpuChildShapes);
-
-					b3AlignedObjectArray<b3Vector3> concaveSepNormalsHost;
-					m_concaveSepNormals.copyToHost(concaveSepNormalsHost);
-					concaveHasSeparatingNormalsCPU.resize(concaveSepNormalsHost.size());
-
-					b3GpuChildShape* childShapePointerCPU = 0;
-					if (cpuChildShapes.size())
-						childShapePointerCPU = &cpuChildShapes.at(0);
-
-					clippingFacesOutCPU.resize(clippingFacesOutGPU.size());
-					worldVertsA1CPU.resize(worldVertsA1GPU.size());
-					worldNormalsACPU.resize(worldNormalsAGPU.size());
-					worldVertsB1CPU.resize(worldVertsB1GPU.size());
-
-					for (int i = 0; i < numConcavePairs; i++)
-					{
-						b3FindConcaveSeparatingAxisKernel(&triangleConvexPairsOutHost.at(0),
-														  &hostBodyBuf.at(0),
-														  &hostCollidables.at(0),
-														  &hostConvexData.at(0), &hostVertices.at(0), &hostUniqueEdges.at(0),
-														  &hostFaces.at(0), &hostIndices.at(0), childShapePointerCPU,
-														  &hostAabbsWorldSpace.at(0),
-														  &concaveSepNormalsHost.at(0),
-														  &clippingFacesOutCPU.at(0),
-														  &worldVertsA1CPU.at(0),
-														  &worldNormalsACPU.at(0),
-														  &worldVertsB1CPU.at(0),
-														  &concaveHasSeparatingNormalsCPU.at(0),
-														  vertexFaceCapacity,
-														  numConcavePairs, i);
-					};
-
-					m_concaveSepNormals.copyFromHost(concaveSepNormalsHost);
-					m_concaveHasSeparatingNormals.copyFromHost(concaveHasSeparatingNormalsCPU);
-					clippingFacesOutGPU.copyFromHost(clippingFacesOutCPU);
-					worldVertsA1GPU.copyFromHost(worldVertsA1CPU);
-					worldNormalsAGPU.copyFromHost(worldNormalsACPU);
-					worldVertsB1GPU.copyFromHost(worldVertsB1CPU);
-				}
-				//							b3AlignedObjectArray<b3Vector3> cpuCompoundSepNormals;
-				//						m_concaveSepNormals.copyToHost(cpuCompoundSepNormals);
-				//					b3AlignedObjectArray<b3Int4> cpuConcavePairs;
-				//				triangleConvexPairsOut.copyToHost(cpuConcavePairs);
-			}
-		}
-	}
-
-	if (numConcavePairs)
-	{
-		if (numConcavePairs)
-		{
-			B3_PROFILE("findConcaveSphereContactsKernel");
-			nContacts = m_totalContactsOut.at(0);
-			//				printf("nContacts1 = %d\n",nContacts);
-			b3BufferInfoCL bInfo[] = {
-				b3BufferInfoCL(triangleConvexPairsOut.getBufferCL()),
-				b3BufferInfoCL(bodyBuf->getBufferCL(), true),
-				b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
-				b3BufferInfoCL(convexData.getBufferCL(), true),
-				b3BufferInfoCL(gpuVertices.getBufferCL(), true),
-				b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
-				b3BufferInfoCL(gpuFaces.getBufferCL(), true),
-				b3BufferInfoCL(gpuIndices.getBufferCL(), true),
-				b3BufferInfoCL(clAabbsWorldSpace.getBufferCL(), true),
-				b3BufferInfoCL(contactOut->getBufferCL()),
-				b3BufferInfoCL(m_totalContactsOut.getBufferCL())};
-
-			b3LauncherCL launcher(m_queue, m_findConcaveSphereContactsKernel, "m_findConcaveSphereContactsKernel");
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-
-			launcher.setConst(numConcavePairs);
-			launcher.setConst(maxContactCapacity);
-
-			int num = numConcavePairs;
-			launcher.launch1D(num);
-			clFinish(m_queue);
-			nContacts = m_totalContactsOut.at(0);
-			//printf("nContacts (after findConcaveSphereContactsKernel) = %d\n",nContacts);
-
-			//printf("nContacts2 = %d\n",nContacts);
-
-			if (nContacts >= maxContactCapacity)
-			{
-				b3Error("Error: contacts exceeds capacity (%d/%d)\n", nContacts, maxContactCapacity);
-				nContacts = maxContactCapacity;
-			}
-		}
-	}
-
-#ifdef __APPLE__
-	bool contactClippingOnGpu = true;
-#else
-	bool contactClippingOnGpu = true;
-#endif
-
-	if (contactClippingOnGpu)
-	{
-		m_totalContactsOut.copyFromHostPointer(&nContacts, 1, 0, true);
-		//		printf("nContacts3 = %d\n",nContacts);
-
-		//B3_PROFILE("clipHullHullKernel");
-
-		bool breakupConcaveConvexKernel = true;
-
-#ifdef __APPLE__
-		//actually, some Apple OpenCL platform/device combinations work fine...
-		breakupConcaveConvexKernel = true;
-#endif
-		//concave-convex contact clipping
-		if (numConcavePairs)
-		{
-			//			printf("numConcavePairs = %d\n", numConcavePairs);
-			//		nContacts = m_totalContactsOut.at(0);
-			//	printf("nContacts before = %d\n", nContacts);
-
-			if (breakupConcaveConvexKernel)
-			{
-				worldVertsB2GPU.resize(vertexFaceCapacity * numConcavePairs);
-
-				//clipFacesAndFindContacts
-
-				if (clipConcaveFacesAndFindContactsCPU)
-				{
-					b3AlignedObjectArray<b3Int4> clippingFacesOutCPU;
-					b3AlignedObjectArray<b3Vector3> worldVertsA1CPU;
-					b3AlignedObjectArray<b3Vector3> worldNormalsACPU;
-					b3AlignedObjectArray<b3Vector3> worldVertsB1CPU;
-
-					clippingFacesOutGPU.copyToHost(clippingFacesOutCPU);
-					worldVertsA1GPU.copyToHost(worldVertsA1CPU);
-					worldNormalsAGPU.copyToHost(worldNormalsACPU);
-					worldVertsB1GPU.copyToHost(worldVertsB1CPU);
-
-					b3AlignedObjectArray<int> concaveHasSeparatingNormalsCPU;
-					m_concaveHasSeparatingNormals.copyToHost(concaveHasSeparatingNormalsCPU);
-
-					b3AlignedObjectArray<b3Vector3> concaveSepNormalsHost;
-					m_concaveSepNormals.copyToHost(concaveSepNormalsHost);
-
-					b3AlignedObjectArray<b3Vector3> worldVertsB2CPU;
-					worldVertsB2CPU.resize(worldVertsB2GPU.size());
-
-					for (int i = 0; i < numConcavePairs; i++)
-					{
-						clipFacesAndFindContactsKernel(&concaveSepNormalsHost.at(0),
-													   &concaveHasSeparatingNormalsCPU.at(0),
-													   &clippingFacesOutCPU.at(0),
-													   &worldVertsA1CPU.at(0),
-													   &worldNormalsACPU.at(0),
-													   &worldVertsB1CPU.at(0),
-													   &worldVertsB2CPU.at(0),
-													   vertexFaceCapacity,
-													   i);
-					}
-
-					clippingFacesOutGPU.copyFromHost(clippingFacesOutCPU);
-					worldVertsB2GPU.copyFromHost(worldVertsB2CPU);
-				}
-				else
-				{
-					if (1)
-					{
-						B3_PROFILE("clipFacesAndFindContacts");
-						//nContacts = m_totalContactsOut.at(0);
-						//int h = m_hasSeparatingNormals.at(0);
-						//int4 p = clippingFacesOutGPU.at(0);
-						b3BufferInfoCL bInfo[] = {
-							b3BufferInfoCL(m_concaveSepNormals.getBufferCL()),
-							b3BufferInfoCL(m_concaveHasSeparatingNormals.getBufferCL()),
-							b3BufferInfoCL(clippingFacesOutGPU.getBufferCL()),
-							b3BufferInfoCL(worldVertsA1GPU.getBufferCL()),
-							b3BufferInfoCL(worldNormalsAGPU.getBufferCL()),
-							b3BufferInfoCL(worldVertsB1GPU.getBufferCL()),
-							b3BufferInfoCL(worldVertsB2GPU.getBufferCL())};
-						b3LauncherCL launcher(m_queue, m_clipFacesAndFindContacts, "m_clipFacesAndFindContacts");
-						launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-						launcher.setConst(vertexFaceCapacity);
-
-						launcher.setConst(numConcavePairs);
-						int debugMode = 0;
-						launcher.setConst(debugMode);
-						int num = numConcavePairs;
-						launcher.launch1D(num);
-						clFinish(m_queue);
-						//int bla = m_totalContactsOut.at(0);
-					}
-				}
-				//contactReduction
-				{
-					int newContactCapacity = nContacts + numConcavePairs;
-					contactOut->reserve(newContactCapacity);
-					if (reduceConcaveContactsOnGPU)
-					{
-						//						printf("newReservation = %d\n",newReservation);
-						{
-							B3_PROFILE("newContactReductionKernel");
-							b3BufferInfoCL bInfo[] =
-								{
-									b3BufferInfoCL(triangleConvexPairsOut.getBufferCL(), true),
-									b3BufferInfoCL(bodyBuf->getBufferCL(), true),
-									b3BufferInfoCL(m_concaveSepNormals.getBufferCL()),
-									b3BufferInfoCL(m_concaveHasSeparatingNormals.getBufferCL()),
-									b3BufferInfoCL(contactOut->getBufferCL()),
-									b3BufferInfoCL(clippingFacesOutGPU.getBufferCL()),
-									b3BufferInfoCL(worldVertsB2GPU.getBufferCL()),
-									b3BufferInfoCL(m_totalContactsOut.getBufferCL())};
-
-							b3LauncherCL launcher(m_queue, m_newContactReductionKernel, "m_newContactReductionKernel");
-							launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-							launcher.setConst(vertexFaceCapacity);
-							launcher.setConst(newContactCapacity);
-							launcher.setConst(numConcavePairs);
-							int num = numConcavePairs;
-
-							launcher.launch1D(num);
-						}
-						nContacts = m_totalContactsOut.at(0);
-						contactOut->resize(nContacts);
-
-						//printf("contactOut4 (after newContactReductionKernel) = %d\n",nContacts);
-					}
-					else
-					{
-						volatile int nGlobalContactsOut = nContacts;
-						b3AlignedObjectArray<b3Int4> triangleConvexPairsOutHost;
-						triangleConvexPairsOut.copyToHost(triangleConvexPairsOutHost);
-						b3AlignedObjectArray<b3RigidBodyData> hostBodyBuf;
-						bodyBuf->copyToHost(hostBodyBuf);
-
-						b3AlignedObjectArray<int> concaveHasSeparatingNormalsCPU;
-						m_concaveHasSeparatingNormals.copyToHost(concaveHasSeparatingNormalsCPU);
-
-						b3AlignedObjectArray<b3Vector3> concaveSepNormalsHost;
-						m_concaveSepNormals.copyToHost(concaveSepNormalsHost);
-
-						b3AlignedObjectArray<b3Contact4> hostContacts;
-						if (nContacts)
-						{
-							contactOut->copyToHost(hostContacts);
-						}
-						hostContacts.resize(newContactCapacity);
-
-						b3AlignedObjectArray<b3Int4> clippingFacesOutCPU;
-						b3AlignedObjectArray<b3Vector3> worldVertsB2CPU;
-
-						clippingFacesOutGPU.copyToHost(clippingFacesOutCPU);
-						worldVertsB2GPU.copyToHost(worldVertsB2CPU);
-
-						for (int i = 0; i < numConcavePairs; i++)
-						{
-							b3NewContactReductionKernel(&triangleConvexPairsOutHost.at(0),
-														&hostBodyBuf.at(0),
-														&concaveSepNormalsHost.at(0),
-														&concaveHasSeparatingNormalsCPU.at(0),
-														&hostContacts.at(0),
-														&clippingFacesOutCPU.at(0),
-														&worldVertsB2CPU.at(0),
-														&nGlobalContactsOut,
-														vertexFaceCapacity,
-														newContactCapacity,
-														numConcavePairs,
-														i);
-						}
-
-						nContacts = nGlobalContactsOut;
-						m_totalContactsOut.copyFromHostPointer(&nContacts, 1, 0, true);
-						//						nContacts = m_totalContactsOut.at(0);
-						//contactOut->resize(nContacts);
-						hostContacts.resize(nContacts);
-						//printf("contactOut4 (after newContactReductionKernel) = %d\n",nContacts);
-						contactOut->copyFromHost(hostContacts);
-					}
-				}
-				//re-use?
-			}
-			else
-			{
-				B3_PROFILE("clipHullHullConcaveConvexKernel");
-				nContacts = m_totalContactsOut.at(0);
-				int newContactCapacity = contactOut->capacity();
-
-				//printf("contactOut5 = %d\n",nContacts);
-				b3BufferInfoCL bInfo[] = {
-					b3BufferInfoCL(triangleConvexPairsOut.getBufferCL(), true),
-					b3BufferInfoCL(bodyBuf->getBufferCL(), true),
-					b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
-					b3BufferInfoCL(convexData.getBufferCL(), true),
-					b3BufferInfoCL(gpuVertices.getBufferCL(), true),
-					b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
-					b3BufferInfoCL(gpuFaces.getBufferCL(), true),
-					b3BufferInfoCL(gpuIndices.getBufferCL(), true),
-					b3BufferInfoCL(gpuChildShapes.getBufferCL(), true),
-					b3BufferInfoCL(m_concaveSepNormals.getBufferCL()),
-					b3BufferInfoCL(contactOut->getBufferCL()),
-					b3BufferInfoCL(m_totalContactsOut.getBufferCL())};
-				b3LauncherCL launcher(m_queue, m_clipHullHullConcaveConvexKernel, "m_clipHullHullConcaveConvexKernel");
-				launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-				launcher.setConst(newContactCapacity);
-				launcher.setConst(numConcavePairs);
-				int num = numConcavePairs;
-				launcher.launch1D(num);
-				clFinish(m_queue);
-				nContacts = m_totalContactsOut.at(0);
-				contactOut->resize(nContacts);
-				//printf("contactOut6 = %d\n",nContacts);
-				b3AlignedObjectArray<b3Contact4> cpuContacts;
-				contactOut->copyToHost(cpuContacts);
-			}
-			//			printf("nContacts after = %d\n", nContacts);
-		}  //numConcavePairs
-
-		//convex-convex contact clipping
-
-		bool breakupKernel = false;
-
-#ifdef __APPLE__
-		breakupKernel = true;
-#endif
-
-#ifdef CHECK_ON_HOST
-		bool computeConvexConvex = false;
-#else
-		bool computeConvexConvex = true;
-#endif  //CHECK_ON_HOST
-		if (computeConvexConvex)
-		{
-			B3_PROFILE("clipHullHullKernel");
-			if (breakupKernel)
-			{
-				worldVertsB1GPU.resize(vertexFaceCapacity * nPairs);
-				clippingFacesOutGPU.resize(nPairs);
-				worldNormalsAGPU.resize(nPairs);
-				worldVertsA1GPU.resize(vertexFaceCapacity * nPairs);
-				worldVertsB2GPU.resize(vertexFaceCapacity * nPairs);
-
-				if (findConvexClippingFacesGPU)
-				{
-					B3_PROFILE("findClippingFacesKernel");
-					b3BufferInfoCL bInfo[] = {
-						b3BufferInfoCL(pairs->getBufferCL(), true),
-						b3BufferInfoCL(bodyBuf->getBufferCL(), true),
-						b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
-						b3BufferInfoCL(convexData.getBufferCL(), true),
-						b3BufferInfoCL(gpuVertices.getBufferCL(), true),
-						b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
-						b3BufferInfoCL(gpuFaces.getBufferCL(), true),
-						b3BufferInfoCL(gpuIndices.getBufferCL(), true),
-						b3BufferInfoCL(m_sepNormals.getBufferCL()),
-						b3BufferInfoCL(m_hasSeparatingNormals.getBufferCL()),
-						b3BufferInfoCL(clippingFacesOutGPU.getBufferCL()),
-						b3BufferInfoCL(worldVertsA1GPU.getBufferCL()),
-						b3BufferInfoCL(worldNormalsAGPU.getBufferCL()),
-						b3BufferInfoCL(worldVertsB1GPU.getBufferCL())};
-
-					b3LauncherCL launcher(m_queue, m_findClippingFacesKernel, "m_findClippingFacesKernel");
-					launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-					launcher.setConst(vertexFaceCapacity);
-					launcher.setConst(nPairs);
-					int num = nPairs;
-					launcher.launch1D(num);
-					clFinish(m_queue);
-				}
-				else
-				{
-					float minDist = -1e30f;
-					float maxDist = 0.02f;
-
-					b3AlignedObjectArray<b3ConvexPolyhedronData> hostConvexData;
-					convexData.copyToHost(hostConvexData);
-					b3AlignedObjectArray<b3Collidable> hostCollidables;
-					gpuCollidables.copyToHost(hostCollidables);
-
-					b3AlignedObjectArray<int> hostHasSepNormals;
-					m_hasSeparatingNormals.copyToHost(hostHasSepNormals);
-					b3AlignedObjectArray<b3Vector3> cpuSepNormals;
-					m_sepNormals.copyToHost(cpuSepNormals);
-
-					b3AlignedObjectArray<b3Int4> hostPairs;
-					pairs->copyToHost(hostPairs);
-					b3AlignedObjectArray<b3RigidBodyData> hostBodyBuf;
-					bodyBuf->copyToHost(hostBodyBuf);
-
-					//worldVertsB1GPU.resize(vertexFaceCapacity*nPairs);
-					b3AlignedObjectArray<b3Vector3> worldVertsB1CPU;
-					worldVertsB1GPU.copyToHost(worldVertsB1CPU);
-
-					b3AlignedObjectArray<b3Int4> clippingFacesOutCPU;
-					clippingFacesOutGPU.copyToHost(clippingFacesOutCPU);
-
-					b3AlignedObjectArray<b3Vector3> worldNormalsACPU;
-					worldNormalsACPU.resize(nPairs);
-
-					b3AlignedObjectArray<b3Vector3> worldVertsA1CPU;
-					worldVertsA1CPU.resize(worldVertsA1GPU.size());
-
-					b3AlignedObjectArray<b3Vector3> hostVertices;
-					gpuVertices.copyToHost(hostVertices);
-					b3AlignedObjectArray<b3GpuFace> hostFaces;
-					gpuFaces.copyToHost(hostFaces);
-					b3AlignedObjectArray<int> hostIndices;
-					gpuIndices.copyToHost(hostIndices);
-
-					for (int i = 0; i < nPairs; i++)
-					{
-						int bodyIndexA = hostPairs[i].x;
-						int bodyIndexB = hostPairs[i].y;
-
-						int collidableIndexA = hostBodyBuf[bodyIndexA].m_collidableIdx;
-						int collidableIndexB = hostBodyBuf[bodyIndexB].m_collidableIdx;
-
-						int shapeIndexA = hostCollidables[collidableIndexA].m_shapeIndex;
-						int shapeIndexB = hostCollidables[collidableIndexB].m_shapeIndex;
-
-						if (hostHasSepNormals[i])
-						{
-							b3FindClippingFaces(cpuSepNormals[i],
-												&hostConvexData[shapeIndexA],
-												&hostConvexData[shapeIndexB],
-												hostBodyBuf[bodyIndexA].m_pos, hostBodyBuf[bodyIndexA].m_quat,
-												hostBodyBuf[bodyIndexB].m_pos, hostBodyBuf[bodyIndexB].m_quat,
-												&worldVertsA1CPU.at(0), &worldNormalsACPU.at(0),
-												&worldVertsB1CPU.at(0),
-												vertexFaceCapacity, minDist, maxDist,
-												&hostVertices.at(0), &hostFaces.at(0),
-												&hostIndices.at(0),
-												&hostVertices.at(0), &hostFaces.at(0),
-												&hostIndices.at(0), &clippingFacesOutCPU.at(0), i);
-						}
-					}
-
-					clippingFacesOutGPU.copyFromHost(clippingFacesOutCPU);
-					worldVertsA1GPU.copyFromHost(worldVertsA1CPU);
-					worldNormalsAGPU.copyFromHost(worldNormalsACPU);
-					worldVertsB1GPU.copyFromHost(worldVertsB1CPU);
-				}
-
-				///clip face B against face A, reduce contacts and append them to a global contact array
-				if (1)
-				{
-					if (clipConvexFacesAndFindContactsCPU)
-					{
-						//b3AlignedObjectArray<b3Int4> hostPairs;
-						//pairs->copyToHost(hostPairs);
-
-						b3AlignedObjectArray<b3Vector3> hostSepNormals;
-						m_sepNormals.copyToHost(hostSepNormals);
-						b3AlignedObjectArray<int> hostHasSepAxis;
-						m_hasSeparatingNormals.copyToHost(hostHasSepAxis);
-
-						b3AlignedObjectArray<b3Int4> hostClippingFaces;
-						clippingFacesOutGPU.copyToHost(hostClippingFaces);
-						b3AlignedObjectArray<b3Vector3> worldVertsB2CPU;
-						worldVertsB2CPU.resize(vertexFaceCapacity * nPairs);
-
-						b3AlignedObjectArray<b3Vector3> worldVertsA1CPU;
-						worldVertsA1GPU.copyToHost(worldVertsA1CPU);
-						b3AlignedObjectArray<b3Vector3> worldNormalsACPU;
-						worldNormalsAGPU.copyToHost(worldNormalsACPU);
-
-						b3AlignedObjectArray<b3Vector3> worldVertsB1CPU;
-						worldVertsB1GPU.copyToHost(worldVertsB1CPU);
-
-						/*
-					  __global const b3Float4* separatingNormals,
-                                                   __global const int* hasSeparatingAxis,
-                                                   __global b3Int4* clippingFacesOut,
-                                                   __global b3Float4* worldVertsA1,
-                                                   __global b3Float4* worldNormalsA1,
-                                                   __global b3Float4* worldVertsB1,
-                                                   __global b3Float4* worldVertsB2,
-                                                    int vertexFaceCapacity,
-															int pairIndex
-					*/
-						for (int i = 0; i < nPairs; i++)
-						{
-							clipFacesAndFindContactsKernel(
-								&hostSepNormals.at(0),
-								&hostHasSepAxis.at(0),
-								&hostClippingFaces.at(0),
-								&worldVertsA1CPU.at(0),
-								&worldNormalsACPU.at(0),
-								&worldVertsB1CPU.at(0),
-								&worldVertsB2CPU.at(0),
-
-								vertexFaceCapacity,
-								i);
-						}
-
-						clippingFacesOutGPU.copyFromHost(hostClippingFaces);
-						worldVertsB2GPU.copyFromHost(worldVertsB2CPU);
-					}
-					else
-					{
-						B3_PROFILE("clipFacesAndFindContacts");
-						//nContacts = m_totalContactsOut.at(0);
-						//int h = m_hasSeparatingNormals.at(0);
-						//int4 p = clippingFacesOutGPU.at(0);
-						b3BufferInfoCL bInfo[] = {
-							b3BufferInfoCL(m_sepNormals.getBufferCL()),
-							b3BufferInfoCL(m_hasSeparatingNormals.getBufferCL()),
-							b3BufferInfoCL(clippingFacesOutGPU.getBufferCL()),
-							b3BufferInfoCL(worldVertsA1GPU.getBufferCL()),
-							b3BufferInfoCL(worldNormalsAGPU.getBufferCL()),
-							b3BufferInfoCL(worldVertsB1GPU.getBufferCL()),
-							b3BufferInfoCL(worldVertsB2GPU.getBufferCL())};
-
-						b3LauncherCL launcher(m_queue, m_clipFacesAndFindContacts, "m_clipFacesAndFindContacts");
-						launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-						launcher.setConst(vertexFaceCapacity);
-
-						launcher.setConst(nPairs);
-						int debugMode = 0;
-						launcher.setConst(debugMode);
-						int num = nPairs;
-						launcher.launch1D(num);
-						clFinish(m_queue);
-					}
-
-					{
-						nContacts = m_totalContactsOut.at(0);
-						//printf("nContacts = %d\n",nContacts);
-
-						int newContactCapacity = nContacts + nPairs;
-						contactOut->reserve(newContactCapacity);
-
-						if (reduceConvexContactsOnGPU)
-						{
-							{
-								B3_PROFILE("newContactReductionKernel");
-								b3BufferInfoCL bInfo[] =
-									{
-										b3BufferInfoCL(pairs->getBufferCL(), true),
-										b3BufferInfoCL(bodyBuf->getBufferCL(), true),
-										b3BufferInfoCL(m_sepNormals.getBufferCL()),
-										b3BufferInfoCL(m_hasSeparatingNormals.getBufferCL()),
-										b3BufferInfoCL(contactOut->getBufferCL()),
-										b3BufferInfoCL(clippingFacesOutGPU.getBufferCL()),
-										b3BufferInfoCL(worldVertsB2GPU.getBufferCL()),
-										b3BufferInfoCL(m_totalContactsOut.getBufferCL())};
-
-								b3LauncherCL launcher(m_queue, m_newContactReductionKernel, "m_newContactReductionKernel");
-								launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-								launcher.setConst(vertexFaceCapacity);
-								launcher.setConst(newContactCapacity);
-								launcher.setConst(nPairs);
-								int num = nPairs;
-
-								launcher.launch1D(num);
-							}
-							nContacts = m_totalContactsOut.at(0);
-							contactOut->resize(nContacts);
-						}
-						else
-						{
-							volatile int nGlobalContactsOut = nContacts;
-							b3AlignedObjectArray<b3Int4> hostPairs;
-							pairs->copyToHost(hostPairs);
-							b3AlignedObjectArray<b3RigidBodyData> hostBodyBuf;
-							bodyBuf->copyToHost(hostBodyBuf);
-							b3AlignedObjectArray<b3Vector3> hostSepNormals;
-							m_sepNormals.copyToHost(hostSepNormals);
-							b3AlignedObjectArray<int> hostHasSepAxis;
-							m_hasSeparatingNormals.copyToHost(hostHasSepAxis);
-							b3AlignedObjectArray<b3Contact4> hostContactsOut;
-							contactOut->copyToHost(hostContactsOut);
-							hostContactsOut.resize(newContactCapacity);
-
-							b3AlignedObjectArray<b3Int4> hostClippingFaces;
-							clippingFacesOutGPU.copyToHost(hostClippingFaces);
-							b3AlignedObjectArray<b3Vector3> worldVertsB2CPU;
-							worldVertsB2GPU.copyToHost(worldVertsB2CPU);
-
-							for (int i = 0; i < nPairs; i++)
-							{
-								b3NewContactReductionKernel(&hostPairs.at(0),
-															&hostBodyBuf.at(0),
-															&hostSepNormals.at(0),
-															&hostHasSepAxis.at(0),
-															&hostContactsOut.at(0),
-															&hostClippingFaces.at(0),
-															&worldVertsB2CPU.at(0),
-															&nGlobalContactsOut,
-															vertexFaceCapacity,
-															newContactCapacity,
-															nPairs,
-															i);
-							}
-
-							nContacts = nGlobalContactsOut;
-							m_totalContactsOut.copyFromHostPointer(&nContacts, 1, 0, true);
-							hostContactsOut.resize(nContacts);
-							//printf("contactOut4 (after newContactReductionKernel) = %d\n",nContacts);
-							contactOut->copyFromHost(hostContactsOut);
-						}
-						//                    b3Contact4 pt = contactOut->at(0);
-						//                  printf("nContacts = %d\n",nContacts);
-					}
-				}
-			}
-			else  //breakupKernel
-			{
-				if (nPairs)
-				{
-					b3BufferInfoCL bInfo[] = {
-						b3BufferInfoCL(pairs->getBufferCL(), true),
-						b3BufferInfoCL(bodyBuf->getBufferCL(), true),
-						b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
-						b3BufferInfoCL(convexData.getBufferCL(), true),
-						b3BufferInfoCL(gpuVertices.getBufferCL(), true),
-						b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
-						b3BufferInfoCL(gpuFaces.getBufferCL(), true),
-						b3BufferInfoCL(gpuIndices.getBufferCL(), true),
-						b3BufferInfoCL(m_sepNormals.getBufferCL()),
-						b3BufferInfoCL(m_hasSeparatingNormals.getBufferCL()),
-						b3BufferInfoCL(contactOut->getBufferCL()),
-						b3BufferInfoCL(m_totalContactsOut.getBufferCL())};
-					b3LauncherCL launcher(m_queue, m_clipHullHullKernel, "m_clipHullHullKernel");
-					launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-					launcher.setConst(nPairs);
-					launcher.setConst(maxContactCapacity);
-
-					int num = nPairs;
-					launcher.launch1D(num);
-					clFinish(m_queue);
-
-					nContacts = m_totalContactsOut.at(0);
-					if (nContacts >= maxContactCapacity)
-					{
-						b3Error("Exceeded contact capacity (%d/%d)\n", nContacts, maxContactCapacity);
-						nContacts = maxContactCapacity;
-					}
-					contactOut->resize(nContacts);
-				}
-			}
-
-			int nCompoundsPairs = m_gpuCompoundPairs.size();
-
-			if (nCompoundsPairs)
-			{
-				b3BufferInfoCL bInfo[] = {
-					b3BufferInfoCL(m_gpuCompoundPairs.getBufferCL(), true),
-					b3BufferInfoCL(bodyBuf->getBufferCL(), true),
-					b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
-					b3BufferInfoCL(convexData.getBufferCL(), true),
-					b3BufferInfoCL(gpuVertices.getBufferCL(), true),
-					b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
-					b3BufferInfoCL(gpuFaces.getBufferCL(), true),
-					b3BufferInfoCL(gpuIndices.getBufferCL(), true),
-					b3BufferInfoCL(gpuChildShapes.getBufferCL(), true),
-					b3BufferInfoCL(m_gpuCompoundSepNormals.getBufferCL(), true),
-					b3BufferInfoCL(m_gpuHasCompoundSepNormals.getBufferCL(), true),
-					b3BufferInfoCL(contactOut->getBufferCL()),
-					b3BufferInfoCL(m_totalContactsOut.getBufferCL())};
-				b3LauncherCL launcher(m_queue, m_clipCompoundsHullHullKernel, "m_clipCompoundsHullHullKernel");
-				launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-				launcher.setConst(nCompoundsPairs);
-				launcher.setConst(maxContactCapacity);
-
-				int num = nCompoundsPairs;
-				launcher.launch1D(num);
-				clFinish(m_queue);
-
-				nContacts = m_totalContactsOut.at(0);
-				if (nContacts > maxContactCapacity)
-				{
-					b3Error("Error: contacts exceeds capacity (%d/%d)\n", nContacts, maxContactCapacity);
-					nContacts = maxContactCapacity;
-				}
-				contactOut->resize(nContacts);
-			}  //if nCompoundsPairs
-		}
-	}  //contactClippingOnGpu
-
-	//printf("nContacts end = %d\n",nContacts);
-
-	//printf("frameCount = %d\n",frameCount++);
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h
deleted file mode 100644
index 53e8c4ed4d..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h
+++ /dev/null
@@ -1,106 +0,0 @@
-
-#ifndef _CONVEX_HULL_CONTACT_H
-#define _CONVEX_HULL_CONTACT_H
-
-#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
-#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
-#include "Bullet3Common/shared/b3Int2.h"
-#include "Bullet3Common/shared/b3Int4.h"
-#include "b3OptimizedBvh.h"
-#include "b3BvhInfo.h"
-#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
-
-//#include "../../dynamics/basic_demo/Stubs/ChNarrowPhase.h"
-
-struct GpuSatCollision
-{
-	cl_context m_context;
-	cl_device_id m_device;
-	cl_command_queue m_queue;
-	cl_kernel m_findSeparatingAxisKernel;
-	cl_kernel m_mprPenetrationKernel;
-	cl_kernel m_findSeparatingAxisUnitSphereKernel;
-
-	cl_kernel m_findSeparatingAxisVertexFaceKernel;
-	cl_kernel m_findSeparatingAxisEdgeEdgeKernel;
-
-	cl_kernel m_findConcaveSeparatingAxisKernel;
-	cl_kernel m_findConcaveSeparatingAxisVertexFaceKernel;
-	cl_kernel m_findConcaveSeparatingAxisEdgeEdgeKernel;
-
-	cl_kernel m_findCompoundPairsKernel;
-	cl_kernel m_processCompoundPairsKernel;
-
-	cl_kernel m_clipHullHullKernel;
-	cl_kernel m_clipCompoundsHullHullKernel;
-
-	cl_kernel m_clipFacesAndFindContacts;
-	cl_kernel m_findClippingFacesKernel;
-
-	cl_kernel m_clipHullHullConcaveConvexKernel;
-	//	cl_kernel				m_extractManifoldAndAddContactKernel;
-	cl_kernel m_newContactReductionKernel;
-
-	cl_kernel m_bvhTraversalKernel;
-	cl_kernel m_primitiveContactsKernel;
-	cl_kernel m_findConcaveSphereContactsKernel;
-
-	cl_kernel m_processCompoundPairsPrimitivesKernel;
-
-	b3OpenCLArray<b3Vector3> m_unitSphereDirections;
-
-	b3OpenCLArray<int> m_totalContactsOut;
-
-	b3OpenCLArray<b3Vector3> m_sepNormals;
-	b3OpenCLArray<float> m_dmins;
-
-	b3OpenCLArray<int> m_hasSeparatingNormals;
-	b3OpenCLArray<b3Vector3> m_concaveSepNormals;
-	b3OpenCLArray<int> m_concaveHasSeparatingNormals;
-	b3OpenCLArray<int> m_numConcavePairsOut;
-	b3OpenCLArray<b3CompoundOverlappingPair> m_gpuCompoundPairs;
-	b3OpenCLArray<b3Vector3> m_gpuCompoundSepNormals;
-	b3OpenCLArray<int> m_gpuHasCompoundSepNormals;
-	b3OpenCLArray<int> m_numCompoundPairsOut;
-
-	GpuSatCollision(cl_context ctx, cl_device_id device, cl_command_queue q);
-	virtual ~GpuSatCollision();
-
-	void computeConvexConvexContactsGPUSAT(b3OpenCLArray<b3Int4>* pairs, int nPairs,
-										   const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
-										   b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
-										   const b3OpenCLArray<b3Contact4>* oldContacts,
-										   int maxContactCapacity,
-										   int compoundPairCapacity,
-										   const b3OpenCLArray<b3ConvexPolyhedronData>& hostConvexData,
-										   const b3OpenCLArray<b3Vector3>& vertices,
-										   const b3OpenCLArray<b3Vector3>& uniqueEdges,
-										   const b3OpenCLArray<b3GpuFace>& faces,
-										   const b3OpenCLArray<int>& indices,
-										   const b3OpenCLArray<b3Collidable>& gpuCollidables,
-										   const b3OpenCLArray<b3GpuChildShape>& gpuChildShapes,
-
-										   const b3OpenCLArray<b3Aabb>& clAabbsWorldSpace,
-										   const b3OpenCLArray<b3Aabb>& clAabbsLocalSpace,
-
-										   b3OpenCLArray<b3Vector3>& worldVertsB1GPU,
-										   b3OpenCLArray<b3Int4>& clippingFacesOutGPU,
-										   b3OpenCLArray<b3Vector3>& worldNormalsAGPU,
-										   b3OpenCLArray<b3Vector3>& worldVertsA1GPU,
-										   b3OpenCLArray<b3Vector3>& worldVertsB2GPU,
-										   b3AlignedObjectArray<class b3OptimizedBvh*>& bvhData,
-										   b3OpenCLArray<b3QuantizedBvhNode>* treeNodesGPU,
-										   b3OpenCLArray<b3BvhSubtreeInfo>* subTreesGPU,
-										   b3OpenCLArray<b3BvhInfo>* bvhInfo,
-										   int numObjects,
-										   int maxTriConvexPairCapacity,
-										   b3OpenCLArray<b3Int4>& triangleConvexPairs,
-										   int& numTriConvexPairsOut);
-};
-
-#endif  //_CONVEX_HULL_CONTACT_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexPolyhedronCL.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexPolyhedronCL.h
deleted file mode 100644
index c4cf700076..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexPolyhedronCL.h
+++ /dev/null
@@ -1,7 +0,0 @@
-#ifndef CONVEX_POLYHEDRON_CL
-#define CONVEX_POLYHEDRON_CL
-
-#include "Bullet3Common/b3Transform.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
-
-#endif  //CONVEX_POLYHEDRON_CL
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.cpp
deleted file mode 100644
index 974b246f03..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.cpp
+++ /dev/null
@@ -1,1062 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the
-use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it
-freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not
-claim that you wrote the original software. If you use this software in a
-product, an acknowledgment in the product documentation would be appreciated
-but is not required.
-2. Altered source versions must be plainly marked as such, and must not be
-misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/*
-GJK-EPA collision solver by Nathanael Presson, 2008
-*/
-
-#include "b3GjkEpa.h"
-
-#include "b3SupportMappings.h"
-
-namespace gjkepa2_impl2
-{
-// Config
-
-/* GJK	*/
-#define GJK_MAX_ITERATIONS 128
-#define GJK_ACCURACY ((b3Scalar)0.0001)
-#define GJK_MIN_DISTANCE ((b3Scalar)0.0001)
-#define GJK_DUPLICATED_EPS ((b3Scalar)0.0001)
-#define GJK_SIMPLEX2_EPS ((b3Scalar)0.0)
-#define GJK_SIMPLEX3_EPS ((b3Scalar)0.0)
-#define GJK_SIMPLEX4_EPS ((b3Scalar)0.0)
-
-/* EPA	*/
-#define EPA_MAX_VERTICES 64
-#define EPA_MAX_FACES (EPA_MAX_VERTICES * 2)
-#define EPA_MAX_ITERATIONS 255
-#define EPA_ACCURACY ((b3Scalar)0.0001)
-#define EPA_FALLBACK (10 * EPA_ACCURACY)
-#define EPA_PLANE_EPS ((b3Scalar)0.00001)
-#define EPA_INSIDE_EPS ((b3Scalar)0.01)
-
-// Shorthands
-
-// MinkowskiDiff
-struct b3MinkowskiDiff
-{
-	const b3ConvexPolyhedronData* m_shapes[2];
-
-	b3Matrix3x3 m_toshape1;
-	b3Transform m_toshape0;
-
-	bool m_enableMargin;
-
-	void EnableMargin(bool enable)
-	{
-		m_enableMargin = enable;
-	}
-	inline b3Vector3 Support0(const b3Vector3& d, const b3AlignedObjectArray<b3Vector3>& verticesA) const
-	{
-		if (m_enableMargin)
-		{
-			return localGetSupportVertexWithMargin(d, m_shapes[0], verticesA, 0.f);
-		}
-		else
-		{
-			return localGetSupportVertexWithoutMargin(d, m_shapes[0], verticesA);
-		}
-	}
-	inline b3Vector3 Support1(const b3Vector3& d, const b3AlignedObjectArray<b3Vector3>& verticesB) const
-	{
-		if (m_enableMargin)
-		{
-			return m_toshape0 * (localGetSupportVertexWithMargin(m_toshape1 * d, m_shapes[1], verticesB, 0.f));
-		}
-		else
-		{
-			return m_toshape0 * (localGetSupportVertexWithoutMargin(m_toshape1 * d, m_shapes[1], verticesB));
-		}
-	}
-
-	inline b3Vector3 Support(const b3Vector3& d, const b3AlignedObjectArray<b3Vector3>& verticesA, const b3AlignedObjectArray<b3Vector3>& verticesB) const
-	{
-		return (Support0(d, verticesA) - Support1(-d, verticesB));
-	}
-	b3Vector3 Support(const b3Vector3& d, unsigned int index, const b3AlignedObjectArray<b3Vector3>& verticesA, const b3AlignedObjectArray<b3Vector3>& verticesB) const
-	{
-		if (index)
-			return (Support1(d, verticesA));
-		else
-			return (Support0(d, verticesB));
-	}
-};
-
-typedef b3MinkowskiDiff tShape;
-
-// GJK
-struct b3GJK
-{
-	/* Types		*/
-	struct sSV
-	{
-		b3Vector3 d, w;
-	};
-	struct sSimplex
-	{
-		sSV* c[4];
-		b3Scalar p[4];
-		unsigned int rank;
-	};
-	struct eStatus
-	{
-		enum _
-		{
-			Valid,
-			Inside,
-			Failed
-		};
-	};
-	/* Fields		*/
-	tShape m_shape;
-	const b3AlignedObjectArray<b3Vector3>& m_verticesA;
-	const b3AlignedObjectArray<b3Vector3>& m_verticesB;
-	b3Vector3 m_ray;
-	b3Scalar m_distance;
-	sSimplex m_simplices[2];
-	sSV m_store[4];
-	sSV* m_free[4];
-	unsigned int m_nfree;
-	unsigned int m_current;
-	sSimplex* m_simplex;
-	eStatus::_ m_status;
-	/* Methods		*/
-	b3GJK(const b3AlignedObjectArray<b3Vector3>& verticesA, const b3AlignedObjectArray<b3Vector3>& verticesB)
-		: m_verticesA(verticesA), m_verticesB(verticesB)
-	{
-		Initialize();
-	}
-	void Initialize()
-	{
-		m_ray = b3MakeVector3(0, 0, 0);
-		m_nfree = 0;
-		m_status = eStatus::Failed;
-		m_current = 0;
-		m_distance = 0;
-	}
-	eStatus::_ Evaluate(const tShape& shapearg, const b3Vector3& guess)
-	{
-		unsigned int iterations = 0;
-		b3Scalar sqdist = 0;
-		b3Scalar alpha = 0;
-		b3Vector3 lastw[4];
-		unsigned int clastw = 0;
-		/* Initialize solver		*/
-		m_free[0] = &m_store[0];
-		m_free[1] = &m_store[1];
-		m_free[2] = &m_store[2];
-		m_free[3] = &m_store[3];
-		m_nfree = 4;
-		m_current = 0;
-		m_status = eStatus::Valid;
-		m_shape = shapearg;
-		m_distance = 0;
-		/* Initialize simplex		*/
-		m_simplices[0].rank = 0;
-		m_ray = guess;
-		const b3Scalar sqrl = m_ray.length2();
-		appendvertice(m_simplices[0], sqrl > 0 ? -m_ray : b3MakeVector3(1, 0, 0));
-		m_simplices[0].p[0] = 1;
-		m_ray = m_simplices[0].c[0]->w;
-		sqdist = sqrl;
-		lastw[0] =
-			lastw[1] =
-				lastw[2] =
-					lastw[3] = m_ray;
-		/* Loop						*/
-		do
-		{
-			const unsigned int next = 1 - m_current;
-			sSimplex& cs = m_simplices[m_current];
-			sSimplex& ns = m_simplices[next];
-			/* Check zero							*/
-			const b3Scalar rl = m_ray.length();
-			if (rl < GJK_MIN_DISTANCE)
-			{ /* Touching or inside				*/
-				m_status = eStatus::Inside;
-				break;
-			}
-			/* Append new vertice in -'v' direction	*/
-			appendvertice(cs, -m_ray);
-			const b3Vector3& w = cs.c[cs.rank - 1]->w;
-			bool found = false;
-			for (unsigned int i = 0; i < 4; ++i)
-			{
-				if ((w - lastw[i]).length2() < GJK_DUPLICATED_EPS)
-				{
-					found = true;
-					break;
-				}
-			}
-			if (found)
-			{ /* Return old simplex				*/
-				removevertice(m_simplices[m_current]);
-				break;
-			}
-			else
-			{ /* Update lastw					*/
-				lastw[clastw = (clastw + 1) & 3] = w;
-			}
-			/* Check for termination				*/
-			const b3Scalar omega = b3Dot(m_ray, w) / rl;
-			alpha = b3Max(omega, alpha);
-			if (((rl - alpha) - (GJK_ACCURACY * rl)) <= 0)
-			{ /* Return old simplex				*/
-				removevertice(m_simplices[m_current]);
-				break;
-			}
-			/* Reduce simplex						*/
-			b3Scalar weights[4];
-			unsigned int mask = 0;
-			switch (cs.rank)
-			{
-				case 2:
-					sqdist = projectorigin(cs.c[0]->w,
-										   cs.c[1]->w,
-										   weights, mask);
-					break;
-				case 3:
-					sqdist = projectorigin(cs.c[0]->w,
-										   cs.c[1]->w,
-										   cs.c[2]->w,
-										   weights, mask);
-					break;
-				case 4:
-					sqdist = projectorigin(cs.c[0]->w,
-										   cs.c[1]->w,
-										   cs.c[2]->w,
-										   cs.c[3]->w,
-										   weights, mask);
-					break;
-			}
-			if (sqdist >= 0)
-			{ /* Valid	*/
-				ns.rank = 0;
-				m_ray = b3MakeVector3(0, 0, 0);
-				m_current = next;
-				for (unsigned int i = 0, ni = cs.rank; i < ni; ++i)
-				{
-					if (mask & (1 << i))
-					{
-						ns.c[ns.rank] = cs.c[i];
-						ns.p[ns.rank++] = weights[i];
-						m_ray += cs.c[i]->w * weights[i];
-					}
-					else
-					{
-						m_free[m_nfree++] = cs.c[i];
-					}
-				}
-				if (mask == 15) m_status = eStatus::Inside;
-			}
-			else
-			{ /* Return old simplex				*/
-				removevertice(m_simplices[m_current]);
-				break;
-			}
-			m_status = ((++iterations) < GJK_MAX_ITERATIONS) ? m_status : eStatus::Failed;
-		} while (m_status == eStatus::Valid);
-		m_simplex = &m_simplices[m_current];
-		switch (m_status)
-		{
-			case eStatus::Valid:
-				m_distance = m_ray.length();
-				break;
-			case eStatus::Inside:
-				m_distance = 0;
-				break;
-			default:
-			{
-			}
-		}
-		return (m_status);
-	}
-	bool EncloseOrigin()
-	{
-		switch (m_simplex->rank)
-		{
-			case 1:
-			{
-				for (unsigned int i = 0; i < 3; ++i)
-				{
-					b3Vector3 axis = b3MakeVector3(0, 0, 0);
-					axis[i] = 1;
-					appendvertice(*m_simplex, axis);
-					if (EncloseOrigin()) return (true);
-					removevertice(*m_simplex);
-					appendvertice(*m_simplex, -axis);
-					if (EncloseOrigin()) return (true);
-					removevertice(*m_simplex);
-				}
-			}
-			break;
-			case 2:
-			{
-				const b3Vector3 d = m_simplex->c[1]->w - m_simplex->c[0]->w;
-				for (unsigned int i = 0; i < 3; ++i)
-				{
-					b3Vector3 axis = b3MakeVector3(0, 0, 0);
-					axis[i] = 1;
-					const b3Vector3 p = b3Cross(d, axis);
-					if (p.length2() > 0)
-					{
-						appendvertice(*m_simplex, p);
-						if (EncloseOrigin()) return (true);
-						removevertice(*m_simplex);
-						appendvertice(*m_simplex, -p);
-						if (EncloseOrigin()) return (true);
-						removevertice(*m_simplex);
-					}
-				}
-			}
-			break;
-			case 3:
-			{
-				const b3Vector3 n = b3Cross(m_simplex->c[1]->w - m_simplex->c[0]->w,
-											m_simplex->c[2]->w - m_simplex->c[0]->w);
-				if (n.length2() > 0)
-				{
-					appendvertice(*m_simplex, n);
-					if (EncloseOrigin()) return (true);
-					removevertice(*m_simplex);
-					appendvertice(*m_simplex, -n);
-					if (EncloseOrigin()) return (true);
-					removevertice(*m_simplex);
-				}
-			}
-			break;
-			case 4:
-			{
-				if (b3Fabs(det(m_simplex->c[0]->w - m_simplex->c[3]->w,
-							   m_simplex->c[1]->w - m_simplex->c[3]->w,
-							   m_simplex->c[2]->w - m_simplex->c[3]->w)) > 0)
-					return (true);
-			}
-			break;
-		}
-		return (false);
-	}
-	/* Internals	*/
-	void getsupport(const b3Vector3& d, sSV& sv) const
-	{
-		sv.d = d / d.length();
-		sv.w = m_shape.Support(sv.d, m_verticesA, m_verticesB);
-	}
-	void removevertice(sSimplex& simplex)
-	{
-		m_free[m_nfree++] = simplex.c[--simplex.rank];
-	}
-	void appendvertice(sSimplex& simplex, const b3Vector3& v)
-	{
-		simplex.p[simplex.rank] = 0;
-		simplex.c[simplex.rank] = m_free[--m_nfree];
-		getsupport(v, *simplex.c[simplex.rank++]);
-	}
-	static b3Scalar det(const b3Vector3& a, const b3Vector3& b, const b3Vector3& c)
-	{
-		return (a.y * b.z * c.x + a.z * b.x * c.y -
-				a.x * b.z * c.y - a.y * b.x * c.z +
-				a.x * b.y * c.z - a.z * b.y * c.x);
-	}
-	static b3Scalar projectorigin(const b3Vector3& a,
-								  const b3Vector3& b,
-								  b3Scalar* w, unsigned int& m)
-	{
-		const b3Vector3 d = b - a;
-		const b3Scalar l = d.length2();
-		if (l > GJK_SIMPLEX2_EPS)
-		{
-			const b3Scalar t(l > 0 ? -b3Dot(a, d) / l : 0);
-			if (t >= 1)
-			{
-				w[0] = 0;
-				w[1] = 1;
-				m = 2;
-				return (b.length2());
-			}
-			else if (t <= 0)
-			{
-				w[0] = 1;
-				w[1] = 0;
-				m = 1;
-				return (a.length2());
-			}
-			else
-			{
-				w[0] = 1 - (w[1] = t);
-				m = 3;
-				return ((a + d * t).length2());
-			}
-		}
-		return (-1);
-	}
-	static b3Scalar projectorigin(const b3Vector3& a,
-								  const b3Vector3& b,
-								  const b3Vector3& c,
-								  b3Scalar* w, unsigned int& m)
-	{
-		static const unsigned int imd3[] = {1, 2, 0};
-		const b3Vector3* vt[] = {&a, &b, &c};
-		const b3Vector3 dl[] = {a - b, b - c, c - a};
-		const b3Vector3 n = b3Cross(dl[0], dl[1]);
-		const b3Scalar l = n.length2();
-		if (l > GJK_SIMPLEX3_EPS)
-		{
-			b3Scalar mindist = -1;
-			b3Scalar subw[2] = {0.f, 0.f};
-			unsigned int subm(0);
-			for (unsigned int i = 0; i < 3; ++i)
-			{
-				if (b3Dot(*vt[i], b3Cross(dl[i], n)) > 0)
-				{
-					const unsigned int j = imd3[i];
-					const b3Scalar subd(projectorigin(*vt[i], *vt[j], subw, subm));
-					if ((mindist < 0) || (subd < mindist))
-					{
-						mindist = subd;
-						m = static_cast<unsigned int>(((subm & 1) ? 1 << i : 0) + ((subm & 2) ? 1 << j : 0));
-						w[i] = subw[0];
-						w[j] = subw[1];
-						w[imd3[j]] = 0;
-					}
-				}
-			}
-			if (mindist < 0)
-			{
-				const b3Scalar d = b3Dot(a, n);
-				const b3Scalar s = b3Sqrt(l);
-				const b3Vector3 p = n * (d / l);
-				mindist = p.length2();
-				m = 7;
-				w[0] = (b3Cross(dl[1], b - p)).length() / s;
-				w[1] = (b3Cross(dl[2], c - p)).length() / s;
-				w[2] = 1 - (w[0] + w[1]);
-			}
-			return (mindist);
-		}
-		return (-1);
-	}
-	static b3Scalar projectorigin(const b3Vector3& a,
-								  const b3Vector3& b,
-								  const b3Vector3& c,
-								  const b3Vector3& d,
-								  b3Scalar* w, unsigned int& m)
-	{
-		static const unsigned int imd3[] = {1, 2, 0};
-		const b3Vector3* vt[] = {&a, &b, &c, &d};
-		const b3Vector3 dl[] = {a - d, b - d, c - d};
-		const b3Scalar vl = det(dl[0], dl[1], dl[2]);
-		const bool ng = (vl * b3Dot(a, b3Cross(b - c, a - b))) <= 0;
-		if (ng && (b3Fabs(vl) > GJK_SIMPLEX4_EPS))
-		{
-			b3Scalar mindist = -1;
-			b3Scalar subw[3] = {0.f, 0.f, 0.f};
-			unsigned int subm(0);
-			for (unsigned int i = 0; i < 3; ++i)
-			{
-				const unsigned int j = imd3[i];
-				const b3Scalar s = vl * b3Dot(d, b3Cross(dl[i], dl[j]));
-				if (s > 0)
-				{
-					const b3Scalar subd = projectorigin(*vt[i], *vt[j], d, subw, subm);
-					if ((mindist < 0) || (subd < mindist))
-					{
-						mindist = subd;
-						m = static_cast<unsigned int>((subm & 1 ? 1 << i : 0) +
-													  (subm & 2 ? 1 << j : 0) +
-													  (subm & 4 ? 8 : 0));
-						w[i] = subw[0];
-						w[j] = subw[1];
-						w[imd3[j]] = 0;
-						w[3] = subw[2];
-					}
-				}
-			}
-			if (mindist < 0)
-			{
-				mindist = 0;
-				m = 15;
-				w[0] = det(c, b, d) / vl;
-				w[1] = det(a, c, d) / vl;
-				w[2] = det(b, a, d) / vl;
-				w[3] = 1 - (w[0] + w[1] + w[2]);
-			}
-			return (mindist);
-		}
-		return (-1);
-	}
-};
-
-// EPA
-struct b3EPA
-{
-	/* Types		*/
-	typedef b3GJK::sSV sSV;
-	struct sFace
-	{
-		b3Vector3 n;
-		b3Scalar d;
-		sSV* c[3];
-		sFace* f[3];
-		sFace* l[2];
-		unsigned char e[3];
-		unsigned char pass;
-	};
-	struct sList
-	{
-		sFace* root;
-		unsigned int count;
-		sList() : root(0), count(0) {}
-	};
-	struct sHorizon
-	{
-		sFace* cf;
-		sFace* ff;
-		unsigned int nf;
-		sHorizon() : cf(0), ff(0), nf(0) {}
-	};
-	struct eStatus
-	{
-		enum _
-		{
-			Valid,
-			Touching,
-			Degenerated,
-			NonConvex,
-			InvalidHull,
-			OutOfFaces,
-			OutOfVertices,
-			AccuraryReached,
-			FallBack,
-			Failed
-		};
-	};
-	/* Fields		*/
-	eStatus::_ m_status;
-	b3GJK::sSimplex m_result;
-	b3Vector3 m_normal;
-	b3Scalar m_depth;
-	sSV m_sv_store[EPA_MAX_VERTICES];
-	sFace m_fc_store[EPA_MAX_FACES];
-	unsigned int m_nextsv;
-	sList m_hull;
-	sList m_stock;
-	/* Methods		*/
-	b3EPA()
-	{
-		Initialize();
-	}
-
-	static inline void bind(sFace* fa, unsigned int ea, sFace* fb, unsigned int eb)
-	{
-		fa->e[ea] = (unsigned char)eb;
-		fa->f[ea] = fb;
-		fb->e[eb] = (unsigned char)ea;
-		fb->f[eb] = fa;
-	}
-	static inline void append(sList& list, sFace* face)
-	{
-		face->l[0] = 0;
-		face->l[1] = list.root;
-		if (list.root) list.root->l[0] = face;
-		list.root = face;
-		++list.count;
-	}
-	static inline void remove(sList& list, sFace* face)
-	{
-		if (face->l[1]) face->l[1]->l[0] = face->l[0];
-		if (face->l[0]) face->l[0]->l[1] = face->l[1];
-		if (face == list.root) list.root = face->l[1];
-		--list.count;
-	}
-
-	void Initialize()
-	{
-		m_status = eStatus::Failed;
-		m_normal = b3MakeVector3(0, 0, 0);
-		m_depth = 0;
-		m_nextsv = 0;
-		for (unsigned int i = 0; i < EPA_MAX_FACES; ++i)
-		{
-			append(m_stock, &m_fc_store[EPA_MAX_FACES - i - 1]);
-		}
-	}
-	eStatus::_ Evaluate(b3GJK& gjk, const b3Vector3& guess)
-	{
-		b3GJK::sSimplex& simplex = *gjk.m_simplex;
-		if ((simplex.rank > 1) && gjk.EncloseOrigin())
-		{
-			/* Clean up				*/
-			while (m_hull.root)
-			{
-				sFace* f = m_hull.root;
-				remove(m_hull, f);
-				append(m_stock, f);
-			}
-			m_status = eStatus::Valid;
-			m_nextsv = 0;
-			/* Orient simplex		*/
-			if (gjk.det(simplex.c[0]->w - simplex.c[3]->w,
-						simplex.c[1]->w - simplex.c[3]->w,
-						simplex.c[2]->w - simplex.c[3]->w) < 0)
-			{
-				b3Swap(simplex.c[0], simplex.c[1]);
-				b3Swap(simplex.p[0], simplex.p[1]);
-			}
-			/* Build initial hull	*/
-			sFace* tetra[] = {newface(simplex.c[0], simplex.c[1], simplex.c[2], true),
-							  newface(simplex.c[1], simplex.c[0], simplex.c[3], true),
-							  newface(simplex.c[2], simplex.c[1], simplex.c[3], true),
-							  newface(simplex.c[0], simplex.c[2], simplex.c[3], true)};
-			if (m_hull.count == 4)
-			{
-				sFace* best = findbest();
-				sFace outer = *best;
-				unsigned int pass = 0;
-				unsigned int iterations = 0;
-				bind(tetra[0], 0, tetra[1], 0);
-				bind(tetra[0], 1, tetra[2], 0);
-				bind(tetra[0], 2, tetra[3], 0);
-				bind(tetra[1], 1, tetra[3], 2);
-				bind(tetra[1], 2, tetra[2], 1);
-				bind(tetra[2], 2, tetra[3], 1);
-				m_status = eStatus::Valid;
-				for (; iterations < EPA_MAX_ITERATIONS; ++iterations)
-				{
-					if (m_nextsv < EPA_MAX_VERTICES)
-					{
-						sHorizon horizon;
-						sSV* w = &m_sv_store[m_nextsv++];
-						bool valid = true;
-						best->pass = (unsigned char)(++pass);
-						gjk.getsupport(best->n, *w);
-						const b3Scalar wdist = b3Dot(best->n, w->w) - best->d;
-						if (wdist > EPA_ACCURACY)
-						{
-							for (unsigned int j = 0; (j < 3) && valid; ++j)
-							{
-								valid &= expand(pass, w,
-												best->f[j], best->e[j],
-												horizon);
-							}
-							if (valid && (horizon.nf >= 3))
-							{
-								bind(horizon.cf, 1, horizon.ff, 2);
-								remove(m_hull, best);
-								append(m_stock, best);
-								best = findbest();
-								outer = *best;
-							}
-							else
-							{
-								m_status = eStatus::Failed;
-								//m_status=eStatus::InvalidHull;
-								break;
-							}
-						}
-						else
-						{
-							m_status = eStatus::AccuraryReached;
-							break;
-						}
-					}
-					else
-					{
-						m_status = eStatus::OutOfVertices;
-						break;
-					}
-				}
-				const b3Vector3 projection = outer.n * outer.d;
-				m_normal = outer.n;
-				m_depth = outer.d;
-				m_result.rank = 3;
-				m_result.c[0] = outer.c[0];
-				m_result.c[1] = outer.c[1];
-				m_result.c[2] = outer.c[2];
-				m_result.p[0] = b3Cross(outer.c[1]->w - projection,
-										outer.c[2]->w - projection)
-									.length();
-				m_result.p[1] = b3Cross(outer.c[2]->w - projection,
-										outer.c[0]->w - projection)
-									.length();
-				m_result.p[2] = b3Cross(outer.c[0]->w - projection,
-										outer.c[1]->w - projection)
-									.length();
-				const b3Scalar sum = m_result.p[0] + m_result.p[1] + m_result.p[2];
-				m_result.p[0] /= sum;
-				m_result.p[1] /= sum;
-				m_result.p[2] /= sum;
-				return (m_status);
-			}
-		}
-		/* Fallback		*/
-		m_status = eStatus::FallBack;
-		m_normal = -guess;
-		const b3Scalar nl = m_normal.length();
-		if (nl > 0)
-			m_normal = m_normal / nl;
-		else
-			m_normal = b3MakeVector3(1, 0, 0);
-		m_depth = 0;
-		m_result.rank = 1;
-		m_result.c[0] = simplex.c[0];
-		m_result.p[0] = 1;
-		return (m_status);
-	}
-	bool getedgedist(sFace* face, sSV* a, sSV* b, b3Scalar& dist)
-	{
-		const b3Vector3 ba = b->w - a->w;
-		const b3Vector3 n_ab = b3Cross(ba, face->n);   // Outward facing edge normal direction, on triangle plane
-		const b3Scalar a_dot_nab = b3Dot(a->w, n_ab);  // Only care about the sign to determine inside/outside, so not normalization required
-
-		if (a_dot_nab < 0)
-		{
-			// Outside of edge a->b
-
-			const b3Scalar ba_l2 = ba.length2();
-			const b3Scalar a_dot_ba = b3Dot(a->w, ba);
-			const b3Scalar b_dot_ba = b3Dot(b->w, ba);
-
-			if (a_dot_ba > 0)
-			{
-				// Pick distance vertex a
-				dist = a->w.length();
-			}
-			else if (b_dot_ba < 0)
-			{
-				// Pick distance vertex b
-				dist = b->w.length();
-			}
-			else
-			{
-				// Pick distance to edge a->b
-				const b3Scalar a_dot_b = b3Dot(a->w, b->w);
-				dist = b3Sqrt(b3Max((a->w.length2() * b->w.length2() - a_dot_b * a_dot_b) / ba_l2, (b3Scalar)0));
-			}
-
-			return true;
-		}
-
-		return false;
-	}
-	sFace* newface(sSV* a, sSV* b, sSV* c, bool forced)
-	{
-		if (m_stock.root)
-		{
-			sFace* face = m_stock.root;
-			remove(m_stock, face);
-			append(m_hull, face);
-			face->pass = 0;
-			face->c[0] = a;
-			face->c[1] = b;
-			face->c[2] = c;
-			face->n = b3Cross(b->w - a->w, c->w - a->w);
-			const b3Scalar l = face->n.length();
-			const bool v = l > EPA_ACCURACY;
-
-			if (v)
-			{
-				if (!(getedgedist(face, a, b, face->d) ||
-					  getedgedist(face, b, c, face->d) ||
-					  getedgedist(face, c, a, face->d)))
-				{
-					// Origin projects to the interior of the triangle
-					// Use distance to triangle plane
-					face->d = b3Dot(a->w, face->n) / l;
-				}
-
-				face->n /= l;
-				if (forced || (face->d >= -EPA_PLANE_EPS))
-				{
-					return face;
-				}
-				else
-					m_status = eStatus::NonConvex;
-			}
-			else
-				m_status = eStatus::Degenerated;
-
-			remove(m_hull, face);
-			append(m_stock, face);
-			return 0;
-		}
-		m_status = m_stock.root ? eStatus::OutOfVertices : eStatus::OutOfFaces;
-		return 0;
-	}
-	sFace* findbest()
-	{
-		sFace* minf = m_hull.root;
-		b3Scalar mind = minf->d * minf->d;
-		for (sFace* f = minf->l[1]; f; f = f->l[1])
-		{
-			const b3Scalar sqd = f->d * f->d;
-			if (sqd < mind)
-			{
-				minf = f;
-				mind = sqd;
-			}
-		}
-		return (minf);
-	}
-	bool expand(unsigned int pass, sSV* w, sFace* f, unsigned int e, sHorizon& horizon)
-	{
-		static const unsigned int i1m3[] = {1, 2, 0};
-		static const unsigned int i2m3[] = {2, 0, 1};
-		if (f->pass != pass)
-		{
-			const unsigned int e1 = i1m3[e];
-			if ((b3Dot(f->n, w->w) - f->d) < -EPA_PLANE_EPS)
-			{
-				sFace* nf = newface(f->c[e1], f->c[e], w, false);
-				if (nf)
-				{
-					bind(nf, 0, f, e);
-					if (horizon.cf)
-						bind(horizon.cf, 1, nf, 2);
-					else
-						horizon.ff = nf;
-					horizon.cf = nf;
-					++horizon.nf;
-					return (true);
-				}
-			}
-			else
-			{
-				const unsigned int e2 = i2m3[e];
-				f->pass = (unsigned char)pass;
-				if (expand(pass, w, f->f[e1], f->e[e1], horizon) &&
-					expand(pass, w, f->f[e2], f->e[e2], horizon))
-				{
-					remove(m_hull, f);
-					append(m_stock, f);
-					return (true);
-				}
-			}
-		}
-		return (false);
-	}
-};
-
-//
-static void Initialize(const b3Transform& transA, const b3Transform& transB,
-					   const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB,
-					   const b3AlignedObjectArray<b3Vector3>& verticesA,
-					   const b3AlignedObjectArray<b3Vector3>& verticesB,
-					   b3GjkEpaSolver2::sResults& results,
-					   tShape& shape,
-					   bool withmargins)
-{
-	/* Results		*/
-	results.witnesses[0] =
-		results.witnesses[1] = b3MakeVector3(0, 0, 0);
-	results.status = b3GjkEpaSolver2::sResults::Separated;
-	/* Shape		*/
-	shape.m_shapes[0] = hullA;
-	shape.m_shapes[1] = hullB;
-	shape.m_toshape1 = transB.getBasis().transposeTimes(transA.getBasis());
-	shape.m_toshape0 = transA.inverseTimes(transB);
-	shape.EnableMargin(withmargins);
-}
-
-}  // namespace gjkepa2_impl2
-
-//
-// Api
-//
-
-using namespace gjkepa2_impl2;
-
-//
-int b3GjkEpaSolver2::StackSizeRequirement()
-{
-	return (sizeof(b3GJK) + sizeof(b3EPA));
-}
-
-//
-bool b3GjkEpaSolver2::Distance(const b3Transform& transA, const b3Transform& transB,
-							   const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB,
-							   const b3AlignedObjectArray<b3Vector3>& verticesA,
-							   const b3AlignedObjectArray<b3Vector3>& verticesB,
-							   const b3Vector3& guess,
-							   sResults& results)
-{
-	tShape shape;
-	Initialize(transA, transB, hullA, hullB, verticesA, verticesB, results, shape, false);
-	b3GJK gjk(verticesA, verticesB);
-	b3GJK::eStatus::_ gjk_status = gjk.Evaluate(shape, guess);
-	if (gjk_status == b3GJK::eStatus::Valid)
-	{
-		b3Vector3 w0 = b3MakeVector3(0, 0, 0);
-		b3Vector3 w1 = b3MakeVector3(0, 0, 0);
-		for (unsigned int i = 0; i < gjk.m_simplex->rank; ++i)
-		{
-			const b3Scalar p = gjk.m_simplex->p[i];
-			w0 += shape.Support(gjk.m_simplex->c[i]->d, 0, verticesA, verticesB) * p;
-			w1 += shape.Support(-gjk.m_simplex->c[i]->d, 1, verticesA, verticesB) * p;
-		}
-		results.witnesses[0] = transA * w0;
-		results.witnesses[1] = transA * w1;
-		results.normal = w0 - w1;
-		results.distance = results.normal.length();
-		results.normal /= results.distance > GJK_MIN_DISTANCE ? results.distance : 1;
-		return (true);
-	}
-	else
-	{
-		results.status = gjk_status == b3GJK::eStatus::Inside ? sResults::Penetrating : sResults::GJK_Failed;
-		return (false);
-	}
-}
-
-//
-bool b3GjkEpaSolver2::Penetration(const b3Transform& transA, const b3Transform& transB,
-								  const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB,
-								  const b3AlignedObjectArray<b3Vector3>& verticesA,
-								  const b3AlignedObjectArray<b3Vector3>& verticesB,
-								  const b3Vector3& guess,
-								  sResults& results,
-								  bool usemargins)
-{
-	tShape shape;
-	Initialize(transA, transB, hullA, hullB, verticesA, verticesB, results, shape, usemargins);
-	b3GJK gjk(verticesA, verticesB);
-	b3GJK::eStatus::_ gjk_status = gjk.Evaluate(shape, guess);
-	switch (gjk_status)
-	{
-		case b3GJK::eStatus::Inside:
-		{
-			b3EPA epa;
-			b3EPA::eStatus::_ epa_status = epa.Evaluate(gjk, -guess);
-			if (epa_status != b3EPA::eStatus::Failed)
-			{
-				b3Vector3 w0 = b3MakeVector3(0, 0, 0);
-				for (unsigned int i = 0; i < epa.m_result.rank; ++i)
-				{
-					w0 += shape.Support(epa.m_result.c[i]->d, 0, verticesA, verticesB) * epa.m_result.p[i];
-				}
-				results.status = sResults::Penetrating;
-				results.witnesses[0] = transA * w0;
-				results.witnesses[1] = transA * (w0 - epa.m_normal * epa.m_depth);
-				results.normal = -epa.m_normal;
-				results.distance = -epa.m_depth;
-				return (true);
-			}
-			else
-				results.status = sResults::EPA_Failed;
-		}
-		break;
-		case b3GJK::eStatus::Failed:
-			results.status = sResults::GJK_Failed;
-			break;
-		default:
-		{
-		}
-	}
-	return (false);
-}
-
-#if 0
-//
-b3Scalar	b3GjkEpaSolver2::SignedDistance(const b3Vector3& position,
-											b3Scalar margin,
-											const b3Transform&	transA,
-											const b3ConvexPolyhedronData& hullA, 
-											const b3AlignedObjectArray<b3Vector3>& verticesA,
-											sResults& results)
-{
-	tShape			shape;
-	btSphereShape	shape1(margin);
-	b3Transform		wtrs1(b3Quaternion(0,0,0,1),position);
-	Initialize(shape0,wtrs0,&shape1,wtrs1,results,shape,false);
-	GJK				gjk;	
-	GJK::eStatus::_	gjk_status=gjk.Evaluate(shape,b3Vector3(1,1,1));
-	if(gjk_status==GJK::eStatus::Valid)
-	{
-		b3Vector3	w0=b3Vector3(0,0,0);
-		b3Vector3	w1=b3Vector3(0,0,0);
-		for(unsigned int i=0;i<gjk.m_simplex->rank;++i)
-		{
-			const b3Scalar	p=gjk.m_simplex->p[i];
-			w0+=shape.Support( gjk.m_simplex->c[i]->d,0)*p;
-			w1+=shape.Support(-gjk.m_simplex->c[i]->d,1)*p;
-		}
-		results.witnesses[0]	=	wtrs0*w0;
-		results.witnesses[1]	=	wtrs0*w1;
-		const b3Vector3	delta=	results.witnesses[1]-
-			results.witnesses[0];
-		const b3Scalar	margin=	shape0->getMarginNonVirtual()+
-			shape1.getMarginNonVirtual();
-		const b3Scalar	length=	delta.length();	
-		results.normal			=	delta/length;
-		results.witnesses[0]	+=	results.normal*margin;
-		return(length-margin);
-	}
-	else
-	{
-		if(gjk_status==GJK::eStatus::Inside)
-		{
-			if(Penetration(shape0,wtrs0,&shape1,wtrs1,gjk.m_ray,results))
-			{
-				const b3Vector3	delta=	results.witnesses[0]-
-					results.witnesses[1];
-				const b3Scalar	length=	delta.length();
-				if (length >= B3_EPSILON)
-					results.normal	=	delta/length;			
-				return(-length);
-			}
-		}	
-	}
-	return(B3_INFINITY);
-}
-
-//
-bool	b3GjkEpaSolver2::SignedDistance(const btConvexShape*	shape0,
-										const b3Transform&		wtrs0,
-										const btConvexShape*	shape1,
-										const b3Transform&		wtrs1,
-										const b3Vector3&		guess,
-										sResults&				results)
-{
-	if(!Distance(shape0,wtrs0,shape1,wtrs1,guess,results))
-		return(Penetration(shape0,wtrs0,shape1,wtrs1,guess,results,false));
-	else
-		return(true);
-}
-#endif
-
-/* Symbols cleanup		*/
-
-#undef GJK_MAX_ITERATIONS
-#undef GJK_ACCURACY
-#undef GJK_MIN_DISTANCE
-#undef GJK_DUPLICATED_EPS
-#undef GJK_SIMPLEX2_EPS
-#undef GJK_SIMPLEX3_EPS
-#undef GJK_SIMPLEX4_EPS
-
-#undef EPA_MAX_VERTICES
-#undef EPA_MAX_FACES
-#undef EPA_MAX_ITERATIONS
-#undef EPA_ACCURACY
-#undef EPA_FALLBACK
-#undef EPA_PLANE_EPS
-#undef EPA_INSIDE_EPS
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.h
deleted file mode 100644
index 7db32c6309..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.h
+++ /dev/null
@@ -1,79 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the
-use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it
-freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not
-claim that you wrote the original software. If you use this software in a
-product, an acknowledgment in the product documentation would be appreciated
-but is not required.
-2. Altered source versions must be plainly marked as such, and must not be
-misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/*
-GJK-EPA collision solver by Nathanael Presson, 2008
-*/
-#ifndef B3_GJK_EPA2_H
-#define B3_GJK_EPA2_H
-
-#include "Bullet3Common/b3AlignedObjectArray.h"
-#include "Bullet3Common/b3Transform.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
-
-///btGjkEpaSolver contributed under zlib by Nathanael Presson
-struct b3GjkEpaSolver2
-{
-	struct sResults
-	{
-		enum eStatus
-		{
-			Separated,   /* Shapes doesnt penetrate												*/
-			Penetrating, /* Shapes are penetrating												*/
-			GJK_Failed,  /* GJK phase fail, no big issue, shapes are probably just 'touching'	*/
-			EPA_Failed   /* EPA phase fail, bigger problem, need to save parameters, and debug	*/
-		} status;
-		b3Vector3 witnesses[2];
-		b3Vector3 normal;
-		b3Scalar distance;
-	};
-
-	static int StackSizeRequirement();
-
-	static bool Distance(const b3Transform& transA, const b3Transform& transB,
-						 const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB,
-						 const b3AlignedObjectArray<b3Vector3>& verticesA,
-						 const b3AlignedObjectArray<b3Vector3>& verticesB,
-						 const b3Vector3& guess,
-						 sResults& results);
-
-	static bool Penetration(const b3Transform& transA, const b3Transform& transB,
-							const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB,
-							const b3AlignedObjectArray<b3Vector3>& verticesA,
-							const b3AlignedObjectArray<b3Vector3>& verticesB,
-							const b3Vector3& guess,
-							sResults& results,
-							bool usemargins = true);
-#if 0
-static b3Scalar	SignedDistance(	const b3Vector3& position,
-								b3Scalar margin,
-								const btConvexShape* shape,
-								const btTransform& wtrs,
-								sResults& results);
-							
-static bool		SignedDistance(	const btConvexShape* shape0,const btTransform& wtrs0,
-								const btConvexShape* shape1,const btTransform& wtrs1,
-								const b3Vector3& guess,
-								sResults& results);
-#endif
-};
-
-#endif  //B3_GJK_EPA2_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3OptimizedBvh.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3OptimizedBvh.cpp
deleted file mode 100644
index 4938fa17af..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3OptimizedBvh.cpp
+++ /dev/null
@@ -1,363 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "b3OptimizedBvh.h"
-#include "b3StridingMeshInterface.h"
-#include "Bullet3Geometry/b3AabbUtil.h"
-
-b3OptimizedBvh::b3OptimizedBvh()
-{
-}
-
-b3OptimizedBvh::~b3OptimizedBvh()
-{
-}
-
-void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantizedAabbCompression, const b3Vector3& bvhAabbMin, const b3Vector3& bvhAabbMax)
-{
-	m_useQuantization = useQuantizedAabbCompression;
-
-	// NodeArray	triangleNodes;
-
-	struct NodeTriangleCallback : public b3InternalTriangleIndexCallback
-	{
-		NodeArray& m_triangleNodes;
-
-		NodeTriangleCallback& operator=(NodeTriangleCallback& other)
-		{
-			m_triangleNodes.copyFromArray(other.m_triangleNodes);
-			return *this;
-		}
-
-		NodeTriangleCallback(NodeArray& triangleNodes)
-			: m_triangleNodes(triangleNodes)
-		{
-		}
-
-		virtual void internalProcessTriangleIndex(b3Vector3* triangle, int partId, int triangleIndex)
-		{
-			b3OptimizedBvhNode node;
-			b3Vector3 aabbMin, aabbMax;
-			aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
-			aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT));
-			aabbMin.setMin(triangle[0]);
-			aabbMax.setMax(triangle[0]);
-			aabbMin.setMin(triangle[1]);
-			aabbMax.setMax(triangle[1]);
-			aabbMin.setMin(triangle[2]);
-			aabbMax.setMax(triangle[2]);
-
-			//with quantization?
-			node.m_aabbMinOrg = aabbMin;
-			node.m_aabbMaxOrg = aabbMax;
-
-			node.m_escapeIndex = -1;
-
-			//for child nodes
-			node.m_subPart = partId;
-			node.m_triangleIndex = triangleIndex;
-			m_triangleNodes.push_back(node);
-		}
-	};
-	struct QuantizedNodeTriangleCallback : public b3InternalTriangleIndexCallback
-	{
-		QuantizedNodeArray& m_triangleNodes;
-		const b3QuantizedBvh* m_optimizedTree;  // for quantization
-
-		QuantizedNodeTriangleCallback& operator=(QuantizedNodeTriangleCallback& other)
-		{
-			m_triangleNodes.copyFromArray(other.m_triangleNodes);
-			m_optimizedTree = other.m_optimizedTree;
-			return *this;
-		}
-
-		QuantizedNodeTriangleCallback(QuantizedNodeArray& triangleNodes, const b3QuantizedBvh* tree)
-			: m_triangleNodes(triangleNodes), m_optimizedTree(tree)
-		{
-		}
-
-		virtual void internalProcessTriangleIndex(b3Vector3* triangle, int partId, int triangleIndex)
-		{
-			// The partId and triangle index must fit in the same (positive) integer
-			b3Assert(partId < (1 << MAX_NUM_PARTS_IN_BITS));
-			b3Assert(triangleIndex < (1 << (31 - MAX_NUM_PARTS_IN_BITS)));
-			//negative indices are reserved for escapeIndex
-			b3Assert(triangleIndex >= 0);
-
-			b3QuantizedBvhNode node;
-			b3Vector3 aabbMin, aabbMax;
-			aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
-			aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT));
-			aabbMin.setMin(triangle[0]);
-			aabbMax.setMax(triangle[0]);
-			aabbMin.setMin(triangle[1]);
-			aabbMax.setMax(triangle[1]);
-			aabbMin.setMin(triangle[2]);
-			aabbMax.setMax(triangle[2]);
-
-			//PCK: add these checks for zero dimensions of aabb
-			const b3Scalar MIN_AABB_DIMENSION = b3Scalar(0.002);
-			const b3Scalar MIN_AABB_HALF_DIMENSION = b3Scalar(0.001);
-			if (aabbMax.getX() - aabbMin.getX() < MIN_AABB_DIMENSION)
-			{
-				aabbMax.setX(aabbMax.getX() + MIN_AABB_HALF_DIMENSION);
-				aabbMin.setX(aabbMin.getX() - MIN_AABB_HALF_DIMENSION);
-			}
-			if (aabbMax.getY() - aabbMin.getY() < MIN_AABB_DIMENSION)
-			{
-				aabbMax.setY(aabbMax.getY() + MIN_AABB_HALF_DIMENSION);
-				aabbMin.setY(aabbMin.getY() - MIN_AABB_HALF_DIMENSION);
-			}
-			if (aabbMax.getZ() - aabbMin.getZ() < MIN_AABB_DIMENSION)
-			{
-				aabbMax.setZ(aabbMax.getZ() + MIN_AABB_HALF_DIMENSION);
-				aabbMin.setZ(aabbMin.getZ() - MIN_AABB_HALF_DIMENSION);
-			}
-
-			m_optimizedTree->quantize(&node.m_quantizedAabbMin[0], aabbMin, 0);
-			m_optimizedTree->quantize(&node.m_quantizedAabbMax[0], aabbMax, 1);
-
-			node.m_escapeIndexOrTriangleIndex = (partId << (31 - MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
-
-			m_triangleNodes.push_back(node);
-		}
-	};
-
-	int numLeafNodes = 0;
-
-	if (m_useQuantization)
-	{
-		//initialize quantization values
-		setQuantizationValues(bvhAabbMin, bvhAabbMax);
-
-		QuantizedNodeTriangleCallback callback(m_quantizedLeafNodes, this);
-
-		triangles->InternalProcessAllTriangles(&callback, m_bvhAabbMin, m_bvhAabbMax);
-
-		//now we have an array of leafnodes in m_leafNodes
-		numLeafNodes = m_quantizedLeafNodes.size();
-
-		m_quantizedContiguousNodes.resize(2 * numLeafNodes);
-	}
-	else
-	{
-		NodeTriangleCallback callback(m_leafNodes);
-
-		b3Vector3 aabbMin = b3MakeVector3(b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT));
-		b3Vector3 aabbMax = b3MakeVector3(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
-
-		triangles->InternalProcessAllTriangles(&callback, aabbMin, aabbMax);
-
-		//now we have an array of leafnodes in m_leafNodes
-		numLeafNodes = m_leafNodes.size();
-
-		m_contiguousNodes.resize(2 * numLeafNodes);
-	}
-
-	m_curNodeIndex = 0;
-
-	buildTree(0, numLeafNodes);
-
-	///if the entire tree is small then subtree size, we need to create a header info for the tree
-	if (m_useQuantization && !m_SubtreeHeaders.size())
-	{
-		b3BvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
-		subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[0]);
-		subtree.m_rootNodeIndex = 0;
-		subtree.m_subtreeSize = m_quantizedContiguousNodes[0].isLeafNode() ? 1 : m_quantizedContiguousNodes[0].getEscapeIndex();
-	}
-
-	//PCK: update the copy of the size
-	m_subtreeHeaderCount = m_SubtreeHeaders.size();
-
-	//PCK: clear m_quantizedLeafNodes and m_leafNodes, they are temporary
-	m_quantizedLeafNodes.clear();
-	m_leafNodes.clear();
-}
-
-void b3OptimizedBvh::refit(b3StridingMeshInterface* meshInterface, const b3Vector3& aabbMin, const b3Vector3& aabbMax)
-{
-	if (m_useQuantization)
-	{
-		setQuantizationValues(aabbMin, aabbMax);
-
-		updateBvhNodes(meshInterface, 0, m_curNodeIndex, 0);
-
-		///now update all subtree headers
-
-		int i;
-		for (i = 0; i < m_SubtreeHeaders.size(); i++)
-		{
-			b3BvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
-			subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]);
-		}
-	}
-	else
-	{
-	}
-}
-
-void b3OptimizedBvh::refitPartial(b3StridingMeshInterface* meshInterface, const b3Vector3& aabbMin, const b3Vector3& aabbMax)
-{
-	//incrementally initialize quantization values
-	b3Assert(m_useQuantization);
-
-	b3Assert(aabbMin.getX() > m_bvhAabbMin.getX());
-	b3Assert(aabbMin.getY() > m_bvhAabbMin.getY());
-	b3Assert(aabbMin.getZ() > m_bvhAabbMin.getZ());
-
-	b3Assert(aabbMax.getX() < m_bvhAabbMax.getX());
-	b3Assert(aabbMax.getY() < m_bvhAabbMax.getY());
-	b3Assert(aabbMax.getZ() < m_bvhAabbMax.getZ());
-
-	///we should update all quantization values, using updateBvhNodes(meshInterface);
-	///but we only update chunks that overlap the given aabb
-
-	unsigned short quantizedQueryAabbMin[3];
-	unsigned short quantizedQueryAabbMax[3];
-
-	quantize(&quantizedQueryAabbMin[0], aabbMin, 0);
-	quantize(&quantizedQueryAabbMax[0], aabbMax, 1);
-
-	int i;
-	for (i = 0; i < this->m_SubtreeHeaders.size(); i++)
-	{
-		b3BvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
-
-		//PCK: unsigned instead of bool
-		unsigned overlap = b3TestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, subtree.m_quantizedAabbMin, subtree.m_quantizedAabbMax);
-		if (overlap != 0)
-		{
-			updateBvhNodes(meshInterface, subtree.m_rootNodeIndex, subtree.m_rootNodeIndex + subtree.m_subtreeSize, i);
-
-			subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]);
-		}
-	}
-}
-
-void b3OptimizedBvh::updateBvhNodes(b3StridingMeshInterface* meshInterface, int firstNode, int endNode, int index)
-{
-	(void)index;
-
-	b3Assert(m_useQuantization);
-
-	int curNodeSubPart = -1;
-
-	//get access info to trianglemesh data
-	const unsigned char* vertexbase = 0;
-	int numverts = 0;
-	PHY_ScalarType type = PHY_INTEGER;
-	int stride = 0;
-	const unsigned char* indexbase = 0;
-	int indexstride = 0;
-	int numfaces = 0;
-	PHY_ScalarType indicestype = PHY_INTEGER;
-
-	b3Vector3 triangleVerts[3];
-	b3Vector3 aabbMin, aabbMax;
-	const b3Vector3& meshScaling = meshInterface->getScaling();
-
-	int i;
-	for (i = endNode - 1; i >= firstNode; i--)
-	{
-		b3QuantizedBvhNode& curNode = m_quantizedContiguousNodes[i];
-		if (curNode.isLeafNode())
-		{
-			//recalc aabb from triangle data
-			int nodeSubPart = curNode.getPartId();
-			int nodeTriangleIndex = curNode.getTriangleIndex();
-			if (nodeSubPart != curNodeSubPart)
-			{
-				if (curNodeSubPart >= 0)
-					meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
-				meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase, numverts, type, stride, &indexbase, indexstride, numfaces, indicestype, nodeSubPart);
-
-				curNodeSubPart = nodeSubPart;
-			}
-			//triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts,
-
-			unsigned int* gfxbase = (unsigned int*)(indexbase + nodeTriangleIndex * indexstride);
-
-			for (int j = 2; j >= 0; j--)
-			{
-				int graphicsindex;
-                                switch (indicestype) {
-                                        case PHY_INTEGER: graphicsindex = gfxbase[j]; break;
-                                        case PHY_SHORT: graphicsindex = ((unsigned short*)gfxbase)[j]; break;
-                                        case PHY_UCHAR: graphicsindex = ((unsigned char*)gfxbase)[j]; break;
-                                        default: b3Assert(0);
-                                }
-				if (type == PHY_FLOAT)
-				{
-					float* graphicsbase = (float*)(vertexbase + graphicsindex * stride);
-					triangleVerts[j] = b3MakeVector3(
-						graphicsbase[0] * meshScaling.getX(),
-						graphicsbase[1] * meshScaling.getY(),
-						graphicsbase[2] * meshScaling.getZ());
-				}
-				else
-				{
-					double* graphicsbase = (double*)(vertexbase + graphicsindex * stride);
-					triangleVerts[j] = b3MakeVector3(b3Scalar(graphicsbase[0] * meshScaling.getX()), b3Scalar(graphicsbase[1] * meshScaling.getY()), b3Scalar(graphicsbase[2] * meshScaling.getZ()));
-				}
-			}
-
-			aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
-			aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT));
-			aabbMin.setMin(triangleVerts[0]);
-			aabbMax.setMax(triangleVerts[0]);
-			aabbMin.setMin(triangleVerts[1]);
-			aabbMax.setMax(triangleVerts[1]);
-			aabbMin.setMin(triangleVerts[2]);
-			aabbMax.setMax(triangleVerts[2]);
-
-			quantize(&curNode.m_quantizedAabbMin[0], aabbMin, 0);
-			quantize(&curNode.m_quantizedAabbMax[0], aabbMax, 1);
-		}
-		else
-		{
-			//combine aabb from both children
-
-			b3QuantizedBvhNode* leftChildNode = &m_quantizedContiguousNodes[i + 1];
-
-			b3QuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? &m_quantizedContiguousNodes[i + 2] : &m_quantizedContiguousNodes[i + 1 + leftChildNode->getEscapeIndex()];
-
-			{
-				for (int i = 0; i < 3; i++)
-				{
-					curNode.m_quantizedAabbMin[i] = leftChildNode->m_quantizedAabbMin[i];
-					if (curNode.m_quantizedAabbMin[i] > rightChildNode->m_quantizedAabbMin[i])
-						curNode.m_quantizedAabbMin[i] = rightChildNode->m_quantizedAabbMin[i];
-
-					curNode.m_quantizedAabbMax[i] = leftChildNode->m_quantizedAabbMax[i];
-					if (curNode.m_quantizedAabbMax[i] < rightChildNode->m_quantizedAabbMax[i])
-						curNode.m_quantizedAabbMax[i] = rightChildNode->m_quantizedAabbMax[i];
-				}
-			}
-		}
-	}
-
-	if (curNodeSubPart >= 0)
-		meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
-}
-
-///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
-b3OptimizedBvh* b3OptimizedBvh::deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
-{
-	b3QuantizedBvh* bvh = b3QuantizedBvh::deSerializeInPlace(i_alignedDataBuffer, i_dataBufferSize, i_swapEndian);
-
-	//we don't add additional data so just do a static upcast
-	return static_cast<b3OptimizedBvh*>(bvh);
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3OptimizedBvh.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3OptimizedBvh.h
deleted file mode 100644
index 1286552939..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3OptimizedBvh.h
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///Contains contributions from Disney Studio's
-
-#ifndef B3_OPTIMIZED_BVH_H
-#define B3_OPTIMIZED_BVH_H
-
-#include "b3QuantizedBvh.h"
-
-class b3StridingMeshInterface;
-
-///The b3OptimizedBvh extends the b3QuantizedBvh to create AABB tree for triangle meshes, through the b3StridingMeshInterface.
-B3_ATTRIBUTE_ALIGNED16(class)
-b3OptimizedBvh : public b3QuantizedBvh
-{
-public:
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-protected:
-public:
-	b3OptimizedBvh();
-
-	virtual ~b3OptimizedBvh();
-
-	void build(b3StridingMeshInterface * triangles, bool useQuantizedAabbCompression, const b3Vector3& bvhAabbMin, const b3Vector3& bvhAabbMax);
-
-	void refit(b3StridingMeshInterface * triangles, const b3Vector3& aabbMin, const b3Vector3& aabbMax);
-
-	void refitPartial(b3StridingMeshInterface * triangles, const b3Vector3& aabbMin, const b3Vector3& aabbMax);
-
-	void updateBvhNodes(b3StridingMeshInterface * meshInterface, int firstNode, int endNode, int index);
-
-	/// Data buffer MUST be 16 byte aligned
-	virtual bool serializeInPlace(void* o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const
-	{
-		return b3QuantizedBvh::serialize(o_alignedDataBuffer, i_dataBufferSize, i_swapEndian);
-	}
-
-	///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
-	static b3OptimizedBvh* deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
-};
-
-#endif  //B3_OPTIMIZED_BVH_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.cpp
deleted file mode 100644
index 9a448495f3..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.cpp
+++ /dev/null
@@ -1,1254 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "b3QuantizedBvh.h"
-
-#include "Bullet3Geometry/b3AabbUtil.h"
-
-#define RAYAABB2
-
-b3QuantizedBvh::b3QuantizedBvh() : m_bulletVersion(B3_BULLET_VERSION),
-								   m_useQuantization(false),
-								   m_traversalMode(TRAVERSAL_STACKLESS_CACHE_FRIENDLY)
-								   //m_traversalMode(TRAVERSAL_STACKLESS)
-								   //m_traversalMode(TRAVERSAL_RECURSIVE)
-								   ,
-								   m_subtreeHeaderCount(0)  //PCK: add this line
-{
-	m_bvhAabbMin.setValue(-B3_INFINITY, -B3_INFINITY, -B3_INFINITY);
-	m_bvhAabbMax.setValue(B3_INFINITY, B3_INFINITY, B3_INFINITY);
-}
-
-void b3QuantizedBvh::buildInternal()
-{
-	///assumes that caller filled in the m_quantizedLeafNodes
-	m_useQuantization = true;
-	int numLeafNodes = 0;
-
-	if (m_useQuantization)
-	{
-		//now we have an array of leafnodes in m_leafNodes
-		numLeafNodes = m_quantizedLeafNodes.size();
-
-		m_quantizedContiguousNodes.resize(2 * numLeafNodes);
-	}
-
-	m_curNodeIndex = 0;
-
-	buildTree(0, numLeafNodes);
-
-	///if the entire tree is small then subtree size, we need to create a header info for the tree
-	if (m_useQuantization && !m_SubtreeHeaders.size())
-	{
-		b3BvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
-		subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[0]);
-		subtree.m_rootNodeIndex = 0;
-		subtree.m_subtreeSize = m_quantizedContiguousNodes[0].isLeafNode() ? 1 : m_quantizedContiguousNodes[0].getEscapeIndex();
-	}
-
-	//PCK: update the copy of the size
-	m_subtreeHeaderCount = m_SubtreeHeaders.size();
-
-	//PCK: clear m_quantizedLeafNodes and m_leafNodes, they are temporary
-	m_quantizedLeafNodes.clear();
-	m_leafNodes.clear();
-}
-
-///just for debugging, to visualize the individual patches/subtrees
-#ifdef DEBUG_PATCH_COLORS
-b3Vector3 color[4] =
-	{
-		b3Vector3(1, 0, 0),
-		b3Vector3(0, 1, 0),
-		b3Vector3(0, 0, 1),
-		b3Vector3(0, 1, 1)};
-#endif  //DEBUG_PATCH_COLORS
-
-void b3QuantizedBvh::setQuantizationValues(const b3Vector3& bvhAabbMin, const b3Vector3& bvhAabbMax, b3Scalar quantizationMargin)
-{
-	//enlarge the AABB to avoid division by zero when initializing the quantization values
-	b3Vector3 clampValue = b3MakeVector3(quantizationMargin, quantizationMargin, quantizationMargin);
-	m_bvhAabbMin = bvhAabbMin - clampValue;
-	m_bvhAabbMax = bvhAabbMax + clampValue;
-	b3Vector3 aabbSize = m_bvhAabbMax - m_bvhAabbMin;
-	m_bvhQuantization = b3MakeVector3(b3Scalar(65533.0), b3Scalar(65533.0), b3Scalar(65533.0)) / aabbSize;
-	m_useQuantization = true;
-}
-
-b3QuantizedBvh::~b3QuantizedBvh()
-{
-}
-
-#ifdef DEBUG_TREE_BUILDING
-int gStackDepth = 0;
-int gMaxStackDepth = 0;
-#endif  //DEBUG_TREE_BUILDING
-
-void b3QuantizedBvh::buildTree(int startIndex, int endIndex)
-{
-#ifdef DEBUG_TREE_BUILDING
-	gStackDepth++;
-	if (gStackDepth > gMaxStackDepth)
-		gMaxStackDepth = gStackDepth;
-#endif  //DEBUG_TREE_BUILDING
-
-	int splitAxis, splitIndex, i;
-	int numIndices = endIndex - startIndex;
-	int curIndex = m_curNodeIndex;
-
-	b3Assert(numIndices > 0);
-
-	if (numIndices == 1)
-	{
-#ifdef DEBUG_TREE_BUILDING
-		gStackDepth--;
-#endif  //DEBUG_TREE_BUILDING
-
-		assignInternalNodeFromLeafNode(m_curNodeIndex, startIndex);
-
-		m_curNodeIndex++;
-		return;
-	}
-	//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
-
-	splitAxis = calcSplittingAxis(startIndex, endIndex);
-
-	splitIndex = sortAndCalcSplittingIndex(startIndex, endIndex, splitAxis);
-
-	int internalNodeIndex = m_curNodeIndex;
-
-	//set the min aabb to 'inf' or a max value, and set the max aabb to a -inf/minimum value.
-	//the aabb will be expanded during buildTree/mergeInternalNodeAabb with actual node values
-	setInternalNodeAabbMin(m_curNodeIndex, m_bvhAabbMax);  //can't use b3Vector3(B3_INFINITY,B3_INFINITY,B3_INFINITY)) because of quantization
-	setInternalNodeAabbMax(m_curNodeIndex, m_bvhAabbMin);  //can't use b3Vector3(-B3_INFINITY,-B3_INFINITY,-B3_INFINITY)) because of quantization
-
-	for (i = startIndex; i < endIndex; i++)
-	{
-		mergeInternalNodeAabb(m_curNodeIndex, getAabbMin(i), getAabbMax(i));
-	}
-
-	m_curNodeIndex++;
-
-	//internalNode->m_escapeIndex;
-
-	int leftChildNodexIndex = m_curNodeIndex;
-
-	//build left child tree
-	buildTree(startIndex, splitIndex);
-
-	int rightChildNodexIndex = m_curNodeIndex;
-	//build right child tree
-	buildTree(splitIndex, endIndex);
-
-#ifdef DEBUG_TREE_BUILDING
-	gStackDepth--;
-#endif  //DEBUG_TREE_BUILDING
-
-	int escapeIndex = m_curNodeIndex - curIndex;
-
-	if (m_useQuantization)
-	{
-		//escapeIndex is the number of nodes of this subtree
-		const int sizeQuantizedNode = sizeof(b3QuantizedBvhNode);
-		const int treeSizeInBytes = escapeIndex * sizeQuantizedNode;
-		if (treeSizeInBytes > MAX_SUBTREE_SIZE_IN_BYTES)
-		{
-			updateSubtreeHeaders(leftChildNodexIndex, rightChildNodexIndex);
-		}
-	}
-	else
-	{
-	}
-
-	setInternalNodeEscapeIndex(internalNodeIndex, escapeIndex);
-}
-
-void b3QuantizedBvh::updateSubtreeHeaders(int leftChildNodexIndex, int rightChildNodexIndex)
-{
-	b3Assert(m_useQuantization);
-
-	b3QuantizedBvhNode& leftChildNode = m_quantizedContiguousNodes[leftChildNodexIndex];
-	int leftSubTreeSize = leftChildNode.isLeafNode() ? 1 : leftChildNode.getEscapeIndex();
-	int leftSubTreeSizeInBytes = leftSubTreeSize * static_cast<int>(sizeof(b3QuantizedBvhNode));
-
-	b3QuantizedBvhNode& rightChildNode = m_quantizedContiguousNodes[rightChildNodexIndex];
-	int rightSubTreeSize = rightChildNode.isLeafNode() ? 1 : rightChildNode.getEscapeIndex();
-	int rightSubTreeSizeInBytes = rightSubTreeSize * static_cast<int>(sizeof(b3QuantizedBvhNode));
-
-	if (leftSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES)
-	{
-		b3BvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
-		subtree.setAabbFromQuantizeNode(leftChildNode);
-		subtree.m_rootNodeIndex = leftChildNodexIndex;
-		subtree.m_subtreeSize = leftSubTreeSize;
-	}
-
-	if (rightSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES)
-	{
-		b3BvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
-		subtree.setAabbFromQuantizeNode(rightChildNode);
-		subtree.m_rootNodeIndex = rightChildNodexIndex;
-		subtree.m_subtreeSize = rightSubTreeSize;
-	}
-
-	//PCK: update the copy of the size
-	m_subtreeHeaderCount = m_SubtreeHeaders.size();
-}
-
-int b3QuantizedBvh::sortAndCalcSplittingIndex(int startIndex, int endIndex, int splitAxis)
-{
-	int i;
-	int splitIndex = startIndex;
-	int numIndices = endIndex - startIndex;
-	b3Scalar splitValue;
-
-	b3Vector3 means = b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
-	for (i = startIndex; i < endIndex; i++)
-	{
-		b3Vector3 center = b3Scalar(0.5) * (getAabbMax(i) + getAabbMin(i));
-		means += center;
-	}
-	means *= (b3Scalar(1.) / (b3Scalar)numIndices);
-
-	splitValue = means[splitAxis];
-
-	//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
-	for (i = startIndex; i < endIndex; i++)
-	{
-		b3Vector3 center = b3Scalar(0.5) * (getAabbMax(i) + getAabbMin(i));
-		if (center[splitAxis] > splitValue)
-		{
-			//swap
-			swapLeafNodes(i, splitIndex);
-			splitIndex++;
-		}
-	}
-
-	//if the splitIndex causes unbalanced trees, fix this by using the center in between startIndex and endIndex
-	//otherwise the tree-building might fail due to stack-overflows in certain cases.
-	//unbalanced1 is unsafe: it can cause stack overflows
-	//bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1)));
-
-	//unbalanced2 should work too: always use center (perfect balanced trees)
-	//bool unbalanced2 = true;
-
-	//this should be safe too:
-	int rangeBalancedIndices = numIndices / 3;
-	bool unbalanced = ((splitIndex <= (startIndex + rangeBalancedIndices)) || (splitIndex >= (endIndex - 1 - rangeBalancedIndices)));
-
-	if (unbalanced)
-	{
-		splitIndex = startIndex + (numIndices >> 1);
-	}
-
-	bool unbal = (splitIndex == startIndex) || (splitIndex == (endIndex));
-	(void)unbal;
-	b3Assert(!unbal);
-
-	return splitIndex;
-}
-
-int b3QuantizedBvh::calcSplittingAxis(int startIndex, int endIndex)
-{
-	int i;
-
-	b3Vector3 means = b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
-	b3Vector3 variance = b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
-	int numIndices = endIndex - startIndex;
-
-	for (i = startIndex; i < endIndex; i++)
-	{
-		b3Vector3 center = b3Scalar(0.5) * (getAabbMax(i) + getAabbMin(i));
-		means += center;
-	}
-	means *= (b3Scalar(1.) / (b3Scalar)numIndices);
-
-	for (i = startIndex; i < endIndex; i++)
-	{
-		b3Vector3 center = b3Scalar(0.5) * (getAabbMax(i) + getAabbMin(i));
-		b3Vector3 diff2 = center - means;
-		diff2 = diff2 * diff2;
-		variance += diff2;
-	}
-	variance *= (b3Scalar(1.) / ((b3Scalar)numIndices - 1));
-
-	return variance.maxAxis();
-}
-
-void b3QuantizedBvh::reportAabbOverlappingNodex(b3NodeOverlapCallback* nodeCallback, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const
-{
-	//either choose recursive traversal (walkTree) or stackless (walkStacklessTree)
-
-	if (m_useQuantization)
-	{
-		///quantize query AABB
-		unsigned short int quantizedQueryAabbMin[3];
-		unsigned short int quantizedQueryAabbMax[3];
-		quantizeWithClamp(quantizedQueryAabbMin, aabbMin, 0);
-		quantizeWithClamp(quantizedQueryAabbMax, aabbMax, 1);
-
-		switch (m_traversalMode)
-		{
-			case TRAVERSAL_STACKLESS:
-				walkStacklessQuantizedTree(nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax, 0, m_curNodeIndex);
-				break;
-			case TRAVERSAL_STACKLESS_CACHE_FRIENDLY:
-				walkStacklessQuantizedTreeCacheFriendly(nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax);
-				break;
-			case TRAVERSAL_RECURSIVE:
-			{
-				const b3QuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[0];
-				walkRecursiveQuantizedTreeAgainstQueryAabb(rootNode, nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax);
-			}
-			break;
-			default:
-				//unsupported
-				b3Assert(0);
-		}
-	}
-	else
-	{
-		walkStacklessTree(nodeCallback, aabbMin, aabbMax);
-	}
-}
-
-static int b3s_maxIterations = 0;
-
-void b3QuantizedBvh::walkStacklessTree(b3NodeOverlapCallback* nodeCallback, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const
-{
-	b3Assert(!m_useQuantization);
-
-	const b3OptimizedBvhNode* rootNode = &m_contiguousNodes[0];
-	int escapeIndex, curIndex = 0;
-	int walkIterations = 0;
-	bool isLeafNode;
-	//PCK: unsigned instead of bool
-	unsigned aabbOverlap;
-
-	while (curIndex < m_curNodeIndex)
-	{
-		//catch bugs in tree data
-		b3Assert(walkIterations < m_curNodeIndex);
-
-		walkIterations++;
-		aabbOverlap = b3TestAabbAgainstAabb2(aabbMin, aabbMax, rootNode->m_aabbMinOrg, rootNode->m_aabbMaxOrg);
-		isLeafNode = rootNode->m_escapeIndex == -1;
-
-		//PCK: unsigned instead of bool
-		if (isLeafNode && (aabbOverlap != 0))
-		{
-			nodeCallback->processNode(rootNode->m_subPart, rootNode->m_triangleIndex);
-		}
-
-		//PCK: unsigned instead of bool
-		if ((aabbOverlap != 0) || isLeafNode)
-		{
-			rootNode++;
-			curIndex++;
-		}
-		else
-		{
-			escapeIndex = rootNode->m_escapeIndex;
-			rootNode += escapeIndex;
-			curIndex += escapeIndex;
-		}
-	}
-	if (b3s_maxIterations < walkIterations)
-		b3s_maxIterations = walkIterations;
-}
-
-/*
-///this was the original recursive traversal, before we optimized towards stackless traversal
-void	b3QuantizedBvh::walkTree(b3OptimizedBvhNode* rootNode,b3NodeOverlapCallback* nodeCallback,const b3Vector3& aabbMin,const b3Vector3& aabbMax) const
-{
-	bool isLeafNode, aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMin,rootNode->m_aabbMax);
-	if (aabbOverlap)
-	{
-		isLeafNode = (!rootNode->m_leftChild && !rootNode->m_rightChild);
-		if (isLeafNode)
-		{
-			nodeCallback->processNode(rootNode);
-		} else
-		{
-			walkTree(rootNode->m_leftChild,nodeCallback,aabbMin,aabbMax);
-			walkTree(rootNode->m_rightChild,nodeCallback,aabbMin,aabbMax);
-		}
-	}
-
-}
-*/
-
-void b3QuantizedBvh::walkRecursiveQuantizedTreeAgainstQueryAabb(const b3QuantizedBvhNode* currentNode, b3NodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const
-{
-	b3Assert(m_useQuantization);
-
-	bool isLeafNode;
-	//PCK: unsigned instead of bool
-	unsigned aabbOverlap;
-
-	//PCK: unsigned instead of bool
-	aabbOverlap = b3TestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, currentNode->m_quantizedAabbMin, currentNode->m_quantizedAabbMax);
-	isLeafNode = currentNode->isLeafNode();
-
-	//PCK: unsigned instead of bool
-	if (aabbOverlap != 0)
-	{
-		if (isLeafNode)
-		{
-			nodeCallback->processNode(currentNode->getPartId(), currentNode->getTriangleIndex());
-		}
-		else
-		{
-			//process left and right children
-			const b3QuantizedBvhNode* leftChildNode = currentNode + 1;
-			walkRecursiveQuantizedTreeAgainstQueryAabb(leftChildNode, nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax);
-
-			const b3QuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? leftChildNode + 1 : leftChildNode + leftChildNode->getEscapeIndex();
-			walkRecursiveQuantizedTreeAgainstQueryAabb(rightChildNode, nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax);
-		}
-	}
-}
-
-void b3QuantizedBvh::walkStacklessTreeAgainstRay(b3NodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax, int startNodeIndex, int endNodeIndex) const
-{
-	b3Assert(!m_useQuantization);
-
-	const b3OptimizedBvhNode* rootNode = &m_contiguousNodes[0];
-	int escapeIndex, curIndex = 0;
-	int walkIterations = 0;
-	bool isLeafNode;
-	//PCK: unsigned instead of bool
-	unsigned aabbOverlap = 0;
-	unsigned rayBoxOverlap = 0;
-	b3Scalar lambda_max = 1.0;
-
-	/* Quick pruning by quantized box */
-	b3Vector3 rayAabbMin = raySource;
-	b3Vector3 rayAabbMax = raySource;
-	rayAabbMin.setMin(rayTarget);
-	rayAabbMax.setMax(rayTarget);
-
-	/* Add box cast extents to bounding box */
-	rayAabbMin += aabbMin;
-	rayAabbMax += aabbMax;
-
-#ifdef RAYAABB2
-	b3Vector3 rayDir = (rayTarget - raySource);
-	rayDir.normalize();
-	lambda_max = rayDir.dot(rayTarget - raySource);
-	///what about division by zero? --> just set rayDirection[i] to 1.0
-	b3Vector3 rayDirectionInverse;
-	rayDirectionInverse[0] = rayDir[0] == b3Scalar(0.0) ? b3Scalar(B3_LARGE_FLOAT) : b3Scalar(1.0) / rayDir[0];
-	rayDirectionInverse[1] = rayDir[1] == b3Scalar(0.0) ? b3Scalar(B3_LARGE_FLOAT) : b3Scalar(1.0) / rayDir[1];
-	rayDirectionInverse[2] = rayDir[2] == b3Scalar(0.0) ? b3Scalar(B3_LARGE_FLOAT) : b3Scalar(1.0) / rayDir[2];
-	unsigned int sign[3] = {rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
-#endif
-
-	b3Vector3 bounds[2];
-
-	while (curIndex < m_curNodeIndex)
-	{
-		b3Scalar param = 1.0;
-		//catch bugs in tree data
-		b3Assert(walkIterations < m_curNodeIndex);
-
-		walkIterations++;
-
-		bounds[0] = rootNode->m_aabbMinOrg;
-		bounds[1] = rootNode->m_aabbMaxOrg;
-		/* Add box cast extents */
-		bounds[0] -= aabbMax;
-		bounds[1] -= aabbMin;
-
-		aabbOverlap = b3TestAabbAgainstAabb2(rayAabbMin, rayAabbMax, rootNode->m_aabbMinOrg, rootNode->m_aabbMaxOrg);
-		//perhaps profile if it is worth doing the aabbOverlap test first
-
-#ifdef RAYAABB2
-		///careful with this check: need to check division by zero (above) and fix the unQuantize method
-		///thanks Joerg/hiker for the reproduction case!
-		///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
-		rayBoxOverlap = aabbOverlap ? b3RayAabb2(raySource, rayDirectionInverse, sign, bounds, param, 0.0f, lambda_max) : false;
-
-#else
-		b3Vector3 normal;
-		rayBoxOverlap = b3RayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
-#endif
-
-		isLeafNode = rootNode->m_escapeIndex == -1;
-
-		//PCK: unsigned instead of bool
-		if (isLeafNode && (rayBoxOverlap != 0))
-		{
-			nodeCallback->processNode(rootNode->m_subPart, rootNode->m_triangleIndex);
-		}
-
-		//PCK: unsigned instead of bool
-		if ((rayBoxOverlap != 0) || isLeafNode)
-		{
-			rootNode++;
-			curIndex++;
-		}
-		else
-		{
-			escapeIndex = rootNode->m_escapeIndex;
-			rootNode += escapeIndex;
-			curIndex += escapeIndex;
-		}
-	}
-	if (b3s_maxIterations < walkIterations)
-		b3s_maxIterations = walkIterations;
-}
-
-void b3QuantizedBvh::walkStacklessQuantizedTreeAgainstRay(b3NodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax, int startNodeIndex, int endNodeIndex) const
-{
-	b3Assert(m_useQuantization);
-
-	int curIndex = startNodeIndex;
-	int walkIterations = 0;
-	int subTreeSize = endNodeIndex - startNodeIndex;
-	(void)subTreeSize;
-
-	const b3QuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[startNodeIndex];
-	int escapeIndex;
-
-	bool isLeafNode;
-	//PCK: unsigned instead of bool
-	unsigned boxBoxOverlap = 0;
-	unsigned rayBoxOverlap = 0;
-
-	b3Scalar lambda_max = 1.0;
-
-#ifdef RAYAABB2
-	b3Vector3 rayDirection = (rayTarget - raySource);
-	rayDirection.normalize();
-	lambda_max = rayDirection.dot(rayTarget - raySource);
-	///what about division by zero? --> just set rayDirection[i] to 1.0
-	rayDirection[0] = rayDirection[0] == b3Scalar(0.0) ? b3Scalar(B3_LARGE_FLOAT) : b3Scalar(1.0) / rayDirection[0];
-	rayDirection[1] = rayDirection[1] == b3Scalar(0.0) ? b3Scalar(B3_LARGE_FLOAT) : b3Scalar(1.0) / rayDirection[1];
-	rayDirection[2] = rayDirection[2] == b3Scalar(0.0) ? b3Scalar(B3_LARGE_FLOAT) : b3Scalar(1.0) / rayDirection[2];
-	unsigned int sign[3] = {rayDirection[0] < 0.0, rayDirection[1] < 0.0, rayDirection[2] < 0.0};
-#endif
-
-	/* Quick pruning by quantized box */
-	b3Vector3 rayAabbMin = raySource;
-	b3Vector3 rayAabbMax = raySource;
-	rayAabbMin.setMin(rayTarget);
-	rayAabbMax.setMax(rayTarget);
-
-	/* Add box cast extents to bounding box */
-	rayAabbMin += aabbMin;
-	rayAabbMax += aabbMax;
-
-	unsigned short int quantizedQueryAabbMin[3];
-	unsigned short int quantizedQueryAabbMax[3];
-	quantizeWithClamp(quantizedQueryAabbMin, rayAabbMin, 0);
-	quantizeWithClamp(quantizedQueryAabbMax, rayAabbMax, 1);
-
-	while (curIndex < endNodeIndex)
-	{
-//#define VISUALLY_ANALYZE_BVH 1
-#ifdef VISUALLY_ANALYZE_BVH
-		//some code snippet to debugDraw aabb, to visually analyze bvh structure
-		static int drawPatch = 0;
-		//need some global access to a debugDrawer
-		extern b3IDebugDraw* debugDrawerPtr;
-		if (curIndex == drawPatch)
-		{
-			b3Vector3 aabbMin, aabbMax;
-			aabbMin = unQuantize(rootNode->m_quantizedAabbMin);
-			aabbMax = unQuantize(rootNode->m_quantizedAabbMax);
-			b3Vector3 color(1, 0, 0);
-			debugDrawerPtr->drawAabb(aabbMin, aabbMax, color);
-		}
-#endif  //VISUALLY_ANALYZE_BVH
-
-		//catch bugs in tree data
-		b3Assert(walkIterations < subTreeSize);
-
-		walkIterations++;
-		//PCK: unsigned instead of bool
-		// only interested if this is closer than any previous hit
-		b3Scalar param = 1.0;
-		rayBoxOverlap = 0;
-		boxBoxOverlap = b3TestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, rootNode->m_quantizedAabbMin, rootNode->m_quantizedAabbMax);
-		isLeafNode = rootNode->isLeafNode();
-		if (boxBoxOverlap)
-		{
-			b3Vector3 bounds[2];
-			bounds[0] = unQuantize(rootNode->m_quantizedAabbMin);
-			bounds[1] = unQuantize(rootNode->m_quantizedAabbMax);
-			/* Add box cast extents */
-			bounds[0] -= aabbMax;
-			bounds[1] -= aabbMin;
-#if 0
-			b3Vector3 normal;
-			bool ra2 = b3RayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max);
-			bool ra = b3RayAabb (raySource, rayTarget, bounds[0], bounds[1], param, normal);
-			if (ra2 != ra)
-			{
-				printf("functions don't match\n");
-			}
-#endif
-#ifdef RAYAABB2
-			///careful with this check: need to check division by zero (above) and fix the unQuantize method
-			///thanks Joerg/hiker for the reproduction case!
-			///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
-
-			//B3_PROFILE("b3RayAabb2");
-			rayBoxOverlap = b3RayAabb2(raySource, rayDirection, sign, bounds, param, 0.0f, lambda_max);
-
-#else
-			rayBoxOverlap = true;  //b3RayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
-#endif
-		}
-
-		if (isLeafNode && rayBoxOverlap)
-		{
-			nodeCallback->processNode(rootNode->getPartId(), rootNode->getTriangleIndex());
-		}
-
-		//PCK: unsigned instead of bool
-		if ((rayBoxOverlap != 0) || isLeafNode)
-		{
-			rootNode++;
-			curIndex++;
-		}
-		else
-		{
-			escapeIndex = rootNode->getEscapeIndex();
-			rootNode += escapeIndex;
-			curIndex += escapeIndex;
-		}
-	}
-	if (b3s_maxIterations < walkIterations)
-		b3s_maxIterations = walkIterations;
-}
-
-void b3QuantizedBvh::walkStacklessQuantizedTree(b3NodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax, int startNodeIndex, int endNodeIndex) const
-{
-	b3Assert(m_useQuantization);
-
-	int curIndex = startNodeIndex;
-	int walkIterations = 0;
-	int subTreeSize = endNodeIndex - startNodeIndex;
-	(void)subTreeSize;
-
-	const b3QuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[startNodeIndex];
-	int escapeIndex;
-
-	bool isLeafNode;
-	//PCK: unsigned instead of bool
-	unsigned aabbOverlap;
-
-	while (curIndex < endNodeIndex)
-	{
-//#define VISUALLY_ANALYZE_BVH 1
-#ifdef VISUALLY_ANALYZE_BVH
-		//some code snippet to debugDraw aabb, to visually analyze bvh structure
-		static int drawPatch = 0;
-		//need some global access to a debugDrawer
-		extern b3IDebugDraw* debugDrawerPtr;
-		if (curIndex == drawPatch)
-		{
-			b3Vector3 aabbMin, aabbMax;
-			aabbMin = unQuantize(rootNode->m_quantizedAabbMin);
-			aabbMax = unQuantize(rootNode->m_quantizedAabbMax);
-			b3Vector3 color(1, 0, 0);
-			debugDrawerPtr->drawAabb(aabbMin, aabbMax, color);
-		}
-#endif  //VISUALLY_ANALYZE_BVH
-
-		//catch bugs in tree data
-		b3Assert(walkIterations < subTreeSize);
-
-		walkIterations++;
-		//PCK: unsigned instead of bool
-		aabbOverlap = b3TestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, rootNode->m_quantizedAabbMin, rootNode->m_quantizedAabbMax);
-		isLeafNode = rootNode->isLeafNode();
-
-		if (isLeafNode && aabbOverlap)
-		{
-			nodeCallback->processNode(rootNode->getPartId(), rootNode->getTriangleIndex());
-		}
-
-		//PCK: unsigned instead of bool
-		if ((aabbOverlap != 0) || isLeafNode)
-		{
-			rootNode++;
-			curIndex++;
-		}
-		else
-		{
-			escapeIndex = rootNode->getEscapeIndex();
-			rootNode += escapeIndex;
-			curIndex += escapeIndex;
-		}
-	}
-	if (b3s_maxIterations < walkIterations)
-		b3s_maxIterations = walkIterations;
-}
-
-//This traversal can be called from Playstation 3 SPU
-void b3QuantizedBvh::walkStacklessQuantizedTreeCacheFriendly(b3NodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const
-{
-	b3Assert(m_useQuantization);
-
-	int i;
-
-	for (i = 0; i < this->m_SubtreeHeaders.size(); i++)
-	{
-		const b3BvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
-
-		//PCK: unsigned instead of bool
-		unsigned overlap = b3TestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, subtree.m_quantizedAabbMin, subtree.m_quantizedAabbMax);
-		if (overlap != 0)
-		{
-			walkStacklessQuantizedTree(nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax,
-									   subtree.m_rootNodeIndex,
-									   subtree.m_rootNodeIndex + subtree.m_subtreeSize);
-		}
-	}
-}
-
-void b3QuantizedBvh::reportRayOverlappingNodex(b3NodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget) const
-{
-	reportBoxCastOverlappingNodex(nodeCallback, raySource, rayTarget, b3MakeVector3(0, 0, 0), b3MakeVector3(0, 0, 0));
-}
-
-void b3QuantizedBvh::reportBoxCastOverlappingNodex(b3NodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const
-{
-	//always use stackless
-
-	if (m_useQuantization)
-	{
-		walkStacklessQuantizedTreeAgainstRay(nodeCallback, raySource, rayTarget, aabbMin, aabbMax, 0, m_curNodeIndex);
-	}
-	else
-	{
-		walkStacklessTreeAgainstRay(nodeCallback, raySource, rayTarget, aabbMin, aabbMax, 0, m_curNodeIndex);
-	}
-	/*
-	{
-		//recursive traversal
-		b3Vector3 qaabbMin = raySource;
-		b3Vector3 qaabbMax = raySource;
-		qaabbMin.setMin(rayTarget);
-		qaabbMax.setMax(rayTarget);
-		qaabbMin += aabbMin;
-		qaabbMax += aabbMax;
-		reportAabbOverlappingNodex(nodeCallback,qaabbMin,qaabbMax);
-	}
-	*/
-}
-
-void b3QuantizedBvh::swapLeafNodes(int i, int splitIndex)
-{
-	if (m_useQuantization)
-	{
-		b3QuantizedBvhNode tmp = m_quantizedLeafNodes[i];
-		m_quantizedLeafNodes[i] = m_quantizedLeafNodes[splitIndex];
-		m_quantizedLeafNodes[splitIndex] = tmp;
-	}
-	else
-	{
-		b3OptimizedBvhNode tmp = m_leafNodes[i];
-		m_leafNodes[i] = m_leafNodes[splitIndex];
-		m_leafNodes[splitIndex] = tmp;
-	}
-}
-
-void b3QuantizedBvh::assignInternalNodeFromLeafNode(int internalNode, int leafNodeIndex)
-{
-	if (m_useQuantization)
-	{
-		m_quantizedContiguousNodes[internalNode] = m_quantizedLeafNodes[leafNodeIndex];
-	}
-	else
-	{
-		m_contiguousNodes[internalNode] = m_leafNodes[leafNodeIndex];
-	}
-}
-
-//PCK: include
-#include <new>
-
-#if 0
-//PCK: consts
-static const unsigned BVH_ALIGNMENT = 16;
-static const unsigned BVH_ALIGNMENT_MASK = BVH_ALIGNMENT-1;
-
-static const unsigned BVH_ALIGNMENT_BLOCKS = 2;
-#endif
-
-unsigned int b3QuantizedBvh::getAlignmentSerializationPadding()
-{
-	// I changed this to 0 since the extra padding is not needed or used.
-	return 0;  //BVH_ALIGNMENT_BLOCKS * BVH_ALIGNMENT;
-}
-
-unsigned b3QuantizedBvh::calculateSerializeBufferSize() const
-{
-	unsigned baseSize = sizeof(b3QuantizedBvh) + getAlignmentSerializationPadding();
-	baseSize += sizeof(b3BvhSubtreeInfo) * m_subtreeHeaderCount;
-	if (m_useQuantization)
-	{
-		return baseSize + m_curNodeIndex * sizeof(b3QuantizedBvhNode);
-	}
-	return baseSize + m_curNodeIndex * sizeof(b3OptimizedBvhNode);
-}
-
-bool b3QuantizedBvh::serialize(void* o_alignedDataBuffer, unsigned /*i_dataBufferSize */, bool i_swapEndian) const
-{
-	b3Assert(m_subtreeHeaderCount == m_SubtreeHeaders.size());
-	m_subtreeHeaderCount = m_SubtreeHeaders.size();
-
-	/*	if (i_dataBufferSize < calculateSerializeBufferSize() || o_alignedDataBuffer == NULL || (((unsigned)o_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
-	{
-		///check alignedment for buffer?
-		b3Assert(0);
-		return false;
-	}
-*/
-
-	b3QuantizedBvh* targetBvh = (b3QuantizedBvh*)o_alignedDataBuffer;
-
-	// construct the class so the virtual function table, etc will be set up
-	// Also, m_leafNodes and m_quantizedLeafNodes will be initialized to default values by the constructor
-	new (targetBvh) b3QuantizedBvh;
-
-	if (i_swapEndian)
-	{
-		targetBvh->m_curNodeIndex = static_cast<int>(b3SwapEndian(m_curNodeIndex));
-
-		b3SwapVector3Endian(m_bvhAabbMin, targetBvh->m_bvhAabbMin);
-		b3SwapVector3Endian(m_bvhAabbMax, targetBvh->m_bvhAabbMax);
-		b3SwapVector3Endian(m_bvhQuantization, targetBvh->m_bvhQuantization);
-
-		targetBvh->m_traversalMode = (b3TraversalMode)b3SwapEndian(m_traversalMode);
-		targetBvh->m_subtreeHeaderCount = static_cast<int>(b3SwapEndian(m_subtreeHeaderCount));
-	}
-	else
-	{
-		targetBvh->m_curNodeIndex = m_curNodeIndex;
-		targetBvh->m_bvhAabbMin = m_bvhAabbMin;
-		targetBvh->m_bvhAabbMax = m_bvhAabbMax;
-		targetBvh->m_bvhQuantization = m_bvhQuantization;
-		targetBvh->m_traversalMode = m_traversalMode;
-		targetBvh->m_subtreeHeaderCount = m_subtreeHeaderCount;
-	}
-
-	targetBvh->m_useQuantization = m_useQuantization;
-
-	unsigned char* nodeData = (unsigned char*)targetBvh;
-	nodeData += sizeof(b3QuantizedBvh);
-
-	unsigned sizeToAdd = 0;  //(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
-	nodeData += sizeToAdd;
-
-	int nodeCount = m_curNodeIndex;
-
-	if (m_useQuantization)
-	{
-		targetBvh->m_quantizedContiguousNodes.initializeFromBuffer(nodeData, nodeCount, nodeCount);
-
-		if (i_swapEndian)
-		{
-			for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++)
-			{
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] = b3SwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0]);
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1] = b3SwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1]);
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2] = b3SwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2]);
-
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0] = b3SwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0]);
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1] = b3SwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1]);
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2] = b3SwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2]);
-
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = static_cast<int>(b3SwapEndian(m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex));
-			}
-		}
-		else
-		{
-			for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++)
-			{
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0];
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1];
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2];
-
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0];
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1];
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2];
-
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex;
-			}
-		}
-		nodeData += sizeof(b3QuantizedBvhNode) * nodeCount;
-
-		// this clears the pointer in the member variable it doesn't really do anything to the data
-		// it does call the destructor on the contained objects, but they are all classes with no destructor defined
-		// so the memory (which is not freed) is left alone
-		targetBvh->m_quantizedContiguousNodes.initializeFromBuffer(NULL, 0, 0);
-	}
-	else
-	{
-		targetBvh->m_contiguousNodes.initializeFromBuffer(nodeData, nodeCount, nodeCount);
-
-		if (i_swapEndian)
-		{
-			for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++)
-			{
-				b3SwapVector3Endian(m_contiguousNodes[nodeIndex].m_aabbMinOrg, targetBvh->m_contiguousNodes[nodeIndex].m_aabbMinOrg);
-				b3SwapVector3Endian(m_contiguousNodes[nodeIndex].m_aabbMaxOrg, targetBvh->m_contiguousNodes[nodeIndex].m_aabbMaxOrg);
-
-				targetBvh->m_contiguousNodes[nodeIndex].m_escapeIndex = static_cast<int>(b3SwapEndian(m_contiguousNodes[nodeIndex].m_escapeIndex));
-				targetBvh->m_contiguousNodes[nodeIndex].m_subPart = static_cast<int>(b3SwapEndian(m_contiguousNodes[nodeIndex].m_subPart));
-				targetBvh->m_contiguousNodes[nodeIndex].m_triangleIndex = static_cast<int>(b3SwapEndian(m_contiguousNodes[nodeIndex].m_triangleIndex));
-			}
-		}
-		else
-		{
-			for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++)
-			{
-				targetBvh->m_contiguousNodes[nodeIndex].m_aabbMinOrg = m_contiguousNodes[nodeIndex].m_aabbMinOrg;
-				targetBvh->m_contiguousNodes[nodeIndex].m_aabbMaxOrg = m_contiguousNodes[nodeIndex].m_aabbMaxOrg;
-
-				targetBvh->m_contiguousNodes[nodeIndex].m_escapeIndex = m_contiguousNodes[nodeIndex].m_escapeIndex;
-				targetBvh->m_contiguousNodes[nodeIndex].m_subPart = m_contiguousNodes[nodeIndex].m_subPart;
-				targetBvh->m_contiguousNodes[nodeIndex].m_triangleIndex = m_contiguousNodes[nodeIndex].m_triangleIndex;
-			}
-		}
-		nodeData += sizeof(b3OptimizedBvhNode) * nodeCount;
-
-		// this clears the pointer in the member variable it doesn't really do anything to the data
-		// it does call the destructor on the contained objects, but they are all classes with no destructor defined
-		// so the memory (which is not freed) is left alone
-		targetBvh->m_contiguousNodes.initializeFromBuffer(NULL, 0, 0);
-	}
-
-	sizeToAdd = 0;  //(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
-	nodeData += sizeToAdd;
-
-	// Now serialize the subtree headers
-	targetBvh->m_SubtreeHeaders.initializeFromBuffer(nodeData, m_subtreeHeaderCount, m_subtreeHeaderCount);
-	if (i_swapEndian)
-	{
-		for (int i = 0; i < m_subtreeHeaderCount; i++)
-		{
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[0] = b3SwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMin[0]);
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[1] = b3SwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMin[1]);
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[2] = b3SwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMin[2]);
-
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[0] = b3SwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMax[0]);
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[1] = b3SwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMax[1]);
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[2] = b3SwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMax[2]);
-
-			targetBvh->m_SubtreeHeaders[i].m_rootNodeIndex = static_cast<int>(b3SwapEndian(m_SubtreeHeaders[i].m_rootNodeIndex));
-			targetBvh->m_SubtreeHeaders[i].m_subtreeSize = static_cast<int>(b3SwapEndian(m_SubtreeHeaders[i].m_subtreeSize));
-		}
-	}
-	else
-	{
-		for (int i = 0; i < m_subtreeHeaderCount; i++)
-		{
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[0] = (m_SubtreeHeaders[i].m_quantizedAabbMin[0]);
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[1] = (m_SubtreeHeaders[i].m_quantizedAabbMin[1]);
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[2] = (m_SubtreeHeaders[i].m_quantizedAabbMin[2]);
-
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[0] = (m_SubtreeHeaders[i].m_quantizedAabbMax[0]);
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[1] = (m_SubtreeHeaders[i].m_quantizedAabbMax[1]);
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[2] = (m_SubtreeHeaders[i].m_quantizedAabbMax[2]);
-
-			targetBvh->m_SubtreeHeaders[i].m_rootNodeIndex = (m_SubtreeHeaders[i].m_rootNodeIndex);
-			targetBvh->m_SubtreeHeaders[i].m_subtreeSize = (m_SubtreeHeaders[i].m_subtreeSize);
-
-			// need to clear padding in destination buffer
-			targetBvh->m_SubtreeHeaders[i].m_padding[0] = 0;
-			targetBvh->m_SubtreeHeaders[i].m_padding[1] = 0;
-			targetBvh->m_SubtreeHeaders[i].m_padding[2] = 0;
-		}
-	}
-	nodeData += sizeof(b3BvhSubtreeInfo) * m_subtreeHeaderCount;
-
-	// this clears the pointer in the member variable it doesn't really do anything to the data
-	// it does call the destructor on the contained objects, but they are all classes with no destructor defined
-	// so the memory (which is not freed) is left alone
-	targetBvh->m_SubtreeHeaders.initializeFromBuffer(NULL, 0, 0);
-
-	// this wipes the virtual function table pointer at the start of the buffer for the class
-	*((void**)o_alignedDataBuffer) = NULL;
-
-	return true;
-}
-
-b3QuantizedBvh* b3QuantizedBvh::deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
-{
-	if (i_alignedDataBuffer == NULL)  // || (((unsigned)i_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
-	{
-		return NULL;
-	}
-	b3QuantizedBvh* bvh = (b3QuantizedBvh*)i_alignedDataBuffer;
-
-	if (i_swapEndian)
-	{
-		bvh->m_curNodeIndex = static_cast<int>(b3SwapEndian(bvh->m_curNodeIndex));
-
-		b3UnSwapVector3Endian(bvh->m_bvhAabbMin);
-		b3UnSwapVector3Endian(bvh->m_bvhAabbMax);
-		b3UnSwapVector3Endian(bvh->m_bvhQuantization);
-
-		bvh->m_traversalMode = (b3TraversalMode)b3SwapEndian(bvh->m_traversalMode);
-		bvh->m_subtreeHeaderCount = static_cast<int>(b3SwapEndian(bvh->m_subtreeHeaderCount));
-	}
-
-	unsigned int calculatedBufSize = bvh->calculateSerializeBufferSize();
-	b3Assert(calculatedBufSize <= i_dataBufferSize);
-
-	if (calculatedBufSize > i_dataBufferSize)
-	{
-		return NULL;
-	}
-
-	unsigned char* nodeData = (unsigned char*)bvh;
-	nodeData += sizeof(b3QuantizedBvh);
-
-	unsigned sizeToAdd = 0;  //(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
-	nodeData += sizeToAdd;
-
-	int nodeCount = bvh->m_curNodeIndex;
-
-	// Must call placement new to fill in virtual function table, etc, but we don't want to overwrite most data, so call a special version of the constructor
-	// Also, m_leafNodes and m_quantizedLeafNodes will be initialized to default values by the constructor
-	new (bvh) b3QuantizedBvh(*bvh, false);
-
-	if (bvh->m_useQuantization)
-	{
-		bvh->m_quantizedContiguousNodes.initializeFromBuffer(nodeData, nodeCount, nodeCount);
-
-		if (i_swapEndian)
-		{
-			for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++)
-			{
-				bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] = b3SwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0]);
-				bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1] = b3SwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1]);
-				bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2] = b3SwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2]);
-
-				bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0] = b3SwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0]);
-				bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1] = b3SwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1]);
-				bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2] = b3SwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2]);
-
-				bvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = static_cast<int>(b3SwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex));
-			}
-		}
-		nodeData += sizeof(b3QuantizedBvhNode) * nodeCount;
-	}
-	else
-	{
-		bvh->m_contiguousNodes.initializeFromBuffer(nodeData, nodeCount, nodeCount);
-
-		if (i_swapEndian)
-		{
-			for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++)
-			{
-				b3UnSwapVector3Endian(bvh->m_contiguousNodes[nodeIndex].m_aabbMinOrg);
-				b3UnSwapVector3Endian(bvh->m_contiguousNodes[nodeIndex].m_aabbMaxOrg);
-
-				bvh->m_contiguousNodes[nodeIndex].m_escapeIndex = static_cast<int>(b3SwapEndian(bvh->m_contiguousNodes[nodeIndex].m_escapeIndex));
-				bvh->m_contiguousNodes[nodeIndex].m_subPart = static_cast<int>(b3SwapEndian(bvh->m_contiguousNodes[nodeIndex].m_subPart));
-				bvh->m_contiguousNodes[nodeIndex].m_triangleIndex = static_cast<int>(b3SwapEndian(bvh->m_contiguousNodes[nodeIndex].m_triangleIndex));
-			}
-		}
-		nodeData += sizeof(b3OptimizedBvhNode) * nodeCount;
-	}
-
-	sizeToAdd = 0;  //(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
-	nodeData += sizeToAdd;
-
-	// Now serialize the subtree headers
-	bvh->m_SubtreeHeaders.initializeFromBuffer(nodeData, bvh->m_subtreeHeaderCount, bvh->m_subtreeHeaderCount);
-	if (i_swapEndian)
-	{
-		for (int i = 0; i < bvh->m_subtreeHeaderCount; i++)
-		{
-			bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[0] = b3SwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[0]);
-			bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[1] = b3SwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[1]);
-			bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[2] = b3SwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[2]);
-
-			bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[0] = b3SwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[0]);
-			bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[1] = b3SwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[1]);
-			bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[2] = b3SwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[2]);
-
-			bvh->m_SubtreeHeaders[i].m_rootNodeIndex = static_cast<int>(b3SwapEndian(bvh->m_SubtreeHeaders[i].m_rootNodeIndex));
-			bvh->m_SubtreeHeaders[i].m_subtreeSize = static_cast<int>(b3SwapEndian(bvh->m_SubtreeHeaders[i].m_subtreeSize));
-		}
-	}
-
-	return bvh;
-}
-
-// Constructor that prevents b3Vector3's default constructor from being called
-b3QuantizedBvh::b3QuantizedBvh(b3QuantizedBvh& self, bool /* ownsMemory */) : m_bvhAabbMin(self.m_bvhAabbMin),
-																			  m_bvhAabbMax(self.m_bvhAabbMax),
-																			  m_bvhQuantization(self.m_bvhQuantization),
-																			  m_bulletVersion(B3_BULLET_VERSION)
-{
-}
-
-void b3QuantizedBvh::deSerializeFloat(struct b3QuantizedBvhFloatData& quantizedBvhFloatData)
-{
-	m_bvhAabbMax.deSerializeFloat(quantizedBvhFloatData.m_bvhAabbMax);
-	m_bvhAabbMin.deSerializeFloat(quantizedBvhFloatData.m_bvhAabbMin);
-	m_bvhQuantization.deSerializeFloat(quantizedBvhFloatData.m_bvhQuantization);
-
-	m_curNodeIndex = quantizedBvhFloatData.m_curNodeIndex;
-	m_useQuantization = quantizedBvhFloatData.m_useQuantization != 0;
-
-	{
-		int numElem = quantizedBvhFloatData.m_numContiguousLeafNodes;
-		m_contiguousNodes.resize(numElem);
-
-		if (numElem)
-		{
-			b3OptimizedBvhNodeFloatData* memPtr = quantizedBvhFloatData.m_contiguousNodesPtr;
-
-			for (int i = 0; i < numElem; i++, memPtr++)
-			{
-				m_contiguousNodes[i].m_aabbMaxOrg.deSerializeFloat(memPtr->m_aabbMaxOrg);
-				m_contiguousNodes[i].m_aabbMinOrg.deSerializeFloat(memPtr->m_aabbMinOrg);
-				m_contiguousNodes[i].m_escapeIndex = memPtr->m_escapeIndex;
-				m_contiguousNodes[i].m_subPart = memPtr->m_subPart;
-				m_contiguousNodes[i].m_triangleIndex = memPtr->m_triangleIndex;
-			}
-		}
-	}
-
-	{
-		int numElem = quantizedBvhFloatData.m_numQuantizedContiguousNodes;
-		m_quantizedContiguousNodes.resize(numElem);
-
-		if (numElem)
-		{
-			b3QuantizedBvhNodeData* memPtr = quantizedBvhFloatData.m_quantizedContiguousNodesPtr;
-			for (int i = 0; i < numElem; i++, memPtr++)
-			{
-				m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex = memPtr->m_escapeIndexOrTriangleIndex;
-				m_quantizedContiguousNodes[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
-				m_quantizedContiguousNodes[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
-				m_quantizedContiguousNodes[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
-				m_quantizedContiguousNodes[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
-				m_quantizedContiguousNodes[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1];
-				m_quantizedContiguousNodes[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2];
-			}
-		}
-	}
-
-	m_traversalMode = b3TraversalMode(quantizedBvhFloatData.m_traversalMode);
-
-	{
-		int numElem = quantizedBvhFloatData.m_numSubtreeHeaders;
-		m_SubtreeHeaders.resize(numElem);
-		if (numElem)
-		{
-			b3BvhSubtreeInfoData* memPtr = quantizedBvhFloatData.m_subTreeInfoPtr;
-			for (int i = 0; i < numElem; i++, memPtr++)
-			{
-				m_SubtreeHeaders[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
-				m_SubtreeHeaders[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
-				m_SubtreeHeaders[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
-				m_SubtreeHeaders[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
-				m_SubtreeHeaders[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1];
-				m_SubtreeHeaders[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2];
-				m_SubtreeHeaders[i].m_rootNodeIndex = memPtr->m_rootNodeIndex;
-				m_SubtreeHeaders[i].m_subtreeSize = memPtr->m_subtreeSize;
-			}
-		}
-	}
-}
-
-void b3QuantizedBvh::deSerializeDouble(struct b3QuantizedBvhDoubleData& quantizedBvhDoubleData)
-{
-	m_bvhAabbMax.deSerializeDouble(quantizedBvhDoubleData.m_bvhAabbMax);
-	m_bvhAabbMin.deSerializeDouble(quantizedBvhDoubleData.m_bvhAabbMin);
-	m_bvhQuantization.deSerializeDouble(quantizedBvhDoubleData.m_bvhQuantization);
-
-	m_curNodeIndex = quantizedBvhDoubleData.m_curNodeIndex;
-	m_useQuantization = quantizedBvhDoubleData.m_useQuantization != 0;
-
-	{
-		int numElem = quantizedBvhDoubleData.m_numContiguousLeafNodes;
-		m_contiguousNodes.resize(numElem);
-
-		if (numElem)
-		{
-			b3OptimizedBvhNodeDoubleData* memPtr = quantizedBvhDoubleData.m_contiguousNodesPtr;
-
-			for (int i = 0; i < numElem; i++, memPtr++)
-			{
-				m_contiguousNodes[i].m_aabbMaxOrg.deSerializeDouble(memPtr->m_aabbMaxOrg);
-				m_contiguousNodes[i].m_aabbMinOrg.deSerializeDouble(memPtr->m_aabbMinOrg);
-				m_contiguousNodes[i].m_escapeIndex = memPtr->m_escapeIndex;
-				m_contiguousNodes[i].m_subPart = memPtr->m_subPart;
-				m_contiguousNodes[i].m_triangleIndex = memPtr->m_triangleIndex;
-			}
-		}
-	}
-
-	{
-		int numElem = quantizedBvhDoubleData.m_numQuantizedContiguousNodes;
-		m_quantizedContiguousNodes.resize(numElem);
-
-		if (numElem)
-		{
-			b3QuantizedBvhNodeData* memPtr = quantizedBvhDoubleData.m_quantizedContiguousNodesPtr;
-			for (int i = 0; i < numElem; i++, memPtr++)
-			{
-				m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex = memPtr->m_escapeIndexOrTriangleIndex;
-				m_quantizedContiguousNodes[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
-				m_quantizedContiguousNodes[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
-				m_quantizedContiguousNodes[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
-				m_quantizedContiguousNodes[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
-				m_quantizedContiguousNodes[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1];
-				m_quantizedContiguousNodes[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2];
-			}
-		}
-	}
-
-	m_traversalMode = b3TraversalMode(quantizedBvhDoubleData.m_traversalMode);
-
-	{
-		int numElem = quantizedBvhDoubleData.m_numSubtreeHeaders;
-		m_SubtreeHeaders.resize(numElem);
-		if (numElem)
-		{
-			b3BvhSubtreeInfoData* memPtr = quantizedBvhDoubleData.m_subTreeInfoPtr;
-			for (int i = 0; i < numElem; i++, memPtr++)
-			{
-				m_SubtreeHeaders[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
-				m_SubtreeHeaders[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
-				m_SubtreeHeaders[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
-				m_SubtreeHeaders[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
-				m_SubtreeHeaders[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1];
-				m_SubtreeHeaders[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2];
-				m_SubtreeHeaders[i].m_rootNodeIndex = memPtr->m_rootNodeIndex;
-				m_SubtreeHeaders[i].m_subtreeSize = memPtr->m_subtreeSize;
-			}
-		}
-	}
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char* b3QuantizedBvh::serialize(void* dataBuffer, b3Serializer* serializer) const
-{
-	b3Assert(0);
-	return 0;
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h
deleted file mode 100644
index 48b41abcad..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h
+++ /dev/null
@@ -1,511 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_QUANTIZED_BVH_H
-#define B3_QUANTIZED_BVH_H
-
-class b3Serializer;
-
-//#define DEBUG_CHECK_DEQUANTIZATION 1
-#ifdef DEBUG_CHECK_DEQUANTIZATION
-#ifdef __SPU__
-#define printf spu_printf
-#endif  //__SPU__
-
-#include <stdio.h>
-#include <stdlib.h>
-#endif  //DEBUG_CHECK_DEQUANTIZATION
-
-#include "Bullet3Common/b3Vector3.h"
-#include "Bullet3Common/b3AlignedAllocator.h"
-
-#ifdef B3_USE_DOUBLE_PRECISION
-#define b3QuantizedBvhData b3QuantizedBvhDoubleData
-#define b3OptimizedBvhNodeData b3OptimizedBvhNodeDoubleData
-#define b3QuantizedBvhDataName "b3QuantizedBvhDoubleData"
-#else
-#define b3QuantizedBvhData b3QuantizedBvhFloatData
-#define b3OptimizedBvhNodeData b3OptimizedBvhNodeFloatData
-#define b3QuantizedBvhDataName "b3QuantizedBvhFloatData"
-#endif
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h"
-
-//http://msdn.microsoft.com/library/default.asp?url=/library/en-us/vclang/html/vclrf__m128.asp
-
-//Note: currently we have 16 bytes per quantized node
-#define MAX_SUBTREE_SIZE_IN_BYTES 2048
-
-// 10 gives the potential for 1024 parts, with at most 2^21 (2097152) (minus one
-// actually) triangles each (since the sign bit is reserved
-#define MAX_NUM_PARTS_IN_BITS 10
-
-///b3QuantizedBvhNode is a compressed aabb node, 16 bytes.
-///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
-B3_ATTRIBUTE_ALIGNED16(struct)
-b3QuantizedBvhNode : public b3QuantizedBvhNodeData
-{
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-	bool isLeafNode() const
-	{
-		//skipindex is negative (internal node), triangleindex >=0 (leafnode)
-		return (m_escapeIndexOrTriangleIndex >= 0);
-	}
-	int getEscapeIndex() const
-	{
-		b3Assert(!isLeafNode());
-		return -m_escapeIndexOrTriangleIndex;
-	}
-	int getTriangleIndex() const
-	{
-		b3Assert(isLeafNode());
-		unsigned int x = 0;
-		unsigned int y = (~(x & 0)) << (31 - MAX_NUM_PARTS_IN_BITS);
-		// Get only the lower bits where the triangle index is stored
-		return (m_escapeIndexOrTriangleIndex & ~(y));
-	}
-	int getPartId() const
-	{
-		b3Assert(isLeafNode());
-		// Get only the highest bits where the part index is stored
-		return (m_escapeIndexOrTriangleIndex >> (31 - MAX_NUM_PARTS_IN_BITS));
-	}
-};
-
-/// b3OptimizedBvhNode contains both internal and leaf node information.
-/// Total node size is 44 bytes / node. You can use the compressed version of 16 bytes.
-B3_ATTRIBUTE_ALIGNED16(struct)
-b3OptimizedBvhNode
-{
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-	//32 bytes
-	b3Vector3 m_aabbMinOrg;
-	b3Vector3 m_aabbMaxOrg;
-
-	//4
-	int m_escapeIndex;
-
-	//8
-	//for child nodes
-	int m_subPart;
-	int m_triangleIndex;
-
-	//pad the size to 64 bytes
-	char m_padding[20];
-};
-
-///b3BvhSubtreeInfo provides info to gather a subtree of limited size
-B3_ATTRIBUTE_ALIGNED16(class)
-b3BvhSubtreeInfo : public b3BvhSubtreeInfoData
-{
-public:
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-	b3BvhSubtreeInfo()
-	{
-		//memset(&m_padding[0], 0, sizeof(m_padding));
-	}
-
-	void setAabbFromQuantizeNode(const b3QuantizedBvhNode& quantizedNode)
-	{
-		m_quantizedAabbMin[0] = quantizedNode.m_quantizedAabbMin[0];
-		m_quantizedAabbMin[1] = quantizedNode.m_quantizedAabbMin[1];
-		m_quantizedAabbMin[2] = quantizedNode.m_quantizedAabbMin[2];
-		m_quantizedAabbMax[0] = quantizedNode.m_quantizedAabbMax[0];
-		m_quantizedAabbMax[1] = quantizedNode.m_quantizedAabbMax[1];
-		m_quantizedAabbMax[2] = quantizedNode.m_quantizedAabbMax[2];
-	}
-};
-
-class b3NodeOverlapCallback
-{
-public:
-	virtual ~b3NodeOverlapCallback(){};
-
-	virtual void processNode(int subPart, int triangleIndex) = 0;
-};
-
-#include "Bullet3Common/b3AlignedAllocator.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-
-///for code readability:
-typedef b3AlignedObjectArray<b3OptimizedBvhNode> NodeArray;
-typedef b3AlignedObjectArray<b3QuantizedBvhNode> QuantizedNodeArray;
-typedef b3AlignedObjectArray<b3BvhSubtreeInfo> BvhSubtreeInfoArray;
-
-///The b3QuantizedBvh class stores an AABB tree that can be quickly traversed on CPU and Cell SPU.
-///It is used by the b3BvhTriangleMeshShape as midphase
-///It is recommended to use quantization for better performance and lower memory requirements.
-B3_ATTRIBUTE_ALIGNED16(class)
-b3QuantizedBvh
-{
-public:
-	enum b3TraversalMode
-	{
-		TRAVERSAL_STACKLESS = 0,
-		TRAVERSAL_STACKLESS_CACHE_FRIENDLY,
-		TRAVERSAL_RECURSIVE
-	};
-
-	b3Vector3 m_bvhAabbMin;
-	b3Vector3 m_bvhAabbMax;
-	b3Vector3 m_bvhQuantization;
-
-protected:
-	int m_bulletVersion;  //for serialization versioning. It could also be used to detect endianess.
-
-	int m_curNodeIndex;
-	//quantization data
-	bool m_useQuantization;
-
-	NodeArray m_leafNodes;
-	NodeArray m_contiguousNodes;
-	QuantizedNodeArray m_quantizedLeafNodes;
-	QuantizedNodeArray m_quantizedContiguousNodes;
-
-	b3TraversalMode m_traversalMode;
-	BvhSubtreeInfoArray m_SubtreeHeaders;
-
-	//This is only used for serialization so we don't have to add serialization directly to b3AlignedObjectArray
-	mutable int m_subtreeHeaderCount;
-
-	///two versions, one for quantized and normal nodes. This allows code-reuse while maintaining readability (no template/macro!)
-	///this might be refactored into a virtual, it is usually not calculated at run-time
-	void setInternalNodeAabbMin(int nodeIndex, const b3Vector3& aabbMin)
-	{
-		if (m_useQuantization)
-		{
-			quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0], aabbMin, 0);
-		}
-		else
-		{
-			m_contiguousNodes[nodeIndex].m_aabbMinOrg = aabbMin;
-		}
-	}
-	void setInternalNodeAabbMax(int nodeIndex, const b3Vector3& aabbMax)
-	{
-		if (m_useQuantization)
-		{
-			quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0], aabbMax, 1);
-		}
-		else
-		{
-			m_contiguousNodes[nodeIndex].m_aabbMaxOrg = aabbMax;
-		}
-	}
-
-	b3Vector3 getAabbMin(int nodeIndex) const
-	{
-		if (m_useQuantization)
-		{
-			return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMin[0]);
-		}
-		//non-quantized
-		return m_leafNodes[nodeIndex].m_aabbMinOrg;
-	}
-	b3Vector3 getAabbMax(int nodeIndex) const
-	{
-		if (m_useQuantization)
-		{
-			return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMax[0]);
-		}
-		//non-quantized
-		return m_leafNodes[nodeIndex].m_aabbMaxOrg;
-	}
-
-	void setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex)
-	{
-		if (m_useQuantization)
-		{
-			m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = -escapeIndex;
-		}
-		else
-		{
-			m_contiguousNodes[nodeIndex].m_escapeIndex = escapeIndex;
-		}
-	}
-
-	void mergeInternalNodeAabb(int nodeIndex, const b3Vector3& newAabbMin, const b3Vector3& newAabbMax)
-	{
-		if (m_useQuantization)
-		{
-			unsigned short int quantizedAabbMin[3];
-			unsigned short int quantizedAabbMax[3];
-			quantize(quantizedAabbMin, newAabbMin, 0);
-			quantize(quantizedAabbMax, newAabbMax, 1);
-			for (int i = 0; i < 3; i++)
-			{
-				if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] > quantizedAabbMin[i])
-					m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] = quantizedAabbMin[i];
-
-				if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] < quantizedAabbMax[i])
-					m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] = quantizedAabbMax[i];
-			}
-		}
-		else
-		{
-			//non-quantized
-			m_contiguousNodes[nodeIndex].m_aabbMinOrg.setMin(newAabbMin);
-			m_contiguousNodes[nodeIndex].m_aabbMaxOrg.setMax(newAabbMax);
-		}
-	}
-
-	void swapLeafNodes(int firstIndex, int secondIndex);
-
-	void assignInternalNodeFromLeafNode(int internalNode, int leafNodeIndex);
-
-protected:
-	void buildTree(int startIndex, int endIndex);
-
-	int calcSplittingAxis(int startIndex, int endIndex);
-
-	int sortAndCalcSplittingIndex(int startIndex, int endIndex, int splitAxis);
-
-	void walkStacklessTree(b3NodeOverlapCallback * nodeCallback, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const;
-
-	void walkStacklessQuantizedTreeAgainstRay(b3NodeOverlapCallback * nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax, int startNodeIndex, int endNodeIndex) const;
-	void walkStacklessQuantizedTree(b3NodeOverlapCallback * nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax, int startNodeIndex, int endNodeIndex) const;
-	void walkStacklessTreeAgainstRay(b3NodeOverlapCallback * nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax, int startNodeIndex, int endNodeIndex) const;
-
-	///tree traversal designed for small-memory processors like PS3 SPU
-	void walkStacklessQuantizedTreeCacheFriendly(b3NodeOverlapCallback * nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const;
-
-	///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
-	void walkRecursiveQuantizedTreeAgainstQueryAabb(const b3QuantizedBvhNode* currentNode, b3NodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const;
-
-	///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
-	void walkRecursiveQuantizedTreeAgainstQuantizedTree(const b3QuantizedBvhNode* treeNodeA, const b3QuantizedBvhNode* treeNodeB, b3NodeOverlapCallback* nodeCallback) const;
-
-	void updateSubtreeHeaders(int leftChildNodexIndex, int rightChildNodexIndex);
-
-public:
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-	b3QuantizedBvh();
-
-	virtual ~b3QuantizedBvh();
-
-	///***************************************** expert/internal use only *************************
-	void setQuantizationValues(const b3Vector3& bvhAabbMin, const b3Vector3& bvhAabbMax, b3Scalar quantizationMargin = b3Scalar(1.0));
-	QuantizedNodeArray& getLeafNodeArray() { return m_quantizedLeafNodes; }
-	///buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized
-	void buildInternal();
-	///***************************************** expert/internal use only *************************
-
-	void reportAabbOverlappingNodex(b3NodeOverlapCallback * nodeCallback, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const;
-	void reportRayOverlappingNodex(b3NodeOverlapCallback * nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget) const;
-	void reportBoxCastOverlappingNodex(b3NodeOverlapCallback * nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const;
-
-	B3_FORCE_INLINE void quantize(unsigned short* out, const b3Vector3& point, int isMax) const
-	{
-		b3Assert(m_useQuantization);
-
-		b3Assert(point.getX() <= m_bvhAabbMax.getX());
-		b3Assert(point.getY() <= m_bvhAabbMax.getY());
-		b3Assert(point.getZ() <= m_bvhAabbMax.getZ());
-
-		b3Assert(point.getX() >= m_bvhAabbMin.getX());
-		b3Assert(point.getY() >= m_bvhAabbMin.getY());
-		b3Assert(point.getZ() >= m_bvhAabbMin.getZ());
-
-		b3Vector3 v = (point - m_bvhAabbMin) * m_bvhQuantization;
-		///Make sure rounding is done in a way that unQuantize(quantizeWithClamp(...)) is conservative
-		///end-points always set the first bit, so that they are sorted properly (so that neighbouring AABBs overlap properly)
-		///@todo: double-check this
-		if (isMax)
-		{
-			out[0] = (unsigned short)(((unsigned short)(v.getX() + b3Scalar(1.)) | 1));
-			out[1] = (unsigned short)(((unsigned short)(v.getY() + b3Scalar(1.)) | 1));
-			out[2] = (unsigned short)(((unsigned short)(v.getZ() + b3Scalar(1.)) | 1));
-		}
-		else
-		{
-			out[0] = (unsigned short)(((unsigned short)(v.getX()) & 0xfffe));
-			out[1] = (unsigned short)(((unsigned short)(v.getY()) & 0xfffe));
-			out[2] = (unsigned short)(((unsigned short)(v.getZ()) & 0xfffe));
-		}
-
-#ifdef DEBUG_CHECK_DEQUANTIZATION
-		b3Vector3 newPoint = unQuantize(out);
-		if (isMax)
-		{
-			if (newPoint.getX() < point.getX())
-			{
-				printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.getX() - point.getX(), newPoint.getX(), point.getX());
-			}
-			if (newPoint.getY() < point.getY())
-			{
-				printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.getY() - point.getY(), newPoint.getY(), point.getY());
-			}
-			if (newPoint.getZ() < point.getZ())
-			{
-				printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.getZ() - point.getZ(), newPoint.getZ(), point.getZ());
-			}
-		}
-		else
-		{
-			if (newPoint.getX() > point.getX())
-			{
-				printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.getX() - point.getX(), newPoint.getX(), point.getX());
-			}
-			if (newPoint.getY() > point.getY())
-			{
-				printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.getY() - point.getY(), newPoint.getY(), point.getY());
-			}
-			if (newPoint.getZ() > point.getZ())
-			{
-				printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.getZ() - point.getZ(), newPoint.getZ(), point.getZ());
-			}
-		}
-#endif  //DEBUG_CHECK_DEQUANTIZATION
-	}
-
-	B3_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const b3Vector3& point2, int isMax) const
-	{
-		b3Assert(m_useQuantization);
-
-		b3Vector3 clampedPoint(point2);
-		clampedPoint.setMax(m_bvhAabbMin);
-		clampedPoint.setMin(m_bvhAabbMax);
-
-		quantize(out, clampedPoint, isMax);
-	}
-
-	B3_FORCE_INLINE b3Vector3 unQuantize(const unsigned short* vecIn) const
-	{
-		b3Vector3 vecOut;
-		vecOut.setValue(
-			(b3Scalar)(vecIn[0]) / (m_bvhQuantization.getX()),
-			(b3Scalar)(vecIn[1]) / (m_bvhQuantization.getY()),
-			(b3Scalar)(vecIn[2]) / (m_bvhQuantization.getZ()));
-		vecOut += m_bvhAabbMin;
-		return vecOut;
-	}
-
-	///setTraversalMode let's you choose between stackless, recursive or stackless cache friendly tree traversal. Note this is only implemented for quantized trees.
-	void setTraversalMode(b3TraversalMode traversalMode)
-	{
-		m_traversalMode = traversalMode;
-	}
-
-	B3_FORCE_INLINE QuantizedNodeArray& getQuantizedNodeArray()
-	{
-		return m_quantizedContiguousNodes;
-	}
-
-	B3_FORCE_INLINE BvhSubtreeInfoArray& getSubtreeInfoArray()
-	{
-		return m_SubtreeHeaders;
-	}
-
-	////////////////////////////////////////////////////////////////////
-
-	/////Calculate space needed to store BVH for serialization
-	unsigned calculateSerializeBufferSize() const;
-
-	/// Data buffer MUST be 16 byte aligned
-	virtual bool serialize(void* o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const;
-
-	///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
-	static b3QuantizedBvh* deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
-
-	static unsigned int getAlignmentSerializationPadding();
-	//////////////////////////////////////////////////////////////////////
-
-	virtual int calculateSerializeBufferSizeNew() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, b3Serializer* serializer) const;
-
-	virtual void deSerializeFloat(struct b3QuantizedBvhFloatData & quantizedBvhFloatData);
-
-	virtual void deSerializeDouble(struct b3QuantizedBvhDoubleData & quantizedBvhDoubleData);
-
-	////////////////////////////////////////////////////////////////////
-
-	B3_FORCE_INLINE bool isQuantized()
-	{
-		return m_useQuantization;
-	}
-
-private:
-	// Special "copy" constructor that allows for in-place deserialization
-	// Prevents b3Vector3's default constructor from being called, but doesn't inialize much else
-	// ownsMemory should most likely be false if deserializing, and if you are not, don't call this (it also changes the function signature, which we need)
-	b3QuantizedBvh(b3QuantizedBvh & other, bool ownsMemory);
-};
-
-struct b3OptimizedBvhNodeFloatData
-{
-	b3Vector3FloatData m_aabbMinOrg;
-	b3Vector3FloatData m_aabbMaxOrg;
-	int m_escapeIndex;
-	int m_subPart;
-	int m_triangleIndex;
-	char m_pad[4];
-};
-
-struct b3OptimizedBvhNodeDoubleData
-{
-	b3Vector3DoubleData m_aabbMinOrg;
-	b3Vector3DoubleData m_aabbMaxOrg;
-	int m_escapeIndex;
-	int m_subPart;
-	int m_triangleIndex;
-	char m_pad[4];
-};
-
-struct b3QuantizedBvhFloatData
-{
-	b3Vector3FloatData m_bvhAabbMin;
-	b3Vector3FloatData m_bvhAabbMax;
-	b3Vector3FloatData m_bvhQuantization;
-	int m_curNodeIndex;
-	int m_useQuantization;
-	int m_numContiguousLeafNodes;
-	int m_numQuantizedContiguousNodes;
-	b3OptimizedBvhNodeFloatData* m_contiguousNodesPtr;
-	b3QuantizedBvhNodeData* m_quantizedContiguousNodesPtr;
-	b3BvhSubtreeInfoData* m_subTreeInfoPtr;
-	int m_traversalMode;
-	int m_numSubtreeHeaders;
-};
-
-struct b3QuantizedBvhDoubleData
-{
-	b3Vector3DoubleData m_bvhAabbMin;
-	b3Vector3DoubleData m_bvhAabbMax;
-	b3Vector3DoubleData m_bvhQuantization;
-	int m_curNodeIndex;
-	int m_useQuantization;
-	int m_numContiguousLeafNodes;
-	int m_numQuantizedContiguousNodes;
-	b3OptimizedBvhNodeDoubleData* m_contiguousNodesPtr;
-	b3QuantizedBvhNodeData* m_quantizedContiguousNodesPtr;
-
-	int m_traversalMode;
-	int m_numSubtreeHeaders;
-	b3BvhSubtreeInfoData* m_subTreeInfoPtr;
-};
-
-B3_FORCE_INLINE int b3QuantizedBvh::calculateSerializeBufferSizeNew() const
-{
-	return sizeof(b3QuantizedBvhData);
-}
-
-#endif  //B3_QUANTIZED_BVH_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.cpp
deleted file mode 100644
index 6b0c941f23..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.cpp
+++ /dev/null
@@ -1,207 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "b3StridingMeshInterface.h"
-
-b3StridingMeshInterface::~b3StridingMeshInterface()
-{
-}
-
-void b3StridingMeshInterface::InternalProcessAllTriangles(b3InternalTriangleIndexCallback* callback, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const
-{
-	(void)aabbMin;
-	(void)aabbMax;
-	int numtotalphysicsverts = 0;
-	int part, graphicssubparts = getNumSubParts();
-	const unsigned char* vertexbase;
-	const unsigned char* indexbase;
-	int indexstride;
-	PHY_ScalarType type;
-	PHY_ScalarType gfxindextype;
-	int stride, numverts, numtriangles;
-	int gfxindex;
-	b3Vector3 triangle[3];
-
-	b3Vector3 meshScaling = getScaling();
-
-	///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
-	for (part = 0; part < graphicssubparts; part++)
-	{
-		getLockedReadOnlyVertexIndexBase(&vertexbase, numverts, type, stride, &indexbase, indexstride, numtriangles, gfxindextype, part);
-		numtotalphysicsverts += numtriangles * 3;  //upper bound
-
-		///unlike that developers want to pass in double-precision meshes in single-precision Bullet build
-		///so disable this feature by default
-		///see patch http://code.google.com/p/bullet/issues/detail?id=213
-
-		switch (type)
-		{
-			case PHY_FLOAT:
-			{
-				float* graphicsbase;
-
-				switch (gfxindextype)
-				{
-					case PHY_INTEGER:
-					{
-						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
-						{
-							unsigned int* tri_indices = (unsigned int*)(indexbase + gfxindex * indexstride);
-							graphicsbase = (float*)(vertexbase + tri_indices[0] * stride);
-							triangle[0].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (float*)(vertexbase + tri_indices[1] * stride);
-							triangle[1].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (float*)(vertexbase + tri_indices[2] * stride);
-							triangle[2].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
-							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
-						}
-						break;
-					}
-					case PHY_SHORT:
-					{
-						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
-						{
-							unsigned short int* tri_indices = (unsigned short int*)(indexbase + gfxindex * indexstride);
-							graphicsbase = (float*)(vertexbase + tri_indices[0] * stride);
-							triangle[0].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (float*)(vertexbase + tri_indices[1] * stride);
-							triangle[1].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (float*)(vertexbase + tri_indices[2] * stride);
-							triangle[2].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
-							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
-						}
-						break;
-					}
-					case PHY_UCHAR:
-					{
-						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
-						{
-							unsigned char* tri_indices = (unsigned char*)(indexbase + gfxindex * indexstride);
-							graphicsbase = (float*)(vertexbase + tri_indices[0] * stride);
-							triangle[0].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (float*)(vertexbase + tri_indices[1] * stride);
-							triangle[1].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (float*)(vertexbase + tri_indices[2] * stride);
-							triangle[2].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
-							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
-						}
-						break;
-					}
-					default:
-						b3Assert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
-				}
-				break;
-			}
-
-			case PHY_DOUBLE:
-			{
-				double* graphicsbase;
-
-				switch (gfxindextype)
-				{
-					case PHY_INTEGER:
-					{
-						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
-						{
-							unsigned int* tri_indices = (unsigned int*)(indexbase + gfxindex * indexstride);
-							graphicsbase = (double*)(vertexbase + tri_indices[0] * stride);
-							triangle[0].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase + tri_indices[1] * stride);
-							triangle[1].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase + tri_indices[2] * stride);
-							triangle[2].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
-							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
-						}
-						break;
-					}
-					case PHY_SHORT:
-					{
-						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
-						{
-							unsigned short int* tri_indices = (unsigned short int*)(indexbase + gfxindex * indexstride);
-							graphicsbase = (double*)(vertexbase + tri_indices[0] * stride);
-							triangle[0].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase + tri_indices[1] * stride);
-							triangle[1].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase + tri_indices[2] * stride);
-							triangle[2].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
-							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
-						}
-						break;
-					}
-					case PHY_UCHAR:
-					{
-						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
-						{
-							unsigned char* tri_indices = (unsigned char*)(indexbase + gfxindex * indexstride);
-							graphicsbase = (double*)(vertexbase + tri_indices[0] * stride);
-							triangle[0].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase + tri_indices[1] * stride);
-							triangle[1].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase + tri_indices[2] * stride);
-							triangle[2].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
-							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
-						}
-						break;
-					}
-					default:
-						b3Assert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
-				}
-				break;
-			}
-			default:
-				b3Assert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
-		}
-
-		unLockReadOnlyVertexBase(part);
-	}
-}
-
-void b3StridingMeshInterface::calculateAabbBruteForce(b3Vector3& aabbMin, b3Vector3& aabbMax)
-{
-	struct AabbCalculationCallback : public b3InternalTriangleIndexCallback
-	{
-		b3Vector3 m_aabbMin;
-		b3Vector3 m_aabbMax;
-
-		AabbCalculationCallback()
-		{
-			m_aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
-			m_aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT));
-		}
-
-		virtual void internalProcessTriangleIndex(b3Vector3* triangle, int partId, int triangleIndex)
-		{
-			(void)partId;
-			(void)triangleIndex;
-
-			m_aabbMin.setMin(triangle[0]);
-			m_aabbMax.setMax(triangle[0]);
-			m_aabbMin.setMin(triangle[1]);
-			m_aabbMax.setMax(triangle[1]);
-			m_aabbMin.setMin(triangle[2]);
-			m_aabbMax.setMax(triangle[2]);
-		}
-	};
-
-	//first calculate the total aabb for all triangles
-	AabbCalculationCallback aabbCallback;
-	aabbMin.setValue(b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT));
-	aabbMax.setValue(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
-	InternalProcessAllTriangles(&aabbCallback, aabbMin, aabbMax);
-
-	aabbMin = aabbCallback.m_aabbMin;
-	aabbMax = aabbCallback.m_aabbMax;
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h
deleted file mode 100644
index 2b1e63be75..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h
+++ /dev/null
@@ -1,158 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_STRIDING_MESHINTERFACE_H
-#define B3_STRIDING_MESHINTERFACE_H
-
-#include "Bullet3Common/b3Vector3.h"
-#include "b3TriangleCallback.h"
-//#include "b3ConcaveShape.h"
-
-enum PHY_ScalarType
-{
-	PHY_FLOAT,
-	PHY_DOUBLE,
-	PHY_INTEGER,
-	PHY_SHORT,
-	PHY_FIXEDPOINT88,
-	PHY_UCHAR
-};
-
-///	The b3StridingMeshInterface is the interface class for high performance generic access to triangle meshes, used in combination with b3BvhTriangleMeshShape and some other collision shapes.
-/// Using index striding of 3*sizeof(integer) it can use triangle arrays, using index striding of 1*sizeof(integer) it can handle triangle strips.
-/// It allows for sharing graphics and collision meshes. Also it provides locking/unlocking of graphics meshes that are in gpu memory.
-B3_ATTRIBUTE_ALIGNED16(class)
-b3StridingMeshInterface
-{
-protected:
-	b3Vector3 m_scaling;
-
-public:
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-	b3StridingMeshInterface() : m_scaling(b3MakeVector3(b3Scalar(1.), b3Scalar(1.), b3Scalar(1.)))
-	{
-	}
-
-	virtual ~b3StridingMeshInterface();
-
-	virtual void InternalProcessAllTriangles(b3InternalTriangleIndexCallback * callback, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const;
-
-	///brute force method to calculate aabb
-	void calculateAabbBruteForce(b3Vector3 & aabbMin, b3Vector3 & aabbMax);
-
-	/// get read and write access to a subpart of a triangle mesh
-	/// this subpart has a continuous array of vertices and indices
-	/// in this way the mesh can be handled as chunks of memory with striding
-	/// very similar to OpenGL vertexarray support
-	/// make a call to unLockVertexBase when the read and write access is finished
-	virtual void getLockedVertexIndexBase(unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& stride, unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart = 0) = 0;
-
-	virtual void getLockedReadOnlyVertexIndexBase(const unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& stride, const unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart = 0) const = 0;
-
-	/// unLockVertexBase finishes the access to a subpart of the triangle mesh
-	/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
-	virtual void unLockVertexBase(int subpart) = 0;
-
-	virtual void unLockReadOnlyVertexBase(int subpart) const = 0;
-
-	/// getNumSubParts returns the number of separate subparts
-	/// each subpart has a continuous array of vertices and indices
-	virtual int getNumSubParts() const = 0;
-
-	virtual void preallocateVertices(int numverts) = 0;
-	virtual void preallocateIndices(int numindices) = 0;
-
-	virtual bool hasPremadeAabb() const { return false; }
-	virtual void setPremadeAabb(const b3Vector3& aabbMin, const b3Vector3& aabbMax) const
-	{
-		(void)aabbMin;
-		(void)aabbMax;
-	}
-	virtual void getPremadeAabb(b3Vector3 * aabbMin, b3Vector3 * aabbMax) const
-	{
-		(void)aabbMin;
-		(void)aabbMax;
-	}
-
-	const b3Vector3& getScaling() const
-	{
-		return m_scaling;
-	}
-	void setScaling(const b3Vector3& scaling)
-	{
-		m_scaling = scaling;
-	}
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	//virtual	const char*	serialize(void* dataBuffer, b3Serializer* serializer) const;
-};
-
-struct b3IntIndexData
-{
-	int m_value;
-};
-
-struct b3ShortIntIndexData
-{
-	short m_value;
-	char m_pad[2];
-};
-
-struct b3ShortIntIndexTripletData
-{
-	short m_values[3];
-	char m_pad[2];
-};
-
-struct b3CharIndexTripletData
-{
-	unsigned char m_values[3];
-	char m_pad;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct b3MeshPartData
-{
-	b3Vector3FloatData* m_vertices3f;
-	b3Vector3DoubleData* m_vertices3d;
-
-	b3IntIndexData* m_indices32;
-	b3ShortIntIndexTripletData* m_3indices16;
-	b3CharIndexTripletData* m_3indices8;
-
-	b3ShortIntIndexData* m_indices16;  //backwards compatibility
-
-	int m_numTriangles;  //length of m_indices = m_numTriangles
-	int m_numVertices;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct b3StridingMeshInterfaceData
-{
-	b3MeshPartData* m_meshPartsPtr;
-	b3Vector3FloatData m_scaling;
-	int m_numMeshParts;
-	char m_padding[4];
-};
-
-B3_FORCE_INLINE int b3StridingMeshInterface::calculateSerializeBufferSize() const
-{
-	return sizeof(b3StridingMeshInterfaceData);
-}
-
-#endif  //B3_STRIDING_MESHINTERFACE_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3SupportMappings.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3SupportMappings.h
deleted file mode 100644
index 9ca1e22949..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3SupportMappings.h
+++ /dev/null
@@ -1,34 +0,0 @@
-
-#ifndef B3_SUPPORT_MAPPINGS_H
-#define B3_SUPPORT_MAPPINGS_H
-
-#include "Bullet3Common/b3Transform.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-#include "b3VectorFloat4.h"
-
-struct b3GjkPairDetector;
-
-inline b3Vector3 localGetSupportVertexWithMargin(const float4& supportVec, const struct b3ConvexPolyhedronData* hull,
-												 const b3AlignedObjectArray<b3Vector3>& verticesA, b3Scalar margin)
-{
-	b3Vector3 supVec = b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
-	b3Scalar maxDot = b3Scalar(-B3_LARGE_FLOAT);
-
-	// Here we take advantage of dot(a, b*c) = dot(a*b, c).  Note: This is true mathematically, but not numerically.
-	if (0 < hull->m_numVertices)
-	{
-		const b3Vector3 scaled = supportVec;
-		int index = (int)scaled.maxDot(&verticesA[hull->m_vertexOffset], hull->m_numVertices, maxDot);
-		return verticesA[hull->m_vertexOffset + index];
-	}
-
-	return supVec;
-}
-
-inline b3Vector3 localGetSupportVertexWithoutMargin(const float4& supportVec, const struct b3ConvexPolyhedronData* hull,
-													const b3AlignedObjectArray<b3Vector3>& verticesA)
-{
-	return localGetSupportVertexWithMargin(supportVec, hull, verticesA, 0.f);
-}
-
-#endif  //B3_SUPPORT_MAPPINGS_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleCallback.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleCallback.cpp
deleted file mode 100644
index 3908c6de89..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleCallback.cpp
+++ /dev/null
@@ -1,24 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "b3TriangleCallback.h"
-
-b3TriangleCallback::~b3TriangleCallback()
-{
-}
-
-b3InternalTriangleIndexCallback::~b3InternalTriangleIndexCallback()
-{
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleCallback.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleCallback.h
deleted file mode 100644
index a0fd3e7ac7..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleCallback.h
+++ /dev/null
@@ -1,37 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_TRIANGLE_CALLBACK_H
-#define B3_TRIANGLE_CALLBACK_H
-
-#include "Bullet3Common/b3Vector3.h"
-
-///The b3TriangleCallback provides a callback for each overlapping triangle when calling processAllTriangles.
-///This callback is called by processAllTriangles for all b3ConcaveShape derived class, such as  b3BvhTriangleMeshShape, b3StaticPlaneShape and b3HeightfieldTerrainShape.
-class b3TriangleCallback
-{
-public:
-	virtual ~b3TriangleCallback();
-	virtual void processTriangle(b3Vector3* triangle, int partId, int triangleIndex) = 0;
-};
-
-class b3InternalTriangleIndexCallback
-{
-public:
-	virtual ~b3InternalTriangleIndexCallback();
-	virtual void internalProcessTriangleIndex(b3Vector3* triangle, int partId, int triangleIndex) = 0;
-};
-
-#endif  //B3_TRIANGLE_CALLBACK_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.cpp
deleted file mode 100644
index 73faadbdd0..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.cpp
+++ /dev/null
@@ -1,90 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "b3TriangleIndexVertexArray.h"
-
-b3TriangleIndexVertexArray::b3TriangleIndexVertexArray(int numTriangles, int* triangleIndexBase, int triangleIndexStride, int numVertices, b3Scalar* vertexBase, int vertexStride)
-	: m_hasAabb(0)
-{
-	b3IndexedMesh mesh;
-
-	mesh.m_numTriangles = numTriangles;
-	mesh.m_triangleIndexBase = (const unsigned char*)triangleIndexBase;
-	mesh.m_triangleIndexStride = triangleIndexStride;
-	mesh.m_numVertices = numVertices;
-	mesh.m_vertexBase = (const unsigned char*)vertexBase;
-	mesh.m_vertexStride = vertexStride;
-
-	addIndexedMesh(mesh);
-}
-
-b3TriangleIndexVertexArray::~b3TriangleIndexVertexArray()
-{
-}
-
-void b3TriangleIndexVertexArray::getLockedVertexIndexBase(unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& vertexStride, unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart)
-{
-	b3Assert(subpart < getNumSubParts());
-
-	b3IndexedMesh& mesh = m_indexedMeshes[subpart];
-
-	numverts = mesh.m_numVertices;
-	(*vertexbase) = (unsigned char*)mesh.m_vertexBase;
-
-	type = mesh.m_vertexType;
-
-	vertexStride = mesh.m_vertexStride;
-
-	numfaces = mesh.m_numTriangles;
-
-	(*indexbase) = (unsigned char*)mesh.m_triangleIndexBase;
-	indexstride = mesh.m_triangleIndexStride;
-	indicestype = mesh.m_indexType;
-}
-
-void b3TriangleIndexVertexArray::getLockedReadOnlyVertexIndexBase(const unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& vertexStride, const unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart) const
-{
-	const b3IndexedMesh& mesh = m_indexedMeshes[subpart];
-
-	numverts = mesh.m_numVertices;
-	(*vertexbase) = (const unsigned char*)mesh.m_vertexBase;
-
-	type = mesh.m_vertexType;
-
-	vertexStride = mesh.m_vertexStride;
-
-	numfaces = mesh.m_numTriangles;
-	(*indexbase) = (const unsigned char*)mesh.m_triangleIndexBase;
-	indexstride = mesh.m_triangleIndexStride;
-	indicestype = mesh.m_indexType;
-}
-
-bool b3TriangleIndexVertexArray::hasPremadeAabb() const
-{
-	return (m_hasAabb == 1);
-}
-
-void b3TriangleIndexVertexArray::setPremadeAabb(const b3Vector3& aabbMin, const b3Vector3& aabbMax) const
-{
-	m_aabbMin = aabbMin;
-	m_aabbMax = aabbMax;
-	m_hasAabb = 1;  // this is intentionally an int see notes in header
-}
-
-void b3TriangleIndexVertexArray::getPremadeAabb(b3Vector3* aabbMin, b3Vector3* aabbMax) const
-{
-	*aabbMin = m_aabbMin;
-	*aabbMax = m_aabbMax;
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h
deleted file mode 100644
index 57cbf03dc2..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_TRIANGLE_INDEX_VERTEX_ARRAY_H
-#define B3_TRIANGLE_INDEX_VERTEX_ARRAY_H
-
-#include "b3StridingMeshInterface.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-#include "Bullet3Common/b3Scalar.h"
-
-///The b3IndexedMesh indexes a single vertex and index array. Multiple b3IndexedMesh objects can be passed into a b3TriangleIndexVertexArray using addIndexedMesh.
-///Instead of the number of indices, we pass the number of triangles.
-B3_ATTRIBUTE_ALIGNED16(struct)
-b3IndexedMesh
-{
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-	int m_numTriangles;
-	const unsigned char* m_triangleIndexBase;
-	// Size in byte of the indices for one triangle (3*sizeof(index_type) if the indices are tightly packed)
-	int m_triangleIndexStride;
-	int m_numVertices;
-	const unsigned char* m_vertexBase;
-	// Size of a vertex, in bytes
-	int m_vertexStride;
-
-	// The index type is set when adding an indexed mesh to the
-	// b3TriangleIndexVertexArray, do not set it manually
-	PHY_ScalarType m_indexType;
-
-	// The vertex type has a default type similar to Bullet's precision mode (float or double)
-	// but can be set manually if you for example run Bullet with double precision but have
-	// mesh data in single precision..
-	PHY_ScalarType m_vertexType;
-
-	b3IndexedMesh()
-		: m_indexType(PHY_INTEGER),
-#ifdef B3_USE_DOUBLE_PRECISION
-		  m_vertexType(PHY_DOUBLE)
-#else   // B3_USE_DOUBLE_PRECISION
-		  m_vertexType(PHY_FLOAT)
-#endif  // B3_USE_DOUBLE_PRECISION
-	{
-	}
-};
-
-typedef b3AlignedObjectArray<b3IndexedMesh> IndexedMeshArray;
-
-///The b3TriangleIndexVertexArray allows to access multiple triangle meshes, by indexing into existing triangle/index arrays.
-///Additional meshes can be added using addIndexedMesh
-///No duplcate is made of the vertex/index data, it only indexes into external vertex/index arrays.
-///So keep those arrays around during the lifetime of this b3TriangleIndexVertexArray.
-B3_ATTRIBUTE_ALIGNED16(class)
-b3TriangleIndexVertexArray : public b3StridingMeshInterface
-{
-protected:
-	IndexedMeshArray m_indexedMeshes;
-	int m_pad[2];
-	mutable int m_hasAabb;  // using int instead of bool to maintain alignment
-	mutable b3Vector3 m_aabbMin;
-	mutable b3Vector3 m_aabbMax;
-
-public:
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-	b3TriangleIndexVertexArray() : m_hasAabb(0)
-	{
-	}
-
-	virtual ~b3TriangleIndexVertexArray();
-
-	//just to be backwards compatible
-	b3TriangleIndexVertexArray(int numTriangles, int* triangleIndexBase, int triangleIndexStride, int numVertices, b3Scalar* vertexBase, int vertexStride);
-
-	void addIndexedMesh(const b3IndexedMesh& mesh, PHY_ScalarType indexType = PHY_INTEGER)
-	{
-		m_indexedMeshes.push_back(mesh);
-		m_indexedMeshes[m_indexedMeshes.size() - 1].m_indexType = indexType;
-	}
-
-	virtual void getLockedVertexIndexBase(unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& vertexStride, unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart = 0);
-
-	virtual void getLockedReadOnlyVertexIndexBase(const unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& vertexStride, const unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart = 0) const;
-
-	/// unLockVertexBase finishes the access to a subpart of the triangle mesh
-	/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
-	virtual void unLockVertexBase(int subpart) { (void)subpart; }
-
-	virtual void unLockReadOnlyVertexBase(int subpart) const { (void)subpart; }
-
-	/// getNumSubParts returns the number of separate subparts
-	/// each subpart has a continuous array of vertices and indices
-	virtual int getNumSubParts() const
-	{
-		return (int)m_indexedMeshes.size();
-	}
-
-	IndexedMeshArray& getIndexedMeshArray()
-	{
-		return m_indexedMeshes;
-	}
-
-	const IndexedMeshArray& getIndexedMeshArray() const
-	{
-		return m_indexedMeshes;
-	}
-
-	virtual void preallocateVertices(int numverts) { (void)numverts; }
-	virtual void preallocateIndices(int numindices) { (void)numindices; }
-
-	virtual bool hasPremadeAabb() const;
-	virtual void setPremadeAabb(const b3Vector3& aabbMin, const b3Vector3& aabbMax) const;
-	virtual void getPremadeAabb(b3Vector3 * aabbMin, b3Vector3 * aabbMax) const;
-};
-
-#endif  //B3_TRIANGLE_INDEX_VERTEX_ARRAY_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VectorFloat4.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VectorFloat4.h
deleted file mode 100644
index 5cc4b5a626..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VectorFloat4.h
+++ /dev/null
@@ -1,10 +0,0 @@
-#ifndef B3_VECTOR_FLOAT4_H
-#define B3_VECTOR_FLOAT4_H
-
-#include "Bullet3Common/b3Transform.h"
-
-//#define cross3(a,b) (a.cross(b))
-#define float4 b3Vector3
-//#define make_float4(x,y,z,w) b3Vector4(x,y,z,w)
-
-#endif  //B3_VECTOR_FLOAT4_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp
deleted file mode 100644
index 8b0a834efe..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp
+++ /dev/null
@@ -1,574 +0,0 @@
-
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-	
-	Elsevier CDROM license agreements grants nonexclusive license to use the software
-	for any purpose, commercial or non-commercial as long as the following credit is included
-	identifying the original source of the software:
-
-	Parts of the source are "from the book Real-Time Collision Detection by
-	Christer Ericson, published by Morgan Kaufmann Publishers,
-	(c) 2005 Elsevier Inc."
-		
-*/
-
-#include "b3VoronoiSimplexSolver.h"
-
-#define VERTA 0
-#define VERTB 1
-#define VERTC 2
-#define VERTD 3
-
-#define B3_CATCH_DEGENERATE_TETRAHEDRON 1
-void b3VoronoiSimplexSolver::removeVertex(int index)
-{
-	b3Assert(m_numVertices > 0);
-	m_numVertices--;
-	m_simplexVectorW[index] = m_simplexVectorW[m_numVertices];
-	m_simplexPointsP[index] = m_simplexPointsP[m_numVertices];
-	m_simplexPointsQ[index] = m_simplexPointsQ[m_numVertices];
-}
-
-void b3VoronoiSimplexSolver::reduceVertices(const b3UsageBitfield& usedVerts)
-{
-	if ((numVertices() >= 4) && (!usedVerts.usedVertexD))
-		removeVertex(3);
-
-	if ((numVertices() >= 3) && (!usedVerts.usedVertexC))
-		removeVertex(2);
-
-	if ((numVertices() >= 2) && (!usedVerts.usedVertexB))
-		removeVertex(1);
-
-	if ((numVertices() >= 1) && (!usedVerts.usedVertexA))
-		removeVertex(0);
-}
-
-//clear the simplex, remove all the vertices
-void b3VoronoiSimplexSolver::reset()
-{
-	m_cachedValidClosest = false;
-	m_numVertices = 0;
-	m_needsUpdate = true;
-	m_lastW = b3MakeVector3(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
-	m_cachedBC.reset();
-}
-
-//add a vertex
-void b3VoronoiSimplexSolver::addVertex(const b3Vector3& w, const b3Vector3& p, const b3Vector3& q)
-{
-	m_lastW = w;
-	m_needsUpdate = true;
-
-	m_simplexVectorW[m_numVertices] = w;
-	m_simplexPointsP[m_numVertices] = p;
-	m_simplexPointsQ[m_numVertices] = q;
-
-	m_numVertices++;
-}
-
-bool b3VoronoiSimplexSolver::updateClosestVectorAndPoints()
-{
-	if (m_needsUpdate)
-	{
-		m_cachedBC.reset();
-
-		m_needsUpdate = false;
-
-		switch (numVertices())
-		{
-			case 0:
-				m_cachedValidClosest = false;
-				break;
-			case 1:
-			{
-				m_cachedP1 = m_simplexPointsP[0];
-				m_cachedP2 = m_simplexPointsQ[0];
-				m_cachedV = m_cachedP1 - m_cachedP2;  //== m_simplexVectorW[0]
-				m_cachedBC.reset();
-				m_cachedBC.setBarycentricCoordinates(b3Scalar(1.), b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
-				m_cachedValidClosest = m_cachedBC.isValid();
-				break;
-			};
-			case 2:
-			{
-				//closest point origin from line segment
-				const b3Vector3& from = m_simplexVectorW[0];
-				const b3Vector3& to = m_simplexVectorW[1];
-				b3Vector3 nearest;
-
-				b3Vector3 p = b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
-				b3Vector3 diff = p - from;
-				b3Vector3 v = to - from;
-				b3Scalar t = v.dot(diff);
-
-				if (t > 0)
-				{
-					b3Scalar dotVV = v.dot(v);
-					if (t < dotVV)
-					{
-						t /= dotVV;
-						diff -= t * v;
-						m_cachedBC.m_usedVertices.usedVertexA = true;
-						m_cachedBC.m_usedVertices.usedVertexB = true;
-					}
-					else
-					{
-						t = 1;
-						diff -= v;
-						//reduce to 1 point
-						m_cachedBC.m_usedVertices.usedVertexB = true;
-					}
-				}
-				else
-				{
-					t = 0;
-					//reduce to 1 point
-					m_cachedBC.m_usedVertices.usedVertexA = true;
-				}
-				m_cachedBC.setBarycentricCoordinates(1 - t, t);
-				nearest = from + t * v;
-
-				m_cachedP1 = m_simplexPointsP[0] + t * (m_simplexPointsP[1] - m_simplexPointsP[0]);
-				m_cachedP2 = m_simplexPointsQ[0] + t * (m_simplexPointsQ[1] - m_simplexPointsQ[0]);
-				m_cachedV = m_cachedP1 - m_cachedP2;
-
-				reduceVertices(m_cachedBC.m_usedVertices);
-
-				m_cachedValidClosest = m_cachedBC.isValid();
-				break;
-			}
-			case 3:
-			{
-				//closest point origin from triangle
-				b3Vector3 p = b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
-
-				const b3Vector3& a = m_simplexVectorW[0];
-				const b3Vector3& b = m_simplexVectorW[1];
-				const b3Vector3& c = m_simplexVectorW[2];
-
-				closestPtPointTriangle(p, a, b, c, m_cachedBC);
-				m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] +
-							 m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
-							 m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2];
-
-				m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] +
-							 m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] +
-							 m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2];
-
-				m_cachedV = m_cachedP1 - m_cachedP2;
-
-				reduceVertices(m_cachedBC.m_usedVertices);
-				m_cachedValidClosest = m_cachedBC.isValid();
-
-				break;
-			}
-			case 4:
-			{
-				b3Vector3 p = b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
-
-				const b3Vector3& a = m_simplexVectorW[0];
-				const b3Vector3& b = m_simplexVectorW[1];
-				const b3Vector3& c = m_simplexVectorW[2];
-				const b3Vector3& d = m_simplexVectorW[3];
-
-				bool hasSeparation = closestPtPointTetrahedron(p, a, b, c, d, m_cachedBC);
-
-				if (hasSeparation)
-				{
-					m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] +
-								 m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
-								 m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2] +
-								 m_simplexPointsP[3] * m_cachedBC.m_barycentricCoords[3];
-
-					m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] +
-								 m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] +
-								 m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2] +
-								 m_simplexPointsQ[3] * m_cachedBC.m_barycentricCoords[3];
-
-					m_cachedV = m_cachedP1 - m_cachedP2;
-					reduceVertices(m_cachedBC.m_usedVertices);
-				}
-				else
-				{
-					//					printf("sub distance got penetration\n");
-
-					if (m_cachedBC.m_degenerate)
-					{
-						m_cachedValidClosest = false;
-					}
-					else
-					{
-						m_cachedValidClosest = true;
-						//degenerate case == false, penetration = true + zero
-						m_cachedV.setValue(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
-					}
-					break;
-				}
-
-				m_cachedValidClosest = m_cachedBC.isValid();
-
-				//closest point origin from tetrahedron
-				break;
-			}
-			default:
-			{
-				m_cachedValidClosest = false;
-			}
-		};
-	}
-
-	return m_cachedValidClosest;
-}
-
-//return/calculate the closest vertex
-bool b3VoronoiSimplexSolver::closest(b3Vector3& v)
-{
-	bool succes = updateClosestVectorAndPoints();
-	v = m_cachedV;
-	return succes;
-}
-
-b3Scalar b3VoronoiSimplexSolver::maxVertex()
-{
-	int i, numverts = numVertices();
-	b3Scalar maxV = b3Scalar(0.);
-	for (i = 0; i < numverts; i++)
-	{
-		b3Scalar curLen2 = m_simplexVectorW[i].length2();
-		if (maxV < curLen2)
-			maxV = curLen2;
-	}
-	return maxV;
-}
-
-//return the current simplex
-int b3VoronoiSimplexSolver::getSimplex(b3Vector3* pBuf, b3Vector3* qBuf, b3Vector3* yBuf) const
-{
-	int i;
-	for (i = 0; i < numVertices(); i++)
-	{
-		yBuf[i] = m_simplexVectorW[i];
-		pBuf[i] = m_simplexPointsP[i];
-		qBuf[i] = m_simplexPointsQ[i];
-	}
-	return numVertices();
-}
-
-bool b3VoronoiSimplexSolver::inSimplex(const b3Vector3& w)
-{
-	bool found = false;
-	int i, numverts = numVertices();
-	//b3Scalar maxV = b3Scalar(0.);
-
-	//w is in the current (reduced) simplex
-	for (i = 0; i < numverts; i++)
-	{
-#ifdef BT_USE_EQUAL_VERTEX_THRESHOLD
-		if (m_simplexVectorW[i].distance2(w) <= m_equalVertexThreshold)
-#else
-		if (m_simplexVectorW[i] == w)
-#endif
-			found = true;
-	}
-
-	//check in case lastW is already removed
-	if (w == m_lastW)
-		return true;
-
-	return found;
-}
-
-void b3VoronoiSimplexSolver::backup_closest(b3Vector3& v)
-{
-	v = m_cachedV;
-}
-
-bool b3VoronoiSimplexSolver::emptySimplex() const
-{
-	return (numVertices() == 0);
-}
-
-void b3VoronoiSimplexSolver::compute_points(b3Vector3& p1, b3Vector3& p2)
-{
-	updateClosestVectorAndPoints();
-	p1 = m_cachedP1;
-	p2 = m_cachedP2;
-}
-
-bool b3VoronoiSimplexSolver::closestPtPointTriangle(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c, b3SubSimplexClosestResult& result)
-{
-	result.m_usedVertices.reset();
-
-	// Check if P in vertex region outside A
-	b3Vector3 ab = b - a;
-	b3Vector3 ac = c - a;
-	b3Vector3 ap = p - a;
-	b3Scalar d1 = ab.dot(ap);
-	b3Scalar d2 = ac.dot(ap);
-	if (d1 <= b3Scalar(0.0) && d2 <= b3Scalar(0.0))
-	{
-		result.m_closestPointOnSimplex = a;
-		result.m_usedVertices.usedVertexA = true;
-		result.setBarycentricCoordinates(1, 0, 0);
-		return true;  // a; // barycentric coordinates (1,0,0)
-	}
-
-	// Check if P in vertex region outside B
-	b3Vector3 bp = p - b;
-	b3Scalar d3 = ab.dot(bp);
-	b3Scalar d4 = ac.dot(bp);
-	if (d3 >= b3Scalar(0.0) && d4 <= d3)
-	{
-		result.m_closestPointOnSimplex = b;
-		result.m_usedVertices.usedVertexB = true;
-		result.setBarycentricCoordinates(0, 1, 0);
-
-		return true;  // b; // barycentric coordinates (0,1,0)
-	}
-	// Check if P in edge region of AB, if so return projection of P onto AB
-	b3Scalar vc = d1 * d4 - d3 * d2;
-	if (vc <= b3Scalar(0.0) && d1 >= b3Scalar(0.0) && d3 <= b3Scalar(0.0))
-	{
-		b3Scalar v = d1 / (d1 - d3);
-		result.m_closestPointOnSimplex = a + v * ab;
-		result.m_usedVertices.usedVertexA = true;
-		result.m_usedVertices.usedVertexB = true;
-		result.setBarycentricCoordinates(1 - v, v, 0);
-		return true;
-		//return a + v * ab; // barycentric coordinates (1-v,v,0)
-	}
-
-	// Check if P in vertex region outside C
-	b3Vector3 cp = p - c;
-	b3Scalar d5 = ab.dot(cp);
-	b3Scalar d6 = ac.dot(cp);
-	if (d6 >= b3Scalar(0.0) && d5 <= d6)
-	{
-		result.m_closestPointOnSimplex = c;
-		result.m_usedVertices.usedVertexC = true;
-		result.setBarycentricCoordinates(0, 0, 1);
-		return true;  //c; // barycentric coordinates (0,0,1)
-	}
-
-	// Check if P in edge region of AC, if so return projection of P onto AC
-	b3Scalar vb = d5 * d2 - d1 * d6;
-	if (vb <= b3Scalar(0.0) && d2 >= b3Scalar(0.0) && d6 <= b3Scalar(0.0))
-	{
-		b3Scalar w = d2 / (d2 - d6);
-		result.m_closestPointOnSimplex = a + w * ac;
-		result.m_usedVertices.usedVertexA = true;
-		result.m_usedVertices.usedVertexC = true;
-		result.setBarycentricCoordinates(1 - w, 0, w);
-		return true;
-		//return a + w * ac; // barycentric coordinates (1-w,0,w)
-	}
-
-	// Check if P in edge region of BC, if so return projection of P onto BC
-	b3Scalar va = d3 * d6 - d5 * d4;
-	if (va <= b3Scalar(0.0) && (d4 - d3) >= b3Scalar(0.0) && (d5 - d6) >= b3Scalar(0.0))
-	{
-		b3Scalar w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
-
-		result.m_closestPointOnSimplex = b + w * (c - b);
-		result.m_usedVertices.usedVertexB = true;
-		result.m_usedVertices.usedVertexC = true;
-		result.setBarycentricCoordinates(0, 1 - w, w);
-		return true;
-		// return b + w * (c - b); // barycentric coordinates (0,1-w,w)
-	}
-
-	// P inside face region. Compute Q through its barycentric coordinates (u,v,w)
-	b3Scalar denom = b3Scalar(1.0) / (va + vb + vc);
-	b3Scalar v = vb * denom;
-	b3Scalar w = vc * denom;
-
-	result.m_closestPointOnSimplex = a + ab * v + ac * w;
-	result.m_usedVertices.usedVertexA = true;
-	result.m_usedVertices.usedVertexB = true;
-	result.m_usedVertices.usedVertexC = true;
-	result.setBarycentricCoordinates(1 - v - w, v, w);
-
-	return true;
-	//	return a + ab * v + ac * w; // = u*a + v*b + w*c, u = va * denom = b3Scalar(1.0) - v - w
-}
-
-/// Test if point p and d lie on opposite sides of plane through abc
-int b3VoronoiSimplexSolver::pointOutsideOfPlane(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c, const b3Vector3& d)
-{
-	b3Vector3 normal = (b - a).cross(c - a);
-
-	b3Scalar signp = (p - a).dot(normal);  // [AP AB AC]
-	b3Scalar signd = (d - a).dot(normal);  // [AD AB AC]
-
-#ifdef B3_CATCH_DEGENERATE_TETRAHEDRON
-#ifdef BT_USE_DOUBLE_PRECISION
-	if (signd * signd < (b3Scalar(1e-8) * b3Scalar(1e-8)))
-	{
-		return -1;
-	}
-#else
-	if (signd * signd < (b3Scalar(1e-4) * b3Scalar(1e-4)))
-	{
-		//		printf("affine dependent/degenerate\n");//
-		return -1;
-	}
-#endif
-
-#endif
-	// Points on opposite sides if expression signs are opposite
-	return signp * signd < b3Scalar(0.);
-}
-
-bool b3VoronoiSimplexSolver::closestPtPointTetrahedron(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c, const b3Vector3& d, b3SubSimplexClosestResult& finalResult)
-{
-	b3SubSimplexClosestResult tempResult;
-
-	// Start out assuming point inside all halfspaces, so closest to itself
-	finalResult.m_closestPointOnSimplex = p;
-	finalResult.m_usedVertices.reset();
-	finalResult.m_usedVertices.usedVertexA = true;
-	finalResult.m_usedVertices.usedVertexB = true;
-	finalResult.m_usedVertices.usedVertexC = true;
-	finalResult.m_usedVertices.usedVertexD = true;
-
-	int pointOutsideABC = pointOutsideOfPlane(p, a, b, c, d);
-	int pointOutsideACD = pointOutsideOfPlane(p, a, c, d, b);
-	int pointOutsideADB = pointOutsideOfPlane(p, a, d, b, c);
-	int pointOutsideBDC = pointOutsideOfPlane(p, b, d, c, a);
-
-	if (pointOutsideABC < 0 || pointOutsideACD < 0 || pointOutsideADB < 0 || pointOutsideBDC < 0)
-	{
-		finalResult.m_degenerate = true;
-		return false;
-	}
-
-	if (!pointOutsideABC && !pointOutsideACD && !pointOutsideADB && !pointOutsideBDC)
-	{
-		return false;
-	}
-
-	b3Scalar bestSqDist = FLT_MAX;
-	// If point outside face abc then compute closest point on abc
-	if (pointOutsideABC)
-	{
-		closestPtPointTriangle(p, a, b, c, tempResult);
-		b3Vector3 q = tempResult.m_closestPointOnSimplex;
-
-		b3Scalar sqDist = (q - p).dot(q - p);
-		// Update best closest point if (squared) distance is less than current best
-		if (sqDist < bestSqDist)
-		{
-			bestSqDist = sqDist;
-			finalResult.m_closestPointOnSimplex = q;
-			//convert result bitmask!
-			finalResult.m_usedVertices.reset();
-			finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
-			finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexB;
-			finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexC;
-			finalResult.setBarycentricCoordinates(
-				tempResult.m_barycentricCoords[VERTA],
-				tempResult.m_barycentricCoords[VERTB],
-				tempResult.m_barycentricCoords[VERTC],
-				0);
-		}
-	}
-
-	// Repeat test for face acd
-	if (pointOutsideACD)
-	{
-		closestPtPointTriangle(p, a, c, d, tempResult);
-		b3Vector3 q = tempResult.m_closestPointOnSimplex;
-		//convert result bitmask!
-
-		b3Scalar sqDist = (q - p).dot(q - p);
-		if (sqDist < bestSqDist)
-		{
-			bestSqDist = sqDist;
-			finalResult.m_closestPointOnSimplex = q;
-			finalResult.m_usedVertices.reset();
-			finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
-
-			finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexB;
-			finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexC;
-			finalResult.setBarycentricCoordinates(
-				tempResult.m_barycentricCoords[VERTA],
-				0,
-				tempResult.m_barycentricCoords[VERTB],
-				tempResult.m_barycentricCoords[VERTC]);
-		}
-	}
-	// Repeat test for face adb
-
-	if (pointOutsideADB)
-	{
-		closestPtPointTriangle(p, a, d, b, tempResult);
-		b3Vector3 q = tempResult.m_closestPointOnSimplex;
-		//convert result bitmask!
-
-		b3Scalar sqDist = (q - p).dot(q - p);
-		if (sqDist < bestSqDist)
-		{
-			bestSqDist = sqDist;
-			finalResult.m_closestPointOnSimplex = q;
-			finalResult.m_usedVertices.reset();
-			finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
-			finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexC;
-
-			finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
-			finalResult.setBarycentricCoordinates(
-				tempResult.m_barycentricCoords[VERTA],
-				tempResult.m_barycentricCoords[VERTC],
-				0,
-				tempResult.m_barycentricCoords[VERTB]);
-		}
-	}
-	// Repeat test for face bdc
-
-	if (pointOutsideBDC)
-	{
-		closestPtPointTriangle(p, b, d, c, tempResult);
-		b3Vector3 q = tempResult.m_closestPointOnSimplex;
-		//convert result bitmask!
-		b3Scalar sqDist = (q - p).dot(q - p);
-		if (sqDist < bestSqDist)
-		{
-			bestSqDist = sqDist;
-			finalResult.m_closestPointOnSimplex = q;
-			finalResult.m_usedVertices.reset();
-			//
-			finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexA;
-			finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexC;
-			finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
-
-			finalResult.setBarycentricCoordinates(
-				0,
-				tempResult.m_barycentricCoords[VERTA],
-				tempResult.m_barycentricCoords[VERTC],
-				tempResult.m_barycentricCoords[VERTB]);
-		}
-	}
-
-	//help! we ended up full !
-
-	if (finalResult.m_usedVertices.usedVertexA &&
-		finalResult.m_usedVertices.usedVertexB &&
-		finalResult.m_usedVertices.usedVertexC &&
-		finalResult.m_usedVertices.usedVertexD)
-	{
-		return true;
-	}
-
-	return true;
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.h
deleted file mode 100644
index b40b169978..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.h
+++ /dev/null
@@ -1,164 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_VORONOI_SIMPLEX_SOLVER_H
-#define B3_VORONOI_SIMPLEX_SOLVER_H
-
-#include "Bullet3Common/b3Vector3.h"
-
-#define VORONOI_SIMPLEX_MAX_VERTS 5
-
-///disable next define, or use defaultCollisionConfiguration->getSimplexSolver()->setEqualVertexThreshold(0.f) to disable/configure
-//#define BT_USE_EQUAL_VERTEX_THRESHOLD
-#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f
-
-struct b3UsageBitfield
-{
-	b3UsageBitfield()
-	{
-		reset();
-	}
-
-	void reset()
-	{
-		usedVertexA = false;
-		usedVertexB = false;
-		usedVertexC = false;
-		usedVertexD = false;
-	}
-	unsigned short usedVertexA : 1;
-	unsigned short usedVertexB : 1;
-	unsigned short usedVertexC : 1;
-	unsigned short usedVertexD : 1;
-	unsigned short unused1 : 1;
-	unsigned short unused2 : 1;
-	unsigned short unused3 : 1;
-	unsigned short unused4 : 1;
-};
-
-struct b3SubSimplexClosestResult
-{
-	b3Vector3 m_closestPointOnSimplex;
-	//MASK for m_usedVertices
-	//stores the simplex vertex-usage, using the MASK,
-	// if m_usedVertices & MASK then the related vertex is used
-	b3UsageBitfield m_usedVertices;
-	b3Scalar m_barycentricCoords[4];
-	bool m_degenerate;
-
-	void reset()
-	{
-		m_degenerate = false;
-		setBarycentricCoordinates();
-		m_usedVertices.reset();
-	}
-	bool isValid()
-	{
-		bool valid = (m_barycentricCoords[0] >= b3Scalar(0.)) &&
-					 (m_barycentricCoords[1] >= b3Scalar(0.)) &&
-					 (m_barycentricCoords[2] >= b3Scalar(0.)) &&
-					 (m_barycentricCoords[3] >= b3Scalar(0.));
-
-		return valid;
-	}
-	void setBarycentricCoordinates(b3Scalar a = b3Scalar(0.), b3Scalar b = b3Scalar(0.), b3Scalar c = b3Scalar(0.), b3Scalar d = b3Scalar(0.))
-	{
-		m_barycentricCoords[0] = a;
-		m_barycentricCoords[1] = b;
-		m_barycentricCoords[2] = c;
-		m_barycentricCoords[3] = d;
-	}
-};
-
-/// b3VoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin.
-/// Can be used with GJK, as an alternative to Johnson distance algorithm.
-
-B3_ATTRIBUTE_ALIGNED16(class)
-b3VoronoiSimplexSolver
-{
-public:
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-	int m_numVertices;
-
-	b3Vector3 m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];
-	b3Vector3 m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS];
-	b3Vector3 m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS];
-
-	b3Vector3 m_cachedP1;
-	b3Vector3 m_cachedP2;
-	b3Vector3 m_cachedV;
-	b3Vector3 m_lastW;
-
-	b3Scalar m_equalVertexThreshold;
-	bool m_cachedValidClosest;
-
-	b3SubSimplexClosestResult m_cachedBC;
-
-	bool m_needsUpdate;
-
-	void removeVertex(int index);
-	void reduceVertices(const b3UsageBitfield& usedVerts);
-	bool updateClosestVectorAndPoints();
-
-	bool closestPtPointTetrahedron(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c, const b3Vector3& d, b3SubSimplexClosestResult& finalResult);
-	int pointOutsideOfPlane(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c, const b3Vector3& d);
-	bool closestPtPointTriangle(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c, b3SubSimplexClosestResult& result);
-
-public:
-	b3VoronoiSimplexSolver()
-		: m_equalVertexThreshold(VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD)
-	{
-	}
-	void reset();
-
-	void addVertex(const b3Vector3& w, const b3Vector3& p, const b3Vector3& q);
-
-	void setEqualVertexThreshold(b3Scalar threshold)
-	{
-		m_equalVertexThreshold = threshold;
-	}
-
-	b3Scalar getEqualVertexThreshold() const
-	{
-		return m_equalVertexThreshold;
-	}
-
-	bool closest(b3Vector3 & v);
-
-	b3Scalar maxVertex();
-
-	bool fullSimplex() const
-	{
-		return (m_numVertices == 4);
-	}
-
-	int getSimplex(b3Vector3 * pBuf, b3Vector3 * qBuf, b3Vector3 * yBuf) const;
-
-	bool inSimplex(const b3Vector3& w);
-
-	void backup_closest(b3Vector3 & v);
-
-	bool emptySimplex() const;
-
-	void compute_points(b3Vector3 & p1, b3Vector3 & p2);
-
-	int numVertices() const
-	{
-		return m_numVertices;
-	}
-};
-
-#endif  //B3_VORONOI_SIMPLEX_SOLVER_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.cl b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.cl
deleted file mode 100644
index faa413441c..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.cl
+++ /dev/null
@@ -1,283 +0,0 @@
-//keep this enum in sync with the CPU version (in btCollidable.h)
-//written by Erwin Coumans
-
-#define SHAPE_CONVEX_HULL 3
-#define SHAPE_CONCAVE_TRIMESH 5
-#define TRIANGLE_NUM_CONVEX_FACES 5
-#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6
-#define SHAPE_SPHERE 7
-
-typedef unsigned int u32;
-
-#define MAX_NUM_PARTS_IN_BITS 10
-
-///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
-///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
-typedef struct
-{
-	//12 bytes
-	unsigned short int	m_quantizedAabbMin[3];
-	unsigned short int	m_quantizedAabbMax[3];
-	//4 bytes
-	int	m_escapeIndexOrTriangleIndex;
-} btQuantizedBvhNode;
-
-typedef struct
-{
-	float4		m_aabbMin;
-	float4		m_aabbMax;
-	float4		m_quantization;
-	int			m_numNodes;
-	int			m_numSubTrees;
-	int			m_nodeOffset;
-	int			m_subTreeOffset;
-
-} b3BvhInfo;
-
-int	getTriangleIndex(const btQuantizedBvhNode* rootNode)
-{
-	unsigned int x=0;
-	unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
-	// Get only the lower bits where the triangle index is stored
-	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));
-}
-
-int isLeaf(const btQuantizedBvhNode* rootNode)
-{
-	//skipindex is negative (internal node), triangleindex >=0 (leafnode)
-	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;
-}
-	
-int getEscapeIndex(const btQuantizedBvhNode* rootNode)
-{
-	return -rootNode->m_escapeIndexOrTriangleIndex;
-}
-
-typedef struct
-{
-	//12 bytes
-	unsigned short int	m_quantizedAabbMin[3];
-	unsigned short int	m_quantizedAabbMax[3];
-	//4 bytes, points to the root of the subtree
-	int			m_rootNodeIndex;
-	//4 bytes
-	int			m_subtreeSize;
-	int			m_padding[3];
-} btBvhSubtreeInfo;
-
-///keep this in sync with btCollidable.h
-typedef struct
-{
-	int m_numChildShapes;
-	int blaat2;
-	int m_shapeType;
-	int m_shapeIndex;
-	
-} btCollidableGpu;
-
-typedef struct
-{
-	float4	m_childPosition;
-	float4	m_childOrientation;
-	int m_shapeIndex;
-	int m_unused0;
-	int m_unused1;
-	int m_unused2;
-} btGpuChildShape;
-
-
-typedef struct
-{
-	float4 m_pos;
-	float4 m_quat;
-	float4 m_linVel;
-	float4 m_angVel;
-
-	u32 m_collidableIdx;
-	float m_invMass;
-	float m_restituitionCoeff;
-	float m_frictionCoeff;
-} BodyData;
-
-typedef struct 
-{
-	union
-	{
-		float4	m_min;
-		float   m_minElems[4];
-		int			m_minIndices[4];
-	};
-	union
-	{
-		float4	m_max;
-		float   m_maxElems[4];
-		int			m_maxIndices[4];
-	};
-} btAabbCL;
-
-
-int testQuantizedAabbAgainstQuantizedAabb(
-								const unsigned short int* aabbMin1,
-								const unsigned short int* aabbMax1,
-								const unsigned short int* aabbMin2,
-								const unsigned short int* aabbMax2)
-{
-	//int overlap = 1;
-	if (aabbMin1[0] > aabbMax2[0])
-		return 0;
-	if (aabbMax1[0] < aabbMin2[0])
-		return 0;
-	if (aabbMin1[1] > aabbMax2[1])
-		return 0;
-	if (aabbMax1[1] < aabbMin2[1])
-		return 0;
-	if (aabbMin1[2] > aabbMax2[2])
-		return 0;
-	if (aabbMax1[2] < aabbMin2[2])
-		return 0;
-	return 1;
-	//overlap = ((aabbMin1[0] > aabbMax2[0]) || (aabbMax1[0] < aabbMin2[0])) ? 0 : overlap;
-	//overlap = ((aabbMin1[2] > aabbMax2[2]) || (aabbMax1[2] < aabbMin2[2])) ? 0 : overlap;
-	//overlap = ((aabbMin1[1] > aabbMax2[1]) || (aabbMax1[1] < aabbMin2[1])) ? 0 : overlap;
-	//return overlap;
-}
-
-
-void quantizeWithClamp(unsigned short* out, float4 point2,int isMax, float4 bvhAabbMin, float4 bvhAabbMax, float4 bvhQuantization)
-{
-	float4 clampedPoint = max(point2,bvhAabbMin);
-	clampedPoint = min (clampedPoint, bvhAabbMax);
-
-	float4 v = (clampedPoint - bvhAabbMin) * bvhQuantization;
-	if (isMax)
-	{
-		out[0] = (unsigned short) (((unsigned short)(v.x+1.f) | 1));
-		out[1] = (unsigned short) (((unsigned short)(v.y+1.f) | 1));
-		out[2] = (unsigned short) (((unsigned short)(v.z+1.f) | 1));
-	} else
-	{
-		out[0] = (unsigned short) (((unsigned short)(v.x) & 0xfffe));
-		out[1] = (unsigned short) (((unsigned short)(v.y) & 0xfffe));
-		out[2] = (unsigned short) (((unsigned short)(v.z) & 0xfffe));
-	}
-
-}
-
-
-// work-in-progress
-__kernel void   bvhTraversalKernel( __global const int4* pairs, 
-									__global const BodyData* rigidBodies, 
-									__global const btCollidableGpu* collidables,
-									__global btAabbCL* aabbs,
-									__global int4* concavePairsOut,
-									__global volatile int* numConcavePairsOut,
-									__global const btBvhSubtreeInfo* subtreeHeadersRoot,
-									__global const btQuantizedBvhNode* quantizedNodesRoot,
-									__global const b3BvhInfo* bvhInfos,
-									int numPairs,
-									int maxNumConcavePairsCapacity)
-{
-	int id = get_global_id(0);
-	if (id>=numPairs)
-		return;
-	
-	int bodyIndexA = pairs[id].x;
-	int bodyIndexB = pairs[id].y;
-	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-	
-	//once the broadphase avoids static-static pairs, we can remove this test
-	if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))
-	{
-		return;
-	}
-		
-	if (collidables[collidableIndexA].m_shapeType!=SHAPE_CONCAVE_TRIMESH)
-		return;
-
-	int shapeTypeB = collidables[collidableIndexB].m_shapeType;
-		
-	if (shapeTypeB!=SHAPE_CONVEX_HULL &&
-		shapeTypeB!=SHAPE_SPHERE	&&
-		shapeTypeB!=SHAPE_COMPOUND_OF_CONVEX_HULLS
-		)
-		return;
-
-	b3BvhInfo bvhInfo = bvhInfos[collidables[collidableIndexA].m_numChildShapes];
-
-	float4 bvhAabbMin = bvhInfo.m_aabbMin;
-	float4 bvhAabbMax = bvhInfo.m_aabbMax;
-	float4 bvhQuantization = bvhInfo.m_quantization;
-	int numSubtreeHeaders = bvhInfo.m_numSubTrees;
-	__global const btBvhSubtreeInfo* subtreeHeaders = &subtreeHeadersRoot[bvhInfo.m_subTreeOffset];
-	__global const btQuantizedBvhNode* quantizedNodes = &quantizedNodesRoot[bvhInfo.m_nodeOffset];
-	
-
-	unsigned short int quantizedQueryAabbMin[3];
-	unsigned short int quantizedQueryAabbMax[3];
-	quantizeWithClamp(quantizedQueryAabbMin,aabbs[bodyIndexB].m_min,false,bvhAabbMin, bvhAabbMax,bvhQuantization);
-	quantizeWithClamp(quantizedQueryAabbMax,aabbs[bodyIndexB].m_max,true ,bvhAabbMin, bvhAabbMax,bvhQuantization);
-	
-	for (int i=0;i<numSubtreeHeaders;i++)
-	{
-		btBvhSubtreeInfo subtree = subtreeHeaders[i];
-				
-		int overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);
-		if (overlap != 0)
-		{
-			int startNodeIndex = subtree.m_rootNodeIndex;
-			int endNodeIndex = subtree.m_rootNodeIndex+subtree.m_subtreeSize;
-			int curIndex = startNodeIndex;
-			int escapeIndex;
-			int isLeafNode;
-			int aabbOverlap;
-			while (curIndex < endNodeIndex)
-			{
-				btQuantizedBvhNode rootNode = quantizedNodes[curIndex];
-				aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode.m_quantizedAabbMin,rootNode.m_quantizedAabbMax);
-				isLeafNode = isLeaf(&rootNode);
-				if (aabbOverlap)
-				{
-					if (isLeafNode)
-					{
-						int triangleIndex = getTriangleIndex(&rootNode);
-						if (shapeTypeB==SHAPE_COMPOUND_OF_CONVEX_HULLS)
-						{
-								int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
-								int pairIdx = atomic_add(numConcavePairsOut,numChildrenB);
-								for (int b=0;b<numChildrenB;b++)
-								{
-									if ((pairIdx+b)<maxNumConcavePairsCapacity)
-									{
-										int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;
-										int4 newPair = (int4)(bodyIndexA,bodyIndexB,triangleIndex,childShapeIndexB);
-										concavePairsOut[pairIdx+b] = newPair;
-									}
-								}
-						} else
-						{
-							int pairIdx = atomic_inc(numConcavePairsOut);
-							if (pairIdx<maxNumConcavePairsCapacity)
-							{
-								int4 newPair = (int4)(bodyIndexA,bodyIndexB,triangleIndex,0);
-								concavePairsOut[pairIdx] = newPair;
-							}
-						}
-					} 
-					curIndex++;
-				} else
-				{
-					if (isLeafNode)
-					{
-						curIndex++;
-					} else
-					{
-						escapeIndex = getEscapeIndex(&rootNode);
-						curIndex += escapeIndex;
-					}
-				}
-			}
-		}
-	}
-
-}
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.h
deleted file mode 100644
index f1df8a6970..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.h
+++ /dev/null
@@ -1,257 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* bvhTraversalKernelCL =
-	"//keep this enum in sync with the CPU version (in btCollidable.h)\n"
-	"//written by Erwin Coumans\n"
-	"#define SHAPE_CONVEX_HULL 3\n"
-	"#define SHAPE_CONCAVE_TRIMESH 5\n"
-	"#define TRIANGLE_NUM_CONVEX_FACES 5\n"
-	"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
-	"#define SHAPE_SPHERE 7\n"
-	"typedef unsigned int u32;\n"
-	"#define MAX_NUM_PARTS_IN_BITS 10\n"
-	"///btQuantizedBvhNode is a compressed aabb node, 16 bytes.\n"
-	"///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).\n"
-	"typedef struct\n"
-	"{\n"
-	"	//12 bytes\n"
-	"	unsigned short int	m_quantizedAabbMin[3];\n"
-	"	unsigned short int	m_quantizedAabbMax[3];\n"
-	"	//4 bytes\n"
-	"	int	m_escapeIndexOrTriangleIndex;\n"
-	"} btQuantizedBvhNode;\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4		m_aabbMin;\n"
-	"	float4		m_aabbMax;\n"
-	"	float4		m_quantization;\n"
-	"	int			m_numNodes;\n"
-	"	int			m_numSubTrees;\n"
-	"	int			m_nodeOffset;\n"
-	"	int			m_subTreeOffset;\n"
-	"} b3BvhInfo;\n"
-	"int	getTriangleIndex(const btQuantizedBvhNode* rootNode)\n"
-	"{\n"
-	"	unsigned int x=0;\n"
-	"	unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);\n"
-	"	// Get only the lower bits where the triangle index is stored\n"
-	"	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));\n"
-	"}\n"
-	"int isLeaf(const btQuantizedBvhNode* rootNode)\n"
-	"{\n"
-	"	//skipindex is negative (internal node), triangleindex >=0 (leafnode)\n"
-	"	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;\n"
-	"}\n"
-	"	\n"
-	"int getEscapeIndex(const btQuantizedBvhNode* rootNode)\n"
-	"{\n"
-	"	return -rootNode->m_escapeIndexOrTriangleIndex;\n"
-	"}\n"
-	"typedef struct\n"
-	"{\n"
-	"	//12 bytes\n"
-	"	unsigned short int	m_quantizedAabbMin[3];\n"
-	"	unsigned short int	m_quantizedAabbMax[3];\n"
-	"	//4 bytes, points to the root of the subtree\n"
-	"	int			m_rootNodeIndex;\n"
-	"	//4 bytes\n"
-	"	int			m_subtreeSize;\n"
-	"	int			m_padding[3];\n"
-	"} btBvhSubtreeInfo;\n"
-	"///keep this in sync with btCollidable.h\n"
-	"typedef struct\n"
-	"{\n"
-	"	int m_numChildShapes;\n"
-	"	int blaat2;\n"
-	"	int m_shapeType;\n"
-	"	int m_shapeIndex;\n"
-	"	\n"
-	"} btCollidableGpu;\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4	m_childPosition;\n"
-	"	float4	m_childOrientation;\n"
-	"	int m_shapeIndex;\n"
-	"	int m_unused0;\n"
-	"	int m_unused1;\n"
-	"	int m_unused2;\n"
-	"} btGpuChildShape;\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_pos;\n"
-	"	float4 m_quat;\n"
-	"	float4 m_linVel;\n"
-	"	float4 m_angVel;\n"
-	"	u32 m_collidableIdx;\n"
-	"	float m_invMass;\n"
-	"	float m_restituitionCoeff;\n"
-	"	float m_frictionCoeff;\n"
-	"} BodyData;\n"
-	"typedef struct \n"
-	"{\n"
-	"	union\n"
-	"	{\n"
-	"		float4	m_min;\n"
-	"		float   m_minElems[4];\n"
-	"		int			m_minIndices[4];\n"
-	"	};\n"
-	"	union\n"
-	"	{\n"
-	"		float4	m_max;\n"
-	"		float   m_maxElems[4];\n"
-	"		int			m_maxIndices[4];\n"
-	"	};\n"
-	"} btAabbCL;\n"
-	"int testQuantizedAabbAgainstQuantizedAabb(\n"
-	"								const unsigned short int* aabbMin1,\n"
-	"								const unsigned short int* aabbMax1,\n"
-	"								const unsigned short int* aabbMin2,\n"
-	"								const unsigned short int* aabbMax2)\n"
-	"{\n"
-	"	//int overlap = 1;\n"
-	"	if (aabbMin1[0] > aabbMax2[0])\n"
-	"		return 0;\n"
-	"	if (aabbMax1[0] < aabbMin2[0])\n"
-	"		return 0;\n"
-	"	if (aabbMin1[1] > aabbMax2[1])\n"
-	"		return 0;\n"
-	"	if (aabbMax1[1] < aabbMin2[1])\n"
-	"		return 0;\n"
-	"	if (aabbMin1[2] > aabbMax2[2])\n"
-	"		return 0;\n"
-	"	if (aabbMax1[2] < aabbMin2[2])\n"
-	"		return 0;\n"
-	"	return 1;\n"
-	"	//overlap = ((aabbMin1[0] > aabbMax2[0]) || (aabbMax1[0] < aabbMin2[0])) ? 0 : overlap;\n"
-	"	//overlap = ((aabbMin1[2] > aabbMax2[2]) || (aabbMax1[2] < aabbMin2[2])) ? 0 : overlap;\n"
-	"	//overlap = ((aabbMin1[1] > aabbMax2[1]) || (aabbMax1[1] < aabbMin2[1])) ? 0 : overlap;\n"
-	"	//return overlap;\n"
-	"}\n"
-	"void quantizeWithClamp(unsigned short* out, float4 point2,int isMax, float4 bvhAabbMin, float4 bvhAabbMax, float4 bvhQuantization)\n"
-	"{\n"
-	"	float4 clampedPoint = max(point2,bvhAabbMin);\n"
-	"	clampedPoint = min (clampedPoint, bvhAabbMax);\n"
-	"	float4 v = (clampedPoint - bvhAabbMin) * bvhQuantization;\n"
-	"	if (isMax)\n"
-	"	{\n"
-	"		out[0] = (unsigned short) (((unsigned short)(v.x+1.f) | 1));\n"
-	"		out[1] = (unsigned short) (((unsigned short)(v.y+1.f) | 1));\n"
-	"		out[2] = (unsigned short) (((unsigned short)(v.z+1.f) | 1));\n"
-	"	} else\n"
-	"	{\n"
-	"		out[0] = (unsigned short) (((unsigned short)(v.x) & 0xfffe));\n"
-	"		out[1] = (unsigned short) (((unsigned short)(v.y) & 0xfffe));\n"
-	"		out[2] = (unsigned short) (((unsigned short)(v.z) & 0xfffe));\n"
-	"	}\n"
-	"}\n"
-	"// work-in-progress\n"
-	"__kernel void   bvhTraversalKernel( __global const int4* pairs, \n"
-	"									__global const BodyData* rigidBodies, \n"
-	"									__global const btCollidableGpu* collidables,\n"
-	"									__global btAabbCL* aabbs,\n"
-	"									__global int4* concavePairsOut,\n"
-	"									__global volatile int* numConcavePairsOut,\n"
-	"									__global const btBvhSubtreeInfo* subtreeHeadersRoot,\n"
-	"									__global const btQuantizedBvhNode* quantizedNodesRoot,\n"
-	"									__global const b3BvhInfo* bvhInfos,\n"
-	"									int numPairs,\n"
-	"									int maxNumConcavePairsCapacity)\n"
-	"{\n"
-	"	int id = get_global_id(0);\n"
-	"	if (id>=numPairs)\n"
-	"		return;\n"
-	"	\n"
-	"	int bodyIndexA = pairs[id].x;\n"
-	"	int bodyIndexB = pairs[id].y;\n"
-	"	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-	"	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-	"	\n"
-	"	//once the broadphase avoids static-static pairs, we can remove this test\n"
-	"	if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))\n"
-	"	{\n"
-	"		return;\n"
-	"	}\n"
-	"		\n"
-	"	if (collidables[collidableIndexA].m_shapeType!=SHAPE_CONCAVE_TRIMESH)\n"
-	"		return;\n"
-	"	int shapeTypeB = collidables[collidableIndexB].m_shapeType;\n"
-	"		\n"
-	"	if (shapeTypeB!=SHAPE_CONVEX_HULL &&\n"
-	"		shapeTypeB!=SHAPE_SPHERE	&&\n"
-	"		shapeTypeB!=SHAPE_COMPOUND_OF_CONVEX_HULLS\n"
-	"		)\n"
-	"		return;\n"
-	"	b3BvhInfo bvhInfo = bvhInfos[collidables[collidableIndexA].m_numChildShapes];\n"
-	"	float4 bvhAabbMin = bvhInfo.m_aabbMin;\n"
-	"	float4 bvhAabbMax = bvhInfo.m_aabbMax;\n"
-	"	float4 bvhQuantization = bvhInfo.m_quantization;\n"
-	"	int numSubtreeHeaders = bvhInfo.m_numSubTrees;\n"
-	"	__global const btBvhSubtreeInfo* subtreeHeaders = &subtreeHeadersRoot[bvhInfo.m_subTreeOffset];\n"
-	"	__global const btQuantizedBvhNode* quantizedNodes = &quantizedNodesRoot[bvhInfo.m_nodeOffset];\n"
-	"	\n"
-	"	unsigned short int quantizedQueryAabbMin[3];\n"
-	"	unsigned short int quantizedQueryAabbMax[3];\n"
-	"	quantizeWithClamp(quantizedQueryAabbMin,aabbs[bodyIndexB].m_min,false,bvhAabbMin, bvhAabbMax,bvhQuantization);\n"
-	"	quantizeWithClamp(quantizedQueryAabbMax,aabbs[bodyIndexB].m_max,true ,bvhAabbMin, bvhAabbMax,bvhQuantization);\n"
-	"	\n"
-	"	for (int i=0;i<numSubtreeHeaders;i++)\n"
-	"	{\n"
-	"		btBvhSubtreeInfo subtree = subtreeHeaders[i];\n"
-	"				\n"
-	"		int overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);\n"
-	"		if (overlap != 0)\n"
-	"		{\n"
-	"			int startNodeIndex = subtree.m_rootNodeIndex;\n"
-	"			int endNodeIndex = subtree.m_rootNodeIndex+subtree.m_subtreeSize;\n"
-	"			int curIndex = startNodeIndex;\n"
-	"			int escapeIndex;\n"
-	"			int isLeafNode;\n"
-	"			int aabbOverlap;\n"
-	"			while (curIndex < endNodeIndex)\n"
-	"			{\n"
-	"				btQuantizedBvhNode rootNode = quantizedNodes[curIndex];\n"
-	"				aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode.m_quantizedAabbMin,rootNode.m_quantizedAabbMax);\n"
-	"				isLeafNode = isLeaf(&rootNode);\n"
-	"				if (aabbOverlap)\n"
-	"				{\n"
-	"					if (isLeafNode)\n"
-	"					{\n"
-	"						int triangleIndex = getTriangleIndex(&rootNode);\n"
-	"						if (shapeTypeB==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-	"						{\n"
-	"								int numChildrenB = collidables[collidableIndexB].m_numChildShapes;\n"
-	"								int pairIdx = atomic_add(numConcavePairsOut,numChildrenB);\n"
-	"								for (int b=0;b<numChildrenB;b++)\n"
-	"								{\n"
-	"									if ((pairIdx+b)<maxNumConcavePairsCapacity)\n"
-	"									{\n"
-	"										int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;\n"
-	"										int4 newPair = (int4)(bodyIndexA,bodyIndexB,triangleIndex,childShapeIndexB);\n"
-	"										concavePairsOut[pairIdx+b] = newPair;\n"
-	"									}\n"
-	"								}\n"
-	"						} else\n"
-	"						{\n"
-	"							int pairIdx = atomic_inc(numConcavePairsOut);\n"
-	"							if (pairIdx<maxNumConcavePairsCapacity)\n"
-	"							{\n"
-	"								int4 newPair = (int4)(bodyIndexA,bodyIndexB,triangleIndex,0);\n"
-	"								concavePairsOut[pairIdx] = newPair;\n"
-	"							}\n"
-	"						}\n"
-	"					} \n"
-	"					curIndex++;\n"
-	"				} else\n"
-	"				{\n"
-	"					if (isLeafNode)\n"
-	"					{\n"
-	"						curIndex++;\n"
-	"					} else\n"
-	"					{\n"
-	"						escapeIndex = getEscapeIndex(&rootNode);\n"
-	"						curIndex += escapeIndex;\n"
-	"					}\n"
-	"				}\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/mpr.cl b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/mpr.cl
deleted file mode 100644
index e754f4e1da..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/mpr.cl
+++ /dev/null
@@ -1,311 +0,0 @@
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
-
-#define AppendInc(x, out) out = atomic_inc(x)
-#define GET_NPOINTS(x) (x).m_worldNormalOnB.w
-#ifdef cl_ext_atomic_counters_32
-	#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable
-#else
-	#define counter32_t volatile __global int*
-#endif
-
-
-__kernel void   mprPenetrationKernel( __global int4* pairs,
-																					__global const b3RigidBodyData_t* rigidBodies, 
-																					__global const b3Collidable_t* collidables,
-																					__global const b3ConvexPolyhedronData_t* convexShapes, 
-																					__global const float4* vertices,
-																					__global float4* separatingNormals,
-																					__global int* hasSeparatingAxis,
-																					__global struct b3Contact4Data* restrict globalContactsOut,
-																					counter32_t nGlobalContactsOut,
-																					int contactCapacity,
-																					int numPairs)
-{
-	int i = get_global_id(0);
-	int pairIndex = i;
-	if (i<numPairs)
-	{
-		int bodyIndexA = pairs[i].x;
-		int bodyIndexB = pairs[i].y;
-
-		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-	
-		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
-		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-		
-		
-		//once the broadphase avoids static-static pairs, we can remove this test
-		if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))
-		{
-			return;
-		}
-		
-
-		if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONVEX_HULL) ||(collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL))
-		{
-			return;
-		}
-
-		float depthOut;
-		b3Float4 dirOut;
-		b3Float4 posOut;
-
-
-		int res = b3MprPenetration(pairIndex, bodyIndexA, bodyIndexB,rigidBodies,convexShapes,collidables,vertices,separatingNormals,hasSeparatingAxis,&depthOut, &dirOut, &posOut);
-		
-		
-		
-		
-
-		if (res==0)
-		{
-			//add a contact
-
-			int dstIdx;
-			AppendInc( nGlobalContactsOut, dstIdx );
-			if (dstIdx<contactCapacity)
-			{
-				pairs[pairIndex].z = dstIdx;
-				__global struct b3Contact4Data* c = globalContactsOut + dstIdx;
-				c->m_worldNormalOnB = -dirOut;//normal;
-				c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
-				c->m_batchIdx = pairIndex;
-				int bodyA = pairs[pairIndex].x;
-				int bodyB = pairs[pairIndex].y;
-				c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0 ? -bodyA:bodyA;
-				c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0 ? -bodyB:bodyB;
-				c->m_childIndexA = -1;
-				c->m_childIndexB = -1;
-				//for (int i=0;i<nContacts;i++)
-				posOut.w = -depthOut;
-				c->m_worldPosB[0] = posOut;//localPoints[contactIdx[i]];
-				GET_NPOINTS(*c) = 1;//nContacts;
-			}
-		}
-
-	}
-}
-
-typedef float4 Quaternion;
-#define make_float4 (float4)
-
-__inline
-float dot3F4(float4 a, float4 b)
-{
-	float4 a1 = make_float4(a.xyz,0.f);
-	float4 b1 = make_float4(b.xyz,0.f);
-	return dot(a1, b1);
-}
-
-
-
-
-__inline
-float4 cross3(float4 a, float4 b)
-{
-	return cross(a,b);
-}
-__inline
-Quaternion qtMul(Quaternion a, Quaternion b)
-{
-	Quaternion ans;
-	ans = cross3( a, b );
-	ans += a.w*b+b.w*a;
-//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
-	ans.w = a.w*b.w - dot3F4(a, b);
-	return ans;
-}
-
-__inline
-Quaternion qtInvert(Quaternion q)
-{
-	return (Quaternion)(-q.xyz, q.w);
-}
-
-__inline
-float4 qtRotate(Quaternion q, float4 vec)
-{
-	Quaternion qInv = qtInvert( q );
-	float4 vcpy = vec;
-	vcpy.w = 0.f;
-	float4 out = qtMul(qtMul(q,vcpy),qInv);
-	return out;
-}
-
-__inline
-float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)
-{
-	return qtRotate( *orientation, *p ) + (*translation);
-}
-
-
-__inline
-float4 qtInvRotate(const Quaternion q, float4 vec)
-{
-	return qtRotate( qtInvert( q ), vec );
-}
-
-
-inline void project(__global const b3ConvexPolyhedronData_t* hull,  const float4 pos, const float4 orn, 
-const float4* dir, __global const float4* vertices, float* min, float* max)
-{
-	min[0] = FLT_MAX;
-	max[0] = -FLT_MAX;
-	int numVerts = hull->m_numVertices;
-
-	const float4 localDir = qtInvRotate(orn,*dir);
-	float offset = dot(pos,*dir);
-	for(int i=0;i<numVerts;i++)
-	{
-		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);
-		if(dp < min[0])	
-			min[0] = dp;
-		if(dp > max[0])	
-			max[0] = dp;
-	}
-	if(min[0]>max[0])
-	{
-		float tmp = min[0];
-		min[0] = max[0];
-		max[0] = tmp;
-	}
-	min[0] += offset;
-	max[0] += offset;
-}
-
-
-bool findSeparatingAxisUnitSphere(	__global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, 
-	const float4 posA1,
-	const float4 ornA,
-	const float4 posB1,
-	const float4 ornB,
-	const float4 DeltaC2,
-	__global const float4* vertices,
-	__global const float4* unitSphereDirections,
-	int numUnitSphereDirections,
-	float4* sep,
-	float* dmin)
-{
-	
-	float4 posA = posA1;
-	posA.w = 0.f;
-	float4 posB = posB1;
-	posB.w = 0.f;
-
-	int curPlaneTests=0;
-
-	int curEdgeEdge = 0;
-	// Test unit sphere directions
-	for (int i=0;i<numUnitSphereDirections;i++)
-	{
-
-		float4 crossje;
-		crossje = unitSphereDirections[i];	
-
-		if (dot3F4(DeltaC2,crossje)>0)
-			crossje *= -1.f;
-		{
-			float dist;
-			bool result = true;
-			float Min0,Max0;
-			float Min1,Max1;
-			project(hullA,posA,ornA,&crossje,vertices, &Min0, &Max0);
-			project(hullB,posB,ornB,&crossje,vertices, &Min1, &Max1);
-		
-			if(Max0<Min1 || Max1<Min0)
-				return false;
-		
-			float d0 = Max0 - Min1;
-			float d1 = Max1 - Min0;
-			dist = d0<d1 ? d0:d1;
-			result = true;
-	
-			if(dist<*dmin)
-			{
-				*dmin = dist;
-				*sep = crossje;
-			}
-		}
-	}
-
-	
-	if((dot3F4(-DeltaC2,*sep))>0.0f)
-	{
-		*sep = -(*sep);
-	}
-	return true;
-}
-
-
-
-__kernel void   findSeparatingAxisUnitSphereKernel( __global const int4* pairs, 
-																					__global const b3RigidBodyData_t* rigidBodies, 
-																					__global const b3Collidable_t* collidables,
-																					__global const b3ConvexPolyhedronData_t* convexShapes, 
-																					__global const float4* vertices,
-																					__global const float4* unitSphereDirections,
-																					__global  float4* separatingNormals,
-																					__global  int* hasSeparatingAxis,
-																					__global  float* dmins,
-																					int numUnitSphereDirections,
-																					int numPairs
-																					)
-{
-
-	int i = get_global_id(0);
-	
-	if (i<numPairs)
-	{
-
-		if (hasSeparatingAxis[i])
-		{
-	
-			int bodyIndexA = pairs[i].x;
-			int bodyIndexB = pairs[i].y;
-	
-			int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-			int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-		
-			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
-			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-			
-			
-			int numFacesA = convexShapes[shapeIndexA].m_numFaces;
-	
-			float dmin = dmins[i];
-	
-			float4 posA = rigidBodies[bodyIndexA].m_pos;
-			posA.w = 0.f;
-			float4 posB = rigidBodies[bodyIndexB].m_pos;
-			posB.w = 0.f;
-			float4 c0local = convexShapes[shapeIndexA].m_localCenter;
-			float4 ornA = rigidBodies[bodyIndexA].m_quat;
-			float4 c0 = transform(&c0local, &posA, &ornA);
-			float4 c1local = convexShapes[shapeIndexB].m_localCenter;
-			float4 ornB =rigidBodies[bodyIndexB].m_quat;
-			float4 c1 = transform(&c1local,&posB,&ornB);
-			const float4 DeltaC2 = c0 - c1;
-			float4 sepNormal = separatingNormals[i];
-			
-			int numEdgeEdgeDirections = convexShapes[shapeIndexA].m_numUniqueEdges*convexShapes[shapeIndexB].m_numUniqueEdges;
-			if (numEdgeEdgeDirections>numUnitSphereDirections)
-			{
-				bool sepEE = findSeparatingAxisUnitSphere(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,
-																										posB,ornB,
-																										DeltaC2,
-																										vertices,unitSphereDirections,numUnitSphereDirections,&sepNormal,&dmin);
-				if (!sepEE)
-				{
-					hasSeparatingAxis[i] = 0;
-				} else
-				{
-					hasSeparatingAxis[i] = 1;
-					separatingNormals[i] = sepNormal;
-				}
-			}
-		}		//if (hasSeparatingAxis[i])
-	}//(i<numPairs)
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/mprKernels.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/mprKernels.h
deleted file mode 100644
index 74959a931c..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/mprKernels.h
+++ /dev/null
@@ -1,1445 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* mprKernelsCL =
-	"/***\n"
-	" * ---------------------------------\n"
-	" * Copyright (c)2012 Daniel Fiser <danfis@danfis.cz>\n"
-	" *\n"
-	" *  This file was ported from mpr.c file, part of libccd.\n"
-	" *  The Minkoski Portal Refinement implementation was ported \n"
-	" *  to OpenCL by Erwin Coumans for the Bullet 3 Physics library.\n"
-	" *  at http://github.com/erwincoumans/bullet3\n"
-	" *\n"
-	" *  Distributed under the OSI-approved BSD License (the \"License\");\n"
-	" *  see <http://www.opensource.org/licenses/bsd-license.php>.\n"
-	" *  This software is distributed WITHOUT ANY WARRANTY; without even the\n"
-	" *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.\n"
-	" *  See the License for more information.\n"
-	" */\n"
-	"#ifndef B3_MPR_PENETRATION_H\n"
-	"#define B3_MPR_PENETRATION_H\n"
-	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-	"#define B3_PLATFORM_DEFINITIONS_H\n"
-	"struct MyTest\n"
-	"{\n"
-	"	int bla;\n"
-	"};\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-	"#define B3_LARGE_FLOAT 1e18f\n"
-	"#define B3_INFINITY 1e18f\n"
-	"#define b3Assert(a)\n"
-	"#define b3ConstArray(a) __global const a*\n"
-	"#define b3AtomicInc atomic_inc\n"
-	"#define b3AtomicAdd atomic_add\n"
-	"#define b3Fabs fabs\n"
-	"#define b3Sqrt native_sqrt\n"
-	"#define b3Sin native_sin\n"
-	"#define b3Cos native_cos\n"
-	"#define B3_STATIC\n"
-	"#endif\n"
-	"#endif\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#define B3_FLOAT4_H\n"
-	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif\n"
-	"#endif\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"	typedef float4	b3Float4;\n"
-	"	#define b3Float4ConstArg const b3Float4\n"
-	"	#define b3MakeFloat4 (float4)\n"
-	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return dot(a1, b1);\n"
-	"	}\n"
-	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return cross(a1, b1);\n"
-	"	}\n"
-	"	#define b3MinFloat4 min\n"
-	"	#define b3MaxFloat4 max\n"
-	"	#define b3Normalized(a) normalize(a)\n"
-	"#endif \n"
-	"		\n"
-	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-	"{\n"
-	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-	"		return false;\n"
-	"	return true;\n"
-	"}\n"
-	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-	"{\n"
-	"    float maxDot = -B3_INFINITY;\n"
-	"    int i = 0;\n"
-	"    int ptIndex = -1;\n"
-	"    for( i = 0; i < vecLen; i++ )\n"
-	"    {\n"
-	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-	"            \n"
-	"        if( dot > maxDot )\n"
-	"        {\n"
-	"            maxDot = dot;\n"
-	"            ptIndex = i;\n"
-	"        }\n"
-	"    }\n"
-	"	b3Assert(ptIndex>=0);\n"
-	"    if (ptIndex<0)\n"
-	"	{\n"
-	"		ptIndex = 0;\n"
-	"	}\n"
-	"    *dotOut = maxDot;\n"
-	"    return ptIndex;\n"
-	"}\n"
-	"#endif //B3_FLOAT4_H\n"
-	"#ifndef B3_RIGIDBODY_DATA_H\n"
-	"#define B3_RIGIDBODY_DATA_H\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_FLOAT4_H\n"
-	"#ifndef B3_QUAT_H\n"
-	"#define B3_QUAT_H\n"
-	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif\n"
-	"#endif\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"	typedef float4	b3Quat;\n"
-	"	#define b3QuatConstArg const b3Quat\n"
-	"	\n"
-	"	\n"
-	"inline float4 b3FastNormalize4(float4 v)\n"
-	"{\n"
-	"	v = (float4)(v.xyz,0.f);\n"
-	"	return fast_normalize(v);\n"
-	"}\n"
-	"	\n"
-	"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
-	"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
-	"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
-	"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
-	"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
-	"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
-	"{\n"
-	"	b3Quat ans;\n"
-	"	ans = b3Cross3( a, b );\n"
-	"	ans += a.w*b+b.w*a;\n"
-	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-	"	ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
-	"	return ans;\n"
-	"}\n"
-	"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
-	"{\n"
-	"	b3Quat q;\n"
-	"	q=in;\n"
-	"	//return b3FastNormalize4(in);\n"
-	"	float len = native_sqrt(dot(q, q));\n"
-	"	if(len > 0.f)\n"
-	"	{\n"
-	"		q *= 1.f / len;\n"
-	"	}\n"
-	"	else\n"
-	"	{\n"
-	"		q.x = q.y = q.z = 0.f;\n"
-	"		q.w = 1.f;\n"
-	"	}\n"
-	"	return q;\n"
-	"}\n"
-	"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-	"{\n"
-	"	b3Quat qInv = b3QuatInvert( q );\n"
-	"	float4 vcpy = vec;\n"
-	"	vcpy.w = 0.f;\n"
-	"	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
-	"	return out;\n"
-	"}\n"
-	"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
-	"{\n"
-	"	return (b3Quat)(-q.xyz, q.w);\n"
-	"}\n"
-	"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
-	"{\n"
-	"	return (b3Quat)(-q.xyz, q.w);\n"
-	"}\n"
-	"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-	"{\n"
-	"	return b3QuatRotate( b3QuatInvert( q ), vec );\n"
-	"}\n"
-	"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
-	"{\n"
-	"	return b3QuatRotate( orientation, point ) + (translation);\n"
-	"}\n"
-	"	\n"
-	"#endif \n"
-	"#endif //B3_QUAT_H\n"
-	"#ifndef B3_MAT3x3_H\n"
-	"#define B3_MAT3x3_H\n"
-	"#ifndef B3_QUAT_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_QUAT_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"typedef struct\n"
-	"{\n"
-	"	b3Float4 m_row[3];\n"
-	"}b3Mat3x3;\n"
-	"#define b3Mat3x3ConstArg const b3Mat3x3\n"
-	"#define b3GetRow(m,row) (m.m_row[row])\n"
-	"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
-	"{\n"
-	"	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
-	"	b3Mat3x3 out;\n"
-	"	out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
-	"	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
-	"	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
-	"	out.m_row[0].w = 0.f;\n"
-	"	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
-	"	out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
-	"	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
-	"	out.m_row[1].w = 0.f;\n"
-	"	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
-	"	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
-	"	out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
-	"	out.m_row[2].w = 0.f;\n"
-	"	return out;\n"
-	"}\n"
-	"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
-	"{\n"
-	"	b3Mat3x3 out;\n"
-	"	out.m_row[0] = fabs(matIn.m_row[0]);\n"
-	"	out.m_row[1] = fabs(matIn.m_row[1]);\n"
-	"	out.m_row[2] = fabs(matIn.m_row[2]);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtZero();\n"
-	"__inline\n"
-	"b3Mat3x3 mtIdentity();\n"
-	"__inline\n"
-	"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
-	"__inline\n"
-	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
-	"__inline\n"
-	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
-	"__inline\n"
-	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
-	"__inline\n"
-	"b3Mat3x3 mtZero()\n"
-	"{\n"
-	"	b3Mat3x3 m;\n"
-	"	m.m_row[0] = (b3Float4)(0.f);\n"
-	"	m.m_row[1] = (b3Float4)(0.f);\n"
-	"	m.m_row[2] = (b3Float4)(0.f);\n"
-	"	return m;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtIdentity()\n"
-	"{\n"
-	"	b3Mat3x3 m;\n"
-	"	m.m_row[0] = (b3Float4)(1,0,0,0);\n"
-	"	m.m_row[1] = (b3Float4)(0,1,0,0);\n"
-	"	m.m_row[2] = (b3Float4)(0,0,1,0);\n"
-	"	return m;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
-	"{\n"
-	"	b3Mat3x3 out;\n"
-	"	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
-	"	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
-	"	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
-	"{\n"
-	"	b3Mat3x3 transB;\n"
-	"	transB = mtTranspose( b );\n"
-	"	b3Mat3x3 ans;\n"
-	"	//	why this doesn't run when 0ing in the for{}\n"
-	"	a.m_row[0].w = 0.f;\n"
-	"	a.m_row[1].w = 0.f;\n"
-	"	a.m_row[2].w = 0.f;\n"
-	"	for(int i=0; i<3; i++)\n"
-	"	{\n"
-	"//	a.m_row[i].w = 0.f;\n"
-	"		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
-	"		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
-	"		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
-	"		ans.m_row[i].w = 0.f;\n"
-	"	}\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
-	"{\n"
-	"	b3Float4 ans;\n"
-	"	ans.x = b3Dot3F4( a.m_row[0], b );\n"
-	"	ans.y = b3Dot3F4( a.m_row[1], b );\n"
-	"	ans.z = b3Dot3F4( a.m_row[2], b );\n"
-	"	ans.w = 0.f;\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
-	"{\n"
-	"	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-	"	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-	"	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-	"	b3Float4 ans;\n"
-	"	ans.x = b3Dot3F4( a, colx );\n"
-	"	ans.y = b3Dot3F4( a, coly );\n"
-	"	ans.z = b3Dot3F4( a, colz );\n"
-	"	return ans;\n"
-	"}\n"
-	"#endif\n"
-	"#endif //B3_MAT3x3_H\n"
-	"typedef struct b3RigidBodyData b3RigidBodyData_t;\n"
-	"struct b3RigidBodyData\n"
-	"{\n"
-	"	b3Float4				m_pos;\n"
-	"	b3Quat					m_quat;\n"
-	"	b3Float4				m_linVel;\n"
-	"	b3Float4				m_angVel;\n"
-	"	int 					m_collidableIdx;\n"
-	"	float 				m_invMass;\n"
-	"	float 				m_restituitionCoeff;\n"
-	"	float 				m_frictionCoeff;\n"
-	"};\n"
-	"typedef struct b3InertiaData b3InertiaData_t;\n"
-	"struct b3InertiaData\n"
-	"{\n"
-	"	b3Mat3x3 m_invInertiaWorld;\n"
-	"	b3Mat3x3 m_initInvInertia;\n"
-	"};\n"
-	"#endif //B3_RIGIDBODY_DATA_H\n"
-	"	\n"
-	"#ifndef B3_CONVEX_POLYHEDRON_DATA_H\n"
-	"#define B3_CONVEX_POLYHEDRON_DATA_H\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_FLOAT4_H\n"
-	"#ifndef B3_QUAT_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_QUAT_H\n"
-	"typedef struct b3GpuFace b3GpuFace_t;\n"
-	"struct b3GpuFace\n"
-	"{\n"
-	"	b3Float4 m_plane;\n"
-	"	int m_indexOffset;\n"
-	"	int m_numIndices;\n"
-	"	int m_unusedPadding1;\n"
-	"	int m_unusedPadding2;\n"
-	"};\n"
-	"typedef struct b3ConvexPolyhedronData b3ConvexPolyhedronData_t;\n"
-	"struct b3ConvexPolyhedronData\n"
-	"{\n"
-	"	b3Float4		m_localCenter;\n"
-	"	b3Float4		m_extents;\n"
-	"	b3Float4		mC;\n"
-	"	b3Float4		mE;\n"
-	"	float			m_radius;\n"
-	"	int	m_faceOffset;\n"
-	"	int m_numFaces;\n"
-	"	int	m_numVertices;\n"
-	"	int m_vertexOffset;\n"
-	"	int	m_uniqueEdgesOffset;\n"
-	"	int	m_numUniqueEdges;\n"
-	"	int m_unused;\n"
-	"};\n"
-	"#endif //B3_CONVEX_POLYHEDRON_DATA_H\n"
-	"#ifndef B3_COLLIDABLE_H\n"
-	"#define B3_COLLIDABLE_H\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_FLOAT4_H\n"
-	"#ifndef B3_QUAT_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_QUAT_H\n"
-	"enum b3ShapeTypes\n"
-	"{\n"
-	"	SHAPE_HEIGHT_FIELD=1,\n"
-	"	SHAPE_CONVEX_HULL=3,\n"
-	"	SHAPE_PLANE=4,\n"
-	"	SHAPE_CONCAVE_TRIMESH=5,\n"
-	"	SHAPE_COMPOUND_OF_CONVEX_HULLS=6,\n"
-	"	SHAPE_SPHERE=7,\n"
-	"	MAX_NUM_SHAPE_TYPES,\n"
-	"};\n"
-	"typedef struct b3Collidable b3Collidable_t;\n"
-	"struct b3Collidable\n"
-	"{\n"
-	"	union {\n"
-	"		int m_numChildShapes;\n"
-	"		int m_bvhIndex;\n"
-	"	};\n"
-	"	union\n"
-	"	{\n"
-	"		float m_radius;\n"
-	"		int	m_compoundBvhIndex;\n"
-	"	};\n"
-	"	int m_shapeType;\n"
-	"	int m_shapeIndex;\n"
-	"};\n"
-	"typedef struct b3GpuChildShape b3GpuChildShape_t;\n"
-	"struct b3GpuChildShape\n"
-	"{\n"
-	"	b3Float4	m_childPosition;\n"
-	"	b3Quat		m_childOrientation;\n"
-	"	int m_shapeIndex;\n"
-	"	int m_unused0;\n"
-	"	int m_unused1;\n"
-	"	int m_unused2;\n"
-	"};\n"
-	"struct b3CompoundOverlappingPair\n"
-	"{\n"
-	"	int m_bodyIndexA;\n"
-	"	int m_bodyIndexB;\n"
-	"//	int	m_pairType;\n"
-	"	int m_childShapeIndexA;\n"
-	"	int m_childShapeIndexB;\n"
-	"};\n"
-	"#endif //B3_COLLIDABLE_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#define B3_MPR_SQRT sqrt\n"
-	"#endif\n"
-	"#define B3_MPR_FMIN(x, y) ((x) < (y) ? (x) : (y))\n"
-	"#define B3_MPR_FABS fabs\n"
-	"#define B3_MPR_TOLERANCE 1E-6f\n"
-	"#define B3_MPR_MAX_ITERATIONS 1000\n"
-	"struct _b3MprSupport_t \n"
-	"{\n"
-	"    b3Float4 v;  //!< Support point in minkowski sum\n"
-	"    b3Float4 v1; //!< Support point in obj1\n"
-	"    b3Float4 v2; //!< Support point in obj2\n"
-	"};\n"
-	"typedef struct _b3MprSupport_t b3MprSupport_t;\n"
-	"struct _b3MprSimplex_t \n"
-	"{\n"
-	"    b3MprSupport_t ps[4];\n"
-	"    int last; //!< index of last added point\n"
-	"};\n"
-	"typedef struct _b3MprSimplex_t b3MprSimplex_t;\n"
-	"inline b3MprSupport_t* b3MprSimplexPointW(b3MprSimplex_t *s, int idx)\n"
-	"{\n"
-	"    return &s->ps[idx];\n"
-	"}\n"
-	"inline void b3MprSimplexSetSize(b3MprSimplex_t *s, int size)\n"
-	"{\n"
-	"    s->last = size - 1;\n"
-	"}\n"
-	"inline int b3MprSimplexSize(const b3MprSimplex_t *s)\n"
-	"{\n"
-	"    return s->last + 1;\n"
-	"}\n"
-	"inline const b3MprSupport_t* b3MprSimplexPoint(const b3MprSimplex_t* s, int idx)\n"
-	"{\n"
-	"    // here is no check on boundaries\n"
-	"    return &s->ps[idx];\n"
-	"}\n"
-	"inline void b3MprSupportCopy(b3MprSupport_t *d, const b3MprSupport_t *s)\n"
-	"{\n"
-	"    *d = *s;\n"
-	"}\n"
-	"inline void b3MprSimplexSet(b3MprSimplex_t *s, size_t pos, const b3MprSupport_t *a)\n"
-	"{\n"
-	"    b3MprSupportCopy(s->ps + pos, a);\n"
-	"}\n"
-	"inline void b3MprSimplexSwap(b3MprSimplex_t *s, size_t pos1, size_t pos2)\n"
-	"{\n"
-	"    b3MprSupport_t supp;\n"
-	"    b3MprSupportCopy(&supp, &s->ps[pos1]);\n"
-	"    b3MprSupportCopy(&s->ps[pos1], &s->ps[pos2]);\n"
-	"    b3MprSupportCopy(&s->ps[pos2], &supp);\n"
-	"}\n"
-	"inline int b3MprIsZero(float val)\n"
-	"{\n"
-	"    return B3_MPR_FABS(val) < FLT_EPSILON;\n"
-	"}\n"
-	"inline int b3MprEq(float _a, float _b)\n"
-	"{\n"
-	"    float ab;\n"
-	"    float a, b;\n"
-	"    ab = B3_MPR_FABS(_a - _b);\n"
-	"    if (B3_MPR_FABS(ab) < FLT_EPSILON)\n"
-	"        return 1;\n"
-	"    a = B3_MPR_FABS(_a);\n"
-	"    b = B3_MPR_FABS(_b);\n"
-	"    if (b > a){\n"
-	"        return ab < FLT_EPSILON * b;\n"
-	"    }else{\n"
-	"        return ab < FLT_EPSILON * a;\n"
-	"    }\n"
-	"}\n"
-	"inline int b3MprVec3Eq(const b3Float4* a, const b3Float4 *b)\n"
-	"{\n"
-	"    return b3MprEq((*a).x, (*b).x)\n"
-	"            && b3MprEq((*a).y, (*b).y)\n"
-	"            && b3MprEq((*a).z, (*b).z);\n"
-	"}\n"
-	"inline b3Float4 b3LocalGetSupportVertex(b3Float4ConstArg supportVec,__global const b3ConvexPolyhedronData_t* hull, 	b3ConstArray(b3Float4) verticesA)\n"
-	"{\n"
-	"	b3Float4 supVec = b3MakeFloat4(0,0,0,0);\n"
-	"	float maxDot = -B3_LARGE_FLOAT;\n"
-	"    if( 0 < hull->m_numVertices )\n"
-	"    {\n"
-	"        const b3Float4 scaled = supportVec;\n"
-	"		int index = b3MaxDot(scaled, &verticesA[hull->m_vertexOffset], hull->m_numVertices, &maxDot);\n"
-	"        return verticesA[hull->m_vertexOffset+index];\n"
-	"    }\n"
-	"    return supVec;\n"
-	"}\n"
-	"B3_STATIC void b3MprConvexSupport(int pairIndex,int bodyIndex,  b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
-	"													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
-	"													b3ConstArray(b3Collidable_t)				cpuCollidables,\n"
-	"													b3ConstArray(b3Float4)					cpuVertices,\n"
-	"													__global b3Float4* sepAxis,\n"
-	"														const b3Float4* _dir, b3Float4* outp, int logme)\n"
-	"{\n"
-	"	//dir is in worldspace, move to local space\n"
-	"	\n"
-	"	b3Float4 pos = cpuBodyBuf[bodyIndex].m_pos;\n"
-	"	b3Quat orn = cpuBodyBuf[bodyIndex].m_quat;\n"
-	"	\n"
-	"	b3Float4 dir = b3MakeFloat4((*_dir).x,(*_dir).y,(*_dir).z,0.f);\n"
-	"	\n"
-	"	const b3Float4 localDir = b3QuatRotate(b3QuatInverse(orn),dir);\n"
-	"	\n"
-	"	//find local support vertex\n"
-	"	int colIndex = cpuBodyBuf[bodyIndex].m_collidableIdx;\n"
-	"	\n"
-	"	b3Assert(cpuCollidables[colIndex].m_shapeType==SHAPE_CONVEX_HULL);\n"
-	"	__global const b3ConvexPolyhedronData_t* hull = &cpuConvexData[cpuCollidables[colIndex].m_shapeIndex];\n"
-	"	\n"
-	"	b3Float4 pInA;\n"
-	"	if (logme)\n"
-	"	{\n"
-	"		b3Float4 supVec = b3MakeFloat4(0,0,0,0);\n"
-	"		float maxDot = -B3_LARGE_FLOAT;\n"
-	"		if( 0 < hull->m_numVertices )\n"
-	"		{\n"
-	"			const b3Float4 scaled = localDir;\n"
-	"			int index = b3MaxDot(scaled, &cpuVertices[hull->m_vertexOffset], hull->m_numVertices, &maxDot);\n"
-	"			pInA = cpuVertices[hull->m_vertexOffset+index];\n"
-	"			\n"
-	"		}\n"
-	"	} else\n"
-	"	{\n"
-	"		pInA = b3LocalGetSupportVertex(localDir,hull,cpuVertices);\n"
-	"	}\n"
-	"	//move vertex to world space\n"
-	"	*outp = b3TransformPoint(pInA,pos,orn);\n"
-	"	\n"
-	"}\n"
-	"inline void b3MprSupport(int pairIndex,int bodyIndexA, int bodyIndexB,   b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
-	"													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
-	"													b3ConstArray(b3Collidable_t)				cpuCollidables,\n"
-	"													b3ConstArray(b3Float4)					cpuVertices,\n"
-	"													__global b3Float4* sepAxis,\n"
-	"													const b3Float4* _dir, b3MprSupport_t *supp)\n"
-	"{\n"
-	"    b3Float4 dir;\n"
-	"	dir = *_dir;\n"
-	"	b3MprConvexSupport(pairIndex,bodyIndexA,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices,sepAxis,&dir, &supp->v1,0);\n"
-	"    dir = *_dir*-1.f;\n"
-	"	b3MprConvexSupport(pairIndex,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices,sepAxis,&dir, &supp->v2,0);\n"
-	"    supp->v = supp->v1 - supp->v2;\n"
-	"}\n"
-	"inline void b3FindOrigin(int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, b3MprSupport_t *center)\n"
-	"{\n"
-	"    center->v1 = cpuBodyBuf[bodyIndexA].m_pos;\n"
-	"	center->v2 = cpuBodyBuf[bodyIndexB].m_pos;\n"
-	"    center->v = center->v1 - center->v2;\n"
-	"}\n"
-	"inline void b3MprVec3Set(b3Float4 *v, float x, float y, float z)\n"
-	"{\n"
-	"	(*v).x = x;\n"
-	"	(*v).y = y;\n"
-	"	(*v).z = z;\n"
-	"	(*v).w = 0.f;\n"
-	"}\n"
-	"inline void b3MprVec3Add(b3Float4 *v, const b3Float4 *w)\n"
-	"{\n"
-	"    (*v).x += (*w).x;\n"
-	"    (*v).y += (*w).y;\n"
-	"    (*v).z += (*w).z;\n"
-	"}\n"
-	"inline void b3MprVec3Copy(b3Float4 *v, const b3Float4 *w)\n"
-	"{\n"
-	"    *v = *w;\n"
-	"}\n"
-	"inline void b3MprVec3Scale(b3Float4 *d, float k)\n"
-	"{\n"
-	"    *d *= k;\n"
-	"}\n"
-	"inline float b3MprVec3Dot(const b3Float4 *a, const b3Float4 *b)\n"
-	"{\n"
-	"    float dot;\n"
-	"	dot = b3Dot3F4(*a,*b);\n"
-	"    return dot;\n"
-	"}\n"
-	"inline float b3MprVec3Len2(const b3Float4 *v)\n"
-	"{\n"
-	"    return b3MprVec3Dot(v, v);\n"
-	"}\n"
-	"inline void b3MprVec3Normalize(b3Float4 *d)\n"
-	"{\n"
-	"    float k = 1.f / B3_MPR_SQRT(b3MprVec3Len2(d));\n"
-	"    b3MprVec3Scale(d, k);\n"
-	"}\n"
-	"inline void b3MprVec3Cross(b3Float4 *d, const b3Float4 *a, const b3Float4 *b)\n"
-	"{\n"
-	"	*d = b3Cross3(*a,*b);\n"
-	"	\n"
-	"}\n"
-	"inline void b3MprVec3Sub2(b3Float4 *d, const b3Float4 *v, const b3Float4 *w)\n"
-	"{\n"
-	"	*d = *v - *w;\n"
-	"}\n"
-	"inline void b3PortalDir(const b3MprSimplex_t *portal, b3Float4 *dir)\n"
-	"{\n"
-	"    b3Float4 v2v1, v3v1;\n"
-	"    b3MprVec3Sub2(&v2v1, &b3MprSimplexPoint(portal, 2)->v,\n"
-	"                       &b3MprSimplexPoint(portal, 1)->v);\n"
-	"    b3MprVec3Sub2(&v3v1, &b3MprSimplexPoint(portal, 3)->v,\n"
-	"                       &b3MprSimplexPoint(portal, 1)->v);\n"
-	"    b3MprVec3Cross(dir, &v2v1, &v3v1);\n"
-	"    b3MprVec3Normalize(dir);\n"
-	"}\n"
-	"inline int portalEncapsulesOrigin(const b3MprSimplex_t *portal,\n"
-	"                                       const b3Float4 *dir)\n"
-	"{\n"
-	"    float dot;\n"
-	"    dot = b3MprVec3Dot(dir, &b3MprSimplexPoint(portal, 1)->v);\n"
-	"    return b3MprIsZero(dot) || dot > 0.f;\n"
-	"}\n"
-	"inline int portalReachTolerance(const b3MprSimplex_t *portal,\n"
-	"                                     const b3MprSupport_t *v4,\n"
-	"                                     const b3Float4 *dir)\n"
-	"{\n"
-	"    float dv1, dv2, dv3, dv4;\n"
-	"    float dot1, dot2, dot3;\n"
-	"    // find the smallest dot product of dir and {v1-v4, v2-v4, v3-v4}\n"
-	"    dv1 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, dir);\n"
-	"    dv2 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, dir);\n"
-	"    dv3 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, dir);\n"
-	"    dv4 = b3MprVec3Dot(&v4->v, dir);\n"
-	"    dot1 = dv4 - dv1;\n"
-	"    dot2 = dv4 - dv2;\n"
-	"    dot3 = dv4 - dv3;\n"
-	"    dot1 = B3_MPR_FMIN(dot1, dot2);\n"
-	"    dot1 = B3_MPR_FMIN(dot1, dot3);\n"
-	"    return b3MprEq(dot1, B3_MPR_TOLERANCE) || dot1 < B3_MPR_TOLERANCE;\n"
-	"}\n"
-	"inline int portalCanEncapsuleOrigin(const b3MprSimplex_t *portal,   \n"
-	"                                         const b3MprSupport_t *v4,\n"
-	"                                         const b3Float4 *dir)\n"
-	"{\n"
-	"    float dot;\n"
-	"    dot = b3MprVec3Dot(&v4->v, dir);\n"
-	"    return b3MprIsZero(dot) || dot > 0.f;\n"
-	"}\n"
-	"inline void b3ExpandPortal(b3MprSimplex_t *portal,\n"
-	"                              const b3MprSupport_t *v4)\n"
-	"{\n"
-	"    float dot;\n"
-	"    b3Float4 v4v0;\n"
-	"    b3MprVec3Cross(&v4v0, &v4->v, &b3MprSimplexPoint(portal, 0)->v);\n"
-	"    dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, &v4v0);\n"
-	"    if (dot > 0.f){\n"
-	"        dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, &v4v0);\n"
-	"        if (dot > 0.f){\n"
-	"            b3MprSimplexSet(portal, 1, v4);\n"
-	"        }else{\n"
-	"            b3MprSimplexSet(portal, 3, v4);\n"
-	"        }\n"
-	"    }else{\n"
-	"        dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, &v4v0);\n"
-	"        if (dot > 0.f){\n"
-	"            b3MprSimplexSet(portal, 2, v4);\n"
-	"        }else{\n"
-	"            b3MprSimplexSet(portal, 1, v4);\n"
-	"        }\n"
-	"    }\n"
-	"}\n"
-	"B3_STATIC int b3DiscoverPortal(int pairIndex, int bodyIndexA, int bodyIndexB,  b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
-	"													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
-	"													b3ConstArray(b3Collidable_t)				cpuCollidables,\n"
-	"													b3ConstArray(b3Float4)					cpuVertices,\n"
-	"													__global b3Float4* sepAxis,\n"
-	"													__global int*	hasSepAxis,\n"
-	"													b3MprSimplex_t *portal)\n"
-	"{\n"
-	"    b3Float4 dir, va, vb;\n"
-	"    float dot;\n"
-	"    int cont;\n"
-	"	\n"
-	"	\n"
-	"    // vertex 0 is center of portal\n"
-	"    b3FindOrigin(bodyIndexA,bodyIndexB,cpuBodyBuf, b3MprSimplexPointW(portal, 0));\n"
-	"    // vertex 0 is center of portal\n"
-	"    b3MprSimplexSetSize(portal, 1);\n"
-	"	\n"
-	"	b3Float4 zero = b3MakeFloat4(0,0,0,0);\n"
-	"	b3Float4* b3mpr_vec3_origin = &zero;\n"
-	"    if (b3MprVec3Eq(&b3MprSimplexPoint(portal, 0)->v, b3mpr_vec3_origin)){\n"
-	"        // Portal's center lies on origin (0,0,0) => we know that objects\n"
-	"        // intersect but we would need to know penetration info.\n"
-	"        // So move center little bit...\n"
-	"        b3MprVec3Set(&va, FLT_EPSILON * 10.f, 0.f, 0.f);\n"
-	"        b3MprVec3Add(&b3MprSimplexPointW(portal, 0)->v, &va);\n"
-	"    }\n"
-	"    // vertex 1 = support in direction of origin\n"
-	"    b3MprVec3Copy(&dir, &b3MprSimplexPoint(portal, 0)->v);\n"
-	"    b3MprVec3Scale(&dir, -1.f);\n"
-	"    b3MprVec3Normalize(&dir);\n"
-	"    b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, b3MprSimplexPointW(portal, 1));\n"
-	"    b3MprSimplexSetSize(portal, 2);\n"
-	"    // test if origin isn't outside of v1\n"
-	"    dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, &dir);\n"
-	"	\n"
-	"    if (b3MprIsZero(dot) || dot < 0.f)\n"
-	"        return -1;\n"
-	"    // vertex 2\n"
-	"    b3MprVec3Cross(&dir, &b3MprSimplexPoint(portal, 0)->v,\n"
-	"                       &b3MprSimplexPoint(portal, 1)->v);\n"
-	"    if (b3MprIsZero(b3MprVec3Len2(&dir))){\n"
-	"        if (b3MprVec3Eq(&b3MprSimplexPoint(portal, 1)->v, b3mpr_vec3_origin)){\n"
-	"            // origin lies on v1\n"
-	"            return 1;\n"
-	"        }else{\n"
-	"            // origin lies on v0-v1 segment\n"
-	"            return 2;\n"
-	"        }\n"
-	"    }\n"
-	"    b3MprVec3Normalize(&dir);\n"
-	"	 b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, b3MprSimplexPointW(portal, 2));\n"
-	"    \n"
-	"    dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, &dir);\n"
-	"    if (b3MprIsZero(dot) || dot < 0.f)\n"
-	"        return -1;\n"
-	"    b3MprSimplexSetSize(portal, 3);\n"
-	"    // vertex 3 direction\n"
-	"    b3MprVec3Sub2(&va, &b3MprSimplexPoint(portal, 1)->v,\n"
-	"                     &b3MprSimplexPoint(portal, 0)->v);\n"
-	"    b3MprVec3Sub2(&vb, &b3MprSimplexPoint(portal, 2)->v,\n"
-	"                     &b3MprSimplexPoint(portal, 0)->v);\n"
-	"    b3MprVec3Cross(&dir, &va, &vb);\n"
-	"    b3MprVec3Normalize(&dir);\n"
-	"    // it is better to form portal faces to be oriented \"outside\" origin\n"
-	"    dot = b3MprVec3Dot(&dir, &b3MprSimplexPoint(portal, 0)->v);\n"
-	"    if (dot > 0.f){\n"
-	"        b3MprSimplexSwap(portal, 1, 2);\n"
-	"        b3MprVec3Scale(&dir, -1.f);\n"
-	"    }\n"
-	"    while (b3MprSimplexSize(portal) < 4){\n"
-	"		 b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, b3MprSimplexPointW(portal, 3));\n"
-	"        \n"
-	"        dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, &dir);\n"
-	"        if (b3MprIsZero(dot) || dot < 0.f)\n"
-	"            return -1;\n"
-	"        cont = 0;\n"
-	"        // test if origin is outside (v1, v0, v3) - set v2 as v3 and\n"
-	"        // continue\n"
-	"        b3MprVec3Cross(&va, &b3MprSimplexPoint(portal, 1)->v,\n"
-	"                          &b3MprSimplexPoint(portal, 3)->v);\n"
-	"        dot = b3MprVec3Dot(&va, &b3MprSimplexPoint(portal, 0)->v);\n"
-	"        if (dot < 0.f && !b3MprIsZero(dot)){\n"
-	"            b3MprSimplexSet(portal, 2, b3MprSimplexPoint(portal, 3));\n"
-	"            cont = 1;\n"
-	"        }\n"
-	"        if (!cont){\n"
-	"            // test if origin is outside (v3, v0, v2) - set v1 as v3 and\n"
-	"            // continue\n"
-	"            b3MprVec3Cross(&va, &b3MprSimplexPoint(portal, 3)->v,\n"
-	"                              &b3MprSimplexPoint(portal, 2)->v);\n"
-	"            dot = b3MprVec3Dot(&va, &b3MprSimplexPoint(portal, 0)->v);\n"
-	"            if (dot < 0.f && !b3MprIsZero(dot)){\n"
-	"                b3MprSimplexSet(portal, 1, b3MprSimplexPoint(portal, 3));\n"
-	"                cont = 1;\n"
-	"            }\n"
-	"        }\n"
-	"        if (cont){\n"
-	"            b3MprVec3Sub2(&va, &b3MprSimplexPoint(portal, 1)->v,\n"
-	"                             &b3MprSimplexPoint(portal, 0)->v);\n"
-	"            b3MprVec3Sub2(&vb, &b3MprSimplexPoint(portal, 2)->v,\n"
-	"                             &b3MprSimplexPoint(portal, 0)->v);\n"
-	"            b3MprVec3Cross(&dir, &va, &vb);\n"
-	"            b3MprVec3Normalize(&dir);\n"
-	"        }else{\n"
-	"            b3MprSimplexSetSize(portal, 4);\n"
-	"        }\n"
-	"    }\n"
-	"    return 0;\n"
-	"}\n"
-	"B3_STATIC int b3RefinePortal(int pairIndex,int bodyIndexA, int bodyIndexB,  b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
-	"													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
-	"													b3ConstArray(b3Collidable_t)				cpuCollidables,\n"
-	"													b3ConstArray(b3Float4)					cpuVertices,\n"
-	"													__global b3Float4* sepAxis,\n"
-	"													b3MprSimplex_t *portal)\n"
-	"{\n"
-	"    b3Float4 dir;\n"
-	"    b3MprSupport_t v4;\n"
-	"	for (int i=0;i<B3_MPR_MAX_ITERATIONS;i++)\n"
-	"    //while (1)\n"
-	"	{\n"
-	"        // compute direction outside the portal (from v0 throught v1,v2,v3\n"
-	"        // face)\n"
-	"        b3PortalDir(portal, &dir);\n"
-	"        // test if origin is inside the portal\n"
-	"        if (portalEncapsulesOrigin(portal, &dir))\n"
-	"            return 0;\n"
-	"        // get next support point\n"
-	"        \n"
-	"		 b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, &v4);\n"
-	"        // test if v4 can expand portal to contain origin and if portal\n"
-	"        // expanding doesn't reach given tolerance\n"
-	"        if (!portalCanEncapsuleOrigin(portal, &v4, &dir)\n"
-	"                || portalReachTolerance(portal, &v4, &dir))\n"
-	"		{\n"
-	"            return -1;\n"
-	"        }\n"
-	"        // v1-v2-v3 triangle must be rearranged to face outside Minkowski\n"
-	"        // difference (direction from v0).\n"
-	"        b3ExpandPortal(portal, &v4);\n"
-	"    }\n"
-	"    return -1;\n"
-	"}\n"
-	"B3_STATIC void b3FindPos(const b3MprSimplex_t *portal, b3Float4 *pos)\n"
-	"{\n"
-	"	b3Float4 zero = b3MakeFloat4(0,0,0,0);\n"
-	"	b3Float4* b3mpr_vec3_origin = &zero;\n"
-	"    b3Float4 dir;\n"
-	"    size_t i;\n"
-	"    float b[4], sum, inv;\n"
-	"    b3Float4 vec, p1, p2;\n"
-	"    b3PortalDir(portal, &dir);\n"
-	"    // use barycentric coordinates of tetrahedron to find origin\n"
-	"    b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 1)->v,\n"
-	"                       &b3MprSimplexPoint(portal, 2)->v);\n"
-	"    b[0] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 3)->v);\n"
-	"    b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 3)->v,\n"
-	"                       &b3MprSimplexPoint(portal, 2)->v);\n"
-	"    b[1] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 0)->v);\n"
-	"    b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 0)->v,\n"
-	"                       &b3MprSimplexPoint(portal, 1)->v);\n"
-	"    b[2] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 3)->v);\n"
-	"    b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 2)->v,\n"
-	"                       &b3MprSimplexPoint(portal, 1)->v);\n"
-	"    b[3] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 0)->v);\n"
-	"	sum = b[0] + b[1] + b[2] + b[3];\n"
-	"    if (b3MprIsZero(sum) || sum < 0.f){\n"
-	"		b[0] = 0.f;\n"
-	"        b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 2)->v,\n"
-	"                           &b3MprSimplexPoint(portal, 3)->v);\n"
-	"        b[1] = b3MprVec3Dot(&vec, &dir);\n"
-	"        b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 3)->v,\n"
-	"                           &b3MprSimplexPoint(portal, 1)->v);\n"
-	"        b[2] = b3MprVec3Dot(&vec, &dir);\n"
-	"        b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 1)->v,\n"
-	"                           &b3MprSimplexPoint(portal, 2)->v);\n"
-	"        b[3] = b3MprVec3Dot(&vec, &dir);\n"
-	"		sum = b[1] + b[2] + b[3];\n"
-	"	}\n"
-	"	inv = 1.f / sum;\n"
-	"    b3MprVec3Copy(&p1, b3mpr_vec3_origin);\n"
-	"    b3MprVec3Copy(&p2, b3mpr_vec3_origin);\n"
-	"    for (i = 0; i < 4; i++){\n"
-	"        b3MprVec3Copy(&vec, &b3MprSimplexPoint(portal, i)->v1);\n"
-	"        b3MprVec3Scale(&vec, b[i]);\n"
-	"        b3MprVec3Add(&p1, &vec);\n"
-	"        b3MprVec3Copy(&vec, &b3MprSimplexPoint(portal, i)->v2);\n"
-	"        b3MprVec3Scale(&vec, b[i]);\n"
-	"        b3MprVec3Add(&p2, &vec);\n"
-	"    }\n"
-	"    b3MprVec3Scale(&p1, inv);\n"
-	"    b3MprVec3Scale(&p2, inv);\n"
-	"    b3MprVec3Copy(pos, &p1);\n"
-	"    b3MprVec3Add(pos, &p2);\n"
-	"    b3MprVec3Scale(pos, 0.5);\n"
-	"}\n"
-	"inline float b3MprVec3Dist2(const b3Float4 *a, const b3Float4 *b)\n"
-	"{\n"
-	"    b3Float4 ab;\n"
-	"    b3MprVec3Sub2(&ab, a, b);\n"
-	"    return b3MprVec3Len2(&ab);\n"
-	"}\n"
-	"inline float _b3MprVec3PointSegmentDist2(const b3Float4 *P,\n"
-	"                                                  const b3Float4 *x0,\n"
-	"                                                  const b3Float4 *b,\n"
-	"                                                  b3Float4 *witness)\n"
-	"{\n"
-	"    // The computation comes from solving equation of segment:\n"
-	"    //      S(t) = x0 + t.d\n"
-	"    //          where - x0 is initial point of segment\n"
-	"    //                - d is direction of segment from x0 (|d| > 0)\n"
-	"    //                - t belongs to <0, 1> interval\n"
-	"    // \n"
-	"    // Than, distance from a segment to some point P can be expressed:\n"
-	"    //      D(t) = |x0 + t.d - P|^2\n"
-	"    //          which is distance from any point on segment. Minimization\n"
-	"    //          of this function brings distance from P to segment.\n"
-	"    // Minimization of D(t) leads to simple quadratic equation that's\n"
-	"    // solving is straightforward.\n"
-	"    //\n"
-	"    // Bonus of this method is witness point for free.\n"
-	"    float dist, t;\n"
-	"    b3Float4 d, a;\n"
-	"    // direction of segment\n"
-	"    b3MprVec3Sub2(&d, b, x0);\n"
-	"    // precompute vector from P to x0\n"
-	"    b3MprVec3Sub2(&a, x0, P);\n"
-	"    t  = -1.f * b3MprVec3Dot(&a, &d);\n"
-	"    t /= b3MprVec3Len2(&d);\n"
-	"    if (t < 0.f || b3MprIsZero(t)){\n"
-	"        dist = b3MprVec3Dist2(x0, P);\n"
-	"        if (witness)\n"
-	"            b3MprVec3Copy(witness, x0);\n"
-	"    }else if (t > 1.f || b3MprEq(t, 1.f)){\n"
-	"        dist = b3MprVec3Dist2(b, P);\n"
-	"        if (witness)\n"
-	"            b3MprVec3Copy(witness, b);\n"
-	"    }else{\n"
-	"        if (witness){\n"
-	"            b3MprVec3Copy(witness, &d);\n"
-	"            b3MprVec3Scale(witness, t);\n"
-	"            b3MprVec3Add(witness, x0);\n"
-	"            dist = b3MprVec3Dist2(witness, P);\n"
-	"        }else{\n"
-	"            // recycling variables\n"
-	"            b3MprVec3Scale(&d, t);\n"
-	"            b3MprVec3Add(&d, &a);\n"
-	"            dist = b3MprVec3Len2(&d);\n"
-	"        }\n"
-	"    }\n"
-	"    return dist;\n"
-	"}\n"
-	"inline float b3MprVec3PointTriDist2(const b3Float4 *P,\n"
-	"                                const b3Float4 *x0, const b3Float4 *B,\n"
-	"                                const b3Float4 *C,\n"
-	"                                b3Float4 *witness)\n"
-	"{\n"
-	"    // Computation comes from analytic expression for triangle (x0, B, C)\n"
-	"    //      T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and\n"
-	"    // Then equation for distance is:\n"
-	"    //      D(s, t) = | T(s, t) - P |^2\n"
-	"    // This leads to minimization of quadratic function of two variables.\n"
-	"    // The solution from is taken only if s is between 0 and 1, t is\n"
-	"    // between 0 and 1 and t + s < 1, otherwise distance from segment is\n"
-	"    // computed.\n"
-	"    b3Float4 d1, d2, a;\n"
-	"    float u, v, w, p, q, r;\n"
-	"    float s, t, dist, dist2;\n"
-	"    b3Float4 witness2;\n"
-	"    b3MprVec3Sub2(&d1, B, x0);\n"
-	"    b3MprVec3Sub2(&d2, C, x0);\n"
-	"    b3MprVec3Sub2(&a, x0, P);\n"
-	"    u = b3MprVec3Dot(&a, &a);\n"
-	"    v = b3MprVec3Dot(&d1, &d1);\n"
-	"    w = b3MprVec3Dot(&d2, &d2);\n"
-	"    p = b3MprVec3Dot(&a, &d1);\n"
-	"    q = b3MprVec3Dot(&a, &d2);\n"
-	"    r = b3MprVec3Dot(&d1, &d2);\n"
-	"    s = (q * r - w * p) / (w * v - r * r);\n"
-	"    t = (-s * r - q) / w;\n"
-	"    if ((b3MprIsZero(s) || s > 0.f)\n"
-	"            && (b3MprEq(s, 1.f) || s < 1.f)\n"
-	"            && (b3MprIsZero(t) || t > 0.f)\n"
-	"            && (b3MprEq(t, 1.f) || t < 1.f)\n"
-	"            && (b3MprEq(t + s, 1.f) || t + s < 1.f)){\n"
-	"        if (witness){\n"
-	"            b3MprVec3Scale(&d1, s);\n"
-	"            b3MprVec3Scale(&d2, t);\n"
-	"            b3MprVec3Copy(witness, x0);\n"
-	"            b3MprVec3Add(witness, &d1);\n"
-	"            b3MprVec3Add(witness, &d2);\n"
-	"            dist = b3MprVec3Dist2(witness, P);\n"
-	"        }else{\n"
-	"            dist  = s * s * v;\n"
-	"            dist += t * t * w;\n"
-	"            dist += 2.f * s * t * r;\n"
-	"            dist += 2.f * s * p;\n"
-	"            dist += 2.f * t * q;\n"
-	"            dist += u;\n"
-	"        }\n"
-	"    }else{\n"
-	"        dist = _b3MprVec3PointSegmentDist2(P, x0, B, witness);\n"
-	"        dist2 = _b3MprVec3PointSegmentDist2(P, x0, C, &witness2);\n"
-	"        if (dist2 < dist){\n"
-	"            dist = dist2;\n"
-	"            if (witness)\n"
-	"                b3MprVec3Copy(witness, &witness2);\n"
-	"        }\n"
-	"        dist2 = _b3MprVec3PointSegmentDist2(P, B, C, &witness2);\n"
-	"        if (dist2 < dist){\n"
-	"            dist = dist2;\n"
-	"            if (witness)\n"
-	"                b3MprVec3Copy(witness, &witness2);\n"
-	"        }\n"
-	"    }\n"
-	"    return dist;\n"
-	"}\n"
-	"B3_STATIC void b3FindPenetr(int pairIndex,int bodyIndexA, int bodyIndexB,  b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
-	"													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
-	"													b3ConstArray(b3Collidable_t)				cpuCollidables,\n"
-	"													b3ConstArray(b3Float4)					cpuVertices,\n"
-	"													__global b3Float4* sepAxis,\n"
-	"                       b3MprSimplex_t *portal,\n"
-	"                       float *depth, b3Float4 *pdir, b3Float4 *pos)\n"
-	"{\n"
-	"    b3Float4 dir;\n"
-	"    b3MprSupport_t v4;\n"
-	"    unsigned long iterations;\n"
-	"	b3Float4 zero = b3MakeFloat4(0,0,0,0);\n"
-	"	b3Float4* b3mpr_vec3_origin = &zero;\n"
-	"    iterations = 1UL;\n"
-	"	for (int i=0;i<B3_MPR_MAX_ITERATIONS;i++)\n"
-	"    //while (1)\n"
-	"	{\n"
-	"        // compute portal direction and obtain next support point\n"
-	"        b3PortalDir(portal, &dir);\n"
-	"        \n"
-	"		 b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, &v4);\n"
-	"        // reached tolerance -> find penetration info\n"
-	"        if (portalReachTolerance(portal, &v4, &dir)\n"
-	"                || iterations ==B3_MPR_MAX_ITERATIONS)\n"
-	"		{\n"
-	"            *depth = b3MprVec3PointTriDist2(b3mpr_vec3_origin,&b3MprSimplexPoint(portal, 1)->v,&b3MprSimplexPoint(portal, 2)->v,&b3MprSimplexPoint(portal, 3)->v,pdir);\n"
-	"            *depth = B3_MPR_SQRT(*depth);\n"
-	"			\n"
-	"			if (b3MprIsZero((*pdir).x) && b3MprIsZero((*pdir).y) && b3MprIsZero((*pdir).z))\n"
-	"			{\n"
-	"				\n"
-	"				*pdir = dir;\n"
-	"			} \n"
-	"			b3MprVec3Normalize(pdir);\n"
-	"			\n"
-	"            // barycentric coordinates:\n"
-	"            b3FindPos(portal, pos);\n"
-	"            return;\n"
-	"        }\n"
-	"        b3ExpandPortal(portal, &v4);\n"
-	"        iterations++;\n"
-	"    }\n"
-	"}\n"
-	"B3_STATIC void b3FindPenetrTouch(b3MprSimplex_t *portal,float *depth, b3Float4 *dir, b3Float4 *pos)\n"
-	"{\n"
-	"    // Touching contact on portal's v1 - so depth is zero and direction\n"
-	"    // is unimportant and pos can be guessed\n"
-	"    *depth = 0.f;\n"
-	"    b3Float4 zero = b3MakeFloat4(0,0,0,0);\n"
-	"	b3Float4* b3mpr_vec3_origin = &zero;\n"
-	"	b3MprVec3Copy(dir, b3mpr_vec3_origin);\n"
-	"    b3MprVec3Copy(pos, &b3MprSimplexPoint(portal, 1)->v1);\n"
-	"    b3MprVec3Add(pos, &b3MprSimplexPoint(portal, 1)->v2);\n"
-	"    b3MprVec3Scale(pos, 0.5);\n"
-	"}\n"
-	"B3_STATIC void b3FindPenetrSegment(b3MprSimplex_t *portal,\n"
-	"                              float *depth, b3Float4 *dir, b3Float4 *pos)\n"
-	"{\n"
-	"    \n"
-	"    // Origin lies on v0-v1 segment.\n"
-	"    // Depth is distance to v1, direction also and position must be\n"
-	"    // computed\n"
-	"    b3MprVec3Copy(pos, &b3MprSimplexPoint(portal, 1)->v1);\n"
-	"    b3MprVec3Add(pos, &b3MprSimplexPoint(portal, 1)->v2);\n"
-	"    b3MprVec3Scale(pos, 0.5f);\n"
-	"    \n"
-	"    b3MprVec3Copy(dir, &b3MprSimplexPoint(portal, 1)->v);\n"
-	"    *depth = B3_MPR_SQRT(b3MprVec3Len2(dir));\n"
-	"    b3MprVec3Normalize(dir);\n"
-	"}\n"
-	"inline int b3MprPenetration(int pairIndex, int bodyIndexA, int bodyIndexB,\n"
-	"					b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,\n"
-	"					b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
-	"					b3ConstArray(b3Collidable_t)	cpuCollidables,\n"
-	"					b3ConstArray(b3Float4)	cpuVertices,\n"
-	"					__global b3Float4* sepAxis,\n"
-	"					__global int*	hasSepAxis,\n"
-	"					float *depthOut, b3Float4* dirOut, b3Float4* posOut)\n"
-	"{\n"
-	"	\n"
-	"	 b3MprSimplex_t portal;\n"
-	"	 \n"
-	"//	if (!hasSepAxis[pairIndex])\n"
-	"	//	return -1;\n"
-	"	\n"
-	"	hasSepAxis[pairIndex] = 0;\n"
-	"	 int res;\n"
-	"    // Phase 1: Portal discovery\n"
-	"    res = b3DiscoverPortal(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices,sepAxis,hasSepAxis, &portal);\n"
-	"	\n"
-	"	  \n"
-	"	//sepAxis[pairIndex] = *pdir;//or -dir?\n"
-	"	switch (res)\n"
-	"	{\n"
-	"	case 0:\n"
-	"		{\n"
-	"			// Phase 2: Portal refinement\n"
-	"		\n"
-	"			res = b3RefinePortal(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&portal);\n"
-	"			if (res < 0)\n"
-	"				return -1;\n"
-	"			// Phase 3. Penetration info\n"
-	"			b3FindPenetr(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&portal, depthOut, dirOut, posOut);\n"
-	"			hasSepAxis[pairIndex] = 1;\n"
-	"			sepAxis[pairIndex] = -*dirOut;\n"
-	"			break;\n"
-	"		}\n"
-	"	case 1:\n"
-	"		{\n"
-	"			 // Touching contact on portal's v1.\n"
-	"			b3FindPenetrTouch(&portal, depthOut, dirOut, posOut);\n"
-	"			break;\n"
-	"		}\n"
-	"	case 2:\n"
-	"		{\n"
-	"			\n"
-	"			b3FindPenetrSegment( &portal, depthOut, dirOut, posOut);\n"
-	"			break;\n"
-	"		}\n"
-	"	default:\n"
-	"		{\n"
-	"			hasSepAxis[pairIndex]=0;\n"
-	"			//if (res < 0)\n"
-	"			//{\n"
-	"				// Origin isn't inside portal - no collision.\n"
-	"				return -1;\n"
-	"			//}\n"
-	"		}\n"
-	"	};\n"
-	"	\n"
-	"	return 0;\n"
-	"};\n"
-	"#endif //B3_MPR_PENETRATION_H\n"
-	"#ifndef B3_CONTACT4DATA_H\n"
-	"#define B3_CONTACT4DATA_H\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_FLOAT4_H\n"
-	"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
-	"struct b3Contact4Data\n"
-	"{\n"
-	"	b3Float4	m_worldPosB[4];\n"
-	"//	b3Float4	m_localPosA[4];\n"
-	"//	b3Float4	m_localPosB[4];\n"
-	"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
-	"	unsigned short  m_restituitionCoeffCmp;\n"
-	"	unsigned short  m_frictionCoeffCmp;\n"
-	"	int m_batchIdx;\n"
-	"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
-	"	int m_bodyBPtrAndSignBit;\n"
-	"	int	m_childIndexA;\n"
-	"	int	m_childIndexB;\n"
-	"	int m_unused1;\n"
-	"	int m_unused2;\n"
-	"};\n"
-	"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
-	"{\n"
-	"	return (int)contact->m_worldNormalOnB.w;\n"
-	"};\n"
-	"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
-	"{\n"
-	"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
-	"};\n"
-	"#endif //B3_CONTACT4DATA_H\n"
-	"#define AppendInc(x, out) out = atomic_inc(x)\n"
-	"#define GET_NPOINTS(x) (x).m_worldNormalOnB.w\n"
-	"#ifdef cl_ext_atomic_counters_32\n"
-	"	#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
-	"#else\n"
-	"	#define counter32_t volatile __global int*\n"
-	"#endif\n"
-	"__kernel void   mprPenetrationKernel( __global int4* pairs,\n"
-	"																					__global const b3RigidBodyData_t* rigidBodies, \n"
-	"																					__global const b3Collidable_t* collidables,\n"
-	"																					__global const b3ConvexPolyhedronData_t* convexShapes, \n"
-	"																					__global const float4* vertices,\n"
-	"																					__global float4* separatingNormals,\n"
-	"																					__global int* hasSeparatingAxis,\n"
-	"																					__global struct b3Contact4Data* restrict globalContactsOut,\n"
-	"																					counter32_t nGlobalContactsOut,\n"
-	"																					int contactCapacity,\n"
-	"																					int numPairs)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	int pairIndex = i;\n"
-	"	if (i<numPairs)\n"
-	"	{\n"
-	"		int bodyIndexA = pairs[i].x;\n"
-	"		int bodyIndexB = pairs[i].y;\n"
-	"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-	"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-	"	\n"
-	"		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-	"		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-	"		\n"
-	"		\n"
-	"		//once the broadphase avoids static-static pairs, we can remove this test\n"
-	"		if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))\n"
-	"		{\n"
-	"			return;\n"
-	"		}\n"
-	"		\n"
-	"		if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONVEX_HULL) ||(collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL))\n"
-	"		{\n"
-	"			return;\n"
-	"		}\n"
-	"		float depthOut;\n"
-	"		b3Float4 dirOut;\n"
-	"		b3Float4 posOut;\n"
-	"		int res = b3MprPenetration(pairIndex, bodyIndexA, bodyIndexB,rigidBodies,convexShapes,collidables,vertices,separatingNormals,hasSeparatingAxis,&depthOut, &dirOut, &posOut);\n"
-	"		\n"
-	"		\n"
-	"		\n"
-	"		\n"
-	"		if (res==0)\n"
-	"		{\n"
-	"			//add a contact\n"
-	"			int dstIdx;\n"
-	"			AppendInc( nGlobalContactsOut, dstIdx );\n"
-	"			if (dstIdx<contactCapacity)\n"
-	"			{\n"
-	"				pairs[pairIndex].z = dstIdx;\n"
-	"				__global struct b3Contact4Data* c = globalContactsOut + dstIdx;\n"
-	"				c->m_worldNormalOnB = -dirOut;//normal;\n"
-	"				c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-	"				c->m_batchIdx = pairIndex;\n"
-	"				int bodyA = pairs[pairIndex].x;\n"
-	"				int bodyB = pairs[pairIndex].y;\n"
-	"				c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0 ? -bodyA:bodyA;\n"
-	"				c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0 ? -bodyB:bodyB;\n"
-	"				c->m_childIndexA = -1;\n"
-	"				c->m_childIndexB = -1;\n"
-	"				//for (int i=0;i<nContacts;i++)\n"
-	"				posOut.w = -depthOut;\n"
-	"				c->m_worldPosB[0] = posOut;//localPoints[contactIdx[i]];\n"
-	"				GET_NPOINTS(*c) = 1;//nContacts;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"typedef float4 Quaternion;\n"
-	"#define make_float4 (float4)\n"
-	"__inline\n"
-	"float dot3F4(float4 a, float4 b)\n"
-	"{\n"
-	"	float4 a1 = make_float4(a.xyz,0.f);\n"
-	"	float4 b1 = make_float4(b.xyz,0.f);\n"
-	"	return dot(a1, b1);\n"
-	"}\n"
-	"__inline\n"
-	"float4 cross3(float4 a, float4 b)\n"
-	"{\n"
-	"	return cross(a,b);\n"
-	"}\n"
-	"__inline\n"
-	"Quaternion qtMul(Quaternion a, Quaternion b)\n"
-	"{\n"
-	"	Quaternion ans;\n"
-	"	ans = cross3( a, b );\n"
-	"	ans += a.w*b+b.w*a;\n"
-	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-	"	ans.w = a.w*b.w - dot3F4(a, b);\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"Quaternion qtInvert(Quaternion q)\n"
-	"{\n"
-	"	return (Quaternion)(-q.xyz, q.w);\n"
-	"}\n"
-	"__inline\n"
-	"float4 qtRotate(Quaternion q, float4 vec)\n"
-	"{\n"
-	"	Quaternion qInv = qtInvert( q );\n"
-	"	float4 vcpy = vec;\n"
-	"	vcpy.w = 0.f;\n"
-	"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n"
-	"{\n"
-	"	return qtRotate( *orientation, *p ) + (*translation);\n"
-	"}\n"
-	"__inline\n"
-	"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
-	"{\n"
-	"	return qtRotate( qtInvert( q ), vec );\n"
-	"}\n"
-	"inline void project(__global const b3ConvexPolyhedronData_t* hull,  const float4 pos, const float4 orn, \n"
-	"const float4* dir, __global const float4* vertices, float* min, float* max)\n"
-	"{\n"
-	"	min[0] = FLT_MAX;\n"
-	"	max[0] = -FLT_MAX;\n"
-	"	int numVerts = hull->m_numVertices;\n"
-	"	const float4 localDir = qtInvRotate(orn,*dir);\n"
-	"	float offset = dot(pos,*dir);\n"
-	"	for(int i=0;i<numVerts;i++)\n"
-	"	{\n"
-	"		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);\n"
-	"		if(dp < min[0])	\n"
-	"			min[0] = dp;\n"
-	"		if(dp > max[0])	\n"
-	"			max[0] = dp;\n"
-	"	}\n"
-	"	if(min[0]>max[0])\n"
-	"	{\n"
-	"		float tmp = min[0];\n"
-	"		min[0] = max[0];\n"
-	"		max[0] = tmp;\n"
-	"	}\n"
-	"	min[0] += offset;\n"
-	"	max[0] += offset;\n"
-	"}\n"
-	"bool findSeparatingAxisUnitSphere(	__global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, \n"
-	"	const float4 posA1,\n"
-	"	const float4 ornA,\n"
-	"	const float4 posB1,\n"
-	"	const float4 ornB,\n"
-	"	const float4 DeltaC2,\n"
-	"	__global const float4* vertices,\n"
-	"	__global const float4* unitSphereDirections,\n"
-	"	int numUnitSphereDirections,\n"
-	"	float4* sep,\n"
-	"	float* dmin)\n"
-	"{\n"
-	"	\n"
-	"	float4 posA = posA1;\n"
-	"	posA.w = 0.f;\n"
-	"	float4 posB = posB1;\n"
-	"	posB.w = 0.f;\n"
-	"	int curPlaneTests=0;\n"
-	"	int curEdgeEdge = 0;\n"
-	"	// Test unit sphere directions\n"
-	"	for (int i=0;i<numUnitSphereDirections;i++)\n"
-	"	{\n"
-	"		float4 crossje;\n"
-	"		crossje = unitSphereDirections[i];	\n"
-	"		if (dot3F4(DeltaC2,crossje)>0)\n"
-	"			crossje *= -1.f;\n"
-	"		{\n"
-	"			float dist;\n"
-	"			bool result = true;\n"
-	"			float Min0,Max0;\n"
-	"			float Min1,Max1;\n"
-	"			project(hullA,posA,ornA,&crossje,vertices, &Min0, &Max0);\n"
-	"			project(hullB,posB,ornB,&crossje,vertices, &Min1, &Max1);\n"
-	"		\n"
-	"			if(Max0<Min1 || Max1<Min0)\n"
-	"				return false;\n"
-	"		\n"
-	"			float d0 = Max0 - Min1;\n"
-	"			float d1 = Max1 - Min0;\n"
-	"			dist = d0<d1 ? d0:d1;\n"
-	"			result = true;\n"
-	"	\n"
-	"			if(dist<*dmin)\n"
-	"			{\n"
-	"				*dmin = dist;\n"
-	"				*sep = crossje;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	\n"
-	"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
-	"	{\n"
-	"		*sep = -(*sep);\n"
-	"	}\n"
-	"	return true;\n"
-	"}\n"
-	"__kernel void   findSeparatingAxisUnitSphereKernel( __global const int4* pairs, \n"
-	"																					__global const b3RigidBodyData_t* rigidBodies, \n"
-	"																					__global const b3Collidable_t* collidables,\n"
-	"																					__global const b3ConvexPolyhedronData_t* convexShapes, \n"
-	"																					__global const float4* vertices,\n"
-	"																					__global const float4* unitSphereDirections,\n"
-	"																					__global  float4* separatingNormals,\n"
-	"																					__global  int* hasSeparatingAxis,\n"
-	"																					__global  float* dmins,\n"
-	"																					int numUnitSphereDirections,\n"
-	"																					int numPairs\n"
-	"																					)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	\n"
-	"	if (i<numPairs)\n"
-	"	{\n"
-	"		if (hasSeparatingAxis[i])\n"
-	"		{\n"
-	"	\n"
-	"			int bodyIndexA = pairs[i].x;\n"
-	"			int bodyIndexB = pairs[i].y;\n"
-	"	\n"
-	"			int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-	"			int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-	"		\n"
-	"			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-	"			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-	"			\n"
-	"			\n"
-	"			int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
-	"	\n"
-	"			float dmin = dmins[i];\n"
-	"	\n"
-	"			float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-	"			posA.w = 0.f;\n"
-	"			float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-	"			posB.w = 0.f;\n"
-	"			float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
-	"			float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-	"			float4 c0 = transform(&c0local, &posA, &ornA);\n"
-	"			float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
-	"			float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
-	"			float4 c1 = transform(&c1local,&posB,&ornB);\n"
-	"			const float4 DeltaC2 = c0 - c1;\n"
-	"			float4 sepNormal = separatingNormals[i];\n"
-	"			\n"
-	"			int numEdgeEdgeDirections = convexShapes[shapeIndexA].m_numUniqueEdges*convexShapes[shapeIndexB].m_numUniqueEdges;\n"
-	"			if (numEdgeEdgeDirections>numUnitSphereDirections)\n"
-	"			{\n"
-	"				bool sepEE = findSeparatingAxisUnitSphere(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
-	"																										posB,ornB,\n"
-	"																										DeltaC2,\n"
-	"																										vertices,unitSphereDirections,numUnitSphereDirections,&sepNormal,&dmin);\n"
-	"				if (!sepEE)\n"
-	"				{\n"
-	"					hasSeparatingAxis[i] = 0;\n"
-	"				} else\n"
-	"				{\n"
-	"					hasSeparatingAxis[i] = 1;\n"
-	"					separatingNormals[i] = sepNormal;\n"
-	"				}\n"
-	"			}\n"
-	"		}		//if (hasSeparatingAxis[i])\n"
-	"	}//(i<numPairs)\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.cl b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.cl
deleted file mode 100644
index 9c9e920f13..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.cl
+++ /dev/null
@@ -1,1374 +0,0 @@
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
-
-#define SHAPE_CONVEX_HULL 3
-#define SHAPE_PLANE 4
-#define SHAPE_CONCAVE_TRIMESH 5
-#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6
-#define SHAPE_SPHERE 7
-
-
-#pragma OPENCL EXTENSION cl_amd_printf : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable
-
-#ifdef cl_ext_atomic_counters_32
-#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable
-#else
-#define counter32_t volatile __global int*
-#endif
-
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GET_NUM_GROUPS get_num_groups(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
-#define AtomInc(x) atom_inc(&(x))
-#define AtomInc1(x, out) out = atom_inc(&(x))
-#define AppendInc(x, out) out = atomic_inc(x)
-#define AtomAdd(x, value) atom_add(&(x), value)
-#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )
-#define AtomXhg(x, value) atom_xchg ( &(x), value )
-
-#define max2 max
-#define min2 min
-
-typedef unsigned int u32;
-
-
-
-
-typedef struct 
-{
-	union
-	{
-		float4	m_min;
-		float   m_minElems[4];
-		int			m_minIndices[4];
-	};
-	union
-	{
-		float4	m_max;
-		float   m_maxElems[4];
-		int			m_maxIndices[4];
-	};
-} btAabbCL;
-
-///keep this in sync with btCollidable.h
-typedef struct
-{
-	int m_numChildShapes;
-	float m_radius;
-	int m_shapeType;
-	int m_shapeIndex;
-	
-} btCollidableGpu;
-
-typedef struct
-{
-	float4	m_childPosition;
-	float4	m_childOrientation;
-	int m_shapeIndex;
-	int m_unused0;
-	int m_unused1;
-	int m_unused2;
-} btGpuChildShape;
-
-#define GET_NPOINTS(x) (x).m_worldNormalOnB.w
-
-typedef struct
-{
-	float4 m_pos;
-	float4 m_quat;
-	float4 m_linVel;
-	float4 m_angVel;
-
-	u32 m_collidableIdx;	
-	float m_invMass;
-	float m_restituitionCoeff;
-	float m_frictionCoeff;
-} BodyData;
-
-
-typedef struct  
-{
-	float4		m_localCenter;
-	float4		m_extents;
-	float4		mC;
-	float4		mE;
-	
-	float			m_radius;
-	int	m_faceOffset;
-	int m_numFaces;
-	int	m_numVertices;
-	
-	int m_vertexOffset;
-	int	m_uniqueEdgesOffset;
-	int	m_numUniqueEdges;
-	int m_unused;
-
-} ConvexPolyhedronCL;
-
-typedef struct
-{
-	float4 m_plane;
-	int m_indexOffset;
-	int m_numIndices;
-} btGpuFace;
-
-#define SELECT_UINT4( b, a, condition ) select( b,a,condition )
-
-#define make_float4 (float4)
-#define make_float2 (float2)
-#define make_uint4 (uint4)
-#define make_int4 (int4)
-#define make_uint2 (uint2)
-#define make_int2 (int2)
-
-
-__inline
-float fastDiv(float numerator, float denominator)
-{
-	return native_divide(numerator, denominator);	
-//	return numerator/denominator;	
-}
-
-__inline
-float4 fastDiv4(float4 numerator, float4 denominator)
-{
-	return native_divide(numerator, denominator);	
-}
-
-
-__inline
-float4 cross3(float4 a, float4 b)
-{
-	return cross(a,b);
-}
-
-//#define dot3F4 dot
-
-__inline
-float dot3F4(float4 a, float4 b)
-{
-	float4 a1 = make_float4(a.xyz,0.f);
-	float4 b1 = make_float4(b.xyz,0.f);
-	return dot(a1, b1);
-}
-
-__inline
-float4 fastNormalize4(float4 v)
-{
-	return fast_normalize(v);
-}
-
-
-///////////////////////////////////////
-//	Quaternion
-///////////////////////////////////////
-
-typedef float4 Quaternion;
-
-__inline
-Quaternion qtMul(Quaternion a, Quaternion b);
-
-__inline
-Quaternion qtNormalize(Quaternion in);
-
-__inline
-float4 qtRotate(Quaternion q, float4 vec);
-
-__inline
-Quaternion qtInvert(Quaternion q);
-
-
-
-
-__inline
-Quaternion qtMul(Quaternion a, Quaternion b)
-{
-	Quaternion ans;
-	ans = cross3( a, b );
-	ans += a.w*b+b.w*a;
-//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
-	ans.w = a.w*b.w - dot3F4(a, b);
-	return ans;
-}
-
-__inline
-Quaternion qtNormalize(Quaternion in)
-{
-	return fastNormalize4(in);
-//	in /= length( in );
-//	return in;
-}
-__inline
-float4 qtRotate(Quaternion q, float4 vec)
-{
-	Quaternion qInv = qtInvert( q );
-	float4 vcpy = vec;
-	vcpy.w = 0.f;
-	float4 out = qtMul(qtMul(q,vcpy),qInv);
-	return out;
-}
-
-__inline
-Quaternion qtInvert(Quaternion q)
-{
-	return (Quaternion)(-q.xyz, q.w);
-}
-
-__inline
-float4 qtInvRotate(const Quaternion q, float4 vec)
-{
-	return qtRotate( qtInvert( q ), vec );
-}
-
-__inline
-float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)
-{
-	return qtRotate( *orientation, *p ) + (*translation);
-}
-
-void	trInverse(float4 translationIn, Quaternion orientationIn,
-		float4* translationOut, Quaternion* orientationOut)
-{
-	*orientationOut = qtInvert(orientationIn);
-	*translationOut = qtRotate(*orientationOut, -translationIn);
-}
-
-void	trMul(float4 translationA, Quaternion orientationA,
-						float4 translationB, Quaternion orientationB,
-		float4* translationOut, Quaternion* orientationOut)
-{
-	*orientationOut = qtMul(orientationA,orientationB);
-	*translationOut = transform(&translationB,&translationA,&orientationA);
-}
-
-
-
-__inline
-float4 normalize3(const float4 a)
-{
-	float4 n = make_float4(a.x, a.y, a.z, 0.f);
-	return fastNormalize4( n );
-}
-
-
-__inline float4 lerp3(const float4 a,const float4 b, float  t)
-{
-	return make_float4(	a.x + (b.x - a.x) * t,
-						a.y + (b.y - a.y) * t,
-						a.z + (b.z - a.z) * t,
-						0.f);
-}
-
-
-float signedDistanceFromPointToPlane(float4 point, float4 planeEqn, float4* closestPointOnFace)
-{
-	float4 n = (float4)(planeEqn.x, planeEqn.y, planeEqn.z, 0);
-	float dist = dot3F4(n, point) + planeEqn.w;
-	*closestPointOnFace = point - dist * n;
-	return dist;
-}
-
-
-
-inline bool IsPointInPolygon(float4 p, 
-							const btGpuFace* face,
-							__global const float4* baseVertex,
-							__global const  int* convexIndices,
-							float4* out)
-{
-    float4 a;
-    float4 b;
-    float4 ab;
-    float4 ap;
-    float4 v;
-
-	float4 plane = make_float4(face->m_plane.x,face->m_plane.y,face->m_plane.z,0.f);
-	
-	if (face->m_numIndices<2)
-		return false;
-
-	
-	float4 v0 = baseVertex[convexIndices[face->m_indexOffset + face->m_numIndices-1]];
-	
-	b = v0;
-
-    for(unsigned i=0; i != face->m_numIndices; ++i)
-    {
-		a = b;
-		float4 vi = baseVertex[convexIndices[face->m_indexOffset + i]];
-		b = vi;
-        ab = b-a;
-        ap = p-a;
-        v = cross3(ab,plane);
-
-        if (dot(ap, v) > 0.f)
-        {
-            float ab_m2 = dot(ab, ab);
-            float rt = ab_m2 != 0.f ? dot(ab, ap) / ab_m2 : 0.f;
-            if (rt <= 0.f)
-            {
-                *out = a;
-            }
-            else if (rt >= 1.f) 
-            {
-                *out = b;
-            }
-            else
-            {
-            	float s = 1.f - rt;
-				out[0].x = s * a.x + rt * b.x;
-				out[0].y = s * a.y + rt * b.y;
-				out[0].z = s * a.z + rt * b.z;
-            }
-            return false;
-        }
-    }
-    return true;
-}
-
-
-
-
-void	computeContactSphereConvex(int pairIndex,
-																int bodyIndexA, int bodyIndexB, 
-																int collidableIndexA, int collidableIndexB, 
-																__global const BodyData* rigidBodies, 
-																__global const btCollidableGpu* collidables,
-																__global const ConvexPolyhedronCL* convexShapes,
-																__global const float4* convexVertices,
-																__global const int* convexIndices,
-																__global const btGpuFace* faces,
-																__global struct b3Contact4Data* restrict globalContactsOut,
-																counter32_t nGlobalContactsOut,
-																int maxContactCapacity,
-																float4 spherePos2,
-																float radius,
-																float4 pos,
-																float4 quat
-																)
-{
-
-	float4 invPos;
-	float4 invOrn;
-
-	trInverse(pos,quat, &invPos,&invOrn);
-
-	float4 spherePos = transform(&spherePos2,&invPos,&invOrn);
-
-	int shapeIndex = collidables[collidableIndexB].m_shapeIndex;
-	int numFaces = convexShapes[shapeIndex].m_numFaces;
-	float4 closestPnt = (float4)(0, 0, 0, 0);
-	float4 hitNormalWorld = (float4)(0, 0, 0, 0);
-	float minDist = -1000000.f;
-	bool bCollide = true;
-
-	for ( int f = 0; f < numFaces; f++ )
-	{
-		btGpuFace face = faces[convexShapes[shapeIndex].m_faceOffset+f];
-
-		// set up a plane equation 
-		float4 planeEqn;
-		float4 n1 = face.m_plane;
-		n1.w = 0.f;
-		planeEqn = n1;
-		planeEqn.w = face.m_plane.w;
-		
-	
-		// compute a signed distance from the vertex in cloth to the face of rigidbody.
-		float4 pntReturn;
-		float dist = signedDistanceFromPointToPlane(spherePos, planeEqn, &pntReturn);
-
-		// If the distance is positive, the plane is a separating plane. 
-		if ( dist > radius )
-		{
-			bCollide = false;
-			break;
-		}
-
-
-		if (dist>0)
-		{
-			//might hit an edge or vertex
-			float4 out;
-			float4 zeroPos = make_float4(0,0,0,0);
-
-			bool isInPoly = IsPointInPolygon(spherePos,
-					&face,
-					&convexVertices[convexShapes[shapeIndex].m_vertexOffset],
-					convexIndices,
-           &out);
-			if (isInPoly)
-			{
-				if (dist>minDist)
-				{
-					minDist = dist;
-					closestPnt = pntReturn;
-					hitNormalWorld = planeEqn;
-					
-				}
-			} else
-			{
-				float4 tmp = spherePos-out;
-				float l2 = dot(tmp,tmp);
-				if (l2<radius*radius)
-				{
-					dist  = sqrt(l2);
-					if (dist>minDist)
-					{
-						minDist = dist;
-						closestPnt = out;
-						hitNormalWorld = tmp/dist;
-						
-					}
-					
-				} else
-				{
-					bCollide = false;
-					break;
-				}
-			}
-		} else
-		{
-			if ( dist > minDist )
-			{
-				minDist = dist;
-				closestPnt = pntReturn;
-				hitNormalWorld.xyz = planeEqn.xyz;
-			}
-		}
-		
-	}
-
-	
-
-	if (bCollide && minDist > -10000)
-	{
-		float4 normalOnSurfaceB1 = qtRotate(quat,-hitNormalWorld);
-		float4 pOnB1 = transform(&closestPnt,&pos,&quat);
-		
-		float actualDepth = minDist-radius;
-		if (actualDepth<=0.f)
-		{
-			
-
-			pOnB1.w = actualDepth;
-
-			int dstIdx;
-			AppendInc( nGlobalContactsOut, dstIdx );
-		
-			
-			if (1)//dstIdx < maxContactCapacity)
-			{
-				__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
-				c->m_worldNormalOnB = -normalOnSurfaceB1;
-				c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
-				c->m_batchIdx = pairIndex;
-				c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;
-				c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
-				c->m_worldPosB[0] = pOnB1;
-				c->m_childIndexA = -1;
-				c->m_childIndexB = -1;
-
-				GET_NPOINTS(*c) = 1;
-			} 
-
-		}
-	}//if (hasCollision)
-
-}
-							
-
-
-int extractManifoldSequential(const float4* p, int nPoints, float4 nearNormal, int4* contactIdx)
-{
-	if( nPoints == 0 )
-        return 0;
-    
-    if (nPoints <=4)
-        return nPoints;
-    
-    
-    if (nPoints >64)
-        nPoints = 64;
-    
-	float4 center = make_float4(0.f);
-	{
-		
-		for (int i=0;i<nPoints;i++)
-			center += p[i];
-		center /= (float)nPoints;
-	}
-    
-	
-    
-	//	sample 4 directions
-    
-    float4 aVector = p[0] - center;
-    float4 u = cross3( nearNormal, aVector );
-    float4 v = cross3( nearNormal, u );
-    u = normalize3( u );
-    v = normalize3( v );
-    
-    
-    //keep point with deepest penetration
-    float minW= FLT_MAX;
-    
-    int minIndex=-1;
-    
-    float4 maxDots;
-    maxDots.x = FLT_MIN;
-    maxDots.y = FLT_MIN;
-    maxDots.z = FLT_MIN;
-    maxDots.w = FLT_MIN;
-    
-    //	idx, distance
-    for(int ie = 0; ie<nPoints; ie++ )
-    {
-        if (p[ie].w<minW)
-        {
-            minW = p[ie].w;
-            minIndex=ie;
-        }
-        float f;
-        float4 r = p[ie]-center;
-        f = dot3F4( u, r );
-        if (f<maxDots.x)
-        {
-            maxDots.x = f;
-            contactIdx[0].x = ie;
-        }
-        
-        f = dot3F4( -u, r );
-        if (f<maxDots.y)
-        {
-            maxDots.y = f;
-            contactIdx[0].y = ie;
-        }
-        
-        
-        f = dot3F4( v, r );
-        if (f<maxDots.z)
-        {
-            maxDots.z = f;
-            contactIdx[0].z = ie;
-        }
-        
-        f = dot3F4( -v, r );
-        if (f<maxDots.w)
-        {
-            maxDots.w = f;
-            contactIdx[0].w = ie;
-        }
-        
-    }
-    
-    if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
-    {
-        //replace the first contact with minimum (todo: replace contact with least penetration)
-        contactIdx[0].x = minIndex;
-    }
-    
-    return 4;
-    
-}
-
-#define MAX_PLANE_CONVEX_POINTS 64
-
-int computeContactPlaneConvex(int pairIndex,
-								int bodyIndexA, int bodyIndexB, 
-								int collidableIndexA, int collidableIndexB, 
-								__global const BodyData* rigidBodies, 
-								__global const btCollidableGpu*collidables,
-								__global const ConvexPolyhedronCL* convexShapes,
-								__global const float4* convexVertices,
-								__global const int* convexIndices,
-								__global const btGpuFace* faces,
-								__global struct b3Contact4Data* restrict globalContactsOut,
-								counter32_t nGlobalContactsOut,
-								int maxContactCapacity,
-								float4 posB,
-								Quaternion ornB
-								)
-{
-	int resultIndex=-1;
-
-		int shapeIndex = collidables[collidableIndexB].m_shapeIndex;
-	__global const ConvexPolyhedronCL* hullB = &convexShapes[shapeIndex];
-	
-	float4 posA;
-	posA = rigidBodies[bodyIndexA].m_pos;
-	Quaternion ornA;
-	ornA = rigidBodies[bodyIndexA].m_quat;
-
-	int numContactsOut = 0;
-	int numWorldVertsB1= 0;
-
-	float4 planeEq;
-	 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
-	float4 planeNormal = make_float4(planeEq.x,planeEq.y,planeEq.z,0.f);
-	float4 planeNormalWorld;
-	planeNormalWorld = qtRotate(ornA,planeNormal);
-	float planeConstant = planeEq.w;
-	
-	float4 invPosA;Quaternion invOrnA;
-	float4 convexInPlaneTransPos1; Quaternion convexInPlaneTransOrn1;
-	{
-		
-		trInverse(posA,ornA,&invPosA,&invOrnA);
-		trMul(invPosA,invOrnA,posB,ornB,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);
-	}
-	float4 invPosB;Quaternion invOrnB;
-	float4 planeInConvexPos1;	Quaternion planeInConvexOrn1;
-	{
-		
-		trInverse(posB,ornB,&invPosB,&invOrnB);
-		trMul(invPosB,invOrnB,posA,ornA,&planeInConvexPos1,&planeInConvexOrn1);	
-	}
-
-	
-	float4 planeNormalInConvex = qtRotate(planeInConvexOrn1,-planeNormal);
-	float maxDot = -1e30;
-	int hitVertex=-1;
-	float4 hitVtx;
-
-
-
-	float4 contactPoints[MAX_PLANE_CONVEX_POINTS];
-	int numPoints = 0;
-
-	int4 contactIdx;
-	contactIdx=make_int4(0,1,2,3);
-    
-	
-	for (int i=0;i<hullB->m_numVertices;i++)
-	{
-		float4 vtx = convexVertices[hullB->m_vertexOffset+i];
-		float curDot = dot(vtx,planeNormalInConvex);
-
-
-		if (curDot>maxDot)
-		{
-			hitVertex=i;
-			maxDot=curDot;
-			hitVtx = vtx;
-			//make sure the deepest points is always included
-			if (numPoints==MAX_PLANE_CONVEX_POINTS)
-				numPoints--;
-		}
-
-		if (numPoints<MAX_PLANE_CONVEX_POINTS)
-		{
-			float4 vtxWorld = transform(&vtx, &posB, &ornB);
-			float4 vtxInPlane = transform(&vtxWorld, &invPosA, &invOrnA);//oplaneTransform.inverse()*vtxWorld;
-			float dist = dot(planeNormal,vtxInPlane)-planeConstant;
-			if (dist<0.f)
-			{
-				vtxWorld.w = dist;
-				contactPoints[numPoints] = vtxWorld;
-				numPoints++;
-			}
-		}
-
-	}
-
-	int numReducedPoints  = numPoints;
-	if (numPoints>4)
-	{
-		numReducedPoints = extractManifoldSequential( contactPoints, numPoints, planeNormalInConvex, &contactIdx);
-	}
-
-	if (numReducedPoints>0)
-	{
-		int dstIdx;
-	    AppendInc( nGlobalContactsOut, dstIdx );
-
-		if (dstIdx < maxContactCapacity)
-		{
-			resultIndex = dstIdx;
-			__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
-			c->m_worldNormalOnB = -planeNormalWorld;
-			//c->setFrictionCoeff(0.7);
-			//c->setRestituitionCoeff(0.f);
-			c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
-			c->m_batchIdx = pairIndex;
-			c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;
-			c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
-			c->m_childIndexA = -1;
-			c->m_childIndexB = -1;
-
-			switch (numReducedPoints)
-            {
-                case 4:
-                    c->m_worldPosB[3] = contactPoints[contactIdx.w];
-                case 3:
-                    c->m_worldPosB[2] = contactPoints[contactIdx.z];
-                case 2:
-                    c->m_worldPosB[1] = contactPoints[contactIdx.y];
-                case 1:
-                    c->m_worldPosB[0] = contactPoints[contactIdx.x];
-                default:
-                {
-                }
-            };
-			
-			GET_NPOINTS(*c) = numReducedPoints;
-		}//if (dstIdx < numPairs)
-	}	
-
-	return resultIndex;
-}
-
-
-void	computeContactPlaneSphere(int pairIndex,
-																int bodyIndexA, int bodyIndexB, 
-																int collidableIndexA, int collidableIndexB, 
-																__global const BodyData* rigidBodies, 
-																__global const btCollidableGpu* collidables,
-																__global const btGpuFace* faces,
-																__global struct b3Contact4Data* restrict globalContactsOut,
-																counter32_t nGlobalContactsOut,
-																int maxContactCapacity)
-{
-	float4 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
-	float radius = collidables[collidableIndexB].m_radius;
-	float4 posA1 = rigidBodies[bodyIndexA].m_pos;
-	float4 ornA1 = rigidBodies[bodyIndexA].m_quat;
-	float4 posB1 = rigidBodies[bodyIndexB].m_pos;
-	float4 ornB1 = rigidBodies[bodyIndexB].m_quat;
-	
-	bool hasCollision = false;
-	float4 planeNormal1 = make_float4(planeEq.x,planeEq.y,planeEq.z,0.f);
-	float planeConstant = planeEq.w;
-	float4 convexInPlaneTransPos1; Quaternion convexInPlaneTransOrn1;
-	{
-		float4 invPosA;Quaternion invOrnA;
-		trInverse(posA1,ornA1,&invPosA,&invOrnA);
-		trMul(invPosA,invOrnA,posB1,ornB1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);
-	}
-	float4 planeInConvexPos1;	Quaternion planeInConvexOrn1;
-	{
-		float4 invPosB;Quaternion invOrnB;
-		trInverse(posB1,ornB1,&invPosB,&invOrnB);
-		trMul(invPosB,invOrnB,posA1,ornA1,&planeInConvexPos1,&planeInConvexOrn1);	
-	}
-	float4 vtx1 = qtRotate(planeInConvexOrn1,-planeNormal1)*radius;
-	float4 vtxInPlane1 = transform(&vtx1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);
-	float distance = dot3F4(planeNormal1,vtxInPlane1) - planeConstant;
-	hasCollision = distance < 0.f;//m_manifoldPtr->getContactBreakingThreshold();
-	if (hasCollision)
-	{
-		float4 vtxInPlaneProjected1 = vtxInPlane1 -   distance*planeNormal1;
-		float4 vtxInPlaneWorld1 = transform(&vtxInPlaneProjected1,&posA1,&ornA1);
-		float4 normalOnSurfaceB1 = qtRotate(ornA1,planeNormal1);
-		float4 pOnB1 = vtxInPlaneWorld1+normalOnSurfaceB1*distance;
-		pOnB1.w = distance;
-
-		int dstIdx;
-    AppendInc( nGlobalContactsOut, dstIdx );
-		
-		if (dstIdx < maxContactCapacity)
-		{
-			__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
-			c->m_worldNormalOnB = -normalOnSurfaceB1;
-			c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
-			c->m_batchIdx = pairIndex;
-			c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;
-			c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
-			c->m_worldPosB[0] = pOnB1;
-			c->m_childIndexA = -1;
-			c->m_childIndexB = -1;
-			GET_NPOINTS(*c) = 1;
-		}//if (dstIdx < numPairs)
-	}//if (hasCollision)
-}
-
-
-__kernel void   primitiveContactsKernel( __global int4* pairs, 
-																					__global const BodyData* rigidBodies, 
-																					__global const btCollidableGpu* collidables,
-																					__global const ConvexPolyhedronCL* convexShapes, 
-																					__global const float4* vertices,
-																					__global const float4* uniqueEdges,
-																					__global const btGpuFace* faces,
-																					__global const int* indices,
-																					__global struct b3Contact4Data* restrict globalContactsOut,
-																					counter32_t nGlobalContactsOut,
-																					int numPairs, int maxContactCapacity)
-{
-
-	int i = get_global_id(0);
-	int pairIndex = i;
-	
-	float4 worldVertsB1[64];
-	float4 worldVertsB2[64];
-	int capacityWorldVerts = 64;	
-
-	float4 localContactsOut[64];
-	int localContactCapacity=64;
-	
-	float minDist = -1e30f;
-	float maxDist = 0.02f;
-
-	if (i<numPairs)
-	{
-
-		int bodyIndexA = pairs[i].x;
-		int bodyIndexB = pairs[i].y;
-			
-		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-	
-		if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&
-			collidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
-		{
-
-			float4 posB;
-			posB = rigidBodies[bodyIndexB].m_pos;
-			Quaternion ornB;
-			ornB = rigidBodies[bodyIndexB].m_quat;
-			int contactIndex = computeContactPlaneConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, 
-																rigidBodies,collidables,convexShapes,vertices,indices,
-																faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity, posB,ornB);
-			if (contactIndex>=0)
-				pairs[pairIndex].z = contactIndex;
-
-			return;
-		}
-
-
-		if (collidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
-			collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)
-		{
-
-			float4 posA;
-			posA = rigidBodies[bodyIndexA].m_pos;
-			Quaternion ornA;
-			ornA = rigidBodies[bodyIndexA].m_quat;
-
-
-			int contactIndex = computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA,  collidableIndexB,collidableIndexA, 
-																rigidBodies,collidables,convexShapes,vertices,indices,
-																faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity,posA,ornA);
-
-			if (contactIndex>=0)
-				pairs[pairIndex].z = contactIndex;
-
-			return;
-		}
-
-		if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&
-			collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
-		{
-			computeContactPlaneSphere(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, 
-																rigidBodies,collidables,faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity);
-			return;
-		}
-
-
-		if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
-			collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)
-		{
-
-
-			computeContactPlaneSphere( pairIndex, bodyIndexB,bodyIndexA,  collidableIndexB,collidableIndexA, 
-																rigidBodies,collidables,
-																faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity);
-
-			return;
-		}
-
-		
-
-	
-		if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
-			collidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
-		{
-		
-			float4 spherePos = rigidBodies[bodyIndexA].m_pos;
-			float sphereRadius = collidables[collidableIndexA].m_radius;
-			float4 convexPos = rigidBodies[bodyIndexB].m_pos;
-			float4 convexOrn = rigidBodies[bodyIndexB].m_quat;
-
-			computeContactSphereConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, 
-																rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,
-																spherePos,sphereRadius,convexPos,convexOrn);
-
-			return;
-		}
-
-		if (collidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
-			collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
-		{
-		
-			float4 spherePos = rigidBodies[bodyIndexB].m_pos;
-			float sphereRadius = collidables[collidableIndexB].m_radius;
-			float4 convexPos = rigidBodies[bodyIndexA].m_pos;
-			float4 convexOrn = rigidBodies[bodyIndexA].m_quat;
-
-			computeContactSphereConvex(pairIndex, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA, 
-																rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,
-																spherePos,sphereRadius,convexPos,convexOrn);
-			return;
-		}
-	
-	
-	
-		
-	
-	
-		if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
-			collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
-		{
-			//sphere-sphere
-			float radiusA = collidables[collidableIndexA].m_radius;
-			float radiusB = collidables[collidableIndexB].m_radius;
-			float4 posA = rigidBodies[bodyIndexA].m_pos;
-			float4 posB = rigidBodies[bodyIndexB].m_pos;
-
-			float4 diff = posA-posB;
-			float len = length(diff);
-			
-			///iff distance positive, don't generate a new contact
-			if ( len <= (radiusA+radiusB))
-			{
-				///distance (negative means penetration)
-				float dist = len - (radiusA+radiusB);
-				float4 normalOnSurfaceB = make_float4(1.f,0.f,0.f,0.f);
-				if (len > 0.00001)
-				{
-					normalOnSurfaceB = diff / len;
-				}
-				float4 contactPosB = posB + normalOnSurfaceB*radiusB;
-				contactPosB.w = dist;
-								
-				int dstIdx;
-				 AppendInc( nGlobalContactsOut, dstIdx );
-				
-				if (dstIdx < maxContactCapacity)
-				{
-					__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
-					c->m_worldNormalOnB = normalOnSurfaceB;
-					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
-					c->m_batchIdx = pairIndex;
-					int bodyA = pairs[pairIndex].x;
-					int bodyB = pairs[pairIndex].y;
-					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;
-					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;
-					c->m_worldPosB[0] = contactPosB;
-					c->m_childIndexA = -1;
-					c->m_childIndexB = -1;
-					GET_NPOINTS(*c) = 1;
-				}//if (dstIdx < numPairs)
-			}//if ( len <= (radiusA+radiusB))
-
-			return;
-		}//SHAPE_SPHERE SHAPE_SPHERE
-
-	}//	if (i<numPairs)
-
-}
-
-
-// work-in-progress
-__kernel void   processCompoundPairsPrimitivesKernel( __global const int4* gpuCompoundPairs,
-													__global const BodyData* rigidBodies, 
-													__global const btCollidableGpu* collidables,
-													__global const ConvexPolyhedronCL* convexShapes, 
-													__global const float4* vertices,
-													__global const float4* uniqueEdges,
-													__global const btGpuFace* faces,
-													__global const int* indices,
-													__global btAabbCL* aabbs,
-													__global const btGpuChildShape* gpuChildShapes,
-													__global struct b3Contact4Data* restrict globalContactsOut,
-													counter32_t nGlobalContactsOut,
-													int numCompoundPairs, int maxContactCapacity
-													)
-{
-
-	int i = get_global_id(0);
-	if (i<numCompoundPairs)
-	{
-		int bodyIndexA = gpuCompoundPairs[i].x;
-		int bodyIndexB = gpuCompoundPairs[i].y;
-
-		int childShapeIndexA = gpuCompoundPairs[i].z;
-		int childShapeIndexB = gpuCompoundPairs[i].w;
-		
-		int collidableIndexA = -1;
-		int collidableIndexB = -1;
-		
-		float4 ornA = rigidBodies[bodyIndexA].m_quat;
-		float4 posA = rigidBodies[bodyIndexA].m_pos;
-		
-		float4 ornB = rigidBodies[bodyIndexB].m_quat;
-		float4 posB = rigidBodies[bodyIndexB].m_pos;
-							
-		if (childShapeIndexA >= 0)
-		{
-			collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;
-			float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;
-			float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;
-			float4 newPosA = qtRotate(ornA,childPosA)+posA;
-			float4 newOrnA = qtMul(ornA,childOrnA);
-			posA = newPosA;
-			ornA = newOrnA;
-		} else
-		{
-			collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-		}
-		
-		if (childShapeIndexB>=0)
-		{
-			collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
-			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
-			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
-			float4 newPosB = transform(&childPosB,&posB,&ornB);
-			float4 newOrnB = qtMul(ornB,childOrnB);
-			posB = newPosB;
-			ornB = newOrnB;
-		} else
-		{
-			collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;	
-		}
-	
-		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
-		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-	
-		int shapeTypeA = collidables[collidableIndexA].m_shapeType;
-		int shapeTypeB = collidables[collidableIndexB].m_shapeType;
-
-		int pairIndex = i;
-		if ((shapeTypeA == SHAPE_PLANE) && (shapeTypeB==SHAPE_CONVEX_HULL))
-		{
-
-			computeContactPlaneConvex( pairIndex, bodyIndexA,bodyIndexB,  collidableIndexA,collidableIndexB, 
-																rigidBodies,collidables,convexShapes,vertices,indices,
-																faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity,posB,ornB);
-			return;
-		}
-
-		if ((shapeTypeA == SHAPE_CONVEX_HULL) && (shapeTypeB==SHAPE_PLANE))
-		{
-
-			computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA,  collidableIndexB,collidableIndexA, 
-																rigidBodies,collidables,convexShapes,vertices,indices,
-																faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity,posA,ornA);
-			return;
-		}
-
-		if ((shapeTypeA == SHAPE_CONVEX_HULL) && (shapeTypeB == SHAPE_SPHERE))
-		{
-			float4 spherePos = rigidBodies[bodyIndexB].m_pos;
-			float sphereRadius = collidables[collidableIndexB].m_radius;
-			float4 convexPos = posA;
-			float4 convexOrn = ornA;
-			
-			computeContactSphereConvex(pairIndex, bodyIndexB, bodyIndexA , collidableIndexB,collidableIndexA, 
-										rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,
-										spherePos,sphereRadius,convexPos,convexOrn);
-	
-			return;
-		}
-
-		if ((shapeTypeA == SHAPE_SPHERE) && (shapeTypeB == SHAPE_CONVEX_HULL))
-		{
-
-			float4 spherePos = rigidBodies[bodyIndexA].m_pos;
-			float sphereRadius = collidables[collidableIndexA].m_radius;
-			float4 convexPos = posB;
-			float4 convexOrn = ornB;
-
-			
-			computeContactSphereConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, 
-										rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,
-										spherePos,sphereRadius,convexPos,convexOrn);
-	
-			return;
-		}
-	}//	if (i<numCompoundPairs)
-}
-
-
-bool pointInTriangle(const float4* vertices, const float4* normal, float4 *p )
-{
-
-	const float4* p1 = &vertices[0];
-	const float4* p2 = &vertices[1];
-	const float4* p3 = &vertices[2];
-
-	float4 edge1;	edge1 = (*p2 - *p1);
-	float4 edge2;	edge2 = ( *p3 - *p2 );
-	float4 edge3;	edge3 = ( *p1 - *p3 );
-
-	
-	float4 p1_to_p; p1_to_p = ( *p - *p1 );
-	float4 p2_to_p; p2_to_p = ( *p - *p2 );
-	float4 p3_to_p; p3_to_p = ( *p - *p3 );
-
-	float4 edge1_normal; edge1_normal = ( cross(edge1,*normal));
-	float4 edge2_normal; edge2_normal = ( cross(edge2,*normal));
-	float4 edge3_normal; edge3_normal = ( cross(edge3,*normal));
-
-	
-	
-	float r1, r2, r3;
-	r1 = dot(edge1_normal,p1_to_p );
-	r2 = dot(edge2_normal,p2_to_p );
-	r3 = dot(edge3_normal,p3_to_p );
-	
-	if ( r1 > 0 && r2 > 0 && r3 > 0 )
-		return true;
-    if ( r1 <= 0 && r2 <= 0 && r3 <= 0 ) 
-		return true;
-	return false;
-
-}
-
-
-float segmentSqrDistance(float4 from, float4 to,float4 p, float4* nearest) 
-{
-	float4 diff = p - from;
-	float4 v = to - from;
-	float t = dot(v,diff);
-	
-	if (t > 0) 
-	{
-		float dotVV = dot(v,v);
-		if (t < dotVV) 
-		{
-			t /= dotVV;
-			diff -= t*v;
-		} else 
-		{
-			t = 1;
-			diff -= v;
-		}
-	} else
-	{
-		t = 0;
-	}
-	*nearest = from + t*v;
-	return dot(diff,diff);	
-}
-
-
-void	computeContactSphereTriangle(int pairIndex,
-									int bodyIndexA, int bodyIndexB,
-									int collidableIndexA, int collidableIndexB, 
-									__global const BodyData* rigidBodies, 
-									__global const btCollidableGpu* collidables,
-									const float4* triangleVertices,
-									__global struct b3Contact4Data* restrict globalContactsOut,
-									counter32_t nGlobalContactsOut,
-									int maxContactCapacity,
-									float4 spherePos2,
-									float radius,
-									float4 pos,
-									float4 quat,
-									int faceIndex
-									)
-{
-
-	float4 invPos;
-	float4 invOrn;
-
-	trInverse(pos,quat, &invPos,&invOrn);
-	float4 spherePos = transform(&spherePos2,&invPos,&invOrn);
-	int numFaces = 3;
-	float4 closestPnt = (float4)(0, 0, 0, 0);
-	float4 hitNormalWorld = (float4)(0, 0, 0, 0);
-	float minDist = -1000000.f;
-	bool bCollide = false;
-
-	
-	//////////////////////////////////////
-
-	float4 sphereCenter;
-	sphereCenter = spherePos;
-
-	const float4* vertices = triangleVertices;
-	float contactBreakingThreshold = 0.f;//todo?
-	float radiusWithThreshold = radius + contactBreakingThreshold;
-	float4 edge10;
-	edge10 = vertices[1]-vertices[0];
-	edge10.w = 0.f;//is this needed?
-	float4 edge20;
-	edge20 = vertices[2]-vertices[0];
-	edge20.w = 0.f;//is this needed?
-	float4 normal = cross3(edge10,edge20);
-	normal = normalize(normal);
-	float4 p1ToCenter;
-	p1ToCenter = sphereCenter - vertices[0];
-	
-	float distanceFromPlane = dot(p1ToCenter,normal);
-
-	if (distanceFromPlane < 0.f)
-	{
-		//triangle facing the other way
-		distanceFromPlane *= -1.f;
-		normal *= -1.f;
-	}
-	hitNormalWorld = normal;
-
-	bool isInsideContactPlane = distanceFromPlane < radiusWithThreshold;
-	
-	// Check for contact / intersection
-	bool hasContact = false;
-	float4 contactPoint;
-	if (isInsideContactPlane) 
-	{
-	
-		if (pointInTriangle(vertices,&normal, &sphereCenter)) 
-		{
-			// Inside the contact wedge - touches a point on the shell plane
-			hasContact = true;
-			contactPoint = sphereCenter - normal*distanceFromPlane;
-			
-		} else {
-			// Could be inside one of the contact capsules
-			float contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold;
-			float4 nearestOnEdge;
-			int numEdges = 3;
-			for (int i = 0; i < numEdges; i++) 
-			{
-				float4 pa =vertices[i];
-				float4 pb = vertices[(i+1)%3];
-
-				float distanceSqr = segmentSqrDistance(pa,pb,sphereCenter, &nearestOnEdge);
-				if (distanceSqr < contactCapsuleRadiusSqr) 
-				{
-					// Yep, we're inside a capsule
-					hasContact = true;
-					contactPoint = nearestOnEdge;
-					
-				}
-				
-			}
-		}
-	}
-
-	if (hasContact) 
-	{
-
-		closestPnt = contactPoint;
-		float4 contactToCenter = sphereCenter - contactPoint;
-		minDist = length(contactToCenter);
-		if (minDist>FLT_EPSILON)
-		{
-			hitNormalWorld = normalize(contactToCenter);//*(1./minDist);
-			bCollide  = true;
-		}
-		
-	}
-
-
-	/////////////////////////////////////
-
-	if (bCollide && minDist > -10000)
-	{
-		
-		float4 normalOnSurfaceB1 = qtRotate(quat,-hitNormalWorld);
-		float4 pOnB1 = transform(&closestPnt,&pos,&quat);
-		float actualDepth = minDist-radius;
-
-		
-		if (actualDepth<=0.f)
-		{
-			pOnB1.w = actualDepth;
-			int dstIdx;
-
-			
-			float lenSqr = dot3F4(normalOnSurfaceB1,normalOnSurfaceB1);
-			if (lenSqr>FLT_EPSILON)
-			{
-				AppendInc( nGlobalContactsOut, dstIdx );
-			
-				if (dstIdx < maxContactCapacity)
-				{
-					__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
-					c->m_worldNormalOnB = -normalOnSurfaceB1;
-					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
-					c->m_batchIdx = pairIndex;
-					c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;
-					c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
-					c->m_worldPosB[0] = pOnB1;
-
-					c->m_childIndexA = -1;
-					c->m_childIndexB = faceIndex;
-
-					GET_NPOINTS(*c) = 1;
-				} 
-			}
-
-		}
-	}//if (hasCollision)
-
-}
-
-
-
-// work-in-progress
-__kernel void   findConcaveSphereContactsKernel( __global int4* concavePairs,
-												__global const BodyData* rigidBodies,
-												__global const btCollidableGpu* collidables,
-												__global const ConvexPolyhedronCL* convexShapes, 
-												__global const float4* vertices,
-												__global const float4* uniqueEdges,
-												__global const btGpuFace* faces,
-												__global const int* indices,
-												__global btAabbCL* aabbs,
-												__global struct b3Contact4Data* restrict globalContactsOut,
-												counter32_t nGlobalContactsOut,
-													int numConcavePairs, int maxContactCapacity
-												)
-{
-
-	int i = get_global_id(0);
-	if (i>=numConcavePairs)
-		return;
-	int pairIdx = i;
-
-	int bodyIndexA = concavePairs[i].x;
-	int bodyIndexB = concavePairs[i].y;
-
-	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-
-	int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
-	int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-
-	if (collidables[collidableIndexB].m_shapeType==SHAPE_SPHERE)
-	{
-		int f = concavePairs[i].z;
-		btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];
-		
-		float4 verticesA[3];
-		for (int i=0;i<3;i++)
-		{
-			int index = indices[face.m_indexOffset+i];
-			float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];
-			verticesA[i] = vert;
-		}
-
-		float4 spherePos = rigidBodies[bodyIndexB].m_pos;
-		float sphereRadius = collidables[collidableIndexB].m_radius;
-		float4 convexPos = rigidBodies[bodyIndexA].m_pos;
-		float4 convexOrn = rigidBodies[bodyIndexA].m_quat;
-
-		computeContactSphereTriangle(i, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA, 
-																rigidBodies,collidables,
-																verticesA,
-																globalContactsOut, nGlobalContactsOut,maxContactCapacity,
-																spherePos,sphereRadius,convexPos,convexOrn, f);
-
-		return;
-	}
-}
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h
deleted file mode 100644
index b2e0a2dd47..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h
+++ /dev/null
@@ -1,1288 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* primitiveContactsKernelsCL =
-	"#ifndef B3_CONTACT4DATA_H\n"
-	"#define B3_CONTACT4DATA_H\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#define B3_FLOAT4_H\n"
-	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-	"#define B3_PLATFORM_DEFINITIONS_H\n"
-	"struct MyTest\n"
-	"{\n"
-	"	int bla;\n"
-	"};\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-	"#define B3_LARGE_FLOAT 1e18f\n"
-	"#define B3_INFINITY 1e18f\n"
-	"#define b3Assert(a)\n"
-	"#define b3ConstArray(a) __global const a*\n"
-	"#define b3AtomicInc atomic_inc\n"
-	"#define b3AtomicAdd atomic_add\n"
-	"#define b3Fabs fabs\n"
-	"#define b3Sqrt native_sqrt\n"
-	"#define b3Sin native_sin\n"
-	"#define b3Cos native_cos\n"
-	"#define B3_STATIC\n"
-	"#endif\n"
-	"#endif\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"	typedef float4	b3Float4;\n"
-	"	#define b3Float4ConstArg const b3Float4\n"
-	"	#define b3MakeFloat4 (float4)\n"
-	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return dot(a1, b1);\n"
-	"	}\n"
-	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return cross(a1, b1);\n"
-	"	}\n"
-	"	#define b3MinFloat4 min\n"
-	"	#define b3MaxFloat4 max\n"
-	"	#define b3Normalized(a) normalize(a)\n"
-	"#endif \n"
-	"		\n"
-	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-	"{\n"
-	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-	"		return false;\n"
-	"	return true;\n"
-	"}\n"
-	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-	"{\n"
-	"    float maxDot = -B3_INFINITY;\n"
-	"    int i = 0;\n"
-	"    int ptIndex = -1;\n"
-	"    for( i = 0; i < vecLen; i++ )\n"
-	"    {\n"
-	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-	"            \n"
-	"        if( dot > maxDot )\n"
-	"        {\n"
-	"            maxDot = dot;\n"
-	"            ptIndex = i;\n"
-	"        }\n"
-	"    }\n"
-	"	b3Assert(ptIndex>=0);\n"
-	"    if (ptIndex<0)\n"
-	"	{\n"
-	"		ptIndex = 0;\n"
-	"	}\n"
-	"    *dotOut = maxDot;\n"
-	"    return ptIndex;\n"
-	"}\n"
-	"#endif //B3_FLOAT4_H\n"
-	"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
-	"struct b3Contact4Data\n"
-	"{\n"
-	"	b3Float4	m_worldPosB[4];\n"
-	"//	b3Float4	m_localPosA[4];\n"
-	"//	b3Float4	m_localPosB[4];\n"
-	"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
-	"	unsigned short  m_restituitionCoeffCmp;\n"
-	"	unsigned short  m_frictionCoeffCmp;\n"
-	"	int m_batchIdx;\n"
-	"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
-	"	int m_bodyBPtrAndSignBit;\n"
-	"	int	m_childIndexA;\n"
-	"	int	m_childIndexB;\n"
-	"	int m_unused1;\n"
-	"	int m_unused2;\n"
-	"};\n"
-	"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
-	"{\n"
-	"	return (int)contact->m_worldNormalOnB.w;\n"
-	"};\n"
-	"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
-	"{\n"
-	"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
-	"};\n"
-	"#endif //B3_CONTACT4DATA_H\n"
-	"#define SHAPE_CONVEX_HULL 3\n"
-	"#define SHAPE_PLANE 4\n"
-	"#define SHAPE_CONCAVE_TRIMESH 5\n"
-	"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
-	"#define SHAPE_SPHERE 7\n"
-	"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
-	"#ifdef cl_ext_atomic_counters_32\n"
-	"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
-	"#else\n"
-	"#define counter32_t volatile __global int*\n"
-	"#endif\n"
-	"#define GET_GROUP_IDX get_group_id(0)\n"
-	"#define GET_LOCAL_IDX get_local_id(0)\n"
-	"#define GET_GLOBAL_IDX get_global_id(0)\n"
-	"#define GET_GROUP_SIZE get_local_size(0)\n"
-	"#define GET_NUM_GROUPS get_num_groups(0)\n"
-	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-	"#define AtomInc(x) atom_inc(&(x))\n"
-	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-	"#define AppendInc(x, out) out = atomic_inc(x)\n"
-	"#define AtomAdd(x, value) atom_add(&(x), value)\n"
-	"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
-	"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
-	"#define max2 max\n"
-	"#define min2 min\n"
-	"typedef unsigned int u32;\n"
-	"typedef struct \n"
-	"{\n"
-	"	union\n"
-	"	{\n"
-	"		float4	m_min;\n"
-	"		float   m_minElems[4];\n"
-	"		int			m_minIndices[4];\n"
-	"	};\n"
-	"	union\n"
-	"	{\n"
-	"		float4	m_max;\n"
-	"		float   m_maxElems[4];\n"
-	"		int			m_maxIndices[4];\n"
-	"	};\n"
-	"} btAabbCL;\n"
-	"///keep this in sync with btCollidable.h\n"
-	"typedef struct\n"
-	"{\n"
-	"	int m_numChildShapes;\n"
-	"	float m_radius;\n"
-	"	int m_shapeType;\n"
-	"	int m_shapeIndex;\n"
-	"	\n"
-	"} btCollidableGpu;\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4	m_childPosition;\n"
-	"	float4	m_childOrientation;\n"
-	"	int m_shapeIndex;\n"
-	"	int m_unused0;\n"
-	"	int m_unused1;\n"
-	"	int m_unused2;\n"
-	"} btGpuChildShape;\n"
-	"#define GET_NPOINTS(x) (x).m_worldNormalOnB.w\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_pos;\n"
-	"	float4 m_quat;\n"
-	"	float4 m_linVel;\n"
-	"	float4 m_angVel;\n"
-	"	u32 m_collidableIdx;	\n"
-	"	float m_invMass;\n"
-	"	float m_restituitionCoeff;\n"
-	"	float m_frictionCoeff;\n"
-	"} BodyData;\n"
-	"typedef struct  \n"
-	"{\n"
-	"	float4		m_localCenter;\n"
-	"	float4		m_extents;\n"
-	"	float4		mC;\n"
-	"	float4		mE;\n"
-	"	\n"
-	"	float			m_radius;\n"
-	"	int	m_faceOffset;\n"
-	"	int m_numFaces;\n"
-	"	int	m_numVertices;\n"
-	"	\n"
-	"	int m_vertexOffset;\n"
-	"	int	m_uniqueEdgesOffset;\n"
-	"	int	m_numUniqueEdges;\n"
-	"	int m_unused;\n"
-	"} ConvexPolyhedronCL;\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_plane;\n"
-	"	int m_indexOffset;\n"
-	"	int m_numIndices;\n"
-	"} btGpuFace;\n"
-	"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
-	"#define make_float4 (float4)\n"
-	"#define make_float2 (float2)\n"
-	"#define make_uint4 (uint4)\n"
-	"#define make_int4 (int4)\n"
-	"#define make_uint2 (uint2)\n"
-	"#define make_int2 (int2)\n"
-	"__inline\n"
-	"float fastDiv(float numerator, float denominator)\n"
-	"{\n"
-	"	return native_divide(numerator, denominator);	\n"
-	"//	return numerator/denominator;	\n"
-	"}\n"
-	"__inline\n"
-	"float4 fastDiv4(float4 numerator, float4 denominator)\n"
-	"{\n"
-	"	return native_divide(numerator, denominator);	\n"
-	"}\n"
-	"__inline\n"
-	"float4 cross3(float4 a, float4 b)\n"
-	"{\n"
-	"	return cross(a,b);\n"
-	"}\n"
-	"//#define dot3F4 dot\n"
-	"__inline\n"
-	"float dot3F4(float4 a, float4 b)\n"
-	"{\n"
-	"	float4 a1 = make_float4(a.xyz,0.f);\n"
-	"	float4 b1 = make_float4(b.xyz,0.f);\n"
-	"	return dot(a1, b1);\n"
-	"}\n"
-	"__inline\n"
-	"float4 fastNormalize4(float4 v)\n"
-	"{\n"
-	"	return fast_normalize(v);\n"
-	"}\n"
-	"///////////////////////////////////////\n"
-	"//	Quaternion\n"
-	"///////////////////////////////////////\n"
-	"typedef float4 Quaternion;\n"
-	"__inline\n"
-	"Quaternion qtMul(Quaternion a, Quaternion b);\n"
-	"__inline\n"
-	"Quaternion qtNormalize(Quaternion in);\n"
-	"__inline\n"
-	"float4 qtRotate(Quaternion q, float4 vec);\n"
-	"__inline\n"
-	"Quaternion qtInvert(Quaternion q);\n"
-	"__inline\n"
-	"Quaternion qtMul(Quaternion a, Quaternion b)\n"
-	"{\n"
-	"	Quaternion ans;\n"
-	"	ans = cross3( a, b );\n"
-	"	ans += a.w*b+b.w*a;\n"
-	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-	"	ans.w = a.w*b.w - dot3F4(a, b);\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"Quaternion qtNormalize(Quaternion in)\n"
-	"{\n"
-	"	return fastNormalize4(in);\n"
-	"//	in /= length( in );\n"
-	"//	return in;\n"
-	"}\n"
-	"__inline\n"
-	"float4 qtRotate(Quaternion q, float4 vec)\n"
-	"{\n"
-	"	Quaternion qInv = qtInvert( q );\n"
-	"	float4 vcpy = vec;\n"
-	"	vcpy.w = 0.f;\n"
-	"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"Quaternion qtInvert(Quaternion q)\n"
-	"{\n"
-	"	return (Quaternion)(-q.xyz, q.w);\n"
-	"}\n"
-	"__inline\n"
-	"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
-	"{\n"
-	"	return qtRotate( qtInvert( q ), vec );\n"
-	"}\n"
-	"__inline\n"
-	"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n"
-	"{\n"
-	"	return qtRotate( *orientation, *p ) + (*translation);\n"
-	"}\n"
-	"void	trInverse(float4 translationIn, Quaternion orientationIn,\n"
-	"		float4* translationOut, Quaternion* orientationOut)\n"
-	"{\n"
-	"	*orientationOut = qtInvert(orientationIn);\n"
-	"	*translationOut = qtRotate(*orientationOut, -translationIn);\n"
-	"}\n"
-	"void	trMul(float4 translationA, Quaternion orientationA,\n"
-	"						float4 translationB, Quaternion orientationB,\n"
-	"		float4* translationOut, Quaternion* orientationOut)\n"
-	"{\n"
-	"	*orientationOut = qtMul(orientationA,orientationB);\n"
-	"	*translationOut = transform(&translationB,&translationA,&orientationA);\n"
-	"}\n"
-	"__inline\n"
-	"float4 normalize3(const float4 a)\n"
-	"{\n"
-	"	float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
-	"	return fastNormalize4( n );\n"
-	"}\n"
-	"__inline float4 lerp3(const float4 a,const float4 b, float  t)\n"
-	"{\n"
-	"	return make_float4(	a.x + (b.x - a.x) * t,\n"
-	"						a.y + (b.y - a.y) * t,\n"
-	"						a.z + (b.z - a.z) * t,\n"
-	"						0.f);\n"
-	"}\n"
-	"float signedDistanceFromPointToPlane(float4 point, float4 planeEqn, float4* closestPointOnFace)\n"
-	"{\n"
-	"	float4 n = (float4)(planeEqn.x, planeEqn.y, planeEqn.z, 0);\n"
-	"	float dist = dot3F4(n, point) + planeEqn.w;\n"
-	"	*closestPointOnFace = point - dist * n;\n"
-	"	return dist;\n"
-	"}\n"
-	"inline bool IsPointInPolygon(float4 p, \n"
-	"							const btGpuFace* face,\n"
-	"							__global const float4* baseVertex,\n"
-	"							__global const  int* convexIndices,\n"
-	"							float4* out)\n"
-	"{\n"
-	"    float4 a;\n"
-	"    float4 b;\n"
-	"    float4 ab;\n"
-	"    float4 ap;\n"
-	"    float4 v;\n"
-	"	float4 plane = make_float4(face->m_plane.x,face->m_plane.y,face->m_plane.z,0.f);\n"
-	"	\n"
-	"	if (face->m_numIndices<2)\n"
-	"		return false;\n"
-	"	\n"
-	"	float4 v0 = baseVertex[convexIndices[face->m_indexOffset + face->m_numIndices-1]];\n"
-	"	\n"
-	"	b = v0;\n"
-	"    for(unsigned i=0; i != face->m_numIndices; ++i)\n"
-	"    {\n"
-	"		a = b;\n"
-	"		float4 vi = baseVertex[convexIndices[face->m_indexOffset + i]];\n"
-	"		b = vi;\n"
-	"        ab = b-a;\n"
-	"        ap = p-a;\n"
-	"        v = cross3(ab,plane);\n"
-	"        if (dot(ap, v) > 0.f)\n"
-	"        {\n"
-	"            float ab_m2 = dot(ab, ab);\n"
-	"            float rt = ab_m2 != 0.f ? dot(ab, ap) / ab_m2 : 0.f;\n"
-	"            if (rt <= 0.f)\n"
-	"            {\n"
-	"                *out = a;\n"
-	"            }\n"
-	"            else if (rt >= 1.f) \n"
-	"            {\n"
-	"                *out = b;\n"
-	"            }\n"
-	"            else\n"
-	"            {\n"
-	"            	float s = 1.f - rt;\n"
-	"				out[0].x = s * a.x + rt * b.x;\n"
-	"				out[0].y = s * a.y + rt * b.y;\n"
-	"				out[0].z = s * a.z + rt * b.z;\n"
-	"            }\n"
-	"            return false;\n"
-	"        }\n"
-	"    }\n"
-	"    return true;\n"
-	"}\n"
-	"void	computeContactSphereConvex(int pairIndex,\n"
-	"																int bodyIndexA, int bodyIndexB, \n"
-	"																int collidableIndexA, int collidableIndexB, \n"
-	"																__global const BodyData* rigidBodies, \n"
-	"																__global const btCollidableGpu* collidables,\n"
-	"																__global const ConvexPolyhedronCL* convexShapes,\n"
-	"																__global const float4* convexVertices,\n"
-	"																__global const int* convexIndices,\n"
-	"																__global const btGpuFace* faces,\n"
-	"																__global struct b3Contact4Data* restrict globalContactsOut,\n"
-	"																counter32_t nGlobalContactsOut,\n"
-	"																int maxContactCapacity,\n"
-	"																float4 spherePos2,\n"
-	"																float radius,\n"
-	"																float4 pos,\n"
-	"																float4 quat\n"
-	"																)\n"
-	"{\n"
-	"	float4 invPos;\n"
-	"	float4 invOrn;\n"
-	"	trInverse(pos,quat, &invPos,&invOrn);\n"
-	"	float4 spherePos = transform(&spherePos2,&invPos,&invOrn);\n"
-	"	int shapeIndex = collidables[collidableIndexB].m_shapeIndex;\n"
-	"	int numFaces = convexShapes[shapeIndex].m_numFaces;\n"
-	"	float4 closestPnt = (float4)(0, 0, 0, 0);\n"
-	"	float4 hitNormalWorld = (float4)(0, 0, 0, 0);\n"
-	"	float minDist = -1000000.f;\n"
-	"	bool bCollide = true;\n"
-	"	for ( int f = 0; f < numFaces; f++ )\n"
-	"	{\n"
-	"		btGpuFace face = faces[convexShapes[shapeIndex].m_faceOffset+f];\n"
-	"		// set up a plane equation \n"
-	"		float4 planeEqn;\n"
-	"		float4 n1 = face.m_plane;\n"
-	"		n1.w = 0.f;\n"
-	"		planeEqn = n1;\n"
-	"		planeEqn.w = face.m_plane.w;\n"
-	"		\n"
-	"	\n"
-	"		// compute a signed distance from the vertex in cloth to the face of rigidbody.\n"
-	"		float4 pntReturn;\n"
-	"		float dist = signedDistanceFromPointToPlane(spherePos, planeEqn, &pntReturn);\n"
-	"		// If the distance is positive, the plane is a separating plane. \n"
-	"		if ( dist > radius )\n"
-	"		{\n"
-	"			bCollide = false;\n"
-	"			break;\n"
-	"		}\n"
-	"		if (dist>0)\n"
-	"		{\n"
-	"			//might hit an edge or vertex\n"
-	"			float4 out;\n"
-	"			float4 zeroPos = make_float4(0,0,0,0);\n"
-	"			bool isInPoly = IsPointInPolygon(spherePos,\n"
-	"					&face,\n"
-	"					&convexVertices[convexShapes[shapeIndex].m_vertexOffset],\n"
-	"					convexIndices,\n"
-	"           &out);\n"
-	"			if (isInPoly)\n"
-	"			{\n"
-	"				if (dist>minDist)\n"
-	"				{\n"
-	"					minDist = dist;\n"
-	"					closestPnt = pntReturn;\n"
-	"					hitNormalWorld = planeEqn;\n"
-	"					\n"
-	"				}\n"
-	"			} else\n"
-	"			{\n"
-	"				float4 tmp = spherePos-out;\n"
-	"				float l2 = dot(tmp,tmp);\n"
-	"				if (l2<radius*radius)\n"
-	"				{\n"
-	"					dist  = sqrt(l2);\n"
-	"					if (dist>minDist)\n"
-	"					{\n"
-	"						minDist = dist;\n"
-	"						closestPnt = out;\n"
-	"						hitNormalWorld = tmp/dist;\n"
-	"						\n"
-	"					}\n"
-	"					\n"
-	"				} else\n"
-	"				{\n"
-	"					bCollide = false;\n"
-	"					break;\n"
-	"				}\n"
-	"			}\n"
-	"		} else\n"
-	"		{\n"
-	"			if ( dist > minDist )\n"
-	"			{\n"
-	"				minDist = dist;\n"
-	"				closestPnt = pntReturn;\n"
-	"				hitNormalWorld.xyz = planeEqn.xyz;\n"
-	"			}\n"
-	"		}\n"
-	"		\n"
-	"	}\n"
-	"	\n"
-	"	if (bCollide && minDist > -10000)\n"
-	"	{\n"
-	"		float4 normalOnSurfaceB1 = qtRotate(quat,-hitNormalWorld);\n"
-	"		float4 pOnB1 = transform(&closestPnt,&pos,&quat);\n"
-	"		\n"
-	"		float actualDepth = minDist-radius;\n"
-	"		if (actualDepth<=0.f)\n"
-	"		{\n"
-	"			\n"
-	"			pOnB1.w = actualDepth;\n"
-	"			int dstIdx;\n"
-	"			AppendInc( nGlobalContactsOut, dstIdx );\n"
-	"		\n"
-	"			\n"
-	"			if (1)//dstIdx < maxContactCapacity)\n"
-	"			{\n"
-	"				__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
-	"				c->m_worldNormalOnB = -normalOnSurfaceB1;\n"
-	"				c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-	"				c->m_batchIdx = pairIndex;\n"
-	"				c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;\n"
-	"				c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;\n"
-	"				c->m_worldPosB[0] = pOnB1;\n"
-	"				c->m_childIndexA = -1;\n"
-	"				c->m_childIndexB = -1;\n"
-	"				GET_NPOINTS(*c) = 1;\n"
-	"			} \n"
-	"		}\n"
-	"	}//if (hasCollision)\n"
-	"}\n"
-	"							\n"
-	"int extractManifoldSequential(const float4* p, int nPoints, float4 nearNormal, int4* contactIdx)\n"
-	"{\n"
-	"	if( nPoints == 0 )\n"
-	"        return 0;\n"
-	"    \n"
-	"    if (nPoints <=4)\n"
-	"        return nPoints;\n"
-	"    \n"
-	"    \n"
-	"    if (nPoints >64)\n"
-	"        nPoints = 64;\n"
-	"    \n"
-	"	float4 center = make_float4(0.f);\n"
-	"	{\n"
-	"		\n"
-	"		for (int i=0;i<nPoints;i++)\n"
-	"			center += p[i];\n"
-	"		center /= (float)nPoints;\n"
-	"	}\n"
-	"    \n"
-	"	\n"
-	"    \n"
-	"	//	sample 4 directions\n"
-	"    \n"
-	"    float4 aVector = p[0] - center;\n"
-	"    float4 u = cross3( nearNormal, aVector );\n"
-	"    float4 v = cross3( nearNormal, u );\n"
-	"    u = normalize3( u );\n"
-	"    v = normalize3( v );\n"
-	"    \n"
-	"    \n"
-	"    //keep point with deepest penetration\n"
-	"    float minW= FLT_MAX;\n"
-	"    \n"
-	"    int minIndex=-1;\n"
-	"    \n"
-	"    float4 maxDots;\n"
-	"    maxDots.x = FLT_MIN;\n"
-	"    maxDots.y = FLT_MIN;\n"
-	"    maxDots.z = FLT_MIN;\n"
-	"    maxDots.w = FLT_MIN;\n"
-	"    \n"
-	"    //	idx, distance\n"
-	"    for(int ie = 0; ie<nPoints; ie++ )\n"
-	"    {\n"
-	"        if (p[ie].w<minW)\n"
-	"        {\n"
-	"            minW = p[ie].w;\n"
-	"            minIndex=ie;\n"
-	"        }\n"
-	"        float f;\n"
-	"        float4 r = p[ie]-center;\n"
-	"        f = dot3F4( u, r );\n"
-	"        if (f<maxDots.x)\n"
-	"        {\n"
-	"            maxDots.x = f;\n"
-	"            contactIdx[0].x = ie;\n"
-	"        }\n"
-	"        \n"
-	"        f = dot3F4( -u, r );\n"
-	"        if (f<maxDots.y)\n"
-	"        {\n"
-	"            maxDots.y = f;\n"
-	"            contactIdx[0].y = ie;\n"
-	"        }\n"
-	"        \n"
-	"        \n"
-	"        f = dot3F4( v, r );\n"
-	"        if (f<maxDots.z)\n"
-	"        {\n"
-	"            maxDots.z = f;\n"
-	"            contactIdx[0].z = ie;\n"
-	"        }\n"
-	"        \n"
-	"        f = dot3F4( -v, r );\n"
-	"        if (f<maxDots.w)\n"
-	"        {\n"
-	"            maxDots.w = f;\n"
-	"            contactIdx[0].w = ie;\n"
-	"        }\n"
-	"        \n"
-	"    }\n"
-	"    \n"
-	"    if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)\n"
-	"    {\n"
-	"        //replace the first contact with minimum (todo: replace contact with least penetration)\n"
-	"        contactIdx[0].x = minIndex;\n"
-	"    }\n"
-	"    \n"
-	"    return 4;\n"
-	"    \n"
-	"}\n"
-	"#define MAX_PLANE_CONVEX_POINTS 64\n"
-	"int computeContactPlaneConvex(int pairIndex,\n"
-	"								int bodyIndexA, int bodyIndexB, \n"
-	"								int collidableIndexA, int collidableIndexB, \n"
-	"								__global const BodyData* rigidBodies, \n"
-	"								__global const btCollidableGpu*collidables,\n"
-	"								__global const ConvexPolyhedronCL* convexShapes,\n"
-	"								__global const float4* convexVertices,\n"
-	"								__global const int* convexIndices,\n"
-	"								__global const btGpuFace* faces,\n"
-	"								__global struct b3Contact4Data* restrict globalContactsOut,\n"
-	"								counter32_t nGlobalContactsOut,\n"
-	"								int maxContactCapacity,\n"
-	"								float4 posB,\n"
-	"								Quaternion ornB\n"
-	"								)\n"
-	"{\n"
-	"	int resultIndex=-1;\n"
-	"		int shapeIndex = collidables[collidableIndexB].m_shapeIndex;\n"
-	"	__global const ConvexPolyhedronCL* hullB = &convexShapes[shapeIndex];\n"
-	"	\n"
-	"	float4 posA;\n"
-	"	posA = rigidBodies[bodyIndexA].m_pos;\n"
-	"	Quaternion ornA;\n"
-	"	ornA = rigidBodies[bodyIndexA].m_quat;\n"
-	"	int numContactsOut = 0;\n"
-	"	int numWorldVertsB1= 0;\n"
-	"	float4 planeEq;\n"
-	"	 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;\n"
-	"	float4 planeNormal = make_float4(planeEq.x,planeEq.y,planeEq.z,0.f);\n"
-	"	float4 planeNormalWorld;\n"
-	"	planeNormalWorld = qtRotate(ornA,planeNormal);\n"
-	"	float planeConstant = planeEq.w;\n"
-	"	\n"
-	"	float4 invPosA;Quaternion invOrnA;\n"
-	"	float4 convexInPlaneTransPos1; Quaternion convexInPlaneTransOrn1;\n"
-	"	{\n"
-	"		\n"
-	"		trInverse(posA,ornA,&invPosA,&invOrnA);\n"
-	"		trMul(invPosA,invOrnA,posB,ornB,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);\n"
-	"	}\n"
-	"	float4 invPosB;Quaternion invOrnB;\n"
-	"	float4 planeInConvexPos1;	Quaternion planeInConvexOrn1;\n"
-	"	{\n"
-	"		\n"
-	"		trInverse(posB,ornB,&invPosB,&invOrnB);\n"
-	"		trMul(invPosB,invOrnB,posA,ornA,&planeInConvexPos1,&planeInConvexOrn1);	\n"
-	"	}\n"
-	"	\n"
-	"	float4 planeNormalInConvex = qtRotate(planeInConvexOrn1,-planeNormal);\n"
-	"	float maxDot = -1e30;\n"
-	"	int hitVertex=-1;\n"
-	"	float4 hitVtx;\n"
-	"	float4 contactPoints[MAX_PLANE_CONVEX_POINTS];\n"
-	"	int numPoints = 0;\n"
-	"	int4 contactIdx;\n"
-	"	contactIdx=make_int4(0,1,2,3);\n"
-	"    \n"
-	"	\n"
-	"	for (int i=0;i<hullB->m_numVertices;i++)\n"
-	"	{\n"
-	"		float4 vtx = convexVertices[hullB->m_vertexOffset+i];\n"
-	"		float curDot = dot(vtx,planeNormalInConvex);\n"
-	"		if (curDot>maxDot)\n"
-	"		{\n"
-	"			hitVertex=i;\n"
-	"			maxDot=curDot;\n"
-	"			hitVtx = vtx;\n"
-	"			//make sure the deepest points is always included\n"
-	"			if (numPoints==MAX_PLANE_CONVEX_POINTS)\n"
-	"				numPoints--;\n"
-	"		}\n"
-	"		if (numPoints<MAX_PLANE_CONVEX_POINTS)\n"
-	"		{\n"
-	"			float4 vtxWorld = transform(&vtx, &posB, &ornB);\n"
-	"			float4 vtxInPlane = transform(&vtxWorld, &invPosA, &invOrnA);//oplaneTransform.inverse()*vtxWorld;\n"
-	"			float dist = dot(planeNormal,vtxInPlane)-planeConstant;\n"
-	"			if (dist<0.f)\n"
-	"			{\n"
-	"				vtxWorld.w = dist;\n"
-	"				contactPoints[numPoints] = vtxWorld;\n"
-	"				numPoints++;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	int numReducedPoints  = numPoints;\n"
-	"	if (numPoints>4)\n"
-	"	{\n"
-	"		numReducedPoints = extractManifoldSequential( contactPoints, numPoints, planeNormalInConvex, &contactIdx);\n"
-	"	}\n"
-	"	if (numReducedPoints>0)\n"
-	"	{\n"
-	"		int dstIdx;\n"
-	"	    AppendInc( nGlobalContactsOut, dstIdx );\n"
-	"		if (dstIdx < maxContactCapacity)\n"
-	"		{\n"
-	"			resultIndex = dstIdx;\n"
-	"			__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
-	"			c->m_worldNormalOnB = -planeNormalWorld;\n"
-	"			//c->setFrictionCoeff(0.7);\n"
-	"			//c->setRestituitionCoeff(0.f);\n"
-	"			c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-	"			c->m_batchIdx = pairIndex;\n"
-	"			c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;\n"
-	"			c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;\n"
-	"			c->m_childIndexA = -1;\n"
-	"			c->m_childIndexB = -1;\n"
-	"			switch (numReducedPoints)\n"
-	"            {\n"
-	"                case 4:\n"
-	"                    c->m_worldPosB[3] = contactPoints[contactIdx.w];\n"
-	"                case 3:\n"
-	"                    c->m_worldPosB[2] = contactPoints[contactIdx.z];\n"
-	"                case 2:\n"
-	"                    c->m_worldPosB[1] = contactPoints[contactIdx.y];\n"
-	"                case 1:\n"
-	"                    c->m_worldPosB[0] = contactPoints[contactIdx.x];\n"
-	"                default:\n"
-	"                {\n"
-	"                }\n"
-	"            };\n"
-	"			\n"
-	"			GET_NPOINTS(*c) = numReducedPoints;\n"
-	"		}//if (dstIdx < numPairs)\n"
-	"	}	\n"
-	"	return resultIndex;\n"
-	"}\n"
-	"void	computeContactPlaneSphere(int pairIndex,\n"
-	"																int bodyIndexA, int bodyIndexB, \n"
-	"																int collidableIndexA, int collidableIndexB, \n"
-	"																__global const BodyData* rigidBodies, \n"
-	"																__global const btCollidableGpu* collidables,\n"
-	"																__global const btGpuFace* faces,\n"
-	"																__global struct b3Contact4Data* restrict globalContactsOut,\n"
-	"																counter32_t nGlobalContactsOut,\n"
-	"																int maxContactCapacity)\n"
-	"{\n"
-	"	float4 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;\n"
-	"	float radius = collidables[collidableIndexB].m_radius;\n"
-	"	float4 posA1 = rigidBodies[bodyIndexA].m_pos;\n"
-	"	float4 ornA1 = rigidBodies[bodyIndexA].m_quat;\n"
-	"	float4 posB1 = rigidBodies[bodyIndexB].m_pos;\n"
-	"	float4 ornB1 = rigidBodies[bodyIndexB].m_quat;\n"
-	"	\n"
-	"	bool hasCollision = false;\n"
-	"	float4 planeNormal1 = make_float4(planeEq.x,planeEq.y,planeEq.z,0.f);\n"
-	"	float planeConstant = planeEq.w;\n"
-	"	float4 convexInPlaneTransPos1; Quaternion convexInPlaneTransOrn1;\n"
-	"	{\n"
-	"		float4 invPosA;Quaternion invOrnA;\n"
-	"		trInverse(posA1,ornA1,&invPosA,&invOrnA);\n"
-	"		trMul(invPosA,invOrnA,posB1,ornB1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);\n"
-	"	}\n"
-	"	float4 planeInConvexPos1;	Quaternion planeInConvexOrn1;\n"
-	"	{\n"
-	"		float4 invPosB;Quaternion invOrnB;\n"
-	"		trInverse(posB1,ornB1,&invPosB,&invOrnB);\n"
-	"		trMul(invPosB,invOrnB,posA1,ornA1,&planeInConvexPos1,&planeInConvexOrn1);	\n"
-	"	}\n"
-	"	float4 vtx1 = qtRotate(planeInConvexOrn1,-planeNormal1)*radius;\n"
-	"	float4 vtxInPlane1 = transform(&vtx1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);\n"
-	"	float distance = dot3F4(planeNormal1,vtxInPlane1) - planeConstant;\n"
-	"	hasCollision = distance < 0.f;//m_manifoldPtr->getContactBreakingThreshold();\n"
-	"	if (hasCollision)\n"
-	"	{\n"
-	"		float4 vtxInPlaneProjected1 = vtxInPlane1 -   distance*planeNormal1;\n"
-	"		float4 vtxInPlaneWorld1 = transform(&vtxInPlaneProjected1,&posA1,&ornA1);\n"
-	"		float4 normalOnSurfaceB1 = qtRotate(ornA1,planeNormal1);\n"
-	"		float4 pOnB1 = vtxInPlaneWorld1+normalOnSurfaceB1*distance;\n"
-	"		pOnB1.w = distance;\n"
-	"		int dstIdx;\n"
-	"    AppendInc( nGlobalContactsOut, dstIdx );\n"
-	"		\n"
-	"		if (dstIdx < maxContactCapacity)\n"
-	"		{\n"
-	"			__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
-	"			c->m_worldNormalOnB = -normalOnSurfaceB1;\n"
-	"			c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-	"			c->m_batchIdx = pairIndex;\n"
-	"			c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;\n"
-	"			c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;\n"
-	"			c->m_worldPosB[0] = pOnB1;\n"
-	"			c->m_childIndexA = -1;\n"
-	"			c->m_childIndexB = -1;\n"
-	"			GET_NPOINTS(*c) = 1;\n"
-	"		}//if (dstIdx < numPairs)\n"
-	"	}//if (hasCollision)\n"
-	"}\n"
-	"__kernel void   primitiveContactsKernel( __global int4* pairs, \n"
-	"																					__global const BodyData* rigidBodies, \n"
-	"																					__global const btCollidableGpu* collidables,\n"
-	"																					__global const ConvexPolyhedronCL* convexShapes, \n"
-	"																					__global const float4* vertices,\n"
-	"																					__global const float4* uniqueEdges,\n"
-	"																					__global const btGpuFace* faces,\n"
-	"																					__global const int* indices,\n"
-	"																					__global struct b3Contact4Data* restrict globalContactsOut,\n"
-	"																					counter32_t nGlobalContactsOut,\n"
-	"																					int numPairs, int maxContactCapacity)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	int pairIndex = i;\n"
-	"	\n"
-	"	float4 worldVertsB1[64];\n"
-	"	float4 worldVertsB2[64];\n"
-	"	int capacityWorldVerts = 64;	\n"
-	"	float4 localContactsOut[64];\n"
-	"	int localContactCapacity=64;\n"
-	"	\n"
-	"	float minDist = -1e30f;\n"
-	"	float maxDist = 0.02f;\n"
-	"	if (i<numPairs)\n"
-	"	{\n"
-	"		int bodyIndexA = pairs[i].x;\n"
-	"		int bodyIndexB = pairs[i].y;\n"
-	"			\n"
-	"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-	"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-	"	\n"
-	"		if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&\n"
-	"			collidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)\n"
-	"		{\n"
-	"			float4 posB;\n"
-	"			posB = rigidBodies[bodyIndexB].m_pos;\n"
-	"			Quaternion ornB;\n"
-	"			ornB = rigidBodies[bodyIndexB].m_quat;\n"
-	"			int contactIndex = computeContactPlaneConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, \n"
-	"																rigidBodies,collidables,convexShapes,vertices,indices,\n"
-	"																faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity, posB,ornB);\n"
-	"			if (contactIndex>=0)\n"
-	"				pairs[pairIndex].z = contactIndex;\n"
-	"			return;\n"
-	"		}\n"
-	"		if (collidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&\n"
-	"			collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)\n"
-	"		{\n"
-	"			float4 posA;\n"
-	"			posA = rigidBodies[bodyIndexA].m_pos;\n"
-	"			Quaternion ornA;\n"
-	"			ornA = rigidBodies[bodyIndexA].m_quat;\n"
-	"			int contactIndex = computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA,  collidableIndexB,collidableIndexA, \n"
-	"																rigidBodies,collidables,convexShapes,vertices,indices,\n"
-	"																faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity,posA,ornA);\n"
-	"			if (contactIndex>=0)\n"
-	"				pairs[pairIndex].z = contactIndex;\n"
-	"			return;\n"
-	"		}\n"
-	"		if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&\n"
-	"			collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n"
-	"		{\n"
-	"			computeContactPlaneSphere(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, \n"
-	"																rigidBodies,collidables,faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity);\n"
-	"			return;\n"
-	"		}\n"
-	"		if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n"
-	"			collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)\n"
-	"		{\n"
-	"			computeContactPlaneSphere( pairIndex, bodyIndexB,bodyIndexA,  collidableIndexB,collidableIndexA, \n"
-	"																rigidBodies,collidables,\n"
-	"																faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity);\n"
-	"			return;\n"
-	"		}\n"
-	"		\n"
-	"	\n"
-	"		if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n"
-	"			collidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)\n"
-	"		{\n"
-	"		\n"
-	"			float4 spherePos = rigidBodies[bodyIndexA].m_pos;\n"
-	"			float sphereRadius = collidables[collidableIndexA].m_radius;\n"
-	"			float4 convexPos = rigidBodies[bodyIndexB].m_pos;\n"
-	"			float4 convexOrn = rigidBodies[bodyIndexB].m_quat;\n"
-	"			computeContactSphereConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, \n"
-	"																rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,\n"
-	"																spherePos,sphereRadius,convexPos,convexOrn);\n"
-	"			return;\n"
-	"		}\n"
-	"		if (collidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&\n"
-	"			collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n"
-	"		{\n"
-	"		\n"
-	"			float4 spherePos = rigidBodies[bodyIndexB].m_pos;\n"
-	"			float sphereRadius = collidables[collidableIndexB].m_radius;\n"
-	"			float4 convexPos = rigidBodies[bodyIndexA].m_pos;\n"
-	"			float4 convexOrn = rigidBodies[bodyIndexA].m_quat;\n"
-	"			computeContactSphereConvex(pairIndex, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA, \n"
-	"																rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,\n"
-	"																spherePos,sphereRadius,convexPos,convexOrn);\n"
-	"			return;\n"
-	"		}\n"
-	"	\n"
-	"	\n"
-	"	\n"
-	"		\n"
-	"	\n"
-	"	\n"
-	"		if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n"
-	"			collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n"
-	"		{\n"
-	"			//sphere-sphere\n"
-	"			float radiusA = collidables[collidableIndexA].m_radius;\n"
-	"			float radiusB = collidables[collidableIndexB].m_radius;\n"
-	"			float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-	"			float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-	"			float4 diff = posA-posB;\n"
-	"			float len = length(diff);\n"
-	"			\n"
-	"			///iff distance positive, don't generate a new contact\n"
-	"			if ( len <= (radiusA+radiusB))\n"
-	"			{\n"
-	"				///distance (negative means penetration)\n"
-	"				float dist = len - (radiusA+radiusB);\n"
-	"				float4 normalOnSurfaceB = make_float4(1.f,0.f,0.f,0.f);\n"
-	"				if (len > 0.00001)\n"
-	"				{\n"
-	"					normalOnSurfaceB = diff / len;\n"
-	"				}\n"
-	"				float4 contactPosB = posB + normalOnSurfaceB*radiusB;\n"
-	"				contactPosB.w = dist;\n"
-	"								\n"
-	"				int dstIdx;\n"
-	"				 AppendInc( nGlobalContactsOut, dstIdx );\n"
-	"				\n"
-	"				if (dstIdx < maxContactCapacity)\n"
-	"				{\n"
-	"					__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
-	"					c->m_worldNormalOnB = normalOnSurfaceB;\n"
-	"					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-	"					c->m_batchIdx = pairIndex;\n"
-	"					int bodyA = pairs[pairIndex].x;\n"
-	"					int bodyB = pairs[pairIndex].y;\n"
-	"					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
-	"					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
-	"					c->m_worldPosB[0] = contactPosB;\n"
-	"					c->m_childIndexA = -1;\n"
-	"					c->m_childIndexB = -1;\n"
-	"					GET_NPOINTS(*c) = 1;\n"
-	"				}//if (dstIdx < numPairs)\n"
-	"			}//if ( len <= (radiusA+radiusB))\n"
-	"			return;\n"
-	"		}//SHAPE_SPHERE SHAPE_SPHERE\n"
-	"	}//	if (i<numPairs)\n"
-	"}\n"
-	"// work-in-progress\n"
-	"__kernel void   processCompoundPairsPrimitivesKernel( __global const int4* gpuCompoundPairs,\n"
-	"													__global const BodyData* rigidBodies, \n"
-	"													__global const btCollidableGpu* collidables,\n"
-	"													__global const ConvexPolyhedronCL* convexShapes, \n"
-	"													__global const float4* vertices,\n"
-	"													__global const float4* uniqueEdges,\n"
-	"													__global const btGpuFace* faces,\n"
-	"													__global const int* indices,\n"
-	"													__global btAabbCL* aabbs,\n"
-	"													__global const btGpuChildShape* gpuChildShapes,\n"
-	"													__global struct b3Contact4Data* restrict globalContactsOut,\n"
-	"													counter32_t nGlobalContactsOut,\n"
-	"													int numCompoundPairs, int maxContactCapacity\n"
-	"													)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	if (i<numCompoundPairs)\n"
-	"	{\n"
-	"		int bodyIndexA = gpuCompoundPairs[i].x;\n"
-	"		int bodyIndexB = gpuCompoundPairs[i].y;\n"
-	"		int childShapeIndexA = gpuCompoundPairs[i].z;\n"
-	"		int childShapeIndexB = gpuCompoundPairs[i].w;\n"
-	"		\n"
-	"		int collidableIndexA = -1;\n"
-	"		int collidableIndexB = -1;\n"
-	"		\n"
-	"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-	"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-	"		\n"
-	"		float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
-	"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-	"							\n"
-	"		if (childShapeIndexA >= 0)\n"
-	"		{\n"
-	"			collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;\n"
-	"			float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;\n"
-	"			float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;\n"
-	"			float4 newPosA = qtRotate(ornA,childPosA)+posA;\n"
-	"			float4 newOrnA = qtMul(ornA,childOrnA);\n"
-	"			posA = newPosA;\n"
-	"			ornA = newOrnA;\n"
-	"		} else\n"
-	"		{\n"
-	"			collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-	"		}\n"
-	"		\n"
-	"		if (childShapeIndexB>=0)\n"
-	"		{\n"
-	"			collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
-	"			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
-	"			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
-	"			float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
-	"			float4 newOrnB = qtMul(ornB,childOrnB);\n"
-	"			posB = newPosB;\n"
-	"			ornB = newOrnB;\n"
-	"		} else\n"
-	"		{\n"
-	"			collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;	\n"
-	"		}\n"
-	"	\n"
-	"		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-	"		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-	"	\n"
-	"		int shapeTypeA = collidables[collidableIndexA].m_shapeType;\n"
-	"		int shapeTypeB = collidables[collidableIndexB].m_shapeType;\n"
-	"		int pairIndex = i;\n"
-	"		if ((shapeTypeA == SHAPE_PLANE) && (shapeTypeB==SHAPE_CONVEX_HULL))\n"
-	"		{\n"
-	"			computeContactPlaneConvex( pairIndex, bodyIndexA,bodyIndexB,  collidableIndexA,collidableIndexB, \n"
-	"																rigidBodies,collidables,convexShapes,vertices,indices,\n"
-	"																faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity,posB,ornB);\n"
-	"			return;\n"
-	"		}\n"
-	"		if ((shapeTypeA == SHAPE_CONVEX_HULL) && (shapeTypeB==SHAPE_PLANE))\n"
-	"		{\n"
-	"			computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA,  collidableIndexB,collidableIndexA, \n"
-	"																rigidBodies,collidables,convexShapes,vertices,indices,\n"
-	"																faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity,posA,ornA);\n"
-	"			return;\n"
-	"		}\n"
-	"		if ((shapeTypeA == SHAPE_CONVEX_HULL) && (shapeTypeB == SHAPE_SPHERE))\n"
-	"		{\n"
-	"			float4 spherePos = rigidBodies[bodyIndexB].m_pos;\n"
-	"			float sphereRadius = collidables[collidableIndexB].m_radius;\n"
-	"			float4 convexPos = posA;\n"
-	"			float4 convexOrn = ornA;\n"
-	"			\n"
-	"			computeContactSphereConvex(pairIndex, bodyIndexB, bodyIndexA , collidableIndexB,collidableIndexA, \n"
-	"										rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,\n"
-	"										spherePos,sphereRadius,convexPos,convexOrn);\n"
-	"	\n"
-	"			return;\n"
-	"		}\n"
-	"		if ((shapeTypeA == SHAPE_SPHERE) && (shapeTypeB == SHAPE_CONVEX_HULL))\n"
-	"		{\n"
-	"			float4 spherePos = rigidBodies[bodyIndexA].m_pos;\n"
-	"			float sphereRadius = collidables[collidableIndexA].m_radius;\n"
-	"			float4 convexPos = posB;\n"
-	"			float4 convexOrn = ornB;\n"
-	"			\n"
-	"			computeContactSphereConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, \n"
-	"										rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,\n"
-	"										spherePos,sphereRadius,convexPos,convexOrn);\n"
-	"	\n"
-	"			return;\n"
-	"		}\n"
-	"	}//	if (i<numCompoundPairs)\n"
-	"}\n"
-	"bool pointInTriangle(const float4* vertices, const float4* normal, float4 *p )\n"
-	"{\n"
-	"	const float4* p1 = &vertices[0];\n"
-	"	const float4* p2 = &vertices[1];\n"
-	"	const float4* p3 = &vertices[2];\n"
-	"	float4 edge1;	edge1 = (*p2 - *p1);\n"
-	"	float4 edge2;	edge2 = ( *p3 - *p2 );\n"
-	"	float4 edge3;	edge3 = ( *p1 - *p3 );\n"
-	"	\n"
-	"	float4 p1_to_p; p1_to_p = ( *p - *p1 );\n"
-	"	float4 p2_to_p; p2_to_p = ( *p - *p2 );\n"
-	"	float4 p3_to_p; p3_to_p = ( *p - *p3 );\n"
-	"	float4 edge1_normal; edge1_normal = ( cross(edge1,*normal));\n"
-	"	float4 edge2_normal; edge2_normal = ( cross(edge2,*normal));\n"
-	"	float4 edge3_normal; edge3_normal = ( cross(edge3,*normal));\n"
-	"	\n"
-	"	\n"
-	"	float r1, r2, r3;\n"
-	"	r1 = dot(edge1_normal,p1_to_p );\n"
-	"	r2 = dot(edge2_normal,p2_to_p );\n"
-	"	r3 = dot(edge3_normal,p3_to_p );\n"
-	"	\n"
-	"	if ( r1 > 0 && r2 > 0 && r3 > 0 )\n"
-	"		return true;\n"
-	"    if ( r1 <= 0 && r2 <= 0 && r3 <= 0 ) \n"
-	"		return true;\n"
-	"	return false;\n"
-	"}\n"
-	"float segmentSqrDistance(float4 from, float4 to,float4 p, float4* nearest) \n"
-	"{\n"
-	"	float4 diff = p - from;\n"
-	"	float4 v = to - from;\n"
-	"	float t = dot(v,diff);\n"
-	"	\n"
-	"	if (t > 0) \n"
-	"	{\n"
-	"		float dotVV = dot(v,v);\n"
-	"		if (t < dotVV) \n"
-	"		{\n"
-	"			t /= dotVV;\n"
-	"			diff -= t*v;\n"
-	"		} else \n"
-	"		{\n"
-	"			t = 1;\n"
-	"			diff -= v;\n"
-	"		}\n"
-	"	} else\n"
-	"	{\n"
-	"		t = 0;\n"
-	"	}\n"
-	"	*nearest = from + t*v;\n"
-	"	return dot(diff,diff);	\n"
-	"}\n"
-	"void	computeContactSphereTriangle(int pairIndex,\n"
-	"									int bodyIndexA, int bodyIndexB,\n"
-	"									int collidableIndexA, int collidableIndexB, \n"
-	"									__global const BodyData* rigidBodies, \n"
-	"									__global const btCollidableGpu* collidables,\n"
-	"									const float4* triangleVertices,\n"
-	"									__global struct b3Contact4Data* restrict globalContactsOut,\n"
-	"									counter32_t nGlobalContactsOut,\n"
-	"									int maxContactCapacity,\n"
-	"									float4 spherePos2,\n"
-	"									float radius,\n"
-	"									float4 pos,\n"
-	"									float4 quat,\n"
-	"									int faceIndex\n"
-	"									)\n"
-	"{\n"
-	"	float4 invPos;\n"
-	"	float4 invOrn;\n"
-	"	trInverse(pos,quat, &invPos,&invOrn);\n"
-	"	float4 spherePos = transform(&spherePos2,&invPos,&invOrn);\n"
-	"	int numFaces = 3;\n"
-	"	float4 closestPnt = (float4)(0, 0, 0, 0);\n"
-	"	float4 hitNormalWorld = (float4)(0, 0, 0, 0);\n"
-	"	float minDist = -1000000.f;\n"
-	"	bool bCollide = false;\n"
-	"	\n"
-	"	//////////////////////////////////////\n"
-	"	float4 sphereCenter;\n"
-	"	sphereCenter = spherePos;\n"
-	"	const float4* vertices = triangleVertices;\n"
-	"	float contactBreakingThreshold = 0.f;//todo?\n"
-	"	float radiusWithThreshold = radius + contactBreakingThreshold;\n"
-	"	float4 edge10;\n"
-	"	edge10 = vertices[1]-vertices[0];\n"
-	"	edge10.w = 0.f;//is this needed?\n"
-	"	float4 edge20;\n"
-	"	edge20 = vertices[2]-vertices[0];\n"
-	"	edge20.w = 0.f;//is this needed?\n"
-	"	float4 normal = cross3(edge10,edge20);\n"
-	"	normal = normalize(normal);\n"
-	"	float4 p1ToCenter;\n"
-	"	p1ToCenter = sphereCenter - vertices[0];\n"
-	"	\n"
-	"	float distanceFromPlane = dot(p1ToCenter,normal);\n"
-	"	if (distanceFromPlane < 0.f)\n"
-	"	{\n"
-	"		//triangle facing the other way\n"
-	"		distanceFromPlane *= -1.f;\n"
-	"		normal *= -1.f;\n"
-	"	}\n"
-	"	hitNormalWorld = normal;\n"
-	"	bool isInsideContactPlane = distanceFromPlane < radiusWithThreshold;\n"
-	"	\n"
-	"	// Check for contact / intersection\n"
-	"	bool hasContact = false;\n"
-	"	float4 contactPoint;\n"
-	"	if (isInsideContactPlane) \n"
-	"	{\n"
-	"	\n"
-	"		if (pointInTriangle(vertices,&normal, &sphereCenter)) \n"
-	"		{\n"
-	"			// Inside the contact wedge - touches a point on the shell plane\n"
-	"			hasContact = true;\n"
-	"			contactPoint = sphereCenter - normal*distanceFromPlane;\n"
-	"			\n"
-	"		} else {\n"
-	"			// Could be inside one of the contact capsules\n"
-	"			float contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold;\n"
-	"			float4 nearestOnEdge;\n"
-	"			int numEdges = 3;\n"
-	"			for (int i = 0; i < numEdges; i++) \n"
-	"			{\n"
-	"				float4 pa =vertices[i];\n"
-	"				float4 pb = vertices[(i+1)%3];\n"
-	"				float distanceSqr = segmentSqrDistance(pa,pb,sphereCenter, &nearestOnEdge);\n"
-	"				if (distanceSqr < contactCapsuleRadiusSqr) \n"
-	"				{\n"
-	"					// Yep, we're inside a capsule\n"
-	"					hasContact = true;\n"
-	"					contactPoint = nearestOnEdge;\n"
-	"					\n"
-	"				}\n"
-	"				\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	if (hasContact) \n"
-	"	{\n"
-	"		closestPnt = contactPoint;\n"
-	"		float4 contactToCenter = sphereCenter - contactPoint;\n"
-	"		minDist = length(contactToCenter);\n"
-	"		if (minDist>FLT_EPSILON)\n"
-	"		{\n"
-	"			hitNormalWorld = normalize(contactToCenter);//*(1./minDist);\n"
-	"			bCollide  = true;\n"
-	"		}\n"
-	"		\n"
-	"	}\n"
-	"	/////////////////////////////////////\n"
-	"	if (bCollide && minDist > -10000)\n"
-	"	{\n"
-	"		\n"
-	"		float4 normalOnSurfaceB1 = qtRotate(quat,-hitNormalWorld);\n"
-	"		float4 pOnB1 = transform(&closestPnt,&pos,&quat);\n"
-	"		float actualDepth = minDist-radius;\n"
-	"		\n"
-	"		if (actualDepth<=0.f)\n"
-	"		{\n"
-	"			pOnB1.w = actualDepth;\n"
-	"			int dstIdx;\n"
-	"			\n"
-	"			float lenSqr = dot3F4(normalOnSurfaceB1,normalOnSurfaceB1);\n"
-	"			if (lenSqr>FLT_EPSILON)\n"
-	"			{\n"
-	"				AppendInc( nGlobalContactsOut, dstIdx );\n"
-	"			\n"
-	"				if (dstIdx < maxContactCapacity)\n"
-	"				{\n"
-	"					__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
-	"					c->m_worldNormalOnB = -normalOnSurfaceB1;\n"
-	"					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-	"					c->m_batchIdx = pairIndex;\n"
-	"					c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;\n"
-	"					c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;\n"
-	"					c->m_worldPosB[0] = pOnB1;\n"
-	"					c->m_childIndexA = -1;\n"
-	"					c->m_childIndexB = faceIndex;\n"
-	"					GET_NPOINTS(*c) = 1;\n"
-	"				} \n"
-	"			}\n"
-	"		}\n"
-	"	}//if (hasCollision)\n"
-	"}\n"
-	"// work-in-progress\n"
-	"__kernel void   findConcaveSphereContactsKernel( __global int4* concavePairs,\n"
-	"												__global const BodyData* rigidBodies,\n"
-	"												__global const btCollidableGpu* collidables,\n"
-	"												__global const ConvexPolyhedronCL* convexShapes, \n"
-	"												__global const float4* vertices,\n"
-	"												__global const float4* uniqueEdges,\n"
-	"												__global const btGpuFace* faces,\n"
-	"												__global const int* indices,\n"
-	"												__global btAabbCL* aabbs,\n"
-	"												__global struct b3Contact4Data* restrict globalContactsOut,\n"
-	"												counter32_t nGlobalContactsOut,\n"
-	"													int numConcavePairs, int maxContactCapacity\n"
-	"												)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	if (i>=numConcavePairs)\n"
-	"		return;\n"
-	"	int pairIdx = i;\n"
-	"	int bodyIndexA = concavePairs[i].x;\n"
-	"	int bodyIndexB = concavePairs[i].y;\n"
-	"	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-	"	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-	"	int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-	"	int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-	"	if (collidables[collidableIndexB].m_shapeType==SHAPE_SPHERE)\n"
-	"	{\n"
-	"		int f = concavePairs[i].z;\n"
-	"		btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
-	"		\n"
-	"		float4 verticesA[3];\n"
-	"		for (int i=0;i<3;i++)\n"
-	"		{\n"
-	"			int index = indices[face.m_indexOffset+i];\n"
-	"			float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n"
-	"			verticesA[i] = vert;\n"
-	"		}\n"
-	"		float4 spherePos = rigidBodies[bodyIndexB].m_pos;\n"
-	"		float sphereRadius = collidables[collidableIndexB].m_radius;\n"
-	"		float4 convexPos = rigidBodies[bodyIndexA].m_pos;\n"
-	"		float4 convexOrn = rigidBodies[bodyIndexA].m_quat;\n"
-	"		computeContactSphereTriangle(i, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA, \n"
-	"																rigidBodies,collidables,\n"
-	"																verticesA,\n"
-	"																globalContactsOut, nGlobalContactsOut,maxContactCapacity,\n"
-	"																spherePos,sphereRadius,convexPos,convexOrn, f);\n"
-	"		return;\n"
-	"	}\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/sat.cl b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/sat.cl
deleted file mode 100644
index a6565fd6fa..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/sat.cl
+++ /dev/null
@@ -1,2018 +0,0 @@
-//keep this enum in sync with the CPU version (in btCollidable.h)
-//written by Erwin Coumans
-
-
-#define SHAPE_CONVEX_HULL 3
-#define SHAPE_CONCAVE_TRIMESH 5
-#define TRIANGLE_NUM_CONVEX_FACES 5
-#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6
-
-#define B3_MAX_STACK_DEPTH 256
-
-
-typedef unsigned int u32;
-
-///keep this in sync with btCollidable.h
-typedef struct
-{
-	union {
-		int m_numChildShapes;
-		int m_bvhIndex;
-	};
-	union
-	{
-		float m_radius;
-		int	m_compoundBvhIndex;
-	};
-	
-	int m_shapeType;
-	int m_shapeIndex;
-	
-} btCollidableGpu;
-
-#define MAX_NUM_PARTS_IN_BITS 10
-
-///b3QuantizedBvhNode is a compressed aabb node, 16 bytes.
-///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
-typedef struct
-{
-	//12 bytes
-	unsigned short int	m_quantizedAabbMin[3];
-	unsigned short int	m_quantizedAabbMax[3];
-	//4 bytes
-	int	m_escapeIndexOrTriangleIndex;
-} b3QuantizedBvhNode;
-
-typedef struct
-{
-	float4		m_aabbMin;
-	float4		m_aabbMax;
-	float4		m_quantization;
-	int			m_numNodes;
-	int			m_numSubTrees;
-	int			m_nodeOffset;
-	int			m_subTreeOffset;
-
-} b3BvhInfo;
-
-
-int	getTriangleIndex(const b3QuantizedBvhNode* rootNode)
-{
-	unsigned int x=0;
-	unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
-	// Get only the lower bits where the triangle index is stored
-	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));
-}
-
-int	getTriangleIndexGlobal(__global const b3QuantizedBvhNode* rootNode)
-{
-	unsigned int x=0;
-	unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
-	// Get only the lower bits where the triangle index is stored
-	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));
-}
-
-int isLeafNode(const b3QuantizedBvhNode* rootNode)
-{
-	//skipindex is negative (internal node), triangleindex >=0 (leafnode)
-	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;
-}
-
-int isLeafNodeGlobal(__global const b3QuantizedBvhNode* rootNode)
-{
-	//skipindex is negative (internal node), triangleindex >=0 (leafnode)
-	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;
-}
-	
-int getEscapeIndex(const b3QuantizedBvhNode* rootNode)
-{
-	return -rootNode->m_escapeIndexOrTriangleIndex;
-}
-
-int getEscapeIndexGlobal(__global const b3QuantizedBvhNode* rootNode)
-{
-	return -rootNode->m_escapeIndexOrTriangleIndex;
-}
-
-
-typedef struct
-{
-	//12 bytes
-	unsigned short int	m_quantizedAabbMin[3];
-	unsigned short int	m_quantizedAabbMax[3];
-	//4 bytes, points to the root of the subtree
-	int			m_rootNodeIndex;
-	//4 bytes
-	int			m_subtreeSize;
-	int			m_padding[3];
-} b3BvhSubtreeInfo;
-
-
-
-
-
-
-
-typedef struct
-{
-	float4	m_childPosition;
-	float4	m_childOrientation;
-	int m_shapeIndex;
-	int m_unused0;
-	int m_unused1;
-	int m_unused2;
-} btGpuChildShape;
-
-
-typedef struct
-{
-	float4 m_pos;
-	float4 m_quat;
-	float4 m_linVel;
-	float4 m_angVel;
-
-	u32 m_collidableIdx;
-	float m_invMass;
-	float m_restituitionCoeff;
-	float m_frictionCoeff;
-} BodyData;
-
-
-typedef struct  
-{
-	float4		m_localCenter;
-	float4		m_extents;
-	float4		mC;
-	float4		mE;
-	
-	float			m_radius;
-	int	m_faceOffset;
-	int m_numFaces;
-	int	m_numVertices;
-
-	int m_vertexOffset;
-	int	m_uniqueEdgesOffset;
-	int	m_numUniqueEdges;
-	int m_unused;
-} ConvexPolyhedronCL;
-
-typedef struct 
-{
-	union
-	{
-		float4	m_min;
-		float   m_minElems[4];
-		int			m_minIndices[4];
-	};
-	union
-	{
-		float4	m_max;
-		float   m_maxElems[4];
-		int			m_maxIndices[4];
-	};
-} btAabbCL;
-
-#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
-#include "Bullet3Common/shared/b3Int2.h"
-
-
-
-typedef struct
-{
-	float4 m_plane;
-	int m_indexOffset;
-	int m_numIndices;
-} btGpuFace;
-
-#define make_float4 (float4)
-
-
-__inline
-float4 cross3(float4 a, float4 b)
-{
-	return cross(a,b);
-
-	
-//	float4 a1 = make_float4(a.xyz,0.f);
-//	float4 b1 = make_float4(b.xyz,0.f);
-
-//	return cross(a1,b1);
-
-//float4 c = make_float4(a.y*b.z - a.z*b.y,a.z*b.x - a.x*b.z,a.x*b.y - a.y*b.x,0.f);
-	
-	//	float4 c = make_float4(a.y*b.z - a.z*b.y,1.f,a.x*b.y - a.y*b.x,0.f);
-	
-	//return c;
-}
-
-__inline
-float dot3F4(float4 a, float4 b)
-{
-	float4 a1 = make_float4(a.xyz,0.f);
-	float4 b1 = make_float4(b.xyz,0.f);
-	return dot(a1, b1);
-}
-
-__inline
-float4 fastNormalize4(float4 v)
-{
-	v = make_float4(v.xyz,0.f);
-	return fast_normalize(v);
-}
-
-
-///////////////////////////////////////
-//	Quaternion
-///////////////////////////////////////
-
-typedef float4 Quaternion;
-
-__inline
-Quaternion qtMul(Quaternion a, Quaternion b);
-
-__inline
-Quaternion qtNormalize(Quaternion in);
-
-__inline
-float4 qtRotate(Quaternion q, float4 vec);
-
-__inline
-Quaternion qtInvert(Quaternion q);
-
-
-
-
-__inline
-Quaternion qtMul(Quaternion a, Quaternion b)
-{
-	Quaternion ans;
-	ans = cross3( a, b );
-	ans += a.w*b+b.w*a;
-//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
-	ans.w = a.w*b.w - dot3F4(a, b);
-	return ans;
-}
-
-__inline
-Quaternion qtNormalize(Quaternion in)
-{
-	return fastNormalize4(in);
-//	in /= length( in );
-//	return in;
-}
-__inline
-float4 qtRotate(Quaternion q, float4 vec)
-{
-	Quaternion qInv = qtInvert( q );
-	float4 vcpy = vec;
-	vcpy.w = 0.f;
-	float4 out = qtMul(qtMul(q,vcpy),qInv);
-	return out;
-}
-
-__inline
-Quaternion qtInvert(Quaternion q)
-{
-	return (Quaternion)(-q.xyz, q.w);
-}
-
-__inline
-float4 qtInvRotate(const Quaternion q, float4 vec)
-{
-	return qtRotate( qtInvert( q ), vec );
-}
-
-__inline
-float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)
-{
-	return qtRotate( *orientation, *p ) + (*translation);
-}
-
-
-
-__inline
-float4 normalize3(const float4 a)
-{
-	float4 n = make_float4(a.x, a.y, a.z, 0.f);
-	return fastNormalize4( n );
-}
-
-inline void projectLocal(const ConvexPolyhedronCL* hull,  const float4 pos, const float4 orn, 
-const float4* dir, const float4* vertices, float* min, float* max)
-{
-	min[0] = FLT_MAX;
-	max[0] = -FLT_MAX;
-	int numVerts = hull->m_numVertices;
-
-	const float4 localDir = qtInvRotate(orn,*dir);
-	float offset = dot(pos,*dir);
-	for(int i=0;i<numVerts;i++)
-	{
-		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);
-		if(dp < min[0])	
-			min[0] = dp;
-		if(dp > max[0])	
-			max[0] = dp;
-	}
-	if(min[0]>max[0])
-	{
-		float tmp = min[0];
-		min[0] = max[0];
-		max[0] = tmp;
-	}
-	min[0] += offset;
-	max[0] += offset;
-}
-
-inline void project(__global const ConvexPolyhedronCL* hull,  const float4 pos, const float4 orn, 
-const float4* dir, __global const float4* vertices, float* min, float* max)
-{
-	min[0] = FLT_MAX;
-	max[0] = -FLT_MAX;
-	int numVerts = hull->m_numVertices;
-
-	const float4 localDir = qtInvRotate(orn,*dir);
-	float offset = dot(pos,*dir);
-	for(int i=0;i<numVerts;i++)
-	{
-		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);
-		if(dp < min[0])	
-			min[0] = dp;
-		if(dp > max[0])	
-			max[0] = dp;
-	}
-	if(min[0]>max[0])
-	{
-		float tmp = min[0];
-		min[0] = max[0];
-		max[0] = tmp;
-	}
-	min[0] += offset;
-	max[0] += offset;
-}
-
-inline bool TestSepAxisLocalA(const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, 
-	const float4 posA,const float4 ornA,
-	const float4 posB,const float4 ornB,
-	float4* sep_axis, const float4* verticesA, __global const float4* verticesB,float* depth)
-{
-	float Min0,Max0;
-	float Min1,Max1;
-	projectLocal(hullA,posA,ornA,sep_axis,verticesA, &Min0, &Max0);
-	project(hullB,posB,ornB, sep_axis,verticesB, &Min1, &Max1);
-
-	if(Max0<Min1 || Max1<Min0)
-		return false;
-
-	float d0 = Max0 - Min1;
-	float d1 = Max1 - Min0;
-	*depth = d0<d1 ? d0:d1;
-	return true;
-}
-
-
-
-
-inline bool IsAlmostZero(const float4 v)
-{
-	if(fabs(v.x)>1e-6f || fabs(v.y)>1e-6f || fabs(v.z)>1e-6f)
-		return false;
-	return true;
-}
-
-
-
-bool findSeparatingAxisLocalA(	const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, 
-	const float4 posA1,
-	const float4 ornA,
-	const float4 posB1,
-	const float4 ornB,
-	const float4 DeltaC2,
-	
-	const float4* verticesA, 
-	const float4* uniqueEdgesA, 
-	const btGpuFace* facesA,
-	const int*  indicesA,
-
-	__global const float4* verticesB, 
-	__global const float4* uniqueEdgesB, 
-	__global const btGpuFace* facesB,
-	__global const int*  indicesB,
-	float4* sep,
-	float* dmin)
-{
-	
-
-	float4 posA = posA1;
-	posA.w = 0.f;
-	float4 posB = posB1;
-	posB.w = 0.f;
-	int curPlaneTests=0;
-	{
-		int numFacesA = hullA->m_numFaces;
-		// Test normals from hullA
-		for(int i=0;i<numFacesA;i++)
-		{
-			const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;
-			float4 faceANormalWS = qtRotate(ornA,normal);
-			if (dot3F4(DeltaC2,faceANormalWS)<0)
-				faceANormalWS*=-1.f;
-			curPlaneTests++;
-			float d;
-			if(!TestSepAxisLocalA( hullA, hullB, posA,ornA,posB,ornB,&faceANormalWS, verticesA, verticesB,&d))
-				return false;
-			if(d<*dmin)
-			{
-				*dmin = d;
-				*sep = faceANormalWS;
-			}
-		}
-	}
-	if((dot3F4(-DeltaC2,*sep))>0.0f)
-	{
-		*sep = -(*sep);
-	}
-	return true;
-}
-
-bool findSeparatingAxisLocalB(	__global const ConvexPolyhedronCL* hullA,  const ConvexPolyhedronCL* hullB, 
-	const float4 posA1,
-	const float4 ornA,
-	const float4 posB1,
-	const float4 ornB,
-	const float4 DeltaC2,
-	__global const float4* verticesA, 
-	__global const float4* uniqueEdgesA, 
-	__global const btGpuFace* facesA,
-	__global const int*  indicesA,
-	const float4* verticesB,
-	const float4* uniqueEdgesB, 
-	const btGpuFace* facesB,
-	const int*  indicesB,
-	float4* sep,
-	float* dmin)
-{
-
-
-	float4 posA = posA1;
-	posA.w = 0.f;
-	float4 posB = posB1;
-	posB.w = 0.f;
-	int curPlaneTests=0;
-	{
-		int numFacesA = hullA->m_numFaces;
-		// Test normals from hullA
-		for(int i=0;i<numFacesA;i++)
-		{
-			const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;
-			float4 faceANormalWS = qtRotate(ornA,normal);
-			if (dot3F4(DeltaC2,faceANormalWS)<0)
-				faceANormalWS *= -1.f;
-			curPlaneTests++;
-			float d;
-			if(!TestSepAxisLocalA( hullB, hullA, posB,ornB,posA,ornA, &faceANormalWS, verticesB,verticesA, &d))
-				return false;
-			if(d<*dmin)
-			{
-				*dmin = d;
-				*sep = faceANormalWS;
-			}
-		}
-	}
-	if((dot3F4(-DeltaC2,*sep))>0.0f)
-	{
-		*sep = -(*sep);
-	}
-	return true;
-}
-
-
-
-bool findSeparatingAxisEdgeEdgeLocalA(	const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, 
-	const float4 posA1,
-	const float4 ornA,
-	const float4 posB1,
-	const float4 ornB,
-	const float4 DeltaC2,
-	const float4* verticesA, 
-	const float4* uniqueEdgesA, 
-	const btGpuFace* facesA,
-	const int*  indicesA,
-	__global const float4* verticesB, 
-	__global const float4* uniqueEdgesB, 
-	__global const btGpuFace* facesB,
-	__global const int*  indicesB,
-		float4* sep,
-	float* dmin)
-{
-
-
-	float4 posA = posA1;
-	posA.w = 0.f;
-	float4 posB = posB1;
-	posB.w = 0.f;
-
-	int curPlaneTests=0;
-
-	int curEdgeEdge = 0;
-	// Test edges
-	for(int e0=0;e0<hullA->m_numUniqueEdges;e0++)
-	{
-		const float4 edge0 = uniqueEdgesA[hullA->m_uniqueEdgesOffset+e0];
-		float4 edge0World = qtRotate(ornA,edge0);
-
-		for(int e1=0;e1<hullB->m_numUniqueEdges;e1++)
-		{
-			const float4 edge1 = uniqueEdgesB[hullB->m_uniqueEdgesOffset+e1];
-			float4 edge1World = qtRotate(ornB,edge1);
-
-
-			float4 crossje = cross3(edge0World,edge1World);
-
-			curEdgeEdge++;
-			if(!IsAlmostZero(crossje))
-			{
-				crossje = normalize3(crossje);
-				if (dot3F4(DeltaC2,crossje)<0)
-					crossje *= -1.f;
-
-				float dist;
-				bool result = true;
-				{
-					float Min0,Max0;
-					float Min1,Max1;
-					projectLocal(hullA,posA,ornA,&crossje,verticesA, &Min0, &Max0);
-					project(hullB,posB,ornB,&crossje,verticesB, &Min1, &Max1);
-				
-					if(Max0<Min1 || Max1<Min0)
-						result = false;
-				
-					float d0 = Max0 - Min1;
-					float d1 = Max1 - Min0;
-					dist = d0<d1 ? d0:d1;
-					result = true;
-
-				}
-				
-
-				if(dist<*dmin)
-				{
-					*dmin = dist;
-					*sep = crossje;
-				}
-			}
-		}
-
-	}
-
-	
-	if((dot3F4(-DeltaC2,*sep))>0.0f)
-	{
-		*sep = -(*sep);
-	}
-	return true;
-}
-
-
-inline bool TestSepAxis(__global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, 
-	const float4 posA,const float4 ornA,
-	const float4 posB,const float4 ornB,
-	float4* sep_axis, __global const float4* vertices,float* depth)
-{
-	float Min0,Max0;
-	float Min1,Max1;
-	project(hullA,posA,ornA,sep_axis,vertices, &Min0, &Max0);
-	project(hullB,posB,ornB, sep_axis,vertices, &Min1, &Max1);
-
-	if(Max0<Min1 || Max1<Min0)
-		return false;
-
-	float d0 = Max0 - Min1;
-	float d1 = Max1 - Min0;
-	*depth = d0<d1 ? d0:d1;
-	return true;
-}
-
-
-bool findSeparatingAxis(	__global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, 
-	const float4 posA1,
-	const float4 ornA,
-	const float4 posB1,
-	const float4 ornB,
-	const float4 DeltaC2,
-	__global const float4* vertices, 
-	__global const float4* uniqueEdges, 
-	__global const btGpuFace* faces,
-	__global const int*  indices,
-	float4* sep,
-	float* dmin)
-{
-	
-
-	float4 posA = posA1;
-	posA.w = 0.f;
-	float4 posB = posB1;
-	posB.w = 0.f;
-	
-	int curPlaneTests=0;
-
-	{
-		int numFacesA = hullA->m_numFaces;
-		// Test normals from hullA
-		for(int i=0;i<numFacesA;i++)
-		{
-			const float4 normal = faces[hullA->m_faceOffset+i].m_plane;
-			float4 faceANormalWS = qtRotate(ornA,normal);
-	
-			if (dot3F4(DeltaC2,faceANormalWS)<0)
-				faceANormalWS*=-1.f;
-				
-			curPlaneTests++;
-	
-			float d;
-			if(!TestSepAxis( hullA, hullB, posA,ornA,posB,ornB,&faceANormalWS, vertices,&d))
-				return false;
-	
-			if(d<*dmin)
-			{
-				*dmin = d;
-				*sep = faceANormalWS;
-			}
-		}
-	}
-
-
-		if((dot3F4(-DeltaC2,*sep))>0.0f)
-		{
-			*sep = -(*sep);
-		}
-	
-	return true;
-}
-
-
-
-
-bool findSeparatingAxisUnitSphere(	__global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, 
-	const float4 posA1,
-	const float4 ornA,
-	const float4 posB1,
-	const float4 ornB,
-	const float4 DeltaC2,
-	__global const float4* vertices,
-	__global const float4* unitSphereDirections,
-	int numUnitSphereDirections,
-	float4* sep,
-	float* dmin)
-{
-	
-	float4 posA = posA1;
-	posA.w = 0.f;
-	float4 posB = posB1;
-	posB.w = 0.f;
-
-	int curPlaneTests=0;
-
-	int curEdgeEdge = 0;
-	// Test unit sphere directions
-	for (int i=0;i<numUnitSphereDirections;i++)
-	{
-
-		float4 crossje;
-		crossje = unitSphereDirections[i];	
-
-		if (dot3F4(DeltaC2,crossje)>0)
-			crossje *= -1.f;
-		{
-			float dist;
-			bool result = true;
-			float Min0,Max0;
-			float Min1,Max1;
-			project(hullA,posA,ornA,&crossje,vertices, &Min0, &Max0);
-			project(hullB,posB,ornB,&crossje,vertices, &Min1, &Max1);
-		
-			if(Max0<Min1 || Max1<Min0)
-				return false;
-		
-			float d0 = Max0 - Min1;
-			float d1 = Max1 - Min0;
-			dist = d0<d1 ? d0:d1;
-			result = true;
-	
-			if(dist<*dmin)
-			{
-				*dmin = dist;
-				*sep = crossje;
-			}
-		}
-	}
-
-	
-	if((dot3F4(-DeltaC2,*sep))>0.0f)
-	{
-		*sep = -(*sep);
-	}
-	return true;
-}
-
-
-bool findSeparatingAxisEdgeEdge(	__global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, 
-	const float4 posA1,
-	const float4 ornA,
-	const float4 posB1,
-	const float4 ornB,
-	const float4 DeltaC2,
-	__global const float4* vertices, 
-	__global const float4* uniqueEdges, 
-	__global const btGpuFace* faces,
-	__global const int*  indices,
-	float4* sep,
-	float* dmin)
-{
-	
-
-	float4 posA = posA1;
-	posA.w = 0.f;
-	float4 posB = posB1;
-	posB.w = 0.f;
-
-	int curPlaneTests=0;
-
-	int curEdgeEdge = 0;
-	// Test edges
-	for(int e0=0;e0<hullA->m_numUniqueEdges;e0++)
-	{
-		const float4 edge0 = uniqueEdges[hullA->m_uniqueEdgesOffset+e0];
-		float4 edge0World = qtRotate(ornA,edge0);
-
-		for(int e1=0;e1<hullB->m_numUniqueEdges;e1++)
-		{
-			const float4 edge1 = uniqueEdges[hullB->m_uniqueEdgesOffset+e1];
-			float4 edge1World = qtRotate(ornB,edge1);
-
-
-			float4 crossje = cross3(edge0World,edge1World);
-
-			curEdgeEdge++;
-			if(!IsAlmostZero(crossje))
-			{
-				crossje = normalize3(crossje);
-				if (dot3F4(DeltaC2,crossje)<0)
-					crossje*=-1.f;
-					
-				float dist;
-				bool result = true;
-				{
-					float Min0,Max0;
-					float Min1,Max1;
-					project(hullA,posA,ornA,&crossje,vertices, &Min0, &Max0);
-					project(hullB,posB,ornB,&crossje,vertices, &Min1, &Max1);
-				
-					if(Max0<Min1 || Max1<Min0)
-						return false;
-				
-					float d0 = Max0 - Min1;
-					float d1 = Max1 - Min0;
-					dist = d0<d1 ? d0:d1;
-					result = true;
-
-				}
-				
-
-				if(dist<*dmin)
-				{
-					*dmin = dist;
-					*sep = crossje;
-				}
-			}
-		}
-
-	}
-
-	
-	if((dot3F4(-DeltaC2,*sep))>0.0f)
-	{
-		*sep = -(*sep);
-	}
-	return true;
-}
-
-
-// work-in-progress
-__kernel void   processCompoundPairsKernel( __global const int4* gpuCompoundPairs,
-																					__global const BodyData* rigidBodies, 
-																					__global const btCollidableGpu* collidables,
-																					__global const ConvexPolyhedronCL* convexShapes, 
-																					__global const float4* vertices,
-																					__global const float4* uniqueEdges,
-																					__global const btGpuFace* faces,
-																					__global const int* indices,
-																					__global btAabbCL* aabbs,
-																					__global const btGpuChildShape* gpuChildShapes,
-																					__global volatile float4* gpuCompoundSepNormalsOut,
-																					__global volatile int* gpuHasCompoundSepNormalsOut,
-																					int numCompoundPairs
-																					)
-{
-
-	int i = get_global_id(0);
-	if (i<numCompoundPairs)
-	{
-		int bodyIndexA = gpuCompoundPairs[i].x;
-		int bodyIndexB = gpuCompoundPairs[i].y;
-
-		int childShapeIndexA = gpuCompoundPairs[i].z;
-		int childShapeIndexB = gpuCompoundPairs[i].w;
-		
-		int collidableIndexA = -1;
-		int collidableIndexB = -1;
-		
-		float4 ornA = rigidBodies[bodyIndexA].m_quat;
-		float4 posA = rigidBodies[bodyIndexA].m_pos;
-		
-		float4 ornB = rigidBodies[bodyIndexB].m_quat;
-		float4 posB = rigidBodies[bodyIndexB].m_pos;
-							
-		if (childShapeIndexA >= 0)
-		{
-			collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;
-			float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;
-			float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;
-			float4 newPosA = qtRotate(ornA,childPosA)+posA;
-			float4 newOrnA = qtMul(ornA,childOrnA);
-			posA = newPosA;
-			ornA = newOrnA;
-		} else
-		{
-			collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-		}
-		
-		if (childShapeIndexB>=0)
-		{
-			collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
-			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
-			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
-			float4 newPosB = transform(&childPosB,&posB,&ornB);
-			float4 newOrnB = qtMul(ornB,childOrnB);
-			posB = newPosB;
-			ornB = newOrnB;
-		} else
-		{
-			collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;	
-		}
-	
-		gpuHasCompoundSepNormalsOut[i] = 0;
-	
-		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
-		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-	
-		int shapeTypeA = collidables[collidableIndexA].m_shapeType;
-		int shapeTypeB = collidables[collidableIndexB].m_shapeType;
-	
-
-		if ((shapeTypeA != SHAPE_CONVEX_HULL) || (shapeTypeB != SHAPE_CONVEX_HULL))
-		{
-			return;
-		}
-
-		int hasSeparatingAxis = 5;
-							
-		int numFacesA = convexShapes[shapeIndexA].m_numFaces;
-		float dmin = FLT_MAX;
-		posA.w = 0.f;
-		posB.w = 0.f;
-		float4 c0local = convexShapes[shapeIndexA].m_localCenter;
-		float4 c0 = transform(&c0local, &posA, &ornA);
-		float4 c1local = convexShapes[shapeIndexB].m_localCenter;
-		float4 c1 = transform(&c1local,&posB,&ornB);
-		const float4 DeltaC2 = c0 - c1;
-		float4 sepNormal = make_float4(1,0,0,0);
-		bool sepA = findSeparatingAxis(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,posB,ornB,DeltaC2,vertices,uniqueEdges,faces,indices,&sepNormal,&dmin);
-		hasSeparatingAxis = 4;
-		if (!sepA)
-		{
-			hasSeparatingAxis = 0;
-		} else
-		{
-			bool sepB = findSeparatingAxis(	&convexShapes[shapeIndexB],&convexShapes[shapeIndexA],posB,ornB,posA,ornA,DeltaC2,vertices,uniqueEdges,faces,indices,&sepNormal,&dmin);
-
-			if (!sepB)
-			{
-				hasSeparatingAxis = 0;
-			} else//(!sepB)
-			{
-				bool sepEE = findSeparatingAxisEdgeEdge(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,posB,ornB,DeltaC2,vertices,uniqueEdges,faces,indices,&sepNormal,&dmin);
-				if (sepEE)
-				{
-						gpuCompoundSepNormalsOut[i] = sepNormal;//fastNormalize4(sepNormal);
-						gpuHasCompoundSepNormalsOut[i] = 1;
-				}//sepEE
-			}//(!sepB)
-		}//(!sepA)
-		
-		
-	}
-		
-}
-
-
-inline b3Float4 MyUnQuantize(const unsigned short* vecIn, b3Float4 quantization, b3Float4 bvhAabbMin)
-{
-		b3Float4 vecOut;
-		vecOut = b3MakeFloat4(
-			(float)(vecIn[0]) / (quantization.x),
-			(float)(vecIn[1]) / (quantization.y),
-			(float)(vecIn[2]) / (quantization.z),
-			0.f);
-
-		vecOut += bvhAabbMin;
-		return vecOut;
-}
-
-inline b3Float4 MyUnQuantizeGlobal(__global const unsigned short* vecIn, b3Float4 quantization, b3Float4 bvhAabbMin)
-{
-		b3Float4 vecOut;
-		vecOut = b3MakeFloat4(
-			(float)(vecIn[0]) / (quantization.x),
-			(float)(vecIn[1]) / (quantization.y),
-			(float)(vecIn[2]) / (quantization.z),
-			0.f);
-
-		vecOut += bvhAabbMin;
-		return vecOut;
-}
-
-
-// work-in-progress
-__kernel void   findCompoundPairsKernel( __global const int4* pairs, 
-	__global const BodyData* rigidBodies, 
-	__global const btCollidableGpu* collidables,
-	__global const ConvexPolyhedronCL* convexShapes, 
-	__global const float4* vertices,
-	__global const float4* uniqueEdges,
-	__global const btGpuFace* faces,
-	__global const int* indices,
-	__global b3Aabb_t* aabbLocalSpace,
-	__global const btGpuChildShape* gpuChildShapes,
-	__global volatile int4* gpuCompoundPairsOut,
-	__global volatile int* numCompoundPairsOut,
-	__global const b3BvhSubtreeInfo* subtrees,
-	__global const b3QuantizedBvhNode* quantizedNodes,
-	__global const b3BvhInfo* bvhInfos,
-	int numPairs,
-	int maxNumCompoundPairsCapacity
-	)
-{
-
-	int i = get_global_id(0);
-
-	if (i<numPairs)
-	{
-		int bodyIndexA = pairs[i].x;
-		int bodyIndexB = pairs[i].y;
-
-		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-
-		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
-		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-
-
-		//once the broadphase avoids static-static pairs, we can remove this test
-		if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))
-		{
-			return;
-		}
-
-		if ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) &&(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))
-		{
-			int bvhA = collidables[collidableIndexA].m_compoundBvhIndex;
-			int bvhB = collidables[collidableIndexB].m_compoundBvhIndex;
-			int numSubTreesA = bvhInfos[bvhA].m_numSubTrees;
-			int subTreesOffsetA = bvhInfos[bvhA].m_subTreeOffset;
-			int subTreesOffsetB = bvhInfos[bvhB].m_subTreeOffset;
-
-
-			int numSubTreesB = bvhInfos[bvhB].m_numSubTrees;
-			
-			float4 posA = rigidBodies[bodyIndexA].m_pos;
-			b3Quat ornA = rigidBodies[bodyIndexA].m_quat;
-
-			b3Quat ornB = rigidBodies[bodyIndexB].m_quat;
-			float4 posB = rigidBodies[bodyIndexB].m_pos;
-
-			
-			for (int p=0;p<numSubTreesA;p++)
-			{
-				b3BvhSubtreeInfo subtreeA = subtrees[subTreesOffsetA+p];
-				//bvhInfos[bvhA].m_quantization
-				b3Float4 treeAminLocal = MyUnQuantize(subtreeA.m_quantizedAabbMin,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);
-				b3Float4 treeAmaxLocal = MyUnQuantize(subtreeA.m_quantizedAabbMax,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);
-
-				b3Float4 aabbAMinOut,aabbAMaxOut;
-				float margin=0.f;
-				b3TransformAabb2(treeAminLocal,treeAmaxLocal, margin,posA,ornA,&aabbAMinOut,&aabbAMaxOut);
-				
-				for (int q=0;q<numSubTreesB;q++)
-				{
-					b3BvhSubtreeInfo subtreeB = subtrees[subTreesOffsetB+q];
-
-					b3Float4 treeBminLocal = MyUnQuantize(subtreeB.m_quantizedAabbMin,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);
-					b3Float4 treeBmaxLocal = MyUnQuantize(subtreeB.m_quantizedAabbMax,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);
-
-					b3Float4 aabbBMinOut,aabbBMaxOut;
-					float margin=0.f;
-					b3TransformAabb2(treeBminLocal,treeBmaxLocal, margin,posB,ornB,&aabbBMinOut,&aabbBMaxOut);
-
-					
-					
-					bool aabbOverlap = b3TestAabbAgainstAabb(aabbAMinOut,aabbAMaxOut,aabbBMinOut,aabbBMaxOut);
-					if (aabbOverlap)
-					{
-						
-						int startNodeIndexA = subtreeA.m_rootNodeIndex+bvhInfos[bvhA].m_nodeOffset;
-						int endNodeIndexA = startNodeIndexA+subtreeA.m_subtreeSize;
-
-						int startNodeIndexB = subtreeB.m_rootNodeIndex+bvhInfos[bvhB].m_nodeOffset;
-						int endNodeIndexB = startNodeIndexB+subtreeB.m_subtreeSize;
-
-
-						b3Int2 nodeStack[B3_MAX_STACK_DEPTH];
-						b3Int2 node0;
-						node0.x = startNodeIndexA;
-						node0.y = startNodeIndexB;
-						int maxStackDepth = B3_MAX_STACK_DEPTH;
-						int depth=0;
-						nodeStack[depth++]=node0;
-
-						do
-						{
-							b3Int2 node = nodeStack[--depth];
-
-							b3Float4 aMinLocal = MyUnQuantizeGlobal(quantizedNodes[node.x].m_quantizedAabbMin,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);
-							b3Float4 aMaxLocal = MyUnQuantizeGlobal(quantizedNodes[node.x].m_quantizedAabbMax,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);
-
-							b3Float4 bMinLocal = MyUnQuantizeGlobal(quantizedNodes[node.y].m_quantizedAabbMin,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);
-							b3Float4 bMaxLocal = MyUnQuantizeGlobal(quantizedNodes[node.y].m_quantizedAabbMax,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);
-
-							float margin=0.f;
-							b3Float4 aabbAMinOut,aabbAMaxOut;
-							b3TransformAabb2(aMinLocal,aMaxLocal, margin,posA,ornA,&aabbAMinOut,&aabbAMaxOut);
-
-							b3Float4 aabbBMinOut,aabbBMaxOut;
-							b3TransformAabb2(bMinLocal,bMaxLocal, margin,posB,ornB,&aabbBMinOut,&aabbBMaxOut);
-
-							
-							bool nodeOverlap = b3TestAabbAgainstAabb(aabbAMinOut,aabbAMaxOut,aabbBMinOut,aabbBMaxOut);
-							if (nodeOverlap)
-							{
-								bool isLeafA = isLeafNodeGlobal(&quantizedNodes[node.x]);
-								bool isLeafB = isLeafNodeGlobal(&quantizedNodes[node.y]);
-								bool isInternalA = !isLeafA;
-								bool isInternalB = !isLeafB;
-
-								//fail, even though it might hit two leaf nodes
-								if (depth+4>maxStackDepth && !(isLeafA && isLeafB))
-								{
-									//printf("Error: traversal exceeded maxStackDepth");
-									continue;
-								}
-
-								if(isInternalA)
-								{
-									int nodeAleftChild = node.x+1;
-									bool isNodeALeftChildLeaf = isLeafNodeGlobal(&quantizedNodes[node.x+1]);
-									int nodeArightChild = isNodeALeftChildLeaf? node.x+2 : node.x+1 + getEscapeIndexGlobal(&quantizedNodes[node.x+1]);
-
-									if(isInternalB)
-									{					
-										int nodeBleftChild = node.y+1;
-										bool isNodeBLeftChildLeaf = isLeafNodeGlobal(&quantizedNodes[node.y+1]);
-										int nodeBrightChild = isNodeBLeftChildLeaf? node.y+2 : node.y+1 + getEscapeIndexGlobal(&quantizedNodes[node.y+1]);
-
-										nodeStack[depth++] = b3MakeInt2(nodeAleftChild, nodeBleftChild);
-										nodeStack[depth++] = b3MakeInt2(nodeArightChild, nodeBleftChild);
-										nodeStack[depth++] = b3MakeInt2(nodeAleftChild, nodeBrightChild);
-										nodeStack[depth++] = b3MakeInt2(nodeArightChild, nodeBrightChild);
-									}
-									else
-									{
-										nodeStack[depth++] = b3MakeInt2(nodeAleftChild,node.y);
-										nodeStack[depth++] = b3MakeInt2(nodeArightChild,node.y);
-									}
-								}
-								else
-								{
-									if(isInternalB)
-									{
-										int nodeBleftChild = node.y+1;
-										bool isNodeBLeftChildLeaf = isLeafNodeGlobal(&quantizedNodes[node.y+1]);
-										int nodeBrightChild = isNodeBLeftChildLeaf? node.y+2 : node.y+1 + getEscapeIndexGlobal(&quantizedNodes[node.y+1]);
-										nodeStack[depth++] = b3MakeInt2(node.x,nodeBleftChild);
-										nodeStack[depth++] = b3MakeInt2(node.x,nodeBrightChild);
-									}
-									else
-									{
-										int compoundPairIdx = atomic_inc(numCompoundPairsOut);
-										if (compoundPairIdx<maxNumCompoundPairsCapacity)
-										{
-											int childShapeIndexA = getTriangleIndexGlobal(&quantizedNodes[node.x]);
-											int childShapeIndexB = getTriangleIndexGlobal(&quantizedNodes[node.y]);
-											gpuCompoundPairsOut[compoundPairIdx]  = (int4)(bodyIndexA,bodyIndexB,childShapeIndexA,childShapeIndexB);
-										}
-									}
-								}
-							}
-						} while (depth);
-					}
-				}
-			}
-			
-			return;
-		}
-
-
-
-
-
-		if ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) ||(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))
-		{
-
-			if (collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) 
-			{
-
-				int numChildrenA = collidables[collidableIndexA].m_numChildShapes;
-				for (int c=0;c<numChildrenA;c++)
-				{
-					int childShapeIndexA = collidables[collidableIndexA].m_shapeIndex+c;
-					int childColIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;
-
-					float4 posA = rigidBodies[bodyIndexA].m_pos;
-					float4 ornA = rigidBodies[bodyIndexA].m_quat;
-					float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;
-					float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;
-					float4 newPosA = qtRotate(ornA,childPosA)+posA;
-					float4 newOrnA = qtMul(ornA,childOrnA);
-
-					int shapeIndexA = collidables[childColIndexA].m_shapeIndex;
-					b3Aabb_t aabbAlocal = aabbLocalSpace[shapeIndexA];
-					float margin = 0.f;
-					
-					b3Float4 aabbAMinWS;
-					b3Float4 aabbAMaxWS;
-					
-					b3TransformAabb2(aabbAlocal.m_minVec,aabbAlocal.m_maxVec,margin,
-						newPosA,
-						newOrnA,
-						&aabbAMinWS,&aabbAMaxWS);
-						
-					
-					if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
-					{
-						int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
-						for (int b=0;b<numChildrenB;b++)
-						{
-							int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;
-							int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
-							float4 ornB = rigidBodies[bodyIndexB].m_quat;
-							float4 posB = rigidBodies[bodyIndexB].m_pos;
-							float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
-							float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
-							float4 newPosB = transform(&childPosB,&posB,&ornB);
-							float4 newOrnB = qtMul(ornB,childOrnB);
-
-							int shapeIndexB = collidables[childColIndexB].m_shapeIndex;
-							b3Aabb_t aabbBlocal = aabbLocalSpace[shapeIndexB];
-							
-							b3Float4 aabbBMinWS;
-							b3Float4 aabbBMaxWS;
-							
-							b3TransformAabb2(aabbBlocal.m_minVec,aabbBlocal.m_maxVec,margin,
-								newPosB,
-								newOrnB,
-								&aabbBMinWS,&aabbBMaxWS);
-								
-								
-							
-							bool aabbOverlap = b3TestAabbAgainstAabb(aabbAMinWS,aabbAMaxWS,aabbBMinWS,aabbBMaxWS);
-							if (aabbOverlap)
-							{
-								int numFacesA = convexShapes[shapeIndexA].m_numFaces;
-								float dmin = FLT_MAX;
-								float4 posA = newPosA;
-								posA.w = 0.f;
-								float4 posB = newPosB;
-								posB.w = 0.f;
-								float4 c0local = convexShapes[shapeIndexA].m_localCenter;
-								float4 ornA = newOrnA;
-								float4 c0 = transform(&c0local, &posA, &ornA);
-								float4 c1local = convexShapes[shapeIndexB].m_localCenter;
-								float4 ornB =newOrnB;
-								float4 c1 = transform(&c1local,&posB,&ornB);
-								const float4 DeltaC2 = c0 - c1;
-
-								{//
-									int compoundPairIdx = atomic_inc(numCompoundPairsOut);
-									if (compoundPairIdx<maxNumCompoundPairsCapacity)
-									{
-										gpuCompoundPairsOut[compoundPairIdx]  = (int4)(bodyIndexA,bodyIndexB,childShapeIndexA,childShapeIndexB);
-									}
-								}//
-							}//fi(1)
-						} //for (int b=0
-					}//if (collidables[collidableIndexB].
-					else//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
-					{
-						if (1)
-						{
-							int numFacesA = convexShapes[shapeIndexA].m_numFaces;
-							float dmin = FLT_MAX;
-							float4 posA = newPosA;
-							posA.w = 0.f;
-							float4 posB = rigidBodies[bodyIndexB].m_pos;
-							posB.w = 0.f;
-							float4 c0local = convexShapes[shapeIndexA].m_localCenter;
-							float4 ornA = newOrnA;
-							float4 c0 = transform(&c0local, &posA, &ornA);
-							float4 c1local = convexShapes[shapeIndexB].m_localCenter;
-							float4 ornB = rigidBodies[bodyIndexB].m_quat;
-							float4 c1 = transform(&c1local,&posB,&ornB);
-							const float4 DeltaC2 = c0 - c1;
-
-							{
-								int compoundPairIdx = atomic_inc(numCompoundPairsOut);
-								if (compoundPairIdx<maxNumCompoundPairsCapacity)
-								{
-									gpuCompoundPairsOut[compoundPairIdx] = (int4)(bodyIndexA,bodyIndexB,childShapeIndexA,-1);
-								}//if (compoundPairIdx<maxNumCompoundPairsCapacity)
-							}//
-						}//fi (1)
-					}//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
-				}//for (int b=0;b<numChildrenB;b++)	
-				return;
-			}//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
-			if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONCAVE_TRIMESH) 
-				&& (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))
-			{
-				int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
-				for (int b=0;b<numChildrenB;b++)
-				{
-					int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;
-					int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
-					float4 ornB = rigidBodies[bodyIndexB].m_quat;
-					float4 posB = rigidBodies[bodyIndexB].m_pos;
-					float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
-					float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
-					float4 newPosB = qtRotate(ornB,childPosB)+posB;
-					float4 newOrnB = qtMul(ornB,childOrnB);
-
-					int shapeIndexB = collidables[childColIndexB].m_shapeIndex;
-
-
-					//////////////////////////////////////
-
-					if (1)
-					{
-						int numFacesA = convexShapes[shapeIndexA].m_numFaces;
-						float dmin = FLT_MAX;
-						float4 posA = rigidBodies[bodyIndexA].m_pos;
-						posA.w = 0.f;
-						float4 posB = newPosB;
-						posB.w = 0.f;
-						float4 c0local = convexShapes[shapeIndexA].m_localCenter;
-						float4 ornA = rigidBodies[bodyIndexA].m_quat;
-						float4 c0 = transform(&c0local, &posA, &ornA);
-						float4 c1local = convexShapes[shapeIndexB].m_localCenter;
-						float4 ornB =newOrnB;
-						float4 c1 = transform(&c1local,&posB,&ornB);
-						const float4 DeltaC2 = c0 - c1;
-						{//
-							int compoundPairIdx = atomic_inc(numCompoundPairsOut);
-							if (compoundPairIdx<maxNumCompoundPairsCapacity)
-							{
-								gpuCompoundPairsOut[compoundPairIdx] = (int4)(bodyIndexA,bodyIndexB,-1,childShapeIndexB);
-							}//fi (compoundPairIdx<maxNumCompoundPairsCapacity)
-						}//
-					}//fi (1)	
-				}//for (int b=0;b<numChildrenB;b++)
-				return;
-			}//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
-			return;
-		}//fi ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) ||(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))
-	}//i<numPairs
-}
-
-// work-in-progress
-__kernel void   findSeparatingAxisKernel( __global const int4* pairs, 
-																					__global const BodyData* rigidBodies, 
-																					__global const btCollidableGpu* collidables,
-																					__global const ConvexPolyhedronCL* convexShapes, 
-																					__global const float4* vertices,
-																					__global const float4* uniqueEdges,
-																					__global const btGpuFace* faces,
-																					__global const int* indices,
-																					__global btAabbCL* aabbs,
-																					__global volatile float4* separatingNormals,
-																					__global volatile int* hasSeparatingAxis,
-																					int numPairs
-																					)
-{
-
-	int i = get_global_id(0);
-	
-	if (i<numPairs)
-	{
-
-	
-		int bodyIndexA = pairs[i].x;
-		int bodyIndexB = pairs[i].y;
-
-		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-	
-		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
-		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-		
-		
-		//once the broadphase avoids static-static pairs, we can remove this test
-		if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))
-		{
-			hasSeparatingAxis[i] = 0;
-			return;
-		}
-		
-
-		if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONVEX_HULL) ||(collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL))
-		{
-			hasSeparatingAxis[i] = 0;
-			return;
-		}
-			
-		if ((collidables[collidableIndexA].m_shapeType==SHAPE_CONCAVE_TRIMESH))
-		{
-			hasSeparatingAxis[i] = 0;
-			return;
-		}
-
-		int numFacesA = convexShapes[shapeIndexA].m_numFaces;
-
-		float dmin = FLT_MAX;
-
-		float4 posA = rigidBodies[bodyIndexA].m_pos;
-		posA.w = 0.f;
-		float4 posB = rigidBodies[bodyIndexB].m_pos;
-		posB.w = 0.f;
-		float4 c0local = convexShapes[shapeIndexA].m_localCenter;
-		float4 ornA = rigidBodies[bodyIndexA].m_quat;
-		float4 c0 = transform(&c0local, &posA, &ornA);
-		float4 c1local = convexShapes[shapeIndexB].m_localCenter;
-		float4 ornB =rigidBodies[bodyIndexB].m_quat;
-		float4 c1 = transform(&c1local,&posB,&ornB);
-		const float4 DeltaC2 = c0 - c1;
-		float4 sepNormal;
-		
-		bool sepA = findSeparatingAxis(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,
-																								posB,ornB,
-																								DeltaC2,
-																								vertices,uniqueEdges,faces,
-																								indices,&sepNormal,&dmin);
-		hasSeparatingAxis[i] = 4;
-		if (!sepA)
-		{
-			hasSeparatingAxis[i] = 0;
-		} else
-		{
-			bool sepB = findSeparatingAxis(	&convexShapes[shapeIndexB],&convexShapes[shapeIndexA],posB,ornB,
-																									posA,ornA,
-																									DeltaC2,
-																									vertices,uniqueEdges,faces,
-																									indices,&sepNormal,&dmin);
-
-			if (!sepB)
-			{
-				hasSeparatingAxis[i] = 0;
-			} else
-			{
-				bool sepEE = findSeparatingAxisEdgeEdge(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,
-																									posB,ornB,
-																									DeltaC2,
-																									vertices,uniqueEdges,faces,
-																									indices,&sepNormal,&dmin);
-				if (!sepEE)
-				{
-					hasSeparatingAxis[i] = 0;
-				} else
-				{
-					hasSeparatingAxis[i] = 1;
-					separatingNormals[i] = sepNormal;
-				}
-			}
-		}
-		
-	}
-
-}
-
-
-__kernel void   findSeparatingAxisVertexFaceKernel( __global const int4* pairs, 
-																					__global const BodyData* rigidBodies, 
-																					__global const btCollidableGpu* collidables,
-																					__global const ConvexPolyhedronCL* convexShapes, 
-																					__global const float4* vertices,
-																					__global const float4* uniqueEdges,
-																					__global const btGpuFace* faces,
-																					__global const int* indices,
-																					__global btAabbCL* aabbs,
-																					__global volatile float4* separatingNormals,
-																					__global volatile int* hasSeparatingAxis,
-																					__global  float* dmins,
-																					int numPairs
-																					)
-{
-
-	int i = get_global_id(0);
-	
-	if (i<numPairs)
-	{
-
-	
-		int bodyIndexA = pairs[i].x;
-		int bodyIndexB = pairs[i].y;
-
-		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-	
-		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
-		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-	
-		hasSeparatingAxis[i] = 0;	
-		
-		//once the broadphase avoids static-static pairs, we can remove this test
-		if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))
-		{
-			return;
-		}
-		
-
-		if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONVEX_HULL) ||(collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL))
-		{
-			return;
-		}
-			
-
-		int numFacesA = convexShapes[shapeIndexA].m_numFaces;
-
-		float dmin = FLT_MAX;
-
-		dmins[i] = dmin;
-		
-		float4 posA = rigidBodies[bodyIndexA].m_pos;
-		posA.w = 0.f;
-		float4 posB = rigidBodies[bodyIndexB].m_pos;
-		posB.w = 0.f;
-		float4 c0local = convexShapes[shapeIndexA].m_localCenter;
-		float4 ornA = rigidBodies[bodyIndexA].m_quat;
-		float4 c0 = transform(&c0local, &posA, &ornA);
-		float4 c1local = convexShapes[shapeIndexB].m_localCenter;
-		float4 ornB =rigidBodies[bodyIndexB].m_quat;
-		float4 c1 = transform(&c1local,&posB,&ornB);
-		const float4 DeltaC2 = c0 - c1;
-		float4 sepNormal;
-		
-		bool sepA = findSeparatingAxis(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,
-																								posB,ornB,
-																								DeltaC2,
-																								vertices,uniqueEdges,faces,
-																								indices,&sepNormal,&dmin);
-		hasSeparatingAxis[i] = 4;
-		if (!sepA)
-		{
-			hasSeparatingAxis[i] = 0;
-		} else
-		{
-			bool sepB = findSeparatingAxis(	&convexShapes[shapeIndexB],&convexShapes[shapeIndexA],posB,ornB,
-																									posA,ornA,
-																									DeltaC2,
-																									vertices,uniqueEdges,faces,
-																									indices,&sepNormal,&dmin);
-
-			if (sepB)
-			{
-				dmins[i] = dmin;
-				hasSeparatingAxis[i] = 1;
-				separatingNormals[i] = sepNormal;
-			}
-		}
-		
-	}
-
-}
-
-
-__kernel void   findSeparatingAxisEdgeEdgeKernel( __global const int4* pairs, 
-																					__global const BodyData* rigidBodies, 
-																					__global const btCollidableGpu* collidables,
-																					__global const ConvexPolyhedronCL* convexShapes, 
-																					__global const float4* vertices,
-																					__global const float4* uniqueEdges,
-																					__global const btGpuFace* faces,
-																					__global const int* indices,
-																					__global btAabbCL* aabbs,
-																					__global  float4* separatingNormals,
-																					__global  int* hasSeparatingAxis,
-																					__global  float* dmins,
-																					__global const float4* unitSphereDirections,
-																					int numUnitSphereDirections,
-																					int numPairs
-																					)
-{
-
-	int i = get_global_id(0);
-	
-	if (i<numPairs)
-	{
-
-		if (hasSeparatingAxis[i])
-		{
-	
-			int bodyIndexA = pairs[i].x;
-			int bodyIndexB = pairs[i].y;
-	
-			int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-			int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-		
-			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
-			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-			
-			
-			int numFacesA = convexShapes[shapeIndexA].m_numFaces;
-	
-			float dmin = dmins[i];
-	
-			float4 posA = rigidBodies[bodyIndexA].m_pos;
-			posA.w = 0.f;
-			float4 posB = rigidBodies[bodyIndexB].m_pos;
-			posB.w = 0.f;
-			float4 c0local = convexShapes[shapeIndexA].m_localCenter;
-			float4 ornA = rigidBodies[bodyIndexA].m_quat;
-			float4 c0 = transform(&c0local, &posA, &ornA);
-			float4 c1local = convexShapes[shapeIndexB].m_localCenter;
-			float4 ornB =rigidBodies[bodyIndexB].m_quat;
-			float4 c1 = transform(&c1local,&posB,&ornB);
-			const float4 DeltaC2 = c0 - c1;
-			float4 sepNormal = separatingNormals[i];
-			
-			
-			
-			bool sepEE = false;
-			int numEdgeEdgeDirections = convexShapes[shapeIndexA].m_numUniqueEdges*convexShapes[shapeIndexB].m_numUniqueEdges;
-			if (numEdgeEdgeDirections<=numUnitSphereDirections)
-			{
-				sepEE = findSeparatingAxisEdgeEdge(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,
-																									posB,ornB,
-																									DeltaC2,
-																									vertices,uniqueEdges,faces,
-																									indices,&sepNormal,&dmin);
-																									
-					if (!sepEE)
-					{
-						hasSeparatingAxis[i] = 0;
-					} else
-					{
-						hasSeparatingAxis[i] = 1;
-						separatingNormals[i] = sepNormal;
-					}
-			}
-			/*
-			///else case is a separate kernel, to make Mac OSX OpenCL compiler happy
-			else
-			{
-				sepEE = findSeparatingAxisUnitSphere(&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,
-																									posB,ornB,
-																									DeltaC2,
-																									vertices,unitSphereDirections,numUnitSphereDirections,
-																									&sepNormal,&dmin);
-					if (!sepEE)
-					{
-						hasSeparatingAxis[i] = 0;
-					} else
-					{
-						hasSeparatingAxis[i] = 1;
-						separatingNormals[i] = sepNormal;
-					}
-			}
-			*/
-		}		//if (hasSeparatingAxis[i])
-	}//(i<numPairs)
-}
-
-
-
-
-
-inline int	findClippingFaces(const float4 separatingNormal,
-                      const ConvexPolyhedronCL* hullA, 
-					  __global const ConvexPolyhedronCL* hullB,
-                      const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,
-                       __global float4* worldVertsA1,
-                      __global float4* worldNormalsA1,
-                      __global float4* worldVertsB1,
-                      int capacityWorldVerts,
-                      const float minDist, float maxDist,
-					  const float4* verticesA,
-                      const btGpuFace* facesA,
-                      const int* indicesA,
-					  __global const float4* verticesB,
-                      __global const btGpuFace* facesB,
-                      __global const int* indicesB,
-                      __global int4* clippingFaces, int pairIndex)
-{
-	int numContactsOut = 0;
-	int numWorldVertsB1= 0;
-    
-    
-	int closestFaceB=0;
-	float dmax = -FLT_MAX;
-    
-	{
-		for(int face=0;face<hullB->m_numFaces;face++)
-		{
-			const float4 Normal = make_float4(facesB[hullB->m_faceOffset+face].m_plane.x,
-                                              facesB[hullB->m_faceOffset+face].m_plane.y, facesB[hullB->m_faceOffset+face].m_plane.z,0.f);
-			const float4 WorldNormal = qtRotate(ornB, Normal);
-			float d = dot3F4(WorldNormal,separatingNormal);
-			if (d > dmax)
-			{
-				dmax = d;
-				closestFaceB = face;
-			}
-		}
-	}
-    
-	{
-		const btGpuFace polyB = facesB[hullB->m_faceOffset+closestFaceB];
-		int numVertices = polyB.m_numIndices;
-        if (numVertices>capacityWorldVerts)
-            numVertices = capacityWorldVerts;
-        
-		for(int e0=0;e0<numVertices;e0++)
-		{
-            if (e0<capacityWorldVerts)
-            {
-                const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];
-                worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);
-            }
-		}
-	}
-    
-    int closestFaceA=0;
-	{
-		float dmin = FLT_MAX;
-		for(int face=0;face<hullA->m_numFaces;face++)
-		{
-			const float4 Normal = make_float4(
-                                              facesA[hullA->m_faceOffset+face].m_plane.x,
-                                              facesA[hullA->m_faceOffset+face].m_plane.y,
-                                              facesA[hullA->m_faceOffset+face].m_plane.z,
-                                              0.f);
-			const float4 faceANormalWS = qtRotate(ornA,Normal);
-            
-			float d = dot3F4(faceANormalWS,separatingNormal);
-			if (d < dmin)
-			{
-				dmin = d;
-				closestFaceA = face;
-                worldNormalsA1[pairIndex] = faceANormalWS;
-			}
-		}
-	}
-    
-    int numVerticesA = facesA[hullA->m_faceOffset+closestFaceA].m_numIndices;
-    if (numVerticesA>capacityWorldVerts)
-       numVerticesA = capacityWorldVerts;
-    
-	for(int e0=0;e0<numVerticesA;e0++)
-	{
-        if (e0<capacityWorldVerts)
-        {
-            const float4 a = verticesA[hullA->m_vertexOffset+indicesA[facesA[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];
-            worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);
-        }
-    }
-    
-    clippingFaces[pairIndex].x = closestFaceA;
-    clippingFaces[pairIndex].y = closestFaceB;
-    clippingFaces[pairIndex].z = numVerticesA;
-    clippingFaces[pairIndex].w = numWorldVertsB1;
-    
-    
-	return numContactsOut;
-}
-
-
-
-
-// work-in-progress
-__kernel void   findConcaveSeparatingAxisKernel( __global int4* concavePairs,
-																					__global const BodyData* rigidBodies,
-																					__global const btCollidableGpu* collidables,
-																					__global const ConvexPolyhedronCL* convexShapes, 
-																					__global const float4* vertices,
-																					__global const float4* uniqueEdges,
-																					__global const btGpuFace* faces,
-																					__global const int* indices,
-																					__global const btGpuChildShape* gpuChildShapes,
-																					__global btAabbCL* aabbs,
-																					__global float4* concaveSeparatingNormalsOut,
-																					__global int* concaveHasSeparatingNormals,
-																					__global int4* clippingFacesOut,
-																					__global float4* worldVertsA1GPU,
-																					__global float4*  worldNormalsAGPU,
-																					__global float4* worldVertsB1GPU,
-																					int vertexFaceCapacity,
-																					int numConcavePairs
-																					)
-{
-
-	int i = get_global_id(0);
-	if (i>=numConcavePairs)
-		return;
-
-	concaveHasSeparatingNormals[i] = 0;
-
-	int pairIdx = i;
-
-	int bodyIndexA = concavePairs[i].x;
-	int bodyIndexB = concavePairs[i].y;
-
-	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-
-	int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
-	int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-
-	if (collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL&&
-		collidables[collidableIndexB].m_shapeType!=SHAPE_COMPOUND_OF_CONVEX_HULLS)
-	{
-		concavePairs[pairIdx].w = -1;
-		return;
-	}
-
-
-
-	int numFacesA = convexShapes[shapeIndexA].m_numFaces;
-	int numActualConcaveConvexTests = 0;
-	
-	int f = concavePairs[i].z;
-	
-	bool overlap = false;
-	
-	ConvexPolyhedronCL convexPolyhedronA;
-
-	//add 3 vertices of the triangle
-	convexPolyhedronA.m_numVertices = 3;
-	convexPolyhedronA.m_vertexOffset = 0;
-	float4	localCenter = make_float4(0.f,0.f,0.f,0.f);
-
-	btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];
-	float4 triMinAabb, triMaxAabb;
-	btAabbCL triAabb;
-	triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);
-	triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.f);
-	
-	float4 verticesA[3];
-	for (int i=0;i<3;i++)
-	{
-		int index = indices[face.m_indexOffset+i];
-		float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];
-		verticesA[i] = vert;
-		localCenter += vert;
-			
-		triAabb.m_min = min(triAabb.m_min,vert);		
-		triAabb.m_max = max(triAabb.m_max,vert);		
-
-	}
-
-	overlap = true;
-	overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;
-	overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;
-	overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;
-		
-	if (overlap)
-	{
-		float dmin = FLT_MAX;
-		int hasSeparatingAxis=5;
-		float4 sepAxis=make_float4(1,2,3,4);
-
-		int localCC=0;
-		numActualConcaveConvexTests++;
-
-		//a triangle has 3 unique edges
-		convexPolyhedronA.m_numUniqueEdges = 3;
-		convexPolyhedronA.m_uniqueEdgesOffset = 0;
-		float4 uniqueEdgesA[3];
-		
-		uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);
-		uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);
-		uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);
-
-
-		convexPolyhedronA.m_faceOffset = 0;
-                                  
-		float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);
-                             
-		btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];
-		int indicesA[3+3+2+2+2];
-		int curUsedIndices=0;
-		int fidx=0;
-
-		//front size of triangle
-		{
-			facesA[fidx].m_indexOffset=curUsedIndices;
-			indicesA[0] = 0;
-			indicesA[1] = 1;
-			indicesA[2] = 2;
-			curUsedIndices+=3;
-			float c = face.m_plane.w;
-			facesA[fidx].m_plane.x = normal.x;
-			facesA[fidx].m_plane.y = normal.y;
-			facesA[fidx].m_plane.z = normal.z;
-			facesA[fidx].m_plane.w = c;
-			facesA[fidx].m_numIndices=3;
-		}
-		fidx++;
-		//back size of triangle
-		{
-			facesA[fidx].m_indexOffset=curUsedIndices;
-			indicesA[3]=2;
-			indicesA[4]=1;
-			indicesA[5]=0;
-			curUsedIndices+=3;
-			float c = dot(normal,verticesA[0]);
-			float c1 = -face.m_plane.w;
-			facesA[fidx].m_plane.x = -normal.x;
-			facesA[fidx].m_plane.y = -normal.y;
-			facesA[fidx].m_plane.z = -normal.z;
-			facesA[fidx].m_plane.w = c;
-			facesA[fidx].m_numIndices=3;
-		}
-		fidx++;
-
-		bool addEdgePlanes = true;
-		if (addEdgePlanes)
-		{
-			int numVertices=3;
-			int prevVertex = numVertices-1;
-			for (int i=0;i<numVertices;i++)
-			{
-				float4 v0 = verticesA[i];
-				float4 v1 = verticesA[prevVertex];
-                                            
-				float4 edgeNormal = normalize(cross(normal,v1-v0));
-				float c = -dot(edgeNormal,v0);
-
-				facesA[fidx].m_numIndices = 2;
-				facesA[fidx].m_indexOffset=curUsedIndices;
-				indicesA[curUsedIndices++]=i;
-				indicesA[curUsedIndices++]=prevVertex;
-                                            
-				facesA[fidx].m_plane.x = edgeNormal.x;
-				facesA[fidx].m_plane.y = edgeNormal.y;
-				facesA[fidx].m_plane.z = edgeNormal.z;
-				facesA[fidx].m_plane.w = c;
-				fidx++;
-				prevVertex = i;
-			}
-		}
-		convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;
-		convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);
-
-
-		float4 posA = rigidBodies[bodyIndexA].m_pos;
-		posA.w = 0.f;
-		float4 posB = rigidBodies[bodyIndexB].m_pos;
-		posB.w = 0.f;
-
-		float4 ornA = rigidBodies[bodyIndexA].m_quat;
-		float4 ornB =rigidBodies[bodyIndexB].m_quat;
-
-		
-
-
-		///////////////////
-		///compound shape support
-
-		if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
-		{
-			int compoundChild = concavePairs[pairIdx].w;
-			int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;
-			int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
-			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
-			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
-			float4 newPosB = transform(&childPosB,&posB,&ornB);
-			float4 newOrnB = qtMul(ornB,childOrnB);
-			posB = newPosB;
-			ornB = newOrnB;
-			shapeIndexB = collidables[childColIndexB].m_shapeIndex;
-		}
-		//////////////////
-
-		float4 c0local = convexPolyhedronA.m_localCenter;
-		float4 c0 = transform(&c0local, &posA, &ornA);
-		float4 c1local = convexShapes[shapeIndexB].m_localCenter;
-		float4 c1 = transform(&c1local,&posB,&ornB);
-		const float4 DeltaC2 = c0 - c1;
-
-
-		bool sepA = findSeparatingAxisLocalA(	&convexPolyhedronA, &convexShapes[shapeIndexB],
-												posA,ornA,
-												posB,ornB,
-												DeltaC2,
-												verticesA,uniqueEdgesA,facesA,indicesA,
-												vertices,uniqueEdges,faces,indices,
-												&sepAxis,&dmin);
-		hasSeparatingAxis = 4;
-		if (!sepA)
-		{
-			hasSeparatingAxis = 0;
-		} else
-		{
-			bool sepB = findSeparatingAxisLocalB(	&convexShapes[shapeIndexB],&convexPolyhedronA,
-												posB,ornB,
-												posA,ornA,
-												DeltaC2,
-												vertices,uniqueEdges,faces,indices,
-												verticesA,uniqueEdgesA,facesA,indicesA,
-												&sepAxis,&dmin);
-
-			if (!sepB)
-			{
-				hasSeparatingAxis = 0;
-			} else
-			{
-				bool sepEE = findSeparatingAxisEdgeEdgeLocalA(	&convexPolyhedronA, &convexShapes[shapeIndexB],
-															posA,ornA,
-															posB,ornB,
-															DeltaC2,
-															verticesA,uniqueEdgesA,facesA,indicesA,
-															vertices,uniqueEdges,faces,indices,
-															&sepAxis,&dmin);
-	
-				if (!sepEE)
-				{
-					hasSeparatingAxis = 0;
-				} else
-				{
-					hasSeparatingAxis = 1;
-				}
-			}
-		}	
-		
-		if (hasSeparatingAxis)
-		{
-			sepAxis.w = dmin;
-			concaveSeparatingNormalsOut[pairIdx]=sepAxis;
-			concaveHasSeparatingNormals[i]=1;
-
-
-			float minDist = -1e30f;
-			float maxDist = 0.02f;
-
-		
-
-			findClippingFaces(sepAxis,
-                     &convexPolyhedronA,
-					 &convexShapes[shapeIndexB],
-					 posA,ornA,
-					 posB,ornB,
-                      worldVertsA1GPU,
-                      worldNormalsAGPU,
-                      worldVertsB1GPU,
-					  vertexFaceCapacity,
-                      minDist, maxDist,
-                      verticesA,
-                      facesA,
-                      indicesA,
- 					  vertices,
-                      faces,
-                      indices,
-                      clippingFacesOut, pairIdx);
-
-
-		} else
-		{	
-			//mark this pair as in-active
-			concavePairs[pairIdx].w = -1;
-		}
-	}
-	else
-	{	
-		//mark this pair as in-active
-		concavePairs[pairIdx].w = -1;
-	}
-	
-	concavePairs[pairIdx].z = -1;//now z is used for existing/persistent contacts
-}
-
-
-
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.cl b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.cl
deleted file mode 100644
index f433971741..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.cl
+++ /dev/null
@@ -1,1888 +0,0 @@
-
-#define TRIANGLE_NUM_CONVEX_FACES 5
-
-
-
-#pragma OPENCL EXTENSION cl_amd_printf : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable
-
-#ifdef cl_ext_atomic_counters_32
-#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable
-#else
-#define counter32_t volatile __global int*
-#endif
-
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GET_NUM_GROUPS get_num_groups(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
-#define AtomInc(x) atom_inc(&(x))
-#define AtomInc1(x, out) out = atom_inc(&(x))
-#define AppendInc(x, out) out = atomic_inc(x)
-#define AtomAdd(x, value) atom_add(&(x), value)
-#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )
-#define AtomXhg(x, value) atom_xchg ( &(x), value )
-
-#define max2 max
-#define min2 min
-
-typedef unsigned int u32;
-
-
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-
-
-
-#define GET_NPOINTS(x) (x).m_worldNormalOnB.w
-
-
-
-#define SELECT_UINT4( b, a, condition ) select( b,a,condition )
-
-#define make_float4 (float4)
-#define make_float2 (float2)
-#define make_uint4 (uint4)
-#define make_int4 (int4)
-#define make_uint2 (uint2)
-#define make_int2 (int2)
-
-
-__inline
-float fastDiv(float numerator, float denominator)
-{
-	return native_divide(numerator, denominator);	
-//	return numerator/denominator;	
-}
-
-__inline
-float4 fastDiv4(float4 numerator, float4 denominator)
-{
-	return native_divide(numerator, denominator);	
-}
-
-
-__inline
-float4 cross3(float4 a, float4 b)
-{
-	return cross(a,b);
-}
-
-//#define dot3F4 dot
-
-__inline
-float dot3F4(float4 a, float4 b)
-{
-	float4 a1 = make_float4(a.xyz,0.f);
-	float4 b1 = make_float4(b.xyz,0.f);
-	return dot(a1, b1);
-}
-
-__inline
-float4 fastNormalize4(float4 v)
-{
-	return fast_normalize(v);
-}
-
-
-///////////////////////////////////////
-//	Quaternion
-///////////////////////////////////////
-
-typedef float4 Quaternion;
-
-__inline
-Quaternion qtMul(Quaternion a, Quaternion b);
-
-__inline
-Quaternion qtNormalize(Quaternion in);
-
-__inline
-float4 qtRotate(Quaternion q, float4 vec);
-
-__inline
-Quaternion qtInvert(Quaternion q);
-
-
-
-
-__inline
-Quaternion qtMul(Quaternion a, Quaternion b)
-{
-	Quaternion ans;
-	ans = cross3( a, b );
-	ans += a.w*b+b.w*a;
-//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
-	ans.w = a.w*b.w - dot3F4(a, b);
-	return ans;
-}
-
-__inline
-Quaternion qtNormalize(Quaternion in)
-{
-	return fastNormalize4(in);
-//	in /= length( in );
-//	return in;
-}
-__inline
-float4 qtRotate(Quaternion q, float4 vec)
-{
-	Quaternion qInv = qtInvert( q );
-	float4 vcpy = vec;
-	vcpy.w = 0.f;
-	float4 out = qtMul(qtMul(q,vcpy),qInv);
-	return out;
-}
-
-__inline
-Quaternion qtInvert(Quaternion q)
-{
-	return (Quaternion)(-q.xyz, q.w);
-}
-
-__inline
-float4 qtInvRotate(const Quaternion q, float4 vec)
-{
-	return qtRotate( qtInvert( q ), vec );
-}
-
-__inline
-float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)
-{
-	return qtRotate( *orientation, *p ) + (*translation);
-}
-
-
-
-__inline
-float4 normalize3(const float4 a)
-{
-	float4 n = make_float4(a.x, a.y, a.z, 0.f);
-	return fastNormalize4( n );
-}
-
-
-__inline float4 lerp3(const float4 a,const float4 b, float  t)
-{
-	return make_float4(	a.x + (b.x - a.x) * t,
-						a.y + (b.y - a.y) * t,
-						a.z + (b.z - a.z) * t,
-						0.f);
-}
-
-
-
-// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut
-int clipFaceGlobal(__global const float4* pVtxIn, int numVertsIn, float4 planeNormalWS,float planeEqWS, __global float4* ppVtxOut)
-{
-	
-	int ve;
-	float ds, de;
-	int numVertsOut = 0;
-    //double-check next test
-    	if (numVertsIn < 2)
-    		return 0;
-    
-	float4 firstVertex=pVtxIn[numVertsIn-1];
-	float4 endVertex = pVtxIn[0];
-	
-	ds = dot3F4(planeNormalWS,firstVertex)+planeEqWS;
-    
-	for (ve = 0; ve < numVertsIn; ve++)
-	{
-		endVertex=pVtxIn[ve];
-		de = dot3F4(planeNormalWS,endVertex)+planeEqWS;
-		if (ds<0)
-		{
-			if (de<0)
-			{
-				// Start < 0, end < 0, so output endVertex
-				ppVtxOut[numVertsOut++] = endVertex;
-			}
-			else
-			{
-				// Start < 0, end >= 0, so output intersection
-				ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );
-			}
-		}
-		else
-		{
-			if (de<0)
-			{
-				// Start >= 0, end < 0 so output intersection and end
-				ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );
-				ppVtxOut[numVertsOut++] = endVertex;
-			}
-		}
-		firstVertex = endVertex;
-		ds = de;
-	}
-	return numVertsOut;
-}
-
-
-
-// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut
-int clipFace(const float4* pVtxIn, int numVertsIn, float4 planeNormalWS,float planeEqWS, float4* ppVtxOut)
-{
-	
-	int ve;
-	float ds, de;
-	int numVertsOut = 0;
-//double-check next test
-	if (numVertsIn < 2)
-		return 0;
-
-	float4 firstVertex=pVtxIn[numVertsIn-1];
-	float4 endVertex = pVtxIn[0];
-	
-	ds = dot3F4(planeNormalWS,firstVertex)+planeEqWS;
-
-	for (ve = 0; ve < numVertsIn; ve++)
-	{
-		endVertex=pVtxIn[ve];
-
-		de = dot3F4(planeNormalWS,endVertex)+planeEqWS;
-
-		if (ds<0)
-		{
-			if (de<0)
-			{
-				// Start < 0, end < 0, so output endVertex
-				ppVtxOut[numVertsOut++] = endVertex;
-			}
-			else
-			{
-				// Start < 0, end >= 0, so output intersection
-				ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );
-			}
-		}
-		else
-		{
-			if (de<0)
-			{
-				// Start >= 0, end < 0 so output intersection and end
-				ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );
-				ppVtxOut[numVertsOut++] = endVertex;
-			}
-		}
-		firstVertex = endVertex;
-		ds = de;
-	}
-	return numVertsOut;
-}
-
-
-int clipFaceAgainstHull(const float4 separatingNormal, __global const b3ConvexPolyhedronData_t* hullA,  
-	const float4 posA, const Quaternion ornA, float4* worldVertsB1, int numWorldVertsB1,
-	float4* worldVertsB2, int capacityWorldVertsB2,
-	const float minDist, float maxDist,
-	__global const float4* vertices,
-	__global const b3GpuFace_t* faces,
-	__global const int* indices,
-	float4* contactsOut,
-	int contactCapacity)
-{
-	int numContactsOut = 0;
-
-	float4* pVtxIn = worldVertsB1;
-	float4* pVtxOut = worldVertsB2;
-	
-	int numVertsIn = numWorldVertsB1;
-	int numVertsOut = 0;
-
-	int closestFaceA=-1;
-	{
-		float dmin = FLT_MAX;
-		for(int face=0;face<hullA->m_numFaces;face++)
-		{
-			const float4 Normal = make_float4(
-				faces[hullA->m_faceOffset+face].m_plane.x, 
-				faces[hullA->m_faceOffset+face].m_plane.y, 
-				faces[hullA->m_faceOffset+face].m_plane.z,0.f);
-			const float4 faceANormalWS = qtRotate(ornA,Normal);
-		
-			float d = dot3F4(faceANormalWS,separatingNormal);
-			if (d < dmin)
-			{
-				dmin = d;
-				closestFaceA = face;
-			}
-		}
-	}
-	if (closestFaceA<0)
-		return numContactsOut;
-
-	b3GpuFace_t polyA = faces[hullA->m_faceOffset+closestFaceA];
-
-	// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
-	int numVerticesA = polyA.m_numIndices;
-	for(int e0=0;e0<numVerticesA;e0++)
-	{
-		const float4 a = vertices[hullA->m_vertexOffset+indices[polyA.m_indexOffset+e0]];
-		const float4 b = vertices[hullA->m_vertexOffset+indices[polyA.m_indexOffset+((e0+1)%numVerticesA)]];
-		const float4 edge0 = a - b;
-		const float4 WorldEdge0 = qtRotate(ornA,edge0);
-		float4 planeNormalA = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);
-		float4 worldPlaneAnormal1 = qtRotate(ornA,planeNormalA);
-
-		float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);
-		float4 worldA1 = transform(&a,&posA,&ornA);
-		float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);
-		
-		float4 planeNormalWS = planeNormalWS1;
-		float planeEqWS=planeEqWS1;
-		
-		//clip face
-		//clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);
-		numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut);
-
-		//btSwap(pVtxIn,pVtxOut);
-		float4* tmp = pVtxOut;
-		pVtxOut = pVtxIn;
-		pVtxIn = tmp;
-		numVertsIn = numVertsOut;
-		numVertsOut = 0;
-	}
-
-	
-	// only keep points that are behind the witness face
-	{
-		float4 localPlaneNormal  = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);
-		float localPlaneEq = polyA.m_plane.w;
-		float4 planeNormalWS = qtRotate(ornA,localPlaneNormal);
-		float planeEqWS=localPlaneEq-dot3F4(planeNormalWS,posA);
-		for (int i=0;i<numVertsIn;i++)
-		{
-			float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;
-			if (depth <=minDist)
-			{
-				depth = minDist;
-			}
-
-			if (depth <=maxDist)
-			{
-				float4 pointInWorld = pVtxIn[i];
-				//resultOut.addContactPoint(separatingNormal,point,depth);
-				contactsOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);
-			}
-		}
-	}
-
-	return numContactsOut;
-}
-
-
-
-int clipFaceAgainstHullLocalA(const float4 separatingNormal, const b3ConvexPolyhedronData_t* hullA,  
-	const float4 posA, const Quaternion ornA, float4* worldVertsB1, int numWorldVertsB1,
-	float4* worldVertsB2, int capacityWorldVertsB2,
-	const float minDist, float maxDist,
-	const float4* verticesA,
-	const b3GpuFace_t* facesA,
-	const int* indicesA,
-	__global const float4* verticesB,
-	__global const b3GpuFace_t* facesB,
-	__global const int* indicesB,
-	float4* contactsOut,
-	int contactCapacity)
-{
-	int numContactsOut = 0;
-
-	float4* pVtxIn = worldVertsB1;
-	float4* pVtxOut = worldVertsB2;
-	
-	int numVertsIn = numWorldVertsB1;
-	int numVertsOut = 0;
-
-	int closestFaceA=-1;
-	{
-		float dmin = FLT_MAX;
-		for(int face=0;face<hullA->m_numFaces;face++)
-		{
-			const float4 Normal = make_float4(
-				facesA[hullA->m_faceOffset+face].m_plane.x, 
-				facesA[hullA->m_faceOffset+face].m_plane.y, 
-				facesA[hullA->m_faceOffset+face].m_plane.z,0.f);
-			const float4 faceANormalWS = qtRotate(ornA,Normal);
-		
-			float d = dot3F4(faceANormalWS,separatingNormal);
-			if (d < dmin)
-			{
-				dmin = d;
-				closestFaceA = face;
-			}
-		}
-	}
-	if (closestFaceA<0)
-		return numContactsOut;
-
-	b3GpuFace_t polyA = facesA[hullA->m_faceOffset+closestFaceA];
-
-	// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
-	int numVerticesA = polyA.m_numIndices;
-	for(int e0=0;e0<numVerticesA;e0++)
-	{
-		const float4 a = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+e0]];
-		const float4 b = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+((e0+1)%numVerticesA)]];
-		const float4 edge0 = a - b;
-		const float4 WorldEdge0 = qtRotate(ornA,edge0);
-		float4 planeNormalA = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);
-		float4 worldPlaneAnormal1 = qtRotate(ornA,planeNormalA);
-
-		float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);
-		float4 worldA1 = transform(&a,&posA,&ornA);
-		float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);
-		
-		float4 planeNormalWS = planeNormalWS1;
-		float planeEqWS=planeEqWS1;
-		
-		//clip face
-		//clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);
-		numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut);
-
-		//btSwap(pVtxIn,pVtxOut);
-		float4* tmp = pVtxOut;
-		pVtxOut = pVtxIn;
-		pVtxIn = tmp;
-		numVertsIn = numVertsOut;
-		numVertsOut = 0;
-	}
-
-	
-	// only keep points that are behind the witness face
-	{
-		float4 localPlaneNormal  = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);
-		float localPlaneEq = polyA.m_plane.w;
-		float4 planeNormalWS = qtRotate(ornA,localPlaneNormal);
-		float planeEqWS=localPlaneEq-dot3F4(planeNormalWS,posA);
-		for (int i=0;i<numVertsIn;i++)
-		{
-			float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;
-			if (depth <=minDist)
-			{
-				depth = minDist;
-			}
-
-			if (depth <=maxDist)
-			{
-				float4 pointInWorld = pVtxIn[i];
-				//resultOut.addContactPoint(separatingNormal,point,depth);
-				contactsOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);
-			}
-		}
-	}
-
-	return numContactsOut;
-}
-
-int	clipHullAgainstHull(const float4 separatingNormal,
-	__global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, 
-	const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB, 
-	float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,
-	const float minDist, float maxDist,
-	__global const float4* vertices,
-	__global const b3GpuFace_t* faces,
-	__global const int* indices,
-	float4*	localContactsOut,
-	int localContactCapacity)
-{
-	int numContactsOut = 0;
-	int numWorldVertsB1= 0;
-
-
-	int closestFaceB=-1;
-	float dmax = -FLT_MAX;
-
-	{
-		for(int face=0;face<hullB->m_numFaces;face++)
-		{
-			const float4 Normal = make_float4(faces[hullB->m_faceOffset+face].m_plane.x, 
-				faces[hullB->m_faceOffset+face].m_plane.y, faces[hullB->m_faceOffset+face].m_plane.z,0.f);
-			const float4 WorldNormal = qtRotate(ornB, Normal);
-			float d = dot3F4(WorldNormal,separatingNormal);
-			if (d > dmax)
-			{
-				dmax = d;
-				closestFaceB = face;
-			}
-		}
-	}
-
-	{
-		const b3GpuFace_t polyB = faces[hullB->m_faceOffset+closestFaceB];
-		const int numVertices = polyB.m_numIndices;
-		for(int e0=0;e0<numVertices;e0++)
-		{
-			const float4 b = vertices[hullB->m_vertexOffset+indices[polyB.m_indexOffset+e0]];
-			worldVertsB1[numWorldVertsB1++] = transform(&b,&posB,&ornB);
-		}
-	}
-
-	if (closestFaceB>=0)
-	{
-		numContactsOut = clipFaceAgainstHull(separatingNormal, hullA, 
-				posA,ornA,
-				worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist,vertices,
-				faces,
-				indices,localContactsOut,localContactCapacity);
-	}
-
-	return numContactsOut;
-}
-
-
-int	clipHullAgainstHullLocalA(const float4 separatingNormal,
-	const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, 
-	const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB, 
-	float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,
-	const float minDist, float maxDist,
-	const float4* verticesA,
-	const b3GpuFace_t* facesA,
-	const int* indicesA,
-	__global const float4* verticesB,
-	__global const b3GpuFace_t* facesB,
-	__global const int* indicesB,
-	float4*	localContactsOut,
-	int localContactCapacity)
-{
-	int numContactsOut = 0;
-	int numWorldVertsB1= 0;
-
-
-	int closestFaceB=-1;
-	float dmax = -FLT_MAX;
-
-	{
-		for(int face=0;face<hullB->m_numFaces;face++)
-		{
-			const float4 Normal = make_float4(facesB[hullB->m_faceOffset+face].m_plane.x, 
-				facesB[hullB->m_faceOffset+face].m_plane.y, facesB[hullB->m_faceOffset+face].m_plane.z,0.f);
-			const float4 WorldNormal = qtRotate(ornB, Normal);
-			float d = dot3F4(WorldNormal,separatingNormal);
-			if (d > dmax)
-			{
-				dmax = d;
-				closestFaceB = face;
-			}
-		}
-	}
-
-	{
-		const b3GpuFace_t polyB = facesB[hullB->m_faceOffset+closestFaceB];
-		const int numVertices = polyB.m_numIndices;
-		for(int e0=0;e0<numVertices;e0++)
-		{
-			const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];
-			worldVertsB1[numWorldVertsB1++] = transform(&b,&posB,&ornB);
-		}
-	}
-
-	if (closestFaceB>=0)
-	{
-		numContactsOut = clipFaceAgainstHullLocalA(separatingNormal, hullA, 
-				posA,ornA,
-				worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist,
-				verticesA,facesA,indicesA,
-				verticesB,facesB,indicesB,
-				localContactsOut,localContactCapacity);
-	}
-
-	return numContactsOut;
-}
-
-#define PARALLEL_SUM(v, n) for(int j=1; j<n; j++) v[0] += v[j];
-#define PARALLEL_DO(execution, n) for(int ie=0; ie<n; ie++){execution;}
-#define REDUCE_MAX(v, n) {int i=0;\
-for(int offset=0; offset<n; offset++) v[i] = (v[i].y > v[i+offset].y)? v[i]: v[i+offset]; }
-#define REDUCE_MIN(v, n) {int i=0;\
-for(int offset=0; offset<n; offset++) v[i] = (v[i].y < v[i+offset].y)? v[i]: v[i+offset]; }
-
-int extractManifoldSequentialGlobal(__global const float4* p, int nPoints, float4 nearNormal, int4* contactIdx)
-{
-	if( nPoints == 0 )
-        return 0;
-    
-    if (nPoints <=4)
-        return nPoints;
-    
-    
-    if (nPoints >64)
-        nPoints = 64;
-    
-	float4 center = make_float4(0.f);
-	{
-		
-		for (int i=0;i<nPoints;i++)
-			center += p[i];
-		center /= (float)nPoints;
-	}
-    
-	
-    
-	//	sample 4 directions
-    
-    float4 aVector = p[0] - center;
-    float4 u = cross3( nearNormal, aVector );
-    float4 v = cross3( nearNormal, u );
-    u = normalize3( u );
-    v = normalize3( v );
-    
-    
-    //keep point with deepest penetration
-    float minW= FLT_MAX;
-    
-    int minIndex=-1;
-    
-    float4 maxDots;
-    maxDots.x = FLT_MIN;
-    maxDots.y = FLT_MIN;
-    maxDots.z = FLT_MIN;
-    maxDots.w = FLT_MIN;
-    
-    //	idx, distance
-    for(int ie = 0; ie<nPoints; ie++ )
-    {
-        if (p[ie].w<minW)
-        {
-            minW = p[ie].w;
-            minIndex=ie;
-        }
-        float f;
-        float4 r = p[ie]-center;
-        f = dot3F4( u, r );
-        if (f<maxDots.x)
-        {
-            maxDots.x = f;
-            contactIdx[0].x = ie;
-        }
-        
-        f = dot3F4( -u, r );
-        if (f<maxDots.y)
-        {
-            maxDots.y = f;
-            contactIdx[0].y = ie;
-        }
-        
-        
-        f = dot3F4( v, r );
-        if (f<maxDots.z)
-        {
-            maxDots.z = f;
-            contactIdx[0].z = ie;
-        }
-        
-        f = dot3F4( -v, r );
-        if (f<maxDots.w)
-        {
-            maxDots.w = f;
-            contactIdx[0].w = ie;
-        }
-        
-    }
-    
-    if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
-    {
-        //replace the first contact with minimum (todo: replace contact with least penetration)
-        contactIdx[0].x = minIndex;
-    }
-    
-    return 4;
-    
-}
-
-
-int extractManifoldSequentialGlobalFake(__global const float4* p, int nPoints, float4 nearNormal, int* contactIdx)
-{
-    contactIdx[0] = 0;
-    contactIdx[1] = 1;
-    contactIdx[2] = 2;
-    contactIdx[3] = 3;
-    
-	if( nPoints == 0 ) return 0;
-    
-	nPoints = min2( nPoints, 4 );
-    return nPoints;
-    
-}
-
-
-
-int extractManifoldSequential(const float4* p, int nPoints, float4 nearNormal, int* contactIdx)
-{
-	if( nPoints == 0 ) return 0;
-
-	nPoints = min2( nPoints, 64 );
-
-	float4 center = make_float4(0.f);
-	{
-		float4 v[64];
-		for (int i=0;i<nPoints;i++)
-			v[i] = p[i];
-		//memcpy( v, p, nPoints*sizeof(float4) );
-		PARALLEL_SUM( v, nPoints );
-		center = v[0]/(float)nPoints;
-	}
-
-	
-
-	{	//	sample 4 directions
-		if( nPoints < 4 )
-		{
-			for(int i=0; i<nPoints; i++) 
-				contactIdx[i] = i;
-			return nPoints;
-		}
-
-		float4 aVector = p[0] - center;
-		float4 u = cross3( nearNormal, aVector );
-		float4 v = cross3( nearNormal, u );
-		u = normalize3( u );
-		v = normalize3( v );
-
-		int idx[4];
-
-		float2 max00 = make_float2(0,FLT_MAX);
-		{
-			//	idx, distance
-			{
-				{
-					int4 a[64];
-					for(int ie = 0; ie<nPoints; ie++ )
-					{
-						
-						
-						float f;
-						float4 r = p[ie]-center;
-						f = dot3F4( u, r );
-						a[ie].x = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);
-
-						f = dot3F4( -u, r );
-						a[ie].y = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);
-
-						f = dot3F4( v, r );
-						a[ie].z = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);
-
-						f = dot3F4( -v, r );
-						a[ie].w = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);
-					}
-
-					for(int ie=0; ie<nPoints; ie++)
-					{
-						a[0].x = (a[0].x > a[ie].x )? a[0].x: a[ie].x;
-						a[0].y = (a[0].y > a[ie].y )? a[0].y: a[ie].y;
-						a[0].z = (a[0].z > a[ie].z )? a[0].z: a[ie].z;
-						a[0].w = (a[0].w > a[ie].w )? a[0].w: a[ie].w;
-					}
-
-					idx[0] = (int)a[0].x & 0xff;
-					idx[1] = (int)a[0].y & 0xff;
-					idx[2] = (int)a[0].z & 0xff;
-					idx[3] = (int)a[0].w & 0xff;
-				}
-			}
-
-			{
-				float2 h[64];
-				PARALLEL_DO( h[ie] = make_float2((float)ie, p[ie].w), nPoints );
-				REDUCE_MIN( h, nPoints );
-				max00 = h[0];
-			}
-		}
-
-		contactIdx[0] = idx[0];
-		contactIdx[1] = idx[1];
-		contactIdx[2] = idx[2];
-		contactIdx[3] = idx[3];
-
-
-		return 4;
-	}
-}
-
-
-
-__kernel void   extractManifoldAndAddContactKernel(__global const int4* pairs, 
-																	__global const b3RigidBodyData_t* rigidBodies, 
-																	__global const float4* closestPointsWorld,
-																	__global const float4* separatingNormalsWorld,
-																	__global const int* contactCounts,
-																	__global const int* contactOffsets,
-																	__global struct b3Contact4Data* restrict contactsOut,
-																	counter32_t nContactsOut,
-																	int contactCapacity,
-																	int numPairs,
-																	int pairIndex
-																	)
-{
-	int idx = get_global_id(0);
-	
-	if (idx<numPairs)
-	{
-		float4 normal = separatingNormalsWorld[idx];
-		int nPoints = contactCounts[idx];
-		__global const float4* pointsIn = &closestPointsWorld[contactOffsets[idx]];
-		float4 localPoints[64];
-		for (int i=0;i<nPoints;i++)
-		{
-			localPoints[i] = pointsIn[i];
-		}
-
-		int contactIdx[4];// = {-1,-1,-1,-1};
-		contactIdx[0] = -1;
-		contactIdx[1] = -1;
-		contactIdx[2] = -1;
-		contactIdx[3] = -1;
-
-		int nContacts = extractManifoldSequential(localPoints, nPoints, normal, contactIdx);
-
-		int dstIdx;
-		AppendInc( nContactsOut, dstIdx );
-		if (dstIdx<contactCapacity)
-		{
-			__global struct b3Contact4Data* c = contactsOut + dstIdx;
-			c->m_worldNormalOnB = -normal;
-			c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
-			c->m_batchIdx = idx;
-			int bodyA = pairs[pairIndex].x;
-			int bodyB = pairs[pairIndex].y;
-			c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0 ? -bodyA:bodyA;
-			c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0 ? -bodyB:bodyB;
-			c->m_childIndexA = -1;
-			c->m_childIndexB = -1;
-			for (int i=0;i<nContacts;i++)
-			{
-				c->m_worldPosB[i] = localPoints[contactIdx[i]];
-			}
-			GET_NPOINTS(*c) = nContacts;
-		}
-	}
-}
-
-
-void	trInverse(float4 translationIn, Quaternion orientationIn,
-		float4* translationOut, Quaternion* orientationOut)
-{
-	*orientationOut = qtInvert(orientationIn);
-	*translationOut = qtRotate(*orientationOut, -translationIn);
-}
-
-void	trMul(float4 translationA, Quaternion orientationA,
-						float4 translationB, Quaternion orientationB,
-		float4* translationOut, Quaternion* orientationOut)
-{
-	*orientationOut = qtMul(orientationA,orientationB);
-	*translationOut = transform(&translationB,&translationA,&orientationA);
-}
-
-
-
-
-__kernel void   clipHullHullKernel( __global int4* pairs, 
-																					__global const b3RigidBodyData_t* rigidBodies, 
-																					__global const b3Collidable_t* collidables,
-																					__global const b3ConvexPolyhedronData_t* convexShapes, 
-																					__global const float4* vertices,
-																					__global const float4* uniqueEdges,
-																					__global const b3GpuFace_t* faces,
-																					__global const int* indices,
-																					__global const float4* separatingNormals,
-																					__global const int* hasSeparatingAxis,
-																					__global struct b3Contact4Data* restrict globalContactsOut,
-																					counter32_t nGlobalContactsOut,
-																					int numPairs,
-																					int contactCapacity)
-{
-
-	int i = get_global_id(0);
-	int pairIndex = i;
-	
-	float4 worldVertsB1[64];
-	float4 worldVertsB2[64];
-	int capacityWorldVerts = 64;	
-
-	float4 localContactsOut[64];
-	int localContactCapacity=64;
-	
-	float minDist = -1e30f;
-	float maxDist = 0.02f;
-
-	if (i<numPairs)
-	{
-
-		int bodyIndexA = pairs[i].x;
-		int bodyIndexB = pairs[i].y;
-			
-		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-
-		if (hasSeparatingAxis[i])
-		{
-
-			
-			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
-			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-			
-
-
-		
-			int numLocalContactsOut = clipHullAgainstHull(separatingNormals[i],
-														&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],
-														rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,
-													  rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,
-													  worldVertsB1,worldVertsB2,capacityWorldVerts,
-														minDist, maxDist,
-														vertices,faces,indices,
-														localContactsOut,localContactCapacity);
-												
-		if (numLocalContactsOut>0)
-		{
-				float4 normal = -separatingNormals[i];
-				int nPoints = numLocalContactsOut;
-				float4* pointsIn = localContactsOut;
-				int contactIdx[4];// = {-1,-1,-1,-1};
-
-				contactIdx[0] = -1;
-				contactIdx[1] = -1;
-				contactIdx[2] = -1;
-				contactIdx[3] = -1;
-		
-				int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);
-		
-				
-				int mprContactIndex = pairs[pairIndex].z;
-
-				int dstIdx = mprContactIndex;
-				if (dstIdx<0)
-				{
-					AppendInc( nGlobalContactsOut, dstIdx );
-				}
-
-				if (dstIdx<contactCapacity)
-				{
-					pairs[pairIndex].z = dstIdx;
-
-					__global struct b3Contact4Data* c = globalContactsOut+ dstIdx;
-					c->m_worldNormalOnB = -normal;
-					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
-					c->m_batchIdx = pairIndex;
-					int bodyA = pairs[pairIndex].x;
-					int bodyB = pairs[pairIndex].y;
-					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;
-					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;
-					c->m_childIndexA = -1;
-					c->m_childIndexB = -1;
-
-					for (int i=0;i<nReducedContacts;i++)
-					{
-					//this condition means: overwrite contact point, unless at index i==0 we have a valid 'mpr' contact
-						if (i>0||(mprContactIndex<0))
-						{
-							c->m_worldPosB[i] = pointsIn[contactIdx[i]];
-						}
-					}
-					GET_NPOINTS(*c) = nReducedContacts;
-				}
-				
-			}//		if (numContactsOut>0)
-		}//		if (hasSeparatingAxis[i])
-	}//	if (i<numPairs)
-
-}
-
-
-__kernel void   clipCompoundsHullHullKernel( __global const int4* gpuCompoundPairs, 
-																					__global const b3RigidBodyData_t* rigidBodies, 
-																					__global const b3Collidable_t* collidables,
-																					__global const b3ConvexPolyhedronData_t* convexShapes, 
-																					__global const float4* vertices,
-																					__global const float4* uniqueEdges,
-																					__global const b3GpuFace_t* faces,
-																					__global const int* indices,
-																					__global const b3GpuChildShape_t* gpuChildShapes,
-																					__global const float4* gpuCompoundSepNormalsOut,
-																					__global const int* gpuHasCompoundSepNormalsOut,
-																					__global struct b3Contact4Data* restrict globalContactsOut,
-																					counter32_t nGlobalContactsOut,
-																					int numCompoundPairs, int maxContactCapacity)
-{
-
-	int i = get_global_id(0);
-	int pairIndex = i;
-	
-	float4 worldVertsB1[64];
-	float4 worldVertsB2[64];
-	int capacityWorldVerts = 64;	
-
-	float4 localContactsOut[64];
-	int localContactCapacity=64;
-	
-	float minDist = -1e30f;
-	float maxDist = 0.02f;
-
-	if (i<numCompoundPairs)
-	{
-
-		if (gpuHasCompoundSepNormalsOut[i])
-		{
-
-			int bodyIndexA = gpuCompoundPairs[i].x;
-			int bodyIndexB = gpuCompoundPairs[i].y;
-			
-			int childShapeIndexA = gpuCompoundPairs[i].z;
-			int childShapeIndexB = gpuCompoundPairs[i].w;
-			
-			int collidableIndexA = -1;
-			int collidableIndexB = -1;
-			
-			float4 ornA = rigidBodies[bodyIndexA].m_quat;
-			float4 posA = rigidBodies[bodyIndexA].m_pos;
-			
-			float4 ornB = rigidBodies[bodyIndexB].m_quat;
-			float4 posB = rigidBodies[bodyIndexB].m_pos;
-								
-			if (childShapeIndexA >= 0)
-			{
-				collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;
-				float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;
-				float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;
-				float4 newPosA = qtRotate(ornA,childPosA)+posA;
-				float4 newOrnA = qtMul(ornA,childOrnA);
-				posA = newPosA;
-				ornA = newOrnA;
-			} else
-			{
-				collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-			}
-			
-			if (childShapeIndexB>=0)
-			{
-				collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
-				float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
-				float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
-				float4 newPosB = transform(&childPosB,&posB,&ornB);
-				float4 newOrnB = qtMul(ornB,childOrnB);
-				posB = newPosB;
-				ornB = newOrnB;
-			} else
-			{
-				collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;	
-			}
-			
-			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
-			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-		
-			int numLocalContactsOut = clipHullAgainstHull(gpuCompoundSepNormalsOut[i],
-														&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],
-														posA,ornA,
-													  posB,ornB,
-													  worldVertsB1,worldVertsB2,capacityWorldVerts,
-														minDist, maxDist,
-														vertices,faces,indices,
-														localContactsOut,localContactCapacity);
-												
-		if (numLocalContactsOut>0)
-		{
-				float4 normal = -gpuCompoundSepNormalsOut[i];
-				int nPoints = numLocalContactsOut;
-				float4* pointsIn = localContactsOut;
-				int contactIdx[4];// = {-1,-1,-1,-1};
-
-				contactIdx[0] = -1;
-				contactIdx[1] = -1;
-				contactIdx[2] = -1;
-				contactIdx[3] = -1;
-		
-				int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);
-		
-				int dstIdx;
-				AppendInc( nGlobalContactsOut, dstIdx );
-				if ((dstIdx+nReducedContacts) < maxContactCapacity)
-				{
-					__global struct b3Contact4Data* c = globalContactsOut+ dstIdx;
-					c->m_worldNormalOnB = -normal;
-					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
-					c->m_batchIdx = pairIndex;
-					int bodyA = gpuCompoundPairs[pairIndex].x;
-					int bodyB = gpuCompoundPairs[pairIndex].y;
-					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;
-					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;
-					c->m_childIndexA = childShapeIndexA;
-					c->m_childIndexB = childShapeIndexB;
-					for (int i=0;i<nReducedContacts;i++)
-					{
-						c->m_worldPosB[i] = pointsIn[contactIdx[i]];
-					}
-					GET_NPOINTS(*c) = nReducedContacts;
-				}
-				
-			}//		if (numContactsOut>0)
-		}//		if (gpuHasCompoundSepNormalsOut[i])
-	}//	if (i<numCompoundPairs)
-
-}
-
-
-
-__kernel void   sphereSphereCollisionKernel( __global const int4* pairs, 
-																					__global const b3RigidBodyData_t* rigidBodies, 
-																					__global const b3Collidable_t* collidables,
-																					__global const float4* separatingNormals,
-																					__global const int* hasSeparatingAxis,
-																					__global struct b3Contact4Data* restrict globalContactsOut,
-																					counter32_t nGlobalContactsOut,
-																					int contactCapacity,
-																					int numPairs)
-{
-
-	int i = get_global_id(0);
-	int pairIndex = i;
-	
-	if (i<numPairs)
-	{
-		int bodyIndexA = pairs[i].x;
-		int bodyIndexB = pairs[i].y;
-			
-		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-
-		if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
-			collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
-		{
-			//sphere-sphere
-			float radiusA = collidables[collidableIndexA].m_radius;
-			float radiusB = collidables[collidableIndexB].m_radius;
-			float4 posA = rigidBodies[bodyIndexA].m_pos;
-			float4 posB = rigidBodies[bodyIndexB].m_pos;
-
-			float4 diff = posA-posB;
-			float len = length(diff);
-			
-			///iff distance positive, don't generate a new contact
-			if ( len <= (radiusA+radiusB))
-			{
-				///distance (negative means penetration)
-				float dist = len - (radiusA+radiusB);
-				float4 normalOnSurfaceB = make_float4(1.f,0.f,0.f,0.f);
-				if (len > 0.00001)
-				{
-					normalOnSurfaceB = diff / len;
-				}
-				float4 contactPosB = posB + normalOnSurfaceB*radiusB;
-				contactPosB.w = dist;
-								
-				int dstIdx;
-				AppendInc( nGlobalContactsOut, dstIdx );
-				if (dstIdx < contactCapacity)
-				{
-					__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
-					c->m_worldNormalOnB = -normalOnSurfaceB;
-					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
-					c->m_batchIdx = pairIndex;
-					int bodyA = pairs[pairIndex].x;
-					int bodyB = pairs[pairIndex].y;
-					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;
-					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;
-					c->m_worldPosB[0] = contactPosB;
-					c->m_childIndexA = -1;
-					c->m_childIndexB = -1;
-
-					GET_NPOINTS(*c) = 1;
-				}//if (dstIdx < numPairs)
-			}//if ( len <= (radiusA+radiusB))
-		}//SHAPE_SPHERE SHAPE_SPHERE
-	}//if (i<numPairs)
-}				
-
-__kernel void   clipHullHullConcaveConvexKernel( __global int4* concavePairsIn,
-																					__global const b3RigidBodyData_t* rigidBodies, 
-																					__global const b3Collidable_t* collidables,
-																					__global const b3ConvexPolyhedronData_t* convexShapes, 
-																					__global const float4* vertices,
-																					__global const float4* uniqueEdges,
-																					__global const b3GpuFace_t* faces,
-																					__global const int* indices,
-																					__global const b3GpuChildShape_t* gpuChildShapes,
-																					__global const float4* separatingNormals,
-																					__global struct b3Contact4Data* restrict globalContactsOut,
-																					counter32_t nGlobalContactsOut,
-																					int contactCapacity,
-																					int numConcavePairs)
-{
-
-	int i = get_global_id(0);
-	int pairIndex = i;
-	
-	float4 worldVertsB1[64];
-	float4 worldVertsB2[64];
-	int capacityWorldVerts = 64;	
-
-	float4 localContactsOut[64];
-	int localContactCapacity=64;
-	
-	float minDist = -1e30f;
-	float maxDist = 0.02f;
-
-	if (i<numConcavePairs)
-	{
-		//negative value means that the pair is invalid
-		if (concavePairsIn[i].w<0)
-			return;
-
-		int bodyIndexA = concavePairsIn[i].x;
-		int bodyIndexB = concavePairsIn[i].y;
-		int f = concavePairsIn[i].z;
-		int childShapeIndexA = f;
-		
-		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-		
-		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
-		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-		
-		///////////////////////////////////////////////////////////////
-		
-	
-		bool overlap = false;
-		
-		b3ConvexPolyhedronData_t convexPolyhedronA;
-
-	//add 3 vertices of the triangle
-		convexPolyhedronA.m_numVertices = 3;
-		convexPolyhedronA.m_vertexOffset = 0;
-		float4	localCenter = make_float4(0.f,0.f,0.f,0.f);
-
-		b3GpuFace_t face = faces[convexShapes[shapeIndexA].m_faceOffset+f];
-		
-		float4 verticesA[3];
-		for (int i=0;i<3;i++)
-		{
-			int index = indices[face.m_indexOffset+i];
-			float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];
-			verticesA[i] = vert;
-			localCenter += vert;
-		}
-
-		float dmin = FLT_MAX;
-
-		int localCC=0;
-
-		//a triangle has 3 unique edges
-		convexPolyhedronA.m_numUniqueEdges = 3;
-		convexPolyhedronA.m_uniqueEdgesOffset = 0;
-		float4 uniqueEdgesA[3];
-		
-		uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);
-		uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);
-		uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);
-
-
-		convexPolyhedronA.m_faceOffset = 0;
-                                  
-		float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);
-                             
-		b3GpuFace_t facesA[TRIANGLE_NUM_CONVEX_FACES];
-		int indicesA[3+3+2+2+2];
-		int curUsedIndices=0;
-		int fidx=0;
-
-		//front size of triangle
-		{
-			facesA[fidx].m_indexOffset=curUsedIndices;
-			indicesA[0] = 0;
-			indicesA[1] = 1;
-			indicesA[2] = 2;
-			curUsedIndices+=3;
-			float c = face.m_plane.w;
-			facesA[fidx].m_plane.x = normal.x;
-			facesA[fidx].m_plane.y = normal.y;
-			facesA[fidx].m_plane.z = normal.z;
-			facesA[fidx].m_plane.w = c;
-			facesA[fidx].m_numIndices=3;
-		}
-		fidx++;
-		//back size of triangle
-		{
-			facesA[fidx].m_indexOffset=curUsedIndices;
-			indicesA[3]=2;
-			indicesA[4]=1;
-			indicesA[5]=0;
-			curUsedIndices+=3;
-			float c = dot3F4(normal,verticesA[0]);
-			float c1 = -face.m_plane.w;
-			facesA[fidx].m_plane.x = -normal.x;
-			facesA[fidx].m_plane.y = -normal.y;
-			facesA[fidx].m_plane.z = -normal.z;
-			facesA[fidx].m_plane.w = c;
-			facesA[fidx].m_numIndices=3;
-		}
-		fidx++;
-
-		bool addEdgePlanes = true;
-		if (addEdgePlanes)
-		{
-			int numVertices=3;
-			int prevVertex = numVertices-1;
-			for (int i=0;i<numVertices;i++)
-			{
-				float4 v0 = verticesA[i];
-				float4 v1 = verticesA[prevVertex];
-                                            
-				float4 edgeNormal = normalize(cross(normal,v1-v0));
-				float c = -dot3F4(edgeNormal,v0);
-
-				facesA[fidx].m_numIndices = 2;
-				facesA[fidx].m_indexOffset=curUsedIndices;
-				indicesA[curUsedIndices++]=i;
-				indicesA[curUsedIndices++]=prevVertex;
-                                            
-				facesA[fidx].m_plane.x = edgeNormal.x;
-				facesA[fidx].m_plane.y = edgeNormal.y;
-				facesA[fidx].m_plane.z = edgeNormal.z;
-				facesA[fidx].m_plane.w = c;
-				fidx++;
-				prevVertex = i;
-			}
-		}
-		convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;
-		convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);
-
-
-		float4 posA = rigidBodies[bodyIndexA].m_pos;
-		posA.w = 0.f;
-		float4 posB = rigidBodies[bodyIndexB].m_pos;
-		posB.w = 0.f;
-		float4 ornA = rigidBodies[bodyIndexA].m_quat;
-		float4 ornB =rigidBodies[bodyIndexB].m_quat;
-
-
-		float4 sepAxis = separatingNormals[i];
-		
-		int shapeTypeB = collidables[collidableIndexB].m_shapeType;
-		int childShapeIndexB =-1;
-		if (shapeTypeB==SHAPE_COMPOUND_OF_CONVEX_HULLS)
-		{
-			///////////////////
-			///compound shape support
-			
-			childShapeIndexB = concavePairsIn[pairIndex].w;
-			int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
-			shapeIndexB = collidables[childColIndexB].m_shapeIndex;
-			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
-			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
-			float4 newPosB = transform(&childPosB,&posB,&ornB);
-			float4 newOrnB = qtMul(ornB,childOrnB);
-			posB = newPosB;
-			ornB = newOrnB;
-			
-		}
-		
-		////////////////////////////////////////
-		
-		
-		
-		int numLocalContactsOut = clipHullAgainstHullLocalA(sepAxis,
-														&convexPolyhedronA, &convexShapes[shapeIndexB],
-														posA,ornA,
-													  posB,ornB,
-													  worldVertsB1,worldVertsB2,capacityWorldVerts,
-														minDist, maxDist,
-														&verticesA,&facesA,&indicesA,
-														vertices,faces,indices,
-														localContactsOut,localContactCapacity);
-												
-		if (numLocalContactsOut>0)
-		{
-			float4 normal = -separatingNormals[i];
-			int nPoints = numLocalContactsOut;
-			float4* pointsIn = localContactsOut;
-			int contactIdx[4];// = {-1,-1,-1,-1};
-
-			contactIdx[0] = -1;
-			contactIdx[1] = -1;
-			contactIdx[2] = -1;
-			contactIdx[3] = -1;
-	
-			int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);
-	
-			int dstIdx;
-			AppendInc( nGlobalContactsOut, dstIdx );
-			if (dstIdx<contactCapacity)
-			{
-				__global struct b3Contact4Data* c = globalContactsOut+ dstIdx;
-				c->m_worldNormalOnB = -normal;
-				c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
-				c->m_batchIdx = pairIndex;
-				int bodyA = concavePairsIn[pairIndex].x;
-				int bodyB = concavePairsIn[pairIndex].y;
-				c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;
-				c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;
-				c->m_childIndexA = childShapeIndexA;
-				c->m_childIndexB = childShapeIndexB;
-				for (int i=0;i<nReducedContacts;i++)
-				{
-					c->m_worldPosB[i] = pointsIn[contactIdx[i]];
-				}
-				GET_NPOINTS(*c) = nReducedContacts;
-			}
-				
-		}//		if (numContactsOut>0)
-	}//	if (i<numPairs)
-}
-
-
-
-
-
-
-int	findClippingFaces(const float4 separatingNormal,
-                      __global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB,
-                      const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,
-                       __global float4* worldVertsA1,
-                      __global float4* worldNormalsA1,
-                      __global float4* worldVertsB1,
-                      int capacityWorldVerts,
-                      const float minDist, float maxDist,
-                      __global const float4* vertices,
-                      __global const b3GpuFace_t* faces,
-                      __global const int* indices,
-                      __global int4* clippingFaces, int pairIndex)
-{
-	int numContactsOut = 0;
-	int numWorldVertsB1= 0;
-    
-    
-	int closestFaceB=-1;
-	float dmax = -FLT_MAX;
-    
-	{
-		for(int face=0;face<hullB->m_numFaces;face++)
-		{
-			const float4 Normal = make_float4(faces[hullB->m_faceOffset+face].m_plane.x,
-                                              faces[hullB->m_faceOffset+face].m_plane.y, faces[hullB->m_faceOffset+face].m_plane.z,0.f);
-			const float4 WorldNormal = qtRotate(ornB, Normal);
-			float d = dot3F4(WorldNormal,separatingNormal);
-			if (d > dmax)
-			{
-				dmax = d;
-				closestFaceB = face;
-			}
-		}
-	}
-    
-	{
-		const b3GpuFace_t polyB = faces[hullB->m_faceOffset+closestFaceB];
-		const int numVertices = polyB.m_numIndices;
-		for(int e0=0;e0<numVertices;e0++)
-		{
-			const float4 b = vertices[hullB->m_vertexOffset+indices[polyB.m_indexOffset+e0]];
-			worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);
-		}
-	}
-    
-    int closestFaceA=-1;
-	{
-		float dmin = FLT_MAX;
-		for(int face=0;face<hullA->m_numFaces;face++)
-		{
-			const float4 Normal = make_float4(
-                                              faces[hullA->m_faceOffset+face].m_plane.x,
-                                              faces[hullA->m_faceOffset+face].m_plane.y,
-                                              faces[hullA->m_faceOffset+face].m_plane.z,
-                                              0.f);
-			const float4 faceANormalWS = qtRotate(ornA,Normal);
-            
-			float d = dot3F4(faceANormalWS,separatingNormal);
-			if (d < dmin)
-			{
-				dmin = d;
-				closestFaceA = face;
-                worldNormalsA1[pairIndex] = faceANormalWS;
-			}
-		}
-	}
-    
-    int numVerticesA = faces[hullA->m_faceOffset+closestFaceA].m_numIndices;
-	for(int e0=0;e0<numVerticesA;e0++)
-	{
-        const float4 a = vertices[hullA->m_vertexOffset+indices[faces[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];
-        worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);
-    }
-    
-    clippingFaces[pairIndex].x = closestFaceA;
-    clippingFaces[pairIndex].y = closestFaceB;
-    clippingFaces[pairIndex].z = numVerticesA;
-    clippingFaces[pairIndex].w = numWorldVertsB1;
-    
-    
-	return numContactsOut;
-}
-
-
-
-int clipFaces(__global float4* worldVertsA1,
-              __global float4* worldNormalsA1,
-              __global float4* worldVertsB1,
-              __global float4* worldVertsB2, 
-              int capacityWorldVertsB2,
-              const float minDist, float maxDist,
-              __global int4* clippingFaces,
-              int pairIndex)
-{
-	int numContactsOut = 0;
-    
-    int closestFaceA = clippingFaces[pairIndex].x;
-    int closestFaceB = clippingFaces[pairIndex].y;
-	int numVertsInA = clippingFaces[pairIndex].z;
-	int numVertsInB = clippingFaces[pairIndex].w;
-    
-	int numVertsOut = 0;
-    
-	if (closestFaceA<0)
-		return numContactsOut;
-    
-    __global float4* pVtxIn = &worldVertsB1[pairIndex*capacityWorldVertsB2];
-    __global float4* pVtxOut = &worldVertsB2[pairIndex*capacityWorldVertsB2];
-    
-    
-	
-	// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
-    
-	for(int e0=0;e0<numVertsInA;e0++)
-	{
-		const float4 aw = worldVertsA1[pairIndex*capacityWorldVertsB2+e0];
-		const float4 bw = worldVertsA1[pairIndex*capacityWorldVertsB2+((e0+1)%numVertsInA)];
-		const float4 WorldEdge0 = aw - bw;
-		float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex];
-		float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);
-		float4 worldA1 = aw;
-		float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);
-		float4 planeNormalWS = planeNormalWS1;
-		float planeEqWS=planeEqWS1;
-		numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS,planeEqWS, pVtxOut);
-		__global float4* tmp = pVtxOut;
-		pVtxOut = pVtxIn;
-		pVtxIn = tmp;
-		numVertsInB = numVertsOut;
-		numVertsOut = 0;
-	}
-    
-    //float4 planeNormalWS = worldNormalsA1[pairIndex];
-    //float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);
-
-
-    
-    /*for (int i=0;i<numVertsInB;i++)
-    {
-        pVtxOut[i] = pVtxIn[i];
-    }*/
-    
-    
-    
-    
-    //numVertsInB=0;
-	
-    float4 planeNormalWS = worldNormalsA1[pairIndex];
-    float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);
-
-    for (int i=0;i<numVertsInB;i++)
-    {
-        float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;
-        if (depth <=minDist)
-        {
-            depth = minDist;
-        }
-        
-        if (depth <=maxDist)
-        {
-            float4 pointInWorld = pVtxIn[i];
-            pVtxOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);
-        }
-    }
-   
-    clippingFaces[pairIndex].w =numContactsOut;
-   
-    
-	return numContactsOut;
-
-}
-
-
-
-
-__kernel void   findClippingFacesKernel(  __global const int4* pairs,
-                                        __global const b3RigidBodyData_t* rigidBodies,
-                                        __global const b3Collidable_t* collidables,
-                                        __global const b3ConvexPolyhedronData_t* convexShapes,
-                                        __global const float4* vertices,
-                                        __global const float4* uniqueEdges,
-                                        __global const b3GpuFace_t* faces,
-                                        __global const int* indices,
-                                        __global const float4* separatingNormals,
-                                        __global const int* hasSeparatingAxis,
-                                        __global int4* clippingFacesOut,
-                                        __global float4* worldVertsA1,
-                                        __global float4* worldNormalsA1,
-                                        __global float4* worldVertsB1,
-                                        int capacityWorldVerts,
-                                        int numPairs
-                                        )
-{
-    
-	int i = get_global_id(0);
-	int pairIndex = i;
-    
-	
-	float minDist = -1e30f;
-	float maxDist = 0.02f;
-    
-	if (i<numPairs)
-	{
-        
-		if (hasSeparatingAxis[i])
-		{
-            
-			int bodyIndexA = pairs[i].x;
-			int bodyIndexB = pairs[i].y;
-			
-			int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-			int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-			
-			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
-			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-			
-            
-            
-			int numLocalContactsOut = findClippingFaces(separatingNormals[i],
-                                                        &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],
-                                                        rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,
-                                                        rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,
-                                                        worldVertsA1,
-                                                        worldNormalsA1,
-                                                        worldVertsB1,capacityWorldVerts,
-                                                        minDist, maxDist,
-                                                        vertices,faces,indices,
-                                                        clippingFacesOut,i);
-            
-            
-		}//		if (hasSeparatingAxis[i])
-	}//	if (i<numPairs)
-    
-}
-
-
-
-
-__kernel void   clipFacesAndFindContactsKernel(    __global const float4* separatingNormals,
-                                                   __global const int* hasSeparatingAxis,
-                                                   __global int4* clippingFacesOut,
-                                                   __global float4* worldVertsA1,
-                                                   __global float4* worldNormalsA1,
-                                                   __global float4* worldVertsB1,
-                                                   __global float4* worldVertsB2,
-                                                    int vertexFaceCapacity,
-                                                   int numPairs,
-					                                        int debugMode
-                                                   )
-{
-    int i = get_global_id(0);
-	int pairIndex = i;
-	
-    
-	float minDist = -1e30f;
-	float maxDist = 0.02f;
-    
-	if (i<numPairs)
-	{
-        
-		if (hasSeparatingAxis[i])
-		{
-            
-//			int bodyIndexA = pairs[i].x;
-	//		int bodyIndexB = pairs[i].y;
-		    
-            int numLocalContactsOut = 0;
-
-            int capacityWorldVertsB2 = vertexFaceCapacity;
-            
-            __global float4* pVtxIn = &worldVertsB1[pairIndex*capacityWorldVertsB2];
-            __global float4* pVtxOut = &worldVertsB2[pairIndex*capacityWorldVertsB2];
-            
-
-            {
-                __global int4* clippingFaces = clippingFacesOut;
-            
-                
-                int closestFaceA = clippingFaces[pairIndex].x;
-                int closestFaceB = clippingFaces[pairIndex].y;
-                int numVertsInA = clippingFaces[pairIndex].z;
-                int numVertsInB = clippingFaces[pairIndex].w;
-                
-                int numVertsOut = 0;
-                
-                if (closestFaceA>=0)
-                {
-                    
-                    
-                    
-                    // clip polygon to back of planes of all faces of hull A that are adjacent to witness face
-                    
-                    for(int e0=0;e0<numVertsInA;e0++)
-                    {
-                        const float4 aw = worldVertsA1[pairIndex*capacityWorldVertsB2+e0];
-                        const float4 bw = worldVertsA1[pairIndex*capacityWorldVertsB2+((e0+1)%numVertsInA)];
-                        const float4 WorldEdge0 = aw - bw;
-                        float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex];
-                        float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);
-                        float4 worldA1 = aw;
-                        float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);
-                        float4 planeNormalWS = planeNormalWS1;
-                        float planeEqWS=planeEqWS1;
-                        numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS,planeEqWS, pVtxOut);
-                        __global float4* tmp = pVtxOut;
-                        pVtxOut = pVtxIn;
-                        pVtxIn = tmp;
-                        numVertsInB = numVertsOut;
-                        numVertsOut = 0;
-                    }
-                    
-                    float4 planeNormalWS = worldNormalsA1[pairIndex];
-                    float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);
-                    
-                    for (int i=0;i<numVertsInB;i++)
-                    {
-                        float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;
-                        if (depth <=minDist)
-                        {
-                            depth = minDist;
-                        }
-                        
-                        if (depth <=maxDist)
-                        {
-                            float4 pointInWorld = pVtxIn[i];
-                            pVtxOut[numLocalContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);
-                        }
-                    }
-                    
-                }
-                clippingFaces[pairIndex].w =numLocalContactsOut;
-                
-
-            }
-            
-            for (int i=0;i<numLocalContactsOut;i++)
-                pVtxIn[i] = pVtxOut[i];
-                
-		}//		if (hasSeparatingAxis[i])
-	}//	if (i<numPairs)
-    
-}
-
-
-
-
-
-__kernel void   newContactReductionKernel( __global int4* pairs,
-                                                   __global const b3RigidBodyData_t* rigidBodies,
-                                                   __global const float4* separatingNormals,
-                                                   __global const int* hasSeparatingAxis,
-                                                   __global struct b3Contact4Data* globalContactsOut,
-                                                   __global int4* clippingFaces,
-                                                   __global float4* worldVertsB2,
-                                                   volatile __global int* nGlobalContactsOut,
-                                                   int vertexFaceCapacity,
-												   int contactCapacity,
-                                                   int numPairs
-                                                   )
-{
-    int i = get_global_id(0);
-	int pairIndex = i;
-	
-    int4 contactIdx;
-    contactIdx=make_int4(0,1,2,3);
-    
-	if (i<numPairs)
-	{
-        
-		if (hasSeparatingAxis[i])
-		{
-            
-			
-            
-            
-			int nPoints = clippingFaces[pairIndex].w;
-           
-            if (nPoints>0)
-            {
-
-                 __global float4* pointsIn = &worldVertsB2[pairIndex*vertexFaceCapacity];
-                float4 normal = -separatingNormals[i];
-                
-                int nReducedContacts = extractManifoldSequentialGlobal(pointsIn, nPoints, normal, &contactIdx);
-            
-				int mprContactIndex = pairs[pairIndex].z;
-
-                int dstIdx = mprContactIndex;
-
-				if (dstIdx<0)
-				{
-	                AppendInc( nGlobalContactsOut, dstIdx );
-				}
-//#if 0
-                
-				if (dstIdx < contactCapacity)
-				{
-
-					__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
-					c->m_worldNormalOnB = -normal;
-					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
-					c->m_batchIdx = pairIndex;
-					int bodyA = pairs[pairIndex].x;
-					int bodyB = pairs[pairIndex].y;
-
-					pairs[pairIndex].w = dstIdx;
-
-					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;
-					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;
-                    c->m_childIndexA =-1;
-					c->m_childIndexB =-1;
-
-                    switch (nReducedContacts)
-                    {
-                        case 4:
-                            c->m_worldPosB[3] = pointsIn[contactIdx.w];
-                        case 3:
-                            c->m_worldPosB[2] = pointsIn[contactIdx.z];
-                        case 2:
-                            c->m_worldPosB[1] = pointsIn[contactIdx.y];
-                        case 1:
-							if (mprContactIndex<0)//test
-	                            c->m_worldPosB[0] = pointsIn[contactIdx.x];
-                        default:
-                        {
-                        }
-                    };
-                    
-					GET_NPOINTS(*c) = nReducedContacts;
-                    
-                 }
-                 
-                
-//#endif
-				
-			}//		if (numContactsOut>0)
-		}//		if (hasSeparatingAxis[i])
-	}//	if (i<numPairs)
-
-    
-    
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h
deleted file mode 100644
index 907809d8bd..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h
+++ /dev/null
@@ -1,2098 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* satClipKernelsCL =
-	"#define TRIANGLE_NUM_CONVEX_FACES 5\n"
-	"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
-	"#ifdef cl_ext_atomic_counters_32\n"
-	"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
-	"#else\n"
-	"#define counter32_t volatile __global int*\n"
-	"#endif\n"
-	"#define GET_GROUP_IDX get_group_id(0)\n"
-	"#define GET_LOCAL_IDX get_local_id(0)\n"
-	"#define GET_GLOBAL_IDX get_global_id(0)\n"
-	"#define GET_GROUP_SIZE get_local_size(0)\n"
-	"#define GET_NUM_GROUPS get_num_groups(0)\n"
-	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-	"#define AtomInc(x) atom_inc(&(x))\n"
-	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-	"#define AppendInc(x, out) out = atomic_inc(x)\n"
-	"#define AtomAdd(x, value) atom_add(&(x), value)\n"
-	"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
-	"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
-	"#define max2 max\n"
-	"#define min2 min\n"
-	"typedef unsigned int u32;\n"
-	"#ifndef B3_CONTACT4DATA_H\n"
-	"#define B3_CONTACT4DATA_H\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#define B3_FLOAT4_H\n"
-	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-	"#define B3_PLATFORM_DEFINITIONS_H\n"
-	"struct MyTest\n"
-	"{\n"
-	"	int bla;\n"
-	"};\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-	"#define B3_LARGE_FLOAT 1e18f\n"
-	"#define B3_INFINITY 1e18f\n"
-	"#define b3Assert(a)\n"
-	"#define b3ConstArray(a) __global const a*\n"
-	"#define b3AtomicInc atomic_inc\n"
-	"#define b3AtomicAdd atomic_add\n"
-	"#define b3Fabs fabs\n"
-	"#define b3Sqrt native_sqrt\n"
-	"#define b3Sin native_sin\n"
-	"#define b3Cos native_cos\n"
-	"#define B3_STATIC\n"
-	"#endif\n"
-	"#endif\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"	typedef float4	b3Float4;\n"
-	"	#define b3Float4ConstArg const b3Float4\n"
-	"	#define b3MakeFloat4 (float4)\n"
-	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return dot(a1, b1);\n"
-	"	}\n"
-	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return cross(a1, b1);\n"
-	"	}\n"
-	"	#define b3MinFloat4 min\n"
-	"	#define b3MaxFloat4 max\n"
-	"	#define b3Normalized(a) normalize(a)\n"
-	"#endif \n"
-	"		\n"
-	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-	"{\n"
-	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-	"		return false;\n"
-	"	return true;\n"
-	"}\n"
-	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-	"{\n"
-	"    float maxDot = -B3_INFINITY;\n"
-	"    int i = 0;\n"
-	"    int ptIndex = -1;\n"
-	"    for( i = 0; i < vecLen; i++ )\n"
-	"    {\n"
-	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-	"            \n"
-	"        if( dot > maxDot )\n"
-	"        {\n"
-	"            maxDot = dot;\n"
-	"            ptIndex = i;\n"
-	"        }\n"
-	"    }\n"
-	"	b3Assert(ptIndex>=0);\n"
-	"    if (ptIndex<0)\n"
-	"	{\n"
-	"		ptIndex = 0;\n"
-	"	}\n"
-	"    *dotOut = maxDot;\n"
-	"    return ptIndex;\n"
-	"}\n"
-	"#endif //B3_FLOAT4_H\n"
-	"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
-	"struct b3Contact4Data\n"
-	"{\n"
-	"	b3Float4	m_worldPosB[4];\n"
-	"//	b3Float4	m_localPosA[4];\n"
-	"//	b3Float4	m_localPosB[4];\n"
-	"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
-	"	unsigned short  m_restituitionCoeffCmp;\n"
-	"	unsigned short  m_frictionCoeffCmp;\n"
-	"	int m_batchIdx;\n"
-	"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
-	"	int m_bodyBPtrAndSignBit;\n"
-	"	int	m_childIndexA;\n"
-	"	int	m_childIndexB;\n"
-	"	int m_unused1;\n"
-	"	int m_unused2;\n"
-	"};\n"
-	"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
-	"{\n"
-	"	return (int)contact->m_worldNormalOnB.w;\n"
-	"};\n"
-	"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
-	"{\n"
-	"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
-	"};\n"
-	"#endif //B3_CONTACT4DATA_H\n"
-	"#ifndef B3_CONVEX_POLYHEDRON_DATA_H\n"
-	"#define B3_CONVEX_POLYHEDRON_DATA_H\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_FLOAT4_H\n"
-	"#ifndef B3_QUAT_H\n"
-	"#define B3_QUAT_H\n"
-	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif\n"
-	"#endif\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"	typedef float4	b3Quat;\n"
-	"	#define b3QuatConstArg const b3Quat\n"
-	"	\n"
-	"	\n"
-	"inline float4 b3FastNormalize4(float4 v)\n"
-	"{\n"
-	"	v = (float4)(v.xyz,0.f);\n"
-	"	return fast_normalize(v);\n"
-	"}\n"
-	"	\n"
-	"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
-	"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
-	"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
-	"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
-	"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
-	"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
-	"{\n"
-	"	b3Quat ans;\n"
-	"	ans = b3Cross3( a, b );\n"
-	"	ans += a.w*b+b.w*a;\n"
-	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-	"	ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
-	"	return ans;\n"
-	"}\n"
-	"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
-	"{\n"
-	"	b3Quat q;\n"
-	"	q=in;\n"
-	"	//return b3FastNormalize4(in);\n"
-	"	float len = native_sqrt(dot(q, q));\n"
-	"	if(len > 0.f)\n"
-	"	{\n"
-	"		q *= 1.f / len;\n"
-	"	}\n"
-	"	else\n"
-	"	{\n"
-	"		q.x = q.y = q.z = 0.f;\n"
-	"		q.w = 1.f;\n"
-	"	}\n"
-	"	return q;\n"
-	"}\n"
-	"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-	"{\n"
-	"	b3Quat qInv = b3QuatInvert( q );\n"
-	"	float4 vcpy = vec;\n"
-	"	vcpy.w = 0.f;\n"
-	"	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
-	"	return out;\n"
-	"}\n"
-	"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
-	"{\n"
-	"	return (b3Quat)(-q.xyz, q.w);\n"
-	"}\n"
-	"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
-	"{\n"
-	"	return (b3Quat)(-q.xyz, q.w);\n"
-	"}\n"
-	"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-	"{\n"
-	"	return b3QuatRotate( b3QuatInvert( q ), vec );\n"
-	"}\n"
-	"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
-	"{\n"
-	"	return b3QuatRotate( orientation, point ) + (translation);\n"
-	"}\n"
-	"	\n"
-	"#endif \n"
-	"#endif //B3_QUAT_H\n"
-	"typedef struct b3GpuFace b3GpuFace_t;\n"
-	"struct b3GpuFace\n"
-	"{\n"
-	"	b3Float4 m_plane;\n"
-	"	int m_indexOffset;\n"
-	"	int m_numIndices;\n"
-	"	int m_unusedPadding1;\n"
-	"	int m_unusedPadding2;\n"
-	"};\n"
-	"typedef struct b3ConvexPolyhedronData b3ConvexPolyhedronData_t;\n"
-	"struct b3ConvexPolyhedronData\n"
-	"{\n"
-	"	b3Float4		m_localCenter;\n"
-	"	b3Float4		m_extents;\n"
-	"	b3Float4		mC;\n"
-	"	b3Float4		mE;\n"
-	"	float			m_radius;\n"
-	"	int	m_faceOffset;\n"
-	"	int m_numFaces;\n"
-	"	int	m_numVertices;\n"
-	"	int m_vertexOffset;\n"
-	"	int	m_uniqueEdgesOffset;\n"
-	"	int	m_numUniqueEdges;\n"
-	"	int m_unused;\n"
-	"};\n"
-	"#endif //B3_CONVEX_POLYHEDRON_DATA_H\n"
-	"#ifndef B3_COLLIDABLE_H\n"
-	"#define B3_COLLIDABLE_H\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_FLOAT4_H\n"
-	"#ifndef B3_QUAT_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_QUAT_H\n"
-	"enum b3ShapeTypes\n"
-	"{\n"
-	"	SHAPE_HEIGHT_FIELD=1,\n"
-	"	SHAPE_CONVEX_HULL=3,\n"
-	"	SHAPE_PLANE=4,\n"
-	"	SHAPE_CONCAVE_TRIMESH=5,\n"
-	"	SHAPE_COMPOUND_OF_CONVEX_HULLS=6,\n"
-	"	SHAPE_SPHERE=7,\n"
-	"	MAX_NUM_SHAPE_TYPES,\n"
-	"};\n"
-	"typedef struct b3Collidable b3Collidable_t;\n"
-	"struct b3Collidable\n"
-	"{\n"
-	"	union {\n"
-	"		int m_numChildShapes;\n"
-	"		int m_bvhIndex;\n"
-	"	};\n"
-	"	union\n"
-	"	{\n"
-	"		float m_radius;\n"
-	"		int	m_compoundBvhIndex;\n"
-	"	};\n"
-	"	int m_shapeType;\n"
-	"	int m_shapeIndex;\n"
-	"};\n"
-	"typedef struct b3GpuChildShape b3GpuChildShape_t;\n"
-	"struct b3GpuChildShape\n"
-	"{\n"
-	"	b3Float4	m_childPosition;\n"
-	"	b3Quat		m_childOrientation;\n"
-	"	int m_shapeIndex;\n"
-	"	int m_unused0;\n"
-	"	int m_unused1;\n"
-	"	int m_unused2;\n"
-	"};\n"
-	"struct b3CompoundOverlappingPair\n"
-	"{\n"
-	"	int m_bodyIndexA;\n"
-	"	int m_bodyIndexB;\n"
-	"//	int	m_pairType;\n"
-	"	int m_childShapeIndexA;\n"
-	"	int m_childShapeIndexB;\n"
-	"};\n"
-	"#endif //B3_COLLIDABLE_H\n"
-	"#ifndef B3_RIGIDBODY_DATA_H\n"
-	"#define B3_RIGIDBODY_DATA_H\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_FLOAT4_H\n"
-	"#ifndef B3_QUAT_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_QUAT_H\n"
-	"#ifndef B3_MAT3x3_H\n"
-	"#define B3_MAT3x3_H\n"
-	"#ifndef B3_QUAT_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_QUAT_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"typedef struct\n"
-	"{\n"
-	"	b3Float4 m_row[3];\n"
-	"}b3Mat3x3;\n"
-	"#define b3Mat3x3ConstArg const b3Mat3x3\n"
-	"#define b3GetRow(m,row) (m.m_row[row])\n"
-	"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
-	"{\n"
-	"	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
-	"	b3Mat3x3 out;\n"
-	"	out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
-	"	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
-	"	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
-	"	out.m_row[0].w = 0.f;\n"
-	"	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
-	"	out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
-	"	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
-	"	out.m_row[1].w = 0.f;\n"
-	"	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
-	"	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
-	"	out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
-	"	out.m_row[2].w = 0.f;\n"
-	"	return out;\n"
-	"}\n"
-	"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
-	"{\n"
-	"	b3Mat3x3 out;\n"
-	"	out.m_row[0] = fabs(matIn.m_row[0]);\n"
-	"	out.m_row[1] = fabs(matIn.m_row[1]);\n"
-	"	out.m_row[2] = fabs(matIn.m_row[2]);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtZero();\n"
-	"__inline\n"
-	"b3Mat3x3 mtIdentity();\n"
-	"__inline\n"
-	"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
-	"__inline\n"
-	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
-	"__inline\n"
-	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
-	"__inline\n"
-	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
-	"__inline\n"
-	"b3Mat3x3 mtZero()\n"
-	"{\n"
-	"	b3Mat3x3 m;\n"
-	"	m.m_row[0] = (b3Float4)(0.f);\n"
-	"	m.m_row[1] = (b3Float4)(0.f);\n"
-	"	m.m_row[2] = (b3Float4)(0.f);\n"
-	"	return m;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtIdentity()\n"
-	"{\n"
-	"	b3Mat3x3 m;\n"
-	"	m.m_row[0] = (b3Float4)(1,0,0,0);\n"
-	"	m.m_row[1] = (b3Float4)(0,1,0,0);\n"
-	"	m.m_row[2] = (b3Float4)(0,0,1,0);\n"
-	"	return m;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
-	"{\n"
-	"	b3Mat3x3 out;\n"
-	"	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
-	"	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
-	"	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
-	"{\n"
-	"	b3Mat3x3 transB;\n"
-	"	transB = mtTranspose( b );\n"
-	"	b3Mat3x3 ans;\n"
-	"	//	why this doesn't run when 0ing in the for{}\n"
-	"	a.m_row[0].w = 0.f;\n"
-	"	a.m_row[1].w = 0.f;\n"
-	"	a.m_row[2].w = 0.f;\n"
-	"	for(int i=0; i<3; i++)\n"
-	"	{\n"
-	"//	a.m_row[i].w = 0.f;\n"
-	"		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
-	"		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
-	"		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
-	"		ans.m_row[i].w = 0.f;\n"
-	"	}\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
-	"{\n"
-	"	b3Float4 ans;\n"
-	"	ans.x = b3Dot3F4( a.m_row[0], b );\n"
-	"	ans.y = b3Dot3F4( a.m_row[1], b );\n"
-	"	ans.z = b3Dot3F4( a.m_row[2], b );\n"
-	"	ans.w = 0.f;\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
-	"{\n"
-	"	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-	"	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-	"	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-	"	b3Float4 ans;\n"
-	"	ans.x = b3Dot3F4( a, colx );\n"
-	"	ans.y = b3Dot3F4( a, coly );\n"
-	"	ans.z = b3Dot3F4( a, colz );\n"
-	"	return ans;\n"
-	"}\n"
-	"#endif\n"
-	"#endif //B3_MAT3x3_H\n"
-	"typedef struct b3RigidBodyData b3RigidBodyData_t;\n"
-	"struct b3RigidBodyData\n"
-	"{\n"
-	"	b3Float4				m_pos;\n"
-	"	b3Quat					m_quat;\n"
-	"	b3Float4				m_linVel;\n"
-	"	b3Float4				m_angVel;\n"
-	"	int 					m_collidableIdx;\n"
-	"	float 				m_invMass;\n"
-	"	float 				m_restituitionCoeff;\n"
-	"	float 				m_frictionCoeff;\n"
-	"};\n"
-	"typedef struct b3InertiaData b3InertiaData_t;\n"
-	"struct b3InertiaData\n"
-	"{\n"
-	"	b3Mat3x3 m_invInertiaWorld;\n"
-	"	b3Mat3x3 m_initInvInertia;\n"
-	"};\n"
-	"#endif //B3_RIGIDBODY_DATA_H\n"
-	"	\n"
-	"#define GET_NPOINTS(x) (x).m_worldNormalOnB.w\n"
-	"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
-	"#define make_float4 (float4)\n"
-	"#define make_float2 (float2)\n"
-	"#define make_uint4 (uint4)\n"
-	"#define make_int4 (int4)\n"
-	"#define make_uint2 (uint2)\n"
-	"#define make_int2 (int2)\n"
-	"__inline\n"
-	"float fastDiv(float numerator, float denominator)\n"
-	"{\n"
-	"	return native_divide(numerator, denominator);	\n"
-	"//	return numerator/denominator;	\n"
-	"}\n"
-	"__inline\n"
-	"float4 fastDiv4(float4 numerator, float4 denominator)\n"
-	"{\n"
-	"	return native_divide(numerator, denominator);	\n"
-	"}\n"
-	"__inline\n"
-	"float4 cross3(float4 a, float4 b)\n"
-	"{\n"
-	"	return cross(a,b);\n"
-	"}\n"
-	"//#define dot3F4 dot\n"
-	"__inline\n"
-	"float dot3F4(float4 a, float4 b)\n"
-	"{\n"
-	"	float4 a1 = make_float4(a.xyz,0.f);\n"
-	"	float4 b1 = make_float4(b.xyz,0.f);\n"
-	"	return dot(a1, b1);\n"
-	"}\n"
-	"__inline\n"
-	"float4 fastNormalize4(float4 v)\n"
-	"{\n"
-	"	return fast_normalize(v);\n"
-	"}\n"
-	"///////////////////////////////////////\n"
-	"//	Quaternion\n"
-	"///////////////////////////////////////\n"
-	"typedef float4 Quaternion;\n"
-	"__inline\n"
-	"Quaternion qtMul(Quaternion a, Quaternion b);\n"
-	"__inline\n"
-	"Quaternion qtNormalize(Quaternion in);\n"
-	"__inline\n"
-	"float4 qtRotate(Quaternion q, float4 vec);\n"
-	"__inline\n"
-	"Quaternion qtInvert(Quaternion q);\n"
-	"__inline\n"
-	"Quaternion qtMul(Quaternion a, Quaternion b)\n"
-	"{\n"
-	"	Quaternion ans;\n"
-	"	ans = cross3( a, b );\n"
-	"	ans += a.w*b+b.w*a;\n"
-	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-	"	ans.w = a.w*b.w - dot3F4(a, b);\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"Quaternion qtNormalize(Quaternion in)\n"
-	"{\n"
-	"	return fastNormalize4(in);\n"
-	"//	in /= length( in );\n"
-	"//	return in;\n"
-	"}\n"
-	"__inline\n"
-	"float4 qtRotate(Quaternion q, float4 vec)\n"
-	"{\n"
-	"	Quaternion qInv = qtInvert( q );\n"
-	"	float4 vcpy = vec;\n"
-	"	vcpy.w = 0.f;\n"
-	"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"Quaternion qtInvert(Quaternion q)\n"
-	"{\n"
-	"	return (Quaternion)(-q.xyz, q.w);\n"
-	"}\n"
-	"__inline\n"
-	"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
-	"{\n"
-	"	return qtRotate( qtInvert( q ), vec );\n"
-	"}\n"
-	"__inline\n"
-	"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n"
-	"{\n"
-	"	return qtRotate( *orientation, *p ) + (*translation);\n"
-	"}\n"
-	"__inline\n"
-	"float4 normalize3(const float4 a)\n"
-	"{\n"
-	"	float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
-	"	return fastNormalize4( n );\n"
-	"}\n"
-	"__inline float4 lerp3(const float4 a,const float4 b, float  t)\n"
-	"{\n"
-	"	return make_float4(	a.x + (b.x - a.x) * t,\n"
-	"						a.y + (b.y - a.y) * t,\n"
-	"						a.z + (b.z - a.z) * t,\n"
-	"						0.f);\n"
-	"}\n"
-	"// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut\n"
-	"int clipFaceGlobal(__global const float4* pVtxIn, int numVertsIn, float4 planeNormalWS,float planeEqWS, __global float4* ppVtxOut)\n"
-	"{\n"
-	"	\n"
-	"	int ve;\n"
-	"	float ds, de;\n"
-	"	int numVertsOut = 0;\n"
-	"    //double-check next test\n"
-	"    	if (numVertsIn < 2)\n"
-	"    		return 0;\n"
-	"    \n"
-	"	float4 firstVertex=pVtxIn[numVertsIn-1];\n"
-	"	float4 endVertex = pVtxIn[0];\n"
-	"	\n"
-	"	ds = dot3F4(planeNormalWS,firstVertex)+planeEqWS;\n"
-	"    \n"
-	"	for (ve = 0; ve < numVertsIn; ve++)\n"
-	"	{\n"
-	"		endVertex=pVtxIn[ve];\n"
-	"		de = dot3F4(planeNormalWS,endVertex)+planeEqWS;\n"
-	"		if (ds<0)\n"
-	"		{\n"
-	"			if (de<0)\n"
-	"			{\n"
-	"				// Start < 0, end < 0, so output endVertex\n"
-	"				ppVtxOut[numVertsOut++] = endVertex;\n"
-	"			}\n"
-	"			else\n"
-	"			{\n"
-	"				// Start < 0, end >= 0, so output intersection\n"
-	"				ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n"
-	"			}\n"
-	"		}\n"
-	"		else\n"
-	"		{\n"
-	"			if (de<0)\n"
-	"			{\n"
-	"				// Start >= 0, end < 0 so output intersection and end\n"
-	"				ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n"
-	"				ppVtxOut[numVertsOut++] = endVertex;\n"
-	"			}\n"
-	"		}\n"
-	"		firstVertex = endVertex;\n"
-	"		ds = de;\n"
-	"	}\n"
-	"	return numVertsOut;\n"
-	"}\n"
-	"// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut\n"
-	"int clipFace(const float4* pVtxIn, int numVertsIn, float4 planeNormalWS,float planeEqWS, float4* ppVtxOut)\n"
-	"{\n"
-	"	\n"
-	"	int ve;\n"
-	"	float ds, de;\n"
-	"	int numVertsOut = 0;\n"
-	"//double-check next test\n"
-	"	if (numVertsIn < 2)\n"
-	"		return 0;\n"
-	"	float4 firstVertex=pVtxIn[numVertsIn-1];\n"
-	"	float4 endVertex = pVtxIn[0];\n"
-	"	\n"
-	"	ds = dot3F4(planeNormalWS,firstVertex)+planeEqWS;\n"
-	"	for (ve = 0; ve < numVertsIn; ve++)\n"
-	"	{\n"
-	"		endVertex=pVtxIn[ve];\n"
-	"		de = dot3F4(planeNormalWS,endVertex)+planeEqWS;\n"
-	"		if (ds<0)\n"
-	"		{\n"
-	"			if (de<0)\n"
-	"			{\n"
-	"				// Start < 0, end < 0, so output endVertex\n"
-	"				ppVtxOut[numVertsOut++] = endVertex;\n"
-	"			}\n"
-	"			else\n"
-	"			{\n"
-	"				// Start < 0, end >= 0, so output intersection\n"
-	"				ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n"
-	"			}\n"
-	"		}\n"
-	"		else\n"
-	"		{\n"
-	"			if (de<0)\n"
-	"			{\n"
-	"				// Start >= 0, end < 0 so output intersection and end\n"
-	"				ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n"
-	"				ppVtxOut[numVertsOut++] = endVertex;\n"
-	"			}\n"
-	"		}\n"
-	"		firstVertex = endVertex;\n"
-	"		ds = de;\n"
-	"	}\n"
-	"	return numVertsOut;\n"
-	"}\n"
-	"int clipFaceAgainstHull(const float4 separatingNormal, __global const b3ConvexPolyhedronData_t* hullA,  \n"
-	"	const float4 posA, const Quaternion ornA, float4* worldVertsB1, int numWorldVertsB1,\n"
-	"	float4* worldVertsB2, int capacityWorldVertsB2,\n"
-	"	const float minDist, float maxDist,\n"
-	"	__global const float4* vertices,\n"
-	"	__global const b3GpuFace_t* faces,\n"
-	"	__global const int* indices,\n"
-	"	float4* contactsOut,\n"
-	"	int contactCapacity)\n"
-	"{\n"
-	"	int numContactsOut = 0;\n"
-	"	float4* pVtxIn = worldVertsB1;\n"
-	"	float4* pVtxOut = worldVertsB2;\n"
-	"	\n"
-	"	int numVertsIn = numWorldVertsB1;\n"
-	"	int numVertsOut = 0;\n"
-	"	int closestFaceA=-1;\n"
-	"	{\n"
-	"		float dmin = FLT_MAX;\n"
-	"		for(int face=0;face<hullA->m_numFaces;face++)\n"
-	"		{\n"
-	"			const float4 Normal = make_float4(\n"
-	"				faces[hullA->m_faceOffset+face].m_plane.x, \n"
-	"				faces[hullA->m_faceOffset+face].m_plane.y, \n"
-	"				faces[hullA->m_faceOffset+face].m_plane.z,0.f);\n"
-	"			const float4 faceANormalWS = qtRotate(ornA,Normal);\n"
-	"		\n"
-	"			float d = dot3F4(faceANormalWS,separatingNormal);\n"
-	"			if (d < dmin)\n"
-	"			{\n"
-	"				dmin = d;\n"
-	"				closestFaceA = face;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	if (closestFaceA<0)\n"
-	"		return numContactsOut;\n"
-	"	b3GpuFace_t polyA = faces[hullA->m_faceOffset+closestFaceA];\n"
-	"	// clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n"
-	"	int numVerticesA = polyA.m_numIndices;\n"
-	"	for(int e0=0;e0<numVerticesA;e0++)\n"
-	"	{\n"
-	"		const float4 a = vertices[hullA->m_vertexOffset+indices[polyA.m_indexOffset+e0]];\n"
-	"		const float4 b = vertices[hullA->m_vertexOffset+indices[polyA.m_indexOffset+((e0+1)%numVerticesA)]];\n"
-	"		const float4 edge0 = a - b;\n"
-	"		const float4 WorldEdge0 = qtRotate(ornA,edge0);\n"
-	"		float4 planeNormalA = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n"
-	"		float4 worldPlaneAnormal1 = qtRotate(ornA,planeNormalA);\n"
-	"		float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n"
-	"		float4 worldA1 = transform(&a,&posA,&ornA);\n"
-	"		float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n"
-	"		\n"
-	"		float4 planeNormalWS = planeNormalWS1;\n"
-	"		float planeEqWS=planeEqWS1;\n"
-	"		\n"
-	"		//clip face\n"
-	"		//clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);\n"
-	"		numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut);\n"
-	"		//btSwap(pVtxIn,pVtxOut);\n"
-	"		float4* tmp = pVtxOut;\n"
-	"		pVtxOut = pVtxIn;\n"
-	"		pVtxIn = tmp;\n"
-	"		numVertsIn = numVertsOut;\n"
-	"		numVertsOut = 0;\n"
-	"	}\n"
-	"	\n"
-	"	// only keep points that are behind the witness face\n"
-	"	{\n"
-	"		float4 localPlaneNormal  = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n"
-	"		float localPlaneEq = polyA.m_plane.w;\n"
-	"		float4 planeNormalWS = qtRotate(ornA,localPlaneNormal);\n"
-	"		float planeEqWS=localPlaneEq-dot3F4(planeNormalWS,posA);\n"
-	"		for (int i=0;i<numVertsIn;i++)\n"
-	"		{\n"
-	"			float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n"
-	"			if (depth <=minDist)\n"
-	"			{\n"
-	"				depth = minDist;\n"
-	"			}\n"
-	"			if (depth <=maxDist)\n"
-	"			{\n"
-	"				float4 pointInWorld = pVtxIn[i];\n"
-	"				//resultOut.addContactPoint(separatingNormal,point,depth);\n"
-	"				contactsOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	return numContactsOut;\n"
-	"}\n"
-	"int clipFaceAgainstHullLocalA(const float4 separatingNormal, const b3ConvexPolyhedronData_t* hullA,  \n"
-	"	const float4 posA, const Quaternion ornA, float4* worldVertsB1, int numWorldVertsB1,\n"
-	"	float4* worldVertsB2, int capacityWorldVertsB2,\n"
-	"	const float minDist, float maxDist,\n"
-	"	const float4* verticesA,\n"
-	"	const b3GpuFace_t* facesA,\n"
-	"	const int* indicesA,\n"
-	"	__global const float4* verticesB,\n"
-	"	__global const b3GpuFace_t* facesB,\n"
-	"	__global const int* indicesB,\n"
-	"	float4* contactsOut,\n"
-	"	int contactCapacity)\n"
-	"{\n"
-	"	int numContactsOut = 0;\n"
-	"	float4* pVtxIn = worldVertsB1;\n"
-	"	float4* pVtxOut = worldVertsB2;\n"
-	"	\n"
-	"	int numVertsIn = numWorldVertsB1;\n"
-	"	int numVertsOut = 0;\n"
-	"	int closestFaceA=-1;\n"
-	"	{\n"
-	"		float dmin = FLT_MAX;\n"
-	"		for(int face=0;face<hullA->m_numFaces;face++)\n"
-	"		{\n"
-	"			const float4 Normal = make_float4(\n"
-	"				facesA[hullA->m_faceOffset+face].m_plane.x, \n"
-	"				facesA[hullA->m_faceOffset+face].m_plane.y, \n"
-	"				facesA[hullA->m_faceOffset+face].m_plane.z,0.f);\n"
-	"			const float4 faceANormalWS = qtRotate(ornA,Normal);\n"
-	"		\n"
-	"			float d = dot3F4(faceANormalWS,separatingNormal);\n"
-	"			if (d < dmin)\n"
-	"			{\n"
-	"				dmin = d;\n"
-	"				closestFaceA = face;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	if (closestFaceA<0)\n"
-	"		return numContactsOut;\n"
-	"	b3GpuFace_t polyA = facesA[hullA->m_faceOffset+closestFaceA];\n"
-	"	// clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n"
-	"	int numVerticesA = polyA.m_numIndices;\n"
-	"	for(int e0=0;e0<numVerticesA;e0++)\n"
-	"	{\n"
-	"		const float4 a = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+e0]];\n"
-	"		const float4 b = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+((e0+1)%numVerticesA)]];\n"
-	"		const float4 edge0 = a - b;\n"
-	"		const float4 WorldEdge0 = qtRotate(ornA,edge0);\n"
-	"		float4 planeNormalA = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n"
-	"		float4 worldPlaneAnormal1 = qtRotate(ornA,planeNormalA);\n"
-	"		float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n"
-	"		float4 worldA1 = transform(&a,&posA,&ornA);\n"
-	"		float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n"
-	"		\n"
-	"		float4 planeNormalWS = planeNormalWS1;\n"
-	"		float planeEqWS=planeEqWS1;\n"
-	"		\n"
-	"		//clip face\n"
-	"		//clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);\n"
-	"		numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut);\n"
-	"		//btSwap(pVtxIn,pVtxOut);\n"
-	"		float4* tmp = pVtxOut;\n"
-	"		pVtxOut = pVtxIn;\n"
-	"		pVtxIn = tmp;\n"
-	"		numVertsIn = numVertsOut;\n"
-	"		numVertsOut = 0;\n"
-	"	}\n"
-	"	\n"
-	"	// only keep points that are behind the witness face\n"
-	"	{\n"
-	"		float4 localPlaneNormal  = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n"
-	"		float localPlaneEq = polyA.m_plane.w;\n"
-	"		float4 planeNormalWS = qtRotate(ornA,localPlaneNormal);\n"
-	"		float planeEqWS=localPlaneEq-dot3F4(planeNormalWS,posA);\n"
-	"		for (int i=0;i<numVertsIn;i++)\n"
-	"		{\n"
-	"			float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n"
-	"			if (depth <=minDist)\n"
-	"			{\n"
-	"				depth = minDist;\n"
-	"			}\n"
-	"			if (depth <=maxDist)\n"
-	"			{\n"
-	"				float4 pointInWorld = pVtxIn[i];\n"
-	"				//resultOut.addContactPoint(separatingNormal,point,depth);\n"
-	"				contactsOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	return numContactsOut;\n"
-	"}\n"
-	"int	clipHullAgainstHull(const float4 separatingNormal,\n"
-	"	__global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, \n"
-	"	const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB, \n"
-	"	float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,\n"
-	"	const float minDist, float maxDist,\n"
-	"	__global const float4* vertices,\n"
-	"	__global const b3GpuFace_t* faces,\n"
-	"	__global const int* indices,\n"
-	"	float4*	localContactsOut,\n"
-	"	int localContactCapacity)\n"
-	"{\n"
-	"	int numContactsOut = 0;\n"
-	"	int numWorldVertsB1= 0;\n"
-	"	int closestFaceB=-1;\n"
-	"	float dmax = -FLT_MAX;\n"
-	"	{\n"
-	"		for(int face=0;face<hullB->m_numFaces;face++)\n"
-	"		{\n"
-	"			const float4 Normal = make_float4(faces[hullB->m_faceOffset+face].m_plane.x, \n"
-	"				faces[hullB->m_faceOffset+face].m_plane.y, faces[hullB->m_faceOffset+face].m_plane.z,0.f);\n"
-	"			const float4 WorldNormal = qtRotate(ornB, Normal);\n"
-	"			float d = dot3F4(WorldNormal,separatingNormal);\n"
-	"			if (d > dmax)\n"
-	"			{\n"
-	"				dmax = d;\n"
-	"				closestFaceB = face;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	{\n"
-	"		const b3GpuFace_t polyB = faces[hullB->m_faceOffset+closestFaceB];\n"
-	"		const int numVertices = polyB.m_numIndices;\n"
-	"		for(int e0=0;e0<numVertices;e0++)\n"
-	"		{\n"
-	"			const float4 b = vertices[hullB->m_vertexOffset+indices[polyB.m_indexOffset+e0]];\n"
-	"			worldVertsB1[numWorldVertsB1++] = transform(&b,&posB,&ornB);\n"
-	"		}\n"
-	"	}\n"
-	"	if (closestFaceB>=0)\n"
-	"	{\n"
-	"		numContactsOut = clipFaceAgainstHull(separatingNormal, hullA, \n"
-	"				posA,ornA,\n"
-	"				worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist,vertices,\n"
-	"				faces,\n"
-	"				indices,localContactsOut,localContactCapacity);\n"
-	"	}\n"
-	"	return numContactsOut;\n"
-	"}\n"
-	"int	clipHullAgainstHullLocalA(const float4 separatingNormal,\n"
-	"	const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, \n"
-	"	const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB, \n"
-	"	float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,\n"
-	"	const float minDist, float maxDist,\n"
-	"	const float4* verticesA,\n"
-	"	const b3GpuFace_t* facesA,\n"
-	"	const int* indicesA,\n"
-	"	__global const float4* verticesB,\n"
-	"	__global const b3GpuFace_t* facesB,\n"
-	"	__global const int* indicesB,\n"
-	"	float4*	localContactsOut,\n"
-	"	int localContactCapacity)\n"
-	"{\n"
-	"	int numContactsOut = 0;\n"
-	"	int numWorldVertsB1= 0;\n"
-	"	int closestFaceB=-1;\n"
-	"	float dmax = -FLT_MAX;\n"
-	"	{\n"
-	"		for(int face=0;face<hullB->m_numFaces;face++)\n"
-	"		{\n"
-	"			const float4 Normal = make_float4(facesB[hullB->m_faceOffset+face].m_plane.x, \n"
-	"				facesB[hullB->m_faceOffset+face].m_plane.y, facesB[hullB->m_faceOffset+face].m_plane.z,0.f);\n"
-	"			const float4 WorldNormal = qtRotate(ornB, Normal);\n"
-	"			float d = dot3F4(WorldNormal,separatingNormal);\n"
-	"			if (d > dmax)\n"
-	"			{\n"
-	"				dmax = d;\n"
-	"				closestFaceB = face;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	{\n"
-	"		const b3GpuFace_t polyB = facesB[hullB->m_faceOffset+closestFaceB];\n"
-	"		const int numVertices = polyB.m_numIndices;\n"
-	"		for(int e0=0;e0<numVertices;e0++)\n"
-	"		{\n"
-	"			const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];\n"
-	"			worldVertsB1[numWorldVertsB1++] = transform(&b,&posB,&ornB);\n"
-	"		}\n"
-	"	}\n"
-	"	if (closestFaceB>=0)\n"
-	"	{\n"
-	"		numContactsOut = clipFaceAgainstHullLocalA(separatingNormal, hullA, \n"
-	"				posA,ornA,\n"
-	"				worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist,\n"
-	"				verticesA,facesA,indicesA,\n"
-	"				verticesB,facesB,indicesB,\n"
-	"				localContactsOut,localContactCapacity);\n"
-	"	}\n"
-	"	return numContactsOut;\n"
-	"}\n"
-	"#define PARALLEL_SUM(v, n) for(int j=1; j<n; j++) v[0] += v[j];\n"
-	"#define PARALLEL_DO(execution, n) for(int ie=0; ie<n; ie++){execution;}\n"
-	"#define REDUCE_MAX(v, n) {int i=0; for(int offset=0; offset<n; offset++) v[i] = (v[i].y > v[i+offset].y)? v[i]: v[i+offset]; }\n"
-	"#define REDUCE_MIN(v, n) {int i=0; for(int offset=0; offset<n; offset++) v[i] = (v[i].y < v[i+offset].y)? v[i]: v[i+offset]; }\n"
-	"int extractManifoldSequentialGlobal(__global const float4* p, int nPoints, float4 nearNormal, int4* contactIdx)\n"
-	"{\n"
-	"	if( nPoints == 0 )\n"
-	"        return 0;\n"
-	"    \n"
-	"    if (nPoints <=4)\n"
-	"        return nPoints;\n"
-	"    \n"
-	"    \n"
-	"    if (nPoints >64)\n"
-	"        nPoints = 64;\n"
-	"    \n"
-	"	float4 center = make_float4(0.f);\n"
-	"	{\n"
-	"		\n"
-	"		for (int i=0;i<nPoints;i++)\n"
-	"			center += p[i];\n"
-	"		center /= (float)nPoints;\n"
-	"	}\n"
-	"    \n"
-	"	\n"
-	"    \n"
-	"	//	sample 4 directions\n"
-	"    \n"
-	"    float4 aVector = p[0] - center;\n"
-	"    float4 u = cross3( nearNormal, aVector );\n"
-	"    float4 v = cross3( nearNormal, u );\n"
-	"    u = normalize3( u );\n"
-	"    v = normalize3( v );\n"
-	"    \n"
-	"    \n"
-	"    //keep point with deepest penetration\n"
-	"    float minW= FLT_MAX;\n"
-	"    \n"
-	"    int minIndex=-1;\n"
-	"    \n"
-	"    float4 maxDots;\n"
-	"    maxDots.x = FLT_MIN;\n"
-	"    maxDots.y = FLT_MIN;\n"
-	"    maxDots.z = FLT_MIN;\n"
-	"    maxDots.w = FLT_MIN;\n"
-	"    \n"
-	"    //	idx, distance\n"
-	"    for(int ie = 0; ie<nPoints; ie++ )\n"
-	"    {\n"
-	"        if (p[ie].w<minW)\n"
-	"        {\n"
-	"            minW = p[ie].w;\n"
-	"            minIndex=ie;\n"
-	"        }\n"
-	"        float f;\n"
-	"        float4 r = p[ie]-center;\n"
-	"        f = dot3F4( u, r );\n"
-	"        if (f<maxDots.x)\n"
-	"        {\n"
-	"            maxDots.x = f;\n"
-	"            contactIdx[0].x = ie;\n"
-	"        }\n"
-	"        \n"
-	"        f = dot3F4( -u, r );\n"
-	"        if (f<maxDots.y)\n"
-	"        {\n"
-	"            maxDots.y = f;\n"
-	"            contactIdx[0].y = ie;\n"
-	"        }\n"
-	"        \n"
-	"        \n"
-	"        f = dot3F4( v, r );\n"
-	"        if (f<maxDots.z)\n"
-	"        {\n"
-	"            maxDots.z = f;\n"
-	"            contactIdx[0].z = ie;\n"
-	"        }\n"
-	"        \n"
-	"        f = dot3F4( -v, r );\n"
-	"        if (f<maxDots.w)\n"
-	"        {\n"
-	"            maxDots.w = f;\n"
-	"            contactIdx[0].w = ie;\n"
-	"        }\n"
-	"        \n"
-	"    }\n"
-	"    \n"
-	"    if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)\n"
-	"    {\n"
-	"        //replace the first contact with minimum (todo: replace contact with least penetration)\n"
-	"        contactIdx[0].x = minIndex;\n"
-	"    }\n"
-	"    \n"
-	"    return 4;\n"
-	"    \n"
-	"}\n"
-	"int extractManifoldSequentialGlobalFake(__global const float4* p, int nPoints, float4 nearNormal, int* contactIdx)\n"
-	"{\n"
-	"    contactIdx[0] = 0;\n"
-	"    contactIdx[1] = 1;\n"
-	"    contactIdx[2] = 2;\n"
-	"    contactIdx[3] = 3;\n"
-	"    \n"
-	"	if( nPoints == 0 ) return 0;\n"
-	"    \n"
-	"	nPoints = min2( nPoints, 4 );\n"
-	"    return nPoints;\n"
-	"    \n"
-	"}\n"
-	"int extractManifoldSequential(const float4* p, int nPoints, float4 nearNormal, int* contactIdx)\n"
-	"{\n"
-	"	if( nPoints == 0 ) return 0;\n"
-	"	nPoints = min2( nPoints, 64 );\n"
-	"	float4 center = make_float4(0.f);\n"
-	"	{\n"
-	"		float4 v[64];\n"
-	"		for (int i=0;i<nPoints;i++)\n"
-	"			v[i] = p[i];\n"
-	"		//memcpy( v, p, nPoints*sizeof(float4) );\n"
-	"		PARALLEL_SUM( v, nPoints );\n"
-	"		center = v[0]/(float)nPoints;\n"
-	"	}\n"
-	"	\n"
-	"	{	//	sample 4 directions\n"
-	"		if( nPoints < 4 )\n"
-	"		{\n"
-	"			for(int i=0; i<nPoints; i++) \n"
-	"				contactIdx[i] = i;\n"
-	"			return nPoints;\n"
-	"		}\n"
-	"		float4 aVector = p[0] - center;\n"
-	"		float4 u = cross3( nearNormal, aVector );\n"
-	"		float4 v = cross3( nearNormal, u );\n"
-	"		u = normalize3( u );\n"
-	"		v = normalize3( v );\n"
-	"		int idx[4];\n"
-	"		float2 max00 = make_float2(0,FLT_MAX);\n"
-	"		{\n"
-	"			//	idx, distance\n"
-	"			{\n"
-	"				{\n"
-	"					int4 a[64];\n"
-	"					for(int ie = 0; ie<nPoints; ie++ )\n"
-	"					{\n"
-	"						\n"
-	"						\n"
-	"						float f;\n"
-	"						float4 r = p[ie]-center;\n"
-	"						f = dot3F4( u, r );\n"
-	"						a[ie].x = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n"
-	"						f = dot3F4( -u, r );\n"
-	"						a[ie].y = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n"
-	"						f = dot3F4( v, r );\n"
-	"						a[ie].z = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n"
-	"						f = dot3F4( -v, r );\n"
-	"						a[ie].w = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n"
-	"					}\n"
-	"					for(int ie=0; ie<nPoints; ie++)\n"
-	"					{\n"
-	"						a[0].x = (a[0].x > a[ie].x )? a[0].x: a[ie].x;\n"
-	"						a[0].y = (a[0].y > a[ie].y )? a[0].y: a[ie].y;\n"
-	"						a[0].z = (a[0].z > a[ie].z )? a[0].z: a[ie].z;\n"
-	"						a[0].w = (a[0].w > a[ie].w )? a[0].w: a[ie].w;\n"
-	"					}\n"
-	"					idx[0] = (int)a[0].x & 0xff;\n"
-	"					idx[1] = (int)a[0].y & 0xff;\n"
-	"					idx[2] = (int)a[0].z & 0xff;\n"
-	"					idx[3] = (int)a[0].w & 0xff;\n"
-	"				}\n"
-	"			}\n"
-	"			{\n"
-	"				float2 h[64];\n"
-	"				PARALLEL_DO( h[ie] = make_float2((float)ie, p[ie].w), nPoints );\n"
-	"				REDUCE_MIN( h, nPoints );\n"
-	"				max00 = h[0];\n"
-	"			}\n"
-	"		}\n"
-	"		contactIdx[0] = idx[0];\n"
-	"		contactIdx[1] = idx[1];\n"
-	"		contactIdx[2] = idx[2];\n"
-	"		contactIdx[3] = idx[3];\n"
-	"		return 4;\n"
-	"	}\n"
-	"}\n"
-	"__kernel void   extractManifoldAndAddContactKernel(__global const int4* pairs, \n"
-	"																	__global const b3RigidBodyData_t* rigidBodies, \n"
-	"																	__global const float4* closestPointsWorld,\n"
-	"																	__global const float4* separatingNormalsWorld,\n"
-	"																	__global const int* contactCounts,\n"
-	"																	__global const int* contactOffsets,\n"
-	"																	__global struct b3Contact4Data* restrict contactsOut,\n"
-	"																	counter32_t nContactsOut,\n"
-	"																	int contactCapacity,\n"
-	"																	int numPairs,\n"
-	"																	int pairIndex\n"
-	"																	)\n"
-	"{\n"
-	"	int idx = get_global_id(0);\n"
-	"	\n"
-	"	if (idx<numPairs)\n"
-	"	{\n"
-	"		float4 normal = separatingNormalsWorld[idx];\n"
-	"		int nPoints = contactCounts[idx];\n"
-	"		__global const float4* pointsIn = &closestPointsWorld[contactOffsets[idx]];\n"
-	"		float4 localPoints[64];\n"
-	"		for (int i=0;i<nPoints;i++)\n"
-	"		{\n"
-	"			localPoints[i] = pointsIn[i];\n"
-	"		}\n"
-	"		int contactIdx[4];// = {-1,-1,-1,-1};\n"
-	"		contactIdx[0] = -1;\n"
-	"		contactIdx[1] = -1;\n"
-	"		contactIdx[2] = -1;\n"
-	"		contactIdx[3] = -1;\n"
-	"		int nContacts = extractManifoldSequential(localPoints, nPoints, normal, contactIdx);\n"
-	"		int dstIdx;\n"
-	"		AppendInc( nContactsOut, dstIdx );\n"
-	"		if (dstIdx<contactCapacity)\n"
-	"		{\n"
-	"			__global struct b3Contact4Data* c = contactsOut + dstIdx;\n"
-	"			c->m_worldNormalOnB = -normal;\n"
-	"			c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-	"			c->m_batchIdx = idx;\n"
-	"			int bodyA = pairs[pairIndex].x;\n"
-	"			int bodyB = pairs[pairIndex].y;\n"
-	"			c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0 ? -bodyA:bodyA;\n"
-	"			c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0 ? -bodyB:bodyB;\n"
-	"			c->m_childIndexA = -1;\n"
-	"			c->m_childIndexB = -1;\n"
-	"			for (int i=0;i<nContacts;i++)\n"
-	"			{\n"
-	"				c->m_worldPosB[i] = localPoints[contactIdx[i]];\n"
-	"			}\n"
-	"			GET_NPOINTS(*c) = nContacts;\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"void	trInverse(float4 translationIn, Quaternion orientationIn,\n"
-	"		float4* translationOut, Quaternion* orientationOut)\n"
-	"{\n"
-	"	*orientationOut = qtInvert(orientationIn);\n"
-	"	*translationOut = qtRotate(*orientationOut, -translationIn);\n"
-	"}\n"
-	"void	trMul(float4 translationA, Quaternion orientationA,\n"
-	"						float4 translationB, Quaternion orientationB,\n"
-	"		float4* translationOut, Quaternion* orientationOut)\n"
-	"{\n"
-	"	*orientationOut = qtMul(orientationA,orientationB);\n"
-	"	*translationOut = transform(&translationB,&translationA,&orientationA);\n"
-	"}\n"
-	"__kernel void   clipHullHullKernel( __global int4* pairs, \n"
-	"																					__global const b3RigidBodyData_t* rigidBodies, \n"
-	"																					__global const b3Collidable_t* collidables,\n"
-	"																					__global const b3ConvexPolyhedronData_t* convexShapes, \n"
-	"																					__global const float4* vertices,\n"
-	"																					__global const float4* uniqueEdges,\n"
-	"																					__global const b3GpuFace_t* faces,\n"
-	"																					__global const int* indices,\n"
-	"																					__global const float4* separatingNormals,\n"
-	"																					__global const int* hasSeparatingAxis,\n"
-	"																					__global struct b3Contact4Data* restrict globalContactsOut,\n"
-	"																					counter32_t nGlobalContactsOut,\n"
-	"																					int numPairs,\n"
-	"																					int contactCapacity)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	int pairIndex = i;\n"
-	"	\n"
-	"	float4 worldVertsB1[64];\n"
-	"	float4 worldVertsB2[64];\n"
-	"	int capacityWorldVerts = 64;	\n"
-	"	float4 localContactsOut[64];\n"
-	"	int localContactCapacity=64;\n"
-	"	\n"
-	"	float minDist = -1e30f;\n"
-	"	float maxDist = 0.02f;\n"
-	"	if (i<numPairs)\n"
-	"	{\n"
-	"		int bodyIndexA = pairs[i].x;\n"
-	"		int bodyIndexB = pairs[i].y;\n"
-	"			\n"
-	"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-	"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-	"		if (hasSeparatingAxis[i])\n"
-	"		{\n"
-	"			\n"
-	"			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-	"			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-	"			\n"
-	"		\n"
-	"			int numLocalContactsOut = clipHullAgainstHull(separatingNormals[i],\n"
-	"														&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],\n"
-	"														rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,\n"
-	"													  rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,\n"
-	"													  worldVertsB1,worldVertsB2,capacityWorldVerts,\n"
-	"														minDist, maxDist,\n"
-	"														vertices,faces,indices,\n"
-	"														localContactsOut,localContactCapacity);\n"
-	"												\n"
-	"		if (numLocalContactsOut>0)\n"
-	"		{\n"
-	"				float4 normal = -separatingNormals[i];\n"
-	"				int nPoints = numLocalContactsOut;\n"
-	"				float4* pointsIn = localContactsOut;\n"
-	"				int contactIdx[4];// = {-1,-1,-1,-1};\n"
-	"				contactIdx[0] = -1;\n"
-	"				contactIdx[1] = -1;\n"
-	"				contactIdx[2] = -1;\n"
-	"				contactIdx[3] = -1;\n"
-	"		\n"
-	"				int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);\n"
-	"		\n"
-	"				\n"
-	"				int mprContactIndex = pairs[pairIndex].z;\n"
-	"				int dstIdx = mprContactIndex;\n"
-	"				if (dstIdx<0)\n"
-	"				{\n"
-	"					AppendInc( nGlobalContactsOut, dstIdx );\n"
-	"				}\n"
-	"				if (dstIdx<contactCapacity)\n"
-	"				{\n"
-	"					pairs[pairIndex].z = dstIdx;\n"
-	"					__global struct b3Contact4Data* c = globalContactsOut+ dstIdx;\n"
-	"					c->m_worldNormalOnB = -normal;\n"
-	"					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-	"					c->m_batchIdx = pairIndex;\n"
-	"					int bodyA = pairs[pairIndex].x;\n"
-	"					int bodyB = pairs[pairIndex].y;\n"
-	"					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
-	"					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
-	"					c->m_childIndexA = -1;\n"
-	"					c->m_childIndexB = -1;\n"
-	"					for (int i=0;i<nReducedContacts;i++)\n"
-	"					{\n"
-	"					//this condition means: overwrite contact point, unless at index i==0 we have a valid 'mpr' contact\n"
-	"						if (i>0||(mprContactIndex<0))\n"
-	"						{\n"
-	"							c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n"
-	"						}\n"
-	"					}\n"
-	"					GET_NPOINTS(*c) = nReducedContacts;\n"
-	"				}\n"
-	"				\n"
-	"			}//		if (numContactsOut>0)\n"
-	"		}//		if (hasSeparatingAxis[i])\n"
-	"	}//	if (i<numPairs)\n"
-	"}\n"
-	"__kernel void   clipCompoundsHullHullKernel( __global const int4* gpuCompoundPairs, \n"
-	"																					__global const b3RigidBodyData_t* rigidBodies, \n"
-	"																					__global const b3Collidable_t* collidables,\n"
-	"																					__global const b3ConvexPolyhedronData_t* convexShapes, \n"
-	"																					__global const float4* vertices,\n"
-	"																					__global const float4* uniqueEdges,\n"
-	"																					__global const b3GpuFace_t* faces,\n"
-	"																					__global const int* indices,\n"
-	"																					__global const b3GpuChildShape_t* gpuChildShapes,\n"
-	"																					__global const float4* gpuCompoundSepNormalsOut,\n"
-	"																					__global const int* gpuHasCompoundSepNormalsOut,\n"
-	"																					__global struct b3Contact4Data* restrict globalContactsOut,\n"
-	"																					counter32_t nGlobalContactsOut,\n"
-	"																					int numCompoundPairs, int maxContactCapacity)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	int pairIndex = i;\n"
-	"	\n"
-	"	float4 worldVertsB1[64];\n"
-	"	float4 worldVertsB2[64];\n"
-	"	int capacityWorldVerts = 64;	\n"
-	"	float4 localContactsOut[64];\n"
-	"	int localContactCapacity=64;\n"
-	"	\n"
-	"	float minDist = -1e30f;\n"
-	"	float maxDist = 0.02f;\n"
-	"	if (i<numCompoundPairs)\n"
-	"	{\n"
-	"		if (gpuHasCompoundSepNormalsOut[i])\n"
-	"		{\n"
-	"			int bodyIndexA = gpuCompoundPairs[i].x;\n"
-	"			int bodyIndexB = gpuCompoundPairs[i].y;\n"
-	"			\n"
-	"			int childShapeIndexA = gpuCompoundPairs[i].z;\n"
-	"			int childShapeIndexB = gpuCompoundPairs[i].w;\n"
-	"			\n"
-	"			int collidableIndexA = -1;\n"
-	"			int collidableIndexB = -1;\n"
-	"			\n"
-	"			float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-	"			float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-	"			\n"
-	"			float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
-	"			float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-	"								\n"
-	"			if (childShapeIndexA >= 0)\n"
-	"			{\n"
-	"				collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;\n"
-	"				float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;\n"
-	"				float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;\n"
-	"				float4 newPosA = qtRotate(ornA,childPosA)+posA;\n"
-	"				float4 newOrnA = qtMul(ornA,childOrnA);\n"
-	"				posA = newPosA;\n"
-	"				ornA = newOrnA;\n"
-	"			} else\n"
-	"			{\n"
-	"				collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-	"			}\n"
-	"			\n"
-	"			if (childShapeIndexB>=0)\n"
-	"			{\n"
-	"				collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
-	"				float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
-	"				float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
-	"				float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
-	"				float4 newOrnB = qtMul(ornB,childOrnB);\n"
-	"				posB = newPosB;\n"
-	"				ornB = newOrnB;\n"
-	"			} else\n"
-	"			{\n"
-	"				collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;	\n"
-	"			}\n"
-	"			\n"
-	"			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-	"			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-	"		\n"
-	"			int numLocalContactsOut = clipHullAgainstHull(gpuCompoundSepNormalsOut[i],\n"
-	"														&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],\n"
-	"														posA,ornA,\n"
-	"													  posB,ornB,\n"
-	"													  worldVertsB1,worldVertsB2,capacityWorldVerts,\n"
-	"														minDist, maxDist,\n"
-	"														vertices,faces,indices,\n"
-	"														localContactsOut,localContactCapacity);\n"
-	"												\n"
-	"		if (numLocalContactsOut>0)\n"
-	"		{\n"
-	"				float4 normal = -gpuCompoundSepNormalsOut[i];\n"
-	"				int nPoints = numLocalContactsOut;\n"
-	"				float4* pointsIn = localContactsOut;\n"
-	"				int contactIdx[4];// = {-1,-1,-1,-1};\n"
-	"				contactIdx[0] = -1;\n"
-	"				contactIdx[1] = -1;\n"
-	"				contactIdx[2] = -1;\n"
-	"				contactIdx[3] = -1;\n"
-	"		\n"
-	"				int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);\n"
-	"		\n"
-	"				int dstIdx;\n"
-	"				AppendInc( nGlobalContactsOut, dstIdx );\n"
-	"				if ((dstIdx+nReducedContacts) < maxContactCapacity)\n"
-	"				{\n"
-	"					__global struct b3Contact4Data* c = globalContactsOut+ dstIdx;\n"
-	"					c->m_worldNormalOnB = -normal;\n"
-	"					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-	"					c->m_batchIdx = pairIndex;\n"
-	"					int bodyA = gpuCompoundPairs[pairIndex].x;\n"
-	"					int bodyB = gpuCompoundPairs[pairIndex].y;\n"
-	"					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
-	"					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
-	"					c->m_childIndexA = childShapeIndexA;\n"
-	"					c->m_childIndexB = childShapeIndexB;\n"
-	"					for (int i=0;i<nReducedContacts;i++)\n"
-	"					{\n"
-	"						c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n"
-	"					}\n"
-	"					GET_NPOINTS(*c) = nReducedContacts;\n"
-	"				}\n"
-	"				\n"
-	"			}//		if (numContactsOut>0)\n"
-	"		}//		if (gpuHasCompoundSepNormalsOut[i])\n"
-	"	}//	if (i<numCompoundPairs)\n"
-	"}\n"
-	"__kernel void   sphereSphereCollisionKernel( __global const int4* pairs, \n"
-	"																					__global const b3RigidBodyData_t* rigidBodies, \n"
-	"																					__global const b3Collidable_t* collidables,\n"
-	"																					__global const float4* separatingNormals,\n"
-	"																					__global const int* hasSeparatingAxis,\n"
-	"																					__global struct b3Contact4Data* restrict globalContactsOut,\n"
-	"																					counter32_t nGlobalContactsOut,\n"
-	"																					int contactCapacity,\n"
-	"																					int numPairs)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	int pairIndex = i;\n"
-	"	\n"
-	"	if (i<numPairs)\n"
-	"	{\n"
-	"		int bodyIndexA = pairs[i].x;\n"
-	"		int bodyIndexB = pairs[i].y;\n"
-	"			\n"
-	"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-	"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-	"		if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n"
-	"			collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n"
-	"		{\n"
-	"			//sphere-sphere\n"
-	"			float radiusA = collidables[collidableIndexA].m_radius;\n"
-	"			float radiusB = collidables[collidableIndexB].m_radius;\n"
-	"			float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-	"			float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-	"			float4 diff = posA-posB;\n"
-	"			float len = length(diff);\n"
-	"			\n"
-	"			///iff distance positive, don't generate a new contact\n"
-	"			if ( len <= (radiusA+radiusB))\n"
-	"			{\n"
-	"				///distance (negative means penetration)\n"
-	"				float dist = len - (radiusA+radiusB);\n"
-	"				float4 normalOnSurfaceB = make_float4(1.f,0.f,0.f,0.f);\n"
-	"				if (len > 0.00001)\n"
-	"				{\n"
-	"					normalOnSurfaceB = diff / len;\n"
-	"				}\n"
-	"				float4 contactPosB = posB + normalOnSurfaceB*radiusB;\n"
-	"				contactPosB.w = dist;\n"
-	"								\n"
-	"				int dstIdx;\n"
-	"				AppendInc( nGlobalContactsOut, dstIdx );\n"
-	"				if (dstIdx < contactCapacity)\n"
-	"				{\n"
-	"					__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
-	"					c->m_worldNormalOnB = -normalOnSurfaceB;\n"
-	"					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-	"					c->m_batchIdx = pairIndex;\n"
-	"					int bodyA = pairs[pairIndex].x;\n"
-	"					int bodyB = pairs[pairIndex].y;\n"
-	"					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
-	"					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
-	"					c->m_worldPosB[0] = contactPosB;\n"
-	"					c->m_childIndexA = -1;\n"
-	"					c->m_childIndexB = -1;\n"
-	"					GET_NPOINTS(*c) = 1;\n"
-	"				}//if (dstIdx < numPairs)\n"
-	"			}//if ( len <= (radiusA+radiusB))\n"
-	"		}//SHAPE_SPHERE SHAPE_SPHERE\n"
-	"	}//if (i<numPairs)\n"
-	"}				\n"
-	"__kernel void   clipHullHullConcaveConvexKernel( __global int4* concavePairsIn,\n"
-	"																					__global const b3RigidBodyData_t* rigidBodies, \n"
-	"																					__global const b3Collidable_t* collidables,\n"
-	"																					__global const b3ConvexPolyhedronData_t* convexShapes, \n"
-	"																					__global const float4* vertices,\n"
-	"																					__global const float4* uniqueEdges,\n"
-	"																					__global const b3GpuFace_t* faces,\n"
-	"																					__global const int* indices,\n"
-	"																					__global const b3GpuChildShape_t* gpuChildShapes,\n"
-	"																					__global const float4* separatingNormals,\n"
-	"																					__global struct b3Contact4Data* restrict globalContactsOut,\n"
-	"																					counter32_t nGlobalContactsOut,\n"
-	"																					int contactCapacity,\n"
-	"																					int numConcavePairs)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	int pairIndex = i;\n"
-	"	\n"
-	"	float4 worldVertsB1[64];\n"
-	"	float4 worldVertsB2[64];\n"
-	"	int capacityWorldVerts = 64;	\n"
-	"	float4 localContactsOut[64];\n"
-	"	int localContactCapacity=64;\n"
-	"	\n"
-	"	float minDist = -1e30f;\n"
-	"	float maxDist = 0.02f;\n"
-	"	if (i<numConcavePairs)\n"
-	"	{\n"
-	"		//negative value means that the pair is invalid\n"
-	"		if (concavePairsIn[i].w<0)\n"
-	"			return;\n"
-	"		int bodyIndexA = concavePairsIn[i].x;\n"
-	"		int bodyIndexB = concavePairsIn[i].y;\n"
-	"		int f = concavePairsIn[i].z;\n"
-	"		int childShapeIndexA = f;\n"
-	"		\n"
-	"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-	"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-	"		\n"
-	"		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-	"		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-	"		\n"
-	"		///////////////////////////////////////////////////////////////\n"
-	"		\n"
-	"	\n"
-	"		bool overlap = false;\n"
-	"		\n"
-	"		b3ConvexPolyhedronData_t convexPolyhedronA;\n"
-	"	//add 3 vertices of the triangle\n"
-	"		convexPolyhedronA.m_numVertices = 3;\n"
-	"		convexPolyhedronA.m_vertexOffset = 0;\n"
-	"		float4	localCenter = make_float4(0.f,0.f,0.f,0.f);\n"
-	"		b3GpuFace_t face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
-	"		\n"
-	"		float4 verticesA[3];\n"
-	"		for (int i=0;i<3;i++)\n"
-	"		{\n"
-	"			int index = indices[face.m_indexOffset+i];\n"
-	"			float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n"
-	"			verticesA[i] = vert;\n"
-	"			localCenter += vert;\n"
-	"		}\n"
-	"		float dmin = FLT_MAX;\n"
-	"		int localCC=0;\n"
-	"		//a triangle has 3 unique edges\n"
-	"		convexPolyhedronA.m_numUniqueEdges = 3;\n"
-	"		convexPolyhedronA.m_uniqueEdgesOffset = 0;\n"
-	"		float4 uniqueEdgesA[3];\n"
-	"		\n"
-	"		uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);\n"
-	"		uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);\n"
-	"		uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);\n"
-	"		convexPolyhedronA.m_faceOffset = 0;\n"
-	"                                  \n"
-	"		float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);\n"
-	"                             \n"
-	"		b3GpuFace_t facesA[TRIANGLE_NUM_CONVEX_FACES];\n"
-	"		int indicesA[3+3+2+2+2];\n"
-	"		int curUsedIndices=0;\n"
-	"		int fidx=0;\n"
-	"		//front size of triangle\n"
-	"		{\n"
-	"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
-	"			indicesA[0] = 0;\n"
-	"			indicesA[1] = 1;\n"
-	"			indicesA[2] = 2;\n"
-	"			curUsedIndices+=3;\n"
-	"			float c = face.m_plane.w;\n"
-	"			facesA[fidx].m_plane.x = normal.x;\n"
-	"			facesA[fidx].m_plane.y = normal.y;\n"
-	"			facesA[fidx].m_plane.z = normal.z;\n"
-	"			facesA[fidx].m_plane.w = c;\n"
-	"			facesA[fidx].m_numIndices=3;\n"
-	"		}\n"
-	"		fidx++;\n"
-	"		//back size of triangle\n"
-	"		{\n"
-	"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
-	"			indicesA[3]=2;\n"
-	"			indicesA[4]=1;\n"
-	"			indicesA[5]=0;\n"
-	"			curUsedIndices+=3;\n"
-	"			float c = dot3F4(normal,verticesA[0]);\n"
-	"			float c1 = -face.m_plane.w;\n"
-	"			facesA[fidx].m_plane.x = -normal.x;\n"
-	"			facesA[fidx].m_plane.y = -normal.y;\n"
-	"			facesA[fidx].m_plane.z = -normal.z;\n"
-	"			facesA[fidx].m_plane.w = c;\n"
-	"			facesA[fidx].m_numIndices=3;\n"
-	"		}\n"
-	"		fidx++;\n"
-	"		bool addEdgePlanes = true;\n"
-	"		if (addEdgePlanes)\n"
-	"		{\n"
-	"			int numVertices=3;\n"
-	"			int prevVertex = numVertices-1;\n"
-	"			for (int i=0;i<numVertices;i++)\n"
-	"			{\n"
-	"				float4 v0 = verticesA[i];\n"
-	"				float4 v1 = verticesA[prevVertex];\n"
-	"                                            \n"
-	"				float4 edgeNormal = normalize(cross(normal,v1-v0));\n"
-	"				float c = -dot3F4(edgeNormal,v0);\n"
-	"				facesA[fidx].m_numIndices = 2;\n"
-	"				facesA[fidx].m_indexOffset=curUsedIndices;\n"
-	"				indicesA[curUsedIndices++]=i;\n"
-	"				indicesA[curUsedIndices++]=prevVertex;\n"
-	"                                            \n"
-	"				facesA[fidx].m_plane.x = edgeNormal.x;\n"
-	"				facesA[fidx].m_plane.y = edgeNormal.y;\n"
-	"				facesA[fidx].m_plane.z = edgeNormal.z;\n"
-	"				facesA[fidx].m_plane.w = c;\n"
-	"				fidx++;\n"
-	"				prevVertex = i;\n"
-	"			}\n"
-	"		}\n"
-	"		convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;\n"
-	"		convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);\n"
-	"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-	"		posA.w = 0.f;\n"
-	"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-	"		posB.w = 0.f;\n"
-	"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-	"		float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
-	"		float4 sepAxis = separatingNormals[i];\n"
-	"		\n"
-	"		int shapeTypeB = collidables[collidableIndexB].m_shapeType;\n"
-	"		int childShapeIndexB =-1;\n"
-	"		if (shapeTypeB==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-	"		{\n"
-	"			///////////////////\n"
-	"			///compound shape support\n"
-	"			\n"
-	"			childShapeIndexB = concavePairsIn[pairIndex].w;\n"
-	"			int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
-	"			shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
-	"			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
-	"			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
-	"			float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
-	"			float4 newOrnB = qtMul(ornB,childOrnB);\n"
-	"			posB = newPosB;\n"
-	"			ornB = newOrnB;\n"
-	"			\n"
-	"		}\n"
-	"		\n"
-	"		////////////////////////////////////////\n"
-	"		\n"
-	"		\n"
-	"		\n"
-	"		int numLocalContactsOut = clipHullAgainstHullLocalA(sepAxis,\n"
-	"														&convexPolyhedronA, &convexShapes[shapeIndexB],\n"
-	"														posA,ornA,\n"
-	"													  posB,ornB,\n"
-	"													  worldVertsB1,worldVertsB2,capacityWorldVerts,\n"
-	"														minDist, maxDist,\n"
-	"														&verticesA,&facesA,&indicesA,\n"
-	"														vertices,faces,indices,\n"
-	"														localContactsOut,localContactCapacity);\n"
-	"												\n"
-	"		if (numLocalContactsOut>0)\n"
-	"		{\n"
-	"			float4 normal = -separatingNormals[i];\n"
-	"			int nPoints = numLocalContactsOut;\n"
-	"			float4* pointsIn = localContactsOut;\n"
-	"			int contactIdx[4];// = {-1,-1,-1,-1};\n"
-	"			contactIdx[0] = -1;\n"
-	"			contactIdx[1] = -1;\n"
-	"			contactIdx[2] = -1;\n"
-	"			contactIdx[3] = -1;\n"
-	"	\n"
-	"			int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);\n"
-	"	\n"
-	"			int dstIdx;\n"
-	"			AppendInc( nGlobalContactsOut, dstIdx );\n"
-	"			if (dstIdx<contactCapacity)\n"
-	"			{\n"
-	"				__global struct b3Contact4Data* c = globalContactsOut+ dstIdx;\n"
-	"				c->m_worldNormalOnB = -normal;\n"
-	"				c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-	"				c->m_batchIdx = pairIndex;\n"
-	"				int bodyA = concavePairsIn[pairIndex].x;\n"
-	"				int bodyB = concavePairsIn[pairIndex].y;\n"
-	"				c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
-	"				c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
-	"				c->m_childIndexA = childShapeIndexA;\n"
-	"				c->m_childIndexB = childShapeIndexB;\n"
-	"				for (int i=0;i<nReducedContacts;i++)\n"
-	"				{\n"
-	"					c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n"
-	"				}\n"
-	"				GET_NPOINTS(*c) = nReducedContacts;\n"
-	"			}\n"
-	"				\n"
-	"		}//		if (numContactsOut>0)\n"
-	"	}//	if (i<numPairs)\n"
-	"}\n"
-	"int	findClippingFaces(const float4 separatingNormal,\n"
-	"                      __global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB,\n"
-	"                      const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,\n"
-	"                       __global float4* worldVertsA1,\n"
-	"                      __global float4* worldNormalsA1,\n"
-	"                      __global float4* worldVertsB1,\n"
-	"                      int capacityWorldVerts,\n"
-	"                      const float minDist, float maxDist,\n"
-	"                      __global const float4* vertices,\n"
-	"                      __global const b3GpuFace_t* faces,\n"
-	"                      __global const int* indices,\n"
-	"                      __global int4* clippingFaces, int pairIndex)\n"
-	"{\n"
-	"	int numContactsOut = 0;\n"
-	"	int numWorldVertsB1= 0;\n"
-	"    \n"
-	"    \n"
-	"	int closestFaceB=-1;\n"
-	"	float dmax = -FLT_MAX;\n"
-	"    \n"
-	"	{\n"
-	"		for(int face=0;face<hullB->m_numFaces;face++)\n"
-	"		{\n"
-	"			const float4 Normal = make_float4(faces[hullB->m_faceOffset+face].m_plane.x,\n"
-	"                                              faces[hullB->m_faceOffset+face].m_plane.y, faces[hullB->m_faceOffset+face].m_plane.z,0.f);\n"
-	"			const float4 WorldNormal = qtRotate(ornB, Normal);\n"
-	"			float d = dot3F4(WorldNormal,separatingNormal);\n"
-	"			if (d > dmax)\n"
-	"			{\n"
-	"				dmax = d;\n"
-	"				closestFaceB = face;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"    \n"
-	"	{\n"
-	"		const b3GpuFace_t polyB = faces[hullB->m_faceOffset+closestFaceB];\n"
-	"		const int numVertices = polyB.m_numIndices;\n"
-	"		for(int e0=0;e0<numVertices;e0++)\n"
-	"		{\n"
-	"			const float4 b = vertices[hullB->m_vertexOffset+indices[polyB.m_indexOffset+e0]];\n"
-	"			worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);\n"
-	"		}\n"
-	"	}\n"
-	"    \n"
-	"    int closestFaceA=-1;\n"
-	"	{\n"
-	"		float dmin = FLT_MAX;\n"
-	"		for(int face=0;face<hullA->m_numFaces;face++)\n"
-	"		{\n"
-	"			const float4 Normal = make_float4(\n"
-	"                                              faces[hullA->m_faceOffset+face].m_plane.x,\n"
-	"                                              faces[hullA->m_faceOffset+face].m_plane.y,\n"
-	"                                              faces[hullA->m_faceOffset+face].m_plane.z,\n"
-	"                                              0.f);\n"
-	"			const float4 faceANormalWS = qtRotate(ornA,Normal);\n"
-	"            \n"
-	"			float d = dot3F4(faceANormalWS,separatingNormal);\n"
-	"			if (d < dmin)\n"
-	"			{\n"
-	"				dmin = d;\n"
-	"				closestFaceA = face;\n"
-	"                worldNormalsA1[pairIndex] = faceANormalWS;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"    \n"
-	"    int numVerticesA = faces[hullA->m_faceOffset+closestFaceA].m_numIndices;\n"
-	"	for(int e0=0;e0<numVerticesA;e0++)\n"
-	"	{\n"
-	"        const float4 a = vertices[hullA->m_vertexOffset+indices[faces[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];\n"
-	"        worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);\n"
-	"    }\n"
-	"    \n"
-	"    clippingFaces[pairIndex].x = closestFaceA;\n"
-	"    clippingFaces[pairIndex].y = closestFaceB;\n"
-	"    clippingFaces[pairIndex].z = numVerticesA;\n"
-	"    clippingFaces[pairIndex].w = numWorldVertsB1;\n"
-	"    \n"
-	"    \n"
-	"	return numContactsOut;\n"
-	"}\n"
-	"int clipFaces(__global float4* worldVertsA1,\n"
-	"              __global float4* worldNormalsA1,\n"
-	"              __global float4* worldVertsB1,\n"
-	"              __global float4* worldVertsB2, \n"
-	"              int capacityWorldVertsB2,\n"
-	"              const float minDist, float maxDist,\n"
-	"              __global int4* clippingFaces,\n"
-	"              int pairIndex)\n"
-	"{\n"
-	"	int numContactsOut = 0;\n"
-	"    \n"
-	"    int closestFaceA = clippingFaces[pairIndex].x;\n"
-	"    int closestFaceB = clippingFaces[pairIndex].y;\n"
-	"	int numVertsInA = clippingFaces[pairIndex].z;\n"
-	"	int numVertsInB = clippingFaces[pairIndex].w;\n"
-	"    \n"
-	"	int numVertsOut = 0;\n"
-	"    \n"
-	"	if (closestFaceA<0)\n"
-	"		return numContactsOut;\n"
-	"    \n"
-	"    __global float4* pVtxIn = &worldVertsB1[pairIndex*capacityWorldVertsB2];\n"
-	"    __global float4* pVtxOut = &worldVertsB2[pairIndex*capacityWorldVertsB2];\n"
-	"    \n"
-	"    \n"
-	"	\n"
-	"	// clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n"
-	"    \n"
-	"	for(int e0=0;e0<numVertsInA;e0++)\n"
-	"	{\n"
-	"		const float4 aw = worldVertsA1[pairIndex*capacityWorldVertsB2+e0];\n"
-	"		const float4 bw = worldVertsA1[pairIndex*capacityWorldVertsB2+((e0+1)%numVertsInA)];\n"
-	"		const float4 WorldEdge0 = aw - bw;\n"
-	"		float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex];\n"
-	"		float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n"
-	"		float4 worldA1 = aw;\n"
-	"		float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n"
-	"		float4 planeNormalWS = planeNormalWS1;\n"
-	"		float planeEqWS=planeEqWS1;\n"
-	"		numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS,planeEqWS, pVtxOut);\n"
-	"		__global float4* tmp = pVtxOut;\n"
-	"		pVtxOut = pVtxIn;\n"
-	"		pVtxIn = tmp;\n"
-	"		numVertsInB = numVertsOut;\n"
-	"		numVertsOut = 0;\n"
-	"	}\n"
-	"    \n"
-	"    //float4 planeNormalWS = worldNormalsA1[pairIndex];\n"
-	"    //float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);\n"
-	"    \n"
-	"    /*for (int i=0;i<numVertsInB;i++)\n"
-	"    {\n"
-	"        pVtxOut[i] = pVtxIn[i];\n"
-	"    }*/\n"
-	"    \n"
-	"    \n"
-	"    \n"
-	"    \n"
-	"    //numVertsInB=0;\n"
-	"	\n"
-	"    float4 planeNormalWS = worldNormalsA1[pairIndex];\n"
-	"    float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);\n"
-	"    for (int i=0;i<numVertsInB;i++)\n"
-	"    {\n"
-	"        float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n"
-	"        if (depth <=minDist)\n"
-	"        {\n"
-	"            depth = minDist;\n"
-	"        }\n"
-	"        \n"
-	"        if (depth <=maxDist)\n"
-	"        {\n"
-	"            float4 pointInWorld = pVtxIn[i];\n"
-	"            pVtxOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n"
-	"        }\n"
-	"    }\n"
-	"   \n"
-	"    clippingFaces[pairIndex].w =numContactsOut;\n"
-	"   \n"
-	"    \n"
-	"	return numContactsOut;\n"
-	"}\n"
-	"__kernel void   findClippingFacesKernel(  __global const int4* pairs,\n"
-	"                                        __global const b3RigidBodyData_t* rigidBodies,\n"
-	"                                        __global const b3Collidable_t* collidables,\n"
-	"                                        __global const b3ConvexPolyhedronData_t* convexShapes,\n"
-	"                                        __global const float4* vertices,\n"
-	"                                        __global const float4* uniqueEdges,\n"
-	"                                        __global const b3GpuFace_t* faces,\n"
-	"                                        __global const int* indices,\n"
-	"                                        __global const float4* separatingNormals,\n"
-	"                                        __global const int* hasSeparatingAxis,\n"
-	"                                        __global int4* clippingFacesOut,\n"
-	"                                        __global float4* worldVertsA1,\n"
-	"                                        __global float4* worldNormalsA1,\n"
-	"                                        __global float4* worldVertsB1,\n"
-	"                                        int capacityWorldVerts,\n"
-	"                                        int numPairs\n"
-	"                                        )\n"
-	"{\n"
-	"    \n"
-	"	int i = get_global_id(0);\n"
-	"	int pairIndex = i;\n"
-	"    \n"
-	"	\n"
-	"	float minDist = -1e30f;\n"
-	"	float maxDist = 0.02f;\n"
-	"    \n"
-	"	if (i<numPairs)\n"
-	"	{\n"
-	"        \n"
-	"		if (hasSeparatingAxis[i])\n"
-	"		{\n"
-	"            \n"
-	"			int bodyIndexA = pairs[i].x;\n"
-	"			int bodyIndexB = pairs[i].y;\n"
-	"			\n"
-	"			int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-	"			int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-	"			\n"
-	"			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-	"			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-	"			\n"
-	"            \n"
-	"            \n"
-	"			int numLocalContactsOut = findClippingFaces(separatingNormals[i],\n"
-	"                                                        &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],\n"
-	"                                                        rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,\n"
-	"                                                        rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,\n"
-	"                                                        worldVertsA1,\n"
-	"                                                        worldNormalsA1,\n"
-	"                                                        worldVertsB1,capacityWorldVerts,\n"
-	"                                                        minDist, maxDist,\n"
-	"                                                        vertices,faces,indices,\n"
-	"                                                        clippingFacesOut,i);\n"
-	"            \n"
-	"            \n"
-	"		}//		if (hasSeparatingAxis[i])\n"
-	"	}//	if (i<numPairs)\n"
-	"    \n"
-	"}\n"
-	"__kernel void   clipFacesAndFindContactsKernel(    __global const float4* separatingNormals,\n"
-	"                                                   __global const int* hasSeparatingAxis,\n"
-	"                                                   __global int4* clippingFacesOut,\n"
-	"                                                   __global float4* worldVertsA1,\n"
-	"                                                   __global float4* worldNormalsA1,\n"
-	"                                                   __global float4* worldVertsB1,\n"
-	"                                                   __global float4* worldVertsB2,\n"
-	"                                                    int vertexFaceCapacity,\n"
-	"                                                   int numPairs,\n"
-	"					                                        int debugMode\n"
-	"                                                   )\n"
-	"{\n"
-	"    int i = get_global_id(0);\n"
-	"	int pairIndex = i;\n"
-	"	\n"
-	"    \n"
-	"	float minDist = -1e30f;\n"
-	"	float maxDist = 0.02f;\n"
-	"    \n"
-	"	if (i<numPairs)\n"
-	"	{\n"
-	"        \n"
-	"		if (hasSeparatingAxis[i])\n"
-	"		{\n"
-	"            \n"
-	"//			int bodyIndexA = pairs[i].x;\n"
-	"	//		int bodyIndexB = pairs[i].y;\n"
-	"		    \n"
-	"            int numLocalContactsOut = 0;\n"
-	"            int capacityWorldVertsB2 = vertexFaceCapacity;\n"
-	"            \n"
-	"            __global float4* pVtxIn = &worldVertsB1[pairIndex*capacityWorldVertsB2];\n"
-	"            __global float4* pVtxOut = &worldVertsB2[pairIndex*capacityWorldVertsB2];\n"
-	"            \n"
-	"            {\n"
-	"                __global int4* clippingFaces = clippingFacesOut;\n"
-	"            \n"
-	"                \n"
-	"                int closestFaceA = clippingFaces[pairIndex].x;\n"
-	"                int closestFaceB = clippingFaces[pairIndex].y;\n"
-	"                int numVertsInA = clippingFaces[pairIndex].z;\n"
-	"                int numVertsInB = clippingFaces[pairIndex].w;\n"
-	"                \n"
-	"                int numVertsOut = 0;\n"
-	"                \n"
-	"                if (closestFaceA>=0)\n"
-	"                {\n"
-	"                    \n"
-	"                    \n"
-	"                    \n"
-	"                    // clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n"
-	"                    \n"
-	"                    for(int e0=0;e0<numVertsInA;e0++)\n"
-	"                    {\n"
-	"                        const float4 aw = worldVertsA1[pairIndex*capacityWorldVertsB2+e0];\n"
-	"                        const float4 bw = worldVertsA1[pairIndex*capacityWorldVertsB2+((e0+1)%numVertsInA)];\n"
-	"                        const float4 WorldEdge0 = aw - bw;\n"
-	"                        float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex];\n"
-	"                        float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n"
-	"                        float4 worldA1 = aw;\n"
-	"                        float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n"
-	"                        float4 planeNormalWS = planeNormalWS1;\n"
-	"                        float planeEqWS=planeEqWS1;\n"
-	"                        numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS,planeEqWS, pVtxOut);\n"
-	"                        __global float4* tmp = pVtxOut;\n"
-	"                        pVtxOut = pVtxIn;\n"
-	"                        pVtxIn = tmp;\n"
-	"                        numVertsInB = numVertsOut;\n"
-	"                        numVertsOut = 0;\n"
-	"                    }\n"
-	"                    \n"
-	"                    float4 planeNormalWS = worldNormalsA1[pairIndex];\n"
-	"                    float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);\n"
-	"                    \n"
-	"                    for (int i=0;i<numVertsInB;i++)\n"
-	"                    {\n"
-	"                        float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n"
-	"                        if (depth <=minDist)\n"
-	"                        {\n"
-	"                            depth = minDist;\n"
-	"                        }\n"
-	"                        \n"
-	"                        if (depth <=maxDist)\n"
-	"                        {\n"
-	"                            float4 pointInWorld = pVtxIn[i];\n"
-	"                            pVtxOut[numLocalContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n"
-	"                        }\n"
-	"                    }\n"
-	"                    \n"
-	"                }\n"
-	"                clippingFaces[pairIndex].w =numLocalContactsOut;\n"
-	"                \n"
-	"            }\n"
-	"            \n"
-	"            for (int i=0;i<numLocalContactsOut;i++)\n"
-	"                pVtxIn[i] = pVtxOut[i];\n"
-	"                \n"
-	"		}//		if (hasSeparatingAxis[i])\n"
-	"	}//	if (i<numPairs)\n"
-	"    \n"
-	"}\n"
-	"__kernel void   newContactReductionKernel( __global int4* pairs,\n"
-	"                                                   __global const b3RigidBodyData_t* rigidBodies,\n"
-	"                                                   __global const float4* separatingNormals,\n"
-	"                                                   __global const int* hasSeparatingAxis,\n"
-	"                                                   __global struct b3Contact4Data* globalContactsOut,\n"
-	"                                                   __global int4* clippingFaces,\n"
-	"                                                   __global float4* worldVertsB2,\n"
-	"                                                   volatile __global int* nGlobalContactsOut,\n"
-	"                                                   int vertexFaceCapacity,\n"
-	"												   int contactCapacity,\n"
-	"                                                   int numPairs\n"
-	"                                                   )\n"
-	"{\n"
-	"    int i = get_global_id(0);\n"
-	"	int pairIndex = i;\n"
-	"	\n"
-	"    int4 contactIdx;\n"
-	"    contactIdx=make_int4(0,1,2,3);\n"
-	"    \n"
-	"	if (i<numPairs)\n"
-	"	{\n"
-	"        \n"
-	"		if (hasSeparatingAxis[i])\n"
-	"		{\n"
-	"            \n"
-	"			\n"
-	"            \n"
-	"            \n"
-	"			int nPoints = clippingFaces[pairIndex].w;\n"
-	"           \n"
-	"            if (nPoints>0)\n"
-	"            {\n"
-	"                 __global float4* pointsIn = &worldVertsB2[pairIndex*vertexFaceCapacity];\n"
-	"                float4 normal = -separatingNormals[i];\n"
-	"                \n"
-	"                int nReducedContacts = extractManifoldSequentialGlobal(pointsIn, nPoints, normal, &contactIdx);\n"
-	"            \n"
-	"				int mprContactIndex = pairs[pairIndex].z;\n"
-	"                int dstIdx = mprContactIndex;\n"
-	"				if (dstIdx<0)\n"
-	"				{\n"
-	"	                AppendInc( nGlobalContactsOut, dstIdx );\n"
-	"				}\n"
-	"//#if 0\n"
-	"                \n"
-	"				if (dstIdx < contactCapacity)\n"
-	"				{\n"
-	"					__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
-	"					c->m_worldNormalOnB = -normal;\n"
-	"					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-	"					c->m_batchIdx = pairIndex;\n"
-	"					int bodyA = pairs[pairIndex].x;\n"
-	"					int bodyB = pairs[pairIndex].y;\n"
-	"					pairs[pairIndex].w = dstIdx;\n"
-	"					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
-	"					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
-	"                    c->m_childIndexA =-1;\n"
-	"					c->m_childIndexB =-1;\n"
-	"                    switch (nReducedContacts)\n"
-	"                    {\n"
-	"                        case 4:\n"
-	"                            c->m_worldPosB[3] = pointsIn[contactIdx.w];\n"
-	"                        case 3:\n"
-	"                            c->m_worldPosB[2] = pointsIn[contactIdx.z];\n"
-	"                        case 2:\n"
-	"                            c->m_worldPosB[1] = pointsIn[contactIdx.y];\n"
-	"                        case 1:\n"
-	"							if (mprContactIndex<0)//test\n"
-	"	                            c->m_worldPosB[0] = pointsIn[contactIdx.x];\n"
-	"                        default:\n"
-	"                        {\n"
-	"                        }\n"
-	"                    };\n"
-	"                    \n"
-	"					GET_NPOINTS(*c) = nReducedContacts;\n"
-	"                    \n"
-	"                 }\n"
-	"                 \n"
-	"                \n"
-	"//#endif\n"
-	"				\n"
-	"			}//		if (numContactsOut>0)\n"
-	"		}//		if (hasSeparatingAxis[i])\n"
-	"	}//	if (i<numPairs)\n"
-	"    \n"
-	"    \n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcave.cl b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcave.cl
deleted file mode 100644
index 31ca43b8cd..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcave.cl
+++ /dev/null
@@ -1,1220 +0,0 @@
-
-//keep this enum in sync with the CPU version (in btCollidable.h)
-//written by Erwin Coumans
-
-
-#define SHAPE_CONVEX_HULL 3
-#define SHAPE_CONCAVE_TRIMESH 5
-#define TRIANGLE_NUM_CONVEX_FACES 5
-#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6
-
-#define B3_MAX_STACK_DEPTH 256
-
-
-typedef unsigned int u32;
-
-///keep this in sync with btCollidable.h
-typedef struct
-{
-	union {
-		int m_numChildShapes;
-		int m_bvhIndex;
-	};
-	union
-	{
-		float m_radius;
-		int	m_compoundBvhIndex;
-	};
-	
-	int m_shapeType;
-	int m_shapeIndex;
-	
-} btCollidableGpu;
-
-#define MAX_NUM_PARTS_IN_BITS 10
-
-///b3QuantizedBvhNode is a compressed aabb node, 16 bytes.
-///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
-typedef struct
-{
-	//12 bytes
-	unsigned short int	m_quantizedAabbMin[3];
-	unsigned short int	m_quantizedAabbMax[3];
-	//4 bytes
-	int	m_escapeIndexOrTriangleIndex;
-} b3QuantizedBvhNode;
-
-typedef struct
-{
-	float4		m_aabbMin;
-	float4		m_aabbMax;
-	float4		m_quantization;
-	int			m_numNodes;
-	int			m_numSubTrees;
-	int			m_nodeOffset;
-	int			m_subTreeOffset;
-
-} b3BvhInfo;
-
-
-int	getTriangleIndex(const b3QuantizedBvhNode* rootNode)
-{
-	unsigned int x=0;
-	unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
-	// Get only the lower bits where the triangle index is stored
-	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));
-}
-
-int	getTriangleIndexGlobal(__global const b3QuantizedBvhNode* rootNode)
-{
-	unsigned int x=0;
-	unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
-	// Get only the lower bits where the triangle index is stored
-	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));
-}
-
-int isLeafNode(const b3QuantizedBvhNode* rootNode)
-{
-	//skipindex is negative (internal node), triangleindex >=0 (leafnode)
-	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;
-}
-
-int isLeafNodeGlobal(__global const b3QuantizedBvhNode* rootNode)
-{
-	//skipindex is negative (internal node), triangleindex >=0 (leafnode)
-	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;
-}
-	
-int getEscapeIndex(const b3QuantizedBvhNode* rootNode)
-{
-	return -rootNode->m_escapeIndexOrTriangleIndex;
-}
-
-int getEscapeIndexGlobal(__global const b3QuantizedBvhNode* rootNode)
-{
-	return -rootNode->m_escapeIndexOrTriangleIndex;
-}
-
-
-typedef struct
-{
-	//12 bytes
-	unsigned short int	m_quantizedAabbMin[3];
-	unsigned short int	m_quantizedAabbMax[3];
-	//4 bytes, points to the root of the subtree
-	int			m_rootNodeIndex;
-	//4 bytes
-	int			m_subtreeSize;
-	int			m_padding[3];
-} b3BvhSubtreeInfo;
-
-
-
-
-
-
-
-typedef struct
-{
-	float4	m_childPosition;
-	float4	m_childOrientation;
-	int m_shapeIndex;
-	int m_unused0;
-	int m_unused1;
-	int m_unused2;
-} btGpuChildShape;
-
-
-typedef struct
-{
-	float4 m_pos;
-	float4 m_quat;
-	float4 m_linVel;
-	float4 m_angVel;
-
-	u32 m_collidableIdx;
-	float m_invMass;
-	float m_restituitionCoeff;
-	float m_frictionCoeff;
-} BodyData;
-
-
-typedef struct  
-{
-	float4		m_localCenter;
-	float4		m_extents;
-	float4		mC;
-	float4		mE;
-	
-	float			m_radius;
-	int	m_faceOffset;
-	int m_numFaces;
-	int	m_numVertices;
-
-	int m_vertexOffset;
-	int	m_uniqueEdgesOffset;
-	int	m_numUniqueEdges;
-	int m_unused;
-} ConvexPolyhedronCL;
-
-typedef struct 
-{
-	union
-	{
-		float4	m_min;
-		float   m_minElems[4];
-		int			m_minIndices[4];
-	};
-	union
-	{
-		float4	m_max;
-		float   m_maxElems[4];
-		int			m_maxIndices[4];
-	};
-} btAabbCL;
-
-#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
-#include "Bullet3Common/shared/b3Int2.h"
-
-
-
-typedef struct
-{
-	float4 m_plane;
-	int m_indexOffset;
-	int m_numIndices;
-} btGpuFace;
-
-#define make_float4 (float4)
-
-
-__inline
-float4 cross3(float4 a, float4 b)
-{
-	return cross(a,b);
-
-	
-//	float4 a1 = make_float4(a.xyz,0.f);
-//	float4 b1 = make_float4(b.xyz,0.f);
-
-//	return cross(a1,b1);
-
-//float4 c = make_float4(a.y*b.z - a.z*b.y,a.z*b.x - a.x*b.z,a.x*b.y - a.y*b.x,0.f);
-	
-	//	float4 c = make_float4(a.y*b.z - a.z*b.y,1.f,a.x*b.y - a.y*b.x,0.f);
-	
-	//return c;
-}
-
-__inline
-float dot3F4(float4 a, float4 b)
-{
-	float4 a1 = make_float4(a.xyz,0.f);
-	float4 b1 = make_float4(b.xyz,0.f);
-	return dot(a1, b1);
-}
-
-__inline
-float4 fastNormalize4(float4 v)
-{
-	v = make_float4(v.xyz,0.f);
-	return fast_normalize(v);
-}
-
-
-///////////////////////////////////////
-//	Quaternion
-///////////////////////////////////////
-
-typedef float4 Quaternion;
-
-__inline
-Quaternion qtMul(Quaternion a, Quaternion b);
-
-__inline
-Quaternion qtNormalize(Quaternion in);
-
-__inline
-float4 qtRotate(Quaternion q, float4 vec);
-
-__inline
-Quaternion qtInvert(Quaternion q);
-
-
-
-
-__inline
-Quaternion qtMul(Quaternion a, Quaternion b)
-{
-	Quaternion ans;
-	ans = cross3( a, b );
-	ans += a.w*b+b.w*a;
-//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
-	ans.w = a.w*b.w - dot3F4(a, b);
-	return ans;
-}
-
-__inline
-Quaternion qtNormalize(Quaternion in)
-{
-	return fastNormalize4(in);
-//	in /= length( in );
-//	return in;
-}
-__inline
-float4 qtRotate(Quaternion q, float4 vec)
-{
-	Quaternion qInv = qtInvert( q );
-	float4 vcpy = vec;
-	vcpy.w = 0.f;
-	float4 out = qtMul(qtMul(q,vcpy),qInv);
-	return out;
-}
-
-__inline
-Quaternion qtInvert(Quaternion q)
-{
-	return (Quaternion)(-q.xyz, q.w);
-}
-
-__inline
-float4 qtInvRotate(const Quaternion q, float4 vec)
-{
-	return qtRotate( qtInvert( q ), vec );
-}
-
-__inline
-float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)
-{
-	return qtRotate( *orientation, *p ) + (*translation);
-}
-
-
-
-__inline
-float4 normalize3(const float4 a)
-{
-	float4 n = make_float4(a.x, a.y, a.z, 0.f);
-	return fastNormalize4( n );
-}
-
-inline void projectLocal(const ConvexPolyhedronCL* hull,  const float4 pos, const float4 orn, 
-const float4* dir, const float4* vertices, float* min, float* max)
-{
-	min[0] = FLT_MAX;
-	max[0] = -FLT_MAX;
-	int numVerts = hull->m_numVertices;
-
-	const float4 localDir = qtInvRotate(orn,*dir);
-	float offset = dot(pos,*dir);
-	for(int i=0;i<numVerts;i++)
-	{
-		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);
-		if(dp < min[0])	
-			min[0] = dp;
-		if(dp > max[0])	
-			max[0] = dp;
-	}
-	if(min[0]>max[0])
-	{
-		float tmp = min[0];
-		min[0] = max[0];
-		max[0] = tmp;
-	}
-	min[0] += offset;
-	max[0] += offset;
-}
-
-inline void project(__global const ConvexPolyhedronCL* hull,  const float4 pos, const float4 orn, 
-const float4* dir, __global const float4* vertices, float* min, float* max)
-{
-	min[0] = FLT_MAX;
-	max[0] = -FLT_MAX;
-	int numVerts = hull->m_numVertices;
-
-	const float4 localDir = qtInvRotate(orn,*dir);
-	float offset = dot(pos,*dir);
-	for(int i=0;i<numVerts;i++)
-	{
-		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);
-		if(dp < min[0])	
-			min[0] = dp;
-		if(dp > max[0])	
-			max[0] = dp;
-	}
-	if(min[0]>max[0])
-	{
-		float tmp = min[0];
-		min[0] = max[0];
-		max[0] = tmp;
-	}
-	min[0] += offset;
-	max[0] += offset;
-}
-
-inline bool TestSepAxisLocalA(const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, 
-	const float4 posA,const float4 ornA,
-	const float4 posB,const float4 ornB,
-	float4* sep_axis, const float4* verticesA, __global const float4* verticesB,float* depth)
-{
-	float Min0,Max0;
-	float Min1,Max1;
-	projectLocal(hullA,posA,ornA,sep_axis,verticesA, &Min0, &Max0);
-	project(hullB,posB,ornB, sep_axis,verticesB, &Min1, &Max1);
-
-	if(Max0<Min1 || Max1<Min0)
-		return false;
-
-	float d0 = Max0 - Min1;
-	float d1 = Max1 - Min0;
-	*depth = d0<d1 ? d0:d1;
-	return true;
-}
-
-
-
-
-inline bool IsAlmostZero(const float4 v)
-{
-	if(fabs(v.x)>1e-6f || fabs(v.y)>1e-6f || fabs(v.z)>1e-6f)
-		return false;
-	return true;
-}
-
-
-
-bool findSeparatingAxisLocalA(	const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, 
-	const float4 posA1,
-	const float4 ornA,
-	const float4 posB1,
-	const float4 ornB,
-	const float4 DeltaC2,
-	
-	const float4* verticesA, 
-	const float4* uniqueEdgesA, 
-	const btGpuFace* facesA,
-	const int*  indicesA,
-
-	__global const float4* verticesB, 
-	__global const float4* uniqueEdgesB, 
-	__global const btGpuFace* facesB,
-	__global const int*  indicesB,
-	float4* sep,
-	float* dmin)
-{
-	
-
-	float4 posA = posA1;
-	posA.w = 0.f;
-	float4 posB = posB1;
-	posB.w = 0.f;
-	int curPlaneTests=0;
-	{
-		int numFacesA = hullA->m_numFaces;
-		// Test normals from hullA
-		for(int i=0;i<numFacesA;i++)
-		{
-			const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;
-			float4 faceANormalWS = qtRotate(ornA,normal);
-			if (dot3F4(DeltaC2,faceANormalWS)<0)
-				faceANormalWS*=-1.f;
-			curPlaneTests++;
-			float d;
-			if(!TestSepAxisLocalA( hullA, hullB, posA,ornA,posB,ornB,&faceANormalWS, verticesA, verticesB,&d))
-				return false;
-			if(d<*dmin)
-			{
-				*dmin = d;
-				*sep = faceANormalWS;
-			}
-		}
-	}
-	if((dot3F4(-DeltaC2,*sep))>0.0f)
-	{
-		*sep = -(*sep);
-	}
-	return true;
-}
-
-bool findSeparatingAxisLocalB(	__global const ConvexPolyhedronCL* hullA,  const ConvexPolyhedronCL* hullB, 
-	const float4 posA1,
-	const float4 ornA,
-	const float4 posB1,
-	const float4 ornB,
-	const float4 DeltaC2,
-	__global const float4* verticesA, 
-	__global const float4* uniqueEdgesA, 
-	__global const btGpuFace* facesA,
-	__global const int*  indicesA,
-	const float4* verticesB,
-	const float4* uniqueEdgesB, 
-	const btGpuFace* facesB,
-	const int*  indicesB,
-	float4* sep,
-	float* dmin)
-{
-
-
-	float4 posA = posA1;
-	posA.w = 0.f;
-	float4 posB = posB1;
-	posB.w = 0.f;
-	int curPlaneTests=0;
-	{
-		int numFacesA = hullA->m_numFaces;
-		// Test normals from hullA
-		for(int i=0;i<numFacesA;i++)
-		{
-			const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;
-			float4 faceANormalWS = qtRotate(ornA,normal);
-			if (dot3F4(DeltaC2,faceANormalWS)<0)
-				faceANormalWS *= -1.f;
-			curPlaneTests++;
-			float d;
-			if(!TestSepAxisLocalA( hullB, hullA, posB,ornB,posA,ornA, &faceANormalWS, verticesB,verticesA, &d))
-				return false;
-			if(d<*dmin)
-			{
-				*dmin = d;
-				*sep = faceANormalWS;
-			}
-		}
-	}
-	if((dot3F4(-DeltaC2,*sep))>0.0f)
-	{
-		*sep = -(*sep);
-	}
-	return true;
-}
-
-
-
-bool findSeparatingAxisEdgeEdgeLocalA(	const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, 
-	const float4 posA1,
-	const float4 ornA,
-	const float4 posB1,
-	const float4 ornB,
-	const float4 DeltaC2,
-	const float4* verticesA, 
-	const float4* uniqueEdgesA, 
-	const btGpuFace* facesA,
-	const int*  indicesA,
-	__global const float4* verticesB, 
-	__global const float4* uniqueEdgesB, 
-	__global const btGpuFace* facesB,
-	__global const int*  indicesB,
-		float4* sep,
-	float* dmin)
-{
-
-
-	float4 posA = posA1;
-	posA.w = 0.f;
-	float4 posB = posB1;
-	posB.w = 0.f;
-
-	int curPlaneTests=0;
-
-	int curEdgeEdge = 0;
-	// Test edges
-	for(int e0=0;e0<hullA->m_numUniqueEdges;e0++)
-	{
-		const float4 edge0 = uniqueEdgesA[hullA->m_uniqueEdgesOffset+e0];
-		float4 edge0World = qtRotate(ornA,edge0);
-
-		for(int e1=0;e1<hullB->m_numUniqueEdges;e1++)
-		{
-			const float4 edge1 = uniqueEdgesB[hullB->m_uniqueEdgesOffset+e1];
-			float4 edge1World = qtRotate(ornB,edge1);
-
-
-			float4 crossje = cross3(edge0World,edge1World);
-
-			curEdgeEdge++;
-			if(!IsAlmostZero(crossje))
-			{
-				crossje = normalize3(crossje);
-				if (dot3F4(DeltaC2,crossje)<0)
-					crossje *= -1.f;
-
-				float dist;
-				bool result = true;
-				{
-					float Min0,Max0;
-					float Min1,Max1;
-					projectLocal(hullA,posA,ornA,&crossje,verticesA, &Min0, &Max0);
-					project(hullB,posB,ornB,&crossje,verticesB, &Min1, &Max1);
-				
-					if(Max0<Min1 || Max1<Min0)
-						result = false;
-				
-					float d0 = Max0 - Min1;
-					float d1 = Max1 - Min0;
-					dist = d0<d1 ? d0:d1;
-					result = true;
-
-				}
-				
-
-				if(dist<*dmin)
-				{
-					*dmin = dist;
-					*sep = crossje;
-				}
-			}
-		}
-
-	}
-
-	
-	if((dot3F4(-DeltaC2,*sep))>0.0f)
-	{
-		*sep = -(*sep);
-	}
-	return true;
-}
-
-
-
-inline int	findClippingFaces(const float4 separatingNormal,
-                      const ConvexPolyhedronCL* hullA, 
-					  __global const ConvexPolyhedronCL* hullB,
-                      const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,
-                       __global float4* worldVertsA1,
-                      __global float4* worldNormalsA1,
-                      __global float4* worldVertsB1,
-                      int capacityWorldVerts,
-                      const float minDist, float maxDist,
-					  const float4* verticesA,
-                      const btGpuFace* facesA,
-                      const int* indicesA,
-					  __global const float4* verticesB,
-                      __global const btGpuFace* facesB,
-                      __global const int* indicesB,
-                      __global int4* clippingFaces, int pairIndex)
-{
-	int numContactsOut = 0;
-	int numWorldVertsB1= 0;
-    
-    
-	int closestFaceB=0;
-	float dmax = -FLT_MAX;
-    
-	{
-		for(int face=0;face<hullB->m_numFaces;face++)
-		{
-			const float4 Normal = make_float4(facesB[hullB->m_faceOffset+face].m_plane.x,
-                                              facesB[hullB->m_faceOffset+face].m_plane.y, facesB[hullB->m_faceOffset+face].m_plane.z,0.f);
-			const float4 WorldNormal = qtRotate(ornB, Normal);
-			float d = dot3F4(WorldNormal,separatingNormal);
-			if (d > dmax)
-			{
-				dmax = d;
-				closestFaceB = face;
-			}
-		}
-	}
-    
-	{
-		const btGpuFace polyB = facesB[hullB->m_faceOffset+closestFaceB];
-		int numVertices = polyB.m_numIndices;
-        if (numVertices>capacityWorldVerts)
-            numVertices = capacityWorldVerts;
-        if (numVertices<0)
-            numVertices = 0;
-        
-		for(int e0=0;e0<numVertices;e0++)
-		{
-            if (e0<capacityWorldVerts)
-            {
-                const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];
-                worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);
-            }
-		}
-	}
-    
-    int closestFaceA=0;
-	{
-		float dmin = FLT_MAX;
-		for(int face=0;face<hullA->m_numFaces;face++)
-		{
-			const float4 Normal = make_float4(
-                                              facesA[hullA->m_faceOffset+face].m_plane.x,
-                                              facesA[hullA->m_faceOffset+face].m_plane.y,
-                                              facesA[hullA->m_faceOffset+face].m_plane.z,
-                                              0.f);
-			const float4 faceANormalWS = qtRotate(ornA,Normal);
-            
-			float d = dot3F4(faceANormalWS,separatingNormal);
-			if (d < dmin)
-			{
-				dmin = d;
-				closestFaceA = face;
-                worldNormalsA1[pairIndex] = faceANormalWS;
-			}
-		}
-	}
-    
-    int numVerticesA = facesA[hullA->m_faceOffset+closestFaceA].m_numIndices;
-    if (numVerticesA>capacityWorldVerts)
-       numVerticesA = capacityWorldVerts;
-    if (numVerticesA<0)
-        numVerticesA=0;
-    
-	for(int e0=0;e0<numVerticesA;e0++)
-	{
-        if (e0<capacityWorldVerts)
-        {
-            const float4 a = verticesA[hullA->m_vertexOffset+indicesA[facesA[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];
-            worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);
-        }
-    }
-    
-    clippingFaces[pairIndex].x = closestFaceA;
-    clippingFaces[pairIndex].y = closestFaceB;
-    clippingFaces[pairIndex].z = numVerticesA;
-    clippingFaces[pairIndex].w = numWorldVertsB1;
-    
-    
-	return numContactsOut;
-}
-
-
-
-
-// work-in-progress
-__kernel void   findConcaveSeparatingAxisVertexFaceKernel( __global int4* concavePairs,
-                                                __global const BodyData* rigidBodies,
-                                                __global const btCollidableGpu* collidables,
-                                                __global const ConvexPolyhedronCL* convexShapes,
-                                                __global const float4* vertices,
-                                                __global const float4* uniqueEdges,
-                                                __global const btGpuFace* faces,
-                                                __global const int* indices,
-                                                __global const btGpuChildShape* gpuChildShapes,
-                                                __global btAabbCL* aabbs,
-                                                __global float4* concaveSeparatingNormalsOut,
-                                                __global int* concaveHasSeparatingNormals,
-                                                __global int4* clippingFacesOut,
-                                                __global float4* worldVertsA1GPU,
-                                                __global float4*  worldNormalsAGPU,
-                                                __global float4* worldVertsB1GPU,
-                                                __global float* dmins,
-                                                int vertexFaceCapacity,
-                                                int numConcavePairs
-                                                )
-{
-    
-	int i = get_global_id(0);
-	if (i>=numConcavePairs)
-		return;
-    
-	concaveHasSeparatingNormals[i] = 0;
-    
-	int pairIdx = i;
-    
-	int bodyIndexA = concavePairs[i].x;
-	int bodyIndexB = concavePairs[i].y;
-    
-	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-    
-	int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
-	int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-    
-	if (collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL&&
-		collidables[collidableIndexB].m_shapeType!=SHAPE_COMPOUND_OF_CONVEX_HULLS)
-	{
-		concavePairs[pairIdx].w = -1;
-		return;
-	}
-    
-    
-    
-	int numFacesA = convexShapes[shapeIndexA].m_numFaces;
-	int numActualConcaveConvexTests = 0;
-	
-	int f = concavePairs[i].z;
-	
-	bool overlap = false;
-	
-	ConvexPolyhedronCL convexPolyhedronA;
-    
-	//add 3 vertices of the triangle
-	convexPolyhedronA.m_numVertices = 3;
-	convexPolyhedronA.m_vertexOffset = 0;
-	float4	localCenter = make_float4(0.f,0.f,0.f,0.f);
-    
-	btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];
-	float4 triMinAabb, triMaxAabb;
-	btAabbCL triAabb;
-	triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);
-	triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.f);
-	
-	float4 verticesA[3];
-	for (int i=0;i<3;i++)
-	{
-		int index = indices[face.m_indexOffset+i];
-		float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];
-		verticesA[i] = vert;
-		localCenter += vert;
-        
-		triAabb.m_min = min(triAabb.m_min,vert);
-		triAabb.m_max = max(triAabb.m_max,vert);
-        
-	}
-    
-	overlap = true;
-	overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;
-	overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;
-	overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;
-    
-	if (overlap)
-	{
-		float dmin = FLT_MAX;
-		int hasSeparatingAxis=5;
-		float4 sepAxis=make_float4(1,2,3,4);
-        
-		int localCC=0;
-		numActualConcaveConvexTests++;
-        
-		//a triangle has 3 unique edges
-		convexPolyhedronA.m_numUniqueEdges = 3;
-		convexPolyhedronA.m_uniqueEdgesOffset = 0;
-		float4 uniqueEdgesA[3];
-		
-		uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);
-		uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);
-		uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);
-        
-        
-		convexPolyhedronA.m_faceOffset = 0;
-        
-		float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);
-        
-		btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];
-		int indicesA[3+3+2+2+2];
-		int curUsedIndices=0;
-		int fidx=0;
-        
-		//front size of triangle
-		{
-			facesA[fidx].m_indexOffset=curUsedIndices;
-			indicesA[0] = 0;
-			indicesA[1] = 1;
-			indicesA[2] = 2;
-			curUsedIndices+=3;
-			float c = face.m_plane.w;
-			facesA[fidx].m_plane.x = normal.x;
-			facesA[fidx].m_plane.y = normal.y;
-			facesA[fidx].m_plane.z = normal.z;
-			facesA[fidx].m_plane.w = c;
-			facesA[fidx].m_numIndices=3;
-		}
-		fidx++;
-		//back size of triangle
-		{
-			facesA[fidx].m_indexOffset=curUsedIndices;
-			indicesA[3]=2;
-			indicesA[4]=1;
-			indicesA[5]=0;
-			curUsedIndices+=3;
-			float c = dot(normal,verticesA[0]);
-			float c1 = -face.m_plane.w;
-			facesA[fidx].m_plane.x = -normal.x;
-			facesA[fidx].m_plane.y = -normal.y;
-			facesA[fidx].m_plane.z = -normal.z;
-			facesA[fidx].m_plane.w = c;
-			facesA[fidx].m_numIndices=3;
-		}
-		fidx++;
-        
-		bool addEdgePlanes = true;
-		if (addEdgePlanes)
-		{
-			int numVertices=3;
-			int prevVertex = numVertices-1;
-			for (int i=0;i<numVertices;i++)
-			{
-				float4 v0 = verticesA[i];
-				float4 v1 = verticesA[prevVertex];
-                
-				float4 edgeNormal = normalize(cross(normal,v1-v0));
-				float c = -dot(edgeNormal,v0);
-                
-				facesA[fidx].m_numIndices = 2;
-				facesA[fidx].m_indexOffset=curUsedIndices;
-				indicesA[curUsedIndices++]=i;
-				indicesA[curUsedIndices++]=prevVertex;
-                
-				facesA[fidx].m_plane.x = edgeNormal.x;
-				facesA[fidx].m_plane.y = edgeNormal.y;
-				facesA[fidx].m_plane.z = edgeNormal.z;
-				facesA[fidx].m_plane.w = c;
-				fidx++;
-				prevVertex = i;
-			}
-		}
-		convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;
-		convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);
-        
-        
-		float4 posA = rigidBodies[bodyIndexA].m_pos;
-		posA.w = 0.f;
-		float4 posB = rigidBodies[bodyIndexB].m_pos;
-		posB.w = 0.f;
-        
-		float4 ornA = rigidBodies[bodyIndexA].m_quat;
-		float4 ornB =rigidBodies[bodyIndexB].m_quat;
-        
-		
-        
-        
-		///////////////////
-		///compound shape support
-        
-		if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
-		{
-			int compoundChild = concavePairs[pairIdx].w;
-			int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;
-			int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
-			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
-			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
-			float4 newPosB = transform(&childPosB,&posB,&ornB);
-			float4 newOrnB = qtMul(ornB,childOrnB);
-			posB = newPosB;
-			ornB = newOrnB;
-			shapeIndexB = collidables[childColIndexB].m_shapeIndex;
-		}
-		//////////////////
-        
-		float4 c0local = convexPolyhedronA.m_localCenter;
-		float4 c0 = transform(&c0local, &posA, &ornA);
-		float4 c1local = convexShapes[shapeIndexB].m_localCenter;
-		float4 c1 = transform(&c1local,&posB,&ornB);
-		const float4 DeltaC2 = c0 - c1;
-        
-        
-		bool sepA = findSeparatingAxisLocalA(	&convexPolyhedronA, &convexShapes[shapeIndexB],
-                                             posA,ornA,
-                                             posB,ornB,
-                                             DeltaC2,
-                                             verticesA,uniqueEdgesA,facesA,indicesA,
-                                             vertices,uniqueEdges,faces,indices,
-                                             &sepAxis,&dmin);
-		hasSeparatingAxis = 4;
-		if (!sepA)
-		{
-			hasSeparatingAxis = 0;
-		} else
-		{
-			bool sepB = findSeparatingAxisLocalB(	&convexShapes[shapeIndexB],&convexPolyhedronA,
-                                                 posB,ornB,
-                                                 posA,ornA,
-                                                 DeltaC2,
-                                                 vertices,uniqueEdges,faces,indices,
-                                                 verticesA,uniqueEdgesA,facesA,indicesA,
-                                                 &sepAxis,&dmin);
-            
-			if (!sepB)
-			{
-				hasSeparatingAxis = 0;
-			} else
-			{
-				hasSeparatingAxis = 1;
-			}
-		}	
-		
-		if (hasSeparatingAxis)
-		{
-            dmins[i] = dmin;
-			concaveSeparatingNormalsOut[pairIdx]=sepAxis;
-			concaveHasSeparatingNormals[i]=1;
-            
-		} else
-		{	
-			//mark this pair as in-active
-			concavePairs[pairIdx].w = -1;
-		}
-	}
-	else
-	{	
-		//mark this pair as in-active
-		concavePairs[pairIdx].w = -1;
-	}
-}
-
-
-
-
-// work-in-progress
-__kernel void   findConcaveSeparatingAxisEdgeEdgeKernel( __global int4* concavePairs,
-                                                          __global const BodyData* rigidBodies,
-                                                          __global const btCollidableGpu* collidables,
-                                                          __global const ConvexPolyhedronCL* convexShapes,
-                                                          __global const float4* vertices,
-                                                          __global const float4* uniqueEdges,
-                                                          __global const btGpuFace* faces,
-                                                          __global const int* indices,
-                                                          __global const btGpuChildShape* gpuChildShapes,
-                                                          __global btAabbCL* aabbs,
-                                                          __global float4* concaveSeparatingNormalsOut,
-                                                          __global int* concaveHasSeparatingNormals,
-                                                          __global int4* clippingFacesOut,
-                                                          __global float4* worldVertsA1GPU,
-                                                          __global float4*  worldNormalsAGPU,
-                                                          __global float4* worldVertsB1GPU,
-                                                          __global float* dmins,
-                                                          int vertexFaceCapacity,
-                                                          int numConcavePairs
-                                                          )
-{
-    
-	int i = get_global_id(0);
-	if (i>=numConcavePairs)
-		return;
-    
-	if (!concaveHasSeparatingNormals[i])
-        return;
-    
-	int pairIdx = i;
-    
-	int bodyIndexA = concavePairs[i].x;
-	int bodyIndexB = concavePairs[i].y;
-    
-	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-    
-	int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
-	int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-    
-    
-	int numFacesA = convexShapes[shapeIndexA].m_numFaces;
-	int numActualConcaveConvexTests = 0;
-	
-	int f = concavePairs[i].z;
-	
-	bool overlap = false;
-	
-	ConvexPolyhedronCL convexPolyhedronA;
-    
-	//add 3 vertices of the triangle
-	convexPolyhedronA.m_numVertices = 3;
-	convexPolyhedronA.m_vertexOffset = 0;
-	float4	localCenter = make_float4(0.f,0.f,0.f,0.f);
-    
-	btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];
-	float4 triMinAabb, triMaxAabb;
-	btAabbCL triAabb;
-	triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);
-	triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.f);
-	
-	float4 verticesA[3];
-	for (int i=0;i<3;i++)
-	{
-		int index = indices[face.m_indexOffset+i];
-		float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];
-		verticesA[i] = vert;
-		localCenter += vert;
-        
-		triAabb.m_min = min(triAabb.m_min,vert);
-		triAabb.m_max = max(triAabb.m_max,vert);
-        
-	}
-    
-	overlap = true;
-	overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;
-	overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;
-	overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;
-    
-	if (overlap)
-	{
-		float dmin = dmins[i];
-		int hasSeparatingAxis=5;
-		float4 sepAxis=make_float4(1,2,3,4);
-        sepAxis = concaveSeparatingNormalsOut[pairIdx];
-        
-		int localCC=0;
-		numActualConcaveConvexTests++;
-        
-		//a triangle has 3 unique edges
-		convexPolyhedronA.m_numUniqueEdges = 3;
-		convexPolyhedronA.m_uniqueEdgesOffset = 0;
-		float4 uniqueEdgesA[3];
-		
-		uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);
-		uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);
-		uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);
-        
-        
-		convexPolyhedronA.m_faceOffset = 0;
-        
-		float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);
-        
-		btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];
-		int indicesA[3+3+2+2+2];
-		int curUsedIndices=0;
-		int fidx=0;
-        
-		//front size of triangle
-		{
-			facesA[fidx].m_indexOffset=curUsedIndices;
-			indicesA[0] = 0;
-			indicesA[1] = 1;
-			indicesA[2] = 2;
-			curUsedIndices+=3;
-			float c = face.m_plane.w;
-			facesA[fidx].m_plane.x = normal.x;
-			facesA[fidx].m_plane.y = normal.y;
-			facesA[fidx].m_plane.z = normal.z;
-			facesA[fidx].m_plane.w = c;
-			facesA[fidx].m_numIndices=3;
-		}
-		fidx++;
-		//back size of triangle
-		{
-			facesA[fidx].m_indexOffset=curUsedIndices;
-			indicesA[3]=2;
-			indicesA[4]=1;
-			indicesA[5]=0;
-			curUsedIndices+=3;
-			float c = dot(normal,verticesA[0]);
-			float c1 = -face.m_plane.w;
-			facesA[fidx].m_plane.x = -normal.x;
-			facesA[fidx].m_plane.y = -normal.y;
-			facesA[fidx].m_plane.z = -normal.z;
-			facesA[fidx].m_plane.w = c;
-			facesA[fidx].m_numIndices=3;
-		}
-		fidx++;
-        
-		bool addEdgePlanes = true;
-		if (addEdgePlanes)
-		{
-			int numVertices=3;
-			int prevVertex = numVertices-1;
-			for (int i=0;i<numVertices;i++)
-			{
-				float4 v0 = verticesA[i];
-				float4 v1 = verticesA[prevVertex];
-                
-				float4 edgeNormal = normalize(cross(normal,v1-v0));
-				float c = -dot(edgeNormal,v0);
-                
-				facesA[fidx].m_numIndices = 2;
-				facesA[fidx].m_indexOffset=curUsedIndices;
-				indicesA[curUsedIndices++]=i;
-				indicesA[curUsedIndices++]=prevVertex;
-                
-				facesA[fidx].m_plane.x = edgeNormal.x;
-				facesA[fidx].m_plane.y = edgeNormal.y;
-				facesA[fidx].m_plane.z = edgeNormal.z;
-				facesA[fidx].m_plane.w = c;
-				fidx++;
-				prevVertex = i;
-			}
-		}
-		convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;
-		convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);
-        
-        
-		float4 posA = rigidBodies[bodyIndexA].m_pos;
-		posA.w = 0.f;
-		float4 posB = rigidBodies[bodyIndexB].m_pos;
-		posB.w = 0.f;
-        
-		float4 ornA = rigidBodies[bodyIndexA].m_quat;
-		float4 ornB =rigidBodies[bodyIndexB].m_quat;
-        
-		
-        
-        
-		///////////////////
-		///compound shape support
-        
-		if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
-		{
-			int compoundChild = concavePairs[pairIdx].w;
-			int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;
-			int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
-			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
-			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
-			float4 newPosB = transform(&childPosB,&posB,&ornB);
-			float4 newOrnB = qtMul(ornB,childOrnB);
-			posB = newPosB;
-			ornB = newOrnB;
-			shapeIndexB = collidables[childColIndexB].m_shapeIndex;
-		}
-		//////////////////
-        
-		float4 c0local = convexPolyhedronA.m_localCenter;
-		float4 c0 = transform(&c0local, &posA, &ornA);
-		float4 c1local = convexShapes[shapeIndexB].m_localCenter;
-		float4 c1 = transform(&c1local,&posB,&ornB);
-		const float4 DeltaC2 = c0 - c1;
-        
-        
-		{
-			bool sepEE = findSeparatingAxisEdgeEdgeLocalA(	&convexPolyhedronA, &convexShapes[shapeIndexB],
-                                                              posA,ornA,
-                                                              posB,ornB,
-                                                              DeltaC2,
-                                                              verticesA,uniqueEdgesA,facesA,indicesA,
-                                                              vertices,uniqueEdges,faces,indices,
-                                                              &sepAxis,&dmin);
-                
-			if (!sepEE)
-			{
-				hasSeparatingAxis = 0;
-			} else
-			{
-				hasSeparatingAxis = 1;
-			}
-		}
-		
-		
-		if (hasSeparatingAxis)
-		{
-			sepAxis.w = dmin;
-            dmins[i] = dmin;
-			concaveSeparatingNormalsOut[pairIdx]=sepAxis;
-			concaveHasSeparatingNormals[i]=1;
-           
- 	float minDist = -1e30f;
-			float maxDist = 0.02f;
-
-            
-            findClippingFaces(sepAxis,
-                              &convexPolyhedronA,
-                              &convexShapes[shapeIndexB],
-                              posA,ornA,
-                              posB,ornB,
-                              worldVertsA1GPU,
-                              worldNormalsAGPU,
-                              worldVertsB1GPU,
-                              vertexFaceCapacity,
-                              minDist, maxDist,
-                              verticesA,
-                              facesA,
-                              indicesA,
-                              vertices,
-                              faces,
-                              indices,
-                              clippingFacesOut, pairIdx);
-	           
-            
-		} else
-		{	
-			//mark this pair as in-active
-			concavePairs[pairIdx].w = -1;
-		}
-	}
-	else
-	{	
-		//mark this pair as in-active
-		concavePairs[pairIdx].w = -1;
-	}
-	
-	concavePairs[i].z = -1;//for the next stage, z is used to determine existing contact points
-}
-
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcaveKernels.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcaveKernels.h
deleted file mode 100644
index a60702ca62..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcaveKernels.h
+++ /dev/null
@@ -1,1456 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* satConcaveKernelsCL =
-	"//keep this enum in sync with the CPU version (in btCollidable.h)\n"
-	"//written by Erwin Coumans\n"
-	"#define SHAPE_CONVEX_HULL 3\n"
-	"#define SHAPE_CONCAVE_TRIMESH 5\n"
-	"#define TRIANGLE_NUM_CONVEX_FACES 5\n"
-	"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
-	"#define B3_MAX_STACK_DEPTH 256\n"
-	"typedef unsigned int u32;\n"
-	"///keep this in sync with btCollidable.h\n"
-	"typedef struct\n"
-	"{\n"
-	"	union {\n"
-	"		int m_numChildShapes;\n"
-	"		int m_bvhIndex;\n"
-	"	};\n"
-	"	union\n"
-	"	{\n"
-	"		float m_radius;\n"
-	"		int	m_compoundBvhIndex;\n"
-	"	};\n"
-	"	\n"
-	"	int m_shapeType;\n"
-	"	int m_shapeIndex;\n"
-	"	\n"
-	"} btCollidableGpu;\n"
-	"#define MAX_NUM_PARTS_IN_BITS 10\n"
-	"///b3QuantizedBvhNode is a compressed aabb node, 16 bytes.\n"
-	"///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).\n"
-	"typedef struct\n"
-	"{\n"
-	"	//12 bytes\n"
-	"	unsigned short int	m_quantizedAabbMin[3];\n"
-	"	unsigned short int	m_quantizedAabbMax[3];\n"
-	"	//4 bytes\n"
-	"	int	m_escapeIndexOrTriangleIndex;\n"
-	"} b3QuantizedBvhNode;\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4		m_aabbMin;\n"
-	"	float4		m_aabbMax;\n"
-	"	float4		m_quantization;\n"
-	"	int			m_numNodes;\n"
-	"	int			m_numSubTrees;\n"
-	"	int			m_nodeOffset;\n"
-	"	int			m_subTreeOffset;\n"
-	"} b3BvhInfo;\n"
-	"int	getTriangleIndex(const b3QuantizedBvhNode* rootNode)\n"
-	"{\n"
-	"	unsigned int x=0;\n"
-	"	unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);\n"
-	"	// Get only the lower bits where the triangle index is stored\n"
-	"	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));\n"
-	"}\n"
-	"int	getTriangleIndexGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
-	"{\n"
-	"	unsigned int x=0;\n"
-	"	unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);\n"
-	"	// Get only the lower bits where the triangle index is stored\n"
-	"	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));\n"
-	"}\n"
-	"int isLeafNode(const b3QuantizedBvhNode* rootNode)\n"
-	"{\n"
-	"	//skipindex is negative (internal node), triangleindex >=0 (leafnode)\n"
-	"	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;\n"
-	"}\n"
-	"int isLeafNodeGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
-	"{\n"
-	"	//skipindex is negative (internal node), triangleindex >=0 (leafnode)\n"
-	"	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;\n"
-	"}\n"
-	"	\n"
-	"int getEscapeIndex(const b3QuantizedBvhNode* rootNode)\n"
-	"{\n"
-	"	return -rootNode->m_escapeIndexOrTriangleIndex;\n"
-	"}\n"
-	"int getEscapeIndexGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
-	"{\n"
-	"	return -rootNode->m_escapeIndexOrTriangleIndex;\n"
-	"}\n"
-	"typedef struct\n"
-	"{\n"
-	"	//12 bytes\n"
-	"	unsigned short int	m_quantizedAabbMin[3];\n"
-	"	unsigned short int	m_quantizedAabbMax[3];\n"
-	"	//4 bytes, points to the root of the subtree\n"
-	"	int			m_rootNodeIndex;\n"
-	"	//4 bytes\n"
-	"	int			m_subtreeSize;\n"
-	"	int			m_padding[3];\n"
-	"} b3BvhSubtreeInfo;\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4	m_childPosition;\n"
-	"	float4	m_childOrientation;\n"
-	"	int m_shapeIndex;\n"
-	"	int m_unused0;\n"
-	"	int m_unused1;\n"
-	"	int m_unused2;\n"
-	"} btGpuChildShape;\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_pos;\n"
-	"	float4 m_quat;\n"
-	"	float4 m_linVel;\n"
-	"	float4 m_angVel;\n"
-	"	u32 m_collidableIdx;\n"
-	"	float m_invMass;\n"
-	"	float m_restituitionCoeff;\n"
-	"	float m_frictionCoeff;\n"
-	"} BodyData;\n"
-	"typedef struct  \n"
-	"{\n"
-	"	float4		m_localCenter;\n"
-	"	float4		m_extents;\n"
-	"	float4		mC;\n"
-	"	float4		mE;\n"
-	"	\n"
-	"	float			m_radius;\n"
-	"	int	m_faceOffset;\n"
-	"	int m_numFaces;\n"
-	"	int	m_numVertices;\n"
-	"	int m_vertexOffset;\n"
-	"	int	m_uniqueEdgesOffset;\n"
-	"	int	m_numUniqueEdges;\n"
-	"	int m_unused;\n"
-	"} ConvexPolyhedronCL;\n"
-	"typedef struct \n"
-	"{\n"
-	"	union\n"
-	"	{\n"
-	"		float4	m_min;\n"
-	"		float   m_minElems[4];\n"
-	"		int			m_minIndices[4];\n"
-	"	};\n"
-	"	union\n"
-	"	{\n"
-	"		float4	m_max;\n"
-	"		float   m_maxElems[4];\n"
-	"		int			m_maxIndices[4];\n"
-	"	};\n"
-	"} btAabbCL;\n"
-	"#ifndef B3_AABB_H\n"
-	"#define B3_AABB_H\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#define B3_FLOAT4_H\n"
-	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-	"#define B3_PLATFORM_DEFINITIONS_H\n"
-	"struct MyTest\n"
-	"{\n"
-	"	int bla;\n"
-	"};\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-	"#define B3_LARGE_FLOAT 1e18f\n"
-	"#define B3_INFINITY 1e18f\n"
-	"#define b3Assert(a)\n"
-	"#define b3ConstArray(a) __global const a*\n"
-	"#define b3AtomicInc atomic_inc\n"
-	"#define b3AtomicAdd atomic_add\n"
-	"#define b3Fabs fabs\n"
-	"#define b3Sqrt native_sqrt\n"
-	"#define b3Sin native_sin\n"
-	"#define b3Cos native_cos\n"
-	"#define B3_STATIC\n"
-	"#endif\n"
-	"#endif\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"	typedef float4	b3Float4;\n"
-	"	#define b3Float4ConstArg const b3Float4\n"
-	"	#define b3MakeFloat4 (float4)\n"
-	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return dot(a1, b1);\n"
-	"	}\n"
-	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return cross(a1, b1);\n"
-	"	}\n"
-	"	#define b3MinFloat4 min\n"
-	"	#define b3MaxFloat4 max\n"
-	"	#define b3Normalized(a) normalize(a)\n"
-	"#endif \n"
-	"		\n"
-	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-	"{\n"
-	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-	"		return false;\n"
-	"	return true;\n"
-	"}\n"
-	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-	"{\n"
-	"    float maxDot = -B3_INFINITY;\n"
-	"    int i = 0;\n"
-	"    int ptIndex = -1;\n"
-	"    for( i = 0; i < vecLen; i++ )\n"
-	"    {\n"
-	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-	"            \n"
-	"        if( dot > maxDot )\n"
-	"        {\n"
-	"            maxDot = dot;\n"
-	"            ptIndex = i;\n"
-	"        }\n"
-	"    }\n"
-	"	b3Assert(ptIndex>=0);\n"
-	"    if (ptIndex<0)\n"
-	"	{\n"
-	"		ptIndex = 0;\n"
-	"	}\n"
-	"    *dotOut = maxDot;\n"
-	"    return ptIndex;\n"
-	"}\n"
-	"#endif //B3_FLOAT4_H\n"
-	"#ifndef B3_MAT3x3_H\n"
-	"#define B3_MAT3x3_H\n"
-	"#ifndef B3_QUAT_H\n"
-	"#define B3_QUAT_H\n"
-	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif\n"
-	"#endif\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"	typedef float4	b3Quat;\n"
-	"	#define b3QuatConstArg const b3Quat\n"
-	"	\n"
-	"	\n"
-	"inline float4 b3FastNormalize4(float4 v)\n"
-	"{\n"
-	"	v = (float4)(v.xyz,0.f);\n"
-	"	return fast_normalize(v);\n"
-	"}\n"
-	"	\n"
-	"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
-	"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
-	"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
-	"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
-	"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
-	"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
-	"{\n"
-	"	b3Quat ans;\n"
-	"	ans = b3Cross3( a, b );\n"
-	"	ans += a.w*b+b.w*a;\n"
-	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-	"	ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
-	"	return ans;\n"
-	"}\n"
-	"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
-	"{\n"
-	"	b3Quat q;\n"
-	"	q=in;\n"
-	"	//return b3FastNormalize4(in);\n"
-	"	float len = native_sqrt(dot(q, q));\n"
-	"	if(len > 0.f)\n"
-	"	{\n"
-	"		q *= 1.f / len;\n"
-	"	}\n"
-	"	else\n"
-	"	{\n"
-	"		q.x = q.y = q.z = 0.f;\n"
-	"		q.w = 1.f;\n"
-	"	}\n"
-	"	return q;\n"
-	"}\n"
-	"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-	"{\n"
-	"	b3Quat qInv = b3QuatInvert( q );\n"
-	"	float4 vcpy = vec;\n"
-	"	vcpy.w = 0.f;\n"
-	"	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
-	"	return out;\n"
-	"}\n"
-	"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
-	"{\n"
-	"	return (b3Quat)(-q.xyz, q.w);\n"
-	"}\n"
-	"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
-	"{\n"
-	"	return (b3Quat)(-q.xyz, q.w);\n"
-	"}\n"
-	"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-	"{\n"
-	"	return b3QuatRotate( b3QuatInvert( q ), vec );\n"
-	"}\n"
-	"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
-	"{\n"
-	"	return b3QuatRotate( orientation, point ) + (translation);\n"
-	"}\n"
-	"	\n"
-	"#endif \n"
-	"#endif //B3_QUAT_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"typedef struct\n"
-	"{\n"
-	"	b3Float4 m_row[3];\n"
-	"}b3Mat3x3;\n"
-	"#define b3Mat3x3ConstArg const b3Mat3x3\n"
-	"#define b3GetRow(m,row) (m.m_row[row])\n"
-	"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
-	"{\n"
-	"	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
-	"	b3Mat3x3 out;\n"
-	"	out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
-	"	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
-	"	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
-	"	out.m_row[0].w = 0.f;\n"
-	"	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
-	"	out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
-	"	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
-	"	out.m_row[1].w = 0.f;\n"
-	"	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
-	"	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
-	"	out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
-	"	out.m_row[2].w = 0.f;\n"
-	"	return out;\n"
-	"}\n"
-	"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
-	"{\n"
-	"	b3Mat3x3 out;\n"
-	"	out.m_row[0] = fabs(matIn.m_row[0]);\n"
-	"	out.m_row[1] = fabs(matIn.m_row[1]);\n"
-	"	out.m_row[2] = fabs(matIn.m_row[2]);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtZero();\n"
-	"__inline\n"
-	"b3Mat3x3 mtIdentity();\n"
-	"__inline\n"
-	"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
-	"__inline\n"
-	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
-	"__inline\n"
-	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
-	"__inline\n"
-	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
-	"__inline\n"
-	"b3Mat3x3 mtZero()\n"
-	"{\n"
-	"	b3Mat3x3 m;\n"
-	"	m.m_row[0] = (b3Float4)(0.f);\n"
-	"	m.m_row[1] = (b3Float4)(0.f);\n"
-	"	m.m_row[2] = (b3Float4)(0.f);\n"
-	"	return m;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtIdentity()\n"
-	"{\n"
-	"	b3Mat3x3 m;\n"
-	"	m.m_row[0] = (b3Float4)(1,0,0,0);\n"
-	"	m.m_row[1] = (b3Float4)(0,1,0,0);\n"
-	"	m.m_row[2] = (b3Float4)(0,0,1,0);\n"
-	"	return m;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
-	"{\n"
-	"	b3Mat3x3 out;\n"
-	"	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
-	"	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
-	"	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
-	"{\n"
-	"	b3Mat3x3 transB;\n"
-	"	transB = mtTranspose( b );\n"
-	"	b3Mat3x3 ans;\n"
-	"	//	why this doesn't run when 0ing in the for{}\n"
-	"	a.m_row[0].w = 0.f;\n"
-	"	a.m_row[1].w = 0.f;\n"
-	"	a.m_row[2].w = 0.f;\n"
-	"	for(int i=0; i<3; i++)\n"
-	"	{\n"
-	"//	a.m_row[i].w = 0.f;\n"
-	"		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
-	"		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
-	"		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
-	"		ans.m_row[i].w = 0.f;\n"
-	"	}\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
-	"{\n"
-	"	b3Float4 ans;\n"
-	"	ans.x = b3Dot3F4( a.m_row[0], b );\n"
-	"	ans.y = b3Dot3F4( a.m_row[1], b );\n"
-	"	ans.z = b3Dot3F4( a.m_row[2], b );\n"
-	"	ans.w = 0.f;\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
-	"{\n"
-	"	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-	"	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-	"	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-	"	b3Float4 ans;\n"
-	"	ans.x = b3Dot3F4( a, colx );\n"
-	"	ans.y = b3Dot3F4( a, coly );\n"
-	"	ans.z = b3Dot3F4( a, colz );\n"
-	"	return ans;\n"
-	"}\n"
-	"#endif\n"
-	"#endif //B3_MAT3x3_H\n"
-	"typedef struct b3Aabb b3Aabb_t;\n"
-	"struct b3Aabb\n"
-	"{\n"
-	"	union\n"
-	"	{\n"
-	"		float m_min[4];\n"
-	"		b3Float4 m_minVec;\n"
-	"		int m_minIndices[4];\n"
-	"	};\n"
-	"	union\n"
-	"	{\n"
-	"		float	m_max[4];\n"
-	"		b3Float4 m_maxVec;\n"
-	"		int m_signedMaxIndices[4];\n"
-	"	};\n"
-	"};\n"
-	"inline void b3TransformAabb2(b3Float4ConstArg localAabbMin,b3Float4ConstArg localAabbMax, float margin,\n"
-	"						b3Float4ConstArg pos,\n"
-	"						b3QuatConstArg orn,\n"
-	"						b3Float4* aabbMinOut,b3Float4* aabbMaxOut)\n"
-	"{\n"
-	"		b3Float4 localHalfExtents = 0.5f*(localAabbMax-localAabbMin);\n"
-	"		localHalfExtents+=b3MakeFloat4(margin,margin,margin,0.f);\n"
-	"		b3Float4 localCenter = 0.5f*(localAabbMax+localAabbMin);\n"
-	"		b3Mat3x3 m;\n"
-	"		m = b3QuatGetRotationMatrix(orn);\n"
-	"		b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);\n"
-	"		b3Float4 center = b3TransformPoint(localCenter,pos,orn);\n"
-	"		\n"
-	"		b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents,b3GetRow(abs_b,0)),\n"
-	"										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,1)),\n"
-	"										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,2)),\n"
-	"										 0.f);\n"
-	"		*aabbMinOut = center-extent;\n"
-	"		*aabbMaxOut = center+extent;\n"
-	"}\n"
-	"/// conservative test for overlap between two aabbs\n"
-	"inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1,b3Float4ConstArg aabbMax1,\n"
-	"								b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)\n"
-	"{\n"
-	"	bool overlap = true;\n"
-	"	overlap = (aabbMin1.x > aabbMax2.x || aabbMax1.x < aabbMin2.x) ? false : overlap;\n"
-	"	overlap = (aabbMin1.z > aabbMax2.z || aabbMax1.z < aabbMin2.z) ? false : overlap;\n"
-	"	overlap = (aabbMin1.y > aabbMax2.y || aabbMax1.y < aabbMin2.y) ? false : overlap;\n"
-	"	return overlap;\n"
-	"}\n"
-	"#endif //B3_AABB_H\n"
-	"/*\n"
-	"Bullet Continuous Collision Detection and Physics Library\n"
-	"Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org\n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose,\n"
-	"including commercial applications, and to alter it and redistribute it freely,\n"
-	"subject to the following restrictions:\n"
-	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"#ifndef B3_INT2_H\n"
-	"#define B3_INT2_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#define b3UnsignedInt2 uint2\n"
-	"#define b3Int2 int2\n"
-	"#define b3MakeInt2 (int2)\n"
-	"#endif //__cplusplus\n"
-	"#endif\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_plane;\n"
-	"	int m_indexOffset;\n"
-	"	int m_numIndices;\n"
-	"} btGpuFace;\n"
-	"#define make_float4 (float4)\n"
-	"__inline\n"
-	"float4 cross3(float4 a, float4 b)\n"
-	"{\n"
-	"	return cross(a,b);\n"
-	"	\n"
-	"//	float4 a1 = make_float4(a.xyz,0.f);\n"
-	"//	float4 b1 = make_float4(b.xyz,0.f);\n"
-	"//	return cross(a1,b1);\n"
-	"//float4 c = make_float4(a.y*b.z - a.z*b.y,a.z*b.x - a.x*b.z,a.x*b.y - a.y*b.x,0.f);\n"
-	"	\n"
-	"	//	float4 c = make_float4(a.y*b.z - a.z*b.y,1.f,a.x*b.y - a.y*b.x,0.f);\n"
-	"	\n"
-	"	//return c;\n"
-	"}\n"
-	"__inline\n"
-	"float dot3F4(float4 a, float4 b)\n"
-	"{\n"
-	"	float4 a1 = make_float4(a.xyz,0.f);\n"
-	"	float4 b1 = make_float4(b.xyz,0.f);\n"
-	"	return dot(a1, b1);\n"
-	"}\n"
-	"__inline\n"
-	"float4 fastNormalize4(float4 v)\n"
-	"{\n"
-	"	v = make_float4(v.xyz,0.f);\n"
-	"	return fast_normalize(v);\n"
-	"}\n"
-	"///////////////////////////////////////\n"
-	"//	Quaternion\n"
-	"///////////////////////////////////////\n"
-	"typedef float4 Quaternion;\n"
-	"__inline\n"
-	"Quaternion qtMul(Quaternion a, Quaternion b);\n"
-	"__inline\n"
-	"Quaternion qtNormalize(Quaternion in);\n"
-	"__inline\n"
-	"float4 qtRotate(Quaternion q, float4 vec);\n"
-	"__inline\n"
-	"Quaternion qtInvert(Quaternion q);\n"
-	"__inline\n"
-	"Quaternion qtMul(Quaternion a, Quaternion b)\n"
-	"{\n"
-	"	Quaternion ans;\n"
-	"	ans = cross3( a, b );\n"
-	"	ans += a.w*b+b.w*a;\n"
-	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-	"	ans.w = a.w*b.w - dot3F4(a, b);\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"Quaternion qtNormalize(Quaternion in)\n"
-	"{\n"
-	"	return fastNormalize4(in);\n"
-	"//	in /= length( in );\n"
-	"//	return in;\n"
-	"}\n"
-	"__inline\n"
-	"float4 qtRotate(Quaternion q, float4 vec)\n"
-	"{\n"
-	"	Quaternion qInv = qtInvert( q );\n"
-	"	float4 vcpy = vec;\n"
-	"	vcpy.w = 0.f;\n"
-	"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"Quaternion qtInvert(Quaternion q)\n"
-	"{\n"
-	"	return (Quaternion)(-q.xyz, q.w);\n"
-	"}\n"
-	"__inline\n"
-	"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
-	"{\n"
-	"	return qtRotate( qtInvert( q ), vec );\n"
-	"}\n"
-	"__inline\n"
-	"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n"
-	"{\n"
-	"	return qtRotate( *orientation, *p ) + (*translation);\n"
-	"}\n"
-	"__inline\n"
-	"float4 normalize3(const float4 a)\n"
-	"{\n"
-	"	float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
-	"	return fastNormalize4( n );\n"
-	"}\n"
-	"inline void projectLocal(const ConvexPolyhedronCL* hull,  const float4 pos, const float4 orn, \n"
-	"const float4* dir, const float4* vertices, float* min, float* max)\n"
-	"{\n"
-	"	min[0] = FLT_MAX;\n"
-	"	max[0] = -FLT_MAX;\n"
-	"	int numVerts = hull->m_numVertices;\n"
-	"	const float4 localDir = qtInvRotate(orn,*dir);\n"
-	"	float offset = dot(pos,*dir);\n"
-	"	for(int i=0;i<numVerts;i++)\n"
-	"	{\n"
-	"		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);\n"
-	"		if(dp < min[0])	\n"
-	"			min[0] = dp;\n"
-	"		if(dp > max[0])	\n"
-	"			max[0] = dp;\n"
-	"	}\n"
-	"	if(min[0]>max[0])\n"
-	"	{\n"
-	"		float tmp = min[0];\n"
-	"		min[0] = max[0];\n"
-	"		max[0] = tmp;\n"
-	"	}\n"
-	"	min[0] += offset;\n"
-	"	max[0] += offset;\n"
-	"}\n"
-	"inline void project(__global const ConvexPolyhedronCL* hull,  const float4 pos, const float4 orn, \n"
-	"const float4* dir, __global const float4* vertices, float* min, float* max)\n"
-	"{\n"
-	"	min[0] = FLT_MAX;\n"
-	"	max[0] = -FLT_MAX;\n"
-	"	int numVerts = hull->m_numVertices;\n"
-	"	const float4 localDir = qtInvRotate(orn,*dir);\n"
-	"	float offset = dot(pos,*dir);\n"
-	"	for(int i=0;i<numVerts;i++)\n"
-	"	{\n"
-	"		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);\n"
-	"		if(dp < min[0])	\n"
-	"			min[0] = dp;\n"
-	"		if(dp > max[0])	\n"
-	"			max[0] = dp;\n"
-	"	}\n"
-	"	if(min[0]>max[0])\n"
-	"	{\n"
-	"		float tmp = min[0];\n"
-	"		min[0] = max[0];\n"
-	"		max[0] = tmp;\n"
-	"	}\n"
-	"	min[0] += offset;\n"
-	"	max[0] += offset;\n"
-	"}\n"
-	"inline bool TestSepAxisLocalA(const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
-	"	const float4 posA,const float4 ornA,\n"
-	"	const float4 posB,const float4 ornB,\n"
-	"	float4* sep_axis, const float4* verticesA, __global const float4* verticesB,float* depth)\n"
-	"{\n"
-	"	float Min0,Max0;\n"
-	"	float Min1,Max1;\n"
-	"	projectLocal(hullA,posA,ornA,sep_axis,verticesA, &Min0, &Max0);\n"
-	"	project(hullB,posB,ornB, sep_axis,verticesB, &Min1, &Max1);\n"
-	"	if(Max0<Min1 || Max1<Min0)\n"
-	"		return false;\n"
-	"	float d0 = Max0 - Min1;\n"
-	"	float d1 = Max1 - Min0;\n"
-	"	*depth = d0<d1 ? d0:d1;\n"
-	"	return true;\n"
-	"}\n"
-	"inline bool IsAlmostZero(const float4 v)\n"
-	"{\n"
-	"	if(fabs(v.x)>1e-6f || fabs(v.y)>1e-6f || fabs(v.z)>1e-6f)\n"
-	"		return false;\n"
-	"	return true;\n"
-	"}\n"
-	"bool findSeparatingAxisLocalA(	const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
-	"	const float4 posA1,\n"
-	"	const float4 ornA,\n"
-	"	const float4 posB1,\n"
-	"	const float4 ornB,\n"
-	"	const float4 DeltaC2,\n"
-	"	\n"
-	"	const float4* verticesA, \n"
-	"	const float4* uniqueEdgesA, \n"
-	"	const btGpuFace* facesA,\n"
-	"	const int*  indicesA,\n"
-	"	__global const float4* verticesB, \n"
-	"	__global const float4* uniqueEdgesB, \n"
-	"	__global const btGpuFace* facesB,\n"
-	"	__global const int*  indicesB,\n"
-	"	float4* sep,\n"
-	"	float* dmin)\n"
-	"{\n"
-	"	\n"
-	"	float4 posA = posA1;\n"
-	"	posA.w = 0.f;\n"
-	"	float4 posB = posB1;\n"
-	"	posB.w = 0.f;\n"
-	"	int curPlaneTests=0;\n"
-	"	{\n"
-	"		int numFacesA = hullA->m_numFaces;\n"
-	"		// Test normals from hullA\n"
-	"		for(int i=0;i<numFacesA;i++)\n"
-	"		{\n"
-	"			const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;\n"
-	"			float4 faceANormalWS = qtRotate(ornA,normal);\n"
-	"			if (dot3F4(DeltaC2,faceANormalWS)<0)\n"
-	"				faceANormalWS*=-1.f;\n"
-	"			curPlaneTests++;\n"
-	"			float d;\n"
-	"			if(!TestSepAxisLocalA( hullA, hullB, posA,ornA,posB,ornB,&faceANormalWS, verticesA, verticesB,&d))\n"
-	"				return false;\n"
-	"			if(d<*dmin)\n"
-	"			{\n"
-	"				*dmin = d;\n"
-	"				*sep = faceANormalWS;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
-	"	{\n"
-	"		*sep = -(*sep);\n"
-	"	}\n"
-	"	return true;\n"
-	"}\n"
-	"bool findSeparatingAxisLocalB(	__global const ConvexPolyhedronCL* hullA,  const ConvexPolyhedronCL* hullB, \n"
-	"	const float4 posA1,\n"
-	"	const float4 ornA,\n"
-	"	const float4 posB1,\n"
-	"	const float4 ornB,\n"
-	"	const float4 DeltaC2,\n"
-	"	__global const float4* verticesA, \n"
-	"	__global const float4* uniqueEdgesA, \n"
-	"	__global const btGpuFace* facesA,\n"
-	"	__global const int*  indicesA,\n"
-	"	const float4* verticesB,\n"
-	"	const float4* uniqueEdgesB, \n"
-	"	const btGpuFace* facesB,\n"
-	"	const int*  indicesB,\n"
-	"	float4* sep,\n"
-	"	float* dmin)\n"
-	"{\n"
-	"	float4 posA = posA1;\n"
-	"	posA.w = 0.f;\n"
-	"	float4 posB = posB1;\n"
-	"	posB.w = 0.f;\n"
-	"	int curPlaneTests=0;\n"
-	"	{\n"
-	"		int numFacesA = hullA->m_numFaces;\n"
-	"		// Test normals from hullA\n"
-	"		for(int i=0;i<numFacesA;i++)\n"
-	"		{\n"
-	"			const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;\n"
-	"			float4 faceANormalWS = qtRotate(ornA,normal);\n"
-	"			if (dot3F4(DeltaC2,faceANormalWS)<0)\n"
-	"				faceANormalWS *= -1.f;\n"
-	"			curPlaneTests++;\n"
-	"			float d;\n"
-	"			if(!TestSepAxisLocalA( hullB, hullA, posB,ornB,posA,ornA, &faceANormalWS, verticesB,verticesA, &d))\n"
-	"				return false;\n"
-	"			if(d<*dmin)\n"
-	"			{\n"
-	"				*dmin = d;\n"
-	"				*sep = faceANormalWS;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
-	"	{\n"
-	"		*sep = -(*sep);\n"
-	"	}\n"
-	"	return true;\n"
-	"}\n"
-	"bool findSeparatingAxisEdgeEdgeLocalA(	const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
-	"	const float4 posA1,\n"
-	"	const float4 ornA,\n"
-	"	const float4 posB1,\n"
-	"	const float4 ornB,\n"
-	"	const float4 DeltaC2,\n"
-	"	const float4* verticesA, \n"
-	"	const float4* uniqueEdgesA, \n"
-	"	const btGpuFace* facesA,\n"
-	"	const int*  indicesA,\n"
-	"	__global const float4* verticesB, \n"
-	"	__global const float4* uniqueEdgesB, \n"
-	"	__global const btGpuFace* facesB,\n"
-	"	__global const int*  indicesB,\n"
-	"		float4* sep,\n"
-	"	float* dmin)\n"
-	"{\n"
-	"	float4 posA = posA1;\n"
-	"	posA.w = 0.f;\n"
-	"	float4 posB = posB1;\n"
-	"	posB.w = 0.f;\n"
-	"	int curPlaneTests=0;\n"
-	"	int curEdgeEdge = 0;\n"
-	"	// Test edges\n"
-	"	for(int e0=0;e0<hullA->m_numUniqueEdges;e0++)\n"
-	"	{\n"
-	"		const float4 edge0 = uniqueEdgesA[hullA->m_uniqueEdgesOffset+e0];\n"
-	"		float4 edge0World = qtRotate(ornA,edge0);\n"
-	"		for(int e1=0;e1<hullB->m_numUniqueEdges;e1++)\n"
-	"		{\n"
-	"			const float4 edge1 = uniqueEdgesB[hullB->m_uniqueEdgesOffset+e1];\n"
-	"			float4 edge1World = qtRotate(ornB,edge1);\n"
-	"			float4 crossje = cross3(edge0World,edge1World);\n"
-	"			curEdgeEdge++;\n"
-	"			if(!IsAlmostZero(crossje))\n"
-	"			{\n"
-	"				crossje = normalize3(crossje);\n"
-	"				if (dot3F4(DeltaC2,crossje)<0)\n"
-	"					crossje *= -1.f;\n"
-	"				float dist;\n"
-	"				bool result = true;\n"
-	"				{\n"
-	"					float Min0,Max0;\n"
-	"					float Min1,Max1;\n"
-	"					projectLocal(hullA,posA,ornA,&crossje,verticesA, &Min0, &Max0);\n"
-	"					project(hullB,posB,ornB,&crossje,verticesB, &Min1, &Max1);\n"
-	"				\n"
-	"					if(Max0<Min1 || Max1<Min0)\n"
-	"						result = false;\n"
-	"				\n"
-	"					float d0 = Max0 - Min1;\n"
-	"					float d1 = Max1 - Min0;\n"
-	"					dist = d0<d1 ? d0:d1;\n"
-	"					result = true;\n"
-	"				}\n"
-	"				\n"
-	"				if(dist<*dmin)\n"
-	"				{\n"
-	"					*dmin = dist;\n"
-	"					*sep = crossje;\n"
-	"				}\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	\n"
-	"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
-	"	{\n"
-	"		*sep = -(*sep);\n"
-	"	}\n"
-	"	return true;\n"
-	"}\n"
-	"inline int	findClippingFaces(const float4 separatingNormal,\n"
-	"                      const ConvexPolyhedronCL* hullA, \n"
-	"					  __global const ConvexPolyhedronCL* hullB,\n"
-	"                      const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,\n"
-	"                       __global float4* worldVertsA1,\n"
-	"                      __global float4* worldNormalsA1,\n"
-	"                      __global float4* worldVertsB1,\n"
-	"                      int capacityWorldVerts,\n"
-	"                      const float minDist, float maxDist,\n"
-	"					  const float4* verticesA,\n"
-	"                      const btGpuFace* facesA,\n"
-	"                      const int* indicesA,\n"
-	"					  __global const float4* verticesB,\n"
-	"                      __global const btGpuFace* facesB,\n"
-	"                      __global const int* indicesB,\n"
-	"                      __global int4* clippingFaces, int pairIndex)\n"
-	"{\n"
-	"	int numContactsOut = 0;\n"
-	"	int numWorldVertsB1= 0;\n"
-	"    \n"
-	"    \n"
-	"	int closestFaceB=0;\n"
-	"	float dmax = -FLT_MAX;\n"
-	"    \n"
-	"	{\n"
-	"		for(int face=0;face<hullB->m_numFaces;face++)\n"
-	"		{\n"
-	"			const float4 Normal = make_float4(facesB[hullB->m_faceOffset+face].m_plane.x,\n"
-	"                                              facesB[hullB->m_faceOffset+face].m_plane.y, facesB[hullB->m_faceOffset+face].m_plane.z,0.f);\n"
-	"			const float4 WorldNormal = qtRotate(ornB, Normal);\n"
-	"			float d = dot3F4(WorldNormal,separatingNormal);\n"
-	"			if (d > dmax)\n"
-	"			{\n"
-	"				dmax = d;\n"
-	"				closestFaceB = face;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"    \n"
-	"	{\n"
-	"		const btGpuFace polyB = facesB[hullB->m_faceOffset+closestFaceB];\n"
-	"		int numVertices = polyB.m_numIndices;\n"
-	"        if (numVertices>capacityWorldVerts)\n"
-	"            numVertices = capacityWorldVerts;\n"
-	"        if (numVertices<0)\n"
-	"            numVertices = 0;\n"
-	"        \n"
-	"		for(int e0=0;e0<numVertices;e0++)\n"
-	"		{\n"
-	"            if (e0<capacityWorldVerts)\n"
-	"            {\n"
-	"                const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];\n"
-	"                worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);\n"
-	"            }\n"
-	"		}\n"
-	"	}\n"
-	"    \n"
-	"    int closestFaceA=0;\n"
-	"	{\n"
-	"		float dmin = FLT_MAX;\n"
-	"		for(int face=0;face<hullA->m_numFaces;face++)\n"
-	"		{\n"
-	"			const float4 Normal = make_float4(\n"
-	"                                              facesA[hullA->m_faceOffset+face].m_plane.x,\n"
-	"                                              facesA[hullA->m_faceOffset+face].m_plane.y,\n"
-	"                                              facesA[hullA->m_faceOffset+face].m_plane.z,\n"
-	"                                              0.f);\n"
-	"			const float4 faceANormalWS = qtRotate(ornA,Normal);\n"
-	"            \n"
-	"			float d = dot3F4(faceANormalWS,separatingNormal);\n"
-	"			if (d < dmin)\n"
-	"			{\n"
-	"				dmin = d;\n"
-	"				closestFaceA = face;\n"
-	"                worldNormalsA1[pairIndex] = faceANormalWS;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"    \n"
-	"    int numVerticesA = facesA[hullA->m_faceOffset+closestFaceA].m_numIndices;\n"
-	"    if (numVerticesA>capacityWorldVerts)\n"
-	"       numVerticesA = capacityWorldVerts;\n"
-	"    if (numVerticesA<0)\n"
-	"        numVerticesA=0;\n"
-	"    \n"
-	"	for(int e0=0;e0<numVerticesA;e0++)\n"
-	"	{\n"
-	"        if (e0<capacityWorldVerts)\n"
-	"        {\n"
-	"            const float4 a = verticesA[hullA->m_vertexOffset+indicesA[facesA[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];\n"
-	"            worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);\n"
-	"        }\n"
-	"    }\n"
-	"    \n"
-	"    clippingFaces[pairIndex].x = closestFaceA;\n"
-	"    clippingFaces[pairIndex].y = closestFaceB;\n"
-	"    clippingFaces[pairIndex].z = numVerticesA;\n"
-	"    clippingFaces[pairIndex].w = numWorldVertsB1;\n"
-	"    \n"
-	"    \n"
-	"	return numContactsOut;\n"
-	"}\n"
-	"// work-in-progress\n"
-	"__kernel void   findConcaveSeparatingAxisVertexFaceKernel( __global int4* concavePairs,\n"
-	"                                                __global const BodyData* rigidBodies,\n"
-	"                                                __global const btCollidableGpu* collidables,\n"
-	"                                                __global const ConvexPolyhedronCL* convexShapes,\n"
-	"                                                __global const float4* vertices,\n"
-	"                                                __global const float4* uniqueEdges,\n"
-	"                                                __global const btGpuFace* faces,\n"
-	"                                                __global const int* indices,\n"
-	"                                                __global const btGpuChildShape* gpuChildShapes,\n"
-	"                                                __global btAabbCL* aabbs,\n"
-	"                                                __global float4* concaveSeparatingNormalsOut,\n"
-	"                                                __global int* concaveHasSeparatingNormals,\n"
-	"                                                __global int4* clippingFacesOut,\n"
-	"                                                __global float4* worldVertsA1GPU,\n"
-	"                                                __global float4*  worldNormalsAGPU,\n"
-	"                                                __global float4* worldVertsB1GPU,\n"
-	"                                                __global float* dmins,\n"
-	"                                                int vertexFaceCapacity,\n"
-	"                                                int numConcavePairs\n"
-	"                                                )\n"
-	"{\n"
-	"    \n"
-	"	int i = get_global_id(0);\n"
-	"	if (i>=numConcavePairs)\n"
-	"		return;\n"
-	"    \n"
-	"	concaveHasSeparatingNormals[i] = 0;\n"
-	"    \n"
-	"	int pairIdx = i;\n"
-	"    \n"
-	"	int bodyIndexA = concavePairs[i].x;\n"
-	"	int bodyIndexB = concavePairs[i].y;\n"
-	"    \n"
-	"	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-	"	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-	"    \n"
-	"	int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-	"	int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-	"    \n"
-	"	if (collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL&&\n"
-	"		collidables[collidableIndexB].m_shapeType!=SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-	"	{\n"
-	"		concavePairs[pairIdx].w = -1;\n"
-	"		return;\n"
-	"	}\n"
-	"    \n"
-	"    \n"
-	"    \n"
-	"	int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
-	"	int numActualConcaveConvexTests = 0;\n"
-	"	\n"
-	"	int f = concavePairs[i].z;\n"
-	"	\n"
-	"	bool overlap = false;\n"
-	"	\n"
-	"	ConvexPolyhedronCL convexPolyhedronA;\n"
-	"    \n"
-	"	//add 3 vertices of the triangle\n"
-	"	convexPolyhedronA.m_numVertices = 3;\n"
-	"	convexPolyhedronA.m_vertexOffset = 0;\n"
-	"	float4	localCenter = make_float4(0.f,0.f,0.f,0.f);\n"
-	"    \n"
-	"	btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
-	"	float4 triMinAabb, triMaxAabb;\n"
-	"	btAabbCL triAabb;\n"
-	"	triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);\n"
-	"	triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.f);\n"
-	"	\n"
-	"	float4 verticesA[3];\n"
-	"	for (int i=0;i<3;i++)\n"
-	"	{\n"
-	"		int index = indices[face.m_indexOffset+i];\n"
-	"		float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n"
-	"		verticesA[i] = vert;\n"
-	"		localCenter += vert;\n"
-	"        \n"
-	"		triAabb.m_min = min(triAabb.m_min,vert);\n"
-	"		triAabb.m_max = max(triAabb.m_max,vert);\n"
-	"        \n"
-	"	}\n"
-	"    \n"
-	"	overlap = true;\n"
-	"	overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;\n"
-	"	overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;\n"
-	"	overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;\n"
-	"    \n"
-	"	if (overlap)\n"
-	"	{\n"
-	"		float dmin = FLT_MAX;\n"
-	"		int hasSeparatingAxis=5;\n"
-	"		float4 sepAxis=make_float4(1,2,3,4);\n"
-	"        \n"
-	"		int localCC=0;\n"
-	"		numActualConcaveConvexTests++;\n"
-	"        \n"
-	"		//a triangle has 3 unique edges\n"
-	"		convexPolyhedronA.m_numUniqueEdges = 3;\n"
-	"		convexPolyhedronA.m_uniqueEdgesOffset = 0;\n"
-	"		float4 uniqueEdgesA[3];\n"
-	"		\n"
-	"		uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);\n"
-	"		uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);\n"
-	"		uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);\n"
-	"        \n"
-	"        \n"
-	"		convexPolyhedronA.m_faceOffset = 0;\n"
-	"        \n"
-	"		float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);\n"
-	"        \n"
-	"		btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];\n"
-	"		int indicesA[3+3+2+2+2];\n"
-	"		int curUsedIndices=0;\n"
-	"		int fidx=0;\n"
-	"        \n"
-	"		//front size of triangle\n"
-	"		{\n"
-	"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
-	"			indicesA[0] = 0;\n"
-	"			indicesA[1] = 1;\n"
-	"			indicesA[2] = 2;\n"
-	"			curUsedIndices+=3;\n"
-	"			float c = face.m_plane.w;\n"
-	"			facesA[fidx].m_plane.x = normal.x;\n"
-	"			facesA[fidx].m_plane.y = normal.y;\n"
-	"			facesA[fidx].m_plane.z = normal.z;\n"
-	"			facesA[fidx].m_plane.w = c;\n"
-	"			facesA[fidx].m_numIndices=3;\n"
-	"		}\n"
-	"		fidx++;\n"
-	"		//back size of triangle\n"
-	"		{\n"
-	"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
-	"			indicesA[3]=2;\n"
-	"			indicesA[4]=1;\n"
-	"			indicesA[5]=0;\n"
-	"			curUsedIndices+=3;\n"
-	"			float c = dot(normal,verticesA[0]);\n"
-	"			float c1 = -face.m_plane.w;\n"
-	"			facesA[fidx].m_plane.x = -normal.x;\n"
-	"			facesA[fidx].m_plane.y = -normal.y;\n"
-	"			facesA[fidx].m_plane.z = -normal.z;\n"
-	"			facesA[fidx].m_plane.w = c;\n"
-	"			facesA[fidx].m_numIndices=3;\n"
-	"		}\n"
-	"		fidx++;\n"
-	"        \n"
-	"		bool addEdgePlanes = true;\n"
-	"		if (addEdgePlanes)\n"
-	"		{\n"
-	"			int numVertices=3;\n"
-	"			int prevVertex = numVertices-1;\n"
-	"			for (int i=0;i<numVertices;i++)\n"
-	"			{\n"
-	"				float4 v0 = verticesA[i];\n"
-	"				float4 v1 = verticesA[prevVertex];\n"
-	"                \n"
-	"				float4 edgeNormal = normalize(cross(normal,v1-v0));\n"
-	"				float c = -dot(edgeNormal,v0);\n"
-	"                \n"
-	"				facesA[fidx].m_numIndices = 2;\n"
-	"				facesA[fidx].m_indexOffset=curUsedIndices;\n"
-	"				indicesA[curUsedIndices++]=i;\n"
-	"				indicesA[curUsedIndices++]=prevVertex;\n"
-	"                \n"
-	"				facesA[fidx].m_plane.x = edgeNormal.x;\n"
-	"				facesA[fidx].m_plane.y = edgeNormal.y;\n"
-	"				facesA[fidx].m_plane.z = edgeNormal.z;\n"
-	"				facesA[fidx].m_plane.w = c;\n"
-	"				fidx++;\n"
-	"				prevVertex = i;\n"
-	"			}\n"
-	"		}\n"
-	"		convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;\n"
-	"		convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);\n"
-	"        \n"
-	"        \n"
-	"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-	"		posA.w = 0.f;\n"
-	"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-	"		posB.w = 0.f;\n"
-	"        \n"
-	"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-	"		float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
-	"        \n"
-	"		\n"
-	"        \n"
-	"        \n"
-	"		///////////////////\n"
-	"		///compound shape support\n"
-	"        \n"
-	"		if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-	"		{\n"
-	"			int compoundChild = concavePairs[pairIdx].w;\n"
-	"			int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;\n"
-	"			int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
-	"			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
-	"			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
-	"			float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
-	"			float4 newOrnB = qtMul(ornB,childOrnB);\n"
-	"			posB = newPosB;\n"
-	"			ornB = newOrnB;\n"
-	"			shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
-	"		}\n"
-	"		//////////////////\n"
-	"        \n"
-	"		float4 c0local = convexPolyhedronA.m_localCenter;\n"
-	"		float4 c0 = transform(&c0local, &posA, &ornA);\n"
-	"		float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
-	"		float4 c1 = transform(&c1local,&posB,&ornB);\n"
-	"		const float4 DeltaC2 = c0 - c1;\n"
-	"        \n"
-	"        \n"
-	"		bool sepA = findSeparatingAxisLocalA(	&convexPolyhedronA, &convexShapes[shapeIndexB],\n"
-	"                                             posA,ornA,\n"
-	"                                             posB,ornB,\n"
-	"                                             DeltaC2,\n"
-	"                                             verticesA,uniqueEdgesA,facesA,indicesA,\n"
-	"                                             vertices,uniqueEdges,faces,indices,\n"
-	"                                             &sepAxis,&dmin);\n"
-	"		hasSeparatingAxis = 4;\n"
-	"		if (!sepA)\n"
-	"		{\n"
-	"			hasSeparatingAxis = 0;\n"
-	"		} else\n"
-	"		{\n"
-	"			bool sepB = findSeparatingAxisLocalB(	&convexShapes[shapeIndexB],&convexPolyhedronA,\n"
-	"                                                 posB,ornB,\n"
-	"                                                 posA,ornA,\n"
-	"                                                 DeltaC2,\n"
-	"                                                 vertices,uniqueEdges,faces,indices,\n"
-	"                                                 verticesA,uniqueEdgesA,facesA,indicesA,\n"
-	"                                                 &sepAxis,&dmin);\n"
-	"            \n"
-	"			if (!sepB)\n"
-	"			{\n"
-	"				hasSeparatingAxis = 0;\n"
-	"			} else\n"
-	"			{\n"
-	"				hasSeparatingAxis = 1;\n"
-	"			}\n"
-	"		}	\n"
-	"		\n"
-	"		if (hasSeparatingAxis)\n"
-	"		{\n"
-	"            dmins[i] = dmin;\n"
-	"			concaveSeparatingNormalsOut[pairIdx]=sepAxis;\n"
-	"			concaveHasSeparatingNormals[i]=1;\n"
-	"            \n"
-	"		} else\n"
-	"		{	\n"
-	"			//mark this pair as in-active\n"
-	"			concavePairs[pairIdx].w = -1;\n"
-	"		}\n"
-	"	}\n"
-	"	else\n"
-	"	{	\n"
-	"		//mark this pair as in-active\n"
-	"		concavePairs[pairIdx].w = -1;\n"
-	"	}\n"
-	"}\n"
-	"// work-in-progress\n"
-	"__kernel void   findConcaveSeparatingAxisEdgeEdgeKernel( __global int4* concavePairs,\n"
-	"                                                          __global const BodyData* rigidBodies,\n"
-	"                                                          __global const btCollidableGpu* collidables,\n"
-	"                                                          __global const ConvexPolyhedronCL* convexShapes,\n"
-	"                                                          __global const float4* vertices,\n"
-	"                                                          __global const float4* uniqueEdges,\n"
-	"                                                          __global const btGpuFace* faces,\n"
-	"                                                          __global const int* indices,\n"
-	"                                                          __global const btGpuChildShape* gpuChildShapes,\n"
-	"                                                          __global btAabbCL* aabbs,\n"
-	"                                                          __global float4* concaveSeparatingNormalsOut,\n"
-	"                                                          __global int* concaveHasSeparatingNormals,\n"
-	"                                                          __global int4* clippingFacesOut,\n"
-	"                                                          __global float4* worldVertsA1GPU,\n"
-	"                                                          __global float4*  worldNormalsAGPU,\n"
-	"                                                          __global float4* worldVertsB1GPU,\n"
-	"                                                          __global float* dmins,\n"
-	"                                                          int vertexFaceCapacity,\n"
-	"                                                          int numConcavePairs\n"
-	"                                                          )\n"
-	"{\n"
-	"    \n"
-	"	int i = get_global_id(0);\n"
-	"	if (i>=numConcavePairs)\n"
-	"		return;\n"
-	"    \n"
-	"	if (!concaveHasSeparatingNormals[i])\n"
-	"        return;\n"
-	"    \n"
-	"	int pairIdx = i;\n"
-	"    \n"
-	"	int bodyIndexA = concavePairs[i].x;\n"
-	"	int bodyIndexB = concavePairs[i].y;\n"
-	"    \n"
-	"	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-	"	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-	"    \n"
-	"	int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-	"	int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-	"    \n"
-	"    \n"
-	"	int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
-	"	int numActualConcaveConvexTests = 0;\n"
-	"	\n"
-	"	int f = concavePairs[i].z;\n"
-	"	\n"
-	"	bool overlap = false;\n"
-	"	\n"
-	"	ConvexPolyhedronCL convexPolyhedronA;\n"
-	"    \n"
-	"	//add 3 vertices of the triangle\n"
-	"	convexPolyhedronA.m_numVertices = 3;\n"
-	"	convexPolyhedronA.m_vertexOffset = 0;\n"
-	"	float4	localCenter = make_float4(0.f,0.f,0.f,0.f);\n"
-	"    \n"
-	"	btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
-	"	float4 triMinAabb, triMaxAabb;\n"
-	"	btAabbCL triAabb;\n"
-	"	triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);\n"
-	"	triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.f);\n"
-	"	\n"
-	"	float4 verticesA[3];\n"
-	"	for (int i=0;i<3;i++)\n"
-	"	{\n"
-	"		int index = indices[face.m_indexOffset+i];\n"
-	"		float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n"
-	"		verticesA[i] = vert;\n"
-	"		localCenter += vert;\n"
-	"        \n"
-	"		triAabb.m_min = min(triAabb.m_min,vert);\n"
-	"		triAabb.m_max = max(triAabb.m_max,vert);\n"
-	"        \n"
-	"	}\n"
-	"    \n"
-	"	overlap = true;\n"
-	"	overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;\n"
-	"	overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;\n"
-	"	overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;\n"
-	"    \n"
-	"	if (overlap)\n"
-	"	{\n"
-	"		float dmin = dmins[i];\n"
-	"		int hasSeparatingAxis=5;\n"
-	"		float4 sepAxis=make_float4(1,2,3,4);\n"
-	"        sepAxis = concaveSeparatingNormalsOut[pairIdx];\n"
-	"        \n"
-	"		int localCC=0;\n"
-	"		numActualConcaveConvexTests++;\n"
-	"        \n"
-	"		//a triangle has 3 unique edges\n"
-	"		convexPolyhedronA.m_numUniqueEdges = 3;\n"
-	"		convexPolyhedronA.m_uniqueEdgesOffset = 0;\n"
-	"		float4 uniqueEdgesA[3];\n"
-	"		\n"
-	"		uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);\n"
-	"		uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);\n"
-	"		uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);\n"
-	"        \n"
-	"        \n"
-	"		convexPolyhedronA.m_faceOffset = 0;\n"
-	"        \n"
-	"		float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);\n"
-	"        \n"
-	"		btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];\n"
-	"		int indicesA[3+3+2+2+2];\n"
-	"		int curUsedIndices=0;\n"
-	"		int fidx=0;\n"
-	"        \n"
-	"		//front size of triangle\n"
-	"		{\n"
-	"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
-	"			indicesA[0] = 0;\n"
-	"			indicesA[1] = 1;\n"
-	"			indicesA[2] = 2;\n"
-	"			curUsedIndices+=3;\n"
-	"			float c = face.m_plane.w;\n"
-	"			facesA[fidx].m_plane.x = normal.x;\n"
-	"			facesA[fidx].m_plane.y = normal.y;\n"
-	"			facesA[fidx].m_plane.z = normal.z;\n"
-	"			facesA[fidx].m_plane.w = c;\n"
-	"			facesA[fidx].m_numIndices=3;\n"
-	"		}\n"
-	"		fidx++;\n"
-	"		//back size of triangle\n"
-	"		{\n"
-	"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
-	"			indicesA[3]=2;\n"
-	"			indicesA[4]=1;\n"
-	"			indicesA[5]=0;\n"
-	"			curUsedIndices+=3;\n"
-	"			float c = dot(normal,verticesA[0]);\n"
-	"			float c1 = -face.m_plane.w;\n"
-	"			facesA[fidx].m_plane.x = -normal.x;\n"
-	"			facesA[fidx].m_plane.y = -normal.y;\n"
-	"			facesA[fidx].m_plane.z = -normal.z;\n"
-	"			facesA[fidx].m_plane.w = c;\n"
-	"			facesA[fidx].m_numIndices=3;\n"
-	"		}\n"
-	"		fidx++;\n"
-	"        \n"
-	"		bool addEdgePlanes = true;\n"
-	"		if (addEdgePlanes)\n"
-	"		{\n"
-	"			int numVertices=3;\n"
-	"			int prevVertex = numVertices-1;\n"
-	"			for (int i=0;i<numVertices;i++)\n"
-	"			{\n"
-	"				float4 v0 = verticesA[i];\n"
-	"				float4 v1 = verticesA[prevVertex];\n"
-	"                \n"
-	"				float4 edgeNormal = normalize(cross(normal,v1-v0));\n"
-	"				float c = -dot(edgeNormal,v0);\n"
-	"                \n"
-	"				facesA[fidx].m_numIndices = 2;\n"
-	"				facesA[fidx].m_indexOffset=curUsedIndices;\n"
-	"				indicesA[curUsedIndices++]=i;\n"
-	"				indicesA[curUsedIndices++]=prevVertex;\n"
-	"                \n"
-	"				facesA[fidx].m_plane.x = edgeNormal.x;\n"
-	"				facesA[fidx].m_plane.y = edgeNormal.y;\n"
-	"				facesA[fidx].m_plane.z = edgeNormal.z;\n"
-	"				facesA[fidx].m_plane.w = c;\n"
-	"				fidx++;\n"
-	"				prevVertex = i;\n"
-	"			}\n"
-	"		}\n"
-	"		convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;\n"
-	"		convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);\n"
-	"        \n"
-	"        \n"
-	"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-	"		posA.w = 0.f;\n"
-	"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-	"		posB.w = 0.f;\n"
-	"        \n"
-	"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-	"		float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
-	"        \n"
-	"		\n"
-	"        \n"
-	"        \n"
-	"		///////////////////\n"
-	"		///compound shape support\n"
-	"        \n"
-	"		if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-	"		{\n"
-	"			int compoundChild = concavePairs[pairIdx].w;\n"
-	"			int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;\n"
-	"			int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
-	"			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
-	"			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
-	"			float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
-	"			float4 newOrnB = qtMul(ornB,childOrnB);\n"
-	"			posB = newPosB;\n"
-	"			ornB = newOrnB;\n"
-	"			shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
-	"		}\n"
-	"		//////////////////\n"
-	"        \n"
-	"		float4 c0local = convexPolyhedronA.m_localCenter;\n"
-	"		float4 c0 = transform(&c0local, &posA, &ornA);\n"
-	"		float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
-	"		float4 c1 = transform(&c1local,&posB,&ornB);\n"
-	"		const float4 DeltaC2 = c0 - c1;\n"
-	"        \n"
-	"        \n"
-	"		{\n"
-	"			bool sepEE = findSeparatingAxisEdgeEdgeLocalA(	&convexPolyhedronA, &convexShapes[shapeIndexB],\n"
-	"                                                              posA,ornA,\n"
-	"                                                              posB,ornB,\n"
-	"                                                              DeltaC2,\n"
-	"                                                              verticesA,uniqueEdgesA,facesA,indicesA,\n"
-	"                                                              vertices,uniqueEdges,faces,indices,\n"
-	"                                                              &sepAxis,&dmin);\n"
-	"                \n"
-	"			if (!sepEE)\n"
-	"			{\n"
-	"				hasSeparatingAxis = 0;\n"
-	"			} else\n"
-	"			{\n"
-	"				hasSeparatingAxis = 1;\n"
-	"			}\n"
-	"		}\n"
-	"		\n"
-	"		\n"
-	"		if (hasSeparatingAxis)\n"
-	"		{\n"
-	"			sepAxis.w = dmin;\n"
-	"            dmins[i] = dmin;\n"
-	"			concaveSeparatingNormalsOut[pairIdx]=sepAxis;\n"
-	"			concaveHasSeparatingNormals[i]=1;\n"
-	"           \n"
-	" 	float minDist = -1e30f;\n"
-	"			float maxDist = 0.02f;\n"
-	"            \n"
-	"            findClippingFaces(sepAxis,\n"
-	"                              &convexPolyhedronA,\n"
-	"                              &convexShapes[shapeIndexB],\n"
-	"                              posA,ornA,\n"
-	"                              posB,ornB,\n"
-	"                              worldVertsA1GPU,\n"
-	"                              worldNormalsAGPU,\n"
-	"                              worldVertsB1GPU,\n"
-	"                              vertexFaceCapacity,\n"
-	"                              minDist, maxDist,\n"
-	"                              verticesA,\n"
-	"                              facesA,\n"
-	"                              indicesA,\n"
-	"                              vertices,\n"
-	"                              faces,\n"
-	"                              indices,\n"
-	"                              clippingFacesOut, pairIdx);\n"
-	"	           \n"
-	"            \n"
-	"		} else\n"
-	"		{	\n"
-	"			//mark this pair as in-active\n"
-	"			concavePairs[pairIdx].w = -1;\n"
-	"		}\n"
-	"	}\n"
-	"	else\n"
-	"	{	\n"
-	"		//mark this pair as in-active\n"
-	"		concavePairs[pairIdx].w = -1;\n"
-	"	}\n"
-	"	\n"
-	"	concavePairs[i].z = -1;//for the next stage, z is used to determine existing contact points\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satKernels.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satKernels.h
deleted file mode 100644
index e627af2799..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satKernels.h
+++ /dev/null
@@ -1,2103 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* satKernelsCL =
-	"//keep this enum in sync with the CPU version (in btCollidable.h)\n"
-	"//written by Erwin Coumans\n"
-	"#define SHAPE_CONVEX_HULL 3\n"
-	"#define SHAPE_CONCAVE_TRIMESH 5\n"
-	"#define TRIANGLE_NUM_CONVEX_FACES 5\n"
-	"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
-	"#define B3_MAX_STACK_DEPTH 256\n"
-	"typedef unsigned int u32;\n"
-	"///keep this in sync with btCollidable.h\n"
-	"typedef struct\n"
-	"{\n"
-	"	union {\n"
-	"		int m_numChildShapes;\n"
-	"		int m_bvhIndex;\n"
-	"	};\n"
-	"	union\n"
-	"	{\n"
-	"		float m_radius;\n"
-	"		int	m_compoundBvhIndex;\n"
-	"	};\n"
-	"	\n"
-	"	int m_shapeType;\n"
-	"	int m_shapeIndex;\n"
-	"	\n"
-	"} btCollidableGpu;\n"
-	"#define MAX_NUM_PARTS_IN_BITS 10\n"
-	"///b3QuantizedBvhNode is a compressed aabb node, 16 bytes.\n"
-	"///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).\n"
-	"typedef struct\n"
-	"{\n"
-	"	//12 bytes\n"
-	"	unsigned short int	m_quantizedAabbMin[3];\n"
-	"	unsigned short int	m_quantizedAabbMax[3];\n"
-	"	//4 bytes\n"
-	"	int	m_escapeIndexOrTriangleIndex;\n"
-	"} b3QuantizedBvhNode;\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4		m_aabbMin;\n"
-	"	float4		m_aabbMax;\n"
-	"	float4		m_quantization;\n"
-	"	int			m_numNodes;\n"
-	"	int			m_numSubTrees;\n"
-	"	int			m_nodeOffset;\n"
-	"	int			m_subTreeOffset;\n"
-	"} b3BvhInfo;\n"
-	"int	getTriangleIndex(const b3QuantizedBvhNode* rootNode)\n"
-	"{\n"
-	"	unsigned int x=0;\n"
-	"	unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);\n"
-	"	// Get only the lower bits where the triangle index is stored\n"
-	"	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));\n"
-	"}\n"
-	"int	getTriangleIndexGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
-	"{\n"
-	"	unsigned int x=0;\n"
-	"	unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);\n"
-	"	// Get only the lower bits where the triangle index is stored\n"
-	"	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));\n"
-	"}\n"
-	"int isLeafNode(const b3QuantizedBvhNode* rootNode)\n"
-	"{\n"
-	"	//skipindex is negative (internal node), triangleindex >=0 (leafnode)\n"
-	"	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;\n"
-	"}\n"
-	"int isLeafNodeGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
-	"{\n"
-	"	//skipindex is negative (internal node), triangleindex >=0 (leafnode)\n"
-	"	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;\n"
-	"}\n"
-	"	\n"
-	"int getEscapeIndex(const b3QuantizedBvhNode* rootNode)\n"
-	"{\n"
-	"	return -rootNode->m_escapeIndexOrTriangleIndex;\n"
-	"}\n"
-	"int getEscapeIndexGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
-	"{\n"
-	"	return -rootNode->m_escapeIndexOrTriangleIndex;\n"
-	"}\n"
-	"typedef struct\n"
-	"{\n"
-	"	//12 bytes\n"
-	"	unsigned short int	m_quantizedAabbMin[3];\n"
-	"	unsigned short int	m_quantizedAabbMax[3];\n"
-	"	//4 bytes, points to the root of the subtree\n"
-	"	int			m_rootNodeIndex;\n"
-	"	//4 bytes\n"
-	"	int			m_subtreeSize;\n"
-	"	int			m_padding[3];\n"
-	"} b3BvhSubtreeInfo;\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4	m_childPosition;\n"
-	"	float4	m_childOrientation;\n"
-	"	int m_shapeIndex;\n"
-	"	int m_unused0;\n"
-	"	int m_unused1;\n"
-	"	int m_unused2;\n"
-	"} btGpuChildShape;\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_pos;\n"
-	"	float4 m_quat;\n"
-	"	float4 m_linVel;\n"
-	"	float4 m_angVel;\n"
-	"	u32 m_collidableIdx;\n"
-	"	float m_invMass;\n"
-	"	float m_restituitionCoeff;\n"
-	"	float m_frictionCoeff;\n"
-	"} BodyData;\n"
-	"typedef struct  \n"
-	"{\n"
-	"	float4		m_localCenter;\n"
-	"	float4		m_extents;\n"
-	"	float4		mC;\n"
-	"	float4		mE;\n"
-	"	\n"
-	"	float			m_radius;\n"
-	"	int	m_faceOffset;\n"
-	"	int m_numFaces;\n"
-	"	int	m_numVertices;\n"
-	"	int m_vertexOffset;\n"
-	"	int	m_uniqueEdgesOffset;\n"
-	"	int	m_numUniqueEdges;\n"
-	"	int m_unused;\n"
-	"} ConvexPolyhedronCL;\n"
-	"typedef struct \n"
-	"{\n"
-	"	union\n"
-	"	{\n"
-	"		float4	m_min;\n"
-	"		float   m_minElems[4];\n"
-	"		int			m_minIndices[4];\n"
-	"	};\n"
-	"	union\n"
-	"	{\n"
-	"		float4	m_max;\n"
-	"		float   m_maxElems[4];\n"
-	"		int			m_maxIndices[4];\n"
-	"	};\n"
-	"} btAabbCL;\n"
-	"#ifndef B3_AABB_H\n"
-	"#define B3_AABB_H\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#define B3_FLOAT4_H\n"
-	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-	"#define B3_PLATFORM_DEFINITIONS_H\n"
-	"struct MyTest\n"
-	"{\n"
-	"	int bla;\n"
-	"};\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-	"#define B3_LARGE_FLOAT 1e18f\n"
-	"#define B3_INFINITY 1e18f\n"
-	"#define b3Assert(a)\n"
-	"#define b3ConstArray(a) __global const a*\n"
-	"#define b3AtomicInc atomic_inc\n"
-	"#define b3AtomicAdd atomic_add\n"
-	"#define b3Fabs fabs\n"
-	"#define b3Sqrt native_sqrt\n"
-	"#define b3Sin native_sin\n"
-	"#define b3Cos native_cos\n"
-	"#define B3_STATIC\n"
-	"#endif\n"
-	"#endif\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"	typedef float4	b3Float4;\n"
-	"	#define b3Float4ConstArg const b3Float4\n"
-	"	#define b3MakeFloat4 (float4)\n"
-	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return dot(a1, b1);\n"
-	"	}\n"
-	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return cross(a1, b1);\n"
-	"	}\n"
-	"	#define b3MinFloat4 min\n"
-	"	#define b3MaxFloat4 max\n"
-	"	#define b3Normalized(a) normalize(a)\n"
-	"#endif \n"
-	"		\n"
-	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-	"{\n"
-	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-	"		return false;\n"
-	"	return true;\n"
-	"}\n"
-	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-	"{\n"
-	"    float maxDot = -B3_INFINITY;\n"
-	"    int i = 0;\n"
-	"    int ptIndex = -1;\n"
-	"    for( i = 0; i < vecLen; i++ )\n"
-	"    {\n"
-	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-	"            \n"
-	"        if( dot > maxDot )\n"
-	"        {\n"
-	"            maxDot = dot;\n"
-	"            ptIndex = i;\n"
-	"        }\n"
-	"    }\n"
-	"	b3Assert(ptIndex>=0);\n"
-	"    if (ptIndex<0)\n"
-	"	{\n"
-	"		ptIndex = 0;\n"
-	"	}\n"
-	"    *dotOut = maxDot;\n"
-	"    return ptIndex;\n"
-	"}\n"
-	"#endif //B3_FLOAT4_H\n"
-	"#ifndef B3_MAT3x3_H\n"
-	"#define B3_MAT3x3_H\n"
-	"#ifndef B3_QUAT_H\n"
-	"#define B3_QUAT_H\n"
-	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif\n"
-	"#endif\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"	typedef float4	b3Quat;\n"
-	"	#define b3QuatConstArg const b3Quat\n"
-	"	\n"
-	"	\n"
-	"inline float4 b3FastNormalize4(float4 v)\n"
-	"{\n"
-	"	v = (float4)(v.xyz,0.f);\n"
-	"	return fast_normalize(v);\n"
-	"}\n"
-	"	\n"
-	"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
-	"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
-	"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
-	"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
-	"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
-	"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
-	"{\n"
-	"	b3Quat ans;\n"
-	"	ans = b3Cross3( a, b );\n"
-	"	ans += a.w*b+b.w*a;\n"
-	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-	"	ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
-	"	return ans;\n"
-	"}\n"
-	"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
-	"{\n"
-	"	b3Quat q;\n"
-	"	q=in;\n"
-	"	//return b3FastNormalize4(in);\n"
-	"	float len = native_sqrt(dot(q, q));\n"
-	"	if(len > 0.f)\n"
-	"	{\n"
-	"		q *= 1.f / len;\n"
-	"	}\n"
-	"	else\n"
-	"	{\n"
-	"		q.x = q.y = q.z = 0.f;\n"
-	"		q.w = 1.f;\n"
-	"	}\n"
-	"	return q;\n"
-	"}\n"
-	"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-	"{\n"
-	"	b3Quat qInv = b3QuatInvert( q );\n"
-	"	float4 vcpy = vec;\n"
-	"	vcpy.w = 0.f;\n"
-	"	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
-	"	return out;\n"
-	"}\n"
-	"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
-	"{\n"
-	"	return (b3Quat)(-q.xyz, q.w);\n"
-	"}\n"
-	"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
-	"{\n"
-	"	return (b3Quat)(-q.xyz, q.w);\n"
-	"}\n"
-	"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-	"{\n"
-	"	return b3QuatRotate( b3QuatInvert( q ), vec );\n"
-	"}\n"
-	"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
-	"{\n"
-	"	return b3QuatRotate( orientation, point ) + (translation);\n"
-	"}\n"
-	"	\n"
-	"#endif \n"
-	"#endif //B3_QUAT_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"typedef struct\n"
-	"{\n"
-	"	b3Float4 m_row[3];\n"
-	"}b3Mat3x3;\n"
-	"#define b3Mat3x3ConstArg const b3Mat3x3\n"
-	"#define b3GetRow(m,row) (m.m_row[row])\n"
-	"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
-	"{\n"
-	"	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
-	"	b3Mat3x3 out;\n"
-	"	out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
-	"	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
-	"	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
-	"	out.m_row[0].w = 0.f;\n"
-	"	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
-	"	out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
-	"	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
-	"	out.m_row[1].w = 0.f;\n"
-	"	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
-	"	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
-	"	out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
-	"	out.m_row[2].w = 0.f;\n"
-	"	return out;\n"
-	"}\n"
-	"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
-	"{\n"
-	"	b3Mat3x3 out;\n"
-	"	out.m_row[0] = fabs(matIn.m_row[0]);\n"
-	"	out.m_row[1] = fabs(matIn.m_row[1]);\n"
-	"	out.m_row[2] = fabs(matIn.m_row[2]);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtZero();\n"
-	"__inline\n"
-	"b3Mat3x3 mtIdentity();\n"
-	"__inline\n"
-	"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
-	"__inline\n"
-	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
-	"__inline\n"
-	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
-	"__inline\n"
-	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
-	"__inline\n"
-	"b3Mat3x3 mtZero()\n"
-	"{\n"
-	"	b3Mat3x3 m;\n"
-	"	m.m_row[0] = (b3Float4)(0.f);\n"
-	"	m.m_row[1] = (b3Float4)(0.f);\n"
-	"	m.m_row[2] = (b3Float4)(0.f);\n"
-	"	return m;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtIdentity()\n"
-	"{\n"
-	"	b3Mat3x3 m;\n"
-	"	m.m_row[0] = (b3Float4)(1,0,0,0);\n"
-	"	m.m_row[1] = (b3Float4)(0,1,0,0);\n"
-	"	m.m_row[2] = (b3Float4)(0,0,1,0);\n"
-	"	return m;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
-	"{\n"
-	"	b3Mat3x3 out;\n"
-	"	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
-	"	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
-	"	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
-	"{\n"
-	"	b3Mat3x3 transB;\n"
-	"	transB = mtTranspose( b );\n"
-	"	b3Mat3x3 ans;\n"
-	"	//	why this doesn't run when 0ing in the for{}\n"
-	"	a.m_row[0].w = 0.f;\n"
-	"	a.m_row[1].w = 0.f;\n"
-	"	a.m_row[2].w = 0.f;\n"
-	"	for(int i=0; i<3; i++)\n"
-	"	{\n"
-	"//	a.m_row[i].w = 0.f;\n"
-	"		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
-	"		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
-	"		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
-	"		ans.m_row[i].w = 0.f;\n"
-	"	}\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
-	"{\n"
-	"	b3Float4 ans;\n"
-	"	ans.x = b3Dot3F4( a.m_row[0], b );\n"
-	"	ans.y = b3Dot3F4( a.m_row[1], b );\n"
-	"	ans.z = b3Dot3F4( a.m_row[2], b );\n"
-	"	ans.w = 0.f;\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
-	"{\n"
-	"	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-	"	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-	"	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-	"	b3Float4 ans;\n"
-	"	ans.x = b3Dot3F4( a, colx );\n"
-	"	ans.y = b3Dot3F4( a, coly );\n"
-	"	ans.z = b3Dot3F4( a, colz );\n"
-	"	return ans;\n"
-	"}\n"
-	"#endif\n"
-	"#endif //B3_MAT3x3_H\n"
-	"typedef struct b3Aabb b3Aabb_t;\n"
-	"struct b3Aabb\n"
-	"{\n"
-	"	union\n"
-	"	{\n"
-	"		float m_min[4];\n"
-	"		b3Float4 m_minVec;\n"
-	"		int m_minIndices[4];\n"
-	"	};\n"
-	"	union\n"
-	"	{\n"
-	"		float	m_max[4];\n"
-	"		b3Float4 m_maxVec;\n"
-	"		int m_signedMaxIndices[4];\n"
-	"	};\n"
-	"};\n"
-	"inline void b3TransformAabb2(b3Float4ConstArg localAabbMin,b3Float4ConstArg localAabbMax, float margin,\n"
-	"						b3Float4ConstArg pos,\n"
-	"						b3QuatConstArg orn,\n"
-	"						b3Float4* aabbMinOut,b3Float4* aabbMaxOut)\n"
-	"{\n"
-	"		b3Float4 localHalfExtents = 0.5f*(localAabbMax-localAabbMin);\n"
-	"		localHalfExtents+=b3MakeFloat4(margin,margin,margin,0.f);\n"
-	"		b3Float4 localCenter = 0.5f*(localAabbMax+localAabbMin);\n"
-	"		b3Mat3x3 m;\n"
-	"		m = b3QuatGetRotationMatrix(orn);\n"
-	"		b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);\n"
-	"		b3Float4 center = b3TransformPoint(localCenter,pos,orn);\n"
-	"		\n"
-	"		b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents,b3GetRow(abs_b,0)),\n"
-	"										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,1)),\n"
-	"										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,2)),\n"
-	"										 0.f);\n"
-	"		*aabbMinOut = center-extent;\n"
-	"		*aabbMaxOut = center+extent;\n"
-	"}\n"
-	"/// conservative test for overlap between two aabbs\n"
-	"inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1,b3Float4ConstArg aabbMax1,\n"
-	"								b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)\n"
-	"{\n"
-	"	bool overlap = true;\n"
-	"	overlap = (aabbMin1.x > aabbMax2.x || aabbMax1.x < aabbMin2.x) ? false : overlap;\n"
-	"	overlap = (aabbMin1.z > aabbMax2.z || aabbMax1.z < aabbMin2.z) ? false : overlap;\n"
-	"	overlap = (aabbMin1.y > aabbMax2.y || aabbMax1.y < aabbMin2.y) ? false : overlap;\n"
-	"	return overlap;\n"
-	"}\n"
-	"#endif //B3_AABB_H\n"
-	"/*\n"
-	"Bullet Continuous Collision Detection and Physics Library\n"
-	"Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org\n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose,\n"
-	"including commercial applications, and to alter it and redistribute it freely,\n"
-	"subject to the following restrictions:\n"
-	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"#ifndef B3_INT2_H\n"
-	"#define B3_INT2_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#define b3UnsignedInt2 uint2\n"
-	"#define b3Int2 int2\n"
-	"#define b3MakeInt2 (int2)\n"
-	"#endif //__cplusplus\n"
-	"#endif\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_plane;\n"
-	"	int m_indexOffset;\n"
-	"	int m_numIndices;\n"
-	"} btGpuFace;\n"
-	"#define make_float4 (float4)\n"
-	"__inline\n"
-	"float4 cross3(float4 a, float4 b)\n"
-	"{\n"
-	"	return cross(a,b);\n"
-	"	\n"
-	"//	float4 a1 = make_float4(a.xyz,0.f);\n"
-	"//	float4 b1 = make_float4(b.xyz,0.f);\n"
-	"//	return cross(a1,b1);\n"
-	"//float4 c = make_float4(a.y*b.z - a.z*b.y,a.z*b.x - a.x*b.z,a.x*b.y - a.y*b.x,0.f);\n"
-	"	\n"
-	"	//	float4 c = make_float4(a.y*b.z - a.z*b.y,1.f,a.x*b.y - a.y*b.x,0.f);\n"
-	"	\n"
-	"	//return c;\n"
-	"}\n"
-	"__inline\n"
-	"float dot3F4(float4 a, float4 b)\n"
-	"{\n"
-	"	float4 a1 = make_float4(a.xyz,0.f);\n"
-	"	float4 b1 = make_float4(b.xyz,0.f);\n"
-	"	return dot(a1, b1);\n"
-	"}\n"
-	"__inline\n"
-	"float4 fastNormalize4(float4 v)\n"
-	"{\n"
-	"	v = make_float4(v.xyz,0.f);\n"
-	"	return fast_normalize(v);\n"
-	"}\n"
-	"///////////////////////////////////////\n"
-	"//	Quaternion\n"
-	"///////////////////////////////////////\n"
-	"typedef float4 Quaternion;\n"
-	"__inline\n"
-	"Quaternion qtMul(Quaternion a, Quaternion b);\n"
-	"__inline\n"
-	"Quaternion qtNormalize(Quaternion in);\n"
-	"__inline\n"
-	"float4 qtRotate(Quaternion q, float4 vec);\n"
-	"__inline\n"
-	"Quaternion qtInvert(Quaternion q);\n"
-	"__inline\n"
-	"Quaternion qtMul(Quaternion a, Quaternion b)\n"
-	"{\n"
-	"	Quaternion ans;\n"
-	"	ans = cross3( a, b );\n"
-	"	ans += a.w*b+b.w*a;\n"
-	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-	"	ans.w = a.w*b.w - dot3F4(a, b);\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"Quaternion qtNormalize(Quaternion in)\n"
-	"{\n"
-	"	return fastNormalize4(in);\n"
-	"//	in /= length( in );\n"
-	"//	return in;\n"
-	"}\n"
-	"__inline\n"
-	"float4 qtRotate(Quaternion q, float4 vec)\n"
-	"{\n"
-	"	Quaternion qInv = qtInvert( q );\n"
-	"	float4 vcpy = vec;\n"
-	"	vcpy.w = 0.f;\n"
-	"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"Quaternion qtInvert(Quaternion q)\n"
-	"{\n"
-	"	return (Quaternion)(-q.xyz, q.w);\n"
-	"}\n"
-	"__inline\n"
-	"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
-	"{\n"
-	"	return qtRotate( qtInvert( q ), vec );\n"
-	"}\n"
-	"__inline\n"
-	"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n"
-	"{\n"
-	"	return qtRotate( *orientation, *p ) + (*translation);\n"
-	"}\n"
-	"__inline\n"
-	"float4 normalize3(const float4 a)\n"
-	"{\n"
-	"	float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
-	"	return fastNormalize4( n );\n"
-	"}\n"
-	"inline void projectLocal(const ConvexPolyhedronCL* hull,  const float4 pos, const float4 orn, \n"
-	"const float4* dir, const float4* vertices, float* min, float* max)\n"
-	"{\n"
-	"	min[0] = FLT_MAX;\n"
-	"	max[0] = -FLT_MAX;\n"
-	"	int numVerts = hull->m_numVertices;\n"
-	"	const float4 localDir = qtInvRotate(orn,*dir);\n"
-	"	float offset = dot(pos,*dir);\n"
-	"	for(int i=0;i<numVerts;i++)\n"
-	"	{\n"
-	"		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);\n"
-	"		if(dp < min[0])	\n"
-	"			min[0] = dp;\n"
-	"		if(dp > max[0])	\n"
-	"			max[0] = dp;\n"
-	"	}\n"
-	"	if(min[0]>max[0])\n"
-	"	{\n"
-	"		float tmp = min[0];\n"
-	"		min[0] = max[0];\n"
-	"		max[0] = tmp;\n"
-	"	}\n"
-	"	min[0] += offset;\n"
-	"	max[0] += offset;\n"
-	"}\n"
-	"inline void project(__global const ConvexPolyhedronCL* hull,  const float4 pos, const float4 orn, \n"
-	"const float4* dir, __global const float4* vertices, float* min, float* max)\n"
-	"{\n"
-	"	min[0] = FLT_MAX;\n"
-	"	max[0] = -FLT_MAX;\n"
-	"	int numVerts = hull->m_numVertices;\n"
-	"	const float4 localDir = qtInvRotate(orn,*dir);\n"
-	"	float offset = dot(pos,*dir);\n"
-	"	for(int i=0;i<numVerts;i++)\n"
-	"	{\n"
-	"		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);\n"
-	"		if(dp < min[0])	\n"
-	"			min[0] = dp;\n"
-	"		if(dp > max[0])	\n"
-	"			max[0] = dp;\n"
-	"	}\n"
-	"	if(min[0]>max[0])\n"
-	"	{\n"
-	"		float tmp = min[0];\n"
-	"		min[0] = max[0];\n"
-	"		max[0] = tmp;\n"
-	"	}\n"
-	"	min[0] += offset;\n"
-	"	max[0] += offset;\n"
-	"}\n"
-	"inline bool TestSepAxisLocalA(const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
-	"	const float4 posA,const float4 ornA,\n"
-	"	const float4 posB,const float4 ornB,\n"
-	"	float4* sep_axis, const float4* verticesA, __global const float4* verticesB,float* depth)\n"
-	"{\n"
-	"	float Min0,Max0;\n"
-	"	float Min1,Max1;\n"
-	"	projectLocal(hullA,posA,ornA,sep_axis,verticesA, &Min0, &Max0);\n"
-	"	project(hullB,posB,ornB, sep_axis,verticesB, &Min1, &Max1);\n"
-	"	if(Max0<Min1 || Max1<Min0)\n"
-	"		return false;\n"
-	"	float d0 = Max0 - Min1;\n"
-	"	float d1 = Max1 - Min0;\n"
-	"	*depth = d0<d1 ? d0:d1;\n"
-	"	return true;\n"
-	"}\n"
-	"inline bool IsAlmostZero(const float4 v)\n"
-	"{\n"
-	"	if(fabs(v.x)>1e-6f || fabs(v.y)>1e-6f || fabs(v.z)>1e-6f)\n"
-	"		return false;\n"
-	"	return true;\n"
-	"}\n"
-	"bool findSeparatingAxisLocalA(	const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
-	"	const float4 posA1,\n"
-	"	const float4 ornA,\n"
-	"	const float4 posB1,\n"
-	"	const float4 ornB,\n"
-	"	const float4 DeltaC2,\n"
-	"	\n"
-	"	const float4* verticesA, \n"
-	"	const float4* uniqueEdgesA, \n"
-	"	const btGpuFace* facesA,\n"
-	"	const int*  indicesA,\n"
-	"	__global const float4* verticesB, \n"
-	"	__global const float4* uniqueEdgesB, \n"
-	"	__global const btGpuFace* facesB,\n"
-	"	__global const int*  indicesB,\n"
-	"	float4* sep,\n"
-	"	float* dmin)\n"
-	"{\n"
-	"	\n"
-	"	float4 posA = posA1;\n"
-	"	posA.w = 0.f;\n"
-	"	float4 posB = posB1;\n"
-	"	posB.w = 0.f;\n"
-	"	int curPlaneTests=0;\n"
-	"	{\n"
-	"		int numFacesA = hullA->m_numFaces;\n"
-	"		// Test normals from hullA\n"
-	"		for(int i=0;i<numFacesA;i++)\n"
-	"		{\n"
-	"			const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;\n"
-	"			float4 faceANormalWS = qtRotate(ornA,normal);\n"
-	"			if (dot3F4(DeltaC2,faceANormalWS)<0)\n"
-	"				faceANormalWS*=-1.f;\n"
-	"			curPlaneTests++;\n"
-	"			float d;\n"
-	"			if(!TestSepAxisLocalA( hullA, hullB, posA,ornA,posB,ornB,&faceANormalWS, verticesA, verticesB,&d))\n"
-	"				return false;\n"
-	"			if(d<*dmin)\n"
-	"			{\n"
-	"				*dmin = d;\n"
-	"				*sep = faceANormalWS;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
-	"	{\n"
-	"		*sep = -(*sep);\n"
-	"	}\n"
-	"	return true;\n"
-	"}\n"
-	"bool findSeparatingAxisLocalB(	__global const ConvexPolyhedronCL* hullA,  const ConvexPolyhedronCL* hullB, \n"
-	"	const float4 posA1,\n"
-	"	const float4 ornA,\n"
-	"	const float4 posB1,\n"
-	"	const float4 ornB,\n"
-	"	const float4 DeltaC2,\n"
-	"	__global const float4* verticesA, \n"
-	"	__global const float4* uniqueEdgesA, \n"
-	"	__global const btGpuFace* facesA,\n"
-	"	__global const int*  indicesA,\n"
-	"	const float4* verticesB,\n"
-	"	const float4* uniqueEdgesB, \n"
-	"	const btGpuFace* facesB,\n"
-	"	const int*  indicesB,\n"
-	"	float4* sep,\n"
-	"	float* dmin)\n"
-	"{\n"
-	"	float4 posA = posA1;\n"
-	"	posA.w = 0.f;\n"
-	"	float4 posB = posB1;\n"
-	"	posB.w = 0.f;\n"
-	"	int curPlaneTests=0;\n"
-	"	{\n"
-	"		int numFacesA = hullA->m_numFaces;\n"
-	"		// Test normals from hullA\n"
-	"		for(int i=0;i<numFacesA;i++)\n"
-	"		{\n"
-	"			const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;\n"
-	"			float4 faceANormalWS = qtRotate(ornA,normal);\n"
-	"			if (dot3F4(DeltaC2,faceANormalWS)<0)\n"
-	"				faceANormalWS *= -1.f;\n"
-	"			curPlaneTests++;\n"
-	"			float d;\n"
-	"			if(!TestSepAxisLocalA( hullB, hullA, posB,ornB,posA,ornA, &faceANormalWS, verticesB,verticesA, &d))\n"
-	"				return false;\n"
-	"			if(d<*dmin)\n"
-	"			{\n"
-	"				*dmin = d;\n"
-	"				*sep = faceANormalWS;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
-	"	{\n"
-	"		*sep = -(*sep);\n"
-	"	}\n"
-	"	return true;\n"
-	"}\n"
-	"bool findSeparatingAxisEdgeEdgeLocalA(	const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
-	"	const float4 posA1,\n"
-	"	const float4 ornA,\n"
-	"	const float4 posB1,\n"
-	"	const float4 ornB,\n"
-	"	const float4 DeltaC2,\n"
-	"	const float4* verticesA, \n"
-	"	const float4* uniqueEdgesA, \n"
-	"	const btGpuFace* facesA,\n"
-	"	const int*  indicesA,\n"
-	"	__global const float4* verticesB, \n"
-	"	__global const float4* uniqueEdgesB, \n"
-	"	__global const btGpuFace* facesB,\n"
-	"	__global const int*  indicesB,\n"
-	"		float4* sep,\n"
-	"	float* dmin)\n"
-	"{\n"
-	"	float4 posA = posA1;\n"
-	"	posA.w = 0.f;\n"
-	"	float4 posB = posB1;\n"
-	"	posB.w = 0.f;\n"
-	"	int curPlaneTests=0;\n"
-	"	int curEdgeEdge = 0;\n"
-	"	// Test edges\n"
-	"	for(int e0=0;e0<hullA->m_numUniqueEdges;e0++)\n"
-	"	{\n"
-	"		const float4 edge0 = uniqueEdgesA[hullA->m_uniqueEdgesOffset+e0];\n"
-	"		float4 edge0World = qtRotate(ornA,edge0);\n"
-	"		for(int e1=0;e1<hullB->m_numUniqueEdges;e1++)\n"
-	"		{\n"
-	"			const float4 edge1 = uniqueEdgesB[hullB->m_uniqueEdgesOffset+e1];\n"
-	"			float4 edge1World = qtRotate(ornB,edge1);\n"
-	"			float4 crossje = cross3(edge0World,edge1World);\n"
-	"			curEdgeEdge++;\n"
-	"			if(!IsAlmostZero(crossje))\n"
-	"			{\n"
-	"				crossje = normalize3(crossje);\n"
-	"				if (dot3F4(DeltaC2,crossje)<0)\n"
-	"					crossje *= -1.f;\n"
-	"				float dist;\n"
-	"				bool result = true;\n"
-	"				{\n"
-	"					float Min0,Max0;\n"
-	"					float Min1,Max1;\n"
-	"					projectLocal(hullA,posA,ornA,&crossje,verticesA, &Min0, &Max0);\n"
-	"					project(hullB,posB,ornB,&crossje,verticesB, &Min1, &Max1);\n"
-	"				\n"
-	"					if(Max0<Min1 || Max1<Min0)\n"
-	"						result = false;\n"
-	"				\n"
-	"					float d0 = Max0 - Min1;\n"
-	"					float d1 = Max1 - Min0;\n"
-	"					dist = d0<d1 ? d0:d1;\n"
-	"					result = true;\n"
-	"				}\n"
-	"				\n"
-	"				if(dist<*dmin)\n"
-	"				{\n"
-	"					*dmin = dist;\n"
-	"					*sep = crossje;\n"
-	"				}\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	\n"
-	"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
-	"	{\n"
-	"		*sep = -(*sep);\n"
-	"	}\n"
-	"	return true;\n"
-	"}\n"
-	"inline bool TestSepAxis(__global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
-	"	const float4 posA,const float4 ornA,\n"
-	"	const float4 posB,const float4 ornB,\n"
-	"	float4* sep_axis, __global const float4* vertices,float* depth)\n"
-	"{\n"
-	"	float Min0,Max0;\n"
-	"	float Min1,Max1;\n"
-	"	project(hullA,posA,ornA,sep_axis,vertices, &Min0, &Max0);\n"
-	"	project(hullB,posB,ornB, sep_axis,vertices, &Min1, &Max1);\n"
-	"	if(Max0<Min1 || Max1<Min0)\n"
-	"		return false;\n"
-	"	float d0 = Max0 - Min1;\n"
-	"	float d1 = Max1 - Min0;\n"
-	"	*depth = d0<d1 ? d0:d1;\n"
-	"	return true;\n"
-	"}\n"
-	"bool findSeparatingAxis(	__global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
-	"	const float4 posA1,\n"
-	"	const float4 ornA,\n"
-	"	const float4 posB1,\n"
-	"	const float4 ornB,\n"
-	"	const float4 DeltaC2,\n"
-	"	__global const float4* vertices, \n"
-	"	__global const float4* uniqueEdges, \n"
-	"	__global const btGpuFace* faces,\n"
-	"	__global const int*  indices,\n"
-	"	float4* sep,\n"
-	"	float* dmin)\n"
-	"{\n"
-	"	\n"
-	"	float4 posA = posA1;\n"
-	"	posA.w = 0.f;\n"
-	"	float4 posB = posB1;\n"
-	"	posB.w = 0.f;\n"
-	"	\n"
-	"	int curPlaneTests=0;\n"
-	"	{\n"
-	"		int numFacesA = hullA->m_numFaces;\n"
-	"		// Test normals from hullA\n"
-	"		for(int i=0;i<numFacesA;i++)\n"
-	"		{\n"
-	"			const float4 normal = faces[hullA->m_faceOffset+i].m_plane;\n"
-	"			float4 faceANormalWS = qtRotate(ornA,normal);\n"
-	"	\n"
-	"			if (dot3F4(DeltaC2,faceANormalWS)<0)\n"
-	"				faceANormalWS*=-1.f;\n"
-	"				\n"
-	"			curPlaneTests++;\n"
-	"	\n"
-	"			float d;\n"
-	"			if(!TestSepAxis( hullA, hullB, posA,ornA,posB,ornB,&faceANormalWS, vertices,&d))\n"
-	"				return false;\n"
-	"	\n"
-	"			if(d<*dmin)\n"
-	"			{\n"
-	"				*dmin = d;\n"
-	"				*sep = faceANormalWS;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"		if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
-	"		{\n"
-	"			*sep = -(*sep);\n"
-	"		}\n"
-	"	\n"
-	"	return true;\n"
-	"}\n"
-	"bool findSeparatingAxisUnitSphere(	__global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
-	"	const float4 posA1,\n"
-	"	const float4 ornA,\n"
-	"	const float4 posB1,\n"
-	"	const float4 ornB,\n"
-	"	const float4 DeltaC2,\n"
-	"	__global const float4* vertices,\n"
-	"	__global const float4* unitSphereDirections,\n"
-	"	int numUnitSphereDirections,\n"
-	"	float4* sep,\n"
-	"	float* dmin)\n"
-	"{\n"
-	"	\n"
-	"	float4 posA = posA1;\n"
-	"	posA.w = 0.f;\n"
-	"	float4 posB = posB1;\n"
-	"	posB.w = 0.f;\n"
-	"	int curPlaneTests=0;\n"
-	"	int curEdgeEdge = 0;\n"
-	"	// Test unit sphere directions\n"
-	"	for (int i=0;i<numUnitSphereDirections;i++)\n"
-	"	{\n"
-	"		float4 crossje;\n"
-	"		crossje = unitSphereDirections[i];	\n"
-	"		if (dot3F4(DeltaC2,crossje)>0)\n"
-	"			crossje *= -1.f;\n"
-	"		{\n"
-	"			float dist;\n"
-	"			bool result = true;\n"
-	"			float Min0,Max0;\n"
-	"			float Min1,Max1;\n"
-	"			project(hullA,posA,ornA,&crossje,vertices, &Min0, &Max0);\n"
-	"			project(hullB,posB,ornB,&crossje,vertices, &Min1, &Max1);\n"
-	"		\n"
-	"			if(Max0<Min1 || Max1<Min0)\n"
-	"				return false;\n"
-	"		\n"
-	"			float d0 = Max0 - Min1;\n"
-	"			float d1 = Max1 - Min0;\n"
-	"			dist = d0<d1 ? d0:d1;\n"
-	"			result = true;\n"
-	"	\n"
-	"			if(dist<*dmin)\n"
-	"			{\n"
-	"				*dmin = dist;\n"
-	"				*sep = crossje;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	\n"
-	"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
-	"	{\n"
-	"		*sep = -(*sep);\n"
-	"	}\n"
-	"	return true;\n"
-	"}\n"
-	"bool findSeparatingAxisEdgeEdge(	__global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
-	"	const float4 posA1,\n"
-	"	const float4 ornA,\n"
-	"	const float4 posB1,\n"
-	"	const float4 ornB,\n"
-	"	const float4 DeltaC2,\n"
-	"	__global const float4* vertices, \n"
-	"	__global const float4* uniqueEdges, \n"
-	"	__global const btGpuFace* faces,\n"
-	"	__global const int*  indices,\n"
-	"	float4* sep,\n"
-	"	float* dmin)\n"
-	"{\n"
-	"	\n"
-	"	float4 posA = posA1;\n"
-	"	posA.w = 0.f;\n"
-	"	float4 posB = posB1;\n"
-	"	posB.w = 0.f;\n"
-	"	int curPlaneTests=0;\n"
-	"	int curEdgeEdge = 0;\n"
-	"	// Test edges\n"
-	"	for(int e0=0;e0<hullA->m_numUniqueEdges;e0++)\n"
-	"	{\n"
-	"		const float4 edge0 = uniqueEdges[hullA->m_uniqueEdgesOffset+e0];\n"
-	"		float4 edge0World = qtRotate(ornA,edge0);\n"
-	"		for(int e1=0;e1<hullB->m_numUniqueEdges;e1++)\n"
-	"		{\n"
-	"			const float4 edge1 = uniqueEdges[hullB->m_uniqueEdgesOffset+e1];\n"
-	"			float4 edge1World = qtRotate(ornB,edge1);\n"
-	"			float4 crossje = cross3(edge0World,edge1World);\n"
-	"			curEdgeEdge++;\n"
-	"			if(!IsAlmostZero(crossje))\n"
-	"			{\n"
-	"				crossje = normalize3(crossje);\n"
-	"				if (dot3F4(DeltaC2,crossje)<0)\n"
-	"					crossje*=-1.f;\n"
-	"					\n"
-	"				float dist;\n"
-	"				bool result = true;\n"
-	"				{\n"
-	"					float Min0,Max0;\n"
-	"					float Min1,Max1;\n"
-	"					project(hullA,posA,ornA,&crossje,vertices, &Min0, &Max0);\n"
-	"					project(hullB,posB,ornB,&crossje,vertices, &Min1, &Max1);\n"
-	"				\n"
-	"					if(Max0<Min1 || Max1<Min0)\n"
-	"						return false;\n"
-	"				\n"
-	"					float d0 = Max0 - Min1;\n"
-	"					float d1 = Max1 - Min0;\n"
-	"					dist = d0<d1 ? d0:d1;\n"
-	"					result = true;\n"
-	"				}\n"
-	"				\n"
-	"				if(dist<*dmin)\n"
-	"				{\n"
-	"					*dmin = dist;\n"
-	"					*sep = crossje;\n"
-	"				}\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	\n"
-	"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
-	"	{\n"
-	"		*sep = -(*sep);\n"
-	"	}\n"
-	"	return true;\n"
-	"}\n"
-	"// work-in-progress\n"
-	"__kernel void   processCompoundPairsKernel( __global const int4* gpuCompoundPairs,\n"
-	"																					__global const BodyData* rigidBodies, \n"
-	"																					__global const btCollidableGpu* collidables,\n"
-	"																					__global const ConvexPolyhedronCL* convexShapes, \n"
-	"																					__global const float4* vertices,\n"
-	"																					__global const float4* uniqueEdges,\n"
-	"																					__global const btGpuFace* faces,\n"
-	"																					__global const int* indices,\n"
-	"																					__global btAabbCL* aabbs,\n"
-	"																					__global const btGpuChildShape* gpuChildShapes,\n"
-	"																					__global volatile float4* gpuCompoundSepNormalsOut,\n"
-	"																					__global volatile int* gpuHasCompoundSepNormalsOut,\n"
-	"																					int numCompoundPairs\n"
-	"																					)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	if (i<numCompoundPairs)\n"
-	"	{\n"
-	"		int bodyIndexA = gpuCompoundPairs[i].x;\n"
-	"		int bodyIndexB = gpuCompoundPairs[i].y;\n"
-	"		int childShapeIndexA = gpuCompoundPairs[i].z;\n"
-	"		int childShapeIndexB = gpuCompoundPairs[i].w;\n"
-	"		\n"
-	"		int collidableIndexA = -1;\n"
-	"		int collidableIndexB = -1;\n"
-	"		\n"
-	"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-	"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-	"		\n"
-	"		float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
-	"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-	"							\n"
-	"		if (childShapeIndexA >= 0)\n"
-	"		{\n"
-	"			collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;\n"
-	"			float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;\n"
-	"			float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;\n"
-	"			float4 newPosA = qtRotate(ornA,childPosA)+posA;\n"
-	"			float4 newOrnA = qtMul(ornA,childOrnA);\n"
-	"			posA = newPosA;\n"
-	"			ornA = newOrnA;\n"
-	"		} else\n"
-	"		{\n"
-	"			collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-	"		}\n"
-	"		\n"
-	"		if (childShapeIndexB>=0)\n"
-	"		{\n"
-	"			collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
-	"			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
-	"			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
-	"			float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
-	"			float4 newOrnB = qtMul(ornB,childOrnB);\n"
-	"			posB = newPosB;\n"
-	"			ornB = newOrnB;\n"
-	"		} else\n"
-	"		{\n"
-	"			collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;	\n"
-	"		}\n"
-	"	\n"
-	"		gpuHasCompoundSepNormalsOut[i] = 0;\n"
-	"	\n"
-	"		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-	"		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-	"	\n"
-	"		int shapeTypeA = collidables[collidableIndexA].m_shapeType;\n"
-	"		int shapeTypeB = collidables[collidableIndexB].m_shapeType;\n"
-	"	\n"
-	"		if ((shapeTypeA != SHAPE_CONVEX_HULL) || (shapeTypeB != SHAPE_CONVEX_HULL))\n"
-	"		{\n"
-	"			return;\n"
-	"		}\n"
-	"		int hasSeparatingAxis = 5;\n"
-	"							\n"
-	"		int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
-	"		float dmin = FLT_MAX;\n"
-	"		posA.w = 0.f;\n"
-	"		posB.w = 0.f;\n"
-	"		float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
-	"		float4 c0 = transform(&c0local, &posA, &ornA);\n"
-	"		float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
-	"		float4 c1 = transform(&c1local,&posB,&ornB);\n"
-	"		const float4 DeltaC2 = c0 - c1;\n"
-	"		float4 sepNormal = make_float4(1,0,0,0);\n"
-	"		bool sepA = findSeparatingAxis(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,posB,ornB,DeltaC2,vertices,uniqueEdges,faces,indices,&sepNormal,&dmin);\n"
-	"		hasSeparatingAxis = 4;\n"
-	"		if (!sepA)\n"
-	"		{\n"
-	"			hasSeparatingAxis = 0;\n"
-	"		} else\n"
-	"		{\n"
-	"			bool sepB = findSeparatingAxis(	&convexShapes[shapeIndexB],&convexShapes[shapeIndexA],posB,ornB,posA,ornA,DeltaC2,vertices,uniqueEdges,faces,indices,&sepNormal,&dmin);\n"
-	"			if (!sepB)\n"
-	"			{\n"
-	"				hasSeparatingAxis = 0;\n"
-	"			} else//(!sepB)\n"
-	"			{\n"
-	"				bool sepEE = findSeparatingAxisEdgeEdge(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,posB,ornB,DeltaC2,vertices,uniqueEdges,faces,indices,&sepNormal,&dmin);\n"
-	"				if (sepEE)\n"
-	"				{\n"
-	"						gpuCompoundSepNormalsOut[i] = sepNormal;//fastNormalize4(sepNormal);\n"
-	"						gpuHasCompoundSepNormalsOut[i] = 1;\n"
-	"				}//sepEE\n"
-	"			}//(!sepB)\n"
-	"		}//(!sepA)\n"
-	"		\n"
-	"		\n"
-	"	}\n"
-	"		\n"
-	"}\n"
-	"inline b3Float4 MyUnQuantize(const unsigned short* vecIn, b3Float4 quantization, b3Float4 bvhAabbMin)\n"
-	"{\n"
-	"		b3Float4 vecOut;\n"
-	"		vecOut = b3MakeFloat4(\n"
-	"			(float)(vecIn[0]) / (quantization.x),\n"
-	"			(float)(vecIn[1]) / (quantization.y),\n"
-	"			(float)(vecIn[2]) / (quantization.z),\n"
-	"			0.f);\n"
-	"		vecOut += bvhAabbMin;\n"
-	"		return vecOut;\n"
-	"}\n"
-	"inline b3Float4 MyUnQuantizeGlobal(__global const unsigned short* vecIn, b3Float4 quantization, b3Float4 bvhAabbMin)\n"
-	"{\n"
-	"		b3Float4 vecOut;\n"
-	"		vecOut = b3MakeFloat4(\n"
-	"			(float)(vecIn[0]) / (quantization.x),\n"
-	"			(float)(vecIn[1]) / (quantization.y),\n"
-	"			(float)(vecIn[2]) / (quantization.z),\n"
-	"			0.f);\n"
-	"		vecOut += bvhAabbMin;\n"
-	"		return vecOut;\n"
-	"}\n"
-	"// work-in-progress\n"
-	"__kernel void   findCompoundPairsKernel( __global const int4* pairs, \n"
-	"	__global const BodyData* rigidBodies, \n"
-	"	__global const btCollidableGpu* collidables,\n"
-	"	__global const ConvexPolyhedronCL* convexShapes, \n"
-	"	__global const float4* vertices,\n"
-	"	__global const float4* uniqueEdges,\n"
-	"	__global const btGpuFace* faces,\n"
-	"	__global const int* indices,\n"
-	"	__global b3Aabb_t* aabbLocalSpace,\n"
-	"	__global const btGpuChildShape* gpuChildShapes,\n"
-	"	__global volatile int4* gpuCompoundPairsOut,\n"
-	"	__global volatile int* numCompoundPairsOut,\n"
-	"	__global const b3BvhSubtreeInfo* subtrees,\n"
-	"	__global const b3QuantizedBvhNode* quantizedNodes,\n"
-	"	__global const b3BvhInfo* bvhInfos,\n"
-	"	int numPairs,\n"
-	"	int maxNumCompoundPairsCapacity\n"
-	"	)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	if (i<numPairs)\n"
-	"	{\n"
-	"		int bodyIndexA = pairs[i].x;\n"
-	"		int bodyIndexB = pairs[i].y;\n"
-	"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-	"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-	"		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-	"		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-	"		//once the broadphase avoids static-static pairs, we can remove this test\n"
-	"		if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))\n"
-	"		{\n"
-	"			return;\n"
-	"		}\n"
-	"		if ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) &&(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))\n"
-	"		{\n"
-	"			int bvhA = collidables[collidableIndexA].m_compoundBvhIndex;\n"
-	"			int bvhB = collidables[collidableIndexB].m_compoundBvhIndex;\n"
-	"			int numSubTreesA = bvhInfos[bvhA].m_numSubTrees;\n"
-	"			int subTreesOffsetA = bvhInfos[bvhA].m_subTreeOffset;\n"
-	"			int subTreesOffsetB = bvhInfos[bvhB].m_subTreeOffset;\n"
-	"			int numSubTreesB = bvhInfos[bvhB].m_numSubTrees;\n"
-	"			\n"
-	"			float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-	"			b3Quat ornA = rigidBodies[bodyIndexA].m_quat;\n"
-	"			b3Quat ornB = rigidBodies[bodyIndexB].m_quat;\n"
-	"			float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-	"			\n"
-	"			for (int p=0;p<numSubTreesA;p++)\n"
-	"			{\n"
-	"				b3BvhSubtreeInfo subtreeA = subtrees[subTreesOffsetA+p];\n"
-	"				//bvhInfos[bvhA].m_quantization\n"
-	"				b3Float4 treeAminLocal = MyUnQuantize(subtreeA.m_quantizedAabbMin,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);\n"
-	"				b3Float4 treeAmaxLocal = MyUnQuantize(subtreeA.m_quantizedAabbMax,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);\n"
-	"				b3Float4 aabbAMinOut,aabbAMaxOut;\n"
-	"				float margin=0.f;\n"
-	"				b3TransformAabb2(treeAminLocal,treeAmaxLocal, margin,posA,ornA,&aabbAMinOut,&aabbAMaxOut);\n"
-	"				\n"
-	"				for (int q=0;q<numSubTreesB;q++)\n"
-	"				{\n"
-	"					b3BvhSubtreeInfo subtreeB = subtrees[subTreesOffsetB+q];\n"
-	"					b3Float4 treeBminLocal = MyUnQuantize(subtreeB.m_quantizedAabbMin,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);\n"
-	"					b3Float4 treeBmaxLocal = MyUnQuantize(subtreeB.m_quantizedAabbMax,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);\n"
-	"					b3Float4 aabbBMinOut,aabbBMaxOut;\n"
-	"					float margin=0.f;\n"
-	"					b3TransformAabb2(treeBminLocal,treeBmaxLocal, margin,posB,ornB,&aabbBMinOut,&aabbBMaxOut);\n"
-	"					\n"
-	"					\n"
-	"					bool aabbOverlap = b3TestAabbAgainstAabb(aabbAMinOut,aabbAMaxOut,aabbBMinOut,aabbBMaxOut);\n"
-	"					if (aabbOverlap)\n"
-	"					{\n"
-	"						\n"
-	"						int startNodeIndexA = subtreeA.m_rootNodeIndex+bvhInfos[bvhA].m_nodeOffset;\n"
-	"						int endNodeIndexA = startNodeIndexA+subtreeA.m_subtreeSize;\n"
-	"						int startNodeIndexB = subtreeB.m_rootNodeIndex+bvhInfos[bvhB].m_nodeOffset;\n"
-	"						int endNodeIndexB = startNodeIndexB+subtreeB.m_subtreeSize;\n"
-	"						b3Int2 nodeStack[B3_MAX_STACK_DEPTH];\n"
-	"						b3Int2 node0;\n"
-	"						node0.x = startNodeIndexA;\n"
-	"						node0.y = startNodeIndexB;\n"
-	"						int maxStackDepth = B3_MAX_STACK_DEPTH;\n"
-	"						int depth=0;\n"
-	"						nodeStack[depth++]=node0;\n"
-	"						do\n"
-	"						{\n"
-	"							b3Int2 node = nodeStack[--depth];\n"
-	"							b3Float4 aMinLocal = MyUnQuantizeGlobal(quantizedNodes[node.x].m_quantizedAabbMin,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);\n"
-	"							b3Float4 aMaxLocal = MyUnQuantizeGlobal(quantizedNodes[node.x].m_quantizedAabbMax,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);\n"
-	"							b3Float4 bMinLocal = MyUnQuantizeGlobal(quantizedNodes[node.y].m_quantizedAabbMin,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);\n"
-	"							b3Float4 bMaxLocal = MyUnQuantizeGlobal(quantizedNodes[node.y].m_quantizedAabbMax,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);\n"
-	"							float margin=0.f;\n"
-	"							b3Float4 aabbAMinOut,aabbAMaxOut;\n"
-	"							b3TransformAabb2(aMinLocal,aMaxLocal, margin,posA,ornA,&aabbAMinOut,&aabbAMaxOut);\n"
-	"							b3Float4 aabbBMinOut,aabbBMaxOut;\n"
-	"							b3TransformAabb2(bMinLocal,bMaxLocal, margin,posB,ornB,&aabbBMinOut,&aabbBMaxOut);\n"
-	"							\n"
-	"							bool nodeOverlap = b3TestAabbAgainstAabb(aabbAMinOut,aabbAMaxOut,aabbBMinOut,aabbBMaxOut);\n"
-	"							if (nodeOverlap)\n"
-	"							{\n"
-	"								bool isLeafA = isLeafNodeGlobal(&quantizedNodes[node.x]);\n"
-	"								bool isLeafB = isLeafNodeGlobal(&quantizedNodes[node.y]);\n"
-	"								bool isInternalA = !isLeafA;\n"
-	"								bool isInternalB = !isLeafB;\n"
-	"								//fail, even though it might hit two leaf nodes\n"
-	"								if (depth+4>maxStackDepth && !(isLeafA && isLeafB))\n"
-	"								{\n"
-	"									//printf(\"Error: traversal exceeded maxStackDepth\");\n"
-	"									continue;\n"
-	"								}\n"
-	"								if(isInternalA)\n"
-	"								{\n"
-	"									int nodeAleftChild = node.x+1;\n"
-	"									bool isNodeALeftChildLeaf = isLeafNodeGlobal(&quantizedNodes[node.x+1]);\n"
-	"									int nodeArightChild = isNodeALeftChildLeaf? node.x+2 : node.x+1 + getEscapeIndexGlobal(&quantizedNodes[node.x+1]);\n"
-	"									if(isInternalB)\n"
-	"									{					\n"
-	"										int nodeBleftChild = node.y+1;\n"
-	"										bool isNodeBLeftChildLeaf = isLeafNodeGlobal(&quantizedNodes[node.y+1]);\n"
-	"										int nodeBrightChild = isNodeBLeftChildLeaf? node.y+2 : node.y+1 + getEscapeIndexGlobal(&quantizedNodes[node.y+1]);\n"
-	"										nodeStack[depth++] = b3MakeInt2(nodeAleftChild, nodeBleftChild);\n"
-	"										nodeStack[depth++] = b3MakeInt2(nodeArightChild, nodeBleftChild);\n"
-	"										nodeStack[depth++] = b3MakeInt2(nodeAleftChild, nodeBrightChild);\n"
-	"										nodeStack[depth++] = b3MakeInt2(nodeArightChild, nodeBrightChild);\n"
-	"									}\n"
-	"									else\n"
-	"									{\n"
-	"										nodeStack[depth++] = b3MakeInt2(nodeAleftChild,node.y);\n"
-	"										nodeStack[depth++] = b3MakeInt2(nodeArightChild,node.y);\n"
-	"									}\n"
-	"								}\n"
-	"								else\n"
-	"								{\n"
-	"									if(isInternalB)\n"
-	"									{\n"
-	"										int nodeBleftChild = node.y+1;\n"
-	"										bool isNodeBLeftChildLeaf = isLeafNodeGlobal(&quantizedNodes[node.y+1]);\n"
-	"										int nodeBrightChild = isNodeBLeftChildLeaf? node.y+2 : node.y+1 + getEscapeIndexGlobal(&quantizedNodes[node.y+1]);\n"
-	"										nodeStack[depth++] = b3MakeInt2(node.x,nodeBleftChild);\n"
-	"										nodeStack[depth++] = b3MakeInt2(node.x,nodeBrightChild);\n"
-	"									}\n"
-	"									else\n"
-	"									{\n"
-	"										int compoundPairIdx = atomic_inc(numCompoundPairsOut);\n"
-	"										if (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
-	"										{\n"
-	"											int childShapeIndexA = getTriangleIndexGlobal(&quantizedNodes[node.x]);\n"
-	"											int childShapeIndexB = getTriangleIndexGlobal(&quantizedNodes[node.y]);\n"
-	"											gpuCompoundPairsOut[compoundPairIdx]  = (int4)(bodyIndexA,bodyIndexB,childShapeIndexA,childShapeIndexB);\n"
-	"										}\n"
-	"									}\n"
-	"								}\n"
-	"							}\n"
-	"						} while (depth);\n"
-	"					}\n"
-	"				}\n"
-	"			}\n"
-	"			\n"
-	"			return;\n"
-	"		}\n"
-	"		if ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) ||(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))\n"
-	"		{\n"
-	"			if (collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) \n"
-	"			{\n"
-	"				int numChildrenA = collidables[collidableIndexA].m_numChildShapes;\n"
-	"				for (int c=0;c<numChildrenA;c++)\n"
-	"				{\n"
-	"					int childShapeIndexA = collidables[collidableIndexA].m_shapeIndex+c;\n"
-	"					int childColIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;\n"
-	"					float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-	"					float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-	"					float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;\n"
-	"					float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;\n"
-	"					float4 newPosA = qtRotate(ornA,childPosA)+posA;\n"
-	"					float4 newOrnA = qtMul(ornA,childOrnA);\n"
-	"					int shapeIndexA = collidables[childColIndexA].m_shapeIndex;\n"
-	"					b3Aabb_t aabbAlocal = aabbLocalSpace[shapeIndexA];\n"
-	"					float margin = 0.f;\n"
-	"					\n"
-	"					b3Float4 aabbAMinWS;\n"
-	"					b3Float4 aabbAMaxWS;\n"
-	"					\n"
-	"					b3TransformAabb2(aabbAlocal.m_minVec,aabbAlocal.m_maxVec,margin,\n"
-	"						newPosA,\n"
-	"						newOrnA,\n"
-	"						&aabbAMinWS,&aabbAMaxWS);\n"
-	"						\n"
-	"					\n"
-	"					if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-	"					{\n"
-	"						int numChildrenB = collidables[collidableIndexB].m_numChildShapes;\n"
-	"						for (int b=0;b<numChildrenB;b++)\n"
-	"						{\n"
-	"							int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;\n"
-	"							int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
-	"							float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
-	"							float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-	"							float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
-	"							float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
-	"							float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
-	"							float4 newOrnB = qtMul(ornB,childOrnB);\n"
-	"							int shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
-	"							b3Aabb_t aabbBlocal = aabbLocalSpace[shapeIndexB];\n"
-	"							\n"
-	"							b3Float4 aabbBMinWS;\n"
-	"							b3Float4 aabbBMaxWS;\n"
-	"							\n"
-	"							b3TransformAabb2(aabbBlocal.m_minVec,aabbBlocal.m_maxVec,margin,\n"
-	"								newPosB,\n"
-	"								newOrnB,\n"
-	"								&aabbBMinWS,&aabbBMaxWS);\n"
-	"								\n"
-	"								\n"
-	"							\n"
-	"							bool aabbOverlap = b3TestAabbAgainstAabb(aabbAMinWS,aabbAMaxWS,aabbBMinWS,aabbBMaxWS);\n"
-	"							if (aabbOverlap)\n"
-	"							{\n"
-	"								int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
-	"								float dmin = FLT_MAX;\n"
-	"								float4 posA = newPosA;\n"
-	"								posA.w = 0.f;\n"
-	"								float4 posB = newPosB;\n"
-	"								posB.w = 0.f;\n"
-	"								float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
-	"								float4 ornA = newOrnA;\n"
-	"								float4 c0 = transform(&c0local, &posA, &ornA);\n"
-	"								float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
-	"								float4 ornB =newOrnB;\n"
-	"								float4 c1 = transform(&c1local,&posB,&ornB);\n"
-	"								const float4 DeltaC2 = c0 - c1;\n"
-	"								{//\n"
-	"									int compoundPairIdx = atomic_inc(numCompoundPairsOut);\n"
-	"									if (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
-	"									{\n"
-	"										gpuCompoundPairsOut[compoundPairIdx]  = (int4)(bodyIndexA,bodyIndexB,childShapeIndexA,childShapeIndexB);\n"
-	"									}\n"
-	"								}//\n"
-	"							}//fi(1)\n"
-	"						} //for (int b=0\n"
-	"					}//if (collidables[collidableIndexB].\n"
-	"					else//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-	"					{\n"
-	"						if (1)\n"
-	"						{\n"
-	"							int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
-	"							float dmin = FLT_MAX;\n"
-	"							float4 posA = newPosA;\n"
-	"							posA.w = 0.f;\n"
-	"							float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-	"							posB.w = 0.f;\n"
-	"							float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
-	"							float4 ornA = newOrnA;\n"
-	"							float4 c0 = transform(&c0local, &posA, &ornA);\n"
-	"							float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
-	"							float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
-	"							float4 c1 = transform(&c1local,&posB,&ornB);\n"
-	"							const float4 DeltaC2 = c0 - c1;\n"
-	"							{\n"
-	"								int compoundPairIdx = atomic_inc(numCompoundPairsOut);\n"
-	"								if (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
-	"								{\n"
-	"									gpuCompoundPairsOut[compoundPairIdx] = (int4)(bodyIndexA,bodyIndexB,childShapeIndexA,-1);\n"
-	"								}//if (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
-	"							}//\n"
-	"						}//fi (1)\n"
-	"					}//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-	"				}//for (int b=0;b<numChildrenB;b++)	\n"
-	"				return;\n"
-	"			}//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-	"			if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONCAVE_TRIMESH) \n"
-	"				&& (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))\n"
-	"			{\n"
-	"				int numChildrenB = collidables[collidableIndexB].m_numChildShapes;\n"
-	"				for (int b=0;b<numChildrenB;b++)\n"
-	"				{\n"
-	"					int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;\n"
-	"					int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
-	"					float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
-	"					float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-	"					float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
-	"					float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
-	"					float4 newPosB = qtRotate(ornB,childPosB)+posB;\n"
-	"					float4 newOrnB = qtMul(ornB,childOrnB);\n"
-	"					int shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
-	"					//////////////////////////////////////\n"
-	"					if (1)\n"
-	"					{\n"
-	"						int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
-	"						float dmin = FLT_MAX;\n"
-	"						float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-	"						posA.w = 0.f;\n"
-	"						float4 posB = newPosB;\n"
-	"						posB.w = 0.f;\n"
-	"						float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
-	"						float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-	"						float4 c0 = transform(&c0local, &posA, &ornA);\n"
-	"						float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
-	"						float4 ornB =newOrnB;\n"
-	"						float4 c1 = transform(&c1local,&posB,&ornB);\n"
-	"						const float4 DeltaC2 = c0 - c1;\n"
-	"						{//\n"
-	"							int compoundPairIdx = atomic_inc(numCompoundPairsOut);\n"
-	"							if (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
-	"							{\n"
-	"								gpuCompoundPairsOut[compoundPairIdx] = (int4)(bodyIndexA,bodyIndexB,-1,childShapeIndexB);\n"
-	"							}//fi (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
-	"						}//\n"
-	"					}//fi (1)	\n"
-	"				}//for (int b=0;b<numChildrenB;b++)\n"
-	"				return;\n"
-	"			}//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-	"			return;\n"
-	"		}//fi ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) ||(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))\n"
-	"	}//i<numPairs\n"
-	"}\n"
-	"// work-in-progress\n"
-	"__kernel void   findSeparatingAxisKernel( __global const int4* pairs, \n"
-	"																					__global const BodyData* rigidBodies, \n"
-	"																					__global const btCollidableGpu* collidables,\n"
-	"																					__global const ConvexPolyhedronCL* convexShapes, \n"
-	"																					__global const float4* vertices,\n"
-	"																					__global const float4* uniqueEdges,\n"
-	"																					__global const btGpuFace* faces,\n"
-	"																					__global const int* indices,\n"
-	"																					__global btAabbCL* aabbs,\n"
-	"																					__global volatile float4* separatingNormals,\n"
-	"																					__global volatile int* hasSeparatingAxis,\n"
-	"																					int numPairs\n"
-	"																					)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	\n"
-	"	if (i<numPairs)\n"
-	"	{\n"
-	"	\n"
-	"		int bodyIndexA = pairs[i].x;\n"
-	"		int bodyIndexB = pairs[i].y;\n"
-	"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-	"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-	"	\n"
-	"		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-	"		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-	"		\n"
-	"		\n"
-	"		//once the broadphase avoids static-static pairs, we can remove this test\n"
-	"		if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))\n"
-	"		{\n"
-	"			hasSeparatingAxis[i] = 0;\n"
-	"			return;\n"
-	"		}\n"
-	"		\n"
-	"		if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONVEX_HULL) ||(collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL))\n"
-	"		{\n"
-	"			hasSeparatingAxis[i] = 0;\n"
-	"			return;\n"
-	"		}\n"
-	"			\n"
-	"		if ((collidables[collidableIndexA].m_shapeType==SHAPE_CONCAVE_TRIMESH))\n"
-	"		{\n"
-	"			hasSeparatingAxis[i] = 0;\n"
-	"			return;\n"
-	"		}\n"
-	"		int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
-	"		float dmin = FLT_MAX;\n"
-	"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-	"		posA.w = 0.f;\n"
-	"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-	"		posB.w = 0.f;\n"
-	"		float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
-	"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-	"		float4 c0 = transform(&c0local, &posA, &ornA);\n"
-	"		float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
-	"		float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
-	"		float4 c1 = transform(&c1local,&posB,&ornB);\n"
-	"		const float4 DeltaC2 = c0 - c1;\n"
-	"		float4 sepNormal;\n"
-	"		\n"
-	"		bool sepA = findSeparatingAxis(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
-	"																								posB,ornB,\n"
-	"																								DeltaC2,\n"
-	"																								vertices,uniqueEdges,faces,\n"
-	"																								indices,&sepNormal,&dmin);\n"
-	"		hasSeparatingAxis[i] = 4;\n"
-	"		if (!sepA)\n"
-	"		{\n"
-	"			hasSeparatingAxis[i] = 0;\n"
-	"		} else\n"
-	"		{\n"
-	"			bool sepB = findSeparatingAxis(	&convexShapes[shapeIndexB],&convexShapes[shapeIndexA],posB,ornB,\n"
-	"																									posA,ornA,\n"
-	"																									DeltaC2,\n"
-	"																									vertices,uniqueEdges,faces,\n"
-	"																									indices,&sepNormal,&dmin);\n"
-	"			if (!sepB)\n"
-	"			{\n"
-	"				hasSeparatingAxis[i] = 0;\n"
-	"			} else\n"
-	"			{\n"
-	"				bool sepEE = findSeparatingAxisEdgeEdge(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
-	"																									posB,ornB,\n"
-	"																									DeltaC2,\n"
-	"																									vertices,uniqueEdges,faces,\n"
-	"																									indices,&sepNormal,&dmin);\n"
-	"				if (!sepEE)\n"
-	"				{\n"
-	"					hasSeparatingAxis[i] = 0;\n"
-	"				} else\n"
-	"				{\n"
-	"					hasSeparatingAxis[i] = 1;\n"
-	"					separatingNormals[i] = sepNormal;\n"
-	"				}\n"
-	"			}\n"
-	"		}\n"
-	"		\n"
-	"	}\n"
-	"}\n"
-	"__kernel void   findSeparatingAxisVertexFaceKernel( __global const int4* pairs, \n"
-	"																					__global const BodyData* rigidBodies, \n"
-	"																					__global const btCollidableGpu* collidables,\n"
-	"																					__global const ConvexPolyhedronCL* convexShapes, \n"
-	"																					__global const float4* vertices,\n"
-	"																					__global const float4* uniqueEdges,\n"
-	"																					__global const btGpuFace* faces,\n"
-	"																					__global const int* indices,\n"
-	"																					__global btAabbCL* aabbs,\n"
-	"																					__global volatile float4* separatingNormals,\n"
-	"																					__global volatile int* hasSeparatingAxis,\n"
-	"																					__global  float* dmins,\n"
-	"																					int numPairs\n"
-	"																					)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	\n"
-	"	if (i<numPairs)\n"
-	"	{\n"
-	"	\n"
-	"		int bodyIndexA = pairs[i].x;\n"
-	"		int bodyIndexB = pairs[i].y;\n"
-	"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-	"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-	"	\n"
-	"		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-	"		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-	"	\n"
-	"		hasSeparatingAxis[i] = 0;	\n"
-	"		\n"
-	"		//once the broadphase avoids static-static pairs, we can remove this test\n"
-	"		if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))\n"
-	"		{\n"
-	"			return;\n"
-	"		}\n"
-	"		\n"
-	"		if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONVEX_HULL) ||(collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL))\n"
-	"		{\n"
-	"			return;\n"
-	"		}\n"
-	"			\n"
-	"		int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
-	"		float dmin = FLT_MAX;\n"
-	"		dmins[i] = dmin;\n"
-	"		\n"
-	"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-	"		posA.w = 0.f;\n"
-	"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-	"		posB.w = 0.f;\n"
-	"		float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
-	"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-	"		float4 c0 = transform(&c0local, &posA, &ornA);\n"
-	"		float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
-	"		float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
-	"		float4 c1 = transform(&c1local,&posB,&ornB);\n"
-	"		const float4 DeltaC2 = c0 - c1;\n"
-	"		float4 sepNormal;\n"
-	"		\n"
-	"		bool sepA = findSeparatingAxis(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
-	"																								posB,ornB,\n"
-	"																								DeltaC2,\n"
-	"																								vertices,uniqueEdges,faces,\n"
-	"																								indices,&sepNormal,&dmin);\n"
-	"		hasSeparatingAxis[i] = 4;\n"
-	"		if (!sepA)\n"
-	"		{\n"
-	"			hasSeparatingAxis[i] = 0;\n"
-	"		} else\n"
-	"		{\n"
-	"			bool sepB = findSeparatingAxis(	&convexShapes[shapeIndexB],&convexShapes[shapeIndexA],posB,ornB,\n"
-	"																									posA,ornA,\n"
-	"																									DeltaC2,\n"
-	"																									vertices,uniqueEdges,faces,\n"
-	"																									indices,&sepNormal,&dmin);\n"
-	"			if (sepB)\n"
-	"			{\n"
-	"				dmins[i] = dmin;\n"
-	"				hasSeparatingAxis[i] = 1;\n"
-	"				separatingNormals[i] = sepNormal;\n"
-	"			}\n"
-	"		}\n"
-	"		\n"
-	"	}\n"
-	"}\n"
-	"__kernel void   findSeparatingAxisEdgeEdgeKernel( __global const int4* pairs, \n"
-	"																					__global const BodyData* rigidBodies, \n"
-	"																					__global const btCollidableGpu* collidables,\n"
-	"																					__global const ConvexPolyhedronCL* convexShapes, \n"
-	"																					__global const float4* vertices,\n"
-	"																					__global const float4* uniqueEdges,\n"
-	"																					__global const btGpuFace* faces,\n"
-	"																					__global const int* indices,\n"
-	"																					__global btAabbCL* aabbs,\n"
-	"																					__global  float4* separatingNormals,\n"
-	"																					__global  int* hasSeparatingAxis,\n"
-	"																					__global  float* dmins,\n"
-	"																					__global const float4* unitSphereDirections,\n"
-	"																					int numUnitSphereDirections,\n"
-	"																					int numPairs\n"
-	"																					)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	\n"
-	"	if (i<numPairs)\n"
-	"	{\n"
-	"		if (hasSeparatingAxis[i])\n"
-	"		{\n"
-	"	\n"
-	"			int bodyIndexA = pairs[i].x;\n"
-	"			int bodyIndexB = pairs[i].y;\n"
-	"	\n"
-	"			int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-	"			int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-	"		\n"
-	"			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-	"			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-	"			\n"
-	"			\n"
-	"			int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
-	"	\n"
-	"			float dmin = dmins[i];\n"
-	"	\n"
-	"			float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-	"			posA.w = 0.f;\n"
-	"			float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-	"			posB.w = 0.f;\n"
-	"			float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
-	"			float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-	"			float4 c0 = transform(&c0local, &posA, &ornA);\n"
-	"			float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
-	"			float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
-	"			float4 c1 = transform(&c1local,&posB,&ornB);\n"
-	"			const float4 DeltaC2 = c0 - c1;\n"
-	"			float4 sepNormal = separatingNormals[i];\n"
-	"			\n"
-	"			\n"
-	"			\n"
-	"			bool sepEE = false;\n"
-	"			int numEdgeEdgeDirections = convexShapes[shapeIndexA].m_numUniqueEdges*convexShapes[shapeIndexB].m_numUniqueEdges;\n"
-	"			if (numEdgeEdgeDirections<=numUnitSphereDirections)\n"
-	"			{\n"
-	"				sepEE = findSeparatingAxisEdgeEdge(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
-	"																									posB,ornB,\n"
-	"																									DeltaC2,\n"
-	"																									vertices,uniqueEdges,faces,\n"
-	"																									indices,&sepNormal,&dmin);\n"
-	"																									\n"
-	"					if (!sepEE)\n"
-	"					{\n"
-	"						hasSeparatingAxis[i] = 0;\n"
-	"					} else\n"
-	"					{\n"
-	"						hasSeparatingAxis[i] = 1;\n"
-	"						separatingNormals[i] = sepNormal;\n"
-	"					}\n"
-	"			}\n"
-	"			/*\n"
-	"			///else case is a separate kernel, to make Mac OSX OpenCL compiler happy\n"
-	"			else\n"
-	"			{\n"
-	"				sepEE = findSeparatingAxisUnitSphere(&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
-	"																									posB,ornB,\n"
-	"																									DeltaC2,\n"
-	"																									vertices,unitSphereDirections,numUnitSphereDirections,\n"
-	"																									&sepNormal,&dmin);\n"
-	"					if (!sepEE)\n"
-	"					{\n"
-	"						hasSeparatingAxis[i] = 0;\n"
-	"					} else\n"
-	"					{\n"
-	"						hasSeparatingAxis[i] = 1;\n"
-	"						separatingNormals[i] = sepNormal;\n"
-	"					}\n"
-	"			}\n"
-	"			*/\n"
-	"		}		//if (hasSeparatingAxis[i])\n"
-	"	}//(i<numPairs)\n"
-	"}\n"
-	"inline int	findClippingFaces(const float4 separatingNormal,\n"
-	"                      const ConvexPolyhedronCL* hullA, \n"
-	"					  __global const ConvexPolyhedronCL* hullB,\n"
-	"                      const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,\n"
-	"                       __global float4* worldVertsA1,\n"
-	"                      __global float4* worldNormalsA1,\n"
-	"                      __global float4* worldVertsB1,\n"
-	"                      int capacityWorldVerts,\n"
-	"                      const float minDist, float maxDist,\n"
-	"					  const float4* verticesA,\n"
-	"                      const btGpuFace* facesA,\n"
-	"                      const int* indicesA,\n"
-	"					  __global const float4* verticesB,\n"
-	"                      __global const btGpuFace* facesB,\n"
-	"                      __global const int* indicesB,\n"
-	"                      __global int4* clippingFaces, int pairIndex)\n"
-	"{\n"
-	"	int numContactsOut = 0;\n"
-	"	int numWorldVertsB1= 0;\n"
-	"    \n"
-	"    \n"
-	"	int closestFaceB=0;\n"
-	"	float dmax = -FLT_MAX;\n"
-	"    \n"
-	"	{\n"
-	"		for(int face=0;face<hullB->m_numFaces;face++)\n"
-	"		{\n"
-	"			const float4 Normal = make_float4(facesB[hullB->m_faceOffset+face].m_plane.x,\n"
-	"                                              facesB[hullB->m_faceOffset+face].m_plane.y, facesB[hullB->m_faceOffset+face].m_plane.z,0.f);\n"
-	"			const float4 WorldNormal = qtRotate(ornB, Normal);\n"
-	"			float d = dot3F4(WorldNormal,separatingNormal);\n"
-	"			if (d > dmax)\n"
-	"			{\n"
-	"				dmax = d;\n"
-	"				closestFaceB = face;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"    \n"
-	"	{\n"
-	"		const btGpuFace polyB = facesB[hullB->m_faceOffset+closestFaceB];\n"
-	"		int numVertices = polyB.m_numIndices;\n"
-	"        if (numVertices>capacityWorldVerts)\n"
-	"            numVertices = capacityWorldVerts;\n"
-	"        \n"
-	"		for(int e0=0;e0<numVertices;e0++)\n"
-	"		{\n"
-	"            if (e0<capacityWorldVerts)\n"
-	"            {\n"
-	"                const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];\n"
-	"                worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);\n"
-	"            }\n"
-	"		}\n"
-	"	}\n"
-	"    \n"
-	"    int closestFaceA=0;\n"
-	"	{\n"
-	"		float dmin = FLT_MAX;\n"
-	"		for(int face=0;face<hullA->m_numFaces;face++)\n"
-	"		{\n"
-	"			const float4 Normal = make_float4(\n"
-	"                                              facesA[hullA->m_faceOffset+face].m_plane.x,\n"
-	"                                              facesA[hullA->m_faceOffset+face].m_plane.y,\n"
-	"                                              facesA[hullA->m_faceOffset+face].m_plane.z,\n"
-	"                                              0.f);\n"
-	"			const float4 faceANormalWS = qtRotate(ornA,Normal);\n"
-	"            \n"
-	"			float d = dot3F4(faceANormalWS,separatingNormal);\n"
-	"			if (d < dmin)\n"
-	"			{\n"
-	"				dmin = d;\n"
-	"				closestFaceA = face;\n"
-	"                worldNormalsA1[pairIndex] = faceANormalWS;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"    \n"
-	"    int numVerticesA = facesA[hullA->m_faceOffset+closestFaceA].m_numIndices;\n"
-	"    if (numVerticesA>capacityWorldVerts)\n"
-	"       numVerticesA = capacityWorldVerts;\n"
-	"    \n"
-	"	for(int e0=0;e0<numVerticesA;e0++)\n"
-	"	{\n"
-	"        if (e0<capacityWorldVerts)\n"
-	"        {\n"
-	"            const float4 a = verticesA[hullA->m_vertexOffset+indicesA[facesA[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];\n"
-	"            worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);\n"
-	"        }\n"
-	"    }\n"
-	"    \n"
-	"    clippingFaces[pairIndex].x = closestFaceA;\n"
-	"    clippingFaces[pairIndex].y = closestFaceB;\n"
-	"    clippingFaces[pairIndex].z = numVerticesA;\n"
-	"    clippingFaces[pairIndex].w = numWorldVertsB1;\n"
-	"    \n"
-	"    \n"
-	"	return numContactsOut;\n"
-	"}\n"
-	"// work-in-progress\n"
-	"__kernel void   findConcaveSeparatingAxisKernel( __global int4* concavePairs,\n"
-	"																					__global const BodyData* rigidBodies,\n"
-	"																					__global const btCollidableGpu* collidables,\n"
-	"																					__global const ConvexPolyhedronCL* convexShapes, \n"
-	"																					__global const float4* vertices,\n"
-	"																					__global const float4* uniqueEdges,\n"
-	"																					__global const btGpuFace* faces,\n"
-	"																					__global const int* indices,\n"
-	"																					__global const btGpuChildShape* gpuChildShapes,\n"
-	"																					__global btAabbCL* aabbs,\n"
-	"																					__global float4* concaveSeparatingNormalsOut,\n"
-	"																					__global int* concaveHasSeparatingNormals,\n"
-	"																					__global int4* clippingFacesOut,\n"
-	"																					__global float4* worldVertsA1GPU,\n"
-	"																					__global float4*  worldNormalsAGPU,\n"
-	"																					__global float4* worldVertsB1GPU,\n"
-	"																					int vertexFaceCapacity,\n"
-	"																					int numConcavePairs\n"
-	"																					)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	if (i>=numConcavePairs)\n"
-	"		return;\n"
-	"	concaveHasSeparatingNormals[i] = 0;\n"
-	"	int pairIdx = i;\n"
-	"	int bodyIndexA = concavePairs[i].x;\n"
-	"	int bodyIndexB = concavePairs[i].y;\n"
-	"	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-	"	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-	"	int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-	"	int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-	"	if (collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL&&\n"
-	"		collidables[collidableIndexB].m_shapeType!=SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-	"	{\n"
-	"		concavePairs[pairIdx].w = -1;\n"
-	"		return;\n"
-	"	}\n"
-	"	int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
-	"	int numActualConcaveConvexTests = 0;\n"
-	"	\n"
-	"	int f = concavePairs[i].z;\n"
-	"	\n"
-	"	bool overlap = false;\n"
-	"	\n"
-	"	ConvexPolyhedronCL convexPolyhedronA;\n"
-	"	//add 3 vertices of the triangle\n"
-	"	convexPolyhedronA.m_numVertices = 3;\n"
-	"	convexPolyhedronA.m_vertexOffset = 0;\n"
-	"	float4	localCenter = make_float4(0.f,0.f,0.f,0.f);\n"
-	"	btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
-	"	float4 triMinAabb, triMaxAabb;\n"
-	"	btAabbCL triAabb;\n"
-	"	triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);\n"
-	"	triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.f);\n"
-	"	\n"
-	"	float4 verticesA[3];\n"
-	"	for (int i=0;i<3;i++)\n"
-	"	{\n"
-	"		int index = indices[face.m_indexOffset+i];\n"
-	"		float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n"
-	"		verticesA[i] = vert;\n"
-	"		localCenter += vert;\n"
-	"			\n"
-	"		triAabb.m_min = min(triAabb.m_min,vert);		\n"
-	"		triAabb.m_max = max(triAabb.m_max,vert);		\n"
-	"	}\n"
-	"	overlap = true;\n"
-	"	overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;\n"
-	"	overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;\n"
-	"	overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;\n"
-	"		\n"
-	"	if (overlap)\n"
-	"	{\n"
-	"		float dmin = FLT_MAX;\n"
-	"		int hasSeparatingAxis=5;\n"
-	"		float4 sepAxis=make_float4(1,2,3,4);\n"
-	"		int localCC=0;\n"
-	"		numActualConcaveConvexTests++;\n"
-	"		//a triangle has 3 unique edges\n"
-	"		convexPolyhedronA.m_numUniqueEdges = 3;\n"
-	"		convexPolyhedronA.m_uniqueEdgesOffset = 0;\n"
-	"		float4 uniqueEdgesA[3];\n"
-	"		\n"
-	"		uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);\n"
-	"		uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);\n"
-	"		uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);\n"
-	"		convexPolyhedronA.m_faceOffset = 0;\n"
-	"                                  \n"
-	"		float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);\n"
-	"                             \n"
-	"		btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];\n"
-	"		int indicesA[3+3+2+2+2];\n"
-	"		int curUsedIndices=0;\n"
-	"		int fidx=0;\n"
-	"		//front size of triangle\n"
-	"		{\n"
-	"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
-	"			indicesA[0] = 0;\n"
-	"			indicesA[1] = 1;\n"
-	"			indicesA[2] = 2;\n"
-	"			curUsedIndices+=3;\n"
-	"			float c = face.m_plane.w;\n"
-	"			facesA[fidx].m_plane.x = normal.x;\n"
-	"			facesA[fidx].m_plane.y = normal.y;\n"
-	"			facesA[fidx].m_plane.z = normal.z;\n"
-	"			facesA[fidx].m_plane.w = c;\n"
-	"			facesA[fidx].m_numIndices=3;\n"
-	"		}\n"
-	"		fidx++;\n"
-	"		//back size of triangle\n"
-	"		{\n"
-	"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
-	"			indicesA[3]=2;\n"
-	"			indicesA[4]=1;\n"
-	"			indicesA[5]=0;\n"
-	"			curUsedIndices+=3;\n"
-	"			float c = dot(normal,verticesA[0]);\n"
-	"			float c1 = -face.m_plane.w;\n"
-	"			facesA[fidx].m_plane.x = -normal.x;\n"
-	"			facesA[fidx].m_plane.y = -normal.y;\n"
-	"			facesA[fidx].m_plane.z = -normal.z;\n"
-	"			facesA[fidx].m_plane.w = c;\n"
-	"			facesA[fidx].m_numIndices=3;\n"
-	"		}\n"
-	"		fidx++;\n"
-	"		bool addEdgePlanes = true;\n"
-	"		if (addEdgePlanes)\n"
-	"		{\n"
-	"			int numVertices=3;\n"
-	"			int prevVertex = numVertices-1;\n"
-	"			for (int i=0;i<numVertices;i++)\n"
-	"			{\n"
-	"				float4 v0 = verticesA[i];\n"
-	"				float4 v1 = verticesA[prevVertex];\n"
-	"                                            \n"
-	"				float4 edgeNormal = normalize(cross(normal,v1-v0));\n"
-	"				float c = -dot(edgeNormal,v0);\n"
-	"				facesA[fidx].m_numIndices = 2;\n"
-	"				facesA[fidx].m_indexOffset=curUsedIndices;\n"
-	"				indicesA[curUsedIndices++]=i;\n"
-	"				indicesA[curUsedIndices++]=prevVertex;\n"
-	"                                            \n"
-	"				facesA[fidx].m_plane.x = edgeNormal.x;\n"
-	"				facesA[fidx].m_plane.y = edgeNormal.y;\n"
-	"				facesA[fidx].m_plane.z = edgeNormal.z;\n"
-	"				facesA[fidx].m_plane.w = c;\n"
-	"				fidx++;\n"
-	"				prevVertex = i;\n"
-	"			}\n"
-	"		}\n"
-	"		convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;\n"
-	"		convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);\n"
-	"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-	"		posA.w = 0.f;\n"
-	"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-	"		posB.w = 0.f;\n"
-	"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-	"		float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
-	"		\n"
-	"		///////////////////\n"
-	"		///compound shape support\n"
-	"		if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-	"		{\n"
-	"			int compoundChild = concavePairs[pairIdx].w;\n"
-	"			int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;\n"
-	"			int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
-	"			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
-	"			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
-	"			float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
-	"			float4 newOrnB = qtMul(ornB,childOrnB);\n"
-	"			posB = newPosB;\n"
-	"			ornB = newOrnB;\n"
-	"			shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
-	"		}\n"
-	"		//////////////////\n"
-	"		float4 c0local = convexPolyhedronA.m_localCenter;\n"
-	"		float4 c0 = transform(&c0local, &posA, &ornA);\n"
-	"		float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
-	"		float4 c1 = transform(&c1local,&posB,&ornB);\n"
-	"		const float4 DeltaC2 = c0 - c1;\n"
-	"		bool sepA = findSeparatingAxisLocalA(	&convexPolyhedronA, &convexShapes[shapeIndexB],\n"
-	"												posA,ornA,\n"
-	"												posB,ornB,\n"
-	"												DeltaC2,\n"
-	"												verticesA,uniqueEdgesA,facesA,indicesA,\n"
-	"												vertices,uniqueEdges,faces,indices,\n"
-	"												&sepAxis,&dmin);\n"
-	"		hasSeparatingAxis = 4;\n"
-	"		if (!sepA)\n"
-	"		{\n"
-	"			hasSeparatingAxis = 0;\n"
-	"		} else\n"
-	"		{\n"
-	"			bool sepB = findSeparatingAxisLocalB(	&convexShapes[shapeIndexB],&convexPolyhedronA,\n"
-	"												posB,ornB,\n"
-	"												posA,ornA,\n"
-	"												DeltaC2,\n"
-	"												vertices,uniqueEdges,faces,indices,\n"
-	"												verticesA,uniqueEdgesA,facesA,indicesA,\n"
-	"												&sepAxis,&dmin);\n"
-	"			if (!sepB)\n"
-	"			{\n"
-	"				hasSeparatingAxis = 0;\n"
-	"			} else\n"
-	"			{\n"
-	"				bool sepEE = findSeparatingAxisEdgeEdgeLocalA(	&convexPolyhedronA, &convexShapes[shapeIndexB],\n"
-	"															posA,ornA,\n"
-	"															posB,ornB,\n"
-	"															DeltaC2,\n"
-	"															verticesA,uniqueEdgesA,facesA,indicesA,\n"
-	"															vertices,uniqueEdges,faces,indices,\n"
-	"															&sepAxis,&dmin);\n"
-	"	\n"
-	"				if (!sepEE)\n"
-	"				{\n"
-	"					hasSeparatingAxis = 0;\n"
-	"				} else\n"
-	"				{\n"
-	"					hasSeparatingAxis = 1;\n"
-	"				}\n"
-	"			}\n"
-	"		}	\n"
-	"		\n"
-	"		if (hasSeparatingAxis)\n"
-	"		{\n"
-	"			sepAxis.w = dmin;\n"
-	"			concaveSeparatingNormalsOut[pairIdx]=sepAxis;\n"
-	"			concaveHasSeparatingNormals[i]=1;\n"
-	"			float minDist = -1e30f;\n"
-	"			float maxDist = 0.02f;\n"
-	"		\n"
-	"			findClippingFaces(sepAxis,\n"
-	"                     &convexPolyhedronA,\n"
-	"					 &convexShapes[shapeIndexB],\n"
-	"					 posA,ornA,\n"
-	"					 posB,ornB,\n"
-	"                      worldVertsA1GPU,\n"
-	"                      worldNormalsAGPU,\n"
-	"                      worldVertsB1GPU,\n"
-	"					  vertexFaceCapacity,\n"
-	"                      minDist, maxDist,\n"
-	"                      verticesA,\n"
-	"                      facesA,\n"
-	"                      indicesA,\n"
-	" 					  vertices,\n"
-	"                      faces,\n"
-	"                      indices,\n"
-	"                      clippingFacesOut, pairIdx);\n"
-	"		} else\n"
-	"		{	\n"
-	"			//mark this pair as in-active\n"
-	"			concavePairs[pairIdx].w = -1;\n"
-	"		}\n"
-	"	}\n"
-	"	else\n"
-	"	{	\n"
-	"		//mark this pair as in-active\n"
-	"		concavePairs[pairIdx].w = -1;\n"
-	"	}\n"
-	"	\n"
-	"	concavePairs[pairIdx].z = -1;//now z is used for existing/persistent contacts\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.cpp b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.cpp
deleted file mode 100644
index c0e11bfb26..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.cpp
+++ /dev/null
@@ -1,203 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Takahiro Harada
-//Host-code rewritten by Erwin Coumans
-
-#define BOUNDSEARCH_PATH "src/Bullet3OpenCL/ParallelPrimitives/kernels/BoundSearchKernels.cl"
-#define KERNEL0 "SearchSortDataLowerKernel"
-#define KERNEL1 "SearchSortDataUpperKernel"
-#define KERNEL2 "SubtractKernel"
-
-#include "b3BoundSearchCL.h"
-#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
-#include "b3LauncherCL.h"
-#include "kernels/BoundSearchKernelsCL.h"
-
-b3BoundSearchCL::b3BoundSearchCL(cl_context ctx, cl_device_id device, cl_command_queue queue, int maxSize)
-	: m_context(ctx),
-	  m_device(device),
-	  m_queue(queue)
-{
-	const char* additionalMacros = "";
-	//const char* srcFileNameForCaching="";
-
-	cl_int pErrNum;
-	const char* kernelSource = boundSearchKernelsCL;
-
-	cl_program boundSearchProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, kernelSource, &pErrNum, additionalMacros, BOUNDSEARCH_PATH);
-	b3Assert(boundSearchProg);
-
-	m_lowerSortDataKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SearchSortDataLowerKernel", &pErrNum, boundSearchProg, additionalMacros);
-	b3Assert(m_lowerSortDataKernel);
-
-	m_upperSortDataKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SearchSortDataUpperKernel", &pErrNum, boundSearchProg, additionalMacros);
-	b3Assert(m_upperSortDataKernel);
-
-	m_subtractKernel = 0;
-
-	if (maxSize)
-	{
-		m_subtractKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SubtractKernel", &pErrNum, boundSearchProg, additionalMacros);
-		b3Assert(m_subtractKernel);
-	}
-
-	//m_constBuffer = new b3OpenCLArray<b3Int4>( device, 1, BufferBase::BUFFER_CONST );
-
-	m_lower = (maxSize == 0) ? 0 : new b3OpenCLArray<unsigned int>(ctx, queue, maxSize);
-	m_upper = (maxSize == 0) ? 0 : new b3OpenCLArray<unsigned int>(ctx, queue, maxSize);
-
-	m_filler = new b3FillCL(ctx, device, queue);
-}
-
-b3BoundSearchCL::~b3BoundSearchCL()
-{
-	delete m_lower;
-	delete m_upper;
-	delete m_filler;
-
-	clReleaseKernel(m_lowerSortDataKernel);
-	clReleaseKernel(m_upperSortDataKernel);
-	clReleaseKernel(m_subtractKernel);
-}
-
-void b3BoundSearchCL::execute(b3OpenCLArray<b3SortData>& src, int nSrc, b3OpenCLArray<unsigned int>& dst, int nDst, Option option)
-{
-	b3Int4 constBuffer;
-	constBuffer.x = nSrc;
-	constBuffer.y = nDst;
-
-	if (option == BOUND_LOWER)
-	{
-		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src.getBufferCL(), true), b3BufferInfoCL(dst.getBufferCL())};
-
-		b3LauncherCL launcher(m_queue, m_lowerSortDataKernel, "m_lowerSortDataKernel");
-		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(nSrc);
-		launcher.setConst(nDst);
-
-		launcher.launch1D(nSrc, 64);
-	}
-	else if (option == BOUND_UPPER)
-	{
-		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src.getBufferCL(), true), b3BufferInfoCL(dst.getBufferCL())};
-
-		b3LauncherCL launcher(m_queue, m_upperSortDataKernel, "m_upperSortDataKernel");
-		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(nSrc);
-		launcher.setConst(nDst);
-
-		launcher.launch1D(nSrc, 64);
-	}
-	else if (option == COUNT)
-	{
-		b3Assert(m_lower);
-		b3Assert(m_upper);
-		b3Assert(m_lower->capacity() <= (int)nDst);
-		b3Assert(m_upper->capacity() <= (int)nDst);
-
-		int zero = 0;
-		m_filler->execute(*m_lower, zero, nDst);
-		m_filler->execute(*m_upper, zero, nDst);
-
-		execute(src, nSrc, *m_lower, nDst, BOUND_LOWER);
-		execute(src, nSrc, *m_upper, nDst, BOUND_UPPER);
-
-		{
-			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(m_upper->getBufferCL(), true), b3BufferInfoCL(m_lower->getBufferCL(), true), b3BufferInfoCL(dst.getBufferCL())};
-
-			b3LauncherCL launcher(m_queue, m_subtractKernel, "m_subtractKernel");
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(nSrc);
-			launcher.setConst(nDst);
-
-			launcher.launch1D(nDst, 64);
-		}
-	}
-	else
-	{
-		b3Assert(0);
-	}
-}
-
-void b3BoundSearchCL::executeHost(b3AlignedObjectArray<b3SortData>& src, int nSrc,
-								  b3AlignedObjectArray<unsigned int>& dst, int nDst, Option option)
-{
-	for (int i = 0; i < nSrc - 1; i++)
-		b3Assert(src[i].m_key <= src[i + 1].m_key);
-
-	b3SortData minData, zeroData, maxData;
-	minData.m_key = -1;
-	minData.m_value = -1;
-	zeroData.m_key = 0;
-	zeroData.m_value = 0;
-	maxData.m_key = nDst;
-	maxData.m_value = nDst;
-
-	if (option == BOUND_LOWER)
-	{
-		for (int i = 0; i < nSrc; i++)
-		{
-			b3SortData& iData = (i == 0) ? minData : src[i - 1];
-			b3SortData& jData = (i == nSrc) ? maxData : src[i];
-
-			if (iData.m_key != jData.m_key)
-			{
-				int k = jData.m_key;
-				{
-					dst[k] = i;
-				}
-			}
-		}
-	}
-	else if (option == BOUND_UPPER)
-	{
-		for (int i = 1; i < nSrc + 1; i++)
-		{
-			b3SortData& iData = src[i - 1];
-			b3SortData& jData = (i == nSrc) ? maxData : src[i];
-
-			if (iData.m_key != jData.m_key)
-			{
-				int k = iData.m_key;
-				{
-					dst[k] = i;
-				}
-			}
-		}
-	}
-	else if (option == COUNT)
-	{
-		b3AlignedObjectArray<unsigned int> lower;
-		lower.resize(nDst);
-		b3AlignedObjectArray<unsigned int> upper;
-		upper.resize(nDst);
-
-		for (int i = 0; i < nDst; i++)
-		{
-			lower[i] = upper[i] = 0;
-		}
-
-		executeHost(src, nSrc, lower, nDst, BOUND_LOWER);
-		executeHost(src, nSrc, upper, nDst, BOUND_UPPER);
-
-		for (int i = 0; i < nDst; i++)
-		{
-			dst[i] = upper[i] - lower[i];
-		}
-	}
-	else
-	{
-		b3Assert(0);
-	}
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.h
deleted file mode 100644
index 0d633e3d23..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Takahiro Harada
-
-#ifndef B3_BOUNDSEARCH_H
-#define B3_BOUNDSEARCH_H
-
-#pragma once
-
-/*#include <Adl/Adl.h>
-#include <AdlPrimitives/Math/Math.h>
-#include <AdlPrimitives/Sort/SortData.h>
-#include <AdlPrimitives/Fill/Fill.h>
-*/
-
-#include "b3OpenCLArray.h"
-#include "b3FillCL.h"
-#include "b3RadixSort32CL.h"  //for b3SortData (perhaps move it?)
-class b3BoundSearchCL
-{
-public:
-	enum Option
-	{
-		BOUND_LOWER,
-		BOUND_UPPER,
-		COUNT,
-	};
-
-	cl_context m_context;
-	cl_device_id m_device;
-	cl_command_queue m_queue;
-
-	cl_kernel m_lowerSortDataKernel;
-	cl_kernel m_upperSortDataKernel;
-	cl_kernel m_subtractKernel;
-
-	b3OpenCLArray<b3Int4>* m_constbtOpenCLArray;
-	b3OpenCLArray<unsigned int>* m_lower;
-	b3OpenCLArray<unsigned int>* m_upper;
-
-	b3FillCL* m_filler;
-
-	b3BoundSearchCL(cl_context context, cl_device_id device, cl_command_queue queue, int size);
-
-	virtual ~b3BoundSearchCL();
-
-	//	src has to be src[i].m_key <= src[i+1].m_key
-	void execute(b3OpenCLArray<b3SortData>& src, int nSrc, b3OpenCLArray<unsigned int>& dst, int nDst, Option option = BOUND_LOWER);
-
-	void executeHost(b3AlignedObjectArray<b3SortData>& src, int nSrc, b3AlignedObjectArray<unsigned int>& dst, int nDst, Option option = BOUND_LOWER);
-};
-
-#endif  //B3_BOUNDSEARCH_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BufferInfoCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BufferInfoCL.h
deleted file mode 100644
index 35fc467b20..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BufferInfoCL.h
+++ /dev/null
@@ -1,18 +0,0 @@
-
-#ifndef B3_BUFFER_INFO_CL_H
-#define B3_BUFFER_INFO_CL_H
-
-#include "b3OpenCLArray.h"
-
-struct b3BufferInfoCL
-{
-	//b3BufferInfoCL(){}
-
-	//	template<typename T>
-	b3BufferInfoCL(cl_mem buff, bool isReadOnly = false) : m_clBuffer(buff), m_isReadOnly(isReadOnly) {}
-
-	cl_mem m_clBuffer;
-	bool m_isReadOnly;
-};
-
-#endif  //B3_BUFFER_INFO_CL_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3FillCL.cpp b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3FillCL.cpp
deleted file mode 100644
index bd25bb2101..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3FillCL.cpp
+++ /dev/null
@@ -1,119 +0,0 @@
-#include "b3FillCL.h"
-#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
-#include "b3BufferInfoCL.h"
-#include "b3LauncherCL.h"
-
-#define FILL_CL_PROGRAM_PATH "src/Bullet3OpenCL/ParallelPrimitives/kernels/FillKernels.cl"
-
-#include "kernels/FillKernelsCL.h"
-
-b3FillCL::b3FillCL(cl_context ctx, cl_device_id device, cl_command_queue queue)
-	: m_commandQueue(queue)
-{
-	const char* kernelSource = fillKernelsCL;
-	cl_int pErrNum;
-	const char* additionalMacros = "";
-
-	cl_program fillProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, kernelSource, &pErrNum, additionalMacros, FILL_CL_PROGRAM_PATH);
-	b3Assert(fillProg);
-
-	m_fillIntKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "FillIntKernel", &pErrNum, fillProg, additionalMacros);
-	b3Assert(m_fillIntKernel);
-
-	m_fillUnsignedIntKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "FillUnsignedIntKernel", &pErrNum, fillProg, additionalMacros);
-	b3Assert(m_fillIntKernel);
-
-	m_fillFloatKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "FillFloatKernel", &pErrNum, fillProg, additionalMacros);
-	b3Assert(m_fillFloatKernel);
-
-	m_fillKernelInt2 = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "FillInt2Kernel", &pErrNum, fillProg, additionalMacros);
-	b3Assert(m_fillKernelInt2);
-}
-
-b3FillCL::~b3FillCL()
-{
-	clReleaseKernel(m_fillKernelInt2);
-	clReleaseKernel(m_fillIntKernel);
-	clReleaseKernel(m_fillUnsignedIntKernel);
-	clReleaseKernel(m_fillFloatKernel);
-}
-
-void b3FillCL::execute(b3OpenCLArray<float>& src, const float value, int n, int offset)
-{
-	b3Assert(n > 0);
-
-	{
-		b3LauncherCL launcher(m_commandQueue, m_fillFloatKernel, "m_fillFloatKernel");
-		launcher.setBuffer(src.getBufferCL());
-		launcher.setConst(n);
-		launcher.setConst(value);
-		launcher.setConst(offset);
-
-		launcher.launch1D(n);
-	}
-}
-
-void b3FillCL::execute(b3OpenCLArray<int>& src, const int value, int n, int offset)
-{
-	b3Assert(n > 0);
-
-	{
-		b3LauncherCL launcher(m_commandQueue, m_fillIntKernel, "m_fillIntKernel");
-		launcher.setBuffer(src.getBufferCL());
-		launcher.setConst(n);
-		launcher.setConst(value);
-		launcher.setConst(offset);
-		launcher.launch1D(n);
-	}
-}
-
-void b3FillCL::execute(b3OpenCLArray<unsigned int>& src, const unsigned int value, int n, int offset)
-{
-	b3Assert(n > 0);
-
-	{
-		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src.getBufferCL())};
-
-		b3LauncherCL launcher(m_commandQueue, m_fillUnsignedIntKernel, "m_fillUnsignedIntKernel");
-		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(n);
-		launcher.setConst(value);
-		launcher.setConst(offset);
-
-		launcher.launch1D(n);
-	}
-}
-
-void b3FillCL::executeHost(b3AlignedObjectArray<b3Int2>& src, const b3Int2& value, int n, int offset)
-{
-	for (int i = 0; i < n; i++)
-	{
-		src[i + offset] = value;
-	}
-}
-
-void b3FillCL::executeHost(b3AlignedObjectArray<int>& src, const int value, int n, int offset)
-{
-	for (int i = 0; i < n; i++)
-	{
-		src[i + offset] = value;
-	}
-}
-
-void b3FillCL::execute(b3OpenCLArray<b3Int2>& src, const b3Int2& value, int n, int offset)
-{
-	b3Assert(n > 0);
-
-	{
-		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src.getBufferCL())};
-
-		b3LauncherCL launcher(m_commandQueue, m_fillKernelInt2, "m_fillKernelInt2");
-		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(n);
-		launcher.setConst(value);
-		launcher.setConst(offset);
-
-		//( constBuffer );
-		launcher.launch1D(n);
-	}
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3FillCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3FillCL.h
deleted file mode 100644
index c92c3e5119..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3FillCL.h
+++ /dev/null
@@ -1,52 +0,0 @@
-#ifndef B3_FILL_CL_H
-#define B3_FILL_CL_H
-
-#include "b3OpenCLArray.h"
-#include "Bullet3Common/b3Scalar.h"
-
-#include "Bullet3Common/shared/b3Int2.h"
-#include "Bullet3Common/shared/b3Int4.h"
-
-class b3FillCL
-{
-	cl_command_queue m_commandQueue;
-
-	cl_kernel m_fillKernelInt2;
-	cl_kernel m_fillIntKernel;
-	cl_kernel m_fillUnsignedIntKernel;
-	cl_kernel m_fillFloatKernel;
-
-public:
-	struct b3ConstData
-	{
-		union {
-			b3Int4 m_data;
-			b3UnsignedInt4 m_UnsignedData;
-		};
-		int m_offset;
-		int m_n;
-		int m_padding[2];
-	};
-
-protected:
-public:
-	b3FillCL(cl_context ctx, cl_device_id device, cl_command_queue queue);
-
-	virtual ~b3FillCL();
-
-	void execute(b3OpenCLArray<unsigned int>& src, const unsigned int value, int n, int offset = 0);
-
-	void execute(b3OpenCLArray<int>& src, const int value, int n, int offset = 0);
-
-	void execute(b3OpenCLArray<float>& src, const float value, int n, int offset = 0);
-
-	void execute(b3OpenCLArray<b3Int2>& src, const b3Int2& value, int n, int offset = 0);
-
-	void executeHost(b3AlignedObjectArray<b3Int2>& src, const b3Int2& value, int n, int offset);
-
-	void executeHost(b3AlignedObjectArray<int>& src, const int value, int n, int offset);
-
-	//	void execute(b3OpenCLArray<b3Int4>& src, const b3Int4& value, int n, int offset = 0);
-};
-
-#endif  //B3_FILL_CL_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.cpp b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.cpp
deleted file mode 100644
index c97d02eb45..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.cpp
+++ /dev/null
@@ -1,296 +0,0 @@
-#include "b3LauncherCL.h"
-
-bool gDebugLauncherCL = false;
-
-b3LauncherCL::b3LauncherCL(cl_command_queue queue, cl_kernel kernel, const char* name)
-	: m_commandQueue(queue),
-	  m_kernel(kernel),
-	  m_idx(0),
-	  m_enableSerialization(false),
-	  m_name(name)
-{
-	if (gDebugLauncherCL)
-	{
-		static int counter = 0;
-		printf("[%d] Prepare to launch OpenCL kernel %s\n", counter++, name);
-	}
-
-	m_serializationSizeInBytes = sizeof(int);
-}
-
-b3LauncherCL::~b3LauncherCL()
-{
-	for (int i = 0; i < m_arrays.size(); i++)
-	{
-		delete (m_arrays[i]);
-	}
-
-	m_arrays.clear();
-	if (gDebugLauncherCL)
-	{
-		static int counter = 0;
-		printf("[%d] Finished launching OpenCL kernel %s\n", counter++, m_name);
-	}
-}
-
-void b3LauncherCL::setBuffer(cl_mem clBuffer)
-{
-	if (m_enableSerialization)
-	{
-		b3KernelArgData kernelArg;
-		kernelArg.m_argIndex = m_idx;
-		kernelArg.m_isBuffer = 1;
-		kernelArg.m_clBuffer = clBuffer;
-
-		cl_mem_info param_name = CL_MEM_SIZE;
-		size_t param_value;
-		size_t sizeInBytes = sizeof(size_t);
-		size_t actualSizeInBytes;
-		cl_int err;
-		err = clGetMemObjectInfo(kernelArg.m_clBuffer,
-								 param_name,
-								 sizeInBytes,
-								 &param_value,
-								 &actualSizeInBytes);
-
-		b3Assert(err == CL_SUCCESS);
-		kernelArg.m_argSizeInBytes = param_value;
-
-		m_kernelArguments.push_back(kernelArg);
-		m_serializationSizeInBytes += sizeof(b3KernelArgData);
-		m_serializationSizeInBytes += param_value;
-	}
-	cl_int status = clSetKernelArg(m_kernel, m_idx++, sizeof(cl_mem), &clBuffer);
-	b3Assert(status == CL_SUCCESS);
-}
-
-void b3LauncherCL::setBuffers(b3BufferInfoCL* buffInfo, int n)
-{
-	for (int i = 0; i < n; i++)
-	{
-		if (m_enableSerialization)
-		{
-			b3KernelArgData kernelArg;
-			kernelArg.m_argIndex = m_idx;
-			kernelArg.m_isBuffer = 1;
-			kernelArg.m_clBuffer = buffInfo[i].m_clBuffer;
-
-			cl_mem_info param_name = CL_MEM_SIZE;
-			size_t param_value;
-			size_t sizeInBytes = sizeof(size_t);
-			size_t actualSizeInBytes;
-			cl_int err;
-			err = clGetMemObjectInfo(kernelArg.m_clBuffer,
-									 param_name,
-									 sizeInBytes,
-									 &param_value,
-									 &actualSizeInBytes);
-
-			b3Assert(err == CL_SUCCESS);
-			kernelArg.m_argSizeInBytes = param_value;
-
-			m_kernelArguments.push_back(kernelArg);
-			m_serializationSizeInBytes += sizeof(b3KernelArgData);
-			m_serializationSizeInBytes += param_value;
-		}
-		cl_int status = clSetKernelArg(m_kernel, m_idx++, sizeof(cl_mem), &buffInfo[i].m_clBuffer);
-		b3Assert(status == CL_SUCCESS);
-	}
-}
-
-struct b3KernelArgDataUnaligned
-{
-	int m_isBuffer;
-	int m_argIndex;
-	int m_argSizeInBytes;
-	int m_unusedPadding;
-	union {
-		cl_mem m_clBuffer;
-		unsigned char m_argData[B3_CL_MAX_ARG_SIZE];
-	};
-};
-#include <string.h>
-
-int b3LauncherCL::deserializeArgs(unsigned char* buf, int bufSize, cl_context ctx)
-{
-	int index = 0;
-
-	int numArguments = *(int*)&buf[index];
-	index += sizeof(int);
-
-	for (int i = 0; i < numArguments; i++)
-	{
-		b3KernelArgDataUnaligned* arg = (b3KernelArgDataUnaligned*)&buf[index];
-
-		index += sizeof(b3KernelArgData);
-		if (arg->m_isBuffer)
-		{
-			b3OpenCLArray<unsigned char>* clData = new b3OpenCLArray<unsigned char>(ctx, m_commandQueue, arg->m_argSizeInBytes);
-			clData->resize(arg->m_argSizeInBytes);
-
-			clData->copyFromHostPointer(&buf[index], arg->m_argSizeInBytes);
-
-			arg->m_clBuffer = clData->getBufferCL();
-
-			m_arrays.push_back(clData);
-
-			cl_int status = clSetKernelArg(m_kernel, m_idx++, sizeof(cl_mem), &arg->m_clBuffer);
-			b3Assert(status == CL_SUCCESS);
-			index += arg->m_argSizeInBytes;
-		}
-		else
-		{
-			cl_int status = clSetKernelArg(m_kernel, m_idx++, arg->m_argSizeInBytes, &arg->m_argData);
-			b3Assert(status == CL_SUCCESS);
-		}
-		b3KernelArgData b;
-		memcpy(&b, arg, sizeof(b3KernelArgDataUnaligned));
-		m_kernelArguments.push_back(b);
-	}
-	m_serializationSizeInBytes = index;
-	return index;
-}
-
-int b3LauncherCL::validateResults(unsigned char* goldBuffer, int goldBufferCapacity, cl_context ctx)
-{
-	int index = 0;
-
-	int numArguments = *(int*)&goldBuffer[index];
-	index += sizeof(int);
-
-	if (numArguments != m_kernelArguments.size())
-	{
-		printf("failed validation: expected %d arguments, found %d\n", numArguments, m_kernelArguments.size());
-		return -1;
-	}
-
-	for (int ii = 0; ii < numArguments; ii++)
-	{
-		b3KernelArgData* argGold = (b3KernelArgData*)&goldBuffer[index];
-
-		if (m_kernelArguments[ii].m_argSizeInBytes != argGold->m_argSizeInBytes)
-		{
-			printf("failed validation: argument %d sizeInBytes expected: %d, found %d\n", ii, argGold->m_argSizeInBytes, m_kernelArguments[ii].m_argSizeInBytes);
-			return -2;
-		}
-
-		{
-			int expected = argGold->m_isBuffer;
-			int found = m_kernelArguments[ii].m_isBuffer;
-
-			if (expected != found)
-			{
-				printf("failed validation: argument %d isBuffer expected: %d, found %d\n", ii, expected, found);
-				return -3;
-			}
-		}
-		index += sizeof(b3KernelArgData);
-
-		if (argGold->m_isBuffer)
-		{
-			unsigned char* memBuf = (unsigned char*)malloc(m_kernelArguments[ii].m_argSizeInBytes);
-			unsigned char* goldBuf = &goldBuffer[index];
-			for (int j = 0; j < m_kernelArguments[j].m_argSizeInBytes; j++)
-			{
-				memBuf[j] = 0xaa;
-			}
-
-			cl_int status = 0;
-			status = clEnqueueReadBuffer(m_commandQueue, m_kernelArguments[ii].m_clBuffer, CL_TRUE, 0, m_kernelArguments[ii].m_argSizeInBytes,
-										 memBuf, 0, 0, 0);
-			b3Assert(status == CL_SUCCESS);
-			clFinish(m_commandQueue);
-
-			for (int b = 0; b < m_kernelArguments[ii].m_argSizeInBytes; b++)
-			{
-				int expected = goldBuf[b];
-				int found = memBuf[b];
-				if (expected != found)
-				{
-					printf("failed validation: argument %d OpenCL data at byte position %d expected: %d, found %d\n",
-						   ii, b, expected, found);
-					return -4;
-				}
-			}
-
-			index += argGold->m_argSizeInBytes;
-		}
-		else
-		{
-			//compare content
-			for (int b = 0; b < m_kernelArguments[ii].m_argSizeInBytes; b++)
-			{
-				int expected = argGold->m_argData[b];
-				int found = m_kernelArguments[ii].m_argData[b];
-				if (expected != found)
-				{
-					printf("failed validation: argument %d const data at byte position %d expected: %d, found %d\n",
-						   ii, b, expected, found);
-					return -5;
-				}
-			}
-		}
-	}
-	return index;
-}
-
-int b3LauncherCL::serializeArguments(unsigned char* destBuffer, int destBufferCapacity)
-{
-	//initialize to known values
-	for (int i = 0; i < destBufferCapacity; i++)
-		destBuffer[i] = 0xec;
-
-	assert(destBufferCapacity >= m_serializationSizeInBytes);
-
-	//todo: use the b3Serializer for this to allow for 32/64bit, endianness etc
-	int numArguments = m_kernelArguments.size();
-	int curBufferSize = 0;
-	int* dest = (int*)&destBuffer[curBufferSize];
-	*dest = numArguments;
-	curBufferSize += sizeof(int);
-
-	for (int i = 0; i < this->m_kernelArguments.size(); i++)
-	{
-		b3KernelArgData* arg = (b3KernelArgData*)&destBuffer[curBufferSize];
-		*arg = m_kernelArguments[i];
-		curBufferSize += sizeof(b3KernelArgData);
-		if (arg->m_isBuffer == 1)
-		{
-			//copy the OpenCL buffer content
-			cl_int status = 0;
-			status = clEnqueueReadBuffer(m_commandQueue, arg->m_clBuffer, 0, 0, arg->m_argSizeInBytes,
-										 &destBuffer[curBufferSize], 0, 0, 0);
-			b3Assert(status == CL_SUCCESS);
-			clFinish(m_commandQueue);
-			curBufferSize += arg->m_argSizeInBytes;
-		}
-	}
-	return curBufferSize;
-}
-
-void b3LauncherCL::serializeToFile(const char* fileName, int numWorkItems)
-{
-	int num = numWorkItems;
-	int buffSize = getSerializationBufferSize();
-	unsigned char* buf = new unsigned char[buffSize + sizeof(int)];
-	for (int i = 0; i < buffSize + 1; i++)
-	{
-		unsigned char* ptr = (unsigned char*)&buf[i];
-		*ptr = 0xff;
-	}
-	//	int actualWrite = serializeArguments(buf,buffSize);
-
-	//	unsigned char* cptr = (unsigned char*)&buf[buffSize];
-	//            printf("buf[buffSize] = %d\n",*cptr);
-
-	assert(buf[buffSize] == 0xff);  //check for buffer overrun
-	int* ptr = (int*)&buf[buffSize];
-
-	*ptr = num;
-
-	FILE* f = fopen(fileName, "wb");
-	fwrite(buf, buffSize + sizeof(int), 1, f);
-	fclose(f);
-
-	delete[] buf;
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h
deleted file mode 100644
index 18e9c1db2b..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h
+++ /dev/null
@@ -1,128 +0,0 @@
-
-#ifndef B3_LAUNCHER_CL_H
-#define B3_LAUNCHER_CL_H
-
-#include "b3BufferInfoCL.h"
-#include "Bullet3Common/b3MinMax.h"
-#include "b3OpenCLArray.h"
-#include <stdio.h>
-
-#define B3_DEBUG_SERIALIZE_CL
-
-#ifdef _WIN32
-#pragma warning(disable : 4996)
-#endif
-#define B3_CL_MAX_ARG_SIZE 16
-B3_ATTRIBUTE_ALIGNED16(struct)
-b3KernelArgData
-{
-	int m_isBuffer;
-	int m_argIndex;
-	int m_argSizeInBytes;
-	int m_unusedPadding;
-	union {
-		cl_mem m_clBuffer;
-		unsigned char m_argData[B3_CL_MAX_ARG_SIZE];
-	};
-};
-
-class b3LauncherCL
-{
-	cl_command_queue m_commandQueue;
-	cl_kernel m_kernel;
-	int m_idx;
-
-	b3AlignedObjectArray<b3KernelArgData> m_kernelArguments;
-	int m_serializationSizeInBytes;
-	bool m_enableSerialization;
-
-	const char* m_name;
-
-public:
-	b3AlignedObjectArray<b3OpenCLArray<unsigned char>*> m_arrays;
-
-	b3LauncherCL(cl_command_queue queue, cl_kernel kernel, const char* name);
-
-	virtual ~b3LauncherCL();
-
-	void setBuffer(cl_mem clBuffer);
-
-	void setBuffers(b3BufferInfoCL* buffInfo, int n);
-
-	int getSerializationBufferSize() const
-	{
-		return m_serializationSizeInBytes;
-	}
-
-	int deserializeArgs(unsigned char* buf, int bufSize, cl_context ctx);
-
-	inline int validateResults(unsigned char* goldBuffer, int goldBufferCapacity, cl_context ctx);
-
-	int serializeArguments(unsigned char* destBuffer, int destBufferCapacity);
-
-	int getNumArguments() const
-	{
-		return m_kernelArguments.size();
-	}
-
-	b3KernelArgData getArgument(int index)
-	{
-		return m_kernelArguments[index];
-	}
-
-	void serializeToFile(const char* fileName, int numWorkItems);
-
-	template <typename T>
-	inline void setConst(const T& consts)
-	{
-		int sz = sizeof(T);
-		b3Assert(sz <= B3_CL_MAX_ARG_SIZE);
-
-		if (m_enableSerialization)
-		{
-			b3KernelArgData kernelArg;
-			kernelArg.m_argIndex = m_idx;
-			kernelArg.m_isBuffer = 0;
-			T* destArg = (T*)kernelArg.m_argData;
-			*destArg = consts;
-			kernelArg.m_argSizeInBytes = sizeof(T);
-			m_kernelArguments.push_back(kernelArg);
-			m_serializationSizeInBytes += sizeof(b3KernelArgData);
-		}
-
-		cl_int status = clSetKernelArg(m_kernel, m_idx++, sz, &consts);
-		b3Assert(status == CL_SUCCESS);
-	}
-
-	inline void launch1D(int numThreads, int localSize = 64)
-	{
-		launch2D(numThreads, 1, localSize, 1);
-	}
-
-	inline void launch2D(int numThreadsX, int numThreadsY, int localSizeX, int localSizeY)
-	{
-		size_t gRange[3] = {1, 1, 1};
-		size_t lRange[3] = {1, 1, 1};
-		lRange[0] = localSizeX;
-		lRange[1] = localSizeY;
-		gRange[0] = b3Max((size_t)1, (numThreadsX / lRange[0]) + (!(numThreadsX % lRange[0]) ? 0 : 1));
-		gRange[0] *= lRange[0];
-		gRange[1] = b3Max((size_t)1, (numThreadsY / lRange[1]) + (!(numThreadsY % lRange[1]) ? 0 : 1));
-		gRange[1] *= lRange[1];
-
-		cl_int status = clEnqueueNDRangeKernel(m_commandQueue,
-											   m_kernel, 2, NULL, gRange, lRange, 0, 0, 0);
-		if (status != CL_SUCCESS)
-		{
-			printf("Error: OpenCL status = %d\n", status);
-		}
-		b3Assert(status == CL_SUCCESS);
-	}
-
-	void enableSerialization(bool serialize)
-	{
-		m_enableSerialization = serialize;
-	}
-};
-
-#endif  //B3_LAUNCHER_CL_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h
deleted file mode 100644
index e837cceb66..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h
+++ /dev/null
@@ -1,300 +0,0 @@
-#ifndef B3_OPENCL_ARRAY_H
-#define B3_OPENCL_ARRAY_H
-
-#include "Bullet3Common/b3AlignedObjectArray.h"
-#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
-
-template <typename T>
-class b3OpenCLArray
-{
-	size_t m_size;
-	size_t m_capacity;
-	cl_mem m_clBuffer;
-
-	cl_context m_clContext;
-	cl_command_queue m_commandQueue;
-
-	bool m_ownsMemory;
-
-	bool m_allowGrowingCapacity;
-
-	void deallocate()
-	{
-		if (m_clBuffer && m_ownsMemory)
-		{
-			clReleaseMemObject(m_clBuffer);
-		}
-		m_clBuffer = 0;
-		m_capacity = 0;
-	}
-
-	b3OpenCLArray<T>& operator=(const b3OpenCLArray<T>& src);
-
-	B3_FORCE_INLINE size_t allocSize(size_t size)
-	{
-		return (size ? size * 2 : 1);
-	}
-
-public:
-	b3OpenCLArray(cl_context ctx, cl_command_queue queue, size_t initialCapacity = 0, bool allowGrowingCapacity = true)
-		: m_size(0), m_capacity(0), m_clBuffer(0), m_clContext(ctx), m_commandQueue(queue), m_ownsMemory(true), m_allowGrowingCapacity(true)
-	{
-		if (initialCapacity)
-		{
-			reserve(initialCapacity);
-		}
-		m_allowGrowingCapacity = allowGrowingCapacity;
-	}
-
-	///this is an error-prone method with no error checking, be careful!
-	void setFromOpenCLBuffer(cl_mem buffer, size_t sizeInElements)
-	{
-		deallocate();
-		m_ownsMemory = false;
-		m_allowGrowingCapacity = false;
-		m_clBuffer = buffer;
-		m_size = sizeInElements;
-		m_capacity = sizeInElements;
-	}
-
-	// we could enable this assignment, but need to make sure to avoid accidental deep copies
-	//	b3OpenCLArray<T>& operator=(const b3AlignedObjectArray<T>& src)
-	//	{
-	//		copyFromArray(src);
-	//		return *this;
-	//	}
-
-	cl_mem getBufferCL() const
-	{
-		return m_clBuffer;
-	}
-
-	virtual ~b3OpenCLArray()
-	{
-		deallocate();
-		m_size = 0;
-		m_capacity = 0;
-	}
-
-	B3_FORCE_INLINE bool push_back(const T& _Val, bool waitForCompletion = true)
-	{
-		bool result = true;
-		size_t sz = size();
-		if (sz == capacity())
-		{
-			result = reserve(allocSize(size()));
-		}
-		copyFromHostPointer(&_Val, 1, sz, waitForCompletion);
-		m_size++;
-		return result;
-	}
-
-	B3_FORCE_INLINE T forcedAt(size_t n) const
-	{
-		b3Assert(n >= 0);
-		b3Assert(n < capacity());
-		T elem;
-		copyToHostPointer(&elem, 1, n, true);
-		return elem;
-	}
-
-	B3_FORCE_INLINE T at(size_t n) const
-	{
-		b3Assert(n >= 0);
-		b3Assert(n < size());
-		T elem;
-		copyToHostPointer(&elem, 1, n, true);
-		return elem;
-	}
-
-	B3_FORCE_INLINE bool resize(size_t newsize, bool copyOldContents = true)
-	{
-		bool result = true;
-		size_t curSize = size();
-
-		if (newsize < curSize)
-		{
-			//leave the OpenCL memory for now
-		}
-		else
-		{
-			if (newsize > size())
-			{
-				result = reserve(newsize, copyOldContents);
-			}
-
-			//leave new data uninitialized (init in debug mode?)
-			//for (size_t i=curSize;i<newsize;i++) ...
-		}
-
-		if (result)
-		{
-			m_size = newsize;
-		}
-		else
-		{
-			m_size = 0;
-		}
-		return result;
-	}
-
-	B3_FORCE_INLINE size_t size() const
-	{
-		return m_size;
-	}
-
-	B3_FORCE_INLINE size_t capacity() const
-	{
-		return m_capacity;
-	}
-
-	B3_FORCE_INLINE bool reserve(size_t _Count, bool copyOldContents = true)
-	{
-		bool result = true;
-		// determine new minimum length of allocated storage
-		if (capacity() < _Count)
-		{  // not enough room, reallocate
-
-			if (m_allowGrowingCapacity)
-			{
-				cl_int ciErrNum;
-				//create a new OpenCL buffer
-				size_t memSizeInBytes = sizeof(T) * _Count;
-				cl_mem buf = clCreateBuffer(m_clContext, CL_MEM_READ_WRITE, memSizeInBytes, NULL, &ciErrNum);
-				if (ciErrNum != CL_SUCCESS)
-				{
-					b3Error("OpenCL out-of-memory\n");
-					_Count = 0;
-					result = false;
-				}
-//#define B3_ALWAYS_INITIALIZE_OPENCL_BUFFERS
-#ifdef B3_ALWAYS_INITIALIZE_OPENCL_BUFFERS
-				unsigned char* src = (unsigned char*)malloc(memSizeInBytes);
-				for (size_t i = 0; i < memSizeInBytes; i++)
-					src[i] = 0xbb;
-				ciErrNum = clEnqueueWriteBuffer(m_commandQueue, buf, CL_TRUE, 0, memSizeInBytes, src, 0, 0, 0);
-				b3Assert(ciErrNum == CL_SUCCESS);
-				clFinish(m_commandQueue);
-				free(src);
-#endif  //B3_ALWAYS_INITIALIZE_OPENCL_BUFFERS
-
-				if (result)
-				{
-					if (copyOldContents)
-						copyToCL(buf, size());
-				}
-
-				//deallocate the old buffer
-				deallocate();
-
-				m_clBuffer = buf;
-
-				m_capacity = _Count;
-			}
-			else
-			{
-				//fail: assert and
-				b3Assert(0);
-				deallocate();
-				result = false;
-			}
-		}
-		return result;
-	}
-
-	void copyToCL(cl_mem destination, size_t numElements, size_t firstElem = 0, size_t dstOffsetInElems = 0) const
-	{
-		if (numElements <= 0)
-			return;
-
-		b3Assert(m_clBuffer);
-		b3Assert(destination);
-
-		//likely some error, destination is same as source
-		b3Assert(m_clBuffer != destination);
-
-		b3Assert((firstElem + numElements) <= m_size);
-
-		cl_int status = 0;
-
-		b3Assert(numElements > 0);
-		b3Assert(numElements <= m_size);
-
-		size_t srcOffsetBytes = sizeof(T) * firstElem;
-		size_t dstOffsetInBytes = sizeof(T) * dstOffsetInElems;
-
-		status = clEnqueueCopyBuffer(m_commandQueue, m_clBuffer, destination,
-									 srcOffsetBytes, dstOffsetInBytes, sizeof(T) * numElements, 0, 0, 0);
-
-		b3Assert(status == CL_SUCCESS);
-	}
-
-	void copyFromHost(const b3AlignedObjectArray<T>& srcArray, bool waitForCompletion = true)
-	{
-		size_t newSize = srcArray.size();
-
-		bool copyOldContents = false;
-		resize(newSize, copyOldContents);
-		if (newSize)
-			copyFromHostPointer(&srcArray[0], newSize, 0, waitForCompletion);
-	}
-
-	void copyFromHostPointer(const T* src, size_t numElems, size_t destFirstElem = 0, bool waitForCompletion = true)
-	{
-		b3Assert(numElems + destFirstElem <= capacity());
-
-		if (numElems + destFirstElem)
-		{
-			cl_int status = 0;
-			size_t sizeInBytes = sizeof(T) * numElems;
-			status = clEnqueueWriteBuffer(m_commandQueue, m_clBuffer, 0, sizeof(T) * destFirstElem, sizeInBytes,
-										  src, 0, 0, 0);
-			b3Assert(status == CL_SUCCESS);
-			if (waitForCompletion)
-				clFinish(m_commandQueue);
-		}
-		else
-		{
-			b3Error("copyFromHostPointer invalid range\n");
-		}
-	}
-
-	void copyToHost(b3AlignedObjectArray<T>& destArray, bool waitForCompletion = true) const
-	{
-		destArray.resize(this->size());
-		if (size())
-			copyToHostPointer(&destArray[0], size(), 0, waitForCompletion);
-	}
-
-	void copyToHostPointer(T* destPtr, size_t numElem, size_t srcFirstElem = 0, bool waitForCompletion = true) const
-	{
-		b3Assert(numElem + srcFirstElem <= capacity());
-
-		if (numElem + srcFirstElem <= capacity())
-		{
-			cl_int status = 0;
-			status = clEnqueueReadBuffer(m_commandQueue, m_clBuffer, 0, sizeof(T) * srcFirstElem, sizeof(T) * numElem,
-										 destPtr, 0, 0, 0);
-			b3Assert(status == CL_SUCCESS);
-
-			if (waitForCompletion)
-				clFinish(m_commandQueue);
-		}
-		else
-		{
-			b3Error("copyToHostPointer invalid range\n");
-		}
-	}
-
-	void copyFromOpenCLArray(const b3OpenCLArray& src)
-	{
-		size_t newSize = src.size();
-		resize(newSize);
-		if (size())
-		{
-			src.copyToCL(m_clBuffer, size());
-		}
-	}
-};
-
-#endif  //B3_OPENCL_ARRAY_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.cpp b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.cpp
deleted file mode 100644
index 822b511633..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.cpp
+++ /dev/null
@@ -1,120 +0,0 @@
-#include "b3PrefixScanCL.h"
-#include "b3FillCL.h"
-#define B3_PREFIXSCAN_PROG_PATH "src/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernels.cl"
-
-#include "b3LauncherCL.h"
-#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
-#include "kernels/PrefixScanKernelsCL.h"
-
-b3PrefixScanCL::b3PrefixScanCL(cl_context ctx, cl_device_id device, cl_command_queue queue, int size)
-	: m_commandQueue(queue)
-{
-	const char* scanKernelSource = prefixScanKernelsCL;
-	cl_int pErrNum;
-	char* additionalMacros = 0;
-
-	m_workBuffer = new b3OpenCLArray<unsigned int>(ctx, queue, size);
-	cl_program scanProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, scanKernelSource, &pErrNum, additionalMacros, B3_PREFIXSCAN_PROG_PATH);
-	b3Assert(scanProg);
-
-	m_localScanKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, scanKernelSource, "LocalScanKernel", &pErrNum, scanProg, additionalMacros);
-	b3Assert(m_localScanKernel);
-	m_blockSumKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, scanKernelSource, "TopLevelScanKernel", &pErrNum, scanProg, additionalMacros);
-	b3Assert(m_blockSumKernel);
-	m_propagationKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, scanKernelSource, "AddOffsetKernel", &pErrNum, scanProg, additionalMacros);
-	b3Assert(m_propagationKernel);
-}
-
-b3PrefixScanCL::~b3PrefixScanCL()
-{
-	delete m_workBuffer;
-	clReleaseKernel(m_localScanKernel);
-	clReleaseKernel(m_blockSumKernel);
-	clReleaseKernel(m_propagationKernel);
-}
-
-template <class T>
-T b3NextPowerOf2(T n)
-{
-	n -= 1;
-	for (int i = 0; i < sizeof(T) * 8; i++)
-		n = n | (n >> i);
-	return n + 1;
-}
-
-void b3PrefixScanCL::execute(b3OpenCLArray<unsigned int>& src, b3OpenCLArray<unsigned int>& dst, int n, unsigned int* sum)
-{
-	//	b3Assert( data->m_option == EXCLUSIVE );
-	const unsigned int numBlocks = (const unsigned int)((n + BLOCK_SIZE * 2 - 1) / (BLOCK_SIZE * 2));
-
-	dst.resize(src.size());
-	m_workBuffer->resize(src.size());
-
-	b3Int4 constBuffer;
-	constBuffer.x = n;
-	constBuffer.y = numBlocks;
-	constBuffer.z = (int)b3NextPowerOf2(numBlocks);
-
-	b3OpenCLArray<unsigned int>* srcNative = &src;
-	b3OpenCLArray<unsigned int>* dstNative = &dst;
-
-	{
-		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(dstNative->getBufferCL()), b3BufferInfoCL(srcNative->getBufferCL()), b3BufferInfoCL(m_workBuffer->getBufferCL())};
-
-		b3LauncherCL launcher(m_commandQueue, m_localScanKernel, "m_localScanKernel");
-		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(constBuffer);
-		launcher.launch1D(numBlocks * BLOCK_SIZE, BLOCK_SIZE);
-	}
-
-	{
-		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(m_workBuffer->getBufferCL())};
-
-		b3LauncherCL launcher(m_commandQueue, m_blockSumKernel, "m_blockSumKernel");
-		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(constBuffer);
-		launcher.launch1D(BLOCK_SIZE, BLOCK_SIZE);
-	}
-
-	if (numBlocks > 1)
-	{
-		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(dstNative->getBufferCL()), b3BufferInfoCL(m_workBuffer->getBufferCL())};
-		b3LauncherCL launcher(m_commandQueue, m_propagationKernel, "m_propagationKernel");
-		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(constBuffer);
-		launcher.launch1D((numBlocks - 1) * BLOCK_SIZE, BLOCK_SIZE);
-	}
-
-	if (sum)
-	{
-		clFinish(m_commandQueue);
-		dstNative->copyToHostPointer(sum, 1, n - 1, true);
-	}
-}
-
-void b3PrefixScanCL::executeHost(b3AlignedObjectArray<unsigned int>& src, b3AlignedObjectArray<unsigned int>& dst, int n, unsigned int* sum)
-{
-	unsigned int s = 0;
-	//if( data->m_option == EXCLUSIVE )
-	{
-		for (int i = 0; i < n; i++)
-		{
-			dst[i] = s;
-			s += src[i];
-		}
-	}
-	/*else
-	{
-		for(int i=0; i<n; i++)
-		{
-			s += hSrc[i];
-			hDst[i] = s;
-		}
-	}
-	*/
-
-	if (sum)
-	{
-		*sum = dst[n - 1];
-	}
-}
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h
deleted file mode 100644
index 346efa0c73..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h
+++ /dev/null
@@ -1,35 +0,0 @@
-
-#ifndef B3_PREFIX_SCAN_CL_H
-#define B3_PREFIX_SCAN_CL_H
-
-#include "b3OpenCLArray.h"
-#include "b3BufferInfoCL.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-
-class b3PrefixScanCL
-{
-	enum
-	{
-		BLOCK_SIZE = 128
-	};
-
-	//	Option m_option;
-
-	cl_command_queue m_commandQueue;
-
-	cl_kernel m_localScanKernel;
-	cl_kernel m_blockSumKernel;
-	cl_kernel m_propagationKernel;
-
-	b3OpenCLArray<unsigned int>* m_workBuffer;
-
-public:
-	b3PrefixScanCL(cl_context ctx, cl_device_id device, cl_command_queue queue, int size = 0);
-
-	virtual ~b3PrefixScanCL();
-
-	void execute(b3OpenCLArray<unsigned int>& src, b3OpenCLArray<unsigned int>& dst, int n, unsigned int* sum = 0);
-	void executeHost(b3AlignedObjectArray<unsigned int>& src, b3AlignedObjectArray<unsigned int>& dst, int n, unsigned int* sum = 0);
-};
-
-#endif  //B3_PREFIX_SCAN_CL_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.cpp b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.cpp
deleted file mode 100644
index 1cac97c988..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.cpp
+++ /dev/null
@@ -1,120 +0,0 @@
-#include "b3PrefixScanFloat4CL.h"
-#include "b3FillCL.h"
-#define B3_PREFIXSCAN_FLOAT4_PROG_PATH "src/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanFloat4Kernels.cl"
-
-#include "b3LauncherCL.h"
-#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
-#include "kernels/PrefixScanKernelsFloat4CL.h"
-
-b3PrefixScanFloat4CL::b3PrefixScanFloat4CL(cl_context ctx, cl_device_id device, cl_command_queue queue, int size)
-	: m_commandQueue(queue)
-{
-	const char* scanKernelSource = prefixScanKernelsFloat4CL;
-	cl_int pErrNum;
-	char* additionalMacros = 0;
-
-	m_workBuffer = new b3OpenCLArray<b3Vector3>(ctx, queue, size);
-	cl_program scanProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, scanKernelSource, &pErrNum, additionalMacros, B3_PREFIXSCAN_FLOAT4_PROG_PATH);
-	b3Assert(scanProg);
-
-	m_localScanKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, scanKernelSource, "LocalScanKernel", &pErrNum, scanProg, additionalMacros);
-	b3Assert(m_localScanKernel);
-	m_blockSumKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, scanKernelSource, "TopLevelScanKernel", &pErrNum, scanProg, additionalMacros);
-	b3Assert(m_blockSumKernel);
-	m_propagationKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, scanKernelSource, "AddOffsetKernel", &pErrNum, scanProg, additionalMacros);
-	b3Assert(m_propagationKernel);
-}
-
-b3PrefixScanFloat4CL::~b3PrefixScanFloat4CL()
-{
-	delete m_workBuffer;
-	clReleaseKernel(m_localScanKernel);
-	clReleaseKernel(m_blockSumKernel);
-	clReleaseKernel(m_propagationKernel);
-}
-
-template <class T>
-T b3NextPowerOf2(T n)
-{
-	n -= 1;
-	for (int i = 0; i < sizeof(T) * 8; i++)
-		n = n | (n >> i);
-	return n + 1;
-}
-
-void b3PrefixScanFloat4CL::execute(b3OpenCLArray<b3Vector3>& src, b3OpenCLArray<b3Vector3>& dst, int n, b3Vector3* sum)
-{
-	//	b3Assert( data->m_option == EXCLUSIVE );
-	const unsigned int numBlocks = (const unsigned int)((n + BLOCK_SIZE * 2 - 1) / (BLOCK_SIZE * 2));
-
-	dst.resize(src.size());
-	m_workBuffer->resize(src.size());
-
-	b3Int4 constBuffer;
-	constBuffer.x = n;
-	constBuffer.y = numBlocks;
-	constBuffer.z = (int)b3NextPowerOf2(numBlocks);
-
-	b3OpenCLArray<b3Vector3>* srcNative = &src;
-	b3OpenCLArray<b3Vector3>* dstNative = &dst;
-
-	{
-		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(dstNative->getBufferCL()), b3BufferInfoCL(srcNative->getBufferCL()), b3BufferInfoCL(m_workBuffer->getBufferCL())};
-
-		b3LauncherCL launcher(m_commandQueue, m_localScanKernel, "m_localScanKernel");
-		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(constBuffer);
-		launcher.launch1D(numBlocks * BLOCK_SIZE, BLOCK_SIZE);
-	}
-
-	{
-		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(m_workBuffer->getBufferCL())};
-
-		b3LauncherCL launcher(m_commandQueue, m_blockSumKernel, "m_blockSumKernel");
-		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(constBuffer);
-		launcher.launch1D(BLOCK_SIZE, BLOCK_SIZE);
-	}
-
-	if (numBlocks > 1)
-	{
-		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(dstNative->getBufferCL()), b3BufferInfoCL(m_workBuffer->getBufferCL())};
-		b3LauncherCL launcher(m_commandQueue, m_propagationKernel, "m_propagationKernel");
-		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(constBuffer);
-		launcher.launch1D((numBlocks - 1) * BLOCK_SIZE, BLOCK_SIZE);
-	}
-
-	if (sum)
-	{
-		clFinish(m_commandQueue);
-		dstNative->copyToHostPointer(sum, 1, n - 1, true);
-	}
-}
-
-void b3PrefixScanFloat4CL::executeHost(b3AlignedObjectArray<b3Vector3>& src, b3AlignedObjectArray<b3Vector3>& dst, int n, b3Vector3* sum)
-{
-	b3Vector3 s = b3MakeVector3(0, 0, 0);
-	//if( data->m_option == EXCLUSIVE )
-	{
-		for (int i = 0; i < n; i++)
-		{
-			dst[i] = s;
-			s += src[i];
-		}
-	}
-	/*else
-	{
-		for(int i=0; i<n; i++)
-		{
-			s += hSrc[i];
-			hDst[i] = s;
-		}
-	}
-	*/
-
-	if (sum)
-	{
-		*sum = dst[n - 1];
-	}
-}
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.h
deleted file mode 100644
index 122b0bfd68..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.h
+++ /dev/null
@@ -1,36 +0,0 @@
-
-#ifndef B3_PREFIX_SCAN_CL_H
-#define B3_PREFIX_SCAN_CL_H
-
-#include "b3OpenCLArray.h"
-#include "b3BufferInfoCL.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-#include "Bullet3Common/b3Vector3.h"
-
-class b3PrefixScanFloat4CL
-{
-	enum
-	{
-		BLOCK_SIZE = 128
-	};
-
-	//	Option m_option;
-
-	cl_command_queue m_commandQueue;
-
-	cl_kernel m_localScanKernel;
-	cl_kernel m_blockSumKernel;
-	cl_kernel m_propagationKernel;
-
-	b3OpenCLArray<b3Vector3>* m_workBuffer;
-
-public:
-	b3PrefixScanFloat4CL(cl_context ctx, cl_device_id device, cl_command_queue queue, int size = 0);
-
-	virtual ~b3PrefixScanFloat4CL();
-
-	void execute(b3OpenCLArray<b3Vector3>& src, b3OpenCLArray<b3Vector3>& dst, int n, b3Vector3* sum = 0);
-	void executeHost(b3AlignedObjectArray<b3Vector3>& src, b3AlignedObjectArray<b3Vector3>& dst, int n, b3Vector3* sum);
-};
-
-#endif  //B3_PREFIX_SCAN_CL_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.cpp b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.cpp
deleted file mode 100644
index e86af6583f..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.cpp
+++ /dev/null
@@ -1,646 +0,0 @@
-
-#include "b3RadixSort32CL.h"
-#include "b3LauncherCL.h"
-#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
-#include "b3PrefixScanCL.h"
-#include "b3FillCL.h"
-
-#define RADIXSORT32_PATH "src/Bullet3OpenCL/ParallelPrimitives/kernels/RadixSort32Kernels.cl"
-
-#include "kernels/RadixSort32KernelsCL.h"
-
-b3RadixSort32CL::b3RadixSort32CL(cl_context ctx, cl_device_id device, cl_command_queue queue, int initialCapacity)
-	: m_commandQueue(queue)
-{
-	b3OpenCLDeviceInfo info;
-	b3OpenCLUtils::getDeviceInfo(device, &info);
-	m_deviceCPU = (info.m_deviceType & CL_DEVICE_TYPE_CPU) != 0;
-
-	m_workBuffer1 = new b3OpenCLArray<unsigned int>(ctx, queue);
-	m_workBuffer2 = new b3OpenCLArray<unsigned int>(ctx, queue);
-	m_workBuffer3 = new b3OpenCLArray<b3SortData>(ctx, queue);
-	m_workBuffer3a = new b3OpenCLArray<unsigned int>(ctx, queue);
-	m_workBuffer4 = new b3OpenCLArray<b3SortData>(ctx, queue);
-	m_workBuffer4a = new b3OpenCLArray<unsigned int>(ctx, queue);
-
-	if (initialCapacity > 0)
-	{
-		m_workBuffer1->resize(initialCapacity);
-		m_workBuffer3->resize(initialCapacity);
-		m_workBuffer3a->resize(initialCapacity);
-		m_workBuffer4->resize(initialCapacity);
-		m_workBuffer4a->resize(initialCapacity);
-	}
-
-	m_scan = new b3PrefixScanCL(ctx, device, queue);
-	m_fill = new b3FillCL(ctx, device, queue);
-
-	const char* additionalMacros = "";
-
-	cl_int pErrNum;
-	const char* kernelSource = radixSort32KernelsCL;
-
-	cl_program sortProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, kernelSource, &pErrNum, additionalMacros, RADIXSORT32_PATH);
-	b3Assert(sortProg);
-
-	m_streamCountSortDataKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "StreamCountSortDataKernel", &pErrNum, sortProg, additionalMacros);
-	b3Assert(m_streamCountSortDataKernel);
-
-	m_streamCountKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "StreamCountKernel", &pErrNum, sortProg, additionalMacros);
-	b3Assert(m_streamCountKernel);
-
-	if (m_deviceCPU)
-	{
-		m_sortAndScatterSortDataKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SortAndScatterSortDataKernelSerial", &pErrNum, sortProg, additionalMacros);
-		b3Assert(m_sortAndScatterSortDataKernel);
-		m_sortAndScatterKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SortAndScatterKernelSerial", &pErrNum, sortProg, additionalMacros);
-		b3Assert(m_sortAndScatterKernel);
-	}
-	else
-	{
-		m_sortAndScatterSortDataKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SortAndScatterSortDataKernel", &pErrNum, sortProg, additionalMacros);
-		b3Assert(m_sortAndScatterSortDataKernel);
-		m_sortAndScatterKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SortAndScatterKernel", &pErrNum, sortProg, additionalMacros);
-		b3Assert(m_sortAndScatterKernel);
-	}
-
-	m_prefixScanKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "PrefixScanKernel", &pErrNum, sortProg, additionalMacros);
-	b3Assert(m_prefixScanKernel);
-}
-
-b3RadixSort32CL::~b3RadixSort32CL()
-{
-	delete m_scan;
-	delete m_fill;
-	delete m_workBuffer1;
-	delete m_workBuffer2;
-	delete m_workBuffer3;
-	delete m_workBuffer3a;
-	delete m_workBuffer4;
-	delete m_workBuffer4a;
-
-	clReleaseKernel(m_streamCountSortDataKernel);
-	clReleaseKernel(m_streamCountKernel);
-	clReleaseKernel(m_sortAndScatterSortDataKernel);
-	clReleaseKernel(m_sortAndScatterKernel);
-	clReleaseKernel(m_prefixScanKernel);
-}
-
-void b3RadixSort32CL::executeHost(b3AlignedObjectArray<b3SortData>& inout, int sortBits /* = 32 */)
-{
-	int n = inout.size();
-	const int BITS_PER_PASS = 8;
-	const int NUM_TABLES = (1 << BITS_PER_PASS);
-
-	int tables[NUM_TABLES];
-	int counter[NUM_TABLES];
-
-	b3SortData* src = &inout[0];
-	b3AlignedObjectArray<b3SortData> workbuffer;
-	workbuffer.resize(inout.size());
-	b3SortData* dst = &workbuffer[0];
-
-	int count = 0;
-	for (int startBit = 0; startBit < sortBits; startBit += BITS_PER_PASS)
-	{
-		for (int i = 0; i < NUM_TABLES; i++)
-		{
-			tables[i] = 0;
-		}
-
-		for (int i = 0; i < n; i++)
-		{
-			int tableIdx = (src[i].m_key >> startBit) & (NUM_TABLES - 1);
-			tables[tableIdx]++;
-		}
-//#define TEST
-#ifdef TEST
-		printf("histogram size=%d\n", NUM_TABLES);
-		for (int i = 0; i < NUM_TABLES; i++)
-		{
-			if (tables[i] != 0)
-			{
-				printf("tables[%d]=%d]\n", i, tables[i]);
-			}
-		}
-#endif  //TEST \
-	//	prefix scan
-		int sum = 0;
-		for (int i = 0; i < NUM_TABLES; i++)
-		{
-			int iData = tables[i];
-			tables[i] = sum;
-			sum += iData;
-			counter[i] = 0;
-		}
-
-		//	distribute
-		for (int i = 0; i < n; i++)
-		{
-			int tableIdx = (src[i].m_key >> startBit) & (NUM_TABLES - 1);
-
-			dst[tables[tableIdx] + counter[tableIdx]] = src[i];
-			counter[tableIdx]++;
-		}
-
-		b3Swap(src, dst);
-		count++;
-	}
-
-	if (count & 1)
-	{
-		b3Assert(0);  //need to copy
-	}
-}
-
-void b3RadixSort32CL::executeHost(b3OpenCLArray<b3SortData>& keyValuesInOut, int sortBits /* = 32 */)
-{
-	b3AlignedObjectArray<b3SortData> inout;
-	keyValuesInOut.copyToHost(inout);
-
-	executeHost(inout, sortBits);
-
-	keyValuesInOut.copyFromHost(inout);
-}
-
-void b3RadixSort32CL::execute(b3OpenCLArray<unsigned int>& keysIn, b3OpenCLArray<unsigned int>& keysOut, b3OpenCLArray<unsigned int>& valuesIn,
-							  b3OpenCLArray<unsigned int>& valuesOut, int n, int sortBits)
-{
-}
-
-//#define DEBUG_RADIXSORT
-//#define DEBUG_RADIXSORT2
-
-void b3RadixSort32CL::execute(b3OpenCLArray<b3SortData>& keyValuesInOut, int sortBits /* = 32 */)
-{
-	int originalSize = keyValuesInOut.size();
-	int workingSize = originalSize;
-
-	int dataAlignment = DATA_ALIGNMENT;
-
-#ifdef DEBUG_RADIXSORT2
-	b3AlignedObjectArray<b3SortData> test2;
-	keyValuesInOut.copyToHost(test2);
-	printf("numElem = %d\n", test2.size());
-	for (int i = 0; i < test2.size(); i++)
-	{
-		printf("test2[%d].m_key=%d\n", i, test2[i].m_key);
-		printf("test2[%d].m_value=%d\n", i, test2[i].m_value);
-	}
-#endif  //DEBUG_RADIXSORT2
-
-	b3OpenCLArray<b3SortData>* src = 0;
-
-	if (workingSize % dataAlignment)
-	{
-		workingSize += dataAlignment - (workingSize % dataAlignment);
-		m_workBuffer4->copyFromOpenCLArray(keyValuesInOut);
-		m_workBuffer4->resize(workingSize);
-		b3SortData fillValue;
-		fillValue.m_key = 0xffffffff;
-		fillValue.m_value = 0xffffffff;
-
-#define USE_BTFILL
-#ifdef USE_BTFILL
-		m_fill->execute((b3OpenCLArray<b3Int2>&)*m_workBuffer4, (b3Int2&)fillValue, workingSize - originalSize, originalSize);
-#else
-		//fill the remaining bits (very slow way, todo: fill on GPU/OpenCL side)
-
-		for (int i = originalSize; i < workingSize; i++)
-		{
-			m_workBuffer4->copyFromHostPointer(&fillValue, 1, i);
-		}
-#endif  //USE_BTFILL
-
-		src = m_workBuffer4;
-	}
-	else
-	{
-		src = &keyValuesInOut;
-		m_workBuffer4->resize(0);
-	}
-
-	b3Assert(workingSize % DATA_ALIGNMENT == 0);
-	int minCap = NUM_BUCKET * NUM_WGS;
-
-	int n = workingSize;
-
-	m_workBuffer1->resize(minCap);
-	m_workBuffer3->resize(workingSize);
-
-	//	ADLASSERT( ELEMENTS_PER_WORK_ITEM == 4 );
-	b3Assert(BITS_PER_PASS == 4);
-	b3Assert(WG_SIZE == 64);
-	b3Assert((sortBits & 0x3) == 0);
-
-	b3OpenCLArray<b3SortData>* dst = m_workBuffer3;
-
-	b3OpenCLArray<unsigned int>* srcHisto = m_workBuffer1;
-	b3OpenCLArray<unsigned int>* destHisto = m_workBuffer2;
-
-	int nWGs = NUM_WGS;
-	b3ConstData cdata;
-
-	{
-		int blockSize = ELEMENTS_PER_WORK_ITEM * WG_SIZE;  //set at 256
-		int nBlocks = (n + blockSize - 1) / (blockSize);
-		cdata.m_n = n;
-		cdata.m_nWGs = NUM_WGS;
-		cdata.m_startBit = 0;
-		cdata.m_nBlocksPerWG = (nBlocks + cdata.m_nWGs - 1) / cdata.m_nWGs;
-		if (nBlocks < NUM_WGS)
-		{
-			cdata.m_nBlocksPerWG = 1;
-			nWGs = nBlocks;
-		}
-	}
-
-	int count = 0;
-	for (int ib = 0; ib < sortBits; ib += 4)
-	{
-#ifdef DEBUG_RADIXSORT2
-		keyValuesInOut.copyToHost(test2);
-		printf("numElem = %d\n", test2.size());
-		for (int i = 0; i < test2.size(); i++)
-		{
-			if (test2[i].m_key != test2[i].m_value)
-			{
-				printf("test2[%d].m_key=%d\n", i, test2[i].m_key);
-				printf("test2[%d].m_value=%d\n", i, test2[i].m_value);
-			}
-		}
-#endif  //DEBUG_RADIXSORT2
-
-		cdata.m_startBit = ib;
-
-		if (src->size())
-		{
-			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src->getBufferCL(), true), b3BufferInfoCL(srcHisto->getBufferCL())};
-			b3LauncherCL launcher(m_commandQueue, m_streamCountSortDataKernel, "m_streamCountSortDataKernel");
-
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(cdata);
-
-			int num = NUM_WGS * WG_SIZE;
-			launcher.launch1D(num, WG_SIZE);
-		}
-
-#ifdef DEBUG_RADIXSORT
-		b3AlignedObjectArray<unsigned int> testHist;
-		srcHisto->copyToHost(testHist);
-		printf("ib = %d, testHist size = %d, non zero elements:\n", ib, testHist.size());
-		for (int i = 0; i < testHist.size(); i++)
-		{
-			if (testHist[i] != 0)
-				printf("testHist[%d]=%d\n", i, testHist[i]);
-		}
-#endif  //DEBUG_RADIXSORT
-
-//fast prefix scan is not working properly on Mac OSX yet
-#ifdef __APPLE__
-		bool fastScan = false;
-#else
-		bool fastScan = !m_deviceCPU;  //only use fast scan on GPU
-#endif
-
-		if (fastScan)
-		{  //	prefix scan group histogram
-			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(srcHisto->getBufferCL())};
-			b3LauncherCL launcher(m_commandQueue, m_prefixScanKernel, "m_prefixScanKernel");
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(cdata);
-			launcher.launch1D(128, 128);
-			destHisto = srcHisto;
-		}
-		else
-		{
-			//unsigned int sum; //for debugging
-			m_scan->execute(*srcHisto, *destHisto, 1920, 0);  //,&sum);
-		}
-
-#ifdef DEBUG_RADIXSORT
-		destHisto->copyToHost(testHist);
-		printf("ib = %d, testHist size = %d, non zero elements:\n", ib, testHist.size());
-		for (int i = 0; i < testHist.size(); i++)
-		{
-			if (testHist[i] != 0)
-				printf("testHist[%d]=%d\n", i, testHist[i]);
-		}
-
-		for (int i = 0; i < testHist.size(); i += NUM_WGS)
-		{
-			printf("testHist[%d]=%d\n", i / NUM_WGS, testHist[i]);
-		}
-
-#endif  //DEBUG_RADIXSORT
-
-#define USE_GPU
-#ifdef USE_GPU
-
-		if (src->size())
-		{  //	local sort and distribute
-			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src->getBufferCL(), true), b3BufferInfoCL(destHisto->getBufferCL(), true), b3BufferInfoCL(dst->getBufferCL())};
-			b3LauncherCL launcher(m_commandQueue, m_sortAndScatterSortDataKernel, "m_sortAndScatterSortDataKernel");
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(cdata);
-			launcher.launch1D(nWGs * WG_SIZE, WG_SIZE);
-		}
-#else
-		{
-#define NUM_TABLES 16
-//#define SEQUENTIAL
-#ifdef SEQUENTIAL
-			int counter2[NUM_TABLES] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-			int tables[NUM_TABLES];
-			int startBit = ib;
-
-			destHisto->copyToHost(testHist);
-			b3AlignedObjectArray<b3SortData> srcHost;
-			b3AlignedObjectArray<b3SortData> dstHost;
-			dstHost.resize(src->size());
-
-			src->copyToHost(srcHost);
-
-			for (int i = 0; i < NUM_TABLES; i++)
-			{
-				tables[i] = testHist[i * NUM_WGS];
-			}
-
-			//	distribute
-			for (int i = 0; i < n; i++)
-			{
-				int tableIdx = (srcHost[i].m_key >> startBit) & (NUM_TABLES - 1);
-
-				dstHost[tables[tableIdx] + counter2[tableIdx]] = srcHost[i];
-				counter2[tableIdx]++;
-			}
-
-#else
-
-			int counter2[NUM_TABLES] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-
-			int tables[NUM_TABLES];
-			b3AlignedObjectArray<b3SortData> dstHostOK;
-			dstHostOK.resize(src->size());
-
-			destHisto->copyToHost(testHist);
-			b3AlignedObjectArray<b3SortData> srcHost;
-			src->copyToHost(srcHost);
-
-			int blockSize = 256;
-			int nBlocksPerWG = cdata.m_nBlocksPerWG;
-			int startBit = ib;
-
-			{
-				for (int i = 0; i < NUM_TABLES; i++)
-				{
-					tables[i] = testHist[i * NUM_WGS];
-				}
-
-				//	distribute
-				for (int i = 0; i < n; i++)
-				{
-					int tableIdx = (srcHost[i].m_key >> startBit) & (NUM_TABLES - 1);
-
-					dstHostOK[tables[tableIdx] + counter2[tableIdx]] = srcHost[i];
-					counter2[tableIdx]++;
-				}
-			}
-
-			b3AlignedObjectArray<b3SortData> dstHost;
-			dstHost.resize(src->size());
-
-			int counter[NUM_TABLES] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-
-			for (int wgIdx = 0; wgIdx < NUM_WGS; wgIdx++)
-			{
-				int counter[NUM_TABLES] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-
-				int nBlocks = (n) / blockSize - nBlocksPerWG * wgIdx;
-
-				for (int iblock = 0; iblock < b3Min(cdata.m_nBlocksPerWG, nBlocks); iblock++)
-				{
-					for (int lIdx = 0; lIdx < 64; lIdx++)
-					{
-						int addr = iblock * blockSize + blockSize * cdata.m_nBlocksPerWG * wgIdx + ELEMENTS_PER_WORK_ITEM * lIdx;
-
-						//	MY_HISTOGRAM( localKeys.x ) ++ is much expensive than atomic add as it requires read and write while atomics can just add on AMD
-						//	Using registers didn't perform well. It seems like use localKeys to address requires a lot of alu ops
-						//	AMD: AtomInc performs better while NV prefers ++
-						for (int j = 0; j < ELEMENTS_PER_WORK_ITEM; j++)
-						{
-							if (addr + j < n)
-							{
-								//  printf ("addr+j=%d\n", addr+j);
-
-								int i = addr + j;
-
-								int tableIdx = (srcHost[i].m_key >> startBit) & (NUM_TABLES - 1);
-
-								int destIndex = testHist[tableIdx * NUM_WGS + wgIdx] + counter[tableIdx];
-
-								b3SortData ok = dstHostOK[destIndex];
-
-								if (ok.m_key != srcHost[i].m_key)
-								{
-									printf("ok.m_key = %d, srcHost[i].m_key = %d\n", ok.m_key, srcHost[i].m_key);
-									printf("(ok.m_value = %d, srcHost[i].m_value = %d)\n", ok.m_value, srcHost[i].m_value);
-								}
-								if (ok.m_value != srcHost[i].m_value)
-								{
-									printf("ok.m_value = %d, srcHost[i].m_value = %d\n", ok.m_value, srcHost[i].m_value);
-									printf("(ok.m_key = %d, srcHost[i].m_key = %d)\n", ok.m_key, srcHost[i].m_key);
-								}
-
-								dstHost[destIndex] = srcHost[i];
-								counter[tableIdx]++;
-							}
-						}
-					}
-				}
-			}
-
-#endif  //SEQUENTIAL
-
-			dst->copyFromHost(dstHost);
-		}
-#endif  //USE_GPU
-
-#ifdef DEBUG_RADIXSORT
-		destHisto->copyToHost(testHist);
-		printf("ib = %d, testHist size = %d, non zero elements:\n", ib, testHist.size());
-		for (int i = 0; i < testHist.size(); i++)
-		{
-			if (testHist[i] != 0)
-				printf("testHist[%d]=%d\n", i, testHist[i]);
-		}
-#endif  //DEBUG_RADIXSORT
-		b3Swap(src, dst);
-		b3Swap(srcHisto, destHisto);
-
-#ifdef DEBUG_RADIXSORT2
-		keyValuesInOut.copyToHost(test2);
-		printf("numElem = %d\n", test2.size());
-		for (int i = 0; i < test2.size(); i++)
-		{
-			if (test2[i].m_key != test2[i].m_value)
-			{
-				printf("test2[%d].m_key=%d\n", i, test2[i].m_key);
-				printf("test2[%d].m_value=%d\n", i, test2[i].m_value);
-			}
-		}
-#endif  //DEBUG_RADIXSORT2
-
-		count++;
-	}
-
-	if (count & 1)
-	{
-		b3Assert(0);  //need to copy from workbuffer to keyValuesInOut
-	}
-
-	if (m_workBuffer4->size())
-	{
-		m_workBuffer4->resize(originalSize);
-		keyValuesInOut.copyFromOpenCLArray(*m_workBuffer4);
-	}
-
-#ifdef DEBUG_RADIXSORT
-	keyValuesInOut.copyToHost(test2);
-
-	printf("numElem = %d\n", test2.size());
-	for (int i = 0; i < test2.size(); i++)
-	{
-		printf("test2[%d].m_key=%d\n", i, test2[i].m_key);
-		printf("test2[%d].m_value=%d\n", i, test2[i].m_value);
-	}
-#endif
-}
-
-void b3RadixSort32CL::execute(b3OpenCLArray<unsigned int>& keysInOut, int sortBits /* = 32 */)
-{
-	int originalSize = keysInOut.size();
-	int workingSize = originalSize;
-
-	int dataAlignment = DATA_ALIGNMENT;
-
-	b3OpenCLArray<unsigned int>* src = 0;
-
-	if (workingSize % dataAlignment)
-	{
-		workingSize += dataAlignment - (workingSize % dataAlignment);
-		m_workBuffer4a->copyFromOpenCLArray(keysInOut);
-		m_workBuffer4a->resize(workingSize);
-		unsigned int fillValue = 0xffffffff;
-
-		m_fill->execute(*m_workBuffer4a, fillValue, workingSize - originalSize, originalSize);
-
-		src = m_workBuffer4a;
-	}
-	else
-	{
-		src = &keysInOut;
-		m_workBuffer4a->resize(0);
-	}
-
-	b3Assert(workingSize % DATA_ALIGNMENT == 0);
-	int minCap = NUM_BUCKET * NUM_WGS;
-
-	int n = workingSize;
-
-	m_workBuffer1->resize(minCap);
-	m_workBuffer3->resize(workingSize);
-	m_workBuffer3a->resize(workingSize);
-
-	//	ADLASSERT( ELEMENTS_PER_WORK_ITEM == 4 );
-	b3Assert(BITS_PER_PASS == 4);
-	b3Assert(WG_SIZE == 64);
-	b3Assert((sortBits & 0x3) == 0);
-
-	b3OpenCLArray<unsigned int>* dst = m_workBuffer3a;
-
-	b3OpenCLArray<unsigned int>* srcHisto = m_workBuffer1;
-	b3OpenCLArray<unsigned int>* destHisto = m_workBuffer2;
-
-	int nWGs = NUM_WGS;
-	b3ConstData cdata;
-
-	{
-		int blockSize = ELEMENTS_PER_WORK_ITEM * WG_SIZE;  //set at 256
-		int nBlocks = (n + blockSize - 1) / (blockSize);
-		cdata.m_n = n;
-		cdata.m_nWGs = NUM_WGS;
-		cdata.m_startBit = 0;
-		cdata.m_nBlocksPerWG = (nBlocks + cdata.m_nWGs - 1) / cdata.m_nWGs;
-		if (nBlocks < NUM_WGS)
-		{
-			cdata.m_nBlocksPerWG = 1;
-			nWGs = nBlocks;
-		}
-	}
-
-	int count = 0;
-	for (int ib = 0; ib < sortBits; ib += 4)
-	{
-		cdata.m_startBit = ib;
-
-		if (src->size())
-		{
-			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src->getBufferCL(), true), b3BufferInfoCL(srcHisto->getBufferCL())};
-			b3LauncherCL launcher(m_commandQueue, m_streamCountKernel, "m_streamCountKernel");
-
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(cdata);
-
-			int num = NUM_WGS * WG_SIZE;
-			launcher.launch1D(num, WG_SIZE);
-		}
-
-//fast prefix scan is not working properly on Mac OSX yet
-#ifdef __APPLE__
-		bool fastScan = false;
-#else
-		bool fastScan = !m_deviceCPU;
-#endif
-
-		if (fastScan)
-		{  //	prefix scan group histogram
-			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(srcHisto->getBufferCL())};
-			b3LauncherCL launcher(m_commandQueue, m_prefixScanKernel, "m_prefixScanKernel");
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(cdata);
-			launcher.launch1D(128, 128);
-			destHisto = srcHisto;
-		}
-		else
-		{
-			//unsigned int sum; //for debugging
-			m_scan->execute(*srcHisto, *destHisto, 1920, 0);  //,&sum);
-		}
-
-		if (src->size())
-		{  //	local sort and distribute
-			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src->getBufferCL(), true), b3BufferInfoCL(destHisto->getBufferCL(), true), b3BufferInfoCL(dst->getBufferCL())};
-			b3LauncherCL launcher(m_commandQueue, m_sortAndScatterKernel, "m_sortAndScatterKernel");
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(cdata);
-			launcher.launch1D(nWGs * WG_SIZE, WG_SIZE);
-		}
-
-		b3Swap(src, dst);
-		b3Swap(srcHisto, destHisto);
-
-		count++;
-	}
-
-	if (count & 1)
-	{
-		b3Assert(0);  //need to copy from workbuffer to keyValuesInOut
-	}
-
-	if (m_workBuffer4a->size())
-	{
-		m_workBuffer4a->resize(originalSize);
-		keysInOut.copyFromOpenCLArray(*m_workBuffer4a);
-	}
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h
deleted file mode 100644
index 69caf182d7..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h
+++ /dev/null
@@ -1,84 +0,0 @@
-
-#ifndef B3_RADIXSORT32_H
-#define B3_RADIXSORT32_H
-
-#include "b3OpenCLArray.h"
-
-struct b3SortData
-{
-	union {
-		unsigned int m_key;
-		unsigned int x;
-	};
-
-	union {
-		unsigned int m_value;
-		unsigned int y;
-	};
-};
-#include "b3BufferInfoCL.h"
-
-class b3RadixSort32CL
-{
-	b3OpenCLArray<unsigned int>* m_workBuffer1;
-	b3OpenCLArray<unsigned int>* m_workBuffer2;
-
-	b3OpenCLArray<b3SortData>* m_workBuffer3;
-	b3OpenCLArray<b3SortData>* m_workBuffer4;
-
-	b3OpenCLArray<unsigned int>* m_workBuffer3a;
-	b3OpenCLArray<unsigned int>* m_workBuffer4a;
-
-	cl_command_queue m_commandQueue;
-
-	cl_kernel m_streamCountSortDataKernel;
-	cl_kernel m_streamCountKernel;
-
-	cl_kernel m_prefixScanKernel;
-	cl_kernel m_sortAndScatterSortDataKernel;
-	cl_kernel m_sortAndScatterKernel;
-
-	bool m_deviceCPU;
-
-	class b3PrefixScanCL* m_scan;
-	class b3FillCL* m_fill;
-
-public:
-	struct b3ConstData
-	{
-		int m_n;
-		int m_nWGs;
-		int m_startBit;
-		int m_nBlocksPerWG;
-	};
-	enum
-	{
-		DATA_ALIGNMENT = 256,
-		WG_SIZE = 64,
-		BLOCK_SIZE = 256,
-		ELEMENTS_PER_WORK_ITEM = (BLOCK_SIZE / WG_SIZE),
-		BITS_PER_PASS = 4,
-		NUM_BUCKET = (1 << BITS_PER_PASS),
-		//	if you change this, change nPerWI in kernel as well
-		NUM_WGS = 20 * 6,  //	cypress
-						   //			NUM_WGS = 24*6,	//	cayman
-						   //			NUM_WGS = 32*4,	//	nv
-	};
-
-private:
-public:
-	b3RadixSort32CL(cl_context ctx, cl_device_id device, cl_command_queue queue, int initialCapacity = 0);
-
-	virtual ~b3RadixSort32CL();
-
-	void execute(b3OpenCLArray<unsigned int>& keysIn, b3OpenCLArray<unsigned int>& keysOut, b3OpenCLArray<unsigned int>& valuesIn,
-				 b3OpenCLArray<unsigned int>& valuesOut, int n, int sortBits = 32);
-
-	///keys only
-	void execute(b3OpenCLArray<unsigned int>& keysInOut, int sortBits = 32);
-
-	void execute(b3OpenCLArray<b3SortData>& keyValuesInOut, int sortBits = 32);
-	void executeHost(b3OpenCLArray<b3SortData>& keyValuesInOut, int sortBits = 32);
-	void executeHost(b3AlignedObjectArray<b3SortData>& keyValuesInOut, int sortBits = 32);
-};
-#endif  //B3_RADIXSORT32_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/BoundSearchKernels.cl b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/BoundSearchKernels.cl
deleted file mode 100644
index f3b4a1e8a7..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/BoundSearchKernels.cl
+++ /dev/null
@@ -1,106 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Takahiro Harada
-
-
-typedef unsigned int u32;
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-
-typedef struct
-{
-	u32 m_key; 
-	u32 m_value;
-}SortData;
-
-
-
-typedef struct
-{
-	u32 m_nSrc;
-	u32 m_nDst;
-	u32 m_padding[2];
-} ConstBuffer;
-
-
-
-__attribute__((reqd_work_group_size(64,1,1)))
-__kernel
-void SearchSortDataLowerKernel(__global SortData* src, __global u32 *dst, 
-					unsigned int nSrc, unsigned int nDst)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < nSrc )
-	{
-		SortData first; first.m_key = (u32)(-1); first.m_value = (u32)(-1);
-		SortData end; end.m_key = nDst; end.m_value = nDst;
-
-		SortData iData = (gIdx==0)? first: src[gIdx-1];
-		SortData jData = (gIdx==nSrc)? end: src[gIdx];
-
-		if( iData.m_key != jData.m_key )
-		{
-//			for(u32 k=iData.m_key+1; k<=min(jData.m_key, nDst-1); k++)
-			u32 k = jData.m_key;
-			{
-				dst[k] = gIdx;
-			}
-		}
-	}
-}
-
-
-__attribute__((reqd_work_group_size(64,1,1)))
-__kernel
-void SearchSortDataUpperKernel(__global SortData* src, __global u32 *dst, 
-					unsigned int nSrc, unsigned int nDst)
-{
-	int gIdx = GET_GLOBAL_IDX+1;
-
-	if( gIdx < nSrc+1 )
-	{
-		SortData first; first.m_key = 0; first.m_value = 0;
-		SortData end; end.m_key = nDst; end.m_value = nDst;
-
-		SortData iData = src[gIdx-1];
-		SortData jData = (gIdx==nSrc)? end: src[gIdx];
-
-		if( iData.m_key != jData.m_key )
-		{
-			u32 k = iData.m_key;
-			{
-				dst[k] = gIdx;
-			}
-		}
-	}
-}
-
-__attribute__((reqd_work_group_size(64,1,1)))
-__kernel
-void SubtractKernel(__global u32* A, __global u32 *B, __global u32 *C, 
-					unsigned int nSrc, unsigned int nDst)
-{
-	int gIdx = GET_GLOBAL_IDX;
-	
-
-	if( gIdx < nDst )
-	{
-		C[gIdx] = A[gIdx] - B[gIdx];
-	}
-}
-
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/BoundSearchKernelsCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/BoundSearchKernelsCL.h
deleted file mode 100644
index 1758dd41e3..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/BoundSearchKernelsCL.h
+++ /dev/null
@@ -1,86 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* boundSearchKernelsCL =
-	"/*\n"
-	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose, \n"
-	"including commercial applications, and to alter it and redistribute it freely, \n"
-	"subject to the following restrictions:\n"
-	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Originally written by Takahiro Harada\n"
-	"typedef unsigned int u32;\n"
-	"#define GET_GROUP_IDX get_group_id(0)\n"
-	"#define GET_LOCAL_IDX get_local_id(0)\n"
-	"#define GET_GLOBAL_IDX get_global_id(0)\n"
-	"#define GET_GROUP_SIZE get_local_size(0)\n"
-	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-	"typedef struct\n"
-	"{\n"
-	"	u32 m_key; \n"
-	"	u32 m_value;\n"
-	"}SortData;\n"
-	"typedef struct\n"
-	"{\n"
-	"	u32 m_nSrc;\n"
-	"	u32 m_nDst;\n"
-	"	u32 m_padding[2];\n"
-	"} ConstBuffer;\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"__kernel\n"
-	"void SearchSortDataLowerKernel(__global SortData* src, __global u32 *dst, \n"
-	"					unsigned int nSrc, unsigned int nDst)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	if( gIdx < nSrc )\n"
-	"	{\n"
-	"		SortData first; first.m_key = (u32)(-1); first.m_value = (u32)(-1);\n"
-	"		SortData end; end.m_key = nDst; end.m_value = nDst;\n"
-	"		SortData iData = (gIdx==0)? first: src[gIdx-1];\n"
-	"		SortData jData = (gIdx==nSrc)? end: src[gIdx];\n"
-	"		if( iData.m_key != jData.m_key )\n"
-	"		{\n"
-	"//			for(u32 k=iData.m_key+1; k<=min(jData.m_key, nDst-1); k++)\n"
-	"			u32 k = jData.m_key;\n"
-	"			{\n"
-	"				dst[k] = gIdx;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"__kernel\n"
-	"void SearchSortDataUpperKernel(__global SortData* src, __global u32 *dst, \n"
-	"					unsigned int nSrc, unsigned int nDst)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX+1;\n"
-	"	if( gIdx < nSrc+1 )\n"
-	"	{\n"
-	"		SortData first; first.m_key = 0; first.m_value = 0;\n"
-	"		SortData end; end.m_key = nDst; end.m_value = nDst;\n"
-	"		SortData iData = src[gIdx-1];\n"
-	"		SortData jData = (gIdx==nSrc)? end: src[gIdx];\n"
-	"		if( iData.m_key != jData.m_key )\n"
-	"		{\n"
-	"			u32 k = iData.m_key;\n"
-	"			{\n"
-	"				dst[k] = gIdx;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"__kernel\n"
-	"void SubtractKernel(__global u32* A, __global u32 *B, __global u32 *C, \n"
-	"					unsigned int nSrc, unsigned int nDst)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	\n"
-	"	if( gIdx < nDst )\n"
-	"	{\n"
-	"		C[gIdx] = A[gIdx] - B[gIdx];\n"
-	"	}\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/CopyKernels.cl b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/CopyKernels.cl
deleted file mode 100644
index 2eee5752ec..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/CopyKernels.cl
+++ /dev/null
@@ -1,128 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Takahiro Harada
-
-#pragma OPENCL EXTENSION cl_amd_printf : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
-
-typedef unsigned int u32;
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
-#define AtomInc(x) atom_inc(&(x))
-#define AtomInc1(x, out) out = atom_inc(&(x))
-
-#define make_uint4 (uint4)
-#define make_uint2 (uint2)
-#define make_int2 (int2)
-
-typedef struct
-{
-	int m_n;
-	int m_padding[3];
-} ConstBuffer;
-
-
-
-__kernel
-__attribute__((reqd_work_group_size(64,1,1)))
-void Copy1F4Kernel(__global float4* dst, __global float4* src, 
-					ConstBuffer cb)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < cb.m_n )
-	{
-		float4 a0 = src[gIdx];
-
-		dst[ gIdx ] = a0;
-	}
-}
-
-__kernel
-__attribute__((reqd_work_group_size(64,1,1)))
-void Copy2F4Kernel(__global float4* dst, __global float4* src, 
-					ConstBuffer cb)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( 2*gIdx <= cb.m_n )
-	{
-		float4 a0 = src[gIdx*2+0];
-		float4 a1 = src[gIdx*2+1];
-
-		dst[ gIdx*2+0 ] = a0;
-		dst[ gIdx*2+1 ] = a1;
-	}
-}
-
-__kernel
-__attribute__((reqd_work_group_size(64,1,1)))
-void Copy4F4Kernel(__global float4* dst, __global float4* src, 
-					ConstBuffer cb)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( 4*gIdx <= cb.m_n )
-	{
-		int idx0 = gIdx*4+0;
-		int idx1 = gIdx*4+1;
-		int idx2 = gIdx*4+2;
-		int idx3 = gIdx*4+3;
-
-		float4 a0 = src[idx0];
-		float4 a1 = src[idx1];
-		float4 a2 = src[idx2];
-		float4 a3 = src[idx3];
-
-		dst[ idx0 ] = a0;
-		dst[ idx1 ] = a1;
-		dst[ idx2 ] = a2;
-		dst[ idx3 ] = a3;
-	}
-}
-
-__kernel
-__attribute__((reqd_work_group_size(64,1,1)))
-void CopyF1Kernel(__global float* dstF1, __global float* srcF1, 
-					ConstBuffer cb)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < cb.m_n )
-	{
-		float a0 = srcF1[gIdx];
-
-		dstF1[ gIdx ] = a0;
-	}
-}
-
-__kernel
-__attribute__((reqd_work_group_size(64,1,1)))
-void CopyF2Kernel(__global float2* dstF2, __global float2* srcF2, 
-					ConstBuffer cb)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < cb.m_n )
-	{
-		float2 a0 = srcF2[gIdx];
-
-		dstF2[ gIdx ] = a0;
-	}
-}
-
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/CopyKernelsCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/CopyKernelsCL.h
deleted file mode 100644
index 33c9279462..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/CopyKernelsCL.h
+++ /dev/null
@@ -1,131 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* copyKernelsCL =
-	"/*\n"
-	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-	"\n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose, \n"
-	"including commercial applications, and to alter it and redistribute it freely, \n"
-	"subject to the following restrictions:\n"
-	"\n"
-	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Originally written by Takahiro Harada\n"
-	"\n"
-	"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-	"\n"
-	"typedef unsigned int u32;\n"
-	"#define GET_GROUP_IDX get_group_id(0)\n"
-	"#define GET_LOCAL_IDX get_local_id(0)\n"
-	"#define GET_GLOBAL_IDX get_global_id(0)\n"
-	"#define GET_GROUP_SIZE get_local_size(0)\n"
-	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-	"#define AtomInc(x) atom_inc(&(x))\n"
-	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-	"\n"
-	"#define make_uint4 (uint4)\n"
-	"#define make_uint2 (uint2)\n"
-	"#define make_int2 (int2)\n"
-	"\n"
-	"typedef struct\n"
-	"{\n"
-	"	int m_n;\n"
-	"	int m_padding[3];\n"
-	"} ConstBuffer;\n"
-	"\n"
-	"\n"
-	"\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"void Copy1F4Kernel(__global float4* dst, __global float4* src, \n"
-	"					ConstBuffer cb)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"\n"
-	"	if( gIdx < cb.m_n )\n"
-	"	{\n"
-	"		float4 a0 = src[gIdx];\n"
-	"\n"
-	"		dst[ gIdx ] = a0;\n"
-	"	}\n"
-	"}\n"
-	"\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"void Copy2F4Kernel(__global float4* dst, __global float4* src, \n"
-	"					ConstBuffer cb)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"\n"
-	"	if( 2*gIdx <= cb.m_n )\n"
-	"	{\n"
-	"		float4 a0 = src[gIdx*2+0];\n"
-	"		float4 a1 = src[gIdx*2+1];\n"
-	"\n"
-	"		dst[ gIdx*2+0 ] = a0;\n"
-	"		dst[ gIdx*2+1 ] = a1;\n"
-	"	}\n"
-	"}\n"
-	"\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"void Copy4F4Kernel(__global float4* dst, __global float4* src, \n"
-	"					ConstBuffer cb)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"\n"
-	"	if( 4*gIdx <= cb.m_n )\n"
-	"	{\n"
-	"		int idx0 = gIdx*4+0;\n"
-	"		int idx1 = gIdx*4+1;\n"
-	"		int idx2 = gIdx*4+2;\n"
-	"		int idx3 = gIdx*4+3;\n"
-	"\n"
-	"		float4 a0 = src[idx0];\n"
-	"		float4 a1 = src[idx1];\n"
-	"		float4 a2 = src[idx2];\n"
-	"		float4 a3 = src[idx3];\n"
-	"\n"
-	"		dst[ idx0 ] = a0;\n"
-	"		dst[ idx1 ] = a1;\n"
-	"		dst[ idx2 ] = a2;\n"
-	"		dst[ idx3 ] = a3;\n"
-	"	}\n"
-	"}\n"
-	"\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"void CopyF1Kernel(__global float* dstF1, __global float* srcF1, \n"
-	"					ConstBuffer cb)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"\n"
-	"	if( gIdx < cb.m_n )\n"
-	"	{\n"
-	"		float a0 = srcF1[gIdx];\n"
-	"\n"
-	"		dstF1[ gIdx ] = a0;\n"
-	"	}\n"
-	"}\n"
-	"\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"void CopyF2Kernel(__global float2* dstF2, __global float2* srcF2, \n"
-	"					ConstBuffer cb)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"\n"
-	"	if( gIdx < cb.m_n )\n"
-	"	{\n"
-	"		float2 a0 = srcF2[gIdx];\n"
-	"\n"
-	"		dstF2[ gIdx ] = a0;\n"
-	"	}\n"
-	"}\n"
-	"\n"
-	"\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/FillKernels.cl b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/FillKernels.cl
deleted file mode 100644
index 71c31075dd..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/FillKernels.cl
+++ /dev/null
@@ -1,107 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Takahiro Harada
-
-
-#pragma OPENCL EXTENSION cl_amd_printf : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
-
-typedef unsigned int u32;
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
-#define AtomInc(x) atom_inc(&(x))
-#define AtomInc1(x, out) out = atom_inc(&(x))
-
-#define make_uint4 (uint4)
-#define make_uint2 (uint2)
-#define make_int2 (int2)
-
-typedef struct
-{
-	union
-	{
-		int4 m_data;
-		uint4 m_unsignedData;
-		float	m_floatData;
-	};
-	int m_offset;
-	int m_n;
-	int m_padding[2];
-} ConstBuffer;
-
-
-__kernel
-__attribute__((reqd_work_group_size(64,1,1)))
-void FillIntKernel(__global int* dstInt, 			int num_elements, int value, const int offset)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < num_elements )
-	{
-		dstInt[ offset+gIdx ] = value;
-	}
-}
-
-__kernel
-__attribute__((reqd_work_group_size(64,1,1)))
-void FillFloatKernel(__global float* dstFloat, 	int num_elements, float value, const int offset)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < num_elements )
-	{
-		dstFloat[ offset+gIdx ] = value;
-	}
-}
-
-__kernel
-__attribute__((reqd_work_group_size(64,1,1)))
-void FillUnsignedIntKernel(__global unsigned int* dstInt, const int num, const unsigned int value, const int offset)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < num )
-	{
-		dstInt[ offset+gIdx ] = value;
-	}
-}
-
-__kernel
-__attribute__((reqd_work_group_size(64,1,1)))
-void FillInt2Kernel(__global int2* dstInt2, 	const int num, const int2 value, const int offset)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < num )
-	{
-		dstInt2[ gIdx + offset] = make_int2( value.x, value.y );
-	}
-}
-
-__kernel
-__attribute__((reqd_work_group_size(64,1,1)))
-void FillInt4Kernel(__global int4* dstInt4, 		const int num, const int4 value, const int offset)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < num )
-	{
-		dstInt4[ offset+gIdx ] = value;
-	}
-}
-
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/FillKernelsCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/FillKernelsCL.h
deleted file mode 100644
index 983e652270..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/FillKernelsCL.h
+++ /dev/null
@@ -1,90 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* fillKernelsCL =
-	"/*\n"
-	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose, \n"
-	"including commercial applications, and to alter it and redistribute it freely, \n"
-	"subject to the following restrictions:\n"
-	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Originally written by Takahiro Harada\n"
-	"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-	"typedef unsigned int u32;\n"
-	"#define GET_GROUP_IDX get_group_id(0)\n"
-	"#define GET_LOCAL_IDX get_local_id(0)\n"
-	"#define GET_GLOBAL_IDX get_global_id(0)\n"
-	"#define GET_GROUP_SIZE get_local_size(0)\n"
-	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-	"#define AtomInc(x) atom_inc(&(x))\n"
-	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-	"#define make_uint4 (uint4)\n"
-	"#define make_uint2 (uint2)\n"
-	"#define make_int2 (int2)\n"
-	"typedef struct\n"
-	"{\n"
-	"	union\n"
-	"	{\n"
-	"		int4 m_data;\n"
-	"		uint4 m_unsignedData;\n"
-	"		float	m_floatData;\n"
-	"	};\n"
-	"	int m_offset;\n"
-	"	int m_n;\n"
-	"	int m_padding[2];\n"
-	"} ConstBuffer;\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"void FillIntKernel(__global int* dstInt, 			int num_elements, int value, const int offset)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	if( gIdx < num_elements )\n"
-	"	{\n"
-	"		dstInt[ offset+gIdx ] = value;\n"
-	"	}\n"
-	"}\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"void FillFloatKernel(__global float* dstFloat, 	int num_elements, float value, const int offset)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	if( gIdx < num_elements )\n"
-	"	{\n"
-	"		dstFloat[ offset+gIdx ] = value;\n"
-	"	}\n"
-	"}\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"void FillUnsignedIntKernel(__global unsigned int* dstInt, const int num, const unsigned int value, const int offset)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	if( gIdx < num )\n"
-	"	{\n"
-	"		dstInt[ offset+gIdx ] = value;\n"
-	"	}\n"
-	"}\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"void FillInt2Kernel(__global int2* dstInt2, 	const int num, const int2 value, const int offset)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	if( gIdx < num )\n"
-	"	{\n"
-	"		dstInt2[ gIdx + offset] = make_int2( value.x, value.y );\n"
-	"	}\n"
-	"}\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"void FillInt4Kernel(__global int4* dstInt4, 		const int num, const int4 value, const int offset)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	if( gIdx < num )\n"
-	"	{\n"
-	"		dstInt4[ offset+gIdx ] = value;\n"
-	"	}\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanFloat4Kernels.cl b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanFloat4Kernels.cl
deleted file mode 100644
index c9da79854a..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanFloat4Kernels.cl
+++ /dev/null
@@ -1,154 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Takahiro Harada
-
-
-typedef unsigned int u32;
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-
-// takahiro end
-#define WG_SIZE 128 
-#define m_numElems x
-#define m_numBlocks y
-#define m_numScanBlocks z
-
-/*typedef struct
-{
-	uint m_numElems;
-	uint m_numBlocks;
-	uint m_numScanBlocks;
-	uint m_padding[1];
-} ConstBuffer;
-*/
-
-float4 ScanExclusiveFloat4(__local float4* data, u32 n, int lIdx, int lSize)
-{
-	float4 blocksum;
-    int offset = 1;
-    for(int nActive=n>>1; nActive>0; nActive>>=1, offset<<=1)
-    {
-        GROUP_LDS_BARRIER;
-        for(int iIdx=lIdx; iIdx<nActive; iIdx+=lSize)
-        {
-            int ai = offset*(2*iIdx+1)-1;
-            int bi = offset*(2*iIdx+2)-1;
-            data[bi] += data[ai];
-        }
-	}
-
-    GROUP_LDS_BARRIER;
-
-    if( lIdx == 0 )
-	{
-		blocksum = data[ n-1 ];
-    data[ n-1 ] = 0;
-	}
-
-	GROUP_LDS_BARRIER;
-
-	offset >>= 1;
-    for(int nActive=1; nActive<n; nActive<<=1, offset>>=1 )
-    {
-        GROUP_LDS_BARRIER;
-        for( int iIdx = lIdx; iIdx<nActive; iIdx += lSize )
-        {
-            int ai = offset*(2*iIdx+1)-1;
-            int bi = offset*(2*iIdx+2)-1;
-            float4 temp = data[ai];
-            data[ai] = data[bi];
-            data[bi] += temp;
-        }
-	}
-	GROUP_LDS_BARRIER;
-
-	return blocksum;
-}
-
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-__kernel
-void LocalScanKernel(__global float4* dst, __global float4* src, __global float4* sumBuffer,	uint4 cb)
-{
-	__local float4 ldsData[WG_SIZE*2];
-
-	int gIdx = GET_GLOBAL_IDX;
-	int lIdx = GET_LOCAL_IDX;
-
-	ldsData[2*lIdx]     = ( 2*gIdx < cb.m_numElems )? src[2*gIdx]: 0;
-	ldsData[2*lIdx + 1] = ( 2*gIdx+1 < cb.m_numElems )? src[2*gIdx + 1]: 0;
-
-	float4 sum = ScanExclusiveFloat4(ldsData, WG_SIZE*2, GET_LOCAL_IDX, GET_GROUP_SIZE);
-
-	if( lIdx == 0 ) 
-		sumBuffer[GET_GROUP_IDX] = sum;
-
-	if( (2*gIdx) < cb.m_numElems )
-    {
-        dst[2*gIdx]     = ldsData[2*lIdx];
-	}
-	if( (2*gIdx + 1) < cb.m_numElems )
-	{
-        dst[2*gIdx + 1] = ldsData[2*lIdx + 1];
-    }
-}
-
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-__kernel
-void AddOffsetKernel(__global float4* dst, __global float4* blockSum, uint4 cb)
-{
-	const u32 blockSize = WG_SIZE*2;
-
-	int myIdx = GET_GROUP_IDX+1;
-	int lIdx = GET_LOCAL_IDX;
-
-	float4 iBlockSum = blockSum[myIdx];
-
-	int endValue = min((myIdx+1)*(blockSize), cb.m_numElems);
-	for(int i=myIdx*blockSize+lIdx; i<endValue; i+=GET_GROUP_SIZE)
-	{
-		dst[i] += iBlockSum;
-	}
-}
-
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-__kernel
-void TopLevelScanKernel(__global float4* dst, uint4 cb)
-{
-	__local float4 ldsData[2048];
-	int gIdx = GET_GLOBAL_IDX;
-	int lIdx = GET_LOCAL_IDX;
-	int lSize = GET_GROUP_SIZE;
-
-	for(int i=lIdx; i<cb.m_numScanBlocks; i+=lSize )
-	{
-		ldsData[i] = (i<cb.m_numBlocks)? dst[i]:0;
-	}
-
-	GROUP_LDS_BARRIER;
-
-	float4 sum = ScanExclusiveFloat4(ldsData, cb.m_numScanBlocks, GET_LOCAL_IDX, GET_GROUP_SIZE);
-
-	for(int i=lIdx; i<cb.m_numBlocks; i+=lSize )
-	{
-		dst[i] = ldsData[i];
-	}
-
-	if( gIdx == 0 )
-	{
-		dst[cb.m_numBlocks] = sum;
-	}
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernels.cl b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernels.cl
deleted file mode 100644
index 963cc1e48e..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernels.cl
+++ /dev/null
@@ -1,154 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Takahiro Harada
-
-
-typedef unsigned int u32;
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-
-// takahiro end
-#define WG_SIZE 128 
-#define m_numElems x
-#define m_numBlocks y
-#define m_numScanBlocks z
-
-/*typedef struct
-{
-	uint m_numElems;
-	uint m_numBlocks;
-	uint m_numScanBlocks;
-	uint m_padding[1];
-} ConstBuffer;
-*/
-
-u32 ScanExclusive(__local u32* data, u32 n, int lIdx, int lSize)
-{
-	u32 blocksum;
-    int offset = 1;
-    for(int nActive=n>>1; nActive>0; nActive>>=1, offset<<=1)
-    {
-        GROUP_LDS_BARRIER;
-        for(int iIdx=lIdx; iIdx<nActive; iIdx+=lSize)
-        {
-            int ai = offset*(2*iIdx+1)-1;
-            int bi = offset*(2*iIdx+2)-1;
-            data[bi] += data[ai];
-        }
-	}
-
-    GROUP_LDS_BARRIER;
-
-    if( lIdx == 0 )
-	{
-		blocksum = data[ n-1 ];
-        data[ n-1 ] = 0;
-	}
-
-	GROUP_LDS_BARRIER;
-
-	offset >>= 1;
-    for(int nActive=1; nActive<n; nActive<<=1, offset>>=1 )
-    {
-        GROUP_LDS_BARRIER;
-        for( int iIdx = lIdx; iIdx<nActive; iIdx += lSize )
-        {
-            int ai = offset*(2*iIdx+1)-1;
-            int bi = offset*(2*iIdx+2)-1;
-            u32 temp = data[ai];
-            data[ai] = data[bi];
-            data[bi] += temp;
-        }
-	}
-	GROUP_LDS_BARRIER;
-
-	return blocksum;
-}
-
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-__kernel
-void LocalScanKernel(__global u32* dst, __global u32 *src, __global u32 *sumBuffer,
-		uint4 cb)
-{
-	__local u32 ldsData[WG_SIZE*2];
-
-	int gIdx = GET_GLOBAL_IDX;
-	int lIdx = GET_LOCAL_IDX;
-
-	ldsData[2*lIdx]     = ( 2*gIdx < cb.m_numElems )? src[2*gIdx]: 0;
-	ldsData[2*lIdx + 1] = ( 2*gIdx+1 < cb.m_numElems )? src[2*gIdx + 1]: 0;
-
-	u32 sum = ScanExclusive(ldsData, WG_SIZE*2, GET_LOCAL_IDX, GET_GROUP_SIZE);
-
-	if( lIdx == 0 ) sumBuffer[GET_GROUP_IDX] = sum;
-
-	if( (2*gIdx) < cb.m_numElems )
-    {
-        dst[2*gIdx]     = ldsData[2*lIdx];
-	}
-	if( (2*gIdx + 1) < cb.m_numElems )
-	{
-        dst[2*gIdx + 1] = ldsData[2*lIdx + 1];
-    }
-}
-
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-__kernel
-void AddOffsetKernel(__global u32 *dst, __global u32 *blockSum, uint4 cb)
-{
-	const u32 blockSize = WG_SIZE*2;
-
-	int myIdx = GET_GROUP_IDX+1;
-	int lIdx = GET_LOCAL_IDX;
-
-	u32 iBlockSum = blockSum[myIdx];
-
-	int endValue = min((myIdx+1)*(blockSize), cb.m_numElems);
-	for(int i=myIdx*blockSize+lIdx; i<endValue; i+=GET_GROUP_SIZE)
-	{
-		dst[i] += iBlockSum;
-	}
-}
-
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-__kernel
-void TopLevelScanKernel(__global u32* dst, uint4 cb)
-{
-	__local u32 ldsData[2048];
-	int gIdx = GET_GLOBAL_IDX;
-	int lIdx = GET_LOCAL_IDX;
-	int lSize = GET_GROUP_SIZE;
-
-	for(int i=lIdx; i<cb.m_numScanBlocks; i+=lSize )
-	{
-		ldsData[i] = (i<cb.m_numBlocks)? dst[i]:0;
-	}
-
-	GROUP_LDS_BARRIER;
-
-	u32 sum = ScanExclusive(ldsData, cb.m_numScanBlocks, GET_LOCAL_IDX, GET_GROUP_SIZE);
-
-	for(int i=lIdx; i<cb.m_numBlocks; i+=lSize )
-	{
-		dst[i] = ldsData[i];
-	}
-
-	if( gIdx == 0 )
-	{
-		dst[cb.m_numBlocks] = sum;
-	}
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsCL.h
deleted file mode 100644
index fc5e7b865c..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsCL.h
+++ /dev/null
@@ -1,128 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* prefixScanKernelsCL =
-	"/*\n"
-	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose, \n"
-	"including commercial applications, and to alter it and redistribute it freely, \n"
-	"subject to the following restrictions:\n"
-	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Originally written by Takahiro Harada\n"
-	"typedef unsigned int u32;\n"
-	"#define GET_GROUP_IDX get_group_id(0)\n"
-	"#define GET_LOCAL_IDX get_local_id(0)\n"
-	"#define GET_GLOBAL_IDX get_global_id(0)\n"
-	"#define GET_GROUP_SIZE get_local_size(0)\n"
-	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-	"// takahiro end\n"
-	"#define WG_SIZE 128 \n"
-	"#define m_numElems x\n"
-	"#define m_numBlocks y\n"
-	"#define m_numScanBlocks z\n"
-	"/*typedef struct\n"
-	"{\n"
-	"	uint m_numElems;\n"
-	"	uint m_numBlocks;\n"
-	"	uint m_numScanBlocks;\n"
-	"	uint m_padding[1];\n"
-	"} ConstBuffer;\n"
-	"*/\n"
-	"u32 ScanExclusive(__local u32* data, u32 n, int lIdx, int lSize)\n"
-	"{\n"
-	"	u32 blocksum;\n"
-	"    int offset = 1;\n"
-	"    for(int nActive=n>>1; nActive>0; nActive>>=1, offset<<=1)\n"
-	"    {\n"
-	"        GROUP_LDS_BARRIER;\n"
-	"        for(int iIdx=lIdx; iIdx<nActive; iIdx+=lSize)\n"
-	"        {\n"
-	"            int ai = offset*(2*iIdx+1)-1;\n"
-	"            int bi = offset*(2*iIdx+2)-1;\n"
-	"            data[bi] += data[ai];\n"
-	"        }\n"
-	"	}\n"
-	"    GROUP_LDS_BARRIER;\n"
-	"    if( lIdx == 0 )\n"
-	"	{\n"
-	"		blocksum = data[ n-1 ];\n"
-	"        data[ n-1 ] = 0;\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	offset >>= 1;\n"
-	"    for(int nActive=1; nActive<n; nActive<<=1, offset>>=1 )\n"
-	"    {\n"
-	"        GROUP_LDS_BARRIER;\n"
-	"        for( int iIdx = lIdx; iIdx<nActive; iIdx += lSize )\n"
-	"        {\n"
-	"            int ai = offset*(2*iIdx+1)-1;\n"
-	"            int bi = offset*(2*iIdx+2)-1;\n"
-	"            u32 temp = data[ai];\n"
-	"            data[ai] = data[bi];\n"
-	"            data[bi] += temp;\n"
-	"        }\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	return blocksum;\n"
-	"}\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"__kernel\n"
-	"void LocalScanKernel(__global u32* dst, __global u32 *src, __global u32 *sumBuffer,\n"
-	"		uint4 cb)\n"
-	"{\n"
-	"	__local u32 ldsData[WG_SIZE*2];\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	int lIdx = GET_LOCAL_IDX;\n"
-	"	ldsData[2*lIdx]     = ( 2*gIdx < cb.m_numElems )? src[2*gIdx]: 0;\n"
-	"	ldsData[2*lIdx + 1] = ( 2*gIdx+1 < cb.m_numElems )? src[2*gIdx + 1]: 0;\n"
-	"	u32 sum = ScanExclusive(ldsData, WG_SIZE*2, GET_LOCAL_IDX, GET_GROUP_SIZE);\n"
-	"	if( lIdx == 0 ) sumBuffer[GET_GROUP_IDX] = sum;\n"
-	"	if( (2*gIdx) < cb.m_numElems )\n"
-	"    {\n"
-	"        dst[2*gIdx]     = ldsData[2*lIdx];\n"
-	"	}\n"
-	"	if( (2*gIdx + 1) < cb.m_numElems )\n"
-	"	{\n"
-	"        dst[2*gIdx + 1] = ldsData[2*lIdx + 1];\n"
-	"    }\n"
-	"}\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"__kernel\n"
-	"void AddOffsetKernel(__global u32 *dst, __global u32 *blockSum, uint4 cb)\n"
-	"{\n"
-	"	const u32 blockSize = WG_SIZE*2;\n"
-	"	int myIdx = GET_GROUP_IDX+1;\n"
-	"	int lIdx = GET_LOCAL_IDX;\n"
-	"	u32 iBlockSum = blockSum[myIdx];\n"
-	"	int endValue = min((myIdx+1)*(blockSize), cb.m_numElems);\n"
-	"	for(int i=myIdx*blockSize+lIdx; i<endValue; i+=GET_GROUP_SIZE)\n"
-	"	{\n"
-	"		dst[i] += iBlockSum;\n"
-	"	}\n"
-	"}\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"__kernel\n"
-	"void TopLevelScanKernel(__global u32* dst, uint4 cb)\n"
-	"{\n"
-	"	__local u32 ldsData[2048];\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	int lIdx = GET_LOCAL_IDX;\n"
-	"	int lSize = GET_GROUP_SIZE;\n"
-	"	for(int i=lIdx; i<cb.m_numScanBlocks; i+=lSize )\n"
-	"	{\n"
-	"		ldsData[i] = (i<cb.m_numBlocks)? dst[i]:0;\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	u32 sum = ScanExclusive(ldsData, cb.m_numScanBlocks, GET_LOCAL_IDX, GET_GROUP_SIZE);\n"
-	"	for(int i=lIdx; i<cb.m_numBlocks; i+=lSize )\n"
-	"	{\n"
-	"		dst[i] = ldsData[i];\n"
-	"	}\n"
-	"	if( gIdx == 0 )\n"
-	"	{\n"
-	"		dst[cb.m_numBlocks] = sum;\n"
-	"	}\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsFloat4CL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsFloat4CL.h
deleted file mode 100644
index 15d1bc5195..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsFloat4CL.h
+++ /dev/null
@@ -1,128 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* prefixScanKernelsFloat4CL =
-	"/*\n"
-	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose, \n"
-	"including commercial applications, and to alter it and redistribute it freely, \n"
-	"subject to the following restrictions:\n"
-	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Originally written by Takahiro Harada\n"
-	"typedef unsigned int u32;\n"
-	"#define GET_GROUP_IDX get_group_id(0)\n"
-	"#define GET_LOCAL_IDX get_local_id(0)\n"
-	"#define GET_GLOBAL_IDX get_global_id(0)\n"
-	"#define GET_GROUP_SIZE get_local_size(0)\n"
-	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-	"// takahiro end\n"
-	"#define WG_SIZE 128 \n"
-	"#define m_numElems x\n"
-	"#define m_numBlocks y\n"
-	"#define m_numScanBlocks z\n"
-	"/*typedef struct\n"
-	"{\n"
-	"	uint m_numElems;\n"
-	"	uint m_numBlocks;\n"
-	"	uint m_numScanBlocks;\n"
-	"	uint m_padding[1];\n"
-	"} ConstBuffer;\n"
-	"*/\n"
-	"float4 ScanExclusiveFloat4(__local float4* data, u32 n, int lIdx, int lSize)\n"
-	"{\n"
-	"	float4 blocksum;\n"
-	"    int offset = 1;\n"
-	"    for(int nActive=n>>1; nActive>0; nActive>>=1, offset<<=1)\n"
-	"    {\n"
-	"        GROUP_LDS_BARRIER;\n"
-	"        for(int iIdx=lIdx; iIdx<nActive; iIdx+=lSize)\n"
-	"        {\n"
-	"            int ai = offset*(2*iIdx+1)-1;\n"
-	"            int bi = offset*(2*iIdx+2)-1;\n"
-	"            data[bi] += data[ai];\n"
-	"        }\n"
-	"	}\n"
-	"    GROUP_LDS_BARRIER;\n"
-	"    if( lIdx == 0 )\n"
-	"	{\n"
-	"		blocksum = data[ n-1 ];\n"
-	"    data[ n-1 ] = 0;\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	offset >>= 1;\n"
-	"    for(int nActive=1; nActive<n; nActive<<=1, offset>>=1 )\n"
-	"    {\n"
-	"        GROUP_LDS_BARRIER;\n"
-	"        for( int iIdx = lIdx; iIdx<nActive; iIdx += lSize )\n"
-	"        {\n"
-	"            int ai = offset*(2*iIdx+1)-1;\n"
-	"            int bi = offset*(2*iIdx+2)-1;\n"
-	"            float4 temp = data[ai];\n"
-	"            data[ai] = data[bi];\n"
-	"            data[bi] += temp;\n"
-	"        }\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	return blocksum;\n"
-	"}\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"__kernel\n"
-	"void LocalScanKernel(__global float4* dst, __global float4* src, __global float4* sumBuffer,	uint4 cb)\n"
-	"{\n"
-	"	__local float4 ldsData[WG_SIZE*2];\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	int lIdx = GET_LOCAL_IDX;\n"
-	"	ldsData[2*lIdx]     = ( 2*gIdx < cb.m_numElems )? src[2*gIdx]: 0;\n"
-	"	ldsData[2*lIdx + 1] = ( 2*gIdx+1 < cb.m_numElems )? src[2*gIdx + 1]: 0;\n"
-	"	float4 sum = ScanExclusiveFloat4(ldsData, WG_SIZE*2, GET_LOCAL_IDX, GET_GROUP_SIZE);\n"
-	"	if( lIdx == 0 ) \n"
-	"		sumBuffer[GET_GROUP_IDX] = sum;\n"
-	"	if( (2*gIdx) < cb.m_numElems )\n"
-	"    {\n"
-	"        dst[2*gIdx]     = ldsData[2*lIdx];\n"
-	"	}\n"
-	"	if( (2*gIdx + 1) < cb.m_numElems )\n"
-	"	{\n"
-	"        dst[2*gIdx + 1] = ldsData[2*lIdx + 1];\n"
-	"    }\n"
-	"}\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"__kernel\n"
-	"void AddOffsetKernel(__global float4* dst, __global float4* blockSum, uint4 cb)\n"
-	"{\n"
-	"	const u32 blockSize = WG_SIZE*2;\n"
-	"	int myIdx = GET_GROUP_IDX+1;\n"
-	"	int lIdx = GET_LOCAL_IDX;\n"
-	"	float4 iBlockSum = blockSum[myIdx];\n"
-	"	int endValue = min((myIdx+1)*(blockSize), cb.m_numElems);\n"
-	"	for(int i=myIdx*blockSize+lIdx; i<endValue; i+=GET_GROUP_SIZE)\n"
-	"	{\n"
-	"		dst[i] += iBlockSum;\n"
-	"	}\n"
-	"}\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"__kernel\n"
-	"void TopLevelScanKernel(__global float4* dst, uint4 cb)\n"
-	"{\n"
-	"	__local float4 ldsData[2048];\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	int lIdx = GET_LOCAL_IDX;\n"
-	"	int lSize = GET_GROUP_SIZE;\n"
-	"	for(int i=lIdx; i<cb.m_numScanBlocks; i+=lSize )\n"
-	"	{\n"
-	"		ldsData[i] = (i<cb.m_numBlocks)? dst[i]:0;\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	float4 sum = ScanExclusiveFloat4(ldsData, cb.m_numScanBlocks, GET_LOCAL_IDX, GET_GROUP_SIZE);\n"
-	"	for(int i=lIdx; i<cb.m_numBlocks; i+=lSize )\n"
-	"	{\n"
-	"		dst[i] = ldsData[i];\n"
-	"	}\n"
-	"	if( gIdx == 0 )\n"
-	"	{\n"
-	"		dst[cb.m_numBlocks] = sum;\n"
-	"	}\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/RadixSort32Kernels.cl b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/RadixSort32Kernels.cl
deleted file mode 100644
index 7402e2f3b3..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/RadixSort32Kernels.cl
+++ /dev/null
@@ -1,1071 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2011 Advanced Micro Devices, Inc.  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Author Takahiro Harada
-
-
-//#pragma OPENCL EXTENSION cl_amd_printf : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
-
-typedef unsigned int u32;
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
-#define AtomInc(x) atom_inc(&(x))
-#define AtomInc1(x, out) out = atom_inc(&(x))
-#define AtomAdd(x, value) atom_add(&(x), value)
-
-#define SELECT_UINT4( b, a, condition ) select( b,a,condition )
-
-
-#define make_uint4 (uint4)
-#define make_uint2 (uint2)
-#define make_int2 (int2)
-
-#define WG_SIZE 64
-#define ELEMENTS_PER_WORK_ITEM (256/WG_SIZE)
-#define BITS_PER_PASS 4
-#define NUM_BUCKET (1<<BITS_PER_PASS)
-typedef uchar u8;
-
-//	this isn't optimization for VLIW. But just reducing writes. 
-#define USE_2LEVEL_REDUCE 1
-
-//#define CHECK_BOUNDARY 1
-
-//#define NV_GPU 1
-
-
-//	Cypress
-#define nPerWI 16
-//	Cayman
-//#define nPerWI 20
-
-#define m_n x
-#define m_nWGs y
-#define m_startBit z
-#define m_nBlocksPerWG w
-
-/*
-typedef struct
-{
-	int m_n;
-	int m_nWGs;
-	int m_startBit;
-	int m_nBlocksPerWG;
-} ConstBuffer;
-*/
-
-typedef struct
-{
-	unsigned int m_key;
-	unsigned int m_value;
-} SortDataCL;
-
-
-uint prefixScanVectorEx( uint4* data )
-{
-	u32 sum = 0;
-	u32 tmp = data[0].x;
-	data[0].x = sum;
-	sum += tmp;
-	tmp = data[0].y;
-	data[0].y = sum;
-	sum += tmp;
-	tmp = data[0].z;
-	data[0].z = sum;
-	sum += tmp;
-	tmp = data[0].w;
-	data[0].w = sum;
-	sum += tmp;
-	return sum;
-}
-
-u32 localPrefixSum( u32 pData, uint lIdx, uint* totalSum, __local u32* sorterSharedMemory, int wgSize /*64 or 128*/ )
-{
-	{	//	Set data
-		sorterSharedMemory[lIdx] = 0;
-		sorterSharedMemory[lIdx+wgSize] = pData;
-	}
-
-	GROUP_LDS_BARRIER;
-
-	{	//	Prefix sum
-		int idx = 2*lIdx + (wgSize+1);
-#if defined(USE_2LEVEL_REDUCE)
-		if( lIdx < 64 )
-		{
-			u32 u0, u1, u2;
-			u0 = sorterSharedMemory[idx-3];
-			u1 = sorterSharedMemory[idx-2];
-			u2 = sorterSharedMemory[idx-1];
-			AtomAdd( sorterSharedMemory[idx], u0+u1+u2 );			
-			GROUP_MEM_FENCE;
-
-			u0 = sorterSharedMemory[idx-12];
-			u1 = sorterSharedMemory[idx-8];
-			u2 = sorterSharedMemory[idx-4];
-			AtomAdd( sorterSharedMemory[idx], u0+u1+u2 );			
-			GROUP_MEM_FENCE;
-
-			u0 = sorterSharedMemory[idx-48];
-			u1 = sorterSharedMemory[idx-32];
-			u2 = sorterSharedMemory[idx-16];
-			AtomAdd( sorterSharedMemory[idx], u0+u1+u2 );			
-			GROUP_MEM_FENCE;
-			if( wgSize > 64 )
-			{
-				sorterSharedMemory[idx] += sorterSharedMemory[idx-64];
-				GROUP_MEM_FENCE;
-			}
-
-			sorterSharedMemory[idx-1] += sorterSharedMemory[idx-2];
-			GROUP_MEM_FENCE;
-		}
-#else
-		if( lIdx < 64 )
-		{
-			sorterSharedMemory[idx] += sorterSharedMemory[idx-1];
-			GROUP_MEM_FENCE;
-			sorterSharedMemory[idx] += sorterSharedMemory[idx-2];			
-			GROUP_MEM_FENCE;
-			sorterSharedMemory[idx] += sorterSharedMemory[idx-4];
-			GROUP_MEM_FENCE;
-			sorterSharedMemory[idx] += sorterSharedMemory[idx-8];
-			GROUP_MEM_FENCE;
-			sorterSharedMemory[idx] += sorterSharedMemory[idx-16];
-			GROUP_MEM_FENCE;
-			sorterSharedMemory[idx] += sorterSharedMemory[idx-32];
-			GROUP_MEM_FENCE;
-			if( wgSize > 64 )
-			{
-				sorterSharedMemory[idx] += sorterSharedMemory[idx-64];
-				GROUP_MEM_FENCE;
-			}
-
-			sorterSharedMemory[idx-1] += sorterSharedMemory[idx-2];
-			GROUP_MEM_FENCE;
-		}
-#endif
-	}
-
-	GROUP_LDS_BARRIER;
-
-	*totalSum = sorterSharedMemory[wgSize*2-1];
-	u32 addValue = sorterSharedMemory[lIdx+wgSize-1];
-	return addValue;
-}
-
-//__attribute__((reqd_work_group_size(128,1,1)))
-uint4 localPrefixSum128V( uint4 pData, uint lIdx, uint* totalSum, __local u32* sorterSharedMemory )
-{
-	u32 s4 = prefixScanVectorEx( &pData );
-	u32 rank = localPrefixSum( s4, lIdx, totalSum, sorterSharedMemory, 128 );
-	return pData + make_uint4( rank, rank, rank, rank );
-}
-
-
-//__attribute__((reqd_work_group_size(64,1,1)))
-uint4 localPrefixSum64V( uint4 pData, uint lIdx, uint* totalSum, __local u32* sorterSharedMemory )
-{
-	u32 s4 = prefixScanVectorEx( &pData );
-	u32 rank = localPrefixSum( s4, lIdx, totalSum, sorterSharedMemory, 64 );
-	return pData + make_uint4( rank, rank, rank, rank );
-}
-
-u32 unpack4Key( u32 key, int keyIdx ){ return (key>>(keyIdx*8)) & 0xff;}
-
-u32 bit8Scan(u32 v)
-{
-	return (v<<8) + (v<<16) + (v<<24);
-}
-
-//===
-
-
-
-
-#define MY_HISTOGRAM(idx) localHistogramMat[(idx)*WG_SIZE+lIdx]
-
-
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void StreamCountKernel( __global u32* gSrc, __global u32* histogramOut, int4 cb )
-{
-	__local u32 localHistogramMat[NUM_BUCKET*WG_SIZE];
-
-	u32 gIdx = GET_GLOBAL_IDX;
-	u32 lIdx = GET_LOCAL_IDX;
-	u32 wgIdx = GET_GROUP_IDX;
-	u32 wgSize = GET_GROUP_SIZE;
-	const int startBit = cb.m_startBit;
-	const int n = cb.m_n;
-	const int nWGs = cb.m_nWGs;
-	const int nBlocksPerWG = cb.m_nBlocksPerWG;
-
-	for(int i=0; i<NUM_BUCKET; i++)
-	{
-		MY_HISTOGRAM(i) = 0;
-	}
-
-	GROUP_LDS_BARRIER;
-
-	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;
-	u32 localKey;
-
-	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;
-
-	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;
-
-	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)
-	{
-		//	MY_HISTOGRAM( localKeys.x ) ++ is much expensive than atomic add as it requires read and write while atomics can just add on AMD
-		//	Using registers didn't perform well. It seems like use localKeys to address requires a lot of alu ops
-		//	AMD: AtomInc performs better while NV prefers ++
-		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)
-		{
-#if defined(CHECK_BOUNDARY)
-			if( addr+i < n )
-#endif
-			{
-				localKey = (gSrc[addr+i]>>startBit) & 0xf;
-#if defined(NV_GPU)
-				MY_HISTOGRAM( localKey )++;
-#else
-				AtomInc( MY_HISTOGRAM( localKey ) );
-#endif
-			}
-		}
-	}
-
-	GROUP_LDS_BARRIER;
-	
-	if( lIdx < NUM_BUCKET )
-	{
-		u32 sum = 0;
-		for(int i=0; i<GET_GROUP_SIZE; i++)
-		{
-			sum += localHistogramMat[lIdx*WG_SIZE+(i+lIdx)%GET_GROUP_SIZE];
-		}
-		histogramOut[lIdx*nWGs+wgIdx] = sum;
-	}
-}
-
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void StreamCountSortDataKernel( __global SortDataCL* gSrc, __global u32* histogramOut, int4  cb )
-{
-	__local u32 localHistogramMat[NUM_BUCKET*WG_SIZE];
-
-	u32 gIdx = GET_GLOBAL_IDX;
-	u32 lIdx = GET_LOCAL_IDX;
-	u32 wgIdx = GET_GROUP_IDX;
-	u32 wgSize = GET_GROUP_SIZE;
-	const int startBit = cb.m_startBit;
-	const int n = cb.m_n;
-	const int nWGs = cb.m_nWGs;
-	const int nBlocksPerWG = cb.m_nBlocksPerWG;
-
-	for(int i=0; i<NUM_BUCKET; i++)
-	{
-		MY_HISTOGRAM(i) = 0;
-	}
-
-	GROUP_LDS_BARRIER;
-
-	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;
-	u32 localKey;
-
-	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;
-
-	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;
-
-	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)
-	{
-		//	MY_HISTOGRAM( localKeys.x ) ++ is much expensive than atomic add as it requires read and write while atomics can just add on AMD
-		//	Using registers didn't perform well. It seems like use localKeys to address requires a lot of alu ops
-		//	AMD: AtomInc performs better while NV prefers ++
-		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)
-		{
-#if defined(CHECK_BOUNDARY)
-			if( addr+i < n )
-#endif
-			{
-				localKey = (gSrc[addr+i].m_key>>startBit) & 0xf;
-#if defined(NV_GPU)
-				MY_HISTOGRAM( localKey )++;
-#else
-				AtomInc( MY_HISTOGRAM( localKey ) );
-#endif
-			}
-		}
-	}
-
-	GROUP_LDS_BARRIER;
-	
-	if( lIdx < NUM_BUCKET )
-	{
-		u32 sum = 0;
-		for(int i=0; i<GET_GROUP_SIZE; i++)
-		{
-			sum += localHistogramMat[lIdx*WG_SIZE+(i+lIdx)%GET_GROUP_SIZE];
-		}
-		histogramOut[lIdx*nWGs+wgIdx] = sum;
-	}
-}
-
-#define nPerLane (nPerWI/4)
-
-//	NUM_BUCKET*nWGs < 128*nPerWI
-__kernel
-__attribute__((reqd_work_group_size(128,1,1)))
-void PrefixScanKernel( __global u32* wHistogram1, int4  cb )
-{
-	__local u32 ldsTopScanData[128*2];
-
-	u32 lIdx = GET_LOCAL_IDX;
-	u32 wgIdx = GET_GROUP_IDX;
-	const int nWGs = cb.m_nWGs;
-
-	u32 data[nPerWI];
-	for(int i=0; i<nPerWI; i++)
-	{
-		data[i] = 0;
-		if( (nPerWI*lIdx+i) < NUM_BUCKET*nWGs )
-			data[i] = wHistogram1[nPerWI*lIdx+i];
-	}
-
-	uint4 myData = make_uint4(0,0,0,0);
-
-	for(int i=0; i<nPerLane; i++)
-	{
-		myData.x += data[nPerLane*0+i];
-		myData.y += data[nPerLane*1+i];
-		myData.z += data[nPerLane*2+i];
-		myData.w += data[nPerLane*3+i];
-	}
-
-	uint totalSum;
-	uint4 scanned = localPrefixSum128V( myData, lIdx, &totalSum, ldsTopScanData );
-
-//	for(int j=0; j<4; j++) //	somehow it introduces a lot of branches
-	{	int j = 0;
-		u32 sum = 0;
-		for(int i=0; i<nPerLane; i++)
-		{
-			u32 tmp = data[nPerLane*j+i];
-			data[nPerLane*j+i] = sum;
-			sum += tmp;
-		}
-	}
-	{	int j = 1;
-		u32 sum = 0;
-		for(int i=0; i<nPerLane; i++)
-		{
-			u32 tmp = data[nPerLane*j+i];
-			data[nPerLane*j+i] = sum;
-			sum += tmp;
-		}
-	}
-	{	int j = 2;
-		u32 sum = 0;
-		for(int i=0; i<nPerLane; i++)
-		{
-			u32 tmp = data[nPerLane*j+i];
-			data[nPerLane*j+i] = sum;
-			sum += tmp;
-		}
-	}
-	{	int j = 3;
-		u32 sum = 0;
-		for(int i=0; i<nPerLane; i++)
-		{
-			u32 tmp = data[nPerLane*j+i];
-			data[nPerLane*j+i] = sum;
-			sum += tmp;
-		}
-	}
-
-	for(int i=0; i<nPerLane; i++)
-	{
-		data[nPerLane*0+i] += scanned.x;
-		data[nPerLane*1+i] += scanned.y;
-		data[nPerLane*2+i] += scanned.z;
-		data[nPerLane*3+i] += scanned.w;
-	}
-
-	for(int i=0; i<nPerWI; i++)
-	{
-		int index = nPerWI*lIdx+i;
-		if (index < NUM_BUCKET*nWGs)
-			wHistogram1[nPerWI*lIdx+i] = data[i];
-	}
-}
-
-//	4 scan, 4 exchange
-void sort4Bits(u32 sortData[4], int startBit, int lIdx, __local u32* ldsSortData)
-{
-	for(int bitIdx=0; bitIdx<BITS_PER_PASS; bitIdx++)
-	{
-		u32 mask = (1<<bitIdx);
-		uint4 cmpResult = make_uint4( (sortData[0]>>startBit) & mask, (sortData[1]>>startBit) & mask, (sortData[2]>>startBit) & mask, (sortData[3]>>startBit) & mask );
-		uint4 prefixSum = SELECT_UINT4( make_uint4(1,1,1,1), make_uint4(0,0,0,0), cmpResult != make_uint4(0,0,0,0) );
-		u32 total;
-		prefixSum = localPrefixSum64V( prefixSum, lIdx, &total, ldsSortData );
-		{
-			uint4 localAddr = make_uint4(lIdx*4+0,lIdx*4+1,lIdx*4+2,lIdx*4+3);
-			uint4 dstAddr = localAddr - prefixSum + make_uint4( total, total, total, total );
-			dstAddr = SELECT_UINT4( prefixSum, dstAddr, cmpResult != make_uint4(0, 0, 0, 0) );
-
-			GROUP_LDS_BARRIER;
-
-			ldsSortData[dstAddr.x] = sortData[0];
-			ldsSortData[dstAddr.y] = sortData[1];
-			ldsSortData[dstAddr.z] = sortData[2];
-			ldsSortData[dstAddr.w] = sortData[3];
-
-			GROUP_LDS_BARRIER;
-
-			sortData[0] = ldsSortData[localAddr.x];
-			sortData[1] = ldsSortData[localAddr.y];
-			sortData[2] = ldsSortData[localAddr.z];
-			sortData[3] = ldsSortData[localAddr.w];
-
-			GROUP_LDS_BARRIER;
-		}
-	}
-}
-
-//	2 scan, 2 exchange
-void sort4Bits1(u32 sortData[4], int startBit, int lIdx, __local u32* ldsSortData)
-{
-	for(uint ibit=0; ibit<BITS_PER_PASS; ibit+=2)
-	{
-		uint4 b = make_uint4((sortData[0]>>(startBit+ibit)) & 0x3, 
-			(sortData[1]>>(startBit+ibit)) & 0x3, 
-			(sortData[2]>>(startBit+ibit)) & 0x3, 
-			(sortData[3]>>(startBit+ibit)) & 0x3);
-
-		u32 key4;
-		u32 sKeyPacked[4] = { 0, 0, 0, 0 };
-		{
-			sKeyPacked[0] |= 1<<(8*b.x);
-			sKeyPacked[1] |= 1<<(8*b.y);
-			sKeyPacked[2] |= 1<<(8*b.z);
-			sKeyPacked[3] |= 1<<(8*b.w);
-
-			key4 = sKeyPacked[0] + sKeyPacked[1] + sKeyPacked[2] + sKeyPacked[3];
-		}
-
-		u32 rankPacked;
-		u32 sumPacked;
-		{
-			rankPacked = localPrefixSum( key4, lIdx, &sumPacked, ldsSortData, WG_SIZE );
-		}
-
-		GROUP_LDS_BARRIER;
-
-		u32 newOffset[4] = { 0,0,0,0 };
-		{
-			u32 sumScanned = bit8Scan( sumPacked );
-
-			u32 scannedKeys[4];
-			scannedKeys[0] = 1<<(8*b.x);
-			scannedKeys[1] = 1<<(8*b.y);
-			scannedKeys[2] = 1<<(8*b.z);
-			scannedKeys[3] = 1<<(8*b.w);
-			{	//	4 scans at once
-				u32 sum4 = 0;
-				for(int ie=0; ie<4; ie++)
-				{
-					u32 tmp = scannedKeys[ie];
-					scannedKeys[ie] = sum4;
-					sum4 += tmp;
-				}
-			}
-
-			{
-				u32 sumPlusRank = sumScanned + rankPacked;
-				{	u32 ie = b.x;
-					scannedKeys[0] += sumPlusRank;
-					newOffset[0] = unpack4Key( scannedKeys[0], ie );
-				}
-				{	u32 ie = b.y;
-					scannedKeys[1] += sumPlusRank;
-					newOffset[1] = unpack4Key( scannedKeys[1], ie );
-				}
-				{	u32 ie = b.z;
-					scannedKeys[2] += sumPlusRank;
-					newOffset[2] = unpack4Key( scannedKeys[2], ie );
-				}
-				{	u32 ie = b.w;
-					scannedKeys[3] += sumPlusRank;
-					newOffset[3] = unpack4Key( scannedKeys[3], ie );
-				}
-			}
-		}
-
-
-		GROUP_LDS_BARRIER;
-
-		{
-			ldsSortData[newOffset[0]] = sortData[0];
-			ldsSortData[newOffset[1]] = sortData[1];
-			ldsSortData[newOffset[2]] = sortData[2];
-			ldsSortData[newOffset[3]] = sortData[3];
-
-			GROUP_LDS_BARRIER;
-
-			u32 dstAddr = 4*lIdx;
-			sortData[0] = ldsSortData[dstAddr+0];
-			sortData[1] = ldsSortData[dstAddr+1];
-			sortData[2] = ldsSortData[dstAddr+2];
-			sortData[3] = ldsSortData[dstAddr+3];
-
-			GROUP_LDS_BARRIER;
-		}
-	}
-}
-
-#define SET_HISTOGRAM(setIdx, key) ldsSortData[(setIdx)*NUM_BUCKET+key]
-
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void SortAndScatterKernel( __global const u32* restrict gSrc, __global const u32* rHistogram, __global u32* restrict gDst, int4  cb )
-{
-	__local u32 ldsSortData[WG_SIZE*ELEMENTS_PER_WORK_ITEM+16];
-	__local u32 localHistogramToCarry[NUM_BUCKET];
-	__local u32 localHistogram[NUM_BUCKET*2];
-
-	u32 gIdx = GET_GLOBAL_IDX;
-	u32 lIdx = GET_LOCAL_IDX;
-	u32 wgIdx = GET_GROUP_IDX;
-	u32 wgSize = GET_GROUP_SIZE;
-
-	const int n = cb.m_n;
-	const int nWGs = cb.m_nWGs;
-	const int startBit = cb.m_startBit;
-	const int nBlocksPerWG = cb.m_nBlocksPerWG;
-
-	if( lIdx < (NUM_BUCKET) )
-	{
-		localHistogramToCarry[lIdx] = rHistogram[lIdx*nWGs + wgIdx];
-	}
-
-	GROUP_LDS_BARRIER;
-
-	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;
-
-	int nBlocks = n/blockSize - nBlocksPerWG*wgIdx;
-
-	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;
-
-	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)
-	{
-		u32 myHistogram = 0;
-
-		u32 sortData[ELEMENTS_PER_WORK_ITEM];
-		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)
-#if defined(CHECK_BOUNDARY)
-			sortData[i] = ( addr+i < n )? gSrc[ addr+i ] : 0xffffffff;
-#else
-			sortData[i] = gSrc[ addr+i ];
-#endif
-
-		sort4Bits(sortData, startBit, lIdx, ldsSortData);
-
-		u32 keys[ELEMENTS_PER_WORK_ITEM];
-		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)
-			keys[i] = (sortData[i]>>startBit) & 0xf;
-
-		{	//	create histogram
-			u32 setIdx = lIdx/16;
-			if( lIdx < NUM_BUCKET )
-			{
-				localHistogram[lIdx] = 0;
-			}
-			ldsSortData[lIdx] = 0;
-			GROUP_LDS_BARRIER;
-
-			for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)
-#if defined(CHECK_BOUNDARY)
-				if( addr+i < n )
-#endif
-
-#if defined(NV_GPU)
-				SET_HISTOGRAM( setIdx, keys[i] )++;
-#else
-				AtomInc( SET_HISTOGRAM( setIdx, keys[i] ) );
-#endif
-			
-			GROUP_LDS_BARRIER;
-			
-			uint hIdx = NUM_BUCKET+lIdx;
-			if( lIdx < NUM_BUCKET )
-			{
-				u32 sum = 0;
-				for(int i=0; i<WG_SIZE/16; i++)
-				{
-					sum += SET_HISTOGRAM( i, lIdx );
-				}
-				myHistogram = sum;
-				localHistogram[hIdx] = sum;
-			}
-			GROUP_LDS_BARRIER;
-
-#if defined(USE_2LEVEL_REDUCE)
-			if( lIdx < NUM_BUCKET )
-			{
-				localHistogram[hIdx] = localHistogram[hIdx-1];
-				GROUP_MEM_FENCE;
-
-				u32 u0, u1, u2;
-				u0 = localHistogram[hIdx-3];
-				u1 = localHistogram[hIdx-2];
-				u2 = localHistogram[hIdx-1];
-				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );
-				GROUP_MEM_FENCE;
-				u0 = localHistogram[hIdx-12];
-				u1 = localHistogram[hIdx-8];
-				u2 = localHistogram[hIdx-4];
-				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );
-				GROUP_MEM_FENCE;
-			}
-#else
-			if( lIdx < NUM_BUCKET )
-			{
-				localHistogram[hIdx] = localHistogram[hIdx-1];
-				GROUP_MEM_FENCE;
-				localHistogram[hIdx] += localHistogram[hIdx-1];
-				GROUP_MEM_FENCE;
-				localHistogram[hIdx] += localHistogram[hIdx-2];
-				GROUP_MEM_FENCE;
-				localHistogram[hIdx] += localHistogram[hIdx-4];
-				GROUP_MEM_FENCE;
-				localHistogram[hIdx] += localHistogram[hIdx-8];
-				GROUP_MEM_FENCE;
-			}
-#endif
-			GROUP_LDS_BARRIER;
-		}
-
-		{
-			for(int ie=0; ie<ELEMENTS_PER_WORK_ITEM; ie++)
-			{
-				int dataIdx = ELEMENTS_PER_WORK_ITEM*lIdx+ie;
-				int binIdx = keys[ie];
-				int groupOffset = localHistogramToCarry[binIdx];
-				int myIdx = dataIdx - localHistogram[NUM_BUCKET+binIdx];
-#if defined(CHECK_BOUNDARY)
-				if( addr+ie < n )
-#endif
-				gDst[ groupOffset + myIdx ] = sortData[ie];
-			}
-		}
-
-		GROUP_LDS_BARRIER;
-
-		if( lIdx < NUM_BUCKET )
-		{
-			localHistogramToCarry[lIdx] += myHistogram;
-		}
-		GROUP_LDS_BARRIER;
-	}
-}
-
-//	2 scan, 2 exchange
-void sort4Bits1KeyValue(u32 sortData[4], int sortVal[4], int startBit, int lIdx, __local u32* ldsSortData, __local int *ldsSortVal)
-{
-	for(uint ibit=0; ibit<BITS_PER_PASS; ibit+=2)
-	{
-		uint4 b = make_uint4((sortData[0]>>(startBit+ibit)) & 0x3, 
-			(sortData[1]>>(startBit+ibit)) & 0x3, 
-			(sortData[2]>>(startBit+ibit)) & 0x3, 
-			(sortData[3]>>(startBit+ibit)) & 0x3);
-
-		u32 key4;
-		u32 sKeyPacked[4] = { 0, 0, 0, 0 };
-		{
-			sKeyPacked[0] |= 1<<(8*b.x);
-			sKeyPacked[1] |= 1<<(8*b.y);
-			sKeyPacked[2] |= 1<<(8*b.z);
-			sKeyPacked[3] |= 1<<(8*b.w);
-
-			key4 = sKeyPacked[0] + sKeyPacked[1] + sKeyPacked[2] + sKeyPacked[3];
-		}
-
-		u32 rankPacked;
-		u32 sumPacked;
-		{
-			rankPacked = localPrefixSum( key4, lIdx, &sumPacked, ldsSortData, WG_SIZE );
-		}
-
-		GROUP_LDS_BARRIER;
-
-		u32 newOffset[4] = { 0,0,0,0 };
-		{
-			u32 sumScanned = bit8Scan( sumPacked );
-
-			u32 scannedKeys[4];
-			scannedKeys[0] = 1<<(8*b.x);
-			scannedKeys[1] = 1<<(8*b.y);
-			scannedKeys[2] = 1<<(8*b.z);
-			scannedKeys[3] = 1<<(8*b.w);
-			{	//	4 scans at once
-				u32 sum4 = 0;
-				for(int ie=0; ie<4; ie++)
-				{
-					u32 tmp = scannedKeys[ie];
-					scannedKeys[ie] = sum4;
-					sum4 += tmp;
-				}
-			}
-
-			{
-				u32 sumPlusRank = sumScanned + rankPacked;
-				{	u32 ie = b.x;
-					scannedKeys[0] += sumPlusRank;
-					newOffset[0] = unpack4Key( scannedKeys[0], ie );
-				}
-				{	u32 ie = b.y;
-					scannedKeys[1] += sumPlusRank;
-					newOffset[1] = unpack4Key( scannedKeys[1], ie );
-				}
-				{	u32 ie = b.z;
-					scannedKeys[2] += sumPlusRank;
-					newOffset[2] = unpack4Key( scannedKeys[2], ie );
-				}
-				{	u32 ie = b.w;
-					scannedKeys[3] += sumPlusRank;
-					newOffset[3] = unpack4Key( scannedKeys[3], ie );
-				}
-			}
-		}
-
-
-		GROUP_LDS_BARRIER;
-
-		{
-			ldsSortData[newOffset[0]] = sortData[0];
-			ldsSortData[newOffset[1]] = sortData[1];
-			ldsSortData[newOffset[2]] = sortData[2];
-			ldsSortData[newOffset[3]] = sortData[3];
-
-			ldsSortVal[newOffset[0]] = sortVal[0];
-			ldsSortVal[newOffset[1]] = sortVal[1];
-			ldsSortVal[newOffset[2]] = sortVal[2];
-			ldsSortVal[newOffset[3]] = sortVal[3];
-
-			GROUP_LDS_BARRIER;
-
-			u32 dstAddr = 4*lIdx;
-			sortData[0] = ldsSortData[dstAddr+0];
-			sortData[1] = ldsSortData[dstAddr+1];
-			sortData[2] = ldsSortData[dstAddr+2];
-			sortData[3] = ldsSortData[dstAddr+3];
-
-			sortVal[0] = ldsSortVal[dstAddr+0];
-			sortVal[1] = ldsSortVal[dstAddr+1];
-			sortVal[2] = ldsSortVal[dstAddr+2];
-			sortVal[3] = ldsSortVal[dstAddr+3];
-
-			GROUP_LDS_BARRIER;
-		}
-	}
-}
-
-
-
-
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void SortAndScatterSortDataKernel( __global const SortDataCL* restrict gSrc, __global const u32* rHistogram, __global SortDataCL* restrict gDst, int4 cb)
-{
-	__local int ldsSortData[WG_SIZE*ELEMENTS_PER_WORK_ITEM+16];
-	__local int ldsSortVal[WG_SIZE*ELEMENTS_PER_WORK_ITEM+16];
-	__local u32 localHistogramToCarry[NUM_BUCKET];
-	__local u32 localHistogram[NUM_BUCKET*2];
-
-	u32 gIdx = GET_GLOBAL_IDX;
-	u32 lIdx = GET_LOCAL_IDX;
-	u32 wgIdx = GET_GROUP_IDX;
-	u32 wgSize = GET_GROUP_SIZE;
-
-	const int n = cb.m_n;
-	const int nWGs = cb.m_nWGs;
-	const int startBit = cb.m_startBit;
-	const int nBlocksPerWG = cb.m_nBlocksPerWG;
-
-	if( lIdx < (NUM_BUCKET) )
-	{
-		localHistogramToCarry[lIdx] = rHistogram[lIdx*nWGs + wgIdx];
-	}
-
-	GROUP_LDS_BARRIER;
-    
-
-	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;
-
-	int nBlocks = n/blockSize - nBlocksPerWG*wgIdx;
-
-	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;
-
-	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)
-	{
-
-		u32 myHistogram = 0;
-
-		int sortData[ELEMENTS_PER_WORK_ITEM];
-		int sortVal[ELEMENTS_PER_WORK_ITEM];
-
-		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)
-#if defined(CHECK_BOUNDARY)
-		{
-			sortData[i] = ( addr+i < n )? gSrc[ addr+i ].m_key : 0xffffffff;
-			sortVal[i] = ( addr+i < n )? gSrc[ addr+i ].m_value : 0xffffffff;
-		}
-#else
-		{
-			sortData[i] = gSrc[ addr+i ].m_key;
-			sortVal[i] = gSrc[ addr+i ].m_value;
-		}
-#endif
-
-		sort4Bits1KeyValue(sortData, sortVal, startBit, lIdx, ldsSortData, ldsSortVal);
-
-		u32 keys[ELEMENTS_PER_WORK_ITEM];
-		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)
-			keys[i] = (sortData[i]>>startBit) & 0xf;
-
-		{	//	create histogram
-			u32 setIdx = lIdx/16;
-			if( lIdx < NUM_BUCKET )
-			{
-				localHistogram[lIdx] = 0;
-			}
-			ldsSortData[lIdx] = 0;
-			GROUP_LDS_BARRIER;
-
-			for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)
-#if defined(CHECK_BOUNDARY)
-				if( addr+i < n )
-#endif
-
-#if defined(NV_GPU)
-				SET_HISTOGRAM( setIdx, keys[i] )++;
-#else
-				AtomInc( SET_HISTOGRAM( setIdx, keys[i] ) );
-#endif
-			
-			GROUP_LDS_BARRIER;
-			
-			uint hIdx = NUM_BUCKET+lIdx;
-			if( lIdx < NUM_BUCKET )
-			{
-				u32 sum = 0;
-				for(int i=0; i<WG_SIZE/16; i++)
-				{
-					sum += SET_HISTOGRAM( i, lIdx );
-				}
-				myHistogram = sum;
-				localHistogram[hIdx] = sum;
-			}
-			GROUP_LDS_BARRIER;
-
-#if defined(USE_2LEVEL_REDUCE)
-			if( lIdx < NUM_BUCKET )
-			{
-				localHistogram[hIdx] = localHistogram[hIdx-1];
-				GROUP_MEM_FENCE;
-
-				u32 u0, u1, u2;
-				u0 = localHistogram[hIdx-3];
-				u1 = localHistogram[hIdx-2];
-				u2 = localHistogram[hIdx-1];
-				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );
-				GROUP_MEM_FENCE;
-				u0 = localHistogram[hIdx-12];
-				u1 = localHistogram[hIdx-8];
-				u2 = localHistogram[hIdx-4];
-				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );
-				GROUP_MEM_FENCE;
-			}
-#else
-			if( lIdx < NUM_BUCKET )
-			{
-				localHistogram[hIdx] = localHistogram[hIdx-1];
-				GROUP_MEM_FENCE;
-				localHistogram[hIdx] += localHistogram[hIdx-1];
-				GROUP_MEM_FENCE;
-				localHistogram[hIdx] += localHistogram[hIdx-2];
-				GROUP_MEM_FENCE;
-				localHistogram[hIdx] += localHistogram[hIdx-4];
-				GROUP_MEM_FENCE;
-				localHistogram[hIdx] += localHistogram[hIdx-8];
-				GROUP_MEM_FENCE;
-			}
-#endif
-			GROUP_LDS_BARRIER;
-		}
-
-    	{
-			for(int ie=0; ie<ELEMENTS_PER_WORK_ITEM; ie++)
-			{
-				int dataIdx = ELEMENTS_PER_WORK_ITEM*lIdx+ie;
-				int binIdx = keys[ie];
-				int groupOffset = localHistogramToCarry[binIdx];
-				int myIdx = dataIdx - localHistogram[NUM_BUCKET+binIdx];
-#if defined(CHECK_BOUNDARY)
-				if( addr+ie < n )
-				{
-                    if ((groupOffset + myIdx)<n)
-                    {
-                        if (sortData[ie]==sortVal[ie])
-                        {
-                            
-                            SortDataCL tmp;
-                            tmp.m_key = sortData[ie];
-                            tmp.m_value = sortVal[ie];
-                            if (tmp.m_key == tmp.m_value)
-                                gDst[groupOffset + myIdx ] = tmp;
-                        }
-                        
-                    }
-				}
-#else
-                if ((groupOffset + myIdx)<n)
-                {
-                    gDst[ groupOffset + myIdx ].m_key = sortData[ie];
-                    gDst[ groupOffset + myIdx ].m_value = sortVal[ie];
-                }
-#endif
-			}
-		}
-
-		GROUP_LDS_BARRIER;
-
-		if( lIdx < NUM_BUCKET )
-		{
-			localHistogramToCarry[lIdx] += myHistogram;
-		}
-		GROUP_LDS_BARRIER;
-	}
-}
-
-
-
-
-
-
-
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void SortAndScatterSortDataKernelSerial( __global const SortDataCL* restrict gSrc, __global const u32* rHistogram, __global SortDataCL* restrict gDst, int4 cb)
-{
-    
-	u32 gIdx = GET_GLOBAL_IDX;
-	u32 realLocalIdx = GET_LOCAL_IDX;
-	u32 wgIdx = GET_GROUP_IDX;
-	u32 wgSize = GET_GROUP_SIZE;
-	const int startBit = cb.m_startBit;
-	const int n = cb.m_n;
-	const int nWGs = cb.m_nWGs;
-	const int nBlocksPerWG = cb.m_nBlocksPerWG;
-
-    int counter[NUM_BUCKET];
-    
-    if (realLocalIdx>0)
-        return;
-    
-    for (int c=0;c<NUM_BUCKET;c++)
-        counter[c]=0;
-
-    const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;
-	
-	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;
-
-   for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++)
-  {
-     for (int lIdx=0;lIdx<WG_SIZE;lIdx++)
- 	{
-        int addr2 = iblock*blockSize + blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;
-        
-		for(int j=0; j<ELEMENTS_PER_WORK_ITEM; j++)
-		{
-            int i = addr2+j;
-			if( i < n )
-			{
-                int tableIdx;
-				tableIdx = (gSrc[i].m_key>>startBit) & 0xf;//0xf = NUM_TABLES-1
-                gDst[rHistogram[tableIdx*nWGs+wgIdx] + counter[tableIdx]] = gSrc[i];
-                counter[tableIdx] ++;
-			}
-		}
-	}
-  }
-    
-}
-
-
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void SortAndScatterKernelSerial( __global const u32* restrict gSrc, __global const u32* rHistogram, __global u32* restrict gDst, int4  cb )
-{
-    
-	u32 gIdx = GET_GLOBAL_IDX;
-	u32 realLocalIdx = GET_LOCAL_IDX;
-	u32 wgIdx = GET_GROUP_IDX;
-	u32 wgSize = GET_GROUP_SIZE;
-	const int startBit = cb.m_startBit;
-	const int n = cb.m_n;
-	const int nWGs = cb.m_nWGs;
-	const int nBlocksPerWG = cb.m_nBlocksPerWG;
-
-    int counter[NUM_BUCKET];
-    
-    if (realLocalIdx>0)
-        return;
-    
-    for (int c=0;c<NUM_BUCKET;c++)
-        counter[c]=0;
-
-    const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;
-	
-	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;
-
-   for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++)
-  {
-     for (int lIdx=0;lIdx<WG_SIZE;lIdx++)
- 	{
-        int addr2 = iblock*blockSize + blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;
-        
-		for(int j=0; j<ELEMENTS_PER_WORK_ITEM; j++)
-		{
-            int i = addr2+j;
-			if( i < n )
-			{
-                int tableIdx;
-				tableIdx = (gSrc[i]>>startBit) & 0xf;//0xf = NUM_TABLES-1
-                gDst[rHistogram[tableIdx*nWGs+wgIdx] + counter[tableIdx]] = gSrc[i];
-                counter[tableIdx] ++;
-			}
-		}
-	}
-  }
-    
-}
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/RadixSort32KernelsCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/RadixSort32KernelsCL.h
deleted file mode 100644
index fb4bdda303..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/RadixSort32KernelsCL.h
+++ /dev/null
@@ -1,909 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* radixSort32KernelsCL =
-	"/*\n"
-	"Bullet Continuous Collision Detection and Physics Library\n"
-	"Copyright (c) 2011 Advanced Micro Devices, Inc.  http://bulletphysics.org\n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose, \n"
-	"including commercial applications, and to alter it and redistribute it freely, \n"
-	"subject to the following restrictions:\n"
-	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Author Takahiro Harada\n"
-	"//#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
-	"typedef unsigned int u32;\n"
-	"#define GET_GROUP_IDX get_group_id(0)\n"
-	"#define GET_LOCAL_IDX get_local_id(0)\n"
-	"#define GET_GLOBAL_IDX get_global_id(0)\n"
-	"#define GET_GROUP_SIZE get_local_size(0)\n"
-	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-	"#define AtomInc(x) atom_inc(&(x))\n"
-	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-	"#define AtomAdd(x, value) atom_add(&(x), value)\n"
-	"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
-	"#define make_uint4 (uint4)\n"
-	"#define make_uint2 (uint2)\n"
-	"#define make_int2 (int2)\n"
-	"#define WG_SIZE 64\n"
-	"#define ELEMENTS_PER_WORK_ITEM (256/WG_SIZE)\n"
-	"#define BITS_PER_PASS 4\n"
-	"#define NUM_BUCKET (1<<BITS_PER_PASS)\n"
-	"typedef uchar u8;\n"
-	"//	this isn't optimization for VLIW. But just reducing writes. \n"
-	"#define USE_2LEVEL_REDUCE 1\n"
-	"//#define CHECK_BOUNDARY 1\n"
-	"//#define NV_GPU 1\n"
-	"//	Cypress\n"
-	"#define nPerWI 16\n"
-	"//	Cayman\n"
-	"//#define nPerWI 20\n"
-	"#define m_n x\n"
-	"#define m_nWGs y\n"
-	"#define m_startBit z\n"
-	"#define m_nBlocksPerWG w\n"
-	"/*\n"
-	"typedef struct\n"
-	"{\n"
-	"	int m_n;\n"
-	"	int m_nWGs;\n"
-	"	int m_startBit;\n"
-	"	int m_nBlocksPerWG;\n"
-	"} ConstBuffer;\n"
-	"*/\n"
-	"typedef struct\n"
-	"{\n"
-	"	unsigned int m_key;\n"
-	"	unsigned int m_value;\n"
-	"} SortDataCL;\n"
-	"uint prefixScanVectorEx( uint4* data )\n"
-	"{\n"
-	"	u32 sum = 0;\n"
-	"	u32 tmp = data[0].x;\n"
-	"	data[0].x = sum;\n"
-	"	sum += tmp;\n"
-	"	tmp = data[0].y;\n"
-	"	data[0].y = sum;\n"
-	"	sum += tmp;\n"
-	"	tmp = data[0].z;\n"
-	"	data[0].z = sum;\n"
-	"	sum += tmp;\n"
-	"	tmp = data[0].w;\n"
-	"	data[0].w = sum;\n"
-	"	sum += tmp;\n"
-	"	return sum;\n"
-	"}\n"
-	"u32 localPrefixSum( u32 pData, uint lIdx, uint* totalSum, __local u32* sorterSharedMemory, int wgSize /*64 or 128*/ )\n"
-	"{\n"
-	"	{	//	Set data\n"
-	"		sorterSharedMemory[lIdx] = 0;\n"
-	"		sorterSharedMemory[lIdx+wgSize] = pData;\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	{	//	Prefix sum\n"
-	"		int idx = 2*lIdx + (wgSize+1);\n"
-	"#if defined(USE_2LEVEL_REDUCE)\n"
-	"		if( lIdx < 64 )\n"
-	"		{\n"
-	"			u32 u0, u1, u2;\n"
-	"			u0 = sorterSharedMemory[idx-3];\n"
-	"			u1 = sorterSharedMemory[idx-2];\n"
-	"			u2 = sorterSharedMemory[idx-1];\n"
-	"			AtomAdd( sorterSharedMemory[idx], u0+u1+u2 );			\n"
-	"			GROUP_MEM_FENCE;\n"
-	"			u0 = sorterSharedMemory[idx-12];\n"
-	"			u1 = sorterSharedMemory[idx-8];\n"
-	"			u2 = sorterSharedMemory[idx-4];\n"
-	"			AtomAdd( sorterSharedMemory[idx], u0+u1+u2 );			\n"
-	"			GROUP_MEM_FENCE;\n"
-	"			u0 = sorterSharedMemory[idx-48];\n"
-	"			u1 = sorterSharedMemory[idx-32];\n"
-	"			u2 = sorterSharedMemory[idx-16];\n"
-	"			AtomAdd( sorterSharedMemory[idx], u0+u1+u2 );			\n"
-	"			GROUP_MEM_FENCE;\n"
-	"			if( wgSize > 64 )\n"
-	"			{\n"
-	"				sorterSharedMemory[idx] += sorterSharedMemory[idx-64];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"			}\n"
-	"			sorterSharedMemory[idx-1] += sorterSharedMemory[idx-2];\n"
-	"			GROUP_MEM_FENCE;\n"
-	"		}\n"
-	"#else\n"
-	"		if( lIdx < 64 )\n"
-	"		{\n"
-	"			sorterSharedMemory[idx] += sorterSharedMemory[idx-1];\n"
-	"			GROUP_MEM_FENCE;\n"
-	"			sorterSharedMemory[idx] += sorterSharedMemory[idx-2];			\n"
-	"			GROUP_MEM_FENCE;\n"
-	"			sorterSharedMemory[idx] += sorterSharedMemory[idx-4];\n"
-	"			GROUP_MEM_FENCE;\n"
-	"			sorterSharedMemory[idx] += sorterSharedMemory[idx-8];\n"
-	"			GROUP_MEM_FENCE;\n"
-	"			sorterSharedMemory[idx] += sorterSharedMemory[idx-16];\n"
-	"			GROUP_MEM_FENCE;\n"
-	"			sorterSharedMemory[idx] += sorterSharedMemory[idx-32];\n"
-	"			GROUP_MEM_FENCE;\n"
-	"			if( wgSize > 64 )\n"
-	"			{\n"
-	"				sorterSharedMemory[idx] += sorterSharedMemory[idx-64];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"			}\n"
-	"			sorterSharedMemory[idx-1] += sorterSharedMemory[idx-2];\n"
-	"			GROUP_MEM_FENCE;\n"
-	"		}\n"
-	"#endif\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	*totalSum = sorterSharedMemory[wgSize*2-1];\n"
-	"	u32 addValue = sorterSharedMemory[lIdx+wgSize-1];\n"
-	"	return addValue;\n"
-	"}\n"
-	"//__attribute__((reqd_work_group_size(128,1,1)))\n"
-	"uint4 localPrefixSum128V( uint4 pData, uint lIdx, uint* totalSum, __local u32* sorterSharedMemory )\n"
-	"{\n"
-	"	u32 s4 = prefixScanVectorEx( &pData );\n"
-	"	u32 rank = localPrefixSum( s4, lIdx, totalSum, sorterSharedMemory, 128 );\n"
-	"	return pData + make_uint4( rank, rank, rank, rank );\n"
-	"}\n"
-	"//__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"uint4 localPrefixSum64V( uint4 pData, uint lIdx, uint* totalSum, __local u32* sorterSharedMemory )\n"
-	"{\n"
-	"	u32 s4 = prefixScanVectorEx( &pData );\n"
-	"	u32 rank = localPrefixSum( s4, lIdx, totalSum, sorterSharedMemory, 64 );\n"
-	"	return pData + make_uint4( rank, rank, rank, rank );\n"
-	"}\n"
-	"u32 unpack4Key( u32 key, int keyIdx ){ return (key>>(keyIdx*8)) & 0xff;}\n"
-	"u32 bit8Scan(u32 v)\n"
-	"{\n"
-	"	return (v<<8) + (v<<16) + (v<<24);\n"
-	"}\n"
-	"//===\n"
-	"#define MY_HISTOGRAM(idx) localHistogramMat[(idx)*WG_SIZE+lIdx]\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void StreamCountKernel( __global u32* gSrc, __global u32* histogramOut, int4 cb )\n"
-	"{\n"
-	"	__local u32 localHistogramMat[NUM_BUCKET*WG_SIZE];\n"
-	"	u32 gIdx = GET_GLOBAL_IDX;\n"
-	"	u32 lIdx = GET_LOCAL_IDX;\n"
-	"	u32 wgIdx = GET_GROUP_IDX;\n"
-	"	u32 wgSize = GET_GROUP_SIZE;\n"
-	"	const int startBit = cb.m_startBit;\n"
-	"	const int n = cb.m_n;\n"
-	"	const int nWGs = cb.m_nWGs;\n"
-	"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
-	"	for(int i=0; i<NUM_BUCKET; i++)\n"
-	"	{\n"
-	"		MY_HISTOGRAM(i) = 0;\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
-	"	u32 localKey;\n"
-	"	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;\n"
-	"	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
-	"	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)\n"
-	"	{\n"
-	"		//	MY_HISTOGRAM( localKeys.x ) ++ is much expensive than atomic add as it requires read and write while atomics can just add on AMD\n"
-	"		//	Using registers didn't perform well. It seems like use localKeys to address requires a lot of alu ops\n"
-	"		//	AMD: AtomInc performs better while NV prefers ++\n"
-	"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-	"		{\n"
-	"#if defined(CHECK_BOUNDARY)\n"
-	"			if( addr+i < n )\n"
-	"#endif\n"
-	"			{\n"
-	"				localKey = (gSrc[addr+i]>>startBit) & 0xf;\n"
-	"#if defined(NV_GPU)\n"
-	"				MY_HISTOGRAM( localKey )++;\n"
-	"#else\n"
-	"				AtomInc( MY_HISTOGRAM( localKey ) );\n"
-	"#endif\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	\n"
-	"	if( lIdx < NUM_BUCKET )\n"
-	"	{\n"
-	"		u32 sum = 0;\n"
-	"		for(int i=0; i<GET_GROUP_SIZE; i++)\n"
-	"		{\n"
-	"			sum += localHistogramMat[lIdx*WG_SIZE+(i+lIdx)%GET_GROUP_SIZE];\n"
-	"		}\n"
-	"		histogramOut[lIdx*nWGs+wgIdx] = sum;\n"
-	"	}\n"
-	"}\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void StreamCountSortDataKernel( __global SortDataCL* gSrc, __global u32* histogramOut, int4  cb )\n"
-	"{\n"
-	"	__local u32 localHistogramMat[NUM_BUCKET*WG_SIZE];\n"
-	"	u32 gIdx = GET_GLOBAL_IDX;\n"
-	"	u32 lIdx = GET_LOCAL_IDX;\n"
-	"	u32 wgIdx = GET_GROUP_IDX;\n"
-	"	u32 wgSize = GET_GROUP_SIZE;\n"
-	"	const int startBit = cb.m_startBit;\n"
-	"	const int n = cb.m_n;\n"
-	"	const int nWGs = cb.m_nWGs;\n"
-	"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
-	"	for(int i=0; i<NUM_BUCKET; i++)\n"
-	"	{\n"
-	"		MY_HISTOGRAM(i) = 0;\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
-	"	u32 localKey;\n"
-	"	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;\n"
-	"	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
-	"	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)\n"
-	"	{\n"
-	"		//	MY_HISTOGRAM( localKeys.x ) ++ is much expensive than atomic add as it requires read and write while atomics can just add on AMD\n"
-	"		//	Using registers didn't perform well. It seems like use localKeys to address requires a lot of alu ops\n"
-	"		//	AMD: AtomInc performs better while NV prefers ++\n"
-	"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-	"		{\n"
-	"#if defined(CHECK_BOUNDARY)\n"
-	"			if( addr+i < n )\n"
-	"#endif\n"
-	"			{\n"
-	"				localKey = (gSrc[addr+i].m_key>>startBit) & 0xf;\n"
-	"#if defined(NV_GPU)\n"
-	"				MY_HISTOGRAM( localKey )++;\n"
-	"#else\n"
-	"				AtomInc( MY_HISTOGRAM( localKey ) );\n"
-	"#endif\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	\n"
-	"	if( lIdx < NUM_BUCKET )\n"
-	"	{\n"
-	"		u32 sum = 0;\n"
-	"		for(int i=0; i<GET_GROUP_SIZE; i++)\n"
-	"		{\n"
-	"			sum += localHistogramMat[lIdx*WG_SIZE+(i+lIdx)%GET_GROUP_SIZE];\n"
-	"		}\n"
-	"		histogramOut[lIdx*nWGs+wgIdx] = sum;\n"
-	"	}\n"
-	"}\n"
-	"#define nPerLane (nPerWI/4)\n"
-	"//	NUM_BUCKET*nWGs < 128*nPerWI\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(128,1,1)))\n"
-	"void PrefixScanKernel( __global u32* wHistogram1, int4  cb )\n"
-	"{\n"
-	"	__local u32 ldsTopScanData[128*2];\n"
-	"	u32 lIdx = GET_LOCAL_IDX;\n"
-	"	u32 wgIdx = GET_GROUP_IDX;\n"
-	"	const int nWGs = cb.m_nWGs;\n"
-	"	u32 data[nPerWI];\n"
-	"	for(int i=0; i<nPerWI; i++)\n"
-	"	{\n"
-	"		data[i] = 0;\n"
-	"		if( (nPerWI*lIdx+i) < NUM_BUCKET*nWGs )\n"
-	"			data[i] = wHistogram1[nPerWI*lIdx+i];\n"
-	"	}\n"
-	"	uint4 myData = make_uint4(0,0,0,0);\n"
-	"	for(int i=0; i<nPerLane; i++)\n"
-	"	{\n"
-	"		myData.x += data[nPerLane*0+i];\n"
-	"		myData.y += data[nPerLane*1+i];\n"
-	"		myData.z += data[nPerLane*2+i];\n"
-	"		myData.w += data[nPerLane*3+i];\n"
-	"	}\n"
-	"	uint totalSum;\n"
-	"	uint4 scanned = localPrefixSum128V( myData, lIdx, &totalSum, ldsTopScanData );\n"
-	"//	for(int j=0; j<4; j++) //	somehow it introduces a lot of branches\n"
-	"	{	int j = 0;\n"
-	"		u32 sum = 0;\n"
-	"		for(int i=0; i<nPerLane; i++)\n"
-	"		{\n"
-	"			u32 tmp = data[nPerLane*j+i];\n"
-	"			data[nPerLane*j+i] = sum;\n"
-	"			sum += tmp;\n"
-	"		}\n"
-	"	}\n"
-	"	{	int j = 1;\n"
-	"		u32 sum = 0;\n"
-	"		for(int i=0; i<nPerLane; i++)\n"
-	"		{\n"
-	"			u32 tmp = data[nPerLane*j+i];\n"
-	"			data[nPerLane*j+i] = sum;\n"
-	"			sum += tmp;\n"
-	"		}\n"
-	"	}\n"
-	"	{	int j = 2;\n"
-	"		u32 sum = 0;\n"
-	"		for(int i=0; i<nPerLane; i++)\n"
-	"		{\n"
-	"			u32 tmp = data[nPerLane*j+i];\n"
-	"			data[nPerLane*j+i] = sum;\n"
-	"			sum += tmp;\n"
-	"		}\n"
-	"	}\n"
-	"	{	int j = 3;\n"
-	"		u32 sum = 0;\n"
-	"		for(int i=0; i<nPerLane; i++)\n"
-	"		{\n"
-	"			u32 tmp = data[nPerLane*j+i];\n"
-	"			data[nPerLane*j+i] = sum;\n"
-	"			sum += tmp;\n"
-	"		}\n"
-	"	}\n"
-	"	for(int i=0; i<nPerLane; i++)\n"
-	"	{\n"
-	"		data[nPerLane*0+i] += scanned.x;\n"
-	"		data[nPerLane*1+i] += scanned.y;\n"
-	"		data[nPerLane*2+i] += scanned.z;\n"
-	"		data[nPerLane*3+i] += scanned.w;\n"
-	"	}\n"
-	"	for(int i=0; i<nPerWI; i++)\n"
-	"	{\n"
-	"		int index = nPerWI*lIdx+i;\n"
-	"		if (index < NUM_BUCKET*nWGs)\n"
-	"			wHistogram1[nPerWI*lIdx+i] = data[i];\n"
-	"	}\n"
-	"}\n"
-	"//	4 scan, 4 exchange\n"
-	"void sort4Bits(u32 sortData[4], int startBit, int lIdx, __local u32* ldsSortData)\n"
-	"{\n"
-	"	for(int bitIdx=0; bitIdx<BITS_PER_PASS; bitIdx++)\n"
-	"	{\n"
-	"		u32 mask = (1<<bitIdx);\n"
-	"		uint4 cmpResult = make_uint4( (sortData[0]>>startBit) & mask, (sortData[1]>>startBit) & mask, (sortData[2]>>startBit) & mask, (sortData[3]>>startBit) & mask );\n"
-	"		uint4 prefixSum = SELECT_UINT4( make_uint4(1,1,1,1), make_uint4(0,0,0,0), cmpResult != make_uint4(0,0,0,0) );\n"
-	"		u32 total;\n"
-	"		prefixSum = localPrefixSum64V( prefixSum, lIdx, &total, ldsSortData );\n"
-	"		{\n"
-	"			uint4 localAddr = make_uint4(lIdx*4+0,lIdx*4+1,lIdx*4+2,lIdx*4+3);\n"
-	"			uint4 dstAddr = localAddr - prefixSum + make_uint4( total, total, total, total );\n"
-	"			dstAddr = SELECT_UINT4( prefixSum, dstAddr, cmpResult != make_uint4(0, 0, 0, 0) );\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"			ldsSortData[dstAddr.x] = sortData[0];\n"
-	"			ldsSortData[dstAddr.y] = sortData[1];\n"
-	"			ldsSortData[dstAddr.z] = sortData[2];\n"
-	"			ldsSortData[dstAddr.w] = sortData[3];\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"			sortData[0] = ldsSortData[localAddr.x];\n"
-	"			sortData[1] = ldsSortData[localAddr.y];\n"
-	"			sortData[2] = ldsSortData[localAddr.z];\n"
-	"			sortData[3] = ldsSortData[localAddr.w];\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"//	2 scan, 2 exchange\n"
-	"void sort4Bits1(u32 sortData[4], int startBit, int lIdx, __local u32* ldsSortData)\n"
-	"{\n"
-	"	for(uint ibit=0; ibit<BITS_PER_PASS; ibit+=2)\n"
-	"	{\n"
-	"		uint4 b = make_uint4((sortData[0]>>(startBit+ibit)) & 0x3, \n"
-	"			(sortData[1]>>(startBit+ibit)) & 0x3, \n"
-	"			(sortData[2]>>(startBit+ibit)) & 0x3, \n"
-	"			(sortData[3]>>(startBit+ibit)) & 0x3);\n"
-	"		u32 key4;\n"
-	"		u32 sKeyPacked[4] = { 0, 0, 0, 0 };\n"
-	"		{\n"
-	"			sKeyPacked[0] |= 1<<(8*b.x);\n"
-	"			sKeyPacked[1] |= 1<<(8*b.y);\n"
-	"			sKeyPacked[2] |= 1<<(8*b.z);\n"
-	"			sKeyPacked[3] |= 1<<(8*b.w);\n"
-	"			key4 = sKeyPacked[0] + sKeyPacked[1] + sKeyPacked[2] + sKeyPacked[3];\n"
-	"		}\n"
-	"		u32 rankPacked;\n"
-	"		u32 sumPacked;\n"
-	"		{\n"
-	"			rankPacked = localPrefixSum( key4, lIdx, &sumPacked, ldsSortData, WG_SIZE );\n"
-	"		}\n"
-	"		GROUP_LDS_BARRIER;\n"
-	"		u32 newOffset[4] = { 0,0,0,0 };\n"
-	"		{\n"
-	"			u32 sumScanned = bit8Scan( sumPacked );\n"
-	"			u32 scannedKeys[4];\n"
-	"			scannedKeys[0] = 1<<(8*b.x);\n"
-	"			scannedKeys[1] = 1<<(8*b.y);\n"
-	"			scannedKeys[2] = 1<<(8*b.z);\n"
-	"			scannedKeys[3] = 1<<(8*b.w);\n"
-	"			{	//	4 scans at once\n"
-	"				u32 sum4 = 0;\n"
-	"				for(int ie=0; ie<4; ie++)\n"
-	"				{\n"
-	"					u32 tmp = scannedKeys[ie];\n"
-	"					scannedKeys[ie] = sum4;\n"
-	"					sum4 += tmp;\n"
-	"				}\n"
-	"			}\n"
-	"			{\n"
-	"				u32 sumPlusRank = sumScanned + rankPacked;\n"
-	"				{	u32 ie = b.x;\n"
-	"					scannedKeys[0] += sumPlusRank;\n"
-	"					newOffset[0] = unpack4Key( scannedKeys[0], ie );\n"
-	"				}\n"
-	"				{	u32 ie = b.y;\n"
-	"					scannedKeys[1] += sumPlusRank;\n"
-	"					newOffset[1] = unpack4Key( scannedKeys[1], ie );\n"
-	"				}\n"
-	"				{	u32 ie = b.z;\n"
-	"					scannedKeys[2] += sumPlusRank;\n"
-	"					newOffset[2] = unpack4Key( scannedKeys[2], ie );\n"
-	"				}\n"
-	"				{	u32 ie = b.w;\n"
-	"					scannedKeys[3] += sumPlusRank;\n"
-	"					newOffset[3] = unpack4Key( scannedKeys[3], ie );\n"
-	"				}\n"
-	"			}\n"
-	"		}\n"
-	"		GROUP_LDS_BARRIER;\n"
-	"		{\n"
-	"			ldsSortData[newOffset[0]] = sortData[0];\n"
-	"			ldsSortData[newOffset[1]] = sortData[1];\n"
-	"			ldsSortData[newOffset[2]] = sortData[2];\n"
-	"			ldsSortData[newOffset[3]] = sortData[3];\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"			u32 dstAddr = 4*lIdx;\n"
-	"			sortData[0] = ldsSortData[dstAddr+0];\n"
-	"			sortData[1] = ldsSortData[dstAddr+1];\n"
-	"			sortData[2] = ldsSortData[dstAddr+2];\n"
-	"			sortData[3] = ldsSortData[dstAddr+3];\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"#define SET_HISTOGRAM(setIdx, key) ldsSortData[(setIdx)*NUM_BUCKET+key]\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void SortAndScatterKernel( __global const u32* restrict gSrc, __global const u32* rHistogram, __global u32* restrict gDst, int4  cb )\n"
-	"{\n"
-	"	__local u32 ldsSortData[WG_SIZE*ELEMENTS_PER_WORK_ITEM+16];\n"
-	"	__local u32 localHistogramToCarry[NUM_BUCKET];\n"
-	"	__local u32 localHistogram[NUM_BUCKET*2];\n"
-	"	u32 gIdx = GET_GLOBAL_IDX;\n"
-	"	u32 lIdx = GET_LOCAL_IDX;\n"
-	"	u32 wgIdx = GET_GROUP_IDX;\n"
-	"	u32 wgSize = GET_GROUP_SIZE;\n"
-	"	const int n = cb.m_n;\n"
-	"	const int nWGs = cb.m_nWGs;\n"
-	"	const int startBit = cb.m_startBit;\n"
-	"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
-	"	if( lIdx < (NUM_BUCKET) )\n"
-	"	{\n"
-	"		localHistogramToCarry[lIdx] = rHistogram[lIdx*nWGs + wgIdx];\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
-	"	int nBlocks = n/blockSize - nBlocksPerWG*wgIdx;\n"
-	"	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
-	"	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)\n"
-	"	{\n"
-	"		u32 myHistogram = 0;\n"
-	"		u32 sortData[ELEMENTS_PER_WORK_ITEM];\n"
-	"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-	"#if defined(CHECK_BOUNDARY)\n"
-	"			sortData[i] = ( addr+i < n )? gSrc[ addr+i ] : 0xffffffff;\n"
-	"#else\n"
-	"			sortData[i] = gSrc[ addr+i ];\n"
-	"#endif\n"
-	"		sort4Bits(sortData, startBit, lIdx, ldsSortData);\n"
-	"		u32 keys[ELEMENTS_PER_WORK_ITEM];\n"
-	"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-	"			keys[i] = (sortData[i]>>startBit) & 0xf;\n"
-	"		{	//	create histogram\n"
-	"			u32 setIdx = lIdx/16;\n"
-	"			if( lIdx < NUM_BUCKET )\n"
-	"			{\n"
-	"				localHistogram[lIdx] = 0;\n"
-	"			}\n"
-	"			ldsSortData[lIdx] = 0;\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"			for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-	"#if defined(CHECK_BOUNDARY)\n"
-	"				if( addr+i < n )\n"
-	"#endif\n"
-	"#if defined(NV_GPU)\n"
-	"				SET_HISTOGRAM( setIdx, keys[i] )++;\n"
-	"#else\n"
-	"				AtomInc( SET_HISTOGRAM( setIdx, keys[i] ) );\n"
-	"#endif\n"
-	"			\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"			\n"
-	"			uint hIdx = NUM_BUCKET+lIdx;\n"
-	"			if( lIdx < NUM_BUCKET )\n"
-	"			{\n"
-	"				u32 sum = 0;\n"
-	"				for(int i=0; i<WG_SIZE/16; i++)\n"
-	"				{\n"
-	"					sum += SET_HISTOGRAM( i, lIdx );\n"
-	"				}\n"
-	"				myHistogram = sum;\n"
-	"				localHistogram[hIdx] = sum;\n"
-	"			}\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"#if defined(USE_2LEVEL_REDUCE)\n"
-	"			if( lIdx < NUM_BUCKET )\n"
-	"			{\n"
-	"				localHistogram[hIdx] = localHistogram[hIdx-1];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				u32 u0, u1, u2;\n"
-	"				u0 = localHistogram[hIdx-3];\n"
-	"				u1 = localHistogram[hIdx-2];\n"
-	"				u2 = localHistogram[hIdx-1];\n"
-	"				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				u0 = localHistogram[hIdx-12];\n"
-	"				u1 = localHistogram[hIdx-8];\n"
-	"				u2 = localHistogram[hIdx-4];\n"
-	"				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );\n"
-	"				GROUP_MEM_FENCE;\n"
-	"			}\n"
-	"#else\n"
-	"			if( lIdx < NUM_BUCKET )\n"
-	"			{\n"
-	"				localHistogram[hIdx] = localHistogram[hIdx-1];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				localHistogram[hIdx] += localHistogram[hIdx-1];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				localHistogram[hIdx] += localHistogram[hIdx-2];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				localHistogram[hIdx] += localHistogram[hIdx-4];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				localHistogram[hIdx] += localHistogram[hIdx-8];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"			}\n"
-	"#endif\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"		}\n"
-	"		{\n"
-	"			for(int ie=0; ie<ELEMENTS_PER_WORK_ITEM; ie++)\n"
-	"			{\n"
-	"				int dataIdx = ELEMENTS_PER_WORK_ITEM*lIdx+ie;\n"
-	"				int binIdx = keys[ie];\n"
-	"				int groupOffset = localHistogramToCarry[binIdx];\n"
-	"				int myIdx = dataIdx - localHistogram[NUM_BUCKET+binIdx];\n"
-	"#if defined(CHECK_BOUNDARY)\n"
-	"				if( addr+ie < n )\n"
-	"#endif\n"
-	"				gDst[ groupOffset + myIdx ] = sortData[ie];\n"
-	"			}\n"
-	"		}\n"
-	"		GROUP_LDS_BARRIER;\n"
-	"		if( lIdx < NUM_BUCKET )\n"
-	"		{\n"
-	"			localHistogramToCarry[lIdx] += myHistogram;\n"
-	"		}\n"
-	"		GROUP_LDS_BARRIER;\n"
-	"	}\n"
-	"}\n"
-	"//	2 scan, 2 exchange\n"
-	"void sort4Bits1KeyValue(u32 sortData[4], int sortVal[4], int startBit, int lIdx, __local u32* ldsSortData, __local int *ldsSortVal)\n"
-	"{\n"
-	"	for(uint ibit=0; ibit<BITS_PER_PASS; ibit+=2)\n"
-	"	{\n"
-	"		uint4 b = make_uint4((sortData[0]>>(startBit+ibit)) & 0x3, \n"
-	"			(sortData[1]>>(startBit+ibit)) & 0x3, \n"
-	"			(sortData[2]>>(startBit+ibit)) & 0x3, \n"
-	"			(sortData[3]>>(startBit+ibit)) & 0x3);\n"
-	"		u32 key4;\n"
-	"		u32 sKeyPacked[4] = { 0, 0, 0, 0 };\n"
-	"		{\n"
-	"			sKeyPacked[0] |= 1<<(8*b.x);\n"
-	"			sKeyPacked[1] |= 1<<(8*b.y);\n"
-	"			sKeyPacked[2] |= 1<<(8*b.z);\n"
-	"			sKeyPacked[3] |= 1<<(8*b.w);\n"
-	"			key4 = sKeyPacked[0] + sKeyPacked[1] + sKeyPacked[2] + sKeyPacked[3];\n"
-	"		}\n"
-	"		u32 rankPacked;\n"
-	"		u32 sumPacked;\n"
-	"		{\n"
-	"			rankPacked = localPrefixSum( key4, lIdx, &sumPacked, ldsSortData, WG_SIZE );\n"
-	"		}\n"
-	"		GROUP_LDS_BARRIER;\n"
-	"		u32 newOffset[4] = { 0,0,0,0 };\n"
-	"		{\n"
-	"			u32 sumScanned = bit8Scan( sumPacked );\n"
-	"			u32 scannedKeys[4];\n"
-	"			scannedKeys[0] = 1<<(8*b.x);\n"
-	"			scannedKeys[1] = 1<<(8*b.y);\n"
-	"			scannedKeys[2] = 1<<(8*b.z);\n"
-	"			scannedKeys[3] = 1<<(8*b.w);\n"
-	"			{	//	4 scans at once\n"
-	"				u32 sum4 = 0;\n"
-	"				for(int ie=0; ie<4; ie++)\n"
-	"				{\n"
-	"					u32 tmp = scannedKeys[ie];\n"
-	"					scannedKeys[ie] = sum4;\n"
-	"					sum4 += tmp;\n"
-	"				}\n"
-	"			}\n"
-	"			{\n"
-	"				u32 sumPlusRank = sumScanned + rankPacked;\n"
-	"				{	u32 ie = b.x;\n"
-	"					scannedKeys[0] += sumPlusRank;\n"
-	"					newOffset[0] = unpack4Key( scannedKeys[0], ie );\n"
-	"				}\n"
-	"				{	u32 ie = b.y;\n"
-	"					scannedKeys[1] += sumPlusRank;\n"
-	"					newOffset[1] = unpack4Key( scannedKeys[1], ie );\n"
-	"				}\n"
-	"				{	u32 ie = b.z;\n"
-	"					scannedKeys[2] += sumPlusRank;\n"
-	"					newOffset[2] = unpack4Key( scannedKeys[2], ie );\n"
-	"				}\n"
-	"				{	u32 ie = b.w;\n"
-	"					scannedKeys[3] += sumPlusRank;\n"
-	"					newOffset[3] = unpack4Key( scannedKeys[3], ie );\n"
-	"				}\n"
-	"			}\n"
-	"		}\n"
-	"		GROUP_LDS_BARRIER;\n"
-	"		{\n"
-	"			ldsSortData[newOffset[0]] = sortData[0];\n"
-	"			ldsSortData[newOffset[1]] = sortData[1];\n"
-	"			ldsSortData[newOffset[2]] = sortData[2];\n"
-	"			ldsSortData[newOffset[3]] = sortData[3];\n"
-	"			ldsSortVal[newOffset[0]] = sortVal[0];\n"
-	"			ldsSortVal[newOffset[1]] = sortVal[1];\n"
-	"			ldsSortVal[newOffset[2]] = sortVal[2];\n"
-	"			ldsSortVal[newOffset[3]] = sortVal[3];\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"			u32 dstAddr = 4*lIdx;\n"
-	"			sortData[0] = ldsSortData[dstAddr+0];\n"
-	"			sortData[1] = ldsSortData[dstAddr+1];\n"
-	"			sortData[2] = ldsSortData[dstAddr+2];\n"
-	"			sortData[3] = ldsSortData[dstAddr+3];\n"
-	"			sortVal[0] = ldsSortVal[dstAddr+0];\n"
-	"			sortVal[1] = ldsSortVal[dstAddr+1];\n"
-	"			sortVal[2] = ldsSortVal[dstAddr+2];\n"
-	"			sortVal[3] = ldsSortVal[dstAddr+3];\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void SortAndScatterSortDataKernel( __global const SortDataCL* restrict gSrc, __global const u32* rHistogram, __global SortDataCL* restrict gDst, int4 cb)\n"
-	"{\n"
-	"	__local int ldsSortData[WG_SIZE*ELEMENTS_PER_WORK_ITEM+16];\n"
-	"	__local int ldsSortVal[WG_SIZE*ELEMENTS_PER_WORK_ITEM+16];\n"
-	"	__local u32 localHistogramToCarry[NUM_BUCKET];\n"
-	"	__local u32 localHistogram[NUM_BUCKET*2];\n"
-	"	u32 gIdx = GET_GLOBAL_IDX;\n"
-	"	u32 lIdx = GET_LOCAL_IDX;\n"
-	"	u32 wgIdx = GET_GROUP_IDX;\n"
-	"	u32 wgSize = GET_GROUP_SIZE;\n"
-	"	const int n = cb.m_n;\n"
-	"	const int nWGs = cb.m_nWGs;\n"
-	"	const int startBit = cb.m_startBit;\n"
-	"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
-	"	if( lIdx < (NUM_BUCKET) )\n"
-	"	{\n"
-	"		localHistogramToCarry[lIdx] = rHistogram[lIdx*nWGs + wgIdx];\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"    \n"
-	"	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
-	"	int nBlocks = n/blockSize - nBlocksPerWG*wgIdx;\n"
-	"	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
-	"	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)\n"
-	"	{\n"
-	"		u32 myHistogram = 0;\n"
-	"		int sortData[ELEMENTS_PER_WORK_ITEM];\n"
-	"		int sortVal[ELEMENTS_PER_WORK_ITEM];\n"
-	"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-	"#if defined(CHECK_BOUNDARY)\n"
-	"		{\n"
-	"			sortData[i] = ( addr+i < n )? gSrc[ addr+i ].m_key : 0xffffffff;\n"
-	"			sortVal[i] = ( addr+i < n )? gSrc[ addr+i ].m_value : 0xffffffff;\n"
-	"		}\n"
-	"#else\n"
-	"		{\n"
-	"			sortData[i] = gSrc[ addr+i ].m_key;\n"
-	"			sortVal[i] = gSrc[ addr+i ].m_value;\n"
-	"		}\n"
-	"#endif\n"
-	"		sort4Bits1KeyValue(sortData, sortVal, startBit, lIdx, ldsSortData, ldsSortVal);\n"
-	"		u32 keys[ELEMENTS_PER_WORK_ITEM];\n"
-	"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-	"			keys[i] = (sortData[i]>>startBit) & 0xf;\n"
-	"		{	//	create histogram\n"
-	"			u32 setIdx = lIdx/16;\n"
-	"			if( lIdx < NUM_BUCKET )\n"
-	"			{\n"
-	"				localHistogram[lIdx] = 0;\n"
-	"			}\n"
-	"			ldsSortData[lIdx] = 0;\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"			for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-	"#if defined(CHECK_BOUNDARY)\n"
-	"				if( addr+i < n )\n"
-	"#endif\n"
-	"#if defined(NV_GPU)\n"
-	"				SET_HISTOGRAM( setIdx, keys[i] )++;\n"
-	"#else\n"
-	"				AtomInc( SET_HISTOGRAM( setIdx, keys[i] ) );\n"
-	"#endif\n"
-	"			\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"			\n"
-	"			uint hIdx = NUM_BUCKET+lIdx;\n"
-	"			if( lIdx < NUM_BUCKET )\n"
-	"			{\n"
-	"				u32 sum = 0;\n"
-	"				for(int i=0; i<WG_SIZE/16; i++)\n"
-	"				{\n"
-	"					sum += SET_HISTOGRAM( i, lIdx );\n"
-	"				}\n"
-	"				myHistogram = sum;\n"
-	"				localHistogram[hIdx] = sum;\n"
-	"			}\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"#if defined(USE_2LEVEL_REDUCE)\n"
-	"			if( lIdx < NUM_BUCKET )\n"
-	"			{\n"
-	"				localHistogram[hIdx] = localHistogram[hIdx-1];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				u32 u0, u1, u2;\n"
-	"				u0 = localHistogram[hIdx-3];\n"
-	"				u1 = localHistogram[hIdx-2];\n"
-	"				u2 = localHistogram[hIdx-1];\n"
-	"				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				u0 = localHistogram[hIdx-12];\n"
-	"				u1 = localHistogram[hIdx-8];\n"
-	"				u2 = localHistogram[hIdx-4];\n"
-	"				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );\n"
-	"				GROUP_MEM_FENCE;\n"
-	"			}\n"
-	"#else\n"
-	"			if( lIdx < NUM_BUCKET )\n"
-	"			{\n"
-	"				localHistogram[hIdx] = localHistogram[hIdx-1];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				localHistogram[hIdx] += localHistogram[hIdx-1];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				localHistogram[hIdx] += localHistogram[hIdx-2];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				localHistogram[hIdx] += localHistogram[hIdx-4];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				localHistogram[hIdx] += localHistogram[hIdx-8];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"			}\n"
-	"#endif\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"		}\n"
-	"    	{\n"
-	"			for(int ie=0; ie<ELEMENTS_PER_WORK_ITEM; ie++)\n"
-	"			{\n"
-	"				int dataIdx = ELEMENTS_PER_WORK_ITEM*lIdx+ie;\n"
-	"				int binIdx = keys[ie];\n"
-	"				int groupOffset = localHistogramToCarry[binIdx];\n"
-	"				int myIdx = dataIdx - localHistogram[NUM_BUCKET+binIdx];\n"
-	"#if defined(CHECK_BOUNDARY)\n"
-	"				if( addr+ie < n )\n"
-	"				{\n"
-	"                    if ((groupOffset + myIdx)<n)\n"
-	"                    {\n"
-	"                        if (sortData[ie]==sortVal[ie])\n"
-	"                        {\n"
-	"                            \n"
-	"                            SortDataCL tmp;\n"
-	"                            tmp.m_key = sortData[ie];\n"
-	"                            tmp.m_value = sortVal[ie];\n"
-	"                            if (tmp.m_key == tmp.m_value)\n"
-	"                                gDst[groupOffset + myIdx ] = tmp;\n"
-	"                        }\n"
-	"                        \n"
-	"                    }\n"
-	"				}\n"
-	"#else\n"
-	"                if ((groupOffset + myIdx)<n)\n"
-	"                {\n"
-	"                    gDst[ groupOffset + myIdx ].m_key = sortData[ie];\n"
-	"                    gDst[ groupOffset + myIdx ].m_value = sortVal[ie];\n"
-	"                }\n"
-	"#endif\n"
-	"			}\n"
-	"		}\n"
-	"		GROUP_LDS_BARRIER;\n"
-	"		if( lIdx < NUM_BUCKET )\n"
-	"		{\n"
-	"			localHistogramToCarry[lIdx] += myHistogram;\n"
-	"		}\n"
-	"		GROUP_LDS_BARRIER;\n"
-	"	}\n"
-	"}\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void SortAndScatterSortDataKernelSerial( __global const SortDataCL* restrict gSrc, __global const u32* rHistogram, __global SortDataCL* restrict gDst, int4 cb)\n"
-	"{\n"
-	"    \n"
-	"	u32 gIdx = GET_GLOBAL_IDX;\n"
-	"	u32 realLocalIdx = GET_LOCAL_IDX;\n"
-	"	u32 wgIdx = GET_GROUP_IDX;\n"
-	"	u32 wgSize = GET_GROUP_SIZE;\n"
-	"	const int startBit = cb.m_startBit;\n"
-	"	const int n = cb.m_n;\n"
-	"	const int nWGs = cb.m_nWGs;\n"
-	"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
-	"    int counter[NUM_BUCKET];\n"
-	"    \n"
-	"    if (realLocalIdx>0)\n"
-	"        return;\n"
-	"    \n"
-	"    for (int c=0;c<NUM_BUCKET;c++)\n"
-	"        counter[c]=0;\n"
-	"    const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
-	"	\n"
-	"	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;\n"
-	"   for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++)\n"
-	"  {\n"
-	"     for (int lIdx=0;lIdx<WG_SIZE;lIdx++)\n"
-	" 	{\n"
-	"        int addr2 = iblock*blockSize + blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
-	"        \n"
-	"		for(int j=0; j<ELEMENTS_PER_WORK_ITEM; j++)\n"
-	"		{\n"
-	"            int i = addr2+j;\n"
-	"			if( i < n )\n"
-	"			{\n"
-	"                int tableIdx;\n"
-	"				tableIdx = (gSrc[i].m_key>>startBit) & 0xf;//0xf = NUM_TABLES-1\n"
-	"                gDst[rHistogram[tableIdx*nWGs+wgIdx] + counter[tableIdx]] = gSrc[i];\n"
-	"                counter[tableIdx] ++;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"  }\n"
-	"    \n"
-	"}\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void SortAndScatterKernelSerial( __global const u32* restrict gSrc, __global const u32* rHistogram, __global u32* restrict gDst, int4  cb )\n"
-	"{\n"
-	"    \n"
-	"	u32 gIdx = GET_GLOBAL_IDX;\n"
-	"	u32 realLocalIdx = GET_LOCAL_IDX;\n"
-	"	u32 wgIdx = GET_GROUP_IDX;\n"
-	"	u32 wgSize = GET_GROUP_SIZE;\n"
-	"	const int startBit = cb.m_startBit;\n"
-	"	const int n = cb.m_n;\n"
-	"	const int nWGs = cb.m_nWGs;\n"
-	"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
-	"    int counter[NUM_BUCKET];\n"
-	"    \n"
-	"    if (realLocalIdx>0)\n"
-	"        return;\n"
-	"    \n"
-	"    for (int c=0;c<NUM_BUCKET;c++)\n"
-	"        counter[c]=0;\n"
-	"    const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
-	"	\n"
-	"	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;\n"
-	"   for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++)\n"
-	"  {\n"
-	"     for (int lIdx=0;lIdx<WG_SIZE;lIdx++)\n"
-	" 	{\n"
-	"        int addr2 = iblock*blockSize + blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
-	"        \n"
-	"		for(int j=0; j<ELEMENTS_PER_WORK_ITEM; j++)\n"
-	"		{\n"
-	"            int i = addr2+j;\n"
-	"			if( i < n )\n"
-	"			{\n"
-	"                int tableIdx;\n"
-	"				tableIdx = (gSrc[i]>>startBit) & 0xf;//0xf = NUM_TABLES-1\n"
-	"                gDst[rHistogram[tableIdx*nWGs+wgIdx] + counter[tableIdx]] = gSrc[i];\n"
-	"                counter[tableIdx] ++;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"  }\n"
-	"    \n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp b/thirdparty/bullet/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp
deleted file mode 100644
index 6571f30548..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp
+++ /dev/null
@@ -1,374 +0,0 @@
-
-#include "b3GpuRaycast.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h"
-
-#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
-#include "Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h"
-#include "Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.h"
-
-#include "Bullet3OpenCL/Raycast/kernels/rayCastKernels.h"
-
-#define B3_RAYCAST_PATH "src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.cl"
-
-struct b3GpuRaycastInternalData
-{
-	cl_context m_context;
-	cl_device_id m_device;
-	cl_command_queue m_q;
-	cl_kernel m_raytraceKernel;
-	cl_kernel m_raytracePairsKernel;
-	cl_kernel m_findRayRigidPairIndexRanges;
-
-	b3GpuParallelLinearBvh* m_plbvh;
-	b3RadixSort32CL* m_radixSorter;
-	b3FillCL* m_fill;
-
-	//1 element per ray
-	b3OpenCLArray<b3RayInfo>* m_gpuRays;
-	b3OpenCLArray<b3RayHit>* m_gpuHitResults;
-	b3OpenCLArray<int>* m_firstRayRigidPairIndexPerRay;
-	b3OpenCLArray<int>* m_numRayRigidPairsPerRay;
-
-	//1 element per (ray index, rigid index) pair, where the ray intersects with the rigid's AABB
-	b3OpenCLArray<int>* m_gpuNumRayRigidPairs;
-	b3OpenCLArray<b3Int2>* m_gpuRayRigidPairs;  //x == ray index, y == rigid index
-
-	int m_test;
-};
-
-b3GpuRaycast::b3GpuRaycast(cl_context ctx, cl_device_id device, cl_command_queue q)
-{
-	m_data = new b3GpuRaycastInternalData;
-	m_data->m_context = ctx;
-	m_data->m_device = device;
-	m_data->m_q = q;
-	m_data->m_raytraceKernel = 0;
-	m_data->m_raytracePairsKernel = 0;
-	m_data->m_findRayRigidPairIndexRanges = 0;
-
-	m_data->m_plbvh = new b3GpuParallelLinearBvh(ctx, device, q);
-	m_data->m_radixSorter = new b3RadixSort32CL(ctx, device, q);
-	m_data->m_fill = new b3FillCL(ctx, device, q);
-
-	m_data->m_gpuRays = new b3OpenCLArray<b3RayInfo>(ctx, q);
-	m_data->m_gpuHitResults = new b3OpenCLArray<b3RayHit>(ctx, q);
-	m_data->m_firstRayRigidPairIndexPerRay = new b3OpenCLArray<int>(ctx, q);
-	m_data->m_numRayRigidPairsPerRay = new b3OpenCLArray<int>(ctx, q);
-	m_data->m_gpuNumRayRigidPairs = new b3OpenCLArray<int>(ctx, q);
-	m_data->m_gpuRayRigidPairs = new b3OpenCLArray<b3Int2>(ctx, q);
-
-	{
-		cl_int errNum = 0;
-		cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_data->m_context, m_data->m_device, rayCastKernelCL, &errNum, "", B3_RAYCAST_PATH);
-		b3Assert(errNum == CL_SUCCESS);
-		m_data->m_raytraceKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device, rayCastKernelCL, "rayCastKernel", &errNum, prog);
-		b3Assert(errNum == CL_SUCCESS);
-		m_data->m_raytracePairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device, rayCastKernelCL, "rayCastPairsKernel", &errNum, prog);
-		b3Assert(errNum == CL_SUCCESS);
-		m_data->m_findRayRigidPairIndexRanges = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device, rayCastKernelCL, "findRayRigidPairIndexRanges", &errNum, prog);
-		b3Assert(errNum == CL_SUCCESS);
-		clReleaseProgram(prog);
-	}
-}
-
-b3GpuRaycast::~b3GpuRaycast()
-{
-	clReleaseKernel(m_data->m_raytraceKernel);
-	clReleaseKernel(m_data->m_raytracePairsKernel);
-	clReleaseKernel(m_data->m_findRayRigidPairIndexRanges);
-
-	delete m_data->m_plbvh;
-	delete m_data->m_radixSorter;
-	delete m_data->m_fill;
-
-	delete m_data->m_gpuRays;
-	delete m_data->m_gpuHitResults;
-	delete m_data->m_firstRayRigidPairIndexPerRay;
-	delete m_data->m_numRayRigidPairsPerRay;
-	delete m_data->m_gpuNumRayRigidPairs;
-	delete m_data->m_gpuRayRigidPairs;
-
-	delete m_data;
-}
-
-bool sphere_intersect(const b3Vector3& spherePos, b3Scalar radius, const b3Vector3& rayFrom, const b3Vector3& rayTo, float& hitFraction)
-{
-	b3Vector3 rs = rayFrom - spherePos;
-	b3Vector3 rayDir = rayTo - rayFrom;
-
-	float A = b3Dot(rayDir, rayDir);
-	float B = b3Dot(rs, rayDir);
-	float C = b3Dot(rs, rs) - (radius * radius);
-
-	float D = B * B - A * C;
-
-	if (D > 0.0)
-	{
-		float t = (-B - sqrt(D)) / A;
-
-		if ((t >= 0.0f) && (t < hitFraction))
-		{
-			hitFraction = t;
-			return true;
-		}
-	}
-	return false;
-}
-
-bool rayConvex(const b3Vector3& rayFromLocal, const b3Vector3& rayToLocal, const b3ConvexPolyhedronData& poly,
-			   const b3AlignedObjectArray<b3GpuFace>& faces, float& hitFraction, b3Vector3& hitNormal)
-{
-	float exitFraction = hitFraction;
-	float enterFraction = -0.1f;
-	b3Vector3 curHitNormal = b3MakeVector3(0, 0, 0);
-	for (int i = 0; i < poly.m_numFaces; i++)
-	{
-		const b3GpuFace& face = faces[poly.m_faceOffset + i];
-		float fromPlaneDist = b3Dot(rayFromLocal, face.m_plane) + face.m_plane.w;
-		float toPlaneDist = b3Dot(rayToLocal, face.m_plane) + face.m_plane.w;
-		if (fromPlaneDist < 0.f)
-		{
-			if (toPlaneDist >= 0.f)
-			{
-				float fraction = fromPlaneDist / (fromPlaneDist - toPlaneDist);
-				if (exitFraction > fraction)
-				{
-					exitFraction = fraction;
-				}
-			}
-		}
-		else
-		{
-			if (toPlaneDist < 0.f)
-			{
-				float fraction = fromPlaneDist / (fromPlaneDist - toPlaneDist);
-				if (enterFraction <= fraction)
-				{
-					enterFraction = fraction;
-					curHitNormal = face.m_plane;
-					curHitNormal.w = 0.f;
-				}
-			}
-			else
-			{
-				return false;
-			}
-		}
-		if (exitFraction <= enterFraction)
-			return false;
-	}
-
-	if (enterFraction < 0.f)
-		return false;
-
-	hitFraction = enterFraction;
-	hitNormal = curHitNormal;
-	return true;
-}
-
-void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults,
-								int numBodies, const struct b3RigidBodyData* bodies, int numCollidables, const struct b3Collidable* collidables, const struct b3GpuNarrowPhaseInternalData* narrowphaseData)
-{
-	//	return castRays(rays,hitResults,numBodies,bodies,numCollidables,collidables);
-
-	B3_PROFILE("castRaysHost");
-	for (int r = 0; r < rays.size(); r++)
-	{
-		b3Vector3 rayFrom = rays[r].m_from;
-		b3Vector3 rayTo = rays[r].m_to;
-		float hitFraction = hitResults[r].m_hitFraction;
-
-		int hitBodyIndex = -1;
-		b3Vector3 hitNormal;
-
-		for (int b = 0; b < numBodies; b++)
-		{
-			const b3Vector3& pos = bodies[b].m_pos;
-			//const b3Quaternion& orn = bodies[b].m_quat;
-
-			switch (collidables[bodies[b].m_collidableIdx].m_shapeType)
-			{
-				case SHAPE_SPHERE:
-				{
-					b3Scalar radius = collidables[bodies[b].m_collidableIdx].m_radius;
-					if (sphere_intersect(pos, radius, rayFrom, rayTo, hitFraction))
-					{
-						hitBodyIndex = b;
-						b3Vector3 hitPoint;
-						hitPoint.setInterpolate3(rays[r].m_from, rays[r].m_to, hitFraction);
-						hitNormal = (hitPoint - bodies[b].m_pos).normalize();
-					}
-				}
-				case SHAPE_CONVEX_HULL:
-				{
-					b3Transform convexWorldTransform;
-					convexWorldTransform.setIdentity();
-					convexWorldTransform.setOrigin(bodies[b].m_pos);
-					convexWorldTransform.setRotation(bodies[b].m_quat);
-					b3Transform convexWorld2Local = convexWorldTransform.inverse();
-
-					b3Vector3 rayFromLocal = convexWorld2Local(rayFrom);
-					b3Vector3 rayToLocal = convexWorld2Local(rayTo);
-
-					int shapeIndex = collidables[bodies[b].m_collidableIdx].m_shapeIndex;
-					const b3ConvexPolyhedronData& poly = narrowphaseData->m_convexPolyhedra[shapeIndex];
-					if (rayConvex(rayFromLocal, rayToLocal, poly, narrowphaseData->m_convexFaces, hitFraction, hitNormal))
-					{
-						hitBodyIndex = b;
-					}
-
-					break;
-				}
-				default:
-				{
-					static bool once = true;
-					if (once)
-					{
-						once = false;
-						b3Warning("Raytest: unsupported shape type\n");
-					}
-				}
-			}
-		}
-		if (hitBodyIndex >= 0)
-		{
-			hitResults[r].m_hitFraction = hitFraction;
-			hitResults[r].m_hitPoint.setInterpolate3(rays[r].m_from, rays[r].m_to, hitFraction);
-			hitResults[r].m_hitNormal = hitNormal;
-			hitResults[r].m_hitBody = hitBodyIndex;
-		}
-	}
-}
-///todo: add some acceleration structure (AABBs, tree etc)
-void b3GpuRaycast::castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults,
-							int numBodies, const struct b3RigidBodyData* bodies, int numCollidables, const struct b3Collidable* collidables,
-							const struct b3GpuNarrowPhaseInternalData* narrowphaseData, class b3GpuBroadphaseInterface* broadphase)
-{
-	//castRaysHost(rays,hitResults,numBodies,bodies,numCollidables,collidables,narrowphaseData);
-
-	B3_PROFILE("castRaysGPU");
-
-	{
-		B3_PROFILE("raycast copyFromHost");
-		m_data->m_gpuRays->copyFromHost(rays);
-		m_data->m_gpuHitResults->copyFromHost(hitResults);
-	}
-
-	int numRays = hitResults.size();
-	{
-		m_data->m_firstRayRigidPairIndexPerRay->resize(numRays);
-		m_data->m_numRayRigidPairsPerRay->resize(numRays);
-
-		m_data->m_gpuNumRayRigidPairs->resize(1);
-		m_data->m_gpuRayRigidPairs->resize(numRays * 16);
-	}
-
-	//run kernel
-	const bool USE_BRUTE_FORCE_RAYCAST = false;
-	if (USE_BRUTE_FORCE_RAYCAST)
-	{
-		B3_PROFILE("raycast launch1D");
-
-		b3LauncherCL launcher(m_data->m_q, m_data->m_raytraceKernel, "m_raytraceKernel");
-		int numRays = rays.size();
-		launcher.setConst(numRays);
-
-		launcher.setBuffer(m_data->m_gpuRays->getBufferCL());
-		launcher.setBuffer(m_data->m_gpuHitResults->getBufferCL());
-
-		launcher.setConst(numBodies);
-		launcher.setBuffer(narrowphaseData->m_bodyBufferGPU->getBufferCL());
-		launcher.setBuffer(narrowphaseData->m_collidablesGPU->getBufferCL());
-		launcher.setBuffer(narrowphaseData->m_convexFacesGPU->getBufferCL());
-		launcher.setBuffer(narrowphaseData->m_convexPolyhedraGPU->getBufferCL());
-
-		launcher.launch1D(numRays);
-		clFinish(m_data->m_q);
-	}
-	else
-	{
-		m_data->m_plbvh->build(broadphase->getAllAabbsGPU(), broadphase->getSmallAabbIndicesGPU(), broadphase->getLargeAabbIndicesGPU());
-
-		m_data->m_plbvh->testRaysAgainstBvhAabbs(*m_data->m_gpuRays, *m_data->m_gpuNumRayRigidPairs, *m_data->m_gpuRayRigidPairs);
-
-		int numRayRigidPairs = -1;
-		m_data->m_gpuNumRayRigidPairs->copyToHostPointer(&numRayRigidPairs, 1);
-		if (numRayRigidPairs > m_data->m_gpuRayRigidPairs->size())
-		{
-			numRayRigidPairs = m_data->m_gpuRayRigidPairs->size();
-			m_data->m_gpuNumRayRigidPairs->copyFromHostPointer(&numRayRigidPairs, 1);
-		}
-
-		m_data->m_gpuRayRigidPairs->resize(numRayRigidPairs);  //Radix sort needs b3OpenCLArray::size() to be correct
-
-		//Sort ray-rigid pairs by ray index
-		{
-			B3_PROFILE("sort ray-rigid pairs");
-			m_data->m_radixSorter->execute(*reinterpret_cast<b3OpenCLArray<b3SortData>*>(m_data->m_gpuRayRigidPairs));
-		}
-
-		//detect start,count of each ray pair
-		{
-			B3_PROFILE("detect ray-rigid pair index ranges");
-
-			{
-				B3_PROFILE("reset ray-rigid pair index ranges");
-
-				m_data->m_fill->execute(*m_data->m_firstRayRigidPairIndexPerRay, numRayRigidPairs, numRays);  //atomic_min used to find first index
-				m_data->m_fill->execute(*m_data->m_numRayRigidPairsPerRay, 0, numRays);
-				clFinish(m_data->m_q);
-			}
-
-			b3BufferInfoCL bufferInfo[] =
-				{
-					b3BufferInfoCL(m_data->m_gpuRayRigidPairs->getBufferCL()),
-
-					b3BufferInfoCL(m_data->m_firstRayRigidPairIndexPerRay->getBufferCL()),
-					b3BufferInfoCL(m_data->m_numRayRigidPairsPerRay->getBufferCL())};
-
-			b3LauncherCL launcher(m_data->m_q, m_data->m_findRayRigidPairIndexRanges, "m_findRayRigidPairIndexRanges");
-			launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(numRayRigidPairs);
-
-			launcher.launch1D(numRayRigidPairs);
-			clFinish(m_data->m_q);
-		}
-
-		{
-			B3_PROFILE("ray-rigid intersection");
-
-			b3BufferInfoCL bufferInfo[] =
-				{
-					b3BufferInfoCL(m_data->m_gpuRays->getBufferCL()),
-					b3BufferInfoCL(m_data->m_gpuHitResults->getBufferCL()),
-					b3BufferInfoCL(m_data->m_firstRayRigidPairIndexPerRay->getBufferCL()),
-					b3BufferInfoCL(m_data->m_numRayRigidPairsPerRay->getBufferCL()),
-
-					b3BufferInfoCL(narrowphaseData->m_bodyBufferGPU->getBufferCL()),
-					b3BufferInfoCL(narrowphaseData->m_collidablesGPU->getBufferCL()),
-					b3BufferInfoCL(narrowphaseData->m_convexFacesGPU->getBufferCL()),
-					b3BufferInfoCL(narrowphaseData->m_convexPolyhedraGPU->getBufferCL()),
-
-					b3BufferInfoCL(m_data->m_gpuRayRigidPairs->getBufferCL())};
-
-			b3LauncherCL launcher(m_data->m_q, m_data->m_raytracePairsKernel, "m_raytracePairsKernel");
-			launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(numRays);
-
-			launcher.launch1D(numRays);
-			clFinish(m_data->m_q);
-		}
-	}
-
-	//copy results
-	{
-		B3_PROFILE("raycast copyToHost");
-		m_data->m_gpuHitResults->copyToHost(hitResults);
-	}
-}
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/Raycast/b3GpuRaycast.h b/thirdparty/bullet/Bullet3OpenCL/Raycast/b3GpuRaycast.h
deleted file mode 100644
index f1f6ffd402..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/Raycast/b3GpuRaycast.h
+++ /dev/null
@@ -1,28 +0,0 @@
-#ifndef B3_GPU_RAYCAST_H
-#define B3_GPU_RAYCAST_H
-
-#include "Bullet3Common/b3Vector3.h"
-#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
-
-#include "Bullet3Common/b3AlignedObjectArray.h"
-#include "Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h"
-
-class b3GpuRaycast
-{
-protected:
-	struct b3GpuRaycastInternalData* m_data;
-
-public:
-	b3GpuRaycast(cl_context ctx, cl_device_id device, cl_command_queue q);
-	virtual ~b3GpuRaycast();
-
-	void castRaysHost(const b3AlignedObjectArray<b3RayInfo>& raysIn, b3AlignedObjectArray<b3RayHit>& hitResults,
-					  int numBodies, const struct b3RigidBodyData* bodies, int numCollidables, const struct b3Collidable* collidables,
-					  const struct b3GpuNarrowPhaseInternalData* narrowphaseData);
-
-	void castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults,
-				  int numBodies, const struct b3RigidBodyData* bodies, int numCollidables, const struct b3Collidable* collidables,
-				  const struct b3GpuNarrowPhaseInternalData* narrowphaseData, class b3GpuBroadphaseInterface* broadphase);
-};
-
-#endif  //B3_GPU_RAYCAST_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/Raycast/kernels/rayCastKernels.cl b/thirdparty/bullet/Bullet3OpenCL/Raycast/kernels/rayCastKernels.cl
deleted file mode 100644
index e72d96876b..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/Raycast/kernels/rayCastKernels.cl
+++ /dev/null
@@ -1,439 +0,0 @@
-
-#define SHAPE_CONVEX_HULL 3
-#define SHAPE_PLANE 4
-#define SHAPE_CONCAVE_TRIMESH 5
-#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6
-#define SHAPE_SPHERE 7
-
-
-typedef struct
-{
-	float4 m_from;
-	float4 m_to;
-} b3RayInfo;
-
-typedef struct
-{
-	float m_hitFraction;
-	int	m_hitResult0;
-	int	m_hitResult1;
-	int	m_hitResult2;
-	float4	m_hitPoint;
-	float4	m_hitNormal;
-} b3RayHit;
-
-typedef struct
-{
-	float4 m_pos;
-	float4 m_quat;
-	float4 m_linVel;
-	float4 m_angVel;
-
-	unsigned int m_collidableIdx;
-	float m_invMass;
-	float m_restituitionCoeff;
-	float m_frictionCoeff;
-} Body;
-
-typedef struct Collidable
-{
-	union {
-		int m_numChildShapes;
-		int m_bvhIndex;
-	};
-	float m_radius;
-	int m_shapeType;
-	int m_shapeIndex;
-} Collidable;
-
-
-typedef struct  
-{
-	float4		m_localCenter;
-	float4		m_extents;
-	float4		mC;
-	float4		mE;
-
-	float			m_radius;
-	int	m_faceOffset;
-	int m_numFaces;
-	int	m_numVertices;
-
-	int m_vertexOffset;
-	int	m_uniqueEdgesOffset;
-	int	m_numUniqueEdges;
-	int m_unused;
-
-} ConvexPolyhedronCL;
-
-typedef struct
-{
-	float4 m_plane;
-	int m_indexOffset;
-	int m_numIndices;
-} b3GpuFace;
-
-
-
-///////////////////////////////////////
-//	Quaternion
-///////////////////////////////////////
-
-typedef float4 Quaternion;
-
-__inline
-	Quaternion qtMul(Quaternion a, Quaternion b);
-
-__inline
-	Quaternion qtNormalize(Quaternion in);
-
-
-__inline
-	Quaternion qtInvert(Quaternion q);
-
-
-__inline
-	float dot3F4(float4 a, float4 b)
-{
-	float4 a1 = (float4)(a.xyz,0.f);
-	float4 b1 = (float4)(b.xyz,0.f);
-	return dot(a1, b1);
-}
-
-
-__inline
-	Quaternion qtMul(Quaternion a, Quaternion b)
-{
-	Quaternion ans;
-	ans = cross( a, b );
-	ans += a.w*b+b.w*a;
-	//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
-	ans.w = a.w*b.w - dot3F4(a, b);
-	return ans;
-}
-
-__inline
-	Quaternion qtNormalize(Quaternion in)
-{
-	return fast_normalize(in);
-	//	in /= length( in );
-	//	return in;
-}
-__inline
-	float4 qtRotate(Quaternion q, float4 vec)
-{
-	Quaternion qInv = qtInvert( q );
-	float4 vcpy = vec;
-	vcpy.w = 0.f;
-	float4 out = qtMul(q,vcpy);
-	out = qtMul(out,qInv);
-	return out;
-}
-
-__inline
-	Quaternion qtInvert(Quaternion q)
-{
-	return (Quaternion)(-q.xyz, q.w);
-}
-
-__inline
-	float4 qtInvRotate(const Quaternion q, float4 vec)
-{
-	return qtRotate( qtInvert( q ), vec );
-}
-
-
-
-void	trInverse(float4 translationIn, Quaternion orientationIn,
-	float4* translationOut, Quaternion* orientationOut)
-{
-	*orientationOut = qtInvert(orientationIn);
-	*translationOut = qtRotate(*orientationOut, -translationIn);
-}
-
-
-
-
-
-bool rayConvex(float4 rayFromLocal, float4 rayToLocal, int numFaces, int faceOffset,
-	__global const b3GpuFace* faces, float* hitFraction, float4* hitNormal)
-{
-	rayFromLocal.w = 0.f;
-	rayToLocal.w = 0.f;
-	bool result = true;
-
-	float exitFraction = hitFraction[0];
-	float enterFraction = -0.3f;
-	float4 curHitNormal = (float4)(0,0,0,0);
-	for (int i=0;i<numFaces && result;i++)
-	{
-		b3GpuFace face = faces[faceOffset+i];
-		float fromPlaneDist = dot(rayFromLocal,face.m_plane)+face.m_plane.w;
-		float toPlaneDist = dot(rayToLocal,face.m_plane)+face.m_plane.w;
-		if (fromPlaneDist<0.f)
-		{
-			if (toPlaneDist >= 0.f)
-			{
-				float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);
-				if (exitFraction>fraction)
-				{
-					exitFraction = fraction;
-				}
-			} 			
-		} else
-		{
-			if (toPlaneDist<0.f)
-			{
-				float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);
-				if (enterFraction <= fraction)
-				{
-					enterFraction = fraction;
-					curHitNormal = face.m_plane;
-					curHitNormal.w = 0.f;
-				}
-			} else
-			{
-				result = false;
-			}
-		}
-		if (exitFraction <= enterFraction)
-			result = false;
-	}
-
-	if (enterFraction < 0.f)
-	{
-		result = false;
-	}
-
-	if (result)
-	{	
-		hitFraction[0] = enterFraction;
-		hitNormal[0] = curHitNormal;
-	}
-	return result;
-}
-
-
-
-
-
-
-bool sphere_intersect(float4 spherePos,  float radius, float4 rayFrom, float4 rayTo, float* hitFraction)
-{
-	float4 rs = rayFrom - spherePos;
-	rs.w = 0.f;
-	float4 rayDir = rayTo-rayFrom;
-	rayDir.w = 0.f;
-	float A = dot(rayDir,rayDir);
-	float B = dot(rs, rayDir);
-	float C = dot(rs, rs) - (radius * radius);
-
-	float D = B * B - A*C;
-
-	if (D > 0.0f)
-	{
-		float t = (-B - sqrt(D))/A;
-
-		if ( (t >= 0.0f) && (t < (*hitFraction)) )
-		{
-			*hitFraction = t;
-			return true;
-		}
-	}
-	return false;
-}
-
-float4 setInterpolate3(float4 from, float4 to, float t)
-{
-	float s = 1.0f - t;
-	float4 result;
-	result = s * from + t * to;
-	result.w = 0.f;	
-	return result;	
-}
-
-__kernel void rayCastKernel(  
-	int numRays, 
-	const __global b3RayInfo* rays, 
-	__global b3RayHit* hitResults, 
-	const int numBodies, 
-	__global Body* bodies,
-	__global Collidable* collidables,
-	__global const b3GpuFace* faces,
-	__global const ConvexPolyhedronCL* convexShapes	)
-{
-
-	int i = get_global_id(0);
-	if (i>=numRays)
-		return;
-
-	hitResults[i].m_hitFraction = 1.f;
-
-	float4 rayFrom = rays[i].m_from;
-	float4 rayTo = rays[i].m_to;
-	float hitFraction = 1.f;
-	float4 hitPoint;
-	float4 hitNormal;
-	int hitBodyIndex= -1;
-
-	int cachedCollidableIndex = -1;
-	Collidable cachedCollidable;
-
-	for (int b=0;b<numBodies;b++)
-	{
-		if (hitResults[i].m_hitResult2==b)
-			continue;
-		Body body = bodies[b];
-		float4 pos = body.m_pos;
-		float4 orn = body.m_quat;
-		if (cachedCollidableIndex != body.m_collidableIdx)
-		{
-			cachedCollidableIndex = body.m_collidableIdx;
-			cachedCollidable = collidables[cachedCollidableIndex];
-		}
-		if (cachedCollidable.m_shapeType == SHAPE_CONVEX_HULL)
-		{
-
-			float4 invPos = (float4)(0,0,0,0);
-			float4 invOrn = (float4)(0,0,0,0);
-			float4 rayFromLocal = (float4)(0,0,0,0);
-			float4 rayToLocal = (float4)(0,0,0,0);
-			invOrn = qtInvert(orn);
-			invPos = qtRotate(invOrn, -pos);
-			rayFromLocal = qtRotate( invOrn, rayFrom ) + invPos;
-			rayToLocal = qtRotate( invOrn, rayTo) + invPos;
-			rayFromLocal.w = 0.f;
-			rayToLocal.w = 0.f;
-			int numFaces = convexShapes[cachedCollidable.m_shapeIndex].m_numFaces;
-			int faceOffset = convexShapes[cachedCollidable.m_shapeIndex].m_faceOffset;
-			if (numFaces)
-			{
-				if (rayConvex(rayFromLocal, rayToLocal, numFaces, faceOffset,faces, &hitFraction, &hitNormal))
-				{
-					hitBodyIndex = b;
-					
-				}
-			}
-		}
-		if (cachedCollidable.m_shapeType == SHAPE_SPHERE)
-		{
-			float radius = cachedCollidable.m_radius;
-		
-			if (sphere_intersect(pos,  radius, rayFrom, rayTo, &hitFraction))
-			{
-				hitBodyIndex = b;
-				hitNormal = (float4) (hitPoint-bodies[b].m_pos);
-			}
-		}
-	}
-
-	if (hitBodyIndex>=0)
-	{
-		hitPoint = setInterpolate3(rayFrom, rayTo,hitFraction);
-		hitResults[i].m_hitFraction = hitFraction;
-		hitResults[i].m_hitPoint = hitPoint;
-		hitResults[i].m_hitNormal = normalize(hitNormal);
-		hitResults[i].m_hitResult0 = hitBodyIndex;
-	}
-
-}
-
-
-__kernel void findRayRigidPairIndexRanges(__global int2* rayRigidPairs, 
-											__global int* out_firstRayRigidPairIndexPerRay,
-											__global int* out_numRayRigidPairsPerRay,
-											int numRayRigidPairs)
-{
-	int rayRigidPairIndex = get_global_id(0);
-	if (rayRigidPairIndex >= numRayRigidPairs) return;
-	
-	int rayIndex = rayRigidPairs[rayRigidPairIndex].x;
-	
-	atomic_min(&out_firstRayRigidPairIndexPerRay[rayIndex], rayRigidPairIndex);
-	atomic_inc(&out_numRayRigidPairsPerRay[rayIndex]);
-}
-
-__kernel void rayCastPairsKernel(const __global b3RayInfo* rays, 
-								__global b3RayHit* hitResults, 
-								__global int* firstRayRigidPairIndexPerRay,
-								__global int* numRayRigidPairsPerRay,
-									
-								__global Body* bodies,
-								__global Collidable* collidables,
-								__global const b3GpuFace* faces,
-								__global const ConvexPolyhedronCL* convexShapes,
-								
-								__global int2* rayRigidPairs,
-								int numRays)
-{
-	int i = get_global_id(0);
-	if (i >= numRays) return;
-	
-	float4 rayFrom = rays[i].m_from;
-	float4 rayTo = rays[i].m_to;
-		
-	hitResults[i].m_hitFraction = 1.f;
-		
-	float hitFraction = 1.f;
-	float4 hitPoint;
-	float4 hitNormal;
-	int hitBodyIndex = -1;
-		
-	//
-	for(int pair = 0; pair < numRayRigidPairsPerRay[i]; ++pair)
-	{
-		int rayRigidPairIndex = pair + firstRayRigidPairIndexPerRay[i];
-		int b = rayRigidPairs[rayRigidPairIndex].y;
-		
-		if (hitResults[i].m_hitResult2 == b) continue;
-		
-		Body body = bodies[b];
-		Collidable rigidCollidable = collidables[body.m_collidableIdx];
-		
-		float4 pos = body.m_pos;
-		float4 orn = body.m_quat;
-		
-		if (rigidCollidable.m_shapeType == SHAPE_CONVEX_HULL)
-		{
-			float4 invPos = (float4)(0,0,0,0);
-			float4 invOrn = (float4)(0,0,0,0);
-			float4 rayFromLocal = (float4)(0,0,0,0);
-			float4 rayToLocal = (float4)(0,0,0,0);
-			invOrn = qtInvert(orn);
-			invPos = qtRotate(invOrn, -pos);
-			rayFromLocal = qtRotate( invOrn, rayFrom ) + invPos;
-			rayToLocal = qtRotate( invOrn, rayTo) + invPos;
-			rayFromLocal.w = 0.f;
-			rayToLocal.w = 0.f;
-			int numFaces = convexShapes[rigidCollidable.m_shapeIndex].m_numFaces;
-			int faceOffset = convexShapes[rigidCollidable.m_shapeIndex].m_faceOffset;
-			
-			if (numFaces && rayConvex(rayFromLocal, rayToLocal, numFaces, faceOffset,faces, &hitFraction, &hitNormal))
-			{
-				hitBodyIndex = b;
-				hitPoint = setInterpolate3(rayFrom, rayTo, hitFraction);
-			}
-		}
-		
-		if (rigidCollidable.m_shapeType == SHAPE_SPHERE)
-		{
-			float radius = rigidCollidable.m_radius;
-		
-			if (sphere_intersect(pos, radius, rayFrom, rayTo, &hitFraction))
-			{
-				hitBodyIndex = b;
-				hitPoint = setInterpolate3(rayFrom, rayTo, hitFraction);
-				hitNormal = (float4) (hitPoint - bodies[b].m_pos);
-			}
-		}
-	}
-	
-	if (hitBodyIndex >= 0)
-	{
-		hitResults[i].m_hitFraction = hitFraction;
-		hitResults[i].m_hitPoint = hitPoint;
-		hitResults[i].m_hitNormal = normalize(hitNormal);
-		hitResults[i].m_hitResult0 = hitBodyIndex;
-	}
-	
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h b/thirdparty/bullet/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h
deleted file mode 100644
index 94f6a8eb9f..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h
+++ /dev/null
@@ -1,380 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* rayCastKernelCL =
-	"#define SHAPE_CONVEX_HULL 3\n"
-	"#define SHAPE_PLANE 4\n"
-	"#define SHAPE_CONCAVE_TRIMESH 5\n"
-	"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
-	"#define SHAPE_SPHERE 7\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_from;\n"
-	"	float4 m_to;\n"
-	"} b3RayInfo;\n"
-	"typedef struct\n"
-	"{\n"
-	"	float m_hitFraction;\n"
-	"	int	m_hitResult0;\n"
-	"	int	m_hitResult1;\n"
-	"	int	m_hitResult2;\n"
-	"	float4	m_hitPoint;\n"
-	"	float4	m_hitNormal;\n"
-	"} b3RayHit;\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_pos;\n"
-	"	float4 m_quat;\n"
-	"	float4 m_linVel;\n"
-	"	float4 m_angVel;\n"
-	"	unsigned int m_collidableIdx;\n"
-	"	float m_invMass;\n"
-	"	float m_restituitionCoeff;\n"
-	"	float m_frictionCoeff;\n"
-	"} Body;\n"
-	"typedef struct Collidable\n"
-	"{\n"
-	"	union {\n"
-	"		int m_numChildShapes;\n"
-	"		int m_bvhIndex;\n"
-	"	};\n"
-	"	float m_radius;\n"
-	"	int m_shapeType;\n"
-	"	int m_shapeIndex;\n"
-	"} Collidable;\n"
-	"typedef struct  \n"
-	"{\n"
-	"	float4		m_localCenter;\n"
-	"	float4		m_extents;\n"
-	"	float4		mC;\n"
-	"	float4		mE;\n"
-	"	float			m_radius;\n"
-	"	int	m_faceOffset;\n"
-	"	int m_numFaces;\n"
-	"	int	m_numVertices;\n"
-	"	int m_vertexOffset;\n"
-	"	int	m_uniqueEdgesOffset;\n"
-	"	int	m_numUniqueEdges;\n"
-	"	int m_unused;\n"
-	"} ConvexPolyhedronCL;\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_plane;\n"
-	"	int m_indexOffset;\n"
-	"	int m_numIndices;\n"
-	"} b3GpuFace;\n"
-	"///////////////////////////////////////\n"
-	"//	Quaternion\n"
-	"///////////////////////////////////////\n"
-	"typedef float4 Quaternion;\n"
-	"__inline\n"
-	"	Quaternion qtMul(Quaternion a, Quaternion b);\n"
-	"__inline\n"
-	"	Quaternion qtNormalize(Quaternion in);\n"
-	"__inline\n"
-	"	Quaternion qtInvert(Quaternion q);\n"
-	"__inline\n"
-	"	float dot3F4(float4 a, float4 b)\n"
-	"{\n"
-	"	float4 a1 = (float4)(a.xyz,0.f);\n"
-	"	float4 b1 = (float4)(b.xyz,0.f);\n"
-	"	return dot(a1, b1);\n"
-	"}\n"
-	"__inline\n"
-	"	Quaternion qtMul(Quaternion a, Quaternion b)\n"
-	"{\n"
-	"	Quaternion ans;\n"
-	"	ans = cross( a, b );\n"
-	"	ans += a.w*b+b.w*a;\n"
-	"	//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-	"	ans.w = a.w*b.w - dot3F4(a, b);\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"	Quaternion qtNormalize(Quaternion in)\n"
-	"{\n"
-	"	return fast_normalize(in);\n"
-	"	//	in /= length( in );\n"
-	"	//	return in;\n"
-	"}\n"
-	"__inline\n"
-	"	float4 qtRotate(Quaternion q, float4 vec)\n"
-	"{\n"
-	"	Quaternion qInv = qtInvert( q );\n"
-	"	float4 vcpy = vec;\n"
-	"	vcpy.w = 0.f;\n"
-	"	float4 out = qtMul(q,vcpy);\n"
-	"	out = qtMul(out,qInv);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"	Quaternion qtInvert(Quaternion q)\n"
-	"{\n"
-	"	return (Quaternion)(-q.xyz, q.w);\n"
-	"}\n"
-	"__inline\n"
-	"	float4 qtInvRotate(const Quaternion q, float4 vec)\n"
-	"{\n"
-	"	return qtRotate( qtInvert( q ), vec );\n"
-	"}\n"
-	"void	trInverse(float4 translationIn, Quaternion orientationIn,\n"
-	"	float4* translationOut, Quaternion* orientationOut)\n"
-	"{\n"
-	"	*orientationOut = qtInvert(orientationIn);\n"
-	"	*translationOut = qtRotate(*orientationOut, -translationIn);\n"
-	"}\n"
-	"bool rayConvex(float4 rayFromLocal, float4 rayToLocal, int numFaces, int faceOffset,\n"
-	"	__global const b3GpuFace* faces, float* hitFraction, float4* hitNormal)\n"
-	"{\n"
-	"	rayFromLocal.w = 0.f;\n"
-	"	rayToLocal.w = 0.f;\n"
-	"	bool result = true;\n"
-	"	float exitFraction = hitFraction[0];\n"
-	"	float enterFraction = -0.3f;\n"
-	"	float4 curHitNormal = (float4)(0,0,0,0);\n"
-	"	for (int i=0;i<numFaces && result;i++)\n"
-	"	{\n"
-	"		b3GpuFace face = faces[faceOffset+i];\n"
-	"		float fromPlaneDist = dot(rayFromLocal,face.m_plane)+face.m_plane.w;\n"
-	"		float toPlaneDist = dot(rayToLocal,face.m_plane)+face.m_plane.w;\n"
-	"		if (fromPlaneDist<0.f)\n"
-	"		{\n"
-	"			if (toPlaneDist >= 0.f)\n"
-	"			{\n"
-	"				float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);\n"
-	"				if (exitFraction>fraction)\n"
-	"				{\n"
-	"					exitFraction = fraction;\n"
-	"				}\n"
-	"			} 			\n"
-	"		} else\n"
-	"		{\n"
-	"			if (toPlaneDist<0.f)\n"
-	"			{\n"
-	"				float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);\n"
-	"				if (enterFraction <= fraction)\n"
-	"				{\n"
-	"					enterFraction = fraction;\n"
-	"					curHitNormal = face.m_plane;\n"
-	"					curHitNormal.w = 0.f;\n"
-	"				}\n"
-	"			} else\n"
-	"			{\n"
-	"				result = false;\n"
-	"			}\n"
-	"		}\n"
-	"		if (exitFraction <= enterFraction)\n"
-	"			result = false;\n"
-	"	}\n"
-	"	if (enterFraction < 0.f)\n"
-	"	{\n"
-	"		result = false;\n"
-	"	}\n"
-	"	if (result)\n"
-	"	{	\n"
-	"		hitFraction[0] = enterFraction;\n"
-	"		hitNormal[0] = curHitNormal;\n"
-	"	}\n"
-	"	return result;\n"
-	"}\n"
-	"bool sphere_intersect(float4 spherePos,  float radius, float4 rayFrom, float4 rayTo, float* hitFraction)\n"
-	"{\n"
-	"	float4 rs = rayFrom - spherePos;\n"
-	"	rs.w = 0.f;\n"
-	"	float4 rayDir = rayTo-rayFrom;\n"
-	"	rayDir.w = 0.f;\n"
-	"	float A = dot(rayDir,rayDir);\n"
-	"	float B = dot(rs, rayDir);\n"
-	"	float C = dot(rs, rs) - (radius * radius);\n"
-	"	float D = B * B - A*C;\n"
-	"	if (D > 0.0f)\n"
-	"	{\n"
-	"		float t = (-B - sqrt(D))/A;\n"
-	"		if ( (t >= 0.0f) && (t < (*hitFraction)) )\n"
-	"		{\n"
-	"			*hitFraction = t;\n"
-	"			return true;\n"
-	"		}\n"
-	"	}\n"
-	"	return false;\n"
-	"}\n"
-	"float4 setInterpolate3(float4 from, float4 to, float t)\n"
-	"{\n"
-	"	float s = 1.0f - t;\n"
-	"	float4 result;\n"
-	"	result = s * from + t * to;\n"
-	"	result.w = 0.f;	\n"
-	"	return result;	\n"
-	"}\n"
-	"__kernel void rayCastKernel(  \n"
-	"	int numRays, \n"
-	"	const __global b3RayInfo* rays, \n"
-	"	__global b3RayHit* hitResults, \n"
-	"	const int numBodies, \n"
-	"	__global Body* bodies,\n"
-	"	__global Collidable* collidables,\n"
-	"	__global const b3GpuFace* faces,\n"
-	"	__global const ConvexPolyhedronCL* convexShapes	)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	if (i>=numRays)\n"
-	"		return;\n"
-	"	hitResults[i].m_hitFraction = 1.f;\n"
-	"	float4 rayFrom = rays[i].m_from;\n"
-	"	float4 rayTo = rays[i].m_to;\n"
-	"	float hitFraction = 1.f;\n"
-	"	float4 hitPoint;\n"
-	"	float4 hitNormal;\n"
-	"	int hitBodyIndex= -1;\n"
-	"	int cachedCollidableIndex = -1;\n"
-	"	Collidable cachedCollidable;\n"
-	"	for (int b=0;b<numBodies;b++)\n"
-	"	{\n"
-	"		if (hitResults[i].m_hitResult2==b)\n"
-	"			continue;\n"
-	"		Body body = bodies[b];\n"
-	"		float4 pos = body.m_pos;\n"
-	"		float4 orn = body.m_quat;\n"
-	"		if (cachedCollidableIndex != body.m_collidableIdx)\n"
-	"		{\n"
-	"			cachedCollidableIndex = body.m_collidableIdx;\n"
-	"			cachedCollidable = collidables[cachedCollidableIndex];\n"
-	"		}\n"
-	"		if (cachedCollidable.m_shapeType == SHAPE_CONVEX_HULL)\n"
-	"		{\n"
-	"			float4 invPos = (float4)(0,0,0,0);\n"
-	"			float4 invOrn = (float4)(0,0,0,0);\n"
-	"			float4 rayFromLocal = (float4)(0,0,0,0);\n"
-	"			float4 rayToLocal = (float4)(0,0,0,0);\n"
-	"			invOrn = qtInvert(orn);\n"
-	"			invPos = qtRotate(invOrn, -pos);\n"
-	"			rayFromLocal = qtRotate( invOrn, rayFrom ) + invPos;\n"
-	"			rayToLocal = qtRotate( invOrn, rayTo) + invPos;\n"
-	"			rayFromLocal.w = 0.f;\n"
-	"			rayToLocal.w = 0.f;\n"
-	"			int numFaces = convexShapes[cachedCollidable.m_shapeIndex].m_numFaces;\n"
-	"			int faceOffset = convexShapes[cachedCollidable.m_shapeIndex].m_faceOffset;\n"
-	"			if (numFaces)\n"
-	"			{\n"
-	"				if (rayConvex(rayFromLocal, rayToLocal, numFaces, faceOffset,faces, &hitFraction, &hitNormal))\n"
-	"				{\n"
-	"					hitBodyIndex = b;\n"
-	"					\n"
-	"				}\n"
-	"			}\n"
-	"		}\n"
-	"		if (cachedCollidable.m_shapeType == SHAPE_SPHERE)\n"
-	"		{\n"
-	"			float radius = cachedCollidable.m_radius;\n"
-	"		\n"
-	"			if (sphere_intersect(pos,  radius, rayFrom, rayTo, &hitFraction))\n"
-	"			{\n"
-	"				hitBodyIndex = b;\n"
-	"				hitNormal = (float4) (hitPoint-bodies[b].m_pos);\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	if (hitBodyIndex>=0)\n"
-	"	{\n"
-	"		hitPoint = setInterpolate3(rayFrom, rayTo,hitFraction);\n"
-	"		hitResults[i].m_hitFraction = hitFraction;\n"
-	"		hitResults[i].m_hitPoint = hitPoint;\n"
-	"		hitResults[i].m_hitNormal = normalize(hitNormal);\n"
-	"		hitResults[i].m_hitResult0 = hitBodyIndex;\n"
-	"	}\n"
-	"}\n"
-	"__kernel void findRayRigidPairIndexRanges(__global int2* rayRigidPairs, \n"
-	"											__global int* out_firstRayRigidPairIndexPerRay,\n"
-	"											__global int* out_numRayRigidPairsPerRay,\n"
-	"											int numRayRigidPairs)\n"
-	"{\n"
-	"	int rayRigidPairIndex = get_global_id(0);\n"
-	"	if (rayRigidPairIndex >= numRayRigidPairs) return;\n"
-	"	\n"
-	"	int rayIndex = rayRigidPairs[rayRigidPairIndex].x;\n"
-	"	\n"
-	"	atomic_min(&out_firstRayRigidPairIndexPerRay[rayIndex], rayRigidPairIndex);\n"
-	"	atomic_inc(&out_numRayRigidPairsPerRay[rayIndex]);\n"
-	"}\n"
-	"__kernel void rayCastPairsKernel(const __global b3RayInfo* rays, \n"
-	"								__global b3RayHit* hitResults, \n"
-	"								__global int* firstRayRigidPairIndexPerRay,\n"
-	"								__global int* numRayRigidPairsPerRay,\n"
-	"									\n"
-	"								__global Body* bodies,\n"
-	"								__global Collidable* collidables,\n"
-	"								__global const b3GpuFace* faces,\n"
-	"								__global const ConvexPolyhedronCL* convexShapes,\n"
-	"								\n"
-	"								__global int2* rayRigidPairs,\n"
-	"								int numRays)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	if (i >= numRays) return;\n"
-	"	\n"
-	"	float4 rayFrom = rays[i].m_from;\n"
-	"	float4 rayTo = rays[i].m_to;\n"
-	"		\n"
-	"	hitResults[i].m_hitFraction = 1.f;\n"
-	"		\n"
-	"	float hitFraction = 1.f;\n"
-	"	float4 hitPoint;\n"
-	"	float4 hitNormal;\n"
-	"	int hitBodyIndex = -1;\n"
-	"		\n"
-	"	//\n"
-	"	for(int pair = 0; pair < numRayRigidPairsPerRay[i]; ++pair)\n"
-	"	{\n"
-	"		int rayRigidPairIndex = pair + firstRayRigidPairIndexPerRay[i];\n"
-	"		int b = rayRigidPairs[rayRigidPairIndex].y;\n"
-	"		\n"
-	"		if (hitResults[i].m_hitResult2 == b) continue;\n"
-	"		\n"
-	"		Body body = bodies[b];\n"
-	"		Collidable rigidCollidable = collidables[body.m_collidableIdx];\n"
-	"		\n"
-	"		float4 pos = body.m_pos;\n"
-	"		float4 orn = body.m_quat;\n"
-	"		\n"
-	"		if (rigidCollidable.m_shapeType == SHAPE_CONVEX_HULL)\n"
-	"		{\n"
-	"			float4 invPos = (float4)(0,0,0,0);\n"
-	"			float4 invOrn = (float4)(0,0,0,0);\n"
-	"			float4 rayFromLocal = (float4)(0,0,0,0);\n"
-	"			float4 rayToLocal = (float4)(0,0,0,0);\n"
-	"			invOrn = qtInvert(orn);\n"
-	"			invPos = qtRotate(invOrn, -pos);\n"
-	"			rayFromLocal = qtRotate( invOrn, rayFrom ) + invPos;\n"
-	"			rayToLocal = qtRotate( invOrn, rayTo) + invPos;\n"
-	"			rayFromLocal.w = 0.f;\n"
-	"			rayToLocal.w = 0.f;\n"
-	"			int numFaces = convexShapes[rigidCollidable.m_shapeIndex].m_numFaces;\n"
-	"			int faceOffset = convexShapes[rigidCollidable.m_shapeIndex].m_faceOffset;\n"
-	"			\n"
-	"			if (numFaces && rayConvex(rayFromLocal, rayToLocal, numFaces, faceOffset,faces, &hitFraction, &hitNormal))\n"
-	"			{\n"
-	"				hitBodyIndex = b;\n"
-	"				hitPoint = setInterpolate3(rayFrom, rayTo, hitFraction);\n"
-	"			}\n"
-	"		}\n"
-	"		\n"
-	"		if (rigidCollidable.m_shapeType == SHAPE_SPHERE)\n"
-	"		{\n"
-	"			float radius = rigidCollidable.m_radius;\n"
-	"		\n"
-	"			if (sphere_intersect(pos, radius, rayFrom, rayTo, &hitFraction))\n"
-	"			{\n"
-	"				hitBodyIndex = b;\n"
-	"				hitPoint = setInterpolate3(rayFrom, rayTo, hitFraction);\n"
-	"				hitNormal = (float4) (hitPoint - bodies[b].m_pos);\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	\n"
-	"	if (hitBodyIndex >= 0)\n"
-	"	{\n"
-	"		hitResults[i].m_hitFraction = hitFraction;\n"
-	"		hitResults[i].m_hitPoint = hitPoint;\n"
-	"		hitResults[i].m_hitNormal = normalize(hitNormal);\n"
-	"		hitResults[i].m_hitResult0 = hitBodyIndex;\n"
-	"	}\n"
-	"	\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuConstraint4.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuConstraint4.h
deleted file mode 100644
index 89c0142ab3..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuConstraint4.h
+++ /dev/null
@@ -1,17 +0,0 @@
-
-#ifndef B3_CONSTRAINT4_h
-#define B3_CONSTRAINT4_h
-#include "Bullet3Common/b3Vector3.h"
-
-#include "Bullet3Dynamics/shared/b3ContactConstraint4.h"
-
-B3_ATTRIBUTE_ALIGNED16(struct)
-b3GpuConstraint4 : public b3ContactConstraint4
-{
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-	inline void setFrictionCoeff(float value) { m_linear[3] = value; }
-	inline float getFrictionCoeff() const { return m_linear[3]; }
-};
-
-#endif  //B3_CONSTRAINT4_h
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp
deleted file mode 100644
index a271090af4..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp
+++ /dev/null
@@ -1,134 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Erwin Coumans
-
-#include "b3GpuGenericConstraint.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-
-#include <new>
-#include "Bullet3Common/b3Transform.h"
-
-void b3GpuGenericConstraint::getInfo1(unsigned int* info, const b3RigidBodyData* bodies)
-{
-	switch (m_constraintType)
-	{
-		case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:
-		{
-			*info = 3;
-			break;
-		};
-		default:
-		{
-			b3Assert(0);
-		}
-	};
-}
-
-void getInfo2Point2Point(b3GpuGenericConstraint* constraint, b3GpuConstraintInfo2* info, const b3RigidBodyData* bodies)
-{
-	b3Transform trA;
-	trA.setIdentity();
-	trA.setOrigin(bodies[constraint->m_rbA].m_pos);
-	trA.setRotation(bodies[constraint->m_rbA].m_quat);
-
-	b3Transform trB;
-	trB.setIdentity();
-	trB.setOrigin(bodies[constraint->m_rbB].m_pos);
-	trB.setRotation(bodies[constraint->m_rbB].m_quat);
-
-	// anchor points in global coordinates with respect to body PORs.
-
-	// set jacobian
-	info->m_J1linearAxis[0] = 1;
-	info->m_J1linearAxis[info->rowskip + 1] = 1;
-	info->m_J1linearAxis[2 * info->rowskip + 2] = 1;
-
-	b3Vector3 a1 = trA.getBasis() * constraint->getPivotInA();
-	//b3Vector3 a1a = b3QuatRotate(trA.getRotation(),constraint->getPivotInA());
-
-	{
-		b3Vector3* angular0 = (b3Vector3*)(info->m_J1angularAxis);
-		b3Vector3* angular1 = (b3Vector3*)(info->m_J1angularAxis + info->rowskip);
-		b3Vector3* angular2 = (b3Vector3*)(info->m_J1angularAxis + 2 * info->rowskip);
-		b3Vector3 a1neg = -a1;
-		a1neg.getSkewSymmetricMatrix(angular0, angular1, angular2);
-	}
-
-	if (info->m_J2linearAxis)
-	{
-		info->m_J2linearAxis[0] = -1;
-		info->m_J2linearAxis[info->rowskip + 1] = -1;
-		info->m_J2linearAxis[2 * info->rowskip + 2] = -1;
-	}
-
-	b3Vector3 a2 = trB.getBasis() * constraint->getPivotInB();
-
-	{
-		//	b3Vector3 a2n = -a2;
-		b3Vector3* angular0 = (b3Vector3*)(info->m_J2angularAxis);
-		b3Vector3* angular1 = (b3Vector3*)(info->m_J2angularAxis + info->rowskip);
-		b3Vector3* angular2 = (b3Vector3*)(info->m_J2angularAxis + 2 * info->rowskip);
-		a2.getSkewSymmetricMatrix(angular0, angular1, angular2);
-	}
-
-	// set right hand side
-	//	b3Scalar currERP = (m_flags & B3_P2P_FLAGS_ERP) ? m_erp : info->erp;
-	b3Scalar currERP = info->erp;
-
-	b3Scalar k = info->fps * currERP;
-	int j;
-	for (j = 0; j < 3; j++)
-	{
-		info->m_constraintError[j * info->rowskip] = k * (a2[j] + trB.getOrigin()[j] - a1[j] - trA.getOrigin()[j]);
-		//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
-	}
-#if 0
-	if(m_flags & B3_P2P_FLAGS_CFM)
-	{
-		for (j=0; j<3; j++)
-		{
-			info->cfm[j*info->rowskip] = m_cfm;
-		}
-	}
-#endif
-
-#if 0
-	b3Scalar impulseClamp = m_setting.m_impulseClamp;//
-	for (j=0; j<3; j++)
-    {
-		if (m_setting.m_impulseClamp > 0)
-		{
-			info->m_lowerLimit[j*info->rowskip] = -impulseClamp;
-			info->m_upperLimit[j*info->rowskip] = impulseClamp;
-		}
-	}
-	info->m_damping = m_setting.m_damping;
-#endif
-}
-
-void b3GpuGenericConstraint::getInfo2(b3GpuConstraintInfo2* info, const b3RigidBodyData* bodies)
-{
-	switch (m_constraintType)
-	{
-		case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:
-		{
-			getInfo2Point2Point(this, info, bodies);
-			break;
-		};
-		default:
-		{
-			b3Assert(0);
-		}
-	};
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.h
deleted file mode 100644
index 1f163ba7d5..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/*
-Copyright (c) 2013 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Erwin Coumans
-
-#ifndef B3_GPU_GENERIC_CONSTRAINT_H
-#define B3_GPU_GENERIC_CONSTRAINT_H
-
-#include "Bullet3Common/b3Quaternion.h"
-struct b3RigidBodyData;
-enum B3_CONSTRAINT_FLAGS
-{
-	B3_CONSTRAINT_FLAG_ENABLED = 1,
-};
-
-enum b3GpuGenericConstraintType
-{
-	B3_GPU_POINT2POINT_CONSTRAINT_TYPE = 3,
-	B3_GPU_FIXED_CONSTRAINT_TYPE = 4,
-	//	B3_HINGE_CONSTRAINT_TYPE,
-	//	B3_CONETWIST_CONSTRAINT_TYPE,
-	//	B3_D6_CONSTRAINT_TYPE,
-	//	B3_SLIDER_CONSTRAINT_TYPE,
-	//	B3_CONTACT_CONSTRAINT_TYPE,
-	//	B3_D6_SPRING_CONSTRAINT_TYPE,
-	//	B3_GEAR_CONSTRAINT_TYPE,
-
-	B3_GPU_MAX_CONSTRAINT_TYPE
-};
-
-struct b3GpuConstraintInfo2
-{
-	// integrator parameters: frames per second (1/stepsize), default error
-	// reduction parameter (0..1).
-	b3Scalar fps, erp;
-
-	// for the first and second body, pointers to two (linear and angular)
-	// n*3 jacobian sub matrices, stored by rows. these matrices will have
-	// been initialized to 0 on entry. if the second body is zero then the
-	// J2xx pointers may be 0.
-	b3Scalar *m_J1linearAxis, *m_J1angularAxis, *m_J2linearAxis, *m_J2angularAxis;
-
-	// elements to jump from one row to the next in J's
-	int rowskip;
-
-	// right hand sides of the equation J*v = c + cfm * lambda. cfm is the
-	// "constraint force mixing" vector. c is set to zero on entry, cfm is
-	// set to a constant value (typically very small or zero) value on entry.
-	b3Scalar *m_constraintError, *cfm;
-
-	// lo and hi limits for variables (set to -/+ infinity on entry).
-	b3Scalar *m_lowerLimit, *m_upperLimit;
-
-	// findex vector for variables. see the LCP solver interface for a
-	// description of what this does. this is set to -1 on entry.
-	// note that the returned indexes are relative to the first index of
-	// the constraint.
-	int* findex;
-	// number of solver iterations
-	int m_numIterations;
-
-	//damping of the velocity
-	b3Scalar m_damping;
-};
-
-B3_ATTRIBUTE_ALIGNED16(struct)
-b3GpuGenericConstraint
-{
-	int m_constraintType;
-	int m_rbA;
-	int m_rbB;
-	float m_breakingImpulseThreshold;
-
-	b3Vector3 m_pivotInA;
-	b3Vector3 m_pivotInB;
-	b3Quaternion m_relTargetAB;
-
-	int m_flags;
-	int m_uid;
-	int m_padding[2];
-
-	int getRigidBodyA() const
-	{
-		return m_rbA;
-	}
-	int getRigidBodyB() const
-	{
-		return m_rbB;
-	}
-
-	const b3Vector3& getPivotInA() const
-	{
-		return m_pivotInA;
-	}
-
-	const b3Vector3& getPivotInB() const
-	{
-		return m_pivotInB;
-	}
-
-	int isEnabled() const
-	{
-		return m_flags & B3_CONSTRAINT_FLAG_ENABLED;
-	}
-
-	float getBreakingImpulseThreshold() const
-	{
-		return m_breakingImpulseThreshold;
-	}
-
-	///internal method used by the constraint solver, don't use them directly
-	void getInfo1(unsigned int* info, const b3RigidBodyData* bodies);
-
-	///internal method used by the constraint solver, don't use them directly
-	void getInfo2(b3GpuConstraintInfo2 * info, const b3RigidBodyData* bodies);
-};
-
-#endif  //B3_GPU_GENERIC_CONSTRAINT_H
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.cpp b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.cpp
deleted file mode 100644
index 089fb1f6a6..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.cpp
+++ /dev/null
@@ -1,1305 +0,0 @@
-
-#include "b3GpuJacobiContactSolver.h"
-#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h"  //b3Int2
-class b3Vector3;
-#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
-#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
-#include "Bullet3OpenCL/RigidBody/kernels/solverUtils.h"
-#include "Bullet3Common/b3Logging.h"
-#include "b3GpuConstraint4.h"
-#include "Bullet3Common/shared/b3Int2.h"
-#include "Bullet3Common/shared/b3Int4.h"
-#define SOLVER_UTILS_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solverUtils.cl"
-
-struct b3GpuJacobiSolverInternalData
-{
-	//btRadixSort32CL*	m_sort32;
-	//btBoundSearchCL*	m_search;
-	b3PrefixScanCL* m_scan;
-
-	b3OpenCLArray<unsigned int>* m_bodyCount;
-	b3OpenCLArray<b3Int2>* m_contactConstraintOffsets;
-	b3OpenCLArray<unsigned int>* m_offsetSplitBodies;
-
-	b3OpenCLArray<b3Vector3>* m_deltaLinearVelocities;
-	b3OpenCLArray<b3Vector3>* m_deltaAngularVelocities;
-
-	b3AlignedObjectArray<b3Vector3> m_deltaLinearVelocitiesCPU;
-	b3AlignedObjectArray<b3Vector3> m_deltaAngularVelocitiesCPU;
-
-	b3OpenCLArray<b3GpuConstraint4>* m_contactConstraints;
-
-	b3FillCL* m_filler;
-
-	cl_kernel m_countBodiesKernel;
-	cl_kernel m_contactToConstraintSplitKernel;
-	cl_kernel m_clearVelocitiesKernel;
-	cl_kernel m_averageVelocitiesKernel;
-	cl_kernel m_updateBodyVelocitiesKernel;
-	cl_kernel m_solveContactKernel;
-	cl_kernel m_solveFrictionKernel;
-};
-
-b3GpuJacobiContactSolver::b3GpuJacobiContactSolver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity)
-	: m_context(ctx),
-	  m_device(device),
-	  m_queue(queue)
-{
-	m_data = new b3GpuJacobiSolverInternalData;
-	m_data->m_scan = new b3PrefixScanCL(m_context, m_device, m_queue);
-	m_data->m_bodyCount = new b3OpenCLArray<unsigned int>(m_context, m_queue);
-	m_data->m_filler = new b3FillCL(m_context, m_device, m_queue);
-	m_data->m_contactConstraintOffsets = new b3OpenCLArray<b3Int2>(m_context, m_queue);
-	m_data->m_offsetSplitBodies = new b3OpenCLArray<unsigned int>(m_context, m_queue);
-	m_data->m_contactConstraints = new b3OpenCLArray<b3GpuConstraint4>(m_context, m_queue);
-	m_data->m_deltaLinearVelocities = new b3OpenCLArray<b3Vector3>(m_context, m_queue);
-	m_data->m_deltaAngularVelocities = new b3OpenCLArray<b3Vector3>(m_context, m_queue);
-
-	cl_int pErrNum;
-	const char* additionalMacros = "";
-	const char* solverUtilsSource = solverUtilsCL;
-	{
-		cl_program solverUtilsProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solverUtilsSource, &pErrNum, additionalMacros, SOLVER_UTILS_KERNEL_PATH);
-		b3Assert(solverUtilsProg);
-		m_data->m_countBodiesKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverUtilsSource, "CountBodiesKernel", &pErrNum, solverUtilsProg, additionalMacros);
-		b3Assert(m_data->m_countBodiesKernel);
-
-		m_data->m_contactToConstraintSplitKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverUtilsSource, "ContactToConstraintSplitKernel", &pErrNum, solverUtilsProg, additionalMacros);
-		b3Assert(m_data->m_contactToConstraintSplitKernel);
-		m_data->m_clearVelocitiesKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverUtilsSource, "ClearVelocitiesKernel", &pErrNum, solverUtilsProg, additionalMacros);
-		b3Assert(m_data->m_clearVelocitiesKernel);
-
-		m_data->m_averageVelocitiesKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverUtilsSource, "AverageVelocitiesKernel", &pErrNum, solverUtilsProg, additionalMacros);
-		b3Assert(m_data->m_averageVelocitiesKernel);
-
-		m_data->m_updateBodyVelocitiesKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverUtilsSource, "UpdateBodyVelocitiesKernel", &pErrNum, solverUtilsProg, additionalMacros);
-		b3Assert(m_data->m_updateBodyVelocitiesKernel);
-
-		m_data->m_solveContactKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverUtilsSource, "SolveContactJacobiKernel", &pErrNum, solverUtilsProg, additionalMacros);
-		b3Assert(m_data->m_solveContactKernel);
-
-		m_data->m_solveFrictionKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverUtilsSource, "SolveFrictionJacobiKernel", &pErrNum, solverUtilsProg, additionalMacros);
-		b3Assert(m_data->m_solveFrictionKernel);
-	}
-}
-
-b3GpuJacobiContactSolver::~b3GpuJacobiContactSolver()
-{
-	clReleaseKernel(m_data->m_solveContactKernel);
-	clReleaseKernel(m_data->m_solveFrictionKernel);
-	clReleaseKernel(m_data->m_countBodiesKernel);
-	clReleaseKernel(m_data->m_contactToConstraintSplitKernel);
-	clReleaseKernel(m_data->m_averageVelocitiesKernel);
-	clReleaseKernel(m_data->m_updateBodyVelocitiesKernel);
-	clReleaseKernel(m_data->m_clearVelocitiesKernel);
-
-	delete m_data->m_deltaLinearVelocities;
-	delete m_data->m_deltaAngularVelocities;
-	delete m_data->m_contactConstraints;
-	delete m_data->m_offsetSplitBodies;
-	delete m_data->m_contactConstraintOffsets;
-	delete m_data->m_bodyCount;
-	delete m_data->m_filler;
-	delete m_data->m_scan;
-	delete m_data;
-}
-
-b3Vector3 make_float4(float v)
-{
-	return b3MakeVector3(v, v, v);
-}
-
-b3Vector4 make_float4(float x, float y, float z, float w)
-{
-	return b3MakeVector4(x, y, z, w);
-}
-
-static inline float calcRelVel(const b3Vector3& l0, const b3Vector3& l1, const b3Vector3& a0, const b3Vector3& a1,
-							   const b3Vector3& linVel0, const b3Vector3& angVel0, const b3Vector3& linVel1, const b3Vector3& angVel1)
-{
-	return b3Dot(l0, linVel0) + b3Dot(a0, angVel0) + b3Dot(l1, linVel1) + b3Dot(a1, angVel1);
-}
-
-static inline void setLinearAndAngular(const b3Vector3& n, const b3Vector3& r0, const b3Vector3& r1,
-									   b3Vector3& linear, b3Vector3& angular0, b3Vector3& angular1)
-{
-	linear = n;
-	angular0 = b3Cross(r0, n);
-	angular1 = -b3Cross(r1, n);
-}
-
-static __inline void solveContact(b3GpuConstraint4& cs,
-								  const b3Vector3& posA, const b3Vector3& linVelARO, const b3Vector3& angVelARO, float invMassA, const b3Matrix3x3& invInertiaA,
-								  const b3Vector3& posB, const b3Vector3& linVelBRO, const b3Vector3& angVelBRO, float invMassB, const b3Matrix3x3& invInertiaB,
-								  float maxRambdaDt[4], float minRambdaDt[4], b3Vector3& dLinVelA, b3Vector3& dAngVelA, b3Vector3& dLinVelB, b3Vector3& dAngVelB)
-{
-	for (int ic = 0; ic < 4; ic++)
-	{
-		//	dont necessary because this makes change to 0
-		if (cs.m_jacCoeffInv[ic] == 0.f) continue;
-
-		{
-			b3Vector3 angular0, angular1, linear;
-			b3Vector3 r0 = cs.m_worldPos[ic] - (b3Vector3&)posA;
-			b3Vector3 r1 = cs.m_worldPos[ic] - (b3Vector3&)posB;
-			setLinearAndAngular((const b3Vector3&)cs.m_linear, (const b3Vector3&)r0, (const b3Vector3&)r1, linear, angular0, angular1);
-
-			float rambdaDt = calcRelVel((const b3Vector3&)cs.m_linear, (const b3Vector3&)-cs.m_linear, angular0, angular1,
-										linVelARO + dLinVelA, angVelARO + dAngVelA, linVelBRO + dLinVelB, angVelBRO + dAngVelB) +
-							 cs.m_b[ic];
-			rambdaDt *= cs.m_jacCoeffInv[ic];
-
-			{
-				float prevSum = cs.m_appliedRambdaDt[ic];
-				float updated = prevSum;
-				updated += rambdaDt;
-				updated = b3Max(updated, minRambdaDt[ic]);
-				updated = b3Min(updated, maxRambdaDt[ic]);
-				rambdaDt = updated - prevSum;
-				cs.m_appliedRambdaDt[ic] = updated;
-			}
-
-			b3Vector3 linImp0 = invMassA * linear * rambdaDt;
-			b3Vector3 linImp1 = invMassB * (-linear) * rambdaDt;
-			b3Vector3 angImp0 = (invInertiaA * angular0) * rambdaDt;
-			b3Vector3 angImp1 = (invInertiaB * angular1) * rambdaDt;
-#ifdef _WIN32
-			b3Assert(_finite(linImp0.getX()));
-			b3Assert(_finite(linImp1.getX()));
-#endif
-
-			if (invMassA)
-			{
-				dLinVelA += linImp0;
-				dAngVelA += angImp0;
-			}
-			if (invMassB)
-			{
-				dLinVelB += linImp1;
-				dAngVelB += angImp1;
-			}
-		}
-	}
-}
-
-void solveContact3(b3GpuConstraint4* cs,
-				   b3Vector3* posAPtr, b3Vector3* linVelA, b3Vector3* angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
-				   b3Vector3* posBPtr, b3Vector3* linVelB, b3Vector3* angVelB, float invMassB, const b3Matrix3x3& invInertiaB,
-				   b3Vector3* dLinVelA, b3Vector3* dAngVelA, b3Vector3* dLinVelB, b3Vector3* dAngVelB)
-{
-	float minRambdaDt = 0;
-	float maxRambdaDt = FLT_MAX;
-
-	for (int ic = 0; ic < 4; ic++)
-	{
-		if (cs->m_jacCoeffInv[ic] == 0.f) continue;
-
-		b3Vector3 angular0, angular1, linear;
-		b3Vector3 r0 = cs->m_worldPos[ic] - *posAPtr;
-		b3Vector3 r1 = cs->m_worldPos[ic] - *posBPtr;
-		setLinearAndAngular(cs->m_linear, r0, r1, linear, angular0, angular1);
-
-		float rambdaDt = calcRelVel(cs->m_linear, -cs->m_linear, angular0, angular1,
-									*linVelA + *dLinVelA, *angVelA + *dAngVelA, *linVelB + *dLinVelB, *angVelB + *dAngVelB) +
-						 cs->m_b[ic];
-		rambdaDt *= cs->m_jacCoeffInv[ic];
-
-		{
-			float prevSum = cs->m_appliedRambdaDt[ic];
-			float updated = prevSum;
-			updated += rambdaDt;
-			updated = b3Max(updated, minRambdaDt);
-			updated = b3Min(updated, maxRambdaDt);
-			rambdaDt = updated - prevSum;
-			cs->m_appliedRambdaDt[ic] = updated;
-		}
-
-		b3Vector3 linImp0 = invMassA * linear * rambdaDt;
-		b3Vector3 linImp1 = invMassB * (-linear) * rambdaDt;
-		b3Vector3 angImp0 = (invInertiaA * angular0) * rambdaDt;
-		b3Vector3 angImp1 = (invInertiaB * angular1) * rambdaDt;
-
-		if (invMassA)
-		{
-			*dLinVelA += linImp0;
-			*dAngVelA += angImp0;
-		}
-		if (invMassB)
-		{
-			*dLinVelB += linImp1;
-			*dAngVelB += angImp1;
-		}
-	}
-}
-
-static inline void solveFriction(b3GpuConstraint4& cs,
-								 const b3Vector3& posA, const b3Vector3& linVelARO, const b3Vector3& angVelARO, float invMassA, const b3Matrix3x3& invInertiaA,
-								 const b3Vector3& posB, const b3Vector3& linVelBRO, const b3Vector3& angVelBRO, float invMassB, const b3Matrix3x3& invInertiaB,
-								 float maxRambdaDt[4], float minRambdaDt[4], b3Vector3& dLinVelA, b3Vector3& dAngVelA, b3Vector3& dLinVelB, b3Vector3& dAngVelB)
-{
-	b3Vector3 linVelA = linVelARO + dLinVelA;
-	b3Vector3 linVelB = linVelBRO + dLinVelB;
-	b3Vector3 angVelA = angVelARO + dAngVelA;
-	b3Vector3 angVelB = angVelBRO + dAngVelB;
-
-	if (cs.m_fJacCoeffInv[0] == 0 && cs.m_fJacCoeffInv[0] == 0) return;
-	const b3Vector3& center = (const b3Vector3&)cs.m_center;
-
-	b3Vector3 n = -(const b3Vector3&)cs.m_linear;
-
-	b3Vector3 tangent[2];
-#if 1
-	b3PlaneSpace1(n, tangent[0], tangent[1]);
-#else
-	b3Vector3 r = cs.m_worldPos[0] - center;
-	tangent[0] = cross3(n, r);
-	tangent[1] = cross3(tangent[0], n);
-	tangent[0] = normalize3(tangent[0]);
-	tangent[1] = normalize3(tangent[1]);
-#endif
-
-	b3Vector3 angular0, angular1, linear;
-	b3Vector3 r0 = center - posA;
-	b3Vector3 r1 = center - posB;
-	for (int i = 0; i < 2; i++)
-	{
-		setLinearAndAngular(tangent[i], r0, r1, linear, angular0, angular1);
-		float rambdaDt = calcRelVel(linear, -linear, angular0, angular1,
-									linVelA, angVelA, linVelB, angVelB);
-		rambdaDt *= cs.m_fJacCoeffInv[i];
-
-		{
-			float prevSum = cs.m_fAppliedRambdaDt[i];
-			float updated = prevSum;
-			updated += rambdaDt;
-			updated = b3Max(updated, minRambdaDt[i]);
-			updated = b3Min(updated, maxRambdaDt[i]);
-			rambdaDt = updated - prevSum;
-			cs.m_fAppliedRambdaDt[i] = updated;
-		}
-
-		b3Vector3 linImp0 = invMassA * linear * rambdaDt;
-		b3Vector3 linImp1 = invMassB * (-linear) * rambdaDt;
-		b3Vector3 angImp0 = (invInertiaA * angular0) * rambdaDt;
-		b3Vector3 angImp1 = (invInertiaB * angular1) * rambdaDt;
-#ifdef _WIN32
-		b3Assert(_finite(linImp0.getX()));
-		b3Assert(_finite(linImp1.getX()));
-#endif
-		if (invMassA)
-		{
-			dLinVelA += linImp0;
-			dAngVelA += angImp0;
-		}
-		if (invMassB)
-		{
-			dLinVelB += linImp1;
-			dAngVelB += angImp1;
-		}
-	}
-
-	{  //	angular damping for point constraint
-		b3Vector3 ab = (posB - posA).normalized();
-		b3Vector3 ac = (center - posA).normalized();
-		if (b3Dot(ab, ac) > 0.95f || (invMassA == 0.f || invMassB == 0.f))
-		{
-			float angNA = b3Dot(n, angVelA);
-			float angNB = b3Dot(n, angVelB);
-
-			if (invMassA)
-				dAngVelA -= (angNA * 0.1f) * n;
-			if (invMassB)
-				dAngVelB -= (angNB * 0.1f) * n;
-		}
-	}
-}
-
-float calcJacCoeff(const b3Vector3& linear0, const b3Vector3& linear1, const b3Vector3& angular0, const b3Vector3& angular1,
-				   float invMass0, const b3Matrix3x3* invInertia0, float invMass1, const b3Matrix3x3* invInertia1, float countA, float countB)
-{
-	//	linear0,1 are normlized
-	float jmj0 = invMass0;  //dot3F4(linear0, linear0)*invMass0;
-
-	float jmj1 = b3Dot(mtMul3(angular0, *invInertia0), angular0);
-	float jmj2 = invMass1;  //dot3F4(linear1, linear1)*invMass1;
-	float jmj3 = b3Dot(mtMul3(angular1, *invInertia1), angular1);
-	return -1.f / ((jmj0 + jmj1) * countA + (jmj2 + jmj3) * countB);
-	//	return -1.f/((jmj0+jmj1)+(jmj2+jmj3));
-}
-
-void setConstraint4(const b3Vector3& posA, const b3Vector3& linVelA, const b3Vector3& angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
-					const b3Vector3& posB, const b3Vector3& linVelB, const b3Vector3& angVelB, float invMassB, const b3Matrix3x3& invInertiaB,
-					b3Contact4* src, float dt, float positionDrift, float positionConstraintCoeff, float countA, float countB,
-					b3GpuConstraint4* dstC)
-{
-	dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);
-	dstC->m_bodyB = abs(src->m_bodyBPtrAndSignBit);
-
-	float dtInv = 1.f / dt;
-	for (int ic = 0; ic < 4; ic++)
-	{
-		dstC->m_appliedRambdaDt[ic] = 0.f;
-	}
-	dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f;
-
-	dstC->m_linear = src->m_worldNormalOnB;
-	dstC->m_linear[3] = 0.7f;  //src->getFrictionCoeff() );
-	for (int ic = 0; ic < 4; ic++)
-	{
-		b3Vector3 r0 = src->m_worldPosB[ic] - posA;
-		b3Vector3 r1 = src->m_worldPosB[ic] - posB;
-
-		if (ic >= src->m_worldNormalOnB[3])  //npoints
-		{
-			dstC->m_jacCoeffInv[ic] = 0.f;
-			continue;
-		}
-
-		float relVelN;
-		{
-			b3Vector3 linear, angular0, angular1;
-			setLinearAndAngular(src->m_worldNormalOnB, r0, r1, linear, angular0, angular1);
-
-			dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,
-												   invMassA, &invInertiaA, invMassB, &invInertiaB, countA, countB);
-
-			relVelN = calcRelVel(linear, -linear, angular0, angular1,
-								 linVelA, angVelA, linVelB, angVelB);
-
-			float e = 0.f;  //src->getRestituitionCoeff();
-			if (relVelN * relVelN < 0.004f)
-			{
-				e = 0.f;
-			}
-
-			dstC->m_b[ic] = e * relVelN;
-			//float penetration = src->m_worldPos[ic].w;
-			dstC->m_b[ic] += (src->m_worldPosB[ic][3] + positionDrift) * positionConstraintCoeff * dtInv;
-			dstC->m_appliedRambdaDt[ic] = 0.f;
-		}
-	}
-
-	if (src->m_worldNormalOnB[3] > 0)  //npoints
-	{                                  //	prepare friction
-		b3Vector3 center = make_float4(0.f);
-		for (int i = 0; i < src->m_worldNormalOnB[3]; i++)
-			center += src->m_worldPosB[i];
-		center /= (float)src->m_worldNormalOnB[3];
-
-		b3Vector3 tangent[2];
-		b3PlaneSpace1(src->m_worldNormalOnB, tangent[0], tangent[1]);
-
-		b3Vector3 r[2];
-		r[0] = center - posA;
-		r[1] = center - posB;
-
-		for (int i = 0; i < 2; i++)
-		{
-			b3Vector3 linear, angular0, angular1;
-			setLinearAndAngular(tangent[i], r[0], r[1], linear, angular0, angular1);
-
-			dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1,
-												   invMassA, &invInertiaA, invMassB, &invInertiaB, countA, countB);
-			dstC->m_fAppliedRambdaDt[i] = 0.f;
-		}
-		dstC->m_center = center;
-	}
-
-	for (int i = 0; i < 4; i++)
-	{
-		if (i < src->m_worldNormalOnB[3])
-		{
-			dstC->m_worldPos[i] = src->m_worldPosB[i];
-		}
-		else
-		{
-			dstC->m_worldPos[i] = make_float4(0.f);
-		}
-	}
-}
-
-void ContactToConstraintKernel(b3Contact4* gContact, b3RigidBodyData* gBodies, b3InertiaData* gShapes, b3GpuConstraint4* gConstraintOut, int nContacts,
-							   float dt,
-							   float positionDrift,
-							   float positionConstraintCoeff, int gIdx, b3AlignedObjectArray<unsigned int>& bodyCount)
-{
-	//int gIdx = 0;//GET_GLOBAL_IDX;
-
-	if (gIdx < nContacts)
-	{
-		int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit);
-		int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit);
-
-		b3Vector3 posA = gBodies[aIdx].m_pos;
-		b3Vector3 linVelA = gBodies[aIdx].m_linVel;
-		b3Vector3 angVelA = gBodies[aIdx].m_angVel;
-		float invMassA = gBodies[aIdx].m_invMass;
-		b3Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertiaWorld;  //.m_invInertia;
-
-		b3Vector3 posB = gBodies[bIdx].m_pos;
-		b3Vector3 linVelB = gBodies[bIdx].m_linVel;
-		b3Vector3 angVelB = gBodies[bIdx].m_angVel;
-		float invMassB = gBodies[bIdx].m_invMass;
-		b3Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertiaWorld;  //m_invInertia;
-
-		b3GpuConstraint4 cs;
-		float countA = invMassA ? (float)(bodyCount[aIdx]) : 1;
-		float countB = invMassB ? (float)(bodyCount[bIdx]) : 1;
-		setConstraint4(posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,
-					   &gContact[gIdx], dt, positionDrift, positionConstraintCoeff, countA, countB,
-					   &cs);
-
-		cs.m_batchIdx = gContact[gIdx].m_batchIdx;
-
-		gConstraintOut[gIdx] = cs;
-	}
-}
-
-void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, b3Contact4* manifoldPtr, int numManifolds, const b3JacobiSolverInfo& solverInfo)
-{
-	B3_PROFILE("b3GpuJacobiContactSolver::solveGroup");
-
-	b3AlignedObjectArray<unsigned int> bodyCount;
-	bodyCount.resize(numBodies);
-	for (int i = 0; i < numBodies; i++)
-		bodyCount[i] = 0;
-
-	b3AlignedObjectArray<b3Int2> contactConstraintOffsets;
-	contactConstraintOffsets.resize(numManifolds);
-
-	for (int i = 0; i < numManifolds; i++)
-	{
-		int pa = manifoldPtr[i].m_bodyAPtrAndSignBit;
-		int pb = manifoldPtr[i].m_bodyBPtrAndSignBit;
-
-		bool isFixedA = (pa < 0) || (pa == solverInfo.m_fixedBodyIndex);
-		bool isFixedB = (pb < 0) || (pb == solverInfo.m_fixedBodyIndex);
-
-		int bodyIndexA = manifoldPtr[i].getBodyA();
-		int bodyIndexB = manifoldPtr[i].getBodyB();
-
-		if (!isFixedA)
-		{
-			contactConstraintOffsets[i].x = bodyCount[bodyIndexA];
-			bodyCount[bodyIndexA]++;
-		}
-		if (!isFixedB)
-		{
-			contactConstraintOffsets[i].y = bodyCount[bodyIndexB];
-			bodyCount[bodyIndexB]++;
-		}
-	}
-
-	b3AlignedObjectArray<unsigned int> offsetSplitBodies;
-	offsetSplitBodies.resize(numBodies);
-	unsigned int totalNumSplitBodies;
-	m_data->m_scan->executeHost(bodyCount, offsetSplitBodies, numBodies, &totalNumSplitBodies);
-	int numlastBody = bodyCount[numBodies - 1];
-	totalNumSplitBodies += numlastBody;
-	printf("totalNumSplitBodies = %d\n", totalNumSplitBodies);
-
-	b3AlignedObjectArray<b3GpuConstraint4> contactConstraints;
-	contactConstraints.resize(numManifolds);
-
-	for (int i = 0; i < numManifolds; i++)
-	{
-		ContactToConstraintKernel(&manifoldPtr[0], bodies, inertias, &contactConstraints[0], numManifolds,
-								  solverInfo.m_deltaTime,
-								  solverInfo.m_positionDrift,
-								  solverInfo.m_positionConstraintCoeff,
-								  i, bodyCount);
-	}
-	int maxIter = solverInfo.m_numIterations;
-
-	b3AlignedObjectArray<b3Vector3> deltaLinearVelocities;
-	b3AlignedObjectArray<b3Vector3> deltaAngularVelocities;
-	deltaLinearVelocities.resize(totalNumSplitBodies);
-	deltaAngularVelocities.resize(totalNumSplitBodies);
-	for (unsigned int i = 0; i < totalNumSplitBodies; i++)
-	{
-		deltaLinearVelocities[i].setZero();
-		deltaAngularVelocities[i].setZero();
-	}
-
-	for (int iter = 0; iter < maxIter; iter++)
-	{
-		int i = 0;
-		for (i = 0; i < numManifolds; i++)
-		{
-			//float frictionCoeff = contactConstraints[i].getFrictionCoeff();
-			int aIdx = (int)contactConstraints[i].m_bodyA;
-			int bIdx = (int)contactConstraints[i].m_bodyB;
-			b3RigidBodyData& bodyA = bodies[aIdx];
-			b3RigidBodyData& bodyB = bodies[bIdx];
-
-			b3Vector3 zero = b3MakeVector3(0, 0, 0);
-
-			b3Vector3* dlvAPtr = &zero;
-			b3Vector3* davAPtr = &zero;
-			b3Vector3* dlvBPtr = &zero;
-			b3Vector3* davBPtr = &zero;
-
-			if (bodyA.m_invMass)
-			{
-				int bodyOffsetA = offsetSplitBodies[aIdx];
-				int constraintOffsetA = contactConstraintOffsets[i].x;
-				int splitIndexA = bodyOffsetA + constraintOffsetA;
-				dlvAPtr = &deltaLinearVelocities[splitIndexA];
-				davAPtr = &deltaAngularVelocities[splitIndexA];
-			}
-
-			if (bodyB.m_invMass)
-			{
-				int bodyOffsetB = offsetSplitBodies[bIdx];
-				int constraintOffsetB = contactConstraintOffsets[i].y;
-				int splitIndexB = bodyOffsetB + constraintOffsetB;
-				dlvBPtr = &deltaLinearVelocities[splitIndexB];
-				davBPtr = &deltaAngularVelocities[splitIndexB];
-			}
-
-			{
-				float maxRambdaDt[4] = {FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX};
-				float minRambdaDt[4] = {0.f, 0.f, 0.f, 0.f};
-
-				solveContact(contactConstraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass, inertias[aIdx].m_invInertiaWorld,
-							 (b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, inertias[bIdx].m_invInertiaWorld,
-							 maxRambdaDt, minRambdaDt, *dlvAPtr, *davAPtr, *dlvBPtr, *davBPtr);
-			}
-		}
-
-		//easy
-		for (int i = 0; i < numBodies; i++)
-		{
-			if (bodies[i].m_invMass)
-			{
-				int bodyOffset = offsetSplitBodies[i];
-				int count = bodyCount[i];
-				float factor = 1.f / float(count);
-				b3Vector3 averageLinVel;
-				averageLinVel.setZero();
-				b3Vector3 averageAngVel;
-				averageAngVel.setZero();
-				for (int j = 0; j < count; j++)
-				{
-					averageLinVel += deltaLinearVelocities[bodyOffset + j] * factor;
-					averageAngVel += deltaAngularVelocities[bodyOffset + j] * factor;
-				}
-				for (int j = 0; j < count; j++)
-				{
-					deltaLinearVelocities[bodyOffset + j] = averageLinVel;
-					deltaAngularVelocities[bodyOffset + j] = averageAngVel;
-				}
-			}
-		}
-	}
-	for (int iter = 0; iter < maxIter; iter++)
-	{
-		//int i=0;
-
-		//solve friction
-
-		for (int i = 0; i < numManifolds; i++)
-		{
-			float maxRambdaDt[4] = {FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX};
-			float minRambdaDt[4] = {0.f, 0.f, 0.f, 0.f};
-
-			float sum = 0;
-			for (int j = 0; j < 4; j++)
-			{
-				sum += contactConstraints[i].m_appliedRambdaDt[j];
-			}
-			float frictionCoeff = contactConstraints[i].getFrictionCoeff();
-			int aIdx = (int)contactConstraints[i].m_bodyA;
-			int bIdx = (int)contactConstraints[i].m_bodyB;
-			b3RigidBodyData& bodyA = bodies[aIdx];
-			b3RigidBodyData& bodyB = bodies[bIdx];
-
-			b3Vector3 zero = b3MakeVector3(0, 0, 0);
-
-			b3Vector3* dlvAPtr = &zero;
-			b3Vector3* davAPtr = &zero;
-			b3Vector3* dlvBPtr = &zero;
-			b3Vector3* davBPtr = &zero;
-
-			if (bodyA.m_invMass)
-			{
-				int bodyOffsetA = offsetSplitBodies[aIdx];
-				int constraintOffsetA = contactConstraintOffsets[i].x;
-				int splitIndexA = bodyOffsetA + constraintOffsetA;
-				dlvAPtr = &deltaLinearVelocities[splitIndexA];
-				davAPtr = &deltaAngularVelocities[splitIndexA];
-			}
-
-			if (bodyB.m_invMass)
-			{
-				int bodyOffsetB = offsetSplitBodies[bIdx];
-				int constraintOffsetB = contactConstraintOffsets[i].y;
-				int splitIndexB = bodyOffsetB + constraintOffsetB;
-				dlvBPtr = &deltaLinearVelocities[splitIndexB];
-				davBPtr = &deltaAngularVelocities[splitIndexB];
-			}
-
-			for (int j = 0; j < 4; j++)
-			{
-				maxRambdaDt[j] = frictionCoeff * sum;
-				minRambdaDt[j] = -maxRambdaDt[j];
-			}
-
-			solveFriction(contactConstraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass, inertias[aIdx].m_invInertiaWorld,
-						  (b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, inertias[bIdx].m_invInertiaWorld,
-						  maxRambdaDt, minRambdaDt, *dlvAPtr, *davAPtr, *dlvBPtr, *davBPtr);
-		}
-
-		//easy
-		for (int i = 0; i < numBodies; i++)
-		{
-			if (bodies[i].m_invMass)
-			{
-				int bodyOffset = offsetSplitBodies[i];
-				int count = bodyCount[i];
-				float factor = 1.f / float(count);
-				b3Vector3 averageLinVel;
-				averageLinVel.setZero();
-				b3Vector3 averageAngVel;
-				averageAngVel.setZero();
-				for (int j = 0; j < count; j++)
-				{
-					averageLinVel += deltaLinearVelocities[bodyOffset + j] * factor;
-					averageAngVel += deltaAngularVelocities[bodyOffset + j] * factor;
-				}
-				for (int j = 0; j < count; j++)
-				{
-					deltaLinearVelocities[bodyOffset + j] = averageLinVel;
-					deltaAngularVelocities[bodyOffset + j] = averageAngVel;
-				}
-			}
-		}
-	}
-
-	//easy
-	for (int i = 0; i < numBodies; i++)
-	{
-		if (bodies[i].m_invMass)
-		{
-			int bodyOffset = offsetSplitBodies[i];
-			int count = bodyCount[i];
-			if (count)
-			{
-				bodies[i].m_linVel += deltaLinearVelocities[bodyOffset];
-				bodies[i].m_angVel += deltaAngularVelocities[bodyOffset];
-			}
-		}
-	}
-}
-
-void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const struct b3Config& config, int static0Index)
-//
-//
-//void  b3GpuJacobiContactSolver::solveGroup(b3OpenCLArray<b3RigidBodyData>* bodies,b3OpenCLArray<b3InertiaData>* inertias,b3OpenCLArray<b3Contact4>* manifoldPtr,const btJacobiSolverInfo& solverInfo)
-{
-	b3JacobiSolverInfo solverInfo;
-	solverInfo.m_fixedBodyIndex = static0Index;
-
-	B3_PROFILE("b3GpuJacobiContactSolver::solveGroup");
-
-	//int numBodies = bodies->size();
-	int numManifolds = numContacts;  //manifoldPtr->size();
-
-	{
-		B3_PROFILE("resize");
-		m_data->m_bodyCount->resize(numBodies);
-	}
-
-	unsigned int val = 0;
-	b3Int2 val2;
-	val2.x = 0;
-	val2.y = 0;
-
-	{
-		B3_PROFILE("m_filler");
-		m_data->m_contactConstraintOffsets->resize(numManifolds);
-		m_data->m_filler->execute(*m_data->m_bodyCount, val, numBodies);
-
-		m_data->m_filler->execute(*m_data->m_contactConstraintOffsets, val2, numManifolds);
-	}
-
-	{
-		B3_PROFILE("m_countBodiesKernel");
-		b3LauncherCL launcher(this->m_queue, m_data->m_countBodiesKernel, "m_countBodiesKernel");
-		launcher.setBuffer(contactBuf);  //manifoldPtr->getBufferCL());
-		launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
-		launcher.setBuffer(m_data->m_contactConstraintOffsets->getBufferCL());
-		launcher.setConst(numManifolds);
-		launcher.setConst(solverInfo.m_fixedBodyIndex);
-		launcher.launch1D(numManifolds);
-	}
-	unsigned int totalNumSplitBodies = 0;
-	{
-		B3_PROFILE("m_scan->execute");
-
-		m_data->m_offsetSplitBodies->resize(numBodies);
-		m_data->m_scan->execute(*m_data->m_bodyCount, *m_data->m_offsetSplitBodies, numBodies, &totalNumSplitBodies);
-		totalNumSplitBodies += m_data->m_bodyCount->at(numBodies - 1);
-	}
-
-	{
-		B3_PROFILE("m_data->m_contactConstraints->resize");
-		//int numContacts = manifoldPtr->size();
-		m_data->m_contactConstraints->resize(numContacts);
-	}
-
-	{
-		B3_PROFILE("contactToConstraintSplitKernel");
-		b3LauncherCL launcher(m_queue, m_data->m_contactToConstraintSplitKernel, "m_contactToConstraintSplitKernel");
-		launcher.setBuffer(contactBuf);
-		launcher.setBuffer(bodyBuf);
-		launcher.setBuffer(inertiaBuf);
-		launcher.setBuffer(m_data->m_contactConstraints->getBufferCL());
-		launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
-		launcher.setConst(numContacts);
-		launcher.setConst(solverInfo.m_deltaTime);
-		launcher.setConst(solverInfo.m_positionDrift);
-		launcher.setConst(solverInfo.m_positionConstraintCoeff);
-		launcher.launch1D(numContacts, 64);
-	}
-
-	{
-		B3_PROFILE("m_data->m_deltaLinearVelocities->resize");
-		m_data->m_deltaLinearVelocities->resize(totalNumSplitBodies);
-		m_data->m_deltaAngularVelocities->resize(totalNumSplitBodies);
-	}
-
-	{
-		B3_PROFILE("m_clearVelocitiesKernel");
-		b3LauncherCL launch(m_queue, m_data->m_clearVelocitiesKernel, "m_clearVelocitiesKernel");
-		launch.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
-		launch.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
-		launch.setConst(totalNumSplitBodies);
-		launch.launch1D(totalNumSplitBodies);
-		clFinish(m_queue);
-	}
-
-	int maxIter = solverInfo.m_numIterations;
-
-	for (int iter = 0; iter < maxIter; iter++)
-	{
-		{
-			B3_PROFILE("m_solveContactKernel");
-			b3LauncherCL launcher(m_queue, m_data->m_solveContactKernel, "m_solveContactKernel");
-			launcher.setBuffer(m_data->m_contactConstraints->getBufferCL());
-			launcher.setBuffer(bodyBuf);
-			launcher.setBuffer(inertiaBuf);
-			launcher.setBuffer(m_data->m_contactConstraintOffsets->getBufferCL());
-			launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
-			launcher.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
-			launcher.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
-			launcher.setConst(solverInfo.m_deltaTime);
-			launcher.setConst(solverInfo.m_positionDrift);
-			launcher.setConst(solverInfo.m_positionConstraintCoeff);
-			launcher.setConst(solverInfo.m_fixedBodyIndex);
-			launcher.setConst(numManifolds);
-
-			launcher.launch1D(numManifolds);
-			clFinish(m_queue);
-		}
-
-		{
-			B3_PROFILE("average velocities");
-			b3LauncherCL launcher(m_queue, m_data->m_averageVelocitiesKernel, "m_averageVelocitiesKernel");
-			launcher.setBuffer(bodyBuf);
-			launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
-			launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
-			launcher.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
-			launcher.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
-			launcher.setConst(numBodies);
-			launcher.launch1D(numBodies);
-			clFinish(m_queue);
-		}
-
-		{
-			B3_PROFILE("m_solveFrictionKernel");
-			b3LauncherCL launcher(m_queue, m_data->m_solveFrictionKernel, "m_solveFrictionKernel");
-			launcher.setBuffer(m_data->m_contactConstraints->getBufferCL());
-			launcher.setBuffer(bodyBuf);
-			launcher.setBuffer(inertiaBuf);
-			launcher.setBuffer(m_data->m_contactConstraintOffsets->getBufferCL());
-			launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
-			launcher.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
-			launcher.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
-			launcher.setConst(solverInfo.m_deltaTime);
-			launcher.setConst(solverInfo.m_positionDrift);
-			launcher.setConst(solverInfo.m_positionConstraintCoeff);
-			launcher.setConst(solverInfo.m_fixedBodyIndex);
-			launcher.setConst(numManifolds);
-
-			launcher.launch1D(numManifolds);
-			clFinish(m_queue);
-		}
-
-		{
-			B3_PROFILE("average velocities");
-			b3LauncherCL launcher(m_queue, m_data->m_averageVelocitiesKernel, "m_averageVelocitiesKernel");
-			launcher.setBuffer(bodyBuf);
-			launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
-			launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
-			launcher.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
-			launcher.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
-			launcher.setConst(numBodies);
-			launcher.launch1D(numBodies);
-			clFinish(m_queue);
-		}
-	}
-
-	{
-		B3_PROFILE("update body velocities");
-		b3LauncherCL launcher(m_queue, m_data->m_updateBodyVelocitiesKernel, "m_updateBodyVelocitiesKernel");
-		launcher.setBuffer(bodyBuf);
-		launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
-		launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
-		launcher.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
-		launcher.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
-		launcher.setConst(numBodies);
-		launcher.launch1D(numBodies);
-		clFinish(m_queue);
-	}
-}
-
-#if 0
-
-void  b3GpuJacobiContactSolver::solveGroupMixed(b3OpenCLArray<b3RigidBodyData>* bodiesGPU,b3OpenCLArray<b3InertiaData>* inertiasGPU,b3OpenCLArray<b3Contact4>* manifoldPtrGPU,const btJacobiSolverInfo& solverInfo)
-{
-
-	b3AlignedObjectArray<b3RigidBodyData> bodiesCPU;
-	bodiesGPU->copyToHost(bodiesCPU);
-	b3AlignedObjectArray<b3InertiaData> inertiasCPU;
-	inertiasGPU->copyToHost(inertiasCPU);
-	b3AlignedObjectArray<b3Contact4> manifoldPtrCPU;
-	manifoldPtrGPU->copyToHost(manifoldPtrCPU);
-	
-	int numBodiesCPU = bodiesGPU->size();
-	int numManifoldsCPU = manifoldPtrGPU->size();
-	B3_PROFILE("b3GpuJacobiContactSolver::solveGroupMixed");
-
-	b3AlignedObjectArray<unsigned int> bodyCount;
-	bodyCount.resize(numBodiesCPU);
-	for (int i=0;i<numBodiesCPU;i++)
-		bodyCount[i] = 0;
-
-	b3AlignedObjectArray<b3Int2> contactConstraintOffsets;
-	contactConstraintOffsets.resize(numManifoldsCPU);
-
-
-	for (int i=0;i<numManifoldsCPU;i++)
-	{
-		int pa = manifoldPtrCPU[i].m_bodyAPtrAndSignBit;
-		int pb = manifoldPtrCPU[i].m_bodyBPtrAndSignBit;
-
-		bool isFixedA = (pa <0) || (pa == solverInfo.m_fixedBodyIndex);
-		bool isFixedB = (pb <0) || (pb == solverInfo.m_fixedBodyIndex);
-
-		int bodyIndexA = manifoldPtrCPU[i].getBodyA();
-		int bodyIndexB = manifoldPtrCPU[i].getBodyB();
-
-		if (!isFixedA)
-		{
-			contactConstraintOffsets[i].x = bodyCount[bodyIndexA];
-			bodyCount[bodyIndexA]++;
-		}
-		if (!isFixedB)
-		{
-			contactConstraintOffsets[i].y = bodyCount[bodyIndexB];
-			bodyCount[bodyIndexB]++;
-		} 
-	}
-
-	b3AlignedObjectArray<unsigned int> offsetSplitBodies;
-	offsetSplitBodies.resize(numBodiesCPU);
-	unsigned int totalNumSplitBodiesCPU;
-	m_data->m_scan->executeHost(bodyCount,offsetSplitBodies,numBodiesCPU,&totalNumSplitBodiesCPU);
-	int numlastBody = bodyCount[numBodiesCPU-1];
-	totalNumSplitBodiesCPU += numlastBody;
-
-		int numBodies = bodiesGPU->size();
-	int numManifolds = manifoldPtrGPU->size();
-
-	m_data->m_bodyCount->resize(numBodies);
-	
-	unsigned int val=0;
-	b3Int2 val2;
-	val2.x=0;
-	val2.y=0;
-
-	 {
-		B3_PROFILE("m_filler");
-		m_data->m_contactConstraintOffsets->resize(numManifolds);
-		m_data->m_filler->execute(*m_data->m_bodyCount,val,numBodies);
-		
-	
-		m_data->m_filler->execute(*m_data->m_contactConstraintOffsets,val2,numManifolds);
-	}
-
-	{
-		B3_PROFILE("m_countBodiesKernel");
-		b3LauncherCL launcher(this->m_queue,m_data->m_countBodiesKernel);
-		launcher.setBuffer(manifoldPtrGPU->getBufferCL());
-		launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
-		launcher.setBuffer(m_data->m_contactConstraintOffsets->getBufferCL());
-		launcher.setConst(numManifolds);
-		launcher.setConst(solverInfo.m_fixedBodyIndex);
-		launcher.launch1D(numManifolds);
-	}
-
-	unsigned int totalNumSplitBodies=0;
-	m_data->m_offsetSplitBodies->resize(numBodies);
-	m_data->m_scan->execute(*m_data->m_bodyCount,*m_data->m_offsetSplitBodies,numBodies,&totalNumSplitBodies);
-	totalNumSplitBodies+=m_data->m_bodyCount->at(numBodies-1);
-
-	if (totalNumSplitBodies != totalNumSplitBodiesCPU)
-	{
-		printf("error in totalNumSplitBodies!\n");
-	}
-
-	int numContacts = manifoldPtrGPU->size();
-	m_data->m_contactConstraints->resize(numContacts);
-
-	
-	{
-		B3_PROFILE("contactToConstraintSplitKernel");
-		b3LauncherCL launcher( m_queue, m_data->m_contactToConstraintSplitKernel);
-		launcher.setBuffer(manifoldPtrGPU->getBufferCL());
-		launcher.setBuffer(bodiesGPU->getBufferCL());
-		launcher.setBuffer(inertiasGPU->getBufferCL());
-		launcher.setBuffer(m_data->m_contactConstraints->getBufferCL());
-		launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
-        launcher.setConst(numContacts);
-		launcher.setConst(solverInfo.m_deltaTime);
-		launcher.setConst(solverInfo.m_positionDrift);
-		launcher.setConst(solverInfo.m_positionConstraintCoeff);
-		launcher.launch1D( numContacts, 64 );
-		clFinish(m_queue);
-	}
-
-
-
-	b3AlignedObjectArray<b3GpuConstraint4> contactConstraints;
-	contactConstraints.resize(numManifoldsCPU);
-
-	for (int i=0;i<numManifoldsCPU;i++)
-	{
-		ContactToConstraintKernel(&manifoldPtrCPU[0],&bodiesCPU[0],&inertiasCPU[0],&contactConstraints[0],numManifoldsCPU,
-			solverInfo.m_deltaTime,
-			solverInfo.m_positionDrift,
-			solverInfo.m_positionConstraintCoeff,
-			i, bodyCount);
-	}
-	int maxIter = solverInfo.m_numIterations;
-
-
-	b3AlignedObjectArray<b3Vector3> deltaLinearVelocities;
-	b3AlignedObjectArray<b3Vector3> deltaAngularVelocities;
-	deltaLinearVelocities.resize(totalNumSplitBodiesCPU);
-	deltaAngularVelocities.resize(totalNumSplitBodiesCPU);
-	for (int i=0;i<totalNumSplitBodiesCPU;i++)
-	{
-		deltaLinearVelocities[i].setZero();
-		deltaAngularVelocities[i].setZero();
-	}
-
-	m_data->m_deltaLinearVelocities->resize(totalNumSplitBodies);
-	m_data->m_deltaAngularVelocities->resize(totalNumSplitBodies);
-
-
-	
-	{
-		B3_PROFILE("m_clearVelocitiesKernel");
-		b3LauncherCL launch(m_queue,m_data->m_clearVelocitiesKernel);
-		launch.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
-		launch.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
-		launch.setConst(totalNumSplitBodies);
-		launch.launch1D(totalNumSplitBodies);
-	}
-	
-
-		///!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
-
-
-	m_data->m_contactConstraints->copyToHost(contactConstraints);
-	m_data->m_offsetSplitBodies->copyToHost(offsetSplitBodies);
-	m_data->m_contactConstraintOffsets->copyToHost(contactConstraintOffsets);
-	m_data->m_deltaLinearVelocities->copyToHost(deltaLinearVelocities);
-	m_data->m_deltaAngularVelocities->copyToHost(deltaAngularVelocities);
-
-	for (int iter = 0;iter<maxIter;iter++)
-	{
-
-				{
-			B3_PROFILE("m_solveContactKernel");
-			b3LauncherCL launcher( m_queue, m_data->m_solveContactKernel );
-			launcher.setBuffer(m_data->m_contactConstraints->getBufferCL());
-			launcher.setBuffer(bodiesGPU->getBufferCL());
-			launcher.setBuffer(inertiasGPU->getBufferCL());
-			launcher.setBuffer(m_data->m_contactConstraintOffsets->getBufferCL());
-			launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
-			launcher.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
-			launcher.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
-			launcher.setConst(solverInfo.m_deltaTime);
-			launcher.setConst(solverInfo.m_positionDrift);
-			launcher.setConst(solverInfo.m_positionConstraintCoeff);
-			launcher.setConst(solverInfo.m_fixedBodyIndex);
-			launcher.setConst(numManifolds);
-
-			launcher.launch1D(numManifolds);
-			clFinish(m_queue);
-		}
-
-
-		int i=0;
-		for( i=0; i<numManifoldsCPU; i++)
-		{
-
-			float frictionCoeff = contactConstraints[i].getFrictionCoeff();
-			int aIdx = (int)contactConstraints[i].m_bodyA;
-			int bIdx = (int)contactConstraints[i].m_bodyB;
-			b3RigidBodyData& bodyA = bodiesCPU[aIdx];
-			b3RigidBodyData& bodyB = bodiesCPU[bIdx];
-
-			b3Vector3 zero(0,0,0);
-			
-			b3Vector3* dlvAPtr=&zero;
-			b3Vector3* davAPtr=&zero;
-			b3Vector3* dlvBPtr=&zero;
-			b3Vector3* davBPtr=&zero;
-			
-			if (bodyA.m_invMass)
-			{
-				int bodyOffsetA = offsetSplitBodies[aIdx];
-				int constraintOffsetA = contactConstraintOffsets[i].x;
-				int splitIndexA = bodyOffsetA+constraintOffsetA;
-				dlvAPtr = &deltaLinearVelocities[splitIndexA];
-				davAPtr = &deltaAngularVelocities[splitIndexA];
-			}
-
-			if (bodyB.m_invMass)
-			{
-				int bodyOffsetB = offsetSplitBodies[bIdx];
-				int constraintOffsetB = contactConstraintOffsets[i].y;
-				int splitIndexB= bodyOffsetB+constraintOffsetB;
-				dlvBPtr =&deltaLinearVelocities[splitIndexB];
-				davBPtr = &deltaAngularVelocities[splitIndexB];
-			}
-
-
-
-			{
-				float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};
-				float minRambdaDt[4] = {0.f,0.f,0.f,0.f};
-
-				solveContact( contactConstraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass, inertiasCPU[aIdx].m_invInertiaWorld, 
-					(b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, inertiasCPU[bIdx].m_invInertiaWorld,
-					maxRambdaDt, minRambdaDt , *dlvAPtr,*davAPtr,*dlvBPtr,*davBPtr		);
-
-
-			}
-		}
-
-		
-		{
-			B3_PROFILE("average velocities");
-			b3LauncherCL launcher( m_queue, m_data->m_averageVelocitiesKernel);
-			launcher.setBuffer(bodiesGPU->getBufferCL());
-			launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
-			launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
-			launcher.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
-			launcher.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
-			launcher.setConst(numBodies);
-			launcher.launch1D(numBodies);
-			clFinish(m_queue);
-		}
-
-		//easy
-		for (int i=0;i<numBodiesCPU;i++)
-		{
-			if (bodiesCPU[i].m_invMass)
-			{
-				int bodyOffset = offsetSplitBodies[i];
-				int count = bodyCount[i];
-				float factor = 1.f/float(count);
-				b3Vector3 averageLinVel;
-				averageLinVel.setZero();
-				b3Vector3 averageAngVel;
-				averageAngVel.setZero();
-				for (int j=0;j<count;j++)
-				{
-					averageLinVel += deltaLinearVelocities[bodyOffset+j]*factor;
-					averageAngVel += deltaAngularVelocities[bodyOffset+j]*factor;
-				}
-				for (int j=0;j<count;j++)
-				{
-					deltaLinearVelocities[bodyOffset+j] = averageLinVel;
-					deltaAngularVelocities[bodyOffset+j] = averageAngVel;
-				}
-			}
-		}
-//	m_data->m_deltaAngularVelocities->copyFromHost(deltaAngularVelocities);
-	//m_data->m_deltaLinearVelocities->copyFromHost(deltaLinearVelocities);
-	m_data->m_deltaAngularVelocities->copyToHost(deltaAngularVelocities);
-	m_data->m_deltaLinearVelocities->copyToHost(deltaLinearVelocities);
-
-#if 0
-
-		{
-			B3_PROFILE("m_solveFrictionKernel");
-			b3LauncherCL launcher( m_queue, m_data->m_solveFrictionKernel);
-			launcher.setBuffer(m_data->m_contactConstraints->getBufferCL());
-			launcher.setBuffer(bodiesGPU->getBufferCL());
-			launcher.setBuffer(inertiasGPU->getBufferCL());
-			launcher.setBuffer(m_data->m_contactConstraintOffsets->getBufferCL());
-			launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
-			launcher.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
-			launcher.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
-			launcher.setConst(solverInfo.m_deltaTime);
-			launcher.setConst(solverInfo.m_positionDrift);
-			launcher.setConst(solverInfo.m_positionConstraintCoeff);
-			launcher.setConst(solverInfo.m_fixedBodyIndex);
-			launcher.setConst(numManifolds);
-
-			launcher.launch1D(numManifolds);
-			clFinish(m_queue);
-		}
-
-		//solve friction
-
-		for(int i=0; i<numManifoldsCPU; i++)
-		{
-			float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};
-			float minRambdaDt[4] = {0.f,0.f,0.f,0.f};
-
-			float sum = 0;
-			for(int j=0; j<4; j++)
-			{
-				sum +=contactConstraints[i].m_appliedRambdaDt[j];
-			}
-			float frictionCoeff = contactConstraints[i].getFrictionCoeff();
-			int aIdx = (int)contactConstraints[i].m_bodyA;
-			int bIdx = (int)contactConstraints[i].m_bodyB;
-			b3RigidBodyData& bodyA = bodiesCPU[aIdx];
-			b3RigidBodyData& bodyB = bodiesCPU[bIdx];
-
-			b3Vector3 zero(0,0,0);
-			
-			b3Vector3* dlvAPtr=&zero;
-			b3Vector3* davAPtr=&zero;
-			b3Vector3* dlvBPtr=&zero;
-			b3Vector3* davBPtr=&zero;
-			
-			if (bodyA.m_invMass)
-			{
-				int bodyOffsetA = offsetSplitBodies[aIdx];
-				int constraintOffsetA = contactConstraintOffsets[i].x;
-				int splitIndexA = bodyOffsetA+constraintOffsetA;
-				dlvAPtr = &deltaLinearVelocities[splitIndexA];
-				davAPtr = &deltaAngularVelocities[splitIndexA];
-			}
-
-			if (bodyB.m_invMass)
-			{
-				int bodyOffsetB = offsetSplitBodies[bIdx];
-				int constraintOffsetB = contactConstraintOffsets[i].y;
-				int splitIndexB= bodyOffsetB+constraintOffsetB;
-				dlvBPtr =&deltaLinearVelocities[splitIndexB];
-				davBPtr = &deltaAngularVelocities[splitIndexB];
-			}
-
-			for(int j=0; j<4; j++)
-			{
-				maxRambdaDt[j] = frictionCoeff*sum;
-				minRambdaDt[j] = -maxRambdaDt[j];
-			}
-
-			solveFriction( contactConstraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass,inertiasCPU[aIdx].m_invInertiaWorld, 
-				(b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, inertiasCPU[bIdx].m_invInertiaWorld,
-				maxRambdaDt, minRambdaDt , *dlvAPtr,*davAPtr,*dlvBPtr,*davBPtr);
-
-		}
-
-		{
-			B3_PROFILE("average velocities");
-			b3LauncherCL launcher( m_queue, m_data->m_averageVelocitiesKernel);
-			launcher.setBuffer(bodiesGPU->getBufferCL());
-			launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
-			launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
-			launcher.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
-			launcher.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
-			launcher.setConst(numBodies);
-			launcher.launch1D(numBodies);
-			clFinish(m_queue);
-		}
-
-		//easy
-		for (int i=0;i<numBodiesCPU;i++)
-		{
-			if (bodiesCPU[i].m_invMass)
-			{
-				int bodyOffset = offsetSplitBodies[i];
-				int count = bodyCount[i];
-				float factor = 1.f/float(count);
-				b3Vector3 averageLinVel;
-				averageLinVel.setZero();
-				b3Vector3 averageAngVel;
-				averageAngVel.setZero();
-				for (int j=0;j<count;j++)
-				{
-					averageLinVel += deltaLinearVelocities[bodyOffset+j]*factor;
-					averageAngVel += deltaAngularVelocities[bodyOffset+j]*factor;
-				}
-				for (int j=0;j<count;j++)
-				{
-					deltaLinearVelocities[bodyOffset+j] = averageLinVel;
-					deltaAngularVelocities[bodyOffset+j] = averageAngVel;
-				}
-			}
-		}
-
-#endif
-
-	}
-
-	{
-		B3_PROFILE("update body velocities");
-		b3LauncherCL launcher( m_queue, m_data->m_updateBodyVelocitiesKernel);
-		launcher.setBuffer(bodiesGPU->getBufferCL());
-		launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
-		launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
-		launcher.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
-		launcher.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
-		launcher.setConst(numBodies);
-		launcher.launch1D(numBodies);
-		clFinish(m_queue);
-	}
-
-
-	//easy
-	for (int i=0;i<numBodiesCPU;i++)
-	{
-		if (bodiesCPU[i].m_invMass)
-		{
-			int bodyOffset = offsetSplitBodies[i];
-			int count = bodyCount[i];
-			if (count)
-			{
-				bodiesCPU[i].m_linVel += deltaLinearVelocities[bodyOffset];
-				bodiesCPU[i].m_angVel += deltaAngularVelocities[bodyOffset];
-			}
-		}
-	}
-
-
-//	bodiesGPU->copyFromHost(bodiesCPU);
-
-
-}
-#endif
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.h
deleted file mode 100644
index 8281aee05d..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.h
+++ /dev/null
@@ -1,56 +0,0 @@
-
-#ifndef B3_GPU_JACOBI_CONTACT_SOLVER_H
-#define B3_GPU_JACOBI_CONTACT_SOLVER_H
-#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
-//#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
-
-//struct b3InertiaData;
-//b3InertiaData
-
-class b3TypedConstraint;
-
-struct b3JacobiSolverInfo
-{
-	int m_fixedBodyIndex;
-
-	float m_deltaTime;
-	float m_positionDrift;
-	float m_positionConstraintCoeff;
-	int m_numIterations;
-
-	b3JacobiSolverInfo()
-		: m_fixedBodyIndex(0),
-		  m_deltaTime(1. / 60.f),
-		  m_positionDrift(0.005f),
-		  m_positionConstraintCoeff(0.99f),
-		  m_numIterations(7)
-	{
-	}
-};
-class b3GpuJacobiContactSolver
-{
-protected:
-	struct b3GpuJacobiSolverInternalData* m_data;
-
-	cl_context m_context;
-	cl_device_id m_device;
-	cl_command_queue m_queue;
-
-public:
-	b3GpuJacobiContactSolver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity);
-	virtual ~b3GpuJacobiContactSolver();
-
-	void solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const struct b3Config& config, int static0Index);
-	void solveGroupHost(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, struct b3Contact4* manifoldPtr, int numManifolds, const b3JacobiSolverInfo& solverInfo);
-	//void  solveGroupHost(btRigidBodyCL* bodies,b3InertiaData* inertias,int numBodies,btContact4* manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btJacobiSolverInfo& solverInfo);
-
-	//b3Scalar solveGroup(b3OpenCLArray<b3RigidBodyData>* gpuBodies,b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies,b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
-
-	//void  solveGroup(btOpenCLArray<btRigidBodyCL>* bodies,btOpenCLArray<btInertiaCL>* inertias,btOpenCLArray<btContact4>* manifoldPtr,const btJacobiSolverInfo& solverInfo);
-	//void  solveGroupMixed(btOpenCLArray<btRigidBodyCL>* bodies,btOpenCLArray<btInertiaCL>* inertias,btOpenCLArray<btContact4>* manifoldPtr,const btJacobiSolverInfo& solverInfo);
-};
-#endif  //B3_GPU_JACOBI_CONTACT_SOLVER_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp
deleted file mode 100644
index 2e4f6c1572..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp
+++ /dev/null
@@ -1,1013 +0,0 @@
-#include "b3GpuNarrowPhase.h"
-
-#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
-#include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h"
-#include "Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h"
-#include <string.h>
-#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
-#include "Bullet3OpenCL/NarrowphaseCollision/b3OptimizedBvh.h"
-#include "Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h"
-#include "Bullet3Geometry/b3AabbUtil.h"
-#include "Bullet3OpenCL/NarrowphaseCollision/b3BvhInfo.h"
-
-#include "b3GpuNarrowPhaseInternalData.h"
-#include "Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h"
-#include "Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h"
-
-b3GpuNarrowPhase::b3GpuNarrowPhase(cl_context ctx, cl_device_id device, cl_command_queue queue, const b3Config& config)
-	: m_data(0), m_planeBodyIndex(-1), m_static0Index(-1), m_context(ctx), m_device(device), m_queue(queue)
-{
-	m_data = new b3GpuNarrowPhaseInternalData();
-	m_data->m_currentContactBuffer = 0;
-
-	memset(m_data, 0, sizeof(b3GpuNarrowPhaseInternalData));
-
-	m_data->m_config = config;
-
-	m_data->m_gpuSatCollision = new GpuSatCollision(ctx, device, queue);
-
-	m_data->m_triangleConvexPairs = new b3OpenCLArray<b3Int4>(m_context, m_queue, config.m_maxTriConvexPairCapacity);
-
-	//m_data->m_convexPairsOutGPU = new b3OpenCLArray<b3Int2>(ctx,queue,config.m_maxBroadphasePairs,false);
-	//m_data->m_planePairs = new b3OpenCLArray<b3Int2>(ctx,queue,config.m_maxBroadphasePairs,false);
-
-	m_data->m_pBufContactOutCPU = new b3AlignedObjectArray<b3Contact4>();
-	m_data->m_pBufContactOutCPU->resize(config.m_maxBroadphasePairs);
-	m_data->m_bodyBufferCPU = new b3AlignedObjectArray<b3RigidBodyData>();
-	m_data->m_bodyBufferCPU->resize(config.m_maxConvexBodies);
-
-	m_data->m_inertiaBufferCPU = new b3AlignedObjectArray<b3InertiaData>();
-	m_data->m_inertiaBufferCPU->resize(config.m_maxConvexBodies);
-
-	m_data->m_pBufContactBuffersGPU[0] = new b3OpenCLArray<b3Contact4>(ctx, queue, config.m_maxContactCapacity, true);
-	m_data->m_pBufContactBuffersGPU[1] = new b3OpenCLArray<b3Contact4>(ctx, queue, config.m_maxContactCapacity, true);
-
-	m_data->m_inertiaBufferGPU = new b3OpenCLArray<b3InertiaData>(ctx, queue, config.m_maxConvexBodies, false);
-	m_data->m_collidablesGPU = new b3OpenCLArray<b3Collidable>(ctx, queue, config.m_maxConvexShapes);
-	m_data->m_collidablesCPU.reserve(config.m_maxConvexShapes);
-
-	m_data->m_localShapeAABBCPU = new b3AlignedObjectArray<b3SapAabb>;
-	m_data->m_localShapeAABBGPU = new b3OpenCLArray<b3SapAabb>(ctx, queue, config.m_maxConvexShapes);
-
-	//m_data->m_solverDataGPU = adl::Solver<adl::TYPE_CL>::allocate(ctx,queue, config.m_maxBroadphasePairs,false);
-	m_data->m_bodyBufferGPU = new b3OpenCLArray<b3RigidBodyData>(ctx, queue, config.m_maxConvexBodies, false);
-
-	m_data->m_convexFacesGPU = new b3OpenCLArray<b3GpuFace>(ctx, queue, config.m_maxConvexShapes * config.m_maxFacesPerShape, false);
-	m_data->m_convexFaces.reserve(config.m_maxConvexShapes * config.m_maxFacesPerShape);
-
-	m_data->m_gpuChildShapes = new b3OpenCLArray<b3GpuChildShape>(ctx, queue, config.m_maxCompoundChildShapes, false);
-
-	m_data->m_convexPolyhedraGPU = new b3OpenCLArray<b3ConvexPolyhedronData>(ctx, queue, config.m_maxConvexShapes, false);
-	m_data->m_convexPolyhedra.reserve(config.m_maxConvexShapes);
-
-	m_data->m_uniqueEdgesGPU = new b3OpenCLArray<b3Vector3>(ctx, queue, config.m_maxConvexUniqueEdges, true);
-	m_data->m_uniqueEdges.reserve(config.m_maxConvexUniqueEdges);
-
-	m_data->m_convexVerticesGPU = new b3OpenCLArray<b3Vector3>(ctx, queue, config.m_maxConvexVertices, true);
-	m_data->m_convexVertices.reserve(config.m_maxConvexVertices);
-
-	m_data->m_convexIndicesGPU = new b3OpenCLArray<int>(ctx, queue, config.m_maxConvexIndices, true);
-	m_data->m_convexIndices.reserve(config.m_maxConvexIndices);
-
-	m_data->m_worldVertsB1GPU = new b3OpenCLArray<b3Vector3>(ctx, queue, config.m_maxConvexBodies * config.m_maxVerticesPerFace);
-	m_data->m_clippingFacesOutGPU = new b3OpenCLArray<b3Int4>(ctx, queue, config.m_maxConvexBodies);
-	m_data->m_worldNormalsAGPU = new b3OpenCLArray<b3Vector3>(ctx, queue, config.m_maxConvexBodies);
-	m_data->m_worldVertsA1GPU = new b3OpenCLArray<b3Vector3>(ctx, queue, config.m_maxConvexBodies * config.m_maxVerticesPerFace);
-	m_data->m_worldVertsB2GPU = new b3OpenCLArray<b3Vector3>(ctx, queue, config.m_maxConvexBodies * config.m_maxVerticesPerFace);
-
-	m_data->m_convexData = new b3AlignedObjectArray<b3ConvexUtility*>();
-
-	m_data->m_convexData->resize(config.m_maxConvexShapes);
-	m_data->m_convexPolyhedra.resize(config.m_maxConvexShapes);
-
-	m_data->m_numAcceleratedShapes = 0;
-	m_data->m_numAcceleratedRigidBodies = 0;
-
-	m_data->m_subTreesGPU = new b3OpenCLArray<b3BvhSubtreeInfo>(this->m_context, this->m_queue);
-	m_data->m_treeNodesGPU = new b3OpenCLArray<b3QuantizedBvhNode>(this->m_context, this->m_queue);
-	m_data->m_bvhInfoGPU = new b3OpenCLArray<b3BvhInfo>(this->m_context, this->m_queue);
-
-	//m_data->m_contactCGPU = new b3OpenCLArray<Constraint4>(ctx,queue,config.m_maxBroadphasePairs,false);
-	//m_data->m_frictionCGPU = new b3OpenCLArray<adl::Solver<adl::TYPE_CL>::allocateFrictionConstraint( m_data->m_deviceCL, config.m_maxBroadphasePairs);
-}
-
-b3GpuNarrowPhase::~b3GpuNarrowPhase()
-{
-	delete m_data->m_gpuSatCollision;
-
-	delete m_data->m_triangleConvexPairs;
-	//delete m_data->m_convexPairsOutGPU;
-	//delete m_data->m_planePairs;
-	delete m_data->m_pBufContactOutCPU;
-	delete m_data->m_bodyBufferCPU;
-	delete m_data->m_inertiaBufferCPU;
-	delete m_data->m_pBufContactBuffersGPU[0];
-	delete m_data->m_pBufContactBuffersGPU[1];
-
-	delete m_data->m_inertiaBufferGPU;
-	delete m_data->m_collidablesGPU;
-	delete m_data->m_localShapeAABBCPU;
-	delete m_data->m_localShapeAABBGPU;
-	delete m_data->m_bodyBufferGPU;
-	delete m_data->m_convexFacesGPU;
-	delete m_data->m_gpuChildShapes;
-	delete m_data->m_convexPolyhedraGPU;
-	delete m_data->m_uniqueEdgesGPU;
-	delete m_data->m_convexVerticesGPU;
-	delete m_data->m_convexIndicesGPU;
-	delete m_data->m_worldVertsB1GPU;
-	delete m_data->m_clippingFacesOutGPU;
-	delete m_data->m_worldNormalsAGPU;
-	delete m_data->m_worldVertsA1GPU;
-	delete m_data->m_worldVertsB2GPU;
-
-	delete m_data->m_bvhInfoGPU;
-
-	for (int i = 0; i < m_data->m_bvhData.size(); i++)
-	{
-		delete m_data->m_bvhData[i];
-	}
-	for (int i = 0; i < m_data->m_meshInterfaces.size(); i++)
-	{
-		delete m_data->m_meshInterfaces[i];
-	}
-	m_data->m_meshInterfaces.clear();
-	m_data->m_bvhData.clear();
-	delete m_data->m_treeNodesGPU;
-	delete m_data->m_subTreesGPU;
-
-	delete m_data->m_convexData;
-	delete m_data;
-}
-
-int b3GpuNarrowPhase::allocateCollidable()
-{
-	int curSize = m_data->m_collidablesCPU.size();
-	if (curSize < m_data->m_config.m_maxConvexShapes)
-	{
-		m_data->m_collidablesCPU.expand();
-		return curSize;
-	}
-	else
-	{
-		b3Error("allocateCollidable out-of-range %d\n", m_data->m_config.m_maxConvexShapes);
-	}
-	return -1;
-}
-
-int b3GpuNarrowPhase::registerSphereShape(float radius)
-{
-	int collidableIndex = allocateCollidable();
-	if (collidableIndex < 0)
-		return collidableIndex;
-
-	b3Collidable& col = getCollidableCpu(collidableIndex);
-	col.m_shapeType = SHAPE_SPHERE;
-	col.m_shapeIndex = 0;
-	col.m_radius = radius;
-
-	if (col.m_shapeIndex >= 0)
-	{
-		b3SapAabb aabb;
-		b3Vector3 myAabbMin = b3MakeVector3(-radius, -radius, -radius);
-		b3Vector3 myAabbMax = b3MakeVector3(radius, radius, radius);
-
-		aabb.m_min[0] = myAabbMin[0];  //s_convexHeightField->m_aabb.m_min.x;
-		aabb.m_min[1] = myAabbMin[1];  //s_convexHeightField->m_aabb.m_min.y;
-		aabb.m_min[2] = myAabbMin[2];  //s_convexHeightField->m_aabb.m_min.z;
-		aabb.m_minIndices[3] = 0;
-
-		aabb.m_max[0] = myAabbMax[0];  //s_convexHeightField->m_aabb.m_max.x;
-		aabb.m_max[1] = myAabbMax[1];  //s_convexHeightField->m_aabb.m_max.y;
-		aabb.m_max[2] = myAabbMax[2];  //s_convexHeightField->m_aabb.m_max.z;
-		aabb.m_signedMaxIndices[3] = 0;
-
-		m_data->m_localShapeAABBCPU->push_back(aabb);
-		//		m_data->m_localShapeAABBGPU->push_back(aabb);
-		clFinish(m_queue);
-	}
-
-	return collidableIndex;
-}
-
-int b3GpuNarrowPhase::registerFace(const b3Vector3& faceNormal, float faceConstant)
-{
-	int faceOffset = m_data->m_convexFaces.size();
-	b3GpuFace& face = m_data->m_convexFaces.expand();
-	face.m_plane = b3MakeVector3(faceNormal.x, faceNormal.y, faceNormal.z, faceConstant);
-	return faceOffset;
-}
-
-int b3GpuNarrowPhase::registerPlaneShape(const b3Vector3& planeNormal, float planeConstant)
-{
-	int collidableIndex = allocateCollidable();
-	if (collidableIndex < 0)
-		return collidableIndex;
-
-	b3Collidable& col = getCollidableCpu(collidableIndex);
-	col.m_shapeType = SHAPE_PLANE;
-	col.m_shapeIndex = registerFace(planeNormal, planeConstant);
-	col.m_radius = planeConstant;
-
-	if (col.m_shapeIndex >= 0)
-	{
-		b3SapAabb aabb;
-		aabb.m_min[0] = -1e30f;
-		aabb.m_min[1] = -1e30f;
-		aabb.m_min[2] = -1e30f;
-		aabb.m_minIndices[3] = 0;
-
-		aabb.m_max[0] = 1e30f;
-		aabb.m_max[1] = 1e30f;
-		aabb.m_max[2] = 1e30f;
-		aabb.m_signedMaxIndices[3] = 0;
-
-		m_data->m_localShapeAABBCPU->push_back(aabb);
-		//		m_data->m_localShapeAABBGPU->push_back(aabb);
-		clFinish(m_queue);
-	}
-
-	return collidableIndex;
-}
-
-int b3GpuNarrowPhase::registerConvexHullShapeInternal(b3ConvexUtility* convexPtr, b3Collidable& col)
-{
-	m_data->m_convexData->resize(m_data->m_numAcceleratedShapes + 1);
-	m_data->m_convexPolyhedra.resize(m_data->m_numAcceleratedShapes + 1);
-
-	b3ConvexPolyhedronData& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size() - 1);
-	convex.mC = convexPtr->mC;
-	convex.mE = convexPtr->mE;
-	convex.m_extents = convexPtr->m_extents;
-	convex.m_localCenter = convexPtr->m_localCenter;
-	convex.m_radius = convexPtr->m_radius;
-
-	convex.m_numUniqueEdges = convexPtr->m_uniqueEdges.size();
-	int edgeOffset = m_data->m_uniqueEdges.size();
-	convex.m_uniqueEdgesOffset = edgeOffset;
-
-	m_data->m_uniqueEdges.resize(edgeOffset + convex.m_numUniqueEdges);
-
-	//convex data here
-	int i;
-	for (i = 0; i < convexPtr->m_uniqueEdges.size(); i++)
-	{
-		m_data->m_uniqueEdges[edgeOffset + i] = convexPtr->m_uniqueEdges[i];
-	}
-
-	int faceOffset = m_data->m_convexFaces.size();
-	convex.m_faceOffset = faceOffset;
-	convex.m_numFaces = convexPtr->m_faces.size();
-
-	m_data->m_convexFaces.resize(faceOffset + convex.m_numFaces);
-
-	for (i = 0; i < convexPtr->m_faces.size(); i++)
-	{
-		m_data->m_convexFaces[convex.m_faceOffset + i].m_plane = b3MakeVector3(convexPtr->m_faces[i].m_plane[0],
-																			   convexPtr->m_faces[i].m_plane[1],
-																			   convexPtr->m_faces[i].m_plane[2],
-																			   convexPtr->m_faces[i].m_plane[3]);
-
-		int indexOffset = m_data->m_convexIndices.size();
-		int numIndices = convexPtr->m_faces[i].m_indices.size();
-		m_data->m_convexFaces[convex.m_faceOffset + i].m_numIndices = numIndices;
-		m_data->m_convexFaces[convex.m_faceOffset + i].m_indexOffset = indexOffset;
-		m_data->m_convexIndices.resize(indexOffset + numIndices);
-		for (int p = 0; p < numIndices; p++)
-		{
-			m_data->m_convexIndices[indexOffset + p] = convexPtr->m_faces[i].m_indices[p];
-		}
-	}
-
-	convex.m_numVertices = convexPtr->m_vertices.size();
-	int vertexOffset = m_data->m_convexVertices.size();
-	convex.m_vertexOffset = vertexOffset;
-
-	m_data->m_convexVertices.resize(vertexOffset + convex.m_numVertices);
-	for (int i = 0; i < convexPtr->m_vertices.size(); i++)
-	{
-		m_data->m_convexVertices[vertexOffset + i] = convexPtr->m_vertices[i];
-	}
-
-	(*m_data->m_convexData)[m_data->m_numAcceleratedShapes] = convexPtr;
-
-	return m_data->m_numAcceleratedShapes++;
-}
-
-int b3GpuNarrowPhase::registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling)
-{
-	b3AlignedObjectArray<b3Vector3> verts;
-
-	unsigned char* vts = (unsigned char*)vertices;
-	for (int i = 0; i < numVertices; i++)
-	{
-		float* vertex = (float*)&vts[i * strideInBytes];
-		verts.push_back(b3MakeVector3(vertex[0] * scaling[0], vertex[1] * scaling[1], vertex[2] * scaling[2]));
-	}
-
-	b3ConvexUtility* utilPtr = new b3ConvexUtility();
-	bool merge = true;
-	if (numVertices)
-	{
-		utilPtr->initializePolyhedralFeatures(&verts[0], verts.size(), merge);
-	}
-
-	int collidableIndex = registerConvexHullShape(utilPtr);
-	delete utilPtr;
-	return collidableIndex;
-}
-
-int b3GpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* utilPtr)
-{
-	int collidableIndex = allocateCollidable();
-	if (collidableIndex < 0)
-		return collidableIndex;
-
-	b3Collidable& col = getCollidableCpu(collidableIndex);
-	col.m_shapeType = SHAPE_CONVEX_HULL;
-	col.m_shapeIndex = -1;
-
-	{
-		b3Vector3 localCenter = b3MakeVector3(0, 0, 0);
-		for (int i = 0; i < utilPtr->m_vertices.size(); i++)
-			localCenter += utilPtr->m_vertices[i];
-		localCenter *= (1.f / utilPtr->m_vertices.size());
-		utilPtr->m_localCenter = localCenter;
-
-		col.m_shapeIndex = registerConvexHullShapeInternal(utilPtr, col);
-	}
-
-	if (col.m_shapeIndex >= 0)
-	{
-		b3SapAabb aabb;
-
-		b3Vector3 myAabbMin = b3MakeVector3(1e30f, 1e30f, 1e30f);
-		b3Vector3 myAabbMax = b3MakeVector3(-1e30f, -1e30f, -1e30f);
-
-		for (int i = 0; i < utilPtr->m_vertices.size(); i++)
-		{
-			myAabbMin.setMin(utilPtr->m_vertices[i]);
-			myAabbMax.setMax(utilPtr->m_vertices[i]);
-		}
-		aabb.m_min[0] = myAabbMin[0];
-		aabb.m_min[1] = myAabbMin[1];
-		aabb.m_min[2] = myAabbMin[2];
-		aabb.m_minIndices[3] = 0;
-
-		aabb.m_max[0] = myAabbMax[0];
-		aabb.m_max[1] = myAabbMax[1];
-		aabb.m_max[2] = myAabbMax[2];
-		aabb.m_signedMaxIndices[3] = 0;
-
-		m_data->m_localShapeAABBCPU->push_back(aabb);
-		//		m_data->m_localShapeAABBGPU->push_back(aabb);
-	}
-
-	return collidableIndex;
-}
-
-int b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<b3GpuChildShape>* childShapes)
-{
-	int collidableIndex = allocateCollidable();
-	if (collidableIndex < 0)
-		return collidableIndex;
-
-	b3Collidable& col = getCollidableCpu(collidableIndex);
-	col.m_shapeType = SHAPE_COMPOUND_OF_CONVEX_HULLS;
-	col.m_shapeIndex = m_data->m_cpuChildShapes.size();
-	col.m_compoundBvhIndex = m_data->m_bvhInfoCPU.size();
-
-	{
-		b3Assert(col.m_shapeIndex + childShapes->size() < m_data->m_config.m_maxCompoundChildShapes);
-		for (int i = 0; i < childShapes->size(); i++)
-		{
-			m_data->m_cpuChildShapes.push_back(childShapes->at(i));
-		}
-	}
-
-	col.m_numChildShapes = childShapes->size();
-
-	b3SapAabb aabbLocalSpace;
-	b3Vector3 myAabbMin = b3MakeVector3(1e30f, 1e30f, 1e30f);
-	b3Vector3 myAabbMax = b3MakeVector3(-1e30f, -1e30f, -1e30f);
-
-	b3AlignedObjectArray<b3Aabb> childLocalAabbs;
-	childLocalAabbs.resize(childShapes->size());
-
-	//compute local AABB of the compound of all children
-	for (int i = 0; i < childShapes->size(); i++)
-	{
-		int childColIndex = childShapes->at(i).m_shapeIndex;
-		//b3Collidable& childCol = getCollidableCpu(childColIndex);
-		b3SapAabb aabbLoc = m_data->m_localShapeAABBCPU->at(childColIndex);
-
-		b3Vector3 childLocalAabbMin = b3MakeVector3(aabbLoc.m_min[0], aabbLoc.m_min[1], aabbLoc.m_min[2]);
-		b3Vector3 childLocalAabbMax = b3MakeVector3(aabbLoc.m_max[0], aabbLoc.m_max[1], aabbLoc.m_max[2]);
-		b3Vector3 aMin, aMax;
-		b3Scalar margin(0.f);
-		b3Transform childTr;
-		childTr.setIdentity();
-
-		childTr.setOrigin(childShapes->at(i).m_childPosition);
-		childTr.setRotation(b3Quaternion(childShapes->at(i).m_childOrientation));
-		b3TransformAabb(childLocalAabbMin, childLocalAabbMax, margin, childTr, aMin, aMax);
-		myAabbMin.setMin(aMin);
-		myAabbMax.setMax(aMax);
-		childLocalAabbs[i].m_min[0] = aMin[0];
-		childLocalAabbs[i].m_min[1] = aMin[1];
-		childLocalAabbs[i].m_min[2] = aMin[2];
-		childLocalAabbs[i].m_min[3] = 0;
-		childLocalAabbs[i].m_max[0] = aMax[0];
-		childLocalAabbs[i].m_max[1] = aMax[1];
-		childLocalAabbs[i].m_max[2] = aMax[2];
-		childLocalAabbs[i].m_max[3] = 0;
-	}
-
-	aabbLocalSpace.m_min[0] = myAabbMin[0];  //s_convexHeightField->m_aabb.m_min.x;
-	aabbLocalSpace.m_min[1] = myAabbMin[1];  //s_convexHeightField->m_aabb.m_min.y;
-	aabbLocalSpace.m_min[2] = myAabbMin[2];  //s_convexHeightField->m_aabb.m_min.z;
-	aabbLocalSpace.m_minIndices[3] = 0;
-
-	aabbLocalSpace.m_max[0] = myAabbMax[0];  //s_convexHeightField->m_aabb.m_max.x;
-	aabbLocalSpace.m_max[1] = myAabbMax[1];  //s_convexHeightField->m_aabb.m_max.y;
-	aabbLocalSpace.m_max[2] = myAabbMax[2];  //s_convexHeightField->m_aabb.m_max.z;
-	aabbLocalSpace.m_signedMaxIndices[3] = 0;
-
-	m_data->m_localShapeAABBCPU->push_back(aabbLocalSpace);
-
-	b3QuantizedBvh* bvh = new b3QuantizedBvh;
-	bvh->setQuantizationValues(myAabbMin, myAabbMax);
-	QuantizedNodeArray& nodes = bvh->getLeafNodeArray();
-	int numNodes = childShapes->size();
-
-	for (int i = 0; i < numNodes; i++)
-	{
-		b3QuantizedBvhNode node;
-		b3Vector3 aabbMin, aabbMax;
-		aabbMin = (b3Vector3&)childLocalAabbs[i].m_min;
-		aabbMax = (b3Vector3&)childLocalAabbs[i].m_max;
-
-		bvh->quantize(&node.m_quantizedAabbMin[0], aabbMin, 0);
-		bvh->quantize(&node.m_quantizedAabbMax[0], aabbMax, 1);
-		int partId = 0;
-		node.m_escapeIndexOrTriangleIndex = (partId << (31 - MAX_NUM_PARTS_IN_BITS)) | i;
-		nodes.push_back(node);
-	}
-	bvh->buildInternal();
-
-	int numSubTrees = bvh->getSubtreeInfoArray().size();
-
-	//void	setQuantizationValues(const b3Vector3& bvhAabbMin,const b3Vector3& bvhAabbMax,b3Scalar quantizationMargin=b3Scalar(1.0));
-	//QuantizedNodeArray&	getLeafNodeArray() {			return	m_quantizedLeafNodes;	}
-	///buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized
-	//void	buildInternal();
-
-	b3BvhInfo bvhInfo;
-
-	bvhInfo.m_aabbMin = bvh->m_bvhAabbMin;
-	bvhInfo.m_aabbMax = bvh->m_bvhAabbMax;
-	bvhInfo.m_quantization = bvh->m_bvhQuantization;
-	bvhInfo.m_numNodes = numNodes;
-	bvhInfo.m_numSubTrees = numSubTrees;
-	bvhInfo.m_nodeOffset = m_data->m_treeNodesCPU.size();
-	bvhInfo.m_subTreeOffset = m_data->m_subTreesCPU.size();
-
-	int numNewNodes = bvh->getQuantizedNodeArray().size();
-
-	for (int i = 0; i < numNewNodes - 1; i++)
-	{
-		if (bvh->getQuantizedNodeArray()[i].isLeafNode())
-		{
-			int orgIndex = bvh->getQuantizedNodeArray()[i].getTriangleIndex();
-
-			b3Vector3 nodeMinVec = bvh->unQuantize(bvh->getQuantizedNodeArray()[i].m_quantizedAabbMin);
-			b3Vector3 nodeMaxVec = bvh->unQuantize(bvh->getQuantizedNodeArray()[i].m_quantizedAabbMax);
-
-			for (int c = 0; c < 3; c++)
-			{
-				if (childLocalAabbs[orgIndex].m_min[c] < nodeMinVec[c])
-				{
-					printf("min org (%f) and new (%f) ? at i:%d,c:%d\n", childLocalAabbs[i].m_min[c], nodeMinVec[c], i, c);
-				}
-				if (childLocalAabbs[orgIndex].m_max[c] > nodeMaxVec[c])
-				{
-					printf("max org (%f) and new (%f) ? at i:%d,c:%d\n", childLocalAabbs[i].m_max[c], nodeMaxVec[c], i, c);
-				}
-			}
-		}
-	}
-
-	m_data->m_bvhInfoCPU.push_back(bvhInfo);
-
-	int numNewSubtrees = bvh->getSubtreeInfoArray().size();
-	m_data->m_subTreesCPU.reserve(m_data->m_subTreesCPU.size() + numNewSubtrees);
-	for (int i = 0; i < numNewSubtrees; i++)
-	{
-		m_data->m_subTreesCPU.push_back(bvh->getSubtreeInfoArray()[i]);
-	}
-	int numNewTreeNodes = bvh->getQuantizedNodeArray().size();
-
-	for (int i = 0; i < numNewTreeNodes; i++)
-	{
-		m_data->m_treeNodesCPU.push_back(bvh->getQuantizedNodeArray()[i]);
-	}
-
-	//	m_data->m_localShapeAABBGPU->push_back(aabbWS);
-	clFinish(m_queue);
-	return collidableIndex;
-}
-
-int b3GpuNarrowPhase::registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, const float* scaling1)
-{
-	b3Vector3 scaling = b3MakeVector3(scaling1[0], scaling1[1], scaling1[2]);
-
-	int collidableIndex = allocateCollidable();
-	if (collidableIndex < 0)
-		return collidableIndex;
-
-	b3Collidable& col = getCollidableCpu(collidableIndex);
-
-	col.m_shapeType = SHAPE_CONCAVE_TRIMESH;
-	col.m_shapeIndex = registerConcaveMeshShape(vertices, indices, col, scaling);
-	col.m_bvhIndex = m_data->m_bvhInfoCPU.size();
-
-	b3SapAabb aabb;
-	b3Vector3 myAabbMin = b3MakeVector3(1e30f, 1e30f, 1e30f);
-	b3Vector3 myAabbMax = b3MakeVector3(-1e30f, -1e30f, -1e30f);
-
-	for (int i = 0; i < vertices->size(); i++)
-	{
-		b3Vector3 vtx(vertices->at(i) * scaling);
-		myAabbMin.setMin(vtx);
-		myAabbMax.setMax(vtx);
-	}
-	aabb.m_min[0] = myAabbMin[0];
-	aabb.m_min[1] = myAabbMin[1];
-	aabb.m_min[2] = myAabbMin[2];
-	aabb.m_minIndices[3] = 0;
-
-	aabb.m_max[0] = myAabbMax[0];
-	aabb.m_max[1] = myAabbMax[1];
-	aabb.m_max[2] = myAabbMax[2];
-	aabb.m_signedMaxIndices[3] = 0;
-
-	m_data->m_localShapeAABBCPU->push_back(aabb);
-	//	m_data->m_localShapeAABBGPU->push_back(aabb);
-
-	b3OptimizedBvh* bvh = new b3OptimizedBvh();
-	//void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantizedAabbCompression, const b3Vector3& bvhAabbMin, const b3Vector3& bvhAabbMax)
-
-	bool useQuantizedAabbCompression = true;
-	b3TriangleIndexVertexArray* meshInterface = new b3TriangleIndexVertexArray();
-	m_data->m_meshInterfaces.push_back(meshInterface);
-	b3IndexedMesh mesh;
-	mesh.m_numTriangles = indices->size() / 3;
-	mesh.m_numVertices = vertices->size();
-	mesh.m_vertexBase = (const unsigned char*)&vertices->at(0).x;
-	mesh.m_vertexStride = sizeof(b3Vector3);
-	mesh.m_triangleIndexStride = 3 * sizeof(int);  // or sizeof(int)
-	mesh.m_triangleIndexBase = (const unsigned char*)&indices->at(0);
-
-	meshInterface->addIndexedMesh(mesh);
-	bvh->build(meshInterface, useQuantizedAabbCompression, (b3Vector3&)aabb.m_min, (b3Vector3&)aabb.m_max);
-	m_data->m_bvhData.push_back(bvh);
-	int numNodes = bvh->getQuantizedNodeArray().size();
-	//b3OpenCLArray<b3QuantizedBvhNode>*	treeNodesGPU = new b3OpenCLArray<b3QuantizedBvhNode>(this->m_context,this->m_queue,numNodes);
-	int numSubTrees = bvh->getSubtreeInfoArray().size();
-
-	b3BvhInfo bvhInfo;
-
-	bvhInfo.m_aabbMin = bvh->m_bvhAabbMin;
-	bvhInfo.m_aabbMax = bvh->m_bvhAabbMax;
-	bvhInfo.m_quantization = bvh->m_bvhQuantization;
-	bvhInfo.m_numNodes = numNodes;
-	bvhInfo.m_numSubTrees = numSubTrees;
-	bvhInfo.m_nodeOffset = m_data->m_treeNodesCPU.size();
-	bvhInfo.m_subTreeOffset = m_data->m_subTreesCPU.size();
-
-	m_data->m_bvhInfoCPU.push_back(bvhInfo);
-
-	int numNewSubtrees = bvh->getSubtreeInfoArray().size();
-	m_data->m_subTreesCPU.reserve(m_data->m_subTreesCPU.size() + numNewSubtrees);
-	for (int i = 0; i < numNewSubtrees; i++)
-	{
-		m_data->m_subTreesCPU.push_back(bvh->getSubtreeInfoArray()[i]);
-	}
-	int numNewTreeNodes = bvh->getQuantizedNodeArray().size();
-
-	for (int i = 0; i < numNewTreeNodes; i++)
-	{
-		m_data->m_treeNodesCPU.push_back(bvh->getQuantizedNodeArray()[i]);
-	}
-
-	return collidableIndex;
-}
-
-int b3GpuNarrowPhase::registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, b3Collidable& col, const float* scaling1)
-{
-	b3Vector3 scaling = b3MakeVector3(scaling1[0], scaling1[1], scaling1[2]);
-
-	m_data->m_convexData->resize(m_data->m_numAcceleratedShapes + 1);
-	m_data->m_convexPolyhedra.resize(m_data->m_numAcceleratedShapes + 1);
-
-	b3ConvexPolyhedronData& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size() - 1);
-	convex.mC = b3MakeVector3(0, 0, 0);
-	convex.mE = b3MakeVector3(0, 0, 0);
-	convex.m_extents = b3MakeVector3(0, 0, 0);
-	convex.m_localCenter = b3MakeVector3(0, 0, 0);
-	convex.m_radius = 0.f;
-
-	convex.m_numUniqueEdges = 0;
-	int edgeOffset = m_data->m_uniqueEdges.size();
-	convex.m_uniqueEdgesOffset = edgeOffset;
-
-	int faceOffset = m_data->m_convexFaces.size();
-	convex.m_faceOffset = faceOffset;
-
-	convex.m_numFaces = indices->size() / 3;
-	m_data->m_convexFaces.resize(faceOffset + convex.m_numFaces);
-	m_data->m_convexIndices.reserve(convex.m_numFaces * 3);
-	for (int i = 0; i < convex.m_numFaces; i++)
-	{
-		if (i % 256 == 0)
-		{
-			//printf("i=%d out of %d", i,convex.m_numFaces);
-		}
-		b3Vector3 vert0(vertices->at(indices->at(i * 3)) * scaling);
-		b3Vector3 vert1(vertices->at(indices->at(i * 3 + 1)) * scaling);
-		b3Vector3 vert2(vertices->at(indices->at(i * 3 + 2)) * scaling);
-
-		b3Vector3 normal = ((vert1 - vert0).cross(vert2 - vert0)).normalize();
-		b3Scalar c = -(normal.dot(vert0));
-
-		m_data->m_convexFaces[convex.m_faceOffset + i].m_plane = b3MakeVector4(normal.x, normal.y, normal.z, c);
-		int indexOffset = m_data->m_convexIndices.size();
-		int numIndices = 3;
-		m_data->m_convexFaces[convex.m_faceOffset + i].m_numIndices = numIndices;
-		m_data->m_convexFaces[convex.m_faceOffset + i].m_indexOffset = indexOffset;
-		m_data->m_convexIndices.resize(indexOffset + numIndices);
-		for (int p = 0; p < numIndices; p++)
-		{
-			int vi = indices->at(i * 3 + p);
-			m_data->m_convexIndices[indexOffset + p] = vi;  //convexPtr->m_faces[i].m_indices[p];
-		}
-	}
-
-	convex.m_numVertices = vertices->size();
-	int vertexOffset = m_data->m_convexVertices.size();
-	convex.m_vertexOffset = vertexOffset;
-	m_data->m_convexVertices.resize(vertexOffset + convex.m_numVertices);
-	for (int i = 0; i < vertices->size(); i++)
-	{
-		m_data->m_convexVertices[vertexOffset + i] = vertices->at(i) * scaling;
-	}
-
-	(*m_data->m_convexData)[m_data->m_numAcceleratedShapes] = 0;
-
-	return m_data->m_numAcceleratedShapes++;
-}
-
-cl_mem b3GpuNarrowPhase::getBodiesGpu()
-{
-	return (cl_mem)m_data->m_bodyBufferGPU->getBufferCL();
-}
-
-const struct b3RigidBodyData* b3GpuNarrowPhase::getBodiesCpu() const
-{
-	return &m_data->m_bodyBufferCPU->at(0);
-};
-
-int b3GpuNarrowPhase::getNumBodiesGpu() const
-{
-	return m_data->m_bodyBufferGPU->size();
-}
-
-cl_mem b3GpuNarrowPhase::getBodyInertiasGpu()
-{
-	return (cl_mem)m_data->m_inertiaBufferGPU->getBufferCL();
-}
-
-int b3GpuNarrowPhase::getNumBodyInertiasGpu() const
-{
-	return m_data->m_inertiaBufferGPU->size();
-}
-
-b3Collidable& b3GpuNarrowPhase::getCollidableCpu(int collidableIndex)
-{
-	return m_data->m_collidablesCPU[collidableIndex];
-}
-
-const b3Collidable& b3GpuNarrowPhase::getCollidableCpu(int collidableIndex) const
-{
-	return m_data->m_collidablesCPU[collidableIndex];
-}
-
-cl_mem b3GpuNarrowPhase::getCollidablesGpu()
-{
-	return m_data->m_collidablesGPU->getBufferCL();
-}
-
-const struct b3Collidable* b3GpuNarrowPhase::getCollidablesCpu() const
-{
-	if (m_data->m_collidablesCPU.size())
-		return &m_data->m_collidablesCPU[0];
-	return 0;
-}
-
-const struct b3SapAabb* b3GpuNarrowPhase::getLocalSpaceAabbsCpu() const
-{
-	if (m_data->m_localShapeAABBCPU->size())
-	{
-		return &m_data->m_localShapeAABBCPU->at(0);
-	}
-	return 0;
-}
-
-cl_mem b3GpuNarrowPhase::getAabbLocalSpaceBufferGpu()
-{
-	return m_data->m_localShapeAABBGPU->getBufferCL();
-}
-int b3GpuNarrowPhase::getNumCollidablesGpu() const
-{
-	return m_data->m_collidablesGPU->size();
-}
-
-int b3GpuNarrowPhase::getNumContactsGpu() const
-{
-	return m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer]->size();
-}
-cl_mem b3GpuNarrowPhase::getContactsGpu()
-{
-	return m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer]->getBufferCL();
-}
-
-const b3Contact4* b3GpuNarrowPhase::getContactsCPU() const
-{
-	m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer]->copyToHost(*m_data->m_pBufContactOutCPU);
-	return &m_data->m_pBufContactOutCPU->at(0);
-}
-
-void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbsWorldSpace, int numObjects)
-{
-	cl_mem aabbsLocalSpace = m_data->m_localShapeAABBGPU->getBufferCL();
-
-	int nContactOut = 0;
-
-	//swap buffer
-	m_data->m_currentContactBuffer = 1 - m_data->m_currentContactBuffer;
-
-	//int curSize = m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer]->size();
-
-	int maxTriConvexPairCapacity = m_data->m_config.m_maxTriConvexPairCapacity;
-	int numTriConvexPairsOut = 0;
-
-	b3OpenCLArray<b3Int4> broadphasePairsGPU(m_context, m_queue);
-	broadphasePairsGPU.setFromOpenCLBuffer(broadphasePairs, numBroadphasePairs);
-
-	b3OpenCLArray<b3Aabb> clAabbArrayWorldSpace(this->m_context, this->m_queue);
-	clAabbArrayWorldSpace.setFromOpenCLBuffer(aabbsWorldSpace, numObjects);
-
-	b3OpenCLArray<b3Aabb> clAabbArrayLocalSpace(this->m_context, this->m_queue);
-	clAabbArrayLocalSpace.setFromOpenCLBuffer(aabbsLocalSpace, numObjects);
-
-	m_data->m_gpuSatCollision->computeConvexConvexContactsGPUSAT(
-		&broadphasePairsGPU, numBroadphasePairs,
-		m_data->m_bodyBufferGPU,
-		m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer],
-		nContactOut,
-		m_data->m_pBufContactBuffersGPU[1 - m_data->m_currentContactBuffer],
-		m_data->m_config.m_maxContactCapacity,
-		m_data->m_config.m_compoundPairCapacity,
-		*m_data->m_convexPolyhedraGPU,
-		*m_data->m_convexVerticesGPU,
-		*m_data->m_uniqueEdgesGPU,
-		*m_data->m_convexFacesGPU,
-		*m_data->m_convexIndicesGPU,
-		*m_data->m_collidablesGPU,
-		*m_data->m_gpuChildShapes,
-		clAabbArrayWorldSpace,
-		clAabbArrayLocalSpace,
-		*m_data->m_worldVertsB1GPU,
-		*m_data->m_clippingFacesOutGPU,
-		*m_data->m_worldNormalsAGPU,
-		*m_data->m_worldVertsA1GPU,
-		*m_data->m_worldVertsB2GPU,
-		m_data->m_bvhData,
-		m_data->m_treeNodesGPU,
-		m_data->m_subTreesGPU,
-		m_data->m_bvhInfoGPU,
-		numObjects,
-		maxTriConvexPairCapacity,
-		*m_data->m_triangleConvexPairs,
-		numTriConvexPairsOut);
-
-	/*b3AlignedObjectArray<b3Int4> broadphasePairsCPU;
-	broadphasePairsGPU.copyToHost(broadphasePairsCPU);
-	printf("checking pairs\n");
-	*/
-}
-
-const b3SapAabb& b3GpuNarrowPhase::getLocalSpaceAabb(int collidableIndex) const
-{
-	return m_data->m_localShapeAABBCPU->at(collidableIndex);
-}
-
-int b3GpuNarrowPhase::registerRigidBody(int collidableIndex, float mass, const float* position, const float* orientation, const float* aabbMinPtr, const float* aabbMaxPtr, bool writeToGpu)
-{
-	b3Vector3 aabbMin = b3MakeVector3(aabbMinPtr[0], aabbMinPtr[1], aabbMinPtr[2]);
-	b3Vector3 aabbMax = b3MakeVector3(aabbMaxPtr[0], aabbMaxPtr[1], aabbMaxPtr[2]);
-
-	if (m_data->m_numAcceleratedRigidBodies >= (m_data->m_config.m_maxConvexBodies))
-	{
-		b3Error("registerRigidBody: exceeding the number of rigid bodies, %d > %d \n", m_data->m_numAcceleratedRigidBodies, m_data->m_config.m_maxConvexBodies);
-		return -1;
-	}
-
-	m_data->m_bodyBufferCPU->resize(m_data->m_numAcceleratedRigidBodies + 1);
-
-	b3RigidBodyData& body = m_data->m_bodyBufferCPU->at(m_data->m_numAcceleratedRigidBodies);
-
-	float friction = 1.f;
-	float restitution = 0.f;
-
-	body.m_frictionCoeff = friction;
-	body.m_restituitionCoeff = restitution;
-	body.m_angVel = b3MakeVector3(0, 0, 0);
-	body.m_linVel = b3MakeVector3(0, 0, 0);  //.setZero();
-	body.m_pos = b3MakeVector3(position[0], position[1], position[2]);
-	body.m_quat.setValue(orientation[0], orientation[1], orientation[2], orientation[3]);
-	body.m_collidableIdx = collidableIndex;
-	if (collidableIndex >= 0)
-	{
-		//		body.m_shapeType = m_data->m_collidablesCPU.at(collidableIndex).m_shapeType;
-	}
-	else
-	{
-		//	body.m_shapeType = CollisionShape::SHAPE_PLANE;
-		m_planeBodyIndex = m_data->m_numAcceleratedRigidBodies;
-	}
-	//body.m_shapeType = shapeType;
-
-	body.m_invMass = mass ? 1.f / mass : 0.f;
-
-	if (writeToGpu)
-	{
-		m_data->m_bodyBufferGPU->copyFromHostPointer(&body, 1, m_data->m_numAcceleratedRigidBodies);
-	}
-
-	b3InertiaData& shapeInfo = m_data->m_inertiaBufferCPU->at(m_data->m_numAcceleratedRigidBodies);
-
-	if (mass == 0.f)
-	{
-		if (m_data->m_numAcceleratedRigidBodies == 0)
-			m_static0Index = 0;
-
-		shapeInfo.m_initInvInertia.setValue(0, 0, 0, 0, 0, 0, 0, 0, 0);
-		shapeInfo.m_invInertiaWorld.setValue(0, 0, 0, 0, 0, 0, 0, 0, 0);
-	}
-	else
-	{
-		b3Assert(body.m_collidableIdx >= 0);
-
-		//approximate using the aabb of the shape
-
-		//Aabb aabb = (*m_data->m_shapePointers)[shapeIndex]->m_aabb;
-		b3Vector3 halfExtents = (aabbMax - aabbMin);  //*0.5f;//fake larger inertia makes demos more stable ;-)
-
-		b3Vector3 localInertia;
-
-		float lx = 2.f * halfExtents[0];
-		float ly = 2.f * halfExtents[1];
-		float lz = 2.f * halfExtents[2];
-
-		localInertia.setValue((mass / 12.0f) * (ly * ly + lz * lz),
-							  (mass / 12.0f) * (lx * lx + lz * lz),
-							  (mass / 12.0f) * (lx * lx + ly * ly));
-
-		b3Vector3 invLocalInertia;
-		invLocalInertia[0] = 1.f / localInertia[0];
-		invLocalInertia[1] = 1.f / localInertia[1];
-		invLocalInertia[2] = 1.f / localInertia[2];
-		invLocalInertia[3] = 0.f;
-
-		shapeInfo.m_initInvInertia.setValue(
-			invLocalInertia[0], 0, 0,
-			0, invLocalInertia[1], 0,
-			0, 0, invLocalInertia[2]);
-
-		b3Matrix3x3 m(body.m_quat);
-
-		shapeInfo.m_invInertiaWorld = m.scaled(invLocalInertia) * m.transpose();
-	}
-
-	if (writeToGpu)
-		m_data->m_inertiaBufferGPU->copyFromHostPointer(&shapeInfo, 1, m_data->m_numAcceleratedRigidBodies);
-
-	return m_data->m_numAcceleratedRigidBodies++;
-}
-
-int b3GpuNarrowPhase::getNumRigidBodies() const
-{
-	return m_data->m_numAcceleratedRigidBodies;
-}
-
-void b3GpuNarrowPhase::writeAllBodiesToGpu()
-{
-	if (m_data->m_localShapeAABBCPU->size())
-	{
-		m_data->m_localShapeAABBGPU->copyFromHost(*m_data->m_localShapeAABBCPU);
-	}
-
-	m_data->m_gpuChildShapes->copyFromHost(m_data->m_cpuChildShapes);
-	m_data->m_convexFacesGPU->copyFromHost(m_data->m_convexFaces);
-	m_data->m_convexPolyhedraGPU->copyFromHost(m_data->m_convexPolyhedra);
-	m_data->m_uniqueEdgesGPU->copyFromHost(m_data->m_uniqueEdges);
-	m_data->m_convexVerticesGPU->copyFromHost(m_data->m_convexVertices);
-	m_data->m_convexIndicesGPU->copyFromHost(m_data->m_convexIndices);
-	m_data->m_bvhInfoGPU->copyFromHost(m_data->m_bvhInfoCPU);
-	m_data->m_treeNodesGPU->copyFromHost(m_data->m_treeNodesCPU);
-	m_data->m_subTreesGPU->copyFromHost(m_data->m_subTreesCPU);
-
-	m_data->m_bodyBufferGPU->resize(m_data->m_numAcceleratedRigidBodies);
-	m_data->m_inertiaBufferGPU->resize(m_data->m_numAcceleratedRigidBodies);
-
-	if (m_data->m_numAcceleratedRigidBodies)
-	{
-		m_data->m_bodyBufferGPU->copyFromHostPointer(&m_data->m_bodyBufferCPU->at(0), m_data->m_numAcceleratedRigidBodies);
-		m_data->m_inertiaBufferGPU->copyFromHostPointer(&m_data->m_inertiaBufferCPU->at(0), m_data->m_numAcceleratedRigidBodies);
-	}
-	if (m_data->m_collidablesCPU.size())
-	{
-		m_data->m_collidablesGPU->copyFromHost(m_data->m_collidablesCPU);
-	}
-}
-
-void b3GpuNarrowPhase::reset()
-{
-	m_data->m_numAcceleratedShapes = 0;
-	m_data->m_numAcceleratedRigidBodies = 0;
-	this->m_static0Index = -1;
-	m_data->m_uniqueEdges.resize(0);
-	m_data->m_convexVertices.resize(0);
-	m_data->m_convexPolyhedra.resize(0);
-	m_data->m_convexIndices.resize(0);
-	m_data->m_cpuChildShapes.resize(0);
-	m_data->m_convexFaces.resize(0);
-	m_data->m_collidablesCPU.resize(0);
-	m_data->m_localShapeAABBCPU->resize(0);
-	m_data->m_bvhData.resize(0);
-	m_data->m_treeNodesCPU.resize(0);
-	m_data->m_subTreesCPU.resize(0);
-	m_data->m_bvhInfoCPU.resize(0);
-}
-
-void b3GpuNarrowPhase::readbackAllBodiesToCpu()
-{
-	m_data->m_bodyBufferGPU->copyToHostPointer(&m_data->m_bodyBufferCPU->at(0), m_data->m_numAcceleratedRigidBodies);
-}
-
-void b3GpuNarrowPhase::setObjectTransformCpu(float* position, float* orientation, int bodyIndex)
-{
-	if (bodyIndex >= 0 && bodyIndex < m_data->m_bodyBufferCPU->size())
-	{
-		m_data->m_bodyBufferCPU->at(bodyIndex).m_pos = b3MakeVector3(position[0], position[1], position[2]);
-		m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.setValue(orientation[0], orientation[1], orientation[2], orientation[3]);
-	}
-	else
-	{
-		b3Warning("setObjectVelocityCpu out of range.\n");
-	}
-}
-void b3GpuNarrowPhase::setObjectVelocityCpu(float* linVel, float* angVel, int bodyIndex)
-{
-	if (bodyIndex >= 0 && bodyIndex < m_data->m_bodyBufferCPU->size())
-	{
-		m_data->m_bodyBufferCPU->at(bodyIndex).m_linVel = b3MakeVector3(linVel[0], linVel[1], linVel[2]);
-		m_data->m_bodyBufferCPU->at(bodyIndex).m_angVel = b3MakeVector3(angVel[0], angVel[1], angVel[2]);
-	}
-	else
-	{
-		b3Warning("setObjectVelocityCpu out of range.\n");
-	}
-}
-
-bool b3GpuNarrowPhase::getObjectTransformFromCpu(float* position, float* orientation, int bodyIndex) const
-{
-	if (bodyIndex >= 0 && bodyIndex < m_data->m_bodyBufferCPU->size())
-	{
-		position[0] = m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.x;
-		position[1] = m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.y;
-		position[2] = m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.z;
-		position[3] = 1.f;  //or 1
-
-		orientation[0] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.x;
-		orientation[1] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.y;
-		orientation[2] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.z;
-		orientation[3] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.w;
-		return true;
-	}
-
-	b3Warning("getObjectTransformFromCpu out of range.\n");
-	return false;
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h
deleted file mode 100644
index 21a68de343..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h
+++ /dev/null
@@ -1,101 +0,0 @@
-#ifndef B3_GPU_NARROWPHASE_H
-#define B3_GPU_NARROWPHASE_H
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
-#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-#include "Bullet3Common/b3Vector3.h"
-
-class b3GpuNarrowPhase
-{
-protected:
-	struct b3GpuNarrowPhaseInternalData* m_data;
-	int m_acceleratedCompanionShapeIndex;
-	int m_planeBodyIndex;
-	int m_static0Index;
-
-	cl_context m_context;
-	cl_device_id m_device;
-	cl_command_queue m_queue;
-
-	int registerConvexHullShapeInternal(class b3ConvexUtility* convexPtr, b3Collidable& col);
-	int registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, b3Collidable& col, const float* scaling);
-
-public:
-	b3GpuNarrowPhase(cl_context vtx, cl_device_id dev, cl_command_queue q, const struct b3Config& config);
-
-	virtual ~b3GpuNarrowPhase(void);
-
-	int registerSphereShape(float radius);
-	int registerPlaneShape(const b3Vector3& planeNormal, float planeConstant);
-
-	int registerCompoundShape(b3AlignedObjectArray<b3GpuChildShape>* childShapes);
-	int registerFace(const b3Vector3& faceNormal, float faceConstant);
-
-	int registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, const float* scaling);
-
-	//do they need to be merged?
-
-	int registerConvexHullShape(b3ConvexUtility* utilPtr);
-	int registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling);
-
-	int registerRigidBody(int collidableIndex, float mass, const float* position, const float* orientation, const float* aabbMin, const float* aabbMax, bool writeToGpu);
-	void setObjectTransform(const float* position, const float* orientation, int bodyIndex);
-
-	void writeAllBodiesToGpu();
-	void reset();
-	void readbackAllBodiesToCpu();
-	bool getObjectTransformFromCpu(float* position, float* orientation, int bodyIndex) const;
-
-	void setObjectTransformCpu(float* position, float* orientation, int bodyIndex);
-	void setObjectVelocityCpu(float* linVel, float* angVel, int bodyIndex);
-
-	virtual void computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbsWorldSpace, int numObjects);
-
-	cl_mem getBodiesGpu();
-	const struct b3RigidBodyData* getBodiesCpu() const;
-	//struct b3RigidBodyData* getBodiesCpu();
-
-	int getNumBodiesGpu() const;
-
-	cl_mem getBodyInertiasGpu();
-	int getNumBodyInertiasGpu() const;
-
-	cl_mem getCollidablesGpu();
-	const struct b3Collidable* getCollidablesCpu() const;
-	int getNumCollidablesGpu() const;
-
-	const struct b3SapAabb* getLocalSpaceAabbsCpu() const;
-
-	const struct b3Contact4* getContactsCPU() const;
-
-	cl_mem getContactsGpu();
-	int getNumContactsGpu() const;
-
-	cl_mem getAabbLocalSpaceBufferGpu();
-
-	int getNumRigidBodies() const;
-
-	int allocateCollidable();
-
-	int getStatic0Index() const
-	{
-		return m_static0Index;
-	}
-	b3Collidable& getCollidableCpu(int collidableIndex);
-	const b3Collidable& getCollidableCpu(int collidableIndex) const;
-
-	const b3GpuNarrowPhaseInternalData* getInternalData() const
-	{
-		return m_data;
-	}
-
-	b3GpuNarrowPhaseInternalData* getInternalData()
-	{
-		return m_data;
-	}
-
-	const struct b3SapAabb& getLocalSpaceAabb(int collidableIndex) const;
-};
-
-#endif  //B3_GPU_NARROWPHASE_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h
deleted file mode 100644
index 716a5ea0fc..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h
+++ /dev/null
@@ -1,89 +0,0 @@
-
-#ifndef B3_GPU_NARROWPHASE_INTERNAL_DATA_H
-#define B3_GPU_NARROWPHASE_INTERNAL_DATA_H
-
-#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
-
-#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-#include "Bullet3Common/b3Vector3.h"
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
-#include "Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h"
-
-#include "Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h"
-#include "Bullet3OpenCL/NarrowphaseCollision/b3BvhInfo.h"
-#include "Bullet3Common/shared/b3Int4.h"
-#include "Bullet3Common/shared/b3Int2.h"
-
-class b3ConvexUtility;
-
-struct b3GpuNarrowPhaseInternalData
-{
-	b3AlignedObjectArray<b3ConvexUtility*>* m_convexData;
-
-	b3AlignedObjectArray<b3ConvexPolyhedronData> m_convexPolyhedra;
-	b3AlignedObjectArray<b3Vector3> m_uniqueEdges;
-	b3AlignedObjectArray<b3Vector3> m_convexVertices;
-	b3AlignedObjectArray<int> m_convexIndices;
-
-	b3OpenCLArray<b3ConvexPolyhedronData>* m_convexPolyhedraGPU;
-	b3OpenCLArray<b3Vector3>* m_uniqueEdgesGPU;
-	b3OpenCLArray<b3Vector3>* m_convexVerticesGPU;
-	b3OpenCLArray<int>* m_convexIndicesGPU;
-
-	b3OpenCLArray<b3Vector3>* m_worldVertsB1GPU;
-	b3OpenCLArray<b3Int4>* m_clippingFacesOutGPU;
-	b3OpenCLArray<b3Vector3>* m_worldNormalsAGPU;
-	b3OpenCLArray<b3Vector3>* m_worldVertsA1GPU;
-	b3OpenCLArray<b3Vector3>* m_worldVertsB2GPU;
-
-	b3AlignedObjectArray<b3GpuChildShape> m_cpuChildShapes;
-	b3OpenCLArray<b3GpuChildShape>* m_gpuChildShapes;
-
-	b3AlignedObjectArray<b3GpuFace> m_convexFaces;
-	b3OpenCLArray<b3GpuFace>* m_convexFacesGPU;
-
-	struct GpuSatCollision* m_gpuSatCollision;
-
-	b3OpenCLArray<b3Int4>* m_triangleConvexPairs;
-
-	b3OpenCLArray<b3Contact4>* m_pBufContactBuffersGPU[2];
-	int m_currentContactBuffer;
-	b3AlignedObjectArray<b3Contact4>* m_pBufContactOutCPU;
-
-	b3AlignedObjectArray<b3RigidBodyData>* m_bodyBufferCPU;
-	b3OpenCLArray<b3RigidBodyData>* m_bodyBufferGPU;
-
-	b3AlignedObjectArray<b3InertiaData>* m_inertiaBufferCPU;
-	b3OpenCLArray<b3InertiaData>* m_inertiaBufferGPU;
-
-	int m_numAcceleratedShapes;
-	int m_numAcceleratedRigidBodies;
-
-	b3AlignedObjectArray<b3Collidable> m_collidablesCPU;
-	b3OpenCLArray<b3Collidable>* m_collidablesGPU;
-
-	b3OpenCLArray<b3SapAabb>* m_localShapeAABBGPU;
-	b3AlignedObjectArray<b3SapAabb>* m_localShapeAABBCPU;
-
-	b3AlignedObjectArray<class b3OptimizedBvh*> m_bvhData;
-	b3AlignedObjectArray<class b3TriangleIndexVertexArray*> m_meshInterfaces;
-
-	b3AlignedObjectArray<b3QuantizedBvhNode> m_treeNodesCPU;
-	b3AlignedObjectArray<b3BvhSubtreeInfo> m_subTreesCPU;
-
-	b3AlignedObjectArray<b3BvhInfo> m_bvhInfoCPU;
-	b3OpenCLArray<b3BvhInfo>* m_bvhInfoGPU;
-
-	b3OpenCLArray<b3QuantizedBvhNode>* m_treeNodesGPU;
-	b3OpenCLArray<b3BvhSubtreeInfo>* m_subTreesGPU;
-
-	b3Config m_config;
-};
-
-#endif  //B3_GPU_NARROWPHASE_INTERNAL_DATA_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.cpp b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.cpp
deleted file mode 100644
index bd9d6bb04b..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.cpp
+++ /dev/null
@@ -1,1068 +0,0 @@
-
-/*
-Copyright (c) 2013 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Erwin Coumans
-
-bool useGpuInitSolverBodies = true;
-bool useGpuInfo1 = true;
-bool useGpuInfo2 = true;
-bool useGpuSolveJointConstraintRows = true;
-bool useGpuWriteBackVelocities = true;
-bool gpuBreakConstraints = true;
-
-#include "b3GpuPgsConstraintSolver.h"
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-
-#include "Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h"
-#include <new>
-#include "Bullet3Common/b3AlignedObjectArray.h"
-#include <string.h>  //for memset
-#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
-
-#include "Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h"
-
-#include "Bullet3OpenCL/RigidBody/kernels/jointSolver.h"  //solveConstraintRowsCL
-#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
-
-#define B3_JOINT_SOLVER_PATH "src/Bullet3OpenCL/RigidBody/kernels/jointSolver.cl"
-
-struct b3GpuPgsJacobiSolverInternalData
-{
-	cl_context m_context;
-	cl_device_id m_device;
-	cl_command_queue m_queue;
-
-	b3PrefixScanCL* m_prefixScan;
-
-	cl_kernel m_solveJointConstraintRowsKernels;
-	cl_kernel m_initSolverBodiesKernel;
-	cl_kernel m_getInfo1Kernel;
-	cl_kernel m_initBatchConstraintsKernel;
-	cl_kernel m_getInfo2Kernel;
-	cl_kernel m_writeBackVelocitiesKernel;
-	cl_kernel m_breakViolatedConstraintsKernel;
-
-	b3OpenCLArray<unsigned int>* m_gpuConstraintRowOffsets;
-
-	b3OpenCLArray<b3GpuSolverBody>* m_gpuSolverBodies;
-	b3OpenCLArray<b3BatchConstraint>* m_gpuBatchConstraints;
-	b3OpenCLArray<b3GpuSolverConstraint>* m_gpuConstraintRows;
-	b3OpenCLArray<unsigned int>* m_gpuConstraintInfo1;
-
-	//	b3AlignedObjectArray<b3GpuSolverBody>		m_cpuSolverBodies;
-	b3AlignedObjectArray<b3BatchConstraint> m_cpuBatchConstraints;
-	b3AlignedObjectArray<b3GpuSolverConstraint> m_cpuConstraintRows;
-	b3AlignedObjectArray<unsigned int> m_cpuConstraintInfo1;
-	b3AlignedObjectArray<unsigned int> m_cpuConstraintRowOffsets;
-
-	b3AlignedObjectArray<b3RigidBodyData> m_cpuBodies;
-	b3AlignedObjectArray<b3InertiaData> m_cpuInertias;
-
-	b3AlignedObjectArray<b3GpuGenericConstraint> m_cpuConstraints;
-
-	b3AlignedObjectArray<int> m_batchSizes;
-};
-
-/*
-static b3Transform	getWorldTransform(b3RigidBodyData* rb)
-{
-	b3Transform newTrans;
-	newTrans.setOrigin(rb->m_pos);
-	newTrans.setRotation(rb->m_quat);
-	return newTrans;
-}
-
-static const b3Matrix3x3&	getInvInertiaTensorWorld(b3InertiaData* inertia)
-{
-	return inertia->m_invInertiaWorld;
-}
-
-*/
-
-static const b3Vector3& getLinearVelocity(b3RigidBodyData* rb)
-{
-	return rb->m_linVel;
-}
-
-static const b3Vector3& getAngularVelocity(b3RigidBodyData* rb)
-{
-	return rb->m_angVel;
-}
-
-b3Vector3 getVelocityInLocalPoint(b3RigidBodyData* rb, const b3Vector3& rel_pos)
-{
-	//we also calculate lin/ang velocity for kinematic objects
-	return getLinearVelocity(rb) + getAngularVelocity(rb).cross(rel_pos);
-}
-
-b3GpuPgsConstraintSolver::b3GpuPgsConstraintSolver(cl_context ctx, cl_device_id device, cl_command_queue queue, bool usePgs)
-{
-	m_usePgs = usePgs;
-	m_gpuData = new b3GpuPgsJacobiSolverInternalData();
-	m_gpuData->m_context = ctx;
-	m_gpuData->m_device = device;
-	m_gpuData->m_queue = queue;
-
-	m_gpuData->m_prefixScan = new b3PrefixScanCL(ctx, device, queue);
-
-	m_gpuData->m_gpuConstraintRowOffsets = new b3OpenCLArray<unsigned int>(m_gpuData->m_context, m_gpuData->m_queue);
-
-	m_gpuData->m_gpuSolverBodies = new b3OpenCLArray<b3GpuSolverBody>(m_gpuData->m_context, m_gpuData->m_queue);
-	m_gpuData->m_gpuBatchConstraints = new b3OpenCLArray<b3BatchConstraint>(m_gpuData->m_context, m_gpuData->m_queue);
-	m_gpuData->m_gpuConstraintRows = new b3OpenCLArray<b3GpuSolverConstraint>(m_gpuData->m_context, m_gpuData->m_queue);
-	m_gpuData->m_gpuConstraintInfo1 = new b3OpenCLArray<unsigned int>(m_gpuData->m_context, m_gpuData->m_queue);
-	cl_int errNum = 0;
-
-	{
-		cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_gpuData->m_context, m_gpuData->m_device, solveConstraintRowsCL, &errNum, "", B3_JOINT_SOLVER_PATH);
-		//cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_gpuData->m_context,m_gpuData->m_device,0,&errNum,"",B3_JOINT_SOLVER_PATH,true);
-		b3Assert(errNum == CL_SUCCESS);
-		m_gpuData->m_solveJointConstraintRowsKernels = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context, m_gpuData->m_device, solveConstraintRowsCL, "solveJointConstraintRows", &errNum, prog);
-		b3Assert(errNum == CL_SUCCESS);
-		m_gpuData->m_initSolverBodiesKernel = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context, m_gpuData->m_device, solveConstraintRowsCL, "initSolverBodies", &errNum, prog);
-		b3Assert(errNum == CL_SUCCESS);
-		m_gpuData->m_getInfo1Kernel = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context, m_gpuData->m_device, solveConstraintRowsCL, "getInfo1Kernel", &errNum, prog);
-		b3Assert(errNum == CL_SUCCESS);
-		m_gpuData->m_initBatchConstraintsKernel = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context, m_gpuData->m_device, solveConstraintRowsCL, "initBatchConstraintsKernel", &errNum, prog);
-		b3Assert(errNum == CL_SUCCESS);
-		m_gpuData->m_getInfo2Kernel = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context, m_gpuData->m_device, solveConstraintRowsCL, "getInfo2Kernel", &errNum, prog);
-		b3Assert(errNum == CL_SUCCESS);
-		m_gpuData->m_writeBackVelocitiesKernel = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context, m_gpuData->m_device, solveConstraintRowsCL, "writeBackVelocitiesKernel", &errNum, prog);
-		b3Assert(errNum == CL_SUCCESS);
-		m_gpuData->m_breakViolatedConstraintsKernel = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context, m_gpuData->m_device, solveConstraintRowsCL, "breakViolatedConstraintsKernel", &errNum, prog);
-		b3Assert(errNum == CL_SUCCESS);
-
-		clReleaseProgram(prog);
-	}
-}
-
-b3GpuPgsConstraintSolver::~b3GpuPgsConstraintSolver()
-{
-	clReleaseKernel(m_gpuData->m_solveJointConstraintRowsKernels);
-	clReleaseKernel(m_gpuData->m_initSolverBodiesKernel);
-	clReleaseKernel(m_gpuData->m_getInfo1Kernel);
-	clReleaseKernel(m_gpuData->m_initBatchConstraintsKernel);
-	clReleaseKernel(m_gpuData->m_getInfo2Kernel);
-	clReleaseKernel(m_gpuData->m_writeBackVelocitiesKernel);
-	clReleaseKernel(m_gpuData->m_breakViolatedConstraintsKernel);
-
-	delete m_gpuData->m_prefixScan;
-	delete m_gpuData->m_gpuConstraintRowOffsets;
-	delete m_gpuData->m_gpuSolverBodies;
-	delete m_gpuData->m_gpuBatchConstraints;
-	delete m_gpuData->m_gpuConstraintRows;
-	delete m_gpuData->m_gpuConstraintInfo1;
-
-	delete m_gpuData;
-}
-
-struct b3BatchConstraint
-{
-	int m_bodyAPtrAndSignBit;
-	int m_bodyBPtrAndSignBit;
-	int m_originalConstraintIndex;
-	int m_batchId;
-};
-
-static b3AlignedObjectArray<b3BatchConstraint> batchConstraints;
-
-void b3GpuPgsConstraintSolver::recomputeBatches()
-{
-	m_gpuData->m_batchSizes.clear();
-}
-
-b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints, int numConstraints, const b3ContactSolverInfo& infoGlobal)
-{
-	B3_PROFILE("GPU solveGroupCacheFriendlySetup");
-	batchConstraints.resize(numConstraints);
-	m_gpuData->m_gpuBatchConstraints->resize(numConstraints);
-	m_staticIdx = -1;
-	m_maxOverrideNumSolverIterations = 0;
-
-	/*	m_gpuData->m_gpuBodies->resize(numBodies);
-	m_gpuData->m_gpuBodies->copyFromHostPointer(bodies,numBodies);
-
-	b3OpenCLArray<b3InertiaData> gpuInertias(m_gpuData->m_context,m_gpuData->m_queue);
-	gpuInertias.resize(numBodies);
-	gpuInertias.copyFromHostPointer(inertias,numBodies);
-	*/
-
-	m_gpuData->m_gpuSolverBodies->resize(numBodies);
-
-	m_tmpSolverBodyPool.resize(numBodies);
-	{
-		if (useGpuInitSolverBodies)
-		{
-			B3_PROFILE("m_initSolverBodiesKernel");
-
-			b3LauncherCL launcher(m_gpuData->m_queue, m_gpuData->m_initSolverBodiesKernel, "m_initSolverBodiesKernel");
-			launcher.setBuffer(m_gpuData->m_gpuSolverBodies->getBufferCL());
-			launcher.setBuffer(gpuBodies->getBufferCL());
-			launcher.setConst(numBodies);
-			launcher.launch1D(numBodies);
-			clFinish(m_gpuData->m_queue);
-
-			//			m_gpuData->m_gpuSolverBodies->copyToHost(m_tmpSolverBodyPool);
-		}
-		else
-		{
-			gpuBodies->copyToHost(m_gpuData->m_cpuBodies);
-			for (int i = 0; i < numBodies; i++)
-			{
-				b3RigidBodyData& body = m_gpuData->m_cpuBodies[i];
-				b3GpuSolverBody& solverBody = m_tmpSolverBodyPool[i];
-				initSolverBody(i, &solverBody, &body);
-				solverBody.m_originalBodyIndex = i;
-			}
-			m_gpuData->m_gpuSolverBodies->copyFromHost(m_tmpSolverBodyPool);
-		}
-	}
-
-	//	int totalBodies = 0;
-	int totalNumRows = 0;
-	//b3RigidBody* rb0=0,*rb1=0;
-	//if (1)
-	{
-		{
-			//			int i;
-
-			m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints);
-
-			//			b3OpenCLArray<b3GpuGenericConstraint> gpuConstraints(m_gpuData->m_context,m_gpuData->m_queue);
-
-			if (useGpuInfo1)
-			{
-				B3_PROFILE("info1 and init batchConstraint");
-
-				m_gpuData->m_gpuConstraintInfo1->resize(numConstraints);
-
-				if (1)
-				{
-					B3_PROFILE("getInfo1Kernel");
-
-					b3LauncherCL launcher(m_gpuData->m_queue, m_gpuData->m_getInfo1Kernel, "m_getInfo1Kernel");
-					launcher.setBuffer(m_gpuData->m_gpuConstraintInfo1->getBufferCL());
-					launcher.setBuffer(gpuConstraints->getBufferCL());
-					launcher.setConst(numConstraints);
-					launcher.launch1D(numConstraints);
-					clFinish(m_gpuData->m_queue);
-				}
-
-				if (m_gpuData->m_batchSizes.size() == 0)
-				{
-					B3_PROFILE("initBatchConstraintsKernel");
-
-					m_gpuData->m_gpuConstraintRowOffsets->resize(numConstraints);
-					unsigned int total = 0;
-					m_gpuData->m_prefixScan->execute(*m_gpuData->m_gpuConstraintInfo1, *m_gpuData->m_gpuConstraintRowOffsets, numConstraints, &total);
-					unsigned int lastElem = m_gpuData->m_gpuConstraintInfo1->at(numConstraints - 1);
-					totalNumRows = total + lastElem;
-
-					{
-						B3_PROFILE("init batch constraints");
-						b3LauncherCL launcher(m_gpuData->m_queue, m_gpuData->m_initBatchConstraintsKernel, "m_initBatchConstraintsKernel");
-						launcher.setBuffer(m_gpuData->m_gpuConstraintInfo1->getBufferCL());
-						launcher.setBuffer(m_gpuData->m_gpuConstraintRowOffsets->getBufferCL());
-						launcher.setBuffer(m_gpuData->m_gpuBatchConstraints->getBufferCL());
-						launcher.setBuffer(gpuConstraints->getBufferCL());
-						launcher.setBuffer(gpuBodies->getBufferCL());
-						launcher.setConst(numConstraints);
-						launcher.launch1D(numConstraints);
-						clFinish(m_gpuData->m_queue);
-					}
-					//assume the batching happens on CPU, so copy the data
-					m_gpuData->m_gpuBatchConstraints->copyToHost(batchConstraints);
-				}
-			}
-			else
-			{
-				totalNumRows = 0;
-				gpuConstraints->copyToHost(m_gpuData->m_cpuConstraints);
-				//calculate the total number of contraint rows
-				for (int i = 0; i < numConstraints; i++)
-				{
-					unsigned int& info1 = m_tmpConstraintSizesPool[i];
-					//					unsigned int info1;
-					if (m_gpuData->m_cpuConstraints[i].isEnabled())
-					{
-						m_gpuData->m_cpuConstraints[i].getInfo1(&info1, &m_gpuData->m_cpuBodies[0]);
-					}
-					else
-					{
-						info1 = 0;
-					}
-
-					totalNumRows += info1;
-				}
-
-				m_gpuData->m_gpuBatchConstraints->copyFromHost(batchConstraints);
-				m_gpuData->m_gpuConstraintInfo1->copyFromHost(m_tmpConstraintSizesPool);
-			}
-			m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows);
-			m_gpuData->m_gpuConstraintRows->resize(totalNumRows);
-
-			//			b3GpuConstraintArray		verify;
-
-			if (useGpuInfo2)
-			{
-				{
-					B3_PROFILE("getInfo2Kernel");
-					b3LauncherCL launcher(m_gpuData->m_queue, m_gpuData->m_getInfo2Kernel, "m_getInfo2Kernel");
-					launcher.setBuffer(m_gpuData->m_gpuConstraintRows->getBufferCL());
-					launcher.setBuffer(m_gpuData->m_gpuConstraintInfo1->getBufferCL());
-					launcher.setBuffer(m_gpuData->m_gpuConstraintRowOffsets->getBufferCL());
-					launcher.setBuffer(gpuConstraints->getBufferCL());
-					launcher.setBuffer(m_gpuData->m_gpuBatchConstraints->getBufferCL());
-					launcher.setBuffer(gpuBodies->getBufferCL());
-					launcher.setBuffer(gpuInertias->getBufferCL());
-					launcher.setBuffer(m_gpuData->m_gpuSolverBodies->getBufferCL());
-					launcher.setConst(infoGlobal.m_timeStep);
-					launcher.setConst(infoGlobal.m_erp);
-					launcher.setConst(infoGlobal.m_globalCfm);
-					launcher.setConst(infoGlobal.m_damping);
-					launcher.setConst(infoGlobal.m_numIterations);
-					launcher.setConst(numConstraints);
-					launcher.launch1D(numConstraints);
-					clFinish(m_gpuData->m_queue);
-
-					if (m_gpuData->m_batchSizes.size() == 0)
-						m_gpuData->m_gpuBatchConstraints->copyToHost(batchConstraints);
-					//m_gpuData->m_gpuConstraintRows->copyToHost(verify);
-					//m_gpuData->m_gpuConstraintRows->copyToHost(m_tmpSolverNonContactConstraintPool);
-				}
-			}
-			else
-			{
-				gpuInertias->copyToHost(m_gpuData->m_cpuInertias);
-
-				///setup the b3SolverConstraints
-
-				for (int i = 0; i < numConstraints; i++)
-				{
-					const int& info1 = m_tmpConstraintSizesPool[i];
-
-					if (info1)
-					{
-						int constraintIndex = batchConstraints[i].m_originalConstraintIndex;
-						int constraintRowOffset = m_gpuData->m_cpuConstraintRowOffsets[constraintIndex];
-
-						b3GpuSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[constraintRowOffset];
-						b3GpuGenericConstraint& constraint = m_gpuData->m_cpuConstraints[i];
-
-						b3RigidBodyData& rbA = m_gpuData->m_cpuBodies[constraint.getRigidBodyA()];
-						//b3RigidBody& rbA = constraint.getRigidBodyA();
-						//				b3RigidBody& rbB = constraint.getRigidBodyB();
-						b3RigidBodyData& rbB = m_gpuData->m_cpuBodies[constraint.getRigidBodyB()];
-
-						int solverBodyIdA = constraint.getRigidBodyA();  //getOrInitSolverBody(constraint.getRigidBodyA(),bodies,inertias);
-						int solverBodyIdB = constraint.getRigidBodyB();  //getOrInitSolverBody(constraint.getRigidBodyB(),bodies,inertias);
-
-						b3GpuSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA];
-						b3GpuSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB];
-
-						if (rbA.m_invMass)
-						{
-							batchConstraints[i].m_bodyAPtrAndSignBit = solverBodyIdA;
-						}
-						else
-						{
-							if (!solverBodyIdA)
-								m_staticIdx = 0;
-							batchConstraints[i].m_bodyAPtrAndSignBit = -solverBodyIdA;
-						}
-
-						if (rbB.m_invMass)
-						{
-							batchConstraints[i].m_bodyBPtrAndSignBit = solverBodyIdB;
-						}
-						else
-						{
-							if (!solverBodyIdB)
-								m_staticIdx = 0;
-							batchConstraints[i].m_bodyBPtrAndSignBit = -solverBodyIdB;
-						}
-
-						int overrideNumSolverIterations = 0;  //constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;
-						if (overrideNumSolverIterations > m_maxOverrideNumSolverIterations)
-							m_maxOverrideNumSolverIterations = overrideNumSolverIterations;
-
-						int j;
-						for (j = 0; j < info1; j++)
-						{
-							memset(&currentConstraintRow[j], 0, sizeof(b3GpuSolverConstraint));
-							currentConstraintRow[j].m_angularComponentA.setValue(0, 0, 0);
-							currentConstraintRow[j].m_angularComponentB.setValue(0, 0, 0);
-							currentConstraintRow[j].m_appliedImpulse = 0.f;
-							currentConstraintRow[j].m_appliedPushImpulse = 0.f;
-							currentConstraintRow[j].m_cfm = 0.f;
-							currentConstraintRow[j].m_contactNormal.setValue(0, 0, 0);
-							currentConstraintRow[j].m_friction = 0.f;
-							currentConstraintRow[j].m_frictionIndex = 0;
-							currentConstraintRow[j].m_jacDiagABInv = 0.f;
-							currentConstraintRow[j].m_lowerLimit = 0.f;
-							currentConstraintRow[j].m_upperLimit = 0.f;
-
-							currentConstraintRow[j].m_originalContactPoint = 0;
-							currentConstraintRow[j].m_overrideNumSolverIterations = 0;
-							currentConstraintRow[j].m_relpos1CrossNormal.setValue(0, 0, 0);
-							currentConstraintRow[j].m_relpos2CrossNormal.setValue(0, 0, 0);
-							currentConstraintRow[j].m_rhs = 0.f;
-							currentConstraintRow[j].m_rhsPenetration = 0.f;
-							currentConstraintRow[j].m_solverBodyIdA = 0;
-							currentConstraintRow[j].m_solverBodyIdB = 0;
-
-							currentConstraintRow[j].m_lowerLimit = -B3_INFINITY;
-							currentConstraintRow[j].m_upperLimit = B3_INFINITY;
-							currentConstraintRow[j].m_appliedImpulse = 0.f;
-							currentConstraintRow[j].m_appliedPushImpulse = 0.f;
-							currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA;
-							currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB;
-							currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations;
-						}
-
-						bodyAPtr->internalGetDeltaLinearVelocity().setValue(0.f, 0.f, 0.f);
-						bodyAPtr->internalGetDeltaAngularVelocity().setValue(0.f, 0.f, 0.f);
-						bodyAPtr->internalGetPushVelocity().setValue(0.f, 0.f, 0.f);
-						bodyAPtr->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f);
-						bodyBPtr->internalGetDeltaLinearVelocity().setValue(0.f, 0.f, 0.f);
-						bodyBPtr->internalGetDeltaAngularVelocity().setValue(0.f, 0.f, 0.f);
-						bodyBPtr->internalGetPushVelocity().setValue(0.f, 0.f, 0.f);
-						bodyBPtr->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f);
-
-						b3GpuConstraintInfo2 info2;
-						info2.fps = 1.f / infoGlobal.m_timeStep;
-						info2.erp = infoGlobal.m_erp;
-						info2.m_J1linearAxis = currentConstraintRow->m_contactNormal;
-						info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal;
-						info2.m_J2linearAxis = 0;
-						info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal;
-						info2.rowskip = sizeof(b3GpuSolverConstraint) / sizeof(b3Scalar);  //check this
-						///the size of b3GpuSolverConstraint needs be a multiple of b3Scalar
-						b3Assert(info2.rowskip * sizeof(b3Scalar) == sizeof(b3GpuSolverConstraint));
-						info2.m_constraintError = &currentConstraintRow->m_rhs;
-						currentConstraintRow->m_cfm = infoGlobal.m_globalCfm;
-						info2.m_damping = infoGlobal.m_damping;
-						info2.cfm = &currentConstraintRow->m_cfm;
-						info2.m_lowerLimit = &currentConstraintRow->m_lowerLimit;
-						info2.m_upperLimit = &currentConstraintRow->m_upperLimit;
-						info2.m_numIterations = infoGlobal.m_numIterations;
-						m_gpuData->m_cpuConstraints[i].getInfo2(&info2, &m_gpuData->m_cpuBodies[0]);
-
-						///finalize the constraint setup
-						for (j = 0; j < info1; j++)
-						{
-							b3GpuSolverConstraint& solverConstraint = currentConstraintRow[j];
-
-							if (solverConstraint.m_upperLimit >= m_gpuData->m_cpuConstraints[i].getBreakingImpulseThreshold())
-							{
-								solverConstraint.m_upperLimit = m_gpuData->m_cpuConstraints[i].getBreakingImpulseThreshold();
-							}
-
-							if (solverConstraint.m_lowerLimit <= -m_gpuData->m_cpuConstraints[i].getBreakingImpulseThreshold())
-							{
-								solverConstraint.m_lowerLimit = -m_gpuData->m_cpuConstraints[i].getBreakingImpulseThreshold();
-							}
-
-							//						solverConstraint.m_originalContactPoint = constraint;
-
-							b3Matrix3x3& invInertiaWorldA = m_gpuData->m_cpuInertias[constraint.getRigidBodyA()].m_invInertiaWorld;
-							{
-								//b3Vector3 angularFactorA(1,1,1);
-								const b3Vector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal;
-								solverConstraint.m_angularComponentA = invInertiaWorldA * ftorqueAxis1;  //*angularFactorA;
-							}
-
-							b3Matrix3x3& invInertiaWorldB = m_gpuData->m_cpuInertias[constraint.getRigidBodyB()].m_invInertiaWorld;
-							{
-								const b3Vector3& ftorqueAxis2 = solverConstraint.m_relpos2CrossNormal;
-								solverConstraint.m_angularComponentB = invInertiaWorldB * ftorqueAxis2;  //*constraint.getRigidBodyB().getAngularFactor();
-							}
-
-							{
-								//it is ok to use solverConstraint.m_contactNormal instead of -solverConstraint.m_contactNormal
-								//because it gets multiplied iMJlB
-								b3Vector3 iMJlA = solverConstraint.m_contactNormal * rbA.m_invMass;
-								b3Vector3 iMJaA = invInertiaWorldA * solverConstraint.m_relpos1CrossNormal;
-								b3Vector3 iMJlB = solverConstraint.m_contactNormal * rbB.m_invMass;  //sign of normal?
-								b3Vector3 iMJaB = invInertiaWorldB * solverConstraint.m_relpos2CrossNormal;
-
-								b3Scalar sum = iMJlA.dot(solverConstraint.m_contactNormal);
-								sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
-								sum += iMJlB.dot(solverConstraint.m_contactNormal);
-								sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
-								b3Scalar fsum = b3Fabs(sum);
-								b3Assert(fsum > B3_EPSILON);
-								solverConstraint.m_jacDiagABInv = fsum > B3_EPSILON ? b3Scalar(1.) / sum : 0.f;
-							}
-
-							///fix rhs
-							///todo: add force/torque accelerators
-							{
-								b3Scalar rel_vel;
-								b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(rbA.m_linVel) + solverConstraint.m_relpos1CrossNormal.dot(rbA.m_angVel);
-								b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rbB.m_linVel) + solverConstraint.m_relpos2CrossNormal.dot(rbB.m_angVel);
-
-								rel_vel = vel1Dotn + vel2Dotn;
-
-								b3Scalar restitution = 0.f;
-								b3Scalar positionalError = solverConstraint.m_rhs;  //already filled in by getConstraintInfo2
-								b3Scalar velocityError = restitution - rel_vel * info2.m_damping;
-								b3Scalar penetrationImpulse = positionalError * solverConstraint.m_jacDiagABInv;
-								b3Scalar velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
-								solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;
-								solverConstraint.m_appliedImpulse = 0.f;
-							}
-						}
-					}
-				}
-
-				m_gpuData->m_gpuConstraintRows->copyFromHost(m_tmpSolverNonContactConstraintPool);
-				m_gpuData->m_gpuConstraintInfo1->copyFromHost(m_tmpConstraintSizesPool);
-
-				if (m_gpuData->m_batchSizes.size() == 0)
-					m_gpuData->m_gpuBatchConstraints->copyFromHost(batchConstraints);
-				else
-					m_gpuData->m_gpuBatchConstraints->copyToHost(batchConstraints);
-
-				m_gpuData->m_gpuSolverBodies->copyFromHost(m_tmpSolverBodyPool);
-
-			}  //end useGpuInfo2
-		}
-
-#ifdef B3_SUPPORT_CONTACT_CONSTRAINTS
-		{
-			int i;
-
-			for (i = 0; i < numManifolds; i++)
-			{
-				b3Contact4& manifold = manifoldPtr[i];
-				convertContact(bodies, inertias, &manifold, infoGlobal);
-			}
-		}
-#endif  //B3_SUPPORT_CONTACT_CONSTRAINTS
-	}
-
-	//	b3ContactSolverInfo info = infoGlobal;
-
-	//	int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
-	//	int numConstraintPool = m_tmpSolverContactConstraintPool.size();
-	//	int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
-
-	return 0.f;
-}
-
-///a straight copy from GPU/OpenCL kernel, for debugging
-__inline void internalApplyImpulse(b3GpuSolverBody* body, const b3Vector3& linearComponent, const b3Vector3& angularComponent, float impulseMagnitude)
-{
-	body->m_deltaLinearVelocity += linearComponent * impulseMagnitude * body->m_linearFactor;
-	body->m_deltaAngularVelocity += angularComponent * (impulseMagnitude * body->m_angularFactor);
-}
-
-void resolveSingleConstraintRowGeneric2(b3GpuSolverBody* body1, b3GpuSolverBody* body2, b3GpuSolverConstraint* c)
-{
-	float deltaImpulse = c->m_rhs - b3Scalar(c->m_appliedImpulse) * c->m_cfm;
-	float deltaVel1Dotn = b3Dot(c->m_contactNormal, body1->m_deltaLinearVelocity) + b3Dot(c->m_relpos1CrossNormal, body1->m_deltaAngularVelocity);
-	float deltaVel2Dotn = -b3Dot(c->m_contactNormal, body2->m_deltaLinearVelocity) + b3Dot(c->m_relpos2CrossNormal, body2->m_deltaAngularVelocity);
-
-	deltaImpulse -= deltaVel1Dotn * c->m_jacDiagABInv;
-	deltaImpulse -= deltaVel2Dotn * c->m_jacDiagABInv;
-
-	float sum = b3Scalar(c->m_appliedImpulse) + deltaImpulse;
-	if (sum < c->m_lowerLimit)
-	{
-		deltaImpulse = c->m_lowerLimit - b3Scalar(c->m_appliedImpulse);
-		c->m_appliedImpulse = c->m_lowerLimit;
-	}
-	else if (sum > c->m_upperLimit)
-	{
-		deltaImpulse = c->m_upperLimit - b3Scalar(c->m_appliedImpulse);
-		c->m_appliedImpulse = c->m_upperLimit;
-	}
-	else
-	{
-		c->m_appliedImpulse = sum;
-	}
-
-	internalApplyImpulse(body1, c->m_contactNormal * body1->m_invMass, c->m_angularComponentA, deltaImpulse);
-	internalApplyImpulse(body2, -c->m_contactNormal * body2->m_invMass, c->m_angularComponentB, deltaImpulse);
-}
-
-void b3GpuPgsConstraintSolver::initSolverBody(int bodyIndex, b3GpuSolverBody* solverBody, b3RigidBodyData* rb)
-{
-	solverBody->m_deltaLinearVelocity.setValue(0.f, 0.f, 0.f);
-	solverBody->m_deltaAngularVelocity.setValue(0.f, 0.f, 0.f);
-	solverBody->internalGetPushVelocity().setValue(0.f, 0.f, 0.f);
-	solverBody->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f);
-
-	b3Assert(rb);
-	//	solverBody->m_worldTransform = getWorldTransform(rb);
-	solverBody->internalSetInvMass(b3MakeVector3(rb->m_invMass, rb->m_invMass, rb->m_invMass));
-	solverBody->m_originalBodyIndex = bodyIndex;
-	solverBody->m_angularFactor = b3MakeVector3(1, 1, 1);
-	solverBody->m_linearFactor = b3MakeVector3(1, 1, 1);
-	solverBody->m_linearVelocity = getLinearVelocity(rb);
-	solverBody->m_angularVelocity = getAngularVelocity(rb);
-}
-
-void b3GpuPgsConstraintSolver::averageVelocities()
-{
-}
-
-b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyIterations(b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints1, int numConstraints, const b3ContactSolverInfo& infoGlobal)
-{
-	//only create the batches once.
-	//@todo: incrementally update batches when constraints are added/activated and/or removed/deactivated
-	B3_PROFILE("GpuSolveGroupCacheFriendlyIterations");
-
-	bool createBatches = m_gpuData->m_batchSizes.size() == 0;
-	{
-		if (createBatches)
-		{
-			m_gpuData->m_batchSizes.resize(0);
-
-			{
-				m_gpuData->m_gpuBatchConstraints->copyToHost(batchConstraints);
-
-				B3_PROFILE("batch joints");
-				b3Assert(batchConstraints.size() == numConstraints);
-				int simdWidth = numConstraints + 1;
-				int numBodies = m_tmpSolverBodyPool.size();
-				sortConstraintByBatch3(&batchConstraints[0], numConstraints, simdWidth, m_staticIdx, numBodies);
-
-				m_gpuData->m_gpuBatchConstraints->copyFromHost(batchConstraints);
-			}
-		}
-		else
-		{
-			/*b3AlignedObjectArray<b3BatchConstraint> cpuCheckBatches;
-			m_gpuData->m_gpuBatchConstraints->copyToHost(cpuCheckBatches);
-			b3Assert(cpuCheckBatches.size()==batchConstraints.size());
-			printf(".\n");
-			*/
-			//>copyFromHost(batchConstraints);
-		}
-		int maxIterations = infoGlobal.m_numIterations;
-
-		bool useBatching = true;
-
-		if (useBatching)
-		{
-			if (!useGpuSolveJointConstraintRows)
-			{
-				B3_PROFILE("copy to host");
-				m_gpuData->m_gpuSolverBodies->copyToHost(m_tmpSolverBodyPool);
-				m_gpuData->m_gpuBatchConstraints->copyToHost(batchConstraints);
-				m_gpuData->m_gpuConstraintRows->copyToHost(m_tmpSolverNonContactConstraintPool);
-				m_gpuData->m_gpuConstraintInfo1->copyToHost(m_gpuData->m_cpuConstraintInfo1);
-				m_gpuData->m_gpuConstraintRowOffsets->copyToHost(m_gpuData->m_cpuConstraintRowOffsets);
-				gpuConstraints1->copyToHost(m_gpuData->m_cpuConstraints);
-			}
-
-			for (int iteration = 0; iteration < maxIterations; iteration++)
-			{
-				int batchOffset = 0;
-				int constraintOffset = 0;
-				int numBatches = m_gpuData->m_batchSizes.size();
-				for (int bb = 0; bb < numBatches; bb++)
-				{
-					int numConstraintsInBatch = m_gpuData->m_batchSizes[bb];
-
-					if (useGpuSolveJointConstraintRows)
-					{
-						B3_PROFILE("solveJointConstraintRowsKernels");
-
-						/*
-						__kernel void solveJointConstraintRows(__global b3GpuSolverBody* solverBodies,
-					  __global b3BatchConstraint* batchConstraints,
-					  	__global b3SolverConstraint* rows,
-						__global unsigned int* numConstraintRowsInfo1, 
-						__global unsigned int* rowOffsets,
-						__global b3GpuGenericConstraint* constraints,
-						int batchOffset,
-						int numConstraintsInBatch*/
-
-						b3LauncherCL launcher(m_gpuData->m_queue, m_gpuData->m_solveJointConstraintRowsKernels, "m_solveJointConstraintRowsKernels");
-						launcher.setBuffer(m_gpuData->m_gpuSolverBodies->getBufferCL());
-						launcher.setBuffer(m_gpuData->m_gpuBatchConstraints->getBufferCL());
-						launcher.setBuffer(m_gpuData->m_gpuConstraintRows->getBufferCL());
-						launcher.setBuffer(m_gpuData->m_gpuConstraintInfo1->getBufferCL());
-						launcher.setBuffer(m_gpuData->m_gpuConstraintRowOffsets->getBufferCL());
-						launcher.setBuffer(gpuConstraints1->getBufferCL());  //to detect disabled constraints
-						launcher.setConst(batchOffset);
-						launcher.setConst(numConstraintsInBatch);
-
-						launcher.launch1D(numConstraintsInBatch);
-					}
-					else  //useGpu
-					{
-						for (int b = 0; b < numConstraintsInBatch; b++)
-						{
-							const b3BatchConstraint& c = batchConstraints[batchOffset + b];
-							/*printf("-----------\n");
-							printf("bb=%d\n",bb);
-							printf("c.batchId = %d\n", c.m_batchId);
-							*/
-							b3Assert(c.m_batchId == bb);
-							b3GpuGenericConstraint* constraint = &m_gpuData->m_cpuConstraints[c.m_originalConstraintIndex];
-							if (constraint->m_flags & B3_CONSTRAINT_FLAG_ENABLED)
-							{
-								int numConstraintRows = m_gpuData->m_cpuConstraintInfo1[c.m_originalConstraintIndex];
-								int constraintOffset = m_gpuData->m_cpuConstraintRowOffsets[c.m_originalConstraintIndex];
-
-								for (int jj = 0; jj < numConstraintRows; jj++)
-								{
-									//
-									b3GpuSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[constraintOffset + jj];
-									//resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
-									resolveSingleConstraintRowGeneric2(&m_tmpSolverBodyPool[constraint.m_solverBodyIdA], &m_tmpSolverBodyPool[constraint.m_solverBodyIdB], &constraint);
-								}
-							}
-						}
-					}  //useGpu
-					batchOffset += numConstraintsInBatch;
-					constraintOffset += numConstraintsInBatch;
-				}
-			}  //for (int iteration...
-
-			if (!useGpuSolveJointConstraintRows)
-			{
-				{
-					B3_PROFILE("copy from host");
-					m_gpuData->m_gpuSolverBodies->copyFromHost(m_tmpSolverBodyPool);
-					m_gpuData->m_gpuBatchConstraints->copyFromHost(batchConstraints);
-					m_gpuData->m_gpuConstraintRows->copyFromHost(m_tmpSolverNonContactConstraintPool);
-				}
-
-				//B3_PROFILE("copy to host");
-				//m_gpuData->m_gpuSolverBodies->copyToHost(m_tmpSolverBodyPool);
-			}
-			//int sz = sizeof(b3GpuSolverBody);
-			//printf("cpu sizeof(b3GpuSolverBody)=%d\n",sz);
-		}
-		else
-		{
-			for (int iteration = 0; iteration < maxIterations; iteration++)
-			{
-				int numJoints = m_tmpSolverNonContactConstraintPool.size();
-				for (int j = 0; j < numJoints; j++)
-				{
-					b3GpuSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[j];
-					resolveSingleConstraintRowGeneric2(&m_tmpSolverBodyPool[constraint.m_solverBodyIdA], &m_tmpSolverBodyPool[constraint.m_solverBodyIdB], &constraint);
-				}
-
-				if (!m_usePgs)
-				{
-					averageVelocities();
-				}
-			}
-		}
-	}
-	clFinish(m_gpuData->m_queue);
-	return 0.f;
-}
-
-static b3AlignedObjectArray<int> bodyUsed;
-static b3AlignedObjectArray<int> curUsed;
-
-inline int b3GpuPgsConstraintSolver::sortConstraintByBatch3(b3BatchConstraint* cs, int numConstraints, int simdWidth, int staticIdx, int numBodies)
-{
-	//int sz = sizeof(b3BatchConstraint);
-
-	B3_PROFILE("sortConstraintByBatch3");
-
-	static int maxSwaps = 0;
-	int numSwaps = 0;
-
-	curUsed.resize(2 * simdWidth);
-
-	static int maxNumConstraints = 0;
-	if (maxNumConstraints < numConstraints)
-	{
-		maxNumConstraints = numConstraints;
-		//printf("maxNumConstraints  = %d\n",maxNumConstraints );
-	}
-
-	int numUsedArray = numBodies / 32 + 1;
-	bodyUsed.resize(numUsedArray);
-
-	for (int q = 0; q < numUsedArray; q++)
-		bodyUsed[q] = 0;
-
-	int curBodyUsed = 0;
-
-	int numIter = 0;
-
-#if defined(_DEBUG)
-	for (int i = 0; i < numConstraints; i++)
-		cs[i].m_batchId = -1;
-#endif
-
-	int numValidConstraints = 0;
-	//	int unprocessedConstraintIndex = 0;
-
-	int batchIdx = 0;
-
-	{
-		B3_PROFILE("cpu batch innerloop");
-
-		while (numValidConstraints < numConstraints)
-		{
-			numIter++;
-			int nCurrentBatch = 0;
-			//	clear flag
-			for (int i = 0; i < curBodyUsed; i++)
-				bodyUsed[curUsed[i] / 32] = 0;
-
-			curBodyUsed = 0;
-
-			for (int i = numValidConstraints; i < numConstraints; i++)
-			{
-				int idx = i;
-				b3Assert(idx < numConstraints);
-				//	check if it can go
-				int bodyAS = cs[idx].m_bodyAPtrAndSignBit;
-				int bodyBS = cs[idx].m_bodyBPtrAndSignBit;
-				int bodyA = abs(bodyAS);
-				int bodyB = abs(bodyBS);
-				bool aIsStatic = (bodyAS < 0) || bodyAS == staticIdx;
-				bool bIsStatic = (bodyBS < 0) || bodyBS == staticIdx;
-				int aUnavailable = 0;
-				int bUnavailable = 0;
-				if (!aIsStatic)
-				{
-					aUnavailable = bodyUsed[bodyA / 32] & (1 << (bodyA & 31));
-				}
-				if (!aUnavailable)
-					if (!bIsStatic)
-					{
-						bUnavailable = bodyUsed[bodyB / 32] & (1 << (bodyB & 31));
-					}
-
-				if (aUnavailable == 0 && bUnavailable == 0)  // ok
-				{
-					if (!aIsStatic)
-					{
-						bodyUsed[bodyA / 32] |= (1 << (bodyA & 31));
-						curUsed[curBodyUsed++] = bodyA;
-					}
-					if (!bIsStatic)
-					{
-						bodyUsed[bodyB / 32] |= (1 << (bodyB & 31));
-						curUsed[curBodyUsed++] = bodyB;
-					}
-
-					cs[idx].m_batchId = batchIdx;
-
-					if (i != numValidConstraints)
-					{
-						b3Swap(cs[i], cs[numValidConstraints]);
-						numSwaps++;
-					}
-
-					numValidConstraints++;
-					{
-						nCurrentBatch++;
-						if (nCurrentBatch == simdWidth)
-						{
-							nCurrentBatch = 0;
-							for (int i = 0; i < curBodyUsed; i++)
-								bodyUsed[curUsed[i] / 32] = 0;
-							curBodyUsed = 0;
-						}
-					}
-				}
-			}
-			m_gpuData->m_batchSizes.push_back(nCurrentBatch);
-			batchIdx++;
-		}
-	}
-
-#if defined(_DEBUG)
-	//		debugPrintf( "nBatches: %d\n", batchIdx );
-	for (int i = 0; i < numConstraints; i++)
-	{
-		b3Assert(cs[i].m_batchId != -1);
-	}
-#endif
-
-	if (maxSwaps < numSwaps)
-	{
-		maxSwaps = numSwaps;
-		//printf("maxSwaps = %d\n", maxSwaps);
-	}
-
-	return batchIdx;
-}
-
-/// b3PgsJacobiSolver Sequentially applies impulses
-b3Scalar b3GpuPgsConstraintSolver::solveGroup(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias,
-											  int numBodies, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints, int numConstraints, const b3ContactSolverInfo& infoGlobal)
-{
-	B3_PROFILE("solveJoints");
-	//you need to provide at least some bodies
-
-	solveGroupCacheFriendlySetup(gpuBodies, gpuInertias, numBodies, gpuConstraints, numConstraints, infoGlobal);
-
-	solveGroupCacheFriendlyIterations(gpuConstraints, numConstraints, infoGlobal);
-
-	solveGroupCacheFriendlyFinish(gpuBodies, gpuInertias, numBodies, gpuConstraints, numConstraints, infoGlobal);
-
-	return 0.f;
-}
-
-void b3GpuPgsConstraintSolver::solveJoints(int numBodies, b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias,
-										   int numConstraints, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints)
-{
-	b3ContactSolverInfo infoGlobal;
-	infoGlobal.m_splitImpulse = false;
-	infoGlobal.m_timeStep = 1.f / 60.f;
-	infoGlobal.m_numIterations = 4;  //4;
-									 //	infoGlobal.m_solverMode|=B3_SOLVER_USE_2_FRICTION_DIRECTIONS|B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS|B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION;
-	//infoGlobal.m_solverMode|=B3_SOLVER_USE_2_FRICTION_DIRECTIONS|B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS;
-	infoGlobal.m_solverMode |= B3_SOLVER_USE_2_FRICTION_DIRECTIONS;
-
-	//if (infoGlobal.m_solverMode & B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
-	//if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
-
-	solveGroup(gpuBodies, gpuInertias, numBodies, gpuConstraints, numConstraints, infoGlobal);
-}
-
-//b3AlignedObjectArray<b3RigidBodyData> testBodies;
-
-b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyFinish(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints, int numConstraints, const b3ContactSolverInfo& infoGlobal)
-{
-	B3_PROFILE("solveGroupCacheFriendlyFinish");
-	//	int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-	//	int i,j;
-
-	{
-		if (gpuBreakConstraints)
-		{
-			B3_PROFILE("breakViolatedConstraintsKernel");
-			b3LauncherCL launcher(m_gpuData->m_queue, m_gpuData->m_breakViolatedConstraintsKernel, "m_breakViolatedConstraintsKernel");
-			launcher.setBuffer(gpuConstraints->getBufferCL());
-			launcher.setBuffer(m_gpuData->m_gpuConstraintInfo1->getBufferCL());
-			launcher.setBuffer(m_gpuData->m_gpuConstraintRowOffsets->getBufferCL());
-			launcher.setBuffer(m_gpuData->m_gpuConstraintRows->getBufferCL());
-			launcher.setConst(numConstraints);
-			launcher.launch1D(numConstraints);
-		}
-		else
-		{
-			gpuConstraints->copyToHost(m_gpuData->m_cpuConstraints);
-			m_gpuData->m_gpuBatchConstraints->copyToHost(m_gpuData->m_cpuBatchConstraints);
-			m_gpuData->m_gpuConstraintRows->copyToHost(m_gpuData->m_cpuConstraintRows);
-			gpuConstraints->copyToHost(m_gpuData->m_cpuConstraints);
-			m_gpuData->m_gpuConstraintInfo1->copyToHost(m_gpuData->m_cpuConstraintInfo1);
-			m_gpuData->m_gpuConstraintRowOffsets->copyToHost(m_gpuData->m_cpuConstraintRowOffsets);
-
-			for (int cid = 0; cid < numConstraints; cid++)
-			{
-				int originalConstraintIndex = batchConstraints[cid].m_originalConstraintIndex;
-				int constraintRowOffset = m_gpuData->m_cpuConstraintRowOffsets[originalConstraintIndex];
-				int numRows = m_gpuData->m_cpuConstraintInfo1[originalConstraintIndex];
-				if (numRows)
-				{
-					//	printf("cid=%d, breakingThreshold =%f\n",cid,breakingThreshold);
-					for (int i = 0; i < numRows; i++)
-					{
-						int rowIndex = constraintRowOffset + i;
-						int orgConstraintIndex = m_gpuData->m_cpuConstraintRows[rowIndex].m_originalConstraintIndex;
-						float breakingThreshold = m_gpuData->m_cpuConstraints[orgConstraintIndex].m_breakingImpulseThreshold;
-						//	printf("rows[%d].m_appliedImpulse=%f\n",rowIndex,rows[rowIndex].m_appliedImpulse);
-						if (b3Fabs(m_gpuData->m_cpuConstraintRows[rowIndex].m_appliedImpulse) >= breakingThreshold)
-						{
-							m_gpuData->m_cpuConstraints[orgConstraintIndex].m_flags = 0;  //&= ~B3_CONSTRAINT_FLAG_ENABLED;
-						}
-					}
-				}
-			}
-
-			gpuConstraints->copyFromHost(m_gpuData->m_cpuConstraints);
-		}
-	}
-
-	{
-		if (useGpuWriteBackVelocities)
-		{
-			B3_PROFILE("GPU write back velocities and transforms");
-
-			b3LauncherCL launcher(m_gpuData->m_queue, m_gpuData->m_writeBackVelocitiesKernel, "m_writeBackVelocitiesKernel");
-			launcher.setBuffer(gpuBodies->getBufferCL());
-			launcher.setBuffer(m_gpuData->m_gpuSolverBodies->getBufferCL());
-			launcher.setConst(numBodies);
-			launcher.launch1D(numBodies);
-			clFinish(m_gpuData->m_queue);
-			//			m_gpuData->m_gpuSolverBodies->copyToHost(m_tmpSolverBodyPool);
-			//			m_gpuData->m_gpuBodies->copyToHostPointer(bodies,numBodies);
-			//m_gpuData->m_gpuBodies->copyToHost(testBodies);
-		}
-		else
-		{
-			B3_PROFILE("CPU write back velocities and transforms");
-
-			m_gpuData->m_gpuSolverBodies->copyToHost(m_tmpSolverBodyPool);
-			gpuBodies->copyToHost(m_gpuData->m_cpuBodies);
-			for (int i = 0; i < m_tmpSolverBodyPool.size(); i++)
-			{
-				int bodyIndex = m_tmpSolverBodyPool[i].m_originalBodyIndex;
-				//printf("bodyIndex=%d\n",bodyIndex);
-				b3Assert(i == bodyIndex);
-
-				b3RigidBodyData* body = &m_gpuData->m_cpuBodies[bodyIndex];
-				if (body->m_invMass)
-				{
-					if (infoGlobal.m_splitImpulse)
-						m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp);
-					else
-						m_tmpSolverBodyPool[i].writebackVelocity();
-
-					if (m_usePgs)
-					{
-						body->m_linVel = m_tmpSolverBodyPool[i].m_linearVelocity;
-						body->m_angVel = m_tmpSolverBodyPool[i].m_angularVelocity;
-					}
-					else
-					{
-						b3Assert(0);
-					}
-					/*			
-					if (infoGlobal.m_splitImpulse)
-					{
-						body->m_pos = m_tmpSolverBodyPool[i].m_worldTransform.getOrigin();
-						b3Quaternion orn;
-						orn = m_tmpSolverBodyPool[i].m_worldTransform.getRotation();
-						body->m_quat = orn;
-					}
-					*/
-				}
-			}  //for
-
-			gpuBodies->copyFromHost(m_gpuData->m_cpuBodies);
-		}
-	}
-
-	clFinish(m_gpuData->m_queue);
-
-	m_tmpSolverContactConstraintPool.resizeNoInitialize(0);
-	m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0);
-	m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0);
-	m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0);
-
-	m_tmpSolverBodyPool.resizeNoInitialize(0);
-	return 0.f;
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h
deleted file mode 100644
index 00bc544f02..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/*
-Copyright (c) 2013 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Erwin Coumans
-
-#ifndef B3_GPU_PGS_CONSTRAINT_SOLVER_H
-#define B3_GPU_PGS_CONSTRAINT_SOLVER_H
-
-struct b3Contact4;
-struct b3ContactPoint;
-
-class b3Dispatcher;
-
-#include "Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h"
-#include "Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h"
-#include "b3GpuSolverBody.h"
-#include "b3GpuSolverConstraint.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
-struct b3RigidBodyData;
-struct b3InertiaData;
-
-#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
-#include "b3GpuGenericConstraint.h"
-
-class b3GpuPgsConstraintSolver
-{
-protected:
-	int m_staticIdx;
-	struct b3GpuPgsJacobiSolverInternalData* m_gpuData;
-
-protected:
-	b3AlignedObjectArray<b3GpuSolverBody> m_tmpSolverBodyPool;
-	b3GpuConstraintArray m_tmpSolverContactConstraintPool;
-	b3GpuConstraintArray m_tmpSolverNonContactConstraintPool;
-	b3GpuConstraintArray m_tmpSolverContactFrictionConstraintPool;
-	b3GpuConstraintArray m_tmpSolverContactRollingFrictionConstraintPool;
-
-	b3AlignedObjectArray<unsigned int> m_tmpConstraintSizesPool;
-
-	bool m_usePgs;
-	void averageVelocities();
-
-	int m_maxOverrideNumSolverIterations;
-
-	int m_numSplitImpulseRecoveries;
-
-	//	int	getOrInitSolverBody(int bodyIndex, b3RigidBodyData* bodies,b3InertiaData* inertias);
-	void initSolverBody(int bodyIndex, b3GpuSolverBody* solverBody, b3RigidBodyData* rb);
-
-public:
-	b3GpuPgsConstraintSolver(cl_context ctx, cl_device_id device, cl_command_queue queue, bool usePgs);
-	virtual ~b3GpuPgsConstraintSolver();
-
-	virtual b3Scalar solveGroupCacheFriendlyIterations(b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints1, int numConstraints, const b3ContactSolverInfo& infoGlobal);
-	virtual b3Scalar solveGroupCacheFriendlySetup(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints, int numConstraints, const b3ContactSolverInfo& infoGlobal);
-	b3Scalar solveGroupCacheFriendlyFinish(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints, int numConstraints, const b3ContactSolverInfo& infoGlobal);
-
-	b3Scalar solveGroup(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints, int numConstraints, const b3ContactSolverInfo& infoGlobal);
-	void solveJoints(int numBodies, b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias,
-					 int numConstraints, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints);
-
-	int sortConstraintByBatch3(struct b3BatchConstraint* cs, int numConstraints, int simdWidth, int staticIdx, int numBodies);
-	void recomputeBatches();
-};
-
-#endif  //B3_GPU_PGS_CONSTRAINT_SOLVER_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.cpp b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.cpp
deleted file mode 100644
index e3d235a4fd..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.cpp
+++ /dev/null
@@ -1,1529 +0,0 @@
-
-bool gUseLargeBatches = false;
-bool gCpuBatchContacts = false;
-bool gCpuSolveConstraint = false;
-bool gCpuRadixSort = false;
-bool gCpuSetSortData = false;
-bool gCpuSortContactsDeterminism = false;
-bool gUseCpuCopyConstraints = false;
-bool gUseScanHost = false;
-bool gReorderContactsOnCpu = false;
-
-bool optionalSortContactsDeterminism = true;
-
-#include "b3GpuPgsContactSolver.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
-
-#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h"
-#include <string.h>
-#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
-#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
-#include "b3Solver.h"
-
-#define B3_SOLVER_SETUP_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solverSetup.cl"
-#define B3_SOLVER_SETUP2_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.cl"
-#define B3_SOLVER_CONTACT_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solveContact.cl"
-#define B3_SOLVER_FRICTION_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solveFriction.cl"
-#define B3_BATCHING_PATH "src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.cl"
-#define B3_BATCHING_NEW_PATH "src/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.cl"
-
-#include "kernels/solverSetup.h"
-#include "kernels/solverSetup2.h"
-#include "kernels/solveContact.h"
-#include "kernels/solveFriction.h"
-#include "kernels/batchingKernels.h"
-#include "kernels/batchingKernelsNew.h"
-
-struct b3GpuBatchingPgsSolverInternalData
-{
-	cl_context m_context;
-	cl_device_id m_device;
-	cl_command_queue m_queue;
-	int m_pairCapacity;
-	int m_nIterations;
-
-	b3OpenCLArray<b3GpuConstraint4>* m_contactCGPU;
-	b3OpenCLArray<unsigned int>* m_numConstraints;
-	b3OpenCLArray<unsigned int>* m_offsets;
-
-	b3Solver* m_solverGPU;
-
-	cl_kernel m_batchingKernel;
-	cl_kernel m_batchingKernelNew;
-	cl_kernel m_solveContactKernel;
-	cl_kernel m_solveSingleContactKernel;
-	cl_kernel m_solveSingleFrictionKernel;
-	cl_kernel m_solveFrictionKernel;
-	cl_kernel m_contactToConstraintKernel;
-	cl_kernel m_setSortDataKernel;
-	cl_kernel m_reorderContactKernel;
-	cl_kernel m_copyConstraintKernel;
-
-	cl_kernel m_setDeterminismSortDataBodyAKernel;
-	cl_kernel m_setDeterminismSortDataBodyBKernel;
-	cl_kernel m_setDeterminismSortDataChildShapeAKernel;
-	cl_kernel m_setDeterminismSortDataChildShapeBKernel;
-
-	class b3RadixSort32CL* m_sort32;
-	class b3BoundSearchCL* m_search;
-	class b3PrefixScanCL* m_scan;
-
-	b3OpenCLArray<b3SortData>* m_sortDataBuffer;
-	b3OpenCLArray<b3Contact4>* m_contactBuffer;
-
-	b3OpenCLArray<b3RigidBodyData>* m_bodyBufferGPU;
-	b3OpenCLArray<b3InertiaData>* m_inertiaBufferGPU;
-	b3OpenCLArray<b3Contact4>* m_pBufContactOutGPU;
-
-	b3OpenCLArray<b3Contact4>* m_pBufContactOutGPUCopy;
-	b3OpenCLArray<b3SortData>* m_contactKeyValues;
-
-	b3AlignedObjectArray<unsigned int> m_idxBuffer;
-	b3AlignedObjectArray<b3SortData> m_sortData;
-	b3AlignedObjectArray<b3Contact4> m_old;
-
-	b3AlignedObjectArray<int> m_batchSizes;
-	b3OpenCLArray<int>* m_batchSizesGpu;
-};
-
-b3GpuPgsContactSolver::b3GpuPgsContactSolver(cl_context ctx, cl_device_id device, cl_command_queue q, int pairCapacity)
-{
-	m_debugOutput = 0;
-	m_data = new b3GpuBatchingPgsSolverInternalData;
-	m_data->m_context = ctx;
-	m_data->m_device = device;
-	m_data->m_queue = q;
-	m_data->m_pairCapacity = pairCapacity;
-	m_data->m_nIterations = 4;
-	m_data->m_batchSizesGpu = new b3OpenCLArray<int>(ctx, q);
-	m_data->m_bodyBufferGPU = new b3OpenCLArray<b3RigidBodyData>(ctx, q);
-	m_data->m_inertiaBufferGPU = new b3OpenCLArray<b3InertiaData>(ctx, q);
-	m_data->m_pBufContactOutGPU = new b3OpenCLArray<b3Contact4>(ctx, q);
-
-	m_data->m_pBufContactOutGPUCopy = new b3OpenCLArray<b3Contact4>(ctx, q);
-	m_data->m_contactKeyValues = new b3OpenCLArray<b3SortData>(ctx, q);
-
-	m_data->m_solverGPU = new b3Solver(ctx, device, q, 512 * 1024);
-
-	m_data->m_sort32 = new b3RadixSort32CL(ctx, device, m_data->m_queue);
-	m_data->m_scan = new b3PrefixScanCL(ctx, device, m_data->m_queue, B3_SOLVER_N_CELLS);
-	m_data->m_search = new b3BoundSearchCL(ctx, device, m_data->m_queue, B3_SOLVER_N_CELLS);
-
-	const int sortSize = B3NEXTMULTIPLEOF(pairCapacity, 512);
-
-	m_data->m_sortDataBuffer = new b3OpenCLArray<b3SortData>(ctx, m_data->m_queue, sortSize);
-	m_data->m_contactBuffer = new b3OpenCLArray<b3Contact4>(ctx, m_data->m_queue);
-
-	m_data->m_numConstraints = new b3OpenCLArray<unsigned int>(ctx, m_data->m_queue, B3_SOLVER_N_CELLS);
-	m_data->m_numConstraints->resize(B3_SOLVER_N_CELLS);
-
-	m_data->m_contactCGPU = new b3OpenCLArray<b3GpuConstraint4>(ctx, q, pairCapacity);
-
-	m_data->m_offsets = new b3OpenCLArray<unsigned int>(ctx, m_data->m_queue, B3_SOLVER_N_CELLS);
-	m_data->m_offsets->resize(B3_SOLVER_N_CELLS);
-	const char* additionalMacros = "";
-	//const char* srcFileNameForCaching="";
-
-	cl_int pErrNum;
-	const char* batchKernelSource = batchingKernelsCL;
-	const char* batchKernelNewSource = batchingKernelsNewCL;
-	const char* solverSetupSource = solverSetupCL;
-	const char* solverSetup2Source = solverSetup2CL;
-	const char* solveContactSource = solveContactCL;
-	const char* solveFrictionSource = solveFrictionCL;
-
-	{
-		cl_program solveContactProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solveContactSource, &pErrNum, additionalMacros, B3_SOLVER_CONTACT_KERNEL_PATH);
-		b3Assert(solveContactProg);
-
-		cl_program solveFrictionProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solveFrictionSource, &pErrNum, additionalMacros, B3_SOLVER_FRICTION_KERNEL_PATH);
-		b3Assert(solveFrictionProg);
-
-		cl_program solverSetup2Prog = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solverSetup2Source, &pErrNum, additionalMacros, B3_SOLVER_SETUP2_KERNEL_PATH);
-
-		b3Assert(solverSetup2Prog);
-
-		cl_program solverSetupProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solverSetupSource, &pErrNum, additionalMacros, B3_SOLVER_SETUP_KERNEL_PATH);
-		b3Assert(solverSetupProg);
-
-		m_data->m_solveFrictionKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solveFrictionSource, "BatchSolveKernelFriction", &pErrNum, solveFrictionProg, additionalMacros);
-		b3Assert(m_data->m_solveFrictionKernel);
-
-		m_data->m_solveContactKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solveContactSource, "BatchSolveKernelContact", &pErrNum, solveContactProg, additionalMacros);
-		b3Assert(m_data->m_solveContactKernel);
-
-		m_data->m_solveSingleContactKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solveContactSource, "solveSingleContactKernel", &pErrNum, solveContactProg, additionalMacros);
-		b3Assert(m_data->m_solveSingleContactKernel);
-
-		m_data->m_solveSingleFrictionKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solveFrictionSource, "solveSingleFrictionKernel", &pErrNum, solveFrictionProg, additionalMacros);
-		b3Assert(m_data->m_solveSingleFrictionKernel);
-
-		m_data->m_contactToConstraintKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetupSource, "ContactToConstraintKernel", &pErrNum, solverSetupProg, additionalMacros);
-		b3Assert(m_data->m_contactToConstraintKernel);
-
-		m_data->m_setSortDataKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "SetSortDataKernel", &pErrNum, solverSetup2Prog, additionalMacros);
-		b3Assert(m_data->m_setSortDataKernel);
-
-		m_data->m_setDeterminismSortDataBodyAKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "SetDeterminismSortDataBodyA", &pErrNum, solverSetup2Prog, additionalMacros);
-		b3Assert(m_data->m_setDeterminismSortDataBodyAKernel);
-
-		m_data->m_setDeterminismSortDataBodyBKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "SetDeterminismSortDataBodyB", &pErrNum, solverSetup2Prog, additionalMacros);
-		b3Assert(m_data->m_setDeterminismSortDataBodyBKernel);
-
-		m_data->m_setDeterminismSortDataChildShapeAKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "SetDeterminismSortDataChildShapeA", &pErrNum, solverSetup2Prog, additionalMacros);
-		b3Assert(m_data->m_setDeterminismSortDataChildShapeAKernel);
-
-		m_data->m_setDeterminismSortDataChildShapeBKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "SetDeterminismSortDataChildShapeB", &pErrNum, solverSetup2Prog, additionalMacros);
-		b3Assert(m_data->m_setDeterminismSortDataChildShapeBKernel);
-
-		m_data->m_reorderContactKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "ReorderContactKernel", &pErrNum, solverSetup2Prog, additionalMacros);
-		b3Assert(m_data->m_reorderContactKernel);
-
-		m_data->m_copyConstraintKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "CopyConstraintKernel", &pErrNum, solverSetup2Prog, additionalMacros);
-		b3Assert(m_data->m_copyConstraintKernel);
-	}
-
-	{
-		cl_program batchingProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, batchKernelSource, &pErrNum, additionalMacros, B3_BATCHING_PATH);
-		b3Assert(batchingProg);
-
-		m_data->m_batchingKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, batchKernelSource, "CreateBatches", &pErrNum, batchingProg, additionalMacros);
-		b3Assert(m_data->m_batchingKernel);
-	}
-
-	{
-		cl_program batchingNewProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, batchKernelNewSource, &pErrNum, additionalMacros, B3_BATCHING_NEW_PATH);
-		b3Assert(batchingNewProg);
-
-		m_data->m_batchingKernelNew = b3OpenCLUtils::compileCLKernelFromString(ctx, device, batchKernelNewSource, "CreateBatchesNew", &pErrNum, batchingNewProg, additionalMacros);
-		b3Assert(m_data->m_batchingKernelNew);
-	}
-}
-
-b3GpuPgsContactSolver::~b3GpuPgsContactSolver()
-{
-	delete m_data->m_batchSizesGpu;
-	delete m_data->m_bodyBufferGPU;
-	delete m_data->m_inertiaBufferGPU;
-	delete m_data->m_pBufContactOutGPU;
-	delete m_data->m_pBufContactOutGPUCopy;
-	delete m_data->m_contactKeyValues;
-
-	delete m_data->m_contactCGPU;
-	delete m_data->m_numConstraints;
-	delete m_data->m_offsets;
-	delete m_data->m_sortDataBuffer;
-	delete m_data->m_contactBuffer;
-
-	delete m_data->m_sort32;
-	delete m_data->m_scan;
-	delete m_data->m_search;
-	delete m_data->m_solverGPU;
-
-	clReleaseKernel(m_data->m_batchingKernel);
-	clReleaseKernel(m_data->m_batchingKernelNew);
-	clReleaseKernel(m_data->m_solveSingleContactKernel);
-	clReleaseKernel(m_data->m_solveSingleFrictionKernel);
-	clReleaseKernel(m_data->m_solveContactKernel);
-	clReleaseKernel(m_data->m_solveFrictionKernel);
-
-	clReleaseKernel(m_data->m_contactToConstraintKernel);
-	clReleaseKernel(m_data->m_setSortDataKernel);
-	clReleaseKernel(m_data->m_reorderContactKernel);
-	clReleaseKernel(m_data->m_copyConstraintKernel);
-
-	clReleaseKernel(m_data->m_setDeterminismSortDataBodyAKernel);
-	clReleaseKernel(m_data->m_setDeterminismSortDataBodyBKernel);
-	clReleaseKernel(m_data->m_setDeterminismSortDataChildShapeAKernel);
-	clReleaseKernel(m_data->m_setDeterminismSortDataChildShapeBKernel);
-
-	delete m_data;
-}
-
-struct b3ConstraintCfg
-{
-	b3ConstraintCfg(float dt = 0.f) : m_positionDrift(0.005f), m_positionConstraintCoeff(0.2f), m_dt(dt), m_staticIdx(0) {}
-
-	float m_positionDrift;
-	float m_positionConstraintCoeff;
-	float m_dt;
-	bool m_enableParallelSolve;
-	float m_batchCellSize;
-	int m_staticIdx;
-};
-
-void b3GpuPgsContactSolver::solveContactConstraintBatchSizes(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf,
-															 b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes)  //const b3OpenCLArray<int>* gpuBatchSizes)
-{
-	B3_PROFILE("solveContactConstraintBatchSizes");
-	int numBatches = batchSizes->size() / B3_MAX_NUM_BATCHES;
-	for (int iter = 0; iter < numIterations; iter++)
-	{
-		for (int cellId = 0; cellId < numBatches; cellId++)
-		{
-			int offset = 0;
-			for (int ii = 0; ii < B3_MAX_NUM_BATCHES; ii++)
-			{
-				int numInBatch = batchSizes->at(cellId * B3_MAX_NUM_BATCHES + ii);
-				if (!numInBatch)
-					break;
-
-				{
-					b3LauncherCL launcher(m_data->m_queue, m_data->m_solveSingleContactKernel, "m_solveSingleContactKernel");
-					launcher.setBuffer(bodyBuf->getBufferCL());
-					launcher.setBuffer(shapeBuf->getBufferCL());
-					launcher.setBuffer(constraint->getBufferCL());
-					launcher.setConst(cellId);
-					launcher.setConst(offset);
-					launcher.setConst(numInBatch);
-					launcher.launch1D(numInBatch);
-					offset += numInBatch;
-				}
-			}
-		}
-	}
-
-	for (int iter = 0; iter < numIterations; iter++)
-	{
-		for (int cellId = 0; cellId < numBatches; cellId++)
-		{
-			int offset = 0;
-			for (int ii = 0; ii < B3_MAX_NUM_BATCHES; ii++)
-			{
-				int numInBatch = batchSizes->at(cellId * B3_MAX_NUM_BATCHES + ii);
-				if (!numInBatch)
-					break;
-
-				{
-					b3LauncherCL launcher(m_data->m_queue, m_data->m_solveSingleFrictionKernel, "m_solveSingleFrictionKernel");
-					launcher.setBuffer(bodyBuf->getBufferCL());
-					launcher.setBuffer(shapeBuf->getBufferCL());
-					launcher.setBuffer(constraint->getBufferCL());
-					launcher.setConst(cellId);
-					launcher.setConst(offset);
-					launcher.setConst(numInBatch);
-					launcher.launch1D(numInBatch);
-					offset += numInBatch;
-				}
-			}
-		}
-	}
-}
-
-void b3GpuPgsContactSolver::solveContactConstraint(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf,
-												   b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes)  //,const b3OpenCLArray<int>* gpuBatchSizes)
-{
-	//sort the contacts
-
-	b3Int4 cdata = b3MakeInt4(n, 0, 0, 0);
-	{
-		const int nn = B3_SOLVER_N_CELLS;
-
-		cdata.x = 0;
-		cdata.y = maxNumBatches;  //250;
-
-		int numWorkItems = 64 * nn / B3_SOLVER_N_BATCHES;
-#ifdef DEBUG_ME
-		SolverDebugInfo* debugInfo = new SolverDebugInfo[numWorkItems];
-		adl::b3OpenCLArray<SolverDebugInfo> gpuDebugInfo(data->m_device, numWorkItems);
-#endif
-
-		{
-			B3_PROFILE("m_batchSolveKernel iterations");
-			for (int iter = 0; iter < numIterations; iter++)
-			{
-				for (int ib = 0; ib < B3_SOLVER_N_BATCHES; ib++)
-				{
-#ifdef DEBUG_ME
-					memset(debugInfo, 0, sizeof(SolverDebugInfo) * numWorkItems);
-					gpuDebugInfo.write(debugInfo, numWorkItems);
-#endif
-
-					cdata.z = ib;
-
-					b3LauncherCL launcher(m_data->m_queue, m_data->m_solveContactKernel, "m_solveContactKernel");
-#if 1
-
-					b3BufferInfoCL bInfo[] = {
-
-						b3BufferInfoCL(bodyBuf->getBufferCL()),
-						b3BufferInfoCL(shapeBuf->getBufferCL()),
-						b3BufferInfoCL(constraint->getBufferCL()),
-						b3BufferInfoCL(m_data->m_solverGPU->m_numConstraints->getBufferCL()),
-						b3BufferInfoCL(m_data->m_solverGPU->m_offsets->getBufferCL())
-#ifdef DEBUG_ME
-							,
-						b3BufferInfoCL(&gpuDebugInfo)
-#endif
-					};
-
-					launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-					launcher.setBuffer(m_data->m_solverGPU->m_batchSizes.getBufferCL());
-					//launcher.setConst(  cdata.x );
-					launcher.setConst(cdata.y);
-					launcher.setConst(cdata.z);
-					b3Int4 nSplit;
-					nSplit.x = B3_SOLVER_N_SPLIT_X;
-					nSplit.y = B3_SOLVER_N_SPLIT_Y;
-					nSplit.z = B3_SOLVER_N_SPLIT_Z;
-
-					launcher.setConst(nSplit);
-					launcher.launch1D(numWorkItems, 64);
-
-#else
-					const char* fileName = "m_batchSolveKernel.bin";
-					FILE* f = fopen(fileName, "rb");
-					if (f)
-					{
-						int sizeInBytes = 0;
-						if (fseek(f, 0, SEEK_END) || (sizeInBytes = ftell(f)) == EOF || fseek(f, 0, SEEK_SET))
-						{
-							printf("error, cannot get file size\n");
-							exit(0);
-						}
-
-						unsigned char* buf = (unsigned char*)malloc(sizeInBytes);
-						fread(buf, sizeInBytes, 1, f);
-						int serializedBytes = launcher.deserializeArgs(buf, sizeInBytes, m_context);
-						int num = *(int*)&buf[serializedBytes];
-
-						launcher.launch1D(num);
-
-						//this clFinish is for testing on errors
-						clFinish(m_queue);
-					}
-
-#endif
-
-#ifdef DEBUG_ME
-					clFinish(m_queue);
-					gpuDebugInfo.read(debugInfo, numWorkItems);
-					clFinish(m_queue);
-					for (int i = 0; i < numWorkItems; i++)
-					{
-						if (debugInfo[i].m_valInt2 > 0)
-						{
-							printf("debugInfo[i].m_valInt2 = %d\n", i, debugInfo[i].m_valInt2);
-						}
-
-						if (debugInfo[i].m_valInt3 > 0)
-						{
-							printf("debugInfo[i].m_valInt3 = %d\n", i, debugInfo[i].m_valInt3);
-						}
-					}
-#endif  //DEBUG_ME
-				}
-			}
-
-			clFinish(m_data->m_queue);
-		}
-
-		cdata.x = 1;
-		bool applyFriction = true;
-		if (applyFriction)
-		{
-			B3_PROFILE("m_batchSolveKernel iterations2");
-			for (int iter = 0; iter < numIterations; iter++)
-			{
-				for (int ib = 0; ib < B3_SOLVER_N_BATCHES; ib++)
-				{
-					cdata.z = ib;
-
-					b3BufferInfoCL bInfo[] = {
-						b3BufferInfoCL(bodyBuf->getBufferCL()),
-						b3BufferInfoCL(shapeBuf->getBufferCL()),
-						b3BufferInfoCL(constraint->getBufferCL()),
-						b3BufferInfoCL(m_data->m_solverGPU->m_numConstraints->getBufferCL()),
-						b3BufferInfoCL(m_data->m_solverGPU->m_offsets->getBufferCL())
-#ifdef DEBUG_ME
-							,
-						b3BufferInfoCL(&gpuDebugInfo)
-#endif  //DEBUG_ME
-					};
-					b3LauncherCL launcher(m_data->m_queue, m_data->m_solveFrictionKernel, "m_solveFrictionKernel");
-					launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-					launcher.setBuffer(m_data->m_solverGPU->m_batchSizes.getBufferCL());
-					//launcher.setConst(  cdata.x );
-					launcher.setConst(cdata.y);
-					launcher.setConst(cdata.z);
-
-					b3Int4 nSplit;
-					nSplit.x = B3_SOLVER_N_SPLIT_X;
-					nSplit.y = B3_SOLVER_N_SPLIT_Y;
-					nSplit.z = B3_SOLVER_N_SPLIT_Z;
-
-					launcher.setConst(nSplit);
-
-					launcher.launch1D(64 * nn / B3_SOLVER_N_BATCHES, 64);
-				}
-			}
-			clFinish(m_data->m_queue);
-		}
-#ifdef DEBUG_ME
-		delete[] debugInfo;
-#endif  //DEBUG_ME
-	}
-}
-
-static bool sortfnc(const b3SortData& a, const b3SortData& b)
-{
-	return (a.m_key < b.m_key);
-}
-
-static bool b3ContactCmp(const b3Contact4& p, const b3Contact4& q)
-{
-	return ((p.m_bodyAPtrAndSignBit < q.m_bodyAPtrAndSignBit) ||
-			((p.m_bodyAPtrAndSignBit == q.m_bodyAPtrAndSignBit) && (p.m_bodyBPtrAndSignBit < q.m_bodyBPtrAndSignBit)) ||
-			((p.m_bodyAPtrAndSignBit == q.m_bodyAPtrAndSignBit) && (p.m_bodyBPtrAndSignBit == q.m_bodyBPtrAndSignBit) && p.m_childIndexA < q.m_childIndexA) ||
-			((p.m_bodyAPtrAndSignBit == q.m_bodyAPtrAndSignBit) && (p.m_bodyBPtrAndSignBit == q.m_bodyBPtrAndSignBit) && p.m_childIndexA < q.m_childIndexA) ||
-			((p.m_bodyAPtrAndSignBit == q.m_bodyAPtrAndSignBit) && (p.m_bodyBPtrAndSignBit == q.m_bodyBPtrAndSignBit) && p.m_childIndexA == q.m_childIndexA && p.m_childIndexB < q.m_childIndexB));
-}
-
-#define USE_SPATIAL_BATCHING 1
-#define USE_4x4_GRID 1
-
-#ifndef USE_SPATIAL_BATCHING
-static const int gridTable4x4[] =
-	{
-		0, 1, 17, 16,
-		1, 2, 18, 19,
-		17, 18, 32, 3,
-		16, 19, 3, 34};
-static const int gridTable8x8[] =
-	{
-		0, 2, 3, 16, 17, 18, 19, 1,
-		66, 64, 80, 67, 82, 81, 65, 83,
-		131, 144, 128, 130, 147, 129, 145, 146,
-		208, 195, 194, 192, 193, 211, 210, 209,
-		21, 22, 23, 5, 4, 6, 7, 20,
-		86, 85, 69, 87, 70, 68, 84, 71,
-		151, 133, 149, 150, 135, 148, 132, 134,
-		197, 27, 214, 213, 212, 199, 198, 196
-
-};
-
-#endif
-
-void SetSortDataCPU(b3Contact4* gContact, b3RigidBodyData* gBodies, b3SortData* gSortDataOut, int nContacts, float scale, const b3Int4& nSplit, int staticIdx)
-{
-	for (int gIdx = 0; gIdx < nContacts; gIdx++)
-	{
-		if (gIdx < nContacts)
-		{
-			int aPtrAndSignBit = gContact[gIdx].m_bodyAPtrAndSignBit;
-			int bPtrAndSignBit = gContact[gIdx].m_bodyBPtrAndSignBit;
-
-			int aIdx = abs(aPtrAndSignBit);
-			int bIdx = abs(bPtrAndSignBit);
-
-			bool aStatic = (aPtrAndSignBit < 0) || (aPtrAndSignBit == staticIdx);
-
-#if USE_SPATIAL_BATCHING
-			int idx = (aStatic) ? bIdx : aIdx;
-			b3Vector3 p = gBodies[idx].m_pos;
-			int xIdx = (int)((p.x - ((p.x < 0.f) ? 1.f : 0.f)) * scale) & (nSplit.x - 1);
-			int yIdx = (int)((p.y - ((p.y < 0.f) ? 1.f : 0.f)) * scale) & (nSplit.y - 1);
-			int zIdx = (int)((p.z - ((p.z < 0.f) ? 1.f : 0.f)) * scale) & (nSplit.z - 1);
-
-			int newIndex = (xIdx + yIdx * nSplit.x + zIdx * nSplit.x * nSplit.y);
-
-#else  //USE_SPATIAL_BATCHING
-			bool bStatic = (bPtrAndSignBit < 0) || (bPtrAndSignBit == staticIdx);
-
-#if USE_4x4_GRID
-			int aa = aIdx & 3;
-			int bb = bIdx & 3;
-			if (aStatic)
-				aa = bb;
-			if (bStatic)
-				bb = aa;
-
-			int gridIndex = aa + bb * 4;
-			int newIndex = gridTable4x4[gridIndex];
-#else   //USE_4x4_GRID
-			int aa = aIdx & 7;
-			int bb = bIdx & 7;
-			if (aStatic)
-				aa = bb;
-			if (bStatic)
-				bb = aa;
-
-			int gridIndex = aa + bb * 8;
-			int newIndex = gridTable8x8[gridIndex];
-#endif  //USE_4x4_GRID
-#endif  //USE_SPATIAL_BATCHING
-
-			gSortDataOut[gIdx].x = newIndex;
-			gSortDataOut[gIdx].y = gIdx;
-		}
-		else
-		{
-			gSortDataOut[gIdx].x = 0xffffffff;
-		}
-	}
-}
-
-void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const b3Config& config, int static0Index)
-{
-	B3_PROFILE("solveContacts");
-	m_data->m_bodyBufferGPU->setFromOpenCLBuffer(bodyBuf, numBodies);
-	m_data->m_inertiaBufferGPU->setFromOpenCLBuffer(inertiaBuf, numBodies);
-	m_data->m_pBufContactOutGPU->setFromOpenCLBuffer(contactBuf, numContacts);
-
-	if (optionalSortContactsDeterminism)
-	{
-		if (!gCpuSortContactsDeterminism)
-		{
-			B3_PROFILE("GPU Sort contact constraints (determinism)");
-
-			m_data->m_pBufContactOutGPUCopy->resize(numContacts);
-			m_data->m_contactKeyValues->resize(numContacts);
-
-			m_data->m_pBufContactOutGPU->copyToCL(m_data->m_pBufContactOutGPUCopy->getBufferCL(), numContacts, 0, 0);
-
-			{
-				b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataChildShapeBKernel, "m_setDeterminismSortDataChildShapeBKernel");
-				launcher.setBuffer(m_data->m_pBufContactOutGPUCopy->getBufferCL());
-				launcher.setBuffer(m_data->m_contactKeyValues->getBufferCL());
-				launcher.setConst(numContacts);
-				launcher.launch1D(numContacts, 64);
-			}
-			m_data->m_solverGPU->m_sort32->execute(*m_data->m_contactKeyValues);
-			{
-				b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataChildShapeAKernel, "m_setDeterminismSortDataChildShapeAKernel");
-				launcher.setBuffer(m_data->m_pBufContactOutGPUCopy->getBufferCL());
-				launcher.setBuffer(m_data->m_contactKeyValues->getBufferCL());
-				launcher.setConst(numContacts);
-				launcher.launch1D(numContacts, 64);
-			}
-			m_data->m_solverGPU->m_sort32->execute(*m_data->m_contactKeyValues);
-			{
-				b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataBodyBKernel, "m_setDeterminismSortDataBodyBKernel");
-				launcher.setBuffer(m_data->m_pBufContactOutGPUCopy->getBufferCL());
-				launcher.setBuffer(m_data->m_contactKeyValues->getBufferCL());
-				launcher.setConst(numContacts);
-				launcher.launch1D(numContacts, 64);
-			}
-
-			m_data->m_solverGPU->m_sort32->execute(*m_data->m_contactKeyValues);
-
-			{
-				b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataBodyAKernel, "m_setDeterminismSortDataBodyAKernel");
-				launcher.setBuffer(m_data->m_pBufContactOutGPUCopy->getBufferCL());
-				launcher.setBuffer(m_data->m_contactKeyValues->getBufferCL());
-				launcher.setConst(numContacts);
-				launcher.launch1D(numContacts, 64);
-			}
-
-			m_data->m_solverGPU->m_sort32->execute(*m_data->m_contactKeyValues);
-
-			{
-				B3_PROFILE("gpu reorderContactKernel (determinism)");
-
-				b3Int4 cdata;
-				cdata.x = numContacts;
-
-				//b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_data->m_pBufContactOutGPU->getBufferCL() ), b3BufferInfoCL( m_data->m_solverGPU->m_contactBuffer2->getBufferCL())
-				//	, b3BufferInfoCL( m_data->m_solverGPU->m_sortDataBuffer->getBufferCL()) };
-				b3LauncherCL launcher(m_data->m_queue, m_data->m_solverGPU->m_reorderContactKernel, "m_reorderContactKernel");
-				launcher.setBuffer(m_data->m_pBufContactOutGPUCopy->getBufferCL());
-				launcher.setBuffer(m_data->m_pBufContactOutGPU->getBufferCL());
-				launcher.setBuffer(m_data->m_contactKeyValues->getBufferCL());
-				launcher.setConst(cdata);
-				launcher.launch1D(numContacts, 64);
-			}
-		}
-		else
-		{
-			B3_PROFILE("CPU Sort contact constraints (determinism)");
-			b3AlignedObjectArray<b3Contact4> cpuConstraints;
-			m_data->m_pBufContactOutGPU->copyToHost(cpuConstraints);
-			bool sort = true;
-			if (sort)
-			{
-				cpuConstraints.quickSort(b3ContactCmp);
-
-				for (int i = 0; i < cpuConstraints.size(); i++)
-				{
-					cpuConstraints[i].m_batchIdx = i;
-				}
-			}
-			m_data->m_pBufContactOutGPU->copyFromHost(cpuConstraints);
-			if (m_debugOutput == 100)
-			{
-				for (int i = 0; i < cpuConstraints.size(); i++)
-				{
-					printf("c[%d].m_bodyA = %d, m_bodyB = %d, batchId = %d\n", i, cpuConstraints[i].m_bodyAPtrAndSignBit, cpuConstraints[i].m_bodyBPtrAndSignBit, cpuConstraints[i].m_batchIdx);
-				}
-			}
-
-			m_debugOutput++;
-		}
-	}
-
-	int nContactOut = m_data->m_pBufContactOutGPU->size();
-
-	bool useSolver = true;
-
-	if (useSolver)
-	{
-		float dt = 1. / 60.;
-		b3ConstraintCfg csCfg(dt);
-		csCfg.m_enableParallelSolve = true;
-		csCfg.m_batchCellSize = 6;
-		csCfg.m_staticIdx = static0Index;
-
-		b3OpenCLArray<b3RigidBodyData>* bodyBuf = m_data->m_bodyBufferGPU;
-
-		void* additionalData = 0;  //m_data->m_frictionCGPU;
-		const b3OpenCLArray<b3InertiaData>* shapeBuf = m_data->m_inertiaBufferGPU;
-		b3OpenCLArray<b3GpuConstraint4>* contactConstraintOut = m_data->m_contactCGPU;
-		int nContacts = nContactOut;
-
-		int maxNumBatches = 0;
-
-		if (!gUseLargeBatches)
-		{
-			if (m_data->m_solverGPU->m_contactBuffer2)
-			{
-				m_data->m_solverGPU->m_contactBuffer2->resize(nContacts);
-			}
-
-			if (m_data->m_solverGPU->m_contactBuffer2 == 0)
-			{
-				m_data->m_solverGPU->m_contactBuffer2 = new b3OpenCLArray<b3Contact4>(m_data->m_context, m_data->m_queue, nContacts);
-				m_data->m_solverGPU->m_contactBuffer2->resize(nContacts);
-			}
-
-			//clFinish(m_data->m_queue);
-
-			{
-				B3_PROFILE("batching");
-				//@todo: just reserve it, without copy of original contact (unless we use warmstarting)
-
-				//const b3OpenCLArray<b3RigidBodyData>* bodyNative = bodyBuf;
-
-				{
-					//b3OpenCLArray<b3RigidBodyData>* bodyNative = b3OpenCLArrayUtils::map<adl::TYPE_CL, true>( data->m_device, bodyBuf );
-					//b3OpenCLArray<b3Contact4>* contactNative = b3OpenCLArrayUtils::map<adl::TYPE_CL, true>( data->m_device, contactsIn );
-
-					const int sortAlignment = 512;  // todo. get this out of sort
-					if (csCfg.m_enableParallelSolve)
-					{
-						int sortSize = B3NEXTMULTIPLEOF(nContacts, sortAlignment);
-
-						b3OpenCLArray<unsigned int>* countsNative = m_data->m_solverGPU->m_numConstraints;
-						b3OpenCLArray<unsigned int>* offsetsNative = m_data->m_solverGPU->m_offsets;
-
-						if (!gCpuSetSortData)
-						{  //	2. set cell idx
-							B3_PROFILE("GPU set cell idx");
-							struct CB
-							{
-								int m_nContacts;
-								int m_staticIdx;
-								float m_scale;
-								b3Int4 m_nSplit;
-							};
-
-							b3Assert(sortSize % 64 == 0);
-							CB cdata;
-							cdata.m_nContacts = nContacts;
-							cdata.m_staticIdx = csCfg.m_staticIdx;
-							cdata.m_scale = 1.f / csCfg.m_batchCellSize;
-							cdata.m_nSplit.x = B3_SOLVER_N_SPLIT_X;
-							cdata.m_nSplit.y = B3_SOLVER_N_SPLIT_Y;
-							cdata.m_nSplit.z = B3_SOLVER_N_SPLIT_Z;
-
-							m_data->m_solverGPU->m_sortDataBuffer->resize(nContacts);
-
-							b3BufferInfoCL bInfo[] = {b3BufferInfoCL(m_data->m_pBufContactOutGPU->getBufferCL()), b3BufferInfoCL(bodyBuf->getBufferCL()), b3BufferInfoCL(m_data->m_solverGPU->m_sortDataBuffer->getBufferCL())};
-							b3LauncherCL launcher(m_data->m_queue, m_data->m_solverGPU->m_setSortDataKernel, "m_setSortDataKernel");
-							launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-							launcher.setConst(cdata.m_nContacts);
-							launcher.setConst(cdata.m_scale);
-							launcher.setConst(cdata.m_nSplit);
-							launcher.setConst(cdata.m_staticIdx);
-
-							launcher.launch1D(sortSize, 64);
-						}
-						else
-						{
-							m_data->m_solverGPU->m_sortDataBuffer->resize(nContacts);
-							b3AlignedObjectArray<b3SortData> sortDataCPU;
-							m_data->m_solverGPU->m_sortDataBuffer->copyToHost(sortDataCPU);
-
-							b3AlignedObjectArray<b3Contact4> contactCPU;
-							m_data->m_pBufContactOutGPU->copyToHost(contactCPU);
-							b3AlignedObjectArray<b3RigidBodyData> bodiesCPU;
-							bodyBuf->copyToHost(bodiesCPU);
-							float scale = 1.f / csCfg.m_batchCellSize;
-							b3Int4 nSplit;
-							nSplit.x = B3_SOLVER_N_SPLIT_X;
-							nSplit.y = B3_SOLVER_N_SPLIT_Y;
-							nSplit.z = B3_SOLVER_N_SPLIT_Z;
-
-							SetSortDataCPU(&contactCPU[0], &bodiesCPU[0], &sortDataCPU[0], nContacts, scale, nSplit, csCfg.m_staticIdx);
-
-							m_data->m_solverGPU->m_sortDataBuffer->copyFromHost(sortDataCPU);
-						}
-
-						if (!gCpuRadixSort)
-						{  //	3. sort by cell idx
-							B3_PROFILE("gpuRadixSort");
-							//int n = B3_SOLVER_N_SPLIT*B3_SOLVER_N_SPLIT;
-							//int sortBit = 32;
-							//if( n <= 0xffff ) sortBit = 16;
-							//if( n <= 0xff ) sortBit = 8;
-							//adl::RadixSort<adl::TYPE_CL>::execute( data->m_sort, *data->m_sortDataBuffer, sortSize );
-							//adl::RadixSort32<adl::TYPE_CL>::execute( data->m_sort32, *data->m_sortDataBuffer, sortSize );
-							b3OpenCLArray<b3SortData>& keyValuesInOut = *(m_data->m_solverGPU->m_sortDataBuffer);
-							this->m_data->m_solverGPU->m_sort32->execute(keyValuesInOut);
-						}
-						else
-						{
-							b3OpenCLArray<b3SortData>& keyValuesInOut = *(m_data->m_solverGPU->m_sortDataBuffer);
-							b3AlignedObjectArray<b3SortData> hostValues;
-							keyValuesInOut.copyToHost(hostValues);
-							hostValues.quickSort(sortfnc);
-							keyValuesInOut.copyFromHost(hostValues);
-						}
-
-						if (gUseScanHost)
-						{
-							//	4. find entries
-							B3_PROFILE("cpuBoundSearch");
-							b3AlignedObjectArray<unsigned int> countsHost;
-							countsNative->copyToHost(countsHost);
-
-							b3AlignedObjectArray<b3SortData> sortDataHost;
-							m_data->m_solverGPU->m_sortDataBuffer->copyToHost(sortDataHost);
-
-							//m_data->m_solverGPU->m_search->executeHost(*m_data->m_solverGPU->m_sortDataBuffer,nContacts,*countsNative,B3_SOLVER_N_CELLS,b3BoundSearchCL::COUNT);
-							m_data->m_solverGPU->m_search->executeHost(sortDataHost, nContacts, countsHost, B3_SOLVER_N_CELLS, b3BoundSearchCL::COUNT);
-
-							countsNative->copyFromHost(countsHost);
-
-							//adl::BoundSearch<adl::TYPE_CL>::execute( data->m_search, *data->m_sortDataBuffer, nContacts, *countsNative,
-							//	B3_SOLVER_N_SPLIT*B3_SOLVER_N_SPLIT, adl::BoundSearchBase::COUNT );
-
-							//unsigned int sum;
-							//m_data->m_solverGPU->m_scan->execute(*countsNative,*offsetsNative, B3_SOLVER_N_CELLS);//,&sum );
-							b3AlignedObjectArray<unsigned int> offsetsHost;
-							offsetsHost.resize(offsetsNative->size());
-
-							m_data->m_solverGPU->m_scan->executeHost(countsHost, offsetsHost, B3_SOLVER_N_CELLS);  //,&sum );
-							offsetsNative->copyFromHost(offsetsHost);
-
-							//printf("sum = %d\n",sum);
-						}
-						else
-						{
-							//	4. find entries
-							B3_PROFILE("gpuBoundSearch");
-							m_data->m_solverGPU->m_search->execute(*m_data->m_solverGPU->m_sortDataBuffer, nContacts, *countsNative, B3_SOLVER_N_CELLS, b3BoundSearchCL::COUNT);
-							m_data->m_solverGPU->m_scan->execute(*countsNative, *offsetsNative, B3_SOLVER_N_CELLS);  //,&sum );
-						}
-
-						if (nContacts)
-						{  //	5. sort constraints by cellIdx
-							if (gReorderContactsOnCpu)
-							{
-								B3_PROFILE("cpu m_reorderContactKernel");
-								b3AlignedObjectArray<b3SortData> sortDataHost;
-								m_data->m_solverGPU->m_sortDataBuffer->copyToHost(sortDataHost);
-								b3AlignedObjectArray<b3Contact4> inContacts;
-								b3AlignedObjectArray<b3Contact4> outContacts;
-								m_data->m_pBufContactOutGPU->copyToHost(inContacts);
-								outContacts.resize(inContacts.size());
-								for (int i = 0; i < nContacts; i++)
-								{
-									int srcIdx = sortDataHost[i].y;
-									outContacts[i] = inContacts[srcIdx];
-								}
-								m_data->m_solverGPU->m_contactBuffer2->copyFromHost(outContacts);
-
-								/*								"void ReorderContactKernel(__global struct b3Contact4Data* in, __global struct b3Contact4Data* out, __global int2* sortData, int4 cb )\n"
-								"{\n"
-								"	int nContacts = cb.x;\n"
-								"	int gIdx = GET_GLOBAL_IDX;\n"
-								"	if( gIdx < nContacts )\n"
-								"	{\n"
-								"		int srcIdx = sortData[gIdx].y;\n"
-								"		out[gIdx] = in[srcIdx];\n"
-								"	}\n"
-								"}\n"
-								*/
-							}
-							else
-							{
-								B3_PROFILE("gpu m_reorderContactKernel");
-
-								b3Int4 cdata;
-								cdata.x = nContacts;
-
-								b3BufferInfoCL bInfo[] = {
-									b3BufferInfoCL(m_data->m_pBufContactOutGPU->getBufferCL()),
-									b3BufferInfoCL(m_data->m_solverGPU->m_contactBuffer2->getBufferCL()), b3BufferInfoCL(m_data->m_solverGPU->m_sortDataBuffer->getBufferCL())};
-
-								b3LauncherCL launcher(m_data->m_queue, m_data->m_solverGPU->m_reorderContactKernel, "m_reorderContactKernel");
-								launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-								launcher.setConst(cdata);
-								launcher.launch1D(nContacts, 64);
-							}
-						}
-					}
-				}
-
-				//clFinish(m_data->m_queue);
-
-				//				{
-				//				b3AlignedObjectArray<unsigned int> histogram;
-				//				m_data->m_solverGPU->m_numConstraints->copyToHost(histogram);
-				//				printf(",,,\n");
-				//				}
-
-				if (nContacts)
-				{
-					if (gUseCpuCopyConstraints)
-					{
-						for (int i = 0; i < nContacts; i++)
-						{
-							m_data->m_pBufContactOutGPU->copyFromOpenCLArray(*m_data->m_solverGPU->m_contactBuffer2);
-							//							m_data->m_solverGPU->m_contactBuffer2->getBufferCL();
-							//						m_data->m_pBufContactOutGPU->getBufferCL()
-						}
-					}
-					else
-					{
-						B3_PROFILE("gpu m_copyConstraintKernel");
-						b3Int4 cdata;
-						cdata.x = nContacts;
-						b3BufferInfoCL bInfo[] = {
-							b3BufferInfoCL(m_data->m_solverGPU->m_contactBuffer2->getBufferCL()),
-							b3BufferInfoCL(m_data->m_pBufContactOutGPU->getBufferCL())};
-
-						b3LauncherCL launcher(m_data->m_queue, m_data->m_solverGPU->m_copyConstraintKernel, "m_copyConstraintKernel");
-						launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-						launcher.setConst(cdata);
-						launcher.launch1D(nContacts, 64);
-						//we use the clFinish for proper benchmark/profile
-						clFinish(m_data->m_queue);
-					}
-				}
-
-				//				bool compareGPU = false;
-				if (nContacts)
-				{
-					if (!gCpuBatchContacts)
-					{
-						B3_PROFILE("gpu batchContacts");
-						maxNumBatches = 250;  //250;
-						m_data->m_solverGPU->batchContacts(m_data->m_pBufContactOutGPU, nContacts, m_data->m_solverGPU->m_numConstraints, m_data->m_solverGPU->m_offsets, csCfg.m_staticIdx);
-						clFinish(m_data->m_queue);
-					}
-					else
-					{
-						B3_PROFILE("cpu batchContacts");
-						static b3AlignedObjectArray<b3Contact4> cpuContacts;
-						b3OpenCLArray<b3Contact4>* contactsIn = m_data->m_solverGPU->m_contactBuffer2;
-						{
-							B3_PROFILE("copyToHost");
-							contactsIn->copyToHost(cpuContacts);
-						}
-						b3OpenCLArray<unsigned int>* countsNative = m_data->m_solverGPU->m_numConstraints;
-						b3OpenCLArray<unsigned int>* offsetsNative = m_data->m_solverGPU->m_offsets;
-
-						b3AlignedObjectArray<unsigned int> nNativeHost;
-						b3AlignedObjectArray<unsigned int> offsetsNativeHost;
-
-						{
-							B3_PROFILE("countsNative/offsetsNative copyToHost");
-							countsNative->copyToHost(nNativeHost);
-							offsetsNative->copyToHost(offsetsNativeHost);
-						}
-
-						int numNonzeroGrid = 0;
-
-						if (gUseLargeBatches)
-						{
-							m_data->m_batchSizes.resize(B3_MAX_NUM_BATCHES);
-							int totalNumConstraints = cpuContacts.size();
-							//int simdWidth =numBodies+1;//-1;//64;//-1;//32;
-							int numBatches = sortConstraintByBatch3(&cpuContacts[0], totalNumConstraints, totalNumConstraints + 1, csCfg.m_staticIdx, numBodies, &m_data->m_batchSizes[0]);  //	on GPU
-							maxNumBatches = b3Max(numBatches, maxNumBatches);
-							static int globalMaxBatch = 0;
-							if (maxNumBatches > globalMaxBatch)
-							{
-								globalMaxBatch = maxNumBatches;
-								b3Printf("maxNumBatches = %d\n", maxNumBatches);
-							}
-						}
-						else
-						{
-							m_data->m_batchSizes.resize(B3_SOLVER_N_CELLS * B3_MAX_NUM_BATCHES);
-							B3_PROFILE("cpu batch grid");
-							for (int i = 0; i < B3_SOLVER_N_CELLS; i++)
-							{
-								int n = (nNativeHost)[i];
-								int offset = (offsetsNativeHost)[i];
-								if (n)
-								{
-									numNonzeroGrid++;
-									int simdWidth = numBodies + 1;                                                                                                                                 //-1;//64;//-1;//32;
-									int numBatches = sortConstraintByBatch3(&cpuContacts[0] + offset, n, simdWidth, csCfg.m_staticIdx, numBodies, &m_data->m_batchSizes[i * B3_MAX_NUM_BATCHES]);  //	on GPU
-									maxNumBatches = b3Max(numBatches, maxNumBatches);
-									static int globalMaxBatch = 0;
-									if (maxNumBatches > globalMaxBatch)
-									{
-										globalMaxBatch = maxNumBatches;
-										b3Printf("maxNumBatches = %d\n", maxNumBatches);
-									}
-									//we use the clFinish for proper benchmark/profile
-								}
-							}
-							//clFinish(m_data->m_queue);
-						}
-						{
-							B3_PROFILE("m_contactBuffer->copyFromHost");
-							m_data->m_solverGPU->m_contactBuffer2->copyFromHost((b3AlignedObjectArray<b3Contact4>&)cpuContacts);
-						}
-					}
-				}
-			}
-		}
-
-		//printf("maxNumBatches = %d\n", maxNumBatches);
-
-		if (gUseLargeBatches)
-		{
-			if (nContacts)
-			{
-				B3_PROFILE("cpu batchContacts");
-				static b3AlignedObjectArray<b3Contact4> cpuContacts;
-				//				b3OpenCLArray<b3Contact4>* contactsIn = m_data->m_solverGPU->m_contactBuffer2;
-				{
-					B3_PROFILE("copyToHost");
-					m_data->m_pBufContactOutGPU->copyToHost(cpuContacts);
-				}
-				//				b3OpenCLArray<unsigned int>* countsNative = m_data->m_solverGPU->m_numConstraints;
-				//				b3OpenCLArray<unsigned int>* offsetsNative = m_data->m_solverGPU->m_offsets;
-
-				//				int numNonzeroGrid=0;
-
-				{
-					m_data->m_batchSizes.resize(B3_MAX_NUM_BATCHES);
-					int totalNumConstraints = cpuContacts.size();
-					//				int simdWidth =numBodies+1;//-1;//64;//-1;//32;
-					int numBatches = sortConstraintByBatch3(&cpuContacts[0], totalNumConstraints, totalNumConstraints + 1, csCfg.m_staticIdx, numBodies, &m_data->m_batchSizes[0]);  //	on GPU
-					maxNumBatches = b3Max(numBatches, maxNumBatches);
-					static int globalMaxBatch = 0;
-					if (maxNumBatches > globalMaxBatch)
-					{
-						globalMaxBatch = maxNumBatches;
-						b3Printf("maxNumBatches = %d\n", maxNumBatches);
-					}
-				}
-				{
-					B3_PROFILE("m_contactBuffer->copyFromHost");
-					m_data->m_solverGPU->m_contactBuffer2->copyFromHost((b3AlignedObjectArray<b3Contact4>&)cpuContacts);
-				}
-			}
-		}
-
-		if (nContacts)
-		{
-			B3_PROFILE("gpu convertToConstraints");
-			m_data->m_solverGPU->convertToConstraints(bodyBuf,
-													  shapeBuf, m_data->m_solverGPU->m_contactBuffer2,
-													  contactConstraintOut,
-													  additionalData, nContacts,
-													  (b3SolverBase::ConstraintCfg&)csCfg);
-			clFinish(m_data->m_queue);
-		}
-
-		if (1)
-		{
-			int numIter = 4;
-
-			m_data->m_solverGPU->m_nIterations = numIter;  //10
-			if (!gCpuSolveConstraint)
-			{
-				B3_PROFILE("GPU solveContactConstraint");
-
-				/*m_data->m_solverGPU->solveContactConstraint(
-				m_data->m_bodyBufferGPU, 
-				m_data->m_inertiaBufferGPU,
-				m_data->m_contactCGPU,0,
-				nContactOut ,
-				maxNumBatches);
-				*/
-
-				//m_data->m_batchSizesGpu->copyFromHost(m_data->m_batchSizes);
-
-				if (gUseLargeBatches)
-				{
-					solveContactConstraintBatchSizes(m_data->m_bodyBufferGPU,
-													 m_data->m_inertiaBufferGPU,
-													 m_data->m_contactCGPU, 0,
-													 nContactOut,
-													 maxNumBatches, numIter, &m_data->m_batchSizes);
-				}
-				else
-				{
-					solveContactConstraint(
-						m_data->m_bodyBufferGPU,
-						m_data->m_inertiaBufferGPU,
-						m_data->m_contactCGPU, 0,
-						nContactOut,
-						maxNumBatches, numIter, &m_data->m_batchSizes);  //m_data->m_batchSizesGpu);
-				}
-			}
-			else
-			{
-				B3_PROFILE("Host solveContactConstraint");
-
-				m_data->m_solverGPU->solveContactConstraintHost(m_data->m_bodyBufferGPU, m_data->m_inertiaBufferGPU, m_data->m_contactCGPU, 0, nContactOut, maxNumBatches, &m_data->m_batchSizes);
-			}
-		}
-
-#if 0
-        if (0)
-        {
-            B3_PROFILE("read body velocities back to CPU");
-            //read body updated linear/angular velocities back to CPU
-            m_data->m_bodyBufferGPU->read(
-                                                  m_data->m_bodyBufferCPU->m_ptr,numOfConvexRBodies);
-            adl::DeviceUtils::waitForCompletion( m_data->m_deviceCL );
-        }
-#endif
-	}
-}
-
-void b3GpuPgsContactSolver::batchContacts(b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* n, b3OpenCLArray<unsigned int>* offsets, int staticIdx)
-{
-}
-
-b3AlignedObjectArray<unsigned int> idxBuffer;
-b3AlignedObjectArray<b3SortData> sortData;
-b3AlignedObjectArray<b3Contact4> old;
-
-inline int b3GpuPgsContactSolver::sortConstraintByBatch(b3Contact4* cs, int n, int simdWidth, int staticIdx, int numBodies)
-{
-	B3_PROFILE("sortConstraintByBatch");
-	int numIter = 0;
-
-	sortData.resize(n);
-	idxBuffer.resize(n);
-	old.resize(n);
-
-	unsigned int* idxSrc = &idxBuffer[0];
-	unsigned int* idxDst = &idxBuffer[0];
-	int nIdxSrc, nIdxDst;
-
-	const int N_FLG = 256;
-	const int FLG_MASK = N_FLG - 1;
-	unsigned int flg[N_FLG / 32];
-#if defined(_DEBUG)
-	for (int i = 0; i < n; i++)
-		cs[i].getBatchIdx() = -1;
-#endif
-	for (int i = 0; i < n; i++)
-		idxSrc[i] = i;
-	nIdxSrc = n;
-
-	int batchIdx = 0;
-
-	{
-		B3_PROFILE("cpu batch innerloop");
-		while (nIdxSrc)
-		{
-			numIter++;
-			nIdxDst = 0;
-			int nCurrentBatch = 0;
-
-			//	clear flag
-			for (int i = 0; i < N_FLG / 32; i++) flg[i] = 0;
-
-			for (int i = 0; i < nIdxSrc; i++)
-			{
-				int idx = idxSrc[i];
-
-				b3Assert(idx < n);
-				//	check if it can go
-				int bodyAS = cs[idx].m_bodyAPtrAndSignBit;
-				int bodyBS = cs[idx].m_bodyBPtrAndSignBit;
-
-				int bodyA = abs(bodyAS);
-				int bodyB = abs(bodyBS);
-
-				int aIdx = bodyA & FLG_MASK;
-				int bIdx = bodyB & FLG_MASK;
-
-				unsigned int aUnavailable = flg[aIdx / 32] & (1 << (aIdx & 31));
-				unsigned int bUnavailable = flg[bIdx / 32] & (1 << (bIdx & 31));
-
-				bool aIsStatic = (bodyAS < 0) || bodyAS == staticIdx;
-				bool bIsStatic = (bodyBS < 0) || bodyBS == staticIdx;
-
-				//use inv_mass!
-				aUnavailable = !aIsStatic ? aUnavailable : 0;  //
-				bUnavailable = !bIsStatic ? bUnavailable : 0;
-
-				if (aUnavailable == 0 && bUnavailable == 0)  // ok
-				{
-					if (!aIsStatic)
-						flg[aIdx / 32] |= (1 << (aIdx & 31));
-					if (!bIsStatic)
-						flg[bIdx / 32] |= (1 << (bIdx & 31));
-
-					cs[idx].getBatchIdx() = batchIdx;
-					sortData[idx].m_key = batchIdx;
-					sortData[idx].m_value = idx;
-
-					{
-						nCurrentBatch++;
-						if (nCurrentBatch == simdWidth)
-						{
-							nCurrentBatch = 0;
-							for (int i = 0; i < N_FLG / 32; i++) flg[i] = 0;
-						}
-					}
-				}
-				else
-				{
-					idxDst[nIdxDst++] = idx;
-				}
-			}
-			b3Swap(idxSrc, idxDst);
-			b3Swap(nIdxSrc, nIdxDst);
-			batchIdx++;
-		}
-	}
-	{
-		B3_PROFILE("quickSort");
-		sortData.quickSort(sortfnc);
-	}
-
-	{
-		B3_PROFILE("reorder");
-		//	reorder
-
-		memcpy(&old[0], cs, sizeof(b3Contact4) * n);
-		for (int i = 0; i < n; i++)
-		{
-			int idx = sortData[i].m_value;
-			cs[i] = old[idx];
-		}
-	}
-
-#if defined(_DEBUG)
-	//		debugPrintf( "nBatches: %d\n", batchIdx );
-	for (int i = 0; i < n; i++)
-	{
-		b3Assert(cs[i].getBatchIdx() != -1);
-	}
-#endif
-	return batchIdx;
-}
-
-b3AlignedObjectArray<int> bodyUsed2;
-
-inline int b3GpuPgsContactSolver::sortConstraintByBatch2(b3Contact4* cs, int numConstraints, int simdWidth, int staticIdx, int numBodies)
-{
-	B3_PROFILE("sortConstraintByBatch2");
-
-	bodyUsed2.resize(2 * simdWidth);
-
-	for (int q = 0; q < 2 * simdWidth; q++)
-		bodyUsed2[q] = 0;
-
-	int curBodyUsed = 0;
-
-	int numIter = 0;
-
-	m_data->m_sortData.resize(numConstraints);
-	m_data->m_idxBuffer.resize(numConstraints);
-	m_data->m_old.resize(numConstraints);
-
-	unsigned int* idxSrc = &m_data->m_idxBuffer[0];
-
-#if defined(_DEBUG)
-	for (int i = 0; i < numConstraints; i++)
-		cs[i].getBatchIdx() = -1;
-#endif
-	for (int i = 0; i < numConstraints; i++)
-		idxSrc[i] = i;
-
-	int numValidConstraints = 0;
-	//	int unprocessedConstraintIndex = 0;
-
-	int batchIdx = 0;
-
-	{
-		B3_PROFILE("cpu batch innerloop");
-
-		while (numValidConstraints < numConstraints)
-		{
-			numIter++;
-			int nCurrentBatch = 0;
-			//	clear flag
-			for (int i = 0; i < curBodyUsed; i++)
-				bodyUsed2[i] = 0;
-			curBodyUsed = 0;
-
-			for (int i = numValidConstraints; i < numConstraints; i++)
-			{
-				int idx = idxSrc[i];
-				b3Assert(idx < numConstraints);
-				//	check if it can go
-				int bodyAS = cs[idx].m_bodyAPtrAndSignBit;
-				int bodyBS = cs[idx].m_bodyBPtrAndSignBit;
-				int bodyA = abs(bodyAS);
-				int bodyB = abs(bodyBS);
-				bool aIsStatic = (bodyAS < 0) || bodyAS == staticIdx;
-				bool bIsStatic = (bodyBS < 0) || bodyBS == staticIdx;
-				int aUnavailable = 0;
-				int bUnavailable = 0;
-				if (!aIsStatic)
-				{
-					for (int j = 0; j < curBodyUsed; j++)
-					{
-						if (bodyA == bodyUsed2[j])
-						{
-							aUnavailable = 1;
-							break;
-						}
-					}
-				}
-				if (!aUnavailable)
-					if (!bIsStatic)
-					{
-						for (int j = 0; j < curBodyUsed; j++)
-						{
-							if (bodyB == bodyUsed2[j])
-							{
-								bUnavailable = 1;
-								break;
-							}
-						}
-					}
-
-				if (aUnavailable == 0 && bUnavailable == 0)  // ok
-				{
-					if (!aIsStatic)
-					{
-						bodyUsed2[curBodyUsed++] = bodyA;
-					}
-					if (!bIsStatic)
-					{
-						bodyUsed2[curBodyUsed++] = bodyB;
-					}
-
-					cs[idx].getBatchIdx() = batchIdx;
-					m_data->m_sortData[idx].m_key = batchIdx;
-					m_data->m_sortData[idx].m_value = idx;
-
-					if (i != numValidConstraints)
-					{
-						b3Swap(idxSrc[i], idxSrc[numValidConstraints]);
-					}
-
-					numValidConstraints++;
-					{
-						nCurrentBatch++;
-						if (nCurrentBatch == simdWidth)
-						{
-							nCurrentBatch = 0;
-							for (int i = 0; i < curBodyUsed; i++)
-								bodyUsed2[i] = 0;
-
-							curBodyUsed = 0;
-						}
-					}
-				}
-			}
-
-			batchIdx++;
-		}
-	}
-	{
-		B3_PROFILE("quickSort");
-		//m_data->m_sortData.quickSort(sortfnc);
-	}
-
-	{
-		B3_PROFILE("reorder");
-		//	reorder
-
-		memcpy(&m_data->m_old[0], cs, sizeof(b3Contact4) * numConstraints);
-
-		for (int i = 0; i < numConstraints; i++)
-		{
-			b3Assert(m_data->m_sortData[idxSrc[i]].m_value == idxSrc[i]);
-			int idx = m_data->m_sortData[idxSrc[i]].m_value;
-			cs[i] = m_data->m_old[idx];
-		}
-	}
-
-#if defined(_DEBUG)
-	//		debugPrintf( "nBatches: %d\n", batchIdx );
-	for (int i = 0; i < numConstraints; i++)
-	{
-		b3Assert(cs[i].getBatchIdx() != -1);
-	}
-#endif
-
-	return batchIdx;
-}
-
-b3AlignedObjectArray<int> bodyUsed;
-b3AlignedObjectArray<int> curUsed;
-
-inline int b3GpuPgsContactSolver::sortConstraintByBatch3(b3Contact4* cs, int numConstraints, int simdWidth, int staticIdx, int numBodies, int* batchSizes)
-{
-	B3_PROFILE("sortConstraintByBatch3");
-
-	static int maxSwaps = 0;
-	int numSwaps = 0;
-
-	curUsed.resize(2 * simdWidth);
-
-	static int maxNumConstraints = 0;
-	if (maxNumConstraints < numConstraints)
-	{
-		maxNumConstraints = numConstraints;
-		//printf("maxNumConstraints  = %d\n",maxNumConstraints );
-	}
-
-	int numUsedArray = numBodies / 32 + 1;
-	bodyUsed.resize(numUsedArray);
-
-	for (int q = 0; q < numUsedArray; q++)
-		bodyUsed[q] = 0;
-
-	int curBodyUsed = 0;
-
-	int numIter = 0;
-
-	m_data->m_sortData.resize(0);
-	m_data->m_idxBuffer.resize(0);
-	m_data->m_old.resize(0);
-
-#if defined(_DEBUG)
-	for (int i = 0; i < numConstraints; i++)
-		cs[i].getBatchIdx() = -1;
-#endif
-
-	int numValidConstraints = 0;
-	//	int unprocessedConstraintIndex = 0;
-
-	int batchIdx = 0;
-
-	{
-		B3_PROFILE("cpu batch innerloop");
-
-		while (numValidConstraints < numConstraints)
-		{
-			numIter++;
-			int nCurrentBatch = 0;
-			batchSizes[batchIdx] = 0;
-
-			//	clear flag
-			for (int i = 0; i < curBodyUsed; i++)
-				bodyUsed[curUsed[i] / 32] = 0;
-
-			curBodyUsed = 0;
-
-			for (int i = numValidConstraints; i < numConstraints; i++)
-			{
-				int idx = i;
-				b3Assert(idx < numConstraints);
-				//	check if it can go
-				int bodyAS = cs[idx].m_bodyAPtrAndSignBit;
-				int bodyBS = cs[idx].m_bodyBPtrAndSignBit;
-				int bodyA = abs(bodyAS);
-				int bodyB = abs(bodyBS);
-				bool aIsStatic = (bodyAS < 0) || bodyAS == staticIdx;
-				bool bIsStatic = (bodyBS < 0) || bodyBS == staticIdx;
-				int aUnavailable = 0;
-				int bUnavailable = 0;
-				if (!aIsStatic)
-				{
-					aUnavailable = bodyUsed[bodyA / 32] & (1 << (bodyA & 31));
-				}
-				if (!aUnavailable)
-					if (!bIsStatic)
-					{
-						bUnavailable = bodyUsed[bodyB / 32] & (1 << (bodyB & 31));
-					}
-
-				if (aUnavailable == 0 && bUnavailable == 0)  // ok
-				{
-					if (!aIsStatic)
-					{
-						bodyUsed[bodyA / 32] |= (1 << (bodyA & 31));
-						curUsed[curBodyUsed++] = bodyA;
-					}
-					if (!bIsStatic)
-					{
-						bodyUsed[bodyB / 32] |= (1 << (bodyB & 31));
-						curUsed[curBodyUsed++] = bodyB;
-					}
-
-					cs[idx].getBatchIdx() = batchIdx;
-
-					if (i != numValidConstraints)
-					{
-						b3Swap(cs[i], cs[numValidConstraints]);
-						numSwaps++;
-					}
-
-					numValidConstraints++;
-					{
-						nCurrentBatch++;
-						if (nCurrentBatch == simdWidth)
-						{
-							batchSizes[batchIdx] += simdWidth;
-							nCurrentBatch = 0;
-							for (int i = 0; i < curBodyUsed; i++)
-								bodyUsed[curUsed[i] / 32] = 0;
-							curBodyUsed = 0;
-						}
-					}
-				}
-			}
-
-			if (batchIdx >= B3_MAX_NUM_BATCHES)
-			{
-				b3Error("batchIdx>=B3_MAX_NUM_BATCHES");
-				b3Assert(0);
-				break;
-			}
-
-			batchSizes[batchIdx] += nCurrentBatch;
-
-			batchIdx++;
-		}
-	}
-
-#if defined(_DEBUG)
-	//		debugPrintf( "nBatches: %d\n", batchIdx );
-	for (int i = 0; i < numConstraints; i++)
-	{
-		b3Assert(cs[i].getBatchIdx() != -1);
-	}
-#endif
-
-	batchSizes[batchIdx] = 0;
-
-	if (maxSwaps < numSwaps)
-	{
-		maxSwaps = numSwaps;
-		//printf("maxSwaps = %d\n", maxSwaps);
-	}
-
-	return batchIdx;
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.h
deleted file mode 100644
index 6ab7502af3..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.h
+++ /dev/null
@@ -1,37 +0,0 @@
-
-#ifndef B3_GPU_BATCHING_PGS_SOLVER_H
-#define B3_GPU_BATCHING_PGS_SOLVER_H
-
-#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
-#include "b3GpuConstraint4.h"
-
-class b3GpuPgsContactSolver
-{
-protected:
-	int m_debugOutput;
-
-	struct b3GpuBatchingPgsSolverInternalData* m_data;
-
-	void batchContacts(b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* n, b3OpenCLArray<unsigned int>* offsets, int staticIdx);
-
-	inline int sortConstraintByBatch(b3Contact4* cs, int n, int simdWidth, int staticIdx, int numBodies);
-	inline int sortConstraintByBatch2(b3Contact4* cs, int n, int simdWidth, int staticIdx, int numBodies);
-	inline int sortConstraintByBatch3(b3Contact4* cs, int n, int simdWidth, int staticIdx, int numBodies, int* batchSizes);
-
-	void solveContactConstraintBatchSizes(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf,
-										  b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes);  //const b3OpenCLArray<int>* gpuBatchSizes);
-
-	void solveContactConstraint(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf,
-								b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes);  //const b3OpenCLArray<int>* gpuBatchSizes);
-
-public:
-	b3GpuPgsContactSolver(cl_context ctx, cl_device_id device, cl_command_queue q, int pairCapacity);
-	virtual ~b3GpuPgsContactSolver();
-
-	void solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const struct b3Config& config, int static0Index);
-};
-
-#endif  //B3_GPU_BATCHING_PGS_SOLVER_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
deleted file mode 100644
index fef33ad1cd..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
+++ /dev/null
@@ -1,677 +0,0 @@
-/*
-Copyright (c) 2013 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Erwin Coumans
-
-#include "b3GpuRigidBodyPipeline.h"
-#include "b3GpuRigidBodyPipelineInternalData.h"
-#include "kernels/integrateKernel.h"
-#include "kernels/updateAabbsKernel.h"
-
-#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
-#include "b3GpuNarrowPhase.h"
-#include "Bullet3Geometry/b3AabbUtil.h"
-#include "Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h"
-#include "Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
-#include "Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h"
-#include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h"
-
-//#define TEST_OTHER_GPU_SOLVER
-
-#define B3_RIGIDBODY_INTEGRATE_PATH "src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.cl"
-#define B3_RIGIDBODY_UPDATEAABB_PATH "src/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.cl"
-
-bool useBullet2CpuSolver = true;
-
-//choice of contact solver
-bool gUseJacobi = false;
-bool gUseDbvt = false;
-bool gDumpContactStats = false;
-bool gCalcWorldSpaceAabbOnCpu = false;
-bool gUseCalculateOverlappingPairsHost = false;
-bool gIntegrateOnCpu = false;
-bool gClearPairsOnGpu = true;
-
-#define TEST_OTHER_GPU_SOLVER 1
-#ifdef TEST_OTHER_GPU_SOLVER
-#include "b3GpuJacobiContactSolver.h"
-#endif  //TEST_OTHER_GPU_SOLVER
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
-#include "Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h"
-
-#include "b3GpuPgsContactSolver.h"
-#include "b3Solver.h"
-
-#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
-#include "Bullet3OpenCL/Raycast/b3GpuRaycast.h"
-
-#include "Bullet3Dynamics/shared/b3IntegrateTransforms.h"
-#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h"
-
-b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx, cl_device_id device, cl_command_queue q, class b3GpuNarrowPhase* narrowphase, class b3GpuBroadphaseInterface* broadphaseSap, struct b3DynamicBvhBroadphase* broadphaseDbvt, const b3Config& config)
-{
-	m_data = new b3GpuRigidBodyPipelineInternalData;
-	m_data->m_constraintUid = 0;
-	m_data->m_config = config;
-	m_data->m_context = ctx;
-	m_data->m_device = device;
-	m_data->m_queue = q;
-
-	m_data->m_solver = new b3PgsJacobiSolver(true);                            //new b3PgsJacobiSolver(true);
-	m_data->m_gpuSolver = new b3GpuPgsConstraintSolver(ctx, device, q, true);  //new b3PgsJacobiSolver(true);
-
-	m_data->m_allAabbsGPU = new b3OpenCLArray<b3SapAabb>(ctx, q, config.m_maxConvexBodies);
-	m_data->m_overlappingPairsGPU = new b3OpenCLArray<b3BroadphasePair>(ctx, q, config.m_maxBroadphasePairs);
-
-	m_data->m_gpuConstraints = new b3OpenCLArray<b3GpuGenericConstraint>(ctx, q);
-#ifdef TEST_OTHER_GPU_SOLVER
-	m_data->m_solver3 = new b3GpuJacobiContactSolver(ctx, device, q, config.m_maxBroadphasePairs);
-#endif  //	TEST_OTHER_GPU_SOLVER
-
-	m_data->m_solver2 = new b3GpuPgsContactSolver(ctx, device, q, config.m_maxBroadphasePairs);
-
-	m_data->m_raycaster = new b3GpuRaycast(ctx, device, q);
-
-	m_data->m_broadphaseDbvt = broadphaseDbvt;
-	m_data->m_broadphaseSap = broadphaseSap;
-	m_data->m_narrowphase = narrowphase;
-	m_data->m_gravity.setValue(0.f, -9.8f, 0.f);
-
-	cl_int errNum = 0;
-
-	{
-		cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_data->m_context, m_data->m_device, integrateKernelCL, &errNum, "", B3_RIGIDBODY_INTEGRATE_PATH);
-		b3Assert(errNum == CL_SUCCESS);
-		m_data->m_integrateTransformsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device, integrateKernelCL, "integrateTransformsKernel", &errNum, prog);
-		b3Assert(errNum == CL_SUCCESS);
-		clReleaseProgram(prog);
-	}
-	{
-		cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_data->m_context, m_data->m_device, updateAabbsKernelCL, &errNum, "", B3_RIGIDBODY_UPDATEAABB_PATH);
-		b3Assert(errNum == CL_SUCCESS);
-		m_data->m_updateAabbsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device, updateAabbsKernelCL, "initializeGpuAabbsFull", &errNum, prog);
-		b3Assert(errNum == CL_SUCCESS);
-
-		m_data->m_clearOverlappingPairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device, updateAabbsKernelCL, "clearOverlappingPairsKernel", &errNum, prog);
-		b3Assert(errNum == CL_SUCCESS);
-
-		clReleaseProgram(prog);
-	}
-}
-
-b3GpuRigidBodyPipeline::~b3GpuRigidBodyPipeline()
-{
-	if (m_data->m_integrateTransformsKernel)
-		clReleaseKernel(m_data->m_integrateTransformsKernel);
-
-	if (m_data->m_updateAabbsKernel)
-		clReleaseKernel(m_data->m_updateAabbsKernel);
-
-	if (m_data->m_clearOverlappingPairsKernel)
-		clReleaseKernel(m_data->m_clearOverlappingPairsKernel);
-	delete m_data->m_raycaster;
-	delete m_data->m_solver;
-	delete m_data->m_allAabbsGPU;
-	delete m_data->m_gpuConstraints;
-	delete m_data->m_overlappingPairsGPU;
-
-#ifdef TEST_OTHER_GPU_SOLVER
-	delete m_data->m_solver3;
-#endif  //TEST_OTHER_GPU_SOLVER
-
-	delete m_data->m_solver2;
-
-	delete m_data;
-}
-
-void b3GpuRigidBodyPipeline::reset()
-{
-	m_data->m_gpuConstraints->resize(0);
-	m_data->m_cpuConstraints.resize(0);
-	m_data->m_allAabbsGPU->resize(0);
-	m_data->m_allAabbsCPU.resize(0);
-}
-
-void b3GpuRigidBodyPipeline::addConstraint(b3TypedConstraint* constraint)
-{
-	m_data->m_joints.push_back(constraint);
-}
-
-void b3GpuRigidBodyPipeline::removeConstraint(b3TypedConstraint* constraint)
-{
-	m_data->m_joints.remove(constraint);
-}
-
-void b3GpuRigidBodyPipeline::removeConstraintByUid(int uid)
-{
-	m_data->m_gpuSolver->recomputeBatches();
-	//slow linear search
-	m_data->m_gpuConstraints->copyToHost(m_data->m_cpuConstraints);
-	//remove
-	for (int i = 0; i < m_data->m_cpuConstraints.size(); i++)
-	{
-		if (m_data->m_cpuConstraints[i].m_uid == uid)
-		{
-			//m_data->m_cpuConstraints.remove(m_data->m_cpuConstraints[i]);
-			m_data->m_cpuConstraints.swap(i, m_data->m_cpuConstraints.size() - 1);
-			m_data->m_cpuConstraints.pop_back();
-
-			break;
-		}
-	}
-
-	if (m_data->m_cpuConstraints.size())
-	{
-		m_data->m_gpuConstraints->copyFromHost(m_data->m_cpuConstraints);
-	}
-	else
-	{
-		m_data->m_gpuConstraints->resize(0);
-	}
-}
-int b3GpuRigidBodyPipeline::createPoint2PointConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, float breakingThreshold)
-{
-	m_data->m_gpuSolver->recomputeBatches();
-	b3GpuGenericConstraint c;
-	c.m_uid = m_data->m_constraintUid;
-	m_data->m_constraintUid++;
-	c.m_flags = B3_CONSTRAINT_FLAG_ENABLED;
-	c.m_rbA = bodyA;
-	c.m_rbB = bodyB;
-	c.m_pivotInA.setValue(pivotInA[0], pivotInA[1], pivotInA[2]);
-	c.m_pivotInB.setValue(pivotInB[0], pivotInB[1], pivotInB[2]);
-	c.m_breakingImpulseThreshold = breakingThreshold;
-	c.m_constraintType = B3_GPU_POINT2POINT_CONSTRAINT_TYPE;
-	m_data->m_cpuConstraints.push_back(c);
-	return c.m_uid;
-}
-int b3GpuRigidBodyPipeline::createFixedConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, const float* relTargetAB, float breakingThreshold)
-{
-	m_data->m_gpuSolver->recomputeBatches();
-	b3GpuGenericConstraint c;
-	c.m_uid = m_data->m_constraintUid;
-	m_data->m_constraintUid++;
-	c.m_flags = B3_CONSTRAINT_FLAG_ENABLED;
-	c.m_rbA = bodyA;
-	c.m_rbB = bodyB;
-	c.m_pivotInA.setValue(pivotInA[0], pivotInA[1], pivotInA[2]);
-	c.m_pivotInB.setValue(pivotInB[0], pivotInB[1], pivotInB[2]);
-	c.m_relTargetAB.setValue(relTargetAB[0], relTargetAB[1], relTargetAB[2], relTargetAB[3]);
-	c.m_breakingImpulseThreshold = breakingThreshold;
-	c.m_constraintType = B3_GPU_FIXED_CONSTRAINT_TYPE;
-
-	m_data->m_cpuConstraints.push_back(c);
-	return c.m_uid;
-}
-
-void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
-{
-	//update worldspace AABBs from local AABB/worldtransform
-	{
-		B3_PROFILE("setupGpuAabbs");
-		setupGpuAabbsFull();
-	}
-
-	int numPairs = 0;
-
-	//compute overlapping pairs
-	{
-		if (gUseDbvt)
-		{
-			{
-				B3_PROFILE("setAabb");
-				m_data->m_allAabbsGPU->copyToHost(m_data->m_allAabbsCPU);
-				for (int i = 0; i < m_data->m_allAabbsCPU.size(); i++)
-				{
-					b3Vector3 aabbMin = b3MakeVector3(m_data->m_allAabbsCPU[i].m_min[0], m_data->m_allAabbsCPU[i].m_min[1], m_data->m_allAabbsCPU[i].m_min[2]);
-					b3Vector3 aabbMax = b3MakeVector3(m_data->m_allAabbsCPU[i].m_max[0], m_data->m_allAabbsCPU[i].m_max[1], m_data->m_allAabbsCPU[i].m_max[2]);
-					m_data->m_broadphaseDbvt->setAabb(i, aabbMin, aabbMax, 0);
-				}
-			}
-
-			{
-				B3_PROFILE("calculateOverlappingPairs");
-				m_data->m_broadphaseDbvt->calculateOverlappingPairs();
-			}
-			numPairs = m_data->m_broadphaseDbvt->getOverlappingPairCache()->getNumOverlappingPairs();
-		}
-		else
-		{
-			if (gUseCalculateOverlappingPairsHost)
-			{
-				m_data->m_broadphaseSap->calculateOverlappingPairsHost(m_data->m_config.m_maxBroadphasePairs);
-			}
-			else
-			{
-				m_data->m_broadphaseSap->calculateOverlappingPairs(m_data->m_config.m_maxBroadphasePairs);
-			}
-			numPairs = m_data->m_broadphaseSap->getNumOverlap();
-		}
-	}
-
-	//compute contact points
-	//	printf("numPairs=%d\n",numPairs);
-
-	int numContacts = 0;
-
-	int numBodies = m_data->m_narrowphase->getNumRigidBodies();
-
-	if (numPairs)
-	{
-		cl_mem pairs = 0;
-		cl_mem aabbsWS = 0;
-		if (gUseDbvt)
-		{
-			B3_PROFILE("m_overlappingPairsGPU->copyFromHost");
-			m_data->m_overlappingPairsGPU->copyFromHost(m_data->m_broadphaseDbvt->getOverlappingPairCache()->getOverlappingPairArray());
-			pairs = m_data->m_overlappingPairsGPU->getBufferCL();
-			aabbsWS = m_data->m_allAabbsGPU->getBufferCL();
-		}
-		else
-		{
-			pairs = m_data->m_broadphaseSap->getOverlappingPairBuffer();
-			aabbsWS = m_data->m_broadphaseSap->getAabbBufferWS();
-		}
-
-		m_data->m_overlappingPairsGPU->resize(numPairs);
-
-		//mark the contacts for each pair as 'unused'
-		if (numPairs)
-		{
-			b3OpenCLArray<b3BroadphasePair> gpuPairs(this->m_data->m_context, m_data->m_queue);
-			gpuPairs.setFromOpenCLBuffer(pairs, numPairs);
-
-			if (gClearPairsOnGpu)
-			{
-				//b3AlignedObjectArray<b3BroadphasePair> hostPairs;//just for debugging
-				//gpuPairs.copyToHost(hostPairs);
-
-				b3LauncherCL launcher(m_data->m_queue, m_data->m_clearOverlappingPairsKernel, "clearOverlappingPairsKernel");
-				launcher.setBuffer(pairs);
-				launcher.setConst(numPairs);
-				launcher.launch1D(numPairs);
-
-				//gpuPairs.copyToHost(hostPairs);
-			}
-			else
-			{
-				b3AlignedObjectArray<b3BroadphasePair> hostPairs;
-				gpuPairs.copyToHost(hostPairs);
-
-				for (int i = 0; i < hostPairs.size(); i++)
-				{
-					hostPairs[i].z = 0xffffffff;
-				}
-
-				gpuPairs.copyFromHost(hostPairs);
-			}
-		}
-
-		m_data->m_narrowphase->computeContacts(pairs, numPairs, aabbsWS, numBodies);
-		numContacts = m_data->m_narrowphase->getNumContactsGpu();
-
-		if (gUseDbvt)
-		{
-			///store the cached information (contact locations in the 'z' component)
-			B3_PROFILE("m_overlappingPairsGPU->copyToHost");
-			m_data->m_overlappingPairsGPU->copyToHost(m_data->m_broadphaseDbvt->getOverlappingPairCache()->getOverlappingPairArray());
-		}
-		if (gDumpContactStats && numContacts)
-		{
-			m_data->m_narrowphase->getContactsGpu();
-
-			printf("numContacts = %d\n", numContacts);
-
-			int totalPoints = 0;
-			const b3Contact4* contacts = m_data->m_narrowphase->getContactsCPU();
-
-			for (int i = 0; i < numContacts; i++)
-			{
-				totalPoints += contacts->getNPoints();
-			}
-			printf("totalPoints=%d\n", totalPoints);
-		}
-	}
-
-	//convert contact points to contact constraints
-
-	//solve constraints
-
-	b3OpenCLArray<b3RigidBodyData> gpuBodies(m_data->m_context, m_data->m_queue, 0, true);
-	gpuBodies.setFromOpenCLBuffer(m_data->m_narrowphase->getBodiesGpu(), m_data->m_narrowphase->getNumRigidBodies());
-	b3OpenCLArray<b3InertiaData> gpuInertias(m_data->m_context, m_data->m_queue, 0, true);
-	gpuInertias.setFromOpenCLBuffer(m_data->m_narrowphase->getBodyInertiasGpu(), m_data->m_narrowphase->getNumRigidBodies());
-	b3OpenCLArray<b3Contact4> gpuContacts(m_data->m_context, m_data->m_queue, 0, true);
-	gpuContacts.setFromOpenCLBuffer(m_data->m_narrowphase->getContactsGpu(), m_data->m_narrowphase->getNumContactsGpu());
-
-	int numJoints = m_data->m_joints.size() ? m_data->m_joints.size() : m_data->m_cpuConstraints.size();
-	if (useBullet2CpuSolver && numJoints)
-	{
-		//	b3AlignedObjectArray<b3Contact4> hostContacts;
-		//gpuContacts.copyToHost(hostContacts);
-		{
-			bool useGpu = m_data->m_joints.size() == 0;
-
-			//			b3Contact4* contacts = numContacts? &hostContacts[0]: 0;
-			//m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,contacts,numJoints, joints);
-			if (useGpu)
-			{
-				m_data->m_gpuSolver->solveJoints(m_data->m_narrowphase->getNumRigidBodies(), &gpuBodies, &gpuInertias, numJoints, m_data->m_gpuConstraints);
-			}
-			else
-			{
-				b3AlignedObjectArray<b3RigidBodyData> hostBodies;
-				gpuBodies.copyToHost(hostBodies);
-				b3AlignedObjectArray<b3InertiaData> hostInertias;
-				gpuInertias.copyToHost(hostInertias);
-
-				b3TypedConstraint** joints = numJoints ? &m_data->m_joints[0] : 0;
-				m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumRigidBodies(), &hostBodies[0], &hostInertias[0], 0, 0, numJoints, joints);
-				gpuBodies.copyFromHost(hostBodies);
-			}
-		}
-	}
-
-	if (numContacts)
-	{
-#ifdef TEST_OTHER_GPU_SOLVER
-
-		if (gUseJacobi)
-		{
-			bool useGpu = true;
-			if (useGpu)
-			{
-				bool forceHost = false;
-				if (forceHost)
-				{
-					b3AlignedObjectArray<b3RigidBodyData> hostBodies;
-					b3AlignedObjectArray<b3InertiaData> hostInertias;
-					b3AlignedObjectArray<b3Contact4> hostContacts;
-
-					{
-						B3_PROFILE("copyToHost");
-						gpuBodies.copyToHost(hostBodies);
-						gpuInertias.copyToHost(hostInertias);
-						gpuContacts.copyToHost(hostContacts);
-					}
-
-					{
-						b3JacobiSolverInfo solverInfo;
-						m_data->m_solver3->solveGroupHost(&hostBodies[0], &hostInertias[0], hostBodies.size(), &hostContacts[0], hostContacts.size(), solverInfo);
-					}
-					{
-						B3_PROFILE("copyFromHost");
-						gpuBodies.copyFromHost(hostBodies);
-					}
-				}
-				else
-
-				{
-					int static0Index = m_data->m_narrowphase->getStatic0Index();
-					b3JacobiSolverInfo solverInfo;
-					//m_data->m_solver3->solveContacts(    >solveGroup(&gpuBodies, &gpuInertias, &gpuContacts,solverInfo);
-					//m_data->m_solver3->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,&hostContacts[0]);
-					m_data->m_solver3->solveContacts(numBodies, gpuBodies.getBufferCL(), gpuInertias.getBufferCL(), numContacts, gpuContacts.getBufferCL(), m_data->m_config, static0Index);
-				}
-			}
-			else
-			{
-				b3AlignedObjectArray<b3RigidBodyData> hostBodies;
-				gpuBodies.copyToHost(hostBodies);
-				b3AlignedObjectArray<b3InertiaData> hostInertias;
-				gpuInertias.copyToHost(hostInertias);
-				b3AlignedObjectArray<b3Contact4> hostContacts;
-				gpuContacts.copyToHost(hostContacts);
-				{
-					//m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,&hostContacts[0]);
-				}
-				gpuBodies.copyFromHost(hostBodies);
-			}
-		}
-		else
-#endif  //TEST_OTHER_GPU_SOLVER
-		{
-			int static0Index = m_data->m_narrowphase->getStatic0Index();
-			m_data->m_solver2->solveContacts(numBodies, gpuBodies.getBufferCL(), gpuInertias.getBufferCL(), numContacts, gpuContacts.getBufferCL(), m_data->m_config, static0Index);
-
-			//m_data->m_solver4->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(), gpuBodies.getBufferCL(), gpuInertias.getBufferCL(), numContacts, gpuContacts.getBufferCL());
-
-			/*m_data->m_solver3->solveContactConstraintHost(
-			(b3OpenCLArray<RigidBodyBase::Body>*)&gpuBodies,
-			(b3OpenCLArray<RigidBodyBase::Inertia>*)&gpuInertias,
-			(b3OpenCLArray<Constraint4>*) &gpuContacts,
-			0,numContacts,256);
-			*/
-		}
-	}
-
-	integrate(deltaTime);
-}
-
-void b3GpuRigidBodyPipeline::integrate(float timeStep)
-{
-	//integrate
-	int numBodies = m_data->m_narrowphase->getNumRigidBodies();
-	float angularDamp = 0.99f;
-
-	if (gIntegrateOnCpu)
-	{
-		if (numBodies)
-		{
-			b3GpuNarrowPhaseInternalData* npData = m_data->m_narrowphase->getInternalData();
-			npData->m_bodyBufferGPU->copyToHost(*npData->m_bodyBufferCPU);
-
-			b3RigidBodyData_t* bodies = &npData->m_bodyBufferCPU->at(0);
-
-			for (int nodeID = 0; nodeID < numBodies; nodeID++)
-			{
-				integrateSingleTransform(bodies, nodeID, timeStep, angularDamp, m_data->m_gravity);
-			}
-			npData->m_bodyBufferGPU->copyFromHost(*npData->m_bodyBufferCPU);
-		}
-	}
-	else
-	{
-		b3LauncherCL launcher(m_data->m_queue, m_data->m_integrateTransformsKernel, "m_integrateTransformsKernel");
-		launcher.setBuffer(m_data->m_narrowphase->getBodiesGpu());
-
-		launcher.setConst(numBodies);
-		launcher.setConst(timeStep);
-		launcher.setConst(angularDamp);
-		launcher.setConst(m_data->m_gravity);
-		launcher.launch1D(numBodies);
-	}
-}
-
-void b3GpuRigidBodyPipeline::setupGpuAabbsFull()
-{
-	cl_int ciErrNum = 0;
-
-	int numBodies = m_data->m_narrowphase->getNumRigidBodies();
-	if (!numBodies)
-		return;
-
-	if (gCalcWorldSpaceAabbOnCpu)
-	{
-		if (numBodies)
-		{
-			if (gUseDbvt)
-			{
-				m_data->m_allAabbsCPU.resize(numBodies);
-				m_data->m_narrowphase->readbackAllBodiesToCpu();
-				for (int i = 0; i < numBodies; i++)
-				{
-					b3ComputeWorldAabb(i, m_data->m_narrowphase->getBodiesCpu(), m_data->m_narrowphase->getCollidablesCpu(), m_data->m_narrowphase->getLocalSpaceAabbsCpu(), &m_data->m_allAabbsCPU[0]);
-				}
-				m_data->m_allAabbsGPU->copyFromHost(m_data->m_allAabbsCPU);
-			}
-			else
-			{
-				m_data->m_broadphaseSap->getAllAabbsCPU().resize(numBodies);
-				m_data->m_narrowphase->readbackAllBodiesToCpu();
-				for (int i = 0; i < numBodies; i++)
-				{
-					b3ComputeWorldAabb(i, m_data->m_narrowphase->getBodiesCpu(), m_data->m_narrowphase->getCollidablesCpu(), m_data->m_narrowphase->getLocalSpaceAabbsCpu(), &m_data->m_broadphaseSap->getAllAabbsCPU()[0]);
-				}
-				m_data->m_broadphaseSap->getAllAabbsGPU().copyFromHost(m_data->m_broadphaseSap->getAllAabbsCPU());
-				//m_data->m_broadphaseSap->writeAabbsToGpu();
-			}
-		}
-	}
-	else
-	{
-		//__kernel void initializeGpuAabbsFull(  const int numNodes, __global Body* gBodies,__global Collidable* collidables, __global b3AABBCL* plocalShapeAABB, __global b3AABBCL* pAABB)
-		b3LauncherCL launcher(m_data->m_queue, m_data->m_updateAabbsKernel, "m_updateAabbsKernel");
-		launcher.setConst(numBodies);
-		cl_mem bodies = m_data->m_narrowphase->getBodiesGpu();
-		launcher.setBuffer(bodies);
-		cl_mem collidables = m_data->m_narrowphase->getCollidablesGpu();
-		launcher.setBuffer(collidables);
-		cl_mem localAabbs = m_data->m_narrowphase->getAabbLocalSpaceBufferGpu();
-		launcher.setBuffer(localAabbs);
-
-		cl_mem worldAabbs = 0;
-		if (gUseDbvt)
-		{
-			worldAabbs = m_data->m_allAabbsGPU->getBufferCL();
-		}
-		else
-		{
-			worldAabbs = m_data->m_broadphaseSap->getAabbBufferWS();
-		}
-		launcher.setBuffer(worldAabbs);
-		launcher.launch1D(numBodies);
-
-		oclCHECKERROR(ciErrNum, CL_SUCCESS);
-	}
-
-	/*
-	b3AlignedObjectArray<b3SapAabb> aabbs;
-	m_data->m_broadphaseSap->m_allAabbsGPU.copyToHost(aabbs);
-
-	printf("numAabbs = %d\n",  aabbs.size());
-
-	for (int i=0;i<aabbs.size();i++)
-	{
-		printf("aabb[%d].m_min=%f,%f,%f,%d\n",i,aabbs[i].m_minVec[0],aabbs[i].m_minVec[1],aabbs[i].m_minVec[2],aabbs[i].m_minIndices[3]);
-		printf("aabb[%d].m_max=%f,%f,%f,%d\n",i,aabbs[i].m_maxVec[0],aabbs[i].m_maxVec[1],aabbs[i].m_maxVec[2],aabbs[i].m_signedMaxIndices[3]);
-
-	};
-	*/
-}
-
-cl_mem b3GpuRigidBodyPipeline::getBodyBuffer()
-{
-	return m_data->m_narrowphase->getBodiesGpu();
-}
-
-int b3GpuRigidBodyPipeline::getNumBodies() const
-{
-	return m_data->m_narrowphase->getNumRigidBodies();
-}
-
-void b3GpuRigidBodyPipeline::setGravity(const float* grav)
-{
-	m_data->m_gravity.setValue(grav[0], grav[1], grav[2]);
-}
-
-void b3GpuRigidBodyPipeline::copyConstraintsToHost()
-{
-	m_data->m_gpuConstraints->copyToHost(m_data->m_cpuConstraints);
-}
-
-void b3GpuRigidBodyPipeline::writeAllInstancesToGpu()
-{
-	m_data->m_allAabbsGPU->copyFromHost(m_data->m_allAabbsCPU);
-	m_data->m_gpuConstraints->copyFromHost(m_data->m_cpuConstraints);
-}
-
-int b3GpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* position, const float* orientation, int collidableIndex, int userIndex, bool writeInstanceToGpu)
-{
-	b3Vector3 aabbMin = b3MakeVector3(0, 0, 0), aabbMax = b3MakeVector3(0, 0, 0);
-
-	if (collidableIndex >= 0)
-	{
-		b3SapAabb localAabb = m_data->m_narrowphase->getLocalSpaceAabb(collidableIndex);
-		b3Vector3 localAabbMin = b3MakeVector3(localAabb.m_min[0], localAabb.m_min[1], localAabb.m_min[2]);
-		b3Vector3 localAabbMax = b3MakeVector3(localAabb.m_max[0], localAabb.m_max[1], localAabb.m_max[2]);
-
-		b3Scalar margin = 0.01f;
-		b3Transform t;
-		t.setIdentity();
-		t.setOrigin(b3MakeVector3(position[0], position[1], position[2]));
-		t.setRotation(b3Quaternion(orientation[0], orientation[1], orientation[2], orientation[3]));
-		b3TransformAabb(localAabbMin, localAabbMax, margin, t, aabbMin, aabbMax);
-	}
-	else
-	{
-		b3Error("registerPhysicsInstance using invalid collidableIndex\n");
-		return -1;
-	}
-
-	bool writeToGpu = false;
-	int bodyIndex = m_data->m_narrowphase->getNumRigidBodies();
-	bodyIndex = m_data->m_narrowphase->registerRigidBody(collidableIndex, mass, position, orientation, &aabbMin.getX(), &aabbMax.getX(), writeToGpu);
-
-	if (bodyIndex >= 0)
-	{
-		if (gUseDbvt)
-		{
-			m_data->m_broadphaseDbvt->createProxy(aabbMin, aabbMax, bodyIndex, 0, 1, 1);
-			b3SapAabb aabb;
-			for (int i = 0; i < 3; i++)
-			{
-				aabb.m_min[i] = aabbMin[i];
-				aabb.m_max[i] = aabbMax[i];
-				aabb.m_minIndices[3] = bodyIndex;
-			}
-			m_data->m_allAabbsCPU.push_back(aabb);
-			if (writeInstanceToGpu)
-			{
-				m_data->m_allAabbsGPU->copyFromHost(m_data->m_allAabbsCPU);
-			}
-		}
-		else
-		{
-			if (mass)
-			{
-				m_data->m_broadphaseSap->createProxy(aabbMin, aabbMax, bodyIndex, 1, 1);  //m_dispatcher);
-			}
-			else
-			{
-				m_data->m_broadphaseSap->createLargeProxy(aabbMin, aabbMax, bodyIndex, 1, 1);  //m_dispatcher);
-			}
-		}
-	}
-
-	/*
-	if (mass>0.f)
-		m_numDynamicPhysicsInstances++;
-
-	m_numPhysicsInstances++;
-	*/
-
-	return bodyIndex;
-}
-
-void b3GpuRigidBodyPipeline::castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults)
-{
-	this->m_data->m_raycaster->castRays(rays, hitResults,
-										getNumBodies(), this->m_data->m_narrowphase->getBodiesCpu(),
-										m_data->m_narrowphase->getNumCollidablesGpu(), m_data->m_narrowphase->getCollidablesCpu(),
-										m_data->m_narrowphase->getInternalData(), m_data->m_broadphaseSap);
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h
deleted file mode 100644
index 0e5c6fec12..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h
+++ /dev/null
@@ -1,70 +0,0 @@
-/*
-Copyright (c) 2013 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Erwin Coumans
-
-#ifndef B3_GPU_RIGIDBODY_PIPELINE_H
-#define B3_GPU_RIGIDBODY_PIPELINE_H
-
-#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
-#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
-
-#include "Bullet3Common/b3AlignedObjectArray.h"
-#include "Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h"
-
-class b3GpuRigidBodyPipeline
-{
-protected:
-	struct b3GpuRigidBodyPipelineInternalData* m_data;
-
-	int allocateCollidable();
-
-public:
-	b3GpuRigidBodyPipeline(cl_context ctx, cl_device_id device, cl_command_queue q, class b3GpuNarrowPhase* narrowphase, class b3GpuBroadphaseInterface* broadphaseSap, struct b3DynamicBvhBroadphase* broadphaseDbvt, const b3Config& config);
-	virtual ~b3GpuRigidBodyPipeline();
-
-	void stepSimulation(float deltaTime);
-	void integrate(float timeStep);
-	void setupGpuAabbsFull();
-
-	int registerConvexPolyhedron(class b3ConvexUtility* convex);
-
-	//int		registerConvexPolyhedron(const float* vertices, int strideInBytes, int numVertices, const float* scaling);
-	//int		registerSphereShape(float radius);
-	//int		registerPlaneShape(const b3Vector3& planeNormal, float planeConstant);
-
-	//int		registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, const float* scaling);
-	//int		registerCompoundShape(b3AlignedObjectArray<b3GpuChildShape>* childShapes);
-
-	int registerPhysicsInstance(float mass, const float* position, const float* orientation, int collisionShapeIndex, int userData, bool writeInstanceToGpu);
-	//if you passed "writeInstanceToGpu" false in the registerPhysicsInstance method (for performance) you need to call writeAllInstancesToGpu after all instances are registered
-	void writeAllInstancesToGpu();
-	void copyConstraintsToHost();
-	void setGravity(const float* grav);
-	void reset();
-
-	int createPoint2PointConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, float breakingThreshold);
-	int createFixedConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, const float* relTargetAB, float breakingThreshold);
-	void removeConstraintByUid(int uid);
-
-	void addConstraint(class b3TypedConstraint* constraint);
-	void removeConstraint(b3TypedConstraint* constraint);
-
-	void castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults);
-
-	cl_mem getBodyBuffer();
-
-	int getNumBodies() const;
-};
-
-#endif  //B3_GPU_RIGIDBODY_PIPELINE_H
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipelineInternalData.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipelineInternalData.h
deleted file mode 100644
index e0a26fda17..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipelineInternalData.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/*
-Copyright (c) 2013 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Erwin Coumans
-
-#ifndef B3_GPU_RIGIDBODY_PIPELINE_INTERNAL_DATA_H
-#define B3_GPU_RIGIDBODY_PIPELINE_INTERNAL_DATA_H
-
-#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-
-#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
-
-#include "Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h"
-#include "Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h"
-#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
-
-#include "Bullet3Collision/BroadPhaseCollision/b3OverlappingPair.h"
-#include "Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.h"
-
-struct b3GpuRigidBodyPipelineInternalData
-{
-	cl_context m_context;
-	cl_device_id m_device;
-	cl_command_queue m_queue;
-
-	cl_kernel m_integrateTransformsKernel;
-	cl_kernel m_updateAabbsKernel;
-	cl_kernel m_clearOverlappingPairsKernel;
-
-	class b3PgsJacobiSolver* m_solver;
-
-	class b3GpuPgsConstraintSolver* m_gpuSolver;
-
-	class b3GpuPgsContactSolver* m_solver2;
-	class b3GpuJacobiContactSolver* m_solver3;
-	class b3GpuRaycast* m_raycaster;
-
-	class b3GpuBroadphaseInterface* m_broadphaseSap;
-
-	struct b3DynamicBvhBroadphase* m_broadphaseDbvt;
-	b3OpenCLArray<b3SapAabb>* m_allAabbsGPU;
-	b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU;
-	b3OpenCLArray<b3BroadphasePair>* m_overlappingPairsGPU;
-
-	b3OpenCLArray<b3GpuGenericConstraint>* m_gpuConstraints;
-	b3AlignedObjectArray<b3GpuGenericConstraint> m_cpuConstraints;
-
-	b3AlignedObjectArray<b3TypedConstraint*> m_joints;
-	int m_constraintUid;
-	class b3GpuNarrowPhase* m_narrowphase;
-	b3Vector3 m_gravity;
-
-	b3Config m_config;
-};
-
-#endif  //B3_GPU_RIGIDBODY_PIPELINE_INTERNAL_DATA_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuSolverBody.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuSolverBody.h
deleted file mode 100644
index db815d9b31..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuSolverBody.h
+++ /dev/null
@@ -1,210 +0,0 @@
-/*
-Copyright (c) 2013 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Erwin Coumans
-
-#ifndef B3_GPU_SOLVER_BODY_H
-#define B3_GPU_SOLVER_BODY_H
-
-#include "Bullet3Common/b3Vector3.h"
-#include "Bullet3Common/b3Matrix3x3.h"
-
-#include "Bullet3Common/b3AlignedAllocator.h"
-#include "Bullet3Common/b3TransformUtil.h"
-
-///Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later, and not double precision
-#ifdef B3_USE_SSE
-#define USE_SIMD 1
-#endif  //
-
-///The b3SolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
-B3_ATTRIBUTE_ALIGNED16(struct)
-b3GpuSolverBody
-{
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-	//	b3Transform		m_worldTransformUnused;
-	b3Vector3 m_deltaLinearVelocity;
-	b3Vector3 m_deltaAngularVelocity;
-	b3Vector3 m_angularFactor;
-	b3Vector3 m_linearFactor;
-	b3Vector3 m_invMass;
-	b3Vector3 m_pushVelocity;
-	b3Vector3 m_turnVelocity;
-	b3Vector3 m_linearVelocity;
-	b3Vector3 m_angularVelocity;
-
-	union {
-		void* m_originalBody;
-		int m_originalBodyIndex;
-	};
-
-	int padding[3];
-
-	/*
-	void	setWorldTransform(const b3Transform& worldTransform)
-	{
-		m_worldTransform = worldTransform;
-	}
-
-	const b3Transform& getWorldTransform() const
-	{
-		return m_worldTransform;
-	}
-	*/
-	B3_FORCE_INLINE void getVelocityInLocalPointObsolete(const b3Vector3& rel_pos, b3Vector3& velocity) const
-	{
-		if (m_originalBody)
-			velocity = m_linearVelocity + m_deltaLinearVelocity + (m_angularVelocity + m_deltaAngularVelocity).cross(rel_pos);
-		else
-			velocity.setValue(0, 0, 0);
-	}
-
-	B3_FORCE_INLINE void getAngularVelocity(b3Vector3 & angVel) const
-	{
-		if (m_originalBody)
-			angVel = m_angularVelocity + m_deltaAngularVelocity;
-		else
-			angVel.setValue(0, 0, 0);
-	}
-
-	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
-	B3_FORCE_INLINE void applyImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent, const b3Scalar impulseMagnitude)
-	{
-		if (m_originalBody)
-		{
-			m_deltaLinearVelocity += linearComponent * impulseMagnitude * m_linearFactor;
-			m_deltaAngularVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
-		}
-	}
-
-	B3_FORCE_INLINE void internalApplyPushImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent, b3Scalar impulseMagnitude)
-	{
-		if (m_originalBody)
-		{
-			m_pushVelocity += linearComponent * impulseMagnitude * m_linearFactor;
-			m_turnVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
-		}
-	}
-
-	const b3Vector3& getDeltaLinearVelocity() const
-	{
-		return m_deltaLinearVelocity;
-	}
-
-	const b3Vector3& getDeltaAngularVelocity() const
-	{
-		return m_deltaAngularVelocity;
-	}
-
-	const b3Vector3& getPushVelocity() const
-	{
-		return m_pushVelocity;
-	}
-
-	const b3Vector3& getTurnVelocity() const
-	{
-		return m_turnVelocity;
-	}
-
-	////////////////////////////////////////////////
-	///some internal methods, don't use them
-
-	b3Vector3& internalGetDeltaLinearVelocity()
-	{
-		return m_deltaLinearVelocity;
-	}
-
-	b3Vector3& internalGetDeltaAngularVelocity()
-	{
-		return m_deltaAngularVelocity;
-	}
-
-	const b3Vector3& internalGetAngularFactor() const
-	{
-		return m_angularFactor;
-	}
-
-	const b3Vector3& internalGetInvMass() const
-	{
-		return m_invMass;
-	}
-
-	void internalSetInvMass(const b3Vector3& invMass)
-	{
-		m_invMass = invMass;
-	}
-
-	b3Vector3& internalGetPushVelocity()
-	{
-		return m_pushVelocity;
-	}
-
-	b3Vector3& internalGetTurnVelocity()
-	{
-		return m_turnVelocity;
-	}
-
-	B3_FORCE_INLINE void internalGetVelocityInLocalPointObsolete(const b3Vector3& rel_pos, b3Vector3& velocity) const
-	{
-		velocity = m_linearVelocity + m_deltaLinearVelocity + (m_angularVelocity + m_deltaAngularVelocity).cross(rel_pos);
-	}
-
-	B3_FORCE_INLINE void internalGetAngularVelocity(b3Vector3 & angVel) const
-	{
-		angVel = m_angularVelocity + m_deltaAngularVelocity;
-	}
-
-	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
-	B3_FORCE_INLINE void internalApplyImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent, const b3Scalar impulseMagnitude)
-	{
-		//if (m_originalBody)
-		{
-			m_deltaLinearVelocity += linearComponent * impulseMagnitude * m_linearFactor;
-			m_deltaAngularVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
-		}
-	}
-
-	void writebackVelocity()
-	{
-		//if (m_originalBody>=0)
-		{
-			m_linearVelocity += m_deltaLinearVelocity;
-			m_angularVelocity += m_deltaAngularVelocity;
-
-			//m_originalBody->setCompanionId(-1);
-		}
-	}
-
-	void writebackVelocityAndTransform(b3Scalar timeStep, b3Scalar splitImpulseTurnErp)
-	{
-		(void)timeStep;
-		if (m_originalBody)
-		{
-			m_linearVelocity += m_deltaLinearVelocity;
-			m_angularVelocity += m_deltaAngularVelocity;
-
-			//correct the position/orientation based on push/turn recovery
-			b3Transform newTransform;
-			if (m_pushVelocity[0] != 0.f || m_pushVelocity[1] != 0 || m_pushVelocity[2] != 0 || m_turnVelocity[0] != 0.f || m_turnVelocity[1] != 0 || m_turnVelocity[2] != 0)
-			{
-				//	b3Quaternion orn = m_worldTransform.getRotation();
-				//				b3TransformUtil::integrateTransform(m_worldTransform,m_pushVelocity,m_turnVelocity*splitImpulseTurnErp,timeStep,newTransform);
-				//				m_worldTransform = newTransform;
-			}
-			//m_worldTransform.setRotation(orn);
-			//m_originalBody->setCompanionId(-1);
-		}
-	}
-};
-
-#endif  //B3_SOLVER_BODY_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuSolverConstraint.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuSolverConstraint.h
deleted file mode 100644
index 7d9eea243a..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuSolverConstraint.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans http://github.com/erwincoumans/bullet3
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_GPU_SOLVER_CONSTRAINT_H
-#define B3_GPU_SOLVER_CONSTRAINT_H
-
-#include "Bullet3Common/b3Vector3.h"
-#include "Bullet3Common/b3Matrix3x3.h"
-//#include "b3JacobianEntry.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-
-//#define NO_FRICTION_TANGENTIALS 1
-
-///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
-B3_ATTRIBUTE_ALIGNED16(struct)
-b3GpuSolverConstraint
-{
-	B3_DECLARE_ALIGNED_ALLOCATOR();
-
-	b3Vector3 m_relpos1CrossNormal;
-	b3Vector3 m_contactNormal;
-
-	b3Vector3 m_relpos2CrossNormal;
-	//b3Vector3		m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal
-
-	b3Vector3 m_angularComponentA;
-	b3Vector3 m_angularComponentB;
-
-	mutable b3Scalar m_appliedPushImpulse;
-	mutable b3Scalar m_appliedImpulse;
-	int m_padding1;
-	int m_padding2;
-	b3Scalar m_friction;
-	b3Scalar m_jacDiagABInv;
-	b3Scalar m_rhs;
-	b3Scalar m_cfm;
-
-	b3Scalar m_lowerLimit;
-	b3Scalar m_upperLimit;
-	b3Scalar m_rhsPenetration;
-	union {
-		void* m_originalContactPoint;
-		int m_originalConstraintIndex;
-		b3Scalar m_unusedPadding4;
-	};
-
-	int m_overrideNumSolverIterations;
-	int m_frictionIndex;
-	int m_solverBodyIdA;
-	int m_solverBodyIdB;
-
-	enum b3SolverConstraintType
-	{
-		B3_SOLVER_CONTACT_1D = 0,
-		B3_SOLVER_FRICTION_1D
-	};
-};
-
-typedef b3AlignedObjectArray<b3GpuSolverConstraint> b3GpuConstraintArray;
-
-#endif  //B3_GPU_SOLVER_CONSTRAINT_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.cpp b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.cpp
deleted file mode 100644
index ccf67da1a8..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.cpp
+++ /dev/null
@@ -1,1128 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Takahiro Harada
-
-#include "b3Solver.h"
-
-///useNewBatchingKernel  is a rewritten kernel using just a single thread of the warp, for experiments
-bool useNewBatchingKernel = true;
-bool gConvertConstraintOnCpu = false;
-
-#define B3_SOLVER_SETUP_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solverSetup.cl"
-#define B3_SOLVER_SETUP2_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.cl"
-#define B3_SOLVER_CONTACT_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solveContact.cl"
-#define B3_SOLVER_FRICTION_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solveFriction.cl"
-#define B3_BATCHING_PATH "src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.cl"
-#define B3_BATCHING_NEW_PATH "src/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.cl"
-
-#include "Bullet3Dynamics/shared/b3ConvertConstraint4.h"
-
-#include "kernels/solverSetup.h"
-#include "kernels/solverSetup2.h"
-
-#include "kernels/solveContact.h"
-#include "kernels/solveFriction.h"
-
-#include "kernels/batchingKernels.h"
-#include "kernels/batchingKernelsNew.h"
-
-#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
-#include "Bullet3Common/b3Vector3.h"
-
-struct SolverDebugInfo
-{
-	int m_valInt0;
-	int m_valInt1;
-	int m_valInt2;
-	int m_valInt3;
-
-	int m_valInt4;
-	int m_valInt5;
-	int m_valInt6;
-	int m_valInt7;
-
-	int m_valInt8;
-	int m_valInt9;
-	int m_valInt10;
-	int m_valInt11;
-
-	int m_valInt12;
-	int m_valInt13;
-	int m_valInt14;
-	int m_valInt15;
-
-	float m_val0;
-	float m_val1;
-	float m_val2;
-	float m_val3;
-};
-
-class SolverDeviceInl
-{
-public:
-	struct ParallelSolveData
-	{
-		b3OpenCLArray<unsigned int>* m_numConstraints;
-		b3OpenCLArray<unsigned int>* m_offsets;
-	};
-};
-
-b3Solver::b3Solver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity)
-	: m_context(ctx),
-	  m_device(device),
-	  m_queue(queue),
-	  m_batchSizes(ctx, queue),
-	  m_nIterations(4)
-{
-	m_sort32 = new b3RadixSort32CL(ctx, device, queue);
-	m_scan = new b3PrefixScanCL(ctx, device, queue, B3_SOLVER_N_CELLS);
-	m_search = new b3BoundSearchCL(ctx, device, queue, B3_SOLVER_N_CELLS);
-
-	const int sortSize = B3NEXTMULTIPLEOF(pairCapacity, 512);
-
-	m_sortDataBuffer = new b3OpenCLArray<b3SortData>(ctx, queue, sortSize);
-	m_contactBuffer2 = new b3OpenCLArray<b3Contact4>(ctx, queue);
-
-	m_numConstraints = new b3OpenCLArray<unsigned int>(ctx, queue, B3_SOLVER_N_CELLS);
-	m_numConstraints->resize(B3_SOLVER_N_CELLS);
-
-	m_offsets = new b3OpenCLArray<unsigned int>(ctx, queue, B3_SOLVER_N_CELLS);
-	m_offsets->resize(B3_SOLVER_N_CELLS);
-	const char* additionalMacros = "";
-	//	const char* srcFileNameForCaching="";
-
-	cl_int pErrNum;
-	const char* batchKernelSource = batchingKernelsCL;
-	const char* batchKernelNewSource = batchingKernelsNewCL;
-
-	const char* solverSetupSource = solverSetupCL;
-	const char* solverSetup2Source = solverSetup2CL;
-	const char* solveContactSource = solveContactCL;
-	const char* solveFrictionSource = solveFrictionCL;
-
-	{
-		cl_program solveContactProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solveContactSource, &pErrNum, additionalMacros, B3_SOLVER_CONTACT_KERNEL_PATH);
-		b3Assert(solveContactProg);
-
-		cl_program solveFrictionProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solveFrictionSource, &pErrNum, additionalMacros, B3_SOLVER_FRICTION_KERNEL_PATH);
-		b3Assert(solveFrictionProg);
-
-		cl_program solverSetup2Prog = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solverSetup2Source, &pErrNum, additionalMacros, B3_SOLVER_SETUP2_KERNEL_PATH);
-		b3Assert(solverSetup2Prog);
-
-		cl_program solverSetupProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solverSetupSource, &pErrNum, additionalMacros, B3_SOLVER_SETUP_KERNEL_PATH);
-		b3Assert(solverSetupProg);
-
-		m_solveFrictionKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solveFrictionSource, "BatchSolveKernelFriction", &pErrNum, solveFrictionProg, additionalMacros);
-		b3Assert(m_solveFrictionKernel);
-
-		m_solveContactKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solveContactSource, "BatchSolveKernelContact", &pErrNum, solveContactProg, additionalMacros);
-		b3Assert(m_solveContactKernel);
-
-		m_contactToConstraintKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetupSource, "ContactToConstraintKernel", &pErrNum, solverSetupProg, additionalMacros);
-		b3Assert(m_contactToConstraintKernel);
-
-		m_setSortDataKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "SetSortDataKernel", &pErrNum, solverSetup2Prog, additionalMacros);
-		b3Assert(m_setSortDataKernel);
-
-		m_reorderContactKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "ReorderContactKernel", &pErrNum, solverSetup2Prog, additionalMacros);
-		b3Assert(m_reorderContactKernel);
-
-		m_copyConstraintKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "CopyConstraintKernel", &pErrNum, solverSetup2Prog, additionalMacros);
-		b3Assert(m_copyConstraintKernel);
-	}
-
-	{
-		cl_program batchingProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, batchKernelSource, &pErrNum, additionalMacros, B3_BATCHING_PATH);
-		//cl_program batchingProg = b3OpenCLUtils::compileCLProgramFromString( ctx, device, 0, &pErrNum,additionalMacros, B3_BATCHING_PATH,true);
-		b3Assert(batchingProg);
-
-		m_batchingKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, batchKernelSource, "CreateBatches", &pErrNum, batchingProg, additionalMacros);
-		b3Assert(m_batchingKernel);
-	}
-	{
-		cl_program batchingNewProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, batchKernelNewSource, &pErrNum, additionalMacros, B3_BATCHING_NEW_PATH);
-		b3Assert(batchingNewProg);
-
-		m_batchingKernelNew = b3OpenCLUtils::compileCLKernelFromString(ctx, device, batchKernelNewSource, "CreateBatchesNew", &pErrNum, batchingNewProg, additionalMacros);
-		//m_batchingKernelNew = b3OpenCLUtils::compileCLKernelFromString( ctx, device, batchKernelNewSource, "CreateBatchesBruteForce", &pErrNum, batchingNewProg,additionalMacros );
-		b3Assert(m_batchingKernelNew);
-	}
-}
-
-b3Solver::~b3Solver()
-{
-	delete m_offsets;
-	delete m_numConstraints;
-	delete m_sortDataBuffer;
-	delete m_contactBuffer2;
-
-	delete m_sort32;
-	delete m_scan;
-	delete m_search;
-
-	clReleaseKernel(m_batchingKernel);
-	clReleaseKernel(m_batchingKernelNew);
-
-	clReleaseKernel(m_solveContactKernel);
-	clReleaseKernel(m_solveFrictionKernel);
-
-	clReleaseKernel(m_contactToConstraintKernel);
-	clReleaseKernel(m_setSortDataKernel);
-	clReleaseKernel(m_reorderContactKernel);
-	clReleaseKernel(m_copyConstraintKernel);
-}
-
-template <bool JACOBI>
-static __inline void solveContact(b3GpuConstraint4& cs,
-								  const b3Vector3& posA, b3Vector3& linVelA, b3Vector3& angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
-								  const b3Vector3& posB, b3Vector3& linVelB, b3Vector3& angVelB, float invMassB, const b3Matrix3x3& invInertiaB,
-								  float maxRambdaDt[4], float minRambdaDt[4])
-{
-	b3Vector3 dLinVelA;
-	dLinVelA.setZero();
-	b3Vector3 dAngVelA;
-	dAngVelA.setZero();
-	b3Vector3 dLinVelB;
-	dLinVelB.setZero();
-	b3Vector3 dAngVelB;
-	dAngVelB.setZero();
-
-	for (int ic = 0; ic < 4; ic++)
-	{
-		//	dont necessary because this makes change to 0
-		if (cs.m_jacCoeffInv[ic] == 0.f) continue;
-
-		{
-			b3Vector3 angular0, angular1, linear;
-			b3Vector3 r0 = cs.m_worldPos[ic] - (b3Vector3&)posA;
-			b3Vector3 r1 = cs.m_worldPos[ic] - (b3Vector3&)posB;
-			setLinearAndAngular((const b3Vector3&)cs.m_linear, (const b3Vector3&)r0, (const b3Vector3&)r1, &linear, &angular0, &angular1);
-
-			float rambdaDt = calcRelVel((const b3Vector3&)cs.m_linear, (const b3Vector3&)-cs.m_linear, angular0, angular1,
-										linVelA, angVelA, linVelB, angVelB) +
-							 cs.m_b[ic];
-			rambdaDt *= cs.m_jacCoeffInv[ic];
-
-			{
-				float prevSum = cs.m_appliedRambdaDt[ic];
-				float updated = prevSum;
-				updated += rambdaDt;
-				updated = b3Max(updated, minRambdaDt[ic]);
-				updated = b3Min(updated, maxRambdaDt[ic]);
-				rambdaDt = updated - prevSum;
-				cs.m_appliedRambdaDt[ic] = updated;
-			}
-
-			b3Vector3 linImp0 = invMassA * linear * rambdaDt;
-			b3Vector3 linImp1 = invMassB * (-linear) * rambdaDt;
-			b3Vector3 angImp0 = (invInertiaA * angular0) * rambdaDt;
-			b3Vector3 angImp1 = (invInertiaB * angular1) * rambdaDt;
-#ifdef _WIN32
-			b3Assert(_finite(linImp0.getX()));
-			b3Assert(_finite(linImp1.getX()));
-#endif
-			if (JACOBI)
-			{
-				dLinVelA += linImp0;
-				dAngVelA += angImp0;
-				dLinVelB += linImp1;
-				dAngVelB += angImp1;
-			}
-			else
-			{
-				linVelA += linImp0;
-				angVelA += angImp0;
-				linVelB += linImp1;
-				angVelB += angImp1;
-			}
-		}
-	}
-
-	if (JACOBI)
-	{
-		linVelA += dLinVelA;
-		angVelA += dAngVelA;
-		linVelB += dLinVelB;
-		angVelB += dAngVelB;
-	}
-}
-
-static __inline void solveFriction(b3GpuConstraint4& cs,
-								   const b3Vector3& posA, b3Vector3& linVelA, b3Vector3& angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
-								   const b3Vector3& posB, b3Vector3& linVelB, b3Vector3& angVelB, float invMassB, const b3Matrix3x3& invInertiaB,
-								   float maxRambdaDt[4], float minRambdaDt[4])
-{
-	if (cs.m_fJacCoeffInv[0] == 0 && cs.m_fJacCoeffInv[0] == 0) return;
-	const b3Vector3& center = (const b3Vector3&)cs.m_center;
-
-	b3Vector3 n = -(const b3Vector3&)cs.m_linear;
-
-	b3Vector3 tangent[2];
-#if 1
-	b3PlaneSpace1(n, tangent[0], tangent[1]);
-#else
-	b3Vector3 r = cs.m_worldPos[0] - center;
-	tangent[0] = cross3(n, r);
-	tangent[1] = cross3(tangent[0], n);
-	tangent[0] = normalize3(tangent[0]);
-	tangent[1] = normalize3(tangent[1]);
-#endif
-
-	b3Vector3 angular0, angular1, linear;
-	b3Vector3 r0 = center - posA;
-	b3Vector3 r1 = center - posB;
-	for (int i = 0; i < 2; i++)
-	{
-		setLinearAndAngular(tangent[i], r0, r1, &linear, &angular0, &angular1);
-		float rambdaDt = calcRelVel(linear, -linear, angular0, angular1,
-									linVelA, angVelA, linVelB, angVelB);
-		rambdaDt *= cs.m_fJacCoeffInv[i];
-
-		{
-			float prevSum = cs.m_fAppliedRambdaDt[i];
-			float updated = prevSum;
-			updated += rambdaDt;
-			updated = b3Max(updated, minRambdaDt[i]);
-			updated = b3Min(updated, maxRambdaDt[i]);
-			rambdaDt = updated - prevSum;
-			cs.m_fAppliedRambdaDt[i] = updated;
-		}
-
-		b3Vector3 linImp0 = invMassA * linear * rambdaDt;
-		b3Vector3 linImp1 = invMassB * (-linear) * rambdaDt;
-		b3Vector3 angImp0 = (invInertiaA * angular0) * rambdaDt;
-		b3Vector3 angImp1 = (invInertiaB * angular1) * rambdaDt;
-#ifdef _WIN32
-		b3Assert(_finite(linImp0.getX()));
-		b3Assert(_finite(linImp1.getX()));
-#endif
-		linVelA += linImp0;
-		angVelA += angImp0;
-		linVelB += linImp1;
-		angVelB += angImp1;
-	}
-
-	{  //	angular damping for point constraint
-		b3Vector3 ab = (posB - posA).normalized();
-		b3Vector3 ac = (center - posA).normalized();
-		if (b3Dot(ab, ac) > 0.95f || (invMassA == 0.f || invMassB == 0.f))
-		{
-			float angNA = b3Dot(n, angVelA);
-			float angNB = b3Dot(n, angVelB);
-
-			angVelA -= (angNA * 0.1f) * n;
-			angVelB -= (angNB * 0.1f) * n;
-		}
-	}
-}
-/*
- b3AlignedObjectArray<b3RigidBodyData>& m_bodies;
-	b3AlignedObjectArray<b3InertiaData>& m_shapes;
-	b3AlignedObjectArray<b3GpuConstraint4>& m_constraints;
-	b3AlignedObjectArray<int>* m_batchSizes;
-	int m_cellIndex;
-	int m_curWgidx;
-	int m_start;
-	int m_nConstraints;
-	bool m_solveFriction;
-	int m_maxNumBatches;
- */
-
-struct SolveTask  // : public ThreadPool::Task
-{
-	SolveTask(b3AlignedObjectArray<b3RigidBodyData>& bodies, b3AlignedObjectArray<b3InertiaData>& shapes, b3AlignedObjectArray<b3GpuConstraint4>& constraints,
-			  int start, int nConstraints, int maxNumBatches, b3AlignedObjectArray<int>* wgUsedBodies, int curWgidx, b3AlignedObjectArray<int>* batchSizes, int cellIndex)
-		: m_bodies(bodies), m_shapes(shapes), m_constraints(constraints), m_batchSizes(batchSizes), m_cellIndex(cellIndex), m_curWgidx(curWgidx), m_start(start), m_nConstraints(nConstraints), m_solveFriction(true), m_maxNumBatches(maxNumBatches)
-	{
-	}
-
-	unsigned short int getType() { return 0; }
-
-	void run(int tIdx)
-	{
-		int offset = 0;
-		for (int ii = 0; ii < B3_MAX_NUM_BATCHES; ii++)
-		{
-			int numInBatch = m_batchSizes->at(m_cellIndex * B3_MAX_NUM_BATCHES + ii);
-			if (!numInBatch)
-				break;
-
-			for (int jj = 0; jj < numInBatch; jj++)
-			{
-				int i = m_start + offset + jj;
-				int batchId = m_constraints[i].m_batchIdx;
-				b3Assert(batchId == ii);
-				float frictionCoeff = m_constraints[i].getFrictionCoeff();
-				int aIdx = (int)m_constraints[i].m_bodyA;
-				int bIdx = (int)m_constraints[i].m_bodyB;
-				//				int localBatch = m_constraints[i].m_batchIdx;
-				b3RigidBodyData& bodyA = m_bodies[aIdx];
-				b3RigidBodyData& bodyB = m_bodies[bIdx];
-
-				if (!m_solveFriction)
-				{
-					float maxRambdaDt[4] = {FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX};
-					float minRambdaDt[4] = {0.f, 0.f, 0.f, 0.f};
-
-					solveContact<false>(m_constraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass, (const b3Matrix3x3&)m_shapes[aIdx].m_invInertiaWorld,
-										(b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, (const b3Matrix3x3&)m_shapes[bIdx].m_invInertiaWorld,
-										maxRambdaDt, minRambdaDt);
-				}
-				else
-				{
-					float maxRambdaDt[4] = {FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX};
-					float minRambdaDt[4] = {0.f, 0.f, 0.f, 0.f};
-					float sum = 0;
-					for (int j = 0; j < 4; j++)
-					{
-						sum += m_constraints[i].m_appliedRambdaDt[j];
-					}
-					frictionCoeff = 0.7f;
-					for (int j = 0; j < 4; j++)
-					{
-						maxRambdaDt[j] = frictionCoeff * sum;
-						minRambdaDt[j] = -maxRambdaDt[j];
-					}
-					solveFriction(m_constraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass, (const b3Matrix3x3&)m_shapes[aIdx].m_invInertiaWorld,
-								  (b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, (const b3Matrix3x3&)m_shapes[bIdx].m_invInertiaWorld,
-								  maxRambdaDt, minRambdaDt);
-				}
-			}
-			offset += numInBatch;
-		}
-		/*		for (int bb=0;bb<m_maxNumBatches;bb++)
-		{
-			//for(int ic=m_nConstraints-1; ic>=0; ic--)
-			for(int ic=0; ic<m_nConstraints; ic++)
-			{
-				
-				int i = m_start + ic;
-				if (m_constraints[i].m_batchIdx != bb)
-					continue;
-
-				float frictionCoeff = m_constraints[i].getFrictionCoeff();
-				int aIdx = (int)m_constraints[i].m_bodyA;
-				int bIdx = (int)m_constraints[i].m_bodyB;
-				int localBatch = m_constraints[i].m_batchIdx;
-				b3RigidBodyData& bodyA = m_bodies[aIdx];
-				b3RigidBodyData& bodyB = m_bodies[bIdx];
-
-				if( !m_solveFriction )
-				{
-					float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};
-					float minRambdaDt[4] = {0.f,0.f,0.f,0.f};
-
-					solveContact<false>( m_constraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass, (const b3Matrix3x3 &)m_shapes[aIdx].m_invInertiaWorld, 
-							(b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, (const b3Matrix3x3 &)m_shapes[bIdx].m_invInertiaWorld,
-						maxRambdaDt, minRambdaDt );
-				}
-				else
-				{
-					float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};
-					float minRambdaDt[4] = {0.f,0.f,0.f,0.f};
-					float sum = 0;
-					for(int j=0; j<4; j++)
-					{
-						sum +=m_constraints[i].m_appliedRambdaDt[j];
-					}
-					frictionCoeff = 0.7f;
-					for(int j=0; j<4; j++)
-					{
-						maxRambdaDt[j] = frictionCoeff*sum;
-						minRambdaDt[j] = -maxRambdaDt[j];
-					}
-					solveFriction( m_constraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass,(const b3Matrix3x3 &) m_shapes[aIdx].m_invInertiaWorld, 
-						(b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass,(const b3Matrix3x3 &) m_shapes[bIdx].m_invInertiaWorld,
-						maxRambdaDt, minRambdaDt );
-			
-				}
-			}
-		}
-		*/
-	}
-
-	b3AlignedObjectArray<b3RigidBodyData>& m_bodies;
-	b3AlignedObjectArray<b3InertiaData>& m_shapes;
-	b3AlignedObjectArray<b3GpuConstraint4>& m_constraints;
-	b3AlignedObjectArray<int>* m_batchSizes;
-	int m_cellIndex;
-	int m_curWgidx;
-	int m_start;
-	int m_nConstraints;
-	bool m_solveFriction;
-	int m_maxNumBatches;
-};
-
-void b3Solver::solveContactConstraintHost(b3OpenCLArray<b3RigidBodyData>* bodyBuf, b3OpenCLArray<b3InertiaData>* shapeBuf,
-										  b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, b3AlignedObjectArray<int>* batchSizes)
-{
-#if 0
-	{	
-		int nSplitX = B3_SOLVER_N_SPLIT_X;
-		int nSplitY = B3_SOLVER_N_SPLIT_Y;
-		int numWorkgroups = B3_SOLVER_N_CELLS/B3_SOLVER_N_BATCHES;
-		for (int z=0;z<4;z++)
-		{
-			for (int y=0;y<4;y++)
-			{
-				for (int x=0;x<4;x++)
-				{
-					int newIndex = (x+y*nSplitX+z*nSplitX*nSplitY);
-				//	printf("newIndex=%d\n",newIndex);
-
-					int zIdx = newIndex/(nSplitX*nSplitY);
-					int remain = newIndex%(nSplitX*nSplitY);
-					int yIdx = remain/nSplitX;
-					int xIdx = remain%nSplitX;
-				//	printf("newIndex=%d\n",newIndex);
-				}
-			}
-		}
-
-		//for (int wgIdx=numWorkgroups-1;wgIdx>=0;wgIdx--)
-		for (int cellBatch=0;cellBatch<B3_SOLVER_N_BATCHES;cellBatch++)
-		{
-			for (int wgIdx=0;wgIdx<numWorkgroups;wgIdx++)
-			{
-				int zIdx = (wgIdx/((nSplitX*nSplitY)/4))*2+((cellBatch&4)>>2);
-				int remain= (wgIdx%((nSplitX*nSplitY)/4));
-				int yIdx = (remain/(nSplitX/2))*2 + ((cellBatch&2)>>1);
-				int xIdx = (remain%(nSplitX/2))*2 + (cellBatch&1);
-				
-				/*int zIdx = newIndex/(nSplitX*nSplitY);
-				int remain = newIndex%(nSplitX*nSplitY);
-				int yIdx = remain/nSplitX;
-				int xIdx = remain%nSplitX;
-				*/
-				int cellIdx = xIdx+yIdx*nSplitX+zIdx*(nSplitX*nSplitY);
-			//	printf("wgIdx %d: xIdx=%d, yIdx=%d, zIdx=%d, cellIdx=%d, cell Batch %d\n",wgIdx,xIdx,yIdx,zIdx,cellIdx,cellBatch);
-			}
-		}
-	}
-#endif
-
-	b3AlignedObjectArray<b3RigidBodyData> bodyNative;
-	bodyBuf->copyToHost(bodyNative);
-	b3AlignedObjectArray<b3InertiaData> shapeNative;
-	shapeBuf->copyToHost(shapeNative);
-	b3AlignedObjectArray<b3GpuConstraint4> constraintNative;
-	constraint->copyToHost(constraintNative);
-
-	b3AlignedObjectArray<unsigned int> numConstraintsHost;
-	m_numConstraints->copyToHost(numConstraintsHost);
-
-	//printf("------------------------\n");
-	b3AlignedObjectArray<unsigned int> offsetsHost;
-	m_offsets->copyToHost(offsetsHost);
-	static int frame = 0;
-	bool useBatches = true;
-	if (useBatches)
-	{
-		for (int iter = 0; iter < m_nIterations; iter++)
-		{
-			for (int cellBatch = 0; cellBatch < B3_SOLVER_N_BATCHES; cellBatch++)
-			{
-				int nSplitX = B3_SOLVER_N_SPLIT_X;
-				int nSplitY = B3_SOLVER_N_SPLIT_Y;
-				int numWorkgroups = B3_SOLVER_N_CELLS / B3_SOLVER_N_BATCHES;
-				//printf("cell Batch %d\n",cellBatch);
-				b3AlignedObjectArray<int> usedBodies[B3_SOLVER_N_CELLS];
-				for (int i = 0; i < B3_SOLVER_N_CELLS; i++)
-				{
-					usedBodies[i].resize(0);
-				}
-
-				//for (int wgIdx=numWorkgroups-1;wgIdx>=0;wgIdx--)
-				for (int wgIdx = 0; wgIdx < numWorkgroups; wgIdx++)
-				{
-					int zIdx = (wgIdx / ((nSplitX * nSplitY) / 4)) * 2 + ((cellBatch & 4) >> 2);
-					int remain = (wgIdx % ((nSplitX * nSplitY) / 4));
-					int yIdx = (remain / (nSplitX / 2)) * 2 + ((cellBatch & 2) >> 1);
-					int xIdx = (remain % (nSplitX / 2)) * 2 + (cellBatch & 1);
-					int cellIdx = xIdx + yIdx * nSplitX + zIdx * (nSplitX * nSplitY);
-
-					if (numConstraintsHost[cellIdx] == 0)
-						continue;
-
-					//printf("wgIdx %d: xIdx=%d, yIdx=%d, zIdx=%d, cellIdx=%d, cell Batch %d\n",wgIdx,xIdx,yIdx,zIdx,cellIdx,cellBatch);
-					//printf("cell %d has %d constraints\n", cellIdx,numConstraintsHost[cellIdx]);
-					if (zIdx)
-					{
-						//printf("?\n");
-					}
-
-					if (iter == 0)
-					{
-						//printf("frame=%d, Cell xIdx=%x, yIdx=%d ",frame, xIdx,yIdx);
-						//printf("cellBatch=%d, wgIdx=%d, #constraints in cell=%d\n",cellBatch,wgIdx,numConstraintsHost[cellIdx]);
-					}
-					const int start = offsetsHost[cellIdx];
-					int numConstraintsInCell = numConstraintsHost[cellIdx];
-					//				const int end = start + numConstraintsInCell;
-
-					SolveTask task(bodyNative, shapeNative, constraintNative, start, numConstraintsInCell, maxNumBatches, usedBodies, wgIdx, batchSizes, cellIdx);
-					task.m_solveFriction = false;
-					task.run(0);
-				}
-			}
-		}
-
-		for (int iter = 0; iter < m_nIterations; iter++)
-		{
-			for (int cellBatch = 0; cellBatch < B3_SOLVER_N_BATCHES; cellBatch++)
-			{
-				int nSplitX = B3_SOLVER_N_SPLIT_X;
-				int nSplitY = B3_SOLVER_N_SPLIT_Y;
-
-				int numWorkgroups = B3_SOLVER_N_CELLS / B3_SOLVER_N_BATCHES;
-
-				for (int wgIdx = 0; wgIdx < numWorkgroups; wgIdx++)
-				{
-					int zIdx = (wgIdx / ((nSplitX * nSplitY) / 4)) * 2 + ((cellBatch & 4) >> 2);
-					int remain = (wgIdx % ((nSplitX * nSplitY) / 4));
-					int yIdx = (remain / (nSplitX / 2)) * 2 + ((cellBatch & 2) >> 1);
-					int xIdx = (remain % (nSplitX / 2)) * 2 + (cellBatch & 1);
-
-					int cellIdx = xIdx + yIdx * nSplitX + zIdx * (nSplitX * nSplitY);
-
-					if (numConstraintsHost[cellIdx] == 0)
-						continue;
-
-					//printf("yIdx=%d\n",yIdx);
-
-					const int start = offsetsHost[cellIdx];
-					int numConstraintsInCell = numConstraintsHost[cellIdx];
-					//				const int end = start + numConstraintsInCell;
-
-					SolveTask task(bodyNative, shapeNative, constraintNative, start, numConstraintsInCell, maxNumBatches, 0, 0, batchSizes, cellIdx);
-					task.m_solveFriction = true;
-					task.run(0);
-				}
-			}
-		}
-	}
-	else
-	{
-		for (int iter = 0; iter < m_nIterations; iter++)
-		{
-			SolveTask task(bodyNative, shapeNative, constraintNative, 0, n, maxNumBatches, 0, 0, 0, 0);
-			task.m_solveFriction = false;
-			task.run(0);
-		}
-
-		for (int iter = 0; iter < m_nIterations; iter++)
-		{
-			SolveTask task(bodyNative, shapeNative, constraintNative, 0, n, maxNumBatches, 0, 0, 0, 0);
-			task.m_solveFriction = true;
-			task.run(0);
-		}
-	}
-
-	bodyBuf->copyFromHost(bodyNative);
-	shapeBuf->copyFromHost(shapeNative);
-	constraint->copyFromHost(constraintNative);
-	frame++;
-}
-
-void checkConstraintBatch(const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
-						  const b3OpenCLArray<b3InertiaData>* shapeBuf,
-						  b3OpenCLArray<b3GpuConstraint4>* constraint,
-						  b3OpenCLArray<unsigned int>* m_numConstraints,
-						  b3OpenCLArray<unsigned int>* m_offsets,
-						  int batchId)
-{
-	//						b3BufferInfoCL( m_numConstraints->getBufferCL() ),
-	//						b3BufferInfoCL( m_offsets->getBufferCL() )
-
-	int cellBatch = batchId;
-	const int nn = B3_SOLVER_N_CELLS;
-	//	int numWorkItems = 64*nn/B3_SOLVER_N_BATCHES;
-
-	b3AlignedObjectArray<unsigned int> gN;
-	m_numConstraints->copyToHost(gN);
-	b3AlignedObjectArray<unsigned int> gOffsets;
-	m_offsets->copyToHost(gOffsets);
-	int nSplitX = B3_SOLVER_N_SPLIT_X;
-	int nSplitY = B3_SOLVER_N_SPLIT_Y;
-
-	//	int bIdx = batchId;
-
-	b3AlignedObjectArray<b3GpuConstraint4> cpuConstraints;
-	constraint->copyToHost(cpuConstraints);
-
-	printf("batch = %d\n", batchId);
-
-	int numWorkgroups = nn / B3_SOLVER_N_BATCHES;
-	b3AlignedObjectArray<int> usedBodies;
-
-	for (int wgIdx = 0; wgIdx < numWorkgroups; wgIdx++)
-	{
-		printf("wgIdx = %d           ", wgIdx);
-
-		int zIdx = (wgIdx / ((nSplitX * nSplitY)) / 2) * 2 + ((cellBatch & 4) >> 2);
-		int remain = wgIdx % ((nSplitX * nSplitY));
-		int yIdx = (remain % (nSplitX / 2)) * 2 + ((cellBatch & 2) >> 1);
-		int xIdx = (remain / (nSplitX / 2)) * 2 + (cellBatch & 1);
-
-		int cellIdx = xIdx + yIdx * nSplitX + zIdx * (nSplitX * nSplitY);
-		printf("cellIdx=%d\n", cellIdx);
-		if (gN[cellIdx] == 0)
-			continue;
-
-		const int start = gOffsets[cellIdx];
-		const int end = start + gN[cellIdx];
-
-		for (int c = start; c < end; c++)
-		{
-			b3GpuConstraint4& constraint = cpuConstraints[c];
-			//printf("constraint (%d,%d)\n", constraint.m_bodyA,constraint.m_bodyB);
-			if (usedBodies.findLinearSearch(constraint.m_bodyA) < usedBodies.size())
-			{
-				printf("error?\n");
-			}
-			if (usedBodies.findLinearSearch(constraint.m_bodyB) < usedBodies.size())
-			{
-				printf("error?\n");
-			}
-		}
-
-		for (int c = start; c < end; c++)
-		{
-			b3GpuConstraint4& constraint = cpuConstraints[c];
-			usedBodies.push_back(constraint.m_bodyA);
-			usedBodies.push_back(constraint.m_bodyB);
-		}
-	}
-}
-
-static bool verify = false;
-
-void b3Solver::solveContactConstraint(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf,
-									  b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches)
-{
-	b3Int4 cdata = b3MakeInt4(n, 0, 0, 0);
-	{
-		const int nn = B3_SOLVER_N_CELLS;
-
-		cdata.x = 0;
-		cdata.y = maxNumBatches;  //250;
-
-		int numWorkItems = 64 * nn / B3_SOLVER_N_BATCHES;
-#ifdef DEBUG_ME
-		SolverDebugInfo* debugInfo = new SolverDebugInfo[numWorkItems];
-		adl::b3OpenCLArray<SolverDebugInfo> gpuDebugInfo(data->m_device, numWorkItems);
-#endif
-
-		{
-			B3_PROFILE("m_batchSolveKernel iterations");
-			for (int iter = 0; iter < m_nIterations; iter++)
-			{
-				for (int ib = 0; ib < B3_SOLVER_N_BATCHES; ib++)
-				{
-					if (verify)
-					{
-						checkConstraintBatch(bodyBuf, shapeBuf, constraint, m_numConstraints, m_offsets, ib);
-					}
-
-#ifdef DEBUG_ME
-					memset(debugInfo, 0, sizeof(SolverDebugInfo) * numWorkItems);
-					gpuDebugInfo.write(debugInfo, numWorkItems);
-#endif
-
-					cdata.z = ib;
-
-					b3LauncherCL launcher(m_queue, m_solveContactKernel, "m_solveContactKernel");
-#if 1
-
-					b3BufferInfoCL bInfo[] = {
-
-						b3BufferInfoCL(bodyBuf->getBufferCL()),
-						b3BufferInfoCL(shapeBuf->getBufferCL()),
-						b3BufferInfoCL(constraint->getBufferCL()),
-						b3BufferInfoCL(m_numConstraints->getBufferCL()),
-						b3BufferInfoCL(m_offsets->getBufferCL())
-#ifdef DEBUG_ME
-							,
-						b3BufferInfoCL(&gpuDebugInfo)
-#endif
-					};
-
-					launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-					//launcher.setConst(  cdata.x );
-					launcher.setConst(cdata.y);
-					launcher.setConst(cdata.z);
-					b3Int4 nSplit;
-					nSplit.x = B3_SOLVER_N_SPLIT_X;
-					nSplit.y = B3_SOLVER_N_SPLIT_Y;
-					nSplit.z = B3_SOLVER_N_SPLIT_Z;
-
-					launcher.setConst(nSplit);
-					launcher.launch1D(numWorkItems, 64);
-
-#else
-					const char* fileName = "m_batchSolveKernel.bin";
-					FILE* f = fopen(fileName, "rb");
-					if (f)
-					{
-						int sizeInBytes = 0;
-						if (fseek(f, 0, SEEK_END) || (sizeInBytes = ftell(f)) == EOF || fseek(f, 0, SEEK_SET))
-						{
-							printf("error, cannot get file size\n");
-							exit(0);
-						}
-
-						unsigned char* buf = (unsigned char*)malloc(sizeInBytes);
-						fread(buf, sizeInBytes, 1, f);
-						int serializedBytes = launcher.deserializeArgs(buf, sizeInBytes, m_context);
-						int num = *(int*)&buf[serializedBytes];
-
-						launcher.launch1D(num);
-
-						//this clFinish is for testing on errors
-						clFinish(m_queue);
-					}
-
-#endif
-
-#ifdef DEBUG_ME
-					clFinish(m_queue);
-					gpuDebugInfo.read(debugInfo, numWorkItems);
-					clFinish(m_queue);
-					for (int i = 0; i < numWorkItems; i++)
-					{
-						if (debugInfo[i].m_valInt2 > 0)
-						{
-							printf("debugInfo[i].m_valInt2 = %d\n", i, debugInfo[i].m_valInt2);
-						}
-
-						if (debugInfo[i].m_valInt3 > 0)
-						{
-							printf("debugInfo[i].m_valInt3 = %d\n", i, debugInfo[i].m_valInt3);
-						}
-					}
-#endif  //DEBUG_ME
-				}
-			}
-
-			clFinish(m_queue);
-		}
-
-		cdata.x = 1;
-		bool applyFriction = true;
-		if (applyFriction)
-		{
-			B3_PROFILE("m_batchSolveKernel iterations2");
-			for (int iter = 0; iter < m_nIterations; iter++)
-			{
-				for (int ib = 0; ib < B3_SOLVER_N_BATCHES; ib++)
-				{
-					cdata.z = ib;
-
-					b3BufferInfoCL bInfo[] = {
-						b3BufferInfoCL(bodyBuf->getBufferCL()),
-						b3BufferInfoCL(shapeBuf->getBufferCL()),
-						b3BufferInfoCL(constraint->getBufferCL()),
-						b3BufferInfoCL(m_numConstraints->getBufferCL()),
-						b3BufferInfoCL(m_offsets->getBufferCL())
-#ifdef DEBUG_ME
-							,
-						b3BufferInfoCL(&gpuDebugInfo)
-#endif  //DEBUG_ME
-					};
-					b3LauncherCL launcher(m_queue, m_solveFrictionKernel, "m_solveFrictionKernel");
-					launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-					//launcher.setConst(  cdata.x );
-					launcher.setConst(cdata.y);
-					launcher.setConst(cdata.z);
-					b3Int4 nSplit;
-					nSplit.x = B3_SOLVER_N_SPLIT_X;
-					nSplit.y = B3_SOLVER_N_SPLIT_Y;
-					nSplit.z = B3_SOLVER_N_SPLIT_Z;
-
-					launcher.setConst(nSplit);
-
-					launcher.launch1D(64 * nn / B3_SOLVER_N_BATCHES, 64);
-				}
-			}
-			clFinish(m_queue);
-		}
-#ifdef DEBUG_ME
-		delete[] debugInfo;
-#endif  //DEBUG_ME
-	}
-}
-
-void b3Solver::convertToConstraints(const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
-									const b3OpenCLArray<b3InertiaData>* shapeBuf,
-									b3OpenCLArray<b3Contact4>* contactsIn, b3OpenCLArray<b3GpuConstraint4>* contactCOut, void* additionalData,
-									int nContacts, const ConstraintCfg& cfg)
-{
-	//	b3OpenCLArray<b3GpuConstraint4>* constraintNative =0;
-	contactCOut->resize(nContacts);
-	struct CB
-	{
-		int m_nContacts;
-		float m_dt;
-		float m_positionDrift;
-		float m_positionConstraintCoeff;
-	};
-
-	{
-		CB cdata;
-		cdata.m_nContacts = nContacts;
-		cdata.m_dt = cfg.m_dt;
-		cdata.m_positionDrift = cfg.m_positionDrift;
-		cdata.m_positionConstraintCoeff = cfg.m_positionConstraintCoeff;
-
-		if (gConvertConstraintOnCpu)
-		{
-			b3AlignedObjectArray<b3RigidBodyData> gBodies;
-			bodyBuf->copyToHost(gBodies);
-
-			b3AlignedObjectArray<b3Contact4> gContact;
-			contactsIn->copyToHost(gContact);
-
-			b3AlignedObjectArray<b3InertiaData> gShapes;
-			shapeBuf->copyToHost(gShapes);
-
-			b3AlignedObjectArray<b3GpuConstraint4> gConstraintOut;
-			gConstraintOut.resize(nContacts);
-
-			B3_PROFILE("cpu contactToConstraintKernel");
-			for (int gIdx = 0; gIdx < nContacts; gIdx++)
-			{
-				int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit);
-				int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit);
-
-				b3Float4 posA = gBodies[aIdx].m_pos;
-				b3Float4 linVelA = gBodies[aIdx].m_linVel;
-				b3Float4 angVelA = gBodies[aIdx].m_angVel;
-				float invMassA = gBodies[aIdx].m_invMass;
-				b3Mat3x3 invInertiaA = gShapes[aIdx].m_initInvInertia;
-
-				b3Float4 posB = gBodies[bIdx].m_pos;
-				b3Float4 linVelB = gBodies[bIdx].m_linVel;
-				b3Float4 angVelB = gBodies[bIdx].m_angVel;
-				float invMassB = gBodies[bIdx].m_invMass;
-				b3Mat3x3 invInertiaB = gShapes[bIdx].m_initInvInertia;
-
-				b3ContactConstraint4_t cs;
-
-				setConstraint4(posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,
-							   &gContact[gIdx], cdata.m_dt, cdata.m_positionDrift, cdata.m_positionConstraintCoeff,
-							   &cs);
-
-				cs.m_batchIdx = gContact[gIdx].m_batchIdx;
-
-				gConstraintOut[gIdx] = (b3GpuConstraint4&)cs;
-			}
-
-			contactCOut->copyFromHost(gConstraintOut);
-		}
-		else
-		{
-			B3_PROFILE("gpu m_contactToConstraintKernel");
-
-			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(contactsIn->getBufferCL()), b3BufferInfoCL(bodyBuf->getBufferCL()), b3BufferInfoCL(shapeBuf->getBufferCL()),
-									  b3BufferInfoCL(contactCOut->getBufferCL())};
-			b3LauncherCL launcher(m_queue, m_contactToConstraintKernel, "m_contactToConstraintKernel");
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			//launcher.setConst(  cdata );
-
-			launcher.setConst(cdata.m_nContacts);
-			launcher.setConst(cdata.m_dt);
-			launcher.setConst(cdata.m_positionDrift);
-			launcher.setConst(cdata.m_positionConstraintCoeff);
-
-			launcher.launch1D(nContacts, 64);
-			clFinish(m_queue);
-		}
-	}
-}
-
-/*
-void b3Solver::sortContacts(  const b3OpenCLArray<b3RigidBodyData>* bodyBuf, 
-			b3OpenCLArray<b3Contact4>* contactsIn, void* additionalData, 
-			int nContacts, const b3Solver::ConstraintCfg& cfg )
-{
-	
-	
-
-	const int sortAlignment = 512; // todo. get this out of sort
-	if( cfg.m_enableParallelSolve )
-	{
-		
-
-		int sortSize = NEXTMULTIPLEOF( nContacts, sortAlignment );
-
-		b3OpenCLArray<unsigned int>* countsNative = m_numConstraints;//BufferUtils::map<TYPE_CL, false>( data->m_device, &countsHost );
-		b3OpenCLArray<unsigned int>* offsetsNative = m_offsets;//BufferUtils::map<TYPE_CL, false>( data->m_device, &offsetsHost );
-
-		{	//	2. set cell idx
-			struct CB
-			{
-				int m_nContacts;
-				int m_staticIdx;
-				float m_scale;
-				int m_nSplit;
-			};
-
-			b3Assert( sortSize%64 == 0 );
-			CB cdata;
-			cdata.m_nContacts = nContacts;
-			cdata.m_staticIdx = cfg.m_staticIdx;
-			cdata.m_scale = 1.f/(N_OBJ_PER_SPLIT*cfg.m_averageExtent);
-			cdata.m_nSplit = B3_SOLVER_N_SPLIT;
-
-			
-			b3BufferInfoCL bInfo[] = { b3BufferInfoCL( contactsIn->getBufferCL() ), b3BufferInfoCL( bodyBuf->getBufferCL() ), b3BufferInfoCL( m_sortDataBuffer->getBufferCL() ) };
-			b3LauncherCL launcher( m_queue, m_setSortDataKernel );
-			launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-			launcher.setConst(  cdata );
-			launcher.launch1D( sortSize, 64 );
-		}
-
-		{	//	3. sort by cell idx
-			int n = B3_SOLVER_N_SPLIT*B3_SOLVER_N_SPLIT;
-			int sortBit = 32;
-			//if( n <= 0xffff ) sortBit = 16;
-			//if( n <= 0xff ) sortBit = 8;
-			m_sort32->execute(*m_sortDataBuffer,sortSize);
-		}
-		{	//	4. find entries
-			m_search->execute( *m_sortDataBuffer, nContacts, *countsNative, B3_SOLVER_N_SPLIT*B3_SOLVER_N_SPLIT, b3BoundSearchCL::COUNT);
-
-			m_scan->execute( *countsNative, *offsetsNative, B3_SOLVER_N_SPLIT*B3_SOLVER_N_SPLIT );
-		}
-
-		{	//	5. sort constraints by cellIdx
-			//	todo. preallocate this
-//			b3Assert( contactsIn->getType() == TYPE_HOST );
-//			b3OpenCLArray<b3Contact4>* out = BufferUtils::map<TYPE_CL, false>( data->m_device, contactsIn );	//	copying contacts to this buffer
-
-			{
-				
-
-				b3Int4 cdata; cdata.x = nContacts;
-				b3BufferInfoCL bInfo[] = { b3BufferInfoCL( contactsIn->getBufferCL() ), b3BufferInfoCL( m_contactBuffer->getBufferCL() ), b3BufferInfoCL( m_sortDataBuffer->getBufferCL() ) };
-				b3LauncherCL launcher( m_queue, m_reorderContactKernel );
-				launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-				launcher.setConst(  cdata );
-				launcher.launch1D( nContacts, 64 );
-			}
-//			BufferUtils::unmap<true>( out, contactsIn, nContacts );
-		}
-	}
-
-	
-}
-
-*/
-void b3Solver::batchContacts(b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* nNative, b3OpenCLArray<unsigned int>* offsetsNative, int staticIdx)
-{
-	int numWorkItems = 64 * B3_SOLVER_N_CELLS;
-	{
-		B3_PROFILE("batch generation");
-
-		b3Int4 cdata;
-		cdata.x = nContacts;
-		cdata.y = 0;
-		cdata.z = staticIdx;
-
-#ifdef BATCH_DEBUG
-		SolverDebugInfo* debugInfo = new SolverDebugInfo[numWorkItems];
-		adl::b3OpenCLArray<SolverDebugInfo> gpuDebugInfo(data->m_device, numWorkItems);
-		memset(debugInfo, 0, sizeof(SolverDebugInfo) * numWorkItems);
-		gpuDebugInfo.write(debugInfo, numWorkItems);
-#endif
-
-#if 0
-		b3BufferInfoCL bInfo[] = { 
-			b3BufferInfoCL( contacts->getBufferCL() ), 
-			b3BufferInfoCL(  m_contactBuffer2->getBufferCL()),
-			b3BufferInfoCL( nNative->getBufferCL() ), 
-			b3BufferInfoCL( offsetsNative->getBufferCL() ),
-#ifdef BATCH_DEBUG
-			,	b3BufferInfoCL(&gpuDebugInfo)
-#endif
-		};
-#endif
-
-		{
-			m_batchSizes.resize(nNative->size());
-			B3_PROFILE("batchingKernel");
-			//b3LauncherCL launcher( m_queue, m_batchingKernel);
-			cl_kernel k = useNewBatchingKernel ? m_batchingKernelNew : m_batchingKernel;
-
-			b3LauncherCL launcher(m_queue, k, "*batchingKernel");
-			if (!useNewBatchingKernel)
-			{
-				launcher.setBuffer(contacts->getBufferCL());
-			}
-			launcher.setBuffer(m_contactBuffer2->getBufferCL());
-			launcher.setBuffer(nNative->getBufferCL());
-			launcher.setBuffer(offsetsNative->getBufferCL());
-
-			launcher.setBuffer(m_batchSizes.getBufferCL());
-
-			//launcher.setConst(  cdata );
-			launcher.setConst(staticIdx);
-
-			launcher.launch1D(numWorkItems, 64);
-			//clFinish(m_queue);
-			//b3AlignedObjectArray<int> batchSizesCPU;
-			//m_batchSizes.copyToHost(batchSizesCPU);
-			//printf(".\n");
-		}
-
-#ifdef BATCH_DEBUG
-		aaaa
-			b3Contact4* hostContacts = new b3Contact4[nContacts];
-		m_contactBuffer->read(hostContacts, nContacts);
-		clFinish(m_queue);
-
-		gpuDebugInfo.read(debugInfo, numWorkItems);
-		clFinish(m_queue);
-
-		for (int i = 0; i < numWorkItems; i++)
-		{
-			if (debugInfo[i].m_valInt1 > 0)
-			{
-				printf("catch\n");
-			}
-			if (debugInfo[i].m_valInt2 > 0)
-			{
-				printf("catch22\n");
-			}
-
-			if (debugInfo[i].m_valInt3 > 0)
-			{
-				printf("catch666\n");
-			}
-
-			if (debugInfo[i].m_valInt4 > 0)
-			{
-				printf("catch777\n");
-			}
-		}
-		delete[] debugInfo;
-#endif  //BATCH_DEBUG
-	}
-
-	//	copy buffer to buffer
-	//b3Assert(m_contactBuffer->size()==nContacts);
-	//contacts->copyFromOpenCLArray( *m_contactBuffer);
-	//clFinish(m_queue);//needed?
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.h
deleted file mode 100644
index ee63531d78..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.h
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Takahiro Harada
-
-#ifndef __ADL_SOLVER_H
-#define __ADL_SOLVER_H
-
-#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
-#include "b3GpuConstraint4.h"
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
-
-#include "Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.h"
-
-#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
-
-#define B3NEXTMULTIPLEOF(num, alignment) (((num) / (alignment) + (((num) % (alignment) == 0) ? 0 : 1)) * (alignment))
-
-enum
-{
-	B3_SOLVER_N_SPLIT_X = 8,  //16,//4,
-	B3_SOLVER_N_SPLIT_Y = 4,  //16,//4,
-	B3_SOLVER_N_SPLIT_Z = 8,  //,
-	B3_SOLVER_N_CELLS = B3_SOLVER_N_SPLIT_X * B3_SOLVER_N_SPLIT_Y * B3_SOLVER_N_SPLIT_Z,
-	B3_SOLVER_N_BATCHES = 8,  //4,//8,//4,
-	B3_MAX_NUM_BATCHES = 128,
-};
-
-class b3SolverBase
-{
-public:
-	struct ConstraintCfg
-	{
-		ConstraintCfg(float dt = 0.f) : m_positionDrift(0.005f), m_positionConstraintCoeff(0.2f), m_dt(dt), m_staticIdx(-1) {}
-
-		float m_positionDrift;
-		float m_positionConstraintCoeff;
-		float m_dt;
-		bool m_enableParallelSolve;
-		float m_batchCellSize;
-		int m_staticIdx;
-	};
-};
-
-class b3Solver : public b3SolverBase
-{
-public:
-	cl_context m_context;
-	cl_device_id m_device;
-	cl_command_queue m_queue;
-
-	b3OpenCLArray<unsigned int>* m_numConstraints;
-	b3OpenCLArray<unsigned int>* m_offsets;
-	b3OpenCLArray<int> m_batchSizes;
-
-	int m_nIterations;
-	cl_kernel m_batchingKernel;
-	cl_kernel m_batchingKernelNew;
-	cl_kernel m_solveContactKernel;
-	cl_kernel m_solveFrictionKernel;
-	cl_kernel m_contactToConstraintKernel;
-	cl_kernel m_setSortDataKernel;
-	cl_kernel m_reorderContactKernel;
-	cl_kernel m_copyConstraintKernel;
-
-	class b3RadixSort32CL* m_sort32;
-	class b3BoundSearchCL* m_search;
-	class b3PrefixScanCL* m_scan;
-
-	b3OpenCLArray<b3SortData>* m_sortDataBuffer;
-	b3OpenCLArray<b3Contact4>* m_contactBuffer2;
-
-	enum
-	{
-		DYNAMIC_CONTACT_ALLOCATION_THRESHOLD = 2000000,
-	};
-
-	b3Solver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity);
-
-	virtual ~b3Solver();
-
-	void solveContactConstraint(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* inertiaBuf,
-								b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches);
-
-	void solveContactConstraintHost(b3OpenCLArray<b3RigidBodyData>* bodyBuf, b3OpenCLArray<b3InertiaData>* shapeBuf,
-									b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, b3AlignedObjectArray<int>* batchSizes);
-
-	void convertToConstraints(const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
-							  const b3OpenCLArray<b3InertiaData>* shapeBuf,
-							  b3OpenCLArray<b3Contact4>* contactsIn, b3OpenCLArray<b3GpuConstraint4>* contactCOut, void* additionalData,
-							  int nContacts, const ConstraintCfg& cfg);
-
-	void batchContacts(b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* n, b3OpenCLArray<unsigned int>* offsets, int staticIdx);
-};
-
-#endif  //__ADL_SOLVER_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernels.cl b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernels.cl
deleted file mode 100644
index 3b891b863d..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernels.cl
+++ /dev/null
@@ -1,353 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Takahiro Harada
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
-
-#pragma OPENCL EXTENSION cl_amd_printf : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable
-
-#ifdef cl_ext_atomic_counters_32
-#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable
-#else
-#define counter32_t volatile __global int*
-#endif
-
-
-typedef unsigned int u32;
-typedef unsigned short u16;
-typedef unsigned char u8;
-
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GET_NUM_GROUPS get_num_groups(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
-#define AtomInc(x) atom_inc(&(x))
-#define AtomInc1(x, out) out = atom_inc(&(x))
-#define AppendInc(x, out) out = atomic_inc(x)
-#define AtomAdd(x, value) atom_add(&(x), value)
-#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )
-#define AtomXhg(x, value) atom_xchg ( &(x), value )
-
-
-#define SELECT_UINT4( b, a, condition ) select( b,a,condition )
-
-#define make_float4 (float4)
-#define make_float2 (float2)
-#define make_uint4 (uint4)
-#define make_int4 (int4)
-#define make_uint2 (uint2)
-#define make_int2 (int2)
-
-
-#define max2 max
-#define min2 min
-
-
-#define WG_SIZE 64
-
-
-
-
-
-typedef struct 
-{
-	int m_n;
-	int m_start;
-	int m_staticIdx;
-	int m_paddings[1];
-} ConstBuffer;
-
-typedef struct 
-{
-	int m_a;
-	int m_b;
-	u32 m_idx;
-}Elem;
-
-#define STACK_SIZE (WG_SIZE*10)
-//#define STACK_SIZE (WG_SIZE)
-#define RING_SIZE 1024
-#define RING_SIZE_MASK (RING_SIZE-1)
-#define CHECK_SIZE (WG_SIZE)
-
-
-#define GET_RING_CAPACITY (RING_SIZE - ldsRingEnd)
-#define RING_END ldsTmp
-
-u32 readBuf(__local u32* buff, int idx)
-{
-	idx = idx % (32*CHECK_SIZE);
-	int bitIdx = idx%32;
-	int bufIdx = idx/32;
-	return buff[bufIdx] & (1<<bitIdx);
-}
-
-void writeBuf(__local u32* buff, int idx)
-{
-	idx = idx % (32*CHECK_SIZE);
-	int bitIdx = idx%32;
-	int bufIdx = idx/32;
-//	buff[bufIdx] |= (1<<bitIdx);
-	atom_or( &buff[bufIdx], (1<<bitIdx) );
-}
-
-u32 tryWrite(__local u32* buff, int idx)
-{
-	idx = idx % (32*CHECK_SIZE);
-	int bitIdx = idx%32;
-	int bufIdx = idx/32;
-	u32 ans = (u32)atom_or( &buff[bufIdx], (1<<bitIdx) );
-	return ((ans >> bitIdx)&1) == 0;
-}
-
-//	batching on the GPU
-__kernel void CreateBatches( __global const struct b3Contact4Data* gConstraints, __global struct b3Contact4Data* gConstraintsOut,
-		__global const u32* gN, __global const u32* gStart, __global int* batchSizes, 
-		int m_staticIdx )
-{
-	__local u32 ldsStackIdx[STACK_SIZE];
-	__local u32 ldsStackEnd;
-	__local Elem ldsRingElem[RING_SIZE];
-	__local u32 ldsRingEnd;
-	__local u32 ldsTmp;
-	__local u32 ldsCheckBuffer[CHECK_SIZE];
-	__local u32 ldsFixedBuffer[CHECK_SIZE];
-	__local u32 ldsGEnd;
-	__local u32 ldsDstEnd;
-
-	int wgIdx = GET_GROUP_IDX;
-	int lIdx = GET_LOCAL_IDX;
-	
-	const int m_n = gN[wgIdx];
-	const int m_start = gStart[wgIdx];
-		
-	if( lIdx == 0 )
-	{
-		ldsRingEnd = 0;
-		ldsGEnd = 0;
-		ldsStackEnd = 0;
-		ldsDstEnd = m_start;
-	}
-	
-	
-	
-//	while(1)
-//was 250
-	int ie=0;
-	int maxBatch = 0;
-	for(ie=0; ie<50; ie++)
-	{
-		ldsFixedBuffer[lIdx] = 0;
-
-		for(int giter=0; giter<4; giter++)
-		{
-			int ringCap = GET_RING_CAPACITY;
-		
-			//	1. fill ring
-			if( ldsGEnd < m_n )
-			{
-				while( ringCap > WG_SIZE )
-				{
-					if( ldsGEnd >= m_n ) break;
-					if( lIdx < ringCap - WG_SIZE )
-					{
-						int srcIdx;
-						AtomInc1( ldsGEnd, srcIdx );
-						if( srcIdx < m_n )
-						{
-							int dstIdx;
-							AtomInc1( ldsRingEnd, dstIdx );
-							
-							int a = gConstraints[m_start+srcIdx].m_bodyAPtrAndSignBit;
-							int b = gConstraints[m_start+srcIdx].m_bodyBPtrAndSignBit;
-							ldsRingElem[dstIdx].m_a = (a>b)? b:a;
-							ldsRingElem[dstIdx].m_b = (a>b)? a:b;
-							ldsRingElem[dstIdx].m_idx = srcIdx;
-						}
-					}
-					ringCap = GET_RING_CAPACITY;
-				}
-			}
-
-			GROUP_LDS_BARRIER;
-	
-			//	2. fill stack
-			__local Elem* dst = ldsRingElem;
-			if( lIdx == 0 ) RING_END = 0;
-
-			int srcIdx=lIdx;
-			int end = ldsRingEnd;
-
-			{
-				for(int ii=0; ii<end; ii+=WG_SIZE, srcIdx+=WG_SIZE)
-				{
-					Elem e;
-					if(srcIdx<end) e = ldsRingElem[srcIdx];
-					bool done = (srcIdx<end)?false:true;
-
-					for(int i=lIdx; i<CHECK_SIZE; i+=WG_SIZE) ldsCheckBuffer[lIdx] = 0;
-					
-					if( !done )
-					{
-						int aUsed = readBuf( ldsFixedBuffer, abs(e.m_a));
-						int bUsed = readBuf( ldsFixedBuffer, abs(e.m_b));
-
-						if( aUsed==0 && bUsed==0 )
-						{
-							int aAvailable=1;
-							int bAvailable=1;
-							int ea = abs(e.m_a);
-							int eb = abs(e.m_b);
-
-							bool aStatic = (e.m_a<0) ||(ea==m_staticIdx);
-							bool bStatic = (e.m_b<0) ||(eb==m_staticIdx);
-							
-							if (!aStatic)
-								aAvailable = tryWrite( ldsCheckBuffer, ea );
-							if (!bStatic)
-								bAvailable = tryWrite( ldsCheckBuffer, eb );
-							
-							//aAvailable = aStatic? 1: aAvailable;
-							//bAvailable = bStatic? 1: bAvailable;
-
-							bool success = (aAvailable && bAvailable);
-							if(success)
-							{
-							
-								if (!aStatic)
-									writeBuf( ldsFixedBuffer, ea );
-								if (!bStatic)
-									writeBuf( ldsFixedBuffer, eb );
-							}
-							done = success;
-						}
-					}
-
-					//	put it aside
-					if(srcIdx<end)
-					{
-						if( done )
-						{
-							int dstIdx; AtomInc1( ldsStackEnd, dstIdx );
-							if( dstIdx < STACK_SIZE )
-								ldsStackIdx[dstIdx] = e.m_idx;
-							else{
-								done = false;
-								AtomAdd( ldsStackEnd, -1 );
-							}
-						}
-						if( !done )
-						{
-							int dstIdx; AtomInc1( RING_END, dstIdx );
-							dst[dstIdx] = e;
-						}
-					}
-
-					//	if filled, flush
-					if( ldsStackEnd == STACK_SIZE )
-					{
-						for(int i=lIdx; i<STACK_SIZE; i+=WG_SIZE)
-						{
-							int idx = m_start + ldsStackIdx[i];
-							int dstIdx; AtomInc1( ldsDstEnd, dstIdx );
-							gConstraintsOut[ dstIdx ] = gConstraints[ idx ];
-							gConstraintsOut[ dstIdx ].m_batchIdx = ie;
-						}
-						if( lIdx == 0 ) ldsStackEnd = 0;
-
-						//for(int i=lIdx; i<CHECK_SIZE; i+=WG_SIZE) 
-						ldsFixedBuffer[lIdx] = 0;
-					}
-				}
-			}
-
-			if( lIdx == 0 ) ldsRingEnd = RING_END;
-		}
-
-		GROUP_LDS_BARRIER;
-
-		for(int i=lIdx; i<ldsStackEnd; i+=WG_SIZE)
-		{
-			int idx = m_start + ldsStackIdx[i];
-			int dstIdx; AtomInc1( ldsDstEnd, dstIdx );
-			gConstraintsOut[ dstIdx ] = gConstraints[ idx ];
-			gConstraintsOut[ dstIdx ].m_batchIdx = ie;
-		}
-
-		//	in case it couldn't consume any pair. Flush them
-		//	todo. Serial batch worth while?
-		if( ldsStackEnd == 0 )
-		{
-			for(int i=lIdx; i<ldsRingEnd; i+=WG_SIZE)
-			{
-				int idx = m_start + ldsRingElem[i].m_idx;
-				int dstIdx; AtomInc1( ldsDstEnd, dstIdx );
-				gConstraintsOut[ dstIdx ] = gConstraints[ idx ];
-				int curBatch = 100+i;
-				if (maxBatch < curBatch)
-					maxBatch = curBatch;
-				
-				gConstraintsOut[ dstIdx ].m_batchIdx = curBatch;
-				
-			}
-			GROUP_LDS_BARRIER;
-			if( lIdx == 0 ) ldsRingEnd = 0;
-		}
-
-		if( lIdx == 0 ) ldsStackEnd = 0;
-
-		GROUP_LDS_BARRIER;
-
-		//	termination
-		if( ldsGEnd == m_n && ldsRingEnd == 0 )
-			break;
-	}
-
-	if( lIdx == 0 )
-	{
-		if (maxBatch < ie)
-			maxBatch=ie;
-		batchSizes[wgIdx]=maxBatch;
-	}
-
-}
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h
deleted file mode 100644
index 7c73c96baa..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h
+++ /dev/null
@@ -1,387 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* batchingKernelsCL =
-	"/*\n"
-	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose, \n"
-	"including commercial applications, and to alter it and redistribute it freely, \n"
-	"subject to the following restrictions:\n"
-	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Originally written by Takahiro Harada\n"
-	"#ifndef B3_CONTACT4DATA_H\n"
-	"#define B3_CONTACT4DATA_H\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#define B3_FLOAT4_H\n"
-	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-	"#define B3_PLATFORM_DEFINITIONS_H\n"
-	"struct MyTest\n"
-	"{\n"
-	"	int bla;\n"
-	"};\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-	"#define B3_LARGE_FLOAT 1e18f\n"
-	"#define B3_INFINITY 1e18f\n"
-	"#define b3Assert(a)\n"
-	"#define b3ConstArray(a) __global const a*\n"
-	"#define b3AtomicInc atomic_inc\n"
-	"#define b3AtomicAdd atomic_add\n"
-	"#define b3Fabs fabs\n"
-	"#define b3Sqrt native_sqrt\n"
-	"#define b3Sin native_sin\n"
-	"#define b3Cos native_cos\n"
-	"#define B3_STATIC\n"
-	"#endif\n"
-	"#endif\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"	typedef float4	b3Float4;\n"
-	"	#define b3Float4ConstArg const b3Float4\n"
-	"	#define b3MakeFloat4 (float4)\n"
-	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return dot(a1, b1);\n"
-	"	}\n"
-	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return cross(a1, b1);\n"
-	"	}\n"
-	"	#define b3MinFloat4 min\n"
-	"	#define b3MaxFloat4 max\n"
-	"	#define b3Normalized(a) normalize(a)\n"
-	"#endif \n"
-	"		\n"
-	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-	"{\n"
-	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-	"		return false;\n"
-	"	return true;\n"
-	"}\n"
-	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-	"{\n"
-	"    float maxDot = -B3_INFINITY;\n"
-	"    int i = 0;\n"
-	"    int ptIndex = -1;\n"
-	"    for( i = 0; i < vecLen; i++ )\n"
-	"    {\n"
-	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-	"            \n"
-	"        if( dot > maxDot )\n"
-	"        {\n"
-	"            maxDot = dot;\n"
-	"            ptIndex = i;\n"
-	"        }\n"
-	"    }\n"
-	"	b3Assert(ptIndex>=0);\n"
-	"    if (ptIndex<0)\n"
-	"	{\n"
-	"		ptIndex = 0;\n"
-	"	}\n"
-	"    *dotOut = maxDot;\n"
-	"    return ptIndex;\n"
-	"}\n"
-	"#endif //B3_FLOAT4_H\n"
-	"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
-	"struct b3Contact4Data\n"
-	"{\n"
-	"	b3Float4	m_worldPosB[4];\n"
-	"//	b3Float4	m_localPosA[4];\n"
-	"//	b3Float4	m_localPosB[4];\n"
-	"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
-	"	unsigned short  m_restituitionCoeffCmp;\n"
-	"	unsigned short  m_frictionCoeffCmp;\n"
-	"	int m_batchIdx;\n"
-	"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
-	"	int m_bodyBPtrAndSignBit;\n"
-	"	int	m_childIndexA;\n"
-	"	int	m_childIndexB;\n"
-	"	int m_unused1;\n"
-	"	int m_unused2;\n"
-	"};\n"
-	"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
-	"{\n"
-	"	return (int)contact->m_worldNormalOnB.w;\n"
-	"};\n"
-	"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
-	"{\n"
-	"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
-	"};\n"
-	"#endif //B3_CONTACT4DATA_H\n"
-	"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
-	"#ifdef cl_ext_atomic_counters_32\n"
-	"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
-	"#else\n"
-	"#define counter32_t volatile __global int*\n"
-	"#endif\n"
-	"typedef unsigned int u32;\n"
-	"typedef unsigned short u16;\n"
-	"typedef unsigned char u8;\n"
-	"#define GET_GROUP_IDX get_group_id(0)\n"
-	"#define GET_LOCAL_IDX get_local_id(0)\n"
-	"#define GET_GLOBAL_IDX get_global_id(0)\n"
-	"#define GET_GROUP_SIZE get_local_size(0)\n"
-	"#define GET_NUM_GROUPS get_num_groups(0)\n"
-	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-	"#define AtomInc(x) atom_inc(&(x))\n"
-	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-	"#define AppendInc(x, out) out = atomic_inc(x)\n"
-	"#define AtomAdd(x, value) atom_add(&(x), value)\n"
-	"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
-	"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
-	"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
-	"#define make_float4 (float4)\n"
-	"#define make_float2 (float2)\n"
-	"#define make_uint4 (uint4)\n"
-	"#define make_int4 (int4)\n"
-	"#define make_uint2 (uint2)\n"
-	"#define make_int2 (int2)\n"
-	"#define max2 max\n"
-	"#define min2 min\n"
-	"#define WG_SIZE 64\n"
-	"typedef struct \n"
-	"{\n"
-	"	int m_n;\n"
-	"	int m_start;\n"
-	"	int m_staticIdx;\n"
-	"	int m_paddings[1];\n"
-	"} ConstBuffer;\n"
-	"typedef struct \n"
-	"{\n"
-	"	int m_a;\n"
-	"	int m_b;\n"
-	"	u32 m_idx;\n"
-	"}Elem;\n"
-	"#define STACK_SIZE (WG_SIZE*10)\n"
-	"//#define STACK_SIZE (WG_SIZE)\n"
-	"#define RING_SIZE 1024\n"
-	"#define RING_SIZE_MASK (RING_SIZE-1)\n"
-	"#define CHECK_SIZE (WG_SIZE)\n"
-	"#define GET_RING_CAPACITY (RING_SIZE - ldsRingEnd)\n"
-	"#define RING_END ldsTmp\n"
-	"u32 readBuf(__local u32* buff, int idx)\n"
-	"{\n"
-	"	idx = idx % (32*CHECK_SIZE);\n"
-	"	int bitIdx = idx%32;\n"
-	"	int bufIdx = idx/32;\n"
-	"	return buff[bufIdx] & (1<<bitIdx);\n"
-	"}\n"
-	"void writeBuf(__local u32* buff, int idx)\n"
-	"{\n"
-	"	idx = idx % (32*CHECK_SIZE);\n"
-	"	int bitIdx = idx%32;\n"
-	"	int bufIdx = idx/32;\n"
-	"//	buff[bufIdx] |= (1<<bitIdx);\n"
-	"	atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
-	"}\n"
-	"u32 tryWrite(__local u32* buff, int idx)\n"
-	"{\n"
-	"	idx = idx % (32*CHECK_SIZE);\n"
-	"	int bitIdx = idx%32;\n"
-	"	int bufIdx = idx/32;\n"
-	"	u32 ans = (u32)atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
-	"	return ((ans >> bitIdx)&1) == 0;\n"
-	"}\n"
-	"//	batching on the GPU\n"
-	"__kernel void CreateBatches( __global const struct b3Contact4Data* gConstraints, __global struct b3Contact4Data* gConstraintsOut,\n"
-	"		__global const u32* gN, __global const u32* gStart, __global int* batchSizes, \n"
-	"		int m_staticIdx )\n"
-	"{\n"
-	"	__local u32 ldsStackIdx[STACK_SIZE];\n"
-	"	__local u32 ldsStackEnd;\n"
-	"	__local Elem ldsRingElem[RING_SIZE];\n"
-	"	__local u32 ldsRingEnd;\n"
-	"	__local u32 ldsTmp;\n"
-	"	__local u32 ldsCheckBuffer[CHECK_SIZE];\n"
-	"	__local u32 ldsFixedBuffer[CHECK_SIZE];\n"
-	"	__local u32 ldsGEnd;\n"
-	"	__local u32 ldsDstEnd;\n"
-	"	int wgIdx = GET_GROUP_IDX;\n"
-	"	int lIdx = GET_LOCAL_IDX;\n"
-	"	\n"
-	"	const int m_n = gN[wgIdx];\n"
-	"	const int m_start = gStart[wgIdx];\n"
-	"		\n"
-	"	if( lIdx == 0 )\n"
-	"	{\n"
-	"		ldsRingEnd = 0;\n"
-	"		ldsGEnd = 0;\n"
-	"		ldsStackEnd = 0;\n"
-	"		ldsDstEnd = m_start;\n"
-	"	}\n"
-	"	\n"
-	"	\n"
-	"	\n"
-	"//	while(1)\n"
-	"//was 250\n"
-	"	int ie=0;\n"
-	"	int maxBatch = 0;\n"
-	"	for(ie=0; ie<50; ie++)\n"
-	"	{\n"
-	"		ldsFixedBuffer[lIdx] = 0;\n"
-	"		for(int giter=0; giter<4; giter++)\n"
-	"		{\n"
-	"			int ringCap = GET_RING_CAPACITY;\n"
-	"		\n"
-	"			//	1. fill ring\n"
-	"			if( ldsGEnd < m_n )\n"
-	"			{\n"
-	"				while( ringCap > WG_SIZE )\n"
-	"				{\n"
-	"					if( ldsGEnd >= m_n ) break;\n"
-	"					if( lIdx < ringCap - WG_SIZE )\n"
-	"					{\n"
-	"						int srcIdx;\n"
-	"						AtomInc1( ldsGEnd, srcIdx );\n"
-	"						if( srcIdx < m_n )\n"
-	"						{\n"
-	"							int dstIdx;\n"
-	"							AtomInc1( ldsRingEnd, dstIdx );\n"
-	"							\n"
-	"							int a = gConstraints[m_start+srcIdx].m_bodyAPtrAndSignBit;\n"
-	"							int b = gConstraints[m_start+srcIdx].m_bodyBPtrAndSignBit;\n"
-	"							ldsRingElem[dstIdx].m_a = (a>b)? b:a;\n"
-	"							ldsRingElem[dstIdx].m_b = (a>b)? a:b;\n"
-	"							ldsRingElem[dstIdx].m_idx = srcIdx;\n"
-	"						}\n"
-	"					}\n"
-	"					ringCap = GET_RING_CAPACITY;\n"
-	"				}\n"
-	"			}\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"	\n"
-	"			//	2. fill stack\n"
-	"			__local Elem* dst = ldsRingElem;\n"
-	"			if( lIdx == 0 ) RING_END = 0;\n"
-	"			int srcIdx=lIdx;\n"
-	"			int end = ldsRingEnd;\n"
-	"			{\n"
-	"				for(int ii=0; ii<end; ii+=WG_SIZE, srcIdx+=WG_SIZE)\n"
-	"				{\n"
-	"					Elem e;\n"
-	"					if(srcIdx<end) e = ldsRingElem[srcIdx];\n"
-	"					bool done = (srcIdx<end)?false:true;\n"
-	"					for(int i=lIdx; i<CHECK_SIZE; i+=WG_SIZE) ldsCheckBuffer[lIdx] = 0;\n"
-	"					\n"
-	"					if( !done )\n"
-	"					{\n"
-	"						int aUsed = readBuf( ldsFixedBuffer, abs(e.m_a));\n"
-	"						int bUsed = readBuf( ldsFixedBuffer, abs(e.m_b));\n"
-	"						if( aUsed==0 && bUsed==0 )\n"
-	"						{\n"
-	"							int aAvailable=1;\n"
-	"							int bAvailable=1;\n"
-	"							int ea = abs(e.m_a);\n"
-	"							int eb = abs(e.m_b);\n"
-	"							bool aStatic = (e.m_a<0) ||(ea==m_staticIdx);\n"
-	"							bool bStatic = (e.m_b<0) ||(eb==m_staticIdx);\n"
-	"							\n"
-	"							if (!aStatic)\n"
-	"								aAvailable = tryWrite( ldsCheckBuffer, ea );\n"
-	"							if (!bStatic)\n"
-	"								bAvailable = tryWrite( ldsCheckBuffer, eb );\n"
-	"							\n"
-	"							//aAvailable = aStatic? 1: aAvailable;\n"
-	"							//bAvailable = bStatic? 1: bAvailable;\n"
-	"							bool success = (aAvailable && bAvailable);\n"
-	"							if(success)\n"
-	"							{\n"
-	"							\n"
-	"								if (!aStatic)\n"
-	"									writeBuf( ldsFixedBuffer, ea );\n"
-	"								if (!bStatic)\n"
-	"									writeBuf( ldsFixedBuffer, eb );\n"
-	"							}\n"
-	"							done = success;\n"
-	"						}\n"
-	"					}\n"
-	"					//	put it aside\n"
-	"					if(srcIdx<end)\n"
-	"					{\n"
-	"						if( done )\n"
-	"						{\n"
-	"							int dstIdx; AtomInc1( ldsStackEnd, dstIdx );\n"
-	"							if( dstIdx < STACK_SIZE )\n"
-	"								ldsStackIdx[dstIdx] = e.m_idx;\n"
-	"							else{\n"
-	"								done = false;\n"
-	"								AtomAdd( ldsStackEnd, -1 );\n"
-	"							}\n"
-	"						}\n"
-	"						if( !done )\n"
-	"						{\n"
-	"							int dstIdx; AtomInc1( RING_END, dstIdx );\n"
-	"							dst[dstIdx] = e;\n"
-	"						}\n"
-	"					}\n"
-	"					//	if filled, flush\n"
-	"					if( ldsStackEnd == STACK_SIZE )\n"
-	"					{\n"
-	"						for(int i=lIdx; i<STACK_SIZE; i+=WG_SIZE)\n"
-	"						{\n"
-	"							int idx = m_start + ldsStackIdx[i];\n"
-	"							int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n"
-	"							gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n"
-	"							gConstraintsOut[ dstIdx ].m_batchIdx = ie;\n"
-	"						}\n"
-	"						if( lIdx == 0 ) ldsStackEnd = 0;\n"
-	"						//for(int i=lIdx; i<CHECK_SIZE; i+=WG_SIZE) \n"
-	"						ldsFixedBuffer[lIdx] = 0;\n"
-	"					}\n"
-	"				}\n"
-	"			}\n"
-	"			if( lIdx == 0 ) ldsRingEnd = RING_END;\n"
-	"		}\n"
-	"		GROUP_LDS_BARRIER;\n"
-	"		for(int i=lIdx; i<ldsStackEnd; i+=WG_SIZE)\n"
-	"		{\n"
-	"			int idx = m_start + ldsStackIdx[i];\n"
-	"			int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n"
-	"			gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n"
-	"			gConstraintsOut[ dstIdx ].m_batchIdx = ie;\n"
-	"		}\n"
-	"		//	in case it couldn't consume any pair. Flush them\n"
-	"		//	todo. Serial batch worth while?\n"
-	"		if( ldsStackEnd == 0 )\n"
-	"		{\n"
-	"			for(int i=lIdx; i<ldsRingEnd; i+=WG_SIZE)\n"
-	"			{\n"
-	"				int idx = m_start + ldsRingElem[i].m_idx;\n"
-	"				int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n"
-	"				gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n"
-	"				int curBatch = 100+i;\n"
-	"				if (maxBatch < curBatch)\n"
-	"					maxBatch = curBatch;\n"
-	"				\n"
-	"				gConstraintsOut[ dstIdx ].m_batchIdx = curBatch;\n"
-	"				\n"
-	"			}\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"			if( lIdx == 0 ) ldsRingEnd = 0;\n"
-	"		}\n"
-	"		if( lIdx == 0 ) ldsStackEnd = 0;\n"
-	"		GROUP_LDS_BARRIER;\n"
-	"		//	termination\n"
-	"		if( ldsGEnd == m_n && ldsRingEnd == 0 )\n"
-	"			break;\n"
-	"	}\n"
-	"	if( lIdx == 0 )\n"
-	"	{\n"
-	"		if (maxBatch < ie)\n"
-	"			maxBatch=ie;\n"
-	"		batchSizes[wgIdx]=maxBatch;\n"
-	"	}\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.cl b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.cl
deleted file mode 100644
index ba1b66d2c3..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.cl
+++ /dev/null
@@ -1,231 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Erwin Coumans
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
-
-#pragma OPENCL EXTENSION cl_amd_printf : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable
-
-#ifdef cl_ext_atomic_counters_32
-#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable
-#else
-#define counter32_t volatile __global int*
-#endif
-
-#define SIMD_WIDTH 64
-
-typedef unsigned int u32;
-typedef unsigned short u16;
-typedef unsigned char u8;
-
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GET_NUM_GROUPS get_num_groups(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
-#define AtomInc(x) atom_inc(&(x))
-#define AtomInc1(x, out) out = atom_inc(&(x))
-#define AppendInc(x, out) out = atomic_inc(x)
-#define AtomAdd(x, value) atom_add(&(x), value)
-#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )
-#define AtomXhg(x, value) atom_xchg ( &(x), value )
-
-
-#define SELECT_UINT4( b, a, condition ) select( b,a,condition )
-
-#define make_float4 (float4)
-#define make_float2 (float2)
-#define make_uint4 (uint4)
-#define make_int4 (int4)
-#define make_uint2 (uint2)
-#define make_int2 (int2)
-
-
-#define max2 max
-#define min2 min
-
-
-#define WG_SIZE 64
-
-
-
-
-
-typedef struct 
-{
-	int m_n;
-	int m_start;
-	int m_staticIdx;
-	int m_paddings[1];
-} ConstBuffer;
-
-typedef struct 
-{
-	int m_a;
-	int m_b;
-	u32 m_idx;
-}Elem;
-
-
-
-
-
-//	batching on the GPU
-__kernel void CreateBatchesBruteForce( __global struct b3Contact4Data* gConstraints, 	__global const u32* gN, __global const u32* gStart, int m_staticIdx )
-{
-	int wgIdx = GET_GROUP_IDX;
-	int lIdx = GET_LOCAL_IDX;
-	
-	const int m_n = gN[wgIdx];
-	const int m_start = gStart[wgIdx];
-		
-	if( lIdx == 0 )
-	{
-		for (int i=0;i<m_n;i++)
-		{
-			int srcIdx = i+m_start;
-			int batchIndex = i;
-			gConstraints[ srcIdx ].m_batchIdx = batchIndex;	
-		}
-	}
-}
-
-
-#define CHECK_SIZE (WG_SIZE)
-
-
-
-
-u32 readBuf(__local u32* buff, int idx)
-{
-	idx = idx % (32*CHECK_SIZE);
-	int bitIdx = idx%32;
-	int bufIdx = idx/32;
-	return buff[bufIdx] & (1<<bitIdx);
-}
-
-void writeBuf(__local u32* buff, int idx)
-{
-	idx = idx % (32*CHECK_SIZE);
-	int bitIdx = idx%32;
-	int bufIdx = idx/32;
-	buff[bufIdx] |= (1<<bitIdx);
-	//atom_or( &buff[bufIdx], (1<<bitIdx) );
-}
-
-u32 tryWrite(__local u32* buff, int idx)
-{
-	idx = idx % (32*CHECK_SIZE);
-	int bitIdx = idx%32;
-	int bufIdx = idx/32;
-	u32 ans = (u32)atom_or( &buff[bufIdx], (1<<bitIdx) );
-	return ((ans >> bitIdx)&1) == 0;
-}
-
-
-//	batching on the GPU
-__kernel void CreateBatchesNew( __global struct b3Contact4Data* gConstraints, __global const u32* gN, __global const u32* gStart, __global int* batchSizes, int staticIdx )
-{
-	int wgIdx = GET_GROUP_IDX;
-	int lIdx = GET_LOCAL_IDX;
-	const int numConstraints = gN[wgIdx];
-	const int m_start = gStart[wgIdx];
-	b3Contact4Data_t tmp;
-	
-	__local u32 ldsFixedBuffer[CHECK_SIZE];
-		
-	
-	
-	
-	
-	if( lIdx == 0 )
-	{
-	
-		
-		__global struct b3Contact4Data* cs = &gConstraints[m_start];	
-	
-		
-		int numValidConstraints = 0;
-		int batchIdx = 0;
-
-		while( numValidConstraints < numConstraints)
-		{
-			int nCurrentBatch = 0;
-			//	clear flag
-	
-			for(int i=0; i<CHECK_SIZE; i++) 
-				ldsFixedBuffer[i] = 0;		
-
-			for(int i=numValidConstraints; i<numConstraints; i++)
-			{
-
-				int bodyAS = cs[i].m_bodyAPtrAndSignBit;
-				int bodyBS = cs[i].m_bodyBPtrAndSignBit;
-				int bodyA = abs(bodyAS);
-				int bodyB = abs(bodyBS);
-				bool aIsStatic = (bodyAS<0) || bodyAS==staticIdx;
-				bool bIsStatic = (bodyBS<0) || bodyBS==staticIdx;
-				int aUnavailable = aIsStatic ? 0 : readBuf( ldsFixedBuffer, bodyA);
-				int bUnavailable = bIsStatic ? 0 : readBuf( ldsFixedBuffer, bodyB);
-				
-				if( aUnavailable==0 && bUnavailable==0 ) // ok
-				{
-					if (!aIsStatic)
-					{
-						writeBuf( ldsFixedBuffer, bodyA );
-					}
-					if (!bIsStatic)
-					{
-						writeBuf( ldsFixedBuffer, bodyB );
-					}
-
-					cs[i].m_batchIdx = batchIdx;
-
-					if (i!=numValidConstraints)
-					{
-
-						tmp = cs[i];
-						cs[i] = cs[numValidConstraints];
-						cs[numValidConstraints]  = tmp;
-
-
-					}
-
-					numValidConstraints++;
-					
-					nCurrentBatch++;
-					if( nCurrentBatch == SIMD_WIDTH)
-					{
-						nCurrentBatch = 0;
-						for(int i=0; i<CHECK_SIZE; i++) 
-							ldsFixedBuffer[i] = 0;
-						
-					}
-				}
-			}//for
-			batchIdx ++;
-		}//while
-		
-		batchSizes[wgIdx] = batchIdx;
-
-	}//if( lIdx == 0 )
-	
-	//return batchIdx;
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.h
deleted file mode 100644
index 05800656cb..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.h
+++ /dev/null
@@ -1,290 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* batchingKernelsNewCL =
-	"/*\n"
-	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose, \n"
-	"including commercial applications, and to alter it and redistribute it freely, \n"
-	"subject to the following restrictions:\n"
-	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Originally written by Erwin Coumans\n"
-	"#ifndef B3_CONTACT4DATA_H\n"
-	"#define B3_CONTACT4DATA_H\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#define B3_FLOAT4_H\n"
-	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-	"#define B3_PLATFORM_DEFINITIONS_H\n"
-	"struct MyTest\n"
-	"{\n"
-	"	int bla;\n"
-	"};\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-	"#define B3_LARGE_FLOAT 1e18f\n"
-	"#define B3_INFINITY 1e18f\n"
-	"#define b3Assert(a)\n"
-	"#define b3ConstArray(a) __global const a*\n"
-	"#define b3AtomicInc atomic_inc\n"
-	"#define b3AtomicAdd atomic_add\n"
-	"#define b3Fabs fabs\n"
-	"#define b3Sqrt native_sqrt\n"
-	"#define b3Sin native_sin\n"
-	"#define b3Cos native_cos\n"
-	"#define B3_STATIC\n"
-	"#endif\n"
-	"#endif\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"	typedef float4	b3Float4;\n"
-	"	#define b3Float4ConstArg const b3Float4\n"
-	"	#define b3MakeFloat4 (float4)\n"
-	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return dot(a1, b1);\n"
-	"	}\n"
-	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return cross(a1, b1);\n"
-	"	}\n"
-	"	#define b3MinFloat4 min\n"
-	"	#define b3MaxFloat4 max\n"
-	"	#define b3Normalized(a) normalize(a)\n"
-	"#endif \n"
-	"		\n"
-	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-	"{\n"
-	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-	"		return false;\n"
-	"	return true;\n"
-	"}\n"
-	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-	"{\n"
-	"    float maxDot = -B3_INFINITY;\n"
-	"    int i = 0;\n"
-	"    int ptIndex = -1;\n"
-	"    for( i = 0; i < vecLen; i++ )\n"
-	"    {\n"
-	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-	"            \n"
-	"        if( dot > maxDot )\n"
-	"        {\n"
-	"            maxDot = dot;\n"
-	"            ptIndex = i;\n"
-	"        }\n"
-	"    }\n"
-	"	b3Assert(ptIndex>=0);\n"
-	"    if (ptIndex<0)\n"
-	"	{\n"
-	"		ptIndex = 0;\n"
-	"	}\n"
-	"    *dotOut = maxDot;\n"
-	"    return ptIndex;\n"
-	"}\n"
-	"#endif //B3_FLOAT4_H\n"
-	"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
-	"struct b3Contact4Data\n"
-	"{\n"
-	"	b3Float4	m_worldPosB[4];\n"
-	"//	b3Float4	m_localPosA[4];\n"
-	"//	b3Float4	m_localPosB[4];\n"
-	"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
-	"	unsigned short  m_restituitionCoeffCmp;\n"
-	"	unsigned short  m_frictionCoeffCmp;\n"
-	"	int m_batchIdx;\n"
-	"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
-	"	int m_bodyBPtrAndSignBit;\n"
-	"	int	m_childIndexA;\n"
-	"	int	m_childIndexB;\n"
-	"	int m_unused1;\n"
-	"	int m_unused2;\n"
-	"};\n"
-	"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
-	"{\n"
-	"	return (int)contact->m_worldNormalOnB.w;\n"
-	"};\n"
-	"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
-	"{\n"
-	"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
-	"};\n"
-	"#endif //B3_CONTACT4DATA_H\n"
-	"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
-	"#ifdef cl_ext_atomic_counters_32\n"
-	"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
-	"#else\n"
-	"#define counter32_t volatile __global int*\n"
-	"#endif\n"
-	"#define SIMD_WIDTH 64\n"
-	"typedef unsigned int u32;\n"
-	"typedef unsigned short u16;\n"
-	"typedef unsigned char u8;\n"
-	"#define GET_GROUP_IDX get_group_id(0)\n"
-	"#define GET_LOCAL_IDX get_local_id(0)\n"
-	"#define GET_GLOBAL_IDX get_global_id(0)\n"
-	"#define GET_GROUP_SIZE get_local_size(0)\n"
-	"#define GET_NUM_GROUPS get_num_groups(0)\n"
-	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-	"#define AtomInc(x) atom_inc(&(x))\n"
-	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-	"#define AppendInc(x, out) out = atomic_inc(x)\n"
-	"#define AtomAdd(x, value) atom_add(&(x), value)\n"
-	"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
-	"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
-	"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
-	"#define make_float4 (float4)\n"
-	"#define make_float2 (float2)\n"
-	"#define make_uint4 (uint4)\n"
-	"#define make_int4 (int4)\n"
-	"#define make_uint2 (uint2)\n"
-	"#define make_int2 (int2)\n"
-	"#define max2 max\n"
-	"#define min2 min\n"
-	"#define WG_SIZE 64\n"
-	"typedef struct \n"
-	"{\n"
-	"	int m_n;\n"
-	"	int m_start;\n"
-	"	int m_staticIdx;\n"
-	"	int m_paddings[1];\n"
-	"} ConstBuffer;\n"
-	"typedef struct \n"
-	"{\n"
-	"	int m_a;\n"
-	"	int m_b;\n"
-	"	u32 m_idx;\n"
-	"}Elem;\n"
-	"//	batching on the GPU\n"
-	"__kernel void CreateBatchesBruteForce( __global struct b3Contact4Data* gConstraints, 	__global const u32* gN, __global const u32* gStart, int m_staticIdx )\n"
-	"{\n"
-	"	int wgIdx = GET_GROUP_IDX;\n"
-	"	int lIdx = GET_LOCAL_IDX;\n"
-	"	\n"
-	"	const int m_n = gN[wgIdx];\n"
-	"	const int m_start = gStart[wgIdx];\n"
-	"		\n"
-	"	if( lIdx == 0 )\n"
-	"	{\n"
-	"		for (int i=0;i<m_n;i++)\n"
-	"		{\n"
-	"			int srcIdx = i+m_start;\n"
-	"			int batchIndex = i;\n"
-	"			gConstraints[ srcIdx ].m_batchIdx = batchIndex;	\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"#define CHECK_SIZE (WG_SIZE)\n"
-	"u32 readBuf(__local u32* buff, int idx)\n"
-	"{\n"
-	"	idx = idx % (32*CHECK_SIZE);\n"
-	"	int bitIdx = idx%32;\n"
-	"	int bufIdx = idx/32;\n"
-	"	return buff[bufIdx] & (1<<bitIdx);\n"
-	"}\n"
-	"void writeBuf(__local u32* buff, int idx)\n"
-	"{\n"
-	"	idx = idx % (32*CHECK_SIZE);\n"
-	"	int bitIdx = idx%32;\n"
-	"	int bufIdx = idx/32;\n"
-	"	buff[bufIdx] |= (1<<bitIdx);\n"
-	"	//atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
-	"}\n"
-	"u32 tryWrite(__local u32* buff, int idx)\n"
-	"{\n"
-	"	idx = idx % (32*CHECK_SIZE);\n"
-	"	int bitIdx = idx%32;\n"
-	"	int bufIdx = idx/32;\n"
-	"	u32 ans = (u32)atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
-	"	return ((ans >> bitIdx)&1) == 0;\n"
-	"}\n"
-	"//	batching on the GPU\n"
-	"__kernel void CreateBatchesNew( __global struct b3Contact4Data* gConstraints, __global const u32* gN, __global const u32* gStart, __global int* batchSizes, int staticIdx )\n"
-	"{\n"
-	"	int wgIdx = GET_GROUP_IDX;\n"
-	"	int lIdx = GET_LOCAL_IDX;\n"
-	"	const int numConstraints = gN[wgIdx];\n"
-	"	const int m_start = gStart[wgIdx];\n"
-	"	b3Contact4Data_t tmp;\n"
-	"	\n"
-	"	__local u32 ldsFixedBuffer[CHECK_SIZE];\n"
-	"		\n"
-	"	\n"
-	"	\n"
-	"	\n"
-	"	\n"
-	"	if( lIdx == 0 )\n"
-	"	{\n"
-	"	\n"
-	"		\n"
-	"		__global struct b3Contact4Data* cs = &gConstraints[m_start];	\n"
-	"	\n"
-	"		\n"
-	"		int numValidConstraints = 0;\n"
-	"		int batchIdx = 0;\n"
-	"		while( numValidConstraints < numConstraints)\n"
-	"		{\n"
-	"			int nCurrentBatch = 0;\n"
-	"			//	clear flag\n"
-	"	\n"
-	"			for(int i=0; i<CHECK_SIZE; i++) \n"
-	"				ldsFixedBuffer[i] = 0;		\n"
-	"			for(int i=numValidConstraints; i<numConstraints; i++)\n"
-	"			{\n"
-	"				int bodyAS = cs[i].m_bodyAPtrAndSignBit;\n"
-	"				int bodyBS = cs[i].m_bodyBPtrAndSignBit;\n"
-	"				int bodyA = abs(bodyAS);\n"
-	"				int bodyB = abs(bodyBS);\n"
-	"				bool aIsStatic = (bodyAS<0) || bodyAS==staticIdx;\n"
-	"				bool bIsStatic = (bodyBS<0) || bodyBS==staticIdx;\n"
-	"				int aUnavailable = aIsStatic ? 0 : readBuf( ldsFixedBuffer, bodyA);\n"
-	"				int bUnavailable = bIsStatic ? 0 : readBuf( ldsFixedBuffer, bodyB);\n"
-	"				\n"
-	"				if( aUnavailable==0 && bUnavailable==0 ) // ok\n"
-	"				{\n"
-	"					if (!aIsStatic)\n"
-	"					{\n"
-	"						writeBuf( ldsFixedBuffer, bodyA );\n"
-	"					}\n"
-	"					if (!bIsStatic)\n"
-	"					{\n"
-	"						writeBuf( ldsFixedBuffer, bodyB );\n"
-	"					}\n"
-	"					cs[i].m_batchIdx = batchIdx;\n"
-	"					if (i!=numValidConstraints)\n"
-	"					{\n"
-	"						tmp = cs[i];\n"
-	"						cs[i] = cs[numValidConstraints];\n"
-	"						cs[numValidConstraints]  = tmp;\n"
-	"					}\n"
-	"					numValidConstraints++;\n"
-	"					\n"
-	"					nCurrentBatch++;\n"
-	"					if( nCurrentBatch == SIMD_WIDTH)\n"
-	"					{\n"
-	"						nCurrentBatch = 0;\n"
-	"						for(int i=0; i<CHECK_SIZE; i++) \n"
-	"							ldsFixedBuffer[i] = 0;\n"
-	"						\n"
-	"					}\n"
-	"				}\n"
-	"			}//for\n"
-	"			batchIdx ++;\n"
-	"		}//while\n"
-	"		\n"
-	"		batchSizes[wgIdx] = batchIdx;\n"
-	"	}//if( lIdx == 0 )\n"
-	"	\n"
-	"	//return batchIdx;\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/integrateKernel.cl b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/integrateKernel.cl
deleted file mode 100644
index e22bc9bc33..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/integrateKernel.cl
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
-Copyright (c) 2013 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Erwin Coumans
-
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-
-#include "Bullet3Dynamics/shared/b3IntegrateTransforms.h"
-
-
-
-__kernel void 
-  integrateTransformsKernel( __global b3RigidBodyData_t* bodies,const int numNodes, float timeStep, float angularDamping, float4 gravityAcceleration)
-{
-	int nodeID = get_global_id(0);
-	
-	if( nodeID < numNodes)
-	{
-		integrateSingleTransform(bodies,nodeID, timeStep, angularDamping,gravityAcceleration);
-	}
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h
deleted file mode 100644
index 6e9c53e161..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h
+++ /dev/null
@@ -1,432 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* integrateKernelCL =
-	"/*\n"
-	"Copyright (c) 2013 Advanced Micro Devices, Inc.  \n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose, \n"
-	"including commercial applications, and to alter it and redistribute it freely, \n"
-	"subject to the following restrictions:\n"
-	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Originally written by Erwin Coumans\n"
-	"#ifndef B3_RIGIDBODY_DATA_H\n"
-	"#define B3_RIGIDBODY_DATA_H\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#define B3_FLOAT4_H\n"
-	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-	"#define B3_PLATFORM_DEFINITIONS_H\n"
-	"struct MyTest\n"
-	"{\n"
-	"	int bla;\n"
-	"};\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-	"#define B3_LARGE_FLOAT 1e18f\n"
-	"#define B3_INFINITY 1e18f\n"
-	"#define b3Assert(a)\n"
-	"#define b3ConstArray(a) __global const a*\n"
-	"#define b3AtomicInc atomic_inc\n"
-	"#define b3AtomicAdd atomic_add\n"
-	"#define b3Fabs fabs\n"
-	"#define b3Sqrt native_sqrt\n"
-	"#define b3Sin native_sin\n"
-	"#define b3Cos native_cos\n"
-	"#define B3_STATIC\n"
-	"#endif\n"
-	"#endif\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"	typedef float4	b3Float4;\n"
-	"	#define b3Float4ConstArg const b3Float4\n"
-	"	#define b3MakeFloat4 (float4)\n"
-	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return dot(a1, b1);\n"
-	"	}\n"
-	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return cross(a1, b1);\n"
-	"	}\n"
-	"	#define b3MinFloat4 min\n"
-	"	#define b3MaxFloat4 max\n"
-	"	#define b3Normalized(a) normalize(a)\n"
-	"#endif \n"
-	"		\n"
-	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-	"{\n"
-	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-	"		return false;\n"
-	"	return true;\n"
-	"}\n"
-	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-	"{\n"
-	"    float maxDot = -B3_INFINITY;\n"
-	"    int i = 0;\n"
-	"    int ptIndex = -1;\n"
-	"    for( i = 0; i < vecLen; i++ )\n"
-	"    {\n"
-	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-	"            \n"
-	"        if( dot > maxDot )\n"
-	"        {\n"
-	"            maxDot = dot;\n"
-	"            ptIndex = i;\n"
-	"        }\n"
-	"    }\n"
-	"	b3Assert(ptIndex>=0);\n"
-	"    if (ptIndex<0)\n"
-	"	{\n"
-	"		ptIndex = 0;\n"
-	"	}\n"
-	"    *dotOut = maxDot;\n"
-	"    return ptIndex;\n"
-	"}\n"
-	"#endif //B3_FLOAT4_H\n"
-	"#ifndef B3_QUAT_H\n"
-	"#define B3_QUAT_H\n"
-	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif\n"
-	"#endif\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"	typedef float4	b3Quat;\n"
-	"	#define b3QuatConstArg const b3Quat\n"
-	"	\n"
-	"	\n"
-	"inline float4 b3FastNormalize4(float4 v)\n"
-	"{\n"
-	"	v = (float4)(v.xyz,0.f);\n"
-	"	return fast_normalize(v);\n"
-	"}\n"
-	"	\n"
-	"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
-	"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
-	"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
-	"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
-	"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
-	"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
-	"{\n"
-	"	b3Quat ans;\n"
-	"	ans = b3Cross3( a, b );\n"
-	"	ans += a.w*b+b.w*a;\n"
-	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-	"	ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
-	"	return ans;\n"
-	"}\n"
-	"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
-	"{\n"
-	"	b3Quat q;\n"
-	"	q=in;\n"
-	"	//return b3FastNormalize4(in);\n"
-	"	float len = native_sqrt(dot(q, q));\n"
-	"	if(len > 0.f)\n"
-	"	{\n"
-	"		q *= 1.f / len;\n"
-	"	}\n"
-	"	else\n"
-	"	{\n"
-	"		q.x = q.y = q.z = 0.f;\n"
-	"		q.w = 1.f;\n"
-	"	}\n"
-	"	return q;\n"
-	"}\n"
-	"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-	"{\n"
-	"	b3Quat qInv = b3QuatInvert( q );\n"
-	"	float4 vcpy = vec;\n"
-	"	vcpy.w = 0.f;\n"
-	"	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
-	"	return out;\n"
-	"}\n"
-	"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
-	"{\n"
-	"	return (b3Quat)(-q.xyz, q.w);\n"
-	"}\n"
-	"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
-	"{\n"
-	"	return (b3Quat)(-q.xyz, q.w);\n"
-	"}\n"
-	"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-	"{\n"
-	"	return b3QuatRotate( b3QuatInvert( q ), vec );\n"
-	"}\n"
-	"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
-	"{\n"
-	"	return b3QuatRotate( orientation, point ) + (translation);\n"
-	"}\n"
-	"	\n"
-	"#endif \n"
-	"#endif //B3_QUAT_H\n"
-	"#ifndef B3_MAT3x3_H\n"
-	"#define B3_MAT3x3_H\n"
-	"#ifndef B3_QUAT_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_QUAT_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"typedef struct\n"
-	"{\n"
-	"	b3Float4 m_row[3];\n"
-	"}b3Mat3x3;\n"
-	"#define b3Mat3x3ConstArg const b3Mat3x3\n"
-	"#define b3GetRow(m,row) (m.m_row[row])\n"
-	"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
-	"{\n"
-	"	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
-	"	b3Mat3x3 out;\n"
-	"	out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
-	"	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
-	"	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
-	"	out.m_row[0].w = 0.f;\n"
-	"	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
-	"	out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
-	"	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
-	"	out.m_row[1].w = 0.f;\n"
-	"	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
-	"	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
-	"	out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
-	"	out.m_row[2].w = 0.f;\n"
-	"	return out;\n"
-	"}\n"
-	"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
-	"{\n"
-	"	b3Mat3x3 out;\n"
-	"	out.m_row[0] = fabs(matIn.m_row[0]);\n"
-	"	out.m_row[1] = fabs(matIn.m_row[1]);\n"
-	"	out.m_row[2] = fabs(matIn.m_row[2]);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtZero();\n"
-	"__inline\n"
-	"b3Mat3x3 mtIdentity();\n"
-	"__inline\n"
-	"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
-	"__inline\n"
-	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
-	"__inline\n"
-	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
-	"__inline\n"
-	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
-	"__inline\n"
-	"b3Mat3x3 mtZero()\n"
-	"{\n"
-	"	b3Mat3x3 m;\n"
-	"	m.m_row[0] = (b3Float4)(0.f);\n"
-	"	m.m_row[1] = (b3Float4)(0.f);\n"
-	"	m.m_row[2] = (b3Float4)(0.f);\n"
-	"	return m;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtIdentity()\n"
-	"{\n"
-	"	b3Mat3x3 m;\n"
-	"	m.m_row[0] = (b3Float4)(1,0,0,0);\n"
-	"	m.m_row[1] = (b3Float4)(0,1,0,0);\n"
-	"	m.m_row[2] = (b3Float4)(0,0,1,0);\n"
-	"	return m;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
-	"{\n"
-	"	b3Mat3x3 out;\n"
-	"	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
-	"	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
-	"	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
-	"{\n"
-	"	b3Mat3x3 transB;\n"
-	"	transB = mtTranspose( b );\n"
-	"	b3Mat3x3 ans;\n"
-	"	//	why this doesn't run when 0ing in the for{}\n"
-	"	a.m_row[0].w = 0.f;\n"
-	"	a.m_row[1].w = 0.f;\n"
-	"	a.m_row[2].w = 0.f;\n"
-	"	for(int i=0; i<3; i++)\n"
-	"	{\n"
-	"//	a.m_row[i].w = 0.f;\n"
-	"		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
-	"		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
-	"		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
-	"		ans.m_row[i].w = 0.f;\n"
-	"	}\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
-	"{\n"
-	"	b3Float4 ans;\n"
-	"	ans.x = b3Dot3F4( a.m_row[0], b );\n"
-	"	ans.y = b3Dot3F4( a.m_row[1], b );\n"
-	"	ans.z = b3Dot3F4( a.m_row[2], b );\n"
-	"	ans.w = 0.f;\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
-	"{\n"
-	"	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-	"	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-	"	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-	"	b3Float4 ans;\n"
-	"	ans.x = b3Dot3F4( a, colx );\n"
-	"	ans.y = b3Dot3F4( a, coly );\n"
-	"	ans.z = b3Dot3F4( a, colz );\n"
-	"	return ans;\n"
-	"}\n"
-	"#endif\n"
-	"#endif //B3_MAT3x3_H\n"
-	"typedef struct b3RigidBodyData b3RigidBodyData_t;\n"
-	"struct b3RigidBodyData\n"
-	"{\n"
-	"	b3Float4				m_pos;\n"
-	"	b3Quat					m_quat;\n"
-	"	b3Float4				m_linVel;\n"
-	"	b3Float4				m_angVel;\n"
-	"	int 					m_collidableIdx;\n"
-	"	float 				m_invMass;\n"
-	"	float 				m_restituitionCoeff;\n"
-	"	float 				m_frictionCoeff;\n"
-	"};\n"
-	"typedef struct b3InertiaData b3InertiaData_t;\n"
-	"struct b3InertiaData\n"
-	"{\n"
-	"	b3Mat3x3 m_invInertiaWorld;\n"
-	"	b3Mat3x3 m_initInvInertia;\n"
-	"};\n"
-	"#endif //B3_RIGIDBODY_DATA_H\n"
-	"	\n"
-	"#ifndef B3_RIGIDBODY_DATA_H\n"
-	"#endif //B3_RIGIDBODY_DATA_H\n"
-	"	\n"
-	"inline void integrateSingleTransform( __global b3RigidBodyData_t* bodies,int nodeID, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)\n"
-	"{\n"
-	"	\n"
-	"	if (bodies[nodeID].m_invMass != 0.f)\n"
-	"	{\n"
-	"		float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);\n"
-	"		//angular velocity\n"
-	"		{\n"
-	"			b3Float4 axis;\n"
-	"			//add some hardcoded angular damping\n"
-	"			bodies[nodeID].m_angVel.x *= angularDamping;\n"
-	"			bodies[nodeID].m_angVel.y *= angularDamping;\n"
-	"			bodies[nodeID].m_angVel.z *= angularDamping;\n"
-	"			\n"
-	"			b3Float4 angvel = bodies[nodeID].m_angVel;\n"
-	"			float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));\n"
-	"			\n"
-	"			//limit the angular motion\n"
-	"			if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)\n"
-	"			{\n"
-	"				fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;\n"
-	"			}\n"
-	"			if(fAngle < 0.001f)\n"
-	"			{\n"
-	"				// use Taylor's expansions of sync function\n"
-	"				axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle);\n"
-	"			}\n"
-	"			else\n"
-	"			{\n"
-	"				// sync(fAngle) = sin(c*fAngle)/t\n"
-	"				axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle);\n"
-	"			}\n"
-	"			\n"
-	"			b3Quat dorn;\n"
-	"			dorn.x = axis.x;\n"
-	"			dorn.y = axis.y;\n"
-	"			dorn.z = axis.z;\n"
-	"			dorn.w = b3Cos(fAngle * timeStep * 0.5f);\n"
-	"			b3Quat orn0 = bodies[nodeID].m_quat;\n"
-	"			b3Quat predictedOrn = b3QuatMul(dorn, orn0);\n"
-	"			predictedOrn = b3QuatNormalized(predictedOrn);\n"
-	"			bodies[nodeID].m_quat=predictedOrn;\n"
-	"		}\n"
-	"		//linear velocity		\n"
-	"		bodies[nodeID].m_pos +=  bodies[nodeID].m_linVel * timeStep;\n"
-	"		\n"
-	"		//apply gravity\n"
-	"		bodies[nodeID].m_linVel += gravityAcceleration * timeStep;\n"
-	"		\n"
-	"	}\n"
-	"	\n"
-	"}\n"
-	"inline void b3IntegrateTransform( __global b3RigidBodyData_t* body, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)\n"
-	"{\n"
-	"	float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);\n"
-	"	\n"
-	"	if( (body->m_invMass != 0.f))\n"
-	"	{\n"
-	"		//angular velocity\n"
-	"		{\n"
-	"			b3Float4 axis;\n"
-	"			//add some hardcoded angular damping\n"
-	"			body->m_angVel.x *= angularDamping;\n"
-	"			body->m_angVel.y *= angularDamping;\n"
-	"			body->m_angVel.z *= angularDamping;\n"
-	"			\n"
-	"			b3Float4 angvel = body->m_angVel;\n"
-	"			float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));\n"
-	"			//limit the angular motion\n"
-	"			if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)\n"
-	"			{\n"
-	"				fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;\n"
-	"			}\n"
-	"			if(fAngle < 0.001f)\n"
-	"			{\n"
-	"				// use Taylor's expansions of sync function\n"
-	"				axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle);\n"
-	"			}\n"
-	"			else\n"
-	"			{\n"
-	"				// sync(fAngle) = sin(c*fAngle)/t\n"
-	"				axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle);\n"
-	"			}\n"
-	"			b3Quat dorn;\n"
-	"			dorn.x = axis.x;\n"
-	"			dorn.y = axis.y;\n"
-	"			dorn.z = axis.z;\n"
-	"			dorn.w = b3Cos(fAngle * timeStep * 0.5f);\n"
-	"			b3Quat orn0 = body->m_quat;\n"
-	"			b3Quat predictedOrn = b3QuatMul(dorn, orn0);\n"
-	"			predictedOrn = b3QuatNormalized(predictedOrn);\n"
-	"			body->m_quat=predictedOrn;\n"
-	"		}\n"
-	"		//apply gravity\n"
-	"		body->m_linVel += gravityAcceleration * timeStep;\n"
-	"		//linear velocity		\n"
-	"		body->m_pos +=  body->m_linVel * timeStep;\n"
-	"		\n"
-	"	}\n"
-	"	\n"
-	"}\n"
-	"__kernel void \n"
-	"  integrateTransformsKernel( __global b3RigidBodyData_t* bodies,const int numNodes, float timeStep, float angularDamping, float4 gravityAcceleration)\n"
-	"{\n"
-	"	int nodeID = get_global_id(0);\n"
-	"	\n"
-	"	if( nodeID < numNodes)\n"
-	"	{\n"
-	"		integrateSingleTransform(bodies,nodeID, timeStep, angularDamping,gravityAcceleration);\n"
-	"	}\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/jointSolver.cl b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/jointSolver.cl
deleted file mode 100644
index 7f5dabe274..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/jointSolver.cl
+++ /dev/null
@@ -1,877 +0,0 @@
-/*
-Copyright (c) 2013 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Erwin Coumans
-
-#define B3_CONSTRAINT_FLAG_ENABLED 1
-
-#define B3_GPU_POINT2POINT_CONSTRAINT_TYPE 3
-#define B3_GPU_FIXED_CONSTRAINT_TYPE 4
-
-#define MOTIONCLAMP 100000 //unused, for debugging/safety in case constraint solver fails
-#define B3_INFINITY 1e30f
-
-#define mymake_float4 (float4)
-
-
-__inline float dot3F4(float4 a, float4 b)
-{
-	float4 a1 = mymake_float4(a.xyz,0.f);
-	float4 b1 = mymake_float4(b.xyz,0.f);
-	return dot(a1, b1);
-}
-
-
-typedef float4 Quaternion;
-
-
-typedef struct
-{
-	float4 m_row[3];
-}Matrix3x3;
-
-__inline
-float4 mtMul1(Matrix3x3 a, float4 b);
-
-__inline
-float4 mtMul3(float4 a, Matrix3x3 b);
-
-
-
-
-
-__inline
-float4 mtMul1(Matrix3x3 a, float4 b)
-{
-	float4 ans;
-	ans.x = dot3F4( a.m_row[0], b );
-	ans.y = dot3F4( a.m_row[1], b );
-	ans.z = dot3F4( a.m_row[2], b );
-	ans.w = 0.f;
-	return ans;
-}
-
-__inline
-float4 mtMul3(float4 a, Matrix3x3 b)
-{
-	float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);
-	float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);
-	float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);
-
-	float4 ans;
-	ans.x = dot3F4( a, colx );
-	ans.y = dot3F4( a, coly );
-	ans.z = dot3F4( a, colz );
-	return ans;
-}
-
-
-
-typedef struct
-{
-	Matrix3x3 m_invInertiaWorld;
-	Matrix3x3 m_initInvInertia;
-} BodyInertia;
-
-
-typedef struct
-{
-	Matrix3x3 m_basis;//orientation
-	float4	m_origin;//transform
-}b3Transform;
-
-typedef struct
-{
-//	b3Transform		m_worldTransformUnused;
-	float4		m_deltaLinearVelocity;
-	float4		m_deltaAngularVelocity;
-	float4		m_angularFactor;
-	float4		m_linearFactor;
-	float4		m_invMass;
-	float4		m_pushVelocity;
-	float4		m_turnVelocity;
-	float4		m_linearVelocity;
-	float4		m_angularVelocity;
-
-	union 
-	{
-		void*	m_originalBody;
-		int		m_originalBodyIndex;
-	};
-	int padding[3];
-
-} b3GpuSolverBody;
-
-typedef struct
-{
-	float4 m_pos;
-	Quaternion m_quat;
-	float4 m_linVel;
-	float4 m_angVel;
-
-	unsigned int m_shapeIdx;
-	float m_invMass;
-	float m_restituitionCoeff;
-	float m_frictionCoeff;
-} b3RigidBodyCL;
-
-typedef struct
-{
-
-	float4		m_relpos1CrossNormal;
-	float4		m_contactNormal;
-
-	float4		m_relpos2CrossNormal;
-	//float4		m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal
-
-	float4		m_angularComponentA;
-	float4		m_angularComponentB;
-	
-	float	m_appliedPushImpulse;
-	float	m_appliedImpulse;
-	int	m_padding1;
-	int	m_padding2;
-	float	m_friction;
-	float	m_jacDiagABInv;
-	float		m_rhs;
-	float		m_cfm;
-	
-    float		m_lowerLimit;
-	float		m_upperLimit;
-	float		m_rhsPenetration;
-	int			m_originalConstraint;
-
-
-	int	m_overrideNumSolverIterations;
-    int			m_frictionIndex;
-	int m_solverBodyIdA;
-	int m_solverBodyIdB;
-
-} b3SolverConstraint;
-
-typedef struct 
-{
-	int m_bodyAPtrAndSignBit;
-	int m_bodyBPtrAndSignBit;
-	int m_originalConstraintIndex;
-	int m_batchId;
-} b3BatchConstraint;
-
-
-
-
-
-
-typedef struct 
-{
-	int				m_constraintType;
-	int				m_rbA;
-	int				m_rbB;
-	float			m_breakingImpulseThreshold;
-
-	float4 m_pivotInA;
-	float4 m_pivotInB;
-	Quaternion m_relTargetAB;
-
-	int	m_flags;
-	int m_padding[3];
-} b3GpuGenericConstraint;
-
-
-/*b3Transform	getWorldTransform(b3RigidBodyCL* rb)
-{
-	b3Transform newTrans;
-	newTrans.setOrigin(rb->m_pos);
-	newTrans.setRotation(rb->m_quat);
-	return newTrans;
-}*/
-
-
-
-
-__inline
-float4 cross3(float4 a, float4 b)
-{
-	return cross(a,b);
-}
-
-__inline
-float4 fastNormalize4(float4 v)
-{
-	v = mymake_float4(v.xyz,0.f);
-	return fast_normalize(v);
-}
-
-
-__inline
-Quaternion qtMul(Quaternion a, Quaternion b);
-
-__inline
-Quaternion qtNormalize(Quaternion in);
-
-__inline
-float4 qtRotate(Quaternion q, float4 vec);
-
-__inline
-Quaternion qtInvert(Quaternion q);
-
-
-
-
-__inline
-Quaternion qtMul(Quaternion a, Quaternion b)
-{
-	Quaternion ans;
-	ans = cross3( a, b );
-	ans += a.w*b+b.w*a;
-//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
-	ans.w = a.w*b.w - dot3F4(a, b);
-	return ans;
-}
-
-__inline
-Quaternion qtNormalize(Quaternion in)
-{
-	return fastNormalize4(in);
-//	in /= length( in );
-//	return in;
-}
-__inline
-float4 qtRotate(Quaternion q, float4 vec)
-{
-	Quaternion qInv = qtInvert( q );
-	float4 vcpy = vec;
-	vcpy.w = 0.f;
-	float4 out = qtMul(qtMul(q,vcpy),qInv);
-	return out;
-}
-
-__inline
-Quaternion qtInvert(Quaternion q)
-{
-	return (Quaternion)(-q.xyz, q.w);
-}
-
-
-__inline void internalApplyImpulse(__global b3GpuSolverBody* body,  float4 linearComponent, float4 angularComponent,float impulseMagnitude)
-{
-	body->m_deltaLinearVelocity += linearComponent*impulseMagnitude*body->m_linearFactor;
-	body->m_deltaAngularVelocity += angularComponent*(impulseMagnitude*body->m_angularFactor);
-}
-
-
-void resolveSingleConstraintRowGeneric(__global b3GpuSolverBody* body1, __global b3GpuSolverBody* body2, __global b3SolverConstraint* c)
-{
-	float deltaImpulse = c->m_rhs-c->m_appliedImpulse*c->m_cfm;
-	float deltaVel1Dotn	=	dot3F4(c->m_contactNormal,body1->m_deltaLinearVelocity) 	+ dot3F4(c->m_relpos1CrossNormal,body1->m_deltaAngularVelocity);
-	float deltaVel2Dotn	=	-dot3F4(c->m_contactNormal,body2->m_deltaLinearVelocity) + dot3F4(c->m_relpos2CrossNormal,body2->m_deltaAngularVelocity);
-
-	deltaImpulse	-=	deltaVel1Dotn*c->m_jacDiagABInv;
-	deltaImpulse	-=	deltaVel2Dotn*c->m_jacDiagABInv;
-
-	float sum = c->m_appliedImpulse + deltaImpulse;
-	if (sum < c->m_lowerLimit)
-	{
-		deltaImpulse = c->m_lowerLimit-c->m_appliedImpulse;
-		c->m_appliedImpulse = c->m_lowerLimit;
-	}
-	else if (sum > c->m_upperLimit) 
-	{
-		deltaImpulse = c->m_upperLimit-c->m_appliedImpulse;
-		c->m_appliedImpulse = c->m_upperLimit;
-	}
-	else
-	{
-		c->m_appliedImpulse = sum;
-	}
-
-	internalApplyImpulse(body1,c->m_contactNormal*body1->m_invMass,c->m_angularComponentA,deltaImpulse);
-	internalApplyImpulse(body2,-c->m_contactNormal*body2->m_invMass,c->m_angularComponentB,deltaImpulse);
-
-}
-
-__kernel void solveJointConstraintRows(__global b3GpuSolverBody* solverBodies,
-					  __global b3BatchConstraint* batchConstraints,
-					  	__global b3SolverConstraint* rows,
-						__global unsigned int* numConstraintRowsInfo1, 
-						__global unsigned int* rowOffsets,
-						__global b3GpuGenericConstraint* constraints,
-						int batchOffset,
-						int numConstraintsInBatch
-                      )
-{
-	int b = get_global_id(0);
-	if (b>=numConstraintsInBatch)
-		return;
-
-	__global b3BatchConstraint* c = &batchConstraints[b+batchOffset];
-	int originalConstraintIndex = c->m_originalConstraintIndex;
-	if (constraints[originalConstraintIndex].m_flags&B3_CONSTRAINT_FLAG_ENABLED)
-	{
-		int numConstraintRows = numConstraintRowsInfo1[originalConstraintIndex];
-		int rowOffset = rowOffsets[originalConstraintIndex];
-		for (int jj=0;jj<numConstraintRows;jj++)
-		{
-			__global b3SolverConstraint* constraint = &rows[rowOffset+jj];
-			resolveSingleConstraintRowGeneric(&solverBodies[constraint->m_solverBodyIdA],&solverBodies[constraint->m_solverBodyIdB],constraint);
-		}
-	}
-};
-
-__kernel void initSolverBodies(__global b3GpuSolverBody* solverBodies,__global b3RigidBodyCL* bodiesCL, int numBodies)
-{
-	int i = get_global_id(0);
-	if (i>=numBodies)
-		return;
-
-	__global b3GpuSolverBody* solverBody = &solverBodies[i];
-	__global b3RigidBodyCL* bodyCL = &bodiesCL[i];
-
-	solverBody->m_deltaLinearVelocity = (float4)(0.f,0.f,0.f,0.f);
-	solverBody->m_deltaAngularVelocity  = (float4)(0.f,0.f,0.f,0.f);
-	solverBody->m_pushVelocity = (float4)(0.f,0.f,0.f,0.f);
-	solverBody->m_pushVelocity = (float4)(0.f,0.f,0.f,0.f);
-	solverBody->m_invMass = (float4)(bodyCL->m_invMass,bodyCL->m_invMass,bodyCL->m_invMass,0.f);
-	solverBody->m_originalBodyIndex = i;
-	solverBody->m_angularFactor = (float4)(1,1,1,0);
-	solverBody->m_linearFactor = (float4) (1,1,1,0);
-	solverBody->m_linearVelocity = bodyCL->m_linVel;
-	solverBody->m_angularVelocity = bodyCL->m_angVel;
-}
-
-__kernel void breakViolatedConstraintsKernel(__global b3GpuGenericConstraint* constraints, __global unsigned int* numConstraintRows, __global unsigned int* rowOffsets, __global b3SolverConstraint* rows, int numConstraints)
-{
-	int cid = get_global_id(0);
-	if (cid>=numConstraints)
-		return;
-	int numRows = numConstraintRows[cid];
-	if (numRows)
-	{
-		for (int i=0;i<numRows;i++)
-		{
-			int rowIndex = rowOffsets[cid]+i;
-			float breakingThreshold = constraints[cid].m_breakingImpulseThreshold;
-			if (fabs(rows[rowIndex].m_appliedImpulse) >= breakingThreshold)
-			{
-				constraints[cid].m_flags =0;//&= ~B3_CONSTRAINT_FLAG_ENABLED;
-			}
-		}
-	}
-}
-
-
-
-__kernel void getInfo1Kernel(__global unsigned int* infos, __global b3GpuGenericConstraint* constraints, int numConstraints)
-{
-	int i = get_global_id(0);
-	if (i>=numConstraints)
-		return;
-
-	__global b3GpuGenericConstraint* constraint = &constraints[i];
-
-	switch (constraint->m_constraintType)
-	{
-		case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:
-		{
-			infos[i] = 3;
-			break;
-		}
-		case B3_GPU_FIXED_CONSTRAINT_TYPE:
-		{
-			infos[i] = 6;
-			break;
-		}
-		default:
-		{
-		}
-	}
-}
-
-__kernel void initBatchConstraintsKernel(__global unsigned int* numConstraintRows, __global unsigned int* rowOffsets, 
-										__global b3BatchConstraint* batchConstraints, 
-										__global b3GpuGenericConstraint* constraints,
-										__global b3RigidBodyCL* bodies,
-										int numConstraints)
-{
-	int i = get_global_id(0);
-	if (i>=numConstraints)
-		return;
-
-	int rbA = constraints[i].m_rbA;
-	int rbB = constraints[i].m_rbB;
-
-	batchConstraints[i].m_bodyAPtrAndSignBit = bodies[rbA].m_invMass != 0.f ? rbA : -rbA;
-	batchConstraints[i].m_bodyBPtrAndSignBit = bodies[rbB].m_invMass != 0.f ? rbB : -rbB;
-	batchConstraints[i].m_batchId = -1;
-	batchConstraints[i].m_originalConstraintIndex = i;
-
-}
-
-
-
-
-typedef struct
-{
-	// integrator parameters: frames per second (1/stepsize), default error
-	// reduction parameter (0..1).
-	float fps,erp;
-
-	// for the first and second body, pointers to two (linear and angular)
-	// n*3 jacobian sub matrices, stored by rows. these matrices will have
-	// been initialized to 0 on entry. if the second body is zero then the
-	// J2xx pointers may be 0.
-	union 
-	{
-		__global float4* m_J1linearAxisFloat4;
-		__global float* m_J1linearAxis;
-	};
-	union
-	{
-		__global float4* m_J1angularAxisFloat4;
-		__global float* m_J1angularAxis;
-
-	};
-	union
-	{
-	__global float4* m_J2linearAxisFloat4;
-	__global float* m_J2linearAxis;
-	};
-	union
-	{
-		__global float4* m_J2angularAxisFloat4;
-		__global float* m_J2angularAxis;
-	};
-	// elements to jump from one row to the next in J's
-	int rowskip;
-
-	// right hand sides of the equation J*v = c + cfm * lambda. cfm is the
-	// "constraint force mixing" vector. c is set to zero on entry, cfm is
-	// set to a constant value (typically very small or zero) value on entry.
-	__global float* m_constraintError;
-	__global float* cfm;
-
-	// lo and hi limits for variables (set to -/+ infinity on entry).
-	__global float* m_lowerLimit;
-	__global float* m_upperLimit;
-
-	// findex vector for variables. see the LCP solver interface for a
-	// description of what this does. this is set to -1 on entry.
-	// note that the returned indexes are relative to the first index of
-	// the constraint.
-	__global int *findex;
-	// number of solver iterations
-	int m_numIterations;
-
-	//damping of the velocity
-	float	m_damping;
-} b3GpuConstraintInfo2;
-
-
-void	getSkewSymmetricMatrix(float4 vecIn, __global float4* v0,__global float4* v1,__global float4* v2)
-{
-	*v0 = (float4)(0.		,-vecIn.z		,vecIn.y,0.f);
-	*v1 = (float4)(vecIn.z	,0.			,-vecIn.x,0.f);
-	*v2 = (float4)(-vecIn.y	,vecIn.x	,0.f,0.f);
-}
-
-
-void getInfo2Point2Point(__global b3GpuGenericConstraint* constraint,b3GpuConstraintInfo2* info,__global b3RigidBodyCL* bodies)
-{
-	float4 posA = bodies[constraint->m_rbA].m_pos;
-	Quaternion rotA = bodies[constraint->m_rbA].m_quat;
-
-	float4 posB = bodies[constraint->m_rbB].m_pos;
-	Quaternion rotB = bodies[constraint->m_rbB].m_quat;
-
-
-
-		// anchor points in global coordinates with respect to body PORs.
-   
-    // set jacobian
-    info->m_J1linearAxis[0] = 1;
-	info->m_J1linearAxis[info->rowskip+1] = 1;
-	info->m_J1linearAxis[2*info->rowskip+2] = 1;
-
-	float4 a1 = qtRotate(rotA,constraint->m_pivotInA);
-
-	{
-		__global float4* angular0 = (__global float4*)(info->m_J1angularAxis);
-		__global float4* angular1 = (__global float4*)(info->m_J1angularAxis+info->rowskip);
-		__global float4* angular2 = (__global float4*)(info->m_J1angularAxis+2*info->rowskip);
-		float4 a1neg = -a1;
-		getSkewSymmetricMatrix(a1neg,angular0,angular1,angular2);
-	}
-	if (info->m_J2linearAxis)
-	{
-		info->m_J2linearAxis[0] = -1;
-		info->m_J2linearAxis[info->rowskip+1] = -1;
-		info->m_J2linearAxis[2*info->rowskip+2] = -1;
-	}
-	
-	float4 a2 = qtRotate(rotB,constraint->m_pivotInB);
-   
-	{
-	//	float4 a2n = -a2;
-		__global float4* angular0 = (__global float4*)(info->m_J2angularAxis);
-		__global float4* angular1 = (__global float4*)(info->m_J2angularAxis+info->rowskip);
-		__global float4* angular2 = (__global float4*)(info->m_J2angularAxis+2*info->rowskip);
-		getSkewSymmetricMatrix(a2,angular0,angular1,angular2);
-	}
-    
-    // set right hand side
-//	float currERP = (m_flags & B3_P2P_FLAGS_ERP) ? m_erp : info->erp;
-	float currERP = info->erp;
-
-	float k = info->fps * currERP;
-    int j;
-	float4 result = a2 + posB - a1 - posA;
-	float* resultPtr = &result;
-
-	for (j=0; j<3; j++)
-    {
-        info->m_constraintError[j*info->rowskip] = k * (resultPtr[j]);
-    }
-}
-
-Quaternion nearest( Quaternion first, Quaternion qd)
-{
-	Quaternion diff,sum;
-	diff = first- qd;
-	sum = first + qd;
-	
-	if( dot(diff,diff) < dot(sum,sum) )
-		return qd;
-	return (-qd);
-}
-
-float b3Acos(float x) 
-{ 
-	if (x<-1)	
-		x=-1; 
-	if (x>1)	
-		x=1;
-	return acos(x); 
-}
-
-float getAngle(Quaternion orn)
-{
-	if (orn.w>=1.f)
-		orn.w=1.f;
-	float s = 2.f * b3Acos(orn.w);
-	return s;
-}
-
-void calculateDiffAxisAngleQuaternion( Quaternion orn0,Quaternion orn1a,float4* axis,float* angle)
-{
-	Quaternion orn1 = nearest(orn0,orn1a);
-	
-	Quaternion dorn = qtMul(orn1,qtInvert(orn0));
-	*angle = getAngle(dorn);
-	*axis = (float4)(dorn.x,dorn.y,dorn.z,0.f);
-	
-	//check for axis length
-	float len = dot3F4(*axis,*axis);
-	if (len < FLT_EPSILON*FLT_EPSILON)
-		*axis = (float4)(1,0,0,0);
-	else
-		*axis /= sqrt(len);
-}
-
-
-
-void getInfo2FixedOrientation(__global b3GpuGenericConstraint* constraint,b3GpuConstraintInfo2* info,__global b3RigidBodyCL* bodies, int start_row)
-{
-	Quaternion worldOrnA = bodies[constraint->m_rbA].m_quat;
-	Quaternion worldOrnB = bodies[constraint->m_rbB].m_quat;
-
-	int s = info->rowskip;
-	int start_index = start_row * s;
-
-	// 3 rows to make body rotations equal
-	info->m_J1angularAxis[start_index] = 1;
-	info->m_J1angularAxis[start_index + s + 1] = 1;
-	info->m_J1angularAxis[start_index + s*2+2] = 1;
-	if ( info->m_J2angularAxis)
-	{
-		info->m_J2angularAxis[start_index] = -1;
-		info->m_J2angularAxis[start_index + s+1] = -1;
-		info->m_J2angularAxis[start_index + s*2+2] = -1;
-	}
-	
-	float currERP = info->erp;
-	float k = info->fps * currERP;
-	float4 diff;
-	float angle;
-	float4 qrelCur = qtMul(worldOrnA,qtInvert(worldOrnB));
-	
-	calculateDiffAxisAngleQuaternion(constraint->m_relTargetAB,qrelCur,&diff,&angle);
-	diff*=-angle;
-		
-	float* resultPtr = &diff;
-	
-	for (int j=0; j<3; j++)
-    {
-        info->m_constraintError[(3+j)*info->rowskip] = k * resultPtr[j];
-    }
-	
-
-}
-
-
-__kernel void writeBackVelocitiesKernel(__global b3RigidBodyCL* bodies,__global b3GpuSolverBody* solverBodies,int numBodies)
-{
-	int i = get_global_id(0);
-	if (i>=numBodies)
-		return;
-
-	if (bodies[i].m_invMass)
-	{
-//		if (length(solverBodies[i].m_deltaLinearVelocity)<MOTIONCLAMP)
-		{
-			bodies[i].m_linVel += solverBodies[i].m_deltaLinearVelocity;
-		}
-//		if (length(solverBodies[i].m_deltaAngularVelocity)<MOTIONCLAMP)
-		{
-			bodies[i].m_angVel += solverBodies[i].m_deltaAngularVelocity;
-		} 
-	}
-}
-
-
-__kernel void getInfo2Kernel(__global b3SolverConstraint* solverConstraintRows, 
-							__global unsigned int* infos, 
-							__global unsigned int* constraintRowOffsets, 
-							__global b3GpuGenericConstraint* constraints, 
-							__global b3BatchConstraint* batchConstraints, 
-							__global b3RigidBodyCL* bodies,
-							__global BodyInertia* inertias,
-							__global b3GpuSolverBody* solverBodies,
-							float timeStep,
-							float globalErp,
-							float globalCfm,
-							float globalDamping,
-							int globalNumIterations,
-							int numConstraints)
-{
-
-	int i = get_global_id(0);
-	if (i>=numConstraints)
-		return;
-		
-	//for now, always initialize the batch info
-	int info1 = infos[i];
-			
-	__global b3SolverConstraint* currentConstraintRow = &solverConstraintRows[constraintRowOffsets[i]];
-	__global b3GpuGenericConstraint* constraint = &constraints[i];
-
-	__global b3RigidBodyCL* rbA = &bodies[ constraint->m_rbA];
-	__global b3RigidBodyCL* rbB = &bodies[ constraint->m_rbB];
-
-	int solverBodyIdA = constraint->m_rbA;
-	int solverBodyIdB = constraint->m_rbB;
-
-	__global b3GpuSolverBody* bodyAPtr = &solverBodies[solverBodyIdA];
-	__global b3GpuSolverBody* bodyBPtr = &solverBodies[solverBodyIdB];
-
-
-	if (rbA->m_invMass)
-	{
-		batchConstraints[i].m_bodyAPtrAndSignBit = solverBodyIdA;
-	} else
-	{
-//			if (!solverBodyIdA)
-//				m_staticIdx = 0;
-		batchConstraints[i].m_bodyAPtrAndSignBit = -solverBodyIdA;
-	}
-
-	if (rbB->m_invMass)
-	{
-		batchConstraints[i].m_bodyBPtrAndSignBit = solverBodyIdB;
-	} else
-	{
-//			if (!solverBodyIdB)
-//				m_staticIdx = 0;
-		batchConstraints[i].m_bodyBPtrAndSignBit = -solverBodyIdB;
-	}
-
-	if (info1)
-	{
-		int overrideNumSolverIterations = 0;//constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;
-//		if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations)
-	//		m_maxOverrideNumSolverIterations = overrideNumSolverIterations;
-
-
-		int j;
-		for ( j=0;j<info1;j++)
-		{
-//			memset(&currentConstraintRow[j],0,sizeof(b3SolverConstraint));
-			currentConstraintRow[j].m_angularComponentA = (float4)(0,0,0,0);
-			currentConstraintRow[j].m_angularComponentB = (float4)(0,0,0,0);
-			currentConstraintRow[j].m_appliedImpulse = 0.f;
-			currentConstraintRow[j].m_appliedPushImpulse = 0.f;
-			currentConstraintRow[j].m_cfm = 0.f;
-			currentConstraintRow[j].m_contactNormal = (float4)(0,0,0,0);
-			currentConstraintRow[j].m_friction = 0.f;
-			currentConstraintRow[j].m_frictionIndex = 0;
-			currentConstraintRow[j].m_jacDiagABInv = 0.f;
-			currentConstraintRow[j].m_lowerLimit = 0.f;
-			currentConstraintRow[j].m_upperLimit = 0.f;
-
-			currentConstraintRow[j].m_originalConstraint = i;
-			currentConstraintRow[j].m_overrideNumSolverIterations = 0;
-			currentConstraintRow[j].m_relpos1CrossNormal = (float4)(0,0,0,0);
-			currentConstraintRow[j].m_relpos2CrossNormal = (float4)(0,0,0,0);
-			currentConstraintRow[j].m_rhs = 0.f;
-			currentConstraintRow[j].m_rhsPenetration = 0.f;
-			currentConstraintRow[j].m_solverBodyIdA = 0;
-			currentConstraintRow[j].m_solverBodyIdB = 0;
-							
-			currentConstraintRow[j].m_lowerLimit = -B3_INFINITY;
-			currentConstraintRow[j].m_upperLimit = B3_INFINITY;
-			currentConstraintRow[j].m_appliedImpulse = 0.f;
-			currentConstraintRow[j].m_appliedPushImpulse = 0.f;
-			currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA;
-			currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB;
-			currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations;		
-		}
-
-		bodyAPtr->m_deltaLinearVelocity = (float4)(0,0,0,0);
-		bodyAPtr->m_deltaAngularVelocity = (float4)(0,0,0,0);
-		bodyAPtr->m_pushVelocity = (float4)(0,0,0,0);
-		bodyAPtr->m_turnVelocity = (float4)(0,0,0,0);
-		bodyBPtr->m_deltaLinearVelocity = (float4)(0,0,0,0);
-		bodyBPtr->m_deltaAngularVelocity = (float4)(0,0,0,0);
-		bodyBPtr->m_pushVelocity = (float4)(0,0,0,0);
-		bodyBPtr->m_turnVelocity  = (float4)(0,0,0,0);
-
-		int rowskip = sizeof(b3SolverConstraint)/sizeof(float);//check this
-
-		
-
-
-		b3GpuConstraintInfo2 info2;
-		info2.fps = 1.f/timeStep;
-		info2.erp = globalErp;
-		info2.m_J1linearAxisFloat4 = &currentConstraintRow->m_contactNormal;
-		info2.m_J1angularAxisFloat4 = &currentConstraintRow->m_relpos1CrossNormal;
-		info2.m_J2linearAxisFloat4 = 0;
-		info2.m_J2angularAxisFloat4 = &currentConstraintRow->m_relpos2CrossNormal;
-		info2.rowskip = sizeof(b3SolverConstraint)/sizeof(float);//check this
-
-		///the size of b3SolverConstraint needs be a multiple of float
-//		b3Assert(info2.rowskip*sizeof(float)== sizeof(b3SolverConstraint));
-		info2.m_constraintError = &currentConstraintRow->m_rhs;
-		currentConstraintRow->m_cfm = globalCfm;
-		info2.m_damping = globalDamping;
-		info2.cfm = &currentConstraintRow->m_cfm;
-		info2.m_lowerLimit = &currentConstraintRow->m_lowerLimit;
-		info2.m_upperLimit = &currentConstraintRow->m_upperLimit;
-		info2.m_numIterations = globalNumIterations;
-
-		switch (constraint->m_constraintType)
-		{
-			case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:
-			{
-				getInfo2Point2Point(constraint,&info2,bodies);
-				break;
-			}
-			case B3_GPU_FIXED_CONSTRAINT_TYPE:
-			{
-				getInfo2Point2Point(constraint,&info2,bodies);
-
-				getInfo2FixedOrientation(constraint,&info2,bodies,3);
-
-				break;
-			}
-
-			default:
-			{
-			}
-		}
-
-		///finalize the constraint setup
-		for ( j=0;j<info1;j++)
-		{
-			__global b3SolverConstraint* solverConstraint = &currentConstraintRow[j];
-
-			if (solverConstraint->m_upperLimit>=constraint->m_breakingImpulseThreshold)
-			{
-				solverConstraint->m_upperLimit = constraint->m_breakingImpulseThreshold;
-			}
-
-			if (solverConstraint->m_lowerLimit<=-constraint->m_breakingImpulseThreshold)
-			{
-				solverConstraint->m_lowerLimit = -constraint->m_breakingImpulseThreshold;
-			}
-
-//						solverConstraint->m_originalContactPoint = constraint;
-							
-			Matrix3x3 invInertiaWorldA= inertias[constraint->m_rbA].m_invInertiaWorld;
-			{
-
-				//float4 angularFactorA(1,1,1);
-				float4 ftorqueAxis1 = solverConstraint->m_relpos1CrossNormal;
-				solverConstraint->m_angularComponentA = mtMul1(invInertiaWorldA,ftorqueAxis1);//*angularFactorA;
-			}
-						
-			Matrix3x3 invInertiaWorldB= inertias[constraint->m_rbB].m_invInertiaWorld;
-			{
-
-				float4 ftorqueAxis2 = solverConstraint->m_relpos2CrossNormal;
-				solverConstraint->m_angularComponentB = mtMul1(invInertiaWorldB,ftorqueAxis2);//*constraint->m_rbB.getAngularFactor();
-			}
-
-			{
-				//it is ok to use solverConstraint->m_contactNormal instead of -solverConstraint->m_contactNormal
-				//because it gets multiplied iMJlB
-				float4 iMJlA = solverConstraint->m_contactNormal*rbA->m_invMass;
-				float4 iMJaA = mtMul3(solverConstraint->m_relpos1CrossNormal,invInertiaWorldA);
-				float4 iMJlB = solverConstraint->m_contactNormal*rbB->m_invMass;//sign of normal?
-				float4 iMJaB = mtMul3(solverConstraint->m_relpos2CrossNormal,invInertiaWorldB);
-
-				float sum = dot3F4(iMJlA,solverConstraint->m_contactNormal);
-				sum += dot3F4(iMJaA,solverConstraint->m_relpos1CrossNormal);
-				sum += dot3F4(iMJlB,solverConstraint->m_contactNormal);
-				sum += dot3F4(iMJaB,solverConstraint->m_relpos2CrossNormal);
-				float fsum = fabs(sum);
-				if (fsum>FLT_EPSILON)
-				{
-					solverConstraint->m_jacDiagABInv = 1.f/sum;
-				} else
-				{
-					solverConstraint->m_jacDiagABInv = 0.f;
-				}
-			}
-
-
-			///fix rhs
-			///todo: add force/torque accelerators
-			{
-				float rel_vel;
-				float vel1Dotn = dot3F4(solverConstraint->m_contactNormal,rbA->m_linVel) + dot3F4(solverConstraint->m_relpos1CrossNormal,rbA->m_angVel);
-				float vel2Dotn = -dot3F4(solverConstraint->m_contactNormal,rbB->m_linVel) + dot3F4(solverConstraint->m_relpos2CrossNormal,rbB->m_angVel);
-
-				rel_vel = vel1Dotn+vel2Dotn;
-
-				float restitution = 0.f;
-				float positionalError = solverConstraint->m_rhs;//already filled in by getConstraintInfo2
-				float	velocityError = restitution - rel_vel * info2.m_damping;
-				float	penetrationImpulse = positionalError*solverConstraint->m_jacDiagABInv;
-				float	velocityImpulse = velocityError *solverConstraint->m_jacDiagABInv;
-				solverConstraint->m_rhs = penetrationImpulse+velocityImpulse;
-				solverConstraint->m_appliedImpulse = 0.f;
-
-			}
-		}
-	}
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/jointSolver.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/jointSolver.h
deleted file mode 100644
index c94b55851e..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/jointSolver.h
+++ /dev/null
@@ -1,720 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* solveConstraintRowsCL =
-	"/*\n"
-	"Copyright (c) 2013 Advanced Micro Devices, Inc.  \n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose, \n"
-	"including commercial applications, and to alter it and redistribute it freely, \n"
-	"subject to the following restrictions:\n"
-	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Originally written by Erwin Coumans\n"
-	"#define B3_CONSTRAINT_FLAG_ENABLED 1\n"
-	"#define B3_GPU_POINT2POINT_CONSTRAINT_TYPE 3\n"
-	"#define B3_GPU_FIXED_CONSTRAINT_TYPE 4\n"
-	"#define MOTIONCLAMP 100000 //unused, for debugging/safety in case constraint solver fails\n"
-	"#define B3_INFINITY 1e30f\n"
-	"#define mymake_float4 (float4)\n"
-	"__inline float dot3F4(float4 a, float4 b)\n"
-	"{\n"
-	"	float4 a1 = mymake_float4(a.xyz,0.f);\n"
-	"	float4 b1 = mymake_float4(b.xyz,0.f);\n"
-	"	return dot(a1, b1);\n"
-	"}\n"
-	"typedef float4 Quaternion;\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_row[3];\n"
-	"}Matrix3x3;\n"
-	"__inline\n"
-	"float4 mtMul1(Matrix3x3 a, float4 b);\n"
-	"__inline\n"
-	"float4 mtMul3(float4 a, Matrix3x3 b);\n"
-	"__inline\n"
-	"float4 mtMul1(Matrix3x3 a, float4 b)\n"
-	"{\n"
-	"	float4 ans;\n"
-	"	ans.x = dot3F4( a.m_row[0], b );\n"
-	"	ans.y = dot3F4( a.m_row[1], b );\n"
-	"	ans.z = dot3F4( a.m_row[2], b );\n"
-	"	ans.w = 0.f;\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"float4 mtMul3(float4 a, Matrix3x3 b)\n"
-	"{\n"
-	"	float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-	"	float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-	"	float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-	"	float4 ans;\n"
-	"	ans.x = dot3F4( a, colx );\n"
-	"	ans.y = dot3F4( a, coly );\n"
-	"	ans.z = dot3F4( a, colz );\n"
-	"	return ans;\n"
-	"}\n"
-	"typedef struct\n"
-	"{\n"
-	"	Matrix3x3 m_invInertiaWorld;\n"
-	"	Matrix3x3 m_initInvInertia;\n"
-	"} BodyInertia;\n"
-	"typedef struct\n"
-	"{\n"
-	"	Matrix3x3 m_basis;//orientation\n"
-	"	float4	m_origin;//transform\n"
-	"}b3Transform;\n"
-	"typedef struct\n"
-	"{\n"
-	"//	b3Transform		m_worldTransformUnused;\n"
-	"	float4		m_deltaLinearVelocity;\n"
-	"	float4		m_deltaAngularVelocity;\n"
-	"	float4		m_angularFactor;\n"
-	"	float4		m_linearFactor;\n"
-	"	float4		m_invMass;\n"
-	"	float4		m_pushVelocity;\n"
-	"	float4		m_turnVelocity;\n"
-	"	float4		m_linearVelocity;\n"
-	"	float4		m_angularVelocity;\n"
-	"	union \n"
-	"	{\n"
-	"		void*	m_originalBody;\n"
-	"		int		m_originalBodyIndex;\n"
-	"	};\n"
-	"	int padding[3];\n"
-	"} b3GpuSolverBody;\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_pos;\n"
-	"	Quaternion m_quat;\n"
-	"	float4 m_linVel;\n"
-	"	float4 m_angVel;\n"
-	"	unsigned int m_shapeIdx;\n"
-	"	float m_invMass;\n"
-	"	float m_restituitionCoeff;\n"
-	"	float m_frictionCoeff;\n"
-	"} b3RigidBodyCL;\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4		m_relpos1CrossNormal;\n"
-	"	float4		m_contactNormal;\n"
-	"	float4		m_relpos2CrossNormal;\n"
-	"	//float4		m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal\n"
-	"	float4		m_angularComponentA;\n"
-	"	float4		m_angularComponentB;\n"
-	"	\n"
-	"	float	m_appliedPushImpulse;\n"
-	"	float	m_appliedImpulse;\n"
-	"	int	m_padding1;\n"
-	"	int	m_padding2;\n"
-	"	float	m_friction;\n"
-	"	float	m_jacDiagABInv;\n"
-	"	float		m_rhs;\n"
-	"	float		m_cfm;\n"
-	"	\n"
-	"    float		m_lowerLimit;\n"
-	"	float		m_upperLimit;\n"
-	"	float		m_rhsPenetration;\n"
-	"	int			m_originalConstraint;\n"
-	"	int	m_overrideNumSolverIterations;\n"
-	"    int			m_frictionIndex;\n"
-	"	int m_solverBodyIdA;\n"
-	"	int m_solverBodyIdB;\n"
-	"} b3SolverConstraint;\n"
-	"typedef struct \n"
-	"{\n"
-	"	int m_bodyAPtrAndSignBit;\n"
-	"	int m_bodyBPtrAndSignBit;\n"
-	"	int m_originalConstraintIndex;\n"
-	"	int m_batchId;\n"
-	"} b3BatchConstraint;\n"
-	"typedef struct \n"
-	"{\n"
-	"	int				m_constraintType;\n"
-	"	int				m_rbA;\n"
-	"	int				m_rbB;\n"
-	"	float			m_breakingImpulseThreshold;\n"
-	"	float4 m_pivotInA;\n"
-	"	float4 m_pivotInB;\n"
-	"	Quaternion m_relTargetAB;\n"
-	"	int	m_flags;\n"
-	"	int m_padding[3];\n"
-	"} b3GpuGenericConstraint;\n"
-	"/*b3Transform	getWorldTransform(b3RigidBodyCL* rb)\n"
-	"{\n"
-	"	b3Transform newTrans;\n"
-	"	newTrans.setOrigin(rb->m_pos);\n"
-	"	newTrans.setRotation(rb->m_quat);\n"
-	"	return newTrans;\n"
-	"}*/\n"
-	"__inline\n"
-	"float4 cross3(float4 a, float4 b)\n"
-	"{\n"
-	"	return cross(a,b);\n"
-	"}\n"
-	"__inline\n"
-	"float4 fastNormalize4(float4 v)\n"
-	"{\n"
-	"	v = mymake_float4(v.xyz,0.f);\n"
-	"	return fast_normalize(v);\n"
-	"}\n"
-	"__inline\n"
-	"Quaternion qtMul(Quaternion a, Quaternion b);\n"
-	"__inline\n"
-	"Quaternion qtNormalize(Quaternion in);\n"
-	"__inline\n"
-	"float4 qtRotate(Quaternion q, float4 vec);\n"
-	"__inline\n"
-	"Quaternion qtInvert(Quaternion q);\n"
-	"__inline\n"
-	"Quaternion qtMul(Quaternion a, Quaternion b)\n"
-	"{\n"
-	"	Quaternion ans;\n"
-	"	ans = cross3( a, b );\n"
-	"	ans += a.w*b+b.w*a;\n"
-	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-	"	ans.w = a.w*b.w - dot3F4(a, b);\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"Quaternion qtNormalize(Quaternion in)\n"
-	"{\n"
-	"	return fastNormalize4(in);\n"
-	"//	in /= length( in );\n"
-	"//	return in;\n"
-	"}\n"
-	"__inline\n"
-	"float4 qtRotate(Quaternion q, float4 vec)\n"
-	"{\n"
-	"	Quaternion qInv = qtInvert( q );\n"
-	"	float4 vcpy = vec;\n"
-	"	vcpy.w = 0.f;\n"
-	"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"Quaternion qtInvert(Quaternion q)\n"
-	"{\n"
-	"	return (Quaternion)(-q.xyz, q.w);\n"
-	"}\n"
-	"__inline void internalApplyImpulse(__global b3GpuSolverBody* body,  float4 linearComponent, float4 angularComponent,float impulseMagnitude)\n"
-	"{\n"
-	"	body->m_deltaLinearVelocity += linearComponent*impulseMagnitude*body->m_linearFactor;\n"
-	"	body->m_deltaAngularVelocity += angularComponent*(impulseMagnitude*body->m_angularFactor);\n"
-	"}\n"
-	"void resolveSingleConstraintRowGeneric(__global b3GpuSolverBody* body1, __global b3GpuSolverBody* body2, __global b3SolverConstraint* c)\n"
-	"{\n"
-	"	float deltaImpulse = c->m_rhs-c->m_appliedImpulse*c->m_cfm;\n"
-	"	float deltaVel1Dotn	=	dot3F4(c->m_contactNormal,body1->m_deltaLinearVelocity) 	+ dot3F4(c->m_relpos1CrossNormal,body1->m_deltaAngularVelocity);\n"
-	"	float deltaVel2Dotn	=	-dot3F4(c->m_contactNormal,body2->m_deltaLinearVelocity) + dot3F4(c->m_relpos2CrossNormal,body2->m_deltaAngularVelocity);\n"
-	"	deltaImpulse	-=	deltaVel1Dotn*c->m_jacDiagABInv;\n"
-	"	deltaImpulse	-=	deltaVel2Dotn*c->m_jacDiagABInv;\n"
-	"	float sum = c->m_appliedImpulse + deltaImpulse;\n"
-	"	if (sum < c->m_lowerLimit)\n"
-	"	{\n"
-	"		deltaImpulse = c->m_lowerLimit-c->m_appliedImpulse;\n"
-	"		c->m_appliedImpulse = c->m_lowerLimit;\n"
-	"	}\n"
-	"	else if (sum > c->m_upperLimit) \n"
-	"	{\n"
-	"		deltaImpulse = c->m_upperLimit-c->m_appliedImpulse;\n"
-	"		c->m_appliedImpulse = c->m_upperLimit;\n"
-	"	}\n"
-	"	else\n"
-	"	{\n"
-	"		c->m_appliedImpulse = sum;\n"
-	"	}\n"
-	"	internalApplyImpulse(body1,c->m_contactNormal*body1->m_invMass,c->m_angularComponentA,deltaImpulse);\n"
-	"	internalApplyImpulse(body2,-c->m_contactNormal*body2->m_invMass,c->m_angularComponentB,deltaImpulse);\n"
-	"}\n"
-	"__kernel void solveJointConstraintRows(__global b3GpuSolverBody* solverBodies,\n"
-	"					  __global b3BatchConstraint* batchConstraints,\n"
-	"					  	__global b3SolverConstraint* rows,\n"
-	"						__global unsigned int* numConstraintRowsInfo1, \n"
-	"						__global unsigned int* rowOffsets,\n"
-	"						__global b3GpuGenericConstraint* constraints,\n"
-	"						int batchOffset,\n"
-	"						int numConstraintsInBatch\n"
-	"                      )\n"
-	"{\n"
-	"	int b = get_global_id(0);\n"
-	"	if (b>=numConstraintsInBatch)\n"
-	"		return;\n"
-	"	__global b3BatchConstraint* c = &batchConstraints[b+batchOffset];\n"
-	"	int originalConstraintIndex = c->m_originalConstraintIndex;\n"
-	"	if (constraints[originalConstraintIndex].m_flags&B3_CONSTRAINT_FLAG_ENABLED)\n"
-	"	{\n"
-	"		int numConstraintRows = numConstraintRowsInfo1[originalConstraintIndex];\n"
-	"		int rowOffset = rowOffsets[originalConstraintIndex];\n"
-	"		for (int jj=0;jj<numConstraintRows;jj++)\n"
-	"		{\n"
-	"			__global b3SolverConstraint* constraint = &rows[rowOffset+jj];\n"
-	"			resolveSingleConstraintRowGeneric(&solverBodies[constraint->m_solverBodyIdA],&solverBodies[constraint->m_solverBodyIdB],constraint);\n"
-	"		}\n"
-	"	}\n"
-	"};\n"
-	"__kernel void initSolverBodies(__global b3GpuSolverBody* solverBodies,__global b3RigidBodyCL* bodiesCL, int numBodies)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	if (i>=numBodies)\n"
-	"		return;\n"
-	"	__global b3GpuSolverBody* solverBody = &solverBodies[i];\n"
-	"	__global b3RigidBodyCL* bodyCL = &bodiesCL[i];\n"
-	"	solverBody->m_deltaLinearVelocity = (float4)(0.f,0.f,0.f,0.f);\n"
-	"	solverBody->m_deltaAngularVelocity  = (float4)(0.f,0.f,0.f,0.f);\n"
-	"	solverBody->m_pushVelocity = (float4)(0.f,0.f,0.f,0.f);\n"
-	"	solverBody->m_pushVelocity = (float4)(0.f,0.f,0.f,0.f);\n"
-	"	solverBody->m_invMass = (float4)(bodyCL->m_invMass,bodyCL->m_invMass,bodyCL->m_invMass,0.f);\n"
-	"	solverBody->m_originalBodyIndex = i;\n"
-	"	solverBody->m_angularFactor = (float4)(1,1,1,0);\n"
-	"	solverBody->m_linearFactor = (float4) (1,1,1,0);\n"
-	"	solverBody->m_linearVelocity = bodyCL->m_linVel;\n"
-	"	solverBody->m_angularVelocity = bodyCL->m_angVel;\n"
-	"}\n"
-	"__kernel void breakViolatedConstraintsKernel(__global b3GpuGenericConstraint* constraints, __global unsigned int* numConstraintRows, __global unsigned int* rowOffsets, __global b3SolverConstraint* rows, int numConstraints)\n"
-	"{\n"
-	"	int cid = get_global_id(0);\n"
-	"	if (cid>=numConstraints)\n"
-	"		return;\n"
-	"	int numRows = numConstraintRows[cid];\n"
-	"	if (numRows)\n"
-	"	{\n"
-	"		for (int i=0;i<numRows;i++)\n"
-	"		{\n"
-	"			int rowIndex = rowOffsets[cid]+i;\n"
-	"			float breakingThreshold = constraints[cid].m_breakingImpulseThreshold;\n"
-	"			if (fabs(rows[rowIndex].m_appliedImpulse) >= breakingThreshold)\n"
-	"			{\n"
-	"				constraints[cid].m_flags =0;//&= ~B3_CONSTRAINT_FLAG_ENABLED;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"__kernel void getInfo1Kernel(__global unsigned int* infos, __global b3GpuGenericConstraint* constraints, int numConstraints)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	if (i>=numConstraints)\n"
-	"		return;\n"
-	"	__global b3GpuGenericConstraint* constraint = &constraints[i];\n"
-	"	switch (constraint->m_constraintType)\n"
-	"	{\n"
-	"		case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:\n"
-	"		{\n"
-	"			infos[i] = 3;\n"
-	"			break;\n"
-	"		}\n"
-	"		case B3_GPU_FIXED_CONSTRAINT_TYPE:\n"
-	"		{\n"
-	"			infos[i] = 6;\n"
-	"			break;\n"
-	"		}\n"
-	"		default:\n"
-	"		{\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"__kernel void initBatchConstraintsKernel(__global unsigned int* numConstraintRows, __global unsigned int* rowOffsets, \n"
-	"										__global b3BatchConstraint* batchConstraints, \n"
-	"										__global b3GpuGenericConstraint* constraints,\n"
-	"										__global b3RigidBodyCL* bodies,\n"
-	"										int numConstraints)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	if (i>=numConstraints)\n"
-	"		return;\n"
-	"	int rbA = constraints[i].m_rbA;\n"
-	"	int rbB = constraints[i].m_rbB;\n"
-	"	batchConstraints[i].m_bodyAPtrAndSignBit = bodies[rbA].m_invMass != 0.f ? rbA : -rbA;\n"
-	"	batchConstraints[i].m_bodyBPtrAndSignBit = bodies[rbB].m_invMass != 0.f ? rbB : -rbB;\n"
-	"	batchConstraints[i].m_batchId = -1;\n"
-	"	batchConstraints[i].m_originalConstraintIndex = i;\n"
-	"}\n"
-	"typedef struct\n"
-	"{\n"
-	"	// integrator parameters: frames per second (1/stepsize), default error\n"
-	"	// reduction parameter (0..1).\n"
-	"	float fps,erp;\n"
-	"	// for the first and second body, pointers to two (linear and angular)\n"
-	"	// n*3 jacobian sub matrices, stored by rows. these matrices will have\n"
-	"	// been initialized to 0 on entry. if the second body is zero then the\n"
-	"	// J2xx pointers may be 0.\n"
-	"	union \n"
-	"	{\n"
-	"		__global float4* m_J1linearAxisFloat4;\n"
-	"		__global float* m_J1linearAxis;\n"
-	"	};\n"
-	"	union\n"
-	"	{\n"
-	"		__global float4* m_J1angularAxisFloat4;\n"
-	"		__global float* m_J1angularAxis;\n"
-	"	};\n"
-	"	union\n"
-	"	{\n"
-	"	__global float4* m_J2linearAxisFloat4;\n"
-	"	__global float* m_J2linearAxis;\n"
-	"	};\n"
-	"	union\n"
-	"	{\n"
-	"		__global float4* m_J2angularAxisFloat4;\n"
-	"		__global float* m_J2angularAxis;\n"
-	"	};\n"
-	"	// elements to jump from one row to the next in J's\n"
-	"	int rowskip;\n"
-	"	// right hand sides of the equation J*v = c + cfm * lambda. cfm is the\n"
-	"	// \"constraint force mixing\" vector. c is set to zero on entry, cfm is\n"
-	"	// set to a constant value (typically very small or zero) value on entry.\n"
-	"	__global float* m_constraintError;\n"
-	"	__global float* cfm;\n"
-	"	// lo and hi limits for variables (set to -/+ infinity on entry).\n"
-	"	__global float* m_lowerLimit;\n"
-	"	__global float* m_upperLimit;\n"
-	"	// findex vector for variables. see the LCP solver interface for a\n"
-	"	// description of what this does. this is set to -1 on entry.\n"
-	"	// note that the returned indexes are relative to the first index of\n"
-	"	// the constraint.\n"
-	"	__global int *findex;\n"
-	"	// number of solver iterations\n"
-	"	int m_numIterations;\n"
-	"	//damping of the velocity\n"
-	"	float	m_damping;\n"
-	"} b3GpuConstraintInfo2;\n"
-	"void	getSkewSymmetricMatrix(float4 vecIn, __global float4* v0,__global float4* v1,__global float4* v2)\n"
-	"{\n"
-	"	*v0 = (float4)(0.		,-vecIn.z		,vecIn.y,0.f);\n"
-	"	*v1 = (float4)(vecIn.z	,0.			,-vecIn.x,0.f);\n"
-	"	*v2 = (float4)(-vecIn.y	,vecIn.x	,0.f,0.f);\n"
-	"}\n"
-	"void getInfo2Point2Point(__global b3GpuGenericConstraint* constraint,b3GpuConstraintInfo2* info,__global b3RigidBodyCL* bodies)\n"
-	"{\n"
-	"	float4 posA = bodies[constraint->m_rbA].m_pos;\n"
-	"	Quaternion rotA = bodies[constraint->m_rbA].m_quat;\n"
-	"	float4 posB = bodies[constraint->m_rbB].m_pos;\n"
-	"	Quaternion rotB = bodies[constraint->m_rbB].m_quat;\n"
-	"		// anchor points in global coordinates with respect to body PORs.\n"
-	"   \n"
-	"    // set jacobian\n"
-	"    info->m_J1linearAxis[0] = 1;\n"
-	"	info->m_J1linearAxis[info->rowskip+1] = 1;\n"
-	"	info->m_J1linearAxis[2*info->rowskip+2] = 1;\n"
-	"	float4 a1 = qtRotate(rotA,constraint->m_pivotInA);\n"
-	"	{\n"
-	"		__global float4* angular0 = (__global float4*)(info->m_J1angularAxis);\n"
-	"		__global float4* angular1 = (__global float4*)(info->m_J1angularAxis+info->rowskip);\n"
-	"		__global float4* angular2 = (__global float4*)(info->m_J1angularAxis+2*info->rowskip);\n"
-	"		float4 a1neg = -a1;\n"
-	"		getSkewSymmetricMatrix(a1neg,angular0,angular1,angular2);\n"
-	"	}\n"
-	"	if (info->m_J2linearAxis)\n"
-	"	{\n"
-	"		info->m_J2linearAxis[0] = -1;\n"
-	"		info->m_J2linearAxis[info->rowskip+1] = -1;\n"
-	"		info->m_J2linearAxis[2*info->rowskip+2] = -1;\n"
-	"	}\n"
-	"	\n"
-	"	float4 a2 = qtRotate(rotB,constraint->m_pivotInB);\n"
-	"   \n"
-	"	{\n"
-	"	//	float4 a2n = -a2;\n"
-	"		__global float4* angular0 = (__global float4*)(info->m_J2angularAxis);\n"
-	"		__global float4* angular1 = (__global float4*)(info->m_J2angularAxis+info->rowskip);\n"
-	"		__global float4* angular2 = (__global float4*)(info->m_J2angularAxis+2*info->rowskip);\n"
-	"		getSkewSymmetricMatrix(a2,angular0,angular1,angular2);\n"
-	"	}\n"
-	"    \n"
-	"    // set right hand side\n"
-	"//	float currERP = (m_flags & B3_P2P_FLAGS_ERP) ? m_erp : info->erp;\n"
-	"	float currERP = info->erp;\n"
-	"	float k = info->fps * currERP;\n"
-	"    int j;\n"
-	"	float4 result = a2 + posB - a1 - posA;\n"
-	"	float* resultPtr = &result;\n"
-	"	for (j=0; j<3; j++)\n"
-	"    {\n"
-	"        info->m_constraintError[j*info->rowskip] = k * (resultPtr[j]);\n"
-	"    }\n"
-	"}\n"
-	"Quaternion nearest( Quaternion first, Quaternion qd)\n"
-	"{\n"
-	"	Quaternion diff,sum;\n"
-	"	diff = first- qd;\n"
-	"	sum = first + qd;\n"
-	"	\n"
-	"	if( dot(diff,diff) < dot(sum,sum) )\n"
-	"		return qd;\n"
-	"	return (-qd);\n"
-	"}\n"
-	"float b3Acos(float x) \n"
-	"{ \n"
-	"	if (x<-1)	\n"
-	"		x=-1; \n"
-	"	if (x>1)	\n"
-	"		x=1;\n"
-	"	return acos(x); \n"
-	"}\n"
-	"float getAngle(Quaternion orn)\n"
-	"{\n"
-	"	if (orn.w>=1.f)\n"
-	"		orn.w=1.f;\n"
-	"	float s = 2.f * b3Acos(orn.w);\n"
-	"	return s;\n"
-	"}\n"
-	"void calculateDiffAxisAngleQuaternion( Quaternion orn0,Quaternion orn1a,float4* axis,float* angle)\n"
-	"{\n"
-	"	Quaternion orn1 = nearest(orn0,orn1a);\n"
-	"	\n"
-	"	Quaternion dorn = qtMul(orn1,qtInvert(orn0));\n"
-	"	*angle = getAngle(dorn);\n"
-	"	*axis = (float4)(dorn.x,dorn.y,dorn.z,0.f);\n"
-	"	\n"
-	"	//check for axis length\n"
-	"	float len = dot3F4(*axis,*axis);\n"
-	"	if (len < FLT_EPSILON*FLT_EPSILON)\n"
-	"		*axis = (float4)(1,0,0,0);\n"
-	"	else\n"
-	"		*axis /= sqrt(len);\n"
-	"}\n"
-	"void getInfo2FixedOrientation(__global b3GpuGenericConstraint* constraint,b3GpuConstraintInfo2* info,__global b3RigidBodyCL* bodies, int start_row)\n"
-	"{\n"
-	"	Quaternion worldOrnA = bodies[constraint->m_rbA].m_quat;\n"
-	"	Quaternion worldOrnB = bodies[constraint->m_rbB].m_quat;\n"
-	"	int s = info->rowskip;\n"
-	"	int start_index = start_row * s;\n"
-	"	// 3 rows to make body rotations equal\n"
-	"	info->m_J1angularAxis[start_index] = 1;\n"
-	"	info->m_J1angularAxis[start_index + s + 1] = 1;\n"
-	"	info->m_J1angularAxis[start_index + s*2+2] = 1;\n"
-	"	if ( info->m_J2angularAxis)\n"
-	"	{\n"
-	"		info->m_J2angularAxis[start_index] = -1;\n"
-	"		info->m_J2angularAxis[start_index + s+1] = -1;\n"
-	"		info->m_J2angularAxis[start_index + s*2+2] = -1;\n"
-	"	}\n"
-	"	\n"
-	"	float currERP = info->erp;\n"
-	"	float k = info->fps * currERP;\n"
-	"	float4 diff;\n"
-	"	float angle;\n"
-	"	float4 qrelCur = qtMul(worldOrnA,qtInvert(worldOrnB));\n"
-	"	\n"
-	"	calculateDiffAxisAngleQuaternion(constraint->m_relTargetAB,qrelCur,&diff,&angle);\n"
-	"	diff*=-angle;\n"
-	"		\n"
-	"	float* resultPtr = &diff;\n"
-	"	\n"
-	"	for (int j=0; j<3; j++)\n"
-	"    {\n"
-	"        info->m_constraintError[(3+j)*info->rowskip] = k * resultPtr[j];\n"
-	"    }\n"
-	"	\n"
-	"}\n"
-	"__kernel void writeBackVelocitiesKernel(__global b3RigidBodyCL* bodies,__global b3GpuSolverBody* solverBodies,int numBodies)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	if (i>=numBodies)\n"
-	"		return;\n"
-	"	if (bodies[i].m_invMass)\n"
-	"	{\n"
-	"//		if (length(solverBodies[i].m_deltaLinearVelocity)<MOTIONCLAMP)\n"
-	"		{\n"
-	"			bodies[i].m_linVel += solverBodies[i].m_deltaLinearVelocity;\n"
-	"		}\n"
-	"//		if (length(solverBodies[i].m_deltaAngularVelocity)<MOTIONCLAMP)\n"
-	"		{\n"
-	"			bodies[i].m_angVel += solverBodies[i].m_deltaAngularVelocity;\n"
-	"		} \n"
-	"	}\n"
-	"}\n"
-	"__kernel void getInfo2Kernel(__global b3SolverConstraint* solverConstraintRows, \n"
-	"							__global unsigned int* infos, \n"
-	"							__global unsigned int* constraintRowOffsets, \n"
-	"							__global b3GpuGenericConstraint* constraints, \n"
-	"							__global b3BatchConstraint* batchConstraints, \n"
-	"							__global b3RigidBodyCL* bodies,\n"
-	"							__global BodyInertia* inertias,\n"
-	"							__global b3GpuSolverBody* solverBodies,\n"
-	"							float timeStep,\n"
-	"							float globalErp,\n"
-	"							float globalCfm,\n"
-	"							float globalDamping,\n"
-	"							int globalNumIterations,\n"
-	"							int numConstraints)\n"
-	"{\n"
-	"	int i = get_global_id(0);\n"
-	"	if (i>=numConstraints)\n"
-	"		return;\n"
-	"		\n"
-	"	//for now, always initialize the batch info\n"
-	"	int info1 = infos[i];\n"
-	"			\n"
-	"	__global b3SolverConstraint* currentConstraintRow = &solverConstraintRows[constraintRowOffsets[i]];\n"
-	"	__global b3GpuGenericConstraint* constraint = &constraints[i];\n"
-	"	__global b3RigidBodyCL* rbA = &bodies[ constraint->m_rbA];\n"
-	"	__global b3RigidBodyCL* rbB = &bodies[ constraint->m_rbB];\n"
-	"	int solverBodyIdA = constraint->m_rbA;\n"
-	"	int solverBodyIdB = constraint->m_rbB;\n"
-	"	__global b3GpuSolverBody* bodyAPtr = &solverBodies[solverBodyIdA];\n"
-	"	__global b3GpuSolverBody* bodyBPtr = &solverBodies[solverBodyIdB];\n"
-	"	if (rbA->m_invMass)\n"
-	"	{\n"
-	"		batchConstraints[i].m_bodyAPtrAndSignBit = solverBodyIdA;\n"
-	"	} else\n"
-	"	{\n"
-	"//			if (!solverBodyIdA)\n"
-	"//				m_staticIdx = 0;\n"
-	"		batchConstraints[i].m_bodyAPtrAndSignBit = -solverBodyIdA;\n"
-	"	}\n"
-	"	if (rbB->m_invMass)\n"
-	"	{\n"
-	"		batchConstraints[i].m_bodyBPtrAndSignBit = solverBodyIdB;\n"
-	"	} else\n"
-	"	{\n"
-	"//			if (!solverBodyIdB)\n"
-	"//				m_staticIdx = 0;\n"
-	"		batchConstraints[i].m_bodyBPtrAndSignBit = -solverBodyIdB;\n"
-	"	}\n"
-	"	if (info1)\n"
-	"	{\n"
-	"		int overrideNumSolverIterations = 0;//constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;\n"
-	"//		if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations)\n"
-	"	//		m_maxOverrideNumSolverIterations = overrideNumSolverIterations;\n"
-	"		int j;\n"
-	"		for ( j=0;j<info1;j++)\n"
-	"		{\n"
-	"//			memset(&currentConstraintRow[j],0,sizeof(b3SolverConstraint));\n"
-	"			currentConstraintRow[j].m_angularComponentA = (float4)(0,0,0,0);\n"
-	"			currentConstraintRow[j].m_angularComponentB = (float4)(0,0,0,0);\n"
-	"			currentConstraintRow[j].m_appliedImpulse = 0.f;\n"
-	"			currentConstraintRow[j].m_appliedPushImpulse = 0.f;\n"
-	"			currentConstraintRow[j].m_cfm = 0.f;\n"
-	"			currentConstraintRow[j].m_contactNormal = (float4)(0,0,0,0);\n"
-	"			currentConstraintRow[j].m_friction = 0.f;\n"
-	"			currentConstraintRow[j].m_frictionIndex = 0;\n"
-	"			currentConstraintRow[j].m_jacDiagABInv = 0.f;\n"
-	"			currentConstraintRow[j].m_lowerLimit = 0.f;\n"
-	"			currentConstraintRow[j].m_upperLimit = 0.f;\n"
-	"			currentConstraintRow[j].m_originalConstraint = i;\n"
-	"			currentConstraintRow[j].m_overrideNumSolverIterations = 0;\n"
-	"			currentConstraintRow[j].m_relpos1CrossNormal = (float4)(0,0,0,0);\n"
-	"			currentConstraintRow[j].m_relpos2CrossNormal = (float4)(0,0,0,0);\n"
-	"			currentConstraintRow[j].m_rhs = 0.f;\n"
-	"			currentConstraintRow[j].m_rhsPenetration = 0.f;\n"
-	"			currentConstraintRow[j].m_solverBodyIdA = 0;\n"
-	"			currentConstraintRow[j].m_solverBodyIdB = 0;\n"
-	"							\n"
-	"			currentConstraintRow[j].m_lowerLimit = -B3_INFINITY;\n"
-	"			currentConstraintRow[j].m_upperLimit = B3_INFINITY;\n"
-	"			currentConstraintRow[j].m_appliedImpulse = 0.f;\n"
-	"			currentConstraintRow[j].m_appliedPushImpulse = 0.f;\n"
-	"			currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA;\n"
-	"			currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB;\n"
-	"			currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations;		\n"
-	"		}\n"
-	"		bodyAPtr->m_deltaLinearVelocity = (float4)(0,0,0,0);\n"
-	"		bodyAPtr->m_deltaAngularVelocity = (float4)(0,0,0,0);\n"
-	"		bodyAPtr->m_pushVelocity = (float4)(0,0,0,0);\n"
-	"		bodyAPtr->m_turnVelocity = (float4)(0,0,0,0);\n"
-	"		bodyBPtr->m_deltaLinearVelocity = (float4)(0,0,0,0);\n"
-	"		bodyBPtr->m_deltaAngularVelocity = (float4)(0,0,0,0);\n"
-	"		bodyBPtr->m_pushVelocity = (float4)(0,0,0,0);\n"
-	"		bodyBPtr->m_turnVelocity  = (float4)(0,0,0,0);\n"
-	"		int rowskip = sizeof(b3SolverConstraint)/sizeof(float);//check this\n"
-	"		\n"
-	"		b3GpuConstraintInfo2 info2;\n"
-	"		info2.fps = 1.f/timeStep;\n"
-	"		info2.erp = globalErp;\n"
-	"		info2.m_J1linearAxisFloat4 = &currentConstraintRow->m_contactNormal;\n"
-	"		info2.m_J1angularAxisFloat4 = &currentConstraintRow->m_relpos1CrossNormal;\n"
-	"		info2.m_J2linearAxisFloat4 = 0;\n"
-	"		info2.m_J2angularAxisFloat4 = &currentConstraintRow->m_relpos2CrossNormal;\n"
-	"		info2.rowskip = sizeof(b3SolverConstraint)/sizeof(float);//check this\n"
-	"		///the size of b3SolverConstraint needs be a multiple of float\n"
-	"//		b3Assert(info2.rowskip*sizeof(float)== sizeof(b3SolverConstraint));\n"
-	"		info2.m_constraintError = &currentConstraintRow->m_rhs;\n"
-	"		currentConstraintRow->m_cfm = globalCfm;\n"
-	"		info2.m_damping = globalDamping;\n"
-	"		info2.cfm = &currentConstraintRow->m_cfm;\n"
-	"		info2.m_lowerLimit = &currentConstraintRow->m_lowerLimit;\n"
-	"		info2.m_upperLimit = &currentConstraintRow->m_upperLimit;\n"
-	"		info2.m_numIterations = globalNumIterations;\n"
-	"		switch (constraint->m_constraintType)\n"
-	"		{\n"
-	"			case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:\n"
-	"			{\n"
-	"				getInfo2Point2Point(constraint,&info2,bodies);\n"
-	"				break;\n"
-	"			}\n"
-	"			case B3_GPU_FIXED_CONSTRAINT_TYPE:\n"
-	"			{\n"
-	"				getInfo2Point2Point(constraint,&info2,bodies);\n"
-	"				getInfo2FixedOrientation(constraint,&info2,bodies,3);\n"
-	"				break;\n"
-	"			}\n"
-	"			default:\n"
-	"			{\n"
-	"			}\n"
-	"		}\n"
-	"		///finalize the constraint setup\n"
-	"		for ( j=0;j<info1;j++)\n"
-	"		{\n"
-	"			__global b3SolverConstraint* solverConstraint = &currentConstraintRow[j];\n"
-	"			if (solverConstraint->m_upperLimit>=constraint->m_breakingImpulseThreshold)\n"
-	"			{\n"
-	"				solverConstraint->m_upperLimit = constraint->m_breakingImpulseThreshold;\n"
-	"			}\n"
-	"			if (solverConstraint->m_lowerLimit<=-constraint->m_breakingImpulseThreshold)\n"
-	"			{\n"
-	"				solverConstraint->m_lowerLimit = -constraint->m_breakingImpulseThreshold;\n"
-	"			}\n"
-	"//						solverConstraint->m_originalContactPoint = constraint;\n"
-	"							\n"
-	"			Matrix3x3 invInertiaWorldA= inertias[constraint->m_rbA].m_invInertiaWorld;\n"
-	"			{\n"
-	"				//float4 angularFactorA(1,1,1);\n"
-	"				float4 ftorqueAxis1 = solverConstraint->m_relpos1CrossNormal;\n"
-	"				solverConstraint->m_angularComponentA = mtMul1(invInertiaWorldA,ftorqueAxis1);//*angularFactorA;\n"
-	"			}\n"
-	"						\n"
-	"			Matrix3x3 invInertiaWorldB= inertias[constraint->m_rbB].m_invInertiaWorld;\n"
-	"			{\n"
-	"				float4 ftorqueAxis2 = solverConstraint->m_relpos2CrossNormal;\n"
-	"				solverConstraint->m_angularComponentB = mtMul1(invInertiaWorldB,ftorqueAxis2);//*constraint->m_rbB.getAngularFactor();\n"
-	"			}\n"
-	"			{\n"
-	"				//it is ok to use solverConstraint->m_contactNormal instead of -solverConstraint->m_contactNormal\n"
-	"				//because it gets multiplied iMJlB\n"
-	"				float4 iMJlA = solverConstraint->m_contactNormal*rbA->m_invMass;\n"
-	"				float4 iMJaA = mtMul3(solverConstraint->m_relpos1CrossNormal,invInertiaWorldA);\n"
-	"				float4 iMJlB = solverConstraint->m_contactNormal*rbB->m_invMass;//sign of normal?\n"
-	"				float4 iMJaB = mtMul3(solverConstraint->m_relpos2CrossNormal,invInertiaWorldB);\n"
-	"				float sum = dot3F4(iMJlA,solverConstraint->m_contactNormal);\n"
-	"				sum += dot3F4(iMJaA,solverConstraint->m_relpos1CrossNormal);\n"
-	"				sum += dot3F4(iMJlB,solverConstraint->m_contactNormal);\n"
-	"				sum += dot3F4(iMJaB,solverConstraint->m_relpos2CrossNormal);\n"
-	"				float fsum = fabs(sum);\n"
-	"				if (fsum>FLT_EPSILON)\n"
-	"				{\n"
-	"					solverConstraint->m_jacDiagABInv = 1.f/sum;\n"
-	"				} else\n"
-	"				{\n"
-	"					solverConstraint->m_jacDiagABInv = 0.f;\n"
-	"				}\n"
-	"			}\n"
-	"			///fix rhs\n"
-	"			///todo: add force/torque accelerators\n"
-	"			{\n"
-	"				float rel_vel;\n"
-	"				float vel1Dotn = dot3F4(solverConstraint->m_contactNormal,rbA->m_linVel) + dot3F4(solverConstraint->m_relpos1CrossNormal,rbA->m_angVel);\n"
-	"				float vel2Dotn = -dot3F4(solverConstraint->m_contactNormal,rbB->m_linVel) + dot3F4(solverConstraint->m_relpos2CrossNormal,rbB->m_angVel);\n"
-	"				rel_vel = vel1Dotn+vel2Dotn;\n"
-	"				float restitution = 0.f;\n"
-	"				float positionalError = solverConstraint->m_rhs;//already filled in by getConstraintInfo2\n"
-	"				float	velocityError = restitution - rel_vel * info2.m_damping;\n"
-	"				float	penetrationImpulse = positionalError*solverConstraint->m_jacDiagABInv;\n"
-	"				float	velocityImpulse = velocityError *solverConstraint->m_jacDiagABInv;\n"
-	"				solverConstraint->m_rhs = penetrationImpulse+velocityImpulse;\n"
-	"				solverConstraint->m_appliedImpulse = 0.f;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveContact.cl b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveContact.cl
deleted file mode 100644
index 5c4d62e4ec..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveContact.cl
+++ /dev/null
@@ -1,501 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Takahiro Harada
-
-
-//#pragma OPENCL EXTENSION cl_amd_printf : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable
-
-
-#ifdef cl_ext_atomic_counters_32
-#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable
-#else
-#define counter32_t volatile global int*
-#endif
-
-typedef unsigned int u32;
-typedef unsigned short u16;
-typedef unsigned char u8;
-
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GET_NUM_GROUPS get_num_groups(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
-#define AtomInc(x) atom_inc(&(x))
-#define AtomInc1(x, out) out = atom_inc(&(x))
-#define AppendInc(x, out) out = atomic_inc(x)
-#define AtomAdd(x, value) atom_add(&(x), value)
-#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )
-#define AtomXhg(x, value) atom_xchg ( &(x), value )
-
-
-#define SELECT_UINT4( b, a, condition ) select( b,a,condition )
-
-#define mymake_float4 (float4)
-//#define make_float2 (float2)
-//#define make_uint4 (uint4)
-//#define make_int4 (int4)
-//#define make_uint2 (uint2)
-//#define make_int2 (int2)
-
-
-#define max2 max
-#define min2 min
-
-
-///////////////////////////////////////
-//	Vector
-///////////////////////////////////////
-
-
-
-
-__inline
-float4 fastNormalize4(float4 v)
-{
-	return fast_normalize(v);
-}
-
-
-
-__inline
-float4 cross3(float4 a, float4 b)
-{
-	return cross(a,b);
-}
-
-__inline
-float dot3F4(float4 a, float4 b)
-{
-	float4 a1 = mymake_float4(a.xyz,0.f);
-	float4 b1 = mymake_float4(b.xyz,0.f);
-	return dot(a1, b1);
-}
-
-
-
-
-__inline
-float4 normalize3(const float4 a)
-{
-	float4 n = mymake_float4(a.x, a.y, a.z, 0.f);
-	return fastNormalize4( n );
-//	float length = sqrtf(dot3F4(a, a));
-//	return 1.f/length * a;
-}
-
-
-
-
-///////////////////////////////////////
-//	Matrix3x3
-///////////////////////////////////////
-
-typedef struct
-{
-	float4 m_row[3];
-}Matrix3x3;
-
-
-
-
-
-
-__inline
-float4 mtMul1(Matrix3x3 a, float4 b);
-
-__inline
-float4 mtMul3(float4 a, Matrix3x3 b);
-
-
-
-
-__inline
-float4 mtMul1(Matrix3x3 a, float4 b)
-{
-	float4 ans;
-	ans.x = dot3F4( a.m_row[0], b );
-	ans.y = dot3F4( a.m_row[1], b );
-	ans.z = dot3F4( a.m_row[2], b );
-	ans.w = 0.f;
-	return ans;
-}
-
-__inline
-float4 mtMul3(float4 a, Matrix3x3 b)
-{
-	float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);
-	float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);
-	float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);
-
-	float4 ans;
-	ans.x = dot3F4( a, colx );
-	ans.y = dot3F4( a, coly );
-	ans.z = dot3F4( a, colz );
-	return ans;
-}
-
-///////////////////////////////////////
-//	Quaternion
-///////////////////////////////////////
-
-typedef float4 Quaternion;
-
-
-
-
-
-
-
-#define WG_SIZE 64
-
-typedef struct
-{
-	float4 m_pos;
-	Quaternion m_quat;
-	float4 m_linVel;
-	float4 m_angVel;
-
-	u32 m_shapeIdx;
-	float m_invMass;
-	float m_restituitionCoeff;
-	float m_frictionCoeff;
-} Body;
-
-typedef struct
-{
-	Matrix3x3 m_invInertia;
-	Matrix3x3 m_initInvInertia;
-} Shape;
-
-typedef struct
-{
-	float4 m_linear;
-	float4 m_worldPos[4];
-	float4 m_center;	
-	float m_jacCoeffInv[4];
-	float m_b[4];
-	float m_appliedRambdaDt[4];
-
-	float m_fJacCoeffInv[2];	
-	float m_fAppliedRambdaDt[2];	
-
-	u32 m_bodyA;
-	u32 m_bodyB;
-
-	int m_batchIdx;
-	u32 m_paddings[1];
-} Constraint4;
-
-
-
-typedef struct
-{
-	int m_nConstraints;
-	int m_start;
-	int m_batchIdx;
-	int m_nSplit;
-//	int m_paddings[1];
-} ConstBuffer;
-
-typedef struct
-{
-	int m_solveFriction;
-	int m_maxBatch;	//	long batch really kills the performance
-	int m_batchIdx;
-	int m_nSplit;
-//	int m_paddings[1];
-} ConstBufferBatchSolve;
-
-void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1);
-
-void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)
-{
-	*linear = mymake_float4(-n.xyz,0.f);
-	*angular0 = -cross3(r0, n);
-	*angular1 = cross3(r1, n);
-}
-
-float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 );
-
-float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )
-{
-	return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);
-}
-
-
-float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,
-				   float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1);
-
-float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,
-					float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1)
-{
-	//	linear0,1 are normlized
-	float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;
-	float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);
-	float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;
-	float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);
-	return -1.f/(jmj0+jmj1+jmj2+jmj3);
-}
-
-
-void solveContact(__global Constraint4* cs,
-				  float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,
-				  float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB);
-
-void solveContact(__global Constraint4* cs,
-			float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,
-			float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB)
-{
-	float minRambdaDt = 0;
-	float maxRambdaDt = FLT_MAX;
-
-	for(int ic=0; ic<4; ic++)
-	{
-		if( cs->m_jacCoeffInv[ic] == 0.f ) continue;
-
-		float4 angular0, angular1, linear;
-		float4 r0 = cs->m_worldPos[ic] - posA;
-		float4 r1 = cs->m_worldPos[ic] - posB;
-		setLinearAndAngular( -cs->m_linear, r0, r1, &linear, &angular0, &angular1 );
-
-		float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1, 
-			*linVelA, *angVelA, *linVelB, *angVelB ) + cs->m_b[ic];
-		rambdaDt *= cs->m_jacCoeffInv[ic];
-
-		{
-			float prevSum = cs->m_appliedRambdaDt[ic];
-			float updated = prevSum;
-			updated += rambdaDt;
-			updated = max2( updated, minRambdaDt );
-			updated = min2( updated, maxRambdaDt );
-			rambdaDt = updated - prevSum;
-			cs->m_appliedRambdaDt[ic] = updated;
-		}
-
-		float4 linImp0 = invMassA*linear*rambdaDt;
-		float4 linImp1 = invMassB*(-linear)*rambdaDt;
-		float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;
-		float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;
-
-		*linVelA += linImp0;
-		*angVelA += angImp0;
-		*linVelB += linImp1;
-		*angVelB += angImp1;
-	}
-}
-
-void btPlaneSpace1 (const float4* n, float4* p, float4* q);
- void btPlaneSpace1 (const float4* n, float4* p, float4* q)
-{
-  if (fabs(n[0].z) > 0.70710678f) {
-    // choose p in y-z plane
-    float a = n[0].y*n[0].y + n[0].z*n[0].z;
-    float k = 1.f/sqrt(a);
-    p[0].x = 0;
-	p[0].y = -n[0].z*k;
-	p[0].z = n[0].y*k;
-    // set q = n x p
-    q[0].x = a*k;
-	q[0].y = -n[0].x*p[0].z;
-	q[0].z = n[0].x*p[0].y;
-  }
-  else {
-    // choose p in x-y plane
-    float a = n[0].x*n[0].x + n[0].y*n[0].y;
-    float k = 1.f/sqrt(a);
-    p[0].x = -n[0].y*k;
-	p[0].y = n[0].x*k;
-	p[0].z = 0;
-    // set q = n x p
-    q[0].x = -n[0].z*p[0].y;
-	q[0].y = n[0].z*p[0].x;
-	q[0].z = a*k;
-  }
-}
-
-void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs);
-void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs)
-{
-	//float frictionCoeff = ldsCs[0].m_linear.w;
-	int aIdx = ldsCs[0].m_bodyA;
-	int bIdx = ldsCs[0].m_bodyB;
-
-	float4 posA = gBodies[aIdx].m_pos;
-	float4 linVelA = gBodies[aIdx].m_linVel;
-	float4 angVelA = gBodies[aIdx].m_angVel;
-	float invMassA = gBodies[aIdx].m_invMass;
-	Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;
-
-	float4 posB = gBodies[bIdx].m_pos;
-	float4 linVelB = gBodies[bIdx].m_linVel;
-	float4 angVelB = gBodies[bIdx].m_angVel;
-	float invMassB = gBodies[bIdx].m_invMass;
-	Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;
-
-	solveContact( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,
-			posB, &linVelB, &angVelB, invMassB, invInertiaB );
-
-  if (gBodies[aIdx].m_invMass)
-  {
-		gBodies[aIdx].m_linVel = linVelA;
-		gBodies[aIdx].m_angVel = angVelA;
-	} else
-	{
-		gBodies[aIdx].m_linVel = mymake_float4(0,0,0,0);
-		gBodies[aIdx].m_angVel = mymake_float4(0,0,0,0);
-	
-	}
-	if (gBodies[bIdx].m_invMass)
-  {
-		gBodies[bIdx].m_linVel = linVelB;
-		gBodies[bIdx].m_angVel = angVelB;
-	} else
-	{
-		gBodies[bIdx].m_linVel = mymake_float4(0,0,0,0);
-		gBodies[bIdx].m_angVel = mymake_float4(0,0,0,0);
-	
-	}
-
-}
-
-
-
-typedef struct 
-{
-	int m_valInt0;
-	int m_valInt1;
-	int m_valInt2;
-	int m_valInt3;
-
-	float m_val0;
-	float m_val1;
-	float m_val2;
-	float m_val3;
-} SolverDebugInfo;
-
-
-
-
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void BatchSolveKernelContact(__global Body* gBodies,
-                      __global Shape* gShapes,
-                      __global Constraint4* gConstraints,
-                      __global int* gN,
-                      __global int* gOffsets,
-                      __global	int* batchSizes,
-                       int maxBatch1,
-                       int cellBatch,
-                       int4 nSplit
-                      )
-{
-	//__local int ldsBatchIdx[WG_SIZE+1];
-	__local int ldsCurBatch;
-	__local int ldsNextBatch;
-	__local int ldsStart;
-
-	int lIdx = GET_LOCAL_IDX;
-	int wgIdx = GET_GROUP_IDX;
-
-//	int gIdx = GET_GLOBAL_IDX;
-//	debugInfo[gIdx].m_valInt0 = gIdx;
-	//debugInfo[gIdx].m_valInt1 = GET_GROUP_SIZE;
-
-	
-	
-
-	int zIdx = (wgIdx/((nSplit.x*nSplit.y)/4))*2+((cellBatch&4)>>2);
-	int remain= (wgIdx%((nSplit.x*nSplit.y)/4));
-	int yIdx = (remain/(nSplit.x/2))*2 + ((cellBatch&2)>>1);
-	int xIdx = (remain%(nSplit.x/2))*2 + (cellBatch&1);
-	int cellIdx = xIdx+yIdx*nSplit.x+zIdx*(nSplit.x*nSplit.y);
-
-	//int xIdx = (wgIdx/(nSplit/2))*2 + (bIdx&1);
-	//int yIdx = (wgIdx%(nSplit/2))*2 + (bIdx>>1);
-	//int cellIdx = xIdx+yIdx*nSplit;
-	
-	if( gN[cellIdx] == 0 ) 
-		return;
-
-	int maxBatch = batchSizes[cellIdx];
-	
-	
-	const int start = gOffsets[cellIdx];
-	const int end = start + gN[cellIdx];
-
-	
-	
-	
-	if( lIdx == 0 )
-	{
-		ldsCurBatch = 0;
-		ldsNextBatch = 0;
-		ldsStart = start;
-	}
-
-
-	GROUP_LDS_BARRIER;
-
-	int idx=ldsStart+lIdx;
-	while (ldsCurBatch < maxBatch)
-	{
-		for(; idx<end; )
-		{
-			if (gConstraints[idx].m_batchIdx == ldsCurBatch)
-			{
-					solveContactConstraint( gBodies, gShapes, &gConstraints[idx] );
-
-				 idx+=64;
-			} else
-			{
-				break;
-			}
-		}
-		GROUP_LDS_BARRIER;
-	
-		if( lIdx == 0 )
-		{
-			ldsCurBatch++;
-		}
-		GROUP_LDS_BARRIER;
-	}
-	
-    
-}
-
-
-
-__kernel void solveSingleContactKernel(__global Body* gBodies,
-                      __global Shape* gShapes,
-                      __global Constraint4* gConstraints,
-                       int cellIdx,
-                       int batchOffset,
-                       int numConstraintsInBatch
-                      )
-{
-
-	int index = get_global_id(0);
-	if (index < numConstraintsInBatch)
-	{
-		int idx=batchOffset+index;
-		solveContactConstraint( gBodies, gShapes, &gConstraints[idx] );
-	}    
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveContact.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveContact.h
deleted file mode 100644
index 6e14ad51fc..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveContact.h
+++ /dev/null
@@ -1,392 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* solveContactCL =
-	"/*\n"
-	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose, \n"
-	"including commercial applications, and to alter it and redistribute it freely, \n"
-	"subject to the following restrictions:\n"
-	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Originally written by Takahiro Harada\n"
-	"//#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
-	"#ifdef cl_ext_atomic_counters_32\n"
-	"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
-	"#else\n"
-	"#define counter32_t volatile global int*\n"
-	"#endif\n"
-	"typedef unsigned int u32;\n"
-	"typedef unsigned short u16;\n"
-	"typedef unsigned char u8;\n"
-	"#define GET_GROUP_IDX get_group_id(0)\n"
-	"#define GET_LOCAL_IDX get_local_id(0)\n"
-	"#define GET_GLOBAL_IDX get_global_id(0)\n"
-	"#define GET_GROUP_SIZE get_local_size(0)\n"
-	"#define GET_NUM_GROUPS get_num_groups(0)\n"
-	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-	"#define AtomInc(x) atom_inc(&(x))\n"
-	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-	"#define AppendInc(x, out) out = atomic_inc(x)\n"
-	"#define AtomAdd(x, value) atom_add(&(x), value)\n"
-	"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
-	"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
-	"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
-	"#define mymake_float4 (float4)\n"
-	"//#define make_float2 (float2)\n"
-	"//#define make_uint4 (uint4)\n"
-	"//#define make_int4 (int4)\n"
-	"//#define make_uint2 (uint2)\n"
-	"//#define make_int2 (int2)\n"
-	"#define max2 max\n"
-	"#define min2 min\n"
-	"///////////////////////////////////////\n"
-	"//	Vector\n"
-	"///////////////////////////////////////\n"
-	"__inline\n"
-	"float4 fastNormalize4(float4 v)\n"
-	"{\n"
-	"	return fast_normalize(v);\n"
-	"}\n"
-	"__inline\n"
-	"float4 cross3(float4 a, float4 b)\n"
-	"{\n"
-	"	return cross(a,b);\n"
-	"}\n"
-	"__inline\n"
-	"float dot3F4(float4 a, float4 b)\n"
-	"{\n"
-	"	float4 a1 = mymake_float4(a.xyz,0.f);\n"
-	"	float4 b1 = mymake_float4(b.xyz,0.f);\n"
-	"	return dot(a1, b1);\n"
-	"}\n"
-	"__inline\n"
-	"float4 normalize3(const float4 a)\n"
-	"{\n"
-	"	float4 n = mymake_float4(a.x, a.y, a.z, 0.f);\n"
-	"	return fastNormalize4( n );\n"
-	"//	float length = sqrtf(dot3F4(a, a));\n"
-	"//	return 1.f/length * a;\n"
-	"}\n"
-	"///////////////////////////////////////\n"
-	"//	Matrix3x3\n"
-	"///////////////////////////////////////\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_row[3];\n"
-	"}Matrix3x3;\n"
-	"__inline\n"
-	"float4 mtMul1(Matrix3x3 a, float4 b);\n"
-	"__inline\n"
-	"float4 mtMul3(float4 a, Matrix3x3 b);\n"
-	"__inline\n"
-	"float4 mtMul1(Matrix3x3 a, float4 b)\n"
-	"{\n"
-	"	float4 ans;\n"
-	"	ans.x = dot3F4( a.m_row[0], b );\n"
-	"	ans.y = dot3F4( a.m_row[1], b );\n"
-	"	ans.z = dot3F4( a.m_row[2], b );\n"
-	"	ans.w = 0.f;\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"float4 mtMul3(float4 a, Matrix3x3 b)\n"
-	"{\n"
-	"	float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-	"	float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-	"	float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-	"	float4 ans;\n"
-	"	ans.x = dot3F4( a, colx );\n"
-	"	ans.y = dot3F4( a, coly );\n"
-	"	ans.z = dot3F4( a, colz );\n"
-	"	return ans;\n"
-	"}\n"
-	"///////////////////////////////////////\n"
-	"//	Quaternion\n"
-	"///////////////////////////////////////\n"
-	"typedef float4 Quaternion;\n"
-	"#define WG_SIZE 64\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_pos;\n"
-	"	Quaternion m_quat;\n"
-	"	float4 m_linVel;\n"
-	"	float4 m_angVel;\n"
-	"	u32 m_shapeIdx;\n"
-	"	float m_invMass;\n"
-	"	float m_restituitionCoeff;\n"
-	"	float m_frictionCoeff;\n"
-	"} Body;\n"
-	"typedef struct\n"
-	"{\n"
-	"	Matrix3x3 m_invInertia;\n"
-	"	Matrix3x3 m_initInvInertia;\n"
-	"} Shape;\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_linear;\n"
-	"	float4 m_worldPos[4];\n"
-	"	float4 m_center;	\n"
-	"	float m_jacCoeffInv[4];\n"
-	"	float m_b[4];\n"
-	"	float m_appliedRambdaDt[4];\n"
-	"	float m_fJacCoeffInv[2];	\n"
-	"	float m_fAppliedRambdaDt[2];	\n"
-	"	u32 m_bodyA;\n"
-	"	u32 m_bodyB;\n"
-	"	int m_batchIdx;\n"
-	"	u32 m_paddings[1];\n"
-	"} Constraint4;\n"
-	"typedef struct\n"
-	"{\n"
-	"	int m_nConstraints;\n"
-	"	int m_start;\n"
-	"	int m_batchIdx;\n"
-	"	int m_nSplit;\n"
-	"//	int m_paddings[1];\n"
-	"} ConstBuffer;\n"
-	"typedef struct\n"
-	"{\n"
-	"	int m_solveFriction;\n"
-	"	int m_maxBatch;	//	long batch really kills the performance\n"
-	"	int m_batchIdx;\n"
-	"	int m_nSplit;\n"
-	"//	int m_paddings[1];\n"
-	"} ConstBufferBatchSolve;\n"
-	"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1);\n"
-	"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n"
-	"{\n"
-	"	*linear = mymake_float4(-n.xyz,0.f);\n"
-	"	*angular0 = -cross3(r0, n);\n"
-	"	*angular1 = cross3(r1, n);\n"
-	"}\n"
-	"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 );\n"
-	"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )\n"
-	"{\n"
-	"	return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);\n"
-	"}\n"
-	"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
-	"				   float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1);\n"
-	"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
-	"					float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1)\n"
-	"{\n"
-	"	//	linear0,1 are normlized\n"
-	"	float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;\n"
-	"	float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);\n"
-	"	float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;\n"
-	"	float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);\n"
-	"	return -1.f/(jmj0+jmj1+jmj2+jmj3);\n"
-	"}\n"
-	"void solveContact(__global Constraint4* cs,\n"
-	"				  float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,\n"
-	"				  float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB);\n"
-	"void solveContact(__global Constraint4* cs,\n"
-	"			float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,\n"
-	"			float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB)\n"
-	"{\n"
-	"	float minRambdaDt = 0;\n"
-	"	float maxRambdaDt = FLT_MAX;\n"
-	"	for(int ic=0; ic<4; ic++)\n"
-	"	{\n"
-	"		if( cs->m_jacCoeffInv[ic] == 0.f ) continue;\n"
-	"		float4 angular0, angular1, linear;\n"
-	"		float4 r0 = cs->m_worldPos[ic] - posA;\n"
-	"		float4 r1 = cs->m_worldPos[ic] - posB;\n"
-	"		setLinearAndAngular( -cs->m_linear, r0, r1, &linear, &angular0, &angular1 );\n"
-	"		float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1, \n"
-	"			*linVelA, *angVelA, *linVelB, *angVelB ) + cs->m_b[ic];\n"
-	"		rambdaDt *= cs->m_jacCoeffInv[ic];\n"
-	"		{\n"
-	"			float prevSum = cs->m_appliedRambdaDt[ic];\n"
-	"			float updated = prevSum;\n"
-	"			updated += rambdaDt;\n"
-	"			updated = max2( updated, minRambdaDt );\n"
-	"			updated = min2( updated, maxRambdaDt );\n"
-	"			rambdaDt = updated - prevSum;\n"
-	"			cs->m_appliedRambdaDt[ic] = updated;\n"
-	"		}\n"
-	"		float4 linImp0 = invMassA*linear*rambdaDt;\n"
-	"		float4 linImp1 = invMassB*(-linear)*rambdaDt;\n"
-	"		float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;\n"
-	"		float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;\n"
-	"		*linVelA += linImp0;\n"
-	"		*angVelA += angImp0;\n"
-	"		*linVelB += linImp1;\n"
-	"		*angVelB += angImp1;\n"
-	"	}\n"
-	"}\n"
-	"void btPlaneSpace1 (const float4* n, float4* p, float4* q);\n"
-	" void btPlaneSpace1 (const float4* n, float4* p, float4* q)\n"
-	"{\n"
-	"  if (fabs(n[0].z) > 0.70710678f) {\n"
-	"    // choose p in y-z plane\n"
-	"    float a = n[0].y*n[0].y + n[0].z*n[0].z;\n"
-	"    float k = 1.f/sqrt(a);\n"
-	"    p[0].x = 0;\n"
-	"	p[0].y = -n[0].z*k;\n"
-	"	p[0].z = n[0].y*k;\n"
-	"    // set q = n x p\n"
-	"    q[0].x = a*k;\n"
-	"	q[0].y = -n[0].x*p[0].z;\n"
-	"	q[0].z = n[0].x*p[0].y;\n"
-	"  }\n"
-	"  else {\n"
-	"    // choose p in x-y plane\n"
-	"    float a = n[0].x*n[0].x + n[0].y*n[0].y;\n"
-	"    float k = 1.f/sqrt(a);\n"
-	"    p[0].x = -n[0].y*k;\n"
-	"	p[0].y = n[0].x*k;\n"
-	"	p[0].z = 0;\n"
-	"    // set q = n x p\n"
-	"    q[0].x = -n[0].z*p[0].y;\n"
-	"	q[0].y = n[0].z*p[0].x;\n"
-	"	q[0].z = a*k;\n"
-	"  }\n"
-	"}\n"
-	"void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs);\n"
-	"void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs)\n"
-	"{\n"
-	"	//float frictionCoeff = ldsCs[0].m_linear.w;\n"
-	"	int aIdx = ldsCs[0].m_bodyA;\n"
-	"	int bIdx = ldsCs[0].m_bodyB;\n"
-	"	float4 posA = gBodies[aIdx].m_pos;\n"
-	"	float4 linVelA = gBodies[aIdx].m_linVel;\n"
-	"	float4 angVelA = gBodies[aIdx].m_angVel;\n"
-	"	float invMassA = gBodies[aIdx].m_invMass;\n"
-	"	Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
-	"	float4 posB = gBodies[bIdx].m_pos;\n"
-	"	float4 linVelB = gBodies[bIdx].m_linVel;\n"
-	"	float4 angVelB = gBodies[bIdx].m_angVel;\n"
-	"	float invMassB = gBodies[bIdx].m_invMass;\n"
-	"	Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
-	"	solveContact( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n"
-	"			posB, &linVelB, &angVelB, invMassB, invInertiaB );\n"
-	"  if (gBodies[aIdx].m_invMass)\n"
-	"  {\n"
-	"		gBodies[aIdx].m_linVel = linVelA;\n"
-	"		gBodies[aIdx].m_angVel = angVelA;\n"
-	"	} else\n"
-	"	{\n"
-	"		gBodies[aIdx].m_linVel = mymake_float4(0,0,0,0);\n"
-	"		gBodies[aIdx].m_angVel = mymake_float4(0,0,0,0);\n"
-	"	\n"
-	"	}\n"
-	"	if (gBodies[bIdx].m_invMass)\n"
-	"  {\n"
-	"		gBodies[bIdx].m_linVel = linVelB;\n"
-	"		gBodies[bIdx].m_angVel = angVelB;\n"
-	"	} else\n"
-	"	{\n"
-	"		gBodies[bIdx].m_linVel = mymake_float4(0,0,0,0);\n"
-	"		gBodies[bIdx].m_angVel = mymake_float4(0,0,0,0);\n"
-	"	\n"
-	"	}\n"
-	"}\n"
-	"typedef struct \n"
-	"{\n"
-	"	int m_valInt0;\n"
-	"	int m_valInt1;\n"
-	"	int m_valInt2;\n"
-	"	int m_valInt3;\n"
-	"	float m_val0;\n"
-	"	float m_val1;\n"
-	"	float m_val2;\n"
-	"	float m_val3;\n"
-	"} SolverDebugInfo;\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void BatchSolveKernelContact(__global Body* gBodies,\n"
-	"                      __global Shape* gShapes,\n"
-	"                      __global Constraint4* gConstraints,\n"
-	"                      __global int* gN,\n"
-	"                      __global int* gOffsets,\n"
-	"                      __global	int* batchSizes,\n"
-	"                       int maxBatch1,\n"
-	"                       int cellBatch,\n"
-	"                       int4 nSplit\n"
-	"                      )\n"
-	"{\n"
-	"	//__local int ldsBatchIdx[WG_SIZE+1];\n"
-	"	__local int ldsCurBatch;\n"
-	"	__local int ldsNextBatch;\n"
-	"	__local int ldsStart;\n"
-	"	int lIdx = GET_LOCAL_IDX;\n"
-	"	int wgIdx = GET_GROUP_IDX;\n"
-	"//	int gIdx = GET_GLOBAL_IDX;\n"
-	"//	debugInfo[gIdx].m_valInt0 = gIdx;\n"
-	"	//debugInfo[gIdx].m_valInt1 = GET_GROUP_SIZE;\n"
-	"	\n"
-	"	\n"
-	"	int zIdx = (wgIdx/((nSplit.x*nSplit.y)/4))*2+((cellBatch&4)>>2);\n"
-	"	int remain= (wgIdx%((nSplit.x*nSplit.y)/4));\n"
-	"	int yIdx = (remain/(nSplit.x/2))*2 + ((cellBatch&2)>>1);\n"
-	"	int xIdx = (remain%(nSplit.x/2))*2 + (cellBatch&1);\n"
-	"	int cellIdx = xIdx+yIdx*nSplit.x+zIdx*(nSplit.x*nSplit.y);\n"
-	"	//int xIdx = (wgIdx/(nSplit/2))*2 + (bIdx&1);\n"
-	"	//int yIdx = (wgIdx%(nSplit/2))*2 + (bIdx>>1);\n"
-	"	//int cellIdx = xIdx+yIdx*nSplit;\n"
-	"	\n"
-	"	if( gN[cellIdx] == 0 ) \n"
-	"		return;\n"
-	"	int maxBatch = batchSizes[cellIdx];\n"
-	"	\n"
-	"	\n"
-	"	const int start = gOffsets[cellIdx];\n"
-	"	const int end = start + gN[cellIdx];\n"
-	"	\n"
-	"	\n"
-	"	\n"
-	"	if( lIdx == 0 )\n"
-	"	{\n"
-	"		ldsCurBatch = 0;\n"
-	"		ldsNextBatch = 0;\n"
-	"		ldsStart = start;\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	int idx=ldsStart+lIdx;\n"
-	"	while (ldsCurBatch < maxBatch)\n"
-	"	{\n"
-	"		for(; idx<end; )\n"
-	"		{\n"
-	"			if (gConstraints[idx].m_batchIdx == ldsCurBatch)\n"
-	"			{\n"
-	"					solveContactConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
-	"				 idx+=64;\n"
-	"			} else\n"
-	"			{\n"
-	"				break;\n"
-	"			}\n"
-	"		}\n"
-	"		GROUP_LDS_BARRIER;\n"
-	"	\n"
-	"		if( lIdx == 0 )\n"
-	"		{\n"
-	"			ldsCurBatch++;\n"
-	"		}\n"
-	"		GROUP_LDS_BARRIER;\n"
-	"	}\n"
-	"	\n"
-	"    \n"
-	"}\n"
-	"__kernel void solveSingleContactKernel(__global Body* gBodies,\n"
-	"                      __global Shape* gShapes,\n"
-	"                      __global Constraint4* gConstraints,\n"
-	"                       int cellIdx,\n"
-	"                       int batchOffset,\n"
-	"                       int numConstraintsInBatch\n"
-	"                      )\n"
-	"{\n"
-	"	int index = get_global_id(0);\n"
-	"	if (index < numConstraintsInBatch)\n"
-	"	{\n"
-	"		int idx=batchOffset+index;\n"
-	"		solveContactConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
-	"	}    \n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveFriction.cl b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveFriction.cl
deleted file mode 100644
index 1d70fbbae3..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveFriction.cl
+++ /dev/null
@@ -1,527 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Takahiro Harada
-
-
-//#pragma OPENCL EXTENSION cl_amd_printf : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable
-
-
-#ifdef cl_ext_atomic_counters_32
-#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable
-#else
-#define counter32_t volatile global int*
-#endif
-
-typedef unsigned int u32;
-typedef unsigned short u16;
-typedef unsigned char u8;
-
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GET_NUM_GROUPS get_num_groups(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
-#define AtomInc(x) atom_inc(&(x))
-#define AtomInc1(x, out) out = atom_inc(&(x))
-#define AppendInc(x, out) out = atomic_inc(x)
-#define AtomAdd(x, value) atom_add(&(x), value)
-#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )
-#define AtomXhg(x, value) atom_xchg ( &(x), value )
-
-
-#define SELECT_UINT4( b, a, condition ) select( b,a,condition )
-
-#define mymake_float4 (float4)
-//#define make_float2 (float2)
-//#define make_uint4 (uint4)
-//#define make_int4 (int4)
-//#define make_uint2 (uint2)
-//#define make_int2 (int2)
-
-
-#define max2 max
-#define min2 min
-
-
-///////////////////////////////////////
-//	Vector
-///////////////////////////////////////
-
-
-
-
-__inline
-float4 fastNormalize4(float4 v)
-{
-	return fast_normalize(v);
-}
-
-
-
-__inline
-float4 cross3(float4 a, float4 b)
-{
-	return cross(a,b);
-}
-
-__inline
-float dot3F4(float4 a, float4 b)
-{
-	float4 a1 = mymake_float4(a.xyz,0.f);
-	float4 b1 = mymake_float4(b.xyz,0.f);
-	return dot(a1, b1);
-}
-
-
-
-
-__inline
-float4 normalize3(const float4 a)
-{
-	float4 n = mymake_float4(a.x, a.y, a.z, 0.f);
-	return fastNormalize4( n );
-//	float length = sqrtf(dot3F4(a, a));
-//	return 1.f/length * a;
-}
-
-
-
-
-///////////////////////////////////////
-//	Matrix3x3
-///////////////////////////////////////
-
-typedef struct
-{
-	float4 m_row[3];
-}Matrix3x3;
-
-
-
-
-
-
-__inline
-float4 mtMul1(Matrix3x3 a, float4 b);
-
-__inline
-float4 mtMul3(float4 a, Matrix3x3 b);
-
-
-
-
-__inline
-float4 mtMul1(Matrix3x3 a, float4 b)
-{
-	float4 ans;
-	ans.x = dot3F4( a.m_row[0], b );
-	ans.y = dot3F4( a.m_row[1], b );
-	ans.z = dot3F4( a.m_row[2], b );
-	ans.w = 0.f;
-	return ans;
-}
-
-__inline
-float4 mtMul3(float4 a, Matrix3x3 b)
-{
-	float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);
-	float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);
-	float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);
-
-	float4 ans;
-	ans.x = dot3F4( a, colx );
-	ans.y = dot3F4( a, coly );
-	ans.z = dot3F4( a, colz );
-	return ans;
-}
-
-///////////////////////////////////////
-//	Quaternion
-///////////////////////////////////////
-
-typedef float4 Quaternion;
-
-
-
-
-
-
-
-#define WG_SIZE 64
-
-typedef struct
-{
-	float4 m_pos;
-	Quaternion m_quat;
-	float4 m_linVel;
-	float4 m_angVel;
-
-	u32 m_shapeIdx;
-	float m_invMass;
-	float m_restituitionCoeff;
-	float m_frictionCoeff;
-} Body;
-
-typedef struct
-{
-	Matrix3x3 m_invInertia;
-	Matrix3x3 m_initInvInertia;
-} Shape;
-
-typedef struct
-{
-	float4 m_linear;
-	float4 m_worldPos[4];
-	float4 m_center;	
-	float m_jacCoeffInv[4];
-	float m_b[4];
-	float m_appliedRambdaDt[4];
-
-	float m_fJacCoeffInv[2];	
-	float m_fAppliedRambdaDt[2];	
-
-	u32 m_bodyA;
-	u32 m_bodyB;
-
-	int m_batchIdx;
-	u32 m_paddings[1];
-} Constraint4;
-
-
-
-typedef struct
-{
-	int m_nConstraints;
-	int m_start;
-	int m_batchIdx;
-	int m_nSplit;
-//	int m_paddings[1];
-} ConstBuffer;
-
-typedef struct
-{
-	int m_solveFriction;
-	int m_maxBatch;	//	long batch really kills the performance
-	int m_batchIdx;
-	int m_nSplit;
-//	int m_paddings[1];
-} ConstBufferBatchSolve;
-
-void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1);
-
-void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)
-{
-	*linear = mymake_float4(-n.xyz,0.f);
-	*angular0 = -cross3(r0, n);
-	*angular1 = cross3(r1, n);
-}
-
-float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 );
-
-float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )
-{
-	return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);
-}
-
-
-float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,
-				   float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1);
-
-float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,
-					float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1)
-{
-	//	linear0,1 are normlized
-	float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;
-	float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);
-	float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;
-	float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);
-	return -1.f/(jmj0+jmj1+jmj2+jmj3);
-}
-void btPlaneSpace1 (const float4* n, float4* p, float4* q);
- void btPlaneSpace1 (const float4* n, float4* p, float4* q)
-{
-  if (fabs(n[0].z) > 0.70710678f) {
-    // choose p in y-z plane
-    float a = n[0].y*n[0].y + n[0].z*n[0].z;
-    float k = 1.f/sqrt(a);
-    p[0].x = 0;
-	p[0].y = -n[0].z*k;
-	p[0].z = n[0].y*k;
-    // set q = n x p
-    q[0].x = a*k;
-	q[0].y = -n[0].x*p[0].z;
-	q[0].z = n[0].x*p[0].y;
-  }
-  else {
-    // choose p in x-y plane
-    float a = n[0].x*n[0].x + n[0].y*n[0].y;
-    float k = 1.f/sqrt(a);
-    p[0].x = -n[0].y*k;
-	p[0].y = n[0].x*k;
-	p[0].z = 0;
-    // set q = n x p
-    q[0].x = -n[0].z*p[0].y;
-	q[0].y = n[0].z*p[0].x;
-	q[0].z = a*k;
-  }
-}
-
-
-void solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs);
-void solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs)
-{
-	float frictionCoeff = ldsCs[0].m_linear.w;
-	int aIdx = ldsCs[0].m_bodyA;
-	int bIdx = ldsCs[0].m_bodyB;
-
-
-	float4 posA = gBodies[aIdx].m_pos;
-	float4 linVelA = gBodies[aIdx].m_linVel;
-	float4 angVelA = gBodies[aIdx].m_angVel;
-	float invMassA = gBodies[aIdx].m_invMass;
-	Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;
-
-	float4 posB = gBodies[bIdx].m_pos;
-	float4 linVelB = gBodies[bIdx].m_linVel;
-	float4 angVelB = gBodies[bIdx].m_angVel;
-	float invMassB = gBodies[bIdx].m_invMass;
-	Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;
-	
-
-	{
-		float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};
-		float minRambdaDt[4] = {0.f,0.f,0.f,0.f};
-
-		float sum = 0;
-		for(int j=0; j<4; j++)
-		{
-			sum +=ldsCs[0].m_appliedRambdaDt[j];
-		}
-		frictionCoeff = 0.7f;
-		for(int j=0; j<4; j++)
-		{
-			maxRambdaDt[j] = frictionCoeff*sum;
-			minRambdaDt[j] = -maxRambdaDt[j];
-		}
-
-		
-//		solveFriction( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,
-//			posB, &linVelB, &angVelB, invMassB, invInertiaB, maxRambdaDt, minRambdaDt );
-		
-		
-		{
-			
-			__global Constraint4* cs = ldsCs;
-			
-			if( cs->m_fJacCoeffInv[0] == 0 && cs->m_fJacCoeffInv[0] == 0 ) return;
-			const float4 center = cs->m_center;
-			
-			float4 n = -cs->m_linear;
-			
-			float4 tangent[2];
-			btPlaneSpace1(&n,&tangent[0],&tangent[1]);
-			float4 angular0, angular1, linear;
-			float4 r0 = center - posA;
-			float4 r1 = center - posB;
-			for(int i=0; i<2; i++)
-			{
-				setLinearAndAngular( tangent[i], r0, r1, &linear, &angular0, &angular1 );
-				float rambdaDt = calcRelVel(linear, -linear, angular0, angular1,
-											linVelA, angVelA, linVelB, angVelB );
-				rambdaDt *= cs->m_fJacCoeffInv[i];
-				
-				{
-					float prevSum = cs->m_fAppliedRambdaDt[i];
-					float updated = prevSum;
-					updated += rambdaDt;
-					updated = max2( updated, minRambdaDt[i] );
-					updated = min2( updated, maxRambdaDt[i] );
-					rambdaDt = updated - prevSum;
-					cs->m_fAppliedRambdaDt[i] = updated;
-				}
-				
-				float4 linImp0 = invMassA*linear*rambdaDt;
-				float4 linImp1 = invMassB*(-linear)*rambdaDt;
-				float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;
-				float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;
-				
-				linVelA += linImp0;
-				angVelA += angImp0;
-				linVelB += linImp1;
-				angVelB += angImp1;
-			}
-			{	//	angular damping for point constraint
-				float4 ab = normalize3( posB - posA );
-				float4 ac = normalize3( center - posA );
-				if( dot3F4( ab, ac ) > 0.95f  || (invMassA == 0.f || invMassB == 0.f))
-				{
-					float angNA = dot3F4( n, angVelA );
-					float angNB = dot3F4( n, angVelB );
-					
-					angVelA -= (angNA*0.1f)*n;
-					angVelB -= (angNB*0.1f)*n;
-				}
-			}
-		}
-
-		
-		
-	}
-
-	if (gBodies[aIdx].m_invMass)
-	{
-		gBodies[aIdx].m_linVel = linVelA;
-		gBodies[aIdx].m_angVel = angVelA;
-	} else
-	{
-		gBodies[aIdx].m_linVel = mymake_float4(0,0,0,0);
-		gBodies[aIdx].m_angVel = mymake_float4(0,0,0,0);
-	}
-	if (gBodies[bIdx].m_invMass)
-	{
-		gBodies[bIdx].m_linVel = linVelB;
-		gBodies[bIdx].m_angVel = angVelB;
-	} else
-	{
-		gBodies[bIdx].m_linVel = mymake_float4(0,0,0,0);
-		gBodies[bIdx].m_angVel = mymake_float4(0,0,0,0);
-	}
- 
-
-}
-
-typedef struct 
-{
-	int m_valInt0;
-	int m_valInt1;
-	int m_valInt2;
-	int m_valInt3;
-
-	float m_val0;
-	float m_val1;
-	float m_val2;
-	float m_val3;
-} SolverDebugInfo;
-
-
-
-
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void BatchSolveKernelFriction(__global Body* gBodies,
-                      __global Shape* gShapes,
-                      __global Constraint4* gConstraints,
-                      __global int* gN,
-                      __global int* gOffsets,
-                      __global int* batchSizes,
-                       int maxBatch1,
-                       int cellBatch,
-                       int4 nSplit
-                      )
-{
-	//__local int ldsBatchIdx[WG_SIZE+1];
-	__local int ldsCurBatch;
-	__local int ldsNextBatch;
-	__local int ldsStart;
-
-	int lIdx = GET_LOCAL_IDX;
-	int wgIdx = GET_GROUP_IDX;
-
-//	int gIdx = GET_GLOBAL_IDX;
-//	debugInfo[gIdx].m_valInt0 = gIdx;
-	//debugInfo[gIdx].m_valInt1 = GET_GROUP_SIZE;
-
-
-	int zIdx = (wgIdx/((nSplit.x*nSplit.y)/4))*2+((cellBatch&4)>>2);
-	int remain= (wgIdx%((nSplit.x*nSplit.y)/4));
-	int yIdx = (remain/(nSplit.x/2))*2 + ((cellBatch&2)>>1);
-	int xIdx = (remain%(nSplit.x/2))*2 + (cellBatch&1);
-	int cellIdx = xIdx+yIdx*nSplit.x+zIdx*(nSplit.x*nSplit.y);
-
-	
-	if( gN[cellIdx] == 0 ) 
-		return;
-
-	int maxBatch = batchSizes[cellIdx];
-
-	const int start = gOffsets[cellIdx];
-	const int end = start + gN[cellIdx];
-
-	
-	if( lIdx == 0 )
-	{
-		ldsCurBatch = 0;
-		ldsNextBatch = 0;
-		ldsStart = start;
-	}
-
-
-	GROUP_LDS_BARRIER;
-
-	int idx=ldsStart+lIdx;
-	while (ldsCurBatch < maxBatch)
-	{
-		for(; idx<end; )
-		{
-			if (gConstraints[idx].m_batchIdx == ldsCurBatch)
-			{
-
-					solveFrictionConstraint( gBodies, gShapes, &gConstraints[idx] );
-
-				 idx+=64;
-			} else
-			{
-				break;
-			}
-		}
-		GROUP_LDS_BARRIER;
-		if( lIdx == 0 )
-		{
-			ldsCurBatch++;
-		}
-		GROUP_LDS_BARRIER;
-	}
-	
-    
-}
-
-
-
-
-
-
-__kernel void solveSingleFrictionKernel(__global Body* gBodies,
-                      __global Shape* gShapes,
-                      __global Constraint4* gConstraints,
-                       int cellIdx,
-                       int batchOffset,
-                       int numConstraintsInBatch
-                      )
-{
-
-	int index = get_global_id(0);
-	if (index < numConstraintsInBatch)
-	{
-		
-		int idx=batchOffset+index;
-	
-		solveFrictionConstraint( gBodies, gShapes, &gConstraints[idx] );
-	}    
-}
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveFriction.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveFriction.h
deleted file mode 100644
index 9707cdb25d..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveFriction.h
+++ /dev/null
@@ -1,420 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* solveFrictionCL =
-	"/*\n"
-	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose, \n"
-	"including commercial applications, and to alter it and redistribute it freely, \n"
-	"subject to the following restrictions:\n"
-	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Originally written by Takahiro Harada\n"
-	"//#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
-	"#ifdef cl_ext_atomic_counters_32\n"
-	"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
-	"#else\n"
-	"#define counter32_t volatile global int*\n"
-	"#endif\n"
-	"typedef unsigned int u32;\n"
-	"typedef unsigned short u16;\n"
-	"typedef unsigned char u8;\n"
-	"#define GET_GROUP_IDX get_group_id(0)\n"
-	"#define GET_LOCAL_IDX get_local_id(0)\n"
-	"#define GET_GLOBAL_IDX get_global_id(0)\n"
-	"#define GET_GROUP_SIZE get_local_size(0)\n"
-	"#define GET_NUM_GROUPS get_num_groups(0)\n"
-	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-	"#define AtomInc(x) atom_inc(&(x))\n"
-	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-	"#define AppendInc(x, out) out = atomic_inc(x)\n"
-	"#define AtomAdd(x, value) atom_add(&(x), value)\n"
-	"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
-	"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
-	"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
-	"#define mymake_float4 (float4)\n"
-	"//#define make_float2 (float2)\n"
-	"//#define make_uint4 (uint4)\n"
-	"//#define make_int4 (int4)\n"
-	"//#define make_uint2 (uint2)\n"
-	"//#define make_int2 (int2)\n"
-	"#define max2 max\n"
-	"#define min2 min\n"
-	"///////////////////////////////////////\n"
-	"//	Vector\n"
-	"///////////////////////////////////////\n"
-	"__inline\n"
-	"float4 fastNormalize4(float4 v)\n"
-	"{\n"
-	"	return fast_normalize(v);\n"
-	"}\n"
-	"__inline\n"
-	"float4 cross3(float4 a, float4 b)\n"
-	"{\n"
-	"	return cross(a,b);\n"
-	"}\n"
-	"__inline\n"
-	"float dot3F4(float4 a, float4 b)\n"
-	"{\n"
-	"	float4 a1 = mymake_float4(a.xyz,0.f);\n"
-	"	float4 b1 = mymake_float4(b.xyz,0.f);\n"
-	"	return dot(a1, b1);\n"
-	"}\n"
-	"__inline\n"
-	"float4 normalize3(const float4 a)\n"
-	"{\n"
-	"	float4 n = mymake_float4(a.x, a.y, a.z, 0.f);\n"
-	"	return fastNormalize4( n );\n"
-	"//	float length = sqrtf(dot3F4(a, a));\n"
-	"//	return 1.f/length * a;\n"
-	"}\n"
-	"///////////////////////////////////////\n"
-	"//	Matrix3x3\n"
-	"///////////////////////////////////////\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_row[3];\n"
-	"}Matrix3x3;\n"
-	"__inline\n"
-	"float4 mtMul1(Matrix3x3 a, float4 b);\n"
-	"__inline\n"
-	"float4 mtMul3(float4 a, Matrix3x3 b);\n"
-	"__inline\n"
-	"float4 mtMul1(Matrix3x3 a, float4 b)\n"
-	"{\n"
-	"	float4 ans;\n"
-	"	ans.x = dot3F4( a.m_row[0], b );\n"
-	"	ans.y = dot3F4( a.m_row[1], b );\n"
-	"	ans.z = dot3F4( a.m_row[2], b );\n"
-	"	ans.w = 0.f;\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"float4 mtMul3(float4 a, Matrix3x3 b)\n"
-	"{\n"
-	"	float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-	"	float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-	"	float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-	"	float4 ans;\n"
-	"	ans.x = dot3F4( a, colx );\n"
-	"	ans.y = dot3F4( a, coly );\n"
-	"	ans.z = dot3F4( a, colz );\n"
-	"	return ans;\n"
-	"}\n"
-	"///////////////////////////////////////\n"
-	"//	Quaternion\n"
-	"///////////////////////////////////////\n"
-	"typedef float4 Quaternion;\n"
-	"#define WG_SIZE 64\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_pos;\n"
-	"	Quaternion m_quat;\n"
-	"	float4 m_linVel;\n"
-	"	float4 m_angVel;\n"
-	"	u32 m_shapeIdx;\n"
-	"	float m_invMass;\n"
-	"	float m_restituitionCoeff;\n"
-	"	float m_frictionCoeff;\n"
-	"} Body;\n"
-	"typedef struct\n"
-	"{\n"
-	"	Matrix3x3 m_invInertia;\n"
-	"	Matrix3x3 m_initInvInertia;\n"
-	"} Shape;\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_linear;\n"
-	"	float4 m_worldPos[4];\n"
-	"	float4 m_center;	\n"
-	"	float m_jacCoeffInv[4];\n"
-	"	float m_b[4];\n"
-	"	float m_appliedRambdaDt[4];\n"
-	"	float m_fJacCoeffInv[2];	\n"
-	"	float m_fAppliedRambdaDt[2];	\n"
-	"	u32 m_bodyA;\n"
-	"	u32 m_bodyB;\n"
-	"	int m_batchIdx;\n"
-	"	u32 m_paddings[1];\n"
-	"} Constraint4;\n"
-	"typedef struct\n"
-	"{\n"
-	"	int m_nConstraints;\n"
-	"	int m_start;\n"
-	"	int m_batchIdx;\n"
-	"	int m_nSplit;\n"
-	"//	int m_paddings[1];\n"
-	"} ConstBuffer;\n"
-	"typedef struct\n"
-	"{\n"
-	"	int m_solveFriction;\n"
-	"	int m_maxBatch;	//	long batch really kills the performance\n"
-	"	int m_batchIdx;\n"
-	"	int m_nSplit;\n"
-	"//	int m_paddings[1];\n"
-	"} ConstBufferBatchSolve;\n"
-	"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1);\n"
-	"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n"
-	"{\n"
-	"	*linear = mymake_float4(-n.xyz,0.f);\n"
-	"	*angular0 = -cross3(r0, n);\n"
-	"	*angular1 = cross3(r1, n);\n"
-	"}\n"
-	"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 );\n"
-	"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )\n"
-	"{\n"
-	"	return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);\n"
-	"}\n"
-	"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
-	"				   float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1);\n"
-	"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
-	"					float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1)\n"
-	"{\n"
-	"	//	linear0,1 are normlized\n"
-	"	float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;\n"
-	"	float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);\n"
-	"	float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;\n"
-	"	float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);\n"
-	"	return -1.f/(jmj0+jmj1+jmj2+jmj3);\n"
-	"}\n"
-	"void btPlaneSpace1 (const float4* n, float4* p, float4* q);\n"
-	" void btPlaneSpace1 (const float4* n, float4* p, float4* q)\n"
-	"{\n"
-	"  if (fabs(n[0].z) > 0.70710678f) {\n"
-	"    // choose p in y-z plane\n"
-	"    float a = n[0].y*n[0].y + n[0].z*n[0].z;\n"
-	"    float k = 1.f/sqrt(a);\n"
-	"    p[0].x = 0;\n"
-	"	p[0].y = -n[0].z*k;\n"
-	"	p[0].z = n[0].y*k;\n"
-	"    // set q = n x p\n"
-	"    q[0].x = a*k;\n"
-	"	q[0].y = -n[0].x*p[0].z;\n"
-	"	q[0].z = n[0].x*p[0].y;\n"
-	"  }\n"
-	"  else {\n"
-	"    // choose p in x-y plane\n"
-	"    float a = n[0].x*n[0].x + n[0].y*n[0].y;\n"
-	"    float k = 1.f/sqrt(a);\n"
-	"    p[0].x = -n[0].y*k;\n"
-	"	p[0].y = n[0].x*k;\n"
-	"	p[0].z = 0;\n"
-	"    // set q = n x p\n"
-	"    q[0].x = -n[0].z*p[0].y;\n"
-	"	q[0].y = n[0].z*p[0].x;\n"
-	"	q[0].z = a*k;\n"
-	"  }\n"
-	"}\n"
-	"void solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs);\n"
-	"void solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs)\n"
-	"{\n"
-	"	float frictionCoeff = ldsCs[0].m_linear.w;\n"
-	"	int aIdx = ldsCs[0].m_bodyA;\n"
-	"	int bIdx = ldsCs[0].m_bodyB;\n"
-	"	float4 posA = gBodies[aIdx].m_pos;\n"
-	"	float4 linVelA = gBodies[aIdx].m_linVel;\n"
-	"	float4 angVelA = gBodies[aIdx].m_angVel;\n"
-	"	float invMassA = gBodies[aIdx].m_invMass;\n"
-	"	Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
-	"	float4 posB = gBodies[bIdx].m_pos;\n"
-	"	float4 linVelB = gBodies[bIdx].m_linVel;\n"
-	"	float4 angVelB = gBodies[bIdx].m_angVel;\n"
-	"	float invMassB = gBodies[bIdx].m_invMass;\n"
-	"	Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
-	"	\n"
-	"	{\n"
-	"		float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};\n"
-	"		float minRambdaDt[4] = {0.f,0.f,0.f,0.f};\n"
-	"		float sum = 0;\n"
-	"		for(int j=0; j<4; j++)\n"
-	"		{\n"
-	"			sum +=ldsCs[0].m_appliedRambdaDt[j];\n"
-	"		}\n"
-	"		frictionCoeff = 0.7f;\n"
-	"		for(int j=0; j<4; j++)\n"
-	"		{\n"
-	"			maxRambdaDt[j] = frictionCoeff*sum;\n"
-	"			minRambdaDt[j] = -maxRambdaDt[j];\n"
-	"		}\n"
-	"		\n"
-	"//		solveFriction( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n"
-	"//			posB, &linVelB, &angVelB, invMassB, invInertiaB, maxRambdaDt, minRambdaDt );\n"
-	"		\n"
-	"		\n"
-	"		{\n"
-	"			\n"
-	"			__global Constraint4* cs = ldsCs;\n"
-	"			\n"
-	"			if( cs->m_fJacCoeffInv[0] == 0 && cs->m_fJacCoeffInv[0] == 0 ) return;\n"
-	"			const float4 center = cs->m_center;\n"
-	"			\n"
-	"			float4 n = -cs->m_linear;\n"
-	"			\n"
-	"			float4 tangent[2];\n"
-	"			btPlaneSpace1(&n,&tangent[0],&tangent[1]);\n"
-	"			float4 angular0, angular1, linear;\n"
-	"			float4 r0 = center - posA;\n"
-	"			float4 r1 = center - posB;\n"
-	"			for(int i=0; i<2; i++)\n"
-	"			{\n"
-	"				setLinearAndAngular( tangent[i], r0, r1, &linear, &angular0, &angular1 );\n"
-	"				float rambdaDt = calcRelVel(linear, -linear, angular0, angular1,\n"
-	"											linVelA, angVelA, linVelB, angVelB );\n"
-	"				rambdaDt *= cs->m_fJacCoeffInv[i];\n"
-	"				\n"
-	"				{\n"
-	"					float prevSum = cs->m_fAppliedRambdaDt[i];\n"
-	"					float updated = prevSum;\n"
-	"					updated += rambdaDt;\n"
-	"					updated = max2( updated, minRambdaDt[i] );\n"
-	"					updated = min2( updated, maxRambdaDt[i] );\n"
-	"					rambdaDt = updated - prevSum;\n"
-	"					cs->m_fAppliedRambdaDt[i] = updated;\n"
-	"				}\n"
-	"				\n"
-	"				float4 linImp0 = invMassA*linear*rambdaDt;\n"
-	"				float4 linImp1 = invMassB*(-linear)*rambdaDt;\n"
-	"				float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;\n"
-	"				float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;\n"
-	"				\n"
-	"				linVelA += linImp0;\n"
-	"				angVelA += angImp0;\n"
-	"				linVelB += linImp1;\n"
-	"				angVelB += angImp1;\n"
-	"			}\n"
-	"			{	//	angular damping for point constraint\n"
-	"				float4 ab = normalize3( posB - posA );\n"
-	"				float4 ac = normalize3( center - posA );\n"
-	"				if( dot3F4( ab, ac ) > 0.95f  || (invMassA == 0.f || invMassB == 0.f))\n"
-	"				{\n"
-	"					float angNA = dot3F4( n, angVelA );\n"
-	"					float angNB = dot3F4( n, angVelB );\n"
-	"					\n"
-	"					angVelA -= (angNA*0.1f)*n;\n"
-	"					angVelB -= (angNB*0.1f)*n;\n"
-	"				}\n"
-	"			}\n"
-	"		}\n"
-	"		\n"
-	"		\n"
-	"	}\n"
-	"	if (gBodies[aIdx].m_invMass)\n"
-	"	{\n"
-	"		gBodies[aIdx].m_linVel = linVelA;\n"
-	"		gBodies[aIdx].m_angVel = angVelA;\n"
-	"	} else\n"
-	"	{\n"
-	"		gBodies[aIdx].m_linVel = mymake_float4(0,0,0,0);\n"
-	"		gBodies[aIdx].m_angVel = mymake_float4(0,0,0,0);\n"
-	"	}\n"
-	"	if (gBodies[bIdx].m_invMass)\n"
-	"	{\n"
-	"		gBodies[bIdx].m_linVel = linVelB;\n"
-	"		gBodies[bIdx].m_angVel = angVelB;\n"
-	"	} else\n"
-	"	{\n"
-	"		gBodies[bIdx].m_linVel = mymake_float4(0,0,0,0);\n"
-	"		gBodies[bIdx].m_angVel = mymake_float4(0,0,0,0);\n"
-	"	}\n"
-	" \n"
-	"}\n"
-	"typedef struct \n"
-	"{\n"
-	"	int m_valInt0;\n"
-	"	int m_valInt1;\n"
-	"	int m_valInt2;\n"
-	"	int m_valInt3;\n"
-	"	float m_val0;\n"
-	"	float m_val1;\n"
-	"	float m_val2;\n"
-	"	float m_val3;\n"
-	"} SolverDebugInfo;\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void BatchSolveKernelFriction(__global Body* gBodies,\n"
-	"                      __global Shape* gShapes,\n"
-	"                      __global Constraint4* gConstraints,\n"
-	"                      __global int* gN,\n"
-	"                      __global int* gOffsets,\n"
-	"                      __global int* batchSizes,\n"
-	"                       int maxBatch1,\n"
-	"                       int cellBatch,\n"
-	"                       int4 nSplit\n"
-	"                      )\n"
-	"{\n"
-	"	//__local int ldsBatchIdx[WG_SIZE+1];\n"
-	"	__local int ldsCurBatch;\n"
-	"	__local int ldsNextBatch;\n"
-	"	__local int ldsStart;\n"
-	"	int lIdx = GET_LOCAL_IDX;\n"
-	"	int wgIdx = GET_GROUP_IDX;\n"
-	"//	int gIdx = GET_GLOBAL_IDX;\n"
-	"//	debugInfo[gIdx].m_valInt0 = gIdx;\n"
-	"	//debugInfo[gIdx].m_valInt1 = GET_GROUP_SIZE;\n"
-	"	int zIdx = (wgIdx/((nSplit.x*nSplit.y)/4))*2+((cellBatch&4)>>2);\n"
-	"	int remain= (wgIdx%((nSplit.x*nSplit.y)/4));\n"
-	"	int yIdx = (remain/(nSplit.x/2))*2 + ((cellBatch&2)>>1);\n"
-	"	int xIdx = (remain%(nSplit.x/2))*2 + (cellBatch&1);\n"
-	"	int cellIdx = xIdx+yIdx*nSplit.x+zIdx*(nSplit.x*nSplit.y);\n"
-	"	\n"
-	"	if( gN[cellIdx] == 0 ) \n"
-	"		return;\n"
-	"	int maxBatch = batchSizes[cellIdx];\n"
-	"	const int start = gOffsets[cellIdx];\n"
-	"	const int end = start + gN[cellIdx];\n"
-	"	\n"
-	"	if( lIdx == 0 )\n"
-	"	{\n"
-	"		ldsCurBatch = 0;\n"
-	"		ldsNextBatch = 0;\n"
-	"		ldsStart = start;\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	int idx=ldsStart+lIdx;\n"
-	"	while (ldsCurBatch < maxBatch)\n"
-	"	{\n"
-	"		for(; idx<end; )\n"
-	"		{\n"
-	"			if (gConstraints[idx].m_batchIdx == ldsCurBatch)\n"
-	"			{\n"
-	"					solveFrictionConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
-	"				 idx+=64;\n"
-	"			} else\n"
-	"			{\n"
-	"				break;\n"
-	"			}\n"
-	"		}\n"
-	"		GROUP_LDS_BARRIER;\n"
-	"		if( lIdx == 0 )\n"
-	"		{\n"
-	"			ldsCurBatch++;\n"
-	"		}\n"
-	"		GROUP_LDS_BARRIER;\n"
-	"	}\n"
-	"	\n"
-	"    \n"
-	"}\n"
-	"__kernel void solveSingleFrictionKernel(__global Body* gBodies,\n"
-	"                      __global Shape* gShapes,\n"
-	"                      __global Constraint4* gConstraints,\n"
-	"                       int cellIdx,\n"
-	"                       int batchOffset,\n"
-	"                       int numConstraintsInBatch\n"
-	"                      )\n"
-	"{\n"
-	"	int index = get_global_id(0);\n"
-	"	if (index < numConstraintsInBatch)\n"
-	"	{\n"
-	"		\n"
-	"		int idx=batchOffset+index;\n"
-	"	\n"
-	"		solveFrictionConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
-	"	}    \n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup.cl b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup.cl
deleted file mode 100644
index 8e2de7b5a6..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup.cl
+++ /dev/null
@@ -1,277 +0,0 @@
-
-/*
-Copyright (c) 2012 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Takahiro Harada
-
-#include "Bullet3Dynamics/shared/b3ConvertConstraint4.h"
-
-#pragma OPENCL EXTENSION cl_amd_printf : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable
-
-
-#ifdef cl_ext_atomic_counters_32
-#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable
-#else
-#define counter32_t volatile global int*
-#endif
-
-typedef unsigned int u32;
-typedef unsigned short u16;
-typedef unsigned char u8;
-
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GET_NUM_GROUPS get_num_groups(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
-#define AtomInc(x) atom_inc(&(x))
-#define AtomInc1(x, out) out = atom_inc(&(x))
-#define AppendInc(x, out) out = atomic_inc(x)
-#define AtomAdd(x, value) atom_add(&(x), value)
-#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )
-#define AtomXhg(x, value) atom_xchg ( &(x), value )
-
-
-#define SELECT_UINT4( b, a, condition ) select( b,a,condition )
-
-#define make_float4 (float4)
-#define make_float2 (float2)
-#define make_uint4 (uint4)
-#define make_int4 (int4)
-#define make_uint2 (uint2)
-#define make_int2 (int2)
-
-
-#define max2 max
-#define min2 min
-
-
-///////////////////////////////////////
-//	Vector
-///////////////////////////////////////
-__inline
-float fastDiv(float numerator, float denominator)
-{
-	return native_divide(numerator, denominator);	
-//	return numerator/denominator;	
-}
-
-__inline
-float4 fastDiv4(float4 numerator, float4 denominator)
-{
-	return native_divide(numerator, denominator);	
-}
-
-__inline
-float fastSqrtf(float f2)
-{
-	return native_sqrt(f2);
-//	return sqrt(f2);
-}
-
-__inline
-float fastRSqrt(float f2)
-{
-	return native_rsqrt(f2);
-}
-
-__inline
-float fastLength4(float4 v)
-{
-	return fast_length(v);
-}
-
-__inline
-float4 fastNormalize4(float4 v)
-{
-	return fast_normalize(v);
-}
-
-
-__inline
-float sqrtf(float a)
-{
-//	return sqrt(a);
-	return native_sqrt(a);
-}
-
-__inline
-float4 cross3(float4 a, float4 b)
-{
-	return cross(a,b);
-}
-
-__inline
-float dot3F4(float4 a, float4 b)
-{
-	float4 a1 = make_float4(a.xyz,0.f);
-	float4 b1 = make_float4(b.xyz,0.f);
-	return dot(a1, b1);
-}
-
-__inline
-float length3(const float4 a)
-{
-	return sqrtf(dot3F4(a,a));
-}
-
-__inline
-float dot4(const float4 a, const float4 b)
-{
-	return dot( a, b );
-}
-
-//	for height
-__inline
-float dot3w1(const float4 point, const float4 eqn)
-{
-	return dot3F4(point,eqn) + eqn.w;
-}
-
-__inline
-float4 normalize3(const float4 a)
-{
-	float4 n = make_float4(a.x, a.y, a.z, 0.f);
-	return fastNormalize4( n );
-//	float length = sqrtf(dot3F4(a, a));
-//	return 1.f/length * a;
-}
-
-__inline
-float4 normalize4(const float4 a)
-{
-	float length = sqrtf(dot4(a, a));
-	return 1.f/length * a;
-}
-
-__inline
-float4 createEquation(const float4 a, const float4 b, const float4 c)
-{
-	float4 eqn;
-	float4 ab = b-a;
-	float4 ac = c-a;
-	eqn = normalize3( cross3(ab, ac) );
-	eqn.w = -dot3F4(eqn,a);
-	return eqn;
-}
-
-
-
-#define WG_SIZE 64
-
-
-
-
-
-
-
-typedef struct
-{
-	int m_nConstraints;
-	int m_start;
-	int m_batchIdx;
-	int m_nSplit;
-//	int m_paddings[1];
-} ConstBuffer;
-
-typedef struct
-{
-	int m_solveFriction;
-	int m_maxBatch;	//	long batch really kills the performance
-	int m_batchIdx;
-	int m_nSplit;
-//	int m_paddings[1];
-} ConstBufferBatchSolve;
-
-
-
-
- 
-
-
-typedef struct 
-{
-	int m_valInt0;
-	int m_valInt1;
-	int m_valInt2;
-	int m_valInt3;
-
-	float m_val0;
-	float m_val1;
-	float m_val2;
-	float m_val3;
-} SolverDebugInfo;
-
-
-
-
-
-
-typedef struct
-{
-	int m_nContacts;
-	float m_dt;
-	float m_positionDrift;
-	float m_positionConstraintCoeff;
-} ConstBufferCTC;
-
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void ContactToConstraintKernel(__global struct b3Contact4Data* gContact, __global b3RigidBodyData_t* gBodies, __global b3InertiaData_t* gShapes, __global b3ContactConstraint4_t* gConstraintOut, 
-int nContacts,
-float dt,
-float positionDrift,
-float positionConstraintCoeff
-)
-{
-	int gIdx = GET_GLOBAL_IDX;
-	
-	if( gIdx < nContacts )
-	{
-		int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit);
-		int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit);
-
-		float4 posA = gBodies[aIdx].m_pos;
-		float4 linVelA = gBodies[aIdx].m_linVel;
-		float4 angVelA = gBodies[aIdx].m_angVel;
-		float invMassA = gBodies[aIdx].m_invMass;
-		b3Mat3x3 invInertiaA = gShapes[aIdx].m_initInvInertia;
-
-		float4 posB = gBodies[bIdx].m_pos;
-		float4 linVelB = gBodies[bIdx].m_linVel;
-		float4 angVelB = gBodies[bIdx].m_angVel;
-		float invMassB = gBodies[bIdx].m_invMass;
-		b3Mat3x3 invInertiaB = gShapes[bIdx].m_initInvInertia;
-
-		b3ContactConstraint4_t cs;
-
-    	setConstraint4( posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,
-			&gContact[gIdx], dt, positionDrift, positionConstraintCoeff,
-			&cs );
-		
-		cs.m_batchIdx = gContact[gIdx].m_batchIdx;
-
-		gConstraintOut[gIdx] = cs;
-	}
-}
-
-
-
-
-
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup.h
deleted file mode 100644
index d53db03181..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup.h
+++ /dev/null
@@ -1,702 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* solverSetupCL =
-	"/*\n"
-	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose, \n"
-	"including commercial applications, and to alter it and redistribute it freely, \n"
-	"subject to the following restrictions:\n"
-	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Originally written by Takahiro Harada\n"
-	"#ifndef B3_CONTACT4DATA_H\n"
-	"#define B3_CONTACT4DATA_H\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#define B3_FLOAT4_H\n"
-	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-	"#define B3_PLATFORM_DEFINITIONS_H\n"
-	"struct MyTest\n"
-	"{\n"
-	"	int bla;\n"
-	"};\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-	"#define B3_LARGE_FLOAT 1e18f\n"
-	"#define B3_INFINITY 1e18f\n"
-	"#define b3Assert(a)\n"
-	"#define b3ConstArray(a) __global const a*\n"
-	"#define b3AtomicInc atomic_inc\n"
-	"#define b3AtomicAdd atomic_add\n"
-	"#define b3Fabs fabs\n"
-	"#define b3Sqrt native_sqrt\n"
-	"#define b3Sin native_sin\n"
-	"#define b3Cos native_cos\n"
-	"#define B3_STATIC\n"
-	"#endif\n"
-	"#endif\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"	typedef float4	b3Float4;\n"
-	"	#define b3Float4ConstArg const b3Float4\n"
-	"	#define b3MakeFloat4 (float4)\n"
-	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return dot(a1, b1);\n"
-	"	}\n"
-	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return cross(a1, b1);\n"
-	"	}\n"
-	"	#define b3MinFloat4 min\n"
-	"	#define b3MaxFloat4 max\n"
-	"	#define b3Normalized(a) normalize(a)\n"
-	"#endif \n"
-	"		\n"
-	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-	"{\n"
-	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-	"		return false;\n"
-	"	return true;\n"
-	"}\n"
-	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-	"{\n"
-	"    float maxDot = -B3_INFINITY;\n"
-	"    int i = 0;\n"
-	"    int ptIndex = -1;\n"
-	"    for( i = 0; i < vecLen; i++ )\n"
-	"    {\n"
-	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-	"            \n"
-	"        if( dot > maxDot )\n"
-	"        {\n"
-	"            maxDot = dot;\n"
-	"            ptIndex = i;\n"
-	"        }\n"
-	"    }\n"
-	"	b3Assert(ptIndex>=0);\n"
-	"    if (ptIndex<0)\n"
-	"	{\n"
-	"		ptIndex = 0;\n"
-	"	}\n"
-	"    *dotOut = maxDot;\n"
-	"    return ptIndex;\n"
-	"}\n"
-	"#endif //B3_FLOAT4_H\n"
-	"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
-	"struct b3Contact4Data\n"
-	"{\n"
-	"	b3Float4	m_worldPosB[4];\n"
-	"//	b3Float4	m_localPosA[4];\n"
-	"//	b3Float4	m_localPosB[4];\n"
-	"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
-	"	unsigned short  m_restituitionCoeffCmp;\n"
-	"	unsigned short  m_frictionCoeffCmp;\n"
-	"	int m_batchIdx;\n"
-	"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
-	"	int m_bodyBPtrAndSignBit;\n"
-	"	int	m_childIndexA;\n"
-	"	int	m_childIndexB;\n"
-	"	int m_unused1;\n"
-	"	int m_unused2;\n"
-	"};\n"
-	"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
-	"{\n"
-	"	return (int)contact->m_worldNormalOnB.w;\n"
-	"};\n"
-	"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
-	"{\n"
-	"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
-	"};\n"
-	"#endif //B3_CONTACT4DATA_H\n"
-	"#ifndef B3_CONTACT_CONSTRAINT5_H\n"
-	"#define B3_CONTACT_CONSTRAINT5_H\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_FLOAT4_H\n"
-	"typedef struct b3ContactConstraint4 b3ContactConstraint4_t;\n"
-	"struct b3ContactConstraint4\n"
-	"{\n"
-	"	b3Float4 m_linear;//normal?\n"
-	"	b3Float4 m_worldPos[4];\n"
-	"	b3Float4 m_center;	//	friction\n"
-	"	float m_jacCoeffInv[4];\n"
-	"	float m_b[4];\n"
-	"	float m_appliedRambdaDt[4];\n"
-	"	float m_fJacCoeffInv[2];	//	friction\n"
-	"	float m_fAppliedRambdaDt[2];	//	friction\n"
-	"	unsigned int m_bodyA;\n"
-	"	unsigned int m_bodyB;\n"
-	"	int			m_batchIdx;\n"
-	"	unsigned int m_paddings;\n"
-	"};\n"
-	"//inline	void setFrictionCoeff(float value) { m_linear[3] = value; }\n"
-	"inline	float b3GetFrictionCoeff(b3ContactConstraint4_t* constraint) \n"
-	"{\n"
-	"	return constraint->m_linear.w; \n"
-	"}\n"
-	"#endif //B3_CONTACT_CONSTRAINT5_H\n"
-	"#ifndef B3_RIGIDBODY_DATA_H\n"
-	"#define B3_RIGIDBODY_DATA_H\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_FLOAT4_H\n"
-	"#ifndef B3_QUAT_H\n"
-	"#define B3_QUAT_H\n"
-	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif\n"
-	"#endif\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"	typedef float4	b3Quat;\n"
-	"	#define b3QuatConstArg const b3Quat\n"
-	"	\n"
-	"	\n"
-	"inline float4 b3FastNormalize4(float4 v)\n"
-	"{\n"
-	"	v = (float4)(v.xyz,0.f);\n"
-	"	return fast_normalize(v);\n"
-	"}\n"
-	"	\n"
-	"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
-	"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
-	"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
-	"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
-	"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
-	"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
-	"{\n"
-	"	b3Quat ans;\n"
-	"	ans = b3Cross3( a, b );\n"
-	"	ans += a.w*b+b.w*a;\n"
-	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-	"	ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
-	"	return ans;\n"
-	"}\n"
-	"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
-	"{\n"
-	"	b3Quat q;\n"
-	"	q=in;\n"
-	"	//return b3FastNormalize4(in);\n"
-	"	float len = native_sqrt(dot(q, q));\n"
-	"	if(len > 0.f)\n"
-	"	{\n"
-	"		q *= 1.f / len;\n"
-	"	}\n"
-	"	else\n"
-	"	{\n"
-	"		q.x = q.y = q.z = 0.f;\n"
-	"		q.w = 1.f;\n"
-	"	}\n"
-	"	return q;\n"
-	"}\n"
-	"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-	"{\n"
-	"	b3Quat qInv = b3QuatInvert( q );\n"
-	"	float4 vcpy = vec;\n"
-	"	vcpy.w = 0.f;\n"
-	"	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
-	"	return out;\n"
-	"}\n"
-	"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
-	"{\n"
-	"	return (b3Quat)(-q.xyz, q.w);\n"
-	"}\n"
-	"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
-	"{\n"
-	"	return (b3Quat)(-q.xyz, q.w);\n"
-	"}\n"
-	"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-	"{\n"
-	"	return b3QuatRotate( b3QuatInvert( q ), vec );\n"
-	"}\n"
-	"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
-	"{\n"
-	"	return b3QuatRotate( orientation, point ) + (translation);\n"
-	"}\n"
-	"	\n"
-	"#endif \n"
-	"#endif //B3_QUAT_H\n"
-	"#ifndef B3_MAT3x3_H\n"
-	"#define B3_MAT3x3_H\n"
-	"#ifndef B3_QUAT_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_QUAT_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"typedef struct\n"
-	"{\n"
-	"	b3Float4 m_row[3];\n"
-	"}b3Mat3x3;\n"
-	"#define b3Mat3x3ConstArg const b3Mat3x3\n"
-	"#define b3GetRow(m,row) (m.m_row[row])\n"
-	"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
-	"{\n"
-	"	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
-	"	b3Mat3x3 out;\n"
-	"	out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
-	"	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
-	"	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
-	"	out.m_row[0].w = 0.f;\n"
-	"	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
-	"	out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
-	"	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
-	"	out.m_row[1].w = 0.f;\n"
-	"	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
-	"	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
-	"	out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
-	"	out.m_row[2].w = 0.f;\n"
-	"	return out;\n"
-	"}\n"
-	"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
-	"{\n"
-	"	b3Mat3x3 out;\n"
-	"	out.m_row[0] = fabs(matIn.m_row[0]);\n"
-	"	out.m_row[1] = fabs(matIn.m_row[1]);\n"
-	"	out.m_row[2] = fabs(matIn.m_row[2]);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtZero();\n"
-	"__inline\n"
-	"b3Mat3x3 mtIdentity();\n"
-	"__inline\n"
-	"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
-	"__inline\n"
-	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
-	"__inline\n"
-	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
-	"__inline\n"
-	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
-	"__inline\n"
-	"b3Mat3x3 mtZero()\n"
-	"{\n"
-	"	b3Mat3x3 m;\n"
-	"	m.m_row[0] = (b3Float4)(0.f);\n"
-	"	m.m_row[1] = (b3Float4)(0.f);\n"
-	"	m.m_row[2] = (b3Float4)(0.f);\n"
-	"	return m;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtIdentity()\n"
-	"{\n"
-	"	b3Mat3x3 m;\n"
-	"	m.m_row[0] = (b3Float4)(1,0,0,0);\n"
-	"	m.m_row[1] = (b3Float4)(0,1,0,0);\n"
-	"	m.m_row[2] = (b3Float4)(0,0,1,0);\n"
-	"	return m;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
-	"{\n"
-	"	b3Mat3x3 out;\n"
-	"	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
-	"	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
-	"	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
-	"{\n"
-	"	b3Mat3x3 transB;\n"
-	"	transB = mtTranspose( b );\n"
-	"	b3Mat3x3 ans;\n"
-	"	//	why this doesn't run when 0ing in the for{}\n"
-	"	a.m_row[0].w = 0.f;\n"
-	"	a.m_row[1].w = 0.f;\n"
-	"	a.m_row[2].w = 0.f;\n"
-	"	for(int i=0; i<3; i++)\n"
-	"	{\n"
-	"//	a.m_row[i].w = 0.f;\n"
-	"		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
-	"		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
-	"		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
-	"		ans.m_row[i].w = 0.f;\n"
-	"	}\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
-	"{\n"
-	"	b3Float4 ans;\n"
-	"	ans.x = b3Dot3F4( a.m_row[0], b );\n"
-	"	ans.y = b3Dot3F4( a.m_row[1], b );\n"
-	"	ans.z = b3Dot3F4( a.m_row[2], b );\n"
-	"	ans.w = 0.f;\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
-	"{\n"
-	"	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-	"	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-	"	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-	"	b3Float4 ans;\n"
-	"	ans.x = b3Dot3F4( a, colx );\n"
-	"	ans.y = b3Dot3F4( a, coly );\n"
-	"	ans.z = b3Dot3F4( a, colz );\n"
-	"	return ans;\n"
-	"}\n"
-	"#endif\n"
-	"#endif //B3_MAT3x3_H\n"
-	"typedef struct b3RigidBodyData b3RigidBodyData_t;\n"
-	"struct b3RigidBodyData\n"
-	"{\n"
-	"	b3Float4				m_pos;\n"
-	"	b3Quat					m_quat;\n"
-	"	b3Float4				m_linVel;\n"
-	"	b3Float4				m_angVel;\n"
-	"	int 					m_collidableIdx;\n"
-	"	float 				m_invMass;\n"
-	"	float 				m_restituitionCoeff;\n"
-	"	float 				m_frictionCoeff;\n"
-	"};\n"
-	"typedef struct b3InertiaData b3InertiaData_t;\n"
-	"struct b3InertiaData\n"
-	"{\n"
-	"	b3Mat3x3 m_invInertiaWorld;\n"
-	"	b3Mat3x3 m_initInvInertia;\n"
-	"};\n"
-	"#endif //B3_RIGIDBODY_DATA_H\n"
-	"	\n"
-	"void b3PlaneSpace1 (b3Float4ConstArg n, b3Float4* p, b3Float4* q);\n"
-	" void b3PlaneSpace1 (b3Float4ConstArg n, b3Float4* p, b3Float4* q)\n"
-	"{\n"
-	"  if (b3Fabs(n.z) > 0.70710678f) {\n"
-	"    // choose p in y-z plane\n"
-	"    float a = n.y*n.y + n.z*n.z;\n"
-	"    float k = 1.f/sqrt(a);\n"
-	"    p[0].x = 0;\n"
-	"	p[0].y = -n.z*k;\n"
-	"	p[0].z = n.y*k;\n"
-	"    // set q = n x p\n"
-	"    q[0].x = a*k;\n"
-	"	q[0].y = -n.x*p[0].z;\n"
-	"	q[0].z = n.x*p[0].y;\n"
-	"  }\n"
-	"  else {\n"
-	"    // choose p in x-y plane\n"
-	"    float a = n.x*n.x + n.y*n.y;\n"
-	"    float k = 1.f/sqrt(a);\n"
-	"    p[0].x = -n.y*k;\n"
-	"	p[0].y = n.x*k;\n"
-	"	p[0].z = 0;\n"
-	"    // set q = n x p\n"
-	"    q[0].x = -n.z*p[0].y;\n"
-	"	q[0].y = n.z*p[0].x;\n"
-	"	q[0].z = a*k;\n"
-	"  }\n"
-	"}\n"
-	" \n"
-	"void setLinearAndAngular( b3Float4ConstArg n, b3Float4ConstArg r0, b3Float4ConstArg r1, b3Float4* linear, b3Float4* angular0, b3Float4* angular1)\n"
-	"{\n"
-	"	*linear = b3MakeFloat4(n.x,n.y,n.z,0.f);\n"
-	"	*angular0 = b3Cross3(r0, n);\n"
-	"	*angular1 = -b3Cross3(r1, n);\n"
-	"}\n"
-	"float calcRelVel( b3Float4ConstArg l0, b3Float4ConstArg l1, b3Float4ConstArg a0, b3Float4ConstArg a1, b3Float4ConstArg linVel0,\n"
-	"	b3Float4ConstArg angVel0, b3Float4ConstArg linVel1, b3Float4ConstArg angVel1 )\n"
-	"{\n"
-	"	return b3Dot3F4(l0, linVel0) + b3Dot3F4(a0, angVel0) + b3Dot3F4(l1, linVel1) + b3Dot3F4(a1, angVel1);\n"
-	"}\n"
-	"float calcJacCoeff(b3Float4ConstArg linear0, b3Float4ConstArg linear1, b3Float4ConstArg angular0, b3Float4ConstArg angular1,\n"
-	"					float invMass0, const b3Mat3x3* invInertia0, float invMass1, const b3Mat3x3* invInertia1)\n"
-	"{\n"
-	"	//	linear0,1 are normlized\n"
-	"	float jmj0 = invMass0;//b3Dot3F4(linear0, linear0)*invMass0;\n"
-	"	float jmj1 = b3Dot3F4(mtMul3(angular0,*invInertia0), angular0);\n"
-	"	float jmj2 = invMass1;//b3Dot3F4(linear1, linear1)*invMass1;\n"
-	"	float jmj3 = b3Dot3F4(mtMul3(angular1,*invInertia1), angular1);\n"
-	"	return -1.f/(jmj0+jmj1+jmj2+jmj3);\n"
-	"}\n"
-	"void setConstraint4( b3Float4ConstArg posA, b3Float4ConstArg linVelA, b3Float4ConstArg angVelA, float invMassA, b3Mat3x3ConstArg invInertiaA,\n"
-	"	b3Float4ConstArg posB, b3Float4ConstArg linVelB, b3Float4ConstArg angVelB, float invMassB, b3Mat3x3ConstArg invInertiaB, \n"
-	"	__global struct b3Contact4Data* src, float dt, float positionDrift, float positionConstraintCoeff,\n"
-	"	b3ContactConstraint4_t* dstC )\n"
-	"{\n"
-	"	dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);\n"
-	"	dstC->m_bodyB = abs(src->m_bodyBPtrAndSignBit);\n"
-	"	float dtInv = 1.f/dt;\n"
-	"	for(int ic=0; ic<4; ic++)\n"
-	"	{\n"
-	"		dstC->m_appliedRambdaDt[ic] = 0.f;\n"
-	"	}\n"
-	"	dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f;\n"
-	"	dstC->m_linear = src->m_worldNormalOnB;\n"
-	"	dstC->m_linear.w = 0.7f ;//src->getFrictionCoeff() );\n"
-	"	for(int ic=0; ic<4; ic++)\n"
-	"	{\n"
-	"		b3Float4 r0 = src->m_worldPosB[ic] - posA;\n"
-	"		b3Float4 r1 = src->m_worldPosB[ic] - posB;\n"
-	"		if( ic >= src->m_worldNormalOnB.w )//npoints\n"
-	"		{\n"
-	"			dstC->m_jacCoeffInv[ic] = 0.f;\n"
-	"			continue;\n"
-	"		}\n"
-	"		float relVelN;\n"
-	"		{\n"
-	"			b3Float4 linear, angular0, angular1;\n"
-	"			setLinearAndAngular(src->m_worldNormalOnB, r0, r1, &linear, &angular0, &angular1);\n"
-	"			dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,\n"
-	"				invMassA, &invInertiaA, invMassB, &invInertiaB );\n"
-	"			relVelN = calcRelVel(linear, -linear, angular0, angular1,\n"
-	"				linVelA, angVelA, linVelB, angVelB);\n"
-	"			float e = 0.f;//src->getRestituitionCoeff();\n"
-	"			if( relVelN*relVelN < 0.004f ) e = 0.f;\n"
-	"			dstC->m_b[ic] = e*relVelN;\n"
-	"			//float penetration = src->m_worldPosB[ic].w;\n"
-	"			dstC->m_b[ic] += (src->m_worldPosB[ic].w + positionDrift)*positionConstraintCoeff*dtInv;\n"
-	"			dstC->m_appliedRambdaDt[ic] = 0.f;\n"
-	"		}\n"
-	"	}\n"
-	"	if( src->m_worldNormalOnB.w > 0 )//npoints\n"
-	"	{	//	prepare friction\n"
-	"		b3Float4 center = b3MakeFloat4(0.f,0.f,0.f,0.f);\n"
-	"		for(int i=0; i<src->m_worldNormalOnB.w; i++) \n"
-	"			center += src->m_worldPosB[i];\n"
-	"		center /= (float)src->m_worldNormalOnB.w;\n"
-	"		b3Float4 tangent[2];\n"
-	"		b3PlaneSpace1(src->m_worldNormalOnB,&tangent[0],&tangent[1]);\n"
-	"		\n"
-	"		b3Float4 r[2];\n"
-	"		r[0] = center - posA;\n"
-	"		r[1] = center - posB;\n"
-	"		for(int i=0; i<2; i++)\n"
-	"		{\n"
-	"			b3Float4 linear, angular0, angular1;\n"
-	"			setLinearAndAngular(tangent[i], r[0], r[1], &linear, &angular0, &angular1);\n"
-	"			dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1,\n"
-	"				invMassA, &invInertiaA, invMassB, &invInertiaB );\n"
-	"			dstC->m_fAppliedRambdaDt[i] = 0.f;\n"
-	"		}\n"
-	"		dstC->m_center = center;\n"
-	"	}\n"
-	"	for(int i=0; i<4; i++)\n"
-	"	{\n"
-	"		if( i<src->m_worldNormalOnB.w )\n"
-	"		{\n"
-	"			dstC->m_worldPos[i] = src->m_worldPosB[i];\n"
-	"		}\n"
-	"		else\n"
-	"		{\n"
-	"			dstC->m_worldPos[i] = b3MakeFloat4(0.f,0.f,0.f,0.f);\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
-	"#ifdef cl_ext_atomic_counters_32\n"
-	"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
-	"#else\n"
-	"#define counter32_t volatile global int*\n"
-	"#endif\n"
-	"typedef unsigned int u32;\n"
-	"typedef unsigned short u16;\n"
-	"typedef unsigned char u8;\n"
-	"#define GET_GROUP_IDX get_group_id(0)\n"
-	"#define GET_LOCAL_IDX get_local_id(0)\n"
-	"#define GET_GLOBAL_IDX get_global_id(0)\n"
-	"#define GET_GROUP_SIZE get_local_size(0)\n"
-	"#define GET_NUM_GROUPS get_num_groups(0)\n"
-	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-	"#define AtomInc(x) atom_inc(&(x))\n"
-	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-	"#define AppendInc(x, out) out = atomic_inc(x)\n"
-	"#define AtomAdd(x, value) atom_add(&(x), value)\n"
-	"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
-	"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
-	"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
-	"#define make_float4 (float4)\n"
-	"#define make_float2 (float2)\n"
-	"#define make_uint4 (uint4)\n"
-	"#define make_int4 (int4)\n"
-	"#define make_uint2 (uint2)\n"
-	"#define make_int2 (int2)\n"
-	"#define max2 max\n"
-	"#define min2 min\n"
-	"///////////////////////////////////////\n"
-	"//	Vector\n"
-	"///////////////////////////////////////\n"
-	"__inline\n"
-	"float fastDiv(float numerator, float denominator)\n"
-	"{\n"
-	"	return native_divide(numerator, denominator);	\n"
-	"//	return numerator/denominator;	\n"
-	"}\n"
-	"__inline\n"
-	"float4 fastDiv4(float4 numerator, float4 denominator)\n"
-	"{\n"
-	"	return native_divide(numerator, denominator);	\n"
-	"}\n"
-	"__inline\n"
-	"float fastSqrtf(float f2)\n"
-	"{\n"
-	"	return native_sqrt(f2);\n"
-	"//	return sqrt(f2);\n"
-	"}\n"
-	"__inline\n"
-	"float fastRSqrt(float f2)\n"
-	"{\n"
-	"	return native_rsqrt(f2);\n"
-	"}\n"
-	"__inline\n"
-	"float fastLength4(float4 v)\n"
-	"{\n"
-	"	return fast_length(v);\n"
-	"}\n"
-	"__inline\n"
-	"float4 fastNormalize4(float4 v)\n"
-	"{\n"
-	"	return fast_normalize(v);\n"
-	"}\n"
-	"__inline\n"
-	"float sqrtf(float a)\n"
-	"{\n"
-	"//	return sqrt(a);\n"
-	"	return native_sqrt(a);\n"
-	"}\n"
-	"__inline\n"
-	"float4 cross3(float4 a, float4 b)\n"
-	"{\n"
-	"	return cross(a,b);\n"
-	"}\n"
-	"__inline\n"
-	"float dot3F4(float4 a, float4 b)\n"
-	"{\n"
-	"	float4 a1 = make_float4(a.xyz,0.f);\n"
-	"	float4 b1 = make_float4(b.xyz,0.f);\n"
-	"	return dot(a1, b1);\n"
-	"}\n"
-	"__inline\n"
-	"float length3(const float4 a)\n"
-	"{\n"
-	"	return sqrtf(dot3F4(a,a));\n"
-	"}\n"
-	"__inline\n"
-	"float dot4(const float4 a, const float4 b)\n"
-	"{\n"
-	"	return dot( a, b );\n"
-	"}\n"
-	"//	for height\n"
-	"__inline\n"
-	"float dot3w1(const float4 point, const float4 eqn)\n"
-	"{\n"
-	"	return dot3F4(point,eqn) + eqn.w;\n"
-	"}\n"
-	"__inline\n"
-	"float4 normalize3(const float4 a)\n"
-	"{\n"
-	"	float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
-	"	return fastNormalize4( n );\n"
-	"//	float length = sqrtf(dot3F4(a, a));\n"
-	"//	return 1.f/length * a;\n"
-	"}\n"
-	"__inline\n"
-	"float4 normalize4(const float4 a)\n"
-	"{\n"
-	"	float length = sqrtf(dot4(a, a));\n"
-	"	return 1.f/length * a;\n"
-	"}\n"
-	"__inline\n"
-	"float4 createEquation(const float4 a, const float4 b, const float4 c)\n"
-	"{\n"
-	"	float4 eqn;\n"
-	"	float4 ab = b-a;\n"
-	"	float4 ac = c-a;\n"
-	"	eqn = normalize3( cross3(ab, ac) );\n"
-	"	eqn.w = -dot3F4(eqn,a);\n"
-	"	return eqn;\n"
-	"}\n"
-	"#define WG_SIZE 64\n"
-	"typedef struct\n"
-	"{\n"
-	"	int m_nConstraints;\n"
-	"	int m_start;\n"
-	"	int m_batchIdx;\n"
-	"	int m_nSplit;\n"
-	"//	int m_paddings[1];\n"
-	"} ConstBuffer;\n"
-	"typedef struct\n"
-	"{\n"
-	"	int m_solveFriction;\n"
-	"	int m_maxBatch;	//	long batch really kills the performance\n"
-	"	int m_batchIdx;\n"
-	"	int m_nSplit;\n"
-	"//	int m_paddings[1];\n"
-	"} ConstBufferBatchSolve;\n"
-	" \n"
-	"typedef struct \n"
-	"{\n"
-	"	int m_valInt0;\n"
-	"	int m_valInt1;\n"
-	"	int m_valInt2;\n"
-	"	int m_valInt3;\n"
-	"	float m_val0;\n"
-	"	float m_val1;\n"
-	"	float m_val2;\n"
-	"	float m_val3;\n"
-	"} SolverDebugInfo;\n"
-	"typedef struct\n"
-	"{\n"
-	"	int m_nContacts;\n"
-	"	float m_dt;\n"
-	"	float m_positionDrift;\n"
-	"	float m_positionConstraintCoeff;\n"
-	"} ConstBufferCTC;\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void ContactToConstraintKernel(__global struct b3Contact4Data* gContact, __global b3RigidBodyData_t* gBodies, __global b3InertiaData_t* gShapes, __global b3ContactConstraint4_t* gConstraintOut, \n"
-	"int nContacts,\n"
-	"float dt,\n"
-	"float positionDrift,\n"
-	"float positionConstraintCoeff\n"
-	")\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	\n"
-	"	if( gIdx < nContacts )\n"
-	"	{\n"
-	"		int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit);\n"
-	"		int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit);\n"
-	"		float4 posA = gBodies[aIdx].m_pos;\n"
-	"		float4 linVelA = gBodies[aIdx].m_linVel;\n"
-	"		float4 angVelA = gBodies[aIdx].m_angVel;\n"
-	"		float invMassA = gBodies[aIdx].m_invMass;\n"
-	"		b3Mat3x3 invInertiaA = gShapes[aIdx].m_initInvInertia;\n"
-	"		float4 posB = gBodies[bIdx].m_pos;\n"
-	"		float4 linVelB = gBodies[bIdx].m_linVel;\n"
-	"		float4 angVelB = gBodies[bIdx].m_angVel;\n"
-	"		float invMassB = gBodies[bIdx].m_invMass;\n"
-	"		b3Mat3x3 invInertiaB = gShapes[bIdx].m_initInvInertia;\n"
-	"		b3ContactConstraint4_t cs;\n"
-	"    	setConstraint4( posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,\n"
-	"			&gContact[gIdx], dt, positionDrift, positionConstraintCoeff,\n"
-	"			&cs );\n"
-	"		\n"
-	"		cs.m_batchIdx = gContact[gIdx].m_batchIdx;\n"
-	"		gConstraintOut[gIdx] = cs;\n"
-	"	}\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup2.cl b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup2.cl
deleted file mode 100644
index 3dc48d4350..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup2.cl
+++ /dev/null
@@ -1,613 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Takahiro Harada
-
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
-
-#pragma OPENCL EXTENSION cl_amd_printf : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable
-
-
-#ifdef cl_ext_atomic_counters_32
-#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable
-#else
-#define counter32_t volatile global int*
-#endif
-
-typedef unsigned int u32;
-typedef unsigned short u16;
-typedef unsigned char u8;
-
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GET_NUM_GROUPS get_num_groups(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
-#define AtomInc(x) atom_inc(&(x))
-#define AtomInc1(x, out) out = atom_inc(&(x))
-#define AppendInc(x, out) out = atomic_inc(x)
-#define AtomAdd(x, value) atom_add(&(x), value)
-#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )
-#define AtomXhg(x, value) atom_xchg ( &(x), value )
-
-
-#define SELECT_UINT4( b, a, condition ) select( b,a,condition )
-
-#define make_float4 (float4)
-#define make_float2 (float2)
-#define make_uint4 (uint4)
-#define make_int4 (int4)
-#define make_uint2 (uint2)
-#define make_int2 (int2)
-
-
-#define max2 max
-#define min2 min
-
-
-///////////////////////////////////////
-//	Vector
-///////////////////////////////////////
-__inline
-float fastDiv(float numerator, float denominator)
-{
-	return native_divide(numerator, denominator);	
-//	return numerator/denominator;	
-}
-
-__inline
-float4 fastDiv4(float4 numerator, float4 denominator)
-{
-	return native_divide(numerator, denominator);	
-}
-
-__inline
-float fastSqrtf(float f2)
-{
-	return native_sqrt(f2);
-//	return sqrt(f2);
-}
-
-__inline
-float fastRSqrt(float f2)
-{
-	return native_rsqrt(f2);
-}
-
-__inline
-float fastLength4(float4 v)
-{
-	return fast_length(v);
-}
-
-__inline
-float4 fastNormalize4(float4 v)
-{
-	return fast_normalize(v);
-}
-
-
-__inline
-float sqrtf(float a)
-{
-//	return sqrt(a);
-	return native_sqrt(a);
-}
-
-__inline
-float4 cross3(float4 a, float4 b)
-{
-	return cross(a,b);
-}
-
-__inline
-float dot3F4(float4 a, float4 b)
-{
-	float4 a1 = make_float4(a.xyz,0.f);
-	float4 b1 = make_float4(b.xyz,0.f);
-	return dot(a1, b1);
-}
-
-__inline
-float length3(const float4 a)
-{
-	return sqrtf(dot3F4(a,a));
-}
-
-__inline
-float dot4(const float4 a, const float4 b)
-{
-	return dot( a, b );
-}
-
-//	for height
-__inline
-float dot3w1(const float4 point, const float4 eqn)
-{
-	return dot3F4(point,eqn) + eqn.w;
-}
-
-__inline
-float4 normalize3(const float4 a)
-{
-	float4 n = make_float4(a.x, a.y, a.z, 0.f);
-	return fastNormalize4( n );
-//	float length = sqrtf(dot3F4(a, a));
-//	return 1.f/length * a;
-}
-
-__inline
-float4 normalize4(const float4 a)
-{
-	float length = sqrtf(dot4(a, a));
-	return 1.f/length * a;
-}
-
-__inline
-float4 createEquation(const float4 a, const float4 b, const float4 c)
-{
-	float4 eqn;
-	float4 ab = b-a;
-	float4 ac = c-a;
-	eqn = normalize3( cross3(ab, ac) );
-	eqn.w = -dot3F4(eqn,a);
-	return eqn;
-}
-
-///////////////////////////////////////
-//	Matrix3x3
-///////////////////////////////////////
-
-typedef struct
-{
-	float4 m_row[3];
-}Matrix3x3;
-
-__inline
-Matrix3x3 mtZero();
-
-__inline
-Matrix3x3 mtIdentity();
-
-__inline
-Matrix3x3 mtTranspose(Matrix3x3 m);
-
-__inline
-Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b);
-
-__inline
-float4 mtMul1(Matrix3x3 a, float4 b);
-
-__inline
-float4 mtMul3(float4 a, Matrix3x3 b);
-
-__inline
-Matrix3x3 mtZero()
-{
-	Matrix3x3 m;
-	m.m_row[0] = (float4)(0.f);
-	m.m_row[1] = (float4)(0.f);
-	m.m_row[2] = (float4)(0.f);
-	return m;
-}
-
-__inline
-Matrix3x3 mtIdentity()
-{
-	Matrix3x3 m;
-	m.m_row[0] = (float4)(1,0,0,0);
-	m.m_row[1] = (float4)(0,1,0,0);
-	m.m_row[2] = (float4)(0,0,1,0);
-	return m;
-}
-
-__inline
-Matrix3x3 mtTranspose(Matrix3x3 m)
-{
-	Matrix3x3 out;
-	out.m_row[0] = (float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);
-	out.m_row[1] = (float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);
-	out.m_row[2] = (float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);
-	return out;
-}
-
-__inline
-Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b)
-{
-	Matrix3x3 transB;
-	transB = mtTranspose( b );
-	Matrix3x3 ans;
-	//	why this doesn't run when 0ing in the for{}
-	a.m_row[0].w = 0.f;
-	a.m_row[1].w = 0.f;
-	a.m_row[2].w = 0.f;
-	for(int i=0; i<3; i++)
-	{
-//	a.m_row[i].w = 0.f;
-		ans.m_row[i].x = dot3F4(a.m_row[i],transB.m_row[0]);
-		ans.m_row[i].y = dot3F4(a.m_row[i],transB.m_row[1]);
-		ans.m_row[i].z = dot3F4(a.m_row[i],transB.m_row[2]);
-		ans.m_row[i].w = 0.f;
-	}
-	return ans;
-}
-
-__inline
-float4 mtMul1(Matrix3x3 a, float4 b)
-{
-	float4 ans;
-	ans.x = dot3F4( a.m_row[0], b );
-	ans.y = dot3F4( a.m_row[1], b );
-	ans.z = dot3F4( a.m_row[2], b );
-	ans.w = 0.f;
-	return ans;
-}
-
-__inline
-float4 mtMul3(float4 a, Matrix3x3 b)
-{
-	float4 colx = make_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);
-	float4 coly = make_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);
-	float4 colz = make_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);
-
-	float4 ans;
-	ans.x = dot3F4( a, colx );
-	ans.y = dot3F4( a, coly );
-	ans.z = dot3F4( a, colz );
-	return ans;
-}
-
-///////////////////////////////////////
-//	Quaternion
-///////////////////////////////////////
-
-typedef float4 Quaternion;
-
-__inline
-Quaternion qtMul(Quaternion a, Quaternion b);
-
-__inline
-Quaternion qtNormalize(Quaternion in);
-
-__inline
-float4 qtRotate(Quaternion q, float4 vec);
-
-__inline
-Quaternion qtInvert(Quaternion q);
-
-
-
-
-
-__inline
-Quaternion qtMul(Quaternion a, Quaternion b)
-{
-	Quaternion ans;
-	ans = cross3( a, b );
-	ans += a.w*b+b.w*a;
-//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
-	ans.w = a.w*b.w - dot3F4(a, b);
-	return ans;
-}
-
-__inline
-Quaternion qtNormalize(Quaternion in)
-{
-	return fastNormalize4(in);
-//	in /= length( in );
-//	return in;
-}
-__inline
-float4 qtRotate(Quaternion q, float4 vec)
-{
-	Quaternion qInv = qtInvert( q );
-	float4 vcpy = vec;
-	vcpy.w = 0.f;
-	float4 out = qtMul(qtMul(q,vcpy),qInv);
-	return out;
-}
-
-__inline
-Quaternion qtInvert(Quaternion q)
-{
-	return (Quaternion)(-q.xyz, q.w);
-}
-
-__inline
-float4 qtInvRotate(const Quaternion q, float4 vec)
-{
-	return qtRotate( qtInvert( q ), vec );
-}
-
-
-
-
-#define WG_SIZE 64
-
-typedef struct
-{
-	float4 m_pos;
-	Quaternion m_quat;
-	float4 m_linVel;
-	float4 m_angVel;
-
-	u32 m_shapeIdx;
-	float m_invMass;
-	float m_restituitionCoeff;
-	float m_frictionCoeff;
-} Body;
-
-typedef struct
-{
-	Matrix3x3 m_invInertia;
-	Matrix3x3 m_initInvInertia;
-} Shape;
-
-typedef struct
-{
-	float4 m_linear;
-	float4 m_worldPos[4];
-	float4 m_center;	
-	float m_jacCoeffInv[4];
-	float m_b[4];
-	float m_appliedRambdaDt[4];
-
-	float m_fJacCoeffInv[2];	
-	float m_fAppliedRambdaDt[2];	
-
-	u32 m_bodyA;
-	u32 m_bodyB;
-
-	int m_batchIdx;
-	u32 m_paddings[1];
-} Constraint4;
-
-
-
-typedef struct
-{
-	int m_nConstraints;
-	int m_start;
-	int m_batchIdx;
-	int m_nSplit;
-//	int m_paddings[1];
-} ConstBuffer;
-
-typedef struct
-{
-	int m_solveFriction;
-	int m_maxBatch;	//	long batch really kills the performance
-	int m_batchIdx;
-	int m_nSplit;
-//	int m_paddings[1];
-} ConstBufferBatchSolve;
-
-
- 
-
-
-typedef struct 
-{
-	int m_valInt0;
-	int m_valInt1;
-	int m_valInt2;
-	int m_valInt3;
-
-	float m_val0;
-	float m_val1;
-	float m_val2;
-	float m_val3;
-} SolverDebugInfo;
-
-
-
-
-//	others
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void ReorderContactKernel(__global struct b3Contact4Data* in, __global struct b3Contact4Data* out, __global int2* sortData, int4 cb )
-{
-	int nContacts = cb.x;
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < nContacts )
-	{
-		int srcIdx = sortData[gIdx].y;
-		out[gIdx] = in[srcIdx];
-	}
-}
-
-__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void SetDeterminismSortDataChildShapeB(__global struct b3Contact4Data* contactsIn, __global int2* sortDataOut, int nContacts)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < nContacts )
-	{
-		int2 sd;
-		sd.x = contactsIn[gIdx].m_childIndexB;
-		sd.y = gIdx;
-		sortDataOut[gIdx] = sd;
-	}
-}
-
-__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void SetDeterminismSortDataChildShapeA(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < nContacts )
-	{
-		int2 sdIn;
-		sdIn = sortDataInOut[gIdx];
-		int2 sdOut;
-		sdOut.x = contactsIn[sdIn.y].m_childIndexA;
-		sdOut.y = sdIn.y;
-		sortDataInOut[gIdx] = sdOut;
-	}
-}
-
-__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void SetDeterminismSortDataBodyA(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < nContacts )
-	{
-		int2 sdIn;
-		sdIn = sortDataInOut[gIdx];
-		int2 sdOut;
-		sdOut.x = contactsIn[sdIn.y].m_bodyAPtrAndSignBit;
-		sdOut.y = sdIn.y;
-		sortDataInOut[gIdx] = sdOut;
-	}
-}
-
-
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void SetDeterminismSortDataBodyB(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < nContacts )
-	{
-		int2 sdIn;
-		sdIn = sortDataInOut[gIdx];
-		int2 sdOut;
-		sdOut.x = contactsIn[sdIn.y].m_bodyBPtrAndSignBit;
-		sdOut.y = sdIn.y;
-		sortDataInOut[gIdx] = sdOut;
-	}
-}
-
-
-
-
-typedef struct
-{
-	int m_nContacts;
-	int m_staticIdx;
-	float m_scale;
-	int m_nSplit;
-} ConstBufferSSD;
-
-
-__constant const int gridTable4x4[] = 
-{
-    0,1,17,16,
-	1,2,18,19,
-	17,18,32,3,
-	16,19,3,34
-};
-
-__constant const int gridTable8x8[] = 
-{
-	  0,  2,  3, 16, 17, 18, 19,  1,
-	 66, 64, 80, 67, 82, 81, 65, 83,
-	131,144,128,130,147,129,145,146,
-	208,195,194,192,193,211,210,209,
-	 21, 22, 23,  5,  4,  6,  7, 20,
-	 86, 85, 69, 87, 70, 68, 84, 71,
-	151,133,149,150,135,148,132,134,
-	197,27,214,213,212,199,198,196
-	
-};
-
-
-
-
-#define USE_SPATIAL_BATCHING 1
-#define USE_4x4_GRID 1
-
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void SetSortDataKernel(__global struct b3Contact4Data* gContact, __global Body* gBodies, __global int2* gSortDataOut, 
-int nContacts,float scale,int4 nSplit,int staticIdx)
-
-{
-	int gIdx = GET_GLOBAL_IDX;
-	
-	if( gIdx < nContacts )
-	{
-		int aPtrAndSignBit  = gContact[gIdx].m_bodyAPtrAndSignBit;
-		int bPtrAndSignBit  = gContact[gIdx].m_bodyBPtrAndSignBit;
-
-		int aIdx = abs(aPtrAndSignBit );
-		int bIdx = abs(bPtrAndSignBit);
-
-		bool aStatic = (aPtrAndSignBit<0) ||(aPtrAndSignBit==staticIdx);
-		bool bStatic = (bPtrAndSignBit<0) ||(bPtrAndSignBit==staticIdx);
-
-#if USE_SPATIAL_BATCHING		
-		int idx = (aStatic)? bIdx: aIdx;
-		float4 p = gBodies[idx].m_pos;
-		int xIdx = (int)((p.x-((p.x<0.f)?1.f:0.f))*scale) & (nSplit.x-1);
-		int yIdx = (int)((p.y-((p.y<0.f)?1.f:0.f))*scale) & (nSplit.y-1);
-		int zIdx = (int)((p.z-((p.z<0.f)?1.f:0.f))*scale) & (nSplit.z-1);
-		int newIndex = (xIdx+yIdx*nSplit.x+zIdx*nSplit.x*nSplit.y);
-		
-#else//USE_SPATIAL_BATCHING
-	#if USE_4x4_GRID
-		int aa = aIdx&3;
-		int bb = bIdx&3;
-		if (aStatic)
-			aa = bb;
-		if (bStatic)
-			bb = aa;
-
-		int gridIndex = aa + bb*4;
-		int newIndex = gridTable4x4[gridIndex];
-	#else//USE_4x4_GRID
-		int aa = aIdx&7;
-		int bb = bIdx&7;
-		if (aStatic)
-			aa = bb;
-		if (bStatic)
-			bb = aa;
-
-		int gridIndex = aa + bb*8;
-		int newIndex = gridTable8x8[gridIndex];
-	#endif//USE_4x4_GRID
-#endif//USE_SPATIAL_BATCHING
-
-
-		gSortDataOut[gIdx].x = newIndex;
-		gSortDataOut[gIdx].y = gIdx;
-	}
-	else
-	{
-		gSortDataOut[gIdx].x = 0xffffffff;
-	}
-}
-
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void CopyConstraintKernel(__global struct b3Contact4Data* gIn, __global struct b3Contact4Data* gOut, int4 cb )
-{
-	int gIdx = GET_GLOBAL_IDX;
-	if( gIdx < cb.x )
-	{
-		gOut[gIdx] = gIn[gIdx];
-	}
-}
-
-
-
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h
deleted file mode 100644
index 1e6e3579b6..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h
+++ /dev/null
@@ -1,600 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* solverSetup2CL =
-	"/*\n"
-	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose, \n"
-	"including commercial applications, and to alter it and redistribute it freely, \n"
-	"subject to the following restrictions:\n"
-	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Originally written by Takahiro Harada\n"
-	"#ifndef B3_CONTACT4DATA_H\n"
-	"#define B3_CONTACT4DATA_H\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#define B3_FLOAT4_H\n"
-	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-	"#define B3_PLATFORM_DEFINITIONS_H\n"
-	"struct MyTest\n"
-	"{\n"
-	"	int bla;\n"
-	"};\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-	"#define B3_LARGE_FLOAT 1e18f\n"
-	"#define B3_INFINITY 1e18f\n"
-	"#define b3Assert(a)\n"
-	"#define b3ConstArray(a) __global const a*\n"
-	"#define b3AtomicInc atomic_inc\n"
-	"#define b3AtomicAdd atomic_add\n"
-	"#define b3Fabs fabs\n"
-	"#define b3Sqrt native_sqrt\n"
-	"#define b3Sin native_sin\n"
-	"#define b3Cos native_cos\n"
-	"#define B3_STATIC\n"
-	"#endif\n"
-	"#endif\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"	typedef float4	b3Float4;\n"
-	"	#define b3Float4ConstArg const b3Float4\n"
-	"	#define b3MakeFloat4 (float4)\n"
-	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return dot(a1, b1);\n"
-	"	}\n"
-	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return cross(a1, b1);\n"
-	"	}\n"
-	"	#define b3MinFloat4 min\n"
-	"	#define b3MaxFloat4 max\n"
-	"	#define b3Normalized(a) normalize(a)\n"
-	"#endif \n"
-	"		\n"
-	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-	"{\n"
-	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-	"		return false;\n"
-	"	return true;\n"
-	"}\n"
-	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-	"{\n"
-	"    float maxDot = -B3_INFINITY;\n"
-	"    int i = 0;\n"
-	"    int ptIndex = -1;\n"
-	"    for( i = 0; i < vecLen; i++ )\n"
-	"    {\n"
-	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-	"            \n"
-	"        if( dot > maxDot )\n"
-	"        {\n"
-	"            maxDot = dot;\n"
-	"            ptIndex = i;\n"
-	"        }\n"
-	"    }\n"
-	"	b3Assert(ptIndex>=0);\n"
-	"    if (ptIndex<0)\n"
-	"	{\n"
-	"		ptIndex = 0;\n"
-	"	}\n"
-	"    *dotOut = maxDot;\n"
-	"    return ptIndex;\n"
-	"}\n"
-	"#endif //B3_FLOAT4_H\n"
-	"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
-	"struct b3Contact4Data\n"
-	"{\n"
-	"	b3Float4	m_worldPosB[4];\n"
-	"//	b3Float4	m_localPosA[4];\n"
-	"//	b3Float4	m_localPosB[4];\n"
-	"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
-	"	unsigned short  m_restituitionCoeffCmp;\n"
-	"	unsigned short  m_frictionCoeffCmp;\n"
-	"	int m_batchIdx;\n"
-	"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
-	"	int m_bodyBPtrAndSignBit;\n"
-	"	int	m_childIndexA;\n"
-	"	int	m_childIndexB;\n"
-	"	int m_unused1;\n"
-	"	int m_unused2;\n"
-	"};\n"
-	"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
-	"{\n"
-	"	return (int)contact->m_worldNormalOnB.w;\n"
-	"};\n"
-	"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
-	"{\n"
-	"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
-	"};\n"
-	"#endif //B3_CONTACT4DATA_H\n"
-	"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
-	"#ifdef cl_ext_atomic_counters_32\n"
-	"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
-	"#else\n"
-	"#define counter32_t volatile global int*\n"
-	"#endif\n"
-	"typedef unsigned int u32;\n"
-	"typedef unsigned short u16;\n"
-	"typedef unsigned char u8;\n"
-	"#define GET_GROUP_IDX get_group_id(0)\n"
-	"#define GET_LOCAL_IDX get_local_id(0)\n"
-	"#define GET_GLOBAL_IDX get_global_id(0)\n"
-	"#define GET_GROUP_SIZE get_local_size(0)\n"
-	"#define GET_NUM_GROUPS get_num_groups(0)\n"
-	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-	"#define AtomInc(x) atom_inc(&(x))\n"
-	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-	"#define AppendInc(x, out) out = atomic_inc(x)\n"
-	"#define AtomAdd(x, value) atom_add(&(x), value)\n"
-	"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
-	"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
-	"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
-	"#define make_float4 (float4)\n"
-	"#define make_float2 (float2)\n"
-	"#define make_uint4 (uint4)\n"
-	"#define make_int4 (int4)\n"
-	"#define make_uint2 (uint2)\n"
-	"#define make_int2 (int2)\n"
-	"#define max2 max\n"
-	"#define min2 min\n"
-	"///////////////////////////////////////\n"
-	"//	Vector\n"
-	"///////////////////////////////////////\n"
-	"__inline\n"
-	"float fastDiv(float numerator, float denominator)\n"
-	"{\n"
-	"	return native_divide(numerator, denominator);	\n"
-	"//	return numerator/denominator;	\n"
-	"}\n"
-	"__inline\n"
-	"float4 fastDiv4(float4 numerator, float4 denominator)\n"
-	"{\n"
-	"	return native_divide(numerator, denominator);	\n"
-	"}\n"
-	"__inline\n"
-	"float fastSqrtf(float f2)\n"
-	"{\n"
-	"	return native_sqrt(f2);\n"
-	"//	return sqrt(f2);\n"
-	"}\n"
-	"__inline\n"
-	"float fastRSqrt(float f2)\n"
-	"{\n"
-	"	return native_rsqrt(f2);\n"
-	"}\n"
-	"__inline\n"
-	"float fastLength4(float4 v)\n"
-	"{\n"
-	"	return fast_length(v);\n"
-	"}\n"
-	"__inline\n"
-	"float4 fastNormalize4(float4 v)\n"
-	"{\n"
-	"	return fast_normalize(v);\n"
-	"}\n"
-	"__inline\n"
-	"float sqrtf(float a)\n"
-	"{\n"
-	"//	return sqrt(a);\n"
-	"	return native_sqrt(a);\n"
-	"}\n"
-	"__inline\n"
-	"float4 cross3(float4 a, float4 b)\n"
-	"{\n"
-	"	return cross(a,b);\n"
-	"}\n"
-	"__inline\n"
-	"float dot3F4(float4 a, float4 b)\n"
-	"{\n"
-	"	float4 a1 = make_float4(a.xyz,0.f);\n"
-	"	float4 b1 = make_float4(b.xyz,0.f);\n"
-	"	return dot(a1, b1);\n"
-	"}\n"
-	"__inline\n"
-	"float length3(const float4 a)\n"
-	"{\n"
-	"	return sqrtf(dot3F4(a,a));\n"
-	"}\n"
-	"__inline\n"
-	"float dot4(const float4 a, const float4 b)\n"
-	"{\n"
-	"	return dot( a, b );\n"
-	"}\n"
-	"//	for height\n"
-	"__inline\n"
-	"float dot3w1(const float4 point, const float4 eqn)\n"
-	"{\n"
-	"	return dot3F4(point,eqn) + eqn.w;\n"
-	"}\n"
-	"__inline\n"
-	"float4 normalize3(const float4 a)\n"
-	"{\n"
-	"	float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
-	"	return fastNormalize4( n );\n"
-	"//	float length = sqrtf(dot3F4(a, a));\n"
-	"//	return 1.f/length * a;\n"
-	"}\n"
-	"__inline\n"
-	"float4 normalize4(const float4 a)\n"
-	"{\n"
-	"	float length = sqrtf(dot4(a, a));\n"
-	"	return 1.f/length * a;\n"
-	"}\n"
-	"__inline\n"
-	"float4 createEquation(const float4 a, const float4 b, const float4 c)\n"
-	"{\n"
-	"	float4 eqn;\n"
-	"	float4 ab = b-a;\n"
-	"	float4 ac = c-a;\n"
-	"	eqn = normalize3( cross3(ab, ac) );\n"
-	"	eqn.w = -dot3F4(eqn,a);\n"
-	"	return eqn;\n"
-	"}\n"
-	"///////////////////////////////////////\n"
-	"//	Matrix3x3\n"
-	"///////////////////////////////////////\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_row[3];\n"
-	"}Matrix3x3;\n"
-	"__inline\n"
-	"Matrix3x3 mtZero();\n"
-	"__inline\n"
-	"Matrix3x3 mtIdentity();\n"
-	"__inline\n"
-	"Matrix3x3 mtTranspose(Matrix3x3 m);\n"
-	"__inline\n"
-	"Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b);\n"
-	"__inline\n"
-	"float4 mtMul1(Matrix3x3 a, float4 b);\n"
-	"__inline\n"
-	"float4 mtMul3(float4 a, Matrix3x3 b);\n"
-	"__inline\n"
-	"Matrix3x3 mtZero()\n"
-	"{\n"
-	"	Matrix3x3 m;\n"
-	"	m.m_row[0] = (float4)(0.f);\n"
-	"	m.m_row[1] = (float4)(0.f);\n"
-	"	m.m_row[2] = (float4)(0.f);\n"
-	"	return m;\n"
-	"}\n"
-	"__inline\n"
-	"Matrix3x3 mtIdentity()\n"
-	"{\n"
-	"	Matrix3x3 m;\n"
-	"	m.m_row[0] = (float4)(1,0,0,0);\n"
-	"	m.m_row[1] = (float4)(0,1,0,0);\n"
-	"	m.m_row[2] = (float4)(0,0,1,0);\n"
-	"	return m;\n"
-	"}\n"
-	"__inline\n"
-	"Matrix3x3 mtTranspose(Matrix3x3 m)\n"
-	"{\n"
-	"	Matrix3x3 out;\n"
-	"	out.m_row[0] = (float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
-	"	out.m_row[1] = (float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
-	"	out.m_row[2] = (float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b)\n"
-	"{\n"
-	"	Matrix3x3 transB;\n"
-	"	transB = mtTranspose( b );\n"
-	"	Matrix3x3 ans;\n"
-	"	//	why this doesn't run when 0ing in the for{}\n"
-	"	a.m_row[0].w = 0.f;\n"
-	"	a.m_row[1].w = 0.f;\n"
-	"	a.m_row[2].w = 0.f;\n"
-	"	for(int i=0; i<3; i++)\n"
-	"	{\n"
-	"//	a.m_row[i].w = 0.f;\n"
-	"		ans.m_row[i].x = dot3F4(a.m_row[i],transB.m_row[0]);\n"
-	"		ans.m_row[i].y = dot3F4(a.m_row[i],transB.m_row[1]);\n"
-	"		ans.m_row[i].z = dot3F4(a.m_row[i],transB.m_row[2]);\n"
-	"		ans.m_row[i].w = 0.f;\n"
-	"	}\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"float4 mtMul1(Matrix3x3 a, float4 b)\n"
-	"{\n"
-	"	float4 ans;\n"
-	"	ans.x = dot3F4( a.m_row[0], b );\n"
-	"	ans.y = dot3F4( a.m_row[1], b );\n"
-	"	ans.z = dot3F4( a.m_row[2], b );\n"
-	"	ans.w = 0.f;\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"float4 mtMul3(float4 a, Matrix3x3 b)\n"
-	"{\n"
-	"	float4 colx = make_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-	"	float4 coly = make_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-	"	float4 colz = make_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-	"	float4 ans;\n"
-	"	ans.x = dot3F4( a, colx );\n"
-	"	ans.y = dot3F4( a, coly );\n"
-	"	ans.z = dot3F4( a, colz );\n"
-	"	return ans;\n"
-	"}\n"
-	"///////////////////////////////////////\n"
-	"//	Quaternion\n"
-	"///////////////////////////////////////\n"
-	"typedef float4 Quaternion;\n"
-	"__inline\n"
-	"Quaternion qtMul(Quaternion a, Quaternion b);\n"
-	"__inline\n"
-	"Quaternion qtNormalize(Quaternion in);\n"
-	"__inline\n"
-	"float4 qtRotate(Quaternion q, float4 vec);\n"
-	"__inline\n"
-	"Quaternion qtInvert(Quaternion q);\n"
-	"__inline\n"
-	"Quaternion qtMul(Quaternion a, Quaternion b)\n"
-	"{\n"
-	"	Quaternion ans;\n"
-	"	ans = cross3( a, b );\n"
-	"	ans += a.w*b+b.w*a;\n"
-	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-	"	ans.w = a.w*b.w - dot3F4(a, b);\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"Quaternion qtNormalize(Quaternion in)\n"
-	"{\n"
-	"	return fastNormalize4(in);\n"
-	"//	in /= length( in );\n"
-	"//	return in;\n"
-	"}\n"
-	"__inline\n"
-	"float4 qtRotate(Quaternion q, float4 vec)\n"
-	"{\n"
-	"	Quaternion qInv = qtInvert( q );\n"
-	"	float4 vcpy = vec;\n"
-	"	vcpy.w = 0.f;\n"
-	"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"Quaternion qtInvert(Quaternion q)\n"
-	"{\n"
-	"	return (Quaternion)(-q.xyz, q.w);\n"
-	"}\n"
-	"__inline\n"
-	"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
-	"{\n"
-	"	return qtRotate( qtInvert( q ), vec );\n"
-	"}\n"
-	"#define WG_SIZE 64\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_pos;\n"
-	"	Quaternion m_quat;\n"
-	"	float4 m_linVel;\n"
-	"	float4 m_angVel;\n"
-	"	u32 m_shapeIdx;\n"
-	"	float m_invMass;\n"
-	"	float m_restituitionCoeff;\n"
-	"	float m_frictionCoeff;\n"
-	"} Body;\n"
-	"typedef struct\n"
-	"{\n"
-	"	Matrix3x3 m_invInertia;\n"
-	"	Matrix3x3 m_initInvInertia;\n"
-	"} Shape;\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_linear;\n"
-	"	float4 m_worldPos[4];\n"
-	"	float4 m_center;	\n"
-	"	float m_jacCoeffInv[4];\n"
-	"	float m_b[4];\n"
-	"	float m_appliedRambdaDt[4];\n"
-	"	float m_fJacCoeffInv[2];	\n"
-	"	float m_fAppliedRambdaDt[2];	\n"
-	"	u32 m_bodyA;\n"
-	"	u32 m_bodyB;\n"
-	"	int m_batchIdx;\n"
-	"	u32 m_paddings[1];\n"
-	"} Constraint4;\n"
-	"typedef struct\n"
-	"{\n"
-	"	int m_nConstraints;\n"
-	"	int m_start;\n"
-	"	int m_batchIdx;\n"
-	"	int m_nSplit;\n"
-	"//	int m_paddings[1];\n"
-	"} ConstBuffer;\n"
-	"typedef struct\n"
-	"{\n"
-	"	int m_solveFriction;\n"
-	"	int m_maxBatch;	//	long batch really kills the performance\n"
-	"	int m_batchIdx;\n"
-	"	int m_nSplit;\n"
-	"//	int m_paddings[1];\n"
-	"} ConstBufferBatchSolve;\n"
-	" \n"
-	"typedef struct \n"
-	"{\n"
-	"	int m_valInt0;\n"
-	"	int m_valInt1;\n"
-	"	int m_valInt2;\n"
-	"	int m_valInt3;\n"
-	"	float m_val0;\n"
-	"	float m_val1;\n"
-	"	float m_val2;\n"
-	"	float m_val3;\n"
-	"} SolverDebugInfo;\n"
-	"//	others\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void ReorderContactKernel(__global struct b3Contact4Data* in, __global struct b3Contact4Data* out, __global int2* sortData, int4 cb )\n"
-	"{\n"
-	"	int nContacts = cb.x;\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	if( gIdx < nContacts )\n"
-	"	{\n"
-	"		int srcIdx = sortData[gIdx].y;\n"
-	"		out[gIdx] = in[srcIdx];\n"
-	"	}\n"
-	"}\n"
-	"__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void SetDeterminismSortDataChildShapeB(__global struct b3Contact4Data* contactsIn, __global int2* sortDataOut, int nContacts)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	if( gIdx < nContacts )\n"
-	"	{\n"
-	"		int2 sd;\n"
-	"		sd.x = contactsIn[gIdx].m_childIndexB;\n"
-	"		sd.y = gIdx;\n"
-	"		sortDataOut[gIdx] = sd;\n"
-	"	}\n"
-	"}\n"
-	"__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void SetDeterminismSortDataChildShapeA(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	if( gIdx < nContacts )\n"
-	"	{\n"
-	"		int2 sdIn;\n"
-	"		sdIn = sortDataInOut[gIdx];\n"
-	"		int2 sdOut;\n"
-	"		sdOut.x = contactsIn[sdIn.y].m_childIndexA;\n"
-	"		sdOut.y = sdIn.y;\n"
-	"		sortDataInOut[gIdx] = sdOut;\n"
-	"	}\n"
-	"}\n"
-	"__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void SetDeterminismSortDataBodyA(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	if( gIdx < nContacts )\n"
-	"	{\n"
-	"		int2 sdIn;\n"
-	"		sdIn = sortDataInOut[gIdx];\n"
-	"		int2 sdOut;\n"
-	"		sdOut.x = contactsIn[sdIn.y].m_bodyAPtrAndSignBit;\n"
-	"		sdOut.y = sdIn.y;\n"
-	"		sortDataInOut[gIdx] = sdOut;\n"
-	"	}\n"
-	"}\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void SetDeterminismSortDataBodyB(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	if( gIdx < nContacts )\n"
-	"	{\n"
-	"		int2 sdIn;\n"
-	"		sdIn = sortDataInOut[gIdx];\n"
-	"		int2 sdOut;\n"
-	"		sdOut.x = contactsIn[sdIn.y].m_bodyBPtrAndSignBit;\n"
-	"		sdOut.y = sdIn.y;\n"
-	"		sortDataInOut[gIdx] = sdOut;\n"
-	"	}\n"
-	"}\n"
-	"typedef struct\n"
-	"{\n"
-	"	int m_nContacts;\n"
-	"	int m_staticIdx;\n"
-	"	float m_scale;\n"
-	"	int m_nSplit;\n"
-	"} ConstBufferSSD;\n"
-	"__constant const int gridTable4x4[] = \n"
-	"{\n"
-	"    0,1,17,16,\n"
-	"	1,2,18,19,\n"
-	"	17,18,32,3,\n"
-	"	16,19,3,34\n"
-	"};\n"
-	"__constant const int gridTable8x8[] = \n"
-	"{\n"
-	"	  0,  2,  3, 16, 17, 18, 19,  1,\n"
-	"	 66, 64, 80, 67, 82, 81, 65, 83,\n"
-	"	131,144,128,130,147,129,145,146,\n"
-	"	208,195,194,192,193,211,210,209,\n"
-	"	 21, 22, 23,  5,  4,  6,  7, 20,\n"
-	"	 86, 85, 69, 87, 70, 68, 84, 71,\n"
-	"	151,133,149,150,135,148,132,134,\n"
-	"	197,27,214,213,212,199,198,196\n"
-	"	\n"
-	"};\n"
-	"#define USE_SPATIAL_BATCHING 1\n"
-	"#define USE_4x4_GRID 1\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void SetSortDataKernel(__global struct b3Contact4Data* gContact, __global Body* gBodies, __global int2* gSortDataOut, \n"
-	"int nContacts,float scale,int4 nSplit,int staticIdx)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	\n"
-	"	if( gIdx < nContacts )\n"
-	"	{\n"
-	"		int aPtrAndSignBit  = gContact[gIdx].m_bodyAPtrAndSignBit;\n"
-	"		int bPtrAndSignBit  = gContact[gIdx].m_bodyBPtrAndSignBit;\n"
-	"		int aIdx = abs(aPtrAndSignBit );\n"
-	"		int bIdx = abs(bPtrAndSignBit);\n"
-	"		bool aStatic = (aPtrAndSignBit<0) ||(aPtrAndSignBit==staticIdx);\n"
-	"		bool bStatic = (bPtrAndSignBit<0) ||(bPtrAndSignBit==staticIdx);\n"
-	"#if USE_SPATIAL_BATCHING		\n"
-	"		int idx = (aStatic)? bIdx: aIdx;\n"
-	"		float4 p = gBodies[idx].m_pos;\n"
-	"		int xIdx = (int)((p.x-((p.x<0.f)?1.f:0.f))*scale) & (nSplit.x-1);\n"
-	"		int yIdx = (int)((p.y-((p.y<0.f)?1.f:0.f))*scale) & (nSplit.y-1);\n"
-	"		int zIdx = (int)((p.z-((p.z<0.f)?1.f:0.f))*scale) & (nSplit.z-1);\n"
-	"		int newIndex = (xIdx+yIdx*nSplit.x+zIdx*nSplit.x*nSplit.y);\n"
-	"		\n"
-	"#else//USE_SPATIAL_BATCHING\n"
-	"	#if USE_4x4_GRID\n"
-	"		int aa = aIdx&3;\n"
-	"		int bb = bIdx&3;\n"
-	"		if (aStatic)\n"
-	"			aa = bb;\n"
-	"		if (bStatic)\n"
-	"			bb = aa;\n"
-	"		int gridIndex = aa + bb*4;\n"
-	"		int newIndex = gridTable4x4[gridIndex];\n"
-	"	#else//USE_4x4_GRID\n"
-	"		int aa = aIdx&7;\n"
-	"		int bb = bIdx&7;\n"
-	"		if (aStatic)\n"
-	"			aa = bb;\n"
-	"		if (bStatic)\n"
-	"			bb = aa;\n"
-	"		int gridIndex = aa + bb*8;\n"
-	"		int newIndex = gridTable8x8[gridIndex];\n"
-	"	#endif//USE_4x4_GRID\n"
-	"#endif//USE_SPATIAL_BATCHING\n"
-	"		gSortDataOut[gIdx].x = newIndex;\n"
-	"		gSortDataOut[gIdx].y = gIdx;\n"
-	"	}\n"
-	"	else\n"
-	"	{\n"
-	"		gSortDataOut[gIdx].x = 0xffffffff;\n"
-	"	}\n"
-	"}\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void CopyConstraintKernel(__global struct b3Contact4Data* gIn, __global struct b3Contact4Data* gOut, int4 cb )\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	if( gIdx < cb.x )\n"
-	"	{\n"
-	"		gOut[gIdx] = gIn[gIdx];\n"
-	"	}\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverUtils.cl b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverUtils.cl
deleted file mode 100644
index a21a08c3b4..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverUtils.cl
+++ /dev/null
@@ -1,968 +0,0 @@
-/*
-Copyright (c) 2013 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Erwin Coumans
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
-
-#pragma OPENCL EXTENSION cl_amd_printf : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable
-
-
-#ifdef cl_ext_atomic_counters_32
-#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable
-#else
-#define counter32_t volatile global int*
-#endif
-
-typedef unsigned int u32;
-typedef unsigned short u16;
-typedef unsigned char u8;
-
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GET_NUM_GROUPS get_num_groups(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
-#define AtomInc(x) atom_inc(&(x))
-#define AtomInc1(x, out) out = atom_inc(&(x))
-#define AppendInc(x, out) out = atomic_inc(x)
-#define AtomAdd(x, value) atom_add(&(x), value)
-#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )
-#define AtomXhg(x, value) atom_xchg ( &(x), value )
-
-
-#define SELECT_UINT4( b, a, condition ) select( b,a,condition )
-
-#define make_float4 (float4)
-#define make_float2 (float2)
-#define make_uint4 (uint4)
-#define make_int4 (int4)
-#define make_uint2 (uint2)
-#define make_int2 (int2)
-
-
-#define max2 max
-#define min2 min
-
-
-///////////////////////////////////////
-//	Vector
-///////////////////////////////////////
-__inline
-float fastDiv(float numerator, float denominator)
-{
-	return native_divide(numerator, denominator);	
-//	return numerator/denominator;	
-}
-
-__inline
-float4 fastDiv4(float4 numerator, float4 denominator)
-{
-	return native_divide(numerator, denominator);	
-}
-
-__inline
-float fastSqrtf(float f2)
-{
-	return native_sqrt(f2);
-//	return sqrt(f2);
-}
-
-__inline
-float fastRSqrt(float f2)
-{
-	return native_rsqrt(f2);
-}
-
-__inline
-float fastLength4(float4 v)
-{
-	return fast_length(v);
-}
-
-__inline
-float4 fastNormalize4(float4 v)
-{
-	return fast_normalize(v);
-}
-
-
-__inline
-float sqrtf(float a)
-{
-//	return sqrt(a);
-	return native_sqrt(a);
-}
-
-__inline
-float4 cross3(float4 a1, float4 b1)
-{
-
-	float4 	a=make_float4(a1.xyz,0.f);
-	float4 	b=make_float4(b1.xyz,0.f);
-	//float4 	a=a1;
-	//float4 	b=b1;
-	return cross(a,b);
-}
-
-__inline
-float dot3F4(float4 a, float4 b)
-{
-	float4 a1 = make_float4(a.xyz,0.f);
-	float4 b1 = make_float4(b.xyz,0.f);
-	return dot(a1, b1);
-}
-
-__inline
-float length3(const float4 a)
-{
-	return sqrtf(dot3F4(a,a));
-}
-
-__inline
-float dot4(const float4 a, const float4 b)
-{
-	return dot( a, b );
-}
-
-//	for height
-__inline
-float dot3w1(const float4 point, const float4 eqn)
-{
-	return dot3F4(point,eqn) + eqn.w;
-}
-
-__inline
-float4 normalize3(const float4 a)
-{
-	float4 n = make_float4(a.x, a.y, a.z, 0.f);
-	return fastNormalize4( n );
-//	float length = sqrtf(dot3F4(a, a));
-//	return 1.f/length * a;
-}
-
-__inline
-float4 normalize4(const float4 a)
-{
-	float length = sqrtf(dot4(a, a));
-	return 1.f/length * a;
-}
-
-__inline
-float4 createEquation(const float4 a, const float4 b, const float4 c)
-{
-	float4 eqn;
-	float4 ab = b-a;
-	float4 ac = c-a;
-	eqn = normalize3( cross3(ab, ac) );
-	eqn.w = -dot3F4(eqn,a);
-	return eqn;
-}
-
-///////////////////////////////////////
-//	Matrix3x3
-///////////////////////////////////////
-
-typedef struct
-{
-	float4 m_row[3];
-}Matrix3x3;
-
-__inline
-Matrix3x3 mtZero();
-
-__inline
-Matrix3x3 mtIdentity();
-
-__inline
-Matrix3x3 mtTranspose(Matrix3x3 m);
-
-__inline
-Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b);
-
-__inline
-float4 mtMul1(Matrix3x3 a, float4 b);
-
-__inline
-float4 mtMul3(float4 a, Matrix3x3 b);
-
-__inline
-Matrix3x3 mtZero()
-{
-	Matrix3x3 m;
-	m.m_row[0] = (float4)(0.f);
-	m.m_row[1] = (float4)(0.f);
-	m.m_row[2] = (float4)(0.f);
-	return m;
-}
-
-__inline
-Matrix3x3 mtIdentity()
-{
-	Matrix3x3 m;
-	m.m_row[0] = (float4)(1,0,0,0);
-	m.m_row[1] = (float4)(0,1,0,0);
-	m.m_row[2] = (float4)(0,0,1,0);
-	return m;
-}
-
-__inline
-Matrix3x3 mtTranspose(Matrix3x3 m)
-{
-	Matrix3x3 out;
-	out.m_row[0] = (float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);
-	out.m_row[1] = (float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);
-	out.m_row[2] = (float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);
-	return out;
-}
-
-__inline
-Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b)
-{
-	Matrix3x3 transB;
-	transB = mtTranspose( b );
-	Matrix3x3 ans;
-	//	why this doesn't run when 0ing in the for{}
-	a.m_row[0].w = 0.f;
-	a.m_row[1].w = 0.f;
-	a.m_row[2].w = 0.f;
-	for(int i=0; i<3; i++)
-	{
-//	a.m_row[i].w = 0.f;
-		ans.m_row[i].x = dot3F4(a.m_row[i],transB.m_row[0]);
-		ans.m_row[i].y = dot3F4(a.m_row[i],transB.m_row[1]);
-		ans.m_row[i].z = dot3F4(a.m_row[i],transB.m_row[2]);
-		ans.m_row[i].w = 0.f;
-	}
-	return ans;
-}
-
-__inline
-float4 mtMul1(Matrix3x3 a, float4 b)
-{
-	float4 ans;
-	ans.x = dot3F4( a.m_row[0], b );
-	ans.y = dot3F4( a.m_row[1], b );
-	ans.z = dot3F4( a.m_row[2], b );
-	ans.w = 0.f;
-	return ans;
-}
-
-__inline
-float4 mtMul3(float4 a, Matrix3x3 b)
-{
-	float4 colx = make_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);
-	float4 coly = make_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);
-	float4 colz = make_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);
-
-	float4 ans;
-	ans.x = dot3F4( a, colx );
-	ans.y = dot3F4( a, coly );
-	ans.z = dot3F4( a, colz );
-	return ans;
-}
-
-///////////////////////////////////////
-//	Quaternion
-///////////////////////////////////////
-
-typedef float4 Quaternion;
-
-__inline
-Quaternion qtMul(Quaternion a, Quaternion b);
-
-__inline
-Quaternion qtNormalize(Quaternion in);
-
-__inline
-float4 qtRotate(Quaternion q, float4 vec);
-
-__inline
-Quaternion qtInvert(Quaternion q);
-
-
-
-
-
-__inline
-Quaternion qtMul(Quaternion a, Quaternion b)
-{
-	Quaternion ans;
-	ans = cross3( a, b );
-	ans += a.w*b+b.w*a;
-//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
-	ans.w = a.w*b.w - dot3F4(a, b);
-	return ans;
-}
-
-__inline
-Quaternion qtNormalize(Quaternion in)
-{
-	return fastNormalize4(in);
-//	in /= length( in );
-//	return in;
-}
-__inline
-float4 qtRotate(Quaternion q, float4 vec)
-{
-	Quaternion qInv = qtInvert( q );
-	float4 vcpy = vec;
-	vcpy.w = 0.f;
-	float4 out = qtMul(qtMul(q,vcpy),qInv);
-	return out;
-}
-
-__inline
-Quaternion qtInvert(Quaternion q)
-{
-	return (Quaternion)(-q.xyz, q.w);
-}
-
-__inline
-float4 qtInvRotate(const Quaternion q, float4 vec)
-{
-	return qtRotate( qtInvert( q ), vec );
-}
-
-
-
-
-#define WG_SIZE 64
-
-typedef struct
-{
-	float4 m_pos;
-	Quaternion m_quat;
-	float4 m_linVel;
-	float4 m_angVel;
-
-	u32 m_shapeIdx;
-	float m_invMass;
-	float m_restituitionCoeff;
-	float m_frictionCoeff;
-} Body;
-
-
-
-typedef struct
-{
-	Matrix3x3 m_invInertia;
-	Matrix3x3 m_initInvInertia;
-} Shape;
-
-typedef struct
-{
-	float4 m_linear;
-	float4 m_worldPos[4];
-	float4 m_center;	
-	float m_jacCoeffInv[4];
-	float m_b[4];
-	float m_appliedRambdaDt[4];
-
-	float m_fJacCoeffInv[2];	
-	float m_fAppliedRambdaDt[2];	
-
-	u32 m_bodyA;
-	u32 m_bodyB;
-	int m_batchIdx;
-	u32 m_paddings;
-} Constraint4;
-
-
-
-
-
-
-__kernel void CountBodiesKernel(__global struct b3Contact4Data* manifoldPtr, __global unsigned int* bodyCount, __global int2* contactConstraintOffsets, int numContactManifolds, int fixedBodyIndex)
-{
-	int i = GET_GLOBAL_IDX;
-	
-	if( i < numContactManifolds)
-	{
-		int pa = manifoldPtr[i].m_bodyAPtrAndSignBit;
-		bool isFixedA = (pa <0) || (pa == fixedBodyIndex);
-		int bodyIndexA = abs(pa);
-		if (!isFixedA)
-		{
-			 AtomInc1(bodyCount[bodyIndexA],contactConstraintOffsets[i].x);
-		}
-		barrier(CLK_GLOBAL_MEM_FENCE);
-		int pb = manifoldPtr[i].m_bodyBPtrAndSignBit;
-		bool isFixedB = (pb <0) || (pb == fixedBodyIndex);
-		int bodyIndexB = abs(pb);
-		if (!isFixedB)
-		{
-			AtomInc1(bodyCount[bodyIndexB],contactConstraintOffsets[i].y);
-		} 
-	}
-}
-
-__kernel void ClearVelocitiesKernel(__global float4* linearVelocities,__global float4* angularVelocities, int numSplitBodies)
-{
-	int i = GET_GLOBAL_IDX;
-	
-	if( i < numSplitBodies)
-	{
-		linearVelocities[i] = make_float4(0);
-		angularVelocities[i] = make_float4(0);
-	}
-}
-
-
-__kernel void AverageVelocitiesKernel(__global Body* gBodies,__global int* offsetSplitBodies,__global const unsigned int* bodyCount,
-__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities, int numBodies)
-{
-	int i = GET_GLOBAL_IDX;
-	if (i<numBodies)
-	{
-		if (gBodies[i].m_invMass)
-		{
-			int bodyOffset = offsetSplitBodies[i];
-			int count = bodyCount[i];
-			float factor = 1.f/((float)count);
-			float4 averageLinVel = make_float4(0.f);
-			float4 averageAngVel = make_float4(0.f);
-			
-			for (int j=0;j<count;j++)
-			{
-				averageLinVel += deltaLinearVelocities[bodyOffset+j]*factor;
-				averageAngVel += deltaAngularVelocities[bodyOffset+j]*factor;
-			}
-			
-			for (int j=0;j<count;j++)
-			{
-				deltaLinearVelocities[bodyOffset+j] = averageLinVel;
-				deltaAngularVelocities[bodyOffset+j] = averageAngVel;
-			}
-			
-		}//bodies[i].m_invMass
-	}//i<numBodies
-}
-
-
-
-void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)
-{
-	*linear = make_float4(n.xyz,0.f);
-	*angular0 = cross3(r0, n);
-	*angular1 = -cross3(r1, n);
-}
-
-
-float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )
-{
-	return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);
-}
-
-
-float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,
-					float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1, float countA, float countB)
-{
-	//	linear0,1 are normlized
-	float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;
-	float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);
-	float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;
-	float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);
-	return -1.f/((jmj0+jmj1)*countA+(jmj2+jmj3)*countB);
-}
-
-
-void btPlaneSpace1 (float4 n, float4* p, float4* q);
- void btPlaneSpace1 (float4 n, float4* p, float4* q)
-{
-  if (fabs(n.z) > 0.70710678f) {
-    // choose p in y-z plane
-    float a = n.y*n.y + n.z*n.z;
-    float k = 1.f/sqrt(a);
-    p[0].x = 0;
-	p[0].y = -n.z*k;
-	p[0].z = n.y*k;
-    // set q = n x p
-    q[0].x = a*k;
-	q[0].y = -n.x*p[0].z;
-	q[0].z = n.x*p[0].y;
-  }
-  else {
-    // choose p in x-y plane
-    float a = n.x*n.x + n.y*n.y;
-    float k = 1.f/sqrt(a);
-    p[0].x = -n.y*k;
-	p[0].y = n.x*k;
-	p[0].z = 0;
-    // set q = n x p
-    q[0].x = -n.z*p[0].y;
-	q[0].y = n.z*p[0].x;
-	q[0].z = a*k;
-  }
-}
-
-
-
-
-
-void solveContact(__global Constraint4* cs,
-			float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,
-			float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB,
-			float4* dLinVelA, float4* dAngVelA, float4* dLinVelB, float4* dAngVelB)
-{
-	float minRambdaDt = 0;
-	float maxRambdaDt = FLT_MAX;
-
-	for(int ic=0; ic<4; ic++)
-	{
-		if( cs->m_jacCoeffInv[ic] == 0.f ) continue;
-
-		float4 angular0, angular1, linear;
-		float4 r0 = cs->m_worldPos[ic] - posA;
-		float4 r1 = cs->m_worldPos[ic] - posB;
-		setLinearAndAngular( cs->m_linear, r0, r1, &linear, &angular0, &angular1 );
-	
-
-
-		float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1, 
-			*linVelA+*dLinVelA, *angVelA+*dAngVelA, *linVelB+*dLinVelB, *angVelB+*dAngVelB ) + cs->m_b[ic];
-		rambdaDt *= cs->m_jacCoeffInv[ic];
-
-		
-		{
-			float prevSum = cs->m_appliedRambdaDt[ic];
-			float updated = prevSum;
-			updated += rambdaDt;
-			updated = max2( updated, minRambdaDt );
-			updated = min2( updated, maxRambdaDt );
-			rambdaDt = updated - prevSum;
-			cs->m_appliedRambdaDt[ic] = updated;
-		}
-
-			
-		float4 linImp0 = invMassA*linear*rambdaDt;
-		float4 linImp1 = invMassB*(-linear)*rambdaDt;
-		float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;
-		float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;
-
-		
-		if (invMassA)
-		{
-			*dLinVelA += linImp0;
-			*dAngVelA += angImp0;
-		}
-		if (invMassB)
-		{
-			*dLinVelB += linImp1;
-			*dAngVelB += angImp1;
-		}
-	}
-}
-
-
-//	solveContactConstraint( gBodies, gShapes, &gConstraints[i] ,contactConstraintOffsets,offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);
-
-
-void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs, 
-__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,
-__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities)
-{
-
-	//float frictionCoeff = ldsCs[0].m_linear.w;
-	int aIdx = ldsCs[0].m_bodyA;
-	int bIdx = ldsCs[0].m_bodyB;
-
-	float4 posA = gBodies[aIdx].m_pos;
-	float4 linVelA = gBodies[aIdx].m_linVel;
-	float4 angVelA = gBodies[aIdx].m_angVel;
-	float invMassA = gBodies[aIdx].m_invMass;
-	Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;
-
-	float4 posB = gBodies[bIdx].m_pos;
-	float4 linVelB = gBodies[bIdx].m_linVel;
-	float4 angVelB = gBodies[bIdx].m_angVel;
-	float invMassB = gBodies[bIdx].m_invMass;
-	Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;
-
-			
-	float4 dLinVelA = make_float4(0,0,0,0);
-	float4 dAngVelA = make_float4(0,0,0,0);
-	float4 dLinVelB = make_float4(0,0,0,0);
-	float4 dAngVelB = make_float4(0,0,0,0);
-			
-	int bodyOffsetA = offsetSplitBodies[aIdx];
-	int constraintOffsetA = contactConstraintOffsets[0].x;
-	int splitIndexA = bodyOffsetA+constraintOffsetA;
-	
-	if (invMassA)
-	{
-		dLinVelA = deltaLinearVelocities[splitIndexA];
-		dAngVelA = deltaAngularVelocities[splitIndexA];
-	}
-
-	int bodyOffsetB = offsetSplitBodies[bIdx];
-	int constraintOffsetB = contactConstraintOffsets[0].y;
-	int splitIndexB= bodyOffsetB+constraintOffsetB;
-
-	if (invMassB)
-	{
-		dLinVelB = deltaLinearVelocities[splitIndexB];
-		dAngVelB = deltaAngularVelocities[splitIndexB];
-	}
-
-	solveContact( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,
-			posB, &linVelB, &angVelB, invMassB, invInertiaB ,&dLinVelA, &dAngVelA, &dLinVelB, &dAngVelB);
-
-	if (invMassA)
-	{
-		deltaLinearVelocities[splitIndexA] = dLinVelA;
-		deltaAngularVelocities[splitIndexA] = dAngVelA;
-	} 
-	if (invMassB)
-	{
-		deltaLinearVelocities[splitIndexB] = dLinVelB;
-		deltaAngularVelocities[splitIndexB] = dAngVelB;
-	}
-
-}
-
-
-__kernel void SolveContactJacobiKernel(__global Constraint4* gConstraints, __global Body* gBodies, __global Shape* gShapes ,
-__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities,
-float deltaTime, float positionDrift, float positionConstraintCoeff, int fixedBodyIndex, int numManifolds
-)
-{
-	int i = GET_GLOBAL_IDX;
-	if (i<numManifolds)
-	{
-		solveContactConstraint( gBodies, gShapes, &gConstraints[i] ,&contactConstraintOffsets[i],offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);
-	}
-}
-
-
-
-
-void solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs,
-							__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,
-							__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities)
-{
-	float frictionCoeff = 0.7f;//ldsCs[0].m_linear.w;
-	int aIdx = ldsCs[0].m_bodyA;
-	int bIdx = ldsCs[0].m_bodyB;
-
-
-	float4 posA = gBodies[aIdx].m_pos;
-	float4 linVelA = gBodies[aIdx].m_linVel;
-	float4 angVelA = gBodies[aIdx].m_angVel;
-	float invMassA = gBodies[aIdx].m_invMass;
-	Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;
-
-	float4 posB = gBodies[bIdx].m_pos;
-	float4 linVelB = gBodies[bIdx].m_linVel;
-	float4 angVelB = gBodies[bIdx].m_angVel;
-	float invMassB = gBodies[bIdx].m_invMass;
-	Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;
-	
-
-	float4 dLinVelA = make_float4(0,0,0,0);
-	float4 dAngVelA = make_float4(0,0,0,0);
-	float4 dLinVelB = make_float4(0,0,0,0);
-	float4 dAngVelB = make_float4(0,0,0,0);
-			
-	int bodyOffsetA = offsetSplitBodies[aIdx];
-	int constraintOffsetA = contactConstraintOffsets[0].x;
-	int splitIndexA = bodyOffsetA+constraintOffsetA;
-	
-	if (invMassA)
-	{
-		dLinVelA = deltaLinearVelocities[splitIndexA];
-		dAngVelA = deltaAngularVelocities[splitIndexA];
-	}
-
-	int bodyOffsetB = offsetSplitBodies[bIdx];
-	int constraintOffsetB = contactConstraintOffsets[0].y;
-	int splitIndexB= bodyOffsetB+constraintOffsetB;
-
-	if (invMassB)
-	{
-		dLinVelB = deltaLinearVelocities[splitIndexB];
-		dAngVelB = deltaAngularVelocities[splitIndexB];
-	}
-
-
-
-
-	{
-		float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};
-		float minRambdaDt[4] = {0.f,0.f,0.f,0.f};
-
-		float sum = 0;
-		for(int j=0; j<4; j++)
-		{
-			sum +=ldsCs[0].m_appliedRambdaDt[j];
-		}
-		frictionCoeff = 0.7f;
-		for(int j=0; j<4; j++)
-		{
-			maxRambdaDt[j] = frictionCoeff*sum;
-			minRambdaDt[j] = -maxRambdaDt[j];
-		}
-
-		
-//		solveFriction( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,
-//			posB, &linVelB, &angVelB, invMassB, invInertiaB, maxRambdaDt, minRambdaDt );
-		
-		
-		{
-			
-			__global Constraint4* cs = ldsCs;
-			
-			if( cs->m_fJacCoeffInv[0] == 0 && cs->m_fJacCoeffInv[0] == 0 ) return;
-			const float4 center = cs->m_center;
-			
-			float4 n = -cs->m_linear;
-			
-			float4 tangent[2];
-			btPlaneSpace1(n,&tangent[0],&tangent[1]);
-			float4 angular0, angular1, linear;
-			float4 r0 = center - posA;
-			float4 r1 = center - posB;
-			for(int i=0; i<2; i++)
-			{
-				setLinearAndAngular( tangent[i], r0, r1, &linear, &angular0, &angular1 );
-				float rambdaDt = calcRelVel(linear, -linear, angular0, angular1,
-											linVelA+dLinVelA, angVelA+dAngVelA, linVelB+dLinVelB, angVelB+dAngVelB );
-				rambdaDt *= cs->m_fJacCoeffInv[i];
-				
-				{
-					float prevSum = cs->m_fAppliedRambdaDt[i];
-					float updated = prevSum;
-					updated += rambdaDt;
-					updated = max2( updated, minRambdaDt[i] );
-					updated = min2( updated, maxRambdaDt[i] );
-					rambdaDt = updated - prevSum;
-					cs->m_fAppliedRambdaDt[i] = updated;
-				}
-				
-				float4 linImp0 = invMassA*linear*rambdaDt;
-				float4 linImp1 = invMassB*(-linear)*rambdaDt;
-				float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;
-				float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;
-				
-				dLinVelA += linImp0;
-				dAngVelA += angImp0;
-				dLinVelB += linImp1;
-				dAngVelB += angImp1;
-			}
-			{	//	angular damping for point constraint
-				float4 ab = normalize3( posB - posA );
-				float4 ac = normalize3( center - posA );
-				if( dot3F4( ab, ac ) > 0.95f  || (invMassA == 0.f || invMassB == 0.f))
-				{
-					float angNA = dot3F4( n, angVelA );
-					float angNB = dot3F4( n, angVelB );
-					
-					dAngVelA -= (angNA*0.1f)*n;
-					dAngVelB -= (angNB*0.1f)*n;
-				}
-			}
-		}
-
-		
-		
-	}
-
-	if (invMassA)
-	{
-		deltaLinearVelocities[splitIndexA] = dLinVelA;
-		deltaAngularVelocities[splitIndexA] = dAngVelA;
-	} 
-	if (invMassB)
-	{
-		deltaLinearVelocities[splitIndexB] = dLinVelB;
-		deltaAngularVelocities[splitIndexB] = dAngVelB;
-	}
- 
-
-}
-
-
-__kernel void SolveFrictionJacobiKernel(__global Constraint4* gConstraints, __global Body* gBodies, __global Shape* gShapes ,
-										__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,
-										__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities,
-										float deltaTime, float positionDrift, float positionConstraintCoeff, int fixedBodyIndex, int numManifolds
-)
-{
-	int i = GET_GLOBAL_IDX;
-	if (i<numManifolds)
-	{
-		solveFrictionConstraint( gBodies, gShapes, &gConstraints[i] ,&contactConstraintOffsets[i],offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);
-	}
-}
-
-
-__kernel void UpdateBodyVelocitiesKernel(__global Body* gBodies,__global int* offsetSplitBodies,__global const unsigned int* bodyCount,
-									__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities, int numBodies)
-{
-	int i = GET_GLOBAL_IDX;
-	if (i<numBodies)
-	{
-		if (gBodies[i].m_invMass)
-		{
-			int bodyOffset = offsetSplitBodies[i];
-			int count = bodyCount[i];
-			if (count)
-			{
-				gBodies[i].m_linVel += deltaLinearVelocities[bodyOffset];
-				gBodies[i].m_angVel += deltaAngularVelocities[bodyOffset];
-			}
-		}
-	}
-}
-
-
-
-void setConstraint4( const float4 posA, const float4 linVelA, const float4 angVelA, float invMassA, const Matrix3x3 invInertiaA,
-	const float4 posB, const float4 linVelB, const float4 angVelB, float invMassB, const Matrix3x3 invInertiaB, 
-	__global struct b3Contact4Data* src, float dt, float positionDrift, float positionConstraintCoeff,float countA, float countB,
-	Constraint4* dstC )
-{
-	dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);
-	dstC->m_bodyB = abs(src->m_bodyBPtrAndSignBit);
-
-	float dtInv = 1.f/dt;
-	for(int ic=0; ic<4; ic++)
-	{
-		dstC->m_appliedRambdaDt[ic] = 0.f;
-	}
-	dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f;
-
-
-	dstC->m_linear = src->m_worldNormalOnB;
-	dstC->m_linear.w = 0.7f ;//src->getFrictionCoeff() );
-	for(int ic=0; ic<4; ic++)
-	{
-		float4 r0 = src->m_worldPosB[ic] - posA;
-		float4 r1 = src->m_worldPosB[ic] - posB;
-
-		if( ic >= src->m_worldNormalOnB.w )//npoints
-		{
-			dstC->m_jacCoeffInv[ic] = 0.f;
-			continue;
-		}
-
-		float relVelN;
-		{
-			float4 linear, angular0, angular1;
-			setLinearAndAngular(src->m_worldNormalOnB, r0, r1, &linear, &angular0, &angular1);
-
-			dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,
-				invMassA, &invInertiaA, invMassB, &invInertiaB , countA, countB);
-
-			relVelN = calcRelVel(linear, -linear, angular0, angular1,
-				linVelA, angVelA, linVelB, angVelB);
-
-			float e = 0.f;//src->getRestituitionCoeff();
-			if( relVelN*relVelN < 0.004f ) e = 0.f;
-
-			dstC->m_b[ic] = e*relVelN;
-			//float penetration = src->m_worldPosB[ic].w;
-			dstC->m_b[ic] += (src->m_worldPosB[ic].w + positionDrift)*positionConstraintCoeff*dtInv;
-			dstC->m_appliedRambdaDt[ic] = 0.f;
-		}
-	}
-
-	if( src->m_worldNormalOnB.w > 0 )//npoints
-	{	//	prepare friction
-		float4 center = make_float4(0.f);
-		for(int i=0; i<src->m_worldNormalOnB.w; i++) 
-			center += src->m_worldPosB[i];
-		center /= (float)src->m_worldNormalOnB.w;
-
-		float4 tangent[2];
-		btPlaneSpace1(-src->m_worldNormalOnB,&tangent[0],&tangent[1]);
-		
-		float4 r[2];
-		r[0] = center - posA;
-		r[1] = center - posB;
-
-		for(int i=0; i<2; i++)
-		{
-			float4 linear, angular0, angular1;
-			setLinearAndAngular(tangent[i], r[0], r[1], &linear, &angular0, &angular1);
-
-			dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1,
-				invMassA, &invInertiaA, invMassB, &invInertiaB ,countA, countB);
-			dstC->m_fAppliedRambdaDt[i] = 0.f;
-		}
-		dstC->m_center = center;
-	}
-
-	for(int i=0; i<4; i++)
-	{
-		if( i<src->m_worldNormalOnB.w )
-		{
-			dstC->m_worldPos[i] = src->m_worldPosB[i];
-		}
-		else
-		{
-			dstC->m_worldPos[i] = make_float4(0.f);
-		}
-	}
-}
-
-
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void ContactToConstraintSplitKernel(__global const struct b3Contact4Data* gContact, __global const Body* gBodies, __global const Shape* gShapes, __global Constraint4* gConstraintOut, 
-__global const unsigned int* bodyCount,
-int nContacts,
-float dt,
-float positionDrift,
-float positionConstraintCoeff
-)
-{
-	int gIdx = GET_GLOBAL_IDX;
-	
-	if( gIdx < nContacts )
-	{
-		int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit);
-		int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit);
-
-		float4 posA = gBodies[aIdx].m_pos;
-		float4 linVelA = gBodies[aIdx].m_linVel;
-		float4 angVelA = gBodies[aIdx].m_angVel;
-		float invMassA = gBodies[aIdx].m_invMass;
-		Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;
-
-		float4 posB = gBodies[bIdx].m_pos;
-		float4 linVelB = gBodies[bIdx].m_linVel;
-		float4 angVelB = gBodies[bIdx].m_angVel;
-		float invMassB = gBodies[bIdx].m_invMass;
-		Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;
-
-		Constraint4 cs;
-
-		float countA = invMassA != 0.f ? (float)bodyCount[aIdx] : 1;
-		float countB = invMassB != 0.f ? (float)bodyCount[bIdx] : 1;
-
-    	setConstraint4( posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,
-			&gContact[gIdx], dt, positionDrift, positionConstraintCoeff,countA,countB,
-			&cs  );
-		
-		cs.m_batchIdx = gContact[gIdx].m_batchIdx;
-
-		gConstraintOut[gIdx] = cs;
-	}
-}
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverUtils.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverUtils.h
deleted file mode 100644
index f4d98d9941..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverUtils.h
+++ /dev/null
@@ -1,908 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* solverUtilsCL =
-	"/*\n"
-	"Copyright (c) 2013 Advanced Micro Devices, Inc.  \n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose, \n"
-	"including commercial applications, and to alter it and redistribute it freely, \n"
-	"subject to the following restrictions:\n"
-	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Originally written by Erwin Coumans\n"
-	"#ifndef B3_CONTACT4DATA_H\n"
-	"#define B3_CONTACT4DATA_H\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#define B3_FLOAT4_H\n"
-	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-	"#define B3_PLATFORM_DEFINITIONS_H\n"
-	"struct MyTest\n"
-	"{\n"
-	"	int bla;\n"
-	"};\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-	"#define B3_LARGE_FLOAT 1e18f\n"
-	"#define B3_INFINITY 1e18f\n"
-	"#define b3Assert(a)\n"
-	"#define b3ConstArray(a) __global const a*\n"
-	"#define b3AtomicInc atomic_inc\n"
-	"#define b3AtomicAdd atomic_add\n"
-	"#define b3Fabs fabs\n"
-	"#define b3Sqrt native_sqrt\n"
-	"#define b3Sin native_sin\n"
-	"#define b3Cos native_cos\n"
-	"#define B3_STATIC\n"
-	"#endif\n"
-	"#endif\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"	typedef float4	b3Float4;\n"
-	"	#define b3Float4ConstArg const b3Float4\n"
-	"	#define b3MakeFloat4 (float4)\n"
-	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return dot(a1, b1);\n"
-	"	}\n"
-	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return cross(a1, b1);\n"
-	"	}\n"
-	"	#define b3MinFloat4 min\n"
-	"	#define b3MaxFloat4 max\n"
-	"	#define b3Normalized(a) normalize(a)\n"
-	"#endif \n"
-	"		\n"
-	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-	"{\n"
-	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-	"		return false;\n"
-	"	return true;\n"
-	"}\n"
-	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-	"{\n"
-	"    float maxDot = -B3_INFINITY;\n"
-	"    int i = 0;\n"
-	"    int ptIndex = -1;\n"
-	"    for( i = 0; i < vecLen; i++ )\n"
-	"    {\n"
-	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-	"            \n"
-	"        if( dot > maxDot )\n"
-	"        {\n"
-	"            maxDot = dot;\n"
-	"            ptIndex = i;\n"
-	"        }\n"
-	"    }\n"
-	"	b3Assert(ptIndex>=0);\n"
-	"    if (ptIndex<0)\n"
-	"	{\n"
-	"		ptIndex = 0;\n"
-	"	}\n"
-	"    *dotOut = maxDot;\n"
-	"    return ptIndex;\n"
-	"}\n"
-	"#endif //B3_FLOAT4_H\n"
-	"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
-	"struct b3Contact4Data\n"
-	"{\n"
-	"	b3Float4	m_worldPosB[4];\n"
-	"//	b3Float4	m_localPosA[4];\n"
-	"//	b3Float4	m_localPosB[4];\n"
-	"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
-	"	unsigned short  m_restituitionCoeffCmp;\n"
-	"	unsigned short  m_frictionCoeffCmp;\n"
-	"	int m_batchIdx;\n"
-	"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
-	"	int m_bodyBPtrAndSignBit;\n"
-	"	int	m_childIndexA;\n"
-	"	int	m_childIndexB;\n"
-	"	int m_unused1;\n"
-	"	int m_unused2;\n"
-	"};\n"
-	"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
-	"{\n"
-	"	return (int)contact->m_worldNormalOnB.w;\n"
-	"};\n"
-	"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
-	"{\n"
-	"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
-	"};\n"
-	"#endif //B3_CONTACT4DATA_H\n"
-	"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
-	"#ifdef cl_ext_atomic_counters_32\n"
-	"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
-	"#else\n"
-	"#define counter32_t volatile global int*\n"
-	"#endif\n"
-	"typedef unsigned int u32;\n"
-	"typedef unsigned short u16;\n"
-	"typedef unsigned char u8;\n"
-	"#define GET_GROUP_IDX get_group_id(0)\n"
-	"#define GET_LOCAL_IDX get_local_id(0)\n"
-	"#define GET_GLOBAL_IDX get_global_id(0)\n"
-	"#define GET_GROUP_SIZE get_local_size(0)\n"
-	"#define GET_NUM_GROUPS get_num_groups(0)\n"
-	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-	"#define AtomInc(x) atom_inc(&(x))\n"
-	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-	"#define AppendInc(x, out) out = atomic_inc(x)\n"
-	"#define AtomAdd(x, value) atom_add(&(x), value)\n"
-	"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
-	"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
-	"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
-	"#define make_float4 (float4)\n"
-	"#define make_float2 (float2)\n"
-	"#define make_uint4 (uint4)\n"
-	"#define make_int4 (int4)\n"
-	"#define make_uint2 (uint2)\n"
-	"#define make_int2 (int2)\n"
-	"#define max2 max\n"
-	"#define min2 min\n"
-	"///////////////////////////////////////\n"
-	"//	Vector\n"
-	"///////////////////////////////////////\n"
-	"__inline\n"
-	"float fastDiv(float numerator, float denominator)\n"
-	"{\n"
-	"	return native_divide(numerator, denominator);	\n"
-	"//	return numerator/denominator;	\n"
-	"}\n"
-	"__inline\n"
-	"float4 fastDiv4(float4 numerator, float4 denominator)\n"
-	"{\n"
-	"	return native_divide(numerator, denominator);	\n"
-	"}\n"
-	"__inline\n"
-	"float fastSqrtf(float f2)\n"
-	"{\n"
-	"	return native_sqrt(f2);\n"
-	"//	return sqrt(f2);\n"
-	"}\n"
-	"__inline\n"
-	"float fastRSqrt(float f2)\n"
-	"{\n"
-	"	return native_rsqrt(f2);\n"
-	"}\n"
-	"__inline\n"
-	"float fastLength4(float4 v)\n"
-	"{\n"
-	"	return fast_length(v);\n"
-	"}\n"
-	"__inline\n"
-	"float4 fastNormalize4(float4 v)\n"
-	"{\n"
-	"	return fast_normalize(v);\n"
-	"}\n"
-	"__inline\n"
-	"float sqrtf(float a)\n"
-	"{\n"
-	"//	return sqrt(a);\n"
-	"	return native_sqrt(a);\n"
-	"}\n"
-	"__inline\n"
-	"float4 cross3(float4 a1, float4 b1)\n"
-	"{\n"
-	"	float4 	a=make_float4(a1.xyz,0.f);\n"
-	"	float4 	b=make_float4(b1.xyz,0.f);\n"
-	"	//float4 	a=a1;\n"
-	"	//float4 	b=b1;\n"
-	"	return cross(a,b);\n"
-	"}\n"
-	"__inline\n"
-	"float dot3F4(float4 a, float4 b)\n"
-	"{\n"
-	"	float4 a1 = make_float4(a.xyz,0.f);\n"
-	"	float4 b1 = make_float4(b.xyz,0.f);\n"
-	"	return dot(a1, b1);\n"
-	"}\n"
-	"__inline\n"
-	"float length3(const float4 a)\n"
-	"{\n"
-	"	return sqrtf(dot3F4(a,a));\n"
-	"}\n"
-	"__inline\n"
-	"float dot4(const float4 a, const float4 b)\n"
-	"{\n"
-	"	return dot( a, b );\n"
-	"}\n"
-	"//	for height\n"
-	"__inline\n"
-	"float dot3w1(const float4 point, const float4 eqn)\n"
-	"{\n"
-	"	return dot3F4(point,eqn) + eqn.w;\n"
-	"}\n"
-	"__inline\n"
-	"float4 normalize3(const float4 a)\n"
-	"{\n"
-	"	float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
-	"	return fastNormalize4( n );\n"
-	"//	float length = sqrtf(dot3F4(a, a));\n"
-	"//	return 1.f/length * a;\n"
-	"}\n"
-	"__inline\n"
-	"float4 normalize4(const float4 a)\n"
-	"{\n"
-	"	float length = sqrtf(dot4(a, a));\n"
-	"	return 1.f/length * a;\n"
-	"}\n"
-	"__inline\n"
-	"float4 createEquation(const float4 a, const float4 b, const float4 c)\n"
-	"{\n"
-	"	float4 eqn;\n"
-	"	float4 ab = b-a;\n"
-	"	float4 ac = c-a;\n"
-	"	eqn = normalize3( cross3(ab, ac) );\n"
-	"	eqn.w = -dot3F4(eqn,a);\n"
-	"	return eqn;\n"
-	"}\n"
-	"///////////////////////////////////////\n"
-	"//	Matrix3x3\n"
-	"///////////////////////////////////////\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_row[3];\n"
-	"}Matrix3x3;\n"
-	"__inline\n"
-	"Matrix3x3 mtZero();\n"
-	"__inline\n"
-	"Matrix3x3 mtIdentity();\n"
-	"__inline\n"
-	"Matrix3x3 mtTranspose(Matrix3x3 m);\n"
-	"__inline\n"
-	"Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b);\n"
-	"__inline\n"
-	"float4 mtMul1(Matrix3x3 a, float4 b);\n"
-	"__inline\n"
-	"float4 mtMul3(float4 a, Matrix3x3 b);\n"
-	"__inline\n"
-	"Matrix3x3 mtZero()\n"
-	"{\n"
-	"	Matrix3x3 m;\n"
-	"	m.m_row[0] = (float4)(0.f);\n"
-	"	m.m_row[1] = (float4)(0.f);\n"
-	"	m.m_row[2] = (float4)(0.f);\n"
-	"	return m;\n"
-	"}\n"
-	"__inline\n"
-	"Matrix3x3 mtIdentity()\n"
-	"{\n"
-	"	Matrix3x3 m;\n"
-	"	m.m_row[0] = (float4)(1,0,0,0);\n"
-	"	m.m_row[1] = (float4)(0,1,0,0);\n"
-	"	m.m_row[2] = (float4)(0,0,1,0);\n"
-	"	return m;\n"
-	"}\n"
-	"__inline\n"
-	"Matrix3x3 mtTranspose(Matrix3x3 m)\n"
-	"{\n"
-	"	Matrix3x3 out;\n"
-	"	out.m_row[0] = (float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
-	"	out.m_row[1] = (float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
-	"	out.m_row[2] = (float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b)\n"
-	"{\n"
-	"	Matrix3x3 transB;\n"
-	"	transB = mtTranspose( b );\n"
-	"	Matrix3x3 ans;\n"
-	"	//	why this doesn't run when 0ing in the for{}\n"
-	"	a.m_row[0].w = 0.f;\n"
-	"	a.m_row[1].w = 0.f;\n"
-	"	a.m_row[2].w = 0.f;\n"
-	"	for(int i=0; i<3; i++)\n"
-	"	{\n"
-	"//	a.m_row[i].w = 0.f;\n"
-	"		ans.m_row[i].x = dot3F4(a.m_row[i],transB.m_row[0]);\n"
-	"		ans.m_row[i].y = dot3F4(a.m_row[i],transB.m_row[1]);\n"
-	"		ans.m_row[i].z = dot3F4(a.m_row[i],transB.m_row[2]);\n"
-	"		ans.m_row[i].w = 0.f;\n"
-	"	}\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"float4 mtMul1(Matrix3x3 a, float4 b)\n"
-	"{\n"
-	"	float4 ans;\n"
-	"	ans.x = dot3F4( a.m_row[0], b );\n"
-	"	ans.y = dot3F4( a.m_row[1], b );\n"
-	"	ans.z = dot3F4( a.m_row[2], b );\n"
-	"	ans.w = 0.f;\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"float4 mtMul3(float4 a, Matrix3x3 b)\n"
-	"{\n"
-	"	float4 colx = make_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-	"	float4 coly = make_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-	"	float4 colz = make_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-	"	float4 ans;\n"
-	"	ans.x = dot3F4( a, colx );\n"
-	"	ans.y = dot3F4( a, coly );\n"
-	"	ans.z = dot3F4( a, colz );\n"
-	"	return ans;\n"
-	"}\n"
-	"///////////////////////////////////////\n"
-	"//	Quaternion\n"
-	"///////////////////////////////////////\n"
-	"typedef float4 Quaternion;\n"
-	"__inline\n"
-	"Quaternion qtMul(Quaternion a, Quaternion b);\n"
-	"__inline\n"
-	"Quaternion qtNormalize(Quaternion in);\n"
-	"__inline\n"
-	"float4 qtRotate(Quaternion q, float4 vec);\n"
-	"__inline\n"
-	"Quaternion qtInvert(Quaternion q);\n"
-	"__inline\n"
-	"Quaternion qtMul(Quaternion a, Quaternion b)\n"
-	"{\n"
-	"	Quaternion ans;\n"
-	"	ans = cross3( a, b );\n"
-	"	ans += a.w*b+b.w*a;\n"
-	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-	"	ans.w = a.w*b.w - dot3F4(a, b);\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"Quaternion qtNormalize(Quaternion in)\n"
-	"{\n"
-	"	return fastNormalize4(in);\n"
-	"//	in /= length( in );\n"
-	"//	return in;\n"
-	"}\n"
-	"__inline\n"
-	"float4 qtRotate(Quaternion q, float4 vec)\n"
-	"{\n"
-	"	Quaternion qInv = qtInvert( q );\n"
-	"	float4 vcpy = vec;\n"
-	"	vcpy.w = 0.f;\n"
-	"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"Quaternion qtInvert(Quaternion q)\n"
-	"{\n"
-	"	return (Quaternion)(-q.xyz, q.w);\n"
-	"}\n"
-	"__inline\n"
-	"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
-	"{\n"
-	"	return qtRotate( qtInvert( q ), vec );\n"
-	"}\n"
-	"#define WG_SIZE 64\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_pos;\n"
-	"	Quaternion m_quat;\n"
-	"	float4 m_linVel;\n"
-	"	float4 m_angVel;\n"
-	"	u32 m_shapeIdx;\n"
-	"	float m_invMass;\n"
-	"	float m_restituitionCoeff;\n"
-	"	float m_frictionCoeff;\n"
-	"} Body;\n"
-	"typedef struct\n"
-	"{\n"
-	"	Matrix3x3 m_invInertia;\n"
-	"	Matrix3x3 m_initInvInertia;\n"
-	"} Shape;\n"
-	"typedef struct\n"
-	"{\n"
-	"	float4 m_linear;\n"
-	"	float4 m_worldPos[4];\n"
-	"	float4 m_center;	\n"
-	"	float m_jacCoeffInv[4];\n"
-	"	float m_b[4];\n"
-	"	float m_appliedRambdaDt[4];\n"
-	"	float m_fJacCoeffInv[2];	\n"
-	"	float m_fAppliedRambdaDt[2];	\n"
-	"	u32 m_bodyA;\n"
-	"	u32 m_bodyB;\n"
-	"	int m_batchIdx;\n"
-	"	u32 m_paddings;\n"
-	"} Constraint4;\n"
-	"__kernel void CountBodiesKernel(__global struct b3Contact4Data* manifoldPtr, __global unsigned int* bodyCount, __global int2* contactConstraintOffsets, int numContactManifolds, int fixedBodyIndex)\n"
-	"{\n"
-	"	int i = GET_GLOBAL_IDX;\n"
-	"	\n"
-	"	if( i < numContactManifolds)\n"
-	"	{\n"
-	"		int pa = manifoldPtr[i].m_bodyAPtrAndSignBit;\n"
-	"		bool isFixedA = (pa <0) || (pa == fixedBodyIndex);\n"
-	"		int bodyIndexA = abs(pa);\n"
-	"		if (!isFixedA)\n"
-	"		{\n"
-	"			 AtomInc1(bodyCount[bodyIndexA],contactConstraintOffsets[i].x);\n"
-	"		}\n"
-	"		barrier(CLK_GLOBAL_MEM_FENCE);\n"
-	"		int pb = manifoldPtr[i].m_bodyBPtrAndSignBit;\n"
-	"		bool isFixedB = (pb <0) || (pb == fixedBodyIndex);\n"
-	"		int bodyIndexB = abs(pb);\n"
-	"		if (!isFixedB)\n"
-	"		{\n"
-	"			AtomInc1(bodyCount[bodyIndexB],contactConstraintOffsets[i].y);\n"
-	"		} \n"
-	"	}\n"
-	"}\n"
-	"__kernel void ClearVelocitiesKernel(__global float4* linearVelocities,__global float4* angularVelocities, int numSplitBodies)\n"
-	"{\n"
-	"	int i = GET_GLOBAL_IDX;\n"
-	"	\n"
-	"	if( i < numSplitBodies)\n"
-	"	{\n"
-	"		linearVelocities[i] = make_float4(0);\n"
-	"		angularVelocities[i] = make_float4(0);\n"
-	"	}\n"
-	"}\n"
-	"__kernel void AverageVelocitiesKernel(__global Body* gBodies,__global int* offsetSplitBodies,__global const unsigned int* bodyCount,\n"
-	"__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities, int numBodies)\n"
-	"{\n"
-	"	int i = GET_GLOBAL_IDX;\n"
-	"	if (i<numBodies)\n"
-	"	{\n"
-	"		if (gBodies[i].m_invMass)\n"
-	"		{\n"
-	"			int bodyOffset = offsetSplitBodies[i];\n"
-	"			int count = bodyCount[i];\n"
-	"			float factor = 1.f/((float)count);\n"
-	"			float4 averageLinVel = make_float4(0.f);\n"
-	"			float4 averageAngVel = make_float4(0.f);\n"
-	"			\n"
-	"			for (int j=0;j<count;j++)\n"
-	"			{\n"
-	"				averageLinVel += deltaLinearVelocities[bodyOffset+j]*factor;\n"
-	"				averageAngVel += deltaAngularVelocities[bodyOffset+j]*factor;\n"
-	"			}\n"
-	"			\n"
-	"			for (int j=0;j<count;j++)\n"
-	"			{\n"
-	"				deltaLinearVelocities[bodyOffset+j] = averageLinVel;\n"
-	"				deltaAngularVelocities[bodyOffset+j] = averageAngVel;\n"
-	"			}\n"
-	"			\n"
-	"		}//bodies[i].m_invMass\n"
-	"	}//i<numBodies\n"
-	"}\n"
-	"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n"
-	"{\n"
-	"	*linear = make_float4(n.xyz,0.f);\n"
-	"	*angular0 = cross3(r0, n);\n"
-	"	*angular1 = -cross3(r1, n);\n"
-	"}\n"
-	"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )\n"
-	"{\n"
-	"	return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);\n"
-	"}\n"
-	"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
-	"					float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1, float countA, float countB)\n"
-	"{\n"
-	"	//	linear0,1 are normlized\n"
-	"	float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;\n"
-	"	float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);\n"
-	"	float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;\n"
-	"	float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);\n"
-	"	return -1.f/((jmj0+jmj1)*countA+(jmj2+jmj3)*countB);\n"
-	"}\n"
-	"void btPlaneSpace1 (float4 n, float4* p, float4* q);\n"
-	" void btPlaneSpace1 (float4 n, float4* p, float4* q)\n"
-	"{\n"
-	"  if (fabs(n.z) > 0.70710678f) {\n"
-	"    // choose p in y-z plane\n"
-	"    float a = n.y*n.y + n.z*n.z;\n"
-	"    float k = 1.f/sqrt(a);\n"
-	"    p[0].x = 0;\n"
-	"	p[0].y = -n.z*k;\n"
-	"	p[0].z = n.y*k;\n"
-	"    // set q = n x p\n"
-	"    q[0].x = a*k;\n"
-	"	q[0].y = -n.x*p[0].z;\n"
-	"	q[0].z = n.x*p[0].y;\n"
-	"  }\n"
-	"  else {\n"
-	"    // choose p in x-y plane\n"
-	"    float a = n.x*n.x + n.y*n.y;\n"
-	"    float k = 1.f/sqrt(a);\n"
-	"    p[0].x = -n.y*k;\n"
-	"	p[0].y = n.x*k;\n"
-	"	p[0].z = 0;\n"
-	"    // set q = n x p\n"
-	"    q[0].x = -n.z*p[0].y;\n"
-	"	q[0].y = n.z*p[0].x;\n"
-	"	q[0].z = a*k;\n"
-	"  }\n"
-	"}\n"
-	"void solveContact(__global Constraint4* cs,\n"
-	"			float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,\n"
-	"			float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB,\n"
-	"			float4* dLinVelA, float4* dAngVelA, float4* dLinVelB, float4* dAngVelB)\n"
-	"{\n"
-	"	float minRambdaDt = 0;\n"
-	"	float maxRambdaDt = FLT_MAX;\n"
-	"	for(int ic=0; ic<4; ic++)\n"
-	"	{\n"
-	"		if( cs->m_jacCoeffInv[ic] == 0.f ) continue;\n"
-	"		float4 angular0, angular1, linear;\n"
-	"		float4 r0 = cs->m_worldPos[ic] - posA;\n"
-	"		float4 r1 = cs->m_worldPos[ic] - posB;\n"
-	"		setLinearAndAngular( cs->m_linear, r0, r1, &linear, &angular0, &angular1 );\n"
-	"	\n"
-	"		float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1, \n"
-	"			*linVelA+*dLinVelA, *angVelA+*dAngVelA, *linVelB+*dLinVelB, *angVelB+*dAngVelB ) + cs->m_b[ic];\n"
-	"		rambdaDt *= cs->m_jacCoeffInv[ic];\n"
-	"		\n"
-	"		{\n"
-	"			float prevSum = cs->m_appliedRambdaDt[ic];\n"
-	"			float updated = prevSum;\n"
-	"			updated += rambdaDt;\n"
-	"			updated = max2( updated, minRambdaDt );\n"
-	"			updated = min2( updated, maxRambdaDt );\n"
-	"			rambdaDt = updated - prevSum;\n"
-	"			cs->m_appliedRambdaDt[ic] = updated;\n"
-	"		}\n"
-	"			\n"
-	"		float4 linImp0 = invMassA*linear*rambdaDt;\n"
-	"		float4 linImp1 = invMassB*(-linear)*rambdaDt;\n"
-	"		float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;\n"
-	"		float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;\n"
-	"		\n"
-	"		if (invMassA)\n"
-	"		{\n"
-	"			*dLinVelA += linImp0;\n"
-	"			*dAngVelA += angImp0;\n"
-	"		}\n"
-	"		if (invMassB)\n"
-	"		{\n"
-	"			*dLinVelB += linImp1;\n"
-	"			*dAngVelB += angImp1;\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"//	solveContactConstraint( gBodies, gShapes, &gConstraints[i] ,contactConstraintOffsets,offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);\n"
-	"void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs, \n"
-	"__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,\n"
-	"__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities)\n"
-	"{\n"
-	"	//float frictionCoeff = ldsCs[0].m_linear.w;\n"
-	"	int aIdx = ldsCs[0].m_bodyA;\n"
-	"	int bIdx = ldsCs[0].m_bodyB;\n"
-	"	float4 posA = gBodies[aIdx].m_pos;\n"
-	"	float4 linVelA = gBodies[aIdx].m_linVel;\n"
-	"	float4 angVelA = gBodies[aIdx].m_angVel;\n"
-	"	float invMassA = gBodies[aIdx].m_invMass;\n"
-	"	Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
-	"	float4 posB = gBodies[bIdx].m_pos;\n"
-	"	float4 linVelB = gBodies[bIdx].m_linVel;\n"
-	"	float4 angVelB = gBodies[bIdx].m_angVel;\n"
-	"	float invMassB = gBodies[bIdx].m_invMass;\n"
-	"	Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
-	"			\n"
-	"	float4 dLinVelA = make_float4(0,0,0,0);\n"
-	"	float4 dAngVelA = make_float4(0,0,0,0);\n"
-	"	float4 dLinVelB = make_float4(0,0,0,0);\n"
-	"	float4 dAngVelB = make_float4(0,0,0,0);\n"
-	"			\n"
-	"	int bodyOffsetA = offsetSplitBodies[aIdx];\n"
-	"	int constraintOffsetA = contactConstraintOffsets[0].x;\n"
-	"	int splitIndexA = bodyOffsetA+constraintOffsetA;\n"
-	"	\n"
-	"	if (invMassA)\n"
-	"	{\n"
-	"		dLinVelA = deltaLinearVelocities[splitIndexA];\n"
-	"		dAngVelA = deltaAngularVelocities[splitIndexA];\n"
-	"	}\n"
-	"	int bodyOffsetB = offsetSplitBodies[bIdx];\n"
-	"	int constraintOffsetB = contactConstraintOffsets[0].y;\n"
-	"	int splitIndexB= bodyOffsetB+constraintOffsetB;\n"
-	"	if (invMassB)\n"
-	"	{\n"
-	"		dLinVelB = deltaLinearVelocities[splitIndexB];\n"
-	"		dAngVelB = deltaAngularVelocities[splitIndexB];\n"
-	"	}\n"
-	"	solveContact( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n"
-	"			posB, &linVelB, &angVelB, invMassB, invInertiaB ,&dLinVelA, &dAngVelA, &dLinVelB, &dAngVelB);\n"
-	"	if (invMassA)\n"
-	"	{\n"
-	"		deltaLinearVelocities[splitIndexA] = dLinVelA;\n"
-	"		deltaAngularVelocities[splitIndexA] = dAngVelA;\n"
-	"	} \n"
-	"	if (invMassB)\n"
-	"	{\n"
-	"		deltaLinearVelocities[splitIndexB] = dLinVelB;\n"
-	"		deltaAngularVelocities[splitIndexB] = dAngVelB;\n"
-	"	}\n"
-	"}\n"
-	"__kernel void SolveContactJacobiKernel(__global Constraint4* gConstraints, __global Body* gBodies, __global Shape* gShapes ,\n"
-	"__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities,\n"
-	"float deltaTime, float positionDrift, float positionConstraintCoeff, int fixedBodyIndex, int numManifolds\n"
-	")\n"
-	"{\n"
-	"	int i = GET_GLOBAL_IDX;\n"
-	"	if (i<numManifolds)\n"
-	"	{\n"
-	"		solveContactConstraint( gBodies, gShapes, &gConstraints[i] ,&contactConstraintOffsets[i],offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);\n"
-	"	}\n"
-	"}\n"
-	"void solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs,\n"
-	"							__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,\n"
-	"							__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities)\n"
-	"{\n"
-	"	float frictionCoeff = 0.7f;//ldsCs[0].m_linear.w;\n"
-	"	int aIdx = ldsCs[0].m_bodyA;\n"
-	"	int bIdx = ldsCs[0].m_bodyB;\n"
-	"	float4 posA = gBodies[aIdx].m_pos;\n"
-	"	float4 linVelA = gBodies[aIdx].m_linVel;\n"
-	"	float4 angVelA = gBodies[aIdx].m_angVel;\n"
-	"	float invMassA = gBodies[aIdx].m_invMass;\n"
-	"	Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
-	"	float4 posB = gBodies[bIdx].m_pos;\n"
-	"	float4 linVelB = gBodies[bIdx].m_linVel;\n"
-	"	float4 angVelB = gBodies[bIdx].m_angVel;\n"
-	"	float invMassB = gBodies[bIdx].m_invMass;\n"
-	"	Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
-	"	\n"
-	"	float4 dLinVelA = make_float4(0,0,0,0);\n"
-	"	float4 dAngVelA = make_float4(0,0,0,0);\n"
-	"	float4 dLinVelB = make_float4(0,0,0,0);\n"
-	"	float4 dAngVelB = make_float4(0,0,0,0);\n"
-	"			\n"
-	"	int bodyOffsetA = offsetSplitBodies[aIdx];\n"
-	"	int constraintOffsetA = contactConstraintOffsets[0].x;\n"
-	"	int splitIndexA = bodyOffsetA+constraintOffsetA;\n"
-	"	\n"
-	"	if (invMassA)\n"
-	"	{\n"
-	"		dLinVelA = deltaLinearVelocities[splitIndexA];\n"
-	"		dAngVelA = deltaAngularVelocities[splitIndexA];\n"
-	"	}\n"
-	"	int bodyOffsetB = offsetSplitBodies[bIdx];\n"
-	"	int constraintOffsetB = contactConstraintOffsets[0].y;\n"
-	"	int splitIndexB= bodyOffsetB+constraintOffsetB;\n"
-	"	if (invMassB)\n"
-	"	{\n"
-	"		dLinVelB = deltaLinearVelocities[splitIndexB];\n"
-	"		dAngVelB = deltaAngularVelocities[splitIndexB];\n"
-	"	}\n"
-	"	{\n"
-	"		float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};\n"
-	"		float minRambdaDt[4] = {0.f,0.f,0.f,0.f};\n"
-	"		float sum = 0;\n"
-	"		for(int j=0; j<4; j++)\n"
-	"		{\n"
-	"			sum +=ldsCs[0].m_appliedRambdaDt[j];\n"
-	"		}\n"
-	"		frictionCoeff = 0.7f;\n"
-	"		for(int j=0; j<4; j++)\n"
-	"		{\n"
-	"			maxRambdaDt[j] = frictionCoeff*sum;\n"
-	"			minRambdaDt[j] = -maxRambdaDt[j];\n"
-	"		}\n"
-	"		\n"
-	"//		solveFriction( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n"
-	"//			posB, &linVelB, &angVelB, invMassB, invInertiaB, maxRambdaDt, minRambdaDt );\n"
-	"		\n"
-	"		\n"
-	"		{\n"
-	"			\n"
-	"			__global Constraint4* cs = ldsCs;\n"
-	"			\n"
-	"			if( cs->m_fJacCoeffInv[0] == 0 && cs->m_fJacCoeffInv[0] == 0 ) return;\n"
-	"			const float4 center = cs->m_center;\n"
-	"			\n"
-	"			float4 n = -cs->m_linear;\n"
-	"			\n"
-	"			float4 tangent[2];\n"
-	"			btPlaneSpace1(n,&tangent[0],&tangent[1]);\n"
-	"			float4 angular0, angular1, linear;\n"
-	"			float4 r0 = center - posA;\n"
-	"			float4 r1 = center - posB;\n"
-	"			for(int i=0; i<2; i++)\n"
-	"			{\n"
-	"				setLinearAndAngular( tangent[i], r0, r1, &linear, &angular0, &angular1 );\n"
-	"				float rambdaDt = calcRelVel(linear, -linear, angular0, angular1,\n"
-	"											linVelA+dLinVelA, angVelA+dAngVelA, linVelB+dLinVelB, angVelB+dAngVelB );\n"
-	"				rambdaDt *= cs->m_fJacCoeffInv[i];\n"
-	"				\n"
-	"				{\n"
-	"					float prevSum = cs->m_fAppliedRambdaDt[i];\n"
-	"					float updated = prevSum;\n"
-	"					updated += rambdaDt;\n"
-	"					updated = max2( updated, minRambdaDt[i] );\n"
-	"					updated = min2( updated, maxRambdaDt[i] );\n"
-	"					rambdaDt = updated - prevSum;\n"
-	"					cs->m_fAppliedRambdaDt[i] = updated;\n"
-	"				}\n"
-	"				\n"
-	"				float4 linImp0 = invMassA*linear*rambdaDt;\n"
-	"				float4 linImp1 = invMassB*(-linear)*rambdaDt;\n"
-	"				float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;\n"
-	"				float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;\n"
-	"				\n"
-	"				dLinVelA += linImp0;\n"
-	"				dAngVelA += angImp0;\n"
-	"				dLinVelB += linImp1;\n"
-	"				dAngVelB += angImp1;\n"
-	"			}\n"
-	"			{	//	angular damping for point constraint\n"
-	"				float4 ab = normalize3( posB - posA );\n"
-	"				float4 ac = normalize3( center - posA );\n"
-	"				if( dot3F4( ab, ac ) > 0.95f  || (invMassA == 0.f || invMassB == 0.f))\n"
-	"				{\n"
-	"					float angNA = dot3F4( n, angVelA );\n"
-	"					float angNB = dot3F4( n, angVelB );\n"
-	"					\n"
-	"					dAngVelA -= (angNA*0.1f)*n;\n"
-	"					dAngVelB -= (angNB*0.1f)*n;\n"
-	"				}\n"
-	"			}\n"
-	"		}\n"
-	"		\n"
-	"		\n"
-	"	}\n"
-	"	if (invMassA)\n"
-	"	{\n"
-	"		deltaLinearVelocities[splitIndexA] = dLinVelA;\n"
-	"		deltaAngularVelocities[splitIndexA] = dAngVelA;\n"
-	"	} \n"
-	"	if (invMassB)\n"
-	"	{\n"
-	"		deltaLinearVelocities[splitIndexB] = dLinVelB;\n"
-	"		deltaAngularVelocities[splitIndexB] = dAngVelB;\n"
-	"	}\n"
-	" \n"
-	"}\n"
-	"__kernel void SolveFrictionJacobiKernel(__global Constraint4* gConstraints, __global Body* gBodies, __global Shape* gShapes ,\n"
-	"										__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,\n"
-	"										__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities,\n"
-	"										float deltaTime, float positionDrift, float positionConstraintCoeff, int fixedBodyIndex, int numManifolds\n"
-	")\n"
-	"{\n"
-	"	int i = GET_GLOBAL_IDX;\n"
-	"	if (i<numManifolds)\n"
-	"	{\n"
-	"		solveFrictionConstraint( gBodies, gShapes, &gConstraints[i] ,&contactConstraintOffsets[i],offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);\n"
-	"	}\n"
-	"}\n"
-	"__kernel void UpdateBodyVelocitiesKernel(__global Body* gBodies,__global int* offsetSplitBodies,__global const unsigned int* bodyCount,\n"
-	"									__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities, int numBodies)\n"
-	"{\n"
-	"	int i = GET_GLOBAL_IDX;\n"
-	"	if (i<numBodies)\n"
-	"	{\n"
-	"		if (gBodies[i].m_invMass)\n"
-	"		{\n"
-	"			int bodyOffset = offsetSplitBodies[i];\n"
-	"			int count = bodyCount[i];\n"
-	"			if (count)\n"
-	"			{\n"
-	"				gBodies[i].m_linVel += deltaLinearVelocities[bodyOffset];\n"
-	"				gBodies[i].m_angVel += deltaAngularVelocities[bodyOffset];\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"void setConstraint4( const float4 posA, const float4 linVelA, const float4 angVelA, float invMassA, const Matrix3x3 invInertiaA,\n"
-	"	const float4 posB, const float4 linVelB, const float4 angVelB, float invMassB, const Matrix3x3 invInertiaB, \n"
-	"	__global struct b3Contact4Data* src, float dt, float positionDrift, float positionConstraintCoeff,float countA, float countB,\n"
-	"	Constraint4* dstC )\n"
-	"{\n"
-	"	dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);\n"
-	"	dstC->m_bodyB = abs(src->m_bodyBPtrAndSignBit);\n"
-	"	float dtInv = 1.f/dt;\n"
-	"	for(int ic=0; ic<4; ic++)\n"
-	"	{\n"
-	"		dstC->m_appliedRambdaDt[ic] = 0.f;\n"
-	"	}\n"
-	"	dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f;\n"
-	"	dstC->m_linear = src->m_worldNormalOnB;\n"
-	"	dstC->m_linear.w = 0.7f ;//src->getFrictionCoeff() );\n"
-	"	for(int ic=0; ic<4; ic++)\n"
-	"	{\n"
-	"		float4 r0 = src->m_worldPosB[ic] - posA;\n"
-	"		float4 r1 = src->m_worldPosB[ic] - posB;\n"
-	"		if( ic >= src->m_worldNormalOnB.w )//npoints\n"
-	"		{\n"
-	"			dstC->m_jacCoeffInv[ic] = 0.f;\n"
-	"			continue;\n"
-	"		}\n"
-	"		float relVelN;\n"
-	"		{\n"
-	"			float4 linear, angular0, angular1;\n"
-	"			setLinearAndAngular(src->m_worldNormalOnB, r0, r1, &linear, &angular0, &angular1);\n"
-	"			dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,\n"
-	"				invMassA, &invInertiaA, invMassB, &invInertiaB , countA, countB);\n"
-	"			relVelN = calcRelVel(linear, -linear, angular0, angular1,\n"
-	"				linVelA, angVelA, linVelB, angVelB);\n"
-	"			float e = 0.f;//src->getRestituitionCoeff();\n"
-	"			if( relVelN*relVelN < 0.004f ) e = 0.f;\n"
-	"			dstC->m_b[ic] = e*relVelN;\n"
-	"			//float penetration = src->m_worldPosB[ic].w;\n"
-	"			dstC->m_b[ic] += (src->m_worldPosB[ic].w + positionDrift)*positionConstraintCoeff*dtInv;\n"
-	"			dstC->m_appliedRambdaDt[ic] = 0.f;\n"
-	"		}\n"
-	"	}\n"
-	"	if( src->m_worldNormalOnB.w > 0 )//npoints\n"
-	"	{	//	prepare friction\n"
-	"		float4 center = make_float4(0.f);\n"
-	"		for(int i=0; i<src->m_worldNormalOnB.w; i++) \n"
-	"			center += src->m_worldPosB[i];\n"
-	"		center /= (float)src->m_worldNormalOnB.w;\n"
-	"		float4 tangent[2];\n"
-	"		btPlaneSpace1(-src->m_worldNormalOnB,&tangent[0],&tangent[1]);\n"
-	"		\n"
-	"		float4 r[2];\n"
-	"		r[0] = center - posA;\n"
-	"		r[1] = center - posB;\n"
-	"		for(int i=0; i<2; i++)\n"
-	"		{\n"
-	"			float4 linear, angular0, angular1;\n"
-	"			setLinearAndAngular(tangent[i], r[0], r[1], &linear, &angular0, &angular1);\n"
-	"			dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1,\n"
-	"				invMassA, &invInertiaA, invMassB, &invInertiaB ,countA, countB);\n"
-	"			dstC->m_fAppliedRambdaDt[i] = 0.f;\n"
-	"		}\n"
-	"		dstC->m_center = center;\n"
-	"	}\n"
-	"	for(int i=0; i<4; i++)\n"
-	"	{\n"
-	"		if( i<src->m_worldNormalOnB.w )\n"
-	"		{\n"
-	"			dstC->m_worldPos[i] = src->m_worldPosB[i];\n"
-	"		}\n"
-	"		else\n"
-	"		{\n"
-	"			dstC->m_worldPos[i] = make_float4(0.f);\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void ContactToConstraintSplitKernel(__global const struct b3Contact4Data* gContact, __global const Body* gBodies, __global const Shape* gShapes, __global Constraint4* gConstraintOut, \n"
-	"__global const unsigned int* bodyCount,\n"
-	"int nContacts,\n"
-	"float dt,\n"
-	"float positionDrift,\n"
-	"float positionConstraintCoeff\n"
-	")\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	\n"
-	"	if( gIdx < nContacts )\n"
-	"	{\n"
-	"		int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit);\n"
-	"		int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit);\n"
-	"		float4 posA = gBodies[aIdx].m_pos;\n"
-	"		float4 linVelA = gBodies[aIdx].m_linVel;\n"
-	"		float4 angVelA = gBodies[aIdx].m_angVel;\n"
-	"		float invMassA = gBodies[aIdx].m_invMass;\n"
-	"		Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
-	"		float4 posB = gBodies[bIdx].m_pos;\n"
-	"		float4 linVelB = gBodies[bIdx].m_linVel;\n"
-	"		float4 angVelB = gBodies[bIdx].m_angVel;\n"
-	"		float invMassB = gBodies[bIdx].m_invMass;\n"
-	"		Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
-	"		Constraint4 cs;\n"
-	"		float countA = invMassA != 0.f ? (float)bodyCount[aIdx] : 1;\n"
-	"		float countB = invMassB != 0.f ? (float)bodyCount[bIdx] : 1;\n"
-	"    	setConstraint4( posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,\n"
-	"			&gContact[gIdx], dt, positionDrift, positionConstraintCoeff,countA,countB,\n"
-	"			&cs  );\n"
-	"		\n"
-	"		cs.m_batchIdx = gContact[gIdx].m_batchIdx;\n"
-	"		gConstraintOut[gIdx] = cs;\n"
-	"	}\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.cl b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.cl
deleted file mode 100644
index ba8ba735d0..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.cl
+++ /dev/null
@@ -1,22 +0,0 @@
-
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h"
-
-
-__kernel void initializeGpuAabbsFull(  const int numNodes, __global b3RigidBodyData_t* gBodies,__global b3Collidable_t* collidables, __global b3Aabb_t* plocalShapeAABB, __global b3Aabb_t* pAABB)
-{
-	int nodeID = get_global_id(0);
-	if( nodeID < numNodes )
-	{
-		b3ComputeWorldAabb(nodeID, gBodies, collidables, plocalShapeAABB,pAABB);
-	}
-}
-
-__kernel void clearOverlappingPairsKernel(  __global int4* pairs, int numPairs)
-{
-	int pairId = get_global_id(0);
-	if( pairId< numPairs )
-	{
-		pairs[pairId].z = 0xffffffff;
-	}
-}
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h
deleted file mode 100644
index bb949b2027..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h
+++ /dev/null
@@ -1,482 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* updateAabbsKernelCL =
-	"#ifndef B3_UPDATE_AABBS_H\n"
-	"#define B3_UPDATE_AABBS_H\n"
-	"#ifndef B3_AABB_H\n"
-	"#define B3_AABB_H\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#define B3_FLOAT4_H\n"
-	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-	"#define B3_PLATFORM_DEFINITIONS_H\n"
-	"struct MyTest\n"
-	"{\n"
-	"	int bla;\n"
-	"};\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-	"#define B3_LARGE_FLOAT 1e18f\n"
-	"#define B3_INFINITY 1e18f\n"
-	"#define b3Assert(a)\n"
-	"#define b3ConstArray(a) __global const a*\n"
-	"#define b3AtomicInc atomic_inc\n"
-	"#define b3AtomicAdd atomic_add\n"
-	"#define b3Fabs fabs\n"
-	"#define b3Sqrt native_sqrt\n"
-	"#define b3Sin native_sin\n"
-	"#define b3Cos native_cos\n"
-	"#define B3_STATIC\n"
-	"#endif\n"
-	"#endif\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"	typedef float4	b3Float4;\n"
-	"	#define b3Float4ConstArg const b3Float4\n"
-	"	#define b3MakeFloat4 (float4)\n"
-	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return dot(a1, b1);\n"
-	"	}\n"
-	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-	"	{\n"
-	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-	"		return cross(a1, b1);\n"
-	"	}\n"
-	"	#define b3MinFloat4 min\n"
-	"	#define b3MaxFloat4 max\n"
-	"	#define b3Normalized(a) normalize(a)\n"
-	"#endif \n"
-	"		\n"
-	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-	"{\n"
-	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-	"		return false;\n"
-	"	return true;\n"
-	"}\n"
-	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-	"{\n"
-	"    float maxDot = -B3_INFINITY;\n"
-	"    int i = 0;\n"
-	"    int ptIndex = -1;\n"
-	"    for( i = 0; i < vecLen; i++ )\n"
-	"    {\n"
-	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-	"            \n"
-	"        if( dot > maxDot )\n"
-	"        {\n"
-	"            maxDot = dot;\n"
-	"            ptIndex = i;\n"
-	"        }\n"
-	"    }\n"
-	"	b3Assert(ptIndex>=0);\n"
-	"    if (ptIndex<0)\n"
-	"	{\n"
-	"		ptIndex = 0;\n"
-	"	}\n"
-	"    *dotOut = maxDot;\n"
-	"    return ptIndex;\n"
-	"}\n"
-	"#endif //B3_FLOAT4_H\n"
-	"#ifndef B3_MAT3x3_H\n"
-	"#define B3_MAT3x3_H\n"
-	"#ifndef B3_QUAT_H\n"
-	"#define B3_QUAT_H\n"
-	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif\n"
-	"#endif\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"	typedef float4	b3Quat;\n"
-	"	#define b3QuatConstArg const b3Quat\n"
-	"	\n"
-	"	\n"
-	"inline float4 b3FastNormalize4(float4 v)\n"
-	"{\n"
-	"	v = (float4)(v.xyz,0.f);\n"
-	"	return fast_normalize(v);\n"
-	"}\n"
-	"	\n"
-	"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
-	"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
-	"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
-	"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
-	"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
-	"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
-	"{\n"
-	"	b3Quat ans;\n"
-	"	ans = b3Cross3( a, b );\n"
-	"	ans += a.w*b+b.w*a;\n"
-	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-	"	ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
-	"	return ans;\n"
-	"}\n"
-	"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
-	"{\n"
-	"	b3Quat q;\n"
-	"	q=in;\n"
-	"	//return b3FastNormalize4(in);\n"
-	"	float len = native_sqrt(dot(q, q));\n"
-	"	if(len > 0.f)\n"
-	"	{\n"
-	"		q *= 1.f / len;\n"
-	"	}\n"
-	"	else\n"
-	"	{\n"
-	"		q.x = q.y = q.z = 0.f;\n"
-	"		q.w = 1.f;\n"
-	"	}\n"
-	"	return q;\n"
-	"}\n"
-	"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-	"{\n"
-	"	b3Quat qInv = b3QuatInvert( q );\n"
-	"	float4 vcpy = vec;\n"
-	"	vcpy.w = 0.f;\n"
-	"	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
-	"	return out;\n"
-	"}\n"
-	"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
-	"{\n"
-	"	return (b3Quat)(-q.xyz, q.w);\n"
-	"}\n"
-	"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
-	"{\n"
-	"	return (b3Quat)(-q.xyz, q.w);\n"
-	"}\n"
-	"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-	"{\n"
-	"	return b3QuatRotate( b3QuatInvert( q ), vec );\n"
-	"}\n"
-	"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
-	"{\n"
-	"	return b3QuatRotate( orientation, point ) + (translation);\n"
-	"}\n"
-	"	\n"
-	"#endif \n"
-	"#endif //B3_QUAT_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"typedef struct\n"
-	"{\n"
-	"	b3Float4 m_row[3];\n"
-	"}b3Mat3x3;\n"
-	"#define b3Mat3x3ConstArg const b3Mat3x3\n"
-	"#define b3GetRow(m,row) (m.m_row[row])\n"
-	"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
-	"{\n"
-	"	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
-	"	b3Mat3x3 out;\n"
-	"	out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
-	"	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
-	"	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
-	"	out.m_row[0].w = 0.f;\n"
-	"	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
-	"	out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
-	"	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
-	"	out.m_row[1].w = 0.f;\n"
-	"	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
-	"	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
-	"	out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
-	"	out.m_row[2].w = 0.f;\n"
-	"	return out;\n"
-	"}\n"
-	"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
-	"{\n"
-	"	b3Mat3x3 out;\n"
-	"	out.m_row[0] = fabs(matIn.m_row[0]);\n"
-	"	out.m_row[1] = fabs(matIn.m_row[1]);\n"
-	"	out.m_row[2] = fabs(matIn.m_row[2]);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtZero();\n"
-	"__inline\n"
-	"b3Mat3x3 mtIdentity();\n"
-	"__inline\n"
-	"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
-	"__inline\n"
-	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
-	"__inline\n"
-	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
-	"__inline\n"
-	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
-	"__inline\n"
-	"b3Mat3x3 mtZero()\n"
-	"{\n"
-	"	b3Mat3x3 m;\n"
-	"	m.m_row[0] = (b3Float4)(0.f);\n"
-	"	m.m_row[1] = (b3Float4)(0.f);\n"
-	"	m.m_row[2] = (b3Float4)(0.f);\n"
-	"	return m;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtIdentity()\n"
-	"{\n"
-	"	b3Mat3x3 m;\n"
-	"	m.m_row[0] = (b3Float4)(1,0,0,0);\n"
-	"	m.m_row[1] = (b3Float4)(0,1,0,0);\n"
-	"	m.m_row[2] = (b3Float4)(0,0,1,0);\n"
-	"	return m;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
-	"{\n"
-	"	b3Mat3x3 out;\n"
-	"	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
-	"	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
-	"	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
-	"	return out;\n"
-	"}\n"
-	"__inline\n"
-	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
-	"{\n"
-	"	b3Mat3x3 transB;\n"
-	"	transB = mtTranspose( b );\n"
-	"	b3Mat3x3 ans;\n"
-	"	//	why this doesn't run when 0ing in the for{}\n"
-	"	a.m_row[0].w = 0.f;\n"
-	"	a.m_row[1].w = 0.f;\n"
-	"	a.m_row[2].w = 0.f;\n"
-	"	for(int i=0; i<3; i++)\n"
-	"	{\n"
-	"//	a.m_row[i].w = 0.f;\n"
-	"		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
-	"		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
-	"		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
-	"		ans.m_row[i].w = 0.f;\n"
-	"	}\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
-	"{\n"
-	"	b3Float4 ans;\n"
-	"	ans.x = b3Dot3F4( a.m_row[0], b );\n"
-	"	ans.y = b3Dot3F4( a.m_row[1], b );\n"
-	"	ans.z = b3Dot3F4( a.m_row[2], b );\n"
-	"	ans.w = 0.f;\n"
-	"	return ans;\n"
-	"}\n"
-	"__inline\n"
-	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
-	"{\n"
-	"	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-	"	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-	"	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-	"	b3Float4 ans;\n"
-	"	ans.x = b3Dot3F4( a, colx );\n"
-	"	ans.y = b3Dot3F4( a, coly );\n"
-	"	ans.z = b3Dot3F4( a, colz );\n"
-	"	return ans;\n"
-	"}\n"
-	"#endif\n"
-	"#endif //B3_MAT3x3_H\n"
-	"typedef struct b3Aabb b3Aabb_t;\n"
-	"struct b3Aabb\n"
-	"{\n"
-	"	union\n"
-	"	{\n"
-	"		float m_min[4];\n"
-	"		b3Float4 m_minVec;\n"
-	"		int m_minIndices[4];\n"
-	"	};\n"
-	"	union\n"
-	"	{\n"
-	"		float	m_max[4];\n"
-	"		b3Float4 m_maxVec;\n"
-	"		int m_signedMaxIndices[4];\n"
-	"	};\n"
-	"};\n"
-	"inline void b3TransformAabb2(b3Float4ConstArg localAabbMin,b3Float4ConstArg localAabbMax, float margin,\n"
-	"						b3Float4ConstArg pos,\n"
-	"						b3QuatConstArg orn,\n"
-	"						b3Float4* aabbMinOut,b3Float4* aabbMaxOut)\n"
-	"{\n"
-	"		b3Float4 localHalfExtents = 0.5f*(localAabbMax-localAabbMin);\n"
-	"		localHalfExtents+=b3MakeFloat4(margin,margin,margin,0.f);\n"
-	"		b3Float4 localCenter = 0.5f*(localAabbMax+localAabbMin);\n"
-	"		b3Mat3x3 m;\n"
-	"		m = b3QuatGetRotationMatrix(orn);\n"
-	"		b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);\n"
-	"		b3Float4 center = b3TransformPoint(localCenter,pos,orn);\n"
-	"		\n"
-	"		b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents,b3GetRow(abs_b,0)),\n"
-	"										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,1)),\n"
-	"										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,2)),\n"
-	"										 0.f);\n"
-	"		*aabbMinOut = center-extent;\n"
-	"		*aabbMaxOut = center+extent;\n"
-	"}\n"
-	"/// conservative test for overlap between two aabbs\n"
-	"inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1,b3Float4ConstArg aabbMax1,\n"
-	"								b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)\n"
-	"{\n"
-	"	bool overlap = true;\n"
-	"	overlap = (aabbMin1.x > aabbMax2.x || aabbMax1.x < aabbMin2.x) ? false : overlap;\n"
-	"	overlap = (aabbMin1.z > aabbMax2.z || aabbMax1.z < aabbMin2.z) ? false : overlap;\n"
-	"	overlap = (aabbMin1.y > aabbMax2.y || aabbMax1.y < aabbMin2.y) ? false : overlap;\n"
-	"	return overlap;\n"
-	"}\n"
-	"#endif //B3_AABB_H\n"
-	"#ifndef B3_COLLIDABLE_H\n"
-	"#define B3_COLLIDABLE_H\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_FLOAT4_H\n"
-	"#ifndef B3_QUAT_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_QUAT_H\n"
-	"enum b3ShapeTypes\n"
-	"{\n"
-	"	SHAPE_HEIGHT_FIELD=1,\n"
-	"	SHAPE_CONVEX_HULL=3,\n"
-	"	SHAPE_PLANE=4,\n"
-	"	SHAPE_CONCAVE_TRIMESH=5,\n"
-	"	SHAPE_COMPOUND_OF_CONVEX_HULLS=6,\n"
-	"	SHAPE_SPHERE=7,\n"
-	"	MAX_NUM_SHAPE_TYPES,\n"
-	"};\n"
-	"typedef struct b3Collidable b3Collidable_t;\n"
-	"struct b3Collidable\n"
-	"{\n"
-	"	union {\n"
-	"		int m_numChildShapes;\n"
-	"		int m_bvhIndex;\n"
-	"	};\n"
-	"	union\n"
-	"	{\n"
-	"		float m_radius;\n"
-	"		int	m_compoundBvhIndex;\n"
-	"	};\n"
-	"	int m_shapeType;\n"
-	"	union\n"
-	"	{\n"
-	"		int m_shapeIndex;\n"
-	"		float m_height;\n"
-	"	};\n"
-	"};\n"
-	"typedef struct b3GpuChildShape b3GpuChildShape_t;\n"
-	"struct b3GpuChildShape\n"
-	"{\n"
-	"	b3Float4	m_childPosition;\n"
-	"	b3Quat		m_childOrientation;\n"
-	"	union\n"
-	"	{\n"
-	"		int			m_shapeIndex;//used for SHAPE_COMPOUND_OF_CONVEX_HULLS\n"
-	"		int			m_capsuleAxis;\n"
-	"	};\n"
-	"	union \n"
-	"	{\n"
-	"		float		m_radius;//used for childshape of SHAPE_COMPOUND_OF_SPHERES or SHAPE_COMPOUND_OF_CAPSULES\n"
-	"		int			m_numChildShapes;//used for compound shape\n"
-	"	};\n"
-	"	union \n"
-	"	{\n"
-	"		float		m_height;//used for childshape of SHAPE_COMPOUND_OF_CAPSULES\n"
-	"		int	m_collidableShapeIndex;\n"
-	"	};\n"
-	"	int			m_shapeType;\n"
-	"};\n"
-	"struct b3CompoundOverlappingPair\n"
-	"{\n"
-	"	int m_bodyIndexA;\n"
-	"	int m_bodyIndexB;\n"
-	"//	int	m_pairType;\n"
-	"	int m_childShapeIndexA;\n"
-	"	int m_childShapeIndexB;\n"
-	"};\n"
-	"#endif //B3_COLLIDABLE_H\n"
-	"#ifndef B3_RIGIDBODY_DATA_H\n"
-	"#define B3_RIGIDBODY_DATA_H\n"
-	"#ifndef B3_FLOAT4_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_FLOAT4_H\n"
-	"#ifndef B3_QUAT_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif \n"
-	"#endif //B3_QUAT_H\n"
-	"#ifndef B3_MAT3x3_H\n"
-	"#ifdef __cplusplus\n"
-	"#else\n"
-	"#endif\n"
-	"#endif //B3_MAT3x3_H\n"
-	"typedef struct b3RigidBodyData b3RigidBodyData_t;\n"
-	"struct b3RigidBodyData\n"
-	"{\n"
-	"	b3Float4				m_pos;\n"
-	"	b3Quat					m_quat;\n"
-	"	b3Float4				m_linVel;\n"
-	"	b3Float4				m_angVel;\n"
-	"	int 					m_collidableIdx;\n"
-	"	float 				m_invMass;\n"
-	"	float 				m_restituitionCoeff;\n"
-	"	float 				m_frictionCoeff;\n"
-	"};\n"
-	"typedef struct b3InertiaData b3InertiaData_t;\n"
-	"struct b3InertiaData\n"
-	"{\n"
-	"	b3Mat3x3 m_invInertiaWorld;\n"
-	"	b3Mat3x3 m_initInvInertia;\n"
-	"};\n"
-	"#endif //B3_RIGIDBODY_DATA_H\n"
-	"	\n"
-	"void b3ComputeWorldAabb(  int bodyId, __global const b3RigidBodyData_t* bodies, __global const  b3Collidable_t* collidables, __global const  b3Aabb_t* localShapeAABB, __global b3Aabb_t* worldAabbs)\n"
-	"{\n"
-	"	__global const b3RigidBodyData_t* body = &bodies[bodyId];\n"
-	"	b3Float4 position = body->m_pos;\n"
-	"	b3Quat	orientation = body->m_quat;\n"
-	"	\n"
-	"	int collidableIndex = body->m_collidableIdx;\n"
-	"	int shapeIndex = collidables[collidableIndex].m_shapeIndex;\n"
-	"		\n"
-	"	if (shapeIndex>=0)\n"
-	"	{\n"
-	"				\n"
-	"		b3Aabb_t localAabb = localShapeAABB[collidableIndex];\n"
-	"		b3Aabb_t worldAabb;\n"
-	"		\n"
-	"		b3Float4 aabbAMinOut,aabbAMaxOut;	\n"
-	"		float margin = 0.f;\n"
-	"		b3TransformAabb2(localAabb.m_minVec,localAabb.m_maxVec,margin,position,orientation,&aabbAMinOut,&aabbAMaxOut);\n"
-	"		\n"
-	"		worldAabb.m_minVec =aabbAMinOut;\n"
-	"		worldAabb.m_minIndices[3] = bodyId;\n"
-	"		worldAabb.m_maxVec = aabbAMaxOut;\n"
-	"		worldAabb.m_signedMaxIndices[3] = body[bodyId].m_invMass==0.f? 0 : 1;\n"
-	"		worldAabbs[bodyId] = worldAabb;\n"
-	"	}\n"
-	"}\n"
-	"#endif //B3_UPDATE_AABBS_H\n"
-	"__kernel void initializeGpuAabbsFull(  const int numNodes, __global b3RigidBodyData_t* gBodies,__global b3Collidable_t* collidables, __global b3Aabb_t* plocalShapeAABB, __global b3Aabb_t* pAABB)\n"
-	"{\n"
-	"	int nodeID = get_global_id(0);\n"
-	"	if( nodeID < numNodes )\n"
-	"	{\n"
-	"		b3ComputeWorldAabb(nodeID, gBodies, collidables, plocalShapeAABB,pAABB);\n"
-	"	}\n"
-	"}\n"
-	"__kernel void clearOverlappingPairsKernel(  __global int4* pairs, int numPairs)\n"
-	"{\n"
-	"	int pairId = get_global_id(0);\n"
-	"	if( pairId< numPairs )\n"
-	"	{\n"
-	"		pairs[pairId].z = 0xffffffff;\n"
-	"	}\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/autogenerated/bullet2.h b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/autogenerated/bullet2.h
deleted file mode 100644
index eaa27dfe8f..0000000000
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/autogenerated/bullet2.h
+++ /dev/null
@@ -1,987 +0,0 @@
-/* Copyright (C) 2011 Erwin Coumans & Charlie C
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-*
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-*
-* 1. The origin of this software must not be misrepresented; you must not
-*    claim that you wrote the original software. If you use this software
-*    in a product, an acknowledgment in the product documentation would be
-*    appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-*    misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-// Auto generated from Bullet/Extras/HeaderGenerator/bulletGenerate.py
-#ifndef __BULLET2_H__
-#define __BULLET2_H__
-namespace Bullet3SerializeBullet2
-{
-// put an empty struct in the case
-typedef struct bInvalidHandle
-{
-	int unused;
-} bInvalidHandle;
-
-class PointerArray;
-class b3PhysicsSystem;
-class ListBase;
-class b3Vector3FloatData;
-class b3Vector3DoubleData;
-class b3Matrix3x3FloatData;
-class b3Matrix3x3DoubleData;
-class b3TransformFloatData;
-class b3TransformDoubleData;
-class b3BvhSubtreeInfoData;
-class b3OptimizedBvhNodeFloatData;
-class b3OptimizedBvhNodeDoubleData;
-class b3QuantizedBvhNodeData;
-class b3QuantizedBvhFloatData;
-class b3QuantizedBvhDoubleData;
-class b3CollisionShapeData;
-class b3StaticPlaneShapeData;
-class b3ConvexInternalShapeData;
-class b3PositionAndRadius;
-class b3MultiSphereShapeData;
-class b3IntIndexData;
-class b3ShortIntIndexData;
-class b3ShortIntIndexTripletData;
-class b3CharIndexTripletData;
-class b3MeshPartData;
-class b3StridingMeshInterfaceData;
-class b3TriangleMeshShapeData;
-class b3ScaledTriangleMeshShapeData;
-class b3CompoundShapeChildData;
-class b3CompoundShapeData;
-class b3CylinderShapeData;
-class b3CapsuleShapeData;
-class b3TriangleInfoData;
-class b3TriangleInfoMapData;
-class b3GImpactMeshShapeData;
-class b3ConvexHullShapeData;
-class b3CollisionObjectDoubleData;
-class b3CollisionObjectFloatData;
-class b3DynamicsWorldDoubleData;
-class b3DynamicsWorldFloatData;
-class b3RigidBodyFloatData;
-class b3RigidBodyDoubleData;
-class b3ConstraintInfo1;
-class b3TypedConstraintData;
-class b3Point2PointConstraintFloatData;
-class b3Point2PointConstraintDoubleData;
-class b3HingeConstraintDoubleData;
-class b3HingeConstraintFloatData;
-class b3ConeTwistConstraintData;
-class b3Generic6DofConstraintData;
-class b3Generic6DofSpringConstraintData;
-class b3SliderConstraintData;
-class b3ContactSolverInfoDoubleData;
-class b3ContactSolverInfoFloatData;
-class SoftBodyMaterialData;
-class SoftBodyNodeData;
-class SoftBodyLinkData;
-class SoftBodyFaceData;
-class SoftBodyTetraData;
-class SoftRigidAnchorData;
-class SoftBodyConfigData;
-class SoftBodyPoseData;
-class SoftBodyClusterData;
-class b3SoftBodyJointData;
-class b3SoftBodyFloatData;
-// -------------------------------------------------- //
-class PointerArray
-{
-public:
-	int m_size;
-	int m_capacity;
-	void *m_data;
-};
-
-// -------------------------------------------------- //
-class b3PhysicsSystem
-{
-public:
-	PointerArray m_collisionShapes;
-	PointerArray m_collisionObjects;
-	PointerArray m_constraints;
-};
-
-// -------------------------------------------------- //
-class ListBase
-{
-public:
-	void *first;
-	void *last;
-};
-
-// -------------------------------------------------- //
-class b3Vector3FloatData
-{
-public:
-	float m_floats[4];
-};
-
-// -------------------------------------------------- //
-class b3Vector3DoubleData
-{
-public:
-	double m_floats[4];
-};
-
-// -------------------------------------------------- //
-class b3Matrix3x3FloatData
-{
-public:
-	b3Vector3FloatData m_el[3];
-};
-
-// -------------------------------------------------- //
-class b3Matrix3x3DoubleData
-{
-public:
-	b3Vector3DoubleData m_el[3];
-};
-
-// -------------------------------------------------- //
-class b3TransformFloatData
-{
-public:
-	b3Matrix3x3FloatData m_basis;
-	b3Vector3FloatData m_origin;
-};
-
-// -------------------------------------------------- //
-class b3TransformDoubleData
-{
-public:
-	b3Matrix3x3DoubleData m_basis;
-	b3Vector3DoubleData m_origin;
-};
-
-// -------------------------------------------------- //
-class b3BvhSubtreeInfoData
-{
-public:
-	int m_rootNodeIndex;
-	int m_subtreeSize;
-	short m_quantizedAabbMin[3];
-	short m_quantizedAabbMax[3];
-};
-
-// -------------------------------------------------- //
-class b3OptimizedBvhNodeFloatData
-{
-public:
-	b3Vector3FloatData m_aabbMinOrg;
-	b3Vector3FloatData m_aabbMaxOrg;
-	int m_escapeIndex;
-	int m_subPart;
-	int m_triangleIndex;
-	char m_pad[4];
-};
-
-// -------------------------------------------------- //
-class b3OptimizedBvhNodeDoubleData
-{
-public:
-	b3Vector3DoubleData m_aabbMinOrg;
-	b3Vector3DoubleData m_aabbMaxOrg;
-	int m_escapeIndex;
-	int m_subPart;
-	int m_triangleIndex;
-	char m_pad[4];
-};
-
-// -------------------------------------------------- //
-class b3QuantizedBvhNodeData
-{
-public:
-	short m_quantizedAabbMin[3];
-	short m_quantizedAabbMax[3];
-	int m_escapeIndexOrTriangleIndex;
-};
-
-// -------------------------------------------------- //
-class b3QuantizedBvhFloatData
-{
-public:
-	b3Vector3FloatData m_bvhAabbMin;
-	b3Vector3FloatData m_bvhAabbMax;
-	b3Vector3FloatData m_bvhQuantization;
-	int m_curNodeIndex;
-	int m_useQuantization;
-	int m_numContiguousLeafNodes;
-	int m_numQuantizedContiguousNodes;
-	b3OptimizedBvhNodeFloatData *m_contiguousNodesPtr;
-	b3QuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
-	b3BvhSubtreeInfoData *m_subTreeInfoPtr;
-	int m_traversalMode;
-	int m_numSubtreeHeaders;
-};
-
-// -------------------------------------------------- //
-class b3QuantizedBvhDoubleData
-{
-public:
-	b3Vector3DoubleData m_bvhAabbMin;
-	b3Vector3DoubleData m_bvhAabbMax;
-	b3Vector3DoubleData m_bvhQuantization;
-	int m_curNodeIndex;
-	int m_useQuantization;
-	int m_numContiguousLeafNodes;
-	int m_numQuantizedContiguousNodes;
-	b3OptimizedBvhNodeDoubleData *m_contiguousNodesPtr;
-	b3QuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
-	int m_traversalMode;
-	int m_numSubtreeHeaders;
-	b3BvhSubtreeInfoData *m_subTreeInfoPtr;
-};
-
-// -------------------------------------------------- //
-class b3CollisionShapeData
-{
-public:
-	char *m_name;
-	int m_shapeType;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class b3StaticPlaneShapeData
-{
-public:
-	b3CollisionShapeData m_collisionShapeData;
-	b3Vector3FloatData m_localScaling;
-	b3Vector3FloatData m_planeNormal;
-	float m_planeConstant;
-	char m_pad[4];
-};
-
-// -------------------------------------------------- //
-class b3ConvexInternalShapeData
-{
-public:
-	b3CollisionShapeData m_collisionShapeData;
-	b3Vector3FloatData m_localScaling;
-	b3Vector3FloatData m_implicitShapeDimensions;
-	float m_collisionMargin;
-	int m_padding;
-};
-
-// -------------------------------------------------- //
-class b3PositionAndRadius
-{
-public:
-	b3Vector3FloatData m_pos;
-	float m_radius;
-};
-
-// -------------------------------------------------- //
-class b3MultiSphereShapeData
-{
-public:
-	b3ConvexInternalShapeData m_convexInternalShapeData;
-	b3PositionAndRadius *m_localPositionArrayPtr;
-	int m_localPositionArraySize;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class b3IntIndexData
-{
-public:
-	int m_value;
-};
-
-// -------------------------------------------------- //
-class b3ShortIntIndexData
-{
-public:
-	short m_value;
-	char m_pad[2];
-};
-
-// -------------------------------------------------- //
-class b3ShortIntIndexTripletData
-{
-public:
-	short m_values[3];
-	char m_pad[2];
-};
-
-// -------------------------------------------------- //
-class b3CharIndexTripletData
-{
-public:
-	char m_values[3];
-	char m_pad;
-};
-
-// -------------------------------------------------- //
-class b3MeshPartData
-{
-public:
-	b3Vector3FloatData *m_vertices3f;
-	b3Vector3DoubleData *m_vertices3d;
-	b3IntIndexData *m_indices32;
-	b3ShortIntIndexTripletData *m_3indices16;
-	b3CharIndexTripletData *m_3indices8;
-	b3ShortIntIndexData *m_indices16;
-	int m_numTriangles;
-	int m_numVertices;
-};
-
-// -------------------------------------------------- //
-class b3StridingMeshInterfaceData
-{
-public:
-	b3MeshPartData *m_meshPartsPtr;
-	b3Vector3FloatData m_scaling;
-	int m_numMeshParts;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class b3TriangleMeshShapeData
-{
-public:
-	b3CollisionShapeData m_collisionShapeData;
-	b3StridingMeshInterfaceData m_meshInterface;
-	b3QuantizedBvhFloatData *m_quantizedFloatBvh;
-	b3QuantizedBvhDoubleData *m_quantizedDoubleBvh;
-	b3TriangleInfoMapData *m_triangleInfoMap;
-	float m_collisionMargin;
-	char m_pad3[4];
-};
-
-// -------------------------------------------------- //
-class b3ScaledTriangleMeshShapeData
-{
-public:
-	b3TriangleMeshShapeData m_trimeshShapeData;
-	b3Vector3FloatData m_localScaling;
-};
-
-// -------------------------------------------------- //
-class b3CompoundShapeChildData
-{
-public:
-	b3TransformFloatData m_transform;
-	b3CollisionShapeData *m_childShape;
-	int m_childShapeType;
-	float m_childMargin;
-};
-
-// -------------------------------------------------- //
-class b3CompoundShapeData
-{
-public:
-	b3CollisionShapeData m_collisionShapeData;
-	b3CompoundShapeChildData *m_childShapePtr;
-	int m_numChildShapes;
-	float m_collisionMargin;
-};
-
-// -------------------------------------------------- //
-class b3CylinderShapeData
-{
-public:
-	b3ConvexInternalShapeData m_convexInternalShapeData;
-	int m_upAxis;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class b3CapsuleShapeData
-{
-public:
-	b3ConvexInternalShapeData m_convexInternalShapeData;
-	int m_upAxis;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class b3TriangleInfoData
-{
-public:
-	int m_flags;
-	float m_edgeV0V1Angle;
-	float m_edgeV1V2Angle;
-	float m_edgeV2V0Angle;
-};
-
-// -------------------------------------------------- //
-class b3TriangleInfoMapData
-{
-public:
-	int *m_hashTablePtr;
-	int *m_nextPtr;
-	b3TriangleInfoData *m_valueArrayPtr;
-	int *m_keyArrayPtr;
-	float m_convexEpsilon;
-	float m_planarEpsilon;
-	float m_equalVertexThreshold;
-	float m_edgeDistanceThreshold;
-	float m_zeroAreaThreshold;
-	int m_nextSize;
-	int m_hashTableSize;
-	int m_numValues;
-	int m_numKeys;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class b3GImpactMeshShapeData
-{
-public:
-	b3CollisionShapeData m_collisionShapeData;
-	b3StridingMeshInterfaceData m_meshInterface;
-	b3Vector3FloatData m_localScaling;
-	float m_collisionMargin;
-	int m_gimpactSubType;
-};
-
-// -------------------------------------------------- //
-class b3ConvexHullShapeData
-{
-public:
-	b3ConvexInternalShapeData m_convexInternalShapeData;
-	b3Vector3FloatData *m_unscaledPointsFloatPtr;
-	b3Vector3DoubleData *m_unscaledPointsDoublePtr;
-	int m_numUnscaledPoints;
-	char m_padding3[4];
-};
-
-// -------------------------------------------------- //
-class b3CollisionObjectDoubleData
-{
-public:
-	void *m_broadphaseHandle;
-	void *m_collisionShape;
-	b3CollisionShapeData *m_rootCollisionShape;
-	char *m_name;
-	b3TransformDoubleData m_worldTransform;
-	b3TransformDoubleData m_interpolationWorldTransform;
-	b3Vector3DoubleData m_interpolationLinearVelocity;
-	b3Vector3DoubleData m_interpolationAngularVelocity;
-	b3Vector3DoubleData m_anisotropicFriction;
-	double m_contactProcessingThreshold;
-	double m_deactivationTime;
-	double m_friction;
-	double m_rollingFriction;
-	double m_restitution;
-	double m_hitFraction;
-	double m_ccdSweptSphereRadius;
-	double m_ccdMotionThreshold;
-	int m_hasAnisotropicFriction;
-	int m_collisionFlags;
-	int m_islandTag1;
-	int m_companionId;
-	int m_activationState1;
-	int m_internalType;
-	int m_checkCollideWith;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class b3CollisionObjectFloatData
-{
-public:
-	void *m_broadphaseHandle;
-	void *m_collisionShape;
-	b3CollisionShapeData *m_rootCollisionShape;
-	char *m_name;
-	b3TransformFloatData m_worldTransform;
-	b3TransformFloatData m_interpolationWorldTransform;
-	b3Vector3FloatData m_interpolationLinearVelocity;
-	b3Vector3FloatData m_interpolationAngularVelocity;
-	b3Vector3FloatData m_anisotropicFriction;
-	float m_contactProcessingThreshold;
-	float m_deactivationTime;
-	float m_friction;
-	float m_rollingFriction;
-	float m_restitution;
-	float m_hitFraction;
-	float m_ccdSweptSphereRadius;
-	float m_ccdMotionThreshold;
-	int m_hasAnisotropicFriction;
-	int m_collisionFlags;
-	int m_islandTag1;
-	int m_companionId;
-	int m_activationState1;
-	int m_internalType;
-	int m_checkCollideWith;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class b3RigidBodyFloatData
-{
-public:
-	b3CollisionObjectFloatData m_collisionObjectData;
-	b3Matrix3x3FloatData m_invInertiaTensorWorld;
-	b3Vector3FloatData m_linearVelocity;
-	b3Vector3FloatData m_angularVelocity;
-	b3Vector3FloatData m_angularFactor;
-	b3Vector3FloatData m_linearFactor;
-	b3Vector3FloatData m_gravity;
-	b3Vector3FloatData m_gravity_acceleration;
-	b3Vector3FloatData m_invInertiaLocal;
-	b3Vector3FloatData m_totalForce;
-	b3Vector3FloatData m_totalTorque;
-	float m_inverseMass;
-	float m_linearDamping;
-	float m_angularDamping;
-	float m_additionalDampingFactor;
-	float m_additionalLinearDampingThresholdSqr;
-	float m_additionalAngularDampingThresholdSqr;
-	float m_additionalAngularDampingFactor;
-	float m_linearSleepingThreshold;
-	float m_angularSleepingThreshold;
-	int m_additionalDamping;
-};
-
-// -------------------------------------------------- //
-class b3RigidBodyDoubleData
-{
-public:
-	b3CollisionObjectDoubleData m_collisionObjectData;
-	b3Matrix3x3DoubleData m_invInertiaTensorWorld;
-	b3Vector3DoubleData m_linearVelocity;
-	b3Vector3DoubleData m_angularVelocity;
-	b3Vector3DoubleData m_angularFactor;
-	b3Vector3DoubleData m_linearFactor;
-	b3Vector3DoubleData m_gravity;
-	b3Vector3DoubleData m_gravity_acceleration;
-	b3Vector3DoubleData m_invInertiaLocal;
-	b3Vector3DoubleData m_totalForce;
-	b3Vector3DoubleData m_totalTorque;
-	double m_inverseMass;
-	double m_linearDamping;
-	double m_angularDamping;
-	double m_additionalDampingFactor;
-	double m_additionalLinearDampingThresholdSqr;
-	double m_additionalAngularDampingThresholdSqr;
-	double m_additionalAngularDampingFactor;
-	double m_linearSleepingThreshold;
-	double m_angularSleepingThreshold;
-	int m_additionalDamping;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class b3ConstraintInfo1
-{
-public:
-	int m_numConstraintRows;
-	int nub;
-};
-
-// -------------------------------------------------- //
-class b3TypedConstraintData
-{
-public:
-	bInvalidHandle *m_rbA;
-	bInvalidHandle *m_rbB;
-	char *m_name;
-	int m_objectType;
-	int m_userConstraintType;
-	int m_userConstraintId;
-	int m_needsFeedback;
-	float m_appliedImpulse;
-	float m_dbgDrawSize;
-	int m_disableCollisionsBetweenLinkedBodies;
-	int m_overrideNumSolverIterations;
-	float m_breakingImpulseThreshold;
-	int m_isEnabled;
-};
-
-// -------------------------------------------------- //
-class b3Point2PointConstraintFloatData
-{
-public:
-	b3TypedConstraintData m_typeConstraintData;
-	b3Vector3FloatData m_pivotInA;
-	b3Vector3FloatData m_pivotInB;
-};
-
-// -------------------------------------------------- //
-class b3Point2PointConstraintDoubleData
-{
-public:
-	b3TypedConstraintData m_typeConstraintData;
-	b3Vector3DoubleData m_pivotInA;
-	b3Vector3DoubleData m_pivotInB;
-};
-
-// -------------------------------------------------- //
-class b3HingeConstraintDoubleData
-{
-public:
-	b3TypedConstraintData m_typeConstraintData;
-	b3TransformDoubleData m_rbAFrame;
-	b3TransformDoubleData m_rbBFrame;
-	int m_useReferenceFrameA;
-	int m_angularOnly;
-	int m_enableAngularMotor;
-	float m_motorTargetVelocity;
-	float m_maxMotorImpulse;
-	float m_lowerLimit;
-	float m_upperLimit;
-	float m_limitSoftness;
-	float m_biasFactor;
-	float m_relaxationFactor;
-};
-
-// -------------------------------------------------- //
-class b3HingeConstraintFloatData
-{
-public:
-	b3TypedConstraintData m_typeConstraintData;
-	b3TransformFloatData m_rbAFrame;
-	b3TransformFloatData m_rbBFrame;
-	int m_useReferenceFrameA;
-	int m_angularOnly;
-	int m_enableAngularMotor;
-	float m_motorTargetVelocity;
-	float m_maxMotorImpulse;
-	float m_lowerLimit;
-	float m_upperLimit;
-	float m_limitSoftness;
-	float m_biasFactor;
-	float m_relaxationFactor;
-};
-
-// -------------------------------------------------- //
-class b3ConeTwistConstraintData
-{
-public:
-	b3TypedConstraintData m_typeConstraintData;
-	b3TransformFloatData m_rbAFrame;
-	b3TransformFloatData m_rbBFrame;
-	float m_swingSpan1;
-	float m_swingSpan2;
-	float m_twistSpan;
-	float m_limitSoftness;
-	float m_biasFactor;
-	float m_relaxationFactor;
-	float m_damping;
-	char m_pad[4];
-};
-
-// -------------------------------------------------- //
-class b3Generic6DofConstraintData
-{
-public:
-	b3TypedConstraintData m_typeConstraintData;
-	b3TransformFloatData m_rbAFrame;
-	b3TransformFloatData m_rbBFrame;
-	b3Vector3FloatData m_linearUpperLimit;
-	b3Vector3FloatData m_linearLowerLimit;
-	b3Vector3FloatData m_angularUpperLimit;
-	b3Vector3FloatData m_angularLowerLimit;
-	int m_useLinearReferenceFrameA;
-	int m_useOffsetForConstraintFrame;
-};
-
-// -------------------------------------------------- //
-class b3Generic6DofSpringConstraintData
-{
-public:
-	b3Generic6DofConstraintData m_6dofData;
-	int m_springEnabled[6];
-	float m_equilibriumPoint[6];
-	float m_springStiffness[6];
-	float m_springDamping[6];
-};
-
-// -------------------------------------------------- //
-class b3SliderConstraintData
-{
-public:
-	b3TypedConstraintData m_typeConstraintData;
-	b3TransformFloatData m_rbAFrame;
-	b3TransformFloatData m_rbBFrame;
-	float m_linearUpperLimit;
-	float m_linearLowerLimit;
-	float m_angularUpperLimit;
-	float m_angularLowerLimit;
-	int m_useLinearReferenceFrameA;
-	int m_useOffsetForConstraintFrame;
-};
-
-// -------------------------------------------------- //
-class b3ContactSolverInfoDoubleData
-{
-public:
-	double m_tau;
-	double m_damping;
-	double m_friction;
-	double m_timeStep;
-	double m_restitution;
-	double m_maxErrorReduction;
-	double m_sor;
-	double m_erp;
-	double m_erp2;
-	double m_globalCfm;
-	double m_splitImpulsePenetrationThreshold;
-	double m_splitImpulseTurnErp;
-	double m_linearSlop;
-	double m_warmstartingFactor;
-	double m_maxGyroscopicForce;
-	double m_singleAxisRollingFrictionThreshold;
-	int m_numIterations;
-	int m_solverMode;
-	int m_restingContactRestitutionThreshold;
-	int m_minimumSolverBatchSize;
-	int m_splitImpulse;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class b3ContactSolverInfoFloatData
-{
-public:
-	float m_tau;
-	float m_damping;
-	float m_friction;
-	float m_timeStep;
-	float m_restitution;
-	float m_maxErrorReduction;
-	float m_sor;
-	float m_erp;
-	float m_erp2;
-	float m_globalCfm;
-	float m_splitImpulsePenetrationThreshold;
-	float m_splitImpulseTurnErp;
-	float m_linearSlop;
-	float m_warmstartingFactor;
-	float m_maxGyroscopicForce;
-	float m_singleAxisRollingFrictionThreshold;
-	int m_numIterations;
-	int m_solverMode;
-	int m_restingContactRestitutionThreshold;
-	int m_minimumSolverBatchSize;
-	int m_splitImpulse;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class b3DynamicsWorldDoubleData
-{
-public:
-	b3ContactSolverInfoDoubleData m_solverInfo;
-	b3Vector3DoubleData m_gravity;
-};
-
-// -------------------------------------------------- //
-class b3DynamicsWorldFloatData
-{
-public:
-	b3ContactSolverInfoFloatData m_solverInfo;
-	b3Vector3FloatData m_gravity;
-};
-
-// -------------------------------------------------- //
-class SoftBodyMaterialData
-{
-public:
-	float m_linearStiffness;
-	float m_angularStiffness;
-	float m_volumeStiffness;
-	int m_flags;
-};
-
-// -------------------------------------------------- //
-class SoftBodyNodeData
-{
-public:
-	SoftBodyMaterialData *m_material;
-	b3Vector3FloatData m_position;
-	b3Vector3FloatData m_previousPosition;
-	b3Vector3FloatData m_velocity;
-	b3Vector3FloatData m_accumulatedForce;
-	b3Vector3FloatData m_normal;
-	float m_inverseMass;
-	float m_area;
-	int m_attach;
-	int m_pad;
-};
-
-// -------------------------------------------------- //
-class SoftBodyLinkData
-{
-public:
-	SoftBodyMaterialData *m_material;
-	int m_nodeIndices[2];
-	float m_restLength;
-	int m_bbending;
-};
-
-// -------------------------------------------------- //
-class SoftBodyFaceData
-{
-public:
-	b3Vector3FloatData m_normal;
-	SoftBodyMaterialData *m_material;
-	int m_nodeIndices[3];
-	float m_restArea;
-};
-
-// -------------------------------------------------- //
-class SoftBodyTetraData
-{
-public:
-	b3Vector3FloatData m_c0[4];
-	SoftBodyMaterialData *m_material;
-	int m_nodeIndices[4];
-	float m_restVolume;
-	float m_c1;
-	float m_c2;
-	int m_pad;
-};
-
-// -------------------------------------------------- //
-class SoftRigidAnchorData
-{
-public:
-	b3Matrix3x3FloatData m_c0;
-	b3Vector3FloatData m_c1;
-	b3Vector3FloatData m_localFrame;
-	bInvalidHandle *m_rigidBody;
-	int m_nodeIndex;
-	float m_c2;
-};
-
-// -------------------------------------------------- //
-class SoftBodyConfigData
-{
-public:
-	int m_aeroModel;
-	float m_baumgarte;
-	float m_damping;
-	float m_drag;
-	float m_lift;
-	float m_pressure;
-	float m_volume;
-	float m_dynamicFriction;
-	float m_poseMatch;
-	float m_rigidContactHardness;
-	float m_kineticContactHardness;
-	float m_softContactHardness;
-	float m_anchorHardness;
-	float m_softRigidClusterHardness;
-	float m_softKineticClusterHardness;
-	float m_softSoftClusterHardness;
-	float m_softRigidClusterImpulseSplit;
-	float m_softKineticClusterImpulseSplit;
-	float m_softSoftClusterImpulseSplit;
-	float m_maxVolume;
-	float m_timeScale;
-	int m_velocityIterations;
-	int m_positionIterations;
-	int m_driftIterations;
-	int m_clusterIterations;
-	int m_collisionFlags;
-};
-
-// -------------------------------------------------- //
-class SoftBodyPoseData
-{
-public:
-	b3Matrix3x3FloatData m_rot;
-	b3Matrix3x3FloatData m_scale;
-	b3Matrix3x3FloatData m_aqq;
-	b3Vector3FloatData m_com;
-	b3Vector3FloatData *m_positions;
-	float *m_weights;
-	int m_numPositions;
-	int m_numWeigts;
-	int m_bvolume;
-	int m_bframe;
-	float m_restVolume;
-	int m_pad;
-};
-
-// -------------------------------------------------- //
-class SoftBodyClusterData
-{
-public:
-	b3TransformFloatData m_framexform;
-	b3Matrix3x3FloatData m_locii;
-	b3Matrix3x3FloatData m_invwi;
-	b3Vector3FloatData m_com;
-	b3Vector3FloatData m_vimpulses[2];
-	b3Vector3FloatData m_dimpulses[2];
-	b3Vector3FloatData m_lv;
-	b3Vector3FloatData m_av;
-	b3Vector3FloatData *m_framerefs;
-	int *m_nodeIndices;
-	float *m_masses;
-	int m_numFrameRefs;
-	int m_numNodes;
-	int m_numMasses;
-	float m_idmass;
-	float m_imass;
-	int m_nvimpulses;
-	int m_ndimpulses;
-	float m_ndamping;
-	float m_ldamping;
-	float m_adamping;
-	float m_matching;
-	float m_maxSelfCollisionImpulse;
-	float m_selfCollisionImpulseFactor;
-	int m_containsAnchor;
-	int m_collide;
-	int m_clusterIndex;
-};
-
-// -------------------------------------------------- //
-class b3SoftBodyJointData
-{
-public:
-	void *m_bodyA;
-	void *m_bodyB;
-	b3Vector3FloatData m_refs[2];
-	float m_cfm;
-	float m_erp;
-	float m_split;
-	int m_delete;
-	b3Vector3FloatData m_relPosition[2];
-	int m_bodyAtype;
-	int m_bodyBtype;
-	int m_jointType;
-	int m_pad;
-};
-
-// -------------------------------------------------- //
-class b3SoftBodyFloatData
-{
-public:
-	b3CollisionObjectFloatData m_collisionObjectData;
-	SoftBodyPoseData *m_pose;
-	SoftBodyMaterialData **m_materials;
-	SoftBodyNodeData *m_nodes;
-	SoftBodyLinkData *m_links;
-	SoftBodyFaceData *m_faces;
-	SoftBodyTetraData *m_tetrahedra;
-	SoftRigidAnchorData *m_anchors;
-	SoftBodyClusterData *m_clusters;
-	b3SoftBodyJointData *m_joints;
-	int m_numMaterials;
-	int m_numNodes;
-	int m_numLinks;
-	int m_numFaces;
-	int m_numTetrahedra;
-	int m_numAnchors;
-	int m_numClusters;
-	int m_numJoints;
-	SoftBodyConfigData m_config;
-};
-
-}  // namespace Bullet3SerializeBullet2
-#endif  //__BULLET2_H__
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3BulletFile.cpp b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3BulletFile.cpp
deleted file mode 100644
index d2a7163670..0000000000
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3BulletFile.cpp
+++ /dev/null
@@ -1,400 +0,0 @@
-/*
-bParse
-Copyright (c) 2006-2010 Erwin Coumans  http://gamekit.googlecode.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "b3BulletFile.h"
-#include "b3Defines.h"
-#include "b3DNA.h"
-
-#if !defined(__CELLOS_LV2__) && !defined(__MWERKS__)
-#include <memory.h>
-#endif
-#include <string.h>
-
-// 32 && 64 bit versions
-#ifdef B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-#ifdef _WIN64
-extern char b3s_bulletDNAstr64[];
-extern int b3s_bulletDNAlen64;
-#else
-extern char b3s_bulletDNAstr[];
-extern int b3s_bulletDNAlen;
-#endif  //_WIN64
-#else   //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-
-extern char b3s_bulletDNAstr64[];
-extern int b3s_bulletDNAlen64;
-extern char b3s_bulletDNAstr[];
-extern int b3s_bulletDNAlen;
-
-#endif  //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-
-using namespace bParse;
-
-b3BulletFile::b3BulletFile()
-	: bFile("", "BULLET ")
-{
-	mMemoryDNA = new bDNA();  //this memory gets released in the bFile::~bFile destructor,@todo not consistent with the rule 'who allocates it, has to deallocate it"
-
-	m_DnaCopy = 0;
-
-#ifdef B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-#ifdef _WIN64
-	m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen64, 16);
-	memcpy(m_DnaCopy, b3s_bulletDNAstr64, b3s_bulletDNAlen64);
-	mMemoryDNA->init(m_DnaCopy, b3s_bulletDNAlen64);
-#else   //_WIN64
-	m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen, 16);
-	memcpy(m_DnaCopy, b3s_bulletDNAstr, b3s_bulletDNAlen);
-	mMemoryDNA->init(m_DnaCopy, b3s_bulletDNAlen);
-#endif  //_WIN64
-#else   //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-	if (VOID_IS_8)
-	{
-		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen64, 16);
-		memcpy(m_DnaCopy, b3s_bulletDNAstr64, b3s_bulletDNAlen64);
-		mMemoryDNA->init(m_DnaCopy, b3s_bulletDNAlen64);
-	}
-	else
-	{
-		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen, 16);
-		memcpy(m_DnaCopy, b3s_bulletDNAstr, b3s_bulletDNAlen);
-		mMemoryDNA->init(m_DnaCopy, b3s_bulletDNAlen);
-	}
-#endif  //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-}
-
-b3BulletFile::b3BulletFile(const char* fileName)
-	: bFile(fileName, "BULLET ")
-{
-	m_DnaCopy = 0;
-}
-
-b3BulletFile::b3BulletFile(char* memoryBuffer, int len)
-	: bFile(memoryBuffer, len, "BULLET ")
-{
-	m_DnaCopy = 0;
-}
-
-b3BulletFile::~b3BulletFile()
-{
-	if (m_DnaCopy)
-		b3AlignedFree(m_DnaCopy);
-
-	while (m_dataBlocks.size())
-	{
-		char* dataBlock = m_dataBlocks[m_dataBlocks.size() - 1];
-		delete[] dataBlock;
-		m_dataBlocks.pop_back();
-	}
-}
-
-// ----------------------------------------------------- //
-void b3BulletFile::parseData()
-{
-	//	printf ("Building datablocks");
-	//	printf ("Chunk size = %d",CHUNK_HEADER_LEN);
-	//	printf ("File chunk size = %d",ChunkUtils::getOffset(mFlags));
-
-	const bool brokenDNA = (mFlags & FD_BROKEN_DNA) != 0;
-
-	//const bool swap = (mFlags&FD_ENDIAN_SWAP)!=0;
-
-	mDataStart = 12;
-
-	char* dataPtr = mFileBuffer + mDataStart;
-
-	bChunkInd dataChunk;
-	dataChunk.code = 0;
-
-	//dataPtr += ChunkUtils::getNextBlock(&dataChunk, dataPtr, mFlags);
-	int seek = getNextBlock(&dataChunk, dataPtr, mFlags);
-
-	if (mFlags & FD_ENDIAN_SWAP)
-		swapLen(dataPtr);
-
-	//dataPtr += ChunkUtils::getOffset(mFlags);
-	char* dataPtrHead = 0;
-
-	while (dataChunk.code != B3_DNA1)
-	{
-		if (!brokenDNA || (dataChunk.code != B3_QUANTIZED_BVH_CODE))
-		{
-			// one behind
-			if (dataChunk.code == B3_SDNA) break;
-			//if (dataChunk.code == DNA1) break;
-
-			// same as (BHEAD+DATA dependency)
-			dataPtrHead = dataPtr + ChunkUtils::getOffset(mFlags);
-			if (dataChunk.dna_nr >= 0)
-			{
-				char* id = readStruct(dataPtrHead, dataChunk);
-
-				// lookup maps
-				if (id)
-				{
-					m_chunkPtrPtrMap.insert(dataChunk.oldPtr, dataChunk);
-					mLibPointers.insert(dataChunk.oldPtr, (bStructHandle*)id);
-
-					m_chunks.push_back(dataChunk);
-					// block it
-					//bListBasePtr *listID = mMain->getListBasePtr(dataChunk.code);
-					//if (listID)
-					//	listID->push_back((bStructHandle*)id);
-				}
-
-				if (dataChunk.code == B3_SOFTBODY_CODE)
-				{
-					m_softBodies.push_back((bStructHandle*)id);
-				}
-
-				if (dataChunk.code == B3_RIGIDBODY_CODE)
-				{
-					m_rigidBodies.push_back((bStructHandle*)id);
-				}
-
-				if (dataChunk.code == B3_DYNAMICSWORLD_CODE)
-				{
-					m_dynamicsWorldInfo.push_back((bStructHandle*)id);
-				}
-
-				if (dataChunk.code == B3_CONSTRAINT_CODE)
-				{
-					m_constraints.push_back((bStructHandle*)id);
-				}
-
-				if (dataChunk.code == B3_QUANTIZED_BVH_CODE)
-				{
-					m_bvhs.push_back((bStructHandle*)id);
-				}
-
-				if (dataChunk.code == B3_TRIANLGE_INFO_MAP)
-				{
-					m_triangleInfoMaps.push_back((bStructHandle*)id);
-				}
-
-				if (dataChunk.code == B3_COLLISIONOBJECT_CODE)
-				{
-					m_collisionObjects.push_back((bStructHandle*)id);
-				}
-
-				if (dataChunk.code == B3_SHAPE_CODE)
-				{
-					m_collisionShapes.push_back((bStructHandle*)id);
-				}
-
-				//		if (dataChunk.code == GLOB)
-				//		{
-				//			m_glob = (bStructHandle*) id;
-				//		}
-			}
-			else
-			{
-				//printf("unknown chunk\n");
-
-				mLibPointers.insert(dataChunk.oldPtr, (bStructHandle*)dataPtrHead);
-			}
-		}
-		else
-		{
-			printf("skipping B3_QUANTIZED_BVH_CODE due to broken DNA\n");
-		}
-
-		dataPtr += seek;
-
-		seek = getNextBlock(&dataChunk, dataPtr, mFlags);
-		if (mFlags & FD_ENDIAN_SWAP)
-			swapLen(dataPtr);
-
-		if (seek < 0)
-			break;
-	}
-}
-
-void b3BulletFile::addDataBlock(char* dataBlock)
-{
-	m_dataBlocks.push_back(dataBlock);
-}
-
-void b3BulletFile::writeDNA(FILE* fp)
-{
-	bChunkInd dataChunk;
-	dataChunk.code = B3_DNA1;
-	dataChunk.dna_nr = 0;
-	dataChunk.nr = 1;
-#ifdef B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-	if (VOID_IS_8)
-	{
-#ifdef _WIN64
-		dataChunk.len = b3s_bulletDNAlen64;
-		dataChunk.oldPtr = b3s_bulletDNAstr64;
-		fwrite(&dataChunk, sizeof(bChunkInd), 1, fp);
-		fwrite(b3s_bulletDNAstr64, b3s_bulletDNAlen64, 1, fp);
-#else
-		b3Assert(0);
-#endif
-	}
-	else
-	{
-#ifndef _WIN64
-		dataChunk.len = b3s_bulletDNAlen;
-		dataChunk.oldPtr = b3s_bulletDNAstr;
-		fwrite(&dataChunk, sizeof(bChunkInd), 1, fp);
-		fwrite(b3s_bulletDNAstr, b3s_bulletDNAlen, 1, fp);
-#else   //_WIN64
-		b3Assert(0);
-#endif  //_WIN64
-	}
-#else   //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-	if (VOID_IS_8)
-	{
-		dataChunk.len = b3s_bulletDNAlen64;
-		dataChunk.oldPtr = b3s_bulletDNAstr64;
-		fwrite(&dataChunk, sizeof(bChunkInd), 1, fp);
-		fwrite(b3s_bulletDNAstr64, b3s_bulletDNAlen64, 1, fp);
-	}
-	else
-	{
-		dataChunk.len = b3s_bulletDNAlen;
-		dataChunk.oldPtr = b3s_bulletDNAstr;
-		fwrite(&dataChunk, sizeof(bChunkInd), 1, fp);
-		fwrite(b3s_bulletDNAstr, b3s_bulletDNAlen, 1, fp);
-	}
-#endif  //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-}
-
-void b3BulletFile::parse(int verboseMode)
-{
-#ifdef B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-	if (VOID_IS_8)
-	{
-#ifdef _WIN64
-
-		if (m_DnaCopy)
-			delete m_DnaCopy;
-		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen64, 16);
-		memcpy(m_DnaCopy, b3s_bulletDNAstr64, b3s_bulletDNAlen64);
-		parseInternal(verboseMode, (char*)b3s_bulletDNAstr64, b3s_bulletDNAlen64);
-#else
-		b3Assert(0);
-#endif
-	}
-	else
-	{
-#ifndef _WIN64
-
-		if (m_DnaCopy)
-			delete m_DnaCopy;
-		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen, 16);
-		memcpy(m_DnaCopy, b3s_bulletDNAstr, b3s_bulletDNAlen);
-		parseInternal(verboseMode, m_DnaCopy, b3s_bulletDNAlen);
-#else
-		b3Assert(0);
-#endif
-	}
-#else   //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-	if (VOID_IS_8)
-	{
-		if (m_DnaCopy)
-			delete m_DnaCopy;
-		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen64, 16);
-		memcpy(m_DnaCopy, b3s_bulletDNAstr64, b3s_bulletDNAlen64);
-		parseInternal(verboseMode, m_DnaCopy, b3s_bulletDNAlen64);
-	}
-	else
-	{
-		if (m_DnaCopy)
-			delete m_DnaCopy;
-		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen, 16);
-		memcpy(m_DnaCopy, b3s_bulletDNAstr, b3s_bulletDNAlen);
-		parseInternal(verboseMode, m_DnaCopy, b3s_bulletDNAlen);
-	}
-#endif  //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-
-	//the parsing will convert to cpu endian
-	mFlags &= ~FD_ENDIAN_SWAP;
-
-	int littleEndian = 1;
-	littleEndian = ((char*)&littleEndian)[0];
-
-	mFileBuffer[8] = littleEndian ? 'v' : 'V';
-}
-
-// experimental
-int b3BulletFile::write(const char* fileName, bool fixupPointers)
-{
-	FILE* fp = fopen(fileName, "wb");
-	if (fp)
-	{
-		char header[B3_SIZEOFBLENDERHEADER];
-		memcpy(header, m_headerString, 7);
-		int endian = 1;
-		endian = ((char*)&endian)[0];
-
-		if (endian)
-		{
-			header[7] = '_';
-		}
-		else
-		{
-			header[7] = '-';
-		}
-		if (VOID_IS_8)
-		{
-			header[8] = 'V';
-		}
-		else
-		{
-			header[8] = 'v';
-		}
-
-		header[9] = '2';
-		header[10] = '7';
-		header[11] = '5';
-
-		fwrite(header, B3_SIZEOFBLENDERHEADER, 1, fp);
-
-		writeChunks(fp, fixupPointers);
-
-		writeDNA(fp);
-
-		fclose(fp);
-	}
-	else
-	{
-		printf("Error: cannot open file %s for writing\n", fileName);
-		return 0;
-	}
-	return 1;
-}
-
-void b3BulletFile::addStruct(const char* structType, void* data, int len, void* oldPtr, int code)
-{
-	bParse::bChunkInd dataChunk;
-	dataChunk.code = code;
-	dataChunk.nr = 1;
-	dataChunk.len = len;
-	dataChunk.dna_nr = mMemoryDNA->getReverseType(structType);
-	dataChunk.oldPtr = oldPtr;
-
-	///Perform structure size validation
-	short* structInfo = mMemoryDNA->getStruct(dataChunk.dna_nr);
-	int elemBytes;
-	elemBytes = mMemoryDNA->getLength(structInfo[0]);
-	//	int elemBytes = mMemoryDNA->getElementSize(structInfo[0],structInfo[1]);
-	assert(len == elemBytes);
-
-	mLibPointers.insert(dataChunk.oldPtr, (bStructHandle*)data);
-	m_chunks.push_back(dataChunk);
-}
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3BulletFile.h b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3BulletFile.h
deleted file mode 100644
index ede1d378ae..0000000000
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3BulletFile.h
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
-bParse
-Copyright (c) 2006-2010 Charlie C & Erwin Coumans  http://gamekit.googlecode.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_BULLET_FILE_H
-#define B3_BULLET_FILE_H
-
-#include "b3File.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-#include "b3Defines.h"
-
-#include "Bullet3Serialize/Bullet2FileLoader/b3Serializer.h"
-
-namespace bParse
-{
-// ----------------------------------------------------- //
-class b3BulletFile : public bFile
-{
-protected:
-	char* m_DnaCopy;
-
-public:
-	b3AlignedObjectArray<bStructHandle*> m_softBodies;
-
-	b3AlignedObjectArray<bStructHandle*> m_rigidBodies;
-
-	b3AlignedObjectArray<bStructHandle*> m_collisionObjects;
-
-	b3AlignedObjectArray<bStructHandle*> m_collisionShapes;
-
-	b3AlignedObjectArray<bStructHandle*> m_constraints;
-
-	b3AlignedObjectArray<bStructHandle*> m_bvhs;
-
-	b3AlignedObjectArray<bStructHandle*> m_triangleInfoMaps;
-
-	b3AlignedObjectArray<bStructHandle*> m_dynamicsWorldInfo;
-
-	b3AlignedObjectArray<char*> m_dataBlocks;
-	b3BulletFile();
-
-	b3BulletFile(const char* fileName);
-
-	b3BulletFile(char* memoryBuffer, int len);
-
-	virtual ~b3BulletFile();
-
-	virtual void addDataBlock(char* dataBlock);
-
-	// experimental
-	virtual int write(const char* fileName, bool fixupPointers = false);
-
-	virtual void parse(int verboseMode);
-
-	virtual void parseData();
-
-	virtual void writeDNA(FILE* fp);
-
-	void addStruct(const char* structType, void* data, int len, void* oldPtr, int code);
-};
-};  // namespace bParse
-
-#endif  //B3_BULLET_FILE_H
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Chunk.cpp b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Chunk.cpp
deleted file mode 100644
index ff75ff8cc4..0000000000
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Chunk.cpp
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
-bParse
-Copyright (c) 2006-2009 Charlie C & Erwin Coumans  http://gamekit.googlecode.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "b3Chunk.h"
-#include "b3Defines.h"
-#include "b3File.h"
-
-#if !defined(__CELLOS_LV2__) && !defined(__MWERKS__)
-#include <memory.h>
-#endif
-#include <string.h>
-
-using namespace bParse;
-
-// ----------------------------------------------------- //
-short ChunkUtils::swapShort(short sht)
-{
-	B3_SWITCH_SHORT(sht);
-	return sht;
-}
-
-// ----------------------------------------------------- //
-int ChunkUtils::swapInt(int inte)
-{
-	B3_SWITCH_INT(inte);
-	return inte;
-}
-
-// ----------------------------------------------------- //
-b3Long64 ChunkUtils::swapLong64(b3Long64 lng)
-{
-	B3_SWITCH_LONGINT(lng);
-	return lng;
-}
-
-// ----------------------------------------------------- //
-int ChunkUtils::getOffset(int flags)
-{
-	// if the file is saved in a
-	// different format, get the
-	// file's chunk size
-	int res = CHUNK_HEADER_LEN;
-
-	if (VOID_IS_8)
-	{
-		if (flags & FD_BITS_VARIES)
-			res = sizeof(bChunkPtr4);
-	}
-	else
-	{
-		if (flags & FD_BITS_VARIES)
-			res = sizeof(bChunkPtr8);
-	}
-	return res;
-}
-
-//eof
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Chunk.h b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Chunk.h
deleted file mode 100644
index c9d0f37d9e..0000000000
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Chunk.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/*
-bParse
-Copyright (c) 2006-2009 Charlie C & Erwin Coumans  http://gamekit.googlecode.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef __BCHUNK_H__
-#define __BCHUNK_H__
-
-#if defined(_WIN32) && !defined(__MINGW32__)
-#define b3Long64 __int64
-#elif defined(__MINGW32__)
-#include <stdint.h>
-#define b3Long64 int64_t
-#else
-#define b3Long64 long long
-#endif
-
-namespace bParse
-{
-// ----------------------------------------------------- //
-class bChunkPtr4
-{
-public:
-	bChunkPtr4() {}
-	int code;
-	int len;
-	union {
-		int m_uniqueInt;
-	};
-	int dna_nr;
-	int nr;
-};
-
-// ----------------------------------------------------- //
-class bChunkPtr8
-{
-public:
-	bChunkPtr8() {}
-	int code, len;
-	union {
-		b3Long64 oldPrev;
-		int m_uniqueInts[2];
-	};
-	int dna_nr, nr;
-};
-
-// ----------------------------------------------------- //
-class bChunkInd
-{
-public:
-	bChunkInd() {}
-	int code, len;
-	void *oldPtr;
-	int dna_nr, nr;
-};
-
-// ----------------------------------------------------- //
-class ChunkUtils
-{
-public:
-	// file chunk offset
-	static int getOffset(int flags);
-
-	// endian utils
-	static short swapShort(short sht);
-	static int swapInt(int inte);
-	static b3Long64 swapLong64(b3Long64 lng);
-};
-
-const int CHUNK_HEADER_LEN = ((sizeof(bChunkInd)));
-const bool VOID_IS_8 = ((sizeof(void *) == 8));
-}  // namespace bParse
-
-#endif  //__BCHUNK_H__
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Common.h b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Common.h
deleted file mode 100644
index 5884fad4d6..0000000000
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Common.h
+++ /dev/null
@@ -1,40 +0,0 @@
-/*
-bParse
-Copyright (c) 2006-2009 Charlie C & Erwin Coumans  http://gamekit.googlecode.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef __BCOMMON_H__
-#define __BCOMMON_H__
-
-#include <assert.h>
-//#include "bLog.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-#include "Bullet3Common/b3HashMap.h"
-
-namespace bParse
-{
-class bMain;
-class bFileData;
-class bFile;
-class bDNA;
-
-// delete void* undefined
-typedef struct bStructHandle
-{
-	int unused;
-} bStructHandle;
-typedef b3AlignedObjectArray<bStructHandle*> bListBasePtr;
-typedef b3HashMap<b3HashPtr, bStructHandle*> bPtrMap;
-}  // namespace bParse
-
-#endif  //__BCOMMON_H__
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3DNA.cpp b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3DNA.cpp
deleted file mode 100644
index 09c8f23859..0000000000
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3DNA.cpp
+++ /dev/null
@@ -1,616 +0,0 @@
-/*
-bParse
-Copyright (c) 2006-2009 Charlie C & Erwin Coumans  http://gamekit.googlecode.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-#include <assert.h>
-
-#include "b3DNA.h"
-#include "b3Chunk.h"
-#include <string.h>
-#include <stdlib.h>
-#include <stdio.h>
-
-//this define will force traversal of structures, to check backward (and forward) compatibility
-//#define TEST_BACKWARD_FORWARD_COMPATIBILITY
-
-using namespace bParse;
-
-// ----------------------------------------------------- //
-bDNA::bDNA()
-	: mPtrLen(0)
-{
-	// --
-}
-
-// ----------------------------------------------------- //
-bDNA::~bDNA()
-{
-	// --
-}
-
-// ----------------------------------------------------- //
-bool bDNA::lessThan(bDNA *file)
-{
-	return (m_Names.size() < file->m_Names.size());
-}
-
-// ----------------------------------------------------- //
-char *bDNA::getName(int ind)
-{
-	assert(ind <= (int)m_Names.size());
-	return m_Names[ind].m_name;
-}
-
-// ----------------------------------------------------- //
-char *bDNA::getType(int ind)
-{
-	assert(ind <= (int)mTypes.size());
-	return mTypes[ind];
-}
-
-// ----------------------------------------------------- //
-short *bDNA::getStruct(int ind)
-{
-	assert(ind <= (int)mStructs.size());
-	return mStructs[ind];
-}
-
-// ----------------------------------------------------- //
-short bDNA::getLength(int ind)
-{
-	assert(ind <= (int)mTlens.size());
-	return mTlens[ind];
-}
-
-// ----------------------------------------------------- //
-int bDNA::getReverseType(short type)
-{
-	int *intPtr = mStructReverse.find(type);
-	if (intPtr)
-		return *intPtr;
-
-	return -1;
-}
-
-// ----------------------------------------------------- //
-int bDNA::getReverseType(const char *type)
-{
-	b3HashString key(type);
-	int *valuePtr = mTypeLookup.find(key);
-	if (valuePtr)
-		return *valuePtr;
-
-	return -1;
-}
-
-// ----------------------------------------------------- //
-int bDNA::getNumStructs()
-{
-	return (int)mStructs.size();
-}
-
-// ----------------------------------------------------- //
-bool bDNA::flagNotEqual(int dna_nr)
-{
-	assert(dna_nr <= (int)mCMPFlags.size());
-	return mCMPFlags[dna_nr] == FDF_STRUCT_NEQU;
-}
-
-// ----------------------------------------------------- //
-bool bDNA::flagEqual(int dna_nr)
-{
-	assert(dna_nr <= (int)mCMPFlags.size());
-	int flag = mCMPFlags[dna_nr];
-	return flag == FDF_STRUCT_EQU;
-}
-
-// ----------------------------------------------------- //
-bool bDNA::flagNone(int dna_nr)
-{
-	assert(dna_nr <= (int)mCMPFlags.size());
-	return mCMPFlags[dna_nr] == FDF_NONE;
-}
-
-// ----------------------------------------------------- //
-int bDNA::getPointerSize()
-{
-	return mPtrLen;
-}
-
-// ----------------------------------------------------- //
-void bDNA::initRecurseCmpFlags(int iter)
-{
-	// iter is FDF_STRUCT_NEQU
-
-	short *oldStrc = mStructs[iter];
-	short type = oldStrc[0];
-
-	for (int i = 0; i < (int)mStructs.size(); i++)
-	{
-		if (i != iter && mCMPFlags[i] == FDF_STRUCT_EQU)
-		{
-			short *curStruct = mStructs[i];
-			int eleLen = curStruct[1];
-			curStruct += 2;
-
-			for (int j = 0; j < eleLen; j++, curStruct += 2)
-			{
-				if (curStruct[0] == type)
-				{
-					//char *name = m_Names[curStruct[1]].m_name;
-					//if (name[0] != '*')
-					if (m_Names[curStruct[1]].m_isPointer)
-					{
-						mCMPFlags[i] = FDF_STRUCT_NEQU;
-						initRecurseCmpFlags(i);
-					}
-				}
-			}
-		}
-	}
-}
-
-// ----------------------------------------------------- //
-void bDNA::initCmpFlags(bDNA *memDNA)
-{
-	// compare the file to memory
-	// this ptr should be the file data
-
-	assert(!(m_Names.size() == 0));  // && "SDNA empty!");
-	mCMPFlags.resize(mStructs.size(), FDF_NONE);
-
-	int i;
-	for (i = 0; i < (int)mStructs.size(); i++)
-	{
-		short *oldStruct = mStructs[i];
-
-		int oldLookup = getReverseType(oldStruct[0]);
-		if (oldLookup == -1)
-		{
-			mCMPFlags[i] = FDF_NONE;
-			continue;
-		}
-		//char* typeName = mTypes[oldStruct[0]];
-
-//#define SLOW_FORWARD_COMPATIBLE 1
-#ifdef SLOW_FORWARD_COMPATIBLE
-		char *typeName = mTypes[oldLookup];
-		int newLookup = memDNA->getReverseType(typeName);
-		if (newLookup == -1)
-		{
-			mCMPFlags[i] = FDF_NONE;
-			continue;
-		}
-		short *curStruct = memDNA->mStructs[newLookup];
-#else
-		// memory for file
-
-		if (oldLookup < memDNA->mStructs.size())
-		{
-			short *curStruct = memDNA->mStructs[oldLookup];
-#endif
-
-		// rebuild...
-		mCMPFlags[i] = FDF_STRUCT_NEQU;
-
-#ifndef TEST_BACKWARD_FORWARD_COMPATIBILITY
-
-		if (curStruct[1] == oldStruct[1])
-		{
-			// type len same ...
-			if (mTlens[oldStruct[0]] == memDNA->mTlens[curStruct[0]])
-			{
-				bool isSame = true;
-				int elementLength = oldStruct[1];
-
-				curStruct += 2;
-				oldStruct += 2;
-
-				for (int j = 0; j < elementLength; j++, curStruct += 2, oldStruct += 2)
-				{
-					// type the same
-					//const char* typeFileDNA = mTypes[oldStruct[0]];
-					//const char* typeMemDNA = mTypes[curStruct[0]];
-					if (strcmp(mTypes[oldStruct[0]], memDNA->mTypes[curStruct[0]]) != 0)
-					{
-						isSame = false;
-						break;
-					}
-
-					// name the same
-					if (strcmp(m_Names[oldStruct[1]].m_name, memDNA->m_Names[curStruct[1]].m_name) != 0)
-					{
-						isSame = false;
-						break;
-					}
-				}
-				// flag valid ==
-				if (isSame)
-					mCMPFlags[i] = FDF_STRUCT_EQU;
-			}
-		}
-#endif
-	}
-}
-
-// recurse in
-for (i = 0; i < (int)mStructs.size(); i++)
-{
-	if (mCMPFlags[i] == FDF_STRUCT_NEQU)
-		initRecurseCmpFlags(i);
-}
-}
-
-static int name_is_array(char *name, int *dim1, int *dim2)
-{
-	int len = strlen(name);
-	/*fprintf(stderr,"[%s]",name);*/
-	/*if (len >= 1) {
-	if (name[len-1] != ']')
-	return 1;
-	}
-	return 0;*/
-	char *bp;
-	int num;
-	if (dim1)
-	{
-		*dim1 = 1;
-	}
-	if (dim2)
-	{
-		*dim2 = 1;
-	}
-	bp = strchr(name, '[');
-	if (!bp)
-	{
-		return 0;
-	}
-	num = 0;
-	while (++bp < name + len - 1)
-	{
-		const char c = *bp;
-		if (c == ']')
-		{
-			break;
-		}
-		if (c <= '9' && c >= '0')
-		{
-			num *= 10;
-			num += (c - '0');
-		}
-		else
-		{
-			printf("array parse error.\n");
-			return 0;
-		}
-	}
-	if (dim2)
-	{
-		*dim2 = num;
-	}
-
-	/* find second dim, if any. */
-	bp = strchr(bp, '[');
-	if (!bp)
-	{
-		return 1; /* at least we got the first dim. */
-	}
-	num = 0;
-	while (++bp < name + len - 1)
-	{
-		const char c = *bp;
-		if (c == ']')
-		{
-			break;
-		}
-		if (c <= '9' && c >= '0')
-		{
-			num *= 10;
-			num += (c - '0');
-		}
-		else
-		{
-			printf("array2 parse error.\n");
-			return 1;
-		}
-	}
-	if (dim1)
-	{
-		if (dim2)
-		{
-			*dim1 = *dim2;
-			*dim2 = num;
-		}
-		else
-		{
-			*dim1 = num;
-		}
-	}
-
-	return 1;
-}
-
-// ----------------------------------------------------- //
-void bDNA::init(char *data, int len, bool swap)
-{
-	int *intPtr = 0;
-	short *shtPtr = 0;
-	char *cp = 0;
-	int dataLen = 0;
-	//long nr=0;
-	intPtr = (int *)data;
-
-	/*
-		SDNA (4 bytes) (magic number)
-		NAME (4 bytes)
-		<nr> (4 bytes) amount of names (int)
-		<string>
-		<string>
-	*/
-
-	if (strncmp(data, "SDNA", 4) == 0)
-	{
-		// skip ++ NAME
-		intPtr++;
-		intPtr++;
-	}
-
-	// Parse names
-	if (swap)
-	{
-		*intPtr = ChunkUtils::swapInt(*intPtr);
-	}
-	dataLen = *intPtr;
-	intPtr++;
-
-	cp = (char *)intPtr;
-	int i;
-	for (i = 0; i < dataLen; i++)
-	{
-		bNameInfo info;
-		info.m_name = cp;
-		info.m_isPointer = (info.m_name[0] == '*') || (info.m_name[1] == '*');
-		name_is_array(info.m_name, &info.m_dim0, &info.m_dim1);
-		m_Names.push_back(info);
-		while (*cp) cp++;
-		cp++;
-	}
-
-	cp = b3AlignPointer(cp, 4);
-
-	/*
-		TYPE (4 bytes)
-		<nr> amount of types (int)
-		<string>
-		<string>
-	*/
-
-	intPtr = (int *)cp;
-	assert(strncmp(cp, "TYPE", 4) == 0);
-	intPtr++;
-
-	if (swap)
-	{
-		*intPtr = ChunkUtils::swapInt(*intPtr);
-	}
-	dataLen = *intPtr;
-	intPtr++;
-
-	cp = (char *)intPtr;
-	for (i = 0; i < dataLen; i++)
-	{
-		mTypes.push_back(cp);
-		while (*cp) cp++;
-		cp++;
-	}
-
-	cp = b3AlignPointer(cp, 4);
-
-	/*
-		TLEN (4 bytes)
-		<len> (short) the lengths of types
-		<len>
-	*/
-
-	// Parse type lens
-	intPtr = (int *)cp;
-	assert(strncmp(cp, "TLEN", 4) == 0);
-	intPtr++;
-
-	dataLen = (int)mTypes.size();
-
-	shtPtr = (short *)intPtr;
-	for (i = 0; i < dataLen; i++, shtPtr++)
-	{
-		if (swap)
-			shtPtr[0] = ChunkUtils::swapShort(shtPtr[0]);
-		mTlens.push_back(shtPtr[0]);
-	}
-
-	if (dataLen & 1) shtPtr++;
-
-	/*
-		STRC (4 bytes)
-		<nr> amount of structs (int)
-		<typenr>
-		<nr_of_elems>
-		<typenr>
-		<namenr>
-		<typenr>
-		<namenr>
-	*/
-
-	intPtr = (int *)shtPtr;
-	cp = (char *)intPtr;
-	assert(strncmp(cp, "STRC", 4) == 0);
-	intPtr++;
-
-	if (swap)
-	{
-		*intPtr = ChunkUtils::swapInt(*intPtr);
-	}
-	dataLen = *intPtr;
-	intPtr++;
-
-	shtPtr = (short *)intPtr;
-	for (i = 0; i < dataLen; i++)
-	{
-		mStructs.push_back(shtPtr);
-		if (swap)
-		{
-			shtPtr[0] = ChunkUtils::swapShort(shtPtr[0]);
-			shtPtr[1] = ChunkUtils::swapShort(shtPtr[1]);
-
-			int len = shtPtr[1];
-			shtPtr += 2;
-
-			for (int a = 0; a < len; a++, shtPtr += 2)
-			{
-				shtPtr[0] = ChunkUtils::swapShort(shtPtr[0]);
-				shtPtr[1] = ChunkUtils::swapShort(shtPtr[1]);
-			}
-		}
-		else
-			shtPtr += (2 * shtPtr[1]) + 2;
-	}
-
-	// build reverse lookups
-	for (i = 0; i < (int)mStructs.size(); i++)
-	{
-		short *strc = mStructs.at(i);
-		if (!mPtrLen && strcmp(mTypes[strc[0]], "ListBase") == 0)
-		{
-			mPtrLen = mTlens[strc[0]] / 2;
-		}
-
-		mStructReverse.insert(strc[0], i);
-		mTypeLookup.insert(b3HashString(mTypes[strc[0]]), i);
-	}
-}
-
-// ----------------------------------------------------- //
-int bDNA::getArraySize(char *string)
-{
-	int ret = 1;
-	int len = strlen(string);
-
-	char *next = 0;
-	for (int i = 0; i < len; i++)
-	{
-		char c = string[i];
-
-		if (c == '[')
-			next = &string[i + 1];
-		else if (c == ']')
-			if (next)
-				ret *= atoi(next);
-	}
-
-	//	print (string << ' ' << ret);
-	return ret;
-}
-
-void bDNA::dumpTypeDefinitions()
-{
-	int i;
-
-	int numTypes = mTypes.size();
-
-	for (i = 0; i < numTypes; i++)
-	{
-	}
-
-	for (i = 0; i < (int)mStructs.size(); i++)
-	{
-		int totalBytes = 0;
-		short *oldStruct = mStructs[i];
-
-		int oldLookup = getReverseType(oldStruct[0]);
-		if (oldLookup == -1)
-		{
-			mCMPFlags[i] = FDF_NONE;
-			continue;
-		}
-
-		short *newStruct = mStructs[oldLookup];
-		char *typeName = mTypes[newStruct[0]];
-		printf("%3d: %s ", i, typeName);
-
-		//char *name = mNames[oldStruct[1]];
-		int len = oldStruct[1];
-		printf(" (%d fields) ", len);
-		oldStruct += 2;
-
-		printf("{");
-		int j;
-		for (j = 0; j < len; ++j, oldStruct += 2)
-		{
-			const char *name = m_Names[oldStruct[1]].m_name;
-			printf("%s %s", mTypes[oldStruct[0]], name);
-			int elemNumBytes = 0;
-			int arrayDimensions = getArraySizeNew(oldStruct[1]);
-
-			if (m_Names[oldStruct[1]].m_isPointer)
-			{
-				elemNumBytes = VOID_IS_8 ? 8 : 4;
-			}
-			else
-			{
-				elemNumBytes = getLength(oldStruct[0]);
-			}
-			printf(" /* %d bytes */", elemNumBytes * arrayDimensions);
-
-			if (j == len - 1)
-			{
-				printf(";}");
-			}
-			else
-			{
-				printf("; ");
-			}
-			totalBytes += elemNumBytes * arrayDimensions;
-		}
-		printf("\ntotalBytes=%d\n\n", totalBytes);
-	}
-
-#if 0
-	/* dump out display of types and their sizes */
-	for (i=0; i<bf->types_count; ++i) {
-		/* if (!bf->types[i].is_struct)*/
-		{
-			printf("%3d: sizeof(%s%s)=%d",
-				i,
-				bf->types[i].is_struct ? "struct " : "atomic ",
-				bf->types[i].name, bf->types[i].size);
-			if (bf->types[i].is_struct) {
-				int j;
-				printf(", %d fields: { ", bf->types[i].fieldtypes_count);
-				for (j=0; j<bf->types[i].fieldtypes_count; ++j) {
-					printf("%s %s",
-						bf->types[bf->types[i].fieldtypes[j]].name,
-						bf->names[bf->types[i].fieldnames[j]]);
-					if (j == bf->types[i].fieldtypes_count-1) {
-						printf(";}");
-					} else {
-						printf("; ");
-					}
-				}
-			}
-			printf("\n\n");
-
-		}
-	}
-#endif
-}
-
-//eof
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3DNA.h b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3DNA.h
deleted file mode 100644
index ca6004d960..0000000000
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3DNA.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/*
-bParse
-Copyright (c) 2006-2009 Charlie C & Erwin Coumans  http://gamekit.googlecode.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef __BDNA_H__
-#define __BDNA_H__
-
-#include "b3Common.h"
-
-namespace bParse
-{
-struct bNameInfo
-{
-	char *m_name;
-	bool m_isPointer;
-	int m_dim0;
-	int m_dim1;
-};
-
-class bDNA
-{
-public:
-	bDNA();
-	~bDNA();
-
-	void init(char *data, int len, bool swap = false);
-
-	int getArraySize(char *str);
-	int getArraySizeNew(short name)
-	{
-		const bNameInfo &nameInfo = m_Names[name];
-		return nameInfo.m_dim0 * nameInfo.m_dim1;
-	}
-	int getElementSize(short type, short name)
-	{
-		const bNameInfo &nameInfo = m_Names[name];
-		int size = nameInfo.m_isPointer ? mPtrLen * nameInfo.m_dim0 * nameInfo.m_dim1 : mTlens[type] * nameInfo.m_dim0 * nameInfo.m_dim1;
-		return size;
-	}
-
-	int getNumNames() const
-	{
-		return m_Names.size();
-	}
-
-	char *getName(int ind);
-	char *getType(int ind);
-	short *getStruct(int ind);
-	short getLength(int ind);
-	int getReverseType(short type);
-	int getReverseType(const char *type);
-
-	int getNumStructs();
-
-	//
-	bool lessThan(bDNA *other);
-
-	void initCmpFlags(bDNA *memDNA);
-	bool flagNotEqual(int dna_nr);
-	bool flagEqual(int dna_nr);
-	bool flagNone(int dna_nr);
-
-	int getPointerSize();
-
-	void dumpTypeDefinitions();
-
-private:
-	enum FileDNAFlags
-	{
-		FDF_NONE = 0,
-		FDF_STRUCT_NEQU,
-		FDF_STRUCT_EQU
-	};
-
-	void initRecurseCmpFlags(int i);
-
-	b3AlignedObjectArray<int> mCMPFlags;
-
-	b3AlignedObjectArray<bNameInfo> m_Names;
-	b3AlignedObjectArray<char *> mTypes;
-	b3AlignedObjectArray<short *> mStructs;
-	b3AlignedObjectArray<short> mTlens;
-	b3HashMap<b3HashInt, int> mStructReverse;
-	b3HashMap<b3HashString, int> mTypeLookup;
-
-	int mPtrLen;
-};
-}  // namespace bParse
-
-#endif  //__BDNA_H__
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Defines.h b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Defines.h
deleted file mode 100644
index 0524c94db1..0000000000
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Defines.h
+++ /dev/null
@@ -1,149 +0,0 @@
-/* Copyright (C) 2006-2009 Charlie C & Erwin Coumans http://gamekit.googlecode.com
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-*
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-*
-* 1. The origin of this software must not be misrepresented; you must not
-*    claim that you wrote the original software. If you use this software
-*    in a product, an acknowledgment in the product documentation would be
-*    appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-*    misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-#ifndef __B_DEFINES_H__
-#define __B_DEFINES_H__
-
-// MISC defines, see BKE_global.h, BKE_utildefines.h
-#define B3_SIZEOFBLENDERHEADER 12
-
-// ------------------------------------------------------------
-#if defined(__sgi) || defined(__sparc) || defined(__sparc__) || defined(__PPC__) || defined(__ppc__) || defined(__BIG_ENDIAN__)
-#define B3_MAKE_ID(a, b, c, d) ((int)(a) << 24 | (int)(b) << 16 | (c) << 8 | (d))
-#else
-#define B3_MAKE_ID(a, b, c, d) ((int)(d) << 24 | (int)(c) << 16 | (b) << 8 | (a))
-#endif
-
-// ------------------------------------------------------------
-#if defined(__sgi) || defined(__sparc) || defined(__sparc__) || defined(__PPC__) || defined(__ppc__) || defined(__BIG_ENDIAN__)
-#define B3_MAKE_ID2(c, d) ((c) << 8 | (d))
-#else
-#define B3_MAKE_ID2(c, d) ((d) << 8 | (c))
-#endif
-
-// ------------------------------------------------------------
-#define B3_ID_SCE B3_MAKE_ID2('S', 'C')
-#define B3_ID_LI B3_MAKE_ID2('L', 'I')
-#define B3_ID_OB B3_MAKE_ID2('O', 'B')
-#define B3_ID_ME B3_MAKE_ID2('M', 'E')
-#define B3_ID_CU B3_MAKE_ID2('C', 'U')
-#define B3_ID_MB B3_MAKE_ID2('M', 'B')
-#define B3_ID_MA B3_MAKE_ID2('M', 'A')
-#define B3_ID_TE B3_MAKE_ID2('T', 'E')
-#define B3_ID_IM B3_MAKE_ID2('I', 'M')
-#define B3_ID_IK B3_MAKE_ID2('I', 'K')
-#define B3_ID_WV B3_MAKE_ID2('W', 'V')
-#define B3_ID_LT B3_MAKE_ID2('L', 'T')
-#define B3_ID_SE B3_MAKE_ID2('S', 'E')
-#define B3_ID_LF B3_MAKE_ID2('L', 'F')
-#define B3_ID_LA B3_MAKE_ID2('L', 'A')
-#define B3_ID_CA B3_MAKE_ID2('C', 'A')
-#define B3_ID_IP B3_MAKE_ID2('I', 'P')
-#define B3_ID_KE B3_MAKE_ID2('K', 'E')
-#define B3_ID_WO B3_MAKE_ID2('W', 'O')
-#define B3_ID_SCR B3_MAKE_ID2('S', 'R')
-#define B3_ID_VF B3_MAKE_ID2('V', 'F')
-#define B3_ID_TXT B3_MAKE_ID2('T', 'X')
-#define B3_ID_SO B3_MAKE_ID2('S', 'O')
-#define B3_ID_SAMPLE B3_MAKE_ID2('S', 'A')
-#define B3_ID_GR B3_MAKE_ID2('G', 'R')
-#define B3_ID_ID B3_MAKE_ID2('I', 'D')
-#define B3_ID_AR B3_MAKE_ID2('A', 'R')
-#define B3_ID_AC B3_MAKE_ID2('A', 'C')
-#define B3_ID_SCRIPT B3_MAKE_ID2('P', 'Y')
-#define B3_ID_FLUIDSIM B3_MAKE_ID2('F', 'S')
-#define B3_ID_NT B3_MAKE_ID2('N', 'T')
-#define B3_ID_BR B3_MAKE_ID2('B', 'R')
-
-#define B3_ID_SEQ B3_MAKE_ID2('S', 'Q')
-#define B3_ID_CO B3_MAKE_ID2('C', 'O')
-#define B3_ID_PO B3_MAKE_ID2('A', 'C')
-#define B3_ID_NLA B3_MAKE_ID2('N', 'L')
-
-#define B3_ID_VS B3_MAKE_ID2('V', 'S')
-#define B3_ID_VN B3_MAKE_ID2('V', 'N')
-
-// ------------------------------------------------------------
-#define B3_FORM B3_MAKE_ID('F', 'O', 'R', 'M')
-#define B3_DDG1 B3_MAKE_ID('3', 'D', 'G', '1')
-#define B3_DDG2 B3_MAKE_ID('3', 'D', 'G', '2')
-#define B3_DDG3 B3_MAKE_ID('3', 'D', 'G', '3')
-#define B3_DDG4 B3_MAKE_ID('3', 'D', 'G', '4')
-#define B3_GOUR B3_MAKE_ID('G', 'O', 'U', 'R')
-#define B3_BLEN B3_MAKE_ID('B', 'L', 'E', 'N')
-#define B3_DER_ B3_MAKE_ID('D', 'E', 'R', '_')
-#define B3_V100 B3_MAKE_ID('V', '1', '0', '0')
-#define B3_DATA B3_MAKE_ID('D', 'A', 'T', 'A')
-#define B3_GLOB B3_MAKE_ID('G', 'L', 'O', 'B')
-#define B3_IMAG B3_MAKE_ID('I', 'M', 'A', 'G')
-#define B3_TEST B3_MAKE_ID('T', 'E', 'S', 'T')
-#define B3_USER B3_MAKE_ID('U', 'S', 'E', 'R')
-
-// ------------------------------------------------------------
-#define B3_DNA1 B3_MAKE_ID('D', 'N', 'A', '1')
-#define B3_REND B3_MAKE_ID('R', 'E', 'N', 'D')
-#define B3_ENDB B3_MAKE_ID('E', 'N', 'D', 'B')
-#define B3_NAME B3_MAKE_ID('N', 'A', 'M', 'E')
-#define B3_SDNA B3_MAKE_ID('S', 'D', 'N', 'A')
-#define B3_TYPE B3_MAKE_ID('T', 'Y', 'P', 'E')
-#define B3_TLEN B3_MAKE_ID('T', 'L', 'E', 'N')
-#define B3_STRC B3_MAKE_ID('S', 'T', 'R', 'C')
-
-// ------------------------------------------------------------
-#define B3_SWITCH_INT(a)    \
-	{                       \
-		char s_i, *p_i;     \
-		p_i = (char *)&(a); \
-		s_i = p_i[0];       \
-		p_i[0] = p_i[3];    \
-		p_i[3] = s_i;       \
-		s_i = p_i[1];       \
-		p_i[1] = p_i[2];    \
-		p_i[2] = s_i;       \
-	}
-
-// ------------------------------------------------------------
-#define B3_SWITCH_SHORT(a)  \
-	{                       \
-		char s_i, *p_i;     \
-		p_i = (char *)&(a); \
-		s_i = p_i[0];       \
-		p_i[0] = p_i[1];    \
-		p_i[1] = s_i;       \
-	}
-
-// ------------------------------------------------------------
-#define B3_SWITCH_LONGINT(a) \
-	{                        \
-		char s_i, *p_i;      \
-		p_i = (char *)&(a);  \
-		s_i = p_i[0];        \
-		p_i[0] = p_i[7];     \
-		p_i[7] = s_i;        \
-		s_i = p_i[1];        \
-		p_i[1] = p_i[6];     \
-		p_i[6] = s_i;        \
-		s_i = p_i[2];        \
-		p_i[2] = p_i[5];     \
-		p_i[5] = s_i;        \
-		s_i = p_i[3];        \
-		p_i[3] = p_i[4];     \
-		p_i[4] = s_i;        \
-	}
-
-#endif  //__B_DEFINES_H__
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3File.cpp b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3File.cpp
deleted file mode 100644
index f6c779a919..0000000000
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3File.cpp
+++ /dev/null
@@ -1,1653 +0,0 @@
-/*
-bParse
-Copyright (c) 2006-2009 Charlie C & Erwin Coumans  http://gamekit.googlecode.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-#include "b3File.h"
-#include "b3Common.h"
-#include "b3Chunk.h"
-#include "b3DNA.h"
-#include <math.h>
-#include <string.h>
-#include <stdlib.h>
-#include "b3Defines.h"
-#include "Bullet3Serialize/Bullet2FileLoader/b3Serializer.h"
-#include "Bullet3Common/b3AlignedAllocator.h"
-#include "Bullet3Common/b3MinMax.h"
-
-#define B3_SIZEOFBLENDERHEADER 12
-#define MAX_ARRAY_LENGTH 512
-using namespace bParse;
-#define MAX_STRLEN 1024
-
-const char *getCleanName(const char *memName, char *buffer)
-{
-	int slen = strlen(memName);
-	assert(slen < MAX_STRLEN);
-	slen = b3Min(slen, MAX_STRLEN);
-	for (int i = 0; i < slen; i++)
-	{
-		if (memName[i] == ']' || memName[i] == '[')
-		{
-			buffer[i] = 0;  //'_';
-		}
-		else
-		{
-			buffer[i] = memName[i];
-		}
-	}
-	buffer[slen] = 0;
-	return buffer;
-}
-
-// ----------------------------------------------------- //
-bFile::bFile(const char *filename, const char headerString[7])
-	: mOwnsBuffer(true),
-	  mFileBuffer(0),
-	  mFileLen(0),
-	  mVersion(0),
-	  mDataStart(0),
-	  mFileDNA(0),
-	  mMemoryDNA(0),
-	  mFlags(FD_INVALID)
-{
-	for (int i = 0; i < 7; i++)
-	{
-		m_headerString[i] = headerString[i];
-	}
-
-	FILE *fp = fopen(filename, "rb");
-	if (fp)
-	{
-		fseek(fp, 0L, SEEK_END);
-		mFileLen = ftell(fp);
-		fseek(fp, 0L, SEEK_SET);
-
-		mFileBuffer = (char *)malloc(mFileLen + 1);
-		int bytesRead;
-		bytesRead = fread(mFileBuffer, mFileLen, 1, fp);
-
-		fclose(fp);
-
-		//
-		parseHeader();
-	}
-}
-
-// ----------------------------------------------------- //
-bFile::bFile(char *memoryBuffer, int len, const char headerString[7])
-	: mOwnsBuffer(false),
-	  mFileBuffer(0),
-	  mFileLen(0),
-	  mVersion(0),
-	  mDataStart(0),
-	  mFileDNA(0),
-	  mMemoryDNA(0),
-	  mFlags(FD_INVALID)
-{
-	for (int i = 0; i < 7; i++)
-	{
-		m_headerString[i] = headerString[i];
-	}
-	mFileBuffer = memoryBuffer;
-	mFileLen = len;
-
-	parseHeader();
-}
-
-// ----------------------------------------------------- //
-bFile::~bFile()
-{
-	if (mOwnsBuffer && mFileBuffer)
-	{
-		free(mFileBuffer);
-		mFileBuffer = 0;
-	}
-
-	delete mMemoryDNA;
-	delete mFileDNA;
-}
-
-// ----------------------------------------------------- //
-void bFile::parseHeader()
-{
-	if (!mFileLen || !mFileBuffer)
-		return;
-
-	char *blenderBuf = mFileBuffer;
-	char header[B3_SIZEOFBLENDERHEADER + 1];
-	memcpy(header, blenderBuf, B3_SIZEOFBLENDERHEADER);
-	header[B3_SIZEOFBLENDERHEADER] = '\0';
-
-	if (strncmp(header, m_headerString, 6) != 0)
-	{
-		memcpy(header, m_headerString, B3_SIZEOFBLENDERHEADER);
-		return;
-	}
-
-	if (header[6] == 'd')
-	{
-		mFlags |= FD_DOUBLE_PRECISION;
-	}
-
-	char *ver = header + 9;
-	mVersion = atoi(ver);
-	if (mVersion <= 241)
-	{
-		//printf("Warning, %d not fully tested : <= 242\n", mVersion);
-	}
-
-	int littleEndian = 1;
-	littleEndian = ((char *)&littleEndian)[0];
-
-	// swap ptr sizes...
-	if (header[7] == '-')
-	{
-		mFlags |= FD_FILE_64;
-		if (!VOID_IS_8)
-			mFlags |= FD_BITS_VARIES;
-	}
-	else if (VOID_IS_8)
-		mFlags |= FD_BITS_VARIES;
-
-	// swap endian...
-	if (header[8] == 'V')
-	{
-		if (littleEndian == 1)
-			mFlags |= FD_ENDIAN_SWAP;
-	}
-	else if (littleEndian == 0)
-		mFlags |= FD_ENDIAN_SWAP;
-
-	mFlags |= FD_OK;
-}
-
-// ----------------------------------------------------- //
-bool bFile::ok()
-{
-	return (mFlags & FD_OK) != 0;
-}
-
-// ----------------------------------------------------- //
-void bFile::parseInternal(int verboseMode, char *memDna, int memDnaLength)
-{
-	if ((mFlags & FD_OK) == 0)
-		return;
-
-	char *blenderData = mFileBuffer;
-	bChunkInd dna;
-	dna.oldPtr = 0;
-
-	char *tempBuffer = blenderData;
-	for (int i = 0; i < mFileLen; i++)
-	{
-		// looking for the data's starting position
-		// and the start of SDNA decls
-
-		if (!mDataStart && strncmp(tempBuffer, "REND", 4) == 0)
-			mDataStart = i;
-
-		if (strncmp(tempBuffer, "DNA1", 4) == 0)
-		{
-			// read the DNA1 block and extract SDNA
-			if (getNextBlock(&dna, tempBuffer, mFlags) > 0)
-			{
-				if (strncmp((tempBuffer + ChunkUtils::getOffset(mFlags)), "SDNANAME", 8) == 0)
-					dna.oldPtr = (tempBuffer + ChunkUtils::getOffset(mFlags));
-				else
-					dna.oldPtr = 0;
-			}
-			else
-				dna.oldPtr = 0;
-		}
-		// Some Bullet files are missing the DNA1 block
-		// In Blender it's DNA1 + ChunkUtils::getOffset() + SDNA + NAME
-		// In Bullet tests its SDNA + NAME
-		else if (strncmp(tempBuffer, "SDNANAME", 8) == 0)
-		{
-			dna.oldPtr = blenderData + i;
-			dna.len = mFileLen - i;
-
-			// Also no REND block, so exit now.
-			if (mVersion == 276) break;
-		}
-
-		if (mDataStart && dna.oldPtr) break;
-		tempBuffer++;
-	}
-	if (!dna.oldPtr || !dna.len)
-	{
-		//printf("Failed to find DNA1+SDNA pair\n");
-		mFlags &= ~FD_OK;
-		return;
-	}
-
-	mFileDNA = new bDNA();
-
-	///mFileDNA->init will convert part of DNA file endianness to current CPU endianness if necessary
-	mFileDNA->init((char *)dna.oldPtr, dna.len, (mFlags & FD_ENDIAN_SWAP) != 0);
-
-	if (mVersion == 276)
-	{
-		int i;
-		for (i = 0; i < mFileDNA->getNumNames(); i++)
-		{
-			if (strcmp(mFileDNA->getName(i), "int") == 0)
-			{
-				mFlags |= FD_BROKEN_DNA;
-			}
-		}
-		if ((mFlags & FD_BROKEN_DNA) != 0)
-		{
-			//printf("warning: fixing some broken DNA version\n");
-		}
-	}
-
-	if (verboseMode & FD_VERBOSE_DUMP_DNA_TYPE_DEFINITIONS)
-		mFileDNA->dumpTypeDefinitions();
-
-	mMemoryDNA = new bDNA();
-	int littleEndian = 1;
-	littleEndian = ((char *)&littleEndian)[0];
-
-	mMemoryDNA->init(memDna, memDnaLength, littleEndian == 0);
-
-	///@todo we need a better version check, add version/sub version info from FileGlobal into memory DNA/header files
-	if (mMemoryDNA->getNumNames() != mFileDNA->getNumNames())
-	{
-		mFlags |= FD_VERSION_VARIES;
-		//printf ("Warning, file DNA is different than built in, performance is reduced. Best to re-export file with a matching version/platform");
-	}
-
-	// as long as it kept up to date it will be ok!!
-	if (mMemoryDNA->lessThan(mFileDNA))
-	{
-		//printf ("Warning, file DNA is newer than built in.");
-	}
-
-	mFileDNA->initCmpFlags(mMemoryDNA);
-
-	parseData();
-
-	resolvePointers(verboseMode);
-
-	updateOldPointers();
-}
-
-// ----------------------------------------------------- //
-void bFile::swap(char *head, bChunkInd &dataChunk, bool ignoreEndianFlag)
-{
-	char *data = head;
-	short *strc = mFileDNA->getStruct(dataChunk.dna_nr);
-
-	const char s[] = "SoftBodyMaterialData";
-	int szs = sizeof(s);
-	if (strncmp((char *)&dataChunk.code, "ARAY", 4) == 0)
-	{
-		short *oldStruct = mFileDNA->getStruct(dataChunk.dna_nr);
-		char *oldType = mFileDNA->getType(oldStruct[0]);
-		if (strncmp(oldType, s, szs) == 0)
-		{
-			return;
-		}
-	}
-
-	int len = mFileDNA->getLength(strc[0]);
-
-	for (int i = 0; i < dataChunk.nr; i++)
-	{
-		swapStruct(dataChunk.dna_nr, data, ignoreEndianFlag);
-		data += len;
-	}
-}
-
-void bFile::swapLen(char *dataPtr)
-{
-	const bool VOID_IS_8 = ((sizeof(void *) == 8));
-	if (VOID_IS_8)
-	{
-		if (mFlags & FD_BITS_VARIES)
-		{
-			bChunkPtr4 *c = (bChunkPtr4 *)dataPtr;
-			if ((c->code & 0xFFFF) == 0)
-				c->code >>= 16;
-			B3_SWITCH_INT(c->len);
-			B3_SWITCH_INT(c->dna_nr);
-			B3_SWITCH_INT(c->nr);
-		}
-		else
-		{
-			bChunkPtr8 *c = (bChunkPtr8 *)dataPtr;
-			if ((c->code & 0xFFFF) == 0)
-				c->code >>= 16;
-			B3_SWITCH_INT(c->len);
-			B3_SWITCH_INT(c->dna_nr);
-			B3_SWITCH_INT(c->nr);
-		}
-	}
-	else
-	{
-		if (mFlags & FD_BITS_VARIES)
-		{
-			bChunkPtr8 *c = (bChunkPtr8 *)dataPtr;
-			if ((c->code & 0xFFFF) == 0)
-				c->code >>= 16;
-			B3_SWITCH_INT(c->len);
-			B3_SWITCH_INT(c->dna_nr);
-			B3_SWITCH_INT(c->nr);
-		}
-		else
-		{
-			bChunkPtr4 *c = (bChunkPtr4 *)dataPtr;
-			if ((c->code & 0xFFFF) == 0)
-				c->code >>= 16;
-			B3_SWITCH_INT(c->len);
-
-			B3_SWITCH_INT(c->dna_nr);
-			B3_SWITCH_INT(c->nr);
-		}
-	}
-}
-
-void bFile::swapDNA(char *ptr)
-{
-	bool swap = ((mFlags & FD_ENDIAN_SWAP) != 0);
-
-	char *data = &ptr[20];
-	//	void bDNA::init(char *data, int len, bool swap)
-	int *intPtr = 0;
-	short *shtPtr = 0;
-	char *cp = 0;
-	int dataLen = 0;
-	//long nr=0;
-	intPtr = (int *)data;
-
-	/*
-		SDNA (4 bytes) (magic number)
-		NAME (4 bytes)
-		<nr> (4 bytes) amount of names (int)
-		<string>
-		<string>
-	*/
-
-	if (strncmp(data, "SDNA", 4) == 0)
-	{
-		// skip ++ NAME
-		intPtr++;
-		intPtr++;
-	}
-
-	// Parse names
-	if (swap)
-		dataLen = ChunkUtils::swapInt(*intPtr);
-	else
-		dataLen = *intPtr;
-
-	*intPtr = ChunkUtils::swapInt(*intPtr);
-	intPtr++;
-
-	cp = (char *)intPtr;
-	int i;
-	for (i = 0; i < dataLen; i++)
-	{
-		while (*cp) cp++;
-		cp++;
-	}
-
-	cp = b3AlignPointer(cp, 4);
-
-	/*
-		TYPE (4 bytes)
-		<nr> amount of types (int)
-		<string>
-		<string>
-	*/
-
-	intPtr = (int *)cp;
-	assert(strncmp(cp, "TYPE", 4) == 0);
-	intPtr++;
-
-	if (swap)
-		dataLen = ChunkUtils::swapInt(*intPtr);
-	else
-		dataLen = *intPtr;
-
-	*intPtr = ChunkUtils::swapInt(*intPtr);
-
-	intPtr++;
-
-	cp = (char *)intPtr;
-	for (i = 0; i < dataLen; i++)
-	{
-		while (*cp) cp++;
-		cp++;
-	}
-
-	cp = b3AlignPointer(cp, 4);
-
-	/*
-		TLEN (4 bytes)
-		<len> (short) the lengths of types
-		<len>
-	*/
-
-	// Parse type lens
-	intPtr = (int *)cp;
-	assert(strncmp(cp, "TLEN", 4) == 0);
-	intPtr++;
-
-	shtPtr = (short *)intPtr;
-	for (i = 0; i < dataLen; i++, shtPtr++)
-	{
-		//??????if (swap)
-		shtPtr[0] = ChunkUtils::swapShort(shtPtr[0]);
-	}
-
-	if (dataLen & 1)
-		shtPtr++;
-
-	/*
-		STRC (4 bytes)
-		<nr> amount of structs (int)
-		<typenr>
-		<nr_of_elems>
-		<typenr>
-		<namenr>
-		<typenr>
-		<namenr>
-	*/
-
-	intPtr = (int *)shtPtr;
-	cp = (char *)intPtr;
-	assert(strncmp(cp, "STRC", 4) == 0);
-	intPtr++;
-
-	if (swap)
-		dataLen = ChunkUtils::swapInt(*intPtr);
-	else
-		dataLen = *intPtr;
-
-	*intPtr = ChunkUtils::swapInt(*intPtr);
-
-	intPtr++;
-
-	shtPtr = (short *)intPtr;
-	for (i = 0; i < dataLen; i++)
-	{
-		//if (swap)
-		{
-			int len = shtPtr[1];
-
-			shtPtr[0] = ChunkUtils::swapShort(shtPtr[0]);
-			shtPtr[1] = ChunkUtils::swapShort(shtPtr[1]);
-
-			shtPtr += 2;
-
-			for (int a = 0; a < len; a++, shtPtr += 2)
-			{
-				shtPtr[0] = ChunkUtils::swapShort(shtPtr[0]);
-				shtPtr[1] = ChunkUtils::swapShort(shtPtr[1]);
-			}
-		}
-		//		else
-		//			shtPtr+= (2*shtPtr[1])+2;
-	}
-}
-
-void bFile::writeFile(const char *fileName)
-{
-	FILE *f = fopen(fileName, "wb");
-	fwrite(mFileBuffer, 1, mFileLen, f);
-	fclose(f);
-}
-
-void bFile::preSwap()
-{
-	//const bool brokenDNA = (mFlags&FD_BROKEN_DNA)!=0;
-	//FD_ENDIAN_SWAP
-	//byte 8 determines the endianness of the file, little (v) versus big (V)
-	int littleEndian = 1;
-	littleEndian = ((char *)&littleEndian)[0];
-
-	if (mFileBuffer[8] == 'V')
-	{
-		mFileBuffer[8] = 'v';
-	}
-	else
-	{
-		mFileBuffer[8] = 'V';
-	}
-
-	mDataStart = 12;
-
-	char *dataPtr = mFileBuffer + mDataStart;
-
-	bChunkInd dataChunk;
-	dataChunk.code = 0;
-	bool ignoreEndianFlag = true;
-
-	//we always want to swap here
-
-	int seek = getNextBlock(&dataChunk, dataPtr, mFlags);
-	//dataPtr += ChunkUtils::getOffset(mFlags);
-	char *dataPtrHead = 0;
-
-	while (1)
-	{
-		// one behind
-		if (dataChunk.code == B3_SDNA || dataChunk.code == B3_DNA1 || dataChunk.code == B3_TYPE || dataChunk.code == B3_TLEN || dataChunk.code == B3_STRC)
-		{
-			swapDNA(dataPtr);
-			break;
-		}
-		else
-		{
-			//if (dataChunk.code == DNA1) break;
-			dataPtrHead = dataPtr + ChunkUtils::getOffset(mFlags);
-
-			swapLen(dataPtr);
-			if (dataChunk.dna_nr >= 0)
-			{
-				swap(dataPtrHead, dataChunk, ignoreEndianFlag);
-			}
-			else
-			{
-				//printf("unknown chunk\n");
-			}
-		}
-
-		// next please!
-		dataPtr += seek;
-
-		seek = getNextBlock(&dataChunk, dataPtr, mFlags);
-		if (seek < 0)
-			break;
-	}
-
-	if (mFlags & FD_ENDIAN_SWAP)
-	{
-		mFlags &= ~FD_ENDIAN_SWAP;
-	}
-	else
-	{
-		mFlags |= FD_ENDIAN_SWAP;
-	}
-}
-
-// ----------------------------------------------------- //
-char *bFile::readStruct(char *head, bChunkInd &dataChunk)
-{
-	bool ignoreEndianFlag = false;
-
-	if (mFlags & FD_ENDIAN_SWAP)
-		swap(head, dataChunk, ignoreEndianFlag);
-
-	if (!mFileDNA->flagEqual(dataChunk.dna_nr))
-	{
-		// Ouch! need to rebuild the struct
-		short *oldStruct, *curStruct;
-		char *oldType, *newType;
-		int oldLen, curLen, reverseOld;
-
-		oldStruct = mFileDNA->getStruct(dataChunk.dna_nr);
-		oldType = mFileDNA->getType(oldStruct[0]);
-
-		oldLen = mFileDNA->getLength(oldStruct[0]);
-
-		if ((mFlags & FD_BROKEN_DNA) != 0)
-		{
-			if ((strcmp(oldType, "b3QuantizedBvhNodeData") == 0) && oldLen == 20)
-			{
-				return 0;
-			}
-			if ((strcmp(oldType, "b3ShortIntIndexData") == 0))
-			{
-				int allocLen = 2;
-				char *dataAlloc = new char[(dataChunk.nr * allocLen) + 1];
-				memset(dataAlloc, 0, (dataChunk.nr * allocLen) + 1);
-				short *dest = (short *)dataAlloc;
-				const short *src = (short *)head;
-				for (int i = 0; i < dataChunk.nr; i++)
-				{
-					dest[i] = src[i];
-					if (mFlags & FD_ENDIAN_SWAP)
-					{
-						B3_SWITCH_SHORT(dest[i]);
-					}
-				}
-				addDataBlock(dataAlloc);
-				return dataAlloc;
-			}
-		}
-
-		///don't try to convert Link block data, just memcpy it. Other data can be converted.
-		if (strcmp("Link", oldType) != 0)
-		{
-			reverseOld = mMemoryDNA->getReverseType(oldType);
-
-			if ((reverseOld != -1))
-			{
-				// make sure it's here
-				//assert(reverseOld!= -1 && "getReverseType() returned -1, struct required!");
-
-				//
-				curStruct = mMemoryDNA->getStruct(reverseOld);
-				newType = mMemoryDNA->getType(curStruct[0]);
-				curLen = mMemoryDNA->getLength(curStruct[0]);
-
-				// make sure it's the same
-				assert((strcmp(oldType, newType) == 0) && "internal error, struct mismatch!");
-
-				// numBlocks * length
-
-				int allocLen = (curLen);
-				char *dataAlloc = new char[(dataChunk.nr * allocLen) + 1];
-				memset(dataAlloc, 0, (dataChunk.nr * allocLen));
-
-				// track allocated
-				addDataBlock(dataAlloc);
-
-				char *cur = dataAlloc;
-				char *old = head;
-				for (int block = 0; block < dataChunk.nr; block++)
-				{
-					bool fixupPointers = true;
-					parseStruct(cur, old, dataChunk.dna_nr, reverseOld, fixupPointers);
-					mLibPointers.insert(old, (bStructHandle *)cur);
-
-					cur += curLen;
-					old += oldLen;
-				}
-				return dataAlloc;
-			}
-		}
-		else
-		{
-			//printf("Link found\n");
-		}
-	}
-	else
-	{
-//#define DEBUG_EQUAL_STRUCTS
-#ifdef DEBUG_EQUAL_STRUCTS
-		short *oldStruct;
-		char *oldType;
-		oldStruct = mFileDNA->getStruct(dataChunk.dna_nr);
-		oldType = mFileDNA->getType(oldStruct[0]);
-		printf("%s equal structure, just memcpy\n", oldType);
-#endif  //
-	}
-
-	char *dataAlloc = new char[(dataChunk.len) + 1];
-	memset(dataAlloc, 0, dataChunk.len + 1);
-
-	// track allocated
-	addDataBlock(dataAlloc);
-
-	memcpy(dataAlloc, head, dataChunk.len);
-	return dataAlloc;
-}
-
-// ----------------------------------------------------- //
-void bFile::parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bool fixupPointers)
-{
-	if (old_dna == -1) return;
-	if (new_dna == -1) return;
-
-	//disable this, because we need to fixup pointers/ListBase
-	if (0)  //mFileDNA->flagEqual(old_dna))
-	{
-		short *strc = mFileDNA->getStruct(old_dna);
-		int len = mFileDNA->getLength(strc[0]);
-
-		memcpy(strcPtr, dtPtr, len);
-		return;
-	}
-
-	// Ok, now build the struct
-	char *memType, *memName, *cpc, *cpo;
-	short *fileStruct, *filePtrOld, *memoryStruct, *firstStruct;
-	int elementLength, size, revType, old_nr, new_nr, fpLen;
-	short firstStructType;
-
-	// File to memory lookup
-	memoryStruct = mMemoryDNA->getStruct(new_dna);
-	fileStruct = mFileDNA->getStruct(old_dna);
-	firstStruct = fileStruct;
-
-	filePtrOld = fileStruct;
-	firstStructType = mMemoryDNA->getStruct(0)[0];
-
-	// Get number of elements
-	elementLength = memoryStruct[1];
-	memoryStruct += 2;
-
-	cpc = strcPtr;
-	cpo = 0;
-	for (int ele = 0; ele < elementLength; ele++, memoryStruct += 2)
-	{
-		memType = mMemoryDNA->getType(memoryStruct[0]);
-		memName = mMemoryDNA->getName(memoryStruct[1]);
-
-		size = mMemoryDNA->getElementSize(memoryStruct[0], memoryStruct[1]);
-		revType = mMemoryDNA->getReverseType(memoryStruct[0]);
-
-		if (revType != -1 && memoryStruct[0] >= firstStructType && memName[0] != '*')
-		{
-			cpo = getFileElement(firstStruct, memName, memType, dtPtr, &filePtrOld);
-			if (cpo)
-			{
-				int arrayLen = mFileDNA->getArraySizeNew(filePtrOld[1]);
-				old_nr = mFileDNA->getReverseType(memType);
-				new_nr = revType;
-				fpLen = mFileDNA->getElementSize(filePtrOld[0], filePtrOld[1]);
-				if (arrayLen == 1)
-				{
-					parseStruct(cpc, cpo, old_nr, new_nr, fixupPointers);
-				}
-				else
-				{
-					char *tmpCpc = cpc;
-					char *tmpCpo = cpo;
-
-					for (int i = 0; i < arrayLen; i++)
-					{
-						parseStruct(tmpCpc, tmpCpo, old_nr, new_nr, fixupPointers);
-						tmpCpc += size / arrayLen;
-						tmpCpo += fpLen / arrayLen;
-					}
-				}
-				cpc += size;
-				cpo += fpLen;
-			}
-			else
-				cpc += size;
-		}
-		else
-		{
-			getMatchingFileDNA(fileStruct, memName, memType, cpc, dtPtr, fixupPointers);
-			cpc += size;
-		}
-	}
-}
-
-// ----------------------------------------------------- //
-static void getElement(int arrayLen, const char *cur, const char *old, char *oldPtr, char *curData)
-{
-#define b3GetEle(value, current, type, cast, size, ptr) \
-	if (strcmp(current, type) == 0)                     \
-	{                                                   \
-		value = (*(cast *)ptr);                         \
-		ptr += size;                                    \
-	}
-
-#define b3SetEle(value, current, type, cast, size, ptr) \
-	if (strcmp(current, type) == 0)                     \
-	{                                                   \
-		(*(cast *)ptr) = (cast)value;                   \
-		ptr += size;                                    \
-	}
-	double value = 0.0;
-
-	for (int i = 0; i < arrayLen; i++)
-	{
-		b3GetEle(value, old, "char", char, sizeof(char), oldPtr);
-		b3SetEle(value, cur, "char", char, sizeof(char), curData);
-		b3GetEle(value, old, "short", short, sizeof(short), oldPtr);
-		b3SetEle(value, cur, "short", short, sizeof(short), curData);
-		b3GetEle(value, old, "ushort", unsigned short, sizeof(unsigned short), oldPtr);
-		b3SetEle(value, cur, "ushort", unsigned short, sizeof(unsigned short), curData);
-		b3GetEle(value, old, "int", int, sizeof(int), oldPtr);
-		b3SetEle(value, cur, "int", int, sizeof(int), curData);
-		b3GetEle(value, old, "long", int, sizeof(int), oldPtr);
-		b3SetEle(value, cur, "long", int, sizeof(int), curData);
-		b3GetEle(value, old, "float", float, sizeof(float), oldPtr);
-		b3SetEle(value, cur, "float", float, sizeof(float), curData);
-		b3GetEle(value, old, "double", double, sizeof(double), oldPtr);
-		b3SetEle(value, cur, "double", double, sizeof(double), curData);
-	}
-}
-
-// ----------------------------------------------------- //
-void bFile::swapData(char *data, short type, int arraySize, bool ignoreEndianFlag)
-{
-	if (ignoreEndianFlag || (mFlags & FD_ENDIAN_SWAP))
-	{
-		if (type == 2 || type == 3)
-		{
-			short *sp = (short *)data;
-			for (int i = 0; i < arraySize; i++)
-			{
-				sp[0] = ChunkUtils::swapShort(sp[0]);
-				sp++;
-			}
-		}
-		if (type > 3 && type < 8)
-		{
-			char c;
-			char *cp = data;
-			for (int i = 0; i < arraySize; i++)
-			{
-				c = cp[0];
-				cp[0] = cp[3];
-				cp[3] = c;
-				c = cp[1];
-				cp[1] = cp[2];
-				cp[2] = c;
-				cp += 4;
-			}
-		}
-	}
-}
-
-void bFile::safeSwapPtr(char *dst, const char *src)
-{
-	if (!src || !dst)
-		return;
-
-	int ptrFile = mFileDNA->getPointerSize();
-	int ptrMem = mMemoryDNA->getPointerSize();
-
-	if (ptrFile == ptrMem)
-	{
-		memcpy(dst, src, ptrMem);
-	}
-	else if (ptrMem == 4 && ptrFile == 8)
-	{
-		b3PointerUid *oldPtr = (b3PointerUid *)src;
-		b3PointerUid *newPtr = (b3PointerUid *)dst;
-
-		if (oldPtr->m_uniqueIds[0] == oldPtr->m_uniqueIds[1])
-		{
-			//Bullet stores the 32bit unique ID in both upper and lower part of 64bit pointers
-			//so it can be used to distinguish between .blend and .bullet
-			newPtr->m_uniqueIds[0] = oldPtr->m_uniqueIds[0];
-		}
-		else
-		{
-			//deal with pointers the Blender .blend style way, see
-			//readfile.c in the Blender source tree
-			b3Long64 longValue = *((b3Long64 *)src);
-			//endian swap for 64bit pointer otherwise truncation will fail due to trailing zeros
-			if (mFlags & FD_ENDIAN_SWAP)
-				B3_SWITCH_LONGINT(longValue);
-			*((int *)dst) = (int)(longValue >> 3);
-		}
-	}
-	else if (ptrMem == 8 && ptrFile == 4)
-	{
-		b3PointerUid *oldPtr = (b3PointerUid *)src;
-		b3PointerUid *newPtr = (b3PointerUid *)dst;
-		if (oldPtr->m_uniqueIds[0] == oldPtr->m_uniqueIds[1])
-		{
-			newPtr->m_uniqueIds[0] = oldPtr->m_uniqueIds[0];
-			newPtr->m_uniqueIds[1] = 0;
-		}
-		else
-		{
-			*((b3Long64 *)dst) = *((int *)src);
-		}
-	}
-	else
-	{
-		printf("%d %d\n", ptrFile, ptrMem);
-		assert(0 && "Invalid pointer len");
-	}
-}
-
-// ----------------------------------------------------- //
-void bFile::getMatchingFileDNA(short *dna_addr, const char *lookupName, const char *lookupType, char *strcData, char *data, bool fixupPointers)
-{
-	// find the matching memory dna data
-	// to the file being loaded. Fill the
-	// memory with the file data...
-
-	int len = dna_addr[1];
-	dna_addr += 2;
-
-	for (int i = 0; i < len; i++, dna_addr += 2)
-	{
-		const char *type = mFileDNA->getType(dna_addr[0]);
-		const char *name = mFileDNA->getName(dna_addr[1]);
-
-		int eleLen = mFileDNA->getElementSize(dna_addr[0], dna_addr[1]);
-
-		if ((mFlags & FD_BROKEN_DNA) != 0)
-		{
-			if ((strcmp(type, "short") == 0) && (strcmp(name, "int") == 0))
-			{
-				eleLen = 0;
-			}
-		}
-
-		if (strcmp(lookupName, name) == 0)
-		{
-			//int arrayLenold = mFileDNA->getArraySize((char*)name.c_str());
-			int arrayLen = mFileDNA->getArraySizeNew(dna_addr[1]);
-			//assert(arrayLenold == arrayLen);
-
-			if (name[0] == '*')
-			{
-				// cast pointers
-				int ptrFile = mFileDNA->getPointerSize();
-				int ptrMem = mMemoryDNA->getPointerSize();
-				safeSwapPtr(strcData, data);
-
-				if (fixupPointers)
-				{
-					if (arrayLen > 1)
-					{
-						//void **sarray = (void**)strcData;
-						//void **darray = (void**)data;
-
-						char *cpc, *cpo;
-						cpc = (char *)strcData;
-						cpo = (char *)data;
-
-						for (int a = 0; a < arrayLen; a++)
-						{
-							safeSwapPtr(cpc, cpo);
-							m_pointerFixupArray.push_back(cpc);
-							cpc += ptrMem;
-							cpo += ptrFile;
-						}
-					}
-					else
-					{
-						if (name[1] == '*')
-							m_pointerPtrFixupArray.push_back(strcData);
-						else
-							m_pointerFixupArray.push_back(strcData);
-					}
-				}
-				else
-				{
-					//					printf("skipped %s %s : %x\n",type.c_str(),name.c_str(),strcData);
-				}
-			}
-
-			else if (strcmp(type, lookupType) == 0)
-				memcpy(strcData, data, eleLen);
-			else
-				getElement(arrayLen, lookupType, type, data, strcData);
-
-			// --
-			return;
-		}
-		data += eleLen;
-	}
-}
-
-// ----------------------------------------------------- //
-char *bFile::getFileElement(short *firstStruct, char *lookupName, char *lookupType, char *data, short **foundPos)
-{
-	short *old = firstStruct;  //mFileDNA->getStruct(old_nr);
-	int elementLength = old[1];
-	old += 2;
-
-	for (int i = 0; i < elementLength; i++, old += 2)
-	{
-		char *type = mFileDNA->getType(old[0]);
-		char *name = mFileDNA->getName(old[1]);
-		int len = mFileDNA->getElementSize(old[0], old[1]);
-
-		if (strcmp(lookupName, name) == 0)
-		{
-			if (strcmp(type, lookupType) == 0)
-			{
-				if (foundPos)
-					*foundPos = old;
-				return data;
-			}
-			return 0;
-		}
-		data += len;
-	}
-	return 0;
-}
-
-// ----------------------------------------------------- //
-void bFile::swapStruct(int dna_nr, char *data, bool ignoreEndianFlag)
-{
-	if (dna_nr == -1) return;
-
-	short *strc = mFileDNA->getStruct(dna_nr);
-	//short *firstStrc = strc;
-
-	int elementLen = strc[1];
-	strc += 2;
-
-	short first = mFileDNA->getStruct(0)[0];
-
-	char *buf = data;
-	for (int i = 0; i < elementLen; i++, strc += 2)
-	{
-		char *type = mFileDNA->getType(strc[0]);
-		char *name = mFileDNA->getName(strc[1]);
-
-		int size = mFileDNA->getElementSize(strc[0], strc[1]);
-		if (strc[0] >= first && name[0] != '*')
-		{
-			int old_nr = mFileDNA->getReverseType(type);
-			int arrayLen = mFileDNA->getArraySizeNew(strc[1]);
-			if (arrayLen == 1)
-			{
-				swapStruct(old_nr, buf, ignoreEndianFlag);
-			}
-			else
-			{
-				char *tmpBuf = buf;
-				for (int i = 0; i < arrayLen; i++)
-				{
-					swapStruct(old_nr, tmpBuf, ignoreEndianFlag);
-					tmpBuf += size / arrayLen;
-				}
-			}
-		}
-		else
-		{
-			//int arrayLenOld = mFileDNA->getArraySize(name);
-			int arrayLen = mFileDNA->getArraySizeNew(strc[1]);
-			//assert(arrayLenOld == arrayLen);
-			swapData(buf, strc[0], arrayLen, ignoreEndianFlag);
-		}
-		buf += size;
-	}
-}
-
-void bFile::resolvePointersMismatch()
-{
-	//	printf("resolvePointersStructMismatch\n");
-
-	int i;
-
-	for (i = 0; i < m_pointerFixupArray.size(); i++)
-	{
-		char *cur = m_pointerFixupArray.at(i);
-		void **ptrptr = (void **)cur;
-		void *ptr = *ptrptr;
-		ptr = findLibPointer(ptr);
-		if (ptr)
-		{
-			//printf("Fixup pointer!\n");
-			*(ptrptr) = ptr;
-		}
-		else
-		{
-			//			printf("pointer not found: %x\n",cur);
-		}
-	}
-
-	for (i = 0; i < m_pointerPtrFixupArray.size(); i++)
-	{
-		char *cur = m_pointerPtrFixupArray.at(i);
-		void **ptrptr = (void **)cur;
-
-		bChunkInd *block = m_chunkPtrPtrMap.find(*ptrptr);
-		if (block)
-		{
-			int ptrMem = mMemoryDNA->getPointerSize();
-			int ptrFile = mFileDNA->getPointerSize();
-
-			int blockLen = block->len / ptrFile;
-
-			void *onptr = findLibPointer(*ptrptr);
-			if (onptr)
-			{
-				char *newPtr = new char[blockLen * ptrMem];
-				addDataBlock(newPtr);
-				memset(newPtr, 0, blockLen * ptrMem);
-
-				void **onarray = (void **)onptr;
-				char *oldPtr = (char *)onarray;
-
-				int p = 0;
-				while (blockLen-- > 0)
-				{
-					b3PointerUid dp = {{0}};
-					safeSwapPtr((char *)dp.m_uniqueIds, oldPtr);
-
-					void **tptr = (void **)(newPtr + p * ptrMem);
-					*tptr = findLibPointer(dp.m_ptr);
-
-					oldPtr += ptrFile;
-					++p;
-				}
-
-				*ptrptr = newPtr;
-			}
-		}
-	}
-}
-
-///this loop only works fine if the Blender DNA structure of the file matches the headerfiles
-void bFile::resolvePointersChunk(const bChunkInd &dataChunk, int verboseMode)
-{
-	bParse::bDNA *fileDna = mFileDNA ? mFileDNA : mMemoryDNA;
-
-	short int *oldStruct = fileDna->getStruct(dataChunk.dna_nr);
-	short oldLen = fileDna->getLength(oldStruct[0]);
-	//char* structType = fileDna->getType(oldStruct[0]);
-
-	char *cur = (char *)findLibPointer(dataChunk.oldPtr);
-	for (int block = 0; block < dataChunk.nr; block++)
-	{
-		resolvePointersStructRecursive(cur, dataChunk.dna_nr, verboseMode, 1);
-		cur += oldLen;
-	}
-}
-
-int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verboseMode, int recursion)
-{
-	bParse::bDNA *fileDna = mFileDNA ? mFileDNA : mMemoryDNA;
-
-	char *memType;
-	char *memName;
-	short firstStructType = fileDna->getStruct(0)[0];
-
-	char *elemPtr = strcPtr;
-
-	short int *oldStruct = fileDna->getStruct(dna_nr);
-
-	int elementLength = oldStruct[1];
-	oldStruct += 2;
-
-	int totalSize = 0;
-
-	for (int ele = 0; ele < elementLength; ele++, oldStruct += 2)
-	{
-		memType = fileDna->getType(oldStruct[0]);
-		memName = fileDna->getName(oldStruct[1]);
-
-		int arrayLen = fileDna->getArraySizeNew(oldStruct[1]);
-		if (memName[0] == '*')
-		{
-			if (arrayLen > 1)
-			{
-				void **array = (void **)elemPtr;
-				for (int a = 0; a < arrayLen; a++)
-				{
-					if (verboseMode & FD_VERBOSE_EXPORT_XML)
-					{
-						for (int i = 0; i < recursion; i++)
-						{
-							printf("  ");
-						}
-						//skip the *
-						printf("<%s type=\"pointer\"> ", &memName[1]);
-						printf("%p ", array[a]);
-						printf("</%s>\n", &memName[1]);
-					}
-
-					array[a] = findLibPointer(array[a]);
-				}
-			}
-			else
-			{
-				void **ptrptr = (void **)elemPtr;
-				void *ptr = *ptrptr;
-				if (verboseMode & FD_VERBOSE_EXPORT_XML)
-				{
-					for (int i = 0; i < recursion; i++)
-					{
-						printf("  ");
-					}
-					printf("<%s type=\"pointer\"> ", &memName[1]);
-					printf("%p ", ptr);
-					printf("</%s>\n", &memName[1]);
-				}
-				ptr = findLibPointer(ptr);
-
-				if (ptr)
-				{
-					//				printf("Fixup pointer at 0x%x from 0x%x to 0x%x!\n",ptrptr,*ptrptr,ptr);
-					*(ptrptr) = ptr;
-					if (memName[1] == '*' && ptrptr && *ptrptr)
-					{
-						// This	will only work if the given	**array	is continuous
-						void **array = (void **)*(ptrptr);
-						void *np = array[0];
-						int n = 0;
-						while (np)
-						{
-							np = findLibPointer(array[n]);
-							if (np) array[n] = np;
-							n++;
-						}
-					}
-				}
-				else
-				{
-					//				printf("Cannot fixup pointer at 0x%x from 0x%x to 0x%x!\n",ptrptr,*ptrptr,ptr);
-				}
-			}
-		}
-		else
-		{
-			int revType = fileDna->getReverseType(oldStruct[0]);
-			if (oldStruct[0] >= firstStructType)  //revType != -1 &&
-			{
-				char cleanName[MAX_STRLEN];
-				getCleanName(memName, cleanName);
-
-				int arrayLen = fileDna->getArraySizeNew(oldStruct[1]);
-				int byteOffset = 0;
-
-				if (verboseMode & FD_VERBOSE_EXPORT_XML)
-				{
-					for (int i = 0; i < recursion; i++)
-					{
-						printf("  ");
-					}
-
-					if (arrayLen > 1)
-					{
-						printf("<%s type=\"%s\" count=%d>\n", cleanName, memType, arrayLen);
-					}
-					else
-					{
-						printf("<%s type=\"%s\">\n", cleanName, memType);
-					}
-				}
-
-				for (int i = 0; i < arrayLen; i++)
-				{
-					byteOffset += resolvePointersStructRecursive(elemPtr + byteOffset, revType, verboseMode, recursion + 1);
-				}
-				if (verboseMode & FD_VERBOSE_EXPORT_XML)
-				{
-					for (int i = 0; i < recursion; i++)
-					{
-						printf("  ");
-					}
-					printf("</%s>\n", cleanName);
-				}
-			}
-			else
-			{
-				//export a simple type
-				if (verboseMode & FD_VERBOSE_EXPORT_XML)
-				{
-					if (arrayLen > MAX_ARRAY_LENGTH)
-					{
-						printf("too long\n");
-					}
-					else
-					{
-						//printf("%s %s\n",memType,memName);
-
-						bool isIntegerType = (strcmp(memType, "char") == 0) || (strcmp(memType, "int") == 0) || (strcmp(memType, "short") == 0);
-
-						if (isIntegerType)
-						{
-							const char *newtype = "int";
-							int dbarray[MAX_ARRAY_LENGTH];
-							int *dbPtr = 0;
-							char *tmp = elemPtr;
-							dbPtr = &dbarray[0];
-							if (dbPtr)
-							{
-								char cleanName[MAX_STRLEN];
-								getCleanName(memName, cleanName);
-
-								int i;
-								getElement(arrayLen, newtype, memType, tmp, (char *)dbPtr);
-								for (i = 0; i < recursion; i++)
-									printf("  ");
-								if (arrayLen == 1)
-									printf("<%s type=\"%s\">", cleanName, memType);
-								else
-									printf("<%s type=\"%s\" count=%d>", cleanName, memType, arrayLen);
-								for (i = 0; i < arrayLen; i++)
-									printf(" %d ", dbPtr[i]);
-								printf("</%s>\n", cleanName);
-							}
-						}
-						else
-						{
-							const char *newtype = "double";
-							double dbarray[MAX_ARRAY_LENGTH];
-							double *dbPtr = 0;
-							char *tmp = elemPtr;
-							dbPtr = &dbarray[0];
-							if (dbPtr)
-							{
-								int i;
-								getElement(arrayLen, newtype, memType, tmp, (char *)dbPtr);
-								for (i = 0; i < recursion; i++)
-									printf("  ");
-								char cleanName[MAX_STRLEN];
-								getCleanName(memName, cleanName);
-
-								if (arrayLen == 1)
-								{
-									printf("<%s type=\"%s\">", memName, memType);
-								}
-								else
-								{
-									printf("<%s type=\"%s\" count=%d>", cleanName, memType, arrayLen);
-								}
-								for (i = 0; i < arrayLen; i++)
-									printf(" %f ", dbPtr[i]);
-								printf("</%s>\n", cleanName);
-							}
-						}
-					}
-				}
-			}
-		}
-
-		int size = fileDna->getElementSize(oldStruct[0], oldStruct[1]);
-		totalSize += size;
-		elemPtr += size;
-	}
-
-	return totalSize;
-}
-
-///Resolve pointers replaces the original pointers in structures, and linked lists by the new in-memory structures
-void bFile::resolvePointers(int verboseMode)
-{
-	bParse::bDNA *fileDna = mFileDNA ? mFileDNA : mMemoryDNA;
-
-	//char *dataPtr = mFileBuffer+mDataStart;
-
-	if (1)  //mFlags & (FD_BITS_VARIES | FD_VERSION_VARIES))
-	{
-		resolvePointersMismatch();
-	}
-
-	{
-		if (verboseMode & FD_VERBOSE_EXPORT_XML)
-		{
-			printf("<?xml version=\"1.0\" encoding=\"utf-8\"?>\n");
-			int numitems = m_chunks.size();
-			printf("<bullet_physics version=%d itemcount = %d>\n", b3GetVersion(), numitems);
-		}
-		for (int i = 0; i < m_chunks.size(); i++)
-		{
-			const bChunkInd &dataChunk = m_chunks.at(i);
-
-			if (!mFileDNA || fileDna->flagEqual(dataChunk.dna_nr))
-			{
-				//dataChunk.len
-				short int *oldStruct = fileDna->getStruct(dataChunk.dna_nr);
-				char *oldType = fileDna->getType(oldStruct[0]);
-
-				if (verboseMode & FD_VERBOSE_EXPORT_XML)
-					printf(" <%s pointer=%p>\n", oldType, dataChunk.oldPtr);
-
-				resolvePointersChunk(dataChunk, verboseMode);
-
-				if (verboseMode & FD_VERBOSE_EXPORT_XML)
-					printf(" </%s>\n", oldType);
-			}
-			else
-			{
-				//printf("skipping mStruct\n");
-			}
-		}
-		if (verboseMode & FD_VERBOSE_EXPORT_XML)
-		{
-			printf("</bullet_physics>\n");
-		}
-	}
-}
-
-// ----------------------------------------------------- //
-void *bFile::findLibPointer(void *ptr)
-{
-	bStructHandle **ptrptr = getLibPointers().find(ptr);
-	if (ptrptr)
-		return *ptrptr;
-	return 0;
-}
-
-void bFile::updateOldPointers()
-{
-	int i;
-
-	for (i = 0; i < m_chunks.size(); i++)
-	{
-		bChunkInd &dataChunk = m_chunks[i];
-		dataChunk.oldPtr = findLibPointer(dataChunk.oldPtr);
-	}
-}
-void bFile::dumpChunks(bParse::bDNA *dna)
-{
-	int i;
-
-	for (i = 0; i < m_chunks.size(); i++)
-	{
-		bChunkInd &dataChunk = m_chunks[i];
-		char *codeptr = (char *)&dataChunk.code;
-		char codestr[5] = {codeptr[0], codeptr[1], codeptr[2], codeptr[3], 0};
-
-		short *newStruct = dna->getStruct(dataChunk.dna_nr);
-		char *typeName = dna->getType(newStruct[0]);
-		printf("%3d: %s  ", i, typeName);
-
-		printf("code=%s  ", codestr);
-
-		printf("ptr=%p  ", dataChunk.oldPtr);
-		printf("len=%d  ", dataChunk.len);
-		printf("nr=%d  ", dataChunk.nr);
-		if (dataChunk.nr != 1)
-		{
-			printf("not 1\n");
-		}
-		printf("\n");
-	}
-
-#if 0
-	IDFinderData ifd;
-	ifd.success = 0;
-	ifd.IDname = NULL;
-	ifd.just_print_it = 1;
-	for (i=0; i<bf->m_blocks.size(); ++i)
-	{
-		BlendBlock* bb = bf->m_blocks[i];
-		printf("tag='%s'\tptr=%p\ttype=%s\t[%4d]",		bb->tag, bb,bf->types[bb->type_index].name,bb->m_array_entries_.size());
-		block_ID_finder(bb, bf, &ifd);
-		printf("\n");
-	}
-#endif
-}
-
-void bFile::writeChunks(FILE *fp, bool fixupPointers)
-{
-	bParse::bDNA *fileDna = mFileDNA ? mFileDNA : mMemoryDNA;
-
-	for (int i = 0; i < m_chunks.size(); i++)
-	{
-		bChunkInd &dataChunk = m_chunks.at(i);
-
-		// Ouch! need to rebuild the struct
-		short *oldStruct, *curStruct;
-		char *oldType, *newType;
-		int oldLen, curLen, reverseOld;
-
-		oldStruct = fileDna->getStruct(dataChunk.dna_nr);
-		oldType = fileDna->getType(oldStruct[0]);
-		oldLen = fileDna->getLength(oldStruct[0]);
-		///don't try to convert Link block data, just memcpy it. Other data can be converted.
-		reverseOld = mMemoryDNA->getReverseType(oldType);
-
-		if ((reverseOld != -1))
-		{
-			// make sure it's here
-			//assert(reverseOld!= -1 && "getReverseType() returned -1, struct required!");
-			//
-			curStruct = mMemoryDNA->getStruct(reverseOld);
-			newType = mMemoryDNA->getType(curStruct[0]);
-			// make sure it's the same
-			assert((strcmp(oldType, newType) == 0) && "internal error, struct mismatch!");
-
-			curLen = mMemoryDNA->getLength(curStruct[0]);
-			dataChunk.dna_nr = reverseOld;
-			if (strcmp("Link", oldType) != 0)
-			{
-				dataChunk.len = curLen * dataChunk.nr;
-			}
-			else
-			{
-				//				printf("keep length of link = %d\n",dataChunk.len);
-			}
-
-			//write the structure header
-			fwrite(&dataChunk, sizeof(bChunkInd), 1, fp);
-
-			short int *curStruct1;
-			curStruct1 = mMemoryDNA->getStruct(dataChunk.dna_nr);
-			assert(curStruct1 == curStruct);
-
-			char *cur = fixupPointers ? (char *)findLibPointer(dataChunk.oldPtr) : (char *)dataChunk.oldPtr;
-
-			//write the actual contents of the structure(s)
-			fwrite(cur, dataChunk.len, 1, fp);
-		}
-		else
-		{
-			printf("serious error, struct mismatch: don't write\n");
-		}
-	}
-}
-
-// ----------------------------------------------------- //
-int bFile::getNextBlock(bChunkInd *dataChunk, const char *dataPtr, const int flags)
-{
-	bool swap = false;
-	bool varies = false;
-
-	if (flags & FD_ENDIAN_SWAP)
-		swap = true;
-	if (flags & FD_BITS_VARIES)
-		varies = true;
-
-	if (VOID_IS_8)
-	{
-		if (varies)
-		{
-			bChunkPtr4 head;
-			memcpy(&head, dataPtr, sizeof(bChunkPtr4));
-
-			bChunkPtr8 chunk;
-
-			chunk.code = head.code;
-			chunk.len = head.len;
-			chunk.m_uniqueInts[0] = head.m_uniqueInt;
-			chunk.m_uniqueInts[1] = 0;
-			chunk.dna_nr = head.dna_nr;
-			chunk.nr = head.nr;
-
-			if (swap)
-			{
-				if ((chunk.code & 0xFFFF) == 0)
-					chunk.code >>= 16;
-
-				B3_SWITCH_INT(chunk.len);
-				B3_SWITCH_INT(chunk.dna_nr);
-				B3_SWITCH_INT(chunk.nr);
-			}
-
-			memcpy(dataChunk, &chunk, sizeof(bChunkInd));
-		}
-		else
-		{
-			bChunkPtr8 c;
-			memcpy(&c, dataPtr, sizeof(bChunkPtr8));
-
-			if (swap)
-			{
-				if ((c.code & 0xFFFF) == 0)
-					c.code >>= 16;
-
-				B3_SWITCH_INT(c.len);
-				B3_SWITCH_INT(c.dna_nr);
-				B3_SWITCH_INT(c.nr);
-			}
-
-			memcpy(dataChunk, &c, sizeof(bChunkInd));
-		}
-	}
-	else
-	{
-		if (varies)
-		{
-			bChunkPtr8 head;
-			memcpy(&head, dataPtr, sizeof(bChunkPtr8));
-
-			bChunkPtr4 chunk;
-			chunk.code = head.code;
-			chunk.len = head.len;
-
-			if (head.m_uniqueInts[0] == head.m_uniqueInts[1])
-			{
-				chunk.m_uniqueInt = head.m_uniqueInts[0];
-			}
-			else
-			{
-				b3Long64 oldPtr = 0;
-				memcpy(&oldPtr, &head.m_uniqueInts[0], 8);
-				if (swap)
-					B3_SWITCH_LONGINT(oldPtr);
-				chunk.m_uniqueInt = (int)(oldPtr >> 3);
-			}
-
-			chunk.dna_nr = head.dna_nr;
-			chunk.nr = head.nr;
-
-			if (swap)
-			{
-				if ((chunk.code & 0xFFFF) == 0)
-					chunk.code >>= 16;
-
-				B3_SWITCH_INT(chunk.len);
-				B3_SWITCH_INT(chunk.dna_nr);
-				B3_SWITCH_INT(chunk.nr);
-			}
-
-			memcpy(dataChunk, &chunk, sizeof(bChunkInd));
-		}
-		else
-		{
-			bChunkPtr4 c;
-			memcpy(&c, dataPtr, sizeof(bChunkPtr4));
-
-			if (swap)
-			{
-				if ((c.code & 0xFFFF) == 0)
-					c.code >>= 16;
-
-				B3_SWITCH_INT(c.len);
-				B3_SWITCH_INT(c.dna_nr);
-				B3_SWITCH_INT(c.nr);
-			}
-			memcpy(dataChunk, &c, sizeof(bChunkInd));
-		}
-	}
-
-	if (dataChunk->len < 0)
-		return -1;
-
-#if 0
-	print ("----------");
-	print (dataChunk->code);
-	print (dataChunk->len);
-	print (dataChunk->old);
-	print (dataChunk->dna_nr);
-	print (dataChunk->nr);
-#endif
-	return (dataChunk->len + ChunkUtils::getOffset(flags));
-}
-
-//eof
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3File.h b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3File.h
deleted file mode 100644
index bda229cfbd..0000000000
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3File.h
+++ /dev/null
@@ -1,158 +0,0 @@
-/*
-bParse
-Copyright (c) 2006-2009 Charlie C & Erwin Coumans  http://gamekit.googlecode.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef __BFILE_H__
-#define __BFILE_H__
-
-#include "b3Common.h"
-#include "b3Chunk.h"
-#include <stdio.h>
-
-namespace bParse
-{
-// ----------------------------------------------------- //
-enum bFileFlags
-{
-	FD_INVALID = 0,
-	FD_OK = 1,
-	FD_VOID_IS_8 = 2,
-	FD_ENDIAN_SWAP = 4,
-	FD_FILE_64 = 8,
-	FD_BITS_VARIES = 16,
-	FD_VERSION_VARIES = 32,
-	FD_DOUBLE_PRECISION = 64,
-	FD_BROKEN_DNA = 128
-};
-
-enum bFileVerboseMode
-{
-	FD_VERBOSE_EXPORT_XML = 1,
-	FD_VERBOSE_DUMP_DNA_TYPE_DEFINITIONS = 2,
-	FD_VERBOSE_DUMP_CHUNKS = 4,
-	FD_VERBOSE_DUMP_FILE_INFO = 8,
-};
-// ----------------------------------------------------- //
-class bFile
-{
-protected:
-	char m_headerString[7];
-
-	bool mOwnsBuffer;
-	char *mFileBuffer;
-	int mFileLen;
-	int mVersion;
-
-	bPtrMap mLibPointers;
-
-	int mDataStart;
-	bDNA *mFileDNA;
-	bDNA *mMemoryDNA;
-
-	b3AlignedObjectArray<char *> m_pointerFixupArray;
-	b3AlignedObjectArray<char *> m_pointerPtrFixupArray;
-
-	b3AlignedObjectArray<bChunkInd> m_chunks;
-	b3HashMap<b3HashPtr, bChunkInd> m_chunkPtrPtrMap;
-
-	//
-
-	bPtrMap mDataPointers;
-
-	int mFlags;
-
-	// ////////////////////////////////////////////////////////////////////////////
-
-	// buffer offset util
-	int getNextBlock(bChunkInd *dataChunk, const char *dataPtr, const int flags);
-	void safeSwapPtr(char *dst, const char *src);
-
-	virtual void parseHeader();
-
-	virtual void parseData() = 0;
-
-	void resolvePointersMismatch();
-	void resolvePointersChunk(const bChunkInd &dataChunk, int verboseMode);
-
-	int resolvePointersStructRecursive(char *strcPtr, int old_dna, int verboseMode, int recursion);
-	//void swapPtr(char *dst, char *src);
-
-	void parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bool fixupPointers);
-	void getMatchingFileDNA(short *old, const char *lookupName, const char *lookupType, char *strcData, char *data, bool fixupPointers);
-	char *getFileElement(short *firstStruct, char *lookupName, char *lookupType, char *data, short **foundPos);
-
-	void swap(char *head, class bChunkInd &ch, bool ignoreEndianFlag);
-	void swapData(char *data, short type, int arraySize, bool ignoreEndianFlag);
-	void swapStruct(int dna_nr, char *data, bool ignoreEndianFlag);
-	void swapLen(char *dataPtr);
-	void swapDNA(char *ptr);
-
-	char *readStruct(char *head, class bChunkInd &chunk);
-	char *getAsString(int code);
-
-	void parseInternal(int verboseMode, char *memDna, int memDnaLength);
-
-public:
-	bFile(const char *filename, const char headerString[7]);
-
-	//todo: make memoryBuffer const char
-	//bFile( const char *memoryBuffer, int len);
-	bFile(char *memoryBuffer, int len, const char headerString[7]);
-	virtual ~bFile();
-
-	bDNA *getFileDNA()
-	{
-		return mFileDNA;
-	}
-
-	virtual void addDataBlock(char *dataBlock) = 0;
-
-	int getFlags() const
-	{
-		return mFlags;
-	}
-
-	bPtrMap &getLibPointers()
-	{
-		return mLibPointers;
-	}
-
-	void *findLibPointer(void *ptr);
-
-	bool ok();
-
-	virtual void parse(int verboseMode) = 0;
-
-	virtual int write(const char *fileName, bool fixupPointers = false) = 0;
-
-	virtual void writeChunks(FILE *fp, bool fixupPointers);
-
-	virtual void writeDNA(FILE *fp) = 0;
-
-	void updateOldPointers();
-	void resolvePointers(int verboseMode);
-
-	void dumpChunks(bDNA *dna);
-
-	int getVersion() const
-	{
-		return mVersion;
-	}
-	//pre-swap the endianness, so that data loaded on a target with different endianness doesn't need to be swapped
-	void preSwap();
-	void writeFile(const char *fileName);
-};
-}  // namespace bParse
-
-#endif  //__BFILE_H__
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Serializer.cpp b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Serializer.cpp
deleted file mode 100644
index ea4a8e2007..0000000000
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Serializer.cpp
+++ /dev/null
@@ -1,18062 +0,0 @@
-char b3s_bulletDNAstr[] = {
-	char(83),
-	char(68),
-	char(78),
-	char(65),
-	char(78),
-	char(65),
-	char(77),
-	char(69),
-	char(63),
-	char(1),
-	char(0),
-	char(0),
-	char(109),
-	char(95),
-	char(115),
-	char(105),
-	char(122),
-	char(101),
-	char(0),
-	char(109),
-	char(95),
-	char(99),
-	char(97),
-	char(112),
-	char(97),
-	char(99),
-	char(105),
-	char(116),
-	char(121),
-	char(0),
-	char(42),
-	char(109),
-	char(95),
-	char(100),
-	char(97),
-	char(116),
-	char(97),
-	char(0),
-	char(109),
-	char(95),
-	char(99),
-	char(111),
-	char(108),
-	char(108),
-	char(105),
-	char(115),
-	char(105),
-	char(111),
-	char(110),
-	char(83),
-	char(104),
-	char(97),
-	char(112),
-	char(101),
-	char(115),
-	char(0),
-	char(109),
-	char(95),
-	char(99),
-	char(111),
-	char(108),
-	char(108),
-	char(105),
-	char(115),
-	char(105),
-	char(111),
-	char(110),
-	char(79),
-	char(98),
-	char(106),
-	char(101),
-	char(99),
-	char(116),
-	char(115),
-	char(0),
-	char(109),
-	char(95),
-	char(99),
-	char(111),
-	char(110),
-	char(115),
-	char(116),
-	char(114),
-	char(97),
-	char(105),
-	char(110),
-	char(116),
-	char(115),
-	char(0),
-	char(42),
-	char(102),
-	char(105),
-	char(114),
-	char(115),
-	char(116),
-	char(0),
-	char(42),
-	char(108),
-	char(97),
-	char(115),
-	char(116),
-	char(0),
-	char(109),
-	char(95),
-	char(102),
-	char(108),
-	char(111),
-	char(97),
-	char(116),
-	char(115),
-	char(91),
-	char(52),
-	char(93),
-	char(0),
-	char(109),
-	char(95),
-	char(101),
-	char(108),
-	char(91),
-	char(51),
-	char(93),
-	char(0),
-	char(109),
-	char(95),
-	char(98),
-	char(97),
-	char(115),
-	char(105),
-	char(115),
-	char(0),
-	char(109),
-	char(95),
-	char(111),
-	char(114),
-	char(105),
-	char(103),
-	char(105),
-	char(110),
-	char(0),
-	char(109),
-	char(95),
-	char(114),
-	char(111),
-	char(111),
-	char(116),
-	char(78),
-	char(111),
-	char(100),
-	char(101),
-	char(73),
-	char(110),
-	char(100),
-	char(101),
-	char(120),
-	char(0),
-	char(109),
-	char(95),
-	char(115),
-	char(117),
-	char(98),
-	char(116),
-	char(114),
-	char(101),
-	char(101),
-	char(83),
-	char(105),
-	char(122),
-	char(101),
-	char(0),
-	char(109),
-	char(95),
-	char(113),
-	char(117),
-	char(97),
-	char(110),
-	char(116),
-	char(105),
-	char(122),
-	char(101),
-	char(100),
-	char(65),
-	char(97),
-	char(98),
-	char(98),
-	char(77),
-	char(105),
-	char(110),
-	char(91),
-	char(51),
-	char(93),
-	char(0),
-	char(109),
-	char(95),
-	char(113),
-	char(117),
-	char(97),
-	char(110),
-	char(116),
-	char(105),
-	char(122),
-	char(101),
-	char(100),
-	char(65),
-	char(97),
-	char(98),
-	char(98),
-	char(77),
-	char(97),
-	char(120),
-	char(91),
-	char(51),
-	char(93),
-	char(0),
-	char(109),
-	char(95),
-	char(97),
-	char(97),
-	char(98),
-	char(98),
-	char(77),
-	char(105),
-	char(110),
-	char(79),
-	char(114),
-	char(103),
-	char(0),
-	char(109),
-	char(95),
-	char(97),
-	char(97),
-	char(98),
-	char(98),
-	char(77),
-	char(97),
-	char(120),
-	char(79),
-	char(114),
-	char(103),
-	char(0),
-	char(109),
-	char(95),
-	char(101),
-	char(115),
-	char(99),
-	char(97),
-	char(112),
-	char(101),
-	char(73),
-	char(110),
-	char(100),
-	char(101),
-	char(120),
-	char(0),
-	char(109),
-	char(95),
-	char(115),
-	char(117),
-	char(98),
-	char(80),
-	char(97),
-	char(114),
-	char(116),
-	char(0),
-	char(109),
-	char(95),
-	char(116),
-	char(114),
-	char(105),
-	char(97),
-	char(110),
-	char(103),
-	char(108),
-	char(101),
-	char(73),
-	char(110),
-	char(100),
-	char(101),
-	char(120),
-	char(0),
-	char(109),
-	char(95),
-	char(112),
-	char(97),
-	char(100),
-	char(91),
-	char(52),
-	char(93),
-	char(0),
-	char(109),
-	char(95),
-	char(101),
-	char(115),
-	char(99),
-	char(97),
-	char(112),
-	char(101),
-	char(73),
-	char(110),
-	char(100),
-	char(101),
-	char(120),
-	char(79),
-	char(114),
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-	char(0),
-	char(-24),
-	char(0),
-	char(7),
-	char(0),
-	char(-23),
-	char(0),
-	char(7),
-	char(0),
-	char(-79),
-	char(0),
-	char(7),
-	char(0),
-	char(-22),
-	char(0),
-	char(7),
-	char(0),
-	char(-21),
-	char(0),
-	char(7),
-	char(0),
-	char(-20),
-	char(0),
-	char(7),
-	char(0),
-	char(-19),
-	char(0),
-	char(7),
-	char(0),
-	char(-18),
-	char(0),
-	char(7),
-	char(0),
-	char(-17),
-	char(0),
-	char(7),
-	char(0),
-	char(-16),
-	char(0),
-	char(7),
-	char(0),
-	char(-15),
-	char(0),
-	char(7),
-	char(0),
-	char(-14),
-	char(0),
-	char(7),
-	char(0),
-	char(-13),
-	char(0),
-	char(7),
-	char(0),
-	char(-12),
-	char(0),
-	char(7),
-	char(0),
-	char(-11),
-	char(0),
-	char(7),
-	char(0),
-	char(-10),
-	char(0),
-	char(7),
-	char(0),
-	char(-9),
-	char(0),
-	char(7),
-	char(0),
-	char(-8),
-	char(0),
-	char(7),
-	char(0),
-	char(-7),
-	char(0),
-	char(7),
-	char(0),
-	char(-6),
-	char(0),
-	char(7),
-	char(0),
-	char(-5),
-	char(0),
-	char(4),
-	char(0),
-	char(-4),
-	char(0),
-	char(4),
-	char(0),
-	char(-3),
-	char(0),
-	char(4),
-	char(0),
-	char(-2),
-	char(0),
-	char(4),
-	char(0),
-	char(-1),
-	char(0),
-	char(4),
-	char(0),
-	char(117),
-	char(0),
-	char(72),
-	char(0),
-	char(12),
-	char(0),
-	char(15),
-	char(0),
-	char(0),
-	char(1),
-	char(15),
-	char(0),
-	char(1),
-	char(1),
-	char(15),
-	char(0),
-	char(2),
-	char(1),
-	char(13),
-	char(0),
-	char(3),
-	char(1),
-	char(13),
-	char(0),
-	char(4),
-	char(1),
-	char(7),
-	char(0),
-	char(5),
-	char(1),
-	char(4),
-	char(0),
-	char(6),
-	char(1),
-	char(4),
-	char(0),
-	char(7),
-	char(1),
-	char(4),
-	char(0),
-	char(8),
-	char(1),
-	char(4),
-	char(0),
-	char(9),
-	char(1),
-	char(7),
-	char(0),
-	char(-31),
-	char(0),
-	char(4),
-	char(0),
-	char(53),
-	char(0),
-	char(73),
-	char(0),
-	char(27),
-	char(0),
-	char(17),
-	char(0),
-	char(10),
-	char(1),
-	char(15),
-	char(0),
-	char(11),
-	char(1),
-	char(15),
-	char(0),
-	char(12),
-	char(1),
-	char(13),
-	char(0),
-	char(3),
-	char(1),
-	char(13),
-	char(0),
-	char(13),
-	char(1),
-	char(13),
-	char(0),
-	char(14),
-	char(1),
-	char(13),
-	char(0),
-	char(15),
-	char(1),
-	char(13),
-	char(0),
-	char(16),
-	char(1),
-	char(13),
-	char(0),
-	char(17),
-	char(1),
-	char(4),
-	char(0),
-	char(18),
-	char(1),
-	char(7),
-	char(0),
-	char(19),
-	char(1),
-	char(4),
-	char(0),
-	char(20),
-	char(1),
-	char(4),
-	char(0),
-	char(21),
-	char(1),
-	char(4),
-	char(0),
-	char(22),
-	char(1),
-	char(7),
-	char(0),
-	char(23),
-	char(1),
-	char(7),
-	char(0),
-	char(24),
-	char(1),
-	char(4),
-	char(0),
-	char(25),
-	char(1),
-	char(4),
-	char(0),
-	char(26),
-	char(1),
-	char(7),
-	char(0),
-	char(27),
-	char(1),
-	char(7),
-	char(0),
-	char(28),
-	char(1),
-	char(7),
-	char(0),
-	char(29),
-	char(1),
-	char(7),
-	char(0),
-	char(30),
-	char(1),
-	char(7),
-	char(0),
-	char(31),
-	char(1),
-	char(7),
-	char(0),
-	char(32),
-	char(1),
-	char(4),
-	char(0),
-	char(33),
-	char(1),
-	char(4),
-	char(0),
-	char(34),
-	char(1),
-	char(4),
-	char(0),
-	char(35),
-	char(1),
-	char(74),
-	char(0),
-	char(12),
-	char(0),
-	char(9),
-	char(0),
-	char(36),
-	char(1),
-	char(9),
-	char(0),
-	char(37),
-	char(1),
-	char(13),
-	char(0),
-	char(38),
-	char(1),
-	char(7),
-	char(0),
-	char(39),
-	char(1),
-	char(7),
-	char(0),
-	char(-63),
-	char(0),
-	char(7),
-	char(0),
-	char(40),
-	char(1),
-	char(4),
-	char(0),
-	char(41),
-	char(1),
-	char(13),
-	char(0),
-	char(42),
-	char(1),
-	char(4),
-	char(0),
-	char(43),
-	char(1),
-	char(4),
-	char(0),
-	char(44),
-	char(1),
-	char(4),
-	char(0),
-	char(45),
-	char(1),
-	char(4),
-	char(0),
-	char(53),
-	char(0),
-	char(75),
-	char(0),
-	char(19),
-	char(0),
-	char(47),
-	char(0),
-	char(125),
-	char(0),
-	char(72),
-	char(0),
-	char(46),
-	char(1),
-	char(65),
-	char(0),
-	char(47),
-	char(1),
-	char(66),
-	char(0),
-	char(48),
-	char(1),
-	char(67),
-	char(0),
-	char(49),
-	char(1),
-	char(68),
-	char(0),
-	char(50),
-	char(1),
-	char(69),
-	char(0),
-	char(51),
-	char(1),
-	char(70),
-	char(0),
-	char(52),
-	char(1),
-	char(73),
-	char(0),
-	char(53),
-	char(1),
-	char(74),
-	char(0),
-	char(54),
-	char(1),
-	char(4),
-	char(0),
-	char(55),
-	char(1),
-	char(4),
-	char(0),
-	char(21),
-	char(1),
-	char(4),
-	char(0),
-	char(56),
-	char(1),
-	char(4),
-	char(0),
-	char(57),
-	char(1),
-	char(4),
-	char(0),
-	char(58),
-	char(1),
-	char(4),
-	char(0),
-	char(59),
-	char(1),
-	char(4),
-	char(0),
-	char(60),
-	char(1),
-	char(4),
-	char(0),
-	char(61),
-	char(1),
-	char(71),
-	char(0),
-	char(62),
-	char(1),
-};
-int b3s_bulletDNAlen64 = sizeof(b3s_bulletDNAstr64);
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Serializer.h b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Serializer.h
deleted file mode 100644
index d9e153e238..0000000000
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Serializer.h
+++ /dev/null
@@ -1,601 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_SERIALIZER_H
-#define B3_SERIALIZER_H
-
-#include "Bullet3Common/b3Scalar.h"  // has definitions like B3_FORCE_INLINE
-#include "Bullet3Common/b3StackAlloc.h"
-#include "Bullet3Common/b3HashMap.h"
-
-#if !defined(__CELLOS_LV2__) && !defined(__MWERKS__)
-#include <memory.h>
-#endif
-#include <string.h>
-
-extern char b3s_bulletDNAstr[];
-extern int b3s_bulletDNAlen;
-extern char b3s_bulletDNAstr64[];
-extern int b3s_bulletDNAlen64;
-
-B3_FORCE_INLINE int b3StrLen(const char* str)
-{
-	if (!str)
-		return (0);
-	int len = 0;
-
-	while (*str != 0)
-	{
-		str++;
-		len++;
-	}
-
-	return len;
-}
-
-class b3Chunk
-{
-public:
-	int m_chunkCode;
-	int m_length;
-	void* m_oldPtr;
-	int m_dna_nr;
-	int m_number;
-};
-
-enum b3SerializationFlags
-{
-	B3_SERIALIZE_NO_BVH = 1,
-	B3_SERIALIZE_NO_TRIANGLEINFOMAP = 2,
-	B3_SERIALIZE_NO_DUPLICATE_ASSERT = 4
-};
-
-class b3Serializer
-{
-public:
-	virtual ~b3Serializer() {}
-
-	virtual const unsigned char* getBufferPointer() const = 0;
-
-	virtual int getCurrentBufferSize() const = 0;
-
-	virtual b3Chunk* allocate(size_t size, int numElements) = 0;
-
-	virtual void finalizeChunk(b3Chunk* chunk, const char* structType, int chunkCode, void* oldPtr) = 0;
-
-	virtual void* findPointer(void* oldPtr) = 0;
-
-	virtual void* getUniquePointer(void* oldPtr) = 0;
-
-	virtual void startSerialization() = 0;
-
-	virtual void finishSerialization() = 0;
-
-	virtual const char* findNameForPointer(const void* ptr) const = 0;
-
-	virtual void registerNameForPointer(const void* ptr, const char* name) = 0;
-
-	virtual void serializeName(const char* ptr) = 0;
-
-	virtual int getSerializationFlags() const = 0;
-
-	virtual void setSerializationFlags(int flags) = 0;
-};
-
-#define B3_HEADER_LENGTH 12
-#if defined(__sgi) || defined(__sparc) || defined(__sparc__) || defined(__PPC__) || defined(__ppc__) || defined(__BIG_ENDIAN__)
-#define B3_MAKE_ID(a, b, c, d) ((int)(a) << 24 | (int)(b) << 16 | (c) << 8 | (d))
-#else
-#define B3_MAKE_ID(a, b, c, d) ((int)(d) << 24 | (int)(c) << 16 | (b) << 8 | (a))
-#endif
-
-#define B3_SOFTBODY_CODE B3_MAKE_ID('S', 'B', 'D', 'Y')
-#define B3_COLLISIONOBJECT_CODE B3_MAKE_ID('C', 'O', 'B', 'J')
-#define B3_RIGIDBODY_CODE B3_MAKE_ID('R', 'B', 'D', 'Y')
-#define B3_CONSTRAINT_CODE B3_MAKE_ID('C', 'O', 'N', 'S')
-#define B3_BOXSHAPE_CODE B3_MAKE_ID('B', 'O', 'X', 'S')
-#define B3_QUANTIZED_BVH_CODE B3_MAKE_ID('Q', 'B', 'V', 'H')
-#define B3_TRIANLGE_INFO_MAP B3_MAKE_ID('T', 'M', 'A', 'P')
-#define B3_SHAPE_CODE B3_MAKE_ID('S', 'H', 'A', 'P')
-#define B3_ARRAY_CODE B3_MAKE_ID('A', 'R', 'A', 'Y')
-#define B3_SBMATERIAL_CODE B3_MAKE_ID('S', 'B', 'M', 'T')
-#define B3_SBNODE_CODE B3_MAKE_ID('S', 'B', 'N', 'D')
-#define B3_DYNAMICSWORLD_CODE B3_MAKE_ID('D', 'W', 'L', 'D')
-#define B3_DNA_CODE B3_MAKE_ID('D', 'N', 'A', '1')
-
-struct b3PointerUid
-{
-	union {
-		void* m_ptr;
-		int m_uniqueIds[2];
-	};
-};
-
-///The b3DefaultSerializer is the main Bullet serialization class.
-///The constructor takes an optional argument for backwards compatibility, it is recommended to leave this empty/zero.
-class b3DefaultSerializer : public b3Serializer
-{
-	b3AlignedObjectArray<char*> mTypes;
-	b3AlignedObjectArray<short*> mStructs;
-	b3AlignedObjectArray<short> mTlens;
-	b3HashMap<b3HashInt, int> mStructReverse;
-	b3HashMap<b3HashString, int> mTypeLookup;
-
-	b3HashMap<b3HashPtr, void*> m_chunkP;
-
-	b3HashMap<b3HashPtr, const char*> m_nameMap;
-
-	b3HashMap<b3HashPtr, b3PointerUid> m_uniquePointers;
-	int m_uniqueIdGenerator;
-
-	int m_totalSize;
-	unsigned char* m_buffer;
-	int m_currentSize;
-	void* m_dna;
-	int m_dnaLength;
-
-	int m_serializationFlags;
-
-	b3AlignedObjectArray<b3Chunk*> m_chunkPtrs;
-
-protected:
-	virtual void* findPointer(void* oldPtr)
-	{
-		void** ptr = m_chunkP.find(oldPtr);
-		if (ptr && *ptr)
-			return *ptr;
-		return 0;
-	}
-
-	void writeDNA()
-	{
-		b3Chunk* dnaChunk = allocate(m_dnaLength, 1);
-		memcpy(dnaChunk->m_oldPtr, m_dna, m_dnaLength);
-		finalizeChunk(dnaChunk, "DNA1", B3_DNA_CODE, m_dna);
-	}
-
-	int getReverseType(const char* type) const
-	{
-		b3HashString key(type);
-		const int* valuePtr = mTypeLookup.find(key);
-		if (valuePtr)
-			return *valuePtr;
-
-		return -1;
-	}
-
-	void initDNA(const char* bdnaOrg, int dnalen)
-	{
-		///was already initialized
-		if (m_dna)
-			return;
-
-		int littleEndian = 1;
-		littleEndian = ((char*)&littleEndian)[0];
-
-		m_dna = b3AlignedAlloc(dnalen, 16);
-		memcpy(m_dna, bdnaOrg, dnalen);
-		m_dnaLength = dnalen;
-
-		int* intPtr = 0;
-		short* shtPtr = 0;
-		char* cp = 0;
-		int dataLen = 0;
-		intPtr = (int*)m_dna;
-
-		/*
-				SDNA (4 bytes) (magic number)
-				NAME (4 bytes)
-				<nr> (4 bytes) amount of names (int)
-				<string>
-				<string>
-			*/
-
-		if (strncmp((const char*)m_dna, "SDNA", 4) == 0)
-		{
-			// skip ++ NAME
-			intPtr++;
-			intPtr++;
-		}
-
-		// Parse names
-		if (!littleEndian)
-			*intPtr = b3SwapEndian(*intPtr);
-
-		dataLen = *intPtr;
-
-		intPtr++;
-
-		cp = (char*)intPtr;
-		int i;
-		for (i = 0; i < dataLen; i++)
-		{
-			while (*cp) cp++;
-			cp++;
-		}
-		cp = b3AlignPointer(cp, 4);
-
-		/*
-				TYPE (4 bytes)
-				<nr> amount of types (int)
-				<string>
-				<string>
-			*/
-
-		intPtr = (int*)cp;
-		b3Assert(strncmp(cp, "TYPE", 4) == 0);
-		intPtr++;
-
-		if (!littleEndian)
-			*intPtr = b3SwapEndian(*intPtr);
-
-		dataLen = *intPtr;
-		intPtr++;
-
-		cp = (char*)intPtr;
-		for (i = 0; i < dataLen; i++)
-		{
-			mTypes.push_back(cp);
-			while (*cp) cp++;
-			cp++;
-		}
-
-		cp = b3AlignPointer(cp, 4);
-
-		/*
-				TLEN (4 bytes)
-				<len> (short) the lengths of types
-				<len>
-			*/
-
-		// Parse type lens
-		intPtr = (int*)cp;
-		b3Assert(strncmp(cp, "TLEN", 4) == 0);
-		intPtr++;
-
-		dataLen = (int)mTypes.size();
-
-		shtPtr = (short*)intPtr;
-		for (i = 0; i < dataLen; i++, shtPtr++)
-		{
-			if (!littleEndian)
-				shtPtr[0] = b3SwapEndian(shtPtr[0]);
-			mTlens.push_back(shtPtr[0]);
-		}
-
-		if (dataLen & 1) shtPtr++;
-
-		/*
-				STRC (4 bytes)
-				<nr> amount of structs (int)
-				<typenr>
-				<nr_of_elems>
-				<typenr>
-				<namenr>
-				<typenr>
-				<namenr>
-			*/
-
-		intPtr = (int*)shtPtr;
-		cp = (char*)intPtr;
-		b3Assert(strncmp(cp, "STRC", 4) == 0);
-		intPtr++;
-
-		if (!littleEndian)
-			*intPtr = b3SwapEndian(*intPtr);
-		dataLen = *intPtr;
-		intPtr++;
-
-		shtPtr = (short*)intPtr;
-		for (i = 0; i < dataLen; i++)
-		{
-			mStructs.push_back(shtPtr);
-
-			if (!littleEndian)
-			{
-				shtPtr[0] = b3SwapEndian(shtPtr[0]);
-				shtPtr[1] = b3SwapEndian(shtPtr[1]);
-
-				int len = shtPtr[1];
-				shtPtr += 2;
-
-				for (int a = 0; a < len; a++, shtPtr += 2)
-				{
-					shtPtr[0] = b3SwapEndian(shtPtr[0]);
-					shtPtr[1] = b3SwapEndian(shtPtr[1]);
-				}
-			}
-			else
-			{
-				shtPtr += (2 * shtPtr[1]) + 2;
-			}
-		}
-
-		// build reverse lookups
-		for (i = 0; i < (int)mStructs.size(); i++)
-		{
-			short* strc = mStructs.at(i);
-			mStructReverse.insert(strc[0], i);
-			mTypeLookup.insert(b3HashString(mTypes[strc[0]]), i);
-		}
-	}
-
-public:
-	b3DefaultSerializer(int totalSize = 0)
-		: m_totalSize(totalSize),
-		  m_currentSize(0),
-		  m_dna(0),
-		  m_dnaLength(0),
-		  m_serializationFlags(0)
-	{
-		m_buffer = m_totalSize ? (unsigned char*)b3AlignedAlloc(totalSize, 16) : 0;
-
-		const bool VOID_IS_8 = ((sizeof(void*) == 8));
-
-#ifdef B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-		if (VOID_IS_8)
-		{
-#if _WIN64
-			initDNA((const char*)b3s_bulletDNAstr64, b3s_bulletDNAlen64);
-#else
-			b3Assert(0);
-#endif
-		}
-		else
-		{
-#ifndef _WIN64
-			initDNA((const char*)b3s_bulletDNAstr, b3s_bulletDNAlen);
-#else
-			b3Assert(0);
-#endif
-		}
-
-#else   //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-		if (VOID_IS_8)
-		{
-			initDNA((const char*)b3s_bulletDNAstr64, b3s_bulletDNAlen64);
-		}
-		else
-		{
-			initDNA((const char*)b3s_bulletDNAstr, b3s_bulletDNAlen);
-		}
-#endif  //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-	}
-
-	virtual ~b3DefaultSerializer()
-	{
-		if (m_buffer)
-			b3AlignedFree(m_buffer);
-		if (m_dna)
-			b3AlignedFree(m_dna);
-	}
-
-	void writeHeader(unsigned char* buffer) const
-	{
-#ifdef B3_USE_DOUBLE_PRECISION
-		memcpy(buffer, "BULLETd", 7);
-#else
-		memcpy(buffer, "BULLETf", 7);
-#endif  //B3_USE_DOUBLE_PRECISION
-
-		int littleEndian = 1;
-		littleEndian = ((char*)&littleEndian)[0];
-
-		if (sizeof(void*) == 8)
-		{
-			buffer[7] = '-';
-		}
-		else
-		{
-			buffer[7] = '_';
-		}
-
-		if (littleEndian)
-		{
-			buffer[8] = 'v';
-		}
-		else
-		{
-			buffer[8] = 'V';
-		}
-
-		buffer[9] = '2';
-		buffer[10] = '8';
-		buffer[11] = '1';
-	}
-
-	virtual void startSerialization()
-	{
-		m_uniqueIdGenerator = 1;
-		if (m_totalSize)
-		{
-			unsigned char* buffer = internalAlloc(B3_HEADER_LENGTH);
-			writeHeader(buffer);
-		}
-	}
-
-	virtual void finishSerialization()
-	{
-		writeDNA();
-
-		//if we didn't pre-allocate a buffer, we need to create a contiguous buffer now
-		int mysize = 0;
-		if (!m_totalSize)
-		{
-			if (m_buffer)
-				b3AlignedFree(m_buffer);
-
-			m_currentSize += B3_HEADER_LENGTH;
-			m_buffer = (unsigned char*)b3AlignedAlloc(m_currentSize, 16);
-
-			unsigned char* currentPtr = m_buffer;
-			writeHeader(m_buffer);
-			currentPtr += B3_HEADER_LENGTH;
-			mysize += B3_HEADER_LENGTH;
-			for (int i = 0; i < m_chunkPtrs.size(); i++)
-			{
-				int curLength = sizeof(b3Chunk) + m_chunkPtrs[i]->m_length;
-				memcpy(currentPtr, m_chunkPtrs[i], curLength);
-				b3AlignedFree(m_chunkPtrs[i]);
-				currentPtr += curLength;
-				mysize += curLength;
-			}
-		}
-
-		mTypes.clear();
-		mStructs.clear();
-		mTlens.clear();
-		mStructReverse.clear();
-		mTypeLookup.clear();
-		m_chunkP.clear();
-		m_nameMap.clear();
-		m_uniquePointers.clear();
-		m_chunkPtrs.clear();
-	}
-
-	virtual void* getUniquePointer(void* oldPtr)
-	{
-		if (!oldPtr)
-			return 0;
-
-		b3PointerUid* uptr = (b3PointerUid*)m_uniquePointers.find(oldPtr);
-		if (uptr)
-		{
-			return uptr->m_ptr;
-		}
-		m_uniqueIdGenerator++;
-
-		b3PointerUid uid;
-		uid.m_uniqueIds[0] = m_uniqueIdGenerator;
-		uid.m_uniqueIds[1] = m_uniqueIdGenerator;
-		m_uniquePointers.insert(oldPtr, uid);
-		return uid.m_ptr;
-	}
-
-	virtual const unsigned char* getBufferPointer() const
-	{
-		return m_buffer;
-	}
-
-	virtual int getCurrentBufferSize() const
-	{
-		return m_currentSize;
-	}
-
-	virtual void finalizeChunk(b3Chunk* chunk, const char* structType, int chunkCode, void* oldPtr)
-	{
-		if (!(m_serializationFlags & B3_SERIALIZE_NO_DUPLICATE_ASSERT))
-		{
-			b3Assert(!findPointer(oldPtr));
-		}
-
-		chunk->m_dna_nr = getReverseType(structType);
-
-		chunk->m_chunkCode = chunkCode;
-
-		void* uniquePtr = getUniquePointer(oldPtr);
-
-		m_chunkP.insert(oldPtr, uniquePtr);  //chunk->m_oldPtr);
-		chunk->m_oldPtr = uniquePtr;         //oldPtr;
-	}
-
-	virtual unsigned char* internalAlloc(size_t size)
-	{
-		unsigned char* ptr = 0;
-
-		if (m_totalSize)
-		{
-			ptr = m_buffer + m_currentSize;
-			m_currentSize += int(size);
-			b3Assert(m_currentSize < m_totalSize);
-		}
-		else
-		{
-			ptr = (unsigned char*)b3AlignedAlloc(size, 16);
-			m_currentSize += int(size);
-		}
-		return ptr;
-	}
-
-	virtual b3Chunk* allocate(size_t size, int numElements)
-	{
-		unsigned char* ptr = internalAlloc(int(size) * numElements + sizeof(b3Chunk));
-
-		unsigned char* data = ptr + sizeof(b3Chunk);
-
-		b3Chunk* chunk = (b3Chunk*)ptr;
-		chunk->m_chunkCode = 0;
-		chunk->m_oldPtr = data;
-		chunk->m_length = int(size) * numElements;
-		chunk->m_number = numElements;
-
-		m_chunkPtrs.push_back(chunk);
-
-		return chunk;
-	}
-
-	virtual const char* findNameForPointer(const void* ptr) const
-	{
-		const char* const* namePtr = m_nameMap.find(ptr);
-		if (namePtr && *namePtr)
-			return *namePtr;
-		return 0;
-	}
-
-	virtual void registerNameForPointer(const void* ptr, const char* name)
-	{
-		m_nameMap.insert(ptr, name);
-	}
-
-	virtual void serializeName(const char* name)
-	{
-		if (name)
-		{
-			//don't serialize name twice
-			if (findPointer((void*)name))
-				return;
-
-			int len = b3StrLen(name);
-			if (len)
-			{
-				int newLen = len + 1;
-				int padding = ((newLen + 3) & ~3) - newLen;
-				newLen += padding;
-
-				//serialize name string now
-				b3Chunk* chunk = allocate(sizeof(char), newLen);
-				char* destinationName = (char*)chunk->m_oldPtr;
-				for (int i = 0; i < len; i++)
-				{
-					destinationName[i] = name[i];
-				}
-				destinationName[len] = 0;
-				finalizeChunk(chunk, "char", B3_ARRAY_CODE, (void*)name);
-			}
-		}
-	}
-
-	virtual int getSerializationFlags() const
-	{
-		return m_serializationFlags;
-	}
-
-	virtual void setSerializationFlags(int flags)
-	{
-		m_serializationFlags = flags;
-	}
-};
-
-#endif  //B3_SERIALIZER_H
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
deleted file mode 100644
index ec6fe9f4d8..0000000000
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
+++ /dev/null
@@ -1,33 +0,0 @@
-
-//Bullet Continuous Collision Detection and Physics Library
-//Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-//
-// btAxisSweep3
-//
-// Copyright (c) 2006 Simon Hobbs
-//
-// This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software.
-//
-// Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:
-//
-// 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-//
-// 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-//
-// 3. This notice may not be removed or altered from any source distribution.
-#include "btAxisSweep3.h"
-
-btAxisSweep3::btAxisSweep3(const btVector3& worldAabbMin, const btVector3& worldAabbMax, unsigned short int maxHandles, btOverlappingPairCache* pairCache, bool disableRaycastAccelerator)
-	: btAxisSweep3Internal<unsigned short int>(worldAabbMin, worldAabbMax, 0xfffe, 0xffff, maxHandles, pairCache, disableRaycastAccelerator)
-{
-	// 1 handle is reserved as sentinel
-	btAssert(maxHandles > 1 && maxHandles < 32767);
-}
-
-bt32BitAxisSweep3::bt32BitAxisSweep3(const btVector3& worldAabbMin, const btVector3& worldAabbMax, unsigned int maxHandles, btOverlappingPairCache* pairCache, bool disableRaycastAccelerator)
-	: btAxisSweep3Internal<unsigned int>(worldAabbMin, worldAabbMax, 0xfffffffe, 0x7fffffff, maxHandles, pairCache, disableRaycastAccelerator)
-{
-	// 1 handle is reserved as sentinel
-	btAssert(maxHandles > 1 && maxHandles < 2147483647);
-}
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h
deleted file mode 100644
index 1e42f25f3b..0000000000
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h
+++ /dev/null
@@ -1,48 +0,0 @@
-//Bullet Continuous Collision Detection and Physics Library
-//Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-//
-// btAxisSweep3.h
-//
-// Copyright (c) 2006 Simon Hobbs
-//
-// This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software.
-//
-// Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:
-//
-// 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-//
-// 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-//
-// 3. This notice may not be removed or altered from any source distribution.
-
-#ifndef BT_AXIS_SWEEP_3_H
-#define BT_AXIS_SWEEP_3_H
-
-#include "LinearMath/btVector3.h"
-#include "btOverlappingPairCache.h"
-#include "btBroadphaseInterface.h"
-#include "btBroadphaseProxy.h"
-#include "btOverlappingPairCallback.h"
-#include "btDbvtBroadphase.h"
-#include "btAxisSweep3Internal.h"
-
-/// The btAxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase.
-/// It uses arrays rather then lists for storage of the 3 axis. Also it operates using 16 bit integer coordinates instead of floats.
-/// For large worlds and many objects, use bt32BitAxisSweep3 or btDbvtBroadphase instead. bt32BitAxisSweep3 has higher precision and allows more then 16384 objects at the cost of more memory and bit of performance.
-class btAxisSweep3 : public btAxisSweep3Internal<unsigned short int>
-{
-public:
-	btAxisSweep3(const btVector3& worldAabbMin, const btVector3& worldAabbMax, unsigned short int maxHandles = 16384, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
-};
-
-/// The bt32BitAxisSweep3 allows higher precision quantization and more objects compared to the btAxisSweep3 sweep and prune.
-/// This comes at the cost of more memory per handle, and a bit slower performance.
-/// It uses arrays rather then lists for storage of the 3 axis.
-class bt32BitAxisSweep3 : public btAxisSweep3Internal<unsigned int>
-{
-public:
-	bt32BitAxisSweep3(const btVector3& worldAabbMin, const btVector3& worldAabbMax, unsigned int maxHandles = 1500000, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
-};
-
-#endif
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h
deleted file mode 100644
index 2ee35528fd..0000000000
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h
+++ /dev/null
@@ -1,954 +0,0 @@
-//Bullet Continuous Collision Detection and Physics Library
-//Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-//
-// btAxisSweep3.h
-//
-// Copyright (c) 2006 Simon Hobbs
-//
-// This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software.
-//
-// Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:
-//
-// 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-//
-// 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-//
-// 3. This notice may not be removed or altered from any source distribution.
-
-#ifndef BT_AXIS_SWEEP_3_INTERNAL_H
-#define BT_AXIS_SWEEP_3_INTERNAL_H
-
-#include "LinearMath/btVector3.h"
-#include "btOverlappingPairCache.h"
-#include "btBroadphaseInterface.h"
-#include "btBroadphaseProxy.h"
-#include "btOverlappingPairCallback.h"
-#include "btDbvtBroadphase.h"
-
-//#define DEBUG_BROADPHASE 1
-#define USE_OVERLAP_TEST_ON_REMOVES 1
-
-/// The internal templace class btAxisSweep3Internal implements the sweep and prune broadphase.
-/// It uses quantized integers to represent the begin and end points for each of the 3 axis.
-/// Dont use this class directly, use btAxisSweep3 or bt32BitAxisSweep3 instead.
-template <typename BP_FP_INT_TYPE>
-class btAxisSweep3Internal : public btBroadphaseInterface
-{
-protected:
-	BP_FP_INT_TYPE m_bpHandleMask;
-	BP_FP_INT_TYPE m_handleSentinel;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	class Edge
-	{
-	public:
-		BP_FP_INT_TYPE m_pos;  // low bit is min/max
-		BP_FP_INT_TYPE m_handle;
-
-		BP_FP_INT_TYPE IsMax() const { return static_cast<BP_FP_INT_TYPE>(m_pos & 1); }
-	};
-
-public:
-	class Handle : public btBroadphaseProxy
-	{
-	public:
-		BT_DECLARE_ALIGNED_ALLOCATOR();
-
-		// indexes into the edge arrays
-		BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3];  // 6 * 2 = 12
-													  //		BP_FP_INT_TYPE m_uniqueId;
-		btBroadphaseProxy* m_dbvtProxy;               //for faster raycast
-		//void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject
-
-		SIMD_FORCE_INLINE void SetNextFree(BP_FP_INT_TYPE next) { m_minEdges[0] = next; }
-		SIMD_FORCE_INLINE BP_FP_INT_TYPE GetNextFree() const { return m_minEdges[0]; }
-	};  // 24 bytes + 24 for Edge structures = 44 bytes total per entry
-
-protected:
-	btVector3 m_worldAabbMin;  // overall system bounds
-	btVector3 m_worldAabbMax;  // overall system bounds
-
-	btVector3 m_quantize;  // scaling factor for quantization
-
-	BP_FP_INT_TYPE m_numHandles;  // number of active handles
-	BP_FP_INT_TYPE m_maxHandles;  // max number of handles
-	Handle* m_pHandles;           // handles pool
-
-	BP_FP_INT_TYPE m_firstFreeHandle;  // free handles list
-
-	Edge* m_pEdges[3];  // edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries)
-	void* m_pEdgesRawPtr[3];
-
-	btOverlappingPairCache* m_pairCache;
-
-	///btOverlappingPairCallback is an additional optional user callback for adding/removing overlapping pairs, similar interface to btOverlappingPairCache.
-	btOverlappingPairCallback* m_userPairCallback;
-
-	bool m_ownsPairCache;
-
-	int m_invalidPair;
-
-	///additional dynamic aabb structure, used to accelerate ray cast queries.
-	///can be disabled using a optional argument in the constructor
-	btDbvtBroadphase* m_raycastAccelerator;
-	btOverlappingPairCache* m_nullPairCache;
-
-	// allocation/deallocation
-	BP_FP_INT_TYPE allocHandle();
-	void freeHandle(BP_FP_INT_TYPE handle);
-
-	bool testOverlap2D(const Handle* pHandleA, const Handle* pHandleB, int axis0, int axis1);
-
-#ifdef DEBUG_BROADPHASE
-	void debugPrintAxis(int axis, bool checkCardinality = true);
-#endif  //DEBUG_BROADPHASE
-
-	//Overlap* AddOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
-	//void RemoveOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
-
-	void sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps);
-	void sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps);
-	void sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps);
-	void sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps);
-
-public:
-	btAxisSweep3Internal(const btVector3& worldAabbMin, const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles = 16384, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
-
-	virtual ~btAxisSweep3Internal();
-
-	BP_FP_INT_TYPE getNumHandles() const
-	{
-		return m_numHandles;
-	}
-
-	virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
-
-	BP_FP_INT_TYPE addHandle(const btVector3& aabbMin, const btVector3& aabbMax, void* pOwner, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
-	void removeHandle(BP_FP_INT_TYPE handle, btDispatcher* dispatcher);
-	void updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher);
-	SIMD_FORCE_INLINE Handle* getHandle(BP_FP_INT_TYPE index) const { return m_pHandles + index; }
-
-	virtual void resetPool(btDispatcher* dispatcher);
-
-	void processAllOverlappingPairs(btOverlapCallback* callback);
-
-	//Broadphase Interface
-	virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
-	virtual void destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher);
-	virtual void setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher);
-	virtual void getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const;
-
-	virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin = btVector3(0, 0, 0), const btVector3& aabbMax = btVector3(0, 0, 0));
-	virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
-
-	void quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const;
-	///unQuantize should be conservative: aabbMin/aabbMax should be larger then 'getAabb' result
-	void unQuantize(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const;
-
-	bool testAabbOverlap(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
-
-	btOverlappingPairCache* getOverlappingPairCache()
-	{
-		return m_pairCache;
-	}
-	const btOverlappingPairCache* getOverlappingPairCache() const
-	{
-		return m_pairCache;
-	}
-
-	void setOverlappingPairUserCallback(btOverlappingPairCallback* pairCallback)
-	{
-		m_userPairCallback = pairCallback;
-	}
-	const btOverlappingPairCallback* getOverlappingPairUserCallback() const
-	{
-		return m_userPairCallback;
-	}
-
-	///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
-	///will add some transform later
-	virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const
-	{
-		aabbMin = m_worldAabbMin;
-		aabbMax = m_worldAabbMax;
-	}
-
-	virtual void printStats()
-	{
-		/*		printf("btAxisSweep3.h\n");
-		printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
-		printf("aabbMin=%f,%f,%f,aabbMax=%f,%f,%f\n",m_worldAabbMin.getX(),m_worldAabbMin.getY(),m_worldAabbMin.getZ(),
-			m_worldAabbMax.getX(),m_worldAabbMax.getY(),m_worldAabbMax.getZ());
-			*/
-	}
-};
-
-////////////////////////////////////////////////////////////////////
-
-#ifdef DEBUG_BROADPHASE
-#include <stdio.h>
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3<BP_FP_INT_TYPE>::debugPrintAxis(int axis, bool checkCardinality)
-{
-	int numEdges = m_pHandles[0].m_maxEdges[axis];
-	printf("SAP Axis %d, numEdges=%d\n", axis, numEdges);
-
-	int i;
-	for (i = 0; i < numEdges + 1; i++)
-	{
-		Edge* pEdge = m_pEdges[axis] + i;
-		Handle* pHandlePrev = getHandle(pEdge->m_handle);
-		int handleIndex = pEdge->IsMax() ? pHandlePrev->m_maxEdges[axis] : pHandlePrev->m_minEdges[axis];
-		char beginOrEnd;
-		beginOrEnd = pEdge->IsMax() ? 'E' : 'B';
-		printf("	[%c,h=%d,p=%x,i=%d]\n", beginOrEnd, pEdge->m_handle, pEdge->m_pos, handleIndex);
-	}
-
-	if (checkCardinality)
-		btAssert(numEdges == m_numHandles * 2 + 1);
-}
-#endif  //DEBUG_BROADPHASE
-
-template <typename BP_FP_INT_TYPE>
-btBroadphaseProxy* btAxisSweep3Internal<BP_FP_INT_TYPE>::createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher)
-{
-	(void)shapeType;
-	BP_FP_INT_TYPE handleId = addHandle(aabbMin, aabbMax, userPtr, collisionFilterGroup, collisionFilterMask, dispatcher);
-
-	Handle* handle = getHandle(handleId);
-
-	if (m_raycastAccelerator)
-	{
-		btBroadphaseProxy* rayProxy = m_raycastAccelerator->createProxy(aabbMin, aabbMax, shapeType, userPtr, collisionFilterGroup, collisionFilterMask, dispatcher);
-		handle->m_dbvtProxy = rayProxy;
-	}
-	return handle;
-}
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher)
-{
-	Handle* handle = static_cast<Handle*>(proxy);
-	if (m_raycastAccelerator)
-		m_raycastAccelerator->destroyProxy(handle->m_dbvtProxy, dispatcher);
-	removeHandle(static_cast<BP_FP_INT_TYPE>(handle->m_uniqueId), dispatcher);
-}
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher)
-{
-	Handle* handle = static_cast<Handle*>(proxy);
-	handle->m_aabbMin = aabbMin;
-	handle->m_aabbMax = aabbMax;
-	updateHandle(static_cast<BP_FP_INT_TYPE>(handle->m_uniqueId), aabbMin, aabbMax, dispatcher);
-	if (m_raycastAccelerator)
-		m_raycastAccelerator->setAabb(handle->m_dbvtProxy, aabbMin, aabbMax, dispatcher);
-}
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin, const btVector3& aabbMax)
-{
-	if (m_raycastAccelerator)
-	{
-		m_raycastAccelerator->rayTest(rayFrom, rayTo, rayCallback, aabbMin, aabbMax);
-	}
-	else
-	{
-		//choose axis?
-		BP_FP_INT_TYPE axis = 0;
-		//for each proxy
-		for (BP_FP_INT_TYPE i = 1; i < m_numHandles * 2 + 1; i++)
-		{
-			if (m_pEdges[axis][i].IsMax())
-			{
-				rayCallback.process(getHandle(m_pEdges[axis][i].m_handle));
-			}
-		}
-	}
-}
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
-{
-	if (m_raycastAccelerator)
-	{
-		m_raycastAccelerator->aabbTest(aabbMin, aabbMax, callback);
-	}
-	else
-	{
-		//choose axis?
-		BP_FP_INT_TYPE axis = 0;
-		//for each proxy
-		for (BP_FP_INT_TYPE i = 1; i < m_numHandles * 2 + 1; i++)
-		{
-			if (m_pEdges[axis][i].IsMax())
-			{
-				Handle* handle = getHandle(m_pEdges[axis][i].m_handle);
-				if (TestAabbAgainstAabb2(aabbMin, aabbMax, handle->m_aabbMin, handle->m_aabbMax))
-				{
-					callback.process(handle);
-				}
-			}
-		}
-	}
-}
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	Handle* pHandle = static_cast<Handle*>(proxy);
-	aabbMin = pHandle->m_aabbMin;
-	aabbMax = pHandle->m_aabbMax;
-}
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::unQuantize(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	Handle* pHandle = static_cast<Handle*>(proxy);
-
-	unsigned short vecInMin[3];
-	unsigned short vecInMax[3];
-
-	vecInMin[0] = m_pEdges[0][pHandle->m_minEdges[0]].m_pos;
-	vecInMax[0] = m_pEdges[0][pHandle->m_maxEdges[0]].m_pos + 1;
-	vecInMin[1] = m_pEdges[1][pHandle->m_minEdges[1]].m_pos;
-	vecInMax[1] = m_pEdges[1][pHandle->m_maxEdges[1]].m_pos + 1;
-	vecInMin[2] = m_pEdges[2][pHandle->m_minEdges[2]].m_pos;
-	vecInMax[2] = m_pEdges[2][pHandle->m_maxEdges[2]].m_pos + 1;
-
-	aabbMin.setValue((btScalar)(vecInMin[0]) / (m_quantize.getX()), (btScalar)(vecInMin[1]) / (m_quantize.getY()), (btScalar)(vecInMin[2]) / (m_quantize.getZ()));
-	aabbMin += m_worldAabbMin;
-
-	aabbMax.setValue((btScalar)(vecInMax[0]) / (m_quantize.getX()), (btScalar)(vecInMax[1]) / (m_quantize.getY()), (btScalar)(vecInMax[2]) / (m_quantize.getZ()));
-	aabbMax += m_worldAabbMin;
-}
-
-template <typename BP_FP_INT_TYPE>
-btAxisSweep3Internal<BP_FP_INT_TYPE>::btAxisSweep3Internal(const btVector3& worldAabbMin, const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE userMaxHandles, btOverlappingPairCache* pairCache, bool disableRaycastAccelerator)
-	: m_bpHandleMask(handleMask),
-	  m_handleSentinel(handleSentinel),
-	  m_pairCache(pairCache),
-	  m_userPairCallback(0),
-	  m_ownsPairCache(false),
-	  m_invalidPair(0),
-	  m_raycastAccelerator(0)
-{
-	BP_FP_INT_TYPE maxHandles = static_cast<BP_FP_INT_TYPE>(userMaxHandles + 1);  //need to add one sentinel handle
-
-	if (!m_pairCache)
-	{
-		void* ptr = btAlignedAlloc(sizeof(btHashedOverlappingPairCache), 16);
-		m_pairCache = new (ptr) btHashedOverlappingPairCache();
-		m_ownsPairCache = true;
-	}
-
-	if (!disableRaycastAccelerator)
-	{
-		m_nullPairCache = new (btAlignedAlloc(sizeof(btNullPairCache), 16)) btNullPairCache();
-		m_raycastAccelerator = new (btAlignedAlloc(sizeof(btDbvtBroadphase), 16)) btDbvtBroadphase(m_nullPairCache);  //m_pairCache);
-		m_raycastAccelerator->m_deferedcollide = true;                                                                //don't add/remove pairs
-	}
-
-	//btAssert(bounds.HasVolume());
-
-	// init bounds
-	m_worldAabbMin = worldAabbMin;
-	m_worldAabbMax = worldAabbMax;
-
-	btVector3 aabbSize = m_worldAabbMax - m_worldAabbMin;
-
-	BP_FP_INT_TYPE maxInt = m_handleSentinel;
-
-	m_quantize = btVector3(btScalar(maxInt), btScalar(maxInt), btScalar(maxInt)) / aabbSize;
-
-	// allocate handles buffer, using btAlignedAlloc, and put all handles on free list
-	m_pHandles = new Handle[maxHandles];
-
-	m_maxHandles = maxHandles;
-	m_numHandles = 0;
-
-	// handle 0 is reserved as the null index, and is also used as the sentinel
-	m_firstFreeHandle = 1;
-	{
-		for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < maxHandles; i++)
-			m_pHandles[i].SetNextFree(static_cast<BP_FP_INT_TYPE>(i + 1));
-		m_pHandles[maxHandles - 1].SetNextFree(0);
-	}
-
-	{
-		// allocate edge buffers
-		for (int i = 0; i < 3; i++)
-		{
-			m_pEdgesRawPtr[i] = btAlignedAlloc(sizeof(Edge) * maxHandles * 2, 16);
-			m_pEdges[i] = new (m_pEdgesRawPtr[i]) Edge[maxHandles * 2];
-		}
-	}
-	//removed overlap management
-
-	// make boundary sentinels
-
-	m_pHandles[0].m_clientObject = 0;
-
-	for (int axis = 0; axis < 3; axis++)
-	{
-		m_pHandles[0].m_minEdges[axis] = 0;
-		m_pHandles[0].m_maxEdges[axis] = 1;
-
-		m_pEdges[axis][0].m_pos = 0;
-		m_pEdges[axis][0].m_handle = 0;
-		m_pEdges[axis][1].m_pos = m_handleSentinel;
-		m_pEdges[axis][1].m_handle = 0;
-#ifdef DEBUG_BROADPHASE
-		debugPrintAxis(axis);
-#endif  //DEBUG_BROADPHASE
-	}
-}
-
-template <typename BP_FP_INT_TYPE>
-btAxisSweep3Internal<BP_FP_INT_TYPE>::~btAxisSweep3Internal()
-{
-	if (m_raycastAccelerator)
-	{
-		m_nullPairCache->~btOverlappingPairCache();
-		btAlignedFree(m_nullPairCache);
-		m_raycastAccelerator->~btDbvtBroadphase();
-		btAlignedFree(m_raycastAccelerator);
-	}
-
-	for (int i = 2; i >= 0; i--)
-	{
-		btAlignedFree(m_pEdgesRawPtr[i]);
-	}
-	delete[] m_pHandles;
-
-	if (m_ownsPairCache)
-	{
-		m_pairCache->~btOverlappingPairCache();
-		btAlignedFree(m_pairCache);
-	}
-}
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const
-{
-#ifdef OLD_CLAMPING_METHOD
-	///problem with this clamping method is that the floating point during quantization might still go outside the range [(0|isMax) .. (m_handleSentinel&m_bpHandleMask]|isMax]
-	///see http://code.google.com/p/bullet/issues/detail?id=87
-	btVector3 clampedPoint(point);
-	clampedPoint.setMax(m_worldAabbMin);
-	clampedPoint.setMin(m_worldAabbMax);
-	btVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize;
-	out[0] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getX() & m_bpHandleMask) | isMax);
-	out[1] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getY() & m_bpHandleMask) | isMax);
-	out[2] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getZ() & m_bpHandleMask) | isMax);
-#else
-	btVector3 v = (point - m_worldAabbMin) * m_quantize;
-	out[0] = (v[0] <= 0) ? (BP_FP_INT_TYPE)isMax : (v[0] >= m_handleSentinel) ? (BP_FP_INT_TYPE)((m_handleSentinel & m_bpHandleMask) | isMax) : (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[0] & m_bpHandleMask) | isMax);
-	out[1] = (v[1] <= 0) ? (BP_FP_INT_TYPE)isMax : (v[1] >= m_handleSentinel) ? (BP_FP_INT_TYPE)((m_handleSentinel & m_bpHandleMask) | isMax) : (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[1] & m_bpHandleMask) | isMax);
-	out[2] = (v[2] <= 0) ? (BP_FP_INT_TYPE)isMax : (v[2] >= m_handleSentinel) ? (BP_FP_INT_TYPE)((m_handleSentinel & m_bpHandleMask) | isMax) : (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[2] & m_bpHandleMask) | isMax);
-#endif  //OLD_CLAMPING_METHOD
-}
-
-template <typename BP_FP_INT_TYPE>
-BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::allocHandle()
-{
-	btAssert(m_firstFreeHandle);
-
-	BP_FP_INT_TYPE handle = m_firstFreeHandle;
-	m_firstFreeHandle = getHandle(handle)->GetNextFree();
-	m_numHandles++;
-
-	return handle;
-}
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::freeHandle(BP_FP_INT_TYPE handle)
-{
-	btAssert(handle > 0 && handle < m_maxHandles);
-
-	getHandle(handle)->SetNextFree(m_firstFreeHandle);
-	m_firstFreeHandle = handle;
-
-	m_numHandles--;
-}
-
-template <typename BP_FP_INT_TYPE>
-BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btVector3& aabbMin, const btVector3& aabbMax, void* pOwner, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher)
-{
-	// quantize the bounds
-	BP_FP_INT_TYPE min[3], max[3];
-	quantize(min, aabbMin, 0);
-	quantize(max, aabbMax, 1);
-
-	// allocate a handle
-	BP_FP_INT_TYPE handle = allocHandle();
-
-	Handle* pHandle = getHandle(handle);
-
-	pHandle->m_uniqueId = static_cast<int>(handle);
-	//pHandle->m_pOverlaps = 0;
-	pHandle->m_clientObject = pOwner;
-	pHandle->m_collisionFilterGroup = collisionFilterGroup;
-	pHandle->m_collisionFilterMask = collisionFilterMask;
-
-	// compute current limit of edge arrays
-	BP_FP_INT_TYPE limit = static_cast<BP_FP_INT_TYPE>(m_numHandles * 2);
-
-	// insert new edges just inside the max boundary edge
-	for (BP_FP_INT_TYPE axis = 0; axis < 3; axis++)
-	{
-		m_pHandles[0].m_maxEdges[axis] += 2;
-
-		m_pEdges[axis][limit + 1] = m_pEdges[axis][limit - 1];
-
-		m_pEdges[axis][limit - 1].m_pos = min[axis];
-		m_pEdges[axis][limit - 1].m_handle = handle;
-
-		m_pEdges[axis][limit].m_pos = max[axis];
-		m_pEdges[axis][limit].m_handle = handle;
-
-		pHandle->m_minEdges[axis] = static_cast<BP_FP_INT_TYPE>(limit - 1);
-		pHandle->m_maxEdges[axis] = limit;
-	}
-
-	// now sort the new edges to their correct position
-	sortMinDown(0, pHandle->m_minEdges[0], dispatcher, false);
-	sortMaxDown(0, pHandle->m_maxEdges[0], dispatcher, false);
-	sortMinDown(1, pHandle->m_minEdges[1], dispatcher, false);
-	sortMaxDown(1, pHandle->m_maxEdges[1], dispatcher, false);
-	sortMinDown(2, pHandle->m_minEdges[2], dispatcher, true);
-	sortMaxDown(2, pHandle->m_maxEdges[2], dispatcher, true);
-
-	return handle;
-}
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle, btDispatcher* dispatcher)
-{
-	Handle* pHandle = getHandle(handle);
-
-	//explicitly remove the pairs containing the proxy
-	//we could do it also in the sortMinUp (passing true)
-	///@todo: compare performance
-	if (!m_pairCache->hasDeferredRemoval())
-	{
-		m_pairCache->removeOverlappingPairsContainingProxy(pHandle, dispatcher);
-	}
-
-	// compute current limit of edge arrays
-	int limit = static_cast<int>(m_numHandles * 2);
-
-	int axis;
-
-	for (axis = 0; axis < 3; axis++)
-	{
-		m_pHandles[0].m_maxEdges[axis] -= 2;
-	}
-
-	// remove the edges by sorting them up to the end of the list
-	for (axis = 0; axis < 3; axis++)
-	{
-		Edge* pEdges = m_pEdges[axis];
-		BP_FP_INT_TYPE max = pHandle->m_maxEdges[axis];
-		pEdges[max].m_pos = m_handleSentinel;
-
-		sortMaxUp(axis, max, dispatcher, false);
-
-		BP_FP_INT_TYPE i = pHandle->m_minEdges[axis];
-		pEdges[i].m_pos = m_handleSentinel;
-
-		sortMinUp(axis, i, dispatcher, false);
-
-		pEdges[limit - 1].m_handle = 0;
-		pEdges[limit - 1].m_pos = m_handleSentinel;
-
-#ifdef DEBUG_BROADPHASE
-		debugPrintAxis(axis, false);
-#endif  //DEBUG_BROADPHASE
-	}
-
-	// free the handle
-	freeHandle(handle);
-}
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::resetPool(btDispatcher* /*dispatcher*/)
-{
-	if (m_numHandles == 0)
-	{
-		m_firstFreeHandle = 1;
-		{
-			for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < m_maxHandles; i++)
-				m_pHandles[i].SetNextFree(static_cast<BP_FP_INT_TYPE>(i + 1));
-			m_pHandles[m_maxHandles - 1].SetNextFree(0);
-		}
-	}
-}
-
-//#include <stdio.h>
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatcher* dispatcher)
-{
-	if (m_pairCache->hasDeferredRemoval())
-	{
-		btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
-
-		//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
-		overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
-
-		overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
-		m_invalidPair = 0;
-
-		int i;
-
-		btBroadphasePair previousPair;
-		previousPair.m_pProxy0 = 0;
-		previousPair.m_pProxy1 = 0;
-		previousPair.m_algorithm = 0;
-
-		for (i = 0; i < overlappingPairArray.size(); i++)
-		{
-			btBroadphasePair& pair = overlappingPairArray[i];
-
-			bool isDuplicate = (pair == previousPair);
-
-			previousPair = pair;
-
-			bool needsRemoval = false;
-
-			if (!isDuplicate)
-			{
-				///important to use an AABB test that is consistent with the broadphase
-				bool hasOverlap = testAabbOverlap(pair.m_pProxy0, pair.m_pProxy1);
-
-				if (hasOverlap)
-				{
-					needsRemoval = false;  //callback->processOverlap(pair);
-				}
-				else
-				{
-					needsRemoval = true;
-				}
-			}
-			else
-			{
-				//remove duplicate
-				needsRemoval = true;
-				//should have no algorithm
-				btAssert(!pair.m_algorithm);
-			}
-
-			if (needsRemoval)
-			{
-				m_pairCache->cleanOverlappingPair(pair, dispatcher);
-
-				//		m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
-				//		m_overlappingPairArray.pop_back();
-				pair.m_pProxy0 = 0;
-				pair.m_pProxy1 = 0;
-				m_invalidPair++;
-			}
-		}
-
-///if you don't like to skip the invalid pairs in the array, execute following code:
-#define CLEAN_INVALID_PAIRS 1
-#ifdef CLEAN_INVALID_PAIRS
-
-		//perform a sort, to sort 'invalid' pairs to the end
-		overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
-
-		overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
-		m_invalidPair = 0;
-#endif  //CLEAN_INVALID_PAIRS
-
-		//printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
-	}
-}
-
-template <typename BP_FP_INT_TYPE>
-bool btAxisSweep3Internal<BP_FP_INT_TYPE>::testAabbOverlap(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
-{
-	const Handle* pHandleA = static_cast<Handle*>(proxy0);
-	const Handle* pHandleB = static_cast<Handle*>(proxy1);
-
-	//optimization 1: check the array index (memory address), instead of the m_pos
-
-	for (int axis = 0; axis < 3; axis++)
-	{
-		if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] ||
-			pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis])
-		{
-			return false;
-		}
-	}
-	return true;
-}
-
-template <typename BP_FP_INT_TYPE>
-bool btAxisSweep3Internal<BP_FP_INT_TYPE>::testOverlap2D(const Handle* pHandleA, const Handle* pHandleB, int axis0, int axis1)
-{
-	//optimization 1: check the array index (memory address), instead of the m_pos
-
-	if (pHandleA->m_maxEdges[axis0] < pHandleB->m_minEdges[axis0] ||
-		pHandleB->m_maxEdges[axis0] < pHandleA->m_minEdges[axis0] ||
-		pHandleA->m_maxEdges[axis1] < pHandleB->m_minEdges[axis1] ||
-		pHandleB->m_maxEdges[axis1] < pHandleA->m_minEdges[axis1])
-	{
-		return false;
-	}
-	return true;
-}
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher)
-{
-	//	btAssert(bounds.IsFinite());
-	//btAssert(bounds.HasVolume());
-
-	Handle* pHandle = getHandle(handle);
-
-	// quantize the new bounds
-	BP_FP_INT_TYPE min[3], max[3];
-	quantize(min, aabbMin, 0);
-	quantize(max, aabbMax, 1);
-
-	// update changed edges
-	for (int axis = 0; axis < 3; axis++)
-	{
-		BP_FP_INT_TYPE emin = pHandle->m_minEdges[axis];
-		BP_FP_INT_TYPE emax = pHandle->m_maxEdges[axis];
-
-		int dmin = (int)min[axis] - (int)m_pEdges[axis][emin].m_pos;
-		int dmax = (int)max[axis] - (int)m_pEdges[axis][emax].m_pos;
-
-		m_pEdges[axis][emin].m_pos = min[axis];
-		m_pEdges[axis][emax].m_pos = max[axis];
-
-		// expand (only adds overlaps)
-		if (dmin < 0)
-			sortMinDown(axis, emin, dispatcher, true);
-
-		if (dmax > 0)
-			sortMaxUp(axis, emax, dispatcher, true);
-
-		// shrink (only removes overlaps)
-		if (dmin > 0)
-			sortMinUp(axis, emin, dispatcher, true);
-
-		if (dmax < 0)
-			sortMaxDown(axis, emax, dispatcher, true);
-
-#ifdef DEBUG_BROADPHASE
-		debugPrintAxis(axis);
-#endif  //DEBUG_BROADPHASE
-	}
-}
-
-// sorting a min edge downwards can only ever *add* overlaps
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* /* dispatcher */, bool updateOverlaps)
-{
-	Edge* pEdge = m_pEdges[axis] + edge;
-	Edge* pPrev = pEdge - 1;
-	Handle* pHandleEdge = getHandle(pEdge->m_handle);
-
-	while (pEdge->m_pos < pPrev->m_pos)
-	{
-		Handle* pHandlePrev = getHandle(pPrev->m_handle);
-
-		if (pPrev->IsMax())
-		{
-			// if previous edge is a maximum check the bounds and add an overlap if necessary
-			const int axis1 = (1 << axis) & 3;
-			const int axis2 = (1 << axis1) & 3;
-			if (updateOverlaps && testOverlap2D(pHandleEdge, pHandlePrev, axis1, axis2))
-			{
-				m_pairCache->addOverlappingPair(pHandleEdge, pHandlePrev);
-				if (m_userPairCallback)
-					m_userPairCallback->addOverlappingPair(pHandleEdge, pHandlePrev);
-
-				//AddOverlap(pEdge->m_handle, pPrev->m_handle);
-			}
-
-			// update edge reference in other handle
-			pHandlePrev->m_maxEdges[axis]++;
-		}
-		else
-			pHandlePrev->m_minEdges[axis]++;
-
-		pHandleEdge->m_minEdges[axis]--;
-
-		// swap the edges
-		Edge swap = *pEdge;
-		*pEdge = *pPrev;
-		*pPrev = swap;
-
-		// decrement
-		pEdge--;
-		pPrev--;
-	}
-
-#ifdef DEBUG_BROADPHASE
-	debugPrintAxis(axis);
-#endif  //DEBUG_BROADPHASE
-}
-
-// sorting a min edge upwards can only ever *remove* overlaps
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps)
-{
-	Edge* pEdge = m_pEdges[axis] + edge;
-	Edge* pNext = pEdge + 1;
-	Handle* pHandleEdge = getHandle(pEdge->m_handle);
-
-	while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos))
-	{
-		Handle* pHandleNext = getHandle(pNext->m_handle);
-
-		if (pNext->IsMax())
-		{
-			Handle* handle0 = getHandle(pEdge->m_handle);
-			Handle* handle1 = getHandle(pNext->m_handle);
-			const int axis1 = (1 << axis) & 3;
-			const int axis2 = (1 << axis1) & 3;
-
-			// if next edge is maximum remove any overlap between the two handles
-			if (updateOverlaps
-#ifdef USE_OVERLAP_TEST_ON_REMOVES
-				&& testOverlap2D(handle0, handle1, axis1, axis2)
-#endif  //USE_OVERLAP_TEST_ON_REMOVES
-			)
-			{
-				m_pairCache->removeOverlappingPair(handle0, handle1, dispatcher);
-				if (m_userPairCallback)
-					m_userPairCallback->removeOverlappingPair(handle0, handle1, dispatcher);
-			}
-
-			// update edge reference in other handle
-			pHandleNext->m_maxEdges[axis]--;
-		}
-		else
-			pHandleNext->m_minEdges[axis]--;
-
-		pHandleEdge->m_minEdges[axis]++;
-
-		// swap the edges
-		Edge swap = *pEdge;
-		*pEdge = *pNext;
-		*pNext = swap;
-
-		// increment
-		pEdge++;
-		pNext++;
-	}
-}
-
-// sorting a max edge downwards can only ever *remove* overlaps
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps)
-{
-	Edge* pEdge = m_pEdges[axis] + edge;
-	Edge* pPrev = pEdge - 1;
-	Handle* pHandleEdge = getHandle(pEdge->m_handle);
-
-	while (pEdge->m_pos < pPrev->m_pos)
-	{
-		Handle* pHandlePrev = getHandle(pPrev->m_handle);
-
-		if (!pPrev->IsMax())
-		{
-			// if previous edge was a minimum remove any overlap between the two handles
-			Handle* handle0 = getHandle(pEdge->m_handle);
-			Handle* handle1 = getHandle(pPrev->m_handle);
-			const int axis1 = (1 << axis) & 3;
-			const int axis2 = (1 << axis1) & 3;
-
-			if (updateOverlaps
-#ifdef USE_OVERLAP_TEST_ON_REMOVES
-				&& testOverlap2D(handle0, handle1, axis1, axis2)
-#endif  //USE_OVERLAP_TEST_ON_REMOVES
-			)
-			{
-				//this is done during the overlappingpairarray iteration/narrowphase collision
-
-				m_pairCache->removeOverlappingPair(handle0, handle1, dispatcher);
-				if (m_userPairCallback)
-					m_userPairCallback->removeOverlappingPair(handle0, handle1, dispatcher);
-			}
-
-			// update edge reference in other handle
-			pHandlePrev->m_minEdges[axis]++;
-			;
-		}
-		else
-			pHandlePrev->m_maxEdges[axis]++;
-
-		pHandleEdge->m_maxEdges[axis]--;
-
-		// swap the edges
-		Edge swap = *pEdge;
-		*pEdge = *pPrev;
-		*pPrev = swap;
-
-		// decrement
-		pEdge--;
-		pPrev--;
-	}
-
-#ifdef DEBUG_BROADPHASE
-	debugPrintAxis(axis);
-#endif  //DEBUG_BROADPHASE
-}
-
-// sorting a max edge upwards can only ever *add* overlaps
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* /* dispatcher */, bool updateOverlaps)
-{
-	Edge* pEdge = m_pEdges[axis] + edge;
-	Edge* pNext = pEdge + 1;
-	Handle* pHandleEdge = getHandle(pEdge->m_handle);
-
-	while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos))
-	{
-		Handle* pHandleNext = getHandle(pNext->m_handle);
-
-		const int axis1 = (1 << axis) & 3;
-		const int axis2 = (1 << axis1) & 3;
-
-		if (!pNext->IsMax())
-		{
-			// if next edge is a minimum check the bounds and add an overlap if necessary
-			if (updateOverlaps && testOverlap2D(pHandleEdge, pHandleNext, axis1, axis2))
-			{
-				Handle* handle0 = getHandle(pEdge->m_handle);
-				Handle* handle1 = getHandle(pNext->m_handle);
-				m_pairCache->addOverlappingPair(handle0, handle1);
-				if (m_userPairCallback)
-					m_userPairCallback->addOverlappingPair(handle0, handle1);
-			}
-
-			// update edge reference in other handle
-			pHandleNext->m_minEdges[axis]--;
-		}
-		else
-			pHandleNext->m_maxEdges[axis]--;
-
-		pHandleEdge->m_maxEdges[axis]++;
-
-		// swap the edges
-		Edge swap = *pEdge;
-		*pEdge = *pNext;
-		*pNext = swap;
-
-		// increment
-		pEdge++;
-		pNext++;
-	}
-}
-
-#endif
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
deleted file mode 100644
index b097eca5f5..0000000000
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
+++ /dev/null
@@ -1,79 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_BROADPHASE_INTERFACE_H
-#define BT_BROADPHASE_INTERFACE_H
-
-struct btDispatcherInfo;
-class btDispatcher;
-#include "btBroadphaseProxy.h"
-
-class btOverlappingPairCache;
-
-struct btBroadphaseAabbCallback
-{
-	virtual ~btBroadphaseAabbCallback() {}
-	virtual bool process(const btBroadphaseProxy* proxy) = 0;
-};
-
-struct btBroadphaseRayCallback : public btBroadphaseAabbCallback
-{
-	///added some cached data to accelerate ray-AABB tests
-	btVector3 m_rayDirectionInverse;
-	unsigned int m_signs[3];
-	btScalar m_lambda_max;
-
-	virtual ~btBroadphaseRayCallback() {}
-
-protected:
-	btBroadphaseRayCallback() {}
-};
-
-#include "LinearMath/btVector3.h"
-
-///The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
-///Some implementations for this broadphase interface include btAxisSweep3, bt32BitAxisSweep3 and btDbvtBroadphase.
-///The actual overlapping pair management, storage, adding and removing of pairs is dealt by the btOverlappingPairCache class.
-class btBroadphaseInterface
-{
-public:
-	virtual ~btBroadphaseInterface() {}
-
-	virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher) = 0;
-	virtual void destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher) = 0;
-	virtual void setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher) = 0;
-	virtual void getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const = 0;
-
-	virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin = btVector3(0, 0, 0), const btVector3& aabbMax = btVector3(0, 0, 0)) = 0;
-
-	virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) = 0;
-
-	///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
-	virtual void calculateOverlappingPairs(btDispatcher* dispatcher) = 0;
-
-	virtual btOverlappingPairCache* getOverlappingPairCache() = 0;
-	virtual const btOverlappingPairCache* getOverlappingPairCache() const = 0;
-
-	///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
-	///will add some transform later
-	virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const = 0;
-
-	///reset broadphase internal structures, to ensure determinism/reproducability
-	virtual void resetPool(btDispatcher* dispatcher) { (void)dispatcher; };
-
-	virtual void printStats() = 0;
-};
-
-#endif  //BT_BROADPHASE_INTERFACE_H
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp
deleted file mode 100644
index 7ee065aac3..0000000000
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp
+++ /dev/null
@@ -1,18 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btBroadphaseProxy.h"
-
-BT_NOT_EMPTY_FILE  // fix warning LNK4221: This object file does not define any previously undefined public symbols, so it will not be used by any link operation that consumes this library
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
deleted file mode 100644
index bc0742ad62..0000000000
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
+++ /dev/null
@@ -1,248 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_BROADPHASE_PROXY_H
-#define BT_BROADPHASE_PROXY_H
-
-#include "LinearMath/btScalar.h"  //for SIMD_FORCE_INLINE
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btAlignedAllocator.h"
-
-/// btDispatcher uses these types
-/// IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and concave
-/// to facilitate type checking
-/// CUSTOM_POLYHEDRAL_SHAPE_TYPE,CUSTOM_CONVEX_SHAPE_TYPE and CUSTOM_CONCAVE_SHAPE_TYPE can be used to extend Bullet without modifying source code
-enum BroadphaseNativeTypes
-{
-	// polyhedral convex shapes
-	BOX_SHAPE_PROXYTYPE,
-	TRIANGLE_SHAPE_PROXYTYPE,
-	TETRAHEDRAL_SHAPE_PROXYTYPE,
-	CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE,
-	CONVEX_HULL_SHAPE_PROXYTYPE,
-	CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE,
-	CUSTOM_POLYHEDRAL_SHAPE_TYPE,
-	//implicit convex shapes
-	IMPLICIT_CONVEX_SHAPES_START_HERE,
-	SPHERE_SHAPE_PROXYTYPE,
-	MULTI_SPHERE_SHAPE_PROXYTYPE,
-	CAPSULE_SHAPE_PROXYTYPE,
-	CONE_SHAPE_PROXYTYPE,
-	CONVEX_SHAPE_PROXYTYPE,
-	CYLINDER_SHAPE_PROXYTYPE,
-	UNIFORM_SCALING_SHAPE_PROXYTYPE,
-	MINKOWSKI_SUM_SHAPE_PROXYTYPE,
-	MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
-	BOX_2D_SHAPE_PROXYTYPE,
-	CONVEX_2D_SHAPE_PROXYTYPE,
-	CUSTOM_CONVEX_SHAPE_TYPE,
-	//concave shapes
-	CONCAVE_SHAPES_START_HERE,
-	//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
-	TRIANGLE_MESH_SHAPE_PROXYTYPE,
-	SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE,
-	///used for demo integration FAST/Swift collision library and Bullet
-	FAST_CONCAVE_MESH_PROXYTYPE,
-	//terrain
-	TERRAIN_SHAPE_PROXYTYPE,
-	///Used for GIMPACT Trimesh integration
-	GIMPACT_SHAPE_PROXYTYPE,
-	///Multimaterial mesh
-	MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE,
-
-	EMPTY_SHAPE_PROXYTYPE,
-	STATIC_PLANE_PROXYTYPE,
-	CUSTOM_CONCAVE_SHAPE_TYPE,
-	SDF_SHAPE_PROXYTYPE = CUSTOM_CONCAVE_SHAPE_TYPE,
-	CONCAVE_SHAPES_END_HERE,
-
-	COMPOUND_SHAPE_PROXYTYPE,
-
-	SOFTBODY_SHAPE_PROXYTYPE,
-	HFFLUID_SHAPE_PROXYTYPE,
-	HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE,
-	INVALID_SHAPE_PROXYTYPE,
-
-	MAX_BROADPHASE_COLLISION_TYPES
-
-};
-
-///The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
-///It stores collision shape type information, collision filter information and a client object, typically a btCollisionObject or btRigidBody.
-ATTRIBUTE_ALIGNED16(struct)
-btBroadphaseProxy
-{
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	///optional filtering to cull potential collisions
-	enum CollisionFilterGroups
-	{
-		DefaultFilter = 1,
-		StaticFilter = 2,
-		KinematicFilter = 4,
-		DebrisFilter = 8,
-		SensorTrigger = 16,
-		CharacterFilter = 32,
-		AllFilter = -1  //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
-	};
-
-	//Usually the client btCollisionObject or Rigidbody class
-	void* m_clientObject;
-	int m_collisionFilterGroup;
-	int m_collisionFilterMask;
-
-	int m_uniqueId;  //m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
-
-	btVector3 m_aabbMin;
-	btVector3 m_aabbMax;
-
-	SIMD_FORCE_INLINE int getUid() const
-	{
-		return m_uniqueId;
-	}
-
-	//used for memory pools
-	btBroadphaseProxy() : m_clientObject(0)
-	{
-	}
-
-	btBroadphaseProxy(const btVector3& aabbMin, const btVector3& aabbMax, void* userPtr, int collisionFilterGroup, int collisionFilterMask)
-		: m_clientObject(userPtr),
-		  m_collisionFilterGroup(collisionFilterGroup),
-		  m_collisionFilterMask(collisionFilterMask),
-		  m_aabbMin(aabbMin),
-		  m_aabbMax(aabbMax)
-	{
-	}
-
-	static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType)
-	{
-		return (proxyType < IMPLICIT_CONVEX_SHAPES_START_HERE);
-	}
-
-	static SIMD_FORCE_INLINE bool isConvex(int proxyType)
-	{
-		return (proxyType < CONCAVE_SHAPES_START_HERE);
-	}
-
-	static SIMD_FORCE_INLINE bool isNonMoving(int proxyType)
-	{
-		return (isConcave(proxyType) && !(proxyType == GIMPACT_SHAPE_PROXYTYPE));
-	}
-
-	static SIMD_FORCE_INLINE bool isConcave(int proxyType)
-	{
-		return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
-				(proxyType < CONCAVE_SHAPES_END_HERE));
-	}
-	static SIMD_FORCE_INLINE bool isCompound(int proxyType)
-	{
-		return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
-	}
-
-	static SIMD_FORCE_INLINE bool isSoftBody(int proxyType)
-	{
-		return (proxyType == SOFTBODY_SHAPE_PROXYTYPE);
-	}
-
-	static SIMD_FORCE_INLINE bool isInfinite(int proxyType)
-	{
-		return (proxyType == STATIC_PLANE_PROXYTYPE);
-	}
-
-	static SIMD_FORCE_INLINE bool isConvex2d(int proxyType)
-	{
-		return (proxyType == BOX_2D_SHAPE_PROXYTYPE) || (proxyType == CONVEX_2D_SHAPE_PROXYTYPE);
-	}
-};
-
-class btCollisionAlgorithm;
-
-struct btBroadphaseProxy;
-
-///The btBroadphasePair class contains a pair of aabb-overlapping objects.
-///A btDispatcher can search a btCollisionAlgorithm that performs exact/narrowphase collision detection on the actual collision shapes.
-ATTRIBUTE_ALIGNED16(struct)
-btBroadphasePair
-{
-	btBroadphasePair()
-		: m_pProxy0(0),
-		  m_pProxy1(0),
-		  m_algorithm(0),
-		  m_internalInfo1(0)
-	{
-	}
-
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btBroadphasePair(btBroadphaseProxy & proxy0, btBroadphaseProxy & proxy1)
-	{
-		//keep them sorted, so the std::set operations work
-		if (proxy0.m_uniqueId < proxy1.m_uniqueId)
-		{
-			m_pProxy0 = &proxy0;
-			m_pProxy1 = &proxy1;
-		}
-		else
-		{
-			m_pProxy0 = &proxy1;
-			m_pProxy1 = &proxy0;
-		}
-
-		m_algorithm = 0;
-		m_internalInfo1 = 0;
-	}
-
-	btBroadphaseProxy* m_pProxy0;
-	btBroadphaseProxy* m_pProxy1;
-
-	mutable btCollisionAlgorithm* m_algorithm;
-	union {
-		void* m_internalInfo1;
-		int m_internalTmpValue;
-	};  //don't use this data, it will be removed in future version.
-};
-
-/*
-//comparison for set operation, see Solid DT_Encounter
-SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b) 
-{ 
-    return a.m_pProxy0 < b.m_pProxy0 || 
-        (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1); 
-}
-*/
-
-class btBroadphasePairSortPredicate
-{
-public:
-	bool operator()(const btBroadphasePair& a, const btBroadphasePair& b) const
-	{
-		const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1;
-		const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1;
-		const int uidA1 = a.m_pProxy1 ? a.m_pProxy1->m_uniqueId : -1;
-		const int uidB1 = b.m_pProxy1 ? b.m_pProxy1->m_uniqueId : -1;
-
-		return uidA0 > uidB0 ||
-			   (a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) ||
-			   (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm);
-	}
-};
-
-SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b)
-{
-	return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
-}
-
-#endif  //BT_BROADPHASE_PROXY_H
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp
deleted file mode 100644
index 6e36d3bd73..0000000000
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,22 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btCollisionAlgorithm.h"
-#include "btDispatcher.h"
-
-btCollisionAlgorithm::btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
-{
-	m_dispatcher = ci.m_dispatcher1;
-}
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
deleted file mode 100644
index b00c0b1b4b..0000000000
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
+++ /dev/null
@@ -1,75 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_COLLISION_ALGORITHM_H
-#define BT_COLLISION_ALGORITHM_H
-
-#include "LinearMath/btScalar.h"
-#include "LinearMath/btAlignedObjectArray.h"
-
-struct btBroadphaseProxy;
-class btDispatcher;
-class btManifoldResult;
-class btCollisionObject;
-struct btCollisionObjectWrapper;
-struct btDispatcherInfo;
-class btPersistentManifold;
-
-typedef btAlignedObjectArray<btPersistentManifold*> btManifoldArray;
-
-struct btCollisionAlgorithmConstructionInfo
-{
-	btCollisionAlgorithmConstructionInfo()
-		: m_dispatcher1(0),
-		  m_manifold(0)
-	{
-	}
-	btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher, int temp)
-		: m_dispatcher1(dispatcher)
-	{
-		(void)temp;
-	}
-
-	btDispatcher* m_dispatcher1;
-	btPersistentManifold* m_manifold;
-
-	//	int	getDispatcherId();
-};
-
-///btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatcher.
-///It is persistent over frames
-class btCollisionAlgorithm
-{
-protected:
-	btDispatcher* m_dispatcher;
-
-protected:
-	//	int	getDispatcherId();
-
-public:
-	btCollisionAlgorithm(){};
-
-	btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
-
-	virtual ~btCollisionAlgorithm(){};
-
-	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut) = 0;
-
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut) = 0;
-
-	virtual void getAllContactManifolds(btManifoldArray& manifoldArray) = 0;
-};
-
-#endif  //BT_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp
deleted file mode 100644
index 166cb04c0b..0000000000
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp
+++ /dev/null
@@ -1,1357 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-///btDbvt implementation by Nathanael Presson
-
-#include "btDbvt.h"
-
-//
-typedef btAlignedObjectArray<btDbvtNode*> tNodeArray;
-typedef btAlignedObjectArray<const btDbvtNode*> tConstNodeArray;
-
-//
-struct btDbvtNodeEnumerator : btDbvt::ICollide
-{
-	tConstNodeArray nodes;
-	void Process(const btDbvtNode* n) { nodes.push_back(n); }
-};
-
-//
-static DBVT_INLINE int indexof(const btDbvtNode* node)
-{
-	return (node->parent->childs[1] == node);
-}
-
-//
-static DBVT_INLINE btDbvtVolume merge(const btDbvtVolume& a,
-									  const btDbvtVolume& b)
-{
-#ifdef BT_USE_SSE
-	ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtAabbMm)]);
-	btDbvtVolume* ptr = (btDbvtVolume*)locals;
-	btDbvtVolume& res = *ptr;
-#else
-	btDbvtVolume res;
-#endif
-	Merge(a, b, res);
-	return (res);
-}
-
-// volume+edge lengths
-static DBVT_INLINE btScalar size(const btDbvtVolume& a)
-{
-	const btVector3 edges = a.Lengths();
-	return (edges.x() * edges.y() * edges.z() +
-			edges.x() + edges.y() + edges.z());
-}
-
-//
-static void getmaxdepth(const btDbvtNode* node, int depth, int& maxdepth)
-{
-	if (node->isinternal())
-	{
-		getmaxdepth(node->childs[0], depth + 1, maxdepth);
-		getmaxdepth(node->childs[1], depth + 1, maxdepth);
-	}
-	else
-		maxdepth = btMax(maxdepth, depth);
-}
-
-//
-static DBVT_INLINE void deletenode(btDbvt* pdbvt,
-								   btDbvtNode* node)
-{
-	btAlignedFree(pdbvt->m_free);
-	pdbvt->m_free = node;
-}
-
-//
-static void recursedeletenode(btDbvt* pdbvt,
-							  btDbvtNode* node)
-{
-	if (node == 0) return;
-	if (!node->isleaf())
-	{
-		recursedeletenode(pdbvt, node->childs[0]);
-		recursedeletenode(pdbvt, node->childs[1]);
-	}
-	if (node == pdbvt->m_root) pdbvt->m_root = 0;
-	deletenode(pdbvt, node);
-}
-
-//
-static DBVT_INLINE btDbvtNode* createnode(btDbvt* pdbvt,
-										  btDbvtNode* parent,
-										  void* data)
-{
-	btDbvtNode* node;
-	if (pdbvt->m_free)
-	{
-		node = pdbvt->m_free;
-		pdbvt->m_free = 0;
-	}
-	else
-	{
-		node = new (btAlignedAlloc(sizeof(btDbvtNode), 16)) btDbvtNode();
-	}
-	node->parent = parent;
-	node->data = data;
-	node->childs[1] = 0;
-	return (node);
-}
-
-//
-static DBVT_INLINE btDbvtNode* createnode(btDbvt* pdbvt,
-										  btDbvtNode* parent,
-										  const btDbvtVolume& volume,
-										  void* data)
-{
-	btDbvtNode* node = createnode(pdbvt, parent, data);
-	node->volume = volume;
-	return (node);
-}
-
-//
-static DBVT_INLINE btDbvtNode* createnode(btDbvt* pdbvt,
-										  btDbvtNode* parent,
-										  const btDbvtVolume& volume0,
-										  const btDbvtVolume& volume1,
-										  void* data)
-{
-	btDbvtNode* node = createnode(pdbvt, parent, data);
-	Merge(volume0, volume1, node->volume);
-	return (node);
-}
-
-//
-static void insertleaf(btDbvt* pdbvt,
-					   btDbvtNode* root,
-					   btDbvtNode* leaf)
-{
-	if (!pdbvt->m_root)
-	{
-		pdbvt->m_root = leaf;
-		leaf->parent = 0;
-	}
-	else
-	{
-		if (!root->isleaf())
-		{
-			do
-			{
-				root = root->childs[Select(leaf->volume,
-										   root->childs[0]->volume,
-										   root->childs[1]->volume)];
-			} while (!root->isleaf());
-		}
-		btDbvtNode* prev = root->parent;
-		btDbvtNode* node = createnode(pdbvt, prev, leaf->volume, root->volume, 0);
-		if (prev)
-		{
-			prev->childs[indexof(root)] = node;
-			node->childs[0] = root;
-			root->parent = node;
-			node->childs[1] = leaf;
-			leaf->parent = node;
-			do
-			{
-				if (!prev->volume.Contain(node->volume))
-					Merge(prev->childs[0]->volume, prev->childs[1]->volume, prev->volume);
-				else
-					break;
-				node = prev;
-			} while (0 != (prev = node->parent));
-		}
-		else
-		{
-			node->childs[0] = root;
-			root->parent = node;
-			node->childs[1] = leaf;
-			leaf->parent = node;
-			pdbvt->m_root = node;
-		}
-	}
-}
-
-//
-static btDbvtNode* removeleaf(btDbvt* pdbvt,
-							  btDbvtNode* leaf)
-{
-	if (leaf == pdbvt->m_root)
-	{
-		pdbvt->m_root = 0;
-		return (0);
-	}
-	else
-	{
-		btDbvtNode* parent = leaf->parent;
-		btDbvtNode* prev = parent->parent;
-		btDbvtNode* sibling = parent->childs[1 - indexof(leaf)];
-		if (prev)
-		{
-			prev->childs[indexof(parent)] = sibling;
-			sibling->parent = prev;
-			deletenode(pdbvt, parent);
-			while (prev)
-			{
-				const btDbvtVolume pb = prev->volume;
-				Merge(prev->childs[0]->volume, prev->childs[1]->volume, prev->volume);
-				if (NotEqual(pb, prev->volume))
-				{
-					prev = prev->parent;
-				}
-				else
-					break;
-			}
-			return (prev ? prev : pdbvt->m_root);
-		}
-		else
-		{
-			pdbvt->m_root = sibling;
-			sibling->parent = 0;
-			deletenode(pdbvt, parent);
-			return (pdbvt->m_root);
-		}
-	}
-}
-
-//
-static void fetchleaves(btDbvt* pdbvt,
-						btDbvtNode* root,
-						tNodeArray& leaves,
-						int depth = -1)
-{
-	if (root->isinternal() && depth)
-	{
-		fetchleaves(pdbvt, root->childs[0], leaves, depth - 1);
-		fetchleaves(pdbvt, root->childs[1], leaves, depth - 1);
-		deletenode(pdbvt, root);
-	}
-	else
-	{
-		leaves.push_back(root);
-	}
-}
-
-//
-static bool leftOfAxis(const btDbvtNode* node,
-					   const btVector3& org,
-					   const btVector3& axis)
-{
-	return btDot(axis, node->volume.Center() - org) <= 0;
-}
-
-// Partitions leaves such that leaves[0, n) are on the
-// left of axis, and leaves[n, count) are on the right
-// of axis. returns N.
-static int split(btDbvtNode** leaves,
-				 int count,
-				 const btVector3& org,
-				 const btVector3& axis)
-{
-	int begin = 0;
-	int end = count;
-	for (;;)
-	{
-		while (begin != end && leftOfAxis(leaves[begin], org, axis))
-		{
-			++begin;
-		}
-
-		if (begin == end)
-		{
-			break;
-		}
-
-		while (begin != end && !leftOfAxis(leaves[end - 1], org, axis))
-		{
-			--end;
-		}
-
-		if (begin == end)
-		{
-			break;
-		}
-
-		// swap out of place nodes
-		--end;
-		btDbvtNode* temp = leaves[begin];
-		leaves[begin] = leaves[end];
-		leaves[end] = temp;
-		++begin;
-	}
-
-	return begin;
-}
-
-//
-static btDbvtVolume bounds(btDbvtNode** leaves,
-						   int count)
-{
-#ifdef BT_USE_SSE
-	ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtVolume)]);
-	btDbvtVolume* ptr = (btDbvtVolume*)locals;
-	btDbvtVolume& volume = *ptr;
-	volume = leaves[0]->volume;
-#else
-	btDbvtVolume volume = leaves[0]->volume;
-#endif
-	for (int i = 1, ni = count; i < ni; ++i)
-	{
-		Merge(volume, leaves[i]->volume, volume);
-	}
-	return (volume);
-}
-
-//
-static void bottomup(btDbvt* pdbvt,
-					 btDbvtNode** leaves,
-					 int count)
-{
-	while (count > 1)
-	{
-		btScalar minsize = SIMD_INFINITY;
-		int minidx[2] = {-1, -1};
-		for (int i = 0; i < count; ++i)
-		{
-			for (int j = i + 1; j < count; ++j)
-			{
-				const btScalar sz = size(merge(leaves[i]->volume, leaves[j]->volume));
-				if (sz < minsize)
-				{
-					minsize = sz;
-					minidx[0] = i;
-					minidx[1] = j;
-				}
-			}
-		}
-		btDbvtNode* n[] = {leaves[minidx[0]], leaves[minidx[1]]};
-		btDbvtNode* p = createnode(pdbvt, 0, n[0]->volume, n[1]->volume, 0);
-		p->childs[0] = n[0];
-		p->childs[1] = n[1];
-		n[0]->parent = p;
-		n[1]->parent = p;
-		leaves[minidx[0]] = p;
-		leaves[minidx[1]] = leaves[count - 1];
-		--count;
-	}
-}
-
-//
-static btDbvtNode* topdown(btDbvt* pdbvt,
-						   btDbvtNode** leaves,
-						   int count,
-						   int bu_treshold)
-{
-	static const btVector3 axis[] = {btVector3(1, 0, 0),
-									 btVector3(0, 1, 0),
-									 btVector3(0, 0, 1)};
-	btAssert(bu_treshold > 2);
-	if (count > 1)
-	{
-		if (count > bu_treshold)
-		{
-			const btDbvtVolume vol = bounds(leaves, count);
-			const btVector3 org = vol.Center();
-			int partition;
-			int bestaxis = -1;
-			int bestmidp = count;
-			int splitcount[3][2] = {{0, 0}, {0, 0}, {0, 0}};
-			int i;
-			for (i = 0; i < count; ++i)
-			{
-				const btVector3 x = leaves[i]->volume.Center() - org;
-				for (int j = 0; j < 3; ++j)
-				{
-					++splitcount[j][btDot(x, axis[j]) > 0 ? 1 : 0];
-				}
-			}
-			for (i = 0; i < 3; ++i)
-			{
-				if ((splitcount[i][0] > 0) && (splitcount[i][1] > 0))
-				{
-					const int midp = (int)btFabs(btScalar(splitcount[i][0] - splitcount[i][1]));
-					if (midp < bestmidp)
-					{
-						bestaxis = i;
-						bestmidp = midp;
-					}
-				}
-			}
-			if (bestaxis >= 0)
-			{
-				partition = split(leaves, count, org, axis[bestaxis]);
-				btAssert(partition != 0 && partition != count);
-			}
-			else
-			{
-				partition = count / 2 + 1;
-			}
-			btDbvtNode* node = createnode(pdbvt, 0, vol, 0);
-			node->childs[0] = topdown(pdbvt, &leaves[0], partition, bu_treshold);
-			node->childs[1] = topdown(pdbvt, &leaves[partition], count - partition, bu_treshold);
-			node->childs[0]->parent = node;
-			node->childs[1]->parent = node;
-			return (node);
-		}
-		else
-		{
-			bottomup(pdbvt, leaves, count);
-			return (leaves[0]);
-		}
-	}
-	return (leaves[0]);
-}
-
-//
-static DBVT_INLINE btDbvtNode* sort(btDbvtNode* n, btDbvtNode*& r)
-{
-	btDbvtNode* p = n->parent;
-	btAssert(n->isinternal());
-	if (p > n)
-	{
-		const int i = indexof(n);
-		const int j = 1 - i;
-		btDbvtNode* s = p->childs[j];
-		btDbvtNode* q = p->parent;
-		btAssert(n == p->childs[i]);
-		if (q)
-			q->childs[indexof(p)] = n;
-		else
-			r = n;
-		s->parent = n;
-		p->parent = n;
-		n->parent = q;
-		p->childs[0] = n->childs[0];
-		p->childs[1] = n->childs[1];
-		n->childs[0]->parent = p;
-		n->childs[1]->parent = p;
-		n->childs[i] = p;
-		n->childs[j] = s;
-		btSwap(p->volume, n->volume);
-		return (p);
-	}
-	return (n);
-}
-
-#if 0
-static DBVT_INLINE btDbvtNode*	walkup(btDbvtNode* n,int count)
-{
-	while(n&&(count--)) n=n->parent;
-	return(n);
-}
-#endif
-
-//
-// Api
-//
-
-//
-btDbvt::btDbvt()
-{
-	m_root = 0;
-	m_free = 0;
-	m_lkhd = -1;
-	m_leaves = 0;
-	m_opath = 0;
-}
-
-//
-btDbvt::~btDbvt()
-{
-	clear();
-}
-
-//
-void btDbvt::clear()
-{
-	if (m_root)
-		recursedeletenode(this, m_root);
-	btAlignedFree(m_free);
-	m_free = 0;
-	m_lkhd = -1;
-	m_stkStack.clear();
-	m_opath = 0;
-}
-
-//
-void btDbvt::optimizeBottomUp()
-{
-	if (m_root)
-	{
-		tNodeArray leaves;
-		leaves.reserve(m_leaves);
-		fetchleaves(this, m_root, leaves);
-		bottomup(this, &leaves[0], leaves.size());
-		m_root = leaves[0];
-	}
-}
-
-//
-void btDbvt::optimizeTopDown(int bu_treshold)
-{
-	if (m_root)
-	{
-		tNodeArray leaves;
-		leaves.reserve(m_leaves);
-		fetchleaves(this, m_root, leaves);
-		m_root = topdown(this, &leaves[0], leaves.size(), bu_treshold);
-	}
-}
-
-//
-void btDbvt::optimizeIncremental(int passes)
-{
-	if (passes < 0) passes = m_leaves;
-	if (m_root && (passes > 0))
-	{
-		do
-		{
-			btDbvtNode* node = m_root;
-			unsigned bit = 0;
-			while (node->isinternal())
-			{
-				node = sort(node, m_root)->childs[(m_opath >> bit) & 1];
-				bit = (bit + 1) & (sizeof(unsigned) * 8 - 1);
-			}
-			update(node);
-			++m_opath;
-		} while (--passes);
-	}
-}
-
-//
-btDbvtNode* btDbvt::insert(const btDbvtVolume& volume, void* data)
-{
-	btDbvtNode* leaf = createnode(this, 0, volume, data);
-	insertleaf(this, m_root, leaf);
-	++m_leaves;
-	return (leaf);
-}
-
-//
-void btDbvt::update(btDbvtNode* leaf, int lookahead)
-{
-	btDbvtNode* root = removeleaf(this, leaf);
-	if (root)
-	{
-		if (lookahead >= 0)
-		{
-			for (int i = 0; (i < lookahead) && root->parent; ++i)
-			{
-				root = root->parent;
-			}
-		}
-		else
-			root = m_root;
-	}
-	insertleaf(this, root, leaf);
-}
-
-//
-void btDbvt::update(btDbvtNode* leaf, btDbvtVolume& volume)
-{
-	btDbvtNode* root = removeleaf(this, leaf);
-	if (root)
-	{
-		if (m_lkhd >= 0)
-		{
-			for (int i = 0; (i < m_lkhd) && root->parent; ++i)
-			{
-				root = root->parent;
-			}
-		}
-		else
-			root = m_root;
-	}
-	leaf->volume = volume;
-	insertleaf(this, root, leaf);
-}
-
-//
-bool btDbvt::update(btDbvtNode* leaf, btDbvtVolume& volume, const btVector3& velocity, btScalar margin)
-{
-	if (leaf->volume.Contain(volume)) return (false);
-	volume.Expand(btVector3(margin, margin, margin));
-	volume.SignedExpand(velocity);
-	update(leaf, volume);
-	return (true);
-}
-
-//
-bool btDbvt::update(btDbvtNode* leaf, btDbvtVolume& volume, const btVector3& velocity)
-{
-	if (leaf->volume.Contain(volume)) return (false);
-	volume.SignedExpand(velocity);
-	update(leaf, volume);
-	return (true);
-}
-
-//
-bool btDbvt::update(btDbvtNode* leaf, btDbvtVolume& volume, btScalar margin)
-{
-	if (leaf->volume.Contain(volume)) return (false);
-	volume.Expand(btVector3(margin, margin, margin));
-	update(leaf, volume);
-	return (true);
-}
-
-//
-void btDbvt::remove(btDbvtNode* leaf)
-{
-	removeleaf(this, leaf);
-	deletenode(this, leaf);
-	--m_leaves;
-}
-
-//
-void btDbvt::write(IWriter* iwriter) const
-{
-	btDbvtNodeEnumerator nodes;
-	nodes.nodes.reserve(m_leaves * 2);
-	enumNodes(m_root, nodes);
-	iwriter->Prepare(m_root, nodes.nodes.size());
-	for (int i = 0; i < nodes.nodes.size(); ++i)
-	{
-		const btDbvtNode* n = nodes.nodes[i];
-		int p = -1;
-		if (n->parent) p = nodes.nodes.findLinearSearch(n->parent);
-		if (n->isinternal())
-		{
-			const int c0 = nodes.nodes.findLinearSearch(n->childs[0]);
-			const int c1 = nodes.nodes.findLinearSearch(n->childs[1]);
-			iwriter->WriteNode(n, i, p, c0, c1);
-		}
-		else
-		{
-			iwriter->WriteLeaf(n, i, p);
-		}
-	}
-}
-
-//
-void btDbvt::clone(btDbvt& dest, IClone* iclone) const
-{
-	dest.clear();
-	if (m_root != 0)
-	{
-		btAlignedObjectArray<sStkCLN> stack;
-		stack.reserve(m_leaves);
-		stack.push_back(sStkCLN(m_root, 0));
-		do
-		{
-			const int i = stack.size() - 1;
-			const sStkCLN e = stack[i];
-			btDbvtNode* n = createnode(&dest, e.parent, e.node->volume, e.node->data);
-			stack.pop_back();
-			if (e.parent != 0)
-				e.parent->childs[i & 1] = n;
-			else
-				dest.m_root = n;
-			if (e.node->isinternal())
-			{
-				stack.push_back(sStkCLN(e.node->childs[0], n));
-				stack.push_back(sStkCLN(e.node->childs[1], n));
-			}
-			else
-			{
-				iclone->CloneLeaf(n);
-			}
-		} while (stack.size() > 0);
-	}
-}
-
-//
-int btDbvt::maxdepth(const btDbvtNode* node)
-{
-	int depth = 0;
-	if (node) getmaxdepth(node, 1, depth);
-	return (depth);
-}
-
-//
-int btDbvt::countLeaves(const btDbvtNode* node)
-{
-	if (node->isinternal())
-		return (countLeaves(node->childs[0]) + countLeaves(node->childs[1]));
-	else
-		return (1);
-}
-
-//
-void btDbvt::extractLeaves(const btDbvtNode* node, btAlignedObjectArray<const btDbvtNode*>& leaves)
-{
-	if (node->isinternal())
-	{
-		extractLeaves(node->childs[0], leaves);
-		extractLeaves(node->childs[1], leaves);
-	}
-	else
-	{
-		leaves.push_back(node);
-	}
-}
-
-//
-#if DBVT_ENABLE_BENCHMARK
-
-#include <stdio.h>
-#include <stdlib.h>
-#include "LinearMath/btQuickProf.h"
-
-/*
-q6600,2.4ghz
-
-/Ox /Ob2 /Oi /Ot /I "." /I "..\.." /I "..\..\src" /D "NDEBUG" /D "_LIB" /D "_WINDOWS" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE" /D "WIN32"
-/GF /FD /MT /GS- /Gy /arch:SSE2 /Zc:wchar_t- /Fp"..\..\out\release8\build\libbulletcollision\libbulletcollision.pch"
-/Fo"..\..\out\release8\build\libbulletcollision\\"
-/Fd"..\..\out\release8\build\libbulletcollision\bulletcollision.pdb"
-/W3 /nologo /c /Wp64 /Zi /errorReport:prompt
-
-Benchmarking dbvt...
-World scale: 100.000000
-Extents base: 1.000000
-Extents range: 4.000000
-Leaves: 8192
-sizeof(btDbvtVolume): 32 bytes
-sizeof(btDbvtNode):   44 bytes
-[1] btDbvtVolume intersections: 3499 ms (-1%)
-[2] btDbvtVolume merges: 1934 ms (0%)
-[3] btDbvt::collideTT: 5485 ms (-21%)
-[4] btDbvt::collideTT self: 2814 ms (-20%)
-[5] btDbvt::collideTT xform: 7379 ms (-1%)
-[6] btDbvt::collideTT xform,self: 7270 ms (-2%)
-[7] btDbvt::rayTest: 6314 ms (0%),(332143 r/s)
-[8] insert/remove: 2093 ms (0%),(1001983 ir/s)
-[9] updates (teleport): 1879 ms (-3%),(1116100 u/s)
-[10] updates (jitter): 1244 ms (-4%),(1685813 u/s)
-[11] optimize (incremental): 2514 ms (0%),(1668000 o/s)
-[12] btDbvtVolume notequal: 3659 ms (0%)
-[13] culling(OCL+fullsort): 2218 ms (0%),(461 t/s)
-[14] culling(OCL+qsort): 3688 ms (5%),(2221 t/s)
-[15] culling(KDOP+qsort): 1139 ms (-1%),(7192 t/s)
-[16] insert/remove batch(256): 5092 ms (0%),(823704 bir/s)
-[17] btDbvtVolume select: 3419 ms (0%)
-*/
-
-struct btDbvtBenchmark
-{
-	struct NilPolicy : btDbvt::ICollide
-	{
-		NilPolicy() : m_pcount(0), m_depth(-SIMD_INFINITY), m_checksort(true) {}
-		void Process(const btDbvtNode*, const btDbvtNode*) { ++m_pcount; }
-		void Process(const btDbvtNode*) { ++m_pcount; }
-		void Process(const btDbvtNode*, btScalar depth)
-		{
-			++m_pcount;
-			if (m_checksort)
-			{
-				if (depth >= m_depth)
-					m_depth = depth;
-				else
-					printf("wrong depth: %f (should be >= %f)\r\n", depth, m_depth);
-			}
-		}
-		int m_pcount;
-		btScalar m_depth;
-		bool m_checksort;
-	};
-	struct P14 : btDbvt::ICollide
-	{
-		struct Node
-		{
-			const btDbvtNode* leaf;
-			btScalar depth;
-		};
-		void Process(const btDbvtNode* leaf, btScalar depth)
-		{
-			Node n;
-			n.leaf = leaf;
-			n.depth = depth;
-		}
-		static int sortfnc(const Node& a, const Node& b)
-		{
-			if (a.depth < b.depth) return (+1);
-			if (a.depth > b.depth) return (-1);
-			return (0);
-		}
-		btAlignedObjectArray<Node> m_nodes;
-	};
-	struct P15 : btDbvt::ICollide
-	{
-		struct Node
-		{
-			const btDbvtNode* leaf;
-			btScalar depth;
-		};
-		void Process(const btDbvtNode* leaf)
-		{
-			Node n;
-			n.leaf = leaf;
-			n.depth = dot(leaf->volume.Center(), m_axis);
-		}
-		static int sortfnc(const Node& a, const Node& b)
-		{
-			if (a.depth < b.depth) return (+1);
-			if (a.depth > b.depth) return (-1);
-			return (0);
-		}
-		btAlignedObjectArray<Node> m_nodes;
-		btVector3 m_axis;
-	};
-	static btScalar RandUnit()
-	{
-		return (rand() / (btScalar)RAND_MAX);
-	}
-	static btVector3 RandVector3()
-	{
-		return (btVector3(RandUnit(), RandUnit(), RandUnit()));
-	}
-	static btVector3 RandVector3(btScalar cs)
-	{
-		return (RandVector3() * cs - btVector3(cs, cs, cs) / 2);
-	}
-	static btDbvtVolume RandVolume(btScalar cs, btScalar eb, btScalar es)
-	{
-		return (btDbvtVolume::FromCE(RandVector3(cs), btVector3(eb, eb, eb) + RandVector3() * es));
-	}
-	static btTransform RandTransform(btScalar cs)
-	{
-		btTransform t;
-		t.setOrigin(RandVector3(cs));
-		t.setRotation(btQuaternion(RandUnit() * SIMD_PI * 2, RandUnit() * SIMD_PI * 2, RandUnit() * SIMD_PI * 2).normalized());
-		return (t);
-	}
-	static void RandTree(btScalar cs, btScalar eb, btScalar es, int leaves, btDbvt& dbvt)
-	{
-		dbvt.clear();
-		for (int i = 0; i < leaves; ++i)
-		{
-			dbvt.insert(RandVolume(cs, eb, es), 0);
-		}
-	}
-};
-
-void btDbvt::benchmark()
-{
-	static const btScalar cfgVolumeCenterScale = 100;
-	static const btScalar cfgVolumeExentsBase = 1;
-	static const btScalar cfgVolumeExentsScale = 4;
-	static const int cfgLeaves = 8192;
-	static const bool cfgEnable = true;
-
-	//[1] btDbvtVolume intersections
-	bool cfgBenchmark1_Enable = cfgEnable;
-	static const int cfgBenchmark1_Iterations = 8;
-	static const int cfgBenchmark1_Reference = 3499;
-	//[2] btDbvtVolume merges
-	bool cfgBenchmark2_Enable = cfgEnable;
-	static const int cfgBenchmark2_Iterations = 4;
-	static const int cfgBenchmark2_Reference = 1945;
-	//[3] btDbvt::collideTT
-	bool cfgBenchmark3_Enable = cfgEnable;
-	static const int cfgBenchmark3_Iterations = 512;
-	static const int cfgBenchmark3_Reference = 5485;
-	//[4] btDbvt::collideTT self
-	bool cfgBenchmark4_Enable = cfgEnable;
-	static const int cfgBenchmark4_Iterations = 512;
-	static const int cfgBenchmark4_Reference = 2814;
-	//[5] btDbvt::collideTT xform
-	bool cfgBenchmark5_Enable = cfgEnable;
-	static const int cfgBenchmark5_Iterations = 512;
-	static const btScalar cfgBenchmark5_OffsetScale = 2;
-	static const int cfgBenchmark5_Reference = 7379;
-	//[6] btDbvt::collideTT xform,self
-	bool cfgBenchmark6_Enable = cfgEnable;
-	static const int cfgBenchmark6_Iterations = 512;
-	static const btScalar cfgBenchmark6_OffsetScale = 2;
-	static const int cfgBenchmark6_Reference = 7270;
-	//[7] btDbvt::rayTest
-	bool cfgBenchmark7_Enable = cfgEnable;
-	static const int cfgBenchmark7_Passes = 32;
-	static const int cfgBenchmark7_Iterations = 65536;
-	static const int cfgBenchmark7_Reference = 6307;
-	//[8] insert/remove
-	bool cfgBenchmark8_Enable = cfgEnable;
-	static const int cfgBenchmark8_Passes = 32;
-	static const int cfgBenchmark8_Iterations = 65536;
-	static const int cfgBenchmark8_Reference = 2105;
-	//[9] updates (teleport)
-	bool cfgBenchmark9_Enable = cfgEnable;
-	static const int cfgBenchmark9_Passes = 32;
-	static const int cfgBenchmark9_Iterations = 65536;
-	static const int cfgBenchmark9_Reference = 1879;
-	//[10] updates (jitter)
-	bool cfgBenchmark10_Enable = cfgEnable;
-	static const btScalar cfgBenchmark10_Scale = cfgVolumeCenterScale / 10000;
-	static const int cfgBenchmark10_Passes = 32;
-	static const int cfgBenchmark10_Iterations = 65536;
-	static const int cfgBenchmark10_Reference = 1244;
-	//[11] optimize (incremental)
-	bool cfgBenchmark11_Enable = cfgEnable;
-	static const int cfgBenchmark11_Passes = 64;
-	static const int cfgBenchmark11_Iterations = 65536;
-	static const int cfgBenchmark11_Reference = 2510;
-	//[12] btDbvtVolume notequal
-	bool cfgBenchmark12_Enable = cfgEnable;
-	static const int cfgBenchmark12_Iterations = 32;
-	static const int cfgBenchmark12_Reference = 3677;
-	//[13] culling(OCL+fullsort)
-	bool cfgBenchmark13_Enable = cfgEnable;
-	static const int cfgBenchmark13_Iterations = 1024;
-	static const int cfgBenchmark13_Reference = 2231;
-	//[14] culling(OCL+qsort)
-	bool cfgBenchmark14_Enable = cfgEnable;
-	static const int cfgBenchmark14_Iterations = 8192;
-	static const int cfgBenchmark14_Reference = 3500;
-	//[15] culling(KDOP+qsort)
-	bool cfgBenchmark15_Enable = cfgEnable;
-	static const int cfgBenchmark15_Iterations = 8192;
-	static const int cfgBenchmark15_Reference = 1151;
-	//[16] insert/remove batch
-	bool cfgBenchmark16_Enable = cfgEnable;
-	static const int cfgBenchmark16_BatchCount = 256;
-	static const int cfgBenchmark16_Passes = 16384;
-	static const int cfgBenchmark16_Reference = 5138;
-	//[17] select
-	bool cfgBenchmark17_Enable = cfgEnable;
-	static const int cfgBenchmark17_Iterations = 4;
-	static const int cfgBenchmark17_Reference = 3390;
-
-	btClock wallclock;
-	printf("Benchmarking dbvt...\r\n");
-	printf("\tWorld scale: %f\r\n", cfgVolumeCenterScale);
-	printf("\tExtents base: %f\r\n", cfgVolumeExentsBase);
-	printf("\tExtents range: %f\r\n", cfgVolumeExentsScale);
-	printf("\tLeaves: %u\r\n", cfgLeaves);
-	printf("\tsizeof(btDbvtVolume): %u bytes\r\n", sizeof(btDbvtVolume));
-	printf("\tsizeof(btDbvtNode):   %u bytes\r\n", sizeof(btDbvtNode));
-	if (cfgBenchmark1_Enable)
-	{  // Benchmark 1
-		srand(380843);
-		btAlignedObjectArray<btDbvtVolume> volumes;
-		btAlignedObjectArray<bool> results;
-		volumes.resize(cfgLeaves);
-		results.resize(cfgLeaves);
-		for (int i = 0; i < cfgLeaves; ++i)
-		{
-			volumes[i] = btDbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale);
-		}
-		printf("[1] btDbvtVolume intersections: ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark1_Iterations; ++i)
-		{
-			for (int j = 0; j < cfgLeaves; ++j)
-			{
-				for (int k = 0; k < cfgLeaves; ++k)
-				{
-					results[k] = Intersect(volumes[j], volumes[k]);
-				}
-			}
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark1_Reference) * 100 / time);
-	}
-	if (cfgBenchmark2_Enable)
-	{  // Benchmark 2
-		srand(380843);
-		btAlignedObjectArray<btDbvtVolume> volumes;
-		btAlignedObjectArray<btDbvtVolume> results;
-		volumes.resize(cfgLeaves);
-		results.resize(cfgLeaves);
-		for (int i = 0; i < cfgLeaves; ++i)
-		{
-			volumes[i] = btDbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale);
-		}
-		printf("[2] btDbvtVolume merges: ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark2_Iterations; ++i)
-		{
-			for (int j = 0; j < cfgLeaves; ++j)
-			{
-				for (int k = 0; k < cfgLeaves; ++k)
-				{
-					Merge(volumes[j], volumes[k], results[k]);
-				}
-			}
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark2_Reference) * 100 / time);
-	}
-	if (cfgBenchmark3_Enable)
-	{  // Benchmark 3
-		srand(380843);
-		btDbvt dbvt[2];
-		btDbvtBenchmark::NilPolicy policy;
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt[0]);
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt[1]);
-		dbvt[0].optimizeTopDown();
-		dbvt[1].optimizeTopDown();
-		printf("[3] btDbvt::collideTT: ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark3_Iterations; ++i)
-		{
-			btDbvt::collideTT(dbvt[0].m_root, dbvt[1].m_root, policy);
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark3_Reference) * 100 / time);
-	}
-	if (cfgBenchmark4_Enable)
-	{  // Benchmark 4
-		srand(380843);
-		btDbvt dbvt;
-		btDbvtBenchmark::NilPolicy policy;
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
-		dbvt.optimizeTopDown();
-		printf("[4] btDbvt::collideTT self: ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark4_Iterations; ++i)
-		{
-			btDbvt::collideTT(dbvt.m_root, dbvt.m_root, policy);
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark4_Reference) * 100 / time);
-	}
-	if (cfgBenchmark5_Enable)
-	{  // Benchmark 5
-		srand(380843);
-		btDbvt dbvt[2];
-		btAlignedObjectArray<btTransform> transforms;
-		btDbvtBenchmark::NilPolicy policy;
-		transforms.resize(cfgBenchmark5_Iterations);
-		for (int i = 0; i < transforms.size(); ++i)
-		{
-			transforms[i] = btDbvtBenchmark::RandTransform(cfgVolumeCenterScale * cfgBenchmark5_OffsetScale);
-		}
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt[0]);
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt[1]);
-		dbvt[0].optimizeTopDown();
-		dbvt[1].optimizeTopDown();
-		printf("[5] btDbvt::collideTT xform: ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark5_Iterations; ++i)
-		{
-			btDbvt::collideTT(dbvt[0].m_root, dbvt[1].m_root, transforms[i], policy);
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark5_Reference) * 100 / time);
-	}
-	if (cfgBenchmark6_Enable)
-	{  // Benchmark 6
-		srand(380843);
-		btDbvt dbvt;
-		btAlignedObjectArray<btTransform> transforms;
-		btDbvtBenchmark::NilPolicy policy;
-		transforms.resize(cfgBenchmark6_Iterations);
-		for (int i = 0; i < transforms.size(); ++i)
-		{
-			transforms[i] = btDbvtBenchmark::RandTransform(cfgVolumeCenterScale * cfgBenchmark6_OffsetScale);
-		}
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
-		dbvt.optimizeTopDown();
-		printf("[6] btDbvt::collideTT xform,self: ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark6_Iterations; ++i)
-		{
-			btDbvt::collideTT(dbvt.m_root, dbvt.m_root, transforms[i], policy);
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark6_Reference) * 100 / time);
-	}
-	if (cfgBenchmark7_Enable)
-	{  // Benchmark 7
-		srand(380843);
-		btDbvt dbvt;
-		btAlignedObjectArray<btVector3> rayorg;
-		btAlignedObjectArray<btVector3> raydir;
-		btDbvtBenchmark::NilPolicy policy;
-		rayorg.resize(cfgBenchmark7_Iterations);
-		raydir.resize(cfgBenchmark7_Iterations);
-		for (int i = 0; i < rayorg.size(); ++i)
-		{
-			rayorg[i] = btDbvtBenchmark::RandVector3(cfgVolumeCenterScale * 2);
-			raydir[i] = btDbvtBenchmark::RandVector3(cfgVolumeCenterScale * 2);
-		}
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
-		dbvt.optimizeTopDown();
-		printf("[7] btDbvt::rayTest: ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark7_Passes; ++i)
-		{
-			for (int j = 0; j < cfgBenchmark7_Iterations; ++j)
-			{
-				btDbvt::rayTest(dbvt.m_root, rayorg[j], rayorg[j] + raydir[j], policy);
-			}
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		unsigned rays = cfgBenchmark7_Passes * cfgBenchmark7_Iterations;
-		printf("%u ms (%i%%),(%u r/s)\r\n", time, (time - cfgBenchmark7_Reference) * 100 / time, (rays * 1000) / time);
-	}
-	if (cfgBenchmark8_Enable)
-	{  // Benchmark 8
-		srand(380843);
-		btDbvt dbvt;
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
-		dbvt.optimizeTopDown();
-		printf("[8] insert/remove: ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark8_Passes; ++i)
-		{
-			for (int j = 0; j < cfgBenchmark8_Iterations; ++j)
-			{
-				dbvt.remove(dbvt.insert(btDbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale), 0));
-			}
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		const int ir = cfgBenchmark8_Passes * cfgBenchmark8_Iterations;
-		printf("%u ms (%i%%),(%u ir/s)\r\n", time, (time - cfgBenchmark8_Reference) * 100 / time, ir * 1000 / time);
-	}
-	if (cfgBenchmark9_Enable)
-	{  // Benchmark 9
-		srand(380843);
-		btDbvt dbvt;
-		btAlignedObjectArray<const btDbvtNode*> leaves;
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
-		dbvt.optimizeTopDown();
-		dbvt.extractLeaves(dbvt.m_root, leaves);
-		printf("[9] updates (teleport): ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark9_Passes; ++i)
-		{
-			for (int j = 0; j < cfgBenchmark9_Iterations; ++j)
-			{
-				dbvt.update(const_cast<btDbvtNode*>(leaves[rand() % cfgLeaves]),
-							btDbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale));
-			}
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		const int up = cfgBenchmark9_Passes * cfgBenchmark9_Iterations;
-		printf("%u ms (%i%%),(%u u/s)\r\n", time, (time - cfgBenchmark9_Reference) * 100 / time, up * 1000 / time);
-	}
-	if (cfgBenchmark10_Enable)
-	{  // Benchmark 10
-		srand(380843);
-		btDbvt dbvt;
-		btAlignedObjectArray<const btDbvtNode*> leaves;
-		btAlignedObjectArray<btVector3> vectors;
-		vectors.resize(cfgBenchmark10_Iterations);
-		for (int i = 0; i < vectors.size(); ++i)
-		{
-			vectors[i] = (btDbvtBenchmark::RandVector3() * 2 - btVector3(1, 1, 1)) * cfgBenchmark10_Scale;
-		}
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
-		dbvt.optimizeTopDown();
-		dbvt.extractLeaves(dbvt.m_root, leaves);
-		printf("[10] updates (jitter): ");
-		wallclock.reset();
-
-		for (int i = 0; i < cfgBenchmark10_Passes; ++i)
-		{
-			for (int j = 0; j < cfgBenchmark10_Iterations; ++j)
-			{
-				const btVector3& d = vectors[j];
-				btDbvtNode* l = const_cast<btDbvtNode*>(leaves[rand() % cfgLeaves]);
-				btDbvtVolume v = btDbvtVolume::FromMM(l->volume.Mins() + d, l->volume.Maxs() + d);
-				dbvt.update(l, v);
-			}
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		const int up = cfgBenchmark10_Passes * cfgBenchmark10_Iterations;
-		printf("%u ms (%i%%),(%u u/s)\r\n", time, (time - cfgBenchmark10_Reference) * 100 / time, up * 1000 / time);
-	}
-	if (cfgBenchmark11_Enable)
-	{  // Benchmark 11
-		srand(380843);
-		btDbvt dbvt;
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
-		dbvt.optimizeTopDown();
-		printf("[11] optimize (incremental): ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark11_Passes; ++i)
-		{
-			dbvt.optimizeIncremental(cfgBenchmark11_Iterations);
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		const int op = cfgBenchmark11_Passes * cfgBenchmark11_Iterations;
-		printf("%u ms (%i%%),(%u o/s)\r\n", time, (time - cfgBenchmark11_Reference) * 100 / time, op / time * 1000);
-	}
-	if (cfgBenchmark12_Enable)
-	{  // Benchmark 12
-		srand(380843);
-		btAlignedObjectArray<btDbvtVolume> volumes;
-		btAlignedObjectArray<bool> results;
-		volumes.resize(cfgLeaves);
-		results.resize(cfgLeaves);
-		for (int i = 0; i < cfgLeaves; ++i)
-		{
-			volumes[i] = btDbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale);
-		}
-		printf("[12] btDbvtVolume notequal: ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark12_Iterations; ++i)
-		{
-			for (int j = 0; j < cfgLeaves; ++j)
-			{
-				for (int k = 0; k < cfgLeaves; ++k)
-				{
-					results[k] = NotEqual(volumes[j], volumes[k]);
-				}
-			}
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark12_Reference) * 100 / time);
-	}
-	if (cfgBenchmark13_Enable)
-	{  // Benchmark 13
-		srand(380843);
-		btDbvt dbvt;
-		btAlignedObjectArray<btVector3> vectors;
-		btDbvtBenchmark::NilPolicy policy;
-		vectors.resize(cfgBenchmark13_Iterations);
-		for (int i = 0; i < vectors.size(); ++i)
-		{
-			vectors[i] = (btDbvtBenchmark::RandVector3() * 2 - btVector3(1, 1, 1)).normalized();
-		}
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
-		dbvt.optimizeTopDown();
-		printf("[13] culling(OCL+fullsort): ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark13_Iterations; ++i)
-		{
-			static const btScalar offset = 0;
-			policy.m_depth = -SIMD_INFINITY;
-			dbvt.collideOCL(dbvt.m_root, &vectors[i], &offset, vectors[i], 1, policy);
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		const int t = cfgBenchmark13_Iterations;
-		printf("%u ms (%i%%),(%u t/s)\r\n", time, (time - cfgBenchmark13_Reference) * 100 / time, (t * 1000) / time);
-	}
-	if (cfgBenchmark14_Enable)
-	{  // Benchmark 14
-		srand(380843);
-		btDbvt dbvt;
-		btAlignedObjectArray<btVector3> vectors;
-		btDbvtBenchmark::P14 policy;
-		vectors.resize(cfgBenchmark14_Iterations);
-		for (int i = 0; i < vectors.size(); ++i)
-		{
-			vectors[i] = (btDbvtBenchmark::RandVector3() * 2 - btVector3(1, 1, 1)).normalized();
-		}
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
-		dbvt.optimizeTopDown();
-		policy.m_nodes.reserve(cfgLeaves);
-		printf("[14] culling(OCL+qsort): ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark14_Iterations; ++i)
-		{
-			static const btScalar offset = 0;
-			policy.m_nodes.resize(0);
-			dbvt.collideOCL(dbvt.m_root, &vectors[i], &offset, vectors[i], 1, policy, false);
-			policy.m_nodes.quickSort(btDbvtBenchmark::P14::sortfnc);
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		const int t = cfgBenchmark14_Iterations;
-		printf("%u ms (%i%%),(%u t/s)\r\n", time, (time - cfgBenchmark14_Reference) * 100 / time, (t * 1000) / time);
-	}
-	if (cfgBenchmark15_Enable)
-	{  // Benchmark 15
-		srand(380843);
-		btDbvt dbvt;
-		btAlignedObjectArray<btVector3> vectors;
-		btDbvtBenchmark::P15 policy;
-		vectors.resize(cfgBenchmark15_Iterations);
-		for (int i = 0; i < vectors.size(); ++i)
-		{
-			vectors[i] = (btDbvtBenchmark::RandVector3() * 2 - btVector3(1, 1, 1)).normalized();
-		}
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
-		dbvt.optimizeTopDown();
-		policy.m_nodes.reserve(cfgLeaves);
-		printf("[15] culling(KDOP+qsort): ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark15_Iterations; ++i)
-		{
-			static const btScalar offset = 0;
-			policy.m_nodes.resize(0);
-			policy.m_axis = vectors[i];
-			dbvt.collideKDOP(dbvt.m_root, &vectors[i], &offset, 1, policy);
-			policy.m_nodes.quickSort(btDbvtBenchmark::P15::sortfnc);
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		const int t = cfgBenchmark15_Iterations;
-		printf("%u ms (%i%%),(%u t/s)\r\n", time, (time - cfgBenchmark15_Reference) * 100 / time, (t * 1000) / time);
-	}
-	if (cfgBenchmark16_Enable)
-	{  // Benchmark 16
-		srand(380843);
-		btDbvt dbvt;
-		btAlignedObjectArray<btDbvtNode*> batch;
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
-		dbvt.optimizeTopDown();
-		batch.reserve(cfgBenchmark16_BatchCount);
-		printf("[16] insert/remove batch(%u): ", cfgBenchmark16_BatchCount);
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark16_Passes; ++i)
-		{
-			for (int j = 0; j < cfgBenchmark16_BatchCount; ++j)
-			{
-				batch.push_back(dbvt.insert(btDbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale), 0));
-			}
-			for (int j = 0; j < cfgBenchmark16_BatchCount; ++j)
-			{
-				dbvt.remove(batch[j]);
-			}
-			batch.resize(0);
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		const int ir = cfgBenchmark16_Passes * cfgBenchmark16_BatchCount;
-		printf("%u ms (%i%%),(%u bir/s)\r\n", time, (time - cfgBenchmark16_Reference) * 100 / time, int(ir * 1000.0 / time));
-	}
-	if (cfgBenchmark17_Enable)
-	{  // Benchmark 17
-		srand(380843);
-		btAlignedObjectArray<btDbvtVolume> volumes;
-		btAlignedObjectArray<int> results;
-		btAlignedObjectArray<int> indices;
-		volumes.resize(cfgLeaves);
-		results.resize(cfgLeaves);
-		indices.resize(cfgLeaves);
-		for (int i = 0; i < cfgLeaves; ++i)
-		{
-			indices[i] = i;
-			volumes[i] = btDbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale);
-		}
-		for (int i = 0; i < cfgLeaves; ++i)
-		{
-			btSwap(indices[i], indices[rand() % cfgLeaves]);
-		}
-		printf("[17] btDbvtVolume select: ");
-		wallclock.reset();
-		for (int i = 0; i < cfgBenchmark17_Iterations; ++i)
-		{
-			for (int j = 0; j < cfgLeaves; ++j)
-			{
-				for (int k = 0; k < cfgLeaves; ++k)
-				{
-					const int idx = indices[k];
-					results[idx] = Select(volumes[idx], volumes[j], volumes[k]);
-				}
-			}
-		}
-		const int time = (int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark17_Reference) * 100 / time);
-	}
-	printf("\r\n\r\n");
-}
-#endif
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h
deleted file mode 100644
index 55daa7fb57..0000000000
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h
+++ /dev/null
@@ -1,1578 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2007 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-///btDbvt implementation by Nathanael Presson
-
-#ifndef BT_DYNAMIC_BOUNDING_VOLUME_TREE_H
-#define BT_DYNAMIC_BOUNDING_VOLUME_TREE_H
-
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btAabbUtil2.h"
-//
-// Compile time configuration
-//
-
-// Implementation profiles
-#define DBVT_IMPL_GENERIC 0  // Generic implementation
-#define DBVT_IMPL_SSE 1      // SSE
-
-// Template implementation of ICollide
-#ifdef _WIN32
-#if (defined(_MSC_VER) && _MSC_VER >= 1400)
-#define DBVT_USE_TEMPLATE 1
-#else
-#define DBVT_USE_TEMPLATE 0
-#endif
-#else
-#define DBVT_USE_TEMPLATE 0
-#endif
-
-// Use only intrinsics instead of inline asm
-#define DBVT_USE_INTRINSIC_SSE 1
-
-// Using memmov for collideOCL
-#define DBVT_USE_MEMMOVE 1
-
-// Enable benchmarking code
-#define DBVT_ENABLE_BENCHMARK 0
-
-// Inlining
-#define DBVT_INLINE SIMD_FORCE_INLINE
-
-// Specific methods implementation
-
-//SSE gives errors on a MSVC 7.1
-#if defined(BT_USE_SSE)  //&& defined (_WIN32)
-#define DBVT_SELECT_IMPL DBVT_IMPL_SSE
-#define DBVT_MERGE_IMPL DBVT_IMPL_SSE
-#define DBVT_INT0_IMPL DBVT_IMPL_SSE
-#else
-#define DBVT_SELECT_IMPL DBVT_IMPL_GENERIC
-#define DBVT_MERGE_IMPL DBVT_IMPL_GENERIC
-#define DBVT_INT0_IMPL DBVT_IMPL_GENERIC
-#endif
-
-#if (DBVT_SELECT_IMPL == DBVT_IMPL_SSE) || \
-	(DBVT_MERGE_IMPL == DBVT_IMPL_SSE) ||  \
-	(DBVT_INT0_IMPL == DBVT_IMPL_SSE)
-#include <emmintrin.h>
-#endif
-
-//
-// Auto config and checks
-//
-
-#if DBVT_USE_TEMPLATE
-#define DBVT_VIRTUAL
-#define DBVT_VIRTUAL_DTOR(a)
-#define DBVT_PREFIX template <typename T>
-#define DBVT_IPOLICY T& policy
-#define DBVT_CHECKTYPE                           \
-	static const ICollide& typechecker = *(T*)1; \
-	(void)typechecker;
-#else
-#define DBVT_VIRTUAL_DTOR(a) \
-	virtual ~a() {}
-#define DBVT_VIRTUAL virtual
-#define DBVT_PREFIX
-#define DBVT_IPOLICY ICollide& policy
-#define DBVT_CHECKTYPE
-#endif
-
-#if DBVT_USE_MEMMOVE
-#if !defined(__CELLOS_LV2__) && !defined(__MWERKS__)
-#include <memory.h>
-#endif
-#include <string.h>
-#endif
-
-#ifndef DBVT_USE_TEMPLATE
-#error "DBVT_USE_TEMPLATE undefined"
-#endif
-
-#ifndef DBVT_USE_MEMMOVE
-#error "DBVT_USE_MEMMOVE undefined"
-#endif
-
-#ifndef DBVT_ENABLE_BENCHMARK
-#error "DBVT_ENABLE_BENCHMARK undefined"
-#endif
-
-#ifndef DBVT_SELECT_IMPL
-#error "DBVT_SELECT_IMPL undefined"
-#endif
-
-#ifndef DBVT_MERGE_IMPL
-#error "DBVT_MERGE_IMPL undefined"
-#endif
-
-#ifndef DBVT_INT0_IMPL
-#error "DBVT_INT0_IMPL undefined"
-#endif
-
-//
-// Defaults volumes
-//
-
-/* btDbvtAabbMm			*/
-struct btDbvtAabbMm
-{
-    DBVT_INLINE btDbvtAabbMm(){}
-	DBVT_INLINE btVector3 Center() const { return ((mi + mx) / 2); }
-	DBVT_INLINE btVector3 Lengths() const { return (mx - mi); }
-	DBVT_INLINE btVector3 Extents() const { return ((mx - mi) / 2); }
-	DBVT_INLINE const btVector3& Mins() const { return (mi); }
-	DBVT_INLINE const btVector3& Maxs() const { return (mx); }
-	static inline btDbvtAabbMm FromCE(const btVector3& c, const btVector3& e);
-	static inline btDbvtAabbMm FromCR(const btVector3& c, btScalar r);
-	static inline btDbvtAabbMm FromMM(const btVector3& mi, const btVector3& mx);
-	static inline btDbvtAabbMm FromPoints(const btVector3* pts, int n);
-	static inline btDbvtAabbMm FromPoints(const btVector3** ppts, int n);
-	DBVT_INLINE void Expand(const btVector3& e);
-	DBVT_INLINE void SignedExpand(const btVector3& e);
-	DBVT_INLINE bool Contain(const btDbvtAabbMm& a) const;
-	DBVT_INLINE int Classify(const btVector3& n, btScalar o, int s) const;
-	DBVT_INLINE btScalar ProjectMinimum(const btVector3& v, unsigned signs) const;
-	DBVT_INLINE friend bool Intersect(const btDbvtAabbMm& a,
-									  const btDbvtAabbMm& b);
-
-	DBVT_INLINE friend bool Intersect(const btDbvtAabbMm& a,
-									  const btVector3& b);
-
-	DBVT_INLINE friend btScalar Proximity(const btDbvtAabbMm& a,
-										  const btDbvtAabbMm& b);
-	DBVT_INLINE friend int Select(const btDbvtAabbMm& o,
-								  const btDbvtAabbMm& a,
-								  const btDbvtAabbMm& b);
-	DBVT_INLINE friend void Merge(const btDbvtAabbMm& a,
-								  const btDbvtAabbMm& b,
-								  btDbvtAabbMm& r);
-	DBVT_INLINE friend bool NotEqual(const btDbvtAabbMm& a,
-									 const btDbvtAabbMm& b);
-
-	DBVT_INLINE btVector3& tMins() { return (mi); }
-	DBVT_INLINE btVector3& tMaxs() { return (mx); }
-
-private:
-	DBVT_INLINE void AddSpan(const btVector3& d, btScalar& smi, btScalar& smx) const;
-
-private:
-	btVector3 mi, mx;
-};
-
-// Types
-typedef btDbvtAabbMm btDbvtVolume;
-
-/* btDbvtNode				*/
-struct btDbvtNode
-{
-	btDbvtVolume volume;
-	btDbvtNode* parent;
-	DBVT_INLINE bool isleaf() const { return (childs[1] == 0); }
-	DBVT_INLINE bool isinternal() const { return (!isleaf()); }
-	union {
-		btDbvtNode* childs[2];
-		void* data;
-		int dataAsInt;
-	};
-};
-
-/* btDbv(normal)tNode                */
-struct btDbvntNode
-{
-    btDbvtVolume volume;
-    btVector3 normal;
-    btScalar angle;
-    DBVT_INLINE bool isleaf() const { return (childs[1] == 0); }
-    DBVT_INLINE bool isinternal() const { return (!isleaf()); }
-    btDbvntNode* childs[2];
-    void* data;
-
-    btDbvntNode(const btDbvtNode* n)
-    : volume(n->volume)
-    , normal(0,0,0)
-    , angle(0)
-    , data(n->data)
-    {
-        childs[0] = 0;
-        childs[1] = 0;
-    }
-    
-    ~btDbvntNode()
-    {
-        if (childs[0])
-            delete childs[0];
-        if (childs[1])
-            delete childs[1];
-    }
-};
-
-typedef btAlignedObjectArray<const btDbvtNode*> btNodeStack;
-
-///The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree).
-///This btDbvt is used for soft body collision detection and for the btDbvtBroadphase. It has a fast insert, remove and update of nodes.
-///Unlike the btQuantizedBvh, nodes can be dynamically moved around, which allows for change in topology of the underlying data structure.
-struct btDbvt
-{
-	/* Stack element	*/
-	struct sStkNN
-	{
-		const btDbvtNode* a;
-		const btDbvtNode* b;
-		sStkNN() {}
-		sStkNN(const btDbvtNode* na, const btDbvtNode* nb) : a(na), b(nb) {}
-	};
-	struct sStkNP
-	{
-		const btDbvtNode* node;
-		int mask;
-		sStkNP(const btDbvtNode* n, unsigned m) : node(n), mask(m) {}
-	};
-	struct sStkNPS
-	{
-		const btDbvtNode* node;
-		int mask;
-		btScalar value;
-		sStkNPS() {}
-		sStkNPS(const btDbvtNode* n, unsigned m, btScalar v) : node(n), mask(m), value(v) {}
-	};
-	struct sStkCLN
-	{
-		const btDbvtNode* node;
-		btDbvtNode* parent;
-		sStkCLN(const btDbvtNode* n, btDbvtNode* p) : node(n), parent(p) {}
-	};
-    
-    struct sStknNN
-    {
-        const btDbvntNode* a;
-        const btDbvntNode* b;
-        sStknNN() {}
-        sStknNN(const btDbvntNode* na, const btDbvntNode* nb) : a(na), b(nb) {}
-    };
-	// Policies/Interfaces
-
-	/* ICollide	*/
-	struct ICollide
-	{
-		DBVT_VIRTUAL_DTOR(ICollide)
-		DBVT_VIRTUAL void Process(const btDbvtNode*, const btDbvtNode*) {}
-		DBVT_VIRTUAL void Process(const btDbvtNode*) {}
-		DBVT_VIRTUAL void Process(const btDbvtNode* n, btScalar) { Process(n); }
-        DBVT_VIRTUAL void Process(const btDbvntNode*, const btDbvntNode*) {}
-		DBVT_VIRTUAL bool Descent(const btDbvtNode*) { return (true); }
-		DBVT_VIRTUAL bool AllLeaves(const btDbvtNode*) { return (true); }
-	};
-	/* IWriter	*/
-	struct IWriter
-	{
-		virtual ~IWriter() {}
-		virtual void Prepare(const btDbvtNode* root, int numnodes) = 0;
-		virtual void WriteNode(const btDbvtNode*, int index, int parent, int child0, int child1) = 0;
-		virtual void WriteLeaf(const btDbvtNode*, int index, int parent) = 0;
-	};
-	/* IClone	*/
-	struct IClone
-	{
-		virtual ~IClone() {}
-		virtual void CloneLeaf(btDbvtNode*) {}
-	};
-
-	// Constants
-	enum
-	{
-		SIMPLE_STACKSIZE = 64,
-		DOUBLE_STACKSIZE = SIMPLE_STACKSIZE * 2
-	};
-
-	// Fields
-	btDbvtNode* m_root;
-	btDbvtNode* m_free;
-	int m_lkhd;
-	int m_leaves;
-	unsigned m_opath;
-
-	btAlignedObjectArray<sStkNN> m_stkStack;
-
-	// Methods
-	btDbvt();
-	~btDbvt();
-	void clear();
-	bool empty() const { return (0 == m_root); }
-	void optimizeBottomUp();
-	void optimizeTopDown(int bu_treshold = 128);
-	void optimizeIncremental(int passes);
-	btDbvtNode* insert(const btDbvtVolume& box, void* data);
-	void update(btDbvtNode* leaf, int lookahead = -1);
-	void update(btDbvtNode* leaf, btDbvtVolume& volume);
-	bool update(btDbvtNode* leaf, btDbvtVolume& volume, const btVector3& velocity, btScalar margin);
-	bool update(btDbvtNode* leaf, btDbvtVolume& volume, const btVector3& velocity);
-	bool update(btDbvtNode* leaf, btDbvtVolume& volume, btScalar margin);
-	void remove(btDbvtNode* leaf);
-	void write(IWriter* iwriter) const;
-	void clone(btDbvt& dest, IClone* iclone = 0) const;
-	static int maxdepth(const btDbvtNode* node);
-	static int countLeaves(const btDbvtNode* node);
-	static void extractLeaves(const btDbvtNode* node, btAlignedObjectArray<const btDbvtNode*>& leaves);
-#if DBVT_ENABLE_BENCHMARK
-	static void benchmark();
-#else
-	static void benchmark()
-	{
-	}
-#endif
-	// DBVT_IPOLICY must support ICollide policy/interface
-	DBVT_PREFIX
-	static void enumNodes(const btDbvtNode* root,
-						  DBVT_IPOLICY);
-	DBVT_PREFIX
-	static void enumLeaves(const btDbvtNode* root,
-						   DBVT_IPOLICY);
-	DBVT_PREFIX
-	void collideTT(const btDbvtNode* root0,
-				   const btDbvtNode* root1,
-				   DBVT_IPOLICY);
-    DBVT_PREFIX
-    void selfCollideT(const btDbvntNode* root,
-                   DBVT_IPOLICY);
-    DBVT_PREFIX
-    void selfCollideTT(const btDbvtNode* root,
-                      DBVT_IPOLICY);
-
-	DBVT_PREFIX
-	void collideTTpersistentStack(const btDbvtNode* root0,
-								  const btDbvtNode* root1,
-								  DBVT_IPOLICY);
-#if 0
-	DBVT_PREFIX
-		void		collideTT(	const btDbvtNode* root0,
-		const btDbvtNode* root1,
-		const btTransform& xform,
-		DBVT_IPOLICY);
-	DBVT_PREFIX
-		void		collideTT(	const btDbvtNode* root0,
-		const btTransform& xform0,
-		const btDbvtNode* root1,
-		const btTransform& xform1,
-		DBVT_IPOLICY);
-#endif
-
-	DBVT_PREFIX
-	void collideTV(const btDbvtNode* root,
-				   const btDbvtVolume& volume,
-				   DBVT_IPOLICY) const;
-
-	DBVT_PREFIX
-	void collideTVNoStackAlloc(const btDbvtNode* root,
-							   const btDbvtVolume& volume,
-							   btNodeStack& stack,
-							   DBVT_IPOLICY) const;
-
-	///rayTest is a re-entrant ray test, and can be called in parallel as long as the btAlignedAlloc is thread-safe (uses locking etc)
-	///rayTest is slower than rayTestInternal, because it builds a local stack, using memory allocations, and it recomputes signs/rayDirectionInverses each time
-	DBVT_PREFIX
-	static void rayTest(const btDbvtNode* root,
-						const btVector3& rayFrom,
-						const btVector3& rayTo,
-						DBVT_IPOLICY);
-	///rayTestInternal is faster than rayTest, because it uses a persistent stack (to reduce dynamic memory allocations to a minimum) and it uses precomputed signs/rayInverseDirections
-	///rayTestInternal is used by btDbvtBroadphase to accelerate world ray casts
-	DBVT_PREFIX
-	void rayTestInternal(const btDbvtNode* root,
-						 const btVector3& rayFrom,
-						 const btVector3& rayTo,
-						 const btVector3& rayDirectionInverse,
-						 unsigned int signs[3],
-						 btScalar lambda_max,
-						 const btVector3& aabbMin,
-						 const btVector3& aabbMax,
-						 btAlignedObjectArray<const btDbvtNode*>& stack,
-						 DBVT_IPOLICY) const;
-
-	DBVT_PREFIX
-	static void collideKDOP(const btDbvtNode* root,
-							const btVector3* normals,
-							const btScalar* offsets,
-							int count,
-							DBVT_IPOLICY);
-	DBVT_PREFIX
-	static void collideOCL(const btDbvtNode* root,
-						   const btVector3* normals,
-						   const btScalar* offsets,
-						   const btVector3& sortaxis,
-						   int count,
-						   DBVT_IPOLICY,
-						   bool fullsort = true);
-	DBVT_PREFIX
-	static void collideTU(const btDbvtNode* root,
-						  DBVT_IPOLICY);
-	// Helpers
-	static DBVT_INLINE int nearest(const int* i, const btDbvt::sStkNPS* a, btScalar v, int l, int h)
-	{
-		int m = 0;
-		while (l < h)
-		{
-			m = (l + h) >> 1;
-			if (a[i[m]].value >= v)
-				l = m + 1;
-			else
-				h = m;
-		}
-		return (h);
-	}
-	static DBVT_INLINE int allocate(btAlignedObjectArray<int>& ifree,
-									btAlignedObjectArray<sStkNPS>& stock,
-									const sStkNPS& value)
-	{
-		int i;
-		if (ifree.size() > 0)
-		{
-			i = ifree[ifree.size() - 1];
-			ifree.pop_back();
-			stock[i] = value;
-		}
-		else
-		{
-			i = stock.size();
-			stock.push_back(value);
-		}
-		return (i);
-	}
-	//
-private:
-	btDbvt(const btDbvt&) {}
-};
-
-//
-// Inline's
-//
-
-//
-inline btDbvtAabbMm btDbvtAabbMm::FromCE(const btVector3& c, const btVector3& e)
-{
-	btDbvtAabbMm box;
-	box.mi = c - e;
-	box.mx = c + e;
-	return (box);
-}
-
-//
-inline btDbvtAabbMm btDbvtAabbMm::FromCR(const btVector3& c, btScalar r)
-{
-	return (FromCE(c, btVector3(r, r, r)));
-}
-
-//
-inline btDbvtAabbMm btDbvtAabbMm::FromMM(const btVector3& mi, const btVector3& mx)
-{
-	btDbvtAabbMm box;
-	box.mi = mi;
-	box.mx = mx;
-	return (box);
-}
-
-//
-inline btDbvtAabbMm btDbvtAabbMm::FromPoints(const btVector3* pts, int n)
-{
-	btDbvtAabbMm box;
-	box.mi = box.mx = pts[0];
-	for (int i = 1; i < n; ++i)
-	{
-		box.mi.setMin(pts[i]);
-		box.mx.setMax(pts[i]);
-	}
-	return (box);
-}
-
-//
-inline btDbvtAabbMm btDbvtAabbMm::FromPoints(const btVector3** ppts, int n)
-{
-	btDbvtAabbMm box;
-	box.mi = box.mx = *ppts[0];
-	for (int i = 1; i < n; ++i)
-	{
-		box.mi.setMin(*ppts[i]);
-		box.mx.setMax(*ppts[i]);
-	}
-	return (box);
-}
-
-//
-DBVT_INLINE void btDbvtAabbMm::Expand(const btVector3& e)
-{
-	mi -= e;
-	mx += e;
-}
-
-//
-DBVT_INLINE void btDbvtAabbMm::SignedExpand(const btVector3& e)
-{
-	if (e.x() > 0)
-		mx.setX(mx.x() + e[0]);
-	else
-		mi.setX(mi.x() + e[0]);
-	if (e.y() > 0)
-		mx.setY(mx.y() + e[1]);
-	else
-		mi.setY(mi.y() + e[1]);
-	if (e.z() > 0)
-		mx.setZ(mx.z() + e[2]);
-	else
-		mi.setZ(mi.z() + e[2]);
-}
-
-//
-DBVT_INLINE bool btDbvtAabbMm::Contain(const btDbvtAabbMm& a) const
-{
-	return ((mi.x() <= a.mi.x()) &&
-			(mi.y() <= a.mi.y()) &&
-			(mi.z() <= a.mi.z()) &&
-			(mx.x() >= a.mx.x()) &&
-			(mx.y() >= a.mx.y()) &&
-			(mx.z() >= a.mx.z()));
-}
-
-//
-DBVT_INLINE int btDbvtAabbMm::Classify(const btVector3& n, btScalar o, int s) const
-{
-	btVector3 pi, px;
-	switch (s)
-	{
-		case (0 + 0 + 0):
-			px = btVector3(mi.x(), mi.y(), mi.z());
-			pi = btVector3(mx.x(), mx.y(), mx.z());
-			break;
-		case (1 + 0 + 0):
-			px = btVector3(mx.x(), mi.y(), mi.z());
-			pi = btVector3(mi.x(), mx.y(), mx.z());
-			break;
-		case (0 + 2 + 0):
-			px = btVector3(mi.x(), mx.y(), mi.z());
-			pi = btVector3(mx.x(), mi.y(), mx.z());
-			break;
-		case (1 + 2 + 0):
-			px = btVector3(mx.x(), mx.y(), mi.z());
-			pi = btVector3(mi.x(), mi.y(), mx.z());
-			break;
-		case (0 + 0 + 4):
-			px = btVector3(mi.x(), mi.y(), mx.z());
-			pi = btVector3(mx.x(), mx.y(), mi.z());
-			break;
-		case (1 + 0 + 4):
-			px = btVector3(mx.x(), mi.y(), mx.z());
-			pi = btVector3(mi.x(), mx.y(), mi.z());
-			break;
-		case (0 + 2 + 4):
-			px = btVector3(mi.x(), mx.y(), mx.z());
-			pi = btVector3(mx.x(), mi.y(), mi.z());
-			break;
-		case (1 + 2 + 4):
-			px = btVector3(mx.x(), mx.y(), mx.z());
-			pi = btVector3(mi.x(), mi.y(), mi.z());
-			break;
-	}
-	if ((btDot(n, px) + o) < 0) return (-1);
-	if ((btDot(n, pi) + o) >= 0) return (+1);
-	return (0);
-}
-
-//
-DBVT_INLINE btScalar btDbvtAabbMm::ProjectMinimum(const btVector3& v, unsigned signs) const
-{
-	const btVector3* b[] = {&mx, &mi};
-	const btVector3 p(b[(signs >> 0) & 1]->x(),
-					  b[(signs >> 1) & 1]->y(),
-					  b[(signs >> 2) & 1]->z());
-	return (btDot(p, v));
-}
-
-//
-DBVT_INLINE void btDbvtAabbMm::AddSpan(const btVector3& d, btScalar& smi, btScalar& smx) const
-{
-	for (int i = 0; i < 3; ++i)
-	{
-		if (d[i] < 0)
-		{
-			smi += mx[i] * d[i];
-			smx += mi[i] * d[i];
-		}
-		else
-		{
-			smi += mi[i] * d[i];
-			smx += mx[i] * d[i];
-		}
-	}
-}
-
-//
-DBVT_INLINE bool Intersect(const btDbvtAabbMm& a,
-						   const btDbvtAabbMm& b)
-{
-#if DBVT_INT0_IMPL == DBVT_IMPL_SSE
-	const __m128 rt(_mm_or_ps(_mm_cmplt_ps(_mm_load_ps(b.mx), _mm_load_ps(a.mi)),
-							  _mm_cmplt_ps(_mm_load_ps(a.mx), _mm_load_ps(b.mi))));
-#if defined(_WIN32)
-	const __int32* pu((const __int32*)&rt);
-#else
-	const int* pu((const int*)&rt);
-#endif
-	return ((pu[0] | pu[1] | pu[2]) == 0);
-#else
-	return ((a.mi.x() <= b.mx.x()) &&
-			(a.mx.x() >= b.mi.x()) &&
-			(a.mi.y() <= b.mx.y()) &&
-			(a.mx.y() >= b.mi.y()) &&
-			(a.mi.z() <= b.mx.z()) &&
-			(a.mx.z() >= b.mi.z()));
-#endif
-}
-
-//
-DBVT_INLINE bool Intersect(const btDbvtAabbMm& a,
-						   const btVector3& b)
-{
-	return ((b.x() >= a.mi.x()) &&
-			(b.y() >= a.mi.y()) &&
-			(b.z() >= a.mi.z()) &&
-			(b.x() <= a.mx.x()) &&
-			(b.y() <= a.mx.y()) &&
-			(b.z() <= a.mx.z()));
-}
-
-//////////////////////////////////////
-
-//
-DBVT_INLINE btScalar Proximity(const btDbvtAabbMm& a,
-							   const btDbvtAabbMm& b)
-{
-	const btVector3 d = (a.mi + a.mx) - (b.mi + b.mx);
-	return (btFabs(d.x()) + btFabs(d.y()) + btFabs(d.z()));
-}
-
-//
-DBVT_INLINE int Select(const btDbvtAabbMm& o,
-					   const btDbvtAabbMm& a,
-					   const btDbvtAabbMm& b)
-{
-#if DBVT_SELECT_IMPL == DBVT_IMPL_SSE
-
-#if defined(_WIN32)
-	static ATTRIBUTE_ALIGNED16(const unsigned __int32) mask[] = {0x7fffffff, 0x7fffffff, 0x7fffffff, 0x7fffffff};
-#else
-	static ATTRIBUTE_ALIGNED16(const unsigned int) mask[] = {0x7fffffff, 0x7fffffff, 0x7fffffff, 0x00000000 /*0x7fffffff*/};
-#endif
-	///@todo: the intrinsic version is 11% slower
-#if DBVT_USE_INTRINSIC_SSE
-
-	union btSSEUnion  ///NOTE: if we use more intrinsics, move btSSEUnion into the LinearMath directory
-	{
-		__m128 ssereg;
-		float floats[4];
-		int ints[4];
-	};
-
-	__m128 omi(_mm_load_ps(o.mi));
-	omi = _mm_add_ps(omi, _mm_load_ps(o.mx));
-	__m128 ami(_mm_load_ps(a.mi));
-	ami = _mm_add_ps(ami, _mm_load_ps(a.mx));
-	ami = _mm_sub_ps(ami, omi);
-	ami = _mm_and_ps(ami, _mm_load_ps((const float*)mask));
-	__m128 bmi(_mm_load_ps(b.mi));
-	bmi = _mm_add_ps(bmi, _mm_load_ps(b.mx));
-	bmi = _mm_sub_ps(bmi, omi);
-	bmi = _mm_and_ps(bmi, _mm_load_ps((const float*)mask));
-	__m128 t0(_mm_movehl_ps(ami, ami));
-	ami = _mm_add_ps(ami, t0);
-	ami = _mm_add_ss(ami, _mm_shuffle_ps(ami, ami, 1));
-	__m128 t1(_mm_movehl_ps(bmi, bmi));
-	bmi = _mm_add_ps(bmi, t1);
-	bmi = _mm_add_ss(bmi, _mm_shuffle_ps(bmi, bmi, 1));
-
-	btSSEUnion tmp;
-	tmp.ssereg = _mm_cmple_ss(bmi, ami);
-	return tmp.ints[0] & 1;
-
-#else
-	ATTRIBUTE_ALIGNED16(__int32 r[1]);
-	__asm
-	{
-		mov		eax,o
-			mov		ecx,a
-			mov		edx,b
-			movaps	xmm0,[eax]
-		movaps	xmm5,mask
-			addps	xmm0,[eax+16]	
-		movaps	xmm1,[ecx]
-		movaps	xmm2,[edx]
-		addps	xmm1,[ecx+16]
-		addps	xmm2,[edx+16]
-		subps	xmm1,xmm0
-			subps	xmm2,xmm0
-			andps	xmm1,xmm5
-			andps	xmm2,xmm5
-			movhlps	xmm3,xmm1
-			movhlps	xmm4,xmm2
-			addps	xmm1,xmm3
-			addps	xmm2,xmm4
-			pshufd	xmm3,xmm1,1
-			pshufd	xmm4,xmm2,1
-			addss	xmm1,xmm3
-			addss	xmm2,xmm4
-			cmpless	xmm2,xmm1
-			movss	r,xmm2
-	}
-	return (r[0] & 1);
-#endif
-#else
-	return (Proximity(o, a) < Proximity(o, b) ? 0 : 1);
-#endif
-}
-
-//
-DBVT_INLINE void Merge(const btDbvtAabbMm& a,
-					   const btDbvtAabbMm& b,
-					   btDbvtAabbMm& r)
-{
-#if DBVT_MERGE_IMPL == DBVT_IMPL_SSE
-	__m128 ami(_mm_load_ps(a.mi));
-	__m128 amx(_mm_load_ps(a.mx));
-	__m128 bmi(_mm_load_ps(b.mi));
-	__m128 bmx(_mm_load_ps(b.mx));
-	ami = _mm_min_ps(ami, bmi);
-	amx = _mm_max_ps(amx, bmx);
-	_mm_store_ps(r.mi, ami);
-	_mm_store_ps(r.mx, amx);
-#else
-	for (int i = 0; i < 3; ++i)
-	{
-		if (a.mi[i] < b.mi[i])
-			r.mi[i] = a.mi[i];
-		else
-			r.mi[i] = b.mi[i];
-		if (a.mx[i] > b.mx[i])
-			r.mx[i] = a.mx[i];
-		else
-			r.mx[i] = b.mx[i];
-	}
-#endif
-}
-
-//
-DBVT_INLINE bool NotEqual(const btDbvtAabbMm& a,
-						  const btDbvtAabbMm& b)
-{
-	return ((a.mi.x() != b.mi.x()) ||
-			(a.mi.y() != b.mi.y()) ||
-			(a.mi.z() != b.mi.z()) ||
-			(a.mx.x() != b.mx.x()) ||
-			(a.mx.y() != b.mx.y()) ||
-			(a.mx.z() != b.mx.z()));
-}
-
-//
-// Inline's
-//
-
-//
-DBVT_PREFIX
-inline void btDbvt::enumNodes(const btDbvtNode* root,
-							  DBVT_IPOLICY)
-{
-	DBVT_CHECKTYPE
-	policy.Process(root);
-	if (root->isinternal())
-	{
-		enumNodes(root->childs[0], policy);
-		enumNodes(root->childs[1], policy);
-	}
-}
-
-//
-DBVT_PREFIX
-inline void btDbvt::enumLeaves(const btDbvtNode* root,
-							   DBVT_IPOLICY)
-{
-	DBVT_CHECKTYPE
-	if (root->isinternal())
-	{
-		enumLeaves(root->childs[0], policy);
-		enumLeaves(root->childs[1], policy);
-	}
-	else
-	{
-		policy.Process(root);
-	}
-}
-
-//
-DBVT_PREFIX
-inline void btDbvt::collideTT(const btDbvtNode* root0,
-							  const btDbvtNode* root1,
-							  DBVT_IPOLICY)
-{
-	DBVT_CHECKTYPE
-	if (root0 && root1)
-	{
-		int depth = 1;
-		int treshold = DOUBLE_STACKSIZE - 4;
-		btAlignedObjectArray<sStkNN> stkStack;
-		stkStack.resize(DOUBLE_STACKSIZE);
-		stkStack[0] = sStkNN(root0, root1);
-		do
-		{
-			sStkNN p = stkStack[--depth];
-			if (depth > treshold)
-			{
-				stkStack.resize(stkStack.size() * 2);
-				treshold = stkStack.size() - 4;
-			}
-			if (p.a == p.b)
-			{
-				if (p.a->isinternal())
-				{
-					stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[0]);
-					stkStack[depth++] = sStkNN(p.a->childs[1], p.a->childs[1]);
-					stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[1]);
-				}
-			}
-			else if (Intersect(p.a->volume, p.b->volume))
-			{
-				if (p.a->isinternal())
-				{
-					if (p.b->isinternal())
-					{
-						stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[0]);
-						stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[0]);
-						stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[1]);
-						stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[1]);
-					}
-					else
-					{
-						stkStack[depth++] = sStkNN(p.a->childs[0], p.b);
-						stkStack[depth++] = sStkNN(p.a->childs[1], p.b);
-					}
-				}
-				else
-				{
-					if (p.b->isinternal())
-					{
-						stkStack[depth++] = sStkNN(p.a, p.b->childs[0]);
-						stkStack[depth++] = sStkNN(p.a, p.b->childs[1]);
-					}
-					else
-					{
-						policy.Process(p.a, p.b);
-					}
-				}
-			}
-		} while (depth);
-	}
-}
-
-//
-DBVT_PREFIX
-inline void btDbvt::selfCollideT(const btDbvntNode* root,
-                              DBVT_IPOLICY)
-{
-    DBVT_CHECKTYPE
-    if (root)
-    {
-        int depth = 1;
-        int treshold = DOUBLE_STACKSIZE - 4;
-        btAlignedObjectArray<sStknNN> stkStack;
-        stkStack.resize(DOUBLE_STACKSIZE);
-        stkStack[0] = sStknNN(root, root);
-        do
-        {
-            sStknNN p = stkStack[--depth];
-            if (depth > treshold)
-            {
-                stkStack.resize(stkStack.size() * 2);
-                treshold = stkStack.size() - 4;
-            }
-            if (p.a == p.b)
-            {
-                if (p.a->isinternal() && p.a->angle > SIMD_PI)
-                {
-                    stkStack[depth++] = sStknNN(p.a->childs[0], p.a->childs[0]);
-                    stkStack[depth++] = sStknNN(p.a->childs[1], p.a->childs[1]);
-                    stkStack[depth++] = sStknNN(p.a->childs[0], p.a->childs[1]);
-                }
-            }
-            else if (Intersect(p.a->volume, p.b->volume))
-            {
-                if (p.a->isinternal())
-                {
-                    if (p.b->isinternal())
-                    {
-                        stkStack[depth++] = sStknNN(p.a->childs[0], p.b->childs[0]);
-                        stkStack[depth++] = sStknNN(p.a->childs[1], p.b->childs[0]);
-                        stkStack[depth++] = sStknNN(p.a->childs[0], p.b->childs[1]);
-                        stkStack[depth++] = sStknNN(p.a->childs[1], p.b->childs[1]);
-                    }
-                    else
-                    {
-                        stkStack[depth++] = sStknNN(p.a->childs[0], p.b);
-                        stkStack[depth++] = sStknNN(p.a->childs[1], p.b);
-                    }
-                }
-                else
-                {
-                    if (p.b->isinternal())
-                    {
-                        stkStack[depth++] = sStknNN(p.a, p.b->childs[0]);
-                        stkStack[depth++] = sStknNN(p.a, p.b->childs[1]);
-                    }
-                    else
-                    {
-                        policy.Process(p.a, p.b);
-                    }
-                }
-            }
-        } while (depth);
-    }
-}
-
-//
-DBVT_PREFIX
-inline void btDbvt::selfCollideTT(const btDbvtNode* root,
-                                 DBVT_IPOLICY)
-{
-    DBVT_CHECKTYPE
-    if (root)
-    {
-        int depth = 1;
-        int treshold = DOUBLE_STACKSIZE - 4;
-        btAlignedObjectArray<sStkNN> stkStack;
-        stkStack.resize(DOUBLE_STACKSIZE);
-        stkStack[0] = sStkNN(root, root);
-        do
-        {
-            sStkNN p = stkStack[--depth];
-            if (depth > treshold)
-            {
-                stkStack.resize(stkStack.size() * 2);
-                treshold = stkStack.size() - 4;
-            }
-            if (p.a == p.b)
-            {
-                if (p.a->isinternal())
-                {
-                    stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[0]);
-                    stkStack[depth++] = sStkNN(p.a->childs[1], p.a->childs[1]);
-                    stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[1]);
-                }
-            }
-            else if (Intersect(p.a->volume, p.b->volume))
-            {
-                if (p.a->isinternal())
-                {
-                    if (p.b->isinternal())
-                    {
-                        stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[0]);
-                        stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[0]);
-                        stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[1]);
-                        stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[1]);
-                    }
-                    else
-                    {
-                        stkStack[depth++] = sStkNN(p.a->childs[0], p.b);
-                        stkStack[depth++] = sStkNN(p.a->childs[1], p.b);
-                    }
-                }
-                else
-                {
-                    if (p.b->isinternal())
-                    {
-                        stkStack[depth++] = sStkNN(p.a, p.b->childs[0]);
-                        stkStack[depth++] = sStkNN(p.a, p.b->childs[1]);
-                    }
-                    else
-                    {
-                        policy.Process(p.a, p.b);
-                    }
-                }
-            }
-        } while (depth);
-    }
-}
-
-
-DBVT_PREFIX
-inline void btDbvt::collideTTpersistentStack(const btDbvtNode* root0,
-											 const btDbvtNode* root1,
-											 DBVT_IPOLICY)
-{
-	DBVT_CHECKTYPE
-	if (root0 && root1)
-	{
-		int depth = 1;
-		int treshold = DOUBLE_STACKSIZE - 4;
-
-		m_stkStack.resize(DOUBLE_STACKSIZE);
-		m_stkStack[0] = sStkNN(root0, root1);
-		do
-		{
-			sStkNN p = m_stkStack[--depth];
-			if (depth > treshold)
-			{
-				m_stkStack.resize(m_stkStack.size() * 2);
-				treshold = m_stkStack.size() - 4;
-			}
-			if (p.a == p.b)
-			{
-				if (p.a->isinternal())
-				{
-					m_stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[0]);
-					m_stkStack[depth++] = sStkNN(p.a->childs[1], p.a->childs[1]);
-					m_stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[1]);
-				}
-			}
-			else if (Intersect(p.a->volume, p.b->volume))
-			{
-				if (p.a->isinternal())
-				{
-					if (p.b->isinternal())
-					{
-						m_stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[0]);
-						m_stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[0]);
-						m_stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[1]);
-						m_stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[1]);
-					}
-					else
-					{
-						m_stkStack[depth++] = sStkNN(p.a->childs[0], p.b);
-						m_stkStack[depth++] = sStkNN(p.a->childs[1], p.b);
-					}
-				}
-				else
-				{
-					if (p.b->isinternal())
-					{
-						m_stkStack[depth++] = sStkNN(p.a, p.b->childs[0]);
-						m_stkStack[depth++] = sStkNN(p.a, p.b->childs[1]);
-					}
-					else
-					{
-						policy.Process(p.a, p.b);
-					}
-				}
-			}
-		} while (depth);
-	}
-}
-
-#if 0
-//
-DBVT_PREFIX
-inline void		btDbvt::collideTT(	const btDbvtNode* root0,
-								  const btDbvtNode* root1,
-								  const btTransform& xform,
-								  DBVT_IPOLICY)
-{
-	DBVT_CHECKTYPE
-		if(root0&&root1)
-		{
-			int								depth=1;
-			int								treshold=DOUBLE_STACKSIZE-4;
-			btAlignedObjectArray<sStkNN>	stkStack;
-			stkStack.resize(DOUBLE_STACKSIZE);
-			stkStack[0]=sStkNN(root0,root1);
-			do	{
-				sStkNN	p=stkStack[--depth];
-				if(Intersect(p.a->volume,p.b->volume,xform))
-				{
-					if(depth>treshold)
-					{
-						stkStack.resize(stkStack.size()*2);
-						treshold=stkStack.size()-4;
-					}
-					if(p.a->isinternal())
-					{
-						if(p.b->isinternal())
-						{					
-							stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
-							stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
-							stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
-							stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
-						}
-						else
-						{
-							stkStack[depth++]=sStkNN(p.a->childs[0],p.b);
-							stkStack[depth++]=sStkNN(p.a->childs[1],p.b);
-						}
-					}
-					else
-					{
-						if(p.b->isinternal())
-						{
-							stkStack[depth++]=sStkNN(p.a,p.b->childs[0]);
-							stkStack[depth++]=sStkNN(p.a,p.b->childs[1]);
-						}
-						else
-						{
-							policy.Process(p.a,p.b);
-						}
-					}
-				}
-			} while(depth);
-		}
-}
-//
-DBVT_PREFIX
-inline void		btDbvt::collideTT(	const btDbvtNode* root0,
-								  const btTransform& xform0,
-								  const btDbvtNode* root1,
-								  const btTransform& xform1,
-								  DBVT_IPOLICY)
-{
-	const btTransform	xform=xform0.inverse()*xform1;
-	collideTT(root0,root1,xform,policy);
-}
-#endif
-
-DBVT_PREFIX
-inline void btDbvt::collideTV(const btDbvtNode* root,
-							  const btDbvtVolume& vol,
-							  DBVT_IPOLICY) const
-{
-	DBVT_CHECKTYPE
-	if (root)
-	{
-		ATTRIBUTE_ALIGNED16(btDbvtVolume)
-		volume(vol);
-		btAlignedObjectArray<const btDbvtNode*> stack;
-		stack.resize(0);
-#ifndef BT_DISABLE_STACK_TEMP_MEMORY
-		char tempmemory[SIMPLE_STACKSIZE * sizeof(const btDbvtNode*)];
-		stack.initializeFromBuffer(tempmemory, 0, SIMPLE_STACKSIZE);
-#else
-		stack.reserve(SIMPLE_STACKSIZE);
-#endif  //BT_DISABLE_STACK_TEMP_MEMORY
-
-		stack.push_back(root);
-		do
-		{
-			const btDbvtNode* n = stack[stack.size() - 1];
-			stack.pop_back();
-			if (Intersect(n->volume, volume))
-			{
-				if (n->isinternal())
-				{
-					stack.push_back(n->childs[0]);
-					stack.push_back(n->childs[1]);
-				}
-				else
-				{
-					policy.Process(n);
-				}
-			}
-		} while (stack.size() > 0);
-	}
-}
-
-//
-DBVT_PREFIX
-inline void btDbvt::collideTVNoStackAlloc(const btDbvtNode* root,
-										  const btDbvtVolume& vol,
-										  btNodeStack& stack,
-										  DBVT_IPOLICY) const
-{
-	DBVT_CHECKTYPE
-	if (root)
-	{
-		ATTRIBUTE_ALIGNED16(btDbvtVolume)
-		volume(vol);
-		stack.resize(0);
-		stack.reserve(SIMPLE_STACKSIZE);
-		stack.push_back(root);
-		do
-		{
-			const btDbvtNode* n = stack[stack.size() - 1];
-			stack.pop_back();
-			if (Intersect(n->volume, volume))
-			{
-				if (n->isinternal())
-				{
-					stack.push_back(n->childs[0]);
-					stack.push_back(n->childs[1]);
-				}
-				else
-				{
-					policy.Process(n);
-				}
-			}
-		} while (stack.size() > 0);
-	}
-}
-
-DBVT_PREFIX
-inline void btDbvt::rayTestInternal(const btDbvtNode* root,
-									const btVector3& rayFrom,
-									const btVector3& rayTo,
-									const btVector3& rayDirectionInverse,
-									unsigned int signs[3],
-									btScalar lambda_max,
-									const btVector3& aabbMin,
-									const btVector3& aabbMax,
-									btAlignedObjectArray<const btDbvtNode*>& stack,
-									DBVT_IPOLICY) const
-{
-	(void)rayTo;
-	DBVT_CHECKTYPE
-	if (root)
-	{
-		btVector3 resultNormal;
-
-		int depth = 1;
-		int treshold = DOUBLE_STACKSIZE - 2;
-		stack.resize(DOUBLE_STACKSIZE);
-		stack[0] = root;
-		btVector3 bounds[2];
-		do
-		{
-			const btDbvtNode* node = stack[--depth];
-			bounds[0] = node->volume.Mins() - aabbMax;
-			bounds[1] = node->volume.Maxs() - aabbMin;
-			btScalar tmin = 1.f, lambda_min = 0.f;
-			unsigned int result1 = false;
-			result1 = btRayAabb2(rayFrom, rayDirectionInverse, signs, bounds, tmin, lambda_min, lambda_max);
-			if (result1)
-			{
-				if (node->isinternal())
-				{
-					if (depth > treshold)
-					{
-						stack.resize(stack.size() * 2);
-						treshold = stack.size() - 2;
-					}
-					stack[depth++] = node->childs[0];
-					stack[depth++] = node->childs[1];
-				}
-				else
-				{
-					policy.Process(node);
-				}
-			}
-		} while (depth);
-	}
-}
-
-//
-DBVT_PREFIX
-inline void btDbvt::rayTest(const btDbvtNode* root,
-							const btVector3& rayFrom,
-							const btVector3& rayTo,
-							DBVT_IPOLICY)
-{
-	DBVT_CHECKTYPE
-	if (root)
-	{
-		btVector3 rayDir = (rayTo - rayFrom);
-		rayDir.normalize();
-
-		///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
-		btVector3 rayDirectionInverse;
-		rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
-		rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
-		rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
-		unsigned int signs[3] = {rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
-
-		btScalar lambda_max = rayDir.dot(rayTo - rayFrom);
-
-		btVector3 resultNormal;
-
-		btAlignedObjectArray<const btDbvtNode*> stack;
-
-		int depth = 1;
-		int treshold = DOUBLE_STACKSIZE - 2;
-
-		char tempmemory[DOUBLE_STACKSIZE * sizeof(const btDbvtNode*)];
-#ifndef BT_DISABLE_STACK_TEMP_MEMORY
-		stack.initializeFromBuffer(tempmemory, DOUBLE_STACKSIZE, DOUBLE_STACKSIZE);
-#else   //BT_DISABLE_STACK_TEMP_MEMORY
-		stack.resize(DOUBLE_STACKSIZE);
-#endif  //BT_DISABLE_STACK_TEMP_MEMORY
-		stack[0] = root;
-		btVector3 bounds[2];
-		do
-		{
-			const btDbvtNode* node = stack[--depth];
-
-			bounds[0] = node->volume.Mins();
-			bounds[1] = node->volume.Maxs();
-
-			btScalar tmin = 1.f, lambda_min = 0.f;
-			unsigned int result1 = btRayAabb2(rayFrom, rayDirectionInverse, signs, bounds, tmin, lambda_min, lambda_max);
-
-#ifdef COMPARE_BTRAY_AABB2
-			btScalar param = 1.f;
-			bool result2 = btRayAabb(rayFrom, rayTo, node->volume.Mins(), node->volume.Maxs(), param, resultNormal);
-			btAssert(result1 == result2);
-#endif  //TEST_BTRAY_AABB2
-
-			if (result1)
-			{
-				if (node->isinternal())
-				{
-					if (depth > treshold)
-					{
-						stack.resize(stack.size() * 2);
-						treshold = stack.size() - 2;
-					}
-					stack[depth++] = node->childs[0];
-					stack[depth++] = node->childs[1];
-				}
-				else
-				{
-					policy.Process(node);
-				}
-			}
-		} while (depth);
-	}
-}
-
-//
-DBVT_PREFIX
-inline void btDbvt::collideKDOP(const btDbvtNode* root,
-								const btVector3* normals,
-								const btScalar* offsets,
-								int count,
-								DBVT_IPOLICY)
-{
-	DBVT_CHECKTYPE
-	if (root)
-	{
-		const int inside = (1 << count) - 1;
-		btAlignedObjectArray<sStkNP> stack;
-		int signs[sizeof(unsigned) * 8];
-		btAssert(count < int(sizeof(signs) / sizeof(signs[0])));
-		for (int i = 0; i < count; ++i)
-		{
-			signs[i] = ((normals[i].x() >= 0) ? 1 : 0) +
-					   ((normals[i].y() >= 0) ? 2 : 0) +
-					   ((normals[i].z() >= 0) ? 4 : 0);
-		}
-		stack.reserve(SIMPLE_STACKSIZE);
-		stack.push_back(sStkNP(root, 0));
-		do
-		{
-			sStkNP se = stack[stack.size() - 1];
-			bool out = false;
-			stack.pop_back();
-			for (int i = 0, j = 1; (!out) && (i < count); ++i, j <<= 1)
-			{
-				if (0 == (se.mask & j))
-				{
-					const int side = se.node->volume.Classify(normals[i], offsets[i], signs[i]);
-					switch (side)
-					{
-						case -1:
-							out = true;
-							break;
-						case +1:
-							se.mask |= j;
-							break;
-					}
-				}
-			}
-			if (!out)
-			{
-				if ((se.mask != inside) && (se.node->isinternal()))
-				{
-					stack.push_back(sStkNP(se.node->childs[0], se.mask));
-					stack.push_back(sStkNP(se.node->childs[1], se.mask));
-				}
-				else
-				{
-					if (policy.AllLeaves(se.node)) enumLeaves(se.node, policy);
-				}
-			}
-		} while (stack.size());
-	}
-}
-
-//
-DBVT_PREFIX
-inline void btDbvt::collideOCL(const btDbvtNode* root,
-							   const btVector3* normals,
-							   const btScalar* offsets,
-							   const btVector3& sortaxis,
-							   int count,
-							   DBVT_IPOLICY,
-							   bool fsort)
-{
-	DBVT_CHECKTYPE
-	if (root)
-	{
-		const unsigned srtsgns = (sortaxis[0] >= 0 ? 1 : 0) +
-								 (sortaxis[1] >= 0 ? 2 : 0) +
-								 (sortaxis[2] >= 0 ? 4 : 0);
-		const int inside = (1 << count) - 1;
-		btAlignedObjectArray<sStkNPS> stock;
-		btAlignedObjectArray<int> ifree;
-		btAlignedObjectArray<int> stack;
-		int signs[sizeof(unsigned) * 8];
-		btAssert(count < int(sizeof(signs) / sizeof(signs[0])));
-		for (int i = 0; i < count; ++i)
-		{
-			signs[i] = ((normals[i].x() >= 0) ? 1 : 0) +
-					   ((normals[i].y() >= 0) ? 2 : 0) +
-					   ((normals[i].z() >= 0) ? 4 : 0);
-		}
-		stock.reserve(SIMPLE_STACKSIZE);
-		stack.reserve(SIMPLE_STACKSIZE);
-		ifree.reserve(SIMPLE_STACKSIZE);
-		stack.push_back(allocate(ifree, stock, sStkNPS(root, 0, root->volume.ProjectMinimum(sortaxis, srtsgns))));
-		do
-		{
-			const int id = stack[stack.size() - 1];
-			sStkNPS se = stock[id];
-			stack.pop_back();
-			ifree.push_back(id);
-			if (se.mask != inside)
-			{
-				bool out = false;
-				for (int i = 0, j = 1; (!out) && (i < count); ++i, j <<= 1)
-				{
-					if (0 == (se.mask & j))
-					{
-						const int side = se.node->volume.Classify(normals[i], offsets[i], signs[i]);
-						switch (side)
-						{
-							case -1:
-								out = true;
-								break;
-							case +1:
-								se.mask |= j;
-								break;
-						}
-					}
-				}
-				if (out) continue;
-			}
-			if (policy.Descent(se.node))
-			{
-				if (se.node->isinternal())
-				{
-					const btDbvtNode* pns[] = {se.node->childs[0], se.node->childs[1]};
-					sStkNPS nes[] = {sStkNPS(pns[0], se.mask, pns[0]->volume.ProjectMinimum(sortaxis, srtsgns)),
-									 sStkNPS(pns[1], se.mask, pns[1]->volume.ProjectMinimum(sortaxis, srtsgns))};
-					const int q = nes[0].value < nes[1].value ? 1 : 0;
-					int j = stack.size();
-					if (fsort && (j > 0))
-					{
-						/* Insert 0	*/
-						j = nearest(&stack[0], &stock[0], nes[q].value, 0, stack.size());
-						stack.push_back(0);
-
-						//void * memmove ( void * destination, const void * source, size_t num );
-
-#if DBVT_USE_MEMMOVE
-						{
-							int num_items_to_move = stack.size() - 1 - j;
-							if (num_items_to_move > 0)
-								memmove(&stack[j + 1], &stack[j], sizeof(int) * num_items_to_move);
-						}
-#else
-						for (int k = stack.size() - 1; k > j; --k)
-						{
-							stack[k] = stack[k - 1];
-						}
-#endif
-						stack[j] = allocate(ifree, stock, nes[q]);
-						/* Insert 1	*/
-						j = nearest(&stack[0], &stock[0], nes[1 - q].value, j, stack.size());
-						stack.push_back(0);
-#if DBVT_USE_MEMMOVE
-						{
-							int num_items_to_move = stack.size() - 1 - j;
-							if (num_items_to_move > 0)
-								memmove(&stack[j + 1], &stack[j], sizeof(int) * num_items_to_move);
-						}
-#else
-						for (int k = stack.size() - 1; k > j; --k)
-						{
-							stack[k] = stack[k - 1];
-						}
-#endif
-						stack[j] = allocate(ifree, stock, nes[1 - q]);
-					}
-					else
-					{
-						stack.push_back(allocate(ifree, stock, nes[q]));
-						stack.push_back(allocate(ifree, stock, nes[1 - q]));
-					}
-				}
-				else
-				{
-					policy.Process(se.node, se.value);
-				}
-			}
-		} while (stack.size());
-	}
-}
-
-//
-DBVT_PREFIX
-inline void btDbvt::collideTU(const btDbvtNode* root,
-							  DBVT_IPOLICY)
-{
-	DBVT_CHECKTYPE
-	if (root)
-	{
-		btAlignedObjectArray<const btDbvtNode*> stack;
-		stack.reserve(SIMPLE_STACKSIZE);
-		stack.push_back(root);
-		do
-		{
-			const btDbvtNode* n = stack[stack.size() - 1];
-			stack.pop_back();
-			if (policy.Descent(n))
-			{
-				if (n->isinternal())
-				{
-					stack.push_back(n->childs[0]);
-					stack.push_back(n->childs[1]);
-				}
-				else
-				{
-					policy.Process(n);
-				}
-			}
-		} while (stack.size() > 0);
-	}
-}
-
-//
-// PP Cleanup
-//
-
-#undef DBVT_USE_MEMMOVE
-#undef DBVT_USE_TEMPLATE
-#undef DBVT_VIRTUAL_DTOR
-#undef DBVT_VIRTUAL
-#undef DBVT_PREFIX
-#undef DBVT_IPOLICY
-#undef DBVT_CHECKTYPE
-#undef DBVT_IMPL_GENERIC
-#undef DBVT_IMPL_SSE
-#undef DBVT_USE_INTRINSIC_SSE
-#undef DBVT_SELECT_IMPL
-#undef DBVT_MERGE_IMPL
-#undef DBVT_INT0_IMPL
-
-#endif
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
deleted file mode 100644
index 7b39dbdc0f..0000000000
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
+++ /dev/null
@@ -1,828 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///btDbvtBroadphase implementation by Nathanael Presson
-
-#include "btDbvtBroadphase.h"
-#include "LinearMath/btThreads.h"
-btScalar gDbvtMargin = btScalar(0.05);
-//
-// Profiling
-//
-
-#if DBVT_BP_PROFILE || DBVT_BP_ENABLE_BENCHMARK
-#include <stdio.h>
-#endif
-
-#if DBVT_BP_PROFILE
-struct ProfileScope
-{
-	__forceinline ProfileScope(btClock& clock, unsigned long& value) : m_clock(&clock), m_value(&value), m_base(clock.getTimeMicroseconds())
-	{
-	}
-	__forceinline ~ProfileScope()
-	{
-		(*m_value) += m_clock->getTimeMicroseconds() - m_base;
-	}
-	btClock* m_clock;
-	unsigned long* m_value;
-	unsigned long m_base;
-};
-#define SPC(_value_) ProfileScope spc_scope(m_clock, _value_)
-#else
-#define SPC(_value_)
-#endif
-
-//
-// Helpers
-//
-
-//
-template <typename T>
-static inline void listappend(T* item, T*& list)
-{
-	item->links[0] = 0;
-	item->links[1] = list;
-	if (list) list->links[0] = item;
-	list = item;
-}
-
-//
-template <typename T>
-static inline void listremove(T* item, T*& list)
-{
-	if (item->links[0])
-		item->links[0]->links[1] = item->links[1];
-	else
-		list = item->links[1];
-	if (item->links[1]) item->links[1]->links[0] = item->links[0];
-}
-
-//
-template <typename T>
-static inline int listcount(T* root)
-{
-	int n = 0;
-	while (root)
-	{
-		++n;
-		root = root->links[1];
-	}
-	return (n);
-}
-
-//
-template <typename T>
-static inline void clear(T& value)
-{
-	static const struct ZeroDummy : T
-	{
-	} zerodummy;
-	value = zerodummy;
-}
-
-//
-// Colliders
-//
-
-/* Tree collider	*/
-struct btDbvtTreeCollider : btDbvt::ICollide
-{
-	btDbvtBroadphase* pbp;
-	btDbvtProxy* proxy;
-	btDbvtTreeCollider(btDbvtBroadphase* p) : pbp(p) {}
-	void Process(const btDbvtNode* na, const btDbvtNode* nb)
-	{
-		if (na != nb)
-		{
-			btDbvtProxy* pa = (btDbvtProxy*)na->data;
-			btDbvtProxy* pb = (btDbvtProxy*)nb->data;
-#if DBVT_BP_SORTPAIRS
-			if (pa->m_uniqueId > pb->m_uniqueId)
-				btSwap(pa, pb);
-#endif
-			pbp->m_paircache->addOverlappingPair(pa, pb);
-			++pbp->m_newpairs;
-		}
-	}
-	void Process(const btDbvtNode* n)
-	{
-		Process(n, proxy->leaf);
-	}
-};
-
-//
-// btDbvtBroadphase
-//
-
-//
-btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache)
-{
-	m_deferedcollide = false;
-	m_needcleanup = true;
-	m_releasepaircache = (paircache != 0) ? false : true;
-	m_prediction = 0;
-	m_stageCurrent = 0;
-	m_fixedleft = 0;
-	m_fupdates = 1;
-	m_dupdates = 0;
-	m_cupdates = 10;
-	m_newpairs = 1;
-	m_updates_call = 0;
-	m_updates_done = 0;
-	m_updates_ratio = 0;
-	m_paircache = paircache ? paircache : new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache), 16)) btHashedOverlappingPairCache();
-	m_gid = 0;
-	m_pid = 0;
-	m_cid = 0;
-	for (int i = 0; i <= STAGECOUNT; ++i)
-	{
-		m_stageRoots[i] = 0;
-	}
-#if BT_THREADSAFE
-	m_rayTestStacks.resize(BT_MAX_THREAD_COUNT);
-#else
-	m_rayTestStacks.resize(1);
-#endif
-#if DBVT_BP_PROFILE
-	clear(m_profiling);
-#endif
-}
-
-//
-btDbvtBroadphase::~btDbvtBroadphase()
-{
-	if (m_releasepaircache)
-	{
-		m_paircache->~btOverlappingPairCache();
-		btAlignedFree(m_paircache);
-	}
-}
-
-//
-btBroadphaseProxy* btDbvtBroadphase::createProxy(const btVector3& aabbMin,
-												 const btVector3& aabbMax,
-												 int /*shapeType*/,
-												 void* userPtr,
-												 int collisionFilterGroup,
-												 int collisionFilterMask,
-												 btDispatcher* /*dispatcher*/)
-{
-	btDbvtProxy* proxy = new (btAlignedAlloc(sizeof(btDbvtProxy), 16)) btDbvtProxy(aabbMin, aabbMax, userPtr,
-																				   collisionFilterGroup,
-																				   collisionFilterMask);
-
-	btDbvtAabbMm aabb = btDbvtVolume::FromMM(aabbMin, aabbMax);
-
-	//bproxy->aabb			=	btDbvtVolume::FromMM(aabbMin,aabbMax);
-	proxy->stage = m_stageCurrent;
-	proxy->m_uniqueId = ++m_gid;
-	proxy->leaf = m_sets[0].insert(aabb, proxy);
-	listappend(proxy, m_stageRoots[m_stageCurrent]);
-	if (!m_deferedcollide)
-	{
-		btDbvtTreeCollider collider(this);
-		collider.proxy = proxy;
-		m_sets[0].collideTV(m_sets[0].m_root, aabb, collider);
-		m_sets[1].collideTV(m_sets[1].m_root, aabb, collider);
-	}
-	return (proxy);
-}
-
-//
-void btDbvtBroadphase::destroyProxy(btBroadphaseProxy* absproxy,
-									btDispatcher* dispatcher)
-{
-	btDbvtProxy* proxy = (btDbvtProxy*)absproxy;
-	if (proxy->stage == STAGECOUNT)
-		m_sets[1].remove(proxy->leaf);
-	else
-		m_sets[0].remove(proxy->leaf);
-	listremove(proxy, m_stageRoots[proxy->stage]);
-	m_paircache->removeOverlappingPairsContainingProxy(proxy, dispatcher);
-	btAlignedFree(proxy);
-	m_needcleanup = true;
-}
-
-void btDbvtBroadphase::getAabb(btBroadphaseProxy* absproxy, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	btDbvtProxy* proxy = (btDbvtProxy*)absproxy;
-	aabbMin = proxy->m_aabbMin;
-	aabbMax = proxy->m_aabbMax;
-}
-
-struct BroadphaseRayTester : btDbvt::ICollide
-{
-	btBroadphaseRayCallback& m_rayCallback;
-	BroadphaseRayTester(btBroadphaseRayCallback& orgCallback)
-		: m_rayCallback(orgCallback)
-	{
-	}
-	void Process(const btDbvtNode* leaf)
-	{
-		btDbvtProxy* proxy = (btDbvtProxy*)leaf->data;
-		m_rayCallback.process(proxy);
-	}
-};
-
-void btDbvtBroadphase::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin, const btVector3& aabbMax)
-{
-	BroadphaseRayTester callback(rayCallback);
-	btAlignedObjectArray<const btDbvtNode*>* stack = &m_rayTestStacks[0];
-#if BT_THREADSAFE
-	// for this function to be threadsafe, each thread must have a separate copy
-	// of this stack.  This could be thread-local static to avoid dynamic allocations,
-	// instead of just a local.
-	int threadIndex = btGetCurrentThreadIndex();
-	btAlignedObjectArray<const btDbvtNode*> localStack;
-	//todo(erwincoumans, "why do we get tsan issue here?")
-	if (0)//threadIndex < m_rayTestStacks.size())
-	//if (threadIndex < m_rayTestStacks.size())
-	{
-		// use per-thread preallocated stack if possible to avoid dynamic allocations
-		stack = &m_rayTestStacks[threadIndex];
-	}
-	else
-	{
-		stack = &localStack;
-	}
-#endif
-
-	m_sets[0].rayTestInternal(m_sets[0].m_root,
-							  rayFrom,
-							  rayTo,
-							  rayCallback.m_rayDirectionInverse,
-							  rayCallback.m_signs,
-							  rayCallback.m_lambda_max,
-							  aabbMin,
-							  aabbMax,
-							  *stack,
-							  callback);
-
-	m_sets[1].rayTestInternal(m_sets[1].m_root,
-							  rayFrom,
-							  rayTo,
-							  rayCallback.m_rayDirectionInverse,
-							  rayCallback.m_signs,
-							  rayCallback.m_lambda_max,
-							  aabbMin,
-							  aabbMax,
-							  *stack,
-							  callback);
-}
-
-struct BroadphaseAabbTester : btDbvt::ICollide
-{
-	btBroadphaseAabbCallback& m_aabbCallback;
-	BroadphaseAabbTester(btBroadphaseAabbCallback& orgCallback)
-		: m_aabbCallback(orgCallback)
-	{
-	}
-	void Process(const btDbvtNode* leaf)
-	{
-		btDbvtProxy* proxy = (btDbvtProxy*)leaf->data;
-		m_aabbCallback.process(proxy);
-	}
-};
-
-void btDbvtBroadphase::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& aabbCallback)
-{
-	BroadphaseAabbTester callback(aabbCallback);
-
-	const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds = btDbvtVolume::FromMM(aabbMin, aabbMax);
-	//process all children, that overlap with  the given AABB bounds
-	m_sets[0].collideTV(m_sets[0].m_root, bounds, callback);
-	m_sets[1].collideTV(m_sets[1].m_root, bounds, callback);
-}
-
-//
-void btDbvtBroadphase::setAabb(btBroadphaseProxy* absproxy,
-							   const btVector3& aabbMin,
-							   const btVector3& aabbMax,
-							   btDispatcher* /*dispatcher*/)
-{
-	btDbvtProxy* proxy = (btDbvtProxy*)absproxy;
-	ATTRIBUTE_ALIGNED16(btDbvtVolume)
-	aabb = btDbvtVolume::FromMM(aabbMin, aabbMax);
-#if DBVT_BP_PREVENTFALSEUPDATE
-	if (NotEqual(aabb, proxy->leaf->volume))
-#endif
-	{
-		bool docollide = false;
-		if (proxy->stage == STAGECOUNT)
-		{ /* fixed -> dynamic set	*/
-			m_sets[1].remove(proxy->leaf);
-			proxy->leaf = m_sets[0].insert(aabb, proxy);
-			docollide = true;
-		}
-		else
-		{ /* dynamic set				*/
-			++m_updates_call;
-			if (Intersect(proxy->leaf->volume, aabb))
-			{ /* Moving				*/
-
-				const btVector3 delta = aabbMin - proxy->m_aabbMin;
-				btVector3 velocity(((proxy->m_aabbMax - proxy->m_aabbMin) / 2) * m_prediction);
-				if (delta[0] < 0) velocity[0] = -velocity[0];
-				if (delta[1] < 0) velocity[1] = -velocity[1];
-				if (delta[2] < 0) velocity[2] = -velocity[2];
-				if (
-					m_sets[0].update(proxy->leaf, aabb, velocity, gDbvtMargin)
-
-				)
-				{
-					++m_updates_done;
-					docollide = true;
-				}
-			}
-			else
-			{ /* Teleporting			*/
-				m_sets[0].update(proxy->leaf, aabb);
-				++m_updates_done;
-				docollide = true;
-			}
-		}
-		listremove(proxy, m_stageRoots[proxy->stage]);
-		proxy->m_aabbMin = aabbMin;
-		proxy->m_aabbMax = aabbMax;
-		proxy->stage = m_stageCurrent;
-		listappend(proxy, m_stageRoots[m_stageCurrent]);
-		if (docollide)
-		{
-			m_needcleanup = true;
-			if (!m_deferedcollide)
-			{
-				btDbvtTreeCollider collider(this);
-				m_sets[1].collideTTpersistentStack(m_sets[1].m_root, proxy->leaf, collider);
-				m_sets[0].collideTTpersistentStack(m_sets[0].m_root, proxy->leaf, collider);
-			}
-		}
-	}
-}
-
-//
-void btDbvtBroadphase::setAabbForceUpdate(btBroadphaseProxy* absproxy,
-										  const btVector3& aabbMin,
-										  const btVector3& aabbMax,
-										  btDispatcher* /*dispatcher*/)
-{
-	btDbvtProxy* proxy = (btDbvtProxy*)absproxy;
-	ATTRIBUTE_ALIGNED16(btDbvtVolume)
-	aabb = btDbvtVolume::FromMM(aabbMin, aabbMax);
-	bool docollide = false;
-	if (proxy->stage == STAGECOUNT)
-	{ /* fixed -> dynamic set	*/
-		m_sets[1].remove(proxy->leaf);
-		proxy->leaf = m_sets[0].insert(aabb, proxy);
-		docollide = true;
-	}
-	else
-	{ /* dynamic set				*/
-		++m_updates_call;
-		/* Teleporting			*/
-		m_sets[0].update(proxy->leaf, aabb);
-		++m_updates_done;
-		docollide = true;
-	}
-	listremove(proxy, m_stageRoots[proxy->stage]);
-	proxy->m_aabbMin = aabbMin;
-	proxy->m_aabbMax = aabbMax;
-	proxy->stage = m_stageCurrent;
-	listappend(proxy, m_stageRoots[m_stageCurrent]);
-	if (docollide)
-	{
-		m_needcleanup = true;
-		if (!m_deferedcollide)
-		{
-			btDbvtTreeCollider collider(this);
-			m_sets[1].collideTTpersistentStack(m_sets[1].m_root, proxy->leaf, collider);
-			m_sets[0].collideTTpersistentStack(m_sets[0].m_root, proxy->leaf, collider);
-		}
-	}
-}
-
-//
-void btDbvtBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
-{
-	collide(dispatcher);
-#if DBVT_BP_PROFILE
-	if (0 == (m_pid % DBVT_BP_PROFILING_RATE))
-	{
-		printf("fixed(%u) dynamics(%u) pairs(%u)\r\n", m_sets[1].m_leaves, m_sets[0].m_leaves, m_paircache->getNumOverlappingPairs());
-		unsigned int total = m_profiling.m_total;
-		if (total <= 0) total = 1;
-		printf("ddcollide: %u%% (%uus)\r\n", (50 + m_profiling.m_ddcollide * 100) / total, m_profiling.m_ddcollide / DBVT_BP_PROFILING_RATE);
-		printf("fdcollide: %u%% (%uus)\r\n", (50 + m_profiling.m_fdcollide * 100) / total, m_profiling.m_fdcollide / DBVT_BP_PROFILING_RATE);
-		printf("cleanup:   %u%% (%uus)\r\n", (50 + m_profiling.m_cleanup * 100) / total, m_profiling.m_cleanup / DBVT_BP_PROFILING_RATE);
-		printf("total:     %uus\r\n", total / DBVT_BP_PROFILING_RATE);
-		const unsigned long sum = m_profiling.m_ddcollide +
-								  m_profiling.m_fdcollide +
-								  m_profiling.m_cleanup;
-		printf("leaked: %u%% (%uus)\r\n", 100 - ((50 + sum * 100) / total), (total - sum) / DBVT_BP_PROFILING_RATE);
-		printf("job counts: %u%%\r\n", (m_profiling.m_jobcount * 100) / ((m_sets[0].m_leaves + m_sets[1].m_leaves) * DBVT_BP_PROFILING_RATE));
-		clear(m_profiling);
-		m_clock.reset();
-	}
-#endif
-
-	performDeferredRemoval(dispatcher);
-}
-
-void btDbvtBroadphase::performDeferredRemoval(btDispatcher* dispatcher)
-{
-	if (m_paircache->hasDeferredRemoval())
-	{
-		btBroadphasePairArray& overlappingPairArray = m_paircache->getOverlappingPairArray();
-
-		//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
-		overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
-
-		int invalidPair = 0;
-
-		int i;
-
-		btBroadphasePair previousPair;
-		previousPair.m_pProxy0 = 0;
-		previousPair.m_pProxy1 = 0;
-		previousPair.m_algorithm = 0;
-
-		for (i = 0; i < overlappingPairArray.size(); i++)
-		{
-			btBroadphasePair& pair = overlappingPairArray[i];
-
-			bool isDuplicate = (pair == previousPair);
-
-			previousPair = pair;
-
-			bool needsRemoval = false;
-
-			if (!isDuplicate)
-			{
-				//important to perform AABB check that is consistent with the broadphase
-				btDbvtProxy* pa = (btDbvtProxy*)pair.m_pProxy0;
-				btDbvtProxy* pb = (btDbvtProxy*)pair.m_pProxy1;
-				bool hasOverlap = Intersect(pa->leaf->volume, pb->leaf->volume);
-
-				if (hasOverlap)
-				{
-					needsRemoval = false;
-				}
-				else
-				{
-					needsRemoval = true;
-				}
-			}
-			else
-			{
-				//remove duplicate
-				needsRemoval = true;
-				//should have no algorithm
-				btAssert(!pair.m_algorithm);
-			}
-
-			if (needsRemoval)
-			{
-				m_paircache->cleanOverlappingPair(pair, dispatcher);
-
-				pair.m_pProxy0 = 0;
-				pair.m_pProxy1 = 0;
-				invalidPair++;
-			}
-		}
-
-		//perform a sort, to sort 'invalid' pairs to the end
-		overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
-		overlappingPairArray.resize(overlappingPairArray.size() - invalidPair);
-	}
-}
-
-//
-void btDbvtBroadphase::collide(btDispatcher* dispatcher)
-{
-	/*printf("---------------------------------------------------------\n");
-	printf("m_sets[0].m_leaves=%d\n",m_sets[0].m_leaves);
-	printf("m_sets[1].m_leaves=%d\n",m_sets[1].m_leaves);
-	printf("numPairs = %d\n",getOverlappingPairCache()->getNumOverlappingPairs());
-	{
-		int i;
-		for (i=0;i<getOverlappingPairCache()->getNumOverlappingPairs();i++)
-		{
-			printf("pair[%d]=(%d,%d),",i,getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy0->getUid(),
-				getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy1->getUid());
-		}
-		printf("\n");
-	}
-*/
-
-	SPC(m_profiling.m_total);
-	/* optimize				*/
-	m_sets[0].optimizeIncremental(1 + (m_sets[0].m_leaves * m_dupdates) / 100);
-	if (m_fixedleft)
-	{
-		const int count = 1 + (m_sets[1].m_leaves * m_fupdates) / 100;
-		m_sets[1].optimizeIncremental(1 + (m_sets[1].m_leaves * m_fupdates) / 100);
-		m_fixedleft = btMax<int>(0, m_fixedleft - count);
-	}
-	/* dynamic -> fixed set	*/
-	m_stageCurrent = (m_stageCurrent + 1) % STAGECOUNT;
-	btDbvtProxy* current = m_stageRoots[m_stageCurrent];
-	if (current)
-	{
-#if DBVT_BP_ACCURATESLEEPING
-		btDbvtTreeCollider collider(this);
-#endif
-		do
-		{
-			btDbvtProxy* next = current->links[1];
-			listremove(current, m_stageRoots[current->stage]);
-			listappend(current, m_stageRoots[STAGECOUNT]);
-#if DBVT_BP_ACCURATESLEEPING
-			m_paircache->removeOverlappingPairsContainingProxy(current, dispatcher);
-			collider.proxy = current;
-			btDbvt::collideTV(m_sets[0].m_root, current->aabb, collider);
-			btDbvt::collideTV(m_sets[1].m_root, current->aabb, collider);
-#endif
-			m_sets[0].remove(current->leaf);
-			ATTRIBUTE_ALIGNED16(btDbvtVolume)
-			curAabb = btDbvtVolume::FromMM(current->m_aabbMin, current->m_aabbMax);
-			current->leaf = m_sets[1].insert(curAabb, current);
-			current->stage = STAGECOUNT;
-			current = next;
-		} while (current);
-		m_fixedleft = m_sets[1].m_leaves;
-		m_needcleanup = true;
-	}
-	/* collide dynamics		*/
-	{
-		btDbvtTreeCollider collider(this);
-		if (m_deferedcollide)
-		{
-			SPC(m_profiling.m_fdcollide);
-			m_sets[0].collideTTpersistentStack(m_sets[0].m_root, m_sets[1].m_root, collider);
-		}
-		if (m_deferedcollide)
-		{
-			SPC(m_profiling.m_ddcollide);
-			m_sets[0].collideTTpersistentStack(m_sets[0].m_root, m_sets[0].m_root, collider);
-		}
-	}
-	/* clean up				*/
-	if (m_needcleanup)
-	{
-		SPC(m_profiling.m_cleanup);
-		btBroadphasePairArray& pairs = m_paircache->getOverlappingPairArray();
-		if (pairs.size() > 0)
-		{
-			int ni = btMin(pairs.size(), btMax<int>(m_newpairs, (pairs.size() * m_cupdates) / 100));
-			for (int i = 0; i < ni; ++i)
-			{
-				btBroadphasePair& p = pairs[(m_cid + i) % pairs.size()];
-				btDbvtProxy* pa = (btDbvtProxy*)p.m_pProxy0;
-				btDbvtProxy* pb = (btDbvtProxy*)p.m_pProxy1;
-				if (!Intersect(pa->leaf->volume, pb->leaf->volume))
-				{
-#if DBVT_BP_SORTPAIRS
-					if (pa->m_uniqueId > pb->m_uniqueId)
-						btSwap(pa, pb);
-#endif
-					m_paircache->removeOverlappingPair(pa, pb, dispatcher);
-					--ni;
-					--i;
-				}
-			}
-			if (pairs.size() > 0)
-				m_cid = (m_cid + ni) % pairs.size();
-			else
-				m_cid = 0;
-		}
-	}
-	++m_pid;
-	m_newpairs = 1;
-	m_needcleanup = false;
-	if (m_updates_call > 0)
-	{
-		m_updates_ratio = m_updates_done / (btScalar)m_updates_call;
-	}
-	else
-	{
-		m_updates_ratio = 0;
-	}
-	m_updates_done /= 2;
-	m_updates_call /= 2;
-}
-
-//
-void btDbvtBroadphase::optimize()
-{
-	m_sets[0].optimizeTopDown();
-	m_sets[1].optimizeTopDown();
-}
-
-//
-btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache()
-{
-	return (m_paircache);
-}
-
-//
-const btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache() const
-{
-	return (m_paircache);
-}
-
-//
-void btDbvtBroadphase::getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const
-{
-	ATTRIBUTE_ALIGNED16(btDbvtVolume)
-	bounds;
-
-	if (!m_sets[0].empty())
-		if (!m_sets[1].empty())
-			Merge(m_sets[0].m_root->volume,
-				  m_sets[1].m_root->volume, bounds);
-		else
-			bounds = m_sets[0].m_root->volume;
-	else if (!m_sets[1].empty())
-		bounds = m_sets[1].m_root->volume;
-	else
-		bounds = btDbvtVolume::FromCR(btVector3(0, 0, 0), 0);
-	aabbMin = bounds.Mins();
-	aabbMax = bounds.Maxs();
-}
-
-void btDbvtBroadphase::resetPool(btDispatcher* dispatcher)
-{
-	int totalObjects = m_sets[0].m_leaves + m_sets[1].m_leaves;
-	if (!totalObjects)
-	{
-		//reset internal dynamic tree data structures
-		m_sets[0].clear();
-		m_sets[1].clear();
-
-		m_deferedcollide = false;
-		m_needcleanup = true;
-		m_stageCurrent = 0;
-		m_fixedleft = 0;
-		m_fupdates = 1;
-		m_dupdates = 0;
-		m_cupdates = 10;
-		m_newpairs = 1;
-		m_updates_call = 0;
-		m_updates_done = 0;
-		m_updates_ratio = 0;
-
-		m_gid = 0;
-		m_pid = 0;
-		m_cid = 0;
-		for (int i = 0; i <= STAGECOUNT; ++i)
-		{
-			m_stageRoots[i] = 0;
-		}
-	}
-}
-
-//
-void btDbvtBroadphase::printStats()
-{
-}
-
-//
-#if DBVT_BP_ENABLE_BENCHMARK
-
-struct btBroadphaseBenchmark
-{
-	struct Experiment
-	{
-		const char* name;
-		int object_count;
-		int update_count;
-		int spawn_count;
-		int iterations;
-		btScalar speed;
-		btScalar amplitude;
-	};
-	struct Object
-	{
-		btVector3 center;
-		btVector3 extents;
-		btBroadphaseProxy* proxy;
-		btScalar time;
-		void update(btScalar speed, btScalar amplitude, btBroadphaseInterface* pbi)
-		{
-			time += speed;
-			center[0] = btCos(time * (btScalar)2.17) * amplitude +
-						btSin(time) * amplitude / 2;
-			center[1] = btCos(time * (btScalar)1.38) * amplitude +
-						btSin(time) * amplitude;
-			center[2] = btSin(time * (btScalar)0.777) * amplitude;
-			pbi->setAabb(proxy, center - extents, center + extents, 0);
-		}
-	};
-	static int UnsignedRand(int range = RAND_MAX - 1) { return (rand() % (range + 1)); }
-	static btScalar UnitRand() { return (UnsignedRand(16384) / (btScalar)16384); }
-	static void OutputTime(const char* name, btClock& c, unsigned count = 0)
-	{
-		const unsigned long us = c.getTimeMicroseconds();
-		const unsigned long ms = (us + 500) / 1000;
-		const btScalar sec = us / (btScalar)(1000 * 1000);
-		if (count > 0)
-			printf("%s : %u us (%u ms), %.2f/s\r\n", name, us, ms, count / sec);
-		else
-			printf("%s : %u us (%u ms)\r\n", name, us, ms);
-	}
-};
-
-void btDbvtBroadphase::benchmark(btBroadphaseInterface* pbi)
-{
-	static const btBroadphaseBenchmark::Experiment experiments[] =
-		{
-			{"1024o.10%", 1024, 10, 0, 8192, (btScalar)0.005, (btScalar)100},
-			/*{"4096o.10%",4096,10,0,8192,(btScalar)0.005,(btScalar)100},
-		{"8192o.10%",8192,10,0,8192,(btScalar)0.005,(btScalar)100},*/
-		};
-	static const int nexperiments = sizeof(experiments) / sizeof(experiments[0]);
-	btAlignedObjectArray<btBroadphaseBenchmark::Object*> objects;
-	btClock wallclock;
-	/* Begin			*/
-	for (int iexp = 0; iexp < nexperiments; ++iexp)
-	{
-		const btBroadphaseBenchmark::Experiment& experiment = experiments[iexp];
-		const int object_count = experiment.object_count;
-		const int update_count = (object_count * experiment.update_count) / 100;
-		const int spawn_count = (object_count * experiment.spawn_count) / 100;
-		const btScalar speed = experiment.speed;
-		const btScalar amplitude = experiment.amplitude;
-		printf("Experiment #%u '%s':\r\n", iexp, experiment.name);
-		printf("\tObjects: %u\r\n", object_count);
-		printf("\tUpdate: %u\r\n", update_count);
-		printf("\tSpawn: %u\r\n", spawn_count);
-		printf("\tSpeed: %f\r\n", speed);
-		printf("\tAmplitude: %f\r\n", amplitude);
-		srand(180673);
-		/* Create objects	*/
-		wallclock.reset();
-		objects.reserve(object_count);
-		for (int i = 0; i < object_count; ++i)
-		{
-			btBroadphaseBenchmark::Object* po = new btBroadphaseBenchmark::Object();
-			po->center[0] = btBroadphaseBenchmark::UnitRand() * 50;
-			po->center[1] = btBroadphaseBenchmark::UnitRand() * 50;
-			po->center[2] = btBroadphaseBenchmark::UnitRand() * 50;
-			po->extents[0] = btBroadphaseBenchmark::UnitRand() * 2 + 2;
-			po->extents[1] = btBroadphaseBenchmark::UnitRand() * 2 + 2;
-			po->extents[2] = btBroadphaseBenchmark::UnitRand() * 2 + 2;
-			po->time = btBroadphaseBenchmark::UnitRand() * 2000;
-			po->proxy = pbi->createProxy(po->center - po->extents, po->center + po->extents, 0, po, 1, 1, 0, 0);
-			objects.push_back(po);
-		}
-		btBroadphaseBenchmark::OutputTime("\tInitialization", wallclock);
-		/* First update		*/
-		wallclock.reset();
-		for (int i = 0; i < objects.size(); ++i)
-		{
-			objects[i]->update(speed, amplitude, pbi);
-		}
-		btBroadphaseBenchmark::OutputTime("\tFirst update", wallclock);
-		/* Updates			*/
-		wallclock.reset();
-		for (int i = 0; i < experiment.iterations; ++i)
-		{
-			for (int j = 0; j < update_count; ++j)
-			{
-				objects[j]->update(speed, amplitude, pbi);
-			}
-			pbi->calculateOverlappingPairs(0);
-		}
-		btBroadphaseBenchmark::OutputTime("\tUpdate", wallclock, experiment.iterations);
-		/* Clean up			*/
-		wallclock.reset();
-		for (int i = 0; i < objects.size(); ++i)
-		{
-			pbi->destroyProxy(objects[i]->proxy, 0);
-			delete objects[i];
-		}
-		objects.resize(0);
-		btBroadphaseBenchmark::OutputTime("\tRelease", wallclock);
-	}
-}
-#else
-void btDbvtBroadphase::benchmark(btBroadphaseInterface*)
-{
-}
-#endif
-
-#if DBVT_BP_PROFILE
-#undef SPC
-#endif
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
deleted file mode 100644
index a71feef53b..0000000000
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
+++ /dev/null
@@ -1,146 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///btDbvtBroadphase implementation by Nathanael Presson
-#ifndef BT_DBVT_BROADPHASE_H
-#define BT_DBVT_BROADPHASE_H
-
-#include "BulletCollision/BroadphaseCollision/btDbvt.h"
-#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
-
-//
-// Compile time config
-//
-
-#define DBVT_BP_PROFILE 0
-//#define DBVT_BP_SORTPAIRS				1
-#define DBVT_BP_PREVENTFALSEUPDATE 0
-#define DBVT_BP_ACCURATESLEEPING 0
-#define DBVT_BP_ENABLE_BENCHMARK 0
-//#define DBVT_BP_MARGIN					(btScalar)0.05
-extern btScalar gDbvtMargin;
-
-#if DBVT_BP_PROFILE
-#define DBVT_BP_PROFILING_RATE 256
-#include "LinearMath/btQuickprof.h"
-#endif
-
-//
-// btDbvtProxy
-//
-struct btDbvtProxy : btBroadphaseProxy
-{
-	/* Fields		*/
-	//btDbvtAabbMm	aabb;
-	btDbvtNode* leaf;
-	btDbvtProxy* links[2];
-	int stage;
-	/* ctor			*/
-	btDbvtProxy(const btVector3& aabbMin, const btVector3& aabbMax, void* userPtr, int collisionFilterGroup, int collisionFilterMask) : btBroadphaseProxy(aabbMin, aabbMax, userPtr, collisionFilterGroup, collisionFilterMask)
-	{
-		links[0] = links[1] = 0;
-	}
-};
-
-typedef btAlignedObjectArray<btDbvtProxy*> btDbvtProxyArray;
-
-///The btDbvtBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees (see btDbvt).
-///One tree is used for static/non-moving objects, and another tree is used for dynamic objects. Objects can move from one tree to the other.
-///This is a very fast broadphase, especially for very dynamic worlds where many objects are moving. Its insert/add and remove of objects is generally faster than the sweep and prune broadphases btAxisSweep3 and bt32BitAxisSweep3.
-struct btDbvtBroadphase : btBroadphaseInterface
-{
-	/* Config		*/
-	enum
-	{
-		DYNAMIC_SET = 0, /* Dynamic set index	*/
-		FIXED_SET = 1,   /* Fixed set index		*/
-		STAGECOUNT = 2   /* Number of stages		*/
-	};
-	/* Fields		*/
-	btDbvt m_sets[2];                           // Dbvt sets
-	btDbvtProxy* m_stageRoots[STAGECOUNT + 1];  // Stages list
-	btOverlappingPairCache* m_paircache;        // Pair cache
-	btScalar m_prediction;                      // Velocity prediction
-	int m_stageCurrent;                         // Current stage
-	int m_fupdates;                             // % of fixed updates per frame
-	int m_dupdates;                             // % of dynamic updates per frame
-	int m_cupdates;                             // % of cleanup updates per frame
-	int m_newpairs;                             // Number of pairs created
-	int m_fixedleft;                            // Fixed optimization left
-	unsigned m_updates_call;                    // Number of updates call
-	unsigned m_updates_done;                    // Number of updates done
-	btScalar m_updates_ratio;                   // m_updates_done/m_updates_call
-	int m_pid;                                  // Parse id
-	int m_cid;                                  // Cleanup index
-	int m_gid;                                  // Gen id
-	bool m_releasepaircache;                    // Release pair cache on delete
-	bool m_deferedcollide;                      // Defere dynamic/static collision to collide call
-	bool m_needcleanup;                         // Need to run cleanup?
-	btAlignedObjectArray<btAlignedObjectArray<const btDbvtNode*> > m_rayTestStacks;
-#if DBVT_BP_PROFILE
-	btClock m_clock;
-	struct
-	{
-		unsigned long m_total;
-		unsigned long m_ddcollide;
-		unsigned long m_fdcollide;
-		unsigned long m_cleanup;
-		unsigned long m_jobcount;
-	} m_profiling;
-#endif
-	/* Methods		*/
-	btDbvtBroadphase(btOverlappingPairCache* paircache = 0);
-	~btDbvtBroadphase();
-	void collide(btDispatcher* dispatcher);
-	void optimize();
-
-	/* btBroadphaseInterface Implementation	*/
-	btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
-	virtual void destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher);
-	virtual void setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher);
-	virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin = btVector3(0, 0, 0), const btVector3& aabbMax = btVector3(0, 0, 0));
-	virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
-
-	virtual void getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const;
-	virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
-	virtual btOverlappingPairCache* getOverlappingPairCache();
-	virtual const btOverlappingPairCache* getOverlappingPairCache() const;
-	virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const;
-	virtual void printStats();
-
-	///reset broadphase internal structures, to ensure determinism/reproducability
-	virtual void resetPool(btDispatcher* dispatcher);
-
-	void performDeferredRemoval(btDispatcher* dispatcher);
-
-	void setVelocityPrediction(btScalar prediction)
-	{
-		m_prediction = prediction;
-	}
-	btScalar getVelocityPrediction() const
-	{
-		return m_prediction;
-	}
-
-	///this setAabbForceUpdate is similar to setAabb but always forces the aabb update.
-	///it is not part of the btBroadphaseInterface but specific to btDbvtBroadphase.
-	///it bypasses certain optimizations that prevent aabb updates (when the aabb shrinks), see
-	///http://code.google.com/p/bullet/issues/detail?id=223
-	void setAabbForceUpdate(btBroadphaseProxy* absproxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* /*dispatcher*/);
-
-	static void benchmark(btBroadphaseInterface*);
-};
-
-#endif
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.cpp
deleted file mode 100644
index d76d408aa6..0000000000
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.cpp
+++ /dev/null
@@ -1,20 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btDispatcher.h"
-
-btDispatcher::~btDispatcher()
-{
-}
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h
deleted file mode 100644
index b09b7d4d42..0000000000
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_DISPATCHER_H
-#define BT_DISPATCHER_H
-#include "LinearMath/btScalar.h"
-
-class btCollisionAlgorithm;
-struct btBroadphaseProxy;
-class btRigidBody;
-class btCollisionObject;
-class btOverlappingPairCache;
-struct btCollisionObjectWrapper;
-
-class btPersistentManifold;
-class btPoolAllocator;
-
-struct btDispatcherInfo
-{
-	enum DispatchFunc
-	{
-		DISPATCH_DISCRETE = 1,
-		DISPATCH_CONTINUOUS
-	};
-	btDispatcherInfo()
-		: m_timeStep(btScalar(0.)),
-		  m_stepCount(0),
-		  m_dispatchFunc(DISPATCH_DISCRETE),
-		  m_timeOfImpact(btScalar(1.)),
-		  m_useContinuous(true),
-		  m_debugDraw(0),
-		  m_enableSatConvex(false),
-		  m_enableSPU(true),
-		  m_useEpa(true),
-		  m_allowedCcdPenetration(btScalar(0.04)),
-		  m_useConvexConservativeDistanceUtil(false),
-		  m_convexConservativeDistanceThreshold(0.0f),
-		  m_deterministicOverlappingPairs(false)
-	{
-	}
-	btScalar m_timeStep;
-	int m_stepCount;
-	int m_dispatchFunc;
-	mutable btScalar m_timeOfImpact;
-	bool m_useContinuous;
-	class btIDebugDraw* m_debugDraw;
-	bool m_enableSatConvex;
-	bool m_enableSPU;
-	bool m_useEpa;
-	btScalar m_allowedCcdPenetration;
-	bool m_useConvexConservativeDistanceUtil;
-	btScalar m_convexConservativeDistanceThreshold;
-	bool m_deterministicOverlappingPairs;
-};
-
-enum ebtDispatcherQueryType
-{
-	BT_CONTACT_POINT_ALGORITHMS = 1,
-	BT_CLOSEST_POINT_ALGORITHMS = 2
-};
-
-///The btDispatcher interface class can be used in combination with broadphase to dispatch calculations for overlapping pairs.
-///For example for pairwise collision detection, calculating contact points stored in btPersistentManifold or user callbacks (game logic).
-class btDispatcher
-{
-public:
-	virtual ~btDispatcher();
-
-	virtual btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btPersistentManifold* sharedManifold, ebtDispatcherQueryType queryType) = 0;
-
-	virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0, const btCollisionObject* b1) = 0;
-
-	virtual void releaseManifold(btPersistentManifold* manifold) = 0;
-
-	virtual void clearManifold(btPersistentManifold* manifold) = 0;
-
-	virtual bool needsCollision(const btCollisionObject* body0, const btCollisionObject* body1) = 0;
-
-	virtual bool needsResponse(const btCollisionObject* body0, const btCollisionObject* body1) = 0;
-
-	virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& dispatchInfo, btDispatcher* dispatcher) = 0;
-
-	virtual int getNumManifolds() const = 0;
-
-	virtual btPersistentManifold* getManifoldByIndexInternal(int index) = 0;
-
-	virtual btPersistentManifold** getInternalManifoldPointer() = 0;
-
-	virtual btPoolAllocator* getInternalManifoldPool() = 0;
-
-	virtual const btPoolAllocator* getInternalManifoldPool() const = 0;
-
-	virtual void* allocateCollisionAlgorithm(int size) = 0;
-
-	virtual void freeCollisionAlgorithm(void* ptr) = 0;
-};
-
-#endif  //BT_DISPATCHER_H
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
deleted file mode 100644
index 8ce1087c9f..0000000000
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
+++ /dev/null
@@ -1,611 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btOverlappingPairCache.h"
-
-#include "btDispatcher.h"
-#include "btCollisionAlgorithm.h"
-#include "LinearMath/btAabbUtil2.h"
-
-#include <stdio.h>
-
-btHashedOverlappingPairCache::btHashedOverlappingPairCache() : m_overlapFilterCallback(0),
-															   m_ghostPairCallback(0)
-{
-	int initialAllocatedSize = 2;
-	m_overlappingPairArray.reserve(initialAllocatedSize);
-	growTables();
-}
-
-btHashedOverlappingPairCache::~btHashedOverlappingPairCache()
-{
-}
-
-void btHashedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair, btDispatcher* dispatcher)
-{
-	if (pair.m_algorithm && dispatcher)
-	{
-		{
-			pair.m_algorithm->~btCollisionAlgorithm();
-			dispatcher->freeCollisionAlgorithm(pair.m_algorithm);
-			pair.m_algorithm = 0;
-		}
-	}
-}
-
-void btHashedOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy, btDispatcher* dispatcher)
-{
-	class CleanPairCallback : public btOverlapCallback
-	{
-		btBroadphaseProxy* m_cleanProxy;
-		btOverlappingPairCache* m_pairCache;
-		btDispatcher* m_dispatcher;
-
-	public:
-		CleanPairCallback(btBroadphaseProxy* cleanProxy, btOverlappingPairCache* pairCache, btDispatcher* dispatcher)
-			: m_cleanProxy(cleanProxy),
-			  m_pairCache(pairCache),
-			  m_dispatcher(dispatcher)
-		{
-		}
-		virtual bool processOverlap(btBroadphasePair& pair)
-		{
-			if ((pair.m_pProxy0 == m_cleanProxy) ||
-				(pair.m_pProxy1 == m_cleanProxy))
-			{
-				m_pairCache->cleanOverlappingPair(pair, m_dispatcher);
-			}
-			return false;
-		}
-	};
-
-	CleanPairCallback cleanPairs(proxy, this, dispatcher);
-
-	processAllOverlappingPairs(&cleanPairs, dispatcher);
-}
-
-void btHashedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher)
-{
-	class RemovePairCallback : public btOverlapCallback
-	{
-		btBroadphaseProxy* m_obsoleteProxy;
-
-	public:
-		RemovePairCallback(btBroadphaseProxy* obsoleteProxy)
-			: m_obsoleteProxy(obsoleteProxy)
-		{
-		}
-		virtual bool processOverlap(btBroadphasePair& pair)
-		{
-			return ((pair.m_pProxy0 == m_obsoleteProxy) ||
-					(pair.m_pProxy1 == m_obsoleteProxy));
-		}
-	};
-
-	RemovePairCallback removeCallback(proxy);
-
-	processAllOverlappingPairs(&removeCallback, dispatcher);
-}
-
-btBroadphasePair* btHashedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
-{
-	if (proxy0->m_uniqueId > proxy1->m_uniqueId)
-		btSwap(proxy0, proxy1);
-	int proxyId1 = proxy0->getUid();
-	int proxyId2 = proxy1->getUid();
-
-	/*if (proxyId1 > proxyId2)
-		btSwap(proxyId1, proxyId2);*/
-
-	int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));
-
-	if (hash >= m_hashTable.size())
-	{
-		return NULL;
-	}
-
-	int index = m_hashTable[hash];
-	while (index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
-	{
-		index = m_next[index];
-	}
-
-	if (index == BT_NULL_PAIR)
-	{
-		return NULL;
-	}
-
-	btAssert(index < m_overlappingPairArray.size());
-
-	return &m_overlappingPairArray[index];
-}
-
-//#include <stdio.h>
-
-void btHashedOverlappingPairCache::growTables()
-{
-	int newCapacity = m_overlappingPairArray.capacity();
-
-	if (m_hashTable.size() < newCapacity)
-	{
-		//grow hashtable and next table
-		int curHashtableSize = m_hashTable.size();
-
-		m_hashTable.resize(newCapacity);
-		m_next.resize(newCapacity);
-
-		int i;
-
-		for (i = 0; i < newCapacity; ++i)
-		{
-			m_hashTable[i] = BT_NULL_PAIR;
-		}
-		for (i = 0; i < newCapacity; ++i)
-		{
-			m_next[i] = BT_NULL_PAIR;
-		}
-
-		for (i = 0; i < curHashtableSize; i++)
-		{
-			const btBroadphasePair& pair = m_overlappingPairArray[i];
-			int proxyId1 = pair.m_pProxy0->getUid();
-			int proxyId2 = pair.m_pProxy1->getUid();
-			/*if (proxyId1 > proxyId2) 
-				btSwap(proxyId1, proxyId2);*/
-			int hashValue = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));  // New hash value with new mask
-			m_next[i] = m_hashTable[hashValue];
-			m_hashTable[hashValue] = i;
-		}
-	}
-}
-
-btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
-{
-	if (proxy0->m_uniqueId > proxy1->m_uniqueId)
-		btSwap(proxy0, proxy1);
-	int proxyId1 = proxy0->getUid();
-	int proxyId2 = proxy1->getUid();
-
-	/*if (proxyId1 > proxyId2) 
-		btSwap(proxyId1, proxyId2);*/
-
-	int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));  // New hash value with new mask
-
-	btBroadphasePair* pair = internalFindPair(proxy0, proxy1, hash);
-	if (pair != NULL)
-	{
-		return pair;
-	}
-	/*for(int i=0;i<m_overlappingPairArray.size();++i)
-		{
-		if(	(m_overlappingPairArray[i].m_pProxy0==proxy0)&&
-			(m_overlappingPairArray[i].m_pProxy1==proxy1))
-			{
-			printf("Adding duplicated %u<>%u\r\n",proxyId1,proxyId2);
-			internalFindPair(proxy0, proxy1, hash);
-			}
-		}*/
-	int count = m_overlappingPairArray.size();
-	int oldCapacity = m_overlappingPairArray.capacity();
-	void* mem = &m_overlappingPairArray.expandNonInitializing();
-
-	//this is where we add an actual pair, so also call the 'ghost'
-	if (m_ghostPairCallback)
-		m_ghostPairCallback->addOverlappingPair(proxy0, proxy1);
-
-	int newCapacity = m_overlappingPairArray.capacity();
-
-	if (oldCapacity < newCapacity)
-	{
-		growTables();
-		//hash with new capacity
-		hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));
-	}
-
-	pair = new (mem) btBroadphasePair(*proxy0, *proxy1);
-	//	pair->m_pProxy0 = proxy0;
-	//	pair->m_pProxy1 = proxy1;
-	pair->m_algorithm = 0;
-	pair->m_internalTmpValue = 0;
-
-	m_next[count] = m_hashTable[hash];
-	m_hashTable[hash] = count;
-
-	return pair;
-}
-
-void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, btDispatcher* dispatcher)
-{
-	if (proxy0->m_uniqueId > proxy1->m_uniqueId)
-		btSwap(proxy0, proxy1);
-	int proxyId1 = proxy0->getUid();
-	int proxyId2 = proxy1->getUid();
-
-	/*if (proxyId1 > proxyId2)
-		btSwap(proxyId1, proxyId2);*/
-
-	int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));
-
-	btBroadphasePair* pair = internalFindPair(proxy0, proxy1, hash);
-	if (pair == NULL)
-	{
-		return 0;
-	}
-
-	cleanOverlappingPair(*pair, dispatcher);
-
-	void* userData = pair->m_internalInfo1;
-
-	btAssert(pair->m_pProxy0->getUid() == proxyId1);
-	btAssert(pair->m_pProxy1->getUid() == proxyId2);
-
-	int pairIndex = int(pair - &m_overlappingPairArray[0]);
-	btAssert(pairIndex < m_overlappingPairArray.size());
-
-	// Remove the pair from the hash table.
-	int index = m_hashTable[hash];
-	btAssert(index != BT_NULL_PAIR);
-
-	int previous = BT_NULL_PAIR;
-	while (index != pairIndex)
-	{
-		previous = index;
-		index = m_next[index];
-	}
-
-	if (previous != BT_NULL_PAIR)
-	{
-		btAssert(m_next[previous] == pairIndex);
-		m_next[previous] = m_next[pairIndex];
-	}
-	else
-	{
-		m_hashTable[hash] = m_next[pairIndex];
-	}
-
-	// We now move the last pair into spot of the
-	// pair being removed. We need to fix the hash
-	// table indices to support the move.
-
-	int lastPairIndex = m_overlappingPairArray.size() - 1;
-
-	if (m_ghostPairCallback)
-		m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1, dispatcher);
-
-	// If the removed pair is the last pair, we are done.
-	if (lastPairIndex == pairIndex)
-	{
-		m_overlappingPairArray.pop_back();
-		return userData;
-	}
-
-	// Remove the last pair from the hash table.
-	const btBroadphasePair* last = &m_overlappingPairArray[lastPairIndex];
-	/* missing swap here too, Nat. */
-	int lastHash = static_cast<int>(getHash(static_cast<unsigned int>(last->m_pProxy0->getUid()), static_cast<unsigned int>(last->m_pProxy1->getUid())) & (m_overlappingPairArray.capacity() - 1));
-
-	index = m_hashTable[lastHash];
-	btAssert(index != BT_NULL_PAIR);
-
-	previous = BT_NULL_PAIR;
-	while (index != lastPairIndex)
-	{
-		previous = index;
-		index = m_next[index];
-	}
-
-	if (previous != BT_NULL_PAIR)
-	{
-		btAssert(m_next[previous] == lastPairIndex);
-		m_next[previous] = m_next[lastPairIndex];
-	}
-	else
-	{
-		m_hashTable[lastHash] = m_next[lastPairIndex];
-	}
-
-	// Copy the last pair into the remove pair's spot.
-	m_overlappingPairArray[pairIndex] = m_overlappingPairArray[lastPairIndex];
-
-	// Insert the last pair into the hash table
-	m_next[pairIndex] = m_hashTable[lastHash];
-	m_hashTable[lastHash] = pairIndex;
-
-	m_overlappingPairArray.pop_back();
-
-	return userData;
-}
-//#include <stdio.h>
-#include "LinearMath/btQuickprof.h"
-void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher)
-{
-	BT_PROFILE("btHashedOverlappingPairCache::processAllOverlappingPairs");
-	int i;
-
-	//	printf("m_overlappingPairArray.size()=%d\n",m_overlappingPairArray.size());
-	for (i = 0; i < m_overlappingPairArray.size();)
-	{
-		btBroadphasePair* pair = &m_overlappingPairArray[i];
-		if (callback->processOverlap(*pair))
-		{
-			removeOverlappingPair(pair->m_pProxy0, pair->m_pProxy1, dispatcher);
-		}
-		else
-		{
-			i++;
-		}
-	}
-}
-
-struct MyPairIndex
-{
-	int m_orgIndex;
-	int m_uidA0;
-	int m_uidA1;
-};
-
-class MyPairIndeSortPredicate
-{
-public:
-	bool operator()(const MyPairIndex& a, const MyPairIndex& b) const
-	{
-		const int uidA0 = a.m_uidA0;
-		const int uidB0 = b.m_uidA0;
-		const int uidA1 = a.m_uidA1;
-		const int uidB1 = b.m_uidA1;
-		return uidA0 > uidB0 || (uidA0 == uidB0 && uidA1 > uidB1);
-	}
-};
-
-void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& dispatchInfo)
-{
-	if (dispatchInfo.m_deterministicOverlappingPairs)
-	{
-		btBroadphasePairArray& pa = getOverlappingPairArray();
-		btAlignedObjectArray<MyPairIndex> indices;
-		{
-			BT_PROFILE("sortOverlappingPairs");
-			indices.resize(pa.size());
-			for (int i = 0; i < indices.size(); i++)
-			{
-				const btBroadphasePair& p = pa[i];
-				const int uidA0 = p.m_pProxy0 ? p.m_pProxy0->m_uniqueId : -1;
-				const int uidA1 = p.m_pProxy1 ? p.m_pProxy1->m_uniqueId : -1;
-
-				indices[i].m_uidA0 = uidA0;
-				indices[i].m_uidA1 = uidA1;
-				indices[i].m_orgIndex = i;
-			}
-			indices.quickSort(MyPairIndeSortPredicate());
-		}
-		{
-			BT_PROFILE("btHashedOverlappingPairCache::processAllOverlappingPairs");
-			int i;
-			for (i = 0; i < indices.size();)
-			{
-				btBroadphasePair* pair = &pa[indices[i].m_orgIndex];
-				if (callback->processOverlap(*pair))
-				{
-					removeOverlappingPair(pair->m_pProxy0, pair->m_pProxy1, dispatcher);
-				}
-				else
-				{
-					i++;
-				}
-			}
-		}
-	}
-	else
-	{
-		processAllOverlappingPairs(callback, dispatcher);
-	}
-}
-
-void btHashedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher)
-{
-	///need to keep hashmap in sync with pair address, so rebuild all
-	btBroadphasePairArray tmpPairs;
-	int i;
-	for (i = 0; i < m_overlappingPairArray.size(); i++)
-	{
-		tmpPairs.push_back(m_overlappingPairArray[i]);
-	}
-
-	for (i = 0; i < tmpPairs.size(); i++)
-	{
-		removeOverlappingPair(tmpPairs[i].m_pProxy0, tmpPairs[i].m_pProxy1, dispatcher);
-	}
-
-	for (i = 0; i < m_next.size(); i++)
-	{
-		m_next[i] = BT_NULL_PAIR;
-	}
-
-	tmpPairs.quickSort(btBroadphasePairSortPredicate());
-
-	for (i = 0; i < tmpPairs.size(); i++)
-	{
-		addOverlappingPair(tmpPairs[i].m_pProxy0, tmpPairs[i].m_pProxy1);
-	}
-}
-
-void* btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, btDispatcher* dispatcher)
-{
-	if (!hasDeferredRemoval())
-	{
-		btBroadphasePair findPair(*proxy0, *proxy1);
-
-		int findIndex = m_overlappingPairArray.findLinearSearch(findPair);
-		if (findIndex < m_overlappingPairArray.size())
-		{
-			btBroadphasePair& pair = m_overlappingPairArray[findIndex];
-			void* userData = pair.m_internalInfo1;
-			cleanOverlappingPair(pair, dispatcher);
-			if (m_ghostPairCallback)
-				m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1, dispatcher);
-
-			m_overlappingPairArray.swap(findIndex, m_overlappingPairArray.capacity() - 1);
-			m_overlappingPairArray.pop_back();
-			return userData;
-		}
-	}
-
-	return 0;
-}
-
-btBroadphasePair* btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
-{
-	//don't add overlap with own
-	btAssert(proxy0 != proxy1);
-
-	if (!needsBroadphaseCollision(proxy0, proxy1))
-		return 0;
-
-	void* mem = &m_overlappingPairArray.expandNonInitializing();
-	btBroadphasePair* pair = new (mem) btBroadphasePair(*proxy0, *proxy1);
-
-	if (m_ghostPairCallback)
-		m_ghostPairCallback->addOverlappingPair(proxy0, proxy1);
-	return pair;
-}
-
-///this findPair becomes really slow. Either sort the list to speedup the query, or
-///use a different solution. It is mainly used for Removing overlapping pairs. Removal could be delayed.
-///we could keep a linked list in each proxy, and store pair in one of the proxies (with lowest memory address)
-///Also we can use a 2D bitmap, which can be useful for a future GPU implementation
-btBroadphasePair* btSortedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
-{
-	if (!needsBroadphaseCollision(proxy0, proxy1))
-		return 0;
-
-	btBroadphasePair tmpPair(*proxy0, *proxy1);
-	int findIndex = m_overlappingPairArray.findLinearSearch(tmpPair);
-
-	if (findIndex < m_overlappingPairArray.size())
-	{
-		//btAssert(it != m_overlappingPairSet.end());
-		btBroadphasePair* pair = &m_overlappingPairArray[findIndex];
-		return pair;
-	}
-	return 0;
-}
-
-//#include <stdio.h>
-
-void btSortedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher)
-{
-	int i;
-
-	for (i = 0; i < m_overlappingPairArray.size();)
-	{
-		btBroadphasePair* pair = &m_overlappingPairArray[i];
-		if (callback->processOverlap(*pair))
-		{
-			cleanOverlappingPair(*pair, dispatcher);
-			pair->m_pProxy0 = 0;
-			pair->m_pProxy1 = 0;
-			m_overlappingPairArray.swap(i, m_overlappingPairArray.size() - 1);
-			m_overlappingPairArray.pop_back();
-		}
-		else
-		{
-			i++;
-		}
-	}
-}
-
-btSortedOverlappingPairCache::btSortedOverlappingPairCache() : m_blockedForChanges(false),
-															   m_hasDeferredRemoval(true),
-															   m_overlapFilterCallback(0),
-															   m_ghostPairCallback(0)
-{
-	int initialAllocatedSize = 2;
-	m_overlappingPairArray.reserve(initialAllocatedSize);
-}
-
-btSortedOverlappingPairCache::~btSortedOverlappingPairCache()
-{
-}
-
-void btSortedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair, btDispatcher* dispatcher)
-{
-	if (pair.m_algorithm)
-	{
-		{
-			pair.m_algorithm->~btCollisionAlgorithm();
-			dispatcher->freeCollisionAlgorithm(pair.m_algorithm);
-			pair.m_algorithm = 0;
-		}
-	}
-}
-
-void btSortedOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy, btDispatcher* dispatcher)
-{
-	class CleanPairCallback : public btOverlapCallback
-	{
-		btBroadphaseProxy* m_cleanProxy;
-		btOverlappingPairCache* m_pairCache;
-		btDispatcher* m_dispatcher;
-
-	public:
-		CleanPairCallback(btBroadphaseProxy* cleanProxy, btOverlappingPairCache* pairCache, btDispatcher* dispatcher)
-			: m_cleanProxy(cleanProxy),
-			  m_pairCache(pairCache),
-			  m_dispatcher(dispatcher)
-		{
-		}
-		virtual bool processOverlap(btBroadphasePair& pair)
-		{
-			if ((pair.m_pProxy0 == m_cleanProxy) ||
-				(pair.m_pProxy1 == m_cleanProxy))
-			{
-				m_pairCache->cleanOverlappingPair(pair, m_dispatcher);
-			}
-			return false;
-		}
-	};
-
-	CleanPairCallback cleanPairs(proxy, this, dispatcher);
-
-	processAllOverlappingPairs(&cleanPairs, dispatcher);
-}
-
-void btSortedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher)
-{
-	class RemovePairCallback : public btOverlapCallback
-	{
-		btBroadphaseProxy* m_obsoleteProxy;
-
-	public:
-		RemovePairCallback(btBroadphaseProxy* obsoleteProxy)
-			: m_obsoleteProxy(obsoleteProxy)
-		{
-		}
-		virtual bool processOverlap(btBroadphasePair& pair)
-		{
-			return ((pair.m_pProxy0 == m_obsoleteProxy) ||
-					(pair.m_pProxy1 == m_obsoleteProxy));
-		}
-	};
-
-	RemovePairCallback removeCallback(proxy);
-
-	processAllOverlappingPairs(&removeCallback, dispatcher);
-}
-
-void btSortedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher)
-{
-	//should already be sorted
-}
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
deleted file mode 100644
index 56011899cb..0000000000
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
+++ /dev/null
@@ -1,434 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_OVERLAPPING_PAIR_CACHE_H
-#define BT_OVERLAPPING_PAIR_CACHE_H
-
-#include "btBroadphaseInterface.h"
-#include "btBroadphaseProxy.h"
-#include "btOverlappingPairCallback.h"
-
-#include "LinearMath/btAlignedObjectArray.h"
-class btDispatcher;
-
-typedef btAlignedObjectArray<btBroadphasePair> btBroadphasePairArray;
-
-struct btOverlapCallback
-{
-	virtual ~btOverlapCallback()
-	{
-	}
-	//return true for deletion of the pair
-	virtual bool processOverlap(btBroadphasePair& pair) = 0;
-};
-
-struct btOverlapFilterCallback
-{
-	virtual ~btOverlapFilterCallback()
-	{
-	}
-	// return true when pairs need collision
-	virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const = 0;
-};
-
-const int BT_NULL_PAIR = 0xffffffff;
-
-///The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases.
-///The btHashedOverlappingPairCache and btSortedOverlappingPairCache classes are two implementations.
-class btOverlappingPairCache : public btOverlappingPairCallback
-{
-public:
-	virtual ~btOverlappingPairCache() {}  // this is needed so we can get to the derived class destructor
-
-	virtual btBroadphasePair* getOverlappingPairArrayPtr() = 0;
-
-	virtual const btBroadphasePair* getOverlappingPairArrayPtr() const = 0;
-
-	virtual btBroadphasePairArray& getOverlappingPairArray() = 0;
-
-	virtual void cleanOverlappingPair(btBroadphasePair& pair, btDispatcher* dispatcher) = 0;
-
-	virtual int getNumOverlappingPairs() const = 0;
-	virtual bool needsBroadphaseCollision(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1) const = 0;
-	virtual btOverlapFilterCallback* getOverlapFilterCallback() = 0;
-	virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy, btDispatcher* dispatcher) = 0;
-
-	virtual void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0;
-
-	virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher* dispatcher) = 0;
-
-	virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& /*dispatchInfo*/)
-	{
-		processAllOverlappingPairs(callback, dispatcher);
-	}
-	virtual btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) = 0;
-
-	virtual bool hasDeferredRemoval() = 0;
-
-	virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback) = 0;
-
-	virtual void sortOverlappingPairs(btDispatcher* dispatcher) = 0;
-};
-
-/// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com
-
-ATTRIBUTE_ALIGNED16(class)
-btHashedOverlappingPairCache : public btOverlappingPairCache
-{
-	btBroadphasePairArray m_overlappingPairArray;
-	btOverlapFilterCallback* m_overlapFilterCallback;
-
-protected:
-	btAlignedObjectArray<int> m_hashTable;
-	btAlignedObjectArray<int> m_next;
-	btOverlappingPairCallback* m_ghostPairCallback;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btHashedOverlappingPairCache();
-	virtual ~btHashedOverlappingPairCache();
-
-	void removeOverlappingPairsContainingProxy(btBroadphaseProxy * proxy, btDispatcher * dispatcher);
-
-	virtual void* removeOverlappingPair(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1, btDispatcher * dispatcher);
-
-	SIMD_FORCE_INLINE bool needsBroadphaseCollision(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1) const
-	{
-		if (m_overlapFilterCallback)
-			return m_overlapFilterCallback->needBroadphaseCollision(proxy0, proxy1);
-
-		bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
-		collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
-
-		return collides;
-	}
-
-	// Add a pair and return the new pair. If the pair already exists,
-	// no new pair is created and the old one is returned.
-	virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1)
-	{
-		if (!needsBroadphaseCollision(proxy0, proxy1))
-			return 0;
-
-		return internalAddPair(proxy0, proxy1);
-	}
-
-	void cleanProxyFromPairs(btBroadphaseProxy * proxy, btDispatcher * dispatcher);
-
-	virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher * dispatcher);
-
-	virtual void processAllOverlappingPairs(btOverlapCallback * callback, btDispatcher * dispatcher, const struct btDispatcherInfo& dispatchInfo);
-
-	virtual btBroadphasePair* getOverlappingPairArrayPtr()
-	{
-		return &m_overlappingPairArray[0];
-	}
-
-	const btBroadphasePair* getOverlappingPairArrayPtr() const
-	{
-		return &m_overlappingPairArray[0];
-	}
-
-	btBroadphasePairArray& getOverlappingPairArray()
-	{
-		return m_overlappingPairArray;
-	}
-
-	const btBroadphasePairArray& getOverlappingPairArray() const
-	{
-		return m_overlappingPairArray;
-	}
-
-	void cleanOverlappingPair(btBroadphasePair & pair, btDispatcher * dispatcher);
-
-	btBroadphasePair* findPair(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1);
-
-	int GetCount() const { return m_overlappingPairArray.size(); }
-	//	btBroadphasePair* GetPairs() { return m_pairs; }
-
-	btOverlapFilterCallback* getOverlapFilterCallback()
-	{
-		return m_overlapFilterCallback;
-	}
-
-	void setOverlapFilterCallback(btOverlapFilterCallback * callback)
-	{
-		m_overlapFilterCallback = callback;
-	}
-
-	int getNumOverlappingPairs() const
-	{
-		return m_overlappingPairArray.size();
-	}
-
-private:
-	btBroadphasePair* internalAddPair(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1);
-
-	void growTables();
-
-	SIMD_FORCE_INLINE bool equalsPair(const btBroadphasePair& pair, int proxyId1, int proxyId2)
-	{
-		return pair.m_pProxy0->getUid() == proxyId1 && pair.m_pProxy1->getUid() == proxyId2;
-	}
-
-	/*
-	// Thomas Wang's hash, see: http://www.concentric.net/~Ttwang/tech/inthash.htm
-	// This assumes proxyId1 and proxyId2 are 16-bit.
-	SIMD_FORCE_INLINE int getHash(int proxyId1, int proxyId2)
-	{
-		int key = (proxyId2 << 16) | proxyId1;
-		key = ~key + (key << 15);
-		key = key ^ (key >> 12);
-		key = key + (key << 2);
-		key = key ^ (key >> 4);
-		key = key * 2057;
-		key = key ^ (key >> 16);
-		return key;
-	}
-	*/
-
-	SIMD_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
-	{
-		unsigned int key = proxyId1 | (proxyId2 << 16);
-		// Thomas Wang's hash
-
-		key += ~(key << 15);
-		key ^= (key >> 10);
-		key += (key << 3);
-		key ^= (key >> 6);
-		key += ~(key << 11);
-		key ^= (key >> 16);
-		return key;
-	}
-
-	SIMD_FORCE_INLINE btBroadphasePair* internalFindPair(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1, int hash)
-	{
-		int proxyId1 = proxy0->getUid();
-		int proxyId2 = proxy1->getUid();
-#if 0  // wrong, 'equalsPair' use unsorted uids, copy-past devil striked again. Nat.
-		if (proxyId1 > proxyId2) 
-			btSwap(proxyId1, proxyId2);
-#endif
-
-		int index = m_hashTable[hash];
-
-		while (index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
-		{
-			index = m_next[index];
-		}
-
-		if (index == BT_NULL_PAIR)
-		{
-			return NULL;
-		}
-
-		btAssert(index < m_overlappingPairArray.size());
-
-		return &m_overlappingPairArray[index];
-	}
-
-	virtual bool hasDeferredRemoval()
-	{
-		return false;
-	}
-
-	virtual void setInternalGhostPairCallback(btOverlappingPairCallback * ghostPairCallback)
-	{
-		m_ghostPairCallback = ghostPairCallback;
-	}
-
-	virtual void sortOverlappingPairs(btDispatcher * dispatcher);
-};
-
-///btSortedOverlappingPairCache maintains the objects with overlapping AABB
-///Typically managed by the Broadphase, Axis3Sweep or btSimpleBroadphase
-class btSortedOverlappingPairCache : public btOverlappingPairCache
-{
-protected:
-	//avoid brute-force finding all the time
-	btBroadphasePairArray m_overlappingPairArray;
-
-	//during the dispatch, check that user doesn't destroy/create proxy
-	bool m_blockedForChanges;
-
-	///by default, do the removal during the pair traversal
-	bool m_hasDeferredRemoval;
-
-	//if set, use the callback instead of the built in filter in needBroadphaseCollision
-	btOverlapFilterCallback* m_overlapFilterCallback;
-
-	btOverlappingPairCallback* m_ghostPairCallback;
-
-public:
-	btSortedOverlappingPairCache();
-	virtual ~btSortedOverlappingPairCache();
-
-	virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher* dispatcher);
-
-	void* removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, btDispatcher* dispatcher);
-
-	void cleanOverlappingPair(btBroadphasePair& pair, btDispatcher* dispatcher);
-
-	btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
-
-	btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
-
-	void cleanProxyFromPairs(btBroadphaseProxy* proxy, btDispatcher* dispatcher);
-
-	void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher);
-
-	inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const
-	{
-		if (m_overlapFilterCallback)
-			return m_overlapFilterCallback->needBroadphaseCollision(proxy0, proxy1);
-
-		bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
-		collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
-
-		return collides;
-	}
-
-	btBroadphasePairArray& getOverlappingPairArray()
-	{
-		return m_overlappingPairArray;
-	}
-
-	const btBroadphasePairArray& getOverlappingPairArray() const
-	{
-		return m_overlappingPairArray;
-	}
-
-	btBroadphasePair* getOverlappingPairArrayPtr()
-	{
-		return &m_overlappingPairArray[0];
-	}
-
-	const btBroadphasePair* getOverlappingPairArrayPtr() const
-	{
-		return &m_overlappingPairArray[0];
-	}
-
-	int getNumOverlappingPairs() const
-	{
-		return m_overlappingPairArray.size();
-	}
-
-	btOverlapFilterCallback* getOverlapFilterCallback()
-	{
-		return m_overlapFilterCallback;
-	}
-
-	void setOverlapFilterCallback(btOverlapFilterCallback* callback)
-	{
-		m_overlapFilterCallback = callback;
-	}
-
-	virtual bool hasDeferredRemoval()
-	{
-		return m_hasDeferredRemoval;
-	}
-
-	virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)
-	{
-		m_ghostPairCallback = ghostPairCallback;
-	}
-
-	virtual void sortOverlappingPairs(btDispatcher* dispatcher);
-};
-
-///btNullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and unit testing.
-class btNullPairCache : public btOverlappingPairCache
-{
-	btBroadphasePairArray m_overlappingPairArray;
-
-public:
-	virtual btBroadphasePair* getOverlappingPairArrayPtr()
-	{
-		return &m_overlappingPairArray[0];
-	}
-	const btBroadphasePair* getOverlappingPairArrayPtr() const
-	{
-		return &m_overlappingPairArray[0];
-	}
-	btBroadphasePairArray& getOverlappingPairArray()
-	{
-		return m_overlappingPairArray;
-	}
-
-	virtual void cleanOverlappingPair(btBroadphasePair& /*pair*/, btDispatcher* /*dispatcher*/)
-	{
-	}
-
-	virtual int getNumOverlappingPairs() const
-	{
-		return 0;
-	}
-
-	virtual void cleanProxyFromPairs(btBroadphaseProxy* /*proxy*/, btDispatcher* /*dispatcher*/)
-	{
-	}
-
-	bool needsBroadphaseCollision(btBroadphaseProxy*, btBroadphaseProxy*) const
-	{
-		return true;
-	}
-	btOverlapFilterCallback* getOverlapFilterCallback()
-	{
-		return 0;
-	}
-	virtual void setOverlapFilterCallback(btOverlapFilterCallback* /*callback*/)
-	{
-	}
-
-	virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher* /*dispatcher*/)
-	{
-	}
-
-	virtual btBroadphasePair* findPair(btBroadphaseProxy* /*proxy0*/, btBroadphaseProxy* /*proxy1*/)
-	{
-		return 0;
-	}
-
-	virtual bool hasDeferredRemoval()
-	{
-		return true;
-	}
-
-	virtual void setInternalGhostPairCallback(btOverlappingPairCallback* /* ghostPairCallback */)
-	{
-	}
-
-	virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* /*proxy0*/, btBroadphaseProxy* /*proxy1*/)
-	{
-		return 0;
-	}
-
-	virtual void* removeOverlappingPair(btBroadphaseProxy* /*proxy0*/, btBroadphaseProxy* /*proxy1*/, btDispatcher* /*dispatcher*/)
-	{
-		return 0;
-	}
-
-	virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/, btDispatcher* /*dispatcher*/)
-	{
-	}
-
-	virtual void sortOverlappingPairs(btDispatcher* dispatcher)
-	{
-		(void)dispatcher;
-	}
-};
-
-#endif  //BT_OVERLAPPING_PAIR_CACHE_H
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h
deleted file mode 100644
index d16c72542f..0000000000
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h
+++ /dev/null
@@ -1,41 +0,0 @@
-
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef OVERLAPPING_PAIR_CALLBACK_H
-#define OVERLAPPING_PAIR_CALLBACK_H
-
-class btDispatcher;
-struct btBroadphasePair;
-
-///The btOverlappingPairCallback class is an additional optional broadphase user callback for adding/removing overlapping pairs, similar interface to btOverlappingPairCache.
-class btOverlappingPairCallback
-{
-protected:
-	btOverlappingPairCallback() {}
-
-public:
-	virtual ~btOverlappingPairCallback()
-	{
-	}
-
-	virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) = 0;
-
-	virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, btDispatcher* dispatcher) = 0;
-
-	virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0, btDispatcher* dispatcher) = 0;
-};
-
-#endif  //OVERLAPPING_PAIR_CALLBACK_H
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
deleted file mode 100644
index 19f1737b73..0000000000
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
+++ /dev/null
@@ -1,1341 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btQuantizedBvh.h"
-
-#include "LinearMath/btAabbUtil2.h"
-#include "LinearMath/btIDebugDraw.h"
-#include "LinearMath/btSerializer.h"
-
-#define RAYAABB2
-
-btQuantizedBvh::btQuantizedBvh() : m_bulletVersion(BT_BULLET_VERSION),
-								   m_useQuantization(false),
-								   //m_traversalMode(TRAVERSAL_STACKLESS_CACHE_FRIENDLY)
-								   m_traversalMode(TRAVERSAL_STACKLESS)
-								   //m_traversalMode(TRAVERSAL_RECURSIVE)
-								   ,
-								   m_subtreeHeaderCount(0)  //PCK: add this line
-{
-	m_bvhAabbMin.setValue(-SIMD_INFINITY, -SIMD_INFINITY, -SIMD_INFINITY);
-	m_bvhAabbMax.setValue(SIMD_INFINITY, SIMD_INFINITY, SIMD_INFINITY);
-}
-
-void btQuantizedBvh::buildInternal()
-{
-	///assumes that caller filled in the m_quantizedLeafNodes
-	m_useQuantization = true;
-	int numLeafNodes = 0;
-
-	if (m_useQuantization)
-	{
-		//now we have an array of leafnodes in m_leafNodes
-		numLeafNodes = m_quantizedLeafNodes.size();
-
-		m_quantizedContiguousNodes.resize(2 * numLeafNodes);
-	}
-
-	m_curNodeIndex = 0;
-
-	buildTree(0, numLeafNodes);
-
-	///if the entire tree is small then subtree size, we need to create a header info for the tree
-	if (m_useQuantization && !m_SubtreeHeaders.size())
-	{
-		btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
-		subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[0]);
-		subtree.m_rootNodeIndex = 0;
-		subtree.m_subtreeSize = m_quantizedContiguousNodes[0].isLeafNode() ? 1 : m_quantizedContiguousNodes[0].getEscapeIndex();
-	}
-
-	//PCK: update the copy of the size
-	m_subtreeHeaderCount = m_SubtreeHeaders.size();
-
-	//PCK: clear m_quantizedLeafNodes and m_leafNodes, they are temporary
-	m_quantizedLeafNodes.clear();
-	m_leafNodes.clear();
-}
-
-///just for debugging, to visualize the individual patches/subtrees
-#ifdef DEBUG_PATCH_COLORS
-btVector3 color[4] =
-	{
-		btVector3(1, 0, 0),
-		btVector3(0, 1, 0),
-		btVector3(0, 0, 1),
-		btVector3(0, 1, 1)};
-#endif  //DEBUG_PATCH_COLORS
-
-void btQuantizedBvh::setQuantizationValues(const btVector3& bvhAabbMin, const btVector3& bvhAabbMax, btScalar quantizationMargin)
-{
-	//enlarge the AABB to avoid division by zero when initializing the quantization values
-	btVector3 clampValue(quantizationMargin, quantizationMargin, quantizationMargin);
-	m_bvhAabbMin = bvhAabbMin - clampValue;
-	m_bvhAabbMax = bvhAabbMax + clampValue;
-	btVector3 aabbSize = m_bvhAabbMax - m_bvhAabbMin;
-	m_bvhQuantization = btVector3(btScalar(65533.0), btScalar(65533.0), btScalar(65533.0)) / aabbSize;
-
-	m_useQuantization = true;
-
-	{
-		unsigned short vecIn[3];
-		btVector3 v;
-		{
-			quantize(vecIn, m_bvhAabbMin, false);
-			v = unQuantize(vecIn);
-			m_bvhAabbMin.setMin(v - clampValue);
-		}
-		aabbSize = m_bvhAabbMax - m_bvhAabbMin;
-		m_bvhQuantization = btVector3(btScalar(65533.0), btScalar(65533.0), btScalar(65533.0)) / aabbSize;
-		{
-			quantize(vecIn, m_bvhAabbMax, true);
-			v = unQuantize(vecIn);
-			m_bvhAabbMax.setMax(v + clampValue);
-		}
-		aabbSize = m_bvhAabbMax - m_bvhAabbMin;
-		m_bvhQuantization = btVector3(btScalar(65533.0), btScalar(65533.0), btScalar(65533.0)) / aabbSize;
-	}
-}
-
-btQuantizedBvh::~btQuantizedBvh()
-{
-}
-
-#ifdef DEBUG_TREE_BUILDING
-int gStackDepth = 0;
-int gMaxStackDepth = 0;
-#endif  //DEBUG_TREE_BUILDING
-
-void btQuantizedBvh::buildTree(int startIndex, int endIndex)
-{
-#ifdef DEBUG_TREE_BUILDING
-	gStackDepth++;
-	if (gStackDepth > gMaxStackDepth)
-		gMaxStackDepth = gStackDepth;
-#endif  //DEBUG_TREE_BUILDING
-
-	int splitAxis, splitIndex, i;
-	int numIndices = endIndex - startIndex;
-	int curIndex = m_curNodeIndex;
-
-	btAssert(numIndices > 0);
-
-	if (numIndices == 1)
-	{
-#ifdef DEBUG_TREE_BUILDING
-		gStackDepth--;
-#endif  //DEBUG_TREE_BUILDING
-
-		assignInternalNodeFromLeafNode(m_curNodeIndex, startIndex);
-
-		m_curNodeIndex++;
-		return;
-	}
-	//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
-
-	splitAxis = calcSplittingAxis(startIndex, endIndex);
-
-	splitIndex = sortAndCalcSplittingIndex(startIndex, endIndex, splitAxis);
-
-	int internalNodeIndex = m_curNodeIndex;
-
-	//set the min aabb to 'inf' or a max value, and set the max aabb to a -inf/minimum value.
-	//the aabb will be expanded during buildTree/mergeInternalNodeAabb with actual node values
-	setInternalNodeAabbMin(m_curNodeIndex, m_bvhAabbMax);  //can't use btVector3(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY)) because of quantization
-	setInternalNodeAabbMax(m_curNodeIndex, m_bvhAabbMin);  //can't use btVector3(-SIMD_INFINITY,-SIMD_INFINITY,-SIMD_INFINITY)) because of quantization
-
-	for (i = startIndex; i < endIndex; i++)
-	{
-		mergeInternalNodeAabb(m_curNodeIndex, getAabbMin(i), getAabbMax(i));
-	}
-
-	m_curNodeIndex++;
-
-	//internalNode->m_escapeIndex;
-
-	int leftChildNodexIndex = m_curNodeIndex;
-
-	//build left child tree
-	buildTree(startIndex, splitIndex);
-
-	int rightChildNodexIndex = m_curNodeIndex;
-	//build right child tree
-	buildTree(splitIndex, endIndex);
-
-#ifdef DEBUG_TREE_BUILDING
-	gStackDepth--;
-#endif  //DEBUG_TREE_BUILDING
-
-	int escapeIndex = m_curNodeIndex - curIndex;
-
-	if (m_useQuantization)
-	{
-		//escapeIndex is the number of nodes of this subtree
-		const int sizeQuantizedNode = sizeof(btQuantizedBvhNode);
-		const int treeSizeInBytes = escapeIndex * sizeQuantizedNode;
-		if (treeSizeInBytes > MAX_SUBTREE_SIZE_IN_BYTES)
-		{
-			updateSubtreeHeaders(leftChildNodexIndex, rightChildNodexIndex);
-		}
-	}
-	else
-	{
-	}
-
-	setInternalNodeEscapeIndex(internalNodeIndex, escapeIndex);
-}
-
-void btQuantizedBvh::updateSubtreeHeaders(int leftChildNodexIndex, int rightChildNodexIndex)
-{
-	btAssert(m_useQuantization);
-
-	btQuantizedBvhNode& leftChildNode = m_quantizedContiguousNodes[leftChildNodexIndex];
-	int leftSubTreeSize = leftChildNode.isLeafNode() ? 1 : leftChildNode.getEscapeIndex();
-	int leftSubTreeSizeInBytes = leftSubTreeSize * static_cast<int>(sizeof(btQuantizedBvhNode));
-
-	btQuantizedBvhNode& rightChildNode = m_quantizedContiguousNodes[rightChildNodexIndex];
-	int rightSubTreeSize = rightChildNode.isLeafNode() ? 1 : rightChildNode.getEscapeIndex();
-	int rightSubTreeSizeInBytes = rightSubTreeSize * static_cast<int>(sizeof(btQuantizedBvhNode));
-
-	if (leftSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES)
-	{
-		btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
-		subtree.setAabbFromQuantizeNode(leftChildNode);
-		subtree.m_rootNodeIndex = leftChildNodexIndex;
-		subtree.m_subtreeSize = leftSubTreeSize;
-	}
-
-	if (rightSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES)
-	{
-		btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
-		subtree.setAabbFromQuantizeNode(rightChildNode);
-		subtree.m_rootNodeIndex = rightChildNodexIndex;
-		subtree.m_subtreeSize = rightSubTreeSize;
-	}
-
-	//PCK: update the copy of the size
-	m_subtreeHeaderCount = m_SubtreeHeaders.size();
-}
-
-int btQuantizedBvh::sortAndCalcSplittingIndex(int startIndex, int endIndex, int splitAxis)
-{
-	int i;
-	int splitIndex = startIndex;
-	int numIndices = endIndex - startIndex;
-	btScalar splitValue;
-
-	btVector3 means(btScalar(0.), btScalar(0.), btScalar(0.));
-	for (i = startIndex; i < endIndex; i++)
-	{
-		btVector3 center = btScalar(0.5) * (getAabbMax(i) + getAabbMin(i));
-		means += center;
-	}
-	means *= (btScalar(1.) / (btScalar)numIndices);
-
-	splitValue = means[splitAxis];
-
-	//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
-	for (i = startIndex; i < endIndex; i++)
-	{
-		btVector3 center = btScalar(0.5) * (getAabbMax(i) + getAabbMin(i));
-		if (center[splitAxis] > splitValue)
-		{
-			//swap
-			swapLeafNodes(i, splitIndex);
-			splitIndex++;
-		}
-	}
-
-	//if the splitIndex causes unbalanced trees, fix this by using the center in between startIndex and endIndex
-	//otherwise the tree-building might fail due to stack-overflows in certain cases.
-	//unbalanced1 is unsafe: it can cause stack overflows
-	//bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1)));
-
-	//unbalanced2 should work too: always use center (perfect balanced trees)
-	//bool unbalanced2 = true;
-
-	//this should be safe too:
-	int rangeBalancedIndices = numIndices / 3;
-	bool unbalanced = ((splitIndex <= (startIndex + rangeBalancedIndices)) || (splitIndex >= (endIndex - 1 - rangeBalancedIndices)));
-
-	if (unbalanced)
-	{
-		splitIndex = startIndex + (numIndices >> 1);
-	}
-
-	bool unbal = (splitIndex == startIndex) || (splitIndex == (endIndex));
-	(void)unbal;
-	btAssert(!unbal);
-
-	return splitIndex;
-}
-
-int btQuantizedBvh::calcSplittingAxis(int startIndex, int endIndex)
-{
-	int i;
-
-	btVector3 means(btScalar(0.), btScalar(0.), btScalar(0.));
-	btVector3 variance(btScalar(0.), btScalar(0.), btScalar(0.));
-	int numIndices = endIndex - startIndex;
-
-	for (i = startIndex; i < endIndex; i++)
-	{
-		btVector3 center = btScalar(0.5) * (getAabbMax(i) + getAabbMin(i));
-		means += center;
-	}
-	means *= (btScalar(1.) / (btScalar)numIndices);
-
-	for (i = startIndex; i < endIndex; i++)
-	{
-		btVector3 center = btScalar(0.5) * (getAabbMax(i) + getAabbMin(i));
-		btVector3 diff2 = center - means;
-		diff2 = diff2 * diff2;
-		variance += diff2;
-	}
-	variance *= (btScalar(1.) / ((btScalar)numIndices - 1));
-
-	return variance.maxAxis();
-}
-
-void btQuantizedBvh::reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& aabbMin, const btVector3& aabbMax) const
-{
-	//either choose recursive traversal (walkTree) or stackless (walkStacklessTree)
-
-	if (m_useQuantization)
-	{
-		///quantize query AABB
-		unsigned short int quantizedQueryAabbMin[3];
-		unsigned short int quantizedQueryAabbMax[3];
-		quantizeWithClamp(quantizedQueryAabbMin, aabbMin, 0);
-		quantizeWithClamp(quantizedQueryAabbMax, aabbMax, 1);
-
-		switch (m_traversalMode)
-		{
-			case TRAVERSAL_STACKLESS:
-				walkStacklessQuantizedTree(nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax, 0, m_curNodeIndex);
-				break;
-			case TRAVERSAL_STACKLESS_CACHE_FRIENDLY:
-				walkStacklessQuantizedTreeCacheFriendly(nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax);
-				break;
-			case TRAVERSAL_RECURSIVE:
-			{
-				const btQuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[0];
-				walkRecursiveQuantizedTreeAgainstQueryAabb(rootNode, nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax);
-			}
-			break;
-			default:
-				//unsupported
-				btAssert(0);
-		}
-	}
-	else
-	{
-		walkStacklessTree(nodeCallback, aabbMin, aabbMax);
-	}
-}
-
-void btQuantizedBvh::walkStacklessTree(btNodeOverlapCallback* nodeCallback, const btVector3& aabbMin, const btVector3& aabbMax) const
-{
-	btAssert(!m_useQuantization);
-
-	const btOptimizedBvhNode* rootNode = &m_contiguousNodes[0];
-	int escapeIndex, curIndex = 0;
-	int walkIterations = 0;
-	bool isLeafNode;
-	//PCK: unsigned instead of bool
-	unsigned aabbOverlap;
-
-	while (curIndex < m_curNodeIndex)
-	{
-		//catch bugs in tree data
-		btAssert(walkIterations < m_curNodeIndex);
-
-		walkIterations++;
-		aabbOverlap = TestAabbAgainstAabb2(aabbMin, aabbMax, rootNode->m_aabbMinOrg, rootNode->m_aabbMaxOrg);
-		isLeafNode = rootNode->m_escapeIndex == -1;
-
-		//PCK: unsigned instead of bool
-		if (isLeafNode && (aabbOverlap != 0))
-		{
-			nodeCallback->processNode(rootNode->m_subPart, rootNode->m_triangleIndex);
-		}
-
-		//PCK: unsigned instead of bool
-		if ((aabbOverlap != 0) || isLeafNode)
-		{
-			rootNode++;
-			curIndex++;
-		}
-		else
-		{
-			escapeIndex = rootNode->m_escapeIndex;
-			rootNode += escapeIndex;
-			curIndex += escapeIndex;
-		}
-	}
-}
-
-/*
-///this was the original recursive traversal, before we optimized towards stackless traversal
-void	btQuantizedBvh::walkTree(btOptimizedBvhNode* rootNode,btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const
-{
-	bool isLeafNode, aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMin,rootNode->m_aabbMax);
-	if (aabbOverlap)
-	{
-		isLeafNode = (!rootNode->m_leftChild && !rootNode->m_rightChild);
-		if (isLeafNode)
-		{
-			nodeCallback->processNode(rootNode);
-		} else
-		{
-			walkTree(rootNode->m_leftChild,nodeCallback,aabbMin,aabbMax);
-			walkTree(rootNode->m_rightChild,nodeCallback,aabbMin,aabbMax);
-		}
-	}
-
-}
-*/
-
-void btQuantizedBvh::walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantizedBvhNode* currentNode, btNodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const
-{
-	btAssert(m_useQuantization);
-
-	bool isLeafNode;
-	//PCK: unsigned instead of bool
-	unsigned aabbOverlap;
-
-	//PCK: unsigned instead of bool
-	aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, currentNode->m_quantizedAabbMin, currentNode->m_quantizedAabbMax);
-	isLeafNode = currentNode->isLeafNode();
-
-	//PCK: unsigned instead of bool
-	if (aabbOverlap != 0)
-	{
-		if (isLeafNode)
-		{
-			nodeCallback->processNode(currentNode->getPartId(), currentNode->getTriangleIndex());
-		}
-		else
-		{
-			//process left and right children
-			const btQuantizedBvhNode* leftChildNode = currentNode + 1;
-			walkRecursiveQuantizedTreeAgainstQueryAabb(leftChildNode, nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax);
-
-			const btQuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? leftChildNode + 1 : leftChildNode + leftChildNode->getEscapeIndex();
-			walkRecursiveQuantizedTreeAgainstQueryAabb(rightChildNode, nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax);
-		}
-	}
-}
-
-void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex, int endNodeIndex) const
-{
-	btAssert(!m_useQuantization);
-
-	const btOptimizedBvhNode* rootNode = &m_contiguousNodes[0];
-	int escapeIndex, curIndex = 0;
-	int walkIterations = 0;
-	bool isLeafNode;
-	//PCK: unsigned instead of bool
-	unsigned aabbOverlap = 0;
-	unsigned rayBoxOverlap = 0;
-	btScalar lambda_max = 1.0;
-
-	/* Quick pruning by quantized box */
-	btVector3 rayAabbMin = raySource;
-	btVector3 rayAabbMax = raySource;
-	rayAabbMin.setMin(rayTarget);
-	rayAabbMax.setMax(rayTarget);
-
-	/* Add box cast extents to bounding box */
-	rayAabbMin += aabbMin;
-	rayAabbMax += aabbMax;
-
-#ifdef RAYAABB2
-	btVector3 rayDir = (rayTarget - raySource);
-	rayDir.safeNormalize();// stephengold changed normalize to safeNormalize 2020-02-17
-	lambda_max = rayDir.dot(rayTarget - raySource);
-	///what about division by zero? --> just set rayDirection[i] to 1.0
-	btVector3 rayDirectionInverse;
-	rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
-	rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
-	rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
-	unsigned int sign[3] = {rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
-#endif
-
-	btVector3 bounds[2];
-
-	while (curIndex < m_curNodeIndex)
-	{
-		btScalar param = 1.0;
-		//catch bugs in tree data
-		btAssert(walkIterations < m_curNodeIndex);
-
-		walkIterations++;
-
-		bounds[0] = rootNode->m_aabbMinOrg;
-		bounds[1] = rootNode->m_aabbMaxOrg;
-		/* Add box cast extents */
-		bounds[0] -= aabbMax;
-		bounds[1] -= aabbMin;
-
-		aabbOverlap = TestAabbAgainstAabb2(rayAabbMin, rayAabbMax, rootNode->m_aabbMinOrg, rootNode->m_aabbMaxOrg);
-		//perhaps profile if it is worth doing the aabbOverlap test first
-
-#ifdef RAYAABB2
-		///careful with this check: need to check division by zero (above) and fix the unQuantize method
-		///thanks Joerg/hiker for the reproduction case!
-		///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
-		rayBoxOverlap = aabbOverlap ? btRayAabb2(raySource, rayDirectionInverse, sign, bounds, param, 0.0f, lambda_max) : false;
-
-#else
-		btVector3 normal;
-		rayBoxOverlap = btRayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
-#endif
-
-		isLeafNode = rootNode->m_escapeIndex == -1;
-
-		//PCK: unsigned instead of bool
-		if (isLeafNode && (rayBoxOverlap != 0))
-		{
-			nodeCallback->processNode(rootNode->m_subPart, rootNode->m_triangleIndex);
-		}
-
-		//PCK: unsigned instead of bool
-		if ((rayBoxOverlap != 0) || isLeafNode)
-		{
-			rootNode++;
-			curIndex++;
-		}
-		else
-		{
-			escapeIndex = rootNode->m_escapeIndex;
-			rootNode += escapeIndex;
-			curIndex += escapeIndex;
-		}
-	}
-}
-
-void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex, int endNodeIndex) const
-{
-	btAssert(m_useQuantization);
-
-	int curIndex = startNodeIndex;
-	int walkIterations = 0;
-	int subTreeSize = endNodeIndex - startNodeIndex;
-	(void)subTreeSize;
-
-	const btQuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[startNodeIndex];
-	int escapeIndex;
-
-	bool isLeafNode;
-	//PCK: unsigned instead of bool
-	unsigned boxBoxOverlap = 0;
-	unsigned rayBoxOverlap = 0;
-
-	btScalar lambda_max = 1.0;
-
-#ifdef RAYAABB2
-	btVector3 rayDirection = (rayTarget - raySource);
-	rayDirection.safeNormalize();// stephengold changed normalize to safeNormalize 2020-02-17
-	lambda_max = rayDirection.dot(rayTarget - raySource);
-	///what about division by zero? --> just set rayDirection[i] to 1.0
-	rayDirection[0] = rayDirection[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[0];
-	rayDirection[1] = rayDirection[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[1];
-	rayDirection[2] = rayDirection[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[2];
-	unsigned int sign[3] = {rayDirection[0] < 0.0, rayDirection[1] < 0.0, rayDirection[2] < 0.0};
-#endif
-
-	/* Quick pruning by quantized box */
-	btVector3 rayAabbMin = raySource;
-	btVector3 rayAabbMax = raySource;
-	rayAabbMin.setMin(rayTarget);
-	rayAabbMax.setMax(rayTarget);
-
-	/* Add box cast extents to bounding box */
-	rayAabbMin += aabbMin;
-	rayAabbMax += aabbMax;
-
-	unsigned short int quantizedQueryAabbMin[3];
-	unsigned short int quantizedQueryAabbMax[3];
-	quantizeWithClamp(quantizedQueryAabbMin, rayAabbMin, 0);
-	quantizeWithClamp(quantizedQueryAabbMax, rayAabbMax, 1);
-
-	while (curIndex < endNodeIndex)
-	{
-//#define VISUALLY_ANALYZE_BVH 1
-#ifdef VISUALLY_ANALYZE_BVH
-		//some code snippet to debugDraw aabb, to visually analyze bvh structure
-		static int drawPatch = 0;
-		//need some global access to a debugDrawer
-		extern btIDebugDraw* debugDrawerPtr;
-		if (curIndex == drawPatch)
-		{
-			btVector3 aabbMin, aabbMax;
-			aabbMin = unQuantize(rootNode->m_quantizedAabbMin);
-			aabbMax = unQuantize(rootNode->m_quantizedAabbMax);
-			btVector3 color(1, 0, 0);
-			debugDrawerPtr->drawAabb(aabbMin, aabbMax, color);
-		}
-#endif  //VISUALLY_ANALYZE_BVH
-
-		//catch bugs in tree data
-		btAssert(walkIterations < subTreeSize);
-
-		walkIterations++;
-		//PCK: unsigned instead of bool
-		// only interested if this is closer than any previous hit
-		btScalar param = 1.0;
-		rayBoxOverlap = 0;
-		boxBoxOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, rootNode->m_quantizedAabbMin, rootNode->m_quantizedAabbMax);
-		isLeafNode = rootNode->isLeafNode();
-		if (boxBoxOverlap)
-		{
-			btVector3 bounds[2];
-			bounds[0] = unQuantize(rootNode->m_quantizedAabbMin);
-			bounds[1] = unQuantize(rootNode->m_quantizedAabbMax);
-			/* Add box cast extents */
-			bounds[0] -= aabbMax;
-			bounds[1] -= aabbMin;
-			btVector3 normal;
-#if 0
-			bool ra2 = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max);
-			bool ra = btRayAabb (raySource, rayTarget, bounds[0], bounds[1], param, normal);
-			if (ra2 != ra)
-			{
-				printf("functions don't match\n");
-			}
-#endif
-#ifdef RAYAABB2
-			///careful with this check: need to check division by zero (above) and fix the unQuantize method
-			///thanks Joerg/hiker for the reproduction case!
-			///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
-
-			//BT_PROFILE("btRayAabb2");
-			rayBoxOverlap = btRayAabb2(raySource, rayDirection, sign, bounds, param, 0.0f, lambda_max);
-
-#else
-			rayBoxOverlap = true;  //btRayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
-#endif
-		}
-
-		if (isLeafNode && rayBoxOverlap)
-		{
-			nodeCallback->processNode(rootNode->getPartId(), rootNode->getTriangleIndex());
-		}
-
-		//PCK: unsigned instead of bool
-		if ((rayBoxOverlap != 0) || isLeafNode)
-		{
-			rootNode++;
-			curIndex++;
-		}
-		else
-		{
-			escapeIndex = rootNode->getEscapeIndex();
-			rootNode += escapeIndex;
-			curIndex += escapeIndex;
-		}
-	}
-}
-
-void btQuantizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax, int startNodeIndex, int endNodeIndex) const
-{
-	btAssert(m_useQuantization);
-
-	int curIndex = startNodeIndex;
-	int walkIterations = 0;
-	int subTreeSize = endNodeIndex - startNodeIndex;
-	(void)subTreeSize;
-
-	const btQuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[startNodeIndex];
-	int escapeIndex;
-
-	bool isLeafNode;
-	//PCK: unsigned instead of bool
-	unsigned aabbOverlap;
-
-	while (curIndex < endNodeIndex)
-	{
-//#define VISUALLY_ANALYZE_BVH 1
-#ifdef VISUALLY_ANALYZE_BVH
-		//some code snippet to debugDraw aabb, to visually analyze bvh structure
-		static int drawPatch = 0;
-		//need some global access to a debugDrawer
-		extern btIDebugDraw* debugDrawerPtr;
-		if (curIndex == drawPatch)
-		{
-			btVector3 aabbMin, aabbMax;
-			aabbMin = unQuantize(rootNode->m_quantizedAabbMin);
-			aabbMax = unQuantize(rootNode->m_quantizedAabbMax);
-			btVector3 color(1, 0, 0);
-			debugDrawerPtr->drawAabb(aabbMin, aabbMax, color);
-		}
-#endif  //VISUALLY_ANALYZE_BVH
-
-		//catch bugs in tree data
-		btAssert(walkIterations < subTreeSize);
-
-		walkIterations++;
-		//PCK: unsigned instead of bool
-		aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, rootNode->m_quantizedAabbMin, rootNode->m_quantizedAabbMax);
-		isLeafNode = rootNode->isLeafNode();
-
-		if (isLeafNode && aabbOverlap)
-		{
-			nodeCallback->processNode(rootNode->getPartId(), rootNode->getTriangleIndex());
-		}
-
-		//PCK: unsigned instead of bool
-		if ((aabbOverlap != 0) || isLeafNode)
-		{
-			rootNode++;
-			curIndex++;
-		}
-		else
-		{
-			escapeIndex = rootNode->getEscapeIndex();
-			rootNode += escapeIndex;
-			curIndex += escapeIndex;
-		}
-	}
-}
-
-//This traversal can be called from Playstation 3 SPU
-void btQuantizedBvh::walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const
-{
-	btAssert(m_useQuantization);
-
-	int i;
-
-	for (i = 0; i < this->m_SubtreeHeaders.size(); i++)
-	{
-		const btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
-
-		//PCK: unsigned instead of bool
-		unsigned overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, subtree.m_quantizedAabbMin, subtree.m_quantizedAabbMax);
-		if (overlap != 0)
-		{
-			walkStacklessQuantizedTree(nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax,
-									   subtree.m_rootNodeIndex,
-									   subtree.m_rootNodeIndex + subtree.m_subtreeSize);
-		}
-	}
-}
-
-void btQuantizedBvh::reportRayOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const
-{
-	reportBoxCastOverlappingNodex(nodeCallback, raySource, rayTarget, btVector3(0, 0, 0), btVector3(0, 0, 0));
-}
-
-void btQuantizedBvh::reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax) const
-{
-	//always use stackless
-
-	if (m_useQuantization)
-	{
-		walkStacklessQuantizedTreeAgainstRay(nodeCallback, raySource, rayTarget, aabbMin, aabbMax, 0, m_curNodeIndex);
-	}
-	else
-	{
-		walkStacklessTreeAgainstRay(nodeCallback, raySource, rayTarget, aabbMin, aabbMax, 0, m_curNodeIndex);
-	}
-	/*
-	{
-		//recursive traversal
-		btVector3 qaabbMin = raySource;
-		btVector3 qaabbMax = raySource;
-		qaabbMin.setMin(rayTarget);
-		qaabbMax.setMax(rayTarget);
-		qaabbMin += aabbMin;
-		qaabbMax += aabbMax;
-		reportAabbOverlappingNodex(nodeCallback,qaabbMin,qaabbMax);
-	}
-	*/
-}
-
-void btQuantizedBvh::swapLeafNodes(int i, int splitIndex)
-{
-	if (m_useQuantization)
-	{
-		btQuantizedBvhNode tmp = m_quantizedLeafNodes[i];
-		m_quantizedLeafNodes[i] = m_quantizedLeafNodes[splitIndex];
-		m_quantizedLeafNodes[splitIndex] = tmp;
-	}
-	else
-	{
-		btOptimizedBvhNode tmp = m_leafNodes[i];
-		m_leafNodes[i] = m_leafNodes[splitIndex];
-		m_leafNodes[splitIndex] = tmp;
-	}
-}
-
-void btQuantizedBvh::assignInternalNodeFromLeafNode(int internalNode, int leafNodeIndex)
-{
-	if (m_useQuantization)
-	{
-		m_quantizedContiguousNodes[internalNode] = m_quantizedLeafNodes[leafNodeIndex];
-	}
-	else
-	{
-		m_contiguousNodes[internalNode] = m_leafNodes[leafNodeIndex];
-	}
-}
-
-//PCK: include
-#include <new>
-
-#if 0
-//PCK: consts
-static const unsigned BVH_ALIGNMENT = 16;
-static const unsigned BVH_ALIGNMENT_MASK = BVH_ALIGNMENT-1;
-
-static const unsigned BVH_ALIGNMENT_BLOCKS = 2;
-#endif
-
-unsigned int btQuantizedBvh::getAlignmentSerializationPadding()
-{
-	// I changed this to 0 since the extra padding is not needed or used.
-	return 0;  //BVH_ALIGNMENT_BLOCKS * BVH_ALIGNMENT;
-}
-
-unsigned btQuantizedBvh::calculateSerializeBufferSize() const
-{
-	unsigned baseSize = sizeof(btQuantizedBvh) + getAlignmentSerializationPadding();
-	baseSize += sizeof(btBvhSubtreeInfo) * m_subtreeHeaderCount;
-	if (m_useQuantization)
-	{
-		return baseSize + m_curNodeIndex * sizeof(btQuantizedBvhNode);
-	}
-	return baseSize + m_curNodeIndex * sizeof(btOptimizedBvhNode);
-}
-
-bool btQuantizedBvh::serialize(void* o_alignedDataBuffer, unsigned /*i_dataBufferSize */, bool i_swapEndian) const
-{
-	btAssert(m_subtreeHeaderCount == m_SubtreeHeaders.size());
-	m_subtreeHeaderCount = m_SubtreeHeaders.size();
-
-	/*	if (i_dataBufferSize < calculateSerializeBufferSize() || o_alignedDataBuffer == NULL || (((unsigned)o_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
-	{
-		///check alignedment for buffer?
-		btAssert(0);
-		return false;
-	}
-*/
-
-	btQuantizedBvh* targetBvh = (btQuantizedBvh*)o_alignedDataBuffer;
-
-	// construct the class so the virtual function table, etc will be set up
-	// Also, m_leafNodes and m_quantizedLeafNodes will be initialized to default values by the constructor
-	new (targetBvh) btQuantizedBvh;
-
-	if (i_swapEndian)
-	{
-		targetBvh->m_curNodeIndex = static_cast<int>(btSwapEndian(m_curNodeIndex));
-
-		btSwapVector3Endian(m_bvhAabbMin, targetBvh->m_bvhAabbMin);
-		btSwapVector3Endian(m_bvhAabbMax, targetBvh->m_bvhAabbMax);
-		btSwapVector3Endian(m_bvhQuantization, targetBvh->m_bvhQuantization);
-
-		targetBvh->m_traversalMode = (btTraversalMode)btSwapEndian(m_traversalMode);
-		targetBvh->m_subtreeHeaderCount = static_cast<int>(btSwapEndian(m_subtreeHeaderCount));
-	}
-	else
-	{
-		targetBvh->m_curNodeIndex = m_curNodeIndex;
-		targetBvh->m_bvhAabbMin = m_bvhAabbMin;
-		targetBvh->m_bvhAabbMax = m_bvhAabbMax;
-		targetBvh->m_bvhQuantization = m_bvhQuantization;
-		targetBvh->m_traversalMode = m_traversalMode;
-		targetBvh->m_subtreeHeaderCount = m_subtreeHeaderCount;
-	}
-
-	targetBvh->m_useQuantization = m_useQuantization;
-
-	unsigned char* nodeData = (unsigned char*)targetBvh;
-	nodeData += sizeof(btQuantizedBvh);
-
-	unsigned sizeToAdd = 0;  //(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
-	nodeData += sizeToAdd;
-
-	int nodeCount = m_curNodeIndex;
-
-	if (m_useQuantization)
-	{
-		targetBvh->m_quantizedContiguousNodes.initializeFromBuffer(nodeData, nodeCount, nodeCount);
-
-		if (i_swapEndian)
-		{
-			for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++)
-			{
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] = btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0]);
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1] = btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1]);
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2] = btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2]);
-
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0] = btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0]);
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1] = btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1]);
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2] = btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2]);
-
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = static_cast<int>(btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex));
-			}
-		}
-		else
-		{
-			for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++)
-			{
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0];
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1];
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2];
-
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0];
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1];
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2];
-
-				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex;
-			}
-		}
-		nodeData += sizeof(btQuantizedBvhNode) * nodeCount;
-
-		// this clears the pointer in the member variable it doesn't really do anything to the data
-		// it does call the destructor on the contained objects, but they are all classes with no destructor defined
-		// so the memory (which is not freed) is left alone
-		targetBvh->m_quantizedContiguousNodes.initializeFromBuffer(NULL, 0, 0);
-	}
-	else
-	{
-		targetBvh->m_contiguousNodes.initializeFromBuffer(nodeData, nodeCount, nodeCount);
-
-		if (i_swapEndian)
-		{
-			for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++)
-			{
-				btSwapVector3Endian(m_contiguousNodes[nodeIndex].m_aabbMinOrg, targetBvh->m_contiguousNodes[nodeIndex].m_aabbMinOrg);
-				btSwapVector3Endian(m_contiguousNodes[nodeIndex].m_aabbMaxOrg, targetBvh->m_contiguousNodes[nodeIndex].m_aabbMaxOrg);
-
-				targetBvh->m_contiguousNodes[nodeIndex].m_escapeIndex = static_cast<int>(btSwapEndian(m_contiguousNodes[nodeIndex].m_escapeIndex));
-				targetBvh->m_contiguousNodes[nodeIndex].m_subPart = static_cast<int>(btSwapEndian(m_contiguousNodes[nodeIndex].m_subPart));
-				targetBvh->m_contiguousNodes[nodeIndex].m_triangleIndex = static_cast<int>(btSwapEndian(m_contiguousNodes[nodeIndex].m_triangleIndex));
-			}
-		}
-		else
-		{
-			for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++)
-			{
-				targetBvh->m_contiguousNodes[nodeIndex].m_aabbMinOrg = m_contiguousNodes[nodeIndex].m_aabbMinOrg;
-				targetBvh->m_contiguousNodes[nodeIndex].m_aabbMaxOrg = m_contiguousNodes[nodeIndex].m_aabbMaxOrg;
-
-				targetBvh->m_contiguousNodes[nodeIndex].m_escapeIndex = m_contiguousNodes[nodeIndex].m_escapeIndex;
-				targetBvh->m_contiguousNodes[nodeIndex].m_subPart = m_contiguousNodes[nodeIndex].m_subPart;
-				targetBvh->m_contiguousNodes[nodeIndex].m_triangleIndex = m_contiguousNodes[nodeIndex].m_triangleIndex;
-			}
-		}
-		nodeData += sizeof(btOptimizedBvhNode) * nodeCount;
-
-		// this clears the pointer in the member variable it doesn't really do anything to the data
-		// it does call the destructor on the contained objects, but they are all classes with no destructor defined
-		// so the memory (which is not freed) is left alone
-		targetBvh->m_contiguousNodes.initializeFromBuffer(NULL, 0, 0);
-	}
-
-	sizeToAdd = 0;  //(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
-	nodeData += sizeToAdd;
-
-	// Now serialize the subtree headers
-	targetBvh->m_SubtreeHeaders.initializeFromBuffer(nodeData, m_subtreeHeaderCount, m_subtreeHeaderCount);
-	if (i_swapEndian)
-	{
-		for (int i = 0; i < m_subtreeHeaderCount; i++)
-		{
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[0] = btSwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMin[0]);
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[1] = btSwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMin[1]);
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[2] = btSwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMin[2]);
-
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[0] = btSwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMax[0]);
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[1] = btSwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMax[1]);
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[2] = btSwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMax[2]);
-
-			targetBvh->m_SubtreeHeaders[i].m_rootNodeIndex = static_cast<int>(btSwapEndian(m_SubtreeHeaders[i].m_rootNodeIndex));
-			targetBvh->m_SubtreeHeaders[i].m_subtreeSize = static_cast<int>(btSwapEndian(m_SubtreeHeaders[i].m_subtreeSize));
-		}
-	}
-	else
-	{
-		for (int i = 0; i < m_subtreeHeaderCount; i++)
-		{
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[0] = (m_SubtreeHeaders[i].m_quantizedAabbMin[0]);
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[1] = (m_SubtreeHeaders[i].m_quantizedAabbMin[1]);
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[2] = (m_SubtreeHeaders[i].m_quantizedAabbMin[2]);
-
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[0] = (m_SubtreeHeaders[i].m_quantizedAabbMax[0]);
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[1] = (m_SubtreeHeaders[i].m_quantizedAabbMax[1]);
-			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[2] = (m_SubtreeHeaders[i].m_quantizedAabbMax[2]);
-
-			targetBvh->m_SubtreeHeaders[i].m_rootNodeIndex = (m_SubtreeHeaders[i].m_rootNodeIndex);
-			targetBvh->m_SubtreeHeaders[i].m_subtreeSize = (m_SubtreeHeaders[i].m_subtreeSize);
-
-			// need to clear padding in destination buffer
-			targetBvh->m_SubtreeHeaders[i].m_padding[0] = 0;
-			targetBvh->m_SubtreeHeaders[i].m_padding[1] = 0;
-			targetBvh->m_SubtreeHeaders[i].m_padding[2] = 0;
-		}
-	}
-	nodeData += sizeof(btBvhSubtreeInfo) * m_subtreeHeaderCount;
-
-	// this clears the pointer in the member variable it doesn't really do anything to the data
-	// it does call the destructor on the contained objects, but they are all classes with no destructor defined
-	// so the memory (which is not freed) is left alone
-	targetBvh->m_SubtreeHeaders.initializeFromBuffer(NULL, 0, 0);
-
-	// this wipes the virtual function table pointer at the start of the buffer for the class
-	*((void**)o_alignedDataBuffer) = NULL;
-
-	return true;
-}
-
-btQuantizedBvh* btQuantizedBvh::deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
-{
-	if (i_alignedDataBuffer == NULL)  // || (((unsigned)i_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
-	{
-		return NULL;
-	}
-	btQuantizedBvh* bvh = (btQuantizedBvh*)i_alignedDataBuffer;
-
-	if (i_swapEndian)
-	{
-		bvh->m_curNodeIndex = static_cast<int>(btSwapEndian(bvh->m_curNodeIndex));
-
-		btUnSwapVector3Endian(bvh->m_bvhAabbMin);
-		btUnSwapVector3Endian(bvh->m_bvhAabbMax);
-		btUnSwapVector3Endian(bvh->m_bvhQuantization);
-
-		bvh->m_traversalMode = (btTraversalMode)btSwapEndian(bvh->m_traversalMode);
-		bvh->m_subtreeHeaderCount = static_cast<int>(btSwapEndian(bvh->m_subtreeHeaderCount));
-	}
-
-	unsigned int calculatedBufSize = bvh->calculateSerializeBufferSize();
-	btAssert(calculatedBufSize <= i_dataBufferSize);
-
-	if (calculatedBufSize > i_dataBufferSize)
-	{
-		return NULL;
-	}
-
-	unsigned char* nodeData = (unsigned char*)bvh;
-	nodeData += sizeof(btQuantizedBvh);
-
-	unsigned sizeToAdd = 0;  //(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
-	nodeData += sizeToAdd;
-
-	int nodeCount = bvh->m_curNodeIndex;
-
-	// Must call placement new to fill in virtual function table, etc, but we don't want to overwrite most data, so call a special version of the constructor
-	// Also, m_leafNodes and m_quantizedLeafNodes will be initialized to default values by the constructor
-	new (bvh) btQuantizedBvh(*bvh, false);
-
-	if (bvh->m_useQuantization)
-	{
-		bvh->m_quantizedContiguousNodes.initializeFromBuffer(nodeData, nodeCount, nodeCount);
-
-		if (i_swapEndian)
-		{
-			for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++)
-			{
-				bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] = btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0]);
-				bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1] = btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1]);
-				bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2] = btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2]);
-
-				bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0] = btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0]);
-				bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1] = btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1]);
-				bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2] = btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2]);
-
-				bvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = static_cast<int>(btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex));
-			}
-		}
-		nodeData += sizeof(btQuantizedBvhNode) * nodeCount;
-	}
-	else
-	{
-		bvh->m_contiguousNodes.initializeFromBuffer(nodeData, nodeCount, nodeCount);
-
-		if (i_swapEndian)
-		{
-			for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++)
-			{
-				btUnSwapVector3Endian(bvh->m_contiguousNodes[nodeIndex].m_aabbMinOrg);
-				btUnSwapVector3Endian(bvh->m_contiguousNodes[nodeIndex].m_aabbMaxOrg);
-
-				bvh->m_contiguousNodes[nodeIndex].m_escapeIndex = static_cast<int>(btSwapEndian(bvh->m_contiguousNodes[nodeIndex].m_escapeIndex));
-				bvh->m_contiguousNodes[nodeIndex].m_subPart = static_cast<int>(btSwapEndian(bvh->m_contiguousNodes[nodeIndex].m_subPart));
-				bvh->m_contiguousNodes[nodeIndex].m_triangleIndex = static_cast<int>(btSwapEndian(bvh->m_contiguousNodes[nodeIndex].m_triangleIndex));
-			}
-		}
-		nodeData += sizeof(btOptimizedBvhNode) * nodeCount;
-	}
-
-	sizeToAdd = 0;  //(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
-	nodeData += sizeToAdd;
-
-	// Now serialize the subtree headers
-	bvh->m_SubtreeHeaders.initializeFromBuffer(nodeData, bvh->m_subtreeHeaderCount, bvh->m_subtreeHeaderCount);
-	if (i_swapEndian)
-	{
-		for (int i = 0; i < bvh->m_subtreeHeaderCount; i++)
-		{
-			bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[0] = btSwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[0]);
-			bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[1] = btSwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[1]);
-			bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[2] = btSwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[2]);
-
-			bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[0] = btSwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[0]);
-			bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[1] = btSwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[1]);
-			bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[2] = btSwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[2]);
-
-			bvh->m_SubtreeHeaders[i].m_rootNodeIndex = static_cast<int>(btSwapEndian(bvh->m_SubtreeHeaders[i].m_rootNodeIndex));
-			bvh->m_SubtreeHeaders[i].m_subtreeSize = static_cast<int>(btSwapEndian(bvh->m_SubtreeHeaders[i].m_subtreeSize));
-		}
-	}
-
-	return bvh;
-}
-
-// Constructor that prevents btVector3's default constructor from being called
-btQuantizedBvh::btQuantizedBvh(btQuantizedBvh& self, bool /* ownsMemory */) : m_bvhAabbMin(self.m_bvhAabbMin),
-																			  m_bvhAabbMax(self.m_bvhAabbMax),
-																			  m_bvhQuantization(self.m_bvhQuantization),
-																			  m_bulletVersion(BT_BULLET_VERSION)
-{
-}
-
-void btQuantizedBvh::deSerializeFloat(struct btQuantizedBvhFloatData& quantizedBvhFloatData)
-{
-	m_bvhAabbMax.deSerializeFloat(quantizedBvhFloatData.m_bvhAabbMax);
-	m_bvhAabbMin.deSerializeFloat(quantizedBvhFloatData.m_bvhAabbMin);
-	m_bvhQuantization.deSerializeFloat(quantizedBvhFloatData.m_bvhQuantization);
-
-	m_curNodeIndex = quantizedBvhFloatData.m_curNodeIndex;
-	m_useQuantization = quantizedBvhFloatData.m_useQuantization != 0;
-
-	{
-		int numElem = quantizedBvhFloatData.m_numContiguousLeafNodes;
-		m_contiguousNodes.resize(numElem);
-
-		if (numElem)
-		{
-			btOptimizedBvhNodeFloatData* memPtr = quantizedBvhFloatData.m_contiguousNodesPtr;
-
-			for (int i = 0; i < numElem; i++, memPtr++)
-			{
-				m_contiguousNodes[i].m_aabbMaxOrg.deSerializeFloat(memPtr->m_aabbMaxOrg);
-				m_contiguousNodes[i].m_aabbMinOrg.deSerializeFloat(memPtr->m_aabbMinOrg);
-				m_contiguousNodes[i].m_escapeIndex = memPtr->m_escapeIndex;
-				m_contiguousNodes[i].m_subPart = memPtr->m_subPart;
-				m_contiguousNodes[i].m_triangleIndex = memPtr->m_triangleIndex;
-			}
-		}
-	}
-
-	{
-		int numElem = quantizedBvhFloatData.m_numQuantizedContiguousNodes;
-		m_quantizedContiguousNodes.resize(numElem);
-
-		if (numElem)
-		{
-			btQuantizedBvhNodeData* memPtr = quantizedBvhFloatData.m_quantizedContiguousNodesPtr;
-			for (int i = 0; i < numElem; i++, memPtr++)
-			{
-				m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex = memPtr->m_escapeIndexOrTriangleIndex;
-				m_quantizedContiguousNodes[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
-				m_quantizedContiguousNodes[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
-				m_quantizedContiguousNodes[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
-				m_quantizedContiguousNodes[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
-				m_quantizedContiguousNodes[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1];
-				m_quantizedContiguousNodes[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2];
-			}
-		}
-	}
-
-	m_traversalMode = btTraversalMode(quantizedBvhFloatData.m_traversalMode);
-
-	{
-		int numElem = quantizedBvhFloatData.m_numSubtreeHeaders;
-		m_SubtreeHeaders.resize(numElem);
-		if (numElem)
-		{
-			btBvhSubtreeInfoData* memPtr = quantizedBvhFloatData.m_subTreeInfoPtr;
-			for (int i = 0; i < numElem; i++, memPtr++)
-			{
-				m_SubtreeHeaders[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
-				m_SubtreeHeaders[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
-				m_SubtreeHeaders[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
-				m_SubtreeHeaders[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
-				m_SubtreeHeaders[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1];
-				m_SubtreeHeaders[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2];
-				m_SubtreeHeaders[i].m_rootNodeIndex = memPtr->m_rootNodeIndex;
-				m_SubtreeHeaders[i].m_subtreeSize = memPtr->m_subtreeSize;
-			}
-		}
-	}
-}
-
-void btQuantizedBvh::deSerializeDouble(struct btQuantizedBvhDoubleData& quantizedBvhDoubleData)
-{
-	m_bvhAabbMax.deSerializeDouble(quantizedBvhDoubleData.m_bvhAabbMax);
-	m_bvhAabbMin.deSerializeDouble(quantizedBvhDoubleData.m_bvhAabbMin);
-	m_bvhQuantization.deSerializeDouble(quantizedBvhDoubleData.m_bvhQuantization);
-
-	m_curNodeIndex = quantizedBvhDoubleData.m_curNodeIndex;
-	m_useQuantization = quantizedBvhDoubleData.m_useQuantization != 0;
-
-	{
-		int numElem = quantizedBvhDoubleData.m_numContiguousLeafNodes;
-		m_contiguousNodes.resize(numElem);
-
-		if (numElem)
-		{
-			btOptimizedBvhNodeDoubleData* memPtr = quantizedBvhDoubleData.m_contiguousNodesPtr;
-
-			for (int i = 0; i < numElem; i++, memPtr++)
-			{
-				m_contiguousNodes[i].m_aabbMaxOrg.deSerializeDouble(memPtr->m_aabbMaxOrg);
-				m_contiguousNodes[i].m_aabbMinOrg.deSerializeDouble(memPtr->m_aabbMinOrg);
-				m_contiguousNodes[i].m_escapeIndex = memPtr->m_escapeIndex;
-				m_contiguousNodes[i].m_subPart = memPtr->m_subPart;
-				m_contiguousNodes[i].m_triangleIndex = memPtr->m_triangleIndex;
-			}
-		}
-	}
-
-	{
-		int numElem = quantizedBvhDoubleData.m_numQuantizedContiguousNodes;
-		m_quantizedContiguousNodes.resize(numElem);
-
-		if (numElem)
-		{
-			btQuantizedBvhNodeData* memPtr = quantizedBvhDoubleData.m_quantizedContiguousNodesPtr;
-			for (int i = 0; i < numElem; i++, memPtr++)
-			{
-				m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex = memPtr->m_escapeIndexOrTriangleIndex;
-				m_quantizedContiguousNodes[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
-				m_quantizedContiguousNodes[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
-				m_quantizedContiguousNodes[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
-				m_quantizedContiguousNodes[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
-				m_quantizedContiguousNodes[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1];
-				m_quantizedContiguousNodes[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2];
-			}
-		}
-	}
-
-	m_traversalMode = btTraversalMode(quantizedBvhDoubleData.m_traversalMode);
-
-	{
-		int numElem = quantizedBvhDoubleData.m_numSubtreeHeaders;
-		m_SubtreeHeaders.resize(numElem);
-		if (numElem)
-		{
-			btBvhSubtreeInfoData* memPtr = quantizedBvhDoubleData.m_subTreeInfoPtr;
-			for (int i = 0; i < numElem; i++, memPtr++)
-			{
-				m_SubtreeHeaders[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
-				m_SubtreeHeaders[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
-				m_SubtreeHeaders[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
-				m_SubtreeHeaders[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
-				m_SubtreeHeaders[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1];
-				m_SubtreeHeaders[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2];
-				m_SubtreeHeaders[i].m_rootNodeIndex = memPtr->m_rootNodeIndex;
-				m_SubtreeHeaders[i].m_subtreeSize = memPtr->m_subtreeSize;
-			}
-		}
-	}
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char* btQuantizedBvh::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btQuantizedBvhData* quantizedData = (btQuantizedBvhData*)dataBuffer;
-
-	m_bvhAabbMax.serialize(quantizedData->m_bvhAabbMax);
-	m_bvhAabbMin.serialize(quantizedData->m_bvhAabbMin);
-	m_bvhQuantization.serialize(quantizedData->m_bvhQuantization);
-
-	quantizedData->m_curNodeIndex = m_curNodeIndex;
-	quantizedData->m_useQuantization = m_useQuantization;
-
-	quantizedData->m_numContiguousLeafNodes = m_contiguousNodes.size();
-	quantizedData->m_contiguousNodesPtr = (btOptimizedBvhNodeData*)(m_contiguousNodes.size() ? serializer->getUniquePointer((void*)&m_contiguousNodes[0]) : 0);
-	if (quantizedData->m_contiguousNodesPtr)
-	{
-		int sz = sizeof(btOptimizedBvhNodeData);
-		int numElem = m_contiguousNodes.size();
-		btChunk* chunk = serializer->allocate(sz, numElem);
-		btOptimizedBvhNodeData* memPtr = (btOptimizedBvhNodeData*)chunk->m_oldPtr;
-		for (int i = 0; i < numElem; i++, memPtr++)
-		{
-			m_contiguousNodes[i].m_aabbMaxOrg.serialize(memPtr->m_aabbMaxOrg);
-			m_contiguousNodes[i].m_aabbMinOrg.serialize(memPtr->m_aabbMinOrg);
-			memPtr->m_escapeIndex = m_contiguousNodes[i].m_escapeIndex;
-			memPtr->m_subPart = m_contiguousNodes[i].m_subPart;
-			memPtr->m_triangleIndex = m_contiguousNodes[i].m_triangleIndex;
-			// Fill padding with zeros to appease msan.
-			memset(memPtr->m_pad, 0, sizeof(memPtr->m_pad));
-		}
-		serializer->finalizeChunk(chunk, "btOptimizedBvhNodeData", BT_ARRAY_CODE, (void*)&m_contiguousNodes[0]);
-	}
-
-	quantizedData->m_numQuantizedContiguousNodes = m_quantizedContiguousNodes.size();
-	//	printf("quantizedData->m_numQuantizedContiguousNodes=%d\n",quantizedData->m_numQuantizedContiguousNodes);
-	quantizedData->m_quantizedContiguousNodesPtr = (btQuantizedBvhNodeData*)(m_quantizedContiguousNodes.size() ? serializer->getUniquePointer((void*)&m_quantizedContiguousNodes[0]) : 0);
-	if (quantizedData->m_quantizedContiguousNodesPtr)
-	{
-		int sz = sizeof(btQuantizedBvhNodeData);
-		int numElem = m_quantizedContiguousNodes.size();
-		btChunk* chunk = serializer->allocate(sz, numElem);
-		btQuantizedBvhNodeData* memPtr = (btQuantizedBvhNodeData*)chunk->m_oldPtr;
-		for (int i = 0; i < numElem; i++, memPtr++)
-		{
-			memPtr->m_escapeIndexOrTriangleIndex = m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex;
-			memPtr->m_quantizedAabbMax[0] = m_quantizedContiguousNodes[i].m_quantizedAabbMax[0];
-			memPtr->m_quantizedAabbMax[1] = m_quantizedContiguousNodes[i].m_quantizedAabbMax[1];
-			memPtr->m_quantizedAabbMax[2] = m_quantizedContiguousNodes[i].m_quantizedAabbMax[2];
-			memPtr->m_quantizedAabbMin[0] = m_quantizedContiguousNodes[i].m_quantizedAabbMin[0];
-			memPtr->m_quantizedAabbMin[1] = m_quantizedContiguousNodes[i].m_quantizedAabbMin[1];
-			memPtr->m_quantizedAabbMin[2] = m_quantizedContiguousNodes[i].m_quantizedAabbMin[2];
-		}
-		serializer->finalizeChunk(chunk, "btQuantizedBvhNodeData", BT_ARRAY_CODE, (void*)&m_quantizedContiguousNodes[0]);
-	}
-
-	quantizedData->m_traversalMode = int(m_traversalMode);
-	quantizedData->m_numSubtreeHeaders = m_SubtreeHeaders.size();
-
-	quantizedData->m_subTreeInfoPtr = (btBvhSubtreeInfoData*)(m_SubtreeHeaders.size() ? serializer->getUniquePointer((void*)&m_SubtreeHeaders[0]) : 0);
-	if (quantizedData->m_subTreeInfoPtr)
-	{
-		int sz = sizeof(btBvhSubtreeInfoData);
-		int numElem = m_SubtreeHeaders.size();
-		btChunk* chunk = serializer->allocate(sz, numElem);
-		btBvhSubtreeInfoData* memPtr = (btBvhSubtreeInfoData*)chunk->m_oldPtr;
-		for (int i = 0; i < numElem; i++, memPtr++)
-		{
-			memPtr->m_quantizedAabbMax[0] = m_SubtreeHeaders[i].m_quantizedAabbMax[0];
-			memPtr->m_quantizedAabbMax[1] = m_SubtreeHeaders[i].m_quantizedAabbMax[1];
-			memPtr->m_quantizedAabbMax[2] = m_SubtreeHeaders[i].m_quantizedAabbMax[2];
-			memPtr->m_quantizedAabbMin[0] = m_SubtreeHeaders[i].m_quantizedAabbMin[0];
-			memPtr->m_quantizedAabbMin[1] = m_SubtreeHeaders[i].m_quantizedAabbMin[1];
-			memPtr->m_quantizedAabbMin[2] = m_SubtreeHeaders[i].m_quantizedAabbMin[2];
-
-			memPtr->m_rootNodeIndex = m_SubtreeHeaders[i].m_rootNodeIndex;
-			memPtr->m_subtreeSize = m_SubtreeHeaders[i].m_subtreeSize;
-		}
-		serializer->finalizeChunk(chunk, "btBvhSubtreeInfoData", BT_ARRAY_CODE, (void*)&m_SubtreeHeaders[0]);
-	}
-	return btQuantizedBvhDataName;
-}
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
deleted file mode 100644
index 1c47b9ccf2..0000000000
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
+++ /dev/null
@@ -1,543 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_QUANTIZED_BVH_H
-#define BT_QUANTIZED_BVH_H
-
-class btSerializer;
-
-//#define DEBUG_CHECK_DEQUANTIZATION 1
-#ifdef DEBUG_CHECK_DEQUANTIZATION
-#ifdef __SPU__
-#define printf spu_printf
-#endif  //__SPU__
-
-#include <stdio.h>
-#include <stdlib.h>
-#endif  //DEBUG_CHECK_DEQUANTIZATION
-
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btAlignedAllocator.h"
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btQuantizedBvhData btQuantizedBvhDoubleData
-#define btOptimizedBvhNodeData btOptimizedBvhNodeDoubleData
-#define btQuantizedBvhDataName "btQuantizedBvhDoubleData"
-#else
-#define btQuantizedBvhData btQuantizedBvhFloatData
-#define btOptimizedBvhNodeData btOptimizedBvhNodeFloatData
-#define btQuantizedBvhDataName "btQuantizedBvhFloatData"
-#endif
-
-//http://msdn.microsoft.com/library/default.asp?url=/library/en-us/vclang/html/vclrf__m128.asp
-
-//Note: currently we have 16 bytes per quantized node
-#define MAX_SUBTREE_SIZE_IN_BYTES 2048
-
-// 10 gives the potential for 1024 parts, with at most 2^21 (2097152) (minus one
-// actually) triangles each (since the sign bit is reserved
-#define MAX_NUM_PARTS_IN_BITS 10
-
-///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
-///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
-ATTRIBUTE_ALIGNED16(struct)
-btQuantizedBvhNode
-{
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	//12 bytes
-	unsigned short int m_quantizedAabbMin[3];
-	unsigned short int m_quantizedAabbMax[3];
-	//4 bytes
-	int m_escapeIndexOrTriangleIndex;
-
-	bool isLeafNode() const
-	{
-		//skipindex is negative (internal node), triangleindex >=0 (leafnode)
-		return (m_escapeIndexOrTriangleIndex >= 0);
-	}
-	int getEscapeIndex() const
-	{
-		btAssert(!isLeafNode());
-		return -m_escapeIndexOrTriangleIndex;
-	}
-	int getTriangleIndex() const
-	{
-		btAssert(isLeafNode());
-		unsigned int x = 0;
-		unsigned int y = (~(x & 0)) << (31 - MAX_NUM_PARTS_IN_BITS);
-		// Get only the lower bits where the triangle index is stored
-		return (m_escapeIndexOrTriangleIndex & ~(y));
-	}
-	int getPartId() const
-	{
-		btAssert(isLeafNode());
-		// Get only the highest bits where the part index is stored
-		return (m_escapeIndexOrTriangleIndex >> (31 - MAX_NUM_PARTS_IN_BITS));
-	}
-};
-
-/// btOptimizedBvhNode contains both internal and leaf node information.
-/// Total node size is 44 bytes / node. You can use the compressed version of 16 bytes.
-ATTRIBUTE_ALIGNED16(struct)
-btOptimizedBvhNode
-{
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	//32 bytes
-	btVector3 m_aabbMinOrg;
-	btVector3 m_aabbMaxOrg;
-
-	//4
-	int m_escapeIndex;
-
-	//8
-	//for child nodes
-	int m_subPart;
-	int m_triangleIndex;
-
-	//pad the size to 64 bytes
-	char m_padding[20];
-};
-
-///btBvhSubtreeInfo provides info to gather a subtree of limited size
-ATTRIBUTE_ALIGNED16(class)
-btBvhSubtreeInfo
-{
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	//12 bytes
-	unsigned short int m_quantizedAabbMin[3];
-	unsigned short int m_quantizedAabbMax[3];
-	//4 bytes, points to the root of the subtree
-	int m_rootNodeIndex;
-	//4 bytes
-	int m_subtreeSize;
-	int m_padding[3];
-
-	btBvhSubtreeInfo()
-	{
-		//memset(&m_padding[0], 0, sizeof(m_padding));
-	}
-
-	void setAabbFromQuantizeNode(const btQuantizedBvhNode& quantizedNode)
-	{
-		m_quantizedAabbMin[0] = quantizedNode.m_quantizedAabbMin[0];
-		m_quantizedAabbMin[1] = quantizedNode.m_quantizedAabbMin[1];
-		m_quantizedAabbMin[2] = quantizedNode.m_quantizedAabbMin[2];
-		m_quantizedAabbMax[0] = quantizedNode.m_quantizedAabbMax[0];
-		m_quantizedAabbMax[1] = quantizedNode.m_quantizedAabbMax[1];
-		m_quantizedAabbMax[2] = quantizedNode.m_quantizedAabbMax[2];
-	}
-};
-
-class btNodeOverlapCallback
-{
-public:
-	virtual ~btNodeOverlapCallback(){};
-
-	virtual void processNode(int subPart, int triangleIndex) = 0;
-};
-
-#include "LinearMath/btAlignedAllocator.h"
-#include "LinearMath/btAlignedObjectArray.h"
-
-///for code readability:
-typedef btAlignedObjectArray<btOptimizedBvhNode> NodeArray;
-typedef btAlignedObjectArray<btQuantizedBvhNode> QuantizedNodeArray;
-typedef btAlignedObjectArray<btBvhSubtreeInfo> BvhSubtreeInfoArray;
-
-///The btQuantizedBvh class stores an AABB tree that can be quickly traversed on CPU and Cell SPU.
-///It is used by the btBvhTriangleMeshShape as midphase.
-///It is recommended to use quantization for better performance and lower memory requirements.
-ATTRIBUTE_ALIGNED16(class)
-btQuantizedBvh
-{
-public:
-	enum btTraversalMode
-	{
-		TRAVERSAL_STACKLESS = 0,
-		TRAVERSAL_STACKLESS_CACHE_FRIENDLY,
-		TRAVERSAL_RECURSIVE
-	};
-
-protected:
-	btVector3 m_bvhAabbMin;
-	btVector3 m_bvhAabbMax;
-	btVector3 m_bvhQuantization;
-
-	int m_bulletVersion;  //for serialization versioning. It could also be used to detect endianess.
-
-	int m_curNodeIndex;
-	//quantization data
-	bool m_useQuantization;
-
-	NodeArray m_leafNodes;
-	NodeArray m_contiguousNodes;
-	QuantizedNodeArray m_quantizedLeafNodes;
-	QuantizedNodeArray m_quantizedContiguousNodes;
-
-	btTraversalMode m_traversalMode;
-	BvhSubtreeInfoArray m_SubtreeHeaders;
-
-	//This is only used for serialization so we don't have to add serialization directly to btAlignedObjectArray
-	mutable int m_subtreeHeaderCount;
-
-	///two versions, one for quantized and normal nodes. This allows code-reuse while maintaining readability (no template/macro!)
-	///this might be refactored into a virtual, it is usually not calculated at run-time
-	void setInternalNodeAabbMin(int nodeIndex, const btVector3& aabbMin)
-	{
-		if (m_useQuantization)
-		{
-			quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0], aabbMin, 0);
-		}
-		else
-		{
-			m_contiguousNodes[nodeIndex].m_aabbMinOrg = aabbMin;
-		}
-	}
-	void setInternalNodeAabbMax(int nodeIndex, const btVector3& aabbMax)
-	{
-		if (m_useQuantization)
-		{
-			quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0], aabbMax, 1);
-		}
-		else
-		{
-			m_contiguousNodes[nodeIndex].m_aabbMaxOrg = aabbMax;
-		}
-	}
-
-	btVector3 getAabbMin(int nodeIndex) const
-	{
-		if (m_useQuantization)
-		{
-			return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMin[0]);
-		}
-		//non-quantized
-		return m_leafNodes[nodeIndex].m_aabbMinOrg;
-	}
-	btVector3 getAabbMax(int nodeIndex) const
-	{
-		if (m_useQuantization)
-		{
-			return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMax[0]);
-		}
-		//non-quantized
-		return m_leafNodes[nodeIndex].m_aabbMaxOrg;
-	}
-
-	void setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex)
-	{
-		if (m_useQuantization)
-		{
-			m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = -escapeIndex;
-		}
-		else
-		{
-			m_contiguousNodes[nodeIndex].m_escapeIndex = escapeIndex;
-		}
-	}
-
-	void mergeInternalNodeAabb(int nodeIndex, const btVector3& newAabbMin, const btVector3& newAabbMax)
-	{
-		if (m_useQuantization)
-		{
-			unsigned short int quantizedAabbMin[3];
-			unsigned short int quantizedAabbMax[3];
-			quantize(quantizedAabbMin, newAabbMin, 0);
-			quantize(quantizedAabbMax, newAabbMax, 1);
-			for (int i = 0; i < 3; i++)
-			{
-				if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] > quantizedAabbMin[i])
-					m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] = quantizedAabbMin[i];
-
-				if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] < quantizedAabbMax[i])
-					m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] = quantizedAabbMax[i];
-			}
-		}
-		else
-		{
-			//non-quantized
-			m_contiguousNodes[nodeIndex].m_aabbMinOrg.setMin(newAabbMin);
-			m_contiguousNodes[nodeIndex].m_aabbMaxOrg.setMax(newAabbMax);
-		}
-	}
-
-	void swapLeafNodes(int firstIndex, int secondIndex);
-
-	void assignInternalNodeFromLeafNode(int internalNode, int leafNodeIndex);
-
-protected:
-	void buildTree(int startIndex, int endIndex);
-
-	int calcSplittingAxis(int startIndex, int endIndex);
-
-	int sortAndCalcSplittingIndex(int startIndex, int endIndex, int splitAxis);
-
-	void walkStacklessTree(btNodeOverlapCallback * nodeCallback, const btVector3& aabbMin, const btVector3& aabbMax) const;
-
-	void walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback * nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex, int endNodeIndex) const;
-	void walkStacklessQuantizedTree(btNodeOverlapCallback * nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax, int startNodeIndex, int endNodeIndex) const;
-	void walkStacklessTreeAgainstRay(btNodeOverlapCallback * nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex, int endNodeIndex) const;
-
-	///tree traversal designed for small-memory processors like PS3 SPU
-	void walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback * nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const;
-
-	///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
-	void walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantizedBvhNode* currentNode, btNodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const;
-
-	///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
-	void walkRecursiveQuantizedTreeAgainstQuantizedTree(const btQuantizedBvhNode* treeNodeA, const btQuantizedBvhNode* treeNodeB, btNodeOverlapCallback* nodeCallback) const;
-
-	void updateSubtreeHeaders(int leftChildNodexIndex, int rightChildNodexIndex);
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btQuantizedBvh();
-
-	virtual ~btQuantizedBvh();
-
-	///***************************************** expert/internal use only *************************
-	void setQuantizationValues(const btVector3& bvhAabbMin, const btVector3& bvhAabbMax, btScalar quantizationMargin = btScalar(1.0));
-	QuantizedNodeArray& getLeafNodeArray() { return m_quantizedLeafNodes; }
-	///buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized
-	void buildInternal();
-	///***************************************** expert/internal use only *************************
-
-	void reportAabbOverlappingNodex(btNodeOverlapCallback * nodeCallback, const btVector3& aabbMin, const btVector3& aabbMax) const;
-	void reportRayOverlappingNodex(btNodeOverlapCallback * nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const;
-	void reportBoxCastOverlappingNodex(btNodeOverlapCallback * nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax) const;
-
-	SIMD_FORCE_INLINE void quantize(unsigned short* out, const btVector3& point, int isMax) const
-	{
-		btAssert(m_useQuantization);
-
-		btAssert(point.getX() <= m_bvhAabbMax.getX());
-		btAssert(point.getY() <= m_bvhAabbMax.getY());
-		btAssert(point.getZ() <= m_bvhAabbMax.getZ());
-
-		btAssert(point.getX() >= m_bvhAabbMin.getX());
-		btAssert(point.getY() >= m_bvhAabbMin.getY());
-		btAssert(point.getZ() >= m_bvhAabbMin.getZ());
-
-		btVector3 v = (point - m_bvhAabbMin) * m_bvhQuantization;
-		///Make sure rounding is done in a way that unQuantize(quantizeWithClamp(...)) is conservative
-		///end-points always set the first bit, so that they are sorted properly (so that neighbouring AABBs overlap properly)
-		///@todo: double-check this
-		if (isMax)
-		{
-			out[0] = (unsigned short)(((unsigned short)(v.getX() + btScalar(1.)) | 1));
-			out[1] = (unsigned short)(((unsigned short)(v.getY() + btScalar(1.)) | 1));
-			out[2] = (unsigned short)(((unsigned short)(v.getZ() + btScalar(1.)) | 1));
-		}
-		else
-		{
-			out[0] = (unsigned short)(((unsigned short)(v.getX()) & 0xfffe));
-			out[1] = (unsigned short)(((unsigned short)(v.getY()) & 0xfffe));
-			out[2] = (unsigned short)(((unsigned short)(v.getZ()) & 0xfffe));
-		}
-
-#ifdef DEBUG_CHECK_DEQUANTIZATION
-		btVector3 newPoint = unQuantize(out);
-		if (isMax)
-		{
-			if (newPoint.getX() < point.getX())
-			{
-				printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.getX() - point.getX(), newPoint.getX(), point.getX());
-			}
-			if (newPoint.getY() < point.getY())
-			{
-				printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.getY() - point.getY(), newPoint.getY(), point.getY());
-			}
-			if (newPoint.getZ() < point.getZ())
-			{
-				printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.getZ() - point.getZ(), newPoint.getZ(), point.getZ());
-			}
-		}
-		else
-		{
-			if (newPoint.getX() > point.getX())
-			{
-				printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.getX() - point.getX(), newPoint.getX(), point.getX());
-			}
-			if (newPoint.getY() > point.getY())
-			{
-				printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.getY() - point.getY(), newPoint.getY(), point.getY());
-			}
-			if (newPoint.getZ() > point.getZ())
-			{
-				printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.getZ() - point.getZ(), newPoint.getZ(), point.getZ());
-			}
-		}
-#endif  //DEBUG_CHECK_DEQUANTIZATION
-	}
-
-	SIMD_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const btVector3& point2, int isMax) const
-	{
-		btAssert(m_useQuantization);
-
-		btVector3 clampedPoint(point2);
-		clampedPoint.setMax(m_bvhAabbMin);
-		clampedPoint.setMin(m_bvhAabbMax);
-
-		quantize(out, clampedPoint, isMax);
-	}
-
-	SIMD_FORCE_INLINE btVector3 unQuantize(const unsigned short* vecIn) const
-	{
-		btVector3 vecOut;
-		vecOut.setValue(
-			(btScalar)(vecIn[0]) / (m_bvhQuantization.getX()),
-			(btScalar)(vecIn[1]) / (m_bvhQuantization.getY()),
-			(btScalar)(vecIn[2]) / (m_bvhQuantization.getZ()));
-		vecOut += m_bvhAabbMin;
-		return vecOut;
-	}
-
-	///setTraversalMode let's you choose between stackless, recursive or stackless cache friendly tree traversal. Note this is only implemented for quantized trees.
-	void setTraversalMode(btTraversalMode traversalMode)
-	{
-		m_traversalMode = traversalMode;
-	}
-
-	SIMD_FORCE_INLINE QuantizedNodeArray& getQuantizedNodeArray()
-	{
-		return m_quantizedContiguousNodes;
-	}
-
-	SIMD_FORCE_INLINE BvhSubtreeInfoArray& getSubtreeInfoArray()
-	{
-		return m_SubtreeHeaders;
-	}
-
-	////////////////////////////////////////////////////////////////////
-
-	/////Calculate space needed to store BVH for serialization
-	unsigned calculateSerializeBufferSize() const;
-
-	/// Data buffer MUST be 16 byte aligned
-	virtual bool serialize(void* o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const;
-
-	///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
-	static btQuantizedBvh* deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
-
-	static unsigned int getAlignmentSerializationPadding();
-	//////////////////////////////////////////////////////////////////////
-
-	virtual int calculateSerializeBufferSizeNew() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-
-	virtual void deSerializeFloat(struct btQuantizedBvhFloatData & quantizedBvhFloatData);
-
-	virtual void deSerializeDouble(struct btQuantizedBvhDoubleData & quantizedBvhDoubleData);
-
-	////////////////////////////////////////////////////////////////////
-
-	SIMD_FORCE_INLINE bool isQuantized()
-	{
-		return m_useQuantization;
-	}
-
-private:
-	// Special "copy" constructor that allows for in-place deserialization
-	// Prevents btVector3's default constructor from being called, but doesn't inialize much else
-	// ownsMemory should most likely be false if deserializing, and if you are not, don't call this (it also changes the function signature, which we need)
-	btQuantizedBvh(btQuantizedBvh & other, bool ownsMemory);
-};
-
-// clang-format off
-// parser needs * with the name
-struct btBvhSubtreeInfoData
-{
-	int m_rootNodeIndex;
-	int m_subtreeSize;
-	unsigned short m_quantizedAabbMin[3];
-	unsigned short m_quantizedAabbMax[3];
-};
-
-struct btOptimizedBvhNodeFloatData
-{
-	btVector3FloatData m_aabbMinOrg;
-	btVector3FloatData m_aabbMaxOrg;
-	int m_escapeIndex;
-	int m_subPart;
-	int m_triangleIndex;
-	char m_pad[4];
-};
-
-struct btOptimizedBvhNodeDoubleData
-{
-	btVector3DoubleData m_aabbMinOrg;
-	btVector3DoubleData m_aabbMaxOrg;
-	int m_escapeIndex;
-	int m_subPart;
-	int m_triangleIndex;
-	char m_pad[4];
-};
-
-
-struct btQuantizedBvhNodeData
-{
-	unsigned short m_quantizedAabbMin[3];
-	unsigned short m_quantizedAabbMax[3];
-	int	m_escapeIndexOrTriangleIndex;
-};
-
-struct	btQuantizedBvhFloatData
-{
-	btVector3FloatData			m_bvhAabbMin;
-	btVector3FloatData			m_bvhAabbMax;
-	btVector3FloatData			m_bvhQuantization;
-	int					m_curNodeIndex;
-	int					m_useQuantization;
-	int					m_numContiguousLeafNodes;
-	int					m_numQuantizedContiguousNodes;
-	btOptimizedBvhNodeFloatData	*m_contiguousNodesPtr;
-	btQuantizedBvhNodeData		*m_quantizedContiguousNodesPtr;
-	btBvhSubtreeInfoData	*m_subTreeInfoPtr;
-	int					m_traversalMode;
-	int					m_numSubtreeHeaders;
-	
-};
-
-struct	btQuantizedBvhDoubleData
-{
-	btVector3DoubleData			m_bvhAabbMin;
-	btVector3DoubleData			m_bvhAabbMax;
-	btVector3DoubleData			m_bvhQuantization;
-	int							m_curNodeIndex;
-	int							m_useQuantization;
-	int							m_numContiguousLeafNodes;
-	int							m_numQuantizedContiguousNodes;
-	btOptimizedBvhNodeDoubleData	*m_contiguousNodesPtr;
-	btQuantizedBvhNodeData			*m_quantizedContiguousNodesPtr;
-
-	int							m_traversalMode;
-	int							m_numSubtreeHeaders;
-	btBvhSubtreeInfoData		*m_subTreeInfoPtr;
-};
-// clang-format on
-
-SIMD_FORCE_INLINE int btQuantizedBvh::calculateSerializeBufferSizeNew() const
-{
-	return sizeof(btQuantizedBvhData);
-}
-
-#endif  //BT_QUANTIZED_BVH_H
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
deleted file mode 100644
index b7fe0a1f34..0000000000
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
+++ /dev/null
@@ -1,325 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btSimpleBroadphase.h"
-#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btMatrix3x3.h"
-#include "LinearMath/btAabbUtil2.h"
-
-#include <new>
-
-void btSimpleBroadphase::validate()
-{
-	for (int i = 0; i < m_numHandles; i++)
-	{
-		for (int j = i + 1; j < m_numHandles; j++)
-		{
-			btAssert(&m_pHandles[i] != &m_pHandles[j]);
-		}
-	}
-}
-
-btSimpleBroadphase::btSimpleBroadphase(int maxProxies, btOverlappingPairCache* overlappingPairCache)
-	: m_pairCache(overlappingPairCache),
-	  m_ownsPairCache(false),
-	  m_invalidPair(0)
-{
-	if (!overlappingPairCache)
-	{
-		void* mem = btAlignedAlloc(sizeof(btHashedOverlappingPairCache), 16);
-		m_pairCache = new (mem) btHashedOverlappingPairCache();
-		m_ownsPairCache = true;
-	}
-
-	// allocate handles buffer and put all handles on free list
-	m_pHandlesRawPtr = btAlignedAlloc(sizeof(btSimpleBroadphaseProxy) * maxProxies, 16);
-	m_pHandles = new (m_pHandlesRawPtr) btSimpleBroadphaseProxy[maxProxies];
-	m_maxHandles = maxProxies;
-	m_numHandles = 0;
-	m_firstFreeHandle = 0;
-	m_LastHandleIndex = -1;
-
-	{
-		for (int i = m_firstFreeHandle; i < maxProxies; i++)
-		{
-			m_pHandles[i].SetNextFree(i + 1);
-			m_pHandles[i].m_uniqueId = i + 2;  //any UID will do, we just avoid too trivial values (0,1) for debugging purposes
-		}
-		m_pHandles[maxProxies - 1].SetNextFree(0);
-	}
-}
-
-btSimpleBroadphase::~btSimpleBroadphase()
-{
-	btAlignedFree(m_pHandlesRawPtr);
-
-	if (m_ownsPairCache)
-	{
-		m_pairCache->~btOverlappingPairCache();
-		btAlignedFree(m_pairCache);
-	}
-}
-
-btBroadphaseProxy* btSimpleBroadphase::createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* /*dispatcher*/)
-{
-	if (m_numHandles >= m_maxHandles)
-	{
-		btAssert(0);
-		return 0;  //should never happen, but don't let the game crash ;-)
-	}
-	btAssert(aabbMin[0] <= aabbMax[0] && aabbMin[1] <= aabbMax[1] && aabbMin[2] <= aabbMax[2]);
-
-	int newHandleIndex = allocHandle();
-	btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex]) btSimpleBroadphaseProxy(aabbMin, aabbMax, shapeType, userPtr, collisionFilterGroup, collisionFilterMask);
-
-	return proxy;
-}
-
-class RemovingOverlapCallback : public btOverlapCallback
-{
-protected:
-	virtual bool processOverlap(btBroadphasePair& pair)
-	{
-		(void)pair;
-		btAssert(0);
-		return false;
-	}
-};
-
-class RemovePairContainingProxy
-{
-	btBroadphaseProxy* m_targetProxy;
-
-public:
-	virtual ~RemovePairContainingProxy()
-	{
-	}
-
-protected:
-	virtual bool processOverlap(btBroadphasePair& pair)
-	{
-		btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0);
-		btSimpleBroadphaseProxy* proxy1 = static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1);
-
-		return ((m_targetProxy == proxy0 || m_targetProxy == proxy1));
-	};
-};
-
-void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg, btDispatcher* dispatcher)
-{
-	m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg, dispatcher);
-
-	btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg);
-	freeHandle(proxy0);
-
-	//validate();
-}
-
-void btSimpleBroadphase::getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	const btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
-	aabbMin = sbp->m_aabbMin;
-	aabbMax = sbp->m_aabbMax;
-}
-
-void btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* /*dispatcher*/)
-{
-	btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
-	sbp->m_aabbMin = aabbMin;
-	sbp->m_aabbMax = aabbMax;
-}
-
-void btSimpleBroadphase::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin, const btVector3& aabbMax)
-{
-	for (int i = 0; i <= m_LastHandleIndex; i++)
-	{
-		btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
-		if (!proxy->m_clientObject)
-		{
-			continue;
-		}
-		rayCallback.process(proxy);
-	}
-}
-
-void btSimpleBroadphase::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
-{
-	for (int i = 0; i <= m_LastHandleIndex; i++)
-	{
-		btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
-		if (!proxy->m_clientObject)
-		{
-			continue;
-		}
-		if (TestAabbAgainstAabb2(aabbMin, aabbMax, proxy->m_aabbMin, proxy->m_aabbMax))
-		{
-			callback.process(proxy);
-		}
-	}
-}
-
-bool btSimpleBroadphase::aabbOverlap(btSimpleBroadphaseProxy* proxy0, btSimpleBroadphaseProxy* proxy1)
-{
-	return proxy0->m_aabbMin[0] <= proxy1->m_aabbMax[0] && proxy1->m_aabbMin[0] <= proxy0->m_aabbMax[0] &&
-		   proxy0->m_aabbMin[1] <= proxy1->m_aabbMax[1] && proxy1->m_aabbMin[1] <= proxy0->m_aabbMax[1] &&
-		   proxy0->m_aabbMin[2] <= proxy1->m_aabbMax[2] && proxy1->m_aabbMin[2] <= proxy0->m_aabbMax[2];
-}
-
-//then remove non-overlapping ones
-class CheckOverlapCallback : public btOverlapCallback
-{
-public:
-	virtual bool processOverlap(btBroadphasePair& pair)
-	{
-		return (!btSimpleBroadphase::aabbOverlap(static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0), static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1)));
-	}
-};
-
-void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
-{
-	//first check for new overlapping pairs
-	int i, j;
-	if (m_numHandles >= 0)
-	{
-		int new_largest_index = -1;
-		for (i = 0; i <= m_LastHandleIndex; i++)
-		{
-			btSimpleBroadphaseProxy* proxy0 = &m_pHandles[i];
-			if (!proxy0->m_clientObject)
-			{
-				continue;
-			}
-			new_largest_index = i;
-			for (j = i + 1; j <= m_LastHandleIndex; j++)
-			{
-				btSimpleBroadphaseProxy* proxy1 = &m_pHandles[j];
-				btAssert(proxy0 != proxy1);
-				if (!proxy1->m_clientObject)
-				{
-					continue;
-				}
-
-				btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
-				btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
-
-				if (aabbOverlap(p0, p1))
-				{
-					if (!m_pairCache->findPair(proxy0, proxy1))
-					{
-						m_pairCache->addOverlappingPair(proxy0, proxy1);
-					}
-				}
-				else
-				{
-					if (!m_pairCache->hasDeferredRemoval())
-					{
-						if (m_pairCache->findPair(proxy0, proxy1))
-						{
-							m_pairCache->removeOverlappingPair(proxy0, proxy1, dispatcher);
-						}
-					}
-				}
-			}
-		}
-
-		m_LastHandleIndex = new_largest_index;
-
-		if (m_ownsPairCache && m_pairCache->hasDeferredRemoval())
-		{
-			btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
-
-			//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
-			overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
-
-			overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
-			m_invalidPair = 0;
-
-			btBroadphasePair previousPair;
-			previousPair.m_pProxy0 = 0;
-			previousPair.m_pProxy1 = 0;
-			previousPair.m_algorithm = 0;
-
-			for (i = 0; i < overlappingPairArray.size(); i++)
-			{
-				btBroadphasePair& pair = overlappingPairArray[i];
-
-				bool isDuplicate = (pair == previousPair);
-
-				previousPair = pair;
-
-				bool needsRemoval = false;
-
-				if (!isDuplicate)
-				{
-					bool hasOverlap = testAabbOverlap(pair.m_pProxy0, pair.m_pProxy1);
-
-					if (hasOverlap)
-					{
-						needsRemoval = false;  //callback->processOverlap(pair);
-					}
-					else
-					{
-						needsRemoval = true;
-					}
-				}
-				else
-				{
-					//remove duplicate
-					needsRemoval = true;
-					//should have no algorithm
-					btAssert(!pair.m_algorithm);
-				}
-
-				if (needsRemoval)
-				{
-					m_pairCache->cleanOverlappingPair(pair, dispatcher);
-
-					//		m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
-					//		m_overlappingPairArray.pop_back();
-					pair.m_pProxy0 = 0;
-					pair.m_pProxy1 = 0;
-					m_invalidPair++;
-				}
-			}
-
-			///if you don't like to skip the invalid pairs in the array, execute following code:
-#define CLEAN_INVALID_PAIRS 1
-#ifdef CLEAN_INVALID_PAIRS
-
-			//perform a sort, to sort 'invalid' pairs to the end
-			overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
-
-			overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
-			m_invalidPair = 0;
-#endif  //CLEAN_INVALID_PAIRS
-		}
-	}
-}
-
-bool btSimpleBroadphase::testAabbOverlap(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
-{
-	btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
-	btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
-	return aabbOverlap(p0, p1);
-}
-
-void btSimpleBroadphase::resetPool(btDispatcher* dispatcher)
-{
-	//not yet
-}
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
deleted file mode 100644
index 3e02fdc003..0000000000
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
+++ /dev/null
@@ -1,148 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SIMPLE_BROADPHASE_H
-#define BT_SIMPLE_BROADPHASE_H
-
-#include "btOverlappingPairCache.h"
-
-struct btSimpleBroadphaseProxy : public btBroadphaseProxy
-{
-	int m_nextFree;
-
-	//	int			m_handleId;
-
-	btSimpleBroadphaseProxy(){};
-
-	btSimpleBroadphaseProxy(const btVector3& minpt, const btVector3& maxpt, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask)
-		: btBroadphaseProxy(minpt, maxpt, userPtr, collisionFilterGroup, collisionFilterMask)
-	{
-		(void)shapeType;
-	}
-
-	SIMD_FORCE_INLINE void SetNextFree(int next) { m_nextFree = next; }
-	SIMD_FORCE_INLINE int GetNextFree() const { return m_nextFree; }
-};
-
-///The SimpleBroadphase is just a unit-test for btAxisSweep3, bt32BitAxisSweep3, or btDbvtBroadphase, so use those classes instead.
-///It is a brute force aabb culling broadphase based on O(n^2) aabb checks
-class btSimpleBroadphase : public btBroadphaseInterface
-{
-protected:
-	int m_numHandles;  // number of active handles
-	int m_maxHandles;  // max number of handles
-	int m_LastHandleIndex;
-
-	btSimpleBroadphaseProxy* m_pHandles;  // handles pool
-
-	void* m_pHandlesRawPtr;
-	int m_firstFreeHandle;  // free handles list
-
-	int allocHandle()
-	{
-		btAssert(m_numHandles < m_maxHandles);
-		int freeHandle = m_firstFreeHandle;
-		m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree();
-		m_numHandles++;
-		if (freeHandle > m_LastHandleIndex)
-		{
-			m_LastHandleIndex = freeHandle;
-		}
-		return freeHandle;
-	}
-
-	void freeHandle(btSimpleBroadphaseProxy* proxy)
-	{
-		int handle = int(proxy - m_pHandles);
-		btAssert(handle >= 0 && handle < m_maxHandles);
-		if (handle == m_LastHandleIndex)
-		{
-			m_LastHandleIndex--;
-		}
-		proxy->SetNextFree(m_firstFreeHandle);
-		m_firstFreeHandle = handle;
-
-		proxy->m_clientObject = 0;
-
-		m_numHandles--;
-	}
-
-	btOverlappingPairCache* m_pairCache;
-	bool m_ownsPairCache;
-
-	int m_invalidPair;
-
-	inline btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy)
-	{
-		btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxy);
-		return proxy0;
-	}
-
-	inline const btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy) const
-	{
-		const btSimpleBroadphaseProxy* proxy0 = static_cast<const btSimpleBroadphaseProxy*>(proxy);
-		return proxy0;
-	}
-
-	///reset broadphase internal structures, to ensure determinism/reproducability
-	virtual void resetPool(btDispatcher* dispatcher);
-
-	void validate();
-
-protected:
-public:
-	btSimpleBroadphase(int maxProxies = 16384, btOverlappingPairCache* overlappingPairCache = 0);
-	virtual ~btSimpleBroadphase();
-
-	static bool aabbOverlap(btSimpleBroadphaseProxy* proxy0, btSimpleBroadphaseProxy* proxy1);
-
-	virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
-
-	virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
-
-	virtual void destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher);
-	virtual void setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher);
-	virtual void getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const;
-
-	virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin = btVector3(0, 0, 0), const btVector3& aabbMax = btVector3(0, 0, 0));
-	virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
-
-	btOverlappingPairCache* getOverlappingPairCache()
-	{
-		return m_pairCache;
-	}
-	const btOverlappingPairCache* getOverlappingPairCache() const
-	{
-		return m_pairCache;
-	}
-
-	bool testAabbOverlap(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
-
-	///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
-	///will add some transform later
-	virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const
-	{
-		aabbMin.setValue(-BT_LARGE_FLOAT, -BT_LARGE_FLOAT, -BT_LARGE_FLOAT);
-		aabbMax.setValue(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT);
-	}
-
-	virtual void printStats()
-	{
-		//		printf("btSimpleBroadphase.h\n");
-		//		printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
-	}
-};
-
-#endif  //BT_SIMPLE_BROADPHASE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
deleted file mode 100644
index 7647f67360..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
+++ /dev/null
@@ -1,215 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "LinearMath/btScalar.h"
-#include "SphereTriangleDetector.h"
-#include "BulletCollision/CollisionShapes/btTriangleShape.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-
-SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere, btTriangleShape* triangle, btScalar contactBreakingThreshold)
-	: m_sphere(sphere),
-	  m_triangle(triangle),
-	  m_contactBreakingThreshold(contactBreakingThreshold)
-{
-}
-
-void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw, bool swapResults)
-{
-	(void)debugDraw;
-	const btTransform& transformA = input.m_transformA;
-	const btTransform& transformB = input.m_transformB;
-
-	btVector3 point, normal;
-	btScalar timeOfImpact = btScalar(1.);
-	btScalar depth = btScalar(0.);
-	//	output.m_distance = btScalar(BT_LARGE_FLOAT);
-	//move sphere into triangle space
-	btTransform sphereInTr = transformB.inverseTimes(transformA);
-
-	if (collide(sphereInTr.getOrigin(), point, normal, depth, timeOfImpact, m_contactBreakingThreshold))
-	{
-		if (swapResults)
-		{
-			btVector3 normalOnB = transformB.getBasis() * normal;
-			btVector3 normalOnA = -normalOnB;
-			btVector3 pointOnA = transformB * point + normalOnB * depth;
-			output.addContactPoint(normalOnA, pointOnA, depth);
-		}
-		else
-		{
-			output.addContactPoint(transformB.getBasis() * normal, transformB * point, depth);
-		}
-	}
-}
-
-// See also geometrictools.com
-// Basic idea: D = |p - (lo + t0*lv)| where t0 = lv . (p - lo) / lv . lv
-btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to, const btVector3& p, btVector3& nearest);
-
-btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to, const btVector3& p, btVector3& nearest)
-{
-	btVector3 diff = p - from;
-	btVector3 v = to - from;
-	btScalar t = v.dot(diff);
-
-	if (t > 0)
-	{
-		btScalar dotVV = v.dot(v);
-		if (t < dotVV)
-		{
-			t /= dotVV;
-			diff -= t * v;
-		}
-		else
-		{
-			t = 1;
-			diff -= v;
-		}
-	}
-	else
-		t = 0;
-
-	nearest = from + t * v;
-	return diff.dot(diff);
-}
-
-bool SphereTriangleDetector::facecontains(const btVector3& p, const btVector3* vertices, btVector3& normal)
-{
-	btVector3 lp(p);
-	btVector3 lnormal(normal);
-
-	return pointInTriangle(vertices, lnormal, &lp);
-}
-
-bool SphereTriangleDetector::collide(const btVector3& sphereCenter, btVector3& point, btVector3& resultNormal, btScalar& depth, btScalar& timeOfImpact, btScalar contactBreakingThreshold)
-{
-	const btVector3* vertices = &m_triangle->getVertexPtr(0);
-
-	btScalar radius = m_sphere->getRadius();
-	btScalar radiusWithThreshold = radius + contactBreakingThreshold;
-
-	btVector3 normal = (vertices[1] - vertices[0]).cross(vertices[2] - vertices[0]);
-
-	btScalar l2 = normal.length2();
-	bool hasContact = false;
-	btVector3 contactPoint;
-
-	if (l2 >= SIMD_EPSILON * SIMD_EPSILON)
-	{
-		normal /= btSqrt(l2);
-
-		btVector3 p1ToCentre = sphereCenter - vertices[0];
-		btScalar distanceFromPlane = p1ToCentre.dot(normal);
-
-		if (distanceFromPlane < btScalar(0.))
-		{
-			//triangle facing the other way
-			distanceFromPlane *= btScalar(-1.);
-			normal *= btScalar(-1.);
-		}
-
-		bool isInsideContactPlane = distanceFromPlane < radiusWithThreshold;
-
-		// Check for contact / intersection
-
-		if (isInsideContactPlane)
-		{
-			if (facecontains(sphereCenter, vertices, normal))
-			{
-				// Inside the contact wedge - touches a point on the shell plane
-				hasContact = true;
-				contactPoint = sphereCenter - normal * distanceFromPlane;
-			}
-			else
-			{
-				// Could be inside one of the contact capsules
-				btScalar contactCapsuleRadiusSqr = radiusWithThreshold * radiusWithThreshold;
-				btScalar minDistSqr = contactCapsuleRadiusSqr;
-				btVector3 nearestOnEdge;
-				for (int i = 0; i < m_triangle->getNumEdges(); i++)
-				{
-					btVector3 pa;
-					btVector3 pb;
-
-					m_triangle->getEdge(i, pa, pb);
-
-					btScalar distanceSqr = SegmentSqrDistance(pa, pb, sphereCenter, nearestOnEdge);
-					if (distanceSqr < minDistSqr)
-					{
-						// Yep, we're inside a capsule, and record the capsule with smallest distance
-						minDistSqr = distanceSqr;
-						hasContact = true;
-						contactPoint = nearestOnEdge;
-					}
-				}
-			}
-		}
-	}
-
-	if (hasContact)
-	{
-		btVector3 contactToCentre = sphereCenter - contactPoint;
-		btScalar distanceSqr = contactToCentre.length2();
-
-		if (distanceSqr < radiusWithThreshold * radiusWithThreshold)
-		{
-			if (distanceSqr > SIMD_EPSILON)
-			{
-				btScalar distance = btSqrt(distanceSqr);
-				resultNormal = contactToCentre;
-				resultNormal.normalize();
-				point = contactPoint;
-				depth = -(radius - distance);
-			}
-			else
-			{
-				resultNormal = normal;
-				point = contactPoint;
-				depth = -radius;
-			}
-			return true;
-		}
-	}
-
-	return false;
-}
-
-bool SphereTriangleDetector::pointInTriangle(const btVector3 vertices[], const btVector3& normal, btVector3* p)
-{
-	const btVector3* p1 = &vertices[0];
-	const btVector3* p2 = &vertices[1];
-	const btVector3* p3 = &vertices[2];
-
-	btVector3 edge1(*p2 - *p1);
-	btVector3 edge2(*p3 - *p2);
-	btVector3 edge3(*p1 - *p3);
-
-	btVector3 p1_to_p(*p - *p1);
-	btVector3 p2_to_p(*p - *p2);
-	btVector3 p3_to_p(*p - *p3);
-
-	btVector3 edge1_normal(edge1.cross(normal));
-	btVector3 edge2_normal(edge2.cross(normal));
-	btVector3 edge3_normal(edge3.cross(normal));
-
-	btScalar r1, r2, r3;
-	r1 = edge1_normal.dot(p1_to_p);
-	r2 = edge2_normal.dot(p2_to_p);
-	r3 = edge3_normal.dot(p3_to_p);
-	if ((r1 > 0 && r2 > 0 && r3 > 0) ||
-		(r1 <= 0 && r2 <= 0 && r3 <= 0))
-		return true;
-	return false;
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
deleted file mode 100644
index d47e47530d..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
+++ /dev/null
@@ -1,43 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SPHERE_TRIANGLE_DETECTOR_H
-#define BT_SPHERE_TRIANGLE_DETECTOR_H
-
-#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
-
-class btSphereShape;
-class btTriangleShape;
-
-/// sphere-triangle to match the btDiscreteCollisionDetectorInterface
-struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface
-{
-	virtual void getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw, bool swapResults = false);
-
-	SphereTriangleDetector(btSphereShape* sphere, btTriangleShape* triangle, btScalar contactBreakingThreshold);
-
-	virtual ~SphereTriangleDetector(){};
-
-	bool collide(const btVector3& sphereCenter, btVector3& point, btVector3& resultNormal, btScalar& depth, btScalar& timeOfImpact, btScalar contactBreakingThreshold);
-
-private:
-	bool pointInTriangle(const btVector3 vertices[], const btVector3& normal, btVector3* p);
-	bool facecontains(const btVector3& p, const btVector3* vertices, btVector3& normal);
-
-	btSphereShape* m_sphere;
-	btTriangleShape* m_triangle;
-	btScalar m_contactBreakingThreshold;
-};
-#endif  //BT_SPHERE_TRIANGLE_DETECTOR_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp
deleted file mode 100644
index ac5de45d27..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,47 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btActivatingCollisionAlgorithm.h"
-#include "btCollisionDispatcher.h"
-#include "btCollisionObject.h"
-
-btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
-	: btCollisionAlgorithm(ci)
-//,
-//m_colObj0(0),
-//m_colObj1(0)
-{
-}
-btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper*, const btCollisionObjectWrapper*)
-	: btCollisionAlgorithm(ci)
-//,
-//m_colObj0(0),
-//m_colObj1(0)
-{
-	//	if (ci.m_dispatcher1->needsCollision(colObj0,colObj1))
-	//	{
-	//		m_colObj0 = colObj0;
-	//		m_colObj1 = colObj1;
-	//
-	//		m_colObj0->activate();
-	//		m_colObj1->activate();
-	//	}
-}
-
-btActivatingCollisionAlgorithm::~btActivatingCollisionAlgorithm()
-{
-	//		m_colObj0->activate();
-	//		m_colObj1->activate();
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h
deleted file mode 100644
index 862060571b..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h
+++ /dev/null
@@ -1,35 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef __BT_ACTIVATING_COLLISION_ALGORITHM_H
-#define __BT_ACTIVATING_COLLISION_ALGORITHM_H
-
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-
-///This class is not enabled yet (work-in-progress) to more aggressively activate objects.
-class btActivatingCollisionAlgorithm : public btCollisionAlgorithm
-{
-	//	btCollisionObject* m_colObj0;
-	//	btCollisionObject* m_colObj1;
-
-protected:
-	btActivatingCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
-
-	btActivatingCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
-
-public:
-	virtual ~btActivatingCollisionAlgorithm();
-};
-#endif  //__BT_ACTIVATING_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
deleted file mode 100644
index 6873a95d90..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,411 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-* The b2CollidePolygons routines are Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///btBox2dBox2dCollisionAlgorithm, with modified b2CollidePolygons routines from the Box2D library.
-///The modifications include: switching from b2Vec to btVector3, redefinition of b2Dot, b2Cross
-
-#include "btBox2dBox2dCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/CollisionShapes/btBoxShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h"
-#include "BulletCollision/CollisionShapes/btBox2dShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-#define USE_PERSISTENT_CONTACTS 1
-
-btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* obj0Wrap, const btCollisionObjectWrapper* obj1Wrap)
-	: btActivatingCollisionAlgorithm(ci, obj0Wrap, obj1Wrap),
-	  m_ownManifold(false),
-	  m_manifoldPtr(mf)
-{
-	if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0Wrap->getCollisionObject(), obj1Wrap->getCollisionObject()))
-	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(obj0Wrap->getCollisionObject(), obj1Wrap->getCollisionObject());
-		m_ownManifold = true;
-	}
-}
-
-btBox2dBox2dCollisionAlgorithm::~btBox2dBox2dCollisionAlgorithm()
-{
-	if (m_ownManifold)
-	{
-		if (m_manifoldPtr)
-			m_dispatcher->releaseManifold(m_manifoldPtr);
-	}
-}
-
-void b2CollidePolygons(btManifoldResult* manifold, const btBox2dShape* polyA, const btTransform& xfA, const btBox2dShape* polyB, const btTransform& xfB);
-
-//#include <stdio.h>
-void btBox2dBox2dCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	if (!m_manifoldPtr)
-		return;
-
-	const btBox2dShape* box0 = (const btBox2dShape*)body0Wrap->getCollisionShape();
-	const btBox2dShape* box1 = (const btBox2dShape*)body1Wrap->getCollisionShape();
-
-	resultOut->setPersistentManifold(m_manifoldPtr);
-
-	b2CollidePolygons(resultOut, box0, body0Wrap->getWorldTransform(), box1, body1Wrap->getWorldTransform());
-
-	//  refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
-	if (m_ownManifold)
-	{
-		resultOut->refreshContactPoints();
-	}
-}
-
-btScalar btBox2dBox2dCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/, btCollisionObject* /*body1*/, const btDispatcherInfo& /*dispatchInfo*/, btManifoldResult* /*resultOut*/)
-{
-	//not yet
-	return 1.f;
-}
-
-struct ClipVertex
-{
-	btVector3 v;
-	int id;
-	//b2ContactID id;
-	//b2ContactID id;
-};
-
-#define b2Dot(a, b) (a).dot(b)
-#define b2Mul(a, b) (a) * (b)
-#define b2MulT(a, b) (a).transpose() * (b)
-#define b2Cross(a, b) (a).cross(b)
-#define btCrossS(a, s) btVector3(s* a.getY(), -s* a.getX(), 0.f)
-
-int b2_maxManifoldPoints = 2;
-
-static int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2],
-							 const btVector3& normal, btScalar offset)
-{
-	// Start with no output points
-	int numOut = 0;
-
-	// Calculate the distance of end points to the line
-	btScalar distance0 = b2Dot(normal, vIn[0].v) - offset;
-	btScalar distance1 = b2Dot(normal, vIn[1].v) - offset;
-
-	// If the points are behind the plane
-	if (distance0 <= 0.0f) vOut[numOut++] = vIn[0];
-	if (distance1 <= 0.0f) vOut[numOut++] = vIn[1];
-
-	// If the points are on different sides of the plane
-	if (distance0 * distance1 < 0.0f)
-	{
-		// Find intersection point of edge and plane
-		btScalar interp = distance0 / (distance0 - distance1);
-		vOut[numOut].v = vIn[0].v + interp * (vIn[1].v - vIn[0].v);
-		if (distance0 > 0.0f)
-		{
-			vOut[numOut].id = vIn[0].id;
-		}
-		else
-		{
-			vOut[numOut].id = vIn[1].id;
-		}
-		++numOut;
-	}
-
-	return numOut;
-}
-
-// Find the separation between poly1 and poly2 for a give edge normal on poly1.
-static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1, int edge1,
-							   const btBox2dShape* poly2, const btTransform& xf2)
-{
-	const btVector3* vertices1 = poly1->getVertices();
-	const btVector3* normals1 = poly1->getNormals();
-
-	int count2 = poly2->getVertexCount();
-	const btVector3* vertices2 = poly2->getVertices();
-
-	btAssert(0 <= edge1 && edge1 < poly1->getVertexCount());
-
-	// Convert normal from poly1's frame into poly2's frame.
-	btVector3 normal1World = b2Mul(xf1.getBasis(), normals1[edge1]);
-	btVector3 normal1 = b2MulT(xf2.getBasis(), normal1World);
-
-	// Find support vertex on poly2 for -normal.
-	int index = 0;
-	btScalar minDot = BT_LARGE_FLOAT;
-
-	if (count2 > 0)
-		index = (int)normal1.minDot(vertices2, count2, minDot);
-
-	btVector3 v1 = b2Mul(xf1, vertices1[edge1]);
-	btVector3 v2 = b2Mul(xf2, vertices2[index]);
-	btScalar separation = b2Dot(v2 - v1, normal1World);
-	return separation;
-}
-
-// Find the max separation between poly1 and poly2 using edge normals from poly1.
-static btScalar FindMaxSeparation(int* edgeIndex,
-								  const btBox2dShape* poly1, const btTransform& xf1,
-								  const btBox2dShape* poly2, const btTransform& xf2)
-{
-	int count1 = poly1->getVertexCount();
-	const btVector3* normals1 = poly1->getNormals();
-
-	// Vector pointing from the centroid of poly1 to the centroid of poly2.
-	btVector3 d = b2Mul(xf2, poly2->getCentroid()) - b2Mul(xf1, poly1->getCentroid());
-	btVector3 dLocal1 = b2MulT(xf1.getBasis(), d);
-
-	// Find edge normal on poly1 that has the largest projection onto d.
-	int edge = 0;
-	btScalar maxDot;
-	if (count1 > 0)
-		edge = (int)dLocal1.maxDot(normals1, count1, maxDot);
-
-	// Get the separation for the edge normal.
-	btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
-	if (s > 0.0f)
-	{
-		return s;
-	}
-
-	// Check the separation for the previous edge normal.
-	int prevEdge = edge - 1 >= 0 ? edge - 1 : count1 - 1;
-	btScalar sPrev = EdgeSeparation(poly1, xf1, prevEdge, poly2, xf2);
-	if (sPrev > 0.0f)
-	{
-		return sPrev;
-	}
-
-	// Check the separation for the next edge normal.
-	int nextEdge = edge + 1 < count1 ? edge + 1 : 0;
-	btScalar sNext = EdgeSeparation(poly1, xf1, nextEdge, poly2, xf2);
-	if (sNext > 0.0f)
-	{
-		return sNext;
-	}
-
-	// Find the best edge and the search direction.
-	int bestEdge;
-	btScalar bestSeparation;
-	int increment;
-	if (sPrev > s && sPrev > sNext)
-	{
-		increment = -1;
-		bestEdge = prevEdge;
-		bestSeparation = sPrev;
-	}
-	else if (sNext > s)
-	{
-		increment = 1;
-		bestEdge = nextEdge;
-		bestSeparation = sNext;
-	}
-	else
-	{
-		*edgeIndex = edge;
-		return s;
-	}
-
-	// Perform a local search for the best edge normal.
-	for (;;)
-	{
-		if (increment == -1)
-			edge = bestEdge - 1 >= 0 ? bestEdge - 1 : count1 - 1;
-		else
-			edge = bestEdge + 1 < count1 ? bestEdge + 1 : 0;
-
-		s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
-		if (s > 0.0f)
-		{
-			return s;
-		}
-
-		if (s > bestSeparation)
-		{
-			bestEdge = edge;
-			bestSeparation = s;
-		}
-		else
-		{
-			break;
-		}
-	}
-
-	*edgeIndex = bestEdge;
-	return bestSeparation;
-}
-
-static void FindIncidentEdge(ClipVertex c[2],
-							 const btBox2dShape* poly1, const btTransform& xf1, int edge1,
-							 const btBox2dShape* poly2, const btTransform& xf2)
-{
-	const btVector3* normals1 = poly1->getNormals();
-
-	int count2 = poly2->getVertexCount();
-	const btVector3* vertices2 = poly2->getVertices();
-	const btVector3* normals2 = poly2->getNormals();
-
-	btAssert(0 <= edge1 && edge1 < poly1->getVertexCount());
-
-	// Get the normal of the reference edge in poly2's frame.
-	btVector3 normal1 = b2MulT(xf2.getBasis(), b2Mul(xf1.getBasis(), normals1[edge1]));
-
-	// Find the incident edge on poly2.
-	int index = 0;
-	btScalar minDot = BT_LARGE_FLOAT;
-	for (int i = 0; i < count2; ++i)
-	{
-		btScalar dot = b2Dot(normal1, normals2[i]);
-		if (dot < minDot)
-		{
-			minDot = dot;
-			index = i;
-		}
-	}
-
-	// Build the clip vertices for the incident edge.
-	int i1 = index;
-	int i2 = i1 + 1 < count2 ? i1 + 1 : 0;
-
-	c[0].v = b2Mul(xf2, vertices2[i1]);
-	//	c[0].id.features.referenceEdge = (unsigned char)edge1;
-	//	c[0].id.features.incidentEdge = (unsigned char)i1;
-	//	c[0].id.features.incidentVertex = 0;
-
-	c[1].v = b2Mul(xf2, vertices2[i2]);
-	//	c[1].id.features.referenceEdge = (unsigned char)edge1;
-	//	c[1].id.features.incidentEdge = (unsigned char)i2;
-	//	c[1].id.features.incidentVertex = 1;
-}
-
-// Find edge normal of max separation on A - return if separating axis is found
-// Find edge normal of max separation on B - return if separation axis is found
-// Choose reference edge as min(minA, minB)
-// Find incident edge
-// Clip
-
-// The normal points from 1 to 2
-void b2CollidePolygons(btManifoldResult* manifold,
-					   const btBox2dShape* polyA, const btTransform& xfA,
-					   const btBox2dShape* polyB, const btTransform& xfB)
-{
-	int edgeA = 0;
-	btScalar separationA = FindMaxSeparation(&edgeA, polyA, xfA, polyB, xfB);
-	if (separationA > 0.0f)
-		return;
-
-	int edgeB = 0;
-	btScalar separationB = FindMaxSeparation(&edgeB, polyB, xfB, polyA, xfA);
-	if (separationB > 0.0f)
-		return;
-
-	const btBox2dShape* poly1;  // reference poly
-	const btBox2dShape* poly2;  // incident poly
-	btTransform xf1, xf2;
-	int edge1;  // reference edge
-	unsigned char flip;
-	const btScalar k_relativeTol = 0.98f;
-	const btScalar k_absoluteTol = 0.001f;
-
-	// TODO_ERIN use "radius" of poly for absolute tolerance.
-	if (separationB > k_relativeTol * separationA + k_absoluteTol)
-	{
-		poly1 = polyB;
-		poly2 = polyA;
-		xf1 = xfB;
-		xf2 = xfA;
-		edge1 = edgeB;
-		flip = 1;
-	}
-	else
-	{
-		poly1 = polyA;
-		poly2 = polyB;
-		xf1 = xfA;
-		xf2 = xfB;
-		edge1 = edgeA;
-		flip = 0;
-	}
-
-	ClipVertex incidentEdge[2];
-	FindIncidentEdge(incidentEdge, poly1, xf1, edge1, poly2, xf2);
-
-	int count1 = poly1->getVertexCount();
-	const btVector3* vertices1 = poly1->getVertices();
-
-	btVector3 v11 = vertices1[edge1];
-	btVector3 v12 = edge1 + 1 < count1 ? vertices1[edge1 + 1] : vertices1[0];
-
-	//btVector3 dv = v12 - v11;
-	btVector3 sideNormal = b2Mul(xf1.getBasis(), v12 - v11);
-	sideNormal.normalize();
-	btVector3 frontNormal = btCrossS(sideNormal, 1.0f);
-
-	v11 = b2Mul(xf1, v11);
-	v12 = b2Mul(xf1, v12);
-
-	btScalar frontOffset = b2Dot(frontNormal, v11);
-	btScalar sideOffset1 = -b2Dot(sideNormal, v11);
-	btScalar sideOffset2 = b2Dot(sideNormal, v12);
-
-	// Clip incident edge against extruded edge1 side edges.
-	ClipVertex clipPoints1[2];
-	clipPoints1[0].v.setValue(0, 0, 0);
-	clipPoints1[1].v.setValue(0, 0, 0);
-
-	ClipVertex clipPoints2[2];
-	clipPoints2[0].v.setValue(0, 0, 0);
-	clipPoints2[1].v.setValue(0, 0, 0);
-
-	int np;
-
-	// Clip to box side 1
-	np = ClipSegmentToLine(clipPoints1, incidentEdge, -sideNormal, sideOffset1);
-
-	if (np < 2)
-		return;
-
-	// Clip to negative box side 1
-	np = ClipSegmentToLine(clipPoints2, clipPoints1, sideNormal, sideOffset2);
-
-	if (np < 2)
-	{
-		return;
-	}
-
-	// Now clipPoints2 contains the clipped points.
-	btVector3 manifoldNormal = flip ? -frontNormal : frontNormal;
-
-	int pointCount = 0;
-	for (int i = 0; i < b2_maxManifoldPoints; ++i)
-	{
-		btScalar separation = b2Dot(frontNormal, clipPoints2[i].v) - frontOffset;
-
-		if (separation <= 0.0f)
-		{
-			//b2ManifoldPoint* cp = manifold->points + pointCount;
-			//btScalar separation = separation;
-			//cp->localPoint1 = b2MulT(xfA, clipPoints2[i].v);
-			//cp->localPoint2 = b2MulT(xfB, clipPoints2[i].v);
-
-			manifold->addContactPoint(-manifoldNormal, clipPoints2[i].v, separation);
-
-			//			cp->id = clipPoints2[i].id;
-			//			cp->id.features.flip = flip;
-			++pointCount;
-		}
-	}
-
-	//	manifold->pointCount = pointCount;}
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
deleted file mode 100644
index 3b66d1fd0b..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
+++ /dev/null
@@ -1,63 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
-#define BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
-
-#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
-#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
-
-class btPersistentManifold;
-
-///box-box collision detection
-class btBox2dBox2dCollisionAlgorithm : public btActivatingCollisionAlgorithm
-{
-	bool m_ownManifold;
-	btPersistentManifold* m_manifoldPtr;
-
-public:
-	btBox2dBox2dCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
-		: btActivatingCollisionAlgorithm(ci) {}
-
-	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
-
-	virtual ~btBox2dBox2dCollisionAlgorithm();
-
-	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
-	{
-		if (m_manifoldPtr && m_ownManifold)
-		{
-			manifoldArray.push_back(m_manifoldPtr);
-		}
-	}
-
-	struct CreateFunc : public btCollisionAlgorithmCreateFunc
-	{
-		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-		{
-			int bbsize = sizeof(btBox2dBox2dCollisionAlgorithm);
-			void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
-			return new (ptr) btBox2dBox2dCollisionAlgorithm(0, ci, body0Wrap, body1Wrap);
-		}
-	};
-};
-
-#endif  //BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
deleted file mode 100644
index 7a391e059a..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,80 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btBoxBoxCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/CollisionShapes/btBoxShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "btBoxBoxDetector.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-#define USE_PERSISTENT_CONTACTS 1
-
-btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-	: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
-	  m_ownManifold(false),
-	  m_manifoldPtr(mf)
-{
-	if (!m_manifoldPtr && m_dispatcher->needsCollision(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject()))
-	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
-		m_ownManifold = true;
-	}
-}
-
-btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm()
-{
-	if (m_ownManifold)
-	{
-		if (m_manifoldPtr)
-			m_dispatcher->releaseManifold(m_manifoldPtr);
-	}
-}
-
-void btBoxBoxCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	if (!m_manifoldPtr)
-		return;
-
-	const btBoxShape* box0 = (btBoxShape*)body0Wrap->getCollisionShape();
-	const btBoxShape* box1 = (btBoxShape*)body1Wrap->getCollisionShape();
-
-	/// report a contact. internally this will be kept persistent, and contact reduction is done
-	resultOut->setPersistentManifold(m_manifoldPtr);
-#ifndef USE_PERSISTENT_CONTACTS
-	m_manifoldPtr->clearManifold();
-#endif  //USE_PERSISTENT_CONTACTS
-
-	btDiscreteCollisionDetectorInterface::ClosestPointInput input;
-	input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
-	input.m_transformA = body0Wrap->getWorldTransform();
-	input.m_transformB = body1Wrap->getWorldTransform();
-
-	btBoxBoxDetector detector(box0, box1);
-	detector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
-
-#ifdef USE_PERSISTENT_CONTACTS
-	//  refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
-	if (m_ownManifold)
-	{
-		resultOut->refreshContactPoints();
-	}
-#endif  //USE_PERSISTENT_CONTACTS
-}
-
-btScalar btBoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/, btCollisionObject* /*body1*/, const btDispatcherInfo& /*dispatchInfo*/, btManifoldResult* /*resultOut*/)
-{
-	//not yet
-	return 1.f;
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
deleted file mode 100644
index eb21065765..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
+++ /dev/null
@@ -1,63 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_BOX_BOX__COLLISION_ALGORITHM_H
-#define BT_BOX_BOX__COLLISION_ALGORITHM_H
-
-#include "btActivatingCollisionAlgorithm.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
-#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
-
-class btPersistentManifold;
-
-///box-box collision detection
-class btBoxBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm
-{
-	bool m_ownManifold;
-	btPersistentManifold* m_manifoldPtr;
-
-public:
-	btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
-		: btActivatingCollisionAlgorithm(ci) {}
-
-	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	btBoxBoxCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
-
-	virtual ~btBoxBoxCollisionAlgorithm();
-
-	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
-	{
-		if (m_manifoldPtr && m_ownManifold)
-		{
-			manifoldArray.push_back(m_manifoldPtr);
-		}
-	}
-
-	struct CreateFunc : public btCollisionAlgorithmCreateFunc
-	{
-		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-		{
-			int bbsize = sizeof(btBoxBoxCollisionAlgorithm);
-			void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
-			return new (ptr) btBoxBoxCollisionAlgorithm(0, ci, body0Wrap, body1Wrap);
-		}
-	};
-};
-
-#endif  //BT_BOX_BOX__COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
deleted file mode 100644
index 202039956e..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
+++ /dev/null
@@ -1,767 +0,0 @@
-/*
- * Box-Box collision detection re-distributed under the ZLib license with permission from Russell L. Smith
- * Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org
- Bullet Continuous Collision Detection and Physics Library
- Bullet is Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///ODE box-box collision detection is adapted to work with Bullet
-
-#include "btBoxBoxDetector.h"
-#include "BulletCollision/CollisionShapes/btBoxShape.h"
-
-#include <float.h>
-#include <string.h>
-
-btBoxBoxDetector::btBoxBoxDetector(const btBoxShape* box1, const btBoxShape* box2)
-	: m_box1(box1),
-	  m_box2(box2)
-{
-}
-
-// given two boxes (p1,R1,side1) and (p2,R2,side2), collide them together and
-// generate contact points. this returns 0 if there is no contact otherwise
-// it returns the number of contacts generated.
-// `normal' returns the contact normal.
-// `depth' returns the maximum penetration depth along that normal.
-// `return_code' returns a number indicating the type of contact that was
-// detected:
-//        1,2,3 = box 2 intersects with a face of box 1
-//        4,5,6 = box 1 intersects with a face of box 2
-//        7..15 = edge-edge contact
-// `maxc' is the maximum number of contacts allowed to be generated, i.e.
-// the size of the `contact' array.
-// `contact' and `skip' are the contact array information provided to the
-// collision functions. this function only fills in the position and depth
-// fields.
-struct dContactGeom;
-#define dDOTpq(a, b, p, q) ((a)[0] * (b)[0] + (a)[p] * (b)[q] + (a)[2 * (p)] * (b)[2 * (q)])
-#define dInfinity FLT_MAX
-
-/*PURE_INLINE btScalar dDOT   (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,1); }
-PURE_INLINE btScalar dDOT13 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,3); }
-PURE_INLINE btScalar dDOT31 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,3,1); }
-PURE_INLINE btScalar dDOT33 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,3,3); }
-*/
-static btScalar dDOT(const btScalar* a, const btScalar* b) { return dDOTpq(a, b, 1, 1); }
-static btScalar dDOT44(const btScalar* a, const btScalar* b) { return dDOTpq(a, b, 4, 4); }
-static btScalar dDOT41(const btScalar* a, const btScalar* b) { return dDOTpq(a, b, 4, 1); }
-static btScalar dDOT14(const btScalar* a, const btScalar* b) { return dDOTpq(a, b, 1, 4); }
-#define dMULTIPLYOP1_331(A, op, B, C)   \
-	{                                   \
-		(A)[0] op dDOT41((B), (C));     \
-		(A)[1] op dDOT41((B + 1), (C)); \
-		(A)[2] op dDOT41((B + 2), (C)); \
-	}
-
-#define dMULTIPLYOP0_331(A, op, B, C) \
-	{                                 \
-		(A)[0] op dDOT((B), (C));     \
-		(A)[1] op dDOT((B + 4), (C)); \
-		(A)[2] op dDOT((B + 8), (C)); \
-	}
-
-#define dMULTIPLY1_331(A, B, C) dMULTIPLYOP1_331(A, =, B, C)
-#define dMULTIPLY0_331(A, B, C) dMULTIPLYOP0_331(A, =, B, C)
-
-typedef btScalar dMatrix3[4 * 3];
-
-void dLineClosestApproach(const btVector3& pa, const btVector3& ua,
-						  const btVector3& pb, const btVector3& ub,
-						  btScalar* alpha, btScalar* beta);
-void dLineClosestApproach(const btVector3& pa, const btVector3& ua,
-						  const btVector3& pb, const btVector3& ub,
-						  btScalar* alpha, btScalar* beta)
-{
-	btVector3 p;
-	p[0] = pb[0] - pa[0];
-	p[1] = pb[1] - pa[1];
-	p[2] = pb[2] - pa[2];
-	btScalar uaub = dDOT(ua, ub);
-	btScalar q1 = dDOT(ua, p);
-	btScalar q2 = -dDOT(ub, p);
-	btScalar d = 1 - uaub * uaub;
-	if (d <= btScalar(0.0001f))
-	{
-		// @@@ this needs to be made more robust
-		*alpha = 0;
-		*beta = 0;
-	}
-	else
-	{
-		d = 1.f / d;
-		*alpha = (q1 + uaub * q2) * d;
-		*beta = (uaub * q1 + q2) * d;
-	}
-}
-
-// find all the intersection points between the 2D rectangle with vertices
-// at (+/-h[0],+/-h[1]) and the 2D quadrilateral with vertices (p[0],p[1]),
-// (p[2],p[3]),(p[4],p[5]),(p[6],p[7]).
-//
-// the intersection points are returned as x,y pairs in the 'ret' array.
-// the number of intersection points is returned by the function (this will
-// be in the range 0 to 8).
-
-static int intersectRectQuad2(btScalar h[2], btScalar p[8], btScalar ret[16])
-{
-	// q (and r) contain nq (and nr) coordinate points for the current (and
-	// chopped) polygons
-	int nq = 4, nr = 0;
-	btScalar buffer[16];
-	btScalar* q = p;
-	btScalar* r = ret;
-	for (int dir = 0; dir <= 1; dir++)
-	{
-		// direction notation: xy[0] = x axis, xy[1] = y axis
-		for (int sign = -1; sign <= 1; sign += 2)
-		{
-			// chop q along the line xy[dir] = sign*h[dir]
-			btScalar* pq = q;
-			btScalar* pr = r;
-			nr = 0;
-			for (int i = nq; i > 0; i--)
-			{
-				// go through all points in q and all lines between adjacent points
-				if (sign * pq[dir] < h[dir])
-				{
-					// this point is inside the chopping line
-					pr[0] = pq[0];
-					pr[1] = pq[1];
-					pr += 2;
-					nr++;
-					if (nr & 8)
-					{
-						q = r;
-						goto done;
-					}
-				}
-				btScalar* nextq = (i > 1) ? pq + 2 : q;
-				if ((sign * pq[dir] < h[dir]) ^ (sign * nextq[dir] < h[dir]))
-				{
-					// this line crosses the chopping line
-					pr[1 - dir] = pq[1 - dir] + (nextq[1 - dir] - pq[1 - dir]) /
-													(nextq[dir] - pq[dir]) * (sign * h[dir] - pq[dir]);
-					pr[dir] = sign * h[dir];
-					pr += 2;
-					nr++;
-					if (nr & 8)
-					{
-						q = r;
-						goto done;
-					}
-				}
-				pq += 2;
-			}
-			q = r;
-			r = (q == ret) ? buffer : ret;
-			nq = nr;
-		}
-	}
-done:
-	if (q != ret) memcpy(ret, q, nr * 2 * sizeof(btScalar));
-	return nr;
-}
-
-#define M__PI 3.14159265f
-
-// given n points in the plane (array p, of size 2*n), generate m points that
-// best represent the whole set. the definition of 'best' here is not
-// predetermined - the idea is to select points that give good box-box
-// collision detection behavior. the chosen point indexes are returned in the
-// array iret (of size m). 'i0' is always the first entry in the array.
-// n must be in the range [1..8]. m must be in the range [1..n]. i0 must be
-// in the range [0..n-1].
-
-void cullPoints2(int n, btScalar p[], int m, int i0, int iret[]);
-void cullPoints2(int n, btScalar p[], int m, int i0, int iret[])
-{
-	// compute the centroid of the polygon in cx,cy
-	int i, j;
-	btScalar a, cx, cy, q;
-	if (n == 1)
-	{
-		cx = p[0];
-		cy = p[1];
-	}
-	else if (n == 2)
-	{
-		cx = btScalar(0.5) * (p[0] + p[2]);
-		cy = btScalar(0.5) * (p[1] + p[3]);
-	}
-	else
-	{
-		a = 0;
-		cx = 0;
-		cy = 0;
-		for (i = 0; i < (n - 1); i++)
-		{
-			q = p[i * 2] * p[i * 2 + 3] - p[i * 2 + 2] * p[i * 2 + 1];
-			a += q;
-			cx += q * (p[i * 2] + p[i * 2 + 2]);
-			cy += q * (p[i * 2 + 1] + p[i * 2 + 3]);
-		}
-		q = p[n * 2 - 2] * p[1] - p[0] * p[n * 2 - 1];
-		if (btFabs(a + q) > SIMD_EPSILON)
-		{
-			a = 1.f / (btScalar(3.0) * (a + q));
-		}
-		else
-		{
-			a = BT_LARGE_FLOAT;
-		}
-		cx = a * (cx + q * (p[n * 2 - 2] + p[0]));
-		cy = a * (cy + q * (p[n * 2 - 1] + p[1]));
-	}
-
-	// compute the angle of each point w.r.t. the centroid
-	btScalar A[8];
-	for (i = 0; i < n; i++) A[i] = btAtan2(p[i * 2 + 1] - cy, p[i * 2] - cx);
-
-	// search for points that have angles closest to A[i0] + i*(2*pi/m).
-	int avail[8];
-	for (i = 0; i < n; i++) avail[i] = 1;
-	avail[i0] = 0;
-	iret[0] = i0;
-	iret++;
-	for (j = 1; j < m; j++)
-	{
-		a = btScalar(j) * (2 * M__PI / m) + A[i0];
-		if (a > M__PI) a -= 2 * M__PI;
-		btScalar maxdiff = 1e9, diff;
-
-		*iret = i0;  // iret is not allowed to keep this value, but it sometimes does, when diff=#QNAN0
-
-		for (i = 0; i < n; i++)
-		{
-			if (avail[i])
-			{
-				diff = btFabs(A[i] - a);
-				if (diff > M__PI) diff = 2 * M__PI - diff;
-				if (diff < maxdiff)
-				{
-					maxdiff = diff;
-					*iret = i;
-				}
-			}
-		}
-#if defined(DEBUG) || defined(_DEBUG)
-		btAssert(*iret != i0);  // ensure iret got set
-#endif
-		avail[*iret] = 0;
-		iret++;
-	}
-}
-
-int dBoxBox2(const btVector3& p1, const dMatrix3 R1,
-			 const btVector3& side1, const btVector3& p2,
-			 const dMatrix3 R2, const btVector3& side2,
-			 btVector3& normal, btScalar* depth, int* return_code,
-			 int maxc, dContactGeom* /*contact*/, int /*skip*/, btDiscreteCollisionDetectorInterface::Result& output);
-int dBoxBox2(const btVector3& p1, const dMatrix3 R1,
-			 const btVector3& side1, const btVector3& p2,
-			 const dMatrix3 R2, const btVector3& side2,
-			 btVector3& normal, btScalar* depth, int* return_code,
-			 int maxc, dContactGeom* /*contact*/, int /*skip*/, btDiscreteCollisionDetectorInterface::Result& output)
-{
-	const btScalar fudge_factor = btScalar(1.05);
-	btVector3 p, pp, normalC(0.f, 0.f, 0.f);
-	const btScalar* normalR = 0;
-	btScalar A[3], B[3], R11, R12, R13, R21, R22, R23, R31, R32, R33,
-		Q11, Q12, Q13, Q21, Q22, Q23, Q31, Q32, Q33, s, s2, l;
-	int i, j, invert_normal, code;
-
-	// get vector from centers of box 1 to box 2, relative to box 1
-	p = p2 - p1;
-	dMULTIPLY1_331(pp, R1, p);  // get pp = p relative to body 1
-
-	// get side lengths / 2
-	A[0] = side1[0] * btScalar(0.5);
-	A[1] = side1[1] * btScalar(0.5);
-	A[2] = side1[2] * btScalar(0.5);
-	B[0] = side2[0] * btScalar(0.5);
-	B[1] = side2[1] * btScalar(0.5);
-	B[2] = side2[2] * btScalar(0.5);
-
-	// Rij is R1'*R2, i.e. the relative rotation between R1 and R2
-	R11 = dDOT44(R1 + 0, R2 + 0);
-	R12 = dDOT44(R1 + 0, R2 + 1);
-	R13 = dDOT44(R1 + 0, R2 + 2);
-	R21 = dDOT44(R1 + 1, R2 + 0);
-	R22 = dDOT44(R1 + 1, R2 + 1);
-	R23 = dDOT44(R1 + 1, R2 + 2);
-	R31 = dDOT44(R1 + 2, R2 + 0);
-	R32 = dDOT44(R1 + 2, R2 + 1);
-	R33 = dDOT44(R1 + 2, R2 + 2);
-
-	Q11 = btFabs(R11);
-	Q12 = btFabs(R12);
-	Q13 = btFabs(R13);
-	Q21 = btFabs(R21);
-	Q22 = btFabs(R22);
-	Q23 = btFabs(R23);
-	Q31 = btFabs(R31);
-	Q32 = btFabs(R32);
-	Q33 = btFabs(R33);
-
-	// for all 15 possible separating axes:
-	//   * see if the axis separates the boxes. if so, return 0.
-	//   * find the depth of the penetration along the separating axis (s2)
-	//   * if this is the largest depth so far, record it.
-	// the normal vector will be set to the separating axis with the smallest
-	// depth. note: normalR is set to point to a column of R1 or R2 if that is
-	// the smallest depth normal so far. otherwise normalR is 0 and normalC is
-	// set to a vector relative to body 1. invert_normal is 1 if the sign of
-	// the normal should be flipped.
-
-#define TST(expr1, expr2, norm, cc)    \
-	s2 = btFabs(expr1) - (expr2);      \
-	if (s2 > 0) return 0;              \
-	if (s2 > s)                        \
-	{                                  \
-		s = s2;                        \
-		normalR = norm;                \
-		invert_normal = ((expr1) < 0); \
-		code = (cc);                   \
-	}
-
-	s = -dInfinity;
-	invert_normal = 0;
-	code = 0;
-
-	// separating axis = u1,u2,u3
-	TST(pp[0], (A[0] + B[0] * Q11 + B[1] * Q12 + B[2] * Q13), R1 + 0, 1);
-	TST(pp[1], (A[1] + B[0] * Q21 + B[1] * Q22 + B[2] * Q23), R1 + 1, 2);
-	TST(pp[2], (A[2] + B[0] * Q31 + B[1] * Q32 + B[2] * Q33), R1 + 2, 3);
-
-	// separating axis = v1,v2,v3
-	TST(dDOT41(R2 + 0, p), (A[0] * Q11 + A[1] * Q21 + A[2] * Q31 + B[0]), R2 + 0, 4);
-	TST(dDOT41(R2 + 1, p), (A[0] * Q12 + A[1] * Q22 + A[2] * Q32 + B[1]), R2 + 1, 5);
-	TST(dDOT41(R2 + 2, p), (A[0] * Q13 + A[1] * Q23 + A[2] * Q33 + B[2]), R2 + 2, 6);
-
-	// note: cross product axes need to be scaled when s is computed.
-	// normal (n1,n2,n3) is relative to box 1.
-#undef TST
-#define TST(expr1, expr2, n1, n2, n3, cc)                \
-	s2 = btFabs(expr1) - (expr2);                        \
-	if (s2 > SIMD_EPSILON) return 0;                     \
-	l = btSqrt((n1) * (n1) + (n2) * (n2) + (n3) * (n3)); \
-	if (l > SIMD_EPSILON)                                \
-	{                                                    \
-		s2 /= l;                                         \
-		if (s2 * fudge_factor > s)                       \
-		{                                                \
-			s = s2;                                      \
-			normalR = 0;                                 \
-			normalC[0] = (n1) / l;                       \
-			normalC[1] = (n2) / l;                       \
-			normalC[2] = (n3) / l;                       \
-			invert_normal = ((expr1) < 0);               \
-			code = (cc);                                 \
-		}                                                \
-	}
-
-	btScalar fudge2(1.0e-5f);
-
-	Q11 += fudge2;
-	Q12 += fudge2;
-	Q13 += fudge2;
-
-	Q21 += fudge2;
-	Q22 += fudge2;
-	Q23 += fudge2;
-
-	Q31 += fudge2;
-	Q32 += fudge2;
-	Q33 += fudge2;
-
-	// separating axis = u1 x (v1,v2,v3)
-	TST(pp[2] * R21 - pp[1] * R31, (A[1] * Q31 + A[2] * Q21 + B[1] * Q13 + B[2] * Q12), 0, -R31, R21, 7);
-	TST(pp[2] * R22 - pp[1] * R32, (A[1] * Q32 + A[2] * Q22 + B[0] * Q13 + B[2] * Q11), 0, -R32, R22, 8);
-	TST(pp[2] * R23 - pp[1] * R33, (A[1] * Q33 + A[2] * Q23 + B[0] * Q12 + B[1] * Q11), 0, -R33, R23, 9);
-
-	// separating axis = u2 x (v1,v2,v3)
-	TST(pp[0] * R31 - pp[2] * R11, (A[0] * Q31 + A[2] * Q11 + B[1] * Q23 + B[2] * Q22), R31, 0, -R11, 10);
-	TST(pp[0] * R32 - pp[2] * R12, (A[0] * Q32 + A[2] * Q12 + B[0] * Q23 + B[2] * Q21), R32, 0, -R12, 11);
-	TST(pp[0] * R33 - pp[2] * R13, (A[0] * Q33 + A[2] * Q13 + B[0] * Q22 + B[1] * Q21), R33, 0, -R13, 12);
-
-	// separating axis = u3 x (v1,v2,v3)
-	TST(pp[1] * R11 - pp[0] * R21, (A[0] * Q21 + A[1] * Q11 + B[1] * Q33 + B[2] * Q32), -R21, R11, 0, 13);
-	TST(pp[1] * R12 - pp[0] * R22, (A[0] * Q22 + A[1] * Q12 + B[0] * Q33 + B[2] * Q31), -R22, R12, 0, 14);
-	TST(pp[1] * R13 - pp[0] * R23, (A[0] * Q23 + A[1] * Q13 + B[0] * Q32 + B[1] * Q31), -R23, R13, 0, 15);
-
-#undef TST
-
-	if (!code) return 0;
-
-	// if we get to this point, the boxes interpenetrate. compute the normal
-	// in global coordinates.
-	if (normalR)
-	{
-		normal[0] = normalR[0];
-		normal[1] = normalR[4];
-		normal[2] = normalR[8];
-	}
-	else
-	{
-		dMULTIPLY0_331(normal, R1, normalC);
-	}
-	if (invert_normal)
-	{
-		normal[0] = -normal[0];
-		normal[1] = -normal[1];
-		normal[2] = -normal[2];
-	}
-	*depth = -s;
-
-	// compute contact point(s)
-
-	if (code > 6)
-	{
-		// an edge from box 1 touches an edge from box 2.
-		// find a point pa on the intersecting edge of box 1
-		btVector3 pa;
-		btScalar sign;
-		for (i = 0; i < 3; i++) pa[i] = p1[i];
-		for (j = 0; j < 3; j++)
-		{
-			sign = (dDOT14(normal, R1 + j) > 0) ? btScalar(1.0) : btScalar(-1.0);
-			for (i = 0; i < 3; i++) pa[i] += sign * A[j] * R1[i * 4 + j];
-		}
-
-		// find a point pb on the intersecting edge of box 2
-		btVector3 pb;
-		for (i = 0; i < 3; i++) pb[i] = p2[i];
-		for (j = 0; j < 3; j++)
-		{
-			sign = (dDOT14(normal, R2 + j) > 0) ? btScalar(-1.0) : btScalar(1.0);
-			for (i = 0; i < 3; i++) pb[i] += sign * B[j] * R2[i * 4 + j];
-		}
-
-		btScalar alpha, beta;
-		btVector3 ua, ub;
-		for (i = 0; i < 3; i++) ua[i] = R1[((code)-7) / 3 + i * 4];
-		for (i = 0; i < 3; i++) ub[i] = R2[((code)-7) % 3 + i * 4];
-
-		dLineClosestApproach(pa, ua, pb, ub, &alpha, &beta);
-		for (i = 0; i < 3; i++) pa[i] += ua[i] * alpha;
-		for (i = 0; i < 3; i++) pb[i] += ub[i] * beta;
-
-		{
-			//contact[0].pos[i] = btScalar(0.5)*(pa[i]+pb[i]);
-			//contact[0].depth = *depth;
-			btVector3 pointInWorld;
-
-#ifdef USE_CENTER_POINT
-			for (i = 0; i < 3; i++)
-				pointInWorld[i] = (pa[i] + pb[i]) * btScalar(0.5);
-			output.addContactPoint(-normal, pointInWorld, -*depth);
-#else
-			output.addContactPoint(-normal, pb, -*depth);
-
-#endif  //
-			*return_code = code;
-		}
-		return 1;
-	}
-
-	// okay, we have a face-something intersection (because the separating
-	// axis is perpendicular to a face). define face 'a' to be the reference
-	// face (i.e. the normal vector is perpendicular to this) and face 'b' to be
-	// the incident face (the closest face of the other box).
-
-	const btScalar *Ra, *Rb, *pa, *pb, *Sa, *Sb;
-	if (code <= 3)
-	{
-		Ra = R1;
-		Rb = R2;
-		pa = p1;
-		pb = p2;
-		Sa = A;
-		Sb = B;
-	}
-	else
-	{
-		Ra = R2;
-		Rb = R1;
-		pa = p2;
-		pb = p1;
-		Sa = B;
-		Sb = A;
-	}
-
-	// nr = normal vector of reference face dotted with axes of incident box.
-	// anr = absolute values of nr.
-	btVector3 normal2, nr, anr;
-	if (code <= 3)
-	{
-		normal2[0] = normal[0];
-		normal2[1] = normal[1];
-		normal2[2] = normal[2];
-	}
-	else
-	{
-		normal2[0] = -normal[0];
-		normal2[1] = -normal[1];
-		normal2[2] = -normal[2];
-	}
-	dMULTIPLY1_331(nr, Rb, normal2);
-	anr[0] = btFabs(nr[0]);
-	anr[1] = btFabs(nr[1]);
-	anr[2] = btFabs(nr[2]);
-
-	// find the largest compontent of anr: this corresponds to the normal
-	// for the indident face. the other axis numbers of the indicent face
-	// are stored in a1,a2.
-	int lanr, a1, a2;
-	if (anr[1] > anr[0])
-	{
-		if (anr[1] > anr[2])
-		{
-			a1 = 0;
-			lanr = 1;
-			a2 = 2;
-		}
-		else
-		{
-			a1 = 0;
-			a2 = 1;
-			lanr = 2;
-		}
-	}
-	else
-	{
-		if (anr[0] > anr[2])
-		{
-			lanr = 0;
-			a1 = 1;
-			a2 = 2;
-		}
-		else
-		{
-			a1 = 0;
-			a2 = 1;
-			lanr = 2;
-		}
-	}
-
-	// compute center point of incident face, in reference-face coordinates
-	btVector3 center;
-	if (nr[lanr] < 0)
-	{
-		for (i = 0; i < 3; i++) center[i] = pb[i] - pa[i] + Sb[lanr] * Rb[i * 4 + lanr];
-	}
-	else
-	{
-		for (i = 0; i < 3; i++) center[i] = pb[i] - pa[i] - Sb[lanr] * Rb[i * 4 + lanr];
-	}
-
-	// find the normal and non-normal axis numbers of the reference box
-	int codeN, code1, code2;
-	if (code <= 3)
-		codeN = code - 1;
-	else
-		codeN = code - 4;
-	if (codeN == 0)
-	{
-		code1 = 1;
-		code2 = 2;
-	}
-	else if (codeN == 1)
-	{
-		code1 = 0;
-		code2 = 2;
-	}
-	else
-	{
-		code1 = 0;
-		code2 = 1;
-	}
-
-	// find the four corners of the incident face, in reference-face coordinates
-	btScalar quad[8];  // 2D coordinate of incident face (x,y pairs)
-	btScalar c1, c2, m11, m12, m21, m22;
-	c1 = dDOT14(center, Ra + code1);
-	c2 = dDOT14(center, Ra + code2);
-	// optimize this? - we have already computed this data above, but it is not
-	// stored in an easy-to-index format. for now it's quicker just to recompute
-	// the four dot products.
-	m11 = dDOT44(Ra + code1, Rb + a1);
-	m12 = dDOT44(Ra + code1, Rb + a2);
-	m21 = dDOT44(Ra + code2, Rb + a1);
-	m22 = dDOT44(Ra + code2, Rb + a2);
-	{
-		btScalar k1 = m11 * Sb[a1];
-		btScalar k2 = m21 * Sb[a1];
-		btScalar k3 = m12 * Sb[a2];
-		btScalar k4 = m22 * Sb[a2];
-		quad[0] = c1 - k1 - k3;
-		quad[1] = c2 - k2 - k4;
-		quad[2] = c1 - k1 + k3;
-		quad[3] = c2 - k2 + k4;
-		quad[4] = c1 + k1 + k3;
-		quad[5] = c2 + k2 + k4;
-		quad[6] = c1 + k1 - k3;
-		quad[7] = c2 + k2 - k4;
-	}
-
-	// find the size of the reference face
-	btScalar rect[2];
-	rect[0] = Sa[code1];
-	rect[1] = Sa[code2];
-
-	// intersect the incident and reference faces
-	btScalar ret[16];
-	int n = intersectRectQuad2(rect, quad, ret);
-	if (n < 1) return 0;  // this should never happen
-
-	// convert the intersection points into reference-face coordinates,
-	// and compute the contact position and depth for each point. only keep
-	// those points that have a positive (penetrating) depth. delete points in
-	// the 'ret' array as necessary so that 'point' and 'ret' correspond.
-	btScalar point[3 * 8];  // penetrating contact points
-	btScalar dep[8];        // depths for those points
-	btScalar det1 = 1.f / (m11 * m22 - m12 * m21);
-	m11 *= det1;
-	m12 *= det1;
-	m21 *= det1;
-	m22 *= det1;
-	int cnum = 0;  // number of penetrating contact points found
-	for (j = 0; j < n; j++)
-	{
-		btScalar k1 = m22 * (ret[j * 2] - c1) - m12 * (ret[j * 2 + 1] - c2);
-		btScalar k2 = -m21 * (ret[j * 2] - c1) + m11 * (ret[j * 2 + 1] - c2);
-		for (i = 0; i < 3; i++) point[cnum * 3 + i] =
-									center[i] + k1 * Rb[i * 4 + a1] + k2 * Rb[i * 4 + a2];
-		dep[cnum] = Sa[codeN] - dDOT(normal2, point + cnum * 3);
-		if (dep[cnum] >= 0)
-		{
-			ret[cnum * 2] = ret[j * 2];
-			ret[cnum * 2 + 1] = ret[j * 2 + 1];
-			cnum++;
-		}
-	}
-	if (cnum < 1) return 0;  // this should never happen
-
-	// we can't generate more contacts than we actually have
-	if (maxc > cnum) maxc = cnum;
-	if (maxc < 1) maxc = 1;
-
-	if (cnum <= maxc)
-	{
-		if (code < 4)
-		{
-			// we have less contacts than we need, so we use them all
-			for (j = 0; j < cnum; j++)
-			{
-				btVector3 pointInWorld;
-				for (i = 0; i < 3; i++)
-					pointInWorld[i] = point[j * 3 + i] + pa[i];
-				output.addContactPoint(-normal, pointInWorld, -dep[j]);
-			}
-		}
-		else
-		{
-			// we have less contacts than we need, so we use them all
-			for (j = 0; j < cnum; j++)
-			{
-				btVector3 pointInWorld;
-				for (i = 0; i < 3; i++)
-					pointInWorld[i] = point[j * 3 + i] + pa[i] - normal[i] * dep[j];
-				//pointInWorld[i] = point[j*3+i] + pa[i];
-				output.addContactPoint(-normal, pointInWorld, -dep[j]);
-			}
-		}
-	}
-	else
-	{
-		// we have more contacts than are wanted, some of them must be culled.
-		// find the deepest point, it is always the first contact.
-		int i1 = 0;
-		btScalar maxdepth = dep[0];
-		for (i = 1; i < cnum; i++)
-		{
-			if (dep[i] > maxdepth)
-			{
-				maxdepth = dep[i];
-				i1 = i;
-			}
-		}
-
-		int iret[8];
-		cullPoints2(cnum, ret, maxc, i1, iret);
-
-		for (j = 0; j < maxc; j++)
-		{
-			//      dContactGeom *con = CONTACT(contact,skip*j);
-			//    for (i=0; i<3; i++) con->pos[i] = point[iret[j]*3+i] + pa[i];
-			//  con->depth = dep[iret[j]];
-
-			btVector3 posInWorld;
-			for (i = 0; i < 3; i++)
-				posInWorld[i] = point[iret[j] * 3 + i] + pa[i];
-			if (code < 4)
-			{
-				output.addContactPoint(-normal, posInWorld, -dep[iret[j]]);
-			}
-			else
-			{
-				output.addContactPoint(-normal, posInWorld - normal * dep[iret[j]], -dep[iret[j]]);
-			}
-		}
-		cnum = maxc;
-	}
-
-	*return_code = code;
-	return cnum;
-}
-
-void btBoxBoxDetector::getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* /*debugDraw*/, bool /*swapResults*/)
-{
-	const btTransform& transformA = input.m_transformA;
-	const btTransform& transformB = input.m_transformB;
-
-	int skip = 0;
-	dContactGeom* contact = 0;
-
-	dMatrix3 R1;
-	dMatrix3 R2;
-
-	for (int j = 0; j < 3; j++)
-	{
-		R1[0 + 4 * j] = transformA.getBasis()[j].x();
-		R2[0 + 4 * j] = transformB.getBasis()[j].x();
-
-		R1[1 + 4 * j] = transformA.getBasis()[j].y();
-		R2[1 + 4 * j] = transformB.getBasis()[j].y();
-
-		R1[2 + 4 * j] = transformA.getBasis()[j].z();
-		R2[2 + 4 * j] = transformB.getBasis()[j].z();
-	}
-
-	btVector3 normal;
-	btScalar depth;
-	int return_code;
-	int maxc = 4;
-
-	dBoxBox2(transformA.getOrigin(),
-			 R1,
-			 2.f * m_box1->getHalfExtentsWithMargin(),
-			 transformB.getOrigin(),
-			 R2,
-			 2.f * m_box2->getHalfExtentsWithMargin(),
-			 normal, &depth, &return_code,
-			 maxc, contact, skip,
-			 output);
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
deleted file mode 100644
index 9f7d988fc1..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
+++ /dev/null
@@ -1,40 +0,0 @@
-/*
- * Box-Box collision detection re-distributed under the ZLib license with permission from Russell L. Smith
- * Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org
-
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-#ifndef BT_BOX_BOX_DETECTOR_H
-#define BT_BOX_BOX_DETECTOR_H
-
-class btBoxShape;
-#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
-
-/// btBoxBoxDetector wraps the ODE box-box collision detector
-/// re-distributed under the Zlib license with permission from Russell L. Smith
-struct btBoxBoxDetector : public btDiscreteCollisionDetectorInterface
-{
-	const btBoxShape* m_box1;
-	const btBoxShape* m_box2;
-
-public:
-	btBoxBoxDetector(const btBoxShape* box1, const btBoxShape* box2);
-
-	virtual ~btBoxBoxDetector(){};
-
-	virtual void getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw, bool swapResults = false);
-};
-
-#endif  //BT_BOX_BOX_DETECTOR_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionConfiguration.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
deleted file mode 100644
index d6e15f555b..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
+++ /dev/null
@@ -1,43 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_COLLISION_CONFIGURATION
-#define BT_COLLISION_CONFIGURATION
-
-struct btCollisionAlgorithmCreateFunc;
-
-class btPoolAllocator;
-
-///btCollisionConfiguration allows to configure Bullet collision detection
-///stack allocator size, default collision algorithms and persistent manifold pool size
-///@todo: describe the meaning
-class btCollisionConfiguration
-{
-public:
-	virtual ~btCollisionConfiguration()
-	{
-	}
-
-	///memory pools
-	virtual btPoolAllocator* getPersistentManifoldPool() = 0;
-
-	virtual btPoolAllocator* getCollisionAlgorithmPool() = 0;
-
-	virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1) = 0;
-
-	virtual btCollisionAlgorithmCreateFunc* getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1) = 0;
-};
-
-#endif  //BT_COLLISION_CONFIGURATION
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
deleted file mode 100644
index bd81284939..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
+++ /dev/null
@@ -1,43 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_COLLISION_CREATE_FUNC
-#define BT_COLLISION_CREATE_FUNC
-
-#include "LinearMath/btAlignedObjectArray.h"
-class btCollisionAlgorithm;
-class btCollisionObject;
-struct btCollisionObjectWrapper;
-struct btCollisionAlgorithmConstructionInfo;
-
-///Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm
-struct btCollisionAlgorithmCreateFunc
-{
-	bool m_swapped;
-
-	btCollisionAlgorithmCreateFunc()
-		: m_swapped(false)
-	{
-	}
-	virtual ~btCollisionAlgorithmCreateFunc(){};
-
-	virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo&, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-	{
-		(void)body0Wrap;
-		(void)body1Wrap;
-		return 0;
-	}
-};
-#endif  //BT_COLLISION_CREATE_FUNC
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
deleted file mode 100644
index 25b2b1ea46..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
+++ /dev/null
@@ -1,289 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btCollisionDispatcher.h"
-#include "LinearMath/btQuickprof.h"
-
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
-#include "LinearMath/btPoolAllocator.h"
-#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-#ifdef BT_DEBUG
-#include <stdio.h>
-#endif
-
-btCollisionDispatcher::btCollisionDispatcher(btCollisionConfiguration* collisionConfiguration) : m_dispatcherFlags(btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD),
-																								 m_collisionConfiguration(collisionConfiguration)
-{
-	int i;
-
-	setNearCallback(defaultNearCallback);
-
-	m_collisionAlgorithmPoolAllocator = collisionConfiguration->getCollisionAlgorithmPool();
-
-	m_persistentManifoldPoolAllocator = collisionConfiguration->getPersistentManifoldPool();
-
-	for (i = 0; i < MAX_BROADPHASE_COLLISION_TYPES; i++)
-	{
-		for (int j = 0; j < MAX_BROADPHASE_COLLISION_TYPES; j++)
-		{
-			m_doubleDispatchContactPoints[i][j] = m_collisionConfiguration->getCollisionAlgorithmCreateFunc(i, j);
-			btAssert(m_doubleDispatchContactPoints[i][j]);
-			m_doubleDispatchClosestPoints[i][j] = m_collisionConfiguration->getClosestPointsAlgorithmCreateFunc(i, j);
-		}
-	}
-}
-
-void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc* createFunc)
-{
-	m_doubleDispatchContactPoints[proxyType0][proxyType1] = createFunc;
-}
-
-void btCollisionDispatcher::registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc* createFunc)
-{
-	m_doubleDispatchClosestPoints[proxyType0][proxyType1] = createFunc;
-}
-
-btCollisionDispatcher::~btCollisionDispatcher()
-{
-}
-
-btPersistentManifold* btCollisionDispatcher::getNewManifold(const btCollisionObject* body0, const btCollisionObject* body1)
-{
-	//btAssert(gNumManifold < 65535);
-
-	//optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
-
-	btScalar contactBreakingThreshold = (m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD) ? btMin(body0->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold), body1->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold))
-																																: gContactBreakingThreshold;
-
-	btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(), body1->getContactProcessingThreshold());
-
-	void* mem = m_persistentManifoldPoolAllocator->allocate(sizeof(btPersistentManifold));
-	if (NULL == mem)
-	{
-		//we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert.
-		if ((m_dispatcherFlags & CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION) == 0)
-		{
-			mem = btAlignedAlloc(sizeof(btPersistentManifold), 16);
-		}
-		else
-		{
-			btAssert(0);
-			//make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration
-			return 0;
-		}
-	}
-	btPersistentManifold* manifold = new (mem) btPersistentManifold(body0, body1, 0, contactBreakingThreshold, contactProcessingThreshold);
-	manifold->m_index1a = m_manifoldsPtr.size();
-	m_manifoldsPtr.push_back(manifold);
-
-	return manifold;
-}
-
-void btCollisionDispatcher::clearManifold(btPersistentManifold* manifold)
-{
-	manifold->clearManifold();
-}
-
-void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
-{
-	//printf("releaseManifold: gNumManifold %d\n",gNumManifold);
-	clearManifold(manifold);
-
-	int findIndex = manifold->m_index1a;
-	btAssert(findIndex < m_manifoldsPtr.size());
-	m_manifoldsPtr.swap(findIndex, m_manifoldsPtr.size() - 1);
-	m_manifoldsPtr[findIndex]->m_index1a = findIndex;
-	m_manifoldsPtr.pop_back();
-
-	manifold->~btPersistentManifold();
-	if (m_persistentManifoldPoolAllocator->validPtr(manifold))
-	{
-		m_persistentManifoldPoolAllocator->freeMemory(manifold);
-	}
-	else
-	{
-		btAlignedFree(manifold);
-	}
-}
-
-btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btPersistentManifold* sharedManifold, ebtDispatcherQueryType algoType)
-{
-	btCollisionAlgorithmConstructionInfo ci;
-
-	ci.m_dispatcher1 = this;
-	ci.m_manifold = sharedManifold;
-	btCollisionAlgorithm* algo = 0;
-	if (algoType == BT_CONTACT_POINT_ALGORITHMS)
-	{
-		algo = m_doubleDispatchContactPoints[body0Wrap->getCollisionShape()->getShapeType()][body1Wrap->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci, body0Wrap, body1Wrap);
-	}
-	else
-	{
-		algo = m_doubleDispatchClosestPoints[body0Wrap->getCollisionShape()->getShapeType()][body1Wrap->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci, body0Wrap, body1Wrap);
-	}
-
-	return algo;
-}
-
-bool btCollisionDispatcher::needsResponse(const btCollisionObject* body0, const btCollisionObject* body1)
-{
-	//here you can do filtering
-	bool hasResponse =
-		(body0->hasContactResponse() && body1->hasContactResponse());
-	//no response between two static/kinematic bodies:
-	hasResponse = hasResponse &&
-				  ((!body0->isStaticOrKinematicObject()) || (!body1->isStaticOrKinematicObject()));
-	return hasResponse;
-}
-
-bool btCollisionDispatcher::needsCollision(const btCollisionObject* body0, const btCollisionObject* body1)
-{
-	btAssert(body0);
-	btAssert(body1);
-
-	bool needsCollision = true;
-
-#ifdef BT_DEBUG
-	if (!(m_dispatcherFlags & btCollisionDispatcher::CD_STATIC_STATIC_REPORTED))
-	{
-		//broadphase filtering already deals with this
-		if (body0->isStaticOrKinematicObject() && body1->isStaticOrKinematicObject())
-		{
-			m_dispatcherFlags |= btCollisionDispatcher::CD_STATIC_STATIC_REPORTED;
-			printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
-		}
-	}
-#endif  //BT_DEBUG
-
-	if ((!body0->isActive()) && (!body1->isActive()))
-		needsCollision = false;
-	else if ((!body0->checkCollideWith(body1)) || (!body1->checkCollideWith(body0)))
-		needsCollision = false;
-
-	return needsCollision;
-}
-
-///interface for iterating all overlapping collision pairs, no matter how those pairs are stored (array, set, map etc)
-///this is useful for the collision dispatcher.
-class btCollisionPairCallback : public btOverlapCallback
-{
-	const btDispatcherInfo& m_dispatchInfo;
-	btCollisionDispatcher* m_dispatcher;
-
-public:
-	btCollisionPairCallback(const btDispatcherInfo& dispatchInfo, btCollisionDispatcher* dispatcher)
-		: m_dispatchInfo(dispatchInfo),
-		  m_dispatcher(dispatcher)
-	{
-	}
-
-	/*btCollisionPairCallback& operator=(btCollisionPairCallback& other)
-	{
-		m_dispatchInfo = other.m_dispatchInfo;
-		m_dispatcher = other.m_dispatcher;
-		return *this;
-	}
-	*/
-
-	virtual ~btCollisionPairCallback() {}
-
-	virtual bool processOverlap(btBroadphasePair& pair)
-	{
-		(*m_dispatcher->getNearCallback())(pair, *m_dispatcher, m_dispatchInfo);
-		return false;
-	}
-};
-
-void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& dispatchInfo, btDispatcher* dispatcher)
-{
-	//m_blockedForChanges = true;
-
-	btCollisionPairCallback collisionCallback(dispatchInfo, this);
-
-	{
-		BT_PROFILE("processAllOverlappingPairs");
-		pairCache->processAllOverlappingPairs(&collisionCallback, dispatcher, dispatchInfo);
-	}
-
-	//m_blockedForChanges = false;
-}
-
-//by default, Bullet will use this near callback
-void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
-{
-	btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
-	btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
-
-	if (dispatcher.needsCollision(colObj0, colObj1))
-	{
-		btCollisionObjectWrapper obj0Wrap(0, colObj0->getCollisionShape(), colObj0, colObj0->getWorldTransform(), -1, -1);
-		btCollisionObjectWrapper obj1Wrap(0, colObj1->getCollisionShape(), colObj1, colObj1->getWorldTransform(), -1, -1);
-
-		//dispatcher will keep algorithms persistent in the collision pair
-		if (!collisionPair.m_algorithm)
-		{
-			collisionPair.m_algorithm = dispatcher.findAlgorithm(&obj0Wrap, &obj1Wrap, 0, BT_CONTACT_POINT_ALGORITHMS);
-		}
-
-		if (collisionPair.m_algorithm)
-		{
-			btManifoldResult contactPointResult(&obj0Wrap, &obj1Wrap);
-
-			if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
-			{
-				//discrete collision detection query
-
-				collisionPair.m_algorithm->processCollision(&obj0Wrap, &obj1Wrap, dispatchInfo, &contactPointResult);
-			}
-			else
-			{
-				//continuous collision detection query, time of impact (toi)
-				btScalar toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0, colObj1, dispatchInfo, &contactPointResult);
-				if (dispatchInfo.m_timeOfImpact > toi)
-					dispatchInfo.m_timeOfImpact = toi;
-			}
-		}
-	}
-}
-
-void* btCollisionDispatcher::allocateCollisionAlgorithm(int size)
-{
-	void* mem = m_collisionAlgorithmPoolAllocator->allocate(size);
-	if (NULL == mem)
-	{
-		//warn user for overflow?
-		return btAlignedAlloc(static_cast<size_t>(size), 16);
-	}
-	return mem;
-}
-
-void btCollisionDispatcher::freeCollisionAlgorithm(void* ptr)
-{
-	if (m_collisionAlgorithmPoolAllocator->validPtr(ptr))
-	{
-		m_collisionAlgorithmPoolAllocator->freeMemory(ptr);
-	}
-	else
-	{
-		btAlignedFree(ptr);
-	}
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
deleted file mode 100644
index 04309670cf..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
+++ /dev/null
@@ -1,169 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_COLLISION__DISPATCHER_H
-#define BT_COLLISION__DISPATCHER_H
-
-#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-
-#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
-
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "LinearMath/btAlignedObjectArray.h"
-
-class btIDebugDraw;
-class btOverlappingPairCache;
-class btPoolAllocator;
-class btCollisionConfiguration;
-
-#include "btCollisionCreateFunc.h"
-
-#define USE_DISPATCH_REGISTRY_ARRAY 1
-
-class btCollisionDispatcher;
-///user can override this nearcallback for collision filtering and more finegrained control over collision detection
-typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
-
-///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
-///Time of Impact, Closest Points and Penetration Depth.
-class btCollisionDispatcher : public btDispatcher
-{
-protected:
-	int m_dispatcherFlags;
-
-	btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr;
-
-	btNearCallback m_nearCallback;
-
-	btPoolAllocator* m_collisionAlgorithmPoolAllocator;
-
-	btPoolAllocator* m_persistentManifoldPoolAllocator;
-
-	btCollisionAlgorithmCreateFunc* m_doubleDispatchContactPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
-
-	btCollisionAlgorithmCreateFunc* m_doubleDispatchClosestPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
-
-	btCollisionConfiguration* m_collisionConfiguration;
-
-public:
-	enum DispatcherFlags
-	{
-		CD_STATIC_STATIC_REPORTED = 1,
-		CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2,
-		CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION = 4
-	};
-
-	int getDispatcherFlags() const
-	{
-		return m_dispatcherFlags;
-	}
-
-	void setDispatcherFlags(int flags)
-	{
-		m_dispatcherFlags = flags;
-	}
-
-	///registerCollisionCreateFunc allows registration of custom/alternative collision create functions
-	void registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
-
-	void registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
-
-	int getNumManifolds() const
-	{
-		return int(m_manifoldsPtr.size());
-	}
-
-	btPersistentManifold** getInternalManifoldPointer()
-	{
-		return m_manifoldsPtr.size() ? &m_manifoldsPtr[0] : 0;
-	}
-
-	btPersistentManifold* getManifoldByIndexInternal(int index)
-	{
-		btAssert(index>=0);
-		btAssert(index<m_manifoldsPtr.size());
-		return m_manifoldsPtr[index];
-	}
-
-	const btPersistentManifold* getManifoldByIndexInternal(int index) const
-	{
-		btAssert(index>=0);
-		btAssert(index<m_manifoldsPtr.size());
-		return m_manifoldsPtr[index];
-	}
-
-	btCollisionDispatcher(btCollisionConfiguration* collisionConfiguration);
-
-	virtual ~btCollisionDispatcher();
-
-	virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0, const btCollisionObject* b1);
-
-	virtual void releaseManifold(btPersistentManifold* manifold);
-
-	virtual void clearManifold(btPersistentManifold* manifold);
-
-	btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btPersistentManifold* sharedManifold, ebtDispatcherQueryType queryType);
-
-	virtual bool needsCollision(const btCollisionObject* body0, const btCollisionObject* body1);
-
-	virtual bool needsResponse(const btCollisionObject* body0, const btCollisionObject* body1);
-
-	virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& dispatchInfo, btDispatcher* dispatcher);
-
-	void setNearCallback(btNearCallback nearCallback)
-	{
-		m_nearCallback = nearCallback;
-	}
-
-	btNearCallback getNearCallback() const
-	{
-		return m_nearCallback;
-	}
-
-	//by default, Bullet will use this near callback
-	static void defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
-
-	virtual void* allocateCollisionAlgorithm(int size);
-
-	virtual void freeCollisionAlgorithm(void* ptr);
-
-	btCollisionConfiguration* getCollisionConfiguration()
-	{
-		return m_collisionConfiguration;
-	}
-
-	const btCollisionConfiguration* getCollisionConfiguration() const
-	{
-		return m_collisionConfiguration;
-	}
-
-	void setCollisionConfiguration(btCollisionConfiguration* config)
-	{
-		m_collisionConfiguration = config;
-	}
-
-	virtual btPoolAllocator* getInternalManifoldPool()
-	{
-		return m_persistentManifoldPoolAllocator;
-	}
-
-	virtual const btPoolAllocator* getInternalManifoldPool() const
-	{
-		return m_persistentManifoldPoolAllocator;
-	}
-};
-
-#endif  //BT_COLLISION__DISPATCHER_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp
deleted file mode 100644
index 89bc8d920e..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp
+++ /dev/null
@@ -1,162 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btCollisionDispatcherMt.h"
-#include "LinearMath/btQuickprof.h"
-
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
-#include "LinearMath/btPoolAllocator.h"
-#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-btCollisionDispatcherMt::btCollisionDispatcherMt(btCollisionConfiguration* config, int grainSize)
-	: btCollisionDispatcher(config)
-{
-	m_batchManifoldsPtr.resize(btGetTaskScheduler()->getNumThreads());
-	m_batchUpdating = false;
-	m_grainSize = grainSize;  // iterations per task
-}
-
-btPersistentManifold* btCollisionDispatcherMt::getNewManifold(const btCollisionObject* body0, const btCollisionObject* body1)
-{
-	//optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
-
-	btScalar contactBreakingThreshold = (m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD) ? btMin(body0->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold), body1->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold))
-																																: gContactBreakingThreshold;
-
-	btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(), body1->getContactProcessingThreshold());
-
-	void* mem = m_persistentManifoldPoolAllocator->allocate(sizeof(btPersistentManifold));
-	if (NULL == mem)
-	{
-		//we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert.
-		if ((m_dispatcherFlags & CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION) == 0)
-		{
-			mem = btAlignedAlloc(sizeof(btPersistentManifold), 16);
-		}
-		else
-		{
-			btAssert(0);
-			//make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration
-			return 0;
-		}
-	}
-	btPersistentManifold* manifold = new (mem) btPersistentManifold(body0, body1, 0, contactBreakingThreshold, contactProcessingThreshold);
-	if (!m_batchUpdating)
-	{
-		// batch updater will update manifold pointers array after finishing, so
-		// only need to update array when not batch-updating
-		//btAssert( !btThreadsAreRunning() );
-		manifold->m_index1a = m_manifoldsPtr.size();
-		m_manifoldsPtr.push_back(manifold);
-	}
-	else
-	{
-		m_batchManifoldsPtr[btGetCurrentThreadIndex()].push_back(manifold);
-	}
-
-	return manifold;
-}
-
-void btCollisionDispatcherMt::releaseManifold(btPersistentManifold* manifold)
-{
-	clearManifold(manifold);
-	//btAssert( !btThreadsAreRunning() );
-	if (!m_batchUpdating)
-	{
-		// batch updater will update manifold pointers array after finishing, so
-		// only need to update array when not batch-updating
-		int findIndex = manifold->m_index1a;
-		btAssert(findIndex < m_manifoldsPtr.size());
-		m_manifoldsPtr.swap(findIndex, m_manifoldsPtr.size() - 1);
-		m_manifoldsPtr[findIndex]->m_index1a = findIndex;
-		m_manifoldsPtr.pop_back();
-	}
-
-	manifold->~btPersistentManifold();
-	if (m_persistentManifoldPoolAllocator->validPtr(manifold))
-	{
-		m_persistentManifoldPoolAllocator->freeMemory(manifold);
-	}
-	else
-	{
-		btAlignedFree(manifold);
-	}
-}
-
-struct CollisionDispatcherUpdater : public btIParallelForBody
-{
-	btBroadphasePair* mPairArray;
-	btNearCallback mCallback;
-	btCollisionDispatcher* mDispatcher;
-	const btDispatcherInfo* mInfo;
-
-	CollisionDispatcherUpdater()
-	{
-		mPairArray = NULL;
-		mCallback = NULL;
-		mDispatcher = NULL;
-		mInfo = NULL;
-	}
-	void forLoop(int iBegin, int iEnd) const
-	{
-		for (int i = iBegin; i < iEnd; ++i)
-		{
-			btBroadphasePair* pair = &mPairArray[i];
-			mCallback(*pair, *mDispatcher, *mInfo);
-		}
-	}
-};
-
-void btCollisionDispatcherMt::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher)
-{
-	const int pairCount = pairCache->getNumOverlappingPairs();
-	if (pairCount == 0)
-	{
-		return;
-	}
-	CollisionDispatcherUpdater updater;
-	updater.mCallback = getNearCallback();
-	updater.mPairArray = pairCache->getOverlappingPairArrayPtr();
-	updater.mDispatcher = this;
-	updater.mInfo = &info;
-
-	m_batchUpdating = true;
-	btParallelFor(0, pairCount, m_grainSize, updater);
-	m_batchUpdating = false;
-
-	// merge new manifolds, if any
-	for (int i = 0; i < m_batchManifoldsPtr.size(); ++i)
-	{
-		btAlignedObjectArray<btPersistentManifold*>& batchManifoldsPtr = m_batchManifoldsPtr[i];
-
-		for (int j = 0; j < batchManifoldsPtr.size(); ++j)
-		{
-			m_manifoldsPtr.push_back(batchManifoldsPtr[j]);
-		}
-
-		batchManifoldsPtr.resizeNoInitialize(0);
-	}
-
-	// update the indices (used when releasing manifolds)
-	for (int i = 0; i < m_manifoldsPtr.size(); ++i)
-	{
-		m_manifoldsPtr[i]->m_index1a = i;
-	}
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h
deleted file mode 100644
index 1155de2cfe..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h
+++ /dev/null
@@ -1,38 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_COLLISION_DISPATCHER_MT_H
-#define BT_COLLISION_DISPATCHER_MT_H
-
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "LinearMath/btThreads.h"
-
-class btCollisionDispatcherMt : public btCollisionDispatcher
-{
-public:
-	btCollisionDispatcherMt(btCollisionConfiguration* config, int grainSize = 40);
-
-	virtual btPersistentManifold* getNewManifold(const btCollisionObject* body0, const btCollisionObject* body1) BT_OVERRIDE;
-	virtual void releaseManifold(btPersistentManifold* manifold) BT_OVERRIDE;
-
-	virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher) BT_OVERRIDE;
-
-protected:
-	btAlignedObjectArray<btAlignedObjectArray<btPersistentManifold*> > m_batchManifoldsPtr;
-	bool m_batchUpdating;
-	int m_grainSize;
-};
-
-#endif  //BT_COLLISION_DISPATCHER_MT_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp
deleted file mode 100644
index b48d9301d7..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp
+++ /dev/null
@@ -1,138 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btCollisionObject.h"
-#include "LinearMath/btSerializer.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-
-btCollisionObject::btCollisionObject()
-	: m_interpolationLinearVelocity(0.f, 0.f, 0.f),
-	  m_interpolationAngularVelocity(0.f, 0.f, 0.f),
-	  m_anisotropicFriction(1.f, 1.f, 1.f),
-	  m_hasAnisotropicFriction(false),
-	  m_contactProcessingThreshold(BT_LARGE_FLOAT),
-	  m_broadphaseHandle(0),
-	  m_collisionShape(0),
-	  m_extensionPointer(0),
-	  m_rootCollisionShape(0),
-	  m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),
-	  m_islandTag1(-1),
-	  m_companionId(-1),
-	  m_worldArrayIndex(-1),
-	  m_activationState1(1),
-	  m_deactivationTime(btScalar(0.)),
-	  m_friction(btScalar(0.5)),
-	  m_restitution(btScalar(0.)),
-	  m_rollingFriction(0.0f),
-	  m_spinningFriction(0.f),
-	  m_contactDamping(.1),
-	  m_contactStiffness(BT_LARGE_FLOAT),
-	  m_internalType(CO_COLLISION_OBJECT),
-	  m_userObjectPointer(0),
-	  m_userIndex2(-1),
-	  m_userIndex(-1),
-	  m_userIndex3(-1),
-	  m_hitFraction(btScalar(1.)),
-	  m_ccdSweptSphereRadius(btScalar(0.)),
-	  m_ccdMotionThreshold(btScalar(0.)),
-	  m_checkCollideWith(false),
-	  m_updateRevision(0)
-{
-	m_worldTransform.setIdentity();
-	m_interpolationWorldTransform.setIdentity();
-}
-
-btCollisionObject::~btCollisionObject()
-{
-}
-
-void btCollisionObject::setActivationState(int newState) const
-{
-	if ((m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
-		m_activationState1 = newState;
-}
-
-void btCollisionObject::forceActivationState(int newState) const
-{
-	m_activationState1 = newState;
-}
-
-void btCollisionObject::activate(bool forceActivation) const
-{
-	if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT)))
-	{
-		setActivationState(ACTIVE_TAG);
-		m_deactivationTime = btScalar(0.);
-	}
-}
-
-const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btCollisionObjectData* dataOut = (btCollisionObjectData*)dataBuffer;
-
-	m_worldTransform.serialize(dataOut->m_worldTransform);
-	m_interpolationWorldTransform.serialize(dataOut->m_interpolationWorldTransform);
-	m_interpolationLinearVelocity.serialize(dataOut->m_interpolationLinearVelocity);
-	m_interpolationAngularVelocity.serialize(dataOut->m_interpolationAngularVelocity);
-	m_anisotropicFriction.serialize(dataOut->m_anisotropicFriction);
-	dataOut->m_hasAnisotropicFriction = m_hasAnisotropicFriction;
-	dataOut->m_contactProcessingThreshold = m_contactProcessingThreshold;
-	dataOut->m_broadphaseHandle = 0;
-	dataOut->m_collisionShape = serializer->getUniquePointer(m_collisionShape);
-	dataOut->m_rootCollisionShape = 0;  //@todo
-	dataOut->m_collisionFlags = m_collisionFlags;
-	dataOut->m_islandTag1 = m_islandTag1;
-	dataOut->m_companionId = m_companionId;
-	dataOut->m_activationState1 = m_activationState1;
-	dataOut->m_deactivationTime = m_deactivationTime;
-	dataOut->m_friction = m_friction;
-	dataOut->m_rollingFriction = m_rollingFriction;
-	dataOut->m_contactDamping = m_contactDamping;
-	dataOut->m_contactStiffness = m_contactStiffness;
-	dataOut->m_restitution = m_restitution;
-	dataOut->m_internalType = m_internalType;
-
-	char* name = (char*)serializer->findNameForPointer(this);
-	dataOut->m_name = (char*)serializer->getUniquePointer(name);
-	if (dataOut->m_name)
-	{
-		serializer->serializeName(name);
-	}
-	dataOut->m_hitFraction = m_hitFraction;
-	dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius;
-	dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
-	dataOut->m_checkCollideWith = m_checkCollideWith;
-	if (m_broadphaseHandle)
-	{
-		dataOut->m_collisionFilterGroup = m_broadphaseHandle->m_collisionFilterGroup;
-		dataOut->m_collisionFilterMask = m_broadphaseHandle->m_collisionFilterMask;
-		dataOut->m_uniqueId = m_broadphaseHandle->m_uniqueId;
-	}
-	else
-	{
-		dataOut->m_collisionFilterGroup = 0;
-		dataOut->m_collisionFilterMask = 0;
-		dataOut->m_uniqueId = -1;
-	}
-	return btCollisionObjectDataName;
-}
-
-void btCollisionObject::serializeSingleObject(class btSerializer* serializer) const
-{
-	int len = calculateSerializeBufferSize();
-	btChunk* chunk = serializer->allocate(len, 1);
-	const char* structType = serialize(chunk->m_oldPtr, serializer);
-	serializer->finalizeChunk(chunk, structType, BT_COLLISIONOBJECT_CODE, (void*)this);
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h
deleted file mode 100644
index dbe82fd61f..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h
+++ /dev/null
@@ -1,690 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_COLLISION_OBJECT_H
-#define BT_COLLISION_OBJECT_H
-
-#include "LinearMath/btTransform.h"
-
-//island management, m_activationState1
-#define ACTIVE_TAG 1
-#define ISLAND_SLEEPING 2
-#define WANTS_DEACTIVATION 3
-#define DISABLE_DEACTIVATION 4
-#define DISABLE_SIMULATION 5
-#define FIXED_BASE_MULTI_BODY 6
-
-struct btBroadphaseProxy;
-class btCollisionShape;
-struct btCollisionShapeData;
-#include "LinearMath/btMotionState.h"
-#include "LinearMath/btAlignedAllocator.h"
-#include "LinearMath/btAlignedObjectArray.h"
-
-typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btCollisionObjectData btCollisionObjectDoubleData
-#define btCollisionObjectDataName "btCollisionObjectDoubleData"
-#else
-#define btCollisionObjectData btCollisionObjectFloatData
-#define btCollisionObjectDataName "btCollisionObjectFloatData"
-#endif
-
-/// btCollisionObject can be used to manage collision detection objects.
-/// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
-/// They can be added to the btCollisionWorld.
-ATTRIBUTE_ALIGNED16(class)
-btCollisionObject
-{
-protected:
-	btTransform m_worldTransform;
-
-	///m_interpolationWorldTransform is used for CCD and interpolation
-	///it can be either previous or future (predicted) transform
-	btTransform m_interpolationWorldTransform;
-	//those two are experimental: just added for bullet time effect, so you can still apply impulses (directly modifying velocities)
-	//without destroying the continuous interpolated motion (which uses this interpolation velocities)
-	btVector3 m_interpolationLinearVelocity;
-	btVector3 m_interpolationAngularVelocity;
-
-	btVector3 m_anisotropicFriction;
-	int m_hasAnisotropicFriction;
-	btScalar m_contactProcessingThreshold;
-
-	btBroadphaseProxy* m_broadphaseHandle;
-	btCollisionShape* m_collisionShape;
-	///m_extensionPointer is used by some internal low-level Bullet extensions.
-	void* m_extensionPointer;
-
-	///m_rootCollisionShape is temporarily used to store the original collision shape
-	///The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes
-	///If it is NULL, the m_collisionShape is not temporarily replaced.
-	btCollisionShape* m_rootCollisionShape;
-
-	int m_collisionFlags;
-
-	int m_islandTag1;
-	int m_companionId;
-	int m_worldArrayIndex;  // index of object in world's collisionObjects array
-
-	mutable int m_activationState1;
-	mutable btScalar m_deactivationTime;
-
-	btScalar m_friction;
-	btScalar m_restitution;
-	btScalar m_rollingFriction;   //torsional friction orthogonal to contact normal (useful to stop spheres rolling forever)
-	btScalar m_spinningFriction;  // torsional friction around the contact normal (useful for grasping)
-	btScalar m_contactDamping;
-	btScalar m_contactStiffness;
-
-	///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
-	///do not assign your own m_internalType unless you write a new dynamics object class.
-	int m_internalType;
-
-	///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
-
-	void* m_userObjectPointer;
-
-	int m_userIndex2;
-
-	int m_userIndex;
-
-	int m_userIndex3;
-
-	///time of impact calculation
-	btScalar m_hitFraction;
-
-	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
-	btScalar m_ccdSweptSphereRadius;
-
-	/// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold
-	btScalar m_ccdMotionThreshold;
-
-	/// If some object should have elaborate collision filtering by sub-classes
-	int m_checkCollideWith;
-
-	btAlignedObjectArray<const btCollisionObject*> m_objectsWithoutCollisionCheck;
-
-	///internal update revision number. It will be increased when the object changes. This allows some subsystems to perform lazy evaluation.
-	int m_updateRevision;
-
-	btVector3 m_customDebugColorRGB;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	enum CollisionFlags
-	{
-		CF_DYNAMIC_OBJECT = 0,
-		CF_STATIC_OBJECT = 1,
-		CF_KINEMATIC_OBJECT = 2,
-		CF_NO_CONTACT_RESPONSE = 4,
-		CF_CUSTOM_MATERIAL_CALLBACK = 8,  //this allows per-triangle material (friction/restitution)
-		CF_CHARACTER_OBJECT = 16,
-		CF_DISABLE_VISUALIZE_OBJECT = 32,          //disable debug drawing
-		CF_DISABLE_SPU_COLLISION_PROCESSING = 64,  //disable parallel/SPU processing
-		CF_HAS_CONTACT_STIFFNESS_DAMPING = 128,
-		CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR = 256,
-		CF_HAS_FRICTION_ANCHOR = 512,
-		CF_HAS_COLLISION_SOUND_TRIGGER = 1024
-	};
-
-	enum CollisionObjectTypes
-	{
-		CO_COLLISION_OBJECT = 1,
-		CO_RIGID_BODY = 2,
-		///CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter
-		///It is useful for collision sensors, explosion objects, character controller etc.
-		CO_GHOST_OBJECT = 4,
-		CO_SOFT_BODY = 8,
-		CO_HF_FLUID = 16,
-		CO_USER_TYPE = 32,
-		CO_FEATHERSTONE_LINK = 64
-	};
-
-	enum AnisotropicFrictionFlags
-	{
-		CF_ANISOTROPIC_FRICTION_DISABLED = 0,
-		CF_ANISOTROPIC_FRICTION = 1,
-		CF_ANISOTROPIC_ROLLING_FRICTION = 2
-	};
-
-	SIMD_FORCE_INLINE bool mergesSimulationIslands() const
-	{
-		///static objects, kinematic and object without contact response don't merge islands
-		return ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE)) == 0);
-	}
-
-	const btVector3& getAnisotropicFriction() const
-	{
-		return m_anisotropicFriction;
-	}
-	void setAnisotropicFriction(const btVector3& anisotropicFriction, int frictionMode = CF_ANISOTROPIC_FRICTION)
-	{
-		m_anisotropicFriction = anisotropicFriction;
-		bool isUnity = (anisotropicFriction[0] != 1.f) || (anisotropicFriction[1] != 1.f) || (anisotropicFriction[2] != 1.f);
-		m_hasAnisotropicFriction = isUnity ? frictionMode : 0;
-	}
-	bool hasAnisotropicFriction(int frictionMode = CF_ANISOTROPIC_FRICTION) const
-	{
-		return (m_hasAnisotropicFriction & frictionMode) != 0;
-	}
-
-	///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default.
-	///Note that using contacts with positive distance can improve stability. It increases, however, the chance of colliding with degerate contacts, such as 'interior' triangle edges
-	void setContactProcessingThreshold(btScalar contactProcessingThreshold)
-	{
-		m_contactProcessingThreshold = contactProcessingThreshold;
-	}
-	btScalar getContactProcessingThreshold() const
-	{
-		return m_contactProcessingThreshold;
-	}
-
-	SIMD_FORCE_INLINE bool isStaticObject() const
-	{
-		return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
-	}
-
-	SIMD_FORCE_INLINE bool isKinematicObject() const
-	{
-		return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0;
-	}
-
-	SIMD_FORCE_INLINE bool isStaticOrKinematicObject() const
-	{
-		return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0;
-	}
-
-	SIMD_FORCE_INLINE bool hasContactResponse() const
-	{
-		return (m_collisionFlags & CF_NO_CONTACT_RESPONSE) == 0;
-	}
-
-	btCollisionObject();
-
-	virtual ~btCollisionObject();
-
-	virtual void setCollisionShape(btCollisionShape * collisionShape)
-	{
-		m_updateRevision++;
-		m_collisionShape = collisionShape;
-		m_rootCollisionShape = collisionShape;
-	}
-
-	SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const
-	{
-		return m_collisionShape;
-	}
-
-	SIMD_FORCE_INLINE btCollisionShape* getCollisionShape()
-	{
-		return m_collisionShape;
-	}
-
-	void setIgnoreCollisionCheck(const btCollisionObject* co, bool ignoreCollisionCheck)
-	{
-		if (ignoreCollisionCheck)
-		{
-			//We don't check for duplicates. Is it ok to leave that up to the user of this API?
-			//int index = m_objectsWithoutCollisionCheck.findLinearSearch(co);
-			//if (index == m_objectsWithoutCollisionCheck.size())
-			//{
-			m_objectsWithoutCollisionCheck.push_back(co);
-			//}
-		}
-		else
-		{
-			m_objectsWithoutCollisionCheck.remove(co);
-		}
-		m_checkCollideWith = m_objectsWithoutCollisionCheck.size() > 0;
-	}
-
-        int getNumObjectsWithoutCollision() const
-	{
-		return m_objectsWithoutCollisionCheck.size();
-	}
-
-	const btCollisionObject* getObjectWithoutCollision(int index)
-	{
-		return m_objectsWithoutCollisionCheck[index];
-	}
-
-	virtual bool checkCollideWithOverride(const btCollisionObject* co) const
-	{
-		int index = m_objectsWithoutCollisionCheck.findLinearSearch(co);
-		if (index < m_objectsWithoutCollisionCheck.size())
-		{
-			return false;
-		}
-		return true;
-	}
-
-	///Avoid using this internal API call, the extension pointer is used by some Bullet extensions.
-	///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
-	void* internalGetExtensionPointer() const
-	{
-		return m_extensionPointer;
-	}
-	///Avoid using this internal API call, the extension pointer is used by some Bullet extensions
-	///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
-	void internalSetExtensionPointer(void* pointer)
-	{
-		m_extensionPointer = pointer;
-	}
-
-	SIMD_FORCE_INLINE int getActivationState() const { return m_activationState1; }
-
-	void setActivationState(int newState) const;
-
-	void setDeactivationTime(btScalar time)
-	{
-		m_deactivationTime = time;
-	}
-	btScalar getDeactivationTime() const
-	{
-		return m_deactivationTime;
-	}
-
-	void forceActivationState(int newState) const;
-
-	void activate(bool forceActivation = false) const;
-
-	SIMD_FORCE_INLINE bool isActive() const
-	{
-		return ((getActivationState() != FIXED_BASE_MULTI_BODY) && (getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION));
-	}
-
-	void setRestitution(btScalar rest)
-	{
-		m_updateRevision++;
-		m_restitution = rest;
-	}
-	btScalar getRestitution() const
-	{
-		return m_restitution;
-	}
-	void setFriction(btScalar frict)
-	{
-		m_updateRevision++;
-		m_friction = frict;
-	}
-	btScalar getFriction() const
-	{
-		return m_friction;
-	}
-
-	void setRollingFriction(btScalar frict)
-	{
-		m_updateRevision++;
-		m_rollingFriction = frict;
-	}
-	btScalar getRollingFriction() const
-	{
-		return m_rollingFriction;
-	}
-	void setSpinningFriction(btScalar frict)
-	{
-		m_updateRevision++;
-		m_spinningFriction = frict;
-	}
-	btScalar getSpinningFriction() const
-	{
-		return m_spinningFriction;
-	}
-	void setContactStiffnessAndDamping(btScalar stiffness, btScalar damping)
-	{
-		m_updateRevision++;
-		m_contactStiffness = stiffness;
-		m_contactDamping = damping;
-
-		m_collisionFlags |= CF_HAS_CONTACT_STIFFNESS_DAMPING;
-
-		//avoid divisions by zero...
-		if (m_contactStiffness < SIMD_EPSILON)
-		{
-			m_contactStiffness = SIMD_EPSILON;
-		}
-	}
-
-	btScalar getContactStiffness() const
-	{
-		return m_contactStiffness;
-	}
-
-	btScalar getContactDamping() const
-	{
-		return m_contactDamping;
-	}
-
-	///reserved for Bullet internal usage
-	int getInternalType() const
-	{
-		return m_internalType;
-	}
-
-	btTransform& getWorldTransform()
-	{
-		return m_worldTransform;
-	}
-
-	const btTransform& getWorldTransform() const
-	{
-		return m_worldTransform;
-	}
-
-	void setWorldTransform(const btTransform& worldTrans)
-	{
-		m_updateRevision++;
-		m_worldTransform = worldTrans;
-	}
-
-	SIMD_FORCE_INLINE btBroadphaseProxy* getBroadphaseHandle()
-	{
-		return m_broadphaseHandle;
-	}
-
-	SIMD_FORCE_INLINE const btBroadphaseProxy* getBroadphaseHandle() const
-	{
-		return m_broadphaseHandle;
-	}
-
-	void setBroadphaseHandle(btBroadphaseProxy * handle)
-	{
-		m_broadphaseHandle = handle;
-	}
-
-	const btTransform& getInterpolationWorldTransform() const
-	{
-		return m_interpolationWorldTransform;
-	}
-
-	btTransform& getInterpolationWorldTransform()
-	{
-		return m_interpolationWorldTransform;
-	}
-
-	void setInterpolationWorldTransform(const btTransform& trans)
-	{
-		m_updateRevision++;
-		m_interpolationWorldTransform = trans;
-	}
-
-	void setInterpolationLinearVelocity(const btVector3& linvel)
-	{
-		m_updateRevision++;
-		m_interpolationLinearVelocity = linvel;
-	}
-
-	void setInterpolationAngularVelocity(const btVector3& angvel)
-	{
-		m_updateRevision++;
-		m_interpolationAngularVelocity = angvel;
-	}
-
-	const btVector3& getInterpolationLinearVelocity() const
-	{
-		return m_interpolationLinearVelocity;
-	}
-
-	const btVector3& getInterpolationAngularVelocity() const
-	{
-		return m_interpolationAngularVelocity;
-	}
-
-	SIMD_FORCE_INLINE int getIslandTag() const
-	{
-		return m_islandTag1;
-	}
-
-	void setIslandTag(int tag)
-	{
-		m_islandTag1 = tag;
-	}
-
-	SIMD_FORCE_INLINE int getCompanionId() const
-	{
-		return m_companionId;
-	}
-
-	void setCompanionId(int id)
-	{
-		m_companionId = id;
-	}
-
-	SIMD_FORCE_INLINE int getWorldArrayIndex() const
-	{
-		return m_worldArrayIndex;
-	}
-
-	// only should be called by CollisionWorld
-	void setWorldArrayIndex(int ix)
-	{
-		m_worldArrayIndex = ix;
-	}
-
-	SIMD_FORCE_INLINE btScalar getHitFraction() const
-	{
-		return m_hitFraction;
-	}
-
-	void setHitFraction(btScalar hitFraction)
-	{
-		m_hitFraction = hitFraction;
-	}
-
-	SIMD_FORCE_INLINE int getCollisionFlags() const
-	{
-		return m_collisionFlags;
-	}
-
-	void setCollisionFlags(int flags)
-	{
-		m_collisionFlags = flags;
-	}
-
-	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
-	btScalar getCcdSweptSphereRadius() const
-	{
-		return m_ccdSweptSphereRadius;
-	}
-
-	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
-	void setCcdSweptSphereRadius(btScalar radius)
-	{
-		m_ccdSweptSphereRadius = radius;
-	}
-
-	btScalar getCcdMotionThreshold() const
-	{
-		return m_ccdMotionThreshold;
-	}
-
-	btScalar getCcdSquareMotionThreshold() const
-	{
-		return m_ccdMotionThreshold * m_ccdMotionThreshold;
-	}
-
-	/// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold
-	void setCcdMotionThreshold(btScalar ccdMotionThreshold)
-	{
-		m_ccdMotionThreshold = ccdMotionThreshold;
-	}
-
-	///users can point to their objects, userPointer is not used by Bullet
-	void* getUserPointer() const
-	{
-		return m_userObjectPointer;
-	}
-
-	int getUserIndex() const
-	{
-		return m_userIndex;
-	}
-
-	int getUserIndex2() const
-	{
-		return m_userIndex2;
-	}
-
-	int getUserIndex3() const
-	{
-		return m_userIndex3;
-	}
-
-	///users can point to their objects, userPointer is not used by Bullet
-	void setUserPointer(void* userPointer)
-	{
-		m_userObjectPointer = userPointer;
-	}
-
-	///users can point to their objects, userPointer is not used by Bullet
-	void setUserIndex(int index)
-	{
-		m_userIndex = index;
-	}
-
-	void setUserIndex2(int index)
-	{
-		m_userIndex2 = index;
-	}
-
-	void setUserIndex3(int index)
-	{
-		m_userIndex3 = index;
-	}
-
-	int getUpdateRevisionInternal() const
-	{
-		return m_updateRevision;
-	}
-
-	void setCustomDebugColor(const btVector3& colorRGB)
-	{
-		m_customDebugColorRGB = colorRGB;
-		m_collisionFlags |= CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR;
-	}
-
-	void removeCustomDebugColor()
-	{
-		m_collisionFlags &= ~CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR;
-	}
-
-	bool getCustomDebugColor(btVector3 & colorRGB) const
-	{
-		bool hasCustomColor = (0 != (m_collisionFlags & CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR));
-		if (hasCustomColor)
-		{
-			colorRGB = m_customDebugColorRGB;
-		}
-		return hasCustomColor;
-	}
-
-	inline bool checkCollideWith(const btCollisionObject* co) const
-	{
-		if (m_checkCollideWith)
-			return checkCollideWithOverride(co);
-
-		return true;
-	}
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
-
-	virtual void serializeSingleObject(class btSerializer * serializer) const;
-};
-
-// clang-format off
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btCollisionObjectDoubleData
-{
-	void					*m_broadphaseHandle;
-	void					*m_collisionShape;
-	btCollisionShapeData	*m_rootCollisionShape;
-	char					*m_name;
-
-	btTransformDoubleData	m_worldTransform;
-	btTransformDoubleData	m_interpolationWorldTransform;
-	btVector3DoubleData		m_interpolationLinearVelocity;
-	btVector3DoubleData		m_interpolationAngularVelocity;
-	btVector3DoubleData		m_anisotropicFriction;
-	double					m_contactProcessingThreshold;	
-	double					m_deactivationTime;
-	double					m_friction;
-	double					m_rollingFriction;
-	double                  m_contactDamping;
-	double                  m_contactStiffness;
-	double					m_restitution;
-	double					m_hitFraction; 
-	double					m_ccdSweptSphereRadius;
-	double					m_ccdMotionThreshold;
-	int						m_hasAnisotropicFriction;
-	int						m_collisionFlags;
-	int						m_islandTag1;
-	int						m_companionId;
-	int						m_activationState1;
-	int						m_internalType;
-	int						m_checkCollideWith;
-	int						m_collisionFilterGroup;
-	int						m_collisionFilterMask;
-	int						m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btCollisionObjectFloatData
-{
-	void					*m_broadphaseHandle;
-	void					*m_collisionShape;
-	btCollisionShapeData	*m_rootCollisionShape;
-	char					*m_name;
-
-	btTransformFloatData	m_worldTransform;
-	btTransformFloatData	m_interpolationWorldTransform;
-	btVector3FloatData		m_interpolationLinearVelocity;
-	btVector3FloatData		m_interpolationAngularVelocity;
-	btVector3FloatData		m_anisotropicFriction;
-	float					m_contactProcessingThreshold;	
-	float					m_deactivationTime;
-	float					m_friction;
-	float					m_rollingFriction;
-	float                   m_contactDamping;
-    float                   m_contactStiffness;
-	float					m_restitution;
-	float					m_hitFraction; 
-	float					m_ccdSweptSphereRadius;
-	float					m_ccdMotionThreshold;
-	int						m_hasAnisotropicFriction;
-	int						m_collisionFlags;
-	int						m_islandTag1;
-	int						m_companionId;
-	int						m_activationState1;
-	int						m_internalType;
-	int						m_checkCollideWith;
-	int						m_collisionFilterGroup;
-	int						m_collisionFilterMask;
-	int						m_uniqueId;
-};
-// clang-format on
-
-SIMD_FORCE_INLINE int btCollisionObject::calculateSerializeBufferSize() const
-{
-	return sizeof(btCollisionObjectData);
-}
-
-#endif  //BT_COLLISION_OBJECT_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h
deleted file mode 100644
index 56341b7d29..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h
+++ /dev/null
@@ -1,49 +0,0 @@
-#ifndef BT_COLLISION_OBJECT_WRAPPER_H
-#define BT_COLLISION_OBJECT_WRAPPER_H
-
-///btCollisionObjectWrapperis an internal data structure.
-///Most users can ignore this and use btCollisionObject and btCollisionShape instead
-class btCollisionShape;
-class btCollisionObject;
-class btTransform;
-#include "LinearMath/btScalar.h"  // for SIMD_FORCE_INLINE definition
-
-#define BT_DECLARE_STACK_ONLY_OBJECT \
-private:                             \
-	void* operator new(size_t size); \
-	void operator delete(void*);
-
-struct btCollisionObjectWrapper;
-struct btCollisionObjectWrapper
-{
-	BT_DECLARE_STACK_ONLY_OBJECT
-
-private:
-	btCollisionObjectWrapper(const btCollisionObjectWrapper&);  // not implemented. Not allowed.
-	btCollisionObjectWrapper* operator=(const btCollisionObjectWrapper&);
-
-public:
-	const btCollisionObjectWrapper* m_parent;
-	const btCollisionShape* m_shape;
-	const btCollisionObject* m_collisionObject;
-	const btTransform& m_worldTransform;
-    const btTransform* m_preTransform;
-	int m_partId;
-	int m_index;
-
-	btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, int partId, int index)
-		: m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_preTransform(NULL), m_partId(partId), m_index(index)
-	{
-	}
-    
-    btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, const btTransform& preTransform, int partId, int index)
-    : m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_preTransform(&preTransform), m_partId(partId), m_index(index)
-    {
-    }
-
-	SIMD_FORCE_INLINE const btTransform& getWorldTransform() const { return m_worldTransform; }
-	SIMD_FORCE_INLINE const btCollisionObject* getCollisionObject() const { return m_collisionObject; }
-	SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const { return m_shape; }
-};
-
-#endif  //BT_COLLISION_OBJECT_WRAPPER_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
deleted file mode 100644
index f74dcabc54..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
+++ /dev/null
@@ -1,1625 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btCollisionWorld.h"
-#include "btCollisionDispatcher.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"                 //for raycasting
-#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"        //for raycasting
-#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h"  //for raycasting
-#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"     //for raycasting
-#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
-#include "BulletCollision/CollisionShapes/btCompoundShape.h"
-#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
-#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
-#include "BulletCollision/BroadphaseCollision/btDbvt.h"
-#include "LinearMath/btAabbUtil2.h"
-#include "LinearMath/btQuickprof.h"
-#include "LinearMath/btSerializer.h"
-#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-//#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
-
-//#define USE_BRUTEFORCE_RAYBROADPHASE 1
-//RECALCULATE_AABB is slower, but benefit is that you don't need to call 'stepSimulation'  or 'updateAabbs' before using a rayTest
-//#define RECALCULATE_AABB_RAYCAST 1
-
-//When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor)
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
-#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
-
-///for debug drawing
-
-//for debug rendering
-#include "BulletCollision/CollisionShapes/btBoxShape.h"
-#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
-#include "BulletCollision/CollisionShapes/btCompoundShape.h"
-#include "BulletCollision/CollisionShapes/btConeShape.h"
-#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
-#include "BulletCollision/CollisionShapes/btCylinderShape.h"
-#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
-#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
-#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
-#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
-
-btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btCollisionConfiguration* collisionConfiguration)
-	: m_dispatcher1(dispatcher),
-	  m_broadphasePairCache(pairCache),
-	  m_debugDrawer(0),
-	  m_forceUpdateAllAabbs(true)
-{
-}
-
-btCollisionWorld::~btCollisionWorld()
-{
-	//clean up remaining objects
-	int i;
-	for (i = 0; i < m_collisionObjects.size(); i++)
-	{
-		btCollisionObject* collisionObject = m_collisionObjects[i];
-
-		btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
-		if (bp)
-		{
-			//
-			// only clear the cached algorithms
-			//
-			getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp, m_dispatcher1);
-			getBroadphase()->destroyProxy(bp, m_dispatcher1);
-			collisionObject->setBroadphaseHandle(0);
-		}
-	}
-}
-
-void btCollisionWorld::refreshBroadphaseProxy(btCollisionObject* collisionObject)
-{
-	if (collisionObject->getBroadphaseHandle())
-	{
-		int collisionFilterGroup = collisionObject->getBroadphaseHandle()->m_collisionFilterGroup;
-		int collisionFilterMask = collisionObject->getBroadphaseHandle()->m_collisionFilterMask;
-
-		getBroadphase()->destroyProxy(collisionObject->getBroadphaseHandle(), getDispatcher());
-
-		//calculate new AABB
-		btTransform trans = collisionObject->getWorldTransform();
-
-		btVector3 minAabb;
-		btVector3 maxAabb;
-		collisionObject->getCollisionShape()->getAabb(trans, minAabb, maxAabb);
-
-		int type = collisionObject->getCollisionShape()->getShapeType();
-		collisionObject->setBroadphaseHandle(getBroadphase()->createProxy(
-			minAabb,
-			maxAabb,
-			type,
-			collisionObject,
-			collisionFilterGroup,
-			collisionFilterMask,
-			m_dispatcher1));
-	}
-}
-
-void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup, int collisionFilterMask)
-{
-	btAssert(collisionObject);
-
-	//check that the object isn't already added
-	btAssert(m_collisionObjects.findLinearSearch(collisionObject) == m_collisionObjects.size());
-	btAssert(collisionObject->getWorldArrayIndex() == -1);  // do not add the same object to more than one collision world
-
-	collisionObject->setWorldArrayIndex(m_collisionObjects.size());
-	m_collisionObjects.push_back(collisionObject);
-
-	//calculate new AABB
-	btTransform trans = collisionObject->getWorldTransform();
-
-	btVector3 minAabb;
-	btVector3 maxAabb;
-	collisionObject->getCollisionShape()->getAabb(trans, minAabb, maxAabb);
-
-	int type = collisionObject->getCollisionShape()->getShapeType();
-	collisionObject->setBroadphaseHandle(getBroadphase()->createProxy(
-		minAabb,
-		maxAabb,
-		type,
-		collisionObject,
-		collisionFilterGroup,
-		collisionFilterMask,
-		m_dispatcher1));
-}
-
-void btCollisionWorld::updateSingleAabb(btCollisionObject* colObj)
-{
-	btVector3 minAabb, maxAabb;
-	colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb, maxAabb);
-	//need to increase the aabb for contact thresholds
-	btVector3 contactThreshold(gContactBreakingThreshold, gContactBreakingThreshold, gContactBreakingThreshold);
-	minAabb -= contactThreshold;
-	maxAabb += contactThreshold;
-
-	if (getDispatchInfo().m_useContinuous && colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())
-	{
-		btVector3 minAabb2, maxAabb2;
-		colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(), minAabb2, maxAabb2);
-		minAabb2 -= contactThreshold;
-		maxAabb2 += contactThreshold;
-		minAabb.setMin(minAabb2);
-		maxAabb.setMax(maxAabb2);
-	}
-
-	btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;
-
-	//moving objects should be moderately sized, probably something wrong if not
-	if (colObj->isStaticObject() || ((maxAabb - minAabb).length2() < btScalar(1e12)))
-	{
-		bp->setAabb(colObj->getBroadphaseHandle(), minAabb, maxAabb, m_dispatcher1);
-	}
-	else
-	{
-		//something went wrong, investigate
-		//this assert is unwanted in 3D modelers (danger of loosing work)
-		colObj->setActivationState(DISABLE_SIMULATION);
-
-		static bool reportMe = true;
-		if (reportMe && m_debugDrawer)
-		{
-			reportMe = false;
-			m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation");
-			m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n");
-			m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n");
-			m_debugDrawer->reportErrorWarning("Thanks.\n");
-		}
-	}
-}
-
-void btCollisionWorld::updateAabbs()
-{
-	BT_PROFILE("updateAabbs");
-
-	btTransform predictedTrans;
-	for (int i = 0; i < m_collisionObjects.size(); i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		btAssert(colObj->getWorldArrayIndex() == i);
-
-		//only update aabb of active objects
-		if (m_forceUpdateAllAabbs || colObj->isActive())
-		{
-			updateSingleAabb(colObj);
-		}
-	}
-}
-
-void btCollisionWorld::computeOverlappingPairs()
-{
-	BT_PROFILE("calculateOverlappingPairs");
-	m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
-}
-
-void btCollisionWorld::performDiscreteCollisionDetection()
-{
-	BT_PROFILE("performDiscreteCollisionDetection");
-
-	btDispatcherInfo& dispatchInfo = getDispatchInfo();
-
-	updateAabbs();
-
-	computeOverlappingPairs();
-
-	btDispatcher* dispatcher = getDispatcher();
-	{
-		BT_PROFILE("dispatchAllCollisionPairs");
-		if (dispatcher)
-			dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(), dispatchInfo, m_dispatcher1);
-	}
-}
-
-void btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)
-{
-	//bool removeFromBroadphase = false;
-
-	{
-		btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
-		if (bp)
-		{
-			//
-			// only clear the cached algorithms
-			//
-			getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp, m_dispatcher1);
-			getBroadphase()->destroyProxy(bp, m_dispatcher1);
-			collisionObject->setBroadphaseHandle(0);
-		}
-	}
-
-	int iObj = collisionObject->getWorldArrayIndex();
-	//    btAssert(iObj >= 0 && iObj < m_collisionObjects.size()); // trying to remove an object that was never added or already removed previously?
-	if (iObj >= 0 && iObj < m_collisionObjects.size())
-	{
-		btAssert(collisionObject == m_collisionObjects[iObj]);
-		m_collisionObjects.swap(iObj, m_collisionObjects.size() - 1);
-		m_collisionObjects.pop_back();
-		if (iObj < m_collisionObjects.size())
-		{
-			m_collisionObjects[iObj]->setWorldArrayIndex(iObj);
-		}
-	}
-	else
-	{
-		// slow linear search
-		//swapremove
-		m_collisionObjects.remove(collisionObject);
-	}
-	collisionObject->setWorldArrayIndex(-1);
-}
-
-void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
-									 btCollisionObject* collisionObject,
-									 const btCollisionShape* collisionShape,
-									 const btTransform& colObjWorldTransform,
-									 RayResultCallback& resultCallback)
-{
-	btCollisionObjectWrapper colObWrap(0, collisionShape, collisionObject, colObjWorldTransform, -1, -1);
-	btCollisionWorld::rayTestSingleInternal(rayFromTrans, rayToTrans, &colObWrap, resultCallback);
-}
-
-void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans, const btTransform& rayToTrans,
-											 const btCollisionObjectWrapper* collisionObjectWrap,
-											 RayResultCallback& resultCallback)
-{
-	btSphereShape pointShape(btScalar(0.0));
-	pointShape.setMargin(0.f);
-	const btConvexShape* castShape = &pointShape;
-	const btCollisionShape* collisionShape = collisionObjectWrap->getCollisionShape();
-	const btTransform& colObjWorldTransform = collisionObjectWrap->getWorldTransform();
-
-	if (collisionShape->isConvex())
-	{
-		//		BT_PROFILE("rayTestConvex");
-		btConvexCast::CastResult castResult;
-		castResult.m_fraction = resultCallback.m_closestHitFraction;
-
-		btConvexShape* convexShape = (btConvexShape*)collisionShape;
-		btVoronoiSimplexSolver simplexSolver;
-		btSubsimplexConvexCast subSimplexConvexCaster(castShape, convexShape, &simplexSolver);
-
-		btGjkConvexCast gjkConvexCaster(castShape, convexShape, &simplexSolver);
-
-		//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
-
-		btConvexCast* convexCasterPtr = 0;
-		//use kF_UseSubSimplexConvexCastRaytest by default
-		if (resultCallback.m_flags & btTriangleRaycastCallback::kF_UseGjkConvexCastRaytest)
-			convexCasterPtr = &gjkConvexCaster;
-		else
-			convexCasterPtr = &subSimplexConvexCaster;
-
-		btConvexCast& convexCaster = *convexCasterPtr;
-
-		if (convexCaster.calcTimeOfImpact(rayFromTrans, rayToTrans, colObjWorldTransform, colObjWorldTransform, castResult))
-		{
-			//add hit
-			if (castResult.m_normal.length2() > btScalar(0.0001))
-			{
-				if (castResult.m_fraction < resultCallback.m_closestHitFraction)
-				{
-					//todo: figure out what this is about. When is rayFromTest.getBasis() not identity?
-#ifdef USE_SUBSIMPLEX_CONVEX_CAST
-					//rotate normal into worldspace
-					castResult.m_normal = rayFromTrans.getBasis() * castResult.m_normal;
-#endif  //USE_SUBSIMPLEX_CONVEX_CAST
-
-					castResult.m_normal.normalize();
-					btCollisionWorld::LocalRayResult localRayResult(
-						collisionObjectWrap->getCollisionObject(),
-						0,
-						castResult.m_normal,
-						castResult.m_fraction);
-
-					bool normalInWorldSpace = true;
-					resultCallback.addSingleResult(localRayResult, normalInWorldSpace);
-				}
-			}
-		}
-	}
-	else
-	{
-		if (collisionShape->isConcave())
-		{
-			//ConvexCast::CastResult
-			struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
-			{
-				btCollisionWorld::RayResultCallback* m_resultCallback;
-				const btCollisionObject* m_collisionObject;
-				const btConcaveShape* m_triangleMesh;
-
-				btTransform m_colObjWorldTransform;
-
-				BridgeTriangleRaycastCallback(const btVector3& from, const btVector3& to,
-											  btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject, const btConcaveShape* triangleMesh, const btTransform& colObjWorldTransform) :  //@BP Mod
-																																																							btTriangleRaycastCallback(from, to, resultCallback->m_flags),
-																																																							m_resultCallback(resultCallback),
-																																																							m_collisionObject(collisionObject),
-																																																							m_triangleMesh(triangleMesh),
-																																																							m_colObjWorldTransform(colObjWorldTransform)
-				{
-				}
-
-				virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)
-				{
-					btCollisionWorld::LocalShapeInfo shapeInfo;
-					shapeInfo.m_shapePart = partId;
-					shapeInfo.m_triangleIndex = triangleIndex;
-
-					btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;
-
-					btCollisionWorld::LocalRayResult rayResult(m_collisionObject,
-															   &shapeInfo,
-															   hitNormalWorld,
-															   hitFraction);
-
-					bool normalInWorldSpace = true;
-					return m_resultCallback->addSingleResult(rayResult, normalInWorldSpace);
-				}
-			};
-
-			btTransform worldTocollisionObject = colObjWorldTransform.inverse();
-			btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
-			btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
-
-			//			BT_PROFILE("rayTestConcave");
-			if (collisionShape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
-			{
-				///optimized version for btBvhTriangleMeshShape
-				btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
-
-				BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->getCollisionObject(), triangleMesh, colObjWorldTransform);
-				rcb.m_hitFraction = resultCallback.m_closestHitFraction;
-				triangleMesh->performRaycast(&rcb, rayFromLocal, rayToLocal);
-			}
-			else if (collisionShape->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)
-			{
-				///optimized version for btScaledBvhTriangleMeshShape
-				btScaledBvhTriangleMeshShape* scaledTriangleMesh = (btScaledBvhTriangleMeshShape*)collisionShape;
-				btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)scaledTriangleMesh->getChildShape();
-
-				//scale the ray positions
-				btVector3 scale = scaledTriangleMesh->getLocalScaling();
-				btVector3 rayFromLocalScaled = rayFromLocal / scale;
-				btVector3 rayToLocalScaled = rayToLocal / scale;
-
-				//perform raycast in the underlying btBvhTriangleMeshShape
-				BridgeTriangleRaycastCallback rcb(rayFromLocalScaled, rayToLocalScaled, &resultCallback, collisionObjectWrap->getCollisionObject(), triangleMesh, colObjWorldTransform);
-				rcb.m_hitFraction = resultCallback.m_closestHitFraction;
-				triangleMesh->performRaycast(&rcb, rayFromLocalScaled, rayToLocalScaled);
-			}
-			else if (((resultCallback.m_flags&btTriangleRaycastCallback::kF_DisableHeightfieldAccelerator)==0) 
-				&& collisionShape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE 
-				)
-			{
-				///optimized version for btHeightfieldTerrainShape
-				btHeightfieldTerrainShape* heightField = (btHeightfieldTerrainShape*)collisionShape;
-				btTransform worldTocollisionObject = colObjWorldTransform.inverse();
-				btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
-				btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
-
-				BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->getCollisionObject(), heightField, colObjWorldTransform);
-				rcb.m_hitFraction = resultCallback.m_closestHitFraction;
-				heightField->performRaycast(&rcb, rayFromLocal, rayToLocal);
-			}
-			else
-			{
-				//generic (slower) case
-				btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
-
-				btTransform worldTocollisionObject = colObjWorldTransform.inverse();
-
-				btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
-				btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
-
-				//ConvexCast::CastResult
-
-				struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
-				{
-					btCollisionWorld::RayResultCallback* m_resultCallback;
-					const btCollisionObject* m_collisionObject;
-					btConcaveShape* m_triangleMesh;
-
-					btTransform m_colObjWorldTransform;
-
-					BridgeTriangleRaycastCallback(const btVector3& from, const btVector3& to,
-												  btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject, btConcaveShape* triangleMesh, const btTransform& colObjWorldTransform) :  //@BP Mod
-																																																						  btTriangleRaycastCallback(from, to, resultCallback->m_flags),
-																																																						  m_resultCallback(resultCallback),
-																																																						  m_collisionObject(collisionObject),
-																																																						  m_triangleMesh(triangleMesh),
-																																																						  m_colObjWorldTransform(colObjWorldTransform)
-					{
-					}
-
-					virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)
-					{
-						btCollisionWorld::LocalShapeInfo shapeInfo;
-						shapeInfo.m_shapePart = partId;
-						shapeInfo.m_triangleIndex = triangleIndex;
-
-						btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;
-
-						btCollisionWorld::LocalRayResult rayResult(m_collisionObject,
-																   &shapeInfo,
-																   hitNormalWorld,
-																   hitFraction);
-
-						bool normalInWorldSpace = true;
-						return m_resultCallback->addSingleResult(rayResult, normalInWorldSpace);
-					}
-				};
-
-				BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->getCollisionObject(), concaveShape, colObjWorldTransform);
-				rcb.m_hitFraction = resultCallback.m_closestHitFraction;
-
-				btVector3 rayAabbMinLocal = rayFromLocal;
-				rayAabbMinLocal.setMin(rayToLocal);
-				btVector3 rayAabbMaxLocal = rayFromLocal;
-				rayAabbMaxLocal.setMax(rayToLocal);
-
-				concaveShape->processAllTriangles(&rcb, rayAabbMinLocal, rayAabbMaxLocal);
-			}
-		}
-		else
-		{
-			//			BT_PROFILE("rayTestCompound");
-			if (collisionShape->isCompound())
-			{
-				struct LocalInfoAdder2 : public RayResultCallback
-				{
-					RayResultCallback* m_userCallback;
-					int m_i;
-
-					LocalInfoAdder2(int i, RayResultCallback* user)
-						: m_userCallback(user), m_i(i)
-					{
-						m_closestHitFraction = m_userCallback->m_closestHitFraction;
-						m_flags = m_userCallback->m_flags;
-					}
-					virtual bool needsCollision(btBroadphaseProxy* p) const
-					{
-						return m_userCallback->needsCollision(p);
-					}
-
-					virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& r, bool b)
-					{
-						btCollisionWorld::LocalShapeInfo shapeInfo;
-						shapeInfo.m_shapePart = -1;
-						shapeInfo.m_triangleIndex = m_i;
-						if (r.m_localShapeInfo == NULL)
-							r.m_localShapeInfo = &shapeInfo;
-
-						const btScalar result = m_userCallback->addSingleResult(r, b);
-						m_closestHitFraction = m_userCallback->m_closestHitFraction;
-						return result;
-					}
-				};
-
-				struct RayTester : btDbvt::ICollide
-				{
-					const btCollisionObject* m_collisionObject;
-					const btCompoundShape* m_compoundShape;
-					const btTransform& m_colObjWorldTransform;
-					const btTransform& m_rayFromTrans;
-					const btTransform& m_rayToTrans;
-					RayResultCallback& m_resultCallback;
-
-					RayTester(const btCollisionObject* collisionObject,
-							  const btCompoundShape* compoundShape,
-							  const btTransform& colObjWorldTransform,
-							  const btTransform& rayFromTrans,
-							  const btTransform& rayToTrans,
-							  RayResultCallback& resultCallback) : m_collisionObject(collisionObject),
-																   m_compoundShape(compoundShape),
-																   m_colObjWorldTransform(colObjWorldTransform),
-																   m_rayFromTrans(rayFromTrans),
-																   m_rayToTrans(rayToTrans),
-																   m_resultCallback(resultCallback)
-					{
-					}
-
-					void ProcessLeaf(int i)
-					{
-						const btCollisionShape* childCollisionShape = m_compoundShape->getChildShape(i);
-						const btTransform& childTrans = m_compoundShape->getChildTransform(i);
-						btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
-
-						btCollisionObjectWrapper tmpOb(0, childCollisionShape, m_collisionObject, childWorldTrans, -1, i);
-						// replace collision shape so that callback can determine the triangle
-
-						LocalInfoAdder2 my_cb(i, &m_resultCallback);
-
-						rayTestSingleInternal(
-							m_rayFromTrans,
-							m_rayToTrans,
-							&tmpOb,
-							my_cb);
-					}
-
-					void Process(const btDbvtNode* leaf)
-					{
-						ProcessLeaf(leaf->dataAsInt);
-					}
-				};
-
-				const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
-				const btDbvt* dbvt = compoundShape->getDynamicAabbTree();
-
-				RayTester rayCB(
-					collisionObjectWrap->getCollisionObject(),
-					compoundShape,
-					colObjWorldTransform,
-					rayFromTrans,
-					rayToTrans,
-					resultCallback);
-#ifndef DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
-				if (dbvt)
-				{
-					btVector3 localRayFrom = colObjWorldTransform.inverseTimes(rayFromTrans).getOrigin();
-					btVector3 localRayTo = colObjWorldTransform.inverseTimes(rayToTrans).getOrigin();
-					btDbvt::rayTest(dbvt->m_root, localRayFrom, localRayTo, rayCB);
-				}
-				else
-#endif  //DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
-				{
-					for (int i = 0, n = compoundShape->getNumChildShapes(); i < n; ++i)
-					{
-						rayCB.ProcessLeaf(i);
-					}
-				}
-			}
-		}
-	}
-}
-
-void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape, const btTransform& convexFromTrans, const btTransform& convexToTrans,
-										 btCollisionObject* collisionObject,
-										 const btCollisionShape* collisionShape,
-										 const btTransform& colObjWorldTransform,
-										 ConvexResultCallback& resultCallback, btScalar allowedPenetration)
-{
-	btCollisionObjectWrapper tmpOb(0, collisionShape, collisionObject, colObjWorldTransform, -1, -1);
-	btCollisionWorld::objectQuerySingleInternal(castShape, convexFromTrans, convexToTrans, &tmpOb, resultCallback, allowedPenetration);
-}
-
-void btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape, const btTransform& convexFromTrans, const btTransform& convexToTrans,
-												 const btCollisionObjectWrapper* colObjWrap,
-												 ConvexResultCallback& resultCallback, btScalar allowedPenetration)
-{
-	const btCollisionShape* collisionShape = colObjWrap->getCollisionShape();
-	const btTransform& colObjWorldTransform = colObjWrap->getWorldTransform();
-
-	if (collisionShape->isConvex())
-	{
-		//BT_PROFILE("convexSweepConvex");
-		btConvexCast::CastResult castResult;
-		castResult.m_allowedPenetration = allowedPenetration;
-		castResult.m_fraction = resultCallback.m_closestHitFraction;  //btScalar(1.);//??
-
-		btConvexShape* convexShape = (btConvexShape*)collisionShape;
-		btVoronoiSimplexSolver simplexSolver;
-		btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver;
-
-		btContinuousConvexCollision convexCaster1(castShape, convexShape, &simplexSolver, &gjkEpaPenetrationSolver);
-		//btGjkConvexCast convexCaster2(castShape,convexShape,&simplexSolver);
-		//btSubsimplexConvexCast convexCaster3(castShape,convexShape,&simplexSolver);
-
-		btConvexCast* castPtr = &convexCaster1;
-
-		if (castPtr->calcTimeOfImpact(convexFromTrans, convexToTrans, colObjWorldTransform, colObjWorldTransform, castResult))
-		{
-			//add hit
-			if (castResult.m_normal.length2() > btScalar(0.0001))
-			{
-				if (castResult.m_fraction < resultCallback.m_closestHitFraction)
-				{
-					castResult.m_normal.normalize();
-					btCollisionWorld::LocalConvexResult localConvexResult(
-						colObjWrap->getCollisionObject(),
-						0,
-						castResult.m_normal,
-						castResult.m_hitPoint,
-						castResult.m_fraction);
-
-					bool normalInWorldSpace = true;
-					resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);
-				}
-			}
-		}
-	}
-	else
-	{
-		if (collisionShape->isConcave())
-		{
-			if (collisionShape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
-			{
-				//BT_PROFILE("convexSweepbtBvhTriangleMesh");
-				btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
-				btTransform worldTocollisionObject = colObjWorldTransform.inverse();
-				btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
-				btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
-				// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
-				btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
-
-				//ConvexCast::CastResult
-				struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
-				{
-					btCollisionWorld::ConvexResultCallback* m_resultCallback;
-					const btCollisionObject* m_collisionObject;
-					btTriangleMeshShape* m_triangleMesh;
-
-					BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from, const btTransform& to,
-													 btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject, btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld) : btTriangleConvexcastCallback(castShape, from, to, triangleToWorld, triangleMesh->getMargin()),
-																																																								m_resultCallback(resultCallback),
-																																																								m_collisionObject(collisionObject),
-																																																								m_triangleMesh(triangleMesh)
-					{
-					}
-
-					virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex)
-					{
-						btCollisionWorld::LocalShapeInfo shapeInfo;
-						shapeInfo.m_shapePart = partId;
-						shapeInfo.m_triangleIndex = triangleIndex;
-						if (hitFraction <= m_resultCallback->m_closestHitFraction)
-						{
-							btCollisionWorld::LocalConvexResult convexResult(m_collisionObject,
-																			 &shapeInfo,
-																			 hitNormalLocal,
-																			 hitPointLocal,
-																			 hitFraction);
-
-							bool normalInWorldSpace = true;
-
-							return m_resultCallback->addSingleResult(convexResult, normalInWorldSpace);
-						}
-						return hitFraction;
-					}
-				};
-
-				BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans, convexToTrans, &resultCallback, colObjWrap->getCollisionObject(), triangleMesh, colObjWorldTransform);
-				tccb.m_hitFraction = resultCallback.m_closestHitFraction;
-				tccb.m_allowedPenetration = allowedPenetration;
-				btVector3 boxMinLocal, boxMaxLocal;
-				castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
-				triangleMesh->performConvexcast(&tccb, convexFromLocal, convexToLocal, boxMinLocal, boxMaxLocal);
-			}
-			else
-			{
-				if (collisionShape->getShapeType() == STATIC_PLANE_PROXYTYPE)
-				{
-					btConvexCast::CastResult castResult;
-					castResult.m_allowedPenetration = allowedPenetration;
-					castResult.m_fraction = resultCallback.m_closestHitFraction;
-					btStaticPlaneShape* planeShape = (btStaticPlaneShape*)collisionShape;
-					btContinuousConvexCollision convexCaster1(castShape, planeShape);
-					btConvexCast* castPtr = &convexCaster1;
-
-					if (castPtr->calcTimeOfImpact(convexFromTrans, convexToTrans, colObjWorldTransform, colObjWorldTransform, castResult))
-					{
-						//add hit
-						if (castResult.m_normal.length2() > btScalar(0.0001))
-						{
-							if (castResult.m_fraction < resultCallback.m_closestHitFraction)
-							{
-								castResult.m_normal.normalize();
-								btCollisionWorld::LocalConvexResult localConvexResult(
-									colObjWrap->getCollisionObject(),
-									0,
-									castResult.m_normal,
-									castResult.m_hitPoint,
-									castResult.m_fraction);
-
-								bool normalInWorldSpace = true;
-								resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);
-							}
-						}
-					}
-				}
-				else
-				{
-					//BT_PROFILE("convexSweepConcave");
-					btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
-					btTransform worldTocollisionObject = colObjWorldTransform.inverse();
-					btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
-					btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
-					// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
-					btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
-
-					//ConvexCast::CastResult
-					struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
-					{
-						btCollisionWorld::ConvexResultCallback* m_resultCallback;
-						const btCollisionObject* m_collisionObject;
-						btConcaveShape* m_triangleMesh;
-
-						BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from, const btTransform& to,
-														 btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject, btConcaveShape* triangleMesh, const btTransform& triangleToWorld) : btTriangleConvexcastCallback(castShape, from, to, triangleToWorld, triangleMesh->getMargin()),
-																																																							   m_resultCallback(resultCallback),
-																																																							   m_collisionObject(collisionObject),
-																																																							   m_triangleMesh(triangleMesh)
-						{
-						}
-
-						virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex)
-						{
-							btCollisionWorld::LocalShapeInfo shapeInfo;
-							shapeInfo.m_shapePart = partId;
-							shapeInfo.m_triangleIndex = triangleIndex;
-							if (hitFraction <= m_resultCallback->m_closestHitFraction)
-							{
-								btCollisionWorld::LocalConvexResult convexResult(m_collisionObject,
-																				 &shapeInfo,
-																				 hitNormalLocal,
-																				 hitPointLocal,
-																				 hitFraction);
-
-								bool normalInWorldSpace = true;
-
-								return m_resultCallback->addSingleResult(convexResult, normalInWorldSpace);
-							}
-							return hitFraction;
-						}
-					};
-
-					BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans, convexToTrans, &resultCallback, colObjWrap->getCollisionObject(), concaveShape, colObjWorldTransform);
-					tccb.m_hitFraction = resultCallback.m_closestHitFraction;
-					tccb.m_allowedPenetration = allowedPenetration;
-					btVector3 boxMinLocal, boxMaxLocal;
-					castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
-
-					btVector3 rayAabbMinLocal = convexFromLocal;
-					rayAabbMinLocal.setMin(convexToLocal);
-					btVector3 rayAabbMaxLocal = convexFromLocal;
-					rayAabbMaxLocal.setMax(convexToLocal);
-					rayAabbMinLocal += boxMinLocal;
-					rayAabbMaxLocal += boxMaxLocal;
-					concaveShape->processAllTriangles(&tccb, rayAabbMinLocal, rayAabbMaxLocal);
-				}
-			}
-		}
-		else
-		{
-			if (collisionShape->isCompound())
-			{
-				struct btCompoundLeafCallback : btDbvt::ICollide
-				{
-					btCompoundLeafCallback(
-						const btCollisionObjectWrapper* colObjWrap,
-						const btConvexShape* castShape,
-						const btTransform& convexFromTrans,
-						const btTransform& convexToTrans,
-						btScalar allowedPenetration,
-						const btCompoundShape* compoundShape,
-						const btTransform& colObjWorldTransform,
-						ConvexResultCallback& resultCallback)
-						: m_colObjWrap(colObjWrap),
-						  m_castShape(castShape),
-						  m_convexFromTrans(convexFromTrans),
-						  m_convexToTrans(convexToTrans),
-						  m_allowedPenetration(allowedPenetration),
-						  m_compoundShape(compoundShape),
-						  m_colObjWorldTransform(colObjWorldTransform),
-						  m_resultCallback(resultCallback)
-					{
-					}
-
-					const btCollisionObjectWrapper* m_colObjWrap;
-					const btConvexShape* m_castShape;
-					const btTransform& m_convexFromTrans;
-					const btTransform& m_convexToTrans;
-					btScalar m_allowedPenetration;
-					const btCompoundShape* m_compoundShape;
-					const btTransform& m_colObjWorldTransform;
-					ConvexResultCallback& m_resultCallback;
-
-				public:
-					void ProcessChild(int index, const btTransform& childTrans, const btCollisionShape* childCollisionShape)
-					{
-						btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
-
-						struct LocalInfoAdder : public ConvexResultCallback
-						{
-							ConvexResultCallback* m_userCallback;
-							int m_i;
-
-							LocalInfoAdder(int i, ConvexResultCallback* user)
-								: m_userCallback(user), m_i(i)
-							{
-								m_closestHitFraction = m_userCallback->m_closestHitFraction;
-							}
-							virtual bool needsCollision(btBroadphaseProxy* p) const
-							{
-								return m_userCallback->needsCollision(p);
-							}
-							virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& r, bool b)
-							{
-								btCollisionWorld::LocalShapeInfo shapeInfo;
-								shapeInfo.m_shapePart = -1;
-								shapeInfo.m_triangleIndex = m_i;
-								if (r.m_localShapeInfo == NULL)
-									r.m_localShapeInfo = &shapeInfo;
-								const btScalar result = m_userCallback->addSingleResult(r, b);
-								m_closestHitFraction = m_userCallback->m_closestHitFraction;
-								return result;
-							}
-						};
-
-						LocalInfoAdder my_cb(index, &m_resultCallback);
-
-						btCollisionObjectWrapper tmpObj(m_colObjWrap, childCollisionShape, m_colObjWrap->getCollisionObject(), childWorldTrans, -1, index);
-
-						objectQuerySingleInternal(m_castShape, m_convexFromTrans, m_convexToTrans, &tmpObj, my_cb, m_allowedPenetration);
-					}
-
-					void Process(const btDbvtNode* leaf)
-					{
-						// Processing leaf node
-						int index = leaf->dataAsInt;
-
-						btTransform childTrans = m_compoundShape->getChildTransform(index);
-						const btCollisionShape* childCollisionShape = m_compoundShape->getChildShape(index);
-
-						ProcessChild(index, childTrans, childCollisionShape);
-					}
-				};
-
-				BT_PROFILE("convexSweepCompound");
-				const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
-
-				btVector3 fromLocalAabbMin, fromLocalAabbMax;
-				btVector3 toLocalAabbMin, toLocalAabbMax;
-
-				castShape->getAabb(colObjWorldTransform.inverse() * convexFromTrans, fromLocalAabbMin, fromLocalAabbMax);
-				castShape->getAabb(colObjWorldTransform.inverse() * convexToTrans, toLocalAabbMin, toLocalAabbMax);
-
-				fromLocalAabbMin.setMin(toLocalAabbMin);
-				fromLocalAabbMax.setMax(toLocalAabbMax);
-
-				btCompoundLeafCallback callback(colObjWrap, castShape, convexFromTrans, convexToTrans,
-												allowedPenetration, compoundShape, colObjWorldTransform, resultCallback);
-
-				const btDbvt* tree = compoundShape->getDynamicAabbTree();
-				if (tree)
-				{
-					const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds = btDbvtVolume::FromMM(fromLocalAabbMin, fromLocalAabbMax);
-					tree->collideTV(tree->m_root, bounds, callback);
-				}
-				else
-				{
-					int i;
-					for (i = 0; i < compoundShape->getNumChildShapes(); i++)
-					{
-						const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
-						btTransform childTrans = compoundShape->getChildTransform(i);
-						callback.ProcessChild(i, childTrans, childCollisionShape);
-					}
-				}
-			}
-		}
-	}
-}
-
-struct btSingleRayCallback : public btBroadphaseRayCallback
-{
-	btVector3 m_rayFromWorld;
-	btVector3 m_rayToWorld;
-	btTransform m_rayFromTrans;
-	btTransform m_rayToTrans;
-	btVector3 m_hitNormal;
-
-	const btCollisionWorld* m_world;
-	btCollisionWorld::RayResultCallback& m_resultCallback;
-
-	btSingleRayCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld, const btCollisionWorld* world, btCollisionWorld::RayResultCallback& resultCallback)
-		: m_rayFromWorld(rayFromWorld),
-		  m_rayToWorld(rayToWorld),
-		  m_world(world),
-		  m_resultCallback(resultCallback)
-	{
-		m_rayFromTrans.setIdentity();
-		m_rayFromTrans.setOrigin(m_rayFromWorld);
-		m_rayToTrans.setIdentity();
-		m_rayToTrans.setOrigin(m_rayToWorld);
-
-		btVector3 rayDir = (rayToWorld - rayFromWorld);
-
-		rayDir.normalize();
-		///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
-		m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
-		m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
-		m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
-		m_signs[0] = m_rayDirectionInverse[0] < 0.0;
-		m_signs[1] = m_rayDirectionInverse[1] < 0.0;
-		m_signs[2] = m_rayDirectionInverse[2] < 0.0;
-
-		m_lambda_max = rayDir.dot(m_rayToWorld - m_rayFromWorld);
-	}
-
-	virtual bool process(const btBroadphaseProxy* proxy)
-	{
-		///terminate further ray tests, once the closestHitFraction reached zero
-		if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
-			return false;
-
-		btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
-
-		//only perform raycast if filterMask matches
-		if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
-		{
-			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
-			//btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
-#if 0
-#ifdef RECALCULATE_AABB
-			btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
-			collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
-#else
-			//getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
-			const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
-			const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
-#endif
-#endif
-			//btScalar hitLambda = m_resultCallback.m_closestHitFraction;
-			//culling already done by broadphase
-			//if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
-			{
-				m_world->rayTestSingle(m_rayFromTrans, m_rayToTrans,
-									   collisionObject,
-									   collisionObject->getCollisionShape(),
-									   collisionObject->getWorldTransform(),
-									   m_resultCallback);
-			}
-		}
-		return true;
-	}
-};
-
-void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
-{
-	//BT_PROFILE("rayTest");
-	/// use the broadphase to accelerate the search for objects, based on their aabb
-	/// and for each object with ray-aabb overlap, perform an exact ray test
-	btSingleRayCallback rayCB(rayFromWorld, rayToWorld, this, resultCallback);
-
-#ifndef USE_BRUTEFORCE_RAYBROADPHASE
-	m_broadphasePairCache->rayTest(rayFromWorld, rayToWorld, rayCB);
-#else
-	for (int i = 0; i < this->getNumCollisionObjects(); i++)
-	{
-		rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
-	}
-#endif  //USE_BRUTEFORCE_RAYBROADPHASE
-}
-
-struct btSingleSweepCallback : public btBroadphaseRayCallback
-{
-	btTransform m_convexFromTrans;
-	btTransform m_convexToTrans;
-	btVector3 m_hitNormal;
-	const btCollisionWorld* m_world;
-	btCollisionWorld::ConvexResultCallback& m_resultCallback;
-	btScalar m_allowedCcdPenetration;
-	const btConvexShape* m_castShape;
-
-	btSingleSweepCallback(const btConvexShape* castShape, const btTransform& convexFromTrans, const btTransform& convexToTrans, const btCollisionWorld* world, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedPenetration)
-		: m_convexFromTrans(convexFromTrans),
-		  m_convexToTrans(convexToTrans),
-		  m_world(world),
-		  m_resultCallback(resultCallback),
-		  m_allowedCcdPenetration(allowedPenetration),
-		  m_castShape(castShape)
-	{
-		btVector3 unnormalizedRayDir = (m_convexToTrans.getOrigin() - m_convexFromTrans.getOrigin());
-		btVector3 rayDir = unnormalizedRayDir.fuzzyZero() ? btVector3(btScalar(0.0), btScalar(0.0), btScalar(0.0)) : unnormalizedRayDir.normalized();
-		///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
-		m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
-		m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
-		m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
-		m_signs[0] = m_rayDirectionInverse[0] < 0.0;
-		m_signs[1] = m_rayDirectionInverse[1] < 0.0;
-		m_signs[2] = m_rayDirectionInverse[2] < 0.0;
-
-		m_lambda_max = rayDir.dot(unnormalizedRayDir);
-	}
-
-	virtual bool process(const btBroadphaseProxy* proxy)
-	{
-		///terminate further convex sweep tests, once the closestHitFraction reached zero
-		if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
-			return false;
-
-		btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
-
-		//only perform raycast if filterMask matches
-		if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
-		{
-			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
-			m_world->objectQuerySingle(m_castShape, m_convexFromTrans, m_convexToTrans,
-									   collisionObject,
-									   collisionObject->getCollisionShape(),
-									   collisionObject->getWorldTransform(),
-									   m_resultCallback,
-									   m_allowedCcdPenetration);
-		}
-
-		return true;
-	}
-};
-
-void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const
-{
-	BT_PROFILE("convexSweepTest");
-	/// use the broadphase to accelerate the search for objects, based on their aabb
-	/// and for each object with ray-aabb overlap, perform an exact ray test
-	/// unfortunately the implementation for rayTest and convexSweepTest duplicated, albeit practically identical
-
-	btTransform convexFromTrans, convexToTrans;
-	convexFromTrans = convexFromWorld;
-	convexToTrans = convexToWorld;
-	btVector3 castShapeAabbMin, castShapeAabbMax;
-	/* Compute AABB that encompasses angular movement */
-	{
-		btVector3 linVel, angVel;
-		btTransformUtil::calculateVelocity(convexFromTrans, convexToTrans, 1.0f, linVel, angVel);
-		btVector3 zeroLinVel;
-		zeroLinVel.setValue(0, 0, 0);
-		btTransform R;
-		R.setIdentity();
-		R.setRotation(convexFromTrans.getRotation());
-		castShape->calculateTemporalAabb(R, zeroLinVel, angVel, 1.0f, castShapeAabbMin, castShapeAabbMax);
-	}
-
-#ifndef USE_BRUTEFORCE_RAYBROADPHASE
-
-	btSingleSweepCallback convexCB(castShape, convexFromWorld, convexToWorld, this, resultCallback, allowedCcdPenetration);
-
-	m_broadphasePairCache->rayTest(convexFromTrans.getOrigin(), convexToTrans.getOrigin(), convexCB, castShapeAabbMin, castShapeAabbMax);
-
-#else
-	/// go over all objects, and if the ray intersects their aabb + cast shape aabb,
-	// do a ray-shape query using convexCaster (CCD)
-	int i;
-	for (i = 0; i < m_collisionObjects.size(); i++)
-	{
-		btCollisionObject* collisionObject = m_collisionObjects[i];
-		//only perform raycast if filterMask matches
-		if (resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
-		{
-			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
-			btVector3 collisionObjectAabbMin, collisionObjectAabbMax;
-			collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(), collisionObjectAabbMin, collisionObjectAabbMax);
-			AabbExpand(collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
-			btScalar hitLambda = btScalar(1.);  //could use resultCallback.m_closestHitFraction, but needs testing
-			btVector3 hitNormal;
-			if (btRayAabb(convexFromWorld.getOrigin(), convexToWorld.getOrigin(), collisionObjectAabbMin, collisionObjectAabbMax, hitLambda, hitNormal))
-			{
-				objectQuerySingle(castShape, convexFromTrans, convexToTrans,
-								  collisionObject,
-								  collisionObject->getCollisionShape(),
-								  collisionObject->getWorldTransform(),
-								  resultCallback,
-								  allowedCcdPenetration);
-			}
-		}
-	}
-#endif  //USE_BRUTEFORCE_RAYBROADPHASE
-}
-
-struct btBridgedManifoldResult : public btManifoldResult
-{
-	btCollisionWorld::ContactResultCallback& m_resultCallback;
-
-	btBridgedManifoldResult(const btCollisionObjectWrapper* obj0Wrap, const btCollisionObjectWrapper* obj1Wrap, btCollisionWorld::ContactResultCallback& resultCallback)
-		: btManifoldResult(obj0Wrap, obj1Wrap),
-		  m_resultCallback(resultCallback)
-	{
-	}
-
-	virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
-	{
-		bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
-		btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
-		btVector3 localA;
-		btVector3 localB;
-		if (isSwapped)
-		{
-			localA = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointA);
-			localB = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
-		}
-		else
-		{
-			localA = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointA);
-			localB = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
-		}
-
-		btManifoldPoint newPt(localA, localB, normalOnBInWorld, depth);
-		newPt.m_positionWorldOnA = pointA;
-		newPt.m_positionWorldOnB = pointInWorld;
-
-		//BP mod, store contact triangles.
-		if (isSwapped)
-		{
-			newPt.m_partId0 = m_partId1;
-			newPt.m_partId1 = m_partId0;
-			newPt.m_index0 = m_index1;
-			newPt.m_index1 = m_index0;
-		}
-		else
-		{
-			newPt.m_partId0 = m_partId0;
-			newPt.m_partId1 = m_partId1;
-			newPt.m_index0 = m_index0;
-			newPt.m_index1 = m_index1;
-		}
-
-		//experimental feature info, for per-triangle material etc.
-		const btCollisionObjectWrapper* obj0Wrap = isSwapped ? m_body1Wrap : m_body0Wrap;
-		const btCollisionObjectWrapper* obj1Wrap = isSwapped ? m_body0Wrap : m_body1Wrap;
-		m_resultCallback.addSingleResult(newPt, obj0Wrap, newPt.m_partId0, newPt.m_index0, obj1Wrap, newPt.m_partId1, newPt.m_index1);
-	}
-};
-
-struct btSingleContactCallback : public btBroadphaseAabbCallback
-{
-	btCollisionObject* m_collisionObject;
-	btCollisionWorld* m_world;
-	btCollisionWorld::ContactResultCallback& m_resultCallback;
-
-	btSingleContactCallback(btCollisionObject* collisionObject, btCollisionWorld* world, btCollisionWorld::ContactResultCallback& resultCallback)
-		: m_collisionObject(collisionObject),
-		  m_world(world),
-		  m_resultCallback(resultCallback)
-	{
-	}
-
-	virtual bool process(const btBroadphaseProxy* proxy)
-	{
-		btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
-		if (collisionObject == m_collisionObject)
-			return true;
-
-		//only perform raycast if filterMask matches
-		if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
-		{
-			btCollisionObjectWrapper ob0(0, m_collisionObject->getCollisionShape(), m_collisionObject, m_collisionObject->getWorldTransform(), -1, -1);
-			btCollisionObjectWrapper ob1(0, collisionObject->getCollisionShape(), collisionObject, collisionObject->getWorldTransform(), -1, -1);
-
-			btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(&ob0, &ob1, 0, BT_CLOSEST_POINT_ALGORITHMS);
-			if (algorithm)
-			{
-				btBridgedManifoldResult contactPointResult(&ob0, &ob1, m_resultCallback);
-				//discrete collision detection query
-
-				algorithm->processCollision(&ob0, &ob1, m_world->getDispatchInfo(), &contactPointResult);
-
-				algorithm->~btCollisionAlgorithm();
-				m_world->getDispatcher()->freeCollisionAlgorithm(algorithm);
-			}
-		}
-		return true;
-	}
-};
-
-///contactTest performs a discrete collision test against all objects in the btCollisionWorld, and calls the resultCallback.
-///it reports one or more contact points for every overlapping object (including the one with deepest penetration)
-void btCollisionWorld::contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback)
-{
-	btVector3 aabbMin, aabbMax;
-	colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), aabbMin, aabbMax);
-	btSingleContactCallback contactCB(colObj, this, resultCallback);
-
-	m_broadphasePairCache->aabbTest(aabbMin, aabbMax, contactCB);
-}
-
-///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.
-///it reports one or more contact points (including the one with deepest penetration)
-void btCollisionWorld::contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback)
-{
-	btCollisionObjectWrapper obA(0, colObjA->getCollisionShape(), colObjA, colObjA->getWorldTransform(), -1, -1);
-	btCollisionObjectWrapper obB(0, colObjB->getCollisionShape(), colObjB, colObjB->getWorldTransform(), -1, -1);
-
-	btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(&obA, &obB, 0, BT_CLOSEST_POINT_ALGORITHMS);
-	if (algorithm)
-	{
-		btBridgedManifoldResult contactPointResult(&obA, &obB, resultCallback);
-		contactPointResult.m_closestPointDistanceThreshold = resultCallback.m_closestDistanceThreshold;
-		//discrete collision detection query
-		algorithm->processCollision(&obA, &obB, getDispatchInfo(), &contactPointResult);
-
-		algorithm->~btCollisionAlgorithm();
-		getDispatcher()->freeCollisionAlgorithm(algorithm);
-	}
-}
-
-class DebugDrawcallback : public btTriangleCallback, public btInternalTriangleIndexCallback
-{
-	btIDebugDraw* m_debugDrawer;
-	btVector3 m_color;
-	btTransform m_worldTrans;
-
-public:
-	DebugDrawcallback(btIDebugDraw* debugDrawer, const btTransform& worldTrans, const btVector3& color) : m_debugDrawer(debugDrawer),
-																										  m_color(color),
-																										  m_worldTrans(worldTrans)
-	{
-	}
-
-	virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
-	{
-		processTriangle(triangle, partId, triangleIndex);
-	}
-
-	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
-	{
-		(void)partId;
-		(void)triangleIndex;
-
-		btVector3 wv0, wv1, wv2;
-		wv0 = m_worldTrans * triangle[0];
-		wv1 = m_worldTrans * triangle[1];
-		wv2 = m_worldTrans * triangle[2];
-		btVector3 center = (wv0 + wv1 + wv2) * btScalar(1. / 3.);
-
-		if (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawNormals)
-		{
-			btVector3 normal = (wv1 - wv0).cross(wv2 - wv0);
-			normal.normalize();
-			btVector3 normalColor(1, 1, 0);
-			m_debugDrawer->drawLine(center, center + normal, normalColor);
-		}
-		m_debugDrawer->drawTriangle(wv0, wv1, wv2, m_color, 1.0);
-	}
-};
-
-void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color)
-{
-	// Draw a small simplex at the center of the object
-	if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawFrames)
-	{
-		getDebugDrawer()->drawTransform(worldTransform, .1);
-	}
-
-	if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
-	{
-		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
-		for (int i = compoundShape->getNumChildShapes() - 1; i >= 0; i--)
-		{
-			btTransform childTrans = compoundShape->getChildTransform(i);
-			const btCollisionShape* colShape = compoundShape->getChildShape(i);
-			debugDrawObject(worldTransform * childTrans, colShape, color);
-		}
-	}
-	else
-	{
-		switch (shape->getShapeType())
-		{
-			case BOX_SHAPE_PROXYTYPE:
-			{
-				const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
-				btVector3 halfExtents = boxShape->getHalfExtentsWithMargin();
-				getDebugDrawer()->drawBox(-halfExtents, halfExtents, worldTransform, color);
-				break;
-			}
-
-			case SPHERE_SHAPE_PROXYTYPE:
-			{
-				const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
-				btScalar radius = sphereShape->getMargin();  //radius doesn't include the margin, so draw with margin
-
-				getDebugDrawer()->drawSphere(radius, worldTransform, color);
-				break;
-			}
-			case MULTI_SPHERE_SHAPE_PROXYTYPE:
-			{
-				const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
-
-				btTransform childTransform;
-				childTransform.setIdentity();
-
-				for (int i = multiSphereShape->getSphereCount() - 1; i >= 0; i--)
-				{
-					childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
-					getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform * childTransform, color);
-				}
-
-				break;
-			}
-			case CAPSULE_SHAPE_PROXYTYPE:
-			{
-				const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
-
-				btScalar radius = capsuleShape->getRadius();
-				btScalar halfHeight = capsuleShape->getHalfHeight();
-
-				int upAxis = capsuleShape->getUpAxis();
-				getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, color);
-				break;
-			}
-			case CONE_SHAPE_PROXYTYPE:
-			{
-				const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
-				btScalar radius = coneShape->getRadius();  //+coneShape->getMargin();
-				btScalar height = coneShape->getHeight();  //+coneShape->getMargin();
-
-				int upAxis = coneShape->getConeUpIndex();
-				getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, color);
-				break;
-			}
-			case CYLINDER_SHAPE_PROXYTYPE:
-			{
-				const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
-				int upAxis = cylinder->getUpAxis();
-				btScalar radius = cylinder->getRadius();
-				btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
-				getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color);
-				break;
-			}
-
-			case STATIC_PLANE_PROXYTYPE:
-			{
-				const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
-				btScalar planeConst = staticPlaneShape->getPlaneConstant();
-				const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
-				getDebugDrawer()->drawPlane(planeNormal, planeConst, worldTransform, color);
-				break;
-			}
-			default:
-			{
-				/// for polyhedral shapes
-				if (shape->isPolyhedral())
-				{
-					btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*)shape;
-
-					int i;
-					if (polyshape->getConvexPolyhedron())
-					{
-						const btConvexPolyhedron* poly = polyshape->getConvexPolyhedron();
-						for (i = 0; i < poly->m_faces.size(); i++)
-						{
-							btVector3 centroid(0, 0, 0);
-							int numVerts = poly->m_faces[i].m_indices.size();
-							if (numVerts)
-							{
-								int lastV = poly->m_faces[i].m_indices[numVerts - 1];
-								for (int v = 0; v < poly->m_faces[i].m_indices.size(); v++)
-								{
-									int curVert = poly->m_faces[i].m_indices[v];
-									centroid += poly->m_vertices[curVert];
-									getDebugDrawer()->drawLine(worldTransform * poly->m_vertices[lastV], worldTransform * poly->m_vertices[curVert], color);
-									lastV = curVert;
-								}
-							}
-							centroid *= btScalar(1.f) / btScalar(numVerts);
-							if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawNormals)
-							{
-								btVector3 normalColor(1, 1, 0);
-								btVector3 faceNormal(poly->m_faces[i].m_plane[0], poly->m_faces[i].m_plane[1], poly->m_faces[i].m_plane[2]);
-								getDebugDrawer()->drawLine(worldTransform * centroid, worldTransform * (centroid + faceNormal), normalColor);
-							}
-						}
-					}
-					else
-					{
-						for (i = 0; i < polyshape->getNumEdges(); i++)
-						{
-							btVector3 a, b;
-							polyshape->getEdge(i, a, b);
-							btVector3 wa = worldTransform * a;
-							btVector3 wb = worldTransform * b;
-							getDebugDrawer()->drawLine(wa, wb, color);
-						}
-					}
-				}
-
-				if (shape->isConcave())
-				{
-					btConcaveShape* concaveMesh = (btConcaveShape*)shape;
-
-					///@todo pass camera, for some culling? no -> we are not a graphics lib
-					btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-					btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
-
-					DebugDrawcallback drawCallback(getDebugDrawer(), worldTransform, color);
-					concaveMesh->processAllTriangles(&drawCallback, aabbMin, aabbMax);
-				}
-
-				if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
-				{
-					btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*)shape;
-					//todo: pass camera for some culling
-					btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-					btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
-					//DebugDrawcallback drawCallback;
-					DebugDrawcallback drawCallback(getDebugDrawer(), worldTransform, color);
-					convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback, aabbMin, aabbMax);
-				}
-			}
-		}
-	}
-}
-
-void btCollisionWorld::debugDrawWorld()
-{
-	if (getDebugDrawer())
-	{
-		getDebugDrawer()->clearLines();
-
-		btIDebugDraw::DefaultColors defaultColors = getDebugDrawer()->getDefaultColors();
-
-		if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
-		{
-			if (getDispatcher())
-			{
-				int numManifolds = getDispatcher()->getNumManifolds();
-
-				for (int i = 0; i < numManifolds; i++)
-				{
-					btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);
-					//btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
-					//btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
-
-					int numContacts = contactManifold->getNumContacts();
-					for (int j = 0; j < numContacts; j++)
-					{
-						btManifoldPoint& cp = contactManifold->getContactPoint(j);
-						getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB, cp.m_normalWorldOnB, cp.getDistance(), cp.getLifeTime(), defaultColors.m_contactPoint);
-					}
-				}
-			}
-		}
-
-		if ((getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb)))
-		{
-			int i;
-
-			for (i = 0; i < m_collisionObjects.size(); i++)
-			{
-				btCollisionObject* colObj = m_collisionObjects[i];
-				if ((colObj->getCollisionFlags() & btCollisionObject::CF_DISABLE_VISUALIZE_OBJECT) == 0)
-				{
-					if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe))
-					{
-						btVector3 color(btScalar(0.4), btScalar(0.4), btScalar(0.4));
-
-						switch (colObj->getActivationState())
-						{
-							case ACTIVE_TAG:
-								color = defaultColors.m_activeObject;
-								break;
-							case ISLAND_SLEEPING:
-								color = defaultColors.m_deactivatedObject;
-								break;
-							case WANTS_DEACTIVATION:
-								color = defaultColors.m_wantsDeactivationObject;
-								break;
-							case DISABLE_DEACTIVATION:
-								color = defaultColors.m_disabledDeactivationObject;
-								break;
-							case DISABLE_SIMULATION:
-								color = defaultColors.m_disabledSimulationObject;
-								break;
-							default:
-							{
-								color = btVector3(btScalar(.3), btScalar(0.3), btScalar(0.3));
-							}
-						};
-
-						colObj->getCustomDebugColor(color);
-
-						debugDrawObject(colObj->getWorldTransform(), colObj->getCollisionShape(), color);
-					}
-					if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
-					{
-						btVector3 minAabb, maxAabb;
-						btVector3 colorvec = defaultColors.m_aabb;
-						colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb, maxAabb);
-						btVector3 contactThreshold(gContactBreakingThreshold, gContactBreakingThreshold, gContactBreakingThreshold);
-						minAabb -= contactThreshold;
-						maxAabb += contactThreshold;
-
-						btVector3 minAabb2, maxAabb2;
-
-						if (getDispatchInfo().m_useContinuous && colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())
-						{
-							colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(), minAabb2, maxAabb2);
-							minAabb2 -= contactThreshold;
-							maxAabb2 += contactThreshold;
-							minAabb.setMin(minAabb2);
-							maxAabb.setMax(maxAabb2);
-						}
-
-						m_debugDrawer->drawAabb(minAabb, maxAabb, colorvec);
-					}
-				}
-			}
-		}
-	}
-}
-
-void btCollisionWorld::serializeCollisionObjects(btSerializer* serializer)
-{
-	int i;
-
-	///keep track of shapes already serialized
-	btHashMap<btHashPtr, btCollisionShape*> serializedShapes;
-
-	for (i = 0; i < m_collisionObjects.size(); i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		btCollisionShape* shape = colObj->getCollisionShape();
-
-		if (!serializedShapes.find(shape))
-		{
-			serializedShapes.insert(shape, shape);
-			shape->serializeSingleShape(serializer);
-		}
-	}
-
-	//serialize all collision objects
-	for (i = 0; i < m_collisionObjects.size(); i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		if (colObj->getInternalType() == btCollisionObject::CO_COLLISION_OBJECT)
-		{
-			colObj->serializeSingleObject(serializer);
-		}
-	}
-}
-
-void btCollisionWorld::serializeContactManifolds(btSerializer* serializer)
-{
-	if (serializer->getSerializationFlags() & BT_SERIALIZE_CONTACT_MANIFOLDS)
-	{
-		int numManifolds = getDispatcher()->getNumManifolds();
-		for (int i = 0; i < numManifolds; i++)
-		{
-			const btPersistentManifold* manifold = getDispatcher()->getInternalManifoldPointer()[i];
-			//don't serialize empty manifolds, they just take space
-			//(may have to do it anyway if it destroys determinism)
-			if (manifold->getNumContacts() == 0)
-				continue;
-
-			btChunk* chunk = serializer->allocate(manifold->calculateSerializeBufferSize(), 1);
-			const char* structType = manifold->serialize(manifold, chunk->m_oldPtr, serializer);
-			serializer->finalizeChunk(chunk, structType, BT_CONTACTMANIFOLD_CODE, (void*)manifold);
-		}
-	}
-}
-
-void btCollisionWorld::serialize(btSerializer* serializer)
-{
-	serializer->startSerialization();
-
-	serializeCollisionObjects(serializer);
-
-	serializeContactManifolds(serializer);
-
-	serializer->finishSerialization();
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h
deleted file mode 100644
index fd0e5b9bbd..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h
+++ /dev/null
@@ -1,513 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/**
- * @mainpage Bullet Documentation
- *
- * @section intro_sec Introduction
- * Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
- *
- * The main documentation is Bullet_User_Manual.pdf, included in the source code distribution.
- * There is the Physics Forum for feedback and general Collision Detection and Physics discussions.
- * Please visit http://www.bulletphysics.org
- *
- * @section install_sec Installation
- *
- * @subsection step1 Step 1: Download
- * You can download the Bullet Physics Library from the github repository: https://github.com/bulletphysics/bullet3/releases 
- *
- * @subsection step2 Step 2: Building
- * Bullet has multiple build systems, including premake, cmake and autotools. Premake and cmake support all platforms.
- * Premake is included in the Bullet/build folder for Windows, Mac OSX and Linux. 
- * Under Windows you can click on Bullet/build/vs2010.bat to create Microsoft Visual Studio projects. 
- * On Mac OSX and Linux you can open a terminal and generate Makefile, codeblocks or Xcode4 projects:
- * cd Bullet/build
- * ./premake4_osx gmake or ./premake4_linux gmake or ./premake4_linux64 gmake or (for Mac) ./premake4_osx xcode4
- * cd Bullet/build/gmake
- * make
- * 
- * An alternative to premake is cmake. You can download cmake from http://www.cmake.org
- * cmake can autogenerate projectfiles for Microsoft Visual Studio, Apple Xcode, KDevelop and Unix Makefiles.
- * The easiest is to run the CMake cmake-gui graphical user interface and choose the options and generate projectfiles.
- * You can also use cmake in the command-line. Here are some examples for various platforms:
- * cmake . -G "Visual Studio 9 2008"
- * cmake . -G Xcode
- * cmake . -G "Unix Makefiles"
- * Although cmake is recommended, you can also use autotools for UNIX: ./autogen.sh ./configure to create a Makefile and then run make.
- * 
- * @subsection step3 Step 3: Testing demos
- * Try to run and experiment with BasicDemo executable as a starting point.
- * Bullet can be used in several ways, as Full Rigid Body simulation, as Collision Detector Library or Low Level / Snippets like the GJK Closest Point calculation.
- * The Dependencies can be seen in this documentation under Directories
- * 
- * @subsection step4 Step 4: Integrating in your application, full Rigid Body and Soft Body simulation
- * Check out BasicDemo how to create a btDynamicsWorld, btRigidBody and btCollisionShape, Stepping the simulation and synchronizing your graphics object transform.
- * Check out SoftDemo how to use soft body dynamics, using btSoftRigidDynamicsWorld.
- * @subsection step5 Step 5 : Integrate the Collision Detection Library (without Dynamics and other Extras)
- * Bullet Collision Detection can also be used without the Dynamics/Extras.
- * Check out btCollisionWorld and btCollisionObject, and the CollisionInterfaceDemo.
- * @subsection step6 Step 6 : Use Snippets like the GJK Closest Point calculation.
- * Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of btGjkPairDetector.
- *
- * @section copyright Copyright
- * For up-to-data information and copyright and contributors list check out the Bullet_User_Manual.pdf
- * 
- */
-
-#ifndef BT_COLLISION_WORLD_H
-#define BT_COLLISION_WORLD_H
-
-class btCollisionShape;
-class btConvexShape;
-class btBroadphaseInterface;
-class btSerializer;
-
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btTransform.h"
-#include "btCollisionObject.h"
-#include "btCollisionDispatcher.h"
-#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
-#include "LinearMath/btAlignedObjectArray.h"
-
-///CollisionWorld is interface and container for the collision detection
-class btCollisionWorld
-{
-protected:
-	btAlignedObjectArray<btCollisionObject*> m_collisionObjects;
-
-	btDispatcher* m_dispatcher1;
-
-	btDispatcherInfo m_dispatchInfo;
-
-	btBroadphaseInterface* m_broadphasePairCache;
-
-	btIDebugDraw* m_debugDrawer;
-
-	///m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs
-	///it is true by default, because it is error-prone (setting the position of static objects wouldn't update their AABB)
-	bool m_forceUpdateAllAabbs;
-
-	void serializeCollisionObjects(btSerializer* serializer);
-
-	void serializeContactManifolds(btSerializer* serializer);
-
-public:
-	//this constructor doesn't own the dispatcher and paircache/broadphase
-	btCollisionWorld(btDispatcher* dispatcher, btBroadphaseInterface* broadphasePairCache, btCollisionConfiguration* collisionConfiguration);
-
-	virtual ~btCollisionWorld();
-
-	void setBroadphase(btBroadphaseInterface* pairCache)
-	{
-		m_broadphasePairCache = pairCache;
-	}
-
-	const btBroadphaseInterface* getBroadphase() const
-	{
-		return m_broadphasePairCache;
-	}
-
-	btBroadphaseInterface* getBroadphase()
-	{
-		return m_broadphasePairCache;
-	}
-
-	btOverlappingPairCache* getPairCache()
-	{
-		return m_broadphasePairCache->getOverlappingPairCache();
-	}
-
-	btDispatcher* getDispatcher()
-	{
-		return m_dispatcher1;
-	}
-
-	const btDispatcher* getDispatcher() const
-	{
-		return m_dispatcher1;
-	}
-
-	void updateSingleAabb(btCollisionObject* colObj);
-
-	virtual void updateAabbs();
-
-	///the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation)
-	///it can be useful to use if you perform ray tests without collision detection/simulation
-	virtual void computeOverlappingPairs();
-
-	virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
-	{
-		m_debugDrawer = debugDrawer;
-	}
-
-	virtual btIDebugDraw* getDebugDrawer()
-	{
-		return m_debugDrawer;
-	}
-
-	virtual void debugDrawWorld();
-
-	virtual void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
-
-	///LocalShapeInfo gives extra information for complex shapes
-	///Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart
-	struct LocalShapeInfo
-	{
-		int m_shapePart;
-		int m_triangleIndex;
-
-		//const btCollisionShape*	m_shapeTemp;
-		//const btTransform*	m_shapeLocalTransform;
-	};
-
-	struct LocalRayResult
-	{
-		LocalRayResult(const btCollisionObject* collisionObject,
-					   LocalShapeInfo* localShapeInfo,
-					   const btVector3& hitNormalLocal,
-					   btScalar hitFraction)
-			: m_collisionObject(collisionObject),
-			  m_localShapeInfo(localShapeInfo),
-			  m_hitNormalLocal(hitNormalLocal),
-			  m_hitFraction(hitFraction)
-		{
-		}
-
-		const btCollisionObject* m_collisionObject;
-		LocalShapeInfo* m_localShapeInfo;
-		btVector3 m_hitNormalLocal;
-		btScalar m_hitFraction;
-	};
-
-	///RayResultCallback is used to report new raycast results
-	struct RayResultCallback
-	{
-		btScalar m_closestHitFraction;
-		const btCollisionObject* m_collisionObject;
-		int m_collisionFilterGroup;
-		int m_collisionFilterMask;
-		//@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback.h. Apply any of the EFlags defined there on m_flags here to invoke.
-		unsigned int m_flags;
-
-		virtual ~RayResultCallback()
-		{
-		}
-		bool hasHit() const
-		{
-			return (m_collisionObject != 0);
-		}
-
-		RayResultCallback()
-			: m_closestHitFraction(btScalar(1.)),
-			  m_collisionObject(0),
-			  m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
-			  m_collisionFilterMask(btBroadphaseProxy::AllFilter),
-			  //@BP Mod
-			  m_flags(0)
-		{
-		}
-
-		virtual bool needsCollision(btBroadphaseProxy* proxy0) const
-		{
-			bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
-			collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
-			return collides;
-		}
-
-		virtual btScalar addSingleResult(LocalRayResult& rayResult, bool normalInWorldSpace) = 0;
-	};
-
-	struct ClosestRayResultCallback : public RayResultCallback
-	{
-		ClosestRayResultCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld)
-			: m_rayFromWorld(rayFromWorld),
-			  m_rayToWorld(rayToWorld)
-		{
-		}
-
-		btVector3 m_rayFromWorld;  //used to calculate hitPointWorld from hitFraction
-		btVector3 m_rayToWorld;
-
-		btVector3 m_hitNormalWorld;
-		btVector3 m_hitPointWorld;
-
-		virtual btScalar addSingleResult(LocalRayResult& rayResult, bool normalInWorldSpace)
-		{
-			//caller already does the filter on the m_closestHitFraction
-			btAssert(rayResult.m_hitFraction <= m_closestHitFraction);
-
-			m_closestHitFraction = rayResult.m_hitFraction;
-			m_collisionObject = rayResult.m_collisionObject;
-			if (normalInWorldSpace)
-			{
-				m_hitNormalWorld = rayResult.m_hitNormalLocal;
-			}
-			else
-			{
-				///need to transform normal into worldspace
-				m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis() * rayResult.m_hitNormalLocal;
-			}
-			m_hitPointWorld.setInterpolate3(m_rayFromWorld, m_rayToWorld, rayResult.m_hitFraction);
-			return rayResult.m_hitFraction;
-		}
-	};
-
-	struct AllHitsRayResultCallback : public RayResultCallback
-	{
-		AllHitsRayResultCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld)
-			: m_rayFromWorld(rayFromWorld),
-			  m_rayToWorld(rayToWorld)
-		{
-		}
-
-		btAlignedObjectArray<const btCollisionObject*> m_collisionObjects;
-
-		btVector3 m_rayFromWorld;  //used to calculate hitPointWorld from hitFraction
-		btVector3 m_rayToWorld;
-
-		btAlignedObjectArray<btVector3> m_hitNormalWorld;
-		btAlignedObjectArray<btVector3> m_hitPointWorld;
-		btAlignedObjectArray<btScalar> m_hitFractions;
-
-		virtual btScalar addSingleResult(LocalRayResult& rayResult, bool normalInWorldSpace)
-		{
-			m_collisionObject = rayResult.m_collisionObject;
-			m_collisionObjects.push_back(rayResult.m_collisionObject);
-			btVector3 hitNormalWorld;
-			if (normalInWorldSpace)
-			{
-				hitNormalWorld = rayResult.m_hitNormalLocal;
-			}
-			else
-			{
-				///need to transform normal into worldspace
-				hitNormalWorld = m_collisionObject->getWorldTransform().getBasis() * rayResult.m_hitNormalLocal;
-			}
-			m_hitNormalWorld.push_back(hitNormalWorld);
-			btVector3 hitPointWorld;
-			hitPointWorld.setInterpolate3(m_rayFromWorld, m_rayToWorld, rayResult.m_hitFraction);
-			m_hitPointWorld.push_back(hitPointWorld);
-			m_hitFractions.push_back(rayResult.m_hitFraction);
-			return m_closestHitFraction;
-		}
-	};
-
-	struct LocalConvexResult
-	{
-		LocalConvexResult(const btCollisionObject* hitCollisionObject,
-						  LocalShapeInfo* localShapeInfo,
-						  const btVector3& hitNormalLocal,
-						  const btVector3& hitPointLocal,
-						  btScalar hitFraction)
-			: m_hitCollisionObject(hitCollisionObject),
-			  m_localShapeInfo(localShapeInfo),
-			  m_hitNormalLocal(hitNormalLocal),
-			  m_hitPointLocal(hitPointLocal),
-			  m_hitFraction(hitFraction)
-		{
-		}
-
-		const btCollisionObject* m_hitCollisionObject;
-		LocalShapeInfo* m_localShapeInfo;
-		btVector3 m_hitNormalLocal;
-		btVector3 m_hitPointLocal;
-		btScalar m_hitFraction;
-	};
-
-	///RayResultCallback is used to report new raycast results
-	struct ConvexResultCallback
-	{
-		btScalar m_closestHitFraction;
-		int m_collisionFilterGroup;
-		int m_collisionFilterMask;
-
-		ConvexResultCallback()
-			: m_closestHitFraction(btScalar(1.)),
-			  m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
-			  m_collisionFilterMask(btBroadphaseProxy::AllFilter)
-		{
-		}
-
-		virtual ~ConvexResultCallback()
-		{
-		}
-
-		bool hasHit() const
-		{
-			return (m_closestHitFraction < btScalar(1.));
-		}
-
-		virtual bool needsCollision(btBroadphaseProxy* proxy0) const
-		{
-			bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
-			collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
-			return collides;
-		}
-
-		virtual btScalar addSingleResult(LocalConvexResult& convexResult, bool normalInWorldSpace) = 0;
-	};
-
-	struct ClosestConvexResultCallback : public ConvexResultCallback
-	{
-		ClosestConvexResultCallback(const btVector3& convexFromWorld, const btVector3& convexToWorld)
-			: m_convexFromWorld(convexFromWorld),
-			  m_convexToWorld(convexToWorld),
-			  m_hitCollisionObject(0)
-		{
-		}
-
-		btVector3 m_convexFromWorld;  //used to calculate hitPointWorld from hitFraction
-		btVector3 m_convexToWorld;
-
-		btVector3 m_hitNormalWorld;
-		btVector3 m_hitPointWorld;
-		const btCollisionObject* m_hitCollisionObject;
-
-		virtual btScalar addSingleResult(LocalConvexResult& convexResult, bool normalInWorldSpace)
-		{
-			//caller already does the filter on the m_closestHitFraction
-			btAssert(convexResult.m_hitFraction <= m_closestHitFraction);
-
-			m_closestHitFraction = convexResult.m_hitFraction;
-			m_hitCollisionObject = convexResult.m_hitCollisionObject;
-			if (normalInWorldSpace)
-			{
-				m_hitNormalWorld = convexResult.m_hitNormalLocal;
-			}
-			else
-			{
-				///need to transform normal into worldspace
-				m_hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis() * convexResult.m_hitNormalLocal;
-			}
-			m_hitPointWorld = convexResult.m_hitPointLocal;
-			return convexResult.m_hitFraction;
-		}
-	};
-
-	///ContactResultCallback is used to report contact points
-	struct ContactResultCallback
-	{
-		int m_collisionFilterGroup;
-		int m_collisionFilterMask;
-		btScalar m_closestDistanceThreshold;
-
-		ContactResultCallback()
-			: m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
-			  m_collisionFilterMask(btBroadphaseProxy::AllFilter),
-			  m_closestDistanceThreshold(0)
-		{
-		}
-
-		virtual ~ContactResultCallback()
-		{
-		}
-
-		virtual bool needsCollision(btBroadphaseProxy* proxy0) const
-		{
-			bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
-			collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
-			return collides;
-		}
-
-		virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper* colObj1Wrap, int partId1, int index1) = 0;
-	};
-
-	int getNumCollisionObjects() const
-	{
-		return int(m_collisionObjects.size());
-	}
-
-	/// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback
-	/// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
-	virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
-
-	/// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback
-	/// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
-	void convexSweepTest(const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = btScalar(0.)) const;
-
-	///contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback.
-	///it reports one or more contact points for every overlapping object (including the one with deepest penetration)
-	void contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback);
-
-	///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.
-	///it reports one or more contact points (including the one with deepest penetration)
-	void contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback);
-
-	/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
-	/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
-	/// This allows more customization.
-	static void rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
-							  btCollisionObject* collisionObject,
-							  const btCollisionShape* collisionShape,
-							  const btTransform& colObjWorldTransform,
-							  RayResultCallback& resultCallback);
-
-	static void rayTestSingleInternal(const btTransform& rayFromTrans, const btTransform& rayToTrans,
-									  const btCollisionObjectWrapper* collisionObjectWrap,
-									  RayResultCallback& resultCallback);
-
-	/// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
-	static void objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans, const btTransform& rayToTrans,
-								  btCollisionObject* collisionObject,
-								  const btCollisionShape* collisionShape,
-								  const btTransform& colObjWorldTransform,
-								  ConvexResultCallback& resultCallback, btScalar allowedPenetration);
-
-	static void objectQuerySingleInternal(const btConvexShape* castShape, const btTransform& convexFromTrans, const btTransform& convexToTrans,
-										  const btCollisionObjectWrapper* colObjWrap,
-										  ConvexResultCallback& resultCallback, btScalar allowedPenetration);
-
-	virtual void addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter);
-
-	virtual void refreshBroadphaseProxy(btCollisionObject* collisionObject);
-
-	btCollisionObjectArray& getCollisionObjectArray()
-	{
-		return m_collisionObjects;
-	}
-
-	const btCollisionObjectArray& getCollisionObjectArray() const
-	{
-		return m_collisionObjects;
-	}
-
-	virtual void removeCollisionObject(btCollisionObject* collisionObject);
-
-	virtual void performDiscreteCollisionDetection();
-
-	btDispatcherInfo& getDispatchInfo()
-	{
-		return m_dispatchInfo;
-	}
-
-	const btDispatcherInfo& getDispatchInfo() const
-	{
-		return m_dispatchInfo;
-	}
-
-	bool getForceUpdateAllAabbs() const
-	{
-		return m_forceUpdateAllAabbs;
-	}
-	void setForceUpdateAllAabbs(bool forceUpdateAllAabbs)
-	{
-		m_forceUpdateAllAabbs = forceUpdateAllAabbs;
-	}
-
-	///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo)
-	virtual void serialize(btSerializer* serializer);
-};
-
-#endif  //BT_COLLISION_WORLD_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
deleted file mode 100644
index e56e73dcf5..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
+++ /dev/null
@@ -1,1087 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2014 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btCollisionWorldImporter.h"
-#include "btBulletCollisionCommon.h"
-#include "LinearMath/btSerializer.h"  //for btBulletSerializedArrays definition
-
-#ifdef SUPPORT_GIMPACT_SHAPE_IMPORT
-#include "BulletCollision/Gimpact/btGImpactShape.h"
-#endif  //SUPPORT_GIMPACT_SHAPE_IMPORT
-
-btCollisionWorldImporter::btCollisionWorldImporter(btCollisionWorld* world)
-	: m_collisionWorld(world),
-	  m_verboseMode(0)
-{
-}
-
-btCollisionWorldImporter::~btCollisionWorldImporter()
-{
-}
-
-bool btCollisionWorldImporter::convertAllObjects(btBulletSerializedArrays* arrays)
-{
-	m_shapeMap.clear();
-	m_bodyMap.clear();
-
-	int i;
-
-	for (i = 0; i < arrays->m_bvhsDouble.size(); i++)
-	{
-		btOptimizedBvh* bvh = createOptimizedBvh();
-		btQuantizedBvhDoubleData* bvhData = arrays->m_bvhsDouble[i];
-		bvh->deSerializeDouble(*bvhData);
-		m_bvhMap.insert(arrays->m_bvhsDouble[i], bvh);
-	}
-	for (i = 0; i < arrays->m_bvhsFloat.size(); i++)
-	{
-		btOptimizedBvh* bvh = createOptimizedBvh();
-		btQuantizedBvhFloatData* bvhData = arrays->m_bvhsFloat[i];
-		bvh->deSerializeFloat(*bvhData);
-		m_bvhMap.insert(arrays->m_bvhsFloat[i], bvh);
-	}
-
-	for (i = 0; i < arrays->m_colShapeData.size(); i++)
-	{
-		btCollisionShapeData* shapeData = arrays->m_colShapeData[i];
-		btCollisionShape* shape = convertCollisionShape(shapeData);
-		if (shape)
-		{
-			//		printf("shapeMap.insert(%x,%x)\n",shapeData,shape);
-			m_shapeMap.insert(shapeData, shape);
-		}
-
-		if (shape && shapeData->m_name)
-		{
-			char* newname = duplicateName(shapeData->m_name);
-			m_objectNameMap.insert(shape, newname);
-			m_nameShapeMap.insert(newname, shape);
-		}
-	}
-
-	for (i = 0; i < arrays->m_collisionObjectDataDouble.size(); i++)
-	{
-		btCollisionObjectDoubleData* colObjData = arrays->m_collisionObjectDataDouble[i];
-		btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionShape);
-		if (shapePtr && *shapePtr)
-		{
-			btTransform startTransform;
-			colObjData->m_worldTransform.m_origin.m_floats[3] = 0.f;
-			startTransform.deSerializeDouble(colObjData->m_worldTransform);
-
-			btCollisionShape* shape = (btCollisionShape*)*shapePtr;
-			btCollisionObject* body = createCollisionObject(startTransform, shape, colObjData->m_name);
-			body->setFriction(btScalar(colObjData->m_friction));
-			body->setRestitution(btScalar(colObjData->m_restitution));
-
-#ifdef USE_INTERNAL_EDGE_UTILITY
-			if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
-			{
-				btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)shape;
-				if (trimesh->getTriangleInfoMap())
-				{
-					body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
-				}
-			}
-#endif  //USE_INTERNAL_EDGE_UTILITY
-			m_bodyMap.insert(colObjData, body);
-		}
-		else
-		{
-			printf("error: no shape found\n");
-		}
-	}
-	for (i = 0; i < arrays->m_collisionObjectDataFloat.size(); i++)
-	{
-		btCollisionObjectFloatData* colObjData = arrays->m_collisionObjectDataFloat[i];
-		btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionShape);
-		if (shapePtr && *shapePtr)
-		{
-			btTransform startTransform;
-			colObjData->m_worldTransform.m_origin.m_floats[3] = 0.f;
-			startTransform.deSerializeFloat(colObjData->m_worldTransform);
-
-			btCollisionShape* shape = (btCollisionShape*)*shapePtr;
-			btCollisionObject* body = createCollisionObject(startTransform, shape, colObjData->m_name);
-
-#ifdef USE_INTERNAL_EDGE_UTILITY
-			if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
-			{
-				btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)shape;
-				if (trimesh->getTriangleInfoMap())
-				{
-					body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
-				}
-			}
-#endif  //USE_INTERNAL_EDGE_UTILITY
-			m_bodyMap.insert(colObjData, body);
-		}
-		else
-		{
-			printf("error: no shape found\n");
-		}
-	}
-
-	return true;
-}
-
-void btCollisionWorldImporter::deleteAllData()
-{
-	int i;
-
-	for (i = 0; i < m_allocatedCollisionObjects.size(); i++)
-	{
-		if (m_collisionWorld)
-			m_collisionWorld->removeCollisionObject(m_allocatedCollisionObjects[i]);
-		delete m_allocatedCollisionObjects[i];
-	}
-
-	m_allocatedCollisionObjects.clear();
-
-	for (i = 0; i < m_allocatedCollisionShapes.size(); i++)
-	{
-		delete m_allocatedCollisionShapes[i];
-	}
-	m_allocatedCollisionShapes.clear();
-
-	for (i = 0; i < m_allocatedBvhs.size(); i++)
-	{
-		delete m_allocatedBvhs[i];
-	}
-	m_allocatedBvhs.clear();
-
-	for (i = 0; i < m_allocatedTriangleInfoMaps.size(); i++)
-	{
-		delete m_allocatedTriangleInfoMaps[i];
-	}
-	m_allocatedTriangleInfoMaps.clear();
-	for (i = 0; i < m_allocatedTriangleIndexArrays.size(); i++)
-	{
-		delete m_allocatedTriangleIndexArrays[i];
-	}
-	m_allocatedTriangleIndexArrays.clear();
-	for (i = 0; i < m_allocatedNames.size(); i++)
-	{
-		delete[] m_allocatedNames[i];
-	}
-	m_allocatedNames.clear();
-
-	for (i = 0; i < m_allocatedbtStridingMeshInterfaceDatas.size(); i++)
-	{
-		btStridingMeshInterfaceData* curData = m_allocatedbtStridingMeshInterfaceDatas[i];
-
-		for (int a = 0; a < curData->m_numMeshParts; a++)
-		{
-			btMeshPartData* curPart = &curData->m_meshPartsPtr[a];
-			if (curPart->m_vertices3f)
-				delete[] curPart->m_vertices3f;
-
-			if (curPart->m_vertices3d)
-				delete[] curPart->m_vertices3d;
-
-			if (curPart->m_indices32)
-				delete[] curPart->m_indices32;
-
-			if (curPart->m_3indices16)
-				delete[] curPart->m_3indices16;
-
-			if (curPart->m_indices16)
-				delete[] curPart->m_indices16;
-
-			if (curPart->m_3indices8)
-				delete[] curPart->m_3indices8;
-		}
-		delete[] curData->m_meshPartsPtr;
-		delete curData;
-	}
-	m_allocatedbtStridingMeshInterfaceDatas.clear();
-
-	for (i = 0; i < m_indexArrays.size(); i++)
-	{
-		btAlignedFree(m_indexArrays[i]);
-	}
-	m_indexArrays.clear();
-
-	for (i = 0; i < m_shortIndexArrays.size(); i++)
-	{
-		btAlignedFree(m_shortIndexArrays[i]);
-	}
-	m_shortIndexArrays.clear();
-
-	for (i = 0; i < m_charIndexArrays.size(); i++)
-	{
-		btAlignedFree(m_charIndexArrays[i]);
-	}
-	m_charIndexArrays.clear();
-
-	for (i = 0; i < m_floatVertexArrays.size(); i++)
-	{
-		btAlignedFree(m_floatVertexArrays[i]);
-	}
-	m_floatVertexArrays.clear();
-
-	for (i = 0; i < m_doubleVertexArrays.size(); i++)
-	{
-		btAlignedFree(m_doubleVertexArrays[i]);
-	}
-	m_doubleVertexArrays.clear();
-}
-
-btCollisionShape* btCollisionWorldImporter::convertCollisionShape(btCollisionShapeData* shapeData)
-{
-	btCollisionShape* shape = 0;
-
-	switch (shapeData->m_shapeType)
-	{
-		case STATIC_PLANE_PROXYTYPE:
-		{
-			btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*)shapeData;
-			btVector3 planeNormal, localScaling;
-			planeNormal.deSerializeFloat(planeData->m_planeNormal);
-			localScaling.deSerializeFloat(planeData->m_localScaling);
-			shape = createPlaneShape(planeNormal, planeData->m_planeConstant);
-			shape->setLocalScaling(localScaling);
-
-			break;
-		}
-		case SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE:
-		{
-			btScaledTriangleMeshShapeData* scaledMesh = (btScaledTriangleMeshShapeData*)shapeData;
-			btCollisionShapeData* colShapeData = (btCollisionShapeData*)&scaledMesh->m_trimeshShapeData;
-			colShapeData->m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
-			btCollisionShape* childShape = convertCollisionShape(colShapeData);
-			btBvhTriangleMeshShape* meshShape = (btBvhTriangleMeshShape*)childShape;
-			btVector3 localScaling;
-			localScaling.deSerializeFloat(scaledMesh->m_localScaling);
-
-			shape = createScaledTrangleMeshShape(meshShape, localScaling);
-			break;
-		}
-#ifdef SUPPORT_GIMPACT_SHAPE_IMPORT
-		case GIMPACT_SHAPE_PROXYTYPE:
-		{
-			btGImpactMeshShapeData* gimpactData = (btGImpactMeshShapeData*)shapeData;
-			if (gimpactData->m_gimpactSubType == CONST_GIMPACT_TRIMESH_SHAPE)
-			{
-				btStridingMeshInterfaceData* interfaceData = createStridingMeshInterfaceData(&gimpactData->m_meshInterface);
-				btTriangleIndexVertexArray* meshInterface = createMeshInterface(*interfaceData);
-
-				btGImpactMeshShape* gimpactShape = createGimpactShape(meshInterface);
-				btVector3 localScaling;
-				localScaling.deSerializeFloat(gimpactData->m_localScaling);
-				gimpactShape->setLocalScaling(localScaling);
-				gimpactShape->setMargin(btScalar(gimpactData->m_collisionMargin));
-				gimpactShape->updateBound();
-				shape = gimpactShape;
-			}
-			else
-			{
-				printf("unsupported gimpact sub type\n");
-			}
-			break;
-		}
-#endif  //SUPPORT_GIMPACT_SHAPE_IMPORT
-		//The btCapsuleShape* API has issue passing the margin/scaling/halfextents unmodified through the API
-		//so deal with this
-		case CAPSULE_SHAPE_PROXYTYPE:
-		{
-			btCapsuleShapeData* capData = (btCapsuleShapeData*)shapeData;
-
-			switch (capData->m_upAxis)
-			{
-				case 0:
-				{
-					shape = createCapsuleShapeX(1, 1);
-					break;
-				}
-				case 1:
-				{
-					shape = createCapsuleShapeY(1, 1);
-					break;
-				}
-				case 2:
-				{
-					shape = createCapsuleShapeZ(1, 1);
-					break;
-				}
-				default:
-				{
-					printf("error: wrong up axis for btCapsuleShape\n");
-				}
-			};
-			if (shape)
-			{
-				btCapsuleShape* cap = (btCapsuleShape*)shape;
-				cap->deSerializeFloat(capData);
-			}
-			break;
-		}
-		case CYLINDER_SHAPE_PROXYTYPE:
-		case CONE_SHAPE_PROXYTYPE:
-		case BOX_SHAPE_PROXYTYPE:
-		case SPHERE_SHAPE_PROXYTYPE:
-		case MULTI_SPHERE_SHAPE_PROXYTYPE:
-		case CONVEX_HULL_SHAPE_PROXYTYPE:
-		{
-			btConvexInternalShapeData* bsd = (btConvexInternalShapeData*)shapeData;
-			btVector3 implicitShapeDimensions;
-			implicitShapeDimensions.deSerializeFloat(bsd->m_implicitShapeDimensions);
-			btVector3 localScaling;
-			localScaling.deSerializeFloat(bsd->m_localScaling);
-			btVector3 margin(bsd->m_collisionMargin, bsd->m_collisionMargin, bsd->m_collisionMargin);
-			switch (shapeData->m_shapeType)
-			{
-				case BOX_SHAPE_PROXYTYPE:
-				{
-					btBoxShape* box = (btBoxShape*)createBoxShape(implicitShapeDimensions / localScaling + margin);
-					//box->initializePolyhedralFeatures();
-					shape = box;
-
-					break;
-				}
-				case SPHERE_SHAPE_PROXYTYPE:
-				{
-					shape = createSphereShape(implicitShapeDimensions.getX());
-					break;
-				}
-
-				case CYLINDER_SHAPE_PROXYTYPE:
-				{
-					btCylinderShapeData* cylData = (btCylinderShapeData*)shapeData;
-					btVector3 halfExtents = implicitShapeDimensions + margin;
-					switch (cylData->m_upAxis)
-					{
-						case 0:
-						{
-							shape = createCylinderShapeX(halfExtents.getY(), halfExtents.getX());
-							break;
-						}
-						case 1:
-						{
-							shape = createCylinderShapeY(halfExtents.getX(), halfExtents.getY());
-							break;
-						}
-						case 2:
-						{
-							shape = createCylinderShapeZ(halfExtents.getX(), halfExtents.getZ());
-							break;
-						}
-						default:
-						{
-							printf("unknown Cylinder up axis\n");
-						}
-					};
-
-					break;
-				}
-				case CONE_SHAPE_PROXYTYPE:
-				{
-					btConeShapeData* conData = (btConeShapeData*)shapeData;
-					btVector3 halfExtents = implicitShapeDimensions;  //+margin;
-					switch (conData->m_upIndex)
-					{
-						case 0:
-						{
-							shape = createConeShapeX(halfExtents.getY(), halfExtents.getX());
-							break;
-						}
-						case 1:
-						{
-							shape = createConeShapeY(halfExtents.getX(), halfExtents.getY());
-							break;
-						}
-						case 2:
-						{
-							shape = createConeShapeZ(halfExtents.getX(), halfExtents.getZ());
-							break;
-						}
-						default:
-						{
-							printf("unknown Cone up axis\n");
-						}
-					};
-
-					break;
-				}
-				case MULTI_SPHERE_SHAPE_PROXYTYPE:
-				{
-					btMultiSphereShapeData* mss = (btMultiSphereShapeData*)bsd;
-					int numSpheres = mss->m_localPositionArraySize;
-
-					btAlignedObjectArray<btVector3> tmpPos;
-					btAlignedObjectArray<btScalar> radii;
-					radii.resize(numSpheres);
-					tmpPos.resize(numSpheres);
-					int i;
-					for (i = 0; i < numSpheres; i++)
-					{
-						tmpPos[i].deSerializeFloat(mss->m_localPositionArrayPtr[i].m_pos);
-						radii[i] = mss->m_localPositionArrayPtr[i].m_radius;
-					}
-					shape = createMultiSphereShape(&tmpPos[0], &radii[0], numSpheres);
-					break;
-				}
-				case CONVEX_HULL_SHAPE_PROXYTYPE:
-				{
-					//	int sz = sizeof(btConvexHullShapeData);
-					//	int sz2 = sizeof(btConvexInternalShapeData);
-					//	int sz3 = sizeof(btCollisionShapeData);
-					btConvexHullShapeData* convexData = (btConvexHullShapeData*)bsd;
-					int numPoints = convexData->m_numUnscaledPoints;
-
-					btAlignedObjectArray<btVector3> tmpPoints;
-					tmpPoints.resize(numPoints);
-					int i;
-					for (i = 0; i < numPoints; i++)
-					{
-#ifdef BT_USE_DOUBLE_PRECISION
-						if (convexData->m_unscaledPointsDoublePtr)
-							tmpPoints[i].deSerialize(convexData->m_unscaledPointsDoublePtr[i]);
-						if (convexData->m_unscaledPointsFloatPtr)
-							tmpPoints[i].deSerializeFloat(convexData->m_unscaledPointsFloatPtr[i]);
-#else
-						if (convexData->m_unscaledPointsFloatPtr)
-							tmpPoints[i].deSerialize(convexData->m_unscaledPointsFloatPtr[i]);
-						if (convexData->m_unscaledPointsDoublePtr)
-							tmpPoints[i].deSerializeDouble(convexData->m_unscaledPointsDoublePtr[i]);
-#endif  //BT_USE_DOUBLE_PRECISION
-					}
-					btConvexHullShape* hullShape = createConvexHullShape();
-					for (i = 0; i < numPoints; i++)
-					{
-						hullShape->addPoint(tmpPoints[i]);
-					}
-					hullShape->setMargin(bsd->m_collisionMargin);
-					//hullShape->initializePolyhedralFeatures();
-					shape = hullShape;
-					break;
-				}
-				default:
-				{
-					printf("error: cannot create shape type (%d)\n", shapeData->m_shapeType);
-				}
-			}
-
-			if (shape)
-			{
-				shape->setMargin(bsd->m_collisionMargin);
-
-				btVector3 localScaling;
-				localScaling.deSerializeFloat(bsd->m_localScaling);
-				shape->setLocalScaling(localScaling);
-			}
-			break;
-		}
-		case TRIANGLE_MESH_SHAPE_PROXYTYPE:
-		{
-			btTriangleMeshShapeData* trimesh = (btTriangleMeshShapeData*)shapeData;
-			btStridingMeshInterfaceData* interfaceData = createStridingMeshInterfaceData(&trimesh->m_meshInterface);
-			btTriangleIndexVertexArray* meshInterface = createMeshInterface(*interfaceData);
-			if (!meshInterface->getNumSubParts())
-			{
-				return 0;
-			}
-
-			btVector3 scaling;
-			scaling.deSerializeFloat(trimesh->m_meshInterface.m_scaling);
-			meshInterface->setScaling(scaling);
-
-			btOptimizedBvh* bvh = 0;
-#if 1
-			if (trimesh->m_quantizedFloatBvh)
-			{
-				btOptimizedBvh** bvhPtr = m_bvhMap.find(trimesh->m_quantizedFloatBvh);
-				if (bvhPtr && *bvhPtr)
-				{
-					bvh = *bvhPtr;
-				}
-				else
-				{
-					bvh = createOptimizedBvh();
-					bvh->deSerializeFloat(*trimesh->m_quantizedFloatBvh);
-				}
-			}
-			if (trimesh->m_quantizedDoubleBvh)
-			{
-				btOptimizedBvh** bvhPtr = m_bvhMap.find(trimesh->m_quantizedDoubleBvh);
-				if (bvhPtr && *bvhPtr)
-				{
-					bvh = *bvhPtr;
-				}
-				else
-				{
-					bvh = createOptimizedBvh();
-					bvh->deSerializeDouble(*trimesh->m_quantizedDoubleBvh);
-				}
-			}
-#endif
-
-			btBvhTriangleMeshShape* trimeshShape = createBvhTriangleMeshShape(meshInterface, bvh);
-			trimeshShape->setMargin(trimesh->m_collisionMargin);
-			shape = trimeshShape;
-
-			if (trimesh->m_triangleInfoMap)
-			{
-				btTriangleInfoMap* map = createTriangleInfoMap();
-				map->deSerialize(*trimesh->m_triangleInfoMap);
-				trimeshShape->setTriangleInfoMap(map);
-
-#ifdef USE_INTERNAL_EDGE_UTILITY
-				gContactAddedCallback = btAdjustInternalEdgeContactsCallback;
-#endif  //USE_INTERNAL_EDGE_UTILITY
-			}
-
-			//printf("trimesh->m_collisionMargin=%f\n",trimesh->m_collisionMargin);
-			break;
-		}
-		case COMPOUND_SHAPE_PROXYTYPE:
-		{
-			btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData;
-			btCompoundShape* compoundShape = createCompoundShape();
-
-			//btCompoundShapeChildData* childShapeDataArray = &compoundData->m_childShapePtr[0];
-
-			btAlignedObjectArray<btCollisionShape*> childShapes;
-			for (int i = 0; i < compoundData->m_numChildShapes; i++)
-			{
-				//btCompoundShapeChildData* ptr = &compoundData->m_childShapePtr[i];
-
-				btCollisionShapeData* cd = compoundData->m_childShapePtr[i].m_childShape;
-
-				btCollisionShape* childShape = convertCollisionShape(cd);
-				if (childShape)
-				{
-					btTransform localTransform;
-					localTransform.deSerializeFloat(compoundData->m_childShapePtr[i].m_transform);
-					compoundShape->addChildShape(localTransform, childShape);
-				}
-				else
-				{
-#ifdef _DEBUG
-					printf("error: couldn't create childShape for compoundShape\n");
-#endif
-				}
-			}
-			shape = compoundShape;
-
-			break;
-		}
-		case SOFTBODY_SHAPE_PROXYTYPE:
-		{
-			return 0;
-		}
-		default:
-		{
-#ifdef _DEBUG
-			printf("unsupported shape type (%d)\n", shapeData->m_shapeType);
-#endif
-		}
-	}
-
-	return shape;
-}
-
-char* btCollisionWorldImporter::duplicateName(const char* name)
-{
-	if (name)
-	{
-		int l = (int)strlen(name);
-		char* newName = new char[l + 1];
-		memcpy(newName, name, l);
-		newName[l] = 0;
-		m_allocatedNames.push_back(newName);
-		return newName;
-	}
-	return 0;
-}
-
-btTriangleIndexVertexArray* btCollisionWorldImporter::createMeshInterface(btStridingMeshInterfaceData& meshData)
-{
-	btTriangleIndexVertexArray* meshInterface = createTriangleMeshContainer();
-
-	for (int i = 0; i < meshData.m_numMeshParts; i++)
-	{
-		btIndexedMesh meshPart;
-		meshPart.m_numTriangles = meshData.m_meshPartsPtr[i].m_numTriangles;
-		meshPart.m_numVertices = meshData.m_meshPartsPtr[i].m_numVertices;
-
-		if (meshData.m_meshPartsPtr[i].m_indices32)
-		{
-			meshPart.m_indexType = PHY_INTEGER;
-			meshPart.m_triangleIndexStride = 3 * sizeof(int);
-			int* indexArray = (int*)btAlignedAlloc(sizeof(int) * 3 * meshPart.m_numTriangles, 16);
-			m_indexArrays.push_back(indexArray);
-			for (int j = 0; j < 3 * meshPart.m_numTriangles; j++)
-			{
-				indexArray[j] = meshData.m_meshPartsPtr[i].m_indices32[j].m_value;
-			}
-			meshPart.m_triangleIndexBase = (const unsigned char*)indexArray;
-		}
-		else
-		{
-			if (meshData.m_meshPartsPtr[i].m_3indices16)
-			{
-				meshPart.m_indexType = PHY_SHORT;
-				meshPart.m_triangleIndexStride = sizeof(short int) * 3;  //sizeof(btShortIntIndexTripletData);
-
-				short int* indexArray = (short int*)btAlignedAlloc(sizeof(short int) * 3 * meshPart.m_numTriangles, 16);
-				m_shortIndexArrays.push_back(indexArray);
-
-				for (int j = 0; j < meshPart.m_numTriangles; j++)
-				{
-					indexArray[3 * j] = meshData.m_meshPartsPtr[i].m_3indices16[j].m_values[0];
-					indexArray[3 * j + 1] = meshData.m_meshPartsPtr[i].m_3indices16[j].m_values[1];
-					indexArray[3 * j + 2] = meshData.m_meshPartsPtr[i].m_3indices16[j].m_values[2];
-				}
-
-				meshPart.m_triangleIndexBase = (const unsigned char*)indexArray;
-			}
-			if (meshData.m_meshPartsPtr[i].m_indices16)
-			{
-				meshPart.m_indexType = PHY_SHORT;
-				meshPart.m_triangleIndexStride = 3 * sizeof(short int);
-				short int* indexArray = (short int*)btAlignedAlloc(sizeof(short int) * 3 * meshPart.m_numTriangles, 16);
-				m_shortIndexArrays.push_back(indexArray);
-				for (int j = 0; j < 3 * meshPart.m_numTriangles; j++)
-				{
-					indexArray[j] = meshData.m_meshPartsPtr[i].m_indices16[j].m_value;
-				}
-
-				meshPart.m_triangleIndexBase = (const unsigned char*)indexArray;
-			}
-
-			if (meshData.m_meshPartsPtr[i].m_3indices8)
-			{
-				meshPart.m_indexType = PHY_UCHAR;
-				meshPart.m_triangleIndexStride = sizeof(unsigned char) * 3;
-
-				unsigned char* indexArray = (unsigned char*)btAlignedAlloc(sizeof(unsigned char) * 3 * meshPart.m_numTriangles, 16);
-				m_charIndexArrays.push_back(indexArray);
-
-				for (int j = 0; j < meshPart.m_numTriangles; j++)
-				{
-					indexArray[3 * j] = meshData.m_meshPartsPtr[i].m_3indices8[j].m_values[0];
-					indexArray[3 * j + 1] = meshData.m_meshPartsPtr[i].m_3indices8[j].m_values[1];
-					indexArray[3 * j + 2] = meshData.m_meshPartsPtr[i].m_3indices8[j].m_values[2];
-				}
-
-				meshPart.m_triangleIndexBase = (const unsigned char*)indexArray;
-			}
-		}
-
-		if (meshData.m_meshPartsPtr[i].m_vertices3f)
-		{
-			meshPart.m_vertexType = PHY_FLOAT;
-			meshPart.m_vertexStride = sizeof(btVector3FloatData);
-			btVector3FloatData* vertices = (btVector3FloatData*)btAlignedAlloc(sizeof(btVector3FloatData) * meshPart.m_numVertices, 16);
-			m_floatVertexArrays.push_back(vertices);
-
-			for (int j = 0; j < meshPart.m_numVertices; j++)
-			{
-				vertices[j].m_floats[0] = meshData.m_meshPartsPtr[i].m_vertices3f[j].m_floats[0];
-				vertices[j].m_floats[1] = meshData.m_meshPartsPtr[i].m_vertices3f[j].m_floats[1];
-				vertices[j].m_floats[2] = meshData.m_meshPartsPtr[i].m_vertices3f[j].m_floats[2];
-				vertices[j].m_floats[3] = meshData.m_meshPartsPtr[i].m_vertices3f[j].m_floats[3];
-			}
-			meshPart.m_vertexBase = (const unsigned char*)vertices;
-		}
-		else
-		{
-			meshPart.m_vertexType = PHY_DOUBLE;
-			meshPart.m_vertexStride = sizeof(btVector3DoubleData);
-
-			btVector3DoubleData* vertices = (btVector3DoubleData*)btAlignedAlloc(sizeof(btVector3DoubleData) * meshPart.m_numVertices, 16);
-			m_doubleVertexArrays.push_back(vertices);
-
-			for (int j = 0; j < meshPart.m_numVertices; j++)
-			{
-				vertices[j].m_floats[0] = meshData.m_meshPartsPtr[i].m_vertices3d[j].m_floats[0];
-				vertices[j].m_floats[1] = meshData.m_meshPartsPtr[i].m_vertices3d[j].m_floats[1];
-				vertices[j].m_floats[2] = meshData.m_meshPartsPtr[i].m_vertices3d[j].m_floats[2];
-				vertices[j].m_floats[3] = meshData.m_meshPartsPtr[i].m_vertices3d[j].m_floats[3];
-			}
-			meshPart.m_vertexBase = (const unsigned char*)vertices;
-		}
-
-		if (meshPart.m_triangleIndexBase && meshPart.m_vertexBase)
-		{
-			meshInterface->addIndexedMesh(meshPart, meshPart.m_indexType);
-		}
-	}
-
-	return meshInterface;
-}
-
-btStridingMeshInterfaceData* btCollisionWorldImporter::createStridingMeshInterfaceData(btStridingMeshInterfaceData* interfaceData)
-{
-	//create a new btStridingMeshInterfaceData that is an exact copy of shapedata and store it in the WorldImporter
-	btStridingMeshInterfaceData* newData = new btStridingMeshInterfaceData;
-
-	newData->m_scaling = interfaceData->m_scaling;
-	newData->m_numMeshParts = interfaceData->m_numMeshParts;
-	newData->m_meshPartsPtr = new btMeshPartData[newData->m_numMeshParts];
-
-	for (int i = 0; i < newData->m_numMeshParts; i++)
-	{
-		btMeshPartData* curPart = &interfaceData->m_meshPartsPtr[i];
-		btMeshPartData* curNewPart = &newData->m_meshPartsPtr[i];
-
-		curNewPart->m_numTriangles = curPart->m_numTriangles;
-		curNewPart->m_numVertices = curPart->m_numVertices;
-
-		if (curPart->m_vertices3f)
-		{
-			curNewPart->m_vertices3f = new btVector3FloatData[curNewPart->m_numVertices];
-			memcpy(curNewPart->m_vertices3f, curPart->m_vertices3f, sizeof(btVector3FloatData) * curNewPart->m_numVertices);
-		}
-		else
-			curNewPart->m_vertices3f = NULL;
-
-		if (curPart->m_vertices3d)
-		{
-			curNewPart->m_vertices3d = new btVector3DoubleData[curNewPart->m_numVertices];
-			memcpy(curNewPart->m_vertices3d, curPart->m_vertices3d, sizeof(btVector3DoubleData) * curNewPart->m_numVertices);
-		}
-		else
-			curNewPart->m_vertices3d = NULL;
-
-		int numIndices = curNewPart->m_numTriangles * 3;
-		///the m_3indices8 was not initialized in some Bullet versions, this can cause crashes at loading time
-		///we catch it by only dealing with m_3indices8 if none of the other indices are initialized
-		bool uninitialized3indices8Workaround = false;
-
-		if (curPart->m_indices32)
-		{
-			uninitialized3indices8Workaround = true;
-			curNewPart->m_indices32 = new btIntIndexData[numIndices];
-			memcpy(curNewPart->m_indices32, curPart->m_indices32, sizeof(btIntIndexData) * numIndices);
-		}
-		else
-			curNewPart->m_indices32 = NULL;
-
-		if (curPart->m_3indices16)
-		{
-			uninitialized3indices8Workaround = true;
-			curNewPart->m_3indices16 = new btShortIntIndexTripletData[curNewPart->m_numTriangles];
-			memcpy(curNewPart->m_3indices16, curPart->m_3indices16, sizeof(btShortIntIndexTripletData) * curNewPart->m_numTriangles);
-		}
-		else
-			curNewPart->m_3indices16 = NULL;
-
-		if (curPart->m_indices16)
-		{
-			uninitialized3indices8Workaround = true;
-			curNewPart->m_indices16 = new btShortIntIndexData[numIndices];
-			memcpy(curNewPart->m_indices16, curPart->m_indices16, sizeof(btShortIntIndexData) * numIndices);
-		}
-		else
-			curNewPart->m_indices16 = NULL;
-
-		if (!uninitialized3indices8Workaround && curPart->m_3indices8)
-		{
-			curNewPart->m_3indices8 = new btCharIndexTripletData[curNewPart->m_numTriangles];
-			memcpy(curNewPart->m_3indices8, curPart->m_3indices8, sizeof(btCharIndexTripletData) * curNewPart->m_numTriangles);
-		}
-		else
-			curNewPart->m_3indices8 = NULL;
-	}
-
-	m_allocatedbtStridingMeshInterfaceDatas.push_back(newData);
-
-	return (newData);
-}
-
-#ifdef USE_INTERNAL_EDGE_UTILITY
-extern ContactAddedCallback gContactAddedCallback;
-
-static bool btAdjustInternalEdgeContactsCallback(btManifoldPoint& cp, const btCollisionObject* colObj0, int partId0, int index0, const btCollisionObject* colObj1, int partId1, int index1)
-{
-	btAdjustInternalEdgeContacts(cp, colObj1, colObj0, partId1, index1);
-	//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_BACKFACE_MODE);
-	//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_DOUBLE_SIDED+BT_TRIANGLE_CONCAVE_DOUBLE_SIDED);
-	return true;
-}
-#endif  //USE_INTERNAL_EDGE_UTILITY
-
-/*
-btRigidBody*  btWorldImporter::createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform,btCollisionShape* shape,const char* bodyName)
-{
-	btVector3 localInertia;
-	localInertia.setZero();
-
-	if (mass)
-		shape->calculateLocalInertia(mass,localInertia);
-
-	btRigidBody* body = new btRigidBody(mass,0,shape,localInertia);
-	body->setWorldTransform(startTransform);
-
-	if (m_dynamicsWorld)
-		m_dynamicsWorld->addRigidBody(body);
-
-	if (bodyName)
-	{
-		char* newname = duplicateName(bodyName);
-		m_objectNameMap.insert(body,newname);
-		m_nameBodyMap.insert(newname,body);
-	}
-	m_allocatedRigidBodies.push_back(body);
-	return body;
-
-}
-*/
-
-btCollisionObject* btCollisionWorldImporter::getCollisionObjectByName(const char* name)
-{
-	btCollisionObject** bodyPtr = m_nameColObjMap.find(name);
-	if (bodyPtr && *bodyPtr)
-	{
-		return *bodyPtr;
-	}
-	return 0;
-}
-
-btCollisionObject* btCollisionWorldImporter::createCollisionObject(const btTransform& startTransform, btCollisionShape* shape, const char* bodyName)
-{
-	btCollisionObject* colObj = new btCollisionObject();
-	colObj->setWorldTransform(startTransform);
-	colObj->setCollisionShape(shape);
-	m_collisionWorld->addCollisionObject(colObj);  //todo: flags etc
-
-	if (bodyName)
-	{
-		char* newname = duplicateName(bodyName);
-		m_objectNameMap.insert(colObj, newname);
-		m_nameColObjMap.insert(newname, colObj);
-	}
-	m_allocatedCollisionObjects.push_back(colObj);
-
-	return colObj;
-}
-
-btCollisionShape* btCollisionWorldImporter::createPlaneShape(const btVector3& planeNormal, btScalar planeConstant)
-{
-	btStaticPlaneShape* shape = new btStaticPlaneShape(planeNormal, planeConstant);
-	m_allocatedCollisionShapes.push_back(shape);
-	return shape;
-}
-btCollisionShape* btCollisionWorldImporter::createBoxShape(const btVector3& halfExtents)
-{
-	btBoxShape* shape = new btBoxShape(halfExtents);
-	m_allocatedCollisionShapes.push_back(shape);
-	return shape;
-}
-btCollisionShape* btCollisionWorldImporter::createSphereShape(btScalar radius)
-{
-	btSphereShape* shape = new btSphereShape(radius);
-	m_allocatedCollisionShapes.push_back(shape);
-	return shape;
-}
-
-btCollisionShape* btCollisionWorldImporter::createCapsuleShapeX(btScalar radius, btScalar height)
-{
-	btCapsuleShapeX* shape = new btCapsuleShapeX(radius, height);
-	m_allocatedCollisionShapes.push_back(shape);
-	return shape;
-}
-
-btCollisionShape* btCollisionWorldImporter::createCapsuleShapeY(btScalar radius, btScalar height)
-{
-	btCapsuleShape* shape = new btCapsuleShape(radius, height);
-	m_allocatedCollisionShapes.push_back(shape);
-	return shape;
-}
-
-btCollisionShape* btCollisionWorldImporter::createCapsuleShapeZ(btScalar radius, btScalar height)
-{
-	btCapsuleShapeZ* shape = new btCapsuleShapeZ(radius, height);
-	m_allocatedCollisionShapes.push_back(shape);
-	return shape;
-}
-
-btCollisionShape* btCollisionWorldImporter::createCylinderShapeX(btScalar radius, btScalar height)
-{
-	btCylinderShapeX* shape = new btCylinderShapeX(btVector3(height, radius, radius));
-	m_allocatedCollisionShapes.push_back(shape);
-	return shape;
-}
-
-btCollisionShape* btCollisionWorldImporter::createCylinderShapeY(btScalar radius, btScalar height)
-{
-	btCylinderShape* shape = new btCylinderShape(btVector3(radius, height, radius));
-	m_allocatedCollisionShapes.push_back(shape);
-	return shape;
-}
-
-btCollisionShape* btCollisionWorldImporter::createCylinderShapeZ(btScalar radius, btScalar height)
-{
-	btCylinderShapeZ* shape = new btCylinderShapeZ(btVector3(radius, radius, height));
-	m_allocatedCollisionShapes.push_back(shape);
-	return shape;
-}
-
-btCollisionShape* btCollisionWorldImporter::createConeShapeX(btScalar radius, btScalar height)
-{
-	btConeShapeX* shape = new btConeShapeX(radius, height);
-	m_allocatedCollisionShapes.push_back(shape);
-	return shape;
-}
-
-btCollisionShape* btCollisionWorldImporter::createConeShapeY(btScalar radius, btScalar height)
-{
-	btConeShape* shape = new btConeShape(radius, height);
-	m_allocatedCollisionShapes.push_back(shape);
-	return shape;
-}
-
-btCollisionShape* btCollisionWorldImporter::createConeShapeZ(btScalar radius, btScalar height)
-{
-	btConeShapeZ* shape = new btConeShapeZ(radius, height);
-	m_allocatedCollisionShapes.push_back(shape);
-	return shape;
-}
-
-btTriangleIndexVertexArray* btCollisionWorldImporter::createTriangleMeshContainer()
-{
-	btTriangleIndexVertexArray* in = new btTriangleIndexVertexArray();
-	m_allocatedTriangleIndexArrays.push_back(in);
-	return in;
-}
-
-btOptimizedBvh* btCollisionWorldImporter::createOptimizedBvh()
-{
-	btOptimizedBvh* bvh = new btOptimizedBvh();
-	m_allocatedBvhs.push_back(bvh);
-	return bvh;
-}
-
-btTriangleInfoMap* btCollisionWorldImporter::createTriangleInfoMap()
-{
-	btTriangleInfoMap* tim = new btTriangleInfoMap();
-	m_allocatedTriangleInfoMaps.push_back(tim);
-	return tim;
-}
-
-btBvhTriangleMeshShape* btCollisionWorldImporter::createBvhTriangleMeshShape(btStridingMeshInterface* trimesh, btOptimizedBvh* bvh)
-{
-	if (bvh)
-	{
-		btBvhTriangleMeshShape* bvhTriMesh = new btBvhTriangleMeshShape(trimesh, bvh->isQuantized(), false);
-		bvhTriMesh->setOptimizedBvh(bvh);
-		m_allocatedCollisionShapes.push_back(bvhTriMesh);
-		return bvhTriMesh;
-	}
-
-	btBvhTriangleMeshShape* ts = new btBvhTriangleMeshShape(trimesh, true);
-	m_allocatedCollisionShapes.push_back(ts);
-	return ts;
-}
-btCollisionShape* btCollisionWorldImporter::createConvexTriangleMeshShape(btStridingMeshInterface* trimesh)
-{
-	return 0;
-}
-#ifdef SUPPORT_GIMPACT_SHAPE_IMPORT
-btGImpactMeshShape* btCollisionWorldImporter::createGimpactShape(btStridingMeshInterface* trimesh)
-{
-	btGImpactMeshShape* shape = new btGImpactMeshShape(trimesh);
-	m_allocatedCollisionShapes.push_back(shape);
-	return shape;
-}
-#endif  //SUPPORT_GIMPACT_SHAPE_IMPORT
-
-btConvexHullShape* btCollisionWorldImporter::createConvexHullShape()
-{
-	btConvexHullShape* shape = new btConvexHullShape();
-	m_allocatedCollisionShapes.push_back(shape);
-	return shape;
-}
-
-btCompoundShape* btCollisionWorldImporter::createCompoundShape()
-{
-	btCompoundShape* shape = new btCompoundShape();
-	m_allocatedCollisionShapes.push_back(shape);
-	return shape;
-}
-
-btScaledBvhTriangleMeshShape* btCollisionWorldImporter::createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape, const btVector3& localScaling)
-{
-	btScaledBvhTriangleMeshShape* shape = new btScaledBvhTriangleMeshShape(meshShape, localScaling);
-	m_allocatedCollisionShapes.push_back(shape);
-	return shape;
-}
-
-btMultiSphereShape* btCollisionWorldImporter::createMultiSphereShape(const btVector3* positions, const btScalar* radi, int numSpheres)
-{
-	btMultiSphereShape* shape = new btMultiSphereShape(positions, radi, numSpheres);
-	m_allocatedCollisionShapes.push_back(shape);
-	return shape;
-}
-
-// query for data
-int btCollisionWorldImporter::getNumCollisionShapes() const
-{
-	return m_allocatedCollisionShapes.size();
-}
-
-btCollisionShape* btCollisionWorldImporter::getCollisionShapeByIndex(int index)
-{
-	return m_allocatedCollisionShapes[index];
-}
-
-btCollisionShape* btCollisionWorldImporter::getCollisionShapeByName(const char* name)
-{
-	btCollisionShape** shapePtr = m_nameShapeMap.find(name);
-	if (shapePtr && *shapePtr)
-	{
-		return *shapePtr;
-	}
-	return 0;
-}
-
-const char* btCollisionWorldImporter::getNameForPointer(const void* ptr) const
-{
-	const char* const* namePtr = m_objectNameMap.find(ptr);
-	if (namePtr && *namePtr)
-		return *namePtr;
-	return 0;
-}
-
-int btCollisionWorldImporter::getNumRigidBodies() const
-{
-	return m_allocatedRigidBodies.size();
-}
-
-btCollisionObject* btCollisionWorldImporter::getRigidBodyByIndex(int index) const
-{
-	return m_allocatedRigidBodies[index];
-}
-
-int btCollisionWorldImporter::getNumBvhs() const
-{
-	return m_allocatedBvhs.size();
-}
-btOptimizedBvh* btCollisionWorldImporter::getBvhByIndex(int index) const
-{
-	return m_allocatedBvhs[index];
-}
-
-int btCollisionWorldImporter::getNumTriangleInfoMaps() const
-{
-	return m_allocatedTriangleInfoMaps.size();
-}
-
-btTriangleInfoMap* btCollisionWorldImporter::getTriangleInfoMapByIndex(int index) const
-{
-	return m_allocatedTriangleInfoMaps[index];
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h
deleted file mode 100644
index 5e8bc95341..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h
+++ /dev/null
@@ -1,169 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2014 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_COLLISION_WORLD_IMPORTER_H
-#define BT_COLLISION_WORLD_IMPORTER_H
-
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btHashMap.h"
-
-class btCollisionShape;
-class btCollisionObject;
-struct btBulletSerializedArrays;
-
-struct ConstraintInput;
-class btCollisionWorld;
-struct btCollisionShapeData;
-class btTriangleIndexVertexArray;
-class btStridingMeshInterface;
-struct btStridingMeshInterfaceData;
-class btGImpactMeshShape;
-class btOptimizedBvh;
-struct btTriangleInfoMap;
-class btBvhTriangleMeshShape;
-class btPoint2PointConstraint;
-class btHingeConstraint;
-class btConeTwistConstraint;
-class btGeneric6DofConstraint;
-class btGeneric6DofSpringConstraint;
-class btSliderConstraint;
-class btGearConstraint;
-struct btContactSolverInfo;
-
-class btCollisionWorldImporter
-{
-protected:
-	btCollisionWorld* m_collisionWorld;
-
-	int m_verboseMode;
-
-	btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
-	btAlignedObjectArray<btCollisionObject*> m_allocatedRigidBodies;
-
-	btAlignedObjectArray<btOptimizedBvh*> m_allocatedBvhs;
-	btAlignedObjectArray<btTriangleInfoMap*> m_allocatedTriangleInfoMaps;
-	btAlignedObjectArray<btTriangleIndexVertexArray*> m_allocatedTriangleIndexArrays;
-	btAlignedObjectArray<btStridingMeshInterfaceData*> m_allocatedbtStridingMeshInterfaceDatas;
-	btAlignedObjectArray<btCollisionObject*> m_allocatedCollisionObjects;
-
-	btAlignedObjectArray<char*> m_allocatedNames;
-
-	btAlignedObjectArray<int*> m_indexArrays;
-	btAlignedObjectArray<short int*> m_shortIndexArrays;
-	btAlignedObjectArray<unsigned char*> m_charIndexArrays;
-
-	btAlignedObjectArray<btVector3FloatData*> m_floatVertexArrays;
-	btAlignedObjectArray<btVector3DoubleData*> m_doubleVertexArrays;
-
-	btHashMap<btHashPtr, btOptimizedBvh*> m_bvhMap;
-	btHashMap<btHashPtr, btTriangleInfoMap*> m_timMap;
-
-	btHashMap<btHashString, btCollisionShape*> m_nameShapeMap;
-	btHashMap<btHashString, btCollisionObject*> m_nameColObjMap;
-
-	btHashMap<btHashPtr, const char*> m_objectNameMap;
-
-	btHashMap<btHashPtr, btCollisionShape*> m_shapeMap;
-	btHashMap<btHashPtr, btCollisionObject*> m_bodyMap;
-
-	//methods
-
-	char* duplicateName(const char* name);
-
-	btCollisionShape* convertCollisionShape(btCollisionShapeData* shapeData);
-
-public:
-	btCollisionWorldImporter(btCollisionWorld* world);
-
-	virtual ~btCollisionWorldImporter();
-
-	bool convertAllObjects(btBulletSerializedArrays* arrays);
-
-	///delete all memory collision shapes, rigid bodies, constraints etc. allocated during the load.
-	///make sure you don't use the dynamics world containing objects after you call this method
-	virtual void deleteAllData();
-
-	void setVerboseMode(int verboseMode)
-	{
-		m_verboseMode = verboseMode;
-	}
-
-	int getVerboseMode() const
-	{
-		return m_verboseMode;
-	}
-
-	// query for data
-	int getNumCollisionShapes() const;
-	btCollisionShape* getCollisionShapeByIndex(int index);
-	int getNumRigidBodies() const;
-	btCollisionObject* getRigidBodyByIndex(int index) const;
-
-	int getNumBvhs() const;
-	btOptimizedBvh* getBvhByIndex(int index) const;
-	int getNumTriangleInfoMaps() const;
-	btTriangleInfoMap* getTriangleInfoMapByIndex(int index) const;
-
-	// queris involving named objects
-	btCollisionShape* getCollisionShapeByName(const char* name);
-	btCollisionObject* getCollisionObjectByName(const char* name);
-
-	const char* getNameForPointer(const void* ptr) const;
-
-	///those virtuals are called by load and can be overridden by the user
-
-	//bodies
-
-	virtual btCollisionObject* createCollisionObject(const btTransform& startTransform, btCollisionShape* shape, const char* bodyName);
-
-	///shapes
-
-	virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal, btScalar planeConstant);
-	virtual btCollisionShape* createBoxShape(const btVector3& halfExtents);
-	virtual btCollisionShape* createSphereShape(btScalar radius);
-	virtual btCollisionShape* createCapsuleShapeX(btScalar radius, btScalar height);
-	virtual btCollisionShape* createCapsuleShapeY(btScalar radius, btScalar height);
-	virtual btCollisionShape* createCapsuleShapeZ(btScalar radius, btScalar height);
-
-	virtual btCollisionShape* createCylinderShapeX(btScalar radius, btScalar height);
-	virtual btCollisionShape* createCylinderShapeY(btScalar radius, btScalar height);
-	virtual btCollisionShape* createCylinderShapeZ(btScalar radius, btScalar height);
-	virtual btCollisionShape* createConeShapeX(btScalar radius, btScalar height);
-	virtual btCollisionShape* createConeShapeY(btScalar radius, btScalar height);
-	virtual btCollisionShape* createConeShapeZ(btScalar radius, btScalar height);
-	virtual class btTriangleIndexVertexArray* createTriangleMeshContainer();
-	virtual btBvhTriangleMeshShape* createBvhTriangleMeshShape(btStridingMeshInterface* trimesh, btOptimizedBvh* bvh);
-	virtual btCollisionShape* createConvexTriangleMeshShape(btStridingMeshInterface* trimesh);
-#ifdef SUPPORT_GIMPACT_SHAPE_IMPORT
-	virtual btGImpactMeshShape* createGimpactShape(btStridingMeshInterface* trimesh);
-#endif  //SUPPORT_GIMPACT_SHAPE_IMPORT
-	virtual btStridingMeshInterfaceData* createStridingMeshInterfaceData(btStridingMeshInterfaceData* interfaceData);
-
-	virtual class btConvexHullShape* createConvexHullShape();
-	virtual class btCompoundShape* createCompoundShape();
-	virtual class btScaledBvhTriangleMeshShape* createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape, const btVector3& localScalingbtBvhTriangleMeshShape);
-
-	virtual class btMultiSphereShape* createMultiSphereShape(const btVector3* positions, const btScalar* radi, int numSpheres);
-
-	virtual btTriangleIndexVertexArray* createMeshInterface(btStridingMeshInterfaceData& meshData);
-
-	///acceleration and connectivity structures
-	virtual btOptimizedBvh* createOptimizedBvh();
-	virtual btTriangleInfoMap* createTriangleInfoMap();
-};
-
-#endif  //BT_WORLD_IMPORTER_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
deleted file mode 100644
index b5f4a3c869..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,390 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-
-*/
-
-#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionShapes/btCompoundShape.h"
-#include "BulletCollision/BroadphaseCollision/btDbvt.h"
-#include "LinearMath/btIDebugDraw.h"
-#include "LinearMath/btAabbUtil2.h"
-#include "btManifoldResult.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-btShapePairCallback gCompoundChildShapePairCallback = 0;
-
-btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped)
-	: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
-	  m_isSwapped(isSwapped),
-	  m_sharedManifold(ci.m_manifold)
-{
-	m_ownsManifold = false;
-
-	const btCollisionObjectWrapper* colObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
-	btAssert(colObjWrap->getCollisionShape()->isCompound());
-
-	const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
-	m_compoundShapeRevision = compoundShape->getUpdateRevision();
-
-	preallocateChildAlgorithms(body0Wrap, body1Wrap);
-}
-
-void btCompoundCollisionAlgorithm::preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-{
-	const btCollisionObjectWrapper* colObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
-	const btCollisionObjectWrapper* otherObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
-	btAssert(colObjWrap->getCollisionShape()->isCompound());
-
-	const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
-
-	int numChildren = compoundShape->getNumChildShapes();
-	int i;
-
-	m_childCollisionAlgorithms.resize(numChildren);
-	for (i = 0; i < numChildren; i++)
-	{
-		if (compoundShape->getDynamicAabbTree())
-		{
-			m_childCollisionAlgorithms[i] = 0;
-		}
-		else
-		{
-			const btCollisionShape* childShape = compoundShape->getChildShape(i);
-
-			btCollisionObjectWrapper childWrap(colObjWrap, childShape, colObjWrap->getCollisionObject(), colObjWrap->getWorldTransform(), -1, i);  //wrong child trans, but unused (hopefully)
-			m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(&childWrap, otherObjWrap, m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS);
-
-			btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithmsContact;
-			btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithmsClosestPoints;
-		}
-	}
-}
-
-void btCompoundCollisionAlgorithm::removeChildAlgorithms()
-{
-	int numChildren = m_childCollisionAlgorithms.size();
-	int i;
-	for (i = 0; i < numChildren; i++)
-	{
-		if (m_childCollisionAlgorithms[i])
-		{
-			m_childCollisionAlgorithms[i]->~btCollisionAlgorithm();
-			m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
-		}
-	}
-}
-
-btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
-{
-	removeChildAlgorithms();
-}
-
-struct btCompoundLeafCallback : btDbvt::ICollide
-{
-public:
-	const btCollisionObjectWrapper* m_compoundColObjWrap;
-	const btCollisionObjectWrapper* m_otherObjWrap;
-	btDispatcher* m_dispatcher;
-	const btDispatcherInfo& m_dispatchInfo;
-	btManifoldResult* m_resultOut;
-	btCollisionAlgorithm** m_childCollisionAlgorithms;
-	btPersistentManifold* m_sharedManifold;
-
-	btCompoundLeafCallback(const btCollisionObjectWrapper* compoundObjWrap, const btCollisionObjectWrapper* otherObjWrap, btDispatcher* dispatcher, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut, btCollisionAlgorithm** childCollisionAlgorithms, btPersistentManifold* sharedManifold)
-		: m_compoundColObjWrap(compoundObjWrap), m_otherObjWrap(otherObjWrap), m_dispatcher(dispatcher), m_dispatchInfo(dispatchInfo), m_resultOut(resultOut), m_childCollisionAlgorithms(childCollisionAlgorithms), m_sharedManifold(sharedManifold)
-	{
-	}
-
-	void ProcessChildShape(const btCollisionShape* childShape, int index)
-	{
-		btAssert(index >= 0);
-		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
-		btAssert(index < compoundShape->getNumChildShapes());
-
-		if (gCompoundChildShapePairCallback)
-		{
-			if (!gCompoundChildShapePairCallback(m_otherObjWrap->getCollisionShape(), childShape))
-				return;
-		}
-
-		//backup
-		btTransform orgTrans = m_compoundColObjWrap->getWorldTransform();
-
-		const btTransform& childTrans = compoundShape->getChildTransform(index);
-		btTransform newChildWorldTrans = orgTrans * childTrans;
-
-		//perform an AABB check first
-		btVector3 aabbMin0, aabbMax0;
-		childShape->getAabb(newChildWorldTrans, aabbMin0, aabbMax0);
-
-		btVector3 extendAabb(m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold);
-		aabbMin0 -= extendAabb;
-		aabbMax0 += extendAabb;
-
-		btVector3 aabbMin1, aabbMax1;
-		m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(), aabbMin1, aabbMax1);
-
-
-		if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
-		{
-			btTransform preTransform = childTrans;
-			if (this->m_compoundColObjWrap->m_preTransform)
-			{
-				preTransform = preTransform *(*(this->m_compoundColObjWrap->m_preTransform));
-			}
-			btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, preTransform, -1, index);
-
-			btCollisionAlgorithm* algo = 0;
-			bool allocatedAlgorithm = false;
-
-			if (m_resultOut->m_closestPointDistanceThreshold > 0)
-			{
-				algo = m_dispatcher->findAlgorithm(&compoundWrap, m_otherObjWrap, 0, BT_CLOSEST_POINT_ALGORITHMS);
-				allocatedAlgorithm = true;
-			}
-			else
-			{
-				//the contactpoint is still projected back using the original inverted worldtrans
-				if (!m_childCollisionAlgorithms[index])
-				{
-					m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(&compoundWrap, m_otherObjWrap, m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS);
-				}
-				algo = m_childCollisionAlgorithms[index];
-			}
-
-			const btCollisionObjectWrapper* tmpWrap = 0;
-
-			///detect swapping case
-			if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject())
-			{
-				tmpWrap = m_resultOut->getBody0Wrap();
-				m_resultOut->setBody0Wrap(&compoundWrap);
-				m_resultOut->setShapeIdentifiersA(-1, index);
-			}
-			else
-			{
-				tmpWrap = m_resultOut->getBody1Wrap();
-				m_resultOut->setBody1Wrap(&compoundWrap);
-				m_resultOut->setShapeIdentifiersB(-1, index);
-			}
-
-			algo->processCollision(&compoundWrap, m_otherObjWrap, m_dispatchInfo, m_resultOut);
-
-#if 0
-			if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
-			{
-				btVector3 worldAabbMin,worldAabbMax;
-				m_dispatchInfo.m_debugDraw->drawAabb(aabbMin0,aabbMax0,btVector3(1,1,1));
-				m_dispatchInfo.m_debugDraw->drawAabb(aabbMin1,aabbMax1,btVector3(1,1,1));
-			}
-#endif
-
-			if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject())
-			{
-				m_resultOut->setBody0Wrap(tmpWrap);
-			}
-			else
-			{
-				m_resultOut->setBody1Wrap(tmpWrap);
-			}
-			if (allocatedAlgorithm)
-			{
-				algo->~btCollisionAlgorithm();
-				m_dispatcher->freeCollisionAlgorithm(algo);
-			}
-		}
-	}
-	void Process(const btDbvtNode* leaf)
-	{
-		int index = leaf->dataAsInt;
-
-		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
-		const btCollisionShape* childShape = compoundShape->getChildShape(index);
-
-#if 0
-		if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
-		{
-			btVector3 worldAabbMin,worldAabbMax;
-			btTransform	orgTrans = m_compoundColObjWrap->getWorldTransform();
-			btTransformAabb(leaf->volume.Mins(),leaf->volume.Maxs(),0.,orgTrans,worldAabbMin,worldAabbMax);
-			m_dispatchInfo.m_debugDraw->drawAabb(worldAabbMin,worldAabbMax,btVector3(1,0,0));
-		}
-#endif
-
-		ProcessChildShape(childShape, index);
-	}
-};
-
-void btCompoundCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	const btCollisionObjectWrapper* colObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
-	const btCollisionObjectWrapper* otherObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
-
-	btAssert(colObjWrap->getCollisionShape()->isCompound());
-	const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
-
-	///btCompoundShape might have changed:
-	////make sure the internal child collision algorithm caches are still valid
-	if (compoundShape->getUpdateRevision() != m_compoundShapeRevision)
-	{
-		///clear and update all
-		removeChildAlgorithms();
-
-		preallocateChildAlgorithms(body0Wrap, body1Wrap);
-		m_compoundShapeRevision = compoundShape->getUpdateRevision();
-	}
-
-	if (m_childCollisionAlgorithms.size() == 0)
-		return;
-
-	const btDbvt* tree = compoundShape->getDynamicAabbTree();
-	//use a dynamic aabb tree to cull potential child-overlaps
-	btCompoundLeafCallback callback(colObjWrap, otherObjWrap, m_dispatcher, dispatchInfo, resultOut, &m_childCollisionAlgorithms[0], m_sharedManifold);
-
-	///we need to refresh all contact manifolds
-	///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
-	///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
-	{
-		int i;
-		manifoldArray.resize(0);
-		for (i = 0; i < m_childCollisionAlgorithms.size(); i++)
-		{
-			if (m_childCollisionAlgorithms[i])
-			{
-				m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
-				for (int m = 0; m < manifoldArray.size(); m++)
-				{
-					if (manifoldArray[m]->getNumContacts())
-					{
-						resultOut->setPersistentManifold(manifoldArray[m]);
-						resultOut->refreshContactPoints();
-						resultOut->setPersistentManifold(0);  //??necessary?
-					}
-				}
-				manifoldArray.resize(0);
-			}
-		}
-	}
-
-	if (tree)
-	{
-		btVector3 localAabbMin, localAabbMax;
-		btTransform otherInCompoundSpace;
-		otherInCompoundSpace = colObjWrap->getWorldTransform().inverse() * otherObjWrap->getWorldTransform();
-		otherObjWrap->getCollisionShape()->getAabb(otherInCompoundSpace, localAabbMin, localAabbMax);
-		btVector3 extraExtends(resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold);
-		localAabbMin -= extraExtends;
-		localAabbMax += extraExtends;
-
-		const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds = btDbvtVolume::FromMM(localAabbMin, localAabbMax);
-		//process all children, that overlap with  the given AABB bounds
-		tree->collideTVNoStackAlloc(tree->m_root, bounds, stack2, callback);
-	}
-	else
-	{
-		//iterate over all children, perform an AABB check inside ProcessChildShape
-		int numChildren = m_childCollisionAlgorithms.size();
-		int i;
-		for (i = 0; i < numChildren; i++)
-		{
-			callback.ProcessChildShape(compoundShape->getChildShape(i), i);
-		}
-	}
-
-	{
-		//iterate over all children, perform an AABB check inside ProcessChildShape
-		int numChildren = m_childCollisionAlgorithms.size();
-		int i;
-		manifoldArray.resize(0);
-		const btCollisionShape* childShape = 0;
-		btTransform orgTrans;
-
-		btTransform newChildWorldTrans;
-		btVector3 aabbMin0, aabbMax0, aabbMin1, aabbMax1;
-
-		for (i = 0; i < numChildren; i++)
-		{
-			if (m_childCollisionAlgorithms[i])
-			{
-				childShape = compoundShape->getChildShape(i);
-				//if not longer overlapping, remove the algorithm
-				orgTrans = colObjWrap->getWorldTransform();
-
-				const btTransform& childTrans = compoundShape->getChildTransform(i);
-				newChildWorldTrans = orgTrans * childTrans;
-
-				//perform an AABB check first
-				childShape->getAabb(newChildWorldTrans, aabbMin0, aabbMax0);
-				otherObjWrap->getCollisionShape()->getAabb(otherObjWrap->getWorldTransform(), aabbMin1, aabbMax1);
-
-				if (!TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
-				{
-					m_childCollisionAlgorithms[i]->~btCollisionAlgorithm();
-					m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
-					m_childCollisionAlgorithms[i] = 0;
-				}
-			}
-		}
-	}
-}
-
-btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	btAssert(0);
-	//needs to be fixed, using btCollisionObjectWrapper and NOT modifying internal data structures
-	btCollisionObject* colObj = m_isSwapped ? body1 : body0;
-	btCollisionObject* otherObj = m_isSwapped ? body0 : body1;
-
-	btAssert(colObj->getCollisionShape()->isCompound());
-
-	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
-
-	//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
-	//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
-	//given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
-	//determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
-	//then use each overlapping node AABB against Tree0
-	//and vise versa.
-
-	btScalar hitFraction = btScalar(1.);
-
-	int numChildren = m_childCollisionAlgorithms.size();
-	int i;
-	btTransform orgTrans;
-	btScalar frac;
-	for (i = 0; i < numChildren; i++)
-	{
-		//btCollisionShape* childShape = compoundShape->getChildShape(i);
-
-		//backup
-		orgTrans = colObj->getWorldTransform();
-
-		const btTransform& childTrans = compoundShape->getChildTransform(i);
-		//btTransform	newChildWorldTrans = orgTrans*childTrans ;
-		colObj->setWorldTransform(orgTrans * childTrans);
-
-		//btCollisionShape* tmpShape = colObj->getCollisionShape();
-		//colObj->internalSetTemporaryCollisionShape( childShape );
-		frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj, otherObj, dispatchInfo, resultOut);
-		if (frac < hitFraction)
-		{
-			hitFraction = frac;
-		}
-		//revert back
-		//colObj->internalSetTemporaryCollisionShape( tmpShape);
-		colObj->setWorldTransform(orgTrans);
-	}
-	return hitFraction;
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
deleted file mode 100644
index 4ea5e77185..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
+++ /dev/null
@@ -1,99 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-
-*/
-
-#ifndef BT_COMPOUND_COLLISION_ALGORITHM_H
-#define BT_COMPOUND_COLLISION_ALGORITHM_H
-
-#include "btActivatingCollisionAlgorithm.h"
-#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-class btDispatcher;
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "btCollisionCreateFunc.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "BulletCollision/BroadphaseCollision/btDbvt.h"
-class btDispatcher;
-class btCollisionObject;
-
-class btCollisionShape;
-typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCollisionShape* pShape1);
-extern btShapePairCallback gCompoundChildShapePairCallback;
-
-/// btCompoundCollisionAlgorithm  supports collision between CompoundCollisionShapes and other collision shapes
-class btCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm
-{
-	btNodeStack stack2;
-	btManifoldArray manifoldArray;
-
-protected:
-	btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithms;
-	bool m_isSwapped;
-
-	class btPersistentManifold* m_sharedManifold;
-	bool m_ownsManifold;
-
-	int m_compoundShapeRevision;  //to keep track of changes, so that childAlgorithm array can be updated
-
-	void removeChildAlgorithms();
-
-	void preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
-
-public:
-	btCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
-
-	virtual ~btCompoundCollisionAlgorithm();
-
-	btCollisionAlgorithm* getChildAlgorithm(int n) const
-	{
-		return m_childCollisionAlgorithms[n];
-	}
-
-	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
-	{
-		int i;
-		for (i = 0; i < m_childCollisionAlgorithms.size(); i++)
-		{
-			if (m_childCollisionAlgorithms[i])
-				m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
-		}
-	}
-
-	struct CreateFunc : public btCollisionAlgorithmCreateFunc
-	{
-		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
-			return new (mem) btCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
-		}
-	};
-
-	struct SwappedCreateFunc : public btCollisionAlgorithmCreateFunc
-	{
-		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
-			return new (mem) btCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);
-		}
-	};
-};
-
-#endif  //BT_COMPOUND_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
deleted file mode 100644
index 044b60dbb1..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,413 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-
-*/
-
-#include "btCompoundCompoundCollisionAlgorithm.h"
-#include "LinearMath/btQuickprof.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionShapes/btCompoundShape.h"
-#include "BulletCollision/BroadphaseCollision/btDbvt.h"
-#include "LinearMath/btIDebugDraw.h"
-#include "LinearMath/btAabbUtil2.h"
-#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-//USE_LOCAL_STACK will avoid most (often all) dynamic memory allocations due to resizing in processCollision and MycollideTT
-#define USE_LOCAL_STACK 1
-
-btShapePairCallback gCompoundCompoundChildShapePairCallback = 0;
-
-btCompoundCompoundCollisionAlgorithm::btCompoundCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped)
-	: btCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, isSwapped)
-{
-	void* ptr = btAlignedAlloc(sizeof(btHashedSimplePairCache), 16);
-	m_childCollisionAlgorithmCache = new (ptr) btHashedSimplePairCache();
-
-	const btCollisionObjectWrapper* col0ObjWrap = body0Wrap;
-	btAssert(col0ObjWrap->getCollisionShape()->isCompound());
-
-	const btCollisionObjectWrapper* col1ObjWrap = body1Wrap;
-	btAssert(col1ObjWrap->getCollisionShape()->isCompound());
-
-	const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(col0ObjWrap->getCollisionShape());
-	m_compoundShapeRevision0 = compoundShape0->getUpdateRevision();
-
-	const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(col1ObjWrap->getCollisionShape());
-	m_compoundShapeRevision1 = compoundShape1->getUpdateRevision();
-}
-
-btCompoundCompoundCollisionAlgorithm::~btCompoundCompoundCollisionAlgorithm()
-{
-	removeChildAlgorithms();
-	m_childCollisionAlgorithmCache->~btHashedSimplePairCache();
-	btAlignedFree(m_childCollisionAlgorithmCache);
-}
-
-void btCompoundCompoundCollisionAlgorithm::getAllContactManifolds(btManifoldArray& manifoldArray)
-{
-	int i;
-	btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
-	for (i = 0; i < pairs.size(); i++)
-	{
-		if (pairs[i].m_userPointer)
-		{
-			((btCollisionAlgorithm*)pairs[i].m_userPointer)->getAllContactManifolds(manifoldArray);
-		}
-	}
-}
-
-void btCompoundCompoundCollisionAlgorithm::removeChildAlgorithms()
-{
-	btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
-
-	int numChildren = pairs.size();
-	int i;
-	for (i = 0; i < numChildren; i++)
-	{
-		if (pairs[i].m_userPointer)
-		{
-			btCollisionAlgorithm* algo = (btCollisionAlgorithm*)pairs[i].m_userPointer;
-			algo->~btCollisionAlgorithm();
-			m_dispatcher->freeCollisionAlgorithm(algo);
-		}
-	}
-	m_childCollisionAlgorithmCache->removeAllPairs();
-}
-
-struct btCompoundCompoundLeafCallback : btDbvt::ICollide
-{
-	int m_numOverlapPairs;
-
-	const btCollisionObjectWrapper* m_compound0ColObjWrap;
-	const btCollisionObjectWrapper* m_compound1ColObjWrap;
-	btDispatcher* m_dispatcher;
-	const btDispatcherInfo& m_dispatchInfo;
-	btManifoldResult* m_resultOut;
-
-	class btHashedSimplePairCache* m_childCollisionAlgorithmCache;
-
-	btPersistentManifold* m_sharedManifold;
-
-	btCompoundCompoundLeafCallback(const btCollisionObjectWrapper* compound1ObjWrap,
-								   const btCollisionObjectWrapper* compound0ObjWrap,
-								   btDispatcher* dispatcher,
-								   const btDispatcherInfo& dispatchInfo,
-								   btManifoldResult* resultOut,
-								   btHashedSimplePairCache* childAlgorithmsCache,
-								   btPersistentManifold* sharedManifold)
-		: m_numOverlapPairs(0), m_compound0ColObjWrap(compound1ObjWrap), m_compound1ColObjWrap(compound0ObjWrap), m_dispatcher(dispatcher), m_dispatchInfo(dispatchInfo), m_resultOut(resultOut), m_childCollisionAlgorithmCache(childAlgorithmsCache), m_sharedManifold(sharedManifold)
-	{
-	}
-
-	void Process(const btDbvtNode* leaf0, const btDbvtNode* leaf1)
-	{
-		BT_PROFILE("btCompoundCompoundLeafCallback::Process");
-		m_numOverlapPairs++;
-
-		int childIndex0 = leaf0->dataAsInt;
-		int childIndex1 = leaf1->dataAsInt;
-
-		btAssert(childIndex0 >= 0);
-		btAssert(childIndex1 >= 0);
-
-		const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(m_compound0ColObjWrap->getCollisionShape());
-		btAssert(childIndex0 < compoundShape0->getNumChildShapes());
-
-		const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(m_compound1ColObjWrap->getCollisionShape());
-		btAssert(childIndex1 < compoundShape1->getNumChildShapes());
-
-		const btCollisionShape* childShape0 = compoundShape0->getChildShape(childIndex0);
-		const btCollisionShape* childShape1 = compoundShape1->getChildShape(childIndex1);
-
-		//backup
-		btTransform orgTrans0 = m_compound0ColObjWrap->getWorldTransform();
-		const btTransform& childTrans0 = compoundShape0->getChildTransform(childIndex0);
-		btTransform newChildWorldTrans0 = orgTrans0 * childTrans0;
-
-		btTransform orgTrans1 = m_compound1ColObjWrap->getWorldTransform();
-		const btTransform& childTrans1 = compoundShape1->getChildTransform(childIndex1);
-		btTransform newChildWorldTrans1 = orgTrans1 * childTrans1;
-
-		//perform an AABB check first
-		btVector3 aabbMin0, aabbMax0, aabbMin1, aabbMax1;
-		childShape0->getAabb(newChildWorldTrans0, aabbMin0, aabbMax0);
-		childShape1->getAabb(newChildWorldTrans1, aabbMin1, aabbMax1);
-
-		btVector3 thresholdVec(m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold);
-
-		aabbMin0 -= thresholdVec;
-		aabbMax0 += thresholdVec;
-
-		if (gCompoundCompoundChildShapePairCallback)
-		{
-			if (!gCompoundCompoundChildShapePairCallback(childShape0, childShape1))
-				return;
-		}
-
-		if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
-		{
-			btCollisionObjectWrapper compoundWrap0(this->m_compound0ColObjWrap, childShape0, m_compound0ColObjWrap->getCollisionObject(), newChildWorldTrans0, -1, childIndex0);
-			btCollisionObjectWrapper compoundWrap1(this->m_compound1ColObjWrap, childShape1, m_compound1ColObjWrap->getCollisionObject(), newChildWorldTrans1, -1, childIndex1);
-
-			btSimplePair* pair = m_childCollisionAlgorithmCache->findPair(childIndex0, childIndex1);
-			bool removePair = false;
-			btCollisionAlgorithm* colAlgo = 0;
-			if (m_resultOut->m_closestPointDistanceThreshold > 0)
-			{
-				colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0, &compoundWrap1, 0, BT_CLOSEST_POINT_ALGORITHMS);
-				removePair = true;
-			}
-			else
-			{
-				if (pair)
-				{
-					colAlgo = (btCollisionAlgorithm*)pair->m_userPointer;
-				}
-				else
-				{
-					colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0, &compoundWrap1, m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS);
-					pair = m_childCollisionAlgorithmCache->addOverlappingPair(childIndex0, childIndex1);
-					btAssert(pair);
-					pair->m_userPointer = colAlgo;
-				}
-			}
-
-			btAssert(colAlgo);
-
-			const btCollisionObjectWrapper* tmpWrap0 = 0;
-			const btCollisionObjectWrapper* tmpWrap1 = 0;
-
-			tmpWrap0 = m_resultOut->getBody0Wrap();
-			tmpWrap1 = m_resultOut->getBody1Wrap();
-
-			m_resultOut->setBody0Wrap(&compoundWrap0);
-			m_resultOut->setBody1Wrap(&compoundWrap1);
-
-			m_resultOut->setShapeIdentifiersA(-1, childIndex0);
-			m_resultOut->setShapeIdentifiersB(-1, childIndex1);
-
-			colAlgo->processCollision(&compoundWrap0, &compoundWrap1, m_dispatchInfo, m_resultOut);
-
-			m_resultOut->setBody0Wrap(tmpWrap0);
-			m_resultOut->setBody1Wrap(tmpWrap1);
-
-			if (removePair)
-			{
-				colAlgo->~btCollisionAlgorithm();
-				m_dispatcher->freeCollisionAlgorithm(colAlgo);
-			}
-		}
-	}
-};
-
-static DBVT_INLINE bool MyIntersect(const btDbvtAabbMm& a,
-									const btDbvtAabbMm& b, const btTransform& xform, btScalar distanceThreshold)
-{
-	btVector3 newmin, newmax;
-	btTransformAabb(b.Mins(), b.Maxs(), 0.f, xform, newmin, newmax);
-	newmin -= btVector3(distanceThreshold, distanceThreshold, distanceThreshold);
-	newmax += btVector3(distanceThreshold, distanceThreshold, distanceThreshold);
-	btDbvtAabbMm newb = btDbvtAabbMm::FromMM(newmin, newmax);
-	return Intersect(a, newb);
-}
-
-static inline void MycollideTT(const btDbvtNode* root0,
-							   const btDbvtNode* root1,
-							   const btTransform& xform,
-							   btCompoundCompoundLeafCallback* callback, btScalar distanceThreshold)
-{
-	if (root0 && root1)
-	{
-		int depth = 1;
-		int treshold = btDbvt::DOUBLE_STACKSIZE - 4;
-		btAlignedObjectArray<btDbvt::sStkNN> stkStack;
-#ifdef USE_LOCAL_STACK
-		ATTRIBUTE_ALIGNED16(btDbvt::sStkNN localStack[btDbvt::DOUBLE_STACKSIZE]);
-		stkStack.initializeFromBuffer(&localStack, btDbvt::DOUBLE_STACKSIZE, btDbvt::DOUBLE_STACKSIZE);
-#else
-		stkStack.resize(btDbvt::DOUBLE_STACKSIZE);
-#endif
-		stkStack[0] = btDbvt::sStkNN(root0, root1);
-		do
-		{
-			btDbvt::sStkNN p = stkStack[--depth];
-			if (MyIntersect(p.a->volume, p.b->volume, xform, distanceThreshold))
-			{
-				if (depth > treshold)
-				{
-					stkStack.resize(stkStack.size() * 2);
-					treshold = stkStack.size() - 4;
-				}
-				if (p.a->isinternal())
-				{
-					if (p.b->isinternal())
-					{
-						stkStack[depth++] = btDbvt::sStkNN(p.a->childs[0], p.b->childs[0]);
-						stkStack[depth++] = btDbvt::sStkNN(p.a->childs[1], p.b->childs[0]);
-						stkStack[depth++] = btDbvt::sStkNN(p.a->childs[0], p.b->childs[1]);
-						stkStack[depth++] = btDbvt::sStkNN(p.a->childs[1], p.b->childs[1]);
-					}
-					else
-					{
-						stkStack[depth++] = btDbvt::sStkNN(p.a->childs[0], p.b);
-						stkStack[depth++] = btDbvt::sStkNN(p.a->childs[1], p.b);
-					}
-				}
-				else
-				{
-					if (p.b->isinternal())
-					{
-						stkStack[depth++] = btDbvt::sStkNN(p.a, p.b->childs[0]);
-						stkStack[depth++] = btDbvt::sStkNN(p.a, p.b->childs[1]);
-					}
-					else
-					{
-						callback->Process(p.a, p.b);
-					}
-				}
-			}
-		} while (depth);
-	}
-}
-
-void btCompoundCompoundCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	const btCollisionObjectWrapper* col0ObjWrap = body0Wrap;
-	const btCollisionObjectWrapper* col1ObjWrap = body1Wrap;
-
-	btAssert(col0ObjWrap->getCollisionShape()->isCompound());
-	btAssert(col1ObjWrap->getCollisionShape()->isCompound());
-	const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(col0ObjWrap->getCollisionShape());
-	const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(col1ObjWrap->getCollisionShape());
-
-	const btDbvt* tree0 = compoundShape0->getDynamicAabbTree();
-	const btDbvt* tree1 = compoundShape1->getDynamicAabbTree();
-	if (!tree0 || !tree1)
-	{
-		return btCompoundCollisionAlgorithm::processCollision(body0Wrap, body1Wrap, dispatchInfo, resultOut);
-	}
-	///btCompoundShape might have changed:
-	////make sure the internal child collision algorithm caches are still valid
-	if ((compoundShape0->getUpdateRevision() != m_compoundShapeRevision0) || (compoundShape1->getUpdateRevision() != m_compoundShapeRevision1))
-	{
-		///clear all
-		removeChildAlgorithms();
-		m_compoundShapeRevision0 = compoundShape0->getUpdateRevision();
-		m_compoundShapeRevision1 = compoundShape1->getUpdateRevision();
-	}
-
-	///we need to refresh all contact manifolds
-	///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
-	///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
-	{
-		int i;
-		btManifoldArray manifoldArray;
-#ifdef USE_LOCAL_STACK
-		btPersistentManifold localManifolds[4];
-		manifoldArray.initializeFromBuffer(&localManifolds, 0, 4);
-#endif
-		btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
-		for (i = 0; i < pairs.size(); i++)
-		{
-			if (pairs[i].m_userPointer)
-			{
-				btCollisionAlgorithm* algo = (btCollisionAlgorithm*)pairs[i].m_userPointer;
-				algo->getAllContactManifolds(manifoldArray);
-				for (int m = 0; m < manifoldArray.size(); m++)
-				{
-					if (manifoldArray[m]->getNumContacts())
-					{
-						resultOut->setPersistentManifold(manifoldArray[m]);
-						resultOut->refreshContactPoints();
-						resultOut->setPersistentManifold(0);
-					}
-				}
-				manifoldArray.resize(0);
-			}
-		}
-	}
-
-	btCompoundCompoundLeafCallback callback(col0ObjWrap, col1ObjWrap, this->m_dispatcher, dispatchInfo, resultOut, this->m_childCollisionAlgorithmCache, m_sharedManifold);
-
-	const btTransform xform = col0ObjWrap->getWorldTransform().inverse() * col1ObjWrap->getWorldTransform();
-	MycollideTT(tree0->m_root, tree1->m_root, xform, &callback, resultOut->m_closestPointDistanceThreshold);
-
-	//printf("#compound-compound child/leaf overlap =%d                      \r",callback.m_numOverlapPairs);
-
-	//remove non-overlapping child pairs
-
-	{
-		btAssert(m_removePairs.size() == 0);
-
-		//iterate over all children, perform an AABB check inside ProcessChildShape
-		btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
-
-		int i;
-		btManifoldArray manifoldArray;
-
-		btVector3 aabbMin0, aabbMax0, aabbMin1, aabbMax1;
-
-		for (i = 0; i < pairs.size(); i++)
-		{
-			if (pairs[i].m_userPointer)
-			{
-				btCollisionAlgorithm* algo = (btCollisionAlgorithm*)pairs[i].m_userPointer;
-
-				{
-					const btCollisionShape* childShape0 = 0;
-
-					btTransform newChildWorldTrans0;
-					childShape0 = compoundShape0->getChildShape(pairs[i].m_indexA);
-					const btTransform& childTrans0 = compoundShape0->getChildTransform(pairs[i].m_indexA);
-					newChildWorldTrans0 = col0ObjWrap->getWorldTransform() * childTrans0;
-					childShape0->getAabb(newChildWorldTrans0, aabbMin0, aabbMax0);
-				}
-				btVector3 thresholdVec(resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold);
-				aabbMin0 -= thresholdVec;
-				aabbMax0 += thresholdVec;
-				{
-					const btCollisionShape* childShape1 = 0;
-					btTransform newChildWorldTrans1;
-
-					childShape1 = compoundShape1->getChildShape(pairs[i].m_indexB);
-					const btTransform& childTrans1 = compoundShape1->getChildTransform(pairs[i].m_indexB);
-					newChildWorldTrans1 = col1ObjWrap->getWorldTransform() * childTrans1;
-					childShape1->getAabb(newChildWorldTrans1, aabbMin1, aabbMax1);
-				}
-
-				aabbMin1 -= thresholdVec;
-				aabbMax1 += thresholdVec;
-
-				if (!TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
-				{
-					algo->~btCollisionAlgorithm();
-					m_dispatcher->freeCollisionAlgorithm(algo);
-					m_removePairs.push_back(btSimplePair(pairs[i].m_indexA, pairs[i].m_indexB));
-				}
-			}
-		}
-		for (int i = 0; i < m_removePairs.size(); i++)
-		{
-			m_childCollisionAlgorithmCache->removeOverlappingPair(m_removePairs[i].m_indexA, m_removePairs[i].m_indexB);
-		}
-		m_removePairs.clear();
-	}
-}
-
-btScalar btCompoundCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	btAssert(0);
-	return 0.f;
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h
deleted file mode 100644
index a940d840e0..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-
-*/
-
-#ifndef BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
-#define BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
-
-#include "btCompoundCollisionAlgorithm.h"
-
-#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
-#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-class btDispatcher;
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "BulletCollision/CollisionDispatch/btHashedSimplePairCache.h"
-class btDispatcher;
-class btCollisionObject;
-
-class btCollisionShape;
-
-extern btShapePairCallback gCompoundCompoundChildShapePairCallback;
-
-/// btCompoundCompoundCollisionAlgorithm  supports collision between two btCompoundCollisionShape shapes
-class btCompoundCompoundCollisionAlgorithm : public btCompoundCollisionAlgorithm
-{
-	class btHashedSimplePairCache* m_childCollisionAlgorithmCache;
-	btSimplePairArray m_removePairs;
-
-	int m_compoundShapeRevision0;  //to keep track of changes, so that childAlgorithm array can be updated
-	int m_compoundShapeRevision1;
-
-	void removeChildAlgorithms();
-
-	//	void	preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
-
-public:
-	btCompoundCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
-
-	virtual ~btCompoundCompoundCollisionAlgorithm();
-
-	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual void getAllContactManifolds(btManifoldArray& manifoldArray);
-
-	struct CreateFunc : public btCollisionAlgorithmCreateFunc
-	{
-		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCompoundCollisionAlgorithm));
-			return new (mem) btCompoundCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
-		}
-	};
-
-	struct SwappedCreateFunc : public btCollisionAlgorithmCreateFunc
-	{
-		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCompoundCollisionAlgorithm));
-			return new (mem) btCompoundCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);
-		}
-	};
-};
-
-#endif  //BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
deleted file mode 100644
index 9087f84398..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
+++ /dev/null
@@ -1,211 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btConvex2dConvex2dAlgorithm.h"
-
-//#include <stdio.h>
-#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/CollisionShapes/btBoxShape.h"
-#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
-#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
-#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
-{
-	m_simplexSolver = simplexSolver;
-	m_pdSolver = pdSolver;
-}
-
-btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc()
-{
-}
-
-btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int /* numPerturbationIterations */, int /* minimumPointsPerturbationThreshold */)
-	: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
-	  m_simplexSolver(simplexSolver),
-	  m_pdSolver(pdSolver),
-	  m_ownManifold(false),
-	  m_manifoldPtr(mf),
-	  m_lowLevelOfDetail(false)
-{
-	(void)body0Wrap;
-	(void)body1Wrap;
-}
-
-btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm()
-{
-	if (m_ownManifold)
-	{
-		if (m_manifoldPtr)
-			m_dispatcher->releaseManifold(m_manifoldPtr);
-	}
-}
-
-void btConvex2dConvex2dAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
-{
-	m_lowLevelOfDetail = useLowLevel;
-}
-
-extern btScalar gContactBreakingThreshold;
-
-//
-// Convex-Convex collision algorithm
-//
-void btConvex2dConvex2dAlgorithm ::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	if (!m_manifoldPtr)
-	{
-		//swapped?
-		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
-		m_ownManifold = true;
-	}
-	resultOut->setPersistentManifold(m_manifoldPtr);
-
-	//comment-out next line to test multi-contact generation
-	//resultOut->getPersistentManifold()->clearManifold();
-
-	const btConvexShape* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
-	const btConvexShape* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
-
-	btVector3 normalOnB;
-	btVector3 pointOnBWorld;
-
-	{
-		btGjkPairDetector::ClosestPointInput input;
-
-		btGjkPairDetector gjkPairDetector(min0, min1, m_simplexSolver, m_pdSolver);
-		//TODO: if (dispatchInfo.m_useContinuous)
-		gjkPairDetector.setMinkowskiA(min0);
-		gjkPairDetector.setMinkowskiB(min1);
-
-		{
-			input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
-			input.m_maximumDistanceSquared *= input.m_maximumDistanceSquared;
-		}
-
-		input.m_transformA = body0Wrap->getWorldTransform();
-		input.m_transformB = body1Wrap->getWorldTransform();
-
-		gjkPairDetector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
-
-		btVector3 v0, v1;
-		btVector3 sepNormalWorldSpace;
-	}
-
-	if (m_ownManifold)
-	{
-		resultOut->refreshContactPoints();
-	}
-}
-
-btScalar btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	(void)resultOut;
-	(void)dispatchInfo;
-	///Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold
-
-	///Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold
-	///col0->m_worldTransform,
-	btScalar resultFraction = btScalar(1.);
-
-	btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2();
-	btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2();
-
-	if (squareMot0 < col0->getCcdSquareMotionThreshold() &&
-		squareMot1 < col1->getCcdSquareMotionThreshold())
-		return resultFraction;
-
-	//An adhoc way of testing the Continuous Collision Detection algorithms
-	//One object is approximated as a sphere, to simplify things
-	//Starting in penetration should report no time of impact
-	//For proper CCD, better accuracy and handling of 'allowed' penetration should be added
-	//also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
-
-	/// Convex0 against sphere for Convex1
-	{
-		btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape());
-
-		btSphereShape sphere1(col1->getCcdSweptSphereRadius());  //todo: allow non-zero sphere sizes, for better approximation
-		btConvexCast::CastResult result;
-		btVoronoiSimplexSolver voronoiSimplex;
-		//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
-		///Simplification, one object is simplified as a sphere
-		btGjkConvexCast ccd1(convex0, &sphere1, &voronoiSimplex);
-		//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
-		if (ccd1.calcTimeOfImpact(col0->getWorldTransform(), col0->getInterpolationWorldTransform(),
-								  col1->getWorldTransform(), col1->getInterpolationWorldTransform(), result))
-		{
-			//store result.m_fraction in both bodies
-
-			if (col0->getHitFraction() > result.m_fraction)
-				col0->setHitFraction(result.m_fraction);
-
-			if (col1->getHitFraction() > result.m_fraction)
-				col1->setHitFraction(result.m_fraction);
-
-			if (resultFraction > result.m_fraction)
-				resultFraction = result.m_fraction;
-		}
-	}
-
-	/// Sphere (for convex0) against Convex1
-	{
-		btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape());
-
-		btSphereShape sphere0(col0->getCcdSweptSphereRadius());  //todo: allow non-zero sphere sizes, for better approximation
-		btConvexCast::CastResult result;
-		btVoronoiSimplexSolver voronoiSimplex;
-		//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
-		///Simplification, one object is simplified as a sphere
-		btGjkConvexCast ccd1(&sphere0, convex1, &voronoiSimplex);
-		//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
-		if (ccd1.calcTimeOfImpact(col0->getWorldTransform(), col0->getInterpolationWorldTransform(),
-								  col1->getWorldTransform(), col1->getInterpolationWorldTransform(), result))
-		{
-			//store result.m_fraction in both bodies
-
-			if (col0->getHitFraction() > result.m_fraction)
-				col0->setHitFraction(result.m_fraction);
-
-			if (col1->getHitFraction() > result.m_fraction)
-				col1->setHitFraction(result.m_fraction);
-
-			if (resultFraction > result.m_fraction)
-				resultFraction = result.m_fraction;
-		}
-	}
-
-	return resultFraction;
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
deleted file mode 100644
index 9fca463fbe..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
-#define BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
-
-#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
-#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "LinearMath/btTransformUtil.h"  //for btConvexSeparatingDistanceUtil
-
-class btConvexPenetrationDepthSolver;
-
-///The convex2dConvex2dAlgorithm collision algorithm support 2d collision detection for btConvex2dShape
-///Currently it requires the btMinkowskiPenetrationDepthSolver, it has support for 2d penetration depth computation
-class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm
-{
-	btSimplexSolverInterface* m_simplexSolver;
-	btConvexPenetrationDepthSolver* m_pdSolver;
-
-	bool m_ownManifold;
-	btPersistentManifold* m_manifoldPtr;
-	bool m_lowLevelOfDetail;
-
-public:
-	btConvex2dConvex2dAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
-
-	virtual ~btConvex2dConvex2dAlgorithm();
-
-	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
-	{
-		///should we use m_ownManifold to avoid adding duplicates?
-		if (m_manifoldPtr && m_ownManifold)
-			manifoldArray.push_back(m_manifoldPtr);
-	}
-
-	void setLowLevelOfDetail(bool useLowLevel);
-
-	const btPersistentManifold* getManifold()
-	{
-		return m_manifoldPtr;
-	}
-
-	struct CreateFunc : public btCollisionAlgorithmCreateFunc
-	{
-		btConvexPenetrationDepthSolver* m_pdSolver;
-		btSimplexSolverInterface* m_simplexSolver;
-		int m_numPerturbationIterations;
-		int m_minimumPointsPerturbationThreshold;
-
-		CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
-
-		virtual ~CreateFunc();
-
-		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvex2dConvex2dAlgorithm));
-			return new (mem) btConvex2dConvex2dAlgorithm(ci.m_manifold, ci, body0Wrap, body1Wrap, m_simplexSolver, m_pdSolver, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
-		}
-	};
-};
-
-#endif  //BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
deleted file mode 100644
index e50f85e2bb..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,374 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btConvexConcaveCollisionAlgorithm.h"
-#include "LinearMath/btQuickprof.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionShapes/btConcaveShape.h"
-#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
-#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
-#include "BulletCollision/CollisionShapes/btTriangleShape.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-#include "LinearMath/btIDebugDraw.h"
-#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-#include "BulletCollision/CollisionShapes/btSdfCollisionShape.h"
-
-btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped)
-	: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
-	  m_btConvexTriangleCallback(ci.m_dispatcher1, body0Wrap, body1Wrap, isSwapped),
-	  m_isSwapped(isSwapped)
-{
-}
-
-btConvexConcaveCollisionAlgorithm::~btConvexConcaveCollisionAlgorithm()
-{
-}
-
-void btConvexConcaveCollisionAlgorithm::getAllContactManifolds(btManifoldArray& manifoldArray)
-{
-	if (m_btConvexTriangleCallback.m_manifoldPtr)
-	{
-		manifoldArray.push_back(m_btConvexTriangleCallback.m_manifoldPtr);
-	}
-}
-
-btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher* dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped) : m_dispatcher(dispatcher),
-																																													 m_dispatchInfoPtr(0)
-{
-	m_convexBodyWrap = isSwapped ? body1Wrap : body0Wrap;
-	m_triBodyWrap = isSwapped ? body0Wrap : body1Wrap;
-
-	//
-	// create the manifold from the dispatcher 'manifold pool'
-	//
-	m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBodyWrap->getCollisionObject(), m_triBodyWrap->getCollisionObject());
-
-	clearCache();
-}
-
-btConvexTriangleCallback::~btConvexTriangleCallback()
-{
-	clearCache();
-	m_dispatcher->releaseManifold(m_manifoldPtr);
-}
-
-void btConvexTriangleCallback::clearCache()
-{
-	m_dispatcher->clearManifold(m_manifoldPtr);
-}
-
-void btConvexTriangleCallback::processTriangle(btVector3* triangle, int partId, int triangleIndex)
-{
-	BT_PROFILE("btConvexTriangleCallback::processTriangle");
-
-	if (!TestTriangleAgainstAabb2(triangle, m_aabbMin, m_aabbMax))
-	{
-		return;
-	}
-
-	//just for debugging purposes
-	//printf("triangle %d",m_triangleCount++);
-
-	btCollisionAlgorithmConstructionInfo ci;
-	ci.m_dispatcher1 = m_dispatcher;
-
-#if 0	
-	
-	///debug drawing of the overlapping triangles
-	if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe ))
-	{
-		const btCollisionObject* ob = const_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
-		btVector3 color(1,1,0);
-		btTransform& tr = ob->getWorldTransform();
-		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
-		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
-		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
-	}
-#endif
-
-	if (m_convexBodyWrap->getCollisionShape()->isConvex())
-	{
-		btTriangleShape tm(triangle[0], triangle[1], triangle[2]);
-		tm.setMargin(m_collisionMarginTriangle);
-
-		btCollisionObjectWrapper triObWrap(m_triBodyWrap, &tm, m_triBodyWrap->getCollisionObject(), m_triBodyWrap->getWorldTransform(), partId, triangleIndex);  //correct transform?
-		btCollisionAlgorithm* colAlgo = 0;
-
-		if (m_resultOut->m_closestPointDistanceThreshold > 0)
-		{
-			colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap, &triObWrap, 0, BT_CLOSEST_POINT_ALGORITHMS);
-		}
-		else
-		{
-			colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap, &triObWrap, m_manifoldPtr, BT_CONTACT_POINT_ALGORITHMS);
-		}
-		const btCollisionObjectWrapper* tmpWrap = 0;
-
-		if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
-		{
-			tmpWrap = m_resultOut->getBody0Wrap();
-			m_resultOut->setBody0Wrap(&triObWrap);
-			m_resultOut->setShapeIdentifiersA(partId, triangleIndex);
-		}
-		else
-		{
-			tmpWrap = m_resultOut->getBody1Wrap();
-			m_resultOut->setBody1Wrap(&triObWrap);
-			m_resultOut->setShapeIdentifiersB(partId, triangleIndex);
-		}
-
-		colAlgo->processCollision(m_convexBodyWrap, &triObWrap, *m_dispatchInfoPtr, m_resultOut);
-
-		if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
-		{
-			m_resultOut->setBody0Wrap(tmpWrap);
-		}
-		else
-		{
-			m_resultOut->setBody1Wrap(tmpWrap);
-		}
-
-		colAlgo->~btCollisionAlgorithm();
-		ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
-	}
-}
-
-void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle, const btDispatcherInfo& dispatchInfo, const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut)
-{
-	m_convexBodyWrap = convexBodyWrap;
-	m_triBodyWrap = triBodyWrap;
-
-	m_dispatchInfoPtr = &dispatchInfo;
-	m_collisionMarginTriangle = collisionMarginTriangle;
-	m_resultOut = resultOut;
-
-	//recalc aabbs
-	btTransform convexInTriangleSpace;
-	convexInTriangleSpace = m_triBodyWrap->getWorldTransform().inverse() * m_convexBodyWrap->getWorldTransform();
-	const btCollisionShape* convexShape = static_cast<const btCollisionShape*>(m_convexBodyWrap->getCollisionShape());
-	//CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
-	convexShape->getAabb(convexInTriangleSpace, m_aabbMin, m_aabbMax);
-	btScalar extraMargin = collisionMarginTriangle + resultOut->m_closestPointDistanceThreshold;
-
-	btVector3 extra(extraMargin, extraMargin, extraMargin);
-
-	m_aabbMax += extra;
-	m_aabbMin -= extra;
-}
-
-void btConvexConcaveCollisionAlgorithm::clearCache()
-{
-	m_btConvexTriangleCallback.clearCache();
-}
-
-void btConvexConcaveCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	BT_PROFILE("btConvexConcaveCollisionAlgorithm::processCollision");
-
-	const btCollisionObjectWrapper* convexBodyWrap = m_isSwapped ? body1Wrap : body0Wrap;
-	const btCollisionObjectWrapper* triBodyWrap = m_isSwapped ? body0Wrap : body1Wrap;
-
-	if (triBodyWrap->getCollisionShape()->isConcave())
-	{
-		if (triBodyWrap->getCollisionShape()->getShapeType() == SDF_SHAPE_PROXYTYPE)
-		{
-			btSdfCollisionShape* sdfShape = (btSdfCollisionShape*)triBodyWrap->getCollisionShape();
-			if (convexBodyWrap->getCollisionShape()->isConvex())
-			{
-				btConvexShape* convex = (btConvexShape*)convexBodyWrap->getCollisionShape();
-				btAlignedObjectArray<btVector3> queryVertices;
-
-				if (convex->isPolyhedral())
-				{
-					btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex;
-					for (int v = 0; v < poly->getNumVertices(); v++)
-					{
-						btVector3 vtx;
-						poly->getVertex(v, vtx);
-						queryVertices.push_back(vtx);
-					}
-				}
-				btScalar maxDist = SIMD_EPSILON;
-
-				if (convex->getShapeType() == SPHERE_SHAPE_PROXYTYPE)
-				{
-					queryVertices.push_back(btVector3(0, 0, 0));
-					btSphereShape* sphere = (btSphereShape*)convex;
-					maxDist = sphere->getRadius() + SIMD_EPSILON;
-				}
-				if (queryVertices.size())
-				{
-					resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
-					//m_btConvexTriangleCallback.m_manifoldPtr->clearManifold();
-
-					btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex;
-					for (int v = 0; v < queryVertices.size(); v++)
-					{
-						const btVector3& vtx = queryVertices[v];
-						btVector3 vtxWorldSpace = convexBodyWrap->getWorldTransform() * vtx;
-						btVector3 vtxInSdf = triBodyWrap->getWorldTransform().invXform(vtxWorldSpace);
-
-						btVector3 normalLocal;
-						btScalar dist;
-						if (sdfShape->queryPoint(vtxInSdf, dist, normalLocal))
-						{
-							if (dist <= maxDist)
-							{
-								normalLocal.safeNormalize();
-								btVector3 normal = triBodyWrap->getWorldTransform().getBasis() * normalLocal;
-
-								if (convex->getShapeType() == SPHERE_SHAPE_PROXYTYPE)
-								{
-									btSphereShape* sphere = (btSphereShape*)convex;
-									dist -= sphere->getRadius();
-									vtxWorldSpace -= sphere->getRadius() * normal;
-								}
-								resultOut->addContactPoint(normal, vtxWorldSpace - normal * dist, dist);
-							}
-						}
-					}
-					resultOut->refreshContactPoints();
-				}
-			}
-		}
-		else
-		{
-			const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>(triBodyWrap->getCollisionShape());
-
-			if (convexBodyWrap->getCollisionShape()->isConvex())
-			{
-				btScalar collisionMarginTriangle = concaveShape->getMargin();
-
-				resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
-				m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle, dispatchInfo, convexBodyWrap, triBodyWrap, resultOut);
-
-				m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(), triBodyWrap->getCollisionObject());
-
-				concaveShape->processAllTriangles(&m_btConvexTriangleCallback, m_btConvexTriangleCallback.getAabbMin(), m_btConvexTriangleCallback.getAabbMax());
-
-				resultOut->refreshContactPoints();
-
-				m_btConvexTriangleCallback.clearWrapperData();
-			}
-		}
-	}
-}
-
-btScalar btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	(void)resultOut;
-	(void)dispatchInfo;
-	btCollisionObject* convexbody = m_isSwapped ? body1 : body0;
-	btCollisionObject* triBody = m_isSwapped ? body0 : body1;
-
-	//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast)
-
-	//only perform CCD above a certain threshold, this prevents blocking on the long run
-	//because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
-	btScalar squareMot0 = (convexbody->getInterpolationWorldTransform().getOrigin() - convexbody->getWorldTransform().getOrigin()).length2();
-	if (squareMot0 < convexbody->getCcdSquareMotionThreshold())
-	{
-		return btScalar(1.);
-	}
-
-	//const btVector3& from = convexbody->m_worldTransform.getOrigin();
-	//btVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
-	//todo: only do if the motion exceeds the 'radius'
-
-	btTransform triInv = triBody->getWorldTransform().inverse();
-	btTransform convexFromLocal = triInv * convexbody->getWorldTransform();
-	btTransform convexToLocal = triInv * convexbody->getInterpolationWorldTransform();
-
-	struct LocalTriangleSphereCastCallback : public btTriangleCallback
-	{
-		btTransform m_ccdSphereFromTrans;
-		btTransform m_ccdSphereToTrans;
-		btTransform m_meshTransform;
-
-		btScalar m_ccdSphereRadius;
-		btScalar m_hitFraction;
-
-		LocalTriangleSphereCastCallback(const btTransform& from, const btTransform& to, btScalar ccdSphereRadius, btScalar hitFraction)
-			: m_ccdSphereFromTrans(from),
-			  m_ccdSphereToTrans(to),
-			  m_ccdSphereRadius(ccdSphereRadius),
-			  m_hitFraction(hitFraction)
-		{
-		}
-
-		virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
-		{
-			BT_PROFILE("processTriangle");
-			(void)partId;
-			(void)triangleIndex;
-			//do a swept sphere for now
-			btTransform ident;
-			ident.setIdentity();
-			btConvexCast::CastResult castResult;
-			castResult.m_fraction = m_hitFraction;
-			btSphereShape pointShape(m_ccdSphereRadius);
-			btTriangleShape triShape(triangle[0], triangle[1], triangle[2]);
-			btVoronoiSimplexSolver simplexSolver;
-			btSubsimplexConvexCast convexCaster(&pointShape, &triShape, &simplexSolver);
-			//GjkConvexCast	convexCaster(&pointShape,convexShape,&simplexSolver);
-			//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
-			//local space?
-
-			if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans, m_ccdSphereToTrans,
-											  ident, ident, castResult))
-			{
-				if (m_hitFraction > castResult.m_fraction)
-					m_hitFraction = castResult.m_fraction;
-			}
-		}
-	};
-
-	if (triBody->getCollisionShape()->isConcave())
-	{
-		btVector3 rayAabbMin = convexFromLocal.getOrigin();
-		rayAabbMin.setMin(convexToLocal.getOrigin());
-		btVector3 rayAabbMax = convexFromLocal.getOrigin();
-		rayAabbMax.setMax(convexToLocal.getOrigin());
-		btScalar ccdRadius0 = convexbody->getCcdSweptSphereRadius();
-		rayAabbMin -= btVector3(ccdRadius0, ccdRadius0, ccdRadius0);
-		rayAabbMax += btVector3(ccdRadius0, ccdRadius0, ccdRadius0);
-
-		btScalar curHitFraction = btScalar(1.);  //is this available?
-		LocalTriangleSphereCastCallback raycastCallback(convexFromLocal, convexToLocal,
-														convexbody->getCcdSweptSphereRadius(), curHitFraction);
-
-		raycastCallback.m_hitFraction = convexbody->getHitFraction();
-
-		btCollisionObject* concavebody = triBody;
-
-		btConcaveShape* triangleMesh = (btConcaveShape*)concavebody->getCollisionShape();
-
-		if (triangleMesh)
-		{
-			triangleMesh->processAllTriangles(&raycastCallback, rayAabbMin, rayAabbMax);
-		}
-
-		if (raycastCallback.m_hitFraction < convexbody->getHitFraction())
-		{
-			convexbody->setHitFraction(raycastCallback.m_hitFraction);
-			return raycastCallback.m_hitFraction;
-		}
-	}
-
-	return btScalar(1.);
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
deleted file mode 100644
index b72e402981..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
+++ /dev/null
@@ -1,117 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
-#define BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
-
-#include "btActivatingCollisionAlgorithm.h"
-#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
-#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-class btDispatcher;
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "btCollisionCreateFunc.h"
-
-///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), processTriangle is called.
-ATTRIBUTE_ALIGNED16(class)
-btConvexTriangleCallback : public btTriangleCallback
-{
-	btVector3 m_aabbMin;
-	btVector3 m_aabbMax;
-
-	const btCollisionObjectWrapper* m_convexBodyWrap;
-	const btCollisionObjectWrapper* m_triBodyWrap;
-
-	btManifoldResult* m_resultOut;
-	btDispatcher* m_dispatcher;
-	const btDispatcherInfo* m_dispatchInfoPtr;
-	btScalar m_collisionMarginTriangle;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	int m_triangleCount;
-
-	btPersistentManifold* m_manifoldPtr;
-
-	btConvexTriangleCallback(btDispatcher * dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
-
-	void setTimeStepAndCounters(btScalar collisionMarginTriangle, const btDispatcherInfo& dispatchInfo, const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut);
-
-	void clearWrapperData()
-	{
-		m_convexBodyWrap = 0;
-		m_triBodyWrap = 0;
-	}
-	virtual ~btConvexTriangleCallback();
-
-	virtual void processTriangle(btVector3 * triangle, int partId, int triangleIndex);
-
-	void clearCache();
-
-	SIMD_FORCE_INLINE const btVector3& getAabbMin() const
-	{
-		return m_aabbMin;
-	}
-	SIMD_FORCE_INLINE const btVector3& getAabbMax() const
-	{
-		return m_aabbMax;
-	}
-};
-
-/// btConvexConcaveCollisionAlgorithm  supports collision between convex shapes and (concave) trianges meshes.
-ATTRIBUTE_ALIGNED16(class)
-btConvexConcaveCollisionAlgorithm : public btActivatingCollisionAlgorithm
-{
-	btConvexTriangleCallback m_btConvexTriangleCallback;
-
-	bool m_isSwapped;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btConvexConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
-
-	virtual ~btConvexConcaveCollisionAlgorithm();
-
-	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	btScalar calculateTimeOfImpact(btCollisionObject * body0, btCollisionObject * body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual void getAllContactManifolds(btManifoldArray & manifoldArray);
-
-	void clearCache();
-
-	struct CreateFunc : public btCollisionAlgorithmCreateFunc
-	{
-		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
-			return new (mem) btConvexConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
-		}
-	};
-
-	struct SwappedCreateFunc : public btCollisionAlgorithmCreateFunc
-	{
-		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
-			return new (mem) btConvexConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);
-		}
-	};
-};
-
-#endif  //BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
deleted file mode 100644
index b48d97f2b2..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
+++ /dev/null
@@ -1,873 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///Specialized capsule-capsule collision algorithm has been added for Bullet 2.75 release to increase ragdoll performance
-///If you experience problems with capsule-capsule collision, try to define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER and report it in the Bullet forums
-///with reproduction case
-//#define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER 1
-//#define ZERO_MARGIN
-
-#include "btConvexConvexAlgorithm.h"
-
-//#include <stdio.h>
-#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
-#include "BulletCollision/CollisionShapes/btTriangleShape.h"
-#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/CollisionShapes/btBoxShape.h"
-#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
-#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
-#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
-#include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-///////////
-
-static SIMD_FORCE_INLINE void segmentsClosestPoints(
-	btVector3& ptsVector,
-	btVector3& offsetA,
-	btVector3& offsetB,
-	btScalar& tA, btScalar& tB,
-	const btVector3& translation,
-	const btVector3& dirA, btScalar hlenA,
-	const btVector3& dirB, btScalar hlenB)
-{
-	// compute the parameters of the closest points on each line segment
-
-	btScalar dirA_dot_dirB = btDot(dirA, dirB);
-	btScalar dirA_dot_trans = btDot(dirA, translation);
-	btScalar dirB_dot_trans = btDot(dirB, translation);
-
-	btScalar denom = 1.0f - dirA_dot_dirB * dirA_dot_dirB;
-
-	if (denom == 0.0f)
-	{
-		tA = 0.0f;
-	}
-	else
-	{
-		tA = (dirA_dot_trans - dirB_dot_trans * dirA_dot_dirB) / denom;
-		if (tA < -hlenA)
-			tA = -hlenA;
-		else if (tA > hlenA)
-			tA = hlenA;
-	}
-
-	tB = tA * dirA_dot_dirB - dirB_dot_trans;
-
-	if (tB < -hlenB)
-	{
-		tB = -hlenB;
-		tA = tB * dirA_dot_dirB + dirA_dot_trans;
-
-		if (tA < -hlenA)
-			tA = -hlenA;
-		else if (tA > hlenA)
-			tA = hlenA;
-	}
-	else if (tB > hlenB)
-	{
-		tB = hlenB;
-		tA = tB * dirA_dot_dirB + dirA_dot_trans;
-
-		if (tA < -hlenA)
-			tA = -hlenA;
-		else if (tA > hlenA)
-			tA = hlenA;
-	}
-
-	// compute the closest points relative to segment centers.
-
-	offsetA = dirA * tA;
-	offsetB = dirB * tB;
-
-	ptsVector = translation - offsetA + offsetB;
-}
-
-static SIMD_FORCE_INLINE btScalar capsuleCapsuleDistance(
-	btVector3& normalOnB,
-	btVector3& pointOnB,
-	btScalar capsuleLengthA,
-	btScalar capsuleRadiusA,
-	btScalar capsuleLengthB,
-	btScalar capsuleRadiusB,
-	int capsuleAxisA,
-	int capsuleAxisB,
-	const btTransform& transformA,
-	const btTransform& transformB,
-	btScalar distanceThreshold)
-{
-	btVector3 directionA = transformA.getBasis().getColumn(capsuleAxisA);
-	btVector3 translationA = transformA.getOrigin();
-	btVector3 directionB = transformB.getBasis().getColumn(capsuleAxisB);
-	btVector3 translationB = transformB.getOrigin();
-
-	// translation between centers
-
-	btVector3 translation = translationB - translationA;
-
-	// compute the closest points of the capsule line segments
-
-	btVector3 ptsVector;  // the vector between the closest points
-
-	btVector3 offsetA, offsetB;  // offsets from segment centers to their closest points
-	btScalar tA, tB;             // parameters on line segment
-
-	segmentsClosestPoints(ptsVector, offsetA, offsetB, tA, tB, translation,
-						  directionA, capsuleLengthA, directionB, capsuleLengthB);
-
-	btScalar distance = ptsVector.length() - capsuleRadiusA - capsuleRadiusB;
-
-	if (distance > distanceThreshold)
-		return distance;
-
-	btScalar lenSqr = ptsVector.length2();
-	if (lenSqr <= (SIMD_EPSILON * SIMD_EPSILON))
-	{
-		//degenerate case where 2 capsules are likely at the same location: take a vector tangential to 'directionA'
-		btVector3 q;
-		btPlaneSpace1(directionA, normalOnB, q);
-	}
-	else
-	{
-		// compute the contact normal
-		normalOnB = ptsVector * -btRecipSqrt(lenSqr);
-	}
-	pointOnB = transformB.getOrigin() + offsetB + normalOnB * capsuleRadiusB;
-
-	return distance;
-}
-
-//////////
-
-btConvexConvexAlgorithm::CreateFunc::CreateFunc(btConvexPenetrationDepthSolver* pdSolver)
-{
-	m_numPerturbationIterations = 0;
-	m_minimumPointsPerturbationThreshold = 3;
-	m_pdSolver = pdSolver;
-}
-
-btConvexConvexAlgorithm::CreateFunc::~CreateFunc()
-{
-}
-
-btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
-	: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
-	  m_pdSolver(pdSolver),
-	  m_ownManifold(false),
-	  m_manifoldPtr(mf),
-	  m_lowLevelOfDetail(false),
-#ifdef USE_SEPDISTANCE_UTIL2
-	  m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
-					(static_cast<btConvexShape*>(body1->getCollisionShape()))->getAngularMotionDisc()),
-#endif
-	  m_numPerturbationIterations(numPerturbationIterations),
-	  m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
-{
-	(void)body0Wrap;
-	(void)body1Wrap;
-}
-
-btConvexConvexAlgorithm::~btConvexConvexAlgorithm()
-{
-	if (m_ownManifold)
-	{
-		if (m_manifoldPtr)
-			m_dispatcher->releaseManifold(m_manifoldPtr);
-	}
-}
-
-void btConvexConvexAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
-{
-	m_lowLevelOfDetail = useLowLevel;
-}
-
-struct btPerturbedContactResult : public btManifoldResult
-{
-	btManifoldResult* m_originalManifoldResult;
-	btTransform m_transformA;
-	btTransform m_transformB;
-	btTransform m_unPerturbedTransform;
-	bool m_perturbA;
-	btIDebugDraw* m_debugDrawer;
-
-	btPerturbedContactResult(btManifoldResult* originalResult, const btTransform& transformA, const btTransform& transformB, const btTransform& unPerturbedTransform, bool perturbA, btIDebugDraw* debugDrawer)
-		: m_originalManifoldResult(originalResult),
-		  m_transformA(transformA),
-		  m_transformB(transformB),
-		  m_unPerturbedTransform(unPerturbedTransform),
-		  m_perturbA(perturbA),
-		  m_debugDrawer(debugDrawer)
-	{
-	}
-	virtual ~btPerturbedContactResult()
-	{
-	}
-
-	virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar orgDepth)
-	{
-		btVector3 endPt, startPt;
-		btScalar newDepth;
-		btVector3 newNormal;
-
-		if (m_perturbA)
-		{
-			btVector3 endPtOrg = pointInWorld + normalOnBInWorld * orgDepth;
-			endPt = (m_unPerturbedTransform * m_transformA.inverse())(endPtOrg);
-			newDepth = (endPt - pointInWorld).dot(normalOnBInWorld);
-			startPt = endPt - normalOnBInWorld * newDepth;
-		}
-		else
-		{
-			endPt = pointInWorld + normalOnBInWorld * orgDepth;
-			startPt = (m_unPerturbedTransform * m_transformB.inverse())(pointInWorld);
-			newDepth = (endPt - startPt).dot(normalOnBInWorld);
-		}
-
-//#define DEBUG_CONTACTS 1
-#ifdef DEBUG_CONTACTS
-		m_debugDrawer->drawLine(startPt, endPt, btVector3(1, 0, 0));
-		m_debugDrawer->drawSphere(startPt, 0.05, btVector3(0, 1, 0));
-		m_debugDrawer->drawSphere(endPt, 0.05, btVector3(0, 0, 1));
-#endif  //DEBUG_CONTACTS
-
-		m_originalManifoldResult->addContactPoint(normalOnBInWorld, startPt, newDepth);
-	}
-};
-
-extern btScalar gContactBreakingThreshold;
-
-//
-// Convex-Convex collision algorithm
-//
-void btConvexConvexAlgorithm ::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	if (!m_manifoldPtr)
-	{
-		//swapped?
-		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
-		m_ownManifold = true;
-	}
-	resultOut->setPersistentManifold(m_manifoldPtr);
-
-	//comment-out next line to test multi-contact generation
-	//resultOut->getPersistentManifold()->clearManifold();
-
-	const btConvexShape* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
-	const btConvexShape* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
-
-	btVector3 normalOnB;
-	btVector3 pointOnBWorld;
-#ifndef BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
-	if ((min0->getShapeType() == CAPSULE_SHAPE_PROXYTYPE) && (min1->getShapeType() == CAPSULE_SHAPE_PROXYTYPE))
-	{
-		//m_manifoldPtr->clearManifold();
-
-		btCapsuleShape* capsuleA = (btCapsuleShape*)min0;
-		btCapsuleShape* capsuleB = (btCapsuleShape*)min1;
-
-		btScalar threshold = m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold;
-
-		btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld, capsuleA->getHalfHeight(), capsuleA->getRadius(),
-											   capsuleB->getHalfHeight(), capsuleB->getRadius(), capsuleA->getUpAxis(), capsuleB->getUpAxis(),
-											   body0Wrap->getWorldTransform(), body1Wrap->getWorldTransform(), threshold);
-
-		if (dist < threshold)
-		{
-			btAssert(normalOnB.length2() >= (SIMD_EPSILON * SIMD_EPSILON));
-			resultOut->addContactPoint(normalOnB, pointOnBWorld, dist);
-		}
-		resultOut->refreshContactPoints();
-		return;
-	}
-
-	if ((min0->getShapeType() == CAPSULE_SHAPE_PROXYTYPE) && (min1->getShapeType() == SPHERE_SHAPE_PROXYTYPE))
-	{
-		//m_manifoldPtr->clearManifold();
-
-		btCapsuleShape* capsuleA = (btCapsuleShape*)min0;
-		btSphereShape* capsuleB = (btSphereShape*)min1;
-
-		btScalar threshold = m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold;
-
-		btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld, capsuleA->getHalfHeight(), capsuleA->getRadius(),
-											   0., capsuleB->getRadius(), capsuleA->getUpAxis(), 1,
-											   body0Wrap->getWorldTransform(), body1Wrap->getWorldTransform(), threshold);
-
-		if (dist < threshold)
-		{
-			btAssert(normalOnB.length2() >= (SIMD_EPSILON * SIMD_EPSILON));
-			resultOut->addContactPoint(normalOnB, pointOnBWorld, dist);
-		}
-		resultOut->refreshContactPoints();
-		return;
-	}
-
-	if ((min0->getShapeType() == SPHERE_SHAPE_PROXYTYPE) && (min1->getShapeType() == CAPSULE_SHAPE_PROXYTYPE))
-	{
-		//m_manifoldPtr->clearManifold();
-
-		btSphereShape* capsuleA = (btSphereShape*)min0;
-		btCapsuleShape* capsuleB = (btCapsuleShape*)min1;
-
-		btScalar threshold = m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold;
-
-		btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld, 0., capsuleA->getRadius(),
-											   capsuleB->getHalfHeight(), capsuleB->getRadius(), 1, capsuleB->getUpAxis(),
-											   body0Wrap->getWorldTransform(), body1Wrap->getWorldTransform(), threshold);
-
-		if (dist < threshold)
-		{
-			btAssert(normalOnB.length2() >= (SIMD_EPSILON * SIMD_EPSILON));
-			resultOut->addContactPoint(normalOnB, pointOnBWorld, dist);
-		}
-		resultOut->refreshContactPoints();
-		return;
-	}
-#endif  //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
-
-#ifdef USE_SEPDISTANCE_UTIL2
-	if (dispatchInfo.m_useConvexConservativeDistanceUtil)
-	{
-		m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(), body1->getWorldTransform());
-	}
-
-	if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance() <= 0.f)
-#endif  //USE_SEPDISTANCE_UTIL2
-
-	{
-		btGjkPairDetector::ClosestPointInput input;
-		btVoronoiSimplexSolver simplexSolver;
-		btGjkPairDetector gjkPairDetector(min0, min1, &simplexSolver, m_pdSolver);
-		//TODO: if (dispatchInfo.m_useContinuous)
-		gjkPairDetector.setMinkowskiA(min0);
-		gjkPairDetector.setMinkowskiB(min1);
-
-#ifdef USE_SEPDISTANCE_UTIL2
-		if (dispatchInfo.m_useConvexConservativeDistanceUtil)
-		{
-			input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
-		}
-		else
-#endif  //USE_SEPDISTANCE_UTIL2
-		{
-			//if (dispatchInfo.m_convexMaxDistanceUseCPT)
-			//{
-			//	input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactProcessingThreshold();
-			//} else
-			//{
-			input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold() + resultOut->m_closestPointDistanceThreshold;
-			//		}
-
-			input.m_maximumDistanceSquared *= input.m_maximumDistanceSquared;
-		}
-
-		input.m_transformA = body0Wrap->getWorldTransform();
-		input.m_transformB = body1Wrap->getWorldTransform();
-
-#ifdef USE_SEPDISTANCE_UTIL2
-		btScalar sepDist = 0.f;
-		if (dispatchInfo.m_useConvexConservativeDistanceUtil)
-		{
-			sepDist = gjkPairDetector.getCachedSeparatingDistance();
-			if (sepDist > SIMD_EPSILON)
-			{
-				sepDist += dispatchInfo.m_convexConservativeDistanceThreshold;
-				//now perturbe directions to get multiple contact points
-			}
-		}
-#endif  //USE_SEPDISTANCE_UTIL2
-
-		if (min0->isPolyhedral() && min1->isPolyhedral())
-		{
-			struct btDummyResult : public btDiscreteCollisionDetectorInterface::Result
-			{
-				btVector3 m_normalOnBInWorld;
-				btVector3 m_pointInWorld;
-				btScalar m_depth;
-				bool m_hasContact;
-
-				btDummyResult()
-					: m_hasContact(false)
-				{
-				}
-
-				virtual void setShapeIdentifiersA(int partId0, int index0) {}
-				virtual void setShapeIdentifiersB(int partId1, int index1) {}
-				virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
-				{
-					m_hasContact = true;
-					m_normalOnBInWorld = normalOnBInWorld;
-					m_pointInWorld = pointInWorld;
-					m_depth = depth;
-				}
-			};
-
-			struct btWithoutMarginResult : public btDiscreteCollisionDetectorInterface::Result
-			{
-				btDiscreteCollisionDetectorInterface::Result* m_originalResult;
-				btVector3 m_reportedNormalOnWorld;
-				btScalar m_marginOnA;
-				btScalar m_marginOnB;
-				btScalar m_reportedDistance;
-
-				bool m_foundResult;
-				btWithoutMarginResult(btDiscreteCollisionDetectorInterface::Result* result, btScalar marginOnA, btScalar marginOnB)
-					: m_originalResult(result),
-					  m_marginOnA(marginOnA),
-					  m_marginOnB(marginOnB),
-					  m_foundResult(false)
-				{
-				}
-
-				virtual void setShapeIdentifiersA(int partId0, int index0) {}
-				virtual void setShapeIdentifiersB(int partId1, int index1) {}
-				virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorldOrg, btScalar depthOrg)
-				{
-					m_reportedDistance = depthOrg;
-					m_reportedNormalOnWorld = normalOnBInWorld;
-
-					btVector3 adjustedPointB = pointInWorldOrg - normalOnBInWorld * m_marginOnB;
-					m_reportedDistance = depthOrg + (m_marginOnA + m_marginOnB);
-					if (m_reportedDistance < 0.f)
-					{
-						m_foundResult = true;
-					}
-					m_originalResult->addContactPoint(normalOnBInWorld, adjustedPointB, m_reportedDistance);
-				}
-			};
-
-			btDummyResult dummy;
-
-			///btBoxShape is an exception: its vertices are created WITH margin so don't subtract it
-
-			btScalar min0Margin = min0->getShapeType() == BOX_SHAPE_PROXYTYPE ? 0.f : min0->getMargin();
-			btScalar min1Margin = min1->getShapeType() == BOX_SHAPE_PROXYTYPE ? 0.f : min1->getMargin();
-
-			btWithoutMarginResult withoutMargin(resultOut, min0Margin, min1Margin);
-
-			btPolyhedralConvexShape* polyhedronA = (btPolyhedralConvexShape*)min0;
-			btPolyhedralConvexShape* polyhedronB = (btPolyhedralConvexShape*)min1;
-			if (polyhedronA->getConvexPolyhedron() && polyhedronB->getConvexPolyhedron())
-			{
-				btScalar threshold = m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold;
-
-				btScalar minDist = -1e30f;
-				btVector3 sepNormalWorldSpace;
-				bool foundSepAxis = true;
-
-				if (dispatchInfo.m_enableSatConvex)
-				{
-					foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
-						*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
-						body0Wrap->getWorldTransform(),
-						body1Wrap->getWorldTransform(),
-						sepNormalWorldSpace, *resultOut);
-				}
-				else
-				{
-#ifdef ZERO_MARGIN
-					gjkPairDetector.setIgnoreMargin(true);
-					gjkPairDetector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
-#else
-
-					gjkPairDetector.getClosestPoints(input, withoutMargin, dispatchInfo.m_debugDraw);
-					//gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
-#endif  //ZERO_MARGIN
-					//btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
-					//if (l2>SIMD_EPSILON)
-					{
-						sepNormalWorldSpace = withoutMargin.m_reportedNormalOnWorld;  //gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
-						//minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance();
-						minDist = withoutMargin.m_reportedDistance;  //gjkPairDetector.getCachedSeparatingDistance()+min0->getMargin()+min1->getMargin();
-
-#ifdef ZERO_MARGIN
-						foundSepAxis = true;  //gjkPairDetector.getCachedSeparatingDistance()<0.f;
-#else
-						foundSepAxis = withoutMargin.m_foundResult && minDist < 0;  //-(min0->getMargin()+min1->getMargin());
-#endif
-					}
-				}
-				if (foundSepAxis)
-				{
-					//				printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
-
-					worldVertsB1.resize(0);
-					btPolyhedralContactClipping::clipHullAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
-																	 body0Wrap->getWorldTransform(),
-																	 body1Wrap->getWorldTransform(), minDist - threshold, threshold, worldVertsB1, worldVertsB2,
-																	 *resultOut);
-				}
-				if (m_ownManifold)
-				{
-					resultOut->refreshContactPoints();
-				}
-				return;
-			}
-			else
-			{
-				//we can also deal with convex versus triangle (without connectivity data)
-				if (dispatchInfo.m_enableSatConvex && polyhedronA->getConvexPolyhedron() && polyhedronB->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE)
-				{
-					btVertexArray worldSpaceVertices;
-					btTriangleShape* tri = (btTriangleShape*)polyhedronB;
-					worldSpaceVertices.push_back(body1Wrap->getWorldTransform() * tri->m_vertices1[0]);
-					worldSpaceVertices.push_back(body1Wrap->getWorldTransform() * tri->m_vertices1[1]);
-					worldSpaceVertices.push_back(body1Wrap->getWorldTransform() * tri->m_vertices1[2]);
-
-					//tri->initializePolyhedralFeatures();
-
-					btScalar threshold = m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold;
-
-					btVector3 sepNormalWorldSpace;
-					btScalar minDist = -1e30f;
-					btScalar maxDist = threshold;
-
-					bool foundSepAxis = false;
-					bool useSatSepNormal = true;
-
-					if (useSatSepNormal)
-					{
-#if 0
-					if (0)
-					{
-						//initializePolyhedralFeatures performs a convex hull computation, not needed for a single triangle
-						polyhedronB->initializePolyhedralFeatures();
-					} else
-#endif
-						{
-							btVector3 uniqueEdges[3] = {tri->m_vertices1[1] - tri->m_vertices1[0],
-														tri->m_vertices1[2] - tri->m_vertices1[1],
-														tri->m_vertices1[0] - tri->m_vertices1[2]};
-
-							uniqueEdges[0].normalize();
-							uniqueEdges[1].normalize();
-							uniqueEdges[2].normalize();
-
-							btConvexPolyhedron polyhedron;
-							polyhedron.m_vertices.push_back(tri->m_vertices1[2]);
-							polyhedron.m_vertices.push_back(tri->m_vertices1[0]);
-							polyhedron.m_vertices.push_back(tri->m_vertices1[1]);
-
-							{
-								btFace combinedFaceA;
-								combinedFaceA.m_indices.push_back(0);
-								combinedFaceA.m_indices.push_back(1);
-								combinedFaceA.m_indices.push_back(2);
-								btVector3 faceNormal = uniqueEdges[0].cross(uniqueEdges[1]);
-								faceNormal.normalize();
-								btScalar planeEq = 1e30f;
-								for (int v = 0; v < combinedFaceA.m_indices.size(); v++)
-								{
-									btScalar eq = tri->m_vertices1[combinedFaceA.m_indices[v]].dot(faceNormal);
-									if (planeEq > eq)
-									{
-										planeEq = eq;
-									}
-								}
-								combinedFaceA.m_plane[0] = faceNormal[0];
-								combinedFaceA.m_plane[1] = faceNormal[1];
-								combinedFaceA.m_plane[2] = faceNormal[2];
-								combinedFaceA.m_plane[3] = -planeEq;
-								polyhedron.m_faces.push_back(combinedFaceA);
-							}
-							{
-								btFace combinedFaceB;
-								combinedFaceB.m_indices.push_back(0);
-								combinedFaceB.m_indices.push_back(2);
-								combinedFaceB.m_indices.push_back(1);
-								btVector3 faceNormal = -uniqueEdges[0].cross(uniqueEdges[1]);
-								faceNormal.normalize();
-								btScalar planeEq = 1e30f;
-								for (int v = 0; v < combinedFaceB.m_indices.size(); v++)
-								{
-									btScalar eq = tri->m_vertices1[combinedFaceB.m_indices[v]].dot(faceNormal);
-									if (planeEq > eq)
-									{
-										planeEq = eq;
-									}
-								}
-
-								combinedFaceB.m_plane[0] = faceNormal[0];
-								combinedFaceB.m_plane[1] = faceNormal[1];
-								combinedFaceB.m_plane[2] = faceNormal[2];
-								combinedFaceB.m_plane[3] = -planeEq;
-								polyhedron.m_faces.push_back(combinedFaceB);
-							}
-
-							polyhedron.m_uniqueEdges.push_back(uniqueEdges[0]);
-							polyhedron.m_uniqueEdges.push_back(uniqueEdges[1]);
-							polyhedron.m_uniqueEdges.push_back(uniqueEdges[2]);
-							polyhedron.initialize2();
-
-							polyhedronB->setPolyhedralFeatures(polyhedron);
-						}
-
-						foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
-							*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
-							body0Wrap->getWorldTransform(),
-							body1Wrap->getWorldTransform(),
-							sepNormalWorldSpace, *resultOut);
-						//	 printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
-					}
-					else
-					{
-#ifdef ZERO_MARGIN
-						gjkPairDetector.setIgnoreMargin(true);
-						gjkPairDetector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
-#else
-						gjkPairDetector.getClosestPoints(input, dummy, dispatchInfo.m_debugDraw);
-#endif  //ZERO_MARGIN
-
-						if (dummy.m_hasContact && dummy.m_depth < 0)
-						{
-							if (foundSepAxis)
-							{
-								if (dummy.m_normalOnBInWorld.dot(sepNormalWorldSpace) < 0.99)
-								{
-									printf("?\n");
-								}
-							}
-							else
-							{
-								printf("!\n");
-							}
-							sepNormalWorldSpace.setValue(0, 0, 1);  // = dummy.m_normalOnBInWorld;
-							//minDist = dummy.m_depth;
-							foundSepAxis = true;
-						}
-#if 0
-					btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
-					if (l2>SIMD_EPSILON)
-					{
-						sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
-						//minDist = gjkPairDetector.getCachedSeparatingDistance();
-						//maxDist = threshold;
-						minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin();
-						foundSepAxis = true;
-					}
-#endif
-					}
-
-					if (foundSepAxis)
-					{
-						worldVertsB2.resize(0);
-						btPolyhedralContactClipping::clipFaceAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(),
-																		 body0Wrap->getWorldTransform(), worldSpaceVertices, worldVertsB2, minDist - threshold, maxDist, *resultOut);
-					}
-
-					if (m_ownManifold)
-					{
-						resultOut->refreshContactPoints();
-					}
-
-					return;
-				}
-			}
-		}
-
-		gjkPairDetector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
-
-		//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
-
-		//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
-		if (m_numPerturbationIterations && resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
-		{
-			int i;
-			btVector3 v0, v1;
-			btVector3 sepNormalWorldSpace;
-			btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
-
-			if (l2 > SIMD_EPSILON)
-			{
-				sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis() * (1.f / l2);
-
-				btPlaneSpace1(sepNormalWorldSpace, v0, v1);
-
-				bool perturbeA = true;
-				const btScalar angleLimit = 0.125f * SIMD_PI;
-				btScalar perturbeAngle;
-				btScalar radiusA = min0->getAngularMotionDisc();
-				btScalar radiusB = min1->getAngularMotionDisc();
-				if (radiusA < radiusB)
-				{
-					perturbeAngle = gContactBreakingThreshold / radiusA;
-					perturbeA = true;
-				}
-				else
-				{
-					perturbeAngle = gContactBreakingThreshold / radiusB;
-					perturbeA = false;
-				}
-				if (perturbeAngle > angleLimit)
-					perturbeAngle = angleLimit;
-
-				btTransform unPerturbedTransform;
-				if (perturbeA)
-				{
-					unPerturbedTransform = input.m_transformA;
-				}
-				else
-				{
-					unPerturbedTransform = input.m_transformB;
-				}
-
-				for (i = 0; i < m_numPerturbationIterations; i++)
-				{
-					if (v0.length2() > SIMD_EPSILON)
-					{
-						btQuaternion perturbeRot(v0, perturbeAngle);
-						btScalar iterationAngle = i * (SIMD_2_PI / btScalar(m_numPerturbationIterations));
-						btQuaternion rotq(sepNormalWorldSpace, iterationAngle);
-
-						if (perturbeA)
-						{
-							input.m_transformA.setBasis(btMatrix3x3(rotq.inverse() * perturbeRot * rotq) * body0Wrap->getWorldTransform().getBasis());
-							input.m_transformB = body1Wrap->getWorldTransform();
-#ifdef DEBUG_CONTACTS
-							dispatchInfo.m_debugDraw->drawTransform(input.m_transformA, 10.0);
-#endif  //DEBUG_CONTACTS
-						}
-						else
-						{
-							input.m_transformA = body0Wrap->getWorldTransform();
-							input.m_transformB.setBasis(btMatrix3x3(rotq.inverse() * perturbeRot * rotq) * body1Wrap->getWorldTransform().getBasis());
-#ifdef DEBUG_CONTACTS
-							dispatchInfo.m_debugDraw->drawTransform(input.m_transformB, 10.0);
-#endif
-						}
-
-						btPerturbedContactResult perturbedResultOut(resultOut, input.m_transformA, input.m_transformB, unPerturbedTransform, perturbeA, dispatchInfo.m_debugDraw);
-						gjkPairDetector.getClosestPoints(input, perturbedResultOut, dispatchInfo.m_debugDraw);
-					}
-				}
-			}
-		}
-
-#ifdef USE_SEPDISTANCE_UTIL2
-		if (dispatchInfo.m_useConvexConservativeDistanceUtil && (sepDist > SIMD_EPSILON))
-		{
-			m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(), sepDist, body0->getWorldTransform(), body1->getWorldTransform());
-		}
-#endif  //USE_SEPDISTANCE_UTIL2
-	}
-
-	if (m_ownManifold)
-	{
-		resultOut->refreshContactPoints();
-	}
-}
-
-bool disableCcd = false;
-btScalar btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	(void)resultOut;
-	(void)dispatchInfo;
-	///Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold
-
-	///Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold
-	///col0->m_worldTransform,
-	btScalar resultFraction = btScalar(1.);
-
-	btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2();
-	btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2();
-
-	if (squareMot0 < col0->getCcdSquareMotionThreshold() &&
-		squareMot1 < col1->getCcdSquareMotionThreshold())
-		return resultFraction;
-
-	if (disableCcd)
-		return btScalar(1.);
-
-	//An adhoc way of testing the Continuous Collision Detection algorithms
-	//One object is approximated as a sphere, to simplify things
-	//Starting in penetration should report no time of impact
-	//For proper CCD, better accuracy and handling of 'allowed' penetration should be added
-	//also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
-
-	/// Convex0 against sphere for Convex1
-	{
-		btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape());
-
-		btSphereShape sphere1(col1->getCcdSweptSphereRadius());  //todo: allow non-zero sphere sizes, for better approximation
-		btConvexCast::CastResult result;
-		btVoronoiSimplexSolver voronoiSimplex;
-		//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
-		///Simplification, one object is simplified as a sphere
-		btGjkConvexCast ccd1(convex0, &sphere1, &voronoiSimplex);
-		//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
-		if (ccd1.calcTimeOfImpact(col0->getWorldTransform(), col0->getInterpolationWorldTransform(),
-								  col1->getWorldTransform(), col1->getInterpolationWorldTransform(), result))
-		{
-			//store result.m_fraction in both bodies
-
-			if (col0->getHitFraction() > result.m_fraction)
-				col0->setHitFraction(result.m_fraction);
-
-			if (col1->getHitFraction() > result.m_fraction)
-				col1->setHitFraction(result.m_fraction);
-
-			if (resultFraction > result.m_fraction)
-				resultFraction = result.m_fraction;
-		}
-	}
-
-	/// Sphere (for convex0) against Convex1
-	{
-		btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape());
-
-		btSphereShape sphere0(col0->getCcdSweptSphereRadius());  //todo: allow non-zero sphere sizes, for better approximation
-		btConvexCast::CastResult result;
-		btVoronoiSimplexSolver voronoiSimplex;
-		//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
-		///Simplification, one object is simplified as a sphere
-		btGjkConvexCast ccd1(&sphere0, convex1, &voronoiSimplex);
-		//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
-		if (ccd1.calcTimeOfImpact(col0->getWorldTransform(), col0->getInterpolationWorldTransform(),
-								  col1->getWorldTransform(), col1->getInterpolationWorldTransform(), result))
-		{
-			//store result.m_fraction in both bodies
-
-			if (col0->getHitFraction() > result.m_fraction)
-				col0->setHitFraction(result.m_fraction);
-
-			if (col1->getHitFraction() > result.m_fraction)
-				col1->setHitFraction(result.m_fraction);
-
-			if (resultFraction > result.m_fraction)
-				resultFraction = result.m_fraction;
-		}
-	}
-
-	return resultFraction;
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
deleted file mode 100644
index eac5b4d824..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONVEX_CONVEX_ALGORITHM_H
-#define BT_CONVEX_CONVEX_ALGORITHM_H
-
-#include "btActivatingCollisionAlgorithm.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
-#include "btCollisionCreateFunc.h"
-#include "btCollisionDispatcher.h"
-#include "LinearMath/btTransformUtil.h"  //for btConvexSeparatingDistanceUtil
-#include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h"
-
-class btConvexPenetrationDepthSolver;
-
-///Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation. However, when using large size ratios GJK can be imprecise
-///so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions.
-///Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util
-///for certain pairs that have a small size ratio
-
-//#define USE_SEPDISTANCE_UTIL2 1
-
-///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects.
-///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal.
-///This idea was described by Gino van den Bergen in this forum topic http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888
-class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
-{
-#ifdef USE_SEPDISTANCE_UTIL2
-	btConvexSeparatingDistanceUtil m_sepDistance;
-#endif
-	btConvexPenetrationDepthSolver* m_pdSolver;
-
-	btVertexArray worldVertsB1;
-	btVertexArray worldVertsB2;
-
-	bool m_ownManifold;
-	btPersistentManifold* m_manifoldPtr;
-	bool m_lowLevelOfDetail;
-
-	int m_numPerturbationIterations;
-	int m_minimumPointsPerturbationThreshold;
-
-	///cache separating vector to speedup collision detection
-
-public:
-	btConvexConvexAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
-
-	virtual ~btConvexConvexAlgorithm();
-
-	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
-	{
-		///should we use m_ownManifold to avoid adding duplicates?
-		if (m_manifoldPtr && m_ownManifold)
-			manifoldArray.push_back(m_manifoldPtr);
-	}
-
-	void setLowLevelOfDetail(bool useLowLevel);
-
-	const btPersistentManifold* getManifold()
-	{
-		return m_manifoldPtr;
-	}
-
-	struct CreateFunc : public btCollisionAlgorithmCreateFunc
-	{
-		btConvexPenetrationDepthSolver* m_pdSolver;
-		int m_numPerturbationIterations;
-		int m_minimumPointsPerturbationThreshold;
-
-		CreateFunc(btConvexPenetrationDepthSolver* pdSolver);
-
-		virtual ~CreateFunc();
-
-		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
-			return new (mem) btConvexConvexAlgorithm(ci.m_manifold, ci, body0Wrap, body1Wrap, m_pdSolver, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
-		}
-	};
-};
-
-#endif  //BT_CONVEX_CONVEX_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
deleted file mode 100644
index ba1bc06b69..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,172 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btConvexPlaneCollisionAlgorithm.h"
-
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-//#include <stdio.h>
-
-btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap, bool isSwapped, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
-	: btCollisionAlgorithm(ci),
-	  m_ownManifold(false),
-	  m_manifoldPtr(mf),
-	  m_isSwapped(isSwapped),
-	  m_numPerturbationIterations(numPerturbationIterations),
-	  m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
-{
-	const btCollisionObjectWrapper* convexObjWrap = m_isSwapped ? col1Wrap : col0Wrap;
-	const btCollisionObjectWrapper* planeObjWrap = m_isSwapped ? col0Wrap : col1Wrap;
-
-	if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObjWrap->getCollisionObject(), planeObjWrap->getCollisionObject()))
-	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(convexObjWrap->getCollisionObject(), planeObjWrap->getCollisionObject());
-		m_ownManifold = true;
-	}
-}
-
-btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm()
-{
-	if (m_ownManifold)
-	{
-		if (m_manifoldPtr)
-			m_dispatcher->releaseManifold(m_manifoldPtr);
-	}
-}
-
-void btConvexPlaneCollisionAlgorithm::collideSingleContact(const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	const btCollisionObjectWrapper* convexObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
-	const btCollisionObjectWrapper* planeObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
-
-	btConvexShape* convexShape = (btConvexShape*)convexObjWrap->getCollisionShape();
-	btStaticPlaneShape* planeShape = (btStaticPlaneShape*)planeObjWrap->getCollisionShape();
-
-	bool hasCollision = false;
-	const btVector3& planeNormal = planeShape->getPlaneNormal();
-	const btScalar& planeConstant = planeShape->getPlaneConstant();
-
-	btTransform convexWorldTransform = convexObjWrap->getWorldTransform();
-	btTransform convexInPlaneTrans;
-	convexInPlaneTrans = planeObjWrap->getWorldTransform().inverse() * convexWorldTransform;
-	//now perturbe the convex-world transform
-	convexWorldTransform.getBasis() *= btMatrix3x3(perturbeRot);
-	btTransform planeInConvex;
-	planeInConvex = convexWorldTransform.inverse() * planeObjWrap->getWorldTransform();
-
-	btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis() * -planeNormal);
-
-	btVector3 vtxInPlane = convexInPlaneTrans(vtx);
-	btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
-
-	btVector3 vtxInPlaneProjected = vtxInPlane - distance * planeNormal;
-	btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected;
-
-	hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
-	resultOut->setPersistentManifold(m_manifoldPtr);
-	if (hasCollision)
-	{
-		/// report a contact. internally this will be kept persistent, and contact reduction is done
-		btVector3 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal;
-		btVector3 pOnB = vtxInPlaneWorld;
-		resultOut->addContactPoint(normalOnSurfaceB, pOnB, distance);
-	}
-}
-
-void btConvexPlaneCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	(void)dispatchInfo;
-	if (!m_manifoldPtr)
-		return;
-
-	const btCollisionObjectWrapper* convexObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
-	const btCollisionObjectWrapper* planeObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
-
-	btConvexShape* convexShape = (btConvexShape*)convexObjWrap->getCollisionShape();
-	btStaticPlaneShape* planeShape = (btStaticPlaneShape*)planeObjWrap->getCollisionShape();
-
-	bool hasCollision = false;
-	const btVector3& planeNormal = planeShape->getPlaneNormal();
-	const btScalar& planeConstant = planeShape->getPlaneConstant();
-	btTransform planeInConvex;
-	planeInConvex = convexObjWrap->getWorldTransform().inverse() * planeObjWrap->getWorldTransform();
-	btTransform convexInPlaneTrans;
-	convexInPlaneTrans = planeObjWrap->getWorldTransform().inverse() * convexObjWrap->getWorldTransform();
-
-	btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis() * -planeNormal);
-	btVector3 vtxInPlane = convexInPlaneTrans(vtx);
-	btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
-
-	btVector3 vtxInPlaneProjected = vtxInPlane - distance * planeNormal;
-	btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected;
-
-	hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold;
-	resultOut->setPersistentManifold(m_manifoldPtr);
-	if (hasCollision)
-	{
-		/// report a contact. internally this will be kept persistent, and contact reduction is done
-		btVector3 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal;
-		btVector3 pOnB = vtxInPlaneWorld;
-		resultOut->addContactPoint(normalOnSurfaceB, pOnB, distance);
-	}
-
-	//the perturbation algorithm doesn't work well with implicit surfaces such as spheres, cylinder and cones:
-	//they keep on rolling forever because of the additional off-center contact points
-	//so only enable the feature for polyhedral shapes (btBoxShape, btConvexHullShape etc)
-	if (convexShape->isPolyhedral() && resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
-	{
-		btVector3 v0, v1;
-		btPlaneSpace1(planeNormal, v0, v1);
-		//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
-
-		const btScalar angleLimit = 0.125f * SIMD_PI;
-		btScalar perturbeAngle;
-		btScalar radius = convexShape->getAngularMotionDisc();
-		perturbeAngle = gContactBreakingThreshold / radius;
-		if (perturbeAngle > angleLimit)
-			perturbeAngle = angleLimit;
-
-		btQuaternion perturbeRot(v0, perturbeAngle);
-		for (int i = 0; i < m_numPerturbationIterations; i++)
-		{
-			btScalar iterationAngle = i * (SIMD_2_PI / btScalar(m_numPerturbationIterations));
-			btQuaternion rotq(planeNormal, iterationAngle);
-			collideSingleContact(rotq.inverse() * perturbeRot * rotq, body0Wrap, body1Wrap, dispatchInfo, resultOut);
-		}
-	}
-
-	if (m_ownManifold)
-	{
-		if (m_manifoldPtr->getNumContacts())
-		{
-			resultOut->refreshContactPoints();
-		}
-	}
-}
-
-btScalar btConvexPlaneCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	(void)resultOut;
-	(void)dispatchInfo;
-	(void)col0;
-	(void)col1;
-
-	//not yet
-	return btScalar(1.);
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
deleted file mode 100644
index b693da118f..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONVEX_PLANE_COLLISION_ALGORITHM_H
-#define BT_CONVEX_PLANE_COLLISION_ALGORITHM_H
-
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
-class btPersistentManifold;
-#include "btCollisionDispatcher.h"
-
-#include "LinearMath/btVector3.h"
-
-/// btSphereBoxCollisionAlgorithm  provides sphere-box collision detection.
-/// Other features are frame-coherency (persistent data) and collision response.
-class btConvexPlaneCollisionAlgorithm : public btCollisionAlgorithm
-{
-	bool m_ownManifold;
-	btPersistentManifold* m_manifoldPtr;
-	bool m_isSwapped;
-	int m_numPerturbationIterations;
-	int m_minimumPointsPerturbationThreshold;
-
-public:
-	btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
-
-	virtual ~btConvexPlaneCollisionAlgorithm();
-
-	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	void collideSingleContact(const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
-	{
-		if (m_manifoldPtr && m_ownManifold)
-		{
-			manifoldArray.push_back(m_manifoldPtr);
-		}
-	}
-
-	struct CreateFunc : public btCollisionAlgorithmCreateFunc
-	{
-		int m_numPerturbationIterations;
-		int m_minimumPointsPerturbationThreshold;
-
-		CreateFunc()
-			: m_numPerturbationIterations(1),
-			  m_minimumPointsPerturbationThreshold(0)
-		{
-		}
-
-		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexPlaneCollisionAlgorithm));
-			if (!m_swapped)
-			{
-				return new (mem) btConvexPlaneCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, false, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
-			}
-			else
-			{
-				return new (mem) btConvexPlaneCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, true, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
-			}
-		}
-	};
-};
-
-#endif  //BT_CONVEX_PLANE_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
deleted file mode 100644
index ef3ea9e394..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
+++ /dev/null
@@ -1,362 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btDefaultCollisionConfiguration.h"
-
-#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h"
-
-#include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
-#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
-#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
-#endif  //USE_BUGGY_SPHERE_BOX_ALGORITHM
-#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
-#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
-#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
-
-#include "LinearMath/btPoolAllocator.h"
-
-btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo)
-//btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc*	stackAlloc,btPoolAllocator*	persistentManifoldPool,btPoolAllocator*	collisionAlgorithmPool)
-{
-	void* mem = NULL;
-	if (constructionInfo.m_useEpaPenetrationAlgorithm)
-	{
-		mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver), 16);
-		m_pdSolver = new (mem) btGjkEpaPenetrationDepthSolver;
-	}
-	else
-	{
-		mem = btAlignedAlloc(sizeof(btMinkowskiPenetrationDepthSolver), 16);
-		m_pdSolver = new (mem) btMinkowskiPenetrationDepthSolver;
-	}
-
-	//default CreationFunctions, filling the m_doubleDispatch table
-	mem = btAlignedAlloc(sizeof(btConvexConvexAlgorithm::CreateFunc), 16);
-	m_convexConvexCreateFunc = new (mem) btConvexConvexAlgorithm::CreateFunc(m_pdSolver);
-	mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc), 16);
-	m_convexConcaveCreateFunc = new (mem) btConvexConcaveCollisionAlgorithm::CreateFunc;
-	mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc), 16);
-	m_swappedConvexConcaveCreateFunc = new (mem) btConvexConcaveCollisionAlgorithm::SwappedCreateFunc;
-	mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::CreateFunc), 16);
-	m_compoundCreateFunc = new (mem) btCompoundCollisionAlgorithm::CreateFunc;
-
-	mem = btAlignedAlloc(sizeof(btCompoundCompoundCollisionAlgorithm::CreateFunc), 16);
-	m_compoundCompoundCreateFunc = new (mem) btCompoundCompoundCollisionAlgorithm::CreateFunc;
-
-	mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::SwappedCreateFunc), 16);
-	m_swappedCompoundCreateFunc = new (mem) btCompoundCollisionAlgorithm::SwappedCreateFunc;
-	mem = btAlignedAlloc(sizeof(btEmptyAlgorithm::CreateFunc), 16);
-	m_emptyCreateFunc = new (mem) btEmptyAlgorithm::CreateFunc;
-
-	mem = btAlignedAlloc(sizeof(btSphereSphereCollisionAlgorithm::CreateFunc), 16);
-	m_sphereSphereCF = new (mem) btSphereSphereCollisionAlgorithm::CreateFunc;
-#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
-	mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc), 16);
-	m_sphereBoxCF = new (mem) btSphereBoxCollisionAlgorithm::CreateFunc;
-	mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc), 16);
-	m_boxSphereCF = new (mem) btSphereBoxCollisionAlgorithm::CreateFunc;
-	m_boxSphereCF->m_swapped = true;
-#endif  //USE_BUGGY_SPHERE_BOX_ALGORITHM
-
-	mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc), 16);
-	m_sphereTriangleCF = new (mem) btSphereTriangleCollisionAlgorithm::CreateFunc;
-	mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc), 16);
-	m_triangleSphereCF = new (mem) btSphereTriangleCollisionAlgorithm::CreateFunc;
-	m_triangleSphereCF->m_swapped = true;
-
-	mem = btAlignedAlloc(sizeof(btBoxBoxCollisionAlgorithm::CreateFunc), 16);
-	m_boxBoxCF = new (mem) btBoxBoxCollisionAlgorithm::CreateFunc;
-
-	//convex versus plane
-	mem = btAlignedAlloc(sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc), 16);
-	m_convexPlaneCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc;
-	mem = btAlignedAlloc(sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc), 16);
-	m_planeConvexCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc;
-	m_planeConvexCF->m_swapped = true;
-
-	///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
-	int maxSize = sizeof(btConvexConvexAlgorithm);
-	int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm);
-	int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
-	int maxSize4 = sizeof(btCompoundCompoundCollisionAlgorithm);
-
-	int collisionAlgorithmMaxElementSize = btMax(maxSize, constructionInfo.m_customCollisionAlgorithmMaxElementSize);
-	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize, maxSize2);
-	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize, maxSize3);
-	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize, maxSize4);
-
-	if (constructionInfo.m_persistentManifoldPool)
-	{
-		m_ownsPersistentManifoldPool = false;
-		m_persistentManifoldPool = constructionInfo.m_persistentManifoldPool;
-	}
-	else
-	{
-		m_ownsPersistentManifoldPool = true;
-		void* mem = btAlignedAlloc(sizeof(btPoolAllocator), 16);
-		m_persistentManifoldPool = new (mem) btPoolAllocator(sizeof(btPersistentManifold), constructionInfo.m_defaultMaxPersistentManifoldPoolSize);
-	}
-
-	collisionAlgorithmMaxElementSize = (collisionAlgorithmMaxElementSize + 16) & 0xffffffffffff0;
-	if (constructionInfo.m_collisionAlgorithmPool)
-	{
-		m_ownsCollisionAlgorithmPool = false;
-		m_collisionAlgorithmPool = constructionInfo.m_collisionAlgorithmPool;
-	}
-	else
-	{
-		m_ownsCollisionAlgorithmPool = true;
-		void* mem = btAlignedAlloc(sizeof(btPoolAllocator), 16);
-		m_collisionAlgorithmPool = new (mem) btPoolAllocator(collisionAlgorithmMaxElementSize, constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
-	}
-}
-
-btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
-{
-	if (m_ownsCollisionAlgorithmPool)
-	{
-		m_collisionAlgorithmPool->~btPoolAllocator();
-		btAlignedFree(m_collisionAlgorithmPool);
-	}
-	if (m_ownsPersistentManifoldPool)
-	{
-		m_persistentManifoldPool->~btPoolAllocator();
-		btAlignedFree(m_persistentManifoldPool);
-	}
-
-	m_convexConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_convexConvexCreateFunc);
-
-	m_convexConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_convexConcaveCreateFunc);
-	m_swappedConvexConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_swappedConvexConcaveCreateFunc);
-
-	m_compoundCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_compoundCreateFunc);
-
-	m_compoundCompoundCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_compoundCompoundCreateFunc);
-
-	m_swappedCompoundCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_swappedCompoundCreateFunc);
-
-	m_emptyCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_emptyCreateFunc);
-
-	m_sphereSphereCF->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_sphereSphereCF);
-
-#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
-	m_sphereBoxCF->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_sphereBoxCF);
-	m_boxSphereCF->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_boxSphereCF);
-#endif  //USE_BUGGY_SPHERE_BOX_ALGORITHM
-
-	m_sphereTriangleCF->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_sphereTriangleCF);
-	m_triangleSphereCF->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_triangleSphereCF);
-	m_boxBoxCF->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_boxBoxCF);
-
-	m_convexPlaneCF->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_convexPlaneCF);
-	m_planeConvexCF->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_planeConvexCF);
-
-	m_pdSolver->~btConvexPenetrationDepthSolver();
-
-	btAlignedFree(m_pdSolver);
-}
-
-btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1)
-{
-	if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE))
-	{
-		return m_sphereSphereCF;
-	}
-#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
-	if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE))
-	{
-		return m_sphereBoxCF;
-	}
-
-	if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE))
-	{
-		return m_boxSphereCF;
-	}
-#endif  //USE_BUGGY_SPHERE_BOX_ALGORITHM
-
-	if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == TRIANGLE_SHAPE_PROXYTYPE))
-	{
-		return m_sphereTriangleCF;
-	}
-
-	if ((proxyType0 == TRIANGLE_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE))
-	{
-		return m_triangleSphereCF;
-	}
-
-	if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE))
-	{
-		return m_convexPlaneCF;
-	}
-
-	if (btBroadphaseProxy::isConvex(proxyType1) && (proxyType0 == STATIC_PLANE_PROXYTYPE))
-	{
-		return m_planeConvexCF;
-	}
-
-	if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConvex(proxyType1))
-	{
-		return m_convexConvexCreateFunc;
-	}
-
-	if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConcave(proxyType1))
-	{
-		return m_convexConcaveCreateFunc;
-	}
-
-	if (btBroadphaseProxy::isConvex(proxyType1) && btBroadphaseProxy::isConcave(proxyType0))
-	{
-		return m_swappedConvexConcaveCreateFunc;
-	}
-
-	if (btBroadphaseProxy::isCompound(proxyType0) && btBroadphaseProxy::isCompound(proxyType1))
-	{
-		return m_compoundCompoundCreateFunc;
-	}
-
-	if (btBroadphaseProxy::isCompound(proxyType0))
-	{
-		return m_compoundCreateFunc;
-	}
-	else
-	{
-		if (btBroadphaseProxy::isCompound(proxyType1))
-		{
-			return m_swappedCompoundCreateFunc;
-		}
-	}
-
-	//failed to find an algorithm
-	return m_emptyCreateFunc;
-}
-
-btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1)
-{
-	if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE))
-	{
-		return m_sphereSphereCF;
-	}
-#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
-	if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE))
-	{
-		return m_sphereBoxCF;
-	}
-
-	if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE))
-	{
-		return m_boxSphereCF;
-	}
-#endif  //USE_BUGGY_SPHERE_BOX_ALGORITHM
-
-	if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == TRIANGLE_SHAPE_PROXYTYPE))
-	{
-		return m_sphereTriangleCF;
-	}
-
-	if ((proxyType0 == TRIANGLE_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE))
-	{
-		return m_triangleSphereCF;
-	}
-
-	if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE))
-	{
-		return m_boxBoxCF;
-	}
-
-	if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE))
-	{
-		return m_convexPlaneCF;
-	}
-
-	if (btBroadphaseProxy::isConvex(proxyType1) && (proxyType0 == STATIC_PLANE_PROXYTYPE))
-	{
-		return m_planeConvexCF;
-	}
-
-	if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConvex(proxyType1))
-	{
-		return m_convexConvexCreateFunc;
-	}
-
-	if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConcave(proxyType1))
-	{
-		return m_convexConcaveCreateFunc;
-	}
-
-	if (btBroadphaseProxy::isConvex(proxyType1) && btBroadphaseProxy::isConcave(proxyType0))
-	{
-		return m_swappedConvexConcaveCreateFunc;
-	}
-
-	if (btBroadphaseProxy::isCompound(proxyType0) && btBroadphaseProxy::isCompound(proxyType1))
-	{
-		return m_compoundCompoundCreateFunc;
-	}
-
-	if (btBroadphaseProxy::isCompound(proxyType0))
-	{
-		return m_compoundCreateFunc;
-	}
-	else
-	{
-		if (btBroadphaseProxy::isCompound(proxyType1))
-		{
-			return m_swappedCompoundCreateFunc;
-		}
-	}
-
-	//failed to find an algorithm
-	return m_emptyCreateFunc;
-}
-
-void btDefaultCollisionConfiguration::setConvexConvexMultipointIterations(int numPerturbationIterations, int minimumPointsPerturbationThreshold)
-{
-	btConvexConvexAlgorithm::CreateFunc* convexConvex = (btConvexConvexAlgorithm::CreateFunc*)m_convexConvexCreateFunc;
-	convexConvex->m_numPerturbationIterations = numPerturbationIterations;
-	convexConvex->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
-}
-
-void btDefaultCollisionConfiguration::setPlaneConvexMultipointIterations(int numPerturbationIterations, int minimumPointsPerturbationThreshold)
-{
-	btConvexPlaneCollisionAlgorithm::CreateFunc* cpCF = (btConvexPlaneCollisionAlgorithm::CreateFunc*)m_convexPlaneCF;
-	cpCF->m_numPerturbationIterations = numPerturbationIterations;
-	cpCF->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
-
-	btConvexPlaneCollisionAlgorithm::CreateFunc* pcCF = (btConvexPlaneCollisionAlgorithm::CreateFunc*)m_planeConvexCF;
-	pcCF->m_numPerturbationIterations = numPerturbationIterations;
-	pcCF->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
deleted file mode 100644
index b39a3f41de..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
+++ /dev/null
@@ -1,111 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_DEFAULT_COLLISION_CONFIGURATION
-#define BT_DEFAULT_COLLISION_CONFIGURATION
-
-#include "btCollisionConfiguration.h"
-class btVoronoiSimplexSolver;
-class btConvexPenetrationDepthSolver;
-
-struct btDefaultCollisionConstructionInfo
-{
-	btPoolAllocator* m_persistentManifoldPool;
-	btPoolAllocator* m_collisionAlgorithmPool;
-	int m_defaultMaxPersistentManifoldPoolSize;
-	int m_defaultMaxCollisionAlgorithmPoolSize;
-	int m_customCollisionAlgorithmMaxElementSize;
-	int m_useEpaPenetrationAlgorithm;
-
-	btDefaultCollisionConstructionInfo()
-		: m_persistentManifoldPool(0),
-		  m_collisionAlgorithmPool(0),
-		  m_defaultMaxPersistentManifoldPoolSize(4096),
-		  m_defaultMaxCollisionAlgorithmPoolSize(4096),
-		  m_customCollisionAlgorithmMaxElementSize(0),
-		  m_useEpaPenetrationAlgorithm(true)
-	{
-	}
-};
-
-///btCollisionConfiguration allows to configure Bullet collision detection
-///stack allocator, pool memory allocators
-///@todo: describe the meaning
-class btDefaultCollisionConfiguration : public btCollisionConfiguration
-{
-protected:
-	int m_persistentManifoldPoolSize;
-
-	btPoolAllocator* m_persistentManifoldPool;
-	bool m_ownsPersistentManifoldPool;
-
-	btPoolAllocator* m_collisionAlgorithmPool;
-	bool m_ownsCollisionAlgorithmPool;
-
-	//default penetration depth solver
-	btConvexPenetrationDepthSolver* m_pdSolver;
-
-	//default CreationFunctions, filling the m_doubleDispatch table
-	btCollisionAlgorithmCreateFunc* m_convexConvexCreateFunc;
-	btCollisionAlgorithmCreateFunc* m_convexConcaveCreateFunc;
-	btCollisionAlgorithmCreateFunc* m_swappedConvexConcaveCreateFunc;
-	btCollisionAlgorithmCreateFunc* m_compoundCreateFunc;
-	btCollisionAlgorithmCreateFunc* m_compoundCompoundCreateFunc;
-
-	btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc;
-	btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
-	btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
-	btCollisionAlgorithmCreateFunc* m_sphereBoxCF;
-	btCollisionAlgorithmCreateFunc* m_boxSphereCF;
-
-	btCollisionAlgorithmCreateFunc* m_boxBoxCF;
-	btCollisionAlgorithmCreateFunc* m_sphereTriangleCF;
-	btCollisionAlgorithmCreateFunc* m_triangleSphereCF;
-	btCollisionAlgorithmCreateFunc* m_planeConvexCF;
-	btCollisionAlgorithmCreateFunc* m_convexPlaneCF;
-
-public:
-	btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo());
-
-	virtual ~btDefaultCollisionConfiguration();
-
-	///memory pools
-	virtual btPoolAllocator* getPersistentManifoldPool()
-	{
-		return m_persistentManifoldPool;
-	}
-
-	virtual btPoolAllocator* getCollisionAlgorithmPool()
-	{
-		return m_collisionAlgorithmPool;
-	}
-
-	virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1);
-
-	virtual btCollisionAlgorithmCreateFunc* getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1);
-
-	///Use this method to allow to generate multiple contact points between at once, between two objects using the generic convex-convex algorithm.
-	///By default, this feature is disabled for best performance.
-	///@param numPerturbationIterations controls the number of collision queries. Set it to zero to disable the feature.
-	///@param minimumPointsPerturbationThreshold is the minimum number of points in the contact cache, above which the feature is disabled
-	///3 is a good value for both params, if you want to enable the feature. This is because the default contact cache contains a maximum of 4 points, and one collision query at the unperturbed orientation is performed first.
-	///See Bullet/Demos/CollisionDemo for an example how this feature gathers multiple points.
-	///@todo we could add a per-object setting of those parameters, for level-of-detail collision detection.
-	void setConvexConvexMultipointIterations(int numPerturbationIterations = 3, int minimumPointsPerturbationThreshold = 3);
-
-	void setPlaneConvexMultipointIterations(int numPerturbationIterations = 3, int minimumPointsPerturbationThreshold = 3);
-};
-
-#endif  //BT_DEFAULT_COLLISION_CONFIGURATION
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp
deleted file mode 100644
index 7cd41bdb33..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btEmptyCollisionAlgorithm.h"
-
-btEmptyAlgorithm::btEmptyAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
-	: btCollisionAlgorithm(ci)
-{
-}
-
-void btEmptyAlgorithm::processCollision(const btCollisionObjectWrapper*, const btCollisionObjectWrapper*, const btDispatcherInfo&, btManifoldResult*)
-{
-}
-
-btScalar btEmptyAlgorithm::calculateTimeOfImpact(btCollisionObject*, btCollisionObject*, const btDispatcherInfo&, btManifoldResult*)
-{
-	return btScalar(1.);
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
deleted file mode 100644
index 65ef83e094..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_EMPTY_ALGORITH
-#define BT_EMPTY_ALGORITH
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-#include "btCollisionCreateFunc.h"
-#include "btCollisionDispatcher.h"
-
-#define ATTRIBUTE_ALIGNED(a)
-
-///EmptyAlgorithm is a stub for unsupported collision pairs.
-///The dispatcher can dispatch a persistent btEmptyAlgorithm to avoid a search every frame.
-class btEmptyAlgorithm : public btCollisionAlgorithm
-{
-public:
-	btEmptyAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
-
-	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
-	{
-	}
-
-	struct CreateFunc : public btCollisionAlgorithmCreateFunc
-	{
-		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-		{
-			(void)body0Wrap;
-			(void)body1Wrap;
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btEmptyAlgorithm));
-			return new (mem) btEmptyAlgorithm(ci);
-		}
-	};
-
-} ATTRIBUTE_ALIGNED(16);
-
-#endif  //BT_EMPTY_ALGORITH
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btGhostObject.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btGhostObject.cpp
deleted file mode 100644
index 00f16fd0a8..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btGhostObject.cpp
+++ /dev/null
@@ -1,166 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btGhostObject.h"
-#include "btCollisionWorld.h"
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-#include "LinearMath/btAabbUtil2.h"
-
-btGhostObject::btGhostObject()
-{
-	m_internalType = CO_GHOST_OBJECT;
-}
-
-btGhostObject::~btGhostObject()
-{
-	///btGhostObject should have been removed from the world, so no overlapping objects
-	btAssert(!m_overlappingObjects.size());
-}
-
-void btGhostObject::addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy)
-{
-	btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
-	btAssert(otherObject);
-	///if this linearSearch becomes too slow (too many overlapping objects) we should add a more appropriate data structure
-	int index = m_overlappingObjects.findLinearSearch(otherObject);
-	if (index == m_overlappingObjects.size())
-	{
-		//not found
-		m_overlappingObjects.push_back(otherObject);
-	}
-}
-
-void btGhostObject::removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btDispatcher* dispatcher, btBroadphaseProxy* thisProxy)
-{
-	btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
-	btAssert(otherObject);
-	int index = m_overlappingObjects.findLinearSearch(otherObject);
-	if (index < m_overlappingObjects.size())
-	{
-		m_overlappingObjects[index] = m_overlappingObjects[m_overlappingObjects.size() - 1];
-		m_overlappingObjects.pop_back();
-	}
-}
-
-btPairCachingGhostObject::btPairCachingGhostObject()
-{
-	m_hashPairCache = new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache), 16)) btHashedOverlappingPairCache();
-}
-
-btPairCachingGhostObject::~btPairCachingGhostObject()
-{
-	m_hashPairCache->~btHashedOverlappingPairCache();
-	btAlignedFree(m_hashPairCache);
-}
-
-void btPairCachingGhostObject::addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy)
-{
-	btBroadphaseProxy* actualThisProxy = thisProxy ? thisProxy : getBroadphaseHandle();
-	btAssert(actualThisProxy);
-
-	btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
-	btAssert(otherObject);
-	int index = m_overlappingObjects.findLinearSearch(otherObject);
-	if (index == m_overlappingObjects.size())
-	{
-		m_overlappingObjects.push_back(otherObject);
-		m_hashPairCache->addOverlappingPair(actualThisProxy, otherProxy);
-	}
-}
-
-void btPairCachingGhostObject::removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btDispatcher* dispatcher, btBroadphaseProxy* thisProxy1)
-{
-	btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
-	btBroadphaseProxy* actualThisProxy = thisProxy1 ? thisProxy1 : getBroadphaseHandle();
-	btAssert(actualThisProxy);
-
-	btAssert(otherObject);
-	int index = m_overlappingObjects.findLinearSearch(otherObject);
-	if (index < m_overlappingObjects.size())
-	{
-		m_overlappingObjects[index] = m_overlappingObjects[m_overlappingObjects.size() - 1];
-		m_overlappingObjects.pop_back();
-		m_hashPairCache->removeOverlappingPair(actualThisProxy, otherProxy, dispatcher);
-	}
-}
-
-void btGhostObject::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const
-{
-	btTransform convexFromTrans, convexToTrans;
-	convexFromTrans = convexFromWorld;
-	convexToTrans = convexToWorld;
-	btVector3 castShapeAabbMin, castShapeAabbMax;
-	/* Compute AABB that encompasses angular movement */
-	{
-		btVector3 linVel, angVel;
-		btTransformUtil::calculateVelocity(convexFromTrans, convexToTrans, 1.0, linVel, angVel);
-		btTransform R;
-		R.setIdentity();
-		R.setRotation(convexFromTrans.getRotation());
-		castShape->calculateTemporalAabb(R, linVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax);
-	}
-
-	/// go over all objects, and if the ray intersects their aabb + cast shape aabb,
-	// do a ray-shape query using convexCaster (CCD)
-	int i;
-	for (i = 0; i < m_overlappingObjects.size(); i++)
-	{
-		btCollisionObject* collisionObject = m_overlappingObjects[i];
-		//only perform raycast if filterMask matches
-		if (resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
-		{
-			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
-			btVector3 collisionObjectAabbMin, collisionObjectAabbMax;
-			collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(), collisionObjectAabbMin, collisionObjectAabbMax);
-			AabbExpand(collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
-			btScalar hitLambda = btScalar(1.);  //could use resultCallback.m_closestHitFraction, but needs testing
-			btVector3 hitNormal;
-			if (btRayAabb(convexFromWorld.getOrigin(), convexToWorld.getOrigin(), collisionObjectAabbMin, collisionObjectAabbMax, hitLambda, hitNormal))
-			{
-				btCollisionWorld::objectQuerySingle(castShape, convexFromTrans, convexToTrans,
-													collisionObject,
-													collisionObject->getCollisionShape(),
-													collisionObject->getWorldTransform(),
-													resultCallback,
-													allowedCcdPenetration);
-			}
-		}
-	}
-}
-
-void btGhostObject::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const
-{
-	btTransform rayFromTrans;
-	rayFromTrans.setIdentity();
-	rayFromTrans.setOrigin(rayFromWorld);
-	btTransform rayToTrans;
-	rayToTrans.setIdentity();
-	rayToTrans.setOrigin(rayToWorld);
-
-	int i;
-	for (i = 0; i < m_overlappingObjects.size(); i++)
-	{
-		btCollisionObject* collisionObject = m_overlappingObjects[i];
-		//only perform raycast if filterMask matches
-		if (resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
-		{
-			btCollisionWorld::rayTestSingle(rayFromTrans, rayToTrans,
-											collisionObject,
-											collisionObject->getCollisionShape(),
-											collisionObject->getWorldTransform(),
-											resultCallback);
-		}
-	}
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btGhostObject.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btGhostObject.h
deleted file mode 100644
index aa7f48d5cb..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btGhostObject.h
+++ /dev/null
@@ -1,162 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_GHOST_OBJECT_H
-#define BT_GHOST_OBJECT_H
-
-#include "btCollisionObject.h"
-#include "BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h"
-#include "LinearMath/btAlignedAllocator.h"
-#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
-#include "btCollisionWorld.h"
-
-class btConvexShape;
-
-class btDispatcher;
-
-///The btGhostObject can keep track of all objects that are overlapping
-///By default, this overlap is based on the AABB
-///This is useful for creating a character controller, collision sensors/triggers, explosions etc.
-///We plan on adding rayTest and other queries for the btGhostObject
-ATTRIBUTE_ALIGNED16(class)
-btGhostObject : public btCollisionObject
-{
-protected:
-	btAlignedObjectArray<btCollisionObject*> m_overlappingObjects;
-
-public:
-	btGhostObject();
-
-	virtual ~btGhostObject();
-
-	void convexSweepTest(const class btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = 0.f) const;
-
-	void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const;
-
-	///this method is mainly for expert/internal use only.
-	virtual void addOverlappingObjectInternal(btBroadphaseProxy * otherProxy, btBroadphaseProxy* thisProxy = 0);
-	///this method is mainly for expert/internal use only.
-	virtual void removeOverlappingObjectInternal(btBroadphaseProxy * otherProxy, btDispatcher * dispatcher, btBroadphaseProxy* thisProxy = 0);
-
-	int getNumOverlappingObjects() const
-	{
-		return m_overlappingObjects.size();
-	}
-
-	btCollisionObject* getOverlappingObject(int index)
-	{
-		return m_overlappingObjects[index];
-	}
-
-	const btCollisionObject* getOverlappingObject(int index) const
-	{
-		return m_overlappingObjects[index];
-	}
-
-	btAlignedObjectArray<btCollisionObject*>& getOverlappingPairs()
-	{
-		return m_overlappingObjects;
-	}
-
-	const btAlignedObjectArray<btCollisionObject*> getOverlappingPairs() const
-	{
-		return m_overlappingObjects;
-	}
-
-	//
-	// internal cast
-	//
-
-	static const btGhostObject* upcast(const btCollisionObject* colObj)
-	{
-		if (colObj->getInternalType() == CO_GHOST_OBJECT)
-			return (const btGhostObject*)colObj;
-		return 0;
-	}
-	static btGhostObject* upcast(btCollisionObject * colObj)
-	{
-		if (colObj->getInternalType() == CO_GHOST_OBJECT)
-			return (btGhostObject*)colObj;
-		return 0;
-	}
-};
-
-class btPairCachingGhostObject : public btGhostObject
-{
-	btHashedOverlappingPairCache* m_hashPairCache;
-
-public:
-	btPairCachingGhostObject();
-
-	virtual ~btPairCachingGhostObject();
-
-	///this method is mainly for expert/internal use only.
-	virtual void addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy = 0);
-
-	virtual void removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btDispatcher* dispatcher, btBroadphaseProxy* thisProxy = 0);
-
-	btHashedOverlappingPairCache* getOverlappingPairCache()
-	{
-		return m_hashPairCache;
-	}
-};
-
-///The btGhostPairCallback interfaces and forwards adding and removal of overlapping pairs from the btBroadphaseInterface to btGhostObject.
-class btGhostPairCallback : public btOverlappingPairCallback
-{
-public:
-	btGhostPairCallback()
-	{
-	}
-
-	virtual ~btGhostPairCallback()
-	{
-	}
-
-	virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
-	{
-		btCollisionObject* colObj0 = (btCollisionObject*)proxy0->m_clientObject;
-		btCollisionObject* colObj1 = (btCollisionObject*)proxy1->m_clientObject;
-		btGhostObject* ghost0 = btGhostObject::upcast(colObj0);
-		btGhostObject* ghost1 = btGhostObject::upcast(colObj1);
-		if (ghost0)
-			ghost0->addOverlappingObjectInternal(proxy1, proxy0);
-		if (ghost1)
-			ghost1->addOverlappingObjectInternal(proxy0, proxy1);
-		return 0;
-	}
-
-	virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, btDispatcher* dispatcher)
-	{
-		btCollisionObject* colObj0 = (btCollisionObject*)proxy0->m_clientObject;
-		btCollisionObject* colObj1 = (btCollisionObject*)proxy1->m_clientObject;
-		btGhostObject* ghost0 = btGhostObject::upcast(colObj0);
-		btGhostObject* ghost1 = btGhostObject::upcast(colObj1);
-		if (ghost0)
-			ghost0->removeOverlappingObjectInternal(proxy1, dispatcher, proxy0);
-		if (ghost1)
-			ghost1->removeOverlappingObjectInternal(proxy0, dispatcher, proxy1);
-		return 0;
-	}
-
-	virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/, btDispatcher* /*dispatcher*/)
-	{
-		btAssert(0);
-		//need to keep track of all ghost objects and call them here
-		//m_hashPairCache->removeOverlappingPairsContainingProxy(proxy0,dispatcher);
-	}
-};
-
-#endif
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp
deleted file mode 100644
index b686d98d1e..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp
+++ /dev/null
@@ -1,244 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btHashedSimplePairCache.h"
-
-#include <stdio.h>
-
-#ifdef BT_DEBUG_COLLISION_PAIRS
-int gOverlappingSimplePairs = 0;
-int gRemoveSimplePairs = 0;
-int gAddedSimplePairs = 0;
-int gFindSimplePairs = 0;
-#endif  //BT_DEBUG_COLLISION_PAIRS
-
-btHashedSimplePairCache::btHashedSimplePairCache()
-{
-	int initialAllocatedSize = 2;
-	m_overlappingPairArray.reserve(initialAllocatedSize);
-	growTables();
-}
-
-btHashedSimplePairCache::~btHashedSimplePairCache()
-{
-}
-
-void btHashedSimplePairCache::removeAllPairs()
-{
-	m_overlappingPairArray.clear();
-	m_hashTable.clear();
-	m_next.clear();
-
-	int initialAllocatedSize = 2;
-	m_overlappingPairArray.reserve(initialAllocatedSize);
-	growTables();
-}
-
-btSimplePair* btHashedSimplePairCache::findPair(int indexA, int indexB)
-{
-#ifdef BT_DEBUG_COLLISION_PAIRS
-	gFindSimplePairs++;
-#endif
-
-	/*if (indexA > indexB) 
-		btSwap(indexA, indexB);*/
-
-	int hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA), static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity() - 1));
-
-	if (hash >= m_hashTable.size())
-	{
-		return NULL;
-	}
-
-	int index = m_hashTable[hash];
-	while (index != BT_SIMPLE_NULL_PAIR && equalsPair(m_overlappingPairArray[index], indexA, indexB) == false)
-	{
-		index = m_next[index];
-	}
-
-	if (index == BT_SIMPLE_NULL_PAIR)
-	{
-		return NULL;
-	}
-
-	btAssert(index < m_overlappingPairArray.size());
-
-	return &m_overlappingPairArray[index];
-}
-
-//#include <stdio.h>
-
-void btHashedSimplePairCache::growTables()
-{
-	int newCapacity = m_overlappingPairArray.capacity();
-
-	if (m_hashTable.size() < newCapacity)
-	{
-		//grow hashtable and next table
-		int curHashtableSize = m_hashTable.size();
-
-		m_hashTable.resize(newCapacity);
-		m_next.resize(newCapacity);
-
-		int i;
-
-		for (i = 0; i < newCapacity; ++i)
-		{
-			m_hashTable[i] = BT_SIMPLE_NULL_PAIR;
-		}
-		for (i = 0; i < newCapacity; ++i)
-		{
-			m_next[i] = BT_SIMPLE_NULL_PAIR;
-		}
-
-		for (i = 0; i < curHashtableSize; i++)
-		{
-			const btSimplePair& pair = m_overlappingPairArray[i];
-			int indexA = pair.m_indexA;
-			int indexB = pair.m_indexB;
-
-			int hashValue = static_cast<int>(getHash(static_cast<unsigned int>(indexA), static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity() - 1));  // New hash value with new mask
-			m_next[i] = m_hashTable[hashValue];
-			m_hashTable[hashValue] = i;
-		}
-	}
-}
-
-btSimplePair* btHashedSimplePairCache::internalAddPair(int indexA, int indexB)
-{
-	int hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA), static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity() - 1));  // New hash value with new mask
-
-	btSimplePair* pair = internalFindPair(indexA, indexB, hash);
-	if (pair != NULL)
-	{
-		return pair;
-	}
-
-	int count = m_overlappingPairArray.size();
-	int oldCapacity = m_overlappingPairArray.capacity();
-	void* mem = &m_overlappingPairArray.expandNonInitializing();
-
-	int newCapacity = m_overlappingPairArray.capacity();
-
-	if (oldCapacity < newCapacity)
-	{
-		growTables();
-		//hash with new capacity
-		hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA), static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity() - 1));
-	}
-
-	pair = new (mem) btSimplePair(indexA, indexB);
-
-	pair->m_userPointer = 0;
-
-	m_next[count] = m_hashTable[hash];
-	m_hashTable[hash] = count;
-
-	return pair;
-}
-
-void* btHashedSimplePairCache::removeOverlappingPair(int indexA, int indexB)
-{
-#ifdef BT_DEBUG_COLLISION_PAIRS
-	gRemoveSimplePairs++;
-#endif
-
-	/*if (indexA > indexB) 
-		btSwap(indexA, indexB);*/
-
-	int hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA), static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity() - 1));
-
-	btSimplePair* pair = internalFindPair(indexA, indexB, hash);
-	if (pair == NULL)
-	{
-		return 0;
-	}
-
-	void* userData = pair->m_userPointer;
-
-	int pairIndex = int(pair - &m_overlappingPairArray[0]);
-	btAssert(pairIndex < m_overlappingPairArray.size());
-
-	// Remove the pair from the hash table.
-	int index = m_hashTable[hash];
-	btAssert(index != BT_SIMPLE_NULL_PAIR);
-
-	int previous = BT_SIMPLE_NULL_PAIR;
-	while (index != pairIndex)
-	{
-		previous = index;
-		index = m_next[index];
-	}
-
-	if (previous != BT_SIMPLE_NULL_PAIR)
-	{
-		btAssert(m_next[previous] == pairIndex);
-		m_next[previous] = m_next[pairIndex];
-	}
-	else
-	{
-		m_hashTable[hash] = m_next[pairIndex];
-	}
-
-	// We now move the last pair into spot of the
-	// pair being removed. We need to fix the hash
-	// table indices to support the move.
-
-	int lastPairIndex = m_overlappingPairArray.size() - 1;
-
-	// If the removed pair is the last pair, we are done.
-	if (lastPairIndex == pairIndex)
-	{
-		m_overlappingPairArray.pop_back();
-		return userData;
-	}
-
-	// Remove the last pair from the hash table.
-	const btSimplePair* last = &m_overlappingPairArray[lastPairIndex];
-	/* missing swap here too, Nat. */
-	int lastHash = static_cast<int>(getHash(static_cast<unsigned int>(last->m_indexA), static_cast<unsigned int>(last->m_indexB)) & (m_overlappingPairArray.capacity() - 1));
-
-	index = m_hashTable[lastHash];
-	btAssert(index != BT_SIMPLE_NULL_PAIR);
-
-	previous = BT_SIMPLE_NULL_PAIR;
-	while (index != lastPairIndex)
-	{
-		previous = index;
-		index = m_next[index];
-	}
-
-	if (previous != BT_SIMPLE_NULL_PAIR)
-	{
-		btAssert(m_next[previous] == lastPairIndex);
-		m_next[previous] = m_next[lastPairIndex];
-	}
-	else
-	{
-		m_hashTable[lastHash] = m_next[lastPairIndex];
-	}
-
-	// Copy the last pair into the remove pair's spot.
-	m_overlappingPairArray[pairIndex] = m_overlappingPairArray[lastPairIndex];
-
-	// Insert the last pair into the hash table
-	m_next[pairIndex] = m_hashTable[lastHash];
-	m_hashTable[lastHash] = pairIndex;
-
-	m_overlappingPairArray.pop_back();
-
-	return userData;
-}
-//#include <stdio.h>
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h
deleted file mode 100644
index fd38a4f0e1..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h
+++ /dev/null
@@ -1,149 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_HASHED_SIMPLE_PAIR_CACHE_H
-#define BT_HASHED_SIMPLE_PAIR_CACHE_H
-
-#include "LinearMath/btAlignedObjectArray.h"
-
-const int BT_SIMPLE_NULL_PAIR = 0xffffffff;
-
-struct btSimplePair
-{
-	btSimplePair(int indexA, int indexB)
-		: m_indexA(indexA),
-		  m_indexB(indexB),
-		  m_userPointer(0)
-	{
-	}
-
-	int m_indexA;
-	int m_indexB;
-	union {
-		void* m_userPointer;
-		int m_userValue;
-	};
-};
-
-typedef btAlignedObjectArray<btSimplePair> btSimplePairArray;
-
-#ifdef BT_DEBUG_COLLISION_PAIRS
-extern int gOverlappingSimplePairs;
-extern int gRemoveSimplePairs;
-extern int gAddedSimplePairs;
-extern int gFindSimplePairs;
-#endif  //BT_DEBUG_COLLISION_PAIRS
-
-class btHashedSimplePairCache
-{
-	btSimplePairArray m_overlappingPairArray;
-
-protected:
-	btAlignedObjectArray<int> m_hashTable;
-	btAlignedObjectArray<int> m_next;
-
-public:
-	btHashedSimplePairCache();
-	virtual ~btHashedSimplePairCache();
-
-	void removeAllPairs();
-
-	virtual void* removeOverlappingPair(int indexA, int indexB);
-
-	// Add a pair and return the new pair. If the pair already exists,
-	// no new pair is created and the old one is returned.
-	virtual btSimplePair* addOverlappingPair(int indexA, int indexB)
-	{
-#ifdef BT_DEBUG_COLLISION_PAIRS
-		gAddedSimplePairs++;
-#endif
-
-		return internalAddPair(indexA, indexB);
-	}
-
-	virtual btSimplePair* getOverlappingPairArrayPtr()
-	{
-		return &m_overlappingPairArray[0];
-	}
-
-	const btSimplePair* getOverlappingPairArrayPtr() const
-	{
-		return &m_overlappingPairArray[0];
-	}
-
-	btSimplePairArray& getOverlappingPairArray()
-	{
-		return m_overlappingPairArray;
-	}
-
-	const btSimplePairArray& getOverlappingPairArray() const
-	{
-		return m_overlappingPairArray;
-	}
-
-	btSimplePair* findPair(int indexA, int indexB);
-
-	int GetCount() const { return m_overlappingPairArray.size(); }
-
-	int getNumOverlappingPairs() const
-	{
-		return m_overlappingPairArray.size();
-	}
-
-private:
-	btSimplePair* internalAddPair(int indexA, int indexB);
-
-	void growTables();
-
-	SIMD_FORCE_INLINE bool equalsPair(const btSimplePair& pair, int indexA, int indexB)
-	{
-		return pair.m_indexA == indexA && pair.m_indexB == indexB;
-	}
-
-	SIMD_FORCE_INLINE unsigned int getHash(unsigned int indexA, unsigned int indexB)
-	{
-		unsigned int key = indexA | (indexB << 16);
-		// Thomas Wang's hash
-
-		key += ~(key << 15);
-		key ^= (key >> 10);
-		key += (key << 3);
-		key ^= (key >> 6);
-		key += ~(key << 11);
-		key ^= (key >> 16);
-		return key;
-	}
-
-	SIMD_FORCE_INLINE btSimplePair* internalFindPair(int proxyIdA, int proxyIdB, int hash)
-	{
-		int index = m_hashTable[hash];
-
-		while (index != BT_SIMPLE_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyIdA, proxyIdB) == false)
-		{
-			index = m_next[index];
-		}
-
-		if (index == BT_SIMPLE_NULL_PAIR)
-		{
-			return NULL;
-		}
-
-		btAssert(index < m_overlappingPairArray.size());
-
-		return &m_overlappingPairArray[index];
-	}
-};
-
-#endif  //BT_HASHED_SIMPLE_PAIR_CACHE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
deleted file mode 100644
index a71700f58a..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
+++ /dev/null
@@ -1,900 +0,0 @@
-#include "btInternalEdgeUtility.h"
-
-#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
-#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
-
-#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h"
-#include "BulletCollision/CollisionShapes/btTriangleShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
-#include "LinearMath/btIDebugDraw.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-//#define DEBUG_INTERNAL_EDGE
-
-#ifdef DEBUG_INTERNAL_EDGE
-#include <stdio.h>
-#endif  //DEBUG_INTERNAL_EDGE
-
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-static btIDebugDraw* gDebugDrawer = 0;
-
-void btSetDebugDrawer(btIDebugDraw* debugDrawer)
-{
-	gDebugDrawer = debugDrawer;
-}
-
-static void btDebugDrawLine(const btVector3& from, const btVector3& to, const btVector3& color)
-{
-	if (gDebugDrawer)
-		gDebugDrawer->drawLine(from, to, color);
-}
-#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-static int btGetHash(int partId, int triangleIndex)
-{
-	int hash = (partId << (31 - MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
-	return hash;
-}
-
-static btScalar btGetAngle(const btVector3& edgeA, const btVector3& normalA, const btVector3& normalB)
-{
-	const btVector3 refAxis0 = edgeA;
-	const btVector3 refAxis1 = normalA;
-	const btVector3 swingAxis = normalB;
-	btScalar angle = btAtan2(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
-	return angle;
-}
-
-struct btConnectivityProcessor : public btTriangleCallback
-{
-	int m_partIdA;
-	int m_triangleIndexA;
-	btVector3* m_triangleVerticesA;
-	btTriangleInfoMap* m_triangleInfoMap;
-
-	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
-	{
-		//skip self-collisions
-		if ((m_partIdA == partId) && (m_triangleIndexA == triangleIndex))
-			return;
-
-		//skip duplicates (disabled for now)
-		//if ((m_partIdA <= partId) && (m_triangleIndexA <= triangleIndex))
-		//	return;
-
-		//search for shared vertices and edges
-		int numshared = 0;
-		int sharedVertsA[3] = {-1, -1, -1};
-		int sharedVertsB[3] = {-1, -1, -1};
-
-		///skip degenerate triangles
-		btScalar crossBSqr = ((triangle[1] - triangle[0]).cross(triangle[2] - triangle[0])).length2();
-		if (crossBSqr < m_triangleInfoMap->m_equalVertexThreshold)
-			return;
-
-		btScalar crossASqr = ((m_triangleVerticesA[1] - m_triangleVerticesA[0]).cross(m_triangleVerticesA[2] - m_triangleVerticesA[0])).length2();
-		///skip degenerate triangles
-		if (crossASqr < m_triangleInfoMap->m_equalVertexThreshold)
-			return;
-
-#if 0
-		printf("triangle A[0]	=	(%f,%f,%f)\ntriangle A[1]	=	(%f,%f,%f)\ntriangle A[2]	=	(%f,%f,%f)\n",
-			m_triangleVerticesA[0].getX(),m_triangleVerticesA[0].getY(),m_triangleVerticesA[0].getZ(),
-			m_triangleVerticesA[1].getX(),m_triangleVerticesA[1].getY(),m_triangleVerticesA[1].getZ(),
-			m_triangleVerticesA[2].getX(),m_triangleVerticesA[2].getY(),m_triangleVerticesA[2].getZ());
-
-		printf("partId=%d, triangleIndex=%d\n",partId,triangleIndex);
-		printf("triangle B[0]	=	(%f,%f,%f)\ntriangle B[1]	=	(%f,%f,%f)\ntriangle B[2]	=	(%f,%f,%f)\n",
-			triangle[0].getX(),triangle[0].getY(),triangle[0].getZ(),
-			triangle[1].getX(),triangle[1].getY(),triangle[1].getZ(),
-			triangle[2].getX(),triangle[2].getY(),triangle[2].getZ());
-#endif
-
-		for (int i = 0; i < 3; i++)
-		{
-			for (int j = 0; j < 3; j++)
-			{
-				if ((m_triangleVerticesA[i] - triangle[j]).length2() < m_triangleInfoMap->m_equalVertexThreshold)
-				{
-					sharedVertsA[numshared] = i;
-					sharedVertsB[numshared] = j;
-					numshared++;
-					///degenerate case
-					if (numshared >= 3)
-						return;
-				}
-			}
-			///degenerate case
-			if (numshared >= 3)
-				return;
-		}
-		switch (numshared)
-		{
-			case 0:
-			{
-				break;
-			}
-			case 1:
-			{
-				//shared vertex
-				break;
-			}
-			case 2:
-			{
-				//shared edge
-				//we need to make sure the edge is in the order V2V0 and not V0V2 so that the signs are correct
-				if (sharedVertsA[0] == 0 && sharedVertsA[1] == 2)
-				{
-					sharedVertsA[0] = 2;
-					sharedVertsA[1] = 0;
-					int tmp = sharedVertsB[1];
-					sharedVertsB[1] = sharedVertsB[0];
-					sharedVertsB[0] = tmp;
-				}
-
-				int hash = btGetHash(m_partIdA, m_triangleIndexA);
-
-				btTriangleInfo* info = m_triangleInfoMap->find(hash);
-				if (!info)
-				{
-					btTriangleInfo tmp;
-					m_triangleInfoMap->insert(hash, tmp);
-					info = m_triangleInfoMap->find(hash);
-				}
-
-				int sumvertsA = sharedVertsA[0] + sharedVertsA[1];
-				int otherIndexA = 3 - sumvertsA;
-
-				btVector3 edge(m_triangleVerticesA[sharedVertsA[1]] - m_triangleVerticesA[sharedVertsA[0]]);
-
-				btTriangleShape tA(m_triangleVerticesA[0], m_triangleVerticesA[1], m_triangleVerticesA[2]);
-				int otherIndexB = 3 - (sharedVertsB[0] + sharedVertsB[1]);
-
-				btTriangleShape tB(triangle[sharedVertsB[1]], triangle[sharedVertsB[0]], triangle[otherIndexB]);
-				//btTriangleShape tB(triangle[0],triangle[1],triangle[2]);
-
-				btVector3 normalA;
-				btVector3 normalB;
-				tA.calcNormal(normalA);
-				tB.calcNormal(normalB);
-				edge.normalize();
-				btVector3 edgeCrossA = edge.cross(normalA).normalize();
-
-				{
-					btVector3 tmp = m_triangleVerticesA[otherIndexA] - m_triangleVerticesA[sharedVertsA[0]];
-					if (edgeCrossA.dot(tmp) < 0)
-					{
-						edgeCrossA *= -1;
-					}
-				}
-
-				btVector3 edgeCrossB = edge.cross(normalB).normalize();
-
-				{
-					btVector3 tmp = triangle[otherIndexB] - triangle[sharedVertsB[0]];
-					if (edgeCrossB.dot(tmp) < 0)
-					{
-						edgeCrossB *= -1;
-					}
-				}
-
-				btScalar angle2 = 0;
-				btScalar ang4 = 0.f;
-
-				btVector3 calculatedEdge = edgeCrossA.cross(edgeCrossB);
-				btScalar len2 = calculatedEdge.length2();
-
-				btScalar correctedAngle(0);
-				//btVector3 calculatedNormalB = normalA;
-				bool isConvex = false;
-
-				if (len2 < m_triangleInfoMap->m_planarEpsilon)
-				{
-					angle2 = 0.f;
-					ang4 = 0.f;
-				}
-				else
-				{
-					calculatedEdge.normalize();
-					btVector3 calculatedNormalA = calculatedEdge.cross(edgeCrossA);
-					calculatedNormalA.normalize();
-					angle2 = btGetAngle(calculatedNormalA, edgeCrossA, edgeCrossB);
-					ang4 = SIMD_PI - angle2;
-					btScalar dotA = normalA.dot(edgeCrossB);
-					///@todo: check if we need some epsilon, due to floating point imprecision
-					isConvex = (dotA < 0.);
-
-					correctedAngle = isConvex ? ang4 : -ang4;
-				}
-
-				//alternatively use
-				//btVector3 calculatedNormalB2 = quatRotate(orn,normalA);
-
-				switch (sumvertsA)
-				{
-					case 1:
-					{
-						btVector3 edge = m_triangleVerticesA[0] - m_triangleVerticesA[1];
-						btQuaternion orn(edge, -correctedAngle);
-						btVector3 computedNormalB = quatRotate(orn, normalA);
-						btScalar bla = computedNormalB.dot(normalB);
-						if (bla < 0)
-						{
-							computedNormalB *= -1;
-							info->m_flags |= TRI_INFO_V0V1_SWAP_NORMALB;
-						}
-#ifdef DEBUG_INTERNAL_EDGE
-						if ((computedNormalB - normalB).length() > 0.0001)
-						{
-							printf("warning: normals not identical\n");
-						}
-#endif  //DEBUG_INTERNAL_EDGE
-
-						info->m_edgeV0V1Angle = -correctedAngle;
-
-						if (isConvex)
-							info->m_flags |= TRI_INFO_V0V1_CONVEX;
-						break;
-					}
-					case 2:
-					{
-						btVector3 edge = m_triangleVerticesA[2] - m_triangleVerticesA[0];
-						btQuaternion orn(edge, -correctedAngle);
-						btVector3 computedNormalB = quatRotate(orn, normalA);
-						if (computedNormalB.dot(normalB) < 0)
-						{
-							computedNormalB *= -1;
-							info->m_flags |= TRI_INFO_V2V0_SWAP_NORMALB;
-						}
-
-#ifdef DEBUG_INTERNAL_EDGE
-						if ((computedNormalB - normalB).length() > 0.0001)
-						{
-							printf("warning: normals not identical\n");
-						}
-#endif  //DEBUG_INTERNAL_EDGE
-						info->m_edgeV2V0Angle = -correctedAngle;
-						if (isConvex)
-							info->m_flags |= TRI_INFO_V2V0_CONVEX;
-						break;
-					}
-					case 3:
-					{
-						btVector3 edge = m_triangleVerticesA[1] - m_triangleVerticesA[2];
-						btQuaternion orn(edge, -correctedAngle);
-						btVector3 computedNormalB = quatRotate(orn, normalA);
-						if (computedNormalB.dot(normalB) < 0)
-						{
-							info->m_flags |= TRI_INFO_V1V2_SWAP_NORMALB;
-							computedNormalB *= -1;
-						}
-#ifdef DEBUG_INTERNAL_EDGE
-						if ((computedNormalB - normalB).length() > 0.0001)
-						{
-							printf("warning: normals not identical\n");
-						}
-#endif  //DEBUG_INTERNAL_EDGE
-						info->m_edgeV1V2Angle = -correctedAngle;
-
-						if (isConvex)
-							info->m_flags |= TRI_INFO_V1V2_CONVEX;
-						break;
-					}
-				}
-
-				break;
-			}
-			default:
-			{
-				//				printf("warning: duplicate triangle\n");
-			}
-		}
-	}
-};
-
-
-struct b3ProcessAllTrianglesHeightfield: public btTriangleCallback
-{
-	btHeightfieldTerrainShape* m_heightfieldShape;
-	btTriangleInfoMap* m_triangleInfoMap;
-	
-
-	b3ProcessAllTrianglesHeightfield(btHeightfieldTerrainShape* heightFieldShape, btTriangleInfoMap* triangleInfoMap)
-		:m_heightfieldShape(heightFieldShape),
-		m_triangleInfoMap(triangleInfoMap)
-	{
-	}
-	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
-	{
-		btConnectivityProcessor connectivityProcessor;
-		connectivityProcessor.m_partIdA = partId;
-		connectivityProcessor.m_triangleIndexA = triangleIndex;
-		connectivityProcessor.m_triangleVerticesA = triangle;
-		connectivityProcessor.m_triangleInfoMap = m_triangleInfoMap;
-		btVector3 aabbMin, aabbMax;
-		aabbMin.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-		aabbMax.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
-		aabbMin.setMin(triangle[0]);
-		aabbMax.setMax(triangle[0]);
-		aabbMin.setMin(triangle[1]);
-		aabbMax.setMax(triangle[1]);
-		aabbMin.setMin(triangle[2]);
-		aabbMax.setMax(triangle[2]);
-
-		m_heightfieldShape->processAllTriangles(&connectivityProcessor, aabbMin, aabbMax);
-	}
-};
-/////////////////////////////////////////////////////////
-/////////////////////////////////////////////////////////
-
-void btGenerateInternalEdgeInfo(btBvhTriangleMeshShape* trimeshShape, btTriangleInfoMap* triangleInfoMap)
-{
-	//the user pointer shouldn't already be used for other purposes, we intend to store connectivity info there!
-	if (trimeshShape->getTriangleInfoMap())
-		return;
-
-	trimeshShape->setTriangleInfoMap(triangleInfoMap);
-
-	btStridingMeshInterface* meshInterface = trimeshShape->getMeshInterface();
-	const btVector3& meshScaling = meshInterface->getScaling();
-
-	for (int partId = 0; partId < meshInterface->getNumSubParts(); partId++)
-	{
-		const unsigned char* vertexbase = 0;
-		int numverts = 0;
-		PHY_ScalarType type = PHY_INTEGER;
-		int stride = 0;
-		const unsigned char* indexbase = 0;
-		int indexstride = 0;
-		int numfaces = 0;
-		PHY_ScalarType indicestype = PHY_INTEGER;
-		//PHY_ScalarType indexType=0;
-
-		btVector3 triangleVerts[3];
-		meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase, numverts, type, stride, &indexbase, indexstride, numfaces, indicestype, partId);
-		btVector3 aabbMin, aabbMax;
-
-		for (int triangleIndex = 0; triangleIndex < numfaces; triangleIndex++)
-		{
-			unsigned int* gfxbase = (unsigned int*)(indexbase + triangleIndex * indexstride);
-
-			for (int j = 2; j >= 0; j--)
-			{
-				int graphicsindex;
-                                switch (indicestype) {
-                                        case PHY_INTEGER: graphicsindex = gfxbase[j]; break;
-                                        case PHY_SHORT: graphicsindex = ((unsigned short*)gfxbase)[j]; break;
-                                        case PHY_UCHAR: graphicsindex = ((unsigned char*)gfxbase)[j]; break;
-                                        default: btAssert(0);
-                                }
-				if (type == PHY_FLOAT)
-				{
-					float* graphicsbase = (float*)(vertexbase + graphicsindex * stride);
-					triangleVerts[j] = btVector3(
-						graphicsbase[0] * meshScaling.getX(),
-						graphicsbase[1] * meshScaling.getY(),
-						graphicsbase[2] * meshScaling.getZ());
-				}
-				else
-				{
-					double* graphicsbase = (double*)(vertexbase + graphicsindex * stride);
-					triangleVerts[j] = btVector3(btScalar(graphicsbase[0] * meshScaling.getX()), btScalar(graphicsbase[1] * meshScaling.getY()), btScalar(graphicsbase[2] * meshScaling.getZ()));
-				}
-			}
-			aabbMin.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-			aabbMax.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
-			aabbMin.setMin(triangleVerts[0]);
-			aabbMax.setMax(triangleVerts[0]);
-			aabbMin.setMin(triangleVerts[1]);
-			aabbMax.setMax(triangleVerts[1]);
-			aabbMin.setMin(triangleVerts[2]);
-			aabbMax.setMax(triangleVerts[2]);
-
-			btConnectivityProcessor connectivityProcessor;
-			connectivityProcessor.m_partIdA = partId;
-			connectivityProcessor.m_triangleIndexA = triangleIndex;
-			connectivityProcessor.m_triangleVerticesA = &triangleVerts[0];
-			connectivityProcessor.m_triangleInfoMap = triangleInfoMap;
-
-			trimeshShape->processAllTriangles(&connectivityProcessor, aabbMin, aabbMax);
-		}
-	}
-}
-
-
-void btGenerateInternalEdgeInfo(btHeightfieldTerrainShape* heightfieldShape, btTriangleInfoMap* triangleInfoMap)
-{
-
-	//the user pointer shouldn't already be used for other purposes, we intend to store connectivity info there!
-	if (heightfieldShape->getTriangleInfoMap())
-		return;
-
-	heightfieldShape->setTriangleInfoMap(triangleInfoMap);
-
-	//get all the triangles of the heightfield
-
-	btVector3 aabbMin, aabbMax;
-
-	aabbMax.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-	aabbMin.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
-
-	b3ProcessAllTrianglesHeightfield processHeightfield(heightfieldShape, triangleInfoMap);
-	heightfieldShape->processAllTriangles(&processHeightfield, aabbMin, aabbMax);
-
-}
-
-// Given a point and a line segment (defined by two points), compute the closest point
-// in the line.  Cap the point at the endpoints of the line segment.
-void btNearestPointInLineSegment(const btVector3& point, const btVector3& line0, const btVector3& line1, btVector3& nearestPoint)
-{
-	btVector3 lineDelta = line1 - line0;
-
-	// Handle degenerate lines
-	if (lineDelta.fuzzyZero())
-	{
-		nearestPoint = line0;
-	}
-	else
-	{
-		btScalar delta = (point - line0).dot(lineDelta) / (lineDelta).dot(lineDelta);
-
-		// Clamp the point to conform to the segment's endpoints
-		if (delta < 0)
-			delta = 0;
-		else if (delta > 1)
-			delta = 1;
-
-		nearestPoint = line0 + lineDelta * delta;
-	}
-}
-
-bool btClampNormal(const btVector3& edge, const btVector3& tri_normal_org, const btVector3& localContactNormalOnB, btScalar correctedEdgeAngle, btVector3& clampedLocalNormal)
-{
-	btVector3 tri_normal = tri_normal_org;
-	//we only have a local triangle normal, not a local contact normal -> only normal in world space...
-	//either compute the current angle all in local space, or all in world space
-
-	btVector3 edgeCross = edge.cross(tri_normal).normalize();
-	btScalar curAngle = btGetAngle(edgeCross, tri_normal, localContactNormalOnB);
-
-	if (correctedEdgeAngle < 0)
-	{
-		if (curAngle < correctedEdgeAngle)
-		{
-			btScalar diffAngle = correctedEdgeAngle - curAngle;
-			btQuaternion rotation(edge, diffAngle);
-			clampedLocalNormal = btMatrix3x3(rotation) * localContactNormalOnB;
-			return true;
-		}
-	}
-
-	if (correctedEdgeAngle >= 0)
-	{
-		if (curAngle > correctedEdgeAngle)
-		{
-			btScalar diffAngle = correctedEdgeAngle - curAngle;
-			btQuaternion rotation(edge, diffAngle);
-			clampedLocalNormal = btMatrix3x3(rotation) * localContactNormalOnB;
-			return true;
-		}
-	}
-	return false;
-}
-
-/// Changes a btManifoldPoint collision normal to the normal from the mesh.
-void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, const btCollisionObjectWrapper* colObj1Wrap, int partId0, int index0, int normalAdjustFlags)
-{
-	//btAssert(colObj0->getCollisionShape()->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE);
-	if (colObj0Wrap->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE)
-		return;
-
-	
-	btTriangleInfoMap* triangleInfoMapPtr = 0;
-
-	if (colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == TERRAIN_SHAPE_PROXYTYPE)
-	{
-		btHeightfieldTerrainShape* heightfield = (btHeightfieldTerrainShape*)colObj0Wrap->getCollisionObject()->getCollisionShape();
-		triangleInfoMapPtr = heightfield->getTriangleInfoMap();
-
-//#define USE_HEIGHTFIELD_TRIANGLES
-#ifdef USE_HEIGHTFIELD_TRIANGLES
-		btVector3 newNormal = btVector3(0, 0, 1);
-
-		const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0Wrap->getCollisionShape());
-		btVector3 tri_normal;
-		tri_shape->calcNormal(tri_normal);
-		newNormal = tri_normal;
-		//					cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
-		cp.m_normalWorldOnB = newNormal;
-		// Reproject collision point along normal. (what about cp.m_distance1?)
-		cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
-		cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
-		return;
-#endif
-	}
-
-
-	btBvhTriangleMeshShape* trimesh = 0;
-
-	if (colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)
-	{
-		trimesh = ((btScaledBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape())->getChildShape();
-	}
-	else
-	{
-		if (colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
-		{
-			trimesh = (btBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape();
-		}
-	}
-	if (trimesh)
-	{
-		triangleInfoMapPtr = (btTriangleInfoMap*)trimesh->getTriangleInfoMap();
-	}
-	
-	
-	if (!triangleInfoMapPtr)
-		return;
-
-	int hash = btGetHash(partId0, index0);
-
-	btTriangleInfo* info = triangleInfoMapPtr->find(hash);
-	if (!info)
-		return;
-
-	btScalar frontFacing = (normalAdjustFlags & BT_TRIANGLE_CONVEX_BACKFACE_MODE) == 0 ? 1.f : -1.f;
-
-	const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0Wrap->getCollisionShape());
-	btVector3 v0, v1, v2;
-	tri_shape->getVertex(0, v0);
-	tri_shape->getVertex(1, v1);
-	tri_shape->getVertex(2, v2);
-
-	//btVector3 center = (v0+v1+v2)*btScalar(1./3.);
-
-	btVector3 red(1, 0, 0), green(0, 1, 0), blue(0, 0, 1), white(1, 1, 1), black(0, 0, 0);
-	btVector3 tri_normal;
-	tri_shape->calcNormal(tri_normal);
-
-	//btScalar dot = tri_normal.dot(cp.m_normalWorldOnB);
-	btVector3 nearest;
-	btNearestPointInLineSegment(cp.m_localPointB, v0, v1, nearest);
-
-	btVector3 contact = cp.m_localPointB;
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-	const btTransform& tr = colObj0->getWorldTransform();
-	btDebugDrawLine(tr * nearest, tr * cp.m_localPointB, red);
-#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-	bool isNearEdge = false;
-
-	int numConcaveEdgeHits = 0;
-	int numConvexEdgeHits = 0;
-
-	btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
-	localContactNormalOnB.normalize();  //is this necessary?
-
-	// Get closest edge
-	int bestedge = -1;
-	btScalar disttobestedge = BT_LARGE_FLOAT;
-	//
-	// Edge 0 -> 1
-	if (btFabs(info->m_edgeV0V1Angle) < triangleInfoMapPtr->m_maxEdgeAngleThreshold)
-	{
-		btVector3 nearest;
-		btNearestPointInLineSegment(cp.m_localPointB, v0, v1, nearest);
-		btScalar len = (contact - nearest).length();
-		//
-		if (len < disttobestedge)
-		{
-			bestedge = 0;
-			disttobestedge = len;
-		}
-	}
-	// Edge 1 -> 2
-	if (btFabs(info->m_edgeV1V2Angle) < triangleInfoMapPtr->m_maxEdgeAngleThreshold)
-	{
-		btVector3 nearest;
-		btNearestPointInLineSegment(cp.m_localPointB, v1, v2, nearest);
-		btScalar len = (contact - nearest).length();
-		//
-		if (len < disttobestedge)
-		{
-			bestedge = 1;
-			disttobestedge = len;
-		}
-	}
-	// Edge 2 -> 0
-	if (btFabs(info->m_edgeV2V0Angle) < triangleInfoMapPtr->m_maxEdgeAngleThreshold)
-	{
-		btVector3 nearest;
-		btNearestPointInLineSegment(cp.m_localPointB, v2, v0, nearest);
-		btScalar len = (contact - nearest).length();
-		//
-		if (len < disttobestedge)
-		{
-			bestedge = 2;
-			disttobestedge = len;
-		}
-	}
-
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-	btVector3 upfix = tri_normal * btVector3(0.1f, 0.1f, 0.1f);
-	btDebugDrawLine(tr * v0 + upfix, tr * v1 + upfix, red);
-#endif
-	if (btFabs(info->m_edgeV0V1Angle) < triangleInfoMapPtr->m_maxEdgeAngleThreshold)
-	{
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-		btDebugDrawLine(tr * contact, tr * (contact + cp.m_normalWorldOnB * 10), black);
-#endif
-		btScalar len = (contact - nearest).length();
-		if (len < triangleInfoMapPtr->m_edgeDistanceThreshold)
-			if (bestedge == 0)
-			{
-				btVector3 edge(v0 - v1);
-				isNearEdge = true;
-
-				if (info->m_edgeV0V1Angle == btScalar(0))
-				{
-					numConcaveEdgeHits++;
-				}
-				else
-				{
-					bool isEdgeConvex = (info->m_flags & TRI_INFO_V0V1_CONVEX);
-					btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-					btDebugDrawLine(tr * nearest, tr * (nearest + swapFactor * tri_normal * 10), white);
-#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-					btVector3 nA = swapFactor * tri_normal;
-
-					btQuaternion orn(edge, info->m_edgeV0V1Angle);
-					btVector3 computedNormalB = quatRotate(orn, tri_normal);
-					if (info->m_flags & TRI_INFO_V0V1_SWAP_NORMALB)
-						computedNormalB *= -1;
-					btVector3 nB = swapFactor * computedNormalB;
-
-					btScalar NdotA = localContactNormalOnB.dot(nA);
-					btScalar NdotB = localContactNormalOnB.dot(nB);
-					bool backFacingNormal = (NdotA < triangleInfoMapPtr->m_convexEpsilon) && (NdotB < triangleInfoMapPtr->m_convexEpsilon);
-
-#ifdef DEBUG_INTERNAL_EDGE
-					{
-						btDebugDrawLine(cp.getPositionWorldOnB(), cp.getPositionWorldOnB() + tr.getBasis() * (nB * 20), red);
-					}
-#endif  //DEBUG_INTERNAL_EDGE
-
-					if (backFacingNormal)
-					{
-						numConcaveEdgeHits++;
-					}
-					else
-					{
-						numConvexEdgeHits++;
-						btVector3 clampedLocalNormal;
-						bool isClamped = btClampNormal(edge, swapFactor * tri_normal, localContactNormalOnB, info->m_edgeV0V1Angle, clampedLocalNormal);
-						if (isClamped)
-						{
-							if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED) != 0) || (clampedLocalNormal.dot(frontFacing * tri_normal) > 0))
-							{
-								btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
-								//					cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
-								cp.m_normalWorldOnB = newNormal;
-								// Reproject collision point along normal. (what about cp.m_distance1?)
-								cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
-								cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
-							}
-						}
-					}
-				}
-			}
-	}
-
-	btNearestPointInLineSegment(contact, v1, v2, nearest);
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-	btDebugDrawLine(tr * nearest, tr * cp.m_localPointB, green);
-#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-	btDebugDrawLine(tr * v1 + upfix, tr * v2 + upfix, green);
-#endif
-
-	if (btFabs(info->m_edgeV1V2Angle) < triangleInfoMapPtr->m_maxEdgeAngleThreshold)
-	{
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-		btDebugDrawLine(tr * contact, tr * (contact + cp.m_normalWorldOnB * 10), black);
-#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-		btScalar len = (contact - nearest).length();
-		if (len < triangleInfoMapPtr->m_edgeDistanceThreshold)
-			if (bestedge == 1)
-			{
-				isNearEdge = true;
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-				btDebugDrawLine(tr * nearest, tr * (nearest + tri_normal * 10), white);
-#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-				btVector3 edge(v1 - v2);
-
-				isNearEdge = true;
-
-				if (info->m_edgeV1V2Angle == btScalar(0))
-				{
-					numConcaveEdgeHits++;
-				}
-				else
-				{
-					bool isEdgeConvex = (info->m_flags & TRI_INFO_V1V2_CONVEX) != 0;
-					btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-					btDebugDrawLine(tr * nearest, tr * (nearest + swapFactor * tri_normal * 10), white);
-#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-					btVector3 nA = swapFactor * tri_normal;
-
-					btQuaternion orn(edge, info->m_edgeV1V2Angle);
-					btVector3 computedNormalB = quatRotate(orn, tri_normal);
-					if (info->m_flags & TRI_INFO_V1V2_SWAP_NORMALB)
-						computedNormalB *= -1;
-					btVector3 nB = swapFactor * computedNormalB;
-
-#ifdef DEBUG_INTERNAL_EDGE
-					{
-						btDebugDrawLine(cp.getPositionWorldOnB(), cp.getPositionWorldOnB() + tr.getBasis() * (nB * 20), red);
-					}
-#endif  //DEBUG_INTERNAL_EDGE
-
-					btScalar NdotA = localContactNormalOnB.dot(nA);
-					btScalar NdotB = localContactNormalOnB.dot(nB);
-					bool backFacingNormal = (NdotA < triangleInfoMapPtr->m_convexEpsilon) && (NdotB < triangleInfoMapPtr->m_convexEpsilon);
-
-					if (backFacingNormal)
-					{
-						numConcaveEdgeHits++;
-					}
-					else
-					{
-						numConvexEdgeHits++;
-						btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
-						btVector3 clampedLocalNormal;
-						bool isClamped = btClampNormal(edge, swapFactor * tri_normal, localContactNormalOnB, info->m_edgeV1V2Angle, clampedLocalNormal);
-						if (isClamped)
-						{
-							if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED) != 0) || (clampedLocalNormal.dot(frontFacing * tri_normal) > 0))
-							{
-								btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
-								//					cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
-								cp.m_normalWorldOnB = newNormal;
-								// Reproject collision point along normal.
-								cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
-								cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
-							}
-						}
-					}
-				}
-			}
-	}
-
-	btNearestPointInLineSegment(contact, v2, v0, nearest);
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-	btDebugDrawLine(tr * nearest, tr * cp.m_localPointB, blue);
-#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-	btDebugDrawLine(tr * v2 + upfix, tr * v0 + upfix, blue);
-#endif
-
-	if (btFabs(info->m_edgeV2V0Angle) < triangleInfoMapPtr->m_maxEdgeAngleThreshold)
-	{
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-		btDebugDrawLine(tr * contact, tr * (contact + cp.m_normalWorldOnB * 10), black);
-#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-		btScalar len = (contact - nearest).length();
-		if (len < triangleInfoMapPtr->m_edgeDistanceThreshold)
-			if (bestedge == 2)
-			{
-				isNearEdge = true;
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-				btDebugDrawLine(tr * nearest, tr * (nearest + tri_normal * 10), white);
-#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-				btVector3 edge(v2 - v0);
-
-				if (info->m_edgeV2V0Angle == btScalar(0))
-				{
-					numConcaveEdgeHits++;
-				}
-				else
-				{
-					bool isEdgeConvex = (info->m_flags & TRI_INFO_V2V0_CONVEX) != 0;
-					btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-					btDebugDrawLine(tr * nearest, tr * (nearest + swapFactor * tri_normal * 10), white);
-#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-					btVector3 nA = swapFactor * tri_normal;
-					btQuaternion orn(edge, info->m_edgeV2V0Angle);
-					btVector3 computedNormalB = quatRotate(orn, tri_normal);
-					if (info->m_flags & TRI_INFO_V2V0_SWAP_NORMALB)
-						computedNormalB *= -1;
-					btVector3 nB = swapFactor * computedNormalB;
-
-#ifdef DEBUG_INTERNAL_EDGE
-					{
-						btDebugDrawLine(cp.getPositionWorldOnB(), cp.getPositionWorldOnB() + tr.getBasis() * (nB * 20), red);
-					}
-#endif  //DEBUG_INTERNAL_EDGE
-
-					btScalar NdotA = localContactNormalOnB.dot(nA);
-					btScalar NdotB = localContactNormalOnB.dot(nB);
-					bool backFacingNormal = (NdotA < triangleInfoMapPtr->m_convexEpsilon) && (NdotB < triangleInfoMapPtr->m_convexEpsilon);
-
-					if (backFacingNormal)
-					{
-						numConcaveEdgeHits++;
-					}
-					else
-					{
-						numConvexEdgeHits++;
-						//				printf("hitting convex edge\n");
-
-						btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
-						btVector3 clampedLocalNormal;
-						bool isClamped = btClampNormal(edge, swapFactor * tri_normal, localContactNormalOnB, info->m_edgeV2V0Angle, clampedLocalNormal);
-						if (isClamped)
-						{
-							if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED) != 0) || (clampedLocalNormal.dot(frontFacing * tri_normal) > 0))
-							{
-								btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
-								//					cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
-								cp.m_normalWorldOnB = newNormal;
-								// Reproject collision point along normal.
-								cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
-								cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
-							}
-						}
-					}
-				}
-			}
-	}
-
-#ifdef DEBUG_INTERNAL_EDGE
-	{
-		btVector3 color(0, 1, 1);
-		btDebugDrawLine(cp.getPositionWorldOnB(), cp.getPositionWorldOnB() + cp.m_normalWorldOnB * 10, color);
-	}
-#endif  //DEBUG_INTERNAL_EDGE
-
-	if (isNearEdge)
-	{
-		if (numConcaveEdgeHits > 0)
-		{
-			if ((normalAdjustFlags & BT_TRIANGLE_CONCAVE_DOUBLE_SIDED) != 0)
-			{
-				//fix tri_normal so it pointing the same direction as the current local contact normal
-				if (tri_normal.dot(localContactNormalOnB) < 0)
-				{
-					tri_normal *= -1;
-				}
-				cp.m_normalWorldOnB = colObj0Wrap->getWorldTransform().getBasis() * tri_normal;
-			}
-			else
-			{
-				btVector3 newNormal = tri_normal * frontFacing;
-				//if the tri_normal is pointing opposite direction as the current local contact normal, skip it
-				btScalar d = newNormal.dot(localContactNormalOnB);
-				if (d < 0)
-				{
-					return;
-				}
-				//modify the normal to be the triangle normal (or backfacing normal)
-				cp.m_normalWorldOnB = colObj0Wrap->getWorldTransform().getBasis() * newNormal;
-			}
-
-			// Reproject collision point along normal.
-			cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
-			cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
-		}
-	}
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
deleted file mode 100644
index cc6d11c241..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
+++ /dev/null
@@ -1,44 +0,0 @@
-
-#ifndef BT_INTERNAL_EDGE_UTILITY_H
-#define BT_INTERNAL_EDGE_UTILITY_H
-
-#include "LinearMath/btHashMap.h"
-#include "LinearMath/btVector3.h"
-
-#include "BulletCollision/CollisionShapes/btTriangleInfoMap.h"
-
-///The btInternalEdgeUtility helps to avoid or reduce artifacts due to wrong collision normals caused by internal edges.
-///See also http://code.google.com/p/bullet/issues/detail?id=27
-
-class btBvhTriangleMeshShape;
-class btCollisionObject;
-struct btCollisionObjectWrapper;
-class btManifoldPoint;
-class btIDebugDraw;
-class btHeightfieldTerrainShape;
-
-enum btInternalEdgeAdjustFlags
-{
-	BT_TRIANGLE_CONVEX_BACKFACE_MODE = 1,
-	BT_TRIANGLE_CONCAVE_DOUBLE_SIDED = 2,  //double sided options are experimental, single sided is recommended
-	BT_TRIANGLE_CONVEX_DOUBLE_SIDED = 4
-};
-
-///Call btGenerateInternalEdgeInfo to create triangle info, store in the shape 'userInfo'
-void btGenerateInternalEdgeInfo(btBvhTriangleMeshShape* trimeshShape, btTriangleInfoMap* triangleInfoMap);
-
-void btGenerateInternalEdgeInfo(btHeightfieldTerrainShape* trimeshShape, btTriangleInfoMap* triangleInfoMap);
-
-///Call the btFixMeshNormal to adjust the collision normal, using the triangle info map (generated using btGenerateInternalEdgeInfo)
-///If this info map is missing, or the triangle is not store in this map, nothing will be done
-void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* trimeshColObj0Wrap, const btCollisionObjectWrapper* otherColObj1Wrap, int partId0, int index0, int normalAdjustFlags = 0);
-
-///Enable the BT_INTERNAL_EDGE_DEBUG_DRAW define and call btSetDebugDrawer, to get visual info to see if the internal edge utility works properly.
-///If the utility doesn't work properly, you might have to adjust the threshold values in btTriangleInfoMap
-//#define BT_INTERNAL_EDGE_DEBUG_DRAW
-
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-void btSetDebugDrawer(btIDebugDraw* debugDrawer);
-#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-#endif  //BT_INTERNAL_EDGE_UTILITY_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btManifoldResult.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btManifoldResult.cpp
deleted file mode 100644
index 770eb24369..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btManifoldResult.cpp
+++ /dev/null
@@ -1,203 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btManifoldResult.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-///This is to allow MaterialCombiner/Custom Friction/Restitution values
-ContactAddedCallback gContactAddedCallback = 0;
-
-CalculateCombinedCallback gCalculateCombinedRestitutionCallback = &btManifoldResult::calculateCombinedRestitution;
-CalculateCombinedCallback gCalculateCombinedFrictionCallback = &btManifoldResult::calculateCombinedFriction;
-CalculateCombinedCallback gCalculateCombinedRollingFrictionCallback = &btManifoldResult::calculateCombinedRollingFriction;
-CalculateCombinedCallback gCalculateCombinedSpinningFrictionCallback = &btManifoldResult::calculateCombinedSpinningFriction;
-CalculateCombinedCallback gCalculateCombinedContactDampingCallback = &btManifoldResult::calculateCombinedContactDamping;
-CalculateCombinedCallback gCalculateCombinedContactStiffnessCallback = &btManifoldResult::calculateCombinedContactStiffness;
-
-btScalar btManifoldResult::calculateCombinedRollingFriction(const btCollisionObject* body0, const btCollisionObject* body1)
-{
-	btScalar friction = body0->getRollingFriction() * body1->getFriction() + body1->getRollingFriction() * body0->getFriction();
-
-	const btScalar MAX_FRICTION = btScalar(10.);
-	if (friction < -MAX_FRICTION)
-		friction = -MAX_FRICTION;
-	if (friction > MAX_FRICTION)
-		friction = MAX_FRICTION;
-	return friction;
-}
-
-btScalar btManifoldResult::calculateCombinedSpinningFriction(const btCollisionObject* body0, const btCollisionObject* body1)
-{
-	btScalar friction = body0->getSpinningFriction() * body1->getFriction() + body1->getSpinningFriction() * body0->getFriction();
-
-	const btScalar MAX_FRICTION = btScalar(10.);
-	if (friction < -MAX_FRICTION)
-		friction = -MAX_FRICTION;
-	if (friction > MAX_FRICTION)
-		friction = MAX_FRICTION;
-	return friction;
-}
-
-///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
-btScalar btManifoldResult::calculateCombinedFriction(const btCollisionObject* body0, const btCollisionObject* body1)
-{
-	btScalar friction = body0->getFriction() * body1->getFriction();
-
-	const btScalar MAX_FRICTION = btScalar(10.);
-	if (friction < -MAX_FRICTION)
-		friction = -MAX_FRICTION;
-	if (friction > MAX_FRICTION)
-		friction = MAX_FRICTION;
-	return friction;
-}
-
-btScalar btManifoldResult::calculateCombinedRestitution(const btCollisionObject* body0, const btCollisionObject* body1)
-{
-	return body0->getRestitution() * body1->getRestitution();
-}
-
-btScalar btManifoldResult::calculateCombinedContactDamping(const btCollisionObject* body0, const btCollisionObject* body1)
-{
-	return body0->getContactDamping() + body1->getContactDamping();
-}
-
-btScalar btManifoldResult::calculateCombinedContactStiffness(const btCollisionObject* body0, const btCollisionObject* body1)
-{
-	btScalar s0 = body0->getContactStiffness();
-	btScalar s1 = body1->getContactStiffness();
-
-	btScalar tmp0 = btScalar(1) / s0;
-	btScalar tmp1 = btScalar(1) / s1;
-	btScalar combinedStiffness = btScalar(1) / (tmp0 + tmp1);
-	return combinedStiffness;
-}
-
-btManifoldResult::btManifoldResult(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-	: m_manifoldPtr(0),
-	  m_body0Wrap(body0Wrap),
-	  m_body1Wrap(body1Wrap)
-#ifdef DEBUG_PART_INDEX
-	  ,
-	  m_partId0(-1),
-	  m_partId1(-1),
-	  m_index0(-1),
-	  m_index1(-1)
-#endif  //DEBUG_PART_INDEX
-	  ,
-	  m_closestPointDistanceThreshold(0)
-{
-}
-
-void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
-{
-	btAssert(m_manifoldPtr);
-	//order in manifold needs to match
-
-	if (depth > m_manifoldPtr->getContactBreakingThreshold())
-		//	if (depth > m_manifoldPtr->getContactProcessingThreshold())
-		return;
-
-	bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
-	bool isNewCollision = m_manifoldPtr->getNumContacts() == 0;
-
-	btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
-
-	btVector3 localA;
-	btVector3 localB;
-
-	if (isSwapped)
-	{
-		localA = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointA);
-		localB = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
-	}
-	else
-	{
-		localA = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointA);
-		localB = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
-	}
-
-	btManifoldPoint newPt(localA, localB, normalOnBInWorld, depth);
-	newPt.m_positionWorldOnA = pointA;
-	newPt.m_positionWorldOnB = pointInWorld;
-
-	int insertIndex = m_manifoldPtr->getCacheEntry(newPt);
-
-	newPt.m_combinedFriction = gCalculateCombinedFrictionCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
-	newPt.m_combinedRestitution = gCalculateCombinedRestitutionCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
-	newPt.m_combinedRollingFriction = gCalculateCombinedRollingFrictionCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
-	newPt.m_combinedSpinningFriction = gCalculateCombinedSpinningFrictionCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
-
-	if ((m_body0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING) ||
-		(m_body1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING))
-	{
-		newPt.m_combinedContactDamping1 = gCalculateCombinedContactDampingCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
-		newPt.m_combinedContactStiffness1 = gCalculateCombinedContactStiffnessCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
-		newPt.m_contactPointFlags |= BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING;
-	}
-
-	if ((m_body0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_HAS_FRICTION_ANCHOR) ||
-		(m_body1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_HAS_FRICTION_ANCHOR))
-	{
-		newPt.m_contactPointFlags |= BT_CONTACT_FLAG_FRICTION_ANCHOR;
-	}
-
-	btPlaneSpace1(newPt.m_normalWorldOnB, newPt.m_lateralFrictionDir1, newPt.m_lateralFrictionDir2);
-
-	//BP mod, store contact triangles.
-	if (isSwapped)
-	{
-		newPt.m_partId0 = m_partId1;
-		newPt.m_partId1 = m_partId0;
-		newPt.m_index0 = m_index1;
-		newPt.m_index1 = m_index0;
-	}
-	else
-	{
-		newPt.m_partId0 = m_partId0;
-		newPt.m_partId1 = m_partId1;
-		newPt.m_index0 = m_index0;
-		newPt.m_index1 = m_index1;
-	}
-	//printf("depth=%f\n",depth);
-	///@todo, check this for any side effects
-	if (insertIndex >= 0)
-	{
-		//const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);
-		m_manifoldPtr->replaceContactPoint(newPt, insertIndex);
-	}
-	else
-	{
-		insertIndex = m_manifoldPtr->addManifoldPoint(newPt);
-	}
-
-	//User can override friction and/or restitution
-	if (gContactAddedCallback &&
-		//and if either of the two bodies requires custom material
-		((m_body0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
-		 (m_body1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
-	{
-		//experimental feature info, for per-triangle material etc.
-		const btCollisionObjectWrapper* obj0Wrap = isSwapped ? m_body1Wrap : m_body0Wrap;
-		const btCollisionObjectWrapper* obj1Wrap = isSwapped ? m_body0Wrap : m_body1Wrap;
-		(*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex), obj0Wrap, newPt.m_partId0, newPt.m_index0, obj1Wrap, newPt.m_partId1, newPt.m_index1);
-	}
-
-	if (gContactStartedCallback && isNewCollision)
-	{
-		gContactStartedCallback(m_manifoldPtr);
-	}
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btManifoldResult.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btManifoldResult.h
deleted file mode 100644
index 6c0a2d9a43..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btManifoldResult.h
+++ /dev/null
@@ -1,163 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_MANIFOLD_RESULT_H
-#define BT_MANIFOLD_RESULT_H
-
-class btCollisionObject;
-struct btCollisionObjectWrapper;
-
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-class btManifoldPoint;
-
-#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
-
-#include "LinearMath/btTransform.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-
-typedef bool (*ContactAddedCallback)(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper* colObj1Wrap, int partId1, int index1);
-extern ContactAddedCallback gContactAddedCallback;
-
-//#define DEBUG_PART_INDEX 1
-
-/// These callbacks are used to customize the algorith that combine restitution, friction, damping, Stiffness
-typedef btScalar (*CalculateCombinedCallback)(const btCollisionObject* body0, const btCollisionObject* body1);
-
-extern CalculateCombinedCallback gCalculateCombinedRestitutionCallback;
-extern CalculateCombinedCallback gCalculateCombinedFrictionCallback;
-extern CalculateCombinedCallback gCalculateCombinedRollingFrictionCallback;
-extern CalculateCombinedCallback gCalculateCombinedSpinningFrictionCallback;
-extern CalculateCombinedCallback gCalculateCombinedContactDampingCallback;
-extern CalculateCombinedCallback gCalculateCombinedContactStiffnessCallback;
-
-///btManifoldResult is a helper class to manage  contact results.
-class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result
-{
-protected:
-	btPersistentManifold* m_manifoldPtr;
-
-	const btCollisionObjectWrapper* m_body0Wrap;
-	const btCollisionObjectWrapper* m_body1Wrap;
-	int m_partId0;
-	int m_partId1;
-	int m_index0;
-	int m_index1;
-
-public:
-	btManifoldResult()
-		:
-#ifdef DEBUG_PART_INDEX
-
-		  m_partId0(-1),
-		  m_partId1(-1),
-		  m_index0(-1),
-		  m_index1(-1)
-#endif  //DEBUG_PART_INDEX
-			  m_closestPointDistanceThreshold(0)
-	{
-	}
-
-	btManifoldResult(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
-
-	virtual ~btManifoldResult(){};
-
-	void setPersistentManifold(btPersistentManifold* manifoldPtr)
-	{
-		m_manifoldPtr = manifoldPtr;
-	}
-
-	const btPersistentManifold* getPersistentManifold() const
-	{
-		return m_manifoldPtr;
-	}
-	btPersistentManifold* getPersistentManifold()
-	{
-		return m_manifoldPtr;
-	}
-
-	virtual void setShapeIdentifiersA(int partId0, int index0)
-	{
-		m_partId0 = partId0;
-		m_index0 = index0;
-	}
-
-	virtual void setShapeIdentifiersB(int partId1, int index1)
-	{
-		m_partId1 = partId1;
-		m_index1 = index1;
-	}
-
-	virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth);
-
-	SIMD_FORCE_INLINE void refreshContactPoints()
-	{
-		btAssert(m_manifoldPtr);
-		if (!m_manifoldPtr->getNumContacts())
-			return;
-
-		bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
-
-		if (isSwapped)
-		{
-			m_manifoldPtr->refreshContactPoints(m_body1Wrap->getCollisionObject()->getWorldTransform(), m_body0Wrap->getCollisionObject()->getWorldTransform());
-		}
-		else
-		{
-			m_manifoldPtr->refreshContactPoints(m_body0Wrap->getCollisionObject()->getWorldTransform(), m_body1Wrap->getCollisionObject()->getWorldTransform());
-		}
-	}
-
-	const btCollisionObjectWrapper* getBody0Wrap() const
-	{
-		return m_body0Wrap;
-	}
-	const btCollisionObjectWrapper* getBody1Wrap() const
-	{
-		return m_body1Wrap;
-	}
-
-	void setBody0Wrap(const btCollisionObjectWrapper* obj0Wrap)
-	{
-		m_body0Wrap = obj0Wrap;
-	}
-
-	void setBody1Wrap(const btCollisionObjectWrapper* obj1Wrap)
-	{
-		m_body1Wrap = obj1Wrap;
-	}
-
-	const btCollisionObject* getBody0Internal() const
-	{
-		return m_body0Wrap->getCollisionObject();
-	}
-
-	const btCollisionObject* getBody1Internal() const
-	{
-		return m_body1Wrap->getCollisionObject();
-	}
-
-	btScalar m_closestPointDistanceThreshold;
-
-	/// in the future we can let the user override the methods to combine restitution and friction
-	static btScalar calculateCombinedRestitution(const btCollisionObject* body0, const btCollisionObject* body1);
-	static btScalar calculateCombinedFriction(const btCollisionObject* body0, const btCollisionObject* body1);
-	static btScalar calculateCombinedRollingFriction(const btCollisionObject* body0, const btCollisionObject* body1);
-	static btScalar calculateCombinedSpinningFriction(const btCollisionObject* body0, const btCollisionObject* body1);
-	static btScalar calculateCombinedContactDamping(const btCollisionObject* body0, const btCollisionObject* body1);
-	static btScalar calculateCombinedContactStiffness(const btCollisionObject* body0, const btCollisionObject* body1);
-};
-
-#endif  //BT_MANIFOLD_RESULT_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
deleted file mode 100644
index 327b3f076a..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
+++ /dev/null
@@ -1,445 +0,0 @@
-
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "LinearMath/btScalar.h"
-#include "btSimulationIslandManager.h"
-#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
-
-//#include <stdio.h>
-#include "LinearMath/btQuickprof.h"
-
-btSimulationIslandManager::btSimulationIslandManager() : m_splitIslands(true)
-{
-}
-
-btSimulationIslandManager::~btSimulationIslandManager()
-{
-}
-
-void btSimulationIslandManager::initUnionFind(int n)
-{
-	m_unionFind.reset(n);
-}
-
-void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */, btCollisionWorld* colWorld)
-{
-	{
-		btOverlappingPairCache* pairCachePtr = colWorld->getPairCache();
-		const int numOverlappingPairs = pairCachePtr->getNumOverlappingPairs();
-		if (numOverlappingPairs)
-		{
-			btBroadphasePair* pairPtr = pairCachePtr->getOverlappingPairArrayPtr();
-
-			for (int i = 0; i < numOverlappingPairs; i++)
-			{
-				const btBroadphasePair& collisionPair = pairPtr[i];
-				btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
-				btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
-
-				if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
-					((colObj1) && ((colObj1)->mergesSimulationIslands())))
-				{
-					m_unionFind.unite((colObj0)->getIslandTag(),
-									  (colObj1)->getIslandTag());
-				}
-			}
-		}
-	}
-}
-
-#ifdef STATIC_SIMULATION_ISLAND_OPTIMIZATION
-void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld, btDispatcher* dispatcher)
-{
-	// put the index into m_controllers into m_tag
-	int index = 0;
-	{
-		int i;
-		for (i = 0; i < colWorld->getCollisionObjectArray().size(); i++)
-		{
-			btCollisionObject* collisionObject = colWorld->getCollisionObjectArray()[i];
-			//Adding filtering here
-			if (!collisionObject->isStaticOrKinematicObject())
-			{
-				collisionObject->setIslandTag(index++);
-			}
-			collisionObject->setCompanionId(-1);
-			collisionObject->setHitFraction(btScalar(1.));
-		}
-	}
-	// do the union find
-
-	initUnionFind(index);
-
-	findUnions(dispatcher, colWorld);
-}
-
-void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld)
-{
-	// put the islandId ('find' value) into m_tag
-	{
-		int index = 0;
-		int i;
-		for (i = 0; i < colWorld->getCollisionObjectArray().size(); i++)
-		{
-			btCollisionObject* collisionObject = colWorld->getCollisionObjectArray()[i];
-			if (!collisionObject->isStaticOrKinematicObject())
-			{
-				collisionObject->setIslandTag(m_unionFind.find(index));
-				//Set the correct object offset in Collision Object Array
-				m_unionFind.getElement(index).m_sz = i;
-				collisionObject->setCompanionId(-1);
-				index++;
-			}
-			else
-			{
-				collisionObject->setIslandTag(-1);
-				collisionObject->setCompanionId(-2);
-			}
-		}
-	}
-}
-
-#else  //STATIC_SIMULATION_ISLAND_OPTIMIZATION
-void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld, btDispatcher* dispatcher)
-{
-	initUnionFind(int(colWorld->getCollisionObjectArray().size()));
-
-	// put the index into m_controllers into m_tag
-	{
-		int index = 0;
-		int i;
-		for (i = 0; i < colWorld->getCollisionObjectArray().size(); i++)
-		{
-			btCollisionObject* collisionObject = colWorld->getCollisionObjectArray()[i];
-			collisionObject->setIslandTag(index);
-			collisionObject->setCompanionId(-1);
-			collisionObject->setHitFraction(btScalar(1.));
-			index++;
-		}
-	}
-	// do the union find
-
-	findUnions(dispatcher, colWorld);
-}
-
-void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld)
-{
-	// put the islandId ('find' value) into m_tag
-	{
-		int index = 0;
-		int i;
-		for (i = 0; i < colWorld->getCollisionObjectArray().size(); i++)
-		{
-			btCollisionObject* collisionObject = colWorld->getCollisionObjectArray()[i];
-			if (!collisionObject->isStaticOrKinematicObject())
-			{
-				collisionObject->setIslandTag(m_unionFind.find(index));
-				collisionObject->setCompanionId(-1);
-			}
-			else
-			{
-				collisionObject->setIslandTag(-1);
-				collisionObject->setCompanionId(-2);
-			}
-			index++;
-		}
-	}
-}
-
-#endif  //STATIC_SIMULATION_ISLAND_OPTIMIZATION
-
-inline int getIslandId(const btPersistentManifold* lhs)
-{
-	int islandId;
-	const btCollisionObject* rcolObj0 = static_cast<const btCollisionObject*>(lhs->getBody0());
-	const btCollisionObject* rcolObj1 = static_cast<const btCollisionObject*>(lhs->getBody1());
-	islandId = rcolObj0->getIslandTag() >= 0 ? rcolObj0->getIslandTag() : rcolObj1->getIslandTag();
-	return islandId;
-}
-
-/// function object that routes calls to operator<
-class btPersistentManifoldSortPredicate
-{
-public:
-	SIMD_FORCE_INLINE bool operator()(const btPersistentManifold* lhs, const btPersistentManifold* rhs) const
-	{
-		return getIslandId(lhs) < getIslandId(rhs);
-	}
-};
-
-class btPersistentManifoldSortPredicateDeterministic
-{
-public:
-	SIMD_FORCE_INLINE bool operator()(const btPersistentManifold* lhs, const btPersistentManifold* rhs) const
-	{
-		return (
-			(getIslandId(lhs) < getIslandId(rhs)) || ((getIslandId(lhs) == getIslandId(rhs)) && lhs->getBody0()->getBroadphaseHandle()->m_uniqueId < rhs->getBody0()->getBroadphaseHandle()->m_uniqueId) || ((getIslandId(lhs) == getIslandId(rhs)) && (lhs->getBody0()->getBroadphaseHandle()->m_uniqueId == rhs->getBody0()->getBroadphaseHandle()->m_uniqueId) && (lhs->getBody1()->getBroadphaseHandle()->m_uniqueId < rhs->getBody1()->getBroadphaseHandle()->m_uniqueId)));
-	}
-};
-
-void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld)
-{
-	BT_PROFILE("islandUnionFindAndQuickSort");
-
-	btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
-
-	m_islandmanifold.resize(0);
-
-	//we are going to sort the unionfind array, and store the element id in the size
-	//afterwards, we clean unionfind, to make sure no-one uses it anymore
-
-	getUnionFind().sortIslands();
-	int numElem = getUnionFind().getNumElements();
-
-	int endIslandIndex = 1;
-	int startIslandIndex;
-
-	//update the sleeping state for bodies, if all are sleeping
-	for (startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex)
-	{
-		int islandId = getUnionFind().getElement(startIslandIndex).m_id;
-		for (endIslandIndex = startIslandIndex + 1; (endIslandIndex < numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId); endIslandIndex++)
-		{
-		}
-
-		//int numSleeping = 0;
-
-		bool allSleeping = true;
-
-		int idx;
-		for (idx = startIslandIndex; idx < endIslandIndex; idx++)
-		{
-			int i = getUnionFind().getElement(idx).m_sz;
-
-			btCollisionObject* colObj0 = collisionObjects[i];
-			if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
-			{
-				//				printf("error in island management\n");
-			}
-
-            btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
-			if (colObj0->getIslandTag() == islandId)
-			{
-				if (colObj0->getActivationState() == ACTIVE_TAG ||
-					colObj0->getActivationState() == DISABLE_DEACTIVATION)
-				{
-					allSleeping = false;
-					break;
-				}
-			}
-		}
-
-		if (allSleeping)
-		{
-			int idx;
-			for (idx = startIslandIndex; idx < endIslandIndex; idx++)
-			{
-				int i = getUnionFind().getElement(idx).m_sz;
-				btCollisionObject* colObj0 = collisionObjects[i];
-				if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
-				{
-					//					printf("error in island management\n");
-				}
-
-                btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
-
-				if (colObj0->getIslandTag() == islandId)
-				{
-					colObj0->setActivationState(ISLAND_SLEEPING);
-				}
-			}
-		}
-		else
-		{
-			int idx;
-			for (idx = startIslandIndex; idx < endIslandIndex; idx++)
-			{
-				int i = getUnionFind().getElement(idx).m_sz;
-
-				btCollisionObject* colObj0 = collisionObjects[i];
-				if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
-				{
-					//					printf("error in island management\n");
-				}
-
-                 btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
-
-
-				if (colObj0->getIslandTag() == islandId)
-				{
-					if (colObj0->getActivationState() == ISLAND_SLEEPING)
-					{
-						colObj0->setActivationState(WANTS_DEACTIVATION);
-						colObj0->setDeactivationTime(0.f);
-					}
-				}
-			}
-		}
-	}
-
-	int i;
-	int maxNumManifolds = dispatcher->getNumManifolds();
-
-	//#define SPLIT_ISLANDS 1
-	//#ifdef SPLIT_ISLANDS
-
-	//#endif //SPLIT_ISLANDS
-
-	for (i = 0; i < maxNumManifolds; i++)
-	{
-		btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
-		if (collisionWorld->getDispatchInfo().m_deterministicOverlappingPairs)
-		{
-			if (manifold->getNumContacts() == 0)
-				continue;
-		}
-
-		const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0());
-		const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1());
-
-		///@todo: check sleeping conditions!
-		if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
-			((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING))
-		{
-			//kinematic objects don't merge islands, but wake up all connected objects
-			if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
-			{
-				if (colObj0->hasContactResponse())
-					colObj1->activate();
-			}
-			if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
-			{
-				if (colObj1->hasContactResponse())
-					colObj0->activate();
-			}
-			if (m_splitIslands)
-			{
-				//filtering for response
-				if (dispatcher->needsResponse(colObj0, colObj1))
-					m_islandmanifold.push_back(manifold);
-			}
-		}
-	}
-}
-
-
-///@todo: this is random access, it can be walked 'cache friendly'!
-void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback)
-{
-	buildIslands(dispatcher, collisionWorld);
-    processIslands(dispatcher, collisionWorld, callback);
-}
-
-void btSimulationIslandManager::processIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback)
-{
-    btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
-	int endIslandIndex = 1;
-	int startIslandIndex;
-	int numElem = getUnionFind().getNumElements();
-
-	BT_PROFILE("processIslands");
-
-	if (!m_splitIslands)
-	{
-		btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
-		int maxNumManifolds = dispatcher->getNumManifolds();
-		callback->processIsland(&collisionObjects[0], collisionObjects.size(), manifold, maxNumManifolds, -1);
-	}
-	else
-	{
-		// Sort manifolds, based on islands
-		// Sort the vector using predicate and std::sort
-		//std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate);
-
-		int numManifolds = int(m_islandmanifold.size());
-
-		//tried a radix sort, but quicksort/heapsort seems still faster
-		//@todo rewrite island management
-		//btPersistentManifoldSortPredicateDeterministic sorts contact manifolds based on islandid,
-		//but also based on object0 unique id and object1 unique id
-		if (collisionWorld->getDispatchInfo().m_deterministicOverlappingPairs)
-		{
-			m_islandmanifold.quickSort(btPersistentManifoldSortPredicateDeterministic());
-		}
-		else
-		{
-			m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
-		}
-
-		//m_islandmanifold.heapSort(btPersistentManifoldSortPredicate());
-
-		//now process all active islands (sets of manifolds for now)
-
-		int startManifoldIndex = 0;
-		int endManifoldIndex = 1;
-
-		//int islandId;
-
-		//	printf("Start Islands\n");
-
-		//traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
-		for (startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex)
-		{
-			int islandId = getUnionFind().getElement(startIslandIndex).m_id;
-
-			bool islandSleeping = true;
-
-			for (endIslandIndex = startIslandIndex; (endIslandIndex < numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId); endIslandIndex++)
-			{
-				int i = getUnionFind().getElement(endIslandIndex).m_sz;
-				btCollisionObject* colObj0 = collisionObjects[i];
-				m_islandBodies.push_back(colObj0);
-				if (colObj0->isActive())
-					islandSleeping = false;
-			}
-
-			//find the accompanying contact manifold for this islandId
-			int numIslandManifolds = 0;
-			btPersistentManifold** startManifold = 0;
-
-			if (startManifoldIndex < numManifolds)
-			{
-				int curIslandId = getIslandId(m_islandmanifold[startManifoldIndex]);
-				if (curIslandId == islandId)
-				{
-					startManifold = &m_islandmanifold[startManifoldIndex];
-
-					for (endManifoldIndex = startManifoldIndex + 1; (endManifoldIndex < numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex])); endManifoldIndex++)
-					{
-					}
-					/// Process the actual simulation, only if not sleeping/deactivated
-					numIslandManifolds = endManifoldIndex - startManifoldIndex;
-				}
-			}
-
-			if (!islandSleeping)
-			{
-				callback->processIsland(&m_islandBodies[0], m_islandBodies.size(), startManifold, numIslandManifolds, islandId);
-				//			printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
-			}
-
-			if (numIslandManifolds)
-			{
-				startManifoldIndex = endManifoldIndex;
-			}
-
-			m_islandBodies.resize(0);
-		}
-	}  // else if(!splitIslands)
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
deleted file mode 100644
index 197bb457cf..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
+++ /dev/null
@@ -1,75 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SIMULATION_ISLAND_MANAGER_H
-#define BT_SIMULATION_ISLAND_MANAGER_H
-
-#include "BulletCollision/CollisionDispatch/btUnionFind.h"
-#include "btCollisionCreateFunc.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "btCollisionObject.h"
-
-class btCollisionObject;
-class btCollisionWorld;
-class btDispatcher;
-class btPersistentManifold;
-
-///SimulationIslandManager creates and handles simulation islands, using btUnionFind
-class btSimulationIslandManager
-{
-	btUnionFind m_unionFind;
-
-	btAlignedObjectArray<btPersistentManifold*> m_islandmanifold;
-	btAlignedObjectArray<btCollisionObject*> m_islandBodies;
-
-	bool m_splitIslands;
-
-public:
-	btSimulationIslandManager();
-	virtual ~btSimulationIslandManager();
-
-	void initUnionFind(int n);
-
-	btUnionFind& getUnionFind() { return m_unionFind; }
-
-	virtual void updateActivationState(btCollisionWorld* colWorld, btDispatcher* dispatcher);
-	virtual void storeIslandActivationState(btCollisionWorld* world);
-
-	void findUnions(btDispatcher* dispatcher, btCollisionWorld* colWorld);
-
-	struct IslandCallback
-	{
-		virtual ~IslandCallback(){};
-
-		virtual void processIsland(btCollisionObject** bodies, int numBodies, class btPersistentManifold** manifolds, int numManifolds, int islandId) = 0;
-	};
-
-	void buildAndProcessIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback);
-    
-	void buildIslands(btDispatcher* dispatcher, btCollisionWorld* colWorld);
-
-    void processIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback);
-    
-	bool getSplitIslands()
-	{
-		return m_splitIslands;
-	}
-	void setSplitIslands(bool doSplitIslands)
-	{
-		m_splitIslands = doSplitIslands;
-	}
-};
-
-#endif  //BT_SIMULATION_ISLAND_MANAGER_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
deleted file mode 100644
index bc68b285b8..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,209 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btSphereBoxCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-#include "BulletCollision/CollisionShapes/btBoxShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-//#include <stdio.h>
-
-btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap, bool isSwapped)
-	: btActivatingCollisionAlgorithm(ci, col0Wrap, col1Wrap),
-	  m_ownManifold(false),
-	  m_manifoldPtr(mf),
-	  m_isSwapped(isSwapped)
-{
-	const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped ? col1Wrap : col0Wrap;
-	const btCollisionObjectWrapper* boxObjWrap = m_isSwapped ? col0Wrap : col1Wrap;
-
-	if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObjWrap->getCollisionObject(), boxObjWrap->getCollisionObject()))
-	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(sphereObjWrap->getCollisionObject(), boxObjWrap->getCollisionObject());
-		m_ownManifold = true;
-	}
-}
-
-btSphereBoxCollisionAlgorithm::~btSphereBoxCollisionAlgorithm()
-{
-	if (m_ownManifold)
-	{
-		if (m_manifoldPtr)
-			m_dispatcher->releaseManifold(m_manifoldPtr);
-	}
-}
-
-void btSphereBoxCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	(void)dispatchInfo;
-	(void)resultOut;
-	if (!m_manifoldPtr)
-		return;
-
-	const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
-	const btCollisionObjectWrapper* boxObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
-
-	btVector3 pOnBox;
-
-	btVector3 normalOnSurfaceB;
-	btScalar penetrationDepth;
-	btVector3 sphereCenter = sphereObjWrap->getWorldTransform().getOrigin();
-	const btSphereShape* sphere0 = (const btSphereShape*)sphereObjWrap->getCollisionShape();
-	btScalar radius = sphere0->getRadius();
-	btScalar maxContactDistance = m_manifoldPtr->getContactBreakingThreshold();
-
-	resultOut->setPersistentManifold(m_manifoldPtr);
-
-	if (getSphereDistance(boxObjWrap, pOnBox, normalOnSurfaceB, penetrationDepth, sphereCenter, radius, maxContactDistance))
-	{
-		/// report a contact. internally this will be kept persistent, and contact reduction is done
-		resultOut->addContactPoint(normalOnSurfaceB, pOnBox, penetrationDepth);
-	}
-
-	if (m_ownManifold)
-	{
-		if (m_manifoldPtr->getNumContacts())
-		{
-			resultOut->refreshContactPoints();
-		}
-	}
-}
-
-btScalar btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	(void)resultOut;
-	(void)dispatchInfo;
-	(void)col0;
-	(void)col1;
-
-	//not yet
-	return btScalar(1.);
-}
-
-bool btSphereBoxCollisionAlgorithm::getSphereDistance(const btCollisionObjectWrapper* boxObjWrap, btVector3& pointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& sphereCenter, btScalar fRadius, btScalar maxContactDistance)
-{
-	const btBoxShape* boxShape = (const btBoxShape*)boxObjWrap->getCollisionShape();
-	btVector3 const& boxHalfExtent = boxShape->getHalfExtentsWithoutMargin();
-	btScalar boxMargin = boxShape->getMargin();
-	penetrationDepth = 1.0f;
-
-	// convert the sphere position to the box's local space
-	btTransform const& m44T = boxObjWrap->getWorldTransform();
-	btVector3 sphereRelPos = m44T.invXform(sphereCenter);
-
-	// Determine the closest point to the sphere center in the box
-	btVector3 closestPoint = sphereRelPos;
-	closestPoint.setX(btMin(boxHalfExtent.getX(), closestPoint.getX()));
-	closestPoint.setX(btMax(-boxHalfExtent.getX(), closestPoint.getX()));
-	closestPoint.setY(btMin(boxHalfExtent.getY(), closestPoint.getY()));
-	closestPoint.setY(btMax(-boxHalfExtent.getY(), closestPoint.getY()));
-	closestPoint.setZ(btMin(boxHalfExtent.getZ(), closestPoint.getZ()));
-	closestPoint.setZ(btMax(-boxHalfExtent.getZ(), closestPoint.getZ()));
-
-	btScalar intersectionDist = fRadius + boxMargin;
-	btScalar contactDist = intersectionDist + maxContactDistance;
-	normal = sphereRelPos - closestPoint;
-
-	//if there is no penetration, we are done
-	btScalar dist2 = normal.length2();
-	if (dist2 > contactDist * contactDist)
-	{
-		return false;
-	}
-
-	btScalar distance;
-
-	//special case if the sphere center is inside the box
-	if (dist2 <= SIMD_EPSILON)
-	{
-		distance = -getSpherePenetration(boxHalfExtent, sphereRelPos, closestPoint, normal);
-	}
-	else  //compute the penetration details
-	{
-		distance = normal.length();
-		normal /= distance;
-	}
-
-	pointOnBox = closestPoint + normal * boxMargin;
-	//	v3PointOnSphere = sphereRelPos - (normal * fRadius);
-	penetrationDepth = distance - intersectionDist;
-
-	// transform back in world space
-	btVector3 tmp = m44T(pointOnBox);
-	pointOnBox = tmp;
-	//	tmp = m44T(v3PointOnSphere);
-	//	v3PointOnSphere = tmp;
-	tmp = m44T.getBasis() * normal;
-	normal = tmp;
-
-	return true;
-}
-
-btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration(btVector3 const& boxHalfExtent, btVector3 const& sphereRelPos, btVector3& closestPoint, btVector3& normal)
-{
-	//project the center of the sphere on the closest face of the box
-	btScalar faceDist = boxHalfExtent.getX() - sphereRelPos.getX();
-	btScalar minDist = faceDist;
-	closestPoint.setX(boxHalfExtent.getX());
-	normal.setValue(btScalar(1.0f), btScalar(0.0f), btScalar(0.0f));
-
-	faceDist = boxHalfExtent.getX() + sphereRelPos.getX();
-	if (faceDist < minDist)
-	{
-		minDist = faceDist;
-		closestPoint = sphereRelPos;
-		closestPoint.setX(-boxHalfExtent.getX());
-		normal.setValue(btScalar(-1.0f), btScalar(0.0f), btScalar(0.0f));
-	}
-
-	faceDist = boxHalfExtent.getY() - sphereRelPos.getY();
-	if (faceDist < minDist)
-	{
-		minDist = faceDist;
-		closestPoint = sphereRelPos;
-		closestPoint.setY(boxHalfExtent.getY());
-		normal.setValue(btScalar(0.0f), btScalar(1.0f), btScalar(0.0f));
-	}
-
-	faceDist = boxHalfExtent.getY() + sphereRelPos.getY();
-	if (faceDist < minDist)
-	{
-		minDist = faceDist;
-		closestPoint = sphereRelPos;
-		closestPoint.setY(-boxHalfExtent.getY());
-		normal.setValue(btScalar(0.0f), btScalar(-1.0f), btScalar(0.0f));
-	}
-
-	faceDist = boxHalfExtent.getZ() - sphereRelPos.getZ();
-	if (faceDist < minDist)
-	{
-		minDist = faceDist;
-		closestPoint = sphereRelPos;
-		closestPoint.setZ(boxHalfExtent.getZ());
-		normal.setValue(btScalar(0.0f), btScalar(0.0f), btScalar(1.0f));
-	}
-
-	faceDist = boxHalfExtent.getZ() + sphereRelPos.getZ();
-	if (faceDist < minDist)
-	{
-		minDist = faceDist;
-		closestPoint = sphereRelPos;
-		closestPoint.setZ(-boxHalfExtent.getZ());
-		normal.setValue(btScalar(0.0f), btScalar(0.0f), btScalar(-1.0f));
-	}
-
-	return minDist;
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
deleted file mode 100644
index 3348bc89af..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SPHERE_BOX_COLLISION_ALGORITHM_H
-#define BT_SPHERE_BOX_COLLISION_ALGORITHM_H
-
-#include "btActivatingCollisionAlgorithm.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
-class btPersistentManifold;
-#include "btCollisionDispatcher.h"
-
-#include "LinearMath/btVector3.h"
-
-/// btSphereBoxCollisionAlgorithm  provides sphere-box collision detection.
-/// Other features are frame-coherency (persistent data) and collision response.
-class btSphereBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm
-{
-	bool m_ownManifold;
-	btPersistentManifold* m_manifoldPtr;
-	bool m_isSwapped;
-
-public:
-	btSphereBoxCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
-
-	virtual ~btSphereBoxCollisionAlgorithm();
-
-	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
-	{
-		if (m_manifoldPtr && m_ownManifold)
-		{
-			manifoldArray.push_back(m_manifoldPtr);
-		}
-	}
-
-	bool getSphereDistance(const btCollisionObjectWrapper* boxObjWrap, btVector3& v3PointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& v3SphereCenter, btScalar fRadius, btScalar maxContactDistance);
-
-	btScalar getSpherePenetration(btVector3 const& boxHalfExtent, btVector3 const& sphereRelPos, btVector3& closestPoint, btVector3& normal);
-
-	struct CreateFunc : public btCollisionAlgorithmCreateFunc
-	{
-		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereBoxCollisionAlgorithm));
-			if (!m_swapped)
-			{
-				return new (mem) btSphereBoxCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, false);
-			}
-			else
-			{
-				return new (mem) btSphereBoxCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, true);
-			}
-		}
-	};
-};
-
-#endif  //BT_SPHERE_BOX_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
deleted file mode 100644
index 7fa0559f97..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,105 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-#define CLEAR_MANIFOLD 1
-
-#include "btSphereSphereCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap)
-	: btActivatingCollisionAlgorithm(ci, col0Wrap, col1Wrap),
-	  m_ownManifold(false),
-	  m_manifoldPtr(mf)
-{
-	if (!m_manifoldPtr)
-	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(col0Wrap->getCollisionObject(), col1Wrap->getCollisionObject());
-		m_ownManifold = true;
-	}
-}
-
-btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm()
-{
-	if (m_ownManifold)
-	{
-		if (m_manifoldPtr)
-			m_dispatcher->releaseManifold(m_manifoldPtr);
-	}
-}
-
-void btSphereSphereCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	(void)dispatchInfo;
-
-	if (!m_manifoldPtr)
-		return;
-
-	resultOut->setPersistentManifold(m_manifoldPtr);
-
-	btSphereShape* sphere0 = (btSphereShape*)col0Wrap->getCollisionShape();
-	btSphereShape* sphere1 = (btSphereShape*)col1Wrap->getCollisionShape();
-
-	btVector3 diff = col0Wrap->getWorldTransform().getOrigin() - col1Wrap->getWorldTransform().getOrigin();
-	btScalar len = diff.length();
-	btScalar radius0 = sphere0->getRadius();
-	btScalar radius1 = sphere1->getRadius();
-
-#ifdef CLEAR_MANIFOLD
-	m_manifoldPtr->clearManifold();  //don't do this, it disables warmstarting
-#endif
-
-	///iff distance positive, don't generate a new contact
-	if (len > (radius0 + radius1 + resultOut->m_closestPointDistanceThreshold))
-	{
-#ifndef CLEAR_MANIFOLD
-		resultOut->refreshContactPoints();
-#endif  //CLEAR_MANIFOLD
-		return;
-	}
-	///distance (negative means penetration)
-	btScalar dist = len - (radius0 + radius1);
-
-	btVector3 normalOnSurfaceB(1, 0, 0);
-	if (len > SIMD_EPSILON)
-	{
-		normalOnSurfaceB = diff / len;
-	}
-
-	///point on A (worldspace)
-	///btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
-	///point on B (worldspace)
-	btVector3 pos1 = col1Wrap->getWorldTransform().getOrigin() + radius1 * normalOnSurfaceB;
-
-	/// report a contact. internally this will be kept persistent, and contact reduction is done
-
-	resultOut->addContactPoint(normalOnSurfaceB, pos1, dist);
-
-#ifndef CLEAR_MANIFOLD
-	resultOut->refreshContactPoints();
-#endif  //CLEAR_MANIFOLD
-}
-
-btScalar btSphereSphereCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	(void)col0;
-	(void)col1;
-	(void)dispatchInfo;
-	(void)resultOut;
-
-	//not yet
-	return btScalar(1.);
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
deleted file mode 100644
index b08d0df76d..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SPHERE_SPHERE_COLLISION_ALGORITHM_H
-#define BT_SPHERE_SPHERE_COLLISION_ALGORITHM_H
-
-#include "btActivatingCollisionAlgorithm.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
-#include "btCollisionDispatcher.h"
-
-class btPersistentManifold;
-
-/// btSphereSphereCollisionAlgorithm  provides sphere-sphere collision detection.
-/// Other features are frame-coherency (persistent data) and collision response.
-/// Also provides the most basic sample for custom/user btCollisionAlgorithm
-class btSphereSphereCollisionAlgorithm : public btActivatingCollisionAlgorithm
-{
-	bool m_ownManifold;
-	btPersistentManifold* m_manifoldPtr;
-
-public:
-	btSphereSphereCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap);
-
-	btSphereSphereCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
-		: btActivatingCollisionAlgorithm(ci) {}
-
-	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
-	{
-		if (m_manifoldPtr && m_ownManifold)
-		{
-			manifoldArray.push_back(m_manifoldPtr);
-		}
-	}
-
-	virtual ~btSphereSphereCollisionAlgorithm();
-
-	struct CreateFunc : public btCollisionAlgorithmCreateFunc
-	{
-		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereSphereCollisionAlgorithm));
-			return new (mem) btSphereSphereCollisionAlgorithm(0, ci, col0Wrap, col1Wrap);
-		}
-	};
-};
-
-#endif  //BT_SPHERE_SPHERE_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
deleted file mode 100644
index 1bc3056c01..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,82 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btSphereTriangleCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "SphereTriangleDetector.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool swapped)
-	: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
-	  m_ownManifold(false),
-	  m_manifoldPtr(mf),
-	  m_swapped(swapped)
-{
-	if (!m_manifoldPtr)
-	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
-		m_ownManifold = true;
-	}
-}
-
-btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm()
-{
-	if (m_ownManifold)
-	{
-		if (m_manifoldPtr)
-			m_dispatcher->releaseManifold(m_manifoldPtr);
-	}
-}
-
-void btSphereTriangleCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	if (!m_manifoldPtr)
-		return;
-
-	const btCollisionObjectWrapper* sphereObjWrap = m_swapped ? col1Wrap : col0Wrap;
-	const btCollisionObjectWrapper* triObjWrap = m_swapped ? col0Wrap : col1Wrap;
-
-	btSphereShape* sphere = (btSphereShape*)sphereObjWrap->getCollisionShape();
-	btTriangleShape* triangle = (btTriangleShape*)triObjWrap->getCollisionShape();
-
-	/// report a contact. internally this will be kept persistent, and contact reduction is done
-	resultOut->setPersistentManifold(m_manifoldPtr);
-	SphereTriangleDetector detector(sphere, triangle, m_manifoldPtr->getContactBreakingThreshold() + resultOut->m_closestPointDistanceThreshold);
-
-	btDiscreteCollisionDetectorInterface::ClosestPointInput input;
-	input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);  ///@todo: tighter bounds
-	input.m_transformA = sphereObjWrap->getWorldTransform();
-	input.m_transformB = triObjWrap->getWorldTransform();
-
-	bool swapResults = m_swapped;
-
-	detector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw, swapResults);
-
-	if (m_ownManifold)
-		resultOut->refreshContactPoints();
-}
-
-btScalar btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	(void)resultOut;
-	(void)dispatchInfo;
-	(void)col0;
-	(void)col1;
-
-	//not yet
-	return btScalar(1.);
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
deleted file mode 100644
index d660222f16..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
-#define BT_SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
-
-#include "btActivatingCollisionAlgorithm.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
-class btPersistentManifold;
-#include "btCollisionDispatcher.h"
-
-/// btSphereSphereCollisionAlgorithm  provides sphere-sphere collision detection.
-/// Other features are frame-coherency (persistent data) and collision response.
-/// Also provides the most basic sample for custom/user btCollisionAlgorithm
-class btSphereTriangleCollisionAlgorithm : public btActivatingCollisionAlgorithm
-{
-	bool m_ownManifold;
-	btPersistentManifold* m_manifoldPtr;
-	bool m_swapped;
-
-public:
-	btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool swapped);
-
-	btSphereTriangleCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
-		: btActivatingCollisionAlgorithm(ci) {}
-
-	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
-	{
-		if (m_manifoldPtr && m_ownManifold)
-		{
-			manifoldArray.push_back(m_manifoldPtr);
-		}
-	}
-
-	virtual ~btSphereTriangleCollisionAlgorithm();
-
-	struct CreateFunc : public btCollisionAlgorithmCreateFunc
-	{
-		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereTriangleCollisionAlgorithm));
-
-			return new (mem) btSphereTriangleCollisionAlgorithm(ci.m_manifold, ci, body0Wrap, body1Wrap, m_swapped);
-		}
-	};
-};
-
-#endif  //BT_SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btUnionFind.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btUnionFind.cpp
deleted file mode 100644
index 816bf1e6ad..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btUnionFind.cpp
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btUnionFind.h"
-
-btUnionFind::~btUnionFind()
-{
-	Free();
-}
-
-btUnionFind::btUnionFind()
-{
-}
-
-void btUnionFind::allocate(int N)
-{
-	m_elements.resize(N);
-}
-void btUnionFind::Free()
-{
-	m_elements.clear();
-}
-
-void btUnionFind::reset(int N)
-{
-	allocate(N);
-
-	for (int i = 0; i < N; i++)
-	{
-		m_elements[i].m_id = i;
-		m_elements[i].m_sz = 1;
-	}
-}
-
-class btUnionFindElementSortPredicate
-{
-public:
-	bool operator()(const btElement& lhs, const btElement& rhs) const
-	{
-		return lhs.m_id < rhs.m_id;
-	}
-};
-
-///this is a special operation, destroying the content of btUnionFind.
-///it sorts the elements, based on island id, in order to make it easy to iterate over islands
-void btUnionFind::sortIslands()
-{
-	//first store the original body index, and islandId
-	int numElements = m_elements.size();
-
-	for (int i = 0; i < numElements; i++)
-	{
-		m_elements[i].m_id = find(i);
-#ifndef STATIC_SIMULATION_ISLAND_OPTIMIZATION
-		m_elements[i].m_sz = i;
-#endif  //STATIC_SIMULATION_ISLAND_OPTIMIZATION
-	}
-
-	// Sort the vector using predicate and std::sort
-	//std::sort(m_elements.begin(), m_elements.end(), btUnionFindElementSortPredicate);
-	m_elements.quickSort(btUnionFindElementSortPredicate());
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btUnionFind.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btUnionFind.h
deleted file mode 100644
index d422ef55eb..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btUnionFind.h
+++ /dev/null
@@ -1,123 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_UNION_FIND_H
-#define BT_UNION_FIND_H
-
-#include "LinearMath/btAlignedObjectArray.h"
-
-#define USE_PATH_COMPRESSION 1
-
-///see for discussion of static island optimizations by Vroonsh here: http://code.google.com/p/bullet/issues/detail?id=406
-#define STATIC_SIMULATION_ISLAND_OPTIMIZATION 1
-
-struct btElement
-{
-	int m_id;
-	int m_sz;
-};
-
-///UnionFind calculates connected subsets
-// Implements weighted Quick Union with path compression
-// optimization: could use short ints instead of ints (halving memory, would limit the number of rigid bodies to 64k, sounds reasonable)
-class btUnionFind
-{
-private:
-	btAlignedObjectArray<btElement> m_elements;
-
-public:
-	btUnionFind();
-	~btUnionFind();
-
-	//this is a special operation, destroying the content of btUnionFind.
-	//it sorts the elements, based on island id, in order to make it easy to iterate over islands
-	void sortIslands();
-
-	void reset(int N);
-
-	SIMD_FORCE_INLINE int getNumElements() const
-	{
-		return int(m_elements.size());
-	}
-	SIMD_FORCE_INLINE bool isRoot(int x) const
-	{
-		return (x == m_elements[x].m_id);
-	}
-
-	btElement& getElement(int index)
-	{
-		return m_elements[index];
-	}
-	const btElement& getElement(int index) const
-	{
-		return m_elements[index];
-	}
-
-	void allocate(int N);
-	void Free();
-
-	int find(int p, int q)
-	{
-		return (find(p) == find(q));
-	}
-
-	void unite(int p, int q)
-	{
-		int i = find(p), j = find(q);
-		if (i == j)
-			return;
-
-#ifndef USE_PATH_COMPRESSION
-		//weighted quick union, this keeps the 'trees' balanced, and keeps performance of unite O( log(n) )
-		if (m_elements[i].m_sz < m_elements[j].m_sz)
-		{
-			m_elements[i].m_id = j;
-			m_elements[j].m_sz += m_elements[i].m_sz;
-		}
-		else
-		{
-			m_elements[j].m_id = i;
-			m_elements[i].m_sz += m_elements[j].m_sz;
-		}
-#else
-		m_elements[i].m_id = j;
-		m_elements[j].m_sz += m_elements[i].m_sz;
-#endif  //USE_PATH_COMPRESSION
-	}
-
-	int find(int x)
-	{
-		//btAssert(x < m_N);
-		//btAssert(x >= 0);
-
-		while (x != m_elements[x].m_id)
-		{
-			//not really a reason not to use path compression, and it flattens the trees/improves find performance dramatically
-
-#ifdef USE_PATH_COMPRESSION
-			const btElement* elementPtr = &m_elements[m_elements[x].m_id];
-			m_elements[x].m_id = elementPtr->m_id;
-			x = elementPtr->m_id;
-#else  //
-			x = m_elements[x].m_id;
-#endif
-			//btAssert(x < m_N);
-			//btAssert(x >= 0);
-		}
-		return x;
-	}
-};
-
-#endif  //BT_UNION_FIND_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBox2dShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btBox2dShape.cpp
deleted file mode 100644
index a3d8075daf..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btBox2dShape.cpp
+++ /dev/null
@@ -1,37 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btBox2dShape.h"
-
-//{
-
-void btBox2dShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	btTransformAabb(getHalfExtentsWithoutMargin(), getMargin(), t, aabbMin, aabbMax);
-}
-
-void btBox2dShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
-{
-	//btScalar margin = btScalar(0.);
-	btVector3 halfExtents = getHalfExtentsWithMargin();
-
-	btScalar lx = btScalar(2.) * (halfExtents.x());
-	btScalar ly = btScalar(2.) * (halfExtents.y());
-	btScalar lz = btScalar(2.) * (halfExtents.z());
-
-	inertia.setValue(mass / (btScalar(12.0)) * (ly * ly + lz * lz),
-					 mass / (btScalar(12.0)) * (lx * lx + lz * lz),
-					 mass / (btScalar(12.0)) * (lx * lx + ly * ly));
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBox2dShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btBox2dShape.h
deleted file mode 100644
index 7e085f9e2e..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btBox2dShape.h
+++ /dev/null
@@ -1,339 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_OBB_BOX_2D_SHAPE_H
-#define BT_OBB_BOX_2D_SHAPE_H
-
-#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
-#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btMinMax.h"
-
-///The btBox2dShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
-ATTRIBUTE_ALIGNED16(class)
-btBox2dShape : public btPolyhedralConvexShape
-{
-	//btVector3	m_boxHalfExtents1; //use m_implicitShapeDimensions instead
-
-	btVector3 m_centroid;
-	btVector3 m_vertices[4];
-	btVector3 m_normals[4];
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btVector3 getHalfExtentsWithMargin() const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-		btVector3 margin(getMargin(), getMargin(), getMargin());
-		halfExtents += margin;
-		return halfExtents;
-	}
-
-	const btVector3& getHalfExtentsWithoutMargin() const
-	{
-		return m_implicitShapeDimensions;  //changed in Bullet 2.63: assume the scaling and margin are included
-	}
-
-	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-		btVector3 margin(getMargin(), getMargin(), getMargin());
-		halfExtents += margin;
-
-		return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
-						 btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
-						 btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
-	}
-
-	SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const
-	{
-		const btVector3& halfExtents = getHalfExtentsWithoutMargin();
-
-		return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
-						 btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
-						 btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
-	}
-
-	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-	{
-		const btVector3& halfExtents = getHalfExtentsWithoutMargin();
-
-		for (int i = 0; i < numVectors; i++)
-		{
-			const btVector3& vec = vectors[i];
-			supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
-										   btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
-										   btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
-		}
-	}
-
-	///a btBox2dShape is a flat 2D box in the X-Y plane (Z extents are zero)
-	btBox2dShape(const btVector3& boxHalfExtents)
-		: btPolyhedralConvexShape(),
-		  m_centroid(0, 0, 0)
-	{
-		m_vertices[0].setValue(-boxHalfExtents.getX(), -boxHalfExtents.getY(), 0);
-		m_vertices[1].setValue(boxHalfExtents.getX(), -boxHalfExtents.getY(), 0);
-		m_vertices[2].setValue(boxHalfExtents.getX(), boxHalfExtents.getY(), 0);
-		m_vertices[3].setValue(-boxHalfExtents.getX(), boxHalfExtents.getY(), 0);
-
-		m_normals[0].setValue(0, -1, 0);
-		m_normals[1].setValue(1, 0, 0);
-		m_normals[2].setValue(0, 1, 0);
-		m_normals[3].setValue(-1, 0, 0);
-
-		btScalar minDimension = boxHalfExtents.getX();
-		if (minDimension > boxHalfExtents.getY())
-			minDimension = boxHalfExtents.getY();
-
-		m_shapeType = BOX_2D_SHAPE_PROXYTYPE;
-		btVector3 margin(getMargin(), getMargin(), getMargin());
-		m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
-
-		setSafeMargin(minDimension);
-	};
-
-	virtual void setMargin(btScalar collisionMargin)
-	{
-		//correct the m_implicitShapeDimensions for the margin
-		btVector3 oldMargin(getMargin(), getMargin(), getMargin());
-		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
-
-		btConvexInternalShape::setMargin(collisionMargin);
-		btVector3 newMargin(getMargin(), getMargin(), getMargin());
-		m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
-	}
-	virtual void setLocalScaling(const btVector3& scaling)
-	{
-		btVector3 oldMargin(getMargin(), getMargin(), getMargin());
-		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
-		btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
-
-		btConvexInternalShape::setLocalScaling(scaling);
-
-		m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
-	}
-
-	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
-
-	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
-
-	int getVertexCount() const
-	{
-		return 4;
-	}
-
-	virtual int getNumVertices() const
-	{
-		return 4;
-	}
-
-	const btVector3* getVertices() const
-	{
-		return &m_vertices[0];
-	}
-
-	const btVector3* getNormals() const
-	{
-		return &m_normals[0];
-	}
-
-	virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const
-	{
-		//this plane might not be aligned...
-		btVector4 plane;
-		getPlaneEquation(plane, i);
-		planeNormal = btVector3(plane.getX(), plane.getY(), plane.getZ());
-		planeSupport = localGetSupportingVertex(-planeNormal);
-	}
-
-	const btVector3& getCentroid() const
-	{
-		return m_centroid;
-	}
-
-	virtual int getNumPlanes() const
-	{
-		return 6;
-	}
-
-	virtual int getNumEdges() const
-	{
-		return 12;
-	}
-
-	virtual void getVertex(int i, btVector3& vtx) const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-
-		vtx = btVector3(
-			halfExtents.x() * (1 - (i & 1)) - halfExtents.x() * (i & 1),
-			halfExtents.y() * (1 - ((i & 2) >> 1)) - halfExtents.y() * ((i & 2) >> 1),
-			halfExtents.z() * (1 - ((i & 4) >> 2)) - halfExtents.z() * ((i & 4) >> 2));
-	}
-
-	virtual void getPlaneEquation(btVector4 & plane, int i) const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-
-		switch (i)
-		{
-			case 0:
-				plane.setValue(btScalar(1.), btScalar(0.), btScalar(0.), -halfExtents.x());
-				break;
-			case 1:
-				plane.setValue(btScalar(-1.), btScalar(0.), btScalar(0.), -halfExtents.x());
-				break;
-			case 2:
-				plane.setValue(btScalar(0.), btScalar(1.), btScalar(0.), -halfExtents.y());
-				break;
-			case 3:
-				plane.setValue(btScalar(0.), btScalar(-1.), btScalar(0.), -halfExtents.y());
-				break;
-			case 4:
-				plane.setValue(btScalar(0.), btScalar(0.), btScalar(1.), -halfExtents.z());
-				break;
-			case 5:
-				plane.setValue(btScalar(0.), btScalar(0.), btScalar(-1.), -halfExtents.z());
-				break;
-			default:
-				btAssert(0);
-		}
-	}
-
-	virtual void getEdge(int i, btVector3& pa, btVector3& pb) const
-	//virtual void getEdge(int i,Edge& edge) const
-	{
-		int edgeVert0 = 0;
-		int edgeVert1 = 0;
-
-		switch (i)
-		{
-			case 0:
-				edgeVert0 = 0;
-				edgeVert1 = 1;
-				break;
-			case 1:
-				edgeVert0 = 0;
-				edgeVert1 = 2;
-				break;
-			case 2:
-				edgeVert0 = 1;
-				edgeVert1 = 3;
-
-				break;
-			case 3:
-				edgeVert0 = 2;
-				edgeVert1 = 3;
-				break;
-			case 4:
-				edgeVert0 = 0;
-				edgeVert1 = 4;
-				break;
-			case 5:
-				edgeVert0 = 1;
-				edgeVert1 = 5;
-
-				break;
-			case 6:
-				edgeVert0 = 2;
-				edgeVert1 = 6;
-				break;
-			case 7:
-				edgeVert0 = 3;
-				edgeVert1 = 7;
-				break;
-			case 8:
-				edgeVert0 = 4;
-				edgeVert1 = 5;
-				break;
-			case 9:
-				edgeVert0 = 4;
-				edgeVert1 = 6;
-				break;
-			case 10:
-				edgeVert0 = 5;
-				edgeVert1 = 7;
-				break;
-			case 11:
-				edgeVert0 = 6;
-				edgeVert1 = 7;
-				break;
-			default:
-				btAssert(0);
-		}
-
-		getVertex(edgeVert0, pa);
-		getVertex(edgeVert1, pb);
-	}
-
-	virtual bool isInside(const btVector3& pt, btScalar tolerance) const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-
-		//btScalar minDist = 2*tolerance;
-
-		bool result = (pt.x() <= (halfExtents.x() + tolerance)) &&
-					  (pt.x() >= (-halfExtents.x() - tolerance)) &&
-					  (pt.y() <= (halfExtents.y() + tolerance)) &&
-					  (pt.y() >= (-halfExtents.y() - tolerance)) &&
-					  (pt.z() <= (halfExtents.z() + tolerance)) &&
-					  (pt.z() >= (-halfExtents.z() - tolerance));
-
-		return result;
-	}
-
-	//debugging
-	virtual const char* getName() const
-	{
-		return "Box2d";
-	}
-
-	virtual int getNumPreferredPenetrationDirections() const
-	{
-		return 6;
-	}
-
-	virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
-	{
-		switch (index)
-		{
-			case 0:
-				penetrationVector.setValue(btScalar(1.), btScalar(0.), btScalar(0.));
-				break;
-			case 1:
-				penetrationVector.setValue(btScalar(-1.), btScalar(0.), btScalar(0.));
-				break;
-			case 2:
-				penetrationVector.setValue(btScalar(0.), btScalar(1.), btScalar(0.));
-				break;
-			case 3:
-				penetrationVector.setValue(btScalar(0.), btScalar(-1.), btScalar(0.));
-				break;
-			case 4:
-				penetrationVector.setValue(btScalar(0.), btScalar(0.), btScalar(1.));
-				break;
-			case 5:
-				penetrationVector.setValue(btScalar(0.), btScalar(0.), btScalar(-1.));
-				break;
-			default:
-				btAssert(0);
-		}
-	}
-};
-
-#endif  //BT_OBB_BOX_2D_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp
deleted file mode 100644
index cb91d023e4..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp
+++ /dev/null
@@ -1,45 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-#include "btBoxShape.h"
-
-btBoxShape::btBoxShape(const btVector3& boxHalfExtents)
-	: btPolyhedralConvexShape()
-{
-	m_shapeType = BOX_SHAPE_PROXYTYPE;
-
-	btVector3 margin(getMargin(), getMargin(), getMargin());
-	m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
-
-	setSafeMargin(boxHalfExtents);
-};
-
-void btBoxShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	btTransformAabb(getHalfExtentsWithoutMargin(), getMargin(), t, aabbMin, aabbMax);
-}
-
-void btBoxShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
-{
-	//btScalar margin = btScalar(0.);
-	btVector3 halfExtents = getHalfExtentsWithMargin();
-
-	btScalar lx = btScalar(2.) * (halfExtents.x());
-	btScalar ly = btScalar(2.) * (halfExtents.y());
-	btScalar lz = btScalar(2.) * (halfExtents.z());
-
-	inertia.setValue(mass / (btScalar(12.0)) * (ly * ly + lz * lz),
-					 mass / (btScalar(12.0)) * (lx * lx + lz * lz),
-					 mass / (btScalar(12.0)) * (lx * lx + ly * ly));
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.h
deleted file mode 100644
index 3c65505d5b..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.h
+++ /dev/null
@@ -1,291 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_OBB_BOX_MINKOWSKI_H
-#define BT_OBB_BOX_MINKOWSKI_H
-
-#include "btPolyhedralConvexShape.h"
-#include "btCollisionMargin.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btMinMax.h"
-
-///The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
-ATTRIBUTE_ALIGNED16(class)
-btBoxShape : public btPolyhedralConvexShape
-{
-	//btVector3	m_boxHalfExtents1; //use m_implicitShapeDimensions instead
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btVector3 getHalfExtentsWithMargin() const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-		btVector3 margin(getMargin(), getMargin(), getMargin());
-		halfExtents += margin;
-		return halfExtents;
-	}
-
-	const btVector3& getHalfExtentsWithoutMargin() const
-	{
-		return m_implicitShapeDimensions;  //scaling is included, margin is not
-	}
-
-	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-		btVector3 margin(getMargin(), getMargin(), getMargin());
-		halfExtents += margin;
-
-		return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
-						 btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
-						 btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
-	}
-
-	SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const
-	{
-		const btVector3& halfExtents = getHalfExtentsWithoutMargin();
-
-		return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
-						 btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
-						 btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
-	}
-
-	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-	{
-		const btVector3& halfExtents = getHalfExtentsWithoutMargin();
-
-		for (int i = 0; i < numVectors; i++)
-		{
-			const btVector3& vec = vectors[i];
-			supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
-										   btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
-										   btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
-		}
-	}
-
-	btBoxShape(const btVector3& boxHalfExtents);
-
-	virtual void setMargin(btScalar collisionMargin)
-	{
-		//correct the m_implicitShapeDimensions for the margin
-		btVector3 oldMargin(getMargin(), getMargin(), getMargin());
-		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
-
-		btConvexInternalShape::setMargin(collisionMargin);
-		btVector3 newMargin(getMargin(), getMargin(), getMargin());
-		m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
-	}
-	virtual void setLocalScaling(const btVector3& scaling)
-	{
-		btVector3 oldMargin(getMargin(), getMargin(), getMargin());
-		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
-		btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
-
-		btConvexInternalShape::setLocalScaling(scaling);
-
-		m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
-	}
-
-	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
-
-	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
-
-	virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const
-	{
-		//this plane might not be aligned...
-		btVector4 plane;
-		getPlaneEquation(plane, i);
-		planeNormal = btVector3(plane.getX(), plane.getY(), plane.getZ());
-		planeSupport = localGetSupportingVertex(-planeNormal);
-	}
-
-	virtual int getNumPlanes() const
-	{
-		return 6;
-	}
-
-	virtual int getNumVertices() const
-	{
-		return 8;
-	}
-
-	virtual int getNumEdges() const
-	{
-		return 12;
-	}
-
-	virtual void getVertex(int i, btVector3& vtx) const
-	{
-		btVector3 halfExtents = getHalfExtentsWithMargin();
-
-		vtx = btVector3(
-			halfExtents.x() * (1 - (i & 1)) - halfExtents.x() * (i & 1),
-			halfExtents.y() * (1 - ((i & 2) >> 1)) - halfExtents.y() * ((i & 2) >> 1),
-			halfExtents.z() * (1 - ((i & 4) >> 2)) - halfExtents.z() * ((i & 4) >> 2));
-	}
-
-	virtual void getPlaneEquation(btVector4 & plane, int i) const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-
-		switch (i)
-		{
-			case 0:
-				plane.setValue(btScalar(1.), btScalar(0.), btScalar(0.), -halfExtents.x());
-				break;
-			case 1:
-				plane.setValue(btScalar(-1.), btScalar(0.), btScalar(0.), -halfExtents.x());
-				break;
-			case 2:
-				plane.setValue(btScalar(0.), btScalar(1.), btScalar(0.), -halfExtents.y());
-				break;
-			case 3:
-				plane.setValue(btScalar(0.), btScalar(-1.), btScalar(0.), -halfExtents.y());
-				break;
-			case 4:
-				plane.setValue(btScalar(0.), btScalar(0.), btScalar(1.), -halfExtents.z());
-				break;
-			case 5:
-				plane.setValue(btScalar(0.), btScalar(0.), btScalar(-1.), -halfExtents.z());
-				break;
-			default:
-				btAssert(0);
-		}
-	}
-
-	virtual void getEdge(int i, btVector3& pa, btVector3& pb) const
-	//virtual void getEdge(int i,Edge& edge) const
-	{
-		int edgeVert0 = 0;
-		int edgeVert1 = 0;
-
-		switch (i)
-		{
-			case 0:
-				edgeVert0 = 0;
-				edgeVert1 = 1;
-				break;
-			case 1:
-				edgeVert0 = 0;
-				edgeVert1 = 2;
-				break;
-			case 2:
-				edgeVert0 = 1;
-				edgeVert1 = 3;
-
-				break;
-			case 3:
-				edgeVert0 = 2;
-				edgeVert1 = 3;
-				break;
-			case 4:
-				edgeVert0 = 0;
-				edgeVert1 = 4;
-				break;
-			case 5:
-				edgeVert0 = 1;
-				edgeVert1 = 5;
-
-				break;
-			case 6:
-				edgeVert0 = 2;
-				edgeVert1 = 6;
-				break;
-			case 7:
-				edgeVert0 = 3;
-				edgeVert1 = 7;
-				break;
-			case 8:
-				edgeVert0 = 4;
-				edgeVert1 = 5;
-				break;
-			case 9:
-				edgeVert0 = 4;
-				edgeVert1 = 6;
-				break;
-			case 10:
-				edgeVert0 = 5;
-				edgeVert1 = 7;
-				break;
-			case 11:
-				edgeVert0 = 6;
-				edgeVert1 = 7;
-				break;
-			default:
-				btAssert(0);
-		}
-
-		getVertex(edgeVert0, pa);
-		getVertex(edgeVert1, pb);
-	}
-
-	virtual bool isInside(const btVector3& pt, btScalar tolerance) const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-
-		//btScalar minDist = 2*tolerance;
-
-		bool result = (pt.x() <= (halfExtents.x() + tolerance)) &&
-					  (pt.x() >= (-halfExtents.x() - tolerance)) &&
-					  (pt.y() <= (halfExtents.y() + tolerance)) &&
-					  (pt.y() >= (-halfExtents.y() - tolerance)) &&
-					  (pt.z() <= (halfExtents.z() + tolerance)) &&
-					  (pt.z() >= (-halfExtents.z() - tolerance));
-
-		return result;
-	}
-
-	//debugging
-	virtual const char* getName() const
-	{
-		return "Box";
-	}
-
-	virtual int getNumPreferredPenetrationDirections() const
-	{
-		return 6;
-	}
-
-	virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
-	{
-		switch (index)
-		{
-			case 0:
-				penetrationVector.setValue(btScalar(1.), btScalar(0.), btScalar(0.));
-				break;
-			case 1:
-				penetrationVector.setValue(btScalar(-1.), btScalar(0.), btScalar(0.));
-				break;
-			case 2:
-				penetrationVector.setValue(btScalar(0.), btScalar(1.), btScalar(0.));
-				break;
-			case 3:
-				penetrationVector.setValue(btScalar(0.), btScalar(-1.), btScalar(0.));
-				break;
-			case 4:
-				penetrationVector.setValue(btScalar(0.), btScalar(0.), btScalar(1.));
-				break;
-			case 5:
-				penetrationVector.setValue(btScalar(0.), btScalar(0.), btScalar(-1.));
-				break;
-			default:
-				btAssert(0);
-		}
-	}
-};
-
-#endif  //BT_OBB_BOX_MINKOWSKI_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
deleted file mode 100644
index c66ce58e3e..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
+++ /dev/null
@@ -1,462 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-//#define DISABLE_BVH
-
-#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
-#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
-#include "LinearMath/btSerializer.h"
-
-///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
-///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
-btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh)
-	: btTriangleMeshShape(meshInterface),
-	  m_bvh(0),
-	  m_triangleInfoMap(0),
-	  m_useQuantizedAabbCompression(useQuantizedAabbCompression),
-	  m_ownsBvh(false)
-{
-	m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
-	//construct bvh from meshInterface
-#ifndef DISABLE_BVH
-
-	if (buildBvh)
-	{
-		buildOptimizedBvh();
-	}
-
-#endif  //DISABLE_BVH
-}
-
-btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax, bool buildBvh)
-	: btTriangleMeshShape(meshInterface),
-	  m_bvh(0),
-	  m_triangleInfoMap(0),
-	  m_useQuantizedAabbCompression(useQuantizedAabbCompression),
-	  m_ownsBvh(false)
-{
-	m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
-	//construct bvh from meshInterface
-#ifndef DISABLE_BVH
-
-	if (buildBvh)
-	{
-		void* mem = btAlignedAlloc(sizeof(btOptimizedBvh), 16);
-		m_bvh = new (mem) btOptimizedBvh();
-
-		m_bvh->build(meshInterface, m_useQuantizedAabbCompression, bvhAabbMin, bvhAabbMax);
-		m_ownsBvh = true;
-	}
-
-#endif  //DISABLE_BVH
-}
-
-void btBvhTriangleMeshShape::partialRefitTree(const btVector3& aabbMin, const btVector3& aabbMax)
-{
-	m_bvh->refitPartial(m_meshInterface, aabbMin, aabbMax);
-
-	m_localAabbMin.setMin(aabbMin);
-	m_localAabbMax.setMax(aabbMax);
-}
-
-void btBvhTriangleMeshShape::refitTree(const btVector3& aabbMin, const btVector3& aabbMax)
-{
-	m_bvh->refit(m_meshInterface, aabbMin, aabbMax);
-
-	recalcLocalAabb();
-}
-
-btBvhTriangleMeshShape::~btBvhTriangleMeshShape()
-{
-	if (m_ownsBvh)
-	{
-		m_bvh->~btOptimizedBvh();
-		btAlignedFree(m_bvh);
-	}
-}
-
-void btBvhTriangleMeshShape::performRaycast(btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget)
-{
-	struct MyNodeOverlapCallback : public btNodeOverlapCallback
-	{
-		btStridingMeshInterface* m_meshInterface;
-		btTriangleCallback* m_callback;
-
-		MyNodeOverlapCallback(btTriangleCallback* callback, btStridingMeshInterface* meshInterface)
-			: m_meshInterface(meshInterface),
-			  m_callback(callback)
-		{
-		}
-
-		virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
-		{
-			btVector3 m_triangle[3];
-			const unsigned char* vertexbase;
-			int numverts;
-			PHY_ScalarType type;
-			int stride;
-			const unsigned char* indexbase;
-			int indexstride;
-			int numfaces;
-			PHY_ScalarType indicestype;
-
-			m_meshInterface->getLockedReadOnlyVertexIndexBase(
-				&vertexbase,
-				numverts,
-				type,
-				stride,
-				&indexbase,
-				indexstride,
-				numfaces,
-				indicestype,
-				nodeSubPart);
-
-			unsigned int* gfxbase = (unsigned int*)(indexbase + nodeTriangleIndex * indexstride);
-
-			const btVector3& meshScaling = m_meshInterface->getScaling();
-			for (int j = 2; j >= 0; j--)
-			{
-				int graphicsindex;
-                                switch (indicestype) {
-                                        case PHY_INTEGER: graphicsindex = gfxbase[j]; break;
-                                        case PHY_SHORT: graphicsindex = ((unsigned short*)gfxbase)[j]; break;
-                                        case PHY_UCHAR: graphicsindex = ((unsigned char*)gfxbase)[j]; break;
-                                        default: btAssert(0);
-                                }
-
-				if (type == PHY_FLOAT)
-				{
-					float* graphicsbase = (float*)(vertexbase + graphicsindex * stride);
-
-					m_triangle[j] = btVector3(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
-				}
-				else
-				{
-					double* graphicsbase = (double*)(vertexbase + graphicsindex * stride);
-
-					m_triangle[j] = btVector3(btScalar(graphicsbase[0]) * meshScaling.getX(), btScalar(graphicsbase[1]) * meshScaling.getY(), btScalar(graphicsbase[2]) * meshScaling.getZ());
-				}
-			}
-
-			/* Perform ray vs. triangle collision here */
-			m_callback->processTriangle(m_triangle, nodeSubPart, nodeTriangleIndex);
-			m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
-		}
-	};
-
-	MyNodeOverlapCallback myNodeCallback(callback, m_meshInterface);
-
-	m_bvh->reportRayOverlappingNodex(&myNodeCallback, raySource, rayTarget);
-}
-
-void btBvhTriangleMeshShape::performConvexcast(btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax)
-{
-	struct MyNodeOverlapCallback : public btNodeOverlapCallback
-	{
-		btStridingMeshInterface* m_meshInterface;
-		btTriangleCallback* m_callback;
-
-		MyNodeOverlapCallback(btTriangleCallback* callback, btStridingMeshInterface* meshInterface)
-			: m_meshInterface(meshInterface),
-			  m_callback(callback)
-		{
-		}
-
-		virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
-		{
-			btVector3 m_triangle[3];
-			const unsigned char* vertexbase;
-			int numverts;
-			PHY_ScalarType type;
-			int stride;
-			const unsigned char* indexbase;
-			int indexstride;
-			int numfaces;
-			PHY_ScalarType indicestype;
-
-			m_meshInterface->getLockedReadOnlyVertexIndexBase(
-				&vertexbase,
-				numverts,
-				type,
-				stride,
-				&indexbase,
-				indexstride,
-				numfaces,
-				indicestype,
-				nodeSubPart);
-
-			unsigned int* gfxbase = (unsigned int*)(indexbase + nodeTriangleIndex * indexstride);
-
-			const btVector3& meshScaling = m_meshInterface->getScaling();
-			for (int j = 2; j >= 0; j--)
-			{
-				int graphicsindex;
-                                switch (indicestype) {
-                                        case PHY_INTEGER: graphicsindex = gfxbase[j]; break;
-                                        case PHY_SHORT: graphicsindex = ((unsigned short*)gfxbase)[j]; break;
-                                        case PHY_UCHAR: graphicsindex = ((unsigned char*)gfxbase)[j]; break;
-                                        default: btAssert(0);
-                                }
-
-				if (type == PHY_FLOAT)
-				{
-					float* graphicsbase = (float*)(vertexbase + graphicsindex * stride);
-
-					m_triangle[j] = btVector3(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
-				}
-				else
-				{
-					double* graphicsbase = (double*)(vertexbase + graphicsindex * stride);
-
-					m_triangle[j] = btVector3(btScalar(graphicsbase[0]) * meshScaling.getX(), btScalar(graphicsbase[1]) * meshScaling.getY(), btScalar(graphicsbase[2]) * meshScaling.getZ());
-				}
-			}
-
-			/* Perform ray vs. triangle collision here */
-			m_callback->processTriangle(m_triangle, nodeSubPart, nodeTriangleIndex);
-			m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
-		}
-	};
-
-	MyNodeOverlapCallback myNodeCallback(callback, m_meshInterface);
-
-	m_bvh->reportBoxCastOverlappingNodex(&myNodeCallback, raySource, rayTarget, aabbMin, aabbMax);
-}
-
-//perform bvh tree traversal and report overlapping triangles to 'callback'
-void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
-{
-#ifdef DISABLE_BVH
-	//brute force traverse all triangles
-	btTriangleMeshShape::processAllTriangles(callback, aabbMin, aabbMax);
-#else
-
-	//first get all the nodes
-
-	struct MyNodeOverlapCallback : public btNodeOverlapCallback
-	{
-		btStridingMeshInterface* m_meshInterface;
-		btTriangleCallback* m_callback;
-		btVector3 m_triangle[3];
-		int m_numOverlap;
-
-		MyNodeOverlapCallback(btTriangleCallback* callback, btStridingMeshInterface* meshInterface)
-			: m_meshInterface(meshInterface),
-			  m_callback(callback),
-			  m_numOverlap(0)
-		{
-		}
-
-		virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
-		{
-			m_numOverlap++;
-			const unsigned char* vertexbase;
-			int numverts;
-			PHY_ScalarType type;
-			int stride;
-			const unsigned char* indexbase;
-			int indexstride;
-			int numfaces;
-			PHY_ScalarType indicestype;
-
-			m_meshInterface->getLockedReadOnlyVertexIndexBase(
-				&vertexbase,
-				numverts,
-				type,
-				stride,
-				&indexbase,
-				indexstride,
-				numfaces,
-				indicestype,
-				nodeSubPart);
-
-			unsigned int* gfxbase = (unsigned int*)(indexbase + nodeTriangleIndex * indexstride);
-			btAssert(indicestype == PHY_INTEGER || indicestype == PHY_SHORT || indicestype == PHY_UCHAR);
-
-			const btVector3& meshScaling = m_meshInterface->getScaling();
-			for (int j = 2; j >= 0; j--)
-			{
-				int graphicsindex = indicestype == PHY_SHORT ? ((unsigned short*)gfxbase)[j] : indicestype == PHY_INTEGER ? gfxbase[j] : ((unsigned char*)gfxbase)[j];
-
-#ifdef DEBUG_TRIANGLE_MESH
-				printf("%d ,", graphicsindex);
-#endif  //DEBUG_TRIANGLE_MESH
-				if (type == PHY_FLOAT)
-				{
-					float* graphicsbase = (float*)(vertexbase + graphicsindex * stride);
-
-					m_triangle[j] = btVector3(
-						graphicsbase[0] * meshScaling.getX(),
-						graphicsbase[1] * meshScaling.getY(),
-						graphicsbase[2] * meshScaling.getZ());
-				}
-				else
-				{
-					double* graphicsbase = (double*)(vertexbase + graphicsindex * stride);
-
-					m_triangle[j] = btVector3(
-						btScalar(graphicsbase[0]) * meshScaling.getX(),
-						btScalar(graphicsbase[1]) * meshScaling.getY(),
-						btScalar(graphicsbase[2]) * meshScaling.getZ());
-				}
-#ifdef DEBUG_TRIANGLE_MESH
-				printf("triangle vertices:%f,%f,%f\n", triangle[j].x(), triangle[j].y(), triangle[j].z());
-#endif  //DEBUG_TRIANGLE_MESH
-			}
-
-			m_callback->processTriangle(m_triangle, nodeSubPart, nodeTriangleIndex);
-			m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
-		}
-	};
-
-	MyNodeOverlapCallback myNodeCallback(callback, m_meshInterface);
-
-	m_bvh->reportAabbOverlappingNodex(&myNodeCallback, aabbMin, aabbMax);
-
-#endif  //DISABLE_BVH
-}
-
-void btBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
-{
-	if ((getLocalScaling() - scaling).length2() > SIMD_EPSILON)
-	{
-		btTriangleMeshShape::setLocalScaling(scaling);
-		buildOptimizedBvh();
-	}
-}
-
-void btBvhTriangleMeshShape::buildOptimizedBvh()
-{
-	if (m_ownsBvh)
-	{
-		m_bvh->~btOptimizedBvh();
-		btAlignedFree(m_bvh);
-	}
-	///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work
-	void* mem = btAlignedAlloc(sizeof(btOptimizedBvh), 16);
-	m_bvh = new (mem) btOptimizedBvh();
-	//rebuild the bvh...
-	m_bvh->build(m_meshInterface, m_useQuantizedAabbCompression, m_localAabbMin, m_localAabbMax);
-	m_ownsBvh = true;
-}
-
-void btBvhTriangleMeshShape::setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& scaling)
-{
-	btAssert(!m_bvh);
-	btAssert(!m_ownsBvh);
-
-	m_bvh = bvh;
-	m_ownsBvh = false;
-	// update the scaling without rebuilding the bvh
-	if ((getLocalScaling() - scaling).length2() > SIMD_EPSILON)
-	{
-		btTriangleMeshShape::setLocalScaling(scaling);
-	}
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char* btBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btTriangleMeshShapeData* trimeshData = (btTriangleMeshShapeData*)dataBuffer;
-
-	btCollisionShape::serialize(&trimeshData->m_collisionShapeData, serializer);
-
-	m_meshInterface->serialize(&trimeshData->m_meshInterface, serializer);
-
-	trimeshData->m_collisionMargin = float(m_collisionMargin);
-
-	if (m_bvh && !(serializer->getSerializationFlags() & BT_SERIALIZE_NO_BVH))
-	{
-		void* chunk = serializer->findPointer(m_bvh);
-		if (chunk)
-		{
-#ifdef BT_USE_DOUBLE_PRECISION
-			trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)chunk;
-			trimeshData->m_quantizedFloatBvh = 0;
-#else
-			trimeshData->m_quantizedFloatBvh = (btQuantizedBvhData*)chunk;
-			trimeshData->m_quantizedDoubleBvh = 0;
-#endif  //BT_USE_DOUBLE_PRECISION
-		}
-		else
-		{
-#ifdef BT_USE_DOUBLE_PRECISION
-			trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh);
-			trimeshData->m_quantizedFloatBvh = 0;
-#else
-			trimeshData->m_quantizedFloatBvh = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh);
-			trimeshData->m_quantizedDoubleBvh = 0;
-#endif  //BT_USE_DOUBLE_PRECISION
-
-			int sz = m_bvh->calculateSerializeBufferSizeNew();
-			btChunk* chunk = serializer->allocate(sz, 1);
-			const char* structType = m_bvh->serialize(chunk->m_oldPtr, serializer);
-			serializer->finalizeChunk(chunk, structType, BT_QUANTIZED_BVH_CODE, m_bvh);
-		}
-	}
-	else
-	{
-		trimeshData->m_quantizedFloatBvh = 0;
-		trimeshData->m_quantizedDoubleBvh = 0;
-	}
-
-	if (m_triangleInfoMap && !(serializer->getSerializationFlags() & BT_SERIALIZE_NO_TRIANGLEINFOMAP))
-	{
-		void* chunk = serializer->findPointer(m_triangleInfoMap);
-		if (chunk)
-		{
-			trimeshData->m_triangleInfoMap = (btTriangleInfoMapData*)chunk;
-		}
-		else
-		{
-			trimeshData->m_triangleInfoMap = (btTriangleInfoMapData*)serializer->getUniquePointer(m_triangleInfoMap);
-			int sz = m_triangleInfoMap->calculateSerializeBufferSize();
-			btChunk* chunk = serializer->allocate(sz, 1);
-			const char* structType = m_triangleInfoMap->serialize(chunk->m_oldPtr, serializer);
-			serializer->finalizeChunk(chunk, structType, BT_TRIANLGE_INFO_MAP, m_triangleInfoMap);
-		}
-	}
-	else
-	{
-		trimeshData->m_triangleInfoMap = 0;
-	}
-
-	// Fill padding with zeros to appease msan.
-	memset(trimeshData->m_pad3, 0, sizeof(trimeshData->m_pad3));
-
-	return "btTriangleMeshShapeData";
-}
-
-void btBvhTriangleMeshShape::serializeSingleBvh(btSerializer* serializer) const
-{
-	if (m_bvh)
-	{
-		int len = m_bvh->calculateSerializeBufferSizeNew();  //make sure not to use calculateSerializeBufferSize because it is used for in-place
-		btChunk* chunk = serializer->allocate(len, 1);
-		const char* structType = m_bvh->serialize(chunk->m_oldPtr, serializer);
-		serializer->finalizeChunk(chunk, structType, BT_QUANTIZED_BVH_CODE, (void*)m_bvh);
-	}
-}
-
-void btBvhTriangleMeshShape::serializeSingleTriangleInfoMap(btSerializer* serializer) const
-{
-	if (m_triangleInfoMap)
-	{
-		int len = m_triangleInfoMap->calculateSerializeBufferSize();
-		btChunk* chunk = serializer->allocate(len, 1);
-		const char* structType = m_triangleInfoMap->serialize(chunk->m_oldPtr, serializer);
-		serializer->finalizeChunk(chunk, structType, BT_TRIANLGE_INFO_MAP, (void*)m_triangleInfoMap);
-	}
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
deleted file mode 100644
index 8b2f2ee85e..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
+++ /dev/null
@@ -1,144 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_BVH_TRIANGLE_MESH_SHAPE_H
-#define BT_BVH_TRIANGLE_MESH_SHAPE_H
-
-#include "btTriangleMeshShape.h"
-#include "btOptimizedBvh.h"
-#include "LinearMath/btAlignedAllocator.h"
-#include "btTriangleInfoMap.h"
-
-///The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving objects.
-///If you required moving concave triangle meshes, it is recommended to perform convex decomposition
-///using HACD, see Bullet/Demos/ConvexDecompositionDemo.
-///Alternatively, you can use btGimpactMeshShape for moving concave triangle meshes.
-///btBvhTriangleMeshShape has several optimizations, such as bounding volume hierarchy and
-///cache friendly traversal for PlayStation 3 Cell SPU.
-///It is recommended to enable useQuantizedAabbCompression for better memory usage.
-///It takes a triangle mesh as input, for example a btTriangleMesh or btTriangleIndexVertexArray. The btBvhTriangleMeshShape class allows for triangle mesh deformations by a refit or partialRefit method.
-///Instead of building the bounding volume hierarchy acceleration structure, it is also possible to serialize (save) and deserialize (load) the structure from disk.
-///See Demos\ConcaveDemo\ConcavePhysicsDemo.cpp for an example.
-ATTRIBUTE_ALIGNED16(class)
-btBvhTriangleMeshShape : public btTriangleMeshShape
-{
-	btOptimizedBvh* m_bvh;
-	btTriangleInfoMap* m_triangleInfoMap;
-
-	bool m_useQuantizedAabbCompression;
-	bool m_ownsBvh;
-#ifdef __clang__
-	bool m_pad[11] __attribute__((unused));  ////need padding due to alignment
-#else
-	bool m_pad[11];  ////need padding due to alignment
-#endif
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btBvhTriangleMeshShape(btStridingMeshInterface * meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true);
-
-	///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
-	btBvhTriangleMeshShape(btStridingMeshInterface * meshInterface, bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax, bool buildBvh = true);
-
-	virtual ~btBvhTriangleMeshShape();
-
-	bool getOwnsBvh() const
-	{
-		return m_ownsBvh;
-	}
-
-	void performRaycast(btTriangleCallback * callback, const btVector3& raySource, const btVector3& rayTarget);
-	void performConvexcast(btTriangleCallback * callback, const btVector3& boxSource, const btVector3& boxTarget, const btVector3& boxMin, const btVector3& boxMax);
-
-	virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
-
-	void refitTree(const btVector3& aabbMin, const btVector3& aabbMax);
-
-	///for a fast incremental refit of parts of the tree. Note: the entire AABB of the tree will become more conservative, it never shrinks
-	void partialRefitTree(const btVector3& aabbMin, const btVector3& aabbMax);
-
-	//debugging
-	virtual const char* getName() const { return "BVHTRIANGLEMESH"; }
-
-	virtual void setLocalScaling(const btVector3& scaling);
-
-	btOptimizedBvh* getOptimizedBvh()
-	{
-		return m_bvh;
-	}
-
-	void setOptimizedBvh(btOptimizedBvh * bvh, const btVector3& localScaling = btVector3(1, 1, 1));
-
-	void buildOptimizedBvh();
-
-	bool usesQuantizedAabbCompression() const
-	{
-		return m_useQuantizedAabbCompression;
-	}
-
-	void setTriangleInfoMap(btTriangleInfoMap * triangleInfoMap)
-	{
-		m_triangleInfoMap = triangleInfoMap;
-	}
-
-	const btTriangleInfoMap* getTriangleInfoMap() const
-	{
-		return m_triangleInfoMap;
-	}
-
-	btTriangleInfoMap* getTriangleInfoMap()
-	{
-		return m_triangleInfoMap;
-	}
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-
-	virtual void serializeSingleBvh(btSerializer * serializer) const;
-
-	virtual void serializeSingleTriangleInfoMap(btSerializer * serializer) const;
-};
-
-// clang-format off
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btTriangleMeshShapeData
-{
-	btCollisionShapeData	m_collisionShapeData;
-
-	btStridingMeshInterfaceData m_meshInterface;
-
-	btQuantizedBvhFloatData		*m_quantizedFloatBvh;
-	btQuantizedBvhDoubleData	*m_quantizedDoubleBvh;
-
-	btTriangleInfoMapData	*m_triangleInfoMap;
-	
-	float	m_collisionMargin;
-
-	char m_pad3[4];
-	
-};
-
-// clang-format on
-
-SIMD_FORCE_INLINE int btBvhTriangleMeshShape::calculateSerializeBufferSize() const
-{
-	return sizeof(btTriangleMeshShapeData);
-}
-
-#endif  //BT_BVH_TRIANGLE_MESH_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.cpp
deleted file mode 100644
index 7c33774284..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.cpp
+++ /dev/null
@@ -1,148 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btCapsuleShape.h"
-
-#include "LinearMath/btQuaternion.h"
-
-btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInternalShape()
-{
-	m_collisionMargin = radius;
-	m_shapeType = CAPSULE_SHAPE_PROXYTYPE;
-	m_upAxis = 1;
-	m_implicitShapeDimensions.setValue(radius, 0.5f * height, radius);
-}
-
-btVector3 btCapsuleShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const
-{
-	btVector3 supVec(0, 0, 0);
-
-	btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
-
-	btVector3 vec = vec0;
-	btScalar lenSqr = vec.length2();
-	if (lenSqr < btScalar(0.0001))
-	{
-		vec.setValue(1, 0, 0);
-	}
-	else
-	{
-		btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
-		vec *= rlen;
-	}
-
-	btVector3 vtx;
-	btScalar newDot;
-
-	{
-		btVector3 pos(0, 0, 0);
-		pos[getUpAxis()] = getHalfHeight();
-
-		vtx = pos;
-		newDot = vec.dot(vtx);
-		if (newDot > maxDot)
-		{
-			maxDot = newDot;
-			supVec = vtx;
-		}
-	}
-	{
-		btVector3 pos(0, 0, 0);
-		pos[getUpAxis()] = -getHalfHeight();
-
-		vtx = pos;
-		newDot = vec.dot(vtx);
-		if (newDot > maxDot)
-		{
-			maxDot = newDot;
-			supVec = vtx;
-		}
-	}
-
-	return supVec;
-}
-
-void btCapsuleShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-{
-	for (int j = 0; j < numVectors; j++)
-	{
-		btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
-		const btVector3& vec = vectors[j];
-
-		btVector3 vtx;
-		btScalar newDot;
-		{
-			btVector3 pos(0, 0, 0);
-			pos[getUpAxis()] = getHalfHeight();
-			vtx = pos;
-			newDot = vec.dot(vtx);
-			if (newDot > maxDot)
-			{
-				maxDot = newDot;
-				supportVerticesOut[j] = vtx;
-			}
-		}
-		{
-			btVector3 pos(0, 0, 0);
-			pos[getUpAxis()] = -getHalfHeight();
-			vtx = pos;
-			newDot = vec.dot(vtx);
-			if (newDot > maxDot)
-			{
-				maxDot = newDot;
-				supportVerticesOut[j] = vtx;
-			}
-		}
-	}
-}
-
-void btCapsuleShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
-{
-	//as an approximation, take the inertia of the box that bounds the spheres
-
-	btTransform ident;
-	ident.setIdentity();
-
-	btScalar radius = getRadius();
-
-	btVector3 halfExtents(radius, radius, radius);
-	halfExtents[getUpAxis()] += getHalfHeight();
-
-	btScalar lx = btScalar(2.) * (halfExtents[0]);
-	btScalar ly = btScalar(2.) * (halfExtents[1]);
-	btScalar lz = btScalar(2.) * (halfExtents[2]);
-	const btScalar x2 = lx * lx;
-	const btScalar y2 = ly * ly;
-	const btScalar z2 = lz * lz;
-	const btScalar scaledmass = mass * btScalar(.08333333);
-
-	inertia[0] = scaledmass * (y2 + z2);
-	inertia[1] = scaledmass * (x2 + z2);
-	inertia[2] = scaledmass * (x2 + y2);
-}
-
-btCapsuleShapeX::btCapsuleShapeX(btScalar radius, btScalar height)
-{
-	m_collisionMargin = radius;
-	m_upAxis = 0;
-	m_implicitShapeDimensions.setValue(0.5f * height, radius, radius);
-}
-
-btCapsuleShapeZ::btCapsuleShapeZ(btScalar radius, btScalar height)
-{
-	m_collisionMargin = radius;
-	m_upAxis = 2;
-	m_implicitShapeDimensions.setValue(radius, radius, 0.5f * height);
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h
deleted file mode 100644
index 138d0c0f7c..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h
+++ /dev/null
@@ -1,182 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CAPSULE_SHAPE_H
-#define BT_CAPSULE_SHAPE_H
-
-#include "btConvexInternalShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
-
-///The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis.
-///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
-///The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres.
-ATTRIBUTE_ALIGNED16(class)
-btCapsuleShape : public btConvexInternalShape
-{
-protected:
-	int m_upAxis;
-
-protected:
-	///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
-	btCapsuleShape() : btConvexInternalShape() { m_shapeType = CAPSULE_SHAPE_PROXYTYPE; };
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btCapsuleShape(btScalar radius, btScalar height);
-
-	///CollisionShape Interface
-	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
-
-	/// btConvexShape Interface
-	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
-
-	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
-
-	virtual void setMargin(btScalar collisionMargin)
-	{
-		//don't override the margin for capsules, their entire radius == margin
-		(void)collisionMargin;
-	}
-
-	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-	{
-		btVector3 halfExtents(getRadius(), getRadius(), getRadius());
-		halfExtents[m_upAxis] = getRadius() + getHalfHeight();
-		btMatrix3x3 abs_b = t.getBasis().absolute();
-		btVector3 center = t.getOrigin();
-		btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
-
-		aabbMin = center - extent;
-		aabbMax = center + extent;
-	}
-
-	virtual const char* getName() const
-	{
-		return "CapsuleShape";
-	}
-
-	int getUpAxis() const
-	{
-		return m_upAxis;
-	}
-
-	btScalar getRadius() const
-	{
-		int radiusAxis = (m_upAxis + 2) % 3;
-		return m_implicitShapeDimensions[radiusAxis];
-	}
-
-	btScalar getHalfHeight() const
-	{
-		return m_implicitShapeDimensions[m_upAxis];
-	}
-
-	virtual void setLocalScaling(const btVector3& scaling)
-	{
-		btVector3 unScaledImplicitShapeDimensions = m_implicitShapeDimensions / m_localScaling;
-		btConvexInternalShape::setLocalScaling(scaling);
-		m_implicitShapeDimensions = (unScaledImplicitShapeDimensions * scaling);
-		//update m_collisionMargin, since entire radius==margin
-		int radiusAxis = (m_upAxis + 2) % 3;
-		m_collisionMargin = m_implicitShapeDimensions[radiusAxis];
-	}
-
-	virtual btVector3 getAnisotropicRollingFrictionDirection() const
-	{
-		btVector3 aniDir(0, 0, 0);
-		aniDir[getUpAxis()] = 1;
-		return aniDir;
-	}
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-
-	SIMD_FORCE_INLINE void deSerializeFloat(struct btCapsuleShapeData * dataBuffer);
-};
-
-///btCapsuleShapeX represents a capsule around the Z axis
-///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
-class btCapsuleShapeX : public btCapsuleShape
-{
-public:
-	btCapsuleShapeX(btScalar radius, btScalar height);
-
-	//debugging
-	virtual const char* getName() const
-	{
-		return "CapsuleX";
-	}
-};
-
-///btCapsuleShapeZ represents a capsule around the Z axis
-///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
-class btCapsuleShapeZ : public btCapsuleShape
-{
-public:
-	btCapsuleShapeZ(btScalar radius, btScalar height);
-
-	//debugging
-	virtual const char* getName() const
-	{
-		return "CapsuleZ";
-	}
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btCapsuleShapeData
-{
-	btConvexInternalShapeData m_convexInternalShapeData;
-
-	int m_upAxis;
-
-	char m_padding[4];
-};
-
-SIMD_FORCE_INLINE int btCapsuleShape::calculateSerializeBufferSize() const
-{
-	return sizeof(btCapsuleShapeData);
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE const char* btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btCapsuleShapeData* shapeData = (btCapsuleShapeData*)dataBuffer;
-
-	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
-
-	shapeData->m_upAxis = m_upAxis;
-
-	// Fill padding with zeros to appease msan.
-	shapeData->m_padding[0] = 0;
-	shapeData->m_padding[1] = 0;
-	shapeData->m_padding[2] = 0;
-	shapeData->m_padding[3] = 0;
-
-	return "btCapsuleShapeData";
-}
-
-SIMD_FORCE_INLINE void btCapsuleShape::deSerializeFloat(btCapsuleShapeData* dataBuffer)
-{
-	m_implicitShapeDimensions.deSerializeFloat(dataBuffer->m_convexInternalShapeData.m_implicitShapeDimensions);
-	m_collisionMargin = dataBuffer->m_convexInternalShapeData.m_collisionMargin;
-	m_localScaling.deSerializeFloat(dataBuffer->m_convexInternalShapeData.m_localScaling);
-	//it is best to already pre-allocate the matching btCapsuleShape*(X/Z) version to match m_upAxis
-	m_upAxis = dataBuffer->m_upAxis;
-}
-
-#endif  //BT_CAPSULE_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionMargin.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionMargin.h
deleted file mode 100644
index abd8ab3eb5..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionMargin.h
+++ /dev/null
@@ -1,24 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_COLLISION_MARGIN_H
-#define BT_COLLISION_MARGIN_H
-
-///The CONVEX_DISTANCE_MARGIN is a default collision margin for convex collision shapes derived from btConvexInternalShape.
-///This collision margin is used by Gjk and some other algorithms
-///Note that when creating small objects, you need to make sure to set a smaller collision margin, using the 'setMargin' API
-#define CONVEX_DISTANCE_MARGIN btScalar(0.04)  // btScalar(0.1)//;//btScalar(0.01)
-
-#endif  //BT_COLLISION_MARGIN_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp
deleted file mode 100644
index 0b3640a65b..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp
+++ /dev/null
@@ -1,119 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "LinearMath/btSerializer.h"
-
-/*
-  Make sure this dummy function never changes so that it
-  can be used by probes that are checking whether the
-  library is actually installed.
-*/
-extern "C"
-{
-	void btBulletCollisionProbe();
-
-	void btBulletCollisionProbe() {}
-}
-
-void btCollisionShape::getBoundingSphere(btVector3& center, btScalar& radius) const
-{
-	btTransform tr;
-	tr.setIdentity();
-	btVector3 aabbMin, aabbMax;
-
-	getAabb(tr, aabbMin, aabbMax);
-
-	radius = (aabbMax - aabbMin).length() * btScalar(0.5);
-	center = (aabbMin + aabbMax) * btScalar(0.5);
-}
-
-btScalar btCollisionShape::getContactBreakingThreshold(btScalar defaultContactThreshold) const
-{
-	return getAngularMotionDisc() * defaultContactThreshold;
-}
-
-btScalar btCollisionShape::getAngularMotionDisc() const
-{
-	///@todo cache this value, to improve performance
-	btVector3 center;
-	btScalar disc;
-	getBoundingSphere(center, disc);
-	disc += (center).length();
-	return disc;
-}
-
-void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans, const btVector3& linvel, const btVector3& angvel, btScalar timeStep, btVector3& temporalAabbMin, btVector3& temporalAabbMax) const
-{
-	//start with static aabb
-	getAabb(curTrans, temporalAabbMin, temporalAabbMax);
-
-	btScalar temporalAabbMaxx = temporalAabbMax.getX();
-	btScalar temporalAabbMaxy = temporalAabbMax.getY();
-	btScalar temporalAabbMaxz = temporalAabbMax.getZ();
-	btScalar temporalAabbMinx = temporalAabbMin.getX();
-	btScalar temporalAabbMiny = temporalAabbMin.getY();
-	btScalar temporalAabbMinz = temporalAabbMin.getZ();
-
-	// add linear motion
-	btVector3 linMotion = linvel * timeStep;
-	///@todo: simd would have a vector max/min operation, instead of per-element access
-	if (linMotion.x() > btScalar(0.))
-		temporalAabbMaxx += linMotion.x();
-	else
-		temporalAabbMinx += linMotion.x();
-	if (linMotion.y() > btScalar(0.))
-		temporalAabbMaxy += linMotion.y();
-	else
-		temporalAabbMiny += linMotion.y();
-	if (linMotion.z() > btScalar(0.))
-		temporalAabbMaxz += linMotion.z();
-	else
-		temporalAabbMinz += linMotion.z();
-
-	//add conservative angular motion
-	btScalar angularMotion = angvel.length() * getAngularMotionDisc() * timeStep;
-	btVector3 angularMotion3d(angularMotion, angularMotion, angularMotion);
-	temporalAabbMin = btVector3(temporalAabbMinx, temporalAabbMiny, temporalAabbMinz);
-	temporalAabbMax = btVector3(temporalAabbMaxx, temporalAabbMaxy, temporalAabbMaxz);
-
-	temporalAabbMin -= angularMotion3d;
-	temporalAabbMax += angularMotion3d;
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char* btCollisionShape::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btCollisionShapeData* shapeData = (btCollisionShapeData*)dataBuffer;
-	char* name = (char*)serializer->findNameForPointer(this);
-	shapeData->m_name = (char*)serializer->getUniquePointer(name);
-	if (shapeData->m_name)
-	{
-		serializer->serializeName(name);
-	}
-	shapeData->m_shapeType = m_shapeType;
-
-	// Fill padding with zeros to appease msan.
-	memset(shapeData->m_padding, 0, sizeof(shapeData->m_padding));
-
-	return "btCollisionShapeData";
-}
-
-void btCollisionShape::serializeSingleShape(btSerializer* serializer) const
-{
-	int len = calculateSerializeBufferSize();
-	btChunk* chunk = serializer->allocate(len, 1);
-	const char* structType = serialize(chunk->m_oldPtr, serializer);
-	serializer->finalizeChunk(chunk, structType, BT_SHAPE_CODE, (void*)this);
-}
\ No newline at end of file
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h
deleted file mode 100644
index 16f9e0c77a..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h
+++ /dev/null
@@ -1,174 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_COLLISION_SHAPE_H
-#define BT_COLLISION_SHAPE_H
-
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btMatrix3x3.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  //for the shape types
-class btSerializer;
-
-///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.
-ATTRIBUTE_ALIGNED16(class)
-btCollisionShape
-{
-protected:
-	int m_shapeType;
-	void* m_userPointer;
-	int m_userIndex;
-	int m_userIndex2;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btCollisionShape() : m_shapeType(INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(-1), m_userIndex2(-1)
-	{
-	}
-
-	virtual ~btCollisionShape()
-	{
-	}
-
-	///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
-	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const = 0;
-
-	virtual void getBoundingSphere(btVector3 & center, btScalar & radius) const;
-
-	///getAngularMotionDisc returns the maximum radius needed for Conservative Advancement to handle time-of-impact with rotations.
-	virtual btScalar getAngularMotionDisc() const;
-
-	virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const;
-
-	///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
-	///result is conservative
-	void calculateTemporalAabb(const btTransform& curTrans, const btVector3& linvel, const btVector3& angvel, btScalar timeStep, btVector3& temporalAabbMin, btVector3& temporalAabbMax) const;
-
-	SIMD_FORCE_INLINE bool isPolyhedral() const
-	{
-		return btBroadphaseProxy::isPolyhedral(getShapeType());
-	}
-
-	SIMD_FORCE_INLINE bool isConvex2d() const
-	{
-		return btBroadphaseProxy::isConvex2d(getShapeType());
-	}
-
-	SIMD_FORCE_INLINE bool isConvex() const
-	{
-		return btBroadphaseProxy::isConvex(getShapeType());
-	}
-	SIMD_FORCE_INLINE bool isNonMoving() const
-	{
-		return btBroadphaseProxy::isNonMoving(getShapeType());
-	}
-	SIMD_FORCE_INLINE bool isConcave() const
-	{
-		return btBroadphaseProxy::isConcave(getShapeType());
-	}
-	SIMD_FORCE_INLINE bool isCompound() const
-	{
-		return btBroadphaseProxy::isCompound(getShapeType());
-	}
-
-	SIMD_FORCE_INLINE bool isSoftBody() const
-	{
-		return btBroadphaseProxy::isSoftBody(getShapeType());
-	}
-
-	///isInfinite is used to catch simulation error (aabb check)
-	SIMD_FORCE_INLINE bool isInfinite() const
-	{
-		return btBroadphaseProxy::isInfinite(getShapeType());
-	}
-
-#ifndef __SPU__
-	virtual void setLocalScaling(const btVector3& scaling) = 0;
-	virtual const btVector3& getLocalScaling() const = 0;
-	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const = 0;
-
-	//debugging support
-	virtual const char* getName() const = 0;
-#endif  //__SPU__
-
-	int getShapeType() const
-	{
-		return m_shapeType;
-	}
-
-	///the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction
-	///See Bullet/Demos/RollingFrictionDemo for an example
-	virtual btVector3 getAnisotropicRollingFrictionDirection() const
-	{
-		return btVector3(1, 1, 1);
-	}
-	virtual void setMargin(btScalar margin) = 0;
-	virtual btScalar getMargin() const = 0;
-
-	///optional user data pointer
-	void setUserPointer(void* userPtr)
-	{
-		m_userPointer = userPtr;
-	}
-
-	void* getUserPointer() const
-	{
-		return m_userPointer;
-	}
-	void setUserIndex(int index)
-	{
-		m_userIndex = index;
-	}
-
-	int getUserIndex() const
-	{
-		return m_userIndex;
-	}
-
-	void setUserIndex2(int index)
-	{
-		m_userIndex2 = index;
-	}
-
-	int getUserIndex2() const
-	{
-		return m_userIndex2;
-	}
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-
-	virtual void serializeSingleShape(btSerializer * serializer) const;
-};
-
-// clang-format off
-// parser needs * with the name
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btCollisionShapeData
-{
-	char	*m_name;
-	int		m_shapeType;
-	char	m_padding[4];
-};
-// clang-format on
-SIMD_FORCE_INLINE int btCollisionShape::calculateSerializeBufferSize() const
-{
-	return sizeof(btCollisionShapeData);
-}
-
-#endif  //BT_COLLISION_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp
deleted file mode 100644
index fd7828b104..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp
+++ /dev/null
@@ -1,335 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btCompoundShape.h"
-#include "btCollisionShape.h"
-#include "BulletCollision/BroadphaseCollision/btDbvt.h"
-#include "LinearMath/btSerializer.h"
-
-btCompoundShape::btCompoundShape(bool enableDynamicAabbTree, const int initialChildCapacity)
-	: m_localAabbMin(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT)),
-	  m_localAabbMax(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT)),
-	  m_dynamicAabbTree(0),
-	  m_updateRevision(1),
-	  m_collisionMargin(btScalar(0.)),
-	  m_localScaling(btScalar(1.), btScalar(1.), btScalar(1.))
-{
-	m_shapeType = COMPOUND_SHAPE_PROXYTYPE;
-
-	if (enableDynamicAabbTree)
-	{
-		void* mem = btAlignedAlloc(sizeof(btDbvt), 16);
-		m_dynamicAabbTree = new (mem) btDbvt();
-		btAssert(mem == m_dynamicAabbTree);
-	}
-
-	m_children.reserve(initialChildCapacity);
-}
-
-btCompoundShape::~btCompoundShape()
-{
-	if (m_dynamicAabbTree)
-	{
-		m_dynamicAabbTree->~btDbvt();
-		btAlignedFree(m_dynamicAabbTree);
-	}
-}
-
-void btCompoundShape::addChildShape(const btTransform& localTransform, btCollisionShape* shape)
-{
-	m_updateRevision++;
-	//m_childTransforms.push_back(localTransform);
-	//m_childShapes.push_back(shape);
-	btCompoundShapeChild child;
-	child.m_node = 0;
-	child.m_transform = localTransform;
-	child.m_childShape = shape;
-	child.m_childShapeType = shape->getShapeType();
-	child.m_childMargin = shape->getMargin();
-
-	//extend the local aabbMin/aabbMax
-	btVector3 localAabbMin, localAabbMax;
-	shape->getAabb(localTransform, localAabbMin, localAabbMax);
-	for (int i = 0; i < 3; i++)
-	{
-		if (m_localAabbMin[i] > localAabbMin[i])
-		{
-			m_localAabbMin[i] = localAabbMin[i];
-		}
-		if (m_localAabbMax[i] < localAabbMax[i])
-		{
-			m_localAabbMax[i] = localAabbMax[i];
-		}
-	}
-	if (m_dynamicAabbTree)
-	{
-		const btDbvtVolume bounds = btDbvtVolume::FromMM(localAabbMin, localAabbMax);
-		size_t index = m_children.size();
-		child.m_node = m_dynamicAabbTree->insert(bounds, reinterpret_cast<void*>(index));
-	}
-
-	m_children.push_back(child);
-}
-
-void btCompoundShape::updateChildTransform(int childIndex, const btTransform& newChildTransform, bool shouldRecalculateLocalAabb)
-{
-	m_children[childIndex].m_transform = newChildTransform;
-
-	if (m_dynamicAabbTree)
-	{
-		///update the dynamic aabb tree
-		btVector3 localAabbMin, localAabbMax;
-		m_children[childIndex].m_childShape->getAabb(newChildTransform, localAabbMin, localAabbMax);
-		ATTRIBUTE_ALIGNED16(btDbvtVolume)
-		bounds = btDbvtVolume::FromMM(localAabbMin, localAabbMax);
-		//int index = m_children.size()-1;
-		m_dynamicAabbTree->update(m_children[childIndex].m_node, bounds);
-	}
-
-	if (shouldRecalculateLocalAabb)
-	{
-		recalculateLocalAabb();
-	}
-}
-
-void btCompoundShape::removeChildShapeByIndex(int childShapeIndex)
-{
-	m_updateRevision++;
-	btAssert(childShapeIndex >= 0 && childShapeIndex < m_children.size());
-	if (m_dynamicAabbTree)
-	{
-		m_dynamicAabbTree->remove(m_children[childShapeIndex].m_node);
-	}
-	m_children.swap(childShapeIndex, m_children.size() - 1);
-	if (m_dynamicAabbTree)
-		m_children[childShapeIndex].m_node->dataAsInt = childShapeIndex;
-	m_children.pop_back();
-}
-
-void btCompoundShape::removeChildShape(btCollisionShape* shape)
-{
-	m_updateRevision++;
-	// Find the children containing the shape specified, and remove those children.
-	//note: there might be multiple children using the same shape!
-	for (int i = m_children.size() - 1; i >= 0; i--)
-	{
-		if (m_children[i].m_childShape == shape)
-		{
-			removeChildShapeByIndex(i);
-		}
-	}
-
-	recalculateLocalAabb();
-}
-
-void btCompoundShape::recalculateLocalAabb()
-{
-	// Recalculate the local aabb
-	// Brute force, it iterates over all the shapes left.
-
-	m_localAabbMin = btVector3(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-	m_localAabbMax = btVector3(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
-
-	//extend the local aabbMin/aabbMax
-	for (int j = 0; j < m_children.size(); j++)
-	{
-		btVector3 localAabbMin, localAabbMax;
-		m_children[j].m_childShape->getAabb(m_children[j].m_transform, localAabbMin, localAabbMax);
-		for (int i = 0; i < 3; i++)
-		{
-			if (m_localAabbMin[i] > localAabbMin[i])
-				m_localAabbMin[i] = localAabbMin[i];
-			if (m_localAabbMax[i] < localAabbMax[i])
-				m_localAabbMax[i] = localAabbMax[i];
-		}
-	}
-}
-
-///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-void btCompoundShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	btVector3 localHalfExtents = btScalar(0.5) * (m_localAabbMax - m_localAabbMin);
-	btVector3 localCenter = btScalar(0.5) * (m_localAabbMax + m_localAabbMin);
-
-	//avoid an illegal AABB when there are no children
-	if (!m_children.size())
-	{
-		localHalfExtents.setValue(0, 0, 0);
-		localCenter.setValue(0, 0, 0);
-	}
-	localHalfExtents += btVector3(getMargin(), getMargin(), getMargin());
-
-	btMatrix3x3 abs_b = trans.getBasis().absolute();
-
-	btVector3 center = trans(localCenter);
-
-	btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
-	aabbMin = center - extent;
-	aabbMax = center + extent;
-}
-
-void btCompoundShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
-{
-	//approximation: take the inertia from the aabb for now
-	btTransform ident;
-	ident.setIdentity();
-	btVector3 aabbMin, aabbMax;
-	getAabb(ident, aabbMin, aabbMax);
-
-	btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
-
-	btScalar lx = btScalar(2.) * (halfExtents.x());
-	btScalar ly = btScalar(2.) * (halfExtents.y());
-	btScalar lz = btScalar(2.) * (halfExtents.z());
-
-	inertia[0] = mass / (btScalar(12.0)) * (ly * ly + lz * lz);
-	inertia[1] = mass / (btScalar(12.0)) * (lx * lx + lz * lz);
-	inertia[2] = mass / (btScalar(12.0)) * (lx * lx + ly * ly);
-}
-
-void btCompoundShape::calculatePrincipalAxisTransform(const btScalar* masses, btTransform& principal, btVector3& inertia) const
-{
-	int n = m_children.size();
-
-	btScalar totalMass = 0;
-	btVector3 center(0, 0, 0);
-	int k;
-
-	for (k = 0; k < n; k++)
-	{
-		btAssert(masses[k] > 0);
-		center += m_children[k].m_transform.getOrigin() * masses[k];
-		totalMass += masses[k];
-	}
-
-	btAssert(totalMass > 0);
-
-	center /= totalMass;
-	principal.setOrigin(center);
-
-	btMatrix3x3 tensor(0, 0, 0, 0, 0, 0, 0, 0, 0);
-	for (k = 0; k < n; k++)
-	{
-		btVector3 i;
-		m_children[k].m_childShape->calculateLocalInertia(masses[k], i);
-
-		const btTransform& t = m_children[k].m_transform;
-		btVector3 o = t.getOrigin() - center;
-
-		//compute inertia tensor in coordinate system of compound shape
-		btMatrix3x3 j = t.getBasis().transpose();
-		j[0] *= i[0];
-		j[1] *= i[1];
-		j[2] *= i[2];
-		j = t.getBasis() * j;
-
-		//add inertia tensor
-		tensor[0] += j[0];
-		tensor[1] += j[1];
-		tensor[2] += j[2];
-
-		//compute inertia tensor of pointmass at o
-		btScalar o2 = o.length2();
-		j[0].setValue(o2, 0, 0);
-		j[1].setValue(0, o2, 0);
-		j[2].setValue(0, 0, o2);
-		j[0] += o * -o.x();
-		j[1] += o * -o.y();
-		j[2] += o * -o.z();
-
-		//add inertia tensor of pointmass
-		tensor[0] += masses[k] * j[0];
-		tensor[1] += masses[k] * j[1];
-		tensor[2] += masses[k] * j[2];
-	}
-
-	tensor.diagonalize(principal.getBasis(), btScalar(0.00001), 20);
-	inertia.setValue(tensor[0][0], tensor[1][1], tensor[2][2]);
-}
-
-void btCompoundShape::setLocalScaling(const btVector3& scaling)
-{
-	for (int i = 0; i < m_children.size(); i++)
-	{
-		btTransform childTrans = getChildTransform(i);
-		btVector3 childScale = m_children[i].m_childShape->getLocalScaling();
-		//		childScale = childScale * (childTrans.getBasis() * scaling);
-		childScale = childScale * scaling / m_localScaling;
-		m_children[i].m_childShape->setLocalScaling(childScale);
-		childTrans.setOrigin((childTrans.getOrigin()) * scaling / m_localScaling);
-		updateChildTransform(i, childTrans, false);
-	}
-
-	m_localScaling = scaling;
-	recalculateLocalAabb();
-}
-
-void btCompoundShape::createAabbTreeFromChildren()
-{
-	if (!m_dynamicAabbTree)
-	{
-		void* mem = btAlignedAlloc(sizeof(btDbvt), 16);
-		m_dynamicAabbTree = new (mem) btDbvt();
-		btAssert(mem == m_dynamicAabbTree);
-
-		for (int index = 0; index < m_children.size(); index++)
-		{
-			btCompoundShapeChild& child = m_children[index];
-
-			//extend the local aabbMin/aabbMax
-			btVector3 localAabbMin, localAabbMax;
-			child.m_childShape->getAabb(child.m_transform, localAabbMin, localAabbMax);
-
-			const btDbvtVolume bounds = btDbvtVolume::FromMM(localAabbMin, localAabbMax);
-			size_t index2 = index;
-			child.m_node = m_dynamicAabbTree->insert(bounds, reinterpret_cast<void*>(index2));
-		}
-	}
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char* btCompoundShape::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btCompoundShapeData* shapeData = (btCompoundShapeData*)dataBuffer;
-	btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
-
-	shapeData->m_collisionMargin = float(m_collisionMargin);
-	shapeData->m_numChildShapes = m_children.size();
-	shapeData->m_childShapePtr = 0;
-	if (shapeData->m_numChildShapes)
-	{
-		btChunk* chunk = serializer->allocate(sizeof(btCompoundShapeChildData), shapeData->m_numChildShapes);
-		btCompoundShapeChildData* memPtr = (btCompoundShapeChildData*)chunk->m_oldPtr;
-		shapeData->m_childShapePtr = (btCompoundShapeChildData*)serializer->getUniquePointer(memPtr);
-
-		for (int i = 0; i < shapeData->m_numChildShapes; i++, memPtr++)
-		{
-			memPtr->m_childMargin = float(m_children[i].m_childMargin);
-			memPtr->m_childShape = (btCollisionShapeData*)serializer->getUniquePointer(m_children[i].m_childShape);
-			//don't serialize shapes that already have been serialized
-			if (!serializer->findPointer(m_children[i].m_childShape))
-			{
-				btChunk* chunk = serializer->allocate(m_children[i].m_childShape->calculateSerializeBufferSize(), 1);
-				const char* structType = m_children[i].m_childShape->serialize(chunk->m_oldPtr, serializer);
-				serializer->finalizeChunk(chunk, structType, BT_SHAPE_CODE, m_children[i].m_childShape);
-			}
-
-			memPtr->m_childShapeType = m_children[i].m_childShapeType;
-			m_children[i].m_transform.serializeFloat(memPtr->m_transform);
-		}
-		serializer->finalizeChunk(chunk, "btCompoundShapeChildData", BT_ARRAY_CODE, chunk->m_oldPtr);
-	}
-	return "btCompoundShapeData";
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h
deleted file mode 100644
index 7e2d0eb817..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h
+++ /dev/null
@@ -1,207 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_COMPOUND_SHAPE_H
-#define BT_COMPOUND_SHAPE_H
-
-#include "btCollisionShape.h"
-
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btMatrix3x3.h"
-#include "btCollisionMargin.h"
-#include "LinearMath/btAlignedObjectArray.h"
-
-//class btOptimizedBvh;
-struct btDbvt;
-
-ATTRIBUTE_ALIGNED16(struct)
-btCompoundShapeChild
-{
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btTransform m_transform;
-	btCollisionShape* m_childShape;
-	int m_childShapeType;
-	btScalar m_childMargin;
-	struct btDbvtNode* m_node;
-};
-
-SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompoundShapeChild& c2)
-{
-	return (c1.m_transform == c2.m_transform &&
-			c1.m_childShape == c2.m_childShape &&
-			c1.m_childShapeType == c2.m_childShapeType &&
-			c1.m_childMargin == c2.m_childMargin);
-}
-
-/// The btCompoundShape allows to store multiple other btCollisionShapes
-/// This allows for moving concave collision objects. This is more general then the static concave btBvhTriangleMeshShape.
-/// It has an (optional) dynamic aabb tree to accelerate early rejection tests.
-/// @todo: This aabb tree can also be use to speed up ray tests on btCompoundShape, see http://code.google.com/p/bullet/issues/detail?id=25
-/// Currently, removal of child shapes is only supported when disabling the aabb tree (pass 'false' in the constructor of btCompoundShape)
-ATTRIBUTE_ALIGNED16(class)
-btCompoundShape : public btCollisionShape
-{
-protected:
-	btAlignedObjectArray<btCompoundShapeChild> m_children;
-	btVector3 m_localAabbMin;
-	btVector3 m_localAabbMax;
-
-	btDbvt* m_dynamicAabbTree;
-
-	///increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated
-	int m_updateRevision;
-
-	btScalar m_collisionMargin;
-
-	btVector3 m_localScaling;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	explicit btCompoundShape(bool enableDynamicAabbTree = true, const int initialChildCapacity = 0);
-
-	virtual ~btCompoundShape();
-
-	void addChildShape(const btTransform& localTransform, btCollisionShape* shape);
-
-	/// Remove all children shapes that contain the specified shape
-	virtual void removeChildShape(btCollisionShape * shape);
-
-	void removeChildShapeByIndex(int childShapeindex);
-
-	int getNumChildShapes() const
-	{
-		return int(m_children.size());
-	}
-
-	btCollisionShape* getChildShape(int index)
-	{
-		return m_children[index].m_childShape;
-	}
-	const btCollisionShape* getChildShape(int index) const
-	{
-		return m_children[index].m_childShape;
-	}
-
-	btTransform& getChildTransform(int index)
-	{
-		return m_children[index].m_transform;
-	}
-	const btTransform& getChildTransform(int index) const
-	{
-		return m_children[index].m_transform;
-	}
-
-	///set a new transform for a child, and update internal data structures (local aabb and dynamic tree)
-	void updateChildTransform(int childIndex, const btTransform& newChildTransform, bool shouldRecalculateLocalAabb = true);
-
-	btCompoundShapeChild* getChildList()
-	{
-		return &m_children[0];
-	}
-
-	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
-
-	/** Re-calculate the local Aabb. Is called at the end of removeChildShapes. 
-	Use this yourself if you modify the children or their transforms. */
-	virtual void recalculateLocalAabb();
-
-	virtual void setLocalScaling(const btVector3& scaling);
-
-	virtual const btVector3& getLocalScaling() const
-	{
-		return m_localScaling;
-	}
-
-	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
-
-	virtual void setMargin(btScalar margin)
-	{
-		m_collisionMargin = margin;
-	}
-	virtual btScalar getMargin() const
-	{
-		return m_collisionMargin;
-	}
-	virtual const char* getName() const
-	{
-		return "Compound";
-	}
-
-	const btDbvt* getDynamicAabbTree() const
-	{
-		return m_dynamicAabbTree;
-	}
-
-	btDbvt* getDynamicAabbTree()
-	{
-		return m_dynamicAabbTree;
-	}
-
-	void createAabbTreeFromChildren();
-
-	///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia
-	///and the center of mass to the current coordinate system. "masses" points to an array of masses of the children. The resulting transform
-	///"principal" has to be applied inversely to all children transforms in order for the local coordinate system of the compound
-	///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform
-	///of the collision object by the principal transform.
-	void calculatePrincipalAxisTransform(const btScalar* masses, btTransform& principal, btVector3& inertia) const;
-
-	int getUpdateRevision() const
-	{
-		return m_updateRevision;
-	}
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-};
-
-// clang-format off
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btCompoundShapeChildData
-{
-	btTransformFloatData	m_transform;
-	btCollisionShapeData	*m_childShape;
-	int						m_childShapeType;
-	float					m_childMargin;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btCompoundShapeData
-{
-	btCollisionShapeData		m_collisionShapeData;
-
-	btCompoundShapeChildData	*m_childShapePtr;
-
-	int							m_numChildShapes;
-
-	float	m_collisionMargin;
-
-};
-
-// clang-format on
-
-SIMD_FORCE_INLINE int btCompoundShape::calculateSerializeBufferSize() const
-{
-	return sizeof(btCompoundShapeData);
-}
-
-#endif  //BT_COMPOUND_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConcaveShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConcaveShape.cpp
deleted file mode 100644
index 5d396844dd..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConcaveShape.cpp
+++ /dev/null
@@ -1,24 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btConcaveShape.h"
-
-btConcaveShape::btConcaveShape() : m_collisionMargin(btScalar(0.))
-{
-}
-
-btConcaveShape::~btConcaveShape()
-{
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConcaveShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConcaveShape.h
deleted file mode 100644
index 716624e182..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConcaveShape.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONCAVE_SHAPE_H
-#define BT_CONCAVE_SHAPE_H
-
-#include "btCollisionShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
-#include "btTriangleCallback.h"
-
-/// PHY_ScalarType enumerates possible scalar types.
-/// See the btStridingMeshInterface or btHeightfieldTerrainShape for its use
-typedef enum PHY_ScalarType
-{
-	PHY_FLOAT,
-	PHY_DOUBLE,
-	PHY_INTEGER,
-	PHY_SHORT,
-	PHY_FIXEDPOINT88,
-	PHY_UCHAR
-} PHY_ScalarType;
-
-///The btConcaveShape class provides an interface for non-moving (static) concave shapes.
-///It has been implemented by the btStaticPlaneShape, btBvhTriangleMeshShape and btHeightfieldTerrainShape.
-ATTRIBUTE_ALIGNED16(class)
-btConcaveShape : public btCollisionShape
-{
-protected:
-	btScalar m_collisionMargin;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btConcaveShape();
-
-	virtual ~btConcaveShape();
-
-	virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const = 0;
-
-	virtual btScalar getMargin() const
-	{
-		return m_collisionMargin;
-	}
-	virtual void setMargin(btScalar collisionMargin)
-	{
-		m_collisionMargin = collisionMargin;
-	}
-};
-
-#endif  //BT_CONCAVE_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.cpp
deleted file mode 100644
index 64a6f272ca..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.cpp
+++ /dev/null
@@ -1,142 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btConeShape.h"
-
-btConeShape::btConeShape(btScalar radius, btScalar height) : btConvexInternalShape(),
-															 m_radius(radius),
-															 m_height(height)
-{
-	m_shapeType = CONE_SHAPE_PROXYTYPE;
-	setConeUpIndex(1);
-	btVector3 halfExtents;
-	m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
-}
-
-btConeShapeZ::btConeShapeZ(btScalar radius, btScalar height) : btConeShape(radius, height)
-{
-	setConeUpIndex(2);
-}
-
-btConeShapeX::btConeShapeX(btScalar radius, btScalar height) : btConeShape(radius, height)
-{
-	setConeUpIndex(0);
-}
-
-///choose upAxis index
-void btConeShape::setConeUpIndex(int upIndex)
-{
-	switch (upIndex)
-	{
-		case 0:
-			m_coneIndices[0] = 1;
-			m_coneIndices[1] = 0;
-			m_coneIndices[2] = 2;
-			break;
-		case 1:
-			m_coneIndices[0] = 0;
-			m_coneIndices[1] = 1;
-			m_coneIndices[2] = 2;
-			break;
-		case 2:
-			m_coneIndices[0] = 0;
-			m_coneIndices[1] = 2;
-			m_coneIndices[2] = 1;
-			break;
-		default:
-			btAssert(0);
-	};
-
-	m_implicitShapeDimensions[m_coneIndices[0]] = m_radius;
-	m_implicitShapeDimensions[m_coneIndices[1]] = m_height;
-	m_implicitShapeDimensions[m_coneIndices[2]] = m_radius;
-}
-
-btVector3 btConeShape::coneLocalSupport(const btVector3& v) const
-{
-	btScalar halfHeight = m_height * btScalar(0.5);
-
-	if (v[m_coneIndices[1]] > v.length() * m_sinAngle)
-	{
-		btVector3 tmp;
-
-		tmp[m_coneIndices[0]] = btScalar(0.);
-		tmp[m_coneIndices[1]] = halfHeight;
-		tmp[m_coneIndices[2]] = btScalar(0.);
-		return tmp;
-	}
-	else
-	{
-		btScalar s = btSqrt(v[m_coneIndices[0]] * v[m_coneIndices[0]] + v[m_coneIndices[2]] * v[m_coneIndices[2]]);
-		if (s > SIMD_EPSILON)
-		{
-			btScalar d = m_radius / s;
-			btVector3 tmp;
-			tmp[m_coneIndices[0]] = v[m_coneIndices[0]] * d;
-			tmp[m_coneIndices[1]] = -halfHeight;
-			tmp[m_coneIndices[2]] = v[m_coneIndices[2]] * d;
-			return tmp;
-		}
-		else
-		{
-			btVector3 tmp;
-			tmp[m_coneIndices[0]] = btScalar(0.);
-			tmp[m_coneIndices[1]] = -halfHeight;
-			tmp[m_coneIndices[2]] = btScalar(0.);
-			return tmp;
-		}
-	}
-}
-
-btVector3 btConeShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
-{
-	return coneLocalSupport(vec);
-}
-
-void btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-{
-	for (int i = 0; i < numVectors; i++)
-	{
-		const btVector3& vec = vectors[i];
-		supportVerticesOut[i] = coneLocalSupport(vec);
-	}
-}
-
-btVector3 btConeShape::localGetSupportingVertex(const btVector3& vec) const
-{
-	btVector3 supVertex = coneLocalSupport(vec);
-	if (getMargin() != btScalar(0.))
-	{
-		btVector3 vecnorm = vec;
-		if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
-		{
-			vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
-		}
-		vecnorm.normalize();
-		supVertex += getMargin() * vecnorm;
-	}
-	return supVertex;
-}
-
-void btConeShape::setLocalScaling(const btVector3& scaling)
-{
-	int axis = m_coneIndices[1];
-	int r1 = m_coneIndices[0];
-	int r2 = m_coneIndices[2];
-	m_height *= scaling[axis] / m_localScaling[axis];
-	m_radius *= (scaling[r1] / m_localScaling[r1] + scaling[r2] / m_localScaling[r2]) / 2;
-	m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
-	btConvexInternalShape::setLocalScaling(scaling);
-}
\ No newline at end of file
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.h
deleted file mode 100644
index 49f26bc4e5..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.h
+++ /dev/null
@@ -1,175 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONE_MINKOWSKI_H
-#define BT_CONE_MINKOWSKI_H
-
-#include "btConvexInternalShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
-
-///The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y axis. The btConeShapeX is aligned around the X axis and btConeShapeZ around the Z axis.
-ATTRIBUTE_ALIGNED16(class)
-btConeShape : public btConvexInternalShape
-
-{
-	btScalar m_sinAngle;
-	btScalar m_radius;
-	btScalar m_height;
-	int m_coneIndices[3];
-	btVector3 coneLocalSupport(const btVector3& v) const;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btConeShape(btScalar radius, btScalar height);
-
-	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
-	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
-	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
-
-	btScalar getRadius() const { return m_radius; }
-	btScalar getHeight() const { return m_height; }
-
-	void setRadius(const btScalar radius)
-	{
-		m_radius = radius;
-	}
-	void setHeight(const btScalar height)
-	{
-		m_height = height;
-	}
-
-	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const
-	{
-		btTransform identity;
-		identity.setIdentity();
-		btVector3 aabbMin, aabbMax;
-		getAabb(identity, aabbMin, aabbMax);
-
-		btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
-
-		btScalar margin = getMargin();
-
-		btScalar lx = btScalar(2.) * (halfExtents.x() + margin);
-		btScalar ly = btScalar(2.) * (halfExtents.y() + margin);
-		btScalar lz = btScalar(2.) * (halfExtents.z() + margin);
-		const btScalar x2 = lx * lx;
-		const btScalar y2 = ly * ly;
-		const btScalar z2 = lz * lz;
-		const btScalar scaledmass = mass * btScalar(0.08333333);
-
-		inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));
-
-		//		inertia.x() = scaledmass * (y2+z2);
-		//		inertia.y() = scaledmass * (x2+z2);
-		//		inertia.z() = scaledmass * (x2+y2);
-	}
-
-	virtual const char* getName() const
-	{
-		return "Cone";
-	}
-
-	///choose upAxis index
-	void setConeUpIndex(int upIndex);
-
-	int getConeUpIndex() const
-	{
-		return m_coneIndices[1];
-	}
-
-	virtual btVector3 getAnisotropicRollingFrictionDirection() const
-	{
-		return btVector3(0, 1, 0);
-	}
-
-	virtual void setLocalScaling(const btVector3& scaling);
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-};
-
-///btConeShape implements a Cone shape, around the X axis
-class btConeShapeX : public btConeShape
-{
-public:
-	btConeShapeX(btScalar radius, btScalar height);
-
-	virtual btVector3 getAnisotropicRollingFrictionDirection() const
-	{
-		return btVector3(1, 0, 0);
-	}
-
-	//debugging
-	virtual const char* getName() const
-	{
-		return "ConeX";
-	}
-};
-
-///btConeShapeZ implements a Cone shape, around the Z axis
-class btConeShapeZ : public btConeShape
-{
-public:
-	btConeShapeZ(btScalar radius, btScalar height);
-
-	virtual btVector3 getAnisotropicRollingFrictionDirection() const
-	{
-		return btVector3(0, 0, 1);
-	}
-
-	//debugging
-	virtual const char* getName() const
-	{
-		return "ConeZ";
-	}
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btConeShapeData
-{
-	btConvexInternalShapeData m_convexInternalShapeData;
-
-	int m_upIndex;
-
-	char m_padding[4];
-};
-
-SIMD_FORCE_INLINE int btConeShape::calculateSerializeBufferSize() const
-{
-	return sizeof(btConeShapeData);
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE const char* btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btConeShapeData* shapeData = (btConeShapeData*)dataBuffer;
-
-	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
-
-	shapeData->m_upIndex = m_coneIndices[1];
-
-	// Fill padding with zeros to appease msan.
-	shapeData->m_padding[0] = 0;
-	shapeData->m_padding[1] = 0;
-	shapeData->m_padding[2] = 0;
-	shapeData->m_padding[3] = 0;
-
-	return "btConeShapeData";
-}
-
-#endif  //BT_CONE_MINKOWSKI_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvex2dShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvex2dShape.cpp
deleted file mode 100644
index 7d3d1d362f..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvex2dShape.cpp
+++ /dev/null
@@ -1,86 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btConvex2dShape.h"
-
-btConvex2dShape::btConvex2dShape(btConvexShape* convexChildShape) : btConvexShape(), m_childConvexShape(convexChildShape)
-{
-	m_shapeType = CONVEX_2D_SHAPE_PROXYTYPE;
-}
-
-btConvex2dShape::~btConvex2dShape()
-{
-}
-
-btVector3 btConvex2dShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
-{
-	return m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
-}
-
-void btConvex2dShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-{
-	m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors, supportVerticesOut, numVectors);
-}
-
-btVector3 btConvex2dShape::localGetSupportingVertex(const btVector3& vec) const
-{
-	return m_childConvexShape->localGetSupportingVertex(vec);
-}
-
-void btConvex2dShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
-{
-	///this linear upscaling is not realistic, but we don't deal with large mass ratios...
-	m_childConvexShape->calculateLocalInertia(mass, inertia);
-}
-
-///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-void btConvex2dShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	m_childConvexShape->getAabb(t, aabbMin, aabbMax);
-}
-
-void btConvex2dShape::getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	m_childConvexShape->getAabbSlow(t, aabbMin, aabbMax);
-}
-
-void btConvex2dShape::setLocalScaling(const btVector3& scaling)
-{
-	m_childConvexShape->setLocalScaling(scaling);
-}
-
-const btVector3& btConvex2dShape::getLocalScaling() const
-{
-	return m_childConvexShape->getLocalScaling();
-}
-
-void btConvex2dShape::setMargin(btScalar margin)
-{
-	m_childConvexShape->setMargin(margin);
-}
-btScalar btConvex2dShape::getMargin() const
-{
-	return m_childConvexShape->getMargin();
-}
-
-int btConvex2dShape::getNumPreferredPenetrationDirections() const
-{
-	return m_childConvexShape->getNumPreferredPenetrationDirections();
-}
-
-void btConvex2dShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
-{
-	m_childConvexShape->getPreferredPenetrationDirection(index, penetrationVector);
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvex2dShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvex2dShape.h
deleted file mode 100644
index cd4f1ef7b8..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvex2dShape.h
+++ /dev/null
@@ -1,77 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONVEX_2D_SHAPE_H
-#define BT_CONVEX_2D_SHAPE_H
-
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
-
-///The btConvex2dShape allows to use arbitrary convex shapes as 2d convex shapes, with the Z component assumed to be 0.
-///For 2d boxes, the btBox2dShape is recommended.
-ATTRIBUTE_ALIGNED16(class)
-btConvex2dShape : public btConvexShape
-{
-	btConvexShape* m_childConvexShape;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btConvex2dShape(btConvexShape * convexChildShape);
-
-	virtual ~btConvex2dShape();
-
-	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
-
-	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
-
-	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
-
-	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
-
-	btConvexShape* getChildShape()
-	{
-		return m_childConvexShape;
-	}
-
-	const btConvexShape* getChildShape() const
-	{
-		return m_childConvexShape;
-	}
-
-	virtual const char* getName() const
-	{
-		return "Convex2dShape";
-	}
-
-	///////////////////////////
-
-	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-	void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
-
-	virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
-
-	virtual void setLocalScaling(const btVector3& scaling);
-	virtual const btVector3& getLocalScaling() const;
-
-	virtual void setMargin(btScalar margin);
-	virtual btScalar getMargin() const;
-
-	virtual int getNumPreferredPenetrationDirections() const;
-
-	virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const;
-};
-
-#endif  //BT_CONVEX_2D_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp
deleted file mode 100644
index 703de45922..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp
+++ /dev/null
@@ -1,244 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#if defined(_WIN32) || defined(__i386__)
-#define BT_USE_SSE_IN_API
-#endif
-
-#include "btConvexHullShape.h"
-#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
-
-#include "LinearMath/btQuaternion.h"
-#include "LinearMath/btSerializer.h"
-#include "btConvexPolyhedron.h"
-#include "LinearMath/btConvexHullComputer.h"
-
-btConvexHullShape ::btConvexHullShape(const btScalar* points, int numPoints, int stride) : btPolyhedralConvexAabbCachingShape()
-{
-	m_shapeType = CONVEX_HULL_SHAPE_PROXYTYPE;
-	m_unscaledPoints.resize(numPoints);
-
-	unsigned char* pointsAddress = (unsigned char*)points;
-
-	for (int i = 0; i < numPoints; i++)
-	{
-		btScalar* point = (btScalar*)pointsAddress;
-		m_unscaledPoints[i] = btVector3(point[0], point[1], point[2]);
-		pointsAddress += stride;
-	}
-
-	recalcLocalAabb();
-}
-
-void btConvexHullShape::setLocalScaling(const btVector3& scaling)
-{
-	m_localScaling = scaling;
-	recalcLocalAabb();
-}
-
-void btConvexHullShape::addPoint(const btVector3& point, bool recalculateLocalAabb)
-{
-	m_unscaledPoints.push_back(point);
-	if (recalculateLocalAabb)
-		recalcLocalAabb();
-}
-
-btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
-{
-	btVector3 supVec(btScalar(0.), btScalar(0.), btScalar(0.));
-	btScalar maxDot = btScalar(-BT_LARGE_FLOAT);
-
-	// Here we take advantage of dot(a, b*c) = dot(a*b, c).  Note: This is true mathematically, but not numerically.
-	if (0 < m_unscaledPoints.size())
-	{
-		btVector3 scaled = vec * m_localScaling;
-		int index = (int)scaled.maxDot(&m_unscaledPoints[0], m_unscaledPoints.size(), maxDot);  // FIXME: may violate encapsulation of m_unscaledPoints
-		return m_unscaledPoints[index] * m_localScaling;
-	}
-
-	return supVec;
-}
-
-void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-{
-	btScalar newDot;
-	//use 'w' component of supportVerticesOut?
-	{
-		for (int i = 0; i < numVectors; i++)
-		{
-			supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
-		}
-	}
-
-	for (int j = 0; j < numVectors; j++)
-	{
-		btVector3 vec = vectors[j] * m_localScaling;  // dot(a*b,c) = dot(a,b*c)
-		if (0 < m_unscaledPoints.size())
-		{
-			int i = (int)vec.maxDot(&m_unscaledPoints[0], m_unscaledPoints.size(), newDot);
-			supportVerticesOut[j] = getScaledPoint(i);
-			supportVerticesOut[j][3] = newDot;
-		}
-		else
-			supportVerticesOut[j][3] = -BT_LARGE_FLOAT;
-	}
-}
-
-btVector3 btConvexHullShape::localGetSupportingVertex(const btVector3& vec) const
-{
-	btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
-
-	if (getMargin() != btScalar(0.))
-	{
-		btVector3 vecnorm = vec;
-		if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
-		{
-			vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
-		}
-		vecnorm.normalize();
-		supVertex += getMargin() * vecnorm;
-	}
-	return supVertex;
-}
-
-void btConvexHullShape::optimizeConvexHull()
-{
-	btConvexHullComputer conv;
-	conv.compute(&m_unscaledPoints[0].getX(), sizeof(btVector3), m_unscaledPoints.size(), 0.f, 0.f);
-	int numVerts = conv.vertices.size();
-	m_unscaledPoints.resize(0);
-	for (int i = 0; i < numVerts; i++)
-	{
-		m_unscaledPoints.push_back(conv.vertices[i]);
-	}
-}
-
-//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
-//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
-int btConvexHullShape::getNumVertices() const
-{
-	return m_unscaledPoints.size();
-}
-
-int btConvexHullShape::getNumEdges() const
-{
-	return m_unscaledPoints.size();
-}
-
-void btConvexHullShape::getEdge(int i, btVector3& pa, btVector3& pb) const
-{
-	int index0 = i % m_unscaledPoints.size();
-	int index1 = (i + 1) % m_unscaledPoints.size();
-	pa = getScaledPoint(index0);
-	pb = getScaledPoint(index1);
-}
-
-void btConvexHullShape::getVertex(int i, btVector3& vtx) const
-{
-	vtx = getScaledPoint(i);
-}
-
-int btConvexHullShape::getNumPlanes() const
-{
-	return 0;
-}
-
-void btConvexHullShape::getPlane(btVector3&, btVector3&, int) const
-{
-	btAssert(0);
-}
-
-//not yet
-bool btConvexHullShape::isInside(const btVector3&, btScalar) const
-{
-	btAssert(0);
-	return false;
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char* btConvexHullShape::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	//int szc = sizeof(btConvexHullShapeData);
-	btConvexHullShapeData* shapeData = (btConvexHullShapeData*)dataBuffer;
-	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
-
-	int numElem = m_unscaledPoints.size();
-	shapeData->m_numUnscaledPoints = numElem;
-#ifdef BT_USE_DOUBLE_PRECISION
-	shapeData->m_unscaledPointsFloatPtr = 0;
-	shapeData->m_unscaledPointsDoublePtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]) : 0;
-#else
-	shapeData->m_unscaledPointsFloatPtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]) : 0;
-	shapeData->m_unscaledPointsDoublePtr = 0;
-#endif
-
-	if (numElem)
-	{
-		int sz = sizeof(btVector3Data);
-		//	int sz2 = sizeof(btVector3DoubleData);
-		//	int sz3 = sizeof(btVector3FloatData);
-		btChunk* chunk = serializer->allocate(sz, numElem);
-		btVector3Data* memPtr = (btVector3Data*)chunk->m_oldPtr;
-		for (int i = 0; i < numElem; i++, memPtr++)
-		{
-			m_unscaledPoints[i].serialize(*memPtr);
-		}
-		serializer->finalizeChunk(chunk, btVector3DataName, BT_ARRAY_CODE, (void*)&m_unscaledPoints[0]);
-	}
-
-	// Fill padding with zeros to appease msan.
-	memset(shapeData->m_padding3, 0, sizeof(shapeData->m_padding3));
-
-	return "btConvexHullShapeData";
-}
-
-void btConvexHullShape::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const
-{
-#if 1
-	minProj = FLT_MAX;
-	maxProj = -FLT_MAX;
-
-	int numVerts = m_unscaledPoints.size();
-	for (int i = 0; i < numVerts; i++)
-	{
-		btVector3 vtx = m_unscaledPoints[i] * m_localScaling;
-		btVector3 pt = trans * vtx;
-		btScalar dp = pt.dot(dir);
-		if (dp < minProj)
-		{
-			minProj = dp;
-			witnesPtMin = pt;
-		}
-		if (dp > maxProj)
-		{
-			maxProj = dp;
-			witnesPtMax = pt;
-		}
-	}
-#else
-	btVector3 localAxis = dir * trans.getBasis();
-	witnesPtMin = trans(localGetSupportingVertex(localAxis));
-	witnesPtMax = trans(localGetSupportingVertex(-localAxis));
-
-	minProj = witnesPtMin.dot(dir);
-	maxProj = witnesPtMax.dot(dir);
-#endif
-
-	if (minProj > maxProj)
-	{
-		btSwap(minProj, maxProj);
-		btSwap(witnesPtMin, witnesPtMax);
-	}
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h
deleted file mode 100644
index 96136d7dd7..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h
+++ /dev/null
@@ -1,116 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONVEX_HULL_SHAPE_H
-#define BT_CONVEX_HULL_SHAPE_H
-
-#include "btPolyhedralConvexShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
-#include "LinearMath/btAlignedObjectArray.h"
-
-///The btConvexHullShape implements an implicit convex hull of an array of vertices.
-///Bullet provides a general and fast collision detector for convex shapes based on GJK and EPA using localGetSupportingVertex.
-ATTRIBUTE_ALIGNED16(class)
-btConvexHullShape : public btPolyhedralConvexAabbCachingShape
-{
-	btAlignedObjectArray<btVector3> m_unscaledPoints;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory.
-	///It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint.
-	///btConvexHullShape make an internal copy of the points.
-	btConvexHullShape(const btScalar* points = 0, int numPoints = 0, int stride = sizeof(btVector3));
-
-	void addPoint(const btVector3& point, bool recalculateLocalAabb = true);
-
-	btVector3* getUnscaledPoints()
-	{
-		return &m_unscaledPoints[0];
-	}
-
-	const btVector3* getUnscaledPoints() const
-	{
-		return &m_unscaledPoints[0];
-	}
-
-	///getPoints is obsolete, please use getUnscaledPoints
-	const btVector3* getPoints() const
-	{
-		return getUnscaledPoints();
-	}
-
-	void optimizeConvexHull();
-
-	SIMD_FORCE_INLINE btVector3 getScaledPoint(int i) const
-	{
-		return m_unscaledPoints[i] * m_localScaling;
-	}
-
-	SIMD_FORCE_INLINE int getNumPoints() const
-	{
-		return m_unscaledPoints.size();
-	}
-
-	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
-	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
-	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
-
-	virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const;
-
-	//debugging
-	virtual const char* getName() const { return "Convex"; }
-
-	virtual int getNumVertices() const;
-	virtual int getNumEdges() const;
-	virtual void getEdge(int i, btVector3& pa, btVector3& pb) const;
-	virtual void getVertex(int i, btVector3& vtx) const;
-	virtual int getNumPlanes() const;
-	virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const;
-	virtual bool isInside(const btVector3& pt, btScalar tolerance) const;
-
-	///in case we receive negative scaling
-	virtual void setLocalScaling(const btVector3& scaling);
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-};
-
-// clang-format off
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btConvexHullShapeData
-{
-	btConvexInternalShapeData	m_convexInternalShapeData;
-
-	btVector3FloatData	*m_unscaledPointsFloatPtr;
-	btVector3DoubleData	*m_unscaledPointsDoublePtr;
-
-	int		m_numUnscaledPoints;
-	char m_padding3[4];
-
-};
-
-// clang-format on
-
-SIMD_FORCE_INLINE int btConvexHullShape::calculateSerializeBufferSize() const
-{
-	return sizeof(btConvexHullShapeData);
-}
-
-#endif  //BT_CONVEX_HULL_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
deleted file mode 100644
index 4d598b1aa2..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
+++ /dev/null
@@ -1,137 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btConvexInternalShape.h"
-
-btConvexInternalShape::btConvexInternalShape()
-	: m_localScaling(btScalar(1.), btScalar(1.), btScalar(1.)),
-	  m_collisionMargin(CONVEX_DISTANCE_MARGIN)
-{
-}
-
-void btConvexInternalShape::setLocalScaling(const btVector3& scaling)
-{
-	m_localScaling = scaling.absolute();
-}
-
-void btConvexInternalShape::getAabbSlow(const btTransform& trans, btVector3& minAabb, btVector3& maxAabb) const
-{
-#ifndef __SPU__
-	//use localGetSupportingVertexWithoutMargin?
-	btScalar margin = getMargin();
-	for (int i = 0; i < 3; i++)
-	{
-		btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
-		vec[i] = btScalar(1.);
-
-		btVector3 sv = localGetSupportingVertex(vec * trans.getBasis());
-
-		btVector3 tmp = trans(sv);
-		maxAabb[i] = tmp[i] + margin;
-		vec[i] = btScalar(-1.);
-		tmp = trans(localGetSupportingVertex(vec * trans.getBasis()));
-		minAabb[i] = tmp[i] - margin;
-	}
-#endif
-}
-
-btVector3 btConvexInternalShape::localGetSupportingVertex(const btVector3& vec) const
-{
-#ifndef __SPU__
-
-	btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
-
-	if (getMargin() != btScalar(0.))
-	{
-		btVector3 vecnorm = vec;
-		if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
-		{
-			vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
-		}
-		vecnorm.normalize();
-		supVertex += getMargin() * vecnorm;
-	}
-	return supVertex;
-
-#else
-	btAssert(0);
-	return btVector3(0, 0, 0);
-#endif  //__SPU__
-}
-
-btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape()
-	: btConvexInternalShape(),
-	  m_localAabbMin(1, 1, 1),
-	  m_localAabbMax(-1, -1, -1),
-	  m_isLocalAabbValid(false)
-{
-}
-
-void btConvexInternalAabbCachingShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	getNonvirtualAabb(trans, aabbMin, aabbMax, getMargin());
-}
-
-void btConvexInternalAabbCachingShape::setLocalScaling(const btVector3& scaling)
-{
-	btConvexInternalShape::setLocalScaling(scaling);
-	recalcLocalAabb();
-}
-
-void btConvexInternalAabbCachingShape::recalcLocalAabb()
-{
-	m_isLocalAabbValid = true;
-
-#if 1
-	static const btVector3 _directions[] =
-		{
-			btVector3(1., 0., 0.),
-			btVector3(0., 1., 0.),
-			btVector3(0., 0., 1.),
-			btVector3(-1., 0., 0.),
-			btVector3(0., -1., 0.),
-			btVector3(0., 0., -1.)};
-
-	btVector3 _supporting[] =
-		{
-			btVector3(0., 0., 0.),
-			btVector3(0., 0., 0.),
-			btVector3(0., 0., 0.),
-			btVector3(0., 0., 0.),
-			btVector3(0., 0., 0.),
-			btVector3(0., 0., 0.)};
-
-	batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
-
-	for (int i = 0; i < 3; ++i)
-	{
-		m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
-		m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
-	}
-
-#else
-
-	for (int i = 0; i < 3; i++)
-	{
-		btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
-		vec[i] = btScalar(1.);
-		btVector3 tmp = localGetSupportingVertex(vec);
-		m_localAabbMax[i] = tmp[i] + m_collisionMargin;
-		vec[i] = btScalar(-1.);
-		tmp = localGetSupportingVertex(vec);
-		m_localAabbMin[i] = tmp[i] - m_collisionMargin;
-	}
-#endif
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h
deleted file mode 100644
index a28c57de4b..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h
+++ /dev/null
@@ -1,208 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONVEX_INTERNAL_SHAPE_H
-#define BT_CONVEX_INTERNAL_SHAPE_H
-
-#include "btConvexShape.h"
-#include "LinearMath/btAabbUtil2.h"
-
-///The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
-///The btConvexInternalShape uses a default collision margin set to CONVEX_DISTANCE_MARGIN.
-///This collision margin used by Gjk and some other algorithms, see also btCollisionMargin.h
-///Note that when creating small shapes (derived from btConvexInternalShape),
-///you need to make sure to set a smaller collision margin, using the 'setMargin' API
-///There is a automatic mechanism 'setSafeMargin' used by btBoxShape and btCylinderShape
-ATTRIBUTE_ALIGNED16(class)
-btConvexInternalShape : public btConvexShape
-{
-protected:
-	//local scaling. collisionMargin is not scaled !
-	btVector3 m_localScaling;
-
-	btVector3 m_implicitShapeDimensions;
-
-	btScalar m_collisionMargin;
-
-	btScalar m_padding;
-
-	btConvexInternalShape();
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	virtual ~btConvexInternalShape()
-	{
-	}
-
-	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
-
-	const btVector3& getImplicitShapeDimensions() const
-	{
-		return m_implicitShapeDimensions;
-	}
-
-	///warning: use setImplicitShapeDimensions with care
-	///changing a collision shape while the body is in the world is not recommended,
-	///it is best to remove the body from the world, then make the change, and re-add it
-	///alternatively flush the contact points, see documentation for 'cleanProxyFromPairs'
-	void setImplicitShapeDimensions(const btVector3& dimensions)
-	{
-		m_implicitShapeDimensions = dimensions;
-	}
-
-	void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier = 0.1f)
-	{
-		btScalar safeMargin = defaultMarginMultiplier * minDimension;
-		if (safeMargin < getMargin())
-		{
-			setMargin(safeMargin);
-		}
-	}
-	void setSafeMargin(const btVector3& halfExtents, btScalar defaultMarginMultiplier = 0.1f)
-	{
-		//see http://code.google.com/p/bullet/issues/detail?id=349
-		//this margin check could could be added to other collision shapes too,
-		//or add some assert/warning somewhere
-		btScalar minDimension = halfExtents[halfExtents.minAxis()];
-		setSafeMargin(minDimension, defaultMarginMultiplier);
-	}
-
-	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-	void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-	{
-		getAabbSlow(t, aabbMin, aabbMax);
-	}
-
-	virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
-
-	virtual void setLocalScaling(const btVector3& scaling);
-	virtual const btVector3& getLocalScaling() const
-	{
-		return m_localScaling;
-	}
-
-	const btVector3& getLocalScalingNV() const
-	{
-		return m_localScaling;
-	}
-
-	virtual void setMargin(btScalar margin)
-	{
-		m_collisionMargin = margin;
-	}
-	virtual btScalar getMargin() const
-	{
-		return m_collisionMargin;
-	}
-
-	btScalar getMarginNV() const
-	{
-		return m_collisionMargin;
-	}
-
-	virtual int getNumPreferredPenetrationDirections() const
-	{
-		return 0;
-	}
-
-	virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
-	{
-		(void)penetrationVector;
-		(void)index;
-		btAssert(0);
-	}
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btConvexInternalShapeData
-{
-	btCollisionShapeData m_collisionShapeData;
-
-	btVector3FloatData m_localScaling;
-
-	btVector3FloatData m_implicitShapeDimensions;
-
-	float m_collisionMargin;
-
-	int m_padding;
-};
-
-SIMD_FORCE_INLINE int btConvexInternalShape::calculateSerializeBufferSize() const
-{
-	return sizeof(btConvexInternalShapeData);
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE const char* btConvexInternalShape::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*)dataBuffer;
-	btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
-
-	m_implicitShapeDimensions.serializeFloat(shapeData->m_implicitShapeDimensions);
-	m_localScaling.serializeFloat(shapeData->m_localScaling);
-	shapeData->m_collisionMargin = float(m_collisionMargin);
-
-	// Fill padding with zeros to appease msan.
-	shapeData->m_padding = 0;
-
-	return "btConvexInternalShapeData";
-}
-
-///btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive bounding box calculations
-class btConvexInternalAabbCachingShape : public btConvexInternalShape
-{
-	btVector3 m_localAabbMin;
-	btVector3 m_localAabbMax;
-	bool m_isLocalAabbValid;
-
-protected:
-	btConvexInternalAabbCachingShape();
-
-	void setCachedLocalAabb(const btVector3& aabbMin, const btVector3& aabbMax)
-	{
-		m_isLocalAabbValid = true;
-		m_localAabbMin = aabbMin;
-		m_localAabbMax = aabbMax;
-	}
-
-	inline void getCachedLocalAabb(btVector3& aabbMin, btVector3& aabbMax) const
-	{
-		btAssert(m_isLocalAabbValid);
-		aabbMin = m_localAabbMin;
-		aabbMax = m_localAabbMax;
-	}
-
-	inline void getNonvirtualAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax, btScalar margin) const
-	{
-		//lazy evaluation of local aabb
-		btAssert(m_isLocalAabbValid);
-		btTransformAabb(m_localAabbMin, m_localAabbMax, margin, trans, aabbMin, aabbMax);
-	}
-
-public:
-	virtual void setLocalScaling(const btVector3& scaling);
-
-	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
-
-	void recalcLocalAabb();
-};
-
-#endif  //BT_CONVEX_INTERNAL_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
deleted file mode 100644
index f00a440fa3..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
+++ /dev/null
@@ -1,129 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btConvexPointCloudShape.h"
-#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
-
-#include "LinearMath/btQuaternion.h"
-
-void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling)
-{
-	m_localScaling = scaling;
-	recalcLocalAabb();
-}
-
-#ifndef __SPU__
-btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const
-{
-	btVector3 supVec(btScalar(0.), btScalar(0.), btScalar(0.));
-	btScalar maxDot = btScalar(-BT_LARGE_FLOAT);
-
-	btVector3 vec = vec0;
-	btScalar lenSqr = vec.length2();
-	if (lenSqr < btScalar(0.0001))
-	{
-		vec.setValue(1, 0, 0);
-	}
-	else
-	{
-		btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
-		vec *= rlen;
-	}
-
-	if (m_numPoints > 0)
-	{
-		// Here we take advantage of dot(a*b, c) = dot( a, b*c) to do less work. Note this transformation is true mathematically, not numerically.
-		//    btVector3 scaled = vec * m_localScaling;
-		int index = (int)vec.maxDot(&m_unscaledPoints[0], m_numPoints, maxDot);  //FIXME: may violate encapsulation of m_unscaledPoints
-		return getScaledPoint(index);
-	}
-
-	return supVec;
-}
-
-void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-{
-	for (int j = 0; j < numVectors; j++)
-	{
-		const btVector3& vec = vectors[j] * m_localScaling;  // dot( a*c, b) = dot(a, b*c)
-		btScalar maxDot;
-		int index = (int)vec.maxDot(&m_unscaledPoints[0], m_numPoints, maxDot);
-		supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT);
-		if (0 <= index)
-		{
-			//WARNING: don't swap next lines, the w component would get overwritten!
-			supportVerticesOut[j] = getScaledPoint(index);
-			supportVerticesOut[j][3] = maxDot;
-		}
-	}
-}
-
-btVector3 btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec) const
-{
-	btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
-
-	if (getMargin() != btScalar(0.))
-	{
-		btVector3 vecnorm = vec;
-		if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
-		{
-			vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
-		}
-		vecnorm.normalize();
-		supVertex += getMargin() * vecnorm;
-	}
-	return supVertex;
-}
-
-#endif
-
-//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
-//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
-int btConvexPointCloudShape::getNumVertices() const
-{
-	return m_numPoints;
-}
-
-int btConvexPointCloudShape::getNumEdges() const
-{
-	return 0;
-}
-
-void btConvexPointCloudShape::getEdge(int i, btVector3& pa, btVector3& pb) const
-{
-	btAssert(0);
-}
-
-void btConvexPointCloudShape::getVertex(int i, btVector3& vtx) const
-{
-	vtx = m_unscaledPoints[i] * m_localScaling;
-}
-
-int btConvexPointCloudShape::getNumPlanes() const
-{
-	return 0;
-}
-
-void btConvexPointCloudShape::getPlane(btVector3&, btVector3&, int) const
-{
-	btAssert(0);
-}
-
-//not yet
-bool btConvexPointCloudShape::isInside(const btVector3&, btScalar) const
-{
-	btAssert(0);
-	return false;
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.h
deleted file mode 100644
index c7d554a4d3..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONVEX_POINT_CLOUD_SHAPE_H
-#define BT_CONVEX_POINT_CLOUD_SHAPE_H
-
-#include "btPolyhedralConvexShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
-#include "LinearMath/btAlignedObjectArray.h"
-
-///The btConvexPointCloudShape implements an implicit convex hull of an array of vertices.
-ATTRIBUTE_ALIGNED16(class)
-btConvexPointCloudShape : public btPolyhedralConvexAabbCachingShape
-{
-	btVector3* m_unscaledPoints;
-	int m_numPoints;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btConvexPointCloudShape()
-	{
-		m_localScaling.setValue(1.f, 1.f, 1.f);
-		m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
-		m_unscaledPoints = 0;
-		m_numPoints = 0;
-	}
-
-	btConvexPointCloudShape(btVector3 * points, int numPoints, const btVector3& localScaling, bool computeAabb = true)
-	{
-		m_localScaling = localScaling;
-		m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
-		m_unscaledPoints = points;
-		m_numPoints = numPoints;
-
-		if (computeAabb)
-			recalcLocalAabb();
-	}
-
-	void setPoints(btVector3 * points, int numPoints, bool computeAabb = true, const btVector3& localScaling = btVector3(1.f, 1.f, 1.f))
-	{
-		m_unscaledPoints = points;
-		m_numPoints = numPoints;
-		m_localScaling = localScaling;
-
-		if (computeAabb)
-			recalcLocalAabb();
-	}
-
-	SIMD_FORCE_INLINE btVector3* getUnscaledPoints()
-	{
-		return m_unscaledPoints;
-	}
-
-	SIMD_FORCE_INLINE const btVector3* getUnscaledPoints() const
-	{
-		return m_unscaledPoints;
-	}
-
-	SIMD_FORCE_INLINE int getNumPoints() const
-	{
-		return m_numPoints;
-	}
-
-	SIMD_FORCE_INLINE btVector3 getScaledPoint(int index) const
-	{
-		return m_unscaledPoints[index] * m_localScaling;
-	}
-
-#ifndef __SPU__
-	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
-	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
-	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
-#endif
-
-	//debugging
-	virtual const char* getName() const { return "ConvexPointCloud"; }
-
-	virtual int getNumVertices() const;
-	virtual int getNumEdges() const;
-	virtual void getEdge(int i, btVector3& pa, btVector3& pb) const;
-	virtual void getVertex(int i, btVector3& vtx) const;
-	virtual int getNumPlanes() const;
-	virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const;
-	virtual bool isInside(const btVector3& pt, btScalar tolerance) const;
-
-	///in case we receive negative scaling
-	virtual void setLocalScaling(const btVector3& scaling);
-};
-
-#endif  //BT_CONVEX_POINT_CLOUD_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
deleted file mode 100644
index 9694f4ddb3..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
+++ /dev/null
@@ -1,302 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2011 Advanced Micro Devices, Inc.  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///This file was written by Erwin Coumans
-///Separating axis rest based on work from Pierre Terdiman, see
-///And contact clipping based on work from Simon Hobbs
-
-#include "btConvexPolyhedron.h"
-#include "LinearMath/btHashMap.h"
-
-btConvexPolyhedron::btConvexPolyhedron()
-{
-}
-btConvexPolyhedron::~btConvexPolyhedron()
-{
-}
-
-inline bool IsAlmostZero1(const btVector3& v)
-{
-	if (btFabs(v.x()) > 1e-6 || btFabs(v.y()) > 1e-6 || btFabs(v.z()) > 1e-6) return false;
-	return true;
-}
-
-struct btInternalVertexPair
-{
-	btInternalVertexPair(short int v0, short int v1)
-		: m_v0(v0),
-		  m_v1(v1)
-	{
-		if (m_v1 > m_v0)
-			btSwap(m_v0, m_v1);
-	}
-	short int m_v0;
-	short int m_v1;
-	int getHash() const
-	{
-		return m_v0 + (m_v1 << 16);
-	}
-	bool equals(const btInternalVertexPair& other) const
-	{
-		return m_v0 == other.m_v0 && m_v1 == other.m_v1;
-	}
-};
-
-struct btInternalEdge
-{
-	btInternalEdge()
-		: m_face0(-1),
-		  m_face1(-1)
-	{
-	}
-	short int m_face0;
-	short int m_face1;
-};
-
-//
-
-#ifdef TEST_INTERNAL_OBJECTS
-bool btConvexPolyhedron::testContainment() const
-{
-	for (int p = 0; p < 8; p++)
-	{
-		btVector3 LocalPt;
-		if (p == 0)
-			LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], m_extents[2]);
-		else if (p == 1)
-			LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], -m_extents[2]);
-		else if (p == 2)
-			LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], m_extents[2]);
-		else if (p == 3)
-			LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], -m_extents[2]);
-		else if (p == 4)
-			LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], m_extents[2]);
-		else if (p == 5)
-			LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], -m_extents[2]);
-		else if (p == 6)
-			LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], m_extents[2]);
-		else if (p == 7)
-			LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], -m_extents[2]);
-
-		for (int i = 0; i < m_faces.size(); i++)
-		{
-			const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
-			const btScalar d = LocalPt.dot(Normal) + m_faces[i].m_plane[3];
-			if (d > 0.0f)
-				return false;
-		}
-	}
-	return true;
-}
-#endif
-
-void btConvexPolyhedron::initialize()
-{
-	btHashMap<btInternalVertexPair, btInternalEdge> edges;
-
-	for (int i = 0; i < m_faces.size(); i++)
-	{
-		int numVertices = m_faces[i].m_indices.size();
-		int NbTris = numVertices;
-		for (int j = 0; j < NbTris; j++)
-		{
-			int k = (j + 1) % numVertices;
-			btInternalVertexPair vp(m_faces[i].m_indices[j], m_faces[i].m_indices[k]);
-			btInternalEdge* edptr = edges.find(vp);
-			btVector3 edge = m_vertices[vp.m_v1] - m_vertices[vp.m_v0];
-			edge.normalize();
-
-			bool found = false;
-
-			for (int p = 0; p < m_uniqueEdges.size(); p++)
-			{
-				if (IsAlmostZero1(m_uniqueEdges[p] - edge) ||
-					IsAlmostZero1(m_uniqueEdges[p] + edge))
-				{
-					found = true;
-					break;
-				}
-			}
-
-			if (!found)
-			{
-				m_uniqueEdges.push_back(edge);
-			}
-
-			if (edptr)
-			{
-				btAssert(edptr->m_face0 >= 0);
-				btAssert(edptr->m_face1 < 0);
-				edptr->m_face1 = i;
-			}
-			else
-			{
-				btInternalEdge ed;
-				ed.m_face0 = i;
-				edges.insert(vp, ed);
-			}
-		}
-	}
-
-#ifdef USE_CONNECTED_FACES
-	for (int i = 0; i < m_faces.size(); i++)
-	{
-		int numVertices = m_faces[i].m_indices.size();
-		m_faces[i].m_connectedFaces.resize(numVertices);
-
-		for (int j = 0; j < numVertices; j++)
-		{
-			int k = (j + 1) % numVertices;
-			btInternalVertexPair vp(m_faces[i].m_indices[j], m_faces[i].m_indices[k]);
-			btInternalEdge* edptr = edges.find(vp);
-			btAssert(edptr);
-			btAssert(edptr->m_face0 >= 0);
-			btAssert(edptr->m_face1 >= 0);
-
-			int connectedFace = (edptr->m_face0 == i) ? edptr->m_face1 : edptr->m_face0;
-			m_faces[i].m_connectedFaces[j] = connectedFace;
-		}
-	}
-#endif  //USE_CONNECTED_FACES
-
-	initialize2();
-}
-
-void btConvexPolyhedron::initialize2()
-{
-	m_localCenter.setValue(0, 0, 0);
-	btScalar TotalArea = 0.0f;
-	for (int i = 0; i < m_faces.size(); i++)
-	{
-		int numVertices = m_faces[i].m_indices.size();
-		int NbTris = numVertices - 2;
-
-		const btVector3& p0 = m_vertices[m_faces[i].m_indices[0]];
-		for (int j = 1; j <= NbTris; j++)
-		{
-			int k = (j + 1) % numVertices;
-			const btVector3& p1 = m_vertices[m_faces[i].m_indices[j]];
-			const btVector3& p2 = m_vertices[m_faces[i].m_indices[k]];
-			btScalar Area = ((p0 - p1).cross(p0 - p2)).length() * 0.5f;
-			btVector3 Center = (p0 + p1 + p2) / 3.0f;
-			m_localCenter += Area * Center;
-			TotalArea += Area;
-		}
-	}
-	m_localCenter /= TotalArea;
-
-#ifdef TEST_INTERNAL_OBJECTS
-	if (1)
-	{
-		m_radius = FLT_MAX;
-		for (int i = 0; i < m_faces.size(); i++)
-		{
-			const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
-			const btScalar dist = btFabs(m_localCenter.dot(Normal) + m_faces[i].m_plane[3]);
-			if (dist < m_radius)
-				m_radius = dist;
-		}
-
-		btScalar MinX = FLT_MAX;
-		btScalar MinY = FLT_MAX;
-		btScalar MinZ = FLT_MAX;
-		btScalar MaxX = -FLT_MAX;
-		btScalar MaxY = -FLT_MAX;
-		btScalar MaxZ = -FLT_MAX;
-		for (int i = 0; i < m_vertices.size(); i++)
-		{
-			const btVector3& pt = m_vertices[i];
-			if (pt.x() < MinX) MinX = pt.x();
-			if (pt.x() > MaxX) MaxX = pt.x();
-			if (pt.y() < MinY) MinY = pt.y();
-			if (pt.y() > MaxY) MaxY = pt.y();
-			if (pt.z() < MinZ) MinZ = pt.z();
-			if (pt.z() > MaxZ) MaxZ = pt.z();
-		}
-		mC.setValue(MaxX + MinX, MaxY + MinY, MaxZ + MinZ);
-		mE.setValue(MaxX - MinX, MaxY - MinY, MaxZ - MinZ);
-
-		//		const btScalar r = m_radius / sqrtf(2.0f);
-		const btScalar r = m_radius / sqrtf(3.0f);
-		const int LargestExtent = mE.maxAxis();
-		const btScalar Step = (mE[LargestExtent] * 0.5f - r) / 1024.0f;
-		m_extents[0] = m_extents[1] = m_extents[2] = r;
-		m_extents[LargestExtent] = mE[LargestExtent] * 0.5f;
-		bool FoundBox = false;
-		for (int j = 0; j < 1024; j++)
-		{
-			if (testContainment())
-			{
-				FoundBox = true;
-				break;
-			}
-
-			m_extents[LargestExtent] -= Step;
-		}
-		if (!FoundBox)
-		{
-			m_extents[0] = m_extents[1] = m_extents[2] = r;
-		}
-		else
-		{
-			// Refine the box
-			const btScalar Step = (m_radius - r) / 1024.0f;
-			const int e0 = (1 << LargestExtent) & 3;
-			const int e1 = (1 << e0) & 3;
-
-			for (int j = 0; j < 1024; j++)
-			{
-				const btScalar Saved0 = m_extents[e0];
-				const btScalar Saved1 = m_extents[e1];
-				m_extents[e0] += Step;
-				m_extents[e1] += Step;
-
-				if (!testContainment())
-				{
-					m_extents[e0] = Saved0;
-					m_extents[e1] = Saved1;
-					break;
-				}
-			}
-		}
-	}
-#endif
-}
-void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const
-{
-	minProj = FLT_MAX;
-	maxProj = -FLT_MAX;
-	int numVerts = m_vertices.size();
-	for (int i = 0; i < numVerts; i++)
-	{
-		btVector3 pt = trans * m_vertices[i];
-		btScalar dp = pt.dot(dir);
-		if (dp < minProj)
-		{
-			minProj = dp;
-			witnesPtMin = pt;
-		}
-		if (dp > maxProj)
-		{
-			maxProj = dp;
-			witnesPtMax = pt;
-		}
-	}
-	if (minProj > maxProj)
-	{
-		btSwap(minProj, maxProj);
-		btSwap(witnesPtMin, witnesPtMax);
-	}
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h
deleted file mode 100644
index 638aa9b3df..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h
+++ /dev/null
@@ -1,59 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2011 Advanced Micro Devices, Inc.  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///This file was written by Erwin Coumans
-
-#ifndef _BT_POLYHEDRAL_FEATURES_H
-#define _BT_POLYHEDRAL_FEATURES_H
-
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btAlignedObjectArray.h"
-
-#define TEST_INTERNAL_OBJECTS 1
-
-struct btFace
-{
-	btAlignedObjectArray<int> m_indices;
-	//	btAlignedObjectArray<int>	m_connectedFaces;
-	btScalar m_plane[4];
-};
-
-ATTRIBUTE_ALIGNED16(class)
-btConvexPolyhedron
-{
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btConvexPolyhedron();
-	virtual ~btConvexPolyhedron();
-
-	btAlignedObjectArray<btVector3> m_vertices;
-	btAlignedObjectArray<btFace> m_faces;
-	btAlignedObjectArray<btVector3> m_uniqueEdges;
-
-	btVector3 m_localCenter;
-	btVector3 m_extents;
-	btScalar m_radius;
-	btVector3 mC;
-	btVector3 mE;
-
-	void initialize();
-	void initialize2();
-	bool testContainment() const;
-
-	void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const;
-};
-
-#endif  //_BT_POLYHEDRAL_FEATURES_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp
deleted file mode 100644
index f8fb0aa9fd..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp
+++ /dev/null
@@ -1,458 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#if defined(_WIN32) || defined(__i386__)
-#define BT_USE_SSE_IN_API
-#endif
-
-#include "btConvexShape.h"
-#include "btTriangleShape.h"
-#include "btSphereShape.h"
-#include "btCylinderShape.h"
-#include "btConeShape.h"
-#include "btCapsuleShape.h"
-#include "btConvexHullShape.h"
-#include "btConvexPointCloudShape.h"
-
-///not supported on IBM SDK, until we fix the alignment of btVector3
-#if defined(__CELLOS_LV2__) && defined(__SPU__)
-#include <spu_intrinsics.h>
-static inline vec_float4 vec_dot3(vec_float4 vec0, vec_float4 vec1)
-{
-	vec_float4 result;
-	result = spu_mul(vec0, vec1);
-	result = spu_madd(spu_rlqwbyte(vec0, 4), spu_rlqwbyte(vec1, 4), result);
-	return spu_madd(spu_rlqwbyte(vec0, 8), spu_rlqwbyte(vec1, 8), result);
-}
-#endif  //__SPU__
-
-btConvexShape::btConvexShape()
-{
-}
-
-btConvexShape::~btConvexShape()
-{
-}
-
-void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max, btVector3& witnesPtMin, btVector3& witnesPtMax) const
-{
-	btVector3 localAxis = dir * trans.getBasis();
-	btVector3 vtx1 = trans(localGetSupportingVertex(localAxis));
-	btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis));
-
-	min = vtx1.dot(dir);
-	max = vtx2.dot(dir);
-	witnesPtMax = vtx2;
-	witnesPtMin = vtx1;
-
-	if (min > max)
-	{
-		btScalar tmp = min;
-		min = max;
-		max = tmp;
-		witnesPtMax = vtx1;
-		witnesPtMin = vtx2;
-	}
-}
-
-static btVector3 convexHullSupport(const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling)
-{
-	btVector3 vec = localDirOrg * localScaling;
-
-#if defined(__CELLOS_LV2__) && defined(__SPU__)
-
-	btVector3 localDir = vec;
-
-	vec_float4 v_distMax = {-FLT_MAX, 0, 0, 0};
-	vec_int4 v_idxMax = {-999, 0, 0, 0};
-	int v = 0;
-	int numverts = numPoints;
-
-	for (; v < (int)numverts - 4; v += 4)
-	{
-		vec_float4 p0 = vec_dot3(points[v].get128(), localDir.get128());
-		vec_float4 p1 = vec_dot3(points[v + 1].get128(), localDir.get128());
-		vec_float4 p2 = vec_dot3(points[v + 2].get128(), localDir.get128());
-		vec_float4 p3 = vec_dot3(points[v + 3].get128(), localDir.get128());
-		const vec_int4 i0 = {v, 0, 0, 0};
-		const vec_int4 i1 = {v + 1, 0, 0, 0};
-		const vec_int4 i2 = {v + 2, 0, 0, 0};
-		const vec_int4 i3 = {v + 3, 0, 0, 0};
-		vec_uint4 retGt01 = spu_cmpgt(p0, p1);
-		vec_float4 pmax01 = spu_sel(p1, p0, retGt01);
-		vec_int4 imax01 = spu_sel(i1, i0, retGt01);
-		vec_uint4 retGt23 = spu_cmpgt(p2, p3);
-		vec_float4 pmax23 = spu_sel(p3, p2, retGt23);
-		vec_int4 imax23 = spu_sel(i3, i2, retGt23);
-		vec_uint4 retGt0123 = spu_cmpgt(pmax01, pmax23);
-		vec_float4 pmax0123 = spu_sel(pmax23, pmax01, retGt0123);
-		vec_int4 imax0123 = spu_sel(imax23, imax01, retGt0123);
-		vec_uint4 retGtMax = spu_cmpgt(v_distMax, pmax0123);
-		v_distMax = spu_sel(pmax0123, v_distMax, retGtMax);
-		v_idxMax = spu_sel(imax0123, v_idxMax, retGtMax);
-	}
-	for (; v < (int)numverts; v++)
-	{
-		vec_float4 p = vec_dot3(points[v].get128(), localDir.get128());
-		const vec_int4 i = {v, 0, 0, 0};
-		vec_uint4 retGtMax = spu_cmpgt(v_distMax, p);
-		v_distMax = spu_sel(p, v_distMax, retGtMax);
-		v_idxMax = spu_sel(i, v_idxMax, retGtMax);
-	}
-	int ptIndex = spu_extract(v_idxMax, 0);
-	const btVector3& supVec = points[ptIndex] * localScaling;
-	return supVec;
-#else
-
-	btScalar maxDot;
-	long ptIndex = vec.maxDot(points, numPoints, maxDot);
-	btAssert(ptIndex >= 0);
-	if (ptIndex < 0)
-	{
-		ptIndex = 0;
-	}
-	btVector3 supVec = points[ptIndex] * localScaling;
-	return supVec;
-#endif  //__SPU__
-}
-
-btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual(const btVector3& localDir) const
-{
-	switch (m_shapeType)
-	{
-		case SPHERE_SHAPE_PROXYTYPE:
-		{
-			return btVector3(0, 0, 0);
-		}
-		case BOX_SHAPE_PROXYTYPE:
-		{
-			btBoxShape* convexShape = (btBoxShape*)this;
-			const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
-
-#if defined(__APPLE__) && (defined(BT_USE_SSE) || defined(BT_USE_NEON))
-#if defined(BT_USE_SSE)
-			return btVector3(_mm_xor_ps(_mm_and_ps(localDir.mVec128, (__m128){-0.0f, -0.0f, -0.0f, -0.0f}), halfExtents.mVec128));
-#elif defined(BT_USE_NEON)
-			return btVector3((float32x4_t)(((uint32x4_t)localDir.mVec128 & (uint32x4_t){0x80000000, 0x80000000, 0x80000000, 0x80000000}) ^ (uint32x4_t)halfExtents.mVec128));
-#else
-#error unknown vector arch
-#endif
-#else
-			return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()),
-							 btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()),
-							 btFsels(localDir.z(), halfExtents.z(), -halfExtents.z()));
-#endif
-		}
-		case TRIANGLE_SHAPE_PROXYTYPE:
-		{
-			btTriangleShape* triangleShape = (btTriangleShape*)this;
-			btVector3 dir(localDir.getX(), localDir.getY(), localDir.getZ());
-			btVector3* vertices = &triangleShape->m_vertices1[0];
-			btVector3 dots = dir.dot3(vertices[0], vertices[1], vertices[2]);
-			btVector3 sup = vertices[dots.maxAxis()];
-			return btVector3(sup.getX(), sup.getY(), sup.getZ());
-		}
-		case CYLINDER_SHAPE_PROXYTYPE:
-		{
-			btCylinderShape* cylShape = (btCylinderShape*)this;
-			//mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis)
-
-			btVector3 halfExtents = cylShape->getImplicitShapeDimensions();
-			btVector3 v(localDir.getX(), localDir.getY(), localDir.getZ());
-			int cylinderUpAxis = cylShape->getUpAxis();
-			int XX(1), YY(0), ZZ(2);
-
-			switch (cylinderUpAxis)
-			{
-				case 0:
-				{
-					XX = 1;
-					YY = 0;
-					ZZ = 2;
-				}
-				break;
-				case 1:
-				{
-					XX = 0;
-					YY = 1;
-					ZZ = 2;
-				}
-				break;
-				case 2:
-				{
-					XX = 0;
-					YY = 2;
-					ZZ = 1;
-				}
-				break;
-				default:
-					btAssert(0);
-					break;
-			};
-
-			btScalar radius = halfExtents[XX];
-			btScalar halfHeight = halfExtents[cylinderUpAxis];
-
-			btVector3 tmp;
-			btScalar d;
-
-			btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
-			if (s != btScalar(0.0))
-			{
-				d = radius / s;
-				tmp[XX] = v[XX] * d;
-				tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
-				tmp[ZZ] = v[ZZ] * d;
-				return btVector3(tmp.getX(), tmp.getY(), tmp.getZ());
-			}
-			else
-			{
-				tmp[XX] = radius;
-				tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
-				tmp[ZZ] = btScalar(0.0);
-				return btVector3(tmp.getX(), tmp.getY(), tmp.getZ());
-			}
-		}
-		case CAPSULE_SHAPE_PROXYTYPE:
-		{
-			btVector3 vec0(localDir.getX(), localDir.getY(), localDir.getZ());
-
-			btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
-			btScalar halfHeight = capsuleShape->getHalfHeight();
-			int capsuleUpAxis = capsuleShape->getUpAxis();
-
-			btVector3 supVec(0, 0, 0);
-
-			btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
-
-			btVector3 vec = vec0;
-			btScalar lenSqr = vec.length2();
-			if (lenSqr < SIMD_EPSILON * SIMD_EPSILON)
-			{
-				vec.setValue(1, 0, 0);
-			}
-			else
-			{
-				btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
-				vec *= rlen;
-			}
-			btVector3 vtx;
-			btScalar newDot;
-			{
-				btVector3 pos(0, 0, 0);
-				pos[capsuleUpAxis] = halfHeight;
-
-				vtx = pos;
-				newDot = vec.dot(vtx);
-
-				if (newDot > maxDot)
-				{
-					maxDot = newDot;
-					supVec = vtx;
-				}
-			}
-			{
-				btVector3 pos(0, 0, 0);
-				pos[capsuleUpAxis] = -halfHeight;
-
-				vtx = pos;
-				newDot = vec.dot(vtx);
-				if (newDot > maxDot)
-				{
-					maxDot = newDot;
-					supVec = vtx;
-				}
-			}
-			return btVector3(supVec.getX(), supVec.getY(), supVec.getZ());
-		}
-		case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
-		{
-			btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this;
-			btVector3* points = convexPointCloudShape->getUnscaledPoints();
-			int numPoints = convexPointCloudShape->getNumPoints();
-			return convexHullSupport(localDir, points, numPoints, convexPointCloudShape->getLocalScalingNV());
-		}
-		case CONVEX_HULL_SHAPE_PROXYTYPE:
-		{
-			btConvexHullShape* convexHullShape = (btConvexHullShape*)this;
-			btVector3* points = convexHullShape->getUnscaledPoints();
-			int numPoints = convexHullShape->getNumPoints();
-			return convexHullSupport(localDir, points, numPoints, convexHullShape->getLocalScalingNV());
-		}
-		default:
-#ifndef __SPU__
-			return this->localGetSupportingVertexWithoutMargin(localDir);
-#else
-			btAssert(0);
-#endif
-	}
-
-	// should never reach here
-	btAssert(0);
-	return btVector3(btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
-}
-
-btVector3 btConvexShape::localGetSupportVertexNonVirtual(const btVector3& localDir) const
-{
-	btVector3 localDirNorm = localDir;
-	if (localDirNorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
-	{
-		localDirNorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
-	}
-	localDirNorm.normalize();
-
-	return localGetSupportVertexWithoutMarginNonVirtual(localDirNorm) + getMarginNonVirtual() * localDirNorm;
-}
-
-/* TODO: This should be bumped up to btCollisionShape () */
-btScalar btConvexShape::getMarginNonVirtual() const
-{
-	switch (m_shapeType)
-	{
-		case SPHERE_SHAPE_PROXYTYPE:
-		{
-			btSphereShape* sphereShape = (btSphereShape*)this;
-			return sphereShape->getRadius();
-		}
-		case BOX_SHAPE_PROXYTYPE:
-		{
-			btBoxShape* convexShape = (btBoxShape*)this;
-			return convexShape->getMarginNV();
-		}
-		case TRIANGLE_SHAPE_PROXYTYPE:
-		{
-			btTriangleShape* triangleShape = (btTriangleShape*)this;
-			return triangleShape->getMarginNV();
-		}
-		case CYLINDER_SHAPE_PROXYTYPE:
-		{
-			btCylinderShape* cylShape = (btCylinderShape*)this;
-			return cylShape->getMarginNV();
-		}
-		case CONE_SHAPE_PROXYTYPE:
-		{
-			btConeShape* conShape = (btConeShape*)this;
-			return conShape->getMarginNV();
-		}
-		case CAPSULE_SHAPE_PROXYTYPE:
-		{
-			btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
-			return capsuleShape->getMarginNV();
-		}
-		case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
-		/* fall through */
-		case CONVEX_HULL_SHAPE_PROXYTYPE:
-		{
-			btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this;
-			return convexHullShape->getMarginNV();
-		}
-		default:
-#ifndef __SPU__
-			return this->getMargin();
-#else
-			btAssert(0);
-#endif
-	}
-
-	// should never reach here
-	btAssert(0);
-	return btScalar(0.0f);
-}
-#ifndef __SPU__
-void btConvexShape::getAabbNonVirtual(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	switch (m_shapeType)
-	{
-		case SPHERE_SHAPE_PROXYTYPE:
-		{
-			btSphereShape* sphereShape = (btSphereShape*)this;
-			btScalar radius = sphereShape->getImplicitShapeDimensions().getX();  // * convexShape->getLocalScaling().getX();
-			btScalar margin = radius + sphereShape->getMarginNonVirtual();
-			const btVector3& center = t.getOrigin();
-			btVector3 extent(margin, margin, margin);
-			aabbMin = center - extent;
-			aabbMax = center + extent;
-		}
-		break;
-		case CYLINDER_SHAPE_PROXYTYPE:
-		/* fall through */
-		case BOX_SHAPE_PROXYTYPE:
-		{
-			btBoxShape* convexShape = (btBoxShape*)this;
-			btScalar margin = convexShape->getMarginNonVirtual();
-			btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
-			halfExtents += btVector3(margin, margin, margin);
-			btMatrix3x3 abs_b = t.getBasis().absolute();
-			btVector3 center = t.getOrigin();
-			btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
-
-			aabbMin = center - extent;
-			aabbMax = center + extent;
-			break;
-		}
-		case TRIANGLE_SHAPE_PROXYTYPE:
-		{
-			btTriangleShape* triangleShape = (btTriangleShape*)this;
-			btScalar margin = triangleShape->getMarginNonVirtual();
-			for (int i = 0; i < 3; i++)
-			{
-				btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
-				vec[i] = btScalar(1.);
-
-				btVector3 sv = localGetSupportVertexWithoutMarginNonVirtual(vec * t.getBasis());
-
-				btVector3 tmp = t(sv);
-				aabbMax[i] = tmp[i] + margin;
-				vec[i] = btScalar(-1.);
-				tmp = t(localGetSupportVertexWithoutMarginNonVirtual(vec * t.getBasis()));
-				aabbMin[i] = tmp[i] - margin;
-			}
-		}
-		break;
-		case CAPSULE_SHAPE_PROXYTYPE:
-		{
-			btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
-			btVector3 halfExtents(capsuleShape->getRadius(), capsuleShape->getRadius(), capsuleShape->getRadius());
-			int m_upAxis = capsuleShape->getUpAxis();
-			halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight();
-			btMatrix3x3 abs_b = t.getBasis().absolute();
-			btVector3 center = t.getOrigin();
-			btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
-			aabbMin = center - extent;
-			aabbMax = center + extent;
-		}
-		break;
-		case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
-		case CONVEX_HULL_SHAPE_PROXYTYPE:
-		{
-			btPolyhedralConvexAabbCachingShape* convexHullShape = (btPolyhedralConvexAabbCachingShape*)this;
-			btScalar margin = convexHullShape->getMarginNonVirtual();
-			convexHullShape->getNonvirtualAabb(t, aabbMin, aabbMax, margin);
-		}
-		break;
-		default:
-#ifndef __SPU__
-			this->getAabb(t, aabbMin, aabbMax);
-#else
-			btAssert(0);
-#endif
-			break;
-	}
-
-	// should never reach here
-	btAssert(0);
-}
-
-#endif  //__SPU__
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.h
deleted file mode 100644
index d3b3ed816e..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.h
+++ /dev/null
@@ -1,75 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONVEX_SHAPE_INTERFACE1
-#define BT_CONVEX_SHAPE_INTERFACE1
-
-#include "btCollisionShape.h"
-
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btMatrix3x3.h"
-#include "btCollisionMargin.h"
-#include "LinearMath/btAlignedAllocator.h"
-
-#define MAX_PREFERRED_PENETRATION_DIRECTIONS 10
-
-/// The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape, btConvexHullShape etc.
-/// It describes general convex shapes using the localGetSupportingVertex interface, used by collision detectors such as btGjkPairDetector.
-ATTRIBUTE_ALIGNED16(class)
-btConvexShape : public btCollisionShape
-{
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btConvexShape();
-
-	virtual ~btConvexShape();
-
-	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const = 0;
-
-////////
-#ifndef __SPU__
-	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const = 0;
-#endif  //#ifndef __SPU__
-
-	btVector3 localGetSupportVertexWithoutMarginNonVirtual(const btVector3& vec) const;
-	btVector3 localGetSupportVertexNonVirtual(const btVector3& vec) const;
-	btScalar getMarginNonVirtual() const;
-	void getAabbNonVirtual(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
-
-	virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const;
-
-	//notice that the vectors should be unit length
-	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const = 0;
-
-	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-	void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const = 0;
-
-	virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const = 0;
-
-	virtual void setLocalScaling(const btVector3& scaling) = 0;
-	virtual const btVector3& getLocalScaling() const = 0;
-
-	virtual void setMargin(btScalar margin) = 0;
-
-	virtual btScalar getMargin() const = 0;
-
-	virtual int getNumPreferredPenetrationDirections() const = 0;
-
-	virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const = 0;
-};
-
-#endif  //BT_CONVEX_SHAPE_INTERFACE1
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
deleted file mode 100644
index f6987cc760..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
+++ /dev/null
@@ -1,283 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btConvexTriangleMeshShape.h"
-#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
-
-#include "LinearMath/btQuaternion.h"
-#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
-
-btConvexTriangleMeshShape ::btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface, bool calcAabb)
-	: btPolyhedralConvexAabbCachingShape(), m_stridingMesh(meshInterface)
-{
-	m_shapeType = CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE;
-	if (calcAabb)
-		recalcLocalAabb();
-}
-
-///It's not nice to have all this virtual function overhead, so perhaps we can also gather the points once
-///but then we are duplicating
-class LocalSupportVertexCallback : public btInternalTriangleIndexCallback
-{
-	btVector3 m_supportVertexLocal;
-
-public:
-	btScalar m_maxDot;
-	btVector3 m_supportVecLocal;
-
-	LocalSupportVertexCallback(const btVector3& supportVecLocal)
-		: m_supportVertexLocal(btScalar(0.), btScalar(0.), btScalar(0.)),
-		  m_maxDot(btScalar(-BT_LARGE_FLOAT)),
-		  m_supportVecLocal(supportVecLocal)
-	{
-	}
-
-	virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
-	{
-		(void)triangleIndex;
-		(void)partId;
-
-		for (int i = 0; i < 3; i++)
-		{
-			btScalar dot = m_supportVecLocal.dot(triangle[i]);
-			if (dot > m_maxDot)
-			{
-				m_maxDot = dot;
-				m_supportVertexLocal = triangle[i];
-			}
-		}
-	}
-
-	btVector3 GetSupportVertexLocal()
-	{
-		return m_supportVertexLocal;
-	}
-};
-
-btVector3 btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const
-{
-	btVector3 supVec(btScalar(0.), btScalar(0.), btScalar(0.));
-
-	btVector3 vec = vec0;
-	btScalar lenSqr = vec.length2();
-	if (lenSqr < btScalar(0.0001))
-	{
-		vec.setValue(1, 0, 0);
-	}
-	else
-	{
-		btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
-		vec *= rlen;
-	}
-
-	LocalSupportVertexCallback supportCallback(vec);
-	btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-	m_stridingMesh->InternalProcessAllTriangles(&supportCallback, -aabbMax, aabbMax);
-	supVec = supportCallback.GetSupportVertexLocal();
-
-	return supVec;
-}
-
-void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-{
-	//use 'w' component of supportVerticesOut?
-	{
-		for (int i = 0; i < numVectors; i++)
-		{
-			supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
-		}
-	}
-
-	///@todo: could do the batch inside the callback!
-
-	for (int j = 0; j < numVectors; j++)
-	{
-		const btVector3& vec = vectors[j];
-		LocalSupportVertexCallback supportCallback(vec);
-		btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-		m_stridingMesh->InternalProcessAllTriangles(&supportCallback, -aabbMax, aabbMax);
-		supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
-	}
-}
-
-btVector3 btConvexTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) const
-{
-	btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
-
-	if (getMargin() != btScalar(0.))
-	{
-		btVector3 vecnorm = vec;
-		if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
-		{
-			vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
-		}
-		vecnorm.normalize();
-		supVertex += getMargin() * vecnorm;
-	}
-	return supVertex;
-}
-
-//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
-//Please note that you can debug-draw btConvexTriangleMeshShape with the Raytracer Demo
-int btConvexTriangleMeshShape::getNumVertices() const
-{
-	//cache this?
-	return 0;
-}
-
-int btConvexTriangleMeshShape::getNumEdges() const
-{
-	return 0;
-}
-
-void btConvexTriangleMeshShape::getEdge(int, btVector3&, btVector3&) const
-{
-	btAssert(0);
-}
-
-void btConvexTriangleMeshShape::getVertex(int, btVector3&) const
-{
-	btAssert(0);
-}
-
-int btConvexTriangleMeshShape::getNumPlanes() const
-{
-	return 0;
-}
-
-void btConvexTriangleMeshShape::getPlane(btVector3&, btVector3&, int) const
-{
-	btAssert(0);
-}
-
-//not yet
-bool btConvexTriangleMeshShape::isInside(const btVector3&, btScalar) const
-{
-	btAssert(0);
-	return false;
-}
-
-void btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling)
-{
-	m_stridingMesh->setScaling(scaling);
-
-	recalcLocalAabb();
-}
-
-const btVector3& btConvexTriangleMeshShape::getLocalScaling() const
-{
-	return m_stridingMesh->getScaling();
-}
-
-void btConvexTriangleMeshShape::calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const
-{
-	class CenterCallback : public btInternalTriangleIndexCallback
-	{
-		bool first;
-		btVector3 ref;
-		btVector3 sum;
-		btScalar volume;
-
-	public:
-		CenterCallback() : first(true), ref(0, 0, 0), sum(0, 0, 0), volume(0)
-		{
-		}
-
-		virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
-		{
-			(void)triangleIndex;
-			(void)partId;
-			if (first)
-			{
-				ref = triangle[0];
-				first = false;
-			}
-			else
-			{
-				btScalar vol = btFabs((triangle[0] - ref).triple(triangle[1] - ref, triangle[2] - ref));
-				sum += (btScalar(0.25) * vol) * ((triangle[0] + triangle[1] + triangle[2] + ref));
-				volume += vol;
-			}
-		}
-
-		btVector3 getCenter()
-		{
-			return (volume > 0) ? sum / volume : ref;
-		}
-
-		btScalar getVolume()
-		{
-			return volume * btScalar(1. / 6);
-		}
-	};
-
-	class InertiaCallback : public btInternalTriangleIndexCallback
-	{
-		btMatrix3x3 sum;
-		btVector3 center;
-
-	public:
-		InertiaCallback(btVector3& center) : sum(0, 0, 0, 0, 0, 0, 0, 0, 0), center(center)
-		{
-		}
-
-		virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
-		{
-			(void)triangleIndex;
-			(void)partId;
-			btMatrix3x3 i;
-			btVector3 a = triangle[0] - center;
-			btVector3 b = triangle[1] - center;
-			btVector3 c = triangle[2] - center;
-			btScalar volNeg = -btFabs(a.triple(b, c)) * btScalar(1. / 6);
-			for (int j = 0; j < 3; j++)
-			{
-				for (int k = 0; k <= j; k++)
-				{
-					i[j][k] = i[k][j] = volNeg * (btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k]) + btScalar(0.05) * (a[j] * b[k] + a[k] * b[j] + a[j] * c[k] + a[k] * c[j] + b[j] * c[k] + b[k] * c[j]));
-				}
-			}
-			btScalar i00 = -i[0][0];
-			btScalar i11 = -i[1][1];
-			btScalar i22 = -i[2][2];
-			i[0][0] = i11 + i22;
-			i[1][1] = i22 + i00;
-			i[2][2] = i00 + i11;
-			sum[0] += i[0];
-			sum[1] += i[1];
-			sum[2] += i[2];
-		}
-
-		btMatrix3x3& getInertia()
-		{
-			return sum;
-		}
-	};
-
-	CenterCallback centerCallback;
-	btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-	m_stridingMesh->InternalProcessAllTriangles(&centerCallback, -aabbMax, aabbMax);
-	btVector3 center = centerCallback.getCenter();
-	principal.setOrigin(center);
-	volume = centerCallback.getVolume();
-
-	InertiaCallback inertiaCallback(center);
-	m_stridingMesh->InternalProcessAllTriangles(&inertiaCallback, -aabbMax, aabbMax);
-
-	btMatrix3x3& i = inertiaCallback.getInertia();
-	i.diagonalize(principal.getBasis(), btScalar(0.00001), 20);
-	inertia.setValue(i[0][0], i[1][1], i[2][2]);
-	inertia /= volume;
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
deleted file mode 100644
index 6dac9fff04..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-#ifndef BT_CONVEX_TRIANGLEMESH_SHAPE_H
-#define BT_CONVEX_TRIANGLEMESH_SHAPE_H
-
-#include "btPolyhedralConvexShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
-
-/// The btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good as btConvexHullShape.
-/// A small benefit of this class is that it uses the btStridingMeshInterface, so you can avoid the duplication of the triangle mesh data. Nevertheless, most users should use the much better performing btConvexHullShape instead.
-ATTRIBUTE_ALIGNED16(class)
-btConvexTriangleMeshShape : public btPolyhedralConvexAabbCachingShape
-{
-	class btStridingMeshInterface* m_stridingMesh;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btConvexTriangleMeshShape(btStridingMeshInterface * meshInterface, bool calcAabb = true);
-
-	class btStridingMeshInterface* getMeshInterface()
-	{
-		return m_stridingMesh;
-	}
-	const class btStridingMeshInterface* getMeshInterface() const
-	{
-		return m_stridingMesh;
-	}
-
-	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
-	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
-	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
-
-	//debugging
-	virtual const char* getName() const { return "ConvexTrimesh"; }
-
-	virtual int getNumVertices() const;
-	virtual int getNumEdges() const;
-	virtual void getEdge(int i, btVector3& pa, btVector3& pb) const;
-	virtual void getVertex(int i, btVector3& vtx) const;
-	virtual int getNumPlanes() const;
-	virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const;
-	virtual bool isInside(const btVector3& pt, btScalar tolerance) const;
-
-	virtual void setLocalScaling(const btVector3& scaling);
-	virtual const btVector3& getLocalScaling() const;
-
-	///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia
-	///and the center of mass to the current coordinate system. A mass of 1 is assumed, for other masses just multiply the computed "inertia"
-	///by the mass. The resulting transform "principal" has to be applied inversely to the mesh in order for the local coordinate system of the
-	///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform
-	///of the collision object by the principal transform. This method also computes the volume of the convex mesh.
-	void calculatePrincipalAxisTransform(btTransform & principal, btVector3 & inertia, btScalar & volume) const;
-};
-
-#endif  //BT_CONVEX_TRIANGLEMESH_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp
deleted file mode 100644
index 66dbb8e53d..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp
+++ /dev/null
@@ -1,253 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btCylinderShape.h"
-
-btCylinderShape::btCylinderShape(const btVector3& halfExtents)
-	: btConvexInternalShape(),
-	  m_upAxis(1)
-{
-	btVector3 margin(getMargin(), getMargin(), getMargin());
-	m_implicitShapeDimensions = (halfExtents * m_localScaling) - margin;
-
-	setSafeMargin(halfExtents);
-
-	m_shapeType = CYLINDER_SHAPE_PROXYTYPE;
-}
-
-btCylinderShapeX::btCylinderShapeX(const btVector3& halfExtents)
-	: btCylinderShape(halfExtents)
-{
-	m_upAxis = 0;
-}
-
-btCylinderShapeZ::btCylinderShapeZ(const btVector3& halfExtents)
-	: btCylinderShape(halfExtents)
-{
-	m_upAxis = 2;
-}
-
-void btCylinderShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	btTransformAabb(getHalfExtentsWithoutMargin(), getMargin(), t, aabbMin, aabbMax);
-}
-
-void btCylinderShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
-{
-//Until Bullet 2.77 a box approximation was used, so uncomment this if you need backwards compatibility
-//#define USE_BOX_INERTIA_APPROXIMATION 1
-#ifndef USE_BOX_INERTIA_APPROXIMATION
-
-	/*
-	cylinder is defined as following:
-	*
-	* - principle axis aligned along y by default, radius in x, z-value not used
-	* - for btCylinderShapeX: principle axis aligned along x, radius in y direction, z-value not used
-	* - for btCylinderShapeZ: principle axis aligned along z, radius in x direction, y-value not used
-	*
-	*/
-
-	btScalar radius2;                                    // square of cylinder radius
-	btScalar height2;                                    // square of cylinder height
-	btVector3 halfExtents = getHalfExtentsWithMargin();  // get cylinder dimension
-	btScalar div12 = mass / 12.f;
-	btScalar div4 = mass / 4.f;
-	btScalar div2 = mass / 2.f;
-	int idxRadius, idxHeight;
-
-	switch (m_upAxis)  // get indices of radius and height of cylinder
-	{
-		case 0:  // cylinder is aligned along x
-			idxRadius = 1;
-			idxHeight = 0;
-			break;
-		case 2:  // cylinder is aligned along z
-			idxRadius = 0;
-			idxHeight = 2;
-			break;
-		default:  // cylinder is aligned along y
-			idxRadius = 0;
-			idxHeight = 1;
-	}
-
-	// calculate squares
-	radius2 = halfExtents[idxRadius] * halfExtents[idxRadius];
-	height2 = btScalar(4.) * halfExtents[idxHeight] * halfExtents[idxHeight];
-
-	// calculate tensor terms
-	btScalar t1 = div12 * height2 + div4 * radius2;
-	btScalar t2 = div2 * radius2;
-
-	switch (m_upAxis)  // set diagonal elements of inertia tensor
-	{
-		case 0:  // cylinder is aligned along x
-			inertia.setValue(t2, t1, t1);
-			break;
-		case 2:  // cylinder is aligned along z
-			inertia.setValue(t1, t1, t2);
-			break;
-		default:  // cylinder is aligned along y
-			inertia.setValue(t1, t2, t1);
-	}
-#else   //USE_BOX_INERTIA_APPROXIMATION
-	//approximation of box shape
-	btVector3 halfExtents = getHalfExtentsWithMargin();
-
-	btScalar lx = btScalar(2.) * (halfExtents.x());
-	btScalar ly = btScalar(2.) * (halfExtents.y());
-	btScalar lz = btScalar(2.) * (halfExtents.z());
-
-	inertia.setValue(mass / (btScalar(12.0)) * (ly * ly + lz * lz),
-					 mass / (btScalar(12.0)) * (lx * lx + lz * lz),
-					 mass / (btScalar(12.0)) * (lx * lx + ly * ly));
-#endif  //USE_BOX_INERTIA_APPROXIMATION
-}
-
-SIMD_FORCE_INLINE btVector3 CylinderLocalSupportX(const btVector3& halfExtents, const btVector3& v)
-{
-	const int cylinderUpAxis = 0;
-	const int XX = 1;
-	const int YY = 0;
-	const int ZZ = 2;
-
-	//mapping depends on how cylinder local orientation is
-	// extents of the cylinder is: X,Y is for radius, and Z for height
-
-	btScalar radius = halfExtents[XX];
-	btScalar halfHeight = halfExtents[cylinderUpAxis];
-
-	btVector3 tmp;
-	btScalar d;
-
-	btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
-	if (s != btScalar(0.0))
-	{
-		d = radius / s;
-		tmp[XX] = v[XX] * d;
-		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
-		tmp[ZZ] = v[ZZ] * d;
-		return tmp;
-	}
-	else
-	{
-		tmp[XX] = radius;
-		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
-		tmp[ZZ] = btScalar(0.0);
-		return tmp;
-	}
-}
-
-inline btVector3 CylinderLocalSupportY(const btVector3& halfExtents, const btVector3& v)
-{
-	const int cylinderUpAxis = 1;
-	const int XX = 0;
-	const int YY = 1;
-	const int ZZ = 2;
-
-	btScalar radius = halfExtents[XX];
-	btScalar halfHeight = halfExtents[cylinderUpAxis];
-
-	btVector3 tmp;
-	btScalar d;
-
-	btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
-	if (s != btScalar(0.0))
-	{
-		d = radius / s;
-		tmp[XX] = v[XX] * d;
-		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
-		tmp[ZZ] = v[ZZ] * d;
-		return tmp;
-	}
-	else
-	{
-		tmp[XX] = radius;
-		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
-		tmp[ZZ] = btScalar(0.0);
-		return tmp;
-	}
-}
-
-inline btVector3 CylinderLocalSupportZ(const btVector3& halfExtents, const btVector3& v)
-{
-	const int cylinderUpAxis = 2;
-	const int XX = 0;
-	const int YY = 2;
-	const int ZZ = 1;
-
-	//mapping depends on how cylinder local orientation is
-	// extents of the cylinder is: X,Y is for radius, and Z for height
-
-	btScalar radius = halfExtents[XX];
-	btScalar halfHeight = halfExtents[cylinderUpAxis];
-
-	btVector3 tmp;
-	btScalar d;
-
-	btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
-	if (s != btScalar(0.0))
-	{
-		d = radius / s;
-		tmp[XX] = v[XX] * d;
-		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
-		tmp[ZZ] = v[ZZ] * d;
-		return tmp;
-	}
-	else
-	{
-		tmp[XX] = radius;
-		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
-		tmp[ZZ] = btScalar(0.0);
-		return tmp;
-	}
-}
-
-btVector3 btCylinderShapeX::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
-{
-	return CylinderLocalSupportX(getHalfExtentsWithoutMargin(), vec);
-}
-
-btVector3 btCylinderShapeZ::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
-{
-	return CylinderLocalSupportZ(getHalfExtentsWithoutMargin(), vec);
-}
-btVector3 btCylinderShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
-{
-	return CylinderLocalSupportY(getHalfExtentsWithoutMargin(), vec);
-}
-
-void btCylinderShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-{
-	for (int i = 0; i < numVectors; i++)
-	{
-		supportVerticesOut[i] = CylinderLocalSupportY(getHalfExtentsWithoutMargin(), vectors[i]);
-	}
-}
-
-void btCylinderShapeZ::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-{
-	for (int i = 0; i < numVectors; i++)
-	{
-		supportVerticesOut[i] = CylinderLocalSupportZ(getHalfExtentsWithoutMargin(), vectors[i]);
-	}
-}
-
-void btCylinderShapeX::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-{
-	for (int i = 0; i < numVectors; i++)
-	{
-		supportVerticesOut[i] = CylinderLocalSupportX(getHalfExtentsWithoutMargin(), vectors[i]);
-	}
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h
deleted file mode 100644
index d3f64508ba..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h
+++ /dev/null
@@ -1,206 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CYLINDER_MINKOWSKI_H
-#define BT_CYLINDER_MINKOWSKI_H
-
-#include "btBoxShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
-#include "LinearMath/btVector3.h"
-
-/// The btCylinderShape class implements a cylinder shape primitive, centered around the origin. Its central axis aligned with the Y axis. btCylinderShapeX is aligned with the X axis and btCylinderShapeZ around the Z axis.
-ATTRIBUTE_ALIGNED16(class)
-btCylinderShape : public btConvexInternalShape
-
-{
-protected:
-	int m_upAxis;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btVector3 getHalfExtentsWithMargin() const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-		btVector3 margin(getMargin(), getMargin(), getMargin());
-		halfExtents += margin;
-		return halfExtents;
-	}
-
-	const btVector3& getHalfExtentsWithoutMargin() const
-	{
-		return m_implicitShapeDimensions;  //changed in Bullet 2.63: assume the scaling and margin are included
-	}
-
-	btCylinderShape(const btVector3& halfExtents);
-
-	void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
-
-	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
-
-	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
-
-	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
-
-	virtual void setMargin(btScalar collisionMargin)
-	{
-		//correct the m_implicitShapeDimensions for the margin
-		btVector3 oldMargin(getMargin(), getMargin(), getMargin());
-		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
-
-		btConvexInternalShape::setMargin(collisionMargin);
-		btVector3 newMargin(getMargin(), getMargin(), getMargin());
-		m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
-	}
-
-	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
-	{
-		btVector3 supVertex;
-		supVertex = localGetSupportingVertexWithoutMargin(vec);
-
-		if (getMargin() != btScalar(0.))
-		{
-			btVector3 vecnorm = vec;
-			if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
-			{
-				vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
-			}
-			vecnorm.normalize();
-			supVertex += getMargin() * vecnorm;
-		}
-		return supVertex;
-	}
-
-	//use box inertia
-	//	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
-
-	int getUpAxis() const
-	{
-		return m_upAxis;
-	}
-
-	virtual btVector3 getAnisotropicRollingFrictionDirection() const
-	{
-		btVector3 aniDir(0, 0, 0);
-		aniDir[getUpAxis()] = 1;
-		return aniDir;
-	}
-
-	virtual btScalar getRadius() const
-	{
-		return getHalfExtentsWithMargin().getX();
-	}
-
-	virtual void setLocalScaling(const btVector3& scaling)
-	{
-		btVector3 oldMargin(getMargin(), getMargin(), getMargin());
-		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
-		btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
-
-		btConvexInternalShape::setLocalScaling(scaling);
-
-		m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
-	}
-
-	//debugging
-	virtual const char* getName() const
-	{
-		return "CylinderY";
-	}
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-};
-
-class btCylinderShapeX : public btCylinderShape
-{
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btCylinderShapeX(const btVector3& halfExtents);
-
-	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
-	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
-
-	//debugging
-	virtual const char* getName() const
-	{
-		return "CylinderX";
-	}
-
-	virtual btScalar getRadius() const
-	{
-		return getHalfExtentsWithMargin().getY();
-	}
-};
-
-class btCylinderShapeZ : public btCylinderShape
-{
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btCylinderShapeZ(const btVector3& halfExtents);
-
-	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
-	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
-
-	//debugging
-	virtual const char* getName() const
-	{
-		return "CylinderZ";
-	}
-
-	virtual btScalar getRadius() const
-	{
-		return getHalfExtentsWithMargin().getX();
-	}
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btCylinderShapeData
-{
-	btConvexInternalShapeData m_convexInternalShapeData;
-
-	int m_upAxis;
-
-	char m_padding[4];
-};
-
-SIMD_FORCE_INLINE int btCylinderShape::calculateSerializeBufferSize() const
-{
-	return sizeof(btCylinderShapeData);
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btCylinderShapeData* shapeData = (btCylinderShapeData*)dataBuffer;
-
-	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
-
-	shapeData->m_upAxis = m_upAxis;
-
-	// Fill padding with zeros to appease msan.
-	shapeData->m_padding[0] = 0;
-	shapeData->m_padding[1] = 0;
-	shapeData->m_padding[2] = 0;
-	shapeData->m_padding[3] = 0;
-
-	return "btCylinderShapeData";
-}
-
-#endif  //BT_CYLINDER_MINKOWSKI_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btEmptyShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btEmptyShape.cpp
deleted file mode 100644
index 4699555bd8..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btEmptyShape.cpp
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btEmptyShape.h"
-
-#include "btCollisionShape.h"
-
-btEmptyShape::btEmptyShape() : btConcaveShape()
-{
-	m_shapeType = EMPTY_SHAPE_PROXYTYPE;
-}
-
-btEmptyShape::~btEmptyShape()
-{
-}
-
-///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-void btEmptyShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	btVector3 margin(getMargin(), getMargin(), getMargin());
-
-	aabbMin = t.getOrigin() - margin;
-
-	aabbMax = t.getOrigin() + margin;
-}
-
-void btEmptyShape::calculateLocalInertia(btScalar, btVector3&) const
-{
-	btAssert(0);
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btEmptyShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btEmptyShape.h
deleted file mode 100644
index d2e21173b2..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btEmptyShape.h
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_EMPTY_SHAPE_H
-#define BT_EMPTY_SHAPE_H
-
-#include "btConcaveShape.h"
-
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btMatrix3x3.h"
-#include "btCollisionMargin.h"
-
-/// The btEmptyShape is a collision shape without actual collision detection shape, so most users should ignore this class.
-/// It can be replaced by another shape during runtime, but the inertia tensor should be recomputed.
-ATTRIBUTE_ALIGNED16(class)
-btEmptyShape : public btConcaveShape
-{
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btEmptyShape();
-
-	virtual ~btEmptyShape();
-
-	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-	void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
-
-	virtual void setLocalScaling(const btVector3& scaling)
-	{
-		m_localScaling = scaling;
-	}
-	virtual const btVector3& getLocalScaling() const
-	{
-		return m_localScaling;
-	}
-
-	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
-
-	virtual const char* getName() const
-	{
-		return "Empty";
-	}
-
-	virtual void processAllTriangles(btTriangleCallback*, const btVector3&, const btVector3&) const
-	{
-	}
-
-protected:
-	btVector3 m_localScaling;
-};
-
-#endif  //BT_EMPTY_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
deleted file mode 100644
index 01bf7f67f5..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
+++ /dev/null
@@ -1,950 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btHeightfieldTerrainShape.h"
-
-#include "LinearMath/btTransformUtil.h"
-
-btHeightfieldTerrainShape::btHeightfieldTerrainShape(
-	int heightStickWidth, int heightStickLength,
-	const float* heightfieldData, btScalar minHeight, btScalar maxHeight,
-	int upAxis, bool flipQuadEdges)
-	: m_userValue3(0), m_triangleInfoMap(0)
-{
-	initialize(heightStickWidth, heightStickLength, heightfieldData,
-			   /*heightScale=*/1, minHeight, maxHeight, upAxis, PHY_FLOAT,
-			   flipQuadEdges);
-}
-
-btHeightfieldTerrainShape::btHeightfieldTerrainShape(
-	int heightStickWidth, int heightStickLength, const double* heightfieldData,
-	btScalar minHeight, btScalar maxHeight, int upAxis, bool flipQuadEdges)
-	: m_userValue3(0), m_triangleInfoMap(0)
-{
-	initialize(heightStickWidth, heightStickLength, heightfieldData,
-			   /*heightScale=*/1, minHeight, maxHeight, upAxis, PHY_DOUBLE,
-			   flipQuadEdges);
-}
-
-btHeightfieldTerrainShape::btHeightfieldTerrainShape(
-	int heightStickWidth, int heightStickLength, const short* heightfieldData, btScalar heightScale,
-	btScalar minHeight, btScalar maxHeight, int upAxis, bool flipQuadEdges)
-	: m_userValue3(0), m_triangleInfoMap(0)
-{
-	initialize(heightStickWidth, heightStickLength, heightfieldData,
-			   heightScale, minHeight, maxHeight, upAxis, PHY_SHORT,
-			   flipQuadEdges);
-}
-
-btHeightfieldTerrainShape::btHeightfieldTerrainShape(
-	int heightStickWidth, int heightStickLength, const unsigned char* heightfieldData, btScalar heightScale,
-	btScalar minHeight, btScalar maxHeight, int upAxis, bool flipQuadEdges)
-	: m_userValue3(0), m_triangleInfoMap(0)
-{
-	initialize(heightStickWidth, heightStickLength, heightfieldData,
-			   heightScale, minHeight, maxHeight, upAxis, PHY_UCHAR,
-			   flipQuadEdges);
-}
-
-btHeightfieldTerrainShape::btHeightfieldTerrainShape(
-	int heightStickWidth, int heightStickLength, const void* heightfieldData,
-	btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis,
-	PHY_ScalarType hdt, bool flipQuadEdges)
-	:m_userValue3(0),
-	m_triangleInfoMap(0)
-{
-	// legacy constructor: Assumes PHY_FLOAT means btScalar.
-#ifdef BT_USE_DOUBLE_PRECISION
-	if (hdt == PHY_FLOAT) hdt = PHY_DOUBLE;
-#endif
-	initialize(heightStickWidth, heightStickLength, heightfieldData,
-			   heightScale, minHeight, maxHeight, upAxis, hdt,
-			   flipQuadEdges);
-}
-
-btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, const void* heightfieldData, btScalar maxHeight, int upAxis, bool useFloatData, bool flipQuadEdges)
-	:	m_userValue3(0),
-	m_triangleInfoMap(0)
-{
-	// legacy constructor: support only btScalar or unsigned char data,
-	// and min height is zero.
-	PHY_ScalarType hdt = (useFloatData) ? PHY_FLOAT : PHY_UCHAR;
-#ifdef BT_USE_DOUBLE_PRECISION
-	if (hdt == PHY_FLOAT) hdt = PHY_DOUBLE;
-#endif
-	btScalar minHeight = 0.0f;
-
-	// previously, height = uchar * maxHeight / 65535.
-	// So to preserve legacy behavior, heightScale = maxHeight / 65535
-	btScalar heightScale = maxHeight / 65535;
-
-	initialize(heightStickWidth, heightStickLength, heightfieldData,
-			   heightScale, minHeight, maxHeight, upAxis, hdt,
-			   flipQuadEdges);
-}
-
-void btHeightfieldTerrainShape::initialize(
-	int heightStickWidth, int heightStickLength, const void* heightfieldData,
-	btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis,
-	PHY_ScalarType hdt, bool flipQuadEdges)
-{
-	// validation
-	btAssert(heightStickWidth > 1);   // && "bad width");
-	btAssert(heightStickLength > 1);  // && "bad length");
-	btAssert(heightfieldData);        // && "null heightfield data");
-	// btAssert(heightScale) -- do we care?  Trust caller here
-	btAssert(minHeight <= maxHeight);                                    // && "bad min/max height");
-	btAssert(upAxis >= 0 && upAxis < 3);                                 // && "bad upAxis--should be in range [0,2]");
-	btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_DOUBLE || hdt != PHY_SHORT);  // && "Bad height data type enum");
-
-	// initialize member variables
-	m_shapeType = TERRAIN_SHAPE_PROXYTYPE;
-	m_heightStickWidth = heightStickWidth;
-	m_heightStickLength = heightStickLength;
-	m_minHeight = minHeight;
-	m_maxHeight = maxHeight;
-	m_width = (btScalar)(heightStickWidth - 1);
-	m_length = (btScalar)(heightStickLength - 1);
-	m_heightScale = heightScale;
-	m_heightfieldDataUnknown = heightfieldData;
-	m_heightDataType = hdt;
-	m_flipQuadEdges = flipQuadEdges;
-	m_useDiamondSubdivision = false;
-	m_useZigzagSubdivision = false;
-	m_flipTriangleWinding = false;
-	m_upAxis = upAxis;
-	m_localScaling.setValue(btScalar(1.), btScalar(1.), btScalar(1.));
-	
-	m_vboundsChunkSize = 0;
-	m_vboundsGridWidth = 0;
-	m_vboundsGridLength = 0;
-
-	// determine min/max axis-aligned bounding box (aabb) values
-	switch (m_upAxis)
-	{
-		case 0:
-		{
-			m_localAabbMin.setValue(m_minHeight, 0, 0);
-			m_localAabbMax.setValue(m_maxHeight, m_width, m_length);
-			break;
-		}
-		case 1:
-		{
-			m_localAabbMin.setValue(0, m_minHeight, 0);
-			m_localAabbMax.setValue(m_width, m_maxHeight, m_length);
-			break;
-		};
-		case 2:
-		{
-			m_localAabbMin.setValue(0, 0, m_minHeight);
-			m_localAabbMax.setValue(m_width, m_length, m_maxHeight);
-			break;
-		}
-		default:
-		{
-			//need to get valid m_upAxis
-			btAssert(0);  // && "Bad m_upAxis");
-		}
-	}
-
-	// remember origin (defined as exact middle of aabb)
-	m_localOrigin = btScalar(0.5) * (m_localAabbMin + m_localAabbMax);
-}
-
-btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
-{
-	clearAccelerator();
-}
-
-void btHeightfieldTerrainShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	btVector3 halfExtents = (m_localAabbMax - m_localAabbMin) * m_localScaling * btScalar(0.5);
-
-	btVector3 localOrigin(0, 0, 0);
-	localOrigin[m_upAxis] = (m_minHeight + m_maxHeight) * btScalar(0.5);
-	localOrigin *= m_localScaling;
-
-	btMatrix3x3 abs_b = t.getBasis().absolute();
-	btVector3 center = t.getOrigin();
-	btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
-	extent += btVector3(getMargin(), getMargin(), getMargin());
-
-	aabbMin = center - extent;
-	aabbMax = center + extent;
-}
-
-/// This returns the "raw" (user's initial) height, not the actual height.
-/// The actual height needs to be adjusted to be relative to the center
-///   of the heightfield's AABB.
-btScalar
-btHeightfieldTerrainShape::getRawHeightFieldValue(int x, int y) const
-{
-	btScalar val = 0.f;
-	switch (m_heightDataType)
-	{
-		case PHY_FLOAT:
-		{
-			val = m_heightfieldDataFloat[(y * m_heightStickWidth) + x];
-			break;
-		}
-
-		case PHY_DOUBLE:
-		{
-			val = m_heightfieldDataDouble[(y * m_heightStickWidth) + x];
-			break;
-		}
-
-		case PHY_UCHAR:
-		{
-			unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y * m_heightStickWidth) + x];
-			val = heightFieldValue * m_heightScale;
-			break;
-		}
-
-		case PHY_SHORT:
-		{
-			short hfValue = m_heightfieldDataShort[(y * m_heightStickWidth) + x];
-			val = hfValue * m_heightScale;
-			break;
-		}
-
-		default:
-		{
-			btAssert(!"Bad m_heightDataType");
-		}
-	}
-
-	return val;
-}
-
-/// this returns the vertex in bullet-local coordinates
-void btHeightfieldTerrainShape::getVertex(int x, int y, btVector3& vertex) const
-{
-	btAssert(x >= 0);
-	btAssert(y >= 0);
-	btAssert(x < m_heightStickWidth);
-	btAssert(y < m_heightStickLength);
-
-	btScalar height = getRawHeightFieldValue(x, y);
-
-	switch (m_upAxis)
-	{
-		case 0:
-		{
-			vertex.setValue(
-				height - m_localOrigin.getX(),
-				(-m_width / btScalar(2.0)) + x,
-				(-m_length / btScalar(2.0)) + y);
-			break;
-		}
-		case 1:
-		{
-			vertex.setValue(
-				(-m_width / btScalar(2.0)) + x,
-				height - m_localOrigin.getY(),
-				(-m_length / btScalar(2.0)) + y);
-			break;
-		};
-		case 2:
-		{
-			vertex.setValue(
-				(-m_width / btScalar(2.0)) + x,
-				(-m_length / btScalar(2.0)) + y,
-				height - m_localOrigin.getZ());
-			break;
-		}
-		default:
-		{
-			//need to get valid m_upAxis
-			btAssert(0);
-		}
-	}
-
-	vertex *= m_localScaling;
-}
-
-static inline int
-getQuantized(
-	btScalar x)
-{
-	if (x < 0.0)
-	{
-		return (int)(x - 0.5);
-	}
-	return (int)(x + 0.5);
-}
-
-// Equivalent to std::minmax({a, b, c}).
-// Performs at most 3 comparisons.
-static btHeightfieldTerrainShape::Range minmaxRange(btScalar a, btScalar b, btScalar c)
-{
-	if (a > b)
-	{
-		if (b > c)
-			return btHeightfieldTerrainShape::Range(c, a);
-		else if (a > c)
-			return btHeightfieldTerrainShape::Range(b, a);
-		else
-			return btHeightfieldTerrainShape::Range(b, c);
-	}
-	else
-	{
-		if (a > c)
-			return btHeightfieldTerrainShape::Range(c, b);
-		else if (b > c)
-			return btHeightfieldTerrainShape::Range(a, b);
-		else
-			return btHeightfieldTerrainShape::Range(a, c);
-	}
-}
-
-/// given input vector, return quantized version
-/**
-  This routine is basically determining the gridpoint indices for a given
-  input vector, answering the question: "which gridpoint is closest to the
-  provided point?".
-
-  "with clamp" means that we restrict the point to be in the heightfield's
-  axis-aligned bounding box.
- */
-void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point, int /*isMax*/) const
-{
-	btVector3 clampedPoint(point);
-	clampedPoint.setMax(m_localAabbMin);
-	clampedPoint.setMin(m_localAabbMax);
-
-	out[0] = getQuantized(clampedPoint.getX());
-	out[1] = getQuantized(clampedPoint.getY());
-	out[2] = getQuantized(clampedPoint.getZ());
-}
-
-/// process all triangles within the provided axis-aligned bounding box
-/**
-  basic algorithm:
-    - convert input aabb to local coordinates (scale down and shift for local origin)
-    - convert input aabb to a range of heightfield grid points (quantize)
-    - iterate over all triangles in that subset of the grid
- */
-void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
-{
-	// scale down the input aabb's so they are in local (non-scaled) coordinates
-	btVector3 localAabbMin = aabbMin * btVector3(1.f / m_localScaling[0], 1.f / m_localScaling[1], 1.f / m_localScaling[2]);
-	btVector3 localAabbMax = aabbMax * btVector3(1.f / m_localScaling[0], 1.f / m_localScaling[1], 1.f / m_localScaling[2]);
-
-	// account for local origin
-	localAabbMin += m_localOrigin;
-	localAabbMax += m_localOrigin;
-
-	//quantize the aabbMin and aabbMax, and adjust the start/end ranges
-	int quantizedAabbMin[3];
-	int quantizedAabbMax[3];
-	quantizeWithClamp(quantizedAabbMin, localAabbMin, 0);
-	quantizeWithClamp(quantizedAabbMax, localAabbMax, 1);
-
-	// expand the min/max quantized values
-	// this is to catch the case where the input aabb falls between grid points!
-	for (int i = 0; i < 3; ++i)
-	{
-		quantizedAabbMin[i]--;
-		quantizedAabbMax[i]++;
-	}
-
-	int startX = 0;
-	int endX = m_heightStickWidth - 1;
-	int startJ = 0;
-	int endJ = m_heightStickLength - 1;
-
-	switch (m_upAxis)
-	{
-		case 0:
-		{
-			if (quantizedAabbMin[1] > startX)
-				startX = quantizedAabbMin[1];
-			if (quantizedAabbMax[1] < endX)
-				endX = quantizedAabbMax[1];
-			if (quantizedAabbMin[2] > startJ)
-				startJ = quantizedAabbMin[2];
-			if (quantizedAabbMax[2] < endJ)
-				endJ = quantizedAabbMax[2];
-			break;
-		}
-		case 1:
-		{
-			if (quantizedAabbMin[0] > startX)
-				startX = quantizedAabbMin[0];
-			if (quantizedAabbMax[0] < endX)
-				endX = quantizedAabbMax[0];
-			if (quantizedAabbMin[2] > startJ)
-				startJ = quantizedAabbMin[2];
-			if (quantizedAabbMax[2] < endJ)
-				endJ = quantizedAabbMax[2];
-			break;
-		};
-		case 2:
-		{
-			if (quantizedAabbMin[0] > startX)
-				startX = quantizedAabbMin[0];
-			if (quantizedAabbMax[0] < endX)
-				endX = quantizedAabbMax[0];
-			if (quantizedAabbMin[1] > startJ)
-				startJ = quantizedAabbMin[1];
-			if (quantizedAabbMax[1] < endJ)
-				endJ = quantizedAabbMax[1];
-			break;
-		}
-		default:
-		{
-			//need to get valid m_upAxis
-			btAssert(0);
-		}
-	}
-
-	// TODO If m_vboundsGrid is available, use it to determine if we really need to process this area
-	
-	const Range aabbUpRange(aabbMin[m_upAxis], aabbMax[m_upAxis]);
-	for (int j = startJ; j < endJ; j++)
-	{
-		for (int x = startX; x < endX; x++)
-		{
-			btVector3 vertices[3];
-			int indices[3] = { 0, 1, 2 };
-			if (m_flipTriangleWinding)
-			{
-				indices[0] = 2;
-				indices[2] = 0;
-			}
-
-			if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j + x) & 1)) || (m_useZigzagSubdivision && !(j & 1)))
-			{
-				getVertex(x, j, vertices[indices[0]]);
-				getVertex(x, j + 1, vertices[indices[1]]);
-				getVertex(x + 1, j + 1, vertices[indices[2]]);
-
-				// Skip triangle processing if the triangle is out-of-AABB.
-				Range upRange = minmaxRange(vertices[0][m_upAxis], vertices[1][m_upAxis], vertices[2][m_upAxis]);
-
-				if (upRange.overlaps(aabbUpRange))
-					callback->processTriangle(vertices, 2 * x, j);
-			
-				// already set: getVertex(x, j, vertices[indices[0]])
-
-				// equivalent to: getVertex(x + 1, j + 1, vertices[indices[1]]);
-				vertices[indices[1]] = vertices[indices[2]];
-
-				getVertex(x + 1, j, vertices[indices[2]]);
-				upRange.min = btMin(upRange.min, vertices[indices[2]][m_upAxis]);
-				upRange.max = btMax(upRange.max, vertices[indices[2]][m_upAxis]);
-
-				if (upRange.overlaps(aabbUpRange))
-					callback->processTriangle(vertices, 2 * x + 1, j);
-			}
-			else
-			{
-				getVertex(x, j, vertices[indices[0]]);
-				getVertex(x, j + 1, vertices[indices[1]]);
-				getVertex(x + 1, j, vertices[indices[2]]);
-
-				// Skip triangle processing if the triangle is out-of-AABB.
-				Range upRange = minmaxRange(vertices[0][m_upAxis], vertices[1][m_upAxis], vertices[2][m_upAxis]);
-
-				if (upRange.overlaps(aabbUpRange))
-					callback->processTriangle(vertices, 2 * x, j);
-
-				// already set: getVertex(x, j + 1, vertices[indices[1]]);
-
-				// equivalent to: getVertex(x + 1, j, vertices[indices[0]]);
-				vertices[indices[0]] = vertices[indices[2]];
-
-				getVertex(x + 1, j + 1, vertices[indices[2]]);
-				upRange.min = btMin(upRange.min, vertices[indices[2]][m_upAxis]);
-				upRange.max = btMax(upRange.max, vertices[indices[2]][m_upAxis]);
-
-				if (upRange.overlaps(aabbUpRange))
-					callback->processTriangle(vertices, 2 * x + 1, j);
-			}
-		}
-	}
-}
-
-void btHeightfieldTerrainShape::calculateLocalInertia(btScalar, btVector3& inertia) const
-{
-	//moving concave objects not supported
-
-	inertia.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-}
-
-void btHeightfieldTerrainShape::setLocalScaling(const btVector3& scaling)
-{
-	m_localScaling = scaling;
-}
-const btVector3& btHeightfieldTerrainShape::getLocalScaling() const
-{
-	return m_localScaling;
-}
-
-namespace
-{
-	struct GridRaycastState
-	{
-		int x;  // Next quad coords
-		int z;
-		int prev_x;  // Previous quad coords
-		int prev_z;
-		btScalar param;      // Exit param for previous quad
-		btScalar prevParam;  // Enter param for previous quad
-		btScalar maxDistanceFlat;
-		btScalar maxDistance3d;
-	};
-}
-
-// TODO Does it really need to take 3D vectors?
-/// Iterates through a virtual 2D grid of unit-sized square cells,
-/// and executes an action on each cell intersecting the given segment, ordered from begin to end.
-/// Initially inspired by http://www.cse.yorku.ca/~amana/research/grid.pdf
-template <typename Action_T>
-void gridRaycast(Action_T& quadAction, const btVector3& beginPos, const btVector3& endPos, int indices[3])
-{
-	GridRaycastState rs;
-	rs.maxDistance3d = beginPos.distance(endPos);
-	if (rs.maxDistance3d < 0.0001)
-	{
-		// Consider the ray is too small to hit anything
-		return;
-	}
-	
-
-	btScalar rayDirectionFlatX = endPos[indices[0]] - beginPos[indices[0]];
-	btScalar rayDirectionFlatZ = endPos[indices[2]] - beginPos[indices[2]];
-	rs.maxDistanceFlat = btSqrt(rayDirectionFlatX * rayDirectionFlatX + rayDirectionFlatZ * rayDirectionFlatZ);
-
-	if (rs.maxDistanceFlat < 0.0001)
-	{
-		// Consider the ray vertical
-		rayDirectionFlatX = 0;
-		rayDirectionFlatZ = 0;
-	}
-	else
-	{
-		rayDirectionFlatX /= rs.maxDistanceFlat;
-		rayDirectionFlatZ /= rs.maxDistanceFlat;
-	}
-
-	const int xiStep = rayDirectionFlatX > 0 ? 1 : rayDirectionFlatX < 0 ? -1 : 0;
-	const int ziStep = rayDirectionFlatZ > 0 ? 1 : rayDirectionFlatZ < 0 ? -1 : 0;
-
-	const float infinite = 9999999;
-	const btScalar paramDeltaX = xiStep != 0 ? 1.f / btFabs(rayDirectionFlatX) : infinite;
-	const btScalar paramDeltaZ = ziStep != 0 ? 1.f / btFabs(rayDirectionFlatZ) : infinite;
-
-	// pos = param * dir
-	btScalar paramCrossX;  // At which value of `param` we will cross a x-axis lane?
-	btScalar paramCrossZ;  // At which value of `param` we will cross a z-axis lane?
-
-	// paramCrossX and paramCrossZ are initialized as being the first cross
-	// X initialization
-	if (xiStep != 0)
-	{
-		if (xiStep == 1)
-		{
-			paramCrossX = (ceil(beginPos[indices[0]]) - beginPos[indices[0]]) * paramDeltaX;
-		}
-		else
-		{
-			paramCrossX = (beginPos[indices[0]] - floor(beginPos[indices[0]])) * paramDeltaX;
-		}
-	}
-	else
-	{
-		paramCrossX = infinite;  // Will never cross on X
-	}
-
-	// Z initialization
-	if (ziStep != 0)
-	{
-		if (ziStep == 1)
-		{
-			paramCrossZ = (ceil(beginPos[indices[2]]) - beginPos[indices[2]]) * paramDeltaZ;
-		}
-		else
-		{
-			paramCrossZ = (beginPos[indices[2]] - floor(beginPos[indices[2]])) * paramDeltaZ;
-		}
-	}
-	else
-	{
-		paramCrossZ = infinite;  // Will never cross on Z
-	}
-
-	rs.x = static_cast<int>(floor(beginPos[indices[0]]));
-	rs.z = static_cast<int>(floor(beginPos[indices[2]]));
-
-	// Workaround cases where the ray starts at an integer position
-	if (paramCrossX == 0.0)
-	{
-		paramCrossX += paramDeltaX;
-		// If going backwards, we should ignore the position we would get by the above flooring,
-		// because the ray is not heading in that direction
-		if (xiStep == -1)
-		{
-			rs.x -= 1;
-		}
-	}
-
-	if (paramCrossZ == 0.0)
-	{
-		paramCrossZ += paramDeltaZ;
-		if (ziStep == -1)
-			rs.z -= 1;
-	}
-
-	rs.prev_x = rs.x;
-	rs.prev_z = rs.z;
-	rs.param = 0;
-
-	while (true)
-	{
-		rs.prev_x = rs.x;
-		rs.prev_z = rs.z;
-		rs.prevParam = rs.param;
-
-		if (paramCrossX < paramCrossZ)
-		{
-			// X lane
-			rs.x += xiStep;
-			// Assign before advancing the param,
-			// to be in sync with the initialization step
-			rs.param = paramCrossX;
-			paramCrossX += paramDeltaX;
-		}
-		else
-		{
-			// Z lane
-			rs.z += ziStep;
-			rs.param = paramCrossZ;
-			paramCrossZ += paramDeltaZ;
-		}
-
-		if (rs.param > rs.maxDistanceFlat)
-		{
-			rs.param = rs.maxDistanceFlat;
-			quadAction(rs);
-			break;
-		}
-		else
-		{
-			quadAction(rs);
-		}
-	}
-}
-
-struct ProcessTrianglesAction
-{
-	const btHeightfieldTerrainShape* shape;
-	bool flipQuadEdges;
-	bool useDiamondSubdivision;
-	int width;
-	int length;
-	btTriangleCallback* callback;
-
-	void exec(int x, int z) const
-	{
-		if (x < 0 || z < 0 || x >= width || z >= length)
-		{
-			return;
-		}
-
-		btVector3 vertices[3];
-
-		// TODO Since this is for raycasts, we could greatly benefit from an early exit on the first hit
-
-		// Check quad
-		if (flipQuadEdges || (useDiamondSubdivision && (((z + x) & 1) > 0)))
-		{
-			// First triangle
-			shape->getVertex(x, z, vertices[0]);
-			shape->getVertex(x + 1, z, vertices[1]);
-			shape->getVertex(x + 1, z + 1, vertices[2]);
-			callback->processTriangle(vertices, x, z);
-
-			// Second triangle
-			shape->getVertex(x, z, vertices[0]);
-			shape->getVertex(x + 1, z + 1, vertices[1]);
-			shape->getVertex(x, z + 1, vertices[2]);
-			callback->processTriangle(vertices, x, z);
-		}
-		else
-		{
-			// First triangle
-			shape->getVertex(x, z, vertices[0]);
-			shape->getVertex(x, z + 1, vertices[1]);
-			shape->getVertex(x + 1, z, vertices[2]);
-			callback->processTriangle(vertices, x, z);
-
-			// Second triangle
-			shape->getVertex(x + 1, z, vertices[0]);
-			shape->getVertex(x, z + 1, vertices[1]);
-			shape->getVertex(x + 1, z + 1, vertices[2]);
-			callback->processTriangle(vertices, x, z);
-		}
-	}
-
-	void operator()(const GridRaycastState& bs) const
-	{
-		exec(bs.prev_x, bs.prev_z);
-	}
-};
-
-struct ProcessVBoundsAction
-{
-	const btAlignedObjectArray<btHeightfieldTerrainShape::Range>& vbounds;
-	int width;
-	int length;
-	int chunkSize;
-
-	btVector3 rayBegin;
-	btVector3 rayEnd;
-	btVector3 rayDir;
-
-	int* m_indices;
-	ProcessTrianglesAction processTriangles;
-
-	ProcessVBoundsAction(const btAlignedObjectArray<btHeightfieldTerrainShape::Range>& bnd, int* indices)
-		: vbounds(bnd),
-		m_indices(indices)
-	{
-	}
-	void operator()(const GridRaycastState& rs) const
-	{
-		int x = rs.prev_x;
-		int z = rs.prev_z;
-
-		if (x < 0 || z < 0 || x >= width || z >= length)
-		{
-			return;
-		}
-
-		const btHeightfieldTerrainShape::Range chunk = vbounds[x + z * width];
-
-		btVector3 enterPos;
-		btVector3 exitPos;
-
-		if (rs.maxDistanceFlat > 0.0001)
-		{
-			btScalar flatTo3d = chunkSize * rs.maxDistance3d / rs.maxDistanceFlat;
-			btScalar enterParam3d = rs.prevParam * flatTo3d;
-			btScalar exitParam3d = rs.param * flatTo3d;
-			enterPos = rayBegin + rayDir * enterParam3d;
-			exitPos = rayBegin + rayDir * exitParam3d;
-
-			// We did enter the flat projection of the AABB,
-			// but we have to check if we intersect it on the vertical axis
-			if (enterPos[1] > chunk.max && exitPos[m_indices[1]] > chunk.max)
-			{
-				return;
-			}
-			if (enterPos[1] < chunk.min && exitPos[m_indices[1]] < chunk.min)
-			{
-				return;
-			}
-		}
-		else
-		{
-			// Consider the ray vertical
-			// (though we shouldn't reach this often because there is an early check up-front)
-			enterPos = rayBegin;
-			exitPos = rayEnd;
-		}
-
-		gridRaycast(processTriangles, enterPos, exitPos, m_indices);
-		// Note: it could be possible to have more than one grid at different levels,
-		// to do this there would be a branch using a pointer to another ProcessVBoundsAction
-	}
-};
-
-// TODO How do I interrupt the ray when there is a hit? `callback` does not return any result
-/// Performs a raycast using a hierarchical Bresenham algorithm.
-/// Does not allocate any memory by itself.
-void btHeightfieldTerrainShape::performRaycast(btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget) const
-{
-	// Transform to cell-local
-	btVector3 beginPos = raySource / m_localScaling;
-	btVector3 endPos = rayTarget / m_localScaling;
-	beginPos += m_localOrigin;
-	endPos += m_localOrigin;
-
-	ProcessTrianglesAction processTriangles;
-	processTriangles.shape = this;
-	processTriangles.flipQuadEdges = m_flipQuadEdges;
-	processTriangles.useDiamondSubdivision = m_useDiamondSubdivision;
-	processTriangles.callback = callback;
-	processTriangles.width = m_heightStickWidth - 1;
-	processTriangles.length = m_heightStickLength - 1;
-
-	// TODO Transform vectors to account for m_upAxis
-	int indices[3] = { 0, 1, 2 };
-	if (m_upAxis == 2)
-	{
-		indices[1] = 2;
-		indices[2] = 1;
-	}
-	int iBeginX = static_cast<int>(floor(beginPos[indices[0]]));
-	int iBeginZ = static_cast<int>(floor(beginPos[indices[2]]));
-	int iEndX = static_cast<int>(floor(endPos[indices[0]]));
-	int iEndZ = static_cast<int>(floor(endPos[indices[2]]));
-
-	if (iBeginX == iEndX && iBeginZ == iEndZ)
-	{
-		// The ray will never cross quads within the plane,
-		// so directly process triangles within one quad
-		// (typically, vertical rays should end up here)
-		processTriangles.exec(iBeginX, iEndZ);
-		return;
-	}
-
-	
-
-	if (m_vboundsGrid.size()==0)
-	{
-		// Process all quads intersecting the flat projection of the ray
-		gridRaycast(processTriangles, beginPos, endPos, &indices[0]);
-	}
-	else
-	{
-		btVector3 rayDiff = endPos - beginPos;
-		btScalar flatDistance2 = rayDiff[indices[0]] * rayDiff[indices[0]] + rayDiff[indices[2]] * rayDiff[indices[2]];
-		if (flatDistance2 < m_vboundsChunkSize * m_vboundsChunkSize)
-		{
-			// Don't use chunks, the ray is too short in the plane
-			gridRaycast(processTriangles, beginPos, endPos, &indices[0]);
-		}
-
-		ProcessVBoundsAction processVBounds(m_vboundsGrid, &indices[0]);
-		processVBounds.width = m_vboundsGridWidth;
-		processVBounds.length = m_vboundsGridLength;
-		processVBounds.rayBegin = beginPos;
-		processVBounds.rayEnd = endPos;
-		processVBounds.rayDir = rayDiff.normalized();
-		processVBounds.processTriangles = processTriangles;
-		processVBounds.chunkSize = m_vboundsChunkSize;
-		// The ray is long, run raycast on a higher-level grid
-		gridRaycast(processVBounds, beginPos / m_vboundsChunkSize, endPos / m_vboundsChunkSize, indices);
-	}
-}
-
-/// Builds a grid data structure storing the min and max heights of the terrain in chunks.
-/// if chunkSize is zero, that accelerator is removed.
-/// If you modify the heights, you need to rebuild this accelerator.
-void btHeightfieldTerrainShape::buildAccelerator(int chunkSize)
-{
-	if (chunkSize <= 0)
-	{
-		clearAccelerator();
-		return;
-	}
-
-	m_vboundsChunkSize = chunkSize;
-	int nChunksX = m_heightStickWidth / chunkSize;
-	int nChunksZ = m_heightStickLength / chunkSize;
-
-	if (m_heightStickWidth % chunkSize > 0)
-	{
-		++nChunksX;  // In case terrain size isn't dividable by chunk size
-	}
-	if (m_heightStickLength % chunkSize > 0)
-	{
-		++nChunksZ;
-	}
-
-	if (m_vboundsGridWidth != nChunksX || m_vboundsGridLength != nChunksZ)
-	{
-		clearAccelerator();
-		m_vboundsGridWidth = nChunksX;
-		m_vboundsGridLength = nChunksZ;
-	}
-
-	if (nChunksX == 0 || nChunksZ == 0)
-	{
-		return;
-	}
-
-	// This data structure is only reallocated if the required size changed
-	m_vboundsGrid.resize(nChunksX * nChunksZ);
-	
-	// Compute min and max height for all chunks
-	for (int cz = 0; cz < nChunksZ; ++cz)
-	{
-		int z0 = cz * chunkSize;
-
-		for (int cx = 0; cx < nChunksX; ++cx)
-		{
-			int x0 = cx * chunkSize;
-
-			Range r;
-
-			r.min = getRawHeightFieldValue(x0, z0);
-			r.max = r.min;
-
-			// Compute min and max height for this chunk.
-			// We have to include one extra cell to account for neighbors.
-			// Here is why:
-			// Say we have a flat terrain, and a plateau that fits a chunk perfectly.
-			//
-			//   Left        Right
-			// 0---0---0---1---1---1
-			// |   |   |   |   |   |
-			// 0---0---0---1---1---1
-			// |   |   |   |   |   |
-			// 0---0---0---1---1---1
-			//           x
-			//
-			// If the AABB for the Left chunk did not share vertices with the Right,
-			// then we would fail collision tests at x due to a gap.
-			//
-			for (int z = z0; z < z0 + chunkSize + 1; ++z)
-			{
-				if (z >= m_heightStickLength)
-				{
-					continue;
-				}
-
-				for (int x = x0; x < x0 + chunkSize + 1; ++x)
-				{
-					if (x >= m_heightStickWidth)
-					{
-						continue;
-					}
-
-					btScalar height = getRawHeightFieldValue(x, z);
-
-					if (height < r.min)
-					{
-						r.min = height;
-					}
-					else if (height > r.max)
-					{
-						r.max = height;
-					}
-				}
-			}
-
-			m_vboundsGrid[cx + cz * nChunksX] = r;
-		}
-	}
-}
-
-void btHeightfieldTerrainShape::clearAccelerator()
-{
-	m_vboundsGrid.clear();
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
deleted file mode 100644
index 7e251fa71e..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
+++ /dev/null
@@ -1,250 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_HEIGHTFIELD_TERRAIN_SHAPE_H
-#define BT_HEIGHTFIELD_TERRAIN_SHAPE_H
-
-#include "btConcaveShape.h"
-#include "LinearMath/btAlignedObjectArray.h"
-
-///btHeightfieldTerrainShape simulates a 2D heightfield terrain
-/**
-  The caller is responsible for maintaining the heightfield array; this
-  class does not make a copy.
-
-  The heightfield can be dynamic so long as the min/max height values
-  capture the extremes (heights must always be in that range).
-
-  The local origin of the heightfield is assumed to be the exact
-  center (as determined by width and length and height, with each
-  axis multiplied by the localScaling).
-
-  \b NOTE: be careful with coordinates.  If you have a heightfield with a local
-  min height of -100m, and a max height of +500m, you may be tempted to place it
-  at the origin (0,0) and expect the heights in world coordinates to be
-  -100 to +500 meters.
-  Actually, the heights will be -300 to +300m, because bullet will re-center
-  the heightfield based on its AABB (which is determined by the min/max
-  heights).  So keep in mind that once you create a btHeightfieldTerrainShape
-  object, the heights will be adjusted relative to the center of the AABB.  This
-  is different to the behavior of many rendering engines, but is useful for
-  physics engines.
-
-  Most (but not all) rendering and heightfield libraries assume upAxis = 1
-  (that is, the y-axis is "up").  This class allows any of the 3 coordinates
-  to be "up".  Make sure your choice of axis is consistent with your rendering
-  system.
-
-  The heightfield heights are determined from the data type used for the
-  heightfieldData array.  
-
-   - unsigned char: height at a point is the uchar value at the
-       grid point, multipled by heightScale.  uchar isn't recommended
-       because of its inability to deal with negative values, and
-       low resolution (8-bit).
-
-   - short: height at a point is the short int value at that grid
-       point, multipled by heightScale.
-
-   - float or dobule: height at a point is the value at that grid point.
-
-  Whatever the caller specifies as minHeight and maxHeight will be honored.
-  The class will not inspect the heightfield to discover the actual minimum
-  or maximum heights.  These values are used to determine the heightfield's
-  axis-aligned bounding box, multiplied by localScaling.
-
-  For usage and testing see the TerrainDemo.
- */
-ATTRIBUTE_ALIGNED16(class)
-btHeightfieldTerrainShape : public btConcaveShape
-{
-public:
-	struct Range
-	{
-		Range() {}
-		Range(btScalar min, btScalar max) : min(min), max(max) {}
-
-		bool overlaps(const Range& other) const
-		{
-			return !(min > other.max || max < other.min);
-		}
-
-		btScalar min;
-		btScalar max;
-	};
-
-protected:
-	btVector3 m_localAabbMin;
-	btVector3 m_localAabbMax;
-	btVector3 m_localOrigin;
-
-	///terrain data
-	int m_heightStickWidth;
-	int m_heightStickLength;
-	btScalar m_minHeight;
-	btScalar m_maxHeight;
-	btScalar m_width;
-	btScalar m_length;
-	btScalar m_heightScale;
-	union {
-		const unsigned char* m_heightfieldDataUnsignedChar;
-		const short* m_heightfieldDataShort;
-		const float* m_heightfieldDataFloat;
-		const double* m_heightfieldDataDouble;
-		const void* m_heightfieldDataUnknown;
-	};
-
-	PHY_ScalarType m_heightDataType;
-	bool m_flipQuadEdges;
-	bool m_useDiamondSubdivision;
-	bool m_useZigzagSubdivision;
-	bool m_flipTriangleWinding;
-	int m_upAxis;
-
-	btVector3 m_localScaling;
-
-	// Accelerator
-	btAlignedObjectArray<Range> m_vboundsGrid;
-	int m_vboundsGridWidth;
-	int m_vboundsGridLength;
-	int m_vboundsChunkSize;
-
-	
-	btScalar m_userValue3;
-
-	struct btTriangleInfoMap* m_triangleInfoMap;
-
-	virtual btScalar getRawHeightFieldValue(int x, int y) const;
-	void quantizeWithClamp(int* out, const btVector3& point, int isMax) const;
-
-	/// protected initialization
-	/**
-	  Handles the work of constructors so that public constructors can be
-	  backwards-compatible without a lot of copy/paste.
-	 */
-	void initialize(int heightStickWidth, int heightStickLength,
-					const void* heightfieldData, btScalar heightScale,
-					btScalar minHeight, btScalar maxHeight, int upAxis,
-					PHY_ScalarType heightDataType, bool flipQuadEdges);
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	/// preferred constructors
-	btHeightfieldTerrainShape(
-		int heightStickWidth, int heightStickLength,
-		const float* heightfieldData, btScalar minHeight, btScalar maxHeight,
-		int upAxis, bool flipQuadEdges);
-	btHeightfieldTerrainShape(
-		int heightStickWidth, int heightStickLength,
-		const double* heightfieldData, btScalar minHeight, btScalar maxHeight,
-		int upAxis, bool flipQuadEdges);
-	btHeightfieldTerrainShape(
-		int heightStickWidth, int heightStickLength,
-		const short* heightfieldData, btScalar heightScale, btScalar minHeight, btScalar maxHeight,
-		int upAxis, bool flipQuadEdges);
-	btHeightfieldTerrainShape(
-		int heightStickWidth, int heightStickLength,
-		const unsigned char* heightfieldData, btScalar heightScale, btScalar minHeight, btScalar maxHeight,
-		int upAxis, bool flipQuadEdges);
-
-	/// legacy constructor
-	/**
-	  This constructor supports a range of heightfield
-	  data types, and allows for a non-zero minimum height value.
-	  heightScale is needed for any integer-based heightfield data types.
-
-	  This legacy constructor considers `PHY_FLOAT` to mean `btScalar`.
-	  With `BT_USE_DOUBLE_PRECISION`, it will expect `heightfieldData`
-	  to be double-precision.
-	 */
-	btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,
-							  const void* heightfieldData, btScalar heightScale,
-							  btScalar minHeight, btScalar maxHeight,
-							  int upAxis, PHY_ScalarType heightDataType,
-							  bool flipQuadEdges);
-
-	/// legacy constructor
-	/**
-	  The legacy constructor assumes the heightfield has a minimum height
-	  of zero.  Only unsigned char or btScalar data are supported.  For legacy
-	  compatibility reasons, heightScale is calculated as maxHeight / 65535 
-	  (and is only used when useFloatData = false).
- 	 */
-	btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, const void* heightfieldData, btScalar maxHeight, int upAxis, bool useFloatData, bool flipQuadEdges);
-
-	virtual ~btHeightfieldTerrainShape();
-
-	void setUseDiamondSubdivision(bool useDiamondSubdivision = true) { m_useDiamondSubdivision = useDiamondSubdivision; }
-
-	///could help compatibility with Ogre heightfields. See https://code.google.com/p/bullet/issues/detail?id=625
-	void setUseZigzagSubdivision(bool useZigzagSubdivision = true) { m_useZigzagSubdivision = useZigzagSubdivision; }
-
-	void setFlipTriangleWinding(bool flipTriangleWinding)
-	{
-		m_flipTriangleWinding = flipTriangleWinding;
-	}
-	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
-
-	virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
-
-	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
-
-	virtual void setLocalScaling(const btVector3& scaling);
-
-	virtual const btVector3& getLocalScaling() const;
-
-	void getVertex(int x, int y, btVector3& vertex) const;
-
-	void performRaycast(btTriangleCallback * callback, const btVector3& raySource, const btVector3& rayTarget) const;
-
-	void buildAccelerator(int chunkSize = 16);
-	void clearAccelerator();
-
-	int getUpAxis() const
-	{
-		return m_upAxis;
-	}
-	//debugging
-	virtual const char* getName() const { return "HEIGHTFIELD"; }
-
-	
-	void setUserValue3(btScalar value)
-	{
-		m_userValue3 = value;
-	}
-	btScalar getUserValue3() const
-	{
-		return m_userValue3;
-	}
-	const struct btTriangleInfoMap* getTriangleInfoMap() const
-	{
-		return m_triangleInfoMap;
-	}
-	struct btTriangleInfoMap* getTriangleInfoMap()
-	{
-		return m_triangleInfoMap;
-	}
-	void setTriangleInfoMap(btTriangleInfoMap* map)
-	{
-		m_triangleInfoMap = map;
-	}
-	const unsigned char* getHeightfieldRawData() const
-	{
-		return m_heightfieldDataUnsignedChar;
-	}
-};
-
-#endif  //BT_HEIGHTFIELD_TERRAIN_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMaterial.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btMaterial.h
deleted file mode 100644
index c9a436bf26..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btMaterial.h
+++ /dev/null
@@ -1,38 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/// This file was created by Alex Silverman
-
-#ifndef BT_MATERIAL_H
-#define BT_MATERIAL_H
-
-// Material class to be used by btMultimaterialTriangleMeshShape to store triangle properties
-class btMaterial
-{
-	// public members so that materials can change due to world events
-public:
-	btScalar m_friction;
-	btScalar m_restitution;
-	int pad[2];
-
-	btMaterial() {}
-	btMaterial(btScalar fric, btScalar rest)
-	{
-		m_friction = fric;
-		m_restitution = rest;
-	}
-};
-
-#endif  // BT_MATERIAL_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp
deleted file mode 100644
index 13c0a343f1..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp
+++ /dev/null
@@ -1,522 +0,0 @@
-#include "btMiniSDF.h"
-
-//
-//Based on code from DiscreGrid, https://github.com/InteractiveComputerGraphics/Discregrid
-//example:
-//GenerateSDF.exe -r "32 32 32" -d "-1.6 -1.6 -.6 1.6 1.6 .6" concave_box.obj
-//The MIT License (MIT)
-//
-//Copyright (c) 2017 Dan Koschier
-//
-
-#include <limits.h>
-#include <string.h>  //memcpy
-
-struct btSdfDataStream
-{
-	const char* m_data;
-	int m_size;
-
-	int m_currentOffset;
-
-	btSdfDataStream(const char* data, int size)
-		: m_data(data),
-		  m_size(size),
-		  m_currentOffset(0)
-	{
-	}
-
-	template <class T>
-	bool read(T& val)
-	{
-		int bytes = sizeof(T);
-		if (m_currentOffset + bytes <= m_size)
-		{
-			char* dest = (char*)&val;
-			memcpy(dest, &m_data[m_currentOffset], bytes);
-			m_currentOffset += bytes;
-			return true;
-		}
-		btAssert(0);
-		return false;
-	}
-};
-
-bool btMiniSDF::load(const char* data, int size)
-{
-	int fileSize = -1;
-
-	btSdfDataStream ds(data, size);
-	{
-		double buf[6];
-		ds.read(buf);
-		m_domain.m_min[0] = buf[0];
-		m_domain.m_min[1] = buf[1];
-		m_domain.m_min[2] = buf[2];
-		m_domain.m_min[3] = 0;
-		m_domain.m_max[0] = buf[3];
-		m_domain.m_max[1] = buf[4];
-		m_domain.m_max[2] = buf[5];
-		m_domain.m_max[3] = 0;
-	}
-	{
-		unsigned int buf2[3];
-		ds.read(buf2);
-		m_resolution[0] = buf2[0];
-		m_resolution[1] = buf2[1];
-		m_resolution[2] = buf2[2];
-	}
-	{
-		double buf[3];
-		ds.read(buf);
-		m_cell_size[0] = buf[0];
-		m_cell_size[1] = buf[1];
-		m_cell_size[2] = buf[2];
-	}
-	{
-		double buf[3];
-		ds.read(buf);
-		m_inv_cell_size[0] = buf[0];
-		m_inv_cell_size[1] = buf[1];
-		m_inv_cell_size[2] = buf[2];
-	}
-	{
-		unsigned long long int cells;
-		ds.read(cells);
-		m_n_cells = cells;
-	}
-	{
-		unsigned long long int fields;
-		ds.read(fields);
-		m_n_fields = fields;
-	}
-
-	unsigned long long int nodes0;
-	std::size_t n_nodes0;
-	ds.read(nodes0);
-	n_nodes0 = nodes0;
-	if (n_nodes0 > 1024 * 1024 * 1024)
-	{
-		return m_isValid;
-	}
-	m_nodes.resize(n_nodes0);
-	for (unsigned int i = 0; i < n_nodes0; i++)
-	{
-		unsigned long long int n_nodes1;
-		ds.read(n_nodes1);
-		btAlignedObjectArray<double>& nodes = m_nodes[i];
-		nodes.resize(n_nodes1);
-		for (int j = 0; j < nodes.size(); j++)
-		{
-			double& node = nodes[j];
-			ds.read(node);
-		}
-	}
-
-	unsigned long long int n_cells0;
-	ds.read(n_cells0);
-	m_cells.resize(n_cells0);
-	for (int i = 0; i < n_cells0; i++)
-	{
-		unsigned long long int n_cells1;
-		btAlignedObjectArray<btCell32>& cells = m_cells[i];
-		ds.read(n_cells1);
-		cells.resize(n_cells1);
-		for (int j = 0; j < n_cells1; j++)
-		{
-			btCell32& cell = cells[j];
-			ds.read(cell);
-		}
-	}
-
-	{
-		unsigned long long int n_cell_maps0;
-		ds.read(n_cell_maps0);
-
-		m_cell_map.resize(n_cell_maps0);
-		for (int i = 0; i < n_cell_maps0; i++)
-		{
-			unsigned long long int n_cell_maps1;
-			btAlignedObjectArray<unsigned int>& cell_maps = m_cell_map[i];
-			ds.read(n_cell_maps1);
-			cell_maps.resize(n_cell_maps1);
-			for (int j = 0; j < n_cell_maps1; j++)
-			{
-				unsigned int& cell_map = cell_maps[j];
-				ds.read(cell_map);
-			}
-		}
-	}
-
-	m_isValid = (ds.m_currentOffset == ds.m_size);
-	return m_isValid;
-}
-
-unsigned int btMiniSDF::multiToSingleIndex(btMultiIndex const& ijk) const
-{
-	return m_resolution[1] * m_resolution[0] * ijk.ijk[2] + m_resolution[0] * ijk.ijk[1] + ijk.ijk[0];
-}
-
-btAlignedBox3d
-btMiniSDF::subdomain(btMultiIndex const& ijk) const
-{
-	btAssert(m_isValid);
-	btVector3 tmp;
-	tmp.m_floats[0] = m_cell_size[0] * (double)ijk.ijk[0];
-	tmp.m_floats[1] = m_cell_size[1] * (double)ijk.ijk[1];
-	tmp.m_floats[2] = m_cell_size[2] * (double)ijk.ijk[2];
-
-	btVector3 origin = m_domain.min() + tmp;
-
-	btAlignedBox3d box = btAlignedBox3d(origin, origin + m_cell_size);
-	return box;
-}
-
-btMultiIndex
-btMiniSDF::singleToMultiIndex(unsigned int l) const
-{
-	btAssert(m_isValid);
-	unsigned int n01 = m_resolution[0] * m_resolution[1];
-	unsigned int k = l / n01;
-	unsigned int temp = l % n01;
-	unsigned int j = temp / m_resolution[0];
-	unsigned int i = temp % m_resolution[0];
-	btMultiIndex mi;
-	mi.ijk[0] = i;
-	mi.ijk[1] = j;
-	mi.ijk[2] = k;
-	return mi;
-}
-
-btAlignedBox3d
-btMiniSDF::subdomain(unsigned int l) const
-{
-	btAssert(m_isValid);
-	return subdomain(singleToMultiIndex(l));
-}
-
-btShapeMatrix
-btMiniSDF::shape_function_(btVector3 const& xi, btShapeGradients* gradient) const
-{
-	btAssert(m_isValid);
-	btShapeMatrix res;
-
-	btScalar x = xi[0];
-	btScalar y = xi[1];
-	btScalar z = xi[2];
-
-	btScalar x2 = x * x;
-	btScalar y2 = y * y;
-	btScalar z2 = z * z;
-
-	btScalar _1mx = 1.0 - x;
-	btScalar _1my = 1.0 - y;
-	btScalar _1mz = 1.0 - z;
-
-	btScalar _1px = 1.0 + x;
-	btScalar _1py = 1.0 + y;
-	btScalar _1pz = 1.0 + z;
-
-	btScalar _1m3x = 1.0 - 3.0 * x;
-	btScalar _1m3y = 1.0 - 3.0 * y;
-	btScalar _1m3z = 1.0 - 3.0 * z;
-
-	btScalar _1p3x = 1.0 + 3.0 * x;
-	btScalar _1p3y = 1.0 + 3.0 * y;
-	btScalar _1p3z = 1.0 + 3.0 * z;
-
-	btScalar _1mxt1my = _1mx * _1my;
-	btScalar _1mxt1py = _1mx * _1py;
-	btScalar _1pxt1my = _1px * _1my;
-	btScalar _1pxt1py = _1px * _1py;
-
-	btScalar _1mxt1mz = _1mx * _1mz;
-	btScalar _1mxt1pz = _1mx * _1pz;
-	btScalar _1pxt1mz = _1px * _1mz;
-	btScalar _1pxt1pz = _1px * _1pz;
-
-	btScalar _1myt1mz = _1my * _1mz;
-	btScalar _1myt1pz = _1my * _1pz;
-	btScalar _1pyt1mz = _1py * _1mz;
-	btScalar _1pyt1pz = _1py * _1pz;
-
-	btScalar _1mx2 = 1.0 - x2;
-	btScalar _1my2 = 1.0 - y2;
-	btScalar _1mz2 = 1.0 - z2;
-
-	// Corner nodes.
-	btScalar fac = 1.0 / 64.0 * (9.0 * (x2 + y2 + z2) - 19.0);
-	res[0] = fac * _1mxt1my * _1mz;
-	res[1] = fac * _1pxt1my * _1mz;
-	res[2] = fac * _1mxt1py * _1mz;
-	res[3] = fac * _1pxt1py * _1mz;
-	res[4] = fac * _1mxt1my * _1pz;
-	res[5] = fac * _1pxt1my * _1pz;
-	res[6] = fac * _1mxt1py * _1pz;
-	res[7] = fac * _1pxt1py * _1pz;
-
-	// Edge nodes.
-
-	fac = 9.0 / 64.0 * _1mx2;
-	btScalar fact1m3x = fac * _1m3x;
-	btScalar fact1p3x = fac * _1p3x;
-	res[8] = fact1m3x * _1myt1mz;
-	res[9] = fact1p3x * _1myt1mz;
-	res[10] = fact1m3x * _1myt1pz;
-	res[11] = fact1p3x * _1myt1pz;
-	res[12] = fact1m3x * _1pyt1mz;
-	res[13] = fact1p3x * _1pyt1mz;
-	res[14] = fact1m3x * _1pyt1pz;
-	res[15] = fact1p3x * _1pyt1pz;
-
-	fac = 9.0 / 64.0 * _1my2;
-	btScalar fact1m3y = fac * _1m3y;
-	btScalar fact1p3y = fac * _1p3y;
-	res[16] = fact1m3y * _1mxt1mz;
-	res[17] = fact1p3y * _1mxt1mz;
-	res[18] = fact1m3y * _1pxt1mz;
-	res[19] = fact1p3y * _1pxt1mz;
-	res[20] = fact1m3y * _1mxt1pz;
-	res[21] = fact1p3y * _1mxt1pz;
-	res[22] = fact1m3y * _1pxt1pz;
-	res[23] = fact1p3y * _1pxt1pz;
-
-	fac = 9.0 / 64.0 * _1mz2;
-	btScalar fact1m3z = fac * _1m3z;
-	btScalar fact1p3z = fac * _1p3z;
-	res[24] = fact1m3z * _1mxt1my;
-	res[25] = fact1p3z * _1mxt1my;
-	res[26] = fact1m3z * _1mxt1py;
-	res[27] = fact1p3z * _1mxt1py;
-	res[28] = fact1m3z * _1pxt1my;
-	res[29] = fact1p3z * _1pxt1my;
-	res[30] = fact1m3z * _1pxt1py;
-	res[31] = fact1p3z * _1pxt1py;
-
-	if (gradient)
-	{
-		btShapeGradients& dN = *gradient;
-
-		btScalar _9t3x2py2pz2m19 = 9.0 * (3.0 * x2 + y2 + z2) - 19.0;
-		btScalar _9tx2p3y2pz2m19 = 9.0 * (x2 + 3.0 * y2 + z2) - 19.0;
-		btScalar _9tx2py2p3z2m19 = 9.0 * (x2 + y2 + 3.0 * z2) - 19.0;
-		btScalar _18x = 18.0 * x;
-		btScalar _18y = 18.0 * y;
-		btScalar _18z = 18.0 * z;
-
-		btScalar _3m9x2 = 3.0 - 9.0 * x2;
-		btScalar _3m9y2 = 3.0 - 9.0 * y2;
-		btScalar _3m9z2 = 3.0 - 9.0 * z2;
-
-		btScalar _2x = 2.0 * x;
-		btScalar _2y = 2.0 * y;
-		btScalar _2z = 2.0 * z;
-
-		btScalar _18xm9t3x2py2pz2m19 = _18x - _9t3x2py2pz2m19;
-		btScalar _18xp9t3x2py2pz2m19 = _18x + _9t3x2py2pz2m19;
-		btScalar _18ym9tx2p3y2pz2m19 = _18y - _9tx2p3y2pz2m19;
-		btScalar _18yp9tx2p3y2pz2m19 = _18y + _9tx2p3y2pz2m19;
-		btScalar _18zm9tx2py2p3z2m19 = _18z - _9tx2py2p3z2m19;
-		btScalar _18zp9tx2py2p3z2m19 = _18z + _9tx2py2p3z2m19;
-
-		dN(0, 0) = _18xm9t3x2py2pz2m19 * _1myt1mz;
-		dN(0, 1) = _1mxt1mz * _18ym9tx2p3y2pz2m19;
-		dN(0, 2) = _1mxt1my * _18zm9tx2py2p3z2m19;
-		dN(1, 0) = _18xp9t3x2py2pz2m19 * _1myt1mz;
-		dN(1, 1) = _1pxt1mz * _18ym9tx2p3y2pz2m19;
-		dN(1, 2) = _1pxt1my * _18zm9tx2py2p3z2m19;
-		dN(2, 0) = _18xm9t3x2py2pz2m19 * _1pyt1mz;
-		dN(2, 1) = _1mxt1mz * _18yp9tx2p3y2pz2m19;
-		dN(2, 2) = _1mxt1py * _18zm9tx2py2p3z2m19;
-		dN(3, 0) = _18xp9t3x2py2pz2m19 * _1pyt1mz;
-		dN(3, 1) = _1pxt1mz * _18yp9tx2p3y2pz2m19;
-		dN(3, 2) = _1pxt1py * _18zm9tx2py2p3z2m19;
-		dN(4, 0) = _18xm9t3x2py2pz2m19 * _1myt1pz;
-		dN(4, 1) = _1mxt1pz * _18ym9tx2p3y2pz2m19;
-		dN(4, 2) = _1mxt1my * _18zp9tx2py2p3z2m19;
-		dN(5, 0) = _18xp9t3x2py2pz2m19 * _1myt1pz;
-		dN(5, 1) = _1pxt1pz * _18ym9tx2p3y2pz2m19;
-		dN(5, 2) = _1pxt1my * _18zp9tx2py2p3z2m19;
-		dN(6, 0) = _18xm9t3x2py2pz2m19 * _1pyt1pz;
-		dN(6, 1) = _1mxt1pz * _18yp9tx2p3y2pz2m19;
-		dN(6, 2) = _1mxt1py * _18zp9tx2py2p3z2m19;
-		dN(7, 0) = _18xp9t3x2py2pz2m19 * _1pyt1pz;
-		dN(7, 1) = _1pxt1pz * _18yp9tx2p3y2pz2m19;
-		dN(7, 2) = _1pxt1py * _18zp9tx2py2p3z2m19;
-
-		dN.topRowsDivide(8, 64.0);
-
-		btScalar _m3m9x2m2x = -_3m9x2 - _2x;
-		btScalar _p3m9x2m2x = _3m9x2 - _2x;
-		btScalar _1mx2t1m3x = _1mx2 * _1m3x;
-		btScalar _1mx2t1p3x = _1mx2 * _1p3x;
-		dN(8, 0) = _m3m9x2m2x * _1myt1mz,
-			  dN(8, 1) = -_1mx2t1m3x * _1mz,
-			  dN(8, 2) = -_1mx2t1m3x * _1my;
-		dN(9, 0) = _p3m9x2m2x * _1myt1mz,
-			  dN(9, 1) = -_1mx2t1p3x * _1mz,
-			  dN(9, 2) = -_1mx2t1p3x * _1my;
-		dN(10, 0) = _m3m9x2m2x * _1myt1pz,
-			   dN(10, 1) = -_1mx2t1m3x * _1pz,
-			   dN(10, 2) = _1mx2t1m3x * _1my;
-		dN(11, 0) = _p3m9x2m2x * _1myt1pz,
-			   dN(11, 1) = -_1mx2t1p3x * _1pz,
-			   dN(11, 2) = _1mx2t1p3x * _1my;
-		dN(12, 0) = _m3m9x2m2x * _1pyt1mz,
-			   dN(12, 1) = _1mx2t1m3x * _1mz,
-			   dN(12, 2) = -_1mx2t1m3x * _1py;
-		dN(13, 0) = _p3m9x2m2x * _1pyt1mz,
-			   dN(13, 1) = _1mx2t1p3x * _1mz,
-			   dN(13, 2) = -_1mx2t1p3x * _1py;
-		dN(14, 0) = _m3m9x2m2x * _1pyt1pz,
-			   dN(14, 1) = _1mx2t1m3x * _1pz,
-			   dN(14, 2) = _1mx2t1m3x * _1py;
-		dN(15, 0) = _p3m9x2m2x * _1pyt1pz,
-			   dN(15, 1) = _1mx2t1p3x * _1pz,
-			   dN(15, 2) = _1mx2t1p3x * _1py;
-
-		btScalar _m3m9y2m2y = -_3m9y2 - _2y;
-		btScalar _p3m9y2m2y = _3m9y2 - _2y;
-		btScalar _1my2t1m3y = _1my2 * _1m3y;
-		btScalar _1my2t1p3y = _1my2 * _1p3y;
-		dN(16, 0) = -_1my2t1m3y * _1mz,
-			   dN(16, 1) = _m3m9y2m2y * _1mxt1mz,
-			   dN(16, 2) = -_1my2t1m3y * _1mx;
-		dN(17, 0) = -_1my2t1p3y * _1mz,
-			   dN(17, 1) = _p3m9y2m2y * _1mxt1mz,
-			   dN(17, 2) = -_1my2t1p3y * _1mx;
-		dN(18, 0) = _1my2t1m3y * _1mz,
-			   dN(18, 1) = _m3m9y2m2y * _1pxt1mz,
-			   dN(18, 2) = -_1my2t1m3y * _1px;
-		dN(19, 0) = _1my2t1p3y * _1mz,
-			   dN(19, 1) = _p3m9y2m2y * _1pxt1mz,
-			   dN(19, 2) = -_1my2t1p3y * _1px;
-		dN(20, 0) = -_1my2t1m3y * _1pz,
-			   dN(20, 1) = _m3m9y2m2y * _1mxt1pz,
-			   dN(20, 2) = _1my2t1m3y * _1mx;
-		dN(21, 0) = -_1my2t1p3y * _1pz,
-			   dN(21, 1) = _p3m9y2m2y * _1mxt1pz,
-			   dN(21, 2) = _1my2t1p3y * _1mx;
-		dN(22, 0) = _1my2t1m3y * _1pz,
-			   dN(22, 1) = _m3m9y2m2y * _1pxt1pz,
-			   dN(22, 2) = _1my2t1m3y * _1px;
-		dN(23, 0) = _1my2t1p3y * _1pz,
-			   dN(23, 1) = _p3m9y2m2y * _1pxt1pz,
-			   dN(23, 2) = _1my2t1p3y * _1px;
-
-		btScalar _m3m9z2m2z = -_3m9z2 - _2z;
-		btScalar _p3m9z2m2z = _3m9z2 - _2z;
-		btScalar _1mz2t1m3z = _1mz2 * _1m3z;
-		btScalar _1mz2t1p3z = _1mz2 * _1p3z;
-		dN(24, 0) = -_1mz2t1m3z * _1my,
-			   dN(24, 1) = -_1mz2t1m3z * _1mx,
-			   dN(24, 2) = _m3m9z2m2z * _1mxt1my;
-		dN(25, 0) = -_1mz2t1p3z * _1my,
-			   dN(25, 1) = -_1mz2t1p3z * _1mx,
-			   dN(25, 2) = _p3m9z2m2z * _1mxt1my;
-		dN(26, 0) = -_1mz2t1m3z * _1py,
-			   dN(26, 1) = _1mz2t1m3z * _1mx,
-			   dN(26, 2) = _m3m9z2m2z * _1mxt1py;
-		dN(27, 0) = -_1mz2t1p3z * _1py,
-			   dN(27, 1) = _1mz2t1p3z * _1mx,
-			   dN(27, 2) = _p3m9z2m2z * _1mxt1py;
-		dN(28, 0) = _1mz2t1m3z * _1my,
-			   dN(28, 1) = -_1mz2t1m3z * _1px,
-			   dN(28, 2) = _m3m9z2m2z * _1pxt1my;
-		dN(29, 0) = _1mz2t1p3z * _1my,
-			   dN(29, 1) = -_1mz2t1p3z * _1px,
-			   dN(29, 2) = _p3m9z2m2z * _1pxt1my;
-		dN(30, 0) = _1mz2t1m3z * _1py,
-			   dN(30, 1) = _1mz2t1m3z * _1px,
-			   dN(30, 2) = _m3m9z2m2z * _1pxt1py;
-		dN(31, 0) = _1mz2t1p3z * _1py,
-			   dN(31, 1) = _1mz2t1p3z * _1px,
-			   dN(31, 2) = _p3m9z2m2z * _1pxt1py;
-
-		dN.bottomRowsMul(32u - 8u, 9.0 / 64.0);
-	}
-
-	return res;
-}
-
-bool btMiniSDF::interpolate(unsigned int field_id, double& dist, btVector3 const& x,
-							btVector3* gradient) const
-{
-	btAssert(m_isValid);
-	if (!m_isValid)
-		return false;
-
-	if (!m_domain.contains(x))
-		return false;
-
-	btVector3 tmpmi = ((x - m_domain.min()) * (m_inv_cell_size));  //.cast<unsigned int>().eval();
-	unsigned int mi[3] = {(unsigned int)tmpmi[0], (unsigned int)tmpmi[1], (unsigned int)tmpmi[2]};
-	if (mi[0] >= m_resolution[0])
-		mi[0] = m_resolution[0] - 1;
-	if (mi[1] >= m_resolution[1])
-		mi[1] = m_resolution[1] - 1;
-	if (mi[2] >= m_resolution[2])
-		mi[2] = m_resolution[2] - 1;
-	btMultiIndex mui;
-	mui.ijk[0] = mi[0];
-	mui.ijk[1] = mi[1];
-	mui.ijk[2] = mi[2];
-	int i = multiToSingleIndex(mui);
-	unsigned int i_ = m_cell_map[field_id][i];
-	if (i_ == UINT_MAX)
-		return false;
-
-	btAlignedBox3d sd = subdomain(i);
-	i = i_;
-	btVector3 d = sd.m_max - sd.m_min;  //.diagonal().eval();
-
-	btVector3 denom = (sd.max() - sd.min());
-	btVector3 c0 = btVector3(2.0, 2.0, 2.0) / denom;
-	btVector3 c1 = (sd.max() + sd.min()) / denom;
-	btVector3 xi = (c0 * x - c1);
-
-	btCell32 const& cell = m_cells[field_id][i];
-	if (!gradient)
-	{
-		//auto phi = m_coefficients[field_id][i].dot(shape_function_(xi, 0));
-		double phi = 0.0;
-		btShapeMatrix N = shape_function_(xi, 0);
-		for (unsigned int j = 0u; j < 32u; ++j)
-		{
-			unsigned int v = cell.m_cells[j];
-			double c = m_nodes[field_id][v];
-			if (c == DBL_MAX)
-			{
-				return false;
-				;
-			}
-			phi += c * N[j];
-		}
-
-		dist = phi;
-		return true;
-	}
-
-	btShapeGradients dN;
-	btShapeMatrix N = shape_function_(xi, &dN);
-
-	double phi = 0.0;
-	gradient->setZero();
-	for (unsigned int j = 0u; j < 32u; ++j)
-	{
-		unsigned int v = cell.m_cells[j];
-		double c = m_nodes[field_id][v];
-		if (c == DBL_MAX)
-		{
-			gradient->setZero();
-			return false;
-		}
-		phi += c * N[j];
-		(*gradient)[0] += c * dN(j, 0);
-		(*gradient)[1] += c * dN(j, 1);
-		(*gradient)[2] += c * dN(j, 2);
-	}
-	(*gradient) *= c0;
-	dist = phi;
-	return true;
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h
deleted file mode 100644
index b60fd102fd..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h
+++ /dev/null
@@ -1,127 +0,0 @@
-#ifndef MINISDF_H
-#define MINISDF_H
-
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btAabbUtil2.h"
-#include "LinearMath/btAlignedObjectArray.h"
-
-struct btMultiIndex
-{
-	unsigned int ijk[3];
-};
-
-struct btAlignedBox3d
-{
-	btVector3 m_min;
-	btVector3 m_max;
-
-	const btVector3& min() const
-	{
-		return m_min;
-	}
-
-	const btVector3& max() const
-	{
-		return m_max;
-	}
-
-	bool contains(const btVector3& x) const
-	{
-		return TestPointAgainstAabb2(m_min, m_max, x);
-	}
-
-	btAlignedBox3d(const btVector3& mn, const btVector3& mx)
-		: m_min(mn),
-		  m_max(mx)
-	{
-	}
-
-	btAlignedBox3d()
-	{
-	}
-};
-
-struct btShapeMatrix
-{
-	double m_vec[32];
-
-	inline double& operator[](int i)
-	{
-		return m_vec[i];
-	}
-
-	inline const double& operator[](int i) const
-	{
-		return m_vec[i];
-	}
-};
-
-struct btShapeGradients
-{
-	btVector3 m_vec[32];
-
-	void topRowsDivide(int row, double denom)
-	{
-		for (int i = 0; i < row; i++)
-		{
-			m_vec[i] /= denom;
-		}
-	}
-
-	void bottomRowsMul(int row, double val)
-	{
-		for (int i = 32 - row; i < 32; i++)
-		{
-			m_vec[i] *= val;
-		}
-	}
-
-	inline btScalar& operator()(int i, int j)
-	{
-		return m_vec[i][j];
-	}
-};
-
-struct btCell32
-{
-	unsigned int m_cells[32];
-};
-
-struct btMiniSDF
-{
-	btAlignedBox3d m_domain;
-	unsigned int m_resolution[3];
-	btVector3 m_cell_size;
-	btVector3 m_inv_cell_size;
-	std::size_t m_n_cells;
-	std::size_t m_n_fields;
-	bool m_isValid;
-
-	btAlignedObjectArray<btAlignedObjectArray<double> > m_nodes;
-	btAlignedObjectArray<btAlignedObjectArray<btCell32> > m_cells;
-	btAlignedObjectArray<btAlignedObjectArray<unsigned int> > m_cell_map;
-
-	btMiniSDF()
-		: m_isValid(false)
-	{
-	}
-	bool load(const char* data, int size);
-	bool isValid() const
-	{
-		return m_isValid;
-	}
-	unsigned int multiToSingleIndex(btMultiIndex const& ijk) const;
-
-	btAlignedBox3d subdomain(btMultiIndex const& ijk) const;
-
-	btMultiIndex singleToMultiIndex(unsigned int l) const;
-
-	btAlignedBox3d subdomain(unsigned int l) const;
-
-	btShapeMatrix
-	shape_function_(btVector3 const& xi, btShapeGradients* gradient = 0) const;
-
-	bool interpolate(unsigned int field_id, double& dist, btVector3 const& x, btVector3* gradient) const;
-};
-
-#endif  //MINISDF_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
deleted file mode 100644
index d4b6a651de..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
+++ /dev/null
@@ -1,71 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btMinkowskiSumShape.h"
-
-btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA, const btConvexShape* shapeB)
-	: btConvexInternalShape(),
-	  m_shapeA(shapeA),
-	  m_shapeB(shapeB)
-{
-	m_shapeType = MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE;
-	m_transA.setIdentity();
-	m_transB.setIdentity();
-}
-
-btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
-{
-	btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec * m_transA.getBasis()));
-	btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(-vec * m_transB.getBasis()));
-	return supVertexA - supVertexB;
-}
-
-void btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-{
-	///@todo: could make recursive use of batching. probably this shape is not used frequently.
-	for (int i = 0; i < numVectors; i++)
-	{
-		supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);
-	}
-}
-
-btScalar btMinkowskiSumShape::getMargin() const
-{
-	return m_shapeA->getMargin() + m_shapeB->getMargin();
-}
-
-void btMinkowskiSumShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
-{
-	(void)mass;
-	//inertia of the AABB of the Minkowski sum
-	btTransform identity;
-	identity.setIdentity();
-	btVector3 aabbMin, aabbMax;
-	getAabb(identity, aabbMin, aabbMax);
-
-	btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
-
-	btScalar margin = getMargin();
-
-	btScalar lx = btScalar(2.) * (halfExtents.x() + margin);
-	btScalar ly = btScalar(2.) * (halfExtents.y() + margin);
-	btScalar lz = btScalar(2.) * (halfExtents.z() + margin);
-	const btScalar x2 = lx * lx;
-	const btScalar y2 = ly * ly;
-	const btScalar z2 = lz * lz;
-	const btScalar scaledmass = mass * btScalar(0.08333333);
-
-	inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
deleted file mode 100644
index 3b5150f6d5..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
+++ /dev/null
@@ -1,59 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_MINKOWSKI_SUM_SHAPE_H
-#define BT_MINKOWSKI_SUM_SHAPE_H
-
-#include "btConvexInternalShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
-
-/// The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes.
-ATTRIBUTE_ALIGNED16(class)
-btMinkowskiSumShape : public btConvexInternalShape
-{
-	btTransform m_transA;
-	btTransform m_transB;
-	const btConvexShape* m_shapeA;
-	const btConvexShape* m_shapeB;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btMinkowskiSumShape(const btConvexShape* shapeA, const btConvexShape* shapeB);
-
-	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
-
-	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
-
-	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
-
-	void setTransformA(const btTransform& transA) { m_transA = transA; }
-	void setTransformB(const btTransform& transB) { m_transB = transB; }
-
-	const btTransform& getTransformA() const { return m_transA; }
-	const btTransform& GetTransformB() const { return m_transB; }
-
-	virtual btScalar getMargin() const;
-
-	const btConvexShape* getShapeA() const { return m_shapeA; }
-	const btConvexShape* getShapeB() const { return m_shapeB; }
-
-	virtual const char* getName() const
-	{
-		return "MinkowskiSum";
-	}
-};
-
-#endif  //BT_MINKOWSKI_SUM_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
deleted file mode 100644
index c0cc55dfb0..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
+++ /dev/null
@@ -1,169 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#if defined(_WIN32) || defined(__i386__)
-#define BT_USE_SSE_IN_API
-#endif
-
-#include "btMultiSphereShape.h"
-#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
-#include "LinearMath/btQuaternion.h"
-#include "LinearMath/btSerializer.h"
-
-btMultiSphereShape::btMultiSphereShape(const btVector3* positions, const btScalar* radi, int numSpheres)
-	: btConvexInternalAabbCachingShape()
-{
-	m_shapeType = MULTI_SPHERE_SHAPE_PROXYTYPE;
-	//btScalar startMargin = btScalar(BT_LARGE_FLOAT);
-
-	m_localPositionArray.resize(numSpheres);
-	m_radiArray.resize(numSpheres);
-	for (int i = 0; i < numSpheres; i++)
-	{
-		m_localPositionArray[i] = positions[i];
-		m_radiArray[i] = radi[i];
-	}
-
-	recalcLocalAabb();
-}
-
-#ifndef MIN
-#define MIN(_a, _b) ((_a) < (_b) ? (_a) : (_b))
-#endif
-btVector3 btMultiSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const
-{
-	btVector3 supVec(0, 0, 0);
-
-	btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
-
-	btVector3 vec = vec0;
-	btScalar lenSqr = vec.length2();
-	if (lenSqr < (SIMD_EPSILON * SIMD_EPSILON))
-	{
-		vec.setValue(1, 0, 0);
-	}
-	else
-	{
-		btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
-		vec *= rlen;
-	}
-
-	btVector3 vtx;
-	btScalar newDot;
-
-	const btVector3* pos = &m_localPositionArray[0];
-	const btScalar* rad = &m_radiArray[0];
-	int numSpheres = m_localPositionArray.size();
-
-	for (int k = 0; k < numSpheres; k += 128)
-	{
-		btVector3 temp[128];
-		int inner_count = MIN(numSpheres - k, 128);
-		for (long i = 0; i < inner_count; i++)
-		{
-			temp[i] = (*pos) * m_localScaling + vec * m_localScaling * (*rad) - vec * getMargin();
-			pos++;
-			rad++;
-		}
-		long i = vec.maxDot(temp, inner_count, newDot);
-		if (newDot > maxDot)
-		{
-			maxDot = newDot;
-			supVec = temp[i];
-		}
-	}
-
-	return supVec;
-}
-
-void btMultiSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-{
-	for (int j = 0; j < numVectors; j++)
-	{
-		btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
-
-		const btVector3& vec = vectors[j];
-
-		btVector3 vtx;
-		btScalar newDot;
-
-		const btVector3* pos = &m_localPositionArray[0];
-		const btScalar* rad = &m_radiArray[0];
-		int numSpheres = m_localPositionArray.size();
-
-		for (int k = 0; k < numSpheres; k += 128)
-		{
-			btVector3 temp[128];
-			int inner_count = MIN(numSpheres - k, 128);
-			for (long i = 0; i < inner_count; i++)
-			{
-				temp[i] = (*pos) * m_localScaling + vec * m_localScaling * (*rad) - vec * getMargin();
-				pos++;
-				rad++;
-			}
-			long i = vec.maxDot(temp, inner_count, newDot);
-			if (newDot > maxDot)
-			{
-				maxDot = newDot;
-				supportVerticesOut[j] = temp[i];
-			}
-		}
-	}
-}
-
-void btMultiSphereShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
-{
-	//as an approximation, take the inertia of the box that bounds the spheres
-
-	btVector3 localAabbMin, localAabbMax;
-	getCachedLocalAabb(localAabbMin, localAabbMax);
-	btVector3 halfExtents = (localAabbMax - localAabbMin) * btScalar(0.5);
-
-	btScalar lx = btScalar(2.) * (halfExtents.x());
-	btScalar ly = btScalar(2.) * (halfExtents.y());
-	btScalar lz = btScalar(2.) * (halfExtents.z());
-
-	inertia.setValue(mass / (btScalar(12.0)) * (ly * ly + lz * lz),
-					 mass / (btScalar(12.0)) * (lx * lx + lz * lz),
-					 mass / (btScalar(12.0)) * (lx * lx + ly * ly));
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char* btMultiSphereShape::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btMultiSphereShapeData* shapeData = (btMultiSphereShapeData*)dataBuffer;
-	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
-
-	int numElem = m_localPositionArray.size();
-	shapeData->m_localPositionArrayPtr = numElem ? (btPositionAndRadius*)serializer->getUniquePointer((void*)&m_localPositionArray[0]) : 0;
-
-	shapeData->m_localPositionArraySize = numElem;
-	if (numElem)
-	{
-		btChunk* chunk = serializer->allocate(sizeof(btPositionAndRadius), numElem);
-		btPositionAndRadius* memPtr = (btPositionAndRadius*)chunk->m_oldPtr;
-		for (int i = 0; i < numElem; i++, memPtr++)
-		{
-			m_localPositionArray[i].serializeFloat(memPtr->m_pos);
-			memPtr->m_radius = float(m_radiArray[i]);
-		}
-		serializer->finalizeChunk(chunk, "btPositionAndRadius", BT_ARRAY_CODE, (void*)&m_localPositionArray[0]);
-	}
-
-	// Fill padding with zeros to appease msan.
-	memset(shapeData->m_padding, 0, sizeof(shapeData->m_padding));
-
-	return "btMultiSphereShapeData";
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.h
deleted file mode 100644
index 2d79c07ca4..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.h
+++ /dev/null
@@ -1,95 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_MULTI_SPHERE_MINKOWSKI_H
-#define BT_MULTI_SPHERE_MINKOWSKI_H
-
-#include "btConvexInternalShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btAabbUtil2.h"
-
-///The btMultiSphereShape represents the convex hull of a collection of spheres. You can create special capsules or other smooth volumes.
-///It is possible to animate the spheres for deformation, but call 'recalcLocalAabb' after changing any sphere position/radius
-ATTRIBUTE_ALIGNED16(class)
-btMultiSphereShape : public btConvexInternalAabbCachingShape
-{
-	btAlignedObjectArray<btVector3> m_localPositionArray;
-	btAlignedObjectArray<btScalar> m_radiArray;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btMultiSphereShape(const btVector3* positions, const btScalar* radi, int numSpheres);
-
-	///CollisionShape Interface
-	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
-
-	/// btConvexShape Interface
-	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
-
-	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
-
-	int getSphereCount() const
-	{
-		return m_localPositionArray.size();
-	}
-
-	const btVector3& getSpherePosition(int index) const
-	{
-		return m_localPositionArray[index];
-	}
-
-	btScalar getSphereRadius(int index) const
-	{
-		return m_radiArray[index];
-	}
-
-	virtual const char* getName() const
-	{
-		return "MultiSphere";
-	}
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-};
-
-struct btPositionAndRadius
-{
-	btVector3FloatData m_pos;
-	float m_radius;
-};
-
-// clang-format off
-
-struct	btMultiSphereShapeData
-{
-	btConvexInternalShapeData	m_convexInternalShapeData;
-
-	btPositionAndRadius	*m_localPositionArrayPtr;
-	int				m_localPositionArraySize;
-	char	m_padding[4];
-};
-
-// clang-format on
-
-SIMD_FORCE_INLINE int btMultiSphereShape::calculateSerializeBufferSize() const
-{
-	return sizeof(btMultiSphereShapeData);
-}
-
-#endif  //BT_MULTI_SPHERE_MINKOWSKI_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp
deleted file mode 100644
index 30108c9e7b..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp
+++ /dev/null
@@ -1,43 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/// This file was created by Alex Silverman
-
-#include "BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h"
-#include "BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h"
-//#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
-
-///Obtains the material for a specific triangle
-const btMaterial *btMultimaterialTriangleMeshShape::getMaterialProperties(int partID, int triIndex)
-{
-	const unsigned char *materialBase = 0;
-	int numMaterials;
-	PHY_ScalarType materialType;
-	int materialStride;
-	const unsigned char *triangleMaterialBase = 0;
-	int numTriangles;
-	int triangleMaterialStride;
-	PHY_ScalarType triangleType;
-
-	((btTriangleIndexVertexMaterialArray *)m_meshInterface)->getLockedReadOnlyMaterialBase(&materialBase, numMaterials, materialType, materialStride, &triangleMaterialBase, numTriangles, triangleMaterialStride, triangleType, partID);
-
-	// return the pointer to the place with the friction for the triangle
-	// TODO: This depends on whether it's a moving mesh or not
-	// BUG IN GIMPACT
-	//return (btScalar*)(&materialBase[triangleMaterialBase[(triIndex-1) * triangleMaterialStride] * materialStride]);
-	int *matInd = (int *)(&(triangleMaterialBase[(triIndex * triangleMaterialStride)]));
-	btMaterial *matVal = (btMaterial *)(&(materialBase[*matInd * materialStride]));
-	return (matVal);
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h
deleted file mode 100644
index d1d42f8e04..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/// This file was created by Alex Silverman
-
-#ifndef BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
-#define BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
-
-#include "btBvhTriangleMeshShape.h"
-#include "btMaterial.h"
-
-///The BvhTriangleMaterialMeshShape extends the btBvhTriangleMeshShape. Its main contribution is the interface into a material array, which allows per-triangle friction and restitution.
-ATTRIBUTE_ALIGNED16(class)
-btMultimaterialTriangleMeshShape : public btBvhTriangleMeshShape
-{
-	btAlignedObjectArray<btMaterial *> m_materialList;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btMultimaterialTriangleMeshShape(btStridingMeshInterface * meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true) : btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, buildBvh)
-	{
-		m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;
-
-		const unsigned char *vertexbase;
-		int numverts;
-		PHY_ScalarType type;
-		int stride;
-		const unsigned char *indexbase;
-		int indexstride;
-		int numfaces;
-		PHY_ScalarType indicestype;
-
-		//m_materialLookup = (int**)(btAlignedAlloc(sizeof(int*) * meshInterface->getNumSubParts(), 16));
-
-		for (int i = 0; i < meshInterface->getNumSubParts(); i++)
-		{
-			m_meshInterface->getLockedReadOnlyVertexIndexBase(
-				&vertexbase,
-				numverts,
-				type,
-				stride,
-				&indexbase,
-				indexstride,
-				numfaces,
-				indicestype,
-				i);
-			//m_materialLookup[i] = (int*)(btAlignedAlloc(sizeof(int) * numfaces, 16));
-		}
-	}
-
-	///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
-	btMultimaterialTriangleMeshShape(btStridingMeshInterface * meshInterface, bool useQuantizedAabbCompression, const btVector3 &bvhAabbMin, const btVector3 &bvhAabbMax, bool buildBvh = true) : btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, bvhAabbMin, bvhAabbMax, buildBvh)
-	{
-		m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;
-
-		const unsigned char *vertexbase;
-		int numverts;
-		PHY_ScalarType type;
-		int stride;
-		const unsigned char *indexbase;
-		int indexstride;
-		int numfaces;
-		PHY_ScalarType indicestype;
-
-		//m_materialLookup = (int**)(btAlignedAlloc(sizeof(int*) * meshInterface->getNumSubParts(), 16));
-
-		for (int i = 0; i < meshInterface->getNumSubParts(); i++)
-		{
-			m_meshInterface->getLockedReadOnlyVertexIndexBase(
-				&vertexbase,
-				numverts,
-				type,
-				stride,
-				&indexbase,
-				indexstride,
-				numfaces,
-				indicestype,
-				i);
-			//m_materialLookup[i] = (int*)(btAlignedAlloc(sizeof(int) * numfaces * 2, 16));
-		}
-	}
-
-	virtual ~btMultimaterialTriangleMeshShape()
-	{
-		/*
-        for(int i = 0; i < m_meshInterface->getNumSubParts(); i++)
-        {
-            btAlignedFree(m_materialValues[i]);
-            m_materialLookup[i] = NULL;
-        }
-        btAlignedFree(m_materialValues);
-        m_materialLookup = NULL;
-*/
-	}
-	//debugging
-	virtual const char *getName() const { return "MULTIMATERIALTRIANGLEMESH"; }
-
-	///Obtains the material for a specific triangle
-	const btMaterial *getMaterialProperties(int partID, int triIndex);
-};
-
-#endif  //BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
deleted file mode 100644
index 863ea6d6ac..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
+++ /dev/null
@@ -1,364 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btOptimizedBvh.h"
-#include "btStridingMeshInterface.h"
-#include "LinearMath/btAabbUtil2.h"
-#include "LinearMath/btIDebugDraw.h"
-
-btOptimizedBvh::btOptimizedBvh()
-{
-}
-
-btOptimizedBvh::~btOptimizedBvh()
-{
-}
-
-void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax)
-{
-	m_useQuantization = useQuantizedAabbCompression;
-
-	// NodeArray	triangleNodes;
-
-	struct NodeTriangleCallback : public btInternalTriangleIndexCallback
-	{
-		NodeArray& m_triangleNodes;
-
-		NodeTriangleCallback& operator=(NodeTriangleCallback& other)
-		{
-			m_triangleNodes.copyFromArray(other.m_triangleNodes);
-			return *this;
-		}
-
-		NodeTriangleCallback(NodeArray& triangleNodes)
-			: m_triangleNodes(triangleNodes)
-		{
-		}
-
-		virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
-		{
-			btOptimizedBvhNode node;
-			btVector3 aabbMin, aabbMax;
-			aabbMin.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-			aabbMax.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
-			aabbMin.setMin(triangle[0]);
-			aabbMax.setMax(triangle[0]);
-			aabbMin.setMin(triangle[1]);
-			aabbMax.setMax(triangle[1]);
-			aabbMin.setMin(triangle[2]);
-			aabbMax.setMax(triangle[2]);
-
-			//with quantization?
-			node.m_aabbMinOrg = aabbMin;
-			node.m_aabbMaxOrg = aabbMax;
-
-			node.m_escapeIndex = -1;
-
-			//for child nodes
-			node.m_subPart = partId;
-			node.m_triangleIndex = triangleIndex;
-			m_triangleNodes.push_back(node);
-		}
-	};
-	struct QuantizedNodeTriangleCallback : public btInternalTriangleIndexCallback
-	{
-		QuantizedNodeArray& m_triangleNodes;
-		const btQuantizedBvh* m_optimizedTree;  // for quantization
-
-		QuantizedNodeTriangleCallback& operator=(QuantizedNodeTriangleCallback& other)
-		{
-			m_triangleNodes.copyFromArray(other.m_triangleNodes);
-			m_optimizedTree = other.m_optimizedTree;
-			return *this;
-		}
-
-		QuantizedNodeTriangleCallback(QuantizedNodeArray& triangleNodes, const btQuantizedBvh* tree)
-			: m_triangleNodes(triangleNodes), m_optimizedTree(tree)
-		{
-		}
-
-		virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
-		{
-			// The partId and triangle index must fit in the same (positive) integer
-			btAssert(partId < (1 << MAX_NUM_PARTS_IN_BITS));
-			btAssert(triangleIndex < (1 << (31 - MAX_NUM_PARTS_IN_BITS)));
-			//negative indices are reserved for escapeIndex
-			btAssert(triangleIndex >= 0);
-
-			btQuantizedBvhNode node;
-			btVector3 aabbMin, aabbMax;
-			aabbMin.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-			aabbMax.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
-			aabbMin.setMin(triangle[0]);
-			aabbMax.setMax(triangle[0]);
-			aabbMin.setMin(triangle[1]);
-			aabbMax.setMax(triangle[1]);
-			aabbMin.setMin(triangle[2]);
-			aabbMax.setMax(triangle[2]);
-
-			//PCK: add these checks for zero dimensions of aabb
-			const btScalar MIN_AABB_DIMENSION = btScalar(0.002);
-			const btScalar MIN_AABB_HALF_DIMENSION = btScalar(0.001);
-			if (aabbMax.x() - aabbMin.x() < MIN_AABB_DIMENSION)
-			{
-				aabbMax.setX(aabbMax.x() + MIN_AABB_HALF_DIMENSION);
-				aabbMin.setX(aabbMin.x() - MIN_AABB_HALF_DIMENSION);
-			}
-			if (aabbMax.y() - aabbMin.y() < MIN_AABB_DIMENSION)
-			{
-				aabbMax.setY(aabbMax.y() + MIN_AABB_HALF_DIMENSION);
-				aabbMin.setY(aabbMin.y() - MIN_AABB_HALF_DIMENSION);
-			}
-			if (aabbMax.z() - aabbMin.z() < MIN_AABB_DIMENSION)
-			{
-				aabbMax.setZ(aabbMax.z() + MIN_AABB_HALF_DIMENSION);
-				aabbMin.setZ(aabbMin.z() - MIN_AABB_HALF_DIMENSION);
-			}
-
-			m_optimizedTree->quantize(&node.m_quantizedAabbMin[0], aabbMin, 0);
-			m_optimizedTree->quantize(&node.m_quantizedAabbMax[0], aabbMax, 1);
-
-			node.m_escapeIndexOrTriangleIndex = (partId << (31 - MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
-
-			m_triangleNodes.push_back(node);
-		}
-	};
-
-	int numLeafNodes = 0;
-
-	if (m_useQuantization)
-	{
-		//initialize quantization values
-		setQuantizationValues(bvhAabbMin, bvhAabbMax);
-
-		QuantizedNodeTriangleCallback callback(m_quantizedLeafNodes, this);
-
-		triangles->InternalProcessAllTriangles(&callback, m_bvhAabbMin, m_bvhAabbMax);
-
-		//now we have an array of leafnodes in m_leafNodes
-		numLeafNodes = m_quantizedLeafNodes.size();
-
-		m_quantizedContiguousNodes.resize(2 * numLeafNodes);
-	}
-	else
-	{
-		NodeTriangleCallback callback(m_leafNodes);
-
-		btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
-		btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-
-		triangles->InternalProcessAllTriangles(&callback, aabbMin, aabbMax);
-
-		//now we have an array of leafnodes in m_leafNodes
-		numLeafNodes = m_leafNodes.size();
-
-		m_contiguousNodes.resize(2 * numLeafNodes);
-	}
-
-	m_curNodeIndex = 0;
-
-	buildTree(0, numLeafNodes);
-
-	///if the entire tree is small then subtree size, we need to create a header info for the tree
-	if (m_useQuantization && !m_SubtreeHeaders.size())
-	{
-		btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
-		subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[0]);
-		subtree.m_rootNodeIndex = 0;
-		subtree.m_subtreeSize = m_quantizedContiguousNodes[0].isLeafNode() ? 1 : m_quantizedContiguousNodes[0].getEscapeIndex();
-	}
-
-	//PCK: update the copy of the size
-	m_subtreeHeaderCount = m_SubtreeHeaders.size();
-
-	//PCK: clear m_quantizedLeafNodes and m_leafNodes, they are temporary
-	m_quantizedLeafNodes.clear();
-	m_leafNodes.clear();
-}
-
-void btOptimizedBvh::refit(btStridingMeshInterface* meshInterface, const btVector3& aabbMin, const btVector3& aabbMax)
-{
-	if (m_useQuantization)
-	{
-		setQuantizationValues(aabbMin, aabbMax);
-
-		updateBvhNodes(meshInterface, 0, m_curNodeIndex, 0);
-
-		///now update all subtree headers
-
-		int i;
-		for (i = 0; i < m_SubtreeHeaders.size(); i++)
-		{
-			btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
-			subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]);
-		}
-	}
-	else
-	{
-	}
-}
-
-void btOptimizedBvh::refitPartial(btStridingMeshInterface* meshInterface, const btVector3& aabbMin, const btVector3& aabbMax)
-{
-	//incrementally initialize quantization values
-	btAssert(m_useQuantization);
-
-	btAssert(aabbMin.getX() > m_bvhAabbMin.getX());
-	btAssert(aabbMin.getY() > m_bvhAabbMin.getY());
-	btAssert(aabbMin.getZ() > m_bvhAabbMin.getZ());
-
-	btAssert(aabbMax.getX() < m_bvhAabbMax.getX());
-	btAssert(aabbMax.getY() < m_bvhAabbMax.getY());
-	btAssert(aabbMax.getZ() < m_bvhAabbMax.getZ());
-
-	///we should update all quantization values, using updateBvhNodes(meshInterface);
-	///but we only update chunks that overlap the given aabb
-
-	unsigned short quantizedQueryAabbMin[3];
-	unsigned short quantizedQueryAabbMax[3];
-
-	quantize(&quantizedQueryAabbMin[0], aabbMin, 0);
-	quantize(&quantizedQueryAabbMax[0], aabbMax, 1);
-
-	int i;
-	for (i = 0; i < this->m_SubtreeHeaders.size(); i++)
-	{
-		btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
-
-		//PCK: unsigned instead of bool
-		unsigned overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, subtree.m_quantizedAabbMin, subtree.m_quantizedAabbMax);
-		if (overlap != 0)
-		{
-			updateBvhNodes(meshInterface, subtree.m_rootNodeIndex, subtree.m_rootNodeIndex + subtree.m_subtreeSize, i);
-
-			subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]);
-		}
-	}
-}
-
-void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface, int firstNode, int endNode, int index)
-{
-	(void)index;
-
-	btAssert(m_useQuantization);
-
-	int curNodeSubPart = -1;
-
-	//get access info to trianglemesh data
-	const unsigned char* vertexbase = 0;
-	int numverts = 0;
-	PHY_ScalarType type = PHY_INTEGER;
-	int stride = 0;
-	const unsigned char* indexbase = 0;
-	int indexstride = 0;
-	int numfaces = 0;
-	PHY_ScalarType indicestype = PHY_INTEGER;
-
-	btVector3 triangleVerts[3];
-	btVector3 aabbMin, aabbMax;
-	const btVector3& meshScaling = meshInterface->getScaling();
-
-	int i;
-	for (i = endNode - 1; i >= firstNode; i--)
-	{
-		btQuantizedBvhNode& curNode = m_quantizedContiguousNodes[i];
-		if (curNode.isLeafNode())
-		{
-			//recalc aabb from triangle data
-			int nodeSubPart = curNode.getPartId();
-			int nodeTriangleIndex = curNode.getTriangleIndex();
-			if (nodeSubPart != curNodeSubPart)
-			{
-				if (curNodeSubPart >= 0)
-					meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
-				meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase, numverts, type, stride, &indexbase, indexstride, numfaces, indicestype, nodeSubPart);
-
-				curNodeSubPart = nodeSubPart;
-			}
-			//triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts,
-
-			unsigned int* gfxbase = (unsigned int*)(indexbase + nodeTriangleIndex * indexstride);
-
-			for (int j = 2; j >= 0; j--)
-			{
-				int graphicsindex;
-                                switch (indicestype) {
-                                        case PHY_INTEGER: graphicsindex = gfxbase[j]; break;
-                                        case PHY_SHORT: graphicsindex = ((unsigned short*)gfxbase)[j]; break;
-                                        case PHY_UCHAR: graphicsindex = ((unsigned char*)gfxbase)[j]; break;
-                                        default: btAssert(0);
-                                }
-				if (type == PHY_FLOAT)
-				{
-					float* graphicsbase = (float*)(vertexbase + graphicsindex * stride);
-					triangleVerts[j] = btVector3(
-						graphicsbase[0] * meshScaling.getX(),
-						graphicsbase[1] * meshScaling.getY(),
-						graphicsbase[2] * meshScaling.getZ());
-				}
-				else
-				{
-					double* graphicsbase = (double*)(vertexbase + graphicsindex * stride);
-					triangleVerts[j] = btVector3(btScalar(graphicsbase[0] * meshScaling.getX()), btScalar(graphicsbase[1] * meshScaling.getY()), btScalar(graphicsbase[2] * meshScaling.getZ()));
-				}
-			}
-
-			aabbMin.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-			aabbMax.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
-			aabbMin.setMin(triangleVerts[0]);
-			aabbMax.setMax(triangleVerts[0]);
-			aabbMin.setMin(triangleVerts[1]);
-			aabbMax.setMax(triangleVerts[1]);
-			aabbMin.setMin(triangleVerts[2]);
-			aabbMax.setMax(triangleVerts[2]);
-
-			quantize(&curNode.m_quantizedAabbMin[0], aabbMin, 0);
-			quantize(&curNode.m_quantizedAabbMax[0], aabbMax, 1);
-		}
-		else
-		{
-			//combine aabb from both children
-
-			btQuantizedBvhNode* leftChildNode = &m_quantizedContiguousNodes[i + 1];
-
-			btQuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? &m_quantizedContiguousNodes[i + 2] : &m_quantizedContiguousNodes[i + 1 + leftChildNode->getEscapeIndex()];
-
-			{
-				for (int i = 0; i < 3; i++)
-				{
-					curNode.m_quantizedAabbMin[i] = leftChildNode->m_quantizedAabbMin[i];
-					if (curNode.m_quantizedAabbMin[i] > rightChildNode->m_quantizedAabbMin[i])
-						curNode.m_quantizedAabbMin[i] = rightChildNode->m_quantizedAabbMin[i];
-
-					curNode.m_quantizedAabbMax[i] = leftChildNode->m_quantizedAabbMax[i];
-					if (curNode.m_quantizedAabbMax[i] < rightChildNode->m_quantizedAabbMax[i])
-						curNode.m_quantizedAabbMax[i] = rightChildNode->m_quantizedAabbMax[i];
-				}
-			}
-		}
-	}
-
-	if (curNodeSubPart >= 0)
-		meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
-}
-
-///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
-btOptimizedBvh* btOptimizedBvh::deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
-{
-	btQuantizedBvh* bvh = btQuantizedBvh::deSerializeInPlace(i_alignedDataBuffer, i_dataBufferSize, i_swapEndian);
-
-	//we don't add additional data so just do a static upcast
-	return static_cast<btOptimizedBvh*>(bvh);
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.h
deleted file mode 100644
index 22f131c8b2..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.h
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///Contains contributions from Disney Studio's
-
-#ifndef BT_OPTIMIZED_BVH_H
-#define BT_OPTIMIZED_BVH_H
-
-#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h"
-
-class btStridingMeshInterface;
-
-///The btOptimizedBvh extends the btQuantizedBvh to create AABB tree for triangle meshes, through the btStridingMeshInterface.
-ATTRIBUTE_ALIGNED16(class)
-btOptimizedBvh : public btQuantizedBvh
-{
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-protected:
-public:
-	btOptimizedBvh();
-
-	virtual ~btOptimizedBvh();
-
-	void build(btStridingMeshInterface * triangles, bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax);
-
-	void refit(btStridingMeshInterface * triangles, const btVector3& aabbMin, const btVector3& aabbMax);
-
-	void refitPartial(btStridingMeshInterface * triangles, const btVector3& aabbMin, const btVector3& aabbMax);
-
-	void updateBvhNodes(btStridingMeshInterface * meshInterface, int firstNode, int endNode, int index);
-
-	/// Data buffer MUST be 16 byte aligned
-	virtual bool serializeInPlace(void* o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const
-	{
-		return btQuantizedBvh::serialize(o_alignedDataBuffer, i_dataBufferSize, i_swapEndian);
-	}
-
-	///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
-	static btOptimizedBvh* deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
-};
-
-#endif  //BT_OPTIMIZED_BVH_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
deleted file mode 100644
index 521ecfc760..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
+++ /dev/null
@@ -1,549 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-#if defined(_WIN32) || defined(__i386__)
-#define BT_USE_SSE_IN_API
-#endif
-
-#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
-#include "btConvexPolyhedron.h"
-#include "LinearMath/btConvexHullComputer.h"
-#include <new>
-#include "LinearMath/btGeometryUtil.h"
-#include "LinearMath/btGrahamScan2dConvexHull.h"
-
-btPolyhedralConvexShape::btPolyhedralConvexShape() : btConvexInternalShape(),
-													 m_polyhedron(0)
-{
-}
-
-btPolyhedralConvexShape::~btPolyhedralConvexShape()
-{
-	if (m_polyhedron)
-	{
-		m_polyhedron->~btConvexPolyhedron();
-		btAlignedFree(m_polyhedron);
-	}
-}
-
-void btPolyhedralConvexShape::setPolyhedralFeatures(btConvexPolyhedron& polyhedron)
-{
-	if (m_polyhedron)
-	{
-		*m_polyhedron = polyhedron;
-	}
-	else
-	{
-		void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron), 16);
-		m_polyhedron = new (mem) btConvexPolyhedron(polyhedron);
-	}
-}
-
-bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMargin)
-{
-	if (m_polyhedron)
-	{
-		m_polyhedron->~btConvexPolyhedron();
-		btAlignedFree(m_polyhedron);
-	}
-
-	void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron), 16);
-	m_polyhedron = new (mem) btConvexPolyhedron;
-
-	btAlignedObjectArray<btVector3> orgVertices;
-
-	for (int i = 0; i < getNumVertices(); i++)
-	{
-		btVector3& newVertex = orgVertices.expand();
-		getVertex(i, newVertex);
-	}
-
-	btConvexHullComputer conv;
-
-	if (shiftVerticesByMargin)
-	{
-		btAlignedObjectArray<btVector3> planeEquations;
-		btGeometryUtil::getPlaneEquationsFromVertices(orgVertices, planeEquations);
-
-		btAlignedObjectArray<btVector3> shiftedPlaneEquations;
-		for (int p = 0; p < planeEquations.size(); p++)
-		{
-			btVector3 plane = planeEquations[p];
-			//	   btScalar margin = getMargin();
-			plane[3] -= getMargin();
-			shiftedPlaneEquations.push_back(plane);
-		}
-
-		btAlignedObjectArray<btVector3> tmpVertices;
-
-		btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations, tmpVertices);
-
-		conv.compute(&tmpVertices[0].getX(), sizeof(btVector3), tmpVertices.size(), 0.f, 0.f);
-	}
-	else
-	{
-		conv.compute(&orgVertices[0].getX(), sizeof(btVector3), orgVertices.size(), 0.f, 0.f);
-	}
-
-#ifndef BT_RECONSTRUCT_FACES
-
-	int numVertices = conv.vertices.size();
-	m_polyhedron->m_vertices.resize(numVertices);
-	for (int p = 0; p < numVertices; p++)
-	{
-		m_polyhedron->m_vertices[p] = conv.vertices[p];
-	}
-
-	int v0, v1;
-	for (int j = 0; j < conv.faces.size(); j++)
-	{
-		btVector3 edges[3];
-		int numEdges = 0;
-		btFace combinedFace;
-		const btConvexHullComputer::Edge* edge = &conv.edges[conv.faces[j]];
-		v0 = edge->getSourceVertex();
-		int prevVertex = v0;
-		combinedFace.m_indices.push_back(v0);
-		v1 = edge->getTargetVertex();
-		while (v1 != v0)
-		{
-			btVector3 wa = conv.vertices[prevVertex];
-			btVector3 wb = conv.vertices[v1];
-			btVector3 newEdge = wb - wa;
-			newEdge.normalize();
-			if (numEdges < 2)
-				edges[numEdges++] = newEdge;
-
-			//face->addIndex(v1);
-			combinedFace.m_indices.push_back(v1);
-			edge = edge->getNextEdgeOfFace();
-			prevVertex = v1;
-			int v01 = edge->getSourceVertex();
-			v1 = edge->getTargetVertex();
-		}
-
-		btAssert(combinedFace.m_indices.size() > 2);
-
-		btVector3 faceNormal = edges[0].cross(edges[1]);
-		faceNormal.normalize();
-
-		btScalar planeEq = 1e30f;
-
-		for (int v = 0; v < combinedFace.m_indices.size(); v++)
-		{
-			btScalar eq = m_polyhedron->m_vertices[combinedFace.m_indices[v]].dot(faceNormal);
-			if (planeEq > eq)
-			{
-				planeEq = eq;
-			}
-		}
-		combinedFace.m_plane[0] = faceNormal.getX();
-		combinedFace.m_plane[1] = faceNormal.getY();
-		combinedFace.m_plane[2] = faceNormal.getZ();
-		combinedFace.m_plane[3] = -planeEq;
-
-		m_polyhedron->m_faces.push_back(combinedFace);
-	}
-
-#else  //BT_RECONSTRUCT_FACES
-
-	btAlignedObjectArray<btVector3> faceNormals;
-	int numFaces = conv.faces.size();
-	faceNormals.resize(numFaces);
-	btConvexHullComputer* convexUtil = &conv;
-
-	btAlignedObjectArray<btFace> tmpFaces;
-	tmpFaces.resize(numFaces);
-
-	int numVertices = convexUtil->vertices.size();
-	m_polyhedron->m_vertices.resize(numVertices);
-	for (int p = 0; p < numVertices; p++)
-	{
-		m_polyhedron->m_vertices[p] = convexUtil->vertices[p];
-	}
-
-	for (int i = 0; i < numFaces; i++)
-	{
-		int face = convexUtil->faces[i];
-		//printf("face=%d\n",face);
-		const btConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face];
-		const btConvexHullComputer::Edge* edge = firstEdge;
-
-		btVector3 edges[3];
-		int numEdges = 0;
-		//compute face normals
-
-		do
-		{
-			int src = edge->getSourceVertex();
-			tmpFaces[i].m_indices.push_back(src);
-			int targ = edge->getTargetVertex();
-			btVector3 wa = convexUtil->vertices[src];
-
-			btVector3 wb = convexUtil->vertices[targ];
-			btVector3 newEdge = wb - wa;
-			newEdge.normalize();
-			if (numEdges < 2)
-				edges[numEdges++] = newEdge;
-
-			edge = edge->getNextEdgeOfFace();
-		} while (edge != firstEdge);
-
-		btScalar planeEq = 1e30f;
-
-		if (numEdges == 2)
-		{
-			faceNormals[i] = edges[0].cross(edges[1]);
-			faceNormals[i].normalize();
-			tmpFaces[i].m_plane[0] = faceNormals[i].getX();
-			tmpFaces[i].m_plane[1] = faceNormals[i].getY();
-			tmpFaces[i].m_plane[2] = faceNormals[i].getZ();
-			tmpFaces[i].m_plane[3] = planeEq;
-		}
-		else
-		{
-			btAssert(0);  //degenerate?
-			faceNormals[i].setZero();
-		}
-
-		for (int v = 0; v < tmpFaces[i].m_indices.size(); v++)
-		{
-			btScalar eq = m_polyhedron->m_vertices[tmpFaces[i].m_indices[v]].dot(faceNormals[i]);
-			if (planeEq > eq)
-			{
-				planeEq = eq;
-			}
-		}
-		tmpFaces[i].m_plane[3] = -planeEq;
-	}
-
-	//merge coplanar faces and copy them to m_polyhedron
-
-	btScalar faceWeldThreshold = 0.999f;
-	btAlignedObjectArray<int> todoFaces;
-	for (int i = 0; i < tmpFaces.size(); i++)
-		todoFaces.push_back(i);
-
-	while (todoFaces.size())
-	{
-		btAlignedObjectArray<int> coplanarFaceGroup;
-		int refFace = todoFaces[todoFaces.size() - 1];
-
-		coplanarFaceGroup.push_back(refFace);
-		btFace& faceA = tmpFaces[refFace];
-		todoFaces.pop_back();
-
-		btVector3 faceNormalA(faceA.m_plane[0], faceA.m_plane[1], faceA.m_plane[2]);
-		for (int j = todoFaces.size() - 1; j >= 0; j--)
-		{
-			int i = todoFaces[j];
-			btFace& faceB = tmpFaces[i];
-			btVector3 faceNormalB(faceB.m_plane[0], faceB.m_plane[1], faceB.m_plane[2]);
-			if (faceNormalA.dot(faceNormalB) > faceWeldThreshold)
-			{
-				coplanarFaceGroup.push_back(i);
-				todoFaces.remove(i);
-			}
-		}
-
-		bool did_merge = false;
-		if (coplanarFaceGroup.size() > 1)
-		{
-			//do the merge: use Graham Scan 2d convex hull
-
-			btAlignedObjectArray<GrahamVector3> orgpoints;
-			btVector3 averageFaceNormal(0, 0, 0);
-
-			for (int i = 0; i < coplanarFaceGroup.size(); i++)
-			{
-				//				m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
-
-				btFace& face = tmpFaces[coplanarFaceGroup[i]];
-				btVector3 faceNormal(face.m_plane[0], face.m_plane[1], face.m_plane[2]);
-				averageFaceNormal += faceNormal;
-				for (int f = 0; f < face.m_indices.size(); f++)
-				{
-					int orgIndex = face.m_indices[f];
-					btVector3 pt = m_polyhedron->m_vertices[orgIndex];
-
-					bool found = false;
-
-					for (int i = 0; i < orgpoints.size(); i++)
-					{
-						//if ((orgpoints[i].m_orgIndex == orgIndex) || ((rotatedPt-orgpoints[i]).length2()<0.0001))
-						if (orgpoints[i].m_orgIndex == orgIndex)
-						{
-							found = true;
-							break;
-						}
-					}
-					if (!found)
-						orgpoints.push_back(GrahamVector3(pt, orgIndex));
-				}
-			}
-
-			btFace combinedFace;
-			for (int i = 0; i < 4; i++)
-				combinedFace.m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i];
-
-			btAlignedObjectArray<GrahamVector3> hull;
-
-			averageFaceNormal.normalize();
-			GrahamScanConvexHull2D(orgpoints, hull, averageFaceNormal);
-
-			for (int i = 0; i < hull.size(); i++)
-			{
-				combinedFace.m_indices.push_back(hull[i].m_orgIndex);
-				for (int k = 0; k < orgpoints.size(); k++)
-				{
-					if (orgpoints[k].m_orgIndex == hull[i].m_orgIndex)
-					{
-						orgpoints[k].m_orgIndex = -1;  // invalidate...
-						break;
-					}
-				}
-			}
-
-			// are there rejected vertices?
-			bool reject_merge = false;
-
-			for (int i = 0; i < orgpoints.size(); i++)
-			{
-				if (orgpoints[i].m_orgIndex == -1)
-					continue;  // this is in the hull...
-				// this vertex is rejected -- is anybody else using this vertex?
-				for (int j = 0; j < tmpFaces.size(); j++)
-				{
-					btFace& face = tmpFaces[j];
-					// is this a face of the current coplanar group?
-					bool is_in_current_group = false;
-					for (int k = 0; k < coplanarFaceGroup.size(); k++)
-					{
-						if (coplanarFaceGroup[k] == j)
-						{
-							is_in_current_group = true;
-							break;
-						}
-					}
-					if (is_in_current_group)  // ignore this face...
-						continue;
-					// does this face use this rejected vertex?
-					for (int v = 0; v < face.m_indices.size(); v++)
-					{
-						if (face.m_indices[v] == orgpoints[i].m_orgIndex)
-						{
-							// this rejected vertex is used in another face -- reject merge
-							reject_merge = true;
-							break;
-						}
-					}
-					if (reject_merge)
-						break;
-				}
-				if (reject_merge)
-					break;
-			}
-
-			if (!reject_merge)
-			{
-				// do this merge!
-				did_merge = true;
-				m_polyhedron->m_faces.push_back(combinedFace);
-			}
-		}
-		if (!did_merge)
-		{
-			for (int i = 0; i < coplanarFaceGroup.size(); i++)
-			{
-				btFace face = tmpFaces[coplanarFaceGroup[i]];
-				m_polyhedron->m_faces.push_back(face);
-			}
-		}
-	}
-
-#endif  //BT_RECONSTRUCT_FACES
-
-	m_polyhedron->initialize();
-
-	return true;
-}
-
-#ifndef MIN
-#define MIN(_a, _b) ((_a) < (_b) ? (_a) : (_b))
-#endif
-
-btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const
-{
-	btVector3 supVec(0, 0, 0);
-#ifndef __SPU__
-	int i;
-	btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
-
-	btVector3 vec = vec0;
-	btScalar lenSqr = vec.length2();
-	if (lenSqr < btScalar(0.0001))
-	{
-		vec.setValue(1, 0, 0);
-	}
-	else
-	{
-		btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
-		vec *= rlen;
-	}
-
-	btVector3 vtx;
-	btScalar newDot;
-
-	for (int k = 0; k < getNumVertices(); k += 128)
-	{
-		btVector3 temp[128];
-		int inner_count = MIN(getNumVertices() - k, 128);
-		for (i = 0; i < inner_count; i++)
-			getVertex(i, temp[i]);
-		i = (int)vec.maxDot(temp, inner_count, newDot);
-		if (newDot > maxDot)
-		{
-			maxDot = newDot;
-			supVec = temp[i];
-		}
-	}
-
-#endif  //__SPU__
-	return supVec;
-}
-
-void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-{
-#ifndef __SPU__
-	int i;
-
-	btVector3 vtx;
-	btScalar newDot;
-
-	for (i = 0; i < numVectors; i++)
-	{
-		supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
-	}
-
-	for (int j = 0; j < numVectors; j++)
-	{
-		const btVector3& vec = vectors[j];
-
-		for (int k = 0; k < getNumVertices(); k += 128)
-		{
-			btVector3 temp[128];
-			int inner_count = MIN(getNumVertices() - k, 128);
-			for (i = 0; i < inner_count; i++)
-				getVertex(i, temp[i]);
-			i = (int)vec.maxDot(temp, inner_count, newDot);
-			if (newDot > supportVerticesOut[j][3])
-			{
-				supportVerticesOut[j] = temp[i];
-				supportVerticesOut[j][3] = newDot;
-			}
-		}
-	}
-
-#endif  //__SPU__
-}
-
-void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
-{
-#ifndef __SPU__
-	//not yet, return box inertia
-
-	btScalar margin = getMargin();
-
-	btTransform ident;
-	ident.setIdentity();
-	btVector3 aabbMin, aabbMax;
-	getAabb(ident, aabbMin, aabbMax);
-	btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
-
-	btScalar lx = btScalar(2.) * (halfExtents.x() + margin);
-	btScalar ly = btScalar(2.) * (halfExtents.y() + margin);
-	btScalar lz = btScalar(2.) * (halfExtents.z() + margin);
-	const btScalar x2 = lx * lx;
-	const btScalar y2 = ly * ly;
-	const btScalar z2 = lz * lz;
-	const btScalar scaledmass = mass * btScalar(0.08333333);
-
-	inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));
-#endif  //__SPU__
-}
-
-void btPolyhedralConvexAabbCachingShape::setLocalScaling(const btVector3& scaling)
-{
-	btConvexInternalShape::setLocalScaling(scaling);
-	recalcLocalAabb();
-}
-
-btPolyhedralConvexAabbCachingShape::btPolyhedralConvexAabbCachingShape()
-	: btPolyhedralConvexShape(),
-	  m_localAabbMin(1, 1, 1),
-	  m_localAabbMax(-1, -1, -1),
-	  m_isLocalAabbValid(false)
-{
-}
-
-void btPolyhedralConvexAabbCachingShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	getNonvirtualAabb(trans, aabbMin, aabbMax, getMargin());
-}
-
-void btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
-{
-	m_isLocalAabbValid = true;
-
-#if 1
-	static const btVector3 _directions[] =
-		{
-			btVector3(1., 0., 0.),
-			btVector3(0., 1., 0.),
-			btVector3(0., 0., 1.),
-			btVector3(-1., 0., 0.),
-			btVector3(0., -1., 0.),
-			btVector3(0., 0., -1.)};
-
-	btVector3 _supporting[] =
-		{
-			btVector3(0., 0., 0.),
-			btVector3(0., 0., 0.),
-			btVector3(0., 0., 0.),
-			btVector3(0., 0., 0.),
-			btVector3(0., 0., 0.),
-			btVector3(0., 0., 0.)};
-
-	batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
-
-	for (int i = 0; i < 3; ++i)
-	{
-		m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
-		m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
-	}
-
-#else
-
-	for (int i = 0; i < 3; i++)
-	{
-		btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
-		vec[i] = btScalar(1.);
-		btVector3 tmp = localGetSupportingVertex(vec);
-		m_localAabbMax[i] = tmp[i];
-		vec[i] = btScalar(-1.);
-		tmp = localGetSupportingVertex(vec);
-		m_localAabbMin[i] = tmp[i];
-	}
-#endif
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
deleted file mode 100644
index b3ffab7a23..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
+++ /dev/null
@@ -1,106 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_POLYHEDRAL_CONVEX_SHAPE_H
-#define BT_POLYHEDRAL_CONVEX_SHAPE_H
-
-#include "LinearMath/btMatrix3x3.h"
-#include "btConvexInternalShape.h"
-class btConvexPolyhedron;
-
-///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
-ATTRIBUTE_ALIGNED16(class)
-btPolyhedralConvexShape : public btConvexInternalShape
-{
-protected:
-	btConvexPolyhedron* m_polyhedron;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btPolyhedralConvexShape();
-
-	virtual ~btPolyhedralConvexShape();
-
-	///optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges)
-	///experimental/work-in-progress
-	virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin = 0);
-
-	virtual void setPolyhedralFeatures(btConvexPolyhedron & polyhedron);
-
-	const btConvexPolyhedron* getConvexPolyhedron() const
-	{
-		return m_polyhedron;
-	}
-
-	//brute force implementations
-
-	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
-	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
-
-	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
-
-	virtual int getNumVertices() const = 0;
-	virtual int getNumEdges() const = 0;
-	virtual void getEdge(int i, btVector3& pa, btVector3& pb) const = 0;
-	virtual void getVertex(int i, btVector3& vtx) const = 0;
-	virtual int getNumPlanes() const = 0;
-	virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const = 0;
-	//	virtual int getIndex(int i) const = 0 ;
-
-	virtual bool isInside(const btVector3& pt, btScalar tolerance) const = 0;
-};
-
-///The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape
-class btPolyhedralConvexAabbCachingShape : public btPolyhedralConvexShape
-{
-	btVector3 m_localAabbMin;
-	btVector3 m_localAabbMax;
-	bool m_isLocalAabbValid;
-
-protected:
-	void setCachedLocalAabb(const btVector3& aabbMin, const btVector3& aabbMax)
-	{
-		m_isLocalAabbValid = true;
-		m_localAabbMin = aabbMin;
-		m_localAabbMax = aabbMax;
-	}
-
-	inline void getCachedLocalAabb(btVector3& aabbMin, btVector3& aabbMax) const
-	{
-		btAssert(m_isLocalAabbValid);
-		aabbMin = m_localAabbMin;
-		aabbMax = m_localAabbMax;
-	}
-
-protected:
-	btPolyhedralConvexAabbCachingShape();
-
-public:
-	inline void getNonvirtualAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax, btScalar margin) const
-	{
-		//lazy evaluation of local aabb
-		btAssert(m_isLocalAabbValid);
-		btTransformAabb(m_localAabbMin, m_localAabbMax, margin, trans, aabbMin, aabbMax);
-	}
-
-	virtual void setLocalScaling(const btVector3& scaling);
-
-	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
-
-	void recalcLocalAabb();
-};
-
-#endif  //BT_POLYHEDRAL_CONVEX_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
deleted file mode 100644
index f427319974..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
+++ /dev/null
@@ -1,115 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btScaledBvhTriangleMeshShape.h"
-
-btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape, const btVector3& localScaling)
-	: m_localScaling(localScaling), m_bvhTriMeshShape(childShape)
-{
-	m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
-}
-
-btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape()
-{
-}
-
-class btScaledTriangleCallback : public btTriangleCallback
-{
-	btTriangleCallback* m_originalCallback;
-
-	btVector3 m_localScaling;
-
-public:
-	btScaledTriangleCallback(btTriangleCallback* originalCallback, const btVector3& localScaling)
-		: m_originalCallback(originalCallback),
-		  m_localScaling(localScaling)
-	{
-	}
-
-	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
-	{
-		btVector3 newTriangle[3];
-		newTriangle[0] = triangle[0] * m_localScaling;
-		newTriangle[1] = triangle[1] * m_localScaling;
-		newTriangle[2] = triangle[2] * m_localScaling;
-		m_originalCallback->processTriangle(&newTriangle[0], partId, triangleIndex);
-	}
-};
-
-void btScaledBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
-{
-	btScaledTriangleCallback scaledCallback(callback, m_localScaling);
-
-	btVector3 invLocalScaling(1.f / m_localScaling.getX(), 1.f / m_localScaling.getY(), 1.f / m_localScaling.getZ());
-	btVector3 scaledAabbMin, scaledAabbMax;
-
-	///support negative scaling
-	scaledAabbMin[0] = m_localScaling.getX() >= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
-	scaledAabbMin[1] = m_localScaling.getY() >= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
-	scaledAabbMin[2] = m_localScaling.getZ() >= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
-	scaledAabbMin[3] = 0.f;
-
-	scaledAabbMax[0] = m_localScaling.getX() <= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
-	scaledAabbMax[1] = m_localScaling.getY() <= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
-	scaledAabbMax[2] = m_localScaling.getZ() <= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
-	scaledAabbMax[3] = 0.f;
-
-	m_bvhTriMeshShape->processAllTriangles(&scaledCallback, scaledAabbMin, scaledAabbMax);
-}
-
-void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	btVector3 localAabbMin = m_bvhTriMeshShape->getLocalAabbMin();
-	btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax();
-
-	btVector3 tmpLocalAabbMin = localAabbMin * m_localScaling;
-	btVector3 tmpLocalAabbMax = localAabbMax * m_localScaling;
-
-	localAabbMin[0] = (m_localScaling.getX() >= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
-	localAabbMin[1] = (m_localScaling.getY() >= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
-	localAabbMin[2] = (m_localScaling.getZ() >= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
-	localAabbMax[0] = (m_localScaling.getX() <= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
-	localAabbMax[1] = (m_localScaling.getY() <= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
-	localAabbMax[2] = (m_localScaling.getZ() <= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
-
-	btVector3 localHalfExtents = btScalar(0.5) * (localAabbMax - localAabbMin);
-	btScalar margin = m_bvhTriMeshShape->getMargin();
-	localHalfExtents += btVector3(margin, margin, margin);
-	btVector3 localCenter = btScalar(0.5) * (localAabbMax + localAabbMin);
-
-	btMatrix3x3 abs_b = trans.getBasis().absolute();
-
-	btVector3 center = trans(localCenter);
-
-	btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
-	aabbMin = center - extent;
-	aabbMax = center + extent;
-}
-
-void btScaledBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
-{
-	m_localScaling = scaling;
-}
-
-const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const
-{
-	return m_localScaling;
-}
-
-void btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
-{
-	///don't make this a movable object!
-	//	btAssert(0);
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
deleted file mode 100644
index 4d6feb61af..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
+++ /dev/null
@@ -1,86 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
-#define BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
-
-#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
-
-///The btScaledBvhTriangleMeshShape allows to instance a scaled version of an existing btBvhTriangleMeshShape.
-///Note that each btBvhTriangleMeshShape still can have its own local scaling, independent from this btScaledBvhTriangleMeshShape 'localScaling'
-ATTRIBUTE_ALIGNED16(class)
-btScaledBvhTriangleMeshShape : public btConcaveShape
-{
-	btVector3 m_localScaling;
-
-	btBvhTriangleMeshShape* m_bvhTriMeshShape;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape * childShape, const btVector3& localScaling);
-
-	virtual ~btScaledBvhTriangleMeshShape();
-
-	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
-	virtual void setLocalScaling(const btVector3& scaling);
-	virtual const btVector3& getLocalScaling() const;
-	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
-
-	virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
-
-	btBvhTriangleMeshShape* getChildShape()
-	{
-		return m_bvhTriMeshShape;
-	}
-
-	const btBvhTriangleMeshShape* getChildShape() const
-	{
-		return m_bvhTriMeshShape;
-	}
-
-	//debugging
-	virtual const char* getName() const { return "SCALEDBVHTRIANGLEMESH"; }
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btScaledTriangleMeshShapeData
-{
-	btTriangleMeshShapeData m_trimeshShapeData;
-
-	btVector3FloatData m_localScaling;
-};
-
-SIMD_FORCE_INLINE int btScaledBvhTriangleMeshShape::calculateSerializeBufferSize() const
-{
-	return sizeof(btScaledTriangleMeshShapeData);
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE const char* btScaledBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btScaledTriangleMeshShapeData* scaledMeshData = (btScaledTriangleMeshShapeData*)dataBuffer;
-	m_bvhTriMeshShape->serialize(&scaledMeshData->m_trimeshShapeData, serializer);
-	scaledMeshData->m_trimeshShapeData.m_collisionShapeData.m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
-	m_localScaling.serializeFloat(scaledMeshData->m_localScaling);
-	return "btScaledTriangleMeshShapeData";
-}
-
-#endif  //BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp
deleted file mode 100644
index 23c95ad3ff..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp
+++ /dev/null
@@ -1,95 +0,0 @@
-#include "btSdfCollisionShape.h"
-#include "btMiniSDF.h"
-#include "LinearMath/btAabbUtil2.h"
-
-ATTRIBUTE_ALIGNED16(struct)
-btSdfCollisionShapeInternalData
-{
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btVector3 m_localScaling;
-	btScalar m_margin;
-	btMiniSDF m_sdf;
-
-	btSdfCollisionShapeInternalData()
-		: m_localScaling(1, 1, 1),
-		  m_margin(0)
-	{
-	}
-};
-
-bool btSdfCollisionShape::initializeSDF(const char* sdfData, int sizeInBytes)
-{
-	bool valid = m_data->m_sdf.load(sdfData, sizeInBytes);
-	return valid;
-}
-btSdfCollisionShape::btSdfCollisionShape()
-{
-	m_shapeType = SDF_SHAPE_PROXYTYPE;
-	m_data = new btSdfCollisionShapeInternalData();
-
-	//"E:/develop/bullet3/data/toys/ground_hole64_64_8.cdf");//ground_cube.cdf");
-	/*unsigned int field_id=0;
-	Eigen::Vector3d x (1,10,1);
-	Eigen::Vector3d gradient;
-	double dist = m_data->m_sdf.interpolate(field_id, x, &gradient);
-	printf("dist=%g\n", dist);
-	*/
-}
-btSdfCollisionShape::~btSdfCollisionShape()
-{
-	delete m_data;
-}
-
-void btSdfCollisionShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	btAssert(m_data->m_sdf.isValid());
-	btVector3 localAabbMin = m_data->m_sdf.m_domain.m_min;
-	btVector3 localAabbMax = m_data->m_sdf.m_domain.m_max;
-	btScalar margin(0);
-	btTransformAabb(localAabbMin, localAabbMax, margin, t, aabbMin, aabbMax);
-}
-
-void btSdfCollisionShape::setLocalScaling(const btVector3& scaling)
-{
-	m_data->m_localScaling = scaling;
-}
-const btVector3& btSdfCollisionShape::getLocalScaling() const
-{
-	return m_data->m_localScaling;
-}
-void btSdfCollisionShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
-{
-	inertia.setValue(0, 0, 0);
-}
-const char* btSdfCollisionShape::getName() const
-{
-	return "btSdfCollisionShape";
-}
-void btSdfCollisionShape::setMargin(btScalar margin)
-{
-	m_data->m_margin = margin;
-}
-btScalar btSdfCollisionShape::getMargin() const
-{
-	return m_data->m_margin;
-}
-
-void btSdfCollisionShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
-{
-	//not yet
-}
-
-bool btSdfCollisionShape::queryPoint(const btVector3& ptInSDF, btScalar& distOut, btVector3& normal)
-{
-	int field = 0;
-	btVector3 grad;
-	double dist;
-	bool hasResult = m_data->m_sdf.interpolate(field, dist, ptInSDF, &grad);
-	if (hasResult)
-	{
-		normal.setValue(grad[0], grad[1], grad[2]);
-		distOut = dist;
-	}
-	return hasResult;
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.h
deleted file mode 100644
index 3989d6245e..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.h
+++ /dev/null
@@ -1,29 +0,0 @@
-#ifndef BT_SDF_COLLISION_SHAPE_H
-#define BT_SDF_COLLISION_SHAPE_H
-
-#include "btConcaveShape.h"
-
-class btSdfCollisionShape : public btConcaveShape
-{
-	struct btSdfCollisionShapeInternalData* m_data;
-
-public:
-	btSdfCollisionShape();
-	virtual ~btSdfCollisionShape();
-
-	bool initializeSDF(const char* sdfData, int sizeInBytes);
-
-	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
-	virtual void setLocalScaling(const btVector3& scaling);
-	virtual const btVector3& getLocalScaling() const;
-	virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const;
-	virtual const char* getName() const;
-	virtual void setMargin(btScalar margin);
-	virtual btScalar getMargin() const;
-
-	virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
-
-	bool queryPoint(const btVector3& ptInSDF, btScalar& distOut, btVector3& normal);
-};
-
-#endif  //BT_SDF_COLLISION_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp
deleted file mode 100644
index a2c490faf9..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp
+++ /dev/null
@@ -1,421 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-//btShapeHull was implemented by John McCutchan.
-
-#include "btShapeHull.h"
-#include "LinearMath/btConvexHull.h"
-
-#define NUM_UNITSPHERE_POINTS 42
-#define NUM_UNITSPHERE_POINTS_HIGHRES 256
-
-btShapeHull::btShapeHull(const btConvexShape* shape)
-{
-	m_shape = shape;
-	m_vertices.clear();
-	m_indices.clear();
-	m_numIndices = 0;
-}
-
-btShapeHull::~btShapeHull()
-{
-	m_indices.clear();
-	m_vertices.clear();
-}
-
-bool btShapeHull::buildHull(btScalar /*margin*/, int highres)
-{
-	
-	int numSampleDirections = highres ? NUM_UNITSPHERE_POINTS_HIGHRES : NUM_UNITSPHERE_POINTS;
-	btVector3 supportPoints[NUM_UNITSPHERE_POINTS_HIGHRES + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
-	int i;
-	for (i = 0; i < numSampleDirections; i++)
-	{
-		supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints(highres)[i]);
-	}
-
-	int numPDA = m_shape->getNumPreferredPenetrationDirections();
-	if (numPDA)
-	{
-		for (int s = 0; s < numPDA; s++)
-		{
-			btVector3 norm;
-			m_shape->getPreferredPenetrationDirection(s, norm);
-			supportPoints[i++] = m_shape->localGetSupportingVertex(norm);
-			numSampleDirections++;
-		}
-	}
-	HullDesc hd;
-	hd.mFlags = QF_TRIANGLES;
-	hd.mVcount = static_cast<unsigned int>(numSampleDirections);
-
-#ifdef BT_USE_DOUBLE_PRECISION
-	hd.mVertices = &supportPoints[0];
-	hd.mVertexStride = sizeof(btVector3);
-#else
-	hd.mVertices = &supportPoints[0];
-	hd.mVertexStride = sizeof(btVector3);
-#endif
-
-	HullLibrary hl;
-	HullResult hr;
-	if (hl.CreateConvexHull(hd, hr) == QE_FAIL)
-	{
-		return false;
-	}
-
-	m_vertices.resize(static_cast<int>(hr.mNumOutputVertices));
-
-	for (i = 0; i < static_cast<int>(hr.mNumOutputVertices); i++)
-	{
-		m_vertices[i] = hr.m_OutputVertices[i];
-	}
-	m_numIndices = hr.mNumIndices;
-	m_indices.resize(static_cast<int>(m_numIndices));
-	for (i = 0; i < static_cast<int>(m_numIndices); i++)
-	{
-		m_indices[i] = hr.m_Indices[i];
-	}
-
-	// free temporary hull result that we just copied
-	hl.ReleaseResult(hr);
-
-	return true;
-}
-
-int btShapeHull::numTriangles() const
-{
-	return static_cast<int>(m_numIndices / 3);
-}
-
-int btShapeHull::numVertices() const
-{
-	return m_vertices.size();
-}
-
-int btShapeHull::numIndices() const
-{
-	return static_cast<int>(m_numIndices);
-}
-
-btVector3* btShapeHull::getUnitSpherePoints(int highres)
-{
-	static btVector3 sUnitSpherePointsHighres[NUM_UNITSPHERE_POINTS_HIGHRES + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =
-		{
-			btVector3(btScalar(0.997604), btScalar(0.067004), btScalar(0.017144)),
-			btVector3(btScalar(0.984139), btScalar(-0.086784), btScalar(-0.154427)),
-			btVector3(btScalar(0.971065), btScalar(0.124164), btScalar(-0.203224)),
-			btVector3(btScalar(0.955844), btScalar(0.291173), btScalar(-0.037704)),
-			btVector3(btScalar(0.957405), btScalar(0.212238), btScalar(0.195157)),
-			btVector3(btScalar(0.971650), btScalar(-0.012709), btScalar(0.235561)),
-			btVector3(btScalar(0.984920), btScalar(-0.161831), btScalar(0.059695)),
-			btVector3(btScalar(0.946673), btScalar(-0.299288), btScalar(-0.117536)),
-			btVector3(btScalar(0.922670), btScalar(-0.219186), btScalar(-0.317019)),
-			btVector3(btScalar(0.928134), btScalar(-0.007265), btScalar(-0.371867)),
-			btVector3(btScalar(0.875642), btScalar(0.198434), btScalar(-0.439988)),
-			btVector3(btScalar(0.908035), btScalar(0.325975), btScalar(-0.262562)),
-			btVector3(btScalar(0.864519), btScalar(0.488706), btScalar(-0.116755)),
-			btVector3(btScalar(0.893009), btScalar(0.428046), btScalar(0.137185)),
-			btVector3(btScalar(0.857494), btScalar(0.362137), btScalar(0.364776)),
-			btVector3(btScalar(0.900815), btScalar(0.132524), btScalar(0.412987)),
-			btVector3(btScalar(0.934964), btScalar(-0.241739), btScalar(0.259179)),
-			btVector3(btScalar(0.894570), btScalar(-0.103504), btScalar(0.434263)),
-			btVector3(btScalar(0.922085), btScalar(-0.376668), btScalar(0.086241)),
-			btVector3(btScalar(0.862177), btScalar(-0.499154), btScalar(-0.085330)),
-			btVector3(btScalar(0.861982), btScalar(-0.420218), btScalar(-0.282861)),
-			btVector3(btScalar(0.818076), btScalar(-0.328256), btScalar(-0.471804)),
-			btVector3(btScalar(0.762657), btScalar(-0.179329), btScalar(-0.621124)),
-			btVector3(btScalar(0.826857), btScalar(0.019760), btScalar(-0.561786)),
-			btVector3(btScalar(0.731434), btScalar(0.206599), btScalar(-0.649817)),
-			btVector3(btScalar(0.769486), btScalar(0.379052), btScalar(-0.513770)),
-			btVector3(btScalar(0.796806), btScalar(0.507176), btScalar(-0.328145)),
-			btVector3(btScalar(0.679722), btScalar(0.684101), btScalar(-0.264123)),
-			btVector3(btScalar(0.786854), btScalar(0.614886), btScalar(0.050912)),
-			btVector3(btScalar(0.769486), btScalar(0.571141), btScalar(0.285139)),
-			btVector3(btScalar(0.707432), btScalar(0.492789), btScalar(0.506288)),
-			btVector3(btScalar(0.774560), btScalar(0.268037), btScalar(0.572652)),
-			btVector3(btScalar(0.796220), btScalar(0.031230), btScalar(0.604077)),
-			btVector3(btScalar(0.837395), btScalar(-0.320285), btScalar(0.442461)),
-			btVector3(btScalar(0.848127), btScalar(-0.450548), btScalar(0.278307)),
-			btVector3(btScalar(0.775536), btScalar(-0.206354), btScalar(0.596465)),
-			btVector3(btScalar(0.816320), btScalar(-0.567007), btScalar(0.109469)),
-			btVector3(btScalar(0.741191), btScalar(-0.668690), btScalar(-0.056832)),
-			btVector3(btScalar(0.755632), btScalar(-0.602975), btScalar(-0.254949)),
-			btVector3(btScalar(0.720311), btScalar(-0.521318), btScalar(-0.457165)),
-			btVector3(btScalar(0.670746), btScalar(-0.386583), btScalar(-0.632835)),
-			btVector3(btScalar(0.587031), btScalar(-0.219769), btScalar(-0.778836)),
-			btVector3(btScalar(0.676015), btScalar(-0.003182), btScalar(-0.736676)),
-			btVector3(btScalar(0.566932), btScalar(0.186963), btScalar(-0.802064)),
-			btVector3(btScalar(0.618254), btScalar(0.398105), btScalar(-0.677533)),
-			btVector3(btScalar(0.653964), btScalar(0.575224), btScalar(-0.490933)),
-			btVector3(btScalar(0.525367), btScalar(0.743205), btScalar(-0.414028)),
-			btVector3(btScalar(0.506439), btScalar(0.836528), btScalar(-0.208885)),
-			btVector3(btScalar(0.651427), btScalar(0.756426), btScalar(-0.056247)),
-			btVector3(btScalar(0.641670), btScalar(0.745149), btScalar(0.180908)),
-			btVector3(btScalar(0.602643), btScalar(0.687211), btScalar(0.405180)),
-			btVector3(btScalar(0.516586), btScalar(0.596999), btScalar(0.613447)),
-			btVector3(btScalar(0.602252), btScalar(0.387801), btScalar(0.697573)),
-			btVector3(btScalar(0.646549), btScalar(0.153911), btScalar(0.746956)),
-			btVector3(btScalar(0.650842), btScalar(-0.087756), btScalar(0.753983)),
-			btVector3(btScalar(0.740411), btScalar(-0.497404), btScalar(0.451830)),
-			btVector3(btScalar(0.726946), btScalar(-0.619890), btScalar(0.295093)),
-			btVector3(btScalar(0.637768), btScalar(-0.313092), btScalar(0.703624)),
-			btVector3(btScalar(0.678942), btScalar(-0.722934), btScalar(0.126645)),
-			btVector3(btScalar(0.489072), btScalar(-0.867195), btScalar(-0.092942)),
-			btVector3(btScalar(0.622742), btScalar(-0.757541), btScalar(-0.194636)),
-			btVector3(btScalar(0.596788), btScalar(-0.693576), btScalar(-0.403098)),
-			btVector3(btScalar(0.550150), btScalar(-0.582172), btScalar(-0.598287)),
-			btVector3(btScalar(0.474436), btScalar(-0.429745), btScalar(-0.768101)),
-			btVector3(btScalar(0.372574), btScalar(-0.246016), btScalar(-0.894583)),
-			btVector3(btScalar(0.480095), btScalar(-0.026513), btScalar(-0.876626)),
-			btVector3(btScalar(0.352474), btScalar(0.177242), btScalar(-0.918787)),
-			btVector3(btScalar(0.441848), btScalar(0.374386), btScalar(-0.814946)),
-			btVector3(btScalar(0.492389), btScalar(0.582223), btScalar(-0.646693)),
-			btVector3(btScalar(0.343498), btScalar(0.866080), btScalar(-0.362693)),
-			btVector3(btScalar(0.362036), btScalar(0.745149), btScalar(-0.559639)),
-			btVector3(btScalar(0.334131), btScalar(0.937044), btScalar(-0.099774)),
-			btVector3(btScalar(0.486925), btScalar(0.871718), btScalar(0.052473)),
-			btVector3(btScalar(0.452776), btScalar(0.845665), btScalar(0.281820)),
-			btVector3(btScalar(0.399503), btScalar(0.771785), btScalar(0.494576)),
-			btVector3(btScalar(0.296469), btScalar(0.673018), btScalar(0.677469)),
-			btVector3(btScalar(0.392088), btScalar(0.479179), btScalar(0.785213)),
-			btVector3(btScalar(0.452190), btScalar(0.252094), btScalar(0.855286)),
-			btVector3(btScalar(0.478339), btScalar(0.013149), btScalar(0.877928)),
-			btVector3(btScalar(0.481656), btScalar(-0.219380), btScalar(0.848259)),
-			btVector3(btScalar(0.615327), btScalar(-0.494293), btScalar(0.613837)),
-			btVector3(btScalar(0.594642), btScalar(-0.650414), btScalar(0.472325)),
-			btVector3(btScalar(0.562249), btScalar(-0.771345), btScalar(0.297631)),
-			btVector3(btScalar(0.467411), btScalar(-0.437133), btScalar(0.768231)),
-			btVector3(btScalar(0.519513), btScalar(-0.847947), btScalar(0.103808)),
-			btVector3(btScalar(0.297640), btScalar(-0.938159), btScalar(-0.176288)),
-			btVector3(btScalar(0.446727), btScalar(-0.838615), btScalar(-0.311359)),
-			btVector3(btScalar(0.331790), btScalar(-0.942437), btScalar(0.040762)),
-			btVector3(btScalar(0.413358), btScalar(-0.748403), btScalar(-0.518259)),
-			btVector3(btScalar(0.347596), btScalar(-0.621640), btScalar(-0.701737)),
-			btVector3(btScalar(0.249831), btScalar(-0.456186), btScalar(-0.853984)),
-			btVector3(btScalar(0.131772), btScalar(-0.262931), btScalar(-0.955678)),
-			btVector3(btScalar(0.247099), btScalar(-0.042261), btScalar(-0.967975)),
-			btVector3(btScalar(0.113624), btScalar(0.165965), btScalar(-0.979491)),
-			btVector3(btScalar(0.217438), btScalar(0.374580), btScalar(-0.901220)),
-			btVector3(btScalar(0.307983), btScalar(0.554615), btScalar(-0.772786)),
-			btVector3(btScalar(0.166702), btScalar(0.953181), btScalar(-0.252021)),
-			btVector3(btScalar(0.172751), btScalar(0.844499), btScalar(-0.506743)),
-			btVector3(btScalar(0.177630), btScalar(0.711125), btScalar(-0.679876)),
-			btVector3(btScalar(0.120064), btScalar(0.992260), btScalar(-0.030482)),
-			btVector3(btScalar(0.289640), btScalar(0.949098), btScalar(0.122546)),
-			btVector3(btScalar(0.239879), btScalar(0.909047), btScalar(0.340377)),
-			btVector3(btScalar(0.181142), btScalar(0.821363), btScalar(0.540641)),
-			btVector3(btScalar(0.066986), btScalar(0.719097), btScalar(0.691327)),
-			btVector3(btScalar(0.156750), btScalar(0.545478), btScalar(0.823079)),
-			btVector3(btScalar(0.236172), btScalar(0.342306), btScalar(0.909353)),
-			btVector3(btScalar(0.277541), btScalar(0.112693), btScalar(0.953856)),
-			btVector3(btScalar(0.295299), btScalar(-0.121974), btScalar(0.947415)),
-			btVector3(btScalar(0.287883), btScalar(-0.349254), btScalar(0.891591)),
-			btVector3(btScalar(0.437165), btScalar(-0.634666), btScalar(0.636869)),
-			btVector3(btScalar(0.407113), btScalar(-0.784954), btScalar(0.466664)),
-			btVector3(btScalar(0.375111), btScalar(-0.888193), btScalar(0.264839)),
-			btVector3(btScalar(0.275394), btScalar(-0.560591), btScalar(0.780723)),
-			btVector3(btScalar(0.122015), btScalar(-0.992209), btScalar(-0.024821)),
-			btVector3(btScalar(0.087866), btScalar(-0.966156), btScalar(-0.241676)),
-			btVector3(btScalar(0.239489), btScalar(-0.885665), btScalar(-0.397437)),
-			btVector3(btScalar(0.167287), btScalar(-0.965184), btScalar(0.200817)),
-			btVector3(btScalar(0.201632), btScalar(-0.776789), btScalar(-0.596335)),
-			btVector3(btScalar(0.122015), btScalar(-0.637971), btScalar(-0.760098)),
-			btVector3(btScalar(0.008054), btScalar(-0.464741), btScalar(-0.885214)),
-			btVector3(btScalar(-0.116054), btScalar(-0.271096), btScalar(-0.955482)),
-			btVector3(btScalar(-0.000727), btScalar(-0.056065), btScalar(-0.998424)),
-			btVector3(btScalar(-0.134007), btScalar(0.152939), btScalar(-0.978905)),
-			btVector3(btScalar(-0.025900), btScalar(0.366026), btScalar(-0.930108)),
-			btVector3(btScalar(0.081231), btScalar(0.557337), btScalar(-0.826072)),
-			btVector3(btScalar(-0.002874), btScalar(0.917213), btScalar(-0.398023)),
-			btVector3(btScalar(-0.050683), btScalar(0.981761), btScalar(-0.182534)),
-			btVector3(btScalar(-0.040536), btScalar(0.710153), btScalar(-0.702713)),
-			btVector3(btScalar(-0.139081), btScalar(0.827973), btScalar(-0.543048)),
-			btVector3(btScalar(-0.101029), btScalar(0.994010), btScalar(0.041152)),
-			btVector3(btScalar(0.069328), btScalar(0.978067), btScalar(0.196133)),
-			btVector3(btScalar(0.023860), btScalar(0.911380), btScalar(0.410645)),
-			btVector3(btScalar(-0.153521), btScalar(0.736789), btScalar(0.658145)),
-			btVector3(btScalar(-0.070002), btScalar(0.591750), btScalar(0.802780)),
-			btVector3(btScalar(0.002590), btScalar(0.312948), btScalar(0.949562)),
-			btVector3(btScalar(0.090988), btScalar(-0.020680), btScalar(0.995627)),
-			btVector3(btScalar(0.088842), btScalar(-0.250099), btScalar(0.964006)),
-			btVector3(btScalar(0.083378), btScalar(-0.470185), btScalar(0.878318)),
-			btVector3(btScalar(0.240074), btScalar(-0.749764), btScalar(0.616374)),
-			btVector3(btScalar(0.210803), btScalar(-0.885860), btScalar(0.412987)),
-			btVector3(btScalar(0.077524), btScalar(-0.660524), btScalar(0.746565)),
-			btVector3(btScalar(-0.096736), btScalar(-0.990070), btScalar(-0.100945)),
-			btVector3(btScalar(-0.052634), btScalar(-0.990264), btScalar(0.127426)),
-			btVector3(btScalar(-0.106102), btScalar(-0.938354), btScalar(-0.328340)),
-			btVector3(btScalar(0.013323), btScalar(-0.863112), btScalar(-0.504596)),
-			btVector3(btScalar(-0.002093), btScalar(-0.936993), btScalar(0.349161)),
-			btVector3(btScalar(-0.106297), btScalar(-0.636610), btScalar(-0.763612)),
-			btVector3(btScalar(-0.229430), btScalar(-0.463769), btScalar(-0.855546)),
-			btVector3(btScalar(-0.245236), btScalar(-0.066175), btScalar(-0.966999)),
-			btVector3(btScalar(-0.351587), btScalar(-0.270513), btScalar(-0.896145)),
-			btVector3(btScalar(-0.370906), btScalar(0.133108), btScalar(-0.918982)),
-			btVector3(btScalar(-0.264360), btScalar(0.346000), btScalar(-0.900049)),
-			btVector3(btScalar(-0.151375), btScalar(0.543728), btScalar(-0.825291)),
-			btVector3(btScalar(-0.218697), btScalar(0.912741), btScalar(-0.344346)),
-			btVector3(btScalar(-0.274507), btScalar(0.953764), btScalar(-0.121635)),
-			btVector3(btScalar(-0.259677), btScalar(0.692266), btScalar(-0.673044)),
-			btVector3(btScalar(-0.350416), btScalar(0.798810), btScalar(-0.488786)),
-			btVector3(btScalar(-0.320170), btScalar(0.941127), btScalar(0.108297)),
-			btVector3(btScalar(-0.147667), btScalar(0.952792), btScalar(0.265034)),
-			btVector3(btScalar(-0.188061), btScalar(0.860636), btScalar(0.472910)),
-			btVector3(btScalar(-0.370906), btScalar(0.739900), btScalar(0.560941)),
-			btVector3(btScalar(-0.297143), btScalar(0.585334), btScalar(0.754178)),
-			btVector3(btScalar(-0.189622), btScalar(0.428241), btScalar(0.883393)),
-			btVector3(btScalar(-0.091272), btScalar(0.098695), btScalar(0.990747)),
-			btVector3(btScalar(-0.256945), btScalar(0.228375), btScalar(0.938827)),
-			btVector3(btScalar(-0.111761), btScalar(-0.133251), btScalar(0.984696)),
-			btVector3(btScalar(-0.118006), btScalar(-0.356253), btScalar(0.926725)),
-			btVector3(btScalar(-0.119372), btScalar(-0.563896), btScalar(0.817029)),
-			btVector3(btScalar(0.041228), btScalar(-0.833949), btScalar(0.550010)),
-			btVector3(btScalar(-0.121909), btScalar(-0.736543), btScalar(0.665172)),
-			btVector3(btScalar(-0.307681), btScalar(-0.931160), btScalar(-0.195026)),
-			btVector3(btScalar(-0.283679), btScalar(-0.957990), btScalar(0.041348)),
-			btVector3(btScalar(-0.227284), btScalar(-0.935243), btScalar(0.270890)),
-			btVector3(btScalar(-0.293436), btScalar(-0.858252), btScalar(-0.420860)),
-			btVector3(btScalar(-0.175767), btScalar(-0.780677), btScalar(-0.599262)),
-			btVector3(btScalar(-0.170108), btScalar(-0.858835), btScalar(0.482865)),
-			btVector3(btScalar(-0.332854), btScalar(-0.635055), btScalar(-0.696857)),
-			btVector3(btScalar(-0.447791), btScalar(-0.445299), btScalar(-0.775128)),
-			btVector3(btScalar(-0.470622), btScalar(-0.074146), btScalar(-0.879164)),
-			btVector3(btScalar(-0.639417), btScalar(-0.340505), btScalar(-0.689049)),
-			btVector3(btScalar(-0.598438), btScalar(0.104722), btScalar(-0.794256)),
-			btVector3(btScalar(-0.488575), btScalar(0.307699), btScalar(-0.816313)),
-			btVector3(btScalar(-0.379882), btScalar(0.513592), btScalar(-0.769077)),
-			btVector3(btScalar(-0.425740), btScalar(0.862775), btScalar(-0.272516)),
-			btVector3(btScalar(-0.480769), btScalar(0.875412), btScalar(-0.048439)),
-			btVector3(btScalar(-0.467890), btScalar(0.648716), btScalar(-0.600043)),
-			btVector3(btScalar(-0.543799), btScalar(0.730956), btScalar(-0.411881)),
-			btVector3(btScalar(-0.516284), btScalar(0.838277), btScalar(0.174076)),
-			btVector3(btScalar(-0.353343), btScalar(0.876384), btScalar(0.326519)),
-			btVector3(btScalar(-0.572875), btScalar(0.614497), btScalar(0.542007)),
-			btVector3(btScalar(-0.503600), btScalar(0.497261), btScalar(0.706161)),
-			btVector3(btScalar(-0.530920), btScalar(0.754870), btScalar(0.384685)),
-			btVector3(btScalar(-0.395884), btScalar(0.366414), btScalar(0.841818)),
-			btVector3(btScalar(-0.300656), btScalar(0.001678), btScalar(0.953661)),
-			btVector3(btScalar(-0.461060), btScalar(0.146912), btScalar(0.875000)),
-			btVector3(btScalar(-0.315486), btScalar(-0.232212), btScalar(0.919893)),
-			btVector3(btScalar(-0.323682), btScalar(-0.449187), btScalar(0.832644)),
-			btVector3(btScalar(-0.318999), btScalar(-0.639527), btScalar(0.699134)),
-			btVector3(btScalar(-0.496771), btScalar(-0.866029), btScalar(-0.055271)),
-			btVector3(btScalar(-0.496771), btScalar(-0.816257), btScalar(-0.294377)),
-			btVector3(btScalar(-0.456377), btScalar(-0.869528), btScalar(0.188130)),
-			btVector3(btScalar(-0.380858), btScalar(-0.827144), btScalar(0.412792)),
-			btVector3(btScalar(-0.449352), btScalar(-0.727405), btScalar(-0.518259)),
-			btVector3(btScalar(-0.570533), btScalar(-0.551064), btScalar(-0.608632)),
-			btVector3(btScalar(-0.656394), btScalar(-0.118280), btScalar(-0.744874)),
-			btVector3(btScalar(-0.756696), btScalar(-0.438105), btScalar(-0.484882)),
-			btVector3(btScalar(-0.801773), btScalar(-0.204798), btScalar(-0.561005)),
-			btVector3(btScalar(-0.785186), btScalar(0.038618), btScalar(-0.617805)),
-			btVector3(btScalar(-0.709082), btScalar(0.262399), btScalar(-0.654306)),
-			btVector3(btScalar(-0.583412), btScalar(0.462265), btScalar(-0.667383)),
-			btVector3(btScalar(-0.616001), btScalar(0.761286), btScalar(-0.201272)),
-			btVector3(btScalar(-0.660687), btScalar(0.750204), btScalar(0.020072)),
-			btVector3(btScalar(-0.744987), btScalar(0.435823), btScalar(-0.504791)),
-			btVector3(btScalar(-0.713765), btScalar(0.605554), btScalar(-0.351373)),
-			btVector3(btScalar(-0.686251), btScalar(0.687600), btScalar(0.236927)),
-			btVector3(btScalar(-0.680201), btScalar(0.429407), btScalar(0.593732)),
-			btVector3(btScalar(-0.733474), btScalar(0.546450), btScalar(0.403814)),
-			btVector3(btScalar(-0.591023), btScalar(0.292923), btScalar(0.751445)),
-			btVector3(btScalar(-0.500283), btScalar(-0.080757), btScalar(0.861922)),
-			btVector3(btScalar(-0.643710), btScalar(0.070115), btScalar(0.761985)),
-			btVector3(btScalar(-0.506332), btScalar(-0.308425), btScalar(0.805122)),
-			btVector3(btScalar(-0.503015), btScalar(-0.509847), btScalar(0.697573)),
-			btVector3(btScalar(-0.482525), btScalar(-0.682105), btScalar(0.549229)),
-			btVector3(btScalar(-0.680396), btScalar(-0.716323), btScalar(-0.153451)),
-			btVector3(btScalar(-0.658346), btScalar(-0.746264), btScalar(0.097562)),
-			btVector3(btScalar(-0.653272), btScalar(-0.646915), btScalar(-0.392948)),
-			btVector3(btScalar(-0.590828), btScalar(-0.732655), btScalar(0.337645)),
-			btVector3(btScalar(-0.819140), btScalar(-0.518013), btScalar(-0.246166)),
-			btVector3(btScalar(-0.900513), btScalar(-0.282178), btScalar(-0.330487)),
-			btVector3(btScalar(-0.914953), btScalar(-0.028652), btScalar(-0.402122)),
-			btVector3(btScalar(-0.859924), btScalar(0.220209), btScalar(-0.459898)),
-			btVector3(btScalar(-0.777185), btScalar(0.613720), btScalar(-0.137836)),
-			btVector3(btScalar(-0.805285), btScalar(0.586889), btScalar(0.082728)),
-			btVector3(btScalar(-0.872413), btScalar(0.406077), btScalar(-0.271735)),
-			btVector3(btScalar(-0.859339), btScalar(0.448072), btScalar(0.246101)),
-			btVector3(btScalar(-0.757671), btScalar(0.216320), btScalar(0.615594)),
-			btVector3(btScalar(-0.826165), btScalar(0.348139), btScalar(0.442851)),
-			btVector3(btScalar(-0.671810), btScalar(-0.162803), btScalar(0.722557)),
-			btVector3(btScalar(-0.796504), btScalar(-0.004543), btScalar(0.604468)),
-			btVector3(btScalar(-0.676298), btScalar(-0.378223), btScalar(0.631794)),
-			btVector3(btScalar(-0.668883), btScalar(-0.558258), btScalar(0.490673)),
-			btVector3(btScalar(-0.821287), btScalar(-0.570118), btScalar(0.006994)),
-			btVector3(btScalar(-0.767428), btScalar(-0.587810), btScalar(0.255470)),
-			btVector3(btScalar(-0.933296), btScalar(-0.349837), btScalar(-0.079865)),
-			btVector3(btScalar(-0.982667), btScalar(-0.100393), btScalar(-0.155208)),
-			btVector3(btScalar(-0.961396), btScalar(0.160910), btScalar(-0.222938)),
-			btVector3(btScalar(-0.934858), btScalar(0.354555), btScalar(-0.006864)),
-			btVector3(btScalar(-0.941687), btScalar(0.229736), btScalar(0.245711)),
-			btVector3(btScalar(-0.884317), btScalar(0.131552), btScalar(0.447536)),
-			btVector3(btScalar(-0.810359), btScalar(-0.219769), btScalar(0.542788)),
-			btVector3(btScalar(-0.915929), btScalar(-0.210048), btScalar(0.341743)),
-			btVector3(btScalar(-0.816799), btScalar(-0.407192), btScalar(0.408303)),
-			btVector3(btScalar(-0.903050), btScalar(-0.392416), btScalar(0.174076)),
-			btVector3(btScalar(-0.980325), btScalar(-0.170969), btScalar(0.096586)),
-			btVector3(btScalar(-0.995936), btScalar(0.084891), btScalar(0.029441)),
-			btVector3(btScalar(-0.960031), btScalar(0.002650), btScalar(0.279283)),
-		};
-	static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =
-		{
-			btVector3(btScalar(0.000000), btScalar(-0.000000), btScalar(-1.000000)),
-			btVector3(btScalar(0.723608), btScalar(-0.525725), btScalar(-0.447219)),
-			btVector3(btScalar(-0.276388), btScalar(-0.850649), btScalar(-0.447219)),
-			btVector3(btScalar(-0.894426), btScalar(-0.000000), btScalar(-0.447216)),
-			btVector3(btScalar(-0.276388), btScalar(0.850649), btScalar(-0.447220)),
-			btVector3(btScalar(0.723608), btScalar(0.525725), btScalar(-0.447219)),
-			btVector3(btScalar(0.276388), btScalar(-0.850649), btScalar(0.447220)),
-			btVector3(btScalar(-0.723608), btScalar(-0.525725), btScalar(0.447219)),
-			btVector3(btScalar(-0.723608), btScalar(0.525725), btScalar(0.447219)),
-			btVector3(btScalar(0.276388), btScalar(0.850649), btScalar(0.447219)),
-			btVector3(btScalar(0.894426), btScalar(0.000000), btScalar(0.447216)),
-			btVector3(btScalar(-0.000000), btScalar(0.000000), btScalar(1.000000)),
-			btVector3(btScalar(0.425323), btScalar(-0.309011), btScalar(-0.850654)),
-			btVector3(btScalar(-0.162456), btScalar(-0.499995), btScalar(-0.850654)),
-			btVector3(btScalar(0.262869), btScalar(-0.809012), btScalar(-0.525738)),
-			btVector3(btScalar(0.425323), btScalar(0.309011), btScalar(-0.850654)),
-			btVector3(btScalar(0.850648), btScalar(-0.000000), btScalar(-0.525736)),
-			btVector3(btScalar(-0.525730), btScalar(-0.000000), btScalar(-0.850652)),
-			btVector3(btScalar(-0.688190), btScalar(-0.499997), btScalar(-0.525736)),
-			btVector3(btScalar(-0.162456), btScalar(0.499995), btScalar(-0.850654)),
-			btVector3(btScalar(-0.688190), btScalar(0.499997), btScalar(-0.525736)),
-			btVector3(btScalar(0.262869), btScalar(0.809012), btScalar(-0.525738)),
-			btVector3(btScalar(0.951058), btScalar(0.309013), btScalar(0.000000)),
-			btVector3(btScalar(0.951058), btScalar(-0.309013), btScalar(0.000000)),
-			btVector3(btScalar(0.587786), btScalar(-0.809017), btScalar(0.000000)),
-			btVector3(btScalar(0.000000), btScalar(-1.000000), btScalar(0.000000)),
-			btVector3(btScalar(-0.587786), btScalar(-0.809017), btScalar(0.000000)),
-			btVector3(btScalar(-0.951058), btScalar(-0.309013), btScalar(-0.000000)),
-			btVector3(btScalar(-0.951058), btScalar(0.309013), btScalar(-0.000000)),
-			btVector3(btScalar(-0.587786), btScalar(0.809017), btScalar(-0.000000)),
-			btVector3(btScalar(-0.000000), btScalar(1.000000), btScalar(-0.000000)),
-			btVector3(btScalar(0.587786), btScalar(0.809017), btScalar(-0.000000)),
-			btVector3(btScalar(0.688190), btScalar(-0.499997), btScalar(0.525736)),
-			btVector3(btScalar(-0.262869), btScalar(-0.809012), btScalar(0.525738)),
-			btVector3(btScalar(-0.850648), btScalar(0.000000), btScalar(0.525736)),
-			btVector3(btScalar(-0.262869), btScalar(0.809012), btScalar(0.525738)),
-			btVector3(btScalar(0.688190), btScalar(0.499997), btScalar(0.525736)),
-			btVector3(btScalar(0.525730), btScalar(0.000000), btScalar(0.850652)),
-			btVector3(btScalar(0.162456), btScalar(-0.499995), btScalar(0.850654)),
-			btVector3(btScalar(-0.425323), btScalar(-0.309011), btScalar(0.850654)),
-			btVector3(btScalar(-0.425323), btScalar(0.309011), btScalar(0.850654)),
-			btVector3(btScalar(0.162456), btScalar(0.499995), btScalar(0.850654))};
-	if (highres)
-		return sUnitSpherePointsHighres;
-	return sUnitSpherePoints;
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h
deleted file mode 100644
index 54439f9ca2..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///btShapeHull implemented by John McCutchan.
-
-#ifndef BT_SHAPE_HULL_H
-#define BT_SHAPE_HULL_H
-
-#include "LinearMath/btAlignedObjectArray.h"
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-
-///The btShapeHull class takes a btConvexShape, builds a simplified convex hull using btConvexHull and provides triangle indices and vertices.
-///It can be useful for to simplify a complex convex object and for visualization of a non-polyhedral convex object.
-///It approximates the convex hull using the supporting vertex of 42 directions.
-ATTRIBUTE_ALIGNED16(class)
-btShapeHull
-{
-protected:
-	btAlignedObjectArray<btVector3> m_vertices;
-	btAlignedObjectArray<unsigned int> m_indices;
-	unsigned int m_numIndices;
-	const btConvexShape* m_shape;
-
-	static btVector3* getUnitSpherePoints(int highres = 0);
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btShapeHull(const btConvexShape* shape);
-	~btShapeHull();
-
-	bool buildHull(btScalar margin, int highres = 0);
-
-	int numTriangles() const;
-	int numVertices() const;
-	int numIndices() const;
-
-	const btVector3* getVertexPointer() const
-	{
-		return &m_vertices[0];
-	}
-	const unsigned int* getIndexPointer() const
-	{
-		return &m_indices[0];
-	}
-};
-
-#endif  //BT_SHAPE_HULL_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp
deleted file mode 100644
index 027db2e104..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btSphereShape.h"
-#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
-
-#include "LinearMath/btQuaternion.h"
-
-btVector3 btSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
-{
-	(void)vec;
-	return btVector3(btScalar(0.), btScalar(0.), btScalar(0.));
-}
-
-void btSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-{
-	(void)vectors;
-
-	for (int i = 0; i < numVectors; i++)
-	{
-		supportVerticesOut[i].setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-	}
-}
-
-btVector3 btSphereShape::localGetSupportingVertex(const btVector3& vec) const
-{
-	btVector3 supVertex;
-	supVertex = localGetSupportingVertexWithoutMargin(vec);
-
-	btVector3 vecnorm = vec;
-	if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
-	{
-		vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
-	}
-	vecnorm.normalize();
-	supVertex += getMargin() * vecnorm;
-	return supVertex;
-}
-
-//broken due to scaling
-void btSphereShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	const btVector3& center = t.getOrigin();
-	btVector3 extent(getMargin(), getMargin(), getMargin());
-	aabbMin = center - extent;
-	aabbMax = center + extent;
-}
-
-void btSphereShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
-{
-	btScalar elem = btScalar(0.4) * mass * getMargin() * getMargin();
-	inertia.setValue(elem, elem, elem);
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.h
deleted file mode 100644
index 75e4fd8e18..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-#ifndef BT_SPHERE_MINKOWSKI_H
-#define BT_SPHERE_MINKOWSKI_H
-
-#include "btConvexInternalShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
-
-///The btSphereShape implements an implicit sphere, centered around a local origin with radius.
-ATTRIBUTE_ALIGNED16(class)
-btSphereShape : public btConvexInternalShape
-
-{
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btSphereShape(btScalar radius) : btConvexInternalShape()
-	{
-		m_shapeType = SPHERE_SHAPE_PROXYTYPE;
-		m_localScaling.setValue(1.0, 1.0, 1.0);
-		m_implicitShapeDimensions.setZero();
-		m_implicitShapeDimensions.setX(radius);
-		m_collisionMargin = radius;
-		m_padding = 0;
-	}
-
-	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
-	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
-	//notice that the vectors should be unit length
-	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
-
-	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
-
-	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
-
-	btScalar getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX(); }
-
-	void setUnscaledRadius(btScalar radius)
-	{
-		m_implicitShapeDimensions.setX(radius);
-		btConvexInternalShape::setMargin(radius);
-	}
-
-	//debugging
-	virtual const char* getName() const { return "SPHERE"; }
-
-	virtual void setMargin(btScalar margin)
-	{
-		btConvexInternalShape::setMargin(margin);
-	}
-	virtual btScalar getMargin() const
-	{
-		//to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case
-		//this means, non-uniform scaling is not supported anymore
-		return getRadius();
-	}
-};
-
-#endif  //BT_SPHERE_MINKOWSKI_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
deleted file mode 100644
index 9238c919d5..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
+++ /dev/null
@@ -1,93 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btStaticPlaneShape.h"
-
-#include "LinearMath/btTransformUtil.h"
-
-btStaticPlaneShape::btStaticPlaneShape(const btVector3& planeNormal, btScalar planeConstant)
-	: btConcaveShape(), m_planeNormal(planeNormal.normalized()), m_planeConstant(planeConstant), m_localScaling(btScalar(1.), btScalar(1.), btScalar(1.))
-{
-	m_shapeType = STATIC_PLANE_PROXYTYPE;
-	//	btAssert( btFuzzyZero(m_planeNormal.length() - btScalar(1.)) );
-}
-
-btStaticPlaneShape::~btStaticPlaneShape()
-{
-}
-
-void btStaticPlaneShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	(void)t;
-	/*
-	btVector3 infvec (btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
-
-	btVector3 center = m_planeNormal*m_planeConstant;
-	aabbMin = center + infvec*m_planeNormal;
-	aabbMax = aabbMin;
-	aabbMin.setMin(center - infvec*m_planeNormal);
-	aabbMax.setMax(center - infvec*m_planeNormal); 
-	*/
-
-	aabbMin.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
-	aabbMax.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-}
-
-void btStaticPlaneShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
-{
-	btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
-	btScalar radius = halfExtents.length();
-	btVector3 center = (aabbMax + aabbMin) * btScalar(0.5);
-
-	//this is where the triangles are generated, given AABB and plane equation (normal/constant)
-
-	btVector3 tangentDir0, tangentDir1;
-
-	//tangentDir0/tangentDir1 can be precalculated
-	btPlaneSpace1(m_planeNormal, tangentDir0, tangentDir1);
-
-	btVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant) * m_planeNormal;
-
-	btVector3 triangle[3];
-	triangle[0] = projectedCenter + tangentDir0 * radius + tangentDir1 * radius;
-	triangle[1] = projectedCenter + tangentDir0 * radius - tangentDir1 * radius;
-	triangle[2] = projectedCenter - tangentDir0 * radius - tangentDir1 * radius;
-
-	callback->processTriangle(triangle, 0, 0);
-
-	triangle[0] = projectedCenter - tangentDir0 * radius - tangentDir1 * radius;
-	triangle[1] = projectedCenter - tangentDir0 * radius + tangentDir1 * radius;
-	triangle[2] = projectedCenter + tangentDir0 * radius + tangentDir1 * radius;
-
-	callback->processTriangle(triangle, 0, 1);
-}
-
-void btStaticPlaneShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
-{
-	(void)mass;
-
-	//moving concave objects not supported
-
-	inertia.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-}
-
-void btStaticPlaneShape::setLocalScaling(const btVector3& scaling)
-{
-	m_localScaling = scaling;
-}
-const btVector3& btStaticPlaneShape::getLocalScaling() const
-{
-	return m_localScaling;
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h
deleted file mode 100644
index 1cda8bbc75..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_STATIC_PLANE_SHAPE_H
-#define BT_STATIC_PLANE_SHAPE_H
-
-#include "btConcaveShape.h"
-
-///The btStaticPlaneShape simulates an infinite non-moving (static) collision plane.
-ATTRIBUTE_ALIGNED16(class)
-btStaticPlaneShape : public btConcaveShape
-{
-protected:
-	btVector3 m_localAabbMin;
-	btVector3 m_localAabbMax;
-
-	btVector3 m_planeNormal;
-	btScalar m_planeConstant;
-	btVector3 m_localScaling;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btStaticPlaneShape(const btVector3& planeNormal, btScalar planeConstant);
-
-	virtual ~btStaticPlaneShape();
-
-	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
-
-	virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
-
-	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
-
-	virtual void setLocalScaling(const btVector3& scaling);
-	virtual const btVector3& getLocalScaling() const;
-
-	const btVector3& getPlaneNormal() const
-	{
-		return m_planeNormal;
-	}
-
-	const btScalar& getPlaneConstant() const
-	{
-		return m_planeConstant;
-	}
-
-	//debugging
-	virtual const char* getName() const { return "STATICPLANE"; }
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btStaticPlaneShapeData
-{
-	btCollisionShapeData m_collisionShapeData;
-
-	btVector3FloatData m_localScaling;
-	btVector3FloatData m_planeNormal;
-	float m_planeConstant;
-	char m_pad[4];
-};
-
-SIMD_FORCE_INLINE int btStaticPlaneShape::calculateSerializeBufferSize() const
-{
-	return sizeof(btStaticPlaneShapeData);
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE const char* btStaticPlaneShape::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*)dataBuffer;
-	btCollisionShape::serialize(&planeData->m_collisionShapeData, serializer);
-
-	m_localScaling.serializeFloat(planeData->m_localScaling);
-	m_planeNormal.serializeFloat(planeData->m_planeNormal);
-	planeData->m_planeConstant = float(m_planeConstant);
-
-	// Fill padding with zeros to appease msan.
-	planeData->m_pad[0] = 0;
-	planeData->m_pad[1] = 0;
-	planeData->m_pad[2] = 0;
-	planeData->m_pad[3] = 0;
-
-	return "btStaticPlaneShapeData";
-}
-
-#endif  //BT_STATIC_PLANE_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
deleted file mode 100644
index eb288e99c9..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
+++ /dev/null
@@ -1,380 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btStridingMeshInterface.h"
-#include "LinearMath/btSerializer.h"
-
-btStridingMeshInterface::~btStridingMeshInterface()
-{
-}
-
-void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
-{
-	(void)aabbMin;
-	(void)aabbMax;
-	int numtotalphysicsverts = 0;
-	int part, graphicssubparts = getNumSubParts();
-	const unsigned char* vertexbase;
-	const unsigned char* indexbase;
-	int indexstride;
-	PHY_ScalarType type;
-	PHY_ScalarType gfxindextype;
-	int stride, numverts, numtriangles;
-	int gfxindex;
-	btVector3 triangle[3];
-
-	btVector3 meshScaling = getScaling();
-
-	///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
-	for (part = 0; part < graphicssubparts; part++)
-	{
-		getLockedReadOnlyVertexIndexBase(&vertexbase, numverts, type, stride, &indexbase, indexstride, numtriangles, gfxindextype, part);
-		numtotalphysicsverts += numtriangles * 3;  //upper bound
-
-		///unlike that developers want to pass in double-precision meshes in single-precision Bullet build
-		///so disable this feature by default
-		///see patch http://code.google.com/p/bullet/issues/detail?id=213
-
-		switch (type)
-		{
-			case PHY_FLOAT:
-			{
-				float* graphicsbase;
-
-				switch (gfxindextype)
-				{
-					case PHY_INTEGER:
-					{
-						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
-						{
-							unsigned int* tri_indices = (unsigned int*)(indexbase + gfxindex * indexstride);
-							graphicsbase = (float*)(vertexbase + tri_indices[0] * stride);
-							triangle[0].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (float*)(vertexbase + tri_indices[1] * stride);
-							triangle[1].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (float*)(vertexbase + tri_indices[2] * stride);
-							triangle[2].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
-							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
-						}
-						break;
-					}
-					case PHY_SHORT:
-					{
-						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
-						{
-							unsigned short int* tri_indices = (unsigned short int*)(indexbase + gfxindex * indexstride);
-							graphicsbase = (float*)(vertexbase + tri_indices[0] * stride);
-							triangle[0].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (float*)(vertexbase + tri_indices[1] * stride);
-							triangle[1].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (float*)(vertexbase + tri_indices[2] * stride);
-							triangle[2].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
-							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
-						}
-						break;
-					}
-					case PHY_UCHAR:
-					{
-						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
-						{
-							unsigned char* tri_indices = (unsigned char*)(indexbase + gfxindex * indexstride);
-							graphicsbase = (float*)(vertexbase + tri_indices[0] * stride);
-							triangle[0].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (float*)(vertexbase + tri_indices[1] * stride);
-							triangle[1].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (float*)(vertexbase + tri_indices[2] * stride);
-							triangle[2].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
-							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
-						}
-						break;
-					}
-					default:
-						btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
-				}
-				break;
-			}
-
-			case PHY_DOUBLE:
-			{
-				double* graphicsbase;
-
-				switch (gfxindextype)
-				{
-					case PHY_INTEGER:
-					{
-						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
-						{
-							unsigned int* tri_indices = (unsigned int*)(indexbase + gfxindex * indexstride);
-							graphicsbase = (double*)(vertexbase + tri_indices[0] * stride);
-							triangle[0].setValue((btScalar)graphicsbase[0] * meshScaling.getX(), (btScalar)graphicsbase[1] * meshScaling.getY(), (btScalar)graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase + tri_indices[1] * stride);
-							triangle[1].setValue((btScalar)graphicsbase[0] * meshScaling.getX(), (btScalar)graphicsbase[1] * meshScaling.getY(), (btScalar)graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase + tri_indices[2] * stride);
-							triangle[2].setValue((btScalar)graphicsbase[0] * meshScaling.getX(), (btScalar)graphicsbase[1] * meshScaling.getY(), (btScalar)graphicsbase[2] * meshScaling.getZ());
-							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
-						}
-						break;
-					}
-					case PHY_SHORT:
-					{
-						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
-						{
-							unsigned short int* tri_indices = (unsigned short int*)(indexbase + gfxindex * indexstride);
-							graphicsbase = (double*)(vertexbase + tri_indices[0] * stride);
-							triangle[0].setValue((btScalar)graphicsbase[0] * meshScaling.getX(), (btScalar)graphicsbase[1] * meshScaling.getY(), (btScalar)graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase + tri_indices[1] * stride);
-							triangle[1].setValue((btScalar)graphicsbase[0] * meshScaling.getX(), (btScalar)graphicsbase[1] * meshScaling.getY(), (btScalar)graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase + tri_indices[2] * stride);
-							triangle[2].setValue((btScalar)graphicsbase[0] * meshScaling.getX(), (btScalar)graphicsbase[1] * meshScaling.getY(), (btScalar)graphicsbase[2] * meshScaling.getZ());
-							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
-						}
-						break;
-					}
-					case PHY_UCHAR:
-					{
-						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
-						{
-							unsigned char* tri_indices = (unsigned char*)(indexbase + gfxindex * indexstride);
-							graphicsbase = (double*)(vertexbase + tri_indices[0] * stride);
-							triangle[0].setValue((btScalar)graphicsbase[0] * meshScaling.getX(), (btScalar)graphicsbase[1] * meshScaling.getY(), (btScalar)graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase + tri_indices[1] * stride);
-							triangle[1].setValue((btScalar)graphicsbase[0] * meshScaling.getX(), (btScalar)graphicsbase[1] * meshScaling.getY(), (btScalar)graphicsbase[2] * meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase + tri_indices[2] * stride);
-							triangle[2].setValue((btScalar)graphicsbase[0] * meshScaling.getX(), (btScalar)graphicsbase[1] * meshScaling.getY(), (btScalar)graphicsbase[2] * meshScaling.getZ());
-							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
-						}
-						break;
-					}
-					default:
-						btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
-				}
-				break;
-			}
-			default:
-				btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
-		}
-
-		unLockReadOnlyVertexBase(part);
-	}
-}
-
-void btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin, btVector3& aabbMax)
-{
-	struct AabbCalculationCallback : public btInternalTriangleIndexCallback
-	{
-		btVector3 m_aabbMin;
-		btVector3 m_aabbMax;
-
-		AabbCalculationCallback()
-		{
-			m_aabbMin.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-			m_aabbMax.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
-		}
-
-		virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
-		{
-			(void)partId;
-			(void)triangleIndex;
-
-			m_aabbMin.setMin(triangle[0]);
-			m_aabbMax.setMax(triangle[0]);
-			m_aabbMin.setMin(triangle[1]);
-			m_aabbMax.setMax(triangle[1]);
-			m_aabbMin.setMin(triangle[2]);
-			m_aabbMax.setMax(triangle[2]);
-		}
-	};
-
-	//first calculate the total aabb for all triangles
-	AabbCalculationCallback aabbCallback;
-	aabbMin.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
-	aabbMax.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-	InternalProcessAllTriangles(&aabbCallback, aabbMin, aabbMax);
-
-	aabbMin = aabbCallback.m_aabbMin;
-	aabbMax = aabbCallback.m_aabbMax;
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char* btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btStridingMeshInterfaceData* trimeshData = (btStridingMeshInterfaceData*)dataBuffer;
-
-	trimeshData->m_numMeshParts = getNumSubParts();
-
-	//void* uniquePtr = 0;
-
-	trimeshData->m_meshPartsPtr = 0;
-
-	if (trimeshData->m_numMeshParts)
-	{
-		btChunk* chunk = serializer->allocate(sizeof(btMeshPartData), trimeshData->m_numMeshParts);
-		btMeshPartData* memPtr = (btMeshPartData*)chunk->m_oldPtr;
-		trimeshData->m_meshPartsPtr = (btMeshPartData*)serializer->getUniquePointer(memPtr);
-
-		//	int numtotalphysicsverts = 0;
-		int part, graphicssubparts = getNumSubParts();
-		const unsigned char* vertexbase;
-		const unsigned char* indexbase;
-		int indexstride;
-		PHY_ScalarType type;
-		PHY_ScalarType gfxindextype;
-		int stride, numverts, numtriangles;
-		int gfxindex;
-		//	btVector3 triangle[3];
-
-		//	btVector3 meshScaling = getScaling();
-
-		///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
-		for (part = 0; part < graphicssubparts; part++, memPtr++)
-		{
-			getLockedReadOnlyVertexIndexBase(&vertexbase, numverts, type, stride, &indexbase, indexstride, numtriangles, gfxindextype, part);
-			memPtr->m_numTriangles = numtriangles;  //indices = 3*numtriangles
-			memPtr->m_numVertices = numverts;
-			memPtr->m_indices16 = 0;
-			memPtr->m_indices32 = 0;
-			memPtr->m_3indices16 = 0;
-			memPtr->m_3indices8 = 0;
-			memPtr->m_vertices3f = 0;
-			memPtr->m_vertices3d = 0;
-
-			switch (gfxindextype)
-			{
-				case PHY_INTEGER:
-				{
-					int numindices = numtriangles * 3;
-
-					if (numindices)
-					{
-						btChunk* chunk = serializer->allocate(sizeof(btIntIndexData), numindices);
-						btIntIndexData* tmpIndices = (btIntIndexData*)chunk->m_oldPtr;
-						memPtr->m_indices32 = (btIntIndexData*)serializer->getUniquePointer(tmpIndices);
-						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
-						{
-							unsigned int* tri_indices = (unsigned int*)(indexbase + gfxindex * indexstride);
-							tmpIndices[gfxindex * 3].m_value = tri_indices[0];
-							tmpIndices[gfxindex * 3 + 1].m_value = tri_indices[1];
-							tmpIndices[gfxindex * 3 + 2].m_value = tri_indices[2];
-						}
-						serializer->finalizeChunk(chunk, "btIntIndexData", BT_ARRAY_CODE, (void*)chunk->m_oldPtr);
-					}
-					break;
-				}
-				case PHY_SHORT:
-				{
-					if (numtriangles)
-					{
-						btChunk* chunk = serializer->allocate(sizeof(btShortIntIndexTripletData), numtriangles);
-						btShortIntIndexTripletData* tmpIndices = (btShortIntIndexTripletData*)chunk->m_oldPtr;
-						memPtr->m_3indices16 = (btShortIntIndexTripletData*)serializer->getUniquePointer(tmpIndices);
-						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
-						{
-							unsigned short int* tri_indices = (unsigned short int*)(indexbase + gfxindex * indexstride);
-							tmpIndices[gfxindex].m_values[0] = tri_indices[0];
-							tmpIndices[gfxindex].m_values[1] = tri_indices[1];
-							tmpIndices[gfxindex].m_values[2] = tri_indices[2];
-							// Fill padding with zeros to appease msan.
-							tmpIndices[gfxindex].m_pad[0] = 0;
-							tmpIndices[gfxindex].m_pad[1] = 0;
-						}
-						serializer->finalizeChunk(chunk, "btShortIntIndexTripletData", BT_ARRAY_CODE, (void*)chunk->m_oldPtr);
-					}
-					break;
-				}
-				case PHY_UCHAR:
-				{
-					if (numtriangles)
-					{
-						btChunk* chunk = serializer->allocate(sizeof(btCharIndexTripletData), numtriangles);
-						btCharIndexTripletData* tmpIndices = (btCharIndexTripletData*)chunk->m_oldPtr;
-						memPtr->m_3indices8 = (btCharIndexTripletData*)serializer->getUniquePointer(tmpIndices);
-						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
-						{
-							unsigned char* tri_indices = (unsigned char*)(indexbase + gfxindex * indexstride);
-							tmpIndices[gfxindex].m_values[0] = tri_indices[0];
-							tmpIndices[gfxindex].m_values[1] = tri_indices[1];
-							tmpIndices[gfxindex].m_values[2] = tri_indices[2];
-							// Fill padding with zeros to appease msan.
-							tmpIndices[gfxindex].m_pad = 0;
-						}
-						serializer->finalizeChunk(chunk, "btCharIndexTripletData", BT_ARRAY_CODE, (void*)chunk->m_oldPtr);
-					}
-					break;
-				}
-				default:
-				{
-					btAssert(0);
-					//unknown index type
-				}
-			}
-
-			switch (type)
-			{
-				case PHY_FLOAT:
-				{
-					float* graphicsbase;
-
-					if (numverts)
-					{
-						btChunk* chunk = serializer->allocate(sizeof(btVector3FloatData), numverts);
-						btVector3FloatData* tmpVertices = (btVector3FloatData*)chunk->m_oldPtr;
-						memPtr->m_vertices3f = (btVector3FloatData*)serializer->getUniquePointer(tmpVertices);
-						for (int i = 0; i < numverts; i++)
-						{
-							graphicsbase = (float*)(vertexbase + i * stride);
-							tmpVertices[i].m_floats[0] = graphicsbase[0];
-							tmpVertices[i].m_floats[1] = graphicsbase[1];
-							tmpVertices[i].m_floats[2] = graphicsbase[2];
-						}
-						serializer->finalizeChunk(chunk, "btVector3FloatData", BT_ARRAY_CODE, (void*)chunk->m_oldPtr);
-					}
-					break;
-				}
-
-				case PHY_DOUBLE:
-				{
-					if (numverts)
-					{
-						btChunk* chunk = serializer->allocate(sizeof(btVector3DoubleData), numverts);
-						btVector3DoubleData* tmpVertices = (btVector3DoubleData*)chunk->m_oldPtr;
-						memPtr->m_vertices3d = (btVector3DoubleData*)serializer->getUniquePointer(tmpVertices);
-						for (int i = 0; i < numverts; i++)
-						{
-							double* graphicsbase = (double*)(vertexbase + i * stride);  //for now convert to float, might leave it at double
-							tmpVertices[i].m_floats[0] = graphicsbase[0];
-							tmpVertices[i].m_floats[1] = graphicsbase[1];
-							tmpVertices[i].m_floats[2] = graphicsbase[2];
-						}
-						serializer->finalizeChunk(chunk, "btVector3DoubleData", BT_ARRAY_CODE, (void*)chunk->m_oldPtr);
-					}
-					break;
-				}
-
-				default:
-					btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
-			}
-
-			unLockReadOnlyVertexBase(part);
-		}
-
-		serializer->finalizeChunk(chunk, "btMeshPartData", BT_ARRAY_CODE, chunk->m_oldPtr);
-	}
-
-	// Fill padding with zeros to appease msan.
-	memset(trimeshData->m_padding, 0, sizeof(trimeshData->m_padding));
-
-	m_scaling.serializeFloat(trimeshData->m_scaling);
-	return "btStridingMeshInterfaceData";
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h
deleted file mode 100644
index 68a41dfb45..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h
+++ /dev/null
@@ -1,153 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_STRIDING_MESHINTERFACE_H
-#define BT_STRIDING_MESHINTERFACE_H
-
-#include "LinearMath/btVector3.h"
-#include "btTriangleCallback.h"
-#include "btConcaveShape.h"
-
-///	The btStridingMeshInterface is the interface class for high performance generic access to triangle meshes, used in combination with btBvhTriangleMeshShape and some other collision shapes.
-/// Using index striding of 3*sizeof(integer) it can use triangle arrays, using index striding of 1*sizeof(integer) it can handle triangle strips.
-/// It allows for sharing graphics and collision meshes. Also it provides locking/unlocking of graphics meshes that are in gpu memory.
-ATTRIBUTE_ALIGNED16(class)
-btStridingMeshInterface
-{
-protected:
-	btVector3 m_scaling;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btStridingMeshInterface() : m_scaling(btScalar(1.), btScalar(1.), btScalar(1.))
-	{
-	}
-
-	virtual ~btStridingMeshInterface();
-
-	virtual void InternalProcessAllTriangles(btInternalTriangleIndexCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
-
-	///brute force method to calculate aabb
-	void calculateAabbBruteForce(btVector3 & aabbMin, btVector3 & aabbMax);
-
-	/// get read and write access to a subpart of a triangle mesh
-	/// this subpart has a continuous array of vertices and indices
-	/// in this way the mesh can be handled as chunks of memory with striding
-	/// very similar to OpenGL vertexarray support
-	/// make a call to unLockVertexBase when the read and write access is finished
-	virtual void getLockedVertexIndexBase(unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& stride, unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart = 0) = 0;
-
-	virtual void getLockedReadOnlyVertexIndexBase(const unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& stride, const unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart = 0) const = 0;
-
-	/// unLockVertexBase finishes the access to a subpart of the triangle mesh
-	/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
-	virtual void unLockVertexBase(int subpart) = 0;
-
-	virtual void unLockReadOnlyVertexBase(int subpart) const = 0;
-
-	/// getNumSubParts returns the number of separate subparts
-	/// each subpart has a continuous array of vertices and indices
-	virtual int getNumSubParts() const = 0;
-
-	virtual void preallocateVertices(int numverts) = 0;
-	virtual void preallocateIndices(int numindices) = 0;
-
-	virtual bool hasPremadeAabb() const { return false; }
-	virtual void setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax) const
-	{
-		(void)aabbMin;
-		(void)aabbMax;
-	}
-	virtual void getPremadeAabb(btVector3 * aabbMin, btVector3 * aabbMax) const
-	{
-		(void)aabbMin;
-		(void)aabbMax;
-	}
-
-	const btVector3& getScaling() const
-	{
-		return m_scaling;
-	}
-	void setScaling(const btVector3& scaling)
-	{
-		m_scaling = scaling;
-	}
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-};
-
-struct btIntIndexData
-{
-	int m_value;
-};
-
-struct btShortIntIndexData
-{
-	short m_value;
-	char m_pad[2];
-};
-
-struct btShortIntIndexTripletData
-{
-	short m_values[3];
-	char m_pad[2];
-};
-
-struct btCharIndexTripletData
-{
-	unsigned char m_values[3];
-	char m_pad;
-};
-
-// clang-format off
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btMeshPartData
-{
-	btVector3FloatData			*m_vertices3f;
-	btVector3DoubleData			*m_vertices3d;
-
-	btIntIndexData				*m_indices32;
-	btShortIntIndexTripletData	*m_3indices16;
-	btCharIndexTripletData		*m_3indices8;
-
-	btShortIntIndexData			*m_indices16;//backwards compatibility
-
-	int                     m_numTriangles;//length of m_indices = m_numTriangles
-	int                     m_numVertices;
-};
-
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btStridingMeshInterfaceData
-{
-	btMeshPartData	*m_meshPartsPtr;
-	btVector3FloatData	m_scaling;
-	int	m_numMeshParts;
-	char m_padding[4];
-};
-
-// clang-format on
-
-SIMD_FORCE_INLINE int btStridingMeshInterface::calculateSerializeBufferSize() const
-{
-	return sizeof(btStridingMeshInterfaceData);
-}
-
-#endif  //BT_STRIDING_MESHINTERFACE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
deleted file mode 100644
index c4d33c429f..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
+++ /dev/null
@@ -1,203 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btTetrahedronShape.h"
-#include "LinearMath/btMatrix3x3.h"
-
-btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexAabbCachingShape(),
-									   m_numVertices(0)
-{
-	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
-}
-
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexAabbCachingShape(),
-														   m_numVertices(0)
-{
-	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
-	addVertex(pt0);
-}
-
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1) : btPolyhedralConvexAabbCachingShape(),
-																				 m_numVertices(0)
-{
-	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
-	addVertex(pt0);
-	addVertex(pt1);
-}
-
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1, const btVector3& pt2) : btPolyhedralConvexAabbCachingShape(),
-																									   m_numVertices(0)
-{
-	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
-	addVertex(pt0);
-	addVertex(pt1);
-	addVertex(pt2);
-}
-
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1, const btVector3& pt2, const btVector3& pt3) : btPolyhedralConvexAabbCachingShape(),
-																															 m_numVertices(0)
-{
-	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
-	addVertex(pt0);
-	addVertex(pt1);
-	addVertex(pt2);
-	addVertex(pt3);
-}
-
-void btBU_Simplex1to4::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-{
-#if 1
-	btPolyhedralConvexAabbCachingShape::getAabb(t, aabbMin, aabbMax);
-#else
-	aabbMin.setValue(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT);
-	aabbMax.setValue(-BT_LARGE_FLOAT, -BT_LARGE_FLOAT, -BT_LARGE_FLOAT);
-
-	//just transform the vertices in worldspace, and take their AABB
-	for (int i = 0; i < m_numVertices; i++)
-	{
-		btVector3 worldVertex = t(m_vertices[i]);
-		aabbMin.setMin(worldVertex);
-		aabbMax.setMax(worldVertex);
-	}
-#endif
-}
-
-void btBU_Simplex1to4::addVertex(const btVector3& pt)
-{
-	m_vertices[m_numVertices++] = pt;
-	recalcLocalAabb();
-}
-
-int btBU_Simplex1to4::getNumVertices() const
-{
-	return m_numVertices;
-}
-
-int btBU_Simplex1to4::getNumEdges() const
-{
-	//euler formula, F-E+V = 2, so E = F+V-2
-
-	switch (m_numVertices)
-	{
-		case 0:
-			return 0;
-		case 1:
-			return 0;
-		case 2:
-			return 1;
-		case 3:
-			return 3;
-		case 4:
-			return 6;
-	}
-
-	return 0;
-}
-
-void btBU_Simplex1to4::getEdge(int i, btVector3& pa, btVector3& pb) const
-{
-	switch (m_numVertices)
-	{
-		case 2:
-			pa = m_vertices[0];
-			pb = m_vertices[1];
-			break;
-		case 3:
-			switch (i)
-			{
-				case 0:
-					pa = m_vertices[0];
-					pb = m_vertices[1];
-					break;
-				case 1:
-					pa = m_vertices[1];
-					pb = m_vertices[2];
-					break;
-				case 2:
-					pa = m_vertices[2];
-					pb = m_vertices[0];
-					break;
-			}
-			break;
-		case 4:
-			switch (i)
-			{
-				case 0:
-					pa = m_vertices[0];
-					pb = m_vertices[1];
-					break;
-				case 1:
-					pa = m_vertices[1];
-					pb = m_vertices[2];
-					break;
-				case 2:
-					pa = m_vertices[2];
-					pb = m_vertices[0];
-					break;
-				case 3:
-					pa = m_vertices[0];
-					pb = m_vertices[3];
-					break;
-				case 4:
-					pa = m_vertices[1];
-					pb = m_vertices[3];
-					break;
-				case 5:
-					pa = m_vertices[2];
-					pb = m_vertices[3];
-					break;
-			}
-	}
-}
-
-void btBU_Simplex1to4::getVertex(int i, btVector3& vtx) const
-{
-	vtx = m_vertices[i];
-}
-
-int btBU_Simplex1to4::getNumPlanes() const
-{
-	switch (m_numVertices)
-	{
-		case 0:
-			return 0;
-		case 1:
-			return 0;
-		case 2:
-			return 0;
-		case 3:
-			return 2;
-		case 4:
-			return 4;
-		default:
-		{
-		}
-	}
-	return 0;
-}
-
-void btBU_Simplex1to4::getPlane(btVector3&, btVector3&, int) const
-{
-}
-
-int btBU_Simplex1to4::getIndex(int) const
-{
-	return 0;
-}
-
-bool btBU_Simplex1to4::isInside(const btVector3&, btScalar) const
-{
-	return false;
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.h
deleted file mode 100644
index f5e2209ed0..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SIMPLEX_1TO4_SHAPE
-#define BT_SIMPLEX_1TO4_SHAPE
-
-#include "btPolyhedralConvexShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-
-///The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes. In most cases it is better to use btConvexHullShape instead.
-ATTRIBUTE_ALIGNED16(class)
-btBU_Simplex1to4 : public btPolyhedralConvexAabbCachingShape
-{
-protected:
-	int m_numVertices;
-	btVector3 m_vertices[4];
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btBU_Simplex1to4();
-
-	btBU_Simplex1to4(const btVector3& pt0);
-	btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1);
-	btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1, const btVector3& pt2);
-	btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1, const btVector3& pt2, const btVector3& pt3);
-
-	void reset()
-	{
-		m_numVertices = 0;
-	}
-
-	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
-
-	void addVertex(const btVector3& pt);
-
-	//PolyhedralConvexShape interface
-
-	virtual int getNumVertices() const;
-
-	virtual int getNumEdges() const;
-
-	virtual void getEdge(int i, btVector3& pa, btVector3& pb) const;
-
-	virtual void getVertex(int i, btVector3& vtx) const;
-
-	virtual int getNumPlanes() const;
-
-	virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const;
-
-	virtual int getIndex(int i) const;
-
-	virtual bool isInside(const btVector3& pt, btScalar tolerance) const;
-
-	///getName is for debugging
-	virtual const char* getName() const { return "btBU_Simplex1to4"; }
-};
-
-#endif  //BT_SIMPLEX_1TO4_SHAPE
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.cpp
deleted file mode 100644
index 3b6db2b39f..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.cpp
+++ /dev/null
@@ -1,28 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btTriangleBuffer.h"
-
-void btTriangleBuffer::processTriangle(btVector3* triangle, int partId, int triangleIndex)
-{
-	btTriangle tri;
-	tri.m_vertex0 = triangle[0];
-	tri.m_vertex1 = triangle[1];
-	tri.m_vertex2 = triangle[2];
-	tri.m_partId = partId;
-	tri.m_triangleIndex = triangleIndex;
-
-	m_triangleBuffer.push_back(tri);
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.h
deleted file mode 100644
index a89b9cd8a4..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.h
+++ /dev/null
@@ -1,63 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_TRIANGLE_BUFFER_H
-#define BT_TRIANGLE_BUFFER_H
-
-#include "btTriangleCallback.h"
-#include "LinearMath/btAlignedObjectArray.h"
-
-struct btTriangle
-{
-	btVector3 m_vertex0;
-	btVector3 m_vertex1;
-	btVector3 m_vertex2;
-	int m_partId;
-	int m_triangleIndex;
-};
-
-///The btTriangleBuffer callback can be useful to collect and store overlapping triangles between AABB and concave objects that support 'processAllTriangles'
-///Example usage of this class:
-///			btTriangleBuffer	triBuf;
-///			concaveShape->processAllTriangles(&triBuf,aabbMin, aabbMax);
-///			for (int i=0;i<triBuf.getNumTriangles();i++)
-///			{
-///				const btTriangle& tri = triBuf.getTriangle(i);
-///				//do something useful here with the triangle
-///			}
-class btTriangleBuffer : public btTriangleCallback
-{
-	btAlignedObjectArray<btTriangle> m_triangleBuffer;
-
-public:
-	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
-
-	int getNumTriangles() const
-	{
-		return int(m_triangleBuffer.size());
-	}
-
-	const btTriangle& getTriangle(int index) const
-	{
-		return m_triangleBuffer[index];
-	}
-
-	void clearBuffer()
-	{
-		m_triangleBuffer.clear();
-	}
-};
-
-#endif  //BT_TRIANGLE_BUFFER_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleCallback.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleCallback.cpp
deleted file mode 100644
index 5bd2c595fe..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleCallback.cpp
+++ /dev/null
@@ -1,24 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btTriangleCallback.h"
-
-btTriangleCallback::~btTriangleCallback()
-{
-}
-
-btInternalTriangleIndexCallback::~btInternalTriangleIndexCallback()
-{
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleCallback.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleCallback.h
deleted file mode 100644
index d3644891ee..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleCallback.h
+++ /dev/null
@@ -1,37 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_TRIANGLE_CALLBACK_H
-#define BT_TRIANGLE_CALLBACK_H
-
-#include "LinearMath/btVector3.h"
-
-///The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTriangles.
-///This callback is called by processAllTriangles for all btConcaveShape derived class, such as  btBvhTriangleMeshShape, btStaticPlaneShape and btHeightfieldTerrainShape.
-class btTriangleCallback
-{
-public:
-	virtual ~btTriangleCallback();
-	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) = 0;
-};
-
-class btInternalTriangleIndexCallback
-{
-public:
-	virtual ~btInternalTriangleIndexCallback();
-	virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex) = 0;
-};
-
-#endif  //BT_TRIANGLE_CALLBACK_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
deleted file mode 100644
index dae4255194..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
+++ /dev/null
@@ -1,90 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btTriangleIndexVertexArray.h"
-
-btTriangleIndexVertexArray::btTriangleIndexVertexArray(int numTriangles, int* triangleIndexBase, int triangleIndexStride, int numVertices, btScalar* vertexBase, int vertexStride)
-	: m_hasAabb(0)
-{
-	btIndexedMesh mesh;
-
-	mesh.m_numTriangles = numTriangles;
-	mesh.m_triangleIndexBase = (const unsigned char*)triangleIndexBase;
-	mesh.m_triangleIndexStride = triangleIndexStride;
-	mesh.m_numVertices = numVertices;
-	mesh.m_vertexBase = (const unsigned char*)vertexBase;
-	mesh.m_vertexStride = vertexStride;
-
-	addIndexedMesh(mesh);
-}
-
-btTriangleIndexVertexArray::~btTriangleIndexVertexArray()
-{
-}
-
-void btTriangleIndexVertexArray::getLockedVertexIndexBase(unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& vertexStride, unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart)
-{
-	btAssert(subpart < getNumSubParts());
-
-	btIndexedMesh& mesh = m_indexedMeshes[subpart];
-
-	numverts = mesh.m_numVertices;
-	(*vertexbase) = (unsigned char*)mesh.m_vertexBase;
-
-	type = mesh.m_vertexType;
-
-	vertexStride = mesh.m_vertexStride;
-
-	numfaces = mesh.m_numTriangles;
-
-	(*indexbase) = (unsigned char*)mesh.m_triangleIndexBase;
-	indexstride = mesh.m_triangleIndexStride;
-	indicestype = mesh.m_indexType;
-}
-
-void btTriangleIndexVertexArray::getLockedReadOnlyVertexIndexBase(const unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& vertexStride, const unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart) const
-{
-	const btIndexedMesh& mesh = m_indexedMeshes[subpart];
-
-	numverts = mesh.m_numVertices;
-	(*vertexbase) = (const unsigned char*)mesh.m_vertexBase;
-
-	type = mesh.m_vertexType;
-
-	vertexStride = mesh.m_vertexStride;
-
-	numfaces = mesh.m_numTriangles;
-	(*indexbase) = (const unsigned char*)mesh.m_triangleIndexBase;
-	indexstride = mesh.m_triangleIndexStride;
-	indicestype = mesh.m_indexType;
-}
-
-bool btTriangleIndexVertexArray::hasPremadeAabb() const
-{
-	return (m_hasAabb == 1);
-}
-
-void btTriangleIndexVertexArray::setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax) const
-{
-	m_aabbMin = aabbMin;
-	m_aabbMax = aabbMax;
-	m_hasAabb = 1;  // this is intentionally an int see notes in header
-}
-
-void btTriangleIndexVertexArray::getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax) const
-{
-	*aabbMin = m_aabbMin;
-	*aabbMax = m_aabbMax;
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
deleted file mode 100644
index 556aa3fef4..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_TRIANGLE_INDEX_VERTEX_ARRAY_H
-#define BT_TRIANGLE_INDEX_VERTEX_ARRAY_H
-
-#include "btStridingMeshInterface.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btScalar.h"
-
-///The btIndexedMesh indexes a single vertex and index array. Multiple btIndexedMesh objects can be passed into a btTriangleIndexVertexArray using addIndexedMesh.
-///Instead of the number of indices, we pass the number of triangles.
-ATTRIBUTE_ALIGNED16(struct)
-btIndexedMesh
-{
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	int m_numTriangles;
-	const unsigned char* m_triangleIndexBase;
-	// Size in byte of the indices for one triangle (3*sizeof(index_type) if the indices are tightly packed)
-	int m_triangleIndexStride;
-	int m_numVertices;
-	const unsigned char* m_vertexBase;
-	// Size of a vertex, in bytes
-	int m_vertexStride;
-
-	// The index type is set when adding an indexed mesh to the
-	// btTriangleIndexVertexArray, do not set it manually
-	PHY_ScalarType m_indexType;
-
-	// The vertex type has a default type similar to Bullet's precision mode (float or double)
-	// but can be set manually if you for example run Bullet with double precision but have
-	// mesh data in single precision..
-	PHY_ScalarType m_vertexType;
-
-	btIndexedMesh()
-		: m_indexType(PHY_INTEGER),
-#ifdef BT_USE_DOUBLE_PRECISION
-		  m_vertexType(PHY_DOUBLE)
-#else   // BT_USE_DOUBLE_PRECISION
-		  m_vertexType(PHY_FLOAT)
-#endif  // BT_USE_DOUBLE_PRECISION
-	{
-	}
-};
-
-typedef btAlignedObjectArray<btIndexedMesh> IndexedMeshArray;
-
-///The btTriangleIndexVertexArray allows to access multiple triangle meshes, by indexing into existing triangle/index arrays.
-///Additional meshes can be added using addIndexedMesh
-///No duplicate is made of the vertex/index data, it only indexes into external vertex/index arrays.
-///So keep those arrays around during the lifetime of this btTriangleIndexVertexArray.
-ATTRIBUTE_ALIGNED16(class)
-btTriangleIndexVertexArray : public btStridingMeshInterface
-{
-protected:
-	IndexedMeshArray m_indexedMeshes;
-	int m_pad[2];
-	mutable int m_hasAabb;  // using int instead of bool to maintain alignment
-	mutable btVector3 m_aabbMin;
-	mutable btVector3 m_aabbMax;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btTriangleIndexVertexArray() : m_hasAabb(0)
-	{
-	}
-
-	virtual ~btTriangleIndexVertexArray();
-
-	//just to be backwards compatible
-	btTriangleIndexVertexArray(int numTriangles, int* triangleIndexBase, int triangleIndexStride, int numVertices, btScalar* vertexBase, int vertexStride);
-
-	void addIndexedMesh(const btIndexedMesh& mesh, PHY_ScalarType indexType = PHY_INTEGER)
-	{
-		m_indexedMeshes.push_back(mesh);
-		m_indexedMeshes[m_indexedMeshes.size() - 1].m_indexType = indexType;
-	}
-
-	virtual void getLockedVertexIndexBase(unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& vertexStride, unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart = 0);
-
-	virtual void getLockedReadOnlyVertexIndexBase(const unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& vertexStride, const unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart = 0) const;
-
-	/// unLockVertexBase finishes the access to a subpart of the triangle mesh
-	/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
-	virtual void unLockVertexBase(int subpart) { (void)subpart; }
-
-	virtual void unLockReadOnlyVertexBase(int subpart) const { (void)subpart; }
-
-	/// getNumSubParts returns the number of separate subparts
-	/// each subpart has a continuous array of vertices and indices
-	virtual int getNumSubParts() const
-	{
-		return (int)m_indexedMeshes.size();
-	}
-
-	IndexedMeshArray& getIndexedMeshArray()
-	{
-		return m_indexedMeshes;
-	}
-
-	const IndexedMeshArray& getIndexedMeshArray() const
-	{
-		return m_indexedMeshes;
-	}
-
-	virtual void preallocateVertices(int numverts) { (void)numverts; }
-	virtual void preallocateIndices(int numindices) { (void)numindices; }
-
-	virtual bool hasPremadeAabb() const;
-	virtual void setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax) const;
-	virtual void getPremadeAabb(btVector3 * aabbMin, btVector3 * aabbMax) const;
-};
-
-#endif  //BT_TRIANGLE_INDEX_VERTEX_ARRAY_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
deleted file mode 100644
index 4bf133d7ac..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
+++ /dev/null
@@ -1,84 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///This file was created by Alex Silverman
-
-#include "btTriangleIndexVertexMaterialArray.h"
-
-btTriangleIndexVertexMaterialArray::btTriangleIndexVertexMaterialArray(int numTriangles, int* triangleIndexBase, int triangleIndexStride,
-																	   int numVertices, btScalar* vertexBase, int vertexStride,
-																	   int numMaterials, unsigned char* materialBase, int materialStride,
-																	   int* triangleMaterialsBase, int materialIndexStride) : btTriangleIndexVertexArray(numTriangles, triangleIndexBase, triangleIndexStride, numVertices, vertexBase, vertexStride)
-{
-	btMaterialProperties mat;
-
-	mat.m_numMaterials = numMaterials;
-	mat.m_materialBase = materialBase;
-	mat.m_materialStride = materialStride;
-#ifdef BT_USE_DOUBLE_PRECISION
-	mat.m_materialType = PHY_DOUBLE;
-#else
-	mat.m_materialType = PHY_FLOAT;
-#endif
-
-	mat.m_numTriangles = numTriangles;
-	mat.m_triangleMaterialsBase = (unsigned char*)triangleMaterialsBase;
-	mat.m_triangleMaterialStride = materialIndexStride;
-	mat.m_triangleType = PHY_INTEGER;
-
-	addMaterialProperties(mat);
-}
-
-void btTriangleIndexVertexMaterialArray::getLockedMaterialBase(unsigned char** materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
-															   unsigned char** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart)
-{
-	btAssert(subpart < getNumSubParts());
-
-	btMaterialProperties& mats = m_materials[subpart];
-
-	numMaterials = mats.m_numMaterials;
-	(*materialBase) = (unsigned char*)mats.m_materialBase;
-#ifdef BT_USE_DOUBLE_PRECISION
-	materialType = PHY_DOUBLE;
-#else
-	materialType = PHY_FLOAT;
-#endif
-	materialStride = mats.m_materialStride;
-
-	numTriangles = mats.m_numTriangles;
-	(*triangleMaterialBase) = (unsigned char*)mats.m_triangleMaterialsBase;
-	triangleMaterialStride = mats.m_triangleMaterialStride;
-	triangleType = mats.m_triangleType;
-}
-
-void btTriangleIndexVertexMaterialArray::getLockedReadOnlyMaterialBase(const unsigned char** materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
-																	   const unsigned char** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart)
-{
-	btMaterialProperties& mats = m_materials[subpart];
-
-	numMaterials = mats.m_numMaterials;
-	(*materialBase) = (const unsigned char*)mats.m_materialBase;
-#ifdef BT_USE_DOUBLE_PRECISION
-	materialType = PHY_DOUBLE;
-#else
-	materialType = PHY_FLOAT;
-#endif
-	materialStride = mats.m_materialStride;
-
-	numTriangles = mats.m_numTriangles;
-	(*triangleMaterialBase) = (const unsigned char*)mats.m_triangleMaterialsBase;
-	triangleMaterialStride = mats.m_triangleMaterialStride;
-	triangleType = mats.m_triangleType;
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h
deleted file mode 100644
index 315b1e21f3..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///This file was created by Alex Silverman
-
-#ifndef BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H
-#define BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H
-
-#include "btTriangleIndexVertexArray.h"
-
-ATTRIBUTE_ALIGNED16(struct)
-btMaterialProperties
-{
-	///m_materialBase ==========> 2 btScalar values make up one material, friction then restitution
-	int m_numMaterials;
-	const unsigned char* m_materialBase;
-	int m_materialStride;
-	PHY_ScalarType m_materialType;
-	///m_numTriangles <=========== This exists in the btIndexedMesh object for the same subpart, but since we're
-	///                           padding the structure, it can be reproduced at no real cost
-	///m_triangleMaterials =====> 1 integer value makes up one entry
-	///                           eg: m_triangleMaterials[1] = 5; // This will set triangle 2 to use material 5
-	int m_numTriangles;
-	const unsigned char* m_triangleMaterialsBase;
-	int m_triangleMaterialStride;
-	///m_triangleType <========== Automatically set in addMaterialProperties
-	PHY_ScalarType m_triangleType;
-};
-
-typedef btAlignedObjectArray<btMaterialProperties> MaterialArray;
-
-///Teh btTriangleIndexVertexMaterialArray is built on TriangleIndexVertexArray
-///The addition of a material array allows for the utilization of the partID and
-///triangleIndex that are returned in the ContactAddedCallback.  As with
-///TriangleIndexVertexArray, no duplicate is made of the material data, so it
-///is the users responsibility to maintain the array during the lifetime of the
-///TriangleIndexVertexMaterialArray.
-ATTRIBUTE_ALIGNED16(class)
-btTriangleIndexVertexMaterialArray : public btTriangleIndexVertexArray
-{
-protected:
-	MaterialArray m_materials;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btTriangleIndexVertexMaterialArray()
-	{
-	}
-
-	btTriangleIndexVertexMaterialArray(int numTriangles, int* triangleIndexBase, int triangleIndexStride,
-									   int numVertices, btScalar* vertexBase, int vertexStride,
-									   int numMaterials, unsigned char* materialBase, int materialStride,
-									   int* triangleMaterialsBase, int materialIndexStride);
-
-	virtual ~btTriangleIndexVertexMaterialArray() {}
-
-	void addMaterialProperties(const btMaterialProperties& mat, PHY_ScalarType triangleType = PHY_INTEGER)
-	{
-		m_materials.push_back(mat);
-		m_materials[m_materials.size() - 1].m_triangleType = triangleType;
-	}
-
-	virtual void getLockedMaterialBase(unsigned char** materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
-									   unsigned char** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart = 0);
-
-	virtual void getLockedReadOnlyMaterialBase(const unsigned char** materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
-											   const unsigned char** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart = 0);
-};
-
-#endif  //BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h
deleted file mode 100644
index 8ee35ef5fa..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h
+++ /dev/null
@@ -1,238 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2010 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef _BT_TRIANGLE_INFO_MAP_H
-#define _BT_TRIANGLE_INFO_MAP_H
-
-#include "LinearMath/btHashMap.h"
-#include "LinearMath/btSerializer.h"
-
-///for btTriangleInfo m_flags
-#define TRI_INFO_V0V1_CONVEX 1
-#define TRI_INFO_V1V2_CONVEX 2
-#define TRI_INFO_V2V0_CONVEX 4
-
-#define TRI_INFO_V0V1_SWAP_NORMALB 8
-#define TRI_INFO_V1V2_SWAP_NORMALB 16
-#define TRI_INFO_V2V0_SWAP_NORMALB 32
-
-///The btTriangleInfo structure stores information to adjust collision normals to avoid collisions against internal edges
-///it can be generated using
-struct btTriangleInfo
-{
-	btTriangleInfo()
-	{
-		m_edgeV0V1Angle = SIMD_2_PI;
-		m_edgeV1V2Angle = SIMD_2_PI;
-		m_edgeV2V0Angle = SIMD_2_PI;
-		m_flags = 0;
-	}
-
-	int m_flags;
-
-	btScalar m_edgeV0V1Angle;
-	btScalar m_edgeV1V2Angle;
-	btScalar m_edgeV2V0Angle;
-};
-
-typedef btHashMap<btHashInt, btTriangleInfo> btInternalTriangleInfoMap;
-
-///The btTriangleInfoMap stores edge angle information for some triangles. You can compute this information yourself or using btGenerateInternalEdgeInfo.
-struct btTriangleInfoMap : public btInternalTriangleInfoMap
-{
-	btScalar m_convexEpsilon;          ///used to determine if an edge or contact normal is convex, using the dot product
-	btScalar m_planarEpsilon;          ///used to determine if a triangle edge is planar with zero angle
-	btScalar m_equalVertexThreshold;   ///used to compute connectivity: if the distance between two vertices is smaller than m_equalVertexThreshold, they are considered to be 'shared'
-	btScalar m_edgeDistanceThreshold;  ///used to determine edge contacts: if the closest distance between a contact point and an edge is smaller than this distance threshold it is considered to "hit the edge"
-	btScalar m_maxEdgeAngleThreshold;  //ignore edges that connect triangles at an angle larger than this m_maxEdgeAngleThreshold
-	btScalar m_zeroAreaThreshold;      ///used to determine if a triangle is degenerate (length squared of cross product of 2 triangle edges < threshold)
-
-	btTriangleInfoMap()
-	{
-		m_convexEpsilon = 0.00f;
-		m_planarEpsilon = 0.0001f;
-		m_equalVertexThreshold = btScalar(0.0001) * btScalar(0.0001);
-		m_edgeDistanceThreshold = btScalar(0.1);
-		m_zeroAreaThreshold = btScalar(0.0001) * btScalar(0.0001);
-		m_maxEdgeAngleThreshold = SIMD_2_PI;
-	}
-	virtual ~btTriangleInfoMap() {}
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-
-	void deSerialize(struct btTriangleInfoMapData& data);
-};
-
-// clang-format off
-
-///those fields have to be float and not btScalar for the serialization to work properly
-struct	btTriangleInfoData
-{
-	int			m_flags;
-	float	m_edgeV0V1Angle;
-	float	m_edgeV1V2Angle;
-	float	m_edgeV2V0Angle;
-};
-
-struct	btTriangleInfoMapData
-{
-	int					*m_hashTablePtr;
-	int					*m_nextPtr;
-	btTriangleInfoData	*m_valueArrayPtr;
-	int					*m_keyArrayPtr;
-
-	float	m_convexEpsilon;
-	float	m_planarEpsilon;
-	float	m_equalVertexThreshold; 
-	float	m_edgeDistanceThreshold;
-	float	m_zeroAreaThreshold;
-
-	int		m_nextSize;
-	int		m_hashTableSize;
-	int		m_numValues;
-	int		m_numKeys;
-	char	m_padding[4];
-};
-
-// clang-format on
-
-SIMD_FORCE_INLINE int btTriangleInfoMap::calculateSerializeBufferSize() const
-{
-	return sizeof(btTriangleInfoMapData);
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE const char* btTriangleInfoMap::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btTriangleInfoMapData* tmapData = (btTriangleInfoMapData*)dataBuffer;
-	tmapData->m_convexEpsilon = (float)m_convexEpsilon;
-	tmapData->m_planarEpsilon = (float)m_planarEpsilon;
-	tmapData->m_equalVertexThreshold = (float)m_equalVertexThreshold;
-	tmapData->m_edgeDistanceThreshold = (float)m_edgeDistanceThreshold;
-	tmapData->m_zeroAreaThreshold = (float)m_zeroAreaThreshold;
-
-	tmapData->m_hashTableSize = m_hashTable.size();
-
-	tmapData->m_hashTablePtr = tmapData->m_hashTableSize ? (int*)serializer->getUniquePointer((void*)&m_hashTable[0]) : 0;
-	if (tmapData->m_hashTablePtr)
-	{
-		//serialize an int buffer
-		int sz = sizeof(int);
-		int numElem = tmapData->m_hashTableSize;
-		btChunk* chunk = serializer->allocate(sz, numElem);
-		int* memPtr = (int*)chunk->m_oldPtr;
-		for (int i = 0; i < numElem; i++, memPtr++)
-		{
-			*memPtr = m_hashTable[i];
-		}
-		serializer->finalizeChunk(chunk, "int", BT_ARRAY_CODE, (void*)&m_hashTable[0]);
-	}
-
-	tmapData->m_nextSize = m_next.size();
-	tmapData->m_nextPtr = tmapData->m_nextSize ? (int*)serializer->getUniquePointer((void*)&m_next[0]) : 0;
-	if (tmapData->m_nextPtr)
-	{
-		int sz = sizeof(int);
-		int numElem = tmapData->m_nextSize;
-		btChunk* chunk = serializer->allocate(sz, numElem);
-		int* memPtr = (int*)chunk->m_oldPtr;
-		for (int i = 0; i < numElem; i++, memPtr++)
-		{
-			*memPtr = m_next[i];
-		}
-		serializer->finalizeChunk(chunk, "int", BT_ARRAY_CODE, (void*)&m_next[0]);
-	}
-
-	tmapData->m_numValues = m_valueArray.size();
-	tmapData->m_valueArrayPtr = tmapData->m_numValues ? (btTriangleInfoData*)serializer->getUniquePointer((void*)&m_valueArray[0]) : 0;
-	if (tmapData->m_valueArrayPtr)
-	{
-		int sz = sizeof(btTriangleInfoData);
-		int numElem = tmapData->m_numValues;
-		btChunk* chunk = serializer->allocate(sz, numElem);
-		btTriangleInfoData* memPtr = (btTriangleInfoData*)chunk->m_oldPtr;
-		for (int i = 0; i < numElem; i++, memPtr++)
-		{
-			memPtr->m_edgeV0V1Angle = (float)m_valueArray[i].m_edgeV0V1Angle;
-			memPtr->m_edgeV1V2Angle = (float)m_valueArray[i].m_edgeV1V2Angle;
-			memPtr->m_edgeV2V0Angle = (float)m_valueArray[i].m_edgeV2V0Angle;
-			memPtr->m_flags = m_valueArray[i].m_flags;
-		}
-		serializer->finalizeChunk(chunk, "btTriangleInfoData", BT_ARRAY_CODE, (void*)&m_valueArray[0]);
-	}
-
-	tmapData->m_numKeys = m_keyArray.size();
-	tmapData->m_keyArrayPtr = tmapData->m_numKeys ? (int*)serializer->getUniquePointer((void*)&m_keyArray[0]) : 0;
-	if (tmapData->m_keyArrayPtr)
-	{
-		int sz = sizeof(int);
-		int numElem = tmapData->m_numValues;
-		btChunk* chunk = serializer->allocate(sz, numElem);
-		int* memPtr = (int*)chunk->m_oldPtr;
-		for (int i = 0; i < numElem; i++, memPtr++)
-		{
-			*memPtr = m_keyArray[i].getUid1();
-		}
-		serializer->finalizeChunk(chunk, "int", BT_ARRAY_CODE, (void*)&m_keyArray[0]);
-	}
-
-	// Fill padding with zeros to appease msan.
-	tmapData->m_padding[0] = 0;
-	tmapData->m_padding[1] = 0;
-	tmapData->m_padding[2] = 0;
-	tmapData->m_padding[3] = 0;
-
-	return "btTriangleInfoMapData";
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE void btTriangleInfoMap::deSerialize(btTriangleInfoMapData& tmapData)
-{
-	m_convexEpsilon = tmapData.m_convexEpsilon;
-	m_planarEpsilon = tmapData.m_planarEpsilon;
-	m_equalVertexThreshold = tmapData.m_equalVertexThreshold;
-	m_edgeDistanceThreshold = tmapData.m_edgeDistanceThreshold;
-	m_zeroAreaThreshold = tmapData.m_zeroAreaThreshold;
-	m_hashTable.resize(tmapData.m_hashTableSize);
-	int i = 0;
-	for (i = 0; i < tmapData.m_hashTableSize; i++)
-	{
-		m_hashTable[i] = tmapData.m_hashTablePtr[i];
-	}
-	m_next.resize(tmapData.m_nextSize);
-	for (i = 0; i < tmapData.m_nextSize; i++)
-	{
-		m_next[i] = tmapData.m_nextPtr[i];
-	}
-	m_valueArray.resize(tmapData.m_numValues);
-	for (i = 0; i < tmapData.m_numValues; i++)
-	{
-		m_valueArray[i].m_edgeV0V1Angle = tmapData.m_valueArrayPtr[i].m_edgeV0V1Angle;
-		m_valueArray[i].m_edgeV1V2Angle = tmapData.m_valueArrayPtr[i].m_edgeV1V2Angle;
-		m_valueArray[i].m_edgeV2V0Angle = tmapData.m_valueArrayPtr[i].m_edgeV2V0Angle;
-		m_valueArray[i].m_flags = tmapData.m_valueArrayPtr[i].m_flags;
-	}
-
-	m_keyArray.resize(tmapData.m_numKeys, btHashInt(0));
-	for (i = 0; i < tmapData.m_numKeys; i++)
-	{
-		m_keyArray[i].setUid1(tmapData.m_keyArrayPtr[i]);
-	}
-}
-
-#endif  //_BT_TRIANGLE_INFO_MAP_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.cpp
deleted file mode 100644
index abd8c22786..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.cpp
+++ /dev/null
@@ -1,167 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btTriangleMesh.h"
-
-btTriangleMesh::btTriangleMesh(bool use32bitIndices, bool use4componentVertices)
-	: m_use32bitIndices(use32bitIndices),
-	  m_use4componentVertices(use4componentVertices),
-	  m_weldingThreshold(0.0)
-{
-	btIndexedMesh meshIndex;
-	meshIndex.m_numTriangles = 0;
-	meshIndex.m_numVertices = 0;
-	meshIndex.m_indexType = PHY_INTEGER;
-	meshIndex.m_triangleIndexBase = 0;
-	meshIndex.m_triangleIndexStride = 3 * sizeof(int);
-	meshIndex.m_vertexBase = 0;
-	meshIndex.m_vertexStride = sizeof(btVector3);
-	m_indexedMeshes.push_back(meshIndex);
-
-	if (m_use32bitIndices)
-	{
-		m_indexedMeshes[0].m_numTriangles = m_32bitIndices.size() / 3;
-		m_indexedMeshes[0].m_triangleIndexBase = 0;
-		m_indexedMeshes[0].m_indexType = PHY_INTEGER;
-		m_indexedMeshes[0].m_triangleIndexStride = 3 * sizeof(int);
-	}
-	else
-	{
-		m_indexedMeshes[0].m_numTriangles = m_16bitIndices.size() / 3;
-		m_indexedMeshes[0].m_triangleIndexBase = 0;
-		m_indexedMeshes[0].m_indexType = PHY_SHORT;
-		m_indexedMeshes[0].m_triangleIndexStride = 3 * sizeof(short int);
-	}
-
-	if (m_use4componentVertices)
-	{
-		m_indexedMeshes[0].m_numVertices = m_4componentVertices.size();
-		m_indexedMeshes[0].m_vertexBase = 0;
-		m_indexedMeshes[0].m_vertexStride = sizeof(btVector3);
-	}
-	else
-	{
-		m_indexedMeshes[0].m_numVertices = m_3componentVertices.size() / 3;
-		m_indexedMeshes[0].m_vertexBase = 0;
-		m_indexedMeshes[0].m_vertexStride = 3 * sizeof(btScalar);
-	}
-}
-
-void btTriangleMesh::addIndex(int index)
-{
-	if (m_use32bitIndices)
-	{
-		m_32bitIndices.push_back(index);
-		m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*)&m_32bitIndices[0];
-	}
-	else
-	{
-		m_16bitIndices.push_back(index);
-		m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*)&m_16bitIndices[0];
-	}
-}
-
-void btTriangleMesh::addTriangleIndices(int index1, int index2, int index3)
-{
-	m_indexedMeshes[0].m_numTriangles++;
-	addIndex(index1);
-	addIndex(index2);
-	addIndex(index3);
-}
-
-int btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices)
-{
-	//return index of new/existing vertex
-	///@todo: could use acceleration structure for this
-	if (m_use4componentVertices)
-	{
-		if (removeDuplicateVertices)
-		{
-			for (int i = 0; i < m_4componentVertices.size(); i++)
-			{
-				if ((m_4componentVertices[i] - vertex).length2() <= m_weldingThreshold)
-				{
-					return i;
-				}
-			}
-		}
-		m_indexedMeshes[0].m_numVertices++;
-		m_4componentVertices.push_back(vertex);
-		m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_4componentVertices[0];
-
-		return m_4componentVertices.size() - 1;
-	}
-	else
-	{
-		if (removeDuplicateVertices)
-		{
-			for (int i = 0; i < m_3componentVertices.size(); i += 3)
-			{
-				btVector3 vtx(m_3componentVertices[i], m_3componentVertices[i + 1], m_3componentVertices[i + 2]);
-				if ((vtx - vertex).length2() <= m_weldingThreshold)
-				{
-					return i / 3;
-				}
-			}
-		}
-		m_3componentVertices.push_back(vertex.getX());
-		m_3componentVertices.push_back(vertex.getY());
-		m_3componentVertices.push_back(vertex.getZ());
-		m_indexedMeshes[0].m_numVertices++;
-		m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0];
-		return (m_3componentVertices.size() / 3) - 1;
-	}
-}
-
-void btTriangleMesh::addTriangle(const btVector3& vertex0, const btVector3& vertex1, const btVector3& vertex2, bool removeDuplicateVertices)
-{
-	m_indexedMeshes[0].m_numTriangles++;
-	addIndex(findOrAddVertex(vertex0, removeDuplicateVertices));
-	addIndex(findOrAddVertex(vertex1, removeDuplicateVertices));
-	addIndex(findOrAddVertex(vertex2, removeDuplicateVertices));
-}
-
-int btTriangleMesh::getNumTriangles() const
-{
-	if (m_use32bitIndices)
-	{
-		return m_32bitIndices.size() / 3;
-	}
-	return m_16bitIndices.size() / 3;
-}
-
-void btTriangleMesh::preallocateVertices(int numverts)
-{
-	if (m_use4componentVertices)
-	{
-		m_4componentVertices.reserve(numverts);
-	}
-	else
-	{
-		m_3componentVertices.reserve(numverts);
-	}
-}
-
-void btTriangleMesh::preallocateIndices(int numindices)
-{
-	if (m_use32bitIndices)
-	{
-		m_32bitIndices.reserve(numindices);
-	}
-	else
-	{
-		m_16bitIndices.reserve(numindices);
-	}
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.h
deleted file mode 100644
index a8a362355c..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_TRIANGLE_MESH_H
-#define BT_TRIANGLE_MESH_H
-
-#include "btTriangleIndexVertexArray.h"
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btAlignedObjectArray.h"
-
-///The btTriangleMesh class is a convenience class derived from btTriangleIndexVertexArray, that provides storage for a concave triangle mesh. It can be used as data for the btBvhTriangleMeshShape.
-///It allows either 32bit or 16bit indices, and 4 (x-y-z-w) or 3 (x-y-z) component vertices.
-///If you want to share triangle/index data between graphics mesh and collision mesh (btBvhTriangleMeshShape), you can directly use btTriangleIndexVertexArray or derive your own class from btStridingMeshInterface.
-///Performance of btTriangleMesh and btTriangleIndexVertexArray used in a btBvhTriangleMeshShape is the same.
-class btTriangleMesh : public btTriangleIndexVertexArray
-{
-	btAlignedObjectArray<btVector3> m_4componentVertices;
-	btAlignedObjectArray<btScalar> m_3componentVertices;
-
-	btAlignedObjectArray<unsigned int> m_32bitIndices;
-	btAlignedObjectArray<unsigned short int> m_16bitIndices;
-	bool m_use32bitIndices;
-	bool m_use4componentVertices;
-
-public:
-	btScalar m_weldingThreshold;
-
-	btTriangleMesh(bool use32bitIndices = true, bool use4componentVertices = true);
-
-	bool getUse32bitIndices() const
-	{
-		return m_use32bitIndices;
-	}
-
-	bool getUse4componentVertices() const
-	{
-		return m_use4componentVertices;
-	}
-	///By default addTriangle won't search for duplicate vertices, because the search is very slow for large triangle meshes.
-	///In general it is better to directly use btTriangleIndexVertexArray instead.
-	void addTriangle(const btVector3& vertex0, const btVector3& vertex1, const btVector3& vertex2, bool removeDuplicateVertices = false);
-
-	///Add a triangle using its indices. Make sure the indices are pointing within the vertices array, so add the vertices first (and to be sure, avoid removal of duplicate vertices)
-	void addTriangleIndices(int index1, int index2, int index3);
-
-	int getNumTriangles() const;
-
-	virtual void preallocateVertices(int numverts);
-	virtual void preallocateIndices(int numindices);
-
-	///findOrAddVertex is an internal method, use addTriangle instead
-	int findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices);
-	///addIndex is an internal method, use addTriangle instead
-	void addIndex(int index);
-};
-
-#endif  //BT_TRIANGLE_MESH_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
deleted file mode 100644
index aec239063c..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
+++ /dev/null
@@ -1,179 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btTriangleMeshShape.h"
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btQuaternion.h"
-#include "btStridingMeshInterface.h"
-#include "LinearMath/btAabbUtil2.h"
-#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
-
-btTriangleMeshShape::btTriangleMeshShape(btStridingMeshInterface* meshInterface)
-	: btConcaveShape(), m_meshInterface(meshInterface)
-{
-	m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
-	if (meshInterface->hasPremadeAabb())
-	{
-		meshInterface->getPremadeAabb(&m_localAabbMin, &m_localAabbMax);
-	}
-	else
-	{
-		recalcLocalAabb();
-	}
-}
-
-btTriangleMeshShape::~btTriangleMeshShape()
-{
-}
-
-void btTriangleMeshShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	btVector3 localHalfExtents = btScalar(0.5) * (m_localAabbMax - m_localAabbMin);
-	localHalfExtents += btVector3(getMargin(), getMargin(), getMargin());
-	btVector3 localCenter = btScalar(0.5) * (m_localAabbMax + m_localAabbMin);
-
-	btMatrix3x3 abs_b = trans.getBasis().absolute();
-
-	btVector3 center = trans(localCenter);
-
-	btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
-	aabbMin = center - extent;
-	aabbMax = center + extent;
-}
-
-void btTriangleMeshShape::recalcLocalAabb()
-{
-	for (int i = 0; i < 3; i++)
-	{
-		btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
-		vec[i] = btScalar(1.);
-		btVector3 tmp = localGetSupportingVertex(vec);
-		m_localAabbMax[i] = tmp[i] + m_collisionMargin;
-		vec[i] = btScalar(-1.);
-		tmp = localGetSupportingVertex(vec);
-		m_localAabbMin[i] = tmp[i] - m_collisionMargin;
-	}
-}
-
-class SupportVertexCallback : public btTriangleCallback
-{
-	btVector3 m_supportVertexLocal;
-
-public:
-	btTransform m_worldTrans;
-	btScalar m_maxDot;
-	btVector3 m_supportVecLocal;
-
-	SupportVertexCallback(const btVector3& supportVecWorld, const btTransform& trans)
-		: m_supportVertexLocal(btScalar(0.), btScalar(0.), btScalar(0.)), m_worldTrans(trans), m_maxDot(btScalar(-BT_LARGE_FLOAT))
-
-	{
-		m_supportVecLocal = supportVecWorld * m_worldTrans.getBasis();
-	}
-
-	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
-	{
-		(void)partId;
-		(void)triangleIndex;
-		for (int i = 0; i < 3; i++)
-		{
-			btScalar dot = m_supportVecLocal.dot(triangle[i]);
-			if (dot > m_maxDot)
-			{
-				m_maxDot = dot;
-				m_supportVertexLocal = triangle[i];
-			}
-		}
-	}
-
-	btVector3 GetSupportVertexWorldSpace()
-	{
-		return m_worldTrans(m_supportVertexLocal);
-	}
-
-	btVector3 GetSupportVertexLocal()
-	{
-		return m_supportVertexLocal;
-	}
-};
-
-void btTriangleMeshShape::setLocalScaling(const btVector3& scaling)
-{
-	m_meshInterface->setScaling(scaling);
-	recalcLocalAabb();
-}
-
-const btVector3& btTriangleMeshShape::getLocalScaling() const
-{
-	return m_meshInterface->getScaling();
-}
-
-//#define DEBUG_TRIANGLE_MESH
-
-void btTriangleMeshShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
-{
-	struct FilteredCallback : public btInternalTriangleIndexCallback
-	{
-		btTriangleCallback* m_callback;
-		btVector3 m_aabbMin;
-		btVector3 m_aabbMax;
-
-		FilteredCallback(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax)
-			: m_callback(callback),
-			  m_aabbMin(aabbMin),
-			  m_aabbMax(aabbMax)
-		{
-		}
-
-		virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
-		{
-			if (TestTriangleAgainstAabb2(&triangle[0], m_aabbMin, m_aabbMax))
-			{
-				//check aabb in triangle-space, before doing this
-				m_callback->processTriangle(triangle, partId, triangleIndex);
-			}
-		}
-	};
-
-	FilteredCallback filterCallback(callback, aabbMin, aabbMax);
-
-	m_meshInterface->InternalProcessAllTriangles(&filterCallback, aabbMin, aabbMax);
-}
-
-void btTriangleMeshShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
-{
-	(void)mass;
-	//moving concave objects not supported
-	btAssert(0);
-	inertia.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-}
-
-btVector3 btTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) const
-{
-	btVector3 supportVertex;
-
-	btTransform ident;
-	ident.setIdentity();
-
-	SupportVertexCallback supportCallback(vec, ident);
-
-	btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-
-	processAllTriangles(&supportCallback, -aabbMax, aabbMax);
-
-	supportVertex = supportCallback.GetSupportVertexLocal();
-
-	return supportVertex;
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h
deleted file mode 100644
index 4a70e283fa..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_TRIANGLE_MESH_SHAPE_H
-#define BT_TRIANGLE_MESH_SHAPE_H
-
-#include "btConcaveShape.h"
-#include "btStridingMeshInterface.h"
-
-///The btTriangleMeshShape is an internal concave triangle mesh interface. Don't use this class directly, use btBvhTriangleMeshShape instead.
-ATTRIBUTE_ALIGNED16(class)
-btTriangleMeshShape : public btConcaveShape
-{
-protected:
-	btVector3 m_localAabbMin;
-	btVector3 m_localAabbMax;
-	btStridingMeshInterface* m_meshInterface;
-
-	///btTriangleMeshShape constructor has been disabled/protected, so that users will not mistakenly use this class.
-	///Don't use btTriangleMeshShape but use btBvhTriangleMeshShape instead!
-	btTriangleMeshShape(btStridingMeshInterface * meshInterface);
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	virtual ~btTriangleMeshShape();
-
-	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
-
-	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const
-	{
-		btAssert(0);
-		return localGetSupportingVertex(vec);
-	}
-
-	void recalcLocalAabb();
-
-	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
-
-	virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
-
-	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
-
-	virtual void setLocalScaling(const btVector3& scaling);
-	virtual const btVector3& getLocalScaling() const;
-
-	btStridingMeshInterface* getMeshInterface()
-	{
-		return m_meshInterface;
-	}
-
-	const btStridingMeshInterface* getMeshInterface() const
-	{
-		return m_meshInterface;
-	}
-
-	const btVector3& getLocalAabbMin() const
-	{
-		return m_localAabbMin;
-	}
-	const btVector3& getLocalAabbMax() const
-	{
-		return m_localAabbMax;
-	}
-
-	//debugging
-	virtual const char* getName() const { return "TRIANGLEMESH"; }
-};
-
-#endif  //BT_TRIANGLE_MESH_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleShape.h
deleted file mode 100644
index 190cbdae69..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleShape.h
+++ /dev/null
@@ -1,175 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_OBB_TRIANGLE_MINKOWSKI_H
-#define BT_OBB_TRIANGLE_MINKOWSKI_H
-
-#include "btConvexShape.h"
-#include "btBoxShape.h"
-
-ATTRIBUTE_ALIGNED16(class)
-btTriangleShape : public btPolyhedralConvexShape
-{
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btVector3 m_vertices1[3];
-
-	virtual int getNumVertices() const
-	{
-		return 3;
-	}
-
-	btVector3& getVertexPtr(int index)
-	{
-		return m_vertices1[index];
-	}
-
-	const btVector3& getVertexPtr(int index) const
-	{
-		return m_vertices1[index];
-	}
-	virtual void getVertex(int index, btVector3& vert) const
-	{
-		vert = m_vertices1[index];
-	}
-
-	virtual int getNumEdges() const
-	{
-		return 3;
-	}
-
-	virtual void getEdge(int i, btVector3& pa, btVector3& pb) const
-	{
-		getVertex(i, pa);
-		getVertex((i + 1) % 3, pb);
-	}
-
-	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-	{
-		//		btAssert(0);
-		getAabbSlow(t, aabbMin, aabbMax);
-	}
-
-	btVector3 localGetSupportingVertexWithoutMargin(const btVector3& dir) const
-	{
-		btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]);
-		return m_vertices1[dots.maxAxis()];
-	}
-
-	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-	{
-		for (int i = 0; i < numVectors; i++)
-		{
-			const btVector3& dir = vectors[i];
-			btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]);
-			supportVerticesOut[i] = m_vertices1[dots.maxAxis()];
-		}
-	}
-
-	btTriangleShape() : btPolyhedralConvexShape()
-	{
-		m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
-	}
-
-	btTriangleShape(const btVector3& p0, const btVector3& p1, const btVector3& p2) : btPolyhedralConvexShape()
-	{
-		m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
-		m_vertices1[0] = p0;
-		m_vertices1[1] = p1;
-		m_vertices1[2] = p2;
-	}
-
-	virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const
-	{
-		getPlaneEquation(i, planeNormal, planeSupport);
-	}
-
-	virtual int getNumPlanes() const
-	{
-		return 1;
-	}
-
-	void calcNormal(btVector3 & normal) const
-	{
-		normal = (m_vertices1[1] - m_vertices1[0]).cross(m_vertices1[2] - m_vertices1[0]);
-		normal.normalize();
-	}
-
-	virtual void getPlaneEquation(int i, btVector3& planeNormal, btVector3& planeSupport) const
-	{
-		(void)i;
-		calcNormal(planeNormal);
-		planeSupport = m_vertices1[0];
-	}
-
-	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const
-	{
-		(void)mass;
-		btAssert(0);
-		inertia.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-	}
-
-	virtual bool isInside(const btVector3& pt, btScalar tolerance) const
-	{
-		btVector3 normal;
-		calcNormal(normal);
-		//distance to plane
-		btScalar dist = pt.dot(normal);
-		btScalar planeconst = m_vertices1[0].dot(normal);
-		dist -= planeconst;
-		if (dist >= -tolerance && dist <= tolerance)
-		{
-			//inside check on edge-planes
-			int i;
-			for (i = 0; i < 3; i++)
-			{
-				btVector3 pa, pb;
-				getEdge(i, pa, pb);
-				btVector3 edge = pb - pa;
-				btVector3 edgeNormal = edge.cross(normal);
-				edgeNormal.normalize();
-				btScalar dist = pt.dot(edgeNormal);
-				btScalar edgeConst = pa.dot(edgeNormal);
-				dist -= edgeConst;
-				if (dist < -tolerance)
-					return false;
-			}
-
-			return true;
-		}
-
-		return false;
-	}
-	//debugging
-	virtual const char* getName() const
-	{
-		return "Triangle";
-	}
-
-	virtual int getNumPreferredPenetrationDirections() const
-	{
-		return 2;
-	}
-
-	virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
-	{
-		calcNormal(penetrationVector);
-		if (index)
-			penetrationVector *= btScalar(-1.);
-	}
-};
-
-#endif  //BT_OBB_TRIANGLE_MINKOWSKI_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp
deleted file mode 100644
index ed3cd2d259..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp
+++ /dev/null
@@ -1,150 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btUniformScalingShape.h"
-
-btUniformScalingShape::btUniformScalingShape(btConvexShape* convexChildShape, btScalar uniformScalingFactor) : btConvexShape(), m_childConvexShape(convexChildShape), m_uniformScalingFactor(uniformScalingFactor)
-{
-	m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE;
-}
-
-btUniformScalingShape::~btUniformScalingShape()
-{
-}
-
-btVector3 btUniformScalingShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
-{
-	btVector3 tmpVertex;
-	tmpVertex = m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
-	return tmpVertex * m_uniformScalingFactor;
-}
-
-void btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-{
-	m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors, supportVerticesOut, numVectors);
-	int i;
-	for (i = 0; i < numVectors; i++)
-	{
-		supportVerticesOut[i] = supportVerticesOut[i] * m_uniformScalingFactor;
-	}
-}
-
-btVector3 btUniformScalingShape::localGetSupportingVertex(const btVector3& vec) const
-{
-	btVector3 tmpVertex;
-	tmpVertex = m_childConvexShape->localGetSupportingVertex(vec);
-	return tmpVertex * m_uniformScalingFactor;
-}
-
-void btUniformScalingShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
-{
-	///this linear upscaling is not realistic, but we don't deal with large mass ratios...
-	btVector3 tmpInertia;
-	m_childConvexShape->calculateLocalInertia(mass, tmpInertia);
-	inertia = tmpInertia * m_uniformScalingFactor;
-}
-
-///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-void btUniformScalingShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	getAabbSlow(trans, aabbMin, aabbMax);
-}
-
-void btUniformScalingShape::getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-{
-#if 1
-	btVector3 _directions[] =
-		{
-			btVector3(1., 0., 0.),
-			btVector3(0., 1., 0.),
-			btVector3(0., 0., 1.),
-			btVector3(-1., 0., 0.),
-			btVector3(0., -1., 0.),
-			btVector3(0., 0., -1.)};
-
-	btVector3 _supporting[] =
-		{
-			btVector3(0., 0., 0.),
-			btVector3(0., 0., 0.),
-			btVector3(0., 0., 0.),
-			btVector3(0., 0., 0.),
-			btVector3(0., 0., 0.),
-			btVector3(0., 0., 0.)};
-
-	for (int i = 0; i < 6; i++)
-	{
-		_directions[i] = _directions[i] * t.getBasis();
-	}
-
-	batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
-
-	btVector3 aabbMin1(0, 0, 0), aabbMax1(0, 0, 0);
-
-	for (int i = 0; i < 3; ++i)
-	{
-		aabbMax1[i] = t(_supporting[i])[i];
-		aabbMin1[i] = t(_supporting[i + 3])[i];
-	}
-	btVector3 marginVec(getMargin(), getMargin(), getMargin());
-	aabbMin = aabbMin1 - marginVec;
-	aabbMax = aabbMax1 + marginVec;
-
-#else
-
-	btScalar margin = getMargin();
-	for (int i = 0; i < 3; i++)
-	{
-		btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
-		vec[i] = btScalar(1.);
-		btVector3 sv = localGetSupportingVertex(vec * t.getBasis());
-		btVector3 tmp = t(sv);
-		aabbMax[i] = tmp[i] + margin;
-		vec[i] = btScalar(-1.);
-		sv = localGetSupportingVertex(vec * t.getBasis());
-		tmp = t(sv);
-		aabbMin[i] = tmp[i] - margin;
-	}
-
-#endif
-}
-
-void btUniformScalingShape::setLocalScaling(const btVector3& scaling)
-{
-	m_childConvexShape->setLocalScaling(scaling);
-}
-
-const btVector3& btUniformScalingShape::getLocalScaling() const
-{
-	return m_childConvexShape->getLocalScaling();
-}
-
-void btUniformScalingShape::setMargin(btScalar margin)
-{
-	m_childConvexShape->setMargin(margin);
-}
-btScalar btUniformScalingShape::getMargin() const
-{
-	return m_childConvexShape->getMargin() * m_uniformScalingFactor;
-}
-
-int btUniformScalingShape::getNumPreferredPenetrationDirections() const
-{
-	return m_childConvexShape->getNumPreferredPenetrationDirections();
-}
-
-void btUniformScalingShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
-{
-	m_childConvexShape->getPreferredPenetrationDirection(index, penetrationVector);
-}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.h
deleted file mode 100644
index 4dfe34efbd..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_UNIFORM_SCALING_SHAPE_H
-#define BT_UNIFORM_SCALING_SHAPE_H
-
-#include "btConvexShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
-
-///The btUniformScalingShape allows to re-use uniform scaled instances of btConvexShape in a memory efficient way.
-///Istead of using btUniformScalingShape, it is better to use the non-uniform setLocalScaling method on convex shapes that implement it.
-ATTRIBUTE_ALIGNED16(class)
-btUniformScalingShape : public btConvexShape
-{
-	btConvexShape* m_childConvexShape;
-
-	btScalar m_uniformScalingFactor;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btUniformScalingShape(btConvexShape * convexChildShape, btScalar uniformScalingFactor);
-
-	virtual ~btUniformScalingShape();
-
-	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
-
-	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
-
-	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
-
-	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
-
-	btScalar getUniformScalingFactor() const
-	{
-		return m_uniformScalingFactor;
-	}
-
-	btConvexShape* getChildShape()
-	{
-		return m_childConvexShape;
-	}
-
-	const btConvexShape* getChildShape() const
-	{
-		return m_childConvexShape;
-	}
-
-	virtual const char* getName() const
-	{
-		return "UniformScalingShape";
-	}
-
-	///////////////////////////
-
-	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-	void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
-
-	virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
-
-	virtual void setLocalScaling(const btVector3& scaling);
-	virtual const btVector3& getLocalScaling() const;
-
-	virtual void setMargin(btScalar margin);
-	virtual btScalar getMargin() const;
-
-	virtual int getNumPreferredPenetrationDirections() const;
-
-	virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const;
-};
-
-#endif  //BT_UNIFORM_SCALING_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btBoxCollision.h b/thirdparty/bullet/BulletCollision/Gimpact/btBoxCollision.h
deleted file mode 100644
index 182835c3b4..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btBoxCollision.h
+++ /dev/null
@@ -1,620 +0,0 @@
-#ifndef BT_BOX_COLLISION_H_INCLUDED
-#define BT_BOX_COLLISION_H_INCLUDED
-
-/*! \file gim_box_collision.h
-\author Francisco Leon Najera
-*/
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "LinearMath/btTransform.h"
-
-///Swap numbers
-#define BT_SWAP_NUMBERS(a, b) \
-	{                         \
-		a = a + b;            \
-		b = a - b;            \
-		a = a - b;            \
-	}
-
-#define BT_MAX(a, b) (a < b ? b : a)
-#define BT_MIN(a, b) (a > b ? b : a)
-
-#define BT_GREATER(x, y) btFabs(x) > (y)
-
-#define BT_MAX3(a, b, c) BT_MAX(a, BT_MAX(b, c))
-#define BT_MIN3(a, b, c) BT_MIN(a, BT_MIN(b, c))
-
-enum eBT_PLANE_INTERSECTION_TYPE
-{
-	BT_CONST_BACK_PLANE = 0,
-	BT_CONST_COLLIDE_PLANE,
-	BT_CONST_FRONT_PLANE
-};
-
-//SIMD_FORCE_INLINE bool test_cross_edge_box(
-//	const btVector3 & edge,
-//	const btVector3 & absolute_edge,
-//	const btVector3 & pointa,
-//	const btVector3 & pointb, const btVector3 & extend,
-//	int dir_index0,
-//	int dir_index1
-//	int component_index0,
-//	int component_index1)
-//{
-//	// dir coords are -z and y
-//
-//	const btScalar dir0 = -edge[dir_index0];
-//	const btScalar dir1 = edge[dir_index1];
-//	btScalar pmin = pointa[component_index0]*dir0 + pointa[component_index1]*dir1;
-//	btScalar pmax = pointb[component_index0]*dir0 + pointb[component_index1]*dir1;
-//	//find minmax
-//	if(pmin>pmax)
-//	{
-//		BT_SWAP_NUMBERS(pmin,pmax);
-//	}
-//	//find extends
-//	const btScalar rad = extend[component_index0] * absolute_edge[dir_index0] +
-//					extend[component_index1] * absolute_edge[dir_index1];
-//
-//	if(pmin>rad || -rad>pmax) return false;
-//	return true;
-//}
-//
-//SIMD_FORCE_INLINE bool test_cross_edge_box_X_axis(
-//	const btVector3 & edge,
-//	const btVector3 & absolute_edge,
-//	const btVector3 & pointa,
-//	const btVector3 & pointb, btVector3 & extend)
-//{
-//
-//	return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,2,1,1,2);
-//}
-//
-//
-//SIMD_FORCE_INLINE bool test_cross_edge_box_Y_axis(
-//	const btVector3 & edge,
-//	const btVector3 & absolute_edge,
-//	const btVector3 & pointa,
-//	const btVector3 & pointb, btVector3 & extend)
-//{
-//
-//	return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,0,2,2,0);
-//}
-//
-//SIMD_FORCE_INLINE bool test_cross_edge_box_Z_axis(
-//	const btVector3 & edge,
-//	const btVector3 & absolute_edge,
-//	const btVector3 & pointa,
-//	const btVector3 & pointb, btVector3 & extend)
-//{
-//
-//	return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,1,0,0,1);
-//}
-
-#define TEST_CROSS_EDGE_BOX_MCR(edge, absolute_edge, pointa, pointb, _extend, i_dir_0, i_dir_1, i_comp_0, i_comp_1) \
-	{                                                                                                               \
-		const btScalar dir0 = -edge[i_dir_0];                                                                       \
-		const btScalar dir1 = edge[i_dir_1];                                                                        \
-		btScalar pmin = pointa[i_comp_0] * dir0 + pointa[i_comp_1] * dir1;                                          \
-		btScalar pmax = pointb[i_comp_0] * dir0 + pointb[i_comp_1] * dir1;                                          \
-		if (pmin > pmax)                                                                                            \
-		{                                                                                                           \
-			BT_SWAP_NUMBERS(pmin, pmax);                                                                            \
-		}                                                                                                           \
-		const btScalar abs_dir0 = absolute_edge[i_dir_0];                                                           \
-		const btScalar abs_dir1 = absolute_edge[i_dir_1];                                                           \
-		const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;                           \
-		if (pmin > rad || -rad > pmax) return false;                                                                \
-	}
-
-#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend)       \
-	{                                                                                      \
-		TEST_CROSS_EDGE_BOX_MCR(edge, absolute_edge, pointa, pointb, _extend, 2, 1, 1, 2); \
-	}
-
-#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend)       \
-	{                                                                                      \
-		TEST_CROSS_EDGE_BOX_MCR(edge, absolute_edge, pointa, pointb, _extend, 0, 2, 2, 0); \
-	}
-
-#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend)       \
-	{                                                                                      \
-		TEST_CROSS_EDGE_BOX_MCR(edge, absolute_edge, pointa, pointb, _extend, 1, 0, 0, 1); \
-	}
-
-//! Returns the dot product between a vec3f and the col of a matrix
-SIMD_FORCE_INLINE btScalar bt_mat3_dot_col(
-	const btMatrix3x3 &mat, const btVector3 &vec3, int colindex)
-{
-	return vec3[0] * mat[0][colindex] + vec3[1] * mat[1][colindex] + vec3[2] * mat[2][colindex];
-}
-
-//!  Class for transforming a model1 to the space of model0
-ATTRIBUTE_ALIGNED16(class)
-BT_BOX_BOX_TRANSFORM_CACHE
-{
-public:
-	btVector3 m_T1to0;    //!< Transforms translation of model1 to model 0
-	btMatrix3x3 m_R1to0;  //!< Transforms Rotation of model1 to model 0, equal  to R0' * R1
-	btMatrix3x3 m_AR;     //!< Absolute value of m_R1to0
-
-	SIMD_FORCE_INLINE void calc_absolute_matrix()
-	{
-		//		static const btVector3 vepsi(1e-6f,1e-6f,1e-6f);
-		//		m_AR[0] = vepsi + m_R1to0[0].absolute();
-		//		m_AR[1] = vepsi + m_R1to0[1].absolute();
-		//		m_AR[2] = vepsi + m_R1to0[2].absolute();
-
-		int i, j;
-
-		for (i = 0; i < 3; i++)
-		{
-			for (j = 0; j < 3; j++)
-			{
-				m_AR[i][j] = 1e-6f + btFabs(m_R1to0[i][j]);
-			}
-		}
-	}
-
-	BT_BOX_BOX_TRANSFORM_CACHE()
-	{
-	}
-
-	//! Calc the transformation relative  1 to 0. Inverts matrics by transposing
-	SIMD_FORCE_INLINE void calc_from_homogenic(const btTransform &trans0, const btTransform &trans1)
-	{
-		btTransform temp_trans = trans0.inverse();
-		temp_trans = temp_trans * trans1;
-
-		m_T1to0 = temp_trans.getOrigin();
-		m_R1to0 = temp_trans.getBasis();
-
-		calc_absolute_matrix();
-	}
-
-	//! Calcs the full invertion of the matrices. Useful for scaling matrices
-	SIMD_FORCE_INLINE void calc_from_full_invert(const btTransform &trans0, const btTransform &trans1)
-	{
-		m_R1to0 = trans0.getBasis().inverse();
-		m_T1to0 = m_R1to0 * (-trans0.getOrigin());
-
-		m_T1to0 += m_R1to0 * trans1.getOrigin();
-		m_R1to0 *= trans1.getBasis();
-
-		calc_absolute_matrix();
-	}
-
-	SIMD_FORCE_INLINE btVector3 transform(const btVector3 &point) const
-	{
-		return point.dot3(m_R1to0[0], m_R1to0[1], m_R1to0[2]) + m_T1to0;
-	}
-};
-
-#define BOX_PLANE_EPSILON 0.000001f
-
-//! Axis aligned box
-ATTRIBUTE_ALIGNED16(class)
-btAABB
-{
-public:
-	btVector3 m_min;
-	btVector3 m_max;
-
-	btAABB()
-	{
-	}
-
-	btAABB(const btVector3 &V1,
-		   const btVector3 &V2,
-		   const btVector3 &V3)
-	{
-		m_min[0] = BT_MIN3(V1[0], V2[0], V3[0]);
-		m_min[1] = BT_MIN3(V1[1], V2[1], V3[1]);
-		m_min[2] = BT_MIN3(V1[2], V2[2], V3[2]);
-
-		m_max[0] = BT_MAX3(V1[0], V2[0], V3[0]);
-		m_max[1] = BT_MAX3(V1[1], V2[1], V3[1]);
-		m_max[2] = BT_MAX3(V1[2], V2[2], V3[2]);
-	}
-
-	btAABB(const btVector3 &V1,
-		   const btVector3 &V2,
-		   const btVector3 &V3,
-		   btScalar margin)
-	{
-		m_min[0] = BT_MIN3(V1[0], V2[0], V3[0]);
-		m_min[1] = BT_MIN3(V1[1], V2[1], V3[1]);
-		m_min[2] = BT_MIN3(V1[2], V2[2], V3[2]);
-
-		m_max[0] = BT_MAX3(V1[0], V2[0], V3[0]);
-		m_max[1] = BT_MAX3(V1[1], V2[1], V3[1]);
-		m_max[2] = BT_MAX3(V1[2], V2[2], V3[2]);
-
-		m_min[0] -= margin;
-		m_min[1] -= margin;
-		m_min[2] -= margin;
-		m_max[0] += margin;
-		m_max[1] += margin;
-		m_max[2] += margin;
-	}
-
-	btAABB(const btAABB &other) : m_min(other.m_min), m_max(other.m_max)
-	{
-	}
-
-	btAABB(const btAABB &other, btScalar margin) : m_min(other.m_min), m_max(other.m_max)
-	{
-		m_min[0] -= margin;
-		m_min[1] -= margin;
-		m_min[2] -= margin;
-		m_max[0] += margin;
-		m_max[1] += margin;
-		m_max[2] += margin;
-	}
-
-	SIMD_FORCE_INLINE void invalidate()
-	{
-		m_min[0] = SIMD_INFINITY;
-		m_min[1] = SIMD_INFINITY;
-		m_min[2] = SIMD_INFINITY;
-		m_max[0] = -SIMD_INFINITY;
-		m_max[1] = -SIMD_INFINITY;
-		m_max[2] = -SIMD_INFINITY;
-	}
-
-	SIMD_FORCE_INLINE void increment_margin(btScalar margin)
-	{
-		m_min[0] -= margin;
-		m_min[1] -= margin;
-		m_min[2] -= margin;
-		m_max[0] += margin;
-		m_max[1] += margin;
-		m_max[2] += margin;
-	}
-
-	SIMD_FORCE_INLINE void copy_with_margin(const btAABB &other, btScalar margin)
-	{
-		m_min[0] = other.m_min[0] - margin;
-		m_min[1] = other.m_min[1] - margin;
-		m_min[2] = other.m_min[2] - margin;
-
-		m_max[0] = other.m_max[0] + margin;
-		m_max[1] = other.m_max[1] + margin;
-		m_max[2] = other.m_max[2] + margin;
-	}
-
-	template <typename CLASS_POINT>
-	SIMD_FORCE_INLINE void calc_from_triangle(
-		const CLASS_POINT &V1,
-		const CLASS_POINT &V2,
-		const CLASS_POINT &V3)
-	{
-		m_min[0] = BT_MIN3(V1[0], V2[0], V3[0]);
-		m_min[1] = BT_MIN3(V1[1], V2[1], V3[1]);
-		m_min[2] = BT_MIN3(V1[2], V2[2], V3[2]);
-
-		m_max[0] = BT_MAX3(V1[0], V2[0], V3[0]);
-		m_max[1] = BT_MAX3(V1[1], V2[1], V3[1]);
-		m_max[2] = BT_MAX3(V1[2], V2[2], V3[2]);
-	}
-
-	template <typename CLASS_POINT>
-	SIMD_FORCE_INLINE void calc_from_triangle_margin(
-		const CLASS_POINT &V1,
-		const CLASS_POINT &V2,
-		const CLASS_POINT &V3, btScalar margin)
-	{
-		m_min[0] = BT_MIN3(V1[0], V2[0], V3[0]);
-		m_min[1] = BT_MIN3(V1[1], V2[1], V3[1]);
-		m_min[2] = BT_MIN3(V1[2], V2[2], V3[2]);
-
-		m_max[0] = BT_MAX3(V1[0], V2[0], V3[0]);
-		m_max[1] = BT_MAX3(V1[1], V2[1], V3[1]);
-		m_max[2] = BT_MAX3(V1[2], V2[2], V3[2]);
-
-		m_min[0] -= margin;
-		m_min[1] -= margin;
-		m_min[2] -= margin;
-		m_max[0] += margin;
-		m_max[1] += margin;
-		m_max[2] += margin;
-	}
-
-	//! Apply a transform to an AABB
-	SIMD_FORCE_INLINE void appy_transform(const btTransform &trans)
-	{
-		btVector3 center = (m_max + m_min) * 0.5f;
-		btVector3 extends = m_max - center;
-		// Compute new center
-		center = trans(center);
-
-		btVector3 textends = extends.dot3(trans.getBasis().getRow(0).absolute(),
-										  trans.getBasis().getRow(1).absolute(),
-										  trans.getBasis().getRow(2).absolute());
-
-		m_min = center - textends;
-		m_max = center + textends;
-	}
-
-	//! Apply a transform to an AABB
-	SIMD_FORCE_INLINE void appy_transform_trans_cache(const BT_BOX_BOX_TRANSFORM_CACHE &trans)
-	{
-		btVector3 center = (m_max + m_min) * 0.5f;
-		btVector3 extends = m_max - center;
-		// Compute new center
-		center = trans.transform(center);
-
-		btVector3 textends = extends.dot3(trans.m_R1to0.getRow(0).absolute(),
-										  trans.m_R1to0.getRow(1).absolute(),
-										  trans.m_R1to0.getRow(2).absolute());
-
-		m_min = center - textends;
-		m_max = center + textends;
-	}
-
-	//! Merges a Box
-	SIMD_FORCE_INLINE void merge(const btAABB &box)
-	{
-		m_min[0] = BT_MIN(m_min[0], box.m_min[0]);
-		m_min[1] = BT_MIN(m_min[1], box.m_min[1]);
-		m_min[2] = BT_MIN(m_min[2], box.m_min[2]);
-
-		m_max[0] = BT_MAX(m_max[0], box.m_max[0]);
-		m_max[1] = BT_MAX(m_max[1], box.m_max[1]);
-		m_max[2] = BT_MAX(m_max[2], box.m_max[2]);
-	}
-
-	//! Merges a point
-	template <typename CLASS_POINT>
-	SIMD_FORCE_INLINE void merge_point(const CLASS_POINT &point)
-	{
-		m_min[0] = BT_MIN(m_min[0], point[0]);
-		m_min[1] = BT_MIN(m_min[1], point[1]);
-		m_min[2] = BT_MIN(m_min[2], point[2]);
-
-		m_max[0] = BT_MAX(m_max[0], point[0]);
-		m_max[1] = BT_MAX(m_max[1], point[1]);
-		m_max[2] = BT_MAX(m_max[2], point[2]);
-	}
-
-	//! Gets the extend and center
-	SIMD_FORCE_INLINE void get_center_extend(btVector3 & center, btVector3 & extend) const
-	{
-		center = (m_max + m_min) * 0.5f;
-		extend = m_max - center;
-	}
-
-	//! Finds the intersecting box between this box and the other.
-	SIMD_FORCE_INLINE void find_intersection(const btAABB &other, btAABB &intersection) const
-	{
-		intersection.m_min[0] = BT_MAX(other.m_min[0], m_min[0]);
-		intersection.m_min[1] = BT_MAX(other.m_min[1], m_min[1]);
-		intersection.m_min[2] = BT_MAX(other.m_min[2], m_min[2]);
-
-		intersection.m_max[0] = BT_MIN(other.m_max[0], m_max[0]);
-		intersection.m_max[1] = BT_MIN(other.m_max[1], m_max[1]);
-		intersection.m_max[2] = BT_MIN(other.m_max[2], m_max[2]);
-	}
-
-	SIMD_FORCE_INLINE bool has_collision(const btAABB &other) const
-	{
-		if (m_min[0] > other.m_max[0] ||
-			m_max[0] < other.m_min[0] ||
-			m_min[1] > other.m_max[1] ||
-			m_max[1] < other.m_min[1] ||
-			m_min[2] > other.m_max[2] ||
-			m_max[2] < other.m_min[2])
-		{
-			return false;
-		}
-		return true;
-	}
-
-	/*! \brief Finds the Ray intersection parameter.
-	\param aabb Aligned box
-	\param vorigin A vec3f with the origin of the ray
-	\param vdir A vec3f with the direction of the ray
-	*/
-	SIMD_FORCE_INLINE bool collide_ray(const btVector3 &vorigin, const btVector3 &vdir) const
-	{
-		btVector3 extents, center;
-		this->get_center_extend(center, extents);
-		;
-
-		btScalar Dx = vorigin[0] - center[0];
-		if (BT_GREATER(Dx, extents[0]) && Dx * vdir[0] >= 0.0f) return false;
-		btScalar Dy = vorigin[1] - center[1];
-		if (BT_GREATER(Dy, extents[1]) && Dy * vdir[1] >= 0.0f) return false;
-		btScalar Dz = vorigin[2] - center[2];
-		if (BT_GREATER(Dz, extents[2]) && Dz * vdir[2] >= 0.0f) return false;
-
-		btScalar f = vdir[1] * Dz - vdir[2] * Dy;
-		if (btFabs(f) > extents[1] * btFabs(vdir[2]) + extents[2] * btFabs(vdir[1])) return false;
-		f = vdir[2] * Dx - vdir[0] * Dz;
-		if (btFabs(f) > extents[0] * btFabs(vdir[2]) + extents[2] * btFabs(vdir[0])) return false;
-		f = vdir[0] * Dy - vdir[1] * Dx;
-		if (btFabs(f) > extents[0] * btFabs(vdir[1]) + extents[1] * btFabs(vdir[0])) return false;
-		return true;
-	}
-
-	SIMD_FORCE_INLINE void projection_interval(const btVector3 &direction, btScalar &vmin, btScalar &vmax) const
-	{
-		btVector3 center = (m_max + m_min) * 0.5f;
-		btVector3 extend = m_max - center;
-
-		btScalar _fOrigin = direction.dot(center);
-		btScalar _fMaximumExtent = extend.dot(direction.absolute());
-		vmin = _fOrigin - _fMaximumExtent;
-		vmax = _fOrigin + _fMaximumExtent;
-	}
-
-	SIMD_FORCE_INLINE eBT_PLANE_INTERSECTION_TYPE plane_classify(const btVector4 &plane) const
-	{
-		btScalar _fmin, _fmax;
-		this->projection_interval(plane, _fmin, _fmax);
-
-		if (plane[3] > _fmax + BOX_PLANE_EPSILON)
-		{
-			return BT_CONST_BACK_PLANE;  // 0
-		}
-
-		if (plane[3] + BOX_PLANE_EPSILON >= _fmin)
-		{
-			return BT_CONST_COLLIDE_PLANE;  //1
-		}
-		return BT_CONST_FRONT_PLANE;  //2
-	}
-
-	SIMD_FORCE_INLINE bool overlapping_trans_conservative(const btAABB &box, btTransform &trans1_to_0) const
-	{
-		btAABB tbox = box;
-		tbox.appy_transform(trans1_to_0);
-		return has_collision(tbox);
-	}
-
-	SIMD_FORCE_INLINE bool overlapping_trans_conservative2(const btAABB &box,
-														   const BT_BOX_BOX_TRANSFORM_CACHE &trans1_to_0) const
-	{
-		btAABB tbox = box;
-		tbox.appy_transform_trans_cache(trans1_to_0);
-		return has_collision(tbox);
-	}
-
-	//! transcache is the transformation cache from box to this AABB
-	SIMD_FORCE_INLINE bool overlapping_trans_cache(
-		const btAABB &box, const BT_BOX_BOX_TRANSFORM_CACHE &transcache, bool fulltest) const
-	{
-		//Taken from OPCODE
-		btVector3 ea, eb;  //extends
-		btVector3 ca, cb;  //extends
-		get_center_extend(ca, ea);
-		box.get_center_extend(cb, eb);
-
-		btVector3 T;
-		btScalar t, t2;
-		int i;
-
-		// Class I : A's basis vectors
-		for (i = 0; i < 3; i++)
-		{
-			T[i] = transcache.m_R1to0[i].dot(cb) + transcache.m_T1to0[i] - ca[i];
-			t = transcache.m_AR[i].dot(eb) + ea[i];
-			if (BT_GREATER(T[i], t)) return false;
-		}
-		// Class II : B's basis vectors
-		for (i = 0; i < 3; i++)
-		{
-			t = bt_mat3_dot_col(transcache.m_R1to0, T, i);
-			t2 = bt_mat3_dot_col(transcache.m_AR, ea, i) + eb[i];
-			if (BT_GREATER(t, t2)) return false;
-		}
-		// Class III : 9 cross products
-		if (fulltest)
-		{
-			int j, m, n, o, p, q, r;
-			for (i = 0; i < 3; i++)
-			{
-				m = (i + 1) % 3;
-				n = (i + 2) % 3;
-				o = i == 0 ? 1 : 0;
-				p = i == 2 ? 1 : 2;
-				for (j = 0; j < 3; j++)
-				{
-					q = j == 2 ? 1 : 2;
-					r = j == 0 ? 1 : 0;
-					t = T[n] * transcache.m_R1to0[m][j] - T[m] * transcache.m_R1to0[n][j];
-					t2 = ea[o] * transcache.m_AR[p][j] + ea[p] * transcache.m_AR[o][j] +
-						 eb[r] * transcache.m_AR[i][q] + eb[q] * transcache.m_AR[i][r];
-					if (BT_GREATER(t, t2)) return false;
-				}
-			}
-		}
-		return true;
-	}
-
-	//! Simple test for planes.
-	SIMD_FORCE_INLINE bool collide_plane(
-		const btVector4 &plane) const
-	{
-		eBT_PLANE_INTERSECTION_TYPE classify = plane_classify(plane);
-		return (classify == BT_CONST_COLLIDE_PLANE);
-	}
-
-	//! test for a triangle, with edges
-	SIMD_FORCE_INLINE bool collide_triangle_exact(
-		const btVector3 &p1,
-		const btVector3 &p2,
-		const btVector3 &p3,
-		const btVector4 &triangle_plane) const
-	{
-		if (!collide_plane(triangle_plane)) return false;
-
-		btVector3 center, extends;
-		this->get_center_extend(center, extends);
-
-		const btVector3 v1(p1 - center);
-		const btVector3 v2(p2 - center);
-		const btVector3 v3(p3 - center);
-
-		//First axis
-		btVector3 diff(v2 - v1);
-		btVector3 abs_diff = diff.absolute();
-		//Test With X axis
-		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff, abs_diff, v1, v3, extends);
-		//Test With Y axis
-		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff, abs_diff, v1, v3, extends);
-		//Test With Z axis
-		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff, abs_diff, v1, v3, extends);
-
-		diff = v3 - v2;
-		abs_diff = diff.absolute();
-		//Test With X axis
-		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff, abs_diff, v2, v1, extends);
-		//Test With Y axis
-		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff, abs_diff, v2, v1, extends);
-		//Test With Z axis
-		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff, abs_diff, v2, v1, extends);
-
-		diff = v1 - v3;
-		abs_diff = diff.absolute();
-		//Test With X axis
-		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff, abs_diff, v3, v2, extends);
-		//Test With Y axis
-		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff, abs_diff, v3, v2, extends);
-		//Test With Z axis
-		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff, abs_diff, v3, v2, extends);
-
-		return true;
-	}
-};
-
-//! Compairison of transformation objects
-SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform &t1, const btTransform &t2)
-{
-	if (!(t1.getOrigin() == t2.getOrigin())) return false;
-
-	if (!(t1.getBasis().getRow(0) == t2.getBasis().getRow(0))) return false;
-	if (!(t1.getBasis().getRow(1) == t2.getBasis().getRow(1))) return false;
-	if (!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2))) return false;
-	return true;
-}
-
-#endif  // GIM_BOX_COLLISION_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btClipPolygon.h b/thirdparty/bullet/BulletCollision/Gimpact/btClipPolygon.h
deleted file mode 100644
index 38c23e222d..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btClipPolygon.h
+++ /dev/null
@@ -1,173 +0,0 @@
-#ifndef BT_CLIP_POLYGON_H_INCLUDED
-#define BT_CLIP_POLYGON_H_INCLUDED
-
-/*! \file btClipPolygon.h
-\author Francisco Leon Najera
-*/
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btGeometryUtil.h"
-
-SIMD_FORCE_INLINE btScalar bt_distance_point_plane(const btVector4 &plane, const btVector3 &point)
-{
-	return point.dot(plane) - plane[3];
-}
-
-/*! Vector blending
-Takes two vectors a, b, blends them together*/
-SIMD_FORCE_INLINE void bt_vec_blend(btVector3 &vr, const btVector3 &va, const btVector3 &vb, btScalar blend_factor)
-{
-	vr = (1 - blend_factor) * va + blend_factor * vb;
-}
-
-//! This function calcs the distance from a 3D plane
-SIMD_FORCE_INLINE void bt_plane_clip_polygon_collect(
-	const btVector3 &point0,
-	const btVector3 &point1,
-	btScalar dist0,
-	btScalar dist1,
-	btVector3 *clipped,
-	int &clipped_count)
-{
-	bool _prevclassif = (dist0 > SIMD_EPSILON);
-	bool _classif = (dist1 > SIMD_EPSILON);
-	if (_classif != _prevclassif)
-	{
-		btScalar blendfactor = -dist0 / (dist1 - dist0);
-		bt_vec_blend(clipped[clipped_count], point0, point1, blendfactor);
-		clipped_count++;
-	}
-	if (!_classif)
-	{
-		clipped[clipped_count] = point1;
-		clipped_count++;
-	}
-}
-
-//! Clips a polygon by a plane
-/*!
-*\return The count of the clipped counts
-*/
-SIMD_FORCE_INLINE int bt_plane_clip_polygon(
-	const btVector4 &plane,
-	const btVector3 *polygon_points,
-	int polygon_point_count,
-	btVector3 *clipped)
-{
-	int clipped_count = 0;
-
-	//clip first point
-	btScalar firstdist = bt_distance_point_plane(plane, polygon_points[0]);
-	;
-	if (!(firstdist > SIMD_EPSILON))
-	{
-		clipped[clipped_count] = polygon_points[0];
-		clipped_count++;
-	}
-
-	btScalar olddist = firstdist;
-	for (int i = 1; i < polygon_point_count; i++)
-	{
-		btScalar dist = bt_distance_point_plane(plane, polygon_points[i]);
-
-		bt_plane_clip_polygon_collect(
-			polygon_points[i - 1], polygon_points[i],
-			olddist,
-			dist,
-			clipped,
-			clipped_count);
-
-		olddist = dist;
-	}
-
-	//RETURN TO FIRST  point
-
-	bt_plane_clip_polygon_collect(
-		polygon_points[polygon_point_count - 1], polygon_points[0],
-		olddist,
-		firstdist,
-		clipped,
-		clipped_count);
-
-	return clipped_count;
-}
-
-//! Clips a polygon by a plane
-/*!
-*\param clipped must be an array of 16 points.
-*\return The count of the clipped counts
-*/
-SIMD_FORCE_INLINE int bt_plane_clip_triangle(
-	const btVector4 &plane,
-	const btVector3 &point0,
-	const btVector3 &point1,
-	const btVector3 &point2,
-	btVector3 *clipped  // an allocated array of 16 points at least
-)
-{
-	int clipped_count = 0;
-
-	//clip first point0
-	btScalar firstdist = bt_distance_point_plane(plane, point0);
-	;
-	if (!(firstdist > SIMD_EPSILON))
-	{
-		clipped[clipped_count] = point0;
-		clipped_count++;
-	}
-
-	// point 1
-	btScalar olddist = firstdist;
-	btScalar dist = bt_distance_point_plane(plane, point1);
-
-	bt_plane_clip_polygon_collect(
-		point0, point1,
-		olddist,
-		dist,
-		clipped,
-		clipped_count);
-
-	olddist = dist;
-
-	// point 2
-	dist = bt_distance_point_plane(plane, point2);
-
-	bt_plane_clip_polygon_collect(
-		point1, point2,
-		olddist,
-		dist,
-		clipped,
-		clipped_count);
-	olddist = dist;
-
-	//RETURN TO FIRST  point0
-	bt_plane_clip_polygon_collect(
-		point2, point0,
-		olddist,
-		firstdist,
-		clipped,
-		clipped_count);
-
-	return clipped_count;
-}
-
-#endif  // GIM_TRI_COLLISION_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btCompoundFromGimpact.h b/thirdparty/bullet/BulletCollision/Gimpact/btCompoundFromGimpact.h
deleted file mode 100644
index ede59e8a57..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btCompoundFromGimpact.h
+++ /dev/null
@@ -1,105 +0,0 @@
-#ifndef BT_COMPOUND_FROM_GIMPACT
-#define BT_COMPOUND_FROM_GIMPACT
-
-#include "BulletCollision/CollisionShapes/btCompoundShape.h"
-#include "btGImpactShape.h"
-#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
-
-ATTRIBUTE_ALIGNED16(class)
-btCompoundFromGimpactShape : public btCompoundShape
-{
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	virtual ~btCompoundFromGimpactShape()
-	{
-		/*delete all the btBU_Simplex1to4 ChildShapes*/
-		for (int i = 0; i < m_children.size(); i++)
-		{
-			delete m_children[i].m_childShape;
-		}
-	}
-};
-
-struct MyCallback : public btTriangleRaycastCallback
-{
-	int m_ignorePart;
-	int m_ignoreTriangleIndex;
-
-	MyCallback(const btVector3& from, const btVector3& to, int ignorePart, int ignoreTriangleIndex)
-		: btTriangleRaycastCallback(from, to),
-		  m_ignorePart(ignorePart),
-		  m_ignoreTriangleIndex(ignoreTriangleIndex)
-	{
-	}
-	virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)
-	{
-		if (partId != m_ignorePart || triangleIndex != m_ignoreTriangleIndex)
-		{
-			if (hitFraction < m_hitFraction)
-				return hitFraction;
-		}
-
-		return m_hitFraction;
-	}
-};
-struct MyInternalTriangleIndexCallback : public btInternalTriangleIndexCallback
-{
-	const btGImpactMeshShape* m_gimpactShape;
-	btCompoundShape* m_colShape;
-	btScalar m_depth;
-
-	MyInternalTriangleIndexCallback(btCompoundShape* colShape, const btGImpactMeshShape* meshShape, btScalar depth)
-		: m_colShape(colShape),
-		  m_gimpactShape(meshShape),
-		  m_depth(depth)
-	{
-	}
-
-	virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
-	{
-		btVector3 scale = m_gimpactShape->getLocalScaling();
-		btVector3 v0 = triangle[0] * scale;
-		btVector3 v1 = triangle[1] * scale;
-		btVector3 v2 = triangle[2] * scale;
-
-		btVector3 centroid = (v0 + v1 + v2) / 3;
-		btVector3 normal = (v1 - v0).cross(v2 - v0);
-		normal.normalize();
-		btVector3 rayFrom = centroid;
-		btVector3 rayTo = centroid - normal * m_depth;
-
-		MyCallback cb(rayFrom, rayTo, partId, triangleIndex);
-
-		m_gimpactShape->processAllTrianglesRay(&cb, rayFrom, rayTo);
-		if (cb.m_hitFraction < 1)
-		{
-			rayTo.setInterpolate3(cb.m_from, cb.m_to, cb.m_hitFraction);
-			//rayTo = cb.m_from;
-			//rayTo = rayTo.lerp(cb.m_to,cb.m_hitFraction);
-			//gDebugDraw.drawLine(tr(centroid),tr(centroid+normal),btVector3(1,0,0));
-		}
-
-		btBU_Simplex1to4* tet = new btBU_Simplex1to4(v0, v1, v2, rayTo);
-		btTransform ident;
-		ident.setIdentity();
-		m_colShape->addChildShape(ident, tet);
-	}
-};
-
-btCompoundShape* btCreateCompoundFromGimpactShape(const btGImpactMeshShape* gimpactMesh, btScalar depth)
-{
-	btCompoundShape* colShape = new btCompoundFromGimpactShape();
-
-	btTransform tr;
-	tr.setIdentity();
-
-	MyInternalTriangleIndexCallback cb(colShape, gimpactMesh, depth);
-	btVector3 aabbMin, aabbMax;
-	gimpactMesh->getAabb(tr, aabbMin, aabbMax);
-	gimpactMesh->getMeshInterface()->InternalProcessAllTriangles(&cb, aabbMin, aabbMax);
-
-	return colShape;
-}
-
-#endif  //BT_COMPOUND_FROM_GIMPACT
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btContactProcessing.cpp b/thirdparty/bullet/BulletCollision/Gimpact/btContactProcessing.cpp
deleted file mode 100644
index f2e3e18d61..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btContactProcessing.cpp
+++ /dev/null
@@ -1,175 +0,0 @@
-
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-#include "btContactProcessing.h"
-
-#define MAX_COINCIDENT 8
-
-struct CONTACT_KEY_TOKEN
-{
-	unsigned int m_key;
-	int m_value;
-	CONTACT_KEY_TOKEN()
-	{
-	}
-
-	CONTACT_KEY_TOKEN(unsigned int key, int token)
-	{
-		m_key = key;
-		m_value = token;
-	}
-
-	CONTACT_KEY_TOKEN(const CONTACT_KEY_TOKEN& rtoken)
-	{
-		m_key = rtoken.m_key;
-		m_value = rtoken.m_value;
-	}
-
-	inline bool operator<(const CONTACT_KEY_TOKEN& other) const
-	{
-		return (m_key < other.m_key);
-	}
-
-	inline bool operator>(const CONTACT_KEY_TOKEN& other) const
-	{
-		return (m_key > other.m_key);
-	}
-};
-
-class CONTACT_KEY_TOKEN_COMP
-{
-public:
-	bool operator()(const CONTACT_KEY_TOKEN& a, const CONTACT_KEY_TOKEN& b) const
-	{
-		return (a < b);
-	}
-};
-
-void btContactArray::merge_contacts(
-	const btContactArray& contacts, bool normal_contact_average)
-{
-	clear();
-
-	int i;
-	if (contacts.size() == 0) return;
-
-	if (contacts.size() == 1)
-	{
-		push_back(contacts[0]);
-		return;
-	}
-
-	btAlignedObjectArray<CONTACT_KEY_TOKEN> keycontacts;
-
-	keycontacts.reserve(contacts.size());
-
-	//fill key contacts
-
-	for (i = 0; i < contacts.size(); i++)
-	{
-		keycontacts.push_back(CONTACT_KEY_TOKEN(contacts[i].calc_key_contact(), i));
-	}
-
-	//sort keys
-	keycontacts.quickSort(CONTACT_KEY_TOKEN_COMP());
-
-	// Merge contacts
-	int coincident_count = 0;
-	btVector3 coincident_normals[MAX_COINCIDENT];
-
-	unsigned int last_key = keycontacts[0].m_key;
-	unsigned int key = 0;
-
-	push_back(contacts[keycontacts[0].m_value]);
-
-	GIM_CONTACT* pcontact = &(*this)[0];
-
-	for (i = 1; i < keycontacts.size(); i++)
-	{
-		key = keycontacts[i].m_key;
-		const GIM_CONTACT* scontact = &contacts[keycontacts[i].m_value];
-
-		if (last_key == key)  //same points
-		{
-			//merge contact
-			if (pcontact->m_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)  //)
-			{
-				*pcontact = *scontact;
-				coincident_count = 0;
-			}
-			else if (normal_contact_average)
-			{
-				if (btFabs(pcontact->m_depth - scontact->m_depth) < CONTACT_DIFF_EPSILON)
-				{
-					if (coincident_count < MAX_COINCIDENT)
-					{
-						coincident_normals[coincident_count] = scontact->m_normal;
-						coincident_count++;
-					}
-				}
-			}
-		}
-		else
-		{  //add new contact
-
-			if (normal_contact_average && coincident_count > 0)
-			{
-				pcontact->interpolate_normals(coincident_normals, coincident_count);
-				coincident_count = 0;
-			}
-
-			push_back(*scontact);
-			pcontact = &(*this)[this->size() - 1];
-		}
-		last_key = key;
-	}
-}
-
-void btContactArray::merge_contacts_unique(const btContactArray& contacts)
-{
-	clear();
-
-	if (contacts.size() == 0) return;
-
-	if (contacts.size() == 1)
-	{
-		push_back(contacts[0]);
-		return;
-	}
-
-	GIM_CONTACT average_contact = contacts[0];
-
-	for (int i = 1; i < contacts.size(); i++)
-	{
-		average_contact.m_point += contacts[i].m_point;
-		average_contact.m_normal += contacts[i].m_normal * contacts[i].m_depth;
-	}
-
-	//divide
-	btScalar divide_average = 1.0f / ((btScalar)contacts.size());
-
-	average_contact.m_point *= divide_average;
-
-	average_contact.m_normal *= divide_average;
-
-	average_contact.m_depth = average_contact.m_normal.length();
-
-	average_contact.m_normal /= average_contact.m_depth;
-}
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btContactProcessing.h b/thirdparty/bullet/BulletCollision/Gimpact/btContactProcessing.h
deleted file mode 100644
index 4ff09d7cdd..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btContactProcessing.h
+++ /dev/null
@@ -1,65 +0,0 @@
-#ifndef BT_CONTACT_H_INCLUDED
-#define BT_CONTACT_H_INCLUDED
-
-/*! \file gim_contact.h
-\author Francisco Leon Najera
-*/
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "btTriangleShapeEx.h"
-#include "btContactProcessingStructs.h"
-
-class btContactArray : public btAlignedObjectArray<GIM_CONTACT>
-{
-public:
-	btContactArray()
-	{
-		reserve(64);
-	}
-
-	SIMD_FORCE_INLINE void push_contact(
-		const btVector3 &point, const btVector3 &normal,
-		btScalar depth, int feature1, int feature2)
-	{
-		push_back(GIM_CONTACT(point, normal, depth, feature1, feature2));
-	}
-
-	SIMD_FORCE_INLINE void push_triangle_contacts(
-		const GIM_TRIANGLE_CONTACT &tricontact,
-		int feature1, int feature2)
-	{
-		for (int i = 0; i < tricontact.m_point_count; i++)
-		{
-			push_contact(
-				tricontact.m_points[i],
-				tricontact.m_separating_normal,
-				tricontact.m_penetration_depth, feature1, feature2);
-		}
-	}
-
-	void merge_contacts(const btContactArray &contacts, bool normal_contact_average = true);
-
-	void merge_contacts_unique(const btContactArray &contacts);
-};
-
-#endif  // GIM_CONTACT_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btContactProcessingStructs.h b/thirdparty/bullet/BulletCollision/Gimpact/btContactProcessingStructs.h
deleted file mode 100644
index bc8a709246..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btContactProcessingStructs.h
+++ /dev/null
@@ -1,105 +0,0 @@
-#ifndef BT_CONTACT_H_STRUCTS_INCLUDED
-#define BT_CONTACT_H_STRUCTS_INCLUDED
-
-/*! \file gim_contact.h
-\author Francisco Leon Najera
-*/
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "btTriangleShapeEx.h"
-
-/**
-Configuration var for applying interpolation of  contact normals
-*/
-#define NORMAL_CONTACT_AVERAGE 1
-
-#define CONTACT_DIFF_EPSILON 0.00001f
-
-///The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint.
-///@todo: remove and replace GIM_CONTACT by btManifoldPoint.
-class GIM_CONTACT
-{
-public:
-	btVector3 m_point;
-	btVector3 m_normal;
-	btScalar m_depth;     //Positive value indicates interpenetration
-	btScalar m_distance;  //Padding not for use
-	int m_feature1;       //Face number
-	int m_feature2;       //Face number
-public:
-	GIM_CONTACT()
-	{
-	}
-
-	GIM_CONTACT(const GIM_CONTACT &contact) : m_point(contact.m_point),
-											  m_normal(contact.m_normal),
-											  m_depth(contact.m_depth),
-											  m_feature1(contact.m_feature1),
-											  m_feature2(contact.m_feature2)
-	{
-	}
-
-	GIM_CONTACT(const btVector3 &point, const btVector3 &normal,
-				btScalar depth, int feature1, int feature2) : m_point(point),
-															  m_normal(normal),
-															  m_depth(depth),
-															  m_feature1(feature1),
-															  m_feature2(feature2)
-	{
-	}
-
-	//! Calcs key for coord classification
-	SIMD_FORCE_INLINE unsigned int calc_key_contact() const
-	{
-		int _coords[] = {
-			(int)(m_point[0] * 1000.0f + 1.0f),
-			(int)(m_point[1] * 1333.0f),
-			(int)(m_point[2] * 2133.0f + 3.0f)};
-		unsigned int _hash = 0;
-		unsigned int *_uitmp = (unsigned int *)(&_coords[0]);
-		_hash = *_uitmp;
-		_uitmp++;
-		_hash += (*_uitmp) << 4;
-		_uitmp++;
-		_hash += (*_uitmp) << 8;
-		return _hash;
-	}
-
-	SIMD_FORCE_INLINE void interpolate_normals(btVector3 *normals, int normal_count)
-	{
-		btVector3 vec_sum(m_normal);
-		for (int i = 0; i < normal_count; i++)
-		{
-			vec_sum += normals[i];
-		}
-
-		btScalar vec_sum_len = vec_sum.length2();
-		if (vec_sum_len < CONTACT_DIFF_EPSILON) return;
-
-		//GIM_INV_SQRT(vec_sum_len,vec_sum_len); // 1/sqrt(vec_sum_len)
-
-		m_normal = vec_sum / btSqrt(vec_sum_len);
-	}
-};
-
-#endif  // BT_CONTACT_H_STRUCTS_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvh.cpp b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvh.cpp
deleted file mode 100644
index bb520e061d..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvh.cpp
+++ /dev/null
@@ -1,464 +0,0 @@
-/*! \file gim_box_set.h
-\author Francisco Leon Najera
-*/
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-#include "btGImpactBvh.h"
-#include "LinearMath/btQuickprof.h"
-
-#ifdef TRI_COLLISION_PROFILING
-
-btClock g_tree_clock;
-
-float g_accum_tree_collision_time = 0;
-int g_count_traversing = 0;
-
-void bt_begin_gim02_tree_time()
-{
-	g_tree_clock.reset();
-}
-
-void bt_end_gim02_tree_time()
-{
-	g_accum_tree_collision_time += g_tree_clock.getTimeMicroseconds();
-	g_count_traversing++;
-}
-
-//! Gets the average time in miliseconds of tree collisions
-float btGImpactBvh::getAverageTreeCollisionTime()
-{
-	if (g_count_traversing == 0) return 0;
-
-	float avgtime = g_accum_tree_collision_time;
-	avgtime /= (float)g_count_traversing;
-
-	g_accum_tree_collision_time = 0;
-	g_count_traversing = 0;
-	return avgtime;
-
-	//	float avgtime = g_count_traversing;
-	//	g_count_traversing = 0;
-	//	return avgtime;
-}
-
-#endif  //TRI_COLLISION_PROFILING
-
-/////////////////////// btBvhTree /////////////////////////////////
-
-int btBvhTree::_calc_splitting_axis(
-	GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex)
-{
-	int i;
-
-	btVector3 means(btScalar(0.), btScalar(0.), btScalar(0.));
-	btVector3 variance(btScalar(0.), btScalar(0.), btScalar(0.));
-	int numIndices = endIndex - startIndex;
-
-	for (i = startIndex; i < endIndex; i++)
-	{
-		btVector3 center = btScalar(0.5) * (primitive_boxes[i].m_bound.m_max +
-											primitive_boxes[i].m_bound.m_min);
-		means += center;
-	}
-	means *= (btScalar(1.) / (btScalar)numIndices);
-
-	for (i = startIndex; i < endIndex; i++)
-	{
-		btVector3 center = btScalar(0.5) * (primitive_boxes[i].m_bound.m_max +
-											primitive_boxes[i].m_bound.m_min);
-		btVector3 diff2 = center - means;
-		diff2 = diff2 * diff2;
-		variance += diff2;
-	}
-	variance *= (btScalar(1.) / ((btScalar)numIndices - 1));
-
-	return variance.maxAxis();
-}
-
-int btBvhTree::_sort_and_calc_splitting_index(
-	GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex,
-	int endIndex, int splitAxis)
-{
-	int i;
-	int splitIndex = startIndex;
-	int numIndices = endIndex - startIndex;
-
-	// average of centers
-	btScalar splitValue = 0.0f;
-
-	btVector3 means(btScalar(0.), btScalar(0.), btScalar(0.));
-	for (i = startIndex; i < endIndex; i++)
-	{
-		btVector3 center = btScalar(0.5) * (primitive_boxes[i].m_bound.m_max +
-											primitive_boxes[i].m_bound.m_min);
-		means += center;
-	}
-	means *= (btScalar(1.) / (btScalar)numIndices);
-
-	splitValue = means[splitAxis];
-
-	//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
-	for (i = startIndex; i < endIndex; i++)
-	{
-		btVector3 center = btScalar(0.5) * (primitive_boxes[i].m_bound.m_max +
-											primitive_boxes[i].m_bound.m_min);
-		if (center[splitAxis] > splitValue)
-		{
-			//swap
-			primitive_boxes.swap(i, splitIndex);
-			//swapLeafNodes(i,splitIndex);
-			splitIndex++;
-		}
-	}
-
-	//if the splitIndex causes unbalanced trees, fix this by using the center in between startIndex and endIndex
-	//otherwise the tree-building might fail due to stack-overflows in certain cases.
-	//unbalanced1 is unsafe: it can cause stack overflows
-	//bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1)));
-
-	//unbalanced2 should work too: always use center (perfect balanced trees)
-	//bool unbalanced2 = true;
-
-	//this should be safe too:
-	int rangeBalancedIndices = numIndices / 3;
-	bool unbalanced = ((splitIndex <= (startIndex + rangeBalancedIndices)) || (splitIndex >= (endIndex - 1 - rangeBalancedIndices)));
-
-	if (unbalanced)
-	{
-		splitIndex = startIndex + (numIndices >> 1);
-	}
-
-	btAssert(!((splitIndex == startIndex) || (splitIndex == (endIndex))));
-
-	return splitIndex;
-}
-
-void btBvhTree::_build_sub_tree(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex)
-{
-	int curIndex = m_num_nodes;
-	m_num_nodes++;
-
-	btAssert((endIndex - startIndex) > 0);
-
-	if ((endIndex - startIndex) == 1)
-	{
-		//We have a leaf node
-		setNodeBound(curIndex, primitive_boxes[startIndex].m_bound);
-		m_node_array[curIndex].setDataIndex(primitive_boxes[startIndex].m_data);
-
-		return;
-	}
-	//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
-
-	//split axis
-	int splitIndex = _calc_splitting_axis(primitive_boxes, startIndex, endIndex);
-
-	splitIndex = _sort_and_calc_splitting_index(
-		primitive_boxes, startIndex, endIndex,
-		splitIndex  //split axis
-	);
-
-	//calc this node bounding box
-
-	btAABB node_bound;
-	node_bound.invalidate();
-
-	for (int i = startIndex; i < endIndex; i++)
-	{
-		node_bound.merge(primitive_boxes[i].m_bound);
-	}
-
-	setNodeBound(curIndex, node_bound);
-
-	//build left branch
-	_build_sub_tree(primitive_boxes, startIndex, splitIndex);
-
-	//build right branch
-	_build_sub_tree(primitive_boxes, splitIndex, endIndex);
-
-	m_node_array[curIndex].setEscapeIndex(m_num_nodes - curIndex);
-}
-
-//! stackless build tree
-void btBvhTree::build_tree(
-	GIM_BVH_DATA_ARRAY& primitive_boxes)
-{
-	// initialize node count to 0
-	m_num_nodes = 0;
-	// allocate nodes
-	m_node_array.resize(primitive_boxes.size() * 2);
-
-	_build_sub_tree(primitive_boxes, 0, primitive_boxes.size());
-}
-
-////////////////////////////////////class btGImpactBvh
-
-void btGImpactBvh::refit()
-{
-	int nodecount = getNodeCount();
-	while (nodecount--)
-	{
-		if (isLeafNode(nodecount))
-		{
-			btAABB leafbox;
-			m_primitive_manager->get_primitive_box(getNodeData(nodecount), leafbox);
-			setNodeBound(nodecount, leafbox);
-		}
-		else
-		{
-			//const GIM_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount);
-			//get left bound
-			btAABB bound;
-			bound.invalidate();
-
-			btAABB temp_box;
-
-			int child_node = getLeftNode(nodecount);
-			if (child_node)
-			{
-				getNodeBound(child_node, temp_box);
-				bound.merge(temp_box);
-			}
-
-			child_node = getRightNode(nodecount);
-			if (child_node)
-			{
-				getNodeBound(child_node, temp_box);
-				bound.merge(temp_box);
-			}
-
-			setNodeBound(nodecount, bound);
-		}
-	}
-}
-
-//! this rebuild the entire set
-void btGImpactBvh::buildSet()
-{
-	//obtain primitive boxes
-	GIM_BVH_DATA_ARRAY primitive_boxes;
-	primitive_boxes.resize(m_primitive_manager->get_primitive_count());
-
-	for (int i = 0; i < primitive_boxes.size(); i++)
-	{
-		m_primitive_manager->get_primitive_box(i, primitive_boxes[i].m_bound);
-		primitive_boxes[i].m_data = i;
-	}
-
-	m_box_tree.build_tree(primitive_boxes);
-}
-
-//! returns the indices of the primitives in the m_primitive_manager
-bool btGImpactBvh::boxQuery(const btAABB& box, btAlignedObjectArray<int>& collided_results) const
-{
-	int curIndex = 0;
-	int numNodes = getNodeCount();
-
-	while (curIndex < numNodes)
-	{
-		btAABB bound;
-		getNodeBound(curIndex, bound);
-
-		//catch bugs in tree data
-
-		bool aabbOverlap = bound.has_collision(box);
-		bool isleafnode = isLeafNode(curIndex);
-
-		if (isleafnode && aabbOverlap)
-		{
-			collided_results.push_back(getNodeData(curIndex));
-		}
-
-		if (aabbOverlap || isleafnode)
-		{
-			//next subnode
-			curIndex++;
-		}
-		else
-		{
-			//skip node
-			curIndex += getEscapeNodeIndex(curIndex);
-		}
-	}
-	if (collided_results.size() > 0) return true;
-	return false;
-}
-
-//! returns the indices of the primitives in the m_primitive_manager
-bool btGImpactBvh::rayQuery(
-	const btVector3& ray_dir, const btVector3& ray_origin,
-	btAlignedObjectArray<int>& collided_results) const
-{
-	int curIndex = 0;
-	int numNodes = getNodeCount();
-
-	while (curIndex < numNodes)
-	{
-		btAABB bound;
-		getNodeBound(curIndex, bound);
-
-		//catch bugs in tree data
-
-		bool aabbOverlap = bound.collide_ray(ray_origin, ray_dir);
-		bool isleafnode = isLeafNode(curIndex);
-
-		if (isleafnode && aabbOverlap)
-		{
-			collided_results.push_back(getNodeData(curIndex));
-		}
-
-		if (aabbOverlap || isleafnode)
-		{
-			//next subnode
-			curIndex++;
-		}
-		else
-		{
-			//skip node
-			curIndex += getEscapeNodeIndex(curIndex);
-		}
-	}
-	if (collided_results.size() > 0) return true;
-	return false;
-}
-
-SIMD_FORCE_INLINE bool _node_collision(
-	btGImpactBvh* boxset0, btGImpactBvh* boxset1,
-	const BT_BOX_BOX_TRANSFORM_CACHE& trans_cache_1to0,
-	int node0, int node1, bool complete_primitive_tests)
-{
-	btAABB box0;
-	boxset0->getNodeBound(node0, box0);
-	btAABB box1;
-	boxset1->getNodeBound(node1, box1);
-
-	return box0.overlapping_trans_cache(box1, trans_cache_1to0, complete_primitive_tests);
-	//	box1.appy_transform_trans_cache(trans_cache_1to0);
-	//	return box0.has_collision(box1);
-}
-
-//stackless recursive collision routine
-static void _find_collision_pairs_recursive(
-	btGImpactBvh* boxset0, btGImpactBvh* boxset1,
-	btPairSet* collision_pairs,
-	const BT_BOX_BOX_TRANSFORM_CACHE& trans_cache_1to0,
-	int node0, int node1, bool complete_primitive_tests)
-{
-	if (_node_collision(
-			boxset0, boxset1, trans_cache_1to0,
-			node0, node1, complete_primitive_tests) == false) return;  //avoid colliding internal nodes
-
-	if (boxset0->isLeafNode(node0))
-	{
-		if (boxset1->isLeafNode(node1))
-		{
-			// collision result
-			collision_pairs->push_pair(
-				boxset0->getNodeData(node0), boxset1->getNodeData(node1));
-			return;
-		}
-		else
-		{
-			//collide left recursive
-
-			_find_collision_pairs_recursive(
-				boxset0, boxset1,
-				collision_pairs, trans_cache_1to0,
-				node0, boxset1->getLeftNode(node1), false);
-
-			//collide right recursive
-			_find_collision_pairs_recursive(
-				boxset0, boxset1,
-				collision_pairs, trans_cache_1to0,
-				node0, boxset1->getRightNode(node1), false);
-		}
-	}
-	else
-	{
-		if (boxset1->isLeafNode(node1))
-		{
-			//collide left recursive
-			_find_collision_pairs_recursive(
-				boxset0, boxset1,
-				collision_pairs, trans_cache_1to0,
-				boxset0->getLeftNode(node0), node1, false);
-
-			//collide right recursive
-
-			_find_collision_pairs_recursive(
-				boxset0, boxset1,
-				collision_pairs, trans_cache_1to0,
-				boxset0->getRightNode(node0), node1, false);
-		}
-		else
-		{
-			//collide left0 left1
-
-			_find_collision_pairs_recursive(
-				boxset0, boxset1,
-				collision_pairs, trans_cache_1to0,
-				boxset0->getLeftNode(node0), boxset1->getLeftNode(node1), false);
-
-			//collide left0 right1
-
-			_find_collision_pairs_recursive(
-				boxset0, boxset1,
-				collision_pairs, trans_cache_1to0,
-				boxset0->getLeftNode(node0), boxset1->getRightNode(node1), false);
-
-			//collide right0 left1
-
-			_find_collision_pairs_recursive(
-				boxset0, boxset1,
-				collision_pairs, trans_cache_1to0,
-				boxset0->getRightNode(node0), boxset1->getLeftNode(node1), false);
-
-			//collide right0 right1
-
-			_find_collision_pairs_recursive(
-				boxset0, boxset1,
-				collision_pairs, trans_cache_1to0,
-				boxset0->getRightNode(node0), boxset1->getRightNode(node1), false);
-
-		}  // else if node1 is not a leaf
-	}      // else if node0 is not a leaf
-}
-
-void btGImpactBvh::find_collision(btGImpactBvh* boxset0, const btTransform& trans0,
-								  btGImpactBvh* boxset1, const btTransform& trans1,
-								  btPairSet& collision_pairs)
-{
-	if (boxset0->getNodeCount() == 0 || boxset1->getNodeCount() == 0) return;
-
-	BT_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0;
-
-	trans_cache_1to0.calc_from_homogenic(trans0, trans1);
-
-#ifdef TRI_COLLISION_PROFILING
-	bt_begin_gim02_tree_time();
-#endif  //TRI_COLLISION_PROFILING
-
-	_find_collision_pairs_recursive(
-		boxset0, boxset1,
-		&collision_pairs, trans_cache_1to0, 0, 0, true);
-#ifdef TRI_COLLISION_PROFILING
-	bt_end_gim02_tree_time();
-#endif  //TRI_COLLISION_PROFILING
-}
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvh.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvh.h
deleted file mode 100644
index 3cd8fa24e7..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvh.h
+++ /dev/null
@@ -1,309 +0,0 @@
-#ifndef BT_GIMPACT_BVH_H_INCLUDED
-#define BT_GIMPACT_BVH_H_INCLUDED
-
-/*! \file gim_box_set.h
-\author Francisco Leon Najera
-*/
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "LinearMath/btAlignedObjectArray.h"
-
-#include "btBoxCollision.h"
-#include "btTriangleShapeEx.h"
-#include "btGImpactBvhStructs.h"
-
-//! A pairset array
-class btPairSet : public btAlignedObjectArray<GIM_PAIR>
-{
-public:
-	btPairSet()
-	{
-		reserve(32);
-	}
-	inline void push_pair(int index1, int index2)
-	{
-		push_back(GIM_PAIR(index1, index2));
-	}
-
-	inline void push_pair_inv(int index1, int index2)
-	{
-		push_back(GIM_PAIR(index2, index1));
-	}
-};
-
-class GIM_BVH_DATA_ARRAY : public btAlignedObjectArray<GIM_BVH_DATA>
-{
-};
-
-class GIM_BVH_TREE_NODE_ARRAY : public btAlignedObjectArray<GIM_BVH_TREE_NODE>
-{
-};
-
-//! Basic Box tree structure
-class btBvhTree
-{
-protected:
-	int m_num_nodes;
-	GIM_BVH_TREE_NODE_ARRAY m_node_array;
-
-protected:
-	int _sort_and_calc_splitting_index(
-		GIM_BVH_DATA_ARRAY& primitive_boxes,
-		int startIndex, int endIndex, int splitAxis);
-
-	int _calc_splitting_axis(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex);
-
-	void _build_sub_tree(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex);
-
-public:
-	btBvhTree()
-	{
-		m_num_nodes = 0;
-	}
-
-	//! prototype functions for box tree management
-	//!@{
-	void build_tree(GIM_BVH_DATA_ARRAY& primitive_boxes);
-
-	SIMD_FORCE_INLINE void clearNodes()
-	{
-		m_node_array.clear();
-		m_num_nodes = 0;
-	}
-
-	//! node count
-	SIMD_FORCE_INLINE int getNodeCount() const
-	{
-		return m_num_nodes;
-	}
-
-	//! tells if the node is a leaf
-	SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const
-	{
-		return m_node_array[nodeindex].isLeafNode();
-	}
-
-	SIMD_FORCE_INLINE int getNodeData(int nodeindex) const
-	{
-		return m_node_array[nodeindex].getDataIndex();
-	}
-
-	SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB& bound) const
-	{
-		bound = m_node_array[nodeindex].m_bound;
-	}
-
-	SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB& bound)
-	{
-		m_node_array[nodeindex].m_bound = bound;
-	}
-
-	SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
-	{
-		return nodeindex + 1;
-	}
-
-	SIMD_FORCE_INLINE int getRightNode(int nodeindex) const
-	{
-		if (m_node_array[nodeindex + 1].isLeafNode()) return nodeindex + 2;
-		return nodeindex + 1 + m_node_array[nodeindex + 1].getEscapeIndex();
-	}
-
-	SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const
-	{
-		return m_node_array[nodeindex].getEscapeIndex();
-	}
-
-	SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE* get_node_pointer(int index = 0) const
-	{
-		return &m_node_array[index];
-	}
-
-	//!@}
-};
-
-//! Prototype Base class for primitive classification
-/*!
-This class is a wrapper for primitive collections.
-This tells relevant info for the Bounding Box set classes, which take care of space classification.
-This class can manage Compound shapes and trimeshes, and if it is managing trimesh then the  Hierarchy Bounding Box classes will take advantage of primitive Vs Box overlapping tests for getting optimal results and less Per Box compairisons.
-*/
-class btPrimitiveManagerBase
-{
-public:
-	virtual ~btPrimitiveManagerBase() {}
-
-	//! determines if this manager consist on only triangles, which special case will be optimized
-	virtual bool is_trimesh() const = 0;
-	virtual int get_primitive_count() const = 0;
-	virtual void get_primitive_box(int prim_index, btAABB& primbox) const = 0;
-	//! retrieves only the points of the triangle, and the collision margin
-	virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle& triangle) const = 0;
-};
-
-//! Structure for containing Boxes
-/*!
-This class offers an structure for managing a box tree of primitives.
-Requires a Primitive prototype (like btPrimitiveManagerBase )
-*/
-class btGImpactBvh
-{
-protected:
-	btBvhTree m_box_tree;
-	btPrimitiveManagerBase* m_primitive_manager;
-
-protected:
-	//stackless refit
-	void refit();
-
-public:
-	//! this constructor doesn't build the tree. you must call	buildSet
-	btGImpactBvh()
-	{
-		m_primitive_manager = NULL;
-	}
-
-	//! this constructor doesn't build the tree. you must call	buildSet
-	btGImpactBvh(btPrimitiveManagerBase* primitive_manager)
-	{
-		m_primitive_manager = primitive_manager;
-	}
-
-	SIMD_FORCE_INLINE btAABB getGlobalBox() const
-	{
-		btAABB totalbox;
-		getNodeBound(0, totalbox);
-		return totalbox;
-	}
-
-	SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase* primitive_manager)
-	{
-		m_primitive_manager = primitive_manager;
-	}
-
-	SIMD_FORCE_INLINE btPrimitiveManagerBase* getPrimitiveManager() const
-	{
-		return m_primitive_manager;
-	}
-
-	//! node manager prototype functions
-	///@{
-
-	//! this attemps to refit the box set.
-	SIMD_FORCE_INLINE void update()
-	{
-		refit();
-	}
-
-	//! this rebuild the entire set
-	void buildSet();
-
-	//! returns the indices of the primitives in the m_primitive_manager
-	bool boxQuery(const btAABB& box, btAlignedObjectArray<int>& collided_results) const;
-
-	//! returns the indices of the primitives in the m_primitive_manager
-	SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB& box,
-										 const btTransform& transform, btAlignedObjectArray<int>& collided_results) const
-	{
-		btAABB transbox = box;
-		transbox.appy_transform(transform);
-		return boxQuery(transbox, collided_results);
-	}
-
-	//! returns the indices of the primitives in the m_primitive_manager
-	bool rayQuery(
-		const btVector3& ray_dir, const btVector3& ray_origin,
-		btAlignedObjectArray<int>& collided_results) const;
-
-	//! tells if this set has hierarcht
-	SIMD_FORCE_INLINE bool hasHierarchy() const
-	{
-		return true;
-	}
-
-	//! tells if this set is a trimesh
-	SIMD_FORCE_INLINE bool isTrimesh() const
-	{
-		return m_primitive_manager->is_trimesh();
-	}
-
-	//! node count
-	SIMD_FORCE_INLINE int getNodeCount() const
-	{
-		return m_box_tree.getNodeCount();
-	}
-
-	//! tells if the node is a leaf
-	SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const
-	{
-		return m_box_tree.isLeafNode(nodeindex);
-	}
-
-	SIMD_FORCE_INLINE int getNodeData(int nodeindex) const
-	{
-		return m_box_tree.getNodeData(nodeindex);
-	}
-
-	SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB& bound) const
-	{
-		m_box_tree.getNodeBound(nodeindex, bound);
-	}
-
-	SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB& bound)
-	{
-		m_box_tree.setNodeBound(nodeindex, bound);
-	}
-
-	SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
-	{
-		return m_box_tree.getLeftNode(nodeindex);
-	}
-
-	SIMD_FORCE_INLINE int getRightNode(int nodeindex) const
-	{
-		return m_box_tree.getRightNode(nodeindex);
-	}
-
-	SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const
-	{
-		return m_box_tree.getEscapeNodeIndex(nodeindex);
-	}
-
-	SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex, btPrimitiveTriangle& triangle) const
-	{
-		m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex), triangle);
-	}
-
-	SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE* get_node_pointer(int index = 0) const
-	{
-		return m_box_tree.get_node_pointer(index);
-	}
-
-#ifdef TRI_COLLISION_PROFILING
-	static float getAverageTreeCollisionTime();
-#endif  //TRI_COLLISION_PROFILING
-
-	static void find_collision(btGImpactBvh* boxset1, const btTransform& trans1,
-							   btGImpactBvh* boxset2, const btTransform& trans2,
-							   btPairSet& collision_pairs);
-};
-
-#endif  // BT_GIMPACT_BVH_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvhStructs.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvhStructs.h
deleted file mode 100644
index 8f78c234b4..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvhStructs.h
+++ /dev/null
@@ -1,85 +0,0 @@
-#ifndef GIM_BOX_SET_STRUCT_H_INCLUDED
-#define GIM_BOX_SET_STRUCT_H_INCLUDED
-
-/*! \file gim_box_set.h
-\author Francisco Leon Najera
-*/
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "LinearMath/btAlignedObjectArray.h"
-
-#include "btBoxCollision.h"
-#include "btTriangleShapeEx.h"
-#include "gim_pair.h" //for GIM_PAIR
-
-///GIM_BVH_DATA is an internal GIMPACT collision structure to contain axis aligned bounding box
-struct GIM_BVH_DATA
-{
-	btAABB m_bound;
-	int m_data;
-};
-
-//! Node Structure for trees
-class GIM_BVH_TREE_NODE
-{
-public:
-	btAABB m_bound;
-
-protected:
-	int m_escapeIndexOrDataIndex;
-
-public:
-	GIM_BVH_TREE_NODE()
-	{
-		m_escapeIndexOrDataIndex = 0;
-	}
-
-	SIMD_FORCE_INLINE bool isLeafNode() const
-	{
-		//skipindex is negative (internal node), triangleindex >=0 (leafnode)
-		return (m_escapeIndexOrDataIndex >= 0);
-	}
-
-	SIMD_FORCE_INLINE int getEscapeIndex() const
-	{
-		//btAssert(m_escapeIndexOrDataIndex < 0);
-		return -m_escapeIndexOrDataIndex;
-	}
-
-	SIMD_FORCE_INLINE void setEscapeIndex(int index)
-	{
-		m_escapeIndexOrDataIndex = -index;
-	}
-
-	SIMD_FORCE_INLINE int getDataIndex() const
-	{
-		//btAssert(m_escapeIndexOrDataIndex >= 0);
-
-		return m_escapeIndexOrDataIndex;
-	}
-
-	SIMD_FORCE_INLINE void setDataIndex(int index)
-	{
-		m_escapeIndexOrDataIndex = index;
-	}
-};
-
-#endif  // GIM_BOXPRUNING_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
deleted file mode 100644
index 73e3db1010..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,866 +0,0 @@
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-/*
-Author: Francisco Leon Najera
-Concave-Concave Collision
-
-*/
-
-#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
-#include "LinearMath/btIDebugDraw.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionShapes/btBoxShape.h"
-#include "btGImpactCollisionAlgorithm.h"
-#include "btContactProcessing.h"
-#include "LinearMath/btQuickprof.h"
-
-//! Class for accessing the plane equation
-class btPlaneShape : public btStaticPlaneShape
-{
-public:
-	btPlaneShape(const btVector3& v, float f)
-		: btStaticPlaneShape(v, f)
-	{
-	}
-
-	void get_plane_equation(btVector4& equation)
-	{
-		equation[0] = m_planeNormal[0];
-		equation[1] = m_planeNormal[1];
-		equation[2] = m_planeNormal[2];
-		equation[3] = m_planeConstant;
-	}
-
-	void get_plane_equation_transformed(const btTransform& trans, btVector4& equation) const
-	{
-		const btVector3 normal = trans.getBasis() * m_planeNormal;
-		equation[0] = normal[0];
-		equation[1] = normal[1];
-		equation[2] = normal[2];
-		equation[3] = normal.dot(trans * (m_planeConstant * m_planeNormal));
-	}
-};
-
-//////////////////////////////////////////////////////////////////////////////////////////////
-#ifdef TRI_COLLISION_PROFILING
-
-btClock g_triangle_clock;
-
-float g_accum_triangle_collision_time = 0;
-int g_count_triangle_collision = 0;
-
-void bt_begin_gim02_tri_time()
-{
-	g_triangle_clock.reset();
-}
-
-void bt_end_gim02_tri_time()
-{
-	g_accum_triangle_collision_time += g_triangle_clock.getTimeMicroseconds();
-	g_count_triangle_collision++;
-}
-#endif  //TRI_COLLISION_PROFILING
-//! Retrieving shapes shapes
-/*!
-Declared here due of insuficent space on Pool allocators
-*/
-//!@{
-class GIM_ShapeRetriever
-{
-public:
-	const btGImpactShapeInterface* m_gim_shape;
-	btTriangleShapeEx m_trishape;
-	btTetrahedronShapeEx m_tetrashape;
-
-public:
-	class ChildShapeRetriever
-	{
-	public:
-		GIM_ShapeRetriever* m_parent;
-		virtual const btCollisionShape* getChildShape(int index)
-		{
-			return m_parent->m_gim_shape->getChildShape(index);
-		}
-		virtual ~ChildShapeRetriever() {}
-	};
-
-	class TriangleShapeRetriever : public ChildShapeRetriever
-	{
-	public:
-		virtual btCollisionShape* getChildShape(int index)
-		{
-			m_parent->m_gim_shape->getBulletTriangle(index, m_parent->m_trishape);
-			return &m_parent->m_trishape;
-		}
-		virtual ~TriangleShapeRetriever() {}
-	};
-
-	class TetraShapeRetriever : public ChildShapeRetriever
-	{
-	public:
-		virtual btCollisionShape* getChildShape(int index)
-		{
-			m_parent->m_gim_shape->getBulletTetrahedron(index, m_parent->m_tetrashape);
-			return &m_parent->m_tetrashape;
-		}
-	};
-
-public:
-	ChildShapeRetriever m_child_retriever;
-	TriangleShapeRetriever m_tri_retriever;
-	TetraShapeRetriever m_tetra_retriever;
-	ChildShapeRetriever* m_current_retriever;
-
-	GIM_ShapeRetriever(const btGImpactShapeInterface* gim_shape)
-	{
-		m_gim_shape = gim_shape;
-		//select retriever
-		if (m_gim_shape->needsRetrieveTriangles())
-		{
-			m_current_retriever = &m_tri_retriever;
-		}
-		else if (m_gim_shape->needsRetrieveTetrahedrons())
-		{
-			m_current_retriever = &m_tetra_retriever;
-		}
-		else
-		{
-			m_current_retriever = &m_child_retriever;
-		}
-
-		m_current_retriever->m_parent = this;
-	}
-
-	const btCollisionShape* getChildShape(int index)
-	{
-		return m_current_retriever->getChildShape(index);
-	}
-};
-
-//!@}
-
-#ifdef TRI_COLLISION_PROFILING
-
-//! Gets the average time in miliseconds of tree collisions
-float btGImpactCollisionAlgorithm::getAverageTreeCollisionTime()
-{
-	return btGImpactBoxSet::getAverageTreeCollisionTime();
-}
-
-//! Gets the average time in miliseconds of triangle collisions
-float btGImpactCollisionAlgorithm::getAverageTriangleCollisionTime()
-{
-	if (g_count_triangle_collision == 0) return 0;
-
-	float avgtime = g_accum_triangle_collision_time;
-	avgtime /= (float)g_count_triangle_collision;
-
-	g_accum_triangle_collision_time = 0;
-	g_count_triangle_collision = 0;
-
-	return avgtime;
-}
-
-#endif  //TRI_COLLISION_PROFILING
-
-btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-	: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap)
-{
-	m_manifoldPtr = NULL;
-	m_convex_algorithm = NULL;
-}
-
-btGImpactCollisionAlgorithm::~btGImpactCollisionAlgorithm()
-{
-	clearCache();
-}
-
-void btGImpactCollisionAlgorithm::addContactPoint(const btCollisionObjectWrapper* body0Wrap,
-												  const btCollisionObjectWrapper* body1Wrap,
-												  const btVector3& point,
-												  const btVector3& normal,
-												  btScalar distance)
-{
-	m_resultOut->setShapeIdentifiersA(m_part0, m_triface0);
-	m_resultOut->setShapeIdentifiersB(m_part1, m_triface1);
-	checkManifold(body0Wrap, body1Wrap);
-	m_resultOut->addContactPoint(normal, point, distance);
-}
-
-void btGImpactCollisionAlgorithm::shape_vs_shape_collision(
-	const btCollisionObjectWrapper* body0Wrap,
-	const btCollisionObjectWrapper* body1Wrap,
-	const btCollisionShape* shape0,
-	const btCollisionShape* shape1)
-{
-	{
-		btCollisionAlgorithm* algor = newAlgorithm(body0Wrap, body1Wrap);
-		// post :	checkManifold is called
-
-		m_resultOut->setShapeIdentifiersA(m_part0, m_triface0);
-		m_resultOut->setShapeIdentifiersB(m_part1, m_triface1);
-
-		algor->processCollision(body0Wrap, body1Wrap, *m_dispatchInfo, m_resultOut);
-
-		algor->~btCollisionAlgorithm();
-		m_dispatcher->freeCollisionAlgorithm(algor);
-	}
-}
-
-void btGImpactCollisionAlgorithm::convex_vs_convex_collision(
-	const btCollisionObjectWrapper* body0Wrap,
-	const btCollisionObjectWrapper* body1Wrap,
-	const btCollisionShape* shape0,
-	const btCollisionShape* shape1)
-{
-	m_resultOut->setShapeIdentifiersA(m_part0, m_triface0);
-	m_resultOut->setShapeIdentifiersB(m_part1, m_triface1);
-
-	btCollisionObjectWrapper ob0(body0Wrap, shape0, body0Wrap->getCollisionObject(), body0Wrap->getWorldTransform(), m_part0, m_triface0);
-	btCollisionObjectWrapper ob1(body1Wrap, shape1, body1Wrap->getCollisionObject(), body1Wrap->getWorldTransform(), m_part1, m_triface1);
-	checkConvexAlgorithm(&ob0, &ob1);
-	m_convex_algorithm->processCollision(&ob0, &ob1, *m_dispatchInfo, m_resultOut);
-}
-
-void btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs(
-	const btTransform& trans0,
-	const btTransform& trans1,
-	const btGImpactShapeInterface* shape0,
-	const btGImpactShapeInterface* shape1, btPairSet& pairset)
-{
-	if (shape0->hasBoxSet() && shape1->hasBoxSet())
-	{
-		btGImpactBoxSet::find_collision(shape0->getBoxSet(), trans0, shape1->getBoxSet(), trans1, pairset);
-	}
-	else
-	{
-		btAABB boxshape0;
-		btAABB boxshape1;
-		int i = shape0->getNumChildShapes();
-
-		while (i--)
-		{
-			shape0->getChildAabb(i, trans0, boxshape0.m_min, boxshape0.m_max);
-
-			int j = shape1->getNumChildShapes();
-			while (j--)
-			{
-				shape1->getChildAabb(i, trans1, boxshape1.m_min, boxshape1.m_max);
-
-				if (boxshape1.has_collision(boxshape0))
-				{
-					pairset.push_pair(i, j);
-				}
-			}
-		}
-	}
-}
-
-void btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs(
-	const btTransform& trans0,
-	const btTransform& trans1,
-	const btGImpactShapeInterface* shape0,
-	const btCollisionShape* shape1,
-	btAlignedObjectArray<int>& collided_primitives)
-{
-	btAABB boxshape;
-
-	if (shape0->hasBoxSet())
-	{
-		btTransform trans1to0 = trans0.inverse();
-		trans1to0 *= trans1;
-
-		shape1->getAabb(trans1to0, boxshape.m_min, boxshape.m_max);
-
-		shape0->getBoxSet()->boxQuery(boxshape, collided_primitives);
-	}
-	else
-	{
-		shape1->getAabb(trans1, boxshape.m_min, boxshape.m_max);
-
-		btAABB boxshape0;
-		int i = shape0->getNumChildShapes();
-
-		while (i--)
-		{
-			shape0->getChildAabb(i, trans0, boxshape0.m_min, boxshape0.m_max);
-
-			if (boxshape.has_collision(boxshape0))
-			{
-				collided_primitives.push_back(i);
-			}
-		}
-	}
-}
-
-void btGImpactCollisionAlgorithm::collide_gjk_triangles(const btCollisionObjectWrapper* body0Wrap,
-														const btCollisionObjectWrapper* body1Wrap,
-														const btGImpactMeshShapePart* shape0,
-														const btGImpactMeshShapePart* shape1,
-														const int* pairs, int pair_count)
-{
-	btTriangleShapeEx tri0;
-	btTriangleShapeEx tri1;
-
-	shape0->lockChildShapes();
-	shape1->lockChildShapes();
-
-	const int* pair_pointer = pairs;
-
-	while (pair_count--)
-	{
-		m_triface0 = *(pair_pointer);
-		m_triface1 = *(pair_pointer + 1);
-		pair_pointer += 2;
-
-		shape0->getBulletTriangle(m_triface0, tri0);
-		shape1->getBulletTriangle(m_triface1, tri1);
-
-		//collide two convex shapes
-		if (tri0.overlap_test_conservative(tri1))
-		{
-			convex_vs_convex_collision(body0Wrap, body1Wrap, &tri0, &tri1);
-		}
-	}
-
-	shape0->unlockChildShapes();
-	shape1->unlockChildShapes();
-}
-
-void btGImpactCollisionAlgorithm::collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap,
-														const btCollisionObjectWrapper* body1Wrap,
-														const btGImpactMeshShapePart* shape0,
-														const btGImpactMeshShapePart* shape1,
-														const int* pairs, int pair_count)
-{
-	btTransform orgtrans0 = body0Wrap->getWorldTransform();
-	btTransform orgtrans1 = body1Wrap->getWorldTransform();
-
-	btPrimitiveTriangle ptri0;
-	btPrimitiveTriangle ptri1;
-	GIM_TRIANGLE_CONTACT contact_data;
-
-	shape0->lockChildShapes();
-	shape1->lockChildShapes();
-
-	const int* pair_pointer = pairs;
-
-	while (pair_count--)
-	{
-		m_triface0 = *(pair_pointer);
-		m_triface1 = *(pair_pointer + 1);
-		pair_pointer += 2;
-
-		shape0->getPrimitiveTriangle(m_triface0, ptri0);
-		shape1->getPrimitiveTriangle(m_triface1, ptri1);
-
-#ifdef TRI_COLLISION_PROFILING
-		bt_begin_gim02_tri_time();
-#endif
-
-		ptri0.applyTransform(orgtrans0);
-		ptri1.applyTransform(orgtrans1);
-
-		//build planes
-		ptri0.buildTriPlane();
-		ptri1.buildTriPlane();
-		// test conservative
-
-		if (ptri0.overlap_test_conservative(ptri1))
-		{
-			if (ptri0.find_triangle_collision_clip_method(ptri1, contact_data))
-			{
-				int j = contact_data.m_point_count;
-				while (j--)
-				{
-					addContactPoint(body0Wrap, body1Wrap,
-									contact_data.m_points[j],
-									contact_data.m_separating_normal,
-									-contact_data.m_penetration_depth);
-				}
-			}
-		}
-
-#ifdef TRI_COLLISION_PROFILING
-		bt_end_gim02_tri_time();
-#endif
-	}
-
-	shape0->unlockChildShapes();
-	shape1->unlockChildShapes();
-}
-
-void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
-	const btCollisionObjectWrapper* body0Wrap,
-	const btCollisionObjectWrapper* body1Wrap,
-	const btGImpactShapeInterface* shape0,
-	const btGImpactShapeInterface* shape1)
-{
-	if (shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE)
-	{
-		const btGImpactMeshShape* meshshape0 = static_cast<const btGImpactMeshShape*>(shape0);
-		m_part0 = meshshape0->getMeshPartCount();
-
-		while (m_part0--)
-		{
-			gimpact_vs_gimpact(body0Wrap, body1Wrap, meshshape0->getMeshPart(m_part0), shape1);
-		}
-
-		return;
-	}
-
-	if (shape1->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE)
-	{
-		const btGImpactMeshShape* meshshape1 = static_cast<const btGImpactMeshShape*>(shape1);
-		m_part1 = meshshape1->getMeshPartCount();
-
-		while (m_part1--)
-		{
-			gimpact_vs_gimpact(body0Wrap, body1Wrap, shape0, meshshape1->getMeshPart(m_part1));
-		}
-
-		return;
-	}
-
-	btTransform orgtrans0 = body0Wrap->getWorldTransform();
-	btTransform orgtrans1 = body1Wrap->getWorldTransform();
-
-	btPairSet pairset;
-
-	gimpact_vs_gimpact_find_pairs(orgtrans0, orgtrans1, shape0, shape1, pairset);
-
-	if (pairset.size() == 0) return;
-
-	if (shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
-		shape1->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART)
-	{
-		const btGImpactMeshShapePart* shapepart0 = static_cast<const btGImpactMeshShapePart*>(shape0);
-		const btGImpactMeshShapePart* shapepart1 = static_cast<const btGImpactMeshShapePart*>(shape1);
-//specialized function
-#ifdef BULLET_TRIANGLE_COLLISION
-		collide_gjk_triangles(body0Wrap, body1Wrap, shapepart0, shapepart1, &pairset[0].m_index1, pairset.size());
-#else
-		collide_sat_triangles(body0Wrap, body1Wrap, shapepart0, shapepart1, &pairset[0].m_index1, pairset.size());
-#endif
-
-		return;
-	}
-
-	//general function
-
-	shape0->lockChildShapes();
-	shape1->lockChildShapes();
-
-	GIM_ShapeRetriever retriever0(shape0);
-	GIM_ShapeRetriever retriever1(shape1);
-
-	bool child_has_transform0 = shape0->childrenHasTransform();
-	bool child_has_transform1 = shape1->childrenHasTransform();
-
-	int i = pairset.size();
-	while (i--)
-	{
-		GIM_PAIR* pair = &pairset[i];
-		m_triface0 = pair->m_index1;
-		m_triface1 = pair->m_index2;
-		const btCollisionShape* colshape0 = retriever0.getChildShape(m_triface0);
-		const btCollisionShape* colshape1 = retriever1.getChildShape(m_triface1);
-
-		btTransform tr0 = body0Wrap->getWorldTransform();
-		btTransform tr1 = body1Wrap->getWorldTransform();
-
-		if (child_has_transform0)
-		{
-			tr0 = orgtrans0 * shape0->getChildTransform(m_triface0);
-		}
-
-		if (child_has_transform1)
-		{
-			tr1 = orgtrans1 * shape1->getChildTransform(m_triface1);
-		}
-
-		btCollisionObjectWrapper ob0(body0Wrap, colshape0, body0Wrap->getCollisionObject(), tr0, m_part0, m_triface0);
-		btCollisionObjectWrapper ob1(body1Wrap, colshape1, body1Wrap->getCollisionObject(), tr1, m_part1, m_triface1);
-
-		//collide two convex shapes
-		convex_vs_convex_collision(&ob0, &ob1, colshape0, colshape1);
-	}
-
-	shape0->unlockChildShapes();
-	shape1->unlockChildShapes();
-}
-
-void btGImpactCollisionAlgorithm::gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap,
-												   const btCollisionObjectWrapper* body1Wrap,
-												   const btGImpactShapeInterface* shape0,
-												   const btCollisionShape* shape1, bool swapped)
-{
-	if (shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE)
-	{
-		const btGImpactMeshShape* meshshape0 = static_cast<const btGImpactMeshShape*>(shape0);
-		int& part = swapped ? m_part1 : m_part0;
-		part = meshshape0->getMeshPartCount();
-
-		while (part--)
-		{
-			gimpact_vs_shape(body0Wrap,
-							 body1Wrap,
-							 meshshape0->getMeshPart(part),
-							 shape1, swapped);
-		}
-
-		return;
-	}
-
-#ifdef GIMPACT_VS_PLANE_COLLISION
-	if (shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
-		shape1->getShapeType() == STATIC_PLANE_PROXYTYPE)
-	{
-		const btGImpactMeshShapePart* shapepart = static_cast<const btGImpactMeshShapePart*>(shape0);
-		const btStaticPlaneShape* planeshape = static_cast<const btStaticPlaneShape*>(shape1);
-		gimpacttrimeshpart_vs_plane_collision(body0Wrap, body1Wrap, shapepart, planeshape, swapped);
-		return;
-	}
-
-#endif
-
-	if (shape1->isCompound())
-	{
-		const btCompoundShape* compoundshape = static_cast<const btCompoundShape*>(shape1);
-		gimpact_vs_compoundshape(body0Wrap, body1Wrap, shape0, compoundshape, swapped);
-		return;
-	}
-	else if (shape1->isConcave())
-	{
-		const btConcaveShape* concaveshape = static_cast<const btConcaveShape*>(shape1);
-		gimpact_vs_concave(body0Wrap, body1Wrap, shape0, concaveshape, swapped);
-		return;
-	}
-
-	btTransform orgtrans0 = body0Wrap->getWorldTransform();
-
-	btTransform orgtrans1 = body1Wrap->getWorldTransform();
-
-	btAlignedObjectArray<int> collided_results;
-
-	gimpact_vs_shape_find_pairs(orgtrans0, orgtrans1, shape0, shape1, collided_results);
-
-	if (collided_results.size() == 0) return;
-
-	shape0->lockChildShapes();
-
-	GIM_ShapeRetriever retriever0(shape0);
-
-	bool child_has_transform0 = shape0->childrenHasTransform();
-
-	int i = collided_results.size();
-
-	while (i--)
-	{
-		int child_index = collided_results[i];
-		if (swapped)
-			m_triface1 = child_index;
-		else
-			m_triface0 = child_index;
-
-		const btCollisionShape* colshape0 = retriever0.getChildShape(child_index);
-
-		btTransform tr0 = body0Wrap->getWorldTransform();
-
-		if (child_has_transform0)
-		{
-			tr0 = orgtrans0 * shape0->getChildTransform(child_index);
-		}
-
-		btCollisionObjectWrapper ob0(body0Wrap, colshape0, body0Wrap->getCollisionObject(), body0Wrap->getWorldTransform(), m_part0, m_triface0);
-		const btCollisionObjectWrapper* prevObj;
-
-		if (m_resultOut->getBody0Wrap()->getCollisionObject() == ob0.getCollisionObject())
-		{
-			prevObj = m_resultOut->getBody0Wrap();
-			m_resultOut->setBody0Wrap(&ob0);
-		}
-		else
-		{
-			prevObj = m_resultOut->getBody1Wrap();
-			m_resultOut->setBody1Wrap(&ob0);
-		}
-
-		//collide two shapes
-		if (swapped)
-		{
-			shape_vs_shape_collision(body1Wrap, &ob0, shape1, colshape0);
-		}
-		else
-		{
-			shape_vs_shape_collision(&ob0, body1Wrap, colshape0, shape1);
-		}
-
-		if (m_resultOut->getBody0Wrap()->getCollisionObject() == ob0.getCollisionObject())
-		{
-			m_resultOut->setBody0Wrap(prevObj);
-		}
-		else
-		{
-			m_resultOut->setBody1Wrap(prevObj);
-		}
-	}
-
-	shape0->unlockChildShapes();
-}
-
-void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(const btCollisionObjectWrapper* body0Wrap,
-														   const btCollisionObjectWrapper* body1Wrap,
-														   const btGImpactShapeInterface* shape0,
-														   const btCompoundShape* shape1, bool swapped)
-{
-	btTransform orgtrans1 = body1Wrap->getWorldTransform();
-
-	int i = shape1->getNumChildShapes();
-	while (i--)
-	{
-		const btCollisionShape* colshape1 = shape1->getChildShape(i);
-		btTransform childtrans1 = orgtrans1 * shape1->getChildTransform(i);
-
-		btCollisionObjectWrapper ob1(body1Wrap, colshape1, body1Wrap->getCollisionObject(), childtrans1, -1, i);
-
-		const btCollisionObjectWrapper* tmp = 0;
-		if (m_resultOut->getBody0Wrap()->getCollisionObject() == ob1.getCollisionObject())
-		{
-			tmp = m_resultOut->getBody0Wrap();
-			m_resultOut->setBody0Wrap(&ob1);
-		}
-		else
-		{
-			tmp = m_resultOut->getBody1Wrap();
-			m_resultOut->setBody1Wrap(&ob1);
-		}
-		//collide child shape
-		gimpact_vs_shape(body0Wrap, &ob1,
-						 shape0, colshape1, swapped);
-
-		if (m_resultOut->getBody0Wrap()->getCollisionObject() == ob1.getCollisionObject())
-		{
-			m_resultOut->setBody0Wrap(tmp);
-		}
-		else
-		{
-			m_resultOut->setBody1Wrap(tmp);
-		}
-	}
-}
-
-void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision(
-	const btCollisionObjectWrapper* body0Wrap,
-	const btCollisionObjectWrapper* body1Wrap,
-	const btGImpactMeshShapePart* shape0,
-	const btStaticPlaneShape* shape1, bool swapped)
-{
-	btTransform orgtrans0 = body0Wrap->getWorldTransform();
-	btTransform orgtrans1 = body1Wrap->getWorldTransform();
-
-	const btPlaneShape* planeshape = static_cast<const btPlaneShape*>(shape1);
-	btVector4 plane;
-	planeshape->get_plane_equation_transformed(orgtrans1, plane);
-
-	//test box against plane
-
-	btAABB tribox;
-	shape0->getAabb(orgtrans0, tribox.m_min, tribox.m_max);
-	tribox.increment_margin(planeshape->getMargin());
-
-	if (tribox.plane_classify(plane) != BT_CONST_COLLIDE_PLANE) return;
-
-	shape0->lockChildShapes();
-
-	btScalar margin = shape0->getMargin() + planeshape->getMargin();
-
-	btVector3 vertex;
-	int vi = shape0->getVertexCount();
-	while (vi--)
-	{
-		shape0->getVertex(vi, vertex);
-		vertex = orgtrans0(vertex);
-
-		btScalar distance = vertex.dot(plane) - plane[3] - margin;
-
-		if (distance < 0.0)  //add contact
-		{
-			if (swapped)
-			{
-				addContactPoint(body1Wrap, body0Wrap,
-								vertex,
-								-plane,
-								distance);
-			}
-			else
-			{
-				addContactPoint(body0Wrap, body1Wrap,
-								vertex,
-								plane,
-								distance);
-			}
-		}
-	}
-
-	shape0->unlockChildShapes();
-}
-
-class btGImpactTriangleCallback : public btTriangleCallback
-{
-public:
-	btGImpactCollisionAlgorithm* algorithm;
-	const btCollisionObjectWrapper* body0Wrap;
-	const btCollisionObjectWrapper* body1Wrap;
-	const btGImpactShapeInterface* gimpactshape0;
-	bool swapped;
-	btScalar margin;
-
-	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
-	{
-		btTriangleShapeEx tri1(triangle[0], triangle[1], triangle[2]);
-		tri1.setMargin(margin);
-		if (swapped)
-		{
-			algorithm->setPart0(partId);
-			algorithm->setFace0(triangleIndex);
-		}
-		else
-		{
-			algorithm->setPart1(partId);
-			algorithm->setFace1(triangleIndex);
-		}
-
-		btCollisionObjectWrapper ob1Wrap(body1Wrap, &tri1, body1Wrap->getCollisionObject(), body1Wrap->getWorldTransform(), partId, triangleIndex);
-		const btCollisionObjectWrapper* tmp = 0;
-
-		if (algorithm->internalGetResultOut()->getBody0Wrap()->getCollisionObject() == ob1Wrap.getCollisionObject())
-		{
-			tmp = algorithm->internalGetResultOut()->getBody0Wrap();
-			algorithm->internalGetResultOut()->setBody0Wrap(&ob1Wrap);
-		}
-		else
-		{
-			tmp = algorithm->internalGetResultOut()->getBody1Wrap();
-			algorithm->internalGetResultOut()->setBody1Wrap(&ob1Wrap);
-		}
-
-		algorithm->gimpact_vs_shape(
-			body0Wrap, &ob1Wrap, gimpactshape0, &tri1, swapped);
-
-		if (algorithm->internalGetResultOut()->getBody0Wrap()->getCollisionObject() == ob1Wrap.getCollisionObject())
-		{
-			algorithm->internalGetResultOut()->setBody0Wrap(tmp);
-		}
-		else
-		{
-			algorithm->internalGetResultOut()->setBody1Wrap(tmp);
-		}
-	}
-};
-
-void btGImpactCollisionAlgorithm::gimpact_vs_concave(
-	const btCollisionObjectWrapper* body0Wrap,
-	const btCollisionObjectWrapper* body1Wrap,
-	const btGImpactShapeInterface* shape0,
-	const btConcaveShape* shape1, bool swapped)
-{
-	//create the callback
-	btGImpactTriangleCallback tricallback;
-	tricallback.algorithm = this;
-	tricallback.body0Wrap = body0Wrap;
-	tricallback.body1Wrap = body1Wrap;
-	tricallback.gimpactshape0 = shape0;
-	tricallback.swapped = swapped;
-	tricallback.margin = shape1->getMargin();
-
-	//getting the trimesh AABB
-	btTransform gimpactInConcaveSpace;
-
-	gimpactInConcaveSpace = body1Wrap->getWorldTransform().inverse() * body0Wrap->getWorldTransform();
-
-	btVector3 minAABB, maxAABB;
-	shape0->getAabb(gimpactInConcaveSpace, minAABB, maxAABB);
-
-	shape1->processAllTriangles(&tricallback, minAABB, maxAABB);
-}
-
-void btGImpactCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	clearCache();
-
-	m_resultOut = resultOut;
-	m_dispatchInfo = &dispatchInfo;
-	const btGImpactShapeInterface* gimpactshape0;
-	const btGImpactShapeInterface* gimpactshape1;
-
-	if (body0Wrap->getCollisionShape()->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
-	{
-		gimpactshape0 = static_cast<const btGImpactShapeInterface*>(body0Wrap->getCollisionShape());
-
-		if (body1Wrap->getCollisionShape()->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
-		{
-			gimpactshape1 = static_cast<const btGImpactShapeInterface*>(body1Wrap->getCollisionShape());
-
-			gimpact_vs_gimpact(body0Wrap, body1Wrap, gimpactshape0, gimpactshape1);
-		}
-		else
-		{
-			gimpact_vs_shape(body0Wrap, body1Wrap, gimpactshape0, body1Wrap->getCollisionShape(), false);
-		}
-	}
-	else if (body1Wrap->getCollisionShape()->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
-	{
-		gimpactshape1 = static_cast<const btGImpactShapeInterface*>(body1Wrap->getCollisionShape());
-
-		gimpact_vs_shape(body1Wrap, body0Wrap, gimpactshape1, body0Wrap->getCollisionShape(), true);
-	}
-
-	// Ensure that gContactProcessedCallback is called for concave shapes.
-	if (getLastManifold())
-	{
-		m_resultOut->refreshContactPoints();
-	}
-}
-
-btScalar btGImpactCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	return 1.f;
-}
-
-///////////////////////////////////// REGISTERING ALGORITHM //////////////////////////////////////////////
-
-//! Use this function for register the algorithm externally
-void btGImpactCollisionAlgorithm::registerAlgorithm(btCollisionDispatcher* dispatcher)
-{
-	static btGImpactCollisionAlgorithm::CreateFunc s_gimpact_cf;
-
-	int i;
-
-	for (i = 0; i < MAX_BROADPHASE_COLLISION_TYPES; i++)
-	{
-		dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE, i, &s_gimpact_cf);
-	}
-
-	for (i = 0; i < MAX_BROADPHASE_COLLISION_TYPES; i++)
-	{
-		dispatcher->registerCollisionCreateFunc(i, GIMPACT_SHAPE_PROXYTYPE, &s_gimpact_cf);
-	}
-}
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
deleted file mode 100644
index a368c8a0c0..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
+++ /dev/null
@@ -1,288 +0,0 @@
-/*! \file btGImpactShape.h
-\author Francisco Leon Najera
-*/
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
-#define BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
-
-#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
-#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-class btDispatcher;
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-
-#include "LinearMath/btAlignedObjectArray.h"
-
-#include "btGImpactShape.h"
-#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
-#include "BulletCollision/CollisionShapes/btCompoundShape.h"
-#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
-#include "LinearMath/btIDebugDraw.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-//! Collision Algorithm for GImpact Shapes
-/*!
-For register this algorithm in Bullet, proceed as following:
- \code
-btCollisionDispatcher * dispatcher = static_cast<btCollisionDispatcher *>(m_dynamicsWorld ->getDispatcher());
-btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher);
- \endcode
-*/
-class btGImpactCollisionAlgorithm : public btActivatingCollisionAlgorithm
-{
-protected:
-	btCollisionAlgorithm* m_convex_algorithm;
-	btPersistentManifold* m_manifoldPtr;
-	btManifoldResult* m_resultOut;
-	const btDispatcherInfo* m_dispatchInfo;
-	int m_triface0;
-	int m_part0;
-	int m_triface1;
-	int m_part1;
-
-	//! Creates a new contact point
-	SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(const btCollisionObject* body0, const btCollisionObject* body1)
-	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(body0, body1);
-		return m_manifoldPtr;
-	}
-
-	SIMD_FORCE_INLINE void destroyConvexAlgorithm()
-	{
-		if (m_convex_algorithm)
-		{
-			m_convex_algorithm->~btCollisionAlgorithm();
-			m_dispatcher->freeCollisionAlgorithm(m_convex_algorithm);
-			m_convex_algorithm = NULL;
-		}
-	}
-
-	SIMD_FORCE_INLINE void destroyContactManifolds()
-	{
-		if (m_manifoldPtr == NULL) return;
-		m_dispatcher->releaseManifold(m_manifoldPtr);
-		m_manifoldPtr = NULL;
-	}
-
-	SIMD_FORCE_INLINE void clearCache()
-	{
-		destroyContactManifolds();
-		destroyConvexAlgorithm();
-
-		m_triface0 = -1;
-		m_part0 = -1;
-		m_triface1 = -1;
-		m_part1 = -1;
-	}
-
-	SIMD_FORCE_INLINE btPersistentManifold* getLastManifold()
-	{
-		return m_manifoldPtr;
-	}
-
-	// Call before process collision
-	SIMD_FORCE_INLINE void checkManifold(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-	{
-		if (getLastManifold() == 0)
-		{
-			newContactManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
-		}
-
-		m_resultOut->setPersistentManifold(getLastManifold());
-	}
-
-	// Call before process collision
-	SIMD_FORCE_INLINE btCollisionAlgorithm* newAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-	{
-		checkManifold(body0Wrap, body1Wrap);
-
-		btCollisionAlgorithm* convex_algorithm = m_dispatcher->findAlgorithm(
-			body0Wrap, body1Wrap, getLastManifold(), BT_CONTACT_POINT_ALGORITHMS);
-		return convex_algorithm;
-	}
-
-	// Call before process collision
-	SIMD_FORCE_INLINE void checkConvexAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-	{
-		if (m_convex_algorithm) return;
-		m_convex_algorithm = newAlgorithm(body0Wrap, body1Wrap);
-	}
-
-	void addContactPoint(const btCollisionObjectWrapper* body0Wrap,
-						 const btCollisionObjectWrapper* body1Wrap,
-						 const btVector3& point,
-						 const btVector3& normal,
-						 btScalar distance);
-
-	//! Collision routines
-	//!@{
-
-	void collide_gjk_triangles(const btCollisionObjectWrapper* body0Wrap,
-							   const btCollisionObjectWrapper* body1Wrap,
-							   const btGImpactMeshShapePart* shape0,
-							   const btGImpactMeshShapePart* shape1,
-							   const int* pairs, int pair_count);
-
-	void collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap,
-							   const btCollisionObjectWrapper* body1Wrap,
-							   const btGImpactMeshShapePart* shape0,
-							   const btGImpactMeshShapePart* shape1,
-							   const int* pairs, int pair_count);
-
-	void shape_vs_shape_collision(
-		const btCollisionObjectWrapper* body0,
-		const btCollisionObjectWrapper* body1,
-		const btCollisionShape* shape0,
-		const btCollisionShape* shape1);
-
-	void convex_vs_convex_collision(const btCollisionObjectWrapper* body0Wrap,
-									const btCollisionObjectWrapper* body1Wrap,
-									const btCollisionShape* shape0,
-									const btCollisionShape* shape1);
-
-	void gimpact_vs_gimpact_find_pairs(
-		const btTransform& trans0,
-		const btTransform& trans1,
-		const btGImpactShapeInterface* shape0,
-		const btGImpactShapeInterface* shape1, btPairSet& pairset);
-
-	void gimpact_vs_shape_find_pairs(
-		const btTransform& trans0,
-		const btTransform& trans1,
-		const btGImpactShapeInterface* shape0,
-		const btCollisionShape* shape1,
-		btAlignedObjectArray<int>& collided_primitives);
-
-	void gimpacttrimeshpart_vs_plane_collision(
-		const btCollisionObjectWrapper* body0Wrap,
-		const btCollisionObjectWrapper* body1Wrap,
-		const btGImpactMeshShapePart* shape0,
-		const btStaticPlaneShape* shape1, bool swapped);
-
-public:
-	btGImpactCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
-
-	virtual ~btGImpactCollisionAlgorithm();
-
-	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
-	{
-		if (m_manifoldPtr)
-			manifoldArray.push_back(m_manifoldPtr);
-	}
-
-	btManifoldResult* internalGetResultOut()
-	{
-		return m_resultOut;
-	}
-
-	struct CreateFunc : public btCollisionAlgorithmCreateFunc
-	{
-		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btGImpactCollisionAlgorithm));
-			return new (mem) btGImpactCollisionAlgorithm(ci, body0Wrap, body1Wrap);
-		}
-	};
-
-	//! Use this function for register the algorithm externally
-	static void registerAlgorithm(btCollisionDispatcher* dispatcher);
-#ifdef TRI_COLLISION_PROFILING
-	//! Gets the average time in miliseconds of tree collisions
-	static float getAverageTreeCollisionTime();
-
-	//! Gets the average time in miliseconds of triangle collisions
-	static float getAverageTriangleCollisionTime();
-#endif  //TRI_COLLISION_PROFILING
-
-	//! Collides two gimpact shapes
-	/*!
-	\pre shape0 and shape1 couldn't be btGImpactMeshShape objects
-	*/
-
-	void gimpact_vs_gimpact(const btCollisionObjectWrapper* body0Wrap,
-							const btCollisionObjectWrapper* body1Wrap,
-							const btGImpactShapeInterface* shape0,
-							const btGImpactShapeInterface* shape1);
-
-	void gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap,
-						  const btCollisionObjectWrapper* body1Wrap,
-						  const btGImpactShapeInterface* shape0,
-						  const btCollisionShape* shape1, bool swapped);
-
-	void gimpact_vs_compoundshape(const btCollisionObjectWrapper* body0Wrap,
-								  const btCollisionObjectWrapper* body1Wrap,
-								  const btGImpactShapeInterface* shape0,
-								  const btCompoundShape* shape1, bool swapped);
-
-	void gimpact_vs_concave(
-		const btCollisionObjectWrapper* body0Wrap,
-		const btCollisionObjectWrapper* body1Wrap,
-		const btGImpactShapeInterface* shape0,
-		const btConcaveShape* shape1, bool swapped);
-
-	/// Accessor/Mutator pairs for Part and triangleID
-	void setFace0(int value)
-	{
-		m_triface0 = value;
-	}
-	int getFace0()
-	{
-		return m_triface0;
-	}
-	void setFace1(int value)
-	{
-		m_triface1 = value;
-	}
-	int getFace1()
-	{
-		return m_triface1;
-	}
-	void setPart0(int value)
-	{
-		m_part0 = value;
-	}
-	int getPart0()
-	{
-		return m_part0;
-	}
-	void setPart1(int value)
-	{
-		m_part1 = value;
-	}
-	int getPart1()
-	{
-		return m_part1;
-	}
-};
-
-//algorithm details
-//#define BULLET_TRIANGLE_COLLISION 1
-#define GIMPACT_VS_PLANE_COLLISION 1
-
-#endif  //BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactMassUtil.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactMassUtil.h
deleted file mode 100644
index 1cde46ed8b..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactMassUtil.h
+++ /dev/null
@@ -1,56 +0,0 @@
-/*! \file btGImpactMassUtil.h
-\author Francisco Leon Najera
-*/
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef GIMPACT_MASS_UTIL_H
-#define GIMPACT_MASS_UTIL_H
-
-#include "LinearMath/btTransform.h"
-
-SIMD_FORCE_INLINE btVector3 gim_inertia_add_transformed(
-	const btVector3& source_inertia, const btVector3& added_inertia, const btTransform& transform)
-{
-	btMatrix3x3 rotatedTensor = transform.getBasis().scaled(added_inertia) * transform.getBasis().transpose();
-
-	btScalar x2 = transform.getOrigin()[0];
-	x2 *= x2;
-	btScalar y2 = transform.getOrigin()[1];
-	y2 *= y2;
-	btScalar z2 = transform.getOrigin()[2];
-	z2 *= z2;
-
-	btScalar ix = rotatedTensor[0][0] * (y2 + z2);
-	btScalar iy = rotatedTensor[1][1] * (x2 + z2);
-	btScalar iz = rotatedTensor[2][2] * (x2 + y2);
-
-	return btVector3(source_inertia[0] + ix, source_inertia[1] + iy, source_inertia[2] + iz);
-}
-
-SIMD_FORCE_INLINE btVector3 gim_get_point_inertia(const btVector3& point, btScalar mass)
-{
-	btScalar x2 = point[0] * point[0];
-	btScalar y2 = point[1] * point[1];
-	btScalar z2 = point[2] * point[2];
-	return btVector3(mass * (y2 + z2), mass * (x2 + z2), mass * (x2 + y2));
-}
-
-#endif  //GIMPACT_MESH_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp
deleted file mode 100644
index b81fc97044..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp
+++ /dev/null
@@ -1,486 +0,0 @@
-/*! \file gim_box_set.h
-\author Francisco Leon Najera
-*/
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btGImpactQuantizedBvh.h"
-#include "LinearMath/btQuickprof.h"
-
-#ifdef TRI_COLLISION_PROFILING
-btClock g_q_tree_clock;
-
-float g_q_accum_tree_collision_time = 0;
-int g_q_count_traversing = 0;
-
-void bt_begin_gim02_q_tree_time()
-{
-	g_q_tree_clock.reset();
-}
-
-void bt_end_gim02_q_tree_time()
-{
-	g_q_accum_tree_collision_time += g_q_tree_clock.getTimeMicroseconds();
-	g_q_count_traversing++;
-}
-
-//! Gets the average time in miliseconds of tree collisions
-float btGImpactQuantizedBvh::getAverageTreeCollisionTime()
-{
-	if (g_q_count_traversing == 0) return 0;
-
-	float avgtime = g_q_accum_tree_collision_time;
-	avgtime /= (float)g_q_count_traversing;
-
-	g_q_accum_tree_collision_time = 0;
-	g_q_count_traversing = 0;
-	return avgtime;
-
-	//	float avgtime = g_q_count_traversing;
-	//	g_q_count_traversing = 0;
-	//	return avgtime;
-}
-
-#endif  //TRI_COLLISION_PROFILING
-
-/////////////////////// btQuantizedBvhTree /////////////////////////////////
-
-void btQuantizedBvhTree::calc_quantization(
-	GIM_BVH_DATA_ARRAY& primitive_boxes, btScalar boundMargin)
-{
-	//calc globa box
-	btAABB global_bound;
-	global_bound.invalidate();
-
-	for (int i = 0; i < primitive_boxes.size(); i++)
-	{
-		global_bound.merge(primitive_boxes[i].m_bound);
-	}
-
-	bt_calc_quantization_parameters(
-		m_global_bound.m_min, m_global_bound.m_max, m_bvhQuantization, global_bound.m_min, global_bound.m_max, boundMargin);
-}
-
-int btQuantizedBvhTree::_calc_splitting_axis(
-	GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex)
-{
-	int i;
-
-	btVector3 means(btScalar(0.), btScalar(0.), btScalar(0.));
-	btVector3 variance(btScalar(0.), btScalar(0.), btScalar(0.));
-	int numIndices = endIndex - startIndex;
-
-	for (i = startIndex; i < endIndex; i++)
-	{
-		btVector3 center = btScalar(0.5) * (primitive_boxes[i].m_bound.m_max +
-											primitive_boxes[i].m_bound.m_min);
-		means += center;
-	}
-	means *= (btScalar(1.) / (btScalar)numIndices);
-
-	for (i = startIndex; i < endIndex; i++)
-	{
-		btVector3 center = btScalar(0.5) * (primitive_boxes[i].m_bound.m_max +
-											primitive_boxes[i].m_bound.m_min);
-		btVector3 diff2 = center - means;
-		diff2 = diff2 * diff2;
-		variance += diff2;
-	}
-	variance *= (btScalar(1.) / ((btScalar)numIndices - 1));
-
-	return variance.maxAxis();
-}
-
-int btQuantizedBvhTree::_sort_and_calc_splitting_index(
-	GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex,
-	int endIndex, int splitAxis)
-{
-	int i;
-	int splitIndex = startIndex;
-	int numIndices = endIndex - startIndex;
-
-	// average of centers
-	btScalar splitValue = 0.0f;
-
-	btVector3 means(btScalar(0.), btScalar(0.), btScalar(0.));
-	for (i = startIndex; i < endIndex; i++)
-	{
-		btVector3 center = btScalar(0.5) * (primitive_boxes[i].m_bound.m_max +
-											primitive_boxes[i].m_bound.m_min);
-		means += center;
-	}
-	means *= (btScalar(1.) / (btScalar)numIndices);
-
-	splitValue = means[splitAxis];
-
-	//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
-	for (i = startIndex; i < endIndex; i++)
-	{
-		btVector3 center = btScalar(0.5) * (primitive_boxes[i].m_bound.m_max +
-											primitive_boxes[i].m_bound.m_min);
-		if (center[splitAxis] > splitValue)
-		{
-			//swap
-			primitive_boxes.swap(i, splitIndex);
-			//swapLeafNodes(i,splitIndex);
-			splitIndex++;
-		}
-	}
-
-	//if the splitIndex causes unbalanced trees, fix this by using the center in between startIndex and endIndex
-	//otherwise the tree-building might fail due to stack-overflows in certain cases.
-	//unbalanced1 is unsafe: it can cause stack overflows
-	//bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1)));
-
-	//unbalanced2 should work too: always use center (perfect balanced trees)
-	//bool unbalanced2 = true;
-
-	//this should be safe too:
-	int rangeBalancedIndices = numIndices / 3;
-	bool unbalanced = ((splitIndex <= (startIndex + rangeBalancedIndices)) || (splitIndex >= (endIndex - 1 - rangeBalancedIndices)));
-
-	if (unbalanced)
-	{
-		splitIndex = startIndex + (numIndices >> 1);
-	}
-
-	btAssert(!((splitIndex == startIndex) || (splitIndex == (endIndex))));
-
-	return splitIndex;
-}
-
-void btQuantizedBvhTree::_build_sub_tree(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex)
-{
-	int curIndex = m_num_nodes;
-	m_num_nodes++;
-
-	btAssert((endIndex - startIndex) > 0);
-
-	if ((endIndex - startIndex) == 1)
-	{
-		//We have a leaf node
-		setNodeBound(curIndex, primitive_boxes[startIndex].m_bound);
-		m_node_array[curIndex].setDataIndex(primitive_boxes[startIndex].m_data);
-
-		return;
-	}
-	//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
-
-	//split axis
-	int splitIndex = _calc_splitting_axis(primitive_boxes, startIndex, endIndex);
-
-	splitIndex = _sort_and_calc_splitting_index(
-		primitive_boxes, startIndex, endIndex,
-		splitIndex  //split axis
-	);
-
-	//calc this node bounding box
-
-	btAABB node_bound;
-	node_bound.invalidate();
-
-	for (int i = startIndex; i < endIndex; i++)
-	{
-		node_bound.merge(primitive_boxes[i].m_bound);
-	}
-
-	setNodeBound(curIndex, node_bound);
-
-	//build left branch
-	_build_sub_tree(primitive_boxes, startIndex, splitIndex);
-
-	//build right branch
-	_build_sub_tree(primitive_boxes, splitIndex, endIndex);
-
-	m_node_array[curIndex].setEscapeIndex(m_num_nodes - curIndex);
-}
-
-//! stackless build tree
-void btQuantizedBvhTree::build_tree(
-	GIM_BVH_DATA_ARRAY& primitive_boxes)
-{
-	calc_quantization(primitive_boxes);
-	// initialize node count to 0
-	m_num_nodes = 0;
-	// allocate nodes
-	m_node_array.resize(primitive_boxes.size() * 2);
-
-	_build_sub_tree(primitive_boxes, 0, primitive_boxes.size());
-}
-
-////////////////////////////////////class btGImpactQuantizedBvh
-
-void btGImpactQuantizedBvh::refit()
-{
-	int nodecount = getNodeCount();
-	while (nodecount--)
-	{
-		if (isLeafNode(nodecount))
-		{
-			btAABB leafbox;
-			m_primitive_manager->get_primitive_box(getNodeData(nodecount), leafbox);
-			setNodeBound(nodecount, leafbox);
-		}
-		else
-		{
-			//const GIM_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount);
-			//get left bound
-			btAABB bound;
-			bound.invalidate();
-
-			btAABB temp_box;
-
-			int child_node = getLeftNode(nodecount);
-			if (child_node)
-			{
-				getNodeBound(child_node, temp_box);
-				bound.merge(temp_box);
-			}
-
-			child_node = getRightNode(nodecount);
-			if (child_node)
-			{
-				getNodeBound(child_node, temp_box);
-				bound.merge(temp_box);
-			}
-
-			setNodeBound(nodecount, bound);
-		}
-	}
-}
-
-//! this rebuild the entire set
-void btGImpactQuantizedBvh::buildSet()
-{
-	//obtain primitive boxes
-	GIM_BVH_DATA_ARRAY primitive_boxes;
-	primitive_boxes.resize(m_primitive_manager->get_primitive_count());
-
-	for (int i = 0; i < primitive_boxes.size(); i++)
-	{
-		m_primitive_manager->get_primitive_box(i, primitive_boxes[i].m_bound);
-		primitive_boxes[i].m_data = i;
-	}
-
-	m_box_tree.build_tree(primitive_boxes);
-}
-
-//! returns the indices of the primitives in the m_primitive_manager
-bool btGImpactQuantizedBvh::boxQuery(const btAABB& box, btAlignedObjectArray<int>& collided_results) const
-{
-	int curIndex = 0;
-	int numNodes = getNodeCount();
-
-	//quantize box
-
-	unsigned short quantizedMin[3];
-	unsigned short quantizedMax[3];
-
-	m_box_tree.quantizePoint(quantizedMin, box.m_min);
-	m_box_tree.quantizePoint(quantizedMax, box.m_max);
-
-	while (curIndex < numNodes)
-	{
-		//catch bugs in tree data
-
-		bool aabbOverlap = m_box_tree.testQuantizedBoxOverlapp(curIndex, quantizedMin, quantizedMax);
-		bool isleafnode = isLeafNode(curIndex);
-
-		if (isleafnode && aabbOverlap)
-		{
-			collided_results.push_back(getNodeData(curIndex));
-		}
-
-		if (aabbOverlap || isleafnode)
-		{
-			//next subnode
-			curIndex++;
-		}
-		else
-		{
-			//skip node
-			curIndex += getEscapeNodeIndex(curIndex);
-		}
-	}
-	if (collided_results.size() > 0) return true;
-	return false;
-}
-
-//! returns the indices of the primitives in the m_primitive_manager
-bool btGImpactQuantizedBvh::rayQuery(
-	const btVector3& ray_dir, const btVector3& ray_origin,
-	btAlignedObjectArray<int>& collided_results) const
-{
-	int curIndex = 0;
-	int numNodes = getNodeCount();
-
-	while (curIndex < numNodes)
-	{
-		btAABB bound;
-		getNodeBound(curIndex, bound);
-
-		//catch bugs in tree data
-
-		bool aabbOverlap = bound.collide_ray(ray_origin, ray_dir);
-		bool isleafnode = isLeafNode(curIndex);
-
-		if (isleafnode && aabbOverlap)
-		{
-			collided_results.push_back(getNodeData(curIndex));
-		}
-
-		if (aabbOverlap || isleafnode)
-		{
-			//next subnode
-			curIndex++;
-		}
-		else
-		{
-			//skip node
-			curIndex += getEscapeNodeIndex(curIndex);
-		}
-	}
-	if (collided_results.size() > 0) return true;
-	return false;
-}
-
-SIMD_FORCE_INLINE bool _quantized_node_collision(
-	const btGImpactQuantizedBvh* boxset0, const btGImpactQuantizedBvh* boxset1,
-	const BT_BOX_BOX_TRANSFORM_CACHE& trans_cache_1to0,
-	int node0, int node1, bool complete_primitive_tests)
-{
-	btAABB box0;
-	boxset0->getNodeBound(node0, box0);
-	btAABB box1;
-	boxset1->getNodeBound(node1, box1);
-
-	return box0.overlapping_trans_cache(box1, trans_cache_1to0, complete_primitive_tests);
-	//	box1.appy_transform_trans_cache(trans_cache_1to0);
-	//	return box0.has_collision(box1);
-}
-
-//stackless recursive collision routine
-static void _find_quantized_collision_pairs_recursive(
-	const btGImpactQuantizedBvh* boxset0, const btGImpactQuantizedBvh* boxset1,
-	btPairSet* collision_pairs,
-	const BT_BOX_BOX_TRANSFORM_CACHE& trans_cache_1to0,
-	int node0, int node1, bool complete_primitive_tests)
-{
-	if (_quantized_node_collision(
-			boxset0, boxset1, trans_cache_1to0,
-			node0, node1, complete_primitive_tests) == false) return;  //avoid colliding internal nodes
-
-	if (boxset0->isLeafNode(node0))
-	{
-		if (boxset1->isLeafNode(node1))
-		{
-			// collision result
-			collision_pairs->push_pair(
-				boxset0->getNodeData(node0), boxset1->getNodeData(node1));
-			return;
-		}
-		else
-		{
-			//collide left recursive
-
-			_find_quantized_collision_pairs_recursive(
-				boxset0, boxset1,
-				collision_pairs, trans_cache_1to0,
-				node0, boxset1->getLeftNode(node1), false);
-
-			//collide right recursive
-			_find_quantized_collision_pairs_recursive(
-				boxset0, boxset1,
-				collision_pairs, trans_cache_1to0,
-				node0, boxset1->getRightNode(node1), false);
-		}
-	}
-	else
-	{
-		if (boxset1->isLeafNode(node1))
-		{
-			//collide left recursive
-			_find_quantized_collision_pairs_recursive(
-				boxset0, boxset1,
-				collision_pairs, trans_cache_1to0,
-				boxset0->getLeftNode(node0), node1, false);
-
-			//collide right recursive
-
-			_find_quantized_collision_pairs_recursive(
-				boxset0, boxset1,
-				collision_pairs, trans_cache_1to0,
-				boxset0->getRightNode(node0), node1, false);
-		}
-		else
-		{
-			//collide left0 left1
-
-			_find_quantized_collision_pairs_recursive(
-				boxset0, boxset1,
-				collision_pairs, trans_cache_1to0,
-				boxset0->getLeftNode(node0), boxset1->getLeftNode(node1), false);
-
-			//collide left0 right1
-
-			_find_quantized_collision_pairs_recursive(
-				boxset0, boxset1,
-				collision_pairs, trans_cache_1to0,
-				boxset0->getLeftNode(node0), boxset1->getRightNode(node1), false);
-
-			//collide right0 left1
-
-			_find_quantized_collision_pairs_recursive(
-				boxset0, boxset1,
-				collision_pairs, trans_cache_1to0,
-				boxset0->getRightNode(node0), boxset1->getLeftNode(node1), false);
-
-			//collide right0 right1
-
-			_find_quantized_collision_pairs_recursive(
-				boxset0, boxset1,
-				collision_pairs, trans_cache_1to0,
-				boxset0->getRightNode(node0), boxset1->getRightNode(node1), false);
-
-		}  // else if node1 is not a leaf
-	}      // else if node0 is not a leaf
-}
-
-void btGImpactQuantizedBvh::find_collision(const btGImpactQuantizedBvh* boxset0, const btTransform& trans0,
-										   const btGImpactQuantizedBvh* boxset1, const btTransform& trans1,
-										   btPairSet& collision_pairs)
-{
-	if (boxset0->getNodeCount() == 0 || boxset1->getNodeCount() == 0) return;
-
-	BT_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0;
-
-	trans_cache_1to0.calc_from_homogenic(trans0, trans1);
-
-#ifdef TRI_COLLISION_PROFILING
-	bt_begin_gim02_q_tree_time();
-#endif  //TRI_COLLISION_PROFILING
-
-	_find_quantized_collision_pairs_recursive(
-		boxset0, boxset1,
-		&collision_pairs, trans_cache_1to0, 0, 0, true);
-#ifdef TRI_COLLISION_PROFILING
-	bt_end_gim02_q_tree_time();
-#endif  //TRI_COLLISION_PROFILING
-}
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h
deleted file mode 100644
index b231c1e832..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h
+++ /dev/null
@@ -1,298 +0,0 @@
-#ifndef GIM_QUANTIZED_SET_H_INCLUDED
-#define GIM_QUANTIZED_SET_H_INCLUDED
-
-/*! \file btGImpactQuantizedBvh.h
-\author Francisco Leon Najera
-*/
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btGImpactBvh.h"
-#include "btQuantization.h"
-#include "btGImpactQuantizedBvhStructs.h"
-
-class GIM_QUANTIZED_BVH_NODE_ARRAY : public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE>
-{
-};
-
-//! Basic Box tree structure
-class btQuantizedBvhTree
-{
-protected:
-	int m_num_nodes;
-	GIM_QUANTIZED_BVH_NODE_ARRAY m_node_array;
-	btAABB m_global_bound;
-	btVector3 m_bvhQuantization;
-
-protected:
-	void calc_quantization(GIM_BVH_DATA_ARRAY& primitive_boxes, btScalar boundMargin = btScalar(1.0));
-
-	int _sort_and_calc_splitting_index(
-		GIM_BVH_DATA_ARRAY& primitive_boxes,
-		int startIndex, int endIndex, int splitAxis);
-
-	int _calc_splitting_axis(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex);
-
-	void _build_sub_tree(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex);
-
-public:
-	btQuantizedBvhTree()
-	{
-		m_num_nodes = 0;
-	}
-
-	//! prototype functions for box tree management
-	//!@{
-	void build_tree(GIM_BVH_DATA_ARRAY& primitive_boxes);
-
-	SIMD_FORCE_INLINE void quantizePoint(
-		unsigned short* quantizedpoint, const btVector3& point) const
-	{
-		bt_quantize_clamp(quantizedpoint, point, m_global_bound.m_min, m_global_bound.m_max, m_bvhQuantization);
-	}
-
-	SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp(
-		int node_index,
-		unsigned short* quantizedMin, unsigned short* quantizedMax) const
-	{
-		return m_node_array[node_index].testQuantizedBoxOverlapp(quantizedMin, quantizedMax);
-	}
-
-	SIMD_FORCE_INLINE void clearNodes()
-	{
-		m_node_array.clear();
-		m_num_nodes = 0;
-	}
-
-	//! node count
-	SIMD_FORCE_INLINE int getNodeCount() const
-	{
-		return m_num_nodes;
-	}
-
-	//! tells if the node is a leaf
-	SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const
-	{
-		return m_node_array[nodeindex].isLeafNode();
-	}
-
-	SIMD_FORCE_INLINE int getNodeData(int nodeindex) const
-	{
-		return m_node_array[nodeindex].getDataIndex();
-	}
-
-	SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB& bound) const
-	{
-		bound.m_min = bt_unquantize(
-			m_node_array[nodeindex].m_quantizedAabbMin,
-			m_global_bound.m_min, m_bvhQuantization);
-
-		bound.m_max = bt_unquantize(
-			m_node_array[nodeindex].m_quantizedAabbMax,
-			m_global_bound.m_min, m_bvhQuantization);
-	}
-
-	SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB& bound)
-	{
-		bt_quantize_clamp(m_node_array[nodeindex].m_quantizedAabbMin,
-						  bound.m_min,
-						  m_global_bound.m_min,
-						  m_global_bound.m_max,
-						  m_bvhQuantization);
-
-		bt_quantize_clamp(m_node_array[nodeindex].m_quantizedAabbMax,
-						  bound.m_max,
-						  m_global_bound.m_min,
-						  m_global_bound.m_max,
-						  m_bvhQuantization);
-	}
-
-	SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
-	{
-		return nodeindex + 1;
-	}
-
-	SIMD_FORCE_INLINE int getRightNode(int nodeindex) const
-	{
-		if (m_node_array[nodeindex + 1].isLeafNode()) return nodeindex + 2;
-		return nodeindex + 1 + m_node_array[nodeindex + 1].getEscapeIndex();
-	}
-
-	SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const
-	{
-		return m_node_array[nodeindex].getEscapeIndex();
-	}
-
-	SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE* get_node_pointer(int index = 0) const
-	{
-		return &m_node_array[index];
-	}
-
-	//!@}
-};
-
-//! Structure for containing Boxes
-/*!
-This class offers an structure for managing a box tree of primitives.
-Requires a Primitive prototype (like btPrimitiveManagerBase )
-*/
-class btGImpactQuantizedBvh
-{
-protected:
-	btQuantizedBvhTree m_box_tree;
-	btPrimitiveManagerBase* m_primitive_manager;
-
-protected:
-	//stackless refit
-	void refit();
-
-public:
-	//! this constructor doesn't build the tree. you must call	buildSet
-	btGImpactQuantizedBvh()
-	{
-		m_primitive_manager = NULL;
-	}
-
-	//! this constructor doesn't build the tree. you must call	buildSet
-	btGImpactQuantizedBvh(btPrimitiveManagerBase* primitive_manager)
-	{
-		m_primitive_manager = primitive_manager;
-	}
-
-	SIMD_FORCE_INLINE btAABB getGlobalBox() const
-	{
-		btAABB totalbox;
-		getNodeBound(0, totalbox);
-		return totalbox;
-	}
-
-	SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase* primitive_manager)
-	{
-		m_primitive_manager = primitive_manager;
-	}
-
-	SIMD_FORCE_INLINE btPrimitiveManagerBase* getPrimitiveManager() const
-	{
-		return m_primitive_manager;
-	}
-
-	//! node manager prototype functions
-	///@{
-
-	//! this attemps to refit the box set.
-	SIMD_FORCE_INLINE void update()
-	{
-		refit();
-	}
-
-	//! this rebuild the entire set
-	void buildSet();
-
-	//! returns the indices of the primitives in the m_primitive_manager
-	bool boxQuery(const btAABB& box, btAlignedObjectArray<int>& collided_results) const;
-
-	//! returns the indices of the primitives in the m_primitive_manager
-	SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB& box,
-										 const btTransform& transform, btAlignedObjectArray<int>& collided_results) const
-	{
-		btAABB transbox = box;
-		transbox.appy_transform(transform);
-		return boxQuery(transbox, collided_results);
-	}
-
-	//! returns the indices of the primitives in the m_primitive_manager
-	bool rayQuery(
-		const btVector3& ray_dir, const btVector3& ray_origin,
-		btAlignedObjectArray<int>& collided_results) const;
-
-	//! tells if this set has hierarcht
-	SIMD_FORCE_INLINE bool hasHierarchy() const
-	{
-		return true;
-	}
-
-	//! tells if this set is a trimesh
-	SIMD_FORCE_INLINE bool isTrimesh() const
-	{
-		return m_primitive_manager->is_trimesh();
-	}
-
-	//! node count
-	SIMD_FORCE_INLINE int getNodeCount() const
-	{
-		return m_box_tree.getNodeCount();
-	}
-
-	//! tells if the node is a leaf
-	SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const
-	{
-		return m_box_tree.isLeafNode(nodeindex);
-	}
-
-	SIMD_FORCE_INLINE int getNodeData(int nodeindex) const
-	{
-		return m_box_tree.getNodeData(nodeindex);
-	}
-
-	SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB& bound) const
-	{
-		m_box_tree.getNodeBound(nodeindex, bound);
-	}
-
-	SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB& bound)
-	{
-		m_box_tree.setNodeBound(nodeindex, bound);
-	}
-
-	SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
-	{
-		return m_box_tree.getLeftNode(nodeindex);
-	}
-
-	SIMD_FORCE_INLINE int getRightNode(int nodeindex) const
-	{
-		return m_box_tree.getRightNode(nodeindex);
-	}
-
-	SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const
-	{
-		return m_box_tree.getEscapeNodeIndex(nodeindex);
-	}
-
-	SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex, btPrimitiveTriangle& triangle) const
-	{
-		m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex), triangle);
-	}
-
-	SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE* get_node_pointer(int index = 0) const
-	{
-		return m_box_tree.get_node_pointer(index);
-	}
-
-#ifdef TRI_COLLISION_PROFILING
-	static float getAverageTreeCollisionTime();
-#endif  //TRI_COLLISION_PROFILING
-
-	static void find_collision(const btGImpactQuantizedBvh* boxset1, const btTransform& trans1,
-							   const btGImpactQuantizedBvh* boxset2, const btTransform& trans2,
-							   btPairSet& collision_pairs);
-};
-
-#endif  // GIM_BOXPRUNING_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvhStructs.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvhStructs.h
deleted file mode 100644
index bd50cb5b87..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvhStructs.h
+++ /dev/null
@@ -1,91 +0,0 @@
-#ifndef GIM_QUANTIZED_SET_STRUCTS_H_INCLUDED
-#define GIM_QUANTIZED_SET_STRUCTS_H_INCLUDED
-
-/*! \file btGImpactQuantizedBvh.h
-\author Francisco Leon Najera
-*/
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btGImpactBvh.h"
-#include "btQuantization.h"
-
-///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
-///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
-ATTRIBUTE_ALIGNED16(struct)
-BT_QUANTIZED_BVH_NODE
-{
-	//12 bytes
-	unsigned short int m_quantizedAabbMin[3];
-	unsigned short int m_quantizedAabbMax[3];
-	//4 bytes
-	int m_escapeIndexOrDataIndex;
-
-	BT_QUANTIZED_BVH_NODE()
-	{
-		m_escapeIndexOrDataIndex = 0;
-	}
-
-	SIMD_FORCE_INLINE bool isLeafNode() const
-	{
-		//skipindex is negative (internal node), triangleindex >=0 (leafnode)
-		return (m_escapeIndexOrDataIndex >= 0);
-	}
-
-	SIMD_FORCE_INLINE int getEscapeIndex() const
-	{
-		//btAssert(m_escapeIndexOrDataIndex < 0);
-		return -m_escapeIndexOrDataIndex;
-	}
-
-	SIMD_FORCE_INLINE void setEscapeIndex(int index)
-	{
-		m_escapeIndexOrDataIndex = -index;
-	}
-
-	SIMD_FORCE_INLINE int getDataIndex() const
-	{
-		//btAssert(m_escapeIndexOrDataIndex >= 0);
-
-		return m_escapeIndexOrDataIndex;
-	}
-
-	SIMD_FORCE_INLINE void setDataIndex(int index)
-	{
-		m_escapeIndexOrDataIndex = index;
-	}
-
-	SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp(
-		unsigned short* quantizedMin, unsigned short* quantizedMax) const
-	{
-		if (m_quantizedAabbMin[0] > quantizedMax[0] ||
-			m_quantizedAabbMax[0] < quantizedMin[0] ||
-			m_quantizedAabbMin[1] > quantizedMax[1] ||
-			m_quantizedAabbMax[1] < quantizedMin[1] ||
-			m_quantizedAabbMin[2] > quantizedMax[2] ||
-			m_quantizedAabbMax[2] < quantizedMin[2])
-		{
-			return false;
-		}
-		return true;
-	}
-};
-
-#endif  // GIM_QUANTIZED_SET_STRUCTS_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.cpp b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.cpp
deleted file mode 100644
index 34c229a3ab..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.cpp
+++ /dev/null
@@ -1,279 +0,0 @@
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btGImpactShape.h"
-#include "btGImpactMassUtil.h"
-
-btGImpactMeshShapePart::btGImpactMeshShapePart(btStridingMeshInterface* meshInterface, int part)
-{
-	// moved from .h to .cpp because of conditional compilation
-	// (The setting of BT_THREADSAFE may differ between various cpp files, so it is best to
-	// avoid using it in h files)
-	m_primitive_manager.m_meshInterface = meshInterface;
-	m_primitive_manager.m_part = part;
-	m_box_set.setPrimitiveManager(&m_primitive_manager);
-#if BT_THREADSAFE
-	// If threadsafe is requested, this object uses a different lock/unlock
-	//  model with the btStridingMeshInterface -- lock once when the object is constructed
-	//  and unlock once in the destructor.
-	// The other way of locking and unlocking for each collision check in the narrowphase
-	// is not threadsafe.  Note these are not thread-locks, they are calls to the meshInterface's
-	// getLockedReadOnlyVertexIndexBase virtual function, which by default just returns a couple of
-	// pointers.  In theory a client could override the lock function to do all sorts of
-	// things like reading data from GPU memory, or decompressing data on the fly, but such things
-	// do not seem all that likely or useful, given the performance cost.
-	m_primitive_manager.lock();
-#endif
-}
-
-btGImpactMeshShapePart::~btGImpactMeshShapePart()
-{
-	// moved from .h to .cpp because of conditional compilation
-#if BT_THREADSAFE
-	m_primitive_manager.unlock();
-#endif
-}
-
-void btGImpactMeshShapePart::lockChildShapes() const
-{
-	// moved from .h to .cpp because of conditional compilation
-#if !BT_THREADSAFE
-	// called in the narrowphase -- not threadsafe!
-	void* dummy = (void*)(m_box_set.getPrimitiveManager());
-	TrimeshPrimitiveManager* dummymanager = static_cast<TrimeshPrimitiveManager*>(dummy);
-	dummymanager->lock();
-#endif
-}
-
-void btGImpactMeshShapePart::unlockChildShapes() const
-{
-	// moved from .h to .cpp because of conditional compilation
-#if !BT_THREADSAFE
-	// called in the narrowphase -- not threadsafe!
-	void* dummy = (void*)(m_box_set.getPrimitiveManager());
-	TrimeshPrimitiveManager* dummymanager = static_cast<TrimeshPrimitiveManager*>(dummy);
-	dummymanager->unlock();
-#endif
-}
-
-#define CALC_EXACT_INERTIA 1
-
-void btGImpactCompoundShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
-{
-	lockChildShapes();
-#ifdef CALC_EXACT_INERTIA
-	inertia.setValue(0.f, 0.f, 0.f);
-
-	int i = this->getNumChildShapes();
-	btScalar shapemass = mass / btScalar(i);
-
-	while (i--)
-	{
-		btVector3 temp_inertia;
-		m_childShapes[i]->calculateLocalInertia(shapemass, temp_inertia);
-		if (childrenHasTransform())
-		{
-			inertia = gim_inertia_add_transformed(inertia, temp_inertia, m_childTransforms[i]);
-		}
-		else
-		{
-			inertia = gim_inertia_add_transformed(inertia, temp_inertia, btTransform::getIdentity());
-		}
-	}
-
-#else
-
-	// Calc box inertia
-
-	btScalar lx = m_localAABB.m_max[0] - m_localAABB.m_min[0];
-	btScalar ly = m_localAABB.m_max[1] - m_localAABB.m_min[1];
-	btScalar lz = m_localAABB.m_max[2] - m_localAABB.m_min[2];
-	const btScalar x2 = lx * lx;
-	const btScalar y2 = ly * ly;
-	const btScalar z2 = lz * lz;
-	const btScalar scaledmass = mass * btScalar(0.08333333);
-
-	inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));
-
-#endif
-	unlockChildShapes();
-}
-
-void btGImpactMeshShapePart::calculateLocalInertia(btScalar mass, btVector3& inertia) const
-{
-	lockChildShapes();
-
-#ifdef CALC_EXACT_INERTIA
-	inertia.setValue(0.f, 0.f, 0.f);
-
-	int i = this->getVertexCount();
-	btScalar pointmass = mass / btScalar(i);
-
-	while (i--)
-	{
-		btVector3 pointintertia;
-		this->getVertex(i, pointintertia);
-		pointintertia = gim_get_point_inertia(pointintertia, pointmass);
-		inertia += pointintertia;
-	}
-
-#else
-
-	// Calc box inertia
-
-	btScalar lx = m_localAABB.m_max[0] - m_localAABB.m_min[0];
-	btScalar ly = m_localAABB.m_max[1] - m_localAABB.m_min[1];
-	btScalar lz = m_localAABB.m_max[2] - m_localAABB.m_min[2];
-	const btScalar x2 = lx * lx;
-	const btScalar y2 = ly * ly;
-	const btScalar z2 = lz * lz;
-	const btScalar scaledmass = mass * btScalar(0.08333333);
-
-	inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));
-
-#endif
-
-	unlockChildShapes();
-}
-
-void btGImpactMeshShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
-{
-#ifdef CALC_EXACT_INERTIA
-	inertia.setValue(0.f, 0.f, 0.f);
-
-	int i = this->getMeshPartCount();
-	btScalar partmass = mass / btScalar(i);
-
-	while (i--)
-	{
-		btVector3 partinertia;
-		getMeshPart(i)->calculateLocalInertia(partmass, partinertia);
-		inertia += partinertia;
-	}
-
-#else
-
-	// Calc box inertia
-
-	btScalar lx = m_localAABB.m_max[0] - m_localAABB.m_min[0];
-	btScalar ly = m_localAABB.m_max[1] - m_localAABB.m_min[1];
-	btScalar lz = m_localAABB.m_max[2] - m_localAABB.m_min[2];
-	const btScalar x2 = lx * lx;
-	const btScalar y2 = ly * ly;
-	const btScalar z2 = lz * lz;
-	const btScalar scaledmass = mass * btScalar(0.08333333);
-
-	inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));
-
-#endif
-}
-
-void btGImpactMeshShape::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const
-{
-}
-
-void btGImpactMeshShapePart::processAllTrianglesRay(btTriangleCallback* callback, const btVector3& rayFrom, const btVector3& rayTo) const
-{
-	lockChildShapes();
-
-	btAlignedObjectArray<int> collided;
-	btVector3 rayDir(rayTo - rayFrom);
-	rayDir.normalize();
-	m_box_set.rayQuery(rayDir, rayFrom, collided);
-
-	if (collided.size() == 0)
-	{
-		unlockChildShapes();
-		return;
-	}
-
-	int part = (int)getPart();
-	btPrimitiveTriangle triangle;
-	int i = collided.size();
-	while (i--)
-	{
-		getPrimitiveTriangle(collided[i], triangle);
-		callback->processTriangle(triangle.m_vertices, part, collided[i]);
-	}
-	unlockChildShapes();
-}
-
-void btGImpactMeshShapePart::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
-{
-	lockChildShapes();
-	btAABB box;
-	box.m_min = aabbMin;
-	box.m_max = aabbMax;
-
-	btAlignedObjectArray<int> collided;
-	m_box_set.boxQuery(box, collided);
-
-	if (collided.size() == 0)
-	{
-		unlockChildShapes();
-		return;
-	}
-
-	int part = (int)getPart();
-	btPrimitiveTriangle triangle;
-	int i = collided.size();
-	while (i--)
-	{
-		this->getPrimitiveTriangle(collided[i], triangle);
-		callback->processTriangle(triangle.m_vertices, part, collided[i]);
-	}
-	unlockChildShapes();
-}
-
-void btGImpactMeshShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
-{
-	int i = m_mesh_parts.size();
-	while (i--)
-	{
-		m_mesh_parts[i]->processAllTriangles(callback, aabbMin, aabbMax);
-	}
-}
-
-void btGImpactMeshShape::processAllTrianglesRay(btTriangleCallback* callback, const btVector3& rayFrom, const btVector3& rayTo) const
-{
-	int i = m_mesh_parts.size();
-	while (i--)
-	{
-		m_mesh_parts[i]->processAllTrianglesRay(callback, rayFrom, rayTo);
-	}
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char* btGImpactMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btGImpactMeshShapeData* trimeshData = (btGImpactMeshShapeData*)dataBuffer;
-
-	btCollisionShape::serialize(&trimeshData->m_collisionShapeData, serializer);
-
-	m_meshInterface->serialize(&trimeshData->m_meshInterface, serializer);
-
-	trimeshData->m_collisionMargin = float(m_collisionMargin);
-
-	localScaling.serializeFloat(trimeshData->m_localScaling);
-
-	trimeshData->m_gimpactSubType = int(getGImpactShapeType());
-
-	return "btGImpactMeshShapeData";
-}
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h
deleted file mode 100644
index cc91079579..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h
+++ /dev/null
@@ -1,1115 +0,0 @@
-/*! \file btGImpactShape.h
-\author Francisco Len Nßjera
-*/
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef GIMPACT_SHAPE_H
-#define GIMPACT_SHAPE_H
-
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "BulletCollision/CollisionShapes/btTriangleShape.h"
-#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
-#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
-#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
-#include "BulletCollision/CollisionShapes/btConcaveShape.h"
-#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btMatrix3x3.h"
-#include "LinearMath/btAlignedObjectArray.h"
-
-#include "btGImpactQuantizedBvh.h"  // box tree class
-
-//! declare Quantized trees, (you can change to float based trees)
-typedef btGImpactQuantizedBvh btGImpactBoxSet;
-
-enum eGIMPACT_SHAPE_TYPE
-{
-	CONST_GIMPACT_COMPOUND_SHAPE = 0,
-	CONST_GIMPACT_TRIMESH_SHAPE_PART,
-	CONST_GIMPACT_TRIMESH_SHAPE
-};
-
-//! Helper class for tetrahedrons
-class btTetrahedronShapeEx : public btBU_Simplex1to4
-{
-public:
-	btTetrahedronShapeEx()
-	{
-		m_numVertices = 4;
-	}
-
-	SIMD_FORCE_INLINE void setVertices(
-		const btVector3& v0, const btVector3& v1,
-		const btVector3& v2, const btVector3& v3)
-	{
-		m_vertices[0] = v0;
-		m_vertices[1] = v1;
-		m_vertices[2] = v2;
-		m_vertices[3] = v3;
-		recalcLocalAabb();
-	}
-};
-
-//! Base class for gimpact shapes
-class btGImpactShapeInterface : public btConcaveShape
-{
-protected:
-	btAABB m_localAABB;
-	bool m_needs_update;
-	btVector3 localScaling;
-	btGImpactBoxSet m_box_set;  // optionally boxset
-
-	//! use this function for perfofm refit in bounding boxes
-	//! use this function for perfofm refit in bounding boxes
-	virtual void calcLocalAABB()
-	{
-		lockChildShapes();
-		if (m_box_set.getNodeCount() == 0)
-		{
-			m_box_set.buildSet();
-		}
-		else
-		{
-			m_box_set.update();
-		}
-		unlockChildShapes();
-
-		m_localAABB = m_box_set.getGlobalBox();
-	}
-
-public:
-	btGImpactShapeInterface()
-	{
-		m_shapeType = GIMPACT_SHAPE_PROXYTYPE;
-		m_localAABB.invalidate();
-		m_needs_update = true;
-		localScaling.setValue(1.f, 1.f, 1.f);
-	}
-
-	//! performs refit operation
-	/*!
-	Updates the entire Box set of this shape.
-	\pre postUpdate() must be called for attemps to calculating the box set, else this function
-		will does nothing.
-	\post if m_needs_update == true, then it calls calcLocalAABB();
-	*/
-	SIMD_FORCE_INLINE void updateBound()
-	{
-		if (!m_needs_update) return;
-		calcLocalAABB();
-		m_needs_update = false;
-	}
-
-	//! If the Bounding box is not updated, then this class attemps to calculate it.
-	/*!
-    \post Calls updateBound() for update the box set.
-    */
-	void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-	{
-		btAABB transformedbox = m_localAABB;
-		transformedbox.appy_transform(t);
-		aabbMin = transformedbox.m_min;
-		aabbMax = transformedbox.m_max;
-	}
-
-	//! Tells to this object that is needed to refit the box set
-	virtual void postUpdate()
-	{
-		m_needs_update = true;
-	}
-
-	//! Obtains the local box, which is the global calculated box of the total of subshapes
-	SIMD_FORCE_INLINE const btAABB& getLocalBox()
-	{
-		return m_localAABB;
-	}
-
-	virtual int getShapeType() const
-	{
-		return GIMPACT_SHAPE_PROXYTYPE;
-	}
-
-	/*!
-	\post You must call updateBound() for update the box set.
-	*/
-	virtual void setLocalScaling(const btVector3& scaling)
-	{
-		localScaling = scaling;
-		postUpdate();
-	}
-
-	virtual const btVector3& getLocalScaling() const
-	{
-		return localScaling;
-	}
-
-	virtual void setMargin(btScalar margin)
-	{
-		m_collisionMargin = margin;
-		int i = getNumChildShapes();
-		while (i--)
-		{
-			btCollisionShape* child = getChildShape(i);
-			child->setMargin(margin);
-		}
-
-		m_needs_update = true;
-	}
-
-	//! Subshape member functions
-	//!@{
-
-	//! Base method for determinig which kind of GIMPACT shape we get
-	virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const = 0;
-
-	//! gets boxset
-	SIMD_FORCE_INLINE const btGImpactBoxSet* getBoxSet() const
-	{
-		return &m_box_set;
-	}
-
-	//! Determines if this class has a hierarchy structure for sorting its primitives
-	SIMD_FORCE_INLINE bool hasBoxSet() const
-	{
-		if (m_box_set.getNodeCount() == 0) return false;
-		return true;
-	}
-
-	//! Obtains the primitive manager
-	virtual const btPrimitiveManagerBase* getPrimitiveManager() const = 0;
-
-	//! Gets the number of children
-	virtual int getNumChildShapes() const = 0;
-
-	//! if true, then its children must get transforms.
-	virtual bool childrenHasTransform() const = 0;
-
-	//! Determines if this shape has triangles
-	virtual bool needsRetrieveTriangles() const = 0;
-
-	//! Determines if this shape has tetrahedrons
-	virtual bool needsRetrieveTetrahedrons() const = 0;
-
-	virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const = 0;
-
-	virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const = 0;
-
-	//! call when reading child shapes
-	virtual void lockChildShapes() const
-	{
-	}
-
-	virtual void unlockChildShapes() const
-	{
-	}
-
-	//! if this trimesh
-	SIMD_FORCE_INLINE void getPrimitiveTriangle(int index, btPrimitiveTriangle& triangle) const
-	{
-		getPrimitiveManager()->get_primitive_triangle(index, triangle);
-	}
-
-	//! Retrieves the bound from a child
-	/*!
-    */
-	virtual void getChildAabb(int child_index, const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-	{
-		btAABB child_aabb;
-		getPrimitiveManager()->get_primitive_box(child_index, child_aabb);
-		child_aabb.appy_transform(t);
-		aabbMin = child_aabb.m_min;
-		aabbMax = child_aabb.m_max;
-	}
-
-	//! Gets the children
-	virtual btCollisionShape* getChildShape(int index) = 0;
-
-	//! Gets the child
-	virtual const btCollisionShape* getChildShape(int index) const = 0;
-
-	//! Gets the children transform
-	virtual btTransform getChildTransform(int index) const = 0;
-
-	//! Sets the children transform
-	/*!
-	\post You must call updateBound() for update the box set.
-	*/
-	virtual void setChildTransform(int index, const btTransform& transform) = 0;
-
-	//!@}
-
-	//! virtual method for ray collision
-	virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const
-	{
-		(void)rayFrom;
-		(void)rayTo;
-		(void)resultCallback;
-	}
-
-	//! Function for retrieve triangles.
-	/*!
-	It gives the triangles in local space
-	*/
-	virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
-	{
-		(void)callback;
-		(void)aabbMin;
-		(void)aabbMax;
-	}
-
-	//! Function for retrieve triangles.
-	/*!
-	It gives the triangles in local space
-	*/
-	virtual void processAllTrianglesRay(btTriangleCallback* /*callback*/, const btVector3& /*rayFrom*/, const btVector3& /*rayTo*/) const
-	{
-	}
-
-	//!@}
-};
-
-//! btGImpactCompoundShape allows to handle multiple btCollisionShape objects at once
-/*!
-This class only can manage Convex subshapes
-*/
-class btGImpactCompoundShape : public btGImpactShapeInterface
-{
-public:
-	//! compound primitive manager
-	class CompoundPrimitiveManager : public btPrimitiveManagerBase
-	{
-	public:
-		virtual ~CompoundPrimitiveManager() {}
-		btGImpactCompoundShape* m_compoundShape;
-
-		CompoundPrimitiveManager(const CompoundPrimitiveManager& compound)
-			: btPrimitiveManagerBase()
-		{
-			m_compoundShape = compound.m_compoundShape;
-		}
-
-		CompoundPrimitiveManager(btGImpactCompoundShape* compoundShape)
-		{
-			m_compoundShape = compoundShape;
-		}
-
-		CompoundPrimitiveManager()
-		{
-			m_compoundShape = NULL;
-		}
-
-		virtual bool is_trimesh() const
-		{
-			return false;
-		}
-
-		virtual int get_primitive_count() const
-		{
-			return (int)m_compoundShape->getNumChildShapes();
-		}
-
-		virtual void get_primitive_box(int prim_index, btAABB& primbox) const
-		{
-			btTransform prim_trans;
-			if (m_compoundShape->childrenHasTransform())
-			{
-				prim_trans = m_compoundShape->getChildTransform(prim_index);
-			}
-			else
-			{
-				prim_trans.setIdentity();
-			}
-			const btCollisionShape* shape = m_compoundShape->getChildShape(prim_index);
-			shape->getAabb(prim_trans, primbox.m_min, primbox.m_max);
-		}
-
-		virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle& triangle) const
-		{
-			btAssert(0);
-			(void)prim_index;
-			(void)triangle;
-		}
-	};
-
-protected:
-	CompoundPrimitiveManager m_primitive_manager;
-	btAlignedObjectArray<btTransform> m_childTransforms;
-	btAlignedObjectArray<btCollisionShape*> m_childShapes;
-
-public:
-	btGImpactCompoundShape(bool children_has_transform = true)
-	{
-		(void)children_has_transform;
-		m_primitive_manager.m_compoundShape = this;
-		m_box_set.setPrimitiveManager(&m_primitive_manager);
-	}
-
-	virtual ~btGImpactCompoundShape()
-	{
-	}
-
-	//! if true, then its children must get transforms.
-	virtual bool childrenHasTransform() const
-	{
-		if (m_childTransforms.size() == 0) return false;
-		return true;
-	}
-
-	//! Obtains the primitive manager
-	virtual const btPrimitiveManagerBase* getPrimitiveManager() const
-	{
-		return &m_primitive_manager;
-	}
-
-	//! Obtains the compopund primitive manager
-	SIMD_FORCE_INLINE CompoundPrimitiveManager* getCompoundPrimitiveManager()
-	{
-		return &m_primitive_manager;
-	}
-
-	//! Gets the number of children
-	virtual int getNumChildShapes() const
-	{
-		return m_childShapes.size();
-	}
-
-	//! Use this method for adding children. Only Convex shapes are allowed.
-	void addChildShape(const btTransform& localTransform, btCollisionShape* shape)
-	{
-		btAssert(shape->isConvex());
-		m_childTransforms.push_back(localTransform);
-		m_childShapes.push_back(shape);
-	}
-
-	//! Use this method for adding children. Only Convex shapes are allowed.
-	void addChildShape(btCollisionShape* shape)
-	{
-		btAssert(shape->isConvex());
-		m_childShapes.push_back(shape);
-	}
-
-	//! Gets the children
-	virtual btCollisionShape* getChildShape(int index)
-	{
-		return m_childShapes[index];
-	}
-
-	//! Gets the children
-	virtual const btCollisionShape* getChildShape(int index) const
-	{
-		return m_childShapes[index];
-	}
-
-	//! Retrieves the bound from a child
-	/*!
-    */
-	virtual void getChildAabb(int child_index, const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-	{
-		if (childrenHasTransform())
-		{
-			m_childShapes[child_index]->getAabb(t * m_childTransforms[child_index], aabbMin, aabbMax);
-		}
-		else
-		{
-			m_childShapes[child_index]->getAabb(t, aabbMin, aabbMax);
-		}
-	}
-
-	//! Gets the children transform
-	virtual btTransform getChildTransform(int index) const
-	{
-		btAssert(m_childTransforms.size() == m_childShapes.size());
-		return m_childTransforms[index];
-	}
-
-	//! Sets the children transform
-	/*!
-	\post You must call updateBound() for update the box set.
-	*/
-	virtual void setChildTransform(int index, const btTransform& transform)
-	{
-		btAssert(m_childTransforms.size() == m_childShapes.size());
-		m_childTransforms[index] = transform;
-		postUpdate();
-	}
-
-	//! Determines if this shape has triangles
-	virtual bool needsRetrieveTriangles() const
-	{
-		return false;
-	}
-
-	//! Determines if this shape has tetrahedrons
-	virtual bool needsRetrieveTetrahedrons() const
-	{
-		return false;
-	}
-
-	virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const
-	{
-		(void)prim_index;
-		(void)triangle;
-		btAssert(0);
-	}
-
-	virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const
-	{
-		(void)prim_index;
-		(void)tetrahedron;
-		btAssert(0);
-	}
-
-	//! Calculates the exact inertia tensor for this shape
-	virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const;
-
-	virtual const char* getName() const
-	{
-		return "GImpactCompound";
-	}
-
-	virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const
-	{
-		return CONST_GIMPACT_COMPOUND_SHAPE;
-	}
-};
-
-//! This class manages a sub part of a mesh supplied by the btStridingMeshInterface interface.
-/*!
-- Simply create this shape by passing the btStridingMeshInterface to the constructor btGImpactMeshShapePart, then you must call updateBound() after creating the mesh
-- When making operations with this shape, you must call <b>lock</b> before accessing to the trimesh primitives, and then call <b>unlock</b>
-- You can handle deformable meshes with this shape, by calling postUpdate() every time when changing the mesh vertices.
-
-*/
-class btGImpactMeshShapePart : public btGImpactShapeInterface
-{
-public:
-	//! Trimesh primitive manager
-	/*!
-	Manages the info from btStridingMeshInterface object and controls the Lock/Unlock mechanism
-	*/
-	class TrimeshPrimitiveManager : public btPrimitiveManagerBase
-	{
-	public:
-		btScalar m_margin;
-		btStridingMeshInterface* m_meshInterface;
-		btVector3 m_scale;
-		int m_part;
-		int m_lock_count;
-		const unsigned char* vertexbase;
-		int numverts;
-		PHY_ScalarType type;
-		int stride;
-		const unsigned char* indexbase;
-		int indexstride;
-		int numfaces;
-		PHY_ScalarType indicestype;
-
-		TrimeshPrimitiveManager()
-		{
-			m_meshInterface = NULL;
-			m_part = 0;
-			m_margin = 0.01f;
-			m_scale = btVector3(1.f, 1.f, 1.f);
-			m_lock_count = 0;
-			vertexbase = 0;
-			numverts = 0;
-			stride = 0;
-			indexbase = 0;
-			indexstride = 0;
-			numfaces = 0;
-		}
-
-		TrimeshPrimitiveManager(const TrimeshPrimitiveManager& manager)
-			: btPrimitiveManagerBase()
-		{
-			m_meshInterface = manager.m_meshInterface;
-			m_part = manager.m_part;
-			m_margin = manager.m_margin;
-			m_scale = manager.m_scale;
-			m_lock_count = 0;
-			vertexbase = 0;
-			numverts = 0;
-			stride = 0;
-			indexbase = 0;
-			indexstride = 0;
-			numfaces = 0;
-		}
-
-		TrimeshPrimitiveManager(
-			btStridingMeshInterface* meshInterface, int part)
-		{
-			m_meshInterface = meshInterface;
-			m_part = part;
-			m_scale = m_meshInterface->getScaling();
-			m_margin = 0.1f;
-			m_lock_count = 0;
-			vertexbase = 0;
-			numverts = 0;
-			stride = 0;
-			indexbase = 0;
-			indexstride = 0;
-			numfaces = 0;
-		}
-
-		virtual ~TrimeshPrimitiveManager() {}
-
-		void lock()
-		{
-			if (m_lock_count > 0)
-			{
-				m_lock_count++;
-				return;
-			}
-			m_meshInterface->getLockedReadOnlyVertexIndexBase(
-				&vertexbase, numverts,
-				type, stride, &indexbase, indexstride, numfaces, indicestype, m_part);
-
-			m_lock_count = 1;
-		}
-
-		void unlock()
-		{
-			if (m_lock_count == 0) return;
-			if (m_lock_count > 1)
-			{
-				--m_lock_count;
-				return;
-			}
-			m_meshInterface->unLockReadOnlyVertexBase(m_part);
-			vertexbase = NULL;
-			m_lock_count = 0;
-		}
-
-		virtual bool is_trimesh() const
-		{
-			return true;
-		}
-
-		virtual int get_primitive_count() const
-		{
-			return (int)numfaces;
-		}
-
-		SIMD_FORCE_INLINE int get_vertex_count() const
-		{
-			return (int)numverts;
-		}
-
-		SIMD_FORCE_INLINE void get_indices(int face_index, unsigned int& i0, unsigned int& i1, unsigned int& i2) const
-		{
-			if (indicestype == PHY_SHORT)
-			{
-				unsigned short* s_indices = (unsigned short*)(indexbase + face_index * indexstride);
-				i0 = s_indices[0];
-				i1 = s_indices[1];
-				i2 = s_indices[2];
-			}
-			else if (indicestype == PHY_INTEGER)
-			{
-				unsigned int* i_indices = (unsigned int*)(indexbase + face_index * indexstride);
-				i0 = i_indices[0];
-				i1 = i_indices[1];
-				i2 = i_indices[2];
-			}
-			else
-			{
-				btAssert(indicestype == PHY_UCHAR);
-				unsigned char* i_indices = (unsigned char*)(indexbase + face_index * indexstride);
-				i0 = i_indices[0];
-				i1 = i_indices[1];
-				i2 = i_indices[2];
-			}
-		}
-
-		SIMD_FORCE_INLINE void get_vertex(unsigned int vertex_index, btVector3& vertex) const
-		{
-			if (type == PHY_DOUBLE)
-			{
-				double* dvertices = (double*)(vertexbase + vertex_index * stride);
-				vertex[0] = btScalar(dvertices[0] * m_scale[0]);
-				vertex[1] = btScalar(dvertices[1] * m_scale[1]);
-				vertex[2] = btScalar(dvertices[2] * m_scale[2]);
-			}
-			else
-			{
-				float* svertices = (float*)(vertexbase + vertex_index * stride);
-				vertex[0] = svertices[0] * m_scale[0];
-				vertex[1] = svertices[1] * m_scale[1];
-				vertex[2] = svertices[2] * m_scale[2];
-			}
-		}
-
-		virtual void get_primitive_box(int prim_index, btAABB& primbox) const
-		{
-			btPrimitiveTriangle triangle;
-			get_primitive_triangle(prim_index, triangle);
-			primbox.calc_from_triangle_margin(
-				triangle.m_vertices[0],
-				triangle.m_vertices[1], triangle.m_vertices[2], triangle.m_margin);
-		}
-
-		virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle& triangle) const
-		{
-			unsigned int indices[3];
-			get_indices(prim_index, indices[0], indices[1], indices[2]);
-			get_vertex(indices[0], triangle.m_vertices[0]);
-			get_vertex(indices[1], triangle.m_vertices[1]);
-			get_vertex(indices[2], triangle.m_vertices[2]);
-			triangle.m_margin = m_margin;
-		}
-
-		SIMD_FORCE_INLINE void get_bullet_triangle(int prim_index, btTriangleShapeEx& triangle) const
-		{
-			unsigned int indices[3];
-			get_indices(prim_index, indices[0], indices[1], indices[2]);
-			get_vertex(indices[0], triangle.m_vertices1[0]);
-			get_vertex(indices[1], triangle.m_vertices1[1]);
-			get_vertex(indices[2], triangle.m_vertices1[2]);
-			triangle.setMargin(m_margin);
-		}
-	};
-
-protected:
-	TrimeshPrimitiveManager m_primitive_manager;
-
-public:
-	btGImpactMeshShapePart()
-	{
-		m_box_set.setPrimitiveManager(&m_primitive_manager);
-	}
-
-	btGImpactMeshShapePart(btStridingMeshInterface* meshInterface, int part);
-	virtual ~btGImpactMeshShapePart();
-
-	//! if true, then its children must get transforms.
-	virtual bool childrenHasTransform() const
-	{
-		return false;
-	}
-
-	//! call when reading child shapes
-	virtual void lockChildShapes() const;
-	virtual void unlockChildShapes() const;
-
-	//! Gets the number of children
-	virtual int getNumChildShapes() const
-	{
-		return m_primitive_manager.get_primitive_count();
-	}
-
-	//! Gets the children
-	virtual btCollisionShape* getChildShape(int index)
-	{
-		(void)index;
-		btAssert(0);
-		return NULL;
-	}
-
-	//! Gets the child
-	virtual const btCollisionShape* getChildShape(int index) const
-	{
-		(void)index;
-		btAssert(0);
-		return NULL;
-	}
-
-	//! Gets the children transform
-	virtual btTransform getChildTransform(int index) const
-	{
-		(void)index;
-		btAssert(0);
-		return btTransform();
-	}
-
-	//! Sets the children transform
-	/*!
-	\post You must call updateBound() for update the box set.
-	*/
-	virtual void setChildTransform(int index, const btTransform& transform)
-	{
-		(void)index;
-		(void)transform;
-		btAssert(0);
-	}
-
-	//! Obtains the primitive manager
-	virtual const btPrimitiveManagerBase* getPrimitiveManager() const
-	{
-		return &m_primitive_manager;
-	}
-
-	SIMD_FORCE_INLINE TrimeshPrimitiveManager* getTrimeshPrimitiveManager()
-	{
-		return &m_primitive_manager;
-	}
-
-	virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const;
-
-	virtual const char* getName() const
-	{
-		return "GImpactMeshShapePart";
-	}
-
-	virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const
-	{
-		return CONST_GIMPACT_TRIMESH_SHAPE_PART;
-	}
-
-	//! Determines if this shape has triangles
-	virtual bool needsRetrieveTriangles() const
-	{
-		return true;
-	}
-
-	//! Determines if this shape has tetrahedrons
-	virtual bool needsRetrieveTetrahedrons() const
-	{
-		return false;
-	}
-
-	virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const
-	{
-		m_primitive_manager.get_bullet_triangle(prim_index, triangle);
-	}
-
-	virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const
-	{
-		(void)prim_index;
-		(void)tetrahedron;
-		btAssert(0);
-	}
-
-	SIMD_FORCE_INLINE int getVertexCount() const
-	{
-		return m_primitive_manager.get_vertex_count();
-	}
-
-	SIMD_FORCE_INLINE void getVertex(int vertex_index, btVector3& vertex) const
-	{
-		m_primitive_manager.get_vertex(vertex_index, vertex);
-	}
-
-	SIMD_FORCE_INLINE void setMargin(btScalar margin)
-	{
-		m_primitive_manager.m_margin = margin;
-		postUpdate();
-	}
-
-	SIMD_FORCE_INLINE btScalar getMargin() const
-	{
-		return m_primitive_manager.m_margin;
-	}
-
-	virtual void setLocalScaling(const btVector3& scaling)
-	{
-		m_primitive_manager.m_scale = scaling;
-		postUpdate();
-	}
-
-	virtual const btVector3& getLocalScaling() const
-	{
-		return m_primitive_manager.m_scale;
-	}
-
-	SIMD_FORCE_INLINE int getPart() const
-	{
-		return (int)m_primitive_manager.m_part;
-	}
-
-	virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
-	virtual void processAllTrianglesRay(btTriangleCallback* callback, const btVector3& rayFrom, const btVector3& rayTo) const;
-};
-
-//! This class manages a mesh supplied by the btStridingMeshInterface interface.
-/*!
-Set of btGImpactMeshShapePart parts
-- Simply create this shape by passing the btStridingMeshInterface to the constructor btGImpactMeshShape, then you must call updateBound() after creating the mesh
-
-- You can handle deformable meshes with this shape, by calling postUpdate() every time when changing the mesh vertices.
-
-*/
-class btGImpactMeshShape : public btGImpactShapeInterface
-{
-	btStridingMeshInterface* m_meshInterface;
-
-protected:
-	btAlignedObjectArray<btGImpactMeshShapePart*> m_mesh_parts;
-	void buildMeshParts(btStridingMeshInterface* meshInterface)
-	{
-		for (int i = 0; i < meshInterface->getNumSubParts(); ++i)
-		{
-			btGImpactMeshShapePart* newpart = new btGImpactMeshShapePart(meshInterface, i);
-			m_mesh_parts.push_back(newpart);
-		}
-	}
-
-	//! use this function for perfofm refit in bounding boxes
-	virtual void calcLocalAABB()
-	{
-		m_localAABB.invalidate();
-		int i = m_mesh_parts.size();
-		while (i--)
-		{
-			m_mesh_parts[i]->updateBound();
-			m_localAABB.merge(m_mesh_parts[i]->getLocalBox());
-		}
-	}
-
-public:
-	btGImpactMeshShape(btStridingMeshInterface* meshInterface)
-	{
-		m_meshInterface = meshInterface;
-		buildMeshParts(meshInterface);
-	}
-
-	virtual ~btGImpactMeshShape()
-	{
-		int i = m_mesh_parts.size();
-		while (i--)
-		{
-			btGImpactMeshShapePart* part = m_mesh_parts[i];
-			delete part;
-		}
-		m_mesh_parts.clear();
-	}
-
-	btStridingMeshInterface* getMeshInterface()
-	{
-		return m_meshInterface;
-	}
-
-	const btStridingMeshInterface* getMeshInterface() const
-	{
-		return m_meshInterface;
-	}
-
-	int getMeshPartCount() const
-	{
-		return m_mesh_parts.size();
-	}
-
-	btGImpactMeshShapePart* getMeshPart(int index)
-	{
-		return m_mesh_parts[index];
-	}
-
-	const btGImpactMeshShapePart* getMeshPart(int index) const
-	{
-		return m_mesh_parts[index];
-	}
-
-	virtual void setLocalScaling(const btVector3& scaling)
-	{
-		localScaling = scaling;
-
-		int i = m_mesh_parts.size();
-		while (i--)
-		{
-			btGImpactMeshShapePart* part = m_mesh_parts[i];
-			part->setLocalScaling(scaling);
-		}
-
-		m_needs_update = true;
-	}
-
-	virtual void setMargin(btScalar margin)
-	{
-		m_collisionMargin = margin;
-
-		int i = m_mesh_parts.size();
-		while (i--)
-		{
-			btGImpactMeshShapePart* part = m_mesh_parts[i];
-			part->setMargin(margin);
-		}
-
-		m_needs_update = true;
-	}
-
-	//! Tells to this object that is needed to refit all the meshes
-	virtual void postUpdate()
-	{
-		int i = m_mesh_parts.size();
-		while (i--)
-		{
-			btGImpactMeshShapePart* part = m_mesh_parts[i];
-			part->postUpdate();
-		}
-
-		m_needs_update = true;
-	}
-
-	virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const;
-
-	//! Obtains the primitive manager
-	virtual const btPrimitiveManagerBase* getPrimitiveManager() const
-	{
-		btAssert(0);
-		return NULL;
-	}
-
-	//! Gets the number of children
-	virtual int getNumChildShapes() const
-	{
-		btAssert(0);
-		return 0;
-	}
-
-	//! if true, then its children must get transforms.
-	virtual bool childrenHasTransform() const
-	{
-		btAssert(0);
-		return false;
-	}
-
-	//! Determines if this shape has triangles
-	virtual bool needsRetrieveTriangles() const
-	{
-		btAssert(0);
-		return false;
-	}
-
-	//! Determines if this shape has tetrahedrons
-	virtual bool needsRetrieveTetrahedrons() const
-	{
-		btAssert(0);
-		return false;
-	}
-
-	virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const
-	{
-		(void)prim_index;
-		(void)triangle;
-		btAssert(0);
-	}
-
-	virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const
-	{
-		(void)prim_index;
-		(void)tetrahedron;
-		btAssert(0);
-	}
-
-	//! call when reading child shapes
-	virtual void lockChildShapes() const
-	{
-		btAssert(0);
-	}
-
-	virtual void unlockChildShapes() const
-	{
-		btAssert(0);
-	}
-
-	//! Retrieves the bound from a child
-	/*!
-    */
-	virtual void getChildAabb(int child_index, const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-	{
-		(void)child_index;
-		(void)t;
-		(void)aabbMin;
-		(void)aabbMax;
-		btAssert(0);
-	}
-
-	//! Gets the children
-	virtual btCollisionShape* getChildShape(int index)
-	{
-		(void)index;
-		btAssert(0);
-		return NULL;
-	}
-
-	//! Gets the child
-	virtual const btCollisionShape* getChildShape(int index) const
-	{
-		(void)index;
-		btAssert(0);
-		return NULL;
-	}
-
-	//! Gets the children transform
-	virtual btTransform getChildTransform(int index) const
-	{
-		(void)index;
-		btAssert(0);
-		return btTransform();
-	}
-
-	//! Sets the children transform
-	/*!
-	\post You must call updateBound() for update the box set.
-	*/
-	virtual void setChildTransform(int index, const btTransform& transform)
-	{
-		(void)index;
-		(void)transform;
-		btAssert(0);
-	}
-
-	virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const
-	{
-		return CONST_GIMPACT_TRIMESH_SHAPE;
-	}
-
-	virtual const char* getName() const
-	{
-		return "GImpactMesh";
-	}
-
-	virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const;
-
-	//! Function for retrieve triangles.
-	/*!
-	It gives the triangles in local space
-	*/
-	virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
-
-	virtual void processAllTrianglesRay(btTriangleCallback* callback, const btVector3& rayFrom, const btVector3& rayTo) const;
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btGImpactMeshShapeData
-{
-	btCollisionShapeData m_collisionShapeData;
-
-	btStridingMeshInterfaceData m_meshInterface;
-
-	btVector3FloatData m_localScaling;
-
-	float m_collisionMargin;
-
-	int m_gimpactSubType;
-};
-
-SIMD_FORCE_INLINE int btGImpactMeshShape::calculateSerializeBufferSize() const
-{
-	return sizeof(btGImpactMeshShapeData);
-}
-
-#endif  //GIMPACT_MESH_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGenericPoolAllocator.cpp b/thirdparty/bullet/BulletCollision/Gimpact/btGenericPoolAllocator.cpp
deleted file mode 100644
index bfdb3db5d0..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGenericPoolAllocator.cpp
+++ /dev/null
@@ -1,266 +0,0 @@
-/*! \file btGenericPoolAllocator.cpp
-\author Francisco Leon Najera. email projectileman@yahoo.com
-
-General purpose allocator class
-*/
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btGenericPoolAllocator.h"
-
-/// *************** btGenericMemoryPool ******************///////////
-
-size_t btGenericMemoryPool::allocate_from_free_nodes(size_t num_elements)
-{
-	size_t ptr = BT_UINT_MAX;
-
-	if (m_free_nodes_count == 0) return BT_UINT_MAX;
-	// find an avaliable free node with the correct size
-	size_t revindex = m_free_nodes_count;
-
-	while (revindex-- && ptr == BT_UINT_MAX)
-	{
-		if (m_allocated_sizes[m_free_nodes[revindex]] >= num_elements)
-		{
-			ptr = revindex;
-		}
-	}
-	if (ptr == BT_UINT_MAX) return BT_UINT_MAX;  // not found
-
-	revindex = ptr;
-	ptr = m_free_nodes[revindex];
-	// post: ptr contains the node index, and revindex the index in m_free_nodes
-
-	size_t finalsize = m_allocated_sizes[ptr];
-	finalsize -= num_elements;
-
-	m_allocated_sizes[ptr] = num_elements;
-
-	// post: finalsize>=0, m_allocated_sizes[ptr] has the requested size
-
-	if (finalsize > 0)  // preserve free node, there are some free memory
-	{
-		m_free_nodes[revindex] = ptr + num_elements;
-		m_allocated_sizes[ptr + num_elements] = finalsize;
-	}
-	else  // delete free node
-	{
-		// swap with end
-		m_free_nodes[revindex] = m_free_nodes[m_free_nodes_count - 1];
-		m_free_nodes_count--;
-	}
-
-	return ptr;
-}
-
-size_t btGenericMemoryPool::allocate_from_pool(size_t num_elements)
-{
-	if (m_allocated_count + num_elements > m_max_element_count) return BT_UINT_MAX;
-
-	size_t ptr = m_allocated_count;
-
-	m_allocated_sizes[m_allocated_count] = num_elements;
-	m_allocated_count += num_elements;
-
-	return ptr;
-}
-
-void btGenericMemoryPool::init_pool(size_t element_size, size_t element_count)
-{
-	m_allocated_count = 0;
-	m_free_nodes_count = 0;
-
-	m_element_size = element_size;
-	m_max_element_count = element_count;
-
-	m_pool = (unsigned char *)btAlignedAlloc(m_element_size * m_max_element_count, 16);
-	m_free_nodes = (size_t *)btAlignedAlloc(sizeof(size_t) * m_max_element_count, 16);
-	m_allocated_sizes = (size_t *)btAlignedAlloc(sizeof(size_t) * m_max_element_count, 16);
-
-	for (size_t i = 0; i < m_max_element_count; i++)
-	{
-		m_allocated_sizes[i] = 0;
-	}
-}
-
-void btGenericMemoryPool::end_pool()
-{
-	btAlignedFree(m_pool);
-	btAlignedFree(m_free_nodes);
-	btAlignedFree(m_allocated_sizes);
-	m_allocated_count = 0;
-	m_free_nodes_count = 0;
-}
-
-//! Allocates memory in pool
-/*!
-\param size_bytes size in bytes of the buffer
-*/
-void *btGenericMemoryPool::allocate(size_t size_bytes)
-{
-	size_t module = size_bytes % m_element_size;
-	size_t element_count = size_bytes / m_element_size;
-	if (module > 0) element_count++;
-
-	size_t alloc_pos = allocate_from_free_nodes(element_count);
-	// a free node is found
-	if (alloc_pos != BT_UINT_MAX)
-	{
-		return get_element_data(alloc_pos);
-	}
-	// allocate directly on pool
-	alloc_pos = allocate_from_pool(element_count);
-
-	if (alloc_pos == BT_UINT_MAX) return NULL;  // not space
-	return get_element_data(alloc_pos);
-}
-
-bool btGenericMemoryPool::freeMemory(void *pointer)
-{
-	unsigned char *pointer_pos = (unsigned char *)pointer;
-	unsigned char *pool_pos = (unsigned char *)m_pool;
-	// calc offset
-	if (pointer_pos < pool_pos) return false;  //other pool
-	size_t offset = size_t(pointer_pos - pool_pos);
-	if (offset >= get_pool_capacity()) return false;  // far away
-
-	// find free position
-	m_free_nodes[m_free_nodes_count] = offset / m_element_size;
-	m_free_nodes_count++;
-	return true;
-}
-
-/// *******************! btGenericPoolAllocator *******************!///
-
-btGenericPoolAllocator::~btGenericPoolAllocator()
-{
-	// destroy pools
-	size_t i;
-	for (i = 0; i < m_pool_count; i++)
-	{
-		m_pools[i]->end_pool();
-		btAlignedFree(m_pools[i]);
-	}
-}
-
-// creates a pool
-btGenericMemoryPool *btGenericPoolAllocator::push_new_pool()
-{
-	if (m_pool_count >= BT_DEFAULT_MAX_POOLS) return NULL;
-
-	btGenericMemoryPool *newptr = (btGenericMemoryPool *)btAlignedAlloc(sizeof(btGenericMemoryPool), 16);
-
-	m_pools[m_pool_count] = newptr;
-
-	m_pools[m_pool_count]->init_pool(m_pool_element_size, m_pool_element_count);
-
-	m_pool_count++;
-	return newptr;
-}
-
-void *btGenericPoolAllocator::failback_alloc(size_t size_bytes)
-{
-	btGenericMemoryPool *pool = NULL;
-
-	if (size_bytes <= get_pool_capacity())
-	{
-		pool = push_new_pool();
-	}
-
-	if (pool == NULL)  // failback
-	{
-		return btAlignedAlloc(size_bytes, 16);
-	}
-
-	return pool->allocate(size_bytes);
-}
-
-bool btGenericPoolAllocator::failback_free(void *pointer)
-{
-	btAlignedFree(pointer);
-	return true;
-}
-
-//! Allocates memory in pool
-/*!
-\param size_bytes size in bytes of the buffer
-*/
-void *btGenericPoolAllocator::allocate(size_t size_bytes)
-{
-	void *ptr = NULL;
-
-	size_t i = 0;
-	while (i < m_pool_count && ptr == NULL)
-	{
-		ptr = m_pools[i]->allocate(size_bytes);
-		++i;
-	}
-
-	if (ptr) return ptr;
-
-	return failback_alloc(size_bytes);
-}
-
-bool btGenericPoolAllocator::freeMemory(void *pointer)
-{
-	bool result = false;
-
-	size_t i = 0;
-	while (i < m_pool_count && result == false)
-	{
-		result = m_pools[i]->freeMemory(pointer);
-		++i;
-	}
-
-	if (result) return true;
-
-	return failback_free(pointer);
-}
-
-/// ************** STANDARD ALLOCATOR ***************************///
-
-#define BT_DEFAULT_POOL_SIZE 32768
-#define BT_DEFAULT_POOL_ELEMENT_SIZE 8
-
-// main allocator
-class GIM_STANDARD_ALLOCATOR : public btGenericPoolAllocator
-{
-public:
-	GIM_STANDARD_ALLOCATOR() : btGenericPoolAllocator(BT_DEFAULT_POOL_ELEMENT_SIZE, BT_DEFAULT_POOL_SIZE)
-	{
-	}
-};
-
-// global allocator
-GIM_STANDARD_ALLOCATOR g_main_allocator;
-
-void *btPoolAlloc(size_t size)
-{
-	return g_main_allocator.allocate(size);
-}
-
-void *btPoolRealloc(void *ptr, size_t oldsize, size_t newsize)
-{
-	void *newptr = btPoolAlloc(newsize);
-	size_t copysize = oldsize < newsize ? oldsize : newsize;
-	memcpy(newptr, ptr, copysize);
-	btPoolFree(ptr);
-	return newptr;
-}
-
-void btPoolFree(void *ptr)
-{
-	g_main_allocator.freeMemory(ptr);
-}
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGenericPoolAllocator.h b/thirdparty/bullet/BulletCollision/Gimpact/btGenericPoolAllocator.h
deleted file mode 100644
index a535088e48..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGenericPoolAllocator.h
+++ /dev/null
@@ -1,153 +0,0 @@
-/*! \file btGenericPoolAllocator.h
-\author Francisco Leon Najera. email projectileman@yahoo.com
-
-General purpose allocator class
-*/
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_GENERIC_POOL_ALLOCATOR_H
-#define BT_GENERIC_POOL_ALLOCATOR_H
-
-#include <limits.h>
-#include <stdio.h>
-#include <string.h>
-#include "LinearMath/btAlignedAllocator.h"
-
-#define BT_UINT_MAX UINT_MAX
-#define BT_DEFAULT_MAX_POOLS 16
-
-//! Generic Pool class
-class btGenericMemoryPool
-{
-public:
-	unsigned char *m_pool;      //[m_element_size*m_max_element_count];
-	size_t *m_free_nodes;       //[m_max_element_count];//! free nodes
-	size_t *m_allocated_sizes;  //[m_max_element_count];//! Number of elements allocated per node
-	size_t m_allocated_count;
-	size_t m_free_nodes_count;
-
-protected:
-	size_t m_element_size;
-	size_t m_max_element_count;
-
-	size_t allocate_from_free_nodes(size_t num_elements);
-	size_t allocate_from_pool(size_t num_elements);
-
-public:
-	void init_pool(size_t element_size, size_t element_count);
-
-	void end_pool();
-
-	btGenericMemoryPool(size_t element_size, size_t element_count)
-	{
-		init_pool(element_size, element_count);
-	}
-
-	~btGenericMemoryPool()
-	{
-		end_pool();
-	}
-
-	inline size_t get_pool_capacity()
-	{
-		return m_element_size * m_max_element_count;
-	}
-
-	inline size_t gem_element_size()
-	{
-		return m_element_size;
-	}
-
-	inline size_t get_max_element_count()
-	{
-		return m_max_element_count;
-	}
-
-	inline size_t get_allocated_count()
-	{
-		return m_allocated_count;
-	}
-
-	inline size_t get_free_positions_count()
-	{
-		return m_free_nodes_count;
-	}
-
-	inline void *get_element_data(size_t element_index)
-	{
-		return &m_pool[element_index * m_element_size];
-	}
-
-	//! Allocates memory in pool
-	/*!
-	\param size_bytes size in bytes of the buffer
-	*/
-	void *allocate(size_t size_bytes);
-
-	bool freeMemory(void *pointer);
-};
-
-//! Generic Allocator with pools
-/*!
-General purpose Allocator which can create Memory Pools dynamiacally as needed.
-*/
-class btGenericPoolAllocator
-{
-protected:
-	size_t m_pool_element_size;
-	size_t m_pool_element_count;
-
-public:
-	btGenericMemoryPool *m_pools[BT_DEFAULT_MAX_POOLS];
-	size_t m_pool_count;
-
-	inline size_t get_pool_capacity()
-	{
-		return m_pool_element_size * m_pool_element_count;
-	}
-
-protected:
-	// creates a pool
-	btGenericMemoryPool *push_new_pool();
-
-	void *failback_alloc(size_t size_bytes);
-
-	bool failback_free(void *pointer);
-
-public:
-	btGenericPoolAllocator(size_t pool_element_size, size_t pool_element_count)
-	{
-		m_pool_count = 0;
-		m_pool_element_size = pool_element_size;
-		m_pool_element_count = pool_element_count;
-	}
-
-	virtual ~btGenericPoolAllocator();
-
-	//! Allocates memory in pool
-	/*!
-	\param size_bytes size in bytes of the buffer
-	*/
-	void *allocate(size_t size_bytes);
-
-	bool freeMemory(void *pointer);
-};
-
-void *btPoolAlloc(size_t size);
-void *btPoolRealloc(void *ptr, size_t oldsize, size_t newsize);
-void btPoolFree(void *ptr);
-
-#endif
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGeometryOperations.h b/thirdparty/bullet/BulletCollision/Gimpact/btGeometryOperations.h
deleted file mode 100644
index 6a1ee6dcf9..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGeometryOperations.h
+++ /dev/null
@@ -1,198 +0,0 @@
-#ifndef BT_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED
-#define BT_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED
-
-/*! \file btGeometryOperations.h
-*\author Francisco Leon Najera
-
-*/
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btBoxCollision.h"
-
-#define PLANEDIREPSILON 0.0000001f
-#define PARALELENORMALS 0.000001f
-
-#define BT_CLAMP(number, minval, maxval) (number < minval ? minval : (number > maxval ? maxval : number))
-
-/// Calc a plane from a triangle edge an a normal. plane is a vec4f
-SIMD_FORCE_INLINE void bt_edge_plane(const btVector3 &e1, const btVector3 &e2, const btVector3 &normal, btVector4 &plane)
-{
-	btVector3 planenormal = (e2 - e1).cross(normal);
-	planenormal.normalize();
-	plane.setValue(planenormal[0], planenormal[1], planenormal[2], e2.dot(planenormal));
-}
-
-//***************** SEGMENT and LINE FUNCTIONS **********************************///
-
-/*! Finds the closest point(cp) to (v) on a segment (e1,e2)
- */
-SIMD_FORCE_INLINE void bt_closest_point_on_segment(
-	btVector3 &cp, const btVector3 &v,
-	const btVector3 &e1, const btVector3 &e2)
-{
-	btVector3 n = e2 - e1;
-	cp = v - e1;
-	btScalar _scalar = cp.dot(n) / n.dot(n);
-	if (_scalar < 0.0f)
-	{
-		cp = e1;
-	}
-	else if (_scalar > 1.0f)
-	{
-		cp = e2;
-	}
-	else
-	{
-		cp = _scalar * n + e1;
-	}
-}
-
-//! line plane collision
-/*!
-*\return
-	-0  if the ray never intersects
-	-1 if the ray collides in front
-	-2 if the ray collides in back
-*/
-
-SIMD_FORCE_INLINE int bt_line_plane_collision(
-	const btVector4 &plane,
-	const btVector3 &vDir,
-	const btVector3 &vPoint,
-	btVector3 &pout,
-	btScalar &tparam,
-	btScalar tmin, btScalar tmax)
-{
-	btScalar _dotdir = vDir.dot(plane);
-
-	if (btFabs(_dotdir) < PLANEDIREPSILON)
-	{
-		tparam = tmax;
-		return 0;
-	}
-
-	btScalar _dis = bt_distance_point_plane(plane, vPoint);
-	char returnvalue = _dis < 0.0f ? 2 : 1;
-	tparam = -_dis / _dotdir;
-
-	if (tparam < tmin)
-	{
-		returnvalue = 0;
-		tparam = tmin;
-	}
-	else if (tparam > tmax)
-	{
-		returnvalue = 0;
-		tparam = tmax;
-	}
-	pout = tparam * vDir + vPoint;
-	return returnvalue;
-}
-
-//! Find closest points on segments
-SIMD_FORCE_INLINE void bt_segment_collision(
-	const btVector3 &vA1,
-	const btVector3 &vA2,
-	const btVector3 &vB1,
-	const btVector3 &vB2,
-	btVector3 &vPointA,
-	btVector3 &vPointB)
-{
-	btVector3 AD = vA2 - vA1;
-	btVector3 BD = vB2 - vB1;
-	btVector3 N = AD.cross(BD);
-	btScalar tp = N.length2();
-
-	btVector4 _M;  //plane
-
-	if (tp < SIMD_EPSILON)  //ARE PARALELE
-	{
-		//project B over A
-		bool invert_b_order = false;
-		_M[0] = vB1.dot(AD);
-		_M[1] = vB2.dot(AD);
-
-		if (_M[0] > _M[1])
-		{
-			invert_b_order = true;
-			BT_SWAP_NUMBERS(_M[0], _M[1]);
-		}
-		_M[2] = vA1.dot(AD);
-		_M[3] = vA2.dot(AD);
-		//mid points
-		N[0] = (_M[0] + _M[1]) * 0.5f;
-		N[1] = (_M[2] + _M[3]) * 0.5f;
-
-		if (N[0] < N[1])
-		{
-			if (_M[1] < _M[2])
-			{
-				vPointB = invert_b_order ? vB1 : vB2;
-				vPointA = vA1;
-			}
-			else if (_M[1] < _M[3])
-			{
-				vPointB = invert_b_order ? vB1 : vB2;
-				bt_closest_point_on_segment(vPointA, vPointB, vA1, vA2);
-			}
-			else
-			{
-				vPointA = vA2;
-				bt_closest_point_on_segment(vPointB, vPointA, vB1, vB2);
-			}
-		}
-		else
-		{
-			if (_M[3] < _M[0])
-			{
-				vPointB = invert_b_order ? vB2 : vB1;
-				vPointA = vA2;
-			}
-			else if (_M[3] < _M[1])
-			{
-				vPointA = vA2;
-				bt_closest_point_on_segment(vPointB, vPointA, vB1, vB2);
-			}
-			else
-			{
-				vPointB = invert_b_order ? vB1 : vB2;
-				bt_closest_point_on_segment(vPointA, vPointB, vA1, vA2);
-			}
-		}
-		return;
-	}
-
-	N = N.cross(BD);
-	_M.setValue(N[0], N[1], N[2], vB1.dot(N));
-
-	// get point A as the plane collision point
-	bt_line_plane_collision(_M, AD, vA1, vPointA, tp, btScalar(0), btScalar(1));
-
-	/*Closest point on segment*/
-	vPointB = vPointA - vB1;
-	tp = vPointB.dot(BD);
-	tp /= BD.dot(BD);
-	tp = BT_CLAMP(tp, 0.0f, 1.0f);
-
-	vPointB = tp * BD + vB1;
-}
-
-#endif  // GIM_VECTOR_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btQuantization.h b/thirdparty/bullet/BulletCollision/Gimpact/btQuantization.h
deleted file mode 100644
index 19a02a2177..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btQuantization.h
+++ /dev/null
@@ -1,79 +0,0 @@
-#ifndef BT_GIMPACT_QUANTIZATION_H_INCLUDED
-#define BT_GIMPACT_QUANTIZATION_H_INCLUDED
-
-/*! \file btQuantization.h
-*\author Francisco Leon Najera
-
-*/
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "LinearMath/btTransform.h"
-
-SIMD_FORCE_INLINE void bt_calc_quantization_parameters(
-	btVector3& outMinBound,
-	btVector3& outMaxBound,
-	btVector3& bvhQuantization,
-	const btVector3& srcMinBound, const btVector3& srcMaxBound,
-	btScalar quantizationMargin)
-{
-	//enlarge the AABB to avoid division by zero when initializing the quantization values
-	btVector3 clampValue(quantizationMargin, quantizationMargin, quantizationMargin);
-	outMinBound = srcMinBound - clampValue;
-	outMaxBound = srcMaxBound + clampValue;
-	btVector3 aabbSize = outMaxBound - outMinBound;
-	bvhQuantization = btVector3(btScalar(65535.0),
-								btScalar(65535.0),
-								btScalar(65535.0)) /
-					  aabbSize;
-}
-
-SIMD_FORCE_INLINE void bt_quantize_clamp(
-	unsigned short* out,
-	const btVector3& point,
-	const btVector3& min_bound,
-	const btVector3& max_bound,
-	const btVector3& bvhQuantization)
-{
-	btVector3 clampedPoint(point);
-	clampedPoint.setMax(min_bound);
-	clampedPoint.setMin(max_bound);
-
-	btVector3 v = (clampedPoint - min_bound) * bvhQuantization;
-	out[0] = (unsigned short)(v.getX() + 0.5f);
-	out[1] = (unsigned short)(v.getY() + 0.5f);
-	out[2] = (unsigned short)(v.getZ() + 0.5f);
-}
-
-SIMD_FORCE_INLINE btVector3 bt_unquantize(
-	const unsigned short* vecIn,
-	const btVector3& offset,
-	const btVector3& bvhQuantization)
-{
-	btVector3 vecOut;
-	vecOut.setValue(
-		(btScalar)(vecIn[0]) / (bvhQuantization.getX()),
-		(btScalar)(vecIn[1]) / (bvhQuantization.getY()),
-		(btScalar)(vecIn[2]) / (bvhQuantization.getZ()));
-	vecOut += offset;
-	return vecOut;
-}
-
-#endif  // BT_GIMPACT_QUANTIZATION_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.cpp b/thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.cpp
deleted file mode 100644
index 292ef8c1ff..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.cpp
+++ /dev/null
@@ -1,203 +0,0 @@
-/*! \file btGImpactTriangleShape.h
-\author Francisco Leon Najera
-*/
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btTriangleShapeEx.h"
-
-void GIM_TRIANGLE_CONTACT::merge_points(const btVector4& plane,
-										btScalar margin, const btVector3* points, int point_count)
-{
-	m_point_count = 0;
-	m_penetration_depth = -1000.0f;
-
-	int point_indices[MAX_TRI_CLIPPING];
-
-	int _k;
-
-	for (_k = 0; _k < point_count; _k++)
-	{
-		btScalar _dist = -bt_distance_point_plane(plane, points[_k]) + margin;
-
-		if (_dist >= 0.0f)
-		{
-			if (_dist > m_penetration_depth)
-			{
-				m_penetration_depth = _dist;
-				point_indices[0] = _k;
-				m_point_count = 1;
-			}
-			else if ((_dist + SIMD_EPSILON) >= m_penetration_depth)
-			{
-				point_indices[m_point_count] = _k;
-				m_point_count++;
-			}
-		}
-	}
-
-	for (_k = 0; _k < m_point_count; _k++)
-	{
-		m_points[_k] = points[point_indices[_k]];
-	}
-}
-
-///class btPrimitiveTriangle
-bool btPrimitiveTriangle::overlap_test_conservative(const btPrimitiveTriangle& other)
-{
-	btScalar total_margin = m_margin + other.m_margin;
-	// classify points on other triangle
-	btScalar dis0 = bt_distance_point_plane(m_plane, other.m_vertices[0]) - total_margin;
-
-	btScalar dis1 = bt_distance_point_plane(m_plane, other.m_vertices[1]) - total_margin;
-
-	btScalar dis2 = bt_distance_point_plane(m_plane, other.m_vertices[2]) - total_margin;
-
-	if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) return false;
-
-	// classify points on this triangle
-	dis0 = bt_distance_point_plane(other.m_plane, m_vertices[0]) - total_margin;
-
-	dis1 = bt_distance_point_plane(other.m_plane, m_vertices[1]) - total_margin;
-
-	dis2 = bt_distance_point_plane(other.m_plane, m_vertices[2]) - total_margin;
-
-	if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) return false;
-
-	return true;
-}
-
-int btPrimitiveTriangle::clip_triangle(btPrimitiveTriangle& other, btVector3* clipped_points)
-{
-	// edge 0
-
-	btVector3 temp_points[MAX_TRI_CLIPPING];
-
-	btVector4 edgeplane;
-
-	get_edge_plane(0, edgeplane);
-
-	int clipped_count = bt_plane_clip_triangle(
-		edgeplane, other.m_vertices[0], other.m_vertices[1], other.m_vertices[2], temp_points);
-
-	if (clipped_count == 0) return 0;
-
-	btVector3 temp_points1[MAX_TRI_CLIPPING];
-
-	// edge 1
-	get_edge_plane(1, edgeplane);
-
-	clipped_count = bt_plane_clip_polygon(edgeplane, temp_points, clipped_count, temp_points1);
-
-	if (clipped_count == 0) return 0;
-
-	// edge 2
-	get_edge_plane(2, edgeplane);
-
-	clipped_count = bt_plane_clip_polygon(
-		edgeplane, temp_points1, clipped_count, clipped_points);
-
-	return clipped_count;
-}
-
-bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangle& other, GIM_TRIANGLE_CONTACT& contacts)
-{
-	btScalar margin = m_margin + other.m_margin;
-
-	btVector3 clipped_points[MAX_TRI_CLIPPING];
-	int clipped_count;
-	//create planes
-	// plane v vs U points
-
-	GIM_TRIANGLE_CONTACT contacts1;
-
-	contacts1.m_separating_normal = m_plane;
-
-	clipped_count = clip_triangle(other, clipped_points);
-
-	if (clipped_count == 0)
-	{
-		return false;  //Reject
-	}
-
-	//find most deep interval face1
-	contacts1.merge_points(contacts1.m_separating_normal, margin, clipped_points, clipped_count);
-	if (contacts1.m_point_count == 0) return false;  // too far
-	//Normal pointing to this triangle
-	contacts1.m_separating_normal *= -1.f;
-
-	//Clip tri1 by tri2 edges
-	GIM_TRIANGLE_CONTACT contacts2;
-	contacts2.m_separating_normal = other.m_plane;
-
-	clipped_count = other.clip_triangle(*this, clipped_points);
-
-	if (clipped_count == 0)
-	{
-		return false;  //Reject
-	}
-
-	//find most deep interval face1
-	contacts2.merge_points(contacts2.m_separating_normal, margin, clipped_points, clipped_count);
-	if (contacts2.m_point_count == 0) return false;  // too far
-
-	////check most dir for contacts
-	if (contacts2.m_penetration_depth < contacts1.m_penetration_depth)
-	{
-		contacts.copy_from(contacts2);
-	}
-	else
-	{
-		contacts.copy_from(contacts1);
-	}
-	return true;
-}
-
-///class btTriangleShapeEx: public btTriangleShape
-
-bool btTriangleShapeEx::overlap_test_conservative(const btTriangleShapeEx& other)
-{
-	btScalar total_margin = getMargin() + other.getMargin();
-
-	btVector4 plane0;
-	buildTriPlane(plane0);
-	btVector4 plane1;
-	other.buildTriPlane(plane1);
-
-	// classify points on other triangle
-	btScalar dis0 = bt_distance_point_plane(plane0, other.m_vertices1[0]) - total_margin;
-
-	btScalar dis1 = bt_distance_point_plane(plane0, other.m_vertices1[1]) - total_margin;
-
-	btScalar dis2 = bt_distance_point_plane(plane0, other.m_vertices1[2]) - total_margin;
-
-	if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) return false;
-
-	// classify points on this triangle
-	dis0 = bt_distance_point_plane(plane1, m_vertices1[0]) - total_margin;
-
-	dis1 = bt_distance_point_plane(plane1, m_vertices1[1]) - total_margin;
-
-	dis2 = bt_distance_point_plane(plane1, m_vertices1[2]) - total_margin;
-
-	if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) return false;
-
-	return true;
-}
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.h b/thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.h
deleted file mode 100644
index 568a1ce811..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.h
+++ /dev/null
@@ -1,169 +0,0 @@
-/*! \file btGImpactShape.h
-\author Francisco Leon Najera
-*/
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef GIMPACT_TRIANGLE_SHAPE_EX_H
-#define GIMPACT_TRIANGLE_SHAPE_EX_H
-
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "BulletCollision/CollisionShapes/btTriangleShape.h"
-#include "btBoxCollision.h"
-#include "btClipPolygon.h"
-#include "btGeometryOperations.h"
-
-#define MAX_TRI_CLIPPING 16
-
-//! Structure for collision
-struct GIM_TRIANGLE_CONTACT
-{
-	btScalar m_penetration_depth;
-	int m_point_count;
-	btVector4 m_separating_normal;
-	btVector3 m_points[MAX_TRI_CLIPPING];
-
-	SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT& other)
-	{
-		m_penetration_depth = other.m_penetration_depth;
-		m_separating_normal = other.m_separating_normal;
-		m_point_count = other.m_point_count;
-		int i = m_point_count;
-		while (i--)
-		{
-			m_points[i] = other.m_points[i];
-		}
-	}
-
-	GIM_TRIANGLE_CONTACT()
-	{
-	}
-
-	GIM_TRIANGLE_CONTACT(const GIM_TRIANGLE_CONTACT& other)
-	{
-		copy_from(other);
-	}
-
-	//! classify points that are closer
-	void merge_points(const btVector4& plane,
-					  btScalar margin, const btVector3* points, int point_count);
-};
-
-class btPrimitiveTriangle
-{
-public:
-	btVector3 m_vertices[3];
-	btVector4 m_plane;
-	btScalar m_margin;
-	btScalar m_dummy;
-	btPrimitiveTriangle() : m_margin(0.01f)
-	{
-	}
-
-	SIMD_FORCE_INLINE void buildTriPlane()
-	{
-		btVector3 normal = (m_vertices[1] - m_vertices[0]).cross(m_vertices[2] - m_vertices[0]);
-		normal.normalize();
-		m_plane.setValue(normal[0], normal[1], normal[2], m_vertices[0].dot(normal));
-	}
-
-	//! Test if triangles could collide
-	bool overlap_test_conservative(const btPrimitiveTriangle& other);
-
-	//! Calcs the plane which is paralele to the edge and perpendicular to the triangle plane
-	/*!
-	\pre this triangle must have its plane calculated.
-	*/
-	SIMD_FORCE_INLINE void get_edge_plane(int edge_index, btVector4& plane) const
-	{
-		const btVector3& e0 = m_vertices[edge_index];
-		const btVector3& e1 = m_vertices[(edge_index + 1) % 3];
-		bt_edge_plane(e0, e1, m_plane, plane);
-	}
-
-	void applyTransform(const btTransform& t)
-	{
-		m_vertices[0] = t(m_vertices[0]);
-		m_vertices[1] = t(m_vertices[1]);
-		m_vertices[2] = t(m_vertices[2]);
-	}
-
-	//! Clips the triangle against this
-	/*!
-	\pre clipped_points must have MAX_TRI_CLIPPING size, and this triangle must have its plane calculated.
-	\return the number of clipped points
-	*/
-	int clip_triangle(btPrimitiveTriangle& other, btVector3* clipped_points);
-
-	//! Find collision using the clipping method
-	/*!
-	\pre this triangle and other must have their triangles calculated
-	*/
-	bool find_triangle_collision_clip_method(btPrimitiveTriangle& other, GIM_TRIANGLE_CONTACT& contacts);
-};
-
-//! Helper class for colliding Bullet Triangle Shapes
-/*!
-This class implements a better getAabb method than the previous btTriangleShape class
-*/
-class btTriangleShapeEx : public btTriangleShape
-{
-public:
-	btTriangleShapeEx() : btTriangleShape(btVector3(0, 0, 0), btVector3(0, 0, 0), btVector3(0, 0, 0))
-	{
-	}
-
-	btTriangleShapeEx(const btVector3& p0, const btVector3& p1, const btVector3& p2) : btTriangleShape(p0, p1, p2)
-	{
-	}
-
-	btTriangleShapeEx(const btTriangleShapeEx& other) : btTriangleShape(other.m_vertices1[0], other.m_vertices1[1], other.m_vertices1[2])
-	{
-	}
-
-	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-	{
-		btVector3 tv0 = t(m_vertices1[0]);
-		btVector3 tv1 = t(m_vertices1[1]);
-		btVector3 tv2 = t(m_vertices1[2]);
-
-		btAABB trianglebox(tv0, tv1, tv2, m_collisionMargin);
-		aabbMin = trianglebox.m_min;
-		aabbMax = trianglebox.m_max;
-	}
-
-	void applyTransform(const btTransform& t)
-	{
-		m_vertices1[0] = t(m_vertices1[0]);
-		m_vertices1[1] = t(m_vertices1[1]);
-		m_vertices1[2] = t(m_vertices1[2]);
-	}
-
-	SIMD_FORCE_INLINE void buildTriPlane(btVector4& plane) const
-	{
-		btVector3 normal = (m_vertices1[1] - m_vertices1[0]).cross(m_vertices1[2] - m_vertices1[0]);
-		normal.normalize();
-		plane.setValue(normal[0], normal[1], normal[2], m_vertices1[0].dot(normal));
-	}
-
-	bool overlap_test_conservative(const btTriangleShapeEx& other);
-};
-
-#endif  //GIMPACT_TRIANGLE_MESH_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_array.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_array.h
deleted file mode 100644
index fc2dc38a33..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_array.h
+++ /dev/null
@@ -1,318 +0,0 @@
-#ifndef GIM_ARRAY_H_INCLUDED
-#define GIM_ARRAY_H_INCLUDED
-/*! \file gim_array.h
-\author Francisco Leon Najera
-*/
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-
-#include "gim_memory.h"
-
-#define GIM_ARRAY_GROW_INCREMENT 2
-#define GIM_ARRAY_GROW_FACTOR 2
-
-//!	Very simple array container with fast access and simd memory
-template <typename T>
-class gim_array
-{
-public:
-	//! properties
-	//!@{
-	T* m_data;
-	GUINT m_size;
-	GUINT m_allocated_size;
-	//!@}
-	//! protected operations
-	//!@{
-
-	inline void destroyData()
-	{
-		m_allocated_size = 0;
-		if (m_data == NULL) return;
-		gim_free(m_data);
-		m_data = NULL;
-	}
-
-	inline bool resizeData(GUINT newsize)
-	{
-		if (newsize == 0)
-		{
-			destroyData();
-			return true;
-		}
-
-		if (m_size > 0)
-		{
-			m_data = (T*)gim_realloc(m_data, m_size * sizeof(T), newsize * sizeof(T));
-		}
-		else
-		{
-			m_data = (T*)gim_alloc(newsize * sizeof(T));
-		}
-		m_allocated_size = newsize;
-		return true;
-	}
-
-	inline bool growingCheck()
-	{
-		if (m_allocated_size <= m_size)
-		{
-			GUINT requestsize = m_size;
-			m_size = m_allocated_size;
-			if (resizeData((requestsize + GIM_ARRAY_GROW_INCREMENT) * GIM_ARRAY_GROW_FACTOR) == false) return false;
-		}
-		return true;
-	}
-
-	//!@}
-	//! public operations
-	//!@{
-	inline bool reserve(GUINT size)
-	{
-		if (m_allocated_size >= size) return false;
-		return resizeData(size);
-	}
-
-	inline void clear_range(GUINT start_range)
-	{
-		while (m_size > start_range)
-		{
-			m_data[--m_size].~T();
-		}
-	}
-
-	inline void clear()
-	{
-		if (m_size == 0) return;
-		clear_range(0);
-	}
-
-	inline void clear_memory()
-	{
-		clear();
-		destroyData();
-	}
-
-	gim_array()
-	{
-		m_data = 0;
-		m_size = 0;
-		m_allocated_size = 0;
-	}
-
-	gim_array(GUINT reservesize)
-	{
-		m_data = 0;
-		m_size = 0;
-
-		m_allocated_size = 0;
-		reserve(reservesize);
-	}
-
-	~gim_array()
-	{
-		clear_memory();
-	}
-
-	inline GUINT size() const
-	{
-		return m_size;
-	}
-
-	inline GUINT max_size() const
-	{
-		return m_allocated_size;
-	}
-
-	inline T& operator[](size_t i)
-	{
-		return m_data[i];
-	}
-	inline const T& operator[](size_t i) const
-	{
-		return m_data[i];
-	}
-
-	inline T* pointer() { return m_data; }
-	inline const T* pointer() const
-	{
-		return m_data;
-	}
-
-	inline T* get_pointer_at(GUINT i)
-	{
-		return m_data + i;
-	}
-
-	inline const T* get_pointer_at(GUINT i) const
-	{
-		return m_data + i;
-	}
-
-	inline T& at(GUINT i)
-	{
-		return m_data[i];
-	}
-
-	inline const T& at(GUINT i) const
-	{
-		return m_data[i];
-	}
-
-	inline T& front()
-	{
-		return *m_data;
-	}
-
-	inline const T& front() const
-	{
-		return *m_data;
-	}
-
-	inline T& back()
-	{
-		return m_data[m_size - 1];
-	}
-
-	inline const T& back() const
-	{
-		return m_data[m_size - 1];
-	}
-
-	inline void swap(GUINT i, GUINT j)
-	{
-		gim_swap_elements(m_data, i, j);
-	}
-
-	inline void push_back(const T& obj)
-	{
-		this->growingCheck();
-		m_data[m_size] = obj;
-		m_size++;
-	}
-
-	//!Simply increase the m_size, doesn't call the new element constructor
-	inline void push_back_mem()
-	{
-		this->growingCheck();
-		m_size++;
-	}
-
-	inline void push_back_memcpy(const T& obj)
-	{
-		this->growingCheck();
-		gim_simd_memcpy(&m_data[m_size], &obj, sizeof(T));
-		m_size++;
-	}
-
-	inline void pop_back()
-	{
-		m_size--;
-		m_data[m_size].~T();
-	}
-
-	//!Simply decrease the m_size, doesn't call the deleted element destructor
-	inline void pop_back_mem()
-	{
-		m_size--;
-	}
-
-	//! fast erase
-	inline void erase(GUINT index)
-	{
-		if (index < m_size - 1)
-		{
-			swap(index, m_size - 1);
-		}
-		pop_back();
-	}
-
-	inline void erase_sorted_mem(GUINT index)
-	{
-		m_size--;
-		for (GUINT i = index; i < m_size; i++)
-		{
-			gim_simd_memcpy(m_data + i, m_data + i + 1, sizeof(T));
-		}
-	}
-
-	inline void erase_sorted(GUINT index)
-	{
-		m_data[index].~T();
-		erase_sorted_mem(index);
-	}
-
-	inline void insert_mem(GUINT index)
-	{
-		this->growingCheck();
-		for (GUINT i = m_size; i > index; i--)
-		{
-			gim_simd_memcpy(m_data + i, m_data + i - 1, sizeof(T));
-		}
-		m_size++;
-	}
-
-	inline void insert(const T& obj, GUINT index)
-	{
-		insert_mem(index);
-		m_data[index] = obj;
-	}
-
-	inline void resize(GUINT size, bool call_constructor = true, const T& fillData = T())
-	{
-		if (size > m_size)
-		{
-			reserve(size);
-			if (call_constructor)
-			{
-				while (m_size < size)
-				{
-					m_data[m_size] = fillData;
-					m_size++;
-				}
-			}
-			else
-			{
-				m_size = size;
-			}
-		}
-		else if (size < m_size)
-		{
-			if (call_constructor) clear_range(size);
-			m_size = size;
-		}
-	}
-
-	inline void refit()
-	{
-		resizeData(m_size);
-	}
-};
-
-#endif  // GIM_CONTAINERS_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_basic_geometry_operations.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_basic_geometry_operations.h
deleted file mode 100644
index 7ab783672d..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_basic_geometry_operations.h
+++ /dev/null
@@ -1,536 +0,0 @@
-#ifndef GIM_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED
-#define GIM_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED
-
-/*! \file gim_basic_geometry_operations.h
-*\author Francisco Leon Najera
-type independant geometry routines
-
-*/
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-
-#include "gim_linear_math.h"
-
-#ifndef PLANEDIREPSILON
-#define PLANEDIREPSILON 0.0000001f
-#endif
-
-#ifndef PARALELENORMALS
-#define PARALELENORMALS 0.000001f
-#endif
-
-#define TRIANGLE_NORMAL(v1, v2, v3, n) \
-	{                                  \
-		vec3f _dif1, _dif2;            \
-		VEC_DIFF(_dif1, v2, v1);       \
-		VEC_DIFF(_dif2, v3, v1);       \
-		VEC_CROSS(n, _dif1, _dif2);    \
-		VEC_NORMALIZE(n);              \
-	}
-
-#define TRIANGLE_NORMAL_FAST(v1, v2, v3, n) \
-	{                                       \
-		vec3f _dif1, _dif2;                 \
-		VEC_DIFF(_dif1, v2, v1);            \
-		VEC_DIFF(_dif2, v3, v1);            \
-		VEC_CROSS(n, _dif1, _dif2);         \
-	}
-
-/// plane is a vec4f
-#define TRIANGLE_PLANE(v1, v2, v3, plane)   \
-	{                                       \
-		TRIANGLE_NORMAL(v1, v2, v3, plane); \
-		plane[3] = VEC_DOT(v1, plane);      \
-	}
-
-/// plane is a vec4f
-#define TRIANGLE_PLANE_FAST(v1, v2, v3, plane)   \
-	{                                            \
-		TRIANGLE_NORMAL_FAST(v1, v2, v3, plane); \
-		plane[3] = VEC_DOT(v1, plane);           \
-	}
-
-/// Calc a plane from an edge an a normal. plane is a vec4f
-#define EDGE_PLANE(e1, e2, n, plane)   \
-	{                                  \
-		vec3f _dif;                    \
-		VEC_DIFF(_dif, e2, e1);        \
-		VEC_CROSS(plane, _dif, n);     \
-		VEC_NORMALIZE(plane);          \
-		plane[3] = VEC_DOT(e1, plane); \
-	}
-
-#define DISTANCE_PLANE_POINT(plane, point) (VEC_DOT(plane, point) - plane[3])
-
-#define PROJECT_POINT_PLANE(point, plane, projected) \
-	{                                                \
-		GREAL _dis;                                  \
-		_dis = DISTANCE_PLANE_POINT(plane, point);   \
-		VEC_SCALE(projected, -_dis, plane);          \
-		VEC_SUM(projected, projected, point);        \
-	}
-
-//! Verifies if a point is in the plane hull
-template <typename CLASS_POINT, typename CLASS_PLANE>
-SIMD_FORCE_INLINE bool POINT_IN_HULL(
-	const CLASS_POINT &point, const CLASS_PLANE *planes, GUINT plane_count)
-{
-	GREAL _dis;
-	for (GUINT _i = 0; _i < plane_count; ++_i)
-	{
-		_dis = DISTANCE_PLANE_POINT(planes[_i], point);
-		if (_dis > 0.0f) return false;
-	}
-	return true;
-}
-
-template <typename CLASS_POINT, typename CLASS_PLANE>
-SIMD_FORCE_INLINE void PLANE_CLIP_SEGMENT(
-	const CLASS_POINT &s1,
-	const CLASS_POINT &s2, const CLASS_PLANE &plane, CLASS_POINT &clipped)
-{
-	GREAL _dis1, _dis2;
-	_dis1 = DISTANCE_PLANE_POINT(plane, s1);
-	VEC_DIFF(clipped, s2, s1);
-	_dis2 = VEC_DOT(clipped, plane);
-	VEC_SCALE(clipped, -_dis1 / _dis2, clipped);
-	VEC_SUM(clipped, clipped, s1);
-}
-
-enum ePLANE_INTERSECTION_TYPE
-{
-	G_BACK_PLANE = 0,
-	G_COLLIDE_PLANE,
-	G_FRONT_PLANE
-};
-
-enum eLINE_PLANE_INTERSECTION_TYPE
-{
-	G_FRONT_PLANE_S1 = 0,
-	G_FRONT_PLANE_S2,
-	G_BACK_PLANE_S1,
-	G_BACK_PLANE_S2,
-	G_COLLIDE_PLANE_S1,
-	G_COLLIDE_PLANE_S2
-};
-
-//! Confirms if the plane intersect the edge or nor
-/*!
-intersection type must have the following values
-<ul>
-<li> 0 : Segment in front of plane, s1 closest
-<li> 1 : Segment in front of plane, s2 closest
-<li> 2 : Segment in back of plane, s1 closest
-<li> 3 : Segment in back of plane, s2 closest
-<li> 4 : Segment collides plane, s1 in back
-<li> 5 : Segment collides plane, s2 in back
-</ul>
-*/
-
-template <typename CLASS_POINT, typename CLASS_PLANE>
-SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT2(
-	const CLASS_POINT &s1,
-	const CLASS_POINT &s2,
-	const CLASS_PLANE &plane, CLASS_POINT &clipped)
-{
-	GREAL _dis1 = DISTANCE_PLANE_POINT(plane, s1);
-	GREAL _dis2 = DISTANCE_PLANE_POINT(plane, s2);
-	if (_dis1 > -G_EPSILON && _dis2 > -G_EPSILON)
-	{
-		if (_dis1 < _dis2) return G_FRONT_PLANE_S1;
-		return G_FRONT_PLANE_S2;
-	}
-	else if (_dis1 < G_EPSILON && _dis2 < G_EPSILON)
-	{
-		if (_dis1 > _dis2) return G_BACK_PLANE_S1;
-		return G_BACK_PLANE_S2;
-	}
-
-	VEC_DIFF(clipped, s2, s1);
-	_dis2 = VEC_DOT(clipped, plane);
-	VEC_SCALE(clipped, -_dis1 / _dis2, clipped);
-	VEC_SUM(clipped, clipped, s1);
-	if (_dis1 < _dis2) return G_COLLIDE_PLANE_S1;
-	return G_COLLIDE_PLANE_S2;
-}
-
-//! Confirms if the plane intersect the edge or not
-/*!
-clipped1 and clipped2 are the vertices behind the plane.
-clipped1 is the closest
-
-intersection_type must have the following values
-<ul>
-<li> 0 : Segment in front of plane, s1 closest
-<li> 1 : Segment in front of plane, s2 closest
-<li> 2 : Segment in back of plane, s1 closest
-<li> 3 : Segment in back of plane, s2 closest
-<li> 4 : Segment collides plane, s1 in back
-<li> 5 : Segment collides plane, s2 in back
-</ul>
-*/
-template <typename CLASS_POINT, typename CLASS_PLANE>
-SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT_CLOSEST(
-	const CLASS_POINT &s1,
-	const CLASS_POINT &s2,
-	const CLASS_PLANE &plane,
-	CLASS_POINT &clipped1, CLASS_POINT &clipped2)
-{
-	eLINE_PLANE_INTERSECTION_TYPE intersection_type = PLANE_CLIP_SEGMENT2(s1, s2, plane, clipped1);
-	switch (intersection_type)
-	{
-		case G_FRONT_PLANE_S1:
-			VEC_COPY(clipped1, s1);
-			VEC_COPY(clipped2, s2);
-			break;
-		case G_FRONT_PLANE_S2:
-			VEC_COPY(clipped1, s2);
-			VEC_COPY(clipped2, s1);
-			break;
-		case G_BACK_PLANE_S1:
-			VEC_COPY(clipped1, s1);
-			VEC_COPY(clipped2, s2);
-			break;
-		case G_BACK_PLANE_S2:
-			VEC_COPY(clipped1, s2);
-			VEC_COPY(clipped2, s1);
-			break;
-		case G_COLLIDE_PLANE_S1:
-			VEC_COPY(clipped2, s1);
-			break;
-		case G_COLLIDE_PLANE_S2:
-			VEC_COPY(clipped2, s2);
-			break;
-	}
-	return intersection_type;
-}
-
-//! Finds the 2 smallest cartesian coordinates of a plane normal
-#define PLANE_MINOR_AXES(plane, i0, i1) VEC_MINOR_AXES(plane, i0, i1)
-
-//! Ray plane collision in one way
-/*!
-Intersects plane in one way only. The ray must face the plane (normals must be in opossite directions).<br/>
-It uses the PLANEDIREPSILON constant.
-*/
-template <typename T, typename CLASS_POINT, typename CLASS_PLANE>
-SIMD_FORCE_INLINE bool RAY_PLANE_COLLISION(
-	const CLASS_PLANE &plane,
-	const CLASS_POINT &vDir,
-	const CLASS_POINT &vPoint,
-	CLASS_POINT &pout, T &tparam)
-{
-	GREAL _dis, _dotdir;
-	_dotdir = VEC_DOT(plane, vDir);
-	if (_dotdir < PLANEDIREPSILON)
-	{
-		return false;
-	}
-	_dis = DISTANCE_PLANE_POINT(plane, vPoint);
-	tparam = -_dis / _dotdir;
-	VEC_SCALE(pout, tparam, vDir);
-	VEC_SUM(pout, vPoint, pout);
-	return true;
-}
-
-//! line collision
-/*!
-*\return
-	-0  if the ray never intersects
-	-1 if the ray collides in front
-	-2 if the ray collides in back
-*/
-template <typename T, typename CLASS_POINT, typename CLASS_PLANE>
-SIMD_FORCE_INLINE GUINT LINE_PLANE_COLLISION(
-	const CLASS_PLANE &plane,
-	const CLASS_POINT &vDir,
-	const CLASS_POINT &vPoint,
-	CLASS_POINT &pout,
-	T &tparam,
-	T tmin, T tmax)
-{
-	GREAL _dis, _dotdir;
-	_dotdir = VEC_DOT(plane, vDir);
-	if (btFabs(_dotdir) < PLANEDIREPSILON)
-	{
-		tparam = tmax;
-		return 0;
-	}
-	_dis = DISTANCE_PLANE_POINT(plane, vPoint);
-	char returnvalue = _dis < 0.0f ? 2 : 1;
-	tparam = -_dis / _dotdir;
-
-	if (tparam < tmin)
-	{
-		returnvalue = 0;
-		tparam = tmin;
-	}
-	else if (tparam > tmax)
-	{
-		returnvalue = 0;
-		tparam = tmax;
-	}
-
-	VEC_SCALE(pout, tparam, vDir);
-	VEC_SUM(pout, vPoint, pout);
-	return returnvalue;
-}
-
-/*! \brief Returns the Ray on which 2 planes intersect if they do.
-    Written by Rodrigo Hernandez on ODE convex collision
-
-  \param p1 Plane 1
-  \param p2 Plane 2
-  \param p Contains the origin of the ray upon returning if planes intersect
-  \param d Contains the direction of the ray upon returning if planes intersect
-  \return true if the planes intersect, 0 if paralell.
-
-*/
-template <typename CLASS_POINT, typename CLASS_PLANE>
-SIMD_FORCE_INLINE bool INTERSECT_PLANES(
-	const CLASS_PLANE &p1,
-	const CLASS_PLANE &p2,
-	CLASS_POINT &p,
-	CLASS_POINT &d)
-{
-	VEC_CROSS(d, p1, p2);
-	GREAL denom = VEC_DOT(d, d);
-	if (GIM_IS_ZERO(denom)) return false;
-	vec3f _n;
-	_n[0] = p1[3] * p2[0] - p2[3] * p1[0];
-	_n[1] = p1[3] * p2[1] - p2[3] * p1[1];
-	_n[2] = p1[3] * p2[2] - p2[3] * p1[2];
-	VEC_CROSS(p, _n, d);
-	p[0] /= denom;
-	p[1] /= denom;
-	p[2] /= denom;
-	return true;
-}
-
-//***************** SEGMENT and LINE FUNCTIONS **********************************///
-
-/*! Finds the closest point(cp) to (v) on a segment (e1,e2)
- */
-template <typename CLASS_POINT>
-SIMD_FORCE_INLINE void CLOSEST_POINT_ON_SEGMENT(
-	CLASS_POINT &cp, const CLASS_POINT &v,
-	const CLASS_POINT &e1, const CLASS_POINT &e2)
-{
-	vec3f _n;
-	VEC_DIFF(_n, e2, e1);
-	VEC_DIFF(cp, v, e1);
-	GREAL _scalar = VEC_DOT(cp, _n);
-	_scalar /= VEC_DOT(_n, _n);
-	if (_scalar < 0.0f)
-	{
-		VEC_COPY(cp, e1);
-	}
-	else if (_scalar > 1.0f)
-	{
-		VEC_COPY(cp, e2);
-	}
-	else
-	{
-		VEC_SCALE(cp, _scalar, _n);
-		VEC_SUM(cp, cp, e1);
-	}
-}
-
-/*! \brief Finds the line params where these lines intersect.
-
-\param dir1 Direction of line 1
-\param point1 Point of line 1
-\param dir2 Direction of line 2
-\param point2 Point of line 2
-\param t1 Result Parameter for line 1
-\param t2 Result Parameter for line 2
-\param dointersect  0  if the lines won't intersect, else 1
-
-*/
-template <typename T, typename CLASS_POINT>
-SIMD_FORCE_INLINE bool LINE_INTERSECTION_PARAMS(
-	const CLASS_POINT &dir1,
-	CLASS_POINT &point1,
-	const CLASS_POINT &dir2,
-	CLASS_POINT &point2,
-	T &t1, T &t2)
-{
-	GREAL det;
-	GREAL e1e1 = VEC_DOT(dir1, dir1);
-	GREAL e1e2 = VEC_DOT(dir1, dir2);
-	GREAL e2e2 = VEC_DOT(dir2, dir2);
-	vec3f p1p2;
-	VEC_DIFF(p1p2, point1, point2);
-	GREAL p1p2e1 = VEC_DOT(p1p2, dir1);
-	GREAL p1p2e2 = VEC_DOT(p1p2, dir2);
-	det = e1e2 * e1e2 - e1e1 * e2e2;
-	if (GIM_IS_ZERO(det)) return false;
-	t1 = (e1e2 * p1p2e2 - e2e2 * p1p2e1) / det;
-	t2 = (e1e1 * p1p2e2 - e1e2 * p1p2e1) / det;
-	return true;
-}
-
-//! Find closest points on segments
-template <typename CLASS_POINT>
-SIMD_FORCE_INLINE void SEGMENT_COLLISION(
-	const CLASS_POINT &vA1,
-	const CLASS_POINT &vA2,
-	const CLASS_POINT &vB1,
-	const CLASS_POINT &vB2,
-	CLASS_POINT &vPointA,
-	CLASS_POINT &vPointB)
-{
-	CLASS_POINT _AD, _BD, n;
-	vec4f _M;  //plane
-	VEC_DIFF(_AD, vA2, vA1);
-	VEC_DIFF(_BD, vB2, vB1);
-	VEC_CROSS(n, _AD, _BD);
-	GREAL _tp = VEC_DOT(n, n);
-	if (_tp < G_EPSILON)  //ARE PARALELE
-	{
-		//project B over A
-		bool invert_b_order = false;
-		_M[0] = VEC_DOT(vB1, _AD);
-		_M[1] = VEC_DOT(vB2, _AD);
-		if (_M[0] > _M[1])
-		{
-			invert_b_order = true;
-			GIM_SWAP_NUMBERS(_M[0], _M[1]);
-		}
-		_M[2] = VEC_DOT(vA1, _AD);
-		_M[3] = VEC_DOT(vA2, _AD);
-		//mid points
-		n[0] = (_M[0] + _M[1]) * 0.5f;
-		n[1] = (_M[2] + _M[3]) * 0.5f;
-
-		if (n[0] < n[1])
-		{
-			if (_M[1] < _M[2])
-			{
-				vPointB = invert_b_order ? vB1 : vB2;
-				vPointA = vA1;
-			}
-			else if (_M[1] < _M[3])
-			{
-				vPointB = invert_b_order ? vB1 : vB2;
-				CLOSEST_POINT_ON_SEGMENT(vPointA, vPointB, vA1, vA2);
-			}
-			else
-			{
-				vPointA = vA2;
-				CLOSEST_POINT_ON_SEGMENT(vPointB, vPointA, vB1, vB2);
-			}
-		}
-		else
-		{
-			if (_M[3] < _M[0])
-			{
-				vPointB = invert_b_order ? vB2 : vB1;
-				vPointA = vA2;
-			}
-			else if (_M[3] < _M[1])
-			{
-				vPointA = vA2;
-				CLOSEST_POINT_ON_SEGMENT(vPointB, vPointA, vB1, vB2);
-			}
-			else
-			{
-				vPointB = invert_b_order ? vB1 : vB2;
-				CLOSEST_POINT_ON_SEGMENT(vPointA, vPointB, vA1, vA2);
-			}
-		}
-		return;
-	}
-
-	VEC_CROSS(_M, n, _BD);
-	_M[3] = VEC_DOT(_M, vB1);
-
-	LINE_PLANE_COLLISION(_M, _AD, vA1, vPointA, _tp, btScalar(0), btScalar(1));
-	/*Closest point on segment*/
-	VEC_DIFF(vPointB, vPointA, vB1);
-	_tp = VEC_DOT(vPointB, _BD);
-	_tp /= VEC_DOT(_BD, _BD);
-	_tp = GIM_CLAMP(_tp, 0.0f, 1.0f);
-	VEC_SCALE(vPointB, _tp, _BD);
-	VEC_SUM(vPointB, vPointB, vB1);
-}
-
-//! Line box intersection in one dimension
-/*!
-
-*\param pos Position of the ray
-*\param dir Projection of the Direction of the ray
-*\param bmin Minimum bound of the box
-*\param bmax Maximum bound of the box
-*\param tfirst the minimum projection. Assign to 0 at first.
-*\param tlast the maximum projection. Assign to INFINITY at first.
-*\return true if there is an intersection.
-*/
-template <typename T>
-SIMD_FORCE_INLINE bool BOX_AXIS_INTERSECT(T pos, T dir, T bmin, T bmax, T &tfirst, T &tlast)
-{
-	if (GIM_IS_ZERO(dir))
-	{
-		return !(pos < bmin || pos > bmax);
-	}
-	GREAL a0 = (bmin - pos) / dir;
-	GREAL a1 = (bmax - pos) / dir;
-	if (a0 > a1) GIM_SWAP_NUMBERS(a0, a1);
-	tfirst = GIM_MAX(a0, tfirst);
-	tlast = GIM_MIN(a1, tlast);
-	if (tlast < tfirst) return false;
-	return true;
-}
-
-//! Sorts 3 componets
-template <typename T>
-SIMD_FORCE_INLINE void SORT_3_INDICES(
-	const T *values,
-	GUINT *order_indices)
-{
-	//get minimum
-	order_indices[0] = values[0] < values[1] ? (values[0] < values[2] ? 0 : 2) : (values[1] < values[2] ? 1 : 2);
-
-	//get second and third
-	GUINT i0 = (order_indices[0] + 1) % 3;
-	GUINT i1 = (i0 + 1) % 3;
-
-	if (values[i0] < values[i1])
-	{
-		order_indices[1] = i0;
-		order_indices[2] = i1;
-	}
-	else
-	{
-		order_indices[1] = i1;
-		order_indices[2] = i0;
-	}
-}
-
-#endif  // GIM_VECTOR_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_bitset.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_bitset.h
deleted file mode 100644
index c1fb41a5c0..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_bitset.h
+++ /dev/null
@@ -1,117 +0,0 @@
-#ifndef GIM_BITSET_H_INCLUDED
-#define GIM_BITSET_H_INCLUDED
-/*! \file gim_bitset.h
-\author Francisco Leon Najera
-*/
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-
-#include "gim_array.h"
-
-#define GUINT_BIT_COUNT 32
-#define GUINT_EXPONENT 5
-
-class gim_bitset
-{
-public:
-	gim_array<GUINT> m_container;
-
-	gim_bitset()
-	{
-	}
-
-	gim_bitset(GUINT bits_count)
-	{
-		resize(bits_count);
-	}
-
-	~gim_bitset()
-	{
-	}
-
-	inline bool resize(GUINT newsize)
-	{
-		GUINT oldsize = m_container.size();
-		m_container.resize(newsize / GUINT_BIT_COUNT + 1, false);
-		while (oldsize < m_container.size())
-		{
-			m_container[oldsize] = 0;
-		}
-		return true;
-	}
-
-	inline GUINT size()
-	{
-		return m_container.size() * GUINT_BIT_COUNT;
-	}
-
-	inline void set_all()
-	{
-		for (GUINT i = 0; i < m_container.size(); ++i)
-		{
-			m_container[i] = 0xffffffff;
-		}
-	}
-
-	inline void clear_all()
-	{
-		for (GUINT i = 0; i < m_container.size(); ++i)
-		{
-			m_container[i] = 0;
-		}
-	}
-
-	inline void set(GUINT bit_index)
-	{
-		if (bit_index >= size())
-		{
-			resize(bit_index);
-		}
-		m_container[bit_index >> GUINT_EXPONENT] |= (1 << (bit_index & (GUINT_BIT_COUNT - 1)));
-	}
-
-	///Return 0 or 1
-	inline char get(GUINT bit_index)
-	{
-		if (bit_index >= size())
-		{
-			return 0;
-		}
-		char value = m_container[bit_index >> GUINT_EXPONENT] &
-					 (1 << (bit_index & (GUINT_BIT_COUNT - 1)));
-		return value;
-	}
-
-	inline void clear(GUINT bit_index)
-	{
-		m_container[bit_index >> GUINT_EXPONENT] &= ~(1 << (bit_index & (GUINT_BIT_COUNT - 1)));
-	}
-};
-
-#endif  // GIM_CONTAINERS_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_box_collision.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_box_collision.h
deleted file mode 100644
index 9f7cbe732f..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_box_collision.h
+++ /dev/null
@@ -1,578 +0,0 @@
-#ifndef GIM_BOX_COLLISION_H_INCLUDED
-#define GIM_BOX_COLLISION_H_INCLUDED
-
-/*! \file gim_box_collision.h
-\author Francisco Leon Najera
-*/
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-#include "gim_basic_geometry_operations.h"
-#include "LinearMath/btTransform.h"
-
-//SIMD_FORCE_INLINE bool test_cross_edge_box(
-//	const btVector3 & edge,
-//	const btVector3 & absolute_edge,
-//	const btVector3 & pointa,
-//	const btVector3 & pointb, const btVector3 & extend,
-//	int dir_index0,
-//	int dir_index1
-//	int component_index0,
-//	int component_index1)
-//{
-//	// dir coords are -z and y
-//
-//	const btScalar dir0 = -edge[dir_index0];
-//	const btScalar dir1 = edge[dir_index1];
-//	btScalar pmin = pointa[component_index0]*dir0 + pointa[component_index1]*dir1;
-//	btScalar pmax = pointb[component_index0]*dir0 + pointb[component_index1]*dir1;
-//	//find minmax
-//	if(pmin>pmax)
-//	{
-//		GIM_SWAP_NUMBERS(pmin,pmax);
-//	}
-//	//find extends
-//	const btScalar rad = extend[component_index0] * absolute_edge[dir_index0] +
-//					extend[component_index1] * absolute_edge[dir_index1];
-//
-//	if(pmin>rad || -rad>pmax) return false;
-//	return true;
-//}
-//
-//SIMD_FORCE_INLINE bool test_cross_edge_box_X_axis(
-//	const btVector3 & edge,
-//	const btVector3 & absolute_edge,
-//	const btVector3 & pointa,
-//	const btVector3 & pointb, btVector3 & extend)
-//{
-//
-//	return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,2,1,1,2);
-//}
-//
-//
-//SIMD_FORCE_INLINE bool test_cross_edge_box_Y_axis(
-//	const btVector3 & edge,
-//	const btVector3 & absolute_edge,
-//	const btVector3 & pointa,
-//	const btVector3 & pointb, btVector3 & extend)
-//{
-//
-//	return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,0,2,2,0);
-//}
-//
-//SIMD_FORCE_INLINE bool test_cross_edge_box_Z_axis(
-//	const btVector3 & edge,
-//	const btVector3 & absolute_edge,
-//	const btVector3 & pointa,
-//	const btVector3 & pointb, btVector3 & extend)
-//{
-//
-//	return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,1,0,0,1);
-//}
-
-#ifndef TEST_CROSS_EDGE_BOX_MCR
-
-#define TEST_CROSS_EDGE_BOX_MCR(edge, absolute_edge, pointa, pointb, _extend, i_dir_0, i_dir_1, i_comp_0, i_comp_1) \
-	{                                                                                                               \
-		const btScalar dir0 = -edge[i_dir_0];                                                                       \
-		const btScalar dir1 = edge[i_dir_1];                                                                        \
-		btScalar pmin = pointa[i_comp_0] * dir0 + pointa[i_comp_1] * dir1;                                          \
-		btScalar pmax = pointb[i_comp_0] * dir0 + pointb[i_comp_1] * dir1;                                          \
-		if (pmin > pmax)                                                                                            \
-		{                                                                                                           \
-			GIM_SWAP_NUMBERS(pmin, pmax);                                                                           \
-		}                                                                                                           \
-		const btScalar abs_dir0 = absolute_edge[i_dir_0];                                                           \
-		const btScalar abs_dir1 = absolute_edge[i_dir_1];                                                           \
-		const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;                           \
-		if (pmin > rad || -rad > pmax) return false;                                                                \
-	}
-
-#endif
-
-#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend)       \
-	{                                                                                      \
-		TEST_CROSS_EDGE_BOX_MCR(edge, absolute_edge, pointa, pointb, _extend, 2, 1, 1, 2); \
-	}
-
-#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend)       \
-	{                                                                                      \
-		TEST_CROSS_EDGE_BOX_MCR(edge, absolute_edge, pointa, pointb, _extend, 0, 2, 2, 0); \
-	}
-
-#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend)       \
-	{                                                                                      \
-		TEST_CROSS_EDGE_BOX_MCR(edge, absolute_edge, pointa, pointb, _extend, 1, 0, 0, 1); \
-	}
-
-//!  Class for transforming a model1 to the space of model0
-class GIM_BOX_BOX_TRANSFORM_CACHE
-{
-public:
-	btVector3 m_T1to0;    //!< Transforms translation of model1 to model 0
-	btMatrix3x3 m_R1to0;  //!< Transforms Rotation of model1 to model 0, equal  to R0' * R1
-	btMatrix3x3 m_AR;     //!< Absolute value of m_R1to0
-
-	SIMD_FORCE_INLINE void calc_absolute_matrix()
-	{
-		static const btVector3 vepsi(1e-6f, 1e-6f, 1e-6f);
-		m_AR[0] = vepsi + m_R1to0[0].absolute();
-		m_AR[1] = vepsi + m_R1to0[1].absolute();
-		m_AR[2] = vepsi + m_R1to0[2].absolute();
-	}
-
-	GIM_BOX_BOX_TRANSFORM_CACHE()
-	{
-	}
-
-	GIM_BOX_BOX_TRANSFORM_CACHE(mat4f trans1_to_0)
-	{
-		COPY_MATRIX_3X3(m_R1to0, trans1_to_0)
-		MAT_GET_TRANSLATION(trans1_to_0, m_T1to0)
-		calc_absolute_matrix();
-	}
-
-	//! Calc the transformation relative  1 to 0. Inverts matrics by transposing
-	SIMD_FORCE_INLINE void calc_from_homogenic(const btTransform &trans0, const btTransform &trans1)
-	{
-		m_R1to0 = trans0.getBasis().transpose();
-		m_T1to0 = m_R1to0 * (-trans0.getOrigin());
-
-		m_T1to0 += m_R1to0 * trans1.getOrigin();
-		m_R1to0 *= trans1.getBasis();
-
-		calc_absolute_matrix();
-	}
-
-	//! Calcs the full invertion of the matrices. Useful for scaling matrices
-	SIMD_FORCE_INLINE void calc_from_full_invert(const btTransform &trans0, const btTransform &trans1)
-	{
-		m_R1to0 = trans0.getBasis().inverse();
-		m_T1to0 = m_R1to0 * (-trans0.getOrigin());
-
-		m_T1to0 += m_R1to0 * trans1.getOrigin();
-		m_R1to0 *= trans1.getBasis();
-
-		calc_absolute_matrix();
-	}
-
-	SIMD_FORCE_INLINE btVector3 transform(const btVector3 &point)
-	{
-		return point.dot3(m_R1to0[0], m_R1to0[1], m_R1to0[2]) + m_T1to0;
-	}
-};
-
-#ifndef BOX_PLANE_EPSILON
-#define BOX_PLANE_EPSILON 0.000001f
-#endif
-
-//! Axis aligned box
-class GIM_AABB
-{
-public:
-	btVector3 m_min;
-	btVector3 m_max;
-
-	GIM_AABB()
-	{
-	}
-
-	GIM_AABB(const btVector3 &V1,
-			 const btVector3 &V2,
-			 const btVector3 &V3)
-	{
-		m_min[0] = GIM_MIN3(V1[0], V2[0], V3[0]);
-		m_min[1] = GIM_MIN3(V1[1], V2[1], V3[1]);
-		m_min[2] = GIM_MIN3(V1[2], V2[2], V3[2]);
-
-		m_max[0] = GIM_MAX3(V1[0], V2[0], V3[0]);
-		m_max[1] = GIM_MAX3(V1[1], V2[1], V3[1]);
-		m_max[2] = GIM_MAX3(V1[2], V2[2], V3[2]);
-	}
-
-	GIM_AABB(const btVector3 &V1,
-			 const btVector3 &V2,
-			 const btVector3 &V3,
-			 GREAL margin)
-	{
-		m_min[0] = GIM_MIN3(V1[0], V2[0], V3[0]);
-		m_min[1] = GIM_MIN3(V1[1], V2[1], V3[1]);
-		m_min[2] = GIM_MIN3(V1[2], V2[2], V3[2]);
-
-		m_max[0] = GIM_MAX3(V1[0], V2[0], V3[0]);
-		m_max[1] = GIM_MAX3(V1[1], V2[1], V3[1]);
-		m_max[2] = GIM_MAX3(V1[2], V2[2], V3[2]);
-
-		m_min[0] -= margin;
-		m_min[1] -= margin;
-		m_min[2] -= margin;
-		m_max[0] += margin;
-		m_max[1] += margin;
-		m_max[2] += margin;
-	}
-
-	GIM_AABB(const GIM_AABB &other) : m_min(other.m_min), m_max(other.m_max)
-	{
-	}
-
-	GIM_AABB(const GIM_AABB &other, btScalar margin) : m_min(other.m_min), m_max(other.m_max)
-	{
-		m_min[0] -= margin;
-		m_min[1] -= margin;
-		m_min[2] -= margin;
-		m_max[0] += margin;
-		m_max[1] += margin;
-		m_max[2] += margin;
-	}
-
-	SIMD_FORCE_INLINE void invalidate()
-	{
-		m_min[0] = G_REAL_INFINITY;
-		m_min[1] = G_REAL_INFINITY;
-		m_min[2] = G_REAL_INFINITY;
-		m_max[0] = -G_REAL_INFINITY;
-		m_max[1] = -G_REAL_INFINITY;
-		m_max[2] = -G_REAL_INFINITY;
-	}
-
-	SIMD_FORCE_INLINE void increment_margin(btScalar margin)
-	{
-		m_min[0] -= margin;
-		m_min[1] -= margin;
-		m_min[2] -= margin;
-		m_max[0] += margin;
-		m_max[1] += margin;
-		m_max[2] += margin;
-	}
-
-	SIMD_FORCE_INLINE void copy_with_margin(const GIM_AABB &other, btScalar margin)
-	{
-		m_min[0] = other.m_min[0] - margin;
-		m_min[1] = other.m_min[1] - margin;
-		m_min[2] = other.m_min[2] - margin;
-
-		m_max[0] = other.m_max[0] + margin;
-		m_max[1] = other.m_max[1] + margin;
-		m_max[2] = other.m_max[2] + margin;
-	}
-
-	template <typename CLASS_POINT>
-	SIMD_FORCE_INLINE void calc_from_triangle(
-		const CLASS_POINT &V1,
-		const CLASS_POINT &V2,
-		const CLASS_POINT &V3)
-	{
-		m_min[0] = GIM_MIN3(V1[0], V2[0], V3[0]);
-		m_min[1] = GIM_MIN3(V1[1], V2[1], V3[1]);
-		m_min[2] = GIM_MIN3(V1[2], V2[2], V3[2]);
-
-		m_max[0] = GIM_MAX3(V1[0], V2[0], V3[0]);
-		m_max[1] = GIM_MAX3(V1[1], V2[1], V3[1]);
-		m_max[2] = GIM_MAX3(V1[2], V2[2], V3[2]);
-	}
-
-	template <typename CLASS_POINT>
-	SIMD_FORCE_INLINE void calc_from_triangle_margin(
-		const CLASS_POINT &V1,
-		const CLASS_POINT &V2,
-		const CLASS_POINT &V3, btScalar margin)
-	{
-		m_min[0] = GIM_MIN3(V1[0], V2[0], V3[0]);
-		m_min[1] = GIM_MIN3(V1[1], V2[1], V3[1]);
-		m_min[2] = GIM_MIN3(V1[2], V2[2], V3[2]);
-
-		m_max[0] = GIM_MAX3(V1[0], V2[0], V3[0]);
-		m_max[1] = GIM_MAX3(V1[1], V2[1], V3[1]);
-		m_max[2] = GIM_MAX3(V1[2], V2[2], V3[2]);
-
-		m_min[0] -= margin;
-		m_min[1] -= margin;
-		m_min[2] -= margin;
-		m_max[0] += margin;
-		m_max[1] += margin;
-		m_max[2] += margin;
-	}
-
-	//! Apply a transform to an AABB
-	SIMD_FORCE_INLINE void appy_transform(const btTransform &trans)
-	{
-		btVector3 center = (m_max + m_min) * 0.5f;
-		btVector3 extends = m_max - center;
-		// Compute new center
-		center = trans(center);
-
-		btVector3 textends = extends.dot3(trans.getBasis().getRow(0).absolute(),
-										  trans.getBasis().getRow(1).absolute(),
-										  trans.getBasis().getRow(2).absolute());
-
-		m_min = center - textends;
-		m_max = center + textends;
-	}
-
-	//! Merges a Box
-	SIMD_FORCE_INLINE void merge(const GIM_AABB &box)
-	{
-		m_min[0] = GIM_MIN(m_min[0], box.m_min[0]);
-		m_min[1] = GIM_MIN(m_min[1], box.m_min[1]);
-		m_min[2] = GIM_MIN(m_min[2], box.m_min[2]);
-
-		m_max[0] = GIM_MAX(m_max[0], box.m_max[0]);
-		m_max[1] = GIM_MAX(m_max[1], box.m_max[1]);
-		m_max[2] = GIM_MAX(m_max[2], box.m_max[2]);
-	}
-
-	//! Merges a point
-	template <typename CLASS_POINT>
-	SIMD_FORCE_INLINE void merge_point(const CLASS_POINT &point)
-	{
-		m_min[0] = GIM_MIN(m_min[0], point[0]);
-		m_min[1] = GIM_MIN(m_min[1], point[1]);
-		m_min[2] = GIM_MIN(m_min[2], point[2]);
-
-		m_max[0] = GIM_MAX(m_max[0], point[0]);
-		m_max[1] = GIM_MAX(m_max[1], point[1]);
-		m_max[2] = GIM_MAX(m_max[2], point[2]);
-	}
-
-	//! Gets the extend and center
-	SIMD_FORCE_INLINE void get_center_extend(btVector3 &center, btVector3 &extend) const
-	{
-		center = (m_max + m_min) * 0.5f;
-		extend = m_max - center;
-	}
-
-	//! Finds the intersecting box between this box and the other.
-	SIMD_FORCE_INLINE void find_intersection(const GIM_AABB &other, GIM_AABB &intersection) const
-	{
-		intersection.m_min[0] = GIM_MAX(other.m_min[0], m_min[0]);
-		intersection.m_min[1] = GIM_MAX(other.m_min[1], m_min[1]);
-		intersection.m_min[2] = GIM_MAX(other.m_min[2], m_min[2]);
-
-		intersection.m_max[0] = GIM_MIN(other.m_max[0], m_max[0]);
-		intersection.m_max[1] = GIM_MIN(other.m_max[1], m_max[1]);
-		intersection.m_max[2] = GIM_MIN(other.m_max[2], m_max[2]);
-	}
-
-	SIMD_FORCE_INLINE bool has_collision(const GIM_AABB &other) const
-	{
-		if (m_min[0] > other.m_max[0] ||
-			m_max[0] < other.m_min[0] ||
-			m_min[1] > other.m_max[1] ||
-			m_max[1] < other.m_min[1] ||
-			m_min[2] > other.m_max[2] ||
-			m_max[2] < other.m_min[2])
-		{
-			return false;
-		}
-		return true;
-	}
-
-	/*! \brief Finds the Ray intersection parameter.
-	\param aabb Aligned box
-	\param vorigin A vec3f with the origin of the ray
-	\param vdir A vec3f with the direction of the ray
-	*/
-	SIMD_FORCE_INLINE bool collide_ray(const btVector3 &vorigin, const btVector3 &vdir)
-	{
-		btVector3 extents, center;
-		this->get_center_extend(center, extents);
-		;
-
-		btScalar Dx = vorigin[0] - center[0];
-		if (GIM_GREATER(Dx, extents[0]) && Dx * vdir[0] >= 0.0f) return false;
-		btScalar Dy = vorigin[1] - center[1];
-		if (GIM_GREATER(Dy, extents[1]) && Dy * vdir[1] >= 0.0f) return false;
-		btScalar Dz = vorigin[2] - center[2];
-		if (GIM_GREATER(Dz, extents[2]) && Dz * vdir[2] >= 0.0f) return false;
-
-		btScalar f = vdir[1] * Dz - vdir[2] * Dy;
-		if (btFabs(f) > extents[1] * btFabs(vdir[2]) + extents[2] * btFabs(vdir[1])) return false;
-		f = vdir[2] * Dx - vdir[0] * Dz;
-		if (btFabs(f) > extents[0] * btFabs(vdir[2]) + extents[2] * btFabs(vdir[0])) return false;
-		f = vdir[0] * Dy - vdir[1] * Dx;
-		if (btFabs(f) > extents[0] * btFabs(vdir[1]) + extents[1] * btFabs(vdir[0])) return false;
-		return true;
-	}
-
-	SIMD_FORCE_INLINE void projection_interval(const btVector3 &direction, btScalar &vmin, btScalar &vmax) const
-	{
-		btVector3 center = (m_max + m_min) * 0.5f;
-		btVector3 extend = m_max - center;
-
-		btScalar _fOrigin = direction.dot(center);
-		btScalar _fMaximumExtent = extend.dot(direction.absolute());
-		vmin = _fOrigin - _fMaximumExtent;
-		vmax = _fOrigin + _fMaximumExtent;
-	}
-
-	SIMD_FORCE_INLINE ePLANE_INTERSECTION_TYPE plane_classify(const btVector4 &plane) const
-	{
-		btScalar _fmin, _fmax;
-		this->projection_interval(plane, _fmin, _fmax);
-
-		if (plane[3] > _fmax + BOX_PLANE_EPSILON)
-		{
-			return G_BACK_PLANE;  // 0
-		}
-
-		if (plane[3] + BOX_PLANE_EPSILON >= _fmin)
-		{
-			return G_COLLIDE_PLANE;  //1
-		}
-		return G_FRONT_PLANE;  //2
-	}
-
-	SIMD_FORCE_INLINE bool overlapping_trans_conservative(const GIM_AABB &box, btTransform &trans1_to_0)
-	{
-		GIM_AABB tbox = box;
-		tbox.appy_transform(trans1_to_0);
-		return has_collision(tbox);
-	}
-
-	//! transcache is the transformation cache from box to this AABB
-	SIMD_FORCE_INLINE bool overlapping_trans_cache(
-		const GIM_AABB &box, const GIM_BOX_BOX_TRANSFORM_CACHE &transcache, bool fulltest)
-	{
-		//Taken from OPCODE
-		btVector3 ea, eb;  //extends
-		btVector3 ca, cb;  //extends
-		get_center_extend(ca, ea);
-		box.get_center_extend(cb, eb);
-
-		btVector3 T;
-		btScalar t, t2;
-		int i;
-
-		// Class I : A's basis vectors
-		for (i = 0; i < 3; i++)
-		{
-			T[i] = transcache.m_R1to0[i].dot(cb) + transcache.m_T1to0[i] - ca[i];
-			t = transcache.m_AR[i].dot(eb) + ea[i];
-			if (GIM_GREATER(T[i], t)) return false;
-		}
-		// Class II : B's basis vectors
-		for (i = 0; i < 3; i++)
-		{
-			t = MAT_DOT_COL(transcache.m_R1to0, T, i);
-			t2 = MAT_DOT_COL(transcache.m_AR, ea, i) + eb[i];
-			if (GIM_GREATER(t, t2)) return false;
-		}
-		// Class III : 9 cross products
-		if (fulltest)
-		{
-			int j, m, n, o, p, q, r;
-			for (i = 0; i < 3; i++)
-			{
-				m = (i + 1) % 3;
-				n = (i + 2) % 3;
-				o = i == 0 ? 1 : 0;
-				p = i == 2 ? 1 : 2;
-				for (j = 0; j < 3; j++)
-				{
-					q = j == 2 ? 1 : 2;
-					r = j == 0 ? 1 : 0;
-					t = T[n] * transcache.m_R1to0[m][j] - T[m] * transcache.m_R1to0[n][j];
-					t2 = ea[o] * transcache.m_AR[p][j] + ea[p] * transcache.m_AR[o][j] +
-						 eb[r] * transcache.m_AR[i][q] + eb[q] * transcache.m_AR[i][r];
-					if (GIM_GREATER(t, t2)) return false;
-				}
-			}
-		}
-		return true;
-	}
-
-	//! Simple test for planes.
-	SIMD_FORCE_INLINE bool collide_plane(
-		const btVector4 &plane)
-	{
-		ePLANE_INTERSECTION_TYPE classify = plane_classify(plane);
-		return (classify == G_COLLIDE_PLANE);
-	}
-
-	//! test for a triangle, with edges
-	SIMD_FORCE_INLINE bool collide_triangle_exact(
-		const btVector3 &p1,
-		const btVector3 &p2,
-		const btVector3 &p3,
-		const btVector4 &triangle_plane)
-	{
-		if (!collide_plane(triangle_plane)) return false;
-
-		btVector3 center, extends;
-		this->get_center_extend(center, extends);
-
-		const btVector3 v1(p1 - center);
-		const btVector3 v2(p2 - center);
-		const btVector3 v3(p3 - center);
-
-		//First axis
-		btVector3 diff(v2 - v1);
-		btVector3 abs_diff = diff.absolute();
-		//Test With X axis
-		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff, abs_diff, v1, v3, extends);
-		//Test With Y axis
-		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff, abs_diff, v1, v3, extends);
-		//Test With Z axis
-		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff, abs_diff, v1, v3, extends);
-
-		diff = v3 - v2;
-		abs_diff = diff.absolute();
-		//Test With X axis
-		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff, abs_diff, v2, v1, extends);
-		//Test With Y axis
-		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff, abs_diff, v2, v1, extends);
-		//Test With Z axis
-		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff, abs_diff, v2, v1, extends);
-
-		diff = v1 - v3;
-		abs_diff = diff.absolute();
-		//Test With X axis
-		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff, abs_diff, v3, v2, extends);
-		//Test With Y axis
-		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff, abs_diff, v3, v2, extends);
-		//Test With Z axis
-		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff, abs_diff, v3, v2, extends);
-
-		return true;
-	}
-};
-
-#ifndef BT_BOX_COLLISION_H_INCLUDED
-//! Compairison of transformation objects
-SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform &t1, const btTransform &t2)
-{
-	if (!(t1.getOrigin() == t2.getOrigin())) return false;
-
-	if (!(t1.getBasis().getRow(0) == t2.getBasis().getRow(0))) return false;
-	if (!(t1.getBasis().getRow(1) == t2.getBasis().getRow(1))) return false;
-	if (!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2))) return false;
-	return true;
-}
-#endif
-
-#endif  // GIM_BOX_COLLISION_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_box_set.cpp b/thirdparty/bullet/BulletCollision/Gimpact/gim_box_set.cpp
deleted file mode 100644
index 0c7a6b7fc1..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_box_set.cpp
+++ /dev/null
@@ -1,176 +0,0 @@
-
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-
-#include "gim_box_set.h"
-
-GUINT GIM_BOX_TREE::_calc_splitting_axis(
-	gim_array<GIM_AABB_DATA>& primitive_boxes, GUINT startIndex, GUINT endIndex)
-{
-	GUINT i;
-
-	btVector3 means(btScalar(0.), btScalar(0.), btScalar(0.));
-	btVector3 variance(btScalar(0.), btScalar(0.), btScalar(0.));
-	GUINT numIndices = endIndex - startIndex;
-
-	for (i = startIndex; i < endIndex; i++)
-	{
-		btVector3 center = btScalar(0.5) * (primitive_boxes[i].m_bound.m_max +
-											primitive_boxes[i].m_bound.m_min);
-		means += center;
-	}
-	means *= (btScalar(1.) / (btScalar)numIndices);
-
-	for (i = startIndex; i < endIndex; i++)
-	{
-		btVector3 center = btScalar(0.5) * (primitive_boxes[i].m_bound.m_max +
-											primitive_boxes[i].m_bound.m_min);
-		btVector3 diff2 = center - means;
-		diff2 = diff2 * diff2;
-		variance += diff2;
-	}
-	variance *= (btScalar(1.) / ((btScalar)numIndices - 1));
-
-	return variance.maxAxis();
-}
-
-GUINT GIM_BOX_TREE::_sort_and_calc_splitting_index(
-	gim_array<GIM_AABB_DATA>& primitive_boxes, GUINT startIndex,
-	GUINT endIndex, GUINT splitAxis)
-{
-	GUINT i;
-	GUINT splitIndex = startIndex;
-	GUINT numIndices = endIndex - startIndex;
-
-	// average of centers
-	btScalar splitValue = 0.0f;
-	for (i = startIndex; i < endIndex; i++)
-	{
-		splitValue += 0.5f * (primitive_boxes[i].m_bound.m_max[splitAxis] +
-							  primitive_boxes[i].m_bound.m_min[splitAxis]);
-	}
-	splitValue /= (btScalar)numIndices;
-
-	//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
-	for (i = startIndex; i < endIndex; i++)
-	{
-		btScalar center = 0.5f * (primitive_boxes[i].m_bound.m_max[splitAxis] +
-								  primitive_boxes[i].m_bound.m_min[splitAxis]);
-		if (center > splitValue)
-		{
-			//swap
-			primitive_boxes.swap(i, splitIndex);
-			splitIndex++;
-		}
-	}
-
-	//if the splitIndex causes unbalanced trees, fix this by using the center in between startIndex and endIndex
-	//otherwise the tree-building might fail due to stack-overflows in certain cases.
-	//unbalanced1 is unsafe: it can cause stack overflows
-	//bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1)));
-
-	//unbalanced2 should work too: always use center (perfect balanced trees)
-	//bool unbalanced2 = true;
-
-	//this should be safe too:
-	GUINT rangeBalancedIndices = numIndices / 3;
-	bool unbalanced = ((splitIndex <= (startIndex + rangeBalancedIndices)) || (splitIndex >= (endIndex - 1 - rangeBalancedIndices)));
-
-	if (unbalanced)
-	{
-		splitIndex = startIndex + (numIndices >> 1);
-	}
-
-	btAssert(!((splitIndex == startIndex) || (splitIndex == (endIndex))));
-
-	return splitIndex;
-}
-
-void GIM_BOX_TREE::_build_sub_tree(gim_array<GIM_AABB_DATA>& primitive_boxes, GUINT startIndex, GUINT endIndex)
-{
-	GUINT current_index = m_num_nodes++;
-
-	btAssert((endIndex - startIndex) > 0);
-
-	if ((endIndex - startIndex) == 1)  //we got a leaf
-	{
-		m_node_array[current_index].m_left = 0;
-		m_node_array[current_index].m_right = 0;
-		m_node_array[current_index].m_escapeIndex = 0;
-
-		m_node_array[current_index].m_bound = primitive_boxes[startIndex].m_bound;
-		m_node_array[current_index].m_data = primitive_boxes[startIndex].m_data;
-		return;
-	}
-
-	//configure inner node
-
-	GUINT splitIndex;
-
-	//calc this node bounding box
-	m_node_array[current_index].m_bound.invalidate();
-	for (splitIndex = startIndex; splitIndex < endIndex; splitIndex++)
-	{
-		m_node_array[current_index].m_bound.merge(primitive_boxes[splitIndex].m_bound);
-	}
-
-	//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
-
-	//split axis
-	splitIndex = _calc_splitting_axis(primitive_boxes, startIndex, endIndex);
-
-	splitIndex = _sort_and_calc_splitting_index(
-		primitive_boxes, startIndex, endIndex, splitIndex);
-
-	//configure this inner node : the left node index
-	m_node_array[current_index].m_left = m_num_nodes;
-	//build left child tree
-	_build_sub_tree(primitive_boxes, startIndex, splitIndex);
-
-	//configure this inner node : the right node index
-	m_node_array[current_index].m_right = m_num_nodes;
-
-	//build right child tree
-	_build_sub_tree(primitive_boxes, splitIndex, endIndex);
-
-	//configure this inner node : the escape index
-	m_node_array[current_index].m_escapeIndex = m_num_nodes - current_index;
-}
-
-//! stackless build tree
-void GIM_BOX_TREE::build_tree(
-	gim_array<GIM_AABB_DATA>& primitive_boxes)
-{
-	// initialize node count to 0
-	m_num_nodes = 0;
-	// allocate nodes
-	m_node_array.resize(primitive_boxes.size() * 2);
-
-	_build_sub_tree(primitive_boxes, 0, primitive_boxes.size());
-}
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_box_set.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_box_set.h
deleted file mode 100644
index afc591dac0..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_box_set.h
+++ /dev/null
@@ -1,640 +0,0 @@
-#ifndef GIM_BOX_SET_H_INCLUDED
-#define GIM_BOX_SET_H_INCLUDED
-
-/*! \file gim_box_set.h
-\author Francisco Leon Najera
-*/
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-
-#include "gim_array.h"
-#include "gim_radixsort.h"
-#include "gim_box_collision.h"
-#include "gim_tri_collision.h"
-#include "gim_pair.h"
-
-//! A pairset array
-class gim_pair_set : public gim_array<GIM_PAIR>
-{
-public:
-	gim_pair_set() : gim_array<GIM_PAIR>(32)
-	{
-	}
-	inline void push_pair(GUINT index1, GUINT index2)
-	{
-		push_back(GIM_PAIR(index1, index2));
-	}
-
-	inline void push_pair_inv(GUINT index1, GUINT index2)
-	{
-		push_back(GIM_PAIR(index2, index1));
-	}
-};
-
-//! Prototype Base class for primitive classification
-/*!
-This class is a wrapper for primitive collections.
-This tells relevant info for the Bounding Box set classes, which take care of space classification.
-This class can manage Compound shapes and trimeshes, and if it is managing trimesh then the  Hierarchy Bounding Box classes will take advantage of primitive Vs Box overlapping tests for getting optimal results and less Per Box compairisons.
-*/
-class GIM_PRIMITIVE_MANAGER_PROTOTYPE
-{
-public:
-	virtual ~GIM_PRIMITIVE_MANAGER_PROTOTYPE() {}
-	//! determines if this manager consist on only triangles, which special case will be optimized
-	virtual bool is_trimesh() = 0;
-	virtual GUINT get_primitive_count() = 0;
-	virtual void get_primitive_box(GUINT prim_index, GIM_AABB& primbox) = 0;
-	virtual void get_primitive_triangle(GUINT prim_index, GIM_TRIANGLE& triangle) = 0;
-};
-
-struct GIM_AABB_DATA
-{
-	GIM_AABB m_bound;
-	GUINT m_data;
-};
-
-//! Node Structure for trees
-struct GIM_BOX_TREE_NODE
-{
-	GIM_AABB m_bound;
-	GUINT m_left;         //!< Left subtree
-	GUINT m_right;        //!< Right subtree
-	GUINT m_escapeIndex;  //!< Scape index for traversing
-	GUINT m_data;         //!< primitive index if apply
-
-	GIM_BOX_TREE_NODE()
-	{
-		m_left = 0;
-		m_right = 0;
-		m_escapeIndex = 0;
-		m_data = 0;
-	}
-
-	SIMD_FORCE_INLINE bool is_leaf_node() const
-	{
-		return (!m_left && !m_right);
-	}
-};
-
-//! Basic Box tree structure
-class GIM_BOX_TREE
-{
-protected:
-	GUINT m_num_nodes;
-	gim_array<GIM_BOX_TREE_NODE> m_node_array;
-
-protected:
-	GUINT _sort_and_calc_splitting_index(
-		gim_array<GIM_AABB_DATA>& primitive_boxes,
-		GUINT startIndex, GUINT endIndex, GUINT splitAxis);
-
-	GUINT _calc_splitting_axis(gim_array<GIM_AABB_DATA>& primitive_boxes, GUINT startIndex, GUINT endIndex);
-
-	void _build_sub_tree(gim_array<GIM_AABB_DATA>& primitive_boxes, GUINT startIndex, GUINT endIndex);
-
-public:
-	GIM_BOX_TREE()
-	{
-		m_num_nodes = 0;
-	}
-
-	//! prototype functions for box tree management
-	//!@{
-	void build_tree(gim_array<GIM_AABB_DATA>& primitive_boxes);
-
-	SIMD_FORCE_INLINE void clearNodes()
-	{
-		m_node_array.clear();
-		m_num_nodes = 0;
-	}
-
-	//! node count
-	SIMD_FORCE_INLINE GUINT getNodeCount() const
-	{
-		return m_num_nodes;
-	}
-
-	//! tells if the node is a leaf
-	SIMD_FORCE_INLINE bool isLeafNode(GUINT nodeindex) const
-	{
-		return m_node_array[nodeindex].is_leaf_node();
-	}
-
-	SIMD_FORCE_INLINE GUINT getNodeData(GUINT nodeindex) const
-	{
-		return m_node_array[nodeindex].m_data;
-	}
-
-	SIMD_FORCE_INLINE void getNodeBound(GUINT nodeindex, GIM_AABB& bound) const
-	{
-		bound = m_node_array[nodeindex].m_bound;
-	}
-
-	SIMD_FORCE_INLINE void setNodeBound(GUINT nodeindex, const GIM_AABB& bound)
-	{
-		m_node_array[nodeindex].m_bound = bound;
-	}
-
-	SIMD_FORCE_INLINE GUINT getLeftNodeIndex(GUINT nodeindex) const
-	{
-		return m_node_array[nodeindex].m_left;
-	}
-
-	SIMD_FORCE_INLINE GUINT getRightNodeIndex(GUINT nodeindex) const
-	{
-		return m_node_array[nodeindex].m_right;
-	}
-
-	SIMD_FORCE_INLINE GUINT getScapeNodeIndex(GUINT nodeindex) const
-	{
-		return m_node_array[nodeindex].m_escapeIndex;
-	}
-
-	//!@}
-};
-
-//! Generic Box Tree Template
-/*!
-This class offers an structure for managing a box tree of primitives.
-Requires a Primitive prototype (like GIM_PRIMITIVE_MANAGER_PROTOTYPE ) and
-a Box tree structure ( like GIM_BOX_TREE).
-*/
-template <typename _GIM_PRIMITIVE_MANAGER_PROTOTYPE, typename _GIM_BOX_TREE_PROTOTYPE>
-class GIM_BOX_TREE_TEMPLATE_SET
-{
-protected:
-	_GIM_PRIMITIVE_MANAGER_PROTOTYPE m_primitive_manager;
-	_GIM_BOX_TREE_PROTOTYPE m_box_tree;
-
-protected:
-	//stackless refit
-	SIMD_FORCE_INLINE void refit()
-	{
-		GUINT nodecount = getNodeCount();
-		while (nodecount--)
-		{
-			if (isLeafNode(nodecount))
-			{
-				GIM_AABB leafbox;
-				m_primitive_manager.get_primitive_box(getNodeData(nodecount), leafbox);
-				setNodeBound(nodecount, leafbox);
-			}
-			else
-			{
-				//get left bound
-				GUINT childindex = getLeftNodeIndex(nodecount);
-				GIM_AABB bound;
-				getNodeBound(childindex, bound);
-				//get right bound
-				childindex = getRightNodeIndex(nodecount);
-				GIM_AABB bound2;
-				getNodeBound(childindex, bound2);
-				bound.merge(bound2);
-
-				setNodeBound(nodecount, bound);
-			}
-		}
-	}
-
-public:
-	GIM_BOX_TREE_TEMPLATE_SET()
-	{
-	}
-
-	SIMD_FORCE_INLINE GIM_AABB getGlobalBox() const
-	{
-		GIM_AABB totalbox;
-		getNodeBound(0, totalbox);
-		return totalbox;
-	}
-
-	SIMD_FORCE_INLINE void setPrimitiveManager(const _GIM_PRIMITIVE_MANAGER_PROTOTYPE& primitive_manager)
-	{
-		m_primitive_manager = primitive_manager;
-	}
-
-	const _GIM_PRIMITIVE_MANAGER_PROTOTYPE& getPrimitiveManager() const
-	{
-		return m_primitive_manager;
-	}
-
-	_GIM_PRIMITIVE_MANAGER_PROTOTYPE& getPrimitiveManager()
-	{
-		return m_primitive_manager;
-	}
-
-	//! node manager prototype functions
-	///@{
-
-	//! this attemps to refit the box set.
-	SIMD_FORCE_INLINE void update()
-	{
-		refit();
-	}
-
-	//! this rebuild the entire set
-	SIMD_FORCE_INLINE void buildSet()
-	{
-		//obtain primitive boxes
-		gim_array<GIM_AABB_DATA> primitive_boxes;
-		primitive_boxes.resize(m_primitive_manager.get_primitive_count(), false);
-
-		for (GUINT i = 0; i < primitive_boxes.size(); i++)
-		{
-			m_primitive_manager.get_primitive_box(i, primitive_boxes[i].m_bound);
-			primitive_boxes[i].m_data = i;
-		}
-
-		m_box_tree.build_tree(primitive_boxes);
-	}
-
-	//! returns the indices of the primitives in the m_primitive_manager
-	SIMD_FORCE_INLINE bool boxQuery(const GIM_AABB& box, gim_array<GUINT>& collided_results) const
-	{
-		GUINT curIndex = 0;
-		GUINT numNodes = getNodeCount();
-
-		while (curIndex < numNodes)
-		{
-			GIM_AABB bound;
-			getNodeBound(curIndex, bound);
-
-			//catch bugs in tree data
-
-			bool aabbOverlap = bound.has_collision(box);
-			bool isleafnode = isLeafNode(curIndex);
-
-			if (isleafnode && aabbOverlap)
-			{
-				collided_results.push_back(getNodeData(curIndex));
-			}
-
-			if (aabbOverlap || isleafnode)
-			{
-				//next subnode
-				curIndex++;
-			}
-			else
-			{
-				//skip node
-				curIndex += getScapeNodeIndex(curIndex);
-			}
-		}
-		if (collided_results.size() > 0) return true;
-		return false;
-	}
-
-	//! returns the indices of the primitives in the m_primitive_manager
-	SIMD_FORCE_INLINE bool boxQueryTrans(const GIM_AABB& box,
-										 const btTransform& transform, gim_array<GUINT>& collided_results) const
-	{
-		GIM_AABB transbox = box;
-		transbox.appy_transform(transform);
-		return boxQuery(transbox, collided_results);
-	}
-
-	//! returns the indices of the primitives in the m_primitive_manager
-	SIMD_FORCE_INLINE bool rayQuery(
-		const btVector3& ray_dir, const btVector3& ray_origin,
-		gim_array<GUINT>& collided_results) const
-	{
-		GUINT curIndex = 0;
-		GUINT numNodes = getNodeCount();
-
-		while (curIndex < numNodes)
-		{
-			GIM_AABB bound;
-			getNodeBound(curIndex, bound);
-
-			//catch bugs in tree data
-
-			bool aabbOverlap = bound.collide_ray(ray_origin, ray_dir);
-			bool isleafnode = isLeafNode(curIndex);
-
-			if (isleafnode && aabbOverlap)
-			{
-				collided_results.push_back(getNodeData(curIndex));
-			}
-
-			if (aabbOverlap || isleafnode)
-			{
-				//next subnode
-				curIndex++;
-			}
-			else
-			{
-				//skip node
-				curIndex += getScapeNodeIndex(curIndex);
-			}
-		}
-		if (collided_results.size() > 0) return true;
-		return false;
-	}
-
-	//! tells if this set has hierarcht
-	SIMD_FORCE_INLINE bool hasHierarchy() const
-	{
-		return true;
-	}
-
-	//! tells if this set is a trimesh
-	SIMD_FORCE_INLINE bool isTrimesh() const
-	{
-		return m_primitive_manager.is_trimesh();
-	}
-
-	//! node count
-	SIMD_FORCE_INLINE GUINT getNodeCount() const
-	{
-		return m_box_tree.getNodeCount();
-	}
-
-	//! tells if the node is a leaf
-	SIMD_FORCE_INLINE bool isLeafNode(GUINT nodeindex) const
-	{
-		return m_box_tree.isLeafNode(nodeindex);
-	}
-
-	SIMD_FORCE_INLINE GUINT getNodeData(GUINT nodeindex) const
-	{
-		return m_box_tree.getNodeData(nodeindex);
-	}
-
-	SIMD_FORCE_INLINE void getNodeBound(GUINT nodeindex, GIM_AABB& bound) const
-	{
-		m_box_tree.getNodeBound(nodeindex, bound);
-	}
-
-	SIMD_FORCE_INLINE void setNodeBound(GUINT nodeindex, const GIM_AABB& bound)
-	{
-		m_box_tree.setNodeBound(nodeindex, bound);
-	}
-
-	SIMD_FORCE_INLINE GUINT getLeftNodeIndex(GUINT nodeindex) const
-	{
-		return m_box_tree.getLeftNodeIndex(nodeindex);
-	}
-
-	SIMD_FORCE_INLINE GUINT getRightNodeIndex(GUINT nodeindex) const
-	{
-		return m_box_tree.getRightNodeIndex(nodeindex);
-	}
-
-	SIMD_FORCE_INLINE GUINT getScapeNodeIndex(GUINT nodeindex) const
-	{
-		return m_box_tree.getScapeNodeIndex(nodeindex);
-	}
-
-	SIMD_FORCE_INLINE void getNodeTriangle(GUINT nodeindex, GIM_TRIANGLE& triangle) const
-	{
-		m_primitive_manager.get_primitive_triangle(getNodeData(nodeindex), triangle);
-	}
-};
-
-//! Class for Box Tree Sets
-/*!
-this has the GIM_BOX_TREE implementation for bounding boxes.
-*/
-template <typename _GIM_PRIMITIVE_MANAGER_PROTOTYPE>
-class GIM_BOX_TREE_SET : public GIM_BOX_TREE_TEMPLATE_SET<_GIM_PRIMITIVE_MANAGER_PROTOTYPE, GIM_BOX_TREE>
-{
-public:
-};
-
-/// GIM_BOX_SET collision methods
-template <typename BOX_SET_CLASS0, typename BOX_SET_CLASS1>
-class GIM_TREE_TREE_COLLIDER
-{
-public:
-	gim_pair_set* m_collision_pairs;
-	BOX_SET_CLASS0* m_boxset0;
-	BOX_SET_CLASS1* m_boxset1;
-	GUINT current_node0;
-	GUINT current_node1;
-	bool node0_is_leaf;
-	bool node1_is_leaf;
-	bool t0_is_trimesh;
-	bool t1_is_trimesh;
-	bool node0_has_triangle;
-	bool node1_has_triangle;
-	GIM_AABB m_box0;
-	GIM_AABB m_box1;
-	GIM_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0;
-	btTransform trans_cache_0to1;
-	GIM_TRIANGLE m_tri0;
-	btVector4 m_tri0_plane;
-	GIM_TRIANGLE m_tri1;
-	btVector4 m_tri1_plane;
-
-public:
-	GIM_TREE_TREE_COLLIDER()
-	{
-		current_node0 = G_UINT_INFINITY;
-		current_node1 = G_UINT_INFINITY;
-	}
-
-protected:
-	SIMD_FORCE_INLINE void retrieve_node0_triangle(GUINT node0)
-	{
-		if (node0_has_triangle) return;
-		m_boxset0->getNodeTriangle(node0, m_tri0);
-		//transform triangle
-		m_tri0.m_vertices[0] = trans_cache_0to1(m_tri0.m_vertices[0]);
-		m_tri0.m_vertices[1] = trans_cache_0to1(m_tri0.m_vertices[1]);
-		m_tri0.m_vertices[2] = trans_cache_0to1(m_tri0.m_vertices[2]);
-		m_tri0.get_plane(m_tri0_plane);
-
-		node0_has_triangle = true;
-	}
-
-	SIMD_FORCE_INLINE void retrieve_node1_triangle(GUINT node1)
-	{
-		if (node1_has_triangle) return;
-		m_boxset1->getNodeTriangle(node1, m_tri1);
-		//transform triangle
-		m_tri1.m_vertices[0] = trans_cache_1to0.transform(m_tri1.m_vertices[0]);
-		m_tri1.m_vertices[1] = trans_cache_1to0.transform(m_tri1.m_vertices[1]);
-		m_tri1.m_vertices[2] = trans_cache_1to0.transform(m_tri1.m_vertices[2]);
-		m_tri1.get_plane(m_tri1_plane);
-
-		node1_has_triangle = true;
-	}
-
-	SIMD_FORCE_INLINE void retrieve_node0_info(GUINT node0)
-	{
-		if (node0 == current_node0) return;
-		m_boxset0->getNodeBound(node0, m_box0);
-		node0_is_leaf = m_boxset0->isLeafNode(node0);
-		node0_has_triangle = false;
-		current_node0 = node0;
-	}
-
-	SIMD_FORCE_INLINE void retrieve_node1_info(GUINT node1)
-	{
-		if (node1 == current_node1) return;
-		m_boxset1->getNodeBound(node1, m_box1);
-		node1_is_leaf = m_boxset1->isLeafNode(node1);
-		node1_has_triangle = false;
-		current_node1 = node1;
-	}
-
-	SIMD_FORCE_INLINE bool node_collision(GUINT node0, GUINT node1)
-	{
-		retrieve_node0_info(node0);
-		retrieve_node1_info(node1);
-		bool result = m_box0.overlapping_trans_cache(m_box1, trans_cache_1to0, true);
-		if (!result) return false;
-
-		if (t0_is_trimesh && node0_is_leaf)
-		{
-			//perform primitive vs box collision
-			retrieve_node0_triangle(node0);
-			//do triangle vs box collision
-			m_box1.increment_margin(m_tri0.m_margin);
-
-			result = m_box1.collide_triangle_exact(
-				m_tri0.m_vertices[0], m_tri0.m_vertices[1], m_tri0.m_vertices[2], m_tri0_plane);
-
-			m_box1.increment_margin(-m_tri0.m_margin);
-
-			if (!result) return false;
-			return true;
-		}
-		else if (t1_is_trimesh && node1_is_leaf)
-		{
-			//perform primitive vs box collision
-			retrieve_node1_triangle(node1);
-			//do triangle vs box collision
-			m_box0.increment_margin(m_tri1.m_margin);
-
-			result = m_box0.collide_triangle_exact(
-				m_tri1.m_vertices[0], m_tri1.m_vertices[1], m_tri1.m_vertices[2], m_tri1_plane);
-
-			m_box0.increment_margin(-m_tri1.m_margin);
-
-			if (!result) return false;
-			return true;
-		}
-		return true;
-	}
-
-	//stackless collision routine
-	void find_collision_pairs()
-	{
-		gim_pair_set stack_collisions;
-		stack_collisions.reserve(32);
-
-		//add the first pair
-		stack_collisions.push_pair(0, 0);
-
-		while (stack_collisions.size())
-		{
-			//retrieve the last pair and pop
-			GUINT node0 = stack_collisions.back().m_index1;
-			GUINT node1 = stack_collisions.back().m_index2;
-			stack_collisions.pop_back();
-			if (node_collision(node0, node1))  // a collision is found
-			{
-				if (node0_is_leaf)
-				{
-					if (node1_is_leaf)
-					{
-						m_collision_pairs->push_pair(m_boxset0->getNodeData(node0), m_boxset1->getNodeData(node1));
-					}
-					else
-					{
-						//collide left
-						stack_collisions.push_pair(node0, m_boxset1->getLeftNodeIndex(node1));
-
-						//collide right
-						stack_collisions.push_pair(node0, m_boxset1->getRightNodeIndex(node1));
-					}
-				}
-				else
-				{
-					if (node1_is_leaf)
-					{
-						//collide left
-						stack_collisions.push_pair(m_boxset0->getLeftNodeIndex(node0), node1);
-						//collide right
-						stack_collisions.push_pair(m_boxset0->getRightNodeIndex(node0), node1);
-					}
-					else
-					{
-						GUINT left0 = m_boxset0->getLeftNodeIndex(node0);
-						GUINT right0 = m_boxset0->getRightNodeIndex(node0);
-						GUINT left1 = m_boxset1->getLeftNodeIndex(node1);
-						GUINT right1 = m_boxset1->getRightNodeIndex(node1);
-						//collide left
-						stack_collisions.push_pair(left0, left1);
-						//collide right
-						stack_collisions.push_pair(left0, right1);
-						//collide left
-						stack_collisions.push_pair(right0, left1);
-						//collide right
-						stack_collisions.push_pair(right0, right1);
-
-					}  // else if node1 is not a leaf
-				}      // else if node0 is not a leaf
-
-			}  // if(node_collision(node0,node1))
-		}      //while(stack_collisions.size())
-	}
-
-public:
-	void find_collision(BOX_SET_CLASS0* boxset1, const btTransform& trans1,
-						BOX_SET_CLASS1* boxset2, const btTransform& trans2,
-						gim_pair_set& collision_pairs, bool complete_primitive_tests = true)
-	{
-		m_collision_pairs = &collision_pairs;
-		m_boxset0 = boxset1;
-		m_boxset1 = boxset2;
-
-		trans_cache_1to0.calc_from_homogenic(trans1, trans2);
-
-		trans_cache_0to1 = trans2.inverse();
-		trans_cache_0to1 *= trans1;
-
-		if (complete_primitive_tests)
-		{
-			t0_is_trimesh = boxset1->getPrimitiveManager().is_trimesh();
-			t1_is_trimesh = boxset2->getPrimitiveManager().is_trimesh();
-		}
-		else
-		{
-			t0_is_trimesh = false;
-			t1_is_trimesh = false;
-		}
-
-		find_collision_pairs();
-	}
-};
-
-#endif  // GIM_BOXPRUNING_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_clip_polygon.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_clip_polygon.h
deleted file mode 100644
index 57b9c5c91a..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_clip_polygon.h
+++ /dev/null
@@ -1,199 +0,0 @@
-#ifndef GIM_CLIP_POLYGON_H_INCLUDED
-#define GIM_CLIP_POLYGON_H_INCLUDED
-
-/*! \file gim_tri_collision.h
-\author Francisco Leon Najera
-*/
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-
-//! This function calcs the distance from a 3D plane
-class DISTANCE_PLANE_3D_FUNC
-{
-public:
-	template <typename CLASS_POINT, typename CLASS_PLANE>
-	inline GREAL operator()(const CLASS_PLANE& plane, const CLASS_POINT& point)
-	{
-		return DISTANCE_PLANE_POINT(plane, point);
-	}
-};
-
-template <typename CLASS_POINT>
-SIMD_FORCE_INLINE void PLANE_CLIP_POLYGON_COLLECT(
-	const CLASS_POINT& point0,
-	const CLASS_POINT& point1,
-	GREAL dist0,
-	GREAL dist1,
-	CLASS_POINT* clipped,
-	GUINT& clipped_count)
-{
-	GUINT _prevclassif = (dist0 > G_EPSILON);
-	GUINT _classif = (dist1 > G_EPSILON);
-	if (_classif != _prevclassif)
-	{
-		GREAL blendfactor = -dist0 / (dist1 - dist0);
-		VEC_BLEND(clipped[clipped_count], point0, point1, blendfactor);
-		clipped_count++;
-	}
-	if (!_classif)
-	{
-		VEC_COPY(clipped[clipped_count], point1);
-		clipped_count++;
-	}
-}
-
-//! Clips a polygon by a plane
-/*!
-*\return The count of the clipped counts
-*/
-template <typename CLASS_POINT, typename CLASS_PLANE, typename DISTANCE_PLANE_FUNC>
-SIMD_FORCE_INLINE GUINT PLANE_CLIP_POLYGON_GENERIC(
-	const CLASS_PLANE& plane,
-	const CLASS_POINT* polygon_points,
-	GUINT polygon_point_count,
-	CLASS_POINT* clipped, DISTANCE_PLANE_FUNC distance_func)
-{
-	GUINT clipped_count = 0;
-
-	//clip first point
-	GREAL firstdist = distance_func(plane, polygon_points[0]);
-	;
-	if (!(firstdist > G_EPSILON))
-	{
-		VEC_COPY(clipped[clipped_count], polygon_points[0]);
-		clipped_count++;
-	}
-
-	GREAL olddist = firstdist;
-	for (GUINT _i = 1; _i < polygon_point_count; _i++)
-	{
-		GREAL dist = distance_func(plane, polygon_points[_i]);
-
-		PLANE_CLIP_POLYGON_COLLECT(
-			polygon_points[_i - 1], polygon_points[_i],
-			olddist,
-			dist,
-			clipped,
-			clipped_count);
-
-		olddist = dist;
-	}
-
-	//RETURN TO FIRST  point
-
-	PLANE_CLIP_POLYGON_COLLECT(
-		polygon_points[polygon_point_count - 1], polygon_points[0],
-		olddist,
-		firstdist,
-		clipped,
-		clipped_count);
-
-	return clipped_count;
-}
-
-//! Clips a polygon by a plane
-/*!
-*\return The count of the clipped counts
-*/
-template <typename CLASS_POINT, typename CLASS_PLANE, typename DISTANCE_PLANE_FUNC>
-SIMD_FORCE_INLINE GUINT PLANE_CLIP_TRIANGLE_GENERIC(
-	const CLASS_PLANE& plane,
-	const CLASS_POINT& point0,
-	const CLASS_POINT& point1,
-	const CLASS_POINT& point2,
-	CLASS_POINT* clipped, DISTANCE_PLANE_FUNC distance_func)
-{
-	GUINT clipped_count = 0;
-
-	//clip first point
-	GREAL firstdist = distance_func(plane, point0);
-	;
-	if (!(firstdist > G_EPSILON))
-	{
-		VEC_COPY(clipped[clipped_count], point0);
-		clipped_count++;
-	}
-
-	// point 1
-	GREAL olddist = firstdist;
-	GREAL dist = distance_func(plane, point1);
-
-	PLANE_CLIP_POLYGON_COLLECT(
-		point0, point1,
-		olddist,
-		dist,
-		clipped,
-		clipped_count);
-
-	olddist = dist;
-
-	// point 2
-	dist = distance_func(plane, point2);
-
-	PLANE_CLIP_POLYGON_COLLECT(
-		point1, point2,
-		olddist,
-		dist,
-		clipped,
-		clipped_count);
-	olddist = dist;
-
-	//RETURN TO FIRST  point
-	PLANE_CLIP_POLYGON_COLLECT(
-		point2, point0,
-		olddist,
-		firstdist,
-		clipped,
-		clipped_count);
-
-	return clipped_count;
-}
-
-template <typename CLASS_POINT, typename CLASS_PLANE>
-SIMD_FORCE_INLINE GUINT PLANE_CLIP_POLYGON3D(
-	const CLASS_PLANE& plane,
-	const CLASS_POINT* polygon_points,
-	GUINT polygon_point_count,
-	CLASS_POINT* clipped)
-{
-	return PLANE_CLIP_POLYGON_GENERIC<CLASS_POINT, CLASS_PLANE>(plane, polygon_points, polygon_point_count, clipped, DISTANCE_PLANE_3D_FUNC());
-}
-
-template <typename CLASS_POINT, typename CLASS_PLANE>
-SIMD_FORCE_INLINE GUINT PLANE_CLIP_TRIANGLE3D(
-	const CLASS_PLANE& plane,
-	const CLASS_POINT& point0,
-	const CLASS_POINT& point1,
-	const CLASS_POINT& point2,
-	CLASS_POINT* clipped)
-{
-	return PLANE_CLIP_TRIANGLE_GENERIC<CLASS_POINT, CLASS_PLANE>(plane, point0, point1, point2, clipped, DISTANCE_PLANE_3D_FUNC());
-}
-
-#endif  // GIM_TRI_COLLISION_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.cpp b/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.cpp
deleted file mode 100644
index 390225709e..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.cpp
+++ /dev/null
@@ -1,142 +0,0 @@
-
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-
-#include "gim_contact.h"
-
-#define MAX_COINCIDENT 8
-
-void gim_contact_array::merge_contacts(
-	const gim_contact_array& contacts, bool normal_contact_average)
-{
-	clear();
-
-	if (contacts.size() == 1)
-	{
-		push_back(contacts.back());
-		return;
-	}
-
-	gim_array<GIM_RSORT_TOKEN> keycontacts(contacts.size());
-	keycontacts.resize(contacts.size(), false);
-
-	//fill key contacts
-
-	GUINT i;
-
-	for (i = 0; i < contacts.size(); i++)
-	{
-		keycontacts[i].m_key = contacts[i].calc_key_contact();
-		keycontacts[i].m_value = i;
-	}
-
-	//sort keys
-	gim_heap_sort(keycontacts.pointer(), keycontacts.size(), GIM_RSORT_TOKEN_COMPARATOR());
-
-	// Merge contacts
-
-	GUINT coincident_count = 0;
-	btVector3 coincident_normals[MAX_COINCIDENT];
-
-	GUINT last_key = keycontacts[0].m_key;
-	GUINT key = 0;
-
-	push_back(contacts[keycontacts[0].m_value]);
-	GIM_CONTACT* pcontact = &back();
-
-	for (i = 1; i < keycontacts.size(); i++)
-	{
-		key = keycontacts[i].m_key;
-		const GIM_CONTACT* scontact = &contacts[keycontacts[i].m_value];
-
-		if (last_key == key)  //same points
-		{
-			//merge contact
-			if (pcontact->m_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)  //)
-			{
-				*pcontact = *scontact;
-				coincident_count = 0;
-			}
-			else if (normal_contact_average)
-			{
-				if (btFabs(pcontact->m_depth - scontact->m_depth) < CONTACT_DIFF_EPSILON)
-				{
-					if (coincident_count < MAX_COINCIDENT)
-					{
-						coincident_normals[coincident_count] = scontact->m_normal;
-						coincident_count++;
-					}
-				}
-			}
-		}
-		else
-		{  //add new contact
-
-			if (normal_contact_average && coincident_count > 0)
-			{
-				pcontact->interpolate_normals(coincident_normals, coincident_count);
-				coincident_count = 0;
-			}
-
-			push_back(*scontact);
-			pcontact = &back();
-		}
-		last_key = key;
-	}
-}
-
-void gim_contact_array::merge_contacts_unique(const gim_contact_array& contacts)
-{
-	clear();
-
-	if (contacts.size() == 1)
-	{
-		push_back(contacts.back());
-		return;
-	}
-
-	GIM_CONTACT average_contact = contacts.back();
-
-	for (GUINT i = 1; i < contacts.size(); i++)
-	{
-		average_contact.m_point += contacts[i].m_point;
-		average_contact.m_normal += contacts[i].m_normal * contacts[i].m_depth;
-	}
-
-	//divide
-	GREAL divide_average = 1.0f / ((GREAL)contacts.size());
-
-	average_contact.m_point *= divide_average;
-
-	average_contact.m_normal *= divide_average;
-
-	average_contact.m_depth = average_contact.m_normal.length();
-
-	average_contact.m_normal /= average_contact.m_depth;
-}
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h
deleted file mode 100644
index 9deb28a26e..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h
+++ /dev/null
@@ -1,168 +0,0 @@
-#ifndef GIM_CONTACT_H_INCLUDED
-#define GIM_CONTACT_H_INCLUDED
-
-/*! \file gim_contact.h
-\author Francisco Leon Najera
-*/
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-#include "gim_geometry.h"
-#include "gim_radixsort.h"
-#include "gim_array.h"
-
-/**
-Configuration var for applying interpolation of  contact normals
-*/
-#ifndef NORMAL_CONTACT_AVERAGE
-#define NORMAL_CONTACT_AVERAGE 1
-#endif
-
-#ifndef CONTACT_DIFF_EPSILON
-#define CONTACT_DIFF_EPSILON 0.00001f
-#endif
-
-#ifndef BT_CONTACT_H_STRUCTS_INCLUDED
-
-/// Structure for collision results
-///Functions for managing and sorting contacts resulting from a collision query.
-///Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST
-///After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY
-///Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts
-class GIM_CONTACT
-{
-public:
-	btVector3 m_point;
-	btVector3 m_normal;
-	GREAL m_depth;     //Positive value indicates interpenetration
-	GREAL m_distance;  //Padding not for use
-	GUINT m_feature1;  //Face number
-	GUINT m_feature2;  //Face number
-public:
-	GIM_CONTACT()
-	{
-	}
-
-	GIM_CONTACT(const GIM_CONTACT &contact) : m_point(contact.m_point),
-											  m_normal(contact.m_normal),
-											  m_depth(contact.m_depth),
-											  m_feature1(contact.m_feature1),
-											  m_feature2(contact.m_feature2)
-	{
-		m_point = contact.m_point;
-		m_normal = contact.m_normal;
-		m_depth = contact.m_depth;
-		m_feature1 = contact.m_feature1;
-		m_feature2 = contact.m_feature2;
-	}
-
-	GIM_CONTACT(const btVector3 &point, const btVector3 &normal,
-				GREAL depth, GUINT feature1, GUINT feature2) : m_point(point),
-															   m_normal(normal),
-															   m_depth(depth),
-															   m_feature1(feature1),
-															   m_feature2(feature2)
-	{
-	}
-
-	//! Calcs key for coord classification
-	SIMD_FORCE_INLINE GUINT calc_key_contact() const
-	{
-		GINT _coords[] = {
-			(GINT)(m_point[0] * 1000.0f + 1.0f),
-			(GINT)(m_point[1] * 1333.0f),
-			(GINT)(m_point[2] * 2133.0f + 3.0f)};
-		GUINT _hash = 0;
-		GUINT *_uitmp = (GUINT *)(&_coords[0]);
-		_hash = *_uitmp;
-		_uitmp++;
-		_hash += (*_uitmp) << 4;
-		_uitmp++;
-		_hash += (*_uitmp) << 8;
-		return _hash;
-	}
-
-	SIMD_FORCE_INLINE void interpolate_normals(btVector3 *normals, GUINT normal_count)
-	{
-		btVector3 vec_sum(m_normal);
-		for (GUINT i = 0; i < normal_count; i++)
-		{
-			vec_sum += normals[i];
-		}
-
-		GREAL vec_sum_len = vec_sum.length2();
-		if (vec_sum_len < CONTACT_DIFF_EPSILON) return;
-
-		GIM_INV_SQRT(vec_sum_len, vec_sum_len);  // 1/sqrt(vec_sum_len)
-
-		m_normal = vec_sum * vec_sum_len;
-	}
-};
-
-#endif
-
-class gim_contact_array : public gim_array<GIM_CONTACT>
-{
-public:
-	gim_contact_array() : gim_array<GIM_CONTACT>(64)
-	{
-	}
-
-	SIMD_FORCE_INLINE void push_contact(const btVector3 &point, const btVector3 &normal,
-										GREAL depth, GUINT feature1, GUINT feature2)
-	{
-		push_back_mem();
-		GIM_CONTACT &newele = back();
-		newele.m_point = point;
-		newele.m_normal = normal;
-		newele.m_depth = depth;
-		newele.m_feature1 = feature1;
-		newele.m_feature2 = feature2;
-	}
-
-	SIMD_FORCE_INLINE void push_triangle_contacts(
-		const GIM_TRIANGLE_CONTACT_DATA &tricontact,
-		GUINT feature1, GUINT feature2)
-	{
-		for (GUINT i = 0; i < tricontact.m_point_count; i++)
-		{
-			push_back_mem();
-			GIM_CONTACT &newele = back();
-			newele.m_point = tricontact.m_points[i];
-			newele.m_normal = tricontact.m_separating_normal;
-			newele.m_depth = tricontact.m_penetration_depth;
-			newele.m_feature1 = feature1;
-			newele.m_feature2 = feature2;
-		}
-	}
-
-	void merge_contacts(const gim_contact_array &contacts, bool normal_contact_average = true);
-	void merge_contacts_unique(const gim_contact_array &contacts);
-};
-
-#endif  // GIM_CONTACT_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_geom_types.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_geom_types.h
deleted file mode 100644
index 9dc48f354b..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_geom_types.h
+++ /dev/null
@@ -1,92 +0,0 @@
-#ifndef GIM_GEOM_TYPES_H_INCLUDED
-#define GIM_GEOM_TYPES_H_INCLUDED
-
-/*! \file gim_geom_types.h
-\author Francisco Leon Najera
-*/
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-
-#include "gim_math.h"
-
-//! Short Integer vector 2D
-typedef GSHORT vec2s[2];
-//! Integer vector 3D
-typedef GSHORT vec3s[3];
-//! Integer vector 4D
-typedef GSHORT vec4s[4];
-
-//! Short Integer vector 2D
-typedef GUSHORT vec2us[2];
-//! Integer vector 3D
-typedef GUSHORT vec3us[3];
-//! Integer vector 4D
-typedef GUSHORT vec4us[4];
-
-//! Integer vector 2D
-typedef GINT vec2i[2];
-//! Integer vector 3D
-typedef GINT vec3i[3];
-//! Integer vector 4D
-typedef GINT vec4i[4];
-
-//! Unsigned Integer vector 2D
-typedef GUINT vec2ui[2];
-//! Unsigned Integer vector 3D
-typedef GUINT vec3ui[3];
-//! Unsigned Integer vector 4D
-typedef GUINT vec4ui[4];
-
-//! Float vector 2D
-typedef GREAL vec2f[2];
-//! Float vector 3D
-typedef GREAL vec3f[3];
-//! Float vector 4D
-typedef GREAL vec4f[4];
-
-//! Double vector 2D
-typedef GREAL2 vec2d[2];
-//! Float vector 3D
-typedef GREAL2 vec3d[3];
-//! Float vector 4D
-typedef GREAL2 vec4d[4];
-
-//! Matrix 2D, row ordered
-typedef GREAL mat2f[2][2];
-//! Matrix 3D, row ordered
-typedef GREAL mat3f[3][3];
-//! Matrix 4D, row ordered
-typedef GREAL mat4f[4][4];
-
-//! Quaternion
-typedef GREAL quatf[4];
-
-//typedef struct _aabb3f aabb3f;
-
-#endif  // GIM_GEOM_TYPES_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_geometry.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_geometry.h
deleted file mode 100644
index 4a7ac3c4d8..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_geometry.h
+++ /dev/null
@@ -1,42 +0,0 @@
-#ifndef GIM_GEOMETRY_H_INCLUDED
-#define GIM_GEOMETRY_H_INCLUDED
-
-/*! \file gim_geometry.h
-\author Francisco Leon Najera
-*/
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-
-///Additional Headers for Collision
-#include "gim_basic_geometry_operations.h"
-#include "gim_clip_polygon.h"
-#include "gim_box_collision.h"
-#include "gim_tri_collision.h"
-
-#endif  // GIM_VECTOR_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_hash_table.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_hash_table.h
deleted file mode 100644
index abf88d3108..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_hash_table.h
+++ /dev/null
@@ -1,857 +0,0 @@
-#ifndef GIM_HASH_TABLE_H_INCLUDED
-#define GIM_HASH_TABLE_H_INCLUDED
-/*! \file gim_trimesh_data.h
-\author Francisco Leon Najera
-*/
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-
-#include "gim_radixsort.h"
-
-#define GIM_INVALID_HASH 0xffffffff  //!< A very very high value
-#define GIM_DEFAULT_HASH_TABLE_SIZE 380
-#define GIM_DEFAULT_HASH_TABLE_NODE_SIZE 4
-#define GIM_HASH_TABLE_GROW_FACTOR 2
-
-#define GIM_MIN_RADIX_SORT_SIZE 860  //!< calibrated on a PIII
-
-template <typename T>
-struct GIM_HASH_TABLE_NODE
-{
-	GUINT m_key;
-	T m_data;
-	GIM_HASH_TABLE_NODE()
-	{
-	}
-
-	GIM_HASH_TABLE_NODE(const GIM_HASH_TABLE_NODE& value)
-	{
-		m_key = value.m_key;
-		m_data = value.m_data;
-	}
-
-	GIM_HASH_TABLE_NODE(GUINT key, const T& data)
-	{
-		m_key = key;
-		m_data = data;
-	}
-
-	bool operator<(const GIM_HASH_TABLE_NODE<T>& other) const
-	{
-		///inverse order, further objects are first
-		if (m_key < other.m_key) return true;
-		return false;
-	}
-
-	bool operator>(const GIM_HASH_TABLE_NODE<T>& other) const
-	{
-		///inverse order, further objects are first
-		if (m_key > other.m_key) return true;
-		return false;
-	}
-
-	bool operator==(const GIM_HASH_TABLE_NODE<T>& other) const
-	{
-		///inverse order, further objects are first
-		if (m_key == other.m_key) return true;
-		return false;
-	}
-};
-
-///Macro for getting the key
-class GIM_HASH_NODE_GET_KEY
-{
-public:
-	template <class T>
-	inline GUINT operator()(const T& a)
-	{
-		return a.m_key;
-	}
-};
-
-///Macro for comparing the key and the element
-class GIM_HASH_NODE_CMP_KEY_MACRO
-{
-public:
-	template <class T>
-	inline int operator()(const T& a, GUINT key)
-	{
-		return ((int)(a.m_key - key));
-	}
-};
-
-///Macro for comparing Hash nodes
-class GIM_HASH_NODE_CMP_MACRO
-{
-public:
-	template <class T>
-	inline int operator()(const T& a, const T& b)
-	{
-		return ((int)(a.m_key - b.m_key));
-	}
-};
-
-//! Sorting for hash table
-/*!
-switch automatically between quicksort and radixsort
-*/
-template <typename T>
-void gim_sort_hash_node_array(T* array, GUINT array_count)
-{
-	if (array_count < GIM_MIN_RADIX_SORT_SIZE)
-	{
-		gim_heap_sort(array, array_count, GIM_HASH_NODE_CMP_MACRO());
-	}
-	else
-	{
-		memcopy_elements_func cmpfunc;
-		gim_radix_sort(array, array_count, GIM_HASH_NODE_GET_KEY(), cmpfunc);
-	}
-}
-
-// Note: assumes long is at least 32 bits.
-#define GIM_NUM_PRIME 28
-
-static const GUINT gim_prime_list[GIM_NUM_PRIME] =
-	{
-		53ul, 97ul, 193ul, 389ul, 769ul,
-		1543ul, 3079ul, 6151ul, 12289ul, 24593ul,
-		49157ul, 98317ul, 196613ul, 393241ul, 786433ul,
-		1572869ul, 3145739ul, 6291469ul, 12582917ul, 25165843ul,
-		50331653ul, 100663319ul, 201326611ul, 402653189ul, 805306457ul,
-		1610612741ul, 3221225473ul, 4294967291ul};
-
-inline GUINT gim_next_prime(GUINT number)
-{
-	//Find nearest upper prime
-	GUINT result_ind = 0;
-	gim_binary_search(gim_prime_list, 0, (GIM_NUM_PRIME - 2), number, result_ind);
-
-	// inv: result_ind < 28
-	return gim_prime_list[result_ind];
-}
-
-//! A compact hash table implementation
-/*!
-A memory aligned compact hash table that coud be treated as an array.
-It could be a simple sorted array without the overhead of the hash key bucked, or could
-be a formely hash table with an array of keys.
-You can use switch_to_hashtable() and switch_to_sorted_array for saving space or increase speed.
-</br>
-
-<ul>
-<li> if node_size = 0, then this container becomes a simple sorted array allocator. reserve_size is used for reserve memory in m_nodes.
-When the array size reaches the size equivalent to 'min_hash_table_size', then it becomes a hash table by calling check_for_switching_to_hashtable.
-<li> If node_size != 0, then this container becomes a hash table for ever
-</ul>
-
-*/
-template <class T>
-class gim_hash_table
-{
-protected:
-	typedef GIM_HASH_TABLE_NODE<T> _node_type;
-
-	//!The nodes
-	//array< _node_type, SuperAllocator<_node_type> > m_nodes;
-	gim_array<_node_type> m_nodes;
-	//SuperBufferedArray< _node_type > m_nodes;
-	bool m_sorted;
-
-	///Hash table data management. The hash table has the indices to the corresponding m_nodes array
-	GUINT* m_hash_table;  //!<
-	GUINT m_table_size;   //!<
-	GUINT m_node_size;    //!<
-	GUINT m_min_hash_table_size;
-
-	//! Returns the cell index
-	inline GUINT _find_cell(GUINT hashkey)
-	{
-		_node_type* nodesptr = m_nodes.pointer();
-		GUINT start_index = (hashkey % m_table_size) * m_node_size;
-		GUINT end_index = start_index + m_node_size;
-
-		while (start_index < end_index)
-		{
-			GUINT value = m_hash_table[start_index];
-			if (value != GIM_INVALID_HASH)
-			{
-				if (nodesptr[value].m_key == hashkey) return start_index;
-			}
-			start_index++;
-		}
-		return GIM_INVALID_HASH;
-	}
-
-	//! Find the avaliable cell for the hashkey, and return an existing cell if it has the same hash key
-	inline GUINT _find_avaliable_cell(GUINT hashkey)
-	{
-		_node_type* nodesptr = m_nodes.pointer();
-		GUINT avaliable_index = GIM_INVALID_HASH;
-		GUINT start_index = (hashkey % m_table_size) * m_node_size;
-		GUINT end_index = start_index + m_node_size;
-
-		while (start_index < end_index)
-		{
-			GUINT value = m_hash_table[start_index];
-			if (value == GIM_INVALID_HASH)
-			{
-				if (avaliable_index == GIM_INVALID_HASH)
-				{
-					avaliable_index = start_index;
-				}
-			}
-			else if (nodesptr[value].m_key == hashkey)
-			{
-				return start_index;
-			}
-			start_index++;
-		}
-		return avaliable_index;
-	}
-
-	//! reserves the memory for the hash table.
-	/*!
-    \pre hash table must be empty
-    \post reserves the memory for the hash table, an initializes all elements to GIM_INVALID_HASH.
-    */
-	inline void _reserve_table_memory(GUINT newtablesize)
-	{
-		if (newtablesize == 0) return;
-		if (m_node_size == 0) return;
-
-		//Get a Prime size
-
-		m_table_size = gim_next_prime(newtablesize);
-
-		GUINT datasize = m_table_size * m_node_size;
-		//Alloc the data buffer
-		m_hash_table = (GUINT*)gim_alloc(datasize * sizeof(GUINT));
-	}
-
-	inline void _invalidate_keys()
-	{
-		GUINT datasize = m_table_size * m_node_size;
-		for (GUINT i = 0; i < datasize; i++)
-		{
-			m_hash_table[i] = GIM_INVALID_HASH;  // invalidate keys
-		}
-	}
-
-	//! Clear all memory for the hash table
-	inline void _clear_table_memory()
-	{
-		if (m_hash_table == NULL) return;
-		gim_free(m_hash_table);
-		m_hash_table = NULL;
-		m_table_size = 0;
-	}
-
-	//! Invalidates the keys (Assigning GIM_INVALID_HASH to all) Reorders the hash keys
-	inline void _rehash()
-	{
-		_invalidate_keys();
-
-		_node_type* nodesptr = m_nodes.pointer();
-		for (GUINT i = 0; i < (GUINT)m_nodes.size(); i++)
-		{
-			GUINT nodekey = nodesptr[i].m_key;
-			if (nodekey != GIM_INVALID_HASH)
-			{
-				//Search for the avaliable cell in buffer
-				GUINT index = _find_avaliable_cell(nodekey);
-
-				if (m_hash_table[index] != GIM_INVALID_HASH)
-				{  //The new index is alreade used... discard this new incomming object, repeated key
-					btAssert(m_hash_table[index] == nodekey);
-					nodesptr[i].m_key = GIM_INVALID_HASH;
-				}
-				else
-				{
-					//;
-					//Assign the value for alloc
-					m_hash_table[index] = i;
-				}
-			}
-		}
-	}
-
-	//! Resize hash table indices
-	inline void _resize_table(GUINT newsize)
-	{
-		//Clear memory
-		_clear_table_memory();
-		//Alloc the data
-		_reserve_table_memory(newsize);
-		//Invalidate keys and rehash
-		_rehash();
-	}
-
-	//! Destroy hash table memory
-	inline void _destroy()
-	{
-		if (m_hash_table == NULL) return;
-		_clear_table_memory();
-	}
-
-	//! Finds an avaliable hash table cell, and resizes the table if there isn't space
-	inline GUINT _assign_hash_table_cell(GUINT hashkey)
-	{
-		GUINT cell_index = _find_avaliable_cell(hashkey);
-
-		if (cell_index == GIM_INVALID_HASH)
-		{
-			//rehashing
-			_resize_table(m_table_size + 1);
-			GUINT cell_index = _find_avaliable_cell(hashkey);
-			btAssert(cell_index != GIM_INVALID_HASH);
-		}
-		return cell_index;
-	}
-
-	//! erase by index in hash table
-	inline bool _erase_by_index_hash_table(GUINT index)
-	{
-		if (index >= m_nodes.size()) return false;
-		if (m_nodes[index].m_key != GIM_INVALID_HASH)
-		{
-			//Search for the avaliable cell in buffer
-			GUINT cell_index = _find_cell(m_nodes[index].m_key);
-
-			btAssert(cell_index != GIM_INVALID_HASH);
-			btAssert(m_hash_table[cell_index] == index);
-
-			m_hash_table[cell_index] = GIM_INVALID_HASH;
-		}
-
-		return this->_erase_unsorted(index);
-	}
-
-	//! erase by key in hash table
-	inline bool _erase_hash_table(GUINT hashkey)
-	{
-		if (hashkey == GIM_INVALID_HASH) return false;
-
-		//Search for the avaliable cell in buffer
-		GUINT cell_index = _find_cell(hashkey);
-		if (cell_index == GIM_INVALID_HASH) return false;
-
-		GUINT index = m_hash_table[cell_index];
-		m_hash_table[cell_index] = GIM_INVALID_HASH;
-
-		return this->_erase_unsorted(index);
-	}
-
-	//! insert an element in hash table
-	/*!
-    If the element exists, this won't insert the element
-    \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted
-    If so, the element has been inserted at the last position of the array.
-    */
-	inline GUINT _insert_hash_table(GUINT hashkey, const T& value)
-	{
-		if (hashkey == GIM_INVALID_HASH)
-		{
-			//Insert anyway
-			_insert_unsorted(hashkey, value);
-			return GIM_INVALID_HASH;
-		}
-
-		GUINT cell_index = _assign_hash_table_cell(hashkey);
-
-		GUINT value_key = m_hash_table[cell_index];
-
-		if (value_key != GIM_INVALID_HASH) return value_key;  // Not overrited
-
-		m_hash_table[cell_index] = m_nodes.size();
-
-		_insert_unsorted(hashkey, value);
-		return GIM_INVALID_HASH;
-	}
-
-	//! insert an element in hash table.
-	/*!
-    If the element exists, this replaces the element.
-    \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted
-    If so, the element has been inserted at the last position of the array.
-    */
-	inline GUINT _insert_hash_table_replace(GUINT hashkey, const T& value)
-	{
-		if (hashkey == GIM_INVALID_HASH)
-		{
-			//Insert anyway
-			_insert_unsorted(hashkey, value);
-			return GIM_INVALID_HASH;
-		}
-
-		GUINT cell_index = _assign_hash_table_cell(hashkey);
-
-		GUINT value_key = m_hash_table[cell_index];
-
-		if (value_key != GIM_INVALID_HASH)
-		{  //replaces the existing
-			m_nodes[value_key] = _node_type(hashkey, value);
-			return value_key;  // index of the replaced element
-		}
-
-		m_hash_table[cell_index] = m_nodes.size();
-
-		_insert_unsorted(hashkey, value);
-		return GIM_INVALID_HASH;
-	}
-
-	///Sorted array data management. The hash table has the indices to the corresponding m_nodes array
-	inline bool _erase_sorted(GUINT index)
-	{
-		if (index >= (GUINT)m_nodes.size()) return false;
-		m_nodes.erase_sorted(index);
-		if (m_nodes.size() < 2) m_sorted = false;
-		return true;
-	}
-
-	//! faster, but unsorted
-	inline bool _erase_unsorted(GUINT index)
-	{
-		if (index >= m_nodes.size()) return false;
-
-		GUINT lastindex = m_nodes.size() - 1;
-		if (index < lastindex && m_hash_table != 0)
-		{
-			GUINT hashkey = m_nodes[lastindex].m_key;
-			if (hashkey != GIM_INVALID_HASH)
-			{
-				//update the new position of the last element
-				GUINT cell_index = _find_cell(hashkey);
-				btAssert(cell_index != GIM_INVALID_HASH);
-				//new position of the last element which will be swaped
-				m_hash_table[cell_index] = index;
-			}
-		}
-		m_nodes.erase(index);
-		m_sorted = false;
-		return true;
-	}
-
-	//! Insert in position ordered
-	/*!
-    Also checks if it is needed to transform this container to a hash table, by calling check_for_switching_to_hashtable
-    */
-	inline void _insert_in_pos(GUINT hashkey, const T& value, GUINT pos)
-	{
-		m_nodes.insert(_node_type(hashkey, value), pos);
-		this->check_for_switching_to_hashtable();
-	}
-
-	//! Insert an element in an ordered array
-	inline GUINT _insert_sorted(GUINT hashkey, const T& value)
-	{
-		if (hashkey == GIM_INVALID_HASH || size() == 0)
-		{
-			m_nodes.push_back(_node_type(hashkey, value));
-			return GIM_INVALID_HASH;
-		}
-		//Insert at last position
-		//Sort element
-
-		GUINT result_ind = 0;
-		GUINT last_index = m_nodes.size() - 1;
-		_node_type* ptr = m_nodes.pointer();
-
-		bool found = gim_binary_search_ex(
-			ptr, 0, last_index, result_ind, hashkey, GIM_HASH_NODE_CMP_KEY_MACRO());
-
-		//Insert before found index
-		if (found)
-		{
-			return result_ind;
-		}
-		else
-		{
-			_insert_in_pos(hashkey, value, result_ind);
-		}
-		return GIM_INVALID_HASH;
-	}
-
-	inline GUINT _insert_sorted_replace(GUINT hashkey, const T& value)
-	{
-		if (hashkey == GIM_INVALID_HASH || size() == 0)
-		{
-			m_nodes.push_back(_node_type(hashkey, value));
-			return GIM_INVALID_HASH;
-		}
-		//Insert at last position
-		//Sort element
-		GUINT result_ind;
-		GUINT last_index = m_nodes.size() - 1;
-		_node_type* ptr = m_nodes.pointer();
-
-		bool found = gim_binary_search_ex(
-			ptr, 0, last_index, result_ind, hashkey, GIM_HASH_NODE_CMP_KEY_MACRO());
-
-		//Insert before found index
-		if (found)
-		{
-			m_nodes[result_ind] = _node_type(hashkey, value);
-		}
-		else
-		{
-			_insert_in_pos(hashkey, value, result_ind);
-		}
-		return result_ind;
-	}
-
-	//! Fast insertion in m_nodes array
-	inline GUINT _insert_unsorted(GUINT hashkey, const T& value)
-	{
-		m_nodes.push_back(_node_type(hashkey, value));
-		m_sorted = false;
-		return GIM_INVALID_HASH;
-	}
-
-public:
-	/*!
-        <li> if node_size = 0, then this container becomes a simple sorted array allocator. reserve_size is used for reserve memory in m_nodes.
-        When the array size reaches the size equivalent to 'min_hash_table_size', then it becomes a hash table by calling check_for_switching_to_hashtable.
-        <li> If node_size != 0, then this container becomes a hash table for ever
-        </ul>
-    */
-	gim_hash_table(GUINT reserve_size = GIM_DEFAULT_HASH_TABLE_SIZE,
-				   GUINT node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE,
-				   GUINT min_hash_table_size = GIM_INVALID_HASH)
-	{
-		m_hash_table = NULL;
-		m_table_size = 0;
-		m_sorted = false;
-		m_node_size = node_size;
-		m_min_hash_table_size = min_hash_table_size;
-
-		if (m_node_size != 0)
-		{
-			if (reserve_size != 0)
-			{
-				m_nodes.reserve(reserve_size);
-				_reserve_table_memory(reserve_size);
-				_invalidate_keys();
-			}
-			else
-			{
-				m_nodes.reserve(GIM_DEFAULT_HASH_TABLE_SIZE);
-				_reserve_table_memory(GIM_DEFAULT_HASH_TABLE_SIZE);
-				_invalidate_keys();
-			}
-		}
-		else if (reserve_size != 0)
-		{
-			m_nodes.reserve(reserve_size);
-		}
-	}
-
-	~gim_hash_table()
-	{
-		_destroy();
-	}
-
-	inline bool is_hash_table()
-	{
-		if (m_hash_table) return true;
-		return false;
-	}
-
-	inline bool is_sorted()
-	{
-		if (size() < 2) return true;
-		return m_sorted;
-	}
-
-	bool sort()
-	{
-		if (is_sorted()) return true;
-		if (m_nodes.size() < 2) return false;
-
-		_node_type* ptr = m_nodes.pointer();
-		GUINT siz = m_nodes.size();
-		gim_sort_hash_node_array(ptr, siz);
-		m_sorted = true;
-
-		if (m_hash_table)
-		{
-			_rehash();
-		}
-		return true;
-	}
-
-	bool switch_to_hashtable()
-	{
-		if (m_hash_table) return false;
-		if (m_node_size == 0) m_node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE;
-		if (m_nodes.size() < GIM_DEFAULT_HASH_TABLE_SIZE)
-		{
-			_resize_table(GIM_DEFAULT_HASH_TABLE_SIZE);
-		}
-		else
-		{
-			_resize_table(m_nodes.size() + 1);
-		}
-
-		return true;
-	}
-
-	bool switch_to_sorted_array()
-	{
-		if (m_hash_table == NULL) return true;
-		_clear_table_memory();
-		return sort();
-	}
-
-	//!If the container reaches the
-	bool check_for_switching_to_hashtable()
-	{
-		if (this->m_hash_table) return true;
-
-		if (!(m_nodes.size() < m_min_hash_table_size))
-		{
-			if (m_node_size == 0)
-			{
-				m_node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE;
-			}
-
-			_resize_table(m_nodes.size() + 1);
-			return true;
-		}
-		return false;
-	}
-
-	inline void set_sorted(bool value)
-	{
-		m_sorted = value;
-	}
-
-	//! Retrieves the amount of keys.
-	inline GUINT size() const
-	{
-		return m_nodes.size();
-	}
-
-	//! Retrieves the hash key.
-	inline GUINT get_key(GUINT index) const
-	{
-		return m_nodes[index].m_key;
-	}
-
-	//! Retrieves the value by index
-	/*!
-    */
-	inline T* get_value_by_index(GUINT index)
-	{
-		return &m_nodes[index].m_data;
-	}
-
-	inline const T& operator[](GUINT index) const
-	{
-		return m_nodes[index].m_data;
-	}
-
-	inline T& operator[](GUINT index)
-	{
-		return m_nodes[index].m_data;
-	}
-
-	//! Finds the index of the element with the key
-	/*!
-    \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted
-    If so, the element has been inserted at the last position of the array.
-    */
-	inline GUINT find(GUINT hashkey)
-	{
-		if (m_hash_table)
-		{
-			GUINT cell_index = _find_cell(hashkey);
-			if (cell_index == GIM_INVALID_HASH) return GIM_INVALID_HASH;
-			return m_hash_table[cell_index];
-		}
-		GUINT last_index = m_nodes.size();
-		if (last_index < 2)
-		{
-			if (last_index == 0) return GIM_INVALID_HASH;
-			if (m_nodes[0].m_key == hashkey) return 0;
-			return GIM_INVALID_HASH;
-		}
-		else if (m_sorted)
-		{
-			//Binary search
-			GUINT result_ind = 0;
-			last_index--;
-			_node_type* ptr = m_nodes.pointer();
-
-			bool found = gim_binary_search_ex(ptr, 0, last_index, result_ind, hashkey, GIM_HASH_NODE_CMP_KEY_MACRO());
-
-			if (found) return result_ind;
-		}
-		return GIM_INVALID_HASH;
-	}
-
-	//! Retrieves the value associated with the index
-	/*!
-    \return the found element, or null
-    */
-	inline T* get_value(GUINT hashkey)
-	{
-		GUINT index = find(hashkey);
-		if (index == GIM_INVALID_HASH) return NULL;
-		return &m_nodes[index].m_data;
-	}
-
-	/*!
-    */
-	inline bool erase_by_index(GUINT index)
-	{
-		if (index > m_nodes.size()) return false;
-
-		if (m_hash_table == NULL)
-		{
-			if (is_sorted())
-			{
-				return this->_erase_sorted(index);
-			}
-			else
-			{
-				return this->_erase_unsorted(index);
-			}
-		}
-		else
-		{
-			return this->_erase_by_index_hash_table(index);
-		}
-		return false;
-	}
-
-	inline bool erase_by_index_unsorted(GUINT index)
-	{
-		if (index > m_nodes.size()) return false;
-
-		if (m_hash_table == NULL)
-		{
-			return this->_erase_unsorted(index);
-		}
-		else
-		{
-			return this->_erase_by_index_hash_table(index);
-		}
-		return false;
-	}
-
-	/*!
-
-    */
-	inline bool erase_by_key(GUINT hashkey)
-	{
-		if (size() == 0) return false;
-
-		if (m_hash_table)
-		{
-			return this->_erase_hash_table(hashkey);
-		}
-		//Binary search
-
-		if (is_sorted() == false) return false;
-
-		GUINT result_ind = find(hashkey);
-		if (result_ind != GIM_INVALID_HASH)
-		{
-			return this->_erase_sorted(result_ind);
-		}
-		return false;
-	}
-
-	void clear()
-	{
-		m_nodes.clear();
-
-		if (m_hash_table == NULL) return;
-		GUINT datasize = m_table_size * m_node_size;
-		//Initialize the hashkeys.
-		GUINT i;
-		for (i = 0; i < datasize; i++)
-		{
-			m_hash_table[i] = GIM_INVALID_HASH;  // invalidate keys
-		}
-		m_sorted = false;
-	}
-
-	//! Insert an element into the hash
-	/*!
-    \return If GIM_INVALID_HASH, the object has been inserted succesfully. Else it returns the position
-    of the existing element.
-    */
-	inline GUINT insert(GUINT hashkey, const T& element)
-	{
-		if (m_hash_table)
-		{
-			return this->_insert_hash_table(hashkey, element);
-		}
-		if (this->is_sorted())
-		{
-			return this->_insert_sorted(hashkey, element);
-		}
-		return this->_insert_unsorted(hashkey, element);
-	}
-
-	//! Insert an element into the hash, and could overrite an existing object with the same hash.
-	/*!
-    \return If GIM_INVALID_HASH, the object has been inserted succesfully. Else it returns the position
-    of the replaced element.
-    */
-	inline GUINT insert_override(GUINT hashkey, const T& element)
-	{
-		if (m_hash_table)
-		{
-			return this->_insert_hash_table_replace(hashkey, element);
-		}
-		if (this->is_sorted())
-		{
-			return this->_insert_sorted_replace(hashkey, element);
-		}
-		this->_insert_unsorted(hashkey, element);
-		return m_nodes.size();
-	}
-
-	//! Insert an element into the hash,But if this container is a sorted array, this inserts it unsorted
-	/*!
-    */
-	inline GUINT insert_unsorted(GUINT hashkey, const T& element)
-	{
-		if (m_hash_table)
-		{
-			return this->_insert_hash_table(hashkey, element);
-		}
-		return this->_insert_unsorted(hashkey, element);
-	}
-};
-
-#endif  // GIM_CONTAINERS_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_linear_math.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_linear_math.h
deleted file mode 100644
index 98401a404a..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_linear_math.h
+++ /dev/null
@@ -1,1488 +0,0 @@
-#ifndef GIM_LINEAR_H_INCLUDED
-#define GIM_LINEAR_H_INCLUDED
-
-/*! \file gim_linear_math.h
-*\author Francisco Leon Najera
-Type Independant Vector and matrix operations.
-*/
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-
-#include "gim_math.h"
-#include "gim_geom_types.h"
-
-//! Zero out a 2D vector
-#define VEC_ZERO_2(a)           \
-	{                           \
-		(a)[0] = (a)[1] = 0.0f; \
-	}
-
-//! Zero out a 3D vector
-#define VEC_ZERO(a)                      \
-	{                                    \
-		(a)[0] = (a)[1] = (a)[2] = 0.0f; \
-	}
-
-/// Zero out a 4D vector
-#define VEC_ZERO_4(a)                             \
-	{                                             \
-		(a)[0] = (a)[1] = (a)[2] = (a)[3] = 0.0f; \
-	}
-
-/// Vector copy
-#define VEC_COPY_2(b, a) \
-	{                    \
-		(b)[0] = (a)[0]; \
-		(b)[1] = (a)[1]; \
-	}
-
-/// Copy 3D vector
-#define VEC_COPY(b, a)   \
-	{                    \
-		(b)[0] = (a)[0]; \
-		(b)[1] = (a)[1]; \
-		(b)[2] = (a)[2]; \
-	}
-
-/// Copy 4D vector
-#define VEC_COPY_4(b, a) \
-	{                    \
-		(b)[0] = (a)[0]; \
-		(b)[1] = (a)[1]; \
-		(b)[2] = (a)[2]; \
-		(b)[3] = (a)[3]; \
-	}
-
-/// VECTOR SWAP
-#define VEC_SWAP(b, a)                    \
-	{                                     \
-		GIM_SWAP_NUMBERS((b)[0], (a)[0]); \
-		GIM_SWAP_NUMBERS((b)[1], (a)[1]); \
-		GIM_SWAP_NUMBERS((b)[2], (a)[2]); \
-	}
-
-/// Vector difference
-#define VEC_DIFF_2(v21, v2, v1)       \
-	{                                 \
-		(v21)[0] = (v2)[0] - (v1)[0]; \
-		(v21)[1] = (v2)[1] - (v1)[1]; \
-	}
-
-/// Vector difference
-#define VEC_DIFF(v21, v2, v1)         \
-	{                                 \
-		(v21)[0] = (v2)[0] - (v1)[0]; \
-		(v21)[1] = (v2)[1] - (v1)[1]; \
-		(v21)[2] = (v2)[2] - (v1)[2]; \
-	}
-
-/// Vector difference
-#define VEC_DIFF_4(v21, v2, v1)       \
-	{                                 \
-		(v21)[0] = (v2)[0] - (v1)[0]; \
-		(v21)[1] = (v2)[1] - (v1)[1]; \
-		(v21)[2] = (v2)[2] - (v1)[2]; \
-		(v21)[3] = (v2)[3] - (v1)[3]; \
-	}
-
-/// Vector sum
-#define VEC_SUM_2(v21, v2, v1)        \
-	{                                 \
-		(v21)[0] = (v2)[0] + (v1)[0]; \
-		(v21)[1] = (v2)[1] + (v1)[1]; \
-	}
-
-/// Vector sum
-#define VEC_SUM(v21, v2, v1)          \
-	{                                 \
-		(v21)[0] = (v2)[0] + (v1)[0]; \
-		(v21)[1] = (v2)[1] + (v1)[1]; \
-		(v21)[2] = (v2)[2] + (v1)[2]; \
-	}
-
-/// Vector sum
-#define VEC_SUM_4(v21, v2, v1)        \
-	{                                 \
-		(v21)[0] = (v2)[0] + (v1)[0]; \
-		(v21)[1] = (v2)[1] + (v1)[1]; \
-		(v21)[2] = (v2)[2] + (v1)[2]; \
-		(v21)[3] = (v2)[3] + (v1)[3]; \
-	}
-
-/// scalar times vector
-#define VEC_SCALE_2(c, a, b)   \
-	{                          \
-		(c)[0] = (a) * (b)[0]; \
-		(c)[1] = (a) * (b)[1]; \
-	}
-
-/// scalar times vector
-#define VEC_SCALE(c, a, b)     \
-	{                          \
-		(c)[0] = (a) * (b)[0]; \
-		(c)[1] = (a) * (b)[1]; \
-		(c)[2] = (a) * (b)[2]; \
-	}
-
-/// scalar times vector
-#define VEC_SCALE_4(c, a, b)   \
-	{                          \
-		(c)[0] = (a) * (b)[0]; \
-		(c)[1] = (a) * (b)[1]; \
-		(c)[2] = (a) * (b)[2]; \
-		(c)[3] = (a) * (b)[3]; \
-	}
-
-/// accumulate scaled vector
-#define VEC_ACCUM_2(c, a, b)    \
-	{                           \
-		(c)[0] += (a) * (b)[0]; \
-		(c)[1] += (a) * (b)[1]; \
-	}
-
-/// accumulate scaled vector
-#define VEC_ACCUM(c, a, b)      \
-	{                           \
-		(c)[0] += (a) * (b)[0]; \
-		(c)[1] += (a) * (b)[1]; \
-		(c)[2] += (a) * (b)[2]; \
-	}
-
-/// accumulate scaled vector
-#define VEC_ACCUM_4(c, a, b)    \
-	{                           \
-		(c)[0] += (a) * (b)[0]; \
-		(c)[1] += (a) * (b)[1]; \
-		(c)[2] += (a) * (b)[2]; \
-		(c)[3] += (a) * (b)[3]; \
-	}
-
-/// Vector dot product
-#define VEC_DOT_2(a, b) ((a)[0] * (b)[0] + (a)[1] * (b)[1])
-
-/// Vector dot product
-#define VEC_DOT(a, b) ((a)[0] * (b)[0] + (a)[1] * (b)[1] + (a)[2] * (b)[2])
-
-/// Vector dot product
-#define VEC_DOT_4(a, b) ((a)[0] * (b)[0] + (a)[1] * (b)[1] + (a)[2] * (b)[2] + (a)[3] * (b)[3])
-
-/// vector impact parameter (squared)
-#define VEC_IMPACT_SQ(bsq, direction, position)              \
-	{                                                        \
-		GREAL _llel_ = VEC_DOT(direction, position);         \
-		bsq = VEC_DOT(position, position) - _llel_ * _llel_; \
-	}
-
-/// vector impact parameter
-#define VEC_IMPACT(bsq, direction, position)     \
-	{                                            \
-		VEC_IMPACT_SQ(bsq, direction, position); \
-		GIM_SQRT(bsq, bsq);                      \
-	}
-
-/// Vector length
-#define VEC_LENGTH_2(a, l)           \
-	{                                \
-		GREAL _pp = VEC_DOT_2(a, a); \
-		GIM_SQRT(_pp, l);            \
-	}
-
-/// Vector length
-#define VEC_LENGTH(a, l)           \
-	{                              \
-		GREAL _pp = VEC_DOT(a, a); \
-		GIM_SQRT(_pp, l);          \
-	}
-
-/// Vector length
-#define VEC_LENGTH_4(a, l)           \
-	{                                \
-		GREAL _pp = VEC_DOT_4(a, a); \
-		GIM_SQRT(_pp, l);            \
-	}
-
-/// Vector inv length
-#define VEC_INV_LENGTH_2(a, l)       \
-	{                                \
-		GREAL _pp = VEC_DOT_2(a, a); \
-		GIM_INV_SQRT(_pp, l);        \
-	}
-
-/// Vector inv length
-#define VEC_INV_LENGTH(a, l)       \
-	{                              \
-		GREAL _pp = VEC_DOT(a, a); \
-		GIM_INV_SQRT(_pp, l);      \
-	}
-
-/// Vector inv length
-#define VEC_INV_LENGTH_4(a, l)       \
-	{                                \
-		GREAL _pp = VEC_DOT_4(a, a); \
-		GIM_INV_SQRT(_pp, l);        \
-	}
-
-/// distance between two points
-#define VEC_DISTANCE(_len, _va, _vb) \
-	{                                \
-		vec3f _tmp_;                 \
-		VEC_DIFF(_tmp_, _vb, _va);   \
-		VEC_LENGTH(_tmp_, _len);     \
-	}
-
-/// Vector length
-#define VEC_CONJUGATE_LENGTH(a, l)                                 \
-	{                                                              \
-		GREAL _pp = 1.0 - a[0] * a[0] - a[1] * a[1] - a[2] * a[2]; \
-		GIM_SQRT(_pp, l);                                          \
-	}
-
-/// Vector length
-#define VEC_NORMALIZE(a)           \
-	{                              \
-		GREAL len;                 \
-		VEC_INV_LENGTH(a, len);    \
-		if (len < G_REAL_INFINITY) \
-		{                          \
-			a[0] *= len;           \
-			a[1] *= len;           \
-			a[2] *= len;           \
-		}                          \
-	}
-
-/// Set Vector size
-#define VEC_RENORMALIZE(a, newlen) \
-	{                              \
-		GREAL len;                 \
-		VEC_INV_LENGTH(a, len);    \
-		if (len < G_REAL_INFINITY) \
-		{                          \
-			len *= newlen;         \
-			a[0] *= len;           \
-			a[1] *= len;           \
-			a[2] *= len;           \
-		}                          \
-	}
-
-/// Vector cross
-#define VEC_CROSS(c, a, b)                        \
-	{                                             \
-		c[0] = (a)[1] * (b)[2] - (a)[2] * (b)[1]; \
-		c[1] = (a)[2] * (b)[0] - (a)[0] * (b)[2]; \
-		c[2] = (a)[0] * (b)[1] - (a)[1] * (b)[0]; \
-	}
-
-/*! Vector perp -- assumes that n is of unit length
- * accepts vector v, subtracts out any component parallel to n */
-#define VEC_PERPENDICULAR(vp, v, n)    \
-	{                                  \
-		GREAL dot = VEC_DOT(v, n);     \
-		vp[0] = (v)[0] - dot * (n)[0]; \
-		vp[1] = (v)[1] - dot * (n)[1]; \
-		vp[2] = (v)[2] - dot * (n)[2]; \
-	}
-
-/*! Vector parallel -- assumes that n is of unit length */
-#define VEC_PARALLEL(vp, v, n)     \
-	{                              \
-		GREAL dot = VEC_DOT(v, n); \
-		vp[0] = (dot) * (n)[0];    \
-		vp[1] = (dot) * (n)[1];    \
-		vp[2] = (dot) * (n)[2];    \
-	}
-
-/*! Same as Vector parallel --  n can have any length
- * accepts vector v, subtracts out any component perpendicular to n */
-#define VEC_PROJECT(vp, v, n)         \
-	{                                 \
-		GREAL scalar = VEC_DOT(v, n); \
-		scalar /= VEC_DOT(n, n);      \
-		vp[0] = (scalar) * (n)[0];    \
-		vp[1] = (scalar) * (n)[1];    \
-		vp[2] = (scalar) * (n)[2];    \
-	}
-
-/*! accepts vector v*/
-#define VEC_UNPROJECT(vp, v, n)          \
-	{                                    \
-		GREAL scalar = VEC_DOT(v, n);    \
-		scalar = VEC_DOT(n, n) / scalar; \
-		vp[0] = (scalar) * (n)[0];       \
-		vp[1] = (scalar) * (n)[1];       \
-		vp[2] = (scalar) * (n)[2];       \
-	}
-
-/*! Vector reflection -- assumes n is of unit length
- Takes vector v, reflects it against reflector n, and returns vr */
-#define VEC_REFLECT(vr, v, n)                  \
-	{                                          \
-		GREAL dot = VEC_DOT(v, n);             \
-		vr[0] = (v)[0] - 2.0 * (dot) * (n)[0]; \
-		vr[1] = (v)[1] - 2.0 * (dot) * (n)[1]; \
-		vr[2] = (v)[2] - 2.0 * (dot) * (n)[2]; \
-	}
-
-/*! Vector blending
-Takes two vectors a, b, blends them together with two scalars */
-#define VEC_BLEND_AB(vr, sa, a, sb, b)         \
-	{                                          \
-		vr[0] = (sa) * (a)[0] + (sb) * (b)[0]; \
-		vr[1] = (sa) * (a)[1] + (sb) * (b)[1]; \
-		vr[2] = (sa) * (a)[2] + (sb) * (b)[2]; \
-	}
-
-/*! Vector blending
-Takes two vectors a, b, blends them together with s <=1 */
-#define VEC_BLEND(vr, a, b, s) VEC_BLEND_AB(vr, (1 - s), a, s, b)
-
-#define VEC_SET3(a, b, op, c) \
-	a[0] = b[0] op c[0];      \
-	a[1] = b[1] op c[1];      \
-	a[2] = b[2] op c[2];
-
-//! Finds the bigger cartesian coordinate from a vector
-#define VEC_MAYOR_COORD(vec, maxc)                                          \
-	{                                                                       \
-		GREAL A[] = {fabs(vec[0]), fabs(vec[1]), fabs(vec[2])};             \
-		maxc = A[0] > A[1] ? (A[0] > A[2] ? 0 : 2) : (A[1] > A[2] ? 1 : 2); \
-	}
-
-//! Finds the 2 smallest cartesian coordinates from a vector
-#define VEC_MINOR_AXES(vec, i0, i1) \
-	{                               \
-		VEC_MAYOR_COORD(vec, i0);   \
-		i0 = (i0 + 1) % 3;          \
-		i1 = (i0 + 1) % 3;          \
-	}
-
-#define VEC_EQUAL(v1, v2) (v1[0] == v2[0] && v1[1] == v2[1] && v1[2] == v2[2])
-
-#define VEC_NEAR_EQUAL(v1, v2) (GIM_NEAR_EQUAL(v1[0], v2[0]) && GIM_NEAR_EQUAL(v1[1], v2[1]) && GIM_NEAR_EQUAL(v1[2], v2[2]))
-
-/// Vector cross
-#define X_AXIS_CROSS_VEC(dst, src) \
-	{                              \
-		dst[0] = 0.0f;             \
-		dst[1] = -src[2];          \
-		dst[2] = src[1];           \
-	}
-
-#define Y_AXIS_CROSS_VEC(dst, src) \
-	{                              \
-		dst[0] = src[2];           \
-		dst[1] = 0.0f;             \
-		dst[2] = -src[0];          \
-	}
-
-#define Z_AXIS_CROSS_VEC(dst, src) \
-	{                              \
-		dst[0] = -src[1];          \
-		dst[1] = src[0];           \
-		dst[2] = 0.0f;             \
-	}
-
-/// initialize matrix
-#define IDENTIFY_MATRIX_3X3(m) \
-	{                          \
-		m[0][0] = 1.0;         \
-		m[0][1] = 0.0;         \
-		m[0][2] = 0.0;         \
-                               \
-		m[1][0] = 0.0;         \
-		m[1][1] = 1.0;         \
-		m[1][2] = 0.0;         \
-                               \
-		m[2][0] = 0.0;         \
-		m[2][1] = 0.0;         \
-		m[2][2] = 1.0;         \
-	}
-
-/*! initialize matrix */
-#define IDENTIFY_MATRIX_4X4(m) \
-	{                          \
-		m[0][0] = 1.0;         \
-		m[0][1] = 0.0;         \
-		m[0][2] = 0.0;         \
-		m[0][3] = 0.0;         \
-                               \
-		m[1][0] = 0.0;         \
-		m[1][1] = 1.0;         \
-		m[1][2] = 0.0;         \
-		m[1][3] = 0.0;         \
-                               \
-		m[2][0] = 0.0;         \
-		m[2][1] = 0.0;         \
-		m[2][2] = 1.0;         \
-		m[2][3] = 0.0;         \
-                               \
-		m[3][0] = 0.0;         \
-		m[3][1] = 0.0;         \
-		m[3][2] = 0.0;         \
-		m[3][3] = 1.0;         \
-	}
-
-/*! initialize matrix */
-#define ZERO_MATRIX_4X4(m) \
-	{                      \
-		m[0][0] = 0.0;     \
-		m[0][1] = 0.0;     \
-		m[0][2] = 0.0;     \
-		m[0][3] = 0.0;     \
-                           \
-		m[1][0] = 0.0;     \
-		m[1][1] = 0.0;     \
-		m[1][2] = 0.0;     \
-		m[1][3] = 0.0;     \
-                           \
-		m[2][0] = 0.0;     \
-		m[2][1] = 0.0;     \
-		m[2][2] = 0.0;     \
-		m[2][3] = 0.0;     \
-                           \
-		m[3][0] = 0.0;     \
-		m[3][1] = 0.0;     \
-		m[3][2] = 0.0;     \
-		m[3][3] = 0.0;     \
-	}
-
-/*! matrix rotation  X */
-#define ROTX_CS(m, cosine, sine)        \
-	{                                   \
-		/* rotation about the x-axis */ \
-                                        \
-		m[0][0] = 1.0;                  \
-		m[0][1] = 0.0;                  \
-		m[0][2] = 0.0;                  \
-		m[0][3] = 0.0;                  \
-                                        \
-		m[1][0] = 0.0;                  \
-		m[1][1] = (cosine);             \
-		m[1][2] = (sine);               \
-		m[1][3] = 0.0;                  \
-                                        \
-		m[2][0] = 0.0;                  \
-		m[2][1] = -(sine);              \
-		m[2][2] = (cosine);             \
-		m[2][3] = 0.0;                  \
-                                        \
-		m[3][0] = 0.0;                  \
-		m[3][1] = 0.0;                  \
-		m[3][2] = 0.0;                  \
-		m[3][3] = 1.0;                  \
-	}
-
-/*! matrix rotation  Y */
-#define ROTY_CS(m, cosine, sine)        \
-	{                                   \
-		/* rotation about the y-axis */ \
-                                        \
-		m[0][0] = (cosine);             \
-		m[0][1] = 0.0;                  \
-		m[0][2] = -(sine);              \
-		m[0][3] = 0.0;                  \
-                                        \
-		m[1][0] = 0.0;                  \
-		m[1][1] = 1.0;                  \
-		m[1][2] = 0.0;                  \
-		m[1][3] = 0.0;                  \
-                                        \
-		m[2][0] = (sine);               \
-		m[2][1] = 0.0;                  \
-		m[2][2] = (cosine);             \
-		m[2][3] = 0.0;                  \
-                                        \
-		m[3][0] = 0.0;                  \
-		m[3][1] = 0.0;                  \
-		m[3][2] = 0.0;                  \
-		m[3][3] = 1.0;                  \
-	}
-
-/*! matrix rotation  Z */
-#define ROTZ_CS(m, cosine, sine)        \
-	{                                   \
-		/* rotation about the z-axis */ \
-                                        \
-		m[0][0] = (cosine);             \
-		m[0][1] = (sine);               \
-		m[0][2] = 0.0;                  \
-		m[0][3] = 0.0;                  \
-                                        \
-		m[1][0] = -(sine);              \
-		m[1][1] = (cosine);             \
-		m[1][2] = 0.0;                  \
-		m[1][3] = 0.0;                  \
-                                        \
-		m[2][0] = 0.0;                  \
-		m[2][1] = 0.0;                  \
-		m[2][2] = 1.0;                  \
-		m[2][3] = 0.0;                  \
-                                        \
-		m[3][0] = 0.0;                  \
-		m[3][1] = 0.0;                  \
-		m[3][2] = 0.0;                  \
-		m[3][3] = 1.0;                  \
-	}
-
-/*! matrix copy */
-#define COPY_MATRIX_2X2(b, a) \
-	{                         \
-		b[0][0] = a[0][0];    \
-		b[0][1] = a[0][1];    \
-                              \
-		b[1][0] = a[1][0];    \
-		b[1][1] = a[1][1];    \
-	}
-
-/*! matrix copy */
-#define COPY_MATRIX_2X3(b, a) \
-	{                         \
-		b[0][0] = a[0][0];    \
-		b[0][1] = a[0][1];    \
-		b[0][2] = a[0][2];    \
-                              \
-		b[1][0] = a[1][0];    \
-		b[1][1] = a[1][1];    \
-		b[1][2] = a[1][2];    \
-	}
-
-/*! matrix copy */
-#define COPY_MATRIX_3X3(b, a) \
-	{                         \
-		b[0][0] = a[0][0];    \
-		b[0][1] = a[0][1];    \
-		b[0][2] = a[0][2];    \
-                              \
-		b[1][0] = a[1][0];    \
-		b[1][1] = a[1][1];    \
-		b[1][2] = a[1][2];    \
-                              \
-		b[2][0] = a[2][0];    \
-		b[2][1] = a[2][1];    \
-		b[2][2] = a[2][2];    \
-	}
-
-/*! matrix copy */
-#define COPY_MATRIX_4X4(b, a) \
-	{                         \
-		b[0][0] = a[0][0];    \
-		b[0][1] = a[0][1];    \
-		b[0][2] = a[0][2];    \
-		b[0][3] = a[0][3];    \
-                              \
-		b[1][0] = a[1][0];    \
-		b[1][1] = a[1][1];    \
-		b[1][2] = a[1][2];    \
-		b[1][3] = a[1][3];    \
-                              \
-		b[2][0] = a[2][0];    \
-		b[2][1] = a[2][1];    \
-		b[2][2] = a[2][2];    \
-		b[2][3] = a[2][3];    \
-                              \
-		b[3][0] = a[3][0];    \
-		b[3][1] = a[3][1];    \
-		b[3][2] = a[3][2];    \
-		b[3][3] = a[3][3];    \
-	}
-
-/*! matrix transpose */
-#define TRANSPOSE_MATRIX_2X2(b, a) \
-	{                              \
-		b[0][0] = a[0][0];         \
-		b[0][1] = a[1][0];         \
-                                   \
-		b[1][0] = a[0][1];         \
-		b[1][1] = a[1][1];         \
-	}
-
-/*! matrix transpose */
-#define TRANSPOSE_MATRIX_3X3(b, a) \
-	{                              \
-		b[0][0] = a[0][0];         \
-		b[0][1] = a[1][0];         \
-		b[0][2] = a[2][0];         \
-                                   \
-		b[1][0] = a[0][1];         \
-		b[1][1] = a[1][1];         \
-		b[1][2] = a[2][1];         \
-                                   \
-		b[2][0] = a[0][2];         \
-		b[2][1] = a[1][2];         \
-		b[2][2] = a[2][2];         \
-	}
-
-/*! matrix transpose */
-#define TRANSPOSE_MATRIX_4X4(b, a) \
-	{                              \
-		b[0][0] = a[0][0];         \
-		b[0][1] = a[1][0];         \
-		b[0][2] = a[2][0];         \
-		b[0][3] = a[3][0];         \
-                                   \
-		b[1][0] = a[0][1];         \
-		b[1][1] = a[1][1];         \
-		b[1][2] = a[2][1];         \
-		b[1][3] = a[3][1];         \
-                                   \
-		b[2][0] = a[0][2];         \
-		b[2][1] = a[1][2];         \
-		b[2][2] = a[2][2];         \
-		b[2][3] = a[3][2];         \
-                                   \
-		b[3][0] = a[0][3];         \
-		b[3][1] = a[1][3];         \
-		b[3][2] = a[2][3];         \
-		b[3][3] = a[3][3];         \
-	}
-
-/*! multiply matrix by scalar */
-#define SCALE_MATRIX_2X2(b, s, a) \
-	{                             \
-		b[0][0] = (s)*a[0][0];    \
-		b[0][1] = (s)*a[0][1];    \
-                                  \
-		b[1][0] = (s)*a[1][0];    \
-		b[1][1] = (s)*a[1][1];    \
-	}
-
-/*! multiply matrix by scalar */
-#define SCALE_MATRIX_3X3(b, s, a) \
-	{                             \
-		b[0][0] = (s)*a[0][0];    \
-		b[0][1] = (s)*a[0][1];    \
-		b[0][2] = (s)*a[0][2];    \
-                                  \
-		b[1][0] = (s)*a[1][0];    \
-		b[1][1] = (s)*a[1][1];    \
-		b[1][2] = (s)*a[1][2];    \
-                                  \
-		b[2][0] = (s)*a[2][0];    \
-		b[2][1] = (s)*a[2][1];    \
-		b[2][2] = (s)*a[2][2];    \
-	}
-
-/*! multiply matrix by scalar */
-#define SCALE_MATRIX_4X4(b, s, a) \
-	{                             \
-		b[0][0] = (s)*a[0][0];    \
-		b[0][1] = (s)*a[0][1];    \
-		b[0][2] = (s)*a[0][2];    \
-		b[0][3] = (s)*a[0][3];    \
-                                  \
-		b[1][0] = (s)*a[1][0];    \
-		b[1][1] = (s)*a[1][1];    \
-		b[1][2] = (s)*a[1][2];    \
-		b[1][3] = (s)*a[1][3];    \
-                                  \
-		b[2][0] = (s)*a[2][0];    \
-		b[2][1] = (s)*a[2][1];    \
-		b[2][2] = (s)*a[2][2];    \
-		b[2][3] = (s)*a[2][3];    \
-                                  \
-		b[3][0] = s * a[3][0];    \
-		b[3][1] = s * a[3][1];    \
-		b[3][2] = s * a[3][2];    \
-		b[3][3] = s * a[3][3];    \
-	}
-
-/*! multiply matrix by scalar */
-#define SCALE_VEC_MATRIX_2X2(b, svec, a) \
-	{                                    \
-		b[0][0] = svec[0] * a[0][0];     \
-		b[1][0] = svec[0] * a[1][0];     \
-                                         \
-		b[0][1] = svec[1] * a[0][1];     \
-		b[1][1] = svec[1] * a[1][1];     \
-	}
-
-/*! multiply matrix by scalar. Each columns is scaled by each scalar vector component */
-#define SCALE_VEC_MATRIX_3X3(b, svec, a) \
-	{                                    \
-		b[0][0] = svec[0] * a[0][0];     \
-		b[1][0] = svec[0] * a[1][0];     \
-		b[2][0] = svec[0] * a[2][0];     \
-                                         \
-		b[0][1] = svec[1] * a[0][1];     \
-		b[1][1] = svec[1] * a[1][1];     \
-		b[2][1] = svec[1] * a[2][1];     \
-                                         \
-		b[0][2] = svec[2] * a[0][2];     \
-		b[1][2] = svec[2] * a[1][2];     \
-		b[2][2] = svec[2] * a[2][2];     \
-	}
-
-/*! multiply matrix by scalar */
-#define SCALE_VEC_MATRIX_4X4(b, svec, a) \
-	{                                    \
-		b[0][0] = svec[0] * a[0][0];     \
-		b[1][0] = svec[0] * a[1][0];     \
-		b[2][0] = svec[0] * a[2][0];     \
-		b[3][0] = svec[0] * a[3][0];     \
-                                         \
-		b[0][1] = svec[1] * a[0][1];     \
-		b[1][1] = svec[1] * a[1][1];     \
-		b[2][1] = svec[1] * a[2][1];     \
-		b[3][1] = svec[1] * a[3][1];     \
-                                         \
-		b[0][2] = svec[2] * a[0][2];     \
-		b[1][2] = svec[2] * a[1][2];     \
-		b[2][2] = svec[2] * a[2][2];     \
-		b[3][2] = svec[2] * a[3][2];     \
-                                         \
-		b[0][3] = svec[3] * a[0][3];     \
-		b[1][3] = svec[3] * a[1][3];     \
-		b[2][3] = svec[3] * a[2][3];     \
-		b[3][3] = svec[3] * a[3][3];     \
-	}
-
-/*! multiply matrix by scalar */
-#define ACCUM_SCALE_MATRIX_2X2(b, s, a) \
-	{                                   \
-		b[0][0] += (s)*a[0][0];         \
-		b[0][1] += (s)*a[0][1];         \
-                                        \
-		b[1][0] += (s)*a[1][0];         \
-		b[1][1] += (s)*a[1][1];         \
-	}
-
-/*! multiply matrix by scalar */
-#define ACCUM_SCALE_MATRIX_3X3(b, s, a) \
-	{                                   \
-		b[0][0] += (s)*a[0][0];         \
-		b[0][1] += (s)*a[0][1];         \
-		b[0][2] += (s)*a[0][2];         \
-                                        \
-		b[1][0] += (s)*a[1][0];         \
-		b[1][1] += (s)*a[1][1];         \
-		b[1][2] += (s)*a[1][2];         \
-                                        \
-		b[2][0] += (s)*a[2][0];         \
-		b[2][1] += (s)*a[2][1];         \
-		b[2][2] += (s)*a[2][2];         \
-	}
-
-/*! multiply matrix by scalar */
-#define ACCUM_SCALE_MATRIX_4X4(b, s, a) \
-	{                                   \
-		b[0][0] += (s)*a[0][0];         \
-		b[0][1] += (s)*a[0][1];         \
-		b[0][2] += (s)*a[0][2];         \
-		b[0][3] += (s)*a[0][3];         \
-                                        \
-		b[1][0] += (s)*a[1][0];         \
-		b[1][1] += (s)*a[1][1];         \
-		b[1][2] += (s)*a[1][2];         \
-		b[1][3] += (s)*a[1][3];         \
-                                        \
-		b[2][0] += (s)*a[2][0];         \
-		b[2][1] += (s)*a[2][1];         \
-		b[2][2] += (s)*a[2][2];         \
-		b[2][3] += (s)*a[2][3];         \
-                                        \
-		b[3][0] += (s)*a[3][0];         \
-		b[3][1] += (s)*a[3][1];         \
-		b[3][2] += (s)*a[3][2];         \
-		b[3][3] += (s)*a[3][3];         \
-	}
-
-/*! matrix product */
-/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/
-#define MATRIX_PRODUCT_2X2(c, a, b)                      \
-	{                                                    \
-		c[0][0] = a[0][0] * b[0][0] + a[0][1] * b[1][0]; \
-		c[0][1] = a[0][0] * b[0][1] + a[0][1] * b[1][1]; \
-                                                         \
-		c[1][0] = a[1][0] * b[0][0] + a[1][1] * b[1][0]; \
-		c[1][1] = a[1][0] * b[0][1] + a[1][1] * b[1][1]; \
-	}
-
-/*! matrix product */
-/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/
-#define MATRIX_PRODUCT_3X3(c, a, b)                                          \
-	{                                                                        \
-		c[0][0] = a[0][0] * b[0][0] + a[0][1] * b[1][0] + a[0][2] * b[2][0]; \
-		c[0][1] = a[0][0] * b[0][1] + a[0][1] * b[1][1] + a[0][2] * b[2][1]; \
-		c[0][2] = a[0][0] * b[0][2] + a[0][1] * b[1][2] + a[0][2] * b[2][2]; \
-                                                                             \
-		c[1][0] = a[1][0] * b[0][0] + a[1][1] * b[1][0] + a[1][2] * b[2][0]; \
-		c[1][1] = a[1][0] * b[0][1] + a[1][1] * b[1][1] + a[1][2] * b[2][1]; \
-		c[1][2] = a[1][0] * b[0][2] + a[1][1] * b[1][2] + a[1][2] * b[2][2]; \
-                                                                             \
-		c[2][0] = a[2][0] * b[0][0] + a[2][1] * b[1][0] + a[2][2] * b[2][0]; \
-		c[2][1] = a[2][0] * b[0][1] + a[2][1] * b[1][1] + a[2][2] * b[2][1]; \
-		c[2][2] = a[2][0] * b[0][2] + a[2][1] * b[1][2] + a[2][2] * b[2][2]; \
-	}
-
-/*! matrix product */
-/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/
-#define MATRIX_PRODUCT_4X4(c, a, b)                                                              \
-	{                                                                                            \
-		c[0][0] = a[0][0] * b[0][0] + a[0][1] * b[1][0] + a[0][2] * b[2][0] + a[0][3] * b[3][0]; \
-		c[0][1] = a[0][0] * b[0][1] + a[0][1] * b[1][1] + a[0][2] * b[2][1] + a[0][3] * b[3][1]; \
-		c[0][2] = a[0][0] * b[0][2] + a[0][1] * b[1][2] + a[0][2] * b[2][2] + a[0][3] * b[3][2]; \
-		c[0][3] = a[0][0] * b[0][3] + a[0][1] * b[1][3] + a[0][2] * b[2][3] + a[0][3] * b[3][3]; \
-                                                                                                 \
-		c[1][0] = a[1][0] * b[0][0] + a[1][1] * b[1][0] + a[1][2] * b[2][0] + a[1][3] * b[3][0]; \
-		c[1][1] = a[1][0] * b[0][1] + a[1][1] * b[1][1] + a[1][2] * b[2][1] + a[1][3] * b[3][1]; \
-		c[1][2] = a[1][0] * b[0][2] + a[1][1] * b[1][2] + a[1][2] * b[2][2] + a[1][3] * b[3][2]; \
-		c[1][3] = a[1][0] * b[0][3] + a[1][1] * b[1][3] + a[1][2] * b[2][3] + a[1][3] * b[3][3]; \
-                                                                                                 \
-		c[2][0] = a[2][0] * b[0][0] + a[2][1] * b[1][0] + a[2][2] * b[2][0] + a[2][3] * b[3][0]; \
-		c[2][1] = a[2][0] * b[0][1] + a[2][1] * b[1][1] + a[2][2] * b[2][1] + a[2][3] * b[3][1]; \
-		c[2][2] = a[2][0] * b[0][2] + a[2][1] * b[1][2] + a[2][2] * b[2][2] + a[2][3] * b[3][2]; \
-		c[2][3] = a[2][0] * b[0][3] + a[2][1] * b[1][3] + a[2][2] * b[2][3] + a[2][3] * b[3][3]; \
-                                                                                                 \
-		c[3][0] = a[3][0] * b[0][0] + a[3][1] * b[1][0] + a[3][2] * b[2][0] + a[3][3] * b[3][0]; \
-		c[3][1] = a[3][0] * b[0][1] + a[3][1] * b[1][1] + a[3][2] * b[2][1] + a[3][3] * b[3][1]; \
-		c[3][2] = a[3][0] * b[0][2] + a[3][1] * b[1][2] + a[3][2] * b[2][2] + a[3][3] * b[3][2]; \
-		c[3][3] = a[3][0] * b[0][3] + a[3][1] * b[1][3] + a[3][2] * b[2][3] + a[3][3] * b[3][3]; \
-	}
-
-/*! matrix times vector */
-#define MAT_DOT_VEC_2X2(p, m, v)                \
-	{                                           \
-		p[0] = m[0][0] * v[0] + m[0][1] * v[1]; \
-		p[1] = m[1][0] * v[0] + m[1][1] * v[1]; \
-	}
-
-/*! matrix times vector */
-#define MAT_DOT_VEC_3X3(p, m, v)                                 \
-	{                                                            \
-		p[0] = m[0][0] * v[0] + m[0][1] * v[1] + m[0][2] * v[2]; \
-		p[1] = m[1][0] * v[0] + m[1][1] * v[1] + m[1][2] * v[2]; \
-		p[2] = m[2][0] * v[0] + m[2][1] * v[1] + m[2][2] * v[2]; \
-	}
-
-/*! matrix times vector
-v is a vec4f
-*/
-#define MAT_DOT_VEC_4X4(p, m, v)                                                  \
-	{                                                                             \
-		p[0] = m[0][0] * v[0] + m[0][1] * v[1] + m[0][2] * v[2] + m[0][3] * v[3]; \
-		p[1] = m[1][0] * v[0] + m[1][1] * v[1] + m[1][2] * v[2] + m[1][3] * v[3]; \
-		p[2] = m[2][0] * v[0] + m[2][1] * v[1] + m[2][2] * v[2] + m[2][3] * v[3]; \
-		p[3] = m[3][0] * v[0] + m[3][1] * v[1] + m[3][2] * v[2] + m[3][3] * v[3]; \
-	}
-
-/*! matrix times vector
-v is a vec3f
-and m is a mat4f<br>
-Last column is added as the position
-*/
-#define MAT_DOT_VEC_3X4(p, m, v)                                           \
-	{                                                                      \
-		p[0] = m[0][0] * v[0] + m[0][1] * v[1] + m[0][2] * v[2] + m[0][3]; \
-		p[1] = m[1][0] * v[0] + m[1][1] * v[1] + m[1][2] * v[2] + m[1][3]; \
-		p[2] = m[2][0] * v[0] + m[2][1] * v[1] + m[2][2] * v[2] + m[2][3]; \
-	}
-
-/*! vector transpose times matrix */
-/*! p[j] = v[0]*m[0][j] + v[1]*m[1][j] + v[2]*m[2][j]; */
-#define VEC_DOT_MAT_3X3(p, v, m)                                 \
-	{                                                            \
-		p[0] = v[0] * m[0][0] + v[1] * m[1][0] + v[2] * m[2][0]; \
-		p[1] = v[0] * m[0][1] + v[1] * m[1][1] + v[2] * m[2][1]; \
-		p[2] = v[0] * m[0][2] + v[1] * m[1][2] + v[2] * m[2][2]; \
-	}
-
-/*! affine matrix times vector */
-/** The matrix is assumed to be an affine matrix, with last two
- * entries representing a translation */
-#define MAT_DOT_VEC_2X3(p, m, v)                          \
-	{                                                     \
-		p[0] = m[0][0] * v[0] + m[0][1] * v[1] + m[0][2]; \
-		p[1] = m[1][0] * v[0] + m[1][1] * v[1] + m[1][2]; \
-	}
-
-//! Transform a plane
-#define MAT_TRANSFORM_PLANE_4X4(pout, m, plane)                                         \
-	{                                                                                   \
-		pout[0] = m[0][0] * plane[0] + m[0][1] * plane[1] + m[0][2] * plane[2];         \
-		pout[1] = m[1][0] * plane[0] + m[1][1] * plane[1] + m[1][2] * plane[2];         \
-		pout[2] = m[2][0] * plane[0] + m[2][1] * plane[1] + m[2][2] * plane[2];         \
-		pout[3] = m[0][3] * pout[0] + m[1][3] * pout[1] + m[2][3] * pout[2] + plane[3]; \
-	}
-
-/** inverse transpose of matrix times vector
- *
- * This macro computes inverse transpose of matrix m,
- * and multiplies vector v into it, to yeild vector p
- *
- * DANGER !!! Do Not use this on normal vectors!!!
- * It will leave normals the wrong length !!!
- * See macro below for use on normals.
- */
-#define INV_TRANSP_MAT_DOT_VEC_2X2(p, m, v)                                 \
-	{                                                                       \
-		GREAL det;                                                          \
-                                                                            \
-		det = m[0][0] * m[1][1] - m[0][1] * m[1][0];                        \
-		p[0] = m[1][1] * v[0] - m[1][0] * v[1];                             \
-		p[1] = -m[0][1] * v[0] + m[0][0] * v[1];                            \
-                                                                            \
-		/* if matrix not singular, and not orthonormal, then renormalize */ \
-		if ((det != 1.0f) && (det != 0.0f))                                 \
-		{                                                                   \
-			det = 1.0f / det;                                               \
-			p[0] *= det;                                                    \
-			p[1] *= det;                                                    \
-		}                                                                   \
-	}
-
-/** transform normal vector by inverse transpose of matrix
- * and then renormalize the vector
- *
- * This macro computes inverse transpose of matrix m,
- * and multiplies vector v into it, to yeild vector p
- * Vector p is then normalized.
- */
-#define NORM_XFORM_2X2(p, m, v)                                           \
-	{                                                                     \
-		GREAL len;                                                        \
-                                                                          \
-		/* do nothing if off-diagonals are zero and diagonals are 	\
-    * equal */      \
-		if ((m[0][1] != 0.0) || (m[1][0] != 0.0) || (m[0][0] != m[1][1])) \
-		{                                                                 \
-			p[0] = m[1][1] * v[0] - m[1][0] * v[1];                       \
-			p[1] = -m[0][1] * v[0] + m[0][0] * v[1];                      \
-                                                                          \
-			len = p[0] * p[0] + p[1] * p[1];                              \
-			GIM_INV_SQRT(len, len);                                       \
-			p[0] *= len;                                                  \
-			p[1] *= len;                                                  \
-		}                                                                 \
-		else                                                              \
-		{                                                                 \
-			VEC_COPY_2(p, v);                                             \
-		}                                                                 \
-	}
-
-/** outer product of vector times vector transpose
- *
- * The outer product of vector v and vector transpose t yeilds
- * dyadic matrix m.
- */
-#define OUTER_PRODUCT_2X2(m, v, t) \
-	{                              \
-		m[0][0] = v[0] * t[0];     \
-		m[0][1] = v[0] * t[1];     \
-                                   \
-		m[1][0] = v[1] * t[0];     \
-		m[1][1] = v[1] * t[1];     \
-	}
-
-/** outer product of vector times vector transpose
- *
- * The outer product of vector v and vector transpose t yeilds
- * dyadic matrix m.
- */
-#define OUTER_PRODUCT_3X3(m, v, t) \
-	{                              \
-		m[0][0] = v[0] * t[0];     \
-		m[0][1] = v[0] * t[1];     \
-		m[0][2] = v[0] * t[2];     \
-                                   \
-		m[1][0] = v[1] * t[0];     \
-		m[1][1] = v[1] * t[1];     \
-		m[1][2] = v[1] * t[2];     \
-                                   \
-		m[2][0] = v[2] * t[0];     \
-		m[2][1] = v[2] * t[1];     \
-		m[2][2] = v[2] * t[2];     \
-	}
-
-/** outer product of vector times vector transpose
- *
- * The outer product of vector v and vector transpose t yeilds
- * dyadic matrix m.
- */
-#define OUTER_PRODUCT_4X4(m, v, t) \
-	{                              \
-		m[0][0] = v[0] * t[0];     \
-		m[0][1] = v[0] * t[1];     \
-		m[0][2] = v[0] * t[2];     \
-		m[0][3] = v[0] * t[3];     \
-                                   \
-		m[1][0] = v[1] * t[0];     \
-		m[1][1] = v[1] * t[1];     \
-		m[1][2] = v[1] * t[2];     \
-		m[1][3] = v[1] * t[3];     \
-                                   \
-		m[2][0] = v[2] * t[0];     \
-		m[2][1] = v[2] * t[1];     \
-		m[2][2] = v[2] * t[2];     \
-		m[2][3] = v[2] * t[3];     \
-                                   \
-		m[3][0] = v[3] * t[0];     \
-		m[3][1] = v[3] * t[1];     \
-		m[3][2] = v[3] * t[2];     \
-		m[3][3] = v[3] * t[3];     \
-	}
-
-/** outer product of vector times vector transpose
- *
- * The outer product of vector v and vector transpose t yeilds
- * dyadic matrix m.
- */
-#define ACCUM_OUTER_PRODUCT_2X2(m, v, t) \
-	{                                    \
-		m[0][0] += v[0] * t[0];          \
-		m[0][1] += v[0] * t[1];          \
-                                         \
-		m[1][0] += v[1] * t[0];          \
-		m[1][1] += v[1] * t[1];          \
-	}
-
-/** outer product of vector times vector transpose
- *
- * The outer product of vector v and vector transpose t yeilds
- * dyadic matrix m.
- */
-#define ACCUM_OUTER_PRODUCT_3X3(m, v, t) \
-	{                                    \
-		m[0][0] += v[0] * t[0];          \
-		m[0][1] += v[0] * t[1];          \
-		m[0][2] += v[0] * t[2];          \
-                                         \
-		m[1][0] += v[1] * t[0];          \
-		m[1][1] += v[1] * t[1];          \
-		m[1][2] += v[1] * t[2];          \
-                                         \
-		m[2][0] += v[2] * t[0];          \
-		m[2][1] += v[2] * t[1];          \
-		m[2][2] += v[2] * t[2];          \
-	}
-
-/** outer product of vector times vector transpose
- *
- * The outer product of vector v and vector transpose t yeilds
- * dyadic matrix m.
- */
-#define ACCUM_OUTER_PRODUCT_4X4(m, v, t) \
-	{                                    \
-		m[0][0] += v[0] * t[0];          \
-		m[0][1] += v[0] * t[1];          \
-		m[0][2] += v[0] * t[2];          \
-		m[0][3] += v[0] * t[3];          \
-                                         \
-		m[1][0] += v[1] * t[0];          \
-		m[1][1] += v[1] * t[1];          \
-		m[1][2] += v[1] * t[2];          \
-		m[1][3] += v[1] * t[3];          \
-                                         \
-		m[2][0] += v[2] * t[0];          \
-		m[2][1] += v[2] * t[1];          \
-		m[2][2] += v[2] * t[2];          \
-		m[2][3] += v[2] * t[3];          \
-                                         \
-		m[3][0] += v[3] * t[0];          \
-		m[3][1] += v[3] * t[1];          \
-		m[3][2] += v[3] * t[2];          \
-		m[3][3] += v[3] * t[3];          \
-	}
-
-/** determinant of matrix
- *
- * Computes determinant of matrix m, returning d
- */
-#define DETERMINANT_2X2(d, m)                      \
-	{                                              \
-		d = m[0][0] * m[1][1] - m[0][1] * m[1][0]; \
-	}
-
-/** determinant of matrix
- *
- * Computes determinant of matrix m, returning d
- */
-#define DETERMINANT_3X3(d, m)                                   \
-	{                                                           \
-		d = m[0][0] * (m[1][1] * m[2][2] - m[1][2] * m[2][1]);  \
-		d -= m[0][1] * (m[1][0] * m[2][2] - m[1][2] * m[2][0]); \
-		d += m[0][2] * (m[1][0] * m[2][1] - m[1][1] * m[2][0]); \
-	}
-
-/** i,j,th cofactor of a 4x4 matrix
- *
- */
-#define COFACTOR_4X4_IJ(fac, m, i, j)                                                                                           \
-	{                                                                                                                           \
-		GUINT __ii[4], __jj[4], __k;                                                                                            \
-                                                                                                                                \
-		for (__k = 0; __k < i; __k++) __ii[__k] = __k;                                                                          \
-		for (__k = i; __k < 3; __k++) __ii[__k] = __k + 1;                                                                      \
-		for (__k = 0; __k < j; __k++) __jj[__k] = __k;                                                                          \
-		for (__k = j; __k < 3; __k++) __jj[__k] = __k + 1;                                                                      \
-                                                                                                                                \
-		(fac) = m[__ii[0]][__jj[0]] * (m[__ii[1]][__jj[1]] * m[__ii[2]][__jj[2]] - m[__ii[1]][__jj[2]] * m[__ii[2]][__jj[1]]);  \
-		(fac) -= m[__ii[0]][__jj[1]] * (m[__ii[1]][__jj[0]] * m[__ii[2]][__jj[2]] - m[__ii[1]][__jj[2]] * m[__ii[2]][__jj[0]]); \
-		(fac) += m[__ii[0]][__jj[2]] * (m[__ii[1]][__jj[0]] * m[__ii[2]][__jj[1]] - m[__ii[1]][__jj[1]] * m[__ii[2]][__jj[0]]); \
-                                                                                                                                \
-		__k = i + j;                                                                                                            \
-		if (__k != (__k / 2) * 2)                                                                                               \
-		{                                                                                                                       \
-			(fac) = -(fac);                                                                                                     \
-		}                                                                                                                       \
-	}
-
-/** determinant of matrix
- *
- * Computes determinant of matrix m, returning d
- */
-#define DETERMINANT_4X4(d, m)            \
-	{                                    \
-		GREAL cofac;                     \
-		COFACTOR_4X4_IJ(cofac, m, 0, 0); \
-		d = m[0][0] * cofac;             \
-		COFACTOR_4X4_IJ(cofac, m, 0, 1); \
-		d += m[0][1] * cofac;            \
-		COFACTOR_4X4_IJ(cofac, m, 0, 2); \
-		d += m[0][2] * cofac;            \
-		COFACTOR_4X4_IJ(cofac, m, 0, 3); \
-		d += m[0][3] * cofac;            \
-	}
-
-/** cofactor of matrix
- *
- * Computes cofactor of matrix m, returning a
- */
-#define COFACTOR_2X2(a, m)    \
-	{                         \
-		a[0][0] = (m)[1][1];  \
-		a[0][1] = -(m)[1][0]; \
-		a[1][0] = -(m)[0][1]; \
-		a[1][1] = (m)[0][0];  \
-	}
-
-/** cofactor of matrix
- *
- * Computes cofactor of matrix m, returning a
- */
-#define COFACTOR_3X3(a, m)                                  \
-	{                                                       \
-		a[0][0] = m[1][1] * m[2][2] - m[1][2] * m[2][1];    \
-		a[0][1] = -(m[1][0] * m[2][2] - m[2][0] * m[1][2]); \
-		a[0][2] = m[1][0] * m[2][1] - m[1][1] * m[2][0];    \
-		a[1][0] = -(m[0][1] * m[2][2] - m[0][2] * m[2][1]); \
-		a[1][1] = m[0][0] * m[2][2] - m[0][2] * m[2][0];    \
-		a[1][2] = -(m[0][0] * m[2][1] - m[0][1] * m[2][0]); \
-		a[2][0] = m[0][1] * m[1][2] - m[0][2] * m[1][1];    \
-		a[2][1] = -(m[0][0] * m[1][2] - m[0][2] * m[1][0]); \
-   a[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0]);            \
-	}
-
-/** cofactor of matrix
- *
- * Computes cofactor of matrix m, returning a
- */
-#define COFACTOR_4X4(a, m)                         \
-	{                                              \
-		int i, j;                                  \
-                                                   \
-		for (i = 0; i < 4; i++)                    \
-		{                                          \
-			for (j = 0; j < 4; j++)                \
-			{                                      \
-				COFACTOR_4X4_IJ(a[i][j], m, i, j); \
-			}                                      \
-		}                                          \
-	}
-
-/** adjoint of matrix
- *
- * Computes adjoint of matrix m, returning a
- * (Note that adjoint is just the transpose of the cofactor matrix)
- */
-#define ADJOINT_2X2(a, m)     \
-	{                         \
-		a[0][0] = (m)[1][1];  \
-		a[1][0] = -(m)[1][0]; \
-		a[0][1] = -(m)[0][1]; \
-		a[1][1] = (m)[0][0];  \
-	}
-
-/** adjoint of matrix
- *
- * Computes adjoint of matrix m, returning a
- * (Note that adjoint is just the transpose of the cofactor matrix)
- */
-#define ADJOINT_3X3(a, m)                                   \
-	{                                                       \
-		a[0][0] = m[1][1] * m[2][2] - m[1][2] * m[2][1];    \
-		a[1][0] = -(m[1][0] * m[2][2] - m[2][0] * m[1][2]); \
-		a[2][0] = m[1][0] * m[2][1] - m[1][1] * m[2][0];    \
-		a[0][1] = -(m[0][1] * m[2][2] - m[0][2] * m[2][1]); \
-		a[1][1] = m[0][0] * m[2][2] - m[0][2] * m[2][0];    \
-		a[2][1] = -(m[0][0] * m[2][1] - m[0][1] * m[2][0]); \
-		a[0][2] = m[0][1] * m[1][2] - m[0][2] * m[1][1];    \
-		a[1][2] = -(m[0][0] * m[1][2] - m[0][2] * m[1][0]); \
-   a[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0]);            \
-	}
-
-/** adjoint of matrix
- *
- * Computes adjoint of matrix m, returning a
- * (Note that adjoint is just the transpose of the cofactor matrix)
- */
-#define ADJOINT_4X4(a, m)                                  \
-	{                                                      \
-		char _i_, _j_;                                     \
-                                                           \
-		for (_i_ = 0; _i_ < 4; _i_++)                      \
-		{                                                  \
-			for (_j_ = 0; _j_ < 4; _j_++)                  \
-			{                                              \
-				COFACTOR_4X4_IJ(a[_j_][_i_], m, _i_, _j_); \
-			}                                              \
-		}                                                  \
-	}
-
-/** compute adjoint of matrix and scale
- *
- * Computes adjoint of matrix m, scales it by s, returning a
- */
-#define SCALE_ADJOINT_2X2(a, s, m) \
-	{                              \
-		a[0][0] = (s)*m[1][1];     \
-		a[1][0] = -(s)*m[1][0];    \
-		a[0][1] = -(s)*m[0][1];    \
-		a[1][1] = (s)*m[0][0];     \
-	}
-
-/** compute adjoint of matrix and scale
- *
- * Computes adjoint of matrix m, scales it by s, returning a
- */
-#define SCALE_ADJOINT_3X3(a, s, m)                               \
-	{                                                            \
-		a[0][0] = (s) * (m[1][1] * m[2][2] - m[1][2] * m[2][1]); \
-		a[1][0] = (s) * (m[1][2] * m[2][0] - m[1][0] * m[2][2]); \
-		a[2][0] = (s) * (m[1][0] * m[2][1] - m[1][1] * m[2][0]); \
-                                                                 \
-		a[0][1] = (s) * (m[0][2] * m[2][1] - m[0][1] * m[2][2]); \
-		a[1][1] = (s) * (m[0][0] * m[2][2] - m[0][2] * m[2][0]); \
-		a[2][1] = (s) * (m[0][1] * m[2][0] - m[0][0] * m[2][1]); \
-                                                                 \
-		a[0][2] = (s) * (m[0][1] * m[1][2] - m[0][2] * m[1][1]); \
-		a[1][2] = (s) * (m[0][2] * m[1][0] - m[0][0] * m[1][2]); \
-		a[2][2] = (s) * (m[0][0] * m[1][1] - m[0][1] * m[1][0]); \
-	}
-
-/** compute adjoint of matrix and scale
- *
- * Computes adjoint of matrix m, scales it by s, returning a
- */
-#define SCALE_ADJOINT_4X4(a, s, m)                         \
-	{                                                      \
-		char _i_, _j_;                                     \
-		for (_i_ = 0; _i_ < 4; _i_++)                      \
-		{                                                  \
-			for (_j_ = 0; _j_ < 4; _j_++)                  \
-			{                                              \
-				COFACTOR_4X4_IJ(a[_j_][_i_], m, _i_, _j_); \
-				a[_j_][_i_] *= s;                          \
-			}                                              \
-		}                                                  \
-	}
-
-/** inverse of matrix
- *
- * Compute inverse of matrix a, returning determinant m and
- * inverse b
- */
-#define INVERT_2X2(b, det, a)           \
-	{                                   \
-		GREAL _tmp_;                    \
-		DETERMINANT_2X2(det, a);        \
-		_tmp_ = 1.0 / (det);            \
-		SCALE_ADJOINT_2X2(b, _tmp_, a); \
-	}
-
-/** inverse of matrix
- *
- * Compute inverse of matrix a, returning determinant m and
- * inverse b
- */
-#define INVERT_3X3(b, det, a)           \
-	{                                   \
-		GREAL _tmp_;                    \
-		DETERMINANT_3X3(det, a);        \
-		_tmp_ = 1.0 / (det);            \
-		SCALE_ADJOINT_3X3(b, _tmp_, a); \
-	}
-
-/** inverse of matrix
- *
- * Compute inverse of matrix a, returning determinant m and
- * inverse b
- */
-#define INVERT_4X4(b, det, a)           \
-	{                                   \
-		GREAL _tmp_;                    \
-		DETERMINANT_4X4(det, a);        \
-		_tmp_ = 1.0 / (det);            \
-		SCALE_ADJOINT_4X4(b, _tmp_, a); \
-	}
-
-//! Get the triple(3) row of a transform matrix
-#define MAT_GET_ROW(mat, vec3, rowindex) \
-	{                                    \
-		vec3[0] = mat[rowindex][0];      \
-		vec3[1] = mat[rowindex][1];      \
-		vec3[2] = mat[rowindex][2];      \
-	}
-
-//! Get the tuple(2) row of a transform matrix
-#define MAT_GET_ROW2(mat, vec2, rowindex) \
-	{                                     \
-		vec2[0] = mat[rowindex][0];       \
-		vec2[1] = mat[rowindex][1];       \
-	}
-
-//! Get the quad (4) row of a transform matrix
-#define MAT_GET_ROW4(mat, vec4, rowindex) \
-	{                                     \
-		vec4[0] = mat[rowindex][0];       \
-		vec4[1] = mat[rowindex][1];       \
-		vec4[2] = mat[rowindex][2];       \
-		vec4[3] = mat[rowindex][3];       \
-	}
-
-//! Get the triple(3) col of a transform matrix
-#define MAT_GET_COL(mat, vec3, colindex) \
-	{                                    \
-		vec3[0] = mat[0][colindex];      \
-		vec3[1] = mat[1][colindex];      \
-		vec3[2] = mat[2][colindex];      \
-	}
-
-//! Get the tuple(2) col of a transform matrix
-#define MAT_GET_COL2(mat, vec2, colindex) \
-	{                                     \
-		vec2[0] = mat[0][colindex];       \
-		vec2[1] = mat[1][colindex];       \
-	}
-
-//! Get the quad (4) col of a transform matrix
-#define MAT_GET_COL4(mat, vec4, colindex) \
-	{                                     \
-		vec4[0] = mat[0][colindex];       \
-		vec4[1] = mat[1][colindex];       \
-		vec4[2] = mat[2][colindex];       \
-		vec4[3] = mat[3][colindex];       \
-	}
-
-//! Get the triple(3) col of a transform matrix
-#define MAT_GET_X(mat, vec3)       \
-	{                              \
-		MAT_GET_COL(mat, vec3, 0); \
-	}
-
-//! Get the triple(3) col of a transform matrix
-#define MAT_GET_Y(mat, vec3)       \
-	{                              \
-		MAT_GET_COL(mat, vec3, 1); \
-	}
-
-//! Get the triple(3) col of a transform matrix
-#define MAT_GET_Z(mat, vec3)       \
-	{                              \
-		MAT_GET_COL(mat, vec3, 2); \
-	}
-
-//! Get the triple(3) col of a transform matrix
-#define MAT_SET_X(mat, vec3) \
-	{                        \
-		mat[0][0] = vec3[0]; \
-		mat[1][0] = vec3[1]; \
-		mat[2][0] = vec3[2]; \
-	}
-
-//! Get the triple(3) col of a transform matrix
-#define MAT_SET_Y(mat, vec3) \
-	{                        \
-		mat[0][1] = vec3[0]; \
-		mat[1][1] = vec3[1]; \
-		mat[2][1] = vec3[2]; \
-	}
-
-//! Get the triple(3) col of a transform matrix
-#define MAT_SET_Z(mat, vec3) \
-	{                        \
-		mat[0][2] = vec3[0]; \
-		mat[1][2] = vec3[1]; \
-		mat[2][2] = vec3[2]; \
-	}
-
-//! Get the triple(3) col of a transform matrix
-#define MAT_GET_TRANSLATION(mat, vec3) \
-	{                                  \
-		vec3[0] = mat[0][3];           \
-		vec3[1] = mat[1][3];           \
-		vec3[2] = mat[2][3];           \
-	}
-
-//! Set the triple(3) col of a transform matrix
-#define MAT_SET_TRANSLATION(mat, vec3) \
-	{                                  \
-		mat[0][3] = vec3[0];           \
-		mat[1][3] = vec3[1];           \
-		mat[2][3] = vec3[2];           \
-	}
-
-//! Returns the dot product between a vec3f and the row of a matrix
-#define MAT_DOT_ROW(mat, vec3, rowindex) (vec3[0] * mat[rowindex][0] + vec3[1] * mat[rowindex][1] + vec3[2] * mat[rowindex][2])
-
-//! Returns the dot product between a vec2f and the row of a matrix
-#define MAT_DOT_ROW2(mat, vec2, rowindex) (vec2[0] * mat[rowindex][0] + vec2[1] * mat[rowindex][1])
-
-//! Returns the dot product between a vec4f and the row of a matrix
-#define MAT_DOT_ROW4(mat, vec4, rowindex) (vec4[0] * mat[rowindex][0] + vec4[1] * mat[rowindex][1] + vec4[2] * mat[rowindex][2] + vec4[3] * mat[rowindex][3])
-
-//! Returns the dot product between a vec3f and the col of a matrix
-#define MAT_DOT_COL(mat, vec3, colindex) (vec3[0] * mat[0][colindex] + vec3[1] * mat[1][colindex] + vec3[2] * mat[2][colindex])
-
-//! Returns the dot product between a vec2f and the col of a matrix
-#define MAT_DOT_COL2(mat, vec2, colindex) (vec2[0] * mat[0][colindex] + vec2[1] * mat[1][colindex])
-
-//! Returns the dot product between a vec4f and the col of a matrix
-#define MAT_DOT_COL4(mat, vec4, colindex) (vec4[0] * mat[0][colindex] + vec4[1] * mat[1][colindex] + vec4[2] * mat[2][colindex] + vec4[3] * mat[3][colindex])
-
-/*!Transpose matrix times vector
-v is a vec3f
-and m is a mat4f<br>
-*/
-#define INV_MAT_DOT_VEC_3X3(p, m, v) \
-	{                                \
-		p[0] = MAT_DOT_COL(m, v, 0); \
-		p[1] = MAT_DOT_COL(m, v, 1); \
-		p[2] = MAT_DOT_COL(m, v, 2); \
-	}
-
-#endif  // GIM_VECTOR_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_math.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_math.h
deleted file mode 100644
index 3c4f821a72..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_math.h
+++ /dev/null
@@ -1,148 +0,0 @@
-#ifndef GIM_MATH_H_INCLUDED
-#define GIM_MATH_H_INCLUDED
-/*! \file gim_math.h
-\author Francisco Leon Najera
-*/
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-
-#include "LinearMath/btScalar.h"
-
-#define GREAL btScalar
-#define GREAL2 double
-#define GINT int
-#define GUINT unsigned int
-#define GSHORT short
-#define GUSHORT unsigned short
-#define GINT64 long long
-#define GUINT64 unsigned long long
-
-#define G_PI 3.14159265358979f
-#define G_HALF_PI 1.5707963f
-//267948966
-#define G_TWO_PI 6.28318530f
-//71795864
-#define G_ROOT3 1.73205f
-#define G_ROOT2 1.41421f
-#define G_UINT_INFINITY 0xffffffff  //!< A very very high value
-#define G_REAL_INFINITY FLT_MAX
-#define G_SIGN_BITMASK 0x80000000
-#define G_EPSILON SIMD_EPSILON
-
-enum GIM_SCALAR_TYPES
-{
-	G_STYPE_REAL = 0,
-	G_STYPE_REAL2,
-	G_STYPE_SHORT,
-	G_STYPE_USHORT,
-	G_STYPE_INT,
-	G_STYPE_UINT,
-	G_STYPE_INT64,
-	G_STYPE_UINT64
-};
-
-#define G_DEGTORAD(X) ((X)*3.1415926f / 180.0f)
-#define G_RADTODEG(X) ((X)*180.0f / 3.1415926f)
-
-//! Integer representation of a floating-point value.
-#define GIM_IR(x) ((GUINT&)(x))
-
-//! Signed integer representation of a floating-point value.
-#define GIM_SIR(x) ((GINT&)(x))
-
-//! Absolute integer representation of a floating-point value
-#define GIM_AIR(x) (GIM_IR(x) & 0x7fffffff)
-
-//! Floating-point representation of an integer value.
-#define GIM_FR(x) ((GREAL&)(x))
-
-#define GIM_MAX(a, b) (a < b ? b : a)
-#define GIM_MIN(a, b) (a > b ? b : a)
-
-#define GIM_MAX3(a, b, c) GIM_MAX(a, GIM_MAX(b, c))
-#define GIM_MIN3(a, b, c) GIM_MIN(a, GIM_MIN(b, c))
-
-#define GIM_IS_ZERO(value) (value < G_EPSILON && value > -G_EPSILON)
-
-#define GIM_IS_NEGATIVE(value) (value <= -G_EPSILON)
-
-#define GIM_IS_POSISITVE(value) (value >= G_EPSILON)
-
-#define GIM_NEAR_EQUAL(v1, v2) GIM_IS_ZERO((v1 - v2))
-
-///returns a clamped number
-#define GIM_CLAMP(number, minval, maxval) (number < minval ? minval : (number > maxval ? maxval : number))
-
-#define GIM_GREATER(x, y) btFabs(x) > (y)
-
-///Swap numbers
-#define GIM_SWAP_NUMBERS(a, b) \
-	{                          \
-		a = a + b;             \
-		b = a - b;             \
-		a = a - b;             \
-	}
-
-#define GIM_INV_SQRT(va, isva)                         \
-	{                                                  \
-		if (va <= 0.0000001f)                          \
-		{                                              \
-			isva = G_REAL_INFINITY;                    \
-		}                                              \
-		else                                           \
-		{                                              \
-			GREAL _x = va * 0.5f;                      \
-			GUINT _y = 0x5f3759df - (GIM_IR(va) >> 1); \
-			isva = GIM_FR(_y);                         \
-			isva = isva * (1.5f - (_x * isva * isva)); \
-		}                                              \
-	}
-
-#define GIM_SQRT(va, sva)      \
-	{                          \
-		GIM_INV_SQRT(va, sva); \
-		sva = 1.0f / sva;      \
-	}
-
-//! Computes 1.0f / sqrtf(x). Comes from Quake3. See http://www.magic-software.com/3DGEDInvSqrt.html
-inline GREAL gim_inv_sqrt(GREAL f)
-{
-	GREAL r;
-	GIM_INV_SQRT(f, r);
-	return r;
-}
-
-inline GREAL gim_sqrt(GREAL f)
-{
-	GREAL r;
-	GIM_SQRT(f, r);
-	return r;
-}
-
-#endif  // GIM_MATH_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_memory.cpp b/thirdparty/bullet/BulletCollision/Gimpact/gim_memory.cpp
deleted file mode 100644
index 9e29ab91d6..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_memory.cpp
+++ /dev/null
@@ -1,132 +0,0 @@
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-
-#include "gim_memory.h"
-#include "stdlib.h"
-
-#ifdef GIM_SIMD_MEMORY
-#include "LinearMath/btAlignedAllocator.h"
-#endif
-
-static gim_alloc_function *g_allocfn = 0;
-static gim_alloca_function *g_allocafn = 0;
-static gim_realloc_function *g_reallocfn = 0;
-static gim_free_function *g_freefn = 0;
-
-void gim_set_alloc_handler(gim_alloc_function *fn)
-{
-	g_allocfn = fn;
-}
-
-void gim_set_alloca_handler(gim_alloca_function *fn)
-{
-	g_allocafn = fn;
-}
-
-void gim_set_realloc_handler(gim_realloc_function *fn)
-{
-	g_reallocfn = fn;
-}
-
-void gim_set_free_handler(gim_free_function *fn)
-{
-	g_freefn = fn;
-}
-
-gim_alloc_function *gim_get_alloc_handler()
-{
-	return g_allocfn;
-}
-
-gim_alloca_function *gim_get_alloca_handler()
-{
-	return g_allocafn;
-}
-
-gim_realloc_function *gim_get_realloc_handler()
-{
-	return g_reallocfn;
-}
-
-gim_free_function *gim_get_free_handler()
-{
-	return g_freefn;
-}
-
-void *gim_alloc(size_t size)
-{
-	void *ptr;
-	if (g_allocfn)
-	{
-		ptr = g_allocfn(size);
-	}
-	else
-	{
-#ifdef GIM_SIMD_MEMORY
-		ptr = btAlignedAlloc(size, 16);
-#else
-		ptr = malloc(size);
-#endif
-	}
-	return ptr;
-}
-
-void *gim_alloca(size_t size)
-{
-	if (g_allocafn)
-		return g_allocafn(size);
-	else
-		return gim_alloc(size);
-}
-
-void *gim_realloc(void *ptr, size_t oldsize, size_t newsize)
-{
-	void *newptr = gim_alloc(newsize);
-	size_t copysize = oldsize < newsize ? oldsize : newsize;
-	gim_simd_memcpy(newptr, ptr, copysize);
-	gim_free(ptr);
-	return newptr;
-}
-
-void gim_free(void *ptr)
-{
-	if (!ptr) return;
-	if (g_freefn)
-	{
-		g_freefn(ptr);
-	}
-	else
-	{
-#ifdef GIM_SIMD_MEMORY
-		btAlignedFree(ptr);
-#else
-		free(ptr);
-#endif
-	}
-}
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_memory.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_memory.h
deleted file mode 100644
index fffbfa23d8..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_memory.h
+++ /dev/null
@@ -1,177 +0,0 @@
-#ifndef GIM_MEMORY_H_INCLUDED
-#define GIM_MEMORY_H_INCLUDED
-/*! \file gim_memory.h
-\author Francisco Leon Najera
-*/
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-
-#include "gim_math.h"
-#include <string.h>
-
-#ifdef PREFETCH
-#include <xmmintrin.h>  // for prefetch
-#define pfval 64
-#define pfval2 128
-//! Prefetch 64
-#define pf(_x, _i) _mm_prefetch((void *)(_x + _i + pfval), 0)
-//! Prefetch 128
-#define pf2(_x, _i) _mm_prefetch((void *)(_x + _i + pfval2), 0)
-#else
-//! Prefetch 64
-#define pf(_x, _i)
-//! Prefetch 128
-#define pf2(_x, _i)
-#endif
-
-///Functions for manip packed arrays of numbers
-#define GIM_COPY_ARRAYS(dest_array, source_array, element_count) \
-	{                                                            \
-		for (GUINT _i_ = 0; _i_ < element_count; ++_i_)          \
-		{                                                        \
-			dest_array[_i_] = source_array[_i_];                 \
-		}                                                        \
-	}
-
-#define GIM_COPY_ARRAYS_1(dest_array, source_array, element_count, copy_macro) \
-	{                                                                          \
-		for (GUINT _i_ = 0; _i_ < element_count; ++_i_)                        \
-		{                                                                      \
-			copy_macro(dest_array[_i_], source_array[_i_]);                    \
-		}                                                                      \
-	}
-
-#define GIM_ZERO_ARRAY(array, element_count)            \
-	{                                                   \
-		for (GUINT _i_ = 0; _i_ < element_count; ++_i_) \
-		{                                               \
-			array[_i_] = 0;                             \
-		}                                               \
-	}
-
-#define GIM_CONSTANT_ARRAY(array, element_count, constant) \
-	{                                                      \
-		for (GUINT _i_ = 0; _i_ < element_count; ++_i_)    \
-		{                                                  \
-			array[_i_] = constant;                         \
-		}                                                  \
-	}
-
-///Function prototypes to allocate and free memory.
-typedef void *gim_alloc_function(size_t size);
-typedef void *gim_alloca_function(size_t size);  //Allocs on the heap
-typedef void *gim_realloc_function(void *ptr, size_t oldsize, size_t newsize);
-typedef void gim_free_function(void *ptr);
-
-///Memory Function Handlers
-///set new memory management functions. if fn is 0, the default handlers are used.
-void gim_set_alloc_handler(gim_alloc_function *fn);
-void gim_set_alloca_handler(gim_alloca_function *fn);
-void gim_set_realloc_handler(gim_realloc_function *fn);
-void gim_set_free_handler(gim_free_function *fn);
-
-///get current memory management functions.
-gim_alloc_function *gim_get_alloc_handler(void);
-gim_alloca_function *gim_get_alloca_handler(void);
-gim_realloc_function *gim_get_realloc_handler(void);
-gim_free_function *gim_get_free_handler(void);
-
-///Standar Memory functions
-void *gim_alloc(size_t size);
-void *gim_alloca(size_t size);
-void *gim_realloc(void *ptr, size_t oldsize, size_t newsize);
-void gim_free(void *ptr);
-
-#if defined(_WIN32) && !defined(__MINGW32__) && !defined(__CYGWIN__)
-#define GIM_SIMD_MEMORY 1
-#endif
-
-//! SIMD POINTER INTEGER
-#define SIMD_T GUINT64
-//! SIMD INTEGER SIZE
-#define SIMD_T_SIZE sizeof(SIMD_T)
-
-inline void gim_simd_memcpy(void *dst, const void *src, size_t copysize)
-{
-#ifdef GIM_SIMD_MEMORY
-	/*
-//'long long int' is incompatible with visual studio 6...
-    //copy words
-    SIMD_T * ui_src_ptr = (SIMD_T *)src;
-    SIMD_T * ui_dst_ptr = (SIMD_T *)dst;
-    while(copysize>=SIMD_T_SIZE)
-    {
-        *(ui_dst_ptr++) = *(ui_src_ptr++);
-        copysize-=SIMD_T_SIZE;
-    }
-    if(copysize==0) return;
-*/
-
-	char *c_src_ptr = (char *)src;
-	char *c_dst_ptr = (char *)dst;
-	while (copysize > 0)
-	{
-		*(c_dst_ptr++) = *(c_src_ptr++);
-		copysize--;
-	}
-	return;
-#else
-	memcpy(dst, src, copysize);
-#endif
-}
-
-template <class T>
-inline void gim_swap_elements(T *_array, size_t _i, size_t _j)
-{
-	T _e_tmp_ = _array[_i];
-	_array[_i] = _array[_j];
-	_array[_j] = _e_tmp_;
-}
-
-template <class T>
-inline void gim_swap_elements_memcpy(T *_array, size_t _i, size_t _j)
-{
-	char _e_tmp_[sizeof(T)];
-	gim_simd_memcpy(_e_tmp_, &_array[_i], sizeof(T));
-	gim_simd_memcpy(&_array[_i], &_array[_j], sizeof(T));
-	gim_simd_memcpy(&_array[_j], _e_tmp_, sizeof(T));
-}
-
-template <int SIZE>
-inline void gim_swap_elements_ptr(char *_array, size_t _i, size_t _j)
-{
-	char _e_tmp_[SIZE];
-	_i *= SIZE;
-	_j *= SIZE;
-	gim_simd_memcpy(_e_tmp_, _array + _i, SIZE);
-	gim_simd_memcpy(_array + _i, _array + _j, SIZE);
-	gim_simd_memcpy(_array + _j, _e_tmp_, SIZE);
-}
-
-#endif  // GIM_MEMORY_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_pair.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_pair.h
deleted file mode 100644
index 56c185a5dc..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_pair.h
+++ /dev/null
@@ -1,28 +0,0 @@
-#ifndef GIM_PAIR_H
-#define GIM_PAIR_H
-
-
-//! Overlapping pair
-struct GIM_PAIR
-{
-        int m_index1;
-        int m_index2;
-        GIM_PAIR()
-        {
-        }
-
-        GIM_PAIR(const GIM_PAIR& p)
-        {
-                m_index1 = p.m_index1;
-                m_index2 = p.m_index2;
-        }
-
-        GIM_PAIR(int index1, int index2)
-        {
-                m_index1 = index1;
-                m_index2 = index2;
-        }
-};
-
-#endif //GIM_PAIR_H
-
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_radixsort.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_radixsort.h
deleted file mode 100644
index ff7907adca..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_radixsort.h
+++ /dev/null
@@ -1,386 +0,0 @@
-#ifndef GIM_RADIXSORT_H_INCLUDED
-#define GIM_RADIXSORT_H_INCLUDED
-/*! \file gim_radixsort.h
-\author Francisco Leon Najera.
-Based on the work of Michael Herf : "fast floating-point radix sort"
-Avaliable on http://www.stereopsis.com/radix.html
-*/
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-
-#include "gim_memory.h"
-
-///Macros for sorting.
-//! Prototype for comparators
-class less_comparator
-{
-public:
-	template <class T, class Z>
-	inline int operator()(const T& a, const Z& b)
-	{
-		return (a < b ? -1 : (a > b ? 1 : 0));
-	}
-};
-
-//! Prototype for comparators
-class integer_comparator
-{
-public:
-	template <class T>
-	inline int operator()(const T& a, const T& b)
-	{
-		return (int)(a - b);
-	}
-};
-
-//!Prototype for getting the integer representation of an object
-class uint_key_func
-{
-public:
-	template <class T>
-	inline GUINT operator()(const T& a)
-	{
-		return (GUINT)a;
-	}
-};
-
-//!Prototype for copying elements
-class copy_elements_func
-{
-public:
-	template <class T>
-	inline void operator()(T& a, T& b)
-	{
-		a = b;
-	}
-};
-
-//!Prototype for copying elements
-class memcopy_elements_func
-{
-public:
-	template <class T>
-	inline void operator()(T& a, T& b)
-	{
-		gim_simd_memcpy(&a, &b, sizeof(T));
-	}
-};
-
-//! @{
-struct GIM_RSORT_TOKEN
-{
-	GUINT m_key;
-	GUINT m_value;
-	GIM_RSORT_TOKEN()
-	{
-	}
-	GIM_RSORT_TOKEN(const GIM_RSORT_TOKEN& rtoken)
-	{
-		m_key = rtoken.m_key;
-		m_value = rtoken.m_value;
-	}
-
-	inline bool operator<(const GIM_RSORT_TOKEN& other) const
-	{
-		return (m_key < other.m_key);
-	}
-
-	inline bool operator>(const GIM_RSORT_TOKEN& other) const
-	{
-		return (m_key > other.m_key);
-	}
-};
-
-//! Prototype for comparators
-class GIM_RSORT_TOKEN_COMPARATOR
-{
-public:
-	inline int operator()(const GIM_RSORT_TOKEN& a, const GIM_RSORT_TOKEN& b)
-	{
-		return (int)((a.m_key) - (b.m_key));
-	}
-};
-
-#define kHist 2048
-// ---- utils for accessing 11-bit quantities
-#define D11_0(x) (x & 0x7FF)
-#define D11_1(x) (x >> 11 & 0x7FF)
-#define D11_2(x) (x >> 22)
-
-///Radix sort for unsigned integer keys
-inline void gim_radix_sort_rtokens(
-	GIM_RSORT_TOKEN* array,
-	GIM_RSORT_TOKEN* sorted, GUINT element_count)
-{
-	GUINT i;
-	GUINT b0[kHist * 3];
-	GUINT* b1 = b0 + kHist;
-	GUINT* b2 = b1 + kHist;
-	for (i = 0; i < kHist * 3; ++i)
-	{
-		b0[i] = 0;
-	}
-	GUINT fi;
-	GUINT pos;
-	for (i = 0; i < element_count; ++i)
-	{
-		fi = array[i].m_key;
-		b0[D11_0(fi)]++;
-		b1[D11_1(fi)]++;
-		b2[D11_2(fi)]++;
-	}
-	{
-		GUINT sum0 = 0, sum1 = 0, sum2 = 0;
-		GUINT tsum;
-		for (i = 0; i < kHist; ++i)
-		{
-			tsum = b0[i] + sum0;
-			b0[i] = sum0 - 1;
-			sum0 = tsum;
-			tsum = b1[i] + sum1;
-			b1[i] = sum1 - 1;
-			sum1 = tsum;
-			tsum = b2[i] + sum2;
-			b2[i] = sum2 - 1;
-			sum2 = tsum;
-		}
-	}
-	for (i = 0; i < element_count; ++i)
-	{
-		fi = array[i].m_key;
-		pos = D11_0(fi);
-		pos = ++b0[pos];
-		sorted[pos].m_key = array[i].m_key;
-		sorted[pos].m_value = array[i].m_value;
-	}
-	for (i = 0; i < element_count; ++i)
-	{
-		fi = sorted[i].m_key;
-		pos = D11_1(fi);
-		pos = ++b1[pos];
-		array[pos].m_key = sorted[i].m_key;
-		array[pos].m_value = sorted[i].m_value;
-	}
-	for (i = 0; i < element_count; ++i)
-	{
-		fi = array[i].m_key;
-		pos = D11_2(fi);
-		pos = ++b2[pos];
-		sorted[pos].m_key = array[i].m_key;
-		sorted[pos].m_value = array[i].m_value;
-	}
-}
-
-/// Get the sorted tokens from an array. For generic use. Tokens are IRR_RSORT_TOKEN
-/*!
-*\param array Array of elements to sort
-*\param sorted_tokens Tokens of sorted elements
-*\param element_count element count
-*\param uintkey_macro Functor which retrieves the integer representation of an array element
-*/
-template <typename T, class GETKEY_CLASS>
-void gim_radix_sort_array_tokens(
-	T* array,
-	GIM_RSORT_TOKEN* sorted_tokens,
-	GUINT element_count, GETKEY_CLASS uintkey_macro)
-{
-	GIM_RSORT_TOKEN* _unsorted = (GIM_RSORT_TOKEN*)gim_alloc(sizeof(GIM_RSORT_TOKEN) * element_count);
-	for (GUINT _i = 0; _i < element_count; ++_i)
-	{
-		_unsorted[_i].m_key = uintkey_macro(array[_i]);
-		_unsorted[_i].m_value = _i;
-	}
-	gim_radix_sort_rtokens(_unsorted, sorted_tokens, element_count);
-	gim_free(_unsorted);
-	gim_free(_unsorted);
-}
-
-/// Sorts array in place. For generic use
-/*!
-\param type Type of the array
-\param array
-\param element_count
-\param get_uintkey_macro Macro for extract the Integer value of the element. Similar to SIMPLE_GET_UINTKEY
-\param copy_elements_macro Macro for copy elements, similar to SIMPLE_COPY_ELEMENTS
-*/
-template <typename T, class GETKEY_CLASS, class COPY_CLASS>
-void gim_radix_sort(
-	T* array, GUINT element_count,
-	GETKEY_CLASS get_uintkey_macro, COPY_CLASS copy_elements_macro)
-{
-	GIM_RSORT_TOKEN* _sorted = (GIM_RSORT_TOKEN*)gim_alloc(sizeof(GIM_RSORT_TOKEN) * element_count);
-	gim_radix_sort_array_tokens(array, _sorted, element_count, get_uintkey_macro);
-	T* _original_array = (T*)gim_alloc(sizeof(T) * element_count);
-	gim_simd_memcpy(_original_array, array, sizeof(T) * element_count);
-	for (GUINT _i = 0; _i < element_count; ++_i)
-	{
-		copy_elements_macro(array[_i], _original_array[_sorted[_i].m_value]);
-	}
-	gim_free(_original_array);
-	gim_free(_sorted);
-}
-
-//! Failsafe Iterative binary search,
-/*!
-If the element is not found, it returns the nearest upper element position, may be the further position after the last element.
-\param _array
-\param _start_i the beginning of the array
-\param _end_i the ending  index of the array
-\param _search_key Value to find
-\param _comp_macro macro for comparing elements
-\param _found If true the value has found. Boolean
-\param _result_index the index of the found element, or if not found then it will get the index of the  closest bigger value
-*/
-template <class T, typename KEYCLASS, typename COMP_CLASS>
-bool gim_binary_search_ex(
-	const T* _array, GUINT _start_i,
-	GUINT _end_i, GUINT& _result_index,
-	const KEYCLASS& _search_key,
-	COMP_CLASS _comp_macro)
-{
-	GUINT _k;
-	int _comp_result;
-	GUINT _i = _start_i;
-	GUINT _j = _end_i + 1;
-	while (_i < _j)
-	{
-		_k = (_j + _i - 1) / 2;
-		_comp_result = _comp_macro(_array[_k], _search_key);
-		if (_comp_result == 0)
-		{
-			_result_index = _k;
-			return true;
-		}
-		else if (_comp_result < 0)
-		{
-			_i = _k + 1;
-		}
-		else
-		{
-			_j = _k;
-		}
-	}
-	_result_index = _i;
-	return false;
-}
-
-//! Failsafe Iterative binary search,Template version
-/*!
-If the element is not found, it returns the nearest upper element position, may be the further position after the last element.
-\param _array
-\param _start_i the beginning of the array
-\param _end_i the ending  index of the array
-\param _search_key Value to find
-\param _result_index the index of the found element, or if not found then it will get the index of the  closest bigger value
-\return true if found, else false
-*/
-template <class T>
-bool gim_binary_search(
-	const T* _array, GUINT _start_i,
-	GUINT _end_i, const T& _search_key,
-	GUINT& _result_index)
-{
-	GUINT _i = _start_i;
-	GUINT _j = _end_i + 1;
-	GUINT _k;
-	while (_i < _j)
-	{
-		_k = (_j + _i - 1) / 2;
-		if (_array[_k] == _search_key)
-		{
-			_result_index = _k;
-			return true;
-		}
-		else if (_array[_k] < _search_key)
-		{
-			_i = _k + 1;
-		}
-		else
-		{
-			_j = _k;
-		}
-	}
-	_result_index = _i;
-	return false;
-}
-
-///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/
-template <typename T, typename COMP_CLASS>
-void gim_down_heap(T* pArr, GUINT k, GUINT n, COMP_CLASS CompareFunc)
-{
-	/*  PRE: a[k+1..N] is a heap */
-	/* POST:  a[k..N]  is a heap */
-
-	T temp = pArr[k - 1];
-	/* k has child(s) */
-	while (k <= n / 2)
-	{
-		int child = 2 * k;
-
-		if ((child < (int)n) && CompareFunc(pArr[child - 1], pArr[child]) < 0)
-		{
-			child++;
-		}
-		/* pick larger child */
-		if (CompareFunc(temp, pArr[child - 1]) < 0)
-		{
-			/* move child up */
-			pArr[k - 1] = pArr[child - 1];
-			k = child;
-		}
-		else
-		{
-			break;
-		}
-	}
-	pArr[k - 1] = temp;
-} /*downHeap*/
-
-template <typename T, typename COMP_CLASS>
-void gim_heap_sort(T* pArr, GUINT element_count, COMP_CLASS CompareFunc)
-{
-	/* sort a[0..N-1],  N.B. 0 to N-1 */
-	GUINT k;
-	GUINT n = element_count;
-	for (k = n / 2; k > 0; k--)
-	{
-		gim_down_heap(pArr, k, n, CompareFunc);
-	}
-
-	/* a[1..N] is now a heap */
-	while (n >= 2)
-	{
-		gim_swap_elements(pArr, 0, n - 1); /* largest of a[0..n-1] */
-		--n;
-		/* restore a[1..i-1] heap */
-		gim_down_heap(pArr, 1, n, CompareFunc);
-	}
-}
-
-#endif  // GIM_RADIXSORT_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_tri_collision.cpp b/thirdparty/bullet/BulletCollision/Gimpact/gim_tri_collision.cpp
deleted file mode 100644
index 8d83e95da4..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_tri_collision.cpp
+++ /dev/null
@@ -1,619 +0,0 @@
-
-/*! \file gim_tri_collision.h
-\author Francisco Leon Najera
-*/
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-
-#include "gim_tri_collision.h"
-
-#define TRI_LOCAL_EPSILON 0.000001f
-#define MIN_EDGE_EDGE_DIS 0.00001f
-
-class GIM_TRIANGLE_CALCULATION_CACHE
-{
-public:
-	GREAL margin;
-	btVector3 tu_vertices[3];
-	btVector3 tv_vertices[3];
-	btVector4 tu_plane;
-	btVector4 tv_plane;
-	btVector3 closest_point_u;
-	btVector3 closest_point_v;
-	btVector3 edge_edge_dir;
-	btVector3 distances;
-	GREAL du[4];
-	GREAL du0du1;
-	GREAL du0du2;
-	GREAL dv[4];
-	GREAL dv0dv1;
-	GREAL dv0dv2;
-	btVector3 temp_points[MAX_TRI_CLIPPING];
-	btVector3 temp_points1[MAX_TRI_CLIPPING];
-	btVector3 contact_points[MAX_TRI_CLIPPING];
-
-	//! if returns false, the faces are paralele
-	SIMD_FORCE_INLINE bool compute_intervals(
-		const GREAL &D0,
-		const GREAL &D1,
-		const GREAL &D2,
-		const GREAL &D0D1,
-		const GREAL &D0D2,
-		GREAL &scale_edge0,
-		GREAL &scale_edge1,
-		GUINT &edge_index0,
-		GUINT &edge_index1)
-	{
-		if (D0D1 > 0.0f)
-		{
-			/* here we know that D0D2<=0.0 */
-			/* that is D0, D1 are on the same side, D2 on the other or on the plane */
-			scale_edge0 = -D2 / (D0 - D2);
-			scale_edge1 = -D1 / (D2 - D1);
-			edge_index0 = 2;
-			edge_index1 = 1;
-		}
-		else if (D0D2 > 0.0f)
-		{
-			/* here we know that d0d1<=0.0 */
-			scale_edge0 = -D0 / (D1 - D0);
-			scale_edge1 = -D1 / (D2 - D1);
-			edge_index0 = 0;
-			edge_index1 = 1;
-		}
-		else if (D1 * D2 > 0.0f || D0 != 0.0f)
-		{
-			/* here we know that d0d1<=0.0 or that D0!=0.0 */
-			scale_edge0 = -D0 / (D1 - D0);
-			scale_edge1 = -D2 / (D0 - D2);
-			edge_index0 = 0;
-			edge_index1 = 2;
-		}
-		else
-		{
-			return false;
-		}
-		return true;
-	}
-
-	//! clip triangle
-	/*!
-	*/
-	SIMD_FORCE_INLINE GUINT clip_triangle(
-		const btVector4 &tri_plane,
-		const btVector3 *tripoints,
-		const btVector3 *srcpoints,
-		btVector3 *clip_points)
-	{
-		// edge 0
-
-		btVector4 edgeplane;
-
-		EDGE_PLANE(tripoints[0], tripoints[1], tri_plane, edgeplane);
-
-		GUINT clipped_count = PLANE_CLIP_TRIANGLE3D(
-			edgeplane, srcpoints[0], srcpoints[1], srcpoints[2], temp_points);
-
-		if (clipped_count == 0) return 0;
-
-		// edge 1
-
-		EDGE_PLANE(tripoints[1], tripoints[2], tri_plane, edgeplane);
-
-		clipped_count = PLANE_CLIP_POLYGON3D(
-			edgeplane, temp_points, clipped_count, temp_points1);
-
-		if (clipped_count == 0) return 0;
-
-		// edge 2
-
-		EDGE_PLANE(tripoints[2], tripoints[0], tri_plane, edgeplane);
-
-		clipped_count = PLANE_CLIP_POLYGON3D(
-			edgeplane, temp_points1, clipped_count, clip_points);
-
-		return clipped_count;
-
-		/*GUINT i0 = (tri_plane.closestAxis()+1)%3;
-		GUINT i1 = (i0+1)%3;
-		// edge 0
-		btVector3 temp_points[MAX_TRI_CLIPPING];
-		btVector3 temp_points1[MAX_TRI_CLIPPING];
-
-		GUINT clipped_count= PLANE_CLIP_TRIANGLE_GENERIC(
-			0,srcpoints[0],srcpoints[1],srcpoints[2],temp_points,
-			DISTANCE_EDGE(tripoints[0],tripoints[1],i0,i1));
-		
-		
-		if(clipped_count == 0) return 0;
-
-		// edge 1
-		clipped_count = PLANE_CLIP_POLYGON_GENERIC(
-			0,temp_points,clipped_count,temp_points1,
-			DISTANCE_EDGE(tripoints[1],tripoints[2],i0,i1));
-
-		if(clipped_count == 0) return 0;
-
-		// edge 2
-		clipped_count = PLANE_CLIP_POLYGON_GENERIC(
-			0,temp_points1,clipped_count,clipped_points,
-			DISTANCE_EDGE(tripoints[2],tripoints[0],i0,i1));
-
-		return clipped_count;*/
-	}
-
-	SIMD_FORCE_INLINE void sort_isect(
-		GREAL &isect0, GREAL &isect1, GUINT &e0, GUINT &e1, btVector3 &vec0, btVector3 &vec1)
-	{
-		if (isect1 < isect0)
-		{
-			//swap
-			GIM_SWAP_NUMBERS(isect0, isect1);
-			GIM_SWAP_NUMBERS(e0, e1);
-			btVector3 tmp = vec0;
-			vec0 = vec1;
-			vec1 = tmp;
-		}
-	}
-
-	//! Test verifying interval intersection with the direction between planes
-	/*!
-	\pre tv_plane and tu_plane must be set
-	\post
-	distances[2] is set with the distance
-	closest_point_u, closest_point_v, edge_edge_dir are set too
-	\return
-	- 0: faces are paralele
-	- 1: face U casts face V
-	- 2: face V casts face U
-	- 3: nearest edges
-	*/
-	SIMD_FORCE_INLINE GUINT cross_line_intersection_test()
-	{
-		// Compute direction of intersection line
-		edge_edge_dir = tu_plane.cross(tv_plane);
-		GREAL Dlen;
-		VEC_LENGTH(edge_edge_dir, Dlen);
-
-		if (Dlen < 0.0001)
-		{
-			return 0;  //faces near paralele
-		}
-
-		edge_edge_dir *= 1 / Dlen;  //normalize
-
-		// Compute interval for triangle 1
-		GUINT tu_e0, tu_e1;              //edge indices
-		GREAL tu_scale_e0, tu_scale_e1;  //edge scale
-		if (!compute_intervals(du[0], du[1], du[2],
-							   du0du1, du0du2, tu_scale_e0, tu_scale_e1, tu_e0, tu_e1)) return 0;
-
-		// Compute interval for triangle 2
-		GUINT tv_e0, tv_e1;              //edge indices
-		GREAL tv_scale_e0, tv_scale_e1;  //edge scale
-
-		if (!compute_intervals(dv[0], dv[1], dv[2],
-							   dv0dv1, dv0dv2, tv_scale_e0, tv_scale_e1, tv_e0, tv_e1)) return 0;
-
-		//proyected vertices
-		btVector3 up_e0 = tu_vertices[tu_e0].lerp(tu_vertices[(tu_e0 + 1) % 3], tu_scale_e0);
-		btVector3 up_e1 = tu_vertices[tu_e1].lerp(tu_vertices[(tu_e1 + 1) % 3], tu_scale_e1);
-
-		btVector3 vp_e0 = tv_vertices[tv_e0].lerp(tv_vertices[(tv_e0 + 1) % 3], tv_scale_e0);
-		btVector3 vp_e1 = tv_vertices[tv_e1].lerp(tv_vertices[(tv_e1 + 1) % 3], tv_scale_e1);
-
-		//proyected intervals
-		GREAL isect_u[] = {up_e0.dot(edge_edge_dir), up_e1.dot(edge_edge_dir)};
-		GREAL isect_v[] = {vp_e0.dot(edge_edge_dir), vp_e1.dot(edge_edge_dir)};
-
-		sort_isect(isect_u[0], isect_u[1], tu_e0, tu_e1, up_e0, up_e1);
-		sort_isect(isect_v[0], isect_v[1], tv_e0, tv_e1, vp_e0, vp_e1);
-
-		const GREAL midpoint_u = 0.5f * (isect_u[0] + isect_u[1]);  // midpoint
-		const GREAL midpoint_v = 0.5f * (isect_v[0] + isect_v[1]);  // midpoint
-
-		if (midpoint_u < midpoint_v)
-		{
-			if (isect_u[1] >= isect_v[1])  // face U casts face V
-			{
-				return 1;
-			}
-			else if (isect_v[0] <= isect_u[0])  // face V casts face U
-			{
-				return 2;
-			}
-			// closest points
-			closest_point_u = up_e1;
-			closest_point_v = vp_e0;
-			// calc edges and separation
-
-			if (isect_u[1] + MIN_EDGE_EDGE_DIS < isect_v[0])  //calc distance between two lines instead
-			{
-				SEGMENT_COLLISION(
-					tu_vertices[tu_e1], tu_vertices[(tu_e1 + 1) % 3],
-					tv_vertices[tv_e0], tv_vertices[(tv_e0 + 1) % 3],
-					closest_point_u,
-					closest_point_v);
-
-				edge_edge_dir = closest_point_u - closest_point_v;
-				VEC_LENGTH(edge_edge_dir, distances[2]);
-				edge_edge_dir *= 1.0f / distances[2];  // normalize
-			}
-			else
-			{
-				distances[2] = isect_v[0] - isect_u[1];  //distance negative
-														 //edge_edge_dir *= -1.0f; //normal pointing from V to U
-			}
-		}
-		else
-		{
-			if (isect_v[1] >= isect_u[1])  // face V casts face U
-			{
-				return 2;
-			}
-			else if (isect_u[0] <= isect_v[0])  // face U casts face V
-			{
-				return 1;
-			}
-			// closest points
-			closest_point_u = up_e0;
-			closest_point_v = vp_e1;
-			// calc edges and separation
-
-			if (isect_v[1] + MIN_EDGE_EDGE_DIS < isect_u[0])  //calc distance between two lines instead
-			{
-				SEGMENT_COLLISION(
-					tu_vertices[tu_e0], tu_vertices[(tu_e0 + 1) % 3],
-					tv_vertices[tv_e1], tv_vertices[(tv_e1 + 1) % 3],
-					closest_point_u,
-					closest_point_v);
-
-				edge_edge_dir = closest_point_u - closest_point_v;
-				VEC_LENGTH(edge_edge_dir, distances[2]);
-				edge_edge_dir *= 1.0f / distances[2];  // normalize
-			}
-			else
-			{
-				distances[2] = isect_u[0] - isect_v[1];  //distance negative
-														 //edge_edge_dir *= -1.0f; //normal pointing from V to U
-			}
-		}
-		return 3;
-	}
-
-	//! collides by two sides
-	SIMD_FORCE_INLINE bool triangle_collision(
-		const btVector3 &u0,
-		const btVector3 &u1,
-		const btVector3 &u2,
-		GREAL margin_u,
-		const btVector3 &v0,
-		const btVector3 &v1,
-		const btVector3 &v2,
-		GREAL margin_v,
-		GIM_TRIANGLE_CONTACT_DATA &contacts)
-	{
-		margin = margin_u + margin_v;
-
-		tu_vertices[0] = u0;
-		tu_vertices[1] = u1;
-		tu_vertices[2] = u2;
-
-		tv_vertices[0] = v0;
-		tv_vertices[1] = v1;
-		tv_vertices[2] = v2;
-
-		//create planes
-		// plane v vs U points
-
-		TRIANGLE_PLANE(tv_vertices[0], tv_vertices[1], tv_vertices[2], tv_plane);
-
-		du[0] = DISTANCE_PLANE_POINT(tv_plane, tu_vertices[0]);
-		du[1] = DISTANCE_PLANE_POINT(tv_plane, tu_vertices[1]);
-		du[2] = DISTANCE_PLANE_POINT(tv_plane, tu_vertices[2]);
-
-		du0du1 = du[0] * du[1];
-		du0du2 = du[0] * du[2];
-
-		if (du0du1 > 0.0f && du0du2 > 0.0f)  // same sign on all of them + not equal 0 ?
-		{
-			if (du[0] < 0)  //we need test behind the triangle plane
-			{
-				distances[0] = GIM_MAX3(du[0], du[1], du[2]);
-				distances[0] = -distances[0];
-				if (distances[0] > margin) return false;  //never intersect
-
-				//reorder triangle v
-				VEC_SWAP(tv_vertices[0], tv_vertices[1]);
-				VEC_SCALE_4(tv_plane, -1.0f, tv_plane);
-			}
-			else
-			{
-				distances[0] = GIM_MIN3(du[0], du[1], du[2]);
-				if (distances[0] > margin) return false;  //never intersect
-			}
-		}
-		else
-		{
-			//Look if we need to invert the triangle
-			distances[0] = (du[0] + du[1] + du[2]) / 3.0f;  //centroid
-
-			if (distances[0] < 0.0f)
-			{
-				//reorder triangle v
-				VEC_SWAP(tv_vertices[0], tv_vertices[1]);
-				VEC_SCALE_4(tv_plane, -1.0f, tv_plane);
-
-				distances[0] = GIM_MAX3(du[0], du[1], du[2]);
-				distances[0] = -distances[0];
-			}
-			else
-			{
-				distances[0] = GIM_MIN3(du[0], du[1], du[2]);
-			}
-		}
-
-		// plane U vs V points
-
-		TRIANGLE_PLANE(tu_vertices[0], tu_vertices[1], tu_vertices[2], tu_plane);
-
-		dv[0] = DISTANCE_PLANE_POINT(tu_plane, tv_vertices[0]);
-		dv[1] = DISTANCE_PLANE_POINT(tu_plane, tv_vertices[1]);
-		dv[2] = DISTANCE_PLANE_POINT(tu_plane, tv_vertices[2]);
-
-		dv0dv1 = dv[0] * dv[1];
-		dv0dv2 = dv[0] * dv[2];
-
-		if (dv0dv1 > 0.0f && dv0dv2 > 0.0f)  // same sign on all of them + not equal 0 ?
-		{
-			if (dv[0] < 0)  //we need test behind the triangle plane
-			{
-				distances[1] = GIM_MAX3(dv[0], dv[1], dv[2]);
-				distances[1] = -distances[1];
-				if (distances[1] > margin) return false;  //never intersect
-
-				//reorder triangle u
-				VEC_SWAP(tu_vertices[0], tu_vertices[1]);
-				VEC_SCALE_4(tu_plane, -1.0f, tu_plane);
-			}
-			else
-			{
-				distances[1] = GIM_MIN3(dv[0], dv[1], dv[2]);
-				if (distances[1] > margin) return false;  //never intersect
-			}
-		}
-		else
-		{
-			//Look if we need to invert the triangle
-			distances[1] = (dv[0] + dv[1] + dv[2]) / 3.0f;  //centroid
-
-			if (distances[1] < 0.0f)
-			{
-				//reorder triangle v
-				VEC_SWAP(tu_vertices[0], tu_vertices[1]);
-				VEC_SCALE_4(tu_plane, -1.0f, tu_plane);
-
-				distances[1] = GIM_MAX3(dv[0], dv[1], dv[2]);
-				distances[1] = -distances[1];
-			}
-			else
-			{
-				distances[1] = GIM_MIN3(dv[0], dv[1], dv[2]);
-			}
-		}
-
-		GUINT bl;
-		/* bl = cross_line_intersection_test();
-		if(bl==3)
-		{
-			//take edge direction too
-			bl = distances.maxAxis();
-		}
-		else
-		{*/
-		bl = 0;
-		if (distances[0] < distances[1]) bl = 1;
-		//}
-
-		if (bl == 2)  //edge edge separation
-		{
-			if (distances[2] > margin) return false;
-
-			contacts.m_penetration_depth = -distances[2] + margin;
-			contacts.m_points[0] = closest_point_v;
-			contacts.m_point_count = 1;
-			VEC_COPY(contacts.m_separating_normal, edge_edge_dir);
-
-			return true;
-		}
-
-		//clip face against other
-
-		GUINT point_count;
-		//TODO
-		if (bl == 0)  //clip U points against V
-		{
-			point_count = clip_triangle(tv_plane, tv_vertices, tu_vertices, contact_points);
-			if (point_count == 0) return false;
-			contacts.merge_points(tv_plane, margin, contact_points, point_count);
-		}
-		else  //clip V points against U
-		{
-			point_count = clip_triangle(tu_plane, tu_vertices, tv_vertices, contact_points);
-			if (point_count == 0) return false;
-			contacts.merge_points(tu_plane, margin, contact_points, point_count);
-			contacts.m_separating_normal *= -1.f;
-		}
-		if (contacts.m_point_count == 0) return false;
-		return true;
-	}
-};
-
-/*class GIM_TRIANGLE_CALCULATION_CACHE
-{
-public:
-	GREAL margin;
-	GUINT clipped_count;
-	btVector3 tu_vertices[3];
-	btVector3 tv_vertices[3];
-	btVector3 temp_points[MAX_TRI_CLIPPING];
-	btVector3 temp_points1[MAX_TRI_CLIPPING];
-	btVector3 clipped_points[MAX_TRI_CLIPPING];
-	GIM_TRIANGLE_CONTACT_DATA contacts1;
-	GIM_TRIANGLE_CONTACT_DATA contacts2;
-
-
-	//! clip triangle
-	GUINT clip_triangle(
-		const btVector4 & tri_plane,
-		const btVector3 * tripoints,
-		const btVector3 * srcpoints,
-		btVector3 * clipped_points)
-	{
-		// edge 0
-
-		btVector4 edgeplane;
-
-		EDGE_PLANE(tripoints[0],tripoints[1],tri_plane,edgeplane);
-
-		GUINT clipped_count = PLANE_CLIP_TRIANGLE3D(
-			edgeplane,srcpoints[0],srcpoints[1],srcpoints[2],temp_points);
-
-		if(clipped_count == 0) return 0;
-
-		// edge 1
-
-		EDGE_PLANE(tripoints[1],tripoints[2],tri_plane,edgeplane);
-
-		clipped_count = PLANE_CLIP_POLYGON3D(
-			edgeplane,temp_points,clipped_count,temp_points1);
-
-		if(clipped_count == 0) return 0;
-
-		// edge 2
-
-		EDGE_PLANE(tripoints[2],tripoints[0],tri_plane,edgeplane);
-
-		clipped_count = PLANE_CLIP_POLYGON3D(
-			edgeplane,temp_points1,clipped_count,clipped_points);
-
-		return clipped_count;
-	}
-
-
-
-
-	//! collides only on one side
-	bool triangle_collision(
-					const btVector3 & u0,
-					const btVector3 & u1,
-					const btVector3 & u2,
-					GREAL margin_u,
-					const btVector3 & v0,
-					const btVector3 & v1,
-					const btVector3 & v2,
-					GREAL margin_v,
-					GIM_TRIANGLE_CONTACT_DATA & contacts)
-	{
-
-		margin = margin_u + margin_v;
-
-		
-		tu_vertices[0] = u0;
-		tu_vertices[1] = u1;
-		tu_vertices[2] = u2;
-
-		tv_vertices[0] = v0;
-		tv_vertices[1] = v1;
-		tv_vertices[2] = v2;
-
-		//create planes
-		// plane v vs U points
-
-
-		TRIANGLE_PLANE(tv_vertices[0],tv_vertices[1],tv_vertices[2],contacts1.m_separating_normal);
-
-		clipped_count = clip_triangle(
-			contacts1.m_separating_normal,tv_vertices,tu_vertices,clipped_points);
-
-		if(clipped_count == 0 )
-		{
-			 return false;//Reject
-		}
-
-		//find most deep interval face1
-		contacts1.merge_points(contacts1.m_separating_normal,margin,clipped_points,clipped_count);
-		if(contacts1.m_point_count == 0) return false; // too far
-
-		//Normal pointing to triangle1
-		//contacts1.m_separating_normal *= -1.f;
-
-		//Clip tri1 by tri2 edges
-
-		TRIANGLE_PLANE(tu_vertices[0],tu_vertices[1],tu_vertices[2],contacts2.m_separating_normal);
-
-		clipped_count = clip_triangle(
-			contacts2.m_separating_normal,tu_vertices,tv_vertices,clipped_points);
-
-		if(clipped_count == 0 )
-		{
-			 return false;//Reject
-		}
-
-		//find most deep interval face1
-		contacts2.merge_points(contacts2.m_separating_normal,margin,clipped_points,clipped_count);
-		if(contacts2.m_point_count == 0) return false; // too far
-
-		contacts2.m_separating_normal *= -1.f;
-
-		////check most dir for contacts
-		if(contacts2.m_penetration_depth<contacts1.m_penetration_depth)
-		{
-			contacts.copy_from(contacts2);
-		}
-		else
-		{
-			contacts.copy_from(contacts1);
-		}
-		return true;
-	}
-
-
-};*/
-
-bool GIM_TRIANGLE::collide_triangle_hard_test(
-	const GIM_TRIANGLE &other,
-	GIM_TRIANGLE_CONTACT_DATA &contact_data) const
-{
-	GIM_TRIANGLE_CALCULATION_CACHE calc_cache;
-	return calc_cache.triangle_collision(
-		m_vertices[0], m_vertices[1], m_vertices[2], m_margin,
-		other.m_vertices[0], other.m_vertices[1], other.m_vertices[2], other.m_margin,
-		contact_data);
-}
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_tri_collision.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_tri_collision.h
deleted file mode 100644
index e6d4bf5470..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_tri_collision.h
+++ /dev/null
@@ -1,368 +0,0 @@
-#ifndef GIM_TRI_COLLISION_H_INCLUDED
-#define GIM_TRI_COLLISION_H_INCLUDED
-
-/*! \file gim_tri_collision.h
-\author Francisco Leon Najera
-*/
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-
-#include "gim_box_collision.h"
-#include "gim_clip_polygon.h"
-
-#ifndef MAX_TRI_CLIPPING
-#define MAX_TRI_CLIPPING 16
-#endif
-
-//! Structure for collision
-struct GIM_TRIANGLE_CONTACT_DATA
-{
-	GREAL m_penetration_depth;
-	GUINT m_point_count;
-	btVector4 m_separating_normal;
-	btVector3 m_points[MAX_TRI_CLIPPING];
-
-	SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT_DATA &other)
-	{
-		m_penetration_depth = other.m_penetration_depth;
-		m_separating_normal = other.m_separating_normal;
-		m_point_count = other.m_point_count;
-		GUINT i = m_point_count;
-		while (i--)
-		{
-			m_points[i] = other.m_points[i];
-		}
-	}
-
-	GIM_TRIANGLE_CONTACT_DATA()
-	{
-	}
-
-	GIM_TRIANGLE_CONTACT_DATA(const GIM_TRIANGLE_CONTACT_DATA &other)
-	{
-		copy_from(other);
-	}
-
-	//! classify points that are closer
-	template <typename DISTANCE_FUNC, typename CLASS_PLANE>
-	SIMD_FORCE_INLINE void mergepoints_generic(const CLASS_PLANE &plane,
-											   GREAL margin, const btVector3 *points, GUINT point_count, DISTANCE_FUNC distance_func)
-	{
-		m_point_count = 0;
-		m_penetration_depth = -1000.0f;
-
-		GUINT point_indices[MAX_TRI_CLIPPING];
-
-		GUINT _k;
-
-		for (_k = 0; _k < point_count; _k++)
-		{
-			GREAL _dist = -distance_func(plane, points[_k]) + margin;
-
-			if (_dist >= 0.0f)
-			{
-				if (_dist > m_penetration_depth)
-				{
-					m_penetration_depth = _dist;
-					point_indices[0] = _k;
-					m_point_count = 1;
-				}
-				else if ((_dist + G_EPSILON) >= m_penetration_depth)
-				{
-					point_indices[m_point_count] = _k;
-					m_point_count++;
-				}
-			}
-		}
-
-		for (_k = 0; _k < m_point_count; _k++)
-		{
-			m_points[_k] = points[point_indices[_k]];
-		}
-	}
-
-	//! classify points that are closer
-	SIMD_FORCE_INLINE void merge_points(const btVector4 &plane, GREAL margin,
-										const btVector3 *points, GUINT point_count)
-	{
-		m_separating_normal = plane;
-		mergepoints_generic(plane, margin, points, point_count, DISTANCE_PLANE_3D_FUNC());
-	}
-};
-
-//! Class for colliding triangles
-class GIM_TRIANGLE
-{
-public:
-	btScalar m_margin;
-	btVector3 m_vertices[3];
-
-	GIM_TRIANGLE() : m_margin(0.1f)
-	{
-	}
-
-	SIMD_FORCE_INLINE GIM_AABB get_box() const
-	{
-		return GIM_AABB(m_vertices[0], m_vertices[1], m_vertices[2], m_margin);
-	}
-
-	SIMD_FORCE_INLINE void get_normal(btVector3 &normal) const
-	{
-		TRIANGLE_NORMAL(m_vertices[0], m_vertices[1], m_vertices[2], normal);
-	}
-
-	SIMD_FORCE_INLINE void get_plane(btVector4 &plane) const
-	{
-		TRIANGLE_PLANE(m_vertices[0], m_vertices[1], m_vertices[2], plane);
-		;
-	}
-
-	SIMD_FORCE_INLINE void apply_transform(const btTransform &trans)
-	{
-		m_vertices[0] = trans(m_vertices[0]);
-		m_vertices[1] = trans(m_vertices[1]);
-		m_vertices[2] = trans(m_vertices[2]);
-	}
-
-	SIMD_FORCE_INLINE void get_edge_plane(GUINT edge_index, const btVector3 &triangle_normal, btVector4 &plane) const
-	{
-		const btVector3 &e0 = m_vertices[edge_index];
-		const btVector3 &e1 = m_vertices[(edge_index + 1) % 3];
-		EDGE_PLANE(e0, e1, triangle_normal, plane);
-	}
-
-	//! Gets the relative transformation of this triangle
-	/*!
-    The transformation is oriented to the triangle normal , and aligned to the 1st edge of this triangle. The position corresponds to vertice 0:
-    - triangle normal corresponds to Z axis.
-    - 1st normalized edge corresponds to X axis,
-
-    */
-	SIMD_FORCE_INLINE void get_triangle_transform(btTransform &triangle_transform) const
-	{
-		btMatrix3x3 &matrix = triangle_transform.getBasis();
-
-		btVector3 zaxis;
-		get_normal(zaxis);
-		MAT_SET_Z(matrix, zaxis);
-
-		btVector3 xaxis = m_vertices[1] - m_vertices[0];
-		VEC_NORMALIZE(xaxis);
-		MAT_SET_X(matrix, xaxis);
-
-		//y axis
-		xaxis = zaxis.cross(xaxis);
-		MAT_SET_Y(matrix, xaxis);
-
-		triangle_transform.setOrigin(m_vertices[0]);
-	}
-
-	//! Test triangles by finding separating axis
-	/*!
-	\param other Triangle for collide
-	\param contact_data Structure for holding contact points, normal and penetration depth; The normal is pointing toward this triangle from the other triangle
-	*/
-	bool collide_triangle_hard_test(
-		const GIM_TRIANGLE &other,
-		GIM_TRIANGLE_CONTACT_DATA &contact_data) const;
-
-	//! Test boxes before doing hard test
-	/*!
-	\param other Triangle for collide
-	\param contact_data Structure for holding contact points, normal and penetration depth; The normal is pointing toward this triangle from the other triangle
-	\
-	*/
-	SIMD_FORCE_INLINE bool collide_triangle(
-		const GIM_TRIANGLE &other,
-		GIM_TRIANGLE_CONTACT_DATA &contact_data) const
-	{
-		//test box collisioin
-		GIM_AABB boxu(m_vertices[0], m_vertices[1], m_vertices[2], m_margin);
-		GIM_AABB boxv(other.m_vertices[0], other.m_vertices[1], other.m_vertices[2], other.m_margin);
-		if (!boxu.has_collision(boxv)) return false;
-
-		//do hard test
-		return collide_triangle_hard_test(other, contact_data);
-	}
-
-	/*!
-
-	Solve the System for u,v parameters:
-
-	u*axe1[i1] + v*axe2[i1] = vecproj[i1]
-	u*axe1[i2] + v*axe2[i2] = vecproj[i2]
-
-	sustitute:
-	v = (vecproj[i2] - u*axe1[i2])/axe2[i2]
-
-	then the first equation in terms of 'u':
-
-	--> u*axe1[i1] + ((vecproj[i2] - u*axe1[i2])/axe2[i2])*axe2[i1] = vecproj[i1]
-
-	--> u*axe1[i1] + vecproj[i2]*axe2[i1]/axe2[i2] - u*axe1[i2]*axe2[i1]/axe2[i2] = vecproj[i1]
-
-	--> u*(axe1[i1]  - axe1[i2]*axe2[i1]/axe2[i2]) = vecproj[i1] - vecproj[i2]*axe2[i1]/axe2[i2]
-
-	--> u*((axe1[i1]*axe2[i2]  - axe1[i2]*axe2[i1])/axe2[i2]) = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1])/axe2[i2]
-
-	--> u*(axe1[i1]*axe2[i2]  - axe1[i2]*axe2[i1]) = vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1]
-
-	--> u = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1]) /(axe1[i1]*axe2[i2]  - axe1[i2]*axe2[i1])
-
-if 0.0<= u+v <=1.0 then they are inside of triangle
-
-	\return false if the point is outside of triangle.This function  doesn't take the margin
-	*/
-	SIMD_FORCE_INLINE bool get_uv_parameters(
-		const btVector3 &point,
-		const btVector3 &tri_plane,
-		GREAL &u, GREAL &v) const
-	{
-		btVector3 _axe1 = m_vertices[1] - m_vertices[0];
-		btVector3 _axe2 = m_vertices[2] - m_vertices[0];
-		btVector3 _vecproj = point - m_vertices[0];
-		GUINT _i1 = (tri_plane.closestAxis() + 1) % 3;
-		GUINT _i2 = (_i1 + 1) % 3;
-		if (btFabs(_axe2[_i2]) < G_EPSILON)
-		{
-			u = (_vecproj[_i2] * _axe2[_i1] - _vecproj[_i1] * _axe2[_i2]) / (_axe1[_i2] * _axe2[_i1] - _axe1[_i1] * _axe2[_i2]);
-			v = (_vecproj[_i1] - u * _axe1[_i1]) / _axe2[_i1];
-		}
-		else
-		{
-			u = (_vecproj[_i1] * _axe2[_i2] - _vecproj[_i2] * _axe2[_i1]) / (_axe1[_i1] * _axe2[_i2] - _axe1[_i2] * _axe2[_i1]);
-			v = (_vecproj[_i2] - u * _axe1[_i2]) / _axe2[_i2];
-		}
-
-		if (u < -G_EPSILON)
-		{
-			return false;
-		}
-		else if (v < -G_EPSILON)
-		{
-			return false;
-		}
-		else
-		{
-			btScalar sumuv;
-			sumuv = u + v;
-			if (sumuv < -G_EPSILON)
-			{
-				return false;
-			}
-			else if (sumuv - 1.0f > G_EPSILON)
-			{
-				return false;
-			}
-		}
-		return true;
-	}
-
-	//! is point in triangle beam?
-	/*!
-	Test if point is in triangle, with m_margin tolerance
-	*/
-	SIMD_FORCE_INLINE bool is_point_inside(const btVector3 &point, const btVector3 &tri_normal) const
-	{
-		//Test with edge 0
-		btVector4 edge_plane;
-		this->get_edge_plane(0, tri_normal, edge_plane);
-		GREAL dist = DISTANCE_PLANE_POINT(edge_plane, point);
-		if (dist - m_margin > 0.0f) return false;  // outside plane
-
-		this->get_edge_plane(1, tri_normal, edge_plane);
-		dist = DISTANCE_PLANE_POINT(edge_plane, point);
-		if (dist - m_margin > 0.0f) return false;  // outside plane
-
-		this->get_edge_plane(2, tri_normal, edge_plane);
-		dist = DISTANCE_PLANE_POINT(edge_plane, point);
-		if (dist - m_margin > 0.0f) return false;  // outside plane
-		return true;
-	}
-
-	//! Bidireccional ray collision
-	SIMD_FORCE_INLINE bool ray_collision(
-		const btVector3 &vPoint,
-		const btVector3 &vDir, btVector3 &pout, btVector3 &triangle_normal,
-		GREAL &tparam, GREAL tmax = G_REAL_INFINITY)
-	{
-		btVector4 faceplane;
-		{
-			btVector3 dif1 = m_vertices[1] - m_vertices[0];
-			btVector3 dif2 = m_vertices[2] - m_vertices[0];
-			VEC_CROSS(faceplane, dif1, dif2);
-			faceplane[3] = m_vertices[0].dot(faceplane);
-		}
-
-		GUINT res = LINE_PLANE_COLLISION(faceplane, vDir, vPoint, pout, tparam, btScalar(0), tmax);
-		if (res == 0) return false;
-		if (!is_point_inside(pout, faceplane)) return false;
-
-		if (res == 2)  //invert normal
-		{
-			triangle_normal.setValue(-faceplane[0], -faceplane[1], -faceplane[2]);
-		}
-		else
-		{
-			triangle_normal.setValue(faceplane[0], faceplane[1], faceplane[2]);
-		}
-
-		VEC_NORMALIZE(triangle_normal);
-
-		return true;
-	}
-
-	//! one direccion ray collision
-	SIMD_FORCE_INLINE bool ray_collision_front_side(
-		const btVector3 &vPoint,
-		const btVector3 &vDir, btVector3 &pout, btVector3 &triangle_normal,
-		GREAL &tparam, GREAL tmax = G_REAL_INFINITY)
-	{
-		btVector4 faceplane;
-		{
-			btVector3 dif1 = m_vertices[1] - m_vertices[0];
-			btVector3 dif2 = m_vertices[2] - m_vertices[0];
-			VEC_CROSS(faceplane, dif1, dif2);
-			faceplane[3] = m_vertices[0].dot(faceplane);
-		}
-
-		GUINT res = LINE_PLANE_COLLISION(faceplane, vDir, vPoint, pout, tparam, btScalar(0), tmax);
-		if (res != 1) return false;
-
-		if (!is_point_inside(pout, faceplane)) return false;
-
-		triangle_normal.setValue(faceplane[0], faceplane[1], faceplane[2]);
-
-		VEC_NORMALIZE(triangle_normal);
-
-		return true;
-	}
-};
-
-#endif  // GIM_TRI_COLLISION_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h
deleted file mode 100644
index 3c82133037..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h
+++ /dev/null
@@ -1,354 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2014 Erwin Coumans http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_GJK_EPA_PENETATION_CONVEX_COLLISION_H
-#define BT_GJK_EPA_PENETATION_CONVEX_COLLISION_H
-
-#include "LinearMath/btTransform.h"  // Note that btVector3 might be double precision...
-#include "btGjkEpa3.h"
-#include "btGjkCollisionDescription.h"
-#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
-
-template <typename btConvexTemplate>
-bool btGjkEpaCalcPenDepth(const btConvexTemplate& a, const btConvexTemplate& b,
-						  const btGjkCollisionDescription& colDesc,
-						  btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB)
-{
-	(void)v;
-
-	//	const btScalar				radialmargin(btScalar(0.));
-
-	btVector3 guessVector(b.getWorldTransform().getOrigin() - a.getWorldTransform().getOrigin());  //?? why not use the GJK input?
-
-	btGjkEpaSolver3::sResults results;
-
-	if (btGjkEpaSolver3_Penetration(a, b, guessVector, results))
-
-	{
-		//	debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
-		//resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
-		wWitnessOnA = results.witnesses[0];
-		wWitnessOnB = results.witnesses[1];
-		v = results.normal;
-		return true;
-	}
-	else
-	{
-		if (btGjkEpaSolver3_Distance(a, b, guessVector, results))
-		{
-			wWitnessOnA = results.witnesses[0];
-			wWitnessOnB = results.witnesses[1];
-			v = results.normal;
-			return false;
-		}
-	}
-	return false;
-}
-
-template <typename btConvexTemplate, typename btGjkDistanceTemplate>
-int btComputeGjkEpaPenetration(const btConvexTemplate& a, const btConvexTemplate& b, const btGjkCollisionDescription& colDesc, btVoronoiSimplexSolver& simplexSolver, btGjkDistanceTemplate* distInfo)
-{
-	bool m_catchDegeneracies = true;
-	btScalar m_cachedSeparatingDistance = 0.f;
-
-	btScalar distance = btScalar(0.);
-	btVector3 normalInB(btScalar(0.), btScalar(0.), btScalar(0.));
-
-	btVector3 pointOnA, pointOnB;
-	btTransform localTransA = a.getWorldTransform();
-	btTransform localTransB = b.getWorldTransform();
-
-	btScalar marginA = a.getMargin();
-	btScalar marginB = b.getMargin();
-
-	int m_curIter = 0;
-	int gGjkMaxIter = colDesc.m_maxGjkIterations;  //this is to catch invalid input, perhaps check for #NaN?
-	btVector3 m_cachedSeparatingAxis = colDesc.m_firstDir;
-
-	bool isValid = false;
-	bool checkSimplex = false;
-	bool checkPenetration = true;
-	int m_degenerateSimplex = 0;
-
-	int m_lastUsedMethod = -1;
-
-	{
-		btScalar squaredDistance = BT_LARGE_FLOAT;
-		btScalar delta = btScalar(0.);
-
-		btScalar margin = marginA + marginB;
-
-		simplexSolver.reset();
-
-		for (;;)
-		//while (true)
-		{
-			btVector3 separatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis();
-			btVector3 separatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis();
-
-			btVector3 pInA = a.getLocalSupportWithoutMargin(separatingAxisInA);
-			btVector3 qInB = b.getLocalSupportWithoutMargin(separatingAxisInB);
-
-			btVector3 pWorld = localTransA(pInA);
-			btVector3 qWorld = localTransB(qInB);
-
-			btVector3 w = pWorld - qWorld;
-			delta = m_cachedSeparatingAxis.dot(w);
-
-			// potential exit, they don't overlap
-			if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * colDesc.m_maximumDistanceSquared))
-			{
-				m_degenerateSimplex = 10;
-				checkSimplex = true;
-				//checkPenetration = false;
-				break;
-			}
-
-			//exit 0: the new point is already in the simplex, or we didn't come any closer
-			if (simplexSolver.inSimplex(w))
-			{
-				m_degenerateSimplex = 1;
-				checkSimplex = true;
-				break;
-			}
-			// are we getting any closer ?
-			btScalar f0 = squaredDistance - delta;
-			btScalar f1 = squaredDistance * colDesc.m_gjkRelError2;
-
-			if (f0 <= f1)
-			{
-				if (f0 <= btScalar(0.))
-				{
-					m_degenerateSimplex = 2;
-				}
-				else
-				{
-					m_degenerateSimplex = 11;
-				}
-				checkSimplex = true;
-				break;
-			}
-
-			//add current vertex to simplex
-			simplexSolver.addVertex(w, pWorld, qWorld);
-			btVector3 newCachedSeparatingAxis;
-
-			//calculate the closest point to the origin (update vector v)
-			if (!simplexSolver.closest(newCachedSeparatingAxis))
-			{
-				m_degenerateSimplex = 3;
-				checkSimplex = true;
-				break;
-			}
-
-			if (newCachedSeparatingAxis.length2() < colDesc.m_gjkRelError2)
-			{
-				m_cachedSeparatingAxis = newCachedSeparatingAxis;
-				m_degenerateSimplex = 6;
-				checkSimplex = true;
-				break;
-			}
-
-			btScalar previousSquaredDistance = squaredDistance;
-			squaredDistance = newCachedSeparatingAxis.length2();
-#if 0
-            ///warning: this termination condition leads to some problems in 2d test case see Bullet/Demos/Box2dDemo
-            if (squaredDistance>previousSquaredDistance)
-            {
-                m_degenerateSimplex = 7;
-                squaredDistance = previousSquaredDistance;
-                checkSimplex = false;
-                break;
-            }
-#endif  //
-
-			//redundant m_simplexSolver->compute_points(pointOnA, pointOnB);
-
-			//are we getting any closer ?
-			if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance)
-			{
-				//				m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
-				checkSimplex = true;
-				m_degenerateSimplex = 12;
-
-				break;
-			}
-
-			m_cachedSeparatingAxis = newCachedSeparatingAxis;
-
-			//degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject
-			if (m_curIter++ > gGjkMaxIter)
-			{
-#if defined(DEBUG) || defined(_DEBUG)
-
-				printf("btGjkPairDetector maxIter exceeded:%i\n", m_curIter);
-				printf("sepAxis=(%f,%f,%f), squaredDistance = %f\n",
-					   m_cachedSeparatingAxis.getX(),
-					   m_cachedSeparatingAxis.getY(),
-					   m_cachedSeparatingAxis.getZ(),
-					   squaredDistance);
-#endif
-
-				break;
-			}
-
-			bool check = (!simplexSolver.fullSimplex());
-			//bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex());
-
-			if (!check)
-			{
-				//do we need this backup_closest here ?
-				//				m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
-				m_degenerateSimplex = 13;
-				break;
-			}
-		}
-
-		if (checkSimplex)
-		{
-			simplexSolver.compute_points(pointOnA, pointOnB);
-			normalInB = m_cachedSeparatingAxis;
-
-			btScalar lenSqr = m_cachedSeparatingAxis.length2();
-
-			//valid normal
-			if (lenSqr < 0.0001)
-			{
-				m_degenerateSimplex = 5;
-			}
-			if (lenSqr > SIMD_EPSILON * SIMD_EPSILON)
-			{
-				btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
-				normalInB *= rlen;  //normalize
-
-				btScalar s = btSqrt(squaredDistance);
-
-				btAssert(s > btScalar(0.0));
-				pointOnA -= m_cachedSeparatingAxis * (marginA / s);
-				pointOnB += m_cachedSeparatingAxis * (marginB / s);
-				distance = ((btScalar(1.) / rlen) - margin);
-				isValid = true;
-
-				m_lastUsedMethod = 1;
-			}
-			else
-			{
-				m_lastUsedMethod = 2;
-			}
-		}
-
-		bool catchDegeneratePenetrationCase =
-			(m_catchDegeneracies && m_degenerateSimplex && ((distance + margin) < 0.01));
-
-		//if (checkPenetration && !isValid)
-		if (checkPenetration && (!isValid || catchDegeneratePenetrationCase))
-		{
-			//penetration case
-
-			//if there is no way to handle penetrations, bail out
-
-			// Penetration depth case.
-			btVector3 tmpPointOnA, tmpPointOnB;
-
-			m_cachedSeparatingAxis.setZero();
-
-			bool isValid2 = btGjkEpaCalcPenDepth(a, b,
-												 colDesc,
-												 m_cachedSeparatingAxis, tmpPointOnA, tmpPointOnB);
-
-			if (isValid2)
-			{
-				btVector3 tmpNormalInB = tmpPointOnB - tmpPointOnA;
-				btScalar lenSqr = tmpNormalInB.length2();
-				if (lenSqr <= (SIMD_EPSILON * SIMD_EPSILON))
-				{
-					tmpNormalInB = m_cachedSeparatingAxis;
-					lenSqr = m_cachedSeparatingAxis.length2();
-				}
-
-				if (lenSqr > (SIMD_EPSILON * SIMD_EPSILON))
-				{
-					tmpNormalInB /= btSqrt(lenSqr);
-					btScalar distance2 = -(tmpPointOnA - tmpPointOnB).length();
-					//only replace valid penetrations when the result is deeper (check)
-					if (!isValid || (distance2 < distance))
-					{
-						distance = distance2;
-						pointOnA = tmpPointOnA;
-						pointOnB = tmpPointOnB;
-						normalInB = tmpNormalInB;
-
-						isValid = true;
-						m_lastUsedMethod = 3;
-					}
-					else
-					{
-						m_lastUsedMethod = 8;
-					}
-				}
-				else
-				{
-					m_lastUsedMethod = 9;
-				}
-			}
-			else
-
-			{
-				///this is another degenerate case, where the initial GJK calculation reports a degenerate case
-				///EPA reports no penetration, and the second GJK (using the supporting vector without margin)
-				///reports a valid positive distance. Use the results of the second GJK instead of failing.
-				///thanks to Jacob.Langford for the reproduction case
-				///http://code.google.com/p/bullet/issues/detail?id=250
-
-				if (m_cachedSeparatingAxis.length2() > btScalar(0.))
-				{
-					btScalar distance2 = (tmpPointOnA - tmpPointOnB).length() - margin;
-					//only replace valid distances when the distance is less
-					if (!isValid || (distance2 < distance))
-					{
-						distance = distance2;
-						pointOnA = tmpPointOnA;
-						pointOnB = tmpPointOnB;
-						pointOnA -= m_cachedSeparatingAxis * marginA;
-						pointOnB += m_cachedSeparatingAxis * marginB;
-						normalInB = m_cachedSeparatingAxis;
-						normalInB.normalize();
-
-						isValid = true;
-						m_lastUsedMethod = 6;
-					}
-					else
-					{
-						m_lastUsedMethod = 5;
-					}
-				}
-			}
-		}
-	}
-
-	if (isValid && ((distance < 0) || (distance * distance < colDesc.m_maximumDistanceSquared)))
-	{
-		m_cachedSeparatingAxis = normalInB;
-		m_cachedSeparatingDistance = distance;
-		distInfo->m_distance = distance;
-		distInfo->m_normalBtoA = normalInB;
-		distInfo->m_pointOnB = pointOnB;
-		distInfo->m_pointOnA = pointOnB + normalInB * distance;
-		return 0;
-	}
-	return -m_lastUsedMethod;
-}
-
-#endif  //BT_GJK_EPA_PENETATION_CONVEX_COLLISION_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
deleted file mode 100644
index 38df8d4808..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
+++ /dev/null
@@ -1,222 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btContinuousConvexCollision.h"
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
-#include "LinearMath/btTransformUtil.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-
-#include "btGjkPairDetector.h"
-#include "btPointCollector.h"
-#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
-
-btContinuousConvexCollision::btContinuousConvexCollision(const btConvexShape* convexA, const btConvexShape* convexB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver)
-	: m_simplexSolver(simplexSolver),
-	  m_penetrationDepthSolver(penetrationDepthSolver),
-	  m_convexA(convexA),
-	  m_convexB1(convexB),
-	  m_planeShape(0)
-{
-}
-
-btContinuousConvexCollision::btContinuousConvexCollision(const btConvexShape* convexA, const btStaticPlaneShape* plane)
-	: m_simplexSolver(0),
-	  m_penetrationDepthSolver(0),
-	  m_convexA(convexA),
-	  m_convexB1(0),
-	  m_planeShape(plane)
-{
-}
-
-/// This maximum should not be necessary. It allows for untested/degenerate cases in production code.
-/// You don't want your game ever to lock-up.
-#define MAX_ITERATIONS 64
-
-void btContinuousConvexCollision::computeClosestPoints(const btTransform& transA, const btTransform& transB, btPointCollector& pointCollector)
-{
-	if (m_convexB1)
-	{
-		m_simplexSolver->reset();
-		btGjkPairDetector gjk(m_convexA, m_convexB1, m_convexA->getShapeType(), m_convexB1->getShapeType(), m_convexA->getMargin(), m_convexB1->getMargin(), m_simplexSolver, m_penetrationDepthSolver);
-		btGjkPairDetector::ClosestPointInput input;
-		input.m_transformA = transA;
-		input.m_transformB = transB;
-		gjk.getClosestPoints(input, pointCollector, 0);
-	}
-	else
-	{
-		//convex versus plane
-		const btConvexShape* convexShape = m_convexA;
-		const btStaticPlaneShape* planeShape = m_planeShape;
-
-		const btVector3& planeNormal = planeShape->getPlaneNormal();
-		const btScalar& planeConstant = planeShape->getPlaneConstant();
-
-		btTransform convexWorldTransform = transA;
-		btTransform convexInPlaneTrans;
-		convexInPlaneTrans = transB.inverse() * convexWorldTransform;
-		btTransform planeInConvex;
-		planeInConvex = convexWorldTransform.inverse() * transB;
-
-		btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis() * -planeNormal);
-
-		btVector3 vtxInPlane = convexInPlaneTrans(vtx);
-		btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
-
-		btVector3 vtxInPlaneProjected = vtxInPlane - distance * planeNormal;
-		btVector3 vtxInPlaneWorld = transB * vtxInPlaneProjected;
-		btVector3 normalOnSurfaceB = transB.getBasis() * planeNormal;
-
-		pointCollector.addContactPoint(
-			normalOnSurfaceB,
-			vtxInPlaneWorld,
-			distance);
-	}
-}
-
-bool btContinuousConvexCollision::calcTimeOfImpact(
-	const btTransform& fromA,
-	const btTransform& toA,
-	const btTransform& fromB,
-	const btTransform& toB,
-	CastResult& result)
-{
-	/// compute linear and angular velocity for this interval, to interpolate
-	btVector3 linVelA, angVelA, linVelB, angVelB;
-	btTransformUtil::calculateVelocity(fromA, toA, btScalar(1.), linVelA, angVelA);
-	btTransformUtil::calculateVelocity(fromB, toB, btScalar(1.), linVelB, angVelB);
-
-	btScalar boundingRadiusA = m_convexA->getAngularMotionDisc();
-	btScalar boundingRadiusB = m_convexB1 ? m_convexB1->getAngularMotionDisc() : 0.f;
-
-	btScalar maxAngularProjectedVelocity = angVelA.length() * boundingRadiusA + angVelB.length() * boundingRadiusB;
-	btVector3 relLinVel = (linVelB - linVelA);
-
-	btScalar relLinVelocLength = (linVelB - linVelA).length();
-
-	if ((relLinVelocLength + maxAngularProjectedVelocity) == 0.f)
-		return false;
-
-	btScalar lambda = btScalar(0.);
-
-	btVector3 n;
-	n.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-	bool hasResult = false;
-	btVector3 c;
-
-	btScalar lastLambda = lambda;
-	//btScalar epsilon = btScalar(0.001);
-
-	int numIter = 0;
-	//first solution, using GJK
-
-	btScalar radius = 0.001f;
-	//	result.drawCoordSystem(sphereTr);
-
-	btPointCollector pointCollector1;
-
-	{
-		computeClosestPoints(fromA, fromB, pointCollector1);
-
-		hasResult = pointCollector1.m_hasResult;
-		c = pointCollector1.m_pointInWorld;
-	}
-
-	if (hasResult)
-	{
-		btScalar dist;
-		dist = pointCollector1.m_distance + result.m_allowedPenetration;
-		n = pointCollector1.m_normalOnBInWorld;
-		btScalar projectedLinearVelocity = relLinVel.dot(n);
-		if ((projectedLinearVelocity + maxAngularProjectedVelocity) <= SIMD_EPSILON)
-			return false;
-
-		//not close enough
-		while (dist > radius)
-		{
-			if (result.m_debugDrawer)
-			{
-				result.m_debugDrawer->drawSphere(c, 0.2f, btVector3(1, 1, 1));
-			}
-			btScalar dLambda = btScalar(0.);
-
-			projectedLinearVelocity = relLinVel.dot(n);
-
-			//don't report time of impact for motion away from the contact normal (or causes minor penetration)
-			if ((projectedLinearVelocity + maxAngularProjectedVelocity) <= SIMD_EPSILON)
-				return false;
-
-			dLambda = dist / (projectedLinearVelocity + maxAngularProjectedVelocity);
-
-			lambda += dLambda;
-
-			if (lambda > btScalar(1.) || lambda < btScalar(0.))
-				return false;
-
-			//todo: next check with relative epsilon
-			if (lambda <= lastLambda)
-			{
-				return false;
-				//n.setValue(0,0,0);
-				//break;
-			}
-			lastLambda = lambda;
-
-			//interpolate to next lambda
-			btTransform interpolatedTransA, interpolatedTransB, relativeTrans;
-
-			btTransformUtil::integrateTransform(fromA, linVelA, angVelA, lambda, interpolatedTransA);
-			btTransformUtil::integrateTransform(fromB, linVelB, angVelB, lambda, interpolatedTransB);
-			relativeTrans = interpolatedTransB.inverseTimes(interpolatedTransA);
-
-			if (result.m_debugDrawer)
-			{
-				result.m_debugDrawer->drawSphere(interpolatedTransA.getOrigin(), 0.2f, btVector3(1, 0, 0));
-			}
-
-			result.DebugDraw(lambda);
-
-			btPointCollector pointCollector;
-			computeClosestPoints(interpolatedTransA, interpolatedTransB, pointCollector);
-
-			if (pointCollector.m_hasResult)
-			{
-				dist = pointCollector.m_distance + result.m_allowedPenetration;
-				c = pointCollector.m_pointInWorld;
-				n = pointCollector.m_normalOnBInWorld;
-			}
-			else
-			{
-				result.reportFailure(-1, numIter);
-				return false;
-			}
-
-			numIter++;
-			if (numIter > MAX_ITERATIONS)
-			{
-				result.reportFailure(-2, numIter);
-				return false;
-			}
-		}
-
-		result.m_fraction = lambda;
-		result.m_normal = n;
-		result.m_hitPoint = c;
-		return true;
-	}
-
-	return false;
-}
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h
deleted file mode 100644
index 67b2205c36..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h
+++ /dev/null
@@ -1,53 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
-#define BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
-
-#include "btConvexCast.h"
-#include "btSimplexSolverInterface.h"
-class btConvexPenetrationDepthSolver;
-class btConvexShape;
-class btStaticPlaneShape;
-
-/// btContinuousConvexCollision implements angular and linear time of impact for convex objects.
-/// Based on Brian Mirtich's Conservative Advancement idea (PhD thesis).
-/// Algorithm operates in worldspace, in order to keep in between motion globally consistent.
-/// It uses GJK at the moment. Future improvement would use minkowski sum / supporting vertex, merging innerloops
-class btContinuousConvexCollision : public btConvexCast
-{
-	btSimplexSolverInterface* m_simplexSolver;
-	btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
-	const btConvexShape* m_convexA;
-	//second object is either a convex or a plane (code sharing)
-	const btConvexShape* m_convexB1;
-	const btStaticPlaneShape* m_planeShape;
-
-	void computeClosestPoints(const btTransform& transA, const btTransform& transB, struct btPointCollector& pointCollector);
-
-public:
-	btContinuousConvexCollision(const btConvexShape* shapeA, const btConvexShape* shapeB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver);
-
-	btContinuousConvexCollision(const btConvexShape* shapeA, const btStaticPlaneShape* plane);
-
-	virtual bool calcTimeOfImpact(
-		const btTransform& fromA,
-		const btTransform& toA,
-		const btTransform& fromB,
-		const btTransform& toB,
-		CastResult& result);
-};
-
-#endif  //BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.cpp
deleted file mode 100644
index d2a1310b23..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.cpp
+++ /dev/null
@@ -1,20 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btConvexCast.h"
-
-btConvexCast::~btConvexCast()
-{
-}
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h
deleted file mode 100644
index 77b19be599..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h
+++ /dev/null
@@ -1,90 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONVEX_CAST_H
-#define BT_CONVEX_CAST_H
-
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btScalar.h"
-class btMinkowskiSumShape;
-#include "LinearMath/btIDebugDraw.h"
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define MAX_CONVEX_CAST_ITERATIONS 64
-#define MAX_CONVEX_CAST_EPSILON (SIMD_EPSILON * 10)
-#else
-#define MAX_CONVEX_CAST_ITERATIONS 32
-#define MAX_CONVEX_CAST_EPSILON btScalar(0.0001)
-#endif
-///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases.
-///See discussion about this here http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=565
-//will need to digg deeper to make the algorithm more robust
-//since, a large epsilon can cause an early termination with false
-//positive results (ray intersections that shouldn't be there)
-
-/// btConvexCast is an interface for Casting
-class btConvexCast
-{
-public:
-	virtual ~btConvexCast();
-
-	///RayResult stores the closest result
-	/// alternatively, add a callback method to decide about closest/all results
-	struct CastResult
-	{
-		//virtual bool	addRayResult(const btVector3& normal,btScalar	fraction) = 0;
-
-		virtual void DebugDraw(btScalar fraction) { (void)fraction; }
-		virtual void drawCoordSystem(const btTransform& trans) { (void)trans; }
-		virtual void reportFailure(int errNo, int numIterations)
-		{
-			(void)errNo;
-			(void)numIterations;
-		}
-		CastResult()
-			: m_fraction(btScalar(BT_LARGE_FLOAT)),
-			  m_debugDrawer(0),
-			  m_allowedPenetration(btScalar(0)),
-			  m_subSimplexCastMaxIterations(MAX_CONVEX_CAST_ITERATIONS),
-			  m_subSimplexCastEpsilon(MAX_CONVEX_CAST_EPSILON)
-		{
-		}
-
-		virtual ~CastResult(){};
-
-		btTransform m_hitTransformA;
-		btTransform m_hitTransformB;
-		btVector3 m_normal;
-		btVector3 m_hitPoint;
-		btScalar m_fraction;  //input and output
-		btIDebugDraw* m_debugDrawer;
-		btScalar m_allowedPenetration;
-		
-		int m_subSimplexCastMaxIterations;
-		btScalar m_subSimplexCastEpsilon;
-
-	};
-
-	/// cast a convex against another convex object
-	virtual bool calcTimeOfImpact(
-		const btTransform& fromA,
-		const btTransform& toA,
-		const btTransform& fromB,
-		const btTransform& toB,
-		CastResult& result) = 0;
-};
-
-#endif  //BT_CONVEX_CAST_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
deleted file mode 100644
index 65c9df9340..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
+++ /dev/null
@@ -1,35 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONVEX_PENETRATION_DEPTH_H
-#define BT_CONVEX_PENETRATION_DEPTH_H
-
-class btVector3;
-#include "btSimplexSolverInterface.h"
-class btConvexShape;
-class btTransform;
-
-///ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
-class btConvexPenetrationDepthSolver
-{
-public:
-	virtual ~btConvexPenetrationDepthSolver(){};
-	virtual bool calcPenDepth(btSimplexSolverInterface& simplexSolver,
-							  const btConvexShape* convexA, const btConvexShape* convexB,
-							  const btTransform& transA, const btTransform& transB,
-							  btVector3& v, btVector3& pa, btVector3& pb,
-							  class btIDebugDraw* debugDraw) = 0;
-};
-#endif  //BT_CONVEX_PENETRATION_DEPTH_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
deleted file mode 100644
index d1bbb1a46e..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
+++ /dev/null
@@ -1,85 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
-#define BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
-
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btVector3.h"
-
-/// This interface is made to be used by an iterative approach to do TimeOfImpact calculations
-/// This interface allows to query for closest points and penetration depth between two (convex) objects
-/// the closest point is on the second object (B), and the normal points from the surface on B towards A.
-/// distance is between closest points on B and closest point on A. So you can calculate closest point on A
-/// by taking closestPointInA = closestPointInB + m_distance * m_normalOnSurfaceB
-struct btDiscreteCollisionDetectorInterface
-{
-	struct Result
-	{
-		virtual ~Result() {}
-
-		///setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material combiner
-		virtual void setShapeIdentifiersA(int partId0, int index0) = 0;
-		virtual void setShapeIdentifiersB(int partId1, int index1) = 0;
-		virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth) = 0;
-	};
-
-	struct ClosestPointInput
-	{
-		ClosestPointInput()
-			: m_maximumDistanceSquared(btScalar(BT_LARGE_FLOAT))
-		{
-		}
-
-		btTransform m_transformA;
-		btTransform m_transformB;
-		btScalar m_maximumDistanceSquared;
-	};
-
-	virtual ~btDiscreteCollisionDetectorInterface(){};
-
-	//
-	// give either closest points (distance > 0) or penetration (distance)
-	// the normal always points from B towards A
-	//
-	virtual void getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw, bool swapResults = false) = 0;
-};
-
-struct btStorageResult : public btDiscreteCollisionDetectorInterface::Result
-{
-	btVector3 m_normalOnSurfaceB;
-	btVector3 m_closestPointInB;
-	btScalar m_distance;  //negative means penetration !
-
-protected:
-	btStorageResult() : m_distance(btScalar(BT_LARGE_FLOAT))
-	{
-	}
-
-public:
-	virtual ~btStorageResult(){};
-
-	virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
-	{
-		if (depth < m_distance)
-		{
-			m_normalOnSurfaceB = normalOnBInWorld;
-			m_closestPointInB = pointInWorld;
-			m_distance = depth;
-		}
-	}
-};
-
-#endif  //BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkCollisionDescription.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkCollisionDescription.h
deleted file mode 100644
index c9fd84bebf..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkCollisionDescription.h
+++ /dev/null
@@ -1,39 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2014 Erwin Coumans http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef GJK_COLLISION_DESCRIPTION_H
-#define GJK_COLLISION_DESCRIPTION_H
-
-#include "LinearMath/btVector3.h"
-
-struct btGjkCollisionDescription
-{
-	btVector3 m_firstDir;
-	int m_maxGjkIterations;
-	btScalar m_maximumDistanceSquared;
-	btScalar m_gjkRelError2;
-	btGjkCollisionDescription()
-		: m_firstDir(0, 1, 0),
-		  m_maxGjkIterations(1000),
-		  m_maximumDistanceSquared(1e30f),
-		  m_gjkRelError2(1.0e-6)
-	{
-	}
-	virtual ~btGjkCollisionDescription()
-	{
-	}
-};
-
-#endif  //GJK_COLLISION_DESCRIPTION_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp
deleted file mode 100644
index 9d61e75dac..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp
+++ /dev/null
@@ -1,164 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btGjkConvexCast.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-#include "btGjkPairDetector.h"
-#include "btPointCollector.h"
-#include "LinearMath/btTransformUtil.h"
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define MAX_ITERATIONS 64
-#else
-#define MAX_ITERATIONS 32
-#endif
-
-btGjkConvexCast::btGjkConvexCast(const btConvexShape* convexA, const btConvexShape* convexB, btSimplexSolverInterface* simplexSolver)
-	: m_simplexSolver(simplexSolver),
-	  m_convexA(convexA),
-	  m_convexB(convexB)
-{
-}
-
-bool btGjkConvexCast::calcTimeOfImpact(
-	const btTransform& fromA,
-	const btTransform& toA,
-	const btTransform& fromB,
-	const btTransform& toB,
-	CastResult& result)
-{
-	m_simplexSolver->reset();
-
-	/// compute linear velocity for this interval, to interpolate
-	//assume no rotation/angular velocity, assert here?
-	btVector3 linVelA, linVelB;
-	linVelA = toA.getOrigin() - fromA.getOrigin();
-	linVelB = toB.getOrigin() - fromB.getOrigin();
-
-	btScalar radius = btScalar(0.001);
-	btScalar lambda = btScalar(0.);
-	btVector3 v(1, 0, 0);
-
-	int maxIter = MAX_ITERATIONS;
-
-	btVector3 n;
-	n.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-	bool hasResult = false;
-	btVector3 c;
-	btVector3 r = (linVelA - linVelB);
-
-	btScalar lastLambda = lambda;
-	//btScalar epsilon = btScalar(0.001);
-
-	int numIter = 0;
-	//first solution, using GJK
-
-	btTransform identityTrans;
-	identityTrans.setIdentity();
-
-	//	result.drawCoordSystem(sphereTr);
-
-	btPointCollector pointCollector;
-
-	btGjkPairDetector gjk(m_convexA, m_convexB, m_simplexSolver, 0);  //m_penetrationDepthSolver);
-	btGjkPairDetector::ClosestPointInput input;
-
-	//we don't use margins during CCD
-	//	gjk.setIgnoreMargin(true);
-
-	input.m_transformA = fromA;
-	input.m_transformB = fromB;
-	gjk.getClosestPoints(input, pointCollector, 0);
-
-	hasResult = pointCollector.m_hasResult;
-	c = pointCollector.m_pointInWorld;
-
-	if (hasResult)
-	{
-		btScalar dist;
-		dist = pointCollector.m_distance;
-		n = pointCollector.m_normalOnBInWorld;
-
-		//not close enough
-		while (dist > radius)
-		{
-			numIter++;
-			if (numIter > maxIter)
-			{
-				return false;  //todo: report a failure
-			}
-			btScalar dLambda = btScalar(0.);
-
-			btScalar projectedLinearVelocity = r.dot(n);
-
-			dLambda = dist / (projectedLinearVelocity);
-
-			lambda = lambda - dLambda;
-
-			if (lambda > btScalar(1.))
-				return false;
-
-			if (lambda < btScalar(0.))
-				return false;
-
-			//todo: next check with relative epsilon
-			if (lambda <= lastLambda)
-			{
-				return false;
-				//n.setValue(0,0,0);
-				break;
-			}
-			lastLambda = lambda;
-
-			//interpolate to next lambda
-			result.DebugDraw(lambda);
-			input.m_transformA.getOrigin().setInterpolate3(fromA.getOrigin(), toA.getOrigin(), lambda);
-			input.m_transformB.getOrigin().setInterpolate3(fromB.getOrigin(), toB.getOrigin(), lambda);
-
-			gjk.getClosestPoints(input, pointCollector, 0);
-			if (pointCollector.m_hasResult)
-			{
-				if (pointCollector.m_distance < btScalar(0.))
-				{
-					result.m_fraction = lastLambda;
-					n = pointCollector.m_normalOnBInWorld;
-					result.m_normal = n;
-					result.m_hitPoint = pointCollector.m_pointInWorld;
-					return true;
-				}
-				c = pointCollector.m_pointInWorld;
-				n = pointCollector.m_normalOnBInWorld;
-				dist = pointCollector.m_distance;
-			}
-			else
-			{
-				//??
-				return false;
-			}
-		}
-
-		//is n normalized?
-		//don't report time of impact for motion away from the contact normal (or causes minor penetration)
-		if (n.dot(r) >= -result.m_allowedPenetration)
-			return false;
-
-		result.m_fraction = lambda;
-		result.m_normal = n;
-		result.m_hitPoint = c;
-		return true;
-	}
-
-	return false;
-}
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h
deleted file mode 100644
index ef5979173e..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h
+++ /dev/null
@@ -1,46 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_GJK_CONVEX_CAST_H
-#define BT_GJK_CONVEX_CAST_H
-
-#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
-
-#include "LinearMath/btVector3.h"
-#include "btConvexCast.h"
-class btConvexShape;
-class btMinkowskiSumShape;
-#include "btSimplexSolverInterface.h"
-
-///GjkConvexCast performs a raycast on a convex object using support mapping.
-class btGjkConvexCast : public btConvexCast
-{
-	btSimplexSolverInterface* m_simplexSolver;
-	const btConvexShape* m_convexA;
-	const btConvexShape* m_convexB;
-
-public:
-	btGjkConvexCast(const btConvexShape* convexA, const btConvexShape* convexB, btSimplexSolverInterface* simplexSolver);
-
-	/// cast a convex against another convex object
-	virtual bool calcTimeOfImpact(
-		const btTransform& fromA,
-		const btTransform& toA,
-		const btTransform& fromB,
-		const btTransform& toB,
-		CastResult& result);
-};
-
-#endif  //BT_GJK_CONVEX_CAST_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
deleted file mode 100644
index 7d53f8624a..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
+++ /dev/null
@@ -1,1104 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the
-use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it
-freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not
-claim that you wrote the original software. If you use this software in a
-product, an acknowledgment in the product documentation would be appreciated
-but is not required.
-2. Altered source versions must be plainly marked as such, and must not be
-misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/*
-GJK-EPA collision solver by Nathanael Presson, 2008
-*/
-#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-#include "btGjkEpa2.h"
-
-#if defined(DEBUG) || defined(_DEBUG)
-#include <stdio.h>  //for debug printf
-#ifdef __SPU__
-#include <spu_printf.h>
-#define printf spu_printf
-#endif  //__SPU__
-#endif
-
-namespace gjkepa2_impl
-{
-// Config
-
-/* GJK	*/
-#define GJK_MAX_ITERATIONS 128
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define GJK_ACCURACY ((btScalar)1e-12)
-#define GJK_MIN_DISTANCE ((btScalar)1e-12)
-#define GJK_DUPLICATED_EPS ((btScalar)1e-12)
-#else
-#define GJK_ACCURACY ((btScalar)0.0001)
-#define GJK_MIN_DISTANCE ((btScalar)0.0001)
-#define GJK_DUPLICATED_EPS ((btScalar)0.0001)
-#endif  //BT_USE_DOUBLE_PRECISION
-
-#define GJK_SIMPLEX2_EPS ((btScalar)0.0)
-#define GJK_SIMPLEX3_EPS ((btScalar)0.0)
-#define GJK_SIMPLEX4_EPS ((btScalar)0.0)
-
-/* EPA	*/
-#define EPA_MAX_VERTICES 128
-#define EPA_MAX_ITERATIONS 255
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define EPA_ACCURACY ((btScalar)1e-12)
-#define EPA_PLANE_EPS ((btScalar)1e-14)
-#define EPA_INSIDE_EPS ((btScalar)1e-9)
-#else
-#define EPA_ACCURACY ((btScalar)0.0001)
-#define EPA_PLANE_EPS ((btScalar)0.00001)
-#define EPA_INSIDE_EPS ((btScalar)0.01)
-#endif
-
-#define EPA_FALLBACK (10 * EPA_ACCURACY)
-#define EPA_MAX_FACES (EPA_MAX_VERTICES * 2)
-
-// Shorthands
-typedef unsigned int U;
-typedef unsigned char U1;
-
-// MinkowskiDiff
-struct MinkowskiDiff
-{
-	const btConvexShape* m_shapes[2];
-	btMatrix3x3 m_toshape1;
-	btTransform m_toshape0;
-#ifdef __SPU__
-	bool m_enableMargin;
-#else
-	btVector3 (btConvexShape::*Ls)(const btVector3&) const;
-#endif  //__SPU__
-
-	MinkowskiDiff()
-	{
-	}
-#ifdef __SPU__
-	void EnableMargin(bool enable)
-	{
-		m_enableMargin = enable;
-	}
-	inline btVector3 Support0(const btVector3& d) const
-	{
-		if (m_enableMargin)
-		{
-			return m_shapes[0]->localGetSupportVertexNonVirtual(d);
-		}
-		else
-		{
-			return m_shapes[0]->localGetSupportVertexWithoutMarginNonVirtual(d);
-		}
-	}
-	inline btVector3 Support1(const btVector3& d) const
-	{
-		if (m_enableMargin)
-		{
-			return m_toshape0 * (m_shapes[1]->localGetSupportVertexNonVirtual(m_toshape1 * d));
-		}
-		else
-		{
-			return m_toshape0 * (m_shapes[1]->localGetSupportVertexWithoutMarginNonVirtual(m_toshape1 * d));
-		}
-	}
-#else
-	void EnableMargin(bool enable)
-	{
-		if (enable)
-			Ls = &btConvexShape::localGetSupportVertexNonVirtual;
-		else
-			Ls = &btConvexShape::localGetSupportVertexWithoutMarginNonVirtual;
-	}
-	inline btVector3 Support0(const btVector3& d) const
-	{
-		return (((m_shapes[0])->*(Ls))(d));
-	}
-	inline btVector3 Support1(const btVector3& d) const
-	{
-		return (m_toshape0 * ((m_shapes[1])->*(Ls))(m_toshape1 * d));
-	}
-#endif  //__SPU__
-
-	inline btVector3 Support(const btVector3& d) const
-	{
-		return (Support0(d) - Support1(-d));
-	}
-	btVector3 Support(const btVector3& d, U index) const
-	{
-		if (index)
-			return (Support1(d));
-		else
-			return (Support0(d));
-	}
-};
-
-typedef MinkowskiDiff tShape;
-
-// GJK
-struct GJK
-{
-	/* Types		*/
-	struct sSV
-	{
-		btVector3 d, w;
-	};
-	struct sSimplex
-	{
-		sSV* c[4];
-		btScalar p[4];
-		U rank;
-	};
-	struct eStatus
-	{
-		enum _
-		{
-			Valid,
-			Inside,
-			Failed
-		};
-	};
-	/* Fields		*/
-	tShape m_shape;
-	btVector3 m_ray;
-	btScalar m_distance;
-	sSimplex m_simplices[2];
-	sSV m_store[4];
-	sSV* m_free[4];
-	U m_nfree;
-	U m_current;
-	sSimplex* m_simplex;
-	eStatus::_ m_status;
-	/* Methods		*/
-	GJK()
-	{
-		Initialize();
-	}
-	void Initialize()
-	{
-		m_ray = btVector3(0, 0, 0);
-		m_nfree = 0;
-		m_status = eStatus::Failed;
-		m_current = 0;
-		m_distance = 0;
-	}
-	eStatus::_ Evaluate(const tShape& shapearg, const btVector3& guess)
-	{
-		U iterations = 0;
-		btScalar sqdist = 0;
-		btScalar alpha = 0;
-		btVector3 lastw[4];
-		U clastw = 0;
-		/* Initialize solver		*/
-		m_free[0] = &m_store[0];
-		m_free[1] = &m_store[1];
-		m_free[2] = &m_store[2];
-		m_free[3] = &m_store[3];
-		m_nfree = 4;
-		m_current = 0;
-		m_status = eStatus::Valid;
-		m_shape = shapearg;
-		m_distance = 0;
-		/* Initialize simplex		*/
-		m_simplices[0].rank = 0;
-		m_ray = guess;
-		const btScalar sqrl = m_ray.length2();
-		appendvertice(m_simplices[0], sqrl > 0 ? -m_ray : btVector3(1, 0, 0));
-		m_simplices[0].p[0] = 1;
-		m_ray = m_simplices[0].c[0]->w;
-		sqdist = sqrl;
-		lastw[0] =
-			lastw[1] =
-				lastw[2] =
-					lastw[3] = m_ray;
-		/* Loop						*/
-		do
-		{
-			const U next = 1 - m_current;
-			sSimplex& cs = m_simplices[m_current];
-			sSimplex& ns = m_simplices[next];
-			/* Check zero							*/
-			const btScalar rl = m_ray.length();
-			if (rl < GJK_MIN_DISTANCE)
-			{ /* Touching or inside				*/
-				m_status = eStatus::Inside;
-				break;
-			}
-			/* Append new vertice in -'v' direction	*/
-			appendvertice(cs, -m_ray);
-			const btVector3& w = cs.c[cs.rank - 1]->w;
-			bool found = false;
-			for (U i = 0; i < 4; ++i)
-			{
-				if ((w - lastw[i]).length2() < GJK_DUPLICATED_EPS)
-				{
-					found = true;
-					break;
-				}
-			}
-			if (found)
-			{ /* Return old simplex				*/
-				removevertice(m_simplices[m_current]);
-				break;
-			}
-			else
-			{ /* Update lastw					*/
-				lastw[clastw = (clastw + 1) & 3] = w;
-			}
-			/* Check for termination				*/
-			const btScalar omega = btDot(m_ray, w) / rl;
-			alpha = btMax(omega, alpha);
-			if (((rl - alpha) - (GJK_ACCURACY * rl)) <= 0)
-			{ /* Return old simplex				*/
-				removevertice(m_simplices[m_current]);
-				break;
-			}
-			/* Reduce simplex						*/
-			btScalar weights[4];
-			U mask = 0;
-			switch (cs.rank)
-			{
-				case 2:
-					sqdist = projectorigin(cs.c[0]->w,
-										   cs.c[1]->w,
-										   weights, mask);
-					break;
-				case 3:
-					sqdist = projectorigin(cs.c[0]->w,
-										   cs.c[1]->w,
-										   cs.c[2]->w,
-										   weights, mask);
-					break;
-				case 4:
-					sqdist = projectorigin(cs.c[0]->w,
-										   cs.c[1]->w,
-										   cs.c[2]->w,
-										   cs.c[3]->w,
-										   weights, mask);
-					break;
-			}
-			if (sqdist >= 0)
-			{ /* Valid	*/
-				ns.rank = 0;
-				m_ray = btVector3(0, 0, 0);
-				m_current = next;
-				for (U i = 0, ni = cs.rank; i < ni; ++i)
-				{
-					if (mask & (1 << i))
-					{
-						ns.c[ns.rank] = cs.c[i];
-						ns.p[ns.rank++] = weights[i];
-						m_ray += cs.c[i]->w * weights[i];
-					}
-					else
-					{
-						m_free[m_nfree++] = cs.c[i];
-					}
-				}
-				if (mask == 15) m_status = eStatus::Inside;
-			}
-			else
-			{ /* Return old simplex				*/
-				removevertice(m_simplices[m_current]);
-				break;
-			}
-			m_status = ((++iterations) < GJK_MAX_ITERATIONS) ? m_status : eStatus::Failed;
-		} while (m_status == eStatus::Valid);
-		m_simplex = &m_simplices[m_current];
-		switch (m_status)
-		{
-			case eStatus::Valid:
-				m_distance = m_ray.length();
-				break;
-			case eStatus::Inside:
-				m_distance = 0;
-				break;
-			default:
-			{
-			}
-		}
-		return (m_status);
-	}
-	bool EncloseOrigin()
-	{
-		switch (m_simplex->rank)
-		{
-			case 1:
-			{
-				for (U i = 0; i < 3; ++i)
-				{
-					btVector3 axis = btVector3(0, 0, 0);
-					axis[i] = 1;
-					appendvertice(*m_simplex, axis);
-					if (EncloseOrigin()) return (true);
-					removevertice(*m_simplex);
-					appendvertice(*m_simplex, -axis);
-					if (EncloseOrigin()) return (true);
-					removevertice(*m_simplex);
-				}
-			}
-			break;
-			case 2:
-			{
-				const btVector3 d = m_simplex->c[1]->w - m_simplex->c[0]->w;
-				for (U i = 0; i < 3; ++i)
-				{
-					btVector3 axis = btVector3(0, 0, 0);
-					axis[i] = 1;
-					const btVector3 p = btCross(d, axis);
-					if (p.length2() > 0)
-					{
-						appendvertice(*m_simplex, p);
-						if (EncloseOrigin()) return (true);
-						removevertice(*m_simplex);
-						appendvertice(*m_simplex, -p);
-						if (EncloseOrigin()) return (true);
-						removevertice(*m_simplex);
-					}
-				}
-			}
-			break;
-			case 3:
-			{
-				const btVector3 n = btCross(m_simplex->c[1]->w - m_simplex->c[0]->w,
-											m_simplex->c[2]->w - m_simplex->c[0]->w);
-				if (n.length2() > 0)
-				{
-					appendvertice(*m_simplex, n);
-					if (EncloseOrigin()) return (true);
-					removevertice(*m_simplex);
-					appendvertice(*m_simplex, -n);
-					if (EncloseOrigin()) return (true);
-					removevertice(*m_simplex);
-				}
-			}
-			break;
-			case 4:
-			{
-				if (btFabs(det(m_simplex->c[0]->w - m_simplex->c[3]->w,
-							   m_simplex->c[1]->w - m_simplex->c[3]->w,
-							   m_simplex->c[2]->w - m_simplex->c[3]->w)) > 0)
-					return (true);
-			}
-			break;
-		}
-		return (false);
-	}
-	/* Internals	*/
-	void getsupport(const btVector3& d, sSV& sv) const
-	{
-		sv.d = d / d.length();
-		sv.w = m_shape.Support(sv.d);
-	}
-	void removevertice(sSimplex& simplex)
-	{
-		m_free[m_nfree++] = simplex.c[--simplex.rank];
-	}
-	void appendvertice(sSimplex& simplex, const btVector3& v)
-	{
-		simplex.p[simplex.rank] = 0;
-		simplex.c[simplex.rank] = m_free[--m_nfree];
-		getsupport(v, *simplex.c[simplex.rank++]);
-	}
-	static btScalar det(const btVector3& a, const btVector3& b, const btVector3& c)
-	{
-		return (a.y() * b.z() * c.x() + a.z() * b.x() * c.y() -
-				a.x() * b.z() * c.y() - a.y() * b.x() * c.z() +
-				a.x() * b.y() * c.z() - a.z() * b.y() * c.x());
-	}
-	static btScalar projectorigin(const btVector3& a,
-								  const btVector3& b,
-								  btScalar* w, U& m)
-	{
-		const btVector3 d = b - a;
-		const btScalar l = d.length2();
-		if (l > GJK_SIMPLEX2_EPS)
-		{
-			const btScalar t(l > 0 ? -btDot(a, d) / l : 0);
-			if (t >= 1)
-			{
-				w[0] = 0;
-				w[1] = 1;
-				m = 2;
-				return (b.length2());
-			}
-			else if (t <= 0)
-			{
-				w[0] = 1;
-				w[1] = 0;
-				m = 1;
-				return (a.length2());
-			}
-			else
-			{
-				w[0] = 1 - (w[1] = t);
-				m = 3;
-				return ((a + d * t).length2());
-			}
-		}
-		return (-1);
-	}
-	static btScalar projectorigin(const btVector3& a,
-								  const btVector3& b,
-								  const btVector3& c,
-								  btScalar* w, U& m)
-	{
-		static const U imd3[] = {1, 2, 0};
-		const btVector3* vt[] = {&a, &b, &c};
-		const btVector3 dl[] = {a - b, b - c, c - a};
-		const btVector3 n = btCross(dl[0], dl[1]);
-		const btScalar l = n.length2();
-		if (l > GJK_SIMPLEX3_EPS)
-		{
-			btScalar mindist = -1;
-			btScalar subw[2] = {0.f, 0.f};
-			U subm(0);
-			for (U i = 0; i < 3; ++i)
-			{
-				if (btDot(*vt[i], btCross(dl[i], n)) > 0)
-				{
-					const U j = imd3[i];
-					const btScalar subd(projectorigin(*vt[i], *vt[j], subw, subm));
-					if ((mindist < 0) || (subd < mindist))
-					{
-						mindist = subd;
-						m = static_cast<U>(((subm & 1) ? 1 << i : 0) + ((subm & 2) ? 1 << j : 0));
-						w[i] = subw[0];
-						w[j] = subw[1];
-						w[imd3[j]] = 0;
-					}
-				}
-			}
-			if (mindist < 0)
-			{
-				const btScalar d = btDot(a, n);
-				const btScalar s = btSqrt(l);
-				const btVector3 p = n * (d / l);
-				mindist = p.length2();
-				m = 7;
-				w[0] = (btCross(dl[1], b - p)).length() / s;
-				w[1] = (btCross(dl[2], c - p)).length() / s;
-				w[2] = 1 - (w[0] + w[1]);
-			}
-			return (mindist);
-		}
-		return (-1);
-	}
-	static btScalar projectorigin(const btVector3& a,
-								  const btVector3& b,
-								  const btVector3& c,
-								  const btVector3& d,
-								  btScalar* w, U& m)
-	{
-		static const U imd3[] = {1, 2, 0};
-		const btVector3* vt[] = {&a, &b, &c, &d};
-		const btVector3 dl[] = {a - d, b - d, c - d};
-		const btScalar vl = det(dl[0], dl[1], dl[2]);
-		const bool ng = (vl * btDot(a, btCross(b - c, a - b))) <= 0;
-		if (ng && (btFabs(vl) > GJK_SIMPLEX4_EPS))
-		{
-			btScalar mindist = -1;
-			btScalar subw[3] = {0.f, 0.f, 0.f};
-			U subm(0);
-			for (U i = 0; i < 3; ++i)
-			{
-				const U j = imd3[i];
-				const btScalar s = vl * btDot(d, btCross(dl[i], dl[j]));
-				if (s > 0)
-				{
-					const btScalar subd = projectorigin(*vt[i], *vt[j], d, subw, subm);
-					if ((mindist < 0) || (subd < mindist))
-					{
-						mindist = subd;
-						m = static_cast<U>((subm & 1 ? 1 << i : 0) +
-										   (subm & 2 ? 1 << j : 0) +
-										   (subm & 4 ? 8 : 0));
-						w[i] = subw[0];
-						w[j] = subw[1];
-						w[imd3[j]] = 0;
-						w[3] = subw[2];
-					}
-				}
-			}
-			if (mindist < 0)
-			{
-				mindist = 0;
-				m = 15;
-				w[0] = det(c, b, d) / vl;
-				w[1] = det(a, c, d) / vl;
-				w[2] = det(b, a, d) / vl;
-				w[3] = 1 - (w[0] + w[1] + w[2]);
-			}
-			return (mindist);
-		}
-		return (-1);
-	}
-};
-
-// EPA
-struct EPA
-{
-	/* Types		*/
-	typedef GJK::sSV sSV;
-	struct sFace
-	{
-		btVector3 n;
-		btScalar d;
-		sSV* c[3];
-		sFace* f[3];
-		sFace* l[2];
-		U1 e[3];
-		U1 pass;
-	};
-	struct sList
-	{
-		sFace* root;
-		U count;
-		sList() : root(0), count(0) {}
-	};
-	struct sHorizon
-	{
-		sFace* cf;
-		sFace* ff;
-		U nf;
-		sHorizon() : cf(0), ff(0), nf(0) {}
-	};
-	struct eStatus
-	{
-		enum _
-		{
-			Valid,
-			Touching,
-			Degenerated,
-			NonConvex,
-			InvalidHull,
-			OutOfFaces,
-			OutOfVertices,
-			AccuraryReached,
-			FallBack,
-			Failed
-		};
-	};
-	/* Fields		*/
-	eStatus::_ m_status;
-	GJK::sSimplex m_result;
-	btVector3 m_normal;
-	btScalar m_depth;
-	sSV m_sv_store[EPA_MAX_VERTICES];
-	sFace m_fc_store[EPA_MAX_FACES];
-	U m_nextsv;
-	sList m_hull;
-	sList m_stock;
-	/* Methods		*/
-	EPA()
-	{
-		Initialize();
-	}
-
-	static inline void bind(sFace* fa, U ea, sFace* fb, U eb)
-	{
-		fa->e[ea] = (U1)eb;
-		fa->f[ea] = fb;
-		fb->e[eb] = (U1)ea;
-		fb->f[eb] = fa;
-	}
-	static inline void append(sList& list, sFace* face)
-	{
-		face->l[0] = 0;
-		face->l[1] = list.root;
-		if (list.root) list.root->l[0] = face;
-		list.root = face;
-		++list.count;
-	}
-	static inline void remove(sList& list, sFace* face)
-	{
-		if (face->l[1]) face->l[1]->l[0] = face->l[0];
-		if (face->l[0]) face->l[0]->l[1] = face->l[1];
-		if (face == list.root) list.root = face->l[1];
-		--list.count;
-	}
-
-	void Initialize()
-	{
-		m_status = eStatus::Failed;
-		m_normal = btVector3(0, 0, 0);
-		m_depth = 0;
-		m_nextsv = 0;
-		for (U i = 0; i < EPA_MAX_FACES; ++i)
-		{
-			append(m_stock, &m_fc_store[EPA_MAX_FACES - i - 1]);
-		}
-	}
-	eStatus::_ Evaluate(GJK& gjk, const btVector3& guess)
-	{
-		GJK::sSimplex& simplex = *gjk.m_simplex;
-		if ((simplex.rank > 1) && gjk.EncloseOrigin())
-		{
-			/* Clean up				*/
-			while (m_hull.root)
-			{
-				sFace* f = m_hull.root;
-				remove(m_hull, f);
-				append(m_stock, f);
-			}
-			m_status = eStatus::Valid;
-			m_nextsv = 0;
-			/* Orient simplex		*/
-			if (gjk.det(simplex.c[0]->w - simplex.c[3]->w,
-						simplex.c[1]->w - simplex.c[3]->w,
-						simplex.c[2]->w - simplex.c[3]->w) < 0)
-			{
-				btSwap(simplex.c[0], simplex.c[1]);
-				btSwap(simplex.p[0], simplex.p[1]);
-			}
-			/* Build initial hull	*/
-			sFace* tetra[] = {newface(simplex.c[0], simplex.c[1], simplex.c[2], true),
-							  newface(simplex.c[1], simplex.c[0], simplex.c[3], true),
-							  newface(simplex.c[2], simplex.c[1], simplex.c[3], true),
-							  newface(simplex.c[0], simplex.c[2], simplex.c[3], true)};
-			if (m_hull.count == 4)
-			{
-				sFace* best = findbest();
-				sFace outer = *best;
-				U pass = 0;
-				U iterations = 0;
-				bind(tetra[0], 0, tetra[1], 0);
-				bind(tetra[0], 1, tetra[2], 0);
-				bind(tetra[0], 2, tetra[3], 0);
-				bind(tetra[1], 1, tetra[3], 2);
-				bind(tetra[1], 2, tetra[2], 1);
-				bind(tetra[2], 2, tetra[3], 1);
-				m_status = eStatus::Valid;
-				for (; iterations < EPA_MAX_ITERATIONS; ++iterations)
-				{
-					if (m_nextsv < EPA_MAX_VERTICES)
-					{
-						sHorizon horizon;
-						sSV* w = &m_sv_store[m_nextsv++];
-						bool valid = true;
-						best->pass = (U1)(++pass);
-						gjk.getsupport(best->n, *w);
-						const btScalar wdist = btDot(best->n, w->w) - best->d;
-						if (wdist > EPA_ACCURACY)
-						{
-							for (U j = 0; (j < 3) && valid; ++j)
-							{
-								valid &= expand(pass, w,
-												best->f[j], best->e[j],
-												horizon);
-							}
-							if (valid && (horizon.nf >= 3))
-							{
-								bind(horizon.cf, 1, horizon.ff, 2);
-								remove(m_hull, best);
-								append(m_stock, best);
-								best = findbest();
-								outer = *best;
-							}
-							else
-							{
-								m_status = eStatus::InvalidHull;
-								break;
-							}
-						}
-						else
-						{
-							m_status = eStatus::AccuraryReached;
-							break;
-						}
-					}
-					else
-					{
-						m_status = eStatus::OutOfVertices;
-						break;
-					}
-				}
-				const btVector3 projection = outer.n * outer.d;
-				m_normal = outer.n;
-				m_depth = outer.d;
-				m_result.rank = 3;
-				m_result.c[0] = outer.c[0];
-				m_result.c[1] = outer.c[1];
-				m_result.c[2] = outer.c[2];
-				m_result.p[0] = btCross(outer.c[1]->w - projection,
-										outer.c[2]->w - projection)
-									.length();
-				m_result.p[1] = btCross(outer.c[2]->w - projection,
-										outer.c[0]->w - projection)
-									.length();
-				m_result.p[2] = btCross(outer.c[0]->w - projection,
-										outer.c[1]->w - projection)
-									.length();
-				const btScalar sum = m_result.p[0] + m_result.p[1] + m_result.p[2];
-				m_result.p[0] /= sum;
-				m_result.p[1] /= sum;
-				m_result.p[2] /= sum;
-				return (m_status);
-			}
-		}
-		/* Fallback		*/
-		m_status = eStatus::FallBack;
-		m_normal = -guess;
-		const btScalar nl = m_normal.length();
-		if (nl > 0)
-			m_normal = m_normal / nl;
-		else
-			m_normal = btVector3(1, 0, 0);
-		m_depth = 0;
-		m_result.rank = 1;
-		m_result.c[0] = simplex.c[0];
-		m_result.p[0] = 1;
-		return (m_status);
-	}
-	bool getedgedist(sFace* face, sSV* a, sSV* b, btScalar& dist)
-	{
-		const btVector3 ba = b->w - a->w;
-		const btVector3 n_ab = btCross(ba, face->n);   // Outward facing edge normal direction, on triangle plane
-		const btScalar a_dot_nab = btDot(a->w, n_ab);  // Only care about the sign to determine inside/outside, so not normalization required
-
-		if (a_dot_nab < 0)
-		{
-			// Outside of edge a->b
-
-			const btScalar ba_l2 = ba.length2();
-			const btScalar a_dot_ba = btDot(a->w, ba);
-			const btScalar b_dot_ba = btDot(b->w, ba);
-
-			if (a_dot_ba > 0)
-			{
-				// Pick distance vertex a
-				dist = a->w.length();
-			}
-			else if (b_dot_ba < 0)
-			{
-				// Pick distance vertex b
-				dist = b->w.length();
-			}
-			else
-			{
-				// Pick distance to edge a->b
-				const btScalar a_dot_b = btDot(a->w, b->w);
-				dist = btSqrt(btMax((a->w.length2() * b->w.length2() - a_dot_b * a_dot_b) / ba_l2, (btScalar)0));
-			}
-
-			return true;
-		}
-
-		return false;
-	}
-	sFace* newface(sSV* a, sSV* b, sSV* c, bool forced)
-	{
-		if (m_stock.root)
-		{
-			sFace* face = m_stock.root;
-			remove(m_stock, face);
-			append(m_hull, face);
-			face->pass = 0;
-			face->c[0] = a;
-			face->c[1] = b;
-			face->c[2] = c;
-			face->n = btCross(b->w - a->w, c->w - a->w);
-			const btScalar l = face->n.length();
-			const bool v = l > EPA_ACCURACY;
-
-			if (v)
-			{
-				if (!(getedgedist(face, a, b, face->d) ||
-					  getedgedist(face, b, c, face->d) ||
-					  getedgedist(face, c, a, face->d)))
-				{
-					// Origin projects to the interior of the triangle
-					// Use distance to triangle plane
-					face->d = btDot(a->w, face->n) / l;
-				}
-
-				face->n /= l;
-				if (forced || (face->d >= -EPA_PLANE_EPS))
-				{
-					return face;
-				}
-				else
-					m_status = eStatus::NonConvex;
-			}
-			else
-				m_status = eStatus::Degenerated;
-
-			remove(m_hull, face);
-			append(m_stock, face);
-			return 0;
-		}
-		m_status = m_stock.root ? eStatus::OutOfVertices : eStatus::OutOfFaces;
-		return 0;
-	}
-	sFace* findbest()
-	{
-		sFace* minf = m_hull.root;
-		btScalar mind = minf->d * minf->d;
-		for (sFace* f = minf->l[1]; f; f = f->l[1])
-		{
-			const btScalar sqd = f->d * f->d;
-			if (sqd < mind)
-			{
-				minf = f;
-				mind = sqd;
-			}
-		}
-		return (minf);
-	}
-	bool expand(U pass, sSV* w, sFace* f, U e, sHorizon& horizon)
-	{
-		static const U i1m3[] = {1, 2, 0};
-		static const U i2m3[] = {2, 0, 1};
-		if (f->pass != pass)
-		{
-			const U e1 = i1m3[e];
-			if ((btDot(f->n, w->w) - f->d) < -EPA_PLANE_EPS)
-			{
-				sFace* nf = newface(f->c[e1], f->c[e], w, false);
-				if (nf)
-				{
-					bind(nf, 0, f, e);
-					if (horizon.cf)
-						bind(horizon.cf, 1, nf, 2);
-					else
-						horizon.ff = nf;
-					horizon.cf = nf;
-					++horizon.nf;
-					return (true);
-				}
-			}
-			else
-			{
-				const U e2 = i2m3[e];
-				f->pass = (U1)pass;
-				if (expand(pass, w, f->f[e1], f->e[e1], horizon) &&
-					expand(pass, w, f->f[e2], f->e[e2], horizon))
-				{
-					remove(m_hull, f);
-					append(m_stock, f);
-					return (true);
-				}
-			}
-		}
-		return (false);
-	}
-};
-
-//
-static void Initialize(const btConvexShape* shape0, const btTransform& wtrs0,
-					   const btConvexShape* shape1, const btTransform& wtrs1,
-					   btGjkEpaSolver2::sResults& results,
-					   tShape& shape,
-					   bool withmargins)
-{
-	/* Results		*/
-	results.witnesses[0] =
-		results.witnesses[1] = btVector3(0, 0, 0);
-	results.status = btGjkEpaSolver2::sResults::Separated;
-	/* Shape		*/
-	shape.m_shapes[0] = shape0;
-	shape.m_shapes[1] = shape1;
-	shape.m_toshape1 = wtrs1.getBasis().transposeTimes(wtrs0.getBasis());
-	shape.m_toshape0 = wtrs0.inverseTimes(wtrs1);
-	shape.EnableMargin(withmargins);
-}
-
-}  // namespace gjkepa2_impl
-
-//
-// Api
-//
-
-using namespace gjkepa2_impl;
-
-//
-int btGjkEpaSolver2::StackSizeRequirement()
-{
-	return (sizeof(GJK) + sizeof(EPA));
-}
-
-//
-bool btGjkEpaSolver2::Distance(const btConvexShape* shape0,
-							   const btTransform& wtrs0,
-							   const btConvexShape* shape1,
-							   const btTransform& wtrs1,
-							   const btVector3& guess,
-							   sResults& results)
-{
-	tShape shape;
-	Initialize(shape0, wtrs0, shape1, wtrs1, results, shape, false);
-	GJK gjk;
-	GJK::eStatus::_ gjk_status = gjk.Evaluate(shape, guess);
-	if (gjk_status == GJK::eStatus::Valid)
-	{
-		btVector3 w0 = btVector3(0, 0, 0);
-		btVector3 w1 = btVector3(0, 0, 0);
-		for (U i = 0; i < gjk.m_simplex->rank; ++i)
-		{
-			const btScalar p = gjk.m_simplex->p[i];
-			w0 += shape.Support(gjk.m_simplex->c[i]->d, 0) * p;
-			w1 += shape.Support(-gjk.m_simplex->c[i]->d, 1) * p;
-		}
-		results.witnesses[0] = wtrs0 * w0;
-		results.witnesses[1] = wtrs0 * w1;
-		results.normal = w0 - w1;
-		results.distance = results.normal.length();
-		results.normal /= results.distance > GJK_MIN_DISTANCE ? results.distance : 1;
-		return (true);
-	}
-	else
-	{
-		results.status = gjk_status == GJK::eStatus::Inside ? sResults::Penetrating : sResults::GJK_Failed;
-		return (false);
-	}
-}
-
-//
-bool btGjkEpaSolver2::Penetration(const btConvexShape* shape0,
-								  const btTransform& wtrs0,
-								  const btConvexShape* shape1,
-								  const btTransform& wtrs1,
-								  const btVector3& guess,
-								  sResults& results,
-								  bool usemargins)
-{
-	tShape shape;
-	Initialize(shape0, wtrs0, shape1, wtrs1, results, shape, usemargins);
-	GJK gjk;
-	GJK::eStatus::_ gjk_status = gjk.Evaluate(shape, -guess);
-	switch (gjk_status)
-	{
-		case GJK::eStatus::Inside:
-		{
-			EPA epa;
-			EPA::eStatus::_ epa_status = epa.Evaluate(gjk, -guess);
-			if (epa_status != EPA::eStatus::Failed)
-			{
-				btVector3 w0 = btVector3(0, 0, 0);
-				for (U i = 0; i < epa.m_result.rank; ++i)
-				{
-					w0 += shape.Support(epa.m_result.c[i]->d, 0) * epa.m_result.p[i];
-				}
-				results.status = sResults::Penetrating;
-				results.witnesses[0] = wtrs0 * w0;
-				results.witnesses[1] = wtrs0 * (w0 - epa.m_normal * epa.m_depth);
-				results.normal = -epa.m_normal;
-				results.distance = -epa.m_depth;
-				return (true);
-			}
-			else
-				results.status = sResults::EPA_Failed;
-		}
-		break;
-		case GJK::eStatus::Failed:
-			results.status = sResults::GJK_Failed;
-			break;
-		default:
-		{
-		}
-	}
-	return (false);
-}
-
-#ifndef __SPU__
-//
-btScalar btGjkEpaSolver2::SignedDistance(const btVector3& position,
-										 btScalar margin,
-										 const btConvexShape* shape0,
-										 const btTransform& wtrs0,
-										 sResults& results)
-{
-	tShape shape;
-	btSphereShape shape1(margin);
-	btTransform wtrs1(btQuaternion(0, 0, 0, 1), position);
-	Initialize(shape0, wtrs0, &shape1, wtrs1, results, shape, false);
-	GJK gjk;
-	GJK::eStatus::_ gjk_status = gjk.Evaluate(shape, btVector3(1, 1, 1));
-	if (gjk_status == GJK::eStatus::Valid)
-	{
-		btVector3 w0 = btVector3(0, 0, 0);
-		btVector3 w1 = btVector3(0, 0, 0);
-		for (U i = 0; i < gjk.m_simplex->rank; ++i)
-		{
-			const btScalar p = gjk.m_simplex->p[i];
-			w0 += shape.Support(gjk.m_simplex->c[i]->d, 0) * p;
-			w1 += shape.Support(-gjk.m_simplex->c[i]->d, 1) * p;
-		}
-		results.witnesses[0] = wtrs0 * w0;
-		results.witnesses[1] = wtrs0 * w1;
-		const btVector3 delta = results.witnesses[1] -
-								results.witnesses[0];
-		const btScalar margin = shape0->getMarginNonVirtual() +
-								shape1.getMarginNonVirtual();
-		const btScalar length = delta.length();
-		results.normal = delta / length;
-		results.witnesses[0] += results.normal * margin;
-		results.distance = length - margin;
-		return results.distance;
-	}
-	else
-	{
-		if (gjk_status == GJK::eStatus::Inside)
-		{
-			if (Penetration(shape0, wtrs0, &shape1, wtrs1, gjk.m_ray, results))
-			{
-				const btVector3 delta = results.witnesses[0] -
-										results.witnesses[1];
-				const btScalar length = delta.length();
-				if (length >= SIMD_EPSILON)
-					results.normal = delta / length;
-				return (-length);
-			}
-		}
-	}
-	return (SIMD_INFINITY);
-}
-
-//
-bool btGjkEpaSolver2::SignedDistance(const btConvexShape* shape0,
-									 const btTransform& wtrs0,
-									 const btConvexShape* shape1,
-									 const btTransform& wtrs1,
-									 const btVector3& guess,
-									 sResults& results)
-{
-	if (!Distance(shape0, wtrs0, shape1, wtrs1, guess, results))
-		return (Penetration(shape0, wtrs0, shape1, wtrs1, guess, results, false));
-	else
-		return (true);
-}
-#endif  //__SPU__
-
-/* Symbols cleanup		*/
-
-#undef GJK_MAX_ITERATIONS
-#undef GJK_ACCURACY
-#undef GJK_MIN_DISTANCE
-#undef GJK_DUPLICATED_EPS
-#undef GJK_SIMPLEX2_EPS
-#undef GJK_SIMPLEX3_EPS
-#undef GJK_SIMPLEX4_EPS
-
-#undef EPA_MAX_VERTICES
-#undef EPA_MAX_FACES
-#undef EPA_MAX_ITERATIONS
-#undef EPA_ACCURACY
-#undef EPA_FALLBACK
-#undef EPA_PLANE_EPS
-#undef EPA_INSIDE_EPS
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h
deleted file mode 100644
index 893daea3f5..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the
-use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it
-freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not
-claim that you wrote the original software. If you use this software in a
-product, an acknowledgment in the product documentation would be appreciated
-but is not required.
-2. Altered source versions must be plainly marked as such, and must not be
-misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/*
-GJK-EPA collision solver by Nathanael Presson, 2008
-*/
-#ifndef BT_GJK_EPA2_H
-#define BT_GJK_EPA2_H
-
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-
-///btGjkEpaSolver contributed under zlib by Nathanael Presson
-struct btGjkEpaSolver2
-{
-	struct sResults
-	{
-		enum eStatus
-		{
-			Separated,   /* Shapes doesnt penetrate												*/
-			Penetrating, /* Shapes are penetrating												*/
-			GJK_Failed,  /* GJK phase fail, no big issue, shapes are probably just 'touching'	*/
-			EPA_Failed   /* EPA phase fail, bigger problem, need to save parameters, and debug	*/
-		} status;
-		btVector3 witnesses[2];
-		btVector3 normal;
-		btScalar distance;
-	};
-
-	static int StackSizeRequirement();
-
-	static bool Distance(const btConvexShape* shape0, const btTransform& wtrs0,
-						 const btConvexShape* shape1, const btTransform& wtrs1,
-						 const btVector3& guess,
-						 sResults& results);
-
-	static bool Penetration(const btConvexShape* shape0, const btTransform& wtrs0,
-							const btConvexShape* shape1, const btTransform& wtrs1,
-							const btVector3& guess,
-							sResults& results,
-							bool usemargins = true);
-#ifndef __SPU__
-	static btScalar SignedDistance(const btVector3& position,
-								   btScalar margin,
-								   const btConvexShape* shape,
-								   const btTransform& wtrs,
-								   sResults& results);
-
-	static bool SignedDistance(const btConvexShape* shape0, const btTransform& wtrs0,
-							   const btConvexShape* shape1, const btTransform& wtrs1,
-							   const btVector3& guess,
-							   sResults& results);
-#endif  //__SPU__
-};
-
-#endif  //BT_GJK_EPA2_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa3.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa3.h
deleted file mode 100644
index 6fedbbb3e5..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa3.h
+++ /dev/null
@@ -1,1063 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2014 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the
-use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it
-freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not
-claim that you wrote the original software. If you use this software in a
-product, an acknowledgment in the product documentation would be appreciated
-but is not required.
-2. Altered source versions must be plainly marked as such, and must not be
-misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/*
-Initial GJK-EPA collision solver by Nathanael Presson, 2008
-Improvements and refactoring by Erwin Coumans, 2008-2014
-*/
-#ifndef BT_GJK_EPA3_H
-#define BT_GJK_EPA3_H
-
-#include "LinearMath/btTransform.h"
-#include "btGjkCollisionDescription.h"
-
-struct btGjkEpaSolver3
-{
-	struct sResults
-	{
-		enum eStatus
-		{
-			Separated,   /* Shapes doesnt penetrate												*/
-			Penetrating, /* Shapes are penetrating												*/
-			GJK_Failed,  /* GJK phase fail, no big issue, shapes are probably just 'touching'	*/
-			EPA_Failed   /* EPA phase fail, bigger problem, need to save parameters, and debug	*/
-		} status;
-		btVector3 witnesses[2];
-		btVector3 normal;
-		btScalar distance;
-	};
-};
-
-#if defined(DEBUG) || defined(_DEBUG)
-#include <stdio.h>  //for debug printf
-#ifdef __SPU__
-#include <spu_printf.h>
-#define printf spu_printf
-#endif  //__SPU__
-#endif
-
-// Config
-
-/* GJK	*/
-#define GJK_MAX_ITERATIONS 128
-#define GJK_ACCURARY ((btScalar)0.0001)
-#define GJK_MIN_DISTANCE ((btScalar)0.0001)
-#define GJK_DUPLICATED_EPS ((btScalar)0.0001)
-#define GJK_SIMPLEX2_EPS ((btScalar)0.0)
-#define GJK_SIMPLEX3_EPS ((btScalar)0.0)
-#define GJK_SIMPLEX4_EPS ((btScalar)0.0)
-
-/* EPA	*/
-#define EPA_MAX_VERTICES 64
-#define EPA_MAX_FACES (EPA_MAX_VERTICES * 2)
-#define EPA_MAX_ITERATIONS 255
-#define EPA_ACCURACY ((btScalar)0.0001)
-#define EPA_FALLBACK (10 * EPA_ACCURACY)
-#define EPA_PLANE_EPS ((btScalar)0.00001)
-#define EPA_INSIDE_EPS ((btScalar)0.01)
-
-// Shorthands
-typedef unsigned int U;
-typedef unsigned char U1;
-
-// MinkowskiDiff
-template <typename btConvexTemplate>
-struct MinkowskiDiff
-{
-	const btConvexTemplate* m_convexAPtr;
-	const btConvexTemplate* m_convexBPtr;
-
-	btMatrix3x3 m_toshape1;
-	btTransform m_toshape0;
-
-	bool m_enableMargin;
-
-	MinkowskiDiff(const btConvexTemplate& a, const btConvexTemplate& b)
-		: m_convexAPtr(&a),
-		  m_convexBPtr(&b)
-	{
-	}
-
-	void EnableMargin(bool enable)
-	{
-		m_enableMargin = enable;
-	}
-	inline btVector3 Support0(const btVector3& d) const
-	{
-		return m_convexAPtr->getLocalSupportWithMargin(d);
-	}
-	inline btVector3 Support1(const btVector3& d) const
-	{
-		return m_toshape0 * m_convexBPtr->getLocalSupportWithMargin(m_toshape1 * d);
-	}
-
-	inline btVector3 Support(const btVector3& d) const
-	{
-		return (Support0(d) - Support1(-d));
-	}
-	btVector3 Support(const btVector3& d, U index) const
-	{
-		if (index)
-			return (Support1(d));
-		else
-			return (Support0(d));
-	}
-};
-
-enum eGjkStatus
-{
-	eGjkValid,
-	eGjkInside,
-	eGjkFailed
-};
-
-// GJK
-template <typename btConvexTemplate>
-struct GJK
-{
-	/* Types		*/
-	struct sSV
-	{
-		btVector3 d, w;
-	};
-	struct sSimplex
-	{
-		sSV* c[4];
-		btScalar p[4];
-		U rank;
-	};
-
-	/* Fields		*/
-
-	MinkowskiDiff<btConvexTemplate> m_shape;
-	btVector3 m_ray;
-	btScalar m_distance;
-	sSimplex m_simplices[2];
-	sSV m_store[4];
-	sSV* m_free[4];
-	U m_nfree;
-	U m_current;
-	sSimplex* m_simplex;
-	eGjkStatus m_status;
-	/* Methods		*/
-
-	GJK(const btConvexTemplate& a, const btConvexTemplate& b)
-		: m_shape(a, b)
-	{
-		Initialize();
-	}
-	void Initialize()
-	{
-		m_ray = btVector3(0, 0, 0);
-		m_nfree = 0;
-		m_status = eGjkFailed;
-		m_current = 0;
-		m_distance = 0;
-	}
-	eGjkStatus Evaluate(const MinkowskiDiff<btConvexTemplate>& shapearg, const btVector3& guess)
-	{
-		U iterations = 0;
-		btScalar sqdist = 0;
-		btScalar alpha = 0;
-		btVector3 lastw[4];
-		U clastw = 0;
-		/* Initialize solver		*/
-		m_free[0] = &m_store[0];
-		m_free[1] = &m_store[1];
-		m_free[2] = &m_store[2];
-		m_free[3] = &m_store[3];
-		m_nfree = 4;
-		m_current = 0;
-		m_status = eGjkValid;
-		m_shape = shapearg;
-		m_distance = 0;
-		/* Initialize simplex		*/
-		m_simplices[0].rank = 0;
-		m_ray = guess;
-		const btScalar sqrl = m_ray.length2();
-		appendvertice(m_simplices[0], sqrl > 0 ? -m_ray : btVector3(1, 0, 0));
-		m_simplices[0].p[0] = 1;
-		m_ray = m_simplices[0].c[0]->w;
-		sqdist = sqrl;
-		lastw[0] =
-			lastw[1] =
-				lastw[2] =
-					lastw[3] = m_ray;
-		/* Loop						*/
-		do
-		{
-			const U next = 1 - m_current;
-			sSimplex& cs = m_simplices[m_current];
-			sSimplex& ns = m_simplices[next];
-			/* Check zero							*/
-			const btScalar rl = m_ray.length();
-			if (rl < GJK_MIN_DISTANCE)
-			{ /* Touching or inside				*/
-				m_status = eGjkInside;
-				break;
-			}
-			/* Append new vertice in -'v' direction	*/
-			appendvertice(cs, -m_ray);
-			const btVector3& w = cs.c[cs.rank - 1]->w;
-			bool found = false;
-			for (U i = 0; i < 4; ++i)
-			{
-				if ((w - lastw[i]).length2() < GJK_DUPLICATED_EPS)
-				{
-					found = true;
-					break;
-				}
-			}
-			if (found)
-			{ /* Return old simplex				*/
-				removevertice(m_simplices[m_current]);
-				break;
-			}
-			else
-			{ /* Update lastw					*/
-				lastw[clastw = (clastw + 1) & 3] = w;
-			}
-			/* Check for termination				*/
-			const btScalar omega = btDot(m_ray, w) / rl;
-			alpha = btMax(omega, alpha);
-			if (((rl - alpha) - (GJK_ACCURARY * rl)) <= 0)
-			{ /* Return old simplex				*/
-				removevertice(m_simplices[m_current]);
-				break;
-			}
-			/* Reduce simplex						*/
-			btScalar weights[4];
-			U mask = 0;
-			switch (cs.rank)
-			{
-				case 2:
-					sqdist = projectorigin(cs.c[0]->w,
-										   cs.c[1]->w,
-										   weights, mask);
-					break;
-				case 3:
-					sqdist = projectorigin(cs.c[0]->w,
-										   cs.c[1]->w,
-										   cs.c[2]->w,
-										   weights, mask);
-					break;
-				case 4:
-					sqdist = projectorigin(cs.c[0]->w,
-										   cs.c[1]->w,
-										   cs.c[2]->w,
-										   cs.c[3]->w,
-										   weights, mask);
-					break;
-			}
-			if (sqdist >= 0)
-			{ /* Valid	*/
-				ns.rank = 0;
-				m_ray = btVector3(0, 0, 0);
-				m_current = next;
-				for (U i = 0, ni = cs.rank; i < ni; ++i)
-				{
-					if (mask & (1 << i))
-					{
-						ns.c[ns.rank] = cs.c[i];
-						ns.p[ns.rank++] = weights[i];
-						m_ray += cs.c[i]->w * weights[i];
-					}
-					else
-					{
-						m_free[m_nfree++] = cs.c[i];
-					}
-				}
-				if (mask == 15) m_status = eGjkInside;
-			}
-			else
-			{ /* Return old simplex				*/
-				removevertice(m_simplices[m_current]);
-				break;
-			}
-			m_status = ((++iterations) < GJK_MAX_ITERATIONS) ? m_status : eGjkFailed;
-		} while (m_status == eGjkValid);
-		m_simplex = &m_simplices[m_current];
-		switch (m_status)
-		{
-			case eGjkValid:
-				m_distance = m_ray.length();
-				break;
-			case eGjkInside:
-				m_distance = 0;
-				break;
-			default:
-			{
-			}
-		}
-		return (m_status);
-	}
-	bool EncloseOrigin()
-	{
-		switch (m_simplex->rank)
-		{
-			case 1:
-			{
-				for (U i = 0; i < 3; ++i)
-				{
-					btVector3 axis = btVector3(0, 0, 0);
-					axis[i] = 1;
-					appendvertice(*m_simplex, axis);
-					if (EncloseOrigin()) return (true);
-					removevertice(*m_simplex);
-					appendvertice(*m_simplex, -axis);
-					if (EncloseOrigin()) return (true);
-					removevertice(*m_simplex);
-				}
-			}
-			break;
-			case 2:
-			{
-				const btVector3 d = m_simplex->c[1]->w - m_simplex->c[0]->w;
-				for (U i = 0; i < 3; ++i)
-				{
-					btVector3 axis = btVector3(0, 0, 0);
-					axis[i] = 1;
-					const btVector3 p = btCross(d, axis);
-					if (p.length2() > 0)
-					{
-						appendvertice(*m_simplex, p);
-						if (EncloseOrigin()) return (true);
-						removevertice(*m_simplex);
-						appendvertice(*m_simplex, -p);
-						if (EncloseOrigin()) return (true);
-						removevertice(*m_simplex);
-					}
-				}
-			}
-			break;
-			case 3:
-			{
-				const btVector3 n = btCross(m_simplex->c[1]->w - m_simplex->c[0]->w,
-											m_simplex->c[2]->w - m_simplex->c[0]->w);
-				if (n.length2() > 0)
-				{
-					appendvertice(*m_simplex, n);
-					if (EncloseOrigin()) return (true);
-					removevertice(*m_simplex);
-					appendvertice(*m_simplex, -n);
-					if (EncloseOrigin()) return (true);
-					removevertice(*m_simplex);
-				}
-			}
-			break;
-			case 4:
-			{
-				if (btFabs(det(m_simplex->c[0]->w - m_simplex->c[3]->w,
-							   m_simplex->c[1]->w - m_simplex->c[3]->w,
-							   m_simplex->c[2]->w - m_simplex->c[3]->w)) > 0)
-					return (true);
-			}
-			break;
-		}
-		return (false);
-	}
-	/* Internals	*/
-	void getsupport(const btVector3& d, sSV& sv) const
-	{
-		sv.d = d / d.length();
-		sv.w = m_shape.Support(sv.d);
-	}
-	void removevertice(sSimplex& simplex)
-	{
-		m_free[m_nfree++] = simplex.c[--simplex.rank];
-	}
-	void appendvertice(sSimplex& simplex, const btVector3& v)
-	{
-		simplex.p[simplex.rank] = 0;
-		simplex.c[simplex.rank] = m_free[--m_nfree];
-		getsupport(v, *simplex.c[simplex.rank++]);
-	}
-	static btScalar det(const btVector3& a, const btVector3& b, const btVector3& c)
-	{
-		return (a.y() * b.z() * c.x() + a.z() * b.x() * c.y() -
-				a.x() * b.z() * c.y() - a.y() * b.x() * c.z() +
-				a.x() * b.y() * c.z() - a.z() * b.y() * c.x());
-	}
-	static btScalar projectorigin(const btVector3& a,
-								  const btVector3& b,
-								  btScalar* w, U& m)
-	{
-		const btVector3 d = b - a;
-		const btScalar l = d.length2();
-		if (l > GJK_SIMPLEX2_EPS)
-		{
-			const btScalar t(l > 0 ? -btDot(a, d) / l : 0);
-			if (t >= 1)
-			{
-				w[0] = 0;
-				w[1] = 1;
-				m = 2;
-				return (b.length2());
-			}
-			else if (t <= 0)
-			{
-				w[0] = 1;
-				w[1] = 0;
-				m = 1;
-				return (a.length2());
-			}
-			else
-			{
-				w[0] = 1 - (w[1] = t);
-				m = 3;
-				return ((a + d * t).length2());
-			}
-		}
-		return (-1);
-	}
-	static btScalar projectorigin(const btVector3& a,
-								  const btVector3& b,
-								  const btVector3& c,
-								  btScalar* w, U& m)
-	{
-		static const U imd3[] = {1, 2, 0};
-		const btVector3* vt[] = {&a, &b, &c};
-		const btVector3 dl[] = {a - b, b - c, c - a};
-		const btVector3 n = btCross(dl[0], dl[1]);
-		const btScalar l = n.length2();
-		if (l > GJK_SIMPLEX3_EPS)
-		{
-			btScalar mindist = -1;
-			btScalar subw[2] = {0.f, 0.f};
-			U subm(0);
-			for (U i = 0; i < 3; ++i)
-			{
-				if (btDot(*vt[i], btCross(dl[i], n)) > 0)
-				{
-					const U j = imd3[i];
-					const btScalar subd(projectorigin(*vt[i], *vt[j], subw, subm));
-					if ((mindist < 0) || (subd < mindist))
-					{
-						mindist = subd;
-						m = static_cast<U>(((subm & 1) ? 1 << i : 0) + ((subm & 2) ? 1 << j : 0));
-						w[i] = subw[0];
-						w[j] = subw[1];
-						w[imd3[j]] = 0;
-					}
-				}
-			}
-			if (mindist < 0)
-			{
-				const btScalar d = btDot(a, n);
-				const btScalar s = btSqrt(l);
-				const btVector3 p = n * (d / l);
-				mindist = p.length2();
-				m = 7;
-				w[0] = (btCross(dl[1], b - p)).length() / s;
-				w[1] = (btCross(dl[2], c - p)).length() / s;
-				w[2] = 1 - (w[0] + w[1]);
-			}
-			return (mindist);
-		}
-		return (-1);
-	}
-	static btScalar projectorigin(const btVector3& a,
-								  const btVector3& b,
-								  const btVector3& c,
-								  const btVector3& d,
-								  btScalar* w, U& m)
-	{
-		static const U imd3[] = {1, 2, 0};
-		const btVector3* vt[] = {&a, &b, &c, &d};
-		const btVector3 dl[] = {a - d, b - d, c - d};
-		const btScalar vl = det(dl[0], dl[1], dl[2]);
-		const bool ng = (vl * btDot(a, btCross(b - c, a - b))) <= 0;
-		if (ng && (btFabs(vl) > GJK_SIMPLEX4_EPS))
-		{
-			btScalar mindist = -1;
-			btScalar subw[3] = {0.f, 0.f, 0.f};
-			U subm(0);
-			for (U i = 0; i < 3; ++i)
-			{
-				const U j = imd3[i];
-				const btScalar s = vl * btDot(d, btCross(dl[i], dl[j]));
-				if (s > 0)
-				{
-					const btScalar subd = projectorigin(*vt[i], *vt[j], d, subw, subm);
-					if ((mindist < 0) || (subd < mindist))
-					{
-						mindist = subd;
-						m = static_cast<U>((subm & 1 ? 1 << i : 0) +
-										   (subm & 2 ? 1 << j : 0) +
-										   (subm & 4 ? 8 : 0));
-						w[i] = subw[0];
-						w[j] = subw[1];
-						w[imd3[j]] = 0;
-						w[3] = subw[2];
-					}
-				}
-			}
-			if (mindist < 0)
-			{
-				mindist = 0;
-				m = 15;
-				w[0] = det(c, b, d) / vl;
-				w[1] = det(a, c, d) / vl;
-				w[2] = det(b, a, d) / vl;
-				w[3] = 1 - (w[0] + w[1] + w[2]);
-			}
-			return (mindist);
-		}
-		return (-1);
-	}
-};
-
-enum eEpaStatus
-{
-	eEpaValid,
-	eEpaTouching,
-	eEpaDegenerated,
-	eEpaNonConvex,
-	eEpaInvalidHull,
-	eEpaOutOfFaces,
-	eEpaOutOfVertices,
-	eEpaAccuraryReached,
-	eEpaFallBack,
-	eEpaFailed
-};
-
-// EPA
-template <typename btConvexTemplate>
-struct EPA
-{
-	/* Types		*/
-
-	struct sFace
-	{
-		btVector3 n;
-		btScalar d;
-		typename GJK<btConvexTemplate>::sSV* c[3];
-		sFace* f[3];
-		sFace* l[2];
-		U1 e[3];
-		U1 pass;
-	};
-	struct sList
-	{
-		sFace* root;
-		U count;
-		sList() : root(0), count(0) {}
-	};
-	struct sHorizon
-	{
-		sFace* cf;
-		sFace* ff;
-		U nf;
-		sHorizon() : cf(0), ff(0), nf(0) {}
-	};
-
-	/* Fields		*/
-	eEpaStatus m_status;
-	typename GJK<btConvexTemplate>::sSimplex m_result;
-	btVector3 m_normal;
-	btScalar m_depth;
-	typename GJK<btConvexTemplate>::sSV m_sv_store[EPA_MAX_VERTICES];
-	sFace m_fc_store[EPA_MAX_FACES];
-	U m_nextsv;
-	sList m_hull;
-	sList m_stock;
-	/* Methods		*/
-	EPA()
-	{
-		Initialize();
-	}
-
-	static inline void bind(sFace* fa, U ea, sFace* fb, U eb)
-	{
-		fa->e[ea] = (U1)eb;
-		fa->f[ea] = fb;
-		fb->e[eb] = (U1)ea;
-		fb->f[eb] = fa;
-	}
-	static inline void append(sList& list, sFace* face)
-	{
-		face->l[0] = 0;
-		face->l[1] = list.root;
-		if (list.root) list.root->l[0] = face;
-		list.root = face;
-		++list.count;
-	}
-	static inline void remove(sList& list, sFace* face)
-	{
-		if (face->l[1]) face->l[1]->l[0] = face->l[0];
-		if (face->l[0]) face->l[0]->l[1] = face->l[1];
-		if (face == list.root) list.root = face->l[1];
-		--list.count;
-	}
-
-	void Initialize()
-	{
-		m_status = eEpaFailed;
-		m_normal = btVector3(0, 0, 0);
-		m_depth = 0;
-		m_nextsv = 0;
-		for (U i = 0; i < EPA_MAX_FACES; ++i)
-		{
-			append(m_stock, &m_fc_store[EPA_MAX_FACES - i - 1]);
-		}
-	}
-	eEpaStatus Evaluate(GJK<btConvexTemplate>& gjk, const btVector3& guess)
-	{
-		typename GJK<btConvexTemplate>::sSimplex& simplex = *gjk.m_simplex;
-		if ((simplex.rank > 1) && gjk.EncloseOrigin())
-		{
-			/* Clean up				*/
-			while (m_hull.root)
-			{
-				sFace* f = m_hull.root;
-				remove(m_hull, f);
-				append(m_stock, f);
-			}
-			m_status = eEpaValid;
-			m_nextsv = 0;
-			/* Orient simplex		*/
-			if (gjk.det(simplex.c[0]->w - simplex.c[3]->w,
-						simplex.c[1]->w - simplex.c[3]->w,
-						simplex.c[2]->w - simplex.c[3]->w) < 0)
-			{
-				btSwap(simplex.c[0], simplex.c[1]);
-				btSwap(simplex.p[0], simplex.p[1]);
-			}
-			/* Build initial hull	*/
-			sFace* tetra[] = {newface(simplex.c[0], simplex.c[1], simplex.c[2], true),
-							  newface(simplex.c[1], simplex.c[0], simplex.c[3], true),
-							  newface(simplex.c[2], simplex.c[1], simplex.c[3], true),
-							  newface(simplex.c[0], simplex.c[2], simplex.c[3], true)};
-			if (m_hull.count == 4)
-			{
-				sFace* best = findbest();
-				sFace outer = *best;
-				U pass = 0;
-				U iterations = 0;
-				bind(tetra[0], 0, tetra[1], 0);
-				bind(tetra[0], 1, tetra[2], 0);
-				bind(tetra[0], 2, tetra[3], 0);
-				bind(tetra[1], 1, tetra[3], 2);
-				bind(tetra[1], 2, tetra[2], 1);
-				bind(tetra[2], 2, tetra[3], 1);
-				m_status = eEpaValid;
-				for (; iterations < EPA_MAX_ITERATIONS; ++iterations)
-				{
-					if (m_nextsv < EPA_MAX_VERTICES)
-					{
-						sHorizon horizon;
-						typename GJK<btConvexTemplate>::sSV* w = &m_sv_store[m_nextsv++];
-						bool valid = true;
-						best->pass = (U1)(++pass);
-						gjk.getsupport(best->n, *w);
-						const btScalar wdist = btDot(best->n, w->w) - best->d;
-						if (wdist > EPA_ACCURACY)
-						{
-							for (U j = 0; (j < 3) && valid; ++j)
-							{
-								valid &= expand(pass, w,
-												best->f[j], best->e[j],
-												horizon);
-							}
-							if (valid && (horizon.nf >= 3))
-							{
-								bind(horizon.cf, 1, horizon.ff, 2);
-								remove(m_hull, best);
-								append(m_stock, best);
-								best = findbest();
-								outer = *best;
-							}
-							else
-							{
-								m_status = eEpaInvalidHull;
-								break;
-							}
-						}
-						else
-						{
-							m_status = eEpaAccuraryReached;
-							break;
-						}
-					}
-					else
-					{
-						m_status = eEpaOutOfVertices;
-						break;
-					}
-				}
-				const btVector3 projection = outer.n * outer.d;
-				m_normal = outer.n;
-				m_depth = outer.d;
-				m_result.rank = 3;
-				m_result.c[0] = outer.c[0];
-				m_result.c[1] = outer.c[1];
-				m_result.c[2] = outer.c[2];
-				m_result.p[0] = btCross(outer.c[1]->w - projection,
-										outer.c[2]->w - projection)
-									.length();
-				m_result.p[1] = btCross(outer.c[2]->w - projection,
-										outer.c[0]->w - projection)
-									.length();
-				m_result.p[2] = btCross(outer.c[0]->w - projection,
-										outer.c[1]->w - projection)
-									.length();
-				const btScalar sum = m_result.p[0] + m_result.p[1] + m_result.p[2];
-				m_result.p[0] /= sum;
-				m_result.p[1] /= sum;
-				m_result.p[2] /= sum;
-				return (m_status);
-			}
-		}
-		/* Fallback		*/
-		m_status = eEpaFallBack;
-		m_normal = -guess;
-		const btScalar nl = m_normal.length();
-		if (nl > 0)
-			m_normal = m_normal / nl;
-		else
-			m_normal = btVector3(1, 0, 0);
-		m_depth = 0;
-		m_result.rank = 1;
-		m_result.c[0] = simplex.c[0];
-		m_result.p[0] = 1;
-		return (m_status);
-	}
-	bool getedgedist(sFace* face, typename GJK<btConvexTemplate>::sSV* a, typename GJK<btConvexTemplate>::sSV* b, btScalar& dist)
-	{
-		const btVector3 ba = b->w - a->w;
-		const btVector3 n_ab = btCross(ba, face->n);   // Outward facing edge normal direction, on triangle plane
-		const btScalar a_dot_nab = btDot(a->w, n_ab);  // Only care about the sign to determine inside/outside, so not normalization required
-
-		if (a_dot_nab < 0)
-		{
-			// Outside of edge a->b
-
-			const btScalar ba_l2 = ba.length2();
-			const btScalar a_dot_ba = btDot(a->w, ba);
-			const btScalar b_dot_ba = btDot(b->w, ba);
-
-			if (a_dot_ba > 0)
-			{
-				// Pick distance vertex a
-				dist = a->w.length();
-			}
-			else if (b_dot_ba < 0)
-			{
-				// Pick distance vertex b
-				dist = b->w.length();
-			}
-			else
-			{
-				// Pick distance to edge a->b
-				const btScalar a_dot_b = btDot(a->w, b->w);
-				dist = btSqrt(btMax((a->w.length2() * b->w.length2() - a_dot_b * a_dot_b) / ba_l2, (btScalar)0));
-			}
-
-			return true;
-		}
-
-		return false;
-	}
-	sFace* newface(typename GJK<btConvexTemplate>::sSV* a, typename GJK<btConvexTemplate>::sSV* b, typename GJK<btConvexTemplate>::sSV* c, bool forced)
-	{
-		if (m_stock.root)
-		{
-			sFace* face = m_stock.root;
-			remove(m_stock, face);
-			append(m_hull, face);
-			face->pass = 0;
-			face->c[0] = a;
-			face->c[1] = b;
-			face->c[2] = c;
-			face->n = btCross(b->w - a->w, c->w - a->w);
-			const btScalar l = face->n.length();
-			const bool v = l > EPA_ACCURACY;
-
-			if (v)
-			{
-				if (!(getedgedist(face, a, b, face->d) ||
-					  getedgedist(face, b, c, face->d) ||
-					  getedgedist(face, c, a, face->d)))
-				{
-					// Origin projects to the interior of the triangle
-					// Use distance to triangle plane
-					face->d = btDot(a->w, face->n) / l;
-				}
-
-				face->n /= l;
-				if (forced || (face->d >= -EPA_PLANE_EPS))
-				{
-					return face;
-				}
-				else
-					m_status = eEpaNonConvex;
-			}
-			else
-				m_status = eEpaDegenerated;
-
-			remove(m_hull, face);
-			append(m_stock, face);
-			return 0;
-		}
-		m_status = m_stock.root ? eEpaOutOfVertices : eEpaOutOfFaces;
-		return 0;
-	}
-	sFace* findbest()
-	{
-		sFace* minf = m_hull.root;
-		btScalar mind = minf->d * minf->d;
-		for (sFace* f = minf->l[1]; f; f = f->l[1])
-		{
-			const btScalar sqd = f->d * f->d;
-			if (sqd < mind)
-			{
-				minf = f;
-				mind = sqd;
-			}
-		}
-		return (minf);
-	}
-	bool expand(U pass, typename GJK<btConvexTemplate>::sSV* w, sFace* f, U e, sHorizon& horizon)
-	{
-		static const U i1m3[] = {1, 2, 0};
-		static const U i2m3[] = {2, 0, 1};
-		if (f->pass != pass)
-		{
-			const U e1 = i1m3[e];
-			if ((btDot(f->n, w->w) - f->d) < -EPA_PLANE_EPS)
-			{
-				sFace* nf = newface(f->c[e1], f->c[e], w, false);
-				if (nf)
-				{
-					bind(nf, 0, f, e);
-					if (horizon.cf)
-						bind(horizon.cf, 1, nf, 2);
-					else
-						horizon.ff = nf;
-					horizon.cf = nf;
-					++horizon.nf;
-					return (true);
-				}
-			}
-			else
-			{
-				const U e2 = i2m3[e];
-				f->pass = (U1)pass;
-				if (expand(pass, w, f->f[e1], f->e[e1], horizon) &&
-					expand(pass, w, f->f[e2], f->e[e2], horizon))
-				{
-					remove(m_hull, f);
-					append(m_stock, f);
-					return (true);
-				}
-			}
-		}
-		return (false);
-	}
-};
-
-template <typename btConvexTemplate>
-static void Initialize(const btConvexTemplate& a, const btConvexTemplate& b,
-					   btGjkEpaSolver3::sResults& results,
-					   MinkowskiDiff<btConvexTemplate>& shape)
-{
-	/* Results		*/
-	results.witnesses[0] =
-		results.witnesses[1] = btVector3(0, 0, 0);
-	results.status = btGjkEpaSolver3::sResults::Separated;
-	/* Shape		*/
-
-	shape.m_toshape1 = b.getWorldTransform().getBasis().transposeTimes(a.getWorldTransform().getBasis());
-	shape.m_toshape0 = a.getWorldTransform().inverseTimes(b.getWorldTransform());
-}
-
-//
-// Api
-//
-
-//
-template <typename btConvexTemplate>
-bool btGjkEpaSolver3_Distance(const btConvexTemplate& a, const btConvexTemplate& b,
-							  const btVector3& guess,
-							  btGjkEpaSolver3::sResults& results)
-{
-	MinkowskiDiff<btConvexTemplate> shape(a, b);
-	Initialize(a, b, results, shape);
-	GJK<btConvexTemplate> gjk(a, b);
-	eGjkStatus gjk_status = gjk.Evaluate(shape, guess);
-	if (gjk_status == eGjkValid)
-	{
-		btVector3 w0 = btVector3(0, 0, 0);
-		btVector3 w1 = btVector3(0, 0, 0);
-		for (U i = 0; i < gjk.m_simplex->rank; ++i)
-		{
-			const btScalar p = gjk.m_simplex->p[i];
-			w0 += shape.Support(gjk.m_simplex->c[i]->d, 0) * p;
-			w1 += shape.Support(-gjk.m_simplex->c[i]->d, 1) * p;
-		}
-		results.witnesses[0] = a.getWorldTransform() * w0;
-		results.witnesses[1] = a.getWorldTransform() * w1;
-		results.normal = w0 - w1;
-		results.distance = results.normal.length();
-		results.normal /= results.distance > GJK_MIN_DISTANCE ? results.distance : 1;
-		return (true);
-	}
-	else
-	{
-		results.status = gjk_status == eGjkInside ? btGjkEpaSolver3::sResults::Penetrating : btGjkEpaSolver3::sResults::GJK_Failed;
-		return (false);
-	}
-}
-
-template <typename btConvexTemplate>
-bool btGjkEpaSolver3_Penetration(const btConvexTemplate& a,
-								 const btConvexTemplate& b,
-								 const btVector3& guess,
-								 btGjkEpaSolver3::sResults& results)
-{
-	MinkowskiDiff<btConvexTemplate> shape(a, b);
-	Initialize(a, b, results, shape);
-	GJK<btConvexTemplate> gjk(a, b);
-	eGjkStatus gjk_status = gjk.Evaluate(shape, -guess);
-	switch (gjk_status)
-	{
-		case eGjkInside:
-		{
-			EPA<btConvexTemplate> epa;
-			eEpaStatus epa_status = epa.Evaluate(gjk, -guess);
-			if (epa_status != eEpaFailed)
-			{
-				btVector3 w0 = btVector3(0, 0, 0);
-				for (U i = 0; i < epa.m_result.rank; ++i)
-				{
-					w0 += shape.Support(epa.m_result.c[i]->d, 0) * epa.m_result.p[i];
-				}
-				results.status = btGjkEpaSolver3::sResults::Penetrating;
-				results.witnesses[0] = a.getWorldTransform() * w0;
-				results.witnesses[1] = a.getWorldTransform() * (w0 - epa.m_normal * epa.m_depth);
-				results.normal = -epa.m_normal;
-				results.distance = -epa.m_depth;
-				return (true);
-			}
-			else
-				results.status = btGjkEpaSolver3::sResults::EPA_Failed;
-		}
-		break;
-		case eGjkFailed:
-			results.status = btGjkEpaSolver3::sResults::GJK_Failed;
-			break;
-		default:
-		{
-		}
-	}
-	return (false);
-}
-
-#if 0
-int	btComputeGjkEpaPenetration2(const btCollisionDescription& colDesc, btDistanceInfo* distInfo)
-{
-    btGjkEpaSolver3::sResults results;
-    btVector3 guess = colDesc.m_firstDir;
-    
-    bool res = btGjkEpaSolver3::Penetration(colDesc.m_objA,colDesc.m_objB,
-                                            colDesc.m_transformA,colDesc.m_transformB,
-                                            colDesc.m_localSupportFuncA,colDesc.m_localSupportFuncB,
-                                            guess,
-                                            results);
-    if (res)
-    {
-        if ((results.status==btGjkEpaSolver3::sResults::Penetrating) || results.status==GJK::eStatus::Inside)
-        {
-            //normal could be 'swapped'
-            
-            distInfo->m_distance = results.distance;
-            distInfo->m_normalBtoA = results.normal;
-            btVector3 tmpNormalInB = results.witnesses[1]-results.witnesses[0];
-            btScalar lenSqr = tmpNormalInB.length2();
-            if (lenSqr <= (SIMD_EPSILON*SIMD_EPSILON))
-            {
-                tmpNormalInB = results.normal;
-                lenSqr = results.normal.length2();
-            }
-            
-            if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
-            {
-                tmpNormalInB /= btSqrt(lenSqr);
-                btScalar distance2 = -(results.witnesses[0]-results.witnesses[1]).length();
-                //only replace valid penetrations when the result is deeper (check)
-                //if ((distance2 < results.distance))
-                {
-                    distInfo->m_distance = distance2;
-                    distInfo->m_pointOnA= results.witnesses[0];
-                    distInfo->m_pointOnB= results.witnesses[1];
-                    distInfo->m_normalBtoA= tmpNormalInB;
-                    return 0;
-                }
-            }
-        }
-        
-    }
-    
-    return -1;
-}
-#endif
-
-template <typename btConvexTemplate, typename btDistanceInfoTemplate>
-int btComputeGjkDistance(const btConvexTemplate& a, const btConvexTemplate& b,
-						 const btGjkCollisionDescription& colDesc, btDistanceInfoTemplate* distInfo)
-{
-	btGjkEpaSolver3::sResults results;
-	btVector3 guess = colDesc.m_firstDir;
-
-	bool isSeparated = btGjkEpaSolver3_Distance(a, b,
-												guess,
-												results);
-	if (isSeparated)
-	{
-		distInfo->m_distance = results.distance;
-		distInfo->m_pointOnA = results.witnesses[0];
-		distInfo->m_pointOnB = results.witnesses[1];
-		distInfo->m_normalBtoA = results.normal;
-		return 0;
-	}
-
-	return -1;
-}
-
-/* Symbols cleanup		*/
-
-#undef GJK_MAX_ITERATIONS
-#undef GJK_ACCURARY
-#undef GJK_MIN_DISTANCE
-#undef GJK_DUPLICATED_EPS
-#undef GJK_SIMPLEX2_EPS
-#undef GJK_SIMPLEX3_EPS
-#undef GJK_SIMPLEX4_EPS
-
-#undef EPA_MAX_VERTICES
-#undef EPA_MAX_FACES
-#undef EPA_MAX_ITERATIONS
-#undef EPA_ACCURACY
-#undef EPA_FALLBACK
-#undef EPA_PLANE_EPS
-#undef EPA_INSIDE_EPS
-
-#endif  //BT_GJK_EPA3_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
deleted file mode 100644
index 07629229ab..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
+++ /dev/null
@@ -1,81 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-EPA Copyright (c) Ricardo Padrela 2006
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-#include "btGjkEpaPenetrationDepthSolver.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
-
-bool btGjkEpaPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
-												  const btConvexShape* pConvexA, const btConvexShape* pConvexB,
-												  const btTransform& transformA, const btTransform& transformB,
-												  btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
-												  class btIDebugDraw* debugDraw)
-{
-	(void)debugDraw;
-	(void)v;
-	(void)simplexSolver;
-
-	btVector3 guessVectors[] = {
-		btVector3(transformB.getOrigin() - transformA.getOrigin()).safeNormalize(),
-		btVector3(transformA.getOrigin() - transformB.getOrigin()).safeNormalize(),
-		btVector3(0, 0, 1),
-		btVector3(0, 1, 0),
-		btVector3(1, 0, 0),
-		btVector3(1, 1, 0),
-		btVector3(1, 1, 1),
-		btVector3(0, 1, 1),
-		btVector3(1, 0, 1),
-	};
-
-	int numVectors = sizeof(guessVectors) / sizeof(btVector3);
-
-	for (int i = 0; i < numVectors; i++)
-	{
-		simplexSolver.reset();
-		btVector3 guessVector = guessVectors[i];
-
-		btGjkEpaSolver2::sResults results;
-
-		if (btGjkEpaSolver2::Penetration(pConvexA, transformA,
-										 pConvexB, transformB,
-										 guessVector, results))
-
-		{
-			wWitnessOnA = results.witnesses[0];
-			wWitnessOnB = results.witnesses[1];
-			v = results.normal;
-			return true;
-		}
-		else
-		{
-			if (btGjkEpaSolver2::Distance(pConvexA, transformA, pConvexB, transformB, guessVector, results))
-			{
-				wWitnessOnA = results.witnesses[0];
-				wWitnessOnB = results.witnesses[1];
-				v = results.normal;
-				return false;
-			}
-		}
-	}
-
-	//failed to find a distance/penetration
-	wWitnessOnA.setValue(0, 0, 0);
-	wWitnessOnB.setValue(0, 0, 0);
-	v.setValue(0, 0, 0);
-	return false;
-}
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
deleted file mode 100644
index 92d6df1729..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
+++ /dev/null
@@ -1,40 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-EPA Copyright (c) Ricardo Padrela 2006 
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-#ifndef BT_GJP_EPA_PENETRATION_DEPTH_H
-#define BT_GJP_EPA_PENETRATION_DEPTH_H
-
-#include "btConvexPenetrationDepthSolver.h"
-
-///EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to
-///calculate the penetration depth between two convex shapes.
-class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
-{
-public:
-	btGjkEpaPenetrationDepthSolver()
-	{
-	}
-
-	bool calcPenDepth(btSimplexSolverInterface& simplexSolver,
-					  const btConvexShape* pConvexA, const btConvexShape* pConvexB,
-					  const btTransform& transformA, const btTransform& transformB,
-					  btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
-					  class btIDebugDraw* debugDraw);
-
-private:
-};
-
-#endif  // BT_GJP_EPA_PENETRATION_DEPTH_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
deleted file mode 100644
index 5af93cb2fb..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
+++ /dev/null
@@ -1,1183 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btGjkPairDetector.h"
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
-#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
-
-#if defined(DEBUG) || defined(_DEBUG)
-//#define TEST_NON_VIRTUAL 1
-#include <stdio.h>  //for debug printf
-#ifdef __SPU__
-#include <spu_printf.h>
-#define printf spu_printf
-#endif  //__SPU__
-#endif
-
-//must be above the machine epsilon
-#ifdef BT_USE_DOUBLE_PRECISION
-#define REL_ERROR2 btScalar(1.0e-12)
-btScalar gGjkEpaPenetrationTolerance = 1.0e-12;
-#else
-#define REL_ERROR2 btScalar(1.0e-6)
-btScalar gGjkEpaPenetrationTolerance = 0.001;
-#endif
-
-
-btGjkPairDetector::btGjkPairDetector(const btConvexShape *objectA, const btConvexShape *objectB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
-	: m_cachedSeparatingAxis(btScalar(0.), btScalar(1.), btScalar(0.)),
-	  m_penetrationDepthSolver(penetrationDepthSolver),
-	  m_simplexSolver(simplexSolver),
-	  m_minkowskiA(objectA),
-	  m_minkowskiB(objectB),
-	  m_shapeTypeA(objectA->getShapeType()),
-	  m_shapeTypeB(objectB->getShapeType()),
-	  m_marginA(objectA->getMargin()),
-	  m_marginB(objectB->getMargin()),
-	  m_ignoreMargin(false),
-	  m_lastUsedMethod(-1),
-	  m_catchDegeneracies(1),
-	  m_fixContactNormalDirection(1)
-{
-}
-btGjkPairDetector::btGjkPairDetector(const btConvexShape *objectA, const btConvexShape *objectB, int shapeTypeA, int shapeTypeB, btScalar marginA, btScalar marginB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
-	: m_cachedSeparatingAxis(btScalar(0.), btScalar(1.), btScalar(0.)),
-	  m_penetrationDepthSolver(penetrationDepthSolver),
-	  m_simplexSolver(simplexSolver),
-	  m_minkowskiA(objectA),
-	  m_minkowskiB(objectB),
-	  m_shapeTypeA(shapeTypeA),
-	  m_shapeTypeB(shapeTypeB),
-	  m_marginA(marginA),
-	  m_marginB(marginB),
-	  m_ignoreMargin(false),
-	  m_lastUsedMethod(-1),
-	  m_catchDegeneracies(1),
-	  m_fixContactNormalDirection(1)
-{
-}
-
-void btGjkPairDetector::getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults)
-{
-	(void)swapResults;
-
-	getClosestPointsNonVirtual(input, output, debugDraw);
-}
-
-static void btComputeSupport(const btConvexShape *convexA, const btTransform &localTransA, const btConvexShape *convexB, const btTransform &localTransB, const btVector3 &dir, bool check2d, btVector3 &supAworld, btVector3 &supBworld, btVector3 &aMinb)
-{
-	btVector3 separatingAxisInA = (dir)*localTransA.getBasis();
-	btVector3 separatingAxisInB = (-dir) * localTransB.getBasis();
-
-	btVector3 pInANoMargin = convexA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA);
-	btVector3 qInBNoMargin = convexB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB);
-
-	btVector3 pInA = pInANoMargin;
-	btVector3 qInB = qInBNoMargin;
-
-	supAworld = localTransA(pInA);
-	supBworld = localTransB(qInB);
-
-	if (check2d)
-	{
-		supAworld[2] = 0.f;
-		supBworld[2] = 0.f;
-	}
-
-	aMinb = supAworld - supBworld;
-}
-
-struct btSupportVector
-{
-	btVector3 v;   //!< Support point in minkowski sum
-	btVector3 v1;  //!< Support point in obj1
-	btVector3 v2;  //!< Support point in obj2
-};
-
-struct btSimplex
-{
-	btSupportVector ps[4];
-	int last;  //!< index of last added point
-};
-
-static btVector3 ccd_vec3_origin(0, 0, 0);
-
-inline void btSimplexInit(btSimplex *s)
-{
-	s->last = -1;
-}
-
-inline int btSimplexSize(const btSimplex *s)
-{
-	return s->last + 1;
-}
-
-inline const btSupportVector *btSimplexPoint(const btSimplex *s, int idx)
-{
-	// here is no check on boundaries
-	return &s->ps[idx];
-}
-inline void btSupportCopy(btSupportVector *d, const btSupportVector *s)
-{
-	*d = *s;
-}
-
-inline void btVec3Copy(btVector3 *v, const btVector3 *w)
-{
-	*v = *w;
-}
-
-inline void ccdVec3Add(btVector3 *v, const btVector3 *w)
-{
-	v->m_floats[0] += w->m_floats[0];
-	v->m_floats[1] += w->m_floats[1];
-	v->m_floats[2] += w->m_floats[2];
-}
-
-inline void ccdVec3Sub(btVector3 *v, const btVector3 *w)
-{
-	*v -= *w;
-}
-inline void btVec3Sub2(btVector3 *d, const btVector3 *v, const btVector3 *w)
-{
-	*d = (*v) - (*w);
-}
-inline btScalar btVec3Dot(const btVector3 *a, const btVector3 *b)
-{
-	btScalar dot;
-	dot = a->dot(*b);
-
-	return dot;
-}
-
-inline btScalar ccdVec3Dist2(const btVector3 *a, const btVector3 *b)
-{
-	btVector3 ab;
-	btVec3Sub2(&ab, a, b);
-	return btVec3Dot(&ab, &ab);
-}
-
-inline void btVec3Scale(btVector3 *d, btScalar k)
-{
-	d->m_floats[0] *= k;
-	d->m_floats[1] *= k;
-	d->m_floats[2] *= k;
-}
-
-inline void btVec3Cross(btVector3 *d, const btVector3 *a, const btVector3 *b)
-{
-	d->m_floats[0] = (a->m_floats[1] * b->m_floats[2]) - (a->m_floats[2] * b->m_floats[1]);
-	d->m_floats[1] = (a->m_floats[2] * b->m_floats[0]) - (a->m_floats[0] * b->m_floats[2]);
-	d->m_floats[2] = (a->m_floats[0] * b->m_floats[1]) - (a->m_floats[1] * b->m_floats[0]);
-}
-
-inline void btTripleCross(const btVector3 *a, const btVector3 *b,
-						  const btVector3 *c, btVector3 *d)
-{
-	btVector3 e;
-	btVec3Cross(&e, a, b);
-	btVec3Cross(d, &e, c);
-}
-
-inline int ccdEq(btScalar _a, btScalar _b)
-{
-	btScalar ab;
-	btScalar a, b;
-
-	ab = btFabs(_a - _b);
-	if (btFabs(ab) < SIMD_EPSILON)
-		return 1;
-
-	a = btFabs(_a);
-	b = btFabs(_b);
-	if (b > a)
-	{
-		return ab < SIMD_EPSILON * b;
-	}
-	else
-	{
-		return ab < SIMD_EPSILON * a;
-	}
-}
-
-btScalar ccdVec3X(const btVector3 *v)
-{
-	return v->x();
-}
-
-btScalar ccdVec3Y(const btVector3 *v)
-{
-	return v->y();
-}
-
-btScalar ccdVec3Z(const btVector3 *v)
-{
-	return v->z();
-}
-inline int btVec3Eq(const btVector3 *a, const btVector3 *b)
-{
-	return ccdEq(ccdVec3X(a), ccdVec3X(b)) && ccdEq(ccdVec3Y(a), ccdVec3Y(b)) && ccdEq(ccdVec3Z(a), ccdVec3Z(b));
-}
-
-inline void btSimplexAdd(btSimplex *s, const btSupportVector *v)
-{
-	// here is no check on boundaries in sake of speed
-	++s->last;
-	btSupportCopy(s->ps + s->last, v);
-}
-
-inline void btSimplexSet(btSimplex *s, size_t pos, const btSupportVector *a)
-{
-	btSupportCopy(s->ps + pos, a);
-}
-
-inline void btSimplexSetSize(btSimplex *s, int size)
-{
-	s->last = size - 1;
-}
-
-inline const btSupportVector *ccdSimplexLast(const btSimplex *s)
-{
-	return btSimplexPoint(s, s->last);
-}
-
-inline int ccdSign(btScalar val)
-{
-	if (btFuzzyZero(val))
-	{
-		return 0;
-	}
-	else if (val < btScalar(0))
-	{
-		return -1;
-	}
-	return 1;
-}
-
-inline btScalar btVec3PointSegmentDist2(const btVector3 *P,
-										const btVector3 *x0,
-										const btVector3 *b,
-										btVector3 *witness)
-{
-	// The computation comes from solving equation of segment:
-	//      S(t) = x0 + t.d
-	//          where - x0 is initial point of segment
-	//                - d is direction of segment from x0 (|d| > 0)
-	//                - t belongs to <0, 1> interval
-	//
-	// Than, distance from a segment to some point P can be expressed:
-	//      D(t) = |x0 + t.d - P|^2
-	//          which is distance from any point on segment. Minimization
-	//          of this function brings distance from P to segment.
-	// Minimization of D(t) leads to simple quadratic equation that's
-	// solving is straightforward.
-	//
-	// Bonus of this method is witness point for free.
-
-	btScalar dist, t;
-	btVector3 d, a;
-
-	// direction of segment
-	btVec3Sub2(&d, b, x0);
-
-	// precompute vector from P to x0
-	btVec3Sub2(&a, x0, P);
-
-	t = -btScalar(1.) * btVec3Dot(&a, &d);
-	t /= btVec3Dot(&d, &d);
-
-	if (t < btScalar(0) || btFuzzyZero(t))
-	{
-		dist = ccdVec3Dist2(x0, P);
-		if (witness)
-			btVec3Copy(witness, x0);
-	}
-	else if (t > btScalar(1) || ccdEq(t, btScalar(1)))
-	{
-		dist = ccdVec3Dist2(b, P);
-		if (witness)
-			btVec3Copy(witness, b);
-	}
-	else
-	{
-		if (witness)
-		{
-			btVec3Copy(witness, &d);
-			btVec3Scale(witness, t);
-			ccdVec3Add(witness, x0);
-			dist = ccdVec3Dist2(witness, P);
-		}
-		else
-		{
-			// recycling variables
-			btVec3Scale(&d, t);
-			ccdVec3Add(&d, &a);
-			dist = btVec3Dot(&d, &d);
-		}
-	}
-
-	return dist;
-}
-
-btScalar btVec3PointTriDist2(const btVector3 *P,
-							 const btVector3 *x0, const btVector3 *B,
-							 const btVector3 *C,
-							 btVector3 *witness)
-{
-	// Computation comes from analytic expression for triangle (x0, B, C)
-	//      T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and
-	// Then equation for distance is:
-	//      D(s, t) = | T(s, t) - P |^2
-	// This leads to minimization of quadratic function of two variables.
-	// The solution from is taken only if s is between 0 and 1, t is
-	// between 0 and 1 and t + s < 1, otherwise distance from segment is
-	// computed.
-
-	btVector3 d1, d2, a;
-	double u, v, w, p, q, r;
-	double s, t, dist, dist2;
-	btVector3 witness2;
-
-	btVec3Sub2(&d1, B, x0);
-	btVec3Sub2(&d2, C, x0);
-	btVec3Sub2(&a, x0, P);
-
-	u = btVec3Dot(&a, &a);
-	v = btVec3Dot(&d1, &d1);
-	w = btVec3Dot(&d2, &d2);
-	p = btVec3Dot(&a, &d1);
-	q = btVec3Dot(&a, &d2);
-	r = btVec3Dot(&d1, &d2);
-
-	s = (q * r - w * p) / (w * v - r * r);
-	t = (-s * r - q) / w;
-
-	if ((btFuzzyZero(s) || s > btScalar(0)) && (ccdEq(s, btScalar(1)) || s < btScalar(1)) && (btFuzzyZero(t) || t > btScalar(0)) && (ccdEq(t, btScalar(1)) || t < btScalar(1)) && (ccdEq(t + s, btScalar(1)) || t + s < btScalar(1)))
-	{
-		if (witness)
-		{
-			btVec3Scale(&d1, s);
-			btVec3Scale(&d2, t);
-			btVec3Copy(witness, x0);
-			ccdVec3Add(witness, &d1);
-			ccdVec3Add(witness, &d2);
-
-			dist = ccdVec3Dist2(witness, P);
-		}
-		else
-		{
-			dist = s * s * v;
-			dist += t * t * w;
-			dist += btScalar(2.) * s * t * r;
-			dist += btScalar(2.) * s * p;
-			dist += btScalar(2.) * t * q;
-			dist += u;
-		}
-	}
-	else
-	{
-		dist = btVec3PointSegmentDist2(P, x0, B, witness);
-
-		dist2 = btVec3PointSegmentDist2(P, x0, C, &witness2);
-		if (dist2 < dist)
-		{
-			dist = dist2;
-			if (witness)
-				btVec3Copy(witness, &witness2);
-		}
-
-		dist2 = btVec3PointSegmentDist2(P, B, C, &witness2);
-		if (dist2 < dist)
-		{
-			dist = dist2;
-			if (witness)
-				btVec3Copy(witness, &witness2);
-		}
-	}
-
-	return dist;
-}
-
-static int btDoSimplex2(btSimplex *simplex, btVector3 *dir)
-{
-	const btSupportVector *A, *B;
-	btVector3 AB, AO, tmp;
-	btScalar dot;
-
-	// get last added as A
-	A = ccdSimplexLast(simplex);
-	// get the other point
-	B = btSimplexPoint(simplex, 0);
-	// compute AB oriented segment
-	btVec3Sub2(&AB, &B->v, &A->v);
-	// compute AO vector
-	btVec3Copy(&AO, &A->v);
-	btVec3Scale(&AO, -btScalar(1));
-
-	// dot product AB . AO
-	dot = btVec3Dot(&AB, &AO);
-
-	// check if origin doesn't lie on AB segment
-	btVec3Cross(&tmp, &AB, &AO);
-	if (btFuzzyZero(btVec3Dot(&tmp, &tmp)) && dot > btScalar(0))
-	{
-		return 1;
-	}
-
-	// check if origin is in area where AB segment is
-	if (btFuzzyZero(dot) || dot < btScalar(0))
-	{
-		// origin is in outside are of A
-		btSimplexSet(simplex, 0, A);
-		btSimplexSetSize(simplex, 1);
-		btVec3Copy(dir, &AO);
-	}
-	else
-	{
-		// origin is in area where AB segment is
-
-		// keep simplex untouched and set direction to
-		// AB x AO x AB
-		btTripleCross(&AB, &AO, &AB, dir);
-	}
-
-	return 0;
-}
-
-static int btDoSimplex3(btSimplex *simplex, btVector3 *dir)
-{
-	const btSupportVector *A, *B, *C;
-	btVector3 AO, AB, AC, ABC, tmp;
-	btScalar dot, dist;
-
-	// get last added as A
-	A = ccdSimplexLast(simplex);
-	// get the other points
-	B = btSimplexPoint(simplex, 1);
-	C = btSimplexPoint(simplex, 0);
-
-	// check touching contact
-	dist = btVec3PointTriDist2(&ccd_vec3_origin, &A->v, &B->v, &C->v, 0);
-	if (btFuzzyZero(dist))
-	{
-		return 1;
-	}
-
-	// check if triangle is really triangle (has area > 0)
-	// if not simplex can't be expanded and thus no itersection is found
-	if (btVec3Eq(&A->v, &B->v) || btVec3Eq(&A->v, &C->v))
-	{
-		return -1;
-	}
-
-	// compute AO vector
-	btVec3Copy(&AO, &A->v);
-	btVec3Scale(&AO, -btScalar(1));
-
-	// compute AB and AC segments and ABC vector (perpendircular to triangle)
-	btVec3Sub2(&AB, &B->v, &A->v);
-	btVec3Sub2(&AC, &C->v, &A->v);
-	btVec3Cross(&ABC, &AB, &AC);
-
-	btVec3Cross(&tmp, &ABC, &AC);
-	dot = btVec3Dot(&tmp, &AO);
-	if (btFuzzyZero(dot) || dot > btScalar(0))
-	{
-		dot = btVec3Dot(&AC, &AO);
-		if (btFuzzyZero(dot) || dot > btScalar(0))
-		{
-			// C is already in place
-			btSimplexSet(simplex, 1, A);
-			btSimplexSetSize(simplex, 2);
-			btTripleCross(&AC, &AO, &AC, dir);
-		}
-		else
-		{
-			dot = btVec3Dot(&AB, &AO);
-			if (btFuzzyZero(dot) || dot > btScalar(0))
-			{
-				btSimplexSet(simplex, 0, B);
-				btSimplexSet(simplex, 1, A);
-				btSimplexSetSize(simplex, 2);
-				btTripleCross(&AB, &AO, &AB, dir);
-			}
-			else
-			{
-				btSimplexSet(simplex, 0, A);
-				btSimplexSetSize(simplex, 1);
-				btVec3Copy(dir, &AO);
-			}
-		}
-	}
-	else
-	{
-		btVec3Cross(&tmp, &AB, &ABC);
-		dot = btVec3Dot(&tmp, &AO);
-		if (btFuzzyZero(dot) || dot > btScalar(0))
-		{
-			dot = btVec3Dot(&AB, &AO);
-			if (btFuzzyZero(dot) || dot > btScalar(0))
-			{
-				btSimplexSet(simplex, 0, B);
-				btSimplexSet(simplex, 1, A);
-				btSimplexSetSize(simplex, 2);
-				btTripleCross(&AB, &AO, &AB, dir);
-			}
-			else
-			{
-				btSimplexSet(simplex, 0, A);
-				btSimplexSetSize(simplex, 1);
-				btVec3Copy(dir, &AO);
-			}
-		}
-		else
-		{
-			dot = btVec3Dot(&ABC, &AO);
-			if (btFuzzyZero(dot) || dot > btScalar(0))
-			{
-				btVec3Copy(dir, &ABC);
-			}
-			else
-			{
-				btSupportVector tmp;
-				btSupportCopy(&tmp, C);
-				btSimplexSet(simplex, 0, B);
-				btSimplexSet(simplex, 1, &tmp);
-
-				btVec3Copy(dir, &ABC);
-				btVec3Scale(dir, -btScalar(1));
-			}
-		}
-	}
-
-	return 0;
-}
-
-static int btDoSimplex4(btSimplex *simplex, btVector3 *dir)
-{
-	const btSupportVector *A, *B, *C, *D;
-	btVector3 AO, AB, AC, AD, ABC, ACD, ADB;
-	int B_on_ACD, C_on_ADB, D_on_ABC;
-	int AB_O, AC_O, AD_O;
-	btScalar dist;
-
-	// get last added as A
-	A = ccdSimplexLast(simplex);
-	// get the other points
-	B = btSimplexPoint(simplex, 2);
-	C = btSimplexPoint(simplex, 1);
-	D = btSimplexPoint(simplex, 0);
-
-	// check if tetrahedron is really tetrahedron (has volume > 0)
-	// if it is not simplex can't be expanded and thus no intersection is
-	// found
-	dist = btVec3PointTriDist2(&A->v, &B->v, &C->v, &D->v, 0);
-	if (btFuzzyZero(dist))
-	{
-		return -1;
-	}
-
-	// check if origin lies on some of tetrahedron's face - if so objects
-	// intersect
-	dist = btVec3PointTriDist2(&ccd_vec3_origin, &A->v, &B->v, &C->v, 0);
-	if (btFuzzyZero(dist))
-		return 1;
-	dist = btVec3PointTriDist2(&ccd_vec3_origin, &A->v, &C->v, &D->v, 0);
-	if (btFuzzyZero(dist))
-		return 1;
-	dist = btVec3PointTriDist2(&ccd_vec3_origin, &A->v, &B->v, &D->v, 0);
-	if (btFuzzyZero(dist))
-		return 1;
-	dist = btVec3PointTriDist2(&ccd_vec3_origin, &B->v, &C->v, &D->v, 0);
-	if (btFuzzyZero(dist))
-		return 1;
-
-	// compute AO, AB, AC, AD segments and ABC, ACD, ADB normal vectors
-	btVec3Copy(&AO, &A->v);
-	btVec3Scale(&AO, -btScalar(1));
-	btVec3Sub2(&AB, &B->v, &A->v);
-	btVec3Sub2(&AC, &C->v, &A->v);
-	btVec3Sub2(&AD, &D->v, &A->v);
-	btVec3Cross(&ABC, &AB, &AC);
-	btVec3Cross(&ACD, &AC, &AD);
-	btVec3Cross(&ADB, &AD, &AB);
-
-	// side (positive or negative) of B, C, D relative to planes ACD, ADB
-	// and ABC respectively
-	B_on_ACD = ccdSign(btVec3Dot(&ACD, &AB));
-	C_on_ADB = ccdSign(btVec3Dot(&ADB, &AC));
-	D_on_ABC = ccdSign(btVec3Dot(&ABC, &AD));
-
-	// whether origin is on same side of ACD, ADB, ABC as B, C, D
-	// respectively
-	AB_O = ccdSign(btVec3Dot(&ACD, &AO)) == B_on_ACD;
-	AC_O = ccdSign(btVec3Dot(&ADB, &AO)) == C_on_ADB;
-	AD_O = ccdSign(btVec3Dot(&ABC, &AO)) == D_on_ABC;
-
-	if (AB_O && AC_O && AD_O)
-	{
-		// origin is in tetrahedron
-		return 1;
-		// rearrange simplex to triangle and call btDoSimplex3()
-	}
-	else if (!AB_O)
-	{
-		// B is farthest from the origin among all of the tetrahedron's
-		// points, so remove it from the list and go on with the triangle
-		// case
-
-		// D and C are in place
-		btSimplexSet(simplex, 2, A);
-		btSimplexSetSize(simplex, 3);
-	}
-	else if (!AC_O)
-	{
-		// C is farthest
-		btSimplexSet(simplex, 1, D);
-		btSimplexSet(simplex, 0, B);
-		btSimplexSet(simplex, 2, A);
-		btSimplexSetSize(simplex, 3);
-	}
-	else
-	{  // (!AD_O)
-		btSimplexSet(simplex, 0, C);
-		btSimplexSet(simplex, 1, B);
-		btSimplexSet(simplex, 2, A);
-		btSimplexSetSize(simplex, 3);
-	}
-
-	return btDoSimplex3(simplex, dir);
-}
-
-static int btDoSimplex(btSimplex *simplex, btVector3 *dir)
-{
-	if (btSimplexSize(simplex) == 2)
-	{
-		// simplex contains segment only one segment
-		return btDoSimplex2(simplex, dir);
-	}
-	else if (btSimplexSize(simplex) == 3)
-	{
-		// simplex contains triangle
-		return btDoSimplex3(simplex, dir);
-	}
-	else
-	{  // btSimplexSize(simplex) == 4
-		// tetrahedron - this is the only shape which can encapsule origin
-		// so btDoSimplex4() also contains test on it
-		return btDoSimplex4(simplex, dir);
-	}
-}
-
-#ifdef __SPU__
-void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw)
-#else
-void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw)
-#endif
-{
-	m_cachedSeparatingDistance = 0.f;
-
-	btScalar distance = btScalar(0.);
-	btVector3 normalInB(btScalar(0.), btScalar(0.), btScalar(0.));
-
-	btVector3 pointOnA, pointOnB;
-	btTransform localTransA = input.m_transformA;
-	btTransform localTransB = input.m_transformB;
-	btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * btScalar(0.5);
-	localTransA.getOrigin() -= positionOffset;
-	localTransB.getOrigin() -= positionOffset;
-
-	bool check2d = m_minkowskiA->isConvex2d() && m_minkowskiB->isConvex2d();
-
-	btScalar marginA = m_marginA;
-	btScalar marginB = m_marginB;
-
-
-	//for CCD we don't use margins
-	if (m_ignoreMargin)
-	{
-		marginA = btScalar(0.);
-		marginB = btScalar(0.);
-	}
-
-	m_curIter = 0;
-	int gGjkMaxIter = 1000;  //this is to catch invalid input, perhaps check for #NaN?
-	m_cachedSeparatingAxis.setValue(0, 1, 0);
-
-	bool isValid = false;
-	bool checkSimplex = false;
-	bool checkPenetration = true;
-	m_degenerateSimplex = 0;
-
-	m_lastUsedMethod = -1;
-	int status = -2;
-	btVector3 orgNormalInB(0, 0, 0);
-	btScalar margin = marginA + marginB;
-
-	//we add a separate implementation to check if the convex shapes intersect
-	//See also "Real-time Collision Detection with Implicit Objects" by Leif Olvang
-	//Todo: integrate the simplex penetration check directly inside the Bullet btVoronoiSimplexSolver
-	//and remove this temporary code from libCCD
-	//this fixes issue https://github.com/bulletphysics/bullet3/issues/1703
-	//note, for large differences in shapes, use double precision build!
-	{
-		btScalar squaredDistance = BT_LARGE_FLOAT;
-		btScalar delta = btScalar(0.);
-
-		btSimplex simplex1;
-		btSimplex *simplex = &simplex1;
-		btSimplexInit(simplex);
-
-		btVector3 dir(1, 0, 0);
-
-		{
-			btVector3 lastSupV;
-			btVector3 supAworld;
-			btVector3 supBworld;
-			btComputeSupport(m_minkowskiA, localTransA, m_minkowskiB, localTransB, dir, check2d, supAworld, supBworld, lastSupV);
-
-			btSupportVector last;
-			last.v = lastSupV;
-			last.v1 = supAworld;
-			last.v2 = supBworld;
-
-			btSimplexAdd(simplex, &last);
-
-			dir = -lastSupV;
-
-			// start iterations
-			for (int iterations = 0; iterations < gGjkMaxIter; iterations++)
-			{
-				// obtain support point
-				btComputeSupport(m_minkowskiA, localTransA, m_minkowskiB, localTransB, dir, check2d, supAworld, supBworld, lastSupV);
-
-				// check if farthest point in Minkowski difference in direction dir
-				// isn't somewhere before origin (the test on negative dot product)
-				// - because if it is, objects are not intersecting at all.
-				btScalar delta = lastSupV.dot(dir);
-				if (delta < 0)
-				{
-					//no intersection, besides margin
-					status = -1;
-					break;
-				}
-
-				// add last support vector to simplex
-				last.v = lastSupV;
-				last.v1 = supAworld;
-				last.v2 = supBworld;
-
-				btSimplexAdd(simplex, &last);
-
-				// if btDoSimplex returns 1 if objects intersect, -1 if objects don't
-				// intersect and 0 if algorithm should continue
-
-				btVector3 newDir;
-				int do_simplex_res = btDoSimplex(simplex, &dir);
-
-				if (do_simplex_res == 1)
-				{
-					status = 0;  // intersection found
-					break;
-				}
-				else if (do_simplex_res == -1)
-				{
-					// intersection not found
-					status = -1;
-					break;
-				}
-
-				if (btFuzzyZero(btVec3Dot(&dir, &dir)))
-				{
-					// intersection not found
-					status = -1;
-				}
-
-				if (dir.length2() < SIMD_EPSILON)
-				{
-					//no intersection, besides margin
-					status = -1;
-					break;
-				}
-
-				if (dir.fuzzyZero())
-				{
-					// intersection not found
-					status = -1;
-					break;
-				}
-			}
-		}
-
-		m_simplexSolver->reset();
-		if (status == 0)
-		{
-			//status = 0;
-			//printf("Intersect!\n");
-		}
-
-		if (status == -1)
-		{
-			//printf("not intersect\n");
-		}
-		//printf("dir=%f,%f,%f\n",dir[0],dir[1],dir[2]);
-		if (1)
-		{
-			for (;;)
-			//while (true)
-			{
-				btVector3 separatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis();
-				btVector3 separatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis();
-
-				btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA);
-				btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB);
-
-				btVector3 pWorld = localTransA(pInA);
-				btVector3 qWorld = localTransB(qInB);
-
-				if (check2d)
-				{
-					pWorld[2] = 0.f;
-					qWorld[2] = 0.f;
-				}
-
-				btVector3 w = pWorld - qWorld;
-				delta = m_cachedSeparatingAxis.dot(w);
-
-				// potential exit, they don't overlap
-				if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared))
-				{
-					m_degenerateSimplex = 10;
-					checkSimplex = true;
-					//checkPenetration = false;
-					break;
-				}
-
-				//exit 0: the new point is already in the simplex, or we didn't come any closer
-				if (m_simplexSolver->inSimplex(w))
-				{
-					m_degenerateSimplex = 1;
-					checkSimplex = true;
-					break;
-				}
-				// are we getting any closer ?
-				btScalar f0 = squaredDistance - delta;
-				btScalar f1 = squaredDistance * REL_ERROR2;
-
-				if (f0 <= f1)
-				{
-					if (f0 <= btScalar(0.))
-					{
-						m_degenerateSimplex = 2;
-					}
-					else
-					{
-						m_degenerateSimplex = 11;
-					}
-					checkSimplex = true;
-					break;
-				}
-
-				//add current vertex to simplex
-				m_simplexSolver->addVertex(w, pWorld, qWorld);
-				btVector3 newCachedSeparatingAxis;
-
-				//calculate the closest point to the origin (update vector v)
-				if (!m_simplexSolver->closest(newCachedSeparatingAxis))
-				{
-					m_degenerateSimplex = 3;
-					checkSimplex = true;
-					break;
-				}
-
-				if (newCachedSeparatingAxis.length2() < REL_ERROR2)
-				{
-					m_cachedSeparatingAxis = newCachedSeparatingAxis;
-					m_degenerateSimplex = 6;
-					checkSimplex = true;
-					break;
-				}
-
-				btScalar previousSquaredDistance = squaredDistance;
-				squaredDistance = newCachedSeparatingAxis.length2();
-#if 0
-				///warning: this termination condition leads to some problems in 2d test case see Bullet/Demos/Box2dDemo
-				if (squaredDistance > previousSquaredDistance)
-				{
-					m_degenerateSimplex = 7;
-					squaredDistance = previousSquaredDistance;
-					checkSimplex = false;
-					break;
-				}
-#endif  //
-
-				//redundant m_simplexSolver->compute_points(pointOnA, pointOnB);
-
-				//are we getting any closer ?
-				if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance)
-				{
-					//				m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
-					checkSimplex = true;
-					m_degenerateSimplex = 12;
-
-					break;
-				}
-
-				m_cachedSeparatingAxis = newCachedSeparatingAxis;
-
-				//degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject
-				if (m_curIter++ > gGjkMaxIter)
-				{
-#if defined(DEBUG) || defined(_DEBUG)
-
-					printf("btGjkPairDetector maxIter exceeded:%i\n", m_curIter);
-					printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",
-						   m_cachedSeparatingAxis.getX(),
-						   m_cachedSeparatingAxis.getY(),
-						   m_cachedSeparatingAxis.getZ(),
-						   squaredDistance,
-						   m_minkowskiA->getShapeType(),
-						   m_minkowskiB->getShapeType());
-
-#endif
-					break;
-				}
-
-				bool check = (!m_simplexSolver->fullSimplex());
-				//bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex());
-
-				if (!check)
-				{
-					//do we need this backup_closest here ?
-					//				m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
-					m_degenerateSimplex = 13;
-					break;
-				}
-			}
-
-			if (checkSimplex)
-			{
-				m_simplexSolver->compute_points(pointOnA, pointOnB);
-				normalInB = m_cachedSeparatingAxis;
-
-				btScalar lenSqr = m_cachedSeparatingAxis.length2();
-
-				//valid normal
-				if (lenSqr < REL_ERROR2)
-				{
-					m_degenerateSimplex = 5;
-				}
-				if (lenSqr > SIMD_EPSILON * SIMD_EPSILON)
-				{
-					btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
-					normalInB *= rlen;  //normalize
-
-					btScalar s = btSqrt(squaredDistance);
-
-					btAssert(s > btScalar(0.0));
-					pointOnA -= m_cachedSeparatingAxis * (marginA / s);
-					pointOnB += m_cachedSeparatingAxis * (marginB / s);
-					distance = ((btScalar(1.) / rlen) - margin);
-					isValid = true;
-					orgNormalInB = normalInB;
-
-					m_lastUsedMethod = 1;
-				}
-				else
-				{
-					m_lastUsedMethod = 2;
-				}
-			}
-		}
-
-		bool catchDegeneratePenetrationCase =
-			(m_catchDegeneracies && m_penetrationDepthSolver && m_degenerateSimplex && ((distance + margin) < gGjkEpaPenetrationTolerance));
-
-		//if (checkPenetration && !isValid)
-		if ((checkPenetration && (!isValid || catchDegeneratePenetrationCase)) || (status == 0))
-		{
-			//penetration case
-
-			//if there is no way to handle penetrations, bail out
-			if (m_penetrationDepthSolver)
-			{
-				// Penetration depth case.
-				btVector3 tmpPointOnA, tmpPointOnB;
-
-				m_cachedSeparatingAxis.setZero();
-
-				bool isValid2 = m_penetrationDepthSolver->calcPenDepth(
-					*m_simplexSolver,
-					m_minkowskiA, m_minkowskiB,
-					localTransA, localTransB,
-					m_cachedSeparatingAxis, tmpPointOnA, tmpPointOnB,
-					debugDraw);
-
-				if (m_cachedSeparatingAxis.length2())
-				{
-					if (isValid2)
-					{
-						btVector3 tmpNormalInB = tmpPointOnB - tmpPointOnA;
-						btScalar lenSqr = tmpNormalInB.length2();
-						if (lenSqr <= (SIMD_EPSILON * SIMD_EPSILON))
-						{
-							tmpNormalInB = m_cachedSeparatingAxis;
-							lenSqr = m_cachedSeparatingAxis.length2();
-						}
-
-						if (lenSqr > (SIMD_EPSILON * SIMD_EPSILON))
-						{
-							tmpNormalInB /= btSqrt(lenSqr);
-							btScalar distance2 = -(tmpPointOnA - tmpPointOnB).length();
-							m_lastUsedMethod = 3;
-							//only replace valid penetrations when the result is deeper (check)
-							if (!isValid || (distance2 < distance))
-							{
-								distance = distance2;
-								pointOnA = tmpPointOnA;
-								pointOnB = tmpPointOnB;
-								normalInB = tmpNormalInB;
-								isValid = true;
-							}
-							else
-							{
-								m_lastUsedMethod = 8;
-							}
-						}
-						else
-						{
-							m_lastUsedMethod = 9;
-						}
-					}
-					else
-
-					{
-						///this is another degenerate case, where the initial GJK calculation reports a degenerate case
-						///EPA reports no penetration, and the second GJK (using the supporting vector without margin)
-						///reports a valid positive distance. Use the results of the second GJK instead of failing.
-						///thanks to Jacob.Langford for the reproduction case
-						///http://code.google.com/p/bullet/issues/detail?id=250
-
-						if (m_cachedSeparatingAxis.length2() > btScalar(0.))
-						{
-							btScalar distance2 = (tmpPointOnA - tmpPointOnB).length() - margin;
-							//only replace valid distances when the distance is less
-							if (!isValid || (distance2 < distance))
-							{
-								distance = distance2;
-								pointOnA = tmpPointOnA;
-								pointOnB = tmpPointOnB;
-								pointOnA -= m_cachedSeparatingAxis * marginA;
-								pointOnB += m_cachedSeparatingAxis * marginB;
-								normalInB = m_cachedSeparatingAxis;
-								normalInB.normalize();
-
-								isValid = true;
-								m_lastUsedMethod = 6;
-							}
-							else
-							{
-								m_lastUsedMethod = 5;
-							}
-						}
-					}
-				}
-				else
-				{
-					//printf("EPA didn't return a valid value\n");
-				}
-			}
-		}
-	}
-
-	if (isValid && ((distance < 0) || (distance * distance < input.m_maximumDistanceSquared)))
-	{
-		m_cachedSeparatingAxis = normalInB;
-		m_cachedSeparatingDistance = distance;
-		if (1)
-		{
-			///todo: need to track down this EPA penetration solver degeneracy
-			///the penetration solver reports penetration but the contact normal
-			///connecting the contact points is pointing in the opposite direction
-			///until then, detect the issue and revert the normal
-
-			btScalar d2 = 0.f;
-			{
-				btVector3 separatingAxisInA = (-orgNormalInB) * localTransA.getBasis();
-				btVector3 separatingAxisInB = orgNormalInB * localTransB.getBasis();
-
-				btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA);
-				btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB);
-
-				btVector3 pWorld = localTransA(pInA);
-				btVector3 qWorld = localTransB(qInB);
-				btVector3 w = pWorld - qWorld;
-				d2 = orgNormalInB.dot(w) - margin;
-			}
-
-			btScalar d1 = 0;
-			{
-				btVector3 separatingAxisInA = (normalInB)*localTransA.getBasis();
-				btVector3 separatingAxisInB = -normalInB * localTransB.getBasis();
-
-				btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA);
-				btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB);
-
-				btVector3 pWorld = localTransA(pInA);
-				btVector3 qWorld = localTransB(qInB);
-				btVector3 w = pWorld - qWorld;
-				d1 = (-normalInB).dot(w) - margin;
-			}
-			btScalar d0 = 0.f;
-			{
-				btVector3 separatingAxisInA = (-normalInB) * input.m_transformA.getBasis();
-				btVector3 separatingAxisInB = normalInB * input.m_transformB.getBasis();
-
-				btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA);
-				btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB);
-
-				btVector3 pWorld = localTransA(pInA);
-				btVector3 qWorld = localTransB(qInB);
-				btVector3 w = pWorld - qWorld;
-				d0 = normalInB.dot(w) - margin;
-			}
-
-			if (d1 > d0)
-			{
-				m_lastUsedMethod = 10;
-				normalInB *= -1;
-			}
-
-			if (orgNormalInB.length2())
-			{
-				if (d2 > d0 && d2 > d1 && d2 > distance)
-				{
-					normalInB = orgNormalInB;
-					distance = d2;
-				}
-			}
-		}
-
-		output.addContactPoint(
-			normalInB,
-			pointOnB + positionOffset,
-			distance);
-	}
-	else
-	{
-		//printf("invalid gjk query\n");
-	}
-}
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
deleted file mode 100644
index faa02287ca..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
+++ /dev/null
@@ -1,93 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_GJK_PAIR_DETECTOR_H
-#define BT_GJK_PAIR_DETECTOR_H
-
-#include "btDiscreteCollisionDetectorInterface.h"
-#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
-
-class btConvexShape;
-#include "btSimplexSolverInterface.h"
-class btConvexPenetrationDepthSolver;
-
-/// btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface
-class btGjkPairDetector : public btDiscreteCollisionDetectorInterface
-{
-	btVector3 m_cachedSeparatingAxis;
-	btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
-	btSimplexSolverInterface* m_simplexSolver;
-	const btConvexShape* m_minkowskiA;
-	const btConvexShape* m_minkowskiB;
-	int m_shapeTypeA;
-	int m_shapeTypeB;
-	btScalar m_marginA;
-	btScalar m_marginB;
-
-	bool m_ignoreMargin;
-	btScalar m_cachedSeparatingDistance;
-
-public:
-	//some debugging to fix degeneracy problems
-	int m_lastUsedMethod;
-	int m_curIter;
-	int m_degenerateSimplex;
-	int m_catchDegeneracies;
-	int m_fixContactNormalDirection;
-
-	btGjkPairDetector(const btConvexShape* objectA, const btConvexShape* objectB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver);
-	btGjkPairDetector(const btConvexShape* objectA, const btConvexShape* objectB, int shapeTypeA, int shapeTypeB, btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver);
-	virtual ~btGjkPairDetector(){};
-
-	virtual void getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw, bool swapResults = false);
-
-	void getClosestPointsNonVirtual(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw);
-
-	void setMinkowskiA(const btConvexShape* minkA)
-	{
-		m_minkowskiA = minkA;
-	}
-
-	void setMinkowskiB(const btConvexShape* minkB)
-	{
-		m_minkowskiB = minkB;
-	}
-	void setCachedSeparatingAxis(const btVector3& separatingAxis)
-	{
-		m_cachedSeparatingAxis = separatingAxis;
-	}
-
-	const btVector3& getCachedSeparatingAxis() const
-	{
-		return m_cachedSeparatingAxis;
-	}
-	btScalar getCachedSeparatingDistance() const
-	{
-		return m_cachedSeparatingDistance;
-	}
-
-	void setPenetrationDepthSolver(btConvexPenetrationDepthSolver* penetrationDepthSolver)
-	{
-		m_penetrationDepthSolver = penetrationDepthSolver;
-	}
-
-	///don't use setIgnoreMargin, it's for Bullet's internal use
-	void setIgnoreMargin(bool ignoreMargin)
-	{
-		m_ignoreMargin = ignoreMargin;
-	}
-};
-
-#endif  //BT_GJK_PAIR_DETECTOR_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
deleted file mode 100644
index 573fc86bf9..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
+++ /dev/null
@@ -1,174 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_MANIFOLD_CONTACT_POINT_H
-#define BT_MANIFOLD_CONTACT_POINT_H
-
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btTransformUtil.h"
-
-#ifdef PFX_USE_FREE_VECTORMATH
-#include "physics_effects/base_level/solver/pfx_constraint_row.h"
-typedef sce::PhysicsEffects::PfxConstraintRow btConstraintRow;
-#else
-// Don't change following order of parameters
-ATTRIBUTE_ALIGNED16(struct)
-btConstraintRow
-{
-	btScalar m_normal[3];
-	btScalar m_rhs;
-	btScalar m_jacDiagInv;
-	btScalar m_lowerLimit;
-	btScalar m_upperLimit;
-	btScalar m_accumImpulse;
-};
-typedef btConstraintRow PfxConstraintRow;
-#endif  //PFX_USE_FREE_VECTORMATH
-
-enum btContactPointFlags
-{
-	BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED = 1,
-	BT_CONTACT_FLAG_HAS_CONTACT_CFM = 2,
-	BT_CONTACT_FLAG_HAS_CONTACT_ERP = 4,
-	BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING = 8,
-	BT_CONTACT_FLAG_FRICTION_ANCHOR = 16,
-};
-
-/// ManifoldContactPoint collects and maintains persistent contactpoints.
-/// used to improve stability and performance of rigidbody dynamics response.
-class btManifoldPoint
-{
-public:
-	btManifoldPoint()
-		: m_userPersistentData(0),
-		  m_contactPointFlags(0),
-		  m_appliedImpulse(0.f),
-		  m_prevRHS(0.f),
-		  m_appliedImpulseLateral1(0.f),
-		  m_appliedImpulseLateral2(0.f),
-		  m_contactMotion1(0.f),
-		  m_contactMotion2(0.f),
-		  m_contactCFM(0.f),
-		  m_contactERP(0.f),
-		  m_frictionCFM(0.f),
-		  m_lifeTime(0)
-	{
-	}
-
-	btManifoldPoint(const btVector3& pointA, const btVector3& pointB,
-					const btVector3& normal,
-					btScalar distance) : m_localPointA(pointA),
-										 m_localPointB(pointB),
-										 m_normalWorldOnB(normal),
-										 m_distance1(distance),
-										 m_combinedFriction(btScalar(0.)),
-										 m_combinedRollingFriction(btScalar(0.)),
-										 m_combinedSpinningFriction(btScalar(0.)),
-										 m_combinedRestitution(btScalar(0.)),
-										 m_userPersistentData(0),
-										 m_contactPointFlags(0),
-										 m_appliedImpulse(0.f),
-										 m_prevRHS(0.f),
-										 m_appliedImpulseLateral1(0.f),
-										 m_appliedImpulseLateral2(0.f),
-										 m_contactMotion1(0.f),
-										 m_contactMotion2(0.f),
-										 m_contactCFM(0.f),
-										 m_contactERP(0.f),
-										 m_frictionCFM(0.f),
-										 m_lifeTime(0)
-	{
-	}
-
-	btVector3 m_localPointA;
-	btVector3 m_localPointB;
-	btVector3 m_positionWorldOnB;
-	///m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
-	btVector3 m_positionWorldOnA;
-	btVector3 m_normalWorldOnB;
-
-	btScalar m_distance1;
-	btScalar m_combinedFriction;
-	btScalar m_combinedRollingFriction;   //torsional friction orthogonal to contact normal, useful to make spheres stop rolling forever
-	btScalar m_combinedSpinningFriction;  //torsional friction around contact normal, useful for grasping objects
-	btScalar m_combinedRestitution;
-
-	//BP mod, store contact triangles.
-	int m_partId0;
-	int m_partId1;
-	int m_index0;
-	int m_index1;
-
-	mutable void* m_userPersistentData;
-	//bool			m_lateralFrictionInitialized;
-	int m_contactPointFlags;
-
-	btScalar m_appliedImpulse;
-	btScalar m_prevRHS;
-	btScalar m_appliedImpulseLateral1;
-	btScalar m_appliedImpulseLateral2;
-	btScalar m_contactMotion1;
-	btScalar m_contactMotion2;
-
-	union {
-		btScalar m_contactCFM;
-		btScalar m_combinedContactStiffness1;
-	};
-
-	union {
-		btScalar m_contactERP;
-		btScalar m_combinedContactDamping1;
-	};
-
-	btScalar m_frictionCFM;
-
-	int m_lifeTime;  //lifetime of the contactpoint in frames
-
-	btVector3 m_lateralFrictionDir1;
-	btVector3 m_lateralFrictionDir2;
-
-	btScalar getDistance() const
-	{
-		return m_distance1;
-	}
-	int getLifeTime() const
-	{
-		return m_lifeTime;
-	}
-
-	const btVector3& getPositionWorldOnA() const
-	{
-		return m_positionWorldOnA;
-		//				return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
-	}
-
-	const btVector3& getPositionWorldOnB() const
-	{
-		return m_positionWorldOnB;
-	}
-
-	void setDistance(btScalar dist)
-	{
-		m_distance1 = dist;
-	}
-
-	///this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver
-	btScalar getAppliedImpulse() const
-	{
-		return m_appliedImpulse;
-	}
-};
-
-#endif  //BT_MANIFOLD_CONTACT_POINT_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
deleted file mode 100644
index c042c24208..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
+++ /dev/null
@@ -1,336 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btMinkowskiPenetrationDepthSolver.h"
-#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
-#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-
-#define NUM_UNITSPHERE_POINTS 42
-
-bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
-													 const btConvexShape* convexA, const btConvexShape* convexB,
-													 const btTransform& transA, const btTransform& transB,
-													 btVector3& v, btVector3& pa, btVector3& pb,
-													 class btIDebugDraw* debugDraw)
-{
-	(void)v;
-
-	bool check2d = convexA->isConvex2d() && convexB->isConvex2d();
-
-	struct btIntermediateResult : public btDiscreteCollisionDetectorInterface::Result
-	{
-		btIntermediateResult() : m_hasResult(false)
-		{
-		}
-
-		btVector3 m_normalOnBInWorld;
-		btVector3 m_pointInWorld;
-		btScalar m_depth;
-		bool m_hasResult;
-
-		virtual void setShapeIdentifiersA(int partId0, int index0)
-		{
-			(void)partId0;
-			(void)index0;
-		}
-		virtual void setShapeIdentifiersB(int partId1, int index1)
-		{
-			(void)partId1;
-			(void)index1;
-		}
-		void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
-		{
-			m_normalOnBInWorld = normalOnBInWorld;
-			m_pointInWorld = pointInWorld;
-			m_depth = depth;
-			m_hasResult = true;
-		}
-	};
-
-	//just take fixed number of orientation, and sample the penetration depth in that direction
-	btScalar minProj = btScalar(BT_LARGE_FLOAT);
-	btVector3 minNorm(btScalar(0.), btScalar(0.), btScalar(0.));
-	btVector3 minA, minB;
-	btVector3 separatingAxisInA, separatingAxisInB;
-	btVector3 pInA, qInB, pWorld, qWorld, w;
-
-#ifndef __SPU__
-#define USE_BATCHED_SUPPORT 1
-#endif
-#ifdef USE_BATCHED_SUPPORT
-
-	btVector3 supportVerticesABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
-	btVector3 supportVerticesBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
-	btVector3 separatingAxisInABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
-	btVector3 separatingAxisInBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
-	int i;
-
-	int numSampleDirections = NUM_UNITSPHERE_POINTS;
-
-	for (i = 0; i < numSampleDirections; i++)
-	{
-		btVector3 norm = getPenetrationDirections()[i];
-		separatingAxisInABatch[i] = (-norm) * transA.getBasis();
-		separatingAxisInBBatch[i] = norm * transB.getBasis();
-	}
-
-	{
-		int numPDA = convexA->getNumPreferredPenetrationDirections();
-		if (numPDA)
-		{
-			for (int i = 0; i < numPDA; i++)
-			{
-				btVector3 norm;
-				convexA->getPreferredPenetrationDirection(i, norm);
-				norm = transA.getBasis() * norm;
-				getPenetrationDirections()[numSampleDirections] = norm;
-				separatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
-				separatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
-				numSampleDirections++;
-			}
-		}
-	}
-
-	{
-		int numPDB = convexB->getNumPreferredPenetrationDirections();
-		if (numPDB)
-		{
-			for (int i = 0; i < numPDB; i++)
-			{
-				btVector3 norm;
-				convexB->getPreferredPenetrationDirection(i, norm);
-				norm = transB.getBasis() * norm;
-				getPenetrationDirections()[numSampleDirections] = norm;
-				separatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
-				separatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
-				numSampleDirections++;
-			}
-		}
-	}
-
-	convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(separatingAxisInABatch, supportVerticesABatch, numSampleDirections);
-	convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(separatingAxisInBBatch, supportVerticesBBatch, numSampleDirections);
-
-	for (i = 0; i < numSampleDirections; i++)
-	{
-		btVector3 norm = getPenetrationDirections()[i];
-		if (check2d)
-		{
-			norm[2] = 0.f;
-		}
-		if (norm.length2() > 0.01)
-		{
-			separatingAxisInA = separatingAxisInABatch[i];
-			separatingAxisInB = separatingAxisInBBatch[i];
-
-			pInA = supportVerticesABatch[i];
-			qInB = supportVerticesBBatch[i];
-
-			pWorld = transA(pInA);
-			qWorld = transB(qInB);
-			if (check2d)
-			{
-				pWorld[2] = 0.f;
-				qWorld[2] = 0.f;
-			}
-
-			w = qWorld - pWorld;
-			btScalar delta = norm.dot(w);
-			//find smallest delta
-			if (delta < minProj)
-			{
-				minProj = delta;
-				minNorm = norm;
-				minA = pWorld;
-				minB = qWorld;
-			}
-		}
-	}
-#else
-
-	int numSampleDirections = NUM_UNITSPHERE_POINTS;
-
-#ifndef __SPU__
-	{
-		int numPDA = convexA->getNumPreferredPenetrationDirections();
-		if (numPDA)
-		{
-			for (int i = 0; i < numPDA; i++)
-			{
-				btVector3 norm;
-				convexA->getPreferredPenetrationDirection(i, norm);
-				norm = transA.getBasis() * norm;
-				getPenetrationDirections()[numSampleDirections] = norm;
-				numSampleDirections++;
-			}
-		}
-	}
-
-	{
-		int numPDB = convexB->getNumPreferredPenetrationDirections();
-		if (numPDB)
-		{
-			for (int i = 0; i < numPDB; i++)
-			{
-				btVector3 norm;
-				convexB->getPreferredPenetrationDirection(i, norm);
-				norm = transB.getBasis() * norm;
-				getPenetrationDirections()[numSampleDirections] = norm;
-				numSampleDirections++;
-			}
-		}
-	}
-#endif  // __SPU__
-
-	for (int i = 0; i < numSampleDirections; i++)
-	{
-		const btVector3& norm = getPenetrationDirections()[i];
-		separatingAxisInA = (-norm) * transA.getBasis();
-		separatingAxisInB = norm * transB.getBasis();
-		pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA);
-		qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB);
-		pWorld = transA(pInA);
-		qWorld = transB(qInB);
-		w = qWorld - pWorld;
-		btScalar delta = norm.dot(w);
-		//find smallest delta
-		if (delta < minProj)
-		{
-			minProj = delta;
-			minNorm = norm;
-			minA = pWorld;
-			minB = qWorld;
-		}
-	}
-#endif  //USE_BATCHED_SUPPORT
-
-	//add the margins
-
-	minA += minNorm * convexA->getMarginNonVirtual();
-	minB -= minNorm * convexB->getMarginNonVirtual();
-	//no penetration
-	if (minProj < btScalar(0.))
-		return false;
-
-	btScalar extraSeparation = 0.5f;  ///scale dependent
-	minProj += extraSeparation + (convexA->getMarginNonVirtual() + convexB->getMarginNonVirtual());
-
-//#define DEBUG_DRAW 1
-#ifdef DEBUG_DRAW
-	if (debugDraw)
-	{
-		btVector3 color(0, 1, 0);
-		debugDraw->drawLine(minA, minB, color);
-		color = btVector3(1, 1, 1);
-		btVector3 vec = minB - minA;
-		btScalar prj2 = minNorm.dot(vec);
-		debugDraw->drawLine(minA, minA + (minNorm * minProj), color);
-	}
-#endif  //DEBUG_DRAW
-
-	btGjkPairDetector gjkdet(convexA, convexB, &simplexSolver, 0);
-
-	btScalar offsetDist = minProj;
-	btVector3 offset = minNorm * offsetDist;
-
-	btGjkPairDetector::ClosestPointInput input;
-
-	btVector3 newOrg = transA.getOrigin() + offset;
-
-	btTransform displacedTrans = transA;
-	displacedTrans.setOrigin(newOrg);
-
-	input.m_transformA = displacedTrans;
-	input.m_transformB = transB;
-	input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);  //minProj;
-
-	btIntermediateResult res;
-	gjkdet.setCachedSeparatingAxis(-minNorm);
-	gjkdet.getClosestPoints(input, res, debugDraw);
-
-	btScalar correctedMinNorm = minProj - res.m_depth;
-
-	//the penetration depth is over-estimated, relax it
-	btScalar penetration_relaxation = btScalar(1.);
-	minNorm *= penetration_relaxation;
-
-	if (res.m_hasResult)
-	{
-		pa = res.m_pointInWorld - minNorm * correctedMinNorm;
-		pb = res.m_pointInWorld;
-		v = minNorm;
-
-#ifdef DEBUG_DRAW
-		if (debugDraw)
-		{
-			btVector3 color(1, 0, 0);
-			debugDraw->drawLine(pa, pb, color);
-		}
-#endif  //DEBUG_DRAW
-	}
-	return res.m_hasResult;
-}
-
-btVector3* btMinkowskiPenetrationDepthSolver::getPenetrationDirections()
-{
-	static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =
-		{
-			btVector3(btScalar(0.000000), btScalar(-0.000000), btScalar(-1.000000)),
-			btVector3(btScalar(0.723608), btScalar(-0.525725), btScalar(-0.447219)),
-			btVector3(btScalar(-0.276388), btScalar(-0.850649), btScalar(-0.447219)),
-			btVector3(btScalar(-0.894426), btScalar(-0.000000), btScalar(-0.447216)),
-			btVector3(btScalar(-0.276388), btScalar(0.850649), btScalar(-0.447220)),
-			btVector3(btScalar(0.723608), btScalar(0.525725), btScalar(-0.447219)),
-			btVector3(btScalar(0.276388), btScalar(-0.850649), btScalar(0.447220)),
-			btVector3(btScalar(-0.723608), btScalar(-0.525725), btScalar(0.447219)),
-			btVector3(btScalar(-0.723608), btScalar(0.525725), btScalar(0.447219)),
-			btVector3(btScalar(0.276388), btScalar(0.850649), btScalar(0.447219)),
-			btVector3(btScalar(0.894426), btScalar(0.000000), btScalar(0.447216)),
-			btVector3(btScalar(-0.000000), btScalar(0.000000), btScalar(1.000000)),
-			btVector3(btScalar(0.425323), btScalar(-0.309011), btScalar(-0.850654)),
-			btVector3(btScalar(-0.162456), btScalar(-0.499995), btScalar(-0.850654)),
-			btVector3(btScalar(0.262869), btScalar(-0.809012), btScalar(-0.525738)),
-			btVector3(btScalar(0.425323), btScalar(0.309011), btScalar(-0.850654)),
-			btVector3(btScalar(0.850648), btScalar(-0.000000), btScalar(-0.525736)),
-			btVector3(btScalar(-0.525730), btScalar(-0.000000), btScalar(-0.850652)),
-			btVector3(btScalar(-0.688190), btScalar(-0.499997), btScalar(-0.525736)),
-			btVector3(btScalar(-0.162456), btScalar(0.499995), btScalar(-0.850654)),
-			btVector3(btScalar(-0.688190), btScalar(0.499997), btScalar(-0.525736)),
-			btVector3(btScalar(0.262869), btScalar(0.809012), btScalar(-0.525738)),
-			btVector3(btScalar(0.951058), btScalar(0.309013), btScalar(0.000000)),
-			btVector3(btScalar(0.951058), btScalar(-0.309013), btScalar(0.000000)),
-			btVector3(btScalar(0.587786), btScalar(-0.809017), btScalar(0.000000)),
-			btVector3(btScalar(0.000000), btScalar(-1.000000), btScalar(0.000000)),
-			btVector3(btScalar(-0.587786), btScalar(-0.809017), btScalar(0.000000)),
-			btVector3(btScalar(-0.951058), btScalar(-0.309013), btScalar(-0.000000)),
-			btVector3(btScalar(-0.951058), btScalar(0.309013), btScalar(-0.000000)),
-			btVector3(btScalar(-0.587786), btScalar(0.809017), btScalar(-0.000000)),
-			btVector3(btScalar(-0.000000), btScalar(1.000000), btScalar(-0.000000)),
-			btVector3(btScalar(0.587786), btScalar(0.809017), btScalar(-0.000000)),
-			btVector3(btScalar(0.688190), btScalar(-0.499997), btScalar(0.525736)),
-			btVector3(btScalar(-0.262869), btScalar(-0.809012), btScalar(0.525738)),
-			btVector3(btScalar(-0.850648), btScalar(0.000000), btScalar(0.525736)),
-			btVector3(btScalar(-0.262869), btScalar(0.809012), btScalar(0.525738)),
-			btVector3(btScalar(0.688190), btScalar(0.499997), btScalar(0.525736)),
-			btVector3(btScalar(0.525730), btScalar(0.000000), btScalar(0.850652)),
-			btVector3(btScalar(0.162456), btScalar(-0.499995), btScalar(0.850654)),
-			btVector3(btScalar(-0.425323), btScalar(-0.309011), btScalar(0.850654)),
-			btVector3(btScalar(-0.425323), btScalar(0.309011), btScalar(0.850654)),
-			btVector3(btScalar(0.162456), btScalar(0.499995), btScalar(0.850654))};
-
-	return sPenetrationDirections;
-}
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
deleted file mode 100644
index 8e3e393259..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
+++ /dev/null
@@ -1,36 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
-#define BT_MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
-
-#include "btConvexPenetrationDepthSolver.h"
-
-///MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation.
-///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points.
-class btMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver
-{
-protected:
-	static btVector3* getPenetrationDirections();
-
-public:
-	virtual bool calcPenDepth(btSimplexSolverInterface& simplexSolver,
-							  const btConvexShape* convexA, const btConvexShape* convexB,
-							  const btTransform& transA, const btTransform& transB,
-							  btVector3& v, btVector3& pa, btVector3& pb,
-							  class btIDebugDraw* debugDraw);
-};
-
-#endif  //BT_MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h
deleted file mode 100644
index 534a66d3fa..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h
+++ /dev/null
@@ -1,884 +0,0 @@
-
-/***
- * ---------------------------------
- * Copyright (c)2012 Daniel Fiser <danfis@danfis.cz>
- *
- *  This file was ported from mpr.c file, part of libccd.
- *  The Minkoski Portal Refinement implementation was ported 
- *  to OpenCL by Erwin Coumans for the Bullet 3 Physics library.
- *  The original MPR idea and implementation is by Gary Snethen
- *  in XenoCollide, see http://github.com/erwincoumans/xenocollide
- *
- *  Distributed under the OSI-approved BSD License (the "License");
- *  see <http://www.opensource.org/licenses/bsd-license.php>.
- *  This software is distributed WITHOUT ANY WARRANTY; without even the
- *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *  See the License for more information.
- */
-
-///2014 Oct, Erwin Coumans, Use templates to avoid void* casts
-
-#ifndef BT_MPR_PENETRATION_H
-#define BT_MPR_PENETRATION_H
-
-#define BT_DEBUG_MPR1
-
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btAlignedObjectArray.h"
-
-//#define MPR_AVERAGE_CONTACT_POSITIONS
-
-struct btMprCollisionDescription
-{
-	btVector3 m_firstDir;
-	int m_maxGjkIterations;
-	btScalar m_maximumDistanceSquared;
-	btScalar m_gjkRelError2;
-
-	btMprCollisionDescription()
-		: m_firstDir(0, 1, 0),
-		  m_maxGjkIterations(1000),
-		  m_maximumDistanceSquared(1e30f),
-		  m_gjkRelError2(1.0e-6)
-	{
-	}
-	virtual ~btMprCollisionDescription()
-	{
-	}
-};
-
-struct btMprDistanceInfo
-{
-	btVector3 m_pointOnA;
-	btVector3 m_pointOnB;
-	btVector3 m_normalBtoA;
-	btScalar m_distance;
-};
-
-#ifdef __cplusplus
-#define BT_MPR_SQRT sqrtf
-#else
-#define BT_MPR_SQRT sqrt
-#endif
-#define BT_MPR_FMIN(x, y) ((x) < (y) ? (x) : (y))
-#define BT_MPR_FABS fabs
-
-#define BT_MPR_TOLERANCE 1E-6f
-#define BT_MPR_MAX_ITERATIONS 1000
-
-struct _btMprSupport_t
-{
-	btVector3 v;   //!< Support point in minkowski sum
-	btVector3 v1;  //!< Support point in obj1
-	btVector3 v2;  //!< Support point in obj2
-};
-typedef struct _btMprSupport_t btMprSupport_t;
-
-struct _btMprSimplex_t
-{
-	btMprSupport_t ps[4];
-	int last;  //!< index of last added point
-};
-typedef struct _btMprSimplex_t btMprSimplex_t;
-
-inline btMprSupport_t *btMprSimplexPointW(btMprSimplex_t *s, int idx)
-{
-	return &s->ps[idx];
-}
-
-inline void btMprSimplexSetSize(btMprSimplex_t *s, int size)
-{
-	s->last = size - 1;
-}
-
-#ifdef DEBUG_MPR
-inline void btPrintPortalVertex(_btMprSimplex_t *portal, int index)
-{
-	printf("portal[%d].v = %f,%f,%f, v1=%f,%f,%f, v2=%f,%f,%f\n", index, portal->ps[index].v.x(), portal->ps[index].v.y(), portal->ps[index].v.z(),
-		   portal->ps[index].v1.x(), portal->ps[index].v1.y(), portal->ps[index].v1.z(),
-		   portal->ps[index].v2.x(), portal->ps[index].v2.y(), portal->ps[index].v2.z());
-}
-#endif  //DEBUG_MPR
-
-inline int btMprSimplexSize(const btMprSimplex_t *s)
-{
-	return s->last + 1;
-}
-
-inline const btMprSupport_t *btMprSimplexPoint(const btMprSimplex_t *s, int idx)
-{
-	// here is no check on boundaries
-	return &s->ps[idx];
-}
-
-inline void btMprSupportCopy(btMprSupport_t *d, const btMprSupport_t *s)
-{
-	*d = *s;
-}
-
-inline void btMprSimplexSet(btMprSimplex_t *s, size_t pos, const btMprSupport_t *a)
-{
-	btMprSupportCopy(s->ps + pos, a);
-}
-
-inline void btMprSimplexSwap(btMprSimplex_t *s, size_t pos1, size_t pos2)
-{
-	btMprSupport_t supp;
-
-	btMprSupportCopy(&supp, &s->ps[pos1]);
-	btMprSupportCopy(&s->ps[pos1], &s->ps[pos2]);
-	btMprSupportCopy(&s->ps[pos2], &supp);
-}
-
-inline int btMprIsZero(float val)
-{
-	return BT_MPR_FABS(val) < FLT_EPSILON;
-}
-
-inline int btMprEq(float _a, float _b)
-{
-	float ab;
-	float a, b;
-
-	ab = BT_MPR_FABS(_a - _b);
-	if (BT_MPR_FABS(ab) < FLT_EPSILON)
-		return 1;
-
-	a = BT_MPR_FABS(_a);
-	b = BT_MPR_FABS(_b);
-	if (b > a)
-	{
-		return ab < FLT_EPSILON * b;
-	}
-	else
-	{
-		return ab < FLT_EPSILON * a;
-	}
-}
-
-inline int btMprVec3Eq(const btVector3 *a, const btVector3 *b)
-{
-	return btMprEq((*a).x(), (*b).x()) && btMprEq((*a).y(), (*b).y()) && btMprEq((*a).z(), (*b).z());
-}
-
-template <typename btConvexTemplate>
-inline void btFindOrigin(const btConvexTemplate &a, const btConvexTemplate &b, const btMprCollisionDescription &colDesc, btMprSupport_t *center)
-{
-	center->v1 = a.getObjectCenterInWorld();
-	center->v2 = b.getObjectCenterInWorld();
-	center->v = center->v1 - center->v2;
-}
-
-inline void btMprVec3Set(btVector3 *v, float x, float y, float z)
-{
-	v->setValue(x, y, z);
-}
-
-inline void btMprVec3Add(btVector3 *v, const btVector3 *w)
-{
-	*v += *w;
-}
-
-inline void btMprVec3Copy(btVector3 *v, const btVector3 *w)
-{
-	*v = *w;
-}
-
-inline void btMprVec3Scale(btVector3 *d, float k)
-{
-	*d *= k;
-}
-
-inline float btMprVec3Dot(const btVector3 *a, const btVector3 *b)
-{
-	float dot;
-
-	dot = btDot(*a, *b);
-	return dot;
-}
-
-inline float btMprVec3Len2(const btVector3 *v)
-{
-	return btMprVec3Dot(v, v);
-}
-
-inline void btMprVec3Normalize(btVector3 *d)
-{
-	float k = 1.f / BT_MPR_SQRT(btMprVec3Len2(d));
-	btMprVec3Scale(d, k);
-}
-
-inline void btMprVec3Cross(btVector3 *d, const btVector3 *a, const btVector3 *b)
-{
-	*d = btCross(*a, *b);
-}
-
-inline void btMprVec3Sub2(btVector3 *d, const btVector3 *v, const btVector3 *w)
-{
-	*d = *v - *w;
-}
-
-inline void btPortalDir(const btMprSimplex_t *portal, btVector3 *dir)
-{
-	btVector3 v2v1, v3v1;
-
-	btMprVec3Sub2(&v2v1, &btMprSimplexPoint(portal, 2)->v,
-				  &btMprSimplexPoint(portal, 1)->v);
-	btMprVec3Sub2(&v3v1, &btMprSimplexPoint(portal, 3)->v,
-				  &btMprSimplexPoint(portal, 1)->v);
-	btMprVec3Cross(dir, &v2v1, &v3v1);
-	btMprVec3Normalize(dir);
-}
-
-inline int portalEncapsulesOrigin(const btMprSimplex_t *portal,
-								  const btVector3 *dir)
-{
-	float dot;
-	dot = btMprVec3Dot(dir, &btMprSimplexPoint(portal, 1)->v);
-	return btMprIsZero(dot) || dot > 0.f;
-}
-
-inline int portalReachTolerance(const btMprSimplex_t *portal,
-								const btMprSupport_t *v4,
-								const btVector3 *dir)
-{
-	float dv1, dv2, dv3, dv4;
-	float dot1, dot2, dot3;
-
-	// find the smallest dot product of dir and {v1-v4, v2-v4, v3-v4}
-
-	dv1 = btMprVec3Dot(&btMprSimplexPoint(portal, 1)->v, dir);
-	dv2 = btMprVec3Dot(&btMprSimplexPoint(portal, 2)->v, dir);
-	dv3 = btMprVec3Dot(&btMprSimplexPoint(portal, 3)->v, dir);
-	dv4 = btMprVec3Dot(&v4->v, dir);
-
-	dot1 = dv4 - dv1;
-	dot2 = dv4 - dv2;
-	dot3 = dv4 - dv3;
-
-	dot1 = BT_MPR_FMIN(dot1, dot2);
-	dot1 = BT_MPR_FMIN(dot1, dot3);
-
-	return btMprEq(dot1, BT_MPR_TOLERANCE) || dot1 < BT_MPR_TOLERANCE;
-}
-
-inline int portalCanEncapsuleOrigin(const btMprSimplex_t *portal,
-									const btMprSupport_t *v4,
-									const btVector3 *dir)
-{
-	float dot;
-	dot = btMprVec3Dot(&v4->v, dir);
-	return btMprIsZero(dot) || dot > 0.f;
-}
-
-inline void btExpandPortal(btMprSimplex_t *portal,
-						   const btMprSupport_t *v4)
-{
-	float dot;
-	btVector3 v4v0;
-
-	btMprVec3Cross(&v4v0, &v4->v, &btMprSimplexPoint(portal, 0)->v);
-	dot = btMprVec3Dot(&btMprSimplexPoint(portal, 1)->v, &v4v0);
-	if (dot > 0.f)
-	{
-		dot = btMprVec3Dot(&btMprSimplexPoint(portal, 2)->v, &v4v0);
-		if (dot > 0.f)
-		{
-			btMprSimplexSet(portal, 1, v4);
-		}
-		else
-		{
-			btMprSimplexSet(portal, 3, v4);
-		}
-	}
-	else
-	{
-		dot = btMprVec3Dot(&btMprSimplexPoint(portal, 3)->v, &v4v0);
-		if (dot > 0.f)
-		{
-			btMprSimplexSet(portal, 2, v4);
-		}
-		else
-		{
-			btMprSimplexSet(portal, 1, v4);
-		}
-	}
-}
-template <typename btConvexTemplate>
-inline void btMprSupport(const btConvexTemplate &a, const btConvexTemplate &b,
-						 const btMprCollisionDescription &colDesc,
-						 const btVector3 &dir, btMprSupport_t *supp)
-{
-	btVector3 separatingAxisInA = dir * a.getWorldTransform().getBasis();
-	btVector3 separatingAxisInB = -dir * b.getWorldTransform().getBasis();
-
-	btVector3 pInA = a.getLocalSupportWithMargin(separatingAxisInA);
-	btVector3 qInB = b.getLocalSupportWithMargin(separatingAxisInB);
-
-	supp->v1 = a.getWorldTransform()(pInA);
-	supp->v2 = b.getWorldTransform()(qInB);
-	supp->v = supp->v1 - supp->v2;
-}
-
-template <typename btConvexTemplate>
-static int btDiscoverPortal(const btConvexTemplate &a, const btConvexTemplate &b,
-							const btMprCollisionDescription &colDesc,
-							btMprSimplex_t *portal)
-{
-	btVector3 dir, va, vb;
-	float dot;
-	int cont;
-
-	// vertex 0 is center of portal
-	btFindOrigin(a, b, colDesc, btMprSimplexPointW(portal, 0));
-
-	// vertex 0 is center of portal
-	btMprSimplexSetSize(portal, 1);
-
-	btVector3 zero = btVector3(0, 0, 0);
-	btVector3 *org = &zero;
-
-	if (btMprVec3Eq(&btMprSimplexPoint(portal, 0)->v, org))
-	{
-		// Portal's center lies on origin (0,0,0) => we know that objects
-		// intersect but we would need to know penetration info.
-		// So move center little bit...
-		btMprVec3Set(&va, FLT_EPSILON * 10.f, 0.f, 0.f);
-		btMprVec3Add(&btMprSimplexPointW(portal, 0)->v, &va);
-	}
-
-	// vertex 1 = support in direction of origin
-	btMprVec3Copy(&dir, &btMprSimplexPoint(portal, 0)->v);
-	btMprVec3Scale(&dir, -1.f);
-	btMprVec3Normalize(&dir);
-
-	btMprSupport(a, b, colDesc, dir, btMprSimplexPointW(portal, 1));
-
-	btMprSimplexSetSize(portal, 2);
-
-	// test if origin isn't outside of v1
-	dot = btMprVec3Dot(&btMprSimplexPoint(portal, 1)->v, &dir);
-
-	if (btMprIsZero(dot) || dot < 0.f)
-		return -1;
-
-	// vertex 2
-	btMprVec3Cross(&dir, &btMprSimplexPoint(portal, 0)->v,
-				   &btMprSimplexPoint(portal, 1)->v);
-	if (btMprIsZero(btMprVec3Len2(&dir)))
-	{
-		if (btMprVec3Eq(&btMprSimplexPoint(portal, 1)->v, org))
-		{
-			// origin lies on v1
-			return 1;
-		}
-		else
-		{
-			// origin lies on v0-v1 segment
-			return 2;
-		}
-	}
-
-	btMprVec3Normalize(&dir);
-	btMprSupport(a, b, colDesc, dir, btMprSimplexPointW(portal, 2));
-
-	dot = btMprVec3Dot(&btMprSimplexPoint(portal, 2)->v, &dir);
-	if (btMprIsZero(dot) || dot < 0.f)
-		return -1;
-
-	btMprSimplexSetSize(portal, 3);
-
-	// vertex 3 direction
-	btMprVec3Sub2(&va, &btMprSimplexPoint(portal, 1)->v,
-				  &btMprSimplexPoint(portal, 0)->v);
-	btMprVec3Sub2(&vb, &btMprSimplexPoint(portal, 2)->v,
-				  &btMprSimplexPoint(portal, 0)->v);
-	btMprVec3Cross(&dir, &va, &vb);
-	btMprVec3Normalize(&dir);
-
-	// it is better to form portal faces to be oriented "outside" origin
-	dot = btMprVec3Dot(&dir, &btMprSimplexPoint(portal, 0)->v);
-	if (dot > 0.f)
-	{
-		btMprSimplexSwap(portal, 1, 2);
-		btMprVec3Scale(&dir, -1.f);
-	}
-
-	while (btMprSimplexSize(portal) < 4)
-	{
-		btMprSupport(a, b, colDesc, dir, btMprSimplexPointW(portal, 3));
-
-		dot = btMprVec3Dot(&btMprSimplexPoint(portal, 3)->v, &dir);
-		if (btMprIsZero(dot) || dot < 0.f)
-			return -1;
-
-		cont = 0;
-
-		// test if origin is outside (v1, v0, v3) - set v2 as v3 and
-		// continue
-		btMprVec3Cross(&va, &btMprSimplexPoint(portal, 1)->v,
-					   &btMprSimplexPoint(portal, 3)->v);
-		dot = btMprVec3Dot(&va, &btMprSimplexPoint(portal, 0)->v);
-		if (dot < 0.f && !btMprIsZero(dot))
-		{
-			btMprSimplexSet(portal, 2, btMprSimplexPoint(portal, 3));
-			cont = 1;
-		}
-
-		if (!cont)
-		{
-			// test if origin is outside (v3, v0, v2) - set v1 as v3 and
-			// continue
-			btMprVec3Cross(&va, &btMprSimplexPoint(portal, 3)->v,
-						   &btMprSimplexPoint(portal, 2)->v);
-			dot = btMprVec3Dot(&va, &btMprSimplexPoint(portal, 0)->v);
-			if (dot < 0.f && !btMprIsZero(dot))
-			{
-				btMprSimplexSet(portal, 1, btMprSimplexPoint(portal, 3));
-				cont = 1;
-			}
-		}
-
-		if (cont)
-		{
-			btMprVec3Sub2(&va, &btMprSimplexPoint(portal, 1)->v,
-						  &btMprSimplexPoint(portal, 0)->v);
-			btMprVec3Sub2(&vb, &btMprSimplexPoint(portal, 2)->v,
-						  &btMprSimplexPoint(portal, 0)->v);
-			btMprVec3Cross(&dir, &va, &vb);
-			btMprVec3Normalize(&dir);
-		}
-		else
-		{
-			btMprSimplexSetSize(portal, 4);
-		}
-	}
-
-	return 0;
-}
-
-template <typename btConvexTemplate>
-static int btRefinePortal(const btConvexTemplate &a, const btConvexTemplate &b, const btMprCollisionDescription &colDesc,
-						  btMprSimplex_t *portal)
-{
-	btVector3 dir;
-	btMprSupport_t v4;
-
-	for (int i = 0; i < BT_MPR_MAX_ITERATIONS; i++)
-	//while (1)
-	{
-		// compute direction outside the portal (from v0 through v1,v2,v3
-		// face)
-		btPortalDir(portal, &dir);
-
-		// test if origin is inside the portal
-		if (portalEncapsulesOrigin(portal, &dir))
-			return 0;
-
-		// get next support point
-
-		btMprSupport(a, b, colDesc, dir, &v4);
-
-		// test if v4 can expand portal to contain origin and if portal
-		// expanding doesn't reach given tolerance
-		if (!portalCanEncapsuleOrigin(portal, &v4, &dir) || portalReachTolerance(portal, &v4, &dir))
-		{
-			return -1;
-		}
-
-		// v1-v2-v3 triangle must be rearranged to face outside Minkowski
-		// difference (direction from v0).
-		btExpandPortal(portal, &v4);
-	}
-
-	return -1;
-}
-
-static void btFindPos(const btMprSimplex_t *portal, btVector3 *pos)
-{
-	btVector3 zero = btVector3(0, 0, 0);
-	btVector3 *origin = &zero;
-
-	btVector3 dir;
-	size_t i;
-	float b[4], sum, inv;
-	btVector3 vec, p1, p2;
-
-	btPortalDir(portal, &dir);
-
-	// use barycentric coordinates of tetrahedron to find origin
-	btMprVec3Cross(&vec, &btMprSimplexPoint(portal, 1)->v,
-				   &btMprSimplexPoint(portal, 2)->v);
-	b[0] = btMprVec3Dot(&vec, &btMprSimplexPoint(portal, 3)->v);
-
-	btMprVec3Cross(&vec, &btMprSimplexPoint(portal, 3)->v,
-				   &btMprSimplexPoint(portal, 2)->v);
-	b[1] = btMprVec3Dot(&vec, &btMprSimplexPoint(portal, 0)->v);
-
-	btMprVec3Cross(&vec, &btMprSimplexPoint(portal, 0)->v,
-				   &btMprSimplexPoint(portal, 1)->v);
-	b[2] = btMprVec3Dot(&vec, &btMprSimplexPoint(portal, 3)->v);
-
-	btMprVec3Cross(&vec, &btMprSimplexPoint(portal, 2)->v,
-				   &btMprSimplexPoint(portal, 1)->v);
-	b[3] = btMprVec3Dot(&vec, &btMprSimplexPoint(portal, 0)->v);
-
-	sum = b[0] + b[1] + b[2] + b[3];
-
-	if (btMprIsZero(sum) || sum < 0.f)
-	{
-		b[0] = 0.f;
-
-		btMprVec3Cross(&vec, &btMprSimplexPoint(portal, 2)->v,
-					   &btMprSimplexPoint(portal, 3)->v);
-		b[1] = btMprVec3Dot(&vec, &dir);
-		btMprVec3Cross(&vec, &btMprSimplexPoint(portal, 3)->v,
-					   &btMprSimplexPoint(portal, 1)->v);
-		b[2] = btMprVec3Dot(&vec, &dir);
-		btMprVec3Cross(&vec, &btMprSimplexPoint(portal, 1)->v,
-					   &btMprSimplexPoint(portal, 2)->v);
-		b[3] = btMprVec3Dot(&vec, &dir);
-
-		sum = b[1] + b[2] + b[3];
-	}
-
-	inv = 1.f / sum;
-
-	btMprVec3Copy(&p1, origin);
-	btMprVec3Copy(&p2, origin);
-	for (i = 0; i < 4; i++)
-	{
-		btMprVec3Copy(&vec, &btMprSimplexPoint(portal, i)->v1);
-		btMprVec3Scale(&vec, b[i]);
-		btMprVec3Add(&p1, &vec);
-
-		btMprVec3Copy(&vec, &btMprSimplexPoint(portal, i)->v2);
-		btMprVec3Scale(&vec, b[i]);
-		btMprVec3Add(&p2, &vec);
-	}
-	btMprVec3Scale(&p1, inv);
-	btMprVec3Scale(&p2, inv);
-#ifdef MPR_AVERAGE_CONTACT_POSITIONS
-	btMprVec3Copy(pos, &p1);
-	btMprVec3Add(pos, &p2);
-	btMprVec3Scale(pos, 0.5);
-#else
-	btMprVec3Copy(pos, &p2);
-#endif  //MPR_AVERAGE_CONTACT_POSITIONS
-}
-
-inline float btMprVec3Dist2(const btVector3 *a, const btVector3 *b)
-{
-	btVector3 ab;
-	btMprVec3Sub2(&ab, a, b);
-	return btMprVec3Len2(&ab);
-}
-
-inline float _btMprVec3PointSegmentDist2(const btVector3 *P,
-										 const btVector3 *x0,
-										 const btVector3 *b,
-										 btVector3 *witness)
-{
-	// The computation comes from solving equation of segment:
-	//      S(t) = x0 + t.d
-	//          where - x0 is initial point of segment
-	//                - d is direction of segment from x0 (|d| > 0)
-	//                - t belongs to <0, 1> interval
-	//
-	// Than, distance from a segment to some point P can be expressed:
-	//      D(t) = |x0 + t.d - P|^2
-	//          which is distance from any point on segment. Minimization
-	//          of this function brings distance from P to segment.
-	// Minimization of D(t) leads to simple quadratic equation that's
-	// solving is straightforward.
-	//
-	// Bonus of this method is witness point for free.
-
-	float dist, t;
-	btVector3 d, a;
-
-	// direction of segment
-	btMprVec3Sub2(&d, b, x0);
-
-	// precompute vector from P to x0
-	btMprVec3Sub2(&a, x0, P);
-
-	t = -1.f * btMprVec3Dot(&a, &d);
-	t /= btMprVec3Len2(&d);
-
-	if (t < 0.f || btMprIsZero(t))
-	{
-		dist = btMprVec3Dist2(x0, P);
-		if (witness)
-			btMprVec3Copy(witness, x0);
-	}
-	else if (t > 1.f || btMprEq(t, 1.f))
-	{
-		dist = btMprVec3Dist2(b, P);
-		if (witness)
-			btMprVec3Copy(witness, b);
-	}
-	else
-	{
-		if (witness)
-		{
-			btMprVec3Copy(witness, &d);
-			btMprVec3Scale(witness, t);
-			btMprVec3Add(witness, x0);
-			dist = btMprVec3Dist2(witness, P);
-		}
-		else
-		{
-			// recycling variables
-			btMprVec3Scale(&d, t);
-			btMprVec3Add(&d, &a);
-			dist = btMprVec3Len2(&d);
-		}
-	}
-
-	return dist;
-}
-
-inline float btMprVec3PointTriDist2(const btVector3 *P,
-									const btVector3 *x0, const btVector3 *B,
-									const btVector3 *C,
-									btVector3 *witness)
-{
-	// Computation comes from analytic expression for triangle (x0, B, C)
-	//      T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and
-	// Then equation for distance is:
-	//      D(s, t) = | T(s, t) - P |^2
-	// This leads to minimization of quadratic function of two variables.
-	// The solution from is taken only if s is between 0 and 1, t is
-	// between 0 and 1 and t + s < 1, otherwise distance from segment is
-	// computed.
-
-	btVector3 d1, d2, a;
-	float u, v, w, p, q, r;
-	float s, t, dist, dist2;
-	btVector3 witness2;
-
-	btMprVec3Sub2(&d1, B, x0);
-	btMprVec3Sub2(&d2, C, x0);
-	btMprVec3Sub2(&a, x0, P);
-
-	u = btMprVec3Dot(&a, &a);
-	v = btMprVec3Dot(&d1, &d1);
-	w = btMprVec3Dot(&d2, &d2);
-	p = btMprVec3Dot(&a, &d1);
-	q = btMprVec3Dot(&a, &d2);
-	r = btMprVec3Dot(&d1, &d2);
-
-	btScalar div = (w * v - r * r);
-	if (btMprIsZero(div))
-	{
-		s = -1;
-	}
-	else
-	{
-		s = (q * r - w * p) / div;
-		t = (-s * r - q) / w;
-	}
-
-	if ((btMprIsZero(s) || s > 0.f) && (btMprEq(s, 1.f) || s < 1.f) && (btMprIsZero(t) || t > 0.f) && (btMprEq(t, 1.f) || t < 1.f) && (btMprEq(t + s, 1.f) || t + s < 1.f))
-	{
-		if (witness)
-		{
-			btMprVec3Scale(&d1, s);
-			btMprVec3Scale(&d2, t);
-			btMprVec3Copy(witness, x0);
-			btMprVec3Add(witness, &d1);
-			btMprVec3Add(witness, &d2);
-
-			dist = btMprVec3Dist2(witness, P);
-		}
-		else
-		{
-			dist = s * s * v;
-			dist += t * t * w;
-			dist += 2.f * s * t * r;
-			dist += 2.f * s * p;
-			dist += 2.f * t * q;
-			dist += u;
-		}
-	}
-	else
-	{
-		dist = _btMprVec3PointSegmentDist2(P, x0, B, witness);
-
-		dist2 = _btMprVec3PointSegmentDist2(P, x0, C, &witness2);
-		if (dist2 < dist)
-		{
-			dist = dist2;
-			if (witness)
-				btMprVec3Copy(witness, &witness2);
-		}
-
-		dist2 = _btMprVec3PointSegmentDist2(P, B, C, &witness2);
-		if (dist2 < dist)
-		{
-			dist = dist2;
-			if (witness)
-				btMprVec3Copy(witness, &witness2);
-		}
-	}
-
-	return dist;
-}
-
-template <typename btConvexTemplate>
-static void btFindPenetr(const btConvexTemplate &a, const btConvexTemplate &b,
-						 const btMprCollisionDescription &colDesc,
-						 btMprSimplex_t *portal,
-						 float *depth, btVector3 *pdir, btVector3 *pos)
-{
-	btVector3 dir;
-	btMprSupport_t v4;
-	unsigned long iterations;
-
-	btVector3 zero = btVector3(0, 0, 0);
-	btVector3 *origin = &zero;
-
-	iterations = 1UL;
-	for (int i = 0; i < BT_MPR_MAX_ITERATIONS; i++)
-	//while (1)
-	{
-		// compute portal direction and obtain next support point
-		btPortalDir(portal, &dir);
-
-		btMprSupport(a, b, colDesc, dir, &v4);
-
-		// reached tolerance -> find penetration info
-		if (portalReachTolerance(portal, &v4, &dir) || iterations == BT_MPR_MAX_ITERATIONS)
-		{
-			*depth = btMprVec3PointTriDist2(origin, &btMprSimplexPoint(portal, 1)->v, &btMprSimplexPoint(portal, 2)->v, &btMprSimplexPoint(portal, 3)->v, pdir);
-			*depth = BT_MPR_SQRT(*depth);
-
-			if (btMprIsZero((*pdir).x()) && btMprIsZero((*pdir).y()) && btMprIsZero((*pdir).z()))
-			{
-				*pdir = dir;
-			}
-			btMprVec3Normalize(pdir);
-
-			// barycentric coordinates:
-			btFindPos(portal, pos);
-
-			return;
-		}
-
-		btExpandPortal(portal, &v4);
-
-		iterations++;
-	}
-}
-
-static void btFindPenetrTouch(btMprSimplex_t *portal, float *depth, btVector3 *dir, btVector3 *pos)
-{
-	// Touching contact on portal's v1 - so depth is zero and direction
-	// is unimportant and pos can be guessed
-	*depth = 0.f;
-	btVector3 zero = btVector3(0, 0, 0);
-	btVector3 *origin = &zero;
-
-	btMprVec3Copy(dir, origin);
-#ifdef MPR_AVERAGE_CONTACT_POSITIONS
-	btMprVec3Copy(pos, &btMprSimplexPoint(portal, 1)->v1);
-	btMprVec3Add(pos, &btMprSimplexPoint(portal, 1)->v2);
-	btMprVec3Scale(pos, 0.5);
-#else
-	btMprVec3Copy(pos, &btMprSimplexPoint(portal, 1)->v2);
-#endif
-}
-
-static void btFindPenetrSegment(btMprSimplex_t *portal,
-								float *depth, btVector3 *dir, btVector3 *pos)
-{
-	// Origin lies on v0-v1 segment.
-	// Depth is distance to v1, direction also and position must be
-	// computed
-#ifdef MPR_AVERAGE_CONTACT_POSITIONS
-	btMprVec3Copy(pos, &btMprSimplexPoint(portal, 1)->v1);
-	btMprVec3Add(pos, &btMprSimplexPoint(portal, 1)->v2);
-	btMprVec3Scale(pos, 0.5f);
-#else
-	btMprVec3Copy(pos, &btMprSimplexPoint(portal, 1)->v2);
-#endif  //MPR_AVERAGE_CONTACT_POSITIONS
-
-	btMprVec3Copy(dir, &btMprSimplexPoint(portal, 1)->v);
-	*depth = BT_MPR_SQRT(btMprVec3Len2(dir));
-	btMprVec3Normalize(dir);
-}
-
-template <typename btConvexTemplate>
-inline int btMprPenetration(const btConvexTemplate &a, const btConvexTemplate &b,
-							const btMprCollisionDescription &colDesc,
-							float *depthOut, btVector3 *dirOut, btVector3 *posOut)
-{
-	btMprSimplex_t portal;
-
-	// Phase 1: Portal discovery
-	int result = btDiscoverPortal(a, b, colDesc, &portal);
-
-	//sepAxis[pairIndex] = *pdir;//or -dir?
-
-	switch (result)
-	{
-		case 0:
-		{
-			// Phase 2: Portal refinement
-
-			result = btRefinePortal(a, b, colDesc, &portal);
-			if (result < 0)
-				return -1;
-
-			// Phase 3. Penetration info
-			btFindPenetr(a, b, colDesc, &portal, depthOut, dirOut, posOut);
-
-			break;
-		}
-		case 1:
-		{
-			// Touching contact on portal's v1.
-			btFindPenetrTouch(&portal, depthOut, dirOut, posOut);
-			result = 0;
-			break;
-		}
-		case 2:
-		{
-			btFindPenetrSegment(&portal, depthOut, dirOut, posOut);
-			result = 0;
-			break;
-		}
-		default:
-		{
-			//if (res < 0)
-			//{
-			// Origin isn't inside portal - no collision.
-			result = -1;
-			//}
-		}
-	};
-
-	return result;
-};
-
-template <typename btConvexTemplate, typename btMprDistanceTemplate>
-inline int btComputeMprPenetration(const btConvexTemplate &a, const btConvexTemplate &b, const btMprCollisionDescription &colDesc, btMprDistanceTemplate *distInfo)
-{
-	btVector3 dir, pos;
-	float depth;
-
-	int res = btMprPenetration(a, b, colDesc, &depth, &dir, &pos);
-	if (res == 0)
-	{
-		distInfo->m_distance = -depth;
-		distInfo->m_pointOnB = pos;
-		distInfo->m_normalBtoA = -dir;
-		distInfo->m_pointOnA = pos - distInfo->m_distance * dir;
-		return 0;
-	}
-
-	return -1;
-}
-
-#endif  //BT_MPR_PENETRATION_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
deleted file mode 100644
index dca3e09267..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
+++ /dev/null
@@ -1,450 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btPersistentManifold.h"
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btSerializer.h"
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btCollisionObjectData btCollisionObjectDoubleData
-#else
-#define btCollisionObjectData btCollisionObjectFloatData
-#endif
-
-btScalar gContactBreakingThreshold = btScalar(0.02);
-ContactDestroyedCallback gContactDestroyedCallback = 0;
-ContactProcessedCallback gContactProcessedCallback = 0;
-ContactStartedCallback gContactStartedCallback = 0;
-ContactEndedCallback gContactEndedCallback = 0;
-///gContactCalcArea3Points will approximate the convex hull area using 3 points
-///when setting it to false, it will use 4 points to compute the area: it is more accurate but slower
-bool gContactCalcArea3Points = true;
-
-btPersistentManifold::btPersistentManifold()
-	: btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
-	  m_body0(0),
-	  m_body1(0),
-	  m_cachedPoints(0),
-	  m_companionIdA(0),
-	  m_companionIdB(0),
-	  m_index1a(0)
-{
-}
-
-#ifdef DEBUG_PERSISTENCY
-#include <stdio.h>
-void btPersistentManifold::DebugPersistency()
-{
-	int i;
-	printf("DebugPersistency : numPoints %d\n", m_cachedPoints);
-	for (i = 0; i < m_cachedPoints; i++)
-	{
-		printf("m_pointCache[%d].m_userPersistentData = %x\n", i, m_pointCache[i].m_userPersistentData);
-	}
-}
-#endif  //DEBUG_PERSISTENCY
-
-void btPersistentManifold::clearUserCache(btManifoldPoint& pt)
-{
-	void* oldPtr = pt.m_userPersistentData;
-	if (oldPtr)
-	{
-#ifdef DEBUG_PERSISTENCY
-		int i;
-		int occurance = 0;
-		for (i = 0; i < m_cachedPoints; i++)
-		{
-			if (m_pointCache[i].m_userPersistentData == oldPtr)
-			{
-				occurance++;
-				if (occurance > 1)
-					printf("error in clearUserCache\n");
-			}
-		}
-		btAssert(occurance <= 0);
-#endif  //DEBUG_PERSISTENCY
-
-		if (pt.m_userPersistentData && gContactDestroyedCallback)
-		{
-			(*gContactDestroyedCallback)(pt.m_userPersistentData);
-			pt.m_userPersistentData = 0;
-		}
-
-#ifdef DEBUG_PERSISTENCY
-		DebugPersistency();
-#endif
-	}
-}
-
-static inline btScalar calcArea4Points(const btVector3& p0, const btVector3& p1, const btVector3& p2, const btVector3& p3)
-{
-	// It calculates possible 3 area constructed from random 4 points and returns the biggest one.
-
-	btVector3 a[3], b[3];
-	a[0] = p0 - p1;
-	a[1] = p0 - p2;
-	a[2] = p0 - p3;
-	b[0] = p2 - p3;
-	b[1] = p1 - p3;
-	b[2] = p1 - p2;
-
-	//todo: Following 3 cross production can be easily optimized by SIMD.
-	btVector3 tmp0 = a[0].cross(b[0]);
-	btVector3 tmp1 = a[1].cross(b[1]);
-	btVector3 tmp2 = a[2].cross(b[2]);
-
-	return btMax(btMax(tmp0.length2(), tmp1.length2()), tmp2.length2());
-}
-
-int btPersistentManifold::sortCachedPoints(const btManifoldPoint& pt)
-{
-	//calculate 4 possible cases areas, and take biggest area
-	//also need to keep 'deepest'
-
-	int maxPenetrationIndex = -1;
-#define KEEP_DEEPEST_POINT 1
-#ifdef KEEP_DEEPEST_POINT
-	btScalar maxPenetration = pt.getDistance();
-	for (int i = 0; i < 4; i++)
-	{
-		if (m_pointCache[i].getDistance() < maxPenetration)
-		{
-			maxPenetrationIndex = i;
-			maxPenetration = m_pointCache[i].getDistance();
-		}
-	}
-#endif  //KEEP_DEEPEST_POINT
-
-	btScalar res0(btScalar(0.)), res1(btScalar(0.)), res2(btScalar(0.)), res3(btScalar(0.));
-
-	if (gContactCalcArea3Points)
-	{
-		if (maxPenetrationIndex != 0)
-		{
-			btVector3 a0 = pt.m_localPointA - m_pointCache[1].m_localPointA;
-			btVector3 b0 = m_pointCache[3].m_localPointA - m_pointCache[2].m_localPointA;
-			btVector3 cross = a0.cross(b0);
-			res0 = cross.length2();
-		}
-		if (maxPenetrationIndex != 1)
-		{
-			btVector3 a1 = pt.m_localPointA - m_pointCache[0].m_localPointA;
-			btVector3 b1 = m_pointCache[3].m_localPointA - m_pointCache[2].m_localPointA;
-			btVector3 cross = a1.cross(b1);
-			res1 = cross.length2();
-		}
-
-		if (maxPenetrationIndex != 2)
-		{
-			btVector3 a2 = pt.m_localPointA - m_pointCache[0].m_localPointA;
-			btVector3 b2 = m_pointCache[3].m_localPointA - m_pointCache[1].m_localPointA;
-			btVector3 cross = a2.cross(b2);
-			res2 = cross.length2();
-		}
-
-		if (maxPenetrationIndex != 3)
-		{
-			btVector3 a3 = pt.m_localPointA - m_pointCache[0].m_localPointA;
-			btVector3 b3 = m_pointCache[2].m_localPointA - m_pointCache[1].m_localPointA;
-			btVector3 cross = a3.cross(b3);
-			res3 = cross.length2();
-		}
-	}
-	else
-	{
-		if (maxPenetrationIndex != 0)
-		{
-			res0 = calcArea4Points(pt.m_localPointA, m_pointCache[1].m_localPointA, m_pointCache[2].m_localPointA, m_pointCache[3].m_localPointA);
-		}
-
-		if (maxPenetrationIndex != 1)
-		{
-			res1 = calcArea4Points(pt.m_localPointA, m_pointCache[0].m_localPointA, m_pointCache[2].m_localPointA, m_pointCache[3].m_localPointA);
-		}
-
-		if (maxPenetrationIndex != 2)
-		{
-			res2 = calcArea4Points(pt.m_localPointA, m_pointCache[0].m_localPointA, m_pointCache[1].m_localPointA, m_pointCache[3].m_localPointA);
-		}
-
-		if (maxPenetrationIndex != 3)
-		{
-			res3 = calcArea4Points(pt.m_localPointA, m_pointCache[0].m_localPointA, m_pointCache[1].m_localPointA, m_pointCache[2].m_localPointA);
-		}
-	}
-	btVector4 maxvec(res0, res1, res2, res3);
-	int biggestarea = maxvec.closestAxis4();
-	return biggestarea;
-}
-
-int btPersistentManifold::getCacheEntry(const btManifoldPoint& newPoint) const
-{
-	btScalar shortestDist = getContactBreakingThreshold() * getContactBreakingThreshold();
-	int size = getNumContacts();
-	int nearestPoint = -1;
-	for (int i = 0; i < size; i++)
-	{
-		const btManifoldPoint& mp = m_pointCache[i];
-
-		btVector3 diffA = mp.m_localPointA - newPoint.m_localPointA;
-		const btScalar distToManiPoint = diffA.dot(diffA);
-		if (distToManiPoint < shortestDist)
-		{
-			shortestDist = distToManiPoint;
-			nearestPoint = i;
-		}
-	}
-	return nearestPoint;
-}
-
-int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint, bool isPredictive)
-{
-	if (!isPredictive)
-	{
-		btAssert(validContactDistance(newPoint));
-	}
-
-	int insertIndex = getNumContacts();
-	if (insertIndex == MANIFOLD_CACHE_SIZE)
-	{
-#if MANIFOLD_CACHE_SIZE >= 4
-		//sort cache so best points come first, based on area
-		insertIndex = sortCachedPoints(newPoint);
-#else
-		insertIndex = 0;
-#endif
-		clearUserCache(m_pointCache[insertIndex]);
-	}
-	else
-	{
-		m_cachedPoints++;
-	}
-	if (insertIndex < 0)
-		insertIndex = 0;
-
-	btAssert(m_pointCache[insertIndex].m_userPersistentData == 0);
-	m_pointCache[insertIndex] = newPoint;
-	return insertIndex;
-}
-
-btScalar btPersistentManifold::getContactBreakingThreshold() const
-{
-	return m_contactBreakingThreshold;
-}
-
-void btPersistentManifold::refreshContactPoints(const btTransform& trA, const btTransform& trB)
-{
-	int i;
-#ifdef DEBUG_PERSISTENCY
-	printf("refreshContactPoints posA = (%f,%f,%f) posB = (%f,%f,%f)\n",
-		   trA.getOrigin().getX(),
-		   trA.getOrigin().getY(),
-		   trA.getOrigin().getZ(),
-		   trB.getOrigin().getX(),
-		   trB.getOrigin().getY(),
-		   trB.getOrigin().getZ());
-#endif  //DEBUG_PERSISTENCY
-	/// first refresh worldspace positions and distance
-	for (i = getNumContacts() - 1; i >= 0; i--)
-	{
-		btManifoldPoint& manifoldPoint = m_pointCache[i];
-		manifoldPoint.m_positionWorldOnA = trA(manifoldPoint.m_localPointA);
-		manifoldPoint.m_positionWorldOnB = trB(manifoldPoint.m_localPointB);
-		manifoldPoint.m_distance1 = (manifoldPoint.m_positionWorldOnA - manifoldPoint.m_positionWorldOnB).dot(manifoldPoint.m_normalWorldOnB);
-		manifoldPoint.m_lifeTime++;
-	}
-
-	/// then
-	btScalar distance2d;
-	btVector3 projectedDifference, projectedPoint;
-	for (i = getNumContacts() - 1; i >= 0; i--)
-	{
-		btManifoldPoint& manifoldPoint = m_pointCache[i];
-		//contact becomes invalid when signed distance exceeds margin (projected on contactnormal direction)
-		if (!validContactDistance(manifoldPoint))
-		{
-			removeContactPoint(i);
-		}
-		else
-		{
-			//todo: friction anchor may require the contact to be around a bit longer
-			//contact also becomes invalid when relative movement orthogonal to normal exceeds margin
-			projectedPoint = manifoldPoint.m_positionWorldOnA - manifoldPoint.m_normalWorldOnB * manifoldPoint.m_distance1;
-			projectedDifference = manifoldPoint.m_positionWorldOnB - projectedPoint;
-			distance2d = projectedDifference.dot(projectedDifference);
-			if (distance2d > getContactBreakingThreshold() * getContactBreakingThreshold())
-			{
-				removeContactPoint(i);
-			}
-			else
-			{
-				//contact point processed callback
-				if (gContactProcessedCallback)
-					(*gContactProcessedCallback)(manifoldPoint, (void*)m_body0, (void*)m_body1);
-			}
-		}
-	}
-#ifdef DEBUG_PERSISTENCY
-	DebugPersistency();
-#endif  //
-}
-
-int btPersistentManifold::calculateSerializeBufferSize() const
-{
-	return sizeof(btPersistentManifoldData);
-}
-
-const char* btPersistentManifold::serialize(const class btPersistentManifold* manifold, void* dataBuffer, class btSerializer* serializer) const
-{
-	btPersistentManifoldData* dataOut = (btPersistentManifoldData*)dataBuffer;
-	memset(dataOut, 0, sizeof(btPersistentManifoldData));
-
-	dataOut->m_body0 = (btCollisionObjectData*)serializer->getUniquePointer((void*)manifold->getBody0());
-	dataOut->m_body1 = (btCollisionObjectData*)serializer->getUniquePointer((void*)manifold->getBody1());
-	dataOut->m_contactBreakingThreshold = manifold->getContactBreakingThreshold();
-	dataOut->m_contactProcessingThreshold = manifold->getContactProcessingThreshold();
-	dataOut->m_numCachedPoints = manifold->getNumContacts();
-	dataOut->m_companionIdA = manifold->m_companionIdA;
-	dataOut->m_companionIdB = manifold->m_companionIdB;
-	dataOut->m_index1a = manifold->m_index1a;
-	dataOut->m_objectType = manifold->m_objectType;
-
-	for (int i = 0; i < this->getNumContacts(); i++)
-	{
-		const btManifoldPoint& pt = manifold->getContactPoint(i);
-		dataOut->m_pointCacheAppliedImpulse[i] = pt.m_appliedImpulse;
-		dataOut->m_pointCachePrevRHS[i] = pt.m_prevRHS;
-		dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1;
-		dataOut->m_pointCacheAppliedImpulseLateral2[i] = pt.m_appliedImpulseLateral2;
-		pt.m_localPointA.serialize(dataOut->m_pointCacheLocalPointA[i]);
-		pt.m_localPointB.serialize(dataOut->m_pointCacheLocalPointB[i]);
-		pt.m_normalWorldOnB.serialize(dataOut->m_pointCacheNormalWorldOnB[i]);
-		dataOut->m_pointCacheDistance[i] = pt.m_distance1;
-		dataOut->m_pointCacheCombinedContactDamping1[i] = pt.m_combinedContactDamping1;
-		dataOut->m_pointCacheCombinedContactStiffness1[i] = pt.m_combinedContactStiffness1;
-		dataOut->m_pointCacheLifeTime[i] = pt.m_lifeTime;
-		dataOut->m_pointCacheFrictionCFM[i] = pt.m_frictionCFM;
-		dataOut->m_pointCacheContactERP[i] = pt.m_contactERP;
-		dataOut->m_pointCacheContactCFM[i] = pt.m_contactCFM;
-		dataOut->m_pointCacheContactPointFlags[i] = pt.m_contactPointFlags;
-		dataOut->m_pointCacheIndex0[i] = pt.m_index0;
-		dataOut->m_pointCacheIndex1[i] = pt.m_index1;
-		dataOut->m_pointCachePartId0[i] = pt.m_partId0;
-		dataOut->m_pointCachePartId1[i] = pt.m_partId1;
-		pt.m_positionWorldOnA.serialize(dataOut->m_pointCachePositionWorldOnA[i]);
-		pt.m_positionWorldOnB.serialize(dataOut->m_pointCachePositionWorldOnB[i]);
-		dataOut->m_pointCacheCombinedFriction[i] = pt.m_combinedFriction;
-		pt.m_lateralFrictionDir1.serialize(dataOut->m_pointCacheLateralFrictionDir1[i]);
-		pt.m_lateralFrictionDir2.serialize(dataOut->m_pointCacheLateralFrictionDir2[i]);
-		dataOut->m_pointCacheCombinedRollingFriction[i] = pt.m_combinedRollingFriction;
-		dataOut->m_pointCacheCombinedSpinningFriction[i] = pt.m_combinedSpinningFriction;
-		dataOut->m_pointCacheCombinedRestitution[i] = pt.m_combinedRestitution;
-		dataOut->m_pointCacheContactMotion1[i] = pt.m_contactMotion1;
-		dataOut->m_pointCacheContactMotion2[i] = pt.m_contactMotion2;
-	}
-	return btPersistentManifoldDataName;
-}
-
-void btPersistentManifold::deSerialize(const struct btPersistentManifoldDoubleData* manifoldDataPtr)
-{
-	m_contactBreakingThreshold = manifoldDataPtr->m_contactBreakingThreshold;
-	m_contactProcessingThreshold = manifoldDataPtr->m_contactProcessingThreshold;
-	m_cachedPoints = manifoldDataPtr->m_numCachedPoints;
-	m_companionIdA = manifoldDataPtr->m_companionIdA;
-	m_companionIdB = manifoldDataPtr->m_companionIdB;
-	//m_index1a = manifoldDataPtr->m_index1a;
-	m_objectType = manifoldDataPtr->m_objectType;
-
-	for (int i = 0; i < this->getNumContacts(); i++)
-	{
-		btManifoldPoint& pt = m_pointCache[i];
-
-		pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i];
-		pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i];
-		pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i];
-		pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i];
-		pt.m_localPointA.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointA[i]);
-		pt.m_localPointB.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointB[i]);
-		pt.m_normalWorldOnB.deSerializeDouble(manifoldDataPtr->m_pointCacheNormalWorldOnB[i]);
-		pt.m_distance1 = manifoldDataPtr->m_pointCacheDistance[i];
-		pt.m_combinedContactDamping1 = manifoldDataPtr->m_pointCacheCombinedContactDamping1[i];
-		pt.m_combinedContactStiffness1 = manifoldDataPtr->m_pointCacheCombinedContactStiffness1[i];
-		pt.m_lifeTime = manifoldDataPtr->m_pointCacheLifeTime[i];
-		pt.m_frictionCFM = manifoldDataPtr->m_pointCacheFrictionCFM[i];
-		pt.m_contactERP = manifoldDataPtr->m_pointCacheContactERP[i];
-		pt.m_contactCFM = manifoldDataPtr->m_pointCacheContactCFM[i];
-		pt.m_contactPointFlags = manifoldDataPtr->m_pointCacheContactPointFlags[i];
-		pt.m_index0 = manifoldDataPtr->m_pointCacheIndex0[i];
-		pt.m_index1 = manifoldDataPtr->m_pointCacheIndex1[i];
-		pt.m_partId0 = manifoldDataPtr->m_pointCachePartId0[i];
-		pt.m_partId1 = manifoldDataPtr->m_pointCachePartId1[i];
-		pt.m_positionWorldOnA.deSerializeDouble(manifoldDataPtr->m_pointCachePositionWorldOnA[i]);
-		pt.m_positionWorldOnB.deSerializeDouble(manifoldDataPtr->m_pointCachePositionWorldOnB[i]);
-		pt.m_combinedFriction = manifoldDataPtr->m_pointCacheCombinedFriction[i];
-		pt.m_lateralFrictionDir1.deSerializeDouble(manifoldDataPtr->m_pointCacheLateralFrictionDir1[i]);
-		pt.m_lateralFrictionDir2.deSerializeDouble(manifoldDataPtr->m_pointCacheLateralFrictionDir2[i]);
-		pt.m_combinedRollingFriction = manifoldDataPtr->m_pointCacheCombinedRollingFriction[i];
-		pt.m_combinedSpinningFriction = manifoldDataPtr->m_pointCacheCombinedSpinningFriction[i];
-		pt.m_combinedRestitution = manifoldDataPtr->m_pointCacheCombinedRestitution[i];
-		pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i];
-		pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i];
-	}
-}
-
-void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatData* manifoldDataPtr)
-{
-	m_contactBreakingThreshold = manifoldDataPtr->m_contactBreakingThreshold;
-	m_contactProcessingThreshold = manifoldDataPtr->m_contactProcessingThreshold;
-	m_cachedPoints = manifoldDataPtr->m_numCachedPoints;
-	m_companionIdA = manifoldDataPtr->m_companionIdA;
-	m_companionIdB = manifoldDataPtr->m_companionIdB;
-	//m_index1a = manifoldDataPtr->m_index1a;
-	m_objectType = manifoldDataPtr->m_objectType;
-
-	for (int i = 0; i < this->getNumContacts(); i++)
-	{
-		btManifoldPoint& pt = m_pointCache[i];
-
-		pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i];
-		pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i];
-		pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i];
-		pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i];
-		pt.m_localPointA.deSerialize(manifoldDataPtr->m_pointCacheLocalPointA[i]);
-		pt.m_localPointB.deSerialize(manifoldDataPtr->m_pointCacheLocalPointB[i]);
-		pt.m_normalWorldOnB.deSerialize(manifoldDataPtr->m_pointCacheNormalWorldOnB[i]);
-		pt.m_distance1 = manifoldDataPtr->m_pointCacheDistance[i];
-		pt.m_combinedContactDamping1 = manifoldDataPtr->m_pointCacheCombinedContactDamping1[i];
-		pt.m_combinedContactStiffness1 = manifoldDataPtr->m_pointCacheCombinedContactStiffness1[i];
-		pt.m_lifeTime = manifoldDataPtr->m_pointCacheLifeTime[i];
-		pt.m_frictionCFM = manifoldDataPtr->m_pointCacheFrictionCFM[i];
-		pt.m_contactERP = manifoldDataPtr->m_pointCacheContactERP[i];
-		pt.m_contactCFM = manifoldDataPtr->m_pointCacheContactCFM[i];
-		pt.m_contactPointFlags = manifoldDataPtr->m_pointCacheContactPointFlags[i];
-		pt.m_index0 = manifoldDataPtr->m_pointCacheIndex0[i];
-		pt.m_index1 = manifoldDataPtr->m_pointCacheIndex1[i];
-		pt.m_partId0 = manifoldDataPtr->m_pointCachePartId0[i];
-		pt.m_partId1 = manifoldDataPtr->m_pointCachePartId1[i];
-		pt.m_positionWorldOnA.deSerialize(manifoldDataPtr->m_pointCachePositionWorldOnA[i]);
-		pt.m_positionWorldOnB.deSerialize(manifoldDataPtr->m_pointCachePositionWorldOnB[i]);
-		pt.m_combinedFriction = manifoldDataPtr->m_pointCacheCombinedFriction[i];
-		pt.m_lateralFrictionDir1.deSerialize(manifoldDataPtr->m_pointCacheLateralFrictionDir1[i]);
-		pt.m_lateralFrictionDir2.deSerialize(manifoldDataPtr->m_pointCacheLateralFrictionDir2[i]);
-		pt.m_combinedRollingFriction = manifoldDataPtr->m_pointCacheCombinedRollingFriction[i];
-		pt.m_combinedSpinningFriction = manifoldDataPtr->m_pointCacheCombinedSpinningFriction[i];
-		pt.m_combinedRestitution = manifoldDataPtr->m_pointCacheCombinedRestitution[i];
-		pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i];
-		pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i];
-	}
-}
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
deleted file mode 100644
index 0e26da0ebe..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
+++ /dev/null
@@ -1,374 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_PERSISTENT_MANIFOLD_H
-#define BT_PERSISTENT_MANIFOLD_H
-
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btTransform.h"
-#include "btManifoldPoint.h"
-class btCollisionObject;
-#include "LinearMath/btAlignedAllocator.h"
-
-struct btCollisionResult;
-struct btCollisionObjectDoubleData;
-struct btCollisionObjectFloatData;
-
-///maximum contact breaking and merging threshold
-extern btScalar gContactBreakingThreshold;
-
-#ifndef SWIG
-class btPersistentManifold;
-
-typedef bool (*ContactDestroyedCallback)(void* userPersistentData);
-typedef bool (*ContactProcessedCallback)(btManifoldPoint& cp, void* body0, void* body1);
-typedef void (*ContactStartedCallback)(btPersistentManifold* const& manifold);
-typedef void (*ContactEndedCallback)(btPersistentManifold* const& manifold);
-extern ContactDestroyedCallback gContactDestroyedCallback;
-extern ContactProcessedCallback gContactProcessedCallback;
-extern ContactStartedCallback gContactStartedCallback;
-extern ContactEndedCallback gContactEndedCallback;
-#endif  //SWIG
-
-//the enum starts at 1024 to avoid type conflicts with btTypedConstraint
-enum btContactManifoldTypes
-{
-	MIN_CONTACT_MANIFOLD_TYPE = 1024,
-	BT_PERSISTENT_MANIFOLD_TYPE
-};
-
-#define MANIFOLD_CACHE_SIZE 4
-
-///btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase.
-///Those contact points are created by the collision narrow phase.
-///The cache can be empty, or hold 1,2,3 or 4 points. Some collision algorithms (GJK) might only add one point at a time.
-///updates/refreshes old contact points, and throw them away if necessary (distance becomes too large)
-///reduces the cache to 4 points, when more then 4 points are added, using following rules:
-///the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points
-///note that some pairs of objects might have more then one contact manifold.
-
-//ATTRIBUTE_ALIGNED128( class) btPersistentManifold : public btTypedObject
-ATTRIBUTE_ALIGNED16(class)
-btPersistentManifold : public btTypedObject
-{
-	btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];
-
-	/// this two body pointers can point to the physics rigidbody class.
-	const btCollisionObject* m_body0;
-	const btCollisionObject* m_body1;
-
-	int m_cachedPoints;
-
-	btScalar m_contactBreakingThreshold;
-	btScalar m_contactProcessingThreshold;
-
-	/// sort cached points so most isolated points come first
-	int sortCachedPoints(const btManifoldPoint& pt);
-
-	int findContactPoint(const btManifoldPoint* unUsed, int numUnused, const btManifoldPoint& pt);
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	int m_companionIdA;
-	int m_companionIdB;
-
-	int m_index1a;
-
-	btPersistentManifold();
-
-	btPersistentManifold(const btCollisionObject* body0, const btCollisionObject* body1, int, btScalar contactBreakingThreshold, btScalar contactProcessingThreshold)
-		: btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
-		  m_body0(body0),
-		  m_body1(body1),
-		  m_cachedPoints(0),
-		  m_contactBreakingThreshold(contactBreakingThreshold),
-		  m_contactProcessingThreshold(contactProcessingThreshold),
-		  m_companionIdA(0),
-		  m_companionIdB(0),
-		  m_index1a(0)
-	{
-	}
-
-	SIMD_FORCE_INLINE const btCollisionObject* getBody0() const { return m_body0; }
-	SIMD_FORCE_INLINE const btCollisionObject* getBody1() const { return m_body1; }
-
-	void setBodies(const btCollisionObject* body0, const btCollisionObject* body1)
-	{
-		m_body0 = body0;
-		m_body1 = body1;
-	}
-
-	void clearUserCache(btManifoldPoint & pt);
-
-#ifdef DEBUG_PERSISTENCY
-	void DebugPersistency();
-#endif  //
-
-	SIMD_FORCE_INLINE int getNumContacts() const
-	{
-		return m_cachedPoints;
-	}
-	/// the setNumContacts API is usually not used, except when you gather/fill all contacts manually
-	void setNumContacts(int cachedPoints)
-	{
-		m_cachedPoints = cachedPoints;
-	}
-
-	SIMD_FORCE_INLINE const btManifoldPoint& getContactPoint(int index) const
-	{
-		btAssert(index < m_cachedPoints);
-		return m_pointCache[index];
-	}
-
-	SIMD_FORCE_INLINE btManifoldPoint& getContactPoint(int index)
-	{
-		btAssert(index < m_cachedPoints);
-		return m_pointCache[index];
-	}
-
-	///@todo: get this margin from the current physics / collision environment
-	btScalar getContactBreakingThreshold() const;
-
-	btScalar getContactProcessingThreshold() const
-	{
-		return m_contactProcessingThreshold;
-	}
-
-	void setContactBreakingThreshold(btScalar contactBreakingThreshold)
-	{
-		m_contactBreakingThreshold = contactBreakingThreshold;
-	}
-
-	void setContactProcessingThreshold(btScalar contactProcessingThreshold)
-	{
-		m_contactProcessingThreshold = contactProcessingThreshold;
-	}
-
-	int getCacheEntry(const btManifoldPoint& newPoint) const;
-
-	int addManifoldPoint(const btManifoldPoint& newPoint, bool isPredictive = false);
-
-	void removeContactPoint(int index)
-	{
-		clearUserCache(m_pointCache[index]);
-
-		int lastUsedIndex = getNumContacts() - 1;
-		//		m_pointCache[index] = m_pointCache[lastUsedIndex];
-		if (index != lastUsedIndex)
-		{
-			m_pointCache[index] = m_pointCache[lastUsedIndex];
-			//get rid of duplicated userPersistentData pointer
-			m_pointCache[lastUsedIndex].m_userPersistentData = 0;
-			m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
-			m_pointCache[lastUsedIndex].m_prevRHS = 0.f;
-			m_pointCache[lastUsedIndex].m_contactPointFlags = 0;
-			m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f;
-			m_pointCache[lastUsedIndex].m_appliedImpulseLateral2 = 0.f;
-			m_pointCache[lastUsedIndex].m_lifeTime = 0;
-		}
-
-		btAssert(m_pointCache[lastUsedIndex].m_userPersistentData == 0);
-		m_cachedPoints--;
-
-		if (gContactEndedCallback && m_cachedPoints == 0)
-		{
-			gContactEndedCallback(this);
-		}
-	}
-	void replaceContactPoint(const btManifoldPoint& newPoint, int insertIndex)
-	{
-		btAssert(validContactDistance(newPoint));
-
-#define MAINTAIN_PERSISTENCY 1
-#ifdef MAINTAIN_PERSISTENCY
-		int lifeTime = m_pointCache[insertIndex].getLifeTime();
-		btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse;
-		btScalar prevRHS = m_pointCache[insertIndex].m_prevRHS;
-		btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1;
-		btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2;
-
-		bool replacePoint = true;
-		///we keep existing contact points for friction anchors
-		///if the friction force is within the Coulomb friction cone
-		if (newPoint.m_contactPointFlags & BT_CONTACT_FLAG_FRICTION_ANCHOR)
-		{
-			//   printf("appliedImpulse=%f\n", appliedImpulse);
-			//   printf("appliedLateralImpulse1=%f\n", appliedLateralImpulse1);
-			//   printf("appliedLateralImpulse2=%f\n", appliedLateralImpulse2);
-			//   printf("mu = %f\n", m_pointCache[insertIndex].m_combinedFriction);
-			btScalar mu = m_pointCache[insertIndex].m_combinedFriction;
-			btScalar eps = 0;  //we could allow to enlarge or shrink the tolerance to check against the friction cone a bit, say 1e-7
-			btScalar a = appliedLateralImpulse1 * appliedLateralImpulse1 + appliedLateralImpulse2 * appliedLateralImpulse2;
-			btScalar b = eps + mu * appliedImpulse;
-			b = b * b;
-			replacePoint = (a) > (b);
-		}
-
-		if (replacePoint)
-		{
-			btAssert(lifeTime >= 0);
-			void* cache = m_pointCache[insertIndex].m_userPersistentData;
-
-			m_pointCache[insertIndex] = newPoint;
-			m_pointCache[insertIndex].m_userPersistentData = cache;
-			m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse;
-			m_pointCache[insertIndex].m_prevRHS = prevRHS;
-			m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
-			m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
-		}
-
-		m_pointCache[insertIndex].m_lifeTime = lifeTime;
-#else
-		clearUserCache(m_pointCache[insertIndex]);
-		m_pointCache[insertIndex] = newPoint;
-
-#endif
-	}
-
-	bool validContactDistance(const btManifoldPoint& pt) const
-	{
-		return pt.m_distance1 <= getContactBreakingThreshold();
-	}
-	/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
-	void refreshContactPoints(const btTransform& trA, const btTransform& trB);
-
-	SIMD_FORCE_INLINE void clearManifold()
-	{
-		int i;
-		for (i = 0; i < m_cachedPoints; i++)
-		{
-			clearUserCache(m_pointCache[i]);
-		}
-
-		if (gContactEndedCallback && m_cachedPoints)
-		{
-			gContactEndedCallback(this);
-		}
-		m_cachedPoints = 0;
-	}
-
-	int calculateSerializeBufferSize() const;
-	const char* serialize(const class btPersistentManifold* manifold, void* dataBuffer, class btSerializer* serializer) const;
-	void deSerialize(const struct btPersistentManifoldDoubleData* manifoldDataPtr);
-	void deSerialize(const struct btPersistentManifoldFloatData* manifoldDataPtr);
-};
-
-// clang-format off
-
-struct btPersistentManifoldDoubleData
-{
-	btVector3DoubleData m_pointCacheLocalPointA[4];
-	btVector3DoubleData m_pointCacheLocalPointB[4];
-	btVector3DoubleData m_pointCachePositionWorldOnA[4];
-	btVector3DoubleData m_pointCachePositionWorldOnB[4];
-	btVector3DoubleData m_pointCacheNormalWorldOnB[4];
-	btVector3DoubleData	m_pointCacheLateralFrictionDir1[4];
-	btVector3DoubleData	m_pointCacheLateralFrictionDir2[4];
-	double m_pointCacheDistance[4];
-	double m_pointCacheAppliedImpulse[4];
-	double m_pointCachePrevRHS[4];
-	 double m_pointCacheCombinedFriction[4];
-	double m_pointCacheCombinedRollingFriction[4];
-	double m_pointCacheCombinedSpinningFriction[4];
-	double m_pointCacheCombinedRestitution[4];
-	int	m_pointCachePartId0[4];
-	int	m_pointCachePartId1[4];
-	int	m_pointCacheIndex0[4];
-	int	m_pointCacheIndex1[4];
-	int m_pointCacheContactPointFlags[4];
-	double m_pointCacheAppliedImpulseLateral1[4];
-	double m_pointCacheAppliedImpulseLateral2[4];
-	double m_pointCacheContactMotion1[4];
-	double m_pointCacheContactMotion2[4];
-	double m_pointCacheContactCFM[4];
-	double m_pointCacheCombinedContactStiffness1[4];
-	double m_pointCacheContactERP[4];
-	double m_pointCacheCombinedContactDamping1[4];
-	double m_pointCacheFrictionCFM[4];
-	int m_pointCacheLifeTime[4];
-
-	int m_numCachedPoints;
-	int m_companionIdA;
-	int m_companionIdB;
-	int m_index1a;
-
-	int m_objectType;
-	double	m_contactBreakingThreshold;
-	double	m_contactProcessingThreshold;
-	int m_padding;
-
-	btCollisionObjectDoubleData *m_body0;
-	btCollisionObjectDoubleData *m_body1;
-};
-
-
-struct btPersistentManifoldFloatData
-{
-	btVector3FloatData m_pointCacheLocalPointA[4];
-	btVector3FloatData m_pointCacheLocalPointB[4];
-	btVector3FloatData m_pointCachePositionWorldOnA[4];
-	btVector3FloatData m_pointCachePositionWorldOnB[4];
-	btVector3FloatData m_pointCacheNormalWorldOnB[4];
-	btVector3FloatData	m_pointCacheLateralFrictionDir1[4];
-	btVector3FloatData	m_pointCacheLateralFrictionDir2[4];
-	float m_pointCacheDistance[4];
-	float m_pointCacheAppliedImpulse[4];
-	float m_pointCachePrevRHS[4];
-	float m_pointCacheCombinedFriction[4];
-	float m_pointCacheCombinedRollingFriction[4];
-	float m_pointCacheCombinedSpinningFriction[4];
-	float m_pointCacheCombinedRestitution[4];
-	int	m_pointCachePartId0[4];
-	int	m_pointCachePartId1[4];
-	int	m_pointCacheIndex0[4];
-	int	m_pointCacheIndex1[4];
-	int m_pointCacheContactPointFlags[4];
-	float m_pointCacheAppliedImpulseLateral1[4];
-	float m_pointCacheAppliedImpulseLateral2[4];
-	float m_pointCacheContactMotion1[4];
-	float m_pointCacheContactMotion2[4];
-	float m_pointCacheContactCFM[4];
-	float m_pointCacheCombinedContactStiffness1[4];
-	float m_pointCacheContactERP[4];
-	float m_pointCacheCombinedContactDamping1[4];
-	float m_pointCacheFrictionCFM[4];
-	int m_pointCacheLifeTime[4];
-
-	int m_numCachedPoints;
-	int m_companionIdA;
-	int m_companionIdB;
-	int m_index1a;
-
-	int m_objectType;
-	float	m_contactBreakingThreshold;
-	float	m_contactProcessingThreshold;
-	int m_padding;
-
-	btCollisionObjectFloatData *m_body0;
-	btCollisionObjectFloatData *m_body1;
-};
-
-// clang-format on
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btPersistentManifoldData btPersistentManifoldDoubleData
-#define btPersistentManifoldDataName "btPersistentManifoldDoubleData"
-#else
-#define btPersistentManifoldData btPersistentManifoldFloatData
-#define btPersistentManifoldDataName "btPersistentManifoldFloatData"
-#endif  //BT_USE_DOUBLE_PRECISION
-
-#endif  //BT_PERSISTENT_MANIFOLD_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPointCollector.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPointCollector.h
deleted file mode 100644
index 0900eb6e85..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPointCollector.h
+++ /dev/null
@@ -1,58 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_POINT_COLLECTOR_H
-#define BT_POINT_COLLECTOR_H
-
-#include "btDiscreteCollisionDetectorInterface.h"
-
-struct btPointCollector : public btDiscreteCollisionDetectorInterface::Result
-{
-	btVector3 m_normalOnBInWorld;
-	btVector3 m_pointInWorld;
-	btScalar m_distance;  //negative means penetration
-
-	bool m_hasResult;
-
-	btPointCollector()
-		: m_distance(btScalar(BT_LARGE_FLOAT)), m_hasResult(false)
-	{
-	}
-
-	virtual void setShapeIdentifiersA(int partId0, int index0)
-	{
-		(void)partId0;
-		(void)index0;
-	}
-	virtual void setShapeIdentifiersB(int partId1, int index1)
-	{
-		(void)partId1;
-		(void)index1;
-	}
-
-	virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
-	{
-		if (depth < m_distance)
-		{
-			m_hasResult = true;
-			m_normalOnBInWorld = normalOnBInWorld;
-			m_pointInWorld = pointInWorld;
-			//negative means penetration
-			m_distance = depth;
-		}
-	}
-};
-
-#endif  //BT_POINT_COLLECTOR_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
deleted file mode 100644
index 9d1836037d..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
+++ /dev/null
@@ -1,548 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2011 Advanced Micro Devices, Inc.  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///This file was written by Erwin Coumans
-///Separating axis rest based on work from Pierre Terdiman, see
-///And contact clipping based on work from Simon Hobbs
-
-#include "btPolyhedralContactClipping.h"
-#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
-
-#include <float.h>  //for FLT_MAX
-
-int gExpectedNbTests = 0;
-int gActualNbTests = 0;
-bool gUseInternalObject = true;
-
-// Clips a face to the back of a plane
-void btPolyhedralContactClipping::clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS, btScalar planeEqWS)
-{
-	int ve;
-	btScalar ds, de;
-	int numVerts = pVtxIn.size();
-	if (numVerts < 2)
-		return;
-
-	btVector3 firstVertex = pVtxIn[pVtxIn.size() - 1];
-	btVector3 endVertex = pVtxIn[0];
-
-	ds = planeNormalWS.dot(firstVertex) + planeEqWS;
-
-	for (ve = 0; ve < numVerts; ve++)
-	{
-		endVertex = pVtxIn[ve];
-
-		de = planeNormalWS.dot(endVertex) + planeEqWS;
-
-		if (ds < 0)
-		{
-			if (de < 0)
-			{
-				// Start < 0, end < 0, so output endVertex
-				ppVtxOut.push_back(endVertex);
-			}
-			else
-			{
-				// Start < 0, end >= 0, so output intersection
-				ppVtxOut.push_back(firstVertex.lerp(endVertex, btScalar(ds * 1.f / (ds - de))));
-			}
-		}
-		else
-		{
-			if (de < 0)
-			{
-				// Start >= 0, end < 0 so output intersection and end
-				ppVtxOut.push_back(firstVertex.lerp(endVertex, btScalar(ds * 1.f / (ds - de))));
-				ppVtxOut.push_back(endVertex);
-			}
-		}
-		firstVertex = endVertex;
-		ds = de;
-	}
-}
-
-static bool TestSepAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA, const btTransform& transB, const btVector3& sep_axis, btScalar& depth, btVector3& witnessPointA, btVector3& witnessPointB)
-{
-	btScalar Min0, Max0;
-	btScalar Min1, Max1;
-	btVector3 witnesPtMinA, witnesPtMaxA;
-	btVector3 witnesPtMinB, witnesPtMaxB;
-
-	hullA.project(transA, sep_axis, Min0, Max0, witnesPtMinA, witnesPtMaxA);
-	hullB.project(transB, sep_axis, Min1, Max1, witnesPtMinB, witnesPtMaxB);
-
-	if (Max0 < Min1 || Max1 < Min0)
-		return false;
-
-	btScalar d0 = Max0 - Min1;
-	btAssert(d0 >= 0.0f);
-	btScalar d1 = Max1 - Min0;
-	btAssert(d1 >= 0.0f);
-	if (d0 < d1)
-	{
-		depth = d0;
-		witnessPointA = witnesPtMaxA;
-		witnessPointB = witnesPtMinB;
-	}
-	else
-	{
-		depth = d1;
-		witnessPointA = witnesPtMinA;
-		witnessPointB = witnesPtMaxB;
-	}
-
-	return true;
-}
-
-static int gActualSATPairTests = 0;
-
-inline bool IsAlmostZero(const btVector3& v)
-{
-	if (btFabs(v.x()) > 1e-6 || btFabs(v.y()) > 1e-6 || btFabs(v.z()) > 1e-6) return false;
-	return true;
-}
-
-#ifdef TEST_INTERNAL_OBJECTS
-
-inline void BoxSupport(const btScalar extents[3], const btScalar sv[3], btScalar p[3])
-{
-	// This version is ~11.000 cycles (4%) faster overall in one of the tests.
-	//	IR(p[0]) = IR(extents[0])|(IR(sv[0])&SIGN_BITMASK);
-	//	IR(p[1]) = IR(extents[1])|(IR(sv[1])&SIGN_BITMASK);
-	//	IR(p[2]) = IR(extents[2])|(IR(sv[2])&SIGN_BITMASK);
-	p[0] = sv[0] < 0.0f ? -extents[0] : extents[0];
-	p[1] = sv[1] < 0.0f ? -extents[1] : extents[1];
-	p[2] = sv[2] < 0.0f ? -extents[2] : extents[2];
-}
-
-void InverseTransformPoint3x3(btVector3& out, const btVector3& in, const btTransform& tr)
-{
-	const btMatrix3x3& rot = tr.getBasis();
-	const btVector3& r0 = rot[0];
-	const btVector3& r1 = rot[1];
-	const btVector3& r2 = rot[2];
-
-	const btScalar x = r0.x() * in.x() + r1.x() * in.y() + r2.x() * in.z();
-	const btScalar y = r0.y() * in.x() + r1.y() * in.y() + r2.y() * in.z();
-	const btScalar z = r0.z() * in.x() + r1.z() * in.y() + r2.z() * in.z();
-
-	out.setValue(x, y, z);
-}
-
-bool TestInternalObjects(const btTransform& trans0, const btTransform& trans1, const btVector3& delta_c, const btVector3& axis, const btConvexPolyhedron& convex0, const btConvexPolyhedron& convex1, btScalar dmin)
-{
-	const btScalar dp = delta_c.dot(axis);
-
-	btVector3 localAxis0;
-	InverseTransformPoint3x3(localAxis0, axis, trans0);
-	btVector3 localAxis1;
-	InverseTransformPoint3x3(localAxis1, axis, trans1);
-
-	btScalar p0[3];
-	BoxSupport(convex0.m_extents, localAxis0, p0);
-	btScalar p1[3];
-	BoxSupport(convex1.m_extents, localAxis1, p1);
-
-	const btScalar Radius0 = p0[0] * localAxis0.x() + p0[1] * localAxis0.y() + p0[2] * localAxis0.z();
-	const btScalar Radius1 = p1[0] * localAxis1.x() + p1[1] * localAxis1.y() + p1[2] * localAxis1.z();
-
-	const btScalar MinRadius = Radius0 > convex0.m_radius ? Radius0 : convex0.m_radius;
-	const btScalar MaxRadius = Radius1 > convex1.m_radius ? Radius1 : convex1.m_radius;
-
-	const btScalar MinMaxRadius = MaxRadius + MinRadius;
-	const btScalar d0 = MinMaxRadius + dp;
-	const btScalar d1 = MinMaxRadius - dp;
-
-	const btScalar depth = d0 < d1 ? d0 : d1;
-	if (depth > dmin)
-		return false;
-	return true;
-}
-#endif  //TEST_INTERNAL_OBJECTS
-
-SIMD_FORCE_INLINE void btSegmentsClosestPoints(
-	btVector3& ptsVector,
-	btVector3& offsetA,
-	btVector3& offsetB,
-	btScalar& tA, btScalar& tB,
-	const btVector3& translation,
-	const btVector3& dirA, btScalar hlenA,
-	const btVector3& dirB, btScalar hlenB)
-{
-	// compute the parameters of the closest points on each line segment
-
-	btScalar dirA_dot_dirB = btDot(dirA, dirB);
-	btScalar dirA_dot_trans = btDot(dirA, translation);
-	btScalar dirB_dot_trans = btDot(dirB, translation);
-
-	btScalar denom = 1.0f - dirA_dot_dirB * dirA_dot_dirB;
-
-	if (denom == 0.0f)
-	{
-		tA = 0.0f;
-	}
-	else
-	{
-		tA = (dirA_dot_trans - dirB_dot_trans * dirA_dot_dirB) / denom;
-		if (tA < -hlenA)
-			tA = -hlenA;
-		else if (tA > hlenA)
-			tA = hlenA;
-	}
-
-	tB = tA * dirA_dot_dirB - dirB_dot_trans;
-
-	if (tB < -hlenB)
-	{
-		tB = -hlenB;
-		tA = tB * dirA_dot_dirB + dirA_dot_trans;
-
-		if (tA < -hlenA)
-			tA = -hlenA;
-		else if (tA > hlenA)
-			tA = hlenA;
-	}
-	else if (tB > hlenB)
-	{
-		tB = hlenB;
-		tA = tB * dirA_dot_dirB + dirA_dot_trans;
-
-		if (tA < -hlenA)
-			tA = -hlenA;
-		else if (tA > hlenA)
-			tA = hlenA;
-	}
-
-	// compute the closest points relative to segment centers.
-
-	offsetA = dirA * tA;
-	offsetB = dirB * tB;
-
-	ptsVector = translation - offsetA + offsetB;
-}
-
-bool btPolyhedralContactClipping::findSeparatingAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA, const btTransform& transB, btVector3& sep, btDiscreteCollisionDetectorInterface::Result& resultOut)
-{
-	gActualSATPairTests++;
-
-	//#ifdef TEST_INTERNAL_OBJECTS
-	const btVector3 c0 = transA * hullA.m_localCenter;
-	const btVector3 c1 = transB * hullB.m_localCenter;
-	const btVector3 DeltaC2 = c0 - c1;
-	//#endif
-
-	btScalar dmin = FLT_MAX;
-	int curPlaneTests = 0;
-
-	int numFacesA = hullA.m_faces.size();
-	// Test normals from hullA
-	for (int i = 0; i < numFacesA; i++)
-	{
-		const btVector3 Normal(hullA.m_faces[i].m_plane[0], hullA.m_faces[i].m_plane[1], hullA.m_faces[i].m_plane[2]);
-		btVector3 faceANormalWS = transA.getBasis() * Normal;
-		if (DeltaC2.dot(faceANormalWS) < 0)
-			faceANormalWS *= -1.f;
-
-		curPlaneTests++;
-#ifdef TEST_INTERNAL_OBJECTS
-		gExpectedNbTests++;
-		if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, faceANormalWS, hullA, hullB, dmin))
-			continue;
-		gActualNbTests++;
-#endif
-
-		btScalar d;
-		btVector3 wA, wB;
-		if (!TestSepAxis(hullA, hullB, transA, transB, faceANormalWS, d, wA, wB))
-			return false;
-
-		if (d < dmin)
-		{
-			dmin = d;
-			sep = faceANormalWS;
-		}
-	}
-
-	int numFacesB = hullB.m_faces.size();
-	// Test normals from hullB
-	for (int i = 0; i < numFacesB; i++)
-	{
-		const btVector3 Normal(hullB.m_faces[i].m_plane[0], hullB.m_faces[i].m_plane[1], hullB.m_faces[i].m_plane[2]);
-		btVector3 WorldNormal = transB.getBasis() * Normal;
-		if (DeltaC2.dot(WorldNormal) < 0)
-			WorldNormal *= -1.f;
-
-		curPlaneTests++;
-#ifdef TEST_INTERNAL_OBJECTS
-		gExpectedNbTests++;
-		if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, WorldNormal, hullA, hullB, dmin))
-			continue;
-		gActualNbTests++;
-#endif
-
-		btScalar d;
-		btVector3 wA, wB;
-		if (!TestSepAxis(hullA, hullB, transA, transB, WorldNormal, d, wA, wB))
-			return false;
-
-		if (d < dmin)
-		{
-			dmin = d;
-			sep = WorldNormal;
-		}
-	}
-
-	btVector3 edgeAstart, edgeAend, edgeBstart, edgeBend;
-	int edgeA = -1;
-	int edgeB = -1;
-	btVector3 worldEdgeA;
-	btVector3 worldEdgeB;
-	btVector3 witnessPointA(0, 0, 0), witnessPointB(0, 0, 0);
-
-	int curEdgeEdge = 0;
-	// Test edges
-	for (int e0 = 0; e0 < hullA.m_uniqueEdges.size(); e0++)
-	{
-		const btVector3 edge0 = hullA.m_uniqueEdges[e0];
-		const btVector3 WorldEdge0 = transA.getBasis() * edge0;
-		for (int e1 = 0; e1 < hullB.m_uniqueEdges.size(); e1++)
-		{
-			const btVector3 edge1 = hullB.m_uniqueEdges[e1];
-			const btVector3 WorldEdge1 = transB.getBasis() * edge1;
-
-			btVector3 Cross = WorldEdge0.cross(WorldEdge1);
-			curEdgeEdge++;
-			if (!IsAlmostZero(Cross))
-			{
-				Cross = Cross.normalize();
-				if (DeltaC2.dot(Cross) < 0)
-					Cross *= -1.f;
-
-#ifdef TEST_INTERNAL_OBJECTS
-				gExpectedNbTests++;
-				if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, Cross, hullA, hullB, dmin))
-					continue;
-				gActualNbTests++;
-#endif
-
-				btScalar dist;
-				btVector3 wA, wB;
-				if (!TestSepAxis(hullA, hullB, transA, transB, Cross, dist, wA, wB))
-					return false;
-
-				if (dist < dmin)
-				{
-					dmin = dist;
-					sep = Cross;
-					edgeA = e0;
-					edgeB = e1;
-					worldEdgeA = WorldEdge0;
-					worldEdgeB = WorldEdge1;
-					witnessPointA = wA;
-					witnessPointB = wB;
-				}
-			}
-		}
-	}
-
-	if (edgeA >= 0 && edgeB >= 0)
-	{
-		//		printf("edge-edge\n");
-		//add an edge-edge contact
-
-		btVector3 ptsVector;
-		btVector3 offsetA;
-		btVector3 offsetB;
-		btScalar tA;
-		btScalar tB;
-
-		btVector3 translation = witnessPointB - witnessPointA;
-
-		btVector3 dirA = worldEdgeA;
-		btVector3 dirB = worldEdgeB;
-
-		btScalar hlenB = 1e30f;
-		btScalar hlenA = 1e30f;
-
-		btSegmentsClosestPoints(ptsVector, offsetA, offsetB, tA, tB,
-								translation,
-								dirA, hlenA,
-								dirB, hlenB);
-
-		btScalar nlSqrt = ptsVector.length2();
-		if (nlSqrt > SIMD_EPSILON)
-		{
-			btScalar nl = btSqrt(nlSqrt);
-			ptsVector *= 1.f / nl;
-			if (ptsVector.dot(DeltaC2) < 0.f)
-			{
-				ptsVector *= -1.f;
-			}
-			btVector3 ptOnB = witnessPointB + offsetB;
-			btScalar distance = nl;
-			resultOut.addContactPoint(ptsVector, ptOnB, -distance);
-		}
-	}
-
-	if ((DeltaC2.dot(sep)) < 0.0f)
-		sep = -sep;
-
-	return true;
-}
-
-void btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, btVertexArray& worldVertsB2, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result& resultOut)
-{
-	worldVertsB2.resize(0);
-	btVertexArray* pVtxIn = &worldVertsB1;
-	btVertexArray* pVtxOut = &worldVertsB2;
-	pVtxOut->reserve(pVtxIn->size());
-
-	int closestFaceA = -1;
-	{
-		btScalar dmin = FLT_MAX;
-		for (int face = 0; face < hullA.m_faces.size(); face++)
-		{
-			const btVector3 Normal(hullA.m_faces[face].m_plane[0], hullA.m_faces[face].m_plane[1], hullA.m_faces[face].m_plane[2]);
-			const btVector3 faceANormalWS = transA.getBasis() * Normal;
-
-			btScalar d = faceANormalWS.dot(separatingNormal);
-			if (d < dmin)
-			{
-				dmin = d;
-				closestFaceA = face;
-			}
-		}
-	}
-	if (closestFaceA < 0)
-		return;
-
-	const btFace& polyA = hullA.m_faces[closestFaceA];
-
-	// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
-	int numVerticesA = polyA.m_indices.size();
-	for (int e0 = 0; e0 < numVerticesA; e0++)
-	{
-		const btVector3& a = hullA.m_vertices[polyA.m_indices[e0]];
-		const btVector3& b = hullA.m_vertices[polyA.m_indices[(e0 + 1) % numVerticesA]];
-		const btVector3 edge0 = a - b;
-		const btVector3 WorldEdge0 = transA.getBasis() * edge0;
-		btVector3 worldPlaneAnormal1 = transA.getBasis() * btVector3(polyA.m_plane[0], polyA.m_plane[1], polyA.m_plane[2]);
-
-		btVector3 planeNormalWS1 = -WorldEdge0.cross(worldPlaneAnormal1);  //.cross(WorldEdge0);
-		btVector3 worldA1 = transA * a;
-		btScalar planeEqWS1 = -worldA1.dot(planeNormalWS1);
-
-//int otherFace=0;
-#ifdef BLA1
-		int otherFace = polyA.m_connectedFaces[e0];
-		btVector3 localPlaneNormal(hullA.m_faces[otherFace].m_plane[0], hullA.m_faces[otherFace].m_plane[1], hullA.m_faces[otherFace].m_plane[2]);
-		btScalar localPlaneEq = hullA.m_faces[otherFace].m_plane[3];
-
-		btVector3 planeNormalWS = transA.getBasis() * localPlaneNormal;
-		btScalar planeEqWS = localPlaneEq - planeNormalWS.dot(transA.getOrigin());
-#else
-		btVector3 planeNormalWS = planeNormalWS1;
-		btScalar planeEqWS = planeEqWS1;
-
-#endif
-		//clip face
-
-		clipFace(*pVtxIn, *pVtxOut, planeNormalWS, planeEqWS);
-		btSwap(pVtxIn, pVtxOut);
-		pVtxOut->resize(0);
-	}
-
-	//#define ONLY_REPORT_DEEPEST_POINT
-
-	btVector3 point;
-
-	// only keep points that are behind the witness face
-	{
-		btVector3 localPlaneNormal(polyA.m_plane[0], polyA.m_plane[1], polyA.m_plane[2]);
-		btScalar localPlaneEq = polyA.m_plane[3];
-		btVector3 planeNormalWS = transA.getBasis() * localPlaneNormal;
-		btScalar planeEqWS = localPlaneEq - planeNormalWS.dot(transA.getOrigin());
-		for (int i = 0; i < pVtxIn->size(); i++)
-		{
-			btVector3 vtx = pVtxIn->at(i);
-			btScalar depth = planeNormalWS.dot(vtx) + planeEqWS;
-			if (depth <= minDist)
-			{
-				//				printf("clamped: depth=%f to minDist=%f\n",depth,minDist);
-				depth = minDist;
-			}
-
-			if (depth <= maxDist)
-			{
-				btVector3 point = pVtxIn->at(i);
-#ifdef ONLY_REPORT_DEEPEST_POINT
-				curMaxDist = depth;
-#else
-#if 0
-				if (depth<-3)
-				{
-					printf("error in btPolyhedralContactClipping depth = %f\n", depth);
-					printf("likely wrong separatingNormal passed in\n");
-				}
-#endif
-				resultOut.addContactPoint(separatingNormal, point, depth);
-#endif
-			}
-		}
-	}
-#ifdef ONLY_REPORT_DEEPEST_POINT
-	if (curMaxDist < maxDist)
-	{
-		resultOut.addContactPoint(separatingNormal, point, curMaxDist);
-	}
-#endif  //ONLY_REPORT_DEEPEST_POINT
-}
-
-void btPolyhedralContactClipping::clipHullAgainstHull(const btVector3& separatingNormal1, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA, const btTransform& transB, const btScalar minDist, btScalar maxDist, btVertexArray& worldVertsB1, btVertexArray& worldVertsB2, btDiscreteCollisionDetectorInterface::Result& resultOut)
-{
-	btVector3 separatingNormal = separatingNormal1.normalized();
-	//	const btVector3 c0 = transA * hullA.m_localCenter;
-	//	const btVector3 c1 = transB * hullB.m_localCenter;
-	//const btVector3 DeltaC2 = c0 - c1;
-
-	int closestFaceB = -1;
-	btScalar dmax = -FLT_MAX;
-	{
-		for (int face = 0; face < hullB.m_faces.size(); face++)
-		{
-			const btVector3 Normal(hullB.m_faces[face].m_plane[0], hullB.m_faces[face].m_plane[1], hullB.m_faces[face].m_plane[2]);
-			const btVector3 WorldNormal = transB.getBasis() * Normal;
-			btScalar d = WorldNormal.dot(separatingNormal);
-			if (d > dmax)
-			{
-				dmax = d;
-				closestFaceB = face;
-			}
-		}
-	}
-	worldVertsB1.resize(0);
-	{
-		const btFace& polyB = hullB.m_faces[closestFaceB];
-		const int numVertices = polyB.m_indices.size();
-		for (int e0 = 0; e0 < numVertices; e0++)
-		{
-			const btVector3& b = hullB.m_vertices[polyB.m_indices[e0]];
-			worldVertsB1.push_back(transB * b);
-		}
-	}
-
-	if (closestFaceB >= 0)
-		clipFaceAgainstHull(separatingNormal, hullA, transA, worldVertsB1, worldVertsB2, minDist, maxDist, resultOut);
-}
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
deleted file mode 100644
index 328f6424bc..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2011 Advanced Micro Devices, Inc.  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///This file was written by Erwin Coumans
-
-#ifndef BT_POLYHEDRAL_CONTACT_CLIPPING_H
-#define BT_POLYHEDRAL_CONTACT_CLIPPING_H
-
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btTransform.h"
-#include "btDiscreteCollisionDetectorInterface.h"
-
-class btConvexPolyhedron;
-
-typedef btAlignedObjectArray<btVector3> btVertexArray;
-
-// Clips a face to the back of a plane
-struct btPolyhedralContactClipping
-{
-	static void clipHullAgainstHull(const btVector3& separatingNormal1, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA, const btTransform& transB, const btScalar minDist, btScalar maxDist, btVertexArray& worldVertsB1, btVertexArray& worldVertsB2, btDiscreteCollisionDetectorInterface::Result& resultOut);
-
-	static void clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, btVertexArray& worldVertsB2, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result& resultOut);
-
-	static bool findSeparatingAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA, const btTransform& transB, btVector3& sep, btDiscreteCollisionDetectorInterface::Result& resultOut);
-
-	///the clipFace method is used internally
-	static void clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS, btScalar planeEqWS);
-};
-
-#endif  // BT_POLYHEDRAL_CONTACT_CLIPPING_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
deleted file mode 100644
index 3d11e5bce5..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
+++ /dev/null
@@ -1,175 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-//#include <stdio.h>
-
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-#include "BulletCollision/CollisionShapes/btTriangleShape.h"
-#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
-#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
-#include "btRaycastCallback.h"
-
-btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from, const btVector3& to, unsigned int flags)
-	: m_from(from),
-	  m_to(to),
-	  //@BP Mod
-	  m_flags(flags),
-	  m_hitFraction(btScalar(1.))
-{
-}
-
-void btTriangleRaycastCallback::processTriangle(btVector3* triangle, int partId, int triangleIndex)
-{
-	const btVector3& vert0 = triangle[0];
-	const btVector3& vert1 = triangle[1];
-	const btVector3& vert2 = triangle[2];
-
-	btVector3 v10;
-	v10 = vert1 - vert0;
-	btVector3 v20;
-	v20 = vert2 - vert0;
-
-	btVector3 triangleNormal;
-	triangleNormal = v10.cross(v20);
-
-	const btScalar dist = vert0.dot(triangleNormal);
-	btScalar dist_a = triangleNormal.dot(m_from);
-	dist_a -= dist;
-	btScalar dist_b = triangleNormal.dot(m_to);
-	dist_b -= dist;
-
-	if (dist_a * dist_b >= btScalar(0.0))
-	{
-		return;  // same sign
-	}
-
-	if (((m_flags & kF_FilterBackfaces) != 0) && (dist_a <= btScalar(0.0)))
-	{
-		// Backface, skip check
-		return;
-	}
-
-	const btScalar proj_length = dist_a - dist_b;
-	const btScalar distance = (dist_a) / (proj_length);
-	// Now we have the intersection point on the plane, we'll see if it's inside the triangle
-	// Add an epsilon as a tolerance for the raycast,
-	// in case the ray hits exacly on the edge of the triangle.
-	// It must be scaled for the triangle size.
-
-	if (distance < m_hitFraction)
-	{
-		btScalar edge_tolerance = triangleNormal.length2();
-		edge_tolerance *= btScalar(-0.0001);
-		btVector3 point;
-		point.setInterpolate3(m_from, m_to, distance);
-		{
-			btVector3 v0p;
-			v0p = vert0 - point;
-			btVector3 v1p;
-			v1p = vert1 - point;
-			btVector3 cp0;
-			cp0 = v0p.cross(v1p);
-
-			if ((btScalar)(cp0.dot(triangleNormal)) >= edge_tolerance)
-			{
-				btVector3 v2p;
-				v2p = vert2 - point;
-				btVector3 cp1;
-				cp1 = v1p.cross(v2p);
-				if ((btScalar)(cp1.dot(triangleNormal)) >= edge_tolerance)
-				{
-					btVector3 cp2;
-					cp2 = v2p.cross(v0p);
-
-					if ((btScalar)(cp2.dot(triangleNormal)) >= edge_tolerance)
-					{
-						//@BP Mod
-						// Triangle normal isn't normalized
-						triangleNormal.normalize();
-
-						//@BP Mod - Allow for unflipped normal when raycasting against backfaces
-						if (((m_flags & kF_KeepUnflippedNormal) == 0) && (dist_a <= btScalar(0.0)))
-						{
-							m_hitFraction = reportHit(-triangleNormal, distance, partId, triangleIndex);
-						}
-						else
-						{
-							m_hitFraction = reportHit(triangleNormal, distance, partId, triangleIndex);
-						}
-					}
-				}
-			}
-		}
-	}
-}
-
-btTriangleConvexcastCallback::btTriangleConvexcastCallback(const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin)
-{
-	m_convexShape = convexShape;
-	m_convexShapeFrom = convexShapeFrom;
-	m_convexShapeTo = convexShapeTo;
-	m_triangleToWorld = triangleToWorld;
-	m_hitFraction = 1.0f;
-	m_triangleCollisionMargin = triangleCollisionMargin;
-	m_allowedPenetration = 0.f;
-}
-
-void btTriangleConvexcastCallback::processTriangle(btVector3* triangle, int partId, int triangleIndex)
-{
-	btTriangleShape triangleShape(triangle[0], triangle[1], triangle[2]);
-	triangleShape.setMargin(m_triangleCollisionMargin);
-
-	btVoronoiSimplexSolver simplexSolver;
-	btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver;
-
-//#define  USE_SUBSIMPLEX_CONVEX_CAST 1
-//if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented out code below
-#ifdef USE_SUBSIMPLEX_CONVEX_CAST
-	btSubsimplexConvexCast convexCaster(m_convexShape, &triangleShape, &simplexSolver);
-#else
-	//btGjkConvexCast	convexCaster(m_convexShape,&triangleShape,&simplexSolver);
-	btContinuousConvexCollision convexCaster(m_convexShape, &triangleShape, &simplexSolver, &gjkEpaPenetrationSolver);
-#endif  //#USE_SUBSIMPLEX_CONVEX_CAST
-
-	btConvexCast::CastResult castResult;
-	castResult.m_fraction = btScalar(1.);
-	castResult.m_allowedPenetration = m_allowedPenetration;
-	if (convexCaster.calcTimeOfImpact(m_convexShapeFrom, m_convexShapeTo, m_triangleToWorld, m_triangleToWorld, castResult))
-	{
-		//add hit
-		if (castResult.m_normal.length2() > btScalar(0.0001))
-		{
-			if (castResult.m_fraction < m_hitFraction)
-			{
-				/* btContinuousConvexCast's normal is already in world space */
-				/*
-#ifdef USE_SUBSIMPLEX_CONVEX_CAST
-				//rotate normal into worldspace
-				castResult.m_normal = m_convexShapeFrom.getBasis() * castResult.m_normal;
-#endif //USE_SUBSIMPLEX_CONVEX_CAST
-*/
-				castResult.m_normal.normalize();
-
-				reportHit(castResult.m_normal,
-						  castResult.m_hitPoint,
-						  castResult.m_fraction,
-						  partId,
-						  triangleIndex);
-			}
-		}
-	}
-}
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h
deleted file mode 100644
index 2d0df718a2..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h
+++ /dev/null
@@ -1,72 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_RAYCAST_TRI_CALLBACK_H
-#define BT_RAYCAST_TRI_CALLBACK_H
-
-#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
-#include "LinearMath/btTransform.h"
-struct btBroadphaseProxy;
-class btConvexShape;
-
-class btTriangleRaycastCallback : public btTriangleCallback
-{
-public:
-	//input
-	btVector3 m_from;
-	btVector3 m_to;
-
-	//@BP Mod - allow backface filtering and unflipped normals
-	enum EFlags
-	{
-		kF_None = 0,
-		kF_FilterBackfaces = 1 << 0,
-		kF_KeepUnflippedNormal = 1 << 1,             // Prevents returned face normal getting flipped when a ray hits a back-facing triangle
-													 ///SubSimplexConvexCastRaytest is the default, even if kF_None is set.
-		kF_UseSubSimplexConvexCastRaytest = 1 << 2,  // Uses an approximate but faster ray versus convex intersection algorithm
-		kF_UseGjkConvexCastRaytest = 1 << 3,
-		kF_DisableHeightfieldAccelerator  = 1 << 4, //don't use the heightfield raycast accelerator. See https://github.com/bulletphysics/bullet3/pull/2062
-		kF_Terminator = 0xFFFFFFFF
-	};
-	unsigned int m_flags;
-
-	btScalar m_hitFraction;
-
-	btTriangleRaycastCallback(const btVector3& from, const btVector3& to, unsigned int flags = 0);
-
-	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
-
-	virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex) = 0;
-};
-
-class btTriangleConvexcastCallback : public btTriangleCallback
-{
-public:
-	const btConvexShape* m_convexShape;
-	btTransform m_convexShapeFrom;
-	btTransform m_convexShapeTo;
-	btTransform m_triangleToWorld;
-	btScalar m_hitFraction;
-	btScalar m_triangleCollisionMargin;
-	btScalar m_allowedPenetration;
-
-	btTriangleConvexcastCallback(const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin);
-
-	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
-
-	virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex) = 0;
-};
-
-#endif  //BT_RAYCAST_TRI_CALLBACK_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h
deleted file mode 100644
index ccd227109d..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h
+++ /dev/null
@@ -1,58 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SIMPLEX_SOLVER_INTERFACE_H
-#define BT_SIMPLEX_SOLVER_INTERFACE_H
-
-#include "LinearMath/btVector3.h"
-
-#define NO_VIRTUAL_INTERFACE 1
-#ifdef NO_VIRTUAL_INTERFACE
-#include "btVoronoiSimplexSolver.h"
-#define btSimplexSolverInterface btVoronoiSimplexSolver
-#else
-
-/// btSimplexSolverInterface can incrementally calculate distance between origin and up to 4 vertices
-/// Used by GJK or Linear Casting. Can be implemented by the Johnson-algorithm or alternative approaches based on
-/// voronoi regions or barycentric coordinates
-class btSimplexSolverInterface
-{
-public:
-	virtual ~btSimplexSolverInterface(){};
-
-	virtual void reset() = 0;
-
-	virtual void addVertex(const btVector3& w, const btVector3& p, const btVector3& q) = 0;
-
-	virtual bool closest(btVector3& v) = 0;
-
-	virtual btScalar maxVertex() = 0;
-
-	virtual bool fullSimplex() const = 0;
-
-	virtual int getSimplex(btVector3* pBuf, btVector3* qBuf, btVector3* yBuf) const = 0;
-
-	virtual bool inSimplex(const btVector3& w) = 0;
-
-	virtual void backup_closest(btVector3& v) = 0;
-
-	virtual bool emptySimplex() const = 0;
-
-	virtual void compute_points(btVector3& p1, btVector3& p2) = 0;
-
-	virtual int numVertices() const = 0;
-};
-#endif
-#endif  //BT_SIMPLEX_SOLVER_INTERFACE_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
deleted file mode 100644
index 37458339e7..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
+++ /dev/null
@@ -1,143 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btSubSimplexConvexCast.h"
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-
-#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
-#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
-#include "btPointCollector.h"
-#include "LinearMath/btTransformUtil.h"
-
-btSubsimplexConvexCast::btSubsimplexConvexCast(const btConvexShape* convexA, const btConvexShape* convexB, btSimplexSolverInterface* simplexSolver)
-	: m_simplexSolver(simplexSolver),
-	  m_convexA(convexA),
-	  m_convexB(convexB)
-{
-}
-
-
-bool btSubsimplexConvexCast::calcTimeOfImpact(
-	const btTransform& fromA,
-	const btTransform& toA,
-	const btTransform& fromB,
-	const btTransform& toB,
-	CastResult& result)
-{
-	m_simplexSolver->reset();
-
-	btVector3 linVelA, linVelB;
-	linVelA = toA.getOrigin() - fromA.getOrigin();
-	linVelB = toB.getOrigin() - fromB.getOrigin();
-
-	btScalar lambda = btScalar(0.);
-
-	btTransform interpolatedTransA = fromA;
-	btTransform interpolatedTransB = fromB;
-
-	///take relative motion
-	btVector3 r = (linVelA - linVelB);
-	btVector3 v;
-
-	btVector3 supVertexA = fromA(m_convexA->localGetSupportingVertex(-r * fromA.getBasis()));
-	btVector3 supVertexB = fromB(m_convexB->localGetSupportingVertex(r * fromB.getBasis()));
-	v = supVertexA - supVertexB;
-	int maxIter = result.m_subSimplexCastMaxIterations;
-
-	btVector3 n;
-	n.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-
-	btVector3 c;
-
-	btScalar dist2 = v.length2();
-
-
-
-	btVector3 w, p;
-	btScalar VdotR;
-
-	while ((dist2 > result.m_subSimplexCastEpsilon) && maxIter--)
-	{
-		supVertexA = interpolatedTransA(m_convexA->localGetSupportingVertex(-v * interpolatedTransA.getBasis()));
-		supVertexB = interpolatedTransB(m_convexB->localGetSupportingVertex(v * interpolatedTransB.getBasis()));
-		w = supVertexA - supVertexB;
-
-		btScalar VdotW = v.dot(w);
-
-		if (lambda > btScalar(1.0))
-		{
-			return false;
-		}
-
-		if (VdotW > btScalar(0.))
-		{
-			VdotR = v.dot(r);
-
-			if (VdotR >= -(SIMD_EPSILON * SIMD_EPSILON))
-				return false;
-			else
-			{
-				lambda = lambda - VdotW / VdotR;
-				//interpolate to next lambda
-				//	x = s + lambda * r;
-				interpolatedTransA.getOrigin().setInterpolate3(fromA.getOrigin(), toA.getOrigin(), lambda);
-				interpolatedTransB.getOrigin().setInterpolate3(fromB.getOrigin(), toB.getOrigin(), lambda);
-				//m_simplexSolver->reset();
-				//check next line
-				w = supVertexA - supVertexB;
-
-				n = v;
-			}
-		}
-		///Just like regular GJK only add the vertex if it isn't already (close) to current vertex, it would lead to divisions by zero and NaN etc.
-		if (!m_simplexSolver->inSimplex(w))
-			m_simplexSolver->addVertex(w, supVertexA, supVertexB);
-
-		if (m_simplexSolver->closest(v))
-		{
-			dist2 = v.length2();
-
-			//todo: check this normal for validity
-			//n=v;
-			//printf("V=%f , %f, %f\n",v[0],v[1],v[2]);
-			//printf("DIST2=%f\n",dist2);
-			//printf("numverts = %i\n",m_simplexSolver->numVertices());
-		}
-		else
-		{
-			dist2 = btScalar(0.);
-		}
-	}
-
-	//int numiter = MAX_ITERATIONS - maxIter;
-	//	printf("number of iterations: %d", numiter);
-
-	//don't report a time of impact when moving 'away' from the hitnormal
-
-	result.m_fraction = lambda;
-	if (n.length2() >= (SIMD_EPSILON * SIMD_EPSILON))
-		result.m_normal = n.normalized();
-	else
-		result.m_normal = btVector3(btScalar(0.0), btScalar(0.0), btScalar(0.0));
-
-	//don't report time of impact for motion away from the contact normal (or causes minor penetration)
-	if (result.m_normal.dot(r) >= -result.m_allowedPenetration)
-		return false;
-
-	btVector3 hitA, hitB;
-	m_simplexSolver->compute_points(hitA, hitB);
-	result.m_hitPoint = hitB;
-	return true;
-}
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h
deleted file mode 100644
index 0638a30eb1..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h
+++ /dev/null
@@ -1,47 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SUBSIMPLEX_CONVEX_CAST_H
-#define BT_SUBSIMPLEX_CONVEX_CAST_H
-
-#include "btConvexCast.h"
-#include "btSimplexSolverInterface.h"
-class btConvexShape;
-
-/// btSubsimplexConvexCast implements Gino van den Bergens' paper
-///"Ray Casting against bteral Convex Objects with Application to Continuous Collision Detection"
-/// GJK based Ray Cast, optimized version
-/// Objects should not start in overlap, otherwise results are not defined.
-class btSubsimplexConvexCast : public btConvexCast
-{
-	btSimplexSolverInterface* m_simplexSolver;
-	const btConvexShape* m_convexA;
-	const btConvexShape* m_convexB;
-
-public:
-	btSubsimplexConvexCast(const btConvexShape* shapeA, const btConvexShape* shapeB, btSimplexSolverInterface* simplexSolver);
-
-	//virtual ~btSubsimplexConvexCast();
-	///SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (sweep) between two moving objects.
-	///Precondition is that objects should not penetration/overlap at the start from the interval. Overlap can be tested using btGjkPairDetector.
-	virtual bool calcTimeOfImpact(
-		const btTransform& fromA,
-		const btTransform& toA,
-		const btTransform& fromB,
-		const btTransform& toB,
-		CastResult& result);
-};
-
-#endif  //BT_SUBSIMPLEX_CONVEX_CAST_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
deleted file mode 100644
index 8fda94d2ad..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
+++ /dev/null
@@ -1,577 +0,0 @@
-
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-	
-	Elsevier CDROM license agreements grants nonexclusive license to use the software
-	for any purpose, commercial or non-commercial as long as the following credit is included
-	identifying the original source of the software:
-
-	Parts of the source are "from the book Real-Time Collision Detection by
-	Christer Ericson, published by Morgan Kaufmann Publishers,
-	(c) 2005 Elsevier Inc."
-		
-*/
-
-#include "btVoronoiSimplexSolver.h"
-
-#define VERTA 0
-#define VERTB 1
-#define VERTC 2
-#define VERTD 3
-
-#define CATCH_DEGENERATE_TETRAHEDRON 1
-void btVoronoiSimplexSolver::removeVertex(int index)
-{
-	btAssert(m_numVertices > 0);
-	m_numVertices--;
-	m_simplexVectorW[index] = m_simplexVectorW[m_numVertices];
-	m_simplexPointsP[index] = m_simplexPointsP[m_numVertices];
-	m_simplexPointsQ[index] = m_simplexPointsQ[m_numVertices];
-}
-
-void btVoronoiSimplexSolver::reduceVertices(const btUsageBitfield& usedVerts)
-{
-	if ((numVertices() >= 4) && (!usedVerts.usedVertexD))
-		removeVertex(3);
-
-	if ((numVertices() >= 3) && (!usedVerts.usedVertexC))
-		removeVertex(2);
-
-	if ((numVertices() >= 2) && (!usedVerts.usedVertexB))
-		removeVertex(1);
-
-	if ((numVertices() >= 1) && (!usedVerts.usedVertexA))
-		removeVertex(0);
-}
-
-//clear the simplex, remove all the vertices
-void btVoronoiSimplexSolver::reset()
-{
-	m_cachedValidClosest = false;
-	m_numVertices = 0;
-	m_needsUpdate = true;
-	m_lastW = btVector3(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-	m_cachedBC.reset();
-}
-
-//add a vertex
-void btVoronoiSimplexSolver::addVertex(const btVector3& w, const btVector3& p, const btVector3& q)
-{
-	m_lastW = w;
-	m_needsUpdate = true;
-
-	m_simplexVectorW[m_numVertices] = w;
-	m_simplexPointsP[m_numVertices] = p;
-	m_simplexPointsQ[m_numVertices] = q;
-
-	m_numVertices++;
-}
-
-bool btVoronoiSimplexSolver::updateClosestVectorAndPoints()
-{
-	if (m_needsUpdate)
-	{
-		m_cachedBC.reset();
-
-		m_needsUpdate = false;
-
-		switch (numVertices())
-		{
-			case 0:
-				m_cachedValidClosest = false;
-				break;
-			case 1:
-			{
-				m_cachedP1 = m_simplexPointsP[0];
-				m_cachedP2 = m_simplexPointsQ[0];
-				m_cachedV = m_cachedP1 - m_cachedP2;  //== m_simplexVectorW[0]
-				m_cachedBC.reset();
-				m_cachedBC.setBarycentricCoordinates(btScalar(1.), btScalar(0.), btScalar(0.), btScalar(0.));
-				m_cachedValidClosest = m_cachedBC.isValid();
-				break;
-			};
-			case 2:
-			{
-				//closest point origin from line segment
-				const btVector3& from = m_simplexVectorW[0];
-				const btVector3& to = m_simplexVectorW[1];
-				btVector3 nearest;
-
-				btVector3 p(btScalar(0.), btScalar(0.), btScalar(0.));
-				btVector3 diff = p - from;
-				btVector3 v = to - from;
-				btScalar t = v.dot(diff);
-
-				if (t > 0)
-				{
-					btScalar dotVV = v.dot(v);
-					if (t < dotVV)
-					{
-						t /= dotVV;
-						diff -= t * v;
-						m_cachedBC.m_usedVertices.usedVertexA = true;
-						m_cachedBC.m_usedVertices.usedVertexB = true;
-					}
-					else
-					{
-						t = 1;
-						diff -= v;
-						//reduce to 1 point
-						m_cachedBC.m_usedVertices.usedVertexB = true;
-					}
-				}
-				else
-				{
-					t = 0;
-					//reduce to 1 point
-					m_cachedBC.m_usedVertices.usedVertexA = true;
-				}
-				m_cachedBC.setBarycentricCoordinates(1 - t, t);
-				nearest = from + t * v;
-
-				m_cachedP1 = m_simplexPointsP[0] + t * (m_simplexPointsP[1] - m_simplexPointsP[0]);
-				m_cachedP2 = m_simplexPointsQ[0] + t * (m_simplexPointsQ[1] - m_simplexPointsQ[0]);
-				m_cachedV = m_cachedP1 - m_cachedP2;
-
-				reduceVertices(m_cachedBC.m_usedVertices);
-
-				m_cachedValidClosest = m_cachedBC.isValid();
-				break;
-			}
-			case 3:
-			{
-				//closest point origin from triangle
-				btVector3 p(btScalar(0.), btScalar(0.), btScalar(0.));
-
-				const btVector3& a = m_simplexVectorW[0];
-				const btVector3& b = m_simplexVectorW[1];
-				const btVector3& c = m_simplexVectorW[2];
-
-				closestPtPointTriangle(p, a, b, c, m_cachedBC);
-				m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] +
-							 m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
-							 m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2];
-
-				m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] +
-							 m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] +
-							 m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2];
-
-				m_cachedV = m_cachedP1 - m_cachedP2;
-
-				reduceVertices(m_cachedBC.m_usedVertices);
-				m_cachedValidClosest = m_cachedBC.isValid();
-
-				break;
-			}
-			case 4:
-			{
-				btVector3 p(btScalar(0.), btScalar(0.), btScalar(0.));
-
-				const btVector3& a = m_simplexVectorW[0];
-				const btVector3& b = m_simplexVectorW[1];
-				const btVector3& c = m_simplexVectorW[2];
-				const btVector3& d = m_simplexVectorW[3];
-
-				bool hasSeparation = closestPtPointTetrahedron(p, a, b, c, d, m_cachedBC);
-
-				if (hasSeparation)
-				{
-					m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] +
-								 m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
-								 m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2] +
-								 m_simplexPointsP[3] * m_cachedBC.m_barycentricCoords[3];
-
-					m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] +
-								 m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] +
-								 m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2] +
-								 m_simplexPointsQ[3] * m_cachedBC.m_barycentricCoords[3];
-
-					m_cachedV = m_cachedP1 - m_cachedP2;
-					reduceVertices(m_cachedBC.m_usedVertices);
-				}
-				else
-				{
-					//					printf("sub distance got penetration\n");
-
-					if (m_cachedBC.m_degenerate)
-					{
-						m_cachedValidClosest = false;
-					}
-					else
-					{
-						m_cachedValidClosest = true;
-						//degenerate case == false, penetration = true + zero
-						m_cachedV.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-					}
-					break;
-				}
-
-				m_cachedValidClosest = m_cachedBC.isValid();
-
-				//closest point origin from tetrahedron
-				break;
-			}
-			default:
-			{
-				m_cachedValidClosest = false;
-			}
-		};
-	}
-
-	return m_cachedValidClosest;
-}
-
-//return/calculate the closest vertex
-bool btVoronoiSimplexSolver::closest(btVector3& v)
-{
-	bool succes = updateClosestVectorAndPoints();
-	v = m_cachedV;
-	return succes;
-}
-
-btScalar btVoronoiSimplexSolver::maxVertex()
-{
-	int i, numverts = numVertices();
-	btScalar maxV = btScalar(0.);
-	for (i = 0; i < numverts; i++)
-	{
-		btScalar curLen2 = m_simplexVectorW[i].length2();
-		if (maxV < curLen2)
-			maxV = curLen2;
-	}
-	return maxV;
-}
-
-//return the current simplex
-int btVoronoiSimplexSolver::getSimplex(btVector3* pBuf, btVector3* qBuf, btVector3* yBuf) const
-{
-	int i;
-	for (i = 0; i < numVertices(); i++)
-	{
-		yBuf[i] = m_simplexVectorW[i];
-		pBuf[i] = m_simplexPointsP[i];
-		qBuf[i] = m_simplexPointsQ[i];
-	}
-	return numVertices();
-}
-
-bool btVoronoiSimplexSolver::inSimplex(const btVector3& w)
-{
-	bool found = false;
-	int i, numverts = numVertices();
-	//btScalar maxV = btScalar(0.);
-
-	//w is in the current (reduced) simplex
-	for (i = 0; i < numverts; i++)
-	{
-#ifdef BT_USE_EQUAL_VERTEX_THRESHOLD
-		if (m_simplexVectorW[i].distance2(w) <= m_equalVertexThreshold)
-#else
-		if (m_simplexVectorW[i] == w)
-#endif
-		{
-			found = true;
-			break;
-		}
-	}
-
-	//check in case lastW is already removed
-	if (w == m_lastW)
-		return true;
-
-	return found;
-}
-
-void btVoronoiSimplexSolver::backup_closest(btVector3& v)
-{
-	v = m_cachedV;
-}
-
-bool btVoronoiSimplexSolver::emptySimplex() const
-{
-	return (numVertices() == 0);
-}
-
-void btVoronoiSimplexSolver::compute_points(btVector3& p1, btVector3& p2)
-{
-	updateClosestVectorAndPoints();
-	p1 = m_cachedP1;
-	p2 = m_cachedP2;
-}
-
-bool btVoronoiSimplexSolver::closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, btSubSimplexClosestResult& result)
-{
-	result.m_usedVertices.reset();
-
-	// Check if P in vertex region outside A
-	btVector3 ab = b - a;
-	btVector3 ac = c - a;
-	btVector3 ap = p - a;
-	btScalar d1 = ab.dot(ap);
-	btScalar d2 = ac.dot(ap);
-	if (d1 <= btScalar(0.0) && d2 <= btScalar(0.0))
-	{
-		result.m_closestPointOnSimplex = a;
-		result.m_usedVertices.usedVertexA = true;
-		result.setBarycentricCoordinates(1, 0, 0);
-		return true;  // a; // barycentric coordinates (1,0,0)
-	}
-
-	// Check if P in vertex region outside B
-	btVector3 bp = p - b;
-	btScalar d3 = ab.dot(bp);
-	btScalar d4 = ac.dot(bp);
-	if (d3 >= btScalar(0.0) && d4 <= d3)
-	{
-		result.m_closestPointOnSimplex = b;
-		result.m_usedVertices.usedVertexB = true;
-		result.setBarycentricCoordinates(0, 1, 0);
-
-		return true;  // b; // barycentric coordinates (0,1,0)
-	}
-	// Check if P in edge region of AB, if so return projection of P onto AB
-	btScalar vc = d1 * d4 - d3 * d2;
-	if (vc <= btScalar(0.0) && d1 >= btScalar(0.0) && d3 <= btScalar(0.0))
-	{
-		btScalar v = d1 / (d1 - d3);
-		result.m_closestPointOnSimplex = a + v * ab;
-		result.m_usedVertices.usedVertexA = true;
-		result.m_usedVertices.usedVertexB = true;
-		result.setBarycentricCoordinates(1 - v, v, 0);
-		return true;
-		//return a + v * ab; // barycentric coordinates (1-v,v,0)
-	}
-
-	// Check if P in vertex region outside C
-	btVector3 cp = p - c;
-	btScalar d5 = ab.dot(cp);
-	btScalar d6 = ac.dot(cp);
-	if (d6 >= btScalar(0.0) && d5 <= d6)
-	{
-		result.m_closestPointOnSimplex = c;
-		result.m_usedVertices.usedVertexC = true;
-		result.setBarycentricCoordinates(0, 0, 1);
-		return true;  //c; // barycentric coordinates (0,0,1)
-	}
-
-	// Check if P in edge region of AC, if so return projection of P onto AC
-	btScalar vb = d5 * d2 - d1 * d6;
-	if (vb <= btScalar(0.0) && d2 >= btScalar(0.0) && d6 <= btScalar(0.0))
-	{
-		btScalar w = d2 / (d2 - d6);
-		result.m_closestPointOnSimplex = a + w * ac;
-		result.m_usedVertices.usedVertexA = true;
-		result.m_usedVertices.usedVertexC = true;
-		result.setBarycentricCoordinates(1 - w, 0, w);
-		return true;
-		//return a + w * ac; // barycentric coordinates (1-w,0,w)
-	}
-
-	// Check if P in edge region of BC, if so return projection of P onto BC
-	btScalar va = d3 * d6 - d5 * d4;
-	if (va <= btScalar(0.0) && (d4 - d3) >= btScalar(0.0) && (d5 - d6) >= btScalar(0.0))
-	{
-		btScalar w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
-
-		result.m_closestPointOnSimplex = b + w * (c - b);
-		result.m_usedVertices.usedVertexB = true;
-		result.m_usedVertices.usedVertexC = true;
-		result.setBarycentricCoordinates(0, 1 - w, w);
-		return true;
-		// return b + w * (c - b); // barycentric coordinates (0,1-w,w)
-	}
-
-	// P inside face region. Compute Q through its barycentric coordinates (u,v,w)
-	btScalar denom = btScalar(1.0) / (va + vb + vc);
-	btScalar v = vb * denom;
-	btScalar w = vc * denom;
-
-	result.m_closestPointOnSimplex = a + ab * v + ac * w;
-	result.m_usedVertices.usedVertexA = true;
-	result.m_usedVertices.usedVertexB = true;
-	result.m_usedVertices.usedVertexC = true;
-	result.setBarycentricCoordinates(1 - v - w, v, w);
-
-	return true;
-	//	return a + ab * v + ac * w; // = u*a + v*b + w*c, u = va * denom = btScalar(1.0) - v - w
-}
-
-/// Test if point p and d lie on opposite sides of plane through abc
-int btVoronoiSimplexSolver::pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d)
-{
-	btVector3 normal = (b - a).cross(c - a);
-
-	btScalar signp = (p - a).dot(normal);  // [AP AB AC]
-	btScalar signd = (d - a).dot(normal);  // [AD AB AC]
-
-#ifdef CATCH_DEGENERATE_TETRAHEDRON
-#ifdef BT_USE_DOUBLE_PRECISION
-	if (signd * signd < (btScalar(1e-8) * btScalar(1e-8)))
-	{
-		return -1;
-	}
-#else
-	if (signd * signd < (btScalar(1e-4) * btScalar(1e-4)))
-	{
-		//		printf("affine dependent/degenerate\n");//
-		return -1;
-	}
-#endif
-
-#endif
-	// Points on opposite sides if expression signs are opposite
-	return signp * signd < btScalar(0.);
-}
-
-bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult)
-{
-	btSubSimplexClosestResult tempResult;
-
-	// Start out assuming point inside all halfspaces, so closest to itself
-	finalResult.m_closestPointOnSimplex = p;
-	finalResult.m_usedVertices.reset();
-	finalResult.m_usedVertices.usedVertexA = true;
-	finalResult.m_usedVertices.usedVertexB = true;
-	finalResult.m_usedVertices.usedVertexC = true;
-	finalResult.m_usedVertices.usedVertexD = true;
-
-	int pointOutsideABC = pointOutsideOfPlane(p, a, b, c, d);
-	int pointOutsideACD = pointOutsideOfPlane(p, a, c, d, b);
-	int pointOutsideADB = pointOutsideOfPlane(p, a, d, b, c);
-	int pointOutsideBDC = pointOutsideOfPlane(p, b, d, c, a);
-
-	if (pointOutsideABC < 0 || pointOutsideACD < 0 || pointOutsideADB < 0 || pointOutsideBDC < 0)
-	{
-		finalResult.m_degenerate = true;
-		return false;
-	}
-
-	if (!pointOutsideABC && !pointOutsideACD && !pointOutsideADB && !pointOutsideBDC)
-	{
-		return false;
-	}
-
-	btScalar bestSqDist = FLT_MAX;
-	// If point outside face abc then compute closest point on abc
-	if (pointOutsideABC)
-	{
-		closestPtPointTriangle(p, a, b, c, tempResult);
-		btVector3 q = tempResult.m_closestPointOnSimplex;
-
-		btScalar sqDist = (q - p).dot(q - p);
-		// Update best closest point if (squared) distance is less than current best
-		if (sqDist < bestSqDist)
-		{
-			bestSqDist = sqDist;
-			finalResult.m_closestPointOnSimplex = q;
-			//convert result bitmask!
-			finalResult.m_usedVertices.reset();
-			finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
-			finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexB;
-			finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexC;
-			finalResult.setBarycentricCoordinates(
-				tempResult.m_barycentricCoords[VERTA],
-				tempResult.m_barycentricCoords[VERTB],
-				tempResult.m_barycentricCoords[VERTC],
-				0);
-		}
-	}
-
-	// Repeat test for face acd
-	if (pointOutsideACD)
-	{
-		closestPtPointTriangle(p, a, c, d, tempResult);
-		btVector3 q = tempResult.m_closestPointOnSimplex;
-		//convert result bitmask!
-
-		btScalar sqDist = (q - p).dot(q - p);
-		if (sqDist < bestSqDist)
-		{
-			bestSqDist = sqDist;
-			finalResult.m_closestPointOnSimplex = q;
-			finalResult.m_usedVertices.reset();
-			finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
-
-			finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexB;
-			finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexC;
-			finalResult.setBarycentricCoordinates(
-				tempResult.m_barycentricCoords[VERTA],
-				0,
-				tempResult.m_barycentricCoords[VERTB],
-				tempResult.m_barycentricCoords[VERTC]);
-		}
-	}
-	// Repeat test for face adb
-
-	if (pointOutsideADB)
-	{
-		closestPtPointTriangle(p, a, d, b, tempResult);
-		btVector3 q = tempResult.m_closestPointOnSimplex;
-		//convert result bitmask!
-
-		btScalar sqDist = (q - p).dot(q - p);
-		if (sqDist < bestSqDist)
-		{
-			bestSqDist = sqDist;
-			finalResult.m_closestPointOnSimplex = q;
-			finalResult.m_usedVertices.reset();
-			finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
-			finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexC;
-
-			finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
-			finalResult.setBarycentricCoordinates(
-				tempResult.m_barycentricCoords[VERTA],
-				tempResult.m_barycentricCoords[VERTC],
-				0,
-				tempResult.m_barycentricCoords[VERTB]);
-		}
-	}
-	// Repeat test for face bdc
-
-	if (pointOutsideBDC)
-	{
-		closestPtPointTriangle(p, b, d, c, tempResult);
-		btVector3 q = tempResult.m_closestPointOnSimplex;
-		//convert result bitmask!
-		btScalar sqDist = (q - p).dot(q - p);
-		if (sqDist < bestSqDist)
-		{
-			bestSqDist = sqDist;
-			finalResult.m_closestPointOnSimplex = q;
-			finalResult.m_usedVertices.reset();
-			//
-			finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexA;
-			finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexC;
-			finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
-
-			finalResult.setBarycentricCoordinates(
-				0,
-				tempResult.m_barycentricCoords[VERTA],
-				tempResult.m_barycentricCoords[VERTC],
-				tempResult.m_barycentricCoords[VERTB]);
-		}
-	}
-
-	//help! we ended up full !
-
-	if (finalResult.m_usedVertices.usedVertexA &&
-		finalResult.m_usedVertices.usedVertexB &&
-		finalResult.m_usedVertices.usedVertexC &&
-		finalResult.m_usedVertices.usedVertexD)
-	{
-		return true;
-	}
-
-	return true;
-}
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
deleted file mode 100644
index 24a0a8f2df..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
+++ /dev/null
@@ -1,173 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_VORONOI_SIMPLEX_SOLVER_H
-#define BT_VORONOI_SIMPLEX_SOLVER_H
-
-#include "btSimplexSolverInterface.h"
-
-#define VORONOI_SIMPLEX_MAX_VERTS 5
-
-///disable next define, or use defaultCollisionConfiguration->getSimplexSolver()->setEqualVertexThreshold(0.f) to disable/configure
-#define BT_USE_EQUAL_VERTEX_THRESHOLD
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 1e-12f
-#else
-#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f
-#endif  //BT_USE_DOUBLE_PRECISION
-
-struct btUsageBitfield
-{
-	btUsageBitfield()
-	{
-		reset();
-	}
-
-	void reset()
-	{
-		usedVertexA = false;
-		usedVertexB = false;
-		usedVertexC = false;
-		usedVertexD = false;
-	}
-	unsigned short usedVertexA : 1;
-	unsigned short usedVertexB : 1;
-	unsigned short usedVertexC : 1;
-	unsigned short usedVertexD : 1;
-	unsigned short unused1 : 1;
-	unsigned short unused2 : 1;
-	unsigned short unused3 : 1;
-	unsigned short unused4 : 1;
-};
-
-struct btSubSimplexClosestResult
-{
-	btVector3 m_closestPointOnSimplex;
-	//MASK for m_usedVertices
-	//stores the simplex vertex-usage, using the MASK,
-	// if m_usedVertices & MASK then the related vertex is used
-	btUsageBitfield m_usedVertices;
-	btScalar m_barycentricCoords[4];
-	bool m_degenerate;
-
-	void reset()
-	{
-		m_degenerate = false;
-		setBarycentricCoordinates();
-		m_usedVertices.reset();
-	}
-	bool isValid()
-	{
-		bool valid = (m_barycentricCoords[0] >= btScalar(0.)) &&
-					 (m_barycentricCoords[1] >= btScalar(0.)) &&
-					 (m_barycentricCoords[2] >= btScalar(0.)) &&
-					 (m_barycentricCoords[3] >= btScalar(0.));
-
-		return valid;
-	}
-	void setBarycentricCoordinates(btScalar a = btScalar(0.), btScalar b = btScalar(0.), btScalar c = btScalar(0.), btScalar d = btScalar(0.))
-	{
-		m_barycentricCoords[0] = a;
-		m_barycentricCoords[1] = b;
-		m_barycentricCoords[2] = c;
-		m_barycentricCoords[3] = d;
-	}
-};
-
-/// btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin.
-/// Can be used with GJK, as an alternative to Johnson distance algorithm.
-#ifdef NO_VIRTUAL_INTERFACE
-ATTRIBUTE_ALIGNED16(class)
-btVoronoiSimplexSolver
-#else
-ATTRIBUTE_ALIGNED16(class)
-btVoronoiSimplexSolver : public btSimplexSolverInterface
-#endif
-{
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	int m_numVertices;
-
-	btVector3 m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];
-	btVector3 m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS];
-	btVector3 m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS];
-
-	btVector3 m_cachedP1;
-	btVector3 m_cachedP2;
-	btVector3 m_cachedV;
-	btVector3 m_lastW;
-
-	btScalar m_equalVertexThreshold;
-	bool m_cachedValidClosest;
-
-	btSubSimplexClosestResult m_cachedBC;
-
-	bool m_needsUpdate;
-
-	void removeVertex(int index);
-	void reduceVertices(const btUsageBitfield& usedVerts);
-	bool updateClosestVectorAndPoints();
-
-	bool closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult);
-	int pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d);
-	bool closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, btSubSimplexClosestResult& result);
-
-public:
-	btVoronoiSimplexSolver()
-		: m_equalVertexThreshold(VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD)
-	{
-	}
-	void reset();
-
-	void addVertex(const btVector3& w, const btVector3& p, const btVector3& q);
-
-	void setEqualVertexThreshold(btScalar threshold)
-	{
-		m_equalVertexThreshold = threshold;
-	}
-
-	btScalar getEqualVertexThreshold() const
-	{
-		return m_equalVertexThreshold;
-	}
-
-	bool closest(btVector3 & v);
-
-	btScalar maxVertex();
-
-	bool fullSimplex() const
-	{
-		return (m_numVertices == 4);
-	}
-
-	int getSimplex(btVector3 * pBuf, btVector3 * qBuf, btVector3 * yBuf) const;
-
-	bool inSimplex(const btVector3& w);
-
-	void backup_closest(btVector3 & v);
-
-	bool emptySimplex() const;
-
-	void compute_points(btVector3 & p1, btVector3 & p2);
-
-	int numVertices() const
-	{
-		return m_numVertices;
-	}
-};
-
-#endif  //BT_VORONOI_SIMPLEX_SOLVER_H
diff --git a/thirdparty/bullet/BulletDynamics/Character/btCharacterControllerInterface.h b/thirdparty/bullet/BulletDynamics/Character/btCharacterControllerInterface.h
deleted file mode 100644
index 2ccf317b92..0000000000
--- a/thirdparty/bullet/BulletDynamics/Character/btCharacterControllerInterface.h
+++ /dev/null
@@ -1,46 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CHARACTER_CONTROLLER_INTERFACE_H
-#define BT_CHARACTER_CONTROLLER_INTERFACE_H
-
-#include "LinearMath/btVector3.h"
-#include "BulletDynamics/Dynamics/btActionInterface.h"
-
-class btCollisionShape;
-class btRigidBody;
-class btCollisionWorld;
-
-class btCharacterControllerInterface : public btActionInterface
-{
-public:
-	btCharacterControllerInterface(){};
-	virtual ~btCharacterControllerInterface(){};
-
-	virtual void setWalkDirection(const btVector3& walkDirection) = 0;
-	virtual void setVelocityForTimeInterval(const btVector3& velocity, btScalar timeInterval) = 0;
-	virtual void reset(btCollisionWorld* collisionWorld) = 0;
-	virtual void warp(const btVector3& origin) = 0;
-
-	virtual void preStep(btCollisionWorld* collisionWorld) = 0;
-	virtual void playerStep(btCollisionWorld* collisionWorld, btScalar dt) = 0;
-	virtual bool canJump() const = 0;
-	virtual void jump(const btVector3& dir = btVector3(0, 0, 0)) = 0;
-
-	virtual bool onGround() const = 0;
-	virtual void setUpInterpolate(bool value) = 0;
-};
-
-#endif  //BT_CHARACTER_CONTROLLER_INTERFACE_H
diff --git a/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp b/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp
deleted file mode 100644
index 2bbccb291c..0000000000
--- a/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp
+++ /dev/null
@@ -1,996 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include <stdio.h>
-#include "LinearMath/btIDebugDraw.h"
-#include "BulletCollision/CollisionDispatch/btGhostObject.h"
-#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
-#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
-#include "LinearMath/btDefaultMotionState.h"
-#include "btKinematicCharacterController.h"
-
-// static helper method
-static btVector3
-getNormalizedVector(const btVector3& v)
-{
-	btVector3 n(0, 0, 0);
-
-	if (v.length() > SIMD_EPSILON)
-	{
-		n = v.normalized();
-	}
-	return n;
-}
-
-///@todo Interact with dynamic objects,
-///Ride kinematicly animated platforms properly
-///More realistic (or maybe just a config option) falling
-/// -> Should integrate falling velocity manually and use that in stepDown()
-///Support jumping
-///Support ducking
-class btKinematicClosestNotMeRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
-{
-public:
-	btKinematicClosestNotMeRayResultCallback(btCollisionObject* me) : btCollisionWorld::ClosestRayResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
-	{
-		m_me = me;
-	}
-
-	virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult, bool normalInWorldSpace)
-	{
-		if (rayResult.m_collisionObject == m_me)
-			return 1.0;
-
-		return ClosestRayResultCallback::addSingleResult(rayResult, normalInWorldSpace);
-	}
-
-protected:
-	btCollisionObject* m_me;
-};
-
-class btKinematicClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
-{
-public:
-	btKinematicClosestNotMeConvexResultCallback(btCollisionObject* me, const btVector3& up, btScalar minSlopeDot)
-		: btCollisionWorld::ClosestConvexResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0)), m_me(me), m_up(up), m_minSlopeDot(minSlopeDot)
-	{
-	}
-
-	virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult, bool normalInWorldSpace)
-	{
-		if (convexResult.m_hitCollisionObject == m_me)
-			return btScalar(1.0);
-
-		if (!convexResult.m_hitCollisionObject->hasContactResponse())
-			return btScalar(1.0);
-
-		btVector3 hitNormalWorld;
-		if (normalInWorldSpace)
-		{
-			hitNormalWorld = convexResult.m_hitNormalLocal;
-		}
-		else
-		{
-			///need to transform normal into worldspace
-			hitNormalWorld = convexResult.m_hitCollisionObject->getWorldTransform().getBasis() * convexResult.m_hitNormalLocal;
-		}
-
-		btScalar dotUp = m_up.dot(hitNormalWorld);
-		if (dotUp < m_minSlopeDot)
-		{
-			return btScalar(1.0);
-		}
-
-		return ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
-	}
-
-protected:
-	btCollisionObject* m_me;
-	const btVector3 m_up;
-	btScalar m_minSlopeDot;
-};
-
-/*
- * Returns the reflection direction of a ray going 'direction' hitting a surface with normal 'normal'
- *
- * from: http://www-cs-students.stanford.edu/~adityagp/final/node3.html
- */
-btVector3 btKinematicCharacterController::computeReflectionDirection(const btVector3& direction, const btVector3& normal)
-{
-	return direction - (btScalar(2.0) * direction.dot(normal)) * normal;
-}
-
-/*
- * Returns the portion of 'direction' that is parallel to 'normal'
- */
-btVector3 btKinematicCharacterController::parallelComponent(const btVector3& direction, const btVector3& normal)
-{
-	btScalar magnitude = direction.dot(normal);
-	return normal * magnitude;
-}
-
-/*
- * Returns the portion of 'direction' that is perpindicular to 'normal'
- */
-btVector3 btKinematicCharacterController::perpindicularComponent(const btVector3& direction, const btVector3& normal)
-{
-	return direction - parallelComponent(direction, normal);
-}
-
-btKinematicCharacterController::btKinematicCharacterController(btPairCachingGhostObject* ghostObject, btConvexShape* convexShape, btScalar stepHeight, const btVector3& up)
-{
-	m_ghostObject = ghostObject;
-	m_up.setValue(0.0f, 0.0f, 1.0f);
-	m_jumpAxis.setValue(0.0f, 0.0f, 1.0f);
-	m_addedMargin = 0.02;
-	m_walkDirection.setValue(0.0, 0.0, 0.0);
-	m_AngVel.setValue(0.0, 0.0, 0.0);
-	m_useGhostObjectSweepTest = true;
-	m_turnAngle = btScalar(0.0);
-	m_convexShape = convexShape;
-	m_useWalkDirection = true;  // use walk direction by default, legacy behavior
-	m_velocityTimeInterval = 0.0;
-	m_verticalVelocity = 0.0;
-	m_verticalOffset = 0.0;
-	m_gravity = 9.8 * 3.0;  // 3G acceleration.
-	m_fallSpeed = 55.0;     // Terminal velocity of a sky diver in m/s.
-	m_jumpSpeed = 10.0;     // ?
-	m_SetjumpSpeed = m_jumpSpeed;
-	m_wasOnGround = false;
-	m_wasJumping = false;
-	m_interpolateUp = true;
-	m_currentStepOffset = 0.0;
-	m_maxPenetrationDepth = 0.2;
-	full_drop = false;
-	bounce_fix = false;
-	m_linearDamping = btScalar(0.0);
-	m_angularDamping = btScalar(0.0);
-
-	setUp(up);
-	setStepHeight(stepHeight);
-	setMaxSlope(btRadians(45.0));
-}
-
-btKinematicCharacterController::~btKinematicCharacterController()
-{
-}
-
-btPairCachingGhostObject* btKinematicCharacterController::getGhostObject()
-{
-	return m_ghostObject;
-}
-
-bool btKinematicCharacterController::recoverFromPenetration(btCollisionWorld* collisionWorld)
-{
-	// Here we must refresh the overlapping paircache as the penetrating movement itself or the
-	// previous recovery iteration might have used setWorldTransform and pushed us into an object
-	// that is not in the previous cache contents from the last timestep, as will happen if we
-	// are pushed into a new AABB overlap. Unhandled this means the next convex sweep gets stuck.
-	//
-	// Do this by calling the broadphase's setAabb with the moved AABB, this will update the broadphase
-	// paircache and the ghostobject's internal paircache at the same time.    /BW
-
-	btVector3 minAabb, maxAabb;
-	m_convexShape->getAabb(m_ghostObject->getWorldTransform(), minAabb, maxAabb);
-	collisionWorld->getBroadphase()->setAabb(m_ghostObject->getBroadphaseHandle(),
-											 minAabb,
-											 maxAabb,
-											 collisionWorld->getDispatcher());
-
-	bool penetration = false;
-
-	collisionWorld->getDispatcher()->dispatchAllCollisionPairs(m_ghostObject->getOverlappingPairCache(), collisionWorld->getDispatchInfo(), collisionWorld->getDispatcher());
-
-	m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
-
-	//	btScalar maxPen = btScalar(0.0);
-	for (int i = 0; i < m_ghostObject->getOverlappingPairCache()->getNumOverlappingPairs(); i++)
-	{
-		m_manifoldArray.resize(0);
-
-		btBroadphasePair* collisionPair = &m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray()[i];
-
-		btCollisionObject* obj0 = static_cast<btCollisionObject*>(collisionPair->m_pProxy0->m_clientObject);
-		btCollisionObject* obj1 = static_cast<btCollisionObject*>(collisionPair->m_pProxy1->m_clientObject);
-
-		if ((obj0 && !obj0->hasContactResponse()) || (obj1 && !obj1->hasContactResponse()))
-			continue;
-
-		if (!needsCollision(obj0, obj1))
-			continue;
-
-		if (collisionPair->m_algorithm)
-			collisionPair->m_algorithm->getAllContactManifolds(m_manifoldArray);
-
-		for (int j = 0; j < m_manifoldArray.size(); j++)
-		{
-			btPersistentManifold* manifold = m_manifoldArray[j];
-			btScalar directionSign = manifold->getBody0() == m_ghostObject ? btScalar(-1.0) : btScalar(1.0);
-			for (int p = 0; p < manifold->getNumContacts(); p++)
-			{
-				const btManifoldPoint& pt = manifold->getContactPoint(p);
-
-				btScalar dist = pt.getDistance();
-
-				if (dist < -m_maxPenetrationDepth)
-				{
-					// TODO: cause problems on slopes, not sure if it is needed
-					//if (dist < maxPen)
-					//{
-					//	maxPen = dist;
-					//	m_touchingNormal = pt.m_normalWorldOnB * directionSign;//??
-
-					//}
-					m_currentPosition += pt.m_normalWorldOnB * directionSign * dist * btScalar(0.2);
-					penetration = true;
-				}
-				else
-				{
-					//printf("touching %f\n", dist);
-				}
-			}
-
-			//manifold->clearManifold();
-		}
-	}
-	btTransform newTrans = m_ghostObject->getWorldTransform();
-	newTrans.setOrigin(m_currentPosition);
-	m_ghostObject->setWorldTransform(newTrans);
-	//	printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
-	return penetration;
-}
-
-void btKinematicCharacterController::stepUp(btCollisionWorld* world)
-{
-	btScalar stepHeight = 0.0f;
-	if (m_verticalVelocity < 0.0)
-		stepHeight = m_stepHeight;
-
-	// phase 1: up
-	btTransform start, end;
-
-	start.setIdentity();
-	end.setIdentity();
-
-	/* FIXME: Handle penetration properly */
-	start.setOrigin(m_currentPosition);
-
-	m_targetPosition = m_currentPosition + m_up * (stepHeight) + m_jumpAxis * ((m_verticalOffset > 0.f ? m_verticalOffset : 0.f));
-	m_currentPosition = m_targetPosition;
-
-	end.setOrigin(m_targetPosition);
-
-	start.setRotation(m_currentOrientation);
-	end.setRotation(m_targetOrientation);
-
-	btKinematicClosestNotMeConvexResultCallback callback(m_ghostObject, -m_up, m_maxSlopeCosine);
-	callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
-	callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
-
-	if (m_useGhostObjectSweepTest)
-	{
-		m_ghostObject->convexSweepTest(m_convexShape, start, end, callback, world->getDispatchInfo().m_allowedCcdPenetration);
-	}
-	else
-	{
-		world->convexSweepTest(m_convexShape, start, end, callback, world->getDispatchInfo().m_allowedCcdPenetration);
-	}
-
-	if (callback.hasHit() && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject))
-	{
-		// Only modify the position if the hit was a slope and not a wall or ceiling.
-		if (callback.m_hitNormalWorld.dot(m_up) > 0.0)
-		{
-			// we moved up only a fraction of the step height
-			m_currentStepOffset = stepHeight * callback.m_closestHitFraction;
-			if (m_interpolateUp == true)
-				m_currentPosition.setInterpolate3(m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
-			else
-				m_currentPosition = m_targetPosition;
-		}
-
-		btTransform& xform = m_ghostObject->getWorldTransform();
-		xform.setOrigin(m_currentPosition);
-		m_ghostObject->setWorldTransform(xform);
-
-		// fix penetration if we hit a ceiling for example
-		int numPenetrationLoops = 0;
-		m_touchingContact = false;
-		while (recoverFromPenetration(world))
-		{
-			numPenetrationLoops++;
-			m_touchingContact = true;
-			if (numPenetrationLoops > 4)
-			{
-				//printf("character could not recover from penetration = %d\n", numPenetrationLoops);
-				break;
-			}
-		}
-		m_targetPosition = m_ghostObject->getWorldTransform().getOrigin();
-		m_currentPosition = m_targetPosition;
-
-		if (m_verticalOffset > 0)
-		{
-			m_verticalOffset = 0.0;
-			m_verticalVelocity = 0.0;
-			m_currentStepOffset = m_stepHeight;
-		}
-	}
-	else
-	{
-		m_currentStepOffset = stepHeight;
-		m_currentPosition = m_targetPosition;
-	}
-}
-
-bool btKinematicCharacterController::needsCollision(const btCollisionObject* body0, const btCollisionObject* body1)
-{
-	bool collides = (body0->getBroadphaseHandle()->m_collisionFilterGroup & body1->getBroadphaseHandle()->m_collisionFilterMask) != 0;
-	collides = collides && (body1->getBroadphaseHandle()->m_collisionFilterGroup & body0->getBroadphaseHandle()->m_collisionFilterMask);
-	return collides;
-}
-
-void btKinematicCharacterController::updateTargetPositionBasedOnCollision(const btVector3& hitNormal, btScalar tangentMag, btScalar normalMag)
-{
-	btVector3 movementDirection = m_targetPosition - m_currentPosition;
-	btScalar movementLength = movementDirection.length();
-	if (movementLength > SIMD_EPSILON)
-	{
-		movementDirection.normalize();
-
-		btVector3 reflectDir = computeReflectionDirection(movementDirection, hitNormal);
-		reflectDir.normalize();
-
-		btVector3 parallelDir, perpindicularDir;
-
-		parallelDir = parallelComponent(reflectDir, hitNormal);
-		perpindicularDir = perpindicularComponent(reflectDir, hitNormal);
-
-		m_targetPosition = m_currentPosition;
-		if (0)  //tangentMag != 0.0)
-		{
-			btVector3 parComponent = parallelDir * btScalar(tangentMag * movementLength);
-			//			printf("parComponent=%f,%f,%f\n",parComponent[0],parComponent[1],parComponent[2]);
-			m_targetPosition += parComponent;
-		}
-
-		if (normalMag != 0.0)
-		{
-			btVector3 perpComponent = perpindicularDir * btScalar(normalMag * movementLength);
-			//			printf("perpComponent=%f,%f,%f\n",perpComponent[0],perpComponent[1],perpComponent[2]);
-			m_targetPosition += perpComponent;
-		}
-	}
-	else
-	{
-		//		printf("movementLength don't normalize a zero vector\n");
-	}
-}
-
-void btKinematicCharacterController::stepForwardAndStrafe(btCollisionWorld* collisionWorld, const btVector3& walkMove)
-{
-	// printf("m_normalizedDirection=%f,%f,%f\n",
-	// 	m_normalizedDirection[0],m_normalizedDirection[1],m_normalizedDirection[2]);
-	// phase 2: forward and strafe
-	btTransform start, end;
-
-	m_targetPosition = m_currentPosition + walkMove;
-
-	start.setIdentity();
-	end.setIdentity();
-
-	btScalar fraction = 1.0;
-	btScalar distance2 = (m_currentPosition - m_targetPosition).length2();
-	//	printf("distance2=%f\n",distance2);
-
-	int maxIter = 10;
-
-	while (fraction > btScalar(0.01) && maxIter-- > 0)
-	{
-		start.setOrigin(m_currentPosition);
-		end.setOrigin(m_targetPosition);
-		btVector3 sweepDirNegative(m_currentPosition - m_targetPosition);
-
-		start.setRotation(m_currentOrientation);
-		end.setRotation(m_targetOrientation);
-
-		btKinematicClosestNotMeConvexResultCallback callback(m_ghostObject, sweepDirNegative, btScalar(0.0));
-		callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
-		callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
-
-		btScalar margin = m_convexShape->getMargin();
-		m_convexShape->setMargin(margin + m_addedMargin);
-
-		if (!(start == end))
-		{
-			if (m_useGhostObjectSweepTest)
-			{
-				m_ghostObject->convexSweepTest(m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
-			}
-			else
-			{
-				collisionWorld->convexSweepTest(m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
-			}
-		}
-		m_convexShape->setMargin(margin);
-
-		fraction -= callback.m_closestHitFraction;
-
-		if (callback.hasHit() && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject))
-		{
-			// we moved only a fraction
-			//btScalar hitDistance;
-			//hitDistance = (callback.m_hitPointWorld - m_currentPosition).length();
-
-			//			m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
-
-			updateTargetPositionBasedOnCollision(callback.m_hitNormalWorld);
-			btVector3 currentDir = m_targetPosition - m_currentPosition;
-			distance2 = currentDir.length2();
-			if (distance2 > SIMD_EPSILON)
-			{
-				currentDir.normalize();
-				/* See Quake2: "If velocity is against original velocity, stop ead to avoid tiny oscilations in sloping corners." */
-				if (currentDir.dot(m_normalizedDirection) <= btScalar(0.0))
-				{
-					break;
-				}
-			}
-			else
-			{
-				//				printf("currentDir: don't normalize a zero vector\n");
-				break;
-			}
-		}
-		else
-		{
-			m_currentPosition = m_targetPosition;
-		}
-	}
-}
-
-void btKinematicCharacterController::stepDown(btCollisionWorld* collisionWorld, btScalar dt)
-{
-	btTransform start, end, end_double;
-	bool runonce = false;
-
-	// phase 3: down
-	/*btScalar additionalDownStep = (m_wasOnGround && !onGround()) ? m_stepHeight : 0.0;
-	btVector3 step_drop = m_up * (m_currentStepOffset + additionalDownStep);
-	btScalar downVelocity = (additionalDownStep == 0.0 && m_verticalVelocity<0.0?-m_verticalVelocity:0.0) * dt;
-	btVector3 gravity_drop = m_up * downVelocity; 
-	m_targetPosition -= (step_drop + gravity_drop);*/
-
-	btVector3 orig_position = m_targetPosition;
-
-	btScalar downVelocity = (m_verticalVelocity < 0.f ? -m_verticalVelocity : 0.f) * dt;
-
-	if (m_verticalVelocity > 0.0)
-		return;
-
-	if (downVelocity > 0.0 && downVelocity > m_fallSpeed && (m_wasOnGround || !m_wasJumping))
-		downVelocity = m_fallSpeed;
-
-	btVector3 step_drop = m_up * (m_currentStepOffset + downVelocity);
-	m_targetPosition -= step_drop;
-
-	btKinematicClosestNotMeConvexResultCallback callback(m_ghostObject, m_up, m_maxSlopeCosine);
-	callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
-	callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
-
-	btKinematicClosestNotMeConvexResultCallback callback2(m_ghostObject, m_up, m_maxSlopeCosine);
-	callback2.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
-	callback2.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
-
-	while (1)
-	{
-		start.setIdentity();
-		end.setIdentity();
-
-		end_double.setIdentity();
-
-		start.setOrigin(m_currentPosition);
-		end.setOrigin(m_targetPosition);
-
-		start.setRotation(m_currentOrientation);
-		end.setRotation(m_targetOrientation);
-
-		//set double test for 2x the step drop, to check for a large drop vs small drop
-		end_double.setOrigin(m_targetPosition - step_drop);
-
-		if (m_useGhostObjectSweepTest)
-		{
-			m_ghostObject->convexSweepTest(m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
-
-			if (!callback.hasHit() && m_ghostObject->hasContactResponse())
-			{
-				//test a double fall height, to see if the character should interpolate it's fall (full) or not (partial)
-				m_ghostObject->convexSweepTest(m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
-			}
-		}
-		else
-		{
-			collisionWorld->convexSweepTest(m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
-
-			if (!callback.hasHit() && m_ghostObject->hasContactResponse())
-			{
-				//test a double fall height, to see if the character should interpolate it's fall (large) or not (small)
-				collisionWorld->convexSweepTest(m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
-			}
-		}
-
-		btScalar downVelocity2 = (m_verticalVelocity < 0.f ? -m_verticalVelocity : 0.f) * dt;
-		bool has_hit;
-		if (bounce_fix == true)
-			has_hit = (callback.hasHit() || callback2.hasHit()) && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject);
-		else
-			has_hit = callback2.hasHit() && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback2.m_hitCollisionObject);
-
-		btScalar stepHeight = 0.0f;
-		if (m_verticalVelocity < 0.0)
-			stepHeight = m_stepHeight;
-
-		if (downVelocity2 > 0.0 && downVelocity2 < stepHeight && has_hit == true && runonce == false && (m_wasOnGround || !m_wasJumping))
-		{
-			//redo the velocity calculation when falling a small amount, for fast stairs motion
-			//for larger falls, use the smoother/slower interpolated movement by not touching the target position
-
-			m_targetPosition = orig_position;
-			downVelocity = stepHeight;
-
-			step_drop = m_up * (m_currentStepOffset + downVelocity);
-			m_targetPosition -= step_drop;
-			runonce = true;
-			continue;  //re-run previous tests
-		}
-		break;
-	}
-
-	if ((m_ghostObject->hasContactResponse() && (callback.hasHit() && needsCollision(m_ghostObject, callback.m_hitCollisionObject))) || runonce == true)
-	{
-		// we dropped a fraction of the height -> hit floor
-		btScalar fraction = (m_currentPosition.getY() - callback.m_hitPointWorld.getY()) / 2;
-
-		//printf("hitpoint: %g - pos %g\n", callback.m_hitPointWorld.getY(), m_currentPosition.getY());
-
-		if (bounce_fix == true)
-		{
-			if (full_drop == true)
-				m_currentPosition.setInterpolate3(m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
-			else
-				//due to errors in the closestHitFraction variable when used with large polygons, calculate the hit fraction manually
-				m_currentPosition.setInterpolate3(m_currentPosition, m_targetPosition, fraction);
-		}
-		else
-			m_currentPosition.setInterpolate3(m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
-
-		full_drop = false;
-
-		m_verticalVelocity = 0.0;
-		m_verticalOffset = 0.0;
-		m_wasJumping = false;
-	}
-	else
-	{
-		// we dropped the full height
-
-		full_drop = true;
-
-		if (bounce_fix == true)
-		{
-			downVelocity = (m_verticalVelocity < 0.f ? -m_verticalVelocity : 0.f) * dt;
-			if (downVelocity > m_fallSpeed && (m_wasOnGround || !m_wasJumping))
-			{
-				m_targetPosition += step_drop;  //undo previous target change
-				downVelocity = m_fallSpeed;
-				step_drop = m_up * (m_currentStepOffset + downVelocity);
-				m_targetPosition -= step_drop;
-			}
-		}
-		//printf("full drop - %g, %g\n", m_currentPosition.getY(), m_targetPosition.getY());
-
-		m_currentPosition = m_targetPosition;
-	}
-}
-
-void btKinematicCharacterController::setWalkDirection(
-	const btVector3& walkDirection)
-{
-	m_useWalkDirection = true;
-	m_walkDirection = walkDirection;
-	m_normalizedDirection = getNormalizedVector(m_walkDirection);
-}
-
-void btKinematicCharacterController::setVelocityForTimeInterval(
-	const btVector3& velocity,
-	btScalar timeInterval)
-{
-	//	printf("setVelocity!\n");
-	//	printf("  interval: %f\n", timeInterval);
-	//	printf("  velocity: (%f, %f, %f)\n",
-	//		 velocity.x(), velocity.y(), velocity.z());
-
-	m_useWalkDirection = false;
-	m_walkDirection = velocity;
-	m_normalizedDirection = getNormalizedVector(m_walkDirection);
-	m_velocityTimeInterval += timeInterval;
-}
-
-void btKinematicCharacterController::setAngularVelocity(const btVector3& velocity)
-{
-	m_AngVel = velocity;
-}
-
-const btVector3& btKinematicCharacterController::getAngularVelocity() const
-{
-	return m_AngVel;
-}
-
-void btKinematicCharacterController::setLinearVelocity(const btVector3& velocity)
-{
-	m_walkDirection = velocity;
-
-	// HACK: if we are moving in the direction of the up, treat it as a jump :(
-	if (m_walkDirection.length2() > 0)
-	{
-		btVector3 w = velocity.normalized();
-		btScalar c = w.dot(m_up);
-		if (c != 0)
-		{
-			//there is a component in walkdirection for vertical velocity
-			btVector3 upComponent = m_up * (btSin(SIMD_HALF_PI - btAcos(c)) * m_walkDirection.length());
-			m_walkDirection -= upComponent;
-			m_verticalVelocity = (c < 0.0f ? -1 : 1) * upComponent.length();
-
-			if (c > 0.0f)
-			{
-				m_wasJumping = true;
-				m_jumpPosition = m_ghostObject->getWorldTransform().getOrigin();
-			}
-		}
-	}
-	else
-		m_verticalVelocity = 0.0f;
-}
-
-btVector3 btKinematicCharacterController::getLinearVelocity() const
-{
-	return m_walkDirection + (m_verticalVelocity * m_up);
-}
-
-void btKinematicCharacterController::reset(btCollisionWorld* collisionWorld)
-{
-	m_verticalVelocity = 0.0;
-	m_verticalOffset = 0.0;
-	m_wasOnGround = false;
-	m_wasJumping = false;
-	m_walkDirection.setValue(0, 0, 0);
-	m_velocityTimeInterval = 0.0;
-
-	//clear pair cache
-	btHashedOverlappingPairCache* cache = m_ghostObject->getOverlappingPairCache();
-	while (cache->getOverlappingPairArray().size() > 0)
-	{
-		cache->removeOverlappingPair(cache->getOverlappingPairArray()[0].m_pProxy0, cache->getOverlappingPairArray()[0].m_pProxy1, collisionWorld->getDispatcher());
-	}
-}
-
-void btKinematicCharacterController::warp(const btVector3& origin)
-{
-	btTransform xform;
-	xform.setIdentity();
-	xform.setOrigin(origin);
-	m_ghostObject->setWorldTransform(xform);
-}
-
-void btKinematicCharacterController::preStep(btCollisionWorld* collisionWorld)
-{
-	m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
-	m_targetPosition = m_currentPosition;
-
-	m_currentOrientation = m_ghostObject->getWorldTransform().getRotation();
-	m_targetOrientation = m_currentOrientation;
-	//	printf("m_targetPosition=%f,%f,%f\n",m_targetPosition[0],m_targetPosition[1],m_targetPosition[2]);
-}
-
-void btKinematicCharacterController::playerStep(btCollisionWorld* collisionWorld, btScalar dt)
-{
-	//	printf("playerStep(): ");
-	//	printf("  dt = %f", dt);
-
-	if (m_AngVel.length2() > 0.0f)
-	{
-		m_AngVel *= btPow(btScalar(1) - m_angularDamping, dt);
-	}
-
-	// integrate for angular velocity
-	if (m_AngVel.length2() > 0.0f)
-	{
-		btTransform xform;
-		xform = m_ghostObject->getWorldTransform();
-
-		btQuaternion rot(m_AngVel.normalized(), m_AngVel.length() * dt);
-
-		btQuaternion orn = rot * xform.getRotation();
-
-		xform.setRotation(orn);
-		m_ghostObject->setWorldTransform(xform);
-
-		m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
-		m_targetPosition = m_currentPosition;
-		m_currentOrientation = m_ghostObject->getWorldTransform().getRotation();
-		m_targetOrientation = m_currentOrientation;
-	}
-
-	// quick check...
-	if (!m_useWalkDirection && (m_velocityTimeInterval <= 0.0 || m_walkDirection.fuzzyZero())) 
-	{
-		//		printf("\n");
-		return;  // no motion
-	}
-
-	m_wasOnGround = onGround();
-
-	//btVector3 lvel = m_walkDirection;
-	//btScalar c = 0.0f;
-
-	if (m_walkDirection.length2() > 0)
-	{
-		// apply damping
-		m_walkDirection *= btPow(btScalar(1) - m_linearDamping, dt);
-	}
-
-	m_verticalVelocity *= btPow(btScalar(1) - m_linearDamping, dt);
-
-	// Update fall velocity.
-	m_verticalVelocity -= m_gravity * dt;
-	if (m_verticalVelocity > 0.0 && m_verticalVelocity > m_jumpSpeed)
-	{
-		m_verticalVelocity = m_jumpSpeed;
-	}
-	if (m_verticalVelocity < 0.0 && btFabs(m_verticalVelocity) > btFabs(m_fallSpeed))
-	{
-		m_verticalVelocity = -btFabs(m_fallSpeed);
-	}
-	m_verticalOffset = m_verticalVelocity * dt;
-
-	btTransform xform;
-	xform = m_ghostObject->getWorldTransform();
-
-	//	printf("walkDirection(%f,%f,%f)\n",walkDirection[0],walkDirection[1],walkDirection[2]);
-	//	printf("walkSpeed=%f\n",walkSpeed);
-
-	stepUp(collisionWorld);
-	//todo: Experimenting with behavior of controller when it hits a ceiling..
-	//bool hitUp = stepUp (collisionWorld);
-	//if (hitUp)
-	//{
-	//	m_verticalVelocity -= m_gravity * dt;
-	//	if (m_verticalVelocity > 0.0 && m_verticalVelocity > m_jumpSpeed)
-	//	{
-	//		m_verticalVelocity = m_jumpSpeed;
-	//	}
-	//	if (m_verticalVelocity < 0.0 && btFabs(m_verticalVelocity) > btFabs(m_fallSpeed))
-	//	{
-	//		m_verticalVelocity = -btFabs(m_fallSpeed);
-	//	}
-	//	m_verticalOffset = m_verticalVelocity * dt;
-
-	//	xform = m_ghostObject->getWorldTransform();
-	//}
-
-	if (m_useWalkDirection)
-	{
-		stepForwardAndStrafe(collisionWorld, m_walkDirection);
-	}
-	else
-	{
-		//printf("  time: %f", m_velocityTimeInterval);
-		// still have some time left for moving!
-		btScalar dtMoving =
-			(dt < m_velocityTimeInterval) ? dt : m_velocityTimeInterval;
-		m_velocityTimeInterval -= dt;
-
-		// how far will we move while we are moving?
-		btVector3 move = m_walkDirection * dtMoving;
-
-		//printf("  dtMoving: %f", dtMoving);
-
-		// okay, step
-		stepForwardAndStrafe(collisionWorld, move);
-	}
-	stepDown(collisionWorld, dt);
-
-	//todo: Experimenting with max jump height
-	//if (m_wasJumping)
-	//{
-	//	btScalar ds = m_currentPosition[m_upAxis] - m_jumpPosition[m_upAxis];
-	//	if (ds > m_maxJumpHeight)
-	//	{
-	//		// substract the overshoot
-	//		m_currentPosition[m_upAxis] -= ds - m_maxJumpHeight;
-
-	//		// max height was reached, so potential energy is at max
-	//		// and kinematic energy is 0, thus velocity is 0.
-	//		if (m_verticalVelocity > 0.0)
-	//			m_verticalVelocity = 0.0;
-	//	}
-	//}
-	// printf("\n");
-
-	xform.setOrigin(m_currentPosition);
-	m_ghostObject->setWorldTransform(xform);
-
-	int numPenetrationLoops = 0;
-	m_touchingContact = false;
-	while (recoverFromPenetration(collisionWorld))
-	{
-		numPenetrationLoops++;
-		m_touchingContact = true;
-		if (numPenetrationLoops > 4)
-		{
-			//printf("character could not recover from penetration = %d\n", numPenetrationLoops);
-			break;
-		}
-	}
-}
-
-void btKinematicCharacterController::setFallSpeed(btScalar fallSpeed)
-{
-	m_fallSpeed = fallSpeed;
-}
-
-void btKinematicCharacterController::setJumpSpeed(btScalar jumpSpeed)
-{
-	m_jumpSpeed = jumpSpeed;
-	m_SetjumpSpeed = m_jumpSpeed;
-}
-
-void btKinematicCharacterController::setMaxJumpHeight(btScalar maxJumpHeight)
-{
-	m_maxJumpHeight = maxJumpHeight;
-}
-
-bool btKinematicCharacterController::canJump() const
-{
-	return onGround();
-}
-
-void btKinematicCharacterController::jump(const btVector3& v)
-{
-	m_jumpSpeed = v.length2() == 0 ? m_SetjumpSpeed : v.length();
-	m_verticalVelocity = m_jumpSpeed;
-	m_wasJumping = true;
-
-	m_jumpAxis = v.length2() == 0 ? m_up : v.normalized();
-
-	m_jumpPosition = m_ghostObject->getWorldTransform().getOrigin();
-
-#if 0
-	currently no jumping.
-	btTransform xform;
-	m_rigidBody->getMotionState()->getWorldTransform (xform);
-	btVector3 up = xform.getBasis()[1];
-	up.normalize ();
-	btScalar magnitude = (btScalar(1.0)/m_rigidBody->getInvMass()) * btScalar(8.0);
-	m_rigidBody->applyCentralImpulse (up * magnitude);
-#endif
-}
-
-void btKinematicCharacterController::setGravity(const btVector3& gravity)
-{
-	if (gravity.length2() > 0) setUpVector(-gravity);
-
-	m_gravity = gravity.length();
-}
-
-btVector3 btKinematicCharacterController::getGravity() const
-{
-	return -m_gravity * m_up;
-}
-
-void btKinematicCharacterController::setMaxSlope(btScalar slopeRadians)
-{
-	m_maxSlopeRadians = slopeRadians;
-	m_maxSlopeCosine = btCos(slopeRadians);
-}
-
-btScalar btKinematicCharacterController::getMaxSlope() const
-{
-	return m_maxSlopeRadians;
-}
-
-void btKinematicCharacterController::setMaxPenetrationDepth(btScalar d)
-{
-	m_maxPenetrationDepth = d;
-}
-
-btScalar btKinematicCharacterController::getMaxPenetrationDepth() const
-{
-	return m_maxPenetrationDepth;
-}
-
-bool btKinematicCharacterController::onGround() const
-{
-	return (fabs(m_verticalVelocity) < SIMD_EPSILON) && (fabs(m_verticalOffset) < SIMD_EPSILON);
-}
-
-void btKinematicCharacterController::setStepHeight(btScalar h)
-{
-	m_stepHeight = h;
-}
-
-btVector3* btKinematicCharacterController::getUpAxisDirections()
-{
-	static btVector3 sUpAxisDirection[3] = {btVector3(1.0f, 0.0f, 0.0f), btVector3(0.0f, 1.0f, 0.0f), btVector3(0.0f, 0.0f, 1.0f)};
-
-	return sUpAxisDirection;
-}
-
-void btKinematicCharacterController::debugDraw(btIDebugDraw* debugDrawer)
-{
-}
-
-void btKinematicCharacterController::setUpInterpolate(bool value)
-{
-	m_interpolateUp = value;
-}
-
-void btKinematicCharacterController::setUp(const btVector3& up)
-{
-	if (up.length2() > 0 && m_gravity > 0.0f)
-	{
-		setGravity(-m_gravity * up.normalized());
-		return;
-	}
-
-	setUpVector(up);
-}
-
-void btKinematicCharacterController::setUpVector(const btVector3& up)
-{
-	if (m_up == up)
-		return;
-
-	btVector3 u = m_up;
-
-	if (up.length2() > 0)
-		m_up = up.normalized();
-	else
-		m_up = btVector3(0.0, 0.0, 0.0);
-
-	if (!m_ghostObject) return;
-	btQuaternion rot = getRotation(m_up, u);
-
-	//set orientation with new up
-	btTransform xform;
-	xform = m_ghostObject->getWorldTransform();
-	btQuaternion orn = rot.inverse() * xform.getRotation();
-	xform.setRotation(orn);
-	m_ghostObject->setWorldTransform(xform);
-}
-
-btQuaternion btKinematicCharacterController::getRotation(btVector3& v0, btVector3& v1) const
-{
-	if (v0.length2() == 0.0f || v1.length2() == 0.0f)
-	{
-		btQuaternion q;
-		return q;
-	}
-
-	return shortestArcQuatNormalize2(v0, v1);
-}
diff --git a/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.h b/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.h
deleted file mode 100644
index ff34fc871a..0000000000
--- a/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.h
+++ /dev/null
@@ -1,200 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_KINEMATIC_CHARACTER_CONTROLLER_H
-#define BT_KINEMATIC_CHARACTER_CONTROLLER_H
-
-#include "LinearMath/btVector3.h"
-
-#include "btCharacterControllerInterface.h"
-
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-
-class btCollisionShape;
-class btConvexShape;
-class btRigidBody;
-class btCollisionWorld;
-class btCollisionDispatcher;
-class btPairCachingGhostObject;
-
-///btKinematicCharacterController is an object that supports a sliding motion in a world.
-///It uses a ghost object and convex sweep test to test for upcoming collisions. This is combined with discrete collision detection to recover from penetrations.
-///Interaction between btKinematicCharacterController and dynamic rigid bodies needs to be explicity implemented by the user.
-ATTRIBUTE_ALIGNED16(class)
-btKinematicCharacterController : public btCharacterControllerInterface
-{
-protected:
-	btScalar m_halfHeight;
-
-	btPairCachingGhostObject* m_ghostObject;
-	btConvexShape* m_convexShape;  //is also in m_ghostObject, but it needs to be convex, so we store it here to avoid upcast
-
-	btScalar m_maxPenetrationDepth;
-	btScalar m_verticalVelocity;
-	btScalar m_verticalOffset;
-	btScalar m_fallSpeed;
-	btScalar m_jumpSpeed;
-	btScalar m_SetjumpSpeed;
-	btScalar m_maxJumpHeight;
-	btScalar m_maxSlopeRadians;  // Slope angle that is set (used for returning the exact value)
-	btScalar m_maxSlopeCosine;   // Cosine equivalent of m_maxSlopeRadians (calculated once when set, for optimization)
-	btScalar m_gravity;
-
-	btScalar m_turnAngle;
-
-	btScalar m_stepHeight;
-
-	btScalar m_addedMargin;  //@todo: remove this and fix the code
-
-	///this is the desired walk direction, set by the user
-	btVector3 m_walkDirection;
-	btVector3 m_normalizedDirection;
-	btVector3 m_AngVel;
-
-	btVector3 m_jumpPosition;
-
-	//some internal variables
-	btVector3 m_currentPosition;
-	btScalar m_currentStepOffset;
-	btVector3 m_targetPosition;
-
-	btQuaternion m_currentOrientation;
-	btQuaternion m_targetOrientation;
-
-	///keep track of the contact manifolds
-	btManifoldArray m_manifoldArray;
-
-	bool m_touchingContact;
-	btVector3 m_touchingNormal;
-
-	btScalar m_linearDamping;
-	btScalar m_angularDamping;
-
-	bool m_wasOnGround;
-	bool m_wasJumping;
-	bool m_useGhostObjectSweepTest;
-	bool m_useWalkDirection;
-	btScalar m_velocityTimeInterval;
-	btVector3 m_up;
-	btVector3 m_jumpAxis;
-
-	static btVector3* getUpAxisDirections();
-	bool m_interpolateUp;
-	bool full_drop;
-	bool bounce_fix;
-
-	btVector3 computeReflectionDirection(const btVector3& direction, const btVector3& normal);
-	btVector3 parallelComponent(const btVector3& direction, const btVector3& normal);
-	btVector3 perpindicularComponent(const btVector3& direction, const btVector3& normal);
-
-	bool recoverFromPenetration(btCollisionWorld * collisionWorld);
-	void stepUp(btCollisionWorld * collisionWorld);
-	void updateTargetPositionBasedOnCollision(const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
-	void stepForwardAndStrafe(btCollisionWorld * collisionWorld, const btVector3& walkMove);
-	void stepDown(btCollisionWorld * collisionWorld, btScalar dt);
-
-	virtual bool needsCollision(const btCollisionObject* body0, const btCollisionObject* body1);
-
-	void setUpVector(const btVector3& up);
-
-	btQuaternion getRotation(btVector3 & v0, btVector3 & v1) const;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btKinematicCharacterController(btPairCachingGhostObject * ghostObject, btConvexShape * convexShape, btScalar stepHeight, const btVector3& up = btVector3(1.0, 0.0, 0.0));
-	~btKinematicCharacterController();
-
-	///btActionInterface interface
-	virtual void updateAction(btCollisionWorld * collisionWorld, btScalar deltaTime)
-	{
-		preStep(collisionWorld);
-		playerStep(collisionWorld, deltaTime);
-	}
-
-	///btActionInterface interface
-	void debugDraw(btIDebugDraw * debugDrawer);
-
-	void setUp(const btVector3& up);
-
-	const btVector3& getUp() { return m_up; }
-
-	/// This should probably be called setPositionIncrementPerSimulatorStep.
-	/// This is neither a direction nor a velocity, but the amount to
-	///	increment the position each simulation iteration, regardless
-	///	of dt.
-	/// This call will reset any velocity set by setVelocityForTimeInterval().
-	virtual void setWalkDirection(const btVector3& walkDirection);
-
-	/// Caller provides a velocity with which the character should move for
-	///	the given time period.  After the time period, velocity is reset
-	///	to zero.
-	/// This call will reset any walk direction set by setWalkDirection().
-	/// Negative time intervals will result in no motion.
-	virtual void setVelocityForTimeInterval(const btVector3& velocity,
-											btScalar timeInterval);
-
-	virtual void setAngularVelocity(const btVector3& velocity);
-	virtual const btVector3& getAngularVelocity() const;
-
-	virtual void setLinearVelocity(const btVector3& velocity);
-	virtual btVector3 getLinearVelocity() const;
-
-	void setLinearDamping(btScalar d) { m_linearDamping = btClamped(d, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); }
-	btScalar getLinearDamping() const { return m_linearDamping; }
-	void setAngularDamping(btScalar d) { m_angularDamping = btClamped(d, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); }
-	btScalar getAngularDamping() const { return m_angularDamping; }
-
-	void reset(btCollisionWorld * collisionWorld);
-	void warp(const btVector3& origin);
-
-	void preStep(btCollisionWorld * collisionWorld);
-	void playerStep(btCollisionWorld * collisionWorld, btScalar dt);
-
-	void setStepHeight(btScalar h);
-	btScalar getStepHeight() const { return m_stepHeight; }
-	void setFallSpeed(btScalar fallSpeed);
-	btScalar getFallSpeed() const { return m_fallSpeed; }
-	void setJumpSpeed(btScalar jumpSpeed);
-	btScalar getJumpSpeed() const { return m_jumpSpeed; }
-	void setMaxJumpHeight(btScalar maxJumpHeight);
-	bool canJump() const;
-
-	void jump(const btVector3& v = btVector3(0, 0, 0));
-
-	void applyImpulse(const btVector3& v) { jump(v); }
-
-	void setGravity(const btVector3& gravity);
-	btVector3 getGravity() const;
-
-	/// The max slope determines the maximum angle that the controller can walk up.
-	/// The slope angle is measured in radians.
-	void setMaxSlope(btScalar slopeRadians);
-	btScalar getMaxSlope() const;
-
-	void setMaxPenetrationDepth(btScalar d);
-	btScalar getMaxPenetrationDepth() const;
-
-	btPairCachingGhostObject* getGhostObject();
-	void setUseGhostSweepTest(bool useGhostObjectSweepTest)
-	{
-		m_useGhostObjectSweepTest = useGhostObjectSweepTest;
-	}
-
-	bool onGround() const;
-	void setUpInterpolate(bool value);
-};
-
-#endif  // BT_KINEMATIC_CHARACTER_CONTROLLER_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp
deleted file mode 100644
index 0f5ed1c2ce..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp
+++ /dev/null
@@ -1,1084 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btBatchedConstraints.h"
-
-#include "LinearMath/btIDebugDraw.h"
-#include "LinearMath/btMinMax.h"
-#include "LinearMath/btStackAlloc.h"
-#include "LinearMath/btQuickprof.h"
-
-#include <string.h>  //for memset
-
-#include <cmath>
-
-const int kNoMerge = -1;
-
-bool btBatchedConstraints::s_debugDrawBatches = false;
-
-struct btBatchedConstraintInfo
-{
-	int constraintIndex;
-	int numConstraintRows;
-	int bodyIds[2];
-};
-
-struct btBatchInfo
-{
-	int numConstraints;
-	int mergeIndex;
-
-	btBatchInfo() : numConstraints(0), mergeIndex(kNoMerge) {}
-};
-
-bool btBatchedConstraints::validate(btConstraintArray* constraints, const btAlignedObjectArray<btSolverBody>& bodies) const
-{
-	//
-	// validate: for debugging only. Verify coloring of bodies, that no body is touched by more than one batch in any given phase
-	//
-	int errors = 0;
-	const int kUnassignedBatch = -1;
-
-	btAlignedObjectArray<int> bodyBatchId;
-	for (int iPhase = 0; iPhase < m_phases.size(); ++iPhase)
-	{
-		bodyBatchId.resizeNoInitialize(0);
-		bodyBatchId.resize(bodies.size(), kUnassignedBatch);
-		const Range& phase = m_phases[iPhase];
-		for (int iBatch = phase.begin; iBatch < phase.end; ++iBatch)
-		{
-			const Range& batch = m_batches[iBatch];
-			for (int iiCons = batch.begin; iiCons < batch.end; ++iiCons)
-			{
-				int iCons = m_constraintIndices[iiCons];
-				const btSolverConstraint& cons = constraints->at(iCons);
-				const btSolverBody& bodyA = bodies[cons.m_solverBodyIdA];
-				const btSolverBody& bodyB = bodies[cons.m_solverBodyIdB];
-				if (!bodyA.internalGetInvMass().isZero())
-				{
-					int thisBodyBatchId = bodyBatchId[cons.m_solverBodyIdA];
-					if (thisBodyBatchId == kUnassignedBatch)
-					{
-						bodyBatchId[cons.m_solverBodyIdA] = iBatch;
-					}
-					else if (thisBodyBatchId != iBatch)
-					{
-						btAssert(!"dynamic body is used in 2 different batches in the same phase");
-						errors++;
-					}
-				}
-				if (!bodyB.internalGetInvMass().isZero())
-				{
-					int thisBodyBatchId = bodyBatchId[cons.m_solverBodyIdB];
-					if (thisBodyBatchId == kUnassignedBatch)
-					{
-						bodyBatchId[cons.m_solverBodyIdB] = iBatch;
-					}
-					else if (thisBodyBatchId != iBatch)
-					{
-						btAssert(!"dynamic body is used in 2 different batches in the same phase");
-						errors++;
-					}
-				}
-			}
-		}
-	}
-	return errors == 0;
-}
-
-static void debugDrawSingleBatch(const btBatchedConstraints* bc,
-								 btConstraintArray* constraints,
-								 const btAlignedObjectArray<btSolverBody>& bodies,
-								 int iBatch,
-								 const btVector3& color,
-								 const btVector3& offset)
-{
-	if (bc && bc->m_debugDrawer && iBatch < bc->m_batches.size())
-	{
-		const btBatchedConstraints::Range& b = bc->m_batches[iBatch];
-		for (int iiCon = b.begin; iiCon < b.end; ++iiCon)
-		{
-			int iCon = bc->m_constraintIndices[iiCon];
-			const btSolverConstraint& con = constraints->at(iCon);
-			int iBody0 = con.m_solverBodyIdA;
-			int iBody1 = con.m_solverBodyIdB;
-			btVector3 pos0 = bodies[iBody0].getWorldTransform().getOrigin() + offset;
-			btVector3 pos1 = bodies[iBody1].getWorldTransform().getOrigin() + offset;
-			bc->m_debugDrawer->drawLine(pos0, pos1, color);
-		}
-	}
-}
-
-static void debugDrawPhase(const btBatchedConstraints* bc,
-						   btConstraintArray* constraints,
-						   const btAlignedObjectArray<btSolverBody>& bodies,
-						   int iPhase,
-						   const btVector3& color0,
-						   const btVector3& color1,
-						   const btVector3& offset)
-{
-	BT_PROFILE("debugDrawPhase");
-	if (bc && bc->m_debugDrawer && iPhase < bc->m_phases.size())
-	{
-		const btBatchedConstraints::Range& phase = bc->m_phases[iPhase];
-		for (int iBatch = phase.begin; iBatch < phase.end; ++iBatch)
-		{
-			float tt = float(iBatch - phase.begin) / float(btMax(1, phase.end - phase.begin - 1));
-			btVector3 col = lerp(color0, color1, tt);
-			debugDrawSingleBatch(bc, constraints, bodies, iBatch, col, offset);
-		}
-	}
-}
-
-static void debugDrawAllBatches(const btBatchedConstraints* bc,
-								btConstraintArray* constraints,
-								const btAlignedObjectArray<btSolverBody>& bodies)
-{
-	BT_PROFILE("debugDrawAllBatches");
-	if (bc && bc->m_debugDrawer && bc->m_phases.size() > 0)
-	{
-		btVector3 bboxMin(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT);
-		btVector3 bboxMax = -bboxMin;
-		for (int iBody = 0; iBody < bodies.size(); ++iBody)
-		{
-			const btVector3& pos = bodies[iBody].getWorldTransform().getOrigin();
-			bboxMin.setMin(pos);
-			bboxMax.setMax(pos);
-		}
-		btVector3 bboxExtent = bboxMax - bboxMin;
-		btVector3 offsetBase = btVector3(0, bboxExtent.y() * 1.1f, 0);
-		btVector3 offsetStep = btVector3(0, 0, bboxExtent.z() * 1.1f);
-		int numPhases = bc->m_phases.size();
-		for (int iPhase = 0; iPhase < numPhases; ++iPhase)
-		{
-			float b = float(iPhase) / float(numPhases - 1);
-			btVector3 color0 = btVector3(1, 0, b);
-			btVector3 color1 = btVector3(0, 1, b);
-			btVector3 offset = offsetBase + offsetStep * (float(iPhase) - float(numPhases - 1) * 0.5);
-			debugDrawPhase(bc, constraints, bodies, iPhase, color0, color1, offset);
-		}
-	}
-}
-
-static void initBatchedBodyDynamicFlags(btAlignedObjectArray<bool>* outBodyDynamicFlags, const btAlignedObjectArray<btSolverBody>& bodies)
-{
-	BT_PROFILE("initBatchedBodyDynamicFlags");
-	btAlignedObjectArray<bool>& bodyDynamicFlags = *outBodyDynamicFlags;
-	bodyDynamicFlags.resizeNoInitialize(bodies.size());
-	for (int i = 0; i < bodies.size(); ++i)
-	{
-		const btSolverBody& body = bodies[i];
-		bodyDynamicFlags[i] = (body.internalGetInvMass().x() > btScalar(0));
-	}
-}
-
-static int runLengthEncodeConstraintInfo(btBatchedConstraintInfo* outConInfos, int numConstraints)
-{
-	BT_PROFILE("runLengthEncodeConstraintInfo");
-	// detect and run-length encode constraint rows that repeat the same bodies
-	int iDest = 0;
-	int iSrc = 0;
-	while (iSrc < numConstraints)
-	{
-		const btBatchedConstraintInfo& srcConInfo = outConInfos[iSrc];
-		btBatchedConstraintInfo& conInfo = outConInfos[iDest];
-		conInfo.constraintIndex = iSrc;
-		conInfo.bodyIds[0] = srcConInfo.bodyIds[0];
-		conInfo.bodyIds[1] = srcConInfo.bodyIds[1];
-		while (iSrc < numConstraints && outConInfos[iSrc].bodyIds[0] == srcConInfo.bodyIds[0] && outConInfos[iSrc].bodyIds[1] == srcConInfo.bodyIds[1])
-		{
-			++iSrc;
-		}
-		conInfo.numConstraintRows = iSrc - conInfo.constraintIndex;
-		++iDest;
-	}
-	return iDest;
-}
-
-struct ReadSolverConstraintsLoop : public btIParallelForBody
-{
-	btBatchedConstraintInfo* m_outConInfos;
-	btConstraintArray* m_constraints;
-
-	ReadSolverConstraintsLoop(btBatchedConstraintInfo* outConInfos, btConstraintArray* constraints)
-	{
-		m_outConInfos = outConInfos;
-		m_constraints = constraints;
-	}
-	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		for (int i = iBegin; i < iEnd; ++i)
-		{
-			btBatchedConstraintInfo& conInfo = m_outConInfos[i];
-			const btSolverConstraint& con = m_constraints->at(i);
-			conInfo.bodyIds[0] = con.m_solverBodyIdA;
-			conInfo.bodyIds[1] = con.m_solverBodyIdB;
-			conInfo.constraintIndex = i;
-			conInfo.numConstraintRows = 1;
-		}
-	}
-};
-
-static int initBatchedConstraintInfo(btBatchedConstraintInfo* outConInfos, btConstraintArray* constraints)
-{
-	BT_PROFILE("initBatchedConstraintInfo");
-	int numConstraints = constraints->size();
-	bool inParallel = true;
-	if (inParallel)
-	{
-		ReadSolverConstraintsLoop loop(outConInfos, constraints);
-		int grainSize = 1200;
-		btParallelFor(0, numConstraints, grainSize, loop);
-	}
-	else
-	{
-		for (int i = 0; i < numConstraints; ++i)
-		{
-			btBatchedConstraintInfo& conInfo = outConInfos[i];
-			const btSolverConstraint& con = constraints->at(i);
-			conInfo.bodyIds[0] = con.m_solverBodyIdA;
-			conInfo.bodyIds[1] = con.m_solverBodyIdB;
-			conInfo.constraintIndex = i;
-			conInfo.numConstraintRows = 1;
-		}
-	}
-	bool useRunLengthEncoding = true;
-	if (useRunLengthEncoding)
-	{
-		numConstraints = runLengthEncodeConstraintInfo(outConInfos, numConstraints);
-	}
-	return numConstraints;
-}
-
-static void expandConstraintRowsInPlace(int* constraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraints, int numConstraintRows)
-{
-	BT_PROFILE("expandConstraintRowsInPlace");
-	if (numConstraintRows > numConstraints)
-	{
-		// we walk the array in reverse to avoid overwriteing
-		for (int iCon = numConstraints - 1; iCon >= 0; --iCon)
-		{
-			const btBatchedConstraintInfo& conInfo = conInfos[iCon];
-			int iBatch = constraintBatchIds[iCon];
-			for (int i = conInfo.numConstraintRows - 1; i >= 0; --i)
-			{
-				int iDest = conInfo.constraintIndex + i;
-				btAssert(iDest >= iCon);
-				btAssert(iDest >= 0 && iDest < numConstraintRows);
-				constraintBatchIds[iDest] = iBatch;
-			}
-		}
-	}
-}
-
-static void expandConstraintRows(int* destConstraintBatchIds, const int* srcConstraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraints, int numConstraintRows)
-{
-	BT_PROFILE("expandConstraintRows");
-	for (int iCon = 0; iCon < numConstraints; ++iCon)
-	{
-		const btBatchedConstraintInfo& conInfo = conInfos[iCon];
-		int iBatch = srcConstraintBatchIds[iCon];
-		for (int i = 0; i < conInfo.numConstraintRows; ++i)
-		{
-			int iDest = conInfo.constraintIndex + i;
-			btAssert(iDest >= iCon);
-			btAssert(iDest >= 0 && iDest < numConstraintRows);
-			destConstraintBatchIds[iDest] = iBatch;
-		}
-	}
-}
-
-struct ExpandConstraintRowsLoop : public btIParallelForBody
-{
-	int* m_destConstraintBatchIds;
-	const int* m_srcConstraintBatchIds;
-	const btBatchedConstraintInfo* m_conInfos;
-	int m_numConstraintRows;
-
-	ExpandConstraintRowsLoop(int* destConstraintBatchIds, const int* srcConstraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraintRows)
-	{
-		m_destConstraintBatchIds = destConstraintBatchIds;
-		m_srcConstraintBatchIds = srcConstraintBatchIds;
-		m_conInfos = conInfos;
-		m_numConstraintRows = numConstraintRows;
-	}
-	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		expandConstraintRows(m_destConstraintBatchIds, m_srcConstraintBatchIds + iBegin, m_conInfos + iBegin, iEnd - iBegin, m_numConstraintRows);
-	}
-};
-
-static void expandConstraintRowsMt(int* destConstraintBatchIds, const int* srcConstraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraints, int numConstraintRows)
-{
-	BT_PROFILE("expandConstraintRowsMt");
-	ExpandConstraintRowsLoop loop(destConstraintBatchIds, srcConstraintBatchIds, conInfos, numConstraintRows);
-	int grainSize = 600;
-	btParallelFor(0, numConstraints, grainSize, loop);
-}
-
-static void initBatchedConstraintInfoArray(btAlignedObjectArray<btBatchedConstraintInfo>* outConInfos, btConstraintArray* constraints)
-{
-	BT_PROFILE("initBatchedConstraintInfoArray");
-	btAlignedObjectArray<btBatchedConstraintInfo>& conInfos = *outConInfos;
-	int numConstraints = constraints->size();
-	conInfos.resizeNoInitialize(numConstraints);
-
-	int newSize = initBatchedConstraintInfo(&outConInfos->at(0), constraints);
-	conInfos.resizeNoInitialize(newSize);
-}
-
-static void mergeSmallBatches(btBatchInfo* batches, int iBeginBatch, int iEndBatch, int minBatchSize, int maxBatchSize)
-{
-	BT_PROFILE("mergeSmallBatches");
-	for (int iBatch = iEndBatch - 1; iBatch >= iBeginBatch; --iBatch)
-	{
-		btBatchInfo& batch = batches[iBatch];
-		if (batch.mergeIndex == kNoMerge && batch.numConstraints > 0 && batch.numConstraints < minBatchSize)
-		{
-			for (int iDestBatch = iBatch - 1; iDestBatch >= iBeginBatch; --iDestBatch)
-			{
-				btBatchInfo& destBatch = batches[iDestBatch];
-				if (destBatch.mergeIndex == kNoMerge && (destBatch.numConstraints + batch.numConstraints) < maxBatchSize)
-				{
-					destBatch.numConstraints += batch.numConstraints;
-					batch.numConstraints = 0;
-					batch.mergeIndex = iDestBatch;
-					break;
-				}
-			}
-		}
-	}
-	// flatten mergeIndexes
-	// e.g. in case where A was merged into B and then B was merged into C, we need A to point to C instead of B
-	// Note: loop goes forward through batches because batches always merge from higher indexes to lower,
-	//     so by going from low to high it reduces the amount of trail-following
-	for (int iBatch = iBeginBatch; iBatch < iEndBatch; ++iBatch)
-	{
-		btBatchInfo& batch = batches[iBatch];
-		if (batch.mergeIndex != kNoMerge)
-		{
-			int iMergeDest = batches[batch.mergeIndex].mergeIndex;
-			// follow trail of merges to the end
-			while (iMergeDest != kNoMerge)
-			{
-				int iNext = batches[iMergeDest].mergeIndex;
-				if (iNext == kNoMerge)
-				{
-					batch.mergeIndex = iMergeDest;
-					break;
-				}
-				iMergeDest = iNext;
-			}
-		}
-	}
-}
-
-static void updateConstraintBatchIdsForMerges(int* constraintBatchIds, int numConstraints, const btBatchInfo* batches, int numBatches)
-{
-	BT_PROFILE("updateConstraintBatchIdsForMerges");
-	// update batchIds to account for merges
-	for (int i = 0; i < numConstraints; ++i)
-	{
-		int iBatch = constraintBatchIds[i];
-		btAssert(iBatch < numBatches);
-		// if this constraint references a batch that was merged into another batch
-		if (batches[iBatch].mergeIndex != kNoMerge)
-		{
-			// update batchId
-			constraintBatchIds[i] = batches[iBatch].mergeIndex;
-		}
-	}
-}
-
-struct UpdateConstraintBatchIdsForMergesLoop : public btIParallelForBody
-{
-	int* m_constraintBatchIds;
-	const btBatchInfo* m_batches;
-	int m_numBatches;
-
-	UpdateConstraintBatchIdsForMergesLoop(int* constraintBatchIds, const btBatchInfo* batches, int numBatches)
-	{
-		m_constraintBatchIds = constraintBatchIds;
-		m_batches = batches;
-		m_numBatches = numBatches;
-	}
-	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		BT_PROFILE("UpdateConstraintBatchIdsForMergesLoop");
-		updateConstraintBatchIdsForMerges(m_constraintBatchIds + iBegin, iEnd - iBegin, m_batches, m_numBatches);
-	}
-};
-
-static void updateConstraintBatchIdsForMergesMt(int* constraintBatchIds, int numConstraints, const btBatchInfo* batches, int numBatches)
-{
-	BT_PROFILE("updateConstraintBatchIdsForMergesMt");
-	UpdateConstraintBatchIdsForMergesLoop loop(constraintBatchIds, batches, numBatches);
-	int grainSize = 800;
-	btParallelFor(0, numConstraints, grainSize, loop);
-}
-
-inline bool BatchCompare(const btBatchedConstraints::Range& a, const btBatchedConstraints::Range& b)
-{
-	int lenA = a.end - a.begin;
-	int lenB = b.end - b.begin;
-	return lenA > lenB;
-}
-
-static void writeOutConstraintIndicesForRangeOfBatches(btBatchedConstraints* bc,
-													   const int* constraintBatchIds,
-													   int numConstraints,
-													   int* constraintIdPerBatch,
-													   int batchBegin,
-													   int batchEnd)
-{
-	BT_PROFILE("writeOutConstraintIndicesForRangeOfBatches");
-	for (int iCon = 0; iCon < numConstraints; ++iCon)
-	{
-		int iBatch = constraintBatchIds[iCon];
-		if (iBatch >= batchBegin && iBatch < batchEnd)
-		{
-			int iDestCon = constraintIdPerBatch[iBatch];
-			constraintIdPerBatch[iBatch] = iDestCon + 1;
-			bc->m_constraintIndices[iDestCon] = iCon;
-		}
-	}
-}
-
-struct WriteOutConstraintIndicesLoop : public btIParallelForBody
-{
-	btBatchedConstraints* m_batchedConstraints;
-	const int* m_constraintBatchIds;
-	int m_numConstraints;
-	int* m_constraintIdPerBatch;
-	int m_maxNumBatchesPerPhase;
-
-	WriteOutConstraintIndicesLoop(btBatchedConstraints* bc, const int* constraintBatchIds, int numConstraints, int* constraintIdPerBatch, int maxNumBatchesPerPhase)
-	{
-		m_batchedConstraints = bc;
-		m_constraintBatchIds = constraintBatchIds;
-		m_numConstraints = numConstraints;
-		m_constraintIdPerBatch = constraintIdPerBatch;
-		m_maxNumBatchesPerPhase = maxNumBatchesPerPhase;
-	}
-	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		BT_PROFILE("WriteOutConstraintIndicesLoop");
-		int batchBegin = iBegin * m_maxNumBatchesPerPhase;
-		int batchEnd = iEnd * m_maxNumBatchesPerPhase;
-		writeOutConstraintIndicesForRangeOfBatches(m_batchedConstraints,
-												   m_constraintBatchIds,
-												   m_numConstraints,
-												   m_constraintIdPerBatch,
-												   batchBegin,
-												   batchEnd);
-	}
-};
-
-static void writeOutConstraintIndicesMt(btBatchedConstraints* bc,
-										const int* constraintBatchIds,
-										int numConstraints,
-										int* constraintIdPerBatch,
-										int maxNumBatchesPerPhase,
-										int numPhases)
-{
-	BT_PROFILE("writeOutConstraintIndicesMt");
-	bool inParallel = true;
-	if (inParallel)
-	{
-		WriteOutConstraintIndicesLoop loop(bc, constraintBatchIds, numConstraints, constraintIdPerBatch, maxNumBatchesPerPhase);
-		btParallelFor(0, numPhases, 1, loop);
-	}
-	else
-	{
-		for (int iCon = 0; iCon < numConstraints; ++iCon)
-		{
-			int iBatch = constraintBatchIds[iCon];
-			int iDestCon = constraintIdPerBatch[iBatch];
-			constraintIdPerBatch[iBatch] = iDestCon + 1;
-			bc->m_constraintIndices[iDestCon] = iCon;
-		}
-	}
-}
-
-static void writeGrainSizes(btBatchedConstraints* bc)
-{
-	typedef btBatchedConstraints::Range Range;
-	int numPhases = bc->m_phases.size();
-	bc->m_phaseGrainSize.resizeNoInitialize(numPhases);
-	int numThreads = btGetTaskScheduler()->getNumThreads();
-	for (int iPhase = 0; iPhase < numPhases; ++iPhase)
-	{
-		const Range& phase = bc->m_phases[iPhase];
-		int numBatches = phase.end - phase.begin;
-		float grainSize = std::floor((0.25f * numBatches / float(numThreads)) + 0.0f);
-		bc->m_phaseGrainSize[iPhase] = btMax(1, int(grainSize));
-	}
-}
-
-static void writeOutBatches(btBatchedConstraints* bc,
-							const int* constraintBatchIds,
-							int numConstraints,
-							const btBatchInfo* batches,
-							int* batchWork,
-							int maxNumBatchesPerPhase,
-							int numPhases)
-{
-	BT_PROFILE("writeOutBatches");
-	typedef btBatchedConstraints::Range Range;
-	bc->m_constraintIndices.reserve(numConstraints);
-	bc->m_batches.resizeNoInitialize(0);
-	bc->m_phases.resizeNoInitialize(0);
-
-	//int maxNumBatches = numPhases * maxNumBatchesPerPhase;
-	{
-		int* constraintIdPerBatch = batchWork;  // for each batch, keep an index into the next available slot in the m_constraintIndices array
-		int iConstraint = 0;
-		for (int iPhase = 0; iPhase < numPhases; ++iPhase)
-		{
-			int curPhaseBegin = bc->m_batches.size();
-			int iBegin = iPhase * maxNumBatchesPerPhase;
-			int iEnd = iBegin + maxNumBatchesPerPhase;
-			for (int i = iBegin; i < iEnd; ++i)
-			{
-				const btBatchInfo& batch = batches[i];
-				int curBatchBegin = iConstraint;
-				constraintIdPerBatch[i] = curBatchBegin;  // record the start of each batch in m_constraintIndices array
-				int numConstraints = batch.numConstraints;
-				iConstraint += numConstraints;
-				if (numConstraints > 0)
-				{
-					bc->m_batches.push_back(Range(curBatchBegin, iConstraint));
-				}
-			}
-			// if any batches were emitted this phase,
-			if (bc->m_batches.size() > curPhaseBegin)
-			{
-				// output phase
-				bc->m_phases.push_back(Range(curPhaseBegin, bc->m_batches.size()));
-			}
-		}
-
-		btAssert(iConstraint == numConstraints);
-		bc->m_constraintIndices.resizeNoInitialize(numConstraints);
-		writeOutConstraintIndicesMt(bc, constraintBatchIds, numConstraints, constraintIdPerBatch, maxNumBatchesPerPhase, numPhases);
-	}
-	// for each phase
-	for (int iPhase = 0; iPhase < bc->m_phases.size(); ++iPhase)
-	{
-		// sort the batches from largest to smallest (can be helpful to some task schedulers)
-		const Range& curBatches = bc->m_phases[iPhase];
-		bc->m_batches.quickSortInternal(BatchCompare, curBatches.begin, curBatches.end - 1);
-	}
-	bc->m_phaseOrder.resize(bc->m_phases.size());
-	for (int i = 0; i < bc->m_phases.size(); ++i)
-	{
-		bc->m_phaseOrder[i] = i;
-	}
-	writeGrainSizes(bc);
-}
-
-//
-// PreallocatedMemoryHelper -- helper object for allocating a number of chunks of memory in a single contiguous block.
-//                             It is generally more efficient to do a single larger allocation than many smaller allocations.
-//
-// Example Usage:
-//
-//  btVector3* bodyPositions = NULL;
-//  btBatchedConstraintInfo* conInfos = NULL;
-//  {
-//    PreallocatedMemoryHelper<8> memHelper;
-//    memHelper.addChunk( (void**) &bodyPositions, sizeof( btVector3 ) * bodies.size() );
-//    memHelper.addChunk( (void**) &conInfos, sizeof( btBatchedConstraintInfo ) * numConstraints );
-//    void* memPtr = malloc( memHelper.getSizeToAllocate() );  // allocate the memory
-//    memHelper.setChunkPointers( memPtr );  // update pointers to chunks
-//  }
-template <int N>
-class PreallocatedMemoryHelper
-{
-	struct Chunk
-	{
-		void** ptr;
-		size_t size;
-	};
-	Chunk m_chunks[N];
-	int m_numChunks;
-
-public:
-	PreallocatedMemoryHelper() { m_numChunks = 0; }
-	void addChunk(void** ptr, size_t sz)
-	{
-		btAssert(m_numChunks < N);
-		if (m_numChunks < N)
-		{
-			Chunk& chunk = m_chunks[m_numChunks];
-			chunk.ptr = ptr;
-			chunk.size = sz;
-			m_numChunks++;
-		}
-	}
-	size_t getSizeToAllocate() const
-	{
-		size_t totalSize = 0;
-		for (int i = 0; i < m_numChunks; ++i)
-		{
-			totalSize += m_chunks[i].size;
-		}
-		return totalSize;
-	}
-	void setChunkPointers(void* mem) const
-	{
-		size_t totalSize = 0;
-		for (int i = 0; i < m_numChunks; ++i)
-		{
-			const Chunk& chunk = m_chunks[i];
-			char* chunkPtr = static_cast<char*>(mem) + totalSize;
-			*chunk.ptr = chunkPtr;
-			totalSize += chunk.size;
-		}
-	}
-};
-
-static btVector3 findMaxDynamicConstraintExtent(
-	btVector3* bodyPositions,
-	bool* bodyDynamicFlags,
-	btBatchedConstraintInfo* conInfos,
-	int numConstraints,
-	int numBodies)
-{
-	BT_PROFILE("findMaxDynamicConstraintExtent");
-	btVector3 consExtent = btVector3(1, 1, 1) * 0.001;
-	for (int iCon = 0; iCon < numConstraints; ++iCon)
-	{
-		const btBatchedConstraintInfo& con = conInfos[iCon];
-		int iBody0 = con.bodyIds[0];
-		int iBody1 = con.bodyIds[1];
-		btAssert(iBody0 >= 0 && iBody0 < numBodies);
-		btAssert(iBody1 >= 0 && iBody1 < numBodies);
-		// is it a dynamic constraint?
-		if (bodyDynamicFlags[iBody0] && bodyDynamicFlags[iBody1])
-		{
-			btVector3 delta = bodyPositions[iBody1] - bodyPositions[iBody0];
-			consExtent.setMax(delta.absolute());
-		}
-	}
-	return consExtent;
-}
-
-struct btIntVec3
-{
-	int m_ints[3];
-
-	SIMD_FORCE_INLINE const int& operator[](int i) const { return m_ints[i]; }
-	SIMD_FORCE_INLINE int& operator[](int i) { return m_ints[i]; }
-};
-
-struct AssignConstraintsToGridBatchesParams
-{
-	bool* bodyDynamicFlags;
-	btIntVec3* bodyGridCoords;
-	int numBodies;
-	btBatchedConstraintInfo* conInfos;
-	int* constraintBatchIds;
-	btIntVec3 gridChunkDim;
-	int maxNumBatchesPerPhase;
-	int numPhases;
-	int phaseMask;
-
-	AssignConstraintsToGridBatchesParams()
-	{
-		memset(this, 0, sizeof(*this));
-	}
-};
-
-static void assignConstraintsToGridBatches(const AssignConstraintsToGridBatchesParams& params, int iConBegin, int iConEnd)
-{
-	BT_PROFILE("assignConstraintsToGridBatches");
-	// (can be done in parallel)
-	for (int iCon = iConBegin; iCon < iConEnd; ++iCon)
-	{
-		const btBatchedConstraintInfo& con = params.conInfos[iCon];
-		int iBody0 = con.bodyIds[0];
-		int iBody1 = con.bodyIds[1];
-		int iPhase = iCon;  //iBody0; // pseudorandom choice to distribute evenly amongst phases
-		iPhase &= params.phaseMask;
-		int gridCoord[3];
-		// is it a dynamic constraint?
-		if (params.bodyDynamicFlags[iBody0] && params.bodyDynamicFlags[iBody1])
-		{
-			const btIntVec3& body0Coords = params.bodyGridCoords[iBody0];
-			const btIntVec3& body1Coords = params.bodyGridCoords[iBody1];
-			// for each dimension x,y,z,
-			for (int i = 0; i < 3; ++i)
-			{
-				int coordMin = btMin(body0Coords.m_ints[i], body1Coords.m_ints[i]);
-				int coordMax = btMax(body0Coords.m_ints[i], body1Coords.m_ints[i]);
-				if (coordMin != coordMax)
-				{
-					btAssert(coordMax == coordMin + 1);
-					if ((coordMin & 1) == 0)
-					{
-						iPhase &= ~(1 << i);  // force bit off
-					}
-					else
-					{
-						iPhase |= (1 << i);  // force bit on
-						iPhase &= params.phaseMask;
-					}
-				}
-				gridCoord[i] = coordMin;
-			}
-		}
-		else
-		{
-			if (!params.bodyDynamicFlags[iBody0])
-			{
-				iBody0 = con.bodyIds[1];
-			}
-			btAssert(params.bodyDynamicFlags[iBody0]);
-			const btIntVec3& body0Coords = params.bodyGridCoords[iBody0];
-			// for each dimension x,y,z,
-			for (int i = 0; i < 3; ++i)
-			{
-				gridCoord[i] = body0Coords.m_ints[i];
-			}
-		}
-		// calculate chunk coordinates
-		int chunkCoord[3];
-		btIntVec3 gridChunkDim = params.gridChunkDim;
-		// for each dimension x,y,z,
-		for (int i = 0; i < 3; ++i)
-		{
-			int coordOffset = (iPhase >> i) & 1;
-			chunkCoord[i] = (gridCoord[i] - coordOffset) / 2;
-			btClamp(chunkCoord[i], 0, gridChunkDim[i] - 1);
-			btAssert(chunkCoord[i] < gridChunkDim[i]);
-		}
-		int iBatch = iPhase * params.maxNumBatchesPerPhase + chunkCoord[0] + chunkCoord[1] * gridChunkDim[0] + chunkCoord[2] * gridChunkDim[0] * gridChunkDim[1];
-		btAssert(iBatch >= 0 && iBatch < params.maxNumBatchesPerPhase * params.numPhases);
-		params.constraintBatchIds[iCon] = iBatch;
-	}
-}
-
-struct AssignConstraintsToGridBatchesLoop : public btIParallelForBody
-{
-	const AssignConstraintsToGridBatchesParams* m_params;
-
-	AssignConstraintsToGridBatchesLoop(const AssignConstraintsToGridBatchesParams& params)
-	{
-		m_params = &params;
-	}
-	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		assignConstraintsToGridBatches(*m_params, iBegin, iEnd);
-	}
-};
-
-//
-// setupSpatialGridBatchesMt -- generate batches using a uniform 3D grid
-//
-/*
-
-Bodies are treated as 3D points at their center of mass. We only consider dynamic bodies at this stage,
-because only dynamic bodies are mutated when a constraint is solved, thus subject to race conditions.
-
-1. Compute a bounding box around all dynamic bodies
-2. Compute the maximum extent of all dynamic constraints. Each dynamic constraint is treated as a line segment, and we need the size of
-   box that will fully enclose any single dynamic constraint
-
-3. Establish the cell size of our grid, the cell size in each dimension must be at least as large as the dynamic constraints max-extent,
-   so that no dynamic constraint can span more than 2 cells of our grid on any axis of the grid. The cell size should be adjusted
-   larger in order to keep the total number of cells from being excessively high
-
-Key idea: Given that each constraint spans 1 or 2 grid cells in each dimension, we can handle all constraints by processing
-          in chunks of 2x2x2 cells with 8 different 1-cell offsets ((0,0,0),(0,0,1),(0,1,0),(0,1,1),(1,0,0)...).
-          For each of the 8 offsets, we create a phase, and for each 2x2x2 chunk with dynamic constraints becomes a batch in that phase.
-
-4. Once the grid is established, we can calculate for each constraint which phase and batch it belongs in.
-
-5. Do a merge small batches on the batches of each phase separately, to try to even out the sizes of batches
-
-Optionally, we can "collapse" one dimension of our 3D grid to turn it into a 2D grid, which reduces the number of phases
-to 4. With fewer phases, there are more constraints per phase and this makes it easier to create batches of a useful size.
-*/
-//
-static void setupSpatialGridBatchesMt(
-	btBatchedConstraints* batchedConstraints,
-	btAlignedObjectArray<char>* scratchMemory,
-	btConstraintArray* constraints,
-	const btAlignedObjectArray<btSolverBody>& bodies,
-	int minBatchSize,
-	int maxBatchSize,
-	bool use2DGrid)
-{
-	BT_PROFILE("setupSpatialGridBatchesMt");
-	const int numPhases = 8;
-	int numConstraints = constraints->size();
-	int numConstraintRows = constraints->size();
-
-	const int maxGridChunkCount = 128;
-	int allocNumBatchesPerPhase = maxGridChunkCount;
-	int minNumBatchesPerPhase = 16;
-	int allocNumBatches = allocNumBatchesPerPhase * numPhases;
-
-	btVector3* bodyPositions = NULL;
-	bool* bodyDynamicFlags = NULL;
-	btIntVec3* bodyGridCoords = NULL;
-	btBatchInfo* batches = NULL;
-	int* batchWork = NULL;
-	btBatchedConstraintInfo* conInfos = NULL;
-	int* constraintBatchIds = NULL;
-	int* constraintRowBatchIds = NULL;
-	{
-		PreallocatedMemoryHelper<10> memHelper;
-		memHelper.addChunk((void**)&bodyPositions, sizeof(btVector3) * bodies.size());
-		memHelper.addChunk((void**)&bodyDynamicFlags, sizeof(bool) * bodies.size());
-		memHelper.addChunk((void**)&bodyGridCoords, sizeof(btIntVec3) * bodies.size());
-		memHelper.addChunk((void**)&batches, sizeof(btBatchInfo) * allocNumBatches);
-		memHelper.addChunk((void**)&batchWork, sizeof(int) * allocNumBatches);
-		memHelper.addChunk((void**)&conInfos, sizeof(btBatchedConstraintInfo) * numConstraints);
-		memHelper.addChunk((void**)&constraintBatchIds, sizeof(int) * numConstraints);
-		memHelper.addChunk((void**)&constraintRowBatchIds, sizeof(int) * numConstraintRows);
-		size_t scratchSize = memHelper.getSizeToAllocate();
-		// if we need to reallocate
-		if (static_cast<size_t>(scratchMemory->capacity()) < scratchSize)
-		{
-			// allocate 6.25% extra to avoid repeated reallocs
-			scratchMemory->reserve(scratchSize + scratchSize / 16);
-		}
-		scratchMemory->resizeNoInitialize(scratchSize);
-		char* memPtr = &scratchMemory->at(0);
-		memHelper.setChunkPointers(memPtr);
-	}
-
-	numConstraints = initBatchedConstraintInfo(conInfos, constraints);
-
-	// compute bounding box around all dynamic bodies
-	// (could be done in parallel)
-	btVector3 bboxMin(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT);
-	btVector3 bboxMax = -bboxMin;
-	//int dynamicBodyCount = 0;
-	for (int i = 0; i < bodies.size(); ++i)
-	{
-		const btSolverBody& body = bodies[i];
-		btVector3 bodyPos = body.getWorldTransform().getOrigin();
-		bool isDynamic = (body.internalGetInvMass().x() > btScalar(0));
-		bodyPositions[i] = bodyPos;
-		bodyDynamicFlags[i] = isDynamic;
-		if (isDynamic)
-		{
-			//dynamicBodyCount++;
-			bboxMin.setMin(bodyPos);
-			bboxMax.setMax(bodyPos);
-		}
-	}
-
-	// find max extent of all dynamic constraints
-	// (could be done in parallel)
-	btVector3 consExtent = findMaxDynamicConstraintExtent(bodyPositions, bodyDynamicFlags, conInfos, numConstraints, bodies.size());
-
-	btVector3 gridExtent = bboxMax - bboxMin;
-
-	gridExtent.setMax(btVector3(btScalar(1), btScalar(1), btScalar(1)));
-
-	btVector3 gridCellSize = consExtent;
-	int gridDim[3];
-	gridDim[0] = int(1.0 + gridExtent.x() / gridCellSize.x());
-	gridDim[1] = int(1.0 + gridExtent.y() / gridCellSize.y());
-	gridDim[2] = int(1.0 + gridExtent.z() / gridCellSize.z());
-
-	// if we can collapse an axis, it will cut our number of phases in half which could be more efficient
-	int phaseMask = 7;
-	bool collapseAxis = use2DGrid;
-	if (collapseAxis)
-	{
-		// pick the smallest axis to collapse, leaving us with the greatest number of cells in our grid
-		int iAxisToCollapse = 0;
-		int axisDim = gridDim[iAxisToCollapse];
-		//for each dimension
-		for (int i = 0; i < 3; ++i)
-		{
-			if (gridDim[i] < axisDim)
-			{
-				iAxisToCollapse = i;
-				axisDim = gridDim[i];
-			}
-		}
-		// collapse it
-		gridCellSize[iAxisToCollapse] = gridExtent[iAxisToCollapse] * 2.0f;
-		phaseMask &= ~(1 << iAxisToCollapse);
-	}
-
-	int numGridChunks = 0;
-	btIntVec3 gridChunkDim;  // each chunk is 2x2x2 group of cells
-	while (true)
-	{
-		gridDim[0] = int(1.0 + gridExtent.x() / gridCellSize.x());
-		gridDim[1] = int(1.0 + gridExtent.y() / gridCellSize.y());
-		gridDim[2] = int(1.0 + gridExtent.z() / gridCellSize.z());
-		gridChunkDim[0] = btMax(1, (gridDim[0] + 0) / 2);
-		gridChunkDim[1] = btMax(1, (gridDim[1] + 0) / 2);
-		gridChunkDim[2] = btMax(1, (gridDim[2] + 0) / 2);
-		numGridChunks = gridChunkDim[0] * gridChunkDim[1] * gridChunkDim[2];
-		float nChunks = float(gridChunkDim[0]) * float(gridChunkDim[1]) * float(gridChunkDim[2]);  // suceptible to integer overflow
-		if (numGridChunks <= maxGridChunkCount && nChunks <= maxGridChunkCount)
-		{
-			break;
-		}
-		gridCellSize *= 1.25;  // should roughly cut numCells in half
-	}
-	btAssert(numGridChunks <= maxGridChunkCount);
-	int maxNumBatchesPerPhase = numGridChunks;
-
-	// for each dynamic body, compute grid coords
-	btVector3 invGridCellSize = btVector3(1, 1, 1) / gridCellSize;
-	// (can be done in parallel)
-	for (int iBody = 0; iBody < bodies.size(); ++iBody)
-	{
-		btIntVec3& coords = bodyGridCoords[iBody];
-		if (bodyDynamicFlags[iBody])
-		{
-			btVector3 v = (bodyPositions[iBody] - bboxMin) * invGridCellSize;
-			coords.m_ints[0] = int(v.x());
-			coords.m_ints[1] = int(v.y());
-			coords.m_ints[2] = int(v.z());
-			btAssert(coords.m_ints[0] >= 0 && coords.m_ints[0] < gridDim[0]);
-			btAssert(coords.m_ints[1] >= 0 && coords.m_ints[1] < gridDim[1]);
-			btAssert(coords.m_ints[2] >= 0 && coords.m_ints[2] < gridDim[2]);
-		}
-		else
-		{
-			coords.m_ints[0] = -1;
-			coords.m_ints[1] = -1;
-			coords.m_ints[2] = -1;
-		}
-	}
-
-	for (int iPhase = 0; iPhase < numPhases; ++iPhase)
-	{
-		int batchBegin = iPhase * maxNumBatchesPerPhase;
-		int batchEnd = batchBegin + maxNumBatchesPerPhase;
-		for (int iBatch = batchBegin; iBatch < batchEnd; ++iBatch)
-		{
-			btBatchInfo& batch = batches[iBatch];
-			batch = btBatchInfo();
-		}
-	}
-
-	{
-		AssignConstraintsToGridBatchesParams params;
-		params.bodyDynamicFlags = bodyDynamicFlags;
-		params.bodyGridCoords = bodyGridCoords;
-		params.numBodies = bodies.size();
-		params.conInfos = conInfos;
-		params.constraintBatchIds = constraintBatchIds;
-		params.gridChunkDim = gridChunkDim;
-		params.maxNumBatchesPerPhase = maxNumBatchesPerPhase;
-		params.numPhases = numPhases;
-		params.phaseMask = phaseMask;
-		bool inParallel = true;
-		if (inParallel)
-		{
-			AssignConstraintsToGridBatchesLoop loop(params);
-			int grainSize = 250;
-			btParallelFor(0, numConstraints, grainSize, loop);
-		}
-		else
-		{
-			assignConstraintsToGridBatches(params, 0, numConstraints);
-		}
-	}
-	for (int iCon = 0; iCon < numConstraints; ++iCon)
-	{
-		const btBatchedConstraintInfo& con = conInfos[iCon];
-		int iBatch = constraintBatchIds[iCon];
-		btBatchInfo& batch = batches[iBatch];
-		batch.numConstraints += con.numConstraintRows;
-	}
-
-	for (int iPhase = 0; iPhase < numPhases; ++iPhase)
-	{
-		// if phase is legit,
-		if (iPhase == (iPhase & phaseMask))
-		{
-			int iBeginBatch = iPhase * maxNumBatchesPerPhase;
-			int iEndBatch = iBeginBatch + maxNumBatchesPerPhase;
-			mergeSmallBatches(batches, iBeginBatch, iEndBatch, minBatchSize, maxBatchSize);
-		}
-	}
-	// all constraints have been assigned a batchId
-	updateConstraintBatchIdsForMergesMt(constraintBatchIds, numConstraints, batches, maxNumBatchesPerPhase * numPhases);
-
-	if (numConstraintRows > numConstraints)
-	{
-		expandConstraintRowsMt(&constraintRowBatchIds[0], &constraintBatchIds[0], &conInfos[0], numConstraints, numConstraintRows);
-	}
-	else
-	{
-		constraintRowBatchIds = constraintBatchIds;
-	}
-
-	writeOutBatches(batchedConstraints, constraintRowBatchIds, numConstraintRows, batches, batchWork, maxNumBatchesPerPhase, numPhases);
-	btAssert(batchedConstraints->validate(constraints, bodies));
-}
-
-static void setupSingleBatch(
-	btBatchedConstraints* bc,
-	int numConstraints)
-{
-	BT_PROFILE("setupSingleBatch");
-	typedef btBatchedConstraints::Range Range;
-
-	bc->m_constraintIndices.resize(numConstraints);
-	for (int i = 0; i < numConstraints; ++i)
-	{
-		bc->m_constraintIndices[i] = i;
-	}
-
-	bc->m_batches.resizeNoInitialize(0);
-	bc->m_phases.resizeNoInitialize(0);
-	bc->m_phaseOrder.resizeNoInitialize(0);
-	bc->m_phaseGrainSize.resizeNoInitialize(0);
-
-	if (numConstraints > 0)
-	{
-		bc->m_batches.push_back(Range(0, numConstraints));
-		bc->m_phases.push_back(Range(0, 1));
-		bc->m_phaseOrder.push_back(0);
-		bc->m_phaseGrainSize.push_back(1);
-	}
-}
-
-void btBatchedConstraints::setup(
-	btConstraintArray* constraints,
-	const btAlignedObjectArray<btSolverBody>& bodies,
-	BatchingMethod batchingMethod,
-	int minBatchSize,
-	int maxBatchSize,
-	btAlignedObjectArray<char>* scratchMemory)
-{
-	if (constraints->size() >= minBatchSize * 4)
-	{
-		bool use2DGrid = batchingMethod == BATCHING_METHOD_SPATIAL_GRID_2D;
-		setupSpatialGridBatchesMt(this, scratchMemory, constraints, bodies, minBatchSize, maxBatchSize, use2DGrid);
-		if (s_debugDrawBatches)
-		{
-			debugDrawAllBatches(this, constraints, bodies);
-		}
-	}
-	else
-	{
-		setupSingleBatch(this, constraints->size());
-	}
-}
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.h
deleted file mode 100644
index 5d982ca370..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_BATCHED_CONSTRAINTS_H
-#define BT_BATCHED_CONSTRAINTS_H
-
-#include "LinearMath/btThreads.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
-#include "BulletDynamics/ConstraintSolver/btSolverConstraint.h"
-
-class btIDebugDraw;
-
-struct btBatchedConstraints
-{
-	enum BatchingMethod
-	{
-		BATCHING_METHOD_SPATIAL_GRID_2D,
-		BATCHING_METHOD_SPATIAL_GRID_3D,
-		BATCHING_METHOD_COUNT
-	};
-	struct Range
-	{
-		int begin;
-		int end;
-
-		Range() : begin(0), end(0) {}
-		Range(int _beg, int _end) : begin(_beg), end(_end) {}
-	};
-
-	btAlignedObjectArray<int> m_constraintIndices;
-	btAlignedObjectArray<Range> m_batches;        // each batch is a range of indices in the m_constraintIndices array
-	btAlignedObjectArray<Range> m_phases;         // each phase is range of indices in the m_batches array
-	btAlignedObjectArray<char> m_phaseGrainSize;  // max grain size for each phase
-	btAlignedObjectArray<int> m_phaseOrder;       // phases can be done in any order, so we can randomize the order here
-	btIDebugDraw* m_debugDrawer;
-
-	static bool s_debugDrawBatches;
-
-	btBatchedConstraints() { m_debugDrawer = NULL; }
-	void setup(btConstraintArray* constraints,
-			   const btAlignedObjectArray<btSolverBody>& bodies,
-			   BatchingMethod batchingMethod,
-			   int minBatchSize,
-			   int maxBatchSize,
-			   btAlignedObjectArray<char>* scratchMemory);
-	bool validate(btConstraintArray* constraints, const btAlignedObjectArray<btSolverBody>& bodies) const;
-};
-
-#endif  // BT_BATCHED_CONSTRAINTS_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
deleted file mode 100644
index ac046aa6ea..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
+++ /dev/null
@@ -1,1116 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-btConeTwistConstraint is Copyright (c) 2007 Starbreeze Studios
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-
-Written by: Marcus Hennix
-*/
-
-#include "btConeTwistConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btTransformUtil.h"
-#include "LinearMath/btMinMax.h"
-#include <cmath>
-#include <new>
-
-//#define CONETWIST_USE_OBSOLETE_SOLVER true
-#define CONETWIST_USE_OBSOLETE_SOLVER false
-#define CONETWIST_DEF_FIX_THRESH btScalar(.05f)
-
-SIMD_FORCE_INLINE btScalar computeAngularImpulseDenominator(const btVector3& axis, const btMatrix3x3& invInertiaWorld)
-{
-	btVector3 vec = axis * invInertiaWorld;
-	return axis.dot(vec);
-}
-
-btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA, btRigidBody& rbB,
-											 const btTransform& rbAFrame, const btTransform& rbBFrame)
-	: btTypedConstraint(CONETWIST_CONSTRAINT_TYPE, rbA, rbB), m_rbAFrame(rbAFrame), m_rbBFrame(rbBFrame), m_angularOnly(false), m_useSolveConstraintObsolete(CONETWIST_USE_OBSOLETE_SOLVER)
-{
-	init();
-}
-
-btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA, const btTransform& rbAFrame)
-	: btTypedConstraint(CONETWIST_CONSTRAINT_TYPE, rbA), m_rbAFrame(rbAFrame), m_angularOnly(false), m_useSolveConstraintObsolete(CONETWIST_USE_OBSOLETE_SOLVER)
-{
-	m_rbBFrame = m_rbAFrame;
-	m_rbBFrame.setOrigin(btVector3(0., 0., 0.));
-	init();
-}
-
-void btConeTwistConstraint::init()
-{
-	m_angularOnly = false;
-	m_solveTwistLimit = false;
-	m_solveSwingLimit = false;
-	m_bMotorEnabled = false;
-	m_maxMotorImpulse = btScalar(-1);
-
-	setLimit(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-	m_damping = btScalar(0.01);
-	m_fixThresh = CONETWIST_DEF_FIX_THRESH;
-	m_flags = 0;
-	m_linCFM = btScalar(0.f);
-	m_linERP = btScalar(0.7f);
-	m_angCFM = btScalar(0.f);
-}
-
-void btConeTwistConstraint::getInfo1(btConstraintInfo1* info)
-{
-	if (m_useSolveConstraintObsolete)
-	{
-		info->m_numConstraintRows = 0;
-		info->nub = 0;
-	}
-	else
-	{
-		info->m_numConstraintRows = 3;
-		info->nub = 3;
-		calcAngleInfo2(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform(), m_rbA.getInvInertiaTensorWorld(), m_rbB.getInvInertiaTensorWorld());
-		if (m_solveSwingLimit)
-		{
-			info->m_numConstraintRows++;
-			info->nub--;
-			if ((m_swingSpan1 < m_fixThresh) && (m_swingSpan2 < m_fixThresh))
-			{
-				info->m_numConstraintRows++;
-				info->nub--;
-			}
-		}
-		if (m_solveTwistLimit)
-		{
-			info->m_numConstraintRows++;
-			info->nub--;
-		}
-	}
-}
-
-void btConeTwistConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
-{
-	//always reserve 6 rows: object transform is not available on SPU
-	info->m_numConstraintRows = 6;
-	info->nub = 0;
-}
-
-void btConeTwistConstraint::getInfo2(btConstraintInfo2* info)
-{
-	getInfo2NonVirtual(info, m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform(), m_rbA.getInvInertiaTensorWorld(), m_rbB.getInvInertiaTensorWorld());
-}
-
-void btConeTwistConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB, const btMatrix3x3& invInertiaWorldA, const btMatrix3x3& invInertiaWorldB)
-{
-	calcAngleInfo2(transA, transB, invInertiaWorldA, invInertiaWorldB);
-
-	btAssert(!m_useSolveConstraintObsolete);
-	// set jacobian
-	info->m_J1linearAxis[0] = 1;
-	info->m_J1linearAxis[info->rowskip + 1] = 1;
-	info->m_J1linearAxis[2 * info->rowskip + 2] = 1;
-	btVector3 a1 = transA.getBasis() * m_rbAFrame.getOrigin();
-	{
-		btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
-		btVector3* angular1 = (btVector3*)(info->m_J1angularAxis + info->rowskip);
-		btVector3* angular2 = (btVector3*)(info->m_J1angularAxis + 2 * info->rowskip);
-		btVector3 a1neg = -a1;
-		a1neg.getSkewSymmetricMatrix(angular0, angular1, angular2);
-	}
-	info->m_J2linearAxis[0] = -1;
-	info->m_J2linearAxis[info->rowskip + 1] = -1;
-	info->m_J2linearAxis[2 * info->rowskip + 2] = -1;
-	btVector3 a2 = transB.getBasis() * m_rbBFrame.getOrigin();
-	{
-		btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
-		btVector3* angular1 = (btVector3*)(info->m_J2angularAxis + info->rowskip);
-		btVector3* angular2 = (btVector3*)(info->m_J2angularAxis + 2 * info->rowskip);
-		a2.getSkewSymmetricMatrix(angular0, angular1, angular2);
-	}
-	// set right hand side
-	btScalar linERP = (m_flags & BT_CONETWIST_FLAGS_LIN_ERP) ? m_linERP : info->erp;
-	btScalar k = info->fps * linERP;
-	int j;
-	for (j = 0; j < 3; j++)
-	{
-		info->m_constraintError[j * info->rowskip] = k * (a2[j] + transB.getOrigin()[j] - a1[j] - transA.getOrigin()[j]);
-		info->m_lowerLimit[j * info->rowskip] = -SIMD_INFINITY;
-		info->m_upperLimit[j * info->rowskip] = SIMD_INFINITY;
-		if (m_flags & BT_CONETWIST_FLAGS_LIN_CFM)
-		{
-			info->cfm[j * info->rowskip] = m_linCFM;
-		}
-	}
-	int row = 3;
-	int srow = row * info->rowskip;
-	btVector3 ax1;
-	// angular limits
-	if (m_solveSwingLimit)
-	{
-		btScalar* J1 = info->m_J1angularAxis;
-		btScalar* J2 = info->m_J2angularAxis;
-		if ((m_swingSpan1 < m_fixThresh) && (m_swingSpan2 < m_fixThresh))
-		{
-			btTransform trA = transA * m_rbAFrame;
-			btVector3 p = trA.getBasis().getColumn(1);
-			btVector3 q = trA.getBasis().getColumn(2);
-			int srow1 = srow + info->rowskip;
-			J1[srow + 0] = p[0];
-			J1[srow + 1] = p[1];
-			J1[srow + 2] = p[2];
-			J1[srow1 + 0] = q[0];
-			J1[srow1 + 1] = q[1];
-			J1[srow1 + 2] = q[2];
-			J2[srow + 0] = -p[0];
-			J2[srow + 1] = -p[1];
-			J2[srow + 2] = -p[2];
-			J2[srow1 + 0] = -q[0];
-			J2[srow1 + 1] = -q[1];
-			J2[srow1 + 2] = -q[2];
-			btScalar fact = info->fps * m_relaxationFactor;
-			info->m_constraintError[srow] = fact * m_swingAxis.dot(p);
-			info->m_constraintError[srow1] = fact * m_swingAxis.dot(q);
-			info->m_lowerLimit[srow] = -SIMD_INFINITY;
-			info->m_upperLimit[srow] = SIMD_INFINITY;
-			info->m_lowerLimit[srow1] = -SIMD_INFINITY;
-			info->m_upperLimit[srow1] = SIMD_INFINITY;
-			srow = srow1 + info->rowskip;
-		}
-		else
-		{
-			ax1 = m_swingAxis * m_relaxationFactor * m_relaxationFactor;
-			J1[srow + 0] = ax1[0];
-			J1[srow + 1] = ax1[1];
-			J1[srow + 2] = ax1[2];
-			J2[srow + 0] = -ax1[0];
-			J2[srow + 1] = -ax1[1];
-			J2[srow + 2] = -ax1[2];
-			btScalar k = info->fps * m_biasFactor;
-
-			info->m_constraintError[srow] = k * m_swingCorrection;
-			if (m_flags & BT_CONETWIST_FLAGS_ANG_CFM)
-			{
-				info->cfm[srow] = m_angCFM;
-			}
-			// m_swingCorrection is always positive or 0
-			info->m_lowerLimit[srow] = 0;
-			info->m_upperLimit[srow] = (m_bMotorEnabled && m_maxMotorImpulse >= 0.0f) ? m_maxMotorImpulse : SIMD_INFINITY;
-			srow += info->rowskip;
-		}
-	}
-	if (m_solveTwistLimit)
-	{
-		ax1 = m_twistAxis * m_relaxationFactor * m_relaxationFactor;
-		btScalar* J1 = info->m_J1angularAxis;
-		btScalar* J2 = info->m_J2angularAxis;
-		J1[srow + 0] = ax1[0];
-		J1[srow + 1] = ax1[1];
-		J1[srow + 2] = ax1[2];
-		J2[srow + 0] = -ax1[0];
-		J2[srow + 1] = -ax1[1];
-		J2[srow + 2] = -ax1[2];
-		btScalar k = info->fps * m_biasFactor;
-		info->m_constraintError[srow] = k * m_twistCorrection;
-		if (m_flags & BT_CONETWIST_FLAGS_ANG_CFM)
-		{
-			info->cfm[srow] = m_angCFM;
-		}
-		if (m_twistSpan > 0.0f)
-		{
-			if (m_twistCorrection > 0.0f)
-			{
-				info->m_lowerLimit[srow] = 0;
-				info->m_upperLimit[srow] = SIMD_INFINITY;
-			}
-			else
-			{
-				info->m_lowerLimit[srow] = -SIMD_INFINITY;
-				info->m_upperLimit[srow] = 0;
-			}
-		}
-		else
-		{
-			info->m_lowerLimit[srow] = -SIMD_INFINITY;
-			info->m_upperLimit[srow] = SIMD_INFINITY;
-		}
-		srow += info->rowskip;
-	}
-}
-
-void btConeTwistConstraint::buildJacobian()
-{
-	if (m_useSolveConstraintObsolete)
-	{
-		m_appliedImpulse = btScalar(0.);
-		m_accTwistLimitImpulse = btScalar(0.);
-		m_accSwingLimitImpulse = btScalar(0.);
-		m_accMotorImpulse = btVector3(0., 0., 0.);
-
-		if (!m_angularOnly)
-		{
-			btVector3 pivotAInW = m_rbA.getCenterOfMassTransform() * m_rbAFrame.getOrigin();
-			btVector3 pivotBInW = m_rbB.getCenterOfMassTransform() * m_rbBFrame.getOrigin();
-			btVector3 relPos = pivotBInW - pivotAInW;
-
-			btVector3 normal[3];
-			if (relPos.length2() > SIMD_EPSILON)
-			{
-				normal[0] = relPos.normalized();
-			}
-			else
-			{
-				normal[0].setValue(btScalar(1.0), 0, 0);
-			}
-
-			btPlaneSpace1(normal[0], normal[1], normal[2]);
-
-			for (int i = 0; i < 3; i++)
-			{
-				new (&m_jac[i]) btJacobianEntry(
-					m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-					m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-					pivotAInW - m_rbA.getCenterOfMassPosition(),
-					pivotBInW - m_rbB.getCenterOfMassPosition(),
-					normal[i],
-					m_rbA.getInvInertiaDiagLocal(),
-					m_rbA.getInvMass(),
-					m_rbB.getInvInertiaDiagLocal(),
-					m_rbB.getInvMass());
-			}
-		}
-
-		calcAngleInfo2(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform(), m_rbA.getInvInertiaTensorWorld(), m_rbB.getInvInertiaTensorWorld());
-	}
-}
-
-void btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA, btSolverBody& bodyB, btScalar timeStep)
-{
-#ifndef __SPU__
-	if (m_useSolveConstraintObsolete)
-	{
-		btVector3 pivotAInW = m_rbA.getCenterOfMassTransform() * m_rbAFrame.getOrigin();
-		btVector3 pivotBInW = m_rbB.getCenterOfMassTransform() * m_rbBFrame.getOrigin();
-
-		btScalar tau = btScalar(0.3);
-
-		//linear part
-		if (!m_angularOnly)
-		{
-			btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition();
-			btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
-
-			btVector3 vel1;
-			bodyA.internalGetVelocityInLocalPointObsolete(rel_pos1, vel1);
-			btVector3 vel2;
-			bodyB.internalGetVelocityInLocalPointObsolete(rel_pos2, vel2);
-			btVector3 vel = vel1 - vel2;
-
-			for (int i = 0; i < 3; i++)
-			{
-				const btVector3& normal = m_jac[i].m_linearJointAxis;
-				btScalar jacDiagABInv = btScalar(1.) / m_jac[i].getDiagonal();
-
-				btScalar rel_vel;
-				rel_vel = normal.dot(vel);
-				//positional error (zeroth order error)
-				btScalar depth = -(pivotAInW - pivotBInW).dot(normal);  //this is the error projected on the normal
-				btScalar impulse = depth * tau / timeStep * jacDiagABInv - rel_vel * jacDiagABInv;
-				m_appliedImpulse += impulse;
-
-				btVector3 ftorqueAxis1 = rel_pos1.cross(normal);
-				btVector3 ftorqueAxis2 = rel_pos2.cross(normal);
-				bodyA.internalApplyImpulse(normal * m_rbA.getInvMass(), m_rbA.getInvInertiaTensorWorld() * ftorqueAxis1, impulse);
-				bodyB.internalApplyImpulse(normal * m_rbB.getInvMass(), m_rbB.getInvInertiaTensorWorld() * ftorqueAxis2, -impulse);
-			}
-		}
-
-		// apply motor
-		if (m_bMotorEnabled)
-		{
-			// compute current and predicted transforms
-			btTransform trACur = m_rbA.getCenterOfMassTransform();
-			btTransform trBCur = m_rbB.getCenterOfMassTransform();
-			btVector3 omegaA;
-			bodyA.internalGetAngularVelocity(omegaA);
-			btVector3 omegaB;
-			bodyB.internalGetAngularVelocity(omegaB);
-			btTransform trAPred;
-			trAPred.setIdentity();
-			btVector3 zerovec(0, 0, 0);
-			btTransformUtil::integrateTransform(
-				trACur, zerovec, omegaA, timeStep, trAPred);
-			btTransform trBPred;
-			trBPred.setIdentity();
-			btTransformUtil::integrateTransform(
-				trBCur, zerovec, omegaB, timeStep, trBPred);
-
-			// compute desired transforms in world
-			btTransform trPose(m_qTarget);
-			btTransform trABDes = m_rbBFrame * trPose * m_rbAFrame.inverse();
-			btTransform trADes = trBPred * trABDes;
-			btTransform trBDes = trAPred * trABDes.inverse();
-
-			// compute desired omegas in world
-			btVector3 omegaADes, omegaBDes;
-
-			btTransformUtil::calculateVelocity(trACur, trADes, timeStep, zerovec, omegaADes);
-			btTransformUtil::calculateVelocity(trBCur, trBDes, timeStep, zerovec, omegaBDes);
-
-			// compute delta omegas
-			btVector3 dOmegaA = omegaADes - omegaA;
-			btVector3 dOmegaB = omegaBDes - omegaB;
-
-			// compute weighted avg axis of dOmega (weighting based on inertias)
-			btVector3 axisA, axisB;
-			btScalar kAxisAInv = 0, kAxisBInv = 0;
-
-			if (dOmegaA.length2() > SIMD_EPSILON)
-			{
-				axisA = dOmegaA.normalized();
-				kAxisAInv = getRigidBodyA().computeAngularImpulseDenominator(axisA);
-			}
-
-			if (dOmegaB.length2() > SIMD_EPSILON)
-			{
-				axisB = dOmegaB.normalized();
-				kAxisBInv = getRigidBodyB().computeAngularImpulseDenominator(axisB);
-			}
-
-			btVector3 avgAxis = kAxisAInv * axisA + kAxisBInv * axisB;
-
-			static bool bDoTorque = true;
-			if (bDoTorque && avgAxis.length2() > SIMD_EPSILON)
-			{
-				avgAxis.normalize();
-				kAxisAInv = getRigidBodyA().computeAngularImpulseDenominator(avgAxis);
-				kAxisBInv = getRigidBodyB().computeAngularImpulseDenominator(avgAxis);
-				btScalar kInvCombined = kAxisAInv + kAxisBInv;
-
-				btVector3 impulse = (kAxisAInv * dOmegaA - kAxisBInv * dOmegaB) /
-									(kInvCombined * kInvCombined);
-
-				if (m_maxMotorImpulse >= 0)
-				{
-					btScalar fMaxImpulse = m_maxMotorImpulse;
-					if (m_bNormalizedMotorStrength)
-						fMaxImpulse = fMaxImpulse / kAxisAInv;
-
-					btVector3 newUnclampedAccImpulse = m_accMotorImpulse + impulse;
-					btScalar newUnclampedMag = newUnclampedAccImpulse.length();
-					if (newUnclampedMag > fMaxImpulse)
-					{
-						newUnclampedAccImpulse.normalize();
-						newUnclampedAccImpulse *= fMaxImpulse;
-						impulse = newUnclampedAccImpulse - m_accMotorImpulse;
-					}
-					m_accMotorImpulse += impulse;
-				}
-
-				btScalar impulseMag = impulse.length();
-				btVector3 impulseAxis = impulse / impulseMag;
-
-				bodyA.internalApplyImpulse(btVector3(0, 0, 0), m_rbA.getInvInertiaTensorWorld() * impulseAxis, impulseMag);
-				bodyB.internalApplyImpulse(btVector3(0, 0, 0), m_rbB.getInvInertiaTensorWorld() * impulseAxis, -impulseMag);
-			}
-		}
-		else if (m_damping > SIMD_EPSILON)  // no motor: do a little damping
-		{
-			btVector3 angVelA;
-			bodyA.internalGetAngularVelocity(angVelA);
-			btVector3 angVelB;
-			bodyB.internalGetAngularVelocity(angVelB);
-			btVector3 relVel = angVelB - angVelA;
-			if (relVel.length2() > SIMD_EPSILON)
-			{
-				btVector3 relVelAxis = relVel.normalized();
-				btScalar m_kDamping = btScalar(1.) /
-									  (getRigidBodyA().computeAngularImpulseDenominator(relVelAxis) +
-									   getRigidBodyB().computeAngularImpulseDenominator(relVelAxis));
-				btVector3 impulse = m_damping * m_kDamping * relVel;
-
-				btScalar impulseMag = impulse.length();
-				btVector3 impulseAxis = impulse / impulseMag;
-				bodyA.internalApplyImpulse(btVector3(0, 0, 0), m_rbA.getInvInertiaTensorWorld() * impulseAxis, impulseMag);
-				bodyB.internalApplyImpulse(btVector3(0, 0, 0), m_rbB.getInvInertiaTensorWorld() * impulseAxis, -impulseMag);
-			}
-		}
-
-		// joint limits
-		{
-			///solve angular part
-			btVector3 angVelA;
-			bodyA.internalGetAngularVelocity(angVelA);
-			btVector3 angVelB;
-			bodyB.internalGetAngularVelocity(angVelB);
-
-			// solve swing limit
-			if (m_solveSwingLimit)
-			{
-				btScalar amplitude = m_swingLimitRatio * m_swingCorrection * m_biasFactor / timeStep;
-				btScalar relSwingVel = (angVelB - angVelA).dot(m_swingAxis);
-				if (relSwingVel > 0)
-					amplitude += m_swingLimitRatio * relSwingVel * m_relaxationFactor;
-				btScalar impulseMag = amplitude * m_kSwing;
-
-				// Clamp the accumulated impulse
-				btScalar temp = m_accSwingLimitImpulse;
-				m_accSwingLimitImpulse = btMax(m_accSwingLimitImpulse + impulseMag, btScalar(0.0));
-				impulseMag = m_accSwingLimitImpulse - temp;
-
-				btVector3 impulse = m_swingAxis * impulseMag;
-
-				// don't let cone response affect twist
-				// (this can happen since body A's twist doesn't match body B's AND we use an elliptical cone limit)
-				{
-					btVector3 impulseTwistCouple = impulse.dot(m_twistAxisA) * m_twistAxisA;
-					btVector3 impulseNoTwistCouple = impulse - impulseTwistCouple;
-					impulse = impulseNoTwistCouple;
-				}
-
-				impulseMag = impulse.length();
-				btVector3 noTwistSwingAxis = impulse / impulseMag;
-
-				bodyA.internalApplyImpulse(btVector3(0, 0, 0), m_rbA.getInvInertiaTensorWorld() * noTwistSwingAxis, impulseMag);
-				bodyB.internalApplyImpulse(btVector3(0, 0, 0), m_rbB.getInvInertiaTensorWorld() * noTwistSwingAxis, -impulseMag);
-			}
-
-			// solve twist limit
-			if (m_solveTwistLimit)
-			{
-				btScalar amplitude = m_twistLimitRatio * m_twistCorrection * m_biasFactor / timeStep;
-				btScalar relTwistVel = (angVelB - angVelA).dot(m_twistAxis);
-				if (relTwistVel > 0)  // only damp when moving towards limit (m_twistAxis flipping is important)
-					amplitude += m_twistLimitRatio * relTwistVel * m_relaxationFactor;
-				btScalar impulseMag = amplitude * m_kTwist;
-
-				// Clamp the accumulated impulse
-				btScalar temp = m_accTwistLimitImpulse;
-				m_accTwistLimitImpulse = btMax(m_accTwistLimitImpulse + impulseMag, btScalar(0.0));
-				impulseMag = m_accTwistLimitImpulse - temp;
-
-				//		btVector3 impulse = m_twistAxis * impulseMag;
-
-				bodyA.internalApplyImpulse(btVector3(0, 0, 0), m_rbA.getInvInertiaTensorWorld() * m_twistAxis, impulseMag);
-				bodyB.internalApplyImpulse(btVector3(0, 0, 0), m_rbB.getInvInertiaTensorWorld() * m_twistAxis, -impulseMag);
-			}
-		}
-	}
-#else
-	btAssert(0);
-#endif  //__SPU__
-}
-
-void btConeTwistConstraint::updateRHS(btScalar timeStep)
-{
-	(void)timeStep;
-}
-
-#ifndef __SPU__
-void btConeTwistConstraint::calcAngleInfo()
-{
-	m_swingCorrection = btScalar(0.);
-	m_twistLimitSign = btScalar(0.);
-	m_solveTwistLimit = false;
-	m_solveSwingLimit = false;
-
-	btVector3 b1Axis1(0, 0, 0), b1Axis2(0, 0, 0), b1Axis3(0, 0, 0);
-	btVector3 b2Axis1(0, 0, 0), b2Axis2(0, 0, 0);
-
-	b1Axis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(0);
-	b2Axis1 = getRigidBodyB().getCenterOfMassTransform().getBasis() * this->m_rbBFrame.getBasis().getColumn(0);
-
-	btScalar swing1 = btScalar(0.), swing2 = btScalar(0.);
-
-	btScalar swx = btScalar(0.), swy = btScalar(0.);
-	btScalar thresh = btScalar(10.);
-	btScalar fact;
-
-	// Get Frame into world space
-	if (m_swingSpan1 >= btScalar(0.05f))
-	{
-		b1Axis2 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(1);
-		swx = b2Axis1.dot(b1Axis1);
-		swy = b2Axis1.dot(b1Axis2);
-		swing1 = btAtan2Fast(swy, swx);
-		fact = (swy * swy + swx * swx) * thresh * thresh;
-		fact = fact / (fact + btScalar(1.0));
-		swing1 *= fact;
-	}
-
-	if (m_swingSpan2 >= btScalar(0.05f))
-	{
-		b1Axis3 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(2);
-		swx = b2Axis1.dot(b1Axis1);
-		swy = b2Axis1.dot(b1Axis3);
-		swing2 = btAtan2Fast(swy, swx);
-		fact = (swy * swy + swx * swx) * thresh * thresh;
-		fact = fact / (fact + btScalar(1.0));
-		swing2 *= fact;
-	}
-
-	btScalar RMaxAngle1Sq = 1.0f / (m_swingSpan1 * m_swingSpan1);
-	btScalar RMaxAngle2Sq = 1.0f / (m_swingSpan2 * m_swingSpan2);
-	btScalar EllipseAngle = btFabs(swing1 * swing1) * RMaxAngle1Sq + btFabs(swing2 * swing2) * RMaxAngle2Sq;
-
-	if (EllipseAngle > 1.0f)
-	{
-		m_swingCorrection = EllipseAngle - 1.0f;
-		m_solveSwingLimit = true;
-		// Calculate necessary axis & factors
-		m_swingAxis = b2Axis1.cross(b1Axis2 * b2Axis1.dot(b1Axis2) + b1Axis3 * b2Axis1.dot(b1Axis3));
-		m_swingAxis.normalize();
-		btScalar swingAxisSign = (b2Axis1.dot(b1Axis1) >= 0.0f) ? 1.0f : -1.0f;
-		m_swingAxis *= swingAxisSign;
-	}
-
-	// Twist limits
-	if (m_twistSpan >= btScalar(0.))
-	{
-		btVector3 b2Axis2 = getRigidBodyB().getCenterOfMassTransform().getBasis() * this->m_rbBFrame.getBasis().getColumn(1);
-		btQuaternion rotationArc = shortestArcQuat(b2Axis1, b1Axis1);
-		btVector3 TwistRef = quatRotate(rotationArc, b2Axis2);
-		btScalar twist = btAtan2Fast(TwistRef.dot(b1Axis3), TwistRef.dot(b1Axis2));
-		m_twistAngle = twist;
-
-		//		btScalar lockedFreeFactor = (m_twistSpan > btScalar(0.05f)) ? m_limitSoftness : btScalar(0.);
-		btScalar lockedFreeFactor = (m_twistSpan > btScalar(0.05f)) ? btScalar(1.0f) : btScalar(0.);
-		if (twist <= -m_twistSpan * lockedFreeFactor)
-		{
-			m_twistCorrection = -(twist + m_twistSpan);
-			m_solveTwistLimit = true;
-			m_twistAxis = (b2Axis1 + b1Axis1) * 0.5f;
-			m_twistAxis.normalize();
-			m_twistAxis *= -1.0f;
-		}
-		else if (twist > m_twistSpan * lockedFreeFactor)
-		{
-			m_twistCorrection = (twist - m_twistSpan);
-			m_solveTwistLimit = true;
-			m_twistAxis = (b2Axis1 + b1Axis1) * 0.5f;
-			m_twistAxis.normalize();
-		}
-	}
-}
-#endif  //__SPU__
-
-static btVector3 vTwist(1, 0, 0);  // twist axis in constraint's space
-
-void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTransform& transB, const btMatrix3x3& invInertiaWorldA, const btMatrix3x3& invInertiaWorldB)
-{
-	m_swingCorrection = btScalar(0.);
-	m_twistLimitSign = btScalar(0.);
-	m_solveTwistLimit = false;
-	m_solveSwingLimit = false;
-	// compute rotation of A wrt B (in constraint space)
-	if (m_bMotorEnabled && (!m_useSolveConstraintObsolete))
-	{  // it is assumed that setMotorTarget() was alredy called
-		// and motor target m_qTarget is within constraint limits
-		// TODO : split rotation to pure swing and pure twist
-		// compute desired transforms in world
-		btTransform trPose(m_qTarget);
-		btTransform trA = transA * m_rbAFrame;
-		btTransform trB = transB * m_rbBFrame;
-		btTransform trDeltaAB = trB * trPose * trA.inverse();
-		btQuaternion qDeltaAB = trDeltaAB.getRotation();
-		btVector3 swingAxis = btVector3(qDeltaAB.x(), qDeltaAB.y(), qDeltaAB.z());
-		btScalar swingAxisLen2 = swingAxis.length2();
-		if (btFuzzyZero(swingAxisLen2))
-		{
-			return;
-		}
-		m_swingAxis = swingAxis;
-		m_swingAxis.normalize();
-		m_swingCorrection = qDeltaAB.getAngle();
-		if (!btFuzzyZero(m_swingCorrection))
-		{
-			m_solveSwingLimit = true;
-		}
-		return;
-	}
-
-	{
-		// compute rotation of A wrt B (in constraint space)
-		btQuaternion qA = transA.getRotation() * m_rbAFrame.getRotation();
-		btQuaternion qB = transB.getRotation() * m_rbBFrame.getRotation();
-		btQuaternion qAB = qB.inverse() * qA;
-		// split rotation into cone and twist
-		// (all this is done from B's perspective. Maybe I should be averaging axes...)
-		btVector3 vConeNoTwist = quatRotate(qAB, vTwist);
-		vConeNoTwist.normalize();
-		btQuaternion qABCone = shortestArcQuat(vTwist, vConeNoTwist);
-		qABCone.normalize();
-		btQuaternion qABTwist = qABCone.inverse() * qAB;
-		qABTwist.normalize();
-
-		if (m_swingSpan1 >= m_fixThresh && m_swingSpan2 >= m_fixThresh)
-		{
-			btScalar swingAngle, swingLimit = 0;
-			btVector3 swingAxis;
-			computeConeLimitInfo(qABCone, swingAngle, swingAxis, swingLimit);
-
-			if (swingAngle > swingLimit * m_limitSoftness)
-			{
-				m_solveSwingLimit = true;
-
-				// compute limit ratio: 0->1, where
-				// 0 == beginning of soft limit
-				// 1 == hard/real limit
-				m_swingLimitRatio = 1.f;
-				if (swingAngle < swingLimit && m_limitSoftness < 1.f - SIMD_EPSILON)
-				{
-					m_swingLimitRatio = (swingAngle - swingLimit * m_limitSoftness) /
-										(swingLimit - swingLimit * m_limitSoftness);
-				}
-
-				// swing correction tries to get back to soft limit
-				m_swingCorrection = swingAngle - (swingLimit * m_limitSoftness);
-
-				// adjustment of swing axis (based on ellipse normal)
-				adjustSwingAxisToUseEllipseNormal(swingAxis);
-
-				// Calculate necessary axis & factors
-				m_swingAxis = quatRotate(qB, -swingAxis);
-
-				m_twistAxisA.setValue(0, 0, 0);
-
-				m_kSwing = btScalar(1.) /
-						   (computeAngularImpulseDenominator(m_swingAxis, invInertiaWorldA) +
-							computeAngularImpulseDenominator(m_swingAxis, invInertiaWorldB));
-			}
-		}
-		else
-		{
-			// you haven't set any limits;
-			// or you're trying to set at least one of the swing limits too small. (if so, do you really want a conetwist constraint?)
-			// anyway, we have either hinge or fixed joint
-			btVector3 ivA = transA.getBasis() * m_rbAFrame.getBasis().getColumn(0);
-			btVector3 jvA = transA.getBasis() * m_rbAFrame.getBasis().getColumn(1);
-			btVector3 kvA = transA.getBasis() * m_rbAFrame.getBasis().getColumn(2);
-			btVector3 ivB = transB.getBasis() * m_rbBFrame.getBasis().getColumn(0);
-			btVector3 target;
-			btScalar x = ivB.dot(ivA);
-			btScalar y = ivB.dot(jvA);
-			btScalar z = ivB.dot(kvA);
-			if ((m_swingSpan1 < m_fixThresh) && (m_swingSpan2 < m_fixThresh))
-			{  // fixed. We'll need to add one more row to constraint
-				if ((!btFuzzyZero(y)) || (!(btFuzzyZero(z))))
-				{
-					m_solveSwingLimit = true;
-					m_swingAxis = -ivB.cross(ivA);
-				}
-			}
-			else
-			{
-				if (m_swingSpan1 < m_fixThresh)
-				{  // hinge around Y axis
-					//					if(!(btFuzzyZero(y)))
-					if ((!(btFuzzyZero(x))) || (!(btFuzzyZero(z))))
-					{
-						m_solveSwingLimit = true;
-						if (m_swingSpan2 >= m_fixThresh)
-						{
-							y = btScalar(0.f);
-							btScalar span2 = btAtan2(z, x);
-							if (span2 > m_swingSpan2)
-							{
-								x = btCos(m_swingSpan2);
-								z = btSin(m_swingSpan2);
-							}
-							else if (span2 < -m_swingSpan2)
-							{
-								x = btCos(m_swingSpan2);
-								z = -btSin(m_swingSpan2);
-							}
-						}
-					}
-				}
-				else
-				{  // hinge around Z axis
-					//					if(!btFuzzyZero(z))
-					if ((!(btFuzzyZero(x))) || (!(btFuzzyZero(y))))
-					{
-						m_solveSwingLimit = true;
-						if (m_swingSpan1 >= m_fixThresh)
-						{
-							z = btScalar(0.f);
-							btScalar span1 = btAtan2(y, x);
-							if (span1 > m_swingSpan1)
-							{
-								x = btCos(m_swingSpan1);
-								y = btSin(m_swingSpan1);
-							}
-							else if (span1 < -m_swingSpan1)
-							{
-								x = btCos(m_swingSpan1);
-								y = -btSin(m_swingSpan1);
-							}
-						}
-					}
-				}
-				target[0] = x * ivA[0] + y * jvA[0] + z * kvA[0];
-				target[1] = x * ivA[1] + y * jvA[1] + z * kvA[1];
-				target[2] = x * ivA[2] + y * jvA[2] + z * kvA[2];
-				target.normalize();
-				m_swingAxis = -ivB.cross(target);
-				m_swingCorrection = m_swingAxis.length();
-
-				if (!btFuzzyZero(m_swingCorrection))
-					m_swingAxis.normalize();
-			}
-		}
-
-		if (m_twistSpan >= btScalar(0.f))
-		{
-			btVector3 twistAxis;
-			computeTwistLimitInfo(qABTwist, m_twistAngle, twistAxis);
-
-			if (m_twistAngle > m_twistSpan * m_limitSoftness)
-			{
-				m_solveTwistLimit = true;
-
-				m_twistLimitRatio = 1.f;
-				if (m_twistAngle < m_twistSpan && m_limitSoftness < 1.f - SIMD_EPSILON)
-				{
-					m_twistLimitRatio = (m_twistAngle - m_twistSpan * m_limitSoftness) /
-										(m_twistSpan - m_twistSpan * m_limitSoftness);
-				}
-
-				// twist correction tries to get back to soft limit
-				m_twistCorrection = m_twistAngle - (m_twistSpan * m_limitSoftness);
-
-				m_twistAxis = quatRotate(qB, -twistAxis);
-
-				m_kTwist = btScalar(1.) /
-						   (computeAngularImpulseDenominator(m_twistAxis, invInertiaWorldA) +
-							computeAngularImpulseDenominator(m_twistAxis, invInertiaWorldB));
-			}
-
-			if (m_solveSwingLimit)
-				m_twistAxisA = quatRotate(qA, -twistAxis);
-		}
-		else
-		{
-			m_twistAngle = btScalar(0.f);
-		}
-	}
-}
-
-// given a cone rotation in constraint space, (pre: twist must already be removed)
-// this method computes its corresponding swing angle and axis.
-// more interestingly, it computes the cone/swing limit (angle) for this cone "pose".
-void btConeTwistConstraint::computeConeLimitInfo(const btQuaternion& qCone,
-												 btScalar& swingAngle,   // out
-												 btVector3& vSwingAxis,  // out
-												 btScalar& swingLimit)   // out
-{
-	swingAngle = qCone.getAngle();
-	if (swingAngle > SIMD_EPSILON)
-	{
-		vSwingAxis = btVector3(qCone.x(), qCone.y(), qCone.z());
-		vSwingAxis.normalize();
-#if 0
-        // non-zero twist?! this should never happen.
-       btAssert(fabs(vSwingAxis.x()) <= SIMD_EPSILON));
-#endif
-
-		// Compute limit for given swing. tricky:
-		// Given a swing axis, we're looking for the intersection with the bounding cone ellipse.
-		// (Since we're dealing with angles, this ellipse is embedded on the surface of a sphere.)
-
-		// For starters, compute the direction from center to surface of ellipse.
-		// This is just the perpendicular (ie. rotate 2D vector by PI/2) of the swing axis.
-		// (vSwingAxis is the cone rotation (in z,y); change vars and rotate to (x,y) coords.)
-		btScalar xEllipse = vSwingAxis.y();
-		btScalar yEllipse = -vSwingAxis.z();
-
-		// Now, we use the slope of the vector (using x/yEllipse) and find the length
-		// of the line that intersects the ellipse:
-		//  x^2   y^2
-		//  --- + --- = 1, where a and b are semi-major axes 2 and 1 respectively (ie. the limits)
-		//  a^2   b^2
-		// Do the math and it should be clear.
-
-		swingLimit = m_swingSpan1;  // if xEllipse == 0, we have a pure vSwingAxis.z rotation: just use swingspan1
-		if (fabs(xEllipse) > SIMD_EPSILON)
-		{
-			btScalar surfaceSlope2 = (yEllipse * yEllipse) / (xEllipse * xEllipse);
-			btScalar norm = 1 / (m_swingSpan2 * m_swingSpan2);
-			norm += surfaceSlope2 / (m_swingSpan1 * m_swingSpan1);
-			btScalar swingLimit2 = (1 + surfaceSlope2) / norm;
-			swingLimit = std::sqrt(swingLimit2);
-		}
-
-		// test!
-		/*swingLimit = m_swingSpan2;
-		if (fabs(vSwingAxis.z()) > SIMD_EPSILON)
-		{
-		btScalar mag_2 = m_swingSpan1*m_swingSpan1 + m_swingSpan2*m_swingSpan2;
-		btScalar sinphi = m_swingSpan2 / sqrt(mag_2);
-		btScalar phi = asin(sinphi);
-		btScalar theta = atan2(fabs(vSwingAxis.y()),fabs(vSwingAxis.z()));
-		btScalar alpha = 3.14159f - theta - phi;
-		btScalar sinalpha = sin(alpha);
-		swingLimit = m_swingSpan1 * sinphi/sinalpha;
-		}*/
-	}
-	else if (swingAngle < 0)
-	{
-		// this should never happen!
-#if 0
-        btAssert(0);
-#endif
-	}
-}
-
-btVector3 btConeTwistConstraint::GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const
-{
-	// compute x/y in ellipse using cone angle (0 -> 2*PI along surface of cone)
-	btScalar xEllipse = btCos(fAngleInRadians);
-	btScalar yEllipse = btSin(fAngleInRadians);
-
-	// Use the slope of the vector (using x/yEllipse) and find the length
-	// of the line that intersects the ellipse:
-	//  x^2   y^2
-	//  --- + --- = 1, where a and b are semi-major axes 2 and 1 respectively (ie. the limits)
-	//  a^2   b^2
-	// Do the math and it should be clear.
-
-	btScalar swingLimit = m_swingSpan1;  // if xEllipse == 0, just use axis b (1)
-	if (fabs(xEllipse) > SIMD_EPSILON)
-	{
-		btScalar surfaceSlope2 = (yEllipse * yEllipse) / (xEllipse * xEllipse);
-		btScalar norm = 1 / (m_swingSpan2 * m_swingSpan2);
-		norm += surfaceSlope2 / (m_swingSpan1 * m_swingSpan1);
-		btScalar swingLimit2 = (1 + surfaceSlope2) / norm;
-		swingLimit = std::sqrt(swingLimit2);
-	}
-
-	// convert into point in constraint space:
-	// note: twist is x-axis, swing 1 and 2 are along the z and y axes respectively
-	btVector3 vSwingAxis(0, xEllipse, -yEllipse);
-	btQuaternion qSwing(vSwingAxis, swingLimit);
-	btVector3 vPointInConstraintSpace(fLength, 0, 0);
-	return quatRotate(qSwing, vPointInConstraintSpace);
-}
-
-// given a twist rotation in constraint space, (pre: cone must already be removed)
-// this method computes its corresponding angle and axis.
-void btConeTwistConstraint::computeTwistLimitInfo(const btQuaternion& qTwist,
-												  btScalar& twistAngle,   // out
-												  btVector3& vTwistAxis)  // out
-{
-	btQuaternion qMinTwist = qTwist;
-	twistAngle = qTwist.getAngle();
-
-	if (twistAngle > SIMD_PI)  // long way around. flip quat and recalculate.
-	{
-		qMinTwist = -(qTwist);
-		twistAngle = qMinTwist.getAngle();
-	}
-	if (twistAngle < 0)
-	{
-		// this should never happen
-#if 0
-        btAssert(0);
-#endif
-	}
-
-	vTwistAxis = btVector3(qMinTwist.x(), qMinTwist.y(), qMinTwist.z());
-	if (twistAngle > SIMD_EPSILON)
-		vTwistAxis.normalize();
-}
-
-void btConeTwistConstraint::adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const
-{
-	// the swing axis is computed as the "twist-free" cone rotation,
-	// but the cone limit is not circular, but elliptical (if swingspan1 != swingspan2).
-	// so, if we're outside the limits, the closest way back inside the cone isn't
-	// along the vector back to the center. better (and more stable) to use the ellipse normal.
-
-	// convert swing axis to direction from center to surface of ellipse
-	// (ie. rotate 2D vector by PI/2)
-	btScalar y = -vSwingAxis.z();
-	btScalar z = vSwingAxis.y();
-
-	// do the math...
-	if (fabs(z) > SIMD_EPSILON)  // avoid division by 0. and we don't need an update if z == 0.
-	{
-		// compute gradient/normal of ellipse surface at current "point"
-		btScalar grad = y / z;
-		grad *= m_swingSpan2 / m_swingSpan1;
-
-		// adjust y/z to represent normal at point (instead of vector to point)
-		if (y > 0)
-			y = fabs(grad * z);
-		else
-			y = -fabs(grad * z);
-
-		// convert ellipse direction back to swing axis
-		vSwingAxis.setZ(-y);
-		vSwingAxis.setY(z);
-		vSwingAxis.normalize();
-	}
-}
-
-void btConeTwistConstraint::setMotorTarget(const btQuaternion& q)
-{
-	//btTransform trACur = m_rbA.getCenterOfMassTransform();
-	//btTransform trBCur = m_rbB.getCenterOfMassTransform();
-	//	btTransform trABCur = trBCur.inverse() * trACur;
-	//	btQuaternion qABCur = trABCur.getRotation();
-	//	btTransform trConstraintCur = (trBCur * m_rbBFrame).inverse() * (trACur * m_rbAFrame);
-	//btQuaternion qConstraintCur = trConstraintCur.getRotation();
-
-	btQuaternion qConstraint = m_rbBFrame.getRotation().inverse() * q * m_rbAFrame.getRotation();
-	setMotorTargetInConstraintSpace(qConstraint);
-}
-
-void btConeTwistConstraint::setMotorTargetInConstraintSpace(const btQuaternion& q)
-{
-	m_qTarget = q;
-
-	// clamp motor target to within limits
-	{
-		btScalar softness = 1.f;  //m_limitSoftness;
-
-		// split into twist and cone
-		btVector3 vTwisted = quatRotate(m_qTarget, vTwist);
-		btQuaternion qTargetCone = shortestArcQuat(vTwist, vTwisted);
-		qTargetCone.normalize();
-		btQuaternion qTargetTwist = qTargetCone.inverse() * m_qTarget;
-		qTargetTwist.normalize();
-
-		// clamp cone
-		if (m_swingSpan1 >= btScalar(0.05f) && m_swingSpan2 >= btScalar(0.05f))
-		{
-			btScalar swingAngle, swingLimit;
-			btVector3 swingAxis;
-			computeConeLimitInfo(qTargetCone, swingAngle, swingAxis, swingLimit);
-
-			if (fabs(swingAngle) > SIMD_EPSILON)
-			{
-				if (swingAngle > swingLimit * softness)
-					swingAngle = swingLimit * softness;
-				else if (swingAngle < -swingLimit * softness)
-					swingAngle = -swingLimit * softness;
-				qTargetCone = btQuaternion(swingAxis, swingAngle);
-			}
-		}
-
-		// clamp twist
-		if (m_twistSpan >= btScalar(0.05f))
-		{
-			btScalar twistAngle;
-			btVector3 twistAxis;
-			computeTwistLimitInfo(qTargetTwist, twistAngle, twistAxis);
-
-			if (fabs(twistAngle) > SIMD_EPSILON)
-			{
-				// eddy todo: limitSoftness used here???
-				if (twistAngle > m_twistSpan * softness)
-					twistAngle = m_twistSpan * softness;
-				else if (twistAngle < -m_twistSpan * softness)
-					twistAngle = -m_twistSpan * softness;
-				qTargetTwist = btQuaternion(twistAxis, twistAngle);
-			}
-		}
-
-		m_qTarget = qTargetCone * qTargetTwist;
-	}
-}
-
-///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
-///If no axis is provided, it uses the default axis for this constraint.
-void btConeTwistConstraint::setParam(int num, btScalar value, int axis)
-{
-	switch (num)
-	{
-		case BT_CONSTRAINT_ERP:
-		case BT_CONSTRAINT_STOP_ERP:
-			if ((axis >= 0) && (axis < 3))
-			{
-				m_linERP = value;
-				m_flags |= BT_CONETWIST_FLAGS_LIN_ERP;
-			}
-			else
-			{
-				m_biasFactor = value;
-			}
-			break;
-		case BT_CONSTRAINT_CFM:
-		case BT_CONSTRAINT_STOP_CFM:
-			if ((axis >= 0) && (axis < 3))
-			{
-				m_linCFM = value;
-				m_flags |= BT_CONETWIST_FLAGS_LIN_CFM;
-			}
-			else
-			{
-				m_angCFM = value;
-				m_flags |= BT_CONETWIST_FLAGS_ANG_CFM;
-			}
-			break;
-		default:
-			btAssertConstrParams(0);
-			break;
-	}
-}
-
-///return the local value of parameter
-btScalar btConeTwistConstraint::getParam(int num, int axis) const
-{
-	btScalar retVal = 0;
-	switch (num)
-	{
-		case BT_CONSTRAINT_ERP:
-		case BT_CONSTRAINT_STOP_ERP:
-			if ((axis >= 0) && (axis < 3))
-			{
-				btAssertConstrParams(m_flags & BT_CONETWIST_FLAGS_LIN_ERP);
-				retVal = m_linERP;
-			}
-			else if ((axis >= 3) && (axis < 6))
-			{
-				retVal = m_biasFactor;
-			}
-			else
-			{
-				btAssertConstrParams(0);
-			}
-			break;
-		case BT_CONSTRAINT_CFM:
-		case BT_CONSTRAINT_STOP_CFM:
-			if ((axis >= 0) && (axis < 3))
-			{
-				btAssertConstrParams(m_flags & BT_CONETWIST_FLAGS_LIN_CFM);
-				retVal = m_linCFM;
-			}
-			else if ((axis >= 3) && (axis < 6))
-			{
-				btAssertConstrParams(m_flags & BT_CONETWIST_FLAGS_ANG_CFM);
-				retVal = m_angCFM;
-			}
-			else
-			{
-				btAssertConstrParams(0);
-			}
-			break;
-		default:
-			btAssertConstrParams(0);
-	}
-	return retVal;
-}
-
-void btConeTwistConstraint::setFrames(const btTransform& frameA, const btTransform& frameB)
-{
-	m_rbAFrame = frameA;
-	m_rbBFrame = frameB;
-	buildJacobian();
-	//calculateTransforms();
-}
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
deleted file mode 100644
index 64f44df1cb..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
+++ /dev/null
@@ -1,423 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-btConeTwistConstraint is Copyright (c) 2007 Starbreeze Studios
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-
-Written by: Marcus Hennix
-*/
-
-/*
-Overview:
-
-btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc).
-It is a fixed translation, 3 degree-of-freedom (DOF) rotational "joint".
-It divides the 3 rotational DOFs into swing (movement within a cone) and twist.
-Swing is divided into swing1 and swing2 which can have different limits, giving an elliptical shape.
-(Note: the cone's base isn't flat, so this ellipse is "embedded" on the surface of a sphere.)
-
-In the contraint's frame of reference:
-twist is along the x-axis,
-and swing 1 and 2 are along the z and y axes respectively.
-*/
-
-#ifndef BT_CONETWISTCONSTRAINT_H
-#define BT_CONETWISTCONSTRAINT_H
-
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btTypedConstraint.h"
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btConeTwistConstraintData2 btConeTwistConstraintDoubleData
-#define btConeTwistConstraintDataName "btConeTwistConstraintDoubleData"
-#else
-#define btConeTwistConstraintData2 btConeTwistConstraintData
-#define btConeTwistConstraintDataName "btConeTwistConstraintData"
-#endif  //BT_USE_DOUBLE_PRECISION
-
-class btRigidBody;
-
-enum btConeTwistFlags
-{
-	BT_CONETWIST_FLAGS_LIN_CFM = 1,
-	BT_CONETWIST_FLAGS_LIN_ERP = 2,
-	BT_CONETWIST_FLAGS_ANG_CFM = 4
-};
-
-///btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
-ATTRIBUTE_ALIGNED16(class)
-btConeTwistConstraint : public btTypedConstraint
-{
-#ifdef IN_PARALLELL_SOLVER
-public:
-#endif
-	btJacobianEntry m_jac[3];  //3 orthogonal linear constraints
-
-	btTransform m_rbAFrame;
-	btTransform m_rbBFrame;
-
-	btScalar m_limitSoftness;
-	btScalar m_biasFactor;
-	btScalar m_relaxationFactor;
-
-	btScalar m_damping;
-
-	btScalar m_swingSpan1;
-	btScalar m_swingSpan2;
-	btScalar m_twistSpan;
-
-	btScalar m_fixThresh;
-
-	btVector3 m_swingAxis;
-	btVector3 m_twistAxis;
-
-	btScalar m_kSwing;
-	btScalar m_kTwist;
-
-	btScalar m_twistLimitSign;
-	btScalar m_swingCorrection;
-	btScalar m_twistCorrection;
-
-	btScalar m_twistAngle;
-
-	btScalar m_accSwingLimitImpulse;
-	btScalar m_accTwistLimitImpulse;
-
-	bool m_angularOnly;
-	bool m_solveTwistLimit;
-	bool m_solveSwingLimit;
-
-	bool m_useSolveConstraintObsolete;
-
-	// not yet used...
-	btScalar m_swingLimitRatio;
-	btScalar m_twistLimitRatio;
-	btVector3 m_twistAxisA;
-
-	// motor
-	bool m_bMotorEnabled;
-	bool m_bNormalizedMotorStrength;
-	btQuaternion m_qTarget;
-	btScalar m_maxMotorImpulse;
-	btVector3 m_accMotorImpulse;
-
-	// parameters
-	int m_flags;
-	btScalar m_linCFM;
-	btScalar m_linERP;
-	btScalar m_angCFM;
-
-protected:
-	void init();
-
-	void computeConeLimitInfo(const btQuaternion& qCone,                                           // in
-							  btScalar& swingAngle, btVector3& vSwingAxis, btScalar& swingLimit);  // all outs
-
-	void computeTwistLimitInfo(const btQuaternion& qTwist,                    // in
-							   btScalar& twistAngle, btVector3& vTwistAxis);  // all outs
-
-	void adjustSwingAxisToUseEllipseNormal(btVector3 & vSwingAxis) const;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btConeTwistConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& rbAFrame, const btTransform& rbBFrame);
-
-	btConeTwistConstraint(btRigidBody & rbA, const btTransform& rbAFrame);
-
-	virtual void buildJacobian();
-
-	virtual void getInfo1(btConstraintInfo1 * info);
-
-	void getInfo1NonVirtual(btConstraintInfo1 * info);
-
-	virtual void getInfo2(btConstraintInfo2 * info);
-
-	void getInfo2NonVirtual(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btMatrix3x3& invInertiaWorldA, const btMatrix3x3& invInertiaWorldB);
-
-	virtual void solveConstraintObsolete(btSolverBody & bodyA, btSolverBody & bodyB, btScalar timeStep);
-
-	void updateRHS(btScalar timeStep);
-
-	const btRigidBody& getRigidBodyA() const
-	{
-		return m_rbA;
-	}
-	const btRigidBody& getRigidBodyB() const
-	{
-		return m_rbB;
-	}
-
-	void setAngularOnly(bool angularOnly)
-	{
-		m_angularOnly = angularOnly;
-	}
-
-	bool getAngularOnly() const
-	{
-		return m_angularOnly;
-	}
-
-	void setLimit(int limitIndex, btScalar limitValue)
-	{
-		switch (limitIndex)
-		{
-			case 3:
-			{
-				m_twistSpan = limitValue;
-				break;
-			}
-			case 4:
-			{
-				m_swingSpan2 = limitValue;
-				break;
-			}
-			case 5:
-			{
-				m_swingSpan1 = limitValue;
-				break;
-			}
-			default:
-			{
-			}
-		};
-	}
-
-	btScalar getLimit(int limitIndex) const
-	{
-		switch (limitIndex)
-		{
-			case 3:
-			{
-				return m_twistSpan;
-				break;
-			}
-			case 4:
-			{
-				return m_swingSpan2;
-				break;
-			}
-			case 5:
-			{
-				return m_swingSpan1;
-				break;
-			}
-			default:
-			{
-				btAssert(0 && "Invalid limitIndex specified for btConeTwistConstraint");
-				return 0.0;
-			}
-		};
-	}
-
-	// setLimit(), a few notes:
-	// _softness:
-	//		0->1, recommend ~0.8->1.
-	//		describes % of limits where movement is free.
-	//		beyond this softness %, the limit is gradually enforced until the "hard" (1.0) limit is reached.
-	// _biasFactor:
-	//		0->1?, recommend 0.3 +/-0.3 or so.
-	//		strength with which constraint resists zeroth order (angular, not angular velocity) limit violation.
-	// __relaxationFactor:
-	//		0->1, recommend to stay near 1.
-	//		the lower the value, the less the constraint will fight velocities which violate the angular limits.
-	void setLimit(btScalar _swingSpan1, btScalar _swingSpan2, btScalar _twistSpan, btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
-	{
-		m_swingSpan1 = _swingSpan1;
-		m_swingSpan2 = _swingSpan2;
-		m_twistSpan = _twistSpan;
-
-		m_limitSoftness = _softness;
-		m_biasFactor = _biasFactor;
-		m_relaxationFactor = _relaxationFactor;
-	}
-
-	const btTransform& getAFrame() const { return m_rbAFrame; };
-	const btTransform& getBFrame() const { return m_rbBFrame; };
-
-	inline int getSolveTwistLimit()
-	{
-		return m_solveTwistLimit;
-	}
-
-	inline int getSolveSwingLimit()
-	{
-		return m_solveSwingLimit;
-	}
-
-	inline btScalar getTwistLimitSign()
-	{
-		return m_twistLimitSign;
-	}
-
-	void calcAngleInfo();
-	void calcAngleInfo2(const btTransform& transA, const btTransform& transB, const btMatrix3x3& invInertiaWorldA, const btMatrix3x3& invInertiaWorldB);
-
-	inline btScalar getSwingSpan1() const
-	{
-		return m_swingSpan1;
-	}
-	inline btScalar getSwingSpan2() const
-	{
-		return m_swingSpan2;
-	}
-	inline btScalar getTwistSpan() const
-	{
-		return m_twistSpan;
-	}
-	inline btScalar getLimitSoftness() const
-	{
-		return m_limitSoftness;
-	}
-	inline btScalar getBiasFactor() const
-	{
-		return m_biasFactor;
-	}
-	inline btScalar getRelaxationFactor() const
-	{
-		return m_relaxationFactor;
-	}
-	inline btScalar getTwistAngle() const
-	{
-		return m_twistAngle;
-	}
-	bool isPastSwingLimit() { return m_solveSwingLimit; }
-
-	btScalar getDamping() const { return m_damping; }
-	void setDamping(btScalar damping) { m_damping = damping; }
-
-	void enableMotor(bool b) { m_bMotorEnabled = b; }
-	bool isMotorEnabled() const { return m_bMotorEnabled; }
-	btScalar getMaxMotorImpulse() const { return m_maxMotorImpulse; }
-	bool isMaxMotorImpulseNormalized() const { return m_bNormalizedMotorStrength; }
-	void setMaxMotorImpulse(btScalar maxMotorImpulse)
-	{
-		m_maxMotorImpulse = maxMotorImpulse;
-		m_bNormalizedMotorStrength = false;
-	}
-	void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse)
-	{
-		m_maxMotorImpulse = maxMotorImpulse;
-		m_bNormalizedMotorStrength = true;
-	}
-
-	btScalar getFixThresh() { return m_fixThresh; }
-	void setFixThresh(btScalar fixThresh) { m_fixThresh = fixThresh; }
-
-	// setMotorTarget:
-	// q: the desired rotation of bodyA wrt bodyB.
-	// note: if q violates the joint limits, the internal target is clamped to avoid conflicting impulses (very bad for stability)
-	// note: don't forget to enableMotor()
-	void setMotorTarget(const btQuaternion& q);
-	const btQuaternion& getMotorTarget() const { return m_qTarget; }
-
-	// same as above, but q is the desired rotation of frameA wrt frameB in constraint space
-	void setMotorTargetInConstraintSpace(const btQuaternion& q);
-
-	btVector3 GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const;
-
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
-	///If no axis is provided, it uses the default axis for this constraint.
-	virtual void setParam(int num, btScalar value, int axis = -1);
-
-	virtual void setFrames(const btTransform& frameA, const btTransform& frameB);
-
-	const btTransform& getFrameOffsetA() const
-	{
-		return m_rbAFrame;
-	}
-
-	const btTransform& getFrameOffsetB() const
-	{
-		return m_rbBFrame;
-	}
-
-	///return the local value of parameter
-	virtual btScalar getParam(int num, int axis = -1) const;
-
-	int getFlags() const
-	{
-		return m_flags;
-	}
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-};
-
-struct btConeTwistConstraintDoubleData
-{
-	btTypedConstraintDoubleData m_typeConstraintData;
-	btTransformDoubleData m_rbAFrame;
-	btTransformDoubleData m_rbBFrame;
-
-	//limits
-	double m_swingSpan1;
-	double m_swingSpan2;
-	double m_twistSpan;
-	double m_limitSoftness;
-	double m_biasFactor;
-	double m_relaxationFactor;
-
-	double m_damping;
-};
-
-#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION
-///this structure is not used, except for loading pre-2.82 .bullet files
-struct btConeTwistConstraintData
-{
-	btTypedConstraintData m_typeConstraintData;
-	btTransformFloatData m_rbAFrame;
-	btTransformFloatData m_rbBFrame;
-
-	//limits
-	float m_swingSpan1;
-	float m_swingSpan2;
-	float m_twistSpan;
-	float m_limitSoftness;
-	float m_biasFactor;
-	float m_relaxationFactor;
-
-	float m_damping;
-
-	char m_pad[4];
-};
-#endif  //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
-//
-
-SIMD_FORCE_INLINE int btConeTwistConstraint::calculateSerializeBufferSize() const
-{
-	return sizeof(btConeTwistConstraintData2);
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE const char* btConeTwistConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btConeTwistConstraintData2* cone = (btConeTwistConstraintData2*)dataBuffer;
-	btTypedConstraint::serialize(&cone->m_typeConstraintData, serializer);
-
-	m_rbAFrame.serialize(cone->m_rbAFrame);
-	m_rbBFrame.serialize(cone->m_rbBFrame);
-
-	cone->m_swingSpan1 = m_swingSpan1;
-	cone->m_swingSpan2 = m_swingSpan2;
-	cone->m_twistSpan = m_twistSpan;
-	cone->m_limitSoftness = m_limitSoftness;
-	cone->m_biasFactor = m_biasFactor;
-	cone->m_relaxationFactor = m_relaxationFactor;
-	cone->m_damping = m_damping;
-
-	return btConeTwistConstraintDataName;
-}
-
-#endif  //BT_CONETWISTCONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h
deleted file mode 100644
index 68a4a07a1d..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h
+++ /dev/null
@@ -1,59 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONSTRAINT_SOLVER_H
-#define BT_CONSTRAINT_SOLVER_H
-
-#include "LinearMath/btScalar.h"
-
-class btPersistentManifold;
-class btRigidBody;
-class btCollisionObject;
-class btTypedConstraint;
-struct btContactSolverInfo;
-struct btBroadphaseProxy;
-class btIDebugDraw;
-class btStackAlloc;
-class btDispatcher;
-/// btConstraintSolver provides solver interface
-
-enum btConstraintSolverType
-{
-	BT_SEQUENTIAL_IMPULSE_SOLVER = 1,
-	BT_MLCP_SOLVER = 2,
-	BT_NNCG_SOLVER = 4,
-	BT_MULTIBODY_SOLVER = 8,
-	BT_BLOCK_SOLVER = 16,
-};
-
-class btConstraintSolver
-{
-public:
-	virtual ~btConstraintSolver() {}
-
-	virtual void prepareSolve(int /* numBodies */, int /* numManifolds */) { ; }
-
-	///solve a group of constraints
-	virtual btScalar solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, class btIDebugDraw* debugDrawer, btDispatcher* dispatcher) = 0;
-
-	virtual void allSolved(const btContactSolverInfo& /* info */, class btIDebugDraw* /* debugDrawer */) { ; }
-
-	///clear internal cached data and reset random seed
-	virtual void reset() = 0;
-
-	virtual btConstraintSolverType getSolverType() const = 0;
-};
-
-#endif  //BT_CONSTRAINT_SOLVER_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
deleted file mode 100644
index 4b22b2fff5..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
+++ /dev/null
@@ -1,153 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btContactConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btContactSolverInfo.h"
-#include "LinearMath/btMinMax.h"
-#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
-
-btContactConstraint::btContactConstraint(btPersistentManifold* contactManifold, btRigidBody& rbA, btRigidBody& rbB)
-	: btTypedConstraint(CONTACT_CONSTRAINT_TYPE, rbA, rbB),
-	  m_contactManifold(*contactManifold)
-{
-}
-
-btContactConstraint::~btContactConstraint()
-{
-}
-
-void btContactConstraint::setContactManifold(btPersistentManifold* contactManifold)
-{
-	m_contactManifold = *contactManifold;
-}
-
-void btContactConstraint::getInfo1(btConstraintInfo1* info)
-{
-}
-
-void btContactConstraint::getInfo2(btConstraintInfo2* info)
-{
-}
-
-void btContactConstraint::buildJacobian()
-{
-}
-
-#include "btContactConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btContactSolverInfo.h"
-#include "LinearMath/btMinMax.h"
-#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
-
-//response  between two dynamic objects without friction and no restitution, assuming 0 penetration depth
-btScalar resolveSingleCollision(
-	btRigidBody* body1,
-	btCollisionObject* colObj2,
-	const btVector3& contactPositionWorld,
-	const btVector3& contactNormalOnB,
-	const btContactSolverInfo& solverInfo,
-	btScalar distance)
-{
-	btRigidBody* body2 = btRigidBody::upcast(colObj2);
-
-	const btVector3& normal = contactNormalOnB;
-
-	btVector3 rel_pos1 = contactPositionWorld - body1->getWorldTransform().getOrigin();
-	btVector3 rel_pos2 = contactPositionWorld - colObj2->getWorldTransform().getOrigin();
-
-	btVector3 vel1 = body1->getVelocityInLocalPoint(rel_pos1);
-	btVector3 vel2 = body2 ? body2->getVelocityInLocalPoint(rel_pos2) : btVector3(0, 0, 0);
-	btVector3 vel = vel1 - vel2;
-	btScalar rel_vel;
-	rel_vel = normal.dot(vel);
-
-	btScalar combinedRestitution = 0.f;
-	btScalar restitution = combinedRestitution * -rel_vel;
-
-	btScalar positionalError = solverInfo.m_erp * -distance / solverInfo.m_timeStep;
-	btScalar velocityError = -(1.0f + restitution) * rel_vel;  // * damping;
-	btScalar denom0 = body1->computeImpulseDenominator(contactPositionWorld, normal);
-	btScalar denom1 = body2 ? body2->computeImpulseDenominator(contactPositionWorld, normal) : 0.f;
-	btScalar relaxation = 1.f;
-	btScalar jacDiagABInv = relaxation / (denom0 + denom1);
-
-	btScalar penetrationImpulse = positionalError * jacDiagABInv;
-	btScalar velocityImpulse = velocityError * jacDiagABInv;
-
-	btScalar normalImpulse = penetrationImpulse + velocityImpulse;
-	normalImpulse = 0.f > normalImpulse ? 0.f : normalImpulse;
-
-	body1->applyImpulse(normal * (normalImpulse), rel_pos1);
-	if (body2)
-		body2->applyImpulse(-normal * (normalImpulse), rel_pos2);
-
-	return normalImpulse;
-}
-
-//bilateral constraint between two dynamic objects
-void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
-							btRigidBody& body2, const btVector3& pos2,
-							btScalar distance, const btVector3& normal, btScalar& impulse, btScalar timeStep)
-{
-	(void)timeStep;
-	(void)distance;
-
-	btScalar normalLenSqr = normal.length2();
-	btAssert(btFabs(normalLenSqr) < btScalar(1.1));
-	if (normalLenSqr > btScalar(1.1))
-	{
-		impulse = btScalar(0.);
-		return;
-	}
-	btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
-	btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
-	//this jacobian entry could be re-used for all iterations
-
-	btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
-	btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
-	btVector3 vel = vel1 - vel2;
-
-	btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
-						body2.getCenterOfMassTransform().getBasis().transpose(),
-						rel_pos1, rel_pos2, normal, body1.getInvInertiaDiagLocal(), body1.getInvMass(),
-						body2.getInvInertiaDiagLocal(), body2.getInvMass());
-
-	btScalar jacDiagAB = jac.getDiagonal();
-	btScalar jacDiagABInv = btScalar(1.) / jacDiagAB;
-
-	btScalar rel_vel = jac.getRelativeVelocity(
-		body1.getLinearVelocity(),
-		body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(),
-		body2.getLinearVelocity(),
-		body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity());
-
-	rel_vel = normal.dot(vel);
-
-	//todo: move this into proper structure
-	btScalar contactDamping = btScalar(0.2);
-
-#ifdef ONLY_USE_LINEAR_MASS
-	btScalar massTerm = btScalar(1.) / (body1.getInvMass() + body2.getInvMass());
-	impulse = -contactDamping * rel_vel * massTerm;
-#else
-	btScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
-	impulse = velocityImpulse;
-#endif
-}
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h
deleted file mode 100644
index 255489be99..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONTACT_CONSTRAINT_H
-#define BT_CONTACT_CONSTRAINT_H
-
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btTypedConstraint.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-
-///btContactConstraint can be automatically created to solve contact constraints using the unified btTypedConstraint interface
-ATTRIBUTE_ALIGNED16(class)
-btContactConstraint : public btTypedConstraint
-{
-protected:
-	btPersistentManifold m_contactManifold;
-
-protected:
-	btContactConstraint(btPersistentManifold * contactManifold, btRigidBody & rbA, btRigidBody & rbB);
-
-public:
-	void setContactManifold(btPersistentManifold * contactManifold);
-
-	btPersistentManifold* getContactManifold()
-	{
-		return &m_contactManifold;
-	}
-
-	const btPersistentManifold* getContactManifold() const
-	{
-		return &m_contactManifold;
-	}
-
-	virtual ~btContactConstraint();
-
-	virtual void getInfo1(btConstraintInfo1 * info);
-
-	virtual void getInfo2(btConstraintInfo2 * info);
-
-	///obsolete methods
-	virtual void buildJacobian();
-};
-
-///very basic collision resolution without friction
-btScalar resolveSingleCollision(btRigidBody* body1, class btCollisionObject* colObj2, const btVector3& contactPositionWorld, const btVector3& contactNormalOnB, const struct btContactSolverInfo& solverInfo, btScalar distance);
-
-///resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects
-void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
-							btRigidBody& body2, const btVector3& pos2,
-							btScalar distance, const btVector3& normal, btScalar& impulse, btScalar timeStep);
-
-#endif  //BT_CONTACT_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
deleted file mode 100644
index 3316403a87..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
+++ /dev/null
@@ -1,177 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONTACT_SOLVER_INFO
-#define BT_CONTACT_SOLVER_INFO
-
-#include "LinearMath/btScalar.h"
-
-enum btSolverMode
-{
-	SOLVER_RANDMIZE_ORDER = 1,
-	SOLVER_FRICTION_SEPARATE = 2,
-	SOLVER_USE_WARMSTARTING = 4,
-	SOLVER_USE_2_FRICTION_DIRECTIONS = 16,
-	SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32,
-	SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64,
-	SOLVER_CACHE_FRIENDLY = 128,
-	SOLVER_SIMD = 256,
-	SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512,
-	SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024,
-	SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048,
-	SOLVER_USE_ARTICULATED_WARMSTARTING = 4096,
-};
-
-struct btContactSolverInfoData
-{
-	btScalar m_tau;
-	btScalar m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
-	btScalar m_friction;
-	btScalar m_timeStep;
-	btScalar m_restitution;
-	int m_numIterations;
-	btScalar m_maxErrorReduction;
-	btScalar m_sor;          //successive over-relaxation term
-	btScalar m_erp;          //error reduction for non-contact constraints
-	btScalar m_erp2;         //error reduction for contact constraints
-	btScalar m_deformable_erp;          //error reduction for deformable constraints
-	btScalar m_deformable_cfm;          //constraint force mixing for deformable constraints
-	btScalar m_deformable_maxErrorReduction; // maxErrorReduction for deformable contact
-	btScalar m_globalCfm;    //constraint force mixing for contacts and non-contacts
-	btScalar m_frictionERP;  //error reduction for friction constraints
-	btScalar m_frictionCFM;  //constraint force mixing for friction constraints
-
-	int m_splitImpulse;
-	btScalar m_splitImpulsePenetrationThreshold;
-	btScalar m_splitImpulseTurnErp;
-	btScalar m_linearSlop;
-	btScalar m_warmstartingFactor;
-	btScalar m_articulatedWarmstartingFactor;
-	int m_solverMode;
-	int m_restingContactRestitutionThreshold;
-	int m_minimumSolverBatchSize;
-	btScalar m_maxGyroscopicForce;
-	btScalar m_singleAxisRollingFrictionThreshold;
-	btScalar m_leastSquaresResidualThreshold;
-	btScalar m_restitutionVelocityThreshold;
-	bool m_jointFeedbackInWorldSpace;
-	bool m_jointFeedbackInJointFrame;
-	int m_reportSolverAnalytics;
-	int m_numNonContactInnerIterations;
-};
-
-struct btContactSolverInfo : public btContactSolverInfoData
-{
-	inline btContactSolverInfo()
-	{
-		m_tau = btScalar(0.6);
-		m_damping = btScalar(1.0);
-		m_friction = btScalar(0.3);
-		m_timeStep = btScalar(1.f / 60.f);
-		m_restitution = btScalar(0.);
-		m_maxErrorReduction = btScalar(20.);
-		m_numIterations = 10;
-		m_erp = btScalar(0.2);
-		m_erp2 = btScalar(0.2);
-		m_deformable_erp = btScalar(0.06);
-		m_deformable_cfm = btScalar(0.01);
-		m_deformable_maxErrorReduction = btScalar(0.1);
-		m_globalCfm = btScalar(0.);
-		m_frictionERP = btScalar(0.2);  //positional friction 'anchors' are disabled by default
-		m_frictionCFM = btScalar(0.);
-		m_sor = btScalar(1.);
-		m_splitImpulse = true;
-		m_splitImpulsePenetrationThreshold = -.04f;
-		m_splitImpulseTurnErp = 0.1f;
-		m_linearSlop = btScalar(0.0);
-		m_warmstartingFactor = btScalar(0.85);
-		m_articulatedWarmstartingFactor = btScalar(0.85);
-		//m_solverMode =  SOLVER_USE_WARMSTARTING |  SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER;
-		m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;  // | SOLVER_RANDMIZE_ORDER;
-		m_restingContactRestitutionThreshold = 2;              //unused as of 2.81
-		m_minimumSolverBatchSize = 128;                        //try to combine islands until the amount of constraints reaches this limit
-		m_maxGyroscopicForce = 100.f;                          ///it is only used for 'explicit' version of gyroscopic force
-		m_singleAxisRollingFrictionThreshold = 1e30f;          ///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
-		m_leastSquaresResidualThreshold = 0.f;
-		m_restitutionVelocityThreshold = 0.2f;  //if the relative velocity is below this threshold, there is zero restitution
-		m_jointFeedbackInWorldSpace = false;
-		m_jointFeedbackInJointFrame = false;
-		m_reportSolverAnalytics = 0;
-		m_numNonContactInnerIterations = 1;   // the number of inner iterations for solving motor constraint in a single iteration of the constraint solve
-	}
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btContactSolverInfoDoubleData
-{
-	double m_tau;
-	double m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
-	double m_friction;
-	double m_timeStep;
-	double m_restitution;
-	double m_maxErrorReduction;
-	double m_sor;
-	double m_erp;        //used as Baumgarte factor
-	double m_erp2;       //used in Split Impulse
-	double m_globalCfm;  //constraint force mixing
-	double m_splitImpulsePenetrationThreshold;
-	double m_splitImpulseTurnErp;
-	double m_linearSlop;
-	double m_warmstartingFactor;
-	double m_articulatedWarmstartingFactor;
-	double m_maxGyroscopicForce;  ///it is only used for 'explicit' version of gyroscopic force
-	double m_singleAxisRollingFrictionThreshold;
-
-	int m_numIterations;
-	int m_solverMode;
-	int m_restingContactRestitutionThreshold;
-	int m_minimumSolverBatchSize;
-	int m_splitImpulse;
-	char m_padding[4];
-};
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btContactSolverInfoFloatData
-{
-	float m_tau;
-	float m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
-	float m_friction;
-	float m_timeStep;
-
-	float m_restitution;
-	float m_maxErrorReduction;
-	float m_sor;
-	float m_erp;  //used as Baumgarte factor
-
-	float m_erp2;       //used in Split Impulse
-	float m_globalCfm;  //constraint force mixing
-	float m_splitImpulsePenetrationThreshold;
-	float m_splitImpulseTurnErp;
-
-	float m_linearSlop;
-	float m_warmstartingFactor;
-	float m_articulatedWarmstartingFactor;
-	float m_maxGyroscopicForce;
-
-	float m_singleAxisRollingFrictionThreshold;
-	int m_numIterations;
-	int m_solverMode;
-	int m_restingContactRestitutionThreshold;
-
-	int m_minimumSolverBatchSize;
-	int m_splitImpulse;
-	
-};
-
-#endif  //BT_CONTACT_SOLVER_INFO
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp
deleted file mode 100644
index bba102d905..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btFixedConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btTransformUtil.h"
-#include <new>
-
-btFixedConstraint::btFixedConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB)
-	: btGeneric6DofSpring2Constraint(rbA, rbB, frameInA, frameInB)
-{
-	setAngularLowerLimit(btVector3(0, 0, 0));
-	setAngularUpperLimit(btVector3(0, 0, 0));
-	setLinearLowerLimit(btVector3(0, 0, 0));
-	setLinearUpperLimit(btVector3(0, 0, 0));
-}
-
-btFixedConstraint::~btFixedConstraint()
-{
-}
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btFixedConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btFixedConstraint.h
deleted file mode 100644
index 6d474ea81d..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btFixedConstraint.h
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_FIXED_CONSTRAINT_H
-#define BT_FIXED_CONSTRAINT_H
-
-#include "btGeneric6DofSpring2Constraint.h"
-
-ATTRIBUTE_ALIGNED16(class)
-btFixedConstraint : public btGeneric6DofSpring2Constraint
-{
-public:
-	btFixedConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& frameInA, const btTransform& frameInB);
-
-	virtual ~btFixedConstraint();
-};
-
-#endif  //BT_FIXED_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGearConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGearConstraint.cpp
deleted file mode 100644
index 7535c52c05..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGearConstraint.cpp
+++ /dev/null
@@ -1,52 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2012 Advanced Micro Devices, Inc.  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/// Implemented by Erwin Coumans. The idea for the constraint comes from Dimitris Papavasiliou.
-
-#include "btGearConstraint.h"
-
-btGearConstraint::btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA, const btVector3& axisInB, btScalar ratio)
-	: btTypedConstraint(GEAR_CONSTRAINT_TYPE, rbA, rbB),
-	  m_axisInA(axisInA),
-	  m_axisInB(axisInB),
-	  m_ratio(ratio)
-{
-}
-
-btGearConstraint::~btGearConstraint()
-{
-}
-
-void btGearConstraint::getInfo1(btConstraintInfo1* info)
-{
-	info->m_numConstraintRows = 1;
-	info->nub = 1;
-}
-
-void btGearConstraint::getInfo2(btConstraintInfo2* info)
-{
-	btVector3 globalAxisA, globalAxisB;
-
-	globalAxisA = m_rbA.getWorldTransform().getBasis() * this->m_axisInA;
-	globalAxisB = m_rbB.getWorldTransform().getBasis() * this->m_axisInB;
-
-	info->m_J1angularAxis[0] = globalAxisA[0];
-	info->m_J1angularAxis[1] = globalAxisA[1];
-	info->m_J1angularAxis[2] = globalAxisA[2];
-
-	info->m_J2angularAxis[0] = m_ratio * globalAxisB[0];
-	info->m_J2angularAxis[1] = m_ratio * globalAxisB[1];
-	info->m_J2angularAxis[2] = m_ratio * globalAxisB[2];
-}
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGearConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGearConstraint.h
deleted file mode 100644
index 64b15dfbce..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGearConstraint.h
+++ /dev/null
@@ -1,146 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2012 Advanced Micro Devices, Inc.  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_GEAR_CONSTRAINT_H
-#define BT_GEAR_CONSTRAINT_H
-
-#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btGearConstraintData btGearConstraintDoubleData
-#define btGearConstraintDataName "btGearConstraintDoubleData"
-#else
-#define btGearConstraintData btGearConstraintFloatData
-#define btGearConstraintDataName "btGearConstraintFloatData"
-#endif  //BT_USE_DOUBLE_PRECISION
-
-///The btGeatConstraint will couple the angular velocity for two bodies around given local axis and ratio.
-///See Bullet/Demos/ConstraintDemo for an example use.
-class btGearConstraint : public btTypedConstraint
-{
-protected:
-	btVector3 m_axisInA;
-	btVector3 m_axisInB;
-	bool m_useFrameA;
-	btScalar m_ratio;
-
-public:
-	btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA, const btVector3& axisInB, btScalar ratio = 1.f);
-	virtual ~btGearConstraint();
-
-	///internal method used by the constraint solver, don't use them directly
-	virtual void getInfo1(btConstraintInfo1* info);
-
-	///internal method used by the constraint solver, don't use them directly
-	virtual void getInfo2(btConstraintInfo2* info);
-
-	void setAxisA(btVector3& axisA)
-	{
-		m_axisInA = axisA;
-	}
-	void setAxisB(btVector3& axisB)
-	{
-		m_axisInB = axisB;
-	}
-	void setRatio(btScalar ratio)
-	{
-		m_ratio = ratio;
-	}
-	const btVector3& getAxisA() const
-	{
-		return m_axisInA;
-	}
-	const btVector3& getAxisB() const
-	{
-		return m_axisInB;
-	}
-	btScalar getRatio() const
-	{
-		return m_ratio;
-	}
-
-	virtual void setParam(int num, btScalar value, int axis = -1)
-	{
-		(void)num;
-		(void)value;
-		(void)axis;
-		btAssert(0);
-	}
-
-	///return the local value of parameter
-	virtual btScalar getParam(int num, int axis = -1) const
-	{
-		(void)num;
-		(void)axis;
-		btAssert(0);
-		return 0.f;
-	}
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btGearConstraintFloatData
-{
-	btTypedConstraintFloatData m_typeConstraintData;
-
-	btVector3FloatData m_axisInA;
-	btVector3FloatData m_axisInB;
-
-	float m_ratio;
-	char m_padding[4];
-};
-
-struct btGearConstraintDoubleData
-{
-	btTypedConstraintDoubleData m_typeConstraintData;
-
-	btVector3DoubleData m_axisInA;
-	btVector3DoubleData m_axisInB;
-
-	double m_ratio;
-};
-
-SIMD_FORCE_INLINE int btGearConstraint::calculateSerializeBufferSize() const
-{
-	return sizeof(btGearConstraintData);
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE const char* btGearConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btGearConstraintData* gear = (btGearConstraintData*)dataBuffer;
-	btTypedConstraint::serialize(&gear->m_typeConstraintData, serializer);
-
-	m_axisInA.serialize(gear->m_axisInA);
-	m_axisInB.serialize(gear->m_axisInB);
-
-	gear->m_ratio = m_ratio;
-
-	// Fill padding with zeros to appease msan.
-#ifndef BT_USE_DOUBLE_PRECISION
-	gear->m_padding[0] = 0;
-	gear->m_padding[1] = 0;
-	gear->m_padding[2] = 0;
-	gear->m_padding[3] = 0;
-#endif
-
-	return btGearConstraintDataName;
-}
-
-#endif  //BT_GEAR_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
deleted file mode 100644
index 1f54203532..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
+++ /dev/null
@@ -1,975 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-/*
-2007-09-09
-Refactored by Francisco Le?n
-email: projectileman@yahoo.com
-http://gimpact.sf.net
-*/
-
-#include "btGeneric6DofConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btTransformUtil.h"
-#include "LinearMath/btTransformUtil.h"
-#include <new>
-
-#define D6_USE_OBSOLETE_METHOD false
-#define D6_USE_FRAME_OFFSET true
-
-btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
-	: btTypedConstraint(D6_CONSTRAINT_TYPE, rbA, rbB), m_frameInA(frameInA), m_frameInB(frameInB), m_useLinearReferenceFrameA(useLinearReferenceFrameA), m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET), m_flags(0), m_useSolveConstraintObsolete(D6_USE_OBSOLETE_METHOD)
-{
-	calculateTransforms();
-}
-
-btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
-	: btTypedConstraint(D6_CONSTRAINT_TYPE, getFixedBody(), rbB),
-	  m_frameInB(frameInB),
-	  m_useLinearReferenceFrameA(useLinearReferenceFrameB),
-	  m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET),
-	  m_flags(0),
-	  m_useSolveConstraintObsolete(false)
-{
-	///not providing rigidbody A means implicitly using worldspace for body A
-	m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;
-	calculateTransforms();
-}
-
-#define GENERIC_D6_DISABLE_WARMSTARTING 1
-
-btScalar btGetMatrixElem(const btMatrix3x3& mat, int index);
-btScalar btGetMatrixElem(const btMatrix3x3& mat, int index)
-{
-	int i = index % 3;
-	int j = index / 3;
-	return mat[i][j];
-}
-
-///MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html
-bool matrixToEulerXYZ(const btMatrix3x3& mat, btVector3& xyz);
-bool matrixToEulerXYZ(const btMatrix3x3& mat, btVector3& xyz)
-{
-	//	// rot =  cy*cz          -cy*sz           sy
-	//	//        cz*sx*sy+cx*sz  cx*cz-sx*sy*sz -cy*sx
-	//	//       -cx*cz*sy+sx*sz  cz*sx+cx*sy*sz  cx*cy
-	//
-
-	btScalar fi = btGetMatrixElem(mat, 2);
-	if (fi < btScalar(1.0f))
-	{
-		if (fi > btScalar(-1.0f))
-		{
-			xyz[0] = btAtan2(-btGetMatrixElem(mat, 5), btGetMatrixElem(mat, 8));
-			xyz[1] = btAsin(btGetMatrixElem(mat, 2));
-			xyz[2] = btAtan2(-btGetMatrixElem(mat, 1), btGetMatrixElem(mat, 0));
-			return true;
-		}
-		else
-		{
-			// WARNING.  Not unique.  XA - ZA = -atan2(r10,r11)
-			xyz[0] = -btAtan2(btGetMatrixElem(mat, 3), btGetMatrixElem(mat, 4));
-			xyz[1] = -SIMD_HALF_PI;
-			xyz[2] = btScalar(0.0);
-			return false;
-		}
-	}
-	else
-	{
-		// WARNING.  Not unique.  XAngle + ZAngle = atan2(r10,r11)
-		xyz[0] = btAtan2(btGetMatrixElem(mat, 3), btGetMatrixElem(mat, 4));
-		xyz[1] = SIMD_HALF_PI;
-		xyz[2] = 0.0;
-	}
-	return false;
-}
-
-//////////////////////////// btRotationalLimitMotor ////////////////////////////////////
-
-int btRotationalLimitMotor::testLimitValue(btScalar test_value)
-{
-	if (m_loLimit > m_hiLimit)
-	{
-		m_currentLimit = 0;  //Free from violation
-		return 0;
-	}
-	if (test_value < m_loLimit)
-	{
-		m_currentLimit = 1;  //low limit violation
-		m_currentLimitError = test_value - m_loLimit;
-		if (m_currentLimitError > SIMD_PI)
-			m_currentLimitError -= SIMD_2_PI;
-		else if (m_currentLimitError < -SIMD_PI)
-			m_currentLimitError += SIMD_2_PI;
-		return 1;
-	}
-	else if (test_value > m_hiLimit)
-	{
-		m_currentLimit = 2;  //High limit violation
-		m_currentLimitError = test_value - m_hiLimit;
-		if (m_currentLimitError > SIMD_PI)
-			m_currentLimitError -= SIMD_2_PI;
-		else if (m_currentLimitError < -SIMD_PI)
-			m_currentLimitError += SIMD_2_PI;
-		return 2;
-	};
-
-	m_currentLimit = 0;  //Free from violation
-	return 0;
-}
-
-btScalar btRotationalLimitMotor::solveAngularLimits(
-	btScalar timeStep, btVector3& axis, btScalar jacDiagABInv,
-	btRigidBody* body0, btRigidBody* body1)
-{
-	if (needApplyTorques() == false) return 0.0f;
-
-	btScalar target_velocity = m_targetVelocity;
-	btScalar maxMotorForce = m_maxMotorForce;
-
-	//current error correction
-	if (m_currentLimit != 0)
-	{
-		target_velocity = -m_stopERP * m_currentLimitError / (timeStep);
-		maxMotorForce = m_maxLimitForce;
-	}
-
-	maxMotorForce *= timeStep;
-
-	// current velocity difference
-
-	btVector3 angVelA = body0->getAngularVelocity();
-	btVector3 angVelB = body1->getAngularVelocity();
-
-	btVector3 vel_diff;
-	vel_diff = angVelA - angVelB;
-
-	btScalar rel_vel = axis.dot(vel_diff);
-
-	// correction velocity
-	btScalar motor_relvel = m_limitSoftness * (target_velocity - m_damping * rel_vel);
-
-	if (motor_relvel < SIMD_EPSILON && motor_relvel > -SIMD_EPSILON)
-	{
-		return 0.0f;  //no need for applying force
-	}
-
-	// correction impulse
-	btScalar unclippedMotorImpulse = (1 + m_bounce) * motor_relvel * jacDiagABInv;
-
-	// clip correction impulse
-	btScalar clippedMotorImpulse;
-
-	///@todo: should clip against accumulated impulse
-	if (unclippedMotorImpulse > 0.0f)
-	{
-		clippedMotorImpulse = unclippedMotorImpulse > maxMotorForce ? maxMotorForce : unclippedMotorImpulse;
-	}
-	else
-	{
-		clippedMotorImpulse = unclippedMotorImpulse < -maxMotorForce ? -maxMotorForce : unclippedMotorImpulse;
-	}
-
-	// sort with accumulated impulses
-	btScalar lo = btScalar(-BT_LARGE_FLOAT);
-	btScalar hi = btScalar(BT_LARGE_FLOAT);
-
-	btScalar oldaccumImpulse = m_accumulatedImpulse;
-	btScalar sum = oldaccumImpulse + clippedMotorImpulse;
-	m_accumulatedImpulse = sum > hi ? btScalar(0.) : sum < lo ? btScalar(0.) : sum;
-
-	clippedMotorImpulse = m_accumulatedImpulse - oldaccumImpulse;
-
-	btVector3 motorImp = clippedMotorImpulse * axis;
-
-	body0->applyTorqueImpulse(motorImp);
-	body1->applyTorqueImpulse(-motorImp);
-
-	return clippedMotorImpulse;
-}
-
-//////////////////////////// End btRotationalLimitMotor ////////////////////////////////////
-
-//////////////////////////// btTranslationalLimitMotor ////////////////////////////////////
-
-int btTranslationalLimitMotor::testLimitValue(int limitIndex, btScalar test_value)
-{
-	btScalar loLimit = m_lowerLimit[limitIndex];
-	btScalar hiLimit = m_upperLimit[limitIndex];
-	if (loLimit > hiLimit)
-	{
-		m_currentLimit[limitIndex] = 0;  //Free from violation
-		m_currentLimitError[limitIndex] = btScalar(0.f);
-		return 0;
-	}
-
-	if (test_value < loLimit)
-	{
-		m_currentLimit[limitIndex] = 2;  //low limit violation
-		m_currentLimitError[limitIndex] = test_value - loLimit;
-		return 2;
-	}
-	else if (test_value > hiLimit)
-	{
-		m_currentLimit[limitIndex] = 1;  //High limit violation
-		m_currentLimitError[limitIndex] = test_value - hiLimit;
-		return 1;
-	};
-
-	m_currentLimit[limitIndex] = 0;  //Free from violation
-	m_currentLimitError[limitIndex] = btScalar(0.f);
-	return 0;
-}
-
-btScalar btTranslationalLimitMotor::solveLinearAxis(
-	btScalar timeStep,
-	btScalar jacDiagABInv,
-	btRigidBody& body1, const btVector3& pointInA,
-	btRigidBody& body2, const btVector3& pointInB,
-	int limit_index,
-	const btVector3& axis_normal_on_a,
-	const btVector3& anchorPos)
-{
-	///find relative velocity
-	//    btVector3 rel_pos1 = pointInA - body1.getCenterOfMassPosition();
-	//    btVector3 rel_pos2 = pointInB - body2.getCenterOfMassPosition();
-	btVector3 rel_pos1 = anchorPos - body1.getCenterOfMassPosition();
-	btVector3 rel_pos2 = anchorPos - body2.getCenterOfMassPosition();
-
-	btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
-	btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
-	btVector3 vel = vel1 - vel2;
-
-	btScalar rel_vel = axis_normal_on_a.dot(vel);
-
-	/// apply displacement correction
-
-	//positional error (zeroth order error)
-	btScalar depth = -(pointInA - pointInB).dot(axis_normal_on_a);
-	btScalar lo = btScalar(-BT_LARGE_FLOAT);
-	btScalar hi = btScalar(BT_LARGE_FLOAT);
-
-	btScalar minLimit = m_lowerLimit[limit_index];
-	btScalar maxLimit = m_upperLimit[limit_index];
-
-	//handle the limits
-	if (minLimit < maxLimit)
-	{
-		{
-			if (depth > maxLimit)
-			{
-				depth -= maxLimit;
-				lo = btScalar(0.);
-			}
-			else
-			{
-				if (depth < minLimit)
-				{
-					depth -= minLimit;
-					hi = btScalar(0.);
-				}
-				else
-				{
-					return 0.0f;
-				}
-			}
-		}
-	}
-
-	btScalar normalImpulse = m_limitSoftness * (m_restitution * depth / timeStep - m_damping * rel_vel) * jacDiagABInv;
-
-	btScalar oldNormalImpulse = m_accumulatedImpulse[limit_index];
-	btScalar sum = oldNormalImpulse + normalImpulse;
-	m_accumulatedImpulse[limit_index] = sum > hi ? btScalar(0.) : sum < lo ? btScalar(0.) : sum;
-	normalImpulse = m_accumulatedImpulse[limit_index] - oldNormalImpulse;
-
-	btVector3 impulse_vector = axis_normal_on_a * normalImpulse;
-	body1.applyImpulse(impulse_vector, rel_pos1);
-	body2.applyImpulse(-impulse_vector, rel_pos2);
-
-	return normalImpulse;
-}
-
-//////////////////////////// btTranslationalLimitMotor ////////////////////////////////////
-
-void btGeneric6DofConstraint::calculateAngleInfo()
-{
-	btMatrix3x3 relative_frame = m_calculatedTransformA.getBasis().inverse() * m_calculatedTransformB.getBasis();
-	matrixToEulerXYZ(relative_frame, m_calculatedAxisAngleDiff);
-	// in euler angle mode we do not actually constrain the angular velocity
-	// along the axes axis[0] and axis[2] (although we do use axis[1]) :
-	//
-	//    to get			constrain w2-w1 along		...not
-	//    ------			---------------------		------
-	//    d(angle[0])/dt = 0	ax[1] x ax[2]			ax[0]
-	//    d(angle[1])/dt = 0	ax[1]
-	//    d(angle[2])/dt = 0	ax[0] x ax[1]			ax[2]
-	//
-	// constraining w2-w1 along an axis 'a' means that a'*(w2-w1)=0.
-	// to prove the result for angle[0], write the expression for angle[0] from
-	// GetInfo1 then take the derivative. to prove this for angle[2] it is
-	// easier to take the euler rate expression for d(angle[2])/dt with respect
-	// to the components of w and set that to 0.
-	btVector3 axis0 = m_calculatedTransformB.getBasis().getColumn(0);
-	btVector3 axis2 = m_calculatedTransformA.getBasis().getColumn(2);
-
-	m_calculatedAxis[1] = axis2.cross(axis0);
-	m_calculatedAxis[0] = m_calculatedAxis[1].cross(axis2);
-	m_calculatedAxis[2] = axis0.cross(m_calculatedAxis[1]);
-
-	m_calculatedAxis[0].normalize();
-	m_calculatedAxis[1].normalize();
-	m_calculatedAxis[2].normalize();
-}
-
-void btGeneric6DofConstraint::calculateTransforms()
-{
-	calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
-}
-
-void btGeneric6DofConstraint::calculateTransforms(const btTransform& transA, const btTransform& transB)
-{
-	m_calculatedTransformA = transA * m_frameInA;
-	m_calculatedTransformB = transB * m_frameInB;
-	calculateLinearInfo();
-	calculateAngleInfo();
-	if (m_useOffsetForConstraintFrame)
-	{  //  get weight factors depending on masses
-		btScalar miA = getRigidBodyA().getInvMass();
-		btScalar miB = getRigidBodyB().getInvMass();
-		m_hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON);
-		btScalar miS = miA + miB;
-		if (miS > btScalar(0.f))
-		{
-			m_factA = miB / miS;
-		}
-		else
-		{
-			m_factA = btScalar(0.5f);
-		}
-		m_factB = btScalar(1.0f) - m_factA;
-	}
-}
-
-void btGeneric6DofConstraint::buildLinearJacobian(
-	btJacobianEntry& jacLinear, const btVector3& normalWorld,
-	const btVector3& pivotAInW, const btVector3& pivotBInW)
-{
-	new (&jacLinear) btJacobianEntry(
-		m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-		m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-		pivotAInW - m_rbA.getCenterOfMassPosition(),
-		pivotBInW - m_rbB.getCenterOfMassPosition(),
-		normalWorld,
-		m_rbA.getInvInertiaDiagLocal(),
-		m_rbA.getInvMass(),
-		m_rbB.getInvInertiaDiagLocal(),
-		m_rbB.getInvMass());
-}
-
-void btGeneric6DofConstraint::buildAngularJacobian(
-	btJacobianEntry& jacAngular, const btVector3& jointAxisW)
-{
-	new (&jacAngular) btJacobianEntry(jointAxisW,
-									  m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-									  m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-									  m_rbA.getInvInertiaDiagLocal(),
-									  m_rbB.getInvInertiaDiagLocal());
-}
-
-bool btGeneric6DofConstraint::testAngularLimitMotor(int axis_index)
-{
-	btScalar angle = m_calculatedAxisAngleDiff[axis_index];
-	angle = btAdjustAngleToLimits(angle, m_angularLimits[axis_index].m_loLimit, m_angularLimits[axis_index].m_hiLimit);
-	m_angularLimits[axis_index].m_currentPosition = angle;
-	//test limits
-	m_angularLimits[axis_index].testLimitValue(angle);
-	return m_angularLimits[axis_index].needApplyTorques();
-}
-
-void btGeneric6DofConstraint::buildJacobian()
-{
-#ifndef __SPU__
-	if (m_useSolveConstraintObsolete)
-	{
-		// Clear accumulated impulses for the next simulation step
-		m_linearLimits.m_accumulatedImpulse.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-		int i;
-		for (i = 0; i < 3; i++)
-		{
-			m_angularLimits[i].m_accumulatedImpulse = btScalar(0.);
-		}
-		//calculates transform
-		calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
-
-		//  const btVector3& pivotAInW = m_calculatedTransformA.getOrigin();
-		//  const btVector3& pivotBInW = m_calculatedTransformB.getOrigin();
-		calcAnchorPos();
-		btVector3 pivotAInW = m_AnchorPos;
-		btVector3 pivotBInW = m_AnchorPos;
-
-		// not used here
-		//    btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition();
-		//    btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
-
-		btVector3 normalWorld;
-		//linear part
-		for (i = 0; i < 3; i++)
-		{
-			if (m_linearLimits.isLimited(i))
-			{
-				if (m_useLinearReferenceFrameA)
-					normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
-				else
-					normalWorld = m_calculatedTransformB.getBasis().getColumn(i);
-
-				buildLinearJacobian(
-					m_jacLinear[i], normalWorld,
-					pivotAInW, pivotBInW);
-			}
-		}
-
-		// angular part
-		for (i = 0; i < 3; i++)
-		{
-			//calculates error angle
-			if (testAngularLimitMotor(i))
-			{
-				normalWorld = this->getAxis(i);
-				// Create angular atom
-				buildAngularJacobian(m_jacAng[i], normalWorld);
-			}
-		}
-	}
-#endif  //__SPU__
-}
-
-void btGeneric6DofConstraint::getInfo1(btConstraintInfo1* info)
-{
-	if (m_useSolveConstraintObsolete)
-	{
-		info->m_numConstraintRows = 0;
-		info->nub = 0;
-	}
-	else
-	{
-		//prepare constraint
-		calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
-		info->m_numConstraintRows = 0;
-		info->nub = 6;
-		int i;
-		//test linear limits
-		for (i = 0; i < 3; i++)
-		{
-			if (m_linearLimits.needApplyForce(i))
-			{
-				info->m_numConstraintRows++;
-				info->nub--;
-			}
-		}
-		//test angular limits
-		for (i = 0; i < 3; i++)
-		{
-			if (testAngularLimitMotor(i))
-			{
-				info->m_numConstraintRows++;
-				info->nub--;
-			}
-		}
-	}
-}
-
-void btGeneric6DofConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
-{
-	if (m_useSolveConstraintObsolete)
-	{
-		info->m_numConstraintRows = 0;
-		info->nub = 0;
-	}
-	else
-	{
-		//pre-allocate all 6
-		info->m_numConstraintRows = 6;
-		info->nub = 0;
-	}
-}
-
-void btGeneric6DofConstraint::getInfo2(btConstraintInfo2* info)
-{
-	btAssert(!m_useSolveConstraintObsolete);
-
-	const btTransform& transA = m_rbA.getCenterOfMassTransform();
-	const btTransform& transB = m_rbB.getCenterOfMassTransform();
-	const btVector3& linVelA = m_rbA.getLinearVelocity();
-	const btVector3& linVelB = m_rbB.getLinearVelocity();
-	const btVector3& angVelA = m_rbA.getAngularVelocity();
-	const btVector3& angVelB = m_rbB.getAngularVelocity();
-
-	if (m_useOffsetForConstraintFrame)
-	{  // for stability better to solve angular limits first
-		int row = setAngularLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
-		setLinearLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
-	}
-	else
-	{  // leave old version for compatibility
-		int row = setLinearLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
-		setAngularLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
-	}
-}
-
-void btGeneric6DofConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB)
-{
-	btAssert(!m_useSolveConstraintObsolete);
-	//prepare constraint
-	calculateTransforms(transA, transB);
-
-	int i;
-	for (i = 0; i < 3; i++)
-	{
-		testAngularLimitMotor(i);
-	}
-
-	if (m_useOffsetForConstraintFrame)
-	{  // for stability better to solve angular limits first
-		int row = setAngularLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
-		setLinearLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
-	}
-	else
-	{  // leave old version for compatibility
-		int row = setLinearLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
-		setAngularLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
-	}
-}
-
-int btGeneric6DofConstraint::setLinearLimits(btConstraintInfo2* info, int row, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB)
-{
-	//	int row = 0;
-	//solve linear limits
-	btRotationalLimitMotor limot;
-	for (int i = 0; i < 3; i++)
-	{
-		if (m_linearLimits.needApplyForce(i))
-		{  // re-use rotational motor code
-			limot.m_bounce = btScalar(0.f);
-			limot.m_currentLimit = m_linearLimits.m_currentLimit[i];
-			limot.m_currentPosition = m_linearLimits.m_currentLinearDiff[i];
-			limot.m_currentLimitError = m_linearLimits.m_currentLimitError[i];
-			limot.m_damping = m_linearLimits.m_damping;
-			limot.m_enableMotor = m_linearLimits.m_enableMotor[i];
-			limot.m_hiLimit = m_linearLimits.m_upperLimit[i];
-			limot.m_limitSoftness = m_linearLimits.m_limitSoftness;
-			limot.m_loLimit = m_linearLimits.m_lowerLimit[i];
-			limot.m_maxLimitForce = btScalar(0.f);
-			limot.m_maxMotorForce = m_linearLimits.m_maxMotorForce[i];
-			limot.m_targetVelocity = m_linearLimits.m_targetVelocity[i];
-			btVector3 axis = m_calculatedTransformA.getBasis().getColumn(i);
-			int flags = m_flags >> (i * BT_6DOF_FLAGS_AXIS_SHIFT);
-			limot.m_normalCFM = (flags & BT_6DOF_FLAGS_CFM_NORM) ? m_linearLimits.m_normalCFM[i] : info->cfm[0];
-			limot.m_stopCFM = (flags & BT_6DOF_FLAGS_CFM_STOP) ? m_linearLimits.m_stopCFM[i] : info->cfm[0];
-			limot.m_stopERP = (flags & BT_6DOF_FLAGS_ERP_STOP) ? m_linearLimits.m_stopERP[i] : info->erp;
-			if (m_useOffsetForConstraintFrame)
-			{
-				int indx1 = (i + 1) % 3;
-				int indx2 = (i + 2) % 3;
-				int rotAllowed = 1;  // rotations around orthos to current axis
-				if (m_angularLimits[indx1].m_currentLimit && m_angularLimits[indx2].m_currentLimit)
-				{
-					rotAllowed = 0;
-				}
-				row += get_limit_motor_info2(&limot, transA, transB, linVelA, linVelB, angVelA, angVelB, info, row, axis, 0, rotAllowed);
-			}
-			else
-			{
-				row += get_limit_motor_info2(&limot, transA, transB, linVelA, linVelB, angVelA, angVelB, info, row, axis, 0);
-			}
-		}
-	}
-	return row;
-}
-
-int btGeneric6DofConstraint::setAngularLimits(btConstraintInfo2* info, int row_offset, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB)
-{
-	btGeneric6DofConstraint* d6constraint = this;
-	int row = row_offset;
-	//solve angular limits
-	for (int i = 0; i < 3; i++)
-	{
-		if (d6constraint->getRotationalLimitMotor(i)->needApplyTorques())
-		{
-			btVector3 axis = d6constraint->getAxis(i);
-			int flags = m_flags >> ((i + 3) * BT_6DOF_FLAGS_AXIS_SHIFT);
-			if (!(flags & BT_6DOF_FLAGS_CFM_NORM))
-			{
-				m_angularLimits[i].m_normalCFM = info->cfm[0];
-			}
-			if (!(flags & BT_6DOF_FLAGS_CFM_STOP))
-			{
-				m_angularLimits[i].m_stopCFM = info->cfm[0];
-			}
-			if (!(flags & BT_6DOF_FLAGS_ERP_STOP))
-			{
-				m_angularLimits[i].m_stopERP = info->erp;
-			}
-			row += get_limit_motor_info2(d6constraint->getRotationalLimitMotor(i),
-										 transA, transB, linVelA, linVelB, angVelA, angVelB, info, row, axis, 1);
-		}
-	}
-
-	return row;
-}
-
-void btGeneric6DofConstraint::updateRHS(btScalar timeStep)
-{
-	(void)timeStep;
-}
-
-void btGeneric6DofConstraint::setFrames(const btTransform& frameA, const btTransform& frameB)
-{
-	m_frameInA = frameA;
-	m_frameInB = frameB;
-	buildJacobian();
-	calculateTransforms();
-}
-
-btVector3 btGeneric6DofConstraint::getAxis(int axis_index) const
-{
-	return m_calculatedAxis[axis_index];
-}
-
-btScalar btGeneric6DofConstraint::getRelativePivotPosition(int axisIndex) const
-{
-	return m_calculatedLinearDiff[axisIndex];
-}
-
-btScalar btGeneric6DofConstraint::getAngle(int axisIndex) const
-{
-	return m_calculatedAxisAngleDiff[axisIndex];
-}
-
-void btGeneric6DofConstraint::calcAnchorPos(void)
-{
-	btScalar imA = m_rbA.getInvMass();
-	btScalar imB = m_rbB.getInvMass();
-	btScalar weight;
-	if (imB == btScalar(0.0))
-	{
-		weight = btScalar(1.0);
-	}
-	else
-	{
-		weight = imA / (imA + imB);
-	}
-	const btVector3& pA = m_calculatedTransformA.getOrigin();
-	const btVector3& pB = m_calculatedTransformB.getOrigin();
-	m_AnchorPos = pA * weight + pB * (btScalar(1.0) - weight);
-	return;
-}
-
-void btGeneric6DofConstraint::calculateLinearInfo()
-{
-	m_calculatedLinearDiff = m_calculatedTransformB.getOrigin() - m_calculatedTransformA.getOrigin();
-	m_calculatedLinearDiff = m_calculatedTransformA.getBasis().inverse() * m_calculatedLinearDiff;
-	for (int i = 0; i < 3; i++)
-	{
-		m_linearLimits.m_currentLinearDiff[i] = m_calculatedLinearDiff[i];
-		m_linearLimits.testLimitValue(i, m_calculatedLinearDiff[i]);
-	}
-}
-
-int btGeneric6DofConstraint::get_limit_motor_info2(
-	btRotationalLimitMotor* limot,
-	const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB,
-	btConstraintInfo2* info, int row, btVector3& ax1, int rotational, int rotAllowed)
-{
-	int srow = row * info->rowskip;
-	bool powered = limot->m_enableMotor;
-	int limit = limot->m_currentLimit;
-	if (powered || limit)
-	{  // if the joint is powered, or has joint limits, add in the extra row
-		btScalar* J1 = rotational ? info->m_J1angularAxis : info->m_J1linearAxis;
-		btScalar* J2 = rotational ? info->m_J2angularAxis : info->m_J2linearAxis;
-		J1[srow + 0] = ax1[0];
-		J1[srow + 1] = ax1[1];
-		J1[srow + 2] = ax1[2];
-
-		J2[srow + 0] = -ax1[0];
-		J2[srow + 1] = -ax1[1];
-		J2[srow + 2] = -ax1[2];
-
-		if ((!rotational))
-		{
-			if (m_useOffsetForConstraintFrame)
-			{
-				btVector3 tmpA, tmpB, relA, relB;
-				// get vector from bodyB to frameB in WCS
-				relB = m_calculatedTransformB.getOrigin() - transB.getOrigin();
-				// get its projection to constraint axis
-				btVector3 projB = ax1 * relB.dot(ax1);
-				// get vector directed from bodyB to constraint axis (and orthogonal to it)
-				btVector3 orthoB = relB - projB;
-				// same for bodyA
-				relA = m_calculatedTransformA.getOrigin() - transA.getOrigin();
-				btVector3 projA = ax1 * relA.dot(ax1);
-				btVector3 orthoA = relA - projA;
-				// get desired offset between frames A and B along constraint axis
-				btScalar desiredOffs = limot->m_currentPosition - limot->m_currentLimitError;
-				// desired vector from projection of center of bodyA to projection of center of bodyB to constraint axis
-				btVector3 totalDist = projA + ax1 * desiredOffs - projB;
-				// get offset vectors relA and relB
-				relA = orthoA + totalDist * m_factA;
-				relB = orthoB - totalDist * m_factB;
-				tmpA = relA.cross(ax1);
-				tmpB = relB.cross(ax1);
-				if (m_hasStaticBody && (!rotAllowed))
-				{
-					tmpA *= m_factA;
-					tmpB *= m_factB;
-				}
-				int i;
-				for (i = 0; i < 3; i++) info->m_J1angularAxis[srow + i] = tmpA[i];
-				for (i = 0; i < 3; i++) info->m_J2angularAxis[srow + i] = -tmpB[i];
-			}
-			else
-			{
-				btVector3 ltd;  // Linear Torque Decoupling vector
-				btVector3 c = m_calculatedTransformB.getOrigin() - transA.getOrigin();
-				ltd = c.cross(ax1);
-				info->m_J1angularAxis[srow + 0] = ltd[0];
-				info->m_J1angularAxis[srow + 1] = ltd[1];
-				info->m_J1angularAxis[srow + 2] = ltd[2];
-
-				c = m_calculatedTransformB.getOrigin() - transB.getOrigin();
-				ltd = -c.cross(ax1);
-				info->m_J2angularAxis[srow + 0] = ltd[0];
-				info->m_J2angularAxis[srow + 1] = ltd[1];
-				info->m_J2angularAxis[srow + 2] = ltd[2];
-			}
-		}
-		// if we're limited low and high simultaneously, the joint motor is
-		// ineffective
-		if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = false;
-		info->m_constraintError[srow] = btScalar(0.f);
-		if (powered)
-		{
-			info->cfm[srow] = limot->m_normalCFM;
-			if (!limit)
-			{
-				btScalar tag_vel = rotational ? limot->m_targetVelocity : -limot->m_targetVelocity;
-
-				btScalar mot_fact = getMotorFactor(limot->m_currentPosition,
-												   limot->m_loLimit,
-												   limot->m_hiLimit,
-												   tag_vel,
-												   info->fps * limot->m_stopERP);
-				info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity;
-				info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps;
-				info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps;
-			}
-		}
-		if (limit)
-		{
-			btScalar k = info->fps * limot->m_stopERP;
-			if (!rotational)
-			{
-				info->m_constraintError[srow] += k * limot->m_currentLimitError;
-			}
-			else
-			{
-				info->m_constraintError[srow] += -k * limot->m_currentLimitError;
-			}
-			info->cfm[srow] = limot->m_stopCFM;
-			if (limot->m_loLimit == limot->m_hiLimit)
-			{  // limited low and high simultaneously
-				info->m_lowerLimit[srow] = -SIMD_INFINITY;
-				info->m_upperLimit[srow] = SIMD_INFINITY;
-			}
-			else
-			{
-				if (limit == 1)
-				{
-					info->m_lowerLimit[srow] = 0;
-					info->m_upperLimit[srow] = SIMD_INFINITY;
-				}
-				else
-				{
-					info->m_lowerLimit[srow] = -SIMD_INFINITY;
-					info->m_upperLimit[srow] = 0;
-				}
-				// deal with bounce
-				if (limot->m_bounce > 0)
-				{
-					// calculate joint velocity
-					btScalar vel;
-					if (rotational)
-					{
-						vel = angVelA.dot(ax1);
-						//make sure that if no body -> angVelB == zero vec
-						//                        if (body1)
-						vel -= angVelB.dot(ax1);
-					}
-					else
-					{
-						vel = linVelA.dot(ax1);
-						//make sure that if no body -> angVelB == zero vec
-						//                        if (body1)
-						vel -= linVelB.dot(ax1);
-					}
-					// only apply bounce if the velocity is incoming, and if the
-					// resulting c[] exceeds what we already have.
-					if (limit == 1)
-					{
-						if (vel < 0)
-						{
-							btScalar newc = -limot->m_bounce * vel;
-							if (newc > info->m_constraintError[srow])
-								info->m_constraintError[srow] = newc;
-						}
-					}
-					else
-					{
-						if (vel > 0)
-						{
-							btScalar newc = -limot->m_bounce * vel;
-							if (newc < info->m_constraintError[srow])
-								info->m_constraintError[srow] = newc;
-						}
-					}
-				}
-			}
-		}
-		return 1;
-	}
-	else
-		return 0;
-}
-
-///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
-///If no axis is provided, it uses the default axis for this constraint.
-void btGeneric6DofConstraint::setParam(int num, btScalar value, int axis)
-{
-	if ((axis >= 0) && (axis < 3))
-	{
-		switch (num)
-		{
-			case BT_CONSTRAINT_STOP_ERP:
-				m_linearLimits.m_stopERP[axis] = value;
-				m_flags |= BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
-				break;
-			case BT_CONSTRAINT_STOP_CFM:
-				m_linearLimits.m_stopCFM[axis] = value;
-				m_flags |= BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
-				break;
-			case BT_CONSTRAINT_CFM:
-				m_linearLimits.m_normalCFM[axis] = value;
-				m_flags |= BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
-				break;
-			default:
-				btAssertConstrParams(0);
-		}
-	}
-	else if ((axis >= 3) && (axis < 6))
-	{
-		switch (num)
-		{
-			case BT_CONSTRAINT_STOP_ERP:
-				m_angularLimits[axis - 3].m_stopERP = value;
-				m_flags |= BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
-				break;
-			case BT_CONSTRAINT_STOP_CFM:
-				m_angularLimits[axis - 3].m_stopCFM = value;
-				m_flags |= BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
-				break;
-			case BT_CONSTRAINT_CFM:
-				m_angularLimits[axis - 3].m_normalCFM = value;
-				m_flags |= BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
-				break;
-			default:
-				btAssertConstrParams(0);
-		}
-	}
-	else
-	{
-		btAssertConstrParams(0);
-	}
-}
-
-///return the local value of parameter
-btScalar btGeneric6DofConstraint::getParam(int num, int axis) const
-{
-	btScalar retVal = 0;
-	if ((axis >= 0) && (axis < 3))
-	{
-		switch (num)
-		{
-			case BT_CONSTRAINT_STOP_ERP:
-				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
-				retVal = m_linearLimits.m_stopERP[axis];
-				break;
-			case BT_CONSTRAINT_STOP_CFM:
-				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
-				retVal = m_linearLimits.m_stopCFM[axis];
-				break;
-			case BT_CONSTRAINT_CFM:
-				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
-				retVal = m_linearLimits.m_normalCFM[axis];
-				break;
-			default:
-				btAssertConstrParams(0);
-		}
-	}
-	else if ((axis >= 3) && (axis < 6))
-	{
-		switch (num)
-		{
-			case BT_CONSTRAINT_STOP_ERP:
-				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
-				retVal = m_angularLimits[axis - 3].m_stopERP;
-				break;
-			case BT_CONSTRAINT_STOP_CFM:
-				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
-				retVal = m_angularLimits[axis - 3].m_stopCFM;
-				break;
-			case BT_CONSTRAINT_CFM:
-				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
-				retVal = m_angularLimits[axis - 3].m_normalCFM;
-				break;
-			default:
-				btAssertConstrParams(0);
-		}
-	}
-	else
-	{
-		btAssertConstrParams(0);
-	}
-	return retVal;
-}
-
-void btGeneric6DofConstraint::setAxis(const btVector3& axis1, const btVector3& axis2)
-{
-	btVector3 zAxis = axis1.normalized();
-	btVector3 yAxis = axis2.normalized();
-	btVector3 xAxis = yAxis.cross(zAxis);  // we want right coordinate system
-
-	btTransform frameInW;
-	frameInW.setIdentity();
-	frameInW.getBasis().setValue(xAxis[0], yAxis[0], zAxis[0],
-								 xAxis[1], yAxis[1], zAxis[1],
-								 xAxis[2], yAxis[2], zAxis[2]);
-
-	// now get constraint frame in local coordinate systems
-	m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW;
-	m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW;
-
-	calculateTransforms();
-}
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
deleted file mode 100644
index b9e762e175..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
+++ /dev/null
@@ -1,615 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/// 2009 March: btGeneric6DofConstraint refactored by Roman Ponomarev
-/// Added support for generic constraint solver through getInfo1/getInfo2 methods
-
-/*
-2007-09-09
-btGeneric6DofConstraint Refactored by Francisco Le?n
-email: projectileman@yahoo.com
-http://gimpact.sf.net
-*/
-
-#ifndef BT_GENERIC_6DOF_CONSTRAINT_H
-#define BT_GENERIC_6DOF_CONSTRAINT_H
-
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btTypedConstraint.h"
-
-class btRigidBody;
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btGeneric6DofConstraintData2 btGeneric6DofConstraintDoubleData2
-#define btGeneric6DofConstraintDataName "btGeneric6DofConstraintDoubleData2"
-#else
-#define btGeneric6DofConstraintData2 btGeneric6DofConstraintData
-#define btGeneric6DofConstraintDataName "btGeneric6DofConstraintData"
-#endif  //BT_USE_DOUBLE_PRECISION
-
-//! Rotation Limit structure for generic joints
-class btRotationalLimitMotor
-{
-public:
-	//! limit_parameters
-	//!@{
-	btScalar m_loLimit;         //!< joint limit
-	btScalar m_hiLimit;         //!< joint limit
-	btScalar m_targetVelocity;  //!< target motor velocity
-	btScalar m_maxMotorForce;   //!< max force on motor
-	btScalar m_maxLimitForce;   //!< max force on limit
-	btScalar m_damping;         //!< Damping.
-	btScalar m_limitSoftness;   //! Relaxation factor
-	btScalar m_normalCFM;       //!< Constraint force mixing factor
-	btScalar m_stopERP;         //!< Error tolerance factor when joint is at limit
-	btScalar m_stopCFM;         //!< Constraint force mixing factor when joint is at limit
-	btScalar m_bounce;          //!< restitution factor
-	bool m_enableMotor;
-
-	//!@}
-
-	//! temp_variables
-	//!@{
-	btScalar m_currentLimitError;  //!  How much is violated this limit
-	btScalar m_currentPosition;    //!  current value of angle
-	int m_currentLimit;            //!< 0=free, 1=at lo limit, 2=at hi limit
-	btScalar m_accumulatedImpulse;
-	//!@}
-
-	btRotationalLimitMotor()
-	{
-		m_accumulatedImpulse = 0.f;
-		m_targetVelocity = 0;
-		m_maxMotorForce = 6.0f;
-		m_maxLimitForce = 300.0f;
-		m_loLimit = 1.0f;
-		m_hiLimit = -1.0f;
-		m_normalCFM = 0.f;
-		m_stopERP = 0.2f;
-		m_stopCFM = 0.f;
-		m_bounce = 0.0f;
-		m_damping = 1.0f;
-		m_limitSoftness = 0.5f;
-		m_currentLimit = 0;
-		m_currentLimitError = 0;
-		m_enableMotor = false;
-	}
-
-	btRotationalLimitMotor(const btRotationalLimitMotor& limot)
-	{
-		m_targetVelocity = limot.m_targetVelocity;
-		m_maxMotorForce = limot.m_maxMotorForce;
-		m_limitSoftness = limot.m_limitSoftness;
-		m_loLimit = limot.m_loLimit;
-		m_hiLimit = limot.m_hiLimit;
-		m_normalCFM = limot.m_normalCFM;
-		m_stopERP = limot.m_stopERP;
-		m_stopCFM = limot.m_stopCFM;
-		m_bounce = limot.m_bounce;
-		m_currentLimit = limot.m_currentLimit;
-		m_currentLimitError = limot.m_currentLimitError;
-		m_enableMotor = limot.m_enableMotor;
-	}
-
-	//! Is limited
-	bool isLimited() const
-	{
-		if (m_loLimit > m_hiLimit) return false;
-		return true;
-	}
-
-	//! Need apply correction
-	bool needApplyTorques() const
-	{
-		if (m_currentLimit == 0 && m_enableMotor == false) return false;
-		return true;
-	}
-
-	//! calculates  error
-	/*!
-	calculates m_currentLimit and m_currentLimitError.
-	*/
-	int testLimitValue(btScalar test_value);
-
-	//! apply the correction impulses for two bodies
-	btScalar solveAngularLimits(btScalar timeStep, btVector3& axis, btScalar jacDiagABInv, btRigidBody* body0, btRigidBody* body1);
-};
-
-class btTranslationalLimitMotor
-{
-public:
-	btVector3 m_lowerLimit;  //!< the constraint lower limits
-	btVector3 m_upperLimit;  //!< the constraint upper limits
-	btVector3 m_accumulatedImpulse;
-	//! Linear_Limit_parameters
-	//!@{
-	btScalar m_limitSoftness;  //!< Softness for linear limit
-	btScalar m_damping;        //!< Damping for linear limit
-	btScalar m_restitution;    //! Bounce parameter for linear limit
-	btVector3 m_normalCFM;     //!< Constraint force mixing factor
-	btVector3 m_stopERP;       //!< Error tolerance factor when joint is at limit
-	btVector3 m_stopCFM;       //!< Constraint force mixing factor when joint is at limit
-							   //!@}
-	bool m_enableMotor[3];
-	btVector3 m_targetVelocity;     //!< target motor velocity
-	btVector3 m_maxMotorForce;      //!< max force on motor
-	btVector3 m_currentLimitError;  //!  How much is violated this limit
-	btVector3 m_currentLinearDiff;  //!  Current relative offset of constraint frames
-	int m_currentLimit[3];          //!< 0=free, 1=at lower limit, 2=at upper limit
-
-	btTranslationalLimitMotor()
-	{
-		m_lowerLimit.setValue(0.f, 0.f, 0.f);
-		m_upperLimit.setValue(0.f, 0.f, 0.f);
-		m_accumulatedImpulse.setValue(0.f, 0.f, 0.f);
-		m_normalCFM.setValue(0.f, 0.f, 0.f);
-		m_stopERP.setValue(0.2f, 0.2f, 0.2f);
-		m_stopCFM.setValue(0.f, 0.f, 0.f);
-
-		m_limitSoftness = 0.7f;
-		m_damping = btScalar(1.0f);
-		m_restitution = btScalar(0.5f);
-		for (int i = 0; i < 3; i++)
-		{
-			m_enableMotor[i] = false;
-			m_targetVelocity[i] = btScalar(0.f);
-			m_maxMotorForce[i] = btScalar(0.f);
-		}
-	}
-
-	btTranslationalLimitMotor(const btTranslationalLimitMotor& other)
-	{
-		m_lowerLimit = other.m_lowerLimit;
-		m_upperLimit = other.m_upperLimit;
-		m_accumulatedImpulse = other.m_accumulatedImpulse;
-
-		m_limitSoftness = other.m_limitSoftness;
-		m_damping = other.m_damping;
-		m_restitution = other.m_restitution;
-		m_normalCFM = other.m_normalCFM;
-		m_stopERP = other.m_stopERP;
-		m_stopCFM = other.m_stopCFM;
-
-		for (int i = 0; i < 3; i++)
-		{
-			m_enableMotor[i] = other.m_enableMotor[i];
-			m_targetVelocity[i] = other.m_targetVelocity[i];
-			m_maxMotorForce[i] = other.m_maxMotorForce[i];
-		}
-	}
-
-	//! Test limit
-	/*!
-    - free means upper < lower,
-    - locked means upper == lower
-    - limited means upper > lower
-    - limitIndex: first 3 are linear, next 3 are angular
-    */
-	inline bool isLimited(int limitIndex) const
-	{
-		return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
-	}
-	inline bool needApplyForce(int limitIndex) const
-	{
-		if (m_currentLimit[limitIndex] == 0 && m_enableMotor[limitIndex] == false) return false;
-		return true;
-	}
-	int testLimitValue(int limitIndex, btScalar test_value);
-
-	btScalar solveLinearAxis(
-		btScalar timeStep,
-		btScalar jacDiagABInv,
-		btRigidBody& body1, const btVector3& pointInA,
-		btRigidBody& body2, const btVector3& pointInB,
-		int limit_index,
-		const btVector3& axis_normal_on_a,
-		const btVector3& anchorPos);
-};
-
-enum bt6DofFlags
-{
-	BT_6DOF_FLAGS_CFM_NORM = 1,
-	BT_6DOF_FLAGS_CFM_STOP = 2,
-	BT_6DOF_FLAGS_ERP_STOP = 4
-};
-#define BT_6DOF_FLAGS_AXIS_SHIFT 3  // bits per axis
-
-/// btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
-/*!
-btGeneric6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'.
-currently this limit supports rotational motors<br>
-<ul>
-<li> For Linear limits, use btGeneric6DofConstraint.setLinearUpperLimit, btGeneric6DofConstraint.setLinearLowerLimit. You can set the parameters with the btTranslationalLimitMotor structure accsesible through the btGeneric6DofConstraint.getTranslationalLimitMotor method.
-At this moment translational motors are not supported. May be in the future. </li>
-
-<li> For Angular limits, use the btRotationalLimitMotor structure for configuring the limit.
-This is accessible through btGeneric6DofConstraint.getLimitMotor method,
-This brings support for limit parameters and motors. </li>
-
-<li> Angulars limits have these possible ranges:
-<table border=1 >
-<tr>
-	<td><b>AXIS</b></td>
-	<td><b>MIN ANGLE</b></td>
-	<td><b>MAX ANGLE</b></td>
-</tr><tr>
-	<td>X</td>
-	<td>-PI</td>
-	<td>PI</td>
-</tr><tr>
-	<td>Y</td>
-	<td>-PI/2</td>
-	<td>PI/2</td>
-</tr><tr>
-	<td>Z</td>
-	<td>-PI</td>
-	<td>PI</td>
-</tr>
-</table>
-</li>
-</ul>
-
-*/
-ATTRIBUTE_ALIGNED16(class)
-btGeneric6DofConstraint : public btTypedConstraint
-{
-protected:
-	//! relative_frames
-	//!@{
-	btTransform m_frameInA;  //!< the constraint space w.r.t body A
-	btTransform m_frameInB;  //!< the constraint space w.r.t body B
-	//!@}
-
-	//! Jacobians
-	//!@{
-	btJacobianEntry m_jacLinear[3];  //!< 3 orthogonal linear constraints
-	btJacobianEntry m_jacAng[3];     //!< 3 orthogonal angular constraints
-	//!@}
-
-	//! Linear_Limit_parameters
-	//!@{
-	btTranslationalLimitMotor m_linearLimits;
-	//!@}
-
-	//! hinge_parameters
-	//!@{
-	btRotationalLimitMotor m_angularLimits[3];
-	//!@}
-
-protected:
-	//! temporal variables
-	//!@{
-	btScalar m_timeStep;
-	btTransform m_calculatedTransformA;
-	btTransform m_calculatedTransformB;
-	btVector3 m_calculatedAxisAngleDiff;
-	btVector3 m_calculatedAxis[3];
-	btVector3 m_calculatedLinearDiff;
-	btScalar m_factA;
-	btScalar m_factB;
-	bool m_hasStaticBody;
-
-	btVector3 m_AnchorPos;  // point betwen pivots of bodies A and B to solve linear axes
-
-	bool m_useLinearReferenceFrameA;
-	bool m_useOffsetForConstraintFrame;
-
-	int m_flags;
-
-	//!@}
-
-	btGeneric6DofConstraint& operator=(btGeneric6DofConstraint& other)
-	{
-		btAssert(0);
-		(void)other;
-		return *this;
-	}
-
-	int setAngularLimits(btConstraintInfo2 * info, int row_offset, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB);
-
-	int setLinearLimits(btConstraintInfo2 * info, int row, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB);
-
-	void buildLinearJacobian(
-		btJacobianEntry & jacLinear, const btVector3& normalWorld,
-		const btVector3& pivotAInW, const btVector3& pivotBInW);
-
-	void buildAngularJacobian(btJacobianEntry & jacAngular, const btVector3& jointAxisW);
-
-	// tests linear limits
-	void calculateLinearInfo();
-
-	//! calcs the euler angles between the two bodies.
-	void calculateAngleInfo();
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	///for backwards compatibility during the transition to 'getInfo/getInfo2'
-	bool m_useSolveConstraintObsolete;
-
-	btGeneric6DofConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
-	btGeneric6DofConstraint(btRigidBody & rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
-
-	//! Calcs global transform of the offsets
-	/*!
-	Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.
-	\sa btGeneric6DofConstraint.getCalculatedTransformA , btGeneric6DofConstraint.getCalculatedTransformB, btGeneric6DofConstraint.calculateAngleInfo
-	*/
-	void calculateTransforms(const btTransform& transA, const btTransform& transB);
-
-	void calculateTransforms();
-
-	//! Gets the global transform of the offset for body A
-	/*!
-    \sa btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo.
-    */
-	const btTransform& getCalculatedTransformA() const
-	{
-		return m_calculatedTransformA;
-	}
-
-	//! Gets the global transform of the offset for body B
-	/*!
-    \sa btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo.
-    */
-	const btTransform& getCalculatedTransformB() const
-	{
-		return m_calculatedTransformB;
-	}
-
-	const btTransform& getFrameOffsetA() const
-	{
-		return m_frameInA;
-	}
-
-	const btTransform& getFrameOffsetB() const
-	{
-		return m_frameInB;
-	}
-
-	btTransform& getFrameOffsetA()
-	{
-		return m_frameInA;
-	}
-
-	btTransform& getFrameOffsetB()
-	{
-		return m_frameInB;
-	}
-
-	//! performs Jacobian calculation, and also calculates angle differences and axis
-	virtual void buildJacobian();
-
-	virtual void getInfo1(btConstraintInfo1 * info);
-
-	void getInfo1NonVirtual(btConstraintInfo1 * info);
-
-	virtual void getInfo2(btConstraintInfo2 * info);
-
-	void getInfo2NonVirtual(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB);
-
-	void updateRHS(btScalar timeStep);
-
-	//! Get the rotation axis in global coordinates
-	/*!
-	\pre btGeneric6DofConstraint.buildJacobian must be called previously.
-	*/
-	btVector3 getAxis(int axis_index) const;
-
-	//! Get the relative Euler angle
-	/*!
-	\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
-	*/
-	btScalar getAngle(int axis_index) const;
-
-	//! Get the relative position of the constraint pivot
-	/*!
-	\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
-	*/
-	btScalar getRelativePivotPosition(int axis_index) const;
-
-	void setFrames(const btTransform& frameA, const btTransform& frameB);
-
-	//! Test angular limit.
-	/*!
-	Calculates angular correction and returns true if limit needs to be corrected.
-	\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
-	*/
-	bool testAngularLimitMotor(int axis_index);
-
-	void setLinearLowerLimit(const btVector3& linearLower)
-	{
-		m_linearLimits.m_lowerLimit = linearLower;
-	}
-
-	void getLinearLowerLimit(btVector3 & linearLower) const
-	{
-		linearLower = m_linearLimits.m_lowerLimit;
-	}
-
-	void setLinearUpperLimit(const btVector3& linearUpper)
-	{
-		m_linearLimits.m_upperLimit = linearUpper;
-	}
-
-	void getLinearUpperLimit(btVector3 & linearUpper) const
-	{
-		linearUpper = m_linearLimits.m_upperLimit;
-	}
-
-	void setAngularLowerLimit(const btVector3& angularLower)
-	{
-		for (int i = 0; i < 3; i++)
-			m_angularLimits[i].m_loLimit = btNormalizeAngle(angularLower[i]);
-	}
-
-	void getAngularLowerLimit(btVector3 & angularLower) const
-	{
-		for (int i = 0; i < 3; i++)
-			angularLower[i] = m_angularLimits[i].m_loLimit;
-	}
-
-	void setAngularUpperLimit(const btVector3& angularUpper)
-	{
-		for (int i = 0; i < 3; i++)
-			m_angularLimits[i].m_hiLimit = btNormalizeAngle(angularUpper[i]);
-	}
-
-	void getAngularUpperLimit(btVector3 & angularUpper) const
-	{
-		for (int i = 0; i < 3; i++)
-			angularUpper[i] = m_angularLimits[i].m_hiLimit;
-	}
-
-	//! Retrieves the angular limit informacion
-	btRotationalLimitMotor* getRotationalLimitMotor(int index)
-	{
-		return &m_angularLimits[index];
-	}
-
-	//! Retrieves the  limit informacion
-	btTranslationalLimitMotor* getTranslationalLimitMotor()
-	{
-		return &m_linearLimits;
-	}
-
-	//first 3 are linear, next 3 are angular
-	void setLimit(int axis, btScalar lo, btScalar hi)
-	{
-		if (axis < 3)
-		{
-			m_linearLimits.m_lowerLimit[axis] = lo;
-			m_linearLimits.m_upperLimit[axis] = hi;
-		}
-		else
-		{
-			lo = btNormalizeAngle(lo);
-			hi = btNormalizeAngle(hi);
-			m_angularLimits[axis - 3].m_loLimit = lo;
-			m_angularLimits[axis - 3].m_hiLimit = hi;
-		}
-	}
-
-	//! Test limit
-	/*!
-    - free means upper < lower,
-    - locked means upper == lower
-    - limited means upper > lower
-    - limitIndex: first 3 are linear, next 3 are angular
-    */
-	bool isLimited(int limitIndex) const
-	{
-		if (limitIndex < 3)
-		{
-			return m_linearLimits.isLimited(limitIndex);
-		}
-		return m_angularLimits[limitIndex - 3].isLimited();
-	}
-
-	virtual void calcAnchorPos(void);  // overridable
-
-	int get_limit_motor_info2(btRotationalLimitMotor * limot,
-							  const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB,
-							  btConstraintInfo2* info, int row, btVector3& ax1, int rotational, int rotAllowed = false);
-
-	// access for UseFrameOffset
-	bool getUseFrameOffset() const { return m_useOffsetForConstraintFrame; }
-	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
-
-	bool getUseLinearReferenceFrameA() const { return m_useLinearReferenceFrameA; }
-	void setUseLinearReferenceFrameA(bool linearReferenceFrameA) { m_useLinearReferenceFrameA = linearReferenceFrameA; }
-
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
-	///If no axis is provided, it uses the default axis for this constraint.
-	virtual void setParam(int num, btScalar value, int axis = -1);
-	///return the local value of parameter
-	virtual btScalar getParam(int num, int axis = -1) const;
-
-	void setAxis(const btVector3& axis1, const btVector3& axis2);
-
-	virtual int getFlags() const
-	{
-		return m_flags;
-	}
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-};
-
-struct btGeneric6DofConstraintData
-{
-	btTypedConstraintData m_typeConstraintData;
-	btTransformFloatData m_rbAFrame;  // constraint axii. Assumes z is hinge axis.
-	btTransformFloatData m_rbBFrame;
-
-	btVector3FloatData m_linearUpperLimit;
-	btVector3FloatData m_linearLowerLimit;
-
-	btVector3FloatData m_angularUpperLimit;
-	btVector3FloatData m_angularLowerLimit;
-
-	int m_useLinearReferenceFrameA;
-	int m_useOffsetForConstraintFrame;
-};
-
-struct btGeneric6DofConstraintDoubleData2
-{
-	btTypedConstraintDoubleData m_typeConstraintData;
-	btTransformDoubleData m_rbAFrame;  // constraint axii. Assumes z is hinge axis.
-	btTransformDoubleData m_rbBFrame;
-
-	btVector3DoubleData m_linearUpperLimit;
-	btVector3DoubleData m_linearLowerLimit;
-
-	btVector3DoubleData m_angularUpperLimit;
-	btVector3DoubleData m_angularLowerLimit;
-
-	int m_useLinearReferenceFrameA;
-	int m_useOffsetForConstraintFrame;
-};
-
-SIMD_FORCE_INLINE int btGeneric6DofConstraint::calculateSerializeBufferSize() const
-{
-	return sizeof(btGeneric6DofConstraintData2);
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE const char* btGeneric6DofConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btGeneric6DofConstraintData2* dof = (btGeneric6DofConstraintData2*)dataBuffer;
-	btTypedConstraint::serialize(&dof->m_typeConstraintData, serializer);
-
-	m_frameInA.serialize(dof->m_rbAFrame);
-	m_frameInB.serialize(dof->m_rbBFrame);
-
-	int i;
-	for (i = 0; i < 3; i++)
-	{
-		dof->m_angularLowerLimit.m_floats[i] = m_angularLimits[i].m_loLimit;
-		dof->m_angularUpperLimit.m_floats[i] = m_angularLimits[i].m_hiLimit;
-		dof->m_linearLowerLimit.m_floats[i] = m_linearLimits.m_lowerLimit[i];
-		dof->m_linearUpperLimit.m_floats[i] = m_linearLimits.m_upperLimit[i];
-	}
-
-	dof->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA ? 1 : 0;
-	dof->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame ? 1 : 0;
-
-	return btGeneric6DofConstraintDataName;
-}
-
-#endif  //BT_GENERIC_6DOF_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
deleted file mode 100644
index 74a13c6249..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
+++ /dev/null
@@ -1,1243 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/*
-2014 May: btGeneric6DofSpring2Constraint is created from the original (2.82.2712) btGeneric6DofConstraint by Gabor Puhr and Tamas Umenhoffer
-Pros:
-- Much more accurate and stable in a lot of situation. (Especially when a sleeping chain of RBs connected with 6dof2 is pulled)
-- Stable and accurate spring with minimal energy loss that works with all of the solvers. (latter is not true for the original 6dof spring)
-- Servo motor functionality
-- Much more accurate bouncing. 0 really means zero bouncing (not true for the original 6odf) and there is only a minimal energy loss when the value is 1 (because of the solvers' precision)
-- Rotation order for the Euler system can be set. (One axis' freedom is still limited to pi/2)
-
-Cons:
-- It is slower than the original 6dof. There is no exact ratio, but half speed is a good estimation. (with PGS)
-- At bouncing the correct velocity is calculated, but not the correct position. (it is because of the solver can correct position or velocity, but not both.)
-*/
-
-/// 2009 March: btGeneric6DofConstraint refactored by Roman Ponomarev
-/// Added support for generic constraint solver through getInfo1/getInfo2 methods
-
-/*
-2007-09-09
-btGeneric6DofConstraint Refactored by Francisco Le?n
-email: projectileman@yahoo.com
-http://gimpact.sf.net
-*/
-
-#include "btGeneric6DofSpring2Constraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btTransformUtil.h"
-#include <cmath>
-#include <new>
-
-btGeneric6DofSpring2Constraint::btGeneric6DofSpring2Constraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, RotateOrder rotOrder)
-	: btTypedConstraint(D6_SPRING_2_CONSTRAINT_TYPE, rbA, rbB), m_frameInA(frameInA), m_frameInB(frameInB), m_rotateOrder(rotOrder), m_flags(0)
-{
-	calculateTransforms();
-}
-
-btGeneric6DofSpring2Constraint::btGeneric6DofSpring2Constraint(btRigidBody& rbB, const btTransform& frameInB, RotateOrder rotOrder)
-	: btTypedConstraint(D6_SPRING_2_CONSTRAINT_TYPE, getFixedBody(), rbB), m_frameInB(frameInB), m_rotateOrder(rotOrder), m_flags(0)
-{
-	///not providing rigidbody A means implicitly using worldspace for body A
-	m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;
-	calculateTransforms();
-}
-
-btScalar btGeneric6DofSpring2Constraint::btGetMatrixElem(const btMatrix3x3& mat, int index)
-{
-	int i = index % 3;
-	int j = index / 3;
-	return mat[i][j];
-}
-
-// MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html
-
-bool btGeneric6DofSpring2Constraint::matrixToEulerXYZ(const btMatrix3x3& mat, btVector3& xyz)
-{
-	// rot =  cy*cz          -cy*sz           sy
-	//        cz*sx*sy+cx*sz  cx*cz-sx*sy*sz -cy*sx
-	//       -cx*cz*sy+sx*sz  cz*sx+cx*sy*sz  cx*cy
-
-	btScalar fi = btGetMatrixElem(mat, 2);
-	if (fi < btScalar(1.0f))
-	{
-		if (fi > btScalar(-1.0f))
-		{
-			xyz[0] = btAtan2(-btGetMatrixElem(mat, 5), btGetMatrixElem(mat, 8));
-			xyz[1] = btAsin(btGetMatrixElem(mat, 2));
-			xyz[2] = btAtan2(-btGetMatrixElem(mat, 1), btGetMatrixElem(mat, 0));
-			return true;
-		}
-		else
-		{
-			// WARNING.  Not unique.  XA - ZA = -atan2(r10,r11)
-			xyz[0] = -btAtan2(btGetMatrixElem(mat, 3), btGetMatrixElem(mat, 4));
-			xyz[1] = -SIMD_HALF_PI;
-			xyz[2] = btScalar(0.0);
-			return false;
-		}
-	}
-	else
-	{
-		// WARNING.  Not unique.  XAngle + ZAngle = atan2(r10,r11)
-		xyz[0] = btAtan2(btGetMatrixElem(mat, 3), btGetMatrixElem(mat, 4));
-		xyz[1] = SIMD_HALF_PI;
-		xyz[2] = 0.0;
-	}
-	return false;
-}
-
-bool btGeneric6DofSpring2Constraint::matrixToEulerXZY(const btMatrix3x3& mat, btVector3& xyz)
-{
-	// rot =  cy*cz          -sz           sy*cz
-	//        cy*cx*sz+sx*sy  cx*cz        sy*cx*sz-cy*sx
-	//        cy*sx*sz-cx*sy  sx*cz        sy*sx*sz+cx*cy
-
-	btScalar fi = btGetMatrixElem(mat, 1);
-	if (fi < btScalar(1.0f))
-	{
-		if (fi > btScalar(-1.0f))
-		{
-			xyz[0] = btAtan2(btGetMatrixElem(mat, 7), btGetMatrixElem(mat, 4));
-			xyz[1] = btAtan2(btGetMatrixElem(mat, 2), btGetMatrixElem(mat, 0));
-			xyz[2] = btAsin(-btGetMatrixElem(mat, 1));
-			return true;
-		}
-		else
-		{
-			xyz[0] = -btAtan2(-btGetMatrixElem(mat, 6), btGetMatrixElem(mat, 8));
-			xyz[1] = btScalar(0.0);
-			xyz[2] = SIMD_HALF_PI;
-			return false;
-		}
-	}
-	else
-	{
-		xyz[0] = btAtan2(-btGetMatrixElem(mat, 6), btGetMatrixElem(mat, 8));
-		xyz[1] = 0.0;
-		xyz[2] = -SIMD_HALF_PI;
-	}
-	return false;
-}
-
-bool btGeneric6DofSpring2Constraint::matrixToEulerYXZ(const btMatrix3x3& mat, btVector3& xyz)
-{
-	// rot =  cy*cz+sy*sx*sz  cz*sy*sx-cy*sz  cx*sy
-	//        cx*sz           cx*cz           -sx
-	//        cy*sx*sz-cz*sy  sy*sz+cy*cz*sx  cy*cx
-
-	btScalar fi = btGetMatrixElem(mat, 5);
-	if (fi < btScalar(1.0f))
-	{
-		if (fi > btScalar(-1.0f))
-		{
-			xyz[0] = btAsin(-btGetMatrixElem(mat, 5));
-			xyz[1] = btAtan2(btGetMatrixElem(mat, 2), btGetMatrixElem(mat, 8));
-			xyz[2] = btAtan2(btGetMatrixElem(mat, 3), btGetMatrixElem(mat, 4));
-			return true;
-		}
-		else
-		{
-			xyz[0] = SIMD_HALF_PI;
-			xyz[1] = -btAtan2(-btGetMatrixElem(mat, 1), btGetMatrixElem(mat, 0));
-			xyz[2] = btScalar(0.0);
-			return false;
-		}
-	}
-	else
-	{
-		xyz[0] = -SIMD_HALF_PI;
-		xyz[1] = btAtan2(-btGetMatrixElem(mat, 1), btGetMatrixElem(mat, 0));
-		xyz[2] = 0.0;
-	}
-	return false;
-}
-
-bool btGeneric6DofSpring2Constraint::matrixToEulerYZX(const btMatrix3x3& mat, btVector3& xyz)
-{
-	// rot =  cy*cz   sy*sx-cy*cx*sz   cx*sy+cy*sz*sx
-	//        sz           cz*cx           -cz*sx
-	//        -cz*sy  cy*sx+cx*sy*sz   cy*cx-sy*sz*sx
-
-	btScalar fi = btGetMatrixElem(mat, 3);
-	if (fi < btScalar(1.0f))
-	{
-		if (fi > btScalar(-1.0f))
-		{
-			xyz[0] = btAtan2(-btGetMatrixElem(mat, 5), btGetMatrixElem(mat, 4));
-			xyz[1] = btAtan2(-btGetMatrixElem(mat, 6), btGetMatrixElem(mat, 0));
-			xyz[2] = btAsin(btGetMatrixElem(mat, 3));
-			return true;
-		}
-		else
-		{
-			xyz[0] = btScalar(0.0);
-			xyz[1] = -btAtan2(btGetMatrixElem(mat, 7), btGetMatrixElem(mat, 8));
-			xyz[2] = -SIMD_HALF_PI;
-			return false;
-		}
-	}
-	else
-	{
-		xyz[0] = btScalar(0.0);
-		xyz[1] = btAtan2(btGetMatrixElem(mat, 7), btGetMatrixElem(mat, 8));
-		xyz[2] = SIMD_HALF_PI;
-	}
-	return false;
-}
-
-bool btGeneric6DofSpring2Constraint::matrixToEulerZXY(const btMatrix3x3& mat, btVector3& xyz)
-{
-	// rot =  cz*cy-sz*sx*sy    -cx*sz   cz*sy+cy*sz*sx
-	//        cy*sz+cz*sx*sy     cz*cx   sz*sy-cz*xy*sx
-	//        -cx*sy              sx     cx*cy
-
-	btScalar fi = btGetMatrixElem(mat, 7);
-	if (fi < btScalar(1.0f))
-	{
-		if (fi > btScalar(-1.0f))
-		{
-			xyz[0] = btAsin(btGetMatrixElem(mat, 7));
-			xyz[1] = btAtan2(-btGetMatrixElem(mat, 6), btGetMatrixElem(mat, 8));
-			xyz[2] = btAtan2(-btGetMatrixElem(mat, 1), btGetMatrixElem(mat, 4));
-			return true;
-		}
-		else
-		{
-			xyz[0] = -SIMD_HALF_PI;
-			xyz[1] = btScalar(0.0);
-			xyz[2] = -btAtan2(btGetMatrixElem(mat, 2), btGetMatrixElem(mat, 0));
-			return false;
-		}
-	}
-	else
-	{
-		xyz[0] = SIMD_HALF_PI;
-		xyz[1] = btScalar(0.0);
-		xyz[2] = btAtan2(btGetMatrixElem(mat, 2), btGetMatrixElem(mat, 0));
-	}
-	return false;
-}
-
-bool btGeneric6DofSpring2Constraint::matrixToEulerZYX(const btMatrix3x3& mat, btVector3& xyz)
-{
-	// rot =  cz*cy   cz*sy*sx-cx*sz   sz*sx+cz*cx*sy
-	//        cy*sz   cz*cx+sz*sy*sx   cx*sz*sy-cz*sx
-	//        -sy          cy*sx         cy*cx
-
-	btScalar fi = btGetMatrixElem(mat, 6);
-	if (fi < btScalar(1.0f))
-	{
-		if (fi > btScalar(-1.0f))
-		{
-			xyz[0] = btAtan2(btGetMatrixElem(mat, 7), btGetMatrixElem(mat, 8));
-			xyz[1] = btAsin(-btGetMatrixElem(mat, 6));
-			xyz[2] = btAtan2(btGetMatrixElem(mat, 3), btGetMatrixElem(mat, 0));
-			return true;
-		}
-		else
-		{
-			xyz[0] = btScalar(0.0);
-			xyz[1] = SIMD_HALF_PI;
-			xyz[2] = -btAtan2(btGetMatrixElem(mat, 1), btGetMatrixElem(mat, 2));
-			return false;
-		}
-	}
-	else
-	{
-		xyz[0] = btScalar(0.0);
-		xyz[1] = -SIMD_HALF_PI;
-		xyz[2] = btAtan2(-btGetMatrixElem(mat, 1), -btGetMatrixElem(mat, 2));
-	}
-	return false;
-}
-
-void btGeneric6DofSpring2Constraint::calculateAngleInfo()
-{
-	btMatrix3x3 relative_frame = m_calculatedTransformA.getBasis().inverse() * m_calculatedTransformB.getBasis();
-	switch (m_rotateOrder)
-	{
-		case RO_XYZ:
-			matrixToEulerXYZ(relative_frame, m_calculatedAxisAngleDiff);
-			break;
-		case RO_XZY:
-			matrixToEulerXZY(relative_frame, m_calculatedAxisAngleDiff);
-			break;
-		case RO_YXZ:
-			matrixToEulerYXZ(relative_frame, m_calculatedAxisAngleDiff);
-			break;
-		case RO_YZX:
-			matrixToEulerYZX(relative_frame, m_calculatedAxisAngleDiff);
-			break;
-		case RO_ZXY:
-			matrixToEulerZXY(relative_frame, m_calculatedAxisAngleDiff);
-			break;
-		case RO_ZYX:
-			matrixToEulerZYX(relative_frame, m_calculatedAxisAngleDiff);
-			break;
-		default:
-			btAssert(false);
-	}
-	// in euler angle mode we do not actually constrain the angular velocity
-	// along the axes axis[0] and axis[2] (although we do use axis[1]) :
-	//
-	//    to get			constrain w2-w1 along		...not
-	//    ------			---------------------		------
-	//    d(angle[0])/dt = 0	ax[1] x ax[2]			ax[0]
-	//    d(angle[1])/dt = 0	ax[1]
-	//    d(angle[2])/dt = 0	ax[0] x ax[1]			ax[2]
-	//
-	// constraining w2-w1 along an axis 'a' means that a'*(w2-w1)=0.
-	// to prove the result for angle[0], write the expression for angle[0] from
-	// GetInfo1 then take the derivative. to prove this for angle[2] it is
-	// easier to take the euler rate expression for d(angle[2])/dt with respect
-	// to the components of w and set that to 0.
-	switch (m_rotateOrder)
-	{
-		case RO_XYZ:
-		{
-			//Is this the "line of nodes" calculation choosing planes YZ (B coordinate system) and xy (A coordinate system)? (http://en.wikipedia.org/wiki/Euler_angles)
-			//The two planes are non-homologous, so this is a Tait Bryan angle formalism and not a proper Euler
-			//Extrinsic rotations are equal to the reversed order intrinsic rotations so the above xyz extrinsic rotations (axes are fixed) are the same as the zy'x" intrinsic rotations (axes are refreshed after each rotation)
-			//that is why xy and YZ planes are chosen (this will describe a zy'x" intrinsic rotation) (see the figure on the left at http://en.wikipedia.org/wiki/Euler_angles under Tait Bryan angles)
-			// x' = Nperp = N.cross(axis2)
-			// y' = N = axis2.cross(axis0)
-			// z' = z
-			//
-			// x" = X
-			// y" = y'
-			// z" = ??
-			//in other words:
-			//first rotate around z
-			//second rotate around y'= z.cross(X)
-			//third rotate around x" = X
-			//Original XYZ extrinsic rotation order.
-			//Planes: xy and YZ normals: z, X.  Plane intersection (N) is z.cross(X)
-			btVector3 axis0 = m_calculatedTransformB.getBasis().getColumn(0);
-			btVector3 axis2 = m_calculatedTransformA.getBasis().getColumn(2);
-			m_calculatedAxis[1] = axis2.cross(axis0);
-			m_calculatedAxis[0] = m_calculatedAxis[1].cross(axis2);
-			m_calculatedAxis[2] = axis0.cross(m_calculatedAxis[1]);
-			break;
-		}
-		case RO_XZY:
-		{
-			//planes: xz,ZY normals: y, X
-			//first rotate around y
-			//second rotate around z'= y.cross(X)
-			//third rotate around x" = X
-			btVector3 axis0 = m_calculatedTransformB.getBasis().getColumn(0);
-			btVector3 axis1 = m_calculatedTransformA.getBasis().getColumn(1);
-			m_calculatedAxis[2] = axis0.cross(axis1);
-			m_calculatedAxis[0] = axis1.cross(m_calculatedAxis[2]);
-			m_calculatedAxis[1] = m_calculatedAxis[2].cross(axis0);
-			break;
-		}
-		case RO_YXZ:
-		{
-			//planes: yx,XZ normals: z, Y
-			//first rotate around z
-			//second rotate around x'= z.cross(Y)
-			//third rotate around y" = Y
-			btVector3 axis1 = m_calculatedTransformB.getBasis().getColumn(1);
-			btVector3 axis2 = m_calculatedTransformA.getBasis().getColumn(2);
-			m_calculatedAxis[0] = axis1.cross(axis2);
-			m_calculatedAxis[1] = axis2.cross(m_calculatedAxis[0]);
-			m_calculatedAxis[2] = m_calculatedAxis[0].cross(axis1);
-			break;
-		}
-		case RO_YZX:
-		{
-			//planes: yz,ZX normals: x, Y
-			//first rotate around x
-			//second rotate around z'= x.cross(Y)
-			//third rotate around y" = Y
-			btVector3 axis0 = m_calculatedTransformA.getBasis().getColumn(0);
-			btVector3 axis1 = m_calculatedTransformB.getBasis().getColumn(1);
-			m_calculatedAxis[2] = axis0.cross(axis1);
-			m_calculatedAxis[0] = axis1.cross(m_calculatedAxis[2]);
-			m_calculatedAxis[1] = m_calculatedAxis[2].cross(axis0);
-			break;
-		}
-		case RO_ZXY:
-		{
-			//planes: zx,XY normals: y, Z
-			//first rotate around y
-			//second rotate around x'= y.cross(Z)
-			//third rotate around z" = Z
-			btVector3 axis1 = m_calculatedTransformA.getBasis().getColumn(1);
-			btVector3 axis2 = m_calculatedTransformB.getBasis().getColumn(2);
-			m_calculatedAxis[0] = axis1.cross(axis2);
-			m_calculatedAxis[1] = axis2.cross(m_calculatedAxis[0]);
-			m_calculatedAxis[2] = m_calculatedAxis[0].cross(axis1);
-			break;
-		}
-		case RO_ZYX:
-		{
-			//planes: zy,YX normals: x, Z
-			//first rotate around x
-			//second rotate around y' = x.cross(Z)
-			//third rotate around z" = Z
-			btVector3 axis0 = m_calculatedTransformA.getBasis().getColumn(0);
-			btVector3 axis2 = m_calculatedTransformB.getBasis().getColumn(2);
-			m_calculatedAxis[1] = axis2.cross(axis0);
-			m_calculatedAxis[0] = m_calculatedAxis[1].cross(axis2);
-			m_calculatedAxis[2] = axis0.cross(m_calculatedAxis[1]);
-			break;
-		}
-		default:
-			btAssert(false);
-	}
-
-	m_calculatedAxis[0].normalize();
-	m_calculatedAxis[1].normalize();
-	m_calculatedAxis[2].normalize();
-}
-
-void btGeneric6DofSpring2Constraint::calculateTransforms()
-{
-	calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
-}
-
-void btGeneric6DofSpring2Constraint::calculateTransforms(const btTransform& transA, const btTransform& transB)
-{
-	m_calculatedTransformA = transA * m_frameInA;
-	m_calculatedTransformB = transB * m_frameInB;
-	calculateLinearInfo();
-	calculateAngleInfo();
-
-	btScalar miA = getRigidBodyA().getInvMass();
-	btScalar miB = getRigidBodyB().getInvMass();
-	m_hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON);
-	btScalar miS = miA + miB;
-	if (miS > btScalar(0.f))
-	{
-		m_factA = miB / miS;
-	}
-	else
-	{
-		m_factA = btScalar(0.5f);
-	}
-	m_factB = btScalar(1.0f) - m_factA;
-}
-
-void btGeneric6DofSpring2Constraint::testAngularLimitMotor(int axis_index)
-{
-	btScalar angle = m_calculatedAxisAngleDiff[axis_index];
-	angle = btAdjustAngleToLimits(angle, m_angularLimits[axis_index].m_loLimit, m_angularLimits[axis_index].m_hiLimit);
-	m_angularLimits[axis_index].m_currentPosition = angle;
-	m_angularLimits[axis_index].testLimitValue(angle);
-}
-
-void btGeneric6DofSpring2Constraint::getInfo1(btConstraintInfo1* info)
-{
-	//prepare constraint
-	calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
-	info->m_numConstraintRows = 0;
-	info->nub = 0;
-	int i;
-	//test linear limits
-	for (i = 0; i < 3; i++)
-	{
-		if (m_linearLimits.m_currentLimit[i] == 4)
-			info->m_numConstraintRows += 2;
-		else if (m_linearLimits.m_currentLimit[i] != 0)
-			info->m_numConstraintRows += 1;
-		if (m_linearLimits.m_enableMotor[i]) info->m_numConstraintRows += 1;
-		if (m_linearLimits.m_enableSpring[i]) info->m_numConstraintRows += 1;
-	}
-	//test angular limits
-	for (i = 0; i < 3; i++)
-	{
-		testAngularLimitMotor(i);
-		if (m_angularLimits[i].m_currentLimit == 4)
-			info->m_numConstraintRows += 2;
-		else if (m_angularLimits[i].m_currentLimit != 0)
-			info->m_numConstraintRows += 1;
-		if (m_angularLimits[i].m_enableMotor) info->m_numConstraintRows += 1;
-		if (m_angularLimits[i].m_enableSpring) info->m_numConstraintRows += 1;
-	}
-}
-
-void btGeneric6DofSpring2Constraint::getInfo2(btConstraintInfo2* info)
-{
-	const btTransform& transA = m_rbA.getCenterOfMassTransform();
-	const btTransform& transB = m_rbB.getCenterOfMassTransform();
-	const btVector3& linVelA = m_rbA.getLinearVelocity();
-	const btVector3& linVelB = m_rbB.getLinearVelocity();
-	const btVector3& angVelA = m_rbA.getAngularVelocity();
-	const btVector3& angVelB = m_rbB.getAngularVelocity();
-
-	// for stability better to solve angular limits first
-	int row = setAngularLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
-	setLinearLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
-}
-
-int btGeneric6DofSpring2Constraint::setLinearLimits(btConstraintInfo2* info, int row, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB)
-{
-	//solve linear limits
-	btRotationalLimitMotor2 limot;
-	for (int i = 0; i < 3; i++)
-	{
-		if (m_linearLimits.m_currentLimit[i] || m_linearLimits.m_enableMotor[i] || m_linearLimits.m_enableSpring[i])
-		{  // re-use rotational motor code
-			limot.m_bounce = m_linearLimits.m_bounce[i];
-			limot.m_currentLimit = m_linearLimits.m_currentLimit[i];
-			limot.m_currentPosition = m_linearLimits.m_currentLinearDiff[i];
-			limot.m_currentLimitError = m_linearLimits.m_currentLimitError[i];
-			limot.m_currentLimitErrorHi = m_linearLimits.m_currentLimitErrorHi[i];
-			limot.m_enableMotor = m_linearLimits.m_enableMotor[i];
-			limot.m_servoMotor = m_linearLimits.m_servoMotor[i];
-			limot.m_servoTarget = m_linearLimits.m_servoTarget[i];
-			limot.m_enableSpring = m_linearLimits.m_enableSpring[i];
-			limot.m_springStiffness = m_linearLimits.m_springStiffness[i];
-			limot.m_springStiffnessLimited = m_linearLimits.m_springStiffnessLimited[i];
-			limot.m_springDamping = m_linearLimits.m_springDamping[i];
-			limot.m_springDampingLimited = m_linearLimits.m_springDampingLimited[i];
-			limot.m_equilibriumPoint = m_linearLimits.m_equilibriumPoint[i];
-			limot.m_hiLimit = m_linearLimits.m_upperLimit[i];
-			limot.m_loLimit = m_linearLimits.m_lowerLimit[i];
-			limot.m_maxMotorForce = m_linearLimits.m_maxMotorForce[i];
-			limot.m_targetVelocity = m_linearLimits.m_targetVelocity[i];
-			btVector3 axis = m_calculatedTransformA.getBasis().getColumn(i);
-			int flags = m_flags >> (i * BT_6DOF_FLAGS_AXIS_SHIFT2);
-			limot.m_stopCFM = (flags & BT_6DOF_FLAGS_CFM_STOP2) ? m_linearLimits.m_stopCFM[i] : info->cfm[0];
-			limot.m_stopERP = (flags & BT_6DOF_FLAGS_ERP_STOP2) ? m_linearLimits.m_stopERP[i] : info->erp;
-			limot.m_motorCFM = (flags & BT_6DOF_FLAGS_CFM_MOTO2) ? m_linearLimits.m_motorCFM[i] : info->cfm[0];
-			limot.m_motorERP = (flags & BT_6DOF_FLAGS_ERP_MOTO2) ? m_linearLimits.m_motorERP[i] : info->erp;
-
-			//rotAllowed is a bit of a magic from the original 6dof. The calculation of it here is something that imitates the original behavior as much as possible.
-			int indx1 = (i + 1) % 3;
-			int indx2 = (i + 2) % 3;
-			int rotAllowed = 1;  // rotations around orthos to current axis (it is used only when one of the body is static)
-#define D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION 1.0e-3
-			bool indx1Violated = m_angularLimits[indx1].m_currentLimit == 1 ||
-								 m_angularLimits[indx1].m_currentLimit == 2 ||
-								 (m_angularLimits[indx1].m_currentLimit == 3 && (m_angularLimits[indx1].m_currentLimitError < -D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION || m_angularLimits[indx1].m_currentLimitError > D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION)) ||
-								 (m_angularLimits[indx1].m_currentLimit == 4 && (m_angularLimits[indx1].m_currentLimitError < -D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION || m_angularLimits[indx1].m_currentLimitErrorHi > D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION));
-			bool indx2Violated = m_angularLimits[indx2].m_currentLimit == 1 ||
-								 m_angularLimits[indx2].m_currentLimit == 2 ||
-								 (m_angularLimits[indx2].m_currentLimit == 3 && (m_angularLimits[indx2].m_currentLimitError < -D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION || m_angularLimits[indx2].m_currentLimitError > D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION)) ||
-								 (m_angularLimits[indx2].m_currentLimit == 4 && (m_angularLimits[indx2].m_currentLimitError < -D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION || m_angularLimits[indx2].m_currentLimitErrorHi > D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION));
-			if (indx1Violated && indx2Violated)
-			{
-				rotAllowed = 0;
-			}
-			row += get_limit_motor_info2(&limot, transA, transB, linVelA, linVelB, angVelA, angVelB, info, row, axis, 0, rotAllowed);
-		}
-	}
-	return row;
-}
-
-int btGeneric6DofSpring2Constraint::setAngularLimits(btConstraintInfo2* info, int row_offset, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB)
-{
-	int row = row_offset;
-
-	//order of rotational constraint rows
-	int cIdx[] = {0, 1, 2};
-	switch (m_rotateOrder)
-	{
-		case RO_XYZ:
-			cIdx[0] = 0;
-			cIdx[1] = 1;
-			cIdx[2] = 2;
-			break;
-		case RO_XZY:
-			cIdx[0] = 0;
-			cIdx[1] = 2;
-			cIdx[2] = 1;
-			break;
-		case RO_YXZ:
-			cIdx[0] = 1;
-			cIdx[1] = 0;
-			cIdx[2] = 2;
-			break;
-		case RO_YZX:
-			cIdx[0] = 1;
-			cIdx[1] = 2;
-			cIdx[2] = 0;
-			break;
-		case RO_ZXY:
-			cIdx[0] = 2;
-			cIdx[1] = 0;
-			cIdx[2] = 1;
-			break;
-		case RO_ZYX:
-			cIdx[0] = 2;
-			cIdx[1] = 1;
-			cIdx[2] = 0;
-			break;
-		default:
-			btAssert(false);
-	}
-
-	for (int ii = 0; ii < 3; ii++)
-	{
-		int i = cIdx[ii];
-		if (m_angularLimits[i].m_currentLimit || m_angularLimits[i].m_enableMotor || m_angularLimits[i].m_enableSpring)
-		{
-			btVector3 axis = getAxis(i);
-			int flags = m_flags >> ((i + 3) * BT_6DOF_FLAGS_AXIS_SHIFT2);
-			if (!(flags & BT_6DOF_FLAGS_CFM_STOP2))
-			{
-				m_angularLimits[i].m_stopCFM = info->cfm[0];
-			}
-			if (!(flags & BT_6DOF_FLAGS_ERP_STOP2))
-			{
-				m_angularLimits[i].m_stopERP = info->erp;
-			}
-			if (!(flags & BT_6DOF_FLAGS_CFM_MOTO2))
-			{
-				m_angularLimits[i].m_motorCFM = info->cfm[0];
-			}
-			if (!(flags & BT_6DOF_FLAGS_ERP_MOTO2))
-			{
-				m_angularLimits[i].m_motorERP = info->erp;
-			}
-			row += get_limit_motor_info2(&m_angularLimits[i], transA, transB, linVelA, linVelB, angVelA, angVelB, info, row, axis, 1);
-		}
-	}
-
-	return row;
-}
-
-void btGeneric6DofSpring2Constraint::setFrames(const btTransform& frameA, const btTransform& frameB)
-{
-	m_frameInA = frameA;
-	m_frameInB = frameB;
-	buildJacobian();
-	calculateTransforms();
-}
-
-void btGeneric6DofSpring2Constraint::calculateLinearInfo()
-{
-	m_calculatedLinearDiff = m_calculatedTransformB.getOrigin() - m_calculatedTransformA.getOrigin();
-	m_calculatedLinearDiff = m_calculatedTransformA.getBasis().inverse() * m_calculatedLinearDiff;
-	for (int i = 0; i < 3; i++)
-	{
-		m_linearLimits.m_currentLinearDiff[i] = m_calculatedLinearDiff[i];
-		m_linearLimits.testLimitValue(i, m_calculatedLinearDiff[i]);
-	}
-}
-
-void btGeneric6DofSpring2Constraint::calculateJacobi(btRotationalLimitMotor2* limot, const btTransform& transA, const btTransform& transB, btConstraintInfo2* info, int srow, btVector3& ax1, int rotational, int rotAllowed)
-{
-	btScalar* J1 = rotational ? info->m_J1angularAxis : info->m_J1linearAxis;
-	btScalar* J2 = rotational ? info->m_J2angularAxis : info->m_J2linearAxis;
-
-	J1[srow + 0] = ax1[0];
-	J1[srow + 1] = ax1[1];
-	J1[srow + 2] = ax1[2];
-
-	J2[srow + 0] = -ax1[0];
-	J2[srow + 1] = -ax1[1];
-	J2[srow + 2] = -ax1[2];
-
-	if (!rotational)
-	{
-		btVector3 tmpA, tmpB, relA, relB;
-		// get vector from bodyB to frameB in WCS
-		relB = m_calculatedTransformB.getOrigin() - transB.getOrigin();
-		// same for bodyA
-		relA = m_calculatedTransformA.getOrigin() - transA.getOrigin();
-		tmpA = relA.cross(ax1);
-		tmpB = relB.cross(ax1);
-		if (m_hasStaticBody && (!rotAllowed))
-		{
-			tmpA *= m_factA;
-			tmpB *= m_factB;
-		}
-		int i;
-		for (i = 0; i < 3; i++) info->m_J1angularAxis[srow + i] = tmpA[i];
-		for (i = 0; i < 3; i++) info->m_J2angularAxis[srow + i] = -tmpB[i];
-	}
-}
-
-int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
-	btRotationalLimitMotor2* limot,
-	const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB,
-	btConstraintInfo2* info, int row, btVector3& ax1, int rotational, int rotAllowed)
-{
-	int count = 0;
-	int srow = row * info->rowskip;
-
-	if (limot->m_currentLimit == 4)
-	{
-		btScalar vel = rotational ? angVelA.dot(ax1) - angVelB.dot(ax1) : linVelA.dot(ax1) - linVelB.dot(ax1);
-
-		calculateJacobi(limot, transA, transB, info, srow, ax1, rotational, rotAllowed);
-		info->m_constraintError[srow] = info->fps * limot->m_stopERP * limot->m_currentLimitError * (rotational ? -1 : 1);
-		if (rotational)
-		{
-			if (info->m_constraintError[srow] - vel * limot->m_stopERP > 0)
-			{
-				btScalar bounceerror = -limot->m_bounce * vel;
-				if (bounceerror > info->m_constraintError[srow]) info->m_constraintError[srow] = bounceerror;
-			}
-		}
-		else
-		{
-			if (info->m_constraintError[srow] - vel * limot->m_stopERP < 0)
-			{
-				btScalar bounceerror = -limot->m_bounce * vel;
-				if (bounceerror < info->m_constraintError[srow]) info->m_constraintError[srow] = bounceerror;
-			}
-		}
-		info->m_lowerLimit[srow] = rotational ? 0 : -SIMD_INFINITY;
-		info->m_upperLimit[srow] = rotational ? SIMD_INFINITY : 0;
-		info->cfm[srow] = limot->m_stopCFM;
-		srow += info->rowskip;
-		++count;
-
-		calculateJacobi(limot, transA, transB, info, srow, ax1, rotational, rotAllowed);
-		info->m_constraintError[srow] = info->fps * limot->m_stopERP * limot->m_currentLimitErrorHi * (rotational ? -1 : 1);
-		if (rotational)
-		{
-			if (info->m_constraintError[srow] - vel * limot->m_stopERP < 0)
-			{
-				btScalar bounceerror = -limot->m_bounce * vel;
-				if (bounceerror < info->m_constraintError[srow]) info->m_constraintError[srow] = bounceerror;
-			}
-		}
-		else
-		{
-			if (info->m_constraintError[srow] - vel * limot->m_stopERP > 0)
-			{
-				btScalar bounceerror = -limot->m_bounce * vel;
-				if (bounceerror > info->m_constraintError[srow]) info->m_constraintError[srow] = bounceerror;
-			}
-		}
-		info->m_lowerLimit[srow] = rotational ? -SIMD_INFINITY : 0;
-		info->m_upperLimit[srow] = rotational ? 0 : SIMD_INFINITY;
-		info->cfm[srow] = limot->m_stopCFM;
-		srow += info->rowskip;
-		++count;
-	}
-	else if (limot->m_currentLimit == 3)
-	{
-		calculateJacobi(limot, transA, transB, info, srow, ax1, rotational, rotAllowed);
-		info->m_constraintError[srow] = info->fps * limot->m_stopERP * limot->m_currentLimitError * (rotational ? -1 : 1);
-		info->m_lowerLimit[srow] = -SIMD_INFINITY;
-		info->m_upperLimit[srow] = SIMD_INFINITY;
-		info->cfm[srow] = limot->m_stopCFM;
-		srow += info->rowskip;
-		++count;
-	}
-
-	if (limot->m_enableMotor && !limot->m_servoMotor)
-	{
-		calculateJacobi(limot, transA, transB, info, srow, ax1, rotational, rotAllowed);
-		btScalar tag_vel = rotational ? limot->m_targetVelocity : -limot->m_targetVelocity;
-		btScalar mot_fact = getMotorFactor(limot->m_currentPosition,
-										   limot->m_loLimit,
-										   limot->m_hiLimit,
-										   tag_vel,
-										   info->fps * limot->m_motorERP);
-		info->m_constraintError[srow] = mot_fact * limot->m_targetVelocity;
-		info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps;
-		info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps;
-		info->cfm[srow] = limot->m_motorCFM;
-		srow += info->rowskip;
-		++count;
-	}
-
-	if (limot->m_enableMotor && limot->m_servoMotor)
-	{
-		btScalar error = limot->m_currentPosition - limot->m_servoTarget;
-		btScalar curServoTarget = limot->m_servoTarget;
-		if (rotational)
-		{
-			if (error > SIMD_PI)
-			{
-				error -= SIMD_2_PI;
-				curServoTarget += SIMD_2_PI;
-			}
-			if (error < -SIMD_PI)
-			{
-				error += SIMD_2_PI;
-				curServoTarget -= SIMD_2_PI;
-			}
-		}
-
-		calculateJacobi(limot, transA, transB, info, srow, ax1, rotational, rotAllowed);
-		btScalar targetvelocity = error < 0 ? -limot->m_targetVelocity : limot->m_targetVelocity;
-		btScalar tag_vel = -targetvelocity;
-		btScalar mot_fact;
-		if (error != 0)
-		{
-			btScalar lowLimit;
-			btScalar hiLimit;
-			if (limot->m_loLimit > limot->m_hiLimit)
-			{
-				lowLimit = error > 0 ? curServoTarget : -SIMD_INFINITY;
-				hiLimit = error < 0 ? curServoTarget : SIMD_INFINITY;
-			}
-			else
-			{
-				lowLimit = error > 0 && curServoTarget > limot->m_loLimit ? curServoTarget : limot->m_loLimit;
-				hiLimit = error < 0 && curServoTarget < limot->m_hiLimit ? curServoTarget : limot->m_hiLimit;
-			}
-			mot_fact = getMotorFactor(limot->m_currentPosition, lowLimit, hiLimit, tag_vel, info->fps * limot->m_motorERP);
-		}
-		else
-		{
-			mot_fact = 0;
-		}
-		info->m_constraintError[srow] = mot_fact * targetvelocity * (rotational ? -1 : 1);
-		info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps;
-		info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps;
-		info->cfm[srow] = limot->m_motorCFM;
-		srow += info->rowskip;
-		++count;
-	}
-
-	if (limot->m_enableSpring)
-	{
-		btScalar error = limot->m_currentPosition - limot->m_equilibriumPoint;
-		calculateJacobi(limot, transA, transB, info, srow, ax1, rotational, rotAllowed);
-
-		//btScalar cfm = 1.0 / ((1.0/info->fps)*limot->m_springStiffness+ limot->m_springDamping);
-		//if(cfm > 0.99999)
-		//	cfm = 0.99999;
-		//btScalar erp = (1.0/info->fps)*limot->m_springStiffness / ((1.0/info->fps)*limot->m_springStiffness + limot->m_springDamping);
-		//info->m_constraintError[srow] = info->fps * erp * error * (rotational ? -1.0 : 1.0);
-		//info->m_lowerLimit[srow] = -SIMD_INFINITY;
-		//info->m_upperLimit[srow] = SIMD_INFINITY;
-
-		btScalar dt = BT_ONE / info->fps;
-		btScalar kd = limot->m_springDamping;
-		btScalar ks = limot->m_springStiffness;
-		btScalar vel;
-		if (rotational)
-		{
-			vel = angVelA.dot(ax1) - angVelB.dot(ax1);
-		}
-		else
-		{
-			btVector3 tanVelA = angVelA.cross(m_calculatedTransformA.getOrigin() - transA.getOrigin());
-			btVector3 tanVelB = angVelB.cross(m_calculatedTransformB.getOrigin() - transB.getOrigin());
-			vel = (linVelA + tanVelA).dot(ax1) - (linVelB + tanVelB).dot(ax1);
-		}
-		btScalar cfm = BT_ZERO;
-		btScalar mA = BT_ONE / m_rbA.getInvMass();
-		btScalar mB = BT_ONE / m_rbB.getInvMass();
-		if (rotational)
-		{
-			btScalar rrA = (m_calculatedTransformA.getOrigin() - transA.getOrigin()).length2();
-			btScalar rrB = (m_calculatedTransformB.getOrigin() - transB.getOrigin()).length2();
-			if (m_rbA.getInvMass()) mA = mA * rrA + 1 / (m_rbA.getInvInertiaTensorWorld() * ax1).length();
-			if (m_rbB.getInvMass()) mB = mB * rrB + 1 / (m_rbB.getInvInertiaTensorWorld() * ax1).length();
-		}
-		btScalar m;
-		if (m_rbA.getInvMass() == 0) m = mB; else
-		if (m_rbB.getInvMass() == 0) m = mA; else
-			m = mA*mB / (mA + mB);
-		btScalar angularfreq = btSqrt(ks / m);
-
-		//limit stiffness (the spring should not be sampled faster that the quarter of its angular frequency)
-		if (limot->m_springStiffnessLimited && 0.25 < angularfreq * dt)
-		{
-			ks = BT_ONE / dt / dt / btScalar(16.0) * m;
-		}
-		//avoid damping that would blow up the spring
-		if (limot->m_springDampingLimited && kd * dt > m)
-		{
-			kd = m / dt;
-		}
-		btScalar fs = ks * error * dt;
-		btScalar fd = -kd * (vel) * (rotational ? -1 : 1) * dt;
-		btScalar f = (fs + fd);
-
-		// after the spring force affecting the body(es) the new velocity will be
-		// vel + f / m * (rotational ? -1 : 1)
-		// so in theory this should be set here for m_constraintError
-		// (with m_constraintError we set a desired velocity for the affected body(es))
-		// however in practice any value is fine as long as it is greater than the "proper" velocity,
-		// because the m_lowerLimit and the m_upperLimit will determinate the strength of the final pulling force
-		// so it is much simpler (and more robust) just to simply use inf (with the proper sign)
-		// (Even with our best intent the "new" velocity is only an estimation. If we underestimate
-		// the "proper" velocity that will weaken the spring, however if we overestimate it, it doesn't
-		// matter, because the solver will limit it according the force limit)
-		// you may also wonder what if the current velocity (vel) so high that the pulling force will not change its direction (in this iteration)
-		// will we not request a velocity with the wrong direction ?
-		// and the answer is not, because in practice during the solving the current velocity is subtracted from the m_constraintError
-		// so the sign of the force that is really matters
-		if (m_flags & BT_6DOF_FLAGS_USE_INFINITE_ERROR)
-			info->m_constraintError[srow] = (rotational ? -1 : 1) * (f < 0 ? -SIMD_INFINITY : SIMD_INFINITY);
-		else
-			info->m_constraintError[srow] = vel + f / m * (rotational ? -1 : 1);
-
-		btScalar minf = f < fd ? f : fd;
-		btScalar maxf = f < fd ? fd : f;
-		if (!rotational)
-		{
-			info->m_lowerLimit[srow] = minf > 0 ? 0 : minf;
-			info->m_upperLimit[srow] = maxf < 0 ? 0 : maxf;
-		}
-		else
-		{
-			info->m_lowerLimit[srow] = -maxf > 0 ? 0 : -maxf;
-			info->m_upperLimit[srow] = -minf < 0 ? 0 : -minf;
-		}
-
-		info->cfm[srow] = cfm;
-		srow += info->rowskip;
-		++count;
-	}
-
-	return count;
-}
-
-//override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
-//If no axis is provided, it uses the default axis for this constraint.
-void btGeneric6DofSpring2Constraint::setParam(int num, btScalar value, int axis)
-{
-	if ((axis >= 0) && (axis < 3))
-	{
-		switch (num)
-		{
-			case BT_CONSTRAINT_STOP_ERP:
-				m_linearLimits.m_stopERP[axis] = value;
-				m_flags |= BT_6DOF_FLAGS_ERP_STOP2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2);
-				break;
-			case BT_CONSTRAINT_STOP_CFM:
-				m_linearLimits.m_stopCFM[axis] = value;
-				m_flags |= BT_6DOF_FLAGS_CFM_STOP2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2);
-				break;
-			case BT_CONSTRAINT_ERP:
-				m_linearLimits.m_motorERP[axis] = value;
-				m_flags |= BT_6DOF_FLAGS_ERP_MOTO2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2);
-				break;
-			case BT_CONSTRAINT_CFM:
-				m_linearLimits.m_motorCFM[axis] = value;
-				m_flags |= BT_6DOF_FLAGS_CFM_MOTO2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2);
-				break;
-			default:
-				btAssertConstrParams(0);
-		}
-	}
-	else if ((axis >= 3) && (axis < 6))
-	{
-		switch (num)
-		{
-			case BT_CONSTRAINT_STOP_ERP:
-				m_angularLimits[axis - 3].m_stopERP = value;
-				m_flags |= BT_6DOF_FLAGS_ERP_STOP2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2);
-				break;
-			case BT_CONSTRAINT_STOP_CFM:
-				m_angularLimits[axis - 3].m_stopCFM = value;
-				m_flags |= BT_6DOF_FLAGS_CFM_STOP2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2);
-				break;
-			case BT_CONSTRAINT_ERP:
-				m_angularLimits[axis - 3].m_motorERP = value;
-				m_flags |= BT_6DOF_FLAGS_ERP_MOTO2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2);
-				break;
-			case BT_CONSTRAINT_CFM:
-				m_angularLimits[axis - 3].m_motorCFM = value;
-				m_flags |= BT_6DOF_FLAGS_CFM_MOTO2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2);
-				break;
-			default:
-				btAssertConstrParams(0);
-		}
-	}
-	else
-	{
-		btAssertConstrParams(0);
-	}
-}
-
-//return the local value of parameter
-btScalar btGeneric6DofSpring2Constraint::getParam(int num, int axis) const
-{
-	btScalar retVal = 0;
-	if ((axis >= 0) && (axis < 3))
-	{
-		switch (num)
-		{
-			case BT_CONSTRAINT_STOP_ERP:
-				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_ERP_STOP2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2)));
-				retVal = m_linearLimits.m_stopERP[axis];
-				break;
-			case BT_CONSTRAINT_STOP_CFM:
-				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_STOP2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2)));
-				retVal = m_linearLimits.m_stopCFM[axis];
-				break;
-			case BT_CONSTRAINT_ERP:
-				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_ERP_MOTO2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2)));
-				retVal = m_linearLimits.m_motorERP[axis];
-				break;
-			case BT_CONSTRAINT_CFM:
-				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_MOTO2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2)));
-				retVal = m_linearLimits.m_motorCFM[axis];
-				break;
-			default:
-				btAssertConstrParams(0);
-		}
-	}
-	else if ((axis >= 3) && (axis < 6))
-	{
-		switch (num)
-		{
-			case BT_CONSTRAINT_STOP_ERP:
-				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_ERP_STOP2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2)));
-				retVal = m_angularLimits[axis - 3].m_stopERP;
-				break;
-			case BT_CONSTRAINT_STOP_CFM:
-				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_STOP2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2)));
-				retVal = m_angularLimits[axis - 3].m_stopCFM;
-				break;
-			case BT_CONSTRAINT_ERP:
-				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_ERP_MOTO2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2)));
-				retVal = m_angularLimits[axis - 3].m_motorERP;
-				break;
-			case BT_CONSTRAINT_CFM:
-				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_MOTO2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2)));
-				retVal = m_angularLimits[axis - 3].m_motorCFM;
-				break;
-			default:
-				btAssertConstrParams(0);
-		}
-	}
-	else
-	{
-		btAssertConstrParams(0);
-	}
-	return retVal;
-}
-
-void btGeneric6DofSpring2Constraint::setAxis(const btVector3& axis1, const btVector3& axis2)
-{
-	btVector3 zAxis = axis1.normalized();
-	btVector3 yAxis = axis2.normalized();
-	btVector3 xAxis = yAxis.cross(zAxis);  // we want right coordinate system
-
-	btTransform frameInW;
-	frameInW.setIdentity();
-	frameInW.getBasis().setValue(xAxis[0], yAxis[0], zAxis[0],
-								 xAxis[1], yAxis[1], zAxis[1],
-								 xAxis[2], yAxis[2], zAxis[2]);
-
-	// now get constraint frame in local coordinate systems
-	m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW;
-	m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW;
-
-	calculateTransforms();
-}
-
-void btGeneric6DofSpring2Constraint::setBounce(int index, btScalar bounce)
-{
-	btAssert((index >= 0) && (index < 6));
-	if (index < 3)
-		m_linearLimits.m_bounce[index] = bounce;
-	else
-		m_angularLimits[index - 3].m_bounce = bounce;
-}
-
-void btGeneric6DofSpring2Constraint::enableMotor(int index, bool onOff)
-{
-	btAssert((index >= 0) && (index < 6));
-	if (index < 3)
-		m_linearLimits.m_enableMotor[index] = onOff;
-	else
-		m_angularLimits[index - 3].m_enableMotor = onOff;
-}
-
-void btGeneric6DofSpring2Constraint::setServo(int index, bool onOff)
-{
-	btAssert((index >= 0) && (index < 6));
-	if (index < 3)
-		m_linearLimits.m_servoMotor[index] = onOff;
-	else
-		m_angularLimits[index - 3].m_servoMotor = onOff;
-}
-
-void btGeneric6DofSpring2Constraint::setTargetVelocity(int index, btScalar velocity)
-{
-	btAssert((index >= 0) && (index < 6));
-	if (index < 3)
-		m_linearLimits.m_targetVelocity[index] = velocity;
-	else
-		m_angularLimits[index - 3].m_targetVelocity = velocity;
-}
-
-void btGeneric6DofSpring2Constraint::setServoTarget(int index, btScalar targetOrg)
-{
-	btAssert((index >= 0) && (index < 6));
-	if (index < 3)
-	{
-		m_linearLimits.m_servoTarget[index] = targetOrg;
-	}
-	else
-	{
-		//wrap between -PI and PI, see also
-		//https://stackoverflow.com/questions/4633177/c-how-to-wrap-a-float-to-the-interval-pi-pi
-
-		btScalar target = targetOrg + SIMD_PI;
-		if (1)
-		{
-			btScalar m = target - SIMD_2_PI * std::floor(target / SIMD_2_PI);
-			// handle boundary cases resulted from floating-point cut off:
-			{
-				if (m >= SIMD_2_PI)
-				{
-					target = 0;
-				}
-				else
-				{
-					if (m < 0)
-					{
-						if (SIMD_2_PI + m == SIMD_2_PI)
-							target = 0;
-						else
-							target = SIMD_2_PI + m;
-					}
-					else
-					{
-						target = m;
-					}
-				}
-			}
-			target -= SIMD_PI;
-		}
-
-		m_angularLimits[index - 3].m_servoTarget = target;
-	}
-}
-
-void btGeneric6DofSpring2Constraint::setMaxMotorForce(int index, btScalar force)
-{
-	btAssert((index >= 0) && (index < 6));
-	if (index < 3)
-		m_linearLimits.m_maxMotorForce[index] = force;
-	else
-		m_angularLimits[index - 3].m_maxMotorForce = force;
-}
-
-void btGeneric6DofSpring2Constraint::enableSpring(int index, bool onOff)
-{
-	btAssert((index >= 0) && (index < 6));
-	if (index < 3)
-		m_linearLimits.m_enableSpring[index] = onOff;
-	else
-		m_angularLimits[index - 3].m_enableSpring = onOff;
-}
-
-void btGeneric6DofSpring2Constraint::setStiffness(int index, btScalar stiffness, bool limitIfNeeded)
-{
-	btAssert((index >= 0) && (index < 6));
-	if (index < 3)
-	{
-		m_linearLimits.m_springStiffness[index] = stiffness;
-		m_linearLimits.m_springStiffnessLimited[index] = limitIfNeeded;
-	}
-	else
-	{
-		m_angularLimits[index - 3].m_springStiffness = stiffness;
-		m_angularLimits[index - 3].m_springStiffnessLimited = limitIfNeeded;
-	}
-}
-
-void btGeneric6DofSpring2Constraint::setDamping(int index, btScalar damping, bool limitIfNeeded)
-{
-	btAssert((index >= 0) && (index < 6));
-	if (index < 3)
-	{
-		m_linearLimits.m_springDamping[index] = damping;
-		m_linearLimits.m_springDampingLimited[index] = limitIfNeeded;
-	}
-	else
-	{
-		m_angularLimits[index - 3].m_springDamping = damping;
-		m_angularLimits[index - 3].m_springDampingLimited = limitIfNeeded;
-	}
-}
-
-void btGeneric6DofSpring2Constraint::setEquilibriumPoint()
-{
-	calculateTransforms();
-	int i;
-	for (i = 0; i < 3; i++)
-		m_linearLimits.m_equilibriumPoint[i] = m_calculatedLinearDiff[i];
-	for (i = 0; i < 3; i++)
-		m_angularLimits[i].m_equilibriumPoint = m_calculatedAxisAngleDiff[i];
-}
-
-void btGeneric6DofSpring2Constraint::setEquilibriumPoint(int index)
-{
-	btAssert((index >= 0) && (index < 6));
-	calculateTransforms();
-	if (index < 3)
-		m_linearLimits.m_equilibriumPoint[index] = m_calculatedLinearDiff[index];
-	else
-		m_angularLimits[index - 3].m_equilibriumPoint = m_calculatedAxisAngleDiff[index - 3];
-}
-
-void btGeneric6DofSpring2Constraint::setEquilibriumPoint(int index, btScalar val)
-{
-	btAssert((index >= 0) && (index < 6));
-	if (index < 3)
-		m_linearLimits.m_equilibriumPoint[index] = val;
-	else
-		m_angularLimits[index - 3].m_equilibriumPoint = val;
-}
-
-//////////////////////////// btRotationalLimitMotor2 ////////////////////////////////////
-
-void btRotationalLimitMotor2::testLimitValue(btScalar test_value)
-{
-	//we can't normalize the angles here because we would lost the sign that we use later, but it doesn't seem to be a problem
-	if (m_loLimit > m_hiLimit)
-	{
-		m_currentLimit = 0;
-		m_currentLimitError = btScalar(0.f);
-	}
-	else if (m_loLimit == m_hiLimit)
-	{
-		m_currentLimitError = test_value - m_loLimit;
-		m_currentLimit = 3;
-	}
-	else
-	{
-		m_currentLimitError = test_value - m_loLimit;
-		m_currentLimitErrorHi = test_value - m_hiLimit;
-		m_currentLimit = 4;
-	}
-}
-
-//////////////////////////// btTranslationalLimitMotor2 ////////////////////////////////////
-
-void btTranslationalLimitMotor2::testLimitValue(int limitIndex, btScalar test_value)
-{
-	btScalar loLimit = m_lowerLimit[limitIndex];
-	btScalar hiLimit = m_upperLimit[limitIndex];
-	if (loLimit > hiLimit)
-	{
-		m_currentLimitError[limitIndex] = 0;
-		m_currentLimit[limitIndex] = 0;
-	}
-	else if (loLimit == hiLimit)
-	{
-		m_currentLimitError[limitIndex] = test_value - loLimit;
-		m_currentLimit[limitIndex] = 3;
-	}
-	else
-	{
-		m_currentLimitError[limitIndex] = test_value - loLimit;
-		m_currentLimitErrorHi[limitIndex] = test_value - hiLimit;
-		m_currentLimit[limitIndex] = 4;
-	}
-}
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h
deleted file mode 100644
index c86dc373da..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h
+++ /dev/null
@@ -1,667 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/*
-2014 May: btGeneric6DofSpring2Constraint is created from the original (2.82.2712) btGeneric6DofConstraint by Gabor Puhr and Tamas Umenhoffer
-Pros:
-- Much more accurate and stable in a lot of situation. (Especially when a sleeping chain of RBs connected with 6dof2 is pulled)
-- Stable and accurate spring with minimal energy loss that works with all of the solvers. (latter is not true for the original 6dof spring)
-- Servo motor functionality
-- Much more accurate bouncing. 0 really means zero bouncing (not true for the original 6odf) and there is only a minimal energy loss when the value is 1 (because of the solvers' precision)
-- Rotation order for the Euler system can be set. (One axis' freedom is still limited to pi/2)
-
-Cons:
-- It is slower than the original 6dof. There is no exact ratio, but half speed is a good estimation.
-- At bouncing the correct velocity is calculated, but not the correct position. (it is because of the solver can correct position or velocity, but not both.)
-*/
-
-/// 2009 March: btGeneric6DofConstraint refactored by Roman Ponomarev
-/// Added support for generic constraint solver through getInfo1/getInfo2 methods
-
-/*
-2007-09-09
-btGeneric6DofConstraint Refactored by Francisco Le?n
-email: projectileman@yahoo.com
-http://gimpact.sf.net
-*/
-
-#ifndef BT_GENERIC_6DOF_CONSTRAINT2_H
-#define BT_GENERIC_6DOF_CONSTRAINT2_H
-
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btTypedConstraint.h"
-
-class btRigidBody;
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btGeneric6DofSpring2ConstraintData2 btGeneric6DofSpring2ConstraintDoubleData2
-#define btGeneric6DofSpring2ConstraintDataName "btGeneric6DofSpring2ConstraintDoubleData2"
-#else
-#define btGeneric6DofSpring2ConstraintData2 btGeneric6DofSpring2ConstraintData
-#define btGeneric6DofSpring2ConstraintDataName "btGeneric6DofSpring2ConstraintData"
-#endif  //BT_USE_DOUBLE_PRECISION
-
-enum RotateOrder
-{
-	RO_XYZ = 0,
-	RO_XZY,
-	RO_YXZ,
-	RO_YZX,
-	RO_ZXY,
-	RO_ZYX
-};
-
-class btRotationalLimitMotor2
-{
-public:
-	// upper < lower means free
-	// upper == lower means locked
-	// upper > lower means limited
-	btScalar m_loLimit;
-	btScalar m_hiLimit;
-	btScalar m_bounce;
-	btScalar m_stopERP;
-	btScalar m_stopCFM;
-	btScalar m_motorERP;
-	btScalar m_motorCFM;
-	bool m_enableMotor;
-	btScalar m_targetVelocity;
-	btScalar m_maxMotorForce;
-	bool m_servoMotor;
-	btScalar m_servoTarget;
-	bool m_enableSpring;
-	btScalar m_springStiffness;
-	bool m_springStiffnessLimited;
-	btScalar m_springDamping;
-	bool m_springDampingLimited;
-	btScalar m_equilibriumPoint;
-
-	btScalar m_currentLimitError;
-	btScalar m_currentLimitErrorHi;
-	btScalar m_currentPosition;
-	int m_currentLimit;
-
-	btRotationalLimitMotor2()
-	{
-		m_loLimit = 1.0f;
-		m_hiLimit = -1.0f;
-		m_bounce = 0.0f;
-		m_stopERP = 0.2f;
-		m_stopCFM = 0.f;
-		m_motorERP = 0.9f;
-		m_motorCFM = 0.f;
-		m_enableMotor = false;
-		m_targetVelocity = 0;
-		m_maxMotorForce = 6.0f;
-		m_servoMotor = false;
-		m_servoTarget = 0;
-		m_enableSpring = false;
-		m_springStiffness = 0;
-		m_springStiffnessLimited = false;
-		m_springDamping = 0;
-		m_springDampingLimited = false;
-		m_equilibriumPoint = 0;
-
-		m_currentLimitError = 0;
-		m_currentLimitErrorHi = 0;
-		m_currentPosition = 0;
-		m_currentLimit = 0;
-	}
-
-	btRotationalLimitMotor2(const btRotationalLimitMotor2& limot)
-	{
-		m_loLimit = limot.m_loLimit;
-		m_hiLimit = limot.m_hiLimit;
-		m_bounce = limot.m_bounce;
-		m_stopERP = limot.m_stopERP;
-		m_stopCFM = limot.m_stopCFM;
-		m_motorERP = limot.m_motorERP;
-		m_motorCFM = limot.m_motorCFM;
-		m_enableMotor = limot.m_enableMotor;
-		m_targetVelocity = limot.m_targetVelocity;
-		m_maxMotorForce = limot.m_maxMotorForce;
-		m_servoMotor = limot.m_servoMotor;
-		m_servoTarget = limot.m_servoTarget;
-		m_enableSpring = limot.m_enableSpring;
-		m_springStiffness = limot.m_springStiffness;
-		m_springStiffnessLimited = limot.m_springStiffnessLimited;
-		m_springDamping = limot.m_springDamping;
-		m_springDampingLimited = limot.m_springDampingLimited;
-		m_equilibriumPoint = limot.m_equilibriumPoint;
-
-		m_currentLimitError = limot.m_currentLimitError;
-		m_currentLimitErrorHi = limot.m_currentLimitErrorHi;
-		m_currentPosition = limot.m_currentPosition;
-		m_currentLimit = limot.m_currentLimit;
-	}
-
-	bool isLimited()
-	{
-		if (m_loLimit > m_hiLimit) return false;
-		return true;
-	}
-
-	void testLimitValue(btScalar test_value);
-};
-
-class btTranslationalLimitMotor2
-{
-public:
-	// upper < lower means free
-	// upper == lower means locked
-	// upper > lower means limited
-	btVector3 m_lowerLimit;
-	btVector3 m_upperLimit;
-	btVector3 m_bounce;
-	btVector3 m_stopERP;
-	btVector3 m_stopCFM;
-	btVector3 m_motorERP;
-	btVector3 m_motorCFM;
-	bool m_enableMotor[3];
-	bool m_servoMotor[3];
-	bool m_enableSpring[3];
-	btVector3 m_servoTarget;
-	btVector3 m_springStiffness;
-	bool m_springStiffnessLimited[3];
-	btVector3 m_springDamping;
-	bool m_springDampingLimited[3];
-	btVector3 m_equilibriumPoint;
-	btVector3 m_targetVelocity;
-	btVector3 m_maxMotorForce;
-
-	btVector3 m_currentLimitError;
-	btVector3 m_currentLimitErrorHi;
-	btVector3 m_currentLinearDiff;
-	int m_currentLimit[3];
-
-	btTranslationalLimitMotor2()
-	{
-		m_lowerLimit.setValue(0.f, 0.f, 0.f);
-		m_upperLimit.setValue(0.f, 0.f, 0.f);
-		m_bounce.setValue(0.f, 0.f, 0.f);
-		m_stopERP.setValue(0.2f, 0.2f, 0.2f);
-		m_stopCFM.setValue(0.f, 0.f, 0.f);
-		m_motorERP.setValue(0.9f, 0.9f, 0.9f);
-		m_motorCFM.setValue(0.f, 0.f, 0.f);
-
-		m_currentLimitError.setValue(0.f, 0.f, 0.f);
-		m_currentLimitErrorHi.setValue(0.f, 0.f, 0.f);
-		m_currentLinearDiff.setValue(0.f, 0.f, 0.f);
-
-		for (int i = 0; i < 3; i++)
-		{
-			m_enableMotor[i] = false;
-			m_servoMotor[i] = false;
-			m_enableSpring[i] = false;
-			m_servoTarget[i] = btScalar(0.f);
-			m_springStiffness[i] = btScalar(0.f);
-			m_springStiffnessLimited[i] = false;
-			m_springDamping[i] = btScalar(0.f);
-			m_springDampingLimited[i] = false;
-			m_equilibriumPoint[i] = btScalar(0.f);
-			m_targetVelocity[i] = btScalar(0.f);
-			m_maxMotorForce[i] = btScalar(0.f);
-
-			m_currentLimit[i] = 0;
-		}
-	}
-
-	btTranslationalLimitMotor2(const btTranslationalLimitMotor2& other)
-	{
-		m_lowerLimit = other.m_lowerLimit;
-		m_upperLimit = other.m_upperLimit;
-		m_bounce = other.m_bounce;
-		m_stopERP = other.m_stopERP;
-		m_stopCFM = other.m_stopCFM;
-		m_motorERP = other.m_motorERP;
-		m_motorCFM = other.m_motorCFM;
-
-		m_currentLimitError = other.m_currentLimitError;
-		m_currentLimitErrorHi = other.m_currentLimitErrorHi;
-		m_currentLinearDiff = other.m_currentLinearDiff;
-
-		for (int i = 0; i < 3; i++)
-		{
-			m_enableMotor[i] = other.m_enableMotor[i];
-			m_servoMotor[i] = other.m_servoMotor[i];
-			m_enableSpring[i] = other.m_enableSpring[i];
-			m_servoTarget[i] = other.m_servoTarget[i];
-			m_springStiffness[i] = other.m_springStiffness[i];
-			m_springStiffnessLimited[i] = other.m_springStiffnessLimited[i];
-			m_springDamping[i] = other.m_springDamping[i];
-			m_springDampingLimited[i] = other.m_springDampingLimited[i];
-			m_equilibriumPoint[i] = other.m_equilibriumPoint[i];
-			m_targetVelocity[i] = other.m_targetVelocity[i];
-			m_maxMotorForce[i] = other.m_maxMotorForce[i];
-
-			m_currentLimit[i] = other.m_currentLimit[i];
-		}
-	}
-
-	inline bool isLimited(int limitIndex)
-	{
-		return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
-	}
-
-	void testLimitValue(int limitIndex, btScalar test_value);
-};
-
-enum bt6DofFlags2
-{
-	BT_6DOF_FLAGS_CFM_STOP2 = 1,
-	BT_6DOF_FLAGS_ERP_STOP2 = 2,
-	BT_6DOF_FLAGS_CFM_MOTO2 = 4,
-	BT_6DOF_FLAGS_ERP_MOTO2 = 8,
-	BT_6DOF_FLAGS_USE_INFINITE_ERROR = (1<<16)
-};
-#define BT_6DOF_FLAGS_AXIS_SHIFT2 4  // bits per axis
-
-ATTRIBUTE_ALIGNED16(class)
-btGeneric6DofSpring2Constraint : public btTypedConstraint
-{
-protected:
-	btTransform m_frameInA;
-	btTransform m_frameInB;
-
-	btJacobianEntry m_jacLinear[3];
-	btJacobianEntry m_jacAng[3];
-
-	btTranslationalLimitMotor2 m_linearLimits;
-	btRotationalLimitMotor2 m_angularLimits[3];
-
-	RotateOrder m_rotateOrder;
-
-protected:
-	btTransform m_calculatedTransformA;
-	btTransform m_calculatedTransformB;
-	btVector3 m_calculatedAxisAngleDiff;
-	btVector3 m_calculatedAxis[3];
-	btVector3 m_calculatedLinearDiff;
-	btScalar m_factA;
-	btScalar m_factB;
-	bool m_hasStaticBody;
-	int m_flags;
-
-	btGeneric6DofSpring2Constraint& operator=(const btGeneric6DofSpring2Constraint&)
-	{
-		btAssert(0);
-		return *this;
-	}
-
-	int setAngularLimits(btConstraintInfo2 * info, int row_offset, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB);
-	int setLinearLimits(btConstraintInfo2 * info, int row, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB);
-
-	void calculateLinearInfo();
-	void calculateAngleInfo();
-	void testAngularLimitMotor(int axis_index);
-
-	void calculateJacobi(btRotationalLimitMotor2 * limot, const btTransform& transA, const btTransform& transB, btConstraintInfo2* info, int srow, btVector3& ax1, int rotational, int rotAllowed);
-	int get_limit_motor_info2(btRotationalLimitMotor2 * limot,
-							  const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB,
-							  btConstraintInfo2* info, int row, btVector3& ax1, int rotational, int rotAllowed = false);
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btGeneric6DofSpring2Constraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& frameInA, const btTransform& frameInB, RotateOrder rotOrder = RO_XYZ);
-	btGeneric6DofSpring2Constraint(btRigidBody & rbB, const btTransform& frameInB, RotateOrder rotOrder = RO_XYZ);
-
-	virtual void buildJacobian() {}
-	virtual void getInfo1(btConstraintInfo1 * info);
-	virtual void getInfo2(btConstraintInfo2 * info);
-	virtual int calculateSerializeBufferSize() const;
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-
-	btRotationalLimitMotor2* getRotationalLimitMotor(int index) { return &m_angularLimits[index]; }
-	btTranslationalLimitMotor2* getTranslationalLimitMotor() { return &m_linearLimits; }
-
-	// Calculates the global transform for the joint offset for body A an B, and also calculates the angle differences between the bodies.
-	void calculateTransforms(const btTransform& transA, const btTransform& transB);
-	void calculateTransforms();
-
-	// Gets the global transform of the offset for body A
-	const btTransform& getCalculatedTransformA() const { return m_calculatedTransformA; }
-	// Gets the global transform of the offset for body B
-	const btTransform& getCalculatedTransformB() const { return m_calculatedTransformB; }
-
-	const btTransform& getFrameOffsetA() const { return m_frameInA; }
-	const btTransform& getFrameOffsetB() const { return m_frameInB; }
-
-	btTransform& getFrameOffsetA() { return m_frameInA; }
-	btTransform& getFrameOffsetB() { return m_frameInB; }
-
-	// Get the rotation axis in global coordinates ( btGeneric6DofSpring2Constraint::calculateTransforms() must be called previously )
-	btVector3 getAxis(int axis_index) const { return m_calculatedAxis[axis_index]; }
-
-	// Get the relative Euler angle ( btGeneric6DofSpring2Constraint::calculateTransforms() must be called previously )
-	btScalar getAngle(int axis_index) const { return m_calculatedAxisAngleDiff[axis_index]; }
-
-	// Get the relative position of the constraint pivot ( btGeneric6DofSpring2Constraint::calculateTransforms() must be called previously )
-	btScalar getRelativePivotPosition(int axis_index) const { return m_calculatedLinearDiff[axis_index]; }
-
-	void setFrames(const btTransform& frameA, const btTransform& frameB);
-
-	void setLinearLowerLimit(const btVector3& linearLower) { m_linearLimits.m_lowerLimit = linearLower; }
-	void getLinearLowerLimit(btVector3 & linearLower) { linearLower = m_linearLimits.m_lowerLimit; }
-	void setLinearUpperLimit(const btVector3& linearUpper) { m_linearLimits.m_upperLimit = linearUpper; }
-	void getLinearUpperLimit(btVector3 & linearUpper) { linearUpper = m_linearLimits.m_upperLimit; }
-
-	void setAngularLowerLimit(const btVector3& angularLower)
-	{
-		for (int i = 0; i < 3; i++)
-			m_angularLimits[i].m_loLimit = btNormalizeAngle(angularLower[i]);
-	}
-
-	void setAngularLowerLimitReversed(const btVector3& angularLower)
-	{
-		for (int i = 0; i < 3; i++)
-			m_angularLimits[i].m_hiLimit = btNormalizeAngle(-angularLower[i]);
-	}
-
-	void getAngularLowerLimit(btVector3 & angularLower)
-	{
-		for (int i = 0; i < 3; i++)
-			angularLower[i] = m_angularLimits[i].m_loLimit;
-	}
-
-	void getAngularLowerLimitReversed(btVector3 & angularLower)
-	{
-		for (int i = 0; i < 3; i++)
-			angularLower[i] = -m_angularLimits[i].m_hiLimit;
-	}
-
-	void setAngularUpperLimit(const btVector3& angularUpper)
-	{
-		for (int i = 0; i < 3; i++)
-			m_angularLimits[i].m_hiLimit = btNormalizeAngle(angularUpper[i]);
-	}
-
-	void setAngularUpperLimitReversed(const btVector3& angularUpper)
-	{
-		for (int i = 0; i < 3; i++)
-			m_angularLimits[i].m_loLimit = btNormalizeAngle(-angularUpper[i]);
-	}
-
-	void getAngularUpperLimit(btVector3 & angularUpper)
-	{
-		for (int i = 0; i < 3; i++)
-			angularUpper[i] = m_angularLimits[i].m_hiLimit;
-	}
-
-	void getAngularUpperLimitReversed(btVector3 & angularUpper)
-	{
-		for (int i = 0; i < 3; i++)
-			angularUpper[i] = -m_angularLimits[i].m_loLimit;
-	}
-
-	//first 3 are linear, next 3 are angular
-
-	void setLimit(int axis, btScalar lo, btScalar hi)
-	{
-		if (axis < 3)
-		{
-			m_linearLimits.m_lowerLimit[axis] = lo;
-			m_linearLimits.m_upperLimit[axis] = hi;
-		}
-		else
-		{
-			lo = btNormalizeAngle(lo);
-			hi = btNormalizeAngle(hi);
-			m_angularLimits[axis - 3].m_loLimit = lo;
-			m_angularLimits[axis - 3].m_hiLimit = hi;
-		}
-	}
-
-	void setLimitReversed(int axis, btScalar lo, btScalar hi)
-	{
-		if (axis < 3)
-		{
-			m_linearLimits.m_lowerLimit[axis] = lo;
-			m_linearLimits.m_upperLimit[axis] = hi;
-		}
-		else
-		{
-			lo = btNormalizeAngle(lo);
-			hi = btNormalizeAngle(hi);
-			m_angularLimits[axis - 3].m_hiLimit = -lo;
-			m_angularLimits[axis - 3].m_loLimit = -hi;
-		}
-	}
-
-	bool isLimited(int limitIndex)
-	{
-		if (limitIndex < 3)
-		{
-			return m_linearLimits.isLimited(limitIndex);
-		}
-		return m_angularLimits[limitIndex - 3].isLimited();
-	}
-
-	void setRotationOrder(RotateOrder order) { m_rotateOrder = order; }
-	RotateOrder getRotationOrder() { return m_rotateOrder; }
-
-	void setAxis(const btVector3& axis1, const btVector3& axis2);
-
-	void setBounce(int index, btScalar bounce);
-
-	void enableMotor(int index, bool onOff);
-	void setServo(int index, bool onOff);  // set the type of the motor (servo or not) (the motor has to be turned on for servo also)
-	void setTargetVelocity(int index, btScalar velocity);
-	void setServoTarget(int index, btScalar target);
-	void setMaxMotorForce(int index, btScalar force);
-
-	void enableSpring(int index, bool onOff);
-	void setStiffness(int index, btScalar stiffness, bool limitIfNeeded = true);  // if limitIfNeeded is true the system will automatically limit the stiffness in necessary situations where otherwise the spring would move unrealistically too widely
-	void setDamping(int index, btScalar damping, bool limitIfNeeded = true);      // if limitIfNeeded is true the system will automatically limit the damping in necessary situations where otherwise the spring would blow up
-	void setEquilibriumPoint();                                                   // set the current constraint position/orientation as an equilibrium point for all DOF
-	void setEquilibriumPoint(int index);                                          // set the current constraint position/orientation as an equilibrium point for given DOF
-	void setEquilibriumPoint(int index, btScalar val);
-
-	//override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
-	//If no axis is provided, it uses the default axis for this constraint.
-	virtual void setParam(int num, btScalar value, int axis = -1);
-	virtual btScalar getParam(int num, int axis = -1) const;
-
-	static btScalar btGetMatrixElem(const btMatrix3x3& mat, int index);
-	static bool matrixToEulerXYZ(const btMatrix3x3& mat, btVector3& xyz);
-	static bool matrixToEulerXZY(const btMatrix3x3& mat, btVector3& xyz);
-	static bool matrixToEulerYXZ(const btMatrix3x3& mat, btVector3& xyz);
-	static bool matrixToEulerYZX(const btMatrix3x3& mat, btVector3& xyz);
-	static bool matrixToEulerZXY(const btMatrix3x3& mat, btVector3& xyz);
-	static bool matrixToEulerZYX(const btMatrix3x3& mat, btVector3& xyz);
-};
-
-struct btGeneric6DofSpring2ConstraintData
-{
-	btTypedConstraintData m_typeConstraintData;
-	btTransformFloatData m_rbAFrame;
-	btTransformFloatData m_rbBFrame;
-
-	btVector3FloatData m_linearUpperLimit;
-	btVector3FloatData m_linearLowerLimit;
-	btVector3FloatData m_linearBounce;
-	btVector3FloatData m_linearStopERP;
-	btVector3FloatData m_linearStopCFM;
-	btVector3FloatData m_linearMotorERP;
-	btVector3FloatData m_linearMotorCFM;
-	btVector3FloatData m_linearTargetVelocity;
-	btVector3FloatData m_linearMaxMotorForce;
-	btVector3FloatData m_linearServoTarget;
-	btVector3FloatData m_linearSpringStiffness;
-	btVector3FloatData m_linearSpringDamping;
-	btVector3FloatData m_linearEquilibriumPoint;
-	char m_linearEnableMotor[4];
-	char m_linearServoMotor[4];
-	char m_linearEnableSpring[4];
-	char m_linearSpringStiffnessLimited[4];
-	char m_linearSpringDampingLimited[4];
-	char m_padding1[4];
-
-	btVector3FloatData m_angularUpperLimit;
-	btVector3FloatData m_angularLowerLimit;
-	btVector3FloatData m_angularBounce;
-	btVector3FloatData m_angularStopERP;
-	btVector3FloatData m_angularStopCFM;
-	btVector3FloatData m_angularMotorERP;
-	btVector3FloatData m_angularMotorCFM;
-	btVector3FloatData m_angularTargetVelocity;
-	btVector3FloatData m_angularMaxMotorForce;
-	btVector3FloatData m_angularServoTarget;
-	btVector3FloatData m_angularSpringStiffness;
-	btVector3FloatData m_angularSpringDamping;
-	btVector3FloatData m_angularEquilibriumPoint;
-	char m_angularEnableMotor[4];
-	char m_angularServoMotor[4];
-	char m_angularEnableSpring[4];
-	char m_angularSpringStiffnessLimited[4];
-	char m_angularSpringDampingLimited[4];
-
-	int m_rotateOrder;
-};
-
-struct btGeneric6DofSpring2ConstraintDoubleData2
-{
-	btTypedConstraintDoubleData m_typeConstraintData;
-	btTransformDoubleData m_rbAFrame;
-	btTransformDoubleData m_rbBFrame;
-
-	btVector3DoubleData m_linearUpperLimit;
-	btVector3DoubleData m_linearLowerLimit;
-	btVector3DoubleData m_linearBounce;
-	btVector3DoubleData m_linearStopERP;
-	btVector3DoubleData m_linearStopCFM;
-	btVector3DoubleData m_linearMotorERP;
-	btVector3DoubleData m_linearMotorCFM;
-	btVector3DoubleData m_linearTargetVelocity;
-	btVector3DoubleData m_linearMaxMotorForce;
-	btVector3DoubleData m_linearServoTarget;
-	btVector3DoubleData m_linearSpringStiffness;
-	btVector3DoubleData m_linearSpringDamping;
-	btVector3DoubleData m_linearEquilibriumPoint;
-	char m_linearEnableMotor[4];
-	char m_linearServoMotor[4];
-	char m_linearEnableSpring[4];
-	char m_linearSpringStiffnessLimited[4];
-	char m_linearSpringDampingLimited[4];
-	char m_padding1[4];
-
-	btVector3DoubleData m_angularUpperLimit;
-	btVector3DoubleData m_angularLowerLimit;
-	btVector3DoubleData m_angularBounce;
-	btVector3DoubleData m_angularStopERP;
-	btVector3DoubleData m_angularStopCFM;
-	btVector3DoubleData m_angularMotorERP;
-	btVector3DoubleData m_angularMotorCFM;
-	btVector3DoubleData m_angularTargetVelocity;
-	btVector3DoubleData m_angularMaxMotorForce;
-	btVector3DoubleData m_angularServoTarget;
-	btVector3DoubleData m_angularSpringStiffness;
-	btVector3DoubleData m_angularSpringDamping;
-	btVector3DoubleData m_angularEquilibriumPoint;
-	char m_angularEnableMotor[4];
-	char m_angularServoMotor[4];
-	char m_angularEnableSpring[4];
-	char m_angularSpringStiffnessLimited[4];
-	char m_angularSpringDampingLimited[4];
-
-	int m_rotateOrder;
-};
-
-SIMD_FORCE_INLINE int btGeneric6DofSpring2Constraint::calculateSerializeBufferSize() const
-{
-	return sizeof(btGeneric6DofSpring2ConstraintData2);
-}
-
-SIMD_FORCE_INLINE const char* btGeneric6DofSpring2Constraint::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btGeneric6DofSpring2ConstraintData2* dof = (btGeneric6DofSpring2ConstraintData2*)dataBuffer;
-	btTypedConstraint::serialize(&dof->m_typeConstraintData, serializer);
-
-	m_frameInA.serialize(dof->m_rbAFrame);
-	m_frameInB.serialize(dof->m_rbBFrame);
-
-	int i;
-	for (i = 0; i < 3; i++)
-	{
-		dof->m_angularLowerLimit.m_floats[i] = m_angularLimits[i].m_loLimit;
-		dof->m_angularUpperLimit.m_floats[i] = m_angularLimits[i].m_hiLimit;
-		dof->m_angularBounce.m_floats[i] = m_angularLimits[i].m_bounce;
-		dof->m_angularStopERP.m_floats[i] = m_angularLimits[i].m_stopERP;
-		dof->m_angularStopCFM.m_floats[i] = m_angularLimits[i].m_stopCFM;
-		dof->m_angularMotorERP.m_floats[i] = m_angularLimits[i].m_motorERP;
-		dof->m_angularMotorCFM.m_floats[i] = m_angularLimits[i].m_motorCFM;
-		dof->m_angularTargetVelocity.m_floats[i] = m_angularLimits[i].m_targetVelocity;
-		dof->m_angularMaxMotorForce.m_floats[i] = m_angularLimits[i].m_maxMotorForce;
-		dof->m_angularServoTarget.m_floats[i] = m_angularLimits[i].m_servoTarget;
-		dof->m_angularSpringStiffness.m_floats[i] = m_angularLimits[i].m_springStiffness;
-		dof->m_angularSpringDamping.m_floats[i] = m_angularLimits[i].m_springDamping;
-		dof->m_angularEquilibriumPoint.m_floats[i] = m_angularLimits[i].m_equilibriumPoint;
-	}
-	dof->m_angularLowerLimit.m_floats[3] = 0;
-	dof->m_angularUpperLimit.m_floats[3] = 0;
-	dof->m_angularBounce.m_floats[3] = 0;
-	dof->m_angularStopERP.m_floats[3] = 0;
-	dof->m_angularStopCFM.m_floats[3] = 0;
-	dof->m_angularMotorERP.m_floats[3] = 0;
-	dof->m_angularMotorCFM.m_floats[3] = 0;
-	dof->m_angularTargetVelocity.m_floats[3] = 0;
-	dof->m_angularMaxMotorForce.m_floats[3] = 0;
-	dof->m_angularServoTarget.m_floats[3] = 0;
-	dof->m_angularSpringStiffness.m_floats[3] = 0;
-	dof->m_angularSpringDamping.m_floats[3] = 0;
-	dof->m_angularEquilibriumPoint.m_floats[3] = 0;
-	for (i = 0; i < 4; i++)
-	{
-		dof->m_angularEnableMotor[i] = i < 3 ? (m_angularLimits[i].m_enableMotor ? 1 : 0) : 0;
-		dof->m_angularServoMotor[i] = i < 3 ? (m_angularLimits[i].m_servoMotor ? 1 : 0) : 0;
-		dof->m_angularEnableSpring[i] = i < 3 ? (m_angularLimits[i].m_enableSpring ? 1 : 0) : 0;
-		dof->m_angularSpringStiffnessLimited[i] = i < 3 ? (m_angularLimits[i].m_springStiffnessLimited ? 1 : 0) : 0;
-		dof->m_angularSpringDampingLimited[i] = i < 3 ? (m_angularLimits[i].m_springDampingLimited ? 1 : 0) : 0;
-	}
-
-	m_linearLimits.m_lowerLimit.serialize(dof->m_linearLowerLimit);
-	m_linearLimits.m_upperLimit.serialize(dof->m_linearUpperLimit);
-	m_linearLimits.m_bounce.serialize(dof->m_linearBounce);
-	m_linearLimits.m_stopERP.serialize(dof->m_linearStopERP);
-	m_linearLimits.m_stopCFM.serialize(dof->m_linearStopCFM);
-	m_linearLimits.m_motorERP.serialize(dof->m_linearMotorERP);
-	m_linearLimits.m_motorCFM.serialize(dof->m_linearMotorCFM);
-	m_linearLimits.m_targetVelocity.serialize(dof->m_linearTargetVelocity);
-	m_linearLimits.m_maxMotorForce.serialize(dof->m_linearMaxMotorForce);
-	m_linearLimits.m_servoTarget.serialize(dof->m_linearServoTarget);
-	m_linearLimits.m_springStiffness.serialize(dof->m_linearSpringStiffness);
-	m_linearLimits.m_springDamping.serialize(dof->m_linearSpringDamping);
-	m_linearLimits.m_equilibriumPoint.serialize(dof->m_linearEquilibriumPoint);
-	for (i = 0; i < 4; i++)
-	{
-		dof->m_linearEnableMotor[i] = i < 3 ? (m_linearLimits.m_enableMotor[i] ? 1 : 0) : 0;
-		dof->m_linearServoMotor[i] = i < 3 ? (m_linearLimits.m_servoMotor[i] ? 1 : 0) : 0;
-		dof->m_linearEnableSpring[i] = i < 3 ? (m_linearLimits.m_enableSpring[i] ? 1 : 0) : 0;
-		dof->m_linearSpringStiffnessLimited[i] = i < 3 ? (m_linearLimits.m_springStiffnessLimited[i] ? 1 : 0) : 0;
-		dof->m_linearSpringDampingLimited[i] = i < 3 ? (m_linearLimits.m_springDampingLimited[i] ? 1 : 0) : 0;
-	}
-
-	dof->m_rotateOrder = m_rotateOrder;
-
-	dof->m_padding1[0] = 0;
-	dof->m_padding1[1] = 0;
-	dof->m_padding1[2] = 0;
-	dof->m_padding1[3] = 0;
-
-	return btGeneric6DofSpring2ConstraintDataName;
-}
-
-#endif  //BT_GENERIC_6DOF_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
deleted file mode 100644
index 8baf52bcd1..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
+++ /dev/null
@@ -1,169 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
-Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btGeneric6DofSpringConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btTransformUtil.h"
-
-btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
-	: btGeneric6DofConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA)
-{
-	init();
-}
-
-btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
-	: btGeneric6DofConstraint(rbB, frameInB, useLinearReferenceFrameB)
-{
-	init();
-}
-
-void btGeneric6DofSpringConstraint::init()
-{
-	m_objectType = D6_SPRING_CONSTRAINT_TYPE;
-
-	for (int i = 0; i < 6; i++)
-	{
-		m_springEnabled[i] = false;
-		m_equilibriumPoint[i] = btScalar(0.f);
-		m_springStiffness[i] = btScalar(0.f);
-		m_springDamping[i] = btScalar(1.f);
-	}
-}
-
-void btGeneric6DofSpringConstraint::enableSpring(int index, bool onOff)
-{
-	btAssert((index >= 0) && (index < 6));
-	m_springEnabled[index] = onOff;
-	if (index < 3)
-	{
-		m_linearLimits.m_enableMotor[index] = onOff;
-	}
-	else
-	{
-		m_angularLimits[index - 3].m_enableMotor = onOff;
-	}
-}
-
-void btGeneric6DofSpringConstraint::setStiffness(int index, btScalar stiffness)
-{
-	btAssert((index >= 0) && (index < 6));
-	m_springStiffness[index] = stiffness;
-}
-
-void btGeneric6DofSpringConstraint::setDamping(int index, btScalar damping)
-{
-	btAssert((index >= 0) && (index < 6));
-	m_springDamping[index] = damping;
-}
-
-void btGeneric6DofSpringConstraint::setEquilibriumPoint()
-{
-	calculateTransforms();
-	int i;
-
-	for (i = 0; i < 3; i++)
-	{
-		m_equilibriumPoint[i] = m_calculatedLinearDiff[i];
-	}
-	for (i = 0; i < 3; i++)
-	{
-		m_equilibriumPoint[i + 3] = m_calculatedAxisAngleDiff[i];
-	}
-}
-
-void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index)
-{
-	btAssert((index >= 0) && (index < 6));
-	calculateTransforms();
-	if (index < 3)
-	{
-		m_equilibriumPoint[index] = m_calculatedLinearDiff[index];
-	}
-	else
-	{
-		m_equilibriumPoint[index] = m_calculatedAxisAngleDiff[index - 3];
-	}
-}
-
-void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index, btScalar val)
-{
-	btAssert((index >= 0) && (index < 6));
-	m_equilibriumPoint[index] = val;
-}
-
-void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* info)
-{
-	// it is assumed that calculateTransforms() have been called before this call
-	int i;
-	//btVector3 relVel = m_rbB.getLinearVelocity() - m_rbA.getLinearVelocity();
-	for (i = 0; i < 3; i++)
-	{
-		if (m_springEnabled[i])
-		{
-			// get current position of constraint
-			btScalar currPos = m_calculatedLinearDiff[i];
-			// calculate difference
-			btScalar delta = currPos - m_equilibriumPoint[i];
-			// spring force is (delta * m_stiffness) according to Hooke's Law
-			btScalar force = delta * m_springStiffness[i];
-			btScalar velFactor = info->fps * m_springDamping[i] / btScalar(info->m_numIterations);
-			m_linearLimits.m_targetVelocity[i] = velFactor * force;
-			m_linearLimits.m_maxMotorForce[i] = btFabs(force);
-		}
-	}
-	for (i = 0; i < 3; i++)
-	{
-		if (m_springEnabled[i + 3])
-		{
-			// get current position of constraint
-			btScalar currPos = m_calculatedAxisAngleDiff[i];
-			// calculate difference
-			btScalar delta = currPos - m_equilibriumPoint[i + 3];
-			// spring force is (-delta * m_stiffness) according to Hooke's Law
-			btScalar force = -delta * m_springStiffness[i + 3];
-			btScalar velFactor = info->fps * m_springDamping[i + 3] / btScalar(info->m_numIterations);
-			m_angularLimits[i].m_targetVelocity = velFactor * force;
-			m_angularLimits[i].m_maxMotorForce = btFabs(force);
-		}
-	}
-}
-
-void btGeneric6DofSpringConstraint::getInfo2(btConstraintInfo2* info)
-{
-	// this will be called by constraint solver at the constraint setup stage
-	// set current motor parameters
-	internalUpdateSprings(info);
-	// do the rest of job for constraint setup
-	btGeneric6DofConstraint::getInfo2(info);
-}
-
-void btGeneric6DofSpringConstraint::setAxis(const btVector3& axis1, const btVector3& axis2)
-{
-	btVector3 zAxis = axis1.normalized();
-	btVector3 yAxis = axis2.normalized();
-	btVector3 xAxis = yAxis.cross(zAxis);  // we want right coordinate system
-
-	btTransform frameInW;
-	frameInW.setIdentity();
-	frameInW.getBasis().setValue(xAxis[0], yAxis[0], zAxis[0],
-								 xAxis[1], yAxis[1], zAxis[1],
-								 xAxis[2], yAxis[2], zAxis[2]);
-
-	// now get constraint frame in local coordinate systems
-	m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW;
-	m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW;
-
-	calculateTransforms();
-}
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
deleted file mode 100644
index 02b9d4d05d..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
+++ /dev/null
@@ -1,135 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
-Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
-#define BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
-
-#include "LinearMath/btVector3.h"
-#include "btTypedConstraint.h"
-#include "btGeneric6DofConstraint.h"
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintDoubleData2
-#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintDoubleData2"
-#else
-#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintData
-#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintData"
-#endif  //BT_USE_DOUBLE_PRECISION
-
-/// Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF
-
-/// DOF index used in enableSpring() and setStiffness() means:
-/// 0 : translation X
-/// 1 : translation Y
-/// 2 : translation Z
-/// 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] )
-/// 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] )
-/// 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] )
-
-ATTRIBUTE_ALIGNED16(class)
-btGeneric6DofSpringConstraint : public btGeneric6DofConstraint
-{
-protected:
-	bool m_springEnabled[6];
-	btScalar m_equilibriumPoint[6];
-	btScalar m_springStiffness[6];
-	btScalar m_springDamping[6];  // between 0 and 1 (1 == no damping)
-	void init();
-	void internalUpdateSprings(btConstraintInfo2 * info);
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btGeneric6DofSpringConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
-	btGeneric6DofSpringConstraint(btRigidBody & rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
-	void enableSpring(int index, bool onOff);
-	void setStiffness(int index, btScalar stiffness);
-	void setDamping(int index, btScalar damping);
-	void setEquilibriumPoint();           // set the current constraint position/orientation as an equilibrium point for all DOF
-	void setEquilibriumPoint(int index);  // set the current constraint position/orientation as an equilibrium point for given DOF
-	void setEquilibriumPoint(int index, btScalar val);
-
-	bool isSpringEnabled(int index) const
-	{
-		return m_springEnabled[index];
-	}
-
-	btScalar getStiffness(int index) const
-	{
-		return m_springStiffness[index];
-	}
-
-	btScalar getDamping(int index) const
-	{
-		return m_springDamping[index];
-	}
-
-	btScalar getEquilibriumPoint(int index) const
-	{
-		return m_equilibriumPoint[index];
-	}
-
-	virtual void setAxis(const btVector3& axis1, const btVector3& axis2);
-
-	virtual void getInfo2(btConstraintInfo2 * info);
-
-	virtual int calculateSerializeBufferSize() const;
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-};
-
-struct btGeneric6DofSpringConstraintData
-{
-	btGeneric6DofConstraintData m_6dofData;
-
-	int m_springEnabled[6];
-	float m_equilibriumPoint[6];
-	float m_springStiffness[6];
-	float m_springDamping[6];
-};
-
-struct btGeneric6DofSpringConstraintDoubleData2
-{
-	btGeneric6DofConstraintDoubleData2 m_6dofData;
-
-	int m_springEnabled[6];
-	double m_equilibriumPoint[6];
-	double m_springStiffness[6];
-	double m_springDamping[6];
-};
-
-SIMD_FORCE_INLINE int btGeneric6DofSpringConstraint::calculateSerializeBufferSize() const
-{
-	return sizeof(btGeneric6DofSpringConstraintData2);
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE const char* btGeneric6DofSpringConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btGeneric6DofSpringConstraintData2* dof = (btGeneric6DofSpringConstraintData2*)dataBuffer;
-	btGeneric6DofConstraint::serialize(&dof->m_6dofData, serializer);
-
-	int i;
-	for (i = 0; i < 6; i++)
-	{
-		dof->m_equilibriumPoint[i] = m_equilibriumPoint[i];
-		dof->m_springDamping[i] = m_springDamping[i];
-		dof->m_springEnabled[i] = m_springEnabled[i] ? 1 : 0;
-		dof->m_springStiffness[i] = m_springStiffness[i];
-	}
-	return btGeneric6DofSpringConstraintDataName;
-}
-
-#endif  // BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp
deleted file mode 100644
index 6507e1a0a7..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp
+++ /dev/null
@@ -1,61 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
-Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btHinge2Constraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btTransformUtil.h"
-
-// constructor
-// anchor, axis1 and axis2 are in world coordinate system
-// axis1 must be orthogonal to axis2
-btHinge2Constraint::btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2)
-	: btGeneric6DofSpring2Constraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), RO_XYZ),
-	  m_anchor(anchor),
-	  m_axis1(axis1),
-	  m_axis2(axis2)
-{
-	// build frame basis
-	// 6DOF constraint uses Euler angles and to define limits
-	// it is assumed that rotational order is :
-	// Z - first, allowed limits are (-PI,PI);
-	// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number
-	// used to prevent constraint from instability on poles;
-	// new position of X, allowed limits are (-PI,PI);
-	// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
-	// Build the frame in world coordinate system first
-	btVector3 zAxis = axis1.normalize();
-	btVector3 xAxis = axis2.normalize();
-	btVector3 yAxis = zAxis.cross(xAxis);  // we want right coordinate system
-	btTransform frameInW;
-	frameInW.setIdentity();
-	frameInW.getBasis().setValue(xAxis[0], yAxis[0], zAxis[0],
-								 xAxis[1], yAxis[1], zAxis[1],
-								 xAxis[2], yAxis[2], zAxis[2]);
-	frameInW.setOrigin(anchor);
-	// now get constraint frame in local coordinate systems
-	m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
-	m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW;
-	// sei limits
-	setLinearLowerLimit(btVector3(0.f, 0.f, -1.f));
-	setLinearUpperLimit(btVector3(0.f, 0.f, 1.f));
-	// like front wheels of a car
-	setAngularLowerLimit(btVector3(1.f, 0.f, -SIMD_HALF_PI * 0.5f));
-	setAngularUpperLimit(btVector3(-1.f, 0.f, SIMD_HALF_PI * 0.5f));
-	// enable suspension
-	enableSpring(2, true);
-	setStiffness(2, SIMD_PI * SIMD_PI * 4.f);
-	setDamping(2, 0.01f);
-	setEquilibriumPoint();
-}
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.h
deleted file mode 100644
index 95f604a890..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.h
+++ /dev/null
@@ -1,55 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
-Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_HINGE2_CONSTRAINT_H
-#define BT_HINGE2_CONSTRAINT_H
-
-#include "LinearMath/btVector3.h"
-#include "btTypedConstraint.h"
-#include "btGeneric6DofSpring2Constraint.h"
-
-// Constraint similar to ODE Hinge2 Joint
-// has 3 degrees of frredom:
-// 2 rotational degrees of freedom, similar to Euler rotations around Z (axis 1) and X (axis 2)
-// 1 translational (along axis Z) with suspension spring
-
-ATTRIBUTE_ALIGNED16(class)
-btHinge2Constraint : public btGeneric6DofSpring2Constraint
-{
-protected:
-	btVector3 m_anchor;
-	btVector3 m_axis1;
-	btVector3 m_axis2;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	// constructor
-	// anchor, axis1 and axis2 are in world coordinate system
-	// axis1 must be orthogonal to axis2
-	btHinge2Constraint(btRigidBody & rbA, btRigidBody & rbB, btVector3 & anchor, btVector3 & axis1, btVector3 & axis2);
-	// access
-	const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
-	const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
-	const btVector3& getAxis1() { return m_axis1; }
-	const btVector3& getAxis2() { return m_axis2; }
-	btScalar getAngle1() { return getAngle(2); }
-	btScalar getAngle2() { return getAngle(0); }
-	// limits
-	void setUpperLimit(btScalar ang1max) { setAngularUpperLimit(btVector3(-1.f, 0.f, ang1max)); }
-	void setLowerLimit(btScalar ang1min) { setAngularLowerLimit(btVector3(1.f, 0.f, ang1min)); }
-};
-
-#endif  // BT_HINGE2_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
deleted file mode 100644
index aa6f69000d..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
+++ /dev/null
@@ -1,1083 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btHingeConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btTransformUtil.h"
-#include "LinearMath/btMinMax.h"
-#include <new>
-#include "btSolverBody.h"
-
-//#define HINGE_USE_OBSOLETE_SOLVER false
-#define HINGE_USE_OBSOLETE_SOLVER false
-
-#define HINGE_USE_FRAME_OFFSET true
-
-#ifndef __SPU__
-
-btHingeConstraint::btHingeConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& pivotInA, const btVector3& pivotInB,
-									 const btVector3& axisInA, const btVector3& axisInB, bool useReferenceFrameA)
-	: btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA, rbB),
-#ifdef _BT_USE_CENTER_LIMIT_
-	  m_limit(),
-#endif
-	  m_angularOnly(false),
-	  m_enableAngularMotor(false),
-	  m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
-	  m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
-	  m_useReferenceFrameA(useReferenceFrameA),
-	  m_flags(0),
-	  m_normalCFM(0),
-	  m_normalERP(0),
-	  m_stopCFM(0),
-	  m_stopERP(0)
-{
-	m_rbAFrame.getOrigin() = pivotInA;
-
-	// since no frame is given, assume this to be zero angle and just pick rb transform axis
-	btVector3 rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(0);
-
-	btVector3 rbAxisA2;
-	btScalar projection = axisInA.dot(rbAxisA1);
-	if (projection >= 1.0f - SIMD_EPSILON)
-	{
-		rbAxisA1 = -rbA.getCenterOfMassTransform().getBasis().getColumn(2);
-		rbAxisA2 = rbA.getCenterOfMassTransform().getBasis().getColumn(1);
-	}
-	else if (projection <= -1.0f + SIMD_EPSILON)
-	{
-		rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(2);
-		rbAxisA2 = rbA.getCenterOfMassTransform().getBasis().getColumn(1);
-	}
-	else
-	{
-		rbAxisA2 = axisInA.cross(rbAxisA1);
-		rbAxisA1 = rbAxisA2.cross(axisInA);
-	}
-
-	m_rbAFrame.getBasis().setValue(rbAxisA1.getX(), rbAxisA2.getX(), axisInA.getX(),
-								   rbAxisA1.getY(), rbAxisA2.getY(), axisInA.getY(),
-								   rbAxisA1.getZ(), rbAxisA2.getZ(), axisInA.getZ());
-
-	btQuaternion rotationArc = shortestArcQuat(axisInA, axisInB);
-	btVector3 rbAxisB1 = quatRotate(rotationArc, rbAxisA1);
-	btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
-
-	m_rbBFrame.getOrigin() = pivotInB;
-	m_rbBFrame.getBasis().setValue(rbAxisB1.getX(), rbAxisB2.getX(), axisInB.getX(),
-								   rbAxisB1.getY(), rbAxisB2.getY(), axisInB.getY(),
-								   rbAxisB1.getZ(), rbAxisB2.getZ(), axisInB.getZ());
-
-#ifndef _BT_USE_CENTER_LIMIT_
-	//start with free
-	m_lowerLimit = btScalar(1.0f);
-	m_upperLimit = btScalar(-1.0f);
-	m_biasFactor = 0.3f;
-	m_relaxationFactor = 1.0f;
-	m_limitSoftness = 0.9f;
-	m_solveLimit = false;
-#endif
-	m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
-}
-
-btHingeConstraint::btHingeConstraint(btRigidBody& rbA, const btVector3& pivotInA, const btVector3& axisInA, bool useReferenceFrameA)
-	: btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA),
-#ifdef _BT_USE_CENTER_LIMIT_
-	  m_limit(),
-#endif
-	  m_angularOnly(false),
-	  m_enableAngularMotor(false),
-	  m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
-	  m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
-	  m_useReferenceFrameA(useReferenceFrameA),
-	  m_flags(0),
-	  m_normalCFM(0),
-	  m_normalERP(0),
-	  m_stopCFM(0),
-	  m_stopERP(0)
-{
-	// since no frame is given, assume this to be zero angle and just pick rb transform axis
-	// fixed axis in worldspace
-	btVector3 rbAxisA1, rbAxisA2;
-	btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2);
-
-	m_rbAFrame.getOrigin() = pivotInA;
-	m_rbAFrame.getBasis().setValue(rbAxisA1.getX(), rbAxisA2.getX(), axisInA.getX(),
-								   rbAxisA1.getY(), rbAxisA2.getY(), axisInA.getY(),
-								   rbAxisA1.getZ(), rbAxisA2.getZ(), axisInA.getZ());
-
-	btVector3 axisInB = rbA.getCenterOfMassTransform().getBasis() * axisInA;
-
-	btQuaternion rotationArc = shortestArcQuat(axisInA, axisInB);
-	btVector3 rbAxisB1 = quatRotate(rotationArc, rbAxisA1);
-	btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
-
-	m_rbBFrame.getOrigin() = rbA.getCenterOfMassTransform()(pivotInA);
-	m_rbBFrame.getBasis().setValue(rbAxisB1.getX(), rbAxisB2.getX(), axisInB.getX(),
-								   rbAxisB1.getY(), rbAxisB2.getY(), axisInB.getY(),
-								   rbAxisB1.getZ(), rbAxisB2.getZ(), axisInB.getZ());
-
-#ifndef _BT_USE_CENTER_LIMIT_
-	//start with free
-	m_lowerLimit = btScalar(1.0f);
-	m_upperLimit = btScalar(-1.0f);
-	m_biasFactor = 0.3f;
-	m_relaxationFactor = 1.0f;
-	m_limitSoftness = 0.9f;
-	m_solveLimit = false;
-#endif
-	m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
-}
-
-btHingeConstraint::btHingeConstraint(btRigidBody& rbA, btRigidBody& rbB,
-									 const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA)
-	: btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA, rbB), m_rbAFrame(rbAFrame), m_rbBFrame(rbBFrame),
-#ifdef _BT_USE_CENTER_LIMIT_
-	  m_limit(),
-#endif
-	  m_angularOnly(false),
-	  m_enableAngularMotor(false),
-	  m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
-	  m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
-	  m_useReferenceFrameA(useReferenceFrameA),
-	  m_flags(0),
-	  m_normalCFM(0),
-	  m_normalERP(0),
-	  m_stopCFM(0),
-	  m_stopERP(0)
-{
-#ifndef _BT_USE_CENTER_LIMIT_
-	//start with free
-	m_lowerLimit = btScalar(1.0f);
-	m_upperLimit = btScalar(-1.0f);
-	m_biasFactor = 0.3f;
-	m_relaxationFactor = 1.0f;
-	m_limitSoftness = 0.9f;
-	m_solveLimit = false;
-#endif
-	m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
-}
-
-btHingeConstraint::btHingeConstraint(btRigidBody& rbA, const btTransform& rbAFrame, bool useReferenceFrameA)
-	: btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA), m_rbAFrame(rbAFrame), m_rbBFrame(rbAFrame),
-#ifdef _BT_USE_CENTER_LIMIT_
-	  m_limit(),
-#endif
-	  m_angularOnly(false),
-	  m_enableAngularMotor(false),
-	  m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
-	  m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
-	  m_useReferenceFrameA(useReferenceFrameA),
-	  m_flags(0),
-	  m_normalCFM(0),
-	  m_normalERP(0),
-	  m_stopCFM(0),
-	  m_stopERP(0)
-{
-	///not providing rigidbody B means implicitly using worldspace for body B
-
-	m_rbBFrame.getOrigin() = m_rbA.getCenterOfMassTransform()(m_rbAFrame.getOrigin());
-#ifndef _BT_USE_CENTER_LIMIT_
-	//start with free
-	m_lowerLimit = btScalar(1.0f);
-	m_upperLimit = btScalar(-1.0f);
-	m_biasFactor = 0.3f;
-	m_relaxationFactor = 1.0f;
-	m_limitSoftness = 0.9f;
-	m_solveLimit = false;
-#endif
-	m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
-}
-
-void btHingeConstraint::buildJacobian()
-{
-	if (m_useSolveConstraintObsolete)
-	{
-		m_appliedImpulse = btScalar(0.);
-		m_accMotorImpulse = btScalar(0.);
-
-		if (!m_angularOnly)
-		{
-			btVector3 pivotAInW = m_rbA.getCenterOfMassTransform() * m_rbAFrame.getOrigin();
-			btVector3 pivotBInW = m_rbB.getCenterOfMassTransform() * m_rbBFrame.getOrigin();
-			btVector3 relPos = pivotBInW - pivotAInW;
-
-			btVector3 normal[3];
-			if (relPos.length2() > SIMD_EPSILON)
-			{
-				normal[0] = relPos.normalized();
-			}
-			else
-			{
-				normal[0].setValue(btScalar(1.0), 0, 0);
-			}
-
-			btPlaneSpace1(normal[0], normal[1], normal[2]);
-
-			for (int i = 0; i < 3; i++)
-			{
-				new (&m_jac[i]) btJacobianEntry(
-					m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-					m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-					pivotAInW - m_rbA.getCenterOfMassPosition(),
-					pivotBInW - m_rbB.getCenterOfMassPosition(),
-					normal[i],
-					m_rbA.getInvInertiaDiagLocal(),
-					m_rbA.getInvMass(),
-					m_rbB.getInvInertiaDiagLocal(),
-					m_rbB.getInvMass());
-			}
-		}
-
-		//calculate two perpendicular jointAxis, orthogonal to hingeAxis
-		//these two jointAxis require equal angular velocities for both bodies
-
-		//this is unused for now, it's a todo
-		btVector3 jointAxis0local;
-		btVector3 jointAxis1local;
-
-		btPlaneSpace1(m_rbAFrame.getBasis().getColumn(2), jointAxis0local, jointAxis1local);
-
-		btVector3 jointAxis0 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis0local;
-		btVector3 jointAxis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis1local;
-		btVector3 hingeAxisWorld = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
-
-		new (&m_jacAng[0]) btJacobianEntry(jointAxis0,
-										   m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-										   m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-										   m_rbA.getInvInertiaDiagLocal(),
-										   m_rbB.getInvInertiaDiagLocal());
-
-		new (&m_jacAng[1]) btJacobianEntry(jointAxis1,
-										   m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-										   m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-										   m_rbA.getInvInertiaDiagLocal(),
-										   m_rbB.getInvInertiaDiagLocal());
-
-		new (&m_jacAng[2]) btJacobianEntry(hingeAxisWorld,
-										   m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-										   m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-										   m_rbA.getInvInertiaDiagLocal(),
-										   m_rbB.getInvInertiaDiagLocal());
-
-		// clear accumulator
-		m_accLimitImpulse = btScalar(0.);
-
-		// test angular limit
-		testLimit(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
-
-		//Compute K = J*W*J' for hinge axis
-		btVector3 axisA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
-		m_kHinge = 1.0f / (getRigidBodyA().computeAngularImpulseDenominator(axisA) +
-						   getRigidBodyB().computeAngularImpulseDenominator(axisA));
-	}
-}
-
-#endif  //__SPU__
-
-static inline btScalar btNormalizeAnglePositive(btScalar angle)
-{
-	return btFmod(btFmod(angle, btScalar(2.0 * SIMD_PI)) + btScalar(2.0 * SIMD_PI), btScalar(2.0 * SIMD_PI));
-}
-
-static btScalar btShortestAngularDistance(btScalar accAngle, btScalar curAngle)
-{
-	btScalar result = btNormalizeAngle(btNormalizeAnglePositive(btNormalizeAnglePositive(curAngle) -
-																btNormalizeAnglePositive(accAngle)));
-	return result;
-}
-
-static btScalar btShortestAngleUpdate(btScalar accAngle, btScalar curAngle)
-{
-	btScalar tol(0.3);
-	btScalar result = btShortestAngularDistance(accAngle, curAngle);
-
-	if (btFabs(result) > tol)
-		return curAngle;
-	else
-		return accAngle + result;
-
-	return curAngle;
-}
-
-btScalar btHingeAccumulatedAngleConstraint::getAccumulatedHingeAngle()
-{
-	btScalar hingeAngle = getHingeAngle();
-	m_accumulatedAngle = btShortestAngleUpdate(m_accumulatedAngle, hingeAngle);
-	return m_accumulatedAngle;
-}
-void btHingeAccumulatedAngleConstraint::setAccumulatedHingeAngle(btScalar accAngle)
-{
-	m_accumulatedAngle = accAngle;
-}
-
-void btHingeAccumulatedAngleConstraint::getInfo1(btConstraintInfo1* info)
-{
-	//update m_accumulatedAngle
-	btScalar curHingeAngle = getHingeAngle();
-	m_accumulatedAngle = btShortestAngleUpdate(m_accumulatedAngle, curHingeAngle);
-
-	btHingeConstraint::getInfo1(info);
-}
-
-void btHingeConstraint::getInfo1(btConstraintInfo1* info)
-{
-	if (m_useSolveConstraintObsolete)
-	{
-		info->m_numConstraintRows = 0;
-		info->nub = 0;
-	}
-	else
-	{
-		info->m_numConstraintRows = 5;  // Fixed 3 linear + 2 angular
-		info->nub = 1;
-		//always add the row, to avoid computation (data is not available yet)
-		//prepare constraint
-		testLimit(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
-		if (getSolveLimit() || getEnableAngularMotor())
-		{
-			info->m_numConstraintRows++;  // limit 3rd anguar as well
-			info->nub--;
-		}
-	}
-}
-
-void btHingeConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
-{
-	if (m_useSolveConstraintObsolete)
-	{
-		info->m_numConstraintRows = 0;
-		info->nub = 0;
-	}
-	else
-	{
-		//always add the 'limit' row, to avoid computation (data is not available yet)
-		info->m_numConstraintRows = 6;  // Fixed 3 linear + 2 angular
-		info->nub = 0;
-	}
-}
-
-void btHingeConstraint::getInfo2(btConstraintInfo2* info)
-{
-	if (m_useOffsetForConstraintFrame)
-	{
-		getInfo2InternalUsingFrameOffset(info, m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform(), m_rbA.getAngularVelocity(), m_rbB.getAngularVelocity());
-	}
-	else
-	{
-		getInfo2Internal(info, m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform(), m_rbA.getAngularVelocity(), m_rbB.getAngularVelocity());
-	}
-}
-
-void btHingeConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB, const btVector3& angVelA, const btVector3& angVelB)
-{
-	///the regular (virtual) implementation getInfo2 already performs 'testLimit' during getInfo1, so we need to do it now
-	testLimit(transA, transB);
-
-	getInfo2Internal(info, transA, transB, angVelA, angVelB);
-}
-
-void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB, const btVector3& angVelA, const btVector3& angVelB)
-{
-	btAssert(!m_useSolveConstraintObsolete);
-	int i, skip = info->rowskip;
-	// transforms in world space
-	btTransform trA = transA * m_rbAFrame;
-	btTransform trB = transB * m_rbBFrame;
-	// pivot point
-	btVector3 pivotAInW = trA.getOrigin();
-	btVector3 pivotBInW = trB.getOrigin();
-#if 0
-	if (0)
-	{
-		for (i=0;i<6;i++)
-		{
-			info->m_J1linearAxis[i*skip]=0;
-			info->m_J1linearAxis[i*skip+1]=0;
-			info->m_J1linearAxis[i*skip+2]=0;
-
-			info->m_J1angularAxis[i*skip]=0;
-			info->m_J1angularAxis[i*skip+1]=0;
-			info->m_J1angularAxis[i*skip+2]=0;
-
-			info->m_J2linearAxis[i*skip]=0;
-			info->m_J2linearAxis[i*skip+1]=0;
-			info->m_J2linearAxis[i*skip+2]=0;
-
-			info->m_J2angularAxis[i*skip]=0;
-			info->m_J2angularAxis[i*skip+1]=0;
-			info->m_J2angularAxis[i*skip+2]=0;
-
-			info->m_constraintError[i*skip]=0.f;
-		}
-	}
-#endif  //#if 0
-	// linear (all fixed)
-
-	if (!m_angularOnly)
-	{
-		info->m_J1linearAxis[0] = 1;
-		info->m_J1linearAxis[skip + 1] = 1;
-		info->m_J1linearAxis[2 * skip + 2] = 1;
-
-		info->m_J2linearAxis[0] = -1;
-		info->m_J2linearAxis[skip + 1] = -1;
-		info->m_J2linearAxis[2 * skip + 2] = -1;
-	}
-
-	btVector3 a1 = pivotAInW - transA.getOrigin();
-	{
-		btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
-		btVector3* angular1 = (btVector3*)(info->m_J1angularAxis + skip);
-		btVector3* angular2 = (btVector3*)(info->m_J1angularAxis + 2 * skip);
-		btVector3 a1neg = -a1;
-		a1neg.getSkewSymmetricMatrix(angular0, angular1, angular2);
-	}
-	btVector3 a2 = pivotBInW - transB.getOrigin();
-	{
-		btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
-		btVector3* angular1 = (btVector3*)(info->m_J2angularAxis + skip);
-		btVector3* angular2 = (btVector3*)(info->m_J2angularAxis + 2 * skip);
-		a2.getSkewSymmetricMatrix(angular0, angular1, angular2);
-	}
-	// linear RHS
-	btScalar normalErp = (m_flags & BT_HINGE_FLAGS_ERP_NORM) ? m_normalERP : info->erp;
-
-	btScalar k = info->fps * normalErp;
-	if (!m_angularOnly)
-	{
-		for (i = 0; i < 3; i++)
-		{
-			info->m_constraintError[i * skip] = k * (pivotBInW[i] - pivotAInW[i]);
-		}
-	}
-	// make rotations around X and Y equal
-	// the hinge axis should be the only unconstrained
-	// rotational axis, the angular velocity of the two bodies perpendicular to
-	// the hinge axis should be equal. thus the constraint equations are
-	//    p*w1 - p*w2 = 0
-	//    q*w1 - q*w2 = 0
-	// where p and q are unit vectors normal to the hinge axis, and w1 and w2
-	// are the angular velocity vectors of the two bodies.
-	// get hinge axis (Z)
-	btVector3 ax1 = trA.getBasis().getColumn(2);
-	// get 2 orthos to hinge axis (X, Y)
-	btVector3 p = trA.getBasis().getColumn(0);
-	btVector3 q = trA.getBasis().getColumn(1);
-	// set the two hinge angular rows
-	int s3 = 3 * info->rowskip;
-	int s4 = 4 * info->rowskip;
-
-	info->m_J1angularAxis[s3 + 0] = p[0];
-	info->m_J1angularAxis[s3 + 1] = p[1];
-	info->m_J1angularAxis[s3 + 2] = p[2];
-	info->m_J1angularAxis[s4 + 0] = q[0];
-	info->m_J1angularAxis[s4 + 1] = q[1];
-	info->m_J1angularAxis[s4 + 2] = q[2];
-
-	info->m_J2angularAxis[s3 + 0] = -p[0];
-	info->m_J2angularAxis[s3 + 1] = -p[1];
-	info->m_J2angularAxis[s3 + 2] = -p[2];
-	info->m_J2angularAxis[s4 + 0] = -q[0];
-	info->m_J2angularAxis[s4 + 1] = -q[1];
-	info->m_J2angularAxis[s4 + 2] = -q[2];
-	// compute the right hand side of the constraint equation. set relative
-	// body velocities along p and q to bring the hinge back into alignment.
-	// if ax1,ax2 are the unit length hinge axes as computed from body1 and
-	// body2, we need to rotate both bodies along the axis u = (ax1 x ax2).
-	// if `theta' is the angle between ax1 and ax2, we need an angular velocity
-	// along u to cover angle erp*theta in one step :
-	//   |angular_velocity| = angle/time = erp*theta / stepsize
-	//                      = (erp*fps) * theta
-	//    angular_velocity  = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
-	//                      = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
-	// ...as ax1 and ax2 are unit length. if theta is smallish,
-	// theta ~= sin(theta), so
-	//    angular_velocity  = (erp*fps) * (ax1 x ax2)
-	// ax1 x ax2 is in the plane space of ax1, so we project the angular
-	// velocity to p and q to find the right hand side.
-	btVector3 ax2 = trB.getBasis().getColumn(2);
-	btVector3 u = ax1.cross(ax2);
-	info->m_constraintError[s3] = k * u.dot(p);
-	info->m_constraintError[s4] = k * u.dot(q);
-	// check angular limits
-	int nrow = 4;  // last filled row
-	int srow;
-	btScalar limit_err = btScalar(0.0);
-	int limit = 0;
-	if (getSolveLimit())
-	{
-#ifdef _BT_USE_CENTER_LIMIT_
-		limit_err = m_limit.getCorrection() * m_referenceSign;
-#else
-		limit_err = m_correction * m_referenceSign;
-#endif
-		limit = (limit_err > btScalar(0.0)) ? 1 : 2;
-	}
-	// if the hinge has joint limits or motor, add in the extra row
-	bool powered = getEnableAngularMotor();
-	if (limit || powered)
-	{
-		nrow++;
-		srow = nrow * info->rowskip;
-		info->m_J1angularAxis[srow + 0] = ax1[0];
-		info->m_J1angularAxis[srow + 1] = ax1[1];
-		info->m_J1angularAxis[srow + 2] = ax1[2];
-
-		info->m_J2angularAxis[srow + 0] = -ax1[0];
-		info->m_J2angularAxis[srow + 1] = -ax1[1];
-		info->m_J2angularAxis[srow + 2] = -ax1[2];
-
-		btScalar lostop = getLowerLimit();
-		btScalar histop = getUpperLimit();
-		if (limit && (lostop == histop))
-		{  // the joint motor is ineffective
-			powered = false;
-		}
-		info->m_constraintError[srow] = btScalar(0.0f);
-		btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : normalErp;
-		if (powered)
-		{
-			if (m_flags & BT_HINGE_FLAGS_CFM_NORM)
-			{
-				info->cfm[srow] = m_normalCFM;
-			}
-			btScalar mot_fact = getMotorFactor(m_hingeAngle, lostop, histop, m_motorTargetVelocity, info->fps * currERP);
-			info->m_constraintError[srow] += mot_fact * m_motorTargetVelocity * m_referenceSign;
-			info->m_lowerLimit[srow] = -m_maxMotorImpulse;
-			info->m_upperLimit[srow] = m_maxMotorImpulse;
-		}
-		if (limit)
-		{
-			k = info->fps * currERP;
-			info->m_constraintError[srow] += k * limit_err;
-			if (m_flags & BT_HINGE_FLAGS_CFM_STOP)
-			{
-				info->cfm[srow] = m_stopCFM;
-			}
-			if (lostop == histop)
-			{
-				// limited low and high simultaneously
-				info->m_lowerLimit[srow] = -SIMD_INFINITY;
-				info->m_upperLimit[srow] = SIMD_INFINITY;
-			}
-			else if (limit == 1)
-			{  // low limit
-				info->m_lowerLimit[srow] = 0;
-				info->m_upperLimit[srow] = SIMD_INFINITY;
-			}
-			else
-			{  // high limit
-				info->m_lowerLimit[srow] = -SIMD_INFINITY;
-				info->m_upperLimit[srow] = 0;
-			}
-			// bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that)
-#ifdef _BT_USE_CENTER_LIMIT_
-			btScalar bounce = m_limit.getRelaxationFactor();
-#else
-			btScalar bounce = m_relaxationFactor;
-#endif
-			if (bounce > btScalar(0.0))
-			{
-				btScalar vel = angVelA.dot(ax1);
-				vel -= angVelB.dot(ax1);
-				// only apply bounce if the velocity is incoming, and if the
-				// resulting c[] exceeds what we already have.
-				if (limit == 1)
-				{  // low limit
-					if (vel < 0)
-					{
-						btScalar newc = -bounce * vel;
-						if (newc > info->m_constraintError[srow])
-						{
-							info->m_constraintError[srow] = newc;
-						}
-					}
-				}
-				else
-				{  // high limit - all those computations are reversed
-					if (vel > 0)
-					{
-						btScalar newc = -bounce * vel;
-						if (newc < info->m_constraintError[srow])
-						{
-							info->m_constraintError[srow] = newc;
-						}
-					}
-				}
-			}
-#ifdef _BT_USE_CENTER_LIMIT_
-			info->m_constraintError[srow] *= m_limit.getBiasFactor();
-#else
-			info->m_constraintError[srow] *= m_biasFactor;
-#endif
-		}  // if(limit)
-	}      // if angular limit or powered
-}
-
-void btHingeConstraint::setFrames(const btTransform& frameA, const btTransform& frameB)
-{
-	m_rbAFrame = frameA;
-	m_rbBFrame = frameB;
-	buildJacobian();
-}
-
-void btHingeConstraint::updateRHS(btScalar timeStep)
-{
-	(void)timeStep;
-}
-
-btScalar btHingeConstraint::getHingeAngle()
-{
-	return getHingeAngle(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
-}
-
-btScalar btHingeConstraint::getHingeAngle(const btTransform& transA, const btTransform& transB)
-{
-	const btVector3 refAxis0 = transA.getBasis() * m_rbAFrame.getBasis().getColumn(0);
-	const btVector3 refAxis1 = transA.getBasis() * m_rbAFrame.getBasis().getColumn(1);
-	const btVector3 swingAxis = transB.getBasis() * m_rbBFrame.getBasis().getColumn(1);
-	//	btScalar angle = btAtan2Fast(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
-	btScalar angle = btAtan2(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
-	return m_referenceSign * angle;
-}
-
-void btHingeConstraint::testLimit(const btTransform& transA, const btTransform& transB)
-{
-	// Compute limit information
-	m_hingeAngle = getHingeAngle(transA, transB);
-#ifdef _BT_USE_CENTER_LIMIT_
-	m_limit.test(m_hingeAngle);
-#else
-	m_correction = btScalar(0.);
-	m_limitSign = btScalar(0.);
-	m_solveLimit = false;
-	if (m_lowerLimit <= m_upperLimit)
-	{
-		m_hingeAngle = btAdjustAngleToLimits(m_hingeAngle, m_lowerLimit, m_upperLimit);
-		if (m_hingeAngle <= m_lowerLimit)
-		{
-			m_correction = (m_lowerLimit - m_hingeAngle);
-			m_limitSign = 1.0f;
-			m_solveLimit = true;
-		}
-		else if (m_hingeAngle >= m_upperLimit)
-		{
-			m_correction = m_upperLimit - m_hingeAngle;
-			m_limitSign = -1.0f;
-			m_solveLimit = true;
-		}
-	}
-#endif
-	return;
-}
-
-static btVector3 vHinge(0, 0, btScalar(1));
-
-void btHingeConstraint::setMotorTarget(const btQuaternion& qAinB, btScalar dt)
-{
-	// convert target from body to constraint space
-	btQuaternion qConstraint = m_rbBFrame.getRotation().inverse() * qAinB * m_rbAFrame.getRotation();
-	qConstraint.normalize();
-
-	// extract "pure" hinge component
-	btVector3 vNoHinge = quatRotate(qConstraint, vHinge);
-	vNoHinge.normalize();
-	btQuaternion qNoHinge = shortestArcQuat(vHinge, vNoHinge);
-	btQuaternion qHinge = qNoHinge.inverse() * qConstraint;
-	qHinge.normalize();
-
-	// compute angular target, clamped to limits
-	btScalar targetAngle = qHinge.getAngle();
-	if (targetAngle > SIMD_PI)  // long way around. flip quat and recalculate.
-	{
-		qHinge = -(qHinge);
-		targetAngle = qHinge.getAngle();
-	}
-	if (qHinge.getZ() < 0)
-		targetAngle = -targetAngle;
-
-	setMotorTarget(targetAngle, dt);
-}
-
-void btHingeConstraint::setMotorTarget(btScalar targetAngle, btScalar dt)
-{
-#ifdef _BT_USE_CENTER_LIMIT_
-	m_limit.fit(targetAngle);
-#else
-	if (m_lowerLimit < m_upperLimit)
-	{
-		if (targetAngle < m_lowerLimit)
-			targetAngle = m_lowerLimit;
-		else if (targetAngle > m_upperLimit)
-			targetAngle = m_upperLimit;
-	}
-#endif
-	// compute angular velocity
-	btScalar curAngle = getHingeAngle(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
-	btScalar dAngle = targetAngle - curAngle;
-	m_motorTargetVelocity = dAngle / dt;
-}
-
-void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB, const btVector3& angVelA, const btVector3& angVelB)
-{
-	btAssert(!m_useSolveConstraintObsolete);
-	int i, s = info->rowskip;
-	// transforms in world space
-	btTransform trA = transA * m_rbAFrame;
-	btTransform trB = transB * m_rbBFrame;
-	// pivot point
-//	btVector3 pivotAInW = trA.getOrigin();
-//	btVector3 pivotBInW = trB.getOrigin();
-#if 1
-	// difference between frames in WCS
-	btVector3 ofs = trB.getOrigin() - trA.getOrigin();
-	// now get weight factors depending on masses
-	btScalar miA = getRigidBodyA().getInvMass();
-	btScalar miB = getRigidBodyB().getInvMass();
-	bool hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON);
-	btScalar miS = miA + miB;
-	btScalar factA, factB;
-	if (miS > btScalar(0.f))
-	{
-		factA = miB / miS;
-	}
-	else
-	{
-		factA = btScalar(0.5f);
-	}
-	factB = btScalar(1.0f) - factA;
-	// get the desired direction of hinge axis
-	// as weighted sum of Z-orthos of frameA and frameB in WCS
-	btVector3 ax1A = trA.getBasis().getColumn(2);
-	btVector3 ax1B = trB.getBasis().getColumn(2);
-	btVector3 ax1 = ax1A * factA + ax1B * factB;
-	if (ax1.length2()<SIMD_EPSILON)
-	{
-		factA=0.f;
-		factB=1.f;
-		ax1 = ax1A * factA + ax1B * factB;
-	}
-	ax1.normalize();
-	// fill first 3 rows
-	// we want: velA + wA x relA == velB + wB x relB
-	btTransform bodyA_trans = transA;
-	btTransform bodyB_trans = transB;
-	int s0 = 0;
-	int s1 = s;
-	int s2 = s * 2;
-	int nrow = 2;  // last filled row
-	btVector3 tmpA, tmpB, relA, relB, p, q;
-	// get vector from bodyB to frameB in WCS
-	relB = trB.getOrigin() - bodyB_trans.getOrigin();
-	// get its projection to hinge axis
-	btVector3 projB = ax1 * relB.dot(ax1);
-	// get vector directed from bodyB to hinge axis (and orthogonal to it)
-	btVector3 orthoB = relB - projB;
-	// same for bodyA
-	relA = trA.getOrigin() - bodyA_trans.getOrigin();
-	btVector3 projA = ax1 * relA.dot(ax1);
-	btVector3 orthoA = relA - projA;
-	btVector3 totalDist = projA - projB;
-	// get offset vectors relA and relB
-	relA = orthoA + totalDist * factA;
-	relB = orthoB - totalDist * factB;
-	// now choose average ortho to hinge axis
-	p = orthoB * factA + orthoA * factB;
-	btScalar len2 = p.length2();
-	if (len2 > SIMD_EPSILON)
-	{
-		p /= btSqrt(len2);
-	}
-	else
-	{
-		p = trA.getBasis().getColumn(1);
-	}
-	// make one more ortho
-	q = ax1.cross(p);
-	// fill three rows
-	tmpA = relA.cross(p);
-	tmpB = relB.cross(p);
-	for (i = 0; i < 3; i++) info->m_J1angularAxis[s0 + i] = tmpA[i];
-	for (i = 0; i < 3; i++) info->m_J2angularAxis[s0 + i] = -tmpB[i];
-	tmpA = relA.cross(q);
-	tmpB = relB.cross(q);
-	if (hasStaticBody && getSolveLimit())
-	{  // to make constraint between static and dynamic objects more rigid
-		// remove wA (or wB) from equation if angular limit is hit
-		tmpB *= factB;
-		tmpA *= factA;
-	}
-	for (i = 0; i < 3; i++) info->m_J1angularAxis[s1 + i] = tmpA[i];
-	for (i = 0; i < 3; i++) info->m_J2angularAxis[s1 + i] = -tmpB[i];
-	tmpA = relA.cross(ax1);
-	tmpB = relB.cross(ax1);
-	if (hasStaticBody)
-	{  // to make constraint between static and dynamic objects more rigid
-		// remove wA (or wB) from equation
-		tmpB *= factB;
-		tmpA *= factA;
-	}
-	for (i = 0; i < 3; i++) info->m_J1angularAxis[s2 + i] = tmpA[i];
-	for (i = 0; i < 3; i++) info->m_J2angularAxis[s2 + i] = -tmpB[i];
-
-	btScalar normalErp = (m_flags & BT_HINGE_FLAGS_ERP_NORM) ? m_normalERP : info->erp;
-	btScalar k = info->fps * normalErp;
-
-	if (!m_angularOnly)
-	{
-		for (i = 0; i < 3; i++) info->m_J1linearAxis[s0 + i] = p[i];
-		for (i = 0; i < 3; i++) info->m_J1linearAxis[s1 + i] = q[i];
-		for (i = 0; i < 3; i++) info->m_J1linearAxis[s2 + i] = ax1[i];
-
-		for (i = 0; i < 3; i++) info->m_J2linearAxis[s0 + i] = -p[i];
-		for (i = 0; i < 3; i++) info->m_J2linearAxis[s1 + i] = -q[i];
-		for (i = 0; i < 3; i++) info->m_J2linearAxis[s2 + i] = -ax1[i];
-
-		// compute three elements of right hand side
-
-		btScalar rhs = k * p.dot(ofs);
-		info->m_constraintError[s0] = rhs;
-		rhs = k * q.dot(ofs);
-		info->m_constraintError[s1] = rhs;
-		rhs = k * ax1.dot(ofs);
-		info->m_constraintError[s2] = rhs;
-	}
-	// the hinge axis should be the only unconstrained
-	// rotational axis, the angular velocity of the two bodies perpendicular to
-	// the hinge axis should be equal. thus the constraint equations are
-	//    p*w1 - p*w2 = 0
-	//    q*w1 - q*w2 = 0
-	// where p and q are unit vectors normal to the hinge axis, and w1 and w2
-	// are the angular velocity vectors of the two bodies.
-	int s3 = 3 * s;
-	int s4 = 4 * s;
-	info->m_J1angularAxis[s3 + 0] = p[0];
-	info->m_J1angularAxis[s3 + 1] = p[1];
-	info->m_J1angularAxis[s3 + 2] = p[2];
-	info->m_J1angularAxis[s4 + 0] = q[0];
-	info->m_J1angularAxis[s4 + 1] = q[1];
-	info->m_J1angularAxis[s4 + 2] = q[2];
-
-	info->m_J2angularAxis[s3 + 0] = -p[0];
-	info->m_J2angularAxis[s3 + 1] = -p[1];
-	info->m_J2angularAxis[s3 + 2] = -p[2];
-	info->m_J2angularAxis[s4 + 0] = -q[0];
-	info->m_J2angularAxis[s4 + 1] = -q[1];
-	info->m_J2angularAxis[s4 + 2] = -q[2];
-	// compute the right hand side of the constraint equation. set relative
-	// body velocities along p and q to bring the hinge back into alignment.
-	// if ax1A,ax1B are the unit length hinge axes as computed from bodyA and
-	// bodyB, we need to rotate both bodies along the axis u = (ax1 x ax2).
-	// if "theta" is the angle between ax1 and ax2, we need an angular velocity
-	// along u to cover angle erp*theta in one step :
-	//   |angular_velocity| = angle/time = erp*theta / stepsize
-	//                      = (erp*fps) * theta
-	//    angular_velocity  = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
-	//                      = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
-	// ...as ax1 and ax2 are unit length. if theta is smallish,
-	// theta ~= sin(theta), so
-	//    angular_velocity  = (erp*fps) * (ax1 x ax2)
-	// ax1 x ax2 is in the plane space of ax1, so we project the angular
-	// velocity to p and q to find the right hand side.
-	k = info->fps * normalErp;  //??
-
-	btVector3 u = ax1A.cross(ax1B);
-	info->m_constraintError[s3] = k * u.dot(p);
-	info->m_constraintError[s4] = k * u.dot(q);
-#endif
-	// check angular limits
-	nrow = 4;  // last filled row
-	int srow;
-	btScalar limit_err = btScalar(0.0);
-	int limit = 0;
-	if (getSolveLimit())
-	{
-#ifdef _BT_USE_CENTER_LIMIT_
-		limit_err = m_limit.getCorrection() * m_referenceSign;
-#else
-		limit_err = m_correction * m_referenceSign;
-#endif
-		limit = (limit_err > btScalar(0.0)) ? 1 : 2;
-	}
-	// if the hinge has joint limits or motor, add in the extra row
-	bool powered = getEnableAngularMotor();
-	if (limit || powered)
-	{
-		nrow++;
-		srow = nrow * info->rowskip;
-		info->m_J1angularAxis[srow + 0] = ax1[0];
-		info->m_J1angularAxis[srow + 1] = ax1[1];
-		info->m_J1angularAxis[srow + 2] = ax1[2];
-
-		info->m_J2angularAxis[srow + 0] = -ax1[0];
-		info->m_J2angularAxis[srow + 1] = -ax1[1];
-		info->m_J2angularAxis[srow + 2] = -ax1[2];
-
-		btScalar lostop = getLowerLimit();
-		btScalar histop = getUpperLimit();
-		if (limit && (lostop == histop))
-		{  // the joint motor is ineffective
-			powered = false;
-		}
-		info->m_constraintError[srow] = btScalar(0.0f);
-		btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : normalErp;
-		if (powered)
-		{
-			if (m_flags & BT_HINGE_FLAGS_CFM_NORM)
-			{
-				info->cfm[srow] = m_normalCFM;
-			}
-			btScalar mot_fact = getMotorFactor(m_hingeAngle, lostop, histop, m_motorTargetVelocity, info->fps * currERP);
-			info->m_constraintError[srow] += mot_fact * m_motorTargetVelocity * m_referenceSign;
-			info->m_lowerLimit[srow] = -m_maxMotorImpulse;
-			info->m_upperLimit[srow] = m_maxMotorImpulse;
-		}
-		if (limit)
-		{
-			k = info->fps * currERP;
-			info->m_constraintError[srow] += k * limit_err;
-			if (m_flags & BT_HINGE_FLAGS_CFM_STOP)
-			{
-				info->cfm[srow] = m_stopCFM;
-			}
-			if (lostop == histop)
-			{
-				// limited low and high simultaneously
-				info->m_lowerLimit[srow] = -SIMD_INFINITY;
-				info->m_upperLimit[srow] = SIMD_INFINITY;
-			}
-			else if (limit == 1)
-			{  // low limit
-				info->m_lowerLimit[srow] = 0;
-				info->m_upperLimit[srow] = SIMD_INFINITY;
-			}
-			else
-			{  // high limit
-				info->m_lowerLimit[srow] = -SIMD_INFINITY;
-				info->m_upperLimit[srow] = 0;
-			}
-			// bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that)
-#ifdef _BT_USE_CENTER_LIMIT_
-			btScalar bounce = m_limit.getRelaxationFactor();
-#else
-			btScalar bounce = m_relaxationFactor;
-#endif
-			if (bounce > btScalar(0.0))
-			{
-				btScalar vel = angVelA.dot(ax1);
-				vel -= angVelB.dot(ax1);
-				// only apply bounce if the velocity is incoming, and if the
-				// resulting c[] exceeds what we already have.
-				if (limit == 1)
-				{  // low limit
-					if (vel < 0)
-					{
-						btScalar newc = -bounce * vel;
-						if (newc > info->m_constraintError[srow])
-						{
-							info->m_constraintError[srow] = newc;
-						}
-					}
-				}
-				else
-				{  // high limit - all those computations are reversed
-					if (vel > 0)
-					{
-						btScalar newc = -bounce * vel;
-						if (newc < info->m_constraintError[srow])
-						{
-							info->m_constraintError[srow] = newc;
-						}
-					}
-				}
-			}
-#ifdef _BT_USE_CENTER_LIMIT_
-			info->m_constraintError[srow] *= m_limit.getBiasFactor();
-#else
-			info->m_constraintError[srow] *= m_biasFactor;
-#endif
-		}  // if(limit)
-	}      // if angular limit or powered
-}
-
-///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
-///If no axis is provided, it uses the default axis for this constraint.
-void btHingeConstraint::setParam(int num, btScalar value, int axis)
-{
-	if ((axis == -1) || (axis == 5))
-	{
-		switch (num)
-		{
-			case BT_CONSTRAINT_STOP_ERP:
-				m_stopERP = value;
-				m_flags |= BT_HINGE_FLAGS_ERP_STOP;
-				break;
-			case BT_CONSTRAINT_STOP_CFM:
-				m_stopCFM = value;
-				m_flags |= BT_HINGE_FLAGS_CFM_STOP;
-				break;
-			case BT_CONSTRAINT_CFM:
-				m_normalCFM = value;
-				m_flags |= BT_HINGE_FLAGS_CFM_NORM;
-				break;
-			case BT_CONSTRAINT_ERP:
-				m_normalERP = value;
-				m_flags |= BT_HINGE_FLAGS_ERP_NORM;
-				break;
-			default:
-				btAssertConstrParams(0);
-		}
-	}
-	else
-	{
-		btAssertConstrParams(0);
-	}
-}
-
-///return the local value of parameter
-btScalar btHingeConstraint::getParam(int num, int axis) const
-{
-	btScalar retVal = 0;
-	if ((axis == -1) || (axis == 5))
-	{
-		switch (num)
-		{
-			case BT_CONSTRAINT_STOP_ERP:
-				btAssertConstrParams(m_flags & BT_HINGE_FLAGS_ERP_STOP);
-				retVal = m_stopERP;
-				break;
-			case BT_CONSTRAINT_STOP_CFM:
-				btAssertConstrParams(m_flags & BT_HINGE_FLAGS_CFM_STOP);
-				retVal = m_stopCFM;
-				break;
-			case BT_CONSTRAINT_CFM:
-				btAssertConstrParams(m_flags & BT_HINGE_FLAGS_CFM_NORM);
-				retVal = m_normalCFM;
-				break;
-			case BT_CONSTRAINT_ERP:
-				btAssertConstrParams(m_flags & BT_HINGE_FLAGS_ERP_NORM);
-				retVal = m_normalERP;
-				break;
-			default:
-				btAssertConstrParams(0);
-		}
-	}
-	else
-	{
-		btAssertConstrParams(0);
-	}
-	return retVal;
-}
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h
deleted file mode 100644
index c7509e30af..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h
+++ /dev/null
@@ -1,480 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/* Hinge Constraint by Dirk Gregorius. Limits added by Marcus Hennix at Starbreeze Studios */
-
-#ifndef BT_HINGECONSTRAINT_H
-#define BT_HINGECONSTRAINT_H
-
-#define _BT_USE_CENTER_LIMIT_ 1
-
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btTypedConstraint.h"
-
-class btRigidBody;
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btHingeConstraintData btHingeConstraintDoubleData2  //rename to 2 for backwards compatibility, so we can still load the 'btHingeConstraintDoubleData' version
-#define btHingeConstraintDataName "btHingeConstraintDoubleData2"
-#else
-#define btHingeConstraintData btHingeConstraintFloatData
-#define btHingeConstraintDataName "btHingeConstraintFloatData"
-#endif  //BT_USE_DOUBLE_PRECISION
-
-enum btHingeFlags
-{
-	BT_HINGE_FLAGS_CFM_STOP = 1,
-	BT_HINGE_FLAGS_ERP_STOP = 2,
-	BT_HINGE_FLAGS_CFM_NORM = 4,
-	BT_HINGE_FLAGS_ERP_NORM = 8
-};
-
-/// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
-/// axis defines the orientation of the hinge axis
-ATTRIBUTE_ALIGNED16(class)
-btHingeConstraint : public btTypedConstraint
-{
-#ifdef IN_PARALLELL_SOLVER
-public:
-#endif
-	btJacobianEntry m_jac[3];     //3 orthogonal linear constraints
-	btJacobianEntry m_jacAng[3];  //2 orthogonal angular constraints+ 1 for limit/motor
-
-	btTransform m_rbAFrame;  // constraint axii. Assumes z is hinge axis.
-	btTransform m_rbBFrame;
-
-	btScalar m_motorTargetVelocity;
-	btScalar m_maxMotorImpulse;
-
-#ifdef _BT_USE_CENTER_LIMIT_
-	btAngularLimit m_limit;
-#else
-	btScalar m_lowerLimit;
-	btScalar m_upperLimit;
-	btScalar m_limitSign;
-	btScalar m_correction;
-
-	btScalar m_limitSoftness;
-	btScalar m_biasFactor;
-	btScalar m_relaxationFactor;
-
-	bool m_solveLimit;
-#endif
-
-	btScalar m_kHinge;
-
-	btScalar m_accLimitImpulse;
-	btScalar m_hingeAngle;
-	btScalar m_referenceSign;
-
-	bool m_angularOnly;
-	bool m_enableAngularMotor;
-	bool m_useSolveConstraintObsolete;
-	bool m_useOffsetForConstraintFrame;
-	bool m_useReferenceFrameA;
-
-	btScalar m_accMotorImpulse;
-
-	int m_flags;
-	btScalar m_normalCFM;
-	btScalar m_normalERP;
-	btScalar m_stopCFM;
-	btScalar m_stopERP;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btHingeConstraint(btRigidBody & rbA, btRigidBody & rbB, const btVector3& pivotInA, const btVector3& pivotInB, const btVector3& axisInA, const btVector3& axisInB, bool useReferenceFrameA = false);
-
-	btHingeConstraint(btRigidBody & rbA, const btVector3& pivotInA, const btVector3& axisInA, bool useReferenceFrameA = false);
-
-	btHingeConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false);
-
-	btHingeConstraint(btRigidBody & rbA, const btTransform& rbAFrame, bool useReferenceFrameA = false);
-
-	virtual void buildJacobian();
-
-	virtual void getInfo1(btConstraintInfo1 * info);
-
-	void getInfo1NonVirtual(btConstraintInfo1 * info);
-
-	virtual void getInfo2(btConstraintInfo2 * info);
-
-	void getInfo2NonVirtual(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btVector3& angVelA, const btVector3& angVelB);
-
-	void getInfo2Internal(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btVector3& angVelA, const btVector3& angVelB);
-	void getInfo2InternalUsingFrameOffset(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btVector3& angVelA, const btVector3& angVelB);
-
-	void updateRHS(btScalar timeStep);
-
-	const btRigidBody& getRigidBodyA() const
-	{
-		return m_rbA;
-	}
-	const btRigidBody& getRigidBodyB() const
-	{
-		return m_rbB;
-	}
-
-	btRigidBody& getRigidBodyA()
-	{
-		return m_rbA;
-	}
-
-	btRigidBody& getRigidBodyB()
-	{
-		return m_rbB;
-	}
-
-	btTransform& getFrameOffsetA()
-	{
-		return m_rbAFrame;
-	}
-
-	btTransform& getFrameOffsetB()
-	{
-		return m_rbBFrame;
-	}
-
-	void setFrames(const btTransform& frameA, const btTransform& frameB);
-
-	void setAngularOnly(bool angularOnly)
-	{
-		m_angularOnly = angularOnly;
-	}
-
-	void enableAngularMotor(bool enableMotor, btScalar targetVelocity, btScalar maxMotorImpulse)
-	{
-		m_enableAngularMotor = enableMotor;
-		m_motorTargetVelocity = targetVelocity;
-		m_maxMotorImpulse = maxMotorImpulse;
-	}
-
-	// extra motor API, including ability to set a target rotation (as opposed to angular velocity)
-	// note: setMotorTarget sets angular velocity under the hood, so you must call it every tick to
-	//       maintain a given angular target.
-	void enableMotor(bool enableMotor) { m_enableAngularMotor = enableMotor; }
-	void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; }
-	void setMotorTargetVelocity(btScalar motorTargetVelocity) { m_motorTargetVelocity = motorTargetVelocity; }
-	void setMotorTarget(const btQuaternion& qAinB, btScalar dt);  // qAinB is rotation of body A wrt body B.
-	void setMotorTarget(btScalar targetAngle, btScalar dt);
-
-	void setLimit(btScalar low, btScalar high, btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
-	{
-#ifdef _BT_USE_CENTER_LIMIT_
-		m_limit.set(low, high, _softness, _biasFactor, _relaxationFactor);
-#else
-		m_lowerLimit = btNormalizeAngle(low);
-		m_upperLimit = btNormalizeAngle(high);
-		m_limitSoftness = _softness;
-		m_biasFactor = _biasFactor;
-		m_relaxationFactor = _relaxationFactor;
-#endif
-	}
-
-	btScalar getLimitSoftness() const
-	{
-#ifdef _BT_USE_CENTER_LIMIT_
-		return m_limit.getSoftness();
-#else
-		return m_limitSoftness;
-#endif
-	}
-
-	btScalar getLimitBiasFactor() const
-	{
-#ifdef _BT_USE_CENTER_LIMIT_
-		return m_limit.getBiasFactor();
-#else
-		return m_biasFactor;
-#endif
-	}
-
-	btScalar getLimitRelaxationFactor() const
-	{
-#ifdef _BT_USE_CENTER_LIMIT_
-		return m_limit.getRelaxationFactor();
-#else
-		return m_relaxationFactor;
-#endif
-	}
-
-	void setAxis(btVector3 & axisInA)
-	{
-		btVector3 rbAxisA1, rbAxisA2;
-		btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2);
-		btVector3 pivotInA = m_rbAFrame.getOrigin();
-		//		m_rbAFrame.getOrigin() = pivotInA;
-		m_rbAFrame.getBasis().setValue(rbAxisA1.getX(), rbAxisA2.getX(), axisInA.getX(),
-									   rbAxisA1.getY(), rbAxisA2.getY(), axisInA.getY(),
-									   rbAxisA1.getZ(), rbAxisA2.getZ(), axisInA.getZ());
-
-		btVector3 axisInB = m_rbA.getCenterOfMassTransform().getBasis() * axisInA;
-
-		btQuaternion rotationArc = shortestArcQuat(axisInA, axisInB);
-		btVector3 rbAxisB1 = quatRotate(rotationArc, rbAxisA1);
-		btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
-
-		m_rbBFrame.getOrigin() = m_rbB.getCenterOfMassTransform().inverse()(m_rbA.getCenterOfMassTransform()(pivotInA));
-
-		m_rbBFrame.getBasis().setValue(rbAxisB1.getX(), rbAxisB2.getX(), axisInB.getX(),
-									   rbAxisB1.getY(), rbAxisB2.getY(), axisInB.getY(),
-									   rbAxisB1.getZ(), rbAxisB2.getZ(), axisInB.getZ());
-		m_rbBFrame.getBasis() = m_rbB.getCenterOfMassTransform().getBasis().inverse() * m_rbBFrame.getBasis();
-	}
-
-	bool hasLimit() const
-	{
-#ifdef _BT_USE_CENTER_LIMIT_
-		return m_limit.getHalfRange() > 0;
-#else
-		return m_lowerLimit <= m_upperLimit;
-#endif
-	}
-
-	btScalar getLowerLimit() const
-	{
-#ifdef _BT_USE_CENTER_LIMIT_
-		return m_limit.getLow();
-#else
-		return m_lowerLimit;
-#endif
-	}
-
-	btScalar getUpperLimit() const
-	{
-#ifdef _BT_USE_CENTER_LIMIT_
-		return m_limit.getHigh();
-#else
-		return m_upperLimit;
-#endif
-	}
-
-	///The getHingeAngle gives the hinge angle in range [-PI,PI]
-	btScalar getHingeAngle();
-
-	btScalar getHingeAngle(const btTransform& transA, const btTransform& transB);
-
-	void testLimit(const btTransform& transA, const btTransform& transB);
-
-	const btTransform& getAFrame() const { return m_rbAFrame; };
-	const btTransform& getBFrame() const { return m_rbBFrame; };
-
-	btTransform& getAFrame() { return m_rbAFrame; };
-	btTransform& getBFrame() { return m_rbBFrame; };
-
-	inline int getSolveLimit()
-	{
-#ifdef _BT_USE_CENTER_LIMIT_
-		return m_limit.isLimit();
-#else
-		return m_solveLimit;
-#endif
-	}
-
-	inline btScalar getLimitSign()
-	{
-#ifdef _BT_USE_CENTER_LIMIT_
-		return m_limit.getSign();
-#else
-		return m_limitSign;
-#endif
-	}
-
-	inline bool getAngularOnly()
-	{
-		return m_angularOnly;
-	}
-	inline bool getEnableAngularMotor()
-	{
-		return m_enableAngularMotor;
-	}
-	inline btScalar getMotorTargetVelocity()
-	{
-		return m_motorTargetVelocity;
-	}
-	inline btScalar getMaxMotorImpulse()
-	{
-		return m_maxMotorImpulse;
-	}
-	// access for UseFrameOffset
-	bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
-	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
-	// access for UseReferenceFrameA
-	bool getUseReferenceFrameA() const { return m_useReferenceFrameA; }
-	void setUseReferenceFrameA(bool useReferenceFrameA) { m_useReferenceFrameA = useReferenceFrameA; }
-
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
-	///If no axis is provided, it uses the default axis for this constraint.
-	virtual void setParam(int num, btScalar value, int axis = -1);
-	///return the local value of parameter
-	virtual btScalar getParam(int num, int axis = -1) const;
-
-	virtual int getFlags() const
-	{
-		return m_flags;
-	}
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-};
-
-//only for backward compatibility
-#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION
-///this structure is not used, except for loading pre-2.82 .bullet files
-struct btHingeConstraintDoubleData
-{
-	btTypedConstraintData m_typeConstraintData;
-	btTransformDoubleData m_rbAFrame;  // constraint axii. Assumes z is hinge axis.
-	btTransformDoubleData m_rbBFrame;
-	int m_useReferenceFrameA;
-	int m_angularOnly;
-	int m_enableAngularMotor;
-	float m_motorTargetVelocity;
-	float m_maxMotorImpulse;
-
-	float m_lowerLimit;
-	float m_upperLimit;
-	float m_limitSoftness;
-	float m_biasFactor;
-	float m_relaxationFactor;
-};
-#endif  //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
-
-///The getAccumulatedHingeAngle returns the accumulated hinge angle, taking rotation across the -PI/PI boundary into account
-ATTRIBUTE_ALIGNED16(class)
-btHingeAccumulatedAngleConstraint : public btHingeConstraint
-{
-protected:
-	btScalar m_accumulatedAngle;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btHingeAccumulatedAngleConstraint(btRigidBody & rbA, btRigidBody & rbB, const btVector3& pivotInA, const btVector3& pivotInB, const btVector3& axisInA, const btVector3& axisInB, bool useReferenceFrameA = false)
-		: btHingeConstraint(rbA, rbB, pivotInA, pivotInB, axisInA, axisInB, useReferenceFrameA)
-	{
-		m_accumulatedAngle = getHingeAngle();
-	}
-
-	btHingeAccumulatedAngleConstraint(btRigidBody & rbA, const btVector3& pivotInA, const btVector3& axisInA, bool useReferenceFrameA = false)
-		: btHingeConstraint(rbA, pivotInA, axisInA, useReferenceFrameA)
-	{
-		m_accumulatedAngle = getHingeAngle();
-	}
-
-	btHingeAccumulatedAngleConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false)
-		: btHingeConstraint(rbA, rbB, rbAFrame, rbBFrame, useReferenceFrameA)
-	{
-		m_accumulatedAngle = getHingeAngle();
-	}
-
-	btHingeAccumulatedAngleConstraint(btRigidBody & rbA, const btTransform& rbAFrame, bool useReferenceFrameA = false)
-		: btHingeConstraint(rbA, rbAFrame, useReferenceFrameA)
-	{
-		m_accumulatedAngle = getHingeAngle();
-	}
-	btScalar getAccumulatedHingeAngle();
-	void setAccumulatedHingeAngle(btScalar accAngle);
-	virtual void getInfo1(btConstraintInfo1 * info);
-};
-
-struct btHingeConstraintFloatData
-{
-	btTypedConstraintData m_typeConstraintData;
-	btTransformFloatData m_rbAFrame;  // constraint axii. Assumes z is hinge axis.
-	btTransformFloatData m_rbBFrame;
-	int m_useReferenceFrameA;
-	int m_angularOnly;
-
-	int m_enableAngularMotor;
-	float m_motorTargetVelocity;
-	float m_maxMotorImpulse;
-
-	float m_lowerLimit;
-	float m_upperLimit;
-	float m_limitSoftness;
-	float m_biasFactor;
-	float m_relaxationFactor;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btHingeConstraintDoubleData2
-{
-	btTypedConstraintDoubleData m_typeConstraintData;
-	btTransformDoubleData m_rbAFrame;  // constraint axii. Assumes z is hinge axis.
-	btTransformDoubleData m_rbBFrame;
-	int m_useReferenceFrameA;
-	int m_angularOnly;
-	int m_enableAngularMotor;
-	double m_motorTargetVelocity;
-	double m_maxMotorImpulse;
-
-	double m_lowerLimit;
-	double m_upperLimit;
-	double m_limitSoftness;
-	double m_biasFactor;
-	double m_relaxationFactor;
-	char m_padding1[4];
-};
-
-SIMD_FORCE_INLINE int btHingeConstraint::calculateSerializeBufferSize() const
-{
-	return sizeof(btHingeConstraintData);
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE const char* btHingeConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btHingeConstraintData* hingeData = (btHingeConstraintData*)dataBuffer;
-	btTypedConstraint::serialize(&hingeData->m_typeConstraintData, serializer);
-
-	m_rbAFrame.serialize(hingeData->m_rbAFrame);
-	m_rbBFrame.serialize(hingeData->m_rbBFrame);
-
-	hingeData->m_angularOnly = m_angularOnly;
-	hingeData->m_enableAngularMotor = m_enableAngularMotor;
-	hingeData->m_maxMotorImpulse = float(m_maxMotorImpulse);
-	hingeData->m_motorTargetVelocity = float(m_motorTargetVelocity);
-	hingeData->m_useReferenceFrameA = m_useReferenceFrameA;
-#ifdef _BT_USE_CENTER_LIMIT_
-	hingeData->m_lowerLimit = float(m_limit.getLow());
-	hingeData->m_upperLimit = float(m_limit.getHigh());
-	hingeData->m_limitSoftness = float(m_limit.getSoftness());
-	hingeData->m_biasFactor = float(m_limit.getBiasFactor());
-	hingeData->m_relaxationFactor = float(m_limit.getRelaxationFactor());
-#else
-	hingeData->m_lowerLimit = float(m_lowerLimit);
-	hingeData->m_upperLimit = float(m_upperLimit);
-	hingeData->m_limitSoftness = float(m_limitSoftness);
-	hingeData->m_biasFactor = float(m_biasFactor);
-	hingeData->m_relaxationFactor = float(m_relaxationFactor);
-#endif
-
-	// Fill padding with zeros to appease msan.
-#ifdef BT_USE_DOUBLE_PRECISION
-	hingeData->m_padding1[0] = 0;
-	hingeData->m_padding1[1] = 0;
-	hingeData->m_padding1[2] = 0;
-	hingeData->m_padding1[3] = 0;
-#endif
-
-	return btHingeConstraintDataName;
-}
-
-#endif  //BT_HINGECONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h
deleted file mode 100644
index 438456fe51..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h
+++ /dev/null
@@ -1,150 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_JACOBIAN_ENTRY_H
-#define BT_JACOBIAN_ENTRY_H
-
-#include "LinearMath/btMatrix3x3.h"
-
-//notes:
-// Another memory optimization would be to store m_1MinvJt in the remaining 3 w components
-// which makes the btJacobianEntry memory layout 16 bytes
-// if you only are interested in angular part, just feed massInvA and massInvB zero
-
-/// Jacobian entry is an abstraction that allows to describe constraints
-/// it can be used in combination with a constraint solver
-/// Can be used to relate the effect of an impulse to the constraint error
-ATTRIBUTE_ALIGNED16(class)
-btJacobianEntry
-{
-public:
-	btJacobianEntry(){};
-	//constraint between two different rigidbodies
-	btJacobianEntry(
-		const btMatrix3x3& world2A,
-		const btMatrix3x3& world2B,
-		const btVector3& rel_pos1, const btVector3& rel_pos2,
-		const btVector3& jointAxis,
-		const btVector3& inertiaInvA,
-		const btScalar massInvA,
-		const btVector3& inertiaInvB,
-		const btScalar massInvB)
-		: m_linearJointAxis(jointAxis)
-	{
-		m_aJ = world2A * (rel_pos1.cross(m_linearJointAxis));
-		m_bJ = world2B * (rel_pos2.cross(-m_linearJointAxis));
-		m_0MinvJt = inertiaInvA * m_aJ;
-		m_1MinvJt = inertiaInvB * m_bJ;
-		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
-
-		btAssert(m_Adiag > btScalar(0.0));
-	}
-
-	//angular constraint between two different rigidbodies
-	btJacobianEntry(const btVector3& jointAxis,
-					const btMatrix3x3& world2A,
-					const btMatrix3x3& world2B,
-					const btVector3& inertiaInvA,
-					const btVector3& inertiaInvB)
-		: m_linearJointAxis(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)))
-	{
-		m_aJ = world2A * jointAxis;
-		m_bJ = world2B * -jointAxis;
-		m_0MinvJt = inertiaInvA * m_aJ;
-		m_1MinvJt = inertiaInvB * m_bJ;
-		m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
-
-		btAssert(m_Adiag > btScalar(0.0));
-	}
-
-	//angular constraint between two different rigidbodies
-	btJacobianEntry(const btVector3& axisInA,
-					const btVector3& axisInB,
-					const btVector3& inertiaInvA,
-					const btVector3& inertiaInvB)
-		: m_linearJointAxis(btVector3(btScalar(0.), btScalar(0.), btScalar(0.))), m_aJ(axisInA), m_bJ(-axisInB)
-	{
-		m_0MinvJt = inertiaInvA * m_aJ;
-		m_1MinvJt = inertiaInvB * m_bJ;
-		m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
-
-		btAssert(m_Adiag > btScalar(0.0));
-	}
-
-	//constraint on one rigidbody
-	btJacobianEntry(
-		const btMatrix3x3& world2A,
-		const btVector3& rel_pos1, const btVector3& rel_pos2,
-		const btVector3& jointAxis,
-		const btVector3& inertiaInvA,
-		const btScalar massInvA)
-		: m_linearJointAxis(jointAxis)
-	{
-		m_aJ = world2A * (rel_pos1.cross(jointAxis));
-		m_bJ = world2A * (rel_pos2.cross(-jointAxis));
-		m_0MinvJt = inertiaInvA * m_aJ;
-		m_1MinvJt = btVector3(btScalar(0.), btScalar(0.), btScalar(0.));
-		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
-
-		btAssert(m_Adiag > btScalar(0.0));
-	}
-
-	btScalar getDiagonal() const { return m_Adiag; }
-
-	// for two constraints on the same rigidbody (for example vehicle friction)
-	btScalar getNonDiagonal(const btJacobianEntry& jacB, const btScalar massInvA) const
-	{
-		const btJacobianEntry& jacA = *this;
-		btScalar lin = massInvA * jacA.m_linearJointAxis.dot(jacB.m_linearJointAxis);
-		btScalar ang = jacA.m_0MinvJt.dot(jacB.m_aJ);
-		return lin + ang;
-	}
-
-	// for two constraints on sharing two same rigidbodies (for example two contact points between two rigidbodies)
-	btScalar getNonDiagonal(const btJacobianEntry& jacB, const btScalar massInvA, const btScalar massInvB) const
-	{
-		const btJacobianEntry& jacA = *this;
-		btVector3 lin = jacA.m_linearJointAxis * jacB.m_linearJointAxis;
-		btVector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ;
-		btVector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ;
-		btVector3 lin0 = massInvA * lin;
-		btVector3 lin1 = massInvB * lin;
-		btVector3 sum = ang0 + ang1 + lin0 + lin1;
-		return sum[0] + sum[1] + sum[2];
-	}
-
-	btScalar getRelativeVelocity(const btVector3& linvelA, const btVector3& angvelA, const btVector3& linvelB, const btVector3& angvelB)
-	{
-		btVector3 linrel = linvelA - linvelB;
-		btVector3 angvela = angvelA * m_aJ;
-		btVector3 angvelb = angvelB * m_bJ;
-		linrel *= m_linearJointAxis;
-		angvela += angvelb;
-		angvela += linrel;
-		btScalar rel_vel2 = angvela[0] + angvela[1] + angvela[2];
-		return rel_vel2 + SIMD_EPSILON;
-	}
-	//private:
-
-	btVector3 m_linearJointAxis;
-	btVector3 m_aJ;
-	btVector3 m_bJ;
-	btVector3 m_0MinvJt;
-	btVector3 m_1MinvJt;
-	//Optimization: can be stored in the w/last component of one of the vectors
-	btScalar m_Adiag;
-};
-
-#endif  //BT_JACOBIAN_ENTRY_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp
deleted file mode 100644
index ccf8916049..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp
+++ /dev/null
@@ -1,368 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btNNCGConstraintSolver.h"
-
-btScalar btNNCGConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
-{
-	btScalar val = btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
-
-	m_pNC.resizeNoInitialize(m_tmpSolverNonContactConstraintPool.size());
-	m_pC.resizeNoInitialize(m_tmpSolverContactConstraintPool.size());
-	m_pCF.resizeNoInitialize(m_tmpSolverContactFrictionConstraintPool.size());
-	m_pCRF.resizeNoInitialize(m_tmpSolverContactRollingFrictionConstraintPool.size());
-
-	m_deltafNC.resizeNoInitialize(m_tmpSolverNonContactConstraintPool.size());
-	m_deltafC.resizeNoInitialize(m_tmpSolverContactConstraintPool.size());
-	m_deltafCF.resizeNoInitialize(m_tmpSolverContactFrictionConstraintPool.size());
-	m_deltafCRF.resizeNoInitialize(m_tmpSolverContactRollingFrictionConstraintPool.size());
-
-	return val;
-}
-
-btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/)
-{
-	int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
-	int numConstraintPool = m_tmpSolverContactConstraintPool.size();
-	int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
-
-	if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
-	{
-		if (1)  // uncomment this for a bit less random ((iteration & 7) == 0)
-		{
-			for (int j = 0; j < numNonContactPool; ++j)
-			{
-				int tmp = m_orderNonContactConstraintPool[j];
-				int swapi = btRandInt2(j + 1);
-				m_orderNonContactConstraintPool[j] = m_orderNonContactConstraintPool[swapi];
-				m_orderNonContactConstraintPool[swapi] = tmp;
-			}
-
-			//contact/friction constraints are not solved more than
-			if (iteration < infoGlobal.m_numIterations)
-			{
-				for (int j = 0; j < numConstraintPool; ++j)
-				{
-					int tmp = m_orderTmpConstraintPool[j];
-					int swapi = btRandInt2(j + 1);
-					m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi];
-					m_orderTmpConstraintPool[swapi] = tmp;
-				}
-
-				for (int j = 0; j < numFrictionPool; ++j)
-				{
-					int tmp = m_orderFrictionConstraintPool[j];
-					int swapi = btRandInt2(j + 1);
-					m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi];
-					m_orderFrictionConstraintPool[swapi] = tmp;
-				}
-			}
-		}
-	}
-
-	btScalar deltaflengthsqr = 0;
-	{
-		for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++)
-		{
-			btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
-			if (iteration < constraint.m_overrideNumSolverIterations)
-			{
-				btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA], m_tmpSolverBodyPool[constraint.m_solverBodyIdB], constraint);
-				m_deltafNC[j] = deltaf;
-				deltaflengthsqr += deltaf * deltaf;
-			}
-		}
-	}
-
-	if (m_onlyForNoneContact)
-	{
-		if (iteration == 0)
-		{
-			for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) m_pNC[j] = m_deltafNC[j];
-		}
-		else
-		{
-			// deltaflengthsqrprev can be 0 only if the solver solved the problem exactly in the previous iteration. In this case we should have quit, but mainly for debug reason with this 'hack' it is now allowed to continue the calculation
-			btScalar beta = m_deltafLengthSqrPrev > 0 ? deltaflengthsqr / m_deltafLengthSqrPrev : 2;
-			if (beta > 1)
-			{
-				for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) m_pNC[j] = 0;
-			}
-			else
-			{
-				for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++)
-				{
-					btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
-					if (iteration < constraint.m_overrideNumSolverIterations)
-					{
-						btScalar additionaldeltaimpulse = beta * m_pNC[j];
-						constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
-						m_pNC[j] = beta * m_pNC[j] + m_deltafNC[j];
-						btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
-						btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
-						const btSolverConstraint& c = constraint;
-						body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse);
-						body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse);
-					}
-				}
-			}
-		}
-		m_deltafLengthSqrPrev = deltaflengthsqr;
-	}
-
-	{
-		if (iteration < infoGlobal.m_numIterations)
-		{
-			for (int j = 0; j < numConstraints; j++)
-			{
-				if (constraints[j]->isEnabled())
-				{
-					int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(), infoGlobal.m_timeStep);
-					int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(), infoGlobal.m_timeStep);
-					btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
-					btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
-					constraints[j]->solveConstraintObsolete(bodyA, bodyB, infoGlobal.m_timeStep);
-				}
-			}
-
-			///solve all contact constraints
-			if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
-			{
-				int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-				int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) ? 2 : 1;
-
-				for (int c = 0; c < numPoolConstraints; c++)
-				{
-					btScalar totalImpulse = 0;
-
-					{
-						const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]];
-						btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-						m_deltafC[c] = deltaf;
-						deltaflengthsqr += deltaf * deltaf;
-						totalImpulse = solveManifold.m_appliedImpulse;
-					}
-					bool applyFriction = true;
-					if (applyFriction)
-					{
-						{
-							btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier]];
-
-							if (totalImpulse > btScalar(0))
-							{
-								solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
-								solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
-								btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-								m_deltafCF[c * multiplier] = deltaf;
-								deltaflengthsqr += deltaf * deltaf;
-							}
-							else
-							{
-								m_deltafCF[c * multiplier] = 0;
-							}
-						}
-
-						if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)
-						{
-							btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier + 1]];
-
-							if (totalImpulse > btScalar(0))
-							{
-								solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
-								solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
-								btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-								m_deltafCF[c * multiplier + 1] = deltaf;
-								deltaflengthsqr += deltaf * deltaf;
-							}
-							else
-							{
-								m_deltafCF[c * multiplier + 1] = 0;
-							}
-						}
-					}
-				}
-			}
-			else  //SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
-			{
-				//solve the friction constraints after all contact constraints, don't interleave them
-				int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-				int j;
-
-				for (j = 0; j < numPoolConstraints; j++)
-				{
-					const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-					btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-					m_deltafC[j] = deltaf;
-					deltaflengthsqr += deltaf * deltaf;
-				}
-
-				///solve all friction constraints
-
-				int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
-				for (j = 0; j < numFrictionPoolConstraints; j++)
-				{
-					btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
-					btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
-
-					if (totalImpulse > btScalar(0))
-					{
-						solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
-						solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
-
-						btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-						m_deltafCF[j] = deltaf;
-						deltaflengthsqr += deltaf * deltaf;
-					}
-					else
-					{
-						m_deltafCF[j] = 0;
-					}
-				}
-			}
-
-			{
-				int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
-				for (int j = 0; j < numRollingFrictionPoolConstraints; j++)
-				{
-					btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
-					btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
-					if (totalImpulse > btScalar(0))
-					{
-						btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse;
-						if (rollingFrictionMagnitude > rollingFrictionConstraint.m_friction)
-							rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
-
-						rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
-						rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
-
-						btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint);
-						m_deltafCRF[j] = deltaf;
-						deltaflengthsqr += deltaf * deltaf;
-					}
-					else
-					{
-						m_deltafCRF[j] = 0;
-					}
-				}
-			}
-		}
-	}
-
-	if (!m_onlyForNoneContact)
-	{
-		if (iteration == 0)
-		{
-			for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) m_pNC[j] = m_deltafNC[j];
-			for (int j = 0; j < m_tmpSolverContactConstraintPool.size(); j++) m_pC[j] = m_deltafC[j];
-			for (int j = 0; j < m_tmpSolverContactFrictionConstraintPool.size(); j++) m_pCF[j] = m_deltafCF[j];
-			for (int j = 0; j < m_tmpSolverContactRollingFrictionConstraintPool.size(); j++) m_pCRF[j] = m_deltafCRF[j];
-		}
-		else
-		{
-			// deltaflengthsqrprev can be 0 only if the solver solved the problem exactly in the previous iteration. In this case we should have quit, but mainly for debug reason with this 'hack' it is now allowed to continue the calculation
-			btScalar beta = m_deltafLengthSqrPrev > 0 ? deltaflengthsqr / m_deltafLengthSqrPrev : 2;
-			if (beta > 1)
-			{
-				for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) m_pNC[j] = 0;
-				for (int j = 0; j < m_tmpSolverContactConstraintPool.size(); j++) m_pC[j] = 0;
-				for (int j = 0; j < m_tmpSolverContactFrictionConstraintPool.size(); j++) m_pCF[j] = 0;
-				for (int j = 0; j < m_tmpSolverContactRollingFrictionConstraintPool.size(); j++) m_pCRF[j] = 0;
-			}
-			else
-			{
-				for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++)
-				{
-					btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
-					if (iteration < constraint.m_overrideNumSolverIterations)
-					{
-						btScalar additionaldeltaimpulse = beta * m_pNC[j];
-						constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
-						m_pNC[j] = beta * m_pNC[j] + m_deltafNC[j];
-						btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
-						btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
-						const btSolverConstraint& c = constraint;
-						body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse);
-						body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse);
-					}
-				}
-				for (int j = 0; j < m_tmpSolverContactConstraintPool.size(); j++)
-				{
-					btSolverConstraint& constraint = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-					if (iteration < infoGlobal.m_numIterations)
-					{
-						btScalar additionaldeltaimpulse = beta * m_pC[j];
-						constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
-						m_pC[j] = beta * m_pC[j] + m_deltafC[j];
-						btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
-						btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
-						const btSolverConstraint& c = constraint;
-						body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse);
-						body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse);
-					}
-				}
-				for (int j = 0; j < m_tmpSolverContactFrictionConstraintPool.size(); j++)
-				{
-					btSolverConstraint& constraint = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
-					if (iteration < infoGlobal.m_numIterations)
-					{
-						btScalar additionaldeltaimpulse = beta * m_pCF[j];
-						constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
-						m_pCF[j] = beta * m_pCF[j] + m_deltafCF[j];
-						btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
-						btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
-						const btSolverConstraint& c = constraint;
-						body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse);
-						body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse);
-					}
-				}
-				{
-					for (int j = 0; j < m_tmpSolverContactRollingFrictionConstraintPool.size(); j++)
-					{
-						btSolverConstraint& constraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
-						if (iteration < infoGlobal.m_numIterations)
-						{
-							btScalar additionaldeltaimpulse = beta * m_pCRF[j];
-							constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
-							m_pCRF[j] = beta * m_pCRF[j] + m_deltafCRF[j];
-							btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
-							btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
-							const btSolverConstraint& c = constraint;
-							body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse);
-							body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse);
-						}
-					}
-				}
-			}
-		}
-		m_deltafLengthSqrPrev = deltaflengthsqr;
-	}
-
-	return deltaflengthsqr;
-}
-
-btScalar btNNCGConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
-{
-	m_pNC.resizeNoInitialize(0);
-	m_pC.resizeNoInitialize(0);
-	m_pCF.resizeNoInitialize(0);
-	m_pCRF.resizeNoInitialize(0);
-
-	m_deltafNC.resizeNoInitialize(0);
-	m_deltafC.resizeNoInitialize(0);
-	m_deltafCF.resizeNoInitialize(0);
-	m_deltafCRF.resizeNoInitialize(0);
-
-	return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal);
-}
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h
deleted file mode 100644
index c84f274a99..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h
+++ /dev/null
@@ -1,57 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_NNCG_CONSTRAINT_SOLVER_H
-#define BT_NNCG_CONSTRAINT_SOLVER_H
-
-#include "btSequentialImpulseConstraintSolver.h"
-
-ATTRIBUTE_ALIGNED16(class)
-btNNCGConstraintSolver : public btSequentialImpulseConstraintSolver
-{
-protected:
-	btScalar m_deltafLengthSqrPrev;
-
-	btAlignedObjectArray<btScalar> m_pNC;   // p for None Contact constraints
-	btAlignedObjectArray<btScalar> m_pC;    // p for Contact constraints
-	btAlignedObjectArray<btScalar> m_pCF;   // p for ContactFriction constraints
-	btAlignedObjectArray<btScalar> m_pCRF;  // p for ContactRollingFriction constraints
-
-	//These are recalculated in every iterations. We just keep these to prevent reallocation in each iteration.
-	btAlignedObjectArray<btScalar> m_deltafNC;   // deltaf for NoneContact constraints
-	btAlignedObjectArray<btScalar> m_deltafC;    // deltaf for Contact constraints
-	btAlignedObjectArray<btScalar> m_deltafCF;   // deltaf for ContactFriction constraints
-	btAlignedObjectArray<btScalar> m_deltafCRF;  // deltaf for ContactRollingFriction constraints
-
-protected:
-	virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
-	virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
-
-	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btNNCGConstraintSolver() : btSequentialImpulseConstraintSolver(), m_onlyForNoneContact(false) {}
-
-	virtual btConstraintSolverType getSolverType() const
-	{
-		return BT_NNCG_SOLVER;
-	}
-
-	bool m_onlyForNoneContact;
-};
-
-#endif  //BT_NNCG_CONSTRAINT_SOLVER_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
deleted file mode 100644
index ad399dc57f..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
+++ /dev/null
@@ -1,205 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btPoint2PointConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include <new>
-
-btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& pivotInA, const btVector3& pivotInB)
-	: btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE, rbA, rbB), m_pivotInA(pivotInA), m_pivotInB(pivotInB), m_flags(0), m_useSolveConstraintObsolete(false)
-{
-}
-
-btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA, const btVector3& pivotInA)
-	: btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE, rbA), m_pivotInA(pivotInA), m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)), m_flags(0), m_useSolveConstraintObsolete(false)
-{
-}
-
-void btPoint2PointConstraint::buildJacobian()
-{
-	///we need it for both methods
-	{
-		m_appliedImpulse = btScalar(0.);
-
-		btVector3 normal(0, 0, 0);
-
-		for (int i = 0; i < 3; i++)
-		{
-			normal[i] = 1;
-			new (&m_jac[i]) btJacobianEntry(
-				m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-				m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-				m_rbA.getCenterOfMassTransform() * m_pivotInA - m_rbA.getCenterOfMassPosition(),
-				m_rbB.getCenterOfMassTransform() * m_pivotInB - m_rbB.getCenterOfMassPosition(),
-				normal,
-				m_rbA.getInvInertiaDiagLocal(),
-				m_rbA.getInvMass(),
-				m_rbB.getInvInertiaDiagLocal(),
-				m_rbB.getInvMass());
-			normal[i] = 0;
-		}
-	}
-}
-
-void btPoint2PointConstraint::getInfo1(btConstraintInfo1* info)
-{
-	getInfo1NonVirtual(info);
-}
-
-void btPoint2PointConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
-{
-	if (m_useSolveConstraintObsolete)
-	{
-		info->m_numConstraintRows = 0;
-		info->nub = 0;
-	}
-	else
-	{
-		info->m_numConstraintRows = 3;
-		info->nub = 3;
-	}
-}
-
-void btPoint2PointConstraint::getInfo2(btConstraintInfo2* info)
-{
-	getInfo2NonVirtual(info, m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
-}
-
-void btPoint2PointConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans)
-{
-	btAssert(!m_useSolveConstraintObsolete);
-
-	//retrieve matrices
-
-	// anchor points in global coordinates with respect to body PORs.
-
-	// set jacobian
-	info->m_J1linearAxis[0] = 1;
-	info->m_J1linearAxis[info->rowskip + 1] = 1;
-	info->m_J1linearAxis[2 * info->rowskip + 2] = 1;
-
-	btVector3 a1 = body0_trans.getBasis() * getPivotInA();
-	{
-		btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
-		btVector3* angular1 = (btVector3*)(info->m_J1angularAxis + info->rowskip);
-		btVector3* angular2 = (btVector3*)(info->m_J1angularAxis + 2 * info->rowskip);
-		btVector3 a1neg = -a1;
-		a1neg.getSkewSymmetricMatrix(angular0, angular1, angular2);
-	}
-
-	info->m_J2linearAxis[0] = -1;
-	info->m_J2linearAxis[info->rowskip + 1] = -1;
-	info->m_J2linearAxis[2 * info->rowskip + 2] = -1;
-
-	btVector3 a2 = body1_trans.getBasis() * getPivotInB();
-
-	{
-		//	btVector3 a2n = -a2;
-		btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
-		btVector3* angular1 = (btVector3*)(info->m_J2angularAxis + info->rowskip);
-		btVector3* angular2 = (btVector3*)(info->m_J2angularAxis + 2 * info->rowskip);
-		a2.getSkewSymmetricMatrix(angular0, angular1, angular2);
-	}
-
-	// set right hand side
-	btScalar currERP = (m_flags & BT_P2P_FLAGS_ERP) ? m_erp : info->erp;
-	btScalar k = info->fps * currERP;
-	int j;
-	for (j = 0; j < 3; j++)
-	{
-		info->m_constraintError[j * info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]);
-		//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
-	}
-	if (m_flags & BT_P2P_FLAGS_CFM)
-	{
-		for (j = 0; j < 3; j++)
-		{
-			info->cfm[j * info->rowskip] = m_cfm;
-		}
-	}
-
-	btScalar impulseClamp = m_setting.m_impulseClamp;  //
-	for (j = 0; j < 3; j++)
-	{
-		if (m_setting.m_impulseClamp > 0)
-		{
-			info->m_lowerLimit[j * info->rowskip] = -impulseClamp;
-			info->m_upperLimit[j * info->rowskip] = impulseClamp;
-		}
-	}
-	info->m_damping = m_setting.m_damping;
-}
-
-void btPoint2PointConstraint::updateRHS(btScalar timeStep)
-{
-	(void)timeStep;
-}
-
-///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
-///If no axis is provided, it uses the default axis for this constraint.
-void btPoint2PointConstraint::setParam(int num, btScalar value, int axis)
-{
-	if (axis != -1)
-	{
-		btAssertConstrParams(0);
-	}
-	else
-	{
-		switch (num)
-		{
-			case BT_CONSTRAINT_ERP:
-			case BT_CONSTRAINT_STOP_ERP:
-				m_erp = value;
-				m_flags |= BT_P2P_FLAGS_ERP;
-				break;
-			case BT_CONSTRAINT_CFM:
-			case BT_CONSTRAINT_STOP_CFM:
-				m_cfm = value;
-				m_flags |= BT_P2P_FLAGS_CFM;
-				break;
-			default:
-				btAssertConstrParams(0);
-		}
-	}
-}
-
-///return the local value of parameter
-btScalar btPoint2PointConstraint::getParam(int num, int axis) const
-{
-	btScalar retVal(SIMD_INFINITY);
-	if (axis != -1)
-	{
-		btAssertConstrParams(0);
-	}
-	else
-	{
-		switch (num)
-		{
-			case BT_CONSTRAINT_ERP:
-			case BT_CONSTRAINT_STOP_ERP:
-				btAssertConstrParams(m_flags & BT_P2P_FLAGS_ERP);
-				retVal = m_erp;
-				break;
-			case BT_CONSTRAINT_CFM:
-			case BT_CONSTRAINT_STOP_CFM:
-				btAssertConstrParams(m_flags & BT_P2P_FLAGS_CFM);
-				retVal = m_cfm;
-				break;
-			default:
-				btAssertConstrParams(0);
-		}
-	}
-	return retVal;
-}
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
deleted file mode 100644
index 4717e19800..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
+++ /dev/null
@@ -1,173 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_POINT2POINTCONSTRAINT_H
-#define BT_POINT2POINTCONSTRAINT_H
-
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btTypedConstraint.h"
-
-class btRigidBody;
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btPoint2PointConstraintData2 btPoint2PointConstraintDoubleData2
-#define btPoint2PointConstraintDataName "btPoint2PointConstraintDoubleData2"
-#else
-#define btPoint2PointConstraintData2 btPoint2PointConstraintFloatData
-#define btPoint2PointConstraintDataName "btPoint2PointConstraintFloatData"
-#endif  //BT_USE_DOUBLE_PRECISION
-
-struct btConstraintSetting
-{
-	btConstraintSetting() : m_tau(btScalar(0.3)),
-							m_damping(btScalar(1.)),
-							m_impulseClamp(btScalar(0.))
-	{
-	}
-	btScalar m_tau;
-	btScalar m_damping;
-	btScalar m_impulseClamp;
-};
-
-enum btPoint2PointFlags
-{
-	BT_P2P_FLAGS_ERP = 1,
-	BT_P2P_FLAGS_CFM = 2
-};
-
-/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
-ATTRIBUTE_ALIGNED16(class)
-btPoint2PointConstraint : public btTypedConstraint
-{
-#ifdef IN_PARALLELL_SOLVER
-public:
-#endif
-	btJacobianEntry m_jac[3];  //3 orthogonal linear constraints
-
-	btVector3 m_pivotInA;
-	btVector3 m_pivotInB;
-
-	int m_flags;
-	btScalar m_erp;
-	btScalar m_cfm;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	///for backwards compatibility during the transition to 'getInfo/getInfo2'
-	bool m_useSolveConstraintObsolete;
-
-	btConstraintSetting m_setting;
-
-	btPoint2PointConstraint(btRigidBody & rbA, btRigidBody & rbB, const btVector3& pivotInA, const btVector3& pivotInB);
-
-	btPoint2PointConstraint(btRigidBody & rbA, const btVector3& pivotInA);
-
-	virtual void buildJacobian();
-
-	virtual void getInfo1(btConstraintInfo1 * info);
-
-	void getInfo1NonVirtual(btConstraintInfo1 * info);
-
-	virtual void getInfo2(btConstraintInfo2 * info);
-
-	void getInfo2NonVirtual(btConstraintInfo2 * info, const btTransform& body0_trans, const btTransform& body1_trans);
-
-	void updateRHS(btScalar timeStep);
-
-	void setPivotA(const btVector3& pivotA)
-	{
-		m_pivotInA = pivotA;
-	}
-
-	void setPivotB(const btVector3& pivotB)
-	{
-		m_pivotInB = pivotB;
-	}
-
-	const btVector3& getPivotInA() const
-	{
-		return m_pivotInA;
-	}
-
-	const btVector3& getPivotInB() const
-	{
-		return m_pivotInB;
-	}
-
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
-	///If no axis is provided, it uses the default axis for this constraint.
-	virtual void setParam(int num, btScalar value, int axis = -1);
-	///return the local value of parameter
-	virtual btScalar getParam(int num, int axis = -1) const;
-
-	virtual int getFlags() const
-	{
-		return m_flags;
-	}
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btPoint2PointConstraintFloatData
-{
-	btTypedConstraintData m_typeConstraintData;
-	btVector3FloatData m_pivotInA;
-	btVector3FloatData m_pivotInB;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btPoint2PointConstraintDoubleData2
-{
-	btTypedConstraintDoubleData m_typeConstraintData;
-	btVector3DoubleData m_pivotInA;
-	btVector3DoubleData m_pivotInB;
-};
-
-#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-///this structure is not used, except for loading pre-2.82 .bullet files
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btPoint2PointConstraintDoubleData
-{
-	btTypedConstraintData m_typeConstraintData;
-	btVector3DoubleData m_pivotInA;
-	btVector3DoubleData m_pivotInB;
-};
-#endif  //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
-
-SIMD_FORCE_INLINE int btPoint2PointConstraint::calculateSerializeBufferSize() const
-{
-	return sizeof(btPoint2PointConstraintData2);
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE const char* btPoint2PointConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btPoint2PointConstraintData2* p2pData = (btPoint2PointConstraintData2*)dataBuffer;
-
-	btTypedConstraint::serialize(&p2pData->m_typeConstraintData, serializer);
-	m_pivotInA.serialize(p2pData->m_pivotInA);
-	m_pivotInB.serialize(p2pData->m_pivotInB);
-
-	return btPoint2PointConstraintDataName;
-}
-
-#endif  //BT_POINT2POINTCONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
deleted file mode 100644
index d2641c582f..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+++ /dev/null
@@ -1,1875 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-//#define COMPUTE_IMPULSE_DENOM 1
-#ifdef BT_DEBUG
-#	define BT_ADDITIONAL_DEBUG
-#endif
-
-//It is not necessary (redundant) to refresh contact manifolds, this refresh has been moved to the collision algorithms.
-
-#include "btSequentialImpulseConstraintSolver.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-
-#include "LinearMath/btIDebugDraw.h"
-#include "LinearMath/btCpuFeatureUtility.h"
-
-//#include "btJacobianEntry.h"
-#include "LinearMath/btMinMax.h"
-#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
-#include <new>
-#include "LinearMath/btStackAlloc.h"
-#include "LinearMath/btQuickprof.h"
-//#include "btSolverBody.h"
-//#include "btSolverConstraint.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include <string.h>  //for memset
-
-int gNumSplitImpulseRecoveries = 0;
-
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-
-//#define VERBOSE_RESIDUAL_PRINTF 1
-///This is the scalar reference implementation of solving a single constraint row, the innerloop of the Projected Gauss Seidel/Sequential Impulse constraint solver
-///Below are optional SSE2 and SSE4/FMA3 versions. We assume most hardware has SSE2. For SSE4/FMA3 we perform a CPU feature check.
-static btScalar gResolveSingleConstraintRowGeneric_scalar_reference(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
-{
-	btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse) * c.m_cfm;
-	const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(bodyA.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA.internalGetDeltaAngularVelocity());
-	const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(bodyB.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB.internalGetDeltaAngularVelocity());
-
-	//	const btScalar delta_rel_vel	=	deltaVel1Dotn-deltaVel2Dotn;
-	deltaImpulse -= deltaVel1Dotn * c.m_jacDiagABInv;
-	deltaImpulse -= deltaVel2Dotn * c.m_jacDiagABInv;
-
-	const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse;
-	if (sum < c.m_lowerLimit)
-	{
-		deltaImpulse = c.m_lowerLimit - c.m_appliedImpulse;
-		c.m_appliedImpulse = c.m_lowerLimit;
-	}
-	else if (sum > c.m_upperLimit)
-	{
-		deltaImpulse = c.m_upperLimit - c.m_appliedImpulse;
-		c.m_appliedImpulse = c.m_upperLimit;
-	}
-	else
-	{
-		c.m_appliedImpulse = sum;
-	}
-
-	bodyA.internalApplyImpulse(c.m_contactNormal1 * bodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
-	bodyB.internalApplyImpulse(c.m_contactNormal2 * bodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
-
-	return deltaImpulse * (1. / c.m_jacDiagABInv);
-}
-
-static btScalar gResolveSingleConstraintRowLowerLimit_scalar_reference(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
-{
-	btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse) * c.m_cfm;
-	const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(bodyA.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA.internalGetDeltaAngularVelocity());
-	const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(bodyB.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB.internalGetDeltaAngularVelocity());
-
-	deltaImpulse -= deltaVel1Dotn * c.m_jacDiagABInv;
-	deltaImpulse -= deltaVel2Dotn * c.m_jacDiagABInv;
-	const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse;
-	if (sum < c.m_lowerLimit)
-	{
-		deltaImpulse = c.m_lowerLimit - c.m_appliedImpulse;
-		c.m_appliedImpulse = c.m_lowerLimit;
-	}
-	else
-	{
-		c.m_appliedImpulse = sum;
-	}
-	bodyA.internalApplyImpulse(c.m_contactNormal1 * bodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
-	bodyB.internalApplyImpulse(c.m_contactNormal2 * bodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
-
-	return deltaImpulse * (1. / c.m_jacDiagABInv);
-}
-
-#ifdef USE_SIMD
-#include <emmintrin.h>
-
-#define btVecSplat(x, e) _mm_shuffle_ps(x, x, _MM_SHUFFLE(e, e, e, e))
-static inline __m128 btSimdDot3(__m128 vec0, __m128 vec1)
-{
-	__m128 result = _mm_mul_ps(vec0, vec1);
-	return _mm_add_ps(btVecSplat(result, 0), _mm_add_ps(btVecSplat(result, 1), btVecSplat(result, 2)));
-}
-
-#if defined(BT_ALLOW_SSE4)
-#include <intrin.h>
-
-#define USE_FMA 1
-#define USE_FMA3_INSTEAD_FMA4 1
-#define USE_SSE4_DOT 1
-
-#define SSE4_DP(a, b) _mm_dp_ps(a, b, 0x7f)
-#define SSE4_DP_FP(a, b) _mm_cvtss_f32(_mm_dp_ps(a, b, 0x7f))
-
-#if USE_SSE4_DOT
-#define DOT_PRODUCT(a, b) SSE4_DP(a, b)
-#else
-#define DOT_PRODUCT(a, b) btSimdDot3(a, b)
-#endif
-
-#if USE_FMA
-#if USE_FMA3_INSTEAD_FMA4
-// a*b + c
-#define FMADD(a, b, c) _mm_fmadd_ps(a, b, c)
-// -(a*b) + c
-#define FMNADD(a, b, c) _mm_fnmadd_ps(a, b, c)
-#else  // USE_FMA3
-// a*b + c
-#define FMADD(a, b, c) _mm_macc_ps(a, b, c)
-// -(a*b) + c
-#define FMNADD(a, b, c) _mm_nmacc_ps(a, b, c)
-#endif
-#else  // USE_FMA
-// c + a*b
-#define FMADD(a, b, c) _mm_add_ps(c, _mm_mul_ps(a, b))
-// c - a*b
-#define FMNADD(a, b, c) _mm_sub_ps(c, _mm_mul_ps(a, b))
-#endif
-#endif
-
-// Project Gauss Seidel or the equivalent Sequential Impulse
-static btScalar gResolveSingleConstraintRowGeneric_sse2(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
-{
-	__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
-	__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
-	__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
-	btSimdScalar deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse), _mm_set1_ps(c.m_cfm)));
-	__m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, bodyA.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, bodyA.internalGetDeltaAngularVelocity().mVec128));
-	__m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, bodyB.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, bodyB.internalGetDeltaAngularVelocity().mVec128));
-	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
-	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
-	btSimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse);
-	btSimdScalar resultLowerLess, resultUpperLess;
-	resultLowerLess = _mm_cmplt_ps(sum, lowerLimit1);
-	resultUpperLess = _mm_cmplt_ps(sum, upperLimit1);
-	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1, cpAppliedImp);
-	deltaImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse));
-	c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum));
-	__m128 upperMinApplied = _mm_sub_ps(upperLimit1, cpAppliedImp);
-	deltaImpulse = _mm_or_ps(_mm_and_ps(resultUpperLess, deltaImpulse), _mm_andnot_ps(resultUpperLess, upperMinApplied));
-	c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultUpperLess, c.m_appliedImpulse), _mm_andnot_ps(resultUpperLess, upperLimit1));
-	__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, bodyA.internalGetInvMass().mVec128);
-	__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal2).mVec128, bodyB.internalGetInvMass().mVec128);
-	__m128 impulseMagnitude = deltaImpulse;
-	bodyA.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(bodyA.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude));
-	bodyA.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(bodyA.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
-	bodyB.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(bodyB.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude));
-	bodyB.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(bodyB.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude));
-	return deltaImpulse.m_floats[0] / c.m_jacDiagABInv;
-}
-
-// Enhanced version of gResolveSingleConstraintRowGeneric_sse2 with SSE4.1 and FMA3
-static btScalar gResolveSingleConstraintRowGeneric_sse4_1_fma3(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
-{
-#if defined(BT_ALLOW_SSE4)
-	__m128 tmp = _mm_set_ps1(c.m_jacDiagABInv);
-	__m128 deltaImpulse = _mm_set_ps1(c.m_rhs - btScalar(c.m_appliedImpulse) * c.m_cfm);
-	const __m128 lowerLimit = _mm_set_ps1(c.m_lowerLimit);
-	const __m128 upperLimit = _mm_set_ps1(c.m_upperLimit);
-	const __m128 deltaVel1Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal1.mVec128, bodyA.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos1CrossNormal.mVec128, bodyA.internalGetDeltaAngularVelocity().mVec128));
-	const __m128 deltaVel2Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal2.mVec128, bodyB.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos2CrossNormal.mVec128, bodyB.internalGetDeltaAngularVelocity().mVec128));
-	deltaImpulse = FMNADD(deltaVel1Dotn, tmp, deltaImpulse);
-	deltaImpulse = FMNADD(deltaVel2Dotn, tmp, deltaImpulse);
-	tmp = _mm_add_ps(c.m_appliedImpulse, deltaImpulse);  // sum
-	const __m128 maskLower = _mm_cmpgt_ps(tmp, lowerLimit);
-	const __m128 maskUpper = _mm_cmpgt_ps(upperLimit, tmp);
-	deltaImpulse = _mm_blendv_ps(_mm_sub_ps(lowerLimit, c.m_appliedImpulse), _mm_blendv_ps(_mm_sub_ps(upperLimit, c.m_appliedImpulse), deltaImpulse, maskUpper), maskLower);
-	c.m_appliedImpulse = _mm_blendv_ps(lowerLimit, _mm_blendv_ps(upperLimit, tmp, maskUpper), maskLower);
-	bodyA.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal1.mVec128, bodyA.internalGetInvMass().mVec128), deltaImpulse, bodyA.internalGetDeltaLinearVelocity().mVec128);
-	bodyA.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentA.mVec128, deltaImpulse, bodyA.internalGetDeltaAngularVelocity().mVec128);
-	bodyB.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal2.mVec128, bodyB.internalGetInvMass().mVec128), deltaImpulse, bodyB.internalGetDeltaLinearVelocity().mVec128);
-	bodyB.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentB.mVec128, deltaImpulse, bodyB.internalGetDeltaAngularVelocity().mVec128);
-	btSimdScalar deltaImp = deltaImpulse;
-	return deltaImp.m_floats[0] * (1. / c.m_jacDiagABInv);
-#else
-	return gResolveSingleConstraintRowGeneric_sse2(bodyA, bodyB, c);
-#endif
-}
-
-static btScalar gResolveSingleConstraintRowLowerLimit_sse2(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
-{
-	__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
-	__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
-	__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
-	btSimdScalar deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse), _mm_set1_ps(c.m_cfm)));
-	__m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, bodyA.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, bodyA.internalGetDeltaAngularVelocity().mVec128));
-	__m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, bodyB.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, bodyB.internalGetDeltaAngularVelocity().mVec128));
-	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
-	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
-	btSimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse);
-	btSimdScalar resultLowerLess, resultUpperLess;
-	resultLowerLess = _mm_cmplt_ps(sum, lowerLimit1);
-	resultUpperLess = _mm_cmplt_ps(sum, upperLimit1);
-	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1, cpAppliedImp);
-	deltaImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse));
-	c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum));
-	__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, bodyA.internalGetInvMass().mVec128);
-	__m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128, bodyB.internalGetInvMass().mVec128);
-	__m128 impulseMagnitude = deltaImpulse;
-	bodyA.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(bodyA.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude));
-	bodyA.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(bodyA.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
-	bodyB.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(bodyB.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude));
-	bodyB.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(bodyB.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude));
-	return deltaImpulse.m_floats[0] / c.m_jacDiagABInv;
-}
-
-// Enhanced version of gResolveSingleConstraintRowGeneric_sse2 with SSE4.1 and FMA3
-static btScalar gResolveSingleConstraintRowLowerLimit_sse4_1_fma3(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
-{
-#ifdef BT_ALLOW_SSE4
-	__m128 tmp = _mm_set_ps1(c.m_jacDiagABInv);
-	__m128 deltaImpulse = _mm_set_ps1(c.m_rhs - btScalar(c.m_appliedImpulse) * c.m_cfm);
-	const __m128 lowerLimit = _mm_set_ps1(c.m_lowerLimit);
-	const __m128 deltaVel1Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal1.mVec128, bodyA.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos1CrossNormal.mVec128, bodyA.internalGetDeltaAngularVelocity().mVec128));
-	const __m128 deltaVel2Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal2.mVec128, bodyB.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos2CrossNormal.mVec128, bodyB.internalGetDeltaAngularVelocity().mVec128));
-	deltaImpulse = FMNADD(deltaVel1Dotn, tmp, deltaImpulse);
-	deltaImpulse = FMNADD(deltaVel2Dotn, tmp, deltaImpulse);
-	tmp = _mm_add_ps(c.m_appliedImpulse, deltaImpulse);
-	const __m128 mask = _mm_cmpgt_ps(tmp, lowerLimit);
-	deltaImpulse = _mm_blendv_ps(_mm_sub_ps(lowerLimit, c.m_appliedImpulse), deltaImpulse, mask);
-	c.m_appliedImpulse = _mm_blendv_ps(lowerLimit, tmp, mask);
-	bodyA.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal1.mVec128, bodyA.internalGetInvMass().mVec128), deltaImpulse, bodyA.internalGetDeltaLinearVelocity().mVec128);
-	bodyA.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentA.mVec128, deltaImpulse, bodyA.internalGetDeltaAngularVelocity().mVec128);
-	bodyB.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal2.mVec128, bodyB.internalGetInvMass().mVec128), deltaImpulse, bodyB.internalGetDeltaLinearVelocity().mVec128);
-	bodyB.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentB.mVec128, deltaImpulse, bodyB.internalGetDeltaAngularVelocity().mVec128);
-	btSimdScalar deltaImp = deltaImpulse;
-	return deltaImp.m_floats[0] * (1. / c.m_jacDiagABInv);
-#else
-	return gResolveSingleConstraintRowLowerLimit_sse2(bodyA, bodyB, c);
-#endif  //BT_ALLOW_SSE4
-}
-
-#endif  //USE_SIMD
-
-btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
-{
-	return m_resolveSingleConstraintRowGeneric(bodyA, bodyB, c);
-}
-
-// Project Gauss Seidel or the equivalent Sequential Impulse
-btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
-{
-	return m_resolveSingleConstraintRowGeneric(bodyA, bodyB, c);
-}
-
-btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
-{
-	return m_resolveSingleConstraintRowLowerLimit(bodyA, bodyB, c);
-}
-
-btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
-{
-	return m_resolveSingleConstraintRowLowerLimit(bodyA, bodyB, c);
-}
-
-static btScalar gResolveSplitPenetrationImpulse_scalar_reference(
-	btSolverBody& bodyA,
-	btSolverBody& bodyB,
-	const btSolverConstraint& c)
-{
-	btScalar deltaImpulse = 0.f;
-
-	if (c.m_rhsPenetration)
-	{
-		gNumSplitImpulseRecoveries++;
-		deltaImpulse = c.m_rhsPenetration - btScalar(c.m_appliedPushImpulse) * c.m_cfm;
-		const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(bodyA.internalGetPushVelocity()) + c.m_relpos1CrossNormal.dot(bodyA.internalGetTurnVelocity());
-		const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(bodyB.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(bodyB.internalGetTurnVelocity());
-
-		deltaImpulse -= deltaVel1Dotn * c.m_jacDiagABInv;
-		deltaImpulse -= deltaVel2Dotn * c.m_jacDiagABInv;
-		const btScalar sum = btScalar(c.m_appliedPushImpulse) + deltaImpulse;
-		if (sum < c.m_lowerLimit)
-		{
-			deltaImpulse = c.m_lowerLimit - c.m_appliedPushImpulse;
-			c.m_appliedPushImpulse = c.m_lowerLimit;
-		}
-		else
-		{
-			c.m_appliedPushImpulse = sum;
-		}
-		bodyA.internalApplyPushImpulse(c.m_contactNormal1 * bodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
-		bodyB.internalApplyPushImpulse(c.m_contactNormal2 * bodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
-	}
-	return deltaImpulse * (1. / c.m_jacDiagABInv);
-}
-
-static btScalar gResolveSplitPenetrationImpulse_sse2(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
-{
-#ifdef USE_SIMD
-	if (!c.m_rhsPenetration)
-		return 0.f;
-
-	gNumSplitImpulseRecoveries++;
-
-	__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedPushImpulse);
-	__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
-	__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
-	__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhsPenetration), _mm_mul_ps(_mm_set1_ps(c.m_appliedPushImpulse), _mm_set1_ps(c.m_cfm)));
-	__m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, bodyA.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, bodyA.internalGetTurnVelocity().mVec128));
-	__m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, bodyB.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, bodyB.internalGetTurnVelocity().mVec128));
-	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
-	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
-	btSimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse);
-	btSimdScalar resultLowerLess, resultUpperLess;
-	resultLowerLess = _mm_cmplt_ps(sum, lowerLimit1);
-	resultUpperLess = _mm_cmplt_ps(sum, upperLimit1);
-	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1, cpAppliedImp);
-	deltaImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse));
-	c.m_appliedPushImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum));
-	__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, bodyA.internalGetInvMass().mVec128);
-	__m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128, bodyB.internalGetInvMass().mVec128);
-	__m128 impulseMagnitude = deltaImpulse;
-	bodyA.internalGetPushVelocity().mVec128 = _mm_add_ps(bodyA.internalGetPushVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude));
-	bodyA.internalGetTurnVelocity().mVec128 = _mm_add_ps(bodyA.internalGetTurnVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
-	bodyB.internalGetPushVelocity().mVec128 = _mm_add_ps(bodyB.internalGetPushVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude));
-	bodyB.internalGetTurnVelocity().mVec128 = _mm_add_ps(bodyB.internalGetTurnVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude));
-	btSimdScalar deltaImp = deltaImpulse;
-	return deltaImp.m_floats[0] * (1. / c.m_jacDiagABInv);
-#else
-	return gResolveSplitPenetrationImpulse_scalar_reference(bodyA, bodyB, c);
-#endif
-}
-
-btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
-{
-	m_btSeed2 = 0;
-	m_cachedSolverMode = 0;
-	setupSolverFunctions(false);
-}
-
-void btSequentialImpulseConstraintSolver::setupSolverFunctions(bool useSimd)
-{
-	m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_scalar_reference;
-	m_resolveSingleConstraintRowLowerLimit = gResolveSingleConstraintRowLowerLimit_scalar_reference;
-	m_resolveSplitPenetrationImpulse = gResolveSplitPenetrationImpulse_scalar_reference;
-
-	if (useSimd)
-	{
-#ifdef USE_SIMD
-		m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_sse2;
-		m_resolveSingleConstraintRowLowerLimit = gResolveSingleConstraintRowLowerLimit_sse2;
-		m_resolveSplitPenetrationImpulse = gResolveSplitPenetrationImpulse_sse2;
-
-#ifdef BT_ALLOW_SSE4
-		int cpuFeatures = btCpuFeatureUtility::getCpuFeatures();
-		if ((cpuFeatures & btCpuFeatureUtility::CPU_FEATURE_FMA3) && (cpuFeatures & btCpuFeatureUtility::CPU_FEATURE_SSE4_1))
-		{
-			m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_sse4_1_fma3;
-			m_resolveSingleConstraintRowLowerLimit = gResolveSingleConstraintRowLowerLimit_sse4_1_fma3;
-		}
-#endif  //BT_ALLOW_SSE4
-#endif  //USE_SIMD
-	}
-}
-
-btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver()
-{
-}
-
-btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarConstraintRowSolverGeneric()
-{
-	return gResolveSingleConstraintRowGeneric_scalar_reference;
-}
-
-btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarConstraintRowSolverLowerLimit()
-{
-	return gResolveSingleConstraintRowLowerLimit_scalar_reference;
-}
-
-#ifdef USE_SIMD
-btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverGeneric()
-{
-	return gResolveSingleConstraintRowGeneric_sse2;
-}
-btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverLowerLimit()
-{
-	return gResolveSingleConstraintRowLowerLimit_sse2;
-}
-#ifdef BT_ALLOW_SSE4
-btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE4_1ConstraintRowSolverGeneric()
-{
-	return gResolveSingleConstraintRowGeneric_sse4_1_fma3;
-}
-btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE4_1ConstraintRowSolverLowerLimit()
-{
-	return gResolveSingleConstraintRowLowerLimit_sse4_1_fma3;
-}
-#endif  //BT_ALLOW_SSE4
-#endif  //USE_SIMD
-
-unsigned long btSequentialImpulseConstraintSolver::btRand2()
-{
-	m_btSeed2 = (1664525L * m_btSeed2 + 1013904223L) & 0xffffffff;
-	return m_btSeed2;
-}
-
-//See ODE: adam's all-int straightforward(?) dRandInt (0..n-1)
-int btSequentialImpulseConstraintSolver::btRandInt2(int n)
-{
-	// seems good; xor-fold and modulus
-	const unsigned long un = static_cast<unsigned long>(n);
-	unsigned long r = btRand2();
-
-	// note: probably more aggressive than it needs to be -- might be
-	//       able to get away without one or two of the innermost branches.
-	if (un <= 0x00010000UL)
-	{
-		r ^= (r >> 16);
-		if (un <= 0x00000100UL)
-		{
-			r ^= (r >> 8);
-			if (un <= 0x00000010UL)
-			{
-				r ^= (r >> 4);
-				if (un <= 0x00000004UL)
-				{
-					r ^= (r >> 2);
-					if (un <= 0x00000002UL)
-					{
-						r ^= (r >> 1);
-					}
-				}
-			}
-		}
-	}
-
-	return (int)(r % un);
-}
-
-void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep)
-{
-	btRigidBody* rb = collisionObject ? btRigidBody::upcast(collisionObject) : 0;
-
-	solverBody->internalGetDeltaLinearVelocity().setValue(0.f, 0.f, 0.f);
-	solverBody->internalGetDeltaAngularVelocity().setValue(0.f, 0.f, 0.f);
-	solverBody->internalGetPushVelocity().setValue(0.f, 0.f, 0.f);
-	solverBody->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f);
-
-	if (rb)
-	{
-		solverBody->m_worldTransform = rb->getWorldTransform();
-		solverBody->internalSetInvMass(btVector3(rb->getInvMass(), rb->getInvMass(), rb->getInvMass()) * rb->getLinearFactor());
-		solverBody->m_originalBody = rb;
-		solverBody->m_angularFactor = rb->getAngularFactor();
-		solverBody->m_linearFactor = rb->getLinearFactor();
-		solverBody->m_linearVelocity = rb->getLinearVelocity();
-		solverBody->m_angularVelocity = rb->getAngularVelocity();
-		solverBody->m_externalForceImpulse = rb->getTotalForce() * rb->getInvMass() * timeStep;
-		solverBody->m_externalTorqueImpulse = rb->getTotalTorque() * rb->getInvInertiaTensorWorld() * timeStep;
-	}
-	else
-		{
-		solverBody->m_worldTransform.setIdentity();
-		solverBody->internalSetInvMass(btVector3(0, 0, 0));
-		solverBody->m_originalBody = 0;
-		solverBody->m_angularFactor.setValue(1, 1, 1);
-		solverBody->m_linearFactor.setValue(1, 1, 1);
-		solverBody->m_linearVelocity.setValue(0, 0, 0);
-		solverBody->m_angularVelocity.setValue(0, 0, 0);
-		solverBody->m_externalForceImpulse.setValue(0, 0, 0);
-		solverBody->m_externalTorqueImpulse.setValue(0, 0, 0);
-					}
-				}
-
-btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold)
-{
-	//printf("rel_vel =%f\n", rel_vel);
-	if (btFabs(rel_vel) < velocityThreshold)
-		return 0.;
-
-	btScalar rest = restitution * -rel_vel;
-	return rest;
-}
-
-void btSequentialImpulseConstraintSolver::applyAnisotropicFriction(btCollisionObject* colObj, btVector3& frictionDirection, int frictionMode)
-{
-	if (colObj && colObj->hasAnisotropicFriction(frictionMode))
-	{
-		// transform to local coordinates
-		btVector3 loc_lateral = frictionDirection * colObj->getWorldTransform().getBasis();
-		const btVector3& friction_scaling = colObj->getAnisotropicFriction();
-		//apply anisotropic friction
-		loc_lateral *= friction_scaling;
-		// ... and transform it back to global coordinates
-		frictionDirection = colObj->getWorldTransform().getBasis() * loc_lateral;
-	}
-}
-
-void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
-{
-	btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA];
-	btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB];
-
-	btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody;
-	btRigidBody* bodyA = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody;
-
-	solverConstraint.m_solverBodyIdA = solverBodyIdA;
-	solverConstraint.m_solverBodyIdB = solverBodyIdB;
-
-	solverConstraint.m_friction = cp.m_combinedFriction;
-	solverConstraint.m_originalContactPoint = 0;
-
-	solverConstraint.m_appliedImpulse = 0.f;
-	solverConstraint.m_appliedPushImpulse = 0.f;
-
-	if (body0)
-	{
-		solverConstraint.m_contactNormal1 = normalAxis;
-		btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal1);
-		solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
-		solverConstraint.m_angularComponentA = body0->getInvInertiaTensorWorld() * ftorqueAxis1 * body0->getAngularFactor();
-	}
-	else
-	{
-		solverConstraint.m_contactNormal1.setZero();
-		solverConstraint.m_relpos1CrossNormal.setZero();
-		solverConstraint.m_angularComponentA.setZero();
-	}
-
-	if (bodyA)
-	{
-		solverConstraint.m_contactNormal2 = -normalAxis;
-		btVector3 ftorqueAxis1 = rel_pos2.cross(solverConstraint.m_contactNormal2);
-		solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
-		solverConstraint.m_angularComponentB = bodyA->getInvInertiaTensorWorld() * ftorqueAxis1 * bodyA->getAngularFactor();
-	}
-	else
-	{
-		solverConstraint.m_contactNormal2.setZero();
-		solverConstraint.m_relpos2CrossNormal.setZero();
-		solverConstraint.m_angularComponentB.setZero();
-	}
-
-	{
-		btVector3 vec;
-		btScalar denom0 = 0.f;
-		btScalar denom1 = 0.f;
-		if (body0)
-		{
-			vec = (solverConstraint.m_angularComponentA).cross(rel_pos1);
-			denom0 = body0->getInvMass() + normalAxis.dot(vec);
-		}
-		if (bodyA)
-		{
-			vec = (-solverConstraint.m_angularComponentB).cross(rel_pos2);
-			denom1 = bodyA->getInvMass() + normalAxis.dot(vec);
-		}
-		btScalar denom = relaxation / (denom0 + denom1);
-		solverConstraint.m_jacDiagABInv = denom;
-	}
-
-	{
-		btScalar rel_vel;
-		btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0 ? solverBodyA.m_linearVelocity + solverBodyA.m_externalForceImpulse : btVector3(0, 0, 0)) + solverConstraint.m_relpos1CrossNormal.dot(body0 ? solverBodyA.m_angularVelocity : btVector3(0, 0, 0));
-		btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(bodyA ? solverBodyB.m_linearVelocity + solverBodyB.m_externalForceImpulse : btVector3(0, 0, 0)) + solverConstraint.m_relpos2CrossNormal.dot(bodyA ? solverBodyB.m_angularVelocity : btVector3(0, 0, 0));
-
-		rel_vel = vel1Dotn + vel2Dotn;
-
-		//		btScalar positionalError = 0.f;
-
-		btScalar velocityError = desiredVelocity - rel_vel;
-		btScalar velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
-
-		btScalar penetrationImpulse = btScalar(0);
-
-		if (cp.m_contactPointFlags & BT_CONTACT_FLAG_FRICTION_ANCHOR)
-		{
-			btScalar distance = (cp.getPositionWorldOnA() - cp.getPositionWorldOnB()).dot(normalAxis);
-			btScalar positionalError = -distance * infoGlobal.m_frictionERP / infoGlobal.m_timeStep;
-			penetrationImpulse = positionalError * solverConstraint.m_jacDiagABInv;
-		}
-
-		solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;
-		solverConstraint.m_rhsPenetration = 0.f;
-		solverConstraint.m_cfm = cfmSlip;
-		solverConstraint.m_lowerLimit = -solverConstraint.m_friction;
-		solverConstraint.m_upperLimit = solverConstraint.m_friction;
-	}
-}
-
-btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
-{
-	btSolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing();
-	solverConstraint.m_frictionIndex = frictionIndex;
-	setupFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2,
-		colObj0, colObj1, relaxation, infoGlobal, desiredVelocity, cfmSlip);
-	return solverConstraint;
-}
-
-void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB,
-	btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2,
-	btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation,
-	btScalar desiredVelocity, btScalar cfmSlip)
-
-{
-	btVector3 normalAxis(0, 0, 0);
-
-	solverConstraint.m_contactNormal1 = normalAxis;
-	solverConstraint.m_contactNormal2 = -normalAxis;
-	btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA];
-	btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB];
-
-	btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody;
-	btRigidBody* bodyA = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody;
-
-	solverConstraint.m_solverBodyIdA = solverBodyIdA;
-	solverConstraint.m_solverBodyIdB = solverBodyIdB;
-
-	solverConstraint.m_friction = combinedTorsionalFriction;
-	solverConstraint.m_originalContactPoint = 0;
-
-	solverConstraint.m_appliedImpulse = 0.f;
-	solverConstraint.m_appliedPushImpulse = 0.f;
-
-	{
-		btVector3 ftorqueAxis1 = -normalAxis1;
-		solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
-		solverConstraint.m_angularComponentA = body0 ? body0->getInvInertiaTensorWorld() * ftorqueAxis1 * body0->getAngularFactor() : btVector3(0, 0, 0);
-	}
-	{
-		btVector3 ftorqueAxis1 = normalAxis1;
-		solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
-		solverConstraint.m_angularComponentB = bodyA ? bodyA->getInvInertiaTensorWorld() * ftorqueAxis1 * bodyA->getAngularFactor() : btVector3(0, 0, 0);
-	}
-
-	{
-		btVector3 iMJaA = body0 ? body0->getInvInertiaTensorWorld() * solverConstraint.m_relpos1CrossNormal : btVector3(0, 0, 0);
-		btVector3 iMJaB = bodyA ? bodyA->getInvInertiaTensorWorld() * solverConstraint.m_relpos2CrossNormal : btVector3(0, 0, 0);
-		btScalar sum = 0;
-		sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
-		sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
-		solverConstraint.m_jacDiagABInv = btScalar(1.) / sum;
-	}
-
-	{
-		btScalar rel_vel;
-		btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0 ? solverBodyA.m_linearVelocity + solverBodyA.m_externalForceImpulse : btVector3(0, 0, 0)) + solverConstraint.m_relpos1CrossNormal.dot(body0 ? solverBodyA.m_angularVelocity : btVector3(0, 0, 0));
-		btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(bodyA ? solverBodyB.m_linearVelocity + solverBodyB.m_externalForceImpulse : btVector3(0, 0, 0)) + solverConstraint.m_relpos2CrossNormal.dot(bodyA ? solverBodyB.m_angularVelocity : btVector3(0, 0, 0));
-
-		rel_vel = vel1Dotn + vel2Dotn;
-
-		//		btScalar positionalError = 0.f;
-
-		btSimdScalar velocityError = desiredVelocity - rel_vel;
-		btSimdScalar velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv);
-		solverConstraint.m_rhs = velocityImpulse;
-		solverConstraint.m_cfm = cfmSlip;
-		solverConstraint.m_lowerLimit = -solverConstraint.m_friction;
-		solverConstraint.m_upperLimit = solverConstraint.m_friction;
-	}
-}
-
-btSolverConstraint& btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraint(const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip)
-{
-	btSolverConstraint& solverConstraint = m_tmpSolverContactRollingFrictionConstraintPool.expandNonInitializing();
-	solverConstraint.m_frictionIndex = frictionIndex;
-	setupTorsionalFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, combinedTorsionalFriction, rel_pos1, rel_pos2,
-		colObj0, colObj1, relaxation, desiredVelocity, cfmSlip);
-	return solverConstraint;
-}
-
-int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body, btScalar timeStep)
-{
-#if BT_THREADSAFE
-	int solverBodyId = -1;
-	const bool isRigidBodyType = btRigidBody::upcast(&body) != NULL;
-	const bool isStaticOrKinematic = body.isStaticOrKinematicObject();
-	const bool isKinematic = body.isKinematicObject();
-	if (isRigidBodyType && !isStaticOrKinematic)
-	{
-		// dynamic body
-		// Dynamic bodies can only be in one island, so it's safe to write to the companionId
-		solverBodyId = body.getCompanionId();
-		if (solverBodyId < 0)
-		{
-			solverBodyId = m_tmpSolverBodyPool.size();
-			btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
-			initSolverBody(&solverBody, &body, timeStep);
-			body.setCompanionId(solverBodyId);
-		}
-	}
-	else if (isRigidBodyType && isKinematic)
-	{
-		//
-		// NOTE: must test for kinematic before static because some kinematic objects also
-		//   identify as "static"
-		//
-		// Kinematic bodies can be in multiple islands at once, so it is a
-		// race condition to write to them, so we use an alternate method
-		// to record the solverBodyId
-		int uniqueId = body.getWorldArrayIndex();
-		const int INVALID_SOLVER_BODY_ID = -1;
-		if (uniqueId >= m_kinematicBodyUniqueIdToSolverBodyTable.size())
-		{
-			m_kinematicBodyUniqueIdToSolverBodyTable.resize(uniqueId + 1, INVALID_SOLVER_BODY_ID);
-		}
-		solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId];
-		// if no table entry yet,
-		if (solverBodyId == INVALID_SOLVER_BODY_ID)
-		{
-			// create a table entry for this body
-			solverBodyId = m_tmpSolverBodyPool.size();
-			btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
-			initSolverBody(&solverBody, &body, timeStep);
-			m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId] = solverBodyId;
-		}
-	}
-	else
-	{
-		bool isMultiBodyType = (body.getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK);
-		// Incorrectly set collision object flags can degrade performance in various ways.
-		if (!isMultiBodyType)
-		{
-			btAssert(body.isStaticOrKinematicObject());
-		}
-		//it could be a multibody link collider
-		// all fixed bodies (inf mass) get mapped to a single solver id
-		if (m_fixedBodyId < 0)
-		{
-			m_fixedBodyId = m_tmpSolverBodyPool.size();
-			btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
-			initSolverBody(&fixedBody, 0, timeStep);
-		}
-		solverBodyId = m_fixedBodyId;
-	}
-	btAssert(solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size());
-	return solverBodyId;
-#else   // BT_THREADSAFE
-
-	int solverBodyIdA = -1;
-
-	if (body.getCompanionId() >= 0)
-	{
-		//body has already been converted
-		solverBodyIdA = body.getCompanionId();
-		btAssert(solverBodyIdA < m_tmpSolverBodyPool.size());
-	}
-	else
-	{
-		btRigidBody* rb = btRigidBody::upcast(&body);
-		//convert both active and kinematic objects (for their velocity)
-		if (rb && (rb->getInvMass() || rb->isKinematicObject()))
-		{
-			solverBodyIdA = m_tmpSolverBodyPool.size();
-			btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
-			initSolverBody(&solverBody, &body, timeStep);
-			body.setCompanionId(solverBodyIdA);
-		}
-		else
-		{
-			if (m_fixedBodyId < 0)
-			{
-				m_fixedBodyId = m_tmpSolverBodyPool.size();
-				btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
-				initSolverBody(&fixedBody, 0, timeStep);
-			}
-			return m_fixedBodyId;
-			//			return 0;//assume first one is a fixed solver body
-		}
-	}
-
-	return solverBodyIdA;
-#endif  // BT_THREADSAFE
-}
-#include <stdio.h>
-
-void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint,
-	int solverBodyIdA, int solverBodyIdB,
-	btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
-	btScalar& relaxation,
-	const btVector3& rel_pos1, const btVector3& rel_pos2)
-{
-	//	const btVector3& pos1 = cp.getPositionWorldOnA();
-	//	const btVector3& pos2 = cp.getPositionWorldOnB();
-
-	btSolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA];
-	btSolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB];
-
-	btRigidBody* rb0 = bodyA->m_originalBody;
-	btRigidBody* rb1 = bodyB->m_originalBody;
-
-	//			btVector3 rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin();
-	//			btVector3 rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
-	//rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin();
-	//rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
-
-	relaxation = infoGlobal.m_sor;
-	btScalar invTimeStep = btScalar(1) / infoGlobal.m_timeStep;
-
-	//cfm = 1 /       ( dt * kp + kd )
-	//erp = dt * kp / ( dt * kp + kd )
-
-	btScalar cfm = infoGlobal.m_globalCfm;
-	btScalar erp = infoGlobal.m_erp2;
-
-	if ((cp.m_contactPointFlags & BT_CONTACT_FLAG_HAS_CONTACT_CFM) || (cp.m_contactPointFlags & BT_CONTACT_FLAG_HAS_CONTACT_ERP))
-	{
-		if (cp.m_contactPointFlags & BT_CONTACT_FLAG_HAS_CONTACT_CFM)
-			cfm = cp.m_contactCFM;
-		if (cp.m_contactPointFlags & BT_CONTACT_FLAG_HAS_CONTACT_ERP)
-			erp = cp.m_contactERP;
-	}
-	else
-	{
-		if (cp.m_contactPointFlags & BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING)
-		{
-			btScalar denom = (infoGlobal.m_timeStep * cp.m_combinedContactStiffness1 + cp.m_combinedContactDamping1);
-			if (denom < SIMD_EPSILON)
-			{
-				denom = SIMD_EPSILON;
-			}
-			cfm = btScalar(1) / denom;
-			erp = (infoGlobal.m_timeStep * cp.m_combinedContactStiffness1) / denom;
-		}
-	}
-
-	cfm *= invTimeStep;
-
-	btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
-	solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld() * torqueAxis0 * rb0->getAngularFactor() : btVector3(0, 0, 0);
-	btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);
-	solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld() * -torqueAxis1 * rb1->getAngularFactor() : btVector3(0, 0, 0);
-
-	{
-#ifdef COMPUTE_IMPULSE_DENOM
-		btScalar denom0 = rb0->computeImpulseDenominator(pos1, cp.m_normalWorldOnB);
-		btScalar denom1 = rb1->computeImpulseDenominator(pos2, cp.m_normalWorldOnB);
-#else
-		btVector3 vec;
-		btScalar denom0 = 0.f;
-		btScalar denom1 = 0.f;
-		if (rb0)
-		{
-			vec = (solverConstraint.m_angularComponentA).cross(rel_pos1);
-			denom0 = rb0->getInvMass() + cp.m_normalWorldOnB.dot(vec);
-		}
-		if (rb1)
-		{
-			vec = (-solverConstraint.m_angularComponentB).cross(rel_pos2);
-			denom1 = rb1->getInvMass() + cp.m_normalWorldOnB.dot(vec);
-		}
-#endif  //COMPUTE_IMPULSE_DENOM
-
-		btScalar denom = relaxation / (denom0 + denom1 + cfm);
-		solverConstraint.m_jacDiagABInv = denom;
-	}
-
-	if (rb0)
-	{
-		solverConstraint.m_contactNormal1 = cp.m_normalWorldOnB;
-		solverConstraint.m_relpos1CrossNormal = torqueAxis0;
-	}
-	else
-	{
-		solverConstraint.m_contactNormal1.setZero();
-		solverConstraint.m_relpos1CrossNormal.setZero();
-	}
-	if (rb1)
-	{
-		solverConstraint.m_contactNormal2 = -cp.m_normalWorldOnB;
-		solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
-	}
-	else
-	{
-		solverConstraint.m_contactNormal2.setZero();
-		solverConstraint.m_relpos2CrossNormal.setZero();
-	}
-
-	btScalar restitution = 0.f;
-	btScalar penetration = cp.getDistance() + infoGlobal.m_linearSlop;
-
-	{
-		btVector3 vel1, vel2;
-
-		vel1 = rb0 ? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0, 0, 0);
-		vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0, 0, 0);
-
-		//			btVector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
-		btVector3 vel = vel1 - vel2;
-		btScalar rel_vel = cp.m_normalWorldOnB.dot(vel);
-
-		solverConstraint.m_friction = cp.m_combinedFriction;
-
-		restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold);
-		if (restitution <= btScalar(0.))
-		{
-			restitution = 0.f;
-		};
-	}
-
-	///warm starting (or zero if disabled)
-	if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
-	{
-		solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
-		if (rb0)
-			bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse);
-		if (rb1)
-			bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse);
-	}
-	else
-	{
-		solverConstraint.m_appliedImpulse = 0.f;
-	}
-
-	solverConstraint.m_appliedPushImpulse = 0.f;
-
-	{
-		btVector3 externalForceImpulseA = bodyA->m_originalBody ? bodyA->m_externalForceImpulse : btVector3(0, 0, 0);
-		btVector3 externalTorqueImpulseA = bodyA->m_originalBody ? bodyA->m_externalTorqueImpulse : btVector3(0, 0, 0);
-		btVector3 externalForceImpulseB = bodyB->m_originalBody ? bodyB->m_externalForceImpulse : btVector3(0, 0, 0);
-		btVector3 externalTorqueImpulseB = bodyB->m_originalBody ? bodyB->m_externalTorqueImpulse : btVector3(0, 0, 0);
-
-		btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(bodyA->m_linearVelocity + externalForceImpulseA) + solverConstraint.m_relpos1CrossNormal.dot(bodyA->m_angularVelocity + externalTorqueImpulseA);
-		btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(bodyB->m_linearVelocity + externalForceImpulseB) + solverConstraint.m_relpos2CrossNormal.dot(bodyB->m_angularVelocity + externalTorqueImpulseB);
-		btScalar rel_vel = vel1Dotn + vel2Dotn;
-
-		btScalar positionalError = 0.f;
-		btScalar velocityError = restitution - rel_vel;  // * damping;
-
-		if (penetration > 0)
-		{
-			positionalError = 0;
-
-			velocityError -= penetration * invTimeStep;
-		}
-		else
-		{
-			positionalError = -penetration * erp * invTimeStep;
-		}
-
-		btScalar penetrationImpulse = positionalError * solverConstraint.m_jacDiagABInv;
-		btScalar velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
-
-		if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
-		{
-			//combine position and velocity into rhs
-			solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;  //-solverConstraint.m_contactNormal1.dot(bodyA->m_externalForce*bodyA->m_invMass-bodyB->m_externalForce/bodyB->m_invMass)*solverConstraint.m_jacDiagABInv;
-			solverConstraint.m_rhsPenetration = 0.f;
-		}
-		else
-		{
-			//split position and velocity into rhs and m_rhsPenetration
-			solverConstraint.m_rhs = velocityImpulse;
-			solverConstraint.m_rhsPenetration = penetrationImpulse;
-		}
-		solverConstraint.m_cfm = cfm * solverConstraint.m_jacDiagABInv;
-		solverConstraint.m_lowerLimit = 0;
-		solverConstraint.m_upperLimit = 1e10f;
-	}
-}
-
-void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse(btSolverConstraint& solverConstraint,
-	int solverBodyIdA, int solverBodyIdB,
-	btManifoldPoint& cp, const btContactSolverInfo& infoGlobal)
-{
-	{
-		btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex];
-		
-		frictionConstraint1.m_appliedImpulse = 0.f;
-	}
-
-	if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-	{
-		btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex + 1];
-		
-		frictionConstraint2.m_appliedImpulse = 0.f;
-	}
-}
-
-void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* manifold, const btContactSolverInfo& infoGlobal)
-{
-	btCollisionObject *colObj0 = 0, *colObj1 = 0;
-
-	colObj0 = (btCollisionObject*)manifold->getBody0();
-	colObj1 = (btCollisionObject*)manifold->getBody1();
-
-	int solverBodyIdA = getOrInitSolverBody(*colObj0, infoGlobal.m_timeStep);
-	int solverBodyIdB = getOrInitSolverBody(*colObj1, infoGlobal.m_timeStep);
-
-	//	btRigidBody* bodyA = btRigidBody::upcast(colObj0);
-	//	btRigidBody* bodyB = btRigidBody::upcast(colObj1);
-
-	btSolverBody* solverBodyA = &m_tmpSolverBodyPool[solverBodyIdA];
-	btSolverBody* solverBodyB = &m_tmpSolverBodyPool[solverBodyIdB];
-
-	///avoid collision response between two static objects
-	if (!solverBodyA || (solverBodyA->m_invMass.fuzzyZero() && (!solverBodyB || solverBodyB->m_invMass.fuzzyZero())))
-		return;
-
-	int rollingFriction = 1;
-	for (int j = 0; j < manifold->getNumContacts(); j++)
-	{
-		btManifoldPoint& cp = manifold->getContactPoint(j);
-
-		if (cp.getDistance() <= manifold->getContactProcessingThreshold())
-		{
-			btVector3 rel_pos1;
-			btVector3 rel_pos2;
-			btScalar relaxation;
-
-			int frictionIndex = m_tmpSolverContactConstraintPool.size();
-			btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing();
-			solverConstraint.m_solverBodyIdA = solverBodyIdA;
-			solverConstraint.m_solverBodyIdB = solverBodyIdB;
-
-			solverConstraint.m_originalContactPoint = &cp;
-
-			const btVector3& pos1 = cp.getPositionWorldOnA();
-			const btVector3& pos2 = cp.getPositionWorldOnB();
-
-			rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin();
-			rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
-
-			btVector3 vel1;
-			btVector3 vel2;
-
-			solverBodyA->getVelocityInLocalPointNoDelta(rel_pos1, vel1);
-			solverBodyB->getVelocityInLocalPointNoDelta(rel_pos2, vel2);
-
-			btVector3 vel = vel1 - vel2;
-			btScalar rel_vel = cp.m_normalWorldOnB.dot(vel);
-
-			setupContactConstraint(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, relaxation, rel_pos1, rel_pos2);
-
-			/////setup the friction constraints
-
-			solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size();
-
-			if ((cp.m_combinedRollingFriction > 0.f) && (rollingFriction > 0))
-			{
-				{
-					addTorsionalFrictionConstraint(cp.m_normalWorldOnB, solverBodyIdA, solverBodyIdB, frictionIndex, cp, cp.m_combinedSpinningFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
-					btVector3 axis0, axis1;
-					btPlaneSpace1(cp.m_normalWorldOnB, axis0, axis1);
-					axis0.normalize();
-					axis1.normalize();
-
-					applyAnisotropicFriction(colObj0, axis0, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
-					applyAnisotropicFriction(colObj1, axis0, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
-					applyAnisotropicFriction(colObj0, axis1, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
-					applyAnisotropicFriction(colObj1, axis1, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
-					if (axis0.length() > 0.001)
-						addTorsionalFrictionConstraint(axis0, solverBodyIdA, solverBodyIdB, frictionIndex, cp,
-							cp.m_combinedRollingFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
-					if (axis1.length() > 0.001)
-						addTorsionalFrictionConstraint(axis1, solverBodyIdA, solverBodyIdB, frictionIndex, cp,
-							cp.m_combinedRollingFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
-					}
-				}
-
-			///Bullet has several options to set the friction directions
-			///By default, each contact has only a single friction direction that is recomputed automatically very frame
-			///based on the relative linear velocity.
-			///If the relative velocity it zero, it will automatically compute a friction direction.
-
-			///You can also enable two friction directions, using the SOLVER_USE_2_FRICTION_DIRECTIONS.
-			///In that case, the second friction direction will be orthogonal to both contact normal and first friction direction.
-			///
-			///If you choose SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, then the friction will be independent from the relative projected velocity.
-			///
-			///The user can manually override the friction directions for certain contacts using a contact callback,
-			///and use contactPoint.m_contactPointFlags |= BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED
-			///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2)
-			///this will give a conveyor belt effect
-			///
-
-			if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !(cp.m_contactPointFlags & BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED))
-			{
-				cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
-				btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
-				if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
-				{
-					cp.m_lateralFrictionDir1 *= 1.f / btSqrt(lat_rel_vel);
-					applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
-					applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
-					addFrictionConstraint(cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal);
-
-					if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-					{
-						cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
-						cp.m_lateralFrictionDir2.normalize();  //??
-						applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
-						applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
-						addFrictionConstraint(cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal);
-					}
-				}
-				else
-				{
-					btPlaneSpace1(cp.m_normalWorldOnB, cp.m_lateralFrictionDir1, cp.m_lateralFrictionDir2);
-
-					applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
-					applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
-					addFrictionConstraint(cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal);
-
-					if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-					{
-						applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
-						applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
-						addFrictionConstraint(cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal);
-					}
-
-					if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
-					{
-						cp.m_contactPointFlags |= BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED;
-					}
-				}
-			}
-			else
-			{
-				addFrictionConstraint(cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM);
-
-				if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-					addFrictionConstraint(cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM);
-				}
-			setFrictionConstraintImpulse(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
-			}
-		}
-	}
-
-void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal)
-{
-	int i;
-	btPersistentManifold* manifold = 0;
-	//			btCollisionObject* colObj0=0,*colObj1=0;
-
-	for (i = 0; i < numManifolds; i++)
-	{
-		manifold = manifoldPtr[i];
-		convertContact(manifold, infoGlobal);
-	}
-}
-
-void btSequentialImpulseConstraintSolver::convertJoint(btSolverConstraint* currentConstraintRow,
-	btTypedConstraint* constraint,
-	const btTypedConstraint::btConstraintInfo1& info1,
-	int solverBodyIdA,
-	int solverBodyIdB,
-	const btContactSolverInfo& infoGlobal)
-{
-	const btRigidBody& rbA = constraint->getRigidBodyA();
-	const btRigidBody& rbB = constraint->getRigidBodyB();
-
-	const btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA];
-	const btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB];
-
-	int overrideNumSolverIterations = constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;
-	if (overrideNumSolverIterations > m_maxOverrideNumSolverIterations)
-		m_maxOverrideNumSolverIterations = overrideNumSolverIterations;
-
-	for (int j = 0; j < info1.m_numConstraintRows; j++)
-	{
-		memset(&currentConstraintRow[j], 0, sizeof(btSolverConstraint));
-		currentConstraintRow[j].m_lowerLimit = -SIMD_INFINITY;
-		currentConstraintRow[j].m_upperLimit = SIMD_INFINITY;
-		currentConstraintRow[j].m_appliedImpulse = 0.f;
-		currentConstraintRow[j].m_appliedPushImpulse = 0.f;
-		currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA;
-		currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB;
-		currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations;
-	}
-
-	// these vectors are already cleared in initSolverBody, no need to redundantly clear again
-	btAssert(bodyAPtr->getDeltaLinearVelocity().isZero());
-	btAssert(bodyAPtr->getDeltaAngularVelocity().isZero());
-	btAssert(bodyAPtr->getPushVelocity().isZero());
-	btAssert(bodyAPtr->getTurnVelocity().isZero());
-	btAssert(bodyBPtr->getDeltaLinearVelocity().isZero());
-	btAssert(bodyBPtr->getDeltaAngularVelocity().isZero());
-	btAssert(bodyBPtr->getPushVelocity().isZero());
-	btAssert(bodyBPtr->getTurnVelocity().isZero());
-	//bodyAPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
-	//bodyAPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f);
-	//bodyAPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f);
-	//bodyAPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f);
-	//bodyBPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
-	//bodyBPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f);
-	//bodyBPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f);
-	//bodyBPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f);
-
-	btTypedConstraint::btConstraintInfo2 info2;
-	info2.fps = 1.f / infoGlobal.m_timeStep;
-	info2.erp = infoGlobal.m_erp;
-	info2.m_J1linearAxis = currentConstraintRow->m_contactNormal1;
-	info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal;
-	info2.m_J2linearAxis = currentConstraintRow->m_contactNormal2;
-	info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal;
-	info2.rowskip = sizeof(btSolverConstraint) / sizeof(btScalar);  //check this
-																	///the size of btSolverConstraint needs be a multiple of btScalar
-	btAssert(info2.rowskip * sizeof(btScalar) == sizeof(btSolverConstraint));
-	info2.m_constraintError = &currentConstraintRow->m_rhs;
-	currentConstraintRow->m_cfm = infoGlobal.m_globalCfm;
-	info2.m_damping = infoGlobal.m_damping;
-	info2.cfm = &currentConstraintRow->m_cfm;
-	info2.m_lowerLimit = &currentConstraintRow->m_lowerLimit;
-	info2.m_upperLimit = &currentConstraintRow->m_upperLimit;
-	info2.m_numIterations = infoGlobal.m_numIterations;
-	constraint->getInfo2(&info2);
-
-	///finalize the constraint setup
-	for (int j = 0; j < info1.m_numConstraintRows; j++)
-	{
-		btSolverConstraint& solverConstraint = currentConstraintRow[j];
-
-		if (solverConstraint.m_upperLimit >= constraint->getBreakingImpulseThreshold())
-		{
-			solverConstraint.m_upperLimit = constraint->getBreakingImpulseThreshold();
-		}
-
-		if (solverConstraint.m_lowerLimit <= -constraint->getBreakingImpulseThreshold())
-		{
-			solverConstraint.m_lowerLimit = -constraint->getBreakingImpulseThreshold();
-		}
-
-		solverConstraint.m_originalContactPoint = constraint;
-
-		{
-			const btVector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal;
-			solverConstraint.m_angularComponentA = constraint->getRigidBodyA().getInvInertiaTensorWorld() * ftorqueAxis1 * constraint->getRigidBodyA().getAngularFactor();
-		}
-		{
-			const btVector3& ftorqueAxis2 = solverConstraint.m_relpos2CrossNormal;
-			solverConstraint.m_angularComponentB = constraint->getRigidBodyB().getInvInertiaTensorWorld() * ftorqueAxis2 * constraint->getRigidBodyB().getAngularFactor();
-		}
-
-		{
-			btVector3 iMJlA = solverConstraint.m_contactNormal1 * rbA.getInvMass();
-			btVector3 iMJaA = rbA.getInvInertiaTensorWorld() * solverConstraint.m_relpos1CrossNormal;
-			btVector3 iMJlB = solverConstraint.m_contactNormal2 * rbB.getInvMass();  //sign of normal?
-			btVector3 iMJaB = rbB.getInvInertiaTensorWorld() * solverConstraint.m_relpos2CrossNormal;
-
-			btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal1);
-			sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
-			sum += iMJlB.dot(solverConstraint.m_contactNormal2);
-			sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
-			btScalar fsum = btFabs(sum);
-			btAssert(fsum > SIMD_EPSILON);
-			btScalar sorRelaxation = 1.f;  //todo: get from globalInfo?
-			solverConstraint.m_jacDiagABInv = fsum > SIMD_EPSILON ? sorRelaxation / sum : 0.f;
-		}
-
-		{
-			btScalar rel_vel;
-			btVector3 externalForceImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalForceImpulse : btVector3(0, 0, 0);
-			btVector3 externalTorqueImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalTorqueImpulse : btVector3(0, 0, 0);
-
-			btVector3 externalForceImpulseB = bodyBPtr->m_originalBody ? bodyBPtr->m_externalForceImpulse : btVector3(0, 0, 0);
-			btVector3 externalTorqueImpulseB = bodyBPtr->m_originalBody ? bodyBPtr->m_externalTorqueImpulse : btVector3(0, 0, 0);
-
-			btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rbA.getLinearVelocity() + externalForceImpulseA) + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity() + externalTorqueImpulseA);
-
-			btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rbB.getLinearVelocity() + externalForceImpulseB) + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity() + externalTorqueImpulseB);
-
-			rel_vel = vel1Dotn + vel2Dotn;
-			btScalar restitution = 0.f;
-			btScalar positionalError = solverConstraint.m_rhs;  //already filled in by getConstraintInfo2
-			btScalar velocityError = restitution - rel_vel * info2.m_damping;
-			btScalar penetrationImpulse = positionalError * solverConstraint.m_jacDiagABInv;
-			btScalar velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
-			solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;
-			solverConstraint.m_appliedImpulse = 0.f;
-		}
-	}
-}
-
-void btSequentialImpulseConstraintSolver::convertJoints(btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal)
-{
-	BT_PROFILE("convertJoints");
-	for (int j = 0; j < numConstraints; j++)
-	{
-		btTypedConstraint* constraint = constraints[j];
-		constraint->buildJacobian();
-		constraint->internalSetAppliedImpulse(0.0f);
-	}
-
-	int totalNumRows = 0;
-
-	m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints);
-	//calculate the total number of contraint rows
-	for (int i = 0; i < numConstraints; i++)
-	{
-		btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
-		btJointFeedback* fb = constraints[i]->getJointFeedback();
-		if (fb)
-		{
-			fb->m_appliedForceBodyA.setZero();
-			fb->m_appliedTorqueBodyA.setZero();
-			fb->m_appliedForceBodyB.setZero();
-			fb->m_appliedTorqueBodyB.setZero();
-		}
-
-		if (constraints[i]->isEnabled())
-		{
-			constraints[i]->getInfo1(&info1);
-		}
-		else
-		{
-			info1.m_numConstraintRows = 0;
-			info1.nub = 0;
-		}
-		totalNumRows += info1.m_numConstraintRows;
-	}
-	m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows);
-
-	///setup the btSolverConstraints
-	int currentRow = 0;
-
-	for (int i = 0; i < numConstraints; i++)
-	{
-		const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
-
-		if (info1.m_numConstraintRows)
-		{
-			btAssert(currentRow < totalNumRows);
-
-			btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow];
-			btTypedConstraint* constraint = constraints[i];
-			btRigidBody& rbA = constraint->getRigidBodyA();
-			btRigidBody& rbB = constraint->getRigidBodyB();
-
-			int solverBodyIdA = getOrInitSolverBody(rbA, infoGlobal.m_timeStep);
-			int solverBodyIdB = getOrInitSolverBody(rbB, infoGlobal.m_timeStep);
-
-			convertJoint(currentConstraintRow, constraint, info1, solverBodyIdA, solverBodyIdB, infoGlobal);
-		}
-		currentRow += info1.m_numConstraintRows;
-	}
-}
-
-void btSequentialImpulseConstraintSolver::convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
-{
-	BT_PROFILE("convertBodies");
-	for (int i = 0; i < numBodies; i++)
-	{
-		bodies[i]->setCompanionId(-1);
-	}
-#if BT_THREADSAFE
-	m_kinematicBodyUniqueIdToSolverBodyTable.resize(0);
-#endif  // BT_THREADSAFE
-
-	m_tmpSolverBodyPool.reserve(numBodies + 1);
-	m_tmpSolverBodyPool.resize(0);
-
-	//btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
-	//initSolverBody(&fixedBody,0);
-
-	for (int i = 0; i < numBodies; i++)
-	{
-		int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep);
-
-		btRigidBody* body = btRigidBody::upcast(bodies[i]);
-		if (body && body->getInvMass())
-		{
-			btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId];
-			btVector3 gyroForce(0, 0, 0);
-			if (body->getFlags() & BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT)
-			{
-				gyroForce = body->computeGyroscopicForceExplicit(infoGlobal.m_maxGyroscopicForce);
-				solverBody.m_externalTorqueImpulse -= gyroForce * body->getInvInertiaTensorWorld() * infoGlobal.m_timeStep;
-			}
-			if (body->getFlags() & BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD)
-			{
-				gyroForce = body->computeGyroscopicImpulseImplicit_World(infoGlobal.m_timeStep);
-				solverBody.m_externalTorqueImpulse += gyroForce;
-			}
-			if (body->getFlags() & BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY)
-			{
-				gyroForce = body->computeGyroscopicImpulseImplicit_Body(infoGlobal.m_timeStep);
-				solverBody.m_externalTorqueImpulse += gyroForce;
-			}
-		}
-	}
-}
-
-btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
-{
-	m_fixedBodyId = -1;
-	BT_PROFILE("solveGroupCacheFriendlySetup");
-	(void)debugDrawer;
-
-	// if solver mode has changed,
-	if (infoGlobal.m_solverMode != m_cachedSolverMode)
-	{
-		// update solver functions to use SIMD or non-SIMD
-		bool useSimd = !!(infoGlobal.m_solverMode & SOLVER_SIMD);
-		setupSolverFunctions(useSimd);
-		m_cachedSolverMode = infoGlobal.m_solverMode;
-	}
-	m_maxOverrideNumSolverIterations = 0;
-
-#ifdef BT_ADDITIONAL_DEBUG
-	//make sure that dynamic bodies exist for all (enabled) constraints
-	for (int i = 0; i < numConstraints; i++)
-	{
-		btTypedConstraint* constraint = constraints[i];
-		if (constraint->isEnabled())
-		{
-			if (!constraint->getRigidBodyA().isStaticOrKinematicObject())
-			{
-				bool found = false;
-				for (int b = 0; b < numBodies; b++)
-				{
-					if (&constraint->getRigidBodyA() == bodies[b])
-					{
-						found = true;
-						break;
-					}
-				}
-				btAssert(found);
-			}
-			if (!constraint->getRigidBodyB().isStaticOrKinematicObject())
-			{
-				bool found = false;
-				for (int b = 0; b < numBodies; b++)
-				{
-					if (&constraint->getRigidBodyB() == bodies[b])
-					{
-						found = true;
-						break;
-					}
-				}
-				btAssert(found);
-			}
-		}
-	}
-	//make sure that dynamic bodies exist for all contact manifolds
-	for (int i = 0; i < numManifolds; i++)
-	{
-		if (!manifoldPtr[i]->getBody0()->isStaticOrKinematicObject())
-		{
-			bool found = false;
-			for (int b = 0; b < numBodies; b++)
-			{
-				if (manifoldPtr[i]->getBody0() == bodies[b])
-				{
-					found = true;
-					break;
-				}
-			}
-			btAssert(found);
-		}
-		if (!manifoldPtr[i]->getBody1()->isStaticOrKinematicObject())
-		{
-			bool found = false;
-			for (int b = 0; b < numBodies; b++)
-			{
-				if (manifoldPtr[i]->getBody1() == bodies[b])
-				{
-					found = true;
-					break;
-				}
-			}
-			btAssert(found);
-		}
-	}
-#endif  //BT_ADDITIONAL_DEBUG
-
-	//convert all bodies
-	convertBodies(bodies, numBodies, infoGlobal);
-
-	convertJoints(constraints, numConstraints, infoGlobal);
-
-	convertContacts(manifoldPtr, numManifolds, infoGlobal);
-
-	//	btContactSolverInfo info = infoGlobal;
-
-	int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
-	int numConstraintPool = m_tmpSolverContactConstraintPool.size();
-	int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
-
-	///@todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
-	m_orderNonContactConstraintPool.resizeNoInitialize(numNonContactPool);
-	if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-		m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool * 2);
-	else
-		m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool);
-
-	m_orderFrictionConstraintPool.resizeNoInitialize(numFrictionPool);
-	{
-		int i;
-		for (i = 0; i < numNonContactPool; i++)
-		{
-			m_orderNonContactConstraintPool[i] = i;
-		}
-		for (i = 0; i < numConstraintPool; i++)
-		{
-			m_orderTmpConstraintPool[i] = i;
-		}
-		for (i = 0; i < numFrictionPool; i++)
-		{
-			m_orderFrictionConstraintPool[i] = i;
-		}
-	}
-
-	return 0.f;
-}
-
-btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/)
-{
-	BT_PROFILE("solveSingleIteration");
-	btScalar leastSquaresResidual = 0.f;
-
-	int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
-	int numConstraintPool = m_tmpSolverContactConstraintPool.size();
-	int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
-
-	if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
-	{
-		if (1)  // uncomment this for a bit less random ((iteration & 7) == 0)
-		{
-			for (int j = 0; j < numNonContactPool; ++j)
-			{
-				int tmp = m_orderNonContactConstraintPool[j];
-				int swapi = btRandInt2(j + 1);
-				m_orderNonContactConstraintPool[j] = m_orderNonContactConstraintPool[swapi];
-				m_orderNonContactConstraintPool[swapi] = tmp;
-			}
-
-			//contact/friction constraints are not solved more than
-			if (iteration < infoGlobal.m_numIterations)
-			{
-				for (int j = 0; j < numConstraintPool; ++j)
-				{
-					int tmp = m_orderTmpConstraintPool[j];
-					int swapi = btRandInt2(j + 1);
-					m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi];
-					m_orderTmpConstraintPool[swapi] = tmp;
-				}
-
-				for (int j = 0; j < numFrictionPool; ++j)
-				{
-					int tmp = m_orderFrictionConstraintPool[j];
-					int swapi = btRandInt2(j + 1);
-					m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi];
-					m_orderFrictionConstraintPool[swapi] = tmp;
-				}
-			}
-		}
-	}
-
-	///solve all joint constraints
-	for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++)
-	{
-		btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
-		if (iteration < constraint.m_overrideNumSolverIterations)
-		{
-			btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA], m_tmpSolverBodyPool[constraint.m_solverBodyIdB], constraint);
-			leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
-		}
-	}
-
-	if (iteration < infoGlobal.m_numIterations)
-	{
-		for (int j = 0; j < numConstraints; j++)
-		{
-			if (constraints[j]->isEnabled())
-			{
-				int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(), infoGlobal.m_timeStep);
-				int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(), infoGlobal.m_timeStep);
-				btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
-				btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
-				constraints[j]->solveConstraintObsolete(bodyA, bodyB, infoGlobal.m_timeStep);
-			}
-		}
-
-		///solve all contact constraints
-		if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
-		{
-			int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-			int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) ? 2 : 1;
-
-			for (int c = 0; c < numPoolConstraints; c++)
-			{
-				btScalar totalImpulse = 0;
-
-				{
-					const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]];
-					btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-					leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
-
-					totalImpulse = solveManifold.m_appliedImpulse;
-				}
-				bool applyFriction = true;
-				if (applyFriction)
-				{
-					{
-						btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier]];
-
-						if (totalImpulse > btScalar(0))
-						{
-							solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
-							solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
-
-							btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-							leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
-						}
-					}
-
-					if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)
-					{
-						btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier + 1]];
-
-						if (totalImpulse > btScalar(0))
-						{
-							solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
-							solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
-
-							btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-							leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
-						}
-					}
-				}
-			}
-		}
-		else  //SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
-		{
-			//solve the friction constraints after all contact constraints, don't interleave them
-			int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-			int j;
-
-			for (j = 0; j < numPoolConstraints; j++)
-			{
-				const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-				btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-				leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
-			}
-
-			///solve all friction constraints
-
-			int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
-			for (j = 0; j < numFrictionPoolConstraints; j++)
-			{
-				btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
-				btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
-
-				if (totalImpulse > btScalar(0))
-				{
-					solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
-					solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
-
-					btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-					leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
-				}
-			}
-		}
-
-		int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
-		for (int j = 0; j < numRollingFrictionPoolConstraints; j++)
-		{
-			btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
-			btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
-			if (totalImpulse > btScalar(0))
-			{
-				btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse;
-				if (rollingFrictionMagnitude > rollingFrictionConstraint.m_friction)
-					rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
-
-				rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
-				rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
-
-				btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint);
-				leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
-			}
-		}
-	}
-	return leastSquaresResidual;
-}
-
-void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
-{
-	BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations");
-	int iteration;
-	if (infoGlobal.m_splitImpulse)
-	{
-		{
-			for (iteration = 0; iteration < infoGlobal.m_numIterations; iteration++)
-			{
-				btScalar leastSquaresResidual = 0.f;
-				{
-					int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-					int j;
-					for (j = 0; j < numPoolConstraints; j++)
-					{
-						const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-
-						btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-						leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
-					}
-				}
-				if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration >= (infoGlobal.m_numIterations - 1))
-				{
-#ifdef VERBOSE_RESIDUAL_PRINTF
-					printf("residual = %f at iteration #%d\n", leastSquaresResidual, iteration);
-#endif
-					break;
-				}
-			}
-		}
-	}
-}
-
-btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
-{
-	BT_PROFILE("solveGroupCacheFriendlyIterations");
-
-	{
-		///this is a special step to resolve penetrations (just for contacts)
-		solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
-
-		int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
-
-		for (int iteration = 0; iteration < maxIterations; iteration++)
-			//for ( int iteration = maxIterations-1  ; iteration >= 0;iteration--)
-		{
-			m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
-
-			if (m_leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || (iteration >= (maxIterations - 1)))
-			{
-#ifdef VERBOSE_RESIDUAL_PRINTF
-				printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, iteration);
-#endif
-				m_analyticsData.m_numSolverCalls++;
-				m_analyticsData.m_numIterationsUsed = iteration+1;
-				m_analyticsData.m_islandId = -2;
-				if (numBodies>0)
-					m_analyticsData.m_islandId = bodies[0]->getCompanionId();
-				m_analyticsData.m_numBodies = numBodies;
-				m_analyticsData.m_numContactManifolds = numManifolds;
-				m_analyticsData.m_remainingLeastSquaresResidual = m_leastSquaresResidual;
-				break;
-			}
-		}
-	}
-	return 0.f;
-}
-
-void btSequentialImpulseConstraintSolver::writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal)
-{
-	for (int j = iBegin; j < iEnd; j++)
-	{
-		const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[j];
-		btManifoldPoint* pt = (btManifoldPoint*)solveManifold.m_originalContactPoint;
-		btAssert(pt);
-		pt->m_appliedImpulse = solveManifold.m_appliedImpulse;
-		//	float f = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
-		//	printf("pt->m_appliedImpulseLateral1 = %f\n", f);
-		pt->m_appliedImpulseLateral1 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
-		//printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1);
-		if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-		{
-			pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex + 1].m_appliedImpulse;
-		}
-		//do a callback here?
-	}
-}
-
-void btSequentialImpulseConstraintSolver::writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal)
-{
-	for (int j = iBegin; j < iEnd; j++)
-	{
-		const btSolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j];
-		btTypedConstraint* constr = (btTypedConstraint*)solverConstr.m_originalContactPoint;
-		btJointFeedback* fb = constr->getJointFeedback();
-		if (fb)
-		{
-			fb->m_appliedForceBodyA += solverConstr.m_contactNormal1 * solverConstr.m_appliedImpulse * constr->getRigidBodyA().getLinearFactor() / infoGlobal.m_timeStep;
-			fb->m_appliedForceBodyB += solverConstr.m_contactNormal2 * solverConstr.m_appliedImpulse * constr->getRigidBodyB().getLinearFactor() / infoGlobal.m_timeStep;
-			fb->m_appliedTorqueBodyA += solverConstr.m_relpos1CrossNormal * constr->getRigidBodyA().getAngularFactor() * solverConstr.m_appliedImpulse / infoGlobal.m_timeStep;
-			fb->m_appliedTorqueBodyB += solverConstr.m_relpos2CrossNormal * constr->getRigidBodyB().getAngularFactor() * solverConstr.m_appliedImpulse / infoGlobal.m_timeStep; /*RGM ???? */
-		}
-
-		constr->internalSetAppliedImpulse(solverConstr.m_appliedImpulse);
-		if (btFabs(solverConstr.m_appliedImpulse) >= constr->getBreakingImpulseThreshold())
-		{
-			constr->setEnabled(false);
-		}
-	}
-}
-
-void btSequentialImpulseConstraintSolver::writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal)
-{
-	for (int i = iBegin; i < iEnd; i++)
-	{
-		btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody;
-		if (body)
-		{
-			if (infoGlobal.m_splitImpulse)
-				m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp);
-			else
-				m_tmpSolverBodyPool[i].writebackVelocity();
-
-			m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(
-				m_tmpSolverBodyPool[i].m_linearVelocity +
-				m_tmpSolverBodyPool[i].m_externalForceImpulse);
-
-			m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(
-				m_tmpSolverBodyPool[i].m_angularVelocity +
-				m_tmpSolverBodyPool[i].m_externalTorqueImpulse);
-
-			if (infoGlobal.m_splitImpulse)
-				m_tmpSolverBodyPool[i].m_originalBody->setWorldTransform(m_tmpSolverBodyPool[i].m_worldTransform);
-
-			m_tmpSolverBodyPool[i].m_originalBody->setCompanionId(-1);
-		}
-	}
-}
-
-btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
-{
-	BT_PROFILE("solveGroupCacheFriendlyFinish");
-
-	if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
-	{
-		writeBackContacts(0, m_tmpSolverContactConstraintPool.size(), infoGlobal);
-	}
-
-	writeBackJoints(0, m_tmpSolverNonContactConstraintPool.size(), infoGlobal);
-	writeBackBodies(0, m_tmpSolverBodyPool.size(), infoGlobal);
-
-	m_tmpSolverContactConstraintPool.resizeNoInitialize(0);
-	m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0);
-	m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0);
-	m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0);
-
-	m_tmpSolverBodyPool.resizeNoInitialize(0);
-	return 0.f;
-}
-
-/// btSequentialImpulseConstraintSolver Sequentially applies impulses
-btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer, btDispatcher* /*dispatcher*/)
-{
-	BT_PROFILE("solveGroup");
-	//you need to provide at least some bodies
-
-	solveGroupCacheFriendlySetup(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
-
-	solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
-
-	solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal);
-
-	return 0.f;
-}
-
-void btSequentialImpulseConstraintSolver::reset()
-{
-	m_btSeed2 = 0;
-}
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
deleted file mode 100644
index f3ef02fccc..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
+++ /dev/null
@@ -1,215 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
-#define BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
-
-class btIDebugDraw;
-class btPersistentManifold;
-class btDispatcher;
-class btCollisionObject;
-#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
-#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
-#include "BulletDynamics/ConstraintSolver/btSolverConstraint.h"
-#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
-#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
-
-typedef btScalar (*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&);
-
-struct btSolverAnalyticsData
-{
-	btSolverAnalyticsData()
-	{
-		m_numSolverCalls = 0;
-		m_numIterationsUsed = -1;
-		m_remainingLeastSquaresResidual = -1;
-		m_islandId = -2;
-	}
-	int m_islandId;
-	int m_numBodies;
-	int m_numContactManifolds;
-	int m_numSolverCalls;
-	int m_numIterationsUsed;
-	double m_remainingLeastSquaresResidual;
-};
-
-///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
-ATTRIBUTE_ALIGNED16(class)
-btSequentialImpulseConstraintSolver : public btConstraintSolver
-{
-	
-
-protected:
-	btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool;
-	btConstraintArray m_tmpSolverContactConstraintPool;
-	btConstraintArray m_tmpSolverNonContactConstraintPool;
-	btConstraintArray m_tmpSolverContactFrictionConstraintPool;
-	btConstraintArray m_tmpSolverContactRollingFrictionConstraintPool;
-
-	btAlignedObjectArray<int> m_orderTmpConstraintPool;
-	btAlignedObjectArray<int> m_orderNonContactConstraintPool;
-	btAlignedObjectArray<int> m_orderFrictionConstraintPool;
-	btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
-	int m_maxOverrideNumSolverIterations;
-	int m_fixedBodyId;
-	// When running solvers on multiple threads, a race condition exists for Kinematic objects that
-	// participate in more than one solver.
-	// The getOrInitSolverBody() function writes the companionId of each body (storing the index of the solver body
-	// for the current solver). For normal dynamic bodies it isn't an issue because they can only be in one island
-	// (and therefore one thread) at a time. But kinematic bodies can be in multiple islands at once.
-	// To avoid this race condition, this solver does not write the companionId, instead it stores the solver body
-	// index in this solver-local table, indexed by the uniqueId of the body.
-	btAlignedObjectArray<int> m_kinematicBodyUniqueIdToSolverBodyTable;  // only used for multithreading
-
-	btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric;
-	btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit;
-	btSingleConstraintRowSolver m_resolveSplitPenetrationImpulse;
-	int m_cachedSolverMode;  // used to check if SOLVER_SIMD flag has been changed
-	void setupSolverFunctions(bool useSimd);
-
-	btScalar m_leastSquaresResidual;
-
-	void setupFrictionConstraint(btSolverConstraint & solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB,
-		btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2,
-		btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation,
-		const btContactSolverInfo& infoGlobal,
-		btScalar desiredVelocity = 0., btScalar cfmSlip = 0.);
-
-	void setupTorsionalFrictionConstraint(btSolverConstraint & solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB,
-		btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2,
-		btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation,
-		btScalar desiredVelocity = 0., btScalar cfmSlip = 0.);
-
-	btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0., btScalar cfmSlip = 0.);
-	btSolverConstraint& addTorsionalFrictionConstraint(const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar torsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity = 0, btScalar cfmSlip = 0.f);
-
-	void setupContactConstraint(btSolverConstraint & solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp,
-		const btContactSolverInfo& infoGlobal, btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2);
-
-	static void applyAnisotropicFriction(btCollisionObject * colObj, btVector3 & frictionDirection, int frictionMode);
-
-	void setFrictionConstraintImpulse(btSolverConstraint & solverConstraint, int solverBodyIdA, int solverBodyIdB,
-		btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
-
-	///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
-	unsigned long m_btSeed2;
-
-	btScalar restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold);
-
-	virtual void convertContacts(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
-
-	void convertContact(btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal);
-
-	virtual void convertJoints(btTypedConstraint * *constraints, int numConstraints, const btContactSolverInfo& infoGlobal);
-	void convertJoint(btSolverConstraint * currentConstraintRow, btTypedConstraint * constraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo& infoGlobal);
-
-	virtual void convertBodies(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
-
-	btScalar resolveSplitPenetrationSIMD(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint)
-	{
-		return m_resolveSplitPenetrationImpulse(bodyA, bodyB, contactConstraint);
-	}
-
-	btScalar resolveSplitPenetrationImpulseCacheFriendly(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint)
-	{
-		return m_resolveSplitPenetrationImpulse(bodyA, bodyB, contactConstraint);
-	}
-
-	//internal method
-	int getOrInitSolverBody(btCollisionObject & body, btScalar timeStep);
-	void initSolverBody(btSolverBody * solverBody, btCollisionObject * collisionObject, btScalar timeStep);
-
-	btScalar resolveSingleConstraintRowGeneric(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint);
-	btScalar resolveSingleConstraintRowGenericSIMD(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint);
-	btScalar resolveSingleConstraintRowLowerLimit(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint);
-	btScalar resolveSingleConstraintRowLowerLimitSIMD(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint);
-	btScalar resolveSplitPenetrationImpulse(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint)
-	{
-		return m_resolveSplitPenetrationImpulse(bodyA, bodyB, contactConstraint);
-	}
-
-protected:
-	void writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
-	void writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
-	void writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
-	virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
-	virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
-	virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
-
-	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
-	virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btSequentialImpulseConstraintSolver();
-	virtual ~btSequentialImpulseConstraintSolver();
-
-	virtual btScalar solveGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
-
-	///clear internal cached data and reset random seed
-	virtual void reset();
-
-	unsigned long btRand2();
-
-	int btRandInt2(int n);
-
-	void setRandSeed(unsigned long seed)
-	{
-		m_btSeed2 = seed;
-	}
-	unsigned long getRandSeed() const
-	{
-		return m_btSeed2;
-	}
-
-	virtual btConstraintSolverType getSolverType() const
-	{
-		return BT_SEQUENTIAL_IMPULSE_SOLVER;
-	}
-
-	btSingleConstraintRowSolver getActiveConstraintRowSolverGeneric()
-	{
-		return m_resolveSingleConstraintRowGeneric;
-	}
-	void setConstraintRowSolverGeneric(btSingleConstraintRowSolver rowSolver)
-	{
-		m_resolveSingleConstraintRowGeneric = rowSolver;
-	}
-	btSingleConstraintRowSolver getActiveConstraintRowSolverLowerLimit()
-	{
-		return m_resolveSingleConstraintRowLowerLimit;
-	}
-	void setConstraintRowSolverLowerLimit(btSingleConstraintRowSolver rowSolver)
-	{
-		m_resolveSingleConstraintRowLowerLimit = rowSolver;
-	}
-
-
-
-	///Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4
-	btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric();
-	btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric();
-	btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric();
-
-	///Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4
-	btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit();
-	btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit();
-	btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit();
-	btSolverAnalyticsData m_analyticsData;
-};
-
-#endif  //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp
deleted file mode 100644
index 2718da4a50..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp
+++ /dev/null
@@ -1,1554 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btSequentialImpulseConstraintSolverMt.h"
-
-#include "LinearMath/btQuickprof.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-
-#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-
-bool btSequentialImpulseConstraintSolverMt::s_allowNestedParallelForLoops = false;  // some task schedulers don't like nested loops
-int btSequentialImpulseConstraintSolverMt::s_minimumContactManifoldsForBatching = 250;
-int btSequentialImpulseConstraintSolverMt::s_minBatchSize = 50;
-int btSequentialImpulseConstraintSolverMt::s_maxBatchSize = 100;
-btBatchedConstraints::BatchingMethod btSequentialImpulseConstraintSolverMt::s_contactBatchingMethod = btBatchedConstraints::BATCHING_METHOD_SPATIAL_GRID_2D;
-btBatchedConstraints::BatchingMethod btSequentialImpulseConstraintSolverMt::s_jointBatchingMethod = btBatchedConstraints::BATCHING_METHOD_SPATIAL_GRID_2D;
-
-btSequentialImpulseConstraintSolverMt::btSequentialImpulseConstraintSolverMt()
-{
-	m_numFrictionDirections = 1;
-	m_useBatching = false;
-	m_useObsoleteJointConstraints = false;
-}
-
-btSequentialImpulseConstraintSolverMt::~btSequentialImpulseConstraintSolverMt()
-{
-}
-
-void btSequentialImpulseConstraintSolverMt::setupBatchedContactConstraints()
-{
-	BT_PROFILE("setupBatchedContactConstraints");
-	m_batchedContactConstraints.setup(&m_tmpSolverContactConstraintPool,
-									  m_tmpSolverBodyPool,
-									  s_contactBatchingMethod,
-									  s_minBatchSize,
-									  s_maxBatchSize,
-									  &m_scratchMemory);
-}
-
-void btSequentialImpulseConstraintSolverMt::setupBatchedJointConstraints()
-{
-	BT_PROFILE("setupBatchedJointConstraints");
-	m_batchedJointConstraints.setup(&m_tmpSolverNonContactConstraintPool,
-									m_tmpSolverBodyPool,
-									s_jointBatchingMethod,
-									s_minBatchSize,
-									s_maxBatchSize,
-									&m_scratchMemory);
-}
-
-void btSequentialImpulseConstraintSolverMt::internalSetupContactConstraints(int iContactConstraint, const btContactSolverInfo& infoGlobal)
-{
-	btSolverConstraint& contactConstraint = m_tmpSolverContactConstraintPool[iContactConstraint];
-
-	btVector3 rel_pos1;
-	btVector3 rel_pos2;
-	btScalar relaxation;
-
-	int solverBodyIdA = contactConstraint.m_solverBodyIdA;
-	int solverBodyIdB = contactConstraint.m_solverBodyIdB;
-
-	btSolverBody* solverBodyA = &m_tmpSolverBodyPool[solverBodyIdA];
-	btSolverBody* solverBodyB = &m_tmpSolverBodyPool[solverBodyIdB];
-
-	btRigidBody* colObj0 = solverBodyA->m_originalBody;
-	btRigidBody* colObj1 = solverBodyB->m_originalBody;
-
-	btManifoldPoint& cp = *static_cast<btManifoldPoint*>(contactConstraint.m_originalContactPoint);
-
-	const btVector3& pos1 = cp.getPositionWorldOnA();
-	const btVector3& pos2 = cp.getPositionWorldOnB();
-
-	rel_pos1 = pos1 - solverBodyA->getWorldTransform().getOrigin();
-	rel_pos2 = pos2 - solverBodyB->getWorldTransform().getOrigin();
-
-	btVector3 vel1;
-	btVector3 vel2;
-
-	solverBodyA->getVelocityInLocalPointNoDelta(rel_pos1, vel1);
-	solverBodyB->getVelocityInLocalPointNoDelta(rel_pos2, vel2);
-
-	btVector3 vel = vel1 - vel2;
-	btScalar rel_vel = cp.m_normalWorldOnB.dot(vel);
-
-	setupContactConstraint(contactConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, relaxation, rel_pos1, rel_pos2);
-
-	// setup rolling friction constraints
-	int rollingFrictionIndex = m_rollingFrictionIndexTable[iContactConstraint];
-	if (rollingFrictionIndex >= 0)
-	{
-		btSolverConstraint& spinningFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[rollingFrictionIndex];
-		btAssert(spinningFrictionConstraint.m_frictionIndex == iContactConstraint);
-		setupTorsionalFrictionConstraint(spinningFrictionConstraint,
-										 cp.m_normalWorldOnB,
-										 solverBodyIdA,
-										 solverBodyIdB,
-										 cp,
-										 cp.m_combinedSpinningFriction,
-										 rel_pos1,
-										 rel_pos2,
-										 colObj0,
-										 colObj1,
-										 relaxation,
-										 0.0f,
-										 0.0f);
-		btVector3 axis[2];
-		btPlaneSpace1(cp.m_normalWorldOnB, axis[0], axis[1]);
-		axis[0].normalize();
-		axis[1].normalize();
-
-		applyAnisotropicFriction(colObj0, axis[0], btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
-		applyAnisotropicFriction(colObj1, axis[0], btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
-		applyAnisotropicFriction(colObj0, axis[1], btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
-		applyAnisotropicFriction(colObj1, axis[1], btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
-		// put the largest axis first
-		if (axis[1].length2() > axis[0].length2())
-		{
-			btSwap(axis[0], axis[1]);
-		}
-		const btScalar kRollingFrictionThreshold = 0.001f;
-		for (int i = 0; i < 2; ++i)
-		{
-			int iRollingFric = rollingFrictionIndex + 1 + i;
-			btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[iRollingFric];
-			btAssert(rollingFrictionConstraint.m_frictionIndex == iContactConstraint);
-			btVector3 dir = axis[i];
-			if (dir.length() > kRollingFrictionThreshold)
-			{
-				setupTorsionalFrictionConstraint(rollingFrictionConstraint,
-												 dir,
-												 solverBodyIdA,
-												 solverBodyIdB,
-												 cp,
-												 cp.m_combinedRollingFriction,
-												 rel_pos1,
-												 rel_pos2,
-												 colObj0,
-												 colObj1,
-												 relaxation,
-												 0.0f,
-												 0.0f);
-			}
-			else
-			{
-				rollingFrictionConstraint.m_frictionIndex = -1;  // disable constraint
-			}
-		}
-	}
-
-	// setup friction constraints
-	//	setupFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, desiredVelocity, cfmSlip);
-	{
-		///Bullet has several options to set the friction directions
-		///By default, each contact has only a single friction direction that is recomputed automatically very frame
-		///based on the relative linear velocity.
-		///If the relative velocity it zero, it will automatically compute a friction direction.
-
-		///You can also enable two friction directions, using the SOLVER_USE_2_FRICTION_DIRECTIONS.
-		///In that case, the second friction direction will be orthogonal to both contact normal and first friction direction.
-		///
-		///If you choose SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, then the friction will be independent from the relative projected velocity.
-		///
-		///The user can manually override the friction directions for certain contacts using a contact callback,
-		///and set the cp.m_lateralFrictionInitialized to true
-		///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2)
-		///this will give a conveyor belt effect
-		///
-		btSolverConstraint* frictionConstraint1 = &m_tmpSolverContactFrictionConstraintPool[contactConstraint.m_frictionIndex];
-		btAssert(frictionConstraint1->m_frictionIndex == iContactConstraint);
-
-		btSolverConstraint* frictionConstraint2 = NULL;
-		if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)
-		{
-			frictionConstraint2 = &m_tmpSolverContactFrictionConstraintPool[contactConstraint.m_frictionIndex + 1];
-			btAssert(frictionConstraint2->m_frictionIndex == iContactConstraint);
-		}
-
-		if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !(cp.m_contactPointFlags & BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED))
-		{
-			cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
-			btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
-			if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
-			{
-				cp.m_lateralFrictionDir1 *= 1.f / btSqrt(lat_rel_vel);
-				applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
-				applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
-				setupFrictionConstraint(*frictionConstraint1, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal);
-
-				if (frictionConstraint2)
-				{
-					cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
-					cp.m_lateralFrictionDir2.normalize();  //??
-					applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
-					applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
-					setupFrictionConstraint(*frictionConstraint2, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal);
-				}
-			}
-			else
-			{
-				btPlaneSpace1(cp.m_normalWorldOnB, cp.m_lateralFrictionDir1, cp.m_lateralFrictionDir2);
-
-				applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
-				applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
-				setupFrictionConstraint(*frictionConstraint1, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal);
-
-				if (frictionConstraint2)
-				{
-					applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
-					applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
-					setupFrictionConstraint(*frictionConstraint2, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal);
-				}
-
-				if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
-				{
-					cp.m_contactPointFlags |= BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED;
-				}
-			}
-		}
-		else
-		{
-			setupFrictionConstraint(*frictionConstraint1, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM);
-			if (frictionConstraint2)
-			{
-				setupFrictionConstraint(*frictionConstraint2, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM);
-			}
-		}
-	}
-
-	setFrictionConstraintImpulse(contactConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
-}
-
-struct SetupContactConstraintsLoop : public btIParallelForBody
-{
-	btSequentialImpulseConstraintSolverMt* m_solver;
-	const btBatchedConstraints* m_bc;
-	const btContactSolverInfo* m_infoGlobal;
-
-	SetupContactConstraintsLoop(btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc, const btContactSolverInfo& infoGlobal)
-	{
-		m_solver = solver;
-		m_bc = bc;
-		m_infoGlobal = &infoGlobal;
-	}
-	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		BT_PROFILE("SetupContactConstraintsLoop");
-		for (int iBatch = iBegin; iBatch < iEnd; ++iBatch)
-		{
-			const btBatchedConstraints::Range& batch = m_bc->m_batches[iBatch];
-			for (int i = batch.begin; i < batch.end; ++i)
-			{
-				int iContact = m_bc->m_constraintIndices[i];
-				m_solver->internalSetupContactConstraints(iContact, *m_infoGlobal);
-			}
-		}
-	}
-};
-
-void btSequentialImpulseConstraintSolverMt::setupAllContactConstraints(const btContactSolverInfo& infoGlobal)
-{
-	BT_PROFILE("setupAllContactConstraints");
-	if (m_useBatching)
-	{
-		const btBatchedConstraints& batchedCons = m_batchedContactConstraints;
-		SetupContactConstraintsLoop loop(this, &batchedCons, infoGlobal);
-		for (int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase)
-		{
-			int iPhase = batchedCons.m_phaseOrder[iiPhase];
-			const btBatchedConstraints::Range& phase = batchedCons.m_phases[iPhase];
-			int grainSize = 1;
-			btParallelFor(phase.begin, phase.end, grainSize, loop);
-		}
-	}
-	else
-	{
-		for (int i = 0; i < m_tmpSolverContactConstraintPool.size(); ++i)
-		{
-			internalSetupContactConstraints(i, infoGlobal);
-		}
-	}
-}
-
-int btSequentialImpulseConstraintSolverMt::getOrInitSolverBodyThreadsafe(btCollisionObject& body, btScalar timeStep)
-{
-	//
-	// getOrInitSolverBody is threadsafe only for a single thread per solver (with potentially multiple solvers)
-	//
-	// getOrInitSolverBodyThreadsafe -- attempts to be fully threadsafe (however may affect determinism)
-	//
-	int solverBodyId = -1;
-	bool isRigidBodyType = btRigidBody::upcast(&body) != NULL;
-	if (isRigidBodyType && !body.isStaticOrKinematicObject())
-	{
-		// dynamic body
-		// Dynamic bodies can only be in one island, so it's safe to write to the companionId
-		solverBodyId = body.getCompanionId();
-		if (solverBodyId < 0)
-		{
-			m_bodySolverArrayMutex.lock();
-			// now that we have the lock, check again
-			solverBodyId = body.getCompanionId();
-			if (solverBodyId < 0)
-			{
-				solverBodyId = m_tmpSolverBodyPool.size();
-				btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
-				initSolverBody(&solverBody, &body, timeStep);
-				body.setCompanionId(solverBodyId);
-			}
-			m_bodySolverArrayMutex.unlock();
-		}
-	}
-	else if (isRigidBodyType && body.isKinematicObject())
-	{
-		//
-		// NOTE: must test for kinematic before static because some kinematic objects also
-		//   identify as "static"
-		//
-		// Kinematic bodies can be in multiple islands at once, so it is a
-		// race condition to write to them, so we use an alternate method
-		// to record the solverBodyId
-		int uniqueId = body.getWorldArrayIndex();
-		const int INVALID_SOLVER_BODY_ID = -1;
-		if (m_kinematicBodyUniqueIdToSolverBodyTable.size() <= uniqueId)
-		{
-			m_kinematicBodyUniqueIdToSolverBodyTableMutex.lock();
-			// now that we have the lock, check again
-			if (m_kinematicBodyUniqueIdToSolverBodyTable.size() <= uniqueId)
-			{
-				m_kinematicBodyUniqueIdToSolverBodyTable.resize(uniqueId + 1, INVALID_SOLVER_BODY_ID);
-			}
-			m_kinematicBodyUniqueIdToSolverBodyTableMutex.unlock();
-		}
-		solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId];
-		// if no table entry yet,
-		if (INVALID_SOLVER_BODY_ID == solverBodyId)
-		{
-			// need to acquire both locks
-			m_kinematicBodyUniqueIdToSolverBodyTableMutex.lock();
-			m_bodySolverArrayMutex.lock();
-			// now that we have the lock, check again
-			solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId];
-			if (INVALID_SOLVER_BODY_ID == solverBodyId)
-			{
-				// create a table entry for this body
-				solverBodyId = m_tmpSolverBodyPool.size();
-				btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
-				initSolverBody(&solverBody, &body, timeStep);
-				m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId] = solverBodyId;
-			}
-			m_bodySolverArrayMutex.unlock();
-			m_kinematicBodyUniqueIdToSolverBodyTableMutex.unlock();
-		}
-	}
-	else
-	{
-		// all fixed bodies (inf mass) get mapped to a single solver id
-		if (m_fixedBodyId < 0)
-		{
-			m_bodySolverArrayMutex.lock();
-			// now that we have the lock, check again
-			if (m_fixedBodyId < 0)
-			{
-				m_fixedBodyId = m_tmpSolverBodyPool.size();
-				btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
-				initSolverBody(&fixedBody, 0, timeStep);
-			}
-			m_bodySolverArrayMutex.unlock();
-		}
-		solverBodyId = m_fixedBodyId;
-	}
-	btAssert(solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size());
-	return solverBodyId;
-}
-
-void btSequentialImpulseConstraintSolverMt::internalCollectContactManifoldCachedInfo(btContactManifoldCachedInfo* cachedInfoArray, btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal)
-{
-	BT_PROFILE("internalCollectContactManifoldCachedInfo");
-	for (int i = 0; i < numManifolds; ++i)
-	{
-		btContactManifoldCachedInfo* cachedInfo = &cachedInfoArray[i];
-		btPersistentManifold* manifold = manifoldPtr[i];
-		btCollisionObject* colObj0 = (btCollisionObject*)manifold->getBody0();
-		btCollisionObject* colObj1 = (btCollisionObject*)manifold->getBody1();
-
-		int solverBodyIdA = getOrInitSolverBodyThreadsafe(*colObj0, infoGlobal.m_timeStep);
-		int solverBodyIdB = getOrInitSolverBodyThreadsafe(*colObj1, infoGlobal.m_timeStep);
-
-		cachedInfo->solverBodyIds[0] = solverBodyIdA;
-		cachedInfo->solverBodyIds[1] = solverBodyIdB;
-		cachedInfo->numTouchingContacts = 0;
-
-		btSolverBody* solverBodyA = &m_tmpSolverBodyPool[solverBodyIdA];
-		btSolverBody* solverBodyB = &m_tmpSolverBodyPool[solverBodyIdB];
-
-		// A contact manifold between 2 static object should not exist!
-		// check the collision flags of your objects if this assert fires.
-		// Incorrectly set collision object flags can degrade performance in various ways.
-		btAssert(!m_tmpSolverBodyPool[solverBodyIdA].m_invMass.isZero() || !m_tmpSolverBodyPool[solverBodyIdB].m_invMass.isZero());
-
-		int iContact = 0;
-		for (int j = 0; j < manifold->getNumContacts(); j++)
-		{
-			btManifoldPoint& cp = manifold->getContactPoint(j);
-
-			if (cp.getDistance() <= manifold->getContactProcessingThreshold())
-			{
-				cachedInfo->contactPoints[iContact] = &cp;
-				cachedInfo->contactHasRollingFriction[iContact] = (cp.m_combinedRollingFriction > 0.f);
-				iContact++;
-			}
-		}
-		cachedInfo->numTouchingContacts = iContact;
-	}
-}
-
-struct CollectContactManifoldCachedInfoLoop : public btIParallelForBody
-{
-	btSequentialImpulseConstraintSolverMt* m_solver;
-	btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo* m_cachedInfoArray;
-	btPersistentManifold** m_manifoldPtr;
-	const btContactSolverInfo* m_infoGlobal;
-
-	CollectContactManifoldCachedInfoLoop(btSequentialImpulseConstraintSolverMt* solver, btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo* cachedInfoArray, btPersistentManifold** manifoldPtr, const btContactSolverInfo& infoGlobal)
-	{
-		m_solver = solver;
-		m_cachedInfoArray = cachedInfoArray;
-		m_manifoldPtr = manifoldPtr;
-		m_infoGlobal = &infoGlobal;
-	}
-	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		m_solver->internalCollectContactManifoldCachedInfo(m_cachedInfoArray + iBegin, m_manifoldPtr + iBegin, iEnd - iBegin, *m_infoGlobal);
-	}
-};
-
-void btSequentialImpulseConstraintSolverMt::internalAllocContactConstraints(const btContactManifoldCachedInfo* cachedInfoArray, int numManifolds)
-{
-	BT_PROFILE("internalAllocContactConstraints");
-	// possibly parallel part
-	for (int iManifold = 0; iManifold < numManifolds; ++iManifold)
-	{
-		const btContactManifoldCachedInfo& cachedInfo = cachedInfoArray[iManifold];
-		int contactIndex = cachedInfo.contactIndex;
-		int frictionIndex = contactIndex * m_numFrictionDirections;
-		int rollingFrictionIndex = cachedInfo.rollingFrictionIndex;
-		for (int i = 0; i < cachedInfo.numTouchingContacts; i++)
-		{
-			btSolverConstraint& contactConstraint = m_tmpSolverContactConstraintPool[contactIndex];
-			contactConstraint.m_solverBodyIdA = cachedInfo.solverBodyIds[0];
-			contactConstraint.m_solverBodyIdB = cachedInfo.solverBodyIds[1];
-			contactConstraint.m_originalContactPoint = cachedInfo.contactPoints[i];
-
-			// allocate the friction constraints
-			contactConstraint.m_frictionIndex = frictionIndex;
-			for (int iDir = 0; iDir < m_numFrictionDirections; ++iDir)
-			{
-				btSolverConstraint& frictionConstraint = m_tmpSolverContactFrictionConstraintPool[frictionIndex];
-				frictionConstraint.m_frictionIndex = contactIndex;
-				frictionIndex++;
-			}
-
-			// allocate rolling friction constraints
-			if (cachedInfo.contactHasRollingFriction[i])
-			{
-				m_rollingFrictionIndexTable[contactIndex] = rollingFrictionIndex;
-				// allocate 3 (although we may use only 2 sometimes)
-				for (int i = 0; i < 3; i++)
-				{
-					m_tmpSolverContactRollingFrictionConstraintPool[rollingFrictionIndex].m_frictionIndex = contactIndex;
-					rollingFrictionIndex++;
-				}
-			}
-			else
-			{
-				// indicate there is no rolling friction for this contact point
-				m_rollingFrictionIndexTable[contactIndex] = -1;
-			}
-			contactIndex++;
-		}
-	}
-}
-
-struct AllocContactConstraintsLoop : public btIParallelForBody
-{
-	btSequentialImpulseConstraintSolverMt* m_solver;
-	const btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo* m_cachedInfoArray;
-
-	AllocContactConstraintsLoop(btSequentialImpulseConstraintSolverMt* solver, btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo* cachedInfoArray)
-	{
-		m_solver = solver;
-		m_cachedInfoArray = cachedInfoArray;
-	}
-	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		m_solver->internalAllocContactConstraints(m_cachedInfoArray + iBegin, iEnd - iBegin);
-	}
-};
-
-void btSequentialImpulseConstraintSolverMt::allocAllContactConstraints(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal)
-{
-	BT_PROFILE("allocAllContactConstraints");
-	btAlignedObjectArray<btContactManifoldCachedInfo> cachedInfoArray;  // = m_manifoldCachedInfoArray;
-	cachedInfoArray.resizeNoInitialize(numManifolds);
-	if (/* DISABLES CODE */ (false))
-	{
-		// sequential
-		internalCollectContactManifoldCachedInfo(&cachedInfoArray[0], manifoldPtr, numManifolds, infoGlobal);
-	}
-	else
-	{
-		// may alter ordering of bodies which affects determinism
-		CollectContactManifoldCachedInfoLoop loop(this, &cachedInfoArray[0], manifoldPtr, infoGlobal);
-		int grainSize = 200;
-		btParallelFor(0, numManifolds, grainSize, loop);
-	}
-
-	{
-		// serial part
-		int numContacts = 0;
-		int numRollingFrictionConstraints = 0;
-		for (int iManifold = 0; iManifold < numManifolds; ++iManifold)
-		{
-			btContactManifoldCachedInfo& cachedInfo = cachedInfoArray[iManifold];
-			cachedInfo.contactIndex = numContacts;
-			cachedInfo.rollingFrictionIndex = numRollingFrictionConstraints;
-			numContacts += cachedInfo.numTouchingContacts;
-			for (int i = 0; i < cachedInfo.numTouchingContacts; ++i)
-			{
-				if (cachedInfo.contactHasRollingFriction[i])
-				{
-					numRollingFrictionConstraints += 3;
-				}
-			}
-		}
-		{
-			BT_PROFILE("allocPools");
-			if (m_tmpSolverContactConstraintPool.capacity() < numContacts)
-			{
-				// if we need to reallocate, reserve some extra so we don't have to reallocate again next frame
-				int extraReserve = numContacts / 16;
-				m_tmpSolverContactConstraintPool.reserve(numContacts + extraReserve);
-				m_rollingFrictionIndexTable.reserve(numContacts + extraReserve);
-				m_tmpSolverContactFrictionConstraintPool.reserve((numContacts + extraReserve) * m_numFrictionDirections);
-				m_tmpSolverContactRollingFrictionConstraintPool.reserve(numRollingFrictionConstraints + extraReserve);
-			}
-			m_tmpSolverContactConstraintPool.resizeNoInitialize(numContacts);
-			m_rollingFrictionIndexTable.resizeNoInitialize(numContacts);
-			m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(numContacts * m_numFrictionDirections);
-			m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(numRollingFrictionConstraints);
-		}
-	}
-	{
-		AllocContactConstraintsLoop loop(this, &cachedInfoArray[0]);
-		int grainSize = 200;
-		btParallelFor(0, numManifolds, grainSize, loop);
-	}
-}
-
-void btSequentialImpulseConstraintSolverMt::convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal)
-{
-	if (!m_useBatching)
-	{
-		btSequentialImpulseConstraintSolver::convertContacts(manifoldPtr, numManifolds, infoGlobal);
-		return;
-	}
-	BT_PROFILE("convertContacts");
-	if (numManifolds > 0)
-	{
-		if (m_fixedBodyId < 0)
-		{
-			m_fixedBodyId = m_tmpSolverBodyPool.size();
-			btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
-			initSolverBody(&fixedBody, 0, infoGlobal.m_timeStep);
-		}
-		allocAllContactConstraints(manifoldPtr, numManifolds, infoGlobal);
-		if (m_useBatching)
-		{
-			setupBatchedContactConstraints();
-		}
-		setupAllContactConstraints(infoGlobal);
-	}
-}
-
-void btSequentialImpulseConstraintSolverMt::internalInitMultipleJoints(btTypedConstraint** constraints, int iBegin, int iEnd)
-{
-	BT_PROFILE("internalInitMultipleJoints");
-	for (int i = iBegin; i < iEnd; i++)
-	{
-		btTypedConstraint* constraint = constraints[i];
-		btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
-		if (constraint->isEnabled())
-		{
-			constraint->buildJacobian();
-			constraint->internalSetAppliedImpulse(0.0f);
-			btJointFeedback* fb = constraint->getJointFeedback();
-			if (fb)
-			{
-				fb->m_appliedForceBodyA.setZero();
-				fb->m_appliedTorqueBodyA.setZero();
-				fb->m_appliedForceBodyB.setZero();
-				fb->m_appliedTorqueBodyB.setZero();
-			}
-			constraint->getInfo1(&info1);
-		}
-		else
-		{
-			info1.m_numConstraintRows = 0;
-			info1.nub = 0;
-		}
-	}
-}
-
-struct InitJointsLoop : public btIParallelForBody
-{
-	btSequentialImpulseConstraintSolverMt* m_solver;
-	btTypedConstraint** m_constraints;
-
-	InitJointsLoop(btSequentialImpulseConstraintSolverMt* solver, btTypedConstraint** constraints)
-	{
-		m_solver = solver;
-		m_constraints = constraints;
-	}
-	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		m_solver->internalInitMultipleJoints(m_constraints, iBegin, iEnd);
-	}
-};
-
-void btSequentialImpulseConstraintSolverMt::internalConvertMultipleJoints(const btAlignedObjectArray<JointParams>& jointParamsArray, btTypedConstraint** constraints, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal)
-{
-	BT_PROFILE("internalConvertMultipleJoints");
-	for (int i = iBegin; i < iEnd; ++i)
-	{
-		const JointParams& jointParams = jointParamsArray[i];
-		int currentRow = jointParams.m_solverConstraint;
-		if (currentRow != -1)
-		{
-			const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
-			btAssert(currentRow < m_tmpSolverNonContactConstraintPool.size());
-			btAssert(info1.m_numConstraintRows > 0);
-
-			btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow];
-			btTypedConstraint* constraint = constraints[i];
-
-			convertJoint(currentConstraintRow, constraint, info1, jointParams.m_solverBodyA, jointParams.m_solverBodyB, infoGlobal);
-		}
-	}
-}
-
-struct ConvertJointsLoop : public btIParallelForBody
-{
-	btSequentialImpulseConstraintSolverMt* m_solver;
-	const btAlignedObjectArray<btSequentialImpulseConstraintSolverMt::JointParams>& m_jointParamsArray;
-	btTypedConstraint** m_srcConstraints;
-	const btContactSolverInfo& m_infoGlobal;
-
-	ConvertJointsLoop(btSequentialImpulseConstraintSolverMt* solver,
-					  const btAlignedObjectArray<btSequentialImpulseConstraintSolverMt::JointParams>& jointParamsArray,
-					  btTypedConstraint** srcConstraints,
-					  const btContactSolverInfo& infoGlobal) : m_jointParamsArray(jointParamsArray),
-															   m_infoGlobal(infoGlobal)
-	{
-		m_solver = solver;
-		m_srcConstraints = srcConstraints;
-	}
-	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		m_solver->internalConvertMultipleJoints(m_jointParamsArray, m_srcConstraints, iBegin, iEnd, m_infoGlobal);
-	}
-};
-
-void btSequentialImpulseConstraintSolverMt::convertJoints(btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal)
-{
-	if (!m_useBatching)
-	{
-		btSequentialImpulseConstraintSolver::convertJoints(constraints, numConstraints, infoGlobal);
-		return;
-	}
-	BT_PROFILE("convertJoints");
-	bool parallelJointSetup = true;
-	m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints);
-	if (parallelJointSetup)
-	{
-		InitJointsLoop loop(this, constraints);
-		int grainSize = 40;
-		btParallelFor(0, numConstraints, grainSize, loop);
-	}
-	else
-	{
-		internalInitMultipleJoints(constraints, 0, numConstraints);
-	}
-
-	int totalNumRows = 0;
-	btAlignedObjectArray<JointParams> jointParamsArray;
-	jointParamsArray.resizeNoInitialize(numConstraints);
-
-	//calculate the total number of contraint rows
-	for (int i = 0; i < numConstraints; i++)
-	{
-		btTypedConstraint* constraint = constraints[i];
-
-		JointParams& params = jointParamsArray[i];
-		const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
-
-		if (info1.m_numConstraintRows)
-		{
-			params.m_solverConstraint = totalNumRows;
-			params.m_solverBodyA = getOrInitSolverBody(constraint->getRigidBodyA(), infoGlobal.m_timeStep);
-			params.m_solverBodyB = getOrInitSolverBody(constraint->getRigidBodyB(), infoGlobal.m_timeStep);
-		}
-		else
-		{
-			params.m_solverConstraint = -1;
-		}
-		totalNumRows += info1.m_numConstraintRows;
-	}
-	m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows);
-
-	///setup the btSolverConstraints
-	if (parallelJointSetup)
-	{
-		ConvertJointsLoop loop(this, jointParamsArray, constraints, infoGlobal);
-		int grainSize = 20;
-		btParallelFor(0, numConstraints, grainSize, loop);
-	}
-	else
-	{
-		internalConvertMultipleJoints(jointParamsArray, constraints, 0, numConstraints, infoGlobal);
-	}
-	setupBatchedJointConstraints();
-}
-
-void btSequentialImpulseConstraintSolverMt::internalConvertBodies(btCollisionObject** bodies, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal)
-{
-	BT_PROFILE("internalConvertBodies");
-	for (int i = iBegin; i < iEnd; i++)
-	{
-		btCollisionObject* obj = bodies[i];
-		obj->setCompanionId(i);
-		btSolverBody& solverBody = m_tmpSolverBodyPool[i];
-		initSolverBody(&solverBody, obj, infoGlobal.m_timeStep);
-
-		btRigidBody* body = btRigidBody::upcast(obj);
-		if (body && body->getInvMass())
-		{
-			btVector3 gyroForce(0, 0, 0);
-			if (body->getFlags() & BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT)
-			{
-				gyroForce = body->computeGyroscopicForceExplicit(infoGlobal.m_maxGyroscopicForce);
-				solverBody.m_externalTorqueImpulse -= gyroForce * body->getInvInertiaTensorWorld() * infoGlobal.m_timeStep;
-			}
-			if (body->getFlags() & BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD)
-			{
-				gyroForce = body->computeGyroscopicImpulseImplicit_World(infoGlobal.m_timeStep);
-				solverBody.m_externalTorqueImpulse += gyroForce;
-			}
-			if (body->getFlags() & BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY)
-			{
-				gyroForce = body->computeGyroscopicImpulseImplicit_Body(infoGlobal.m_timeStep);
-				solverBody.m_externalTorqueImpulse += gyroForce;
-			}
-		}
-	}
-}
-
-struct ConvertBodiesLoop : public btIParallelForBody
-{
-	btSequentialImpulseConstraintSolverMt* m_solver;
-	btCollisionObject** m_bodies;
-	int m_numBodies;
-	const btContactSolverInfo& m_infoGlobal;
-
-	ConvertBodiesLoop(btSequentialImpulseConstraintSolverMt* solver,
-					  btCollisionObject** bodies,
-					  int numBodies,
-					  const btContactSolverInfo& infoGlobal) : m_infoGlobal(infoGlobal)
-	{
-		m_solver = solver;
-		m_bodies = bodies;
-		m_numBodies = numBodies;
-	}
-	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		m_solver->internalConvertBodies(m_bodies, iBegin, iEnd, m_infoGlobal);
-	}
-};
-
-void btSequentialImpulseConstraintSolverMt::convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
-{
-	BT_PROFILE("convertBodies");
-	m_kinematicBodyUniqueIdToSolverBodyTable.resize(0);
-
-	m_tmpSolverBodyPool.resizeNoInitialize(numBodies + 1);
-
-	m_fixedBodyId = numBodies;
-	{
-		btSolverBody& fixedBody = m_tmpSolverBodyPool[m_fixedBodyId];
-		initSolverBody(&fixedBody, NULL, infoGlobal.m_timeStep);
-	}
-
-	bool parallelBodySetup = true;
-	if (parallelBodySetup)
-	{
-		ConvertBodiesLoop loop(this, bodies, numBodies, infoGlobal);
-		int grainSize = 40;
-		btParallelFor(0, numBodies, grainSize, loop);
-	}
-	else
-	{
-		internalConvertBodies(bodies, 0, numBodies, infoGlobal);
-	}
-}
-
-btScalar btSequentialImpulseConstraintSolverMt::solveGroupCacheFriendlySetup(
-	btCollisionObject** bodies,
-	int numBodies,
-	btPersistentManifold** manifoldPtr,
-	int numManifolds,
-	btTypedConstraint** constraints,
-	int numConstraints,
-	const btContactSolverInfo& infoGlobal,
-	btIDebugDraw* debugDrawer)
-{
-	m_numFrictionDirections = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) ? 2 : 1;
-	m_useBatching = false;
-	if (numManifolds >= s_minimumContactManifoldsForBatching &&
-		(s_allowNestedParallelForLoops || !btThreadsAreRunning()))
-	{
-		m_useBatching = true;
-		m_batchedContactConstraints.m_debugDrawer = debugDrawer;
-		m_batchedJointConstraints.m_debugDrawer = debugDrawer;
-	}
-	btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(bodies,
-																	  numBodies,
-																	  manifoldPtr,
-																	  numManifolds,
-																	  constraints,
-																	  numConstraints,
-																	  infoGlobal,
-																	  debugDrawer);
-	return 0.0f;
-}
-
-btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactSplitPenetrationImpulseConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd)
-{
-	btScalar leastSquaresResidual = 0.f;
-	for (int iiCons = batchBegin; iiCons < batchEnd; ++iiCons)
-	{
-		int iCons = consIndices[iiCons];
-		const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[iCons];
-		btSolverBody& bodyA = m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA];
-		btSolverBody& bodyB = m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB];
-		btScalar residual = resolveSplitPenetrationImpulse(bodyA, bodyB, solveManifold);
-		leastSquaresResidual += residual * residual;
-	}
-	return leastSquaresResidual;
-}
-
-struct ContactSplitPenetrationImpulseSolverLoop : public btIParallelSumBody
-{
-	btSequentialImpulseConstraintSolverMt* m_solver;
-	const btBatchedConstraints* m_bc;
-
-	ContactSplitPenetrationImpulseSolverLoop(btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc)
-	{
-		m_solver = solver;
-		m_bc = bc;
-	}
-	btScalar sumLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		BT_PROFILE("ContactSplitPenetrationImpulseSolverLoop");
-		btScalar sum = 0;
-		for (int iBatch = iBegin; iBatch < iEnd; ++iBatch)
-		{
-			const btBatchedConstraints::Range& batch = m_bc->m_batches[iBatch];
-			sum += m_solver->resolveMultipleContactSplitPenetrationImpulseConstraints(m_bc->m_constraintIndices, batch.begin, batch.end);
-		}
-		return sum;
-	}
-};
-
-void btSequentialImpulseConstraintSolverMt::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
-{
-	BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations");
-	if (infoGlobal.m_splitImpulse)
-	{
-		for (int iteration = 0; iteration < infoGlobal.m_numIterations; iteration++)
-		{
-			btScalar leastSquaresResidual = 0.f;
-			if (m_useBatching)
-			{
-				const btBatchedConstraints& batchedCons = m_batchedContactConstraints;
-				ContactSplitPenetrationImpulseSolverLoop loop(this, &batchedCons);
-				btScalar leastSquaresResidual = 0.f;
-				for (int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase)
-				{
-					int iPhase = batchedCons.m_phaseOrder[iiPhase];
-					const btBatchedConstraints::Range& phase = batchedCons.m_phases[iPhase];
-					int grainSize = batchedCons.m_phaseGrainSize[iPhase];
-					leastSquaresResidual += btParallelSum(phase.begin, phase.end, grainSize, loop);
-				}
-			}
-			else
-			{
-				// non-batched
-				leastSquaresResidual = resolveMultipleContactSplitPenetrationImpulseConstraints(m_orderTmpConstraintPool, 0, m_tmpSolverContactConstraintPool.size());
-			}
-			if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration >= (infoGlobal.m_numIterations - 1))
-			{
-#ifdef VERBOSE_RESIDUAL_PRINTF
-				printf("residual = %f at iteration #%d\n", leastSquaresResidual, iteration);
-#endif
-				break;
-			}
-		}
-	}
-}
-
-btScalar btSequentialImpulseConstraintSolverMt::solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
-{
-	if (!m_useBatching)
-	{
-		return btSequentialImpulseConstraintSolver::solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
-	}
-	BT_PROFILE("solveSingleIterationMt");
-	btScalar leastSquaresResidual = 0.f;
-
-	if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
-	{
-		if (1)  // uncomment this for a bit less random ((iteration & 7) == 0)
-		{
-			randomizeConstraintOrdering(iteration, infoGlobal.m_numIterations);
-		}
-	}
-
-	{
-		///solve all joint constraints
-		leastSquaresResidual += resolveAllJointConstraints(iteration);
-
-		if (iteration < infoGlobal.m_numIterations)
-		{
-			// this loop is only used for cone-twist constraints,
-			// it would be nice to skip this loop if none of the constraints need it
-			if (m_useObsoleteJointConstraints)
-			{
-				for (int j = 0; j < numConstraints; j++)
-				{
-					if (constraints[j]->isEnabled())
-					{
-						int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(), infoGlobal.m_timeStep);
-						int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(), infoGlobal.m_timeStep);
-						btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
-						btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
-						constraints[j]->solveConstraintObsolete(bodyA, bodyB, infoGlobal.m_timeStep);
-					}
-				}
-			}
-
-			if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
-			{
-				// solve all contact, contact-friction, and rolling friction constraints interleaved
-				leastSquaresResidual += resolveAllContactConstraintsInterleaved();
-			}
-			else  //SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
-			{
-				// don't interleave them
-				// solve all contact constraints
-				leastSquaresResidual += resolveAllContactConstraints();
-
-				// solve all contact friction constraints
-				leastSquaresResidual += resolveAllContactFrictionConstraints();
-
-				// solve all rolling friction constraints
-				leastSquaresResidual += resolveAllRollingFrictionConstraints();
-			}
-		}
-	}
-	return leastSquaresResidual;
-}
-
-btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleJointConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd, int iteration)
-{
-	btScalar leastSquaresResidual = 0.f;
-	for (int iiCons = batchBegin; iiCons < batchEnd; ++iiCons)
-	{
-		int iCons = consIndices[iiCons];
-		const btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[iCons];
-		if (iteration < constraint.m_overrideNumSolverIterations)
-		{
-			btSolverBody& bodyA = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
-			btSolverBody& bodyB = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
-			btScalar residual = resolveSingleConstraintRowGeneric(bodyA, bodyB, constraint);
-			leastSquaresResidual += residual * residual;
-		}
-	}
-	return leastSquaresResidual;
-}
-
-btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd)
-{
-	btScalar leastSquaresResidual = 0.f;
-	for (int iiCons = batchBegin; iiCons < batchEnd; ++iiCons)
-	{
-		int iCons = consIndices[iiCons];
-		const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[iCons];
-		btSolverBody& bodyA = m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA];
-		btSolverBody& bodyB = m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB];
-		btScalar residual = resolveSingleConstraintRowLowerLimit(bodyA, bodyB, solveManifold);
-		leastSquaresResidual += residual * residual;
-	}
-	return leastSquaresResidual;
-}
-
-btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactFrictionConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd)
-{
-	btScalar leastSquaresResidual = 0.f;
-	for (int iiCons = batchBegin; iiCons < batchEnd; ++iiCons)
-	{
-		int iContact = consIndices[iiCons];
-		btScalar totalImpulse = m_tmpSolverContactConstraintPool[iContact].m_appliedImpulse;
-
-		// apply sliding friction
-		if (totalImpulse > 0.0f)
-		{
-			int iBegin = iContact * m_numFrictionDirections;
-			int iEnd = iBegin + m_numFrictionDirections;
-			for (int iFriction = iBegin; iFriction < iEnd; ++iFriction)
-			{
-				btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[iFriction++];
-				btAssert(solveManifold.m_frictionIndex == iContact);
-
-				solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
-				solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
-
-				btSolverBody& bodyA = m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA];
-				btSolverBody& bodyB = m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB];
-				btScalar residual = resolveSingleConstraintRowGeneric(bodyA, bodyB, solveManifold);
-				leastSquaresResidual += residual * residual;
-			}
-		}
-	}
-	return leastSquaresResidual;
-}
-
-btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactRollingFrictionConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd)
-{
-	btScalar leastSquaresResidual = 0.f;
-	for (int iiCons = batchBegin; iiCons < batchEnd; ++iiCons)
-	{
-		int iContact = consIndices[iiCons];
-		int iFirstRollingFriction = m_rollingFrictionIndexTable[iContact];
-		if (iFirstRollingFriction >= 0)
-		{
-			btScalar totalImpulse = m_tmpSolverContactConstraintPool[iContact].m_appliedImpulse;
-			// apply rolling friction
-			if (totalImpulse > 0.0f)
-			{
-				int iBegin = iFirstRollingFriction;
-				int iEnd = iBegin + 3;
-				for (int iRollingFric = iBegin; iRollingFric < iEnd; ++iRollingFric)
-				{
-					btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[iRollingFric];
-					if (rollingFrictionConstraint.m_frictionIndex != iContact)
-					{
-						break;
-					}
-					btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse;
-					if (rollingFrictionMagnitude > rollingFrictionConstraint.m_friction)
-					{
-						rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
-					}
-
-					rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
-					rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
-
-					btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint);
-					leastSquaresResidual += residual * residual;
-				}
-			}
-		}
-	}
-	return leastSquaresResidual;
-}
-
-btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactConstraintsInterleaved(const btAlignedObjectArray<int>& contactIndices,
-																							 int batchBegin,
-																							 int batchEnd)
-{
-	btScalar leastSquaresResidual = 0.f;
-	int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-
-	for (int iiCons = batchBegin; iiCons < batchEnd; iiCons++)
-	{
-		btScalar totalImpulse = 0;
-		int iContact = contactIndices[iiCons];
-		// apply penetration constraint
-		{
-			const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[iContact];
-			btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-			leastSquaresResidual += residual * residual;
-			totalImpulse = solveManifold.m_appliedImpulse;
-		}
-
-		// apply sliding friction
-		if (totalImpulse > 0.0f)
-		{
-			int iBegin = iContact * m_numFrictionDirections;
-			int iEnd = iBegin + m_numFrictionDirections;
-			for (int iFriction = iBegin; iFriction < iEnd; ++iFriction)
-			{
-				btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[iFriction];
-				btAssert(solveManifold.m_frictionIndex == iContact);
-
-				solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
-				solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
-
-				btSolverBody& bodyA = m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA];
-				btSolverBody& bodyB = m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB];
-				btScalar residual = resolveSingleConstraintRowGeneric(bodyA, bodyB, solveManifold);
-				leastSquaresResidual += residual * residual;
-			}
-		}
-
-		// apply rolling friction
-		int iFirstRollingFriction = m_rollingFrictionIndexTable[iContact];
-		if (totalImpulse > 0.0f && iFirstRollingFriction >= 0)
-		{
-			int iBegin = iFirstRollingFriction;
-			int iEnd = iBegin + 3;
-			for (int iRollingFric = iBegin; iRollingFric < iEnd; ++iRollingFric)
-			{
-				btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[iRollingFric];
-				if (rollingFrictionConstraint.m_frictionIndex != iContact)
-				{
-					break;
-				}
-				btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse;
-				if (rollingFrictionMagnitude > rollingFrictionConstraint.m_friction)
-				{
-					rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
-				}
-
-				rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
-				rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
-
-				btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint);
-				leastSquaresResidual += residual * residual;
-			}
-		}
-	}
-	return leastSquaresResidual;
-}
-
-void btSequentialImpulseConstraintSolverMt::randomizeBatchedConstraintOrdering(btBatchedConstraints* batchedConstraints)
-{
-	btBatchedConstraints& bc = *batchedConstraints;
-	// randomize ordering of phases
-	for (int ii = 1; ii < bc.m_phaseOrder.size(); ++ii)
-	{
-		int iSwap = btRandInt2(ii + 1);
-		bc.m_phaseOrder.swap(ii, iSwap);
-	}
-
-	// for each batch,
-	for (int iBatch = 0; iBatch < bc.m_batches.size(); ++iBatch)
-	{
-		// randomize ordering of constraints within the batch
-		const btBatchedConstraints::Range& batch = bc.m_batches[iBatch];
-		for (int iiCons = batch.begin; iiCons < batch.end; ++iiCons)
-		{
-			int iSwap = batch.begin + btRandInt2(iiCons - batch.begin + 1);
-			btAssert(iSwap >= batch.begin && iSwap < batch.end);
-			bc.m_constraintIndices.swap(iiCons, iSwap);
-		}
-	}
-}
-
-void btSequentialImpulseConstraintSolverMt::randomizeConstraintOrdering(int iteration, int numIterations)
-{
-	// randomize ordering of joint constraints
-	randomizeBatchedConstraintOrdering(&m_batchedJointConstraints);
-
-	//contact/friction constraints are not solved more than numIterations
-	if (iteration < numIterations)
-	{
-		randomizeBatchedConstraintOrdering(&m_batchedContactConstraints);
-	}
-}
-
-struct JointSolverLoop : public btIParallelSumBody
-{
-	btSequentialImpulseConstraintSolverMt* m_solver;
-	const btBatchedConstraints* m_bc;
-	int m_iteration;
-
-	JointSolverLoop(btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc, int iteration)
-	{
-		m_solver = solver;
-		m_bc = bc;
-		m_iteration = iteration;
-	}
-	btScalar sumLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		BT_PROFILE("JointSolverLoop");
-		btScalar sum = 0;
-		for (int iBatch = iBegin; iBatch < iEnd; ++iBatch)
-		{
-			const btBatchedConstraints::Range& batch = m_bc->m_batches[iBatch];
-			sum += m_solver->resolveMultipleJointConstraints(m_bc->m_constraintIndices, batch.begin, batch.end, m_iteration);
-		}
-		return sum;
-	}
-};
-
-btScalar btSequentialImpulseConstraintSolverMt::resolveAllJointConstraints(int iteration)
-{
-	BT_PROFILE("resolveAllJointConstraints");
-	const btBatchedConstraints& batchedCons = m_batchedJointConstraints;
-	JointSolverLoop loop(this, &batchedCons, iteration);
-	btScalar leastSquaresResidual = 0.f;
-	for (int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase)
-	{
-		int iPhase = batchedCons.m_phaseOrder[iiPhase];
-		const btBatchedConstraints::Range& phase = batchedCons.m_phases[iPhase];
-		int grainSize = 1;
-		leastSquaresResidual += btParallelSum(phase.begin, phase.end, grainSize, loop);
-	}
-	return leastSquaresResidual;
-}
-
-struct ContactSolverLoop : public btIParallelSumBody
-{
-	btSequentialImpulseConstraintSolverMt* m_solver;
-	const btBatchedConstraints* m_bc;
-
-	ContactSolverLoop(btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc)
-	{
-		m_solver = solver;
-		m_bc = bc;
-	}
-	btScalar sumLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		BT_PROFILE("ContactSolverLoop");
-		btScalar sum = 0;
-		for (int iBatch = iBegin; iBatch < iEnd; ++iBatch)
-		{
-			const btBatchedConstraints::Range& batch = m_bc->m_batches[iBatch];
-			sum += m_solver->resolveMultipleContactConstraints(m_bc->m_constraintIndices, batch.begin, batch.end);
-		}
-		return sum;
-	}
-};
-
-btScalar btSequentialImpulseConstraintSolverMt::resolveAllContactConstraints()
-{
-	BT_PROFILE("resolveAllContactConstraints");
-	const btBatchedConstraints& batchedCons = m_batchedContactConstraints;
-	ContactSolverLoop loop(this, &batchedCons);
-	btScalar leastSquaresResidual = 0.f;
-	for (int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase)
-	{
-		int iPhase = batchedCons.m_phaseOrder[iiPhase];
-		const btBatchedConstraints::Range& phase = batchedCons.m_phases[iPhase];
-		int grainSize = batchedCons.m_phaseGrainSize[iPhase];
-		leastSquaresResidual += btParallelSum(phase.begin, phase.end, grainSize, loop);
-	}
-	return leastSquaresResidual;
-}
-
-struct ContactFrictionSolverLoop : public btIParallelSumBody
-{
-	btSequentialImpulseConstraintSolverMt* m_solver;
-	const btBatchedConstraints* m_bc;
-
-	ContactFrictionSolverLoop(btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc)
-	{
-		m_solver = solver;
-		m_bc = bc;
-	}
-	btScalar sumLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		BT_PROFILE("ContactFrictionSolverLoop");
-		btScalar sum = 0;
-		for (int iBatch = iBegin; iBatch < iEnd; ++iBatch)
-		{
-			const btBatchedConstraints::Range& batch = m_bc->m_batches[iBatch];
-			sum += m_solver->resolveMultipleContactFrictionConstraints(m_bc->m_constraintIndices, batch.begin, batch.end);
-		}
-		return sum;
-	}
-};
-
-btScalar btSequentialImpulseConstraintSolverMt::resolveAllContactFrictionConstraints()
-{
-	BT_PROFILE("resolveAllContactFrictionConstraints");
-	const btBatchedConstraints& batchedCons = m_batchedContactConstraints;
-	ContactFrictionSolverLoop loop(this, &batchedCons);
-	btScalar leastSquaresResidual = 0.f;
-	for (int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase)
-	{
-		int iPhase = batchedCons.m_phaseOrder[iiPhase];
-		const btBatchedConstraints::Range& phase = batchedCons.m_phases[iPhase];
-		int grainSize = batchedCons.m_phaseGrainSize[iPhase];
-		leastSquaresResidual += btParallelSum(phase.begin, phase.end, grainSize, loop);
-	}
-	return leastSquaresResidual;
-}
-
-struct InterleavedContactSolverLoop : public btIParallelSumBody
-{
-	btSequentialImpulseConstraintSolverMt* m_solver;
-	const btBatchedConstraints* m_bc;
-
-	InterleavedContactSolverLoop(btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc)
-	{
-		m_solver = solver;
-		m_bc = bc;
-	}
-	btScalar sumLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		BT_PROFILE("InterleavedContactSolverLoop");
-		btScalar sum = 0;
-		for (int iBatch = iBegin; iBatch < iEnd; ++iBatch)
-		{
-			const btBatchedConstraints::Range& batch = m_bc->m_batches[iBatch];
-			sum += m_solver->resolveMultipleContactConstraintsInterleaved(m_bc->m_constraintIndices, batch.begin, batch.end);
-		}
-		return sum;
-	}
-};
-
-btScalar btSequentialImpulseConstraintSolverMt::resolveAllContactConstraintsInterleaved()
-{
-	BT_PROFILE("resolveAllContactConstraintsInterleaved");
-	const btBatchedConstraints& batchedCons = m_batchedContactConstraints;
-	InterleavedContactSolverLoop loop(this, &batchedCons);
-	btScalar leastSquaresResidual = 0.f;
-	for (int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase)
-	{
-		int iPhase = batchedCons.m_phaseOrder[iiPhase];
-		const btBatchedConstraints::Range& phase = batchedCons.m_phases[iPhase];
-		int grainSize = 1;
-		leastSquaresResidual += btParallelSum(phase.begin, phase.end, grainSize, loop);
-	}
-	return leastSquaresResidual;
-}
-
-struct ContactRollingFrictionSolverLoop : public btIParallelSumBody
-{
-	btSequentialImpulseConstraintSolverMt* m_solver;
-	const btBatchedConstraints* m_bc;
-
-	ContactRollingFrictionSolverLoop(btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc)
-	{
-		m_solver = solver;
-		m_bc = bc;
-	}
-	btScalar sumLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		BT_PROFILE("ContactFrictionSolverLoop");
-		btScalar sum = 0;
-		for (int iBatch = iBegin; iBatch < iEnd; ++iBatch)
-		{
-			const btBatchedConstraints::Range& batch = m_bc->m_batches[iBatch];
-			sum += m_solver->resolveMultipleContactRollingFrictionConstraints(m_bc->m_constraintIndices, batch.begin, batch.end);
-		}
-		return sum;
-	}
-};
-
-btScalar btSequentialImpulseConstraintSolverMt::resolveAllRollingFrictionConstraints()
-{
-	BT_PROFILE("resolveAllRollingFrictionConstraints");
-	btScalar leastSquaresResidual = 0.f;
-	//
-	// We do not generate batches for rolling friction constraints. We assume that
-	// one of two cases is true:
-	//
-	//  1. either most bodies in the simulation have rolling friction, in which case we can use the
-	//     batches for contacts and use a lookup table to translate contact indices to rolling friction
-	//     (ignoring any contact indices that don't map to a rolling friction constraint). As long as
-	//     most contacts have a corresponding rolling friction constraint, this should parallelize well.
-	//
-	//  -OR-
-	//
-	//  2. few bodies in the simulation have rolling friction, so it is not worth trying to use the
-	//     batches from contacts as most of the contacts won't have corresponding rolling friction
-	//     constraints and most threads would end up doing very little work. Most of the time would
-	//     go to threading overhead, so we don't bother with threading.
-	//
-	int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
-	if (numRollingFrictionPoolConstraints >= m_tmpSolverContactConstraintPool.size())
-	{
-		// use batching if there are many rolling friction constraints
-		const btBatchedConstraints& batchedCons = m_batchedContactConstraints;
-		ContactRollingFrictionSolverLoop loop(this, &batchedCons);
-		btScalar leastSquaresResidual = 0.f;
-		for (int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase)
-		{
-			int iPhase = batchedCons.m_phaseOrder[iiPhase];
-			const btBatchedConstraints::Range& phase = batchedCons.m_phases[iPhase];
-			int grainSize = 1;
-			leastSquaresResidual += btParallelSum(phase.begin, phase.end, grainSize, loop);
-		}
-	}
-	else
-	{
-		// no batching, also ignores SOLVER_RANDMIZE_ORDER
-		for (int j = 0; j < numRollingFrictionPoolConstraints; j++)
-		{
-			btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
-			if (rollingFrictionConstraint.m_frictionIndex >= 0)
-			{
-				btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
-				if (totalImpulse > 0.0f)
-				{
-					btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse;
-					if (rollingFrictionMagnitude > rollingFrictionConstraint.m_friction)
-						rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
-
-					rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
-					rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
-
-					btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint);
-					leastSquaresResidual += residual * residual;
-				}
-			}
-		}
-	}
-	return leastSquaresResidual;
-}
-
-void btSequentialImpulseConstraintSolverMt::internalWriteBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal)
-{
-	BT_PROFILE("internalWriteBackContacts");
-	writeBackContacts(iBegin, iEnd, infoGlobal);
-	//for ( int iContact = iBegin; iContact < iEnd; ++iContact)
-	//{
-	//    const btSolverConstraint& contactConstraint = m_tmpSolverContactConstraintPool[ iContact ];
-	//    btManifoldPoint* pt = (btManifoldPoint*) contactConstraint.m_originalContactPoint;
-	//    btAssert( pt );
-	//    pt->m_appliedImpulse = contactConstraint.m_appliedImpulse;
-	//    pt->m_appliedImpulseLateral1 = m_tmpSolverContactFrictionConstraintPool[ contactConstraint.m_frictionIndex ].m_appliedImpulse;
-	//    if ( m_numFrictionDirections == 2 )
-	//    {
-	//        pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[ contactConstraint.m_frictionIndex + 1 ].m_appliedImpulse;
-	//    }
-	//}
-}
-
-void btSequentialImpulseConstraintSolverMt::internalWriteBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal)
-{
-	BT_PROFILE("internalWriteBackJoints");
-	writeBackJoints(iBegin, iEnd, infoGlobal);
-}
-
-void btSequentialImpulseConstraintSolverMt::internalWriteBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal)
-{
-	BT_PROFILE("internalWriteBackBodies");
-	writeBackBodies(iBegin, iEnd, infoGlobal);
-}
-
-struct WriteContactPointsLoop : public btIParallelForBody
-{
-	btSequentialImpulseConstraintSolverMt* m_solver;
-	const btContactSolverInfo* m_infoGlobal;
-
-	WriteContactPointsLoop(btSequentialImpulseConstraintSolverMt* solver, const btContactSolverInfo& infoGlobal)
-	{
-		m_solver = solver;
-		m_infoGlobal = &infoGlobal;
-	}
-	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		m_solver->internalWriteBackContacts(iBegin, iEnd, *m_infoGlobal);
-	}
-};
-
-struct WriteJointsLoop : public btIParallelForBody
-{
-	btSequentialImpulseConstraintSolverMt* m_solver;
-	const btContactSolverInfo* m_infoGlobal;
-
-	WriteJointsLoop(btSequentialImpulseConstraintSolverMt* solver, const btContactSolverInfo& infoGlobal)
-	{
-		m_solver = solver;
-		m_infoGlobal = &infoGlobal;
-	}
-	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		m_solver->internalWriteBackJoints(iBegin, iEnd, *m_infoGlobal);
-	}
-};
-
-struct WriteBodiesLoop : public btIParallelForBody
-{
-	btSequentialImpulseConstraintSolverMt* m_solver;
-	const btContactSolverInfo* m_infoGlobal;
-
-	WriteBodiesLoop(btSequentialImpulseConstraintSolverMt* solver, const btContactSolverInfo& infoGlobal)
-	{
-		m_solver = solver;
-		m_infoGlobal = &infoGlobal;
-	}
-	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		m_solver->internalWriteBackBodies(iBegin, iEnd, *m_infoGlobal);
-	}
-};
-
-btScalar btSequentialImpulseConstraintSolverMt::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
-{
-	BT_PROFILE("solveGroupCacheFriendlyFinish");
-
-	if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
-	{
-		WriteContactPointsLoop loop(this, infoGlobal);
-		int grainSize = 500;
-		btParallelFor(0, m_tmpSolverContactConstraintPool.size(), grainSize, loop);
-	}
-
-	{
-		WriteJointsLoop loop(this, infoGlobal);
-		int grainSize = 400;
-		btParallelFor(0, m_tmpSolverNonContactConstraintPool.size(), grainSize, loop);
-	}
-	{
-		WriteBodiesLoop loop(this, infoGlobal);
-		int grainSize = 100;
-		btParallelFor(0, m_tmpSolverBodyPool.size(), grainSize, loop);
-	}
-
-	m_tmpSolverContactConstraintPool.resizeNoInitialize(0);
-	m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0);
-	m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0);
-	m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0);
-
-	m_tmpSolverBodyPool.resizeNoInitialize(0);
-	return 0.f;
-}
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h
deleted file mode 100644
index 1861ddd7d7..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h
+++ /dev/null
@@ -1,150 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H
-#define BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H
-
-#include "btSequentialImpulseConstraintSolver.h"
-#include "btBatchedConstraints.h"
-#include "LinearMath/btThreads.h"
-
-///
-/// btSequentialImpulseConstraintSolverMt
-///
-///  A multithreaded variant of the sequential impulse constraint solver. The constraints to be solved are grouped into
-///  batches and phases where each batch of constraints within a given phase can be solved in parallel with the rest.
-///  Ideally we want as few phases as possible, and each phase should have many batches, and all of the batches should
-///  have about the same number of constraints.
-///  This method works best on a large island of many constraints.
-///
-///  Supports all of the features of the normal sequential impulse solver such as:
-///    - split penetration impulse
-///    - rolling friction
-///    - interleaving constraints
-///    - warmstarting
-///    - 2 friction directions
-///    - randomized constraint ordering
-///    - early termination when leastSquaresResidualThreshold is satisfied
-///
-///  When the SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS flag is enabled, unlike the normal SequentialImpulse solver,
-///  the rolling friction is interleaved as well.
-///  Interleaving the contact penetration constraints with friction reduces the number of parallel loops that need to be done,
-///  which reduces threading overhead so it can be a performance win, however, it does seem to produce a less stable simulation,
-///  at least on stacks of blocks.
-///
-///  When the SOLVER_RANDMIZE_ORDER flag is enabled, the ordering of phases, and the ordering of constraints within each batch
-///  is randomized, however it does not swap constraints between batches.
-///  This is to avoid regenerating the batches for each solver iteration which would be quite costly in performance.
-///
-///  Note that a non-zero leastSquaresResidualThreshold could possibly affect the determinism of the simulation
-///  if the task scheduler's parallelSum operation is non-deterministic. The parallelSum operation can be non-deterministic
-///  because floating point addition is not associative due to rounding errors.
-///  The task scheduler can and should ensure that the result of any parallelSum operation is deterministic.
-///
-ATTRIBUTE_ALIGNED16(class)
-btSequentialImpulseConstraintSolverMt : public btSequentialImpulseConstraintSolver
-{
-public:
-	virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) BT_OVERRIDE;
-	virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) BT_OVERRIDE;
-	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) BT_OVERRIDE;
-	virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
-
-	// temp struct used to collect info from persistent manifolds into a cache-friendly struct using multiple threads
-	struct btContactManifoldCachedInfo
-	{
-		static const int MAX_NUM_CONTACT_POINTS = 4;
-
-		int numTouchingContacts;
-		int solverBodyIds[2];
-		int contactIndex;
-		int rollingFrictionIndex;
-		bool contactHasRollingFriction[MAX_NUM_CONTACT_POINTS];
-		btManifoldPoint* contactPoints[MAX_NUM_CONTACT_POINTS];
-	};
-	// temp struct used for setting up joint constraints in parallel
-	struct JointParams
-	{
-		int m_solverConstraint;
-		int m_solverBodyA;
-		int m_solverBodyB;
-	};
-	void internalInitMultipleJoints(btTypedConstraint * *constraints, int iBegin, int iEnd);
-	void internalConvertMultipleJoints(const btAlignedObjectArray<JointParams>& jointParamsArray, btTypedConstraint** constraints, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
-
-	// parameters to control batching
-	static bool s_allowNestedParallelForLoops;        // whether to allow nested parallel operations
-	static int s_minimumContactManifoldsForBatching;  // don't even try to batch if fewer manifolds than this
-	static btBatchedConstraints::BatchingMethod s_contactBatchingMethod;
-	static btBatchedConstraints::BatchingMethod s_jointBatchingMethod;
-	static int s_minBatchSize;  // desired number of constraints per batch
-	static int s_maxBatchSize;
-
-protected:
-	static const int CACHE_LINE_SIZE = 64;
-
-	btBatchedConstraints m_batchedContactConstraints;
-	btBatchedConstraints m_batchedJointConstraints;
-	int m_numFrictionDirections;
-	bool m_useBatching;
-	bool m_useObsoleteJointConstraints;
-	btAlignedObjectArray<btContactManifoldCachedInfo> m_manifoldCachedInfoArray;
-	btAlignedObjectArray<int> m_rollingFrictionIndexTable;  // lookup table mapping contact index to rolling friction index
-	btSpinMutex m_bodySolverArrayMutex;
-	char m_antiFalseSharingPadding[CACHE_LINE_SIZE];  // padding to keep mutexes in separate cachelines
-	btSpinMutex m_kinematicBodyUniqueIdToSolverBodyTableMutex;
-	btAlignedObjectArray<char> m_scratchMemory;
-
-	virtual void randomizeConstraintOrdering(int iteration, int numIterations);
-	virtual btScalar resolveAllJointConstraints(int iteration);
-	virtual btScalar resolveAllContactConstraints();
-	virtual btScalar resolveAllContactFrictionConstraints();
-	virtual btScalar resolveAllContactConstraintsInterleaved();
-	virtual btScalar resolveAllRollingFrictionConstraints();
-
-	virtual void setupBatchedContactConstraints();
-	virtual void setupBatchedJointConstraints();
-	virtual void convertJoints(btTypedConstraint * *constraints, int numConstraints, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
-	virtual void convertContacts(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
-	virtual void convertBodies(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
-
-	int getOrInitSolverBodyThreadsafe(btCollisionObject & body, btScalar timeStep);
-	void allocAllContactConstraints(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
-	void setupAllContactConstraints(const btContactSolverInfo& infoGlobal);
-	void randomizeBatchedConstraintOrdering(btBatchedConstraints * batchedConstraints);
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btSequentialImpulseConstraintSolverMt();
-	virtual ~btSequentialImpulseConstraintSolverMt();
-
-	btScalar resolveMultipleJointConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd, int iteration);
-	btScalar resolveMultipleContactConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd);
-	btScalar resolveMultipleContactSplitPenetrationImpulseConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd);
-	btScalar resolveMultipleContactFrictionConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd);
-	btScalar resolveMultipleContactRollingFrictionConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd);
-	btScalar resolveMultipleContactConstraintsInterleaved(const btAlignedObjectArray<int>& contactIndices, int batchBegin, int batchEnd);
-
-	void internalCollectContactManifoldCachedInfo(btContactManifoldCachedInfo * cachedInfoArray, btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
-	void internalAllocContactConstraints(const btContactManifoldCachedInfo* cachedInfoArray, int numManifolds);
-	void internalSetupContactConstraints(int iContactConstraint, const btContactSolverInfo& infoGlobal);
-	void internalConvertBodies(btCollisionObject * *bodies, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
-	void internalWriteBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
-	void internalWriteBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
-	void internalWriteBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
-};
-
-#endif  //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
deleted file mode 100644
index cac5302a73..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
+++ /dev/null
@@ -1,823 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/*
-Added by Roman Ponomarev (rponom@gmail.com)
-April 04, 2008
-*/
-
-#include "btSliderConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btTransformUtil.h"
-#include <new>
-
-#define USE_OFFSET_FOR_CONSTANT_FRAME true
-
-void btSliderConstraint::initParams()
-{
-	m_lowerLinLimit = btScalar(1.0);
-	m_upperLinLimit = btScalar(-1.0);
-	m_lowerAngLimit = btScalar(0.);
-	m_upperAngLimit = btScalar(0.);
-	m_softnessDirLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
-	m_restitutionDirLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
-	m_dampingDirLin = btScalar(0.);
-	m_cfmDirLin = SLIDER_CONSTRAINT_DEF_CFM;
-	m_softnessDirAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
-	m_restitutionDirAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
-	m_dampingDirAng = btScalar(0.);
-	m_cfmDirAng = SLIDER_CONSTRAINT_DEF_CFM;
-	m_softnessOrthoLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
-	m_restitutionOrthoLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
-	m_dampingOrthoLin = SLIDER_CONSTRAINT_DEF_DAMPING;
-	m_cfmOrthoLin = SLIDER_CONSTRAINT_DEF_CFM;
-	m_softnessOrthoAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
-	m_restitutionOrthoAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
-	m_dampingOrthoAng = SLIDER_CONSTRAINT_DEF_DAMPING;
-	m_cfmOrthoAng = SLIDER_CONSTRAINT_DEF_CFM;
-	m_softnessLimLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
-	m_restitutionLimLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
-	m_dampingLimLin = SLIDER_CONSTRAINT_DEF_DAMPING;
-	m_cfmLimLin = SLIDER_CONSTRAINT_DEF_CFM;
-	m_softnessLimAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
-	m_restitutionLimAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
-	m_dampingLimAng = SLIDER_CONSTRAINT_DEF_DAMPING;
-	m_cfmLimAng = SLIDER_CONSTRAINT_DEF_CFM;
-
-	m_poweredLinMotor = false;
-	m_targetLinMotorVelocity = btScalar(0.);
-	m_maxLinMotorForce = btScalar(0.);
-	m_accumulatedLinMotorImpulse = btScalar(0.0);
-
-	m_poweredAngMotor = false;
-	m_targetAngMotorVelocity = btScalar(0.);
-	m_maxAngMotorForce = btScalar(0.);
-	m_accumulatedAngMotorImpulse = btScalar(0.0);
-
-	m_flags = 0;
-	m_flags = 0;
-
-	m_useOffsetForConstraintFrame = USE_OFFSET_FOR_CONSTANT_FRAME;
-
-	calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
-}
-
-btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
-	: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB),
-	  m_useSolveConstraintObsolete(false),
-	  m_frameInA(frameInA),
-	  m_frameInB(frameInB),
-	  m_useLinearReferenceFrameA(useLinearReferenceFrameA)
-{
-	initParams();
-}
-
-btSliderConstraint::btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA)
-	: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, getFixedBody(), rbB),
-	  m_useSolveConstraintObsolete(false),
-	  m_frameInB(frameInB),
-	  m_useLinearReferenceFrameA(useLinearReferenceFrameA)
-{
-	///not providing rigidbody A means implicitly using worldspace for body A
-	m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;
-	//	m_frameInA.getOrigin() = m_rbA.getCenterOfMassTransform()(m_frameInA.getOrigin());
-
-	initParams();
-}
-
-void btSliderConstraint::getInfo1(btConstraintInfo1* info)
-{
-	if (m_useSolveConstraintObsolete)
-	{
-		info->m_numConstraintRows = 0;
-		info->nub = 0;
-	}
-	else
-	{
-		info->m_numConstraintRows = 4;  // Fixed 2 linear + 2 angular
-		info->nub = 2;
-		//prepare constraint
-		calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
-		testAngLimits();
-		testLinLimits();
-		if (getSolveLinLimit() || getPoweredLinMotor())
-		{
-			info->m_numConstraintRows++;  // limit 3rd linear as well
-			info->nub--;
-		}
-		if (getSolveAngLimit() || getPoweredAngMotor())
-		{
-			info->m_numConstraintRows++;  // limit 3rd angular as well
-			info->nub--;
-		}
-	}
-}
-
-void btSliderConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
-{
-	info->m_numConstraintRows = 6;  // Fixed 2 linear + 2 angular + 1 limit (even if not used)
-	info->nub = 0;
-}
-
-void btSliderConstraint::getInfo2(btConstraintInfo2* info)
-{
-	getInfo2NonVirtual(info, m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform(), m_rbA.getLinearVelocity(), m_rbB.getLinearVelocity(), m_rbA.getInvMass(), m_rbB.getInvMass());
-}
-
-void btSliderConstraint::calculateTransforms(const btTransform& transA, const btTransform& transB)
-{
-	if (m_useLinearReferenceFrameA || (!m_useSolveConstraintObsolete))
-	{
-		m_calculatedTransformA = transA * m_frameInA;
-		m_calculatedTransformB = transB * m_frameInB;
-	}
-	else
-	{
-		m_calculatedTransformA = transB * m_frameInB;
-		m_calculatedTransformB = transA * m_frameInA;
-	}
-	m_realPivotAInW = m_calculatedTransformA.getOrigin();
-	m_realPivotBInW = m_calculatedTransformB.getOrigin();
-	m_sliderAxis = m_calculatedTransformA.getBasis().getColumn(0);  // along X
-	if (m_useLinearReferenceFrameA || m_useSolveConstraintObsolete)
-	{
-		m_delta = m_realPivotBInW - m_realPivotAInW;
-	}
-	else
-	{
-		m_delta = m_realPivotAInW - m_realPivotBInW;
-	}
-	m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
-	btVector3 normalWorld;
-	int i;
-	//linear part
-	for (i = 0; i < 3; i++)
-	{
-		normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
-		m_depth[i] = m_delta.dot(normalWorld);
-	}
-}
-
-void btSliderConstraint::testLinLimits(void)
-{
-	m_solveLinLim = false;
-	m_linPos = m_depth[0];
-	if (m_lowerLinLimit <= m_upperLinLimit)
-	{
-		if (m_depth[0] > m_upperLinLimit)
-		{
-			m_depth[0] -= m_upperLinLimit;
-			m_solveLinLim = true;
-		}
-		else if (m_depth[0] < m_lowerLinLimit)
-		{
-			m_depth[0] -= m_lowerLinLimit;
-			m_solveLinLim = true;
-		}
-		else
-		{
-			m_depth[0] = btScalar(0.);
-		}
-	}
-	else
-	{
-		m_depth[0] = btScalar(0.);
-	}
-}
-
-void btSliderConstraint::testAngLimits(void)
-{
-	m_angDepth = btScalar(0.);
-	m_solveAngLim = false;
-	if (m_lowerAngLimit <= m_upperAngLimit)
-	{
-		const btVector3 axisA0 = m_calculatedTransformA.getBasis().getColumn(1);
-		const btVector3 axisA1 = m_calculatedTransformA.getBasis().getColumn(2);
-		const btVector3 axisB0 = m_calculatedTransformB.getBasis().getColumn(1);
-		//		btScalar rot = btAtan2Fast(axisB0.dot(axisA1), axisB0.dot(axisA0));
-		btScalar rot = btAtan2(axisB0.dot(axisA1), axisB0.dot(axisA0));
-		rot = btAdjustAngleToLimits(rot, m_lowerAngLimit, m_upperAngLimit);
-		m_angPos = rot;
-		if (rot < m_lowerAngLimit)
-		{
-			m_angDepth = rot - m_lowerAngLimit;
-			m_solveAngLim = true;
-		}
-		else if (rot > m_upperAngLimit)
-		{
-			m_angDepth = rot - m_upperAngLimit;
-			m_solveAngLim = true;
-		}
-	}
-}
-
-btVector3 btSliderConstraint::getAncorInA(void)
-{
-	btVector3 ancorInA;
-	ancorInA = m_realPivotAInW + (m_lowerLinLimit + m_upperLinLimit) * btScalar(0.5) * m_sliderAxis;
-	ancorInA = m_rbA.getCenterOfMassTransform().inverse() * ancorInA;
-	return ancorInA;
-}
-
-btVector3 btSliderConstraint::getAncorInB(void)
-{
-	btVector3 ancorInB;
-	ancorInB = m_frameInB.getOrigin();
-	return ancorInB;
-}
-
-void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, btScalar rbAinvMass, btScalar rbBinvMass)
-{
-	const btTransform& trA = getCalculatedTransformA();
-	const btTransform& trB = getCalculatedTransformB();
-
-	btAssert(!m_useSolveConstraintObsolete);
-	int i, s = info->rowskip;
-
-	btScalar signFact = m_useLinearReferenceFrameA ? btScalar(1.0f) : btScalar(-1.0f);
-
-	// difference between frames in WCS
-	btVector3 ofs = trB.getOrigin() - trA.getOrigin();
-	// now get weight factors depending on masses
-	btScalar miA = rbAinvMass;
-	btScalar miB = rbBinvMass;
-	bool hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON);
-	btScalar miS = miA + miB;
-	btScalar factA, factB;
-	if (miS > btScalar(0.f))
-	{
-		factA = miB / miS;
-	}
-	else
-	{
-		factA = btScalar(0.5f);
-	}
-	factB = btScalar(1.0f) - factA;
-	btVector3 ax1, p, q;
-	btVector3 ax1A = trA.getBasis().getColumn(0);
-	btVector3 ax1B = trB.getBasis().getColumn(0);
-	if (m_useOffsetForConstraintFrame)
-	{
-		// get the desired direction of slider axis
-		// as weighted sum of X-orthos of frameA and frameB in WCS
-		ax1 = ax1A * factA + ax1B * factB;
-		ax1.normalize();
-		// construct two orthos to slider axis
-		btPlaneSpace1(ax1, p, q);
-	}
-	else
-	{  // old way - use frameA
-		ax1 = trA.getBasis().getColumn(0);
-		// get 2 orthos to slider axis (Y, Z)
-		p = trA.getBasis().getColumn(1);
-		q = trA.getBasis().getColumn(2);
-	}
-	// make rotations around these orthos equal
-	// the slider axis should be the only unconstrained
-	// rotational axis, the angular velocity of the two bodies perpendicular to
-	// the slider axis should be equal. thus the constraint equations are
-	//    p*w1 - p*w2 = 0
-	//    q*w1 - q*w2 = 0
-	// where p and q are unit vectors normal to the slider axis, and w1 and w2
-	// are the angular velocity vectors of the two bodies.
-	info->m_J1angularAxis[0] = p[0];
-	info->m_J1angularAxis[1] = p[1];
-	info->m_J1angularAxis[2] = p[2];
-	info->m_J1angularAxis[s + 0] = q[0];
-	info->m_J1angularAxis[s + 1] = q[1];
-	info->m_J1angularAxis[s + 2] = q[2];
-
-	info->m_J2angularAxis[0] = -p[0];
-	info->m_J2angularAxis[1] = -p[1];
-	info->m_J2angularAxis[2] = -p[2];
-	info->m_J2angularAxis[s + 0] = -q[0];
-	info->m_J2angularAxis[s + 1] = -q[1];
-	info->m_J2angularAxis[s + 2] = -q[2];
-	// compute the right hand side of the constraint equation. set relative
-	// body velocities along p and q to bring the slider back into alignment.
-	// if ax1A,ax1B are the unit length slider axes as computed from bodyA and
-	// bodyB, we need to rotate both bodies along the axis u = (ax1 x ax2).
-	// if "theta" is the angle between ax1 and ax2, we need an angular velocity
-	// along u to cover angle erp*theta in one step :
-	//   |angular_velocity| = angle/time = erp*theta / stepsize
-	//                      = (erp*fps) * theta
-	//    angular_velocity  = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
-	//                      = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
-	// ...as ax1 and ax2 are unit length. if theta is smallish,
-	// theta ~= sin(theta), so
-	//    angular_velocity  = (erp*fps) * (ax1 x ax2)
-	// ax1 x ax2 is in the plane space of ax1, so we project the angular
-	// velocity to p and q to find the right hand side.
-	//	btScalar k = info->fps * info->erp * getSoftnessOrthoAng();
-	btScalar currERP = (m_flags & BT_SLIDER_FLAGS_ERP_ORTANG) ? m_softnessOrthoAng : m_softnessOrthoAng * info->erp;
-	btScalar k = info->fps * currERP;
-
-	btVector3 u = ax1A.cross(ax1B);
-	info->m_constraintError[0] = k * u.dot(p);
-	info->m_constraintError[s] = k * u.dot(q);
-	if (m_flags & BT_SLIDER_FLAGS_CFM_ORTANG)
-	{
-		info->cfm[0] = m_cfmOrthoAng;
-		info->cfm[s] = m_cfmOrthoAng;
-	}
-
-	int nrow = 1;  // last filled row
-	int srow;
-	btScalar limit_err;
-	int limit;
-
-	// next two rows.
-	// we want: velA + wA x relA == velB + wB x relB ... but this would
-	// result in three equations, so we project along two orthos to the slider axis
-
-	btTransform bodyA_trans = transA;
-	btTransform bodyB_trans = transB;
-	nrow++;
-	int s2 = nrow * s;
-	nrow++;
-	int s3 = nrow * s;
-	btVector3 tmpA(0, 0, 0), tmpB(0, 0, 0), relA(0, 0, 0), relB(0, 0, 0), c(0, 0, 0);
-	if (m_useOffsetForConstraintFrame)
-	{
-		// get vector from bodyB to frameB in WCS
-		relB = trB.getOrigin() - bodyB_trans.getOrigin();
-		// get its projection to slider axis
-		btVector3 projB = ax1 * relB.dot(ax1);
-		// get vector directed from bodyB to slider axis (and orthogonal to it)
-		btVector3 orthoB = relB - projB;
-		// same for bodyA
-		relA = trA.getOrigin() - bodyA_trans.getOrigin();
-		btVector3 projA = ax1 * relA.dot(ax1);
-		btVector3 orthoA = relA - projA;
-		// get desired offset between frames A and B along slider axis
-		btScalar sliderOffs = m_linPos - m_depth[0];
-		// desired vector from projection of center of bodyA to projection of center of bodyB to slider axis
-		btVector3 totalDist = projA + ax1 * sliderOffs - projB;
-		// get offset vectors relA and relB
-		relA = orthoA + totalDist * factA;
-		relB = orthoB - totalDist * factB;
-		// now choose average ortho to slider axis
-		p = orthoB * factA + orthoA * factB;
-		btScalar len2 = p.length2();
-		if (len2 > SIMD_EPSILON)
-		{
-			p /= btSqrt(len2);
-		}
-		else
-		{
-			p = trA.getBasis().getColumn(1);
-		}
-		// make one more ortho
-		q = ax1.cross(p);
-		// fill two rows
-		tmpA = relA.cross(p);
-		tmpB = relB.cross(p);
-		for (i = 0; i < 3; i++) info->m_J1angularAxis[s2 + i] = tmpA[i];
-		for (i = 0; i < 3; i++) info->m_J2angularAxis[s2 + i] = -tmpB[i];
-		tmpA = relA.cross(q);
-		tmpB = relB.cross(q);
-		if (hasStaticBody && getSolveAngLimit())
-		{  // to make constraint between static and dynamic objects more rigid
-			// remove wA (or wB) from equation if angular limit is hit
-			tmpB *= factB;
-			tmpA *= factA;
-		}
-		for (i = 0; i < 3; i++) info->m_J1angularAxis[s3 + i] = tmpA[i];
-		for (i = 0; i < 3; i++) info->m_J2angularAxis[s3 + i] = -tmpB[i];
-		for (i = 0; i < 3; i++) info->m_J1linearAxis[s2 + i] = p[i];
-		for (i = 0; i < 3; i++) info->m_J1linearAxis[s3 + i] = q[i];
-		for (i = 0; i < 3; i++) info->m_J2linearAxis[s2 + i] = -p[i];
-		for (i = 0; i < 3; i++) info->m_J2linearAxis[s3 + i] = -q[i];
-	}
-	else
-	{  // old way - maybe incorrect if bodies are not on the slider axis
-		// see discussion "Bug in slider constraint" http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=4024&start=0
-		c = bodyB_trans.getOrigin() - bodyA_trans.getOrigin();
-		btVector3 tmp = c.cross(p);
-		for (i = 0; i < 3; i++) info->m_J1angularAxis[s2 + i] = factA * tmp[i];
-		for (i = 0; i < 3; i++) info->m_J2angularAxis[s2 + i] = factB * tmp[i];
-		tmp = c.cross(q);
-		for (i = 0; i < 3; i++) info->m_J1angularAxis[s3 + i] = factA * tmp[i];
-		for (i = 0; i < 3; i++) info->m_J2angularAxis[s3 + i] = factB * tmp[i];
-
-		for (i = 0; i < 3; i++) info->m_J1linearAxis[s2 + i] = p[i];
-		for (i = 0; i < 3; i++) info->m_J1linearAxis[s3 + i] = q[i];
-		for (i = 0; i < 3; i++) info->m_J2linearAxis[s2 + i] = -p[i];
-		for (i = 0; i < 3; i++) info->m_J2linearAxis[s3 + i] = -q[i];
-	}
-	// compute two elements of right hand side
-
-	//	k = info->fps * info->erp * getSoftnessOrthoLin();
-	currERP = (m_flags & BT_SLIDER_FLAGS_ERP_ORTLIN) ? m_softnessOrthoLin : m_softnessOrthoLin * info->erp;
-	k = info->fps * currERP;
-
-	btScalar rhs = k * p.dot(ofs);
-	info->m_constraintError[s2] = rhs;
-	rhs = k * q.dot(ofs);
-	info->m_constraintError[s3] = rhs;
-	if (m_flags & BT_SLIDER_FLAGS_CFM_ORTLIN)
-	{
-		info->cfm[s2] = m_cfmOrthoLin;
-		info->cfm[s3] = m_cfmOrthoLin;
-	}
-
-	// check linear limits
-	limit_err = btScalar(0.0);
-	limit = 0;
-	if (getSolveLinLimit())
-	{
-		limit_err = getLinDepth() * signFact;
-		limit = (limit_err > btScalar(0.0)) ? 2 : 1;
-	}
-	bool powered = getPoweredLinMotor();
-	// if the slider has joint limits or motor, add in the extra row
-	if (limit || powered)
-	{
-		nrow++;
-		srow = nrow * info->rowskip;
-		info->m_J1linearAxis[srow + 0] = ax1[0];
-		info->m_J1linearAxis[srow + 1] = ax1[1];
-		info->m_J1linearAxis[srow + 2] = ax1[2];
-		info->m_J2linearAxis[srow + 0] = -ax1[0];
-		info->m_J2linearAxis[srow + 1] = -ax1[1];
-		info->m_J2linearAxis[srow + 2] = -ax1[2];
-		// linear torque decoupling step:
-		//
-		// we have to be careful that the linear constraint forces (+/- ax1) applied to the two bodies
-		// do not create a torque couple. in other words, the points that the
-		// constraint force is applied at must lie along the same ax1 axis.
-		// a torque couple will result in limited slider-jointed free
-		// bodies from gaining angular momentum.
-		if (m_useOffsetForConstraintFrame)
-		{
-			// this is needed only when bodyA and bodyB are both dynamic.
-			if (!hasStaticBody)
-			{
-				tmpA = relA.cross(ax1);
-				tmpB = relB.cross(ax1);
-				info->m_J1angularAxis[srow + 0] = tmpA[0];
-				info->m_J1angularAxis[srow + 1] = tmpA[1];
-				info->m_J1angularAxis[srow + 2] = tmpA[2];
-				info->m_J2angularAxis[srow + 0] = -tmpB[0];
-				info->m_J2angularAxis[srow + 1] = -tmpB[1];
-				info->m_J2angularAxis[srow + 2] = -tmpB[2];
-			}
-		}
-		else
-		{                   // The old way. May be incorrect if bodies are not on the slider axis
-			btVector3 ltd;  // Linear Torque Decoupling vector (a torque)
-			ltd = c.cross(ax1);
-			info->m_J1angularAxis[srow + 0] = factA * ltd[0];
-			info->m_J1angularAxis[srow + 1] = factA * ltd[1];
-			info->m_J1angularAxis[srow + 2] = factA * ltd[2];
-			info->m_J2angularAxis[srow + 0] = factB * ltd[0];
-			info->m_J2angularAxis[srow + 1] = factB * ltd[1];
-			info->m_J2angularAxis[srow + 2] = factB * ltd[2];
-		}
-		// right-hand part
-		btScalar lostop = getLowerLinLimit();
-		btScalar histop = getUpperLinLimit();
-		if (limit && (lostop == histop))
-		{  // the joint motor is ineffective
-			powered = false;
-		}
-		info->m_constraintError[srow] = 0.;
-		info->m_lowerLimit[srow] = 0.;
-		info->m_upperLimit[srow] = 0.;
-		currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMLIN) ? m_softnessLimLin : info->erp;
-		if (powered)
-		{
-			if (m_flags & BT_SLIDER_FLAGS_CFM_DIRLIN)
-			{
-				info->cfm[srow] = m_cfmDirLin;
-			}
-			btScalar tag_vel = getTargetLinMotorVelocity();
-			btScalar mot_fact = getMotorFactor(m_linPos, m_lowerLinLimit, m_upperLinLimit, tag_vel, info->fps * currERP);
-			info->m_constraintError[srow] -= signFact * mot_fact * getTargetLinMotorVelocity();
-			info->m_lowerLimit[srow] += -getMaxLinMotorForce() / info->fps;
-			info->m_upperLimit[srow] += getMaxLinMotorForce() / info->fps;
-		}
-		if (limit)
-		{
-			k = info->fps * currERP;
-			info->m_constraintError[srow] += k * limit_err;
-			if (m_flags & BT_SLIDER_FLAGS_CFM_LIMLIN)
-			{
-				info->cfm[srow] = m_cfmLimLin;
-			}
-			if (lostop == histop)
-			{  // limited low and high simultaneously
-				info->m_lowerLimit[srow] = -SIMD_INFINITY;
-				info->m_upperLimit[srow] = SIMD_INFINITY;
-			}
-			else if (limit == 1)
-			{  // low limit
-				info->m_lowerLimit[srow] = -SIMD_INFINITY;
-				info->m_upperLimit[srow] = 0;
-			}
-			else
-			{  // high limit
-				info->m_lowerLimit[srow] = 0;
-				info->m_upperLimit[srow] = SIMD_INFINITY;
-			}
-			// bounce (we'll use slider parameter abs(1.0 - m_dampingLimLin) for that)
-			btScalar bounce = btFabs(btScalar(1.0) - getDampingLimLin());
-			if (bounce > btScalar(0.0))
-			{
-				btScalar vel = linVelA.dot(ax1);
-				vel -= linVelB.dot(ax1);
-				vel *= signFact;
-				// only apply bounce if the velocity is incoming, and if the
-				// resulting c[] exceeds what we already have.
-				if (limit == 1)
-				{  // low limit
-					if (vel < 0)
-					{
-						btScalar newc = -bounce * vel;
-						if (newc > info->m_constraintError[srow])
-						{
-							info->m_constraintError[srow] = newc;
-						}
-					}
-				}
-				else
-				{  // high limit - all those computations are reversed
-					if (vel > 0)
-					{
-						btScalar newc = -bounce * vel;
-						if (newc < info->m_constraintError[srow])
-						{
-							info->m_constraintError[srow] = newc;
-						}
-					}
-				}
-			}
-			info->m_constraintError[srow] *= getSoftnessLimLin();
-		}  // if(limit)
-	}      // if linear limit
-	// check angular limits
-	limit_err = btScalar(0.0);
-	limit = 0;
-	if (getSolveAngLimit())
-	{
-		limit_err = getAngDepth();
-		limit = (limit_err > btScalar(0.0)) ? 1 : 2;
-	}
-	// if the slider has joint limits, add in the extra row
-	powered = getPoweredAngMotor();
-	if (limit || powered)
-	{
-		nrow++;
-		srow = nrow * info->rowskip;
-		info->m_J1angularAxis[srow + 0] = ax1[0];
-		info->m_J1angularAxis[srow + 1] = ax1[1];
-		info->m_J1angularAxis[srow + 2] = ax1[2];
-
-		info->m_J2angularAxis[srow + 0] = -ax1[0];
-		info->m_J2angularAxis[srow + 1] = -ax1[1];
-		info->m_J2angularAxis[srow + 2] = -ax1[2];
-
-		btScalar lostop = getLowerAngLimit();
-		btScalar histop = getUpperAngLimit();
-		if (limit && (lostop == histop))
-		{  // the joint motor is ineffective
-			powered = false;
-		}
-		currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMANG) ? m_softnessLimAng : info->erp;
-		if (powered)
-		{
-			if (m_flags & BT_SLIDER_FLAGS_CFM_DIRANG)
-			{
-				info->cfm[srow] = m_cfmDirAng;
-			}
-			btScalar mot_fact = getMotorFactor(m_angPos, m_lowerAngLimit, m_upperAngLimit, getTargetAngMotorVelocity(), info->fps * currERP);
-			info->m_constraintError[srow] = mot_fact * getTargetAngMotorVelocity();
-			info->m_lowerLimit[srow] = -getMaxAngMotorForce() / info->fps;
-			info->m_upperLimit[srow] = getMaxAngMotorForce() / info->fps;
-		}
-		if (limit)
-		{
-			k = info->fps * currERP;
-			info->m_constraintError[srow] += k * limit_err;
-			if (m_flags & BT_SLIDER_FLAGS_CFM_LIMANG)
-			{
-				info->cfm[srow] = m_cfmLimAng;
-			}
-			if (lostop == histop)
-			{
-				// limited low and high simultaneously
-				info->m_lowerLimit[srow] = -SIMD_INFINITY;
-				info->m_upperLimit[srow] = SIMD_INFINITY;
-			}
-			else if (limit == 1)
-			{  // low limit
-				info->m_lowerLimit[srow] = 0;
-				info->m_upperLimit[srow] = SIMD_INFINITY;
-			}
-			else
-			{  // high limit
-				info->m_lowerLimit[srow] = -SIMD_INFINITY;
-				info->m_upperLimit[srow] = 0;
-			}
-			// bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that)
-			btScalar bounce = btFabs(btScalar(1.0) - getDampingLimAng());
-			if (bounce > btScalar(0.0))
-			{
-				btScalar vel = m_rbA.getAngularVelocity().dot(ax1);
-				vel -= m_rbB.getAngularVelocity().dot(ax1);
-				// only apply bounce if the velocity is incoming, and if the
-				// resulting c[] exceeds what we already have.
-				if (limit == 1)
-				{  // low limit
-					if (vel < 0)
-					{
-						btScalar newc = -bounce * vel;
-						if (newc > info->m_constraintError[srow])
-						{
-							info->m_constraintError[srow] = newc;
-						}
-					}
-				}
-				else
-				{  // high limit - all those computations are reversed
-					if (vel > 0)
-					{
-						btScalar newc = -bounce * vel;
-						if (newc < info->m_constraintError[srow])
-						{
-							info->m_constraintError[srow] = newc;
-						}
-					}
-				}
-			}
-			info->m_constraintError[srow] *= getSoftnessLimAng();
-		}  // if(limit)
-	}      // if angular limit or powered
-}
-
-///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
-///If no axis is provided, it uses the default axis for this constraint.
-void btSliderConstraint::setParam(int num, btScalar value, int axis)
-{
-	switch (num)
-	{
-		case BT_CONSTRAINT_STOP_ERP:
-			if (axis < 1)
-			{
-				m_softnessLimLin = value;
-				m_flags |= BT_SLIDER_FLAGS_ERP_LIMLIN;
-			}
-			else if (axis < 3)
-			{
-				m_softnessOrthoLin = value;
-				m_flags |= BT_SLIDER_FLAGS_ERP_ORTLIN;
-			}
-			else if (axis == 3)
-			{
-				m_softnessLimAng = value;
-				m_flags |= BT_SLIDER_FLAGS_ERP_LIMANG;
-			}
-			else if (axis < 6)
-			{
-				m_softnessOrthoAng = value;
-				m_flags |= BT_SLIDER_FLAGS_ERP_ORTANG;
-			}
-			else
-			{
-				btAssertConstrParams(0);
-			}
-			break;
-		case BT_CONSTRAINT_CFM:
-			if (axis < 1)
-			{
-				m_cfmDirLin = value;
-				m_flags |= BT_SLIDER_FLAGS_CFM_DIRLIN;
-			}
-			else if (axis == 3)
-			{
-				m_cfmDirAng = value;
-				m_flags |= BT_SLIDER_FLAGS_CFM_DIRANG;
-			}
-			else
-			{
-				btAssertConstrParams(0);
-			}
-			break;
-		case BT_CONSTRAINT_STOP_CFM:
-			if (axis < 1)
-			{
-				m_cfmLimLin = value;
-				m_flags |= BT_SLIDER_FLAGS_CFM_LIMLIN;
-			}
-			else if (axis < 3)
-			{
-				m_cfmOrthoLin = value;
-				m_flags |= BT_SLIDER_FLAGS_CFM_ORTLIN;
-			}
-			else if (axis == 3)
-			{
-				m_cfmLimAng = value;
-				m_flags |= BT_SLIDER_FLAGS_CFM_LIMANG;
-			}
-			else if (axis < 6)
-			{
-				m_cfmOrthoAng = value;
-				m_flags |= BT_SLIDER_FLAGS_CFM_ORTANG;
-			}
-			else
-			{
-				btAssertConstrParams(0);
-			}
-			break;
-	}
-}
-
-///return the local value of parameter
-btScalar btSliderConstraint::getParam(int num, int axis) const
-{
-	btScalar retVal(SIMD_INFINITY);
-	switch (num)
-	{
-		case BT_CONSTRAINT_STOP_ERP:
-			if (axis < 1)
-			{
-				btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_LIMLIN);
-				retVal = m_softnessLimLin;
-			}
-			else if (axis < 3)
-			{
-				btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_ORTLIN);
-				retVal = m_softnessOrthoLin;
-			}
-			else if (axis == 3)
-			{
-				btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_LIMANG);
-				retVal = m_softnessLimAng;
-			}
-			else if (axis < 6)
-			{
-				btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_ORTANG);
-				retVal = m_softnessOrthoAng;
-			}
-			else
-			{
-				btAssertConstrParams(0);
-			}
-			break;
-		case BT_CONSTRAINT_CFM:
-			if (axis < 1)
-			{
-				btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_DIRLIN);
-				retVal = m_cfmDirLin;
-			}
-			else if (axis == 3)
-			{
-				btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_DIRANG);
-				retVal = m_cfmDirAng;
-			}
-			else
-			{
-				btAssertConstrParams(0);
-			}
-			break;
-		case BT_CONSTRAINT_STOP_CFM:
-			if (axis < 1)
-			{
-				btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_LIMLIN);
-				retVal = m_cfmLimLin;
-			}
-			else if (axis < 3)
-			{
-				btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_ORTLIN);
-				retVal = m_cfmOrthoLin;
-			}
-			else if (axis == 3)
-			{
-				btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_LIMANG);
-				retVal = m_cfmLimAng;
-			}
-			else if (axis < 6)
-			{
-				btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_ORTANG);
-				retVal = m_cfmOrthoAng;
-			}
-			else
-			{
-				btAssertConstrParams(0);
-			}
-			break;
-	}
-	return retVal;
-}
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h
deleted file mode 100644
index 75ca34e978..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h
+++ /dev/null
@@ -1,349 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/*
-Added by Roman Ponomarev (rponom@gmail.com)
-April 04, 2008
-
-TODO:
- - add clamping od accumulated impulse to improve stability
- - add conversion for ODE constraint solver
-*/
-
-#ifndef BT_SLIDER_CONSTRAINT_H
-#define BT_SLIDER_CONSTRAINT_H
-
-#include "LinearMath/btScalar.h"  //for BT_USE_DOUBLE_PRECISION
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btSliderConstraintData2 btSliderConstraintDoubleData
-#define btSliderConstraintDataName "btSliderConstraintDoubleData"
-#else
-#define btSliderConstraintData2 btSliderConstraintData
-#define btSliderConstraintDataName "btSliderConstraintData"
-#endif  //BT_USE_DOUBLE_PRECISION
-
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btTypedConstraint.h"
-
-class btRigidBody;
-
-#define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0))
-#define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0))
-#define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7))
-#define SLIDER_CONSTRAINT_DEF_CFM (btScalar(0.f))
-
-enum btSliderFlags
-{
-	BT_SLIDER_FLAGS_CFM_DIRLIN = (1 << 0),
-	BT_SLIDER_FLAGS_ERP_DIRLIN = (1 << 1),
-	BT_SLIDER_FLAGS_CFM_DIRANG = (1 << 2),
-	BT_SLIDER_FLAGS_ERP_DIRANG = (1 << 3),
-	BT_SLIDER_FLAGS_CFM_ORTLIN = (1 << 4),
-	BT_SLIDER_FLAGS_ERP_ORTLIN = (1 << 5),
-	BT_SLIDER_FLAGS_CFM_ORTANG = (1 << 6),
-	BT_SLIDER_FLAGS_ERP_ORTANG = (1 << 7),
-	BT_SLIDER_FLAGS_CFM_LIMLIN = (1 << 8),
-	BT_SLIDER_FLAGS_ERP_LIMLIN = (1 << 9),
-	BT_SLIDER_FLAGS_CFM_LIMANG = (1 << 10),
-	BT_SLIDER_FLAGS_ERP_LIMANG = (1 << 11)
-};
-
-ATTRIBUTE_ALIGNED16(class)
-btSliderConstraint : public btTypedConstraint
-{
-protected:
-	///for backwards compatibility during the transition to 'getInfo/getInfo2'
-	bool m_useSolveConstraintObsolete;
-	bool m_useOffsetForConstraintFrame;
-	btTransform m_frameInA;
-	btTransform m_frameInB;
-	// use frameA fo define limits, if true
-	bool m_useLinearReferenceFrameA;
-	// linear limits
-	btScalar m_lowerLinLimit;
-	btScalar m_upperLinLimit;
-	// angular limits
-	btScalar m_lowerAngLimit;
-	btScalar m_upperAngLimit;
-	// softness, restitution and damping for different cases
-	// DirLin - moving inside linear limits
-	// LimLin - hitting linear limit
-	// DirAng - moving inside angular limits
-	// LimAng - hitting angular limit
-	// OrthoLin, OrthoAng - against constraint axis
-	btScalar m_softnessDirLin;
-	btScalar m_restitutionDirLin;
-	btScalar m_dampingDirLin;
-	btScalar m_cfmDirLin;
-
-	btScalar m_softnessDirAng;
-	btScalar m_restitutionDirAng;
-	btScalar m_dampingDirAng;
-	btScalar m_cfmDirAng;
-
-	btScalar m_softnessLimLin;
-	btScalar m_restitutionLimLin;
-	btScalar m_dampingLimLin;
-	btScalar m_cfmLimLin;
-
-	btScalar m_softnessLimAng;
-	btScalar m_restitutionLimAng;
-	btScalar m_dampingLimAng;
-	btScalar m_cfmLimAng;
-
-	btScalar m_softnessOrthoLin;
-	btScalar m_restitutionOrthoLin;
-	btScalar m_dampingOrthoLin;
-	btScalar m_cfmOrthoLin;
-
-	btScalar m_softnessOrthoAng;
-	btScalar m_restitutionOrthoAng;
-	btScalar m_dampingOrthoAng;
-	btScalar m_cfmOrthoAng;
-
-	// for interlal use
-	bool m_solveLinLim;
-	bool m_solveAngLim;
-
-	int m_flags;
-
-	btJacobianEntry m_jacLin[3];
-	btScalar m_jacLinDiagABInv[3];
-
-	btJacobianEntry m_jacAng[3];
-
-	btScalar m_timeStep;
-	btTransform m_calculatedTransformA;
-	btTransform m_calculatedTransformB;
-
-	btVector3 m_sliderAxis;
-	btVector3 m_realPivotAInW;
-	btVector3 m_realPivotBInW;
-	btVector3 m_projPivotInW;
-	btVector3 m_delta;
-	btVector3 m_depth;
-	btVector3 m_relPosA;
-	btVector3 m_relPosB;
-
-	btScalar m_linPos;
-	btScalar m_angPos;
-
-	btScalar m_angDepth;
-	btScalar m_kAngle;
-
-	bool m_poweredLinMotor;
-	btScalar m_targetLinMotorVelocity;
-	btScalar m_maxLinMotorForce;
-	btScalar m_accumulatedLinMotorImpulse;
-
-	bool m_poweredAngMotor;
-	btScalar m_targetAngMotorVelocity;
-	btScalar m_maxAngMotorForce;
-	btScalar m_accumulatedAngMotorImpulse;
-
-	//------------------------
-	void initParams();
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	// constructors
-	btSliderConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
-	btSliderConstraint(btRigidBody & rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
-
-	// overrides
-
-	virtual void getInfo1(btConstraintInfo1 * info);
-
-	void getInfo1NonVirtual(btConstraintInfo1 * info);
-
-	virtual void getInfo2(btConstraintInfo2 * info);
-
-	void getInfo2NonVirtual(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, btScalar rbAinvMass, btScalar rbBinvMass);
-
-	// access
-	const btRigidBody& getRigidBodyA() const { return m_rbA; }
-	const btRigidBody& getRigidBodyB() const { return m_rbB; }
-	const btTransform& getCalculatedTransformA() const { return m_calculatedTransformA; }
-	const btTransform& getCalculatedTransformB() const { return m_calculatedTransformB; }
-	const btTransform& getFrameOffsetA() const { return m_frameInA; }
-	const btTransform& getFrameOffsetB() const { return m_frameInB; }
-	btTransform& getFrameOffsetA() { return m_frameInA; }
-	btTransform& getFrameOffsetB() { return m_frameInB; }
-	btScalar getLowerLinLimit() { return m_lowerLinLimit; }
-	void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; }
-	btScalar getUpperLinLimit() { return m_upperLinLimit; }
-	void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; }
-	btScalar getLowerAngLimit() { return m_lowerAngLimit; }
-	void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = btNormalizeAngle(lowerLimit); }
-	btScalar getUpperAngLimit() { return m_upperAngLimit; }
-	void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = btNormalizeAngle(upperLimit); }
-	bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; }
-	btScalar getSoftnessDirLin() { return m_softnessDirLin; }
-	btScalar getRestitutionDirLin() { return m_restitutionDirLin; }
-	btScalar getDampingDirLin() { return m_dampingDirLin; }
-	btScalar getSoftnessDirAng() { return m_softnessDirAng; }
-	btScalar getRestitutionDirAng() { return m_restitutionDirAng; }
-	btScalar getDampingDirAng() { return m_dampingDirAng; }
-	btScalar getSoftnessLimLin() { return m_softnessLimLin; }
-	btScalar getRestitutionLimLin() { return m_restitutionLimLin; }
-	btScalar getDampingLimLin() { return m_dampingLimLin; }
-	btScalar getSoftnessLimAng() { return m_softnessLimAng; }
-	btScalar getRestitutionLimAng() { return m_restitutionLimAng; }
-	btScalar getDampingLimAng() { return m_dampingLimAng; }
-	btScalar getSoftnessOrthoLin() { return m_softnessOrthoLin; }
-	btScalar getRestitutionOrthoLin() { return m_restitutionOrthoLin; }
-	btScalar getDampingOrthoLin() { return m_dampingOrthoLin; }
-	btScalar getSoftnessOrthoAng() { return m_softnessOrthoAng; }
-	btScalar getRestitutionOrthoAng() { return m_restitutionOrthoAng; }
-	btScalar getDampingOrthoAng() { return m_dampingOrthoAng; }
-	void setSoftnessDirLin(btScalar softnessDirLin) { m_softnessDirLin = softnessDirLin; }
-	void setRestitutionDirLin(btScalar restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; }
-	void setDampingDirLin(btScalar dampingDirLin) { m_dampingDirLin = dampingDirLin; }
-	void setSoftnessDirAng(btScalar softnessDirAng) { m_softnessDirAng = softnessDirAng; }
-	void setRestitutionDirAng(btScalar restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; }
-	void setDampingDirAng(btScalar dampingDirAng) { m_dampingDirAng = dampingDirAng; }
-	void setSoftnessLimLin(btScalar softnessLimLin) { m_softnessLimLin = softnessLimLin; }
-	void setRestitutionLimLin(btScalar restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; }
-	void setDampingLimLin(btScalar dampingLimLin) { m_dampingLimLin = dampingLimLin; }
-	void setSoftnessLimAng(btScalar softnessLimAng) { m_softnessLimAng = softnessLimAng; }
-	void setRestitutionLimAng(btScalar restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; }
-	void setDampingLimAng(btScalar dampingLimAng) { m_dampingLimAng = dampingLimAng; }
-	void setSoftnessOrthoLin(btScalar softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; }
-	void setRestitutionOrthoLin(btScalar restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; }
-	void setDampingOrthoLin(btScalar dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; }
-	void setSoftnessOrthoAng(btScalar softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; }
-	void setRestitutionOrthoAng(btScalar restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; }
-	void setDampingOrthoAng(btScalar dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; }
-	void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; }
-	bool getPoweredLinMotor() { return m_poweredLinMotor; }
-	void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; }
-	btScalar getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; }
-	void setMaxLinMotorForce(btScalar maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; }
-	btScalar getMaxLinMotorForce() { return m_maxLinMotorForce; }
-	void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; }
-	bool getPoweredAngMotor() { return m_poweredAngMotor; }
-	void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; }
-	btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; }
-	void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; }
-	btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; }
-
-	btScalar getLinearPos() const { return m_linPos; }
-	btScalar getAngularPos() const { return m_angPos; }
-
-	// access for ODE solver
-	bool getSolveLinLimit() { return m_solveLinLim; }
-	btScalar getLinDepth() { return m_depth[0]; }
-	bool getSolveAngLimit() { return m_solveAngLim; }
-	btScalar getAngDepth() { return m_angDepth; }
-	// shared code used by ODE solver
-	void calculateTransforms(const btTransform& transA, const btTransform& transB);
-	void testLinLimits();
-	void testAngLimits();
-	// access for PE Solver
-	btVector3 getAncorInA();
-	btVector3 getAncorInB();
-	// access for UseFrameOffset
-	bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
-	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
-
-	void setFrames(const btTransform& frameA, const btTransform& frameB)
-	{
-		m_frameInA = frameA;
-		m_frameInB = frameB;
-		calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
-		buildJacobian();
-	}
-
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
-	///If no axis is provided, it uses the default axis for this constraint.
-	virtual void setParam(int num, btScalar value, int axis = -1);
-	///return the local value of parameter
-	virtual btScalar getParam(int num, int axis = -1) const;
-
-	virtual int getFlags() const
-	{
-		return m_flags;
-	}
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-
-struct btSliderConstraintData
-{
-	btTypedConstraintData m_typeConstraintData;
-	btTransformFloatData m_rbAFrame;  // constraint axii. Assumes z is hinge axis.
-	btTransformFloatData m_rbBFrame;
-
-	float m_linearUpperLimit;
-	float m_linearLowerLimit;
-
-	float m_angularUpperLimit;
-	float m_angularLowerLimit;
-
-	int m_useLinearReferenceFrameA;
-	int m_useOffsetForConstraintFrame;
-};
-
-struct btSliderConstraintDoubleData
-{
-	btTypedConstraintDoubleData m_typeConstraintData;
-	btTransformDoubleData m_rbAFrame;  // constraint axii. Assumes z is hinge axis.
-	btTransformDoubleData m_rbBFrame;
-
-	double m_linearUpperLimit;
-	double m_linearLowerLimit;
-
-	double m_angularUpperLimit;
-	double m_angularLowerLimit;
-
-	int m_useLinearReferenceFrameA;
-	int m_useOffsetForConstraintFrame;
-};
-
-SIMD_FORCE_INLINE int btSliderConstraint::calculateSerializeBufferSize() const
-{
-	return sizeof(btSliderConstraintData2);
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE const char* btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btSliderConstraintData2* sliderData = (btSliderConstraintData2*)dataBuffer;
-	btTypedConstraint::serialize(&sliderData->m_typeConstraintData, serializer);
-
-	m_frameInA.serialize(sliderData->m_rbAFrame);
-	m_frameInB.serialize(sliderData->m_rbBFrame);
-
-	sliderData->m_linearUpperLimit = m_upperLinLimit;
-	sliderData->m_linearLowerLimit = m_lowerLinLimit;
-
-	sliderData->m_angularUpperLimit = m_upperAngLimit;
-	sliderData->m_angularLowerLimit = m_lowerAngLimit;
-
-	sliderData->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA;
-	sliderData->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame;
-
-	return btSliderConstraintDataName;
-}
-
-#endif  //BT_SLIDER_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
deleted file mode 100644
index 1ea20edcb2..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
+++ /dev/null
@@ -1,239 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btSolve2LinearConstraint.h"
-
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-
-void btSolve2LinearConstraint::resolveUnilateralPairConstraint(
-	btRigidBody* body1,
-	btRigidBody* body2,
-
-	const btMatrix3x3& world2A,
-	const btMatrix3x3& world2B,
-
-	const btVector3& invInertiaADiag,
-	const btScalar invMassA,
-	const btVector3& linvelA, const btVector3& angvelA,
-	const btVector3& rel_posA1,
-	const btVector3& invInertiaBDiag,
-	const btScalar invMassB,
-	const btVector3& linvelB, const btVector3& angvelB,
-	const btVector3& rel_posA2,
-
-	btScalar depthA, const btVector3& normalA,
-	const btVector3& rel_posB1, const btVector3& rel_posB2,
-	btScalar depthB, const btVector3& normalB,
-	btScalar& imp0, btScalar& imp1)
-{
-	(void)linvelA;
-	(void)linvelB;
-	(void)angvelB;
-	(void)angvelA;
-
-	imp0 = btScalar(0.);
-	imp1 = btScalar(0.);
-
-	btScalar len = btFabs(normalA.length()) - btScalar(1.);
-	if (btFabs(len) >= SIMD_EPSILON)
-		return;
-
-	btAssert(len < SIMD_EPSILON);
-
-	//this jacobian entry could be re-used for all iterations
-	btJacobianEntry jacA(world2A, world2B, rel_posA1, rel_posA2, normalA, invInertiaADiag, invMassA,
-						 invInertiaBDiag, invMassB);
-	btJacobianEntry jacB(world2A, world2B, rel_posB1, rel_posB2, normalB, invInertiaADiag, invMassA,
-						 invInertiaBDiag, invMassB);
-
-	//const btScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
-	//const btScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
-
-	const btScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1) - body2->getVelocityInLocalPoint(rel_posA1));
-	const btScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1) - body2->getVelocityInLocalPoint(rel_posB1));
-
-	//	btScalar penetrationImpulse = (depth*contactTau*timeCorrection)  * massTerm;//jacDiagABInv
-	btScalar massTerm = btScalar(1.) / (invMassA + invMassB);
-
-	// calculate rhs (or error) terms
-	const btScalar dv0 = depthA * m_tau * massTerm - vel0 * m_damping;
-	const btScalar dv1 = depthB * m_tau * massTerm - vel1 * m_damping;
-
-	// dC/dv * dv = -C
-
-	// jacobian * impulse = -error
-	//
-
-	//impulse = jacobianInverse * -error
-
-	// inverting 2x2 symmetric system (offdiagonal are equal!)
-	//
-
-	btScalar nonDiag = jacA.getNonDiagonal(jacB, invMassA, invMassB);
-	btScalar invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag);
-
-	//imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
-	//imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
-
-	imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
-	imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * -nonDiag * invDet;
-
-	//[a b]								  [d -c]
-	//[c d] inverse = (1 / determinant) * [-b a] where determinant is (ad - bc)
-
-	//[jA nD] * [imp0] = [dv0]
-	//[nD jB]   [imp1]   [dv1]
-}
-
-void btSolve2LinearConstraint::resolveBilateralPairConstraint(
-	btRigidBody* body1,
-	btRigidBody* body2,
-	const btMatrix3x3& world2A,
-	const btMatrix3x3& world2B,
-
-	const btVector3& invInertiaADiag,
-	const btScalar invMassA,
-	const btVector3& linvelA, const btVector3& angvelA,
-	const btVector3& rel_posA1,
-	const btVector3& invInertiaBDiag,
-	const btScalar invMassB,
-	const btVector3& linvelB, const btVector3& angvelB,
-	const btVector3& rel_posA2,
-
-	btScalar depthA, const btVector3& normalA,
-	const btVector3& rel_posB1, const btVector3& rel_posB2,
-	btScalar depthB, const btVector3& normalB,
-	btScalar& imp0, btScalar& imp1)
-{
-	(void)linvelA;
-	(void)linvelB;
-	(void)angvelA;
-	(void)angvelB;
-
-	imp0 = btScalar(0.);
-	imp1 = btScalar(0.);
-
-	btScalar len = btFabs(normalA.length()) - btScalar(1.);
-	if (btFabs(len) >= SIMD_EPSILON)
-		return;
-
-	btAssert(len < SIMD_EPSILON);
-
-	//this jacobian entry could be re-used for all iterations
-	btJacobianEntry jacA(world2A, world2B, rel_posA1, rel_posA2, normalA, invInertiaADiag, invMassA,
-						 invInertiaBDiag, invMassB);
-	btJacobianEntry jacB(world2A, world2B, rel_posB1, rel_posB2, normalB, invInertiaADiag, invMassA,
-						 invInertiaBDiag, invMassB);
-
-	//const btScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
-	//const btScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
-
-	const btScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1) - body2->getVelocityInLocalPoint(rel_posA1));
-	const btScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1) - body2->getVelocityInLocalPoint(rel_posB1));
-
-	// calculate rhs (or error) terms
-	const btScalar dv0 = depthA * m_tau - vel0 * m_damping;
-	const btScalar dv1 = depthB * m_tau - vel1 * m_damping;
-
-	// dC/dv * dv = -C
-
-	// jacobian * impulse = -error
-	//
-
-	//impulse = jacobianInverse * -error
-
-	// inverting 2x2 symmetric system (offdiagonal are equal!)
-	//
-
-	btScalar nonDiag = jacA.getNonDiagonal(jacB, invMassA, invMassB);
-	btScalar invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag);
-
-	//imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
-	//imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
-
-	imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
-	imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * -nonDiag * invDet;
-
-	//[a b]								  [d -c]
-	//[c d] inverse = (1 / determinant) * [-b a] where determinant is (ad - bc)
-
-	//[jA nD] * [imp0] = [dv0]
-	//[nD jB]   [imp1]   [dv1]
-
-	if (imp0 > btScalar(0.0))
-	{
-		if (imp1 > btScalar(0.0))
-		{
-			//both positive
-		}
-		else
-		{
-			imp1 = btScalar(0.);
-
-			// now imp0>0 imp1<0
-			imp0 = dv0 / jacA.getDiagonal();
-			if (imp0 > btScalar(0.0))
-			{
-			}
-			else
-			{
-				imp0 = btScalar(0.);
-			}
-		}
-	}
-	else
-	{
-		imp0 = btScalar(0.);
-
-		imp1 = dv1 / jacB.getDiagonal();
-		if (imp1 <= btScalar(0.0))
-		{
-			imp1 = btScalar(0.);
-			// now imp0>0 imp1<0
-			imp0 = dv0 / jacA.getDiagonal();
-			if (imp0 > btScalar(0.0))
-			{
-			}
-			else
-			{
-				imp0 = btScalar(0.);
-			}
-		}
-		else
-		{
-		}
-	}
-}
-
-/*
-void btSolve2LinearConstraint::resolveAngularConstraint(	const btMatrix3x3& invInertiaAWS,
-											const btScalar invMassA,
-											const btVector3& linvelA,const btVector3& angvelA,
-											const btVector3& rel_posA1,
-											const btMatrix3x3& invInertiaBWS,
-											const btScalar invMassB,
-											const btVector3& linvelB,const btVector3& angvelB,
-											const btVector3& rel_posA2,
-
-											btScalar depthA, const btVector3& normalA, 
-											const btVector3& rel_posB1,const btVector3& rel_posB2,
-											btScalar depthB, const btVector3& normalB, 
-											btScalar& imp0,btScalar& imp1)
-{
-
-}
-*/
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h
deleted file mode 100644
index fca8ecec81..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SOLVE_2LINEAR_CONSTRAINT_H
-#define BT_SOLVE_2LINEAR_CONSTRAINT_H
-
-#include "LinearMath/btMatrix3x3.h"
-#include "LinearMath/btVector3.h"
-
-class btRigidBody;
-
-/// constraint class used for lateral tyre friction.
-class btSolve2LinearConstraint
-{
-	btScalar m_tau;
-	btScalar m_damping;
-
-public:
-	btSolve2LinearConstraint(btScalar tau, btScalar damping)
-	{
-		m_tau = tau;
-		m_damping = damping;
-	}
-	//
-	// solve unilateral constraint (equality, direct method)
-	//
-	void resolveUnilateralPairConstraint(
-		btRigidBody* body0,
-		btRigidBody* body1,
-
-		const btMatrix3x3& world2A,
-		const btMatrix3x3& world2B,
-
-		const btVector3& invInertiaADiag,
-		const btScalar invMassA,
-		const btVector3& linvelA, const btVector3& angvelA,
-		const btVector3& rel_posA1,
-		const btVector3& invInertiaBDiag,
-		const btScalar invMassB,
-		const btVector3& linvelB, const btVector3& angvelB,
-		const btVector3& rel_posA2,
-
-		btScalar depthA, const btVector3& normalA,
-		const btVector3& rel_posB1, const btVector3& rel_posB2,
-		btScalar depthB, const btVector3& normalB,
-		btScalar& imp0, btScalar& imp1);
-
-	//
-	// solving 2x2 lcp problem (inequality, direct solution )
-	//
-	void resolveBilateralPairConstraint(
-		btRigidBody* body0,
-		btRigidBody* body1,
-		const btMatrix3x3& world2A,
-		const btMatrix3x3& world2B,
-
-		const btVector3& invInertiaADiag,
-		const btScalar invMassA,
-		const btVector3& linvelA, const btVector3& angvelA,
-		const btVector3& rel_posA1,
-		const btVector3& invInertiaBDiag,
-		const btScalar invMassB,
-		const btVector3& linvelB, const btVector3& angvelB,
-		const btVector3& rel_posA2,
-
-		btScalar depthA, const btVector3& normalA,
-		const btVector3& rel_posB1, const btVector3& rel_posB2,
-		btScalar depthB, const btVector3& normalB,
-		btScalar& imp0, btScalar& imp1);
-
-	/*
-	void resolveAngularConstraint(	const btMatrix3x3& invInertiaAWS,
-						const btScalar invMassA,
-						const btVector3& linvelA,const btVector3& angvelA,
-						const btVector3& rel_posA1,
-						const btMatrix3x3& invInertiaBWS,
-						const btScalar invMassB,
-						const btVector3& linvelB,const btVector3& angvelB,
-						const btVector3& rel_posA2,
-
-					  btScalar depthA, const btVector3& normalA, 
-					  const btVector3& rel_posB1,const btVector3& rel_posB2,
-					  btScalar depthB, const btVector3& normalB, 
-					  btScalar& imp0,btScalar& imp1);
-
-*/
-};
-
-#endif  //BT_SOLVE_2LINEAR_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolverBody.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolverBody.h
deleted file mode 100644
index 409aa8a08c..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolverBody.h
+++ /dev/null
@@ -1,285 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SOLVER_BODY_H
-#define BT_SOLVER_BODY_H
-
-class btRigidBody;
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btMatrix3x3.h"
-
-#include "LinearMath/btAlignedAllocator.h"
-#include "LinearMath/btTransformUtil.h"
-
-///Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later, and not double precision
-#ifdef BT_USE_SSE
-#define USE_SIMD 1
-#endif  //
-
-#ifdef USE_SIMD
-
-struct btSimdScalar
-{
-	SIMD_FORCE_INLINE btSimdScalar()
-	{
-	}
-
-	SIMD_FORCE_INLINE btSimdScalar(float fl)
-		: m_vec128(_mm_set1_ps(fl))
-	{
-	}
-
-	SIMD_FORCE_INLINE btSimdScalar(__m128 v128)
-		: m_vec128(v128)
-	{
-	}
-	union {
-		__m128 m_vec128;
-		float m_floats[4];
-		int m_ints[4];
-		btScalar m_unusedPadding;
-	};
-	SIMD_FORCE_INLINE __m128 get128()
-	{
-		return m_vec128;
-	}
-
-	SIMD_FORCE_INLINE const __m128 get128() const
-	{
-		return m_vec128;
-	}
-
-	SIMD_FORCE_INLINE void set128(__m128 v128)
-	{
-		m_vec128 = v128;
-	}
-
-	SIMD_FORCE_INLINE operator __m128()
-	{
-		return m_vec128;
-	}
-	SIMD_FORCE_INLINE operator const __m128() const
-	{
-		return m_vec128;
-	}
-
-	SIMD_FORCE_INLINE operator float() const
-	{
-		return m_floats[0];
-	}
-};
-
-///@brief Return the elementwise product of two btSimdScalar
-SIMD_FORCE_INLINE btSimdScalar
-operator*(const btSimdScalar& v1, const btSimdScalar& v2)
-{
-	return btSimdScalar(_mm_mul_ps(v1.get128(), v2.get128()));
-}
-
-///@brief Return the elementwise product of two btSimdScalar
-SIMD_FORCE_INLINE btSimdScalar
-operator+(const btSimdScalar& v1, const btSimdScalar& v2)
-{
-	return btSimdScalar(_mm_add_ps(v1.get128(), v2.get128()));
-}
-
-#else
-#define btSimdScalar btScalar
-#endif
-
-///The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
-ATTRIBUTE_ALIGNED16(struct)
-btSolverBody
-{
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-	btTransform m_worldTransform;
-	btVector3 m_deltaLinearVelocity;
-	btVector3 m_deltaAngularVelocity;
-	btVector3 m_angularFactor;
-	btVector3 m_linearFactor;
-	btVector3 m_invMass;
-	btVector3 m_pushVelocity;
-	btVector3 m_turnVelocity;
-	btVector3 m_linearVelocity;
-	btVector3 m_angularVelocity;
-	btVector3 m_externalForceImpulse;
-	btVector3 m_externalTorqueImpulse;
-
-	btRigidBody* m_originalBody;
-	void setWorldTransform(const btTransform& worldTransform)
-	{
-		m_worldTransform = worldTransform;
-	}
-
-	const btTransform& getWorldTransform() const
-	{
-		return m_worldTransform;
-	}
-
-	SIMD_FORCE_INLINE void getVelocityInLocalPointNoDelta(const btVector3& rel_pos, btVector3& velocity) const
-	{
-		if (m_originalBody)
-			velocity = m_linearVelocity + m_externalForceImpulse + (m_angularVelocity + m_externalTorqueImpulse).cross(rel_pos);
-		else
-			velocity.setValue(0, 0, 0);
-	}
-
-	SIMD_FORCE_INLINE void getVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity) const
-	{
-		if (m_originalBody)
-			velocity = m_linearVelocity + m_deltaLinearVelocity + (m_angularVelocity + m_deltaAngularVelocity).cross(rel_pos);
-		else
-			velocity.setValue(0, 0, 0);
-	}
-
-	SIMD_FORCE_INLINE void getAngularVelocity(btVector3 & angVel) const
-	{
-		if (m_originalBody)
-			angVel = m_angularVelocity + m_deltaAngularVelocity;
-		else
-			angVel.setValue(0, 0, 0);
-	}
-
-	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
-	SIMD_FORCE_INLINE void applyImpulse(const btVector3& linearComponent, const btVector3& angularComponent, const btScalar impulseMagnitude)
-	{
-		if (m_originalBody)
-		{
-			m_deltaLinearVelocity += linearComponent * impulseMagnitude * m_linearFactor;
-			m_deltaAngularVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
-		}
-	}
-
-	SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent, btScalar impulseMagnitude)
-	{
-		if (m_originalBody)
-		{
-			m_pushVelocity += linearComponent * impulseMagnitude * m_linearFactor;
-			m_turnVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
-		}
-	}
-
-	const btVector3& getDeltaLinearVelocity() const
-	{
-		return m_deltaLinearVelocity;
-	}
-
-	const btVector3& getDeltaAngularVelocity() const
-	{
-		return m_deltaAngularVelocity;
-	}
-
-	const btVector3& getPushVelocity() const
-	{
-		return m_pushVelocity;
-	}
-
-	const btVector3& getTurnVelocity() const
-	{
-		return m_turnVelocity;
-	}
-
-	////////////////////////////////////////////////
-	///some internal methods, don't use them
-
-	btVector3& internalGetDeltaLinearVelocity()
-	{
-		return m_deltaLinearVelocity;
-	}
-
-	btVector3& internalGetDeltaAngularVelocity()
-	{
-		return m_deltaAngularVelocity;
-	}
-
-	const btVector3& internalGetAngularFactor() const
-	{
-		return m_angularFactor;
-	}
-
-	const btVector3& internalGetInvMass() const
-	{
-		return m_invMass;
-	}
-
-	void internalSetInvMass(const btVector3& invMass)
-	{
-		m_invMass = invMass;
-	}
-
-	btVector3& internalGetPushVelocity()
-	{
-		return m_pushVelocity;
-	}
-
-	btVector3& internalGetTurnVelocity()
-	{
-		return m_turnVelocity;
-	}
-
-	SIMD_FORCE_INLINE void internalGetVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity) const
-	{
-		velocity = m_linearVelocity + m_deltaLinearVelocity + (m_angularVelocity + m_deltaAngularVelocity).cross(rel_pos);
-	}
-
-	SIMD_FORCE_INLINE void internalGetAngularVelocity(btVector3 & angVel) const
-	{
-		angVel = m_angularVelocity + m_deltaAngularVelocity;
-	}
-
-	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
-	SIMD_FORCE_INLINE void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent, const btScalar impulseMagnitude)
-	{
-		if (m_originalBody)
-		{
-			m_deltaLinearVelocity += linearComponent * impulseMagnitude * m_linearFactor;
-			m_deltaAngularVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
-		}
-	}
-
-	void writebackVelocity()
-	{
-		if (m_originalBody)
-		{
-			m_linearVelocity += m_deltaLinearVelocity;
-			m_angularVelocity += m_deltaAngularVelocity;
-
-			//m_originalBody->setCompanionId(-1);
-		}
-	}
-
-	void writebackVelocityAndTransform(btScalar timeStep, btScalar splitImpulseTurnErp)
-	{
-		(void)timeStep;
-		if (m_originalBody)
-		{
-			m_linearVelocity += m_deltaLinearVelocity;
-			m_angularVelocity += m_deltaAngularVelocity;
-
-			//correct the position/orientation based on push/turn recovery
-			btTransform newTransform;
-			if (m_pushVelocity[0] != 0.f || m_pushVelocity[1] != 0 || m_pushVelocity[2] != 0 || m_turnVelocity[0] != 0.f || m_turnVelocity[1] != 0 || m_turnVelocity[2] != 0)
-			{
-				//	btQuaternion orn = m_worldTransform.getRotation();
-				btTransformUtil::integrateTransform(m_worldTransform, m_pushVelocity, m_turnVelocity * splitImpulseTurnErp, timeStep, newTransform);
-				m_worldTransform = newTransform;
-			}
-			//m_worldTransform.setRotation(orn);
-			//m_originalBody->setCompanionId(-1);
-		}
-	}
-};
-
-#endif  //BT_SOLVER_BODY_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolverConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolverConstraint.h
deleted file mode 100644
index c7938df867..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolverConstraint.h
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SOLVER_CONSTRAINT_H
-#define BT_SOLVER_CONSTRAINT_H
-
-class btRigidBody;
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btMatrix3x3.h"
-#include "btJacobianEntry.h"
-#include "LinearMath/btAlignedObjectArray.h"
-
-//#define NO_FRICTION_TANGENTIALS 1
-#include "btSolverBody.h"
-
-///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
-ATTRIBUTE_ALIGNED16(struct)
-btSolverConstraint
-{
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btVector3 m_relpos1CrossNormal;
-	btVector3 m_contactNormal1;
-
-	btVector3 m_relpos2CrossNormal;
-	btVector3 m_contactNormal2;  //usually m_contactNormal2 == -m_contactNormal1, but not always
-
-	btVector3 m_angularComponentA;
-	btVector3 m_angularComponentB;
-
-	mutable btSimdScalar m_appliedPushImpulse;
-	mutable btSimdScalar m_appliedImpulse;
-
-	btScalar m_friction;
-	btScalar m_jacDiagABInv;
-	btScalar m_rhs;
-	btScalar m_cfm;
-
-	btScalar m_lowerLimit;
-	btScalar m_upperLimit;
-	btScalar m_rhsPenetration;
-	union {
-		void* m_originalContactPoint;
-		btScalar m_unusedPadding4;
-		int m_numRowsForNonContactConstraint;
-	};
-
-	int m_overrideNumSolverIterations;
-	int m_frictionIndex;
-	int m_solverBodyIdA;
-	int m_solverBodyIdB;
-
-	enum btSolverConstraintType
-	{
-		BT_SOLVER_CONTACT_1D = 0,
-		BT_SOLVER_FRICTION_1D
-	};
-};
-
-typedef btAlignedObjectArray<btSolverConstraint> btConstraintArray;
-
-#endif  //BT_SOLVER_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
deleted file mode 100644
index ebe679c449..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
+++ /dev/null
@@ -1,214 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btTypedConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btSerializer.h"
-
-#define DEFAULT_DEBUGDRAW_SIZE btScalar(0.05f)
-
-btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA)
-	: btTypedObject(type),
-	  m_userConstraintType(-1),
-	  m_userConstraintPtr((void*)-1),
-	  m_breakingImpulseThreshold(SIMD_INFINITY),
-	  m_isEnabled(true),
-	  m_needsFeedback(false),
-	  m_overrideNumSolverIterations(-1),
-	  m_rbA(rbA),
-	  m_rbB(getFixedBody()),
-	  m_appliedImpulse(btScalar(0.)),
-	  m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE),
-	  m_jointFeedback(0)
-{
-}
-
-btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA, btRigidBody& rbB)
-	: btTypedObject(type),
-	  m_userConstraintType(-1),
-	  m_userConstraintPtr((void*)-1),
-	  m_breakingImpulseThreshold(SIMD_INFINITY),
-	  m_isEnabled(true),
-	  m_needsFeedback(false),
-	  m_overrideNumSolverIterations(-1),
-	  m_rbA(rbA),
-	  m_rbB(rbB),
-	  m_appliedImpulse(btScalar(0.)),
-	  m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE),
-	  m_jointFeedback(0)
-{
-}
-
-btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact)
-{
-	if (lowLim > uppLim)
-	{
-		return btScalar(1.0f);
-	}
-	else if (lowLim == uppLim)
-	{
-		return btScalar(0.0f);
-	}
-	btScalar lim_fact = btScalar(1.0f);
-	btScalar delta_max = vel / timeFact;
-	if (delta_max < btScalar(0.0f))
-	{
-		if ((pos >= lowLim) && (pos < (lowLim - delta_max)))
-		{
-			lim_fact = (lowLim - pos) / delta_max;
-		}
-		else if (pos < lowLim)
-		{
-			lim_fact = btScalar(0.0f);
-		}
-		else
-		{
-			lim_fact = btScalar(1.0f);
-		}
-	}
-	else if (delta_max > btScalar(0.0f))
-	{
-		if ((pos <= uppLim) && (pos > (uppLim - delta_max)))
-		{
-			lim_fact = (uppLim - pos) / delta_max;
-		}
-		else if (pos > uppLim)
-		{
-			lim_fact = btScalar(0.0f);
-		}
-		else
-		{
-			lim_fact = btScalar(1.0f);
-		}
-	}
-	else
-	{
-		lim_fact = btScalar(0.0f);
-	}
-	return lim_fact;
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char* btTypedConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btTypedConstraintData2* tcd = (btTypedConstraintData2*)dataBuffer;
-
-	tcd->m_rbA = (btRigidBodyData*)serializer->getUniquePointer(&m_rbA);
-	tcd->m_rbB = (btRigidBodyData*)serializer->getUniquePointer(&m_rbB);
-	char* name = (char*)serializer->findNameForPointer(this);
-	tcd->m_name = (char*)serializer->getUniquePointer(name);
-	if (tcd->m_name)
-	{
-		serializer->serializeName(name);
-	}
-
-	tcd->m_objectType = m_objectType;
-	tcd->m_needsFeedback = m_needsFeedback;
-	tcd->m_overrideNumSolverIterations = m_overrideNumSolverIterations;
-	tcd->m_breakingImpulseThreshold = m_breakingImpulseThreshold;
-	tcd->m_isEnabled = m_isEnabled ? 1 : 0;
-
-	tcd->m_userConstraintId = m_userConstraintId;
-	tcd->m_userConstraintType = m_userConstraintType;
-
-	tcd->m_appliedImpulse = m_appliedImpulse;
-	tcd->m_dbgDrawSize = m_dbgDrawSize;
-
-	tcd->m_disableCollisionsBetweenLinkedBodies = false;
-
-	int i;
-	for (i = 0; i < m_rbA.getNumConstraintRefs(); i++)
-		if (m_rbA.getConstraintRef(i) == this)
-			tcd->m_disableCollisionsBetweenLinkedBodies = true;
-	for (i = 0; i < m_rbB.getNumConstraintRefs(); i++)
-		if (m_rbB.getConstraintRef(i) == this)
-			tcd->m_disableCollisionsBetweenLinkedBodies = true;
-
-	return btTypedConstraintDataName;
-}
-
-btRigidBody& btTypedConstraint::getFixedBody()
-{
-	static btRigidBody s_fixed(0, 0, 0);
-	s_fixed.setMassProps(btScalar(0.), btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
-	return s_fixed;
-}
-
-void btAngularLimit::set(btScalar low, btScalar high, btScalar _softness, btScalar _biasFactor, btScalar _relaxationFactor)
-{
-	m_halfRange = (high - low) / 2.0f;
-	m_center = btNormalizeAngle(low + m_halfRange);
-	m_softness = _softness;
-	m_biasFactor = _biasFactor;
-	m_relaxationFactor = _relaxationFactor;
-}
-
-void btAngularLimit::test(const btScalar angle)
-{
-	m_correction = 0.0f;
-	m_sign = 0.0f;
-	m_solveLimit = false;
-
-	if (m_halfRange >= 0.0f)
-	{
-		btScalar deviation = btNormalizeAngle(angle - m_center);
-		if (deviation < -m_halfRange)
-		{
-			m_solveLimit = true;
-			m_correction = -(deviation + m_halfRange);
-			m_sign = +1.0f;
-		}
-		else if (deviation > m_halfRange)
-		{
-			m_solveLimit = true;
-			m_correction = m_halfRange - deviation;
-			m_sign = -1.0f;
-		}
-	}
-}
-
-btScalar btAngularLimit::getError() const
-{
-	return m_correction * m_sign;
-}
-
-void btAngularLimit::fit(btScalar& angle) const
-{
-	if (m_halfRange > 0.0f)
-	{
-		btScalar relativeAngle = btNormalizeAngle(angle - m_center);
-		if (!btEqual(relativeAngle, m_halfRange))
-		{
-			if (relativeAngle > 0.0f)
-			{
-				angle = getHigh();
-			}
-			else
-			{
-				angle = getLow();
-			}
-		}
-	}
-}
-
-btScalar btAngularLimit::getLow() const
-{
-	return btNormalizeAngle(m_center - m_halfRange);
-}
-
-btScalar btAngularLimit::getHigh() const
-{
-	return btNormalizeAngle(m_center + m_halfRange);
-}
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.h
deleted file mode 100644
index d30f3dee5c..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.h
+++ /dev/null
@@ -1,532 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2010 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_TYPED_CONSTRAINT_H
-#define BT_TYPED_CONSTRAINT_H
-
-#include "LinearMath/btScalar.h"
-#include "btSolverConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btTypedConstraintData2 btTypedConstraintDoubleData
-#define btTypedConstraintDataName "btTypedConstraintDoubleData"
-#else
-#define btTypedConstraintData2 btTypedConstraintFloatData
-#define btTypedConstraintDataName "btTypedConstraintFloatData"
-#endif  //BT_USE_DOUBLE_PRECISION
-
-class btSerializer;
-
-//Don't change any of the existing enum values, so add enum types at the end for serialization compatibility
-enum btTypedConstraintType
-{
-	POINT2POINT_CONSTRAINT_TYPE = 3,
-	HINGE_CONSTRAINT_TYPE,
-	CONETWIST_CONSTRAINT_TYPE,
-	D6_CONSTRAINT_TYPE,
-	SLIDER_CONSTRAINT_TYPE,
-	CONTACT_CONSTRAINT_TYPE,
-	D6_SPRING_CONSTRAINT_TYPE,
-	GEAR_CONSTRAINT_TYPE,
-	FIXED_CONSTRAINT_TYPE,
-	D6_SPRING_2_CONSTRAINT_TYPE,
-	MAX_CONSTRAINT_TYPE
-};
-
-enum btConstraintParams
-{
-	BT_CONSTRAINT_ERP = 1,
-	BT_CONSTRAINT_STOP_ERP,
-	BT_CONSTRAINT_CFM,
-	BT_CONSTRAINT_STOP_CFM
-};
-
-#if 1
-#define btAssertConstrParams(_par) btAssert(_par)
-#else
-#define btAssertConstrParams(_par)
-#endif
-
-ATTRIBUTE_ALIGNED16(struct)
-btJointFeedback
-{
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-	btVector3 m_appliedForceBodyA;
-	btVector3 m_appliedTorqueBodyA;
-	btVector3 m_appliedForceBodyB;
-	btVector3 m_appliedTorqueBodyB;
-};
-
-///TypedConstraint is the baseclass for Bullet constraints and vehicles
-ATTRIBUTE_ALIGNED16(class)
-btTypedConstraint : public btTypedObject
-{
-	int m_userConstraintType;
-
-	union {
-		int m_userConstraintId;
-		void* m_userConstraintPtr;
-	};
-
-	btScalar m_breakingImpulseThreshold;
-	bool m_isEnabled;
-	bool m_needsFeedback;
-	int m_overrideNumSolverIterations;
-
-	btTypedConstraint& operator=(btTypedConstraint& other)
-	{
-		btAssert(0);
-		(void)other;
-		return *this;
-	}
-
-protected:
-	btRigidBody& m_rbA;
-	btRigidBody& m_rbB;
-	btScalar m_appliedImpulse;
-	btScalar m_dbgDrawSize;
-	btJointFeedback* m_jointFeedback;
-
-	///internal method used by the constraint solver, don't use them directly
-	btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact);
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	virtual ~btTypedConstraint(){};
-	btTypedConstraint(btTypedConstraintType type, btRigidBody & rbA);
-	btTypedConstraint(btTypedConstraintType type, btRigidBody & rbA, btRigidBody & rbB);
-
-	struct btConstraintInfo1
-	{
-		int m_numConstraintRows, nub;
-	};
-
-	static btRigidBody& getFixedBody();
-
-	struct btConstraintInfo2
-	{
-		// integrator parameters: frames per second (1/stepsize), default error
-		// reduction parameter (0..1).
-		btScalar fps, erp;
-
-		// for the first and second body, pointers to two (linear and angular)
-		// n*3 jacobian sub matrices, stored by rows. these matrices will have
-		// been initialized to 0 on entry. if the second body is zero then the
-		// J2xx pointers may be 0.
-		btScalar *m_J1linearAxis, *m_J1angularAxis, *m_J2linearAxis, *m_J2angularAxis;
-
-		// elements to jump from one row to the next in J's
-		int rowskip;
-
-		// right hand sides of the equation J*v = c + cfm * lambda. cfm is the
-		// "constraint force mixing" vector. c is set to zero on entry, cfm is
-		// set to a constant value (typically very small or zero) value on entry.
-		btScalar *m_constraintError, *cfm;
-
-		// lo and hi limits for variables (set to -/+ infinity on entry).
-		btScalar *m_lowerLimit, *m_upperLimit;
-
-		// number of solver iterations
-		int m_numIterations;
-
-		//damping of the velocity
-		btScalar m_damping;
-	};
-
-	int getOverrideNumSolverIterations() const
-	{
-		return m_overrideNumSolverIterations;
-	}
-
-	///override the number of constraint solver iterations used to solve this constraint
-	///-1 will use the default number of iterations, as specified in SolverInfo.m_numIterations
-	void setOverrideNumSolverIterations(int overideNumIterations)
-	{
-		m_overrideNumSolverIterations = overideNumIterations;
-	}
-
-	///internal method used by the constraint solver, don't use them directly
-	virtual void buildJacobian(){};
-
-	///internal method used by the constraint solver, don't use them directly
-	virtual void setupSolverConstraint(btConstraintArray & ca, int solverBodyA, int solverBodyB, btScalar timeStep)
-	{
-		(void)ca;
-		(void)solverBodyA;
-		(void)solverBodyB;
-		(void)timeStep;
-	}
-
-	///internal method used by the constraint solver, don't use them directly
-	virtual void getInfo1(btConstraintInfo1 * info) = 0;
-
-	///internal method used by the constraint solver, don't use them directly
-	virtual void getInfo2(btConstraintInfo2 * info) = 0;
-
-	///internal method used by the constraint solver, don't use them directly
-	void internalSetAppliedImpulse(btScalar appliedImpulse)
-	{
-		m_appliedImpulse = appliedImpulse;
-	}
-	///internal method used by the constraint solver, don't use them directly
-	btScalar internalGetAppliedImpulse()
-	{
-		return m_appliedImpulse;
-	}
-
-	btScalar getBreakingImpulseThreshold() const
-	{
-		return m_breakingImpulseThreshold;
-	}
-
-	void setBreakingImpulseThreshold(btScalar threshold)
-	{
-		m_breakingImpulseThreshold = threshold;
-	}
-
-	bool isEnabled() const
-	{
-		return m_isEnabled;
-	}
-
-	void setEnabled(bool enabled)
-	{
-		m_isEnabled = enabled;
-	}
-
-	///internal method used by the constraint solver, don't use them directly
-	virtual void solveConstraintObsolete(btSolverBody& /*bodyA*/, btSolverBody& /*bodyB*/, btScalar /*timeStep*/){};
-
-	const btRigidBody& getRigidBodyA() const
-	{
-		return m_rbA;
-	}
-	const btRigidBody& getRigidBodyB() const
-	{
-		return m_rbB;
-	}
-
-	btRigidBody& getRigidBodyA()
-	{
-		return m_rbA;
-	}
-	btRigidBody& getRigidBodyB()
-	{
-		return m_rbB;
-	}
-
-	int getUserConstraintType() const
-	{
-		return m_userConstraintType;
-	}
-
-	void setUserConstraintType(int userConstraintType)
-	{
-		m_userConstraintType = userConstraintType;
-	};
-
-	void setUserConstraintId(int uid)
-	{
-		m_userConstraintId = uid;
-	}
-
-	int getUserConstraintId() const
-	{
-		return m_userConstraintId;
-	}
-
-	void setUserConstraintPtr(void* ptr)
-	{
-		m_userConstraintPtr = ptr;
-	}
-
-	void* getUserConstraintPtr()
-	{
-		return m_userConstraintPtr;
-	}
-
-	void setJointFeedback(btJointFeedback * jointFeedback)
-	{
-		m_jointFeedback = jointFeedback;
-	}
-
-	const btJointFeedback* getJointFeedback() const
-	{
-		return m_jointFeedback;
-	}
-
-	btJointFeedback* getJointFeedback()
-	{
-		return m_jointFeedback;
-	}
-
-	int getUid() const
-	{
-		return m_userConstraintId;
-	}
-
-	bool needsFeedback() const
-	{
-		return m_needsFeedback;
-	}
-
-	///enableFeedback will allow to read the applied linear and angular impulse
-	///use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information
-	void enableFeedback(bool needsFeedback)
-	{
-		m_needsFeedback = needsFeedback;
-	}
-
-	///getAppliedImpulse is an estimated total applied impulse.
-	///This feedback could be used to determine breaking constraints or playing sounds.
-	btScalar getAppliedImpulse() const
-	{
-		btAssert(m_needsFeedback);
-		return m_appliedImpulse;
-	}
-
-	btTypedConstraintType getConstraintType() const
-	{
-		return btTypedConstraintType(m_objectType);
-	}
-
-	void setDbgDrawSize(btScalar dbgDrawSize)
-	{
-		m_dbgDrawSize = dbgDrawSize;
-	}
-	btScalar getDbgDrawSize()
-	{
-		return m_dbgDrawSize;
-	}
-
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
-	///If no axis is provided, it uses the default axis for this constraint.
-	virtual void setParam(int num, btScalar value, int axis = -1) = 0;
-
-	///return the local value of parameter
-	virtual btScalar getParam(int num, int axis = -1) const = 0;
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-};
-
-// returns angle in range [-SIMD_2_PI, SIMD_2_PI], closest to one of the limits
-// all arguments should be normalized angles (i.e. in range [-SIMD_PI, SIMD_PI])
-SIMD_FORCE_INLINE btScalar btAdjustAngleToLimits(btScalar angleInRadians, btScalar angleLowerLimitInRadians, btScalar angleUpperLimitInRadians)
-{
-	if (angleLowerLimitInRadians >= angleUpperLimitInRadians)
-	{
-		return angleInRadians;
-	}
-	else if (angleInRadians < angleLowerLimitInRadians)
-	{
-		btScalar diffLo = btFabs(btNormalizeAngle(angleLowerLimitInRadians - angleInRadians));
-		btScalar diffHi = btFabs(btNormalizeAngle(angleUpperLimitInRadians - angleInRadians));
-		return (diffLo < diffHi) ? angleInRadians : (angleInRadians + SIMD_2_PI);
-	}
-	else if (angleInRadians > angleUpperLimitInRadians)
-	{
-		btScalar diffHi = btFabs(btNormalizeAngle(angleInRadians - angleUpperLimitInRadians));
-		btScalar diffLo = btFabs(btNormalizeAngle(angleInRadians - angleLowerLimitInRadians));
-		return (diffLo < diffHi) ? (angleInRadians - SIMD_2_PI) : angleInRadians;
-	}
-	else
-	{
-		return angleInRadians;
-	}
-}
-
-// clang-format off
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btTypedConstraintFloatData
-{
-	btRigidBodyFloatData		*m_rbA;
-	btRigidBodyFloatData		*m_rbB;
-	char	*m_name;
-
-	int	m_objectType;
-	int	m_userConstraintType;
-	int	m_userConstraintId;
-	int	m_needsFeedback;
-
-	float	m_appliedImpulse;
-	float	m_dbgDrawSize;
-
-	int	m_disableCollisionsBetweenLinkedBodies;
-	int	m_overrideNumSolverIterations;
-
-	float	m_breakingImpulseThreshold;
-	int		m_isEnabled;
-	
-};
-
-
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-
-#define BT_BACKWARDS_COMPATIBLE_SERIALIZATION
-#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION
-///this structure is not used, except for loading pre-2.82 .bullet files
-struct	btTypedConstraintData
-{
-	btRigidBodyData		*m_rbA;
-	btRigidBodyData		*m_rbB;
-	char	*m_name;
-
-	int	m_objectType;
-	int	m_userConstraintType;
-	int	m_userConstraintId;
-	int	m_needsFeedback;
-
-	float	m_appliedImpulse;
-	float	m_dbgDrawSize;
-
-	int	m_disableCollisionsBetweenLinkedBodies;
-	int	m_overrideNumSolverIterations;
-
-	float	m_breakingImpulseThreshold;
-	int		m_isEnabled;
-	
-};
-#endif //BACKWARDS_COMPATIBLE
-
-struct	btTypedConstraintDoubleData
-{
-	btRigidBodyDoubleData		*m_rbA;
-	btRigidBodyDoubleData		*m_rbB;
-	char	*m_name;
-
-	int	m_objectType;
-	int	m_userConstraintType;
-	int	m_userConstraintId;
-	int	m_needsFeedback;
-
-	double	m_appliedImpulse;
-	double	m_dbgDrawSize;
-
-	int	m_disableCollisionsBetweenLinkedBodies;
-	int	m_overrideNumSolverIterations;
-
-	double	m_breakingImpulseThreshold;
-	int		m_isEnabled;
-	char	padding[4];
-	
-};
-
-// clang-format on
-
-SIMD_FORCE_INLINE int btTypedConstraint::calculateSerializeBufferSize() const
-{
-	return sizeof(btTypedConstraintData2);
-}
-
-class btAngularLimit
-{
-private:
-	btScalar
-		m_center,
-		m_halfRange,
-		m_softness,
-		m_biasFactor,
-		m_relaxationFactor,
-		m_correction,
-		m_sign;
-
-	bool
-		m_solveLimit;
-
-public:
-	/// Default constructor initializes limit as inactive, allowing free constraint movement
-	btAngularLimit()
-		: m_center(0.0f),
-		  m_halfRange(-1.0f),
-		  m_softness(0.9f),
-		  m_biasFactor(0.3f),
-		  m_relaxationFactor(1.0f),
-		  m_correction(0.0f),
-		  m_sign(0.0f),
-		  m_solveLimit(false)
-	{
-	}
-
-	/// Sets all limit's parameters.
-	/// When low > high limit becomes inactive.
-	/// When high - low > 2PI limit is ineffective too becouse no angle can exceed the limit
-	void set(btScalar low, btScalar high, btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f);
-
-	/// Checks conastaint angle against limit. If limit is active and the angle violates the limit
-	/// correction is calculated.
-	void test(const btScalar angle);
-
-	/// Returns limit's softness
-	inline btScalar getSoftness() const
-	{
-		return m_softness;
-	}
-
-	/// Returns limit's bias factor
-	inline btScalar getBiasFactor() const
-	{
-		return m_biasFactor;
-	}
-
-	/// Returns limit's relaxation factor
-	inline btScalar getRelaxationFactor() const
-	{
-		return m_relaxationFactor;
-	}
-
-	/// Returns correction value evaluated when test() was invoked
-	inline btScalar getCorrection() const
-	{
-		return m_correction;
-	}
-
-	/// Returns sign value evaluated when test() was invoked
-	inline btScalar getSign() const
-	{
-		return m_sign;
-	}
-
-	/// Gives half of the distance between min and max limit angle
-	inline btScalar getHalfRange() const
-	{
-		return m_halfRange;
-	}
-
-	/// Returns true when the last test() invocation recognized limit violation
-	inline bool isLimit() const
-	{
-		return m_solveLimit;
-	}
-
-	/// Checks given angle against limit. If limit is active and angle doesn't fit it, the angle
-	/// returned is modified so it equals to the limit closest to given angle.
-	void fit(btScalar& angle) const;
-
-	/// Returns correction value multiplied by sign value
-	btScalar getError() const;
-
-	btScalar getLow() const;
-
-	btScalar getHigh() const;
-};
-
-#endif  //BT_TYPED_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
deleted file mode 100644
index 42ed1fbb87..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
+++ /dev/null
@@ -1,80 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
-Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btUniversalConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btTransformUtil.h"
-
-#define UNIV_EPS btScalar(0.01f)
-
-// constructor
-// anchor, axis1 and axis2 are in world coordinate system
-// axis1 must be orthogonal to axis2
-btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2)
-	: btGeneric6DofConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
-	  m_anchor(anchor),
-	  m_axis1(axis1),
-	  m_axis2(axis2)
-{
-	// build frame basis
-	// 6DOF constraint uses Euler angles and to define limits
-	// it is assumed that rotational order is :
-	// Z - first, allowed limits are (-PI,PI);
-	// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number
-	// used to prevent constraint from instability on poles;
-	// new position of X, allowed limits are (-PI,PI);
-	// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
-	// Build the frame in world coordinate system first
-	btVector3 zAxis = m_axis1.normalize();
-	btVector3 yAxis = m_axis2.normalize();
-	btVector3 xAxis = yAxis.cross(zAxis);  // we want right coordinate system
-	btTransform frameInW;
-	frameInW.setIdentity();
-	frameInW.getBasis().setValue(xAxis[0], yAxis[0], zAxis[0],
-								 xAxis[1], yAxis[1], zAxis[1],
-								 xAxis[2], yAxis[2], zAxis[2]);
-	frameInW.setOrigin(anchor);
-	// now get constraint frame in local coordinate systems
-	m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
-	m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW;
-	// sei limits
-	setLinearLowerLimit(btVector3(0., 0., 0.));
-	setLinearUpperLimit(btVector3(0., 0., 0.));
-	setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI + UNIV_EPS, -SIMD_PI + UNIV_EPS));
-	setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI - UNIV_EPS, SIMD_PI - UNIV_EPS));
-}
-
-void btUniversalConstraint::setAxis(const btVector3& axis1, const btVector3& axis2)
-{
-	m_axis1 = axis1;
-	m_axis2 = axis2;
-
-	btVector3 zAxis = axis1.normalized();
-	btVector3 yAxis = axis2.normalized();
-	btVector3 xAxis = yAxis.cross(zAxis);  // we want right coordinate system
-
-	btTransform frameInW;
-	frameInW.setIdentity();
-	frameInW.getBasis().setValue(xAxis[0], yAxis[0], zAxis[0],
-								 xAxis[1], yAxis[1], zAxis[1],
-								 xAxis[2], yAxis[2], zAxis[2]);
-	frameInW.setOrigin(m_anchor);
-
-	// now get constraint frame in local coordinate systems
-	m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW;
-	m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW;
-
-	calculateTransforms();
-}
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
deleted file mode 100644
index 8c24d93a64..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
+++ /dev/null
@@ -1,59 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
-Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_UNIVERSAL_CONSTRAINT_H
-#define BT_UNIVERSAL_CONSTRAINT_H
-
-#include "LinearMath/btVector3.h"
-#include "btTypedConstraint.h"
-#include "btGeneric6DofConstraint.h"
-
-/// Constraint similar to ODE Universal Joint
-/// has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1)
-/// and Y (axis 2)
-/// Description from ODE manual :
-/// "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular.
-/// In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal."
-
-ATTRIBUTE_ALIGNED16(class)
-btUniversalConstraint : public btGeneric6DofConstraint
-{
-protected:
-	btVector3 m_anchor;
-	btVector3 m_axis1;
-	btVector3 m_axis2;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	// constructor
-	// anchor, axis1 and axis2 are in world coordinate system
-	// axis1 must be orthogonal to axis2
-	btUniversalConstraint(btRigidBody & rbA, btRigidBody & rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2);
-	// access
-	const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
-	const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
-	const btVector3& getAxis1() { return m_axis1; }
-	const btVector3& getAxis2() { return m_axis2; }
-	btScalar getAngle1() { return getAngle(2); }
-	btScalar getAngle2() { return getAngle(1); }
-	// limits
-	void setUpperLimit(btScalar ang1max, btScalar ang2max) { setAngularUpperLimit(btVector3(0.f, ang1max, ang2max)); }
-	void setLowerLimit(btScalar ang1min, btScalar ang2min) { setAngularLowerLimit(btVector3(0.f, ang1min, ang2min)); }
-
-	void setAxis(const btVector3& axis1, const btVector3& axis2);
-};
-
-#endif  // BT_UNIVERSAL_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btActionInterface.h b/thirdparty/bullet/BulletDynamics/Dynamics/btActionInterface.h
deleted file mode 100644
index b5cac56cdc..0000000000
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btActionInterface.h
+++ /dev/null
@@ -1,41 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef _BT_ACTION_INTERFACE_H
-#define _BT_ACTION_INTERFACE_H
-
-class btIDebugDraw;
-class btCollisionWorld;
-
-#include "LinearMath/btScalar.h"
-#include "btRigidBody.h"
-
-///Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWorld
-class btActionInterface
-{
-protected:
-	static btRigidBody& getFixedBody();
-
-public:
-	virtual ~btActionInterface()
-	{
-	}
-
-	virtual void updateAction(btCollisionWorld* collisionWorld, btScalar deltaTimeStep) = 0;
-
-	virtual void debugDraw(btIDebugDraw* debugDrawer) = 0;
-};
-
-#endif  //_BT_ACTION_INTERFACE_H
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
deleted file mode 100644
index fb15ae31eb..0000000000
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ /dev/null
@@ -1,1469 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btDiscreteDynamicsWorld.h"
-
-//collision detection
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
-#include "LinearMath/btTransformUtil.h"
-#include "LinearMath/btQuickprof.h"
-
-//rigidbody & constraints
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
-#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
-#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
-#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
-
-#include "LinearMath/btIDebugDraw.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-
-#include "BulletDynamics/Dynamics/btActionInterface.h"
-#include "LinearMath/btQuickprof.h"
-#include "LinearMath/btMotionState.h"
-
-#include "LinearMath/btSerializer.h"
-
-#if 0
-btAlignedObjectArray<btVector3> debugContacts;
-btAlignedObjectArray<btVector3> debugNormals;
-int startHit=2;
-int firstHit=startHit;
-#endif
-
-SIMD_FORCE_INLINE int btGetConstraintIslandId(const btTypedConstraint* lhs)
-{
-	int islandId;
-
-	const btCollisionObject& rcolObj0 = lhs->getRigidBodyA();
-	const btCollisionObject& rcolObj1 = lhs->getRigidBodyB();
-	islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag();
-	return islandId;
-}
-
-class btSortConstraintOnIslandPredicate
-{
-public:
-	bool operator()(const btTypedConstraint* lhs, const btTypedConstraint* rhs) const
-	{
-		int rIslandId0, lIslandId0;
-		rIslandId0 = btGetConstraintIslandId(rhs);
-		lIslandId0 = btGetConstraintIslandId(lhs);
-		return lIslandId0 < rIslandId0;
-	}
-};
-
-struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
-{
-	btContactSolverInfo* m_solverInfo;
-	btConstraintSolver* m_solver;
-	btTypedConstraint** m_sortedConstraints;
-	int m_numConstraints;
-	btIDebugDraw* m_debugDrawer;
-	btDispatcher* m_dispatcher;
-
-	btAlignedObjectArray<btCollisionObject*> m_bodies;
-	btAlignedObjectArray<btPersistentManifold*> m_manifolds;
-	btAlignedObjectArray<btTypedConstraint*> m_constraints;
-
-	InplaceSolverIslandCallback(
-		btConstraintSolver* solver,
-		btStackAlloc* stackAlloc,
-		btDispatcher* dispatcher)
-		: m_solverInfo(NULL),
-		  m_solver(solver),
-		  m_sortedConstraints(NULL),
-		  m_numConstraints(0),
-		  m_debugDrawer(NULL),
-		  m_dispatcher(dispatcher)
-	{
-	}
-
-	InplaceSolverIslandCallback& operator=(InplaceSolverIslandCallback& other)
-	{
-		btAssert(0);
-		(void)other;
-		return *this;
-	}
-
-	SIMD_FORCE_INLINE void setup(btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btIDebugDraw* debugDrawer)
-	{
-		btAssert(solverInfo);
-		m_solverInfo = solverInfo;
-		m_sortedConstraints = sortedConstraints;
-		m_numConstraints = numConstraints;
-		m_debugDrawer = debugDrawer;
-		m_bodies.resize(0);
-		m_manifolds.resize(0);
-		m_constraints.resize(0);
-	}
-
-	virtual void processIsland(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifolds, int numManifolds, int islandId)
-	{
-		if (islandId < 0)
-		{
-			///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
-			m_solver->solveGroup(bodies, numBodies, manifolds, numManifolds, &m_sortedConstraints[0], m_numConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher);
-		}
-		else
-		{
-			//also add all non-contact constraints/joints for this island
-			btTypedConstraint** startConstraint = 0;
-			int numCurConstraints = 0;
-			int i;
-
-			//find the first constraint for this island
-			for (i = 0; i < m_numConstraints; i++)
-			{
-				if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
-				{
-					startConstraint = &m_sortedConstraints[i];
-					break;
-				}
-			}
-			//count the number of constraints in this island
-			for (; i < m_numConstraints; i++)
-			{
-				if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
-				{
-					numCurConstraints++;
-				}
-			}
-
-			if (m_solverInfo->m_minimumSolverBatchSize <= 1)
-			{
-				m_solver->solveGroup(bodies, numBodies, manifolds, numManifolds, startConstraint, numCurConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher);
-			}
-			else
-			{
-				for (i = 0; i < numBodies; i++)
-					m_bodies.push_back(bodies[i]);
-				for (i = 0; i < numManifolds; i++)
-					m_manifolds.push_back(manifolds[i]);
-				for (i = 0; i < numCurConstraints; i++)
-					m_constraints.push_back(startConstraint[i]);
-				if ((m_constraints.size() + m_manifolds.size()) > m_solverInfo->m_minimumSolverBatchSize)
-				{
-					processConstraints();
-				}
-				else
-				{
-					//printf("deferred\n");
-				}
-			}
-		}
-	}
-	void processConstraints()
-	{
-		btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0;
-		btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0;
-		btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0;
-
-		m_solver->solveGroup(bodies, m_bodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher);
-		m_bodies.resize(0);
-		m_manifolds.resize(0);
-		m_constraints.resize(0);
-	}
-};
-
-btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
-	: btDynamicsWorld(dispatcher, pairCache, collisionConfiguration),
-	  m_sortedConstraints(),
-	  m_solverIslandCallback(NULL),
-	  m_constraintSolver(constraintSolver),
-	  m_gravity(0, -10, 0),
-	  m_localTime(0),
-	  m_fixedTimeStep(0),
-	  m_synchronizeAllMotionStates(false),
-	  m_applySpeculativeContactRestitution(false),
-	  m_profileTimings(0),
-	  m_latencyMotionStateInterpolation(true)
-
-{
-	if (!m_constraintSolver)
-	{
-		void* mem = btAlignedAlloc(sizeof(btSequentialImpulseConstraintSolver), 16);
-		m_constraintSolver = new (mem) btSequentialImpulseConstraintSolver;
-		m_ownsConstraintSolver = true;
-	}
-	else
-	{
-		m_ownsConstraintSolver = false;
-	}
-
-	{
-		void* mem = btAlignedAlloc(sizeof(btSimulationIslandManager), 16);
-		m_islandManager = new (mem) btSimulationIslandManager();
-	}
-
-	m_ownsIslandManager = true;
-
-	{
-		void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallback), 16);
-		m_solverIslandCallback = new (mem) InplaceSolverIslandCallback(m_constraintSolver, 0, dispatcher);
-	}
-}
-
-btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld()
-{
-	//only delete it when we created it
-	if (m_ownsIslandManager)
-	{
-		m_islandManager->~btSimulationIslandManager();
-		btAlignedFree(m_islandManager);
-	}
-	if (m_solverIslandCallback)
-	{
-		m_solverIslandCallback->~InplaceSolverIslandCallback();
-		btAlignedFree(m_solverIslandCallback);
-	}
-	if (m_ownsConstraintSolver)
-	{
-		m_constraintSolver->~btConstraintSolver();
-		btAlignedFree(m_constraintSolver);
-	}
-}
-
-void btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
-{
-	///would like to iterate over m_nonStaticRigidBodies, but unfortunately old API allows
-	///to switch status _after_ adding kinematic objects to the world
-	///fix it for Bullet 3.x release
-	for (int i = 0; i < m_collisionObjects.size(); i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		btRigidBody* body = btRigidBody::upcast(colObj);
-		if (body && body->getActivationState() != ISLAND_SLEEPING)
-		{
-			if (body->isKinematicObject())
-			{
-				//to calculate velocities next frame
-				body->saveKinematicState(timeStep);
-			}
-		}
-	}
-}
-
-void btDiscreteDynamicsWorld::debugDrawWorld()
-{
-	BT_PROFILE("debugDrawWorld");
-
-	btCollisionWorld::debugDrawWorld();
-
-	bool drawConstraints = false;
-	if (getDebugDrawer())
-	{
-		int mode = getDebugDrawer()->getDebugMode();
-		if (mode & (btIDebugDraw::DBG_DrawConstraints | btIDebugDraw::DBG_DrawConstraintLimits))
-		{
-			drawConstraints = true;
-		}
-	}
-	if (drawConstraints)
-	{
-		for (int i = getNumConstraints() - 1; i >= 0; i--)
-		{
-			btTypedConstraint* constraint = getConstraint(i);
-			debugDrawConstraint(constraint);
-		}
-	}
-
-	if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb | btIDebugDraw::DBG_DrawNormals)))
-	{
-		int i;
-
-		if (getDebugDrawer() && getDebugDrawer()->getDebugMode())
-		{
-			for (i = 0; i < m_actions.size(); i++)
-			{
-				m_actions[i]->debugDraw(m_debugDrawer);
-			}
-		}
-	}
-	if (getDebugDrawer())
-		getDebugDrawer()->flushLines();
-}
-
-void btDiscreteDynamicsWorld::clearForces()
-{
-	///@todo: iterate over awake simulation islands!
-	for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
-	{
-		btRigidBody* body = m_nonStaticRigidBodies[i];
-		//need to check if next line is ok
-		//it might break backward compatibility (people applying forces on sleeping objects get never cleared and accumulate on wake-up
-		body->clearForces();
-	}
-}
-
-///apply gravity, call this once per timestep
-void btDiscreteDynamicsWorld::applyGravity()
-{
-	///@todo: iterate over awake simulation islands!
-	for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
-	{
-		btRigidBody* body = m_nonStaticRigidBodies[i];
-		if (body->isActive())
-		{
-			body->applyGravity();
-		}
-	}
-}
-
-void btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
-{
-	btAssert(body);
-
-	if (body->getMotionState() && !body->isStaticOrKinematicObject())
-	{
-		//we need to call the update at least once, even for sleeping objects
-		//otherwise the 'graphics' transform never updates properly
-		///@todo: add 'dirty' flag
-		//if (body->getActivationState() != ISLAND_SLEEPING)
-		{
-			btTransform interpolatedTransform;
-			btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
-												body->getInterpolationLinearVelocity(), body->getInterpolationAngularVelocity(),
-												(m_latencyMotionStateInterpolation && m_fixedTimeStep) ? m_localTime - m_fixedTimeStep : m_localTime * body->getHitFraction(),
-												interpolatedTransform);
-			body->getMotionState()->setWorldTransform(interpolatedTransform);
-		}
-	}
-}
-
-void btDiscreteDynamicsWorld::synchronizeMotionStates()
-{
-	//	BT_PROFILE("synchronizeMotionStates");
-	if (m_synchronizeAllMotionStates)
-	{
-		//iterate  over all collision objects
-		for (int i = 0; i < m_collisionObjects.size(); i++)
-		{
-			btCollisionObject* colObj = m_collisionObjects[i];
-			btRigidBody* body = btRigidBody::upcast(colObj);
-			if (body)
-				synchronizeSingleMotionState(body);
-		}
-	}
-	else
-	{
-		//iterate over all active rigid bodies
-		for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
-		{
-			btRigidBody* body = m_nonStaticRigidBodies[i];
-			if (body->isActive())
-				synchronizeSingleMotionState(body);
-		}
-	}
-}
-
-int btDiscreteDynamicsWorld::stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep)
-{
-	startProfiling(timeStep);
-
-	int numSimulationSubSteps = 0;
-
-	if (maxSubSteps)
-	{
-		//fixed timestep with interpolation
-		m_fixedTimeStep = fixedTimeStep;
-		m_localTime += timeStep;
-		if (m_localTime >= fixedTimeStep)
-		{
-			numSimulationSubSteps = int(m_localTime / fixedTimeStep);
-			m_localTime -= numSimulationSubSteps * fixedTimeStep;
-		}
-	}
-	else
-	{
-		//variable timestep
-		fixedTimeStep = timeStep;
-		m_localTime = m_latencyMotionStateInterpolation ? 0 : timeStep;
-		m_fixedTimeStep = 0;
-		if (btFuzzyZero(timeStep))
-		{
-			numSimulationSubSteps = 0;
-			maxSubSteps = 0;
-		}
-		else
-		{
-			numSimulationSubSteps = 1;
-			maxSubSteps = 1;
-		}
-	}
-
-	//process some debugging flags
-	if (getDebugDrawer())
-	{
-		btIDebugDraw* debugDrawer = getDebugDrawer();
-		gDisableDeactivation = (debugDrawer->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0;
-	}
-	if (numSimulationSubSteps)
-	{
-		//clamp the number of substeps, to prevent simulation grinding spiralling down to a halt
-		int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps) ? maxSubSteps : numSimulationSubSteps;
-
-		saveKinematicState(fixedTimeStep * clampedSimulationSteps);
-
-		applyGravity();
-
-		for (int i = 0; i < clampedSimulationSteps; i++)
-		{
-			internalSingleStepSimulation(fixedTimeStep);
-			synchronizeMotionStates();
-		}
-	}
-	else
-	{
-		synchronizeMotionStates();
-	}
-
-	clearForces();
-
-#ifndef BT_NO_PROFILE
-	CProfileManager::Increment_Frame_Counter();
-#endif  //BT_NO_PROFILE
-
-	return numSimulationSubSteps;
-}
-
-void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
-{
-	BT_PROFILE("internalSingleStepSimulation");
-
-	if (0 != m_internalPreTickCallback)
-	{
-		(*m_internalPreTickCallback)(this, timeStep);
-	}
-
-	///apply gravity, predict motion
-	predictUnconstraintMotion(timeStep);
-
-	btDispatcherInfo& dispatchInfo = getDispatchInfo();
-
-	dispatchInfo.m_timeStep = timeStep;
-	dispatchInfo.m_stepCount = 0;
-	dispatchInfo.m_debugDraw = getDebugDrawer();
-
-	createPredictiveContacts(timeStep);
-
-	///perform collision detection
-	performDiscreteCollisionDetection();
-
-	calculateSimulationIslands();
-
-	getSolverInfo().m_timeStep = timeStep;
-
-	///solve contact and other joint constraints
-	solveConstraints(getSolverInfo());
-
-	///CallbackTriggers();
-
-	///integrate transforms
-
-	integrateTransforms(timeStep);
-
-	///update vehicle simulation
-	updateActions(timeStep);
-
-	updateActivationState(timeStep);
-
-	if (0 != m_internalTickCallback)
-	{
-		(*m_internalTickCallback)(this, timeStep);
-	}
-}
-
-void btDiscreteDynamicsWorld::setGravity(const btVector3& gravity)
-{
-	m_gravity = gravity;
-	for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
-	{
-		btRigidBody* body = m_nonStaticRigidBodies[i];
-		if (body->isActive() && !(body->getFlags() & BT_DISABLE_WORLD_GRAVITY))
-		{
-			body->setGravity(gravity);
-		}
-	}
-}
-
-btVector3 btDiscreteDynamicsWorld::getGravity() const
-{
-	return m_gravity;
-}
-
-void btDiscreteDynamicsWorld::addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup, int collisionFilterMask)
-{
-	btCollisionWorld::addCollisionObject(collisionObject, collisionFilterGroup, collisionFilterMask);
-}
-
-void btDiscreteDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
-{
-	btRigidBody* body = btRigidBody::upcast(collisionObject);
-	if (body)
-		removeRigidBody(body);
-	else
-		btCollisionWorld::removeCollisionObject(collisionObject);
-}
-
-void btDiscreteDynamicsWorld::removeRigidBody(btRigidBody* body)
-{
-	m_nonStaticRigidBodies.remove(body);
-	btCollisionWorld::removeCollisionObject(body);
-}
-
-void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
-{
-	if (!body->isStaticOrKinematicObject() && !(body->getFlags() & BT_DISABLE_WORLD_GRAVITY))
-	{
-		body->setGravity(m_gravity);
-	}
-
-	if (body->getCollisionShape())
-	{
-		if (!body->isStaticObject())
-		{
-			m_nonStaticRigidBodies.push_back(body);
-		}
-		else
-		{
-			body->setActivationState(ISLAND_SLEEPING);
-		}
-
-		bool isDynamic = !(body->isStaticObject() || body->isKinematicObject());
-		int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
-		int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
-
-		addCollisionObject(body, collisionFilterGroup, collisionFilterMask);
-	}
-}
-
-void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, int group, int mask)
-{
-	if (!body->isStaticOrKinematicObject() && !(body->getFlags() & BT_DISABLE_WORLD_GRAVITY))
-	{
-		body->setGravity(m_gravity);
-	}
-
-	if (body->getCollisionShape())
-	{
-		if (!body->isStaticObject())
-		{
-			m_nonStaticRigidBodies.push_back(body);
-		}
-		else
-		{
-			body->setActivationState(ISLAND_SLEEPING);
-		}
-		addCollisionObject(body, group, mask);
-	}
-}
-
-void btDiscreteDynamicsWorld::updateActions(btScalar timeStep)
-{
-	BT_PROFILE("updateActions");
-
-	for (int i = 0; i < m_actions.size(); i++)
-	{
-		m_actions[i]->updateAction(this, timeStep);
-	}
-}
-
-void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
-{
-	BT_PROFILE("updateActivationState");
-
-	for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
-	{
-		btRigidBody* body = m_nonStaticRigidBodies[i];
-		if (body)
-		{
-			body->updateDeactivation(timeStep);
-
-			if (body->wantsSleeping())
-			{
-				if (body->isStaticOrKinematicObject())
-				{
-					body->setActivationState(ISLAND_SLEEPING);
-				}
-				else
-				{
-					if (body->getActivationState() == ACTIVE_TAG)
-						body->setActivationState(WANTS_DEACTIVATION);
-					if (body->getActivationState() == ISLAND_SLEEPING)
-					{
-						body->setAngularVelocity(btVector3(0, 0, 0));
-						body->setLinearVelocity(btVector3(0, 0, 0));
-					}
-				}
-			}
-			else
-			{
-				if (body->getActivationState() != DISABLE_DEACTIVATION)
-					body->setActivationState(ACTIVE_TAG);
-			}
-		}
-	}
-}
-
-void btDiscreteDynamicsWorld::addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies)
-{
-	m_constraints.push_back(constraint);
-	//Make sure the two bodies of a type constraint are different (possibly add this to the btTypedConstraint constructor?)
-	btAssert(&constraint->getRigidBodyA() != &constraint->getRigidBodyB());
-
-	if (disableCollisionsBetweenLinkedBodies)
-	{
-		constraint->getRigidBodyA().addConstraintRef(constraint);
-		constraint->getRigidBodyB().addConstraintRef(constraint);
-	}
-}
-
-void btDiscreteDynamicsWorld::removeConstraint(btTypedConstraint* constraint)
-{
-	m_constraints.remove(constraint);
-	constraint->getRigidBodyA().removeConstraintRef(constraint);
-	constraint->getRigidBodyB().removeConstraintRef(constraint);
-}
-
-void btDiscreteDynamicsWorld::addAction(btActionInterface* action)
-{
-	m_actions.push_back(action);
-}
-
-void btDiscreteDynamicsWorld::removeAction(btActionInterface* action)
-{
-	m_actions.remove(action);
-}
-
-void btDiscreteDynamicsWorld::addVehicle(btActionInterface* vehicle)
-{
-	addAction(vehicle);
-}
-
-void btDiscreteDynamicsWorld::removeVehicle(btActionInterface* vehicle)
-{
-	removeAction(vehicle);
-}
-
-void btDiscreteDynamicsWorld::addCharacter(btActionInterface* character)
-{
-	addAction(character);
-}
-
-void btDiscreteDynamicsWorld::removeCharacter(btActionInterface* character)
-{
-	removeAction(character);
-}
-
-void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
-{
-	BT_PROFILE("solveConstraints");
-
-	m_sortedConstraints.resize(m_constraints.size());
-	int i;
-	for (i = 0; i < getNumConstraints(); i++)
-	{
-		m_sortedConstraints[i] = m_constraints[i];
-	}
-
-	//	btAssert(0);
-
-	m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate());
-
-	btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0;
-
-	m_solverIslandCallback->setup(&solverInfo, constraintsPtr, m_sortedConstraints.size(), getDebugDrawer());
-	m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
-
-	/// solve all the constraints for this island
-	m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverIslandCallback);
-
-	m_solverIslandCallback->processConstraints();
-
-	m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
-}
-
-void btDiscreteDynamicsWorld::calculateSimulationIslands()
-{
-	BT_PROFILE("calculateSimulationIslands");
-
-	getSimulationIslandManager()->updateActivationState(getCollisionWorld(), getCollisionWorld()->getDispatcher());
-
-	{
-		//merge islands based on speculative contact manifolds too
-		for (int i = 0; i < this->m_predictiveManifolds.size(); i++)
-		{
-			btPersistentManifold* manifold = m_predictiveManifolds[i];
-
-			const btCollisionObject* colObj0 = manifold->getBody0();
-			const btCollisionObject* colObj1 = manifold->getBody1();
-
-			if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
-				((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
-			{
-				getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(), (colObj1)->getIslandTag());
-			}
-		}
-	}
-
-	{
-		int i;
-		int numConstraints = int(m_constraints.size());
-		for (i = 0; i < numConstraints; i++)
-		{
-			btTypedConstraint* constraint = m_constraints[i];
-			if (constraint->isEnabled())
-			{
-				const btRigidBody* colObj0 = &constraint->getRigidBodyA();
-				const btRigidBody* colObj1 = &constraint->getRigidBodyB();
-
-				if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
-					((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
-				{
-					getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(), (colObj1)->getIslandTag());
-				}
-			}
-		}
-	}
-
-	//Store the island id in each body
-	getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld());
-}
-
-class btClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
-{
-public:
-	btCollisionObject* m_me;
-	btScalar m_allowedPenetration;
-	btOverlappingPairCache* m_pairCache;
-	btDispatcher* m_dispatcher;
-
-public:
-	btClosestNotMeConvexResultCallback(btCollisionObject* me, const btVector3& fromA, const btVector3& toA, btOverlappingPairCache* pairCache, btDispatcher* dispatcher) : btCollisionWorld::ClosestConvexResultCallback(fromA, toA),
-																																										   m_me(me),
-																																										   m_allowedPenetration(0.0f),
-																																										   m_pairCache(pairCache),
-																																										   m_dispatcher(dispatcher)
-	{
-	}
-
-	virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult, bool normalInWorldSpace)
-	{
-		if (convexResult.m_hitCollisionObject == m_me)
-			return 1.0f;
-
-		//ignore result if there is no contact response
-		if (!convexResult.m_hitCollisionObject->hasContactResponse())
-			return 1.0f;
-
-		btVector3 linVelA, linVelB;
-		linVelA = m_convexToWorld - m_convexFromWorld;
-		linVelB = btVector3(0, 0, 0);  //toB.getOrigin()-fromB.getOrigin();
-
-		btVector3 relativeVelocity = (linVelA - linVelB);
-		//don't report time of impact for motion away from the contact normal (or causes minor penetration)
-		if (convexResult.m_hitNormalLocal.dot(relativeVelocity) >= -m_allowedPenetration)
-			return 1.f;
-
-		return ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
-	}
-
-	virtual bool needsCollision(btBroadphaseProxy* proxy0) const
-	{
-		//don't collide with itself
-		if (proxy0->m_clientObject == m_me)
-			return false;
-
-		///don't do CCD when the collision filters are not matching
-		if (!ClosestConvexResultCallback::needsCollision(proxy0))
-			return false;
-		if (m_pairCache->getOverlapFilterCallback()) {
-			btBroadphaseProxy* proxy1 = m_me->getBroadphaseHandle();
-			bool collides = m_pairCache->needsBroadphaseCollision(proxy0, proxy1);
-			if (!collides)
-			{
-				return false;
-			}
-		}
-
-		btCollisionObject* otherObj = (btCollisionObject*)proxy0->m_clientObject;
-
-		if (!m_dispatcher->needsCollision(m_me, otherObj))
-			return false;
-
-		//call needsResponse, see http://code.google.com/p/bullet/issues/detail?id=179
-		if (m_dispatcher->needsResponse(m_me, otherObj))
-		{
-#if 0
-			///don't do CCD when there are already contact points (touching contact/penetration)
-			btAlignedObjectArray<btPersistentManifold*> manifoldArray;
-			btBroadphasePair* collisionPair = m_pairCache->findPair(m_me->getBroadphaseHandle(),proxy0);
-			if (collisionPair)
-			{
-				if (collisionPair->m_algorithm)
-				{
-					manifoldArray.resize(0);
-					collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
-					for (int j=0;j<manifoldArray.size();j++)
-					{
-						btPersistentManifold* manifold = manifoldArray[j];
-						if (manifold->getNumContacts()>0)
-							return false;
-					}
-				}
-			}
-#endif
-			return true;
-		}
-
-		return false;
-	}
-};
-
-///internal debugging variable. this value shouldn't be too high
-int gNumClampedCcdMotions = 0;
-
-void btDiscreteDynamicsWorld::createPredictiveContactsInternal(btRigidBody** bodies, int numBodies, btScalar timeStep)
-{
-	btTransform predictedTrans;
-	for (int i = 0; i < numBodies; i++)
-	{
-		btRigidBody* body = bodies[i];
-		body->setHitFraction(1.f);
-
-		if (body->isActive() && (!body->isStaticOrKinematicObject()))
-		{
-			body->predictIntegratedTransform(timeStep, predictedTrans);
-
-			btScalar squareMotion = (predictedTrans.getOrigin() - body->getWorldTransform().getOrigin()).length2();
-
-			if (getDispatchInfo().m_useContinuous && body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
-			{
-				BT_PROFILE("predictive convexSweepTest");
-				if (body->getCollisionShape()->isConvex())
-				{
-					gNumClampedCcdMotions++;
-#ifdef PREDICTIVE_CONTACT_USE_STATIC_ONLY
-					class StaticOnlyCallback : public btClosestNotMeConvexResultCallback
-					{
-					public:
-						StaticOnlyCallback(btCollisionObject* me, const btVector3& fromA, const btVector3& toA, btOverlappingPairCache* pairCache, btDispatcher* dispatcher) : btClosestNotMeConvexResultCallback(me, fromA, toA, pairCache, dispatcher)
-						{
-						}
-
-						virtual bool needsCollision(btBroadphaseProxy* proxy0) const
-						{
-							btCollisionObject* otherObj = (btCollisionObject*)proxy0->m_clientObject;
-							if (!otherObj->isStaticOrKinematicObject())
-								return false;
-							return btClosestNotMeConvexResultCallback::needsCollision(proxy0);
-						}
-					};
-
-					StaticOnlyCallback sweepResults(body, body->getWorldTransform().getOrigin(), predictedTrans.getOrigin(), getBroadphase()->getOverlappingPairCache(), getDispatcher());
-#else
-					btClosestNotMeConvexResultCallback sweepResults(body, body->getWorldTransform().getOrigin(), predictedTrans.getOrigin(), getBroadphase()->getOverlappingPairCache(), getDispatcher());
-#endif
-					//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
-					btSphereShape tmpSphere(body->getCcdSweptSphereRadius());  //btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
-					sweepResults.m_allowedPenetration = getDispatchInfo().m_allowedCcdPenetration;
-
-					sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;
-					sweepResults.m_collisionFilterMask = body->getBroadphaseProxy()->m_collisionFilterMask;
-					btTransform modifiedPredictedTrans = predictedTrans;
-					modifiedPredictedTrans.setBasis(body->getWorldTransform().getBasis());
-
-					convexSweepTest(&tmpSphere, body->getWorldTransform(), modifiedPredictedTrans, sweepResults);
-					if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
-					{
-						btVector3 distVec = (predictedTrans.getOrigin() - body->getWorldTransform().getOrigin()) * sweepResults.m_closestHitFraction;
-						btScalar distance = distVec.dot(-sweepResults.m_hitNormalWorld);
-
-						btPersistentManifold* manifold = m_dispatcher1->getNewManifold(body, sweepResults.m_hitCollisionObject);
-						btMutexLock(&m_predictiveManifoldsMutex);
-						m_predictiveManifolds.push_back(manifold);
-						btMutexUnlock(&m_predictiveManifoldsMutex);
-
-						btVector3 worldPointB = body->getWorldTransform().getOrigin() + distVec;
-						btVector3 localPointB = sweepResults.m_hitCollisionObject->getWorldTransform().inverse() * worldPointB;
-
-						btManifoldPoint newPoint(btVector3(0, 0, 0), localPointB, sweepResults.m_hitNormalWorld, distance);
-
-						bool isPredictive = true;
-						int index = manifold->addManifoldPoint(newPoint, isPredictive);
-						btManifoldPoint& pt = manifold->getContactPoint(index);
-						pt.m_combinedRestitution = 0;
-						pt.m_combinedFriction = gCalculateCombinedFrictionCallback(body, sweepResults.m_hitCollisionObject);
-						pt.m_positionWorldOnA = body->getWorldTransform().getOrigin();
-						pt.m_positionWorldOnB = worldPointB;
-					}
-				}
-			}
-		}
-	}
-}
-
-void btDiscreteDynamicsWorld::releasePredictiveContacts()
-{
-	BT_PROFILE("release predictive contact manifolds");
-
-	for (int i = 0; i < m_predictiveManifolds.size(); i++)
-	{
-		btPersistentManifold* manifold = m_predictiveManifolds[i];
-		this->m_dispatcher1->releaseManifold(manifold);
-	}
-	m_predictiveManifolds.clear();
-}
-
-void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep)
-{
-	BT_PROFILE("createPredictiveContacts");
-	releasePredictiveContacts();
-	if (m_nonStaticRigidBodies.size() > 0)
-	{
-		createPredictiveContactsInternal(&m_nonStaticRigidBodies[0], m_nonStaticRigidBodies.size(), timeStep);
-	}
-}
-
-void btDiscreteDynamicsWorld::integrateTransformsInternal(btRigidBody** bodies, int numBodies, btScalar timeStep)
-{
-	btTransform predictedTrans;
-	for (int i = 0; i < numBodies; i++)
-	{
-		btRigidBody* body = bodies[i];
-		body->setHitFraction(1.f);
-
-		if (body->isActive() && (!body->isStaticOrKinematicObject()))
-		{
-			body->predictIntegratedTransform(timeStep, predictedTrans);
-
-			btScalar squareMotion = (predictedTrans.getOrigin() - body->getWorldTransform().getOrigin()).length2();
-
-			if (getDispatchInfo().m_useContinuous && body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
-			{
-				BT_PROFILE("CCD motion clamping");
-				if (body->getCollisionShape()->isConvex())
-				{
-					gNumClampedCcdMotions++;
-#ifdef USE_STATIC_ONLY
-					class StaticOnlyCallback : public btClosestNotMeConvexResultCallback
-					{
-					public:
-						StaticOnlyCallback(btCollisionObject* me, const btVector3& fromA, const btVector3& toA, btOverlappingPairCache* pairCache, btDispatcher* dispatcher) : btClosestNotMeConvexResultCallback(me, fromA, toA, pairCache, dispatcher)
-						{
-						}
-
-						virtual bool needsCollision(btBroadphaseProxy* proxy0) const
-						{
-							btCollisionObject* otherObj = (btCollisionObject*)proxy0->m_clientObject;
-							if (!otherObj->isStaticOrKinematicObject())
-								return false;
-							return btClosestNotMeConvexResultCallback::needsCollision(proxy0);
-						}
-					};
-
-					StaticOnlyCallback sweepResults(body, body->getWorldTransform().getOrigin(), predictedTrans.getOrigin(), getBroadphase()->getOverlappingPairCache(), getDispatcher());
-#else
-					btClosestNotMeConvexResultCallback sweepResults(body, body->getWorldTransform().getOrigin(), predictedTrans.getOrigin(), getBroadphase()->getOverlappingPairCache(), getDispatcher());
-#endif
-					//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
-					btSphereShape tmpSphere(body->getCcdSweptSphereRadius());  //btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
-					sweepResults.m_allowedPenetration = getDispatchInfo().m_allowedCcdPenetration;
-
-					sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;
-					sweepResults.m_collisionFilterMask = body->getBroadphaseProxy()->m_collisionFilterMask;
-					btTransform modifiedPredictedTrans = predictedTrans;
-					modifiedPredictedTrans.setBasis(body->getWorldTransform().getBasis());
-
-					convexSweepTest(&tmpSphere, body->getWorldTransform(), modifiedPredictedTrans, sweepResults);
-					if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
-					{
-						//printf("clamped integration to hit fraction = %f\n",fraction);
-						body->setHitFraction(sweepResults.m_closestHitFraction);
-						body->predictIntegratedTransform(timeStep * body->getHitFraction(), predictedTrans);
-						body->setHitFraction(0.f);
-						body->proceedToTransform(predictedTrans);
-
-#if 0
-						btVector3 linVel = body->getLinearVelocity();
-
-						btScalar maxSpeed = body->getCcdMotionThreshold()/getSolverInfo().m_timeStep;
-						btScalar maxSpeedSqr = maxSpeed*maxSpeed;
-						if (linVel.length2()>maxSpeedSqr)
-						{
-							linVel.normalize();
-							linVel*= maxSpeed;
-							body->setLinearVelocity(linVel);
-							btScalar ms2 = body->getLinearVelocity().length2();
-							body->predictIntegratedTransform(timeStep, predictedTrans);
-
-							btScalar sm2 = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2();
-							btScalar smt = body->getCcdSquareMotionThreshold();
-							printf("sm2=%f\n",sm2);
-						}
-#else
-
-						//don't apply the collision response right now, it will happen next frame
-						//if you really need to, you can uncomment next 3 lines. Note that is uses zero restitution.
-						//btScalar appliedImpulse = 0.f;
-						//btScalar depth = 0.f;
-						//appliedImpulse = resolveSingleCollision(body,(btCollisionObject*)sweepResults.m_hitCollisionObject,sweepResults.m_hitPointWorld,sweepResults.m_hitNormalWorld,getSolverInfo(), depth);
-
-#endif
-
-						continue;
-					}
-				}
-			}
-
-			body->proceedToTransform(predictedTrans);
-		}
-	}
-}
-
-void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
-{
-	BT_PROFILE("integrateTransforms");
-	if (m_nonStaticRigidBodies.size() > 0)
-	{
-		integrateTransformsInternal(&m_nonStaticRigidBodies[0], m_nonStaticRigidBodies.size(), timeStep);
-	}
-
-	///this should probably be switched on by default, but it is not well tested yet
-	if (m_applySpeculativeContactRestitution)
-	{
-		BT_PROFILE("apply speculative contact restitution");
-		for (int i = 0; i < m_predictiveManifolds.size(); i++)
-		{
-			btPersistentManifold* manifold = m_predictiveManifolds[i];
-			btRigidBody* body0 = btRigidBody::upcast((btCollisionObject*)manifold->getBody0());
-			btRigidBody* body1 = btRigidBody::upcast((btCollisionObject*)manifold->getBody1());
-
-			for (int p = 0; p < manifold->getNumContacts(); p++)
-			{
-				const btManifoldPoint& pt = manifold->getContactPoint(p);
-				btScalar combinedRestitution = gCalculateCombinedRestitutionCallback(body0, body1);
-
-				if (combinedRestitution > 0 && pt.m_appliedImpulse != 0.f)
-				//if (pt.getDistance()>0 && combinedRestitution>0 && pt.m_appliedImpulse != 0.f)
-				{
-					btVector3 imp = -pt.m_normalWorldOnB * pt.m_appliedImpulse * combinedRestitution;
-
-					const btVector3& pos1 = pt.getPositionWorldOnA();
-					const btVector3& pos2 = pt.getPositionWorldOnB();
-
-					btVector3 rel_pos0 = pos1 - body0->getWorldTransform().getOrigin();
-					btVector3 rel_pos1 = pos2 - body1->getWorldTransform().getOrigin();
-
-					if (body0)
-						body0->applyImpulse(imp, rel_pos0);
-					if (body1)
-						body1->applyImpulse(-imp, rel_pos1);
-				}
-			}
-		}
-	}
-}
-
-void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
-{
-	BT_PROFILE("predictUnconstraintMotion");
-	for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
-	{
-		btRigidBody* body = m_nonStaticRigidBodies[i];
-		if (!body->isStaticOrKinematicObject())
-		{
-			//don't integrate/update velocities here, it happens in the constraint solver
-
-			body->applyDamping(timeStep);
-
-			body->predictIntegratedTransform(timeStep, body->getInterpolationWorldTransform());
-		}
-	}
-}
-
-void btDiscreteDynamicsWorld::startProfiling(btScalar timeStep)
-{
-	(void)timeStep;
-
-#ifndef BT_NO_PROFILE
-	CProfileManager::Reset();
-#endif  //BT_NO_PROFILE
-}
-
-void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
-{
-	bool drawFrames = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawConstraints) != 0;
-	bool drawLimits = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawConstraintLimits) != 0;
-	btScalar dbgDrawSize = constraint->getDbgDrawSize();
-	if (dbgDrawSize <= btScalar(0.f))
-	{
-		return;
-	}
-
-	switch (constraint->getConstraintType())
-	{
-		case POINT2POINT_CONSTRAINT_TYPE:
-		{
-			btPoint2PointConstraint* p2pC = (btPoint2PointConstraint*)constraint;
-			btTransform tr;
-			tr.setIdentity();
-			btVector3 pivot = p2pC->getPivotInA();
-			pivot = p2pC->getRigidBodyA().getCenterOfMassTransform() * pivot;
-			tr.setOrigin(pivot);
-			getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-			// that ideally should draw the same frame
-			pivot = p2pC->getPivotInB();
-			pivot = p2pC->getRigidBodyB().getCenterOfMassTransform() * pivot;
-			tr.setOrigin(pivot);
-			if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-		}
-		break;
-		case HINGE_CONSTRAINT_TYPE:
-		{
-			btHingeConstraint* pHinge = (btHingeConstraint*)constraint;
-			btTransform tr = pHinge->getRigidBodyA().getCenterOfMassTransform() * pHinge->getAFrame();
-			if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-			tr = pHinge->getRigidBodyB().getCenterOfMassTransform() * pHinge->getBFrame();
-			if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-			btScalar minAng = pHinge->getLowerLimit();
-			btScalar maxAng = pHinge->getUpperLimit();
-			if (minAng == maxAng)
-			{
-				break;
-			}
-			bool drawSect = true;
-			if (!pHinge->hasLimit())
-			{
-				minAng = btScalar(0.f);
-				maxAng = SIMD_2_PI;
-				drawSect = false;
-			}
-			if (drawLimits)
-			{
-				btVector3& center = tr.getOrigin();
-				btVector3 normal = tr.getBasis().getColumn(2);
-				btVector3 axis = tr.getBasis().getColumn(0);
-				getDebugDrawer()->drawArc(center, normal, axis, dbgDrawSize, dbgDrawSize, minAng, maxAng, btVector3(0, 0, 0), drawSect);
-			}
-		}
-		break;
-		case CONETWIST_CONSTRAINT_TYPE:
-		{
-			btConeTwistConstraint* pCT = (btConeTwistConstraint*)constraint;
-			btTransform tr = pCT->getRigidBodyA().getCenterOfMassTransform() * pCT->getAFrame();
-			if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-			tr = pCT->getRigidBodyB().getCenterOfMassTransform() * pCT->getBFrame();
-			if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-			if (drawLimits)
-			{
-				//const btScalar length = btScalar(5);
-				const btScalar length = dbgDrawSize;
-				static int nSegments = 8 * 4;
-				btScalar fAngleInRadians = btScalar(2. * 3.1415926) * (btScalar)(nSegments - 1) / btScalar(nSegments);
-				btVector3 pPrev = pCT->GetPointForAngle(fAngleInRadians, length);
-				pPrev = tr * pPrev;
-				for (int i = 0; i < nSegments; i++)
-				{
-					fAngleInRadians = btScalar(2. * 3.1415926) * (btScalar)i / btScalar(nSegments);
-					btVector3 pCur = pCT->GetPointForAngle(fAngleInRadians, length);
-					pCur = tr * pCur;
-					getDebugDrawer()->drawLine(pPrev, pCur, btVector3(0, 0, 0));
-
-					if (i % (nSegments / 8) == 0)
-						getDebugDrawer()->drawLine(tr.getOrigin(), pCur, btVector3(0, 0, 0));
-
-					pPrev = pCur;
-				}
-				btScalar tws = pCT->getTwistSpan();
-				btScalar twa = pCT->getTwistAngle();
-				bool useFrameB = (pCT->getRigidBodyB().getInvMass() > btScalar(0.f));
-				if (useFrameB)
-				{
-					tr = pCT->getRigidBodyB().getCenterOfMassTransform() * pCT->getBFrame();
-				}
-				else
-				{
-					tr = pCT->getRigidBodyA().getCenterOfMassTransform() * pCT->getAFrame();
-				}
-				btVector3 pivot = tr.getOrigin();
-				btVector3 normal = tr.getBasis().getColumn(0);
-				btVector3 axis1 = tr.getBasis().getColumn(1);
-				getDebugDrawer()->drawArc(pivot, normal, axis1, dbgDrawSize, dbgDrawSize, -twa - tws, -twa + tws, btVector3(0, 0, 0), true);
-			}
-		}
-		break;
-		case D6_SPRING_CONSTRAINT_TYPE:
-		case D6_CONSTRAINT_TYPE:
-		{
-			btGeneric6DofConstraint* p6DOF = (btGeneric6DofConstraint*)constraint;
-			btTransform tr = p6DOF->getCalculatedTransformA();
-			if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-			tr = p6DOF->getCalculatedTransformB();
-			if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-			if (drawLimits)
-			{
-				tr = p6DOF->getCalculatedTransformA();
-				const btVector3& center = p6DOF->getCalculatedTransformB().getOrigin();
-				btVector3 up = tr.getBasis().getColumn(2);
-				btVector3 axis = tr.getBasis().getColumn(0);
-				btScalar minTh = p6DOF->getRotationalLimitMotor(1)->m_loLimit;
-				btScalar maxTh = p6DOF->getRotationalLimitMotor(1)->m_hiLimit;
-				btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit;
-				btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit;
-				getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0));
-				axis = tr.getBasis().getColumn(1);
-				btScalar ay = p6DOF->getAngle(1);
-				btScalar az = p6DOF->getAngle(2);
-				btScalar cy = btCos(ay);
-				btScalar sy = btSin(ay);
-				btScalar cz = btCos(az);
-				btScalar sz = btSin(az);
-				btVector3 ref;
-				ref[0] = cy * cz * axis[0] + cy * sz * axis[1] - sy * axis[2];
-				ref[1] = -sz * axis[0] + cz * axis[1];
-				ref[2] = cz * sy * axis[0] + sz * sy * axis[1] + cy * axis[2];
-				tr = p6DOF->getCalculatedTransformB();
-				btVector3 normal = -tr.getBasis().getColumn(0);
-				btScalar minFi = p6DOF->getRotationalLimitMotor(0)->m_loLimit;
-				btScalar maxFi = p6DOF->getRotationalLimitMotor(0)->m_hiLimit;
-				if (minFi > maxFi)
-				{
-					getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, -SIMD_PI, SIMD_PI, btVector3(0, 0, 0), false);
-				}
-				else if (minFi < maxFi)
-				{
-					getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, minFi, maxFi, btVector3(0, 0, 0), true);
-				}
-				tr = p6DOF->getCalculatedTransformA();
-				btVector3 bbMin = p6DOF->getTranslationalLimitMotor()->m_lowerLimit;
-				btVector3 bbMax = p6DOF->getTranslationalLimitMotor()->m_upperLimit;
-				getDebugDrawer()->drawBox(bbMin, bbMax, tr, btVector3(0, 0, 0));
-			}
-		}
-		break;
-		///note: the code for D6_SPRING_2_CONSTRAINT_TYPE is identical to D6_CONSTRAINT_TYPE, the D6_CONSTRAINT_TYPE+D6_SPRING_CONSTRAINT_TYPE will likely become obsolete/deprecated at some stage
-		case D6_SPRING_2_CONSTRAINT_TYPE:
-		{
-			{
-				btGeneric6DofSpring2Constraint* p6DOF = (btGeneric6DofSpring2Constraint*)constraint;
-				btTransform tr = p6DOF->getCalculatedTransformA();
-				if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-				tr = p6DOF->getCalculatedTransformB();
-				if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-				if (drawLimits)
-				{
-					tr = p6DOF->getCalculatedTransformA();
-					const btVector3& center = p6DOF->getCalculatedTransformB().getOrigin();
-					btVector3 up = tr.getBasis().getColumn(2);
-					btVector3 axis = tr.getBasis().getColumn(0);
-					btScalar minTh = p6DOF->getRotationalLimitMotor(1)->m_loLimit;
-					btScalar maxTh = p6DOF->getRotationalLimitMotor(1)->m_hiLimit;
-					if (minTh <= maxTh)
-					{
-						btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit;
-						btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit;
-						getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0));
-					}
-					axis = tr.getBasis().getColumn(1);
-					btScalar ay = p6DOF->getAngle(1);
-					btScalar az = p6DOF->getAngle(2);
-					btScalar cy = btCos(ay);
-					btScalar sy = btSin(ay);
-					btScalar cz = btCos(az);
-					btScalar sz = btSin(az);
-					btVector3 ref;
-					ref[0] = cy * cz * axis[0] + cy * sz * axis[1] - sy * axis[2];
-					ref[1] = -sz * axis[0] + cz * axis[1];
-					ref[2] = cz * sy * axis[0] + sz * sy * axis[1] + cy * axis[2];
-					tr = p6DOF->getCalculatedTransformB();
-					btVector3 normal = -tr.getBasis().getColumn(0);
-					btScalar minFi = p6DOF->getRotationalLimitMotor(0)->m_loLimit;
-					btScalar maxFi = p6DOF->getRotationalLimitMotor(0)->m_hiLimit;
-					if (minFi > maxFi)
-					{
-						getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, -SIMD_PI, SIMD_PI, btVector3(0, 0, 0), false);
-					}
-					else if (minFi < maxFi)
-					{
-						getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, minFi, maxFi, btVector3(0, 0, 0), true);
-					}
-					tr = p6DOF->getCalculatedTransformA();
-					btVector3 bbMin = p6DOF->getTranslationalLimitMotor()->m_lowerLimit;
-					btVector3 bbMax = p6DOF->getTranslationalLimitMotor()->m_upperLimit;
-					getDebugDrawer()->drawBox(bbMin, bbMax, tr, btVector3(0, 0, 0));
-				}
-			}
-			break;
-		}
-		case SLIDER_CONSTRAINT_TYPE:
-		{
-			btSliderConstraint* pSlider = (btSliderConstraint*)constraint;
-			btTransform tr = pSlider->getCalculatedTransformA();
-			if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-			tr = pSlider->getCalculatedTransformB();
-			if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-			if (drawLimits)
-			{
-				btTransform tr = pSlider->getUseLinearReferenceFrameA() ? pSlider->getCalculatedTransformA() : pSlider->getCalculatedTransformB();
-				btVector3 li_min = tr * btVector3(pSlider->getLowerLinLimit(), 0.f, 0.f);
-				btVector3 li_max = tr * btVector3(pSlider->getUpperLinLimit(), 0.f, 0.f);
-				getDebugDrawer()->drawLine(li_min, li_max, btVector3(0, 0, 0));
-				btVector3 normal = tr.getBasis().getColumn(0);
-				btVector3 axis = tr.getBasis().getColumn(1);
-				btScalar a_min = pSlider->getLowerAngLimit();
-				btScalar a_max = pSlider->getUpperAngLimit();
-				const btVector3& center = pSlider->getCalculatedTransformB().getOrigin();
-				getDebugDrawer()->drawArc(center, normal, axis, dbgDrawSize, dbgDrawSize, a_min, a_max, btVector3(0, 0, 0), true);
-			}
-		}
-		break;
-		default:
-			break;
-	}
-	return;
-}
-
-void btDiscreteDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
-{
-	if (m_ownsConstraintSolver)
-	{
-		btAlignedFree(m_constraintSolver);
-	}
-	m_ownsConstraintSolver = false;
-	m_constraintSolver = solver;
-	m_solverIslandCallback->m_solver = solver;
-}
-
-btConstraintSolver* btDiscreteDynamicsWorld::getConstraintSolver()
-{
-	return m_constraintSolver;
-}
-
-int btDiscreteDynamicsWorld::getNumConstraints() const
-{
-	return int(m_constraints.size());
-}
-btTypedConstraint* btDiscreteDynamicsWorld::getConstraint(int index)
-{
-	return m_constraints[index];
-}
-const btTypedConstraint* btDiscreteDynamicsWorld::getConstraint(int index) const
-{
-	return m_constraints[index];
-}
-
-void btDiscreteDynamicsWorld::serializeRigidBodies(btSerializer* serializer)
-{
-	int i;
-	//serialize all collision objects
-	for (i = 0; i < m_collisionObjects.size(); i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		if (colObj->getInternalType() & btCollisionObject::CO_RIGID_BODY)
-		{
-			int len = colObj->calculateSerializeBufferSize();
-			btChunk* chunk = serializer->allocate(len, 1);
-			const char* structType = colObj->serialize(chunk->m_oldPtr, serializer);
-			serializer->finalizeChunk(chunk, structType, BT_RIGIDBODY_CODE, colObj);
-		}
-	}
-
-	for (i = 0; i < m_constraints.size(); i++)
-	{
-		btTypedConstraint* constraint = m_constraints[i];
-		int size = constraint->calculateSerializeBufferSize();
-		btChunk* chunk = serializer->allocate(size, 1);
-		const char* structType = constraint->serialize(chunk->m_oldPtr, serializer);
-		serializer->finalizeChunk(chunk, structType, BT_CONSTRAINT_CODE, constraint);
-	}
-}
-
-void btDiscreteDynamicsWorld::serializeDynamicsWorldInfo(btSerializer* serializer)
-{
-#ifdef BT_USE_DOUBLE_PRECISION
-	int len = sizeof(btDynamicsWorldDoubleData);
-	btChunk* chunk = serializer->allocate(len, 1);
-	btDynamicsWorldDoubleData* worldInfo = (btDynamicsWorldDoubleData*)chunk->m_oldPtr;
-#else   //BT_USE_DOUBLE_PRECISION
-	int len = sizeof(btDynamicsWorldFloatData);
-	btChunk* chunk = serializer->allocate(len, 1);
-	btDynamicsWorldFloatData* worldInfo = (btDynamicsWorldFloatData*)chunk->m_oldPtr;
-#endif  //BT_USE_DOUBLE_PRECISION
-
-	memset(worldInfo, 0x00, len);
-
-	m_gravity.serialize(worldInfo->m_gravity);
-	worldInfo->m_solverInfo.m_tau = getSolverInfo().m_tau;
-	worldInfo->m_solverInfo.m_damping = getSolverInfo().m_damping;
-	worldInfo->m_solverInfo.m_friction = getSolverInfo().m_friction;
-	worldInfo->m_solverInfo.m_timeStep = getSolverInfo().m_timeStep;
-
-	worldInfo->m_solverInfo.m_restitution = getSolverInfo().m_restitution;
-	worldInfo->m_solverInfo.m_maxErrorReduction = getSolverInfo().m_maxErrorReduction;
-	worldInfo->m_solverInfo.m_sor = getSolverInfo().m_sor;
-	worldInfo->m_solverInfo.m_erp = getSolverInfo().m_erp;
-
-	worldInfo->m_solverInfo.m_erp2 = getSolverInfo().m_erp2;
-	worldInfo->m_solverInfo.m_globalCfm = getSolverInfo().m_globalCfm;
-	worldInfo->m_solverInfo.m_splitImpulsePenetrationThreshold = getSolverInfo().m_splitImpulsePenetrationThreshold;
-	worldInfo->m_solverInfo.m_splitImpulseTurnErp = getSolverInfo().m_splitImpulseTurnErp;
-
-	worldInfo->m_solverInfo.m_linearSlop = getSolverInfo().m_linearSlop;
-	worldInfo->m_solverInfo.m_warmstartingFactor = getSolverInfo().m_warmstartingFactor;
-	worldInfo->m_solverInfo.m_maxGyroscopicForce = getSolverInfo().m_maxGyroscopicForce;
-	worldInfo->m_solverInfo.m_singleAxisRollingFrictionThreshold = getSolverInfo().m_singleAxisRollingFrictionThreshold;
-
-	worldInfo->m_solverInfo.m_numIterations = getSolverInfo().m_numIterations;
-	worldInfo->m_solverInfo.m_solverMode = getSolverInfo().m_solverMode;
-	worldInfo->m_solverInfo.m_restingContactRestitutionThreshold = getSolverInfo().m_restingContactRestitutionThreshold;
-	worldInfo->m_solverInfo.m_minimumSolverBatchSize = getSolverInfo().m_minimumSolverBatchSize;
-
-	worldInfo->m_solverInfo.m_splitImpulse = getSolverInfo().m_splitImpulse;
-
-	
-#ifdef BT_USE_DOUBLE_PRECISION
-	const char* structType = "btDynamicsWorldDoubleData";
-#else   //BT_USE_DOUBLE_PRECISION
-	const char* structType = "btDynamicsWorldFloatData";
-#endif  //BT_USE_DOUBLE_PRECISION
-	serializer->finalizeChunk(chunk, structType, BT_DYNAMICSWORLD_CODE, worldInfo);
-}
-
-void btDiscreteDynamicsWorld::serialize(btSerializer* serializer)
-{
-	serializer->startSerialization();
-
-	serializeDynamicsWorldInfo(serializer);
-
-	serializeCollisionObjects(serializer);
-
-	serializeRigidBodies(serializer);
-
-	serializeContactManifolds(serializer);
-
-	serializer->finishSerialization();
-}
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
deleted file mode 100644
index 73607c61fd..0000000000
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
+++ /dev/null
@@ -1,244 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_DISCRETE_DYNAMICS_WORLD_H
-#define BT_DISCRETE_DYNAMICS_WORLD_H
-
-#include "btDynamicsWorld.h"
-class btDispatcher;
-class btOverlappingPairCache;
-class btConstraintSolver;
-class btSimulationIslandManager;
-class btTypedConstraint;
-class btActionInterface;
-class btPersistentManifold;
-class btIDebugDraw;
-
-struct InplaceSolverIslandCallback;
-
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btThreads.h"
-
-///btDiscreteDynamicsWorld provides discrete rigid body simulation
-///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
-ATTRIBUTE_ALIGNED16(class)
-btDiscreteDynamicsWorld : public btDynamicsWorld
-{
-protected:
-	btAlignedObjectArray<btTypedConstraint*> m_sortedConstraints;
-	InplaceSolverIslandCallback* m_solverIslandCallback;
-
-	btConstraintSolver* m_constraintSolver;
-
-	btSimulationIslandManager* m_islandManager;
-
-	btAlignedObjectArray<btTypedConstraint*> m_constraints;
-
-	btAlignedObjectArray<btRigidBody*> m_nonStaticRigidBodies;
-
-	btVector3 m_gravity;
-
-	//for variable timesteps
-	btScalar m_localTime;
-	btScalar m_fixedTimeStep;
-	//for variable timesteps
-
-	bool m_ownsIslandManager;
-	bool m_ownsConstraintSolver;
-	bool m_synchronizeAllMotionStates;
-	bool m_applySpeculativeContactRestitution;
-
-	btAlignedObjectArray<btActionInterface*> m_actions;
-
-	int m_profileTimings;
-
-	bool m_latencyMotionStateInterpolation;
-
-	btAlignedObjectArray<btPersistentManifold*> m_predictiveManifolds;
-	btSpinMutex m_predictiveManifoldsMutex;  // used to synchronize threads creating predictive contacts
-
-	virtual void predictUnconstraintMotion(btScalar timeStep);
-
-	void integrateTransformsInternal(btRigidBody * *bodies, int numBodies, btScalar timeStep);  // can be called in parallel
-	virtual void integrateTransforms(btScalar timeStep);
-
-	virtual void calculateSimulationIslands();
-
-	
-
-	virtual void updateActivationState(btScalar timeStep);
-
-	void updateActions(btScalar timeStep);
-
-	void startProfiling(btScalar timeStep);
-
-	virtual void internalSingleStepSimulation(btScalar timeStep);
-
-	void releasePredictiveContacts();
-	void createPredictiveContactsInternal(btRigidBody * *bodies, int numBodies, btScalar timeStep);  // can be called in parallel
-	virtual void createPredictiveContacts(btScalar timeStep);
-
-	virtual void saveKinematicState(btScalar timeStep);
-
-	void serializeRigidBodies(btSerializer * serializer);
-
-	void serializeDynamicsWorldInfo(btSerializer * serializer);
-    
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
-	btDiscreteDynamicsWorld(btDispatcher * dispatcher, btBroadphaseInterface * pairCache, btConstraintSolver * constraintSolver, btCollisionConfiguration * collisionConfiguration);
-
-	virtual ~btDiscreteDynamicsWorld();
-
-	///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
-	virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.));
-
-    virtual void solveConstraints(btContactSolverInfo & solverInfo);
-    
-	virtual void synchronizeMotionStates();
-
-	///this can be useful to synchronize a single rigid body -> graphics object
-	void synchronizeSingleMotionState(btRigidBody * body);
-
-	virtual void addConstraint(btTypedConstraint * constraint, bool disableCollisionsBetweenLinkedBodies = false);
-
-	virtual void removeConstraint(btTypedConstraint * constraint);
-
-	virtual void addAction(btActionInterface*);
-
-	virtual void removeAction(btActionInterface*);
-
-	btSimulationIslandManager* getSimulationIslandManager()
-	{
-		return m_islandManager;
-	}
-
-	const btSimulationIslandManager* getSimulationIslandManager() const
-	{
-		return m_islandManager;
-	}
-
-	btCollisionWorld* getCollisionWorld()
-	{
-		return this;
-	}
-
-	virtual void setGravity(const btVector3& gravity);
-
-	virtual btVector3 getGravity() const;
-
-	virtual void addCollisionObject(btCollisionObject * collisionObject, int collisionFilterGroup = btBroadphaseProxy::StaticFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
-
-	virtual void addRigidBody(btRigidBody * body);
-
-	virtual void addRigidBody(btRigidBody * body, int group, int mask);
-
-	virtual void removeRigidBody(btRigidBody * body);
-
-	///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
-	virtual void removeCollisionObject(btCollisionObject * collisionObject);
-
-	virtual void debugDrawConstraint(btTypedConstraint * constraint);
-
-	virtual void debugDrawWorld();
-
-	virtual void setConstraintSolver(btConstraintSolver * solver);
-
-	virtual btConstraintSolver* getConstraintSolver();
-
-	virtual int getNumConstraints() const;
-
-	virtual btTypedConstraint* getConstraint(int index);
-
-	virtual const btTypedConstraint* getConstraint(int index) const;
-
-	virtual btDynamicsWorldType getWorldType() const
-	{
-		return BT_DISCRETE_DYNAMICS_WORLD;
-	}
-
-	///the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
-	virtual void clearForces();
-
-	///apply gravity, call this once per timestep
-	virtual void applyGravity();
-
-	virtual void setNumTasks(int numTasks)
-	{
-		(void)numTasks;
-	}
-
-	///obsolete, use updateActions instead
-	virtual void updateVehicles(btScalar timeStep)
-	{
-		updateActions(timeStep);
-	}
-
-	///obsolete, use addAction instead
-	virtual void addVehicle(btActionInterface * vehicle);
-	///obsolete, use removeAction instead
-	virtual void removeVehicle(btActionInterface * vehicle);
-	///obsolete, use addAction instead
-	virtual void addCharacter(btActionInterface * character);
-	///obsolete, use removeAction instead
-	virtual void removeCharacter(btActionInterface * character);
-
-	void setSynchronizeAllMotionStates(bool synchronizeAll)
-	{
-		m_synchronizeAllMotionStates = synchronizeAll;
-	}
-	bool getSynchronizeAllMotionStates() const
-	{
-		return m_synchronizeAllMotionStates;
-	}
-
-	void setApplySpeculativeContactRestitution(bool enable)
-	{
-		m_applySpeculativeContactRestitution = enable;
-	}
-
-	bool getApplySpeculativeContactRestitution() const
-	{
-		return m_applySpeculativeContactRestitution;
-	}
-
-	///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)
-	virtual void serialize(btSerializer * serializer);
-
-	///Interpolate motion state between previous and current transform, instead of current and next transform.
-	///This can relieve discontinuities in the rendering, due to penetrations
-	void setLatencyMotionStateInterpolation(bool latencyInterpolation)
-	{
-		m_latencyMotionStateInterpolation = latencyInterpolation;
-	}
-	bool getLatencyMotionStateInterpolation() const
-	{
-		return m_latencyMotionStateInterpolation;
-	}
-    
-    btAlignedObjectArray<btRigidBody*>& getNonStaticRigidBodies()
-    {
-        return m_nonStaticRigidBodies;
-    }
-    
-    const btAlignedObjectArray<btRigidBody*>& getNonStaticRigidBodies() const
-    {
-        return m_nonStaticRigidBodies;
-    }
-};
-
-#endif  //BT_DISCRETE_DYNAMICS_WORLD_H
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
deleted file mode 100644
index 8207b47135..0000000000
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
+++ /dev/null
@@ -1,263 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btDiscreteDynamicsWorldMt.h"
-
-//collision detection
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "btSimulationIslandManagerMt.h"
-#include "LinearMath/btTransformUtil.h"
-#include "LinearMath/btQuickprof.h"
-
-//rigidbody & constraints
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
-#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
-#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
-#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
-
-#include "LinearMath/btIDebugDraw.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-
-#include "BulletDynamics/Dynamics/btActionInterface.h"
-#include "LinearMath/btQuickprof.h"
-#include "LinearMath/btMotionState.h"
-
-#include "LinearMath/btSerializer.h"
-
-///
-/// btConstraintSolverPoolMt
-///
-
-btConstraintSolverPoolMt::ThreadSolver* btConstraintSolverPoolMt::getAndLockThreadSolver()
-{
-	int i = 0;
-#if BT_THREADSAFE
-	i = btGetCurrentThreadIndex() % m_solvers.size();
-#endif  // #if BT_THREADSAFE
-	while (true)
-	{
-		ThreadSolver& solver = m_solvers[i];
-		if (solver.mutex.tryLock())
-		{
-			return &solver;
-		}
-		// failed, try the next one
-		i = (i + 1) % m_solvers.size();
-	}
-	return NULL;
-}
-
-void btConstraintSolverPoolMt::init(btConstraintSolver** solvers, int numSolvers)
-{
-	m_solverType = BT_SEQUENTIAL_IMPULSE_SOLVER;
-	m_solvers.resize(numSolvers);
-	for (int i = 0; i < numSolvers; ++i)
-	{
-		m_solvers[i].solver = solvers[i];
-	}
-	if (numSolvers > 0)
-	{
-		m_solverType = solvers[0]->getSolverType();
-	}
-}
-
-// create the solvers for me
-btConstraintSolverPoolMt::btConstraintSolverPoolMt(int numSolvers)
-{
-	btAlignedObjectArray<btConstraintSolver*> solvers;
-	solvers.reserve(numSolvers);
-	for (int i = 0; i < numSolvers; ++i)
-	{
-		btConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
-		solvers.push_back(solver);
-	}
-	init(&solvers[0], numSolvers);
-}
-
-// pass in fully constructed solvers (destructor will delete them)
-btConstraintSolverPoolMt::btConstraintSolverPoolMt(btConstraintSolver** solvers, int numSolvers)
-{
-	init(solvers, numSolvers);
-}
-
-btConstraintSolverPoolMt::~btConstraintSolverPoolMt()
-{
-	// delete all solvers
-	for (int i = 0; i < m_solvers.size(); ++i)
-	{
-		ThreadSolver& solver = m_solvers[i];
-		delete solver.solver;
-		solver.solver = NULL;
-	}
-}
-
-///solve a group of constraints
-btScalar btConstraintSolverPoolMt::solveGroup(btCollisionObject** bodies,
-											  int numBodies,
-											  btPersistentManifold** manifolds,
-											  int numManifolds,
-											  btTypedConstraint** constraints,
-											  int numConstraints,
-											  const btContactSolverInfo& info,
-											  btIDebugDraw* debugDrawer,
-											  btDispatcher* dispatcher)
-{
-	ThreadSolver* ts = getAndLockThreadSolver();
-	ts->solver->solveGroup(bodies, numBodies, manifolds, numManifolds, constraints, numConstraints, info, debugDrawer, dispatcher);
-	ts->mutex.unlock();
-	return 0.0f;
-}
-
-void btConstraintSolverPoolMt::reset()
-{
-	for (int i = 0; i < m_solvers.size(); ++i)
-	{
-		ThreadSolver& solver = m_solvers[i];
-		solver.mutex.lock();
-		solver.solver->reset();
-		solver.mutex.unlock();
-	}
-}
-
-///
-/// btDiscreteDynamicsWorldMt
-///
-
-btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,
-													 btBroadphaseInterface* pairCache,
-													 btConstraintSolverPoolMt* solverPool,
-													 btConstraintSolver* constraintSolverMt,
-													 btCollisionConfiguration* collisionConfiguration)
-	: btDiscreteDynamicsWorld(dispatcher, pairCache, solverPool, collisionConfiguration)
-{
-	if (m_ownsIslandManager)
-	{
-		m_islandManager->~btSimulationIslandManager();
-		btAlignedFree(m_islandManager);
-	}
-	{
-		void* mem = btAlignedAlloc(sizeof(btSimulationIslandManagerMt), 16);
-		btSimulationIslandManagerMt* im = new (mem) btSimulationIslandManagerMt();
-		im->setMinimumSolverBatchSize(m_solverInfo.m_minimumSolverBatchSize);
-		m_islandManager = im;
-	}
-	m_constraintSolverMt = constraintSolverMt;
-}
-
-btDiscreteDynamicsWorldMt::~btDiscreteDynamicsWorldMt()
-{
-}
-
-void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo)
-{
-	BT_PROFILE("solveConstraints");
-
-	m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
-
-	/// solve all the constraints for this island
-	btSimulationIslandManagerMt* im = static_cast<btSimulationIslandManagerMt*>(m_islandManager);
-	btSimulationIslandManagerMt::SolverParams solverParams;
-	solverParams.m_solverPool = m_constraintSolver;
-	solverParams.m_solverMt = m_constraintSolverMt;
-	solverParams.m_solverInfo = &solverInfo;
-	solverParams.m_debugDrawer = m_debugDrawer;
-	solverParams.m_dispatcher = getCollisionWorld()->getDispatcher();
-	im->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_constraints, solverParams);
-
-	m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
-}
-
-struct UpdaterUnconstrainedMotion : public btIParallelForBody
-{
-	btScalar timeStep;
-	btRigidBody** rigidBodies;
-
-	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		for (int i = iBegin; i < iEnd; ++i)
-		{
-			btRigidBody* body = rigidBodies[i];
-			if (!body->isStaticOrKinematicObject())
-			{
-				//don't integrate/update velocities here, it happens in the constraint solver
-				body->applyDamping(timeStep);
-				body->predictIntegratedTransform(timeStep, body->getInterpolationWorldTransform());
-			}
-		}
-	}
-};
-
-void btDiscreteDynamicsWorldMt::predictUnconstraintMotion(btScalar timeStep)
-{
-	BT_PROFILE("predictUnconstraintMotion");
-	if (m_nonStaticRigidBodies.size() > 0)
-	{
-		UpdaterUnconstrainedMotion update;
-		update.timeStep = timeStep;
-		update.rigidBodies = &m_nonStaticRigidBodies[0];
-		int grainSize = 50;  // num of iterations per task for task scheduler
-		btParallelFor(0, m_nonStaticRigidBodies.size(), grainSize, update);
-	}
-}
-
-void btDiscreteDynamicsWorldMt::createPredictiveContacts(btScalar timeStep)
-{
-	BT_PROFILE("createPredictiveContacts");
-	releasePredictiveContacts();
-	if (m_nonStaticRigidBodies.size() > 0)
-	{
-		UpdaterCreatePredictiveContacts update;
-		update.world = this;
-		update.timeStep = timeStep;
-		update.rigidBodies = &m_nonStaticRigidBodies[0];
-		int grainSize = 50;  // num of iterations per task for task scheduler
-		btParallelFor(0, m_nonStaticRigidBodies.size(), grainSize, update);
-	}
-}
-
-void btDiscreteDynamicsWorldMt::integrateTransforms(btScalar timeStep)
-{
-	BT_PROFILE("integrateTransforms");
-	if (m_nonStaticRigidBodies.size() > 0)
-	{
-		UpdaterIntegrateTransforms update;
-		update.world = this;
-		update.timeStep = timeStep;
-		update.rigidBodies = &m_nonStaticRigidBodies[0];
-		int grainSize = 50;  // num of iterations per task for task scheduler
-		btParallelFor(0, m_nonStaticRigidBodies.size(), grainSize, update);
-	}
-}
-
-int btDiscreteDynamicsWorldMt::stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep)
-{
-	int numSubSteps = btDiscreteDynamicsWorld::stepSimulation(timeStep, maxSubSteps, fixedTimeStep);
-	if (btITaskScheduler* scheduler = btGetTaskScheduler())
-	{
-		// tell Bullet's threads to sleep, so other threads can run
-		scheduler->sleepWorkerThreadsHint();
-	}
-	return numSubSteps;
-}
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h
deleted file mode 100644
index dccf35d7a7..0000000000
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h
+++ /dev/null
@@ -1,131 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_DISCRETE_DYNAMICS_WORLD_MT_H
-#define BT_DISCRETE_DYNAMICS_WORLD_MT_H
-
-#include "btDiscreteDynamicsWorld.h"
-#include "btSimulationIslandManagerMt.h"
-#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
-
-///
-/// btConstraintSolverPoolMt - masquerades as a constraint solver, but really it is a threadsafe pool of them.
-///
-///  Each solver in the pool is protected by a mutex.  When solveGroup is called from a thread,
-///  the pool looks for a solver that isn't being used by another thread, locks it, and dispatches the
-///  call to the solver.
-///  So long as there are at least as many solvers as there are hardware threads, it should never need to
-///  spin wait.
-///
-class btConstraintSolverPoolMt : public btConstraintSolver
-{
-public:
-	// create the solvers for me
-	explicit btConstraintSolverPoolMt(int numSolvers);
-
-	// pass in fully constructed solvers (destructor will delete them)
-	btConstraintSolverPoolMt(btConstraintSolver** solvers, int numSolvers);
-
-	virtual ~btConstraintSolverPoolMt();
-
-	///solve a group of constraints
-	virtual btScalar solveGroup(btCollisionObject** bodies,
-								int numBodies,
-								btPersistentManifold** manifolds,
-								int numManifolds,
-								btTypedConstraint** constraints,
-								int numConstraints,
-								const btContactSolverInfo& info,
-								btIDebugDraw* debugDrawer,
-								btDispatcher* dispatcher) BT_OVERRIDE;
-
-	virtual void reset() BT_OVERRIDE;
-	virtual btConstraintSolverType getSolverType() const BT_OVERRIDE { return m_solverType; }
-
-private:
-	const static size_t kCacheLineSize = 128;
-	struct ThreadSolver
-	{
-		btConstraintSolver* solver;
-		btSpinMutex mutex;
-		char _cachelinePadding[kCacheLineSize - sizeof(btSpinMutex) - sizeof(void*)];  // keep mutexes from sharing a cache line
-	};
-	btAlignedObjectArray<ThreadSolver> m_solvers;
-	btConstraintSolverType m_solverType;
-
-	ThreadSolver* getAndLockThreadSolver();
-	void init(btConstraintSolver** solvers, int numSolvers);
-};
-
-///
-/// btDiscreteDynamicsWorldMt -- a version of DiscreteDynamicsWorld with some minor changes to support
-///                              solving simulation islands on multiple threads.
-///
-///  Should function exactly like btDiscreteDynamicsWorld.
-///  Also 3 methods that iterate over all of the rigidbodies can run in parallel:
-///     - predictUnconstraintMotion
-///     - integrateTransforms
-///     - createPredictiveContacts
-///
-ATTRIBUTE_ALIGNED16(class)
-btDiscreteDynamicsWorldMt : public btDiscreteDynamicsWorld
-{
-protected:
-	btConstraintSolver* m_constraintSolverMt;
-
-	virtual void solveConstraints(btContactSolverInfo & solverInfo) BT_OVERRIDE;
-
-	virtual void predictUnconstraintMotion(btScalar timeStep) BT_OVERRIDE;
-
-	struct UpdaterCreatePredictiveContacts : public btIParallelForBody
-	{
-		btScalar timeStep;
-		btRigidBody** rigidBodies;
-		btDiscreteDynamicsWorldMt* world;
-
-		void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
-		{
-			world->createPredictiveContactsInternal(&rigidBodies[iBegin], iEnd - iBegin, timeStep);
-		}
-	};
-	virtual void createPredictiveContacts(btScalar timeStep) BT_OVERRIDE;
-
-	struct UpdaterIntegrateTransforms : public btIParallelForBody
-	{
-		btScalar timeStep;
-		btRigidBody** rigidBodies;
-		btDiscreteDynamicsWorldMt* world;
-
-		void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
-		{
-			world->integrateTransformsInternal(&rigidBodies[iBegin], iEnd - iBegin, timeStep);
-		}
-	};
-	virtual void integrateTransforms(btScalar timeStep) BT_OVERRIDE;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btDiscreteDynamicsWorldMt(btDispatcher * dispatcher,
-							  btBroadphaseInterface * pairCache,
-							  btConstraintSolverPoolMt * solverPool,        // Note this should be a solver-pool for multi-threading
-							  btConstraintSolver * constraintSolverMt,      // single multi-threaded solver for large islands (or NULL)
-							  btCollisionConfiguration * collisionConfiguration);
-	virtual ~btDiscreteDynamicsWorldMt();
-
-	virtual int stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) BT_OVERRIDE;
-};
-
-#endif  //BT_DISCRETE_DYNAMICS_WORLD_H
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h
deleted file mode 100644
index 3c55234a8a..0000000000
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h
+++ /dev/null
@@ -1,174 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_DYNAMICS_WORLD_H
-#define BT_DYNAMICS_WORLD_H
-
-#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
-#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
-
-class btTypedConstraint;
-class btActionInterface;
-class btConstraintSolver;
-class btDynamicsWorld;
-
-/// Type for the callback for each tick
-typedef void (*btInternalTickCallback)(btDynamicsWorld* world, btScalar timeStep);
-
-enum btDynamicsWorldType
-{
-	BT_SIMPLE_DYNAMICS_WORLD = 1,
-	BT_DISCRETE_DYNAMICS_WORLD = 2,
-	BT_CONTINUOUS_DYNAMICS_WORLD = 3,
-	BT_SOFT_RIGID_DYNAMICS_WORLD = 4,
-	BT_GPU_DYNAMICS_WORLD = 5,
-	BT_SOFT_MULTIBODY_DYNAMICS_WORLD = 6,
-    BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD = 7
-};
-
-///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.
-class btDynamicsWorld : public btCollisionWorld
-{
-protected:
-	btInternalTickCallback m_internalTickCallback;
-	btInternalTickCallback m_internalPreTickCallback;
-	void* m_worldUserInfo;
-
-	btContactSolverInfo m_solverInfo;
-
-public:
-	btDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* broadphase, btCollisionConfiguration* collisionConfiguration)
-		: btCollisionWorld(dispatcher, broadphase, collisionConfiguration), m_internalTickCallback(0), m_internalPreTickCallback(0), m_worldUserInfo(0)
-	{
-	}
-
-	virtual ~btDynamicsWorld()
-	{
-	}
-
-	///stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds.
-	///By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'.
-	///in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'.
-	///You can disable subdividing the timestep/substepping by passing maxSubSteps=0 as second argument to stepSimulation, but in that case you have to keep the timeStep constant.
-	virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.)) = 0;
-
-	virtual void debugDrawWorld() = 0;
-
-	virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies = false)
-	{
-		(void)constraint;
-		(void)disableCollisionsBetweenLinkedBodies;
-	}
-
-	virtual void removeConstraint(btTypedConstraint* constraint) { (void)constraint; }
-
-	virtual void addAction(btActionInterface* action) = 0;
-
-	virtual void removeAction(btActionInterface* action) = 0;
-
-	//once a rigidbody is added to the dynamics world, it will get this gravity assigned
-	//existing rigidbodies in the world get gravity assigned too, during this method
-	virtual void setGravity(const btVector3& gravity) = 0;
-	virtual btVector3 getGravity() const = 0;
-
-	virtual void synchronizeMotionStates() = 0;
-
-	virtual void addRigidBody(btRigidBody* body) = 0;
-
-	virtual void addRigidBody(btRigidBody* body, int group, int mask) = 0;
-
-	virtual void removeRigidBody(btRigidBody* body) = 0;
-
-	virtual void setConstraintSolver(btConstraintSolver* solver) = 0;
-
-	virtual btConstraintSolver* getConstraintSolver() = 0;
-
-	virtual int getNumConstraints() const { return 0; }
-
-	virtual btTypedConstraint* getConstraint(int index)
-	{
-		(void)index;
-		return 0;
-	}
-
-	virtual const btTypedConstraint* getConstraint(int index) const
-	{
-		(void)index;
-		return 0;
-	}
-
-	virtual btDynamicsWorldType getWorldType() const = 0;
-
-	virtual void clearForces() = 0;
-
-	/// Set the callback for when an internal tick (simulation substep) happens, optional user info
-	void setInternalTickCallback(btInternalTickCallback cb, void* worldUserInfo = 0, bool isPreTick = false)
-	{
-		if (isPreTick)
-		{
-			m_internalPreTickCallback = cb;
-		}
-		else
-		{
-			m_internalTickCallback = cb;
-		}
-		m_worldUserInfo = worldUserInfo;
-	}
-
-	void setWorldUserInfo(void* worldUserInfo)
-	{
-		m_worldUserInfo = worldUserInfo;
-	}
-
-	void* getWorldUserInfo() const
-	{
-		return m_worldUserInfo;
-	}
-
-	btContactSolverInfo& getSolverInfo()
-	{
-		return m_solverInfo;
-	}
-
-	const btContactSolverInfo& getSolverInfo() const
-	{
-		return m_solverInfo;
-	}
-
-	///obsolete, use addAction instead.
-	virtual void addVehicle(btActionInterface* vehicle) { (void)vehicle; }
-	///obsolete, use removeAction instead
-	virtual void removeVehicle(btActionInterface* vehicle) { (void)vehicle; }
-	///obsolete, use addAction instead.
-	virtual void addCharacter(btActionInterface* character) { (void)character; }
-	///obsolete, use removeAction instead
-	virtual void removeCharacter(btActionInterface* character) { (void)character; }
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btDynamicsWorldDoubleData
-{
-	btContactSolverInfoDoubleData m_solverInfo;
-	btVector3DoubleData m_gravity;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btDynamicsWorldFloatData
-{
-	btContactSolverInfoFloatData m_solverInfo;
-	btVector3FloatData m_gravity;
-};
-
-#endif  //BT_DYNAMICS_WORLD_H
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp
deleted file mode 100644
index 27fdead761..0000000000
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp
+++ /dev/null
@@ -1,505 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btRigidBody.h"
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-#include "LinearMath/btMinMax.h"
-#include "LinearMath/btTransformUtil.h"
-#include "LinearMath/btMotionState.h"
-#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
-#include "LinearMath/btSerializer.h"
-
-//'temporarily' global variables
-btScalar gDeactivationTime = btScalar(2.);
-bool gDisableDeactivation = false;
-static int uniqueId = 0;
-
-btRigidBody::btRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo)
-{
-	setupRigidBody(constructionInfo);
-}
-
-btRigidBody::btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia)
-{
-	btRigidBodyConstructionInfo cinfo(mass, motionState, collisionShape, localInertia);
-	setupRigidBody(cinfo);
-}
-
-void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo)
-{
-	m_internalType = CO_RIGID_BODY;
-
-	m_linearVelocity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
-	m_angularVelocity.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-	m_angularFactor.setValue(1, 1, 1);
-	m_linearFactor.setValue(1, 1, 1);
-	m_gravity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
-	m_gravity_acceleration.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
-	m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
-	m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
-		setDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping);
-
-	m_linearSleepingThreshold = constructionInfo.m_linearSleepingThreshold;
-	m_angularSleepingThreshold = constructionInfo.m_angularSleepingThreshold;
-	m_optionalMotionState = constructionInfo.m_motionState;
-	m_contactSolverType = 0;
-	m_frictionSolverType = 0;
-	m_additionalDamping = constructionInfo.m_additionalDamping;
-	m_additionalDampingFactor = constructionInfo.m_additionalDampingFactor;
-	m_additionalLinearDampingThresholdSqr = constructionInfo.m_additionalLinearDampingThresholdSqr;
-	m_additionalAngularDampingThresholdSqr = constructionInfo.m_additionalAngularDampingThresholdSqr;
-	m_additionalAngularDampingFactor = constructionInfo.m_additionalAngularDampingFactor;
-
-	if (m_optionalMotionState)
-	{
-		m_optionalMotionState->getWorldTransform(m_worldTransform);
-	}
-	else
-	{
-		m_worldTransform = constructionInfo.m_startWorldTransform;
-	}
-
-	m_interpolationWorldTransform = m_worldTransform;
-	m_interpolationLinearVelocity.setValue(0, 0, 0);
-	m_interpolationAngularVelocity.setValue(0, 0, 0);
-
-	//moved to btCollisionObject
-	m_friction = constructionInfo.m_friction;
-	m_rollingFriction = constructionInfo.m_rollingFriction;
-	m_spinningFriction = constructionInfo.m_spinningFriction;
-
-	m_restitution = constructionInfo.m_restitution;
-
-	setCollisionShape(constructionInfo.m_collisionShape);
-	m_debugBodyId = uniqueId++;
-
-	setMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);
-	updateInertiaTensor();
-
-	m_rigidbodyFlags = BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY;
-
-	m_deltaLinearVelocity.setZero();
-	m_deltaAngularVelocity.setZero();
-	m_invMass = m_inverseMass * m_linearFactor;
-	m_pushVelocity.setZero();
-	m_turnVelocity.setZero();
-}
-
-void btRigidBody::predictIntegratedTransform(btScalar timeStep, btTransform& predictedTransform)
-{
-	btTransformUtil::integrateTransform(m_worldTransform, m_linearVelocity, m_angularVelocity, timeStep, predictedTransform);
-}
-
-void btRigidBody::saveKinematicState(btScalar timeStep)
-{
-	//todo: clamp to some (user definable) safe minimum timestep, to limit maximum angular/linear velocities
-	if (timeStep != btScalar(0.))
-	{
-		//if we use motionstate to synchronize world transforms, get the new kinematic/animated world transform
-		if (getMotionState())
-			getMotionState()->getWorldTransform(m_worldTransform);
-		btVector3 linVel, angVel;
-
-		btTransformUtil::calculateVelocity(m_interpolationWorldTransform, m_worldTransform, timeStep, m_linearVelocity, m_angularVelocity);
-		m_interpolationLinearVelocity = m_linearVelocity;
-		m_interpolationAngularVelocity = m_angularVelocity;
-		m_interpolationWorldTransform = m_worldTransform;
-		//printf("angular = %f %f %f\n",m_angularVelocity.getX(),m_angularVelocity.getY(),m_angularVelocity.getZ());
-	}
-}
-
-void btRigidBody::getAabb(btVector3& aabbMin, btVector3& aabbMax) const
-{
-	getCollisionShape()->getAabb(m_worldTransform, aabbMin, aabbMax);
-}
-
-void btRigidBody::setGravity(const btVector3& acceleration)
-{
-	if (m_inverseMass != btScalar(0.0))
-	{
-		m_gravity = acceleration * (btScalar(1.0) / m_inverseMass);
-	}
-	m_gravity_acceleration = acceleration;
-}
-
-void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
-{
-#ifdef BT_USE_OLD_DAMPING_METHOD
-	m_linearDamping = btMax(lin_damping, btScalar(0.0));
-	m_angularDamping = btMax(ang_damping, btScalar(0.0));
-#else
-	m_linearDamping = btClamped(lin_damping, btScalar(0.0), btScalar(1.0));
-	m_angularDamping = btClamped(ang_damping, btScalar(0.0), btScalar(1.0));
-#endif
-}
-
-///applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
-void btRigidBody::applyDamping(btScalar timeStep)
-{
-	//On new damping: see discussion/issue report here: http://code.google.com/p/bullet/issues/detail?id=74
-	//todo: do some performance comparisons (but other parts of the engine are probably bottleneck anyway
-
-#ifdef BT_USE_OLD_DAMPING_METHOD
-	m_linearVelocity *= btMax((btScalar(1.0) - timeStep * m_linearDamping), btScalar(0.0));
-	m_angularVelocity *= btMax((btScalar(1.0) - timeStep * m_angularDamping), btScalar(0.0));
-#else
-	m_linearVelocity *= btPow(btScalar(1) - m_linearDamping, timeStep);
-	m_angularVelocity *= btPow(btScalar(1) - m_angularDamping, timeStep);
-#endif
-
-	if (m_additionalDamping)
-	{
-		//Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc.
-		//Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete
-		if ((m_angularVelocity.length2() < m_additionalAngularDampingThresholdSqr) &&
-			(m_linearVelocity.length2() < m_additionalLinearDampingThresholdSqr))
-		{
-			m_angularVelocity *= m_additionalDampingFactor;
-			m_linearVelocity *= m_additionalDampingFactor;
-		}
-
-		btScalar speed = m_linearVelocity.length();
-		if (speed < m_linearDamping)
-		{
-			btScalar dampVel = btScalar(0.005);
-			if (speed > dampVel)
-			{
-				btVector3 dir = m_linearVelocity.normalized();
-				m_linearVelocity -= dir * dampVel;
-			}
-			else
-			{
-				m_linearVelocity.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-			}
-		}
-
-		btScalar angSpeed = m_angularVelocity.length();
-		if (angSpeed < m_angularDamping)
-		{
-			btScalar angDampVel = btScalar(0.005);
-			if (angSpeed > angDampVel)
-			{
-				btVector3 dir = m_angularVelocity.normalized();
-				m_angularVelocity -= dir * angDampVel;
-			}
-			else
-			{
-				m_angularVelocity.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-			}
-		}
-	}
-}
-
-void btRigidBody::applyGravity()
-{
-	if (isStaticOrKinematicObject())
-		return;
-
-	applyCentralForce(m_gravity);
-}
-
-void btRigidBody::clearGravity()
-{
-    if (isStaticOrKinematicObject())
-        return;
-    
-    applyCentralForce(-m_gravity);
-}
-
-void btRigidBody::proceedToTransform(const btTransform& newTrans)
-{
-	setCenterOfMassTransform(newTrans);
-}
-
-void btRigidBody::setMassProps(btScalar mass, const btVector3& inertia)
-{
-	if (mass == btScalar(0.))
-	{
-		m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
-		m_inverseMass = btScalar(0.);
-	}
-	else
-	{
-		m_collisionFlags &= (~btCollisionObject::CF_STATIC_OBJECT);
-		m_inverseMass = btScalar(1.0) / mass;
-	}
-
-	//Fg = m * a
-	m_gravity = mass * m_gravity_acceleration;
-
-	m_invInertiaLocal.setValue(inertia.x() != btScalar(0.0) ? btScalar(1.0) / inertia.x() : btScalar(0.0),
-							   inertia.y() != btScalar(0.0) ? btScalar(1.0) / inertia.y() : btScalar(0.0),
-							   inertia.z() != btScalar(0.0) ? btScalar(1.0) / inertia.z() : btScalar(0.0));
-
-	m_invMass = m_linearFactor * m_inverseMass;
-}
-
-void btRigidBody::updateInertiaTensor()
-{
-	m_invInertiaTensorWorld = m_worldTransform.getBasis().scaled(m_invInertiaLocal) * m_worldTransform.getBasis().transpose();
-}
-
-btVector3 btRigidBody::getLocalInertia() const
-{
-	btVector3 inertiaLocal;
-	const btVector3 inertia = m_invInertiaLocal;
-	inertiaLocal.setValue(inertia.x() != btScalar(0.0) ? btScalar(1.0) / inertia.x() : btScalar(0.0),
-						  inertia.y() != btScalar(0.0) ? btScalar(1.0) / inertia.y() : btScalar(0.0),
-						  inertia.z() != btScalar(0.0) ? btScalar(1.0) / inertia.z() : btScalar(0.0));
-	return inertiaLocal;
-}
-
-inline btVector3 evalEulerEqn(const btVector3& w1, const btVector3& w0, const btVector3& T, const btScalar dt,
-							  const btMatrix3x3& I)
-{
-	const btVector3 w2 = I * w1 + w1.cross(I * w1) * dt - (T * dt + I * w0);
-	return w2;
-}
-
-inline btMatrix3x3 evalEulerEqnDeriv(const btVector3& w1, const btVector3& w0, const btScalar dt,
-									 const btMatrix3x3& I)
-{
-	btMatrix3x3 w1x, Iw1x;
-	const btVector3 Iwi = (I * w1);
-	w1.getSkewSymmetricMatrix(&w1x[0], &w1x[1], &w1x[2]);
-	Iwi.getSkewSymmetricMatrix(&Iw1x[0], &Iw1x[1], &Iw1x[2]);
-
-	const btMatrix3x3 dfw1 = I + (w1x * I - Iw1x) * dt;
-	return dfw1;
-}
-
-btVector3 btRigidBody::computeGyroscopicForceExplicit(btScalar maxGyroscopicForce) const
-{
-	btVector3 inertiaLocal = getLocalInertia();
-	btMatrix3x3 inertiaTensorWorld = getWorldTransform().getBasis().scaled(inertiaLocal) * getWorldTransform().getBasis().transpose();
-	btVector3 tmp = inertiaTensorWorld * getAngularVelocity();
-	btVector3 gf = getAngularVelocity().cross(tmp);
-	btScalar l2 = gf.length2();
-	if (l2 > maxGyroscopicForce * maxGyroscopicForce)
-	{
-		gf *= btScalar(1.) / btSqrt(l2) * maxGyroscopicForce;
-	}
-	return gf;
-}
-
-btVector3 btRigidBody::computeGyroscopicImpulseImplicit_Body(btScalar step) const
-{
-	btVector3 idl = getLocalInertia();
-	btVector3 omega1 = getAngularVelocity();
-	btQuaternion q = getWorldTransform().getRotation();
-
-	// Convert to body coordinates
-	btVector3 omegab = quatRotate(q.inverse(), omega1);
-	btMatrix3x3 Ib;
-	Ib.setValue(idl.x(), 0, 0,
-				0, idl.y(), 0,
-				0, 0, idl.z());
-
-	btVector3 ibo = Ib * omegab;
-
-	// Residual vector
-	btVector3 f = step * omegab.cross(ibo);
-
-	btMatrix3x3 skew0;
-	omegab.getSkewSymmetricMatrix(&skew0[0], &skew0[1], &skew0[2]);
-	btVector3 om = Ib * omegab;
-	btMatrix3x3 skew1;
-	om.getSkewSymmetricMatrix(&skew1[0], &skew1[1], &skew1[2]);
-
-	// Jacobian
-	btMatrix3x3 J = Ib + (skew0 * Ib - skew1) * step;
-
-	//	btMatrix3x3 Jinv = J.inverse();
-	//	btVector3 omega_div = Jinv*f;
-	btVector3 omega_div = J.solve33(f);
-
-	// Single Newton-Raphson update
-	omegab = omegab - omega_div;  //Solve33(J, f);
-	// Back to world coordinates
-	btVector3 omega2 = quatRotate(q, omegab);
-	btVector3 gf = omega2 - omega1;
-	return gf;
-}
-
-btVector3 btRigidBody::computeGyroscopicImpulseImplicit_World(btScalar step) const
-{
-	// use full newton-euler equations.  common practice to drop the wxIw term. want it for better tumbling behavior.
-	// calculate using implicit euler step so it's stable.
-
-	const btVector3 inertiaLocal = getLocalInertia();
-	const btVector3 w0 = getAngularVelocity();
-
-	btMatrix3x3 I;
-
-	I = m_worldTransform.getBasis().scaled(inertiaLocal) *
-		m_worldTransform.getBasis().transpose();
-
-	// use newtons method to find implicit solution for new angular velocity (w')
-	// f(w') = -(T*step + Iw) + Iw' + w' + w'xIw'*step = 0
-	// df/dw' = I + 1xIw'*step + w'xI*step
-
-	btVector3 w1 = w0;
-
-	// one step of newton's method
-	{
-		const btVector3 fw = evalEulerEqn(w1, w0, btVector3(0, 0, 0), step, I);
-		const btMatrix3x3 dfw = evalEulerEqnDeriv(w1, w0, step, I);
-
-		btVector3 dw;
-		dw = dfw.solve33(fw);
-		//const btMatrix3x3 dfw_inv = dfw.inverse();
-		//dw = dfw_inv*fw;
-
-		w1 -= dw;
-	}
-
-	btVector3 gf = (w1 - w0);
-	return gf;
-}
-
-void btRigidBody::integrateVelocities(btScalar step)
-{
-	if (isStaticOrKinematicObject())
-		return;
-
-	m_linearVelocity += m_totalForce * (m_inverseMass * step);
-	m_angularVelocity += m_invInertiaTensorWorld * m_totalTorque * step;
-
-#define MAX_ANGVEL SIMD_HALF_PI
-	/// clamp angular velocity. collision calculations will fail on higher angular velocities
-	btScalar angvel = m_angularVelocity.length();
-	if (angvel * step > MAX_ANGVEL)
-	{
-		m_angularVelocity *= (MAX_ANGVEL / step) / angvel;
-	}
-	#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
-	clampVelocity(m_angularVelocity);
-	#endif
-}
-
-btQuaternion btRigidBody::getOrientation() const
-{
-	btQuaternion orn;
-	m_worldTransform.getBasis().getRotation(orn);
-	return orn;
-}
-
-void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
-{
-	if (isKinematicObject())
-	{
-		m_interpolationWorldTransform = m_worldTransform;
-	}
-	else
-	{
-		m_interpolationWorldTransform = xform;
-	}
-	m_interpolationLinearVelocity = getLinearVelocity();
-	m_interpolationAngularVelocity = getAngularVelocity();
-	m_worldTransform = xform;
-	updateInertiaTensor();
-}
-
-void btRigidBody::addConstraintRef(btTypedConstraint* c)
-{
-	///disable collision with the 'other' body
-
-	int index = m_constraintRefs.findLinearSearch(c);
-	//don't add constraints that are already referenced
-	//btAssert(index == m_constraintRefs.size());
-	if (index == m_constraintRefs.size())
-	{
-		m_constraintRefs.push_back(c);
-		btCollisionObject* colObjA = &c->getRigidBodyA();
-		btCollisionObject* colObjB = &c->getRigidBodyB();
-		if (colObjA == this)
-		{
-			colObjA->setIgnoreCollisionCheck(colObjB, true);
-		}
-		else
-		{
-			colObjB->setIgnoreCollisionCheck(colObjA, true);
-		}
-	}
-}
-
-void btRigidBody::removeConstraintRef(btTypedConstraint* c)
-{
-	int index = m_constraintRefs.findLinearSearch(c);
-	//don't remove constraints that are not referenced
-	if (index < m_constraintRefs.size())
-	{
-		m_constraintRefs.remove(c);
-		btCollisionObject* colObjA = &c->getRigidBodyA();
-		btCollisionObject* colObjB = &c->getRigidBodyB();
-		if (colObjA == this)
-		{
-			colObjA->setIgnoreCollisionCheck(colObjB, false);
-		}
-		else
-		{
-			colObjB->setIgnoreCollisionCheck(colObjA, false);
-		}
-	}
-}
-
-int btRigidBody::calculateSerializeBufferSize() const
-{
-	int sz = sizeof(btRigidBodyData);
-	return sz;
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char* btRigidBody::serialize(void* dataBuffer, class btSerializer* serializer) const
-{
-	btRigidBodyData* rbd = (btRigidBodyData*)dataBuffer;
-
-	btCollisionObject::serialize(&rbd->m_collisionObjectData, serializer);
-
-	m_invInertiaTensorWorld.serialize(rbd->m_invInertiaTensorWorld);
-	m_linearVelocity.serialize(rbd->m_linearVelocity);
-	m_angularVelocity.serialize(rbd->m_angularVelocity);
-	rbd->m_inverseMass = m_inverseMass;
-	m_angularFactor.serialize(rbd->m_angularFactor);
-	m_linearFactor.serialize(rbd->m_linearFactor);
-	m_gravity.serialize(rbd->m_gravity);
-	m_gravity_acceleration.serialize(rbd->m_gravity_acceleration);
-	m_invInertiaLocal.serialize(rbd->m_invInertiaLocal);
-	m_totalForce.serialize(rbd->m_totalForce);
-	m_totalTorque.serialize(rbd->m_totalTorque);
-	rbd->m_linearDamping = m_linearDamping;
-	rbd->m_angularDamping = m_angularDamping;
-	rbd->m_additionalDamping = m_additionalDamping;
-	rbd->m_additionalDampingFactor = m_additionalDampingFactor;
-	rbd->m_additionalLinearDampingThresholdSqr = m_additionalLinearDampingThresholdSqr;
-	rbd->m_additionalAngularDampingThresholdSqr = m_additionalAngularDampingThresholdSqr;
-	rbd->m_additionalAngularDampingFactor = m_additionalAngularDampingFactor;
-	rbd->m_linearSleepingThreshold = m_linearSleepingThreshold;
-	rbd->m_angularSleepingThreshold = m_angularSleepingThreshold;
-
-	// Fill padding with zeros to appease msan.
-#ifdef BT_USE_DOUBLE_PRECISION
-	memset(rbd->m_padding, 0, sizeof(rbd->m_padding));
-#endif
-
-	return btRigidBodyDataName;
-}
-
-void btRigidBody::serializeSingleObject(class btSerializer* serializer) const
-{
-	btChunk* chunk = serializer->allocate(calculateSerializeBufferSize(), 1);
-	const char* structType = serialize(chunk->m_oldPtr, serializer);
-	serializer->finalizeChunk(chunk, structType, BT_RIGIDBODY_CODE, (void*)this);
-}
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h
deleted file mode 100644
index 7442dd1e6a..0000000000
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h
+++ /dev/null
@@ -1,687 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_RIGIDBODY_H
-#define BT_RIGIDBODY_H
-
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btTransform.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-
-class btCollisionShape;
-class btMotionState;
-class btTypedConstraint;
-
-extern btScalar gDeactivationTime;
-extern bool gDisableDeactivation;
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btRigidBodyData btRigidBodyDoubleData
-#define btRigidBodyDataName "btRigidBodyDoubleData"
-#else
-#define btRigidBodyData btRigidBodyFloatData
-#define btRigidBodyDataName "btRigidBodyFloatData"
-#endif  //BT_USE_DOUBLE_PRECISION
-
-enum btRigidBodyFlags
-{
-	BT_DISABLE_WORLD_GRAVITY = 1,
-	///BT_ENABLE_GYROPSCOPIC_FORCE flags is enabled by default in Bullet 2.83 and onwards.
-	///and it BT_ENABLE_GYROPSCOPIC_FORCE becomes equivalent to BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY
-	///See Demos/GyroscopicDemo and computeGyroscopicImpulseImplicit
-	BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT = 2,
-	BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD = 4,
-	BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY = 8,
-	BT_ENABLE_GYROPSCOPIC_FORCE = BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY,
-};
-
-///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
-///It is recommended for performance and memory use to share btCollisionShape objects whenever possible.
-///There are 3 types of rigid bodies:
-///- A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics.
-///- B) Fixed objects with zero mass. They are not moving (basically collision objects)
-///- C) Kinematic objects, which are objects without mass, but the user can move them. There is one-way interaction, and Bullet calculates a velocity based on the timestep and previous and current world transform.
-///Bullet automatically deactivates dynamic rigid bodies, when the velocity is below a threshold for a given time.
-///Deactivated (sleeping) rigid bodies don't take any processing time, except a minor broadphase collision detection impact (to allow active objects to activate/wake up sleeping objects)
-class btRigidBody : public btCollisionObject
-{
-	btMatrix3x3 m_invInertiaTensorWorld;
-	btVector3 m_linearVelocity;
-	btVector3 m_angularVelocity;
-	btScalar m_inverseMass;
-	btVector3 m_linearFactor;
-
-	btVector3 m_gravity;
-	btVector3 m_gravity_acceleration;
-	btVector3 m_invInertiaLocal;
-	btVector3 m_totalForce;
-	btVector3 m_totalTorque;
-
-	btScalar m_linearDamping;
-	btScalar m_angularDamping;
-
-	bool m_additionalDamping;
-	btScalar m_additionalDampingFactor;
-	btScalar m_additionalLinearDampingThresholdSqr;
-	btScalar m_additionalAngularDampingThresholdSqr;
-	btScalar m_additionalAngularDampingFactor;
-
-	btScalar m_linearSleepingThreshold;
-	btScalar m_angularSleepingThreshold;
-
-	//m_optionalMotionState allows to automatic synchronize the world transform for active objects
-	btMotionState* m_optionalMotionState;
-
-	//keep track of typed constraints referencing this rigid body, to disable collision between linked bodies
-	btAlignedObjectArray<btTypedConstraint*> m_constraintRefs;
-
-	int m_rigidbodyFlags;
-
-	int m_debugBodyId;
-
-protected:
-	ATTRIBUTE_ALIGNED16(btVector3 m_deltaLinearVelocity);
-	btVector3 m_deltaAngularVelocity;
-	btVector3 m_angularFactor;
-	btVector3 m_invMass;
-	btVector3 m_pushVelocity;
-	btVector3 m_turnVelocity;
-
-public:
-	///The btRigidBodyConstructionInfo structure provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body.
-	///For dynamic objects, you can use the collision shape to approximate the local inertia tensor, otherwise use the zero vector (default argument)
-	///You can use the motion state to synchronize the world transform between physics and graphics objects.
-	///And if the motion state is provided, the rigid body will initialize its initial world transform from the motion state,
-	///m_startWorldTransform is only used when you don't provide a motion state.
-	struct btRigidBodyConstructionInfo
-	{
-		btScalar m_mass;
-
-		///When a motionState is provided, the rigid body will initialize its world transform from the motion state
-		///In this case, m_startWorldTransform is ignored.
-		btMotionState* m_motionState;
-		btTransform m_startWorldTransform;
-
-		btCollisionShape* m_collisionShape;
-		btVector3 m_localInertia;
-		btScalar m_linearDamping;
-		btScalar m_angularDamping;
-
-		///best simulation results when friction is non-zero
-		btScalar m_friction;
-		///the m_rollingFriction prevents rounded shapes, such as spheres, cylinders and capsules from rolling forever.
-		///See Bullet/Demos/RollingFrictionDemo for usage
-		btScalar m_rollingFriction;
-		btScalar m_spinningFriction;  //torsional friction around contact normal
-
-		///best simulation results using zero restitution.
-		btScalar m_restitution;
-
-		btScalar m_linearSleepingThreshold;
-		btScalar m_angularSleepingThreshold;
-
-		//Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc.
-		//Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete
-		bool m_additionalDamping;
-		btScalar m_additionalDampingFactor;
-		btScalar m_additionalLinearDampingThresholdSqr;
-		btScalar m_additionalAngularDampingThresholdSqr;
-		btScalar m_additionalAngularDampingFactor;
-
-		btRigidBodyConstructionInfo(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia = btVector3(0, 0, 0)) : m_mass(mass),
-																																									   m_motionState(motionState),
-																																									   m_collisionShape(collisionShape),
-																																									   m_localInertia(localInertia),
-																																									   m_linearDamping(btScalar(0.)),
-																																									   m_angularDamping(btScalar(0.)),
-																																									   m_friction(btScalar(0.5)),
-																																									   m_rollingFriction(btScalar(0)),
-																																									   m_spinningFriction(btScalar(0)),
-																																									   m_restitution(btScalar(0.)),
-																																									   m_linearSleepingThreshold(btScalar(0.8)),
-																																									   m_angularSleepingThreshold(btScalar(1.f)),
-																																									   m_additionalDamping(false),
-																																									   m_additionalDampingFactor(btScalar(0.005)),
-																																									   m_additionalLinearDampingThresholdSqr(btScalar(0.01)),
-																																									   m_additionalAngularDampingThresholdSqr(btScalar(0.01)),
-																																									   m_additionalAngularDampingFactor(btScalar(0.01))
-		{
-			m_startWorldTransform.setIdentity();
-		}
-	};
-
-	///btRigidBody constructor using construction info
-	btRigidBody(const btRigidBodyConstructionInfo& constructionInfo);
-
-	///btRigidBody constructor for backwards compatibility.
-	///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo)
-	btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia = btVector3(0, 0, 0));
-
-	virtual ~btRigidBody()
-	{
-		//No constraints should point to this rigidbody
-		//Remove constraints from the dynamics world before you delete the related rigidbodies.
-		btAssert(m_constraintRefs.size() == 0);
-	}
-
-protected:
-	///setupRigidBody is only used internally by the constructor
-	void setupRigidBody(const btRigidBodyConstructionInfo& constructionInfo);
-
-public:
-	void proceedToTransform(const btTransform& newTrans);
-
-	///to keep collision detection and dynamics separate we don't store a rigidbody pointer
-	///but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast
-	static const btRigidBody* upcast(const btCollisionObject* colObj)
-	{
-		if (colObj->getInternalType() & btCollisionObject::CO_RIGID_BODY)
-			return (const btRigidBody*)colObj;
-		return 0;
-	}
-	static btRigidBody* upcast(btCollisionObject* colObj)
-	{
-		if (colObj->getInternalType() & btCollisionObject::CO_RIGID_BODY)
-			return (btRigidBody*)colObj;
-		return 0;
-	}
-
-	/// continuous collision detection needs prediction
-	void predictIntegratedTransform(btScalar step, btTransform& predictedTransform);
-
-	void saveKinematicState(btScalar step);
-
-	void applyGravity();
-    
-    void clearGravity();
-
-	void setGravity(const btVector3& acceleration);
-
-	const btVector3& getGravity() const
-	{
-		return m_gravity_acceleration;
-	}
-
-	void setDamping(btScalar lin_damping, btScalar ang_damping);
-
-	btScalar getLinearDamping() const
-	{
-		return m_linearDamping;
-	}
-
-	btScalar getAngularDamping() const
-	{
-		return m_angularDamping;
-	}
-
-	btScalar getLinearSleepingThreshold() const
-	{
-		return m_linearSleepingThreshold;
-	}
-
-	btScalar getAngularSleepingThreshold() const
-	{
-		return m_angularSleepingThreshold;
-	}
-
-	void applyDamping(btScalar timeStep);
-
-	SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const
-	{
-		return m_collisionShape;
-	}
-
-	SIMD_FORCE_INLINE btCollisionShape* getCollisionShape()
-	{
-		return m_collisionShape;
-	}
-
-	void setMassProps(btScalar mass, const btVector3& inertia);
-
-	const btVector3& getLinearFactor() const
-	{
-		return m_linearFactor;
-	}
-	void setLinearFactor(const btVector3& linearFactor)
-	{
-		m_linearFactor = linearFactor;
-		m_invMass = m_linearFactor * m_inverseMass;
-	}
-	btScalar getInvMass() const { return m_inverseMass; }
-	btScalar getMass() const { return m_inverseMass == btScalar(0.) ? btScalar(0.) : btScalar(1.0) / m_inverseMass; }
-	const btMatrix3x3& getInvInertiaTensorWorld() const
-	{
-		return m_invInertiaTensorWorld;
-	}
-
-	void integrateVelocities(btScalar step);
-
-	void setCenterOfMassTransform(const btTransform& xform);
-
-	void applyCentralForce(const btVector3& force)
-	{
-		m_totalForce += force * m_linearFactor;
-	}
-
-	const btVector3& getTotalForce() const
-	{
-		return m_totalForce;
-	};
-
-	const btVector3& getTotalTorque() const
-	{
-		return m_totalTorque;
-	};
-
-	const btVector3& getInvInertiaDiagLocal() const
-	{
-		return m_invInertiaLocal;
-	};
-
-	void setInvInertiaDiagLocal(const btVector3& diagInvInertia)
-	{
-		m_invInertiaLocal = diagInvInertia;
-	}
-
-	void setSleepingThresholds(btScalar linear, btScalar angular)
-	{
-		m_linearSleepingThreshold = linear;
-		m_angularSleepingThreshold = angular;
-	}
-
-	void applyTorque(const btVector3& torque)
-	{
-		m_totalTorque += torque * m_angularFactor;
-		#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
-		clampVelocity(m_totalTorque);
-		#endif
-	}
-
-	void applyForce(const btVector3& force, const btVector3& rel_pos)
-	{
-		applyCentralForce(force);
-		applyTorque(rel_pos.cross(force * m_linearFactor));
-	}
-
-	void applyCentralImpulse(const btVector3& impulse)
-	{
-		m_linearVelocity += impulse * m_linearFactor * m_inverseMass;
-		#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
-		clampVelocity(m_linearVelocity);
-		#endif
-	}
-
-	void applyTorqueImpulse(const btVector3& torque)
-	{
-		m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
-		#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
-		clampVelocity(m_angularVelocity);
-		#endif
-	}
-
-	void applyImpulse(const btVector3& impulse, const btVector3& rel_pos)
-	{
-		if (m_inverseMass != btScalar(0.))
-		{
-			applyCentralImpulse(impulse);
-			if (m_angularFactor)
-			{
-				applyTorqueImpulse(rel_pos.cross(impulse * m_linearFactor));
-			}
-		}
-	}
-    
-    void applyPushImpulse(const btVector3& impulse, const btVector3& rel_pos)
-    {
-        if (m_inverseMass != btScalar(0.))
-        {
-            applyCentralPushImpulse(impulse);
-            if (m_angularFactor)
-            {
-                applyTorqueTurnImpulse(rel_pos.cross(impulse * m_linearFactor));
-            }
-        }
-    }
-    
-    btVector3 getPushVelocity() const
-    {
-        return m_pushVelocity;
-    }
-    
-    btVector3 getTurnVelocity() const
-    {
-        return m_turnVelocity;
-    }
-    
-    void setPushVelocity(const btVector3& v)
-    {
-        m_pushVelocity = v;
-    }
-
-    #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
-    void clampVelocity(btVector3& v) const {
-        v.setX(
-            fmax(-BT_CLAMP_VELOCITY_TO,
-                 fmin(BT_CLAMP_VELOCITY_TO, v.getX()))
-        );
-        v.setY(
-            fmax(-BT_CLAMP_VELOCITY_TO,
-                 fmin(BT_CLAMP_VELOCITY_TO, v.getY()))
-        );
-        v.setZ(
-            fmax(-BT_CLAMP_VELOCITY_TO,
-                 fmin(BT_CLAMP_VELOCITY_TO, v.getZ()))
-        );
-    }
-    #endif
-
-    void setTurnVelocity(const btVector3& v)
-    {
-        m_turnVelocity = v;
-        #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
-        clampVelocity(m_turnVelocity);
-        #endif
-    }
-    
-    void applyCentralPushImpulse(const btVector3& impulse)
-    {
-        m_pushVelocity += impulse * m_linearFactor * m_inverseMass;
-        #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
-        clampVelocity(m_pushVelocity);
-        #endif
-    }
-    
-    void applyTorqueTurnImpulse(const btVector3& torque)
-    {
-        m_turnVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
-        #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
-        clampVelocity(m_turnVelocity);
-        #endif
-    }
-
-	void clearForces()
-	{
-		m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
-		m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
-	}
-
-	void updateInertiaTensor();
-
-	const btVector3& getCenterOfMassPosition() const
-	{
-		return m_worldTransform.getOrigin();
-	}
-	btQuaternion getOrientation() const;
-
-	const btTransform& getCenterOfMassTransform() const
-	{
-		return m_worldTransform;
-	}
-	const btVector3& getLinearVelocity() const
-	{
-		return m_linearVelocity;
-	}
-	const btVector3& getAngularVelocity() const
-	{
-		return m_angularVelocity;
-	}
-
-	inline void setLinearVelocity(const btVector3& lin_vel)
-	{
-		m_updateRevision++;
-		m_linearVelocity = lin_vel;
-		#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
-		clampVelocity(m_linearVelocity);
-		#endif
-	}
-
-	inline void setAngularVelocity(const btVector3& ang_vel)
-	{
-		m_updateRevision++;
-		m_angularVelocity = ang_vel;
-		#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
-		clampVelocity(m_angularVelocity);
-		#endif
-	}
-
-	btVector3 getVelocityInLocalPoint(const btVector3& rel_pos) const
-	{
-		//we also calculate lin/ang velocity for kinematic objects
-		return m_linearVelocity + m_angularVelocity.cross(rel_pos);
-
-		//for kinematic objects, we could also use use:
-		//		return 	(m_worldTransform(rel_pos) - m_interpolationWorldTransform(rel_pos)) / m_kinematicTimeStep;
-	}
-    
-    btVector3 getPushVelocityInLocalPoint(const btVector3& rel_pos) const
-    {
-        //we also calculate lin/ang velocity for kinematic objects
-        return m_pushVelocity + m_turnVelocity.cross(rel_pos);
-    }
-
-	void translate(const btVector3& v)
-	{
-		m_worldTransform.getOrigin() += v;
-	}
-
-	void getAabb(btVector3& aabbMin, btVector3& aabbMax) const;
-
-	SIMD_FORCE_INLINE btScalar computeImpulseDenominator(const btVector3& pos, const btVector3& normal) const
-	{
-		btVector3 r0 = pos - getCenterOfMassPosition();
-
-		btVector3 c0 = (r0).cross(normal);
-
-		btVector3 vec = (c0 * getInvInertiaTensorWorld()).cross(r0);
-
-		return m_inverseMass + normal.dot(vec);
-	}
-
-	SIMD_FORCE_INLINE btScalar computeAngularImpulseDenominator(const btVector3& axis) const
-	{
-		btVector3 vec = axis * getInvInertiaTensorWorld();
-		return axis.dot(vec);
-	}
-
-	SIMD_FORCE_INLINE void updateDeactivation(btScalar timeStep)
-	{
-		if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
-			return;
-
-		if ((getLinearVelocity().length2() < m_linearSleepingThreshold * m_linearSleepingThreshold) &&
-			(getAngularVelocity().length2() < m_angularSleepingThreshold * m_angularSleepingThreshold))
-		{
-			m_deactivationTime += timeStep;
-		}
-		else
-		{
-			m_deactivationTime = btScalar(0.);
-			setActivationState(0);
-		}
-	}
-
-	SIMD_FORCE_INLINE bool wantsSleeping()
-	{
-		if (getActivationState() == DISABLE_DEACTIVATION)
-			return false;
-
-		//disable deactivation
-		if (gDisableDeactivation || (gDeactivationTime == btScalar(0.)))
-			return false;
-
-		if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION))
-			return true;
-
-		if (m_deactivationTime > gDeactivationTime)
-		{
-			return true;
-		}
-		return false;
-	}
-
-	const btBroadphaseProxy* getBroadphaseProxy() const
-	{
-		return m_broadphaseHandle;
-	}
-	btBroadphaseProxy* getBroadphaseProxy()
-	{
-		return m_broadphaseHandle;
-	}
-	void setNewBroadphaseProxy(btBroadphaseProxy* broadphaseProxy)
-	{
-		m_broadphaseHandle = broadphaseProxy;
-	}
-
-	//btMotionState allows to automatic synchronize the world transform for active objects
-	btMotionState* getMotionState()
-	{
-		return m_optionalMotionState;
-	}
-	const btMotionState* getMotionState() const
-	{
-		return m_optionalMotionState;
-	}
-	void setMotionState(btMotionState* motionState)
-	{
-		m_optionalMotionState = motionState;
-		if (m_optionalMotionState)
-			motionState->getWorldTransform(m_worldTransform);
-	}
-
-	//for experimental overriding of friction/contact solver func
-	int m_contactSolverType;
-	int m_frictionSolverType;
-
-	void setAngularFactor(const btVector3& angFac)
-	{
-		m_updateRevision++;
-		m_angularFactor = angFac;
-	}
-
-	void setAngularFactor(btScalar angFac)
-	{
-		m_updateRevision++;
-		m_angularFactor.setValue(angFac, angFac, angFac);
-	}
-	const btVector3& getAngularFactor() const
-	{
-		return m_angularFactor;
-	}
-
-	//is this rigidbody added to a btCollisionWorld/btDynamicsWorld/btBroadphase?
-	bool isInWorld() const
-	{
-		return (getBroadphaseProxy() != 0);
-	}
-
-	void addConstraintRef(btTypedConstraint* c);
-	void removeConstraintRef(btTypedConstraint* c);
-
-	btTypedConstraint* getConstraintRef(int index)
-	{
-		return m_constraintRefs[index];
-	}
-
-	int getNumConstraintRefs() const
-	{
-		return m_constraintRefs.size();
-	}
-
-	void setFlags(int flags)
-	{
-		m_rigidbodyFlags = flags;
-	}
-
-	int getFlags() const
-	{
-		return m_rigidbodyFlags;
-	}
-
-	///perform implicit force computation in world space
-	btVector3 computeGyroscopicImpulseImplicit_World(btScalar dt) const;
-
-	///perform implicit force computation in body space (inertial frame)
-	btVector3 computeGyroscopicImpulseImplicit_Body(btScalar step) const;
-
-	///explicit version is best avoided, it gains energy
-	btVector3 computeGyroscopicForceExplicit(btScalar maxGyroscopicForce) const;
-	btVector3 getLocalInertia() const;
-
-	///////////////////////////////////////////////
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
-
-	virtual void serializeSingleObject(class btSerializer* serializer) const;
-};
-
-//@todo add m_optionalMotionState and m_constraintRefs to btRigidBodyData
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btRigidBodyFloatData
-{
-	btCollisionObjectFloatData m_collisionObjectData;
-	btMatrix3x3FloatData m_invInertiaTensorWorld;
-	btVector3FloatData m_linearVelocity;
-	btVector3FloatData m_angularVelocity;
-	btVector3FloatData m_angularFactor;
-	btVector3FloatData m_linearFactor;
-	btVector3FloatData m_gravity;
-	btVector3FloatData m_gravity_acceleration;
-	btVector3FloatData m_invInertiaLocal;
-	btVector3FloatData m_totalForce;
-	btVector3FloatData m_totalTorque;
-	float m_inverseMass;
-	float m_linearDamping;
-	float m_angularDamping;
-	float m_additionalDampingFactor;
-	float m_additionalLinearDampingThresholdSqr;
-	float m_additionalAngularDampingThresholdSqr;
-	float m_additionalAngularDampingFactor;
-	float m_linearSleepingThreshold;
-	float m_angularSleepingThreshold;
-	int m_additionalDamping;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btRigidBodyDoubleData
-{
-	btCollisionObjectDoubleData m_collisionObjectData;
-	btMatrix3x3DoubleData m_invInertiaTensorWorld;
-	btVector3DoubleData m_linearVelocity;
-	btVector3DoubleData m_angularVelocity;
-	btVector3DoubleData m_angularFactor;
-	btVector3DoubleData m_linearFactor;
-	btVector3DoubleData m_gravity;
-	btVector3DoubleData m_gravity_acceleration;
-	btVector3DoubleData m_invInertiaLocal;
-	btVector3DoubleData m_totalForce;
-	btVector3DoubleData m_totalTorque;
-	double m_inverseMass;
-	double m_linearDamping;
-	double m_angularDamping;
-	double m_additionalDampingFactor;
-	double m_additionalLinearDampingThresholdSqr;
-	double m_additionalAngularDampingThresholdSqr;
-	double m_additionalAngularDampingFactor;
-	double m_linearSleepingThreshold;
-	double m_angularSleepingThreshold;
-	int m_additionalDamping;
-	char m_padding[4];
-};
-
-#endif  //BT_RIGIDBODY_H
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
deleted file mode 100644
index 8103390fb1..0000000000
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
+++ /dev/null
@@ -1,260 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btSimpleDynamicsWorld.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
-#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
-
-/*
-  Make sure this dummy function never changes so that it
-  can be used by probes that are checking whether the
-  library is actually installed.
-*/
-extern "C"
-{
-	void btBulletDynamicsProbe();
-	void btBulletDynamicsProbe() {}
-}
-
-btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
-	: btDynamicsWorld(dispatcher, pairCache, collisionConfiguration),
-	  m_constraintSolver(constraintSolver),
-	  m_ownsConstraintSolver(false),
-	  m_gravity(0, 0, -10)
-{
-}
-
-btSimpleDynamicsWorld::~btSimpleDynamicsWorld()
-{
-	if (m_ownsConstraintSolver)
-		btAlignedFree(m_constraintSolver);
-}
-
-int btSimpleDynamicsWorld::stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep)
-{
-	(void)fixedTimeStep;
-	(void)maxSubSteps;
-
-	///apply gravity, predict motion
-	predictUnconstraintMotion(timeStep);
-
-	btDispatcherInfo& dispatchInfo = getDispatchInfo();
-	dispatchInfo.m_timeStep = timeStep;
-	dispatchInfo.m_stepCount = 0;
-	dispatchInfo.m_debugDraw = getDebugDrawer();
-
-	///perform collision detection
-	performDiscreteCollisionDetection();
-
-	///solve contact constraints
-	int numManifolds = m_dispatcher1->getNumManifolds();
-	if (numManifolds)
-	{
-		btPersistentManifold** manifoldPtr = ((btCollisionDispatcher*)m_dispatcher1)->getInternalManifoldPointer();
-
-		btContactSolverInfo infoGlobal;
-		infoGlobal.m_timeStep = timeStep;
-		m_constraintSolver->prepareSolve(0, numManifolds);
-		m_constraintSolver->solveGroup(&getCollisionObjectArray()[0], getNumCollisionObjects(), manifoldPtr, numManifolds, 0, 0, infoGlobal, m_debugDrawer, m_dispatcher1);
-		m_constraintSolver->allSolved(infoGlobal, m_debugDrawer);
-	}
-
-	///integrate transforms
-	integrateTransforms(timeStep);
-
-	updateAabbs();
-
-	synchronizeMotionStates();
-
-	clearForces();
-
-	return 1;
-}
-
-void btSimpleDynamicsWorld::clearForces()
-{
-	///@todo: iterate over awake simulation islands!
-	for (int i = 0; i < m_collisionObjects.size(); i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-
-		btRigidBody* body = btRigidBody::upcast(colObj);
-		if (body)
-		{
-			body->clearForces();
-		}
-	}
-}
-
-void btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
-{
-	m_gravity = gravity;
-	for (int i = 0; i < m_collisionObjects.size(); i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		btRigidBody* body = btRigidBody::upcast(colObj);
-		if (body)
-		{
-			body->setGravity(gravity);
-		}
-	}
-}
-
-btVector3 btSimpleDynamicsWorld::getGravity() const
-{
-	return m_gravity;
-}
-
-void btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body)
-{
-	btCollisionWorld::removeCollisionObject(body);
-}
-
-void btSimpleDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
-{
-	btRigidBody* body = btRigidBody::upcast(collisionObject);
-	if (body)
-		removeRigidBody(body);
-	else
-		btCollisionWorld::removeCollisionObject(collisionObject);
-}
-
-void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
-{
-	body->setGravity(m_gravity);
-
-	if (body->getCollisionShape())
-	{
-		addCollisionObject(body);
-	}
-}
-
-void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body, int group, int mask)
-{
-	body->setGravity(m_gravity);
-
-	if (body->getCollisionShape())
-	{
-		addCollisionObject(body, group, mask);
-	}
-}
-
-void btSimpleDynamicsWorld::debugDrawWorld()
-{
-}
-
-void btSimpleDynamicsWorld::addAction(btActionInterface* action)
-{
-}
-
-void btSimpleDynamicsWorld::removeAction(btActionInterface* action)
-{
-}
-
-void btSimpleDynamicsWorld::updateAabbs()
-{
-	btTransform predictedTrans;
-	for (int i = 0; i < m_collisionObjects.size(); i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		btRigidBody* body = btRigidBody::upcast(colObj);
-		if (body)
-		{
-			if (body->isActive() && (!body->isStaticObject()))
-			{
-				btVector3 minAabb, maxAabb;
-				colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb, maxAabb);
-				btBroadphaseInterface* bp = getBroadphase();
-				bp->setAabb(body->getBroadphaseHandle(), minAabb, maxAabb, m_dispatcher1);
-			}
-		}
-	}
-}
-
-void btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
-{
-	btTransform predictedTrans;
-	for (int i = 0; i < m_collisionObjects.size(); i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		btRigidBody* body = btRigidBody::upcast(colObj);
-		if (body)
-		{
-			if (body->isActive() && (!body->isStaticObject()))
-			{
-				body->predictIntegratedTransform(timeStep, predictedTrans);
-				body->proceedToTransform(predictedTrans);
-			}
-		}
-	}
-}
-
-void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
-{
-	for (int i = 0; i < m_collisionObjects.size(); i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		btRigidBody* body = btRigidBody::upcast(colObj);
-		if (body)
-		{
-			if (!body->isStaticObject())
-			{
-				if (body->isActive())
-				{
-					body->applyGravity();
-					body->integrateVelocities(timeStep);
-					body->applyDamping(timeStep);
-					body->predictIntegratedTransform(timeStep, body->getInterpolationWorldTransform());
-				}
-			}
-		}
-	}
-}
-
-void btSimpleDynamicsWorld::synchronizeMotionStates()
-{
-	///@todo: iterate over awake simulation islands!
-	for (int i = 0; i < m_collisionObjects.size(); i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		btRigidBody* body = btRigidBody::upcast(colObj);
-		if (body && body->getMotionState())
-		{
-			if (body->getActivationState() != ISLAND_SLEEPING)
-			{
-				body->getMotionState()->setWorldTransform(body->getWorldTransform());
-			}
-		}
-	}
-}
-
-void btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
-{
-	if (m_ownsConstraintSolver)
-	{
-		btAlignedFree(m_constraintSolver);
-	}
-	m_ownsConstraintSolver = false;
-	m_constraintSolver = solver;
-}
-
-btConstraintSolver* btSimpleDynamicsWorld::getConstraintSolver()
-{
-	return m_constraintSolver;
-}
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
deleted file mode 100644
index 12be231c7f..0000000000
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SIMPLE_DYNAMICS_WORLD_H
-#define BT_SIMPLE_DYNAMICS_WORLD_H
-
-#include "btDynamicsWorld.h"
-
-class btDispatcher;
-class btOverlappingPairCache;
-class btConstraintSolver;
-
-///The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds.
-///Please use btDiscreteDynamicsWorld instead
-class btSimpleDynamicsWorld : public btDynamicsWorld
-{
-protected:
-	btConstraintSolver* m_constraintSolver;
-
-	bool m_ownsConstraintSolver;
-
-	void predictUnconstraintMotion(btScalar timeStep);
-
-	void integrateTransforms(btScalar timeStep);
-
-	btVector3 m_gravity;
-
-public:
-	///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
-	btSimpleDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration);
-
-	virtual ~btSimpleDynamicsWorld();
-
-	///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead
-	virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.));
-
-	virtual void setGravity(const btVector3& gravity);
-
-	virtual btVector3 getGravity() const;
-
-	virtual void addRigidBody(btRigidBody* body);
-
-	virtual void addRigidBody(btRigidBody* body, int group, int mask);
-
-	virtual void removeRigidBody(btRigidBody* body);
-
-	virtual void debugDrawWorld();
-
-	virtual void addAction(btActionInterface* action);
-
-	virtual void removeAction(btActionInterface* action);
-
-	///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
-	virtual void removeCollisionObject(btCollisionObject* collisionObject);
-
-	virtual void updateAabbs();
-
-	virtual void synchronizeMotionStates();
-
-	virtual void setConstraintSolver(btConstraintSolver* solver);
-
-	virtual btConstraintSolver* getConstraintSolver();
-
-	virtual btDynamicsWorldType getWorldType() const
-	{
-		return BT_SIMPLE_DYNAMICS_WORLD;
-	}
-
-	virtual void clearForces();
-};
-
-#endif  //BT_SIMPLE_DYNAMICS_WORLD_H
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp
deleted file mode 100644
index 772b774202..0000000000
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp
+++ /dev/null
@@ -1,696 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "LinearMath/btScalar.h"
-#include "LinearMath/btThreads.h"
-#include "btSimulationIslandManagerMt.h"
-#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
-#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h"  // for s_minimumContactManifoldsForBatching
-
-//#include <stdio.h>
-#include "LinearMath/btQuickprof.h"
-
-SIMD_FORCE_INLINE int calcBatchCost(int bodies, int manifolds, int constraints)
-{
-	// rough estimate of the cost of a batch, used for merging
-	int batchCost = bodies + 8 * manifolds + 4 * constraints;
-	return batchCost;
-}
-
-SIMD_FORCE_INLINE int calcBatchCost(const btSimulationIslandManagerMt::Island* island)
-{
-	return calcBatchCost(island->bodyArray.size(), island->manifoldArray.size(), island->constraintArray.size());
-}
-
-btSimulationIslandManagerMt::btSimulationIslandManagerMt()
-{
-	m_minimumSolverBatchSize = calcBatchCost(0, 128, 0);
-	m_batchIslandMinBodyCount = 32;
-	m_islandDispatch = parallelIslandDispatch;
-	m_batchIsland = NULL;
-}
-
-btSimulationIslandManagerMt::~btSimulationIslandManagerMt()
-{
-	for (int i = 0; i < m_allocatedIslands.size(); ++i)
-	{
-		delete m_allocatedIslands[i];
-	}
-	m_allocatedIslands.resize(0);
-	m_activeIslands.resize(0);
-	m_freeIslands.resize(0);
-}
-
-inline int getIslandId(const btPersistentManifold* lhs)
-{
-	const btCollisionObject* rcolObj0 = static_cast<const btCollisionObject*>(lhs->getBody0());
-	const btCollisionObject* rcolObj1 = static_cast<const btCollisionObject*>(lhs->getBody1());
-	int islandId = rcolObj0->getIslandTag() >= 0 ? rcolObj0->getIslandTag() : rcolObj1->getIslandTag();
-	return islandId;
-}
-
-SIMD_FORCE_INLINE int btGetConstraintIslandId1(const btTypedConstraint* lhs)
-{
-	const btCollisionObject& rcolObj0 = lhs->getRigidBodyA();
-	const btCollisionObject& rcolObj1 = lhs->getRigidBodyB();
-	int islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag();
-	return islandId;
-}
-
-/// function object that routes calls to operator<
-class IslandBatchSizeSortPredicate
-{
-public:
-	bool operator()(const btSimulationIslandManagerMt::Island* lhs, const btSimulationIslandManagerMt::Island* rhs) const
-	{
-		int lCost = calcBatchCost(lhs);
-		int rCost = calcBatchCost(rhs);
-		return lCost > rCost;
-	}
-};
-
-class IslandBodyCapacitySortPredicate
-{
-public:
-	bool operator()(const btSimulationIslandManagerMt::Island* lhs, const btSimulationIslandManagerMt::Island* rhs) const
-	{
-		return lhs->bodyArray.capacity() > rhs->bodyArray.capacity();
-	}
-};
-
-void btSimulationIslandManagerMt::Island::append(const Island& other)
-{
-	// append bodies
-	for (int i = 0; i < other.bodyArray.size(); ++i)
-	{
-		bodyArray.push_back(other.bodyArray[i]);
-	}
-	// append manifolds
-	for (int i = 0; i < other.manifoldArray.size(); ++i)
-	{
-		manifoldArray.push_back(other.manifoldArray[i]);
-	}
-	// append constraints
-	for (int i = 0; i < other.constraintArray.size(); ++i)
-	{
-		constraintArray.push_back(other.constraintArray[i]);
-	}
-}
-
-bool btIsBodyInIsland(const btSimulationIslandManagerMt::Island& island, const btCollisionObject* obj)
-{
-	for (int i = 0; i < island.bodyArray.size(); ++i)
-	{
-		if (island.bodyArray[i] == obj)
-		{
-			return true;
-		}
-	}
-	return false;
-}
-
-void btSimulationIslandManagerMt::initIslandPools()
-{
-	// reset island pools
-	int numElem = getUnionFind().getNumElements();
-	m_lookupIslandFromId.resize(numElem);
-	for (int i = 0; i < m_lookupIslandFromId.size(); ++i)
-	{
-		m_lookupIslandFromId[i] = NULL;
-	}
-	m_activeIslands.resize(0);
-	m_freeIslands.resize(0);
-	// check whether allocated islands are sorted by body capacity (largest to smallest)
-	int lastCapacity = 0;
-	bool isSorted = true;
-	for (int i = 0; i < m_allocatedIslands.size(); ++i)
-	{
-		Island* island = m_allocatedIslands[i];
-		int cap = island->bodyArray.capacity();
-		if (cap > lastCapacity)
-		{
-			isSorted = false;
-			break;
-		}
-		lastCapacity = cap;
-	}
-	if (!isSorted)
-	{
-		m_allocatedIslands.quickSort(IslandBodyCapacitySortPredicate());
-	}
-
-	m_batchIsland = NULL;
-	// mark all islands free (but avoid deallocation)
-	for (int i = 0; i < m_allocatedIslands.size(); ++i)
-	{
-		Island* island = m_allocatedIslands[i];
-		island->bodyArray.resize(0);
-		island->manifoldArray.resize(0);
-		island->constraintArray.resize(0);
-		island->id = -1;
-		island->isSleeping = true;
-		m_freeIslands.push_back(island);
-	}
-}
-
-btSimulationIslandManagerMt::Island* btSimulationIslandManagerMt::getIsland(int id)
-{
-	btAssert(id >= 0);
-	btAssert(id < m_lookupIslandFromId.size());
-	Island* island = m_lookupIslandFromId[id];
-	if (island == NULL)
-	{
-		// search for existing island
-		for (int i = 0; i < m_activeIslands.size(); ++i)
-		{
-			if (m_activeIslands[i]->id == id)
-			{
-				island = m_activeIslands[i];
-				break;
-			}
-		}
-		m_lookupIslandFromId[id] = island;
-	}
-	return island;
-}
-
-btSimulationIslandManagerMt::Island* btSimulationIslandManagerMt::allocateIsland(int id, int numBodies)
-{
-	Island* island = NULL;
-	int allocSize = numBodies;
-	if (numBodies < m_batchIslandMinBodyCount)
-	{
-		if (m_batchIsland)
-		{
-			island = m_batchIsland;
-			m_lookupIslandFromId[id] = island;
-			// if we've made a large enough batch,
-			if (island->bodyArray.size() + numBodies >= m_batchIslandMinBodyCount)
-			{
-				// next time start a new batch
-				m_batchIsland = NULL;
-			}
-			return island;
-		}
-		else
-		{
-			// need to allocate a batch island
-			allocSize = m_batchIslandMinBodyCount * 2;
-		}
-	}
-	btAlignedObjectArray<Island*>& freeIslands = m_freeIslands;
-
-	// search for free island
-	if (freeIslands.size() > 0)
-	{
-		// try to reuse a previously allocated island
-		int iFound = freeIslands.size();
-		// linear search for smallest island that can hold our bodies
-		for (int i = freeIslands.size() - 1; i >= 0; --i)
-		{
-			if (freeIslands[i]->bodyArray.capacity() >= allocSize)
-			{
-				iFound = i;
-				island = freeIslands[i];
-				island->id = id;
-				break;
-			}
-		}
-		// if found, shrink array while maintaining ordering
-		if (island)
-		{
-			int iDest = iFound;
-			int iSrc = iDest + 1;
-			while (iSrc < freeIslands.size())
-			{
-				freeIslands[iDest++] = freeIslands[iSrc++];
-			}
-			freeIslands.pop_back();
-		}
-	}
-	if (island == NULL)
-	{
-		// no free island found, allocate
-		island = new Island();  // TODO: change this to use the pool allocator
-		island->id = id;
-		island->bodyArray.reserve(allocSize);
-		m_allocatedIslands.push_back(island);
-	}
-	m_lookupIslandFromId[id] = island;
-	if (numBodies < m_batchIslandMinBodyCount)
-	{
-		m_batchIsland = island;
-	}
-	m_activeIslands.push_back(island);
-	return island;
-}
-
-void btSimulationIslandManagerMt::buildIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld)
-{
-	BT_PROFILE("buildIslands");
-
-	btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
-
-	//we are going to sort the unionfind array, and store the element id in the size
-	//afterwards, we clean unionfind, to make sure no-one uses it anymore
-
-	getUnionFind().sortIslands();
-	int numElem = getUnionFind().getNumElements();
-
-	int endIslandIndex = 1;
-	int startIslandIndex;
-
-	//update the sleeping state for bodies, if all are sleeping
-	for (startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex)
-	{
-		int islandId = getUnionFind().getElement(startIslandIndex).m_id;
-		for (endIslandIndex = startIslandIndex + 1; (endIslandIndex < numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId); endIslandIndex++)
-		{
-		}
-
-		//int numSleeping = 0;
-
-		bool allSleeping = true;
-
-		int idx;
-		for (idx = startIslandIndex; idx < endIslandIndex; idx++)
-		{
-			int i = getUnionFind().getElement(idx).m_sz;
-
-			btCollisionObject* colObj0 = collisionObjects[i];
-			if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
-			{
-				//				printf("error in island management\n");
-			}
-
-			btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
-			if (colObj0->getIslandTag() == islandId)
-			{
-				if (colObj0->getActivationState() == ACTIVE_TAG ||
-					colObj0->getActivationState() == DISABLE_DEACTIVATION)
-				{
-					allSleeping = false;
-					break;
-				}
-			}
-		}
-
-		if (allSleeping)
-		{
-			int idx;
-			for (idx = startIslandIndex; idx < endIslandIndex; idx++)
-			{
-				int i = getUnionFind().getElement(idx).m_sz;
-				btCollisionObject* colObj0 = collisionObjects[i];
-				if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
-				{
-					//					printf("error in island management\n");
-				}
-
-				btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
-
-				if (colObj0->getIslandTag() == islandId)
-				{
-					colObj0->setActivationState(ISLAND_SLEEPING);
-				}
-			}
-		}
-		else
-		{
-			int idx;
-			for (idx = startIslandIndex; idx < endIslandIndex; idx++)
-			{
-				int i = getUnionFind().getElement(idx).m_sz;
-
-				btCollisionObject* colObj0 = collisionObjects[i];
-				if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
-				{
-					//					printf("error in island management\n");
-				}
-
-				btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
-
-				if (colObj0->getIslandTag() == islandId)
-				{
-					if (colObj0->getActivationState() == ISLAND_SLEEPING)
-					{
-						colObj0->setActivationState(WANTS_DEACTIVATION);
-						colObj0->setDeactivationTime(0.f);
-					}
-				}
-			}
-		}
-	}
-}
-
-void btSimulationIslandManagerMt::addBodiesToIslands(btCollisionWorld* collisionWorld)
-{
-	btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
-	int endIslandIndex = 1;
-	int startIslandIndex;
-	int numElem = getUnionFind().getNumElements();
-
-	// create explicit islands and add bodies to each
-	for (startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex)
-	{
-		int islandId = getUnionFind().getElement(startIslandIndex).m_id;
-
-		// find end index
-		for (endIslandIndex = startIslandIndex; (endIslandIndex < numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId); endIslandIndex++)
-		{
-		}
-		// check if island is sleeping
-		bool islandSleeping = true;
-		for (int iElem = startIslandIndex; iElem < endIslandIndex; iElem++)
-		{
-			int i = getUnionFind().getElement(iElem).m_sz;
-			btCollisionObject* colObj = collisionObjects[i];
-			if (colObj->isActive())
-			{
-				islandSleeping = false;
-			}
-		}
-		if (!islandSleeping)
-		{
-			// want to count the number of bodies before allocating the island to optimize memory usage of the Island structures
-			int numBodies = endIslandIndex - startIslandIndex;
-			Island* island = allocateIsland(islandId, numBodies);
-			island->isSleeping = false;
-
-			// add bodies to island
-			for (int iElem = startIslandIndex; iElem < endIslandIndex; iElem++)
-			{
-				int i = getUnionFind().getElement(iElem).m_sz;
-				btCollisionObject* colObj = collisionObjects[i];
-				island->bodyArray.push_back(colObj);
-			}
-		}
-	}
-}
-
-void btSimulationIslandManagerMt::addManifoldsToIslands(btDispatcher* dispatcher)
-{
-	// walk all the manifolds, activating bodies touched by kinematic objects, and add each manifold to its Island
-	int maxNumManifolds = dispatcher->getNumManifolds();
-	for (int i = 0; i < maxNumManifolds; i++)
-	{
-		btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
-
-		const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0());
-		const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1());
-
-		///@todo: check sleeping conditions!
-		if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
-			((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING))
-		{
-			//kinematic objects don't merge islands, but wake up all connected objects
-			if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
-			{
-				if (colObj0->hasContactResponse())
-					colObj1->activate();
-			}
-			if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
-			{
-				if (colObj1->hasContactResponse())
-					colObj0->activate();
-			}
-			//filtering for response
-			if (dispatcher->needsResponse(colObj0, colObj1))
-			{
-				// scatter manifolds into various islands
-				int islandId = getIslandId(manifold);
-				// if island not sleeping,
-				if (Island* island = getIsland(islandId))
-				{
-					island->manifoldArray.push_back(manifold);
-				}
-			}
-		}
-	}
-}
-
-void btSimulationIslandManagerMt::addConstraintsToIslands(btAlignedObjectArray<btTypedConstraint*>& constraints)
-{
-	// walk constraints
-	for (int i = 0; i < constraints.size(); i++)
-	{
-		// scatter constraints into various islands
-		btTypedConstraint* constraint = constraints[i];
-		if (constraint->isEnabled())
-		{
-			int islandId = btGetConstraintIslandId1(constraint);
-			// if island is not sleeping,
-			if (Island* island = getIsland(islandId))
-			{
-				island->constraintArray.push_back(constraint);
-			}
-		}
-	}
-}
-
-void btSimulationIslandManagerMt::mergeIslands()
-{
-	// sort islands in order of decreasing batch size
-	m_activeIslands.quickSort(IslandBatchSizeSortPredicate());
-
-	// merge small islands to satisfy minimum batch size
-	// find first small batch island
-	int destIslandIndex = m_activeIslands.size();
-	for (int i = 0; i < m_activeIslands.size(); ++i)
-	{
-		Island* island = m_activeIslands[i];
-		int batchSize = calcBatchCost(island);
-		if (batchSize < m_minimumSolverBatchSize)
-		{
-			destIslandIndex = i;
-			break;
-		}
-	}
-	int lastIndex = m_activeIslands.size() - 1;
-	while (destIslandIndex < lastIndex)
-	{
-		// merge islands from the back of the list
-		Island* island = m_activeIslands[destIslandIndex];
-		int numBodies = island->bodyArray.size();
-		int numManifolds = island->manifoldArray.size();
-		int numConstraints = island->constraintArray.size();
-		int firstIndex = lastIndex;
-		// figure out how many islands we want to merge and find out how many bodies, manifolds and constraints we will have
-		while (true)
-		{
-			Island* src = m_activeIslands[firstIndex];
-			numBodies += src->bodyArray.size();
-			numManifolds += src->manifoldArray.size();
-			numConstraints += src->constraintArray.size();
-			int batchCost = calcBatchCost(numBodies, numManifolds, numConstraints);
-			if (batchCost >= m_minimumSolverBatchSize)
-			{
-				break;
-			}
-			if (firstIndex - 1 == destIslandIndex)
-			{
-				break;
-			}
-			firstIndex--;
-		}
-		// reserve space for these pointers to minimize reallocation
-		island->bodyArray.reserve(numBodies);
-		island->manifoldArray.reserve(numManifolds);
-		island->constraintArray.reserve(numConstraints);
-		// merge islands
-		for (int i = firstIndex; i <= lastIndex; ++i)
-		{
-			island->append(*m_activeIslands[i]);
-		}
-		// shrink array to exclude the islands that were merged from
-		m_activeIslands.resize(firstIndex);
-		lastIndex = firstIndex - 1;
-		destIslandIndex++;
-	}
-}
-
-void btSimulationIslandManagerMt::solveIsland(btConstraintSolver* solver, Island& island, const SolverParams& solverParams)
-{
-	btPersistentManifold** manifolds = island.manifoldArray.size() ? &island.manifoldArray[0] : NULL;
-	btTypedConstraint** constraintsPtr = island.constraintArray.size() ? &island.constraintArray[0] : NULL;
-	solver->solveGroup(&island.bodyArray[0],
-					   island.bodyArray.size(),
-					   manifolds,
-					   island.manifoldArray.size(),
-					   constraintsPtr,
-					   island.constraintArray.size(),
-					   *solverParams.m_solverInfo,
-					   solverParams.m_debugDrawer,
-					   solverParams.m_dispatcher);
-}
-
-void btSimulationIslandManagerMt::serialIslandDispatch(btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams)
-{
-	BT_PROFILE("serialIslandDispatch");
-	// serial dispatch
-	btAlignedObjectArray<Island*>& islands = *islandsPtr;
-	btConstraintSolver* solver = solverParams.m_solverMt ? solverParams.m_solverMt : solverParams.m_solverPool;
-	for (int i = 0; i < islands.size(); ++i)
-	{
-		solveIsland(solver, *islands[i], solverParams);
-	}
-}
-
-struct UpdateIslandDispatcher : public btIParallelForBody
-{
-	btAlignedObjectArray<btSimulationIslandManagerMt::Island*>& m_islandsPtr;
-	const btSimulationIslandManagerMt::SolverParams& m_solverParams;
-
-	UpdateIslandDispatcher(btAlignedObjectArray<btSimulationIslandManagerMt::Island*>& islandsPtr, const btSimulationIslandManagerMt::SolverParams& solverParams)
-		: m_islandsPtr(islandsPtr), m_solverParams(solverParams)
-	{
-	}
-
-	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		btConstraintSolver* solver = m_solverParams.m_solverPool;
-		for (int i = iBegin; i < iEnd; ++i)
-		{
-			btSimulationIslandManagerMt::Island* island = m_islandsPtr[i];
-			btSimulationIslandManagerMt::solveIsland(solver, *island, m_solverParams);
-		}
-	}
-};
-
-void btSimulationIslandManagerMt::parallelIslandDispatch(btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams)
-{
-	BT_PROFILE("parallelIslandDispatch");
-	//
-	// if there are islands with many contacts, it may be faster to submit these
-	// large islands *serially* to a single parallel constraint solver, and then later
-	// submit the remaining smaller islands in parallel to multiple sequential solvers.
-	//
-	// Some task schedulers do not deal well with nested parallelFor loops. One implementation
-	// of OpenMP was actually slower than doing everything single-threaded. Intel TBB
-	// on the other hand, seems to do a pretty respectable job with it.
-	//
-	// When solving islands in parallel, the worst case performance happens when there
-	// is one very large island and then perhaps a smattering of very small
-	// islands -- one worker thread takes the large island and the remaining workers
-	// tear through the smaller islands and then sit idle waiting for the first worker
-	// to finish. Solving islands in parallel works best when there are numerous small
-	// islands, roughly equal in size.
-	//
-	// By contrast, the other approach -- the parallel constraint solver -- is only
-	// able to deliver a worthwhile speedup when the island is large. For smaller islands,
-	// it is difficult to extract a useful amount of parallelism -- the overhead of grouping
-	// the constraints into batches and sending the batches to worker threads can nullify
-	// any gains from parallelism.
-	//
-
-	UpdateIslandDispatcher dispatcher(*islandsPtr, solverParams);
-	// We take advantage of the fact the islands are sorted in order of decreasing size
-	int iBegin = 0;
-	if (solverParams.m_solverMt)
-	{
-		while (iBegin < islandsPtr->size())
-		{
-			btSimulationIslandManagerMt::Island* island = (*islandsPtr)[iBegin];
-			if (island->manifoldArray.size() < btSequentialImpulseConstraintSolverMt::s_minimumContactManifoldsForBatching)
-			{
-				// OK to submit the rest of the array in parallel
-				break;
-			}
-			// serial dispatch to parallel solver for large islands (if any)
-			solveIsland(solverParams.m_solverMt, *island, solverParams);
-			++iBegin;
-		}
-	}
-	// parallel dispatch to sequential solvers for rest
-	btParallelFor(iBegin, islandsPtr->size(), 1, dispatcher);
-}
-
-///@todo: this is random access, it can be walked 'cache friendly'!
-void btSimulationIslandManagerMt::buildAndProcessIslands(btDispatcher* dispatcher,
-														 btCollisionWorld* collisionWorld,
-														 btAlignedObjectArray<btTypedConstraint*>& constraints,
-														 const SolverParams& solverParams)
-{
-	BT_PROFILE("buildAndProcessIslands");
-	btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
-
-	buildIslands(dispatcher, collisionWorld);
-
-	if (!getSplitIslands())
-	{
-		btPersistentManifold** manifolds = dispatcher->getInternalManifoldPointer();
-		int maxNumManifolds = dispatcher->getNumManifolds();
-
-		for (int i = 0; i < maxNumManifolds; i++)
-		{
-			btPersistentManifold* manifold = manifolds[i];
-
-			const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0());
-			const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1());
-
-			///@todo: check sleeping conditions!
-			if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
-				((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING))
-			{
-				//kinematic objects don't merge islands, but wake up all connected objects
-				if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
-				{
-					if (colObj0->hasContactResponse())
-						colObj1->activate();
-				}
-				if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
-				{
-					if (colObj1->hasContactResponse())
-						colObj0->activate();
-				}
-			}
-		}
-		btTypedConstraint** constraintsPtr = constraints.size() ? &constraints[0] : NULL;
-		btConstraintSolver* solver = solverParams.m_solverMt ? solverParams.m_solverMt : solverParams.m_solverPool;
-		solver->solveGroup(&collisionObjects[0],
-						   collisionObjects.size(),
-						   manifolds,
-						   maxNumManifolds,
-						   constraintsPtr,
-						   constraints.size(),
-						   *solverParams.m_solverInfo,
-						   solverParams.m_debugDrawer,
-						   solverParams.m_dispatcher);
-	}
-	else
-	{
-		initIslandPools();
-
-		//traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
-		addBodiesToIslands(collisionWorld);
-		addManifoldsToIslands(dispatcher);
-		addConstraintsToIslands(constraints);
-
-		// m_activeIslands array should now contain all non-sleeping Islands, and each Island should
-		// have all the necessary bodies, manifolds and constraints.
-
-		// if we want to merge islands with small batch counts,
-		if (m_minimumSolverBatchSize > 1)
-		{
-			mergeIslands();
-		}
-		// dispatch islands to solver
-		m_islandDispatch(&m_activeIslands, solverParams);
-	}
-}
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h
deleted file mode 100644
index ab73a899f1..0000000000
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h
+++ /dev/null
@@ -1,112 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SIMULATION_ISLAND_MANAGER_MT_H
-#define BT_SIMULATION_ISLAND_MANAGER_MT_H
-
-#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
-
-class btTypedConstraint;
-class btConstraintSolver;
-struct btContactSolverInfo;
-class btIDebugDraw;
-
-///
-/// SimulationIslandManagerMt -- Multithread capable version of SimulationIslandManager
-///                       Splits the world up into islands which can be solved in parallel.
-///                       In order to solve islands in parallel, an IslandDispatch function
-///                       must be provided which will dispatch calls to multiple threads.
-///                       The amount of parallelism that can be achieved depends on the number
-///                       of islands. If only a single island exists, then no parallelism is
-///                       possible.
-///
-class btSimulationIslandManagerMt : public btSimulationIslandManager
-{
-public:
-	struct Island
-	{
-		// a simulation island consisting of bodies, manifolds and constraints,
-		// to be passed into a constraint solver.
-		btAlignedObjectArray<btCollisionObject*> bodyArray;
-		btAlignedObjectArray<btPersistentManifold*> manifoldArray;
-		btAlignedObjectArray<btTypedConstraint*> constraintArray;
-		int id;  // island id
-		bool isSleeping;
-
-		void append(const Island& other);  // add bodies, manifolds, constraints to my own
-	};
-	struct SolverParams
-	{
-		btConstraintSolver* m_solverPool;
-		btConstraintSolver* m_solverMt;
-		btContactSolverInfo* m_solverInfo;
-		btIDebugDraw* m_debugDrawer;
-		btDispatcher* m_dispatcher;
-	};
-	static void solveIsland(btConstraintSolver* solver, Island& island, const SolverParams& solverParams);
-
-	typedef void (*IslandDispatchFunc)(btAlignedObjectArray<Island*>* islands, const SolverParams& solverParams);
-	static void serialIslandDispatch(btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams);
-	static void parallelIslandDispatch(btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams);
-
-protected:
-	btAlignedObjectArray<Island*> m_allocatedIslands;    // owner of all Islands
-	btAlignedObjectArray<Island*> m_activeIslands;       // islands actively in use
-	btAlignedObjectArray<Island*> m_freeIslands;         // islands ready to be reused
-	btAlignedObjectArray<Island*> m_lookupIslandFromId;  // big lookup table to map islandId to Island pointer
-	Island* m_batchIsland;
-	int m_minimumSolverBatchSize;
-	int m_batchIslandMinBodyCount;
-	IslandDispatchFunc m_islandDispatch;
-
-	Island* getIsland(int id);
-	virtual Island* allocateIsland(int id, int numBodies);
-	virtual void initIslandPools();
-	virtual void addBodiesToIslands(btCollisionWorld* collisionWorld);
-	virtual void addManifoldsToIslands(btDispatcher* dispatcher);
-	virtual void addConstraintsToIslands(btAlignedObjectArray<btTypedConstraint*>& constraints);
-	virtual void mergeIslands();
-
-public:
-	btSimulationIslandManagerMt();
-	virtual ~btSimulationIslandManagerMt();
-
-	virtual void buildAndProcessIslands(btDispatcher* dispatcher,
-										btCollisionWorld* collisionWorld,
-										btAlignedObjectArray<btTypedConstraint*>& constraints,
-										const SolverParams& solverParams);
-
-	virtual void buildIslands(btDispatcher* dispatcher, btCollisionWorld* colWorld);
-
-	int getMinimumSolverBatchSize() const
-	{
-		return m_minimumSolverBatchSize;
-	}
-	void setMinimumSolverBatchSize(int sz)
-	{
-		m_minimumSolverBatchSize = sz;
-	}
-	IslandDispatchFunc getIslandDispatchFunction() const
-	{
-		return m_islandDispatch;
-	}
-	// allow users to set their own dispatch function for multithreaded dispatch
-	void setIslandDispatchFunction(IslandDispatchFunc func)
-	{
-		m_islandDispatch = func;
-	}
-};
-
-#endif  //BT_SIMULATION_ISLAND_MANAGER_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp
deleted file mode 100644
index d7588aedc8..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp
+++ /dev/null
@@ -1,2461 +0,0 @@
-/*
- * PURPOSE:
- *   Class representing an articulated rigid body. Stores the body's
- *   current state, allows forces and torques to be set, handles
- *   timestepping and implements Featherstone's algorithm.
- *   
- * COPYRIGHT:
- *   Copyright (C) Stephen Thompson, <stephen@solarflare.org.uk>, 2011-2013
- *   Portions written By Erwin Coumans: connection to LCP solver, various multibody constraints, replacing Eigen math library by Bullet LinearMath and a dedicated 6x6 matrix inverse (solveImatrix)
- *   Portions written By Jakub Stepien: support for multi-DOF constraints, introduction of spatial algebra and several other improvements
-
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- 
- */
-
-#include "btMultiBody.h"
-#include "btMultiBodyLink.h"
-#include "btMultiBodyLinkCollider.h"
-#include "btMultiBodyJointFeedback.h"
-#include "LinearMath/btTransformUtil.h"
-#include "LinearMath/btSerializer.h"
-//#include "Bullet3Common/b3Logging.h"
-// #define INCLUDE_GYRO_TERM
-
-
-namespace
-{
-const btScalar INITIAL_SLEEP_EPSILON = btScalar(0.05);  // this is a squared velocity (m^2 s^-2)
-const btScalar INITIAL_SLEEP_TIMEOUT = btScalar(2);     // in seconds
-}  // namespace
-
-void btMultiBody::spatialTransform(const btMatrix3x3 &rotation_matrix,  // rotates vectors in 'from' frame to vectors in 'to' frame
-	const btVector3 &displacement,       // vector from origin of 'from' frame to origin of 'to' frame, in 'to' coordinates
-	const btVector3 &top_in,             // top part of input vector
-	const btVector3 &bottom_in,          // bottom part of input vector
-	btVector3 &top_out,                  // top part of output vector
-	btVector3 &bottom_out)               // bottom part of output vector
-{
-	top_out = rotation_matrix * top_in;
-	bottom_out = -displacement.cross(top_out) + rotation_matrix * bottom_in;
-}
-
-namespace
-{
-
-
-#if 0
-    void InverseSpatialTransform(const btMatrix3x3 &rotation_matrix,
-                                 const btVector3 &displacement,
-                                 const btVector3 &top_in,
-                                 const btVector3 &bottom_in,
-                                 btVector3 &top_out,
-                                 btVector3 &bottom_out)
-    {
-        top_out = rotation_matrix.transpose() * top_in;
-        bottom_out = rotation_matrix.transpose() * (bottom_in + displacement.cross(top_in));		
-    }
-
-    btScalar SpatialDotProduct(const btVector3 &a_top,
-                            const btVector3 &a_bottom,
-                            const btVector3 &b_top,
-                            const btVector3 &b_bottom)
-    {
-        return a_bottom.dot(b_top) + a_top.dot(b_bottom);
-    }
-
-	void SpatialCrossProduct(const btVector3 &a_top,
-                            const btVector3 &a_bottom,
-                            const btVector3 &b_top,
-                            const btVector3 &b_bottom,
-							btVector3 &top_out,
-							btVector3 &bottom_out)
-	{
-		top_out = a_top.cross(b_top);
-		bottom_out = a_bottom.cross(b_top) + a_top.cross(b_bottom);
-	}
-#endif
-
-}  // namespace
-
-//
-// Implementation of class btMultiBody
-//
-
-btMultiBody::btMultiBody(int n_links,
-						 btScalar mass,
-						 const btVector3 &inertia,
-						 bool fixedBase,
-						 bool canSleep,
-						 bool /*deprecatedUseMultiDof*/)
-	: m_baseCollider(0),
-	  m_baseName(0),
-	  m_basePos(0, 0, 0),
-	  m_baseQuat(0, 0, 0, 1),
-      m_basePos_interpolate(0, 0, 0),
-      m_baseQuat_interpolate(0, 0, 0, 1),
-	  m_baseMass(mass),
-	  m_baseInertia(inertia),
-
-	  m_fixedBase(fixedBase),
-	  m_awake(true),
-	  m_canSleep(canSleep),
-	  m_canWakeup(true),
-	  m_sleepTimer(0),
-      m_sleepEpsilon(INITIAL_SLEEP_EPSILON),
-	  m_sleepTimeout(INITIAL_SLEEP_TIMEOUT),
-
-	  m_userObjectPointer(0),
-	  m_userIndex2(-1),
-	  m_userIndex(-1),
-	  m_companionId(-1),
-	  m_linearDamping(0.04f),
-	  m_angularDamping(0.04f),
-	  m_useGyroTerm(true),
-	  m_maxAppliedImpulse(1000.f),
-	  m_maxCoordinateVelocity(100.f),
-	  m_hasSelfCollision(true),
-	  __posUpdated(false),
-	  m_dofCount(0),
-	  m_posVarCnt(0),
-	  m_useRK4(false),
-	  m_useGlobalVelocities(false),
-	  m_internalNeedsJointFeedback(false),
-		m_kinematic_calculate_velocity(false)
-{
-	m_cachedInertiaTopLeft.setValue(0, 0, 0, 0, 0, 0, 0, 0, 0);
-	m_cachedInertiaTopRight.setValue(0, 0, 0, 0, 0, 0, 0, 0, 0);
-	m_cachedInertiaLowerLeft.setValue(0, 0, 0, 0, 0, 0, 0, 0, 0);
-	m_cachedInertiaLowerRight.setValue(0, 0, 0, 0, 0, 0, 0, 0, 0);
-	m_cachedInertiaValid = false;
-
-	m_links.resize(n_links);
-	m_matrixBuf.resize(n_links + 1);
-
-	m_baseForce.setValue(0, 0, 0);
-	m_baseTorque.setValue(0, 0, 0);
-
-	clearConstraintForces();
-	clearForcesAndTorques();
-}
-
-btMultiBody::~btMultiBody()
-{
-}
-
-void btMultiBody::setupFixed(int i,
-							 btScalar mass,
-							 const btVector3 &inertia,
-							 int parent,
-							 const btQuaternion &rotParentToThis,
-							 const btVector3 &parentComToThisPivotOffset,
-							 const btVector3 &thisPivotToThisComOffset, bool /*deprecatedDisableParentCollision*/)
-{
-	m_links[i].m_mass = mass;
-	m_links[i].m_inertiaLocal = inertia;
-	m_links[i].m_parent = parent;
-	m_links[i].setAxisTop(0, 0., 0., 0.);
-	m_links[i].setAxisBottom(0, btVector3(0, 0, 0));
-	m_links[i].m_zeroRotParentToThis = rotParentToThis;
-	m_links[i].m_dVector = thisPivotToThisComOffset;
-	m_links[i].m_eVector = parentComToThisPivotOffset;
-
-	m_links[i].m_jointType = btMultibodyLink::eFixed;
-	m_links[i].m_dofCount = 0;
-	m_links[i].m_posVarCount = 0;
-
-	m_links[i].m_flags |= BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
-
-	m_links[i].updateCacheMultiDof();
-
-	updateLinksDofOffsets();
-}
-
-void btMultiBody::setupPrismatic(int i,
-								 btScalar mass,
-								 const btVector3 &inertia,
-								 int parent,
-								 const btQuaternion &rotParentToThis,
-								 const btVector3 &jointAxis,
-								 const btVector3 &parentComToThisPivotOffset,
-								 const btVector3 &thisPivotToThisComOffset,
-								 bool disableParentCollision)
-{
-	m_dofCount += 1;
-	m_posVarCnt += 1;
-
-	m_links[i].m_mass = mass;
-	m_links[i].m_inertiaLocal = inertia;
-	m_links[i].m_parent = parent;
-	m_links[i].m_zeroRotParentToThis = rotParentToThis;
-	m_links[i].setAxisTop(0, 0., 0., 0.);
-	m_links[i].setAxisBottom(0, jointAxis);
-	m_links[i].m_eVector = parentComToThisPivotOffset;
-	m_links[i].m_dVector = thisPivotToThisComOffset;
-	m_links[i].m_cachedRotParentToThis = rotParentToThis;
-
-	m_links[i].m_jointType = btMultibodyLink::ePrismatic;
-	m_links[i].m_dofCount = 1;
-	m_links[i].m_posVarCount = 1;
-	m_links[i].m_jointPos[0] = 0.f;
-	m_links[i].m_jointTorque[0] = 0.f;
-
-	if (disableParentCollision)
-		m_links[i].m_flags |= BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
-	//
-
-	m_links[i].updateCacheMultiDof();
-
-	updateLinksDofOffsets();
-}
-
-void btMultiBody::setupRevolute(int i,
-								btScalar mass,
-								const btVector3 &inertia,
-								int parent,
-								const btQuaternion &rotParentToThis,
-								const btVector3 &jointAxis,
-								const btVector3 &parentComToThisPivotOffset,
-								const btVector3 &thisPivotToThisComOffset,
-								bool disableParentCollision)
-{
-	m_dofCount += 1;
-	m_posVarCnt += 1;
-
-	m_links[i].m_mass = mass;
-	m_links[i].m_inertiaLocal = inertia;
-	m_links[i].m_parent = parent;
-	m_links[i].m_zeroRotParentToThis = rotParentToThis;
-	m_links[i].setAxisTop(0, jointAxis);
-	m_links[i].setAxisBottom(0, jointAxis.cross(thisPivotToThisComOffset));
-	m_links[i].m_dVector = thisPivotToThisComOffset;
-	m_links[i].m_eVector = parentComToThisPivotOffset;
-
-	m_links[i].m_jointType = btMultibodyLink::eRevolute;
-	m_links[i].m_dofCount = 1;
-	m_links[i].m_posVarCount = 1;
-	m_links[i].m_jointPos[0] = 0.f;
-	m_links[i].m_jointTorque[0] = 0.f;
-
-	if (disableParentCollision)
-		m_links[i].m_flags |= BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
-	//
-	m_links[i].updateCacheMultiDof();
-	//
-	updateLinksDofOffsets();
-}
-
-void btMultiBody::setupSpherical(int i,
-								 btScalar mass,
-								 const btVector3 &inertia,
-								 int parent,
-								 const btQuaternion &rotParentToThis,
-								 const btVector3 &parentComToThisPivotOffset,
-								 const btVector3 &thisPivotToThisComOffset,
-								 bool disableParentCollision)
-{
-	m_dofCount += 3;
-	m_posVarCnt += 4;
-
-	m_links[i].m_mass = mass;
-	m_links[i].m_inertiaLocal = inertia;
-	m_links[i].m_parent = parent;
-	m_links[i].m_zeroRotParentToThis = rotParentToThis;
-	m_links[i].m_dVector = thisPivotToThisComOffset;
-	m_links[i].m_eVector = parentComToThisPivotOffset;
-
-	m_links[i].m_jointType = btMultibodyLink::eSpherical;
-	m_links[i].m_dofCount = 3;
-	m_links[i].m_posVarCount = 4;
-	m_links[i].setAxisTop(0, 1.f, 0.f, 0.f);
-	m_links[i].setAxisTop(1, 0.f, 1.f, 0.f);
-	m_links[i].setAxisTop(2, 0.f, 0.f, 1.f);
-	m_links[i].setAxisBottom(0, m_links[i].getAxisTop(0).cross(thisPivotToThisComOffset));
-	m_links[i].setAxisBottom(1, m_links[i].getAxisTop(1).cross(thisPivotToThisComOffset));
-	m_links[i].setAxisBottom(2, m_links[i].getAxisTop(2).cross(thisPivotToThisComOffset));
-	m_links[i].m_jointPos[0] = m_links[i].m_jointPos[1] = m_links[i].m_jointPos[2] = 0.f;
-	m_links[i].m_jointPos[3] = 1.f;
-	m_links[i].m_jointTorque[0] = m_links[i].m_jointTorque[1] = m_links[i].m_jointTorque[2] = 0.f;
-
-	if (disableParentCollision)
-		m_links[i].m_flags |= BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
-	//
-	m_links[i].updateCacheMultiDof();
-	//
-	updateLinksDofOffsets();
-}
-
-void btMultiBody::setupPlanar(int i,
-							  btScalar mass,
-							  const btVector3 &inertia,
-							  int parent,
-							  const btQuaternion &rotParentToThis,
-							  const btVector3 &rotationAxis,
-							  const btVector3 &parentComToThisComOffset,
-							  bool disableParentCollision)
-{
-	m_dofCount += 3;
-	m_posVarCnt += 3;
-
-	m_links[i].m_mass = mass;
-	m_links[i].m_inertiaLocal = inertia;
-	m_links[i].m_parent = parent;
-	m_links[i].m_zeroRotParentToThis = rotParentToThis;
-	m_links[i].m_dVector.setZero();
-	m_links[i].m_eVector = parentComToThisComOffset;
-
-	//
-	btVector3 vecNonParallelToRotAxis(1, 0, 0);
-	if (rotationAxis.normalized().dot(vecNonParallelToRotAxis) > 0.999)
-		vecNonParallelToRotAxis.setValue(0, 1, 0);
-	//
-
-	m_links[i].m_jointType = btMultibodyLink::ePlanar;
-	m_links[i].m_dofCount = 3;
-	m_links[i].m_posVarCount = 3;
-	btVector3 n = rotationAxis.normalized();
-	m_links[i].setAxisTop(0, n[0], n[1], n[2]);
-	m_links[i].setAxisTop(1, 0, 0, 0);
-	m_links[i].setAxisTop(2, 0, 0, 0);
-	m_links[i].setAxisBottom(0, 0, 0, 0);
-	btVector3 cr = m_links[i].getAxisTop(0).cross(vecNonParallelToRotAxis);
-	m_links[i].setAxisBottom(1, cr[0], cr[1], cr[2]);
-	cr = m_links[i].getAxisBottom(1).cross(m_links[i].getAxisTop(0));
-	m_links[i].setAxisBottom(2, cr[0], cr[1], cr[2]);
-	m_links[i].m_jointPos[0] = m_links[i].m_jointPos[1] = m_links[i].m_jointPos[2] = 0.f;
-	m_links[i].m_jointTorque[0] = m_links[i].m_jointTorque[1] = m_links[i].m_jointTorque[2] = 0.f;
-
-	if (disableParentCollision)
-		m_links[i].m_flags |= BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
-	//
-	m_links[i].updateCacheMultiDof();
-	//
-	updateLinksDofOffsets();
-
-	m_links[i].setAxisBottom(1, m_links[i].getAxisBottom(1).normalized());
-	m_links[i].setAxisBottom(2, m_links[i].getAxisBottom(2).normalized());
-}
-
-void btMultiBody::finalizeMultiDof()
-{
-	m_deltaV.resize(0);
-	m_deltaV.resize(6 + m_dofCount);
-    m_splitV.resize(0);
-    m_splitV.resize(6 + m_dofCount);
-	m_realBuf.resize(6 + m_dofCount + m_dofCount * m_dofCount + 6 + m_dofCount);  //m_dofCount for joint-space vels + m_dofCount^2 for "D" matrices + delta-pos vector (6 base "vels" + joint "vels")
-	m_vectorBuf.resize(2 * m_dofCount);                                           //two 3-vectors (i.e. one six-vector) for each system dof	("h" matrices)
-	m_matrixBuf.resize(m_links.size() + 1);
-	for (int i = 0; i < m_vectorBuf.size(); i++)
-	{
-		m_vectorBuf[i].setValue(0, 0, 0);
-	}
-	updateLinksDofOffsets();
-}
-
-int btMultiBody::getParent(int link_num) const
-{
-	return m_links[link_num].m_parent;
-}
-
-btScalar btMultiBody::getLinkMass(int i) const
-{
-	return m_links[i].m_mass;
-}
-
-const btVector3 &btMultiBody::getLinkInertia(int i) const
-{
-	return m_links[i].m_inertiaLocal;
-}
-
-btScalar btMultiBody::getJointPos(int i) const
-{
-	return m_links[i].m_jointPos[0];
-}
-
-btScalar btMultiBody::getJointVel(int i) const
-{
-	return m_realBuf[6 + m_links[i].m_dofOffset];
-}
-
-btScalar *btMultiBody::getJointPosMultiDof(int i)
-{
-	return &m_links[i].m_jointPos[0];
-}
-
-btScalar *btMultiBody::getJointVelMultiDof(int i)
-{
-	return &m_realBuf[6 + m_links[i].m_dofOffset];
-}
-
-const btScalar *btMultiBody::getJointPosMultiDof(int i) const
-{
-	return &m_links[i].m_jointPos[0];
-}
-
-const btScalar *btMultiBody::getJointVelMultiDof(int i) const
-{
-	return &m_realBuf[6 + m_links[i].m_dofOffset];
-}
-
-void btMultiBody::setJointPos(int i, btScalar q)
-{
-	m_links[i].m_jointPos[0] = q;
-	m_links[i].updateCacheMultiDof();
-}
-
-
-void btMultiBody::setJointPosMultiDof(int i, const double *q)
-{
-	for (int pos = 0; pos < m_links[i].m_posVarCount; ++pos)
-		m_links[i].m_jointPos[pos] = (btScalar)q[pos];
-
-	m_links[i].updateCacheMultiDof();
-}
-
-void btMultiBody::setJointPosMultiDof(int i, const float *q)
-{
-	for (int pos = 0; pos < m_links[i].m_posVarCount; ++pos)
-		m_links[i].m_jointPos[pos] = (btScalar)q[pos];
-
-	m_links[i].updateCacheMultiDof();
-}
-
-
-
-void btMultiBody::setJointVel(int i, btScalar qdot)
-{
-	m_realBuf[6 + m_links[i].m_dofOffset] = qdot;
-}
-
-void btMultiBody::setJointVelMultiDof(int i, const double *qdot)
-{
-	for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
-		m_realBuf[6 + m_links[i].m_dofOffset + dof] = (btScalar)qdot[dof];
-}
-
-void btMultiBody::setJointVelMultiDof(int i, const float* qdot)
-{
-	for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
-		m_realBuf[6 + m_links[i].m_dofOffset + dof] = (btScalar)qdot[dof];
-}
-
-const btVector3 &btMultiBody::getRVector(int i) const
-{
-	return m_links[i].m_cachedRVector;
-}
-
-const btQuaternion &btMultiBody::getParentToLocalRot(int i) const
-{
-	return m_links[i].m_cachedRotParentToThis;
-}
-
-const btVector3 &btMultiBody::getInterpolateRVector(int i) const
-{
-    return m_links[i].m_cachedRVector_interpolate;
-}
-
-const btQuaternion &btMultiBody::getInterpolateParentToLocalRot(int i) const
-{
-    return m_links[i].m_cachedRotParentToThis_interpolate;
-}
-
-btVector3 btMultiBody::localPosToWorld(int i, const btVector3 &local_pos) const
-{
-	btAssert(i >= -1);
-	btAssert(i < m_links.size());
-	if ((i < -1) || (i >= m_links.size()))
-	{
-		return btVector3(SIMD_INFINITY, SIMD_INFINITY, SIMD_INFINITY);
-	}
-
-	btVector3 result = local_pos;
-	while (i != -1)
-	{
-		// 'result' is in frame i. transform it to frame parent(i)
-		result += getRVector(i);
-		result = quatRotate(getParentToLocalRot(i).inverse(), result);
-		i = getParent(i);
-	}
-
-	// 'result' is now in the base frame. transform it to world frame
-	result = quatRotate(getWorldToBaseRot().inverse(), result);
-	result += getBasePos();
-
-	return result;
-}
-
-btVector3 btMultiBody::worldPosToLocal(int i, const btVector3 &world_pos) const
-{
-	btAssert(i >= -1);
-	btAssert(i < m_links.size());
-	if ((i < -1) || (i >= m_links.size()))
-	{
-		return btVector3(SIMD_INFINITY, SIMD_INFINITY, SIMD_INFINITY);
-	}
-
-	if (i == -1)
-	{
-		// world to base
-		return quatRotate(getWorldToBaseRot(), (world_pos - getBasePos()));
-	}
-	else
-	{
-		// find position in parent frame, then transform to current frame
-		return quatRotate(getParentToLocalRot(i), worldPosToLocal(getParent(i), world_pos)) - getRVector(i);
-	}
-}
-
-btVector3 btMultiBody::localDirToWorld(int i, const btVector3 &local_dir) const
-{
-	btAssert(i >= -1);
-	btAssert(i < m_links.size());
-	if ((i < -1) || (i >= m_links.size()))
-	{
-		return btVector3(SIMD_INFINITY, SIMD_INFINITY, SIMD_INFINITY);
-	}
-
-	btVector3 result = local_dir;
-	while (i != -1)
-	{
-		result = quatRotate(getParentToLocalRot(i).inverse(), result);
-		i = getParent(i);
-	}
-	result = quatRotate(getWorldToBaseRot().inverse(), result);
-	return result;
-}
-
-btVector3 btMultiBody::worldDirToLocal(int i, const btVector3 &world_dir) const
-{
-	btAssert(i >= -1);
-	btAssert(i < m_links.size());
-	if ((i < -1) || (i >= m_links.size()))
-	{
-		return btVector3(SIMD_INFINITY, SIMD_INFINITY, SIMD_INFINITY);
-	}
-
-	if (i == -1)
-	{
-		return quatRotate(getWorldToBaseRot(), world_dir);
-	}
-	else
-	{
-		return quatRotate(getParentToLocalRot(i), worldDirToLocal(getParent(i), world_dir));
-	}
-}
-
-btMatrix3x3 btMultiBody::localFrameToWorld(int i, const btMatrix3x3 &local_frame) const
-{
-	btMatrix3x3 result = local_frame;
-	btVector3 frameInWorld0 = localDirToWorld(i, local_frame.getColumn(0));
-	btVector3 frameInWorld1 = localDirToWorld(i, local_frame.getColumn(1));
-	btVector3 frameInWorld2 = localDirToWorld(i, local_frame.getColumn(2));
-	result.setValue(frameInWorld0[0], frameInWorld1[0], frameInWorld2[0], frameInWorld0[1], frameInWorld1[1], frameInWorld2[1], frameInWorld0[2], frameInWorld1[2], frameInWorld2[2]);
-	return result;
-}
-
-void btMultiBody::compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const
-{
-	int num_links = getNumLinks();
-	// Calculates the velocities of each link (and the base) in its local frame
-	const btQuaternion& base_rot = getWorldToBaseRot();
-	omega[0] = quatRotate(base_rot, getBaseOmega());
-	vel[0] = quatRotate(base_rot, getBaseVel());
-
-	for (int i = 0; i < num_links; ++i)
-	{
-		const btMultibodyLink& link = getLink(i);
-		const int parent = link.m_parent;
-
-		// transform parent vel into this frame, store in omega[i+1], vel[i+1]
-		spatialTransform(btMatrix3x3(link.m_cachedRotParentToThis), link.m_cachedRVector,
-			omega[parent + 1], vel[parent + 1],
-			omega[i + 1], vel[i + 1]);
-
-		// now add qidot * shat_i
-		const btScalar* jointVel = getJointVelMultiDof(i);
-		for (int dof = 0; dof < link.m_dofCount; ++dof)
-		{
-			omega[i + 1] += jointVel[dof] * link.getAxisTop(dof);
-			vel[i + 1] += jointVel[dof] * link.getAxisBottom(dof);
-		}
-	}
-}
-
-
-void btMultiBody::clearConstraintForces()
-{
-	m_baseConstraintForce.setValue(0, 0, 0);
-	m_baseConstraintTorque.setValue(0, 0, 0);
-
-	for (int i = 0; i < getNumLinks(); ++i)
-	{
-		m_links[i].m_appliedConstraintForce.setValue(0, 0, 0);
-		m_links[i].m_appliedConstraintTorque.setValue(0, 0, 0);
-	}
-}
-void btMultiBody::clearForcesAndTorques()
-{
-	m_baseForce.setValue(0, 0, 0);
-	m_baseTorque.setValue(0, 0, 0);
-
-	for (int i = 0; i < getNumLinks(); ++i)
-	{
-		m_links[i].m_appliedForce.setValue(0, 0, 0);
-		m_links[i].m_appliedTorque.setValue(0, 0, 0);
-		m_links[i].m_jointTorque[0] = m_links[i].m_jointTorque[1] = m_links[i].m_jointTorque[2] = m_links[i].m_jointTorque[3] = m_links[i].m_jointTorque[4] = m_links[i].m_jointTorque[5] = 0.f;
-	}
-}
-
-void btMultiBody::clearVelocities()
-{
-	for (int i = 0; i < 6 + getNumDofs(); ++i)
-	{
-		m_realBuf[i] = 0.f;
-	}
-}
-void btMultiBody::addLinkForce(int i, const btVector3 &f)
-{
-	m_links[i].m_appliedForce += f;
-}
-
-void btMultiBody::addLinkTorque(int i, const btVector3 &t)
-{
-	m_links[i].m_appliedTorque += t;
-}
-
-void btMultiBody::addLinkConstraintForce(int i, const btVector3 &f)
-{
-	m_links[i].m_appliedConstraintForce += f;
-}
-
-void btMultiBody::addLinkConstraintTorque(int i, const btVector3 &t)
-{
-	m_links[i].m_appliedConstraintTorque += t;
-}
-
-void btMultiBody::addJointTorque(int i, btScalar Q)
-{
-	m_links[i].m_jointTorque[0] += Q;
-}
-
-void btMultiBody::addJointTorqueMultiDof(int i, int dof, btScalar Q)
-{
-	m_links[i].m_jointTorque[dof] += Q;
-}
-
-void btMultiBody::addJointTorqueMultiDof(int i, const btScalar *Q)
-{
-	for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
-		m_links[i].m_jointTorque[dof] = Q[dof];
-}
-
-const btVector3 &btMultiBody::getLinkForce(int i) const
-{
-	return m_links[i].m_appliedForce;
-}
-
-const btVector3 &btMultiBody::getLinkTorque(int i) const
-{
-	return m_links[i].m_appliedTorque;
-}
-
-btScalar btMultiBody::getJointTorque(int i) const
-{
-	return m_links[i].m_jointTorque[0];
-}
-
-btScalar *btMultiBody::getJointTorqueMultiDof(int i)
-{
-	return &m_links[i].m_jointTorque[0];
-}
-
-bool btMultiBody::hasFixedBase() const
-{
-	return m_fixedBase || (getBaseCollider() && getBaseCollider()->isStaticObject());
-}
-
-bool btMultiBody::isBaseStaticOrKinematic() const
-{
-	return m_fixedBase || (getBaseCollider() && getBaseCollider()->isStaticOrKinematicObject());
-}
-
-bool btMultiBody::isBaseKinematic() const
-{
-	return getBaseCollider() && getBaseCollider()->isKinematicObject();
-}
-
-void btMultiBody::setBaseDynamicType(int dynamicType)
-{
-	if(getBaseCollider()) {
-		int oldFlags = getBaseCollider()->getCollisionFlags();
-		oldFlags &= ~(btCollisionObject::CF_STATIC_OBJECT | btCollisionObject::CF_KINEMATIC_OBJECT);
-		getBaseCollider()->setCollisionFlags(oldFlags | dynamicType);
-	}
-}
-
-inline btMatrix3x3 outerProduct(const btVector3 &v0, const btVector3 &v1)  //renamed it from vecMulVecTranspose (http://en.wikipedia.org/wiki/Outer_product); maybe it should be moved to btVector3 like dot and cross?
-{
-	btVector3 row0 = btVector3(
-		v0.x() * v1.x(),
-		v0.x() * v1.y(),
-		v0.x() * v1.z());
-	btVector3 row1 = btVector3(
-		v0.y() * v1.x(),
-		v0.y() * v1.y(),
-		v0.y() * v1.z());
-	btVector3 row2 = btVector3(
-		v0.z() * v1.x(),
-		v0.z() * v1.y(),
-		v0.z() * v1.z());
-
-	btMatrix3x3 m(row0[0], row0[1], row0[2],
-				  row1[0], row1[1], row1[2],
-				  row2[0], row2[1], row2[2]);
-	return m;
-}
-
-#define vecMulVecTranspose(v0, v1Transposed) outerProduct(v0, v1Transposed)
-//
-
-void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar dt,
-    btAlignedObjectArray<btScalar> &scratch_r,
-    btAlignedObjectArray<btVector3> &scratch_v,
-    btAlignedObjectArray<btMatrix3x3> &scratch_m,
-	bool isConstraintPass,
-	bool jointFeedbackInWorldSpace,
-	bool jointFeedbackInJointFrame)
-{
-	// Implement Featherstone's algorithm to calculate joint accelerations (q_double_dot)
-	// and the base linear & angular accelerations.
-
-	// We apply damping forces in this routine as well as any external forces specified by the
-	// caller (via addBaseForce etc).
-
-	// output should point to an array of 6 + num_links reals.
-	// Format is: 3 angular accelerations (in world frame), 3 linear accelerations (in world frame),
-	// num_links joint acceleration values.
-
-	// We added support for multi degree of freedom (multi dof) joints.
-	// In addition we also can compute the joint reaction forces. This is performed in a second pass,
-	// so that we can include the effect of the constraint solver forces (computed in the PGS LCP solver)
-
-	m_internalNeedsJointFeedback = false;
-
-	int num_links = getNumLinks();
-
-	const btScalar DAMPING_K1_LINEAR = m_linearDamping;
-	const btScalar DAMPING_K2_LINEAR = m_linearDamping;
-
-	const btScalar DAMPING_K1_ANGULAR = m_angularDamping;
-	const btScalar DAMPING_K2_ANGULAR = m_angularDamping;
-
-	const btVector3 base_vel = getBaseVel();
-	const btVector3 base_omega = getBaseOmega();
-
-	// Temporary matrices/vectors -- use scratch space from caller
-	// so that we don't have to keep reallocating every frame
-
-	scratch_r.resize(2 * m_dofCount + 7);  //multidof? ("Y"s use it and it is used to store qdd) => 2 x m_dofCount
-	scratch_v.resize(8 * num_links + 6);
-	scratch_m.resize(4 * num_links + 4);
-
-	//btScalar * r_ptr = &scratch_r[0];
-	btScalar *output = &scratch_r[m_dofCount];  // "output" holds the q_double_dot results
-	btVector3 *v_ptr = &scratch_v[0];
-
-	// vhat_i  (top = angular, bottom = linear part)
-	btSpatialMotionVector *spatVel = (btSpatialMotionVector *)v_ptr;
-	v_ptr += num_links * 2 + 2;
-	//
-	// zhat_i^A
-	btSpatialForceVector *zeroAccSpatFrc = (btSpatialForceVector *)v_ptr;
-	v_ptr += num_links * 2 + 2;
-	//
-	// chat_i  (note NOT defined for the base)
-	btSpatialMotionVector *spatCoriolisAcc = (btSpatialMotionVector *)v_ptr;
-	v_ptr += num_links * 2;
-	//
-	// Ihat_i^A.
-	btSymmetricSpatialDyad *spatInertia = (btSymmetricSpatialDyad *)&scratch_m[num_links + 1];
-
-	// Cached 3x3 rotation matrices from parent frame to this frame.
-	btMatrix3x3 *rot_from_parent = &m_matrixBuf[0];
-	btMatrix3x3 *rot_from_world = &scratch_m[0];
-
-	// hhat_i, ahat_i
-	// hhat is NOT stored for the base (but ahat is)
-	btSpatialForceVector *h = (btSpatialForceVector *)(m_dofCount > 0 ? &m_vectorBuf[0] : 0);
-	btSpatialMotionVector *spatAcc = (btSpatialMotionVector *)v_ptr;
-	v_ptr += num_links * 2 + 2;
-	//
-	// Y_i, invD_i
-	btScalar *invD = m_dofCount > 0 ? &m_realBuf[6 + m_dofCount] : 0;
-	btScalar *Y = &scratch_r[0];
-	//
-	//aux variables
-	btSpatialMotionVector spatJointVel;         //spatial velocity due to the joint motion (i.e. without predecessors' influence)
-	btScalar D[36];                             //"D" matrix; it's dofxdof for each body so asingle 6x6 D matrix will do
-	btScalar invD_times_Y[6];                   //D^{-1} * Y [dofxdof x dofx1 = dofx1] <=> D^{-1} * u; better moved to buffers since it is recalced in calcAccelerationDeltasMultiDof; num_dof of btScalar would cover all bodies
-	btSpatialMotionVector result;               //holds results of the SolveImatrix op; it is a spatial motion vector (accel)
-	btScalar Y_minus_hT_a[6];                   //Y - h^{T} * a; it's dofx1 for each body so a single 6x1 temp is enough
-	btSpatialForceVector spatForceVecTemps[6];  //6 temporary spatial force vectors
-	btSpatialTransformationMatrix fromParent;   //spatial transform from parent to child
-	btSymmetricSpatialDyad dyadTemp;            //inertia matrix temp
-	btSpatialTransformationMatrix fromWorld;
-	fromWorld.m_trnVec.setZero();
-	/////////////////
-
-	// ptr to the joint accel part of the output
-	btScalar *joint_accel = output + 6;
-
-	// Start of the algorithm proper.
-
-	// First 'upward' loop.
-	// Combines CompTreeLinkVelocities and InitTreeLinks from Mirtich.
-
-	rot_from_parent[0] = btMatrix3x3(m_baseQuat);  //m_baseQuat assumed to be alias!?
-
-	//create the vector of spatial velocity of the base by transforming global-coor linear and angular velocities into base-local coordinates
-	spatVel[0].setVector(rot_from_parent[0] * base_omega, rot_from_parent[0] * base_vel);
-
-	if (isBaseStaticOrKinematic())
-	{
-		zeroAccSpatFrc[0].setZero();
-	}
-	else
-	{
-		const btVector3 &baseForce = isConstraintPass ? m_baseConstraintForce : m_baseForce;
-		const btVector3 &baseTorque = isConstraintPass ? m_baseConstraintTorque : m_baseTorque;
-		//external forces
-		zeroAccSpatFrc[0].setVector(-(rot_from_parent[0] * baseTorque), -(rot_from_parent[0] * baseForce));
-
-		//adding damping terms (only)
-		const btScalar linDampMult = 1., angDampMult = 1.;
-		zeroAccSpatFrc[0].addVector(angDampMult * m_baseInertia * spatVel[0].getAngular() * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR * spatVel[0].getAngular().safeNorm()),
-									linDampMult * m_baseMass * spatVel[0].getLinear() * (DAMPING_K1_LINEAR + DAMPING_K2_LINEAR * spatVel[0].getLinear().safeNorm()));
-
-		//
-		//p += vhat x Ihat vhat - done in a simpler way
-		if (m_useGyroTerm)
-			zeroAccSpatFrc[0].addAngular(spatVel[0].getAngular().cross(m_baseInertia * spatVel[0].getAngular()));
-		//
-		zeroAccSpatFrc[0].addLinear(m_baseMass * spatVel[0].getAngular().cross(spatVel[0].getLinear()));
-	}
-
-	//init the spatial AB inertia (it has the simple form thanks to choosing local body frames origins at their COMs)
-	spatInertia[0].setMatrix(btMatrix3x3(0, 0, 0, 0, 0, 0, 0, 0, 0),
-							 //
-							 btMatrix3x3(m_baseMass, 0, 0,
-										 0, m_baseMass, 0,
-										 0, 0, m_baseMass),
-							 //
-							 btMatrix3x3(m_baseInertia[0], 0, 0,
-										 0, m_baseInertia[1], 0,
-										 0, 0, m_baseInertia[2]));
-
-	rot_from_world[0] = rot_from_parent[0];
-
-	//
-	for (int i = 0; i < num_links; ++i)
-	{
-		const int parent = m_links[i].m_parent;
-		rot_from_parent[i + 1] = btMatrix3x3(m_links[i].m_cachedRotParentToThis);
-		rot_from_world[i + 1] = rot_from_parent[i + 1] * rot_from_world[parent + 1];
-
-		fromParent.m_rotMat = rot_from_parent[i + 1];
-		fromParent.m_trnVec = m_links[i].m_cachedRVector;
-		fromWorld.m_rotMat = rot_from_world[i + 1];
-		fromParent.transform(spatVel[parent + 1], spatVel[i + 1]);
-
-		// now set vhat_i to its true value by doing
-		// vhat_i += qidot * shat_i
-		if (!m_useGlobalVelocities)
-		{
-			spatJointVel.setZero();
-
-			for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
-				spatJointVel += m_links[i].m_axes[dof] * getJointVelMultiDof(i)[dof];
-
-			// remember vhat_i is really vhat_p(i) (but in current frame) at this point	=> we need to add velocity across the inboard joint
-			spatVel[i + 1] += spatJointVel;
-
-			//
-			// vhat_i is vhat_p(i) transformed to local coors + the velocity across the i-th inboard joint
-			//spatVel[i+1] = fromParent * spatVel[parent+1] + spatJointVel;
-		}
-		else
-		{
-			fromWorld.transformRotationOnly(m_links[i].m_absFrameTotVelocity, spatVel[i + 1]);
-			fromWorld.transformRotationOnly(m_links[i].m_absFrameLocVelocity, spatJointVel);
-		}
-
-		// we can now calculate chat_i
-		spatVel[i + 1].cross(spatJointVel, spatCoriolisAcc[i]);
-
-		// calculate zhat_i^A
-		//
-		if (isLinkAndAllAncestorsKinematic(i))
-		{
-			zeroAccSpatFrc[i].setZero();
-		}
-		else{
-			//external forces
-			btVector3 linkAppliedForce = isConstraintPass ? m_links[i].m_appliedConstraintForce : m_links[i].m_appliedForce;
-			btVector3 linkAppliedTorque = isConstraintPass ? m_links[i].m_appliedConstraintTorque : m_links[i].m_appliedTorque;
-
-			zeroAccSpatFrc[i + 1].setVector(-(rot_from_world[i + 1] * linkAppliedTorque), -(rot_from_world[i + 1] * linkAppliedForce));
-
-#if 0	
-			{
-
-				b3Printf("stepVelocitiesMultiDof zeroAccSpatFrc[%d] linear:%f,%f,%f, angular:%f,%f,%f",
-				i+1,
-				zeroAccSpatFrc[i+1].m_topVec[0],
-				zeroAccSpatFrc[i+1].m_topVec[1],
-				zeroAccSpatFrc[i+1].m_topVec[2],
-
-				zeroAccSpatFrc[i+1].m_bottomVec[0],
-				zeroAccSpatFrc[i+1].m_bottomVec[1],
-				zeroAccSpatFrc[i+1].m_bottomVec[2]);
-			}
-#endif
-			//
-			//adding damping terms (only)
-			btScalar linDampMult = 1., angDampMult = 1.;
-			zeroAccSpatFrc[i + 1].addVector(angDampMult * m_links[i].m_inertiaLocal * spatVel[i + 1].getAngular() * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR * spatVel[i + 1].getAngular().safeNorm()),
-											linDampMult * m_links[i].m_mass * spatVel[i + 1].getLinear() * (DAMPING_K1_LINEAR + DAMPING_K2_LINEAR * spatVel[i + 1].getLinear().safeNorm()));
-			//p += vhat x Ihat vhat - done in a simpler way
-			if (m_useGyroTerm)
-				zeroAccSpatFrc[i + 1].addAngular(spatVel[i + 1].getAngular().cross(m_links[i].m_inertiaLocal * spatVel[i + 1].getAngular()));
-			//
-			zeroAccSpatFrc[i + 1].addLinear(m_links[i].m_mass * spatVel[i + 1].getAngular().cross(spatVel[i + 1].getLinear()));
-			//
-			//btVector3 temp = m_links[i].m_mass * spatVel[i+1].getAngular().cross(spatVel[i+1].getLinear());
-			////clamp parent's omega
-			//btScalar parOmegaMod = temp.length();
-			//btScalar parOmegaModMax = 1000;
-			//if(parOmegaMod > parOmegaModMax)
-			//	temp *= parOmegaModMax / parOmegaMod;
-			//zeroAccSpatFrc[i+1].addLinear(temp);
-			//printf("|zeroAccSpatFrc[%d]| = %.4f\n", i+1, temp.length());
-			//temp = spatCoriolisAcc[i].getLinear();
-			//printf("|spatCoriolisAcc[%d]| = %.4f\n", i+1, temp.length());
-		}
-
-		// calculate Ihat_i^A
-		//init the spatial AB inertia (it has the simple form thanks to choosing local body frames origins at their COMs)
-		spatInertia[i + 1].setMatrix(btMatrix3x3(0, 0, 0, 0, 0, 0, 0, 0, 0),
-									 //
-									 btMatrix3x3(m_links[i].m_mass, 0, 0,
-												 0, m_links[i].m_mass, 0,
-												 0, 0, m_links[i].m_mass),
-									 //
-									 btMatrix3x3(m_links[i].m_inertiaLocal[0], 0, 0,
-												 0, m_links[i].m_inertiaLocal[1], 0,
-												 0, 0, m_links[i].m_inertiaLocal[2]));
-
-		//printf("w[%d] = [%.4f %.4f %.4f]\n", i, vel_top_angular[i+1].x(), vel_top_angular[i+1].y(), vel_top_angular[i+1].z());
-		//printf("v[%d] = [%.4f %.4f %.4f]\n", i, vel_bottom_linear[i+1].x(), vel_bottom_linear[i+1].y(), vel_bottom_linear[i+1].z());
-		//printf("c[%d] = [%.4f %.4f %.4f]\n", i, coriolis_bottom_linear[i].x(), coriolis_bottom_linear[i].y(), coriolis_bottom_linear[i].z());
-	}
-
-	// 'Downward' loop.
-	// (part of TreeForwardDynamics in Mirtich.)
-	for (int i = num_links - 1; i >= 0; --i)
-	{
-		if(isLinkAndAllAncestorsKinematic(i))
-			continue;
-		const int parent = m_links[i].m_parent;
-		fromParent.m_rotMat = rot_from_parent[i + 1];
-		fromParent.m_trnVec = m_links[i].m_cachedRVector;
-
-		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
-		{
-			btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof];
-			//
-			hDof = spatInertia[i + 1] * m_links[i].m_axes[dof];
-			//
-			Y[m_links[i].m_dofOffset + dof] = m_links[i].m_jointTorque[dof] - m_links[i].m_axes[dof].dot(zeroAccSpatFrc[i + 1]) - spatCoriolisAcc[i].dot(hDof);
-		}
-		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
-		{
-			btScalar *D_row = &D[dof * m_links[i].m_dofCount];
-			for (int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2)
-			{
-				const btSpatialForceVector &hDof2 = h[m_links[i].m_dofOffset + dof2];
-				D_row[dof2] = m_links[i].m_axes[dof].dot(hDof2);
-			}
-		}
-
-		btScalar *invDi = &invD[m_links[i].m_dofOffset * m_links[i].m_dofOffset];
-		switch (m_links[i].m_jointType)
-		{
-			case btMultibodyLink::ePrismatic:
-			case btMultibodyLink::eRevolute:
-			{
-				if (D[0] >= SIMD_EPSILON)
-				{
-					invDi[0] = 1.0f / D[0];
-				}
-				else
-				{
-					invDi[0] = 0;
-				}
-				break;
-			}
-			case btMultibodyLink::eSpherical:
-			case btMultibodyLink::ePlanar:
-			{
-				const btMatrix3x3 D3x3(D[0], D[1], D[2], D[3], D[4], D[5], D[6], D[7], D[8]);
-				const btMatrix3x3 invD3x3(D3x3.inverse());
-
-				//unroll the loop?
-				for (int row = 0; row < 3; ++row)
-				{
-					for (int col = 0; col < 3; ++col)
-					{
-						invDi[row * 3 + col] = invD3x3[row][col];
-					}
-				}
-
-				break;
-			}
-			default:
-			{
-			}
-		}
-
-		//determine h*D^{-1}
-		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
-		{
-			spatForceVecTemps[dof].setZero();
-
-			for (int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2)
-			{
-				const btSpatialForceVector &hDof2 = h[m_links[i].m_dofOffset + dof2];
-				//
-				spatForceVecTemps[dof] += hDof2 * invDi[dof2 * m_links[i].m_dofCount + dof];
-			}
-		}
-
-		dyadTemp = spatInertia[i + 1];
-
-		//determine (h*D^{-1}) * h^{T}
-		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
-		{
-			const btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof];
-			//
-			dyadTemp -= symmetricSpatialOuterProduct(hDof, spatForceVecTemps[dof]);
-		}
-
-		fromParent.transformInverse(dyadTemp, spatInertia[parent + 1], btSpatialTransformationMatrix::Add);
-
-		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
-		{
-			invD_times_Y[dof] = 0.f;
-
-			for (int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2)
-			{
-				invD_times_Y[dof] += invDi[dof * m_links[i].m_dofCount + dof2] * Y[m_links[i].m_dofOffset + dof2];
-			}
-		}
-
-		spatForceVecTemps[0] = zeroAccSpatFrc[i + 1] + spatInertia[i + 1] * spatCoriolisAcc[i];
-
-		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
-		{
-			const btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof];
-			//
-			spatForceVecTemps[0] += hDof * invD_times_Y[dof];
-		}
-
-		fromParent.transformInverse(spatForceVecTemps[0], spatForceVecTemps[1]);
-
-		zeroAccSpatFrc[parent + 1] += spatForceVecTemps[1];
-	}
-
-	// Second 'upward' loop
-	// (part of TreeForwardDynamics in Mirtich)
-
-	if (isBaseStaticOrKinematic())
-	{
-		spatAcc[0].setZero();
-	}
-	else
-	{
-		if (num_links > 0)
-		{
-			m_cachedInertiaValid = true;
-			m_cachedInertiaTopLeft = spatInertia[0].m_topLeftMat;
-			m_cachedInertiaTopRight = spatInertia[0].m_topRightMat;
-			m_cachedInertiaLowerLeft = spatInertia[0].m_bottomLeftMat;
-			m_cachedInertiaLowerRight = spatInertia[0].m_topLeftMat.transpose();
-		}
-
-		solveImatrix(zeroAccSpatFrc[0], result);
-		spatAcc[0] = -result;
-	}
-
-	// now do the loop over the m_links
-	for (int i = 0; i < num_links; ++i)
-	{
-		//	qdd = D^{-1} * (Y - h^{T}*apar) = (S^{T}*I*S)^{-1} * (tau - S^{T}*I*cor - S^{T}*zeroAccFrc - S^{T}*I*apar)
-		//	a = apar + cor + Sqdd
-		//or
-		//	qdd = D^{-1} * (Y - h^{T}*(apar+cor))
-		//	a = apar + Sqdd
-
-		const int parent = m_links[i].m_parent;
-		fromParent.m_rotMat = rot_from_parent[i + 1];
-		fromParent.m_trnVec = m_links[i].m_cachedRVector;
-
-		fromParent.transform(spatAcc[parent + 1], spatAcc[i + 1]);
-
-		if(!isLinkAndAllAncestorsKinematic(i))
-		{
-			for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
-			{
-				const btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof];
-				//
-				Y_minus_hT_a[dof] = Y[m_links[i].m_dofOffset + dof] - spatAcc[i + 1].dot(hDof);
-			}
-			btScalar *invDi = &invD[m_links[i].m_dofOffset * m_links[i].m_dofOffset];
-			//D^{-1} * (Y - h^{T}*apar)
-			mulMatrix(invDi, Y_minus_hT_a, m_links[i].m_dofCount, m_links[i].m_dofCount, m_links[i].m_dofCount, 1, &joint_accel[m_links[i].m_dofOffset]);
-
-			spatAcc[i + 1] += spatCoriolisAcc[i];
-
-			for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
-				spatAcc[i + 1] += m_links[i].m_axes[dof] * joint_accel[m_links[i].m_dofOffset + dof];
-		}
-
-		if (m_links[i].m_jointFeedback)
-		{
-			m_internalNeedsJointFeedback = true;
-
-			btVector3 angularBotVec = (spatInertia[i + 1] * spatAcc[i + 1] + zeroAccSpatFrc[i + 1]).m_bottomVec;
-			btVector3 linearTopVec = (spatInertia[i + 1] * spatAcc[i + 1] + zeroAccSpatFrc[i + 1]).m_topVec;
-
-			if (jointFeedbackInJointFrame)
-			{
-				//shift the reaction forces to the joint frame
-				//linear (force) component is the same
-				//shift the angular (torque, moment) component using the relative position,  m_links[i].m_dVector
-				angularBotVec = angularBotVec - linearTopVec.cross(m_links[i].m_dVector);
-			}
-
-			if (jointFeedbackInWorldSpace)
-			{
-				if (isConstraintPass)
-				{
-					m_links[i].m_jointFeedback->m_reactionForces.m_bottomVec += m_links[i].m_cachedWorldTransform.getBasis() * angularBotVec;
-					m_links[i].m_jointFeedback->m_reactionForces.m_topVec += m_links[i].m_cachedWorldTransform.getBasis() * linearTopVec;
-				}
-				else
-				{
-					m_links[i].m_jointFeedback->m_reactionForces.m_bottomVec = m_links[i].m_cachedWorldTransform.getBasis() * angularBotVec;
-					m_links[i].m_jointFeedback->m_reactionForces.m_topVec = m_links[i].m_cachedWorldTransform.getBasis() * linearTopVec;
-				}
-			}
-			else
-			{
-				if (isConstraintPass)
-				{
-					m_links[i].m_jointFeedback->m_reactionForces.m_bottomVec += angularBotVec;
-					m_links[i].m_jointFeedback->m_reactionForces.m_topVec += linearTopVec;
-				}
-				else
-				{
-					m_links[i].m_jointFeedback->m_reactionForces.m_bottomVec = angularBotVec;
-					m_links[i].m_jointFeedback->m_reactionForces.m_topVec = linearTopVec;
-				}
-			}
-		}
-	}
-
-	// transform base accelerations back to the world frame.
-	const btVector3 omegadot_out = rot_from_parent[0].transpose() * spatAcc[0].getAngular();
-	output[0] = omegadot_out[0];
-	output[1] = omegadot_out[1];
-	output[2] = omegadot_out[2];
-
-	const btVector3 vdot_out = rot_from_parent[0].transpose() * (spatAcc[0].getLinear() + spatVel[0].getAngular().cross(spatVel[0].getLinear()));
-	output[3] = vdot_out[0];
-	output[4] = vdot_out[1];
-	output[5] = vdot_out[2];
-
-	/////////////////
-	//printf("q = [");
-	//printf("%.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f ", m_baseQuat.x(), m_baseQuat.y(), m_baseQuat.z(), m_baseQuat.w(), m_basePos.x(), m_basePos.y(), m_basePos.z());
-	//for(int link = 0; link < getNumLinks(); ++link)
-	//	for(int dof = 0; dof < m_links[link].m_dofCount; ++dof)
-	//		printf("%.6f ", m_links[link].m_jointPos[dof]);
-	//printf("]\n");
-	////
-	//printf("qd = [");
-	//for(int dof = 0; dof < getNumDofs() + 6; ++dof)
-	//	printf("%.6f ", m_realBuf[dof]);
-	//printf("]\n");
-	//printf("qdd = [");
-	//for(int dof = 0; dof < getNumDofs() + 6; ++dof)
-	//	printf("%.6f ", output[dof]);
-	//printf("]\n");
-	/////////////////
-
-	// Final step: add the accelerations (times dt) to the velocities.
-
-	if (!isConstraintPass)
-	{
-		if (dt > 0.)
-			applyDeltaVeeMultiDof(output, dt);
-	}
-	/////
-	//btScalar angularThres = 1;
-	//btScalar maxAngVel = 0.;
-	//bool scaleDown = 1.;
-	//for(int link = 0; link < m_links.size(); ++link)
-	//{
-	//	if(spatVel[link+1].getAngular().length() > maxAngVel)
-	//	{
-	//		maxAngVel = spatVel[link+1].getAngular().length();
-	//		scaleDown = angularThres / spatVel[link+1].getAngular().length();
-	//		break;
-	//	}
-	//}
-
-	//if(scaleDown != 1.)
-	//{
-	//	for(int link = 0; link < m_links.size(); ++link)
-	//	{
-	//		if(m_links[link].m_jointType == btMultibodyLink::eRevolute || m_links[link].m_jointType == btMultibodyLink::eSpherical)
-	//		{
-	//			for(int dof = 0; dof < m_links[link].m_dofCount; ++dof)
-	//				getJointVelMultiDof(link)[dof] *= scaleDown;
-	//		}
-	//	}
-	//}
-	/////
-
-	/////////////////////
-	if (m_useGlobalVelocities)
-	{
-		for (int i = 0; i < num_links; ++i)
-		{
-			const int parent = m_links[i].m_parent;
-			//rot_from_parent[i+1] = btMatrix3x3(m_links[i].m_cachedRotParentToThis);    /// <- done
-			//rot_from_world[i+1] = rot_from_parent[i+1] * rot_from_world[parent+1];		/// <- done
-
-			fromParent.m_rotMat = rot_from_parent[i + 1];
-			fromParent.m_trnVec = m_links[i].m_cachedRVector;
-			fromWorld.m_rotMat = rot_from_world[i + 1];
-
-			// vhat_i = i_xhat_p(i) * vhat_p(i)
-			fromParent.transform(spatVel[parent + 1], spatVel[i + 1]);
-			//nice alternative below (using operator *) but it generates temps
-			/////////////////////////////////////////////////////////////
-
-			// now set vhat_i to its true value by doing
-			// vhat_i += qidot * shat_i
-			spatJointVel.setZero();
-
-			for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
-				spatJointVel += m_links[i].m_axes[dof] * getJointVelMultiDof(i)[dof];
-
-			// remember vhat_i is really vhat_p(i) (but in current frame) at this point	=> we need to add velocity across the inboard joint
-			spatVel[i + 1] += spatJointVel;
-
-			fromWorld.transformInverseRotationOnly(spatVel[i + 1], m_links[i].m_absFrameTotVelocity);
-			fromWorld.transformInverseRotationOnly(spatJointVel, m_links[i].m_absFrameLocVelocity);
-		}
-	}
-}
-
-void btMultiBody::solveImatrix(const btVector3 &rhs_top, const btVector3 &rhs_bot, btScalar result[6]) const
-{
-	int num_links = getNumLinks();
-	///solve I * x = rhs, so the result = invI * rhs
-	if (num_links == 0)
-	{
-		// in the case of 0 m_links (i.e. a plain rigid body, not a multibody) rhs * invI is easier
-
-		if ((m_baseInertia[0] >= SIMD_EPSILON) && (m_baseInertia[1] >= SIMD_EPSILON) && (m_baseInertia[2] >= SIMD_EPSILON))
-		{
-			result[0] = rhs_bot[0] / m_baseInertia[0];
-			result[1] = rhs_bot[1] / m_baseInertia[1];
-			result[2] = rhs_bot[2] / m_baseInertia[2];
-		}
-		else
-		{
-			result[0] = 0;
-			result[1] = 0;
-			result[2] = 0;
-		}
-		if (m_baseMass >= SIMD_EPSILON)
-		{
-			result[3] = rhs_top[0] / m_baseMass;
-			result[4] = rhs_top[1] / m_baseMass;
-			result[5] = rhs_top[2] / m_baseMass;
-		}
-		else
-		{
-			result[3] = 0;
-			result[4] = 0;
-			result[5] = 0;
-		}
-	}
-	else
-	{
-		if (!m_cachedInertiaValid)
-		{
-			for (int i = 0; i < 6; i++)
-			{
-				result[i] = 0.f;
-			}
-			return;
-		}
-		/// Special routine for calculating the inverse of a spatial inertia matrix
-		///the 6x6 matrix is stored as 4 blocks of 3x3 matrices
-		btMatrix3x3 Binv = m_cachedInertiaTopRight.inverse() * -1.f;
-		btMatrix3x3 tmp = m_cachedInertiaLowerRight * Binv;
-		btMatrix3x3 invIupper_right = (tmp * m_cachedInertiaTopLeft + m_cachedInertiaLowerLeft).inverse();
-		tmp = invIupper_right * m_cachedInertiaLowerRight;
-		btMatrix3x3 invI_upper_left = (tmp * Binv);
-		btMatrix3x3 invI_lower_right = (invI_upper_left).transpose();
-		tmp = m_cachedInertiaTopLeft * invI_upper_left;
-		tmp[0][0] -= 1.0;
-		tmp[1][1] -= 1.0;
-		tmp[2][2] -= 1.0;
-		btMatrix3x3 invI_lower_left = (Binv * tmp);
-
-		//multiply result = invI * rhs
-		{
-			btVector3 vtop = invI_upper_left * rhs_top;
-			btVector3 tmp;
-			tmp = invIupper_right * rhs_bot;
-			vtop += tmp;
-			btVector3 vbot = invI_lower_left * rhs_top;
-			tmp = invI_lower_right * rhs_bot;
-			vbot += tmp;
-			result[0] = vtop[0];
-			result[1] = vtop[1];
-			result[2] = vtop[2];
-			result[3] = vbot[0];
-			result[4] = vbot[1];
-			result[5] = vbot[2];
-		}
-	}
-}
-void btMultiBody::solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionVector &result) const
-{
-	int num_links = getNumLinks();
-	///solve I * x = rhs, so the result = invI * rhs
-	if (num_links == 0)
-	{
-		// in the case of 0 m_links (i.e. a plain rigid body, not a multibody) rhs * invI is easier
-		if ((m_baseInertia[0] >= SIMD_EPSILON) && (m_baseInertia[1] >= SIMD_EPSILON) && (m_baseInertia[2] >= SIMD_EPSILON))
-		{
-			result.setAngular(rhs.getAngular() / m_baseInertia);
-		}
-		else
-		{
-			result.setAngular(btVector3(0, 0, 0));
-		}
-		if (m_baseMass >= SIMD_EPSILON)
-		{
-			result.setLinear(rhs.getLinear() / m_baseMass);
-		}
-		else
-		{
-			result.setLinear(btVector3(0, 0, 0));
-		}
-	}
-	else
-	{
-		/// Special routine for calculating the inverse of a spatial inertia matrix
-		///the 6x6 matrix is stored as 4 blocks of 3x3 matrices
-		if (!m_cachedInertiaValid)
-		{
-			result.setLinear(btVector3(0, 0, 0));
-			result.setAngular(btVector3(0, 0, 0));
-			result.setVector(btVector3(0, 0, 0), btVector3(0, 0, 0));
-			return;
-		}
-		btMatrix3x3 Binv = m_cachedInertiaTopRight.inverse() * -1.f;
-		btMatrix3x3 tmp = m_cachedInertiaLowerRight * Binv;
-		btMatrix3x3 invIupper_right = (tmp * m_cachedInertiaTopLeft + m_cachedInertiaLowerLeft).inverse();
-		tmp = invIupper_right * m_cachedInertiaLowerRight;
-		btMatrix3x3 invI_upper_left = (tmp * Binv);
-		btMatrix3x3 invI_lower_right = (invI_upper_left).transpose();
-		tmp = m_cachedInertiaTopLeft * invI_upper_left;
-		tmp[0][0] -= 1.0;
-		tmp[1][1] -= 1.0;
-		tmp[2][2] -= 1.0;
-		btMatrix3x3 invI_lower_left = (Binv * tmp);
-
-		//multiply result = invI * rhs
-		{
-			btVector3 vtop = invI_upper_left * rhs.getLinear();
-			btVector3 tmp;
-			tmp = invIupper_right * rhs.getAngular();
-			vtop += tmp;
-			btVector3 vbot = invI_lower_left * rhs.getLinear();
-			tmp = invI_lower_right * rhs.getAngular();
-			vbot += tmp;
-			result.setVector(vtop, vbot);
-		}
-	}
-}
-
-void btMultiBody::mulMatrix(const btScalar *pA, const btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const
-{
-	for (int row = 0; row < rowsA; row++)
-	{
-		for (int col = 0; col < colsB; col++)
-		{
-			pC[row * colsB + col] = 0.f;
-			for (int inner = 0; inner < rowsB; inner++)
-			{
-				pC[row * colsB + col] += pA[row * colsA + inner] * pB[col + inner * colsB];
-			}
-		}
-	}
-}
-
-void btMultiBody::calcAccelerationDeltasMultiDof(const btScalar *force, btScalar *output,
-												 btAlignedObjectArray<btScalar> &scratch_r, btAlignedObjectArray<btVector3> &scratch_v) const
-{
-	// Temporary matrices/vectors -- use scratch space from caller
-	// so that we don't have to keep reallocating every frame
-
-	int num_links = getNumLinks();
-	scratch_r.resize(m_dofCount);
-	scratch_v.resize(4 * num_links + 4);
-
-	btScalar *r_ptr = m_dofCount ? &scratch_r[0] : 0;
-	btVector3 *v_ptr = &scratch_v[0];
-
-	// zhat_i^A (scratch space)
-	btSpatialForceVector *zeroAccSpatFrc = (btSpatialForceVector *)v_ptr;
-	v_ptr += num_links * 2 + 2;
-
-	// rot_from_parent (cached from calcAccelerations)
-	const btMatrix3x3 *rot_from_parent = &m_matrixBuf[0];
-
-	// hhat (cached), accel (scratch)
-	// hhat is NOT stored for the base (but ahat is)
-	const btSpatialForceVector *h = (btSpatialForceVector *)(m_dofCount > 0 ? &m_vectorBuf[0] : 0);
-	btSpatialMotionVector *spatAcc = (btSpatialMotionVector *)v_ptr;
-	v_ptr += num_links * 2 + 2;
-
-	// Y_i (scratch), invD_i (cached)
-	const btScalar *invD = m_dofCount > 0 ? &m_realBuf[6 + m_dofCount] : 0;
-	btScalar *Y = r_ptr;
-	////////////////
-	//aux variables
-	btScalar invD_times_Y[6];                   //D^{-1} * Y [dofxdof x dofx1 = dofx1] <=> D^{-1} * u; better moved to buffers since it is recalced in calcAccelerationDeltasMultiDof; num_dof of btScalar would cover all bodies
-	btSpatialMotionVector result;               //holds results of the SolveImatrix op; it is a spatial motion vector (accel)
-	btScalar Y_minus_hT_a[6];                   //Y - h^{T} * a; it's dofx1 for each body so a single 6x1 temp is enough
-	btSpatialForceVector spatForceVecTemps[6];  //6 temporary spatial force vectors
-	btSpatialTransformationMatrix fromParent;
-	/////////////////
-
-	// First 'upward' loop.
-	// Combines CompTreeLinkVelocities and InitTreeLinks from Mirtich.
-
-	// Fill in zero_acc
-	// -- set to force/torque on the base, zero otherwise
-	if (isBaseStaticOrKinematic())
-	{
-		zeroAccSpatFrc[0].setZero();
-	}
-	else
-	{
-		//test forces
-		fromParent.m_rotMat = rot_from_parent[0];
-		fromParent.transformRotationOnly(btSpatialForceVector(-force[0], -force[1], -force[2], -force[3], -force[4], -force[5]), zeroAccSpatFrc[0]);
-	}
-	for (int i = 0; i < num_links; ++i)
-	{
-		zeroAccSpatFrc[i + 1].setZero();
-	}
-
-	// 'Downward' loop.
-	// (part of TreeForwardDynamics in Mirtich.)
-	for (int i = num_links - 1; i >= 0; --i)
-	{
-		if(isLinkAndAllAncestorsKinematic(i))
-			continue;
-		const int parent = m_links[i].m_parent;
-		fromParent.m_rotMat = rot_from_parent[i + 1];
-		fromParent.m_trnVec = m_links[i].m_cachedRVector;
-
-		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
-		{
-			Y[m_links[i].m_dofOffset + dof] = force[6 + m_links[i].m_dofOffset + dof] - m_links[i].m_axes[dof].dot(zeroAccSpatFrc[i + 1]);
-		}
-
-		btVector3 in_top, in_bottom, out_top, out_bottom;
-		const btScalar *invDi = &invD[m_links[i].m_dofOffset * m_links[i].m_dofOffset];
-
-		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
-		{
-			invD_times_Y[dof] = 0.f;
-
-			for (int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2)
-			{
-				invD_times_Y[dof] += invDi[dof * m_links[i].m_dofCount + dof2] * Y[m_links[i].m_dofOffset + dof2];
-			}
-		}
-
-		// Zp += pXi * (Zi + hi*Yi/Di)
-		spatForceVecTemps[0] = zeroAccSpatFrc[i + 1];
-
-		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
-		{
-			const btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof];
-			//
-			spatForceVecTemps[0] += hDof * invD_times_Y[dof];
-		}
-
-		fromParent.transformInverse(spatForceVecTemps[0], spatForceVecTemps[1]);
-
-		zeroAccSpatFrc[parent + 1] += spatForceVecTemps[1];
-	}
-
-	// ptr to the joint accel part of the output
-	btScalar *joint_accel = output + 6;
-
-	// Second 'upward' loop
-	// (part of TreeForwardDynamics in Mirtich)
-
-	if (isBaseStaticOrKinematic())
-	{
-		spatAcc[0].setZero();
-	}
-	else
-	{
-		solveImatrix(zeroAccSpatFrc[0], result);
-		spatAcc[0] = -result;
-	}
-
-	// now do the loop over the m_links
-	for (int i = 0; i < num_links; ++i)
-	{
-		if(isLinkAndAllAncestorsKinematic(i))
-			continue;
-		const int parent = m_links[i].m_parent;
-		fromParent.m_rotMat = rot_from_parent[i + 1];
-		fromParent.m_trnVec = m_links[i].m_cachedRVector;
-
-		fromParent.transform(spatAcc[parent + 1], spatAcc[i + 1]);
-
-		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
-		{
-			const btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof];
-			//
-			Y_minus_hT_a[dof] = Y[m_links[i].m_dofOffset + dof] - spatAcc[i + 1].dot(hDof);
-		}
-
-		const btScalar *invDi = &invD[m_links[i].m_dofOffset * m_links[i].m_dofOffset];
-		mulMatrix(const_cast<btScalar *>(invDi), Y_minus_hT_a, m_links[i].m_dofCount, m_links[i].m_dofCount, m_links[i].m_dofCount, 1, &joint_accel[m_links[i].m_dofOffset]);
-
-		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
-			spatAcc[i + 1] += m_links[i].m_axes[dof] * joint_accel[m_links[i].m_dofOffset + dof];
-	}
-
-	// transform base accelerations back to the world frame.
-	btVector3 omegadot_out;
-	omegadot_out = rot_from_parent[0].transpose() * spatAcc[0].getAngular();
-	output[0] = omegadot_out[0];
-	output[1] = omegadot_out[1];
-	output[2] = omegadot_out[2];
-
-	btVector3 vdot_out;
-	vdot_out = rot_from_parent[0].transpose() * spatAcc[0].getLinear();
-	output[3] = vdot_out[0];
-	output[4] = vdot_out[1];
-	output[5] = vdot_out[2];
-
-	/////////////////
-	//printf("delta = [");
-	//for(int dof = 0; dof < getNumDofs() + 6; ++dof)
-	//	printf("%.2f ", output[dof]);
-	//printf("]\n");
-	/////////////////
-}
-void btMultiBody::predictPositionsMultiDof(btScalar dt)
-{
-    int num_links = getNumLinks();
-		if(!isBaseKinematic())
-		{
-      // step position by adding dt * velocity
-      //btVector3 v = getBaseVel();
-      //m_basePos += dt * v;
-      //
-      btScalar *pBasePos;
-      btScalar *pBaseVel = &m_realBuf[3];  //note: the !pqd case assumes m_realBuf holds with base velocity at 3,4,5 (should be wrapped for safety)
-    
-    	// reset to current position
-    	for (int i = 0; i < 3; ++i)
-    	{
-    	    m_basePos_interpolate[i] = m_basePos[i];
-    	}
-    	pBasePos = m_basePos_interpolate;
-    	
-    	pBasePos[0] += dt * pBaseVel[0];
-    	pBasePos[1] += dt * pBaseVel[1];
-    	pBasePos[2] += dt * pBaseVel[2];
-		}
-    
-    ///////////////////////////////
-    //local functor for quaternion integration (to avoid error prone redundancy)
-    struct
-    {
-        //"exponential map" based on btTransformUtil::integrateTransform(..)
-        void operator()(const btVector3 &omega, btQuaternion &quat, bool baseBody, btScalar dt)
-        {
-            //baseBody    =>    quat is alias and omega is global coor
-            //!baseBody    =>    quat is alibi and omega is local coor
-            
-            btVector3 axis;
-            btVector3 angvel;
-            
-            if (!baseBody)
-                angvel = quatRotate(quat, omega);  //if quat is not m_baseQuat, it is alibi => ok
-            else
-                angvel = omega;
-            
-            btScalar fAngle = angvel.length();
-            //limit the angular motion
-            if (fAngle * dt > ANGULAR_MOTION_THRESHOLD)
-            {
-                fAngle = btScalar(0.5) * SIMD_HALF_PI / dt;
-            }
-            
-            if (fAngle < btScalar(0.001))
-            {
-                // use Taylor's expansions of sync function
-                axis = angvel * (btScalar(0.5) * dt - (dt * dt * dt) * (btScalar(0.020833333333)) * fAngle * fAngle);
-            }
-            else
-            {
-                // sync(fAngle) = sin(c*fAngle)/t
-                axis = angvel * (btSin(btScalar(0.5) * fAngle * dt) / fAngle);
-            }
-            
-            if (!baseBody)
-                quat = btQuaternion(axis.x(), axis.y(), axis.z(), btCos(fAngle * dt * btScalar(0.5))) * quat;
-            else
-                quat = quat * btQuaternion(-axis.x(), -axis.y(), -axis.z(), btCos(fAngle * dt * btScalar(0.5)));
-            //equivalent to: quat = (btQuaternion(axis.x(),axis.y(),axis.z(),btCos( fAngle*dt*btScalar(0.5) )) * quat.inverse()).inverse();
-            
-            quat.normalize();
-        }
-    } pQuatUpdateFun;
-    ///////////////////////////////
-    
-    //pQuatUpdateFun(getBaseOmega(), m_baseQuat, true, dt);
-    //
-		if(!isBaseKinematic())
-		{
-        btScalar *pBaseQuat;
-
-        // reset to current orientation
-        for (int i = 0; i < 4; ++i)
-        {
-            m_baseQuat_interpolate[i] = m_baseQuat[i];
-        }
-        pBaseQuat = m_baseQuat_interpolate;
-
-        btScalar *pBaseOmega = &m_realBuf[0];  //note: the !pqd case assumes m_realBuf starts with base omega (should be wrapped for safety)
-        //
-        btQuaternion baseQuat;
-        baseQuat.setValue(pBaseQuat[0], pBaseQuat[1], pBaseQuat[2], pBaseQuat[3]);
-        btVector3 baseOmega;
-        baseOmega.setValue(pBaseOmega[0], pBaseOmega[1], pBaseOmega[2]);
-        pQuatUpdateFun(baseOmega, baseQuat, true, dt);
-        pBaseQuat[0] = baseQuat.x();
-        pBaseQuat[1] = baseQuat.y();
-        pBaseQuat[2] = baseQuat.z();
-        pBaseQuat[3] = baseQuat.w();
-		}
-
-    // Finally we can update m_jointPos for each of the m_links
-    for (int i = 0; i < num_links; ++i)
-    {
-        btScalar *pJointPos;
-        pJointPos = &m_links[i].m_jointPos_interpolate[0];
-        
-        if (m_links[i].m_collider && m_links[i].m_collider->isStaticOrKinematic()) 
-		{
-            switch (m_links[i].m_jointType) 
-						{
-                case btMultibodyLink::ePrismatic:
-                case btMultibodyLink::eRevolute:
-                {
-                    pJointPos[0] = m_links[i].m_jointPos[0];
-                    break;
-                }
-                case btMultibodyLink::eSpherical:
-                {
-                    for (int j = 0; j < 4; ++j)
-                    {
-                        pJointPos[j] = m_links[i].m_jointPos[j];
-                    }
-                    break;
-                }
-                case btMultibodyLink::ePlanar:
-                {
-                    for (int j = 0; j < 3; ++j)
-                    {
-                        pJointPos[j] = m_links[i].m_jointPos[j];
-                    }
-                    break;
-                }
-                default:
-                   break;
-            }
-        }
-        else
-        {
-            btScalar *pJointVel = getJointVelMultiDof(i); 
-
-            switch (m_links[i].m_jointType)
-            {
-                case btMultibodyLink::ePrismatic:
-                case btMultibodyLink::eRevolute:
-                {
-                    //reset to current pos
-                    pJointPos[0] = m_links[i].m_jointPos[0];
-                    btScalar jointVel = pJointVel[0];
-                    pJointPos[0] += dt * jointVel;
-                    break;
-                }
-                case btMultibodyLink::eSpherical:
-                {
-                    //reset to current pos
-
-                    for (int j = 0; j < 4; ++j)
-                    {
-                        pJointPos[j] = m_links[i].m_jointPos[j];
-                    }
-                    
-                    btVector3 jointVel;
-                    jointVel.setValue(pJointVel[0], pJointVel[1], pJointVel[2]);
-                    btQuaternion jointOri;
-                    jointOri.setValue(pJointPos[0], pJointPos[1], pJointPos[2], pJointPos[3]);
-                    pQuatUpdateFun(jointVel, jointOri, false, dt);
-                    pJointPos[0] = jointOri.x();
-                    pJointPos[1] = jointOri.y();
-                    pJointPos[2] = jointOri.z();
-                    pJointPos[3] = jointOri.w();
-                    break;
-                }
-                case btMultibodyLink::ePlanar:
-                {
-                    for (int j = 0; j < 3; ++j)
-                    {
-                        pJointPos[j] = m_links[i].m_jointPos[j];
-                    }
-                    pJointPos[0] += dt * getJointVelMultiDof(i)[0];
-                    
-                    btVector3 q0_coors_qd1qd2 = getJointVelMultiDof(i)[1] * m_links[i].getAxisBottom(1) + getJointVelMultiDof(i)[2] * m_links[i].getAxisBottom(2);
-                    btVector3 no_q0_coors_qd1qd2 = quatRotate(btQuaternion(m_links[i].getAxisTop(0), pJointPos[0]), q0_coors_qd1qd2);
-                    pJointPos[1] += m_links[i].getAxisBottom(1).dot(no_q0_coors_qd1qd2) * dt;
-                    pJointPos[2] += m_links[i].getAxisBottom(2).dot(no_q0_coors_qd1qd2) * dt;
-                    break;
-                }
-                default:
-                {
-                }
-            }
-        }
-        
-        m_links[i].updateInterpolationCacheMultiDof();
-    }
-}
-
-void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd)
-{
-	int num_links = getNumLinks();
-	if(!isBaseKinematic())
-	{
-		// step position by adding dt * velocity
-		//btVector3 v = getBaseVel();
-		//m_basePos += dt * v;
-		//
-  	  btScalar *pBasePos = (pq ? &pq[4] : m_basePos);
-  	  btScalar *pBaseVel = (pqd ? &pqd[3] : &m_realBuf[3]);  //note: the !pqd case assumes m_realBuf holds with base velocity at 3,4,5 (should be wrapped for safety)
-  	  
-		pBasePos[0] += dt * pBaseVel[0];
-		pBasePos[1] += dt * pBaseVel[1];
-		pBasePos[2] += dt * pBaseVel[2];
-	}
-
-	///////////////////////////////
-	//local functor for quaternion integration (to avoid error prone redundancy)
-	struct
-	{
-		//"exponential map" based on btTransformUtil::integrateTransform(..)
-		void operator()(const btVector3 &omega, btQuaternion &quat, bool baseBody, btScalar dt)
-		{
-			//baseBody	=>	quat is alias and omega is global coor
-			//!baseBody	=>	quat is alibi and omega is local coor
-
-			btVector3 axis;
-			btVector3 angvel;
-
-			if (!baseBody)
-				angvel = quatRotate(quat, omega);  //if quat is not m_baseQuat, it is alibi => ok
-			else
-				angvel = omega;
-
-			btScalar fAngle = angvel.length();
-			//limit the angular motion
-			if (fAngle * dt > ANGULAR_MOTION_THRESHOLD)
-			{
-				fAngle = btScalar(0.5) * SIMD_HALF_PI / dt;
-			}
-
-			if (fAngle < btScalar(0.001))
-			{
-				// use Taylor's expansions of sync function
-				axis = angvel * (btScalar(0.5) * dt - (dt * dt * dt) * (btScalar(0.020833333333)) * fAngle * fAngle);
-			}
-			else
-			{
-				// sync(fAngle) = sin(c*fAngle)/t
-				axis = angvel * (btSin(btScalar(0.5) * fAngle * dt) / fAngle);
-			}
-
-			if (!baseBody)
-				quat = btQuaternion(axis.x(), axis.y(), axis.z(), btCos(fAngle * dt * btScalar(0.5))) * quat;
-			else
-				quat = quat * btQuaternion(-axis.x(), -axis.y(), -axis.z(), btCos(fAngle * dt * btScalar(0.5)));
-			//equivalent to: quat = (btQuaternion(axis.x(),axis.y(),axis.z(),btCos( fAngle*dt*btScalar(0.5) )) * quat.inverse()).inverse();
-
-			quat.normalize();
-		}
-	} pQuatUpdateFun;
-	///////////////////////////////
-
-	//pQuatUpdateFun(getBaseOmega(), m_baseQuat, true, dt);
-	//
-	if(!isBaseKinematic())
-	{
-		btScalar *pBaseQuat = pq ? pq : m_baseQuat;
-		btScalar *pBaseOmega = pqd ? pqd : &m_realBuf[0];  //note: the !pqd case assumes m_realBuf starts with base omega (should be wrapped for safety)
-		//
-		btQuaternion baseQuat;
-		baseQuat.setValue(pBaseQuat[0], pBaseQuat[1], pBaseQuat[2], pBaseQuat[3]);
-		btVector3 baseOmega;
-		baseOmega.setValue(pBaseOmega[0], pBaseOmega[1], pBaseOmega[2]);
-		pQuatUpdateFun(baseOmega, baseQuat, true, dt);
-		pBaseQuat[0] = baseQuat.x();
-		pBaseQuat[1] = baseQuat.y();
-		pBaseQuat[2] = baseQuat.z();
-		pBaseQuat[3] = baseQuat.w();
-
-		//printf("pBaseOmega = %.4f %.4f %.4f\n", pBaseOmega->x(), pBaseOmega->y(), pBaseOmega->z());
-		//printf("pBaseVel = %.4f %.4f %.4f\n", pBaseVel->x(), pBaseVel->y(), pBaseVel->z());
-		//printf("baseQuat = %.4f %.4f %.4f %.4f\n", pBaseQuat->x(), pBaseQuat->y(), pBaseQuat->z(), pBaseQuat->w());
-	}
-
-	if (pq)
-		pq += 7;
-	if (pqd)
-		pqd += 6;
-
-	// Finally we can update m_jointPos for each of the m_links
-	for (int i = 0; i < num_links; ++i)
-	{
-		if (!(m_links[i].m_collider && m_links[i].m_collider->isStaticOrKinematic()))
-		{
-			btScalar *pJointPos;
-			pJointPos= (pq ? pq : &m_links[i].m_jointPos[0]);
-		
-			btScalar *pJointVel = (pqd ? pqd : getJointVelMultiDof(i));
-
-			switch (m_links[i].m_jointType)
-			{
-				case btMultibodyLink::ePrismatic:
-				case btMultibodyLink::eRevolute:
-				{
-    	            //reset to current pos
-					btScalar jointVel = pJointVel[0];
-					pJointPos[0] += dt * jointVel;
-					break;
-				}
-				case btMultibodyLink::eSpherical:
-				{
-    	            //reset to current pos
-					btVector3 jointVel;
-					jointVel.setValue(pJointVel[0], pJointVel[1], pJointVel[2]);
-					btQuaternion jointOri;
-					jointOri.setValue(pJointPos[0], pJointPos[1], pJointPos[2], pJointPos[3]);
-					pQuatUpdateFun(jointVel, jointOri, false, dt);
-					pJointPos[0] = jointOri.x();
-					pJointPos[1] = jointOri.y();
-					pJointPos[2] = jointOri.z();
-					pJointPos[3] = jointOri.w();
-					break;
-				}
-				case btMultibodyLink::ePlanar:
-				{
-					pJointPos[0] += dt * getJointVelMultiDof(i)[0];
-
-					btVector3 q0_coors_qd1qd2 = getJointVelMultiDof(i)[1] * m_links[i].getAxisBottom(1) + getJointVelMultiDof(i)[2] * m_links[i].getAxisBottom(2);
-					btVector3 no_q0_coors_qd1qd2 = quatRotate(btQuaternion(m_links[i].getAxisTop(0), pJointPos[0]), q0_coors_qd1qd2);
-					pJointPos[1] += m_links[i].getAxisBottom(1).dot(no_q0_coors_qd1qd2) * dt;
-					pJointPos[2] += m_links[i].getAxisBottom(2).dot(no_q0_coors_qd1qd2) * dt;
-
-					break;
-				}
-				default:
-				{
-				}
-			}
-		}
-
-		m_links[i].updateCacheMultiDof(pq);
-
-		if (pq)
-			pq += m_links[i].m_posVarCount;
-		if (pqd)
-			pqd += m_links[i].m_dofCount;
-	}
-}
-
-void btMultiBody::fillConstraintJacobianMultiDof(int link,
-												 const btVector3 &contact_point,
-												 const btVector3 &normal_ang,
-												 const btVector3 &normal_lin,
-												 btScalar *jac,
-												 btAlignedObjectArray<btScalar> &scratch_r1,
-												 btAlignedObjectArray<btVector3> &scratch_v,
-												 btAlignedObjectArray<btMatrix3x3> &scratch_m) const
-{
-	// temporary space
-	int num_links = getNumLinks();
-	int m_dofCount = getNumDofs();
-	scratch_v.resize(3 * num_links + 3);  //(num_links + base) offsets + (num_links + base) normals_lin + (num_links + base) normals_ang
-	scratch_m.resize(num_links + 1);
-
-	btVector3 *v_ptr = &scratch_v[0];
-	btVector3 *p_minus_com_local = v_ptr;
-	v_ptr += num_links + 1;
-	btVector3 *n_local_lin = v_ptr;
-	v_ptr += num_links + 1;
-	btVector3 *n_local_ang = v_ptr;
-	v_ptr += num_links + 1;
-	btAssert(v_ptr - &scratch_v[0] == scratch_v.size());
-
-	//scratch_r.resize(m_dofCount);
-	//btScalar *results = m_dofCount > 0 ? &scratch_r[0] : 0;
-
-    scratch_r1.resize(m_dofCount+num_links);
-    btScalar * results = m_dofCount > 0 ? &scratch_r1[0] : 0;
-    btScalar* links = num_links? &scratch_r1[m_dofCount] : 0;
-    int numLinksChildToRoot=0;
-    int l = link;
-    while (l != -1)
-    {
-        links[numLinksChildToRoot++]=l;
-        l = m_links[l].m_parent;
-    }
-    
-	btMatrix3x3 *rot_from_world = &scratch_m[0];
-
-	const btVector3 p_minus_com_world = contact_point - m_basePos;
-	const btVector3 &normal_lin_world = normal_lin;  //convenience
-	const btVector3 &normal_ang_world = normal_ang;
-
-	rot_from_world[0] = btMatrix3x3(m_baseQuat);
-
-	// omega coeffients first.
-	btVector3 omega_coeffs_world;
-	omega_coeffs_world = p_minus_com_world.cross(normal_lin_world);
-	jac[0] = omega_coeffs_world[0] + normal_ang_world[0];
-	jac[1] = omega_coeffs_world[1] + normal_ang_world[1];
-	jac[2] = omega_coeffs_world[2] + normal_ang_world[2];
-	// then v coefficients
-	jac[3] = normal_lin_world[0];
-	jac[4] = normal_lin_world[1];
-	jac[5] = normal_lin_world[2];
-
-	//create link-local versions of p_minus_com and normal
-	p_minus_com_local[0] = rot_from_world[0] * p_minus_com_world;
-	n_local_lin[0] = rot_from_world[0] * normal_lin_world;
-	n_local_ang[0] = rot_from_world[0] * normal_ang_world;
-
-	// Set remaining jac values to zero for now.
-	for (int i = 6; i < 6 + m_dofCount; ++i)
-	{
-		jac[i] = 0;
-	}
-
-	// Qdot coefficients, if necessary.
-	if (num_links > 0 && link > -1)
-	{
-        // TODO: (Also, we are making 3 separate calls to this function, for the normal & the 2 friction directions,
-		// which is resulting in repeated work being done...)
-
-		// calculate required normals & positions in the local frames.
-        for (int a = 0; a < numLinksChildToRoot; a++)
-        {
-            int i = links[numLinksChildToRoot-1-a];
-        	// transform to local frame
-			const int parent = m_links[i].m_parent;
-			const btMatrix3x3 mtx(m_links[i].m_cachedRotParentToThis);
-			rot_from_world[i + 1] = mtx * rot_from_world[parent + 1];
-
-			n_local_lin[i + 1] = mtx * n_local_lin[parent + 1];
-			n_local_ang[i + 1] = mtx * n_local_ang[parent + 1];
-			p_minus_com_local[i + 1] = mtx * p_minus_com_local[parent + 1] - m_links[i].m_cachedRVector;
-
-			// calculate the jacobian entry
-			switch (m_links[i].m_jointType)
-			{
-				case btMultibodyLink::eRevolute:
-				{
-					results[m_links[i].m_dofOffset] = n_local_lin[i + 1].dot(m_links[i].getAxisTop(0).cross(p_minus_com_local[i + 1]) + m_links[i].getAxisBottom(0));
-					results[m_links[i].m_dofOffset] += n_local_ang[i + 1].dot(m_links[i].getAxisTop(0));
-					break;
-				}
-				case btMultibodyLink::ePrismatic:
-				{
-					results[m_links[i].m_dofOffset] = n_local_lin[i + 1].dot(m_links[i].getAxisBottom(0));
-					break;
-				}
-				case btMultibodyLink::eSpherical:
-				{
-					results[m_links[i].m_dofOffset + 0] = n_local_lin[i + 1].dot(m_links[i].getAxisTop(0).cross(p_minus_com_local[i + 1]) + m_links[i].getAxisBottom(0));
-					results[m_links[i].m_dofOffset + 1] = n_local_lin[i + 1].dot(m_links[i].getAxisTop(1).cross(p_minus_com_local[i + 1]) + m_links[i].getAxisBottom(1));
-					results[m_links[i].m_dofOffset + 2] = n_local_lin[i + 1].dot(m_links[i].getAxisTop(2).cross(p_minus_com_local[i + 1]) + m_links[i].getAxisBottom(2));
-
-					results[m_links[i].m_dofOffset + 0] += n_local_ang[i + 1].dot(m_links[i].getAxisTop(0));
-					results[m_links[i].m_dofOffset + 1] += n_local_ang[i + 1].dot(m_links[i].getAxisTop(1));
-					results[m_links[i].m_dofOffset + 2] += n_local_ang[i + 1].dot(m_links[i].getAxisTop(2));
-
-					break;
-				}
-				case btMultibodyLink::ePlanar:
-				{
-					results[m_links[i].m_dofOffset + 0] = n_local_lin[i + 1].dot(m_links[i].getAxisTop(0).cross(p_minus_com_local[i + 1]));  // + m_links[i].getAxisBottom(0));
-					results[m_links[i].m_dofOffset + 1] = n_local_lin[i + 1].dot(m_links[i].getAxisBottom(1));
-					results[m_links[i].m_dofOffset + 2] = n_local_lin[i + 1].dot(m_links[i].getAxisBottom(2));
-
-					break;
-				}
-				default:
-				{
-				}
-			}
-		}
-
-		// Now copy through to output.
-		//printf("jac[%d] = ", link);
-		while (link != -1)
-		{
-			for (int dof = 0; dof < m_links[link].m_dofCount; ++dof)
-			{
-				jac[6 + m_links[link].m_dofOffset + dof] = results[m_links[link].m_dofOffset + dof];
-				//printf("%.2f\t", jac[6 + m_links[link].m_dofOffset + dof]);
-			}
-
-			link = m_links[link].m_parent;
-		}
-		//printf("]\n");
-	}
-}
-
-void btMultiBody::wakeUp()
-{
-	m_sleepTimer = 0;
-	m_awake = true;
-}
-
-void btMultiBody::goToSleep()
-{
-	m_awake = false;
-}
-
-void btMultiBody::checkMotionAndSleepIfRequired(btScalar timestep)
-{
-	extern bool gDisableDeactivation;
-	if (!m_canSleep || gDisableDeactivation)
-	{
-		m_awake = true;
-		m_sleepTimer = 0;
-		return;
-	}
-
-	
-
-	// motion is computed as omega^2 + v^2 + (sum of squares of joint velocities)
-	btScalar motion = 0;
-	{
-		for (int i = 0; i < 6 + m_dofCount; ++i)
-			motion += m_realBuf[i] * m_realBuf[i];
-	}
-
-	if (motion < m_sleepEpsilon)
-	{
-		m_sleepTimer += timestep;
-		if (m_sleepTimer > m_sleepTimeout)
-		{
-			goToSleep();
-		}
-	}
-	else
-	{
-		m_sleepTimer = 0;
-		if (m_canWakeup)
-		{
-			if (!m_awake)
-				wakeUp();
-		}
-	}
-}
-
-void btMultiBody::forwardKinematics(btAlignedObjectArray<btQuaternion> &world_to_local, btAlignedObjectArray<btVector3> &local_origin)
-{
-	int num_links = getNumLinks();
-
-	// Cached 3x3 rotation matrices from parent frame to this frame.
-	btMatrix3x3 *rot_from_parent = (btMatrix3x3 *)&m_matrixBuf[0];
-
-	rot_from_parent[0] = btMatrix3x3(m_baseQuat);  //m_baseQuat assumed to be alias!?
-
-	for (int i = 0; i < num_links; ++i)
-	{
-		rot_from_parent[i + 1] = btMatrix3x3(m_links[i].m_cachedRotParentToThis);
-	}
-
-	int nLinks = getNumLinks();
-	///base + num m_links
-	world_to_local.resize(nLinks + 1);
-	local_origin.resize(nLinks + 1);
-
-	world_to_local[0] = getWorldToBaseRot();
-	local_origin[0] = getBasePos();
-
-	for (int k = 0; k < getNumLinks(); k++)
-	{
-		const int parent = getParent(k);
-		world_to_local[k + 1] = getParentToLocalRot(k) * world_to_local[parent + 1];
-		local_origin[k + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[k + 1].inverse(), getRVector(k)));
-	}
-
-	for (int link = 0; link < getNumLinks(); link++)
-	{
-		int index = link + 1;
-
-		btVector3 posr = local_origin[index];
-		btScalar quat[4] = {-world_to_local[index].x(), -world_to_local[index].y(), -world_to_local[index].z(), world_to_local[index].w()};
-		btTransform tr;
-		tr.setIdentity();
-		tr.setOrigin(posr);
-		tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
-		getLink(link).m_cachedWorldTransform = tr;
-	}
-}
-
-void btMultiBody::updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQuaternion> &world_to_local, btAlignedObjectArray<btVector3> &local_origin)
-{
-	world_to_local.resize(getNumLinks() + 1);
-	local_origin.resize(getNumLinks() + 1);
-
-	world_to_local[0] = getWorldToBaseRot();
-	local_origin[0] = getBasePos();
-
-	if (getBaseCollider())
-	{
-		btVector3 posr = local_origin[0];
-		//	float pos[4]={posr.x(),posr.y(),posr.z(),1};
-		btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()};
-		btTransform tr;
-		tr.setIdentity();
-		tr.setOrigin(posr);
-		tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
-
-		getBaseCollider()->setWorldTransform(tr);
-        getBaseCollider()->setInterpolationWorldTransform(tr);
-	}
-
-	for (int k = 0; k < getNumLinks(); k++)
-	{
-		const int parent = getParent(k);
-		world_to_local[k + 1] = getParentToLocalRot(k) * world_to_local[parent + 1];
-		local_origin[k + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[k + 1].inverse(), getRVector(k)));
-	}
-
-	for (int m = 0; m < getNumLinks(); m++)
-	{
-		btMultiBodyLinkCollider *col = getLink(m).m_collider;
-		if (col)
-		{
-			int link = col->m_link;
-			btAssert(link == m);
-
-			int index = link + 1;
-
-			btVector3 posr = local_origin[index];
-			//			float pos[4]={posr.x(),posr.y(),posr.z(),1};
-			btScalar quat[4] = {-world_to_local[index].x(), -world_to_local[index].y(), -world_to_local[index].z(), world_to_local[index].w()};
-			btTransform tr;
-			tr.setIdentity();
-			tr.setOrigin(posr);
-			tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
-
-			col->setWorldTransform(tr);
-            col->setInterpolationWorldTransform(tr);
-		}
-	}
-}
-
-void btMultiBody::updateCollisionObjectInterpolationWorldTransforms(btAlignedObjectArray<btQuaternion> &world_to_local, btAlignedObjectArray<btVector3> &local_origin)
-{
-    world_to_local.resize(getNumLinks() + 1);
-    local_origin.resize(getNumLinks() + 1);
-    
-		if(isBaseKinematic()){
-        world_to_local[0] = getWorldToBaseRot();
-        local_origin[0] = getBasePos();
-		}
-		else
-		{
-        world_to_local[0] = getInterpolateWorldToBaseRot();
-        local_origin[0] = getInterpolateBasePos();
-		}
-    
-    if (getBaseCollider())
-    {
-        btVector3 posr = local_origin[0];
-        //    float pos[4]={posr.x(),posr.y(),posr.z(),1};
-        btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()};
-        btTransform tr;
-        tr.setIdentity();
-        tr.setOrigin(posr);
-        tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
-        
-        getBaseCollider()->setInterpolationWorldTransform(tr);
-    }
-    
-    for (int k = 0; k < getNumLinks(); k++)
-    {
-        const int parent = getParent(k);
-        world_to_local[k + 1] = getInterpolateParentToLocalRot(k) * world_to_local[parent + 1];
-        local_origin[k + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[k + 1].inverse(), getInterpolateRVector(k)));
-    }
-    
-    for (int m = 0; m < getNumLinks(); m++)
-    {
-        btMultiBodyLinkCollider *col = getLink(m).m_collider;
-        if (col)
-        {
-            int link = col->m_link;
-            btAssert(link == m);
-            
-            int index = link + 1;
-            
-            btVector3 posr = local_origin[index];
-            //            float pos[4]={posr.x(),posr.y(),posr.z(),1};
-            btScalar quat[4] = {-world_to_local[index].x(), -world_to_local[index].y(), -world_to_local[index].z(), world_to_local[index].w()};
-            btTransform tr;
-            tr.setIdentity();
-            tr.setOrigin(posr);
-            tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
-            
-            col->setInterpolationWorldTransform(tr);
-        }
-    }
-}
-
-int btMultiBody::calculateSerializeBufferSize() const
-{
-	int sz = sizeof(btMultiBodyData);
-	return sz;
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char *btMultiBody::serialize(void *dataBuffer, class btSerializer *serializer) const
-{
-	btMultiBodyData *mbd = (btMultiBodyData *)dataBuffer;
-	getBasePos().serialize(mbd->m_baseWorldPosition);
-	getWorldToBaseRot().inverse().serialize(mbd->m_baseWorldOrientation);
-	getBaseVel().serialize(mbd->m_baseLinearVelocity);
-	getBaseOmega().serialize(mbd->m_baseAngularVelocity);
-
-	mbd->m_baseMass = this->getBaseMass();
-	getBaseInertia().serialize(mbd->m_baseInertia);
-	{
-		char *name = (char *)serializer->findNameForPointer(m_baseName);
-		mbd->m_baseName = (char *)serializer->getUniquePointer(name);
-		if (mbd->m_baseName)
-		{
-			serializer->serializeName(name);
-		}
-	}
-	mbd->m_numLinks = this->getNumLinks();
-	if (mbd->m_numLinks)
-	{
-		int sz = sizeof(btMultiBodyLinkData);
-		int numElem = mbd->m_numLinks;
-		btChunk *chunk = serializer->allocate(sz, numElem);
-		btMultiBodyLinkData *memPtr = (btMultiBodyLinkData *)chunk->m_oldPtr;
-		for (int i = 0; i < numElem; i++, memPtr++)
-		{
-			memPtr->m_jointType = getLink(i).m_jointType;
-			memPtr->m_dofCount = getLink(i).m_dofCount;
-			memPtr->m_posVarCount = getLink(i).m_posVarCount;
-
-			getLink(i).m_inertiaLocal.serialize(memPtr->m_linkInertia);
-
-			getLink(i).m_absFrameTotVelocity.m_topVec.serialize(memPtr->m_absFrameTotVelocityTop);
-			getLink(i).m_absFrameTotVelocity.m_bottomVec.serialize(memPtr->m_absFrameTotVelocityBottom);
-			getLink(i).m_absFrameLocVelocity.m_topVec.serialize(memPtr->m_absFrameLocVelocityTop);
-			getLink(i).m_absFrameLocVelocity.m_bottomVec.serialize(memPtr->m_absFrameLocVelocityBottom);
-
-			memPtr->m_linkMass = getLink(i).m_mass;
-			memPtr->m_parentIndex = getLink(i).m_parent;
-			memPtr->m_jointDamping = getLink(i).m_jointDamping;
-			memPtr->m_jointFriction = getLink(i).m_jointFriction;
-			memPtr->m_jointLowerLimit = getLink(i).m_jointLowerLimit;
-			memPtr->m_jointUpperLimit = getLink(i).m_jointUpperLimit;
-			memPtr->m_jointMaxForce = getLink(i).m_jointMaxForce;
-			memPtr->m_jointMaxVelocity = getLink(i).m_jointMaxVelocity;
-
-			getLink(i).m_eVector.serialize(memPtr->m_parentComToThisPivotOffset);
-			getLink(i).m_dVector.serialize(memPtr->m_thisPivotToThisComOffset);
-			getLink(i).m_zeroRotParentToThis.serialize(memPtr->m_zeroRotParentToThis);
-			btAssert(memPtr->m_dofCount <= 3);
-			for (int dof = 0; dof < getLink(i).m_dofCount; dof++)
-			{
-				getLink(i).getAxisBottom(dof).serialize(memPtr->m_jointAxisBottom[dof]);
-				getLink(i).getAxisTop(dof).serialize(memPtr->m_jointAxisTop[dof]);
-
-				memPtr->m_jointTorque[dof] = getLink(i).m_jointTorque[dof];
-				memPtr->m_jointVel[dof] = getJointVelMultiDof(i)[dof];
-			}
-			int numPosVar = getLink(i).m_posVarCount;
-			for (int posvar = 0; posvar < numPosVar; posvar++)
-			{
-				memPtr->m_jointPos[posvar] = getLink(i).m_jointPos[posvar];
-			}
-
-			{
-				char *name = (char *)serializer->findNameForPointer(m_links[i].m_linkName);
-				memPtr->m_linkName = (char *)serializer->getUniquePointer(name);
-				if (memPtr->m_linkName)
-				{
-					serializer->serializeName(name);
-				}
-			}
-			{
-				char *name = (char *)serializer->findNameForPointer(m_links[i].m_jointName);
-				memPtr->m_jointName = (char *)serializer->getUniquePointer(name);
-				if (memPtr->m_jointName)
-				{
-					serializer->serializeName(name);
-				}
-			}
-			memPtr->m_linkCollider = (btCollisionObjectData *)serializer->getUniquePointer(getLink(i).m_collider);
-		}
-		serializer->finalizeChunk(chunk, btMultiBodyLinkDataName, BT_ARRAY_CODE, (void *)&m_links[0]);
-	}
-	mbd->m_links = mbd->m_numLinks ? (btMultiBodyLinkData *)serializer->getUniquePointer((void *)&m_links[0]) : 0;
-
-	// Fill padding with zeros to appease msan.
-#ifdef BT_USE_DOUBLE_PRECISION
-	memset(mbd->m_padding, 0, sizeof(mbd->m_padding));
-#endif
-
-	return btMultiBodyDataName;
-}
-
-void btMultiBody::saveKinematicState(btScalar timeStep)
-{
-	//todo: clamp to some (user definable) safe minimum timestep, to limit maximum angular/linear velocities
-	if (m_kinematic_calculate_velocity && timeStep != btScalar(0.))
-	{
-		btVector3 linearVelocity, angularVelocity;
-		btTransformUtil::calculateVelocity(getInterpolateBaseWorldTransform(), getBaseWorldTransform(), timeStep, linearVelocity, angularVelocity);
-		setBaseVel(linearVelocity);
-		setBaseOmega(angularVelocity);
-		setInterpolateBaseWorldTransform(getBaseWorldTransform());
-	}
-}
-
-void btMultiBody::setLinkDynamicType(const int i, int type)
-{
-	if (i == -1)
-	{
-		setBaseDynamicType(type);
-	}
-	else if (i >= 0 && i < getNumLinks())
-	{
-		if (m_links[i].m_collider)
-		{
-			m_links[i].m_collider->setDynamicType(type);
-		}
-	}
-}
-
-bool btMultiBody::isLinkStaticOrKinematic(const int i) const
-{
-	if (i == -1)
-	{
-		return isBaseStaticOrKinematic();
-	}
-	else
-	{
-		if (m_links[i].m_collider)
-			return m_links[i].m_collider->isStaticOrKinematic();
-	}
-	return false;
-}
-
-bool btMultiBody::isLinkKinematic(const int i) const
-{
-	if (i == -1)
-	{
-		return isBaseKinematic();
-	}
-	else
-	{
-		if (m_links[i].m_collider)
-			return m_links[i].m_collider->isKinematic();
-	}
-	return false;
-}
-
-bool btMultiBody::isLinkAndAllAncestorsStaticOrKinematic(const int i) const
-{
-	int link = i;
-	while (link != -1) {
-		if (!isLinkStaticOrKinematic(link))
-			return false;
-		link = m_links[link].m_parent;
-	}
-	return isBaseStaticOrKinematic();
-}
-
-bool btMultiBody::isLinkAndAllAncestorsKinematic(const int i) const
-{
-	int link = i;
-	while (link != -1) {
-		if (!isLinkKinematic(link))
-			return false;
-		link = m_links[link].m_parent;
-	}
-	return isBaseKinematic();
-}
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h
deleted file mode 100644
index 345970d261..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h
+++ /dev/null
@@ -1,953 +0,0 @@
-/*
- * PURPOSE:
- *   Class representing an articulated rigid body. Stores the body's
- *   current state, allows forces and torques to be set, handles
- *   timestepping and implements Featherstone's algorithm.
- *   
- * COPYRIGHT:
- *   Copyright (C) Stephen Thompson, <stephen@solarflare.org.uk>, 2011-2013
- *   Portions written By Erwin Coumans: connection to LCP solver, various multibody constraints, replacing Eigen math library by Bullet LinearMath and a dedicated 6x6 matrix inverse (solveImatrix)
- *   Portions written By Jakub Stepien: support for multi-DOF constraints, introduction of spatial algebra and several other improvements
-
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- 
- */
-
-#ifndef BT_MULTIBODY_H
-#define BT_MULTIBODY_H
-
-#include "LinearMath/btScalar.h"
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btQuaternion.h"
-#include "LinearMath/btMatrix3x3.h"
-#include "LinearMath/btAlignedObjectArray.h"
-
-///serialization data, don't change them if you are not familiar with the details of the serialization mechanisms
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btMultiBodyData btMultiBodyDoubleData
-#define btMultiBodyDataName "btMultiBodyDoubleData"
-#define btMultiBodyLinkData btMultiBodyLinkDoubleData
-#define btMultiBodyLinkDataName "btMultiBodyLinkDoubleData"
-#else
-#define btMultiBodyData btMultiBodyFloatData
-#define btMultiBodyDataName "btMultiBodyFloatData"
-#define btMultiBodyLinkData btMultiBodyLinkFloatData
-#define btMultiBodyLinkDataName "btMultiBodyLinkFloatData"
-#endif  //BT_USE_DOUBLE_PRECISION
-
-#include "btMultiBodyLink.h"
-class btMultiBodyLinkCollider;
-
-ATTRIBUTE_ALIGNED16(class)
-btMultiBody
-{
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	//
-	// initialization
-	//
-
-	btMultiBody(int n_links,               // NOT including the base
-				btScalar mass,             // mass of base
-				const btVector3 &inertia,  // inertia of base, in base frame; assumed diagonal
-				bool fixedBase,            // whether the base is fixed (true) or can move (false)
-				bool canSleep, bool deprecatedMultiDof = true);
-
-	virtual ~btMultiBody();
-
-	//note: fixed link collision with parent is always disabled
-	void setupFixed(int i, //linkIndex
-					btScalar mass,
-					const btVector3 &inertia,
-					int parent,
-					const btQuaternion &rotParentToThis,
-					const btVector3 &parentComToThisPivotOffset,
-					const btVector3 &thisPivotToThisComOffset, bool deprecatedDisableParentCollision = true);
-
-	void setupPrismatic(int i,
-						btScalar mass,
-						const btVector3 &inertia,
-						int parent,
-						const btQuaternion &rotParentToThis,
-						const btVector3 &jointAxis,
-						const btVector3 &parentComToThisPivotOffset,
-						const btVector3 &thisPivotToThisComOffset,
-						bool disableParentCollision);
-
-	void setupRevolute(int i,  // 0 to num_links-1
-					   btScalar mass,
-					   const btVector3 &inertia,
-					   int parentIndex,
-					   const btQuaternion &rotParentToThis,          // rotate points in parent frame to this frame, when q = 0
-					   const btVector3 &jointAxis,                   // in my frame
-					   const btVector3 &parentComToThisPivotOffset,  // vector from parent COM to joint axis, in PARENT frame
-					   const btVector3 &thisPivotToThisComOffset,    // vector from joint axis to my COM, in MY frame
-					   bool disableParentCollision = false);
-
-	void setupSpherical(int i,  // linkIndex, 0 to num_links-1
-						btScalar mass,
-						const btVector3 &inertia,
-						int parent,
-						const btQuaternion &rotParentToThis,          // rotate points in parent frame to this frame, when q = 0
-						const btVector3 &parentComToThisPivotOffset,  // vector from parent COM to joint axis, in PARENT frame
-						const btVector3 &thisPivotToThisComOffset,    // vector from joint axis to my COM, in MY frame
-						bool disableParentCollision = false);
-
-	void setupPlanar(int i,  // 0 to num_links-1
-					 btScalar mass,
-					 const btVector3 &inertia,
-					 int parent,
-					 const btQuaternion &rotParentToThis,  // rotate points in parent frame to this frame, when q = 0
-					 const btVector3 &rotationAxis,
-					 const btVector3 &parentComToThisComOffset,  // vector from parent COM to this COM, in PARENT frame
-					 bool disableParentCollision = false);
-
-	const btMultibodyLink &getLink(int index) const
-	{
-		return m_links[index];
-	}
-
-	btMultibodyLink &getLink(int index)
-	{
-		return m_links[index];
-	}
-
-	void setBaseCollider(btMultiBodyLinkCollider * collider)  //collider can be NULL to disable collision for the base
-	{
-		m_baseCollider = collider;
-	}
-	const btMultiBodyLinkCollider *getBaseCollider() const
-	{
-		return m_baseCollider;
-	}
-	btMultiBodyLinkCollider *getBaseCollider()
-	{
-		return m_baseCollider;
-	}
-
-	const btMultiBodyLinkCollider *getLinkCollider(int index) const
-	{
-		if (index >= 0 && index < getNumLinks())
-		{
-			return getLink(index).m_collider;
-		}
-		return 0;
-	}
-
-	btMultiBodyLinkCollider *getLinkCollider(int index)
-	{
-		if (index >= 0 && index < getNumLinks())
-		{
-			return getLink(index).m_collider;
-		}
-		return 0;
-	}
-
-	//
-	// get parent
-	// input: link num from 0 to num_links-1
-	// output: link num from 0 to num_links-1, OR -1 to mean the base.
-	//
-	int getParent(int link_num) const;
-
-	//
-	// get number of m_links, masses, moments of inertia
-	//
-
-	int getNumLinks() const { return m_links.size(); }
-	int getNumDofs() const { return m_dofCount; }
-	int getNumPosVars() const { return m_posVarCnt; }
-	btScalar getBaseMass() const { return m_baseMass; }
-	const btVector3 &getBaseInertia() const { return m_baseInertia; }
-	btScalar getLinkMass(int i) const;
-	const btVector3 &getLinkInertia(int i) const;
-
-	//
-	// change mass (incomplete: can only change base mass and inertia at present)
-	//
-
-	void setBaseMass(btScalar mass) { m_baseMass = mass; }
-	void setBaseInertia(const btVector3 &inertia) { m_baseInertia = inertia; }
-
-	//
-	// get/set pos/vel/rot/omega for the base link
-	//
-
-	const btVector3 &getBasePos() const 
-	{ 
-		return m_basePos; 
-	}  // in world frame
-	const btVector3 getBaseVel() const
-	{
-		return btVector3(m_realBuf[3], m_realBuf[4], m_realBuf[5]);
-	}  // in world frame
-	const btQuaternion &getWorldToBaseRot() const
-	{
-		return m_baseQuat;
-	}
-    
-    const btVector3 &getInterpolateBasePos() const
-    {
-        return m_basePos_interpolate;
-    }  // in world frame
-    const btQuaternion &getInterpolateWorldToBaseRot() const
-    {
-        return m_baseQuat_interpolate;
-    }
-    
-    // rotates world vectors into base frame
-	btVector3 getBaseOmega() const { return btVector3(m_realBuf[0], m_realBuf[1], m_realBuf[2]); }  // in world frame
-
-	void setBasePos(const btVector3 &pos)
-	{
-		m_basePos = pos;
-		if(!isBaseKinematic())
-			m_basePos_interpolate = pos;
-	}
-
-	void setInterpolateBasePos(const btVector3 &pos)
-	{
-		m_basePos_interpolate = pos;
-	}
-
-	void setBaseWorldTransform(const btTransform &tr)
-	{
-		setBasePos(tr.getOrigin());
-		setWorldToBaseRot(tr.getRotation().inverse());
-	}
-
-	btTransform getBaseWorldTransform() const
-	{
-		btTransform tr;
-		tr.setOrigin(getBasePos());
-		tr.setRotation(getWorldToBaseRot().inverse());
-		return tr;
-	}
-
-	void setInterpolateBaseWorldTransform(const btTransform &tr)
-	{
-		setInterpolateBasePos(tr.getOrigin());
-		setInterpolateWorldToBaseRot(tr.getRotation().inverse());
-	}
-
-	btTransform getInterpolateBaseWorldTransform() const
-	{
-		btTransform tr;
-		tr.setOrigin(getInterpolateBasePos());
-		tr.setRotation(getInterpolateWorldToBaseRot().inverse());
-		return tr;
-	}
-
-	void setBaseVel(const btVector3 &vel)
-	{
-		m_realBuf[3] = vel[0];
-		m_realBuf[4] = vel[1];
-		m_realBuf[5] = vel[2];
-	}
-
-	void setWorldToBaseRot(const btQuaternion &rot)
-	{
-		m_baseQuat = rot;  //m_baseQuat asumed to ba alias!?
-		if(!isBaseKinematic())
-			m_baseQuat_interpolate = rot;
-	}
-
-	void setInterpolateWorldToBaseRot(const btQuaternion &rot)
-	{
-		m_baseQuat_interpolate = rot;
-	}
-
-	void setBaseOmega(const btVector3 &omega)
-	{
-		m_realBuf[0] = omega[0];
-		m_realBuf[1] = omega[1];
-		m_realBuf[2] = omega[2];
-	}
-
-	void saveKinematicState(btScalar timeStep);
-
-	//
-	// get/set pos/vel for child m_links (i = 0 to num_links-1)
-	//
-
-	btScalar getJointPos(int i) const;
-	btScalar getJointVel(int i) const;
-
-	btScalar *getJointVelMultiDof(int i);
-	btScalar *getJointPosMultiDof(int i);
-
-	const btScalar *getJointVelMultiDof(int i) const;
-	const btScalar *getJointPosMultiDof(int i) const;
-
-	void setJointPos(int i, btScalar q);
-	void setJointVel(int i, btScalar qdot);
-	void setJointPosMultiDof(int i, const double *q);
-	void setJointVelMultiDof(int i, const double *qdot);
-	void setJointPosMultiDof(int i, const float *q);
-	void setJointVelMultiDof(int i, const float *qdot);
-
-	//
-	// direct access to velocities as a vector of 6 + num_links elements.
-	// (omega first, then v, then joint velocities.)
-	//
-	const btScalar *getVelocityVector() const
-	{
-		return &m_realBuf[0];
-	}
-    
-    const btScalar *getDeltaVelocityVector() const
-    {
-        return &m_deltaV[0];
-    }
-    
-    const btScalar *getSplitVelocityVector() const
-    {
-        return &m_splitV[0];
-    }
-	/*    btScalar * getVelocityVector() 
-	{ 
-		return &real_buf[0]; 
-	}
-  */
-
-	//
-	// get the frames of reference (positions and orientations) of the child m_links
-	// (i = 0 to num_links-1)
-	//
-
-	const btVector3 &getRVector(int i) const;              // vector from COM(parent(i)) to COM(i), in frame i's coords
-	const btQuaternion &getParentToLocalRot(int i) const;  // rotates vectors in frame parent(i) to vectors in frame i.
-    const btVector3 &getInterpolateRVector(int i) const;              // vector from COM(parent(i)) to COM(i), in frame i's coords
-    const btQuaternion &getInterpolateParentToLocalRot(int i) const;  // rotates vectors in frame parent(i) to vectors in frame i.
-
-	//
-	// transform vectors in local frame of link i to world frame (or vice versa)
-	//
-	btVector3 localPosToWorld(int i, const btVector3 &local_pos) const;
-	btVector3 localDirToWorld(int i, const btVector3 &local_dir) const;
-	btVector3 worldPosToLocal(int i, const btVector3 &world_pos) const;
-	btVector3 worldDirToLocal(int i, const btVector3 &world_dir) const;
-
-	//
-	// transform a frame in local coordinate to a frame in world coordinate
-	//
-	btMatrix3x3 localFrameToWorld(int i, const btMatrix3x3 &local_frame) const;
-
-
-	//
-	// set external forces and torques. Note all external forces/torques are given in the WORLD frame.
-	//
-
-	void clearForcesAndTorques();
-	void clearConstraintForces();
-
-	void clearVelocities();
-
-	void addBaseForce(const btVector3 &f)
-	{
-		m_baseForce += f;
-	}
-	void addBaseTorque(const btVector3 &t) { m_baseTorque += t; }
-	void addLinkForce(int i, const btVector3 &f);
-	void addLinkTorque(int i, const btVector3 &t);
-
-	void addBaseConstraintForce(const btVector3 &f)
-	{
-		m_baseConstraintForce += f;
-	}
-	void addBaseConstraintTorque(const btVector3 &t) { m_baseConstraintTorque += t; }
-	void addLinkConstraintForce(int i, const btVector3 &f);
-	void addLinkConstraintTorque(int i, const btVector3 &t);
-
-	void addJointTorque(int i, btScalar Q);
-	void addJointTorqueMultiDof(int i, int dof, btScalar Q);
-	void addJointTorqueMultiDof(int i, const btScalar *Q);
-
-	const btVector3 &getBaseForce() const { return m_baseForce; }
-	const btVector3 &getBaseTorque() const { return m_baseTorque; }
-	const btVector3 &getLinkForce(int i) const;
-	const btVector3 &getLinkTorque(int i) const;
-	btScalar getJointTorque(int i) const;
-	btScalar *getJointTorqueMultiDof(int i);
-
-	//
-	// dynamics routines.
-	//
-
-	// timestep the velocities (given the external forces/torques set using addBaseForce etc).
-	// also sets up caches for calcAccelerationDeltas.
-	//
-	// Note: the caller must provide three vectors which are used as
-	// temporary scratch space. The idea here is to reduce dynamic
-	// memory allocation: the same scratch vectors can be re-used
-	// again and again for different Multibodies, instead of each
-	// btMultiBody allocating (and then deallocating) their own
-	// individual scratch buffers. This gives a considerable speed
-	// improvement, at least on Windows (where dynamic memory
-	// allocation appears to be fairly slow).
-	//
-
-	void computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar dt,
-															  btAlignedObjectArray<btScalar> & scratch_r,
-															  btAlignedObjectArray<btVector3> & scratch_v,
-															  btAlignedObjectArray<btMatrix3x3> & scratch_m,
-															  bool isConstraintPass,
-                                                              bool jointFeedbackInWorldSpace,
-                                                              bool jointFeedbackInJointFrame
-                                                              );
-
-	///stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead
-	//void stepVelocitiesMultiDof(btScalar dt,
-	//							btAlignedObjectArray<btScalar> & scratch_r,
-	//							btAlignedObjectArray<btVector3> & scratch_v,
-	//							btAlignedObjectArray<btMatrix3x3> & scratch_m,
-	//							bool isConstraintPass = false)
-	//{
-	//	computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt, scratch_r, scratch_v, scratch_m, isConstraintPass, false, false);
-	//}
-
-	// calcAccelerationDeltasMultiDof
-	// input: force vector (in same format as jacobian, i.e.:
-	//                      3 torque values, 3 force values, num_links joint torque values)
-	// output: 3 omegadot values, 3 vdot values, num_links q_double_dot values
-	// (existing contents of output array are replaced)
-	// calcAccelerationDeltasMultiDof must have been called first.
-	void calcAccelerationDeltasMultiDof(const btScalar *force, btScalar *output,
-										btAlignedObjectArray<btScalar> &scratch_r,
-										btAlignedObjectArray<btVector3> &scratch_v) const;
-
-	void applyDeltaVeeMultiDof2(const btScalar *delta_vee, btScalar multiplier)
-	{
-		for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
-		{
-			m_deltaV[dof] += delta_vee[dof] * multiplier;
-		}
-	}
-    void applyDeltaSplitVeeMultiDof(const btScalar *delta_vee, btScalar multiplier)
-    {
-        for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
-        {
-            m_splitV[dof] += delta_vee[dof] * multiplier;
-        }
-    }
-    void addSplitV()
-    {
-        applyDeltaVeeMultiDof(&m_splitV[0], 1);
-    }
-    void substractSplitV()
-    {
-        applyDeltaVeeMultiDof(&m_splitV[0], -1);
-        
-        for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
-        {
-            m_splitV[dof] = 0.f;
-        }
-    }
-	void processDeltaVeeMultiDof2()
-	{
-		applyDeltaVeeMultiDof(&m_deltaV[0], 1);
-
-		for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
-		{
-			m_deltaV[dof] = 0.f;
-		}
-	}
-
-	void applyDeltaVeeMultiDof(const btScalar *delta_vee, btScalar multiplier)
-	{
-		//for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
-		//	printf("%.4f ", delta_vee[dof]*multiplier);
-		//printf("\n");
-
-		//btScalar sum = 0;
-		//for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
-		//{
-		//	sum += delta_vee[dof]*multiplier*delta_vee[dof]*multiplier;
-		//}
-		//btScalar l = btSqrt(sum);
-
-		//if (l>m_maxAppliedImpulse)
-		//{
-		//	multiplier *= m_maxAppliedImpulse/l;
-		//}
-
-		for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
-		{
-			m_realBuf[dof] += delta_vee[dof] * multiplier;
-			btClamp(m_realBuf[dof], -m_maxCoordinateVelocity, m_maxCoordinateVelocity);
-		}
-	}
-
-	// timestep the positions (given current velocities).
-	void stepPositionsMultiDof(btScalar dt, btScalar *pq = 0, btScalar *pqd = 0);
-    
-    // predict the positions
-    void predictPositionsMultiDof(btScalar dt);
-
-	//
-	// contacts
-	//
-
-	// This routine fills out a contact constraint jacobian for this body.
-	// the 'normal' supplied must be -n for body1 or +n for body2 of the contact.
-	// 'normal' & 'contact_point' are both given in world coordinates.
-
-	void fillContactJacobianMultiDof(int link,
-									 const btVector3 &contact_point,
-									 const btVector3 &normal,
-									 btScalar *jac,
-									 btAlignedObjectArray<btScalar> &scratch_r,
-									 btAlignedObjectArray<btVector3> &scratch_v,
-									 btAlignedObjectArray<btMatrix3x3> &scratch_m) const { fillConstraintJacobianMultiDof(link, contact_point, btVector3(0, 0, 0), normal, jac, scratch_r, scratch_v, scratch_m); }
-
-	//a more general version of fillContactJacobianMultiDof which does not assume..
-	//.. that the constraint in question is contact or, to be more precise, constrains linear velocity only
-	void fillConstraintJacobianMultiDof(int link,
-										const btVector3 &contact_point,
-										const btVector3 &normal_ang,
-										const btVector3 &normal_lin,
-										btScalar *jac,
-										btAlignedObjectArray<btScalar> &scratch_r,
-										btAlignedObjectArray<btVector3> &scratch_v,
-										btAlignedObjectArray<btMatrix3x3> &scratch_m) const;
-
-	//
-	// sleeping
-	//
-	void setCanSleep(bool canSleep)
-	{
-		if (m_canWakeup)
-		{
-			m_canSleep = canSleep;
-		}
-	}
-
-	bool getCanSleep() const
-	{
-		return m_canSleep;
-	}
-
-	bool getCanWakeup() const
-	{
-		return m_canWakeup;
-	}
-	
-	void setCanWakeup(bool canWakeup) 
-	{
-		m_canWakeup = canWakeup;
-	}
-	bool isAwake() const 
-	{ 
-		return m_awake; 
-	}
-	void wakeUp();
-	void goToSleep();
-	void checkMotionAndSleepIfRequired(btScalar timestep);
-
-	bool hasFixedBase() const;
-
-	bool isBaseKinematic() const;
-
-	bool isBaseStaticOrKinematic() const;
-
-	// set the dynamic type in the base's collision flags.
-	void setBaseDynamicType(int dynamicType);
-
-	void setFixedBase(bool fixedBase)
-	{
-		m_fixedBase = fixedBase;
-		if(m_fixedBase)
-			setBaseDynamicType(btCollisionObject::CF_STATIC_OBJECT);
-		else
-			setBaseDynamicType(btCollisionObject::CF_DYNAMIC_OBJECT);
-	}
-
-	int getCompanionId() const
-	{
-		return m_companionId;
-	}
-	void setCompanionId(int id)
-	{
-		//printf("for %p setCompanionId(%d)\n",this, id);
-		m_companionId = id;
-	}
-
-	void setNumLinks(int numLinks)  //careful: when changing the number of m_links, make sure to re-initialize or update existing m_links
-	{
-		m_links.resize(numLinks);
-	}
-
-	btScalar getLinearDamping() const
-	{
-		return m_linearDamping;
-	}
-	void setLinearDamping(btScalar damp)
-	{
-		m_linearDamping = damp;
-	}
-	btScalar getAngularDamping() const
-	{
-		return m_angularDamping;
-	}
-	void setAngularDamping(btScalar damp)
-	{
-		m_angularDamping = damp;
-	}
-
-	bool getUseGyroTerm() const
-	{
-		return m_useGyroTerm;
-	}
-	void setUseGyroTerm(bool useGyro)
-	{
-		m_useGyroTerm = useGyro;
-	}
-	btScalar getMaxCoordinateVelocity() const
-	{
-		return m_maxCoordinateVelocity;
-	}
-	void setMaxCoordinateVelocity(btScalar maxVel)
-	{
-		m_maxCoordinateVelocity = maxVel;
-	}
-
-	btScalar getMaxAppliedImpulse() const
-	{
-		return m_maxAppliedImpulse;
-	}
-	void setMaxAppliedImpulse(btScalar maxImp)
-	{
-		m_maxAppliedImpulse = maxImp;
-	}
-	void setHasSelfCollision(bool hasSelfCollision)
-	{
-		m_hasSelfCollision = hasSelfCollision;
-	}
-	bool hasSelfCollision() const
-	{
-		return m_hasSelfCollision;
-	}
-
-	void finalizeMultiDof();
-
-	void useRK4Integration(bool use) { m_useRK4 = use; }
-	bool isUsingRK4Integration() const { return m_useRK4; }
-	void useGlobalVelocities(bool use) { m_useGlobalVelocities = use; }
-	bool isUsingGlobalVelocities() const { return m_useGlobalVelocities; }
-
-	bool isPosUpdated() const
-	{
-		return __posUpdated;
-	}
-	void setPosUpdated(bool updated)
-	{
-		__posUpdated = updated;
-	}
-
-	//internalNeedsJointFeedback is for internal use only
-	bool internalNeedsJointFeedback() const
-	{
-		return m_internalNeedsJointFeedback;
-	}
-	void forwardKinematics(btAlignedObjectArray<btQuaternion>& world_to_local, btAlignedObjectArray<btVector3> & local_origin);
-
-	void compTreeLinkVelocities(btVector3 * omega, btVector3 * vel) const;
-
-	void updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQuaternion> & world_to_local, btAlignedObjectArray<btVector3> & local_origin);
-    void updateCollisionObjectInterpolationWorldTransforms(btAlignedObjectArray<btQuaternion> & world_to_local, btAlignedObjectArray<btVector3> & local_origin);
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char *serialize(void *dataBuffer, class btSerializer *serializer) const;
-
-	const char *getBaseName() const
-	{
-		return m_baseName;
-	}
-	///memory of setBaseName needs to be manager by user
-	void setBaseName(const char *name)
-	{
-		m_baseName = name;
-	}
-
-	///users can point to their objects, userPointer is not used by Bullet
-	void *getUserPointer() const
-	{
-		return m_userObjectPointer;
-	}
-
-	int getUserIndex() const
-	{
-		return m_userIndex;
-	}
-
-	int getUserIndex2() const
-	{
-		return m_userIndex2;
-	}
-	///users can point to their objects, userPointer is not used by Bullet
-	void setUserPointer(void *userPointer)
-	{
-		m_userObjectPointer = userPointer;
-	}
-
-	///users can point to their objects, userPointer is not used by Bullet
-	void setUserIndex(int index)
-	{
-		m_userIndex = index;
-	}
-
-	void setUserIndex2(int index)
-	{
-		m_userIndex2 = index;
-	}
-
-	static void spatialTransform(const btMatrix3x3 &rotation_matrix,  // rotates vectors in 'from' frame to vectors in 'to' frame
-		const btVector3 &displacement,     // vector from origin of 'from' frame to origin of 'to' frame, in 'to' coordinates
-		const btVector3 &top_in,       // top part of input vector
-		const btVector3 &bottom_in,    // bottom part of input vector
-		btVector3 &top_out,         // top part of output vector
-		btVector3 &bottom_out);      // bottom part of output vector
-
-	void setLinkDynamicType(const int i, int type);
-
-	bool isLinkStaticOrKinematic(const int i) const;
-
-	bool isLinkKinematic(const int i) const;
-
-	bool isLinkAndAllAncestorsStaticOrKinematic(const int i) const;
-
-	bool isLinkAndAllAncestorsKinematic(const int i) const;
-
-	void setSleepThreshold(btScalar sleepThreshold)
-	{
-		m_sleepEpsilon = sleepThreshold;
-	}
-
-	void setSleepTimeout(btScalar sleepTimeout)
-	{
-		this->m_sleepTimeout = sleepTimeout;
-	}
-
-
-private:
-	btMultiBody(const btMultiBody &);     // not implemented
-	void operator=(const btMultiBody &);  // not implemented
-
-	void solveImatrix(const btVector3 &rhs_top, const btVector3 &rhs_bot, btScalar result[6]) const;
-	void solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionVector &result) const;
-
-	void updateLinksDofOffsets()
-	{
-		int dofOffset = 0, cfgOffset = 0;
-		for (int bidx = 0; bidx < m_links.size(); ++bidx)
-		{
-			m_links[bidx].m_dofOffset = dofOffset;
-			m_links[bidx].m_cfgOffset = cfgOffset;
-			dofOffset += m_links[bidx].m_dofCount;
-			cfgOffset += m_links[bidx].m_posVarCount;
-		}
-	}
-
-	void mulMatrix(const btScalar *pA, const btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const;
-
-private:
-	btMultiBodyLinkCollider *m_baseCollider;  //can be NULL
-	const char *m_baseName;                   //memory needs to be manager by user!
-
-	btVector3 m_basePos;      // position of COM of base (world frame)
-    btVector3 m_basePos_interpolate;      // position of interpolated COM of base (world frame)
-	btQuaternion m_baseQuat;  // rotates world points into base frame
-    btQuaternion m_baseQuat_interpolate;  
-
-	btScalar m_baseMass;      // mass of the base
-	btVector3 m_baseInertia;  // inertia of the base (in local frame; diagonal)
-
-	btVector3 m_baseForce;   // external force applied to base. World frame.
-	btVector3 m_baseTorque;  // external torque applied to base. World frame.
-
-	btVector3 m_baseConstraintForce;   // external force applied to base. World frame.
-	btVector3 m_baseConstraintTorque;  // external torque applied to base. World frame.
-
-	btAlignedObjectArray<btMultibodyLink> m_links;  // array of m_links, excluding the base. index from 0 to num_links-1.
-
-	//
-	// realBuf:
-	//  offset         size            array
-	//   0              6 + num_links   v (base_omega; base_vel; joint_vels)					MULTIDOF [sysdof x sysdof for D matrices (TOO MUCH!) + pos_delta which is sys-cfg sized]
-	//   6+num_links    num_links       D
-	//
-	// vectorBuf:
-	//  offset         size         array
-	//   0              num_links    h_top
-	//   num_links      num_links    h_bottom
-	//
-	// matrixBuf:
-	//  offset         size         array
-	//   0              num_links+1  rot_from_parent
-	//
-    btAlignedObjectArray<btScalar> m_splitV;
-	btAlignedObjectArray<btScalar> m_deltaV;
-	btAlignedObjectArray<btScalar> m_realBuf;
-	btAlignedObjectArray<btVector3> m_vectorBuf;
-	btAlignedObjectArray<btMatrix3x3> m_matrixBuf;
-
-	btMatrix3x3 m_cachedInertiaTopLeft;
-	btMatrix3x3 m_cachedInertiaTopRight;
-	btMatrix3x3 m_cachedInertiaLowerLeft;
-	btMatrix3x3 m_cachedInertiaLowerRight;
-	bool m_cachedInertiaValid;
-
-	bool m_fixedBase;
-
-	// Sleep parameters.
-	bool m_awake;
-	bool m_canSleep;
-	bool m_canWakeup;
-	btScalar m_sleepTimer;
-	btScalar m_sleepEpsilon;
-	btScalar m_sleepTimeout;
-
-	void *m_userObjectPointer;
-	int m_userIndex2;
-	int m_userIndex;
-
-	int m_companionId;
-	btScalar m_linearDamping;
-	btScalar m_angularDamping;
-	bool m_useGyroTerm;
-	btScalar m_maxAppliedImpulse;
-	btScalar m_maxCoordinateVelocity;
-	bool m_hasSelfCollision;
-
-	bool __posUpdated;
-	int m_dofCount, m_posVarCnt;
-
-	bool m_useRK4, m_useGlobalVelocities;
-	//for global velocities, see 8.3.2B Proposed resolution in Jakub Stepien PhD Thesis
-	//https://drive.google.com/file/d/0Bz3vEa19XOYGNWdZWGpMdUdqVmZ5ZVBOaEh4ZnpNaUxxZFNV/view?usp=sharing
-
-	///the m_needsJointFeedback gets updated/computed during the stepVelocitiesMultiDof and it for internal usage only
-	bool m_internalNeedsJointFeedback;
-
-  //If enabled, calculate the velocity based on kinematic transform changes. Currently only implemented for the base.
-	bool m_kinematic_calculate_velocity;
-};
-
-struct btMultiBodyLinkDoubleData
-{
-	btQuaternionDoubleData m_zeroRotParentToThis;
-	btVector3DoubleData m_parentComToThisPivotOffset;
-	btVector3DoubleData m_thisPivotToThisComOffset;
-	btVector3DoubleData m_jointAxisTop[6];
-	btVector3DoubleData m_jointAxisBottom[6];
-
-	btVector3DoubleData m_linkInertia;  // inertia of the base (in local frame; diagonal)
-	btVector3DoubleData m_absFrameTotVelocityTop;
-	btVector3DoubleData m_absFrameTotVelocityBottom;
-	btVector3DoubleData m_absFrameLocVelocityTop;
-	btVector3DoubleData m_absFrameLocVelocityBottom;
-
-	double m_linkMass;
-	int m_parentIndex;
-	int m_jointType;
-
-	int m_dofCount;
-	int m_posVarCount;
-	double m_jointPos[7];
-	double m_jointVel[6];
-	double m_jointTorque[6];
-
-	double m_jointDamping;
-	double m_jointFriction;
-	double m_jointLowerLimit;
-	double m_jointUpperLimit;
-	double m_jointMaxForce;
-	double m_jointMaxVelocity;
-
-	char *m_linkName;
-	char *m_jointName;
-	btCollisionObjectDoubleData *m_linkCollider;
-	char *m_paddingPtr;
-};
-
-struct btMultiBodyLinkFloatData
-{
-	btQuaternionFloatData m_zeroRotParentToThis;
-	btVector3FloatData m_parentComToThisPivotOffset;
-	btVector3FloatData m_thisPivotToThisComOffset;
-	btVector3FloatData m_jointAxisTop[6];
-	btVector3FloatData m_jointAxisBottom[6];
-	btVector3FloatData m_linkInertia;  // inertia of the base (in local frame; diagonal)
-	btVector3FloatData m_absFrameTotVelocityTop;
-	btVector3FloatData m_absFrameTotVelocityBottom;
-	btVector3FloatData m_absFrameLocVelocityTop;
-	btVector3FloatData m_absFrameLocVelocityBottom;
-
-	int m_dofCount;
-	float m_linkMass;
-	int m_parentIndex;
-	int m_jointType;
-
-	float m_jointPos[7];
-	float m_jointVel[6];
-	float m_jointTorque[6];
-	int m_posVarCount;
-	float m_jointDamping;
-	float m_jointFriction;
-	float m_jointLowerLimit;
-	float m_jointUpperLimit;
-	float m_jointMaxForce;
-	float m_jointMaxVelocity;
-
-	char *m_linkName;
-	char *m_jointName;
-	btCollisionObjectFloatData *m_linkCollider;
-	char *m_paddingPtr;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btMultiBodyDoubleData
-{
-	btVector3DoubleData m_baseWorldPosition;
-	btQuaternionDoubleData m_baseWorldOrientation;
-	btVector3DoubleData m_baseLinearVelocity;
-	btVector3DoubleData m_baseAngularVelocity;
-	btVector3DoubleData m_baseInertia;  // inertia of the base (in local frame; diagonal)
-	double m_baseMass;
-	int m_numLinks;
-	char m_padding[4];
-
-	char *m_baseName;
-	btMultiBodyLinkDoubleData *m_links;
-	btCollisionObjectDoubleData *m_baseCollider;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btMultiBodyFloatData
-{
-	btVector3FloatData m_baseWorldPosition;
-	btQuaternionFloatData m_baseWorldOrientation;
-	btVector3FloatData m_baseLinearVelocity;
-	btVector3FloatData m_baseAngularVelocity;
-
-	btVector3FloatData m_baseInertia;  // inertia of the base (in local frame; diagonal)
-	float m_baseMass;
-	int m_numLinks;
-
-	char *m_baseName;
-	btMultiBodyLinkFloatData *m_links;
-	btCollisionObjectFloatData *m_baseCollider;
-};
-
-#endif
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
deleted file mode 100644
index 00d5fd5609..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
+++ /dev/null
@@ -1,389 +0,0 @@
-#include "btMultiBodyConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "btMultiBodyPoint2Point.h"  //for testing (BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST macro)
-
-btMultiBodyConstraint::btMultiBodyConstraint(btMultiBody* bodyA, btMultiBody* bodyB, int linkA, int linkB, int numRows, bool isUnilateral, int type)
-	: m_bodyA(bodyA),
-	  m_bodyB(bodyB),
-	  m_linkA(linkA),
-	  m_linkB(linkB),
-	  m_type(type),
-	  m_numRows(numRows),
-	  m_jacSizeA(0),
-	  m_jacSizeBoth(0),
-	  m_isUnilateral(isUnilateral),
-	  m_numDofsFinalized(-1),
-	  m_maxAppliedImpulse(100)
-{
-}
-
-void btMultiBodyConstraint::updateJacobianSizes()
-{
-	if (m_bodyA)
-	{
-		m_jacSizeA = (6 + m_bodyA->getNumDofs());
-	}
-
-	if (m_bodyB)
-	{
-		m_jacSizeBoth = m_jacSizeA + 6 + m_bodyB->getNumDofs();
-	}
-	else
-		m_jacSizeBoth = m_jacSizeA;
-}
-
-void btMultiBodyConstraint::allocateJacobiansMultiDof()
-{
-	updateJacobianSizes();
-
-	m_posOffset = ((1 + m_jacSizeBoth) * m_numRows);
-	m_data.resize((2 + m_jacSizeBoth) * m_numRows);
-}
-
-btMultiBodyConstraint::~btMultiBodyConstraint()
-{
-}
-
-void btMultiBodyConstraint::applyDeltaVee(btMultiBodyJacobianData& data, btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof)
-{
-	for (int i = 0; i < ndof; ++i)
-		data.m_deltaVelocities[velocityIndex + i] += delta_vee[i] * impulse;
-}
-
-btScalar btMultiBodyConstraint::fillMultiBodyConstraint(btMultiBodySolverConstraint& solverConstraint,
-														btMultiBodyJacobianData& data,
-														btScalar* jacOrgA, btScalar* jacOrgB,
-														const btVector3& constraintNormalAng,
-														const btVector3& constraintNormalLin,
-														const btVector3& posAworld, const btVector3& posBworld,
-														btScalar posError,
-														const btContactSolverInfo& infoGlobal,
-														btScalar lowerLimit, btScalar upperLimit,
-														bool angConstraint,
-														btScalar relaxation,
-														bool isFriction, btScalar desiredVelocity, btScalar cfmSlip,
-														btScalar damping)
-{
-	solverConstraint.m_multiBodyA = m_bodyA;
-	solverConstraint.m_multiBodyB = m_bodyB;
-	solverConstraint.m_linkA = m_linkA;
-	solverConstraint.m_linkB = m_linkB;
-
-	btMultiBody* multiBodyA = solverConstraint.m_multiBodyA;
-	btMultiBody* multiBodyB = solverConstraint.m_multiBodyB;
-
-	btSolverBody* bodyA = multiBodyA ? 0 : &data.m_solverBodyPool->at(solverConstraint.m_solverBodyIdA);
-	btSolverBody* bodyB = multiBodyB ? 0 : &data.m_solverBodyPool->at(solverConstraint.m_solverBodyIdB);
-
-	btRigidBody* rb0 = multiBodyA ? 0 : bodyA->m_originalBody;
-	btRigidBody* rb1 = multiBodyB ? 0 : bodyB->m_originalBody;
-
-	btVector3 rel_pos1, rel_pos2;  //these two used to be inited to posAworld and posBworld (respectively) but it does not seem necessary
-	if (bodyA)
-		rel_pos1 = posAworld - bodyA->getWorldTransform().getOrigin();
-	if (bodyB)
-		rel_pos2 = posBworld - bodyB->getWorldTransform().getOrigin();
-
-	if (multiBodyA)
-	{
-		if (solverConstraint.m_linkA < 0)
-		{
-			rel_pos1 = posAworld - multiBodyA->getBasePos();
-		}
-		else
-		{
-			rel_pos1 = posAworld - multiBodyA->getLink(solverConstraint.m_linkA).m_cachedWorldTransform.getOrigin();
-		}
-
-		const int ndofA = multiBodyA->getNumDofs() + 6;
-
-		solverConstraint.m_deltaVelAindex = multiBodyA->getCompanionId();
-
-		if (solverConstraint.m_deltaVelAindex < 0)
-		{
-			solverConstraint.m_deltaVelAindex = data.m_deltaVelocities.size();
-			multiBodyA->setCompanionId(solverConstraint.m_deltaVelAindex);
-			data.m_deltaVelocities.resize(data.m_deltaVelocities.size() + ndofA);
-		}
-		else
-		{
-			btAssert(data.m_deltaVelocities.size() >= solverConstraint.m_deltaVelAindex + ndofA);
-		}
-
-		//determine jacobian of this 1D constraint in terms of multibodyA's degrees of freedom
-		//resize..
-		solverConstraint.m_jacAindex = data.m_jacobians.size();
-		data.m_jacobians.resize(data.m_jacobians.size() + ndofA);
-		//copy/determine
-		if (jacOrgA)
-		{
-			for (int i = 0; i < ndofA; i++)
-				data.m_jacobians[solverConstraint.m_jacAindex + i] = jacOrgA[i];
-		}
-		else
-		{
-			btScalar* jac1 = &data.m_jacobians[solverConstraint.m_jacAindex];
-			//multiBodyA->fillContactJacobianMultiDof(solverConstraint.m_linkA, posAworld, constraintNormalLin, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
-			multiBodyA->fillConstraintJacobianMultiDof(solverConstraint.m_linkA, posAworld, constraintNormalAng, constraintNormalLin, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
-		}
-
-		//determine the velocity response of multibodyA to reaction impulses of this constraint (i.e. A[i,i] for i=1,...n_con: multibody's inverse inertia with respect to this 1D constraint)
-		//resize..
-		data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size() + ndofA);  //=> each constraint row has the constrained tree dofs allocated in m_deltaVelocitiesUnitImpulse
-		btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size());
-		btScalar* delta = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
-		//determine..
-		multiBodyA->calcAccelerationDeltasMultiDof(&data.m_jacobians[solverConstraint.m_jacAindex], delta, data.scratch_r, data.scratch_v);
-
-		btVector3 torqueAxis0;
-		if (angConstraint)
-		{
-			torqueAxis0 = constraintNormalAng;
-		}
-		else
-		{
-			torqueAxis0 = rel_pos1.cross(constraintNormalLin);
-		}
-		solverConstraint.m_relpos1CrossNormal = torqueAxis0;
-		solverConstraint.m_contactNormal1 = constraintNormalLin;
-	}
-	else  //if(rb0)
-	{
-		btVector3 torqueAxis0;
-		if (angConstraint)
-		{
-			torqueAxis0 = constraintNormalAng;
-		}
-		else
-		{
-			torqueAxis0 = rel_pos1.cross(constraintNormalLin);
-		}
-		solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld() * torqueAxis0 * rb0->getAngularFactor() : btVector3(0, 0, 0);
-		solverConstraint.m_relpos1CrossNormal = torqueAxis0;
-		solverConstraint.m_contactNormal1 = constraintNormalLin;
-	}
-
-	if (multiBodyB)
-	{
-		if (solverConstraint.m_linkB < 0)
-		{
-			rel_pos2 = posBworld - multiBodyB->getBasePos();
-		}
-		else
-		{
-			rel_pos2 = posBworld - multiBodyB->getLink(solverConstraint.m_linkB).m_cachedWorldTransform.getOrigin();
-		}
-
-		const int ndofB = multiBodyB->getNumDofs() + 6;
-
-		solverConstraint.m_deltaVelBindex = multiBodyB->getCompanionId();
-		if (solverConstraint.m_deltaVelBindex < 0)
-		{
-			solverConstraint.m_deltaVelBindex = data.m_deltaVelocities.size();
-			multiBodyB->setCompanionId(solverConstraint.m_deltaVelBindex);
-			data.m_deltaVelocities.resize(data.m_deltaVelocities.size() + ndofB);
-		}
-
-		//determine jacobian of this 1D constraint in terms of multibodyB's degrees of freedom
-		//resize..
-		solverConstraint.m_jacBindex = data.m_jacobians.size();
-		data.m_jacobians.resize(data.m_jacobians.size() + ndofB);
-		//copy/determine..
-		if (jacOrgB)
-		{
-			for (int i = 0; i < ndofB; i++)
-				data.m_jacobians[solverConstraint.m_jacBindex + i] = jacOrgB[i];
-		}
-		else
-		{
-			//multiBodyB->fillContactJacobianMultiDof(solverConstraint.m_linkB, posBworld, -constraintNormalLin, &data.m_jacobians[solverConstraint.m_jacBindex], data.scratch_r, data.scratch_v, data.scratch_m);
-			multiBodyB->fillConstraintJacobianMultiDof(solverConstraint.m_linkB, posBworld, -constraintNormalAng, -constraintNormalLin, &data.m_jacobians[solverConstraint.m_jacBindex], data.scratch_r, data.scratch_v, data.scratch_m);
-		}
-
-		//determine velocity response of multibodyB to reaction impulses of this constraint (i.e. A[i,i] for i=1,...n_con: multibody's inverse inertia with respect to this 1D constraint)
-		//resize..
-		data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size() + ndofB);
-		btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size());
-		btScalar* delta = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
-		//determine..
-		multiBodyB->calcAccelerationDeltasMultiDof(&data.m_jacobians[solverConstraint.m_jacBindex], delta, data.scratch_r, data.scratch_v);
-
-		btVector3 torqueAxis1;
-		if (angConstraint)
-		{
-			torqueAxis1 = constraintNormalAng;
-		}
-		else
-		{
-			torqueAxis1 = rel_pos2.cross(constraintNormalLin);
-		}
-		solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
-		solverConstraint.m_contactNormal2 = -constraintNormalLin;
-	}
-	else  //if(rb1)
-	{
-		btVector3 torqueAxis1;
-		if (angConstraint)
-		{
-			torqueAxis1 = constraintNormalAng;
-		}
-		else
-		{
-			torqueAxis1 = rel_pos2.cross(constraintNormalLin);
-		}
-		solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld() * -torqueAxis1 * rb1->getAngularFactor() : btVector3(0, 0, 0);
-		solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
-		solverConstraint.m_contactNormal2 = -constraintNormalLin;
-	}
-	{
-		btVector3 vec;
-		btScalar denom0 = 0.f;
-		btScalar denom1 = 0.f;
-		btScalar* jacB = 0;
-		btScalar* jacA = 0;
-		btScalar* deltaVelA = 0;
-		btScalar* deltaVelB = 0;
-		int ndofA = 0;
-		//determine the "effective mass" of the constrained multibodyA with respect to this 1D constraint (i.e. 1/A[i,i])
-		if (multiBodyA)
-		{
-			ndofA = multiBodyA->getNumDofs() + 6;
-			jacA = &data.m_jacobians[solverConstraint.m_jacAindex];
-			deltaVelA = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
-			for (int i = 0; i < ndofA; ++i)
-			{
-				btScalar j = jacA[i];
-				btScalar l = deltaVelA[i];
-				denom0 += j * l;
-			}
-		}
-		else if (rb0)
-		{
-			vec = (solverConstraint.m_angularComponentA).cross(rel_pos1);
-			if (angConstraint)
-			{
-				denom0 = constraintNormalAng.dot(solverConstraint.m_angularComponentA);
-			}
-			else
-			{
-				denom0 = rb0->getInvMass() + constraintNormalLin.dot(vec);
-			}
-		}
-		//
-		if (multiBodyB)
-		{
-			const int ndofB = multiBodyB->getNumDofs() + 6;
-			jacB = &data.m_jacobians[solverConstraint.m_jacBindex];
-			deltaVelB = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
-			for (int i = 0; i < ndofB; ++i)
-			{
-				btScalar j = jacB[i];
-				btScalar l = deltaVelB[i];
-				denom1 += j * l;
-			}
-		}
-		else if (rb1)
-		{
-			vec = (-solverConstraint.m_angularComponentB).cross(rel_pos2);
-			if (angConstraint)
-			{
-				denom1 = constraintNormalAng.dot(-solverConstraint.m_angularComponentB);
-			}
-			else
-			{
-				denom1 = rb1->getInvMass() + constraintNormalLin.dot(vec);
-			}
-		}
-
-		//
-		btScalar d = denom0 + denom1;
-		if (d > SIMD_EPSILON)
-		{
-			solverConstraint.m_jacDiagABInv = relaxation / (d);
-		}
-		else
-		{
-			//disable the constraint row to handle singularity/redundant constraint
-			solverConstraint.m_jacDiagABInv = 0.f;
-		}
-	}
-
-	//compute rhs and remaining solverConstraint fields
-	btScalar penetration = isFriction ? 0 : posError;
-
-	btScalar rel_vel = 0.f;
-	int ndofA = 0;
-	int ndofB = 0;
-	{
-		btVector3 vel1, vel2;
-		if (multiBodyA)
-		{
-			ndofA = multiBodyA->getNumDofs() + 6;
-			btScalar* jacA = &data.m_jacobians[solverConstraint.m_jacAindex];
-			for (int i = 0; i < ndofA; ++i)
-				rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i];
-		}
-		else if (rb0)
-		{
-			rel_vel += rb0->getLinearVelocity().dot(solverConstraint.m_contactNormal1);
-			rel_vel += rb0->getAngularVelocity().dot(solverConstraint.m_relpos1CrossNormal);
-		}
-		if (multiBodyB)
-		{
-			ndofB = multiBodyB->getNumDofs() + 6;
-			btScalar* jacB = &data.m_jacobians[solverConstraint.m_jacBindex];
-			for (int i = 0; i < ndofB; ++i)
-				rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i];
-		}
-		else if (rb1)
-		{
-			rel_vel += rb1->getLinearVelocity().dot(solverConstraint.m_contactNormal2);
-			rel_vel += rb1->getAngularVelocity().dot(solverConstraint.m_relpos2CrossNormal);
-		}
-
-		solverConstraint.m_friction = 0.f;  //cp.m_combinedFriction;
-	}
-
-	solverConstraint.m_appliedImpulse = 0.f;
-	solverConstraint.m_appliedPushImpulse = 0.f;
-
-	{
-		btScalar positionalError = 0.f;
-		btScalar velocityError = (desiredVelocity - rel_vel) * damping;
-
-		btScalar erp = infoGlobal.m_erp2;
-
-		//split impulse is not implemented yet for btMultiBody*
-		//if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
-		{
-			erp = infoGlobal.m_erp;
-		}
-
-		positionalError = -penetration * erp / infoGlobal.m_timeStep;
-
-		btScalar penetrationImpulse = positionalError * solverConstraint.m_jacDiagABInv;
-		btScalar velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
-
-		//split impulse is not implemented yet for btMultiBody*
-
-		//  if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
-		{
-			//combine position and velocity into rhs
-			solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;
-			solverConstraint.m_rhsPenetration = 0.f;
-		}
-		/*else
-        {
-            //split position and velocity into rhs and m_rhsPenetration
-            solverConstraint.m_rhs = velocityImpulse;
-            solverConstraint.m_rhsPenetration = penetrationImpulse;
-        }
-        */
-
-		solverConstraint.m_cfm = 0.f;
-		solverConstraint.m_lowerLimit = lowerLimit;
-		solverConstraint.m_upperLimit = upperLimit;
-	}
-
-	return rel_vel;
-}
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h
deleted file mode 100644
index 1aaa07b69e..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h
+++ /dev/null
@@ -1,215 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_MULTIBODY_CONSTRAINT_H
-#define BT_MULTIBODY_CONSTRAINT_H
-
-#include "LinearMath/btScalar.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "btMultiBody.h"
-
-
-//Don't change any of the existing enum values, so add enum types at the end for serialization compatibility
-enum btTypedMultiBodyConstraintType
-{
-	MULTIBODY_CONSTRAINT_LIMIT=3,
-	MULTIBODY_CONSTRAINT_1DOF_JOINT_MOTOR,
-	MULTIBODY_CONSTRAINT_GEAR,
-	MULTIBODY_CONSTRAINT_POINT_TO_POINT,
-	MULTIBODY_CONSTRAINT_SLIDER,
-	MULTIBODY_CONSTRAINT_SPHERICAL_MOTOR,
-	MULTIBODY_CONSTRAINT_FIXED,
-	
-	MAX_MULTIBODY_CONSTRAINT_TYPE,
-};
-
-class btMultiBody;
-struct btSolverInfo;
-
-#include "btMultiBodySolverConstraint.h"
-
-struct btMultiBodyJacobianData
-{
-	btAlignedObjectArray<btScalar> m_jacobians;
-	btAlignedObjectArray<btScalar> m_deltaVelocitiesUnitImpulse;  //holds the joint-space response of the corresp. tree to the test impulse in each constraint space dimension
-	btAlignedObjectArray<btScalar> m_deltaVelocities;             //holds joint-space vectors of all the constrained trees accumulating the effect of corrective impulses applied in SI
-	btAlignedObjectArray<btScalar> scratch_r;
-	btAlignedObjectArray<btVector3> scratch_v;
-	btAlignedObjectArray<btMatrix3x3> scratch_m;
-	btAlignedObjectArray<btSolverBody>* m_solverBodyPool;
-	int m_fixedBodyId;
-};
-
-ATTRIBUTE_ALIGNED16(class)
-btMultiBodyConstraint
-{
-protected:
-	btMultiBody* m_bodyA;
-	btMultiBody* m_bodyB;
-	int m_linkA;
-	int m_linkB;
-
-	int m_type; //btTypedMultiBodyConstraintType
-
-	int m_numRows;
-	int m_jacSizeA;
-	int m_jacSizeBoth;
-	int m_posOffset;
-
-	bool m_isUnilateral;
-	int m_numDofsFinalized;
-	btScalar m_maxAppliedImpulse;
-
-	// warning: the data block lay out is not consistent for all constraints
-	// data block laid out as follows:
-	// cached impulses. (one per row.)
-	// jacobians. (interleaved, row1 body1 then row1 body2 then row2 body 1 etc)
-	// positions. (one per row.)
-	btAlignedObjectArray<btScalar> m_data;
-
-	void applyDeltaVee(btMultiBodyJacobianData & data, btScalar * delta_vee, btScalar impulse, int velocityIndex, int ndof);
-
-	btScalar fillMultiBodyConstraint(btMultiBodySolverConstraint & solverConstraint,
-									 btMultiBodyJacobianData & data,
-									 btScalar * jacOrgA, btScalar * jacOrgB,
-									 const btVector3& constraintNormalAng,
-
-									 const btVector3& constraintNormalLin,
-									 const btVector3& posAworld, const btVector3& posBworld,
-									 btScalar posError,
-									 const btContactSolverInfo& infoGlobal,
-									 btScalar lowerLimit, btScalar upperLimit,
-									 bool angConstraint = false,
-
-									 btScalar relaxation = 1.f,
-									 bool isFriction = false, btScalar desiredVelocity = 0, btScalar cfmSlip = 0, btScalar damping = 1.0);
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btMultiBodyConstraint(btMultiBody * bodyA, btMultiBody * bodyB, int linkA, int linkB, int numRows, bool isUnilateral, int type);
-	virtual ~btMultiBodyConstraint();
-
-	void updateJacobianSizes();
-	void allocateJacobiansMultiDof();
-
-	int getConstraintType() const
-	{
-		return m_type;
-	}
-	//many constraints have setFrameInB/setPivotInB. Will use 'getConstraintType' later.
-	virtual void setFrameInB(const btMatrix3x3& frameInB) {}
-	virtual void setPivotInB(const btVector3& pivotInB) {}
-
-	virtual void finalizeMultiDof() = 0;
-
-	virtual int getIslandIdA() const = 0;
-	virtual int getIslandIdB() const = 0;
-
-	virtual void createConstraintRows(btMultiBodyConstraintArray & constraintRows,
-									  btMultiBodyJacobianData & data,
-									  const btContactSolverInfo& infoGlobal) = 0;
-
-	int getNumRows() const
-	{
-		return m_numRows;
-	}
-
-	btMultiBody* getMultiBodyA()
-	{
-		return m_bodyA;
-	}
-	btMultiBody* getMultiBodyB()
-	{
-		return m_bodyB;
-	}
-
-	int getLinkA() const
-	{
-		return m_linkA;
-	}
-	int getLinkB() const
-	{
-		return m_linkB;
-	}
-	void internalSetAppliedImpulse(int dof, btScalar appliedImpulse)
-	{
-		btAssert(dof >= 0);
-		btAssert(dof < getNumRows());
-		m_data[dof] = appliedImpulse;
-	}
-
-	btScalar getAppliedImpulse(int dof)
-	{
-		btAssert(dof >= 0);
-		btAssert(dof < getNumRows());
-		return m_data[dof];
-	}
-	// current constraint position
-	// constraint is pos >= 0 for unilateral, or pos = 0 for bilateral
-	// NOTE: ignored position for friction rows.
-	btScalar getPosition(int row) const
-	{
-		return m_data[m_posOffset + row];
-	}
-
-	void setPosition(int row, btScalar pos)
-	{
-		m_data[m_posOffset + row] = pos;
-	}
-
-	bool isUnilateral() const
-	{
-		return m_isUnilateral;
-	}
-
-	// jacobian blocks.
-	// each of size 6 + num_links. (jacobian2 is null if no body2.)
-	// format: 3 'omega' coefficients, 3 'v' coefficients, then the 'qdot' coefficients.
-	btScalar* jacobianA(int row)
-	{
-		return &m_data[m_numRows + row * m_jacSizeBoth];
-	}
-	const btScalar* jacobianA(int row) const
-	{
-		return &m_data[m_numRows + (row * m_jacSizeBoth)];
-	}
-	btScalar* jacobianB(int row)
-	{
-		return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA];
-	}
-	const btScalar* jacobianB(int row) const
-	{
-		return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA];
-	}
-
-	btScalar getMaxAppliedImpulse() const
-	{
-		return m_maxAppliedImpulse;
-	}
-	void setMaxAppliedImpulse(btScalar maxImp)
-	{
-		m_maxAppliedImpulse = maxImp;
-	}
-
-	virtual void debugDraw(class btIDebugDraw * drawer) = 0;
-
-	virtual void setGearRatio(btScalar ratio) {}
-	virtual void setGearAuxLink(int gearAuxLink) {}
-	virtual void setRelativePositionTarget(btScalar relPosTarget) {}
-	virtual void setErp(btScalar erp) {}
-};
-
-#endif  //BT_MULTIBODY_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
deleted file mode 100644
index 2788367431..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
+++ /dev/null
@@ -1,1752 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btMultiBodyConstraintSolver.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-#include "btMultiBodyLinkCollider.h"
-
-#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
-#include "btMultiBodyConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
-
-#include "LinearMath/btQuickprof.h"
-#include "BulletDynamics/Featherstone/btMultiBodySolverConstraint.h"
-#include "LinearMath/btScalar.h"
-
-btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
-{
-	btScalar leastSquaredResidual = btSequentialImpulseConstraintSolver::solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
-
-	//solve featherstone non-contact constraints
-	btScalar nonContactResidual = 0;
-	//printf("m_multiBodyNonContactConstraints = %d\n",m_multiBodyNonContactConstraints.size());
-	for (int i = 0; i < infoGlobal.m_numNonContactInnerIterations; ++i)
-	{
-		// reset the nonContactResdual to 0 at start of each inner iteration
-		nonContactResidual = 0;
-		for (int j = 0; j < m_multiBodyNonContactConstraints.size(); j++)
-		{
-			int index = iteration & 1 ? j : m_multiBodyNonContactConstraints.size() - 1 - j;
-
-			btMultiBodySolverConstraint& constraint = m_multiBodyNonContactConstraints[index];
-
-			btScalar residual = resolveSingleConstraintRowGeneric(constraint);
-			nonContactResidual = btMax(nonContactResidual, residual * residual);
-
-			if (constraint.m_multiBodyA)
-				constraint.m_multiBodyA->setPosUpdated(false);
-			if (constraint.m_multiBodyB)
-				constraint.m_multiBodyB->setPosUpdated(false);
-		}
-	}
-	leastSquaredResidual = btMax(leastSquaredResidual, nonContactResidual);
-
-	//solve featherstone normal contact
-	for (int j0 = 0; j0 < m_multiBodyNormalContactConstraints.size(); j0++)
-	{
-		int index = j0;  //iteration&1? j0 : m_multiBodyNormalContactConstraints.size()-1-j0;
-
-		btMultiBodySolverConstraint& constraint = m_multiBodyNormalContactConstraints[index];
-		btScalar residual = 0.f;
-
-		if (iteration < infoGlobal.m_numIterations)
-		{
-			residual = resolveSingleConstraintRowGeneric(constraint);
-		}
-
-		leastSquaredResidual = btMax(leastSquaredResidual, residual * residual);
-
-		if (constraint.m_multiBodyA)
-			constraint.m_multiBodyA->setPosUpdated(false);
-		if (constraint.m_multiBodyB)
-			constraint.m_multiBodyB->setPosUpdated(false);
-	}
-
-	//solve featherstone frictional contact
-	if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS && ((infoGlobal.m_solverMode & SOLVER_DISABLE_IMPLICIT_CONE_FRICTION) == 0))
-	{
-		for (int j1 = 0; j1 < this->m_multiBodySpinningFrictionContactConstraints.size(); j1++)
-		{
-			if (iteration < infoGlobal.m_numIterations)
-			{
-				int index = j1;
-
-				btMultiBodySolverConstraint& frictionConstraint = m_multiBodySpinningFrictionContactConstraints[index];
-				btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse;
-				//adjust friction limits here
-				if (totalImpulse > btScalar(0))
-				{
-					frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction * totalImpulse);
-					frictionConstraint.m_upperLimit = frictionConstraint.m_friction * totalImpulse;
-					btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint);
-					leastSquaredResidual = btMax(leastSquaredResidual, residual * residual);
-
-					if (frictionConstraint.m_multiBodyA)
-						frictionConstraint.m_multiBodyA->setPosUpdated(false);
-					if (frictionConstraint.m_multiBodyB)
-						frictionConstraint.m_multiBodyB->setPosUpdated(false);
-				}
-			}
-		}
-
-		for (int j1 = 0; j1 < this->m_multiBodyTorsionalFrictionContactConstraints.size(); j1++)
-		{
-			if (iteration < infoGlobal.m_numIterations)
-			{
-				int index = j1;  //iteration&1? j1 : m_multiBodyTorsionalFrictionContactConstraints.size()-1-j1;
-
-				btMultiBodySolverConstraint& frictionConstraint = m_multiBodyTorsionalFrictionContactConstraints[index];
-				btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse;
-				j1++;
-				int index2 = j1;
-				btMultiBodySolverConstraint& frictionConstraintB = m_multiBodyTorsionalFrictionContactConstraints[index2];
-				//adjust friction limits here
-				if (totalImpulse > btScalar(0) && frictionConstraint.m_frictionIndex == frictionConstraintB.m_frictionIndex)
-				{
-					frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction * totalImpulse);
-					frictionConstraint.m_upperLimit = frictionConstraint.m_friction * totalImpulse;
-					frictionConstraintB.m_lowerLimit = -(frictionConstraintB.m_friction * totalImpulse);
-					frictionConstraintB.m_upperLimit = frictionConstraintB.m_friction * totalImpulse;
-
-					btScalar residual = resolveConeFrictionConstraintRows(frictionConstraint, frictionConstraintB);
-					leastSquaredResidual = btMax(leastSquaredResidual, residual * residual);
-
-					if (frictionConstraint.m_multiBodyA)
-						frictionConstraint.m_multiBodyA->setPosUpdated(false);
-					if (frictionConstraint.m_multiBodyB)
-						frictionConstraint.m_multiBodyB->setPosUpdated(false);
-
-					if (frictionConstraintB.m_multiBodyA)
-						frictionConstraintB.m_multiBodyA->setPosUpdated(false);
-					if (frictionConstraintB.m_multiBodyB)
-						frictionConstraintB.m_multiBodyB->setPosUpdated(false);
-				}
-			}
-		}
-
-		for (int j1 = 0; j1 < this->m_multiBodyFrictionContactConstraints.size(); j1++)
-		{
-			if (iteration < infoGlobal.m_numIterations)
-			{
-				int index = j1;  //iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1;
-				btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[index];
-
-				btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse;
-				j1++;
-				int index2 = j1;  //iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1;
-				btMultiBodySolverConstraint& frictionConstraintB = m_multiBodyFrictionContactConstraints[index2];
-				btAssert(frictionConstraint.m_frictionIndex == frictionConstraintB.m_frictionIndex);
-
-				if (frictionConstraint.m_frictionIndex == frictionConstraintB.m_frictionIndex)
-				{
-					frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction * totalImpulse);
-					frictionConstraint.m_upperLimit = frictionConstraint.m_friction * totalImpulse;
-					frictionConstraintB.m_lowerLimit = -(frictionConstraintB.m_friction * totalImpulse);
-					frictionConstraintB.m_upperLimit = frictionConstraintB.m_friction * totalImpulse;
-					btScalar residual = resolveConeFrictionConstraintRows(frictionConstraint, frictionConstraintB);
-					leastSquaredResidual = btMax(leastSquaredResidual, residual * residual);
-
-					if (frictionConstraintB.m_multiBodyA)
-						frictionConstraintB.m_multiBodyA->setPosUpdated(false);
-					if (frictionConstraintB.m_multiBodyB)
-						frictionConstraintB.m_multiBodyB->setPosUpdated(false);
-
-					if (frictionConstraint.m_multiBodyA)
-						frictionConstraint.m_multiBodyA->setPosUpdated(false);
-					if (frictionConstraint.m_multiBodyB)
-						frictionConstraint.m_multiBodyB->setPosUpdated(false);
-				}
-			}
-		}
-	}
-	else
-	{
-		for (int j1 = 0; j1 < this->m_multiBodyFrictionContactConstraints.size(); j1++)
-		{
-			if (iteration < infoGlobal.m_numIterations)
-			{
-				int index = j1;  //iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1;
-
-				btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[index];
-				btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse;
-				//adjust friction limits here
-				if (totalImpulse > btScalar(0))
-				{
-					frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction * totalImpulse);
-					frictionConstraint.m_upperLimit = frictionConstraint.m_friction * totalImpulse;
-					btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint);
-					leastSquaredResidual = btMax(leastSquaredResidual, residual * residual);
-
-					if (frictionConstraint.m_multiBodyA)
-						frictionConstraint.m_multiBodyA->setPosUpdated(false);
-					if (frictionConstraint.m_multiBodyB)
-						frictionConstraint.m_multiBodyB->setPosUpdated(false);
-				}
-			}
-		}
-	}
-	return leastSquaredResidual;
-}
-
-btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
-{
-	m_multiBodyNonContactConstraints.resize(0);
-	m_multiBodyNormalContactConstraints.resize(0);
-	m_multiBodyFrictionContactConstraints.resize(0);
-	m_multiBodyTorsionalFrictionContactConstraints.resize(0);
-	m_multiBodySpinningFrictionContactConstraints.resize(0);
-
-	m_data.m_jacobians.resize(0);
-	m_data.m_deltaVelocitiesUnitImpulse.resize(0);
-	m_data.m_deltaVelocities.resize(0);
-
-	for (int i = 0; i < numBodies; i++)
-	{
-		const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(bodies[i]);
-		if (fcA)
-		{
-			fcA->m_multiBody->setCompanionId(-1);
-		}
-	}
-
-	btScalar val = btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
-
-	return val;
-}
-
-void btMultiBodyConstraintSolver::applyDeltaVee(btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof)
-{
-	for (int i = 0; i < ndof; ++i)
-		m_data.m_deltaVelocities[velocityIndex + i] += delta_vee[i] * impulse;
-}
-
-btScalar btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c)
-{
-	btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse) * c.m_cfm;
-	btScalar deltaVelADotn = 0;
-	btScalar deltaVelBDotn = 0;
-	btSolverBody* bodyA = 0;
-	btSolverBody* bodyB = 0;
-	int ndofA = 0;
-	int ndofB = 0;
-
-	if (c.m_multiBodyA)
-	{
-		ndofA = c.m_multiBodyA->getNumDofs() + 6;
-		for (int i = 0; i < ndofA; ++i)
-			deltaVelADotn += m_data.m_jacobians[c.m_jacAindex + i] * m_data.m_deltaVelocities[c.m_deltaVelAindex + i];
-	}
-	else if (c.m_solverBodyIdA >= 0)
-	{
-		bodyA = &m_tmpSolverBodyPool[c.m_solverBodyIdA];
-		deltaVelADotn += c.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity());
-	}
-
-	if (c.m_multiBodyB)
-	{
-		ndofB = c.m_multiBodyB->getNumDofs() + 6;
-		for (int i = 0; i < ndofB; ++i)
-			deltaVelBDotn += m_data.m_jacobians[c.m_jacBindex + i] * m_data.m_deltaVelocities[c.m_deltaVelBindex + i];
-	}
-	else if (c.m_solverBodyIdB >= 0)
-	{
-		bodyB = &m_tmpSolverBodyPool[c.m_solverBodyIdB];
-		deltaVelBDotn += c.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity());
-	}
-
-	deltaImpulse -= deltaVelADotn * c.m_jacDiagABInv;  //m_jacDiagABInv = 1./denom
-	deltaImpulse -= deltaVelBDotn * c.m_jacDiagABInv;
-	const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse;
-
-	if (sum < c.m_lowerLimit)
-	{
-		deltaImpulse = c.m_lowerLimit - c.m_appliedImpulse;
-		c.m_appliedImpulse = c.m_lowerLimit;
-	}
-	else if (sum > c.m_upperLimit)
-	{
-		deltaImpulse = c.m_upperLimit - c.m_appliedImpulse;
-		c.m_appliedImpulse = c.m_upperLimit;
-	}
-	else
-	{
-		c.m_appliedImpulse = sum;
-	}
-
-	if (c.m_multiBodyA)
-	{
-		applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse, c.m_deltaVelAindex, ndofA);
-#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
-		//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
-		//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
-		c.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse);
-#endif  //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
-	}
-	else if (c.m_solverBodyIdA >= 0)
-	{
-		bodyA->internalApplyImpulse(c.m_contactNormal1 * bodyA->internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
-	}
-	if (c.m_multiBodyB)
-	{
-		applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], deltaImpulse, c.m_deltaVelBindex, ndofB);
-#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
-		//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
-		//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
-		c.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], deltaImpulse);
-#endif  //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
-	}
-	else if (c.m_solverBodyIdB >= 0)
-	{
-		bodyB->internalApplyImpulse(c.m_contactNormal2 * bodyB->internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
-	}
-	btScalar deltaVel = deltaImpulse / c.m_jacDiagABInv;
-	return deltaVel;
-}
-
-btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const btMultiBodySolverConstraint& cA1, const btMultiBodySolverConstraint& cB)
-{
-	int ndofA = 0;
-	int ndofB = 0;
-	btSolverBody* bodyA = 0;
-	btSolverBody* bodyB = 0;
-	btScalar deltaImpulseB = 0.f;
-	btScalar sumB = 0.f;
-	{
-		deltaImpulseB = cB.m_rhs - btScalar(cB.m_appliedImpulse) * cB.m_cfm;
-		btScalar deltaVelADotn = 0;
-		btScalar deltaVelBDotn = 0;
-		if (cB.m_multiBodyA)
-		{
-			ndofA = cB.m_multiBodyA->getNumDofs() + 6;
-			for (int i = 0; i < ndofA; ++i)
-				deltaVelADotn += m_data.m_jacobians[cB.m_jacAindex + i] * m_data.m_deltaVelocities[cB.m_deltaVelAindex + i];
-		}
-		else if (cB.m_solverBodyIdA >= 0)
-		{
-			bodyA = &m_tmpSolverBodyPool[cB.m_solverBodyIdA];
-			deltaVelADotn += cB.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + cB.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity());
-		}
-
-		if (cB.m_multiBodyB)
-		{
-			ndofB = cB.m_multiBodyB->getNumDofs() + 6;
-			for (int i = 0; i < ndofB; ++i)
-				deltaVelBDotn += m_data.m_jacobians[cB.m_jacBindex + i] * m_data.m_deltaVelocities[cB.m_deltaVelBindex + i];
-		}
-		else if (cB.m_solverBodyIdB >= 0)
-		{
-			bodyB = &m_tmpSolverBodyPool[cB.m_solverBodyIdB];
-			deltaVelBDotn += cB.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + cB.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity());
-		}
-
-		deltaImpulseB -= deltaVelADotn * cB.m_jacDiagABInv;  //m_jacDiagABInv = 1./denom
-		deltaImpulseB -= deltaVelBDotn * cB.m_jacDiagABInv;
-		sumB = btScalar(cB.m_appliedImpulse) + deltaImpulseB;
-	}
-
-	btScalar deltaImpulseA = 0.f;
-	btScalar sumA = 0.f;
-	const btMultiBodySolverConstraint& cA = cA1;
-	{
-		{
-			deltaImpulseA = cA.m_rhs - btScalar(cA.m_appliedImpulse) * cA.m_cfm;
-			btScalar deltaVelADotn = 0;
-			btScalar deltaVelBDotn = 0;
-			if (cA.m_multiBodyA)
-			{
-				ndofA = cA.m_multiBodyA->getNumDofs() + 6;
-				for (int i = 0; i < ndofA; ++i)
-					deltaVelADotn += m_data.m_jacobians[cA.m_jacAindex + i] * m_data.m_deltaVelocities[cA.m_deltaVelAindex + i];
-			}
-			else if (cA.m_solverBodyIdA >= 0)
-			{
-				bodyA = &m_tmpSolverBodyPool[cA.m_solverBodyIdA];
-				deltaVelADotn += cA.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + cA.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity());
-			}
-
-			if (cA.m_multiBodyB)
-			{
-				ndofB = cA.m_multiBodyB->getNumDofs() + 6;
-				for (int i = 0; i < ndofB; ++i)
-					deltaVelBDotn += m_data.m_jacobians[cA.m_jacBindex + i] * m_data.m_deltaVelocities[cA.m_deltaVelBindex + i];
-			}
-			else if (cA.m_solverBodyIdB >= 0)
-			{
-				bodyB = &m_tmpSolverBodyPool[cA.m_solverBodyIdB];
-				deltaVelBDotn += cA.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + cA.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity());
-			}
-
-			deltaImpulseA -= deltaVelADotn * cA.m_jacDiagABInv;  //m_jacDiagABInv = 1./denom
-			deltaImpulseA -= deltaVelBDotn * cA.m_jacDiagABInv;
-			sumA = btScalar(cA.m_appliedImpulse) + deltaImpulseA;
-		}
-	}
-
-	if (sumA * sumA + sumB * sumB >= cA.m_lowerLimit * cB.m_lowerLimit)
-	{
-		btScalar angle = btAtan2(sumA, sumB);
-		btScalar sumAclipped = btFabs(cA.m_lowerLimit * btSin(angle));
-		btScalar sumBclipped = btFabs(cB.m_lowerLimit * btCos(angle));
-
-		if (sumA < -sumAclipped)
-		{
-			deltaImpulseA = -sumAclipped - cA.m_appliedImpulse;
-			cA.m_appliedImpulse = -sumAclipped;
-		}
-		else if (sumA > sumAclipped)
-		{
-			deltaImpulseA = sumAclipped - cA.m_appliedImpulse;
-			cA.m_appliedImpulse = sumAclipped;
-		}
-		else
-		{
-			cA.m_appliedImpulse = sumA;
-		}
-
-		if (sumB < -sumBclipped)
-		{
-			deltaImpulseB = -sumBclipped - cB.m_appliedImpulse;
-			cB.m_appliedImpulse = -sumBclipped;
-		}
-		else if (sumB > sumBclipped)
-		{
-			deltaImpulseB = sumBclipped - cB.m_appliedImpulse;
-			cB.m_appliedImpulse = sumBclipped;
-		}
-		else
-		{
-			cB.m_appliedImpulse = sumB;
-		}
-		//deltaImpulseA = sumAclipped-cA.m_appliedImpulse;
-		//cA.m_appliedImpulse = sumAclipped;
-		//deltaImpulseB = sumBclipped-cB.m_appliedImpulse;
-		//cB.m_appliedImpulse = sumBclipped;
-	}
-	else
-	{
-		cA.m_appliedImpulse = sumA;
-		cB.m_appliedImpulse = sumB;
-	}
-
-	if (cA.m_multiBodyA)
-	{
-		applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacAindex], deltaImpulseA, cA.m_deltaVelAindex, ndofA);
-#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
-		//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
-		//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
-		cA.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacAindex], deltaImpulseA);
-#endif  //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
-	}
-	else if (cA.m_solverBodyIdA >= 0)
-	{
-		bodyA->internalApplyImpulse(cA.m_contactNormal1 * bodyA->internalGetInvMass(), cA.m_angularComponentA, deltaImpulseA);
-	}
-	if (cA.m_multiBodyB)
-	{
-		applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacBindex], deltaImpulseA, cA.m_deltaVelBindex, ndofB);
-#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
-		//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
-		//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
-		cA.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacBindex], deltaImpulseA);
-#endif  //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
-	}
-	else if (cA.m_solverBodyIdB >= 0)
-	{
-		bodyB->internalApplyImpulse(cA.m_contactNormal2 * bodyB->internalGetInvMass(), cA.m_angularComponentB, deltaImpulseA);
-	}
-
-	if (cB.m_multiBodyA)
-	{
-		applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacAindex], deltaImpulseB, cB.m_deltaVelAindex, ndofA);
-#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
-		//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
-		//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
-		cB.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacAindex], deltaImpulseB);
-#endif  //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
-	}
-	else if (cB.m_solverBodyIdA >= 0)
-	{
-		bodyA->internalApplyImpulse(cB.m_contactNormal1 * bodyA->internalGetInvMass(), cB.m_angularComponentA, deltaImpulseB);
-	}
-	if (cB.m_multiBodyB)
-	{
-		applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacBindex], deltaImpulseB, cB.m_deltaVelBindex, ndofB);
-#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
-		//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
-		//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
-		cB.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacBindex], deltaImpulseB);
-#endif  //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
-	}
-	else if (cB.m_solverBodyIdB >= 0)
-	{
-		bodyB->internalApplyImpulse(cB.m_contactNormal2 * bodyB->internalGetInvMass(), cB.m_angularComponentB, deltaImpulseB);
-	}
-
-	btScalar deltaVel = deltaImpulseA / cA.m_jacDiagABInv + deltaImpulseB / cB.m_jacDiagABInv;
-	return deltaVel;
-}
-
-void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint, const btVector3& contactNormal, const btScalar& appliedImpulse, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btScalar& relaxation, bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
-{
-	BT_PROFILE("setupMultiBodyContactConstraint");
-	btVector3 rel_pos1;
-	btVector3 rel_pos2;
-
-	btMultiBody* multiBodyA = solverConstraint.m_multiBodyA;
-	btMultiBody* multiBodyB = solverConstraint.m_multiBodyB;
-
-	const btVector3& pos1 = cp.getPositionWorldOnA();
-	const btVector3& pos2 = cp.getPositionWorldOnB();
-
-	btSolverBody* bodyA = multiBodyA ? 0 : &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA];
-	btSolverBody* bodyB = multiBodyB ? 0 : &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB];
-
-	btRigidBody* rb0 = multiBodyA ? 0 : bodyA->m_originalBody;
-	btRigidBody* rb1 = multiBodyB ? 0 : bodyB->m_originalBody;
-
-	if (bodyA)
-		rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin();
-	if (bodyB)
-		rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
-
-	relaxation = infoGlobal.m_sor;
-
-	btScalar invTimeStep = btScalar(1) / infoGlobal.m_timeStep;
-
-	//cfm = 1 /       ( dt * kp + kd )
-	//erp = dt * kp / ( dt * kp + kd )
-
-	btScalar cfm;
-	btScalar erp;
-	if (isFriction)
-	{
-		cfm = infoGlobal.m_frictionCFM;
-		erp = infoGlobal.m_frictionERP;
-	}
-	else
-	{
-		cfm = infoGlobal.m_globalCfm;
-		erp = infoGlobal.m_erp2;
-
-		if ((cp.m_contactPointFlags & BT_CONTACT_FLAG_HAS_CONTACT_CFM) || (cp.m_contactPointFlags & BT_CONTACT_FLAG_HAS_CONTACT_ERP))
-		{
-			if (cp.m_contactPointFlags & BT_CONTACT_FLAG_HAS_CONTACT_CFM)
-				cfm = cp.m_contactCFM;
-			if (cp.m_contactPointFlags & BT_CONTACT_FLAG_HAS_CONTACT_ERP)
-				erp = cp.m_contactERP;
-		}
-		else
-		{
-			if (cp.m_contactPointFlags & BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING)
-			{
-				btScalar denom = (infoGlobal.m_timeStep * cp.m_combinedContactStiffness1 + cp.m_combinedContactDamping1);
-				if (denom < SIMD_EPSILON)
-				{
-					denom = SIMD_EPSILON;
-				}
-				cfm = btScalar(1) / denom;
-				erp = (infoGlobal.m_timeStep * cp.m_combinedContactStiffness1) / denom;
-			}
-		}
-	}
-
-	cfm *= invTimeStep;
-
-	if (multiBodyA)
-	{
-		if (solverConstraint.m_linkA < 0)
-		{
-			rel_pos1 = pos1 - multiBodyA->getBasePos();
-		}
-		else
-		{
-			rel_pos1 = pos1 - multiBodyA->getLink(solverConstraint.m_linkA).m_cachedWorldTransform.getOrigin();
-		}
-		const int ndofA = multiBodyA->getNumDofs() + 6;
-
-		solverConstraint.m_deltaVelAindex = multiBodyA->getCompanionId();
-
-		if (solverConstraint.m_deltaVelAindex < 0)
-		{
-			solverConstraint.m_deltaVelAindex = m_data.m_deltaVelocities.size();
-			multiBodyA->setCompanionId(solverConstraint.m_deltaVelAindex);
-			m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size() + ndofA);
-		}
-		else
-		{
-			btAssert(m_data.m_deltaVelocities.size() >= solverConstraint.m_deltaVelAindex + ndofA);
-		}
-
-		solverConstraint.m_jacAindex = m_data.m_jacobians.size();
-		m_data.m_jacobians.resize(m_data.m_jacobians.size() + ndofA);
-		m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size() + ndofA);
-		btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size());
-
-		btScalar* jac1 = &m_data.m_jacobians[solverConstraint.m_jacAindex];
-		multiBodyA->fillContactJacobianMultiDof(solverConstraint.m_linkA, cp.getPositionWorldOnA(), contactNormal, jac1, m_data.scratch_r, m_data.scratch_v, m_data.scratch_m);
-		btScalar* delta = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
-		multiBodyA->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacAindex], delta, m_data.scratch_r, m_data.scratch_v);
-
-		btVector3 torqueAxis0 = rel_pos1.cross(contactNormal);
-		solverConstraint.m_relpos1CrossNormal = torqueAxis0;
-		solverConstraint.m_contactNormal1 = contactNormal;
-	}
-	else
-	{
-		btVector3 torqueAxis0 = rel_pos1.cross(contactNormal);
-		solverConstraint.m_relpos1CrossNormal = torqueAxis0;
-		solverConstraint.m_contactNormal1 = contactNormal;
-		solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld() * torqueAxis0 * rb0->getAngularFactor() : btVector3(0, 0, 0);
-	}
-
-	if (multiBodyB)
-	{
-		if (solverConstraint.m_linkB < 0)
-		{
-			rel_pos2 = pos2 - multiBodyB->getBasePos();
-		}
-		else
-		{
-			rel_pos2 = pos2 - multiBodyB->getLink(solverConstraint.m_linkB).m_cachedWorldTransform.getOrigin();
-		}
-
-		const int ndofB = multiBodyB->getNumDofs() + 6;
-
-		solverConstraint.m_deltaVelBindex = multiBodyB->getCompanionId();
-		if (solverConstraint.m_deltaVelBindex < 0)
-		{
-			solverConstraint.m_deltaVelBindex = m_data.m_deltaVelocities.size();
-			multiBodyB->setCompanionId(solverConstraint.m_deltaVelBindex);
-			m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size() + ndofB);
-		}
-
-		solverConstraint.m_jacBindex = m_data.m_jacobians.size();
-
-		m_data.m_jacobians.resize(m_data.m_jacobians.size() + ndofB);
-		m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size() + ndofB);
-		btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size());
-
-		multiBodyB->fillContactJacobianMultiDof(solverConstraint.m_linkB, cp.getPositionWorldOnB(), -contactNormal, &m_data.m_jacobians[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v, m_data.scratch_m);
-		multiBodyB->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacBindex], &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v);
-
-		btVector3 torqueAxis1 = rel_pos2.cross(contactNormal);
-		solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
-		solverConstraint.m_contactNormal2 = -contactNormal;
-	}
-	else
-	{
-		btVector3 torqueAxis1 = rel_pos2.cross(contactNormal);
-		solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
-		solverConstraint.m_contactNormal2 = -contactNormal;
-
-		solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld() * -torqueAxis1 * rb1->getAngularFactor() : btVector3(0, 0, 0);
-	}
-
-	{
-		btVector3 vec;
-		btScalar denom0 = 0.f;
-		btScalar denom1 = 0.f;
-		btScalar* jacB = 0;
-		btScalar* jacA = 0;
-		btScalar* lambdaA = 0;
-		btScalar* lambdaB = 0;
-		int ndofA = 0;
-		if (multiBodyA)
-		{
-			ndofA = multiBodyA->getNumDofs() + 6;
-			jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex];
-			lambdaA = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
-			for (int i = 0; i < ndofA; ++i)
-			{
-				btScalar j = jacA[i];
-				btScalar l = lambdaA[i];
-				denom0 += j * l;
-			}
-		}
-		else
-		{
-			if (rb0)
-			{
-				vec = (solverConstraint.m_angularComponentA).cross(rel_pos1);
-				denom0 = rb0->getInvMass() + contactNormal.dot(vec);
-			}
-		}
-		if (multiBodyB)
-		{
-			const int ndofB = multiBodyB->getNumDofs() + 6;
-			jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex];
-			lambdaB = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
-			for (int i = 0; i < ndofB; ++i)
-			{
-				btScalar j = jacB[i];
-				btScalar l = lambdaB[i];
-				denom1 += j * l;
-			}
-		}
-		else
-		{
-			if (rb1)
-			{
-				vec = (-solverConstraint.m_angularComponentB).cross(rel_pos2);
-				denom1 = rb1->getInvMass() + contactNormal.dot(vec);
-			}
-		}
-
-		btScalar d = denom0 + denom1 + cfm;
-		if (d > SIMD_EPSILON)
-		{
-			solverConstraint.m_jacDiagABInv = relaxation / (d);
-		}
-		else
-		{
-			//disable the constraint row to handle singularity/redundant constraint
-			solverConstraint.m_jacDiagABInv = 0.f;
-		}
-	}
-
-	//compute rhs and remaining solverConstraint fields
-
-	btScalar restitution = 0.f;
-	btScalar distance = 0;
-	if (!isFriction)
-	{
-		distance = cp.getDistance() + infoGlobal.m_linearSlop;
-	}
-	else
-	{
-		if (cp.m_contactPointFlags & BT_CONTACT_FLAG_FRICTION_ANCHOR)
-		{
-			distance = (cp.getPositionWorldOnA() - cp.getPositionWorldOnB()).dot(contactNormal);
-		}
-	}
-
-	btScalar rel_vel = 0.f;
-	int ndofA = 0;
-	int ndofB = 0;
-	{
-		btVector3 vel1, vel2;
-		if (multiBodyA)
-		{
-			ndofA = multiBodyA->getNumDofs() + 6;
-			btScalar* jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex];
-			for (int i = 0; i < ndofA; ++i)
-				rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i];
-		}
-		else
-		{
-			if (rb0)
-			{
-				rel_vel += (rb0->getVelocityInLocalPoint(rel_pos1) +
-							(rb0->getTotalTorque() * rb0->getInvInertiaTensorWorld() * infoGlobal.m_timeStep).cross(rel_pos1) +
-							rb0->getTotalForce() * rb0->getInvMass() * infoGlobal.m_timeStep)
-							   .dot(solverConstraint.m_contactNormal1);
-			}
-		}
-		if (multiBodyB)
-		{
-			ndofB = multiBodyB->getNumDofs() + 6;
-			btScalar* jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex];
-			for (int i = 0; i < ndofB; ++i)
-				rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i];
-		}
-		else
-		{
-			if (rb1)
-			{
-				rel_vel += (rb1->getVelocityInLocalPoint(rel_pos2) +
-							(rb1->getTotalTorque() * rb1->getInvInertiaTensorWorld() * infoGlobal.m_timeStep).cross(rel_pos2) +
-							rb1->getTotalForce() * rb1->getInvMass() * infoGlobal.m_timeStep)
-							   .dot(solverConstraint.m_contactNormal2);
-			}
-		}
-
-		solverConstraint.m_friction = cp.m_combinedFriction;
-
-		if (!isFriction)
-		{
-			restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold);
-			if (restitution <= btScalar(0.))
-			{
-				restitution = 0.f;
-			}
-		}
-	}
-
-	{
-		btScalar positionalError = 0.f;
-		btScalar velocityError = restitution - rel_vel;  // * damping;	//note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction
-		if (isFriction)
-		{
-			positionalError = -distance * erp / infoGlobal.m_timeStep;
-		}
-		else
-		{
-			if (distance > 0)
-			{
-				positionalError = 0;
-				velocityError -= distance / infoGlobal.m_timeStep;
-			}
-			else
-			{
-				positionalError = -distance * erp / infoGlobal.m_timeStep;
-			}
-		}
-
-		btScalar penetrationImpulse = positionalError * solverConstraint.m_jacDiagABInv;
-		btScalar velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
-
-		if (!isFriction)
-		{
-			//	if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
-			{
-				//combine position and velocity into rhs
-				solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;
-				solverConstraint.m_rhsPenetration = 0.f;
-			}
-			/*else
-			{
-				//split position and velocity into rhs and m_rhsPenetration
-				solverConstraint.m_rhs = velocityImpulse;
-				solverConstraint.m_rhsPenetration = penetrationImpulse;
-			}
-			*/
-			solverConstraint.m_lowerLimit = 0;
-			solverConstraint.m_upperLimit = 1e10f;
-		}
-		else
-		{
-			solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;
-			solverConstraint.m_rhsPenetration = 0.f;
-			solverConstraint.m_lowerLimit = -solverConstraint.m_friction;
-			solverConstraint.m_upperLimit = solverConstraint.m_friction;
-		}
-
-		solverConstraint.m_cfm = cfm * solverConstraint.m_jacDiagABInv;
-	}
-        
-	if (infoGlobal.m_solverMode & SOLVER_USE_ARTICULATED_WARMSTARTING)
-	{
-		if (btFabs(cp.m_prevRHS) > 1e-5 && cp.m_prevRHS < 2* solverConstraint.m_rhs && solverConstraint.m_rhs < 2*cp.m_prevRHS)
-		{
-			solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse / cp.m_prevRHS * solverConstraint.m_rhs * infoGlobal.m_articulatedWarmstartingFactor;
-			if (solverConstraint.m_appliedImpulse < 0)
-				solverConstraint.m_appliedImpulse = 0;
-		}
-		else
-		{
-			solverConstraint.m_appliedImpulse = 0.f;
-		}
-
-		if (solverConstraint.m_appliedImpulse)
-		{
-			if (multiBodyA)
-			{
-				btScalar impulse = solverConstraint.m_appliedImpulse;
-				btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
-				multiBodyA->applyDeltaVeeMultiDof2(deltaV, impulse);
-
-				applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA);
-			}
-			else
-			{
-				if (rb0)
-					bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass() * rb0->getLinearFactor(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse);
-			}
-			if (multiBodyB)
-			{
-				btScalar impulse = solverConstraint.m_appliedImpulse;
-				btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
-				multiBodyB->applyDeltaVeeMultiDof2(deltaV, impulse);
-				applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB);
-			}
-			else
-			{
-				if (rb1)
-					bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() * rb1->getLinearFactor(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse);
-			}
-		}
-	}
-	else
-	{
-		solverConstraint.m_appliedImpulse = 0.f;
-   	solverConstraint.m_appliedPushImpulse = 0.f;
-	}
-}
-
-void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMultiBodySolverConstraint& solverConstraint,
-																			const btVector3& constraintNormal,
-																			btManifoldPoint& cp,
-																			btScalar combinedTorsionalFriction,
-																			const btContactSolverInfo& infoGlobal,
-																			btScalar& relaxation,
-																			bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
-{
-	BT_PROFILE("setupMultiBodyRollingFrictionConstraint");
-	btVector3 rel_pos1;
-	btVector3 rel_pos2;
-
-	btMultiBody* multiBodyA = solverConstraint.m_multiBodyA;
-	btMultiBody* multiBodyB = solverConstraint.m_multiBodyB;
-
-	const btVector3& pos1 = cp.getPositionWorldOnA();
-	const btVector3& pos2 = cp.getPositionWorldOnB();
-
-	btSolverBody* bodyA = multiBodyA ? 0 : &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA];
-	btSolverBody* bodyB = multiBodyB ? 0 : &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB];
-
-	btRigidBody* rb0 = multiBodyA ? 0 : bodyA->m_originalBody;
-	btRigidBody* rb1 = multiBodyB ? 0 : bodyB->m_originalBody;
-
-	if (bodyA)
-		rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin();
-	if (bodyB)
-		rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
-
-	relaxation = infoGlobal.m_sor;
-
-	// btScalar invTimeStep = btScalar(1)/infoGlobal.m_timeStep;
-
-	if (multiBodyA)
-	{
-		if (solverConstraint.m_linkA < 0)
-		{
-			rel_pos1 = pos1 - multiBodyA->getBasePos();
-		}
-		else
-		{
-			rel_pos1 = pos1 - multiBodyA->getLink(solverConstraint.m_linkA).m_cachedWorldTransform.getOrigin();
-		}
-		const int ndofA = multiBodyA->getNumDofs() + 6;
-
-		solverConstraint.m_deltaVelAindex = multiBodyA->getCompanionId();
-
-		if (solverConstraint.m_deltaVelAindex < 0)
-		{
-			solverConstraint.m_deltaVelAindex = m_data.m_deltaVelocities.size();
-			multiBodyA->setCompanionId(solverConstraint.m_deltaVelAindex);
-			m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size() + ndofA);
-		}
-		else
-		{
-			btAssert(m_data.m_deltaVelocities.size() >= solverConstraint.m_deltaVelAindex + ndofA);
-		}
-
-		solverConstraint.m_jacAindex = m_data.m_jacobians.size();
-		m_data.m_jacobians.resize(m_data.m_jacobians.size() + ndofA);
-		m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size() + ndofA);
-		btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size());
-
-		btScalar* jac1 = &m_data.m_jacobians[solverConstraint.m_jacAindex];
-		multiBodyA->fillConstraintJacobianMultiDof(solverConstraint.m_linkA, cp.getPositionWorldOnA(), constraintNormal, btVector3(0, 0, 0), jac1, m_data.scratch_r, m_data.scratch_v, m_data.scratch_m);
-		btScalar* delta = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
-		multiBodyA->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacAindex], delta, m_data.scratch_r, m_data.scratch_v);
-
-		btVector3 torqueAxis0 = constraintNormal;
-		solverConstraint.m_relpos1CrossNormal = torqueAxis0;
-		solverConstraint.m_contactNormal1 = btVector3(0, 0, 0);
-	}
-	else
-	{
-		btVector3 torqueAxis0 = constraintNormal;
-		solverConstraint.m_relpos1CrossNormal = torqueAxis0;
-		solverConstraint.m_contactNormal1 = btVector3(0, 0, 0);
-		solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld() * torqueAxis0 * rb0->getAngularFactor() : btVector3(0, 0, 0);
-	}
-
-	if (multiBodyB)
-	{
-		if (solverConstraint.m_linkB < 0)
-		{
-			rel_pos2 = pos2 - multiBodyB->getBasePos();
-		}
-		else
-		{
-			rel_pos2 = pos2 - multiBodyB->getLink(solverConstraint.m_linkB).m_cachedWorldTransform.getOrigin();
-		}
-
-		const int ndofB = multiBodyB->getNumDofs() + 6;
-
-		solverConstraint.m_deltaVelBindex = multiBodyB->getCompanionId();
-		if (solverConstraint.m_deltaVelBindex < 0)
-		{
-			solverConstraint.m_deltaVelBindex = m_data.m_deltaVelocities.size();
-			multiBodyB->setCompanionId(solverConstraint.m_deltaVelBindex);
-			m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size() + ndofB);
-		}
-
-		solverConstraint.m_jacBindex = m_data.m_jacobians.size();
-
-		m_data.m_jacobians.resize(m_data.m_jacobians.size() + ndofB);
-		m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size() + ndofB);
-		btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size());
-
-		multiBodyB->fillConstraintJacobianMultiDof(solverConstraint.m_linkB, cp.getPositionWorldOnB(), -constraintNormal, btVector3(0, 0, 0), &m_data.m_jacobians[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v, m_data.scratch_m);
-		multiBodyB->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacBindex], &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v);
-
-		btVector3 torqueAxis1 = -constraintNormal;
-		solverConstraint.m_relpos2CrossNormal = torqueAxis1;
-		solverConstraint.m_contactNormal2 = -btVector3(0, 0, 0);
-	}
-	else
-	{
-		btVector3 torqueAxis1 = -constraintNormal;
-		solverConstraint.m_relpos2CrossNormal = torqueAxis1;
-		solverConstraint.m_contactNormal2 = -btVector3(0, 0, 0);
-
-		solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld() * torqueAxis1 * rb1->getAngularFactor() : btVector3(0, 0, 0);
-	}
-
-	{
-		btScalar denom0 = 0.f;
-		btScalar denom1 = 0.f;
-		btScalar* jacB = 0;
-		btScalar* jacA = 0;
-		btScalar* lambdaA = 0;
-		btScalar* lambdaB = 0;
-		int ndofA = 0;
-		if (multiBodyA)
-		{
-			ndofA = multiBodyA->getNumDofs() + 6;
-			jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex];
-			lambdaA = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
-			for (int i = 0; i < ndofA; ++i)
-			{
-				btScalar j = jacA[i];
-				btScalar l = lambdaA[i];
-				denom0 += j * l;
-			}
-		}
-		else
-		{
-			if (rb0)
-			{
-				btVector3 iMJaA = rb0 ? rb0->getInvInertiaTensorWorld() * solverConstraint.m_relpos1CrossNormal : btVector3(0, 0, 0);
-				denom0 = iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
-			}
-		}
-		if (multiBodyB)
-		{
-			const int ndofB = multiBodyB->getNumDofs() + 6;
-			jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex];
-			lambdaB = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
-			for (int i = 0; i < ndofB; ++i)
-			{
-				btScalar j = jacB[i];
-				btScalar l = lambdaB[i];
-				denom1 += j * l;
-			}
-		}
-		else
-		{
-			if (rb1)
-			{
-				btVector3 iMJaB = rb1 ? rb1->getInvInertiaTensorWorld() * solverConstraint.m_relpos2CrossNormal : btVector3(0, 0, 0);
-				denom1 = iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
-			}
-		}
-
-		btScalar d = denom0 + denom1 + infoGlobal.m_globalCfm;
-		if (d > SIMD_EPSILON)
-		{
-			solverConstraint.m_jacDiagABInv = relaxation / (d);
-		}
-		else
-		{
-			//disable the constraint row to handle singularity/redundant constraint
-			solverConstraint.m_jacDiagABInv = 0.f;
-		}
-	}
-
-	//compute rhs and remaining solverConstraint fields
-
-	btScalar restitution = 0.f;
-	btScalar penetration = isFriction ? 0 : cp.getDistance();
-
-	btScalar rel_vel = 0.f;
-	int ndofA = 0;
-	int ndofB = 0;
-	{
-		btVector3 vel1, vel2;
-		if (multiBodyA)
-		{
-			ndofA = multiBodyA->getNumDofs() + 6;
-			btScalar* jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex];
-			for (int i = 0; i < ndofA; ++i)
-				rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i];
-		}
-		else
-		{
-			if (rb0)
-			{
-				btSolverBody* solverBodyA = &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA];
-				rel_vel += solverConstraint.m_contactNormal1.dot(rb0 ? solverBodyA->m_linearVelocity + solverBodyA->m_externalForceImpulse : btVector3(0, 0, 0)) + solverConstraint.m_relpos1CrossNormal.dot(rb0 ? solverBodyA->m_angularVelocity : btVector3(0, 0, 0));
-			}
-		}
-		if (multiBodyB)
-		{
-			ndofB = multiBodyB->getNumDofs() + 6;
-			btScalar* jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex];
-			for (int i = 0; i < ndofB; ++i)
-				rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i];
-		}
-		else
-		{
-			if (rb1)
-			{
-				btSolverBody* solverBodyB = &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB];
-				rel_vel += solverConstraint.m_contactNormal2.dot(rb1 ? solverBodyB->m_linearVelocity + solverBodyB->m_externalForceImpulse : btVector3(0, 0, 0)) + solverConstraint.m_relpos2CrossNormal.dot(rb1 ? solverBodyB->m_angularVelocity : btVector3(0, 0, 0));
-			}
-		}
-
-		solverConstraint.m_friction = combinedTorsionalFriction;
-
-		if (!isFriction)
-		{
-			restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold);
-			if (restitution <= btScalar(0.))
-			{
-				restitution = 0.f;
-			}
-		}
-	}
-
-	solverConstraint.m_appliedImpulse = 0.f;
-	solverConstraint.m_appliedPushImpulse = 0.f;
-
-	{
-		btScalar velocityError = 0 - rel_vel;  // * damping;	//note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction
-
-		btScalar velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
-
-		solverConstraint.m_rhs = velocityImpulse;
-		solverConstraint.m_rhsPenetration = 0.f;
-		solverConstraint.m_lowerLimit = -solverConstraint.m_friction;
-		solverConstraint.m_upperLimit = solverConstraint.m_friction;
-
-		solverConstraint.m_cfm = infoGlobal.m_globalCfm * solverConstraint.m_jacDiagABInv;
-	}
-}
-
-btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis, const btScalar& appliedImpulse, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
-{
-	BT_PROFILE("addMultiBodyFrictionConstraint");
-	btMultiBodySolverConstraint& solverConstraint = m_multiBodyFrictionContactConstraints.expandNonInitializing();
-	solverConstraint.m_orgConstraint = 0;
-	solverConstraint.m_orgDofIndex = -1;
-
-	solverConstraint.m_frictionIndex = frictionIndex;
-	bool isFriction = true;
-
-	const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0());
-	const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
-
-	btMultiBody* mbA = fcA ? fcA->m_multiBody : 0;
-	btMultiBody* mbB = fcB ? fcB->m_multiBody : 0;
-
-	int solverBodyIdA = mbA ? -1 : getOrInitSolverBody(*colObj0, infoGlobal.m_timeStep);
-	int solverBodyIdB = mbB ? -1 : getOrInitSolverBody(*colObj1, infoGlobal.m_timeStep);
-
-	solverConstraint.m_solverBodyIdA = solverBodyIdA;
-	solverConstraint.m_solverBodyIdB = solverBodyIdB;
-	solverConstraint.m_multiBodyA = mbA;
-	if (mbA)
-		solverConstraint.m_linkA = fcA->m_link;
-
-	solverConstraint.m_multiBodyB = mbB;
-	if (mbB)
-		solverConstraint.m_linkB = fcB->m_link;
-
-	solverConstraint.m_originalContactPoint = &cp;
-
-	setupMultiBodyContactConstraint(solverConstraint, normalAxis, 0, cp, infoGlobal, relaxation, isFriction, desiredVelocity, cfmSlip);
-	return solverConstraint;
-}
-
-btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyTorsionalFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp,
-																								  btScalar combinedTorsionalFriction,
-																								  btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
-{
-	BT_PROFILE("addMultiBodyRollingFrictionConstraint");
-
-	bool useTorsionalAndConeFriction = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS && ((infoGlobal.m_solverMode & SOLVER_DISABLE_IMPLICIT_CONE_FRICTION) == 0));
-
-	btMultiBodySolverConstraint& solverConstraint = useTorsionalAndConeFriction ? m_multiBodyTorsionalFrictionContactConstraints.expandNonInitializing() : m_multiBodyFrictionContactConstraints.expandNonInitializing();
-	solverConstraint.m_orgConstraint = 0;
-	solverConstraint.m_orgDofIndex = -1;
-
-	solverConstraint.m_frictionIndex = frictionIndex;
-	bool isFriction = true;
-
-	const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0());
-	const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
-
-	btMultiBody* mbA = fcA ? fcA->m_multiBody : 0;
-	btMultiBody* mbB = fcB ? fcB->m_multiBody : 0;
-
-	int solverBodyIdA = mbA ? -1 : getOrInitSolverBody(*colObj0, infoGlobal.m_timeStep);
-	int solverBodyIdB = mbB ? -1 : getOrInitSolverBody(*colObj1, infoGlobal.m_timeStep);
-
-	solverConstraint.m_solverBodyIdA = solverBodyIdA;
-	solverConstraint.m_solverBodyIdB = solverBodyIdB;
-	solverConstraint.m_multiBodyA = mbA;
-	if (mbA)
-		solverConstraint.m_linkA = fcA->m_link;
-
-	solverConstraint.m_multiBodyB = mbB;
-	if (mbB)
-		solverConstraint.m_linkB = fcB->m_link;
-
-	solverConstraint.m_originalContactPoint = &cp;
-
-	setupMultiBodyTorsionalFrictionConstraint(solverConstraint, normalAxis, cp, combinedTorsionalFriction, infoGlobal, relaxation, isFriction, desiredVelocity, cfmSlip);
-	return solverConstraint;
-}
-
-btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodySpinningFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp,
-	btScalar combinedTorsionalFriction,
-	btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
-{
-	BT_PROFILE("addMultiBodyRollingFrictionConstraint");
-
-	btMultiBodySolverConstraint& solverConstraint = m_multiBodySpinningFrictionContactConstraints.expandNonInitializing();
-	solverConstraint.m_orgConstraint = 0;
-	solverConstraint.m_orgDofIndex = -1;
-
-	solverConstraint.m_frictionIndex = frictionIndex;
-	bool isFriction = true;
-
-	const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0());
-	const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
-
-	btMultiBody* mbA = fcA ? fcA->m_multiBody : 0;
-	btMultiBody* mbB = fcB ? fcB->m_multiBody : 0;
-
-	int solverBodyIdA = mbA ? -1 : getOrInitSolverBody(*colObj0, infoGlobal.m_timeStep);
-	int solverBodyIdB = mbB ? -1 : getOrInitSolverBody(*colObj1, infoGlobal.m_timeStep);
-
-	solverConstraint.m_solverBodyIdA = solverBodyIdA;
-	solverConstraint.m_solverBodyIdB = solverBodyIdB;
-	solverConstraint.m_multiBodyA = mbA;
-	if (mbA)
-		solverConstraint.m_linkA = fcA->m_link;
-
-	solverConstraint.m_multiBodyB = mbB;
-	if (mbB)
-		solverConstraint.m_linkB = fcB->m_link;
-
-	solverConstraint.m_originalContactPoint = &cp;
-
-	setupMultiBodyTorsionalFrictionConstraint(solverConstraint, normalAxis, cp, combinedTorsionalFriction, infoGlobal, relaxation, isFriction, desiredVelocity, cfmSlip);
-	return solverConstraint;
-}
-void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* manifold, const btContactSolverInfo& infoGlobal)
-{
-	const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0());
-	const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
-	
-	btMultiBody* mbA = fcA ? fcA->m_multiBody : 0;
-	btMultiBody* mbB = fcB ? fcB->m_multiBody : 0;
-
-	btCollisionObject *colObj0 = 0, *colObj1 = 0;
-
-	colObj0 = (btCollisionObject*)manifold->getBody0();
-	colObj1 = (btCollisionObject*)manifold->getBody1();
-
-	int solverBodyIdA = mbA ? -1 : getOrInitSolverBody(*colObj0, infoGlobal.m_timeStep);
-	int solverBodyIdB = mbB ? -1 : getOrInitSolverBody(*colObj1, infoGlobal.m_timeStep);
-
-	//	btSolverBody* solverBodyA = mbA ? 0 : &m_tmpSolverBodyPool[solverBodyIdA];
-	//	btSolverBody* solverBodyB = mbB ? 0 : &m_tmpSolverBodyPool[solverBodyIdB];
-
-	///avoid collision response between two static objects
-	//	if (!solverBodyA || (solverBodyA->m_invMass.isZero() && (!solverBodyB || solverBodyB->m_invMass.isZero())))
-	//	return;
-
-	//only a single rollingFriction per manifold
-	int rollingFriction = 4;
-
-	for (int j = 0; j < manifold->getNumContacts(); j++)
-	{
-		btManifoldPoint& cp = manifold->getContactPoint(j);
-
-		if (cp.getDistance() <= manifold->getContactProcessingThreshold())
-		{
-			btScalar relaxation;
-
-			int frictionIndex = m_multiBodyNormalContactConstraints.size();
-
-			btMultiBodySolverConstraint& solverConstraint = m_multiBodyNormalContactConstraints.expandNonInitializing();
-
-			//		btRigidBody* rb0 = btRigidBody::upcast(colObj0);
-			//		btRigidBody* rb1 = btRigidBody::upcast(colObj1);
-			solverConstraint.m_orgConstraint = 0;
-			solverConstraint.m_orgDofIndex = -1;
-			solverConstraint.m_solverBodyIdA = solverBodyIdA;
-			solverConstraint.m_solverBodyIdB = solverBodyIdB;
-			solverConstraint.m_multiBodyA = mbA;
-			if (mbA)
-				solverConstraint.m_linkA = fcA->m_link;
-
-			solverConstraint.m_multiBodyB = mbB;
-			if (mbB)
-				solverConstraint.m_linkB = fcB->m_link;
-
-			solverConstraint.m_originalContactPoint = &cp;
-
-			bool isFriction = false;
-			setupMultiBodyContactConstraint(solverConstraint, cp.m_normalWorldOnB, cp.m_appliedImpulse, cp, infoGlobal, relaxation, isFriction);
-
-			//			const btVector3& pos1 = cp.getPositionWorldOnA();
-			//			const btVector3& pos2 = cp.getPositionWorldOnB();
-
-			/////setup the friction constraints
-#define ENABLE_FRICTION
-#ifdef ENABLE_FRICTION
-			solverConstraint.m_frictionIndex = m_multiBodyFrictionContactConstraints.size();
-
-			///Bullet has several options to set the friction directions
-			///By default, each contact has only a single friction direction that is recomputed automatically every frame
-			///based on the relative linear velocity.
-			///If the relative velocity is zero, it will automatically compute a friction direction.
-
-			///You can also enable two friction directions, using the SOLVER_USE_2_FRICTION_DIRECTIONS.
-			///In that case, the second friction direction will be orthogonal to both contact normal and first friction direction.
-			///
-			///If you choose SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, then the friction will be independent from the relative projected velocity.
-			///
-			///The user can manually override the friction directions for certain contacts using a contact callback,
-			///and set the cp.m_lateralFrictionInitialized to true
-			///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2)
-			///this will give a conveyor belt effect
-			///
-
-			btPlaneSpace1(cp.m_normalWorldOnB, cp.m_lateralFrictionDir1, cp.m_lateralFrictionDir2);
-			cp.m_lateralFrictionDir1.normalize();
-			cp.m_lateralFrictionDir2.normalize();
-
-			if (rollingFriction > 0)
-			{
-				if (cp.m_combinedSpinningFriction > 0)
-				{
-					addMultiBodySpinningFrictionConstraint(cp.m_normalWorldOnB, manifold, frictionIndex, cp, cp.m_combinedSpinningFriction, colObj0, colObj1, relaxation, infoGlobal);
-				}
-				if (cp.m_combinedRollingFriction > 0)
-				{
-					applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
-					applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
-					applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
-					applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
-
-					addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir1, manifold, frictionIndex, cp, cp.m_combinedRollingFriction, colObj0, colObj1, relaxation, infoGlobal);
-					addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir2, manifold, frictionIndex, cp, cp.m_combinedRollingFriction, colObj0, colObj1, relaxation, infoGlobal);
-				}
-				rollingFriction--;
-			}
-			if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !(cp.m_contactPointFlags & BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED))
-			{ /*
-				cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
-				btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
-				if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
-				{
-					cp.m_lateralFrictionDir1 *= 1.f/btSqrt(lat_rel_vel);
-					if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-					{
-						cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
-						cp.m_lateralFrictionDir2.normalize();//??
-						applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
-						applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
-						addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
-
-					}
-
-					applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
-					applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
-					addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
-
-				} else
-				*/
-				{
-					applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
-					applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
-					addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, cp.m_appliedImpulseLateral1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal);
-
-					if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-					{
-						applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
-						applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
-					  addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, cp.m_appliedImpulseLateral2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal);
-					}
-
-					if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
-					{
-						cp.m_contactPointFlags |= BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED;
-					}
-				}
-			}
-			else
-			{
-				addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, cp.m_appliedImpulseLateral1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM);
-
-				if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-					addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, cp.m_appliedImpulseLateral2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM);
-				solverConstraint.m_appliedImpulse = 0.f;
-				solverConstraint.m_appliedPushImpulse = 0.f;
-      }
-
-#endif  //ENABLE_FRICTION
-		}
-		else
-		{
-			// Reset quantities related to warmstart as 0.
-			cp.m_appliedImpulse = 0;
-			cp.m_prevRHS = 0;
-		}
-	}
-}
-
-void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal)
-{
-	for (int i = 0; i < numManifolds; i++)
-	{
-		btPersistentManifold* manifold = manifoldPtr[i];
-		const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0());
-		const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
-		if (!fcA && !fcB)
-		{
-			//the contact doesn't involve any Featherstone btMultiBody, so deal with the regular btRigidBody/btCollisionObject case
-			convertContact(manifold, infoGlobal);
-		}
-		else
-		{
-			convertMultiBodyContact(manifold, infoGlobal);
-		}
-	}
-
-	//also convert the multibody constraints, if any
-
-	for (int i = 0; i < m_tmpNumMultiBodyConstraints; i++)
-	{
-		btMultiBodyConstraint* c = m_tmpMultiBodyConstraints[i];
-		m_data.m_solverBodyPool = &m_tmpSolverBodyPool;
-		m_data.m_fixedBodyId = m_fixedBodyId;
-
-		c->createConstraintRows(m_multiBodyNonContactConstraints, m_data, infoGlobal);
-	}
-
-	// Warmstart for noncontact constraints
-	if (infoGlobal.m_solverMode & SOLVER_USE_ARTICULATED_WARMSTARTING)
-	{
-		for (int i = 0; i < m_multiBodyNonContactConstraints.size(); i++)
-		{
-			btMultiBodySolverConstraint& solverConstraint =
-				m_multiBodyNonContactConstraints[i];
-			solverConstraint.m_appliedImpulse =
-				solverConstraint.m_orgConstraint->getAppliedImpulse(solverConstraint.m_orgDofIndex) *
-				infoGlobal.m_articulatedWarmstartingFactor;
-
-			btMultiBody* multiBodyA = solverConstraint.m_multiBodyA;
-			btMultiBody* multiBodyB = solverConstraint.m_multiBodyB;
-			if (solverConstraint.m_appliedImpulse)
-			{
-				if (multiBodyA)
-				{
-					int ndofA = multiBodyA->getNumDofs() + 6;
-					btScalar* deltaV =
-						&m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
-					btScalar impulse = solverConstraint.m_appliedImpulse;
-					multiBodyA->applyDeltaVeeMultiDof2(deltaV, impulse);
-					applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA);
-				}
-				if (multiBodyB)
-				{
-					int ndofB = multiBodyB->getNumDofs() + 6;
-					btScalar* deltaV =
-						&m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
-					btScalar impulse = solverConstraint.m_appliedImpulse;
-					multiBodyB->applyDeltaVeeMultiDof2(deltaV, impulse);
-					applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB);
-				}
-			}
-		}
-	}
-	else
-	{
-		for (int i = 0; i < m_multiBodyNonContactConstraints.size(); i++)
-		{
-			btMultiBodySolverConstraint& solverConstraint = m_multiBodyNonContactConstraints[i];
-			solverConstraint.m_appliedImpulse = 0;
-		}
-	}
-}
-
-btScalar btMultiBodyConstraintSolver::solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher)
-{
-	//printf("btMultiBodyConstraintSolver::solveGroup: numBodies=%d, numConstraints=%d\n", numBodies, numConstraints);
-	return btSequentialImpulseConstraintSolver::solveGroup(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer, dispatcher);
-}
-
-#if 0
-static void applyJointFeedback(btMultiBodyJacobianData& data, const btMultiBodySolverConstraint& solverConstraint, int jacIndex, btMultiBody* mb, btScalar appliedImpulse)
-{
-	if (appliedImpulse!=0 && mb->internalNeedsJointFeedback())
-	{
-		//todo: get rid of those temporary memory allocations for the joint feedback
-		btAlignedObjectArray<btScalar> forceVector;
-		int numDofsPlusBase = 6+mb->getNumDofs();
-		forceVector.resize(numDofsPlusBase);
-		for (int i=0;i<numDofsPlusBase;i++)
-		{
-			forceVector[i] = data.m_jacobians[jacIndex+i]*appliedImpulse;
-		}
-		btAlignedObjectArray<btScalar> output;
-		output.resize(numDofsPlusBase);
-		bool applyJointFeedback = true;
-		mb->calcAccelerationDeltasMultiDof(&forceVector[0],&output[0],data.scratch_r,data.scratch_v,applyJointFeedback);
-	}
-}
-#endif
-
-void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint& c, btScalar deltaTime)
-{
-#if 1
-
-	//bod->addBaseForce(m_gravity * bod->getBaseMass());
-	//bod->addLinkForce(j, m_gravity * bod->getLinkMass(j));
-
-	if (c.m_orgConstraint)
-	{
-		c.m_orgConstraint->internalSetAppliedImpulse(c.m_orgDofIndex, c.m_appliedImpulse);
-	}
-
-	if (c.m_multiBodyA)
-	{
-		c.m_multiBodyA->setCompanionId(-1);
-		btVector3 force = c.m_contactNormal1 * (c.m_appliedImpulse / deltaTime);
-		btVector3 torque = c.m_relpos1CrossNormal * (c.m_appliedImpulse / deltaTime);
-		if (c.m_linkA < 0)
-		{
-			c.m_multiBodyA->addBaseConstraintForce(force);
-			c.m_multiBodyA->addBaseConstraintTorque(torque);
-		}
-		else
-		{
-			c.m_multiBodyA->addLinkConstraintForce(c.m_linkA, force);
-			//b3Printf("force = %f,%f,%f\n",force[0],force[1],force[2]);//[0],torque[1],torque[2]);
-			c.m_multiBodyA->addLinkConstraintTorque(c.m_linkA, torque);
-		}
-	}
-
-	if (c.m_multiBodyB)
-	{
-		{
-			c.m_multiBodyB->setCompanionId(-1);
-			btVector3 force = c.m_contactNormal2 * (c.m_appliedImpulse / deltaTime);
-			btVector3 torque = c.m_relpos2CrossNormal * (c.m_appliedImpulse / deltaTime);
-			if (c.m_linkB < 0)
-			{
-				c.m_multiBodyB->addBaseConstraintForce(force);
-				c.m_multiBodyB->addBaseConstraintTorque(torque);
-			}
-			else
-			{
-				{
-					c.m_multiBodyB->addLinkConstraintForce(c.m_linkB, force);
-					//b3Printf("t = %f,%f,%f\n",force[0],force[1],force[2]);//[0],torque[1],torque[2]);
-					c.m_multiBodyB->addLinkConstraintTorque(c.m_linkB, torque);
-				}
-			}
-		}
-	}
-#endif
-
-#ifndef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
-
-	if (c.m_multiBodyA)
-	{
-		c.m_multiBodyA->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], c.m_appliedImpulse);
-	}
-
-	if (c.m_multiBodyB)
-	{
-		c.m_multiBodyB->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], c.m_appliedImpulse);
-	}
-#endif
-}
-
-btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
-{
-	BT_PROFILE("btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish");
-	int numPoolConstraints = m_multiBodyNormalContactConstraints.size();
-
-	//write back the delta v to the multi bodies, either as applied impulse (direct velocity change)
-	//or as applied force, so we can measure the joint reaction forces easier
-	for (int i = 0; i < numPoolConstraints; i++)
-	{
-		btMultiBodySolverConstraint& solverConstraint = m_multiBodyNormalContactConstraints[i];
-		writeBackSolverBodyToMultiBody(solverConstraint, infoGlobal.m_timeStep);
-
-		writeBackSolverBodyToMultiBody(m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex], infoGlobal.m_timeStep);
-
-		if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-		{
-			writeBackSolverBodyToMultiBody(m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex + 1], infoGlobal.m_timeStep);
-		}
-	}
-
-	for (int i = 0; i < m_multiBodyNonContactConstraints.size(); i++)
-	{
-		btMultiBodySolverConstraint& solverConstraint = m_multiBodyNonContactConstraints[i];
-		writeBackSolverBodyToMultiBody(solverConstraint, infoGlobal.m_timeStep);
-	}
-
-
-	{
-		BT_PROFILE("warm starting write back");
-		for (int j = 0; j < numPoolConstraints; j++)
-		{
-			const btMultiBodySolverConstraint& solverConstraint = m_multiBodyNormalContactConstraints[j];
-			btManifoldPoint* pt = (btManifoldPoint*)solverConstraint.m_originalContactPoint;
-			btAssert(pt);
-			pt->m_appliedImpulse = solverConstraint.m_appliedImpulse;
- 		  pt->m_prevRHS = solverConstraint.m_rhs;
-			pt->m_appliedImpulseLateral1 = m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_appliedImpulse;
-
-			//printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1);
-			if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-			{
-				pt->m_appliedImpulseLateral2 = m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex + 1].m_appliedImpulse;
-			} else
-			{
-				pt->m_appliedImpulseLateral2 = 0;
-			}
-		}
-	}
-
-#if 0
-	//multibody joint feedback
-	{
-		BT_PROFILE("multi body joint feedback");
-		for (int j=0;j<numPoolConstraints;j++)
-		{
-			const btMultiBodySolverConstraint& solverConstraint = m_multiBodyNormalContactConstraints[j];
-		
-			//apply the joint feedback into all links of the btMultiBody
-			//todo: double-check the signs of the applied impulse
-
-			if(solverConstraint.m_multiBodyA && solverConstraint.m_multiBodyA->isMultiDof())
-			{
-				applyJointFeedback(m_data,solverConstraint, solverConstraint.m_jacAindex,solverConstraint.m_multiBodyA, solverConstraint.m_appliedImpulse*btSimdScalar(1./infoGlobal.m_timeStep));
-			}
-			if(solverConstraint.m_multiBodyB && solverConstraint.m_multiBodyB->isMultiDof())
-			{
-				applyJointFeedback(m_data,solverConstraint, solverConstraint.m_jacBindex,solverConstraint.m_multiBodyB,solverConstraint.m_appliedImpulse*btSimdScalar(-1./infoGlobal.m_timeStep));
-			}
-#if 0
-			if (m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_multiBodyA && m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_multiBodyA->isMultiDof())
-			{
-				applyJointFeedback(m_data,m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex],
-					m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_jacAindex,
-					m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_multiBodyA,
-					m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_appliedImpulse*btSimdScalar(1./infoGlobal.m_timeStep));
-
-			}
-			if (m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_multiBodyB && m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_multiBodyB->isMultiDof())
-			{
-				applyJointFeedback(m_data,m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex],
-					m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_jacBindex,
-					m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_multiBodyB,
-					m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_appliedImpulse*btSimdScalar(-1./infoGlobal.m_timeStep));
-			}
-		
-			if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-			{
-				if (m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_multiBodyA && m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_multiBodyA->isMultiDof())
-				{
-					applyJointFeedback(m_data,m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1],
-						m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_jacAindex,
-						m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_multiBodyA,
-						m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_appliedImpulse*btSimdScalar(1./infoGlobal.m_timeStep));
-				}
-
-				if (m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_multiBodyB && m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_multiBodyB->isMultiDof())
-				{
-					applyJointFeedback(m_data,m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1],
-						m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_jacBindex,
-						m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_multiBodyB,
-						m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_appliedImpulse*btSimdScalar(-1./infoGlobal.m_timeStep));
-				}
-			}
-#endif
-		}
-	
-		for (int i=0;i<m_multiBodyNonContactConstraints.size();i++)
-		{
-			const btMultiBodySolverConstraint& solverConstraint = m_multiBodyNonContactConstraints[i];
-			if(solverConstraint.m_multiBodyA && solverConstraint.m_multiBodyA->isMultiDof())
-			{
-				applyJointFeedback(m_data,solverConstraint, solverConstraint.m_jacAindex,solverConstraint.m_multiBodyA, solverConstraint.m_appliedImpulse*btSimdScalar(1./infoGlobal.m_timeStep));
-			}
-			if(solverConstraint.m_multiBodyB && solverConstraint.m_multiBodyB->isMultiDof())
-			{
-				applyJointFeedback(m_data,solverConstraint, solverConstraint.m_jacBindex,solverConstraint.m_multiBodyB,solverConstraint.m_appliedImpulse*btSimdScalar(1./infoGlobal.m_timeStep));
-			}
-		}
-	}
-
-	numPoolConstraints = m_multiBodyNonContactConstraints.size();
-
-#if 0
-	//@todo: m_originalContactPoint is not initialized for btMultiBodySolverConstraint
-	for (int i=0;i<numPoolConstraints;i++)
-	{
-		const btMultiBodySolverConstraint& c = m_multiBodyNonContactConstraints[i];
-
-		btTypedConstraint* constr = (btTypedConstraint*)c.m_originalContactPoint;
-		btJointFeedback* fb = constr->getJointFeedback();
-		if (fb)
-		{
-			fb->m_appliedForceBodyA += c.m_contactNormal1*c.m_appliedImpulse*constr->getRigidBodyA().getLinearFactor()/infoGlobal.m_timeStep;
-			fb->m_appliedForceBodyB += c.m_contactNormal2*c.m_appliedImpulse*constr->getRigidBodyB().getLinearFactor()/infoGlobal.m_timeStep;
-			fb->m_appliedTorqueBodyA += c.m_relpos1CrossNormal* constr->getRigidBodyA().getAngularFactor()*c.m_appliedImpulse/infoGlobal.m_timeStep;
-			fb->m_appliedTorqueBodyB += c.m_relpos2CrossNormal* constr->getRigidBodyB().getAngularFactor()*c.m_appliedImpulse/infoGlobal.m_timeStep; /*RGM ???? */
-			
-		}
-
-		constr->internalSetAppliedImpulse(c.m_appliedImpulse);
-		if (btFabs(c.m_appliedImpulse)>=constr->getBreakingImpulseThreshold())
-		{
-			constr->setEnabled(false);
-		}
-
-	}
-#endif
-#endif
-
-	return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal);
-}
-
-void btMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher)
-{
-	//printf("solveMultiBodyGroup: numBodies=%d, numConstraints=%d, numManifolds=%d, numMultiBodyConstraints=%d\n", numBodies, numConstraints, numManifolds, numMultiBodyConstraints);
-
-	//printf("solveMultiBodyGroup start\n");
-	m_tmpMultiBodyConstraints = multiBodyConstraints;
-	m_tmpNumMultiBodyConstraints = numMultiBodyConstraints;
-
-	btSequentialImpulseConstraintSolver::solveGroup(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer, dispatcher);
-
-	m_tmpMultiBodyConstraints = 0;
-	m_tmpNumMultiBodyConstraints = 0;
-}
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
deleted file mode 100644
index f584360e2b..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_MULTIBODY_CONSTRAINT_SOLVER_H
-#define BT_MULTIBODY_CONSTRAINT_SOLVER_H
-
-#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
-#include "btMultiBodySolverConstraint.h"
-
-#define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
-
-class btMultiBody;
-
-#include "btMultiBodyConstraint.h"
-
-ATTRIBUTE_ALIGNED16(class)
-btMultiBodyConstraintSolver : public btSequentialImpulseConstraintSolver
-{
-protected:
-	btMultiBodyConstraintArray m_multiBodyNonContactConstraints;
-
-	btMultiBodyConstraintArray m_multiBodyNormalContactConstraints;
-	btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints;
-	btMultiBodyConstraintArray m_multiBodyTorsionalFrictionContactConstraints;
-	btMultiBodyConstraintArray m_multiBodySpinningFrictionContactConstraints;
-
-	btMultiBodyJacobianData m_data;
-
-	//temp storage for multi body constraints for a specific island/group called by 'solveGroup'
-	btMultiBodyConstraint** m_tmpMultiBodyConstraints;
-	int m_tmpNumMultiBodyConstraints;
-
-	btScalar resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c);
-
-	//solve 2 friction directions and clamp against the implicit friction cone
-	btScalar resolveConeFrictionConstraintRows(const btMultiBodySolverConstraint& cA1, const btMultiBodySolverConstraint& cB);
-
-	void convertContacts(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
-
-	btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis, const btScalar& appliedImpulse, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
-
-	btMultiBodySolverConstraint& addMultiBodyTorsionalFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp,
-																		 btScalar combinedTorsionalFriction,
-																		 btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
-
-	btMultiBodySolverConstraint& addMultiBodySpinningFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp,
-		btScalar combinedTorsionalFriction,
-		btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
-
-	void setupMultiBodyJointLimitConstraint(btMultiBodySolverConstraint & constraintRow,
-											btScalar * jacA, btScalar * jacB,
-											btScalar penetration, btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff,
-											const btContactSolverInfo& infoGlobal);
-
-	void setupMultiBodyContactConstraint(btMultiBodySolverConstraint & solverConstraint,
-										 const btVector3& contactNormal,
-                     const btScalar& appliedImpulse,
-										 btManifoldPoint& cp,
-                     const btContactSolverInfo& infoGlobal,
-										 btScalar& relaxation,
-										 bool isFriction, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
-
-	//either rolling or spinning friction
-	void setupMultiBodyTorsionalFrictionConstraint(btMultiBodySolverConstraint & solverConstraint,
-												   const btVector3& contactNormal,
-												   btManifoldPoint& cp,
-												   btScalar combinedTorsionalFriction,
-												   const btContactSolverInfo& infoGlobal,
-												   btScalar& relaxation,
-												   bool isFriction, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
-
-	void convertMultiBodyContact(btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal);
-	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
-	//	virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
-	virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
-	void applyDeltaVee(btScalar * deltaV, btScalar impulse, int velocityIndex, int ndof);
-	void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint & constraint, btScalar deltaTime);
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	///this method should not be called, it was just used during porting/integration of Featherstone btMultiBody, providing backwards compatibility but no support for btMultiBodyConstraint (only contact constraints)
-	virtual btScalar solveGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
-	virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
-
-	virtual void solveMultiBodyGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
-};
-
-#endif  //BT_MULTIBODY_CONSTRAINT_SOLVER_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
deleted file mode 100644
index e7af332eb3..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
+++ /dev/null
@@ -1,895 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btMultiBodyDynamicsWorld.h"
-#include "btMultiBodyConstraintSolver.h"
-#include "btMultiBody.h"
-#include "btMultiBodyLinkCollider.h"
-#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
-#include "LinearMath/btQuickprof.h"
-#include "btMultiBodyConstraint.h"
-#include "LinearMath/btIDebugDraw.h"
-#include "LinearMath/btSerializer.h"
-
-void btMultiBodyDynamicsWorld::addMultiBody(btMultiBody* body, int group, int mask)
-{
-	m_multiBodies.push_back(body);
-}
-
-void btMultiBodyDynamicsWorld::removeMultiBody(btMultiBody* body)
-{
-	m_multiBodies.remove(body);
-}
-
-void btMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
-{
-    btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep);
-    predictMultiBodyTransforms(timeStep);
-    
-}
-void btMultiBodyDynamicsWorld::calculateSimulationIslands()
-{
-	BT_PROFILE("calculateSimulationIslands");
-
-	getSimulationIslandManager()->updateActivationState(getCollisionWorld(), getCollisionWorld()->getDispatcher());
-
-	{
-		//merge islands based on speculative contact manifolds too
-		for (int i = 0; i < this->m_predictiveManifolds.size(); i++)
-		{
-			btPersistentManifold* manifold = m_predictiveManifolds[i];
-
-			const btCollisionObject* colObj0 = manifold->getBody0();
-			const btCollisionObject* colObj1 = manifold->getBody1();
-
-			if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
-				((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
-			{
-				getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(), (colObj1)->getIslandTag());
-			}
-		}
-	}
-
-	{
-		int i;
-		int numConstraints = int(m_constraints.size());
-		for (i = 0; i < numConstraints; i++)
-		{
-			btTypedConstraint* constraint = m_constraints[i];
-			if (constraint->isEnabled())
-			{
-				const btRigidBody* colObj0 = &constraint->getRigidBodyA();
-				const btRigidBody* colObj1 = &constraint->getRigidBodyB();
-
-				if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
-					((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
-				{
-					getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(), (colObj1)->getIslandTag());
-				}
-			}
-		}
-	}
-
-	//merge islands linked by Featherstone link colliders
-	for (int i = 0; i < m_multiBodies.size(); i++)
-	{
-		btMultiBody* body = m_multiBodies[i];
-		{
-			btMultiBodyLinkCollider* prev = body->getBaseCollider();
-
-			for (int b = 0; b < body->getNumLinks(); b++)
-			{
-				btMultiBodyLinkCollider* cur = body->getLink(b).m_collider;
-
-				if (((cur) && (!(cur)->isStaticOrKinematicObject())) &&
-					((prev) && (!(prev)->isStaticOrKinematicObject())))
-				{
-					int tagPrev = prev->getIslandTag();
-					int tagCur = cur->getIslandTag();
-					getSimulationIslandManager()->getUnionFind().unite(tagPrev, tagCur);
-				}
-				if (cur && !cur->isStaticOrKinematicObject())
-					prev = cur;
-			}
-		}
-	}
-
-	//merge islands linked by multibody constraints
-	{
-		for (int i = 0; i < this->m_multiBodyConstraints.size(); i++)
-		{
-			btMultiBodyConstraint* c = m_multiBodyConstraints[i];
-			int tagA = c->getIslandIdA();
-			int tagB = c->getIslandIdB();
-			if (tagA >= 0 && tagB >= 0)
-				getSimulationIslandManager()->getUnionFind().unite(tagA, tagB);
-		}
-	}
-
-	//Store the island id in each body
-	getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld());
-}
-
-void btMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep)
-{
-	BT_PROFILE("btMultiBodyDynamicsWorld::updateActivationState");
-
-	for (int i = 0; i < m_multiBodies.size(); i++)
-	{
-		btMultiBody* body = m_multiBodies[i];
-		if (body)
-		{
-			body->checkMotionAndSleepIfRequired(timeStep);
-			if (!body->isAwake())
-			{
-				btMultiBodyLinkCollider* col = body->getBaseCollider();
-				if (col && col->getActivationState() == ACTIVE_TAG)
-				{
-                    if (body->hasFixedBase())
-					{
-                        col->setActivationState(FIXED_BASE_MULTI_BODY);
-                    } else
-					{
-                        col->setActivationState(WANTS_DEACTIVATION);
-                    }
-					
-					col->setDeactivationTime(0.f);
-				}
-				for (int b = 0; b < body->getNumLinks(); b++)
-				{
-					btMultiBodyLinkCollider* col = body->getLink(b).m_collider;
-					if (col && col->getActivationState() == ACTIVE_TAG)
-					{
-						col->setActivationState(WANTS_DEACTIVATION);
-						col->setDeactivationTime(0.f);
-					}
-				}
-			}
-			else
-			{
-				btMultiBodyLinkCollider* col = body->getBaseCollider();
-				if (col && col->getActivationState() != DISABLE_DEACTIVATION)
-					col->setActivationState(ACTIVE_TAG);
-
-				for (int b = 0; b < body->getNumLinks(); b++)
-				{
-					btMultiBodyLinkCollider* col = body->getLink(b).m_collider;
-					if (col && col->getActivationState() != DISABLE_DEACTIVATION)
-						col->setActivationState(ACTIVE_TAG);
-				}
-			}
-		}
-	}
-
-	btDiscreteDynamicsWorld::updateActivationState(timeStep);
-}
-
-void btMultiBodyDynamicsWorld::getAnalyticsData(btAlignedObjectArray<btSolverAnalyticsData>& islandAnalyticsData) const
-{
-	islandAnalyticsData = m_solverMultiBodyIslandCallback->m_islandAnalyticsData;
-}
-
-btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
-	: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration),
-	  m_multiBodyConstraintSolver(constraintSolver)
-{
-	//split impulse is not yet supported for Featherstone hierarchies
-	//	getSolverInfo().m_splitImpulse = false;
-	getSolverInfo().m_solverMode |= SOLVER_USE_2_FRICTION_DIRECTIONS;
-	m_solverMultiBodyIslandCallback = new MultiBodyInplaceSolverIslandCallback(constraintSolver, dispatcher);
-}
-
-btMultiBodyDynamicsWorld::~btMultiBodyDynamicsWorld()
-{
-	delete m_solverMultiBodyIslandCallback;
-}
-
-void btMultiBodyDynamicsWorld::setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver)
-{
-	m_multiBodyConstraintSolver = solver;
-	m_solverMultiBodyIslandCallback->setMultiBodyConstraintSolver(solver);
-	btDiscreteDynamicsWorld::setConstraintSolver(solver);
-}
-
-void btMultiBodyDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
-{
-	if (solver->getSolverType() == BT_MULTIBODY_SOLVER)
-	{
-		m_multiBodyConstraintSolver = (btMultiBodyConstraintSolver*)solver;
-	}
-	btDiscreteDynamicsWorld::setConstraintSolver(solver);
-}
-
-void btMultiBodyDynamicsWorld::forwardKinematics()
-{
-	for (int b = 0; b < m_multiBodies.size(); b++)
-	{
-		btMultiBody* bod = m_multiBodies[b];
-		bod->forwardKinematics(m_scratch_world_to_local, m_scratch_local_origin);
-	}
-}
-void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
-{
-    solveExternalForces(solverInfo);
-    buildIslands();
-    solveInternalConstraints(solverInfo);
-}
-
-void btMultiBodyDynamicsWorld::buildIslands()
-{
-    m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback);
-}
-
-void btMultiBodyDynamicsWorld::solveInternalConstraints(btContactSolverInfo& solverInfo)
-{
-	/// solve all the constraints for this island
-	m_solverMultiBodyIslandCallback->processConstraints();
-	m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
-    {
-        BT_PROFILE("btMultiBody stepVelocities");
-        for (int i = 0; i < this->m_multiBodies.size(); i++)
-        {
-            btMultiBody* bod = m_multiBodies[i];
-            
-            bool isSleeping = false;
-            
-            if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
-            {
-                isSleeping = true;
-            }
-            for (int b = 0; b < bod->getNumLinks(); b++)
-            {
-                if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
-                    isSleeping = true;
-            }
-            
-            if (!isSleeping)
-            {
-                //useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
-                m_scratch_r.resize(bod->getNumLinks() + 1);  //multidof? ("Y"s use it and it is used to store qdd)
-                m_scratch_v.resize(bod->getNumLinks() + 1);
-                m_scratch_m.resize(bod->getNumLinks() + 1);
-                
-                if (bod->internalNeedsJointFeedback())
-                {
-                    if (!bod->isUsingRK4Integration())
-                    {
-                        if (bod->internalNeedsJointFeedback())
-                        {
-                            bool isConstraintPass = true;
-                            bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass,
-                                                                                      getSolverInfo().m_jointFeedbackInWorldSpace,
-                                                                                      getSolverInfo().m_jointFeedbackInJointFrame);
-                        }
-                    }
-                }
-            }
-        }
-    }
-    for (int i = 0; i < this->m_multiBodies.size(); i++)
-    {
-        btMultiBody* bod = m_multiBodies[i];
-        bod->processDeltaVeeMultiDof2();
-    }
-}
-
-void btMultiBodyDynamicsWorld::solveExternalForces(btContactSolverInfo& solverInfo)
-{
-    forwardKinematics();
-    
-    BT_PROFILE("solveConstraints");
-    
-    clearMultiBodyConstraintForces();
-    
-    m_sortedConstraints.resize(m_constraints.size());
-    int i;
-    for (i = 0; i < getNumConstraints(); i++)
-    {
-        m_sortedConstraints[i] = m_constraints[i];
-    }
-    m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2());
-    btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0;
-    
-    m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size());
-    for (i = 0; i < m_multiBodyConstraints.size(); i++)
-    {
-        m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i];
-    }
-    m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate());
-    
-    btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0;
-    
-    m_solverMultiBodyIslandCallback->setup(&solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer());
-    m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
-    
-#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
-    {
-        BT_PROFILE("btMultiBody addForce");
-        for (int i = 0; i < this->m_multiBodies.size(); i++)
-        {
-            btMultiBody* bod = m_multiBodies[i];
-            
-            bool isSleeping = false;
-            
-            if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
-            {
-                isSleeping = true;
-            }
-            for (int b = 0; b < bod->getNumLinks(); b++)
-            {
-                if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
-                    isSleeping = true;
-            }
-            
-            if (!isSleeping)
-            {
-                //useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
-                m_scratch_r.resize(bod->getNumLinks() + 1);  //multidof? ("Y"s use it and it is used to store qdd)
-                m_scratch_v.resize(bod->getNumLinks() + 1);
-                m_scratch_m.resize(bod->getNumLinks() + 1);
-                
-                bod->addBaseForce(m_gravity * bod->getBaseMass());
-                
-                for (int j = 0; j < bod->getNumLinks(); ++j)
-                {
-                    bod->addLinkForce(j, m_gravity * bod->getLinkMass(j));
-                }
-            }  //if (!isSleeping)
-        }
-    }
-#endif  //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
-    
-    {
-        BT_PROFILE("btMultiBody stepVelocities");
-        for (int i = 0; i < this->m_multiBodies.size(); i++)
-        {
-            btMultiBody* bod = m_multiBodies[i];
-            
-            bool isSleeping = false;
-            
-            if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
-            {
-                isSleeping = true;
-            }
-            for (int b = 0; b < bod->getNumLinks(); b++)
-            {
-                if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
-                    isSleeping = true;
-            }
-            
-            if (!isSleeping)
-            {
-                //useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
-                m_scratch_r.resize(bod->getNumLinks() + 1);  //multidof? ("Y"s use it and it is used to store qdd)
-                m_scratch_v.resize(bod->getNumLinks() + 1);
-                m_scratch_m.resize(bod->getNumLinks() + 1);
-                bool doNotUpdatePos = false;
-                bool isConstraintPass = false;
-                {
-                    if (!bod->isUsingRK4Integration())
-                    {
-                        bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep,
-                                                                                  m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass,
-                                                                                  getSolverInfo().m_jointFeedbackInWorldSpace,
-                                                                                  getSolverInfo().m_jointFeedbackInJointFrame);
-                    }
-                    else
-                    {
-                        //
-                        int numDofs = bod->getNumDofs() + 6;
-                        int numPosVars = bod->getNumPosVars() + 7;
-                        btAlignedObjectArray<btScalar> scratch_r2;
-                        scratch_r2.resize(2 * numPosVars + 8 * numDofs);
-                        //convenience
-                        btScalar* pMem = &scratch_r2[0];
-                        btScalar* scratch_q0 = pMem;
-                        pMem += numPosVars;
-                        btScalar* scratch_qx = pMem;
-                        pMem += numPosVars;
-                        btScalar* scratch_qd0 = pMem;
-                        pMem += numDofs;
-                        btScalar* scratch_qd1 = pMem;
-                        pMem += numDofs;
-                        btScalar* scratch_qd2 = pMem;
-                        pMem += numDofs;
-                        btScalar* scratch_qd3 = pMem;
-                        pMem += numDofs;
-                        btScalar* scratch_qdd0 = pMem;
-                        pMem += numDofs;
-                        btScalar* scratch_qdd1 = pMem;
-                        pMem += numDofs;
-                        btScalar* scratch_qdd2 = pMem;
-                        pMem += numDofs;
-                        btScalar* scratch_qdd3 = pMem;
-                        pMem += numDofs;
-                        btAssert((pMem - (2 * numPosVars + 8 * numDofs)) == &scratch_r2[0]);
-                        
-                        /////
-                        //copy q0 to scratch_q0 and qd0 to scratch_qd0
-                        scratch_q0[0] = bod->getWorldToBaseRot().x();
-                        scratch_q0[1] = bod->getWorldToBaseRot().y();
-                        scratch_q0[2] = bod->getWorldToBaseRot().z();
-                        scratch_q0[3] = bod->getWorldToBaseRot().w();
-                        scratch_q0[4] = bod->getBasePos().x();
-                        scratch_q0[5] = bod->getBasePos().y();
-                        scratch_q0[6] = bod->getBasePos().z();
-                        //
-                        for (int link = 0; link < bod->getNumLinks(); ++link)
-                        {
-                            for (int dof = 0; dof < bod->getLink(link).m_posVarCount; ++dof)
-                                scratch_q0[7 + bod->getLink(link).m_cfgOffset + dof] = bod->getLink(link).m_jointPos[dof];
-                        }
-                        //
-                        for (int dof = 0; dof < numDofs; ++dof)
-                            scratch_qd0[dof] = bod->getVelocityVector()[dof];
-                        ////
-                        struct
-                        {
-                            btMultiBody* bod;
-                            btScalar *scratch_qx, *scratch_q0;
-                            
-                            void operator()()
-                            {
-                                for (int dof = 0; dof < bod->getNumPosVars() + 7; ++dof)
-                                    scratch_qx[dof] = scratch_q0[dof];
-                            }
-                        } pResetQx = {bod, scratch_qx, scratch_q0};
-                        //
-                        struct
-                        {
-                            void operator()(btScalar dt, const btScalar* pDer, const btScalar* pCurVal, btScalar* pVal, int size)
-                            {
-                                for (int i = 0; i < size; ++i)
-                                    pVal[i] = pCurVal[i] + dt * pDer[i];
-                            }
-                            
-                        } pEulerIntegrate;
-                        //
-                        struct
-                        {
-                            void operator()(btMultiBody* pBody, const btScalar* pData)
-                            {
-                                btScalar* pVel = const_cast<btScalar*>(pBody->getVelocityVector());
-                                
-                                for (int i = 0; i < pBody->getNumDofs() + 6; ++i)
-                                    pVel[i] = pData[i];
-                            }
-                        } pCopyToVelocityVector;
-                        //
-                        struct
-                        {
-                            void operator()(const btScalar* pSrc, btScalar* pDst, int start, int size)
-                            {
-                                for (int i = 0; i < size; ++i)
-                                    pDst[i] = pSrc[start + i];
-                            }
-                        } pCopy;
-                        //
-                        
-                        btScalar h = solverInfo.m_timeStep;
-#define output &m_scratch_r[bod->getNumDofs()]
-                        //calc qdd0 from: q0 & qd0
-                        bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
-                                                                                  isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
-                                                                                  getSolverInfo().m_jointFeedbackInJointFrame);
-                        pCopy(output, scratch_qdd0, 0, numDofs);
-                        //calc q1 = q0 + h/2 * qd0
-                        pResetQx();
-                        bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd0);
-                        //calc qd1 = qd0 + h/2 * qdd0
-                        pEulerIntegrate(btScalar(.5) * h, scratch_qdd0, scratch_qd0, scratch_qd1, numDofs);
-                        //
-                        //calc qdd1 from: q1 & qd1
-                        pCopyToVelocityVector(bod, scratch_qd1);
-                        bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
-                                                                                  isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
-                                                                                  getSolverInfo().m_jointFeedbackInJointFrame);
-                        pCopy(output, scratch_qdd1, 0, numDofs);
-                        //calc q2 = q0 + h/2 * qd1
-                        pResetQx();
-                        bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd1);
-                        //calc qd2 = qd0 + h/2 * qdd1
-                        pEulerIntegrate(btScalar(.5) * h, scratch_qdd1, scratch_qd0, scratch_qd2, numDofs);
-                        //
-                        //calc qdd2 from: q2 & qd2
-                        pCopyToVelocityVector(bod, scratch_qd2);
-                        bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
-                                                                                  isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
-                                                                                  getSolverInfo().m_jointFeedbackInJointFrame);
-                        pCopy(output, scratch_qdd2, 0, numDofs);
-                        //calc q3 = q0 + h * qd2
-                        pResetQx();
-                        bod->stepPositionsMultiDof(h, scratch_qx, scratch_qd2);
-                        //calc qd3 = qd0 + h * qdd2
-                        pEulerIntegrate(h, scratch_qdd2, scratch_qd0, scratch_qd3, numDofs);
-                        //
-                        //calc qdd3 from: q3 & qd3
-                        pCopyToVelocityVector(bod, scratch_qd3);
-                        bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
-                                                                                  isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
-                                                                                  getSolverInfo().m_jointFeedbackInJointFrame);
-                        pCopy(output, scratch_qdd3, 0, numDofs);
-                        
-                        //
-                        //calc q = q0 + h/6(qd0 + 2*(qd1 + qd2) + qd3)
-                        //calc qd = qd0 + h/6(qdd0 + 2*(qdd1 + qdd2) + qdd3)
-                        btAlignedObjectArray<btScalar> delta_q;
-                        delta_q.resize(numDofs);
-                        btAlignedObjectArray<btScalar> delta_qd;
-                        delta_qd.resize(numDofs);
-                        for (int i = 0; i < numDofs; ++i)
-                        {
-                            delta_q[i] = h / btScalar(6.) * (scratch_qd0[i] + 2 * scratch_qd1[i] + 2 * scratch_qd2[i] + scratch_qd3[i]);
-                            delta_qd[i] = h / btScalar(6.) * (scratch_qdd0[i] + 2 * scratch_qdd1[i] + 2 * scratch_qdd2[i] + scratch_qdd3[i]);
-                            //delta_q[i] = h*scratch_qd0[i];
-                            //delta_qd[i] = h*scratch_qdd0[i];
-                        }
-                        //
-                        pCopyToVelocityVector(bod, scratch_qd0);
-                        bod->applyDeltaVeeMultiDof(&delta_qd[0], 1);
-                        //
-                        if (!doNotUpdatePos)
-                        {
-                            btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector());
-                            pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs();
-                            
-                            for (int i = 0; i < numDofs; ++i)
-                                pRealBuf[i] = delta_q[i];
-                            
-                            //bod->stepPositionsMultiDof(1, 0, &delta_q[0]);
-                            bod->setPosUpdated(true);
-                        }
-                        
-                        //ugly hack which resets the cached data to t0 (needed for constraint solver)
-                        {
-                            for (int link = 0; link < bod->getNumLinks(); ++link)
-                                bod->getLink(link).updateCacheMultiDof();
-                            bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m,
-                                                                                      isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
-                                                                                      getSolverInfo().m_jointFeedbackInJointFrame);
-                        }
-                    }
-                }
-                
-#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
-                bod->clearForcesAndTorques();
-#endif         //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
-            }  //if (!isSleeping)
-        }
-    }
-}
-
-
-void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
-{
-	btDiscreteDynamicsWorld::integrateTransforms(timeStep);
-    integrateMultiBodyTransforms(timeStep);
-}
-
-void btMultiBodyDynamicsWorld::integrateMultiBodyTransforms(btScalar timeStep)
-{
-		BT_PROFILE("btMultiBody stepPositions");
-		//integrate and update the Featherstone hierarchies
-
-		for (int b = 0; b < m_multiBodies.size(); b++)
-		{
-			btMultiBody* bod = m_multiBodies[b];
-			bool isSleeping = false;
-			if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
-			{
-				isSleeping = true;
-			}
-			for (int b = 0; b < bod->getNumLinks(); b++)
-			{
-				if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
-					isSleeping = true;
-			}
-
-			if (!isSleeping)
-			{
-				bod->addSplitV();
-				int nLinks = bod->getNumLinks();
-
-				///base + num m_links
-                if (!bod->isPosUpdated())
-                    bod->stepPositionsMultiDof(timeStep);
-                else
-                {
-                    btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector());
-                    pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs();
-
-                    bod->stepPositionsMultiDof(1, 0, pRealBuf);
-                    bod->setPosUpdated(false);
-                }
-
-
-				m_scratch_world_to_local.resize(nLinks + 1);
-				m_scratch_local_origin.resize(nLinks + 1);
-                bod->updateCollisionObjectWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin);
-				bod->substractSplitV();
-			}
-			else
-			{
-				bod->clearVelocities();
-			}
-		}
-}
-
-void btMultiBodyDynamicsWorld::predictMultiBodyTransforms(btScalar timeStep)
-{
-    BT_PROFILE("btMultiBody stepPositions");
-    //integrate and update the Featherstone hierarchies
-    
-    for (int b = 0; b < m_multiBodies.size(); b++)
-    {
-        btMultiBody* bod = m_multiBodies[b];
-        bool isSleeping = false;
-        if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
-        {
-            isSleeping = true;
-        }
-        for (int b = 0; b < bod->getNumLinks(); b++)
-        {
-            if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
-                isSleeping = true;
-        }
-        
-        if (!isSleeping)
-        {
-            int nLinks = bod->getNumLinks();
-            bod->predictPositionsMultiDof(timeStep);
-            m_scratch_world_to_local.resize(nLinks + 1);
-            m_scratch_local_origin.resize(nLinks + 1);
-            bod->updateCollisionObjectInterpolationWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin);
-        }
-        else
-        {
-            bod->clearVelocities();
-        }
-    }
-}
-
-void btMultiBodyDynamicsWorld::addMultiBodyConstraint(btMultiBodyConstraint* constraint)
-{
-	m_multiBodyConstraints.push_back(constraint);
-}
-
-void btMultiBodyDynamicsWorld::removeMultiBodyConstraint(btMultiBodyConstraint* constraint)
-{
-	m_multiBodyConstraints.remove(constraint);
-}
-
-void btMultiBodyDynamicsWorld::debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint)
-{
-	constraint->debugDraw(getDebugDrawer());
-}
-
-void btMultiBodyDynamicsWorld::debugDrawWorld()
-{
-	BT_PROFILE("btMultiBodyDynamicsWorld debugDrawWorld");
-
-	btDiscreteDynamicsWorld::debugDrawWorld();
-
-	bool drawConstraints = false;
-	if (getDebugDrawer())
-	{
-		int mode = getDebugDrawer()->getDebugMode();
-		if (mode & (btIDebugDraw::DBG_DrawConstraints | btIDebugDraw::DBG_DrawConstraintLimits))
-		{
-			drawConstraints = true;
-		}
-
-		if (drawConstraints)
-		{
-			BT_PROFILE("btMultiBody debugDrawWorld");
-
-			for (int c = 0; c < m_multiBodyConstraints.size(); c++)
-			{
-				btMultiBodyConstraint* constraint = m_multiBodyConstraints[c];
-				debugDrawMultiBodyConstraint(constraint);
-			}
-
-			for (int b = 0; b < m_multiBodies.size(); b++)
-			{
-				btMultiBody* bod = m_multiBodies[b];
-				bod->forwardKinematics(m_scratch_world_to_local1, m_scratch_local_origin1);
-
-				if (mode & btIDebugDraw::DBG_DrawFrames)
-				{
-					getDebugDrawer()->drawTransform(bod->getBaseWorldTransform(), 0.1);
-				}
-
-				for (int m = 0; m < bod->getNumLinks(); m++)
-				{
-					const btTransform& tr = bod->getLink(m).m_cachedWorldTransform;
-					if (mode & btIDebugDraw::DBG_DrawFrames)
-					{
-						getDebugDrawer()->drawTransform(tr, 0.1);
-					}
-					//draw the joint axis
-					if (bod->getLink(m).m_jointType == btMultibodyLink::eRevolute)
-					{
-						btVector3 vec = quatRotate(tr.getRotation(), bod->getLink(m).m_axes[0].m_topVec) * 0.1;
-
-						btVector4 color(0, 0, 0, 1);  //1,1,1);
-						btVector3 from = vec + tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector);
-						btVector3 to = tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector);
-						getDebugDrawer()->drawLine(from, to, color);
-					}
-					if (bod->getLink(m).m_jointType == btMultibodyLink::eFixed)
-					{
-						btVector3 vec = quatRotate(tr.getRotation(), bod->getLink(m).m_axes[0].m_bottomVec) * 0.1;
-
-						btVector4 color(0, 0, 0, 1);  //1,1,1);
-						btVector3 from = vec + tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector);
-						btVector3 to = tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector);
-						getDebugDrawer()->drawLine(from, to, color);
-					}
-					if (bod->getLink(m).m_jointType == btMultibodyLink::ePrismatic)
-					{
-						btVector3 vec = quatRotate(tr.getRotation(), bod->getLink(m).m_axes[0].m_bottomVec) * 0.1;
-
-						btVector4 color(0, 0, 0, 1);  //1,1,1);
-						btVector3 from = vec + tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector);
-						btVector3 to = tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector);
-						getDebugDrawer()->drawLine(from, to, color);
-					}
-				}
-			}
-		}
-	}
-}
-
-void btMultiBodyDynamicsWorld::applyGravity()
-{
-	btDiscreteDynamicsWorld::applyGravity();
-#ifdef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
-	BT_PROFILE("btMultiBody addGravity");
-	for (int i = 0; i < this->m_multiBodies.size(); i++)
-	{
-		btMultiBody* bod = m_multiBodies[i];
-
-		bool isSleeping = false;
-
-		if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
-		{
-			isSleeping = true;
-		}
-		for (int b = 0; b < bod->getNumLinks(); b++)
-		{
-			if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
-				isSleeping = true;
-		}
-
-		if (!isSleeping)
-		{
-			bod->addBaseForce(m_gravity * bod->getBaseMass());
-
-			for (int j = 0; j < bod->getNumLinks(); ++j)
-			{
-				bod->addLinkForce(j, m_gravity * bod->getLinkMass(j));
-			}
-		}  //if (!isSleeping)
-	}
-#endif  //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
-}
-
-void btMultiBodyDynamicsWorld::clearMultiBodyConstraintForces()
-{
-	for (int i = 0; i < this->m_multiBodies.size(); i++)
-	{
-		btMultiBody* bod = m_multiBodies[i];
-		bod->clearConstraintForces();
-	}
-}
-void btMultiBodyDynamicsWorld::clearMultiBodyForces()
-{
-	{
-		// BT_PROFILE("clearMultiBodyForces");
-		for (int i = 0; i < this->m_multiBodies.size(); i++)
-		{
-			btMultiBody* bod = m_multiBodies[i];
-
-			bool isSleeping = false;
-
-			if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
-			{
-				isSleeping = true;
-			}
-			for (int b = 0; b < bod->getNumLinks(); b++)
-			{
-				if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
-					isSleeping = true;
-			}
-
-			if (!isSleeping)
-			{
-				btMultiBody* bod = m_multiBodies[i];
-				bod->clearForcesAndTorques();
-			}
-		}
-	}
-}
-void btMultiBodyDynamicsWorld::clearForces()
-{
-	btDiscreteDynamicsWorld::clearForces();
-
-#ifdef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
-	clearMultiBodyForces();
-#endif
-}
-
-void btMultiBodyDynamicsWorld::serialize(btSerializer* serializer)
-{
-	serializer->startSerialization();
-
-	serializeDynamicsWorldInfo(serializer);
-
-	serializeMultiBodies(serializer);
-
-	serializeRigidBodies(serializer);
-
-	serializeCollisionObjects(serializer);
-
-	serializeContactManifolds(serializer);
-
-	serializer->finishSerialization();
-}
-
-void btMultiBodyDynamicsWorld::serializeMultiBodies(btSerializer* serializer)
-{
-	int i;
-	//serialize all collision objects
-	for (i = 0; i < m_multiBodies.size(); i++)
-	{
-		btMultiBody* mb = m_multiBodies[i];
-		{
-			int len = mb->calculateSerializeBufferSize();
-			btChunk* chunk = serializer->allocate(len, 1);
-			const char* structType = mb->serialize(chunk->m_oldPtr, serializer);
-			serializer->finalizeChunk(chunk, structType, BT_MULTIBODY_CODE, mb);
-		}
-	}
-
-	//serialize all multibody links (collision objects)
-	for (i = 0; i < m_collisionObjects.size(); i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		if (colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
-		{
-			int len = colObj->calculateSerializeBufferSize();
-			btChunk* chunk = serializer->allocate(len, 1);
-			const char* structType = colObj->serialize(chunk->m_oldPtr, serializer);
-			serializer->finalizeChunk(chunk, structType, BT_MB_LINKCOLLIDER_CODE, colObj);
-		}
-	}
-}
-
-void btMultiBodyDynamicsWorld::saveKinematicState(btScalar timeStep)
-{
-	btDiscreteDynamicsWorld::saveKinematicState(timeStep);
-	for(int i = 0; i < m_multiBodies.size(); i++)
-	{
-		btMultiBody* body = m_multiBodies[i];
-		if(body->isBaseKinematic())
-			body->saveKinematicState(timeStep);
-	}
-}
-
-//
-//void btMultiBodyDynamicsWorld::setSplitIslands(bool split)
-//{
-//    m_islandManager->setSplitIslands(split);
-//}
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
deleted file mode 100644
index d2d76c8b92..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
+++ /dev/null
@@ -1,126 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_MULTIBODY_DYNAMICS_WORLD_H
-#define BT_MULTIBODY_DYNAMICS_WORLD_H
-
-#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
-#include "BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h"
-
-#define BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
-
-class btMultiBody;
-class btMultiBodyConstraint;
-class btMultiBodyConstraintSolver;
-struct MultiBodyInplaceSolverIslandCallback;
-
-///The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet
-///This implementation is still preliminary/experimental.
-class btMultiBodyDynamicsWorld : public btDiscreteDynamicsWorld
-{
-protected:
-	btAlignedObjectArray<btMultiBody*> m_multiBodies;
-	btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints;
-	btAlignedObjectArray<btMultiBodyConstraint*> m_sortedMultiBodyConstraints;
-	btMultiBodyConstraintSolver* m_multiBodyConstraintSolver;
-	MultiBodyInplaceSolverIslandCallback* m_solverMultiBodyIslandCallback;
-
-	//cached data to avoid memory allocations
-	btAlignedObjectArray<btQuaternion> m_scratch_world_to_local;
-	btAlignedObjectArray<btVector3> m_scratch_local_origin;
-	btAlignedObjectArray<btQuaternion> m_scratch_world_to_local1;
-	btAlignedObjectArray<btVector3> m_scratch_local_origin1;
-	btAlignedObjectArray<btScalar> m_scratch_r;
-	btAlignedObjectArray<btVector3> m_scratch_v;
-	btAlignedObjectArray<btMatrix3x3> m_scratch_m;
-
-	virtual void calculateSimulationIslands();
-	virtual void updateActivationState(btScalar timeStep);
-	
-
-	virtual void serializeMultiBodies(btSerializer* serializer);
-
-public:
-	btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration);
-
-	virtual ~btMultiBodyDynamicsWorld();
-    
-    virtual void solveConstraints(btContactSolverInfo& solverInfo);
-    
-	virtual void addMultiBody(btMultiBody* body, int group = btBroadphaseProxy::DefaultFilter, int mask = btBroadphaseProxy::AllFilter);
-
-	virtual void removeMultiBody(btMultiBody* body);
-
-	virtual int getNumMultibodies() const
-	{
-		return m_multiBodies.size();
-	}
-
-	btMultiBody* getMultiBody(int mbIndex)
-	{
-		return m_multiBodies[mbIndex];
-	}
-
-	const btMultiBody* getMultiBody(int mbIndex) const
-	{
-		return m_multiBodies[mbIndex];
-	}
-
-	virtual void addMultiBodyConstraint(btMultiBodyConstraint* constraint);
-
-	virtual int getNumMultiBodyConstraints() const
-	{
-		return m_multiBodyConstraints.size();
-	}
-
-	virtual btMultiBodyConstraint* getMultiBodyConstraint(int constraintIndex)
-	{
-		return m_multiBodyConstraints[constraintIndex];
-	}
-
-	virtual const btMultiBodyConstraint* getMultiBodyConstraint(int constraintIndex) const
-	{
-		return m_multiBodyConstraints[constraintIndex];
-	}
-
-	virtual void removeMultiBodyConstraint(btMultiBodyConstraint* constraint);
-
-	virtual void integrateTransforms(btScalar timeStep);
-    void integrateMultiBodyTransforms(btScalar timeStep);
-    void predictMultiBodyTransforms(btScalar timeStep);
-    
-    virtual void predictUnconstraintMotion(btScalar timeStep);
-	virtual void debugDrawWorld();
-
-	virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint);
-
-	void forwardKinematics();
-	virtual void clearForces();
-	virtual void clearMultiBodyConstraintForces();
-	virtual void clearMultiBodyForces();
-	virtual void applyGravity();
-
-	virtual void serialize(btSerializer* serializer);
-	virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver);
-	virtual void setConstraintSolver(btConstraintSolver* solver);
-	virtual void getAnalyticsData(btAlignedObjectArray<struct btSolverAnalyticsData>& m_islandAnalyticsData) const;
-    
-    virtual void solveExternalForces(btContactSolverInfo& solverInfo);
-    virtual void solveInternalConstraints(btContactSolverInfo& solverInfo);
-    void buildIslands();
-
-	virtual void saveKinematicState(btScalar timeStep);
-};
-#endif  //BT_MULTIBODY_DYNAMICS_WORLD_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp
deleted file mode 100644
index df2abbe97a..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp
+++ /dev/null
@@ -1,215 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///This file was written by Erwin Coumans
-
-#include "btMultiBodyFixedConstraint.h"
-#include "btMultiBodyLinkCollider.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
-#include "LinearMath/btIDebugDraw.h"
-
-#define BTMBFIXEDCONSTRAINT_DIM 6
-
-btMultiBodyFixedConstraint::btMultiBodyFixedConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB)
-	: btMultiBodyConstraint(body, 0, link, -1, BTMBFIXEDCONSTRAINT_DIM, false, MULTIBODY_CONSTRAINT_FIXED),
-	  m_rigidBodyA(0),
-	  m_rigidBodyB(bodyB),
-	  m_pivotInA(pivotInA),
-	  m_pivotInB(pivotInB),
-	  m_frameInA(frameInA),
-	  m_frameInB(frameInB)
-{
-	m_data.resize(BTMBFIXEDCONSTRAINT_DIM);  //at least store the applied impulses
-}
-
-btMultiBodyFixedConstraint::btMultiBodyFixedConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB)
-	: btMultiBodyConstraint(bodyA, bodyB, linkA, linkB, BTMBFIXEDCONSTRAINT_DIM, false, MULTIBODY_CONSTRAINT_FIXED),
-	  m_rigidBodyA(0),
-	  m_rigidBodyB(0),
-	  m_pivotInA(pivotInA),
-	  m_pivotInB(pivotInB),
-	  m_frameInA(frameInA),
-	  m_frameInB(frameInB)
-{
-	m_data.resize(BTMBFIXEDCONSTRAINT_DIM);  //at least store the applied impulses
-}
-
-void btMultiBodyFixedConstraint::finalizeMultiDof()
-{
-	//not implemented yet
-	btAssert(0);
-}
-
-btMultiBodyFixedConstraint::~btMultiBodyFixedConstraint()
-{
-}
-
-int btMultiBodyFixedConstraint::getIslandIdA() const
-{
-	if (m_rigidBodyA)
-		return m_rigidBodyA->getIslandTag();
-
-	if (m_bodyA)
-	{
-		if (m_linkA < 0)
-		{
-			btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
-			if (col)
-				return col->getIslandTag();
-		}
-		else
-		{
-			if (m_bodyA->getLink(m_linkA).m_collider)
-				return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
-		}
-	}
-	return -1;
-}
-
-int btMultiBodyFixedConstraint::getIslandIdB() const
-{
-	if (m_rigidBodyB)
-		return m_rigidBodyB->getIslandTag();
-	if (m_bodyB)
-	{
-		if (m_linkB < 0)
-		{
-			btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
-			if (col)
-				return col->getIslandTag();
-		}
-		else
-		{
-			if (m_bodyB->getLink(m_linkB).m_collider)
-				return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
-		}
-	}
-	return -1;
-}
-
-void btMultiBodyFixedConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows, btMultiBodyJacobianData& data, const btContactSolverInfo& infoGlobal)
-{
-	int numDim = BTMBFIXEDCONSTRAINT_DIM;
-	for (int i = 0; i < numDim; i++)
-	{
-		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
-		constraintRow.m_orgConstraint = this;
-		constraintRow.m_orgDofIndex = i;
-		constraintRow.m_relpos1CrossNormal.setValue(0, 0, 0);
-		constraintRow.m_contactNormal1.setValue(0, 0, 0);
-		constraintRow.m_relpos2CrossNormal.setValue(0, 0, 0);
-		constraintRow.m_contactNormal2.setValue(0, 0, 0);
-		constraintRow.m_angularComponentA.setValue(0, 0, 0);
-		constraintRow.m_angularComponentB.setValue(0, 0, 0);
-
-		constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
-		constraintRow.m_solverBodyIdB = data.m_fixedBodyId;
-
-		// Convert local points back to world
-		btVector3 pivotAworld = m_pivotInA;
-		btMatrix3x3 frameAworld = m_frameInA;
-		if (m_rigidBodyA)
-		{
-			constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
-			pivotAworld = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
-			frameAworld = frameAworld.transpose() * btMatrix3x3(m_rigidBodyA->getOrientation());
-		}
-		else
-		{
-			if (m_bodyA)
-			{
-				pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
-				frameAworld = m_bodyA->localFrameToWorld(m_linkA, frameAworld);
-			}
-		}
-		btVector3 pivotBworld = m_pivotInB;
-		btMatrix3x3 frameBworld = m_frameInB;
-		if (m_rigidBodyB)
-		{
-			constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
-			pivotBworld = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
-			frameBworld = frameBworld.transpose() * btMatrix3x3(m_rigidBodyB->getOrientation());
-		}
-		else
-		{
-			if (m_bodyB)
-			{
-				pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
-				frameBworld = m_bodyB->localFrameToWorld(m_linkB, frameBworld);
-			}
-		}
-
-		btMatrix3x3 relRot = frameAworld.inverse() * frameBworld;
-		btVector3 angleDiff;
-		btGeneric6DofSpring2Constraint::matrixToEulerXYZ(relRot, angleDiff);
-
-		btVector3 constraintNormalLin(0, 0, 0);
-		btVector3 constraintNormalAng(0, 0, 0);
-		btScalar posError = 0.0;
-		if (i < 3)
-		{
-			constraintNormalLin[i] = 1;
-			posError = (pivotAworld - pivotBworld).dot(constraintNormalLin);
-			fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
-									constraintNormalLin, pivotAworld, pivotBworld,
-									posError,
-									infoGlobal,
-									-m_maxAppliedImpulse, m_maxAppliedImpulse);
-		}
-		else
-		{  //i>=3
-			constraintNormalAng = frameAworld.getColumn(i % 3);
-			posError = angleDiff[i % 3];
-			fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
-									constraintNormalLin, pivotAworld, pivotBworld,
-									posError,
-									infoGlobal,
-									-m_maxAppliedImpulse, m_maxAppliedImpulse, true);
-		}
-	}
-}
-
-void btMultiBodyFixedConstraint::debugDraw(class btIDebugDraw* drawer)
-{
-	btTransform tr;
-	tr.setIdentity();
-
-	if (m_rigidBodyA)
-	{
-		btVector3 pivot = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
-		tr.setOrigin(pivot);
-		drawer->drawTransform(tr, 0.1);
-	}
-	if (m_bodyA)
-	{
-		btVector3 pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
-		tr.setOrigin(pivotAworld);
-		drawer->drawTransform(tr, 0.1);
-	}
-	if (m_rigidBodyB)
-	{
-		// that ideally should draw the same frame
-		btVector3 pivot = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
-		tr.setOrigin(pivot);
-		drawer->drawTransform(tr, 0.1);
-	}
-	if (m_bodyB)
-	{
-		btVector3 pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
-		tr.setOrigin(pivotBworld);
-		drawer->drawTransform(tr, 0.1);
-	}
-}
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h
deleted file mode 100644
index adb1cb47da..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///This file was written by Erwin Coumans
-
-#ifndef BT_MULTIBODY_FIXED_CONSTRAINT_H
-#define BT_MULTIBODY_FIXED_CONSTRAINT_H
-
-#include "btMultiBodyConstraint.h"
-
-class btMultiBodyFixedConstraint : public btMultiBodyConstraint
-{
-protected:
-	btRigidBody* m_rigidBodyA;
-	btRigidBody* m_rigidBodyB;
-	btVector3 m_pivotInA;
-	btVector3 m_pivotInB;
-	btMatrix3x3 m_frameInA;
-	btMatrix3x3 m_frameInB;
-
-public:
-	btMultiBodyFixedConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
-	btMultiBodyFixedConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
-
-	virtual ~btMultiBodyFixedConstraint();
-
-	virtual void finalizeMultiDof();
-
-	virtual int getIslandIdA() const;
-	virtual int getIslandIdB() const;
-
-	virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-									  btMultiBodyJacobianData& data,
-									  const btContactSolverInfo& infoGlobal);
-
-	const btVector3& getPivotInA() const
-	{
-		return m_pivotInA;
-	}
-
-	void setPivotInA(const btVector3& pivotInA)
-	{
-		m_pivotInA = pivotInA;
-	}
-
-	const btVector3& getPivotInB() const
-	{
-		return m_pivotInB;
-	}
-
-	virtual void setPivotInB(const btVector3& pivotInB)
-	{
-		m_pivotInB = pivotInB;
-	}
-
-	const btMatrix3x3& getFrameInA() const
-	{
-		return m_frameInA;
-	}
-
-	void setFrameInA(const btMatrix3x3& frameInA)
-	{
-		m_frameInA = frameInA;
-	}
-
-	const btMatrix3x3& getFrameInB() const
-	{
-		return m_frameInB;
-	}
-
-	virtual void setFrameInB(const btMatrix3x3& frameInB)
-	{
-		m_frameInB = frameInB;
-	}
-
-	virtual void debugDraw(class btIDebugDraw* drawer);
-};
-
-#endif  //BT_MULTIBODY_FIXED_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp
deleted file mode 100644
index ee02cf9b07..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp
+++ /dev/null
@@ -1,181 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///This file was written by Erwin Coumans
-
-#include "btMultiBodyGearConstraint.h"
-#include "btMultiBody.h"
-#include "btMultiBodyLinkCollider.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-
-btMultiBodyGearConstraint::btMultiBodyGearConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB)
-	: btMultiBodyConstraint(bodyA, bodyB, linkA, linkB, 1, false, MULTIBODY_CONSTRAINT_GEAR),
-	  m_gearRatio(1),
-	  m_gearAuxLink(-1),
-	  m_erp(0),
-	  m_relativePositionTarget(0)
-{
-}
-
-void btMultiBodyGearConstraint::finalizeMultiDof()
-{
-	allocateJacobiansMultiDof();
-
-	m_numDofsFinalized = m_jacSizeBoth;
-}
-
-btMultiBodyGearConstraint::~btMultiBodyGearConstraint()
-{
-}
-
-int btMultiBodyGearConstraint::getIslandIdA() const
-{
-	if (m_bodyA)
-	{
-		if (m_linkA < 0)
-		{
-			btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
-			if (col)
-				return col->getIslandTag();
-		}
-		else
-		{
-			if (m_bodyA->getLink(m_linkA).m_collider)
-				return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
-		}
-	}
-	return -1;
-}
-
-int btMultiBodyGearConstraint::getIslandIdB() const
-{
-	if (m_bodyB)
-	{
-		if (m_linkB < 0)
-		{
-			btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
-			if (col)
-				return col->getIslandTag();
-		}
-		else
-		{
-			if (m_bodyB->getLink(m_linkB).m_collider)
-				return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
-		}
-	}
-	return -1;
-}
-
-void btMultiBodyGearConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-													 btMultiBodyJacobianData& data,
-													 const btContactSolverInfo& infoGlobal)
-{
-	// only positions need to be updated -- data.m_jacobians and force
-	// directions were set in the ctor and never change.
-
-	if (m_numDofsFinalized != m_jacSizeBoth)
-	{
-		finalizeMultiDof();
-	}
-
-	//don't crash
-	if (m_numDofsFinalized != m_jacSizeBoth)
-		return;
-
-	if (m_maxAppliedImpulse == 0.f)
-		return;
-
-	// note: we rely on the fact that data.m_jacobians are
-	// always initialized to zero by the Constraint ctor
-	int linkDoF = 0;
-	unsigned int offsetA = 6 + (m_bodyA->getLink(m_linkA).m_dofOffset + linkDoF);
-	unsigned int offsetB = 6 + (m_bodyB->getLink(m_linkB).m_dofOffset + linkDoF);
-
-	// row 0: the lower bound
-	jacobianA(0)[offsetA] = 1;
-	jacobianB(0)[offsetB] = m_gearRatio;
-
-	btScalar posError = 0;
-	const btVector3 dummy(0, 0, 0);
-
-	btScalar kp = 1;
-	btScalar kd = 1;
-	int numRows = getNumRows();
-
-	for (int row = 0; row < numRows; row++)
-	{
-		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
-
-		int dof = 0;
-		btScalar currentPosition = m_bodyA->getJointPosMultiDof(m_linkA)[dof];
-		btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof];
-		btScalar auxVel = 0;
-
-		if (m_gearAuxLink >= 0)
-		{
-			auxVel = m_bodyA->getJointVelMultiDof(m_gearAuxLink)[dof];
-		}
-		currentVelocity += auxVel;
-		if (m_erp != 0)
-		{
-			btScalar currentPositionA = m_bodyA->getJointPosMultiDof(m_linkA)[dof];
-			if (m_gearAuxLink >= 0)
-			{
-				currentPositionA -= m_bodyA->getJointPosMultiDof(m_gearAuxLink)[dof];
-			}
-			btScalar currentPositionB = m_gearRatio * m_bodyA->getJointPosMultiDof(m_linkB)[dof];
-			btScalar diff = currentPositionB + currentPositionA;
-			btScalar desiredPositionDiff = this->m_relativePositionTarget;
-			posError = -m_erp * (desiredPositionDiff - diff);
-		}
-
-		btScalar desiredRelativeVelocity = auxVel;
-
-		fillMultiBodyConstraint(constraintRow, data, jacobianA(row), jacobianB(row), dummy, dummy, dummy, dummy, posError, infoGlobal, -m_maxAppliedImpulse, m_maxAppliedImpulse, false, 1, false, desiredRelativeVelocity);
-
-		constraintRow.m_orgConstraint = this;
-		constraintRow.m_orgDofIndex = row;
-		{
-			//expect either prismatic or revolute joint type for now
-			btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute) || (m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic));
-			switch (m_bodyA->getLink(m_linkA).m_jointType)
-			{
-				case btMultibodyLink::eRevolute:
-				{
-					constraintRow.m_contactNormal1.setZero();
-					constraintRow.m_contactNormal2.setZero();
-					btVector3 revoluteAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(), m_bodyA->getLink(m_linkA).m_axes[0].m_topVec);
-					constraintRow.m_relpos1CrossNormal = revoluteAxisInWorld;
-					constraintRow.m_relpos2CrossNormal = -revoluteAxisInWorld;
-
-					break;
-				}
-				case btMultibodyLink::ePrismatic:
-				{
-					btVector3 prismaticAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(), m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec);
-					constraintRow.m_contactNormal1 = prismaticAxisInWorld;
-					constraintRow.m_contactNormal2 = -prismaticAxisInWorld;
-					constraintRow.m_relpos1CrossNormal.setZero();
-					constraintRow.m_relpos2CrossNormal.setZero();
-					break;
-				}
-				default:
-				{
-					btAssert(0);
-				}
-			};
-		}
-	}
-}
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h
deleted file mode 100644
index 31888fbc68..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///This file was written by Erwin Coumans
-
-#ifndef BT_MULTIBODY_GEAR_CONSTRAINT_H
-#define BT_MULTIBODY_GEAR_CONSTRAINT_H
-
-#include "btMultiBodyConstraint.h"
-
-class btMultiBodyGearConstraint : public btMultiBodyConstraint
-{
-protected:
-	btRigidBody* m_rigidBodyA;
-	btRigidBody* m_rigidBodyB;
-	btVector3 m_pivotInA;
-	btVector3 m_pivotInB;
-	btMatrix3x3 m_frameInA;
-	btMatrix3x3 m_frameInB;
-	btScalar m_gearRatio;
-	int m_gearAuxLink;
-	btScalar m_erp;
-	btScalar m_relativePositionTarget;
-
-public:
-	//btMultiBodyGearConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
-	btMultiBodyGearConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
-
-	virtual ~btMultiBodyGearConstraint();
-
-	virtual void finalizeMultiDof();
-
-	virtual int getIslandIdA() const;
-	virtual int getIslandIdB() const;
-
-	virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-									  btMultiBodyJacobianData& data,
-									  const btContactSolverInfo& infoGlobal);
-
-	const btVector3& getPivotInA() const
-	{
-		return m_pivotInA;
-	}
-
-	void setPivotInA(const btVector3& pivotInA)
-	{
-		m_pivotInA = pivotInA;
-	}
-
-	const btVector3& getPivotInB() const
-	{
-		return m_pivotInB;
-	}
-
-	virtual void setPivotInB(const btVector3& pivotInB)
-	{
-		m_pivotInB = pivotInB;
-	}
-
-	const btMatrix3x3& getFrameInA() const
-	{
-		return m_frameInA;
-	}
-
-	void setFrameInA(const btMatrix3x3& frameInA)
-	{
-		m_frameInA = frameInA;
-	}
-
-	const btMatrix3x3& getFrameInB() const
-	{
-		return m_frameInB;
-	}
-
-	virtual void setFrameInB(const btMatrix3x3& frameInB)
-	{
-		m_frameInB = frameInB;
-	}
-
-	virtual void debugDraw(class btIDebugDraw* drawer)
-	{
-		//todo(erwincoumans)
-	}
-
-	virtual void setGearRatio(btScalar gearRatio)
-	{
-		m_gearRatio = gearRatio;
-	}
-	virtual void setGearAuxLink(int gearAuxLink)
-	{
-		m_gearAuxLink = gearAuxLink;
-	}
-	virtual void setRelativePositionTarget(btScalar relPosTarget)
-	{
-		m_relativePositionTarget = relPosTarget;
-	}
-	virtual void setErp(btScalar erp)
-	{
-		m_erp = erp;
-	}
-};
-
-#endif  //BT_MULTIBODY_GEAR_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h
deleted file mode 100644
index 3169b86e61..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h
+++ /dev/null
@@ -1,247 +0,0 @@
-/*
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#ifndef BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H
-#define BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H
-
-#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
-#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
-#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
-#include "btMultiBodyConstraintSolver.h"
-
-SIMD_FORCE_INLINE int btGetConstraintIslandId2(const btTypedConstraint* lhs)
-{
-    int islandId;
-    
-    const btCollisionObject& rcolObj0 = lhs->getRigidBodyA();
-    const btCollisionObject& rcolObj1 = lhs->getRigidBodyB();
-    islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag();
-    return islandId;
-}
-class btSortConstraintOnIslandPredicate2
-{
-public:
-    bool operator()(const btTypedConstraint* lhs, const btTypedConstraint* rhs) const
-    {
-        int rIslandId0, lIslandId0;
-        rIslandId0 = btGetConstraintIslandId2(rhs);
-        lIslandId0 = btGetConstraintIslandId2(lhs);
-        return lIslandId0 < rIslandId0;
-    }
-};
-
-SIMD_FORCE_INLINE int btGetMultiBodyConstraintIslandId(const btMultiBodyConstraint* lhs)
-{
-    int islandId;
-    
-    int islandTagA = lhs->getIslandIdA();
-    int islandTagB = lhs->getIslandIdB();
-    islandId = islandTagA >= 0 ? islandTagA : islandTagB;
-    return islandId;
-}
-
-class btSortMultiBodyConstraintOnIslandPredicate
-{
-public:
-    bool operator()(const btMultiBodyConstraint* lhs, const btMultiBodyConstraint* rhs) const
-    {
-        int rIslandId0, lIslandId0;
-        rIslandId0 = btGetMultiBodyConstraintIslandId(rhs);
-        lIslandId0 = btGetMultiBodyConstraintIslandId(lhs);
-        return lIslandId0 < rIslandId0;
-    }
-};
-
-struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
-{
-
-    btContactSolverInfo* m_solverInfo;
-    btMultiBodyConstraintSolver* m_solver;
-    btMultiBodyConstraint** m_multiBodySortedConstraints;
-    int m_numMultiBodyConstraints;
-    
-    btTypedConstraint** m_sortedConstraints;
-    int m_numConstraints;
-    btIDebugDraw* m_debugDrawer;
-    btDispatcher* m_dispatcher;
-    
-    btAlignedObjectArray<btCollisionObject*> m_bodies;
-	btAlignedObjectArray<btCollisionObject*> m_softBodies;
-    btAlignedObjectArray<btPersistentManifold*> m_manifolds;
-    btAlignedObjectArray<btTypedConstraint*> m_constraints;
-    btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints;
-    
-    btAlignedObjectArray<btSolverAnalyticsData> m_islandAnalyticsData;
-    
-    MultiBodyInplaceSolverIslandCallback(btMultiBodyConstraintSolver* solver,
-                                         btDispatcher* dispatcher)
-    : m_solverInfo(NULL),
-    m_solver(solver),
-    m_multiBodySortedConstraints(NULL),
-    m_numConstraints(0),
-    m_debugDrawer(NULL),
-    m_dispatcher(dispatcher)
-    {
-    }
-    
-    MultiBodyInplaceSolverIslandCallback& operator=(const MultiBodyInplaceSolverIslandCallback& other)
-    {
-        btAssert(0);
-        (void)other;
-        return *this;
-    }
-    
-    SIMD_FORCE_INLINE virtual void setup(btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btMultiBodyConstraint** sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw* debugDrawer)
-    {
-        m_islandAnalyticsData.clear();
-        btAssert(solverInfo);
-        m_solverInfo = solverInfo;
-        
-        m_multiBodySortedConstraints = sortedMultiBodyConstraints;
-        m_numMultiBodyConstraints = numMultiBodyConstraints;
-        m_sortedConstraints = sortedConstraints;
-        m_numConstraints = numConstraints;
-        
-        m_debugDrawer = debugDrawer;
-        m_bodies.resize(0);
-        m_manifolds.resize(0);
-        m_constraints.resize(0);
-        m_multiBodyConstraints.resize(0);
-    }
-    
-    void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver)
-    {
-        m_solver = solver;
-    }
-    
-    virtual void processIsland(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifolds, int numManifolds, int islandId)
-    {
-        if (islandId < 0)
-        {
-            ///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
-            m_solver->solveMultiBodyGroup(bodies, numBodies, manifolds, numManifolds, m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0], m_numConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher);
-            if (m_solverInfo->m_reportSolverAnalytics&1)
-            {
-                m_solver->m_analyticsData.m_islandId = islandId;
-                m_islandAnalyticsData.push_back(m_solver->m_analyticsData);
-            }
-        }
-        else
-        {
-            //also add all non-contact constraints/joints for this island
-            btTypedConstraint** startConstraint = 0;
-            btMultiBodyConstraint** startMultiBodyConstraint = 0;
-            
-            int numCurConstraints = 0;
-            int numCurMultiBodyConstraints = 0;
-            
-            int i;
-            
-            //find the first constraint for this island
-            
-            for (i = 0; i < m_numConstraints; i++)
-            {
-                if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId)
-                {
-                    startConstraint = &m_sortedConstraints[i];
-                    break;
-                }
-            }
-            //count the number of constraints in this island
-            for (; i < m_numConstraints; i++)
-            {
-                if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId)
-                {
-                    numCurConstraints++;
-                }
-            }
-            
-            for (i = 0; i < m_numMultiBodyConstraints; i++)
-            {
-                if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId)
-                {
-                    startMultiBodyConstraint = &m_multiBodySortedConstraints[i];
-                    break;
-                }
-            }
-            //count the number of multi body constraints in this island
-            for (; i < m_numMultiBodyConstraints; i++)
-            {
-                if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId)
-                {
-                    numCurMultiBodyConstraints++;
-                }
-            }
-            
-            //if (m_solverInfo->m_minimumSolverBatchSize<=1)
-            //{
-            //    m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
-            //} else
-            {
-                for (i = 0; i < numBodies; i++)
-				{
-					bool isSoftBodyType = (bodies[i]->getInternalType() & btCollisionObject::CO_SOFT_BODY);
-					if (!isSoftBodyType)
-					{
-						m_bodies.push_back(bodies[i]);
-					}
-					else
-					{
-						m_softBodies.push_back(bodies[i]);
-					}
-				}
-                for (i = 0; i < numManifolds; i++)
-                    m_manifolds.push_back(manifolds[i]);
-                for (i = 0; i < numCurConstraints; i++)
-                    m_constraints.push_back(startConstraint[i]);
-                
-                for (i = 0; i < numCurMultiBodyConstraints; i++)
-                    m_multiBodyConstraints.push_back(startMultiBodyConstraint[i]);
-                
-                if ((m_multiBodyConstraints.size() + m_constraints.size() + m_manifolds.size()) > m_solverInfo->m_minimumSolverBatchSize)
-                {
-                    processConstraints(islandId);
-                }
-                else
-                {
-                    //printf("deferred\n");
-                }
-            }
-        }
-    }
-    
-    virtual void processConstraints(int islandId=-1)
-    {
-        btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0;
-        btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0;
-        btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0;
-        btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0;
-        
-        //printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size());
-        
-        m_solver->solveMultiBodyGroup(bodies, m_bodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher);
-        if (m_bodies.size() && (m_solverInfo->m_reportSolverAnalytics&1))
-        {
-            m_solver->m_analyticsData.m_islandId = islandId;
-            m_islandAnalyticsData.push_back(m_solver->m_analyticsData);
-        }
-        m_bodies.resize(0);
-		m_softBodies.resize(0);
-        m_manifolds.resize(0);
-        m_constraints.resize(0);
-        m_multiBodyConstraints.resize(0);
-    }
-};
-
-
-#endif /*BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H */
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointFeedback.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointFeedback.h
deleted file mode 100644
index d943019e71..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointFeedback.h
+++ /dev/null
@@ -1,25 +0,0 @@
-/*
-Copyright (c) 2015 Google Inc.
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_MULTIBODY_JOINT_FEEDBACK_H
-#define BT_MULTIBODY_JOINT_FEEDBACK_H
-
-#include "LinearMath/btSpatialAlgebra.h"
-
-struct btMultiBodyJointFeedback
-{
-	btSpatialForceVector m_reactionForces;
-};
-
-#endif  //BT_MULTIBODY_JOINT_FEEDBACK_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp
deleted file mode 100644
index 94b36ac108..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp
+++ /dev/null
@@ -1,197 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///This file was written by Erwin Coumans
-
-#include "btMultiBodyJointLimitConstraint.h"
-#include "btMultiBody.h"
-#include "btMultiBodyLinkCollider.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-
-btMultiBodyJointLimitConstraint::btMultiBodyJointLimitConstraint(btMultiBody* body, int link, btScalar lower, btScalar upper)
-	//:btMultiBodyConstraint(body,0,link,-1,2,true),
-	: btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 2, true, MULTIBODY_CONSTRAINT_LIMIT),
-	  m_lowerBound(lower),
-	  m_upperBound(upper)
-{
-}
-
-void btMultiBodyJointLimitConstraint::finalizeMultiDof()
-{
-	// the data.m_jacobians never change, so may as well
-	// initialize them here
-
-	allocateJacobiansMultiDof();
-
-	unsigned int offset = 6 + m_bodyA->getLink(m_linkA).m_dofOffset;
-
-	// row 0: the lower bound
-	jacobianA(0)[offset] = 1;
-	// row 1: the upper bound
-	//jacobianA(1)[offset] = -1;
-	jacobianB(1)[offset] = -1;
-
-	m_numDofsFinalized = m_jacSizeBoth;
-}
-
-btMultiBodyJointLimitConstraint::~btMultiBodyJointLimitConstraint()
-{
-}
-
-int btMultiBodyJointLimitConstraint::getIslandIdA() const
-{
-	if (m_bodyA)
-	{
-		if (m_linkA < 0)
-		{
-			btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
-			if (col)
-				return col->getIslandTag();
-		}
-		else
-		{
-			if (m_bodyA->getLink(m_linkA).m_collider)
-				return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
-		}
-	}
-	return -1;
-}
-
-int btMultiBodyJointLimitConstraint::getIslandIdB() const
-{
-	if (m_bodyB)
-	{
-		if (m_linkB < 0)
-		{
-			btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
-			if (col)
-				return col->getIslandTag();
-		}
-		else
-		{
-			if (m_bodyB->getLink(m_linkB).m_collider)
-				return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
-		}
-	}
-	return -1;
-}
-
-void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-														   btMultiBodyJacobianData& data,
-														   const btContactSolverInfo& infoGlobal)
-{
-	// only positions need to be updated -- data.m_jacobians and force
-	// directions were set in the ctor and never change.
-
-	if (m_numDofsFinalized != m_jacSizeBoth)
-	{
-		finalizeMultiDof();
-	}
-
-	// row 0: the lower bound
-	setPosition(0, m_bodyA->getJointPos(m_linkA) - m_lowerBound);  //multidof: this is joint-type dependent
-
-	// row 1: the upper bound
-	setPosition(1, m_upperBound - m_bodyA->getJointPos(m_linkA));
-
-	for (int row = 0; row < getNumRows(); row++)
-	{
-		btScalar penetration = getPosition(row);
-
-		//todo: consider adding some safety threshold here
-		if (penetration > 0)
-		{
-			continue;
-		}
-		btScalar direction = row ? -1 : 1;
-
-		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
-		constraintRow.m_orgConstraint = this;
-		constraintRow.m_orgDofIndex = row;
-
-		constraintRow.m_multiBodyA = m_bodyA;
-		constraintRow.m_multiBodyB = m_bodyB;
-		const btScalar posError = 0;  //why assume it's zero?
-		const btVector3 dummy(0, 0, 0);
-
-		btScalar rel_vel = fillMultiBodyConstraint(constraintRow, data, jacobianA(row), jacobianB(row), dummy, dummy, dummy, dummy, posError, infoGlobal, 0, m_maxAppliedImpulse);
-
-		{
-			//expect either prismatic or revolute joint type for now
-			btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute) || (m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic));
-			switch (m_bodyA->getLink(m_linkA).m_jointType)
-			{
-				case btMultibodyLink::eRevolute:
-				{
-					constraintRow.m_contactNormal1.setZero();
-					constraintRow.m_contactNormal2.setZero();
-					btVector3 revoluteAxisInWorld = direction * quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(), m_bodyA->getLink(m_linkA).m_axes[0].m_topVec);
-					constraintRow.m_relpos1CrossNormal = revoluteAxisInWorld;
-					constraintRow.m_relpos2CrossNormal = -revoluteAxisInWorld;
-
-					break;
-				}
-				case btMultibodyLink::ePrismatic:
-				{
-					btVector3 prismaticAxisInWorld = direction * quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(), m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec);
-					constraintRow.m_contactNormal1 = prismaticAxisInWorld;
-					constraintRow.m_contactNormal2 = -prismaticAxisInWorld;
-					constraintRow.m_relpos1CrossNormal.setZero();
-					constraintRow.m_relpos2CrossNormal.setZero();
-
-					break;
-				}
-				default:
-				{
-					btAssert(0);
-				}
-			};
-		}
-
-		{
-			btScalar positionalError = 0.f;
-			btScalar velocityError = -rel_vel;  // * damping;
-			btScalar erp = infoGlobal.m_erp2;
-			if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
-			{
-				erp = infoGlobal.m_erp;
-			}
-			if (penetration > 0)
-			{
-				positionalError = 0;
-				velocityError = -penetration / infoGlobal.m_timeStep;
-			}
-			else
-			{
-				positionalError = -penetration * erp / infoGlobal.m_timeStep;
-			}
-
-			btScalar penetrationImpulse = positionalError * constraintRow.m_jacDiagABInv;
-			btScalar velocityImpulse = velocityError * constraintRow.m_jacDiagABInv;
-			if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
-			{
-				//combine position and velocity into rhs
-				constraintRow.m_rhs = penetrationImpulse + velocityImpulse;
-				constraintRow.m_rhsPenetration = 0.f;
-			}
-			else
-			{
-				//split position and velocity into rhs and m_rhsPenetration
-				constraintRow.m_rhs = velocityImpulse;
-				constraintRow.m_rhsPenetration = penetrationImpulse;
-			}
-		}
-	}
-}
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h
deleted file mode 100644
index b810692b4c..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h
+++ /dev/null
@@ -1,63 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
-#define BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
-
-#include "btMultiBodyConstraint.h"
-struct btSolverInfo;
-
-class btMultiBodyJointLimitConstraint : public btMultiBodyConstraint
-{
-protected:
-	btScalar m_lowerBound;
-	btScalar m_upperBound;
-
-public:
-	btMultiBodyJointLimitConstraint(btMultiBody* body, int link, btScalar lower, btScalar upper);
-	virtual ~btMultiBodyJointLimitConstraint();
-
-	virtual void finalizeMultiDof();
-
-	virtual int getIslandIdA() const;
-	virtual int getIslandIdB() const;
-
-	virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-									  btMultiBodyJacobianData& data,
-									  const btContactSolverInfo& infoGlobal);
-
-	virtual void debugDraw(class btIDebugDraw* drawer)
-	{
-		//todo(erwincoumans)
-	}
-	btScalar getLowerBound() const
-	{
-		return m_lowerBound;
-	}
-	btScalar getUpperBound() const
-	{
-		return m_upperBound;
-	}
-	void setLowerBound(btScalar lower)
-	{
-		m_lowerBound = lower;
-	}
-	void setUpperBound(btScalar upper)
-	{
-		m_upperBound = upper;
-	}
-};
-
-#endif  //BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
deleted file mode 100644
index fec9b03213..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
+++ /dev/null
@@ -1,183 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///This file was written by Erwin Coumans
-
-#include "btMultiBodyJointMotor.h"
-#include "btMultiBody.h"
-#include "btMultiBodyLinkCollider.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-
-btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse)
-	: btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 1, true, MULTIBODY_CONSTRAINT_1DOF_JOINT_MOTOR),
-	  m_desiredVelocity(desiredVelocity),
-	  m_desiredPosition(0),
-	  m_kd(1.),
-	  m_kp(0),
-	  m_erp(1),
-	  m_rhsClamp(SIMD_INFINITY)
-{
-	m_maxAppliedImpulse = maxMotorImpulse;
-	// the data.m_jacobians never change, so may as well
-	// initialize them here
-}
-
-void btMultiBodyJointMotor::finalizeMultiDof()
-{
-	allocateJacobiansMultiDof();
-	// note: we rely on the fact that data.m_jacobians are
-	// always initialized to zero by the Constraint ctor
-	int linkDoF = 0;
-	unsigned int offset = 6 + (m_bodyA->getLink(m_linkA).m_dofOffset + linkDoF);
-
-	// row 0: the lower bound
-	// row 0: the lower bound
-	jacobianA(0)[offset] = 1;
-
-	m_numDofsFinalized = m_jacSizeBoth;
-}
-
-btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, int linkDoF, btScalar desiredVelocity, btScalar maxMotorImpulse)
-	//:btMultiBodyConstraint(body,0,link,-1,1,true),
-	: btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 1, true, MULTIBODY_CONSTRAINT_1DOF_JOINT_MOTOR),
-	  m_desiredVelocity(desiredVelocity),
-	  m_desiredPosition(0),
-	  m_kd(1.),
-	  m_kp(0),
-	  m_erp(1),
-	  m_rhsClamp(SIMD_INFINITY)
-{
-	btAssert(linkDoF < body->getLink(link).m_dofCount);
-
-	m_maxAppliedImpulse = maxMotorImpulse;
-}
-btMultiBodyJointMotor::~btMultiBodyJointMotor()
-{
-}
-
-int btMultiBodyJointMotor::getIslandIdA() const
-{
-	if (this->m_linkA < 0)
-	{
-		btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
-		if (col)
-			return col->getIslandTag();
-	}
-	else
-	{
-		if (m_bodyA->getLink(m_linkA).m_collider)
-		{
-			return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
-		}
-	}
-	return -1;
-}
-
-int btMultiBodyJointMotor::getIslandIdB() const
-{
-	if (m_linkB < 0)
-	{
-		btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
-		if (col)
-			return col->getIslandTag();
-	}
-	else
-	{
-		if (m_bodyB->getLink(m_linkB).m_collider)
-		{
-			return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
-		}
-	}
-	return -1;
-}
-
-void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-												 btMultiBodyJacobianData& data,
-												 const btContactSolverInfo& infoGlobal)
-{
-	// only positions need to be updated -- data.m_jacobians and force
-	// directions were set in the ctor and never change.
-
-	if (m_numDofsFinalized != m_jacSizeBoth)
-	{
-		finalizeMultiDof();
-	}
-
-	//don't crash
-	if (m_numDofsFinalized != m_jacSizeBoth)
-		return;
-
-	if (m_maxAppliedImpulse == 0.f)
-		return;
-
-	const btScalar posError = 0;
-	const btVector3 dummy(0, 0, 0);
-
-	for (int row = 0; row < getNumRows(); row++)
-	{
-		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
-
-		int dof = 0;
-		btScalar currentPosition = m_bodyA->getJointPosMultiDof(m_linkA)[dof];
-		btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof];
-		btScalar positionStabiliationTerm = m_erp * (m_desiredPosition - currentPosition) / infoGlobal.m_timeStep;
-
-		btScalar velocityError = (m_desiredVelocity - currentVelocity);
-		btScalar rhs = m_kp * positionStabiliationTerm + currentVelocity + m_kd * velocityError;
-		if (rhs > m_rhsClamp)
-		{
-			rhs = m_rhsClamp;
-		}
-		if (rhs < -m_rhsClamp)
-		{
-			rhs = -m_rhsClamp;
-		}
-
-		fillMultiBodyConstraint(constraintRow, data, jacobianA(row), jacobianB(row), dummy, dummy, dummy, dummy, posError, infoGlobal, -m_maxAppliedImpulse, m_maxAppliedImpulse, false, 1, false, rhs);
-		constraintRow.m_orgConstraint = this;
-		constraintRow.m_orgDofIndex = row;
-		{
-			//expect either prismatic or revolute joint type for now
-			btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute) || (m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic));
-			switch (m_bodyA->getLink(m_linkA).m_jointType)
-			{
-				case btMultibodyLink::eRevolute:
-				{
-					constraintRow.m_contactNormal1.setZero();
-					constraintRow.m_contactNormal2.setZero();
-					btVector3 revoluteAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(), m_bodyA->getLink(m_linkA).m_axes[0].m_topVec);
-					constraintRow.m_relpos1CrossNormal = revoluteAxisInWorld;
-					constraintRow.m_relpos2CrossNormal = -revoluteAxisInWorld;
-
-					break;
-				}
-				case btMultibodyLink::ePrismatic:
-				{
-					btVector3 prismaticAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(), m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec);
-					constraintRow.m_contactNormal1 = prismaticAxisInWorld;
-					constraintRow.m_contactNormal2 = -prismaticAxisInWorld;
-					constraintRow.m_relpos1CrossNormal.setZero();
-					constraintRow.m_relpos2CrossNormal.setZero();
-
-					break;
-				}
-				default:
-				{
-					btAssert(0);
-				}
-			};
-		}
-	}
-}
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.h
deleted file mode 100644
index 1aca36352e..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.h
+++ /dev/null
@@ -1,77 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///This file was written by Erwin Coumans
-
-#ifndef BT_MULTIBODY_JOINT_MOTOR_H
-#define BT_MULTIBODY_JOINT_MOTOR_H
-
-#include "btMultiBodyConstraint.h"
-struct btSolverInfo;
-
-class btMultiBodyJointMotor : public btMultiBodyConstraint
-{
-protected:
-	btScalar m_desiredVelocity;
-	btScalar m_desiredPosition;
-	btScalar m_kd;
-	btScalar m_kp;
-	btScalar m_erp;
-	btScalar m_rhsClamp;  //maximum error
-
-public:
-	btMultiBodyJointMotor(btMultiBody* body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse);
-	btMultiBodyJointMotor(btMultiBody* body, int link, int linkDoF, btScalar desiredVelocity, btScalar maxMotorImpulse);
-	virtual ~btMultiBodyJointMotor();
-	virtual void finalizeMultiDof();
-
-	virtual int getIslandIdA() const;
-	virtual int getIslandIdB() const;
-
-	virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-									  btMultiBodyJacobianData& data,
-									  const btContactSolverInfo& infoGlobal);
-
-	virtual void setVelocityTarget(btScalar velTarget, btScalar kd = 1.f)
-	{
-		m_desiredVelocity = velTarget;
-		m_kd = kd;
-	}
-
-	virtual void setPositionTarget(btScalar posTarget, btScalar kp = 1.f)
-	{
-		m_desiredPosition = posTarget;
-		m_kp = kp;
-	}
-
-	virtual void setErp(btScalar erp)
-	{
-		m_erp = erp;
-	}
-	virtual btScalar getErp() const
-	{
-		return m_erp;
-	}
-	virtual void setRhsClamp(btScalar rhsClamp)
-	{
-		m_rhsClamp = rhsClamp;
-	}
-	virtual void debugDraw(class btIDebugDraw* drawer)
-	{
-		//todo(erwincoumans)
-	}
-};
-
-#endif  //BT_MULTIBODY_JOINT_MOTOR_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h
deleted file mode 100644
index 5a1429340f..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h
+++ /dev/null
@@ -1,303 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_MULTIBODY_LINK_H
-#define BT_MULTIBODY_LINK_H
-
-#include "LinearMath/btQuaternion.h"
-#include "LinearMath/btVector3.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-
-enum btMultiBodyLinkFlags
-{
-	BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION = 1,
-	BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION = 2,
-};
-
-//both defines are now permanently enabled
-#define BT_MULTIBODYLINK_INCLUDE_PLANAR_JOINTS
-#define TEST_SPATIAL_ALGEBRA_LAYER
-
-//
-// Various spatial helper functions
-//
-
-//namespace {
-
-#include "LinearMath/btSpatialAlgebra.h"
-
-//}
-
-//
-// Link struct
-//
-
-struct btMultibodyLink
-{
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btScalar m_mass;           // mass of link
-	btVector3 m_inertiaLocal;  // inertia of link (local frame; diagonal)
-
-	int m_parent;  // index of the parent link (assumed to be < index of this link), or -1 if parent is the base link.
-
-	btQuaternion m_zeroRotParentToThis;  // rotates vectors in parent-frame to vectors in local-frame (when q=0). constant.
-
-	btVector3 m_dVector;  // vector from the inboard joint pos to this link's COM. (local frame.) constant.
-						  //this is set to zero for planar joint (see also m_eVector comment)
-
-	// m_eVector is constant, but depends on the joint type:
-	// revolute, fixed, prismatic, spherical: vector from parent's COM to the pivot point, in PARENT's frame.
-	// planar: vector from COM of parent to COM of this link, WHEN Q = 0. (local frame.)
-	// todo: fix the planar so it is consistent with the other joints
-
-	btVector3 m_eVector;
-
-	btSpatialMotionVector m_absFrameTotVelocity, m_absFrameLocVelocity;
-
-	enum eFeatherstoneJointType
-	{
-		eRevolute = 0,
-		ePrismatic = 1,
-		eSpherical = 2,
-		ePlanar = 3,
-		eFixed = 4,
-		eInvalid
-	};
-
-	// "axis" = spatial joint axis (Mirtich Defn 9 p104). (expressed in local frame.) constant.
-	// for prismatic: m_axesTop[0] = zero;
-	//                m_axesBottom[0] = unit vector along the joint axis.
-	// for revolute: m_axesTop[0] = unit vector along the rotation axis (u);
-	//               m_axesBottom[0] = u cross m_dVector (i.e. COM linear motion due to the rotation at the joint)
-	//
-	// for spherical: m_axesTop[0][1][2] (u1,u2,u3) form a 3x3 identity matrix (3 rotation axes)
-	//				  m_axesBottom[0][1][2] cross u1,u2,u3 (i.e. COM linear motion due to the rotation at the joint)
-	//
-	// for planar: m_axesTop[0] = unit vector along the rotation axis (u); defines the plane of motion
-	//			   m_axesTop[1][2] = zero
-	//			   m_axesBottom[0] = zero
-	//			   m_axesBottom[1][2] = unit vectors along the translational axes on that plane
-	btSpatialMotionVector m_axes[6];
-	void setAxisTop(int dof, const btVector3 &axis) { m_axes[dof].m_topVec = axis; }
-	void setAxisBottom(int dof, const btVector3 &axis)
-	{
-		m_axes[dof].m_bottomVec = axis;
-	}
-	void setAxisTop(int dof, const btScalar &x, const btScalar &y, const btScalar &z)
-	{
-		m_axes[dof].m_topVec.setValue(x, y, z);
-	}
-	void setAxisBottom(int dof, const btScalar &x, const btScalar &y, const btScalar &z)
-	{
-		m_axes[dof].m_bottomVec.setValue(x, y, z);
-	}
-	const btVector3 &getAxisTop(int dof) const { return m_axes[dof].m_topVec; }
-	const btVector3 &getAxisBottom(int dof) const { return m_axes[dof].m_bottomVec; }
-
-	int m_dofOffset, m_cfgOffset;
-
-	btQuaternion m_cachedRotParentToThis;  // rotates vectors in parent frame to vectors in local frame
-	btVector3 m_cachedRVector;             // vector from COM of parent to COM of this link, in local frame.
-    
-    // predicted verstion
-    btQuaternion m_cachedRotParentToThis_interpolate;  // rotates vectors in parent frame to vectors in local frame
-    btVector3 m_cachedRVector_interpolate;             // vector from COM of parent to COM of this link, in local frame.
-
-	btVector3 m_appliedForce;   // In WORLD frame
-	btVector3 m_appliedTorque;  // In WORLD frame
-
-	btVector3 m_appliedConstraintForce;   // In WORLD frame
-	btVector3 m_appliedConstraintTorque;  // In WORLD frame
-
-	btScalar m_jointPos[7];
-    btScalar m_jointPos_interpolate[7];
-
-	//m_jointTorque is the joint torque applied by the user using 'addJointTorque'.
-	//It gets set to zero after each internal stepSimulation call
-	btScalar m_jointTorque[6];
-
-	class btMultiBodyLinkCollider *m_collider;
-	int m_flags;
-
-	int m_dofCount, m_posVarCount;  //redundant but handy
-
-	eFeatherstoneJointType m_jointType;
-
-	struct btMultiBodyJointFeedback *m_jointFeedback;
-
-	btTransform m_cachedWorldTransform;  //this cache is updated when calling btMultiBody::forwardKinematics
-
-	const char *m_linkName;   //m_linkName memory needs to be managed by the developer/user!
-	const char *m_jointName;  //m_jointName memory needs to be managed by the developer/user!
-	const void *m_userPtr;    //m_userPtr ptr needs to be managed by the developer/user!
-
-	btScalar m_jointDamping;      //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual damping.
-	btScalar m_jointFriction;     //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual friction using a velocity motor.
-	btScalar m_jointLowerLimit;   //todo: implement this internally. It is unused for now, it is set by a URDF loader.
-	btScalar m_jointUpperLimit;   //todo: implement this internally. It is unused for now, it is set by a URDF loader.
-	btScalar m_jointMaxForce;     //todo: implement this internally. It is unused for now, it is set by a URDF loader.
-	btScalar m_jointMaxVelocity;  //todo: implement this internally. It is unused for now, it is set by a URDF loader.
-
-	// ctor: set some sensible defaults
-	btMultibodyLink()
-		: m_mass(1),
-		  m_parent(-1),
-		  m_zeroRotParentToThis(0, 0, 0, 1),
-		  m_cachedRotParentToThis(0, 0, 0, 1),
-          m_cachedRotParentToThis_interpolate(0, 0, 0, 1),
-		  m_collider(0),
-		  m_flags(0),
-		  m_dofCount(0),
-		  m_posVarCount(0),
-		  m_jointType(btMultibodyLink::eInvalid),
-		  m_jointFeedback(0),
-		  m_linkName(0),
-		  m_jointName(0),
-		  m_userPtr(0),
-		  m_jointDamping(0),
-		  m_jointFriction(0),
-		  m_jointLowerLimit(0),
-		  m_jointUpperLimit(0),
-		  m_jointMaxForce(0),
-		  m_jointMaxVelocity(0)
-	{
-		m_inertiaLocal.setValue(1, 1, 1);
-		setAxisTop(0, 0., 0., 0.);
-		setAxisBottom(0, 1., 0., 0.);
-		m_dVector.setValue(0, 0, 0);
-		m_eVector.setValue(0, 0, 0);
-		m_cachedRVector.setValue(0, 0, 0);
-        m_cachedRVector_interpolate.setValue(0, 0, 0);
-		m_appliedForce.setValue(0, 0, 0);
-		m_appliedTorque.setValue(0, 0, 0);
-		m_appliedConstraintForce.setValue(0, 0, 0);
-		m_appliedConstraintTorque.setValue(0, 0, 0);
-		//
-		m_jointPos[0] = m_jointPos[1] = m_jointPos[2] = m_jointPos[4] = m_jointPos[5] = m_jointPos[6] = 0.f;
-		m_jointPos[3] = 1.f;  //"quat.w"
-		m_jointTorque[0] = m_jointTorque[1] = m_jointTorque[2] = m_jointTorque[3] = m_jointTorque[4] = m_jointTorque[5] = 0.f;
-		m_cachedWorldTransform.setIdentity();
-	}
-
-	// routine to update m_cachedRotParentToThis and m_cachedRVector
-	void updateCacheMultiDof(btScalar *pq = 0)
-	{
-        btScalar *pJointPos = (pq ? pq : &m_jointPos[0]);
-        btQuaternion& cachedRot = m_cachedRotParentToThis;
-        btVector3& cachedVector = m_cachedRVector;
-		switch (m_jointType)
-		{
-			case eRevolute:
-			{
-				cachedRot = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis;
-				cachedVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector);
-
-				break;
-			}
-			case ePrismatic:
-			{
-				// m_cachedRotParentToThis never changes, so no need to update
-				cachedVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector) + pJointPos[0] * getAxisBottom(0);
-
-				break;
-			}
-			case eSpherical:
-			{
-				cachedRot = btQuaternion(pJointPos[0], pJointPos[1], pJointPos[2], -pJointPos[3]) * m_zeroRotParentToThis;
-				cachedVector = m_dVector + quatRotate(cachedRot, m_eVector);
-
-				break;
-			}
-			case ePlanar:
-			{
-				cachedRot = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis;
-				cachedVector = quatRotate(btQuaternion(getAxisTop(0), -pJointPos[0]), pJointPos[1] * getAxisBottom(1) + pJointPos[2] * getAxisBottom(2)) + quatRotate(cachedRot, m_eVector);
-
-				break;
-			}
-			case eFixed:
-			{
-				cachedRot = m_zeroRotParentToThis;
-				cachedVector = m_dVector + quatRotate(cachedRot, m_eVector);
-
-				break;
-			}
-			default:
-			{
-				//invalid type
-				btAssert(0);
-			}
-		}
-        m_cachedRotParentToThis_interpolate = m_cachedRotParentToThis;
-        m_cachedRVector_interpolate = m_cachedRVector;
-	}
-    
-    void updateInterpolationCacheMultiDof()
-    {
-        btScalar *pJointPos = &m_jointPos_interpolate[0];
-        
-        btQuaternion& cachedRot = m_cachedRotParentToThis_interpolate;
-        btVector3& cachedVector = m_cachedRVector_interpolate;
-        switch (m_jointType)
-        {
-            case eRevolute:
-            {
-                cachedRot = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis;
-                cachedVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector);
-                
-                break;
-            }
-            case ePrismatic:
-            {
-                // m_cachedRotParentToThis never changes, so no need to update
-                cachedVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector) + pJointPos[0] * getAxisBottom(0);
-                
-                break;
-            }
-            case eSpherical:
-            {
-                cachedRot = btQuaternion(pJointPos[0], pJointPos[1], pJointPos[2], -pJointPos[3]) * m_zeroRotParentToThis;
-                cachedVector = m_dVector + quatRotate(cachedRot, m_eVector);
-                
-                break;
-            }
-            case ePlanar:
-            {
-                cachedRot = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis;
-                cachedVector = quatRotate(btQuaternion(getAxisTop(0), -pJointPos[0]), pJointPos[1] * getAxisBottom(1) + pJointPos[2] * getAxisBottom(2)) + quatRotate(cachedRot, m_eVector);
-                
-                break;
-            }
-            case eFixed:
-            {
-                cachedRot = m_zeroRotParentToThis;
-                cachedVector = m_dVector + quatRotate(cachedRot, m_eVector);
-                
-                break;
-            }
-            default:
-            {
-                //invalid type
-                btAssert(0);
-            }
-        }
-    }
-
- 
-
-};
-
-#endif  //BT_MULTIBODY_LINK_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
deleted file mode 100644
index 3dc35a5814..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
+++ /dev/null
@@ -1,195 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_FEATHERSTONE_LINK_COLLIDER_H
-#define BT_FEATHERSTONE_LINK_COLLIDER_H
-
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-
-#include "btMultiBody.h"
-#include "LinearMath/btSerializer.h"
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btMultiBodyLinkColliderData btMultiBodyLinkColliderDoubleData
-#define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderDoubleData"
-#else
-#define btMultiBodyLinkColliderData btMultiBodyLinkColliderFloatData
-#define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderFloatData"
-#endif
-
-class btMultiBodyLinkCollider : public btCollisionObject
-{
-	//protected:
-public:
-	btMultiBody* m_multiBody;
-	int m_link;
-
-	virtual ~btMultiBodyLinkCollider()
-	{
-
-	}
-	btMultiBodyLinkCollider(btMultiBody* multiBody, int link)
-		: m_multiBody(multiBody),
-		  m_link(link)
-	{
-		m_checkCollideWith = true;
-		//we need to remove the 'CF_STATIC_OBJECT' flag, otherwise links/base doesn't merge islands
-		//this means that some constraints might point to bodies that are not in the islands, causing crashes
-		//if (link>=0 || (multiBody && !multiBody->hasFixedBase()))
-		{
-			m_collisionFlags &= (~btCollisionObject::CF_STATIC_OBJECT);
-		}
-		// else
-		//{
-		//	m_collisionFlags |= (btCollisionObject::CF_STATIC_OBJECT);
-		//}
-
-		m_internalType = CO_FEATHERSTONE_LINK;
-	}
-	static btMultiBodyLinkCollider* upcast(btCollisionObject* colObj)
-	{
-		if (colObj->getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK)
-			return (btMultiBodyLinkCollider*)colObj;
-		return 0;
-	}
-	static const btMultiBodyLinkCollider* upcast(const btCollisionObject* colObj)
-	{
-		if (colObj->getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK)
-			return (btMultiBodyLinkCollider*)colObj;
-		return 0;
-	}
-
-	virtual bool checkCollideWithOverride(const btCollisionObject* co) const
-	{
-		const btMultiBodyLinkCollider* other = btMultiBodyLinkCollider::upcast(co);
-		if (!other)
-			return true;
-		if (other->m_multiBody != this->m_multiBody)
-			return true;
-		if (!m_multiBody->hasSelfCollision())
-			return false;
-
-		//check if 'link' has collision disabled
-		if (m_link >= 0)
-		{
-			const btMultibodyLink& link = m_multiBody->getLink(this->m_link);
-			if (link.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
-			{
-				int parent_of_this = m_link;
-				while (1)
-				{
-					if (parent_of_this == -1)
-						break;
-					parent_of_this = m_multiBody->getLink(parent_of_this).m_parent;
-					if (parent_of_this == other->m_link)
-					{
-						return false;
-					}
-				}
-			}
-			else if (link.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
-			{
-				if (link.m_parent == other->m_link)
-					return false;
-			}
-		}
-
-		if (other->m_link >= 0)
-		{
-			const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link);
-			if (otherLink.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
-			{
-				int parent_of_other = other->m_link;
-				while (1)
-				{
-					if (parent_of_other == -1)
-						break;
-					parent_of_other = m_multiBody->getLink(parent_of_other).m_parent;
-					if (parent_of_other == this->m_link)
-						return false;
-				}
-			}
-			else if (otherLink.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
-			{
-				if (otherLink.m_parent == this->m_link)
-					return false;
-			}
-		}
-		return true;
-	}
-
-	bool isStaticOrKinematic() const
-	{
-		return isStaticOrKinematicObject();
-	}
-
-	bool isKinematic() const
-	{
-		return isKinematicObject();
-	}
-
-	void setDynamicType(int dynamicType)
-	{
-		int oldFlags = getCollisionFlags();
-		oldFlags &= ~(btCollisionObject::CF_STATIC_OBJECT | btCollisionObject::CF_KINEMATIC_OBJECT);
-		setCollisionFlags(oldFlags | dynamicType);
-	}
-
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
-};
-
-// clang-format off
-
-struct	btMultiBodyLinkColliderFloatData
-{
-	btCollisionObjectFloatData m_colObjData;
-	btMultiBodyFloatData	*m_multiBody;
-	int			m_link;
-	char		m_padding[4];
-};
-
-struct	btMultiBodyLinkColliderDoubleData
-{
-	btCollisionObjectDoubleData m_colObjData;
-	btMultiBodyDoubleData		*m_multiBody;
-	int			m_link;
-	char		m_padding[4];
-};
-
-// clang-format on
-
-SIMD_FORCE_INLINE int btMultiBodyLinkCollider::calculateSerializeBufferSize() const
-{
-	return sizeof(btMultiBodyLinkColliderData);
-}
-
-SIMD_FORCE_INLINE const char* btMultiBodyLinkCollider::serialize(void* dataBuffer, class btSerializer* serializer) const
-{
-	btMultiBodyLinkColliderData* dataOut = (btMultiBodyLinkColliderData*)dataBuffer;
-	btCollisionObject::serialize(&dataOut->m_colObjData, serializer);
-
-	dataOut->m_link = this->m_link;
-	dataOut->m_multiBody = (btMultiBodyData*)serializer->getUniquePointer(m_multiBody);
-
-	// Fill padding with zeros to appease msan.
-	memset(dataOut->m_padding, 0, sizeof(dataOut->m_padding));
-
-	return btMultiBodyLinkColliderDataName;
-}
-
-#endif  //BT_FEATHERSTONE_LINK_COLLIDER_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp
deleted file mode 100644
index f2186a93e9..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp
+++ /dev/null
@@ -1,966 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2018 Google Inc. http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
-#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
-#include "BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h"
-
-#define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
-
-static bool interleaveContactAndFriction1 = false;
-
-struct btJointNode1
-{
-	int jointIndex;          // pointer to enclosing dxJoint object
-	int otherBodyIndex;      // *other* body this joint is connected to
-	int nextJointNodeIndex;  //-1 for null
-	int constraintRowIndex;
-};
-
-// Helper function to compute a delta velocity in the constraint space.
-static btScalar computeDeltaVelocityInConstraintSpace(
-	const btVector3& angularDeltaVelocity,
-	const btVector3& contactNormal,
-	btScalar invMass,
-	const btVector3& angularJacobian,
-	const btVector3& linearJacobian)
-{
-	return angularDeltaVelocity.dot(angularJacobian) + contactNormal.dot(linearJacobian) * invMass;
-}
-
-// Faster version of computeDeltaVelocityInConstraintSpace that can be used when contactNormal and linearJacobian are
-// identical.
-static btScalar computeDeltaVelocityInConstraintSpace(
-	const btVector3& angularDeltaVelocity,
-	btScalar invMass,
-	const btVector3& angularJacobian)
-{
-	return angularDeltaVelocity.dot(angularJacobian) + invMass;
-}
-
-// Helper function to compute a delta velocity in the constraint space.
-static btScalar computeDeltaVelocityInConstraintSpace(const btScalar* deltaVelocity, const btScalar* jacobian, int size)
-{
-	btScalar result = 0;
-	for (int i = 0; i < size; ++i)
-		result += deltaVelocity[i] * jacobian[i];
-
-	return result;
-}
-
-static btScalar computeConstraintMatrixDiagElementMultiBody(
-	const btAlignedObjectArray<btSolverBody>& solverBodyPool,
-	const btMultiBodyJacobianData& data,
-	const btMultiBodySolverConstraint& constraint)
-{
-	btScalar ret = 0;
-
-	const btMultiBody* multiBodyA = constraint.m_multiBodyA;
-	const btMultiBody* multiBodyB = constraint.m_multiBodyB;
-
-	if (multiBodyA)
-	{
-		const btScalar* jacA = &data.m_jacobians[constraint.m_jacAindex];
-		const btScalar* deltaA = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacAindex];
-		const int ndofA = multiBodyA->getNumDofs() + 6;
-		ret += computeDeltaVelocityInConstraintSpace(deltaA, jacA, ndofA);
-	}
-	else
-	{
-		const int solverBodyIdA = constraint.m_solverBodyIdA;
-		btAssert(solverBodyIdA != -1);
-		const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA];
-		const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0;
-		ret += computeDeltaVelocityInConstraintSpace(
-			constraint.m_relpos1CrossNormal,
-			invMassA,
-			constraint.m_angularComponentA);
-	}
-
-	if (multiBodyB)
-	{
-		const btScalar* jacB = &data.m_jacobians[constraint.m_jacBindex];
-		const btScalar* deltaB = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacBindex];
-		const int ndofB = multiBodyB->getNumDofs() + 6;
-		ret += computeDeltaVelocityInConstraintSpace(deltaB, jacB, ndofB);
-	}
-	else
-	{
-		const int solverBodyIdB = constraint.m_solverBodyIdB;
-		btAssert(solverBodyIdB != -1);
-		const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB];
-		const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0;
-		ret += computeDeltaVelocityInConstraintSpace(
-			constraint.m_relpos2CrossNormal,
-			invMassB,
-			constraint.m_angularComponentB);
-	}
-
-	return ret;
-}
-
-static btScalar computeConstraintMatrixOffDiagElementMultiBody(
-	const btAlignedObjectArray<btSolverBody>& solverBodyPool,
-	const btMultiBodyJacobianData& data,
-	const btMultiBodySolverConstraint& constraint,
-	const btMultiBodySolverConstraint& offDiagConstraint)
-{
-	btScalar offDiagA = btScalar(0);
-
-	const btMultiBody* multiBodyA = constraint.m_multiBodyA;
-	const btMultiBody* multiBodyB = constraint.m_multiBodyB;
-	const btMultiBody* offDiagMultiBodyA = offDiagConstraint.m_multiBodyA;
-	const btMultiBody* offDiagMultiBodyB = offDiagConstraint.m_multiBodyB;
-
-	// Assumed at least one system is multibody
-	btAssert(multiBodyA || multiBodyB);
-	btAssert(offDiagMultiBodyA || offDiagMultiBodyB);
-
-	if (offDiagMultiBodyA)
-	{
-		const btScalar* offDiagJacA = &data.m_jacobians[offDiagConstraint.m_jacAindex];
-
-		if (offDiagMultiBodyA == multiBodyA)
-		{
-			const int ndofA = multiBodyA->getNumDofs() + 6;
-			const btScalar* deltaA = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacAindex];
-			offDiagA += computeDeltaVelocityInConstraintSpace(deltaA, offDiagJacA, ndofA);
-		}
-		else if (offDiagMultiBodyA == multiBodyB)
-		{
-			const int ndofB = multiBodyB->getNumDofs() + 6;
-			const btScalar* deltaB = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacBindex];
-			offDiagA += computeDeltaVelocityInConstraintSpace(deltaB, offDiagJacA, ndofB);
-		}
-	}
-	else
-	{
-		const int solverBodyIdA = constraint.m_solverBodyIdA;
-		const int solverBodyIdB = constraint.m_solverBodyIdB;
-
-		const int offDiagSolverBodyIdA = offDiagConstraint.m_solverBodyIdA;
-		btAssert(offDiagSolverBodyIdA != -1);
-
-		if (offDiagSolverBodyIdA == solverBodyIdA)
-		{
-			btAssert(solverBodyIdA != -1);
-			const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA];
-			const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0;
-			offDiagA += computeDeltaVelocityInConstraintSpace(
-				offDiagConstraint.m_relpos1CrossNormal,
-				offDiagConstraint.m_contactNormal1,
-				invMassA, constraint.m_angularComponentA,
-				constraint.m_contactNormal1);
-		}
-		else if (offDiagSolverBodyIdA == solverBodyIdB)
-		{
-			btAssert(solverBodyIdB != -1);
-			const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB];
-			const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0;
-			offDiagA += computeDeltaVelocityInConstraintSpace(
-				offDiagConstraint.m_relpos1CrossNormal,
-				offDiagConstraint.m_contactNormal1,
-				invMassB,
-				constraint.m_angularComponentB,
-				constraint.m_contactNormal2);
-		}
-	}
-
-	if (offDiagMultiBodyB)
-	{
-		const btScalar* offDiagJacB = &data.m_jacobians[offDiagConstraint.m_jacBindex];
-
-		if (offDiagMultiBodyB == multiBodyA)
-		{
-			const int ndofA = multiBodyA->getNumDofs() + 6;
-			const btScalar* deltaA = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacAindex];
-			offDiagA += computeDeltaVelocityInConstraintSpace(deltaA, offDiagJacB, ndofA);
-		}
-		else if (offDiagMultiBodyB == multiBodyB)
-		{
-			const int ndofB = multiBodyB->getNumDofs() + 6;
-			const btScalar* deltaB = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacBindex];
-			offDiagA += computeDeltaVelocityInConstraintSpace(deltaB, offDiagJacB, ndofB);
-		}
-	}
-	else
-	{
-		const int solverBodyIdA = constraint.m_solverBodyIdA;
-		const int solverBodyIdB = constraint.m_solverBodyIdB;
-
-		const int offDiagSolverBodyIdB = offDiagConstraint.m_solverBodyIdB;
-		btAssert(offDiagSolverBodyIdB != -1);
-
-		if (offDiagSolverBodyIdB == solverBodyIdA)
-		{
-			btAssert(solverBodyIdA != -1);
-			const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA];
-			const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0;
-			offDiagA += computeDeltaVelocityInConstraintSpace(
-				offDiagConstraint.m_relpos2CrossNormal,
-				offDiagConstraint.m_contactNormal2,
-				invMassA, constraint.m_angularComponentA,
-				constraint.m_contactNormal1);
-		}
-		else if (offDiagSolverBodyIdB == solverBodyIdB)
-		{
-			btAssert(solverBodyIdB != -1);
-			const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB];
-			const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0;
-			offDiagA += computeDeltaVelocityInConstraintSpace(
-				offDiagConstraint.m_relpos2CrossNormal,
-				offDiagConstraint.m_contactNormal2,
-				invMassB, constraint.m_angularComponentB,
-				constraint.m_contactNormal2);
-		}
-	}
-
-	return offDiagA;
-}
-
-void btMultiBodyMLCPConstraintSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
-{
-	createMLCPFastRigidBody(infoGlobal);
-	createMLCPFastMultiBody(infoGlobal);
-}
-
-void btMultiBodyMLCPConstraintSolver::createMLCPFastRigidBody(const btContactSolverInfo& infoGlobal)
-{
-	int numContactRows = interleaveContactAndFriction1 ? 3 : 1;
-
-	int numConstraintRows = m_allConstraintPtrArray.size();
-
-	if (numConstraintRows == 0)
-		return;
-
-	int n = numConstraintRows;
-	{
-		BT_PROFILE("init b (rhs)");
-		m_b.resize(numConstraintRows);
-		m_bSplit.resize(numConstraintRows);
-		m_b.setZero();
-		m_bSplit.setZero();
-		for (int i = 0; i < numConstraintRows; i++)
-		{
-			btScalar jacDiag = m_allConstraintPtrArray[i]->m_jacDiagABInv;
-			if (!btFuzzyZero(jacDiag))
-			{
-				btScalar rhs = m_allConstraintPtrArray[i]->m_rhs;
-				btScalar rhsPenetration = m_allConstraintPtrArray[i]->m_rhsPenetration;
-				m_b[i] = rhs / jacDiag;
-				m_bSplit[i] = rhsPenetration / jacDiag;
-			}
-		}
-	}
-
-	//	btScalar* w = 0;
-	//	int nub = 0;
-
-	m_lo.resize(numConstraintRows);
-	m_hi.resize(numConstraintRows);
-
-	{
-		BT_PROFILE("init lo/ho");
-
-		for (int i = 0; i < numConstraintRows; i++)
-		{
-			if (0)  //m_limitDependencies[i]>=0)
-			{
-				m_lo[i] = -BT_INFINITY;
-				m_hi[i] = BT_INFINITY;
-			}
-			else
-			{
-				m_lo[i] = m_allConstraintPtrArray[i]->m_lowerLimit;
-				m_hi[i] = m_allConstraintPtrArray[i]->m_upperLimit;
-			}
-		}
-	}
-
-	//
-	int m = m_allConstraintPtrArray.size();
-
-	int numBodies = m_tmpSolverBodyPool.size();
-	btAlignedObjectArray<int> bodyJointNodeArray;
-	{
-		BT_PROFILE("bodyJointNodeArray.resize");
-		bodyJointNodeArray.resize(numBodies, -1);
-	}
-	btAlignedObjectArray<btJointNode1> jointNodeArray;
-	{
-		BT_PROFILE("jointNodeArray.reserve");
-		jointNodeArray.reserve(2 * m_allConstraintPtrArray.size());
-	}
-
-	btMatrixXu& J3 = m_scratchJ3;
-	{
-		BT_PROFILE("J3.resize");
-		J3.resize(2 * m, 8);
-	}
-	btMatrixXu& JinvM3 = m_scratchJInvM3;
-	{
-		BT_PROFILE("JinvM3.resize/setZero");
-
-		JinvM3.resize(2 * m, 8);
-		JinvM3.setZero();
-		J3.setZero();
-	}
-	int cur = 0;
-	int rowOffset = 0;
-	btAlignedObjectArray<int>& ofs = m_scratchOfs;
-	{
-		BT_PROFILE("ofs resize");
-		ofs.resize(0);
-		ofs.resizeNoInitialize(m_allConstraintPtrArray.size());
-	}
-	{
-		BT_PROFILE("Compute J and JinvM");
-		int c = 0;
-
-		int numRows = 0;
-
-		for (int i = 0; i < m_allConstraintPtrArray.size(); i += numRows, c++)
-		{
-			ofs[c] = rowOffset;
-			int sbA = m_allConstraintPtrArray[i]->m_solverBodyIdA;
-			int sbB = m_allConstraintPtrArray[i]->m_solverBodyIdB;
-			btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
-			btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
-
-			numRows = i < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[c].m_numConstraintRows : numContactRows;
-			if (orgBodyA)
-			{
-				{
-					int slotA = -1;
-					//find free jointNode slot for sbA
-					slotA = jointNodeArray.size();
-					jointNodeArray.expand();  //NonInitializing();
-					int prevSlot = bodyJointNodeArray[sbA];
-					bodyJointNodeArray[sbA] = slotA;
-					jointNodeArray[slotA].nextJointNodeIndex = prevSlot;
-					jointNodeArray[slotA].jointIndex = c;
-					jointNodeArray[slotA].constraintRowIndex = i;
-					jointNodeArray[slotA].otherBodyIndex = orgBodyB ? sbB : -1;
-				}
-				for (int row = 0; row < numRows; row++, cur++)
-				{
-					btVector3 normalInvMass = m_allConstraintPtrArray[i + row]->m_contactNormal1 * orgBodyA->getInvMass();
-					btVector3 relPosCrossNormalInvInertia = m_allConstraintPtrArray[i + row]->m_relpos1CrossNormal * orgBodyA->getInvInertiaTensorWorld();
-
-					for (int r = 0; r < 3; r++)
-					{
-						J3.setElem(cur, r, m_allConstraintPtrArray[i + row]->m_contactNormal1[r]);
-						J3.setElem(cur, r + 4, m_allConstraintPtrArray[i + row]->m_relpos1CrossNormal[r]);
-						JinvM3.setElem(cur, r, normalInvMass[r]);
-						JinvM3.setElem(cur, r + 4, relPosCrossNormalInvInertia[r]);
-					}
-					J3.setElem(cur, 3, 0);
-					JinvM3.setElem(cur, 3, 0);
-					J3.setElem(cur, 7, 0);
-					JinvM3.setElem(cur, 7, 0);
-				}
-			}
-			else
-			{
-				cur += numRows;
-			}
-			if (orgBodyB)
-			{
-				{
-					int slotB = -1;
-					//find free jointNode slot for sbA
-					slotB = jointNodeArray.size();
-					jointNodeArray.expand();  //NonInitializing();
-					int prevSlot = bodyJointNodeArray[sbB];
-					bodyJointNodeArray[sbB] = slotB;
-					jointNodeArray[slotB].nextJointNodeIndex = prevSlot;
-					jointNodeArray[slotB].jointIndex = c;
-					jointNodeArray[slotB].otherBodyIndex = orgBodyA ? sbA : -1;
-					jointNodeArray[slotB].constraintRowIndex = i;
-				}
-
-				for (int row = 0; row < numRows; row++, cur++)
-				{
-					btVector3 normalInvMassB = m_allConstraintPtrArray[i + row]->m_contactNormal2 * orgBodyB->getInvMass();
-					btVector3 relPosInvInertiaB = m_allConstraintPtrArray[i + row]->m_relpos2CrossNormal * orgBodyB->getInvInertiaTensorWorld();
-
-					for (int r = 0; r < 3; r++)
-					{
-						J3.setElem(cur, r, m_allConstraintPtrArray[i + row]->m_contactNormal2[r]);
-						J3.setElem(cur, r + 4, m_allConstraintPtrArray[i + row]->m_relpos2CrossNormal[r]);
-						JinvM3.setElem(cur, r, normalInvMassB[r]);
-						JinvM3.setElem(cur, r + 4, relPosInvInertiaB[r]);
-					}
-					J3.setElem(cur, 3, 0);
-					JinvM3.setElem(cur, 3, 0);
-					J3.setElem(cur, 7, 0);
-					JinvM3.setElem(cur, 7, 0);
-				}
-			}
-			else
-			{
-				cur += numRows;
-			}
-			rowOffset += numRows;
-		}
-	}
-
-	//compute JinvM = J*invM.
-	const btScalar* JinvM = JinvM3.getBufferPointer();
-
-	const btScalar* Jptr = J3.getBufferPointer();
-	{
-		BT_PROFILE("m_A.resize");
-		m_A.resize(n, n);
-	}
-
-	{
-		BT_PROFILE("m_A.setZero");
-		m_A.setZero();
-	}
-	int c = 0;
-	{
-		int numRows = 0;
-		BT_PROFILE("Compute A");
-		for (int i = 0; i < m_allConstraintPtrArray.size(); i += numRows, c++)
-		{
-			int row__ = ofs[c];
-			int sbA = m_allConstraintPtrArray[i]->m_solverBodyIdA;
-			int sbB = m_allConstraintPtrArray[i]->m_solverBodyIdB;
-			//	btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
-			//	btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
-
-			numRows = i < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[c].m_numConstraintRows : numContactRows;
-
-			const btScalar* JinvMrow = JinvM + 2 * 8 * (size_t)row__;
-
-			{
-				int startJointNodeA = bodyJointNodeArray[sbA];
-				while (startJointNodeA >= 0)
-				{
-					int j0 = jointNodeArray[startJointNodeA].jointIndex;
-					int cr0 = jointNodeArray[startJointNodeA].constraintRowIndex;
-					if (j0 < c)
-					{
-						int numRowsOther = cr0 < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[j0].m_numConstraintRows : numContactRows;
-						size_t ofsother = (m_allConstraintPtrArray[cr0]->m_solverBodyIdB == sbA) ? 8 * numRowsOther : 0;
-						//printf("%d joint i %d and j0: %d: ",count++,i,j0);
-						m_A.multiplyAdd2_p8r(JinvMrow,
-											 Jptr + 2 * 8 * (size_t)ofs[j0] + ofsother, numRows, numRowsOther, row__, ofs[j0]);
-					}
-					startJointNodeA = jointNodeArray[startJointNodeA].nextJointNodeIndex;
-				}
-			}
-
-			{
-				int startJointNodeB = bodyJointNodeArray[sbB];
-				while (startJointNodeB >= 0)
-				{
-					int j1 = jointNodeArray[startJointNodeB].jointIndex;
-					int cj1 = jointNodeArray[startJointNodeB].constraintRowIndex;
-
-					if (j1 < c)
-					{
-						int numRowsOther = cj1 < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[j1].m_numConstraintRows : numContactRows;
-						size_t ofsother = (m_allConstraintPtrArray[cj1]->m_solverBodyIdB == sbB) ? 8 * numRowsOther : 0;
-						m_A.multiplyAdd2_p8r(JinvMrow + 8 * (size_t)numRows,
-											 Jptr + 2 * 8 * (size_t)ofs[j1] + ofsother, numRows, numRowsOther, row__, ofs[j1]);
-					}
-					startJointNodeB = jointNodeArray[startJointNodeB].nextJointNodeIndex;
-				}
-			}
-		}
-
-		{
-			BT_PROFILE("compute diagonal");
-			// compute diagonal blocks of m_A
-
-			int row__ = 0;
-			int numJointRows = m_allConstraintPtrArray.size();
-
-			int jj = 0;
-			for (; row__ < numJointRows;)
-			{
-				//int sbA = m_allConstraintPtrArray[row__]->m_solverBodyIdA;
-				int sbB = m_allConstraintPtrArray[row__]->m_solverBodyIdB;
-				//	btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
-				btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
-
-				const unsigned int infom = row__ < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[jj].m_numConstraintRows : numContactRows;
-
-				const btScalar* JinvMrow = JinvM + 2 * 8 * (size_t)row__;
-				const btScalar* Jrow = Jptr + 2 * 8 * (size_t)row__;
-				m_A.multiply2_p8r(JinvMrow, Jrow, infom, infom, row__, row__);
-				if (orgBodyB)
-				{
-					m_A.multiplyAdd2_p8r(JinvMrow + 8 * (size_t)infom, Jrow + 8 * (size_t)infom, infom, infom, row__, row__);
-				}
-				row__ += infom;
-				jj++;
-			}
-		}
-	}
-
-	if (1)
-	{
-		// add cfm to the diagonal of m_A
-		for (int i = 0; i < m_A.rows(); ++i)
-		{
-			m_A.setElem(i, i, m_A(i, i) + infoGlobal.m_globalCfm / infoGlobal.m_timeStep);
-		}
-	}
-
-	///fill the upper triangle of the matrix, to make it symmetric
-	{
-		BT_PROFILE("fill the upper triangle ");
-		m_A.copyLowerToUpperTriangle();
-	}
-
-	{
-		BT_PROFILE("resize/init x");
-		m_x.resize(numConstraintRows);
-		m_xSplit.resize(numConstraintRows);
-
-		if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
-		{
-			for (int i = 0; i < m_allConstraintPtrArray.size(); i++)
-			{
-				const btSolverConstraint& c = *m_allConstraintPtrArray[i];
-				m_x[i] = c.m_appliedImpulse;
-				m_xSplit[i] = c.m_appliedPushImpulse;
-			}
-		}
-		else
-		{
-			m_x.setZero();
-			m_xSplit.setZero();
-		}
-	}
-}
-
-void btMultiBodyMLCPConstraintSolver::createMLCPFastMultiBody(const btContactSolverInfo& infoGlobal)
-{
-	const int multiBodyNumConstraints = m_multiBodyAllConstraintPtrArray.size();
-
-	if (multiBodyNumConstraints == 0)
-		return;
-
-	// 1. Compute b
-	{
-		BT_PROFILE("init b (rhs)");
-
-		m_multiBodyB.resize(multiBodyNumConstraints);
-		m_multiBodyB.setZero();
-
-		for (int i = 0; i < multiBodyNumConstraints; ++i)
-		{
-			const btMultiBodySolverConstraint& constraint = *m_multiBodyAllConstraintPtrArray[i];
-			const btScalar jacDiag = constraint.m_jacDiagABInv;
-
-			if (!btFuzzyZero(jacDiag))
-			{
-				// Note that rhsPenetration is currently always zero because the split impulse hasn't been implemented for multibody yet.
-				const btScalar rhs = constraint.m_rhs;
-				m_multiBodyB[i] = rhs / jacDiag;
-			}
-		}
-	}
-
-	// 2. Compute lo and hi
-	{
-		BT_PROFILE("init lo/ho");
-
-		m_multiBodyLo.resize(multiBodyNumConstraints);
-		m_multiBodyHi.resize(multiBodyNumConstraints);
-
-		for (int i = 0; i < multiBodyNumConstraints; ++i)
-		{
-			const btMultiBodySolverConstraint& constraint = *m_multiBodyAllConstraintPtrArray[i];
-			m_multiBodyLo[i] = constraint.m_lowerLimit;
-			m_multiBodyHi[i] = constraint.m_upperLimit;
-		}
-	}
-
-	// 3. Construct A matrix by using the impulse testing
-	{
-		BT_PROFILE("Compute A");
-
-		{
-			BT_PROFILE("m_A.resize");
-			m_multiBodyA.resize(multiBodyNumConstraints, multiBodyNumConstraints);
-		}
-
-		for (int i = 0; i < multiBodyNumConstraints; ++i)
-		{
-			// Compute the diagonal of A, which is A(i, i)
-			const btMultiBodySolverConstraint& constraint = *m_multiBodyAllConstraintPtrArray[i];
-			const btScalar diagA = computeConstraintMatrixDiagElementMultiBody(m_tmpSolverBodyPool, m_data, constraint);
-			m_multiBodyA.setElem(i, i, diagA);
-
-			// Computes the off-diagonals of A:
-			//   a. The rest of i-th row of A, from A(i, i+1) to A(i, n)
-			//   b. The rest of i-th column of A, from A(i+1, i) to A(n, i)
-			for (int j = i + 1; j < multiBodyNumConstraints; ++j)
-			{
-				const btMultiBodySolverConstraint& offDiagConstraint = *m_multiBodyAllConstraintPtrArray[j];
-				const btScalar offDiagA = computeConstraintMatrixOffDiagElementMultiBody(m_tmpSolverBodyPool, m_data, constraint, offDiagConstraint);
-
-				// Set the off-diagonal values of A. Note that A is symmetric.
-				m_multiBodyA.setElem(i, j, offDiagA);
-				m_multiBodyA.setElem(j, i, offDiagA);
-			}
-		}
-	}
-
-	// Add CFM to the diagonal of m_A
-	for (int i = 0; i < m_multiBodyA.rows(); ++i)
-	{
-		m_multiBodyA.setElem(i, i, m_multiBodyA(i, i) + infoGlobal.m_globalCfm / infoGlobal.m_timeStep);
-	}
-
-	// 4. Initialize x
-	{
-		BT_PROFILE("resize/init x");
-
-		m_multiBodyX.resize(multiBodyNumConstraints);
-
-		if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
-		{
-			for (int i = 0; i < multiBodyNumConstraints; ++i)
-			{
-				const btMultiBodySolverConstraint& constraint = *m_multiBodyAllConstraintPtrArray[i];
-				m_multiBodyX[i] = constraint.m_appliedImpulse;
-			}
-		}
-		else
-		{
-			m_multiBodyX.setZero();
-		}
-	}
-}
-
-bool btMultiBodyMLCPConstraintSolver::solveMLCP(const btContactSolverInfo& infoGlobal)
-{
-	bool result = true;
-
-	if (m_A.rows() != 0)
-	{
-		// If using split impulse, we solve 2 separate (M)LCPs
-		if (infoGlobal.m_splitImpulse)
-		{
-			const btMatrixXu Acopy = m_A;
-			const btAlignedObjectArray<int> limitDependenciesCopy = m_limitDependencies;
-			// TODO(JS): Do we really need these copies when solveMLCP takes them as const?
-
-			result = m_solver->solveMLCP(m_A, m_b, m_x, m_lo, m_hi, m_limitDependencies, infoGlobal.m_numIterations);
-			if (result)
-				result = m_solver->solveMLCP(Acopy, m_bSplit, m_xSplit, m_lo, m_hi, limitDependenciesCopy, infoGlobal.m_numIterations);
-		}
-		else
-		{
-			result = m_solver->solveMLCP(m_A, m_b, m_x, m_lo, m_hi, m_limitDependencies, infoGlobal.m_numIterations);
-		}
-	}
-
-	if (!result)
-		return false;
-
-	if (m_multiBodyA.rows() != 0)
-	{
-		result = m_solver->solveMLCP(m_multiBodyA, m_multiBodyB, m_multiBodyX, m_multiBodyLo, m_multiBodyHi, m_multiBodyLimitDependencies, infoGlobal.m_numIterations);
-	}
-
-	return result;
-}
-
-btScalar btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlySetup(
-	btCollisionObject** bodies,
-	int numBodies,
-	btPersistentManifold** manifoldPtr,
-	int numManifolds,
-	btTypedConstraint** constraints,
-	int numConstraints,
-	const btContactSolverInfo& infoGlobal,
-	btIDebugDraw* debugDrawer)
-{
-	// 1. Setup for rigid-bodies
-	btMultiBodyConstraintSolver::solveGroupCacheFriendlySetup(
-		bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
-
-	// 2. Setup for multi-bodies
-	//   a. Collect all different kinds of constraint as pointers into one array, m_allConstraintPtrArray
-	//   b. Set the index array for frictional contact constraints, m_limitDependencies
-	{
-		BT_PROFILE("gather constraint data");
-
-		int dindex = 0;
-
-		const int numRigidBodyConstraints = m_tmpSolverNonContactConstraintPool.size() + m_tmpSolverContactConstraintPool.size() + m_tmpSolverContactFrictionConstraintPool.size();
-		const int numMultiBodyConstraints = m_multiBodyNonContactConstraints.size() + m_multiBodyNormalContactConstraints.size() + m_multiBodyFrictionContactConstraints.size();
-
-		m_allConstraintPtrArray.resize(0);
-		m_multiBodyAllConstraintPtrArray.resize(0);
-
-		// i. Setup for rigid bodies
-
-		m_limitDependencies.resize(numRigidBodyConstraints);
-
-		for (int i = 0; i < m_tmpSolverNonContactConstraintPool.size(); ++i)
-		{
-			m_allConstraintPtrArray.push_back(&m_tmpSolverNonContactConstraintPool[i]);
-			m_limitDependencies[dindex++] = -1;
-		}
-
-		int firstContactConstraintOffset = dindex;
-
-		// The btSequentialImpulseConstraintSolver moves all friction constraints at the very end, we can also interleave them instead
-		if (interleaveContactAndFriction1)
-		{
-			for (int i = 0; i < m_tmpSolverContactConstraintPool.size(); i++)
-			{
-				const int numFrictionPerContact = m_tmpSolverContactConstraintPool.size() == m_tmpSolverContactFrictionConstraintPool.size() ? 1 : 2;
-
-				m_allConstraintPtrArray.push_back(&m_tmpSolverContactConstraintPool[i]);
-				m_limitDependencies[dindex++] = -1;
-				m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i * numFrictionPerContact]);
-				int findex = (m_tmpSolverContactFrictionConstraintPool[i * numFrictionPerContact].m_frictionIndex * (1 + numFrictionPerContact));
-				m_limitDependencies[dindex++] = findex + firstContactConstraintOffset;
-				if (numFrictionPerContact == 2)
-				{
-					m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i * numFrictionPerContact + 1]);
-					m_limitDependencies[dindex++] = findex + firstContactConstraintOffset;
-				}
-			}
-		}
-		else
-		{
-			for (int i = 0; i < m_tmpSolverContactConstraintPool.size(); i++)
-			{
-				m_allConstraintPtrArray.push_back(&m_tmpSolverContactConstraintPool[i]);
-				m_limitDependencies[dindex++] = -1;
-			}
-			for (int i = 0; i < m_tmpSolverContactFrictionConstraintPool.size(); i++)
-			{
-				m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i]);
-				m_limitDependencies[dindex++] = m_tmpSolverContactFrictionConstraintPool[i].m_frictionIndex + firstContactConstraintOffset;
-			}
-		}
-
-		if (!m_allConstraintPtrArray.size())
-		{
-			m_A.resize(0, 0);
-			m_b.resize(0);
-			m_x.resize(0);
-			m_lo.resize(0);
-			m_hi.resize(0);
-		}
-
-		// ii. Setup for multibodies
-
-		dindex = 0;
-
-		m_multiBodyLimitDependencies.resize(numMultiBodyConstraints);
-
-		for (int i = 0; i < m_multiBodyNonContactConstraints.size(); ++i)
-		{
-			m_multiBodyAllConstraintPtrArray.push_back(&m_multiBodyNonContactConstraints[i]);
-			m_multiBodyLimitDependencies[dindex++] = -1;
-		}
-
-		firstContactConstraintOffset = dindex;
-
-		// The btSequentialImpulseConstraintSolver moves all friction constraints at the very end, we can also interleave them instead
-		if (interleaveContactAndFriction1)
-		{
-			for (int i = 0; i < m_multiBodyNormalContactConstraints.size(); ++i)
-			{
-				const int numtiBodyNumFrictionPerContact = m_multiBodyNormalContactConstraints.size() == m_multiBodyFrictionContactConstraints.size() ? 1 : 2;
-
-				m_multiBodyAllConstraintPtrArray.push_back(&m_multiBodyNormalContactConstraints[i]);
-				m_multiBodyLimitDependencies[dindex++] = -1;
-
-				btMultiBodySolverConstraint& frictionContactConstraint1 = m_multiBodyFrictionContactConstraints[i * numtiBodyNumFrictionPerContact];
-				m_multiBodyAllConstraintPtrArray.push_back(&frictionContactConstraint1);
-
-				const int findex = (frictionContactConstraint1.m_frictionIndex * (1 + numtiBodyNumFrictionPerContact)) + firstContactConstraintOffset;
-
-				m_multiBodyLimitDependencies[dindex++] = findex;
-
-				if (numtiBodyNumFrictionPerContact == 2)
-				{
-					btMultiBodySolverConstraint& frictionContactConstraint2 = m_multiBodyFrictionContactConstraints[i * numtiBodyNumFrictionPerContact + 1];
-					m_multiBodyAllConstraintPtrArray.push_back(&frictionContactConstraint2);
-
-					m_multiBodyLimitDependencies[dindex++] = findex;
-				}
-			}
-		}
-		else
-		{
-			for (int i = 0; i < m_multiBodyNormalContactConstraints.size(); ++i)
-			{
-				m_multiBodyAllConstraintPtrArray.push_back(&m_multiBodyNormalContactConstraints[i]);
-				m_multiBodyLimitDependencies[dindex++] = -1;
-			}
-			for (int i = 0; i < m_multiBodyFrictionContactConstraints.size(); ++i)
-			{
-				m_multiBodyAllConstraintPtrArray.push_back(&m_multiBodyFrictionContactConstraints[i]);
-				m_multiBodyLimitDependencies[dindex++] = m_multiBodyFrictionContactConstraints[i].m_frictionIndex + firstContactConstraintOffset;
-			}
-		}
-
-		if (!m_multiBodyAllConstraintPtrArray.size())
-		{
-			m_multiBodyA.resize(0, 0);
-			m_multiBodyB.resize(0);
-			m_multiBodyX.resize(0);
-			m_multiBodyLo.resize(0);
-			m_multiBodyHi.resize(0);
-		}
-	}
-
-	// Construct MLCP terms
-	{
-		BT_PROFILE("createMLCPFast");
-		createMLCPFast(infoGlobal);
-	}
-
-	return btScalar(0);
-}
-
-btScalar btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
-{
-	bool result = true;
-	{
-		BT_PROFILE("solveMLCP");
-		result = solveMLCP(infoGlobal);
-	}
-
-	// Fallback to btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations if the solution isn't valid.
-	if (!result)
-	{
-		m_fallback++;
-		return btMultiBodyConstraintSolver::solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
-	}
-
-	{
-		BT_PROFILE("process MLCP results");
-
-		for (int i = 0; i < m_allConstraintPtrArray.size(); ++i)
-		{
-			const btSolverConstraint& c = *m_allConstraintPtrArray[i];
-
-			const btScalar deltaImpulse = m_x[i] - c.m_appliedImpulse;
-			c.m_appliedImpulse = m_x[i];
-
-			int sbA = c.m_solverBodyIdA;
-			int sbB = c.m_solverBodyIdB;
-
-			btSolverBody& solverBodyA = m_tmpSolverBodyPool[sbA];
-			btSolverBody& solverBodyB = m_tmpSolverBodyPool[sbB];
-
-			solverBodyA.internalApplyImpulse(c.m_contactNormal1 * solverBodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
-			solverBodyB.internalApplyImpulse(c.m_contactNormal2 * solverBodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
-
-			if (infoGlobal.m_splitImpulse)
-			{
-				const btScalar deltaPushImpulse = m_xSplit[i] - c.m_appliedPushImpulse;
-				solverBodyA.internalApplyPushImpulse(c.m_contactNormal1 * solverBodyA.internalGetInvMass(), c.m_angularComponentA, deltaPushImpulse);
-				solverBodyB.internalApplyPushImpulse(c.m_contactNormal2 * solverBodyB.internalGetInvMass(), c.m_angularComponentB, deltaPushImpulse);
-				c.m_appliedPushImpulse = m_xSplit[i];
-			}
-		}
-
-		for (int i = 0; i < m_multiBodyAllConstraintPtrArray.size(); ++i)
-		{
-			btMultiBodySolverConstraint& c = *m_multiBodyAllConstraintPtrArray[i];
-
-			const btScalar deltaImpulse = m_multiBodyX[i] - c.m_appliedImpulse;
-			c.m_appliedImpulse = m_multiBodyX[i];
-
-			btMultiBody* multiBodyA = c.m_multiBodyA;
-			if (multiBodyA)
-			{
-				const int ndofA = multiBodyA->getNumDofs() + 6;
-				applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse, c.m_deltaVelAindex, ndofA);
-#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
-				//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
-				//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
-				multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse);
-#endif  // DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
-			}
-			else
-			{
-				const int sbA = c.m_solverBodyIdA;
-				btSolverBody& solverBodyA = m_tmpSolverBodyPool[sbA];
-				solverBodyA.internalApplyImpulse(c.m_contactNormal1 * solverBodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
-			}
-
-			btMultiBody* multiBodyB = c.m_multiBodyB;
-			if (multiBodyB)
-			{
-				const int ndofB = multiBodyB->getNumDofs() + 6;
-				applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], deltaImpulse, c.m_deltaVelBindex, ndofB);
-#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
-				//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
-				//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
-				multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], deltaImpulse);
-#endif  // DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
-			}
-			else
-			{
-				const int sbB = c.m_solverBodyIdB;
-				btSolverBody& solverBodyB = m_tmpSolverBodyPool[sbB];
-				solverBodyB.internalApplyImpulse(c.m_contactNormal2 * solverBodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
-			}
-		}
-	}
-
-	return btScalar(0);
-}
-
-btMultiBodyMLCPConstraintSolver::btMultiBodyMLCPConstraintSolver(btMLCPSolverInterface* solver)
-	: m_solver(solver), m_fallback(0)
-{
-	// Do nothing
-}
-
-btMultiBodyMLCPConstraintSolver::~btMultiBodyMLCPConstraintSolver()
-{
-	// Do nothing
-}
-
-void btMultiBodyMLCPConstraintSolver::setMLCPSolver(btMLCPSolverInterface* solver)
-{
-	m_solver = solver;
-}
-
-int btMultiBodyMLCPConstraintSolver::getNumFallbacks() const
-{
-	return m_fallback;
-}
-
-void btMultiBodyMLCPConstraintSolver::setNumFallbacks(int num)
-{
-	m_fallback = num;
-}
-
-btConstraintSolverType btMultiBodyMLCPConstraintSolver::getSolverType() const
-{
-	return BT_MLCP_SOLVER;
-}
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h
deleted file mode 100644
index 77fdb86bb9..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h
+++ /dev/null
@@ -1,187 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2018 Google Inc. http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H
-#define BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H
-
-#include "LinearMath/btMatrixX.h"
-#include "LinearMath/btThreads.h"
-#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
-
-class btMLCPSolverInterface;
-class btMultiBody;
-
-class btMultiBodyMLCPConstraintSolver : public btMultiBodyConstraintSolver
-{
-protected:
-	/// \name MLCP Formulation for Rigid Bodies
-	/// \{
-
-	/// A matrix in the MLCP formulation
-	btMatrixXu m_A;
-
-	/// b vector in the MLCP formulation.
-	btVectorXu m_b;
-
-	/// Constraint impulse, which is an output of MLCP solving.
-	btVectorXu m_x;
-
-	/// Lower bound of constraint impulse, \c m_x.
-	btVectorXu m_lo;
-
-	/// Upper bound of constraint impulse, \c m_x.
-	btVectorXu m_hi;
-
-	/// \}
-
-	/// \name Cache Variables for Split Impulse for Rigid Bodies
-	/// When using 'split impulse' we solve two separate (M)LCPs
-	/// \{
-
-	/// Split impulse Cache vector corresponding to \c m_b.
-	btVectorXu m_bSplit;
-
-	/// Split impulse cache vector corresponding to \c m_x.
-	btVectorXu m_xSplit;
-
-	/// \}
-
-	/// \name MLCP Formulation for Multibodies
-	/// \{
-
-	/// A matrix in the MLCP formulation
-	btMatrixXu m_multiBodyA;
-
-	/// b vector in the MLCP formulation.
-	btVectorXu m_multiBodyB;
-
-	/// Constraint impulse, which is an output of MLCP solving.
-	btVectorXu m_multiBodyX;
-
-	/// Lower bound of constraint impulse, \c m_x.
-	btVectorXu m_multiBodyLo;
-
-	/// Upper bound of constraint impulse, \c m_x.
-	btVectorXu m_multiBodyHi;
-
-	/// \}
-
-	/// Indices of normal contact constraint associated with frictional contact constraint for rigid bodies.
-	///
-	/// This is used by the MLCP solver to update the upper bounds of frictional contact impulse given intermediate
-	/// normal contact impulse. For example, i-th element represents the index of a normal constraint that is
-	/// accosiated with i-th frictional contact constraint if i-th constraint is a frictional contact constraint.
-	/// Otherwise, -1.
-	btAlignedObjectArray<int> m_limitDependencies;
-
-	/// Indices of normal contact constraint associated with frictional contact constraint for multibodies.
-	///
-	/// This is used by the MLCP solver to update the upper bounds of frictional contact impulse given intermediate
-	/// normal contact impulse. For example, i-th element represents the index of a normal constraint that is
-	/// accosiated with i-th frictional contact constraint if i-th constraint is a frictional contact constraint.
-	/// Otherwise, -1.
-	btAlignedObjectArray<int> m_multiBodyLimitDependencies;
-
-	/// Array of all the rigid body constraints
-	btAlignedObjectArray<btSolverConstraint*> m_allConstraintPtrArray;
-
-	/// Array of all the multibody constraints
-	btAlignedObjectArray<btMultiBodySolverConstraint*> m_multiBodyAllConstraintPtrArray;
-
-	/// MLCP solver
-	btMLCPSolverInterface* m_solver;
-
-	/// Count of fallbacks of using btSequentialImpulseConstraintSolver, which happens when the MLCP solver fails.
-	int m_fallback;
-
-	/// \name MLCP Scratch Variables
-	/// The following scratch variables are not stateful -- contents are cleared prior to each use.
-	/// They are only cached here to avoid extra memory allocations and deallocations and to ensure
-	/// that multiple instances of the solver can be run in parallel.
-	///
-	/// \{
-
-	/// Cache variable for constraint Jacobian matrix.
-	btMatrixXu m_scratchJ3;
-
-	/// Cache variable for constraint Jacobian times inverse mass matrix.
-	btMatrixXu m_scratchJInvM3;
-
-	/// Cache variable for offsets.
-	btAlignedObjectArray<int> m_scratchOfs;
-
-	/// \}
-
-	/// Constructs MLCP terms, which are \c m_A, \c m_b, \c m_lo, and \c m_hi.
-	virtual void createMLCPFast(const btContactSolverInfo& infoGlobal);
-
-	/// Constructs MLCP terms for constraints of two rigid bodies
-	void createMLCPFastRigidBody(const btContactSolverInfo& infoGlobal);
-
-	/// Constructs MLCP terms for constraints of two multi-bodies or one rigid body and one multibody
-	void createMLCPFastMultiBody(const btContactSolverInfo& infoGlobal);
-
-	/// Solves MLCP and returns the success
-	virtual bool solveMLCP(const btContactSolverInfo& infoGlobal);
-
-	// Documentation inherited
-	btScalar solveGroupCacheFriendlySetup(
-		btCollisionObject** bodies,
-		int numBodies,
-		btPersistentManifold** manifoldPtr,
-		int numManifolds,
-		btTypedConstraint** constraints,
-		int numConstraints,
-		const btContactSolverInfo& infoGlobal,
-		btIDebugDraw* debugDrawer) BT_OVERRIDE;
-
-	// Documentation inherited
-	btScalar solveGroupCacheFriendlyIterations(
-		btCollisionObject** bodies,
-		int numBodies,
-		btPersistentManifold** manifoldPtr,
-		int numManifolds,
-		btTypedConstraint** constraints,
-		int numConstraints,
-		const btContactSolverInfo& infoGlobal,
-		btIDebugDraw* debugDrawer) ;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR()
-
-	/// Constructor
-	///
-	/// \param[in] solver MLCP solver. Assumed it's not null.
-	/// \param[in] maxLCPSize Maximum size of LCP to solve using MLCP solver. If the MLCP size exceeds this number, sequaltial impulse method will be used.
-	explicit btMultiBodyMLCPConstraintSolver(btMLCPSolverInterface* solver);
-
-	/// Destructor
-	virtual ~btMultiBodyMLCPConstraintSolver();
-
-	/// Sets MLCP solver. Assumed it's not null.
-	void setMLCPSolver(btMLCPSolverInterface* solver);
-
-	/// Returns the number of fallbacks of using btSequentialImpulseConstraintSolver, which happens when the MLCP
-	/// solver fails.
-	int getNumFallbacks() const;
-
-	/// Sets the number of fallbacks. This function may be used to reset the number to zero.
-	void setNumFallbacks(int num);
-
-	/// Returns the constraint solver type.
-	virtual btConstraintSolverType getSolverType() const;
-};
-
-#endif  // BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
deleted file mode 100644
index f51e69deb1..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
+++ /dev/null
@@ -1,216 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///This file was written by Erwin Coumans
-
-#include "btMultiBodyPoint2Point.h"
-#include "btMultiBodyLinkCollider.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btIDebugDraw.h"
-
-#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
-#define BTMBP2PCONSTRAINT_DIM 3
-#else
-#define BTMBP2PCONSTRAINT_DIM 6
-#endif
-
-btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB)
-	: btMultiBodyConstraint(body, 0, link, -1, BTMBP2PCONSTRAINT_DIM, false, MULTIBODY_CONSTRAINT_POINT_TO_POINT),
-	  m_rigidBodyA(0),
-	  m_rigidBodyB(bodyB),
-	  m_pivotInA(pivotInA),
-	  m_pivotInB(pivotInB)
-{
-	m_data.resize(BTMBP2PCONSTRAINT_DIM);  //at least store the applied impulses
-}
-
-btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB)
-	: btMultiBodyConstraint(bodyA, bodyB, linkA, linkB, BTMBP2PCONSTRAINT_DIM, false, MULTIBODY_CONSTRAINT_POINT_TO_POINT),
-	  m_rigidBodyA(0),
-	  m_rigidBodyB(0),
-	  m_pivotInA(pivotInA),
-	  m_pivotInB(pivotInB)
-{
-	m_data.resize(BTMBP2PCONSTRAINT_DIM);  //at least store the applied impulses
-}
-
-void btMultiBodyPoint2Point::finalizeMultiDof()
-{
-	//not implemented yet
-	btAssert(0);
-}
-
-btMultiBodyPoint2Point::~btMultiBodyPoint2Point()
-{
-}
-
-int btMultiBodyPoint2Point::getIslandIdA() const
-{
-	if (m_rigidBodyA)
-		return m_rigidBodyA->getIslandTag();
-
-	if (m_bodyA)
-	{
-		if (m_linkA < 0)
-		{
-			btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
-			if (col)
-				return col->getIslandTag();
-		}
-		else
-		{
-			if (m_bodyA->getLink(m_linkA).m_collider)
-				return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
-		}
-	}
-	return -1;
-}
-
-int btMultiBodyPoint2Point::getIslandIdB() const
-{
-	if (m_rigidBodyB)
-		return m_rigidBodyB->getIslandTag();
-	if (m_bodyB)
-	{
-		if (m_linkB < 0)
-		{
-			btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
-			if (col)
-				return col->getIslandTag();
-		}
-		else
-		{
-			if (m_bodyB->getLink(m_linkB).m_collider)
-				return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
-		}
-	}
-	return -1;
-}
-
-void btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-												  btMultiBodyJacobianData& data,
-												  const btContactSolverInfo& infoGlobal)
-{
-	//	int i=1;
-	int numDim = BTMBP2PCONSTRAINT_DIM;
-	for (int i = 0; i < numDim; i++)
-	{
-		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
-		//memset(&constraintRow,0xffffffff,sizeof(btMultiBodySolverConstraint));
-		constraintRow.m_orgConstraint = this;
-		constraintRow.m_orgDofIndex = i;
-		constraintRow.m_relpos1CrossNormal.setValue(0, 0, 0);
-		constraintRow.m_contactNormal1.setValue(0, 0, 0);
-		constraintRow.m_relpos2CrossNormal.setValue(0, 0, 0);
-		constraintRow.m_contactNormal2.setValue(0, 0, 0);
-		constraintRow.m_angularComponentA.setValue(0, 0, 0);
-		constraintRow.m_angularComponentB.setValue(0, 0, 0);
-
-		constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
-		constraintRow.m_solverBodyIdB = data.m_fixedBodyId;
-
-		btVector3 contactNormalOnB(0, 0, 0);
-#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
-		contactNormalOnB[i] = -1;
-#else
-		contactNormalOnB[i % 3] = -1;
-#endif
-
-		// Convert local points back to world
-		btVector3 pivotAworld = m_pivotInA;
-		if (m_rigidBodyA)
-		{
-			constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
-			pivotAworld = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
-		}
-		else
-		{
-			if (m_bodyA)
-				pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
-		}
-		btVector3 pivotBworld = m_pivotInB;
-		if (m_rigidBodyB)
-		{
-			constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
-			pivotBworld = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
-		}
-		else
-		{
-			if (m_bodyB)
-				pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
-		}
-
-		btScalar posError = i < 3 ? (pivotAworld - pivotBworld).dot(contactNormalOnB) : 0;
-
-#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
-
-		fillMultiBodyConstraint(constraintRow, data, 0, 0, btVector3(0, 0, 0),
-								contactNormalOnB, pivotAworld, pivotBworld,  //sucks but let it be this way "for the time being"
-								posError,
-								infoGlobal,
-								-m_maxAppliedImpulse, m_maxAppliedImpulse);
-		//@todo: support the case of btMultiBody versus btRigidBody,
-		//see btPoint2PointConstraint::getInfo2NonVirtual
-#else
-		const btVector3 dummy(0, 0, 0);
-
-		btAssert(m_bodyA->isMultiDof());
-
-		btScalar* jac1 = jacobianA(i);
-		const btVector3& normalAng = i >= 3 ? contactNormalOnB : dummy;
-		const btVector3& normalLin = i < 3 ? contactNormalOnB : dummy;
-
-		m_bodyA->filConstraintJacobianMultiDof(m_linkA, pivotAworld, normalAng, normalLin, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
-
-		fillMultiBodyConstraint(constraintRow, data, jac1, 0,
-								dummy, dummy, dummy,  //sucks but let it be this way "for the time being"
-								posError,
-								infoGlobal,
-								-m_maxAppliedImpulse, m_maxAppliedImpulse);
-#endif
-	}
-}
-
-void btMultiBodyPoint2Point::debugDraw(class btIDebugDraw* drawer)
-{
-	btTransform tr;
-	tr.setIdentity();
-
-	if (m_rigidBodyA)
-	{
-		btVector3 pivot = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
-		tr.setOrigin(pivot);
-		drawer->drawTransform(tr, 0.1);
-	}
-	if (m_bodyA)
-	{
-		btVector3 pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
-		tr.setOrigin(pivotAworld);
-		drawer->drawTransform(tr, 0.1);
-	}
-	if (m_rigidBodyB)
-	{
-		// that ideally should draw the same frame
-		btVector3 pivot = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
-		tr.setOrigin(pivot);
-		drawer->drawTransform(tr, 0.1);
-	}
-	if (m_bodyB)
-	{
-		btVector3 pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
-		tr.setOrigin(pivotBworld);
-		drawer->drawTransform(tr, 0.1);
-	}
-}
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h
deleted file mode 100644
index ef03a557ec..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///This file was written by Erwin Coumans
-
-#ifndef BT_MULTIBODY_POINT2POINT_H
-#define BT_MULTIBODY_POINT2POINT_H
-
-#include "btMultiBodyConstraint.h"
-
-//#define BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
-
-ATTRIBUTE_ALIGNED16(class)
-btMultiBodyPoint2Point : public btMultiBodyConstraint
-{
-protected:
-	btRigidBody* m_rigidBodyA;
-	btRigidBody* m_rigidBodyB;
-	btVector3 m_pivotInA;
-	btVector3 m_pivotInB;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btMultiBodyPoint2Point(btMultiBody * body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB);
-	btMultiBodyPoint2Point(btMultiBody * bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB);
-
-	virtual ~btMultiBodyPoint2Point();
-
-	virtual void finalizeMultiDof();
-
-	virtual int getIslandIdA() const;
-	virtual int getIslandIdB() const;
-
-	virtual void createConstraintRows(btMultiBodyConstraintArray & constraintRows,
-									  btMultiBodyJacobianData & data,
-									  const btContactSolverInfo& infoGlobal);
-
-	const btVector3& getPivotInB() const
-	{
-		return m_pivotInB;
-	}
-
-	virtual void setPivotInB(const btVector3& pivotInB)
-	{
-		m_pivotInB = pivotInB;
-	}
-
-	virtual void debugDraw(class btIDebugDraw * drawer);
-};
-
-#endif  //BT_MULTIBODY_POINT2POINT_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp
deleted file mode 100644
index 48ec1d5af2..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp
+++ /dev/null
@@ -1,234 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///This file was written by Erwin Coumans
-
-#include "btMultiBodySliderConstraint.h"
-#include "btMultiBodyLinkCollider.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
-#include "LinearMath/btIDebugDraw.h"
-
-#define BTMBSLIDERCONSTRAINT_DIM 5
-#define EPSILON 0.000001
-
-btMultiBodySliderConstraint::btMultiBodySliderConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB, const btVector3& jointAxis)
-	: btMultiBodyConstraint(body, 0, link, -1, BTMBSLIDERCONSTRAINT_DIM, false, MULTIBODY_CONSTRAINT_SLIDER),
-	  m_rigidBodyA(0),
-	  m_rigidBodyB(bodyB),
-	  m_pivotInA(pivotInA),
-	  m_pivotInB(pivotInB),
-	  m_frameInA(frameInA),
-	  m_frameInB(frameInB),
-	  m_jointAxis(jointAxis)
-{
-	m_data.resize(BTMBSLIDERCONSTRAINT_DIM);  //at least store the applied impulses
-}
-
-btMultiBodySliderConstraint::btMultiBodySliderConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB, const btVector3& jointAxis)
-	: btMultiBodyConstraint(bodyA, bodyB, linkA, linkB, BTMBSLIDERCONSTRAINT_DIM, false, MULTIBODY_CONSTRAINT_SLIDER),
-	  m_rigidBodyA(0),
-	  m_rigidBodyB(0),
-	  m_pivotInA(pivotInA),
-	  m_pivotInB(pivotInB),
-	  m_frameInA(frameInA),
-	  m_frameInB(frameInB),
-	  m_jointAxis(jointAxis)
-{
-	m_data.resize(BTMBSLIDERCONSTRAINT_DIM);  //at least store the applied impulses
-}
-
-void btMultiBodySliderConstraint::finalizeMultiDof()
-{
-	//not implemented yet
-	btAssert(0);
-}
-
-btMultiBodySliderConstraint::~btMultiBodySliderConstraint()
-{
-}
-
-int btMultiBodySliderConstraint::getIslandIdA() const
-{
-	if (m_rigidBodyA)
-		return m_rigidBodyA->getIslandTag();
-
-	if (m_bodyA)
-	{
-		if (m_linkA < 0)
-		{
-			btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
-			if (col)
-				return col->getIslandTag();
-		}
-		else
-		{
-			if (m_bodyA->getLink(m_linkA).m_collider)
-				return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
-		}
-	}
-	return -1;
-}
-
-int btMultiBodySliderConstraint::getIslandIdB() const
-{
-	if (m_rigidBodyB)
-		return m_rigidBodyB->getIslandTag();
-	if (m_bodyB)
-	{
-		if (m_linkB < 0)
-		{
-			btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
-			if (col)
-				return col->getIslandTag();
-		}
-		else
-		{
-			if (m_bodyB->getLink(m_linkB).m_collider)
-				return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
-		}
-	}
-	return -1;
-}
-void btMultiBodySliderConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows, btMultiBodyJacobianData& data, const btContactSolverInfo& infoGlobal)
-{
-	// Convert local points back to world
-	btVector3 pivotAworld = m_pivotInA;
-	btMatrix3x3 frameAworld = m_frameInA;
-	btVector3 jointAxis = m_jointAxis;
-	if (m_rigidBodyA)
-	{
-		pivotAworld = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
-		frameAworld = m_frameInA.transpose() * btMatrix3x3(m_rigidBodyA->getOrientation());
-		jointAxis = quatRotate(m_rigidBodyA->getOrientation(), m_jointAxis);
-	}
-	else if (m_bodyA)
-	{
-		pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
-		frameAworld = m_bodyA->localFrameToWorld(m_linkA, m_frameInA);
-		jointAxis = m_bodyA->localDirToWorld(m_linkA, m_jointAxis);
-	}
-	btVector3 pivotBworld = m_pivotInB;
-	btMatrix3x3 frameBworld = m_frameInB;
-	if (m_rigidBodyB)
-	{
-		pivotBworld = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
-		frameBworld = m_frameInB.transpose() * btMatrix3x3(m_rigidBodyB->getOrientation());
-	}
-	else if (m_bodyB)
-	{
-		pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
-		frameBworld = m_bodyB->localFrameToWorld(m_linkB, m_frameInB);
-	}
-
-	btVector3 constraintAxis[2];
-	for (int i = 0; i < 3; ++i)
-	{
-		constraintAxis[0] = frameAworld.getColumn(i).cross(jointAxis);
-		if (constraintAxis[0].safeNorm() > EPSILON)
-		{
-			constraintAxis[0] = constraintAxis[0].normalized();
-			constraintAxis[1] = jointAxis.cross(constraintAxis[0]);
-			constraintAxis[1] = constraintAxis[1].normalized();
-			break;
-		}
-	}
-
-	btMatrix3x3 relRot = frameAworld.inverse() * frameBworld;
-	btVector3 angleDiff;
-	btGeneric6DofSpring2Constraint::matrixToEulerXYZ(relRot, angleDiff);
-
-	int numDim = BTMBSLIDERCONSTRAINT_DIM;
-	for (int i = 0; i < numDim; i++)
-	{
-		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
-		constraintRow.m_orgConstraint = this;
-		constraintRow.m_orgDofIndex = i;
-		constraintRow.m_relpos1CrossNormal.setValue(0, 0, 0);
-		constraintRow.m_contactNormal1.setValue(0, 0, 0);
-		constraintRow.m_relpos2CrossNormal.setValue(0, 0, 0);
-		constraintRow.m_contactNormal2.setValue(0, 0, 0);
-		constraintRow.m_angularComponentA.setValue(0, 0, 0);
-		constraintRow.m_angularComponentB.setValue(0, 0, 0);
-
-		constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
-		constraintRow.m_solverBodyIdB = data.m_fixedBodyId;
-
-		if (m_rigidBodyA)
-		{
-			constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
-		}
-		if (m_rigidBodyB)
-		{
-			constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
-		}
-
-		btVector3 constraintNormalLin(0, 0, 0);
-		btVector3 constraintNormalAng(0, 0, 0);
-		btScalar posError = 0.0;
-		if (i < 2)
-		{
-			constraintNormalLin = constraintAxis[i];
-			posError = (pivotAworld - pivotBworld).dot(constraintNormalLin);
-			fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
-									constraintNormalLin, pivotAworld, pivotBworld,
-									posError,
-									infoGlobal,
-									-m_maxAppliedImpulse, m_maxAppliedImpulse);
-		}
-		else
-		{  //i>=2
-			constraintNormalAng = frameAworld.getColumn(i % 3);
-			posError = angleDiff[i % 3];
-			fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
-									constraintNormalLin, pivotAworld, pivotBworld,
-									posError,
-									infoGlobal,
-									-m_maxAppliedImpulse, m_maxAppliedImpulse, true);
-		}
-	}
-}
-
-void btMultiBodySliderConstraint::debugDraw(class btIDebugDraw* drawer)
-{
-	btTransform tr;
-	tr.setIdentity();
-
-	if (m_rigidBodyA)
-	{
-		btVector3 pivot = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
-		tr.setOrigin(pivot);
-		drawer->drawTransform(tr, 0.1);
-	}
-	if (m_bodyA)
-	{
-		btVector3 pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
-		tr.setOrigin(pivotAworld);
-		drawer->drawTransform(tr, 0.1);
-	}
-	if (m_rigidBodyB)
-	{
-		// that ideally should draw the same frame
-		btVector3 pivot = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
-		tr.setOrigin(pivot);
-		drawer->drawTransform(tr, 0.1);
-	}
-	if (m_bodyB)
-	{
-		btVector3 pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
-		tr.setOrigin(pivotBworld);
-		drawer->drawTransform(tr, 0.1);
-	}
-}
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.h
deleted file mode 100644
index b192b6f8f3..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.h
+++ /dev/null
@@ -1,102 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///This file was written by Erwin Coumans
-
-#ifndef BT_MULTIBODY_SLIDER_CONSTRAINT_H
-#define BT_MULTIBODY_SLIDER_CONSTRAINT_H
-
-#include "btMultiBodyConstraint.h"
-
-class btMultiBodySliderConstraint : public btMultiBodyConstraint
-{
-protected:
-	btRigidBody* m_rigidBodyA;
-	btRigidBody* m_rigidBodyB;
-	btVector3 m_pivotInA;
-	btVector3 m_pivotInB;
-	btMatrix3x3 m_frameInA;
-	btMatrix3x3 m_frameInB;
-	btVector3 m_jointAxis;
-
-public:
-	btMultiBodySliderConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB, const btVector3& jointAxis);
-	btMultiBodySliderConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB, const btVector3& jointAxis);
-
-	virtual ~btMultiBodySliderConstraint();
-
-	virtual void finalizeMultiDof();
-
-	virtual int getIslandIdA() const;
-	virtual int getIslandIdB() const;
-
-	virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-									  btMultiBodyJacobianData& data,
-									  const btContactSolverInfo& infoGlobal);
-
-	const btVector3& getPivotInA() const
-	{
-		return m_pivotInA;
-	}
-
-	void setPivotInA(const btVector3& pivotInA)
-	{
-		m_pivotInA = pivotInA;
-	}
-
-	const btVector3& getPivotInB() const
-	{
-		return m_pivotInB;
-	}
-
-	virtual void setPivotInB(const btVector3& pivotInB)
-	{
-		m_pivotInB = pivotInB;
-	}
-
-	const btMatrix3x3& getFrameInA() const
-	{
-		return m_frameInA;
-	}
-
-	void setFrameInA(const btMatrix3x3& frameInA)
-	{
-		m_frameInA = frameInA;
-	}
-
-	const btMatrix3x3& getFrameInB() const
-	{
-		return m_frameInB;
-	}
-
-	virtual void setFrameInB(const btMatrix3x3& frameInB)
-	{
-		m_frameInB = frameInB;
-	}
-
-	const btVector3& getJointAxis() const
-	{
-		return m_jointAxis;
-	}
-
-	void setJointAxis(const btVector3& jointAxis)
-	{
-		m_jointAxis = jointAxis;
-	}
-
-	virtual void debugDraw(class btIDebugDraw* drawer);
-};
-
-#endif  //BT_MULTIBODY_SLIDER_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h
deleted file mode 100644
index deed3e2a12..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h
+++ /dev/null
@@ -1,90 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_MULTIBODY_SOLVER_CONSTRAINT_H
-#define BT_MULTIBODY_SOLVER_CONSTRAINT_H
-
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btAlignedObjectArray.h"
-
-class btMultiBody;
-class btMultiBodyConstraint;
-#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
-#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
-
-///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
-ATTRIBUTE_ALIGNED16(struct)
-btMultiBodySolverConstraint
-{
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btMultiBodySolverConstraint() : m_solverBodyIdA(-1), m_multiBodyA(0), m_linkA(-1), m_solverBodyIdB(-1), m_multiBodyB(0), m_linkB(-1), m_orgConstraint(0), m_orgDofIndex(-1)
-	{
-	}
-
-	int m_deltaVelAindex;  //more generic version of m_relpos1CrossNormal/m_contactNormal1
-	int m_jacAindex;
-	int m_deltaVelBindex;
-	int m_jacBindex;
-
-	btVector3 m_relpos1CrossNormal;
-	btVector3 m_contactNormal1;
-	btVector3 m_relpos2CrossNormal;
-	btVector3 m_contactNormal2;  //usually m_contactNormal2 == -m_contactNormal1, but not always
-
-	btVector3 m_angularComponentA;
-	btVector3 m_angularComponentB;
-
-	mutable btSimdScalar m_appliedPushImpulse;
-	mutable btSimdScalar m_appliedImpulse;
-
-	btScalar m_friction;
-	btScalar m_jacDiagABInv;
-	btScalar m_rhs;
-	btScalar m_cfm;
-
-	btScalar m_lowerLimit;
-	btScalar m_upperLimit;
-	btScalar m_rhsPenetration;
-	union {
-		void* m_originalContactPoint;
-		btScalar m_unusedPadding4;
-	};
-
-	int m_overrideNumSolverIterations;
-	int m_frictionIndex;
-
-	int m_solverBodyIdA;
-	btMultiBody* m_multiBodyA;
-	int m_linkA;
-
-	int m_solverBodyIdB;
-	btMultiBody* m_multiBodyB;
-	int m_linkB;
-
-	//for writing back applied impulses
-	btMultiBodyConstraint* m_orgConstraint;
-	int m_orgDofIndex;
-
-	enum btSolverConstraintType
-	{
-		BT_SOLVER_CONTACT_1D = 0,
-		BT_SOLVER_FRICTION_1D
-	};
-};
-
-typedef btAlignedObjectArray<btMultiBodySolverConstraint> btMultiBodyConstraintArray;
-
-#endif  //BT_MULTIBODY_SOLVER_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp
deleted file mode 100644
index 00a7ef3579..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp
+++ /dev/null
@@ -1,180 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2018 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///This file was written by Erwin Coumans
-
-#include "btMultiBodySphericalJointMotor.h"
-#include "btMultiBody.h"
-#include "btMultiBodyLinkCollider.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "LinearMath/btTransformUtil.h"
-#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
-
-btMultiBodySphericalJointMotor::btMultiBodySphericalJointMotor(btMultiBody* body, int link, btScalar maxMotorImpulse)
-	: btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 3, true, MULTIBODY_CONSTRAINT_SPHERICAL_MOTOR),
-	m_desiredVelocity(0, 0, 0),
-	m_desiredPosition(0,0,0,1),
-	m_use_multi_dof_params(false),
-	m_kd(1., 1., 1.),
-	m_kp(0.2, 0.2, 0.2),
-	m_erp(1),
-	m_rhsClamp(SIMD_INFINITY),
-	m_maxAppliedImpulseMultiDof(maxMotorImpulse, maxMotorImpulse, maxMotorImpulse),
-	m_damping(1.0, 1.0, 1.0)
-{
-
-	m_maxAppliedImpulse = maxMotorImpulse;
-}
-
-
-void btMultiBodySphericalJointMotor::finalizeMultiDof()
-{
-	allocateJacobiansMultiDof();
-	// note: we rely on the fact that data.m_jacobians are
-	// always initialized to zero by the Constraint ctor
-	int linkDoF = 0;
-	unsigned int offset = 6 + (m_bodyA->getLink(m_linkA).m_dofOffset + linkDoF);
-
-	// row 0: the lower bound
-	// row 0: the lower bound
-	jacobianA(0)[offset] = 1;
-
-	m_numDofsFinalized = m_jacSizeBoth;
-}
-
-
-btMultiBodySphericalJointMotor::~btMultiBodySphericalJointMotor()
-{
-}
-
-int btMultiBodySphericalJointMotor::getIslandIdA() const
-{
-	if (this->m_linkA < 0)
-	{
-		btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
-		if (col)
-			return col->getIslandTag();
-	}
-	else
-	{
-		if (m_bodyA->getLink(m_linkA).m_collider)
-		{
-			return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
-		}
-	}
-	return -1;
-}
-
-int btMultiBodySphericalJointMotor::getIslandIdB() const
-{
-	if (m_linkB < 0)
-	{
-		btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
-		if (col)
-			return col->getIslandTag();
-	}
-	else
-	{
-		if (m_bodyB->getLink(m_linkB).m_collider)
-		{
-			return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
-		}
-	}
-	return -1;
-}
-
-void btMultiBodySphericalJointMotor::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-												 btMultiBodyJacobianData& data,
-												 const btContactSolverInfo& infoGlobal)
-{
-	// only positions need to be updated -- data.m_jacobians and force
-	// directions were set in the ctor and never change.
-
-	if (m_numDofsFinalized != m_jacSizeBoth)
-	{
-		finalizeMultiDof();
-	}
-
-	//don't crash
-	if (m_numDofsFinalized != m_jacSizeBoth)
-		return;
-	
-
-	if (m_maxAppliedImpulse == 0.f)
-		return;
-
-	const btScalar posError = 0;
-	const btVector3 dummy(0, 0, 0);
-
-	
-	btVector3 axis[3] = { btVector3(1, 0, 0), btVector3(0, 1, 0), btVector3(0, 0, 1) };
-	
-	btQuaternion desiredQuat = m_desiredPosition;
-	btQuaternion currentQuat(m_bodyA->getJointPosMultiDof(m_linkA)[0],
-		m_bodyA->getJointPosMultiDof(m_linkA)[1],
-		m_bodyA->getJointPosMultiDof(m_linkA)[2],
-		m_bodyA->getJointPosMultiDof(m_linkA)[3]);
-
-btQuaternion relRot = currentQuat.inverse() * desiredQuat;
-	btVector3 angleDiff;
-	btGeneric6DofSpring2Constraint::matrixToEulerXYZ(btMatrix3x3(relRot), angleDiff);
-
-
-
-	for (int row = 0; row < getNumRows(); row++)
-	{
-		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
-
-		int dof = row;
-		
-		btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof];
-		btScalar desiredVelocity = this->m_desiredVelocity[row];
-		
-		double kd = m_use_multi_dof_params ? m_kd[row % 3] : m_kd[0];
-		btScalar velocityError = (desiredVelocity - currentVelocity) * kd;
-
-		btMatrix3x3 frameAworld;
-		frameAworld.setIdentity();
-		frameAworld = m_bodyA->localFrameToWorld(m_linkA, frameAworld);
-		btScalar posError = 0;
-		{
-			btAssert(m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eSpherical);
-			switch (m_bodyA->getLink(m_linkA).m_jointType)
-			{
-				case btMultibodyLink::eSpherical:
-				{
-					btVector3 constraintNormalAng = frameAworld.getColumn(row % 3);
-					double kp = m_use_multi_dof_params ? m_kp[row % 3] : m_kp[0];
-					posError = kp*angleDiff[row % 3];
-					double max_applied_impulse = m_use_multi_dof_params ? m_maxAppliedImpulseMultiDof[row % 3] : m_maxAppliedImpulse;
-					fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
-						btVector3(0,0,0), dummy, dummy,
-						posError,
-						infoGlobal,
-						-max_applied_impulse, max_applied_impulse, true,
-						1.0, false, 0, 0,
-						m_damping[row % 3]);
-					constraintRow.m_orgConstraint = this;
-					constraintRow.m_orgDofIndex = row;
-					break;
-				}
-				default:
-				{
-					btAssert(0);
-				}
-			};
-		}
-	}
-}
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h
deleted file mode 100644
index bdeccc2e24..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2018 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///This file was written by Erwin Coumans
-
-#ifndef BT_MULTIBODY_SPHERICAL_JOINT_MOTOR_H
-#define BT_MULTIBODY_SPHERICAL_JOINT_MOTOR_H
-
-#include "btMultiBodyConstraint.h"
-struct btSolverInfo;
-
-class btMultiBodySphericalJointMotor : public btMultiBodyConstraint
-{
-protected:
-	btVector3 m_desiredVelocity;
-	btQuaternion m_desiredPosition;
-	bool m_use_multi_dof_params;
-	btVector3 m_kd;
-	btVector3 m_kp;
-	btScalar m_erp;
-	btScalar m_rhsClamp;  //maximum error
-	btVector3 m_maxAppliedImpulseMultiDof;
-	btVector3 m_damping;
-
-public:
-	btMultiBodySphericalJointMotor(btMultiBody* body, int link, btScalar maxMotorImpulse);
-	
-	virtual ~btMultiBodySphericalJointMotor();
-	virtual void finalizeMultiDof();
-
-	virtual int getIslandIdA() const;
-	virtual int getIslandIdB() const;
-
-	virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-									  btMultiBodyJacobianData& data,
-									  const btContactSolverInfo& infoGlobal);
-
-	virtual void setVelocityTarget(const btVector3& velTarget, btScalar kd = 1.0)
-	{
-		m_desiredVelocity = velTarget;
-		m_kd = btVector3(kd, kd, kd);
-		m_use_multi_dof_params = false;
-	}
-
-	virtual void setVelocityTargetMultiDof(const btVector3& velTarget, const btVector3& kd = btVector3(1.0, 1.0, 1.0))
-	{
-		m_desiredVelocity = velTarget;
-		m_kd = kd;
-		m_use_multi_dof_params = true;
-	}
-
-	virtual void setPositionTarget(const btQuaternion& posTarget, btScalar kp =1.f)
-	{
-		m_desiredPosition = posTarget;
-		m_kp = btVector3(kp, kp, kp);
-		m_use_multi_dof_params = false;
-	}
-
-	virtual void setPositionTargetMultiDof(const btQuaternion& posTarget, const btVector3& kp = btVector3(1.f, 1.f, 1.f))
-	{
-		m_desiredPosition = posTarget;
-		m_kp = kp;
-		m_use_multi_dof_params = true;
-	}
-
-	virtual void setErp(btScalar erp)
-	{
-		m_erp = erp;
-	}
-	virtual btScalar getErp() const
-	{
-		return m_erp;
-	}
-	virtual void setRhsClamp(btScalar rhsClamp)
-	{
-		m_rhsClamp = rhsClamp;
-	}
-
-	btScalar getMaxAppliedImpulseMultiDof(int i) const
-	{
-		return m_maxAppliedImpulseMultiDof[i];
-	}
-
-	void setMaxAppliedImpulseMultiDof(const btVector3& maxImp)
-	{
-		m_maxAppliedImpulseMultiDof = maxImp;
-		m_use_multi_dof_params = true;
-	}
-
-	btScalar getDamping(int i) const
-	{
-		return m_damping[i];
-	}
-
-	void setDamping(const btVector3& damping)
-	{
-		m_damping = damping;
-	}
-
-	virtual void debugDraw(class btIDebugDraw* drawer)
-	{
-		//todo(erwincoumans)
-	}
-};
-
-#endif  //BT_MULTIBODY_SPHERICAL_JOINT_MOTOR_H
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp
deleted file mode 100644
index 98ecdc0794..0000000000
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp
+++ /dev/null
@@ -1,2158 +0,0 @@
-/*************************************************************************
-*                                                                       *
-* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
-* All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
-*                                                                       *
-* This library is free software; you can redistribute it and/or         *
-* modify it under the terms of EITHER:                                  *
-*   (1) The GNU Lesser General Public License as published by the Free  *
-*       Software Foundation; either version 2.1 of the License, or (at  *
-*       your option) any later version. The text of the GNU Lesser      *
-*       General Public License is included with this library in the     *
-*       file LICENSE.TXT.                                               *
-*   (2) The BSD-style license that is included with this library in     *
-*       the file LICENSE-BSD.TXT.                                       *
-*                                                                       *
-* This library is distributed in the hope that it will be useful,       *
-* but WITHOUT ANY WARRANTY; without even the implied warranty of        *
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
-* LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
-*                                                                       *
-*************************************************************************/
-
-/*
-
-
-THE ALGORITHM
--------------
-
-solve A*x = b+w, with x and w subject to certain LCP conditions.
-each x(i),w(i) must lie on one of the three line segments in the following
-diagram. each line segment corresponds to one index set :
-
-     w(i)
-     /|\      |           :
-      |       |           :
-      |       |i in N     :
-  w>0 |       |state[i]=0 :
-      |       |           :
-      |       |           :  i in C
-  w=0 +       +-----------------------+
-      |                   :           |
-      |                   :           |
-  w<0 |                   :           |i in N
-      |                   :           |state[i]=1
-      |                   :           |
-      |                   :           |
-      +-------|-----------|-----------|----------> x(i)
-             lo           0           hi
-
-the Dantzig algorithm proceeds as follows:
-  for i=1:n
-    * if (x(i),w(i)) is not on the line, push x(i) and w(i) positive or
-      negative towards the line. as this is done, the other (x(j),w(j))
-      for j<i are constrained to be on the line. if any (x,w) reaches the
-      end of a line segment then it is switched between index sets.
-    * i is added to the appropriate index set depending on what line segment
-      it hits.
-
-we restrict lo(i) <= 0 and hi(i) >= 0. this makes the algorithm a bit
-simpler, because the starting point for x(i),w(i) is always on the dotted
-line x=0 and x will only ever increase in one direction, so it can only hit
-two out of the three line segments.
-
-
-NOTES
------
-
-this is an implementation of "lcp_dantzig2_ldlt.m" and "lcp_dantzig_lohi.m".
-the implementation is split into an LCP problem object (btLCP) and an LCP
-driver function. most optimization occurs in the btLCP object.
-
-a naive implementation of the algorithm requires either a lot of data motion
-or a lot of permutation-array lookup, because we are constantly re-ordering
-rows and columns. to avoid this and make a more optimized algorithm, a
-non-trivial data structure is used to represent the matrix A (this is
-implemented in the fast version of the btLCP object).
-
-during execution of this algorithm, some indexes in A are clamped (set C),
-some are non-clamped (set N), and some are "don't care" (where x=0).
-A,x,b,w (and other problem vectors) are permuted such that the clamped
-indexes are first, the unclamped indexes are next, and the don't-care
-indexes are last. this permutation is recorded in the array `p'.
-initially p = 0..n-1, and as the rows and columns of A,x,b,w are swapped,
-the corresponding elements of p are swapped.
-
-because the C and N elements are grouped together in the rows of A, we can do
-lots of work with a fast dot product function. if A,x,etc were not permuted
-and we only had a permutation array, then those dot products would be much
-slower as we would have a permutation array lookup in some inner loops.
-
-A is accessed through an array of row pointers, so that element (i,j) of the
-permuted matrix is A[i][j]. this makes row swapping fast. for column swapping
-we still have to actually move the data.
-
-during execution of this algorithm we maintain an L*D*L' factorization of
-the clamped submatrix of A (call it `AC') which is the top left nC*nC
-submatrix of A. there are two ways we could arrange the rows/columns in AC.
-
-(1) AC is always permuted such that L*D*L' = AC. this causes a problem
-when a row/column is removed from C, because then all the rows/columns of A
-between the deleted index and the end of C need to be rotated downward.
-this results in a lot of data motion and slows things down.
-(2) L*D*L' is actually a factorization of a *permutation* of AC (which is
-itself a permutation of the underlying A). this is what we do - the
-permutation is recorded in the vector C. call this permutation A[C,C].
-when a row/column is removed from C, all we have to do is swap two
-rows/columns and manipulate C.
-
-*/
-
-#include "btDantzigLCP.h"
-
-#include <string.h>  //memcpy
-
-bool s_error = false;
-
-//***************************************************************************
-// code generation parameters
-
-#define btLCP_FAST  // use fast btLCP object
-
-// option 1 : matrix row pointers (less data copying)
-#define BTROWPTRS
-#define BTATYPE btScalar **
-#define BTAROW(i) (m_A[i])
-
-// option 2 : no matrix row pointers (slightly faster inner loops)
-//#define NOROWPTRS
-//#define BTATYPE btScalar *
-//#define BTAROW(i) (m_A+(i)*m_nskip)
-
-#define BTNUB_OPTIMIZATIONS
-
-/* solve L*X=B, with B containing 1 right hand sides.
- * L is an n*n lower triangular matrix with ones on the diagonal.
- * L is stored by rows and its leading dimension is lskip.
- * B is an n*1 matrix that contains the right hand sides.
- * B is stored by columns and its leading dimension is also lskip.
- * B is overwritten with X.
- * this processes blocks of 2*2.
- * if this is in the factorizer source file, n must be a multiple of 2.
- */
-
-static void btSolveL1_1(const btScalar *L, btScalar *B, int n, int lskip1)
-{
-	/* declare variables - Z matrix, p and q vectors, etc */
-	btScalar Z11, m11, Z21, m21, p1, q1, p2, *ex;
-	const btScalar *ell;
-	int i, j;
-	/* compute all 2 x 1 blocks of X */
-	for (i = 0; i < n; i += 2)
-	{
-		/* compute all 2 x 1 block of X, from rows i..i+2-1 */
-		/* set the Z matrix to 0 */
-		Z11 = 0;
-		Z21 = 0;
-		ell = L + i * lskip1;
-		ex = B;
-		/* the inner loop that computes outer products and adds them to Z */
-		for (j = i - 2; j >= 0; j -= 2)
-		{
-			/* compute outer product and add it to the Z matrix */
-			p1 = ell[0];
-			q1 = ex[0];
-			m11 = p1 * q1;
-			p2 = ell[lskip1];
-			m21 = p2 * q1;
-			Z11 += m11;
-			Z21 += m21;
-			/* compute outer product and add it to the Z matrix */
-			p1 = ell[1];
-			q1 = ex[1];
-			m11 = p1 * q1;
-			p2 = ell[1 + lskip1];
-			m21 = p2 * q1;
-			/* advance pointers */
-			ell += 2;
-			ex += 2;
-			Z11 += m11;
-			Z21 += m21;
-			/* end of inner loop */
-		}
-		/* compute left-over iterations */
-		j += 2;
-		for (; j > 0; j--)
-		{
-			/* compute outer product and add it to the Z matrix */
-			p1 = ell[0];
-			q1 = ex[0];
-			m11 = p1 * q1;
-			p2 = ell[lskip1];
-			m21 = p2 * q1;
-			/* advance pointers */
-			ell += 1;
-			ex += 1;
-			Z11 += m11;
-			Z21 += m21;
-		}
-		/* finish computing the X(i) block */
-		Z11 = ex[0] - Z11;
-		ex[0] = Z11;
-		p1 = ell[lskip1];
-		Z21 = ex[1] - Z21 - p1 * Z11;
-		ex[1] = Z21;
-		/* end of outer loop */
-	}
-}
-
-/* solve L*X=B, with B containing 2 right hand sides.
- * L is an n*n lower triangular matrix with ones on the diagonal.
- * L is stored by rows and its leading dimension is lskip.
- * B is an n*2 matrix that contains the right hand sides.
- * B is stored by columns and its leading dimension is also lskip.
- * B is overwritten with X.
- * this processes blocks of 2*2.
- * if this is in the factorizer source file, n must be a multiple of 2.
- */
-
-static void btSolveL1_2(const btScalar *L, btScalar *B, int n, int lskip1)
-{
-	/* declare variables - Z matrix, p and q vectors, etc */
-	btScalar Z11, m11, Z12, m12, Z21, m21, Z22, m22, p1, q1, p2, q2, *ex;
-	const btScalar *ell;
-	int i, j;
-	/* compute all 2 x 2 blocks of X */
-	for (i = 0; i < n; i += 2)
-	{
-		/* compute all 2 x 2 block of X, from rows i..i+2-1 */
-		/* set the Z matrix to 0 */
-		Z11 = 0;
-		Z12 = 0;
-		Z21 = 0;
-		Z22 = 0;
-		ell = L + i * lskip1;
-		ex = B;
-		/* the inner loop that computes outer products and adds them to Z */
-		for (j = i - 2; j >= 0; j -= 2)
-		{
-			/* compute outer product and add it to the Z matrix */
-			p1 = ell[0];
-			q1 = ex[0];
-			m11 = p1 * q1;
-			q2 = ex[lskip1];
-			m12 = p1 * q2;
-			p2 = ell[lskip1];
-			m21 = p2 * q1;
-			m22 = p2 * q2;
-			Z11 += m11;
-			Z12 += m12;
-			Z21 += m21;
-			Z22 += m22;
-			/* compute outer product and add it to the Z matrix */
-			p1 = ell[1];
-			q1 = ex[1];
-			m11 = p1 * q1;
-			q2 = ex[1 + lskip1];
-			m12 = p1 * q2;
-			p2 = ell[1 + lskip1];
-			m21 = p2 * q1;
-			m22 = p2 * q2;
-			/* advance pointers */
-			ell += 2;
-			ex += 2;
-			Z11 += m11;
-			Z12 += m12;
-			Z21 += m21;
-			Z22 += m22;
-			/* end of inner loop */
-		}
-		/* compute left-over iterations */
-		j += 2;
-		for (; j > 0; j--)
-		{
-			/* compute outer product and add it to the Z matrix */
-			p1 = ell[0];
-			q1 = ex[0];
-			m11 = p1 * q1;
-			q2 = ex[lskip1];
-			m12 = p1 * q2;
-			p2 = ell[lskip1];
-			m21 = p2 * q1;
-			m22 = p2 * q2;
-			/* advance pointers */
-			ell += 1;
-			ex += 1;
-			Z11 += m11;
-			Z12 += m12;
-			Z21 += m21;
-			Z22 += m22;
-		}
-		/* finish computing the X(i) block */
-		Z11 = ex[0] - Z11;
-		ex[0] = Z11;
-		Z12 = ex[lskip1] - Z12;
-		ex[lskip1] = Z12;
-		p1 = ell[lskip1];
-		Z21 = ex[1] - Z21 - p1 * Z11;
-		ex[1] = Z21;
-		Z22 = ex[1 + lskip1] - Z22 - p1 * Z12;
-		ex[1 + lskip1] = Z22;
-		/* end of outer loop */
-	}
-}
-
-void btFactorLDLT(btScalar *A, btScalar *d, int n, int nskip1)
-{
-	int i, j;
-	btScalar sum, *ell, *dee, dd, p1, p2, q1, q2, Z11, m11, Z21, m21, Z22, m22;
-	if (n < 1) return;
-
-	for (i = 0; i <= n - 2; i += 2)
-	{
-		/* solve L*(D*l)=a, l is scaled elements in 2 x i block at A(i,0) */
-		btSolveL1_2(A, A + i * nskip1, i, nskip1);
-		/* scale the elements in a 2 x i block at A(i,0), and also */
-		/* compute Z = the outer product matrix that we'll need. */
-		Z11 = 0;
-		Z21 = 0;
-		Z22 = 0;
-		ell = A + i * nskip1;
-		dee = d;
-		for (j = i - 6; j >= 0; j -= 6)
-		{
-			p1 = ell[0];
-			p2 = ell[nskip1];
-			dd = dee[0];
-			q1 = p1 * dd;
-			q2 = p2 * dd;
-			ell[0] = q1;
-			ell[nskip1] = q2;
-			m11 = p1 * q1;
-			m21 = p2 * q1;
-			m22 = p2 * q2;
-			Z11 += m11;
-			Z21 += m21;
-			Z22 += m22;
-			p1 = ell[1];
-			p2 = ell[1 + nskip1];
-			dd = dee[1];
-			q1 = p1 * dd;
-			q2 = p2 * dd;
-			ell[1] = q1;
-			ell[1 + nskip1] = q2;
-			m11 = p1 * q1;
-			m21 = p2 * q1;
-			m22 = p2 * q2;
-			Z11 += m11;
-			Z21 += m21;
-			Z22 += m22;
-			p1 = ell[2];
-			p2 = ell[2 + nskip1];
-			dd = dee[2];
-			q1 = p1 * dd;
-			q2 = p2 * dd;
-			ell[2] = q1;
-			ell[2 + nskip1] = q2;
-			m11 = p1 * q1;
-			m21 = p2 * q1;
-			m22 = p2 * q2;
-			Z11 += m11;
-			Z21 += m21;
-			Z22 += m22;
-			p1 = ell[3];
-			p2 = ell[3 + nskip1];
-			dd = dee[3];
-			q1 = p1 * dd;
-			q2 = p2 * dd;
-			ell[3] = q1;
-			ell[3 + nskip1] = q2;
-			m11 = p1 * q1;
-			m21 = p2 * q1;
-			m22 = p2 * q2;
-			Z11 += m11;
-			Z21 += m21;
-			Z22 += m22;
-			p1 = ell[4];
-			p2 = ell[4 + nskip1];
-			dd = dee[4];
-			q1 = p1 * dd;
-			q2 = p2 * dd;
-			ell[4] = q1;
-			ell[4 + nskip1] = q2;
-			m11 = p1 * q1;
-			m21 = p2 * q1;
-			m22 = p2 * q2;
-			Z11 += m11;
-			Z21 += m21;
-			Z22 += m22;
-			p1 = ell[5];
-			p2 = ell[5 + nskip1];
-			dd = dee[5];
-			q1 = p1 * dd;
-			q2 = p2 * dd;
-			ell[5] = q1;
-			ell[5 + nskip1] = q2;
-			m11 = p1 * q1;
-			m21 = p2 * q1;
-			m22 = p2 * q2;
-			Z11 += m11;
-			Z21 += m21;
-			Z22 += m22;
-			ell += 6;
-			dee += 6;
-		}
-		/* compute left-over iterations */
-		j += 6;
-		for (; j > 0; j--)
-		{
-			p1 = ell[0];
-			p2 = ell[nskip1];
-			dd = dee[0];
-			q1 = p1 * dd;
-			q2 = p2 * dd;
-			ell[0] = q1;
-			ell[nskip1] = q2;
-			m11 = p1 * q1;
-			m21 = p2 * q1;
-			m22 = p2 * q2;
-			Z11 += m11;
-			Z21 += m21;
-			Z22 += m22;
-			ell++;
-			dee++;
-		}
-		/* solve for diagonal 2 x 2 block at A(i,i) */
-		Z11 = ell[0] - Z11;
-		Z21 = ell[nskip1] - Z21;
-		Z22 = ell[1 + nskip1] - Z22;
-		dee = d + i;
-		/* factorize 2 x 2 block Z,dee */
-		/* factorize row 1 */
-		dee[0] = btRecip(Z11);
-		/* factorize row 2 */
-		sum = 0;
-		q1 = Z21;
-		q2 = q1 * dee[0];
-		Z21 = q2;
-		sum += q1 * q2;
-		dee[1] = btRecip(Z22 - sum);
-		/* done factorizing 2 x 2 block */
-		ell[nskip1] = Z21;
-	}
-	/* compute the (less than 2) rows at the bottom */
-	switch (n - i)
-	{
-		case 0:
-			break;
-
-		case 1:
-			btSolveL1_1(A, A + i * nskip1, i, nskip1);
-			/* scale the elements in a 1 x i block at A(i,0), and also */
-			/* compute Z = the outer product matrix that we'll need. */
-			Z11 = 0;
-			ell = A + i * nskip1;
-			dee = d;
-			for (j = i - 6; j >= 0; j -= 6)
-			{
-				p1 = ell[0];
-				dd = dee[0];
-				q1 = p1 * dd;
-				ell[0] = q1;
-				m11 = p1 * q1;
-				Z11 += m11;
-				p1 = ell[1];
-				dd = dee[1];
-				q1 = p1 * dd;
-				ell[1] = q1;
-				m11 = p1 * q1;
-				Z11 += m11;
-				p1 = ell[2];
-				dd = dee[2];
-				q1 = p1 * dd;
-				ell[2] = q1;
-				m11 = p1 * q1;
-				Z11 += m11;
-				p1 = ell[3];
-				dd = dee[3];
-				q1 = p1 * dd;
-				ell[3] = q1;
-				m11 = p1 * q1;
-				Z11 += m11;
-				p1 = ell[4];
-				dd = dee[4];
-				q1 = p1 * dd;
-				ell[4] = q1;
-				m11 = p1 * q1;
-				Z11 += m11;
-				p1 = ell[5];
-				dd = dee[5];
-				q1 = p1 * dd;
-				ell[5] = q1;
-				m11 = p1 * q1;
-				Z11 += m11;
-				ell += 6;
-				dee += 6;
-			}
-			/* compute left-over iterations */
-			j += 6;
-			for (; j > 0; j--)
-			{
-				p1 = ell[0];
-				dd = dee[0];
-				q1 = p1 * dd;
-				ell[0] = q1;
-				m11 = p1 * q1;
-				Z11 += m11;
-				ell++;
-				dee++;
-			}
-			/* solve for diagonal 1 x 1 block at A(i,i) */
-			Z11 = ell[0] - Z11;
-			dee = d + i;
-			/* factorize 1 x 1 block Z,dee */
-			/* factorize row 1 */
-			dee[0] = btRecip(Z11);
-			/* done factorizing 1 x 1 block */
-			break;
-
-			//default: *((char*)0)=0;  /* this should never happen! */
-	}
-}
-
-/* solve L*X=B, with B containing 1 right hand sides.
- * L is an n*n lower triangular matrix with ones on the diagonal.
- * L is stored by rows and its leading dimension is lskip.
- * B is an n*1 matrix that contains the right hand sides.
- * B is stored by columns and its leading dimension is also lskip.
- * B is overwritten with X.
- * this processes blocks of 4*4.
- * if this is in the factorizer source file, n must be a multiple of 4.
- */
-
-void btSolveL1(const btScalar *L, btScalar *B, int n, int lskip1)
-{
-	/* declare variables - Z matrix, p and q vectors, etc */
-	btScalar Z11, Z21, Z31, Z41, p1, q1, p2, p3, p4, *ex;
-	const btScalar *ell;
-	int lskip2, lskip3, i, j;
-	/* compute lskip values */
-	lskip2 = 2 * lskip1;
-	lskip3 = 3 * lskip1;
-	/* compute all 4 x 1 blocks of X */
-	for (i = 0; i <= n - 4; i += 4)
-	{
-		/* compute all 4 x 1 block of X, from rows i..i+4-1 */
-		/* set the Z matrix to 0 */
-		Z11 = 0;
-		Z21 = 0;
-		Z31 = 0;
-		Z41 = 0;
-		ell = L + i * lskip1;
-		ex = B;
-		/* the inner loop that computes outer products and adds them to Z */
-		for (j = i - 12; j >= 0; j -= 12)
-		{
-			/* load p and q values */
-			p1 = ell[0];
-			q1 = ex[0];
-			p2 = ell[lskip1];
-			p3 = ell[lskip2];
-			p4 = ell[lskip3];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			Z21 += p2 * q1;
-			Z31 += p3 * q1;
-			Z41 += p4 * q1;
-			/* load p and q values */
-			p1 = ell[1];
-			q1 = ex[1];
-			p2 = ell[1 + lskip1];
-			p3 = ell[1 + lskip2];
-			p4 = ell[1 + lskip3];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			Z21 += p2 * q1;
-			Z31 += p3 * q1;
-			Z41 += p4 * q1;
-			/* load p and q values */
-			p1 = ell[2];
-			q1 = ex[2];
-			p2 = ell[2 + lskip1];
-			p3 = ell[2 + lskip2];
-			p4 = ell[2 + lskip3];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			Z21 += p2 * q1;
-			Z31 += p3 * q1;
-			Z41 += p4 * q1;
-			/* load p and q values */
-			p1 = ell[3];
-			q1 = ex[3];
-			p2 = ell[3 + lskip1];
-			p3 = ell[3 + lskip2];
-			p4 = ell[3 + lskip3];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			Z21 += p2 * q1;
-			Z31 += p3 * q1;
-			Z41 += p4 * q1;
-			/* load p and q values */
-			p1 = ell[4];
-			q1 = ex[4];
-			p2 = ell[4 + lskip1];
-			p3 = ell[4 + lskip2];
-			p4 = ell[4 + lskip3];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			Z21 += p2 * q1;
-			Z31 += p3 * q1;
-			Z41 += p4 * q1;
-			/* load p and q values */
-			p1 = ell[5];
-			q1 = ex[5];
-			p2 = ell[5 + lskip1];
-			p3 = ell[5 + lskip2];
-			p4 = ell[5 + lskip3];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			Z21 += p2 * q1;
-			Z31 += p3 * q1;
-			Z41 += p4 * q1;
-			/* load p and q values */
-			p1 = ell[6];
-			q1 = ex[6];
-			p2 = ell[6 + lskip1];
-			p3 = ell[6 + lskip2];
-			p4 = ell[6 + lskip3];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			Z21 += p2 * q1;
-			Z31 += p3 * q1;
-			Z41 += p4 * q1;
-			/* load p and q values */
-			p1 = ell[7];
-			q1 = ex[7];
-			p2 = ell[7 + lskip1];
-			p3 = ell[7 + lskip2];
-			p4 = ell[7 + lskip3];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			Z21 += p2 * q1;
-			Z31 += p3 * q1;
-			Z41 += p4 * q1;
-			/* load p and q values */
-			p1 = ell[8];
-			q1 = ex[8];
-			p2 = ell[8 + lskip1];
-			p3 = ell[8 + lskip2];
-			p4 = ell[8 + lskip3];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			Z21 += p2 * q1;
-			Z31 += p3 * q1;
-			Z41 += p4 * q1;
-			/* load p and q values */
-			p1 = ell[9];
-			q1 = ex[9];
-			p2 = ell[9 + lskip1];
-			p3 = ell[9 + lskip2];
-			p4 = ell[9 + lskip3];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			Z21 += p2 * q1;
-			Z31 += p3 * q1;
-			Z41 += p4 * q1;
-			/* load p and q values */
-			p1 = ell[10];
-			q1 = ex[10];
-			p2 = ell[10 + lskip1];
-			p3 = ell[10 + lskip2];
-			p4 = ell[10 + lskip3];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			Z21 += p2 * q1;
-			Z31 += p3 * q1;
-			Z41 += p4 * q1;
-			/* load p and q values */
-			p1 = ell[11];
-			q1 = ex[11];
-			p2 = ell[11 + lskip1];
-			p3 = ell[11 + lskip2];
-			p4 = ell[11 + lskip3];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			Z21 += p2 * q1;
-			Z31 += p3 * q1;
-			Z41 += p4 * q1;
-			/* advance pointers */
-			ell += 12;
-			ex += 12;
-			/* end of inner loop */
-		}
-		/* compute left-over iterations */
-		j += 12;
-		for (; j > 0; j--)
-		{
-			/* load p and q values */
-			p1 = ell[0];
-			q1 = ex[0];
-			p2 = ell[lskip1];
-			p3 = ell[lskip2];
-			p4 = ell[lskip3];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			Z21 += p2 * q1;
-			Z31 += p3 * q1;
-			Z41 += p4 * q1;
-			/* advance pointers */
-			ell += 1;
-			ex += 1;
-		}
-		/* finish computing the X(i) block */
-		Z11 = ex[0] - Z11;
-		ex[0] = Z11;
-		p1 = ell[lskip1];
-		Z21 = ex[1] - Z21 - p1 * Z11;
-		ex[1] = Z21;
-		p1 = ell[lskip2];
-		p2 = ell[1 + lskip2];
-		Z31 = ex[2] - Z31 - p1 * Z11 - p2 * Z21;
-		ex[2] = Z31;
-		p1 = ell[lskip3];
-		p2 = ell[1 + lskip3];
-		p3 = ell[2 + lskip3];
-		Z41 = ex[3] - Z41 - p1 * Z11 - p2 * Z21 - p3 * Z31;
-		ex[3] = Z41;
-		/* end of outer loop */
-	}
-	/* compute rows at end that are not a multiple of block size */
-	for (; i < n; i++)
-	{
-		/* compute all 1 x 1 block of X, from rows i..i+1-1 */
-		/* set the Z matrix to 0 */
-		Z11 = 0;
-		ell = L + i * lskip1;
-		ex = B;
-		/* the inner loop that computes outer products and adds them to Z */
-		for (j = i - 12; j >= 0; j -= 12)
-		{
-			/* load p and q values */
-			p1 = ell[0];
-			q1 = ex[0];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			/* load p and q values */
-			p1 = ell[1];
-			q1 = ex[1];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			/* load p and q values */
-			p1 = ell[2];
-			q1 = ex[2];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			/* load p and q values */
-			p1 = ell[3];
-			q1 = ex[3];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			/* load p and q values */
-			p1 = ell[4];
-			q1 = ex[4];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			/* load p and q values */
-			p1 = ell[5];
-			q1 = ex[5];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			/* load p and q values */
-			p1 = ell[6];
-			q1 = ex[6];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			/* load p and q values */
-			p1 = ell[7];
-			q1 = ex[7];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			/* load p and q values */
-			p1 = ell[8];
-			q1 = ex[8];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			/* load p and q values */
-			p1 = ell[9];
-			q1 = ex[9];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			/* load p and q values */
-			p1 = ell[10];
-			q1 = ex[10];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			/* load p and q values */
-			p1 = ell[11];
-			q1 = ex[11];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			/* advance pointers */
-			ell += 12;
-			ex += 12;
-			/* end of inner loop */
-		}
-		/* compute left-over iterations */
-		j += 12;
-		for (; j > 0; j--)
-		{
-			/* load p and q values */
-			p1 = ell[0];
-			q1 = ex[0];
-			/* compute outer product and add it to the Z matrix */
-			Z11 += p1 * q1;
-			/* advance pointers */
-			ell += 1;
-			ex += 1;
-		}
-		/* finish computing the X(i) block */
-		Z11 = ex[0] - Z11;
-		ex[0] = Z11;
-	}
-}
-
-/* solve L^T * x=b, with b containing 1 right hand side.
- * L is an n*n lower triangular matrix with ones on the diagonal.
- * L is stored by rows and its leading dimension is lskip.
- * b is an n*1 matrix that contains the right hand side.
- * b is overwritten with x.
- * this processes blocks of 4.
- */
-
-void btSolveL1T(const btScalar *L, btScalar *B, int n, int lskip1)
-{
-	/* declare variables - Z matrix, p and q vectors, etc */
-	btScalar Z11, m11, Z21, m21, Z31, m31, Z41, m41, p1, q1, p2, p3, p4, *ex;
-	const btScalar *ell;
-	int lskip2, i, j;
-	//  int lskip3;
-	/* special handling for L and B because we're solving L1 *transpose* */
-	L = L + (n - 1) * (lskip1 + 1);
-	B = B + n - 1;
-	lskip1 = -lskip1;
-	/* compute lskip values */
-	lskip2 = 2 * lskip1;
-	//lskip3 = 3*lskip1;
-	/* compute all 4 x 1 blocks of X */
-	for (i = 0; i <= n - 4; i += 4)
-	{
-		/* compute all 4 x 1 block of X, from rows i..i+4-1 */
-		/* set the Z matrix to 0 */
-		Z11 = 0;
-		Z21 = 0;
-		Z31 = 0;
-		Z41 = 0;
-		ell = L - i;
-		ex = B;
-		/* the inner loop that computes outer products and adds them to Z */
-		for (j = i - 4; j >= 0; j -= 4)
-		{
-			/* load p and q values */
-			p1 = ell[0];
-			q1 = ex[0];
-			p2 = ell[-1];
-			p3 = ell[-2];
-			p4 = ell[-3];
-			/* compute outer product and add it to the Z matrix */
-			m11 = p1 * q1;
-			m21 = p2 * q1;
-			m31 = p3 * q1;
-			m41 = p4 * q1;
-			ell += lskip1;
-			Z11 += m11;
-			Z21 += m21;
-			Z31 += m31;
-			Z41 += m41;
-			/* load p and q values */
-			p1 = ell[0];
-			q1 = ex[-1];
-			p2 = ell[-1];
-			p3 = ell[-2];
-			p4 = ell[-3];
-			/* compute outer product and add it to the Z matrix */
-			m11 = p1 * q1;
-			m21 = p2 * q1;
-			m31 = p3 * q1;
-			m41 = p4 * q1;
-			ell += lskip1;
-			Z11 += m11;
-			Z21 += m21;
-			Z31 += m31;
-			Z41 += m41;
-			/* load p and q values */
-			p1 = ell[0];
-			q1 = ex[-2];
-			p2 = ell[-1];
-			p3 = ell[-2];
-			p4 = ell[-3];
-			/* compute outer product and add it to the Z matrix */
-			m11 = p1 * q1;
-			m21 = p2 * q1;
-			m31 = p3 * q1;
-			m41 = p4 * q1;
-			ell += lskip1;
-			Z11 += m11;
-			Z21 += m21;
-			Z31 += m31;
-			Z41 += m41;
-			/* load p and q values */
-			p1 = ell[0];
-			q1 = ex[-3];
-			p2 = ell[-1];
-			p3 = ell[-2];
-			p4 = ell[-3];
-			/* compute outer product and add it to the Z matrix */
-			m11 = p1 * q1;
-			m21 = p2 * q1;
-			m31 = p3 * q1;
-			m41 = p4 * q1;
-			ell += lskip1;
-			ex -= 4;
-			Z11 += m11;
-			Z21 += m21;
-			Z31 += m31;
-			Z41 += m41;
-			/* end of inner loop */
-		}
-		/* compute left-over iterations */
-		j += 4;
-		for (; j > 0; j--)
-		{
-			/* load p and q values */
-			p1 = ell[0];
-			q1 = ex[0];
-			p2 = ell[-1];
-			p3 = ell[-2];
-			p4 = ell[-3];
-			/* compute outer product and add it to the Z matrix */
-			m11 = p1 * q1;
-			m21 = p2 * q1;
-			m31 = p3 * q1;
-			m41 = p4 * q1;
-			ell += lskip1;
-			ex -= 1;
-			Z11 += m11;
-			Z21 += m21;
-			Z31 += m31;
-			Z41 += m41;
-		}
-		/* finish computing the X(i) block */
-		Z11 = ex[0] - Z11;
-		ex[0] = Z11;
-		p1 = ell[-1];
-		Z21 = ex[-1] - Z21 - p1 * Z11;
-		ex[-1] = Z21;
-		p1 = ell[-2];
-		p2 = ell[-2 + lskip1];
-		Z31 = ex[-2] - Z31 - p1 * Z11 - p2 * Z21;
-		ex[-2] = Z31;
-		p1 = ell[-3];
-		p2 = ell[-3 + lskip1];
-		p3 = ell[-3 + lskip2];
-		Z41 = ex[-3] - Z41 - p1 * Z11 - p2 * Z21 - p3 * Z31;
-		ex[-3] = Z41;
-		/* end of outer loop */
-	}
-	/* compute rows at end that are not a multiple of block size */
-	for (; i < n; i++)
-	{
-		/* compute all 1 x 1 block of X, from rows i..i+1-1 */
-		/* set the Z matrix to 0 */
-		Z11 = 0;
-		ell = L - i;
-		ex = B;
-		/* the inner loop that computes outer products and adds them to Z */
-		for (j = i - 4; j >= 0; j -= 4)
-		{
-			/* load p and q values */
-			p1 = ell[0];
-			q1 = ex[0];
-			/* compute outer product and add it to the Z matrix */
-			m11 = p1 * q1;
-			ell += lskip1;
-			Z11 += m11;
-			/* load p and q values */
-			p1 = ell[0];
-			q1 = ex[-1];
-			/* compute outer product and add it to the Z matrix */
-			m11 = p1 * q1;
-			ell += lskip1;
-			Z11 += m11;
-			/* load p and q values */
-			p1 = ell[0];
-			q1 = ex[-2];
-			/* compute outer product and add it to the Z matrix */
-			m11 = p1 * q1;
-			ell += lskip1;
-			Z11 += m11;
-			/* load p and q values */
-			p1 = ell[0];
-			q1 = ex[-3];
-			/* compute outer product and add it to the Z matrix */
-			m11 = p1 * q1;
-			ell += lskip1;
-			ex -= 4;
-			Z11 += m11;
-			/* end of inner loop */
-		}
-		/* compute left-over iterations */
-		j += 4;
-		for (; j > 0; j--)
-		{
-			/* load p and q values */
-			p1 = ell[0];
-			q1 = ex[0];
-			/* compute outer product and add it to the Z matrix */
-			m11 = p1 * q1;
-			ell += lskip1;
-			ex -= 1;
-			Z11 += m11;
-		}
-		/* finish computing the X(i) block */
-		Z11 = ex[0] - Z11;
-		ex[0] = Z11;
-	}
-}
-
-void btVectorScale(btScalar *a, const btScalar *d, int n)
-{
-	btAssert(a && d && n >= 0);
-	for (int i = 0; i < n; i++)
-	{
-		a[i] *= d[i];
-	}
-}
-
-void btSolveLDLT(const btScalar *L, const btScalar *d, btScalar *b, int n, int nskip)
-{
-	btAssert(L && d && b && n > 0 && nskip >= n);
-	btSolveL1(L, b, n, nskip);
-	btVectorScale(b, d, n);
-	btSolveL1T(L, b, n, nskip);
-}
-
-//***************************************************************************
-
-// swap row/column i1 with i2 in the n*n matrix A. the leading dimension of
-// A is nskip. this only references and swaps the lower triangle.
-// if `do_fast_row_swaps' is nonzero and row pointers are being used, then
-// rows will be swapped by exchanging row pointers. otherwise the data will
-// be copied.
-
-static void btSwapRowsAndCols(BTATYPE A, int n, int i1, int i2, int nskip,
-							  int do_fast_row_swaps)
-{
-	btAssert(A && n > 0 && i1 >= 0 && i2 >= 0 && i1 < n && i2 < n &&
-			 nskip >= n && i1 < i2);
-
-#ifdef BTROWPTRS
-	btScalar *A_i1 = A[i1];
-	btScalar *A_i2 = A[i2];
-	for (int i = i1 + 1; i < i2; ++i)
-	{
-		btScalar *A_i_i1 = A[i] + i1;
-		A_i1[i] = *A_i_i1;
-		*A_i_i1 = A_i2[i];
-	}
-	A_i1[i2] = A_i1[i1];
-	A_i1[i1] = A_i2[i1];
-	A_i2[i1] = A_i2[i2];
-	// swap rows, by swapping row pointers
-	if (do_fast_row_swaps)
-	{
-		A[i1] = A_i2;
-		A[i2] = A_i1;
-	}
-	else
-	{
-		// Only swap till i2 column to match A plain storage variant.
-		for (int k = 0; k <= i2; ++k)
-		{
-			btScalar tmp = A_i1[k];
-			A_i1[k] = A_i2[k];
-			A_i2[k] = tmp;
-		}
-	}
-	// swap columns the hard way
-	for (int j = i2 + 1; j < n; ++j)
-	{
-		btScalar *A_j = A[j];
-		btScalar tmp = A_j[i1];
-		A_j[i1] = A_j[i2];
-		A_j[i2] = tmp;
-	}
-#else
-	btScalar *A_i1 = A + i1 * nskip;
-	btScalar *A_i2 = A + i2 * nskip;
-	for (int k = 0; k < i1; ++k)
-	{
-		btScalar tmp = A_i1[k];
-		A_i1[k] = A_i2[k];
-		A_i2[k] = tmp;
-	}
-	btScalar *A_i = A_i1 + nskip;
-	for (int i = i1 + 1; i < i2; A_i += nskip, ++i)
-	{
-		btScalar tmp = A_i2[i];
-		A_i2[i] = A_i[i1];
-		A_i[i1] = tmp;
-	}
-	{
-		btScalar tmp = A_i1[i1];
-		A_i1[i1] = A_i2[i2];
-		A_i2[i2] = tmp;
-	}
-	btScalar *A_j = A_i2 + nskip;
-	for (int j = i2 + 1; j < n; A_j += nskip, ++j)
-	{
-		btScalar tmp = A_j[i1];
-		A_j[i1] = A_j[i2];
-		A_j[i2] = tmp;
-	}
-#endif
-}
-
-// swap two indexes in the n*n LCP problem. i1 must be <= i2.
-
-static void btSwapProblem(BTATYPE A, btScalar *x, btScalar *b, btScalar *w, btScalar *lo,
-						  btScalar *hi, int *p, bool *state, int *findex,
-						  int n, int i1, int i2, int nskip,
-						  int do_fast_row_swaps)
-{
-	btScalar tmpr;
-	int tmpi;
-	bool tmpb;
-	btAssert(n > 0 && i1 >= 0 && i2 >= 0 && i1 < n && i2 < n && nskip >= n && i1 <= i2);
-	if (i1 == i2) return;
-
-	btSwapRowsAndCols(A, n, i1, i2, nskip, do_fast_row_swaps);
-
-	tmpr = x[i1];
-	x[i1] = x[i2];
-	x[i2] = tmpr;
-
-	tmpr = b[i1];
-	b[i1] = b[i2];
-	b[i2] = tmpr;
-
-	tmpr = w[i1];
-	w[i1] = w[i2];
-	w[i2] = tmpr;
-
-	tmpr = lo[i1];
-	lo[i1] = lo[i2];
-	lo[i2] = tmpr;
-
-	tmpr = hi[i1];
-	hi[i1] = hi[i2];
-	hi[i2] = tmpr;
-
-	tmpi = p[i1];
-	p[i1] = p[i2];
-	p[i2] = tmpi;
-
-	tmpb = state[i1];
-	state[i1] = state[i2];
-	state[i2] = tmpb;
-
-	if (findex)
-	{
-		tmpi = findex[i1];
-		findex[i1] = findex[i2];
-		findex[i2] = tmpi;
-	}
-}
-
-//***************************************************************************
-// btLCP manipulator object. this represents an n*n LCP problem.
-//
-// two index sets C and N are kept. each set holds a subset of
-// the variable indexes 0..n-1. an index can only be in one set.
-// initially both sets are empty.
-//
-// the index set C is special: solutions to A(C,C)\A(C,i) can be generated.
-
-//***************************************************************************
-// fast implementation of btLCP. see the above definition of btLCP for
-// interface comments.
-//
-// `p' records the permutation of A,x,b,w,etc. p is initially 1:n and is
-// permuted as the other vectors/matrices are permuted.
-//
-// A,x,b,w,lo,hi,state,findex,p,c are permuted such that sets C,N have
-// contiguous indexes. the don't-care indexes follow N.
-//
-// an L*D*L' factorization is maintained of A(C,C), and whenever indexes are
-// added or removed from the set C the factorization is updated.
-// thus L*D*L'=A[C,C], i.e. a permuted top left nC*nC submatrix of A.
-// the leading dimension of the matrix L is always `nskip'.
-//
-// at the start there may be other indexes that are unbounded but are not
-// included in `nub'. btLCP will permute the matrix so that absolutely all
-// unbounded vectors are at the start. thus there may be some initial
-// permutation.
-//
-// the algorithms here assume certain patterns, particularly with respect to
-// index transfer.
-
-#ifdef btLCP_FAST
-
-struct btLCP
-{
-	const int m_n;
-	const int m_nskip;
-	int m_nub;
-	int m_nC, m_nN;                                                         // size of each index set
-	BTATYPE const m_A;                                                      // A rows
-	btScalar *const m_x, *const m_b, *const m_w, *const m_lo, *const m_hi;  // permuted LCP problem data
-	btScalar *const m_L, *const m_d;                                        // L*D*L' factorization of set C
-	btScalar *const m_Dell, *const m_ell, *const m_tmp;
-	bool *const m_state;
-	int *const m_findex, *const m_p, *const m_C;
-
-	btLCP(int _n, int _nskip, int _nub, btScalar *_Adata, btScalar *_x, btScalar *_b, btScalar *_w,
-		  btScalar *_lo, btScalar *_hi, btScalar *l, btScalar *_d,
-		  btScalar *_Dell, btScalar *_ell, btScalar *_tmp,
-		  bool *_state, int *_findex, int *p, int *c, btScalar **Arows);
-	int getNub() const { return m_nub; }
-	void transfer_i_to_C(int i);
-	void transfer_i_to_N(int i) { m_nN++; }  // because we can assume C and N span 1:i-1
-	void transfer_i_from_N_to_C(int i);
-	void transfer_i_from_C_to_N(int i, btAlignedObjectArray<btScalar> &scratch);
-	int numC() const { return m_nC; }
-	int numN() const { return m_nN; }
-	int indexC(int i) const { return i; }
-	int indexN(int i) const { return i + m_nC; }
-	btScalar Aii(int i) const { return BTAROW(i)[i]; }
-	btScalar AiC_times_qC(int i, btScalar *q) const { return btLargeDot(BTAROW(i), q, m_nC); }
-	btScalar AiN_times_qN(int i, btScalar *q) const { return btLargeDot(BTAROW(i) + m_nC, q + m_nC, m_nN); }
-	void pN_equals_ANC_times_qC(btScalar *p, btScalar *q);
-	void pN_plusequals_ANi(btScalar *p, int i, int sign = 1);
-	void pC_plusequals_s_times_qC(btScalar *p, btScalar s, btScalar *q);
-	void pN_plusequals_s_times_qN(btScalar *p, btScalar s, btScalar *q);
-	void solve1(btScalar *a, int i, int dir = 1, int only_transfer = 0);
-	void unpermute();
-};
-
-btLCP::btLCP(int _n, int _nskip, int _nub, btScalar *_Adata, btScalar *_x, btScalar *_b, btScalar *_w,
-			 btScalar *_lo, btScalar *_hi, btScalar *l, btScalar *_d,
-			 btScalar *_Dell, btScalar *_ell, btScalar *_tmp,
-			 bool *_state, int *_findex, int *p, int *c, btScalar **Arows) : m_n(_n), m_nskip(_nskip), m_nub(_nub), m_nC(0), m_nN(0),
-#ifdef BTROWPTRS
-																			 m_A(Arows),
-#else
-																			 m_A(_Adata),
-#endif
-																			 m_x(_x),
-																			 m_b(_b),
-																			 m_w(_w),
-																			 m_lo(_lo),
-																			 m_hi(_hi),
-																			 m_L(l),
-																			 m_d(_d),
-																			 m_Dell(_Dell),
-																			 m_ell(_ell),
-																			 m_tmp(_tmp),
-																			 m_state(_state),
-																			 m_findex(_findex),
-																			 m_p(p),
-																			 m_C(c)
-{
-	{
-		btSetZero(m_x, m_n);
-	}
-
-	{
-#ifdef BTROWPTRS
-		// make matrix row pointers
-		btScalar *aptr = _Adata;
-		BTATYPE A = m_A;
-		const int n = m_n, nskip = m_nskip;
-		for (int k = 0; k < n; aptr += nskip, ++k) A[k] = aptr;
-#endif
-	}
-
-	{
-		int *p = m_p;
-		const int n = m_n;
-		for (int k = 0; k < n; ++k) p[k] = k;  // initially unpermuted
-	}
-
-	/*
-  // for testing, we can do some random swaps in the area i > nub
-  {
-    const int n = m_n;
-    const int nub = m_nub;
-    if (nub < n) {
-    for (int k=0; k<100; k++) {
-      int i1,i2;
-      do {
-        i1 = dRandInt(n-nub)+nub;
-        i2 = dRandInt(n-nub)+nub;
-      }
-      while (i1 > i2); 
-      //printf ("--> %d %d\n",i1,i2);
-      btSwapProblem (m_A,m_x,m_b,m_w,m_lo,m_hi,m_p,m_state,m_findex,n,i1,i2,m_nskip,0);
-    }
-  }
-  */
-
-	// permute the problem so that *all* the unbounded variables are at the
-	// start, i.e. look for unbounded variables not included in `nub'. we can
-	// potentially push up `nub' this way and get a bigger initial factorization.
-	// note that when we swap rows/cols here we must not just swap row pointers,
-	// as the initial factorization relies on the data being all in one chunk.
-	// variables that have findex >= 0 are *not* considered to be unbounded even
-	// if lo=-inf and hi=inf - this is because these limits may change during the
-	// solution process.
-
-	{
-		int *findex = m_findex;
-		btScalar *lo = m_lo, *hi = m_hi;
-		const int n = m_n;
-		for (int k = m_nub; k < n; ++k)
-		{
-			if (findex && findex[k] >= 0) continue;
-			if (lo[k] == -BT_INFINITY && hi[k] == BT_INFINITY)
-			{
-				btSwapProblem(m_A, m_x, m_b, m_w, lo, hi, m_p, m_state, findex, n, m_nub, k, m_nskip, 0);
-				m_nub++;
-			}
-		}
-	}
-
-	// if there are unbounded variables at the start, factorize A up to that
-	// point and solve for x. this puts all indexes 0..nub-1 into C.
-	if (m_nub > 0)
-	{
-		const int nub = m_nub;
-		{
-			btScalar *Lrow = m_L;
-			const int nskip = m_nskip;
-			for (int j = 0; j < nub; Lrow += nskip, ++j) memcpy(Lrow, BTAROW(j), (j + 1) * sizeof(btScalar));
-		}
-		btFactorLDLT(m_L, m_d, nub, m_nskip);
-		memcpy(m_x, m_b, nub * sizeof(btScalar));
-		btSolveLDLT(m_L, m_d, m_x, nub, m_nskip);
-		btSetZero(m_w, nub);
-		{
-			int *C = m_C;
-			for (int k = 0; k < nub; ++k) C[k] = k;
-		}
-		m_nC = nub;
-	}
-
-	// permute the indexes > nub such that all findex variables are at the end
-	if (m_findex)
-	{
-		const int nub = m_nub;
-		int *findex = m_findex;
-		int num_at_end = 0;
-		for (int k = m_n - 1; k >= nub; k--)
-		{
-			if (findex[k] >= 0)
-			{
-				btSwapProblem(m_A, m_x, m_b, m_w, m_lo, m_hi, m_p, m_state, findex, m_n, k, m_n - 1 - num_at_end, m_nskip, 1);
-				num_at_end++;
-			}
-		}
-	}
-
-	// print info about indexes
-	/*
-  {
-    const int n = m_n;
-    const int nub = m_nub;
-    for (int k=0; k<n; k++) {
-      if (k<nub) printf ("C");
-      else if (m_lo[k]==-BT_INFINITY && m_hi[k]==BT_INFINITY) printf ("c");
-      else printf (".");
-    }
-    printf ("\n");
-  }
-  */
-}
-
-void btLCP::transfer_i_to_C(int i)
-{
-	{
-		if (m_nC > 0)
-		{
-			// ell,Dell were computed by solve1(). note, ell = D \ L1solve (L,A(i,C))
-			{
-				const int nC = m_nC;
-				btScalar *const Ltgt = m_L + nC * m_nskip, *ell = m_ell;
-				for (int j = 0; j < nC; ++j) Ltgt[j] = ell[j];
-			}
-			const int nC = m_nC;
-			m_d[nC] = btRecip(BTAROW(i)[i] - btLargeDot(m_ell, m_Dell, nC));
-		}
-		else
-		{
-			m_d[0] = btRecip(BTAROW(i)[i]);
-		}
-
-		btSwapProblem(m_A, m_x, m_b, m_w, m_lo, m_hi, m_p, m_state, m_findex, m_n, m_nC, i, m_nskip, 1);
-
-		const int nC = m_nC;
-		m_C[nC] = nC;
-		m_nC = nC + 1;  // nC value is outdated after this line
-	}
-}
-
-void btLCP::transfer_i_from_N_to_C(int i)
-{
-	{
-		if (m_nC > 0)
-		{
-			{
-				btScalar *const aptr = BTAROW(i);
-				btScalar *Dell = m_Dell;
-				const int *C = m_C;
-#ifdef BTNUB_OPTIMIZATIONS
-				// if nub>0, initial part of aptr unpermuted
-				const int nub = m_nub;
-				int j = 0;
-				for (; j < nub; ++j) Dell[j] = aptr[j];
-				const int nC = m_nC;
-				for (; j < nC; ++j) Dell[j] = aptr[C[j]];
-#else
-				const int nC = m_nC;
-				for (int j = 0; j < nC; ++j) Dell[j] = aptr[C[j]];
-#endif
-			}
-			btSolveL1(m_L, m_Dell, m_nC, m_nskip);
-			{
-				const int nC = m_nC;
-				btScalar *const Ltgt = m_L + nC * m_nskip;
-				btScalar *ell = m_ell, *Dell = m_Dell, *d = m_d;
-				for (int j = 0; j < nC; ++j) Ltgt[j] = ell[j] = Dell[j] * d[j];
-			}
-			const int nC = m_nC;
-			m_d[nC] = btRecip(BTAROW(i)[i] - btLargeDot(m_ell, m_Dell, nC));
-		}
-		else
-		{
-			m_d[0] = btRecip(BTAROW(i)[i]);
-		}
-
-		btSwapProblem(m_A, m_x, m_b, m_w, m_lo, m_hi, m_p, m_state, m_findex, m_n, m_nC, i, m_nskip, 1);
-
-		const int nC = m_nC;
-		m_C[nC] = nC;
-		m_nN--;
-		m_nC = nC + 1;  // nC value is outdated after this line
-	}
-
-	// @@@ TO DO LATER
-	// if we just finish here then we'll go back and re-solve for
-	// delta_x. but actually we can be more efficient and incrementally
-	// update delta_x here. but if we do this, we wont have ell and Dell
-	// to use in updating the factorization later.
-}
-
-void btRemoveRowCol(btScalar *A, int n, int nskip, int r)
-{
-	btAssert(A && n > 0 && nskip >= n && r >= 0 && r < n);
-	if (r >= n - 1) return;
-	if (r > 0)
-	{
-		{
-			const size_t move_size = (n - r - 1) * sizeof(btScalar);
-			btScalar *Adst = A + r;
-			for (int i = 0; i < r; Adst += nskip, ++i)
-			{
-				btScalar *Asrc = Adst + 1;
-				memmove(Adst, Asrc, move_size);
-			}
-		}
-		{
-			const size_t cpy_size = r * sizeof(btScalar);
-			btScalar *Adst = A + r * nskip;
-			for (int i = r; i < (n - 1); ++i)
-			{
-				btScalar *Asrc = Adst + nskip;
-				memcpy(Adst, Asrc, cpy_size);
-				Adst = Asrc;
-			}
-		}
-	}
-	{
-		const size_t cpy_size = (n - r - 1) * sizeof(btScalar);
-		btScalar *Adst = A + r * (nskip + 1);
-		for (int i = r; i < (n - 1); ++i)
-		{
-			btScalar *Asrc = Adst + (nskip + 1);
-			memcpy(Adst, Asrc, cpy_size);
-			Adst = Asrc - 1;
-		}
-	}
-}
-
-void btLDLTAddTL(btScalar *L, btScalar *d, const btScalar *a, int n, int nskip, btAlignedObjectArray<btScalar> &scratch)
-{
-	btAssert(L && d && a && n > 0 && nskip >= n);
-
-	if (n < 2) return;
-	scratch.resize(2 * nskip);
-	btScalar *W1 = &scratch[0];
-
-	btScalar *W2 = W1 + nskip;
-
-	W1[0] = btScalar(0.0);
-	W2[0] = btScalar(0.0);
-	for (int j = 1; j < n; ++j)
-	{
-		W1[j] = W2[j] = (btScalar)(a[j] * SIMDSQRT12);
-	}
-	btScalar W11 = (btScalar)((btScalar(0.5) * a[0] + 1) * SIMDSQRT12);
-	btScalar W21 = (btScalar)((btScalar(0.5) * a[0] - 1) * SIMDSQRT12);
-
-	btScalar alpha1 = btScalar(1.0);
-	btScalar alpha2 = btScalar(1.0);
-
-	{
-		btScalar dee = d[0];
-		btScalar alphanew = alpha1 + (W11 * W11) * dee;
-		btAssert(alphanew != btScalar(0.0));
-		dee /= alphanew;
-		btScalar gamma1 = W11 * dee;
-		dee *= alpha1;
-		alpha1 = alphanew;
-		alphanew = alpha2 - (W21 * W21) * dee;
-		dee /= alphanew;
-		//btScalar gamma2 = W21 * dee;
-		alpha2 = alphanew;
-		btScalar k1 = btScalar(1.0) - W21 * gamma1;
-		btScalar k2 = W21 * gamma1 * W11 - W21;
-		btScalar *ll = L + nskip;
-		for (int p = 1; p < n; ll += nskip, ++p)
-		{
-			btScalar Wp = W1[p];
-			btScalar ell = *ll;
-			W1[p] = Wp - W11 * ell;
-			W2[p] = k1 * Wp + k2 * ell;
-		}
-	}
-
-	btScalar *ll = L + (nskip + 1);
-	for (int j = 1; j < n; ll += nskip + 1, ++j)
-	{
-		btScalar k1 = W1[j];
-		btScalar k2 = W2[j];
-
-		btScalar dee = d[j];
-		btScalar alphanew = alpha1 + (k1 * k1) * dee;
-		btAssert(alphanew != btScalar(0.0));
-		dee /= alphanew;
-		btScalar gamma1 = k1 * dee;
-		dee *= alpha1;
-		alpha1 = alphanew;
-		alphanew = alpha2 - (k2 * k2) * dee;
-		dee /= alphanew;
-		btScalar gamma2 = k2 * dee;
-		dee *= alpha2;
-		d[j] = dee;
-		alpha2 = alphanew;
-
-		btScalar *l = ll + nskip;
-		for (int p = j + 1; p < n; l += nskip, ++p)
-		{
-			btScalar ell = *l;
-			btScalar Wp = W1[p] - k1 * ell;
-			ell += gamma1 * Wp;
-			W1[p] = Wp;
-			Wp = W2[p] - k2 * ell;
-			ell -= gamma2 * Wp;
-			W2[p] = Wp;
-			*l = ell;
-		}
-	}
-}
-
-#define _BTGETA(i, j) (A[i][j])
-//#define _GETA(i,j) (A[(i)*nskip+(j)])
-#define BTGETA(i, j) ((i > j) ? _BTGETA(i, j) : _BTGETA(j, i))
-
-inline size_t btEstimateLDLTAddTLTmpbufSize(int nskip)
-{
-	return nskip * 2 * sizeof(btScalar);
-}
-
-void btLDLTRemove(btScalar **A, const int *p, btScalar *L, btScalar *d,
-				  int n1, int n2, int r, int nskip, btAlignedObjectArray<btScalar> &scratch)
-{
-	btAssert(A && p && L && d && n1 > 0 && n2 > 0 && r >= 0 && r < n2 &&
-			 n1 >= n2 && nskip >= n1);
-#ifdef BT_DEBUG
-	for (int i = 0; i < n2; ++i)
-		btAssert(p[i] >= 0 && p[i] < n1);
-#endif
-
-	if (r == n2 - 1)
-	{
-		return;  // deleting last row/col is easy
-	}
-	else
-	{
-		size_t LDLTAddTL_size = btEstimateLDLTAddTLTmpbufSize(nskip);
-		btAssert(LDLTAddTL_size % sizeof(btScalar) == 0);
-		scratch.resize(nskip * 2 + n2);
-		btScalar *tmp = &scratch[0];
-		if (r == 0)
-		{
-			btScalar *a = (btScalar *)((char *)tmp + LDLTAddTL_size);
-			const int p_0 = p[0];
-			for (int i = 0; i < n2; ++i)
-			{
-				a[i] = -BTGETA(p[i], p_0);
-			}
-			a[0] += btScalar(1.0);
-			btLDLTAddTL(L, d, a, n2, nskip, scratch);
-		}
-		else
-		{
-			btScalar *t = (btScalar *)((char *)tmp + LDLTAddTL_size);
-			{
-				btScalar *Lcurr = L + r * nskip;
-				for (int i = 0; i < r; ++Lcurr, ++i)
-				{
-					btAssert(d[i] != btScalar(0.0));
-					t[i] = *Lcurr / d[i];
-				}
-			}
-			btScalar *a = t + r;
-			{
-				btScalar *Lcurr = L + r * nskip;
-				const int *pp_r = p + r, p_r = *pp_r;
-				const int n2_minus_r = n2 - r;
-				for (int i = 0; i < n2_minus_r; Lcurr += nskip, ++i)
-				{
-					a[i] = btLargeDot(Lcurr, t, r) - BTGETA(pp_r[i], p_r);
-				}
-			}
-			a[0] += btScalar(1.0);
-			btLDLTAddTL(L + r * nskip + r, d + r, a, n2 - r, nskip, scratch);
-		}
-	}
-
-	// snip out row/column r from L and d
-	btRemoveRowCol(L, n2, nskip, r);
-	if (r < (n2 - 1)) memmove(d + r, d + r + 1, (n2 - r - 1) * sizeof(btScalar));
-}
-
-void btLCP::transfer_i_from_C_to_N(int i, btAlignedObjectArray<btScalar> &scratch)
-{
-	{
-		int *C = m_C;
-		// remove a row/column from the factorization, and adjust the
-		// indexes (black magic!)
-		int last_idx = -1;
-		const int nC = m_nC;
-		int j = 0;
-		for (; j < nC; ++j)
-		{
-			if (C[j] == nC - 1)
-			{
-				last_idx = j;
-			}
-			if (C[j] == i)
-			{
-				btLDLTRemove(m_A, C, m_L, m_d, m_n, nC, j, m_nskip, scratch);
-				int k;
-				if (last_idx == -1)
-				{
-					for (k = j + 1; k < nC; ++k)
-					{
-						if (C[k] == nC - 1)
-						{
-							break;
-						}
-					}
-					btAssert(k < nC);
-				}
-				else
-				{
-					k = last_idx;
-				}
-				C[k] = C[j];
-				if (j < (nC - 1)) memmove(C + j, C + j + 1, (nC - j - 1) * sizeof(int));
-				break;
-			}
-		}
-		btAssert(j < nC);
-
-		btSwapProblem(m_A, m_x, m_b, m_w, m_lo, m_hi, m_p, m_state, m_findex, m_n, i, nC - 1, m_nskip, 1);
-
-		m_nN++;
-		m_nC = nC - 1;  // nC value is outdated after this line
-	}
-}
-
-void btLCP::pN_equals_ANC_times_qC(btScalar *p, btScalar *q)
-{
-	// we could try to make this matrix-vector multiplication faster using
-	// outer product matrix tricks, e.g. with the dMultidotX() functions.
-	// but i tried it and it actually made things slower on random 100x100
-	// problems because of the overhead involved. so we'll stick with the
-	// simple method for now.
-	const int nC = m_nC;
-	btScalar *ptgt = p + nC;
-	const int nN = m_nN;
-	for (int i = 0; i < nN; ++i)
-	{
-		ptgt[i] = btLargeDot(BTAROW(i + nC), q, nC);
-	}
-}
-
-void btLCP::pN_plusequals_ANi(btScalar *p, int i, int sign)
-{
-	const int nC = m_nC;
-	btScalar *aptr = BTAROW(i) + nC;
-	btScalar *ptgt = p + nC;
-	if (sign > 0)
-	{
-		const int nN = m_nN;
-		for (int j = 0; j < nN; ++j) ptgt[j] += aptr[j];
-	}
-	else
-	{
-		const int nN = m_nN;
-		for (int j = 0; j < nN; ++j) ptgt[j] -= aptr[j];
-	}
-}
-
-void btLCP::pC_plusequals_s_times_qC(btScalar *p, btScalar s, btScalar *q)
-{
-	const int nC = m_nC;
-	for (int i = 0; i < nC; ++i)
-	{
-		p[i] += s * q[i];
-	}
-}
-
-void btLCP::pN_plusequals_s_times_qN(btScalar *p, btScalar s, btScalar *q)
-{
-	const int nC = m_nC;
-	btScalar *ptgt = p + nC, *qsrc = q + nC;
-	const int nN = m_nN;
-	for (int i = 0; i < nN; ++i)
-	{
-		ptgt[i] += s * qsrc[i];
-	}
-}
-
-void btLCP::solve1(btScalar *a, int i, int dir, int only_transfer)
-{
-	// the `Dell' and `ell' that are computed here are saved. if index i is
-	// later added to the factorization then they can be reused.
-	//
-	// @@@ question: do we need to solve for entire delta_x??? yes, but
-	//     only if an x goes below 0 during the step.
-
-	if (m_nC > 0)
-	{
-		{
-			btScalar *Dell = m_Dell;
-			int *C = m_C;
-			btScalar *aptr = BTAROW(i);
-#ifdef BTNUB_OPTIMIZATIONS
-			// if nub>0, initial part of aptr[] is guaranteed unpermuted
-			const int nub = m_nub;
-			int j = 0;
-			for (; j < nub; ++j) Dell[j] = aptr[j];
-			const int nC = m_nC;
-			for (; j < nC; ++j) Dell[j] = aptr[C[j]];
-#else
-			const int nC = m_nC;
-			for (int j = 0; j < nC; ++j) Dell[j] = aptr[C[j]];
-#endif
-		}
-		btSolveL1(m_L, m_Dell, m_nC, m_nskip);
-		{
-			btScalar *ell = m_ell, *Dell = m_Dell, *d = m_d;
-			const int nC = m_nC;
-			for (int j = 0; j < nC; ++j) ell[j] = Dell[j] * d[j];
-		}
-
-		if (!only_transfer)
-		{
-			btScalar *tmp = m_tmp, *ell = m_ell;
-			{
-				const int nC = m_nC;
-				for (int j = 0; j < nC; ++j) tmp[j] = ell[j];
-			}
-			btSolveL1T(m_L, tmp, m_nC, m_nskip);
-			if (dir > 0)
-			{
-				int *C = m_C;
-				btScalar *tmp = m_tmp;
-				const int nC = m_nC;
-				for (int j = 0; j < nC; ++j) a[C[j]] = -tmp[j];
-			}
-			else
-			{
-				int *C = m_C;
-				btScalar *tmp = m_tmp;
-				const int nC = m_nC;
-				for (int j = 0; j < nC; ++j) a[C[j]] = tmp[j];
-			}
-		}
-	}
-}
-
-void btLCP::unpermute()
-{
-	// now we have to un-permute x and w
-	{
-		memcpy(m_tmp, m_x, m_n * sizeof(btScalar));
-		btScalar *x = m_x, *tmp = m_tmp;
-		const int *p = m_p;
-		const int n = m_n;
-		for (int j = 0; j < n; ++j) x[p[j]] = tmp[j];
-	}
-	{
-		memcpy(m_tmp, m_w, m_n * sizeof(btScalar));
-		btScalar *w = m_w, *tmp = m_tmp;
-		const int *p = m_p;
-		const int n = m_n;
-		for (int j = 0; j < n; ++j) w[p[j]] = tmp[j];
-	}
-}
-
-#endif  // btLCP_FAST
-
-//***************************************************************************
-// an optimized Dantzig LCP driver routine for the lo-hi LCP problem.
-
-bool btSolveDantzigLCP(int n, btScalar *A, btScalar *x, btScalar *b,
-					   btScalar *outer_w, int nub, btScalar *lo, btScalar *hi, int *findex, btDantzigScratchMemory &scratchMem)
-{
-	s_error = false;
-
-	//	printf("btSolveDantzigLCP n=%d\n",n);
-	btAssert(n > 0 && A && x && b && lo && hi && nub >= 0 && nub <= n);
-	btAssert(outer_w);
-
-#ifdef BT_DEBUG
-	{
-		// check restrictions on lo and hi
-		for (int k = 0; k < n; ++k)
-			btAssert(lo[k] <= 0 && hi[k] >= 0);
-	}
-#endif
-
-	// if all the variables are unbounded then we can just factor, solve,
-	// and return
-	if (nub >= n)
-	{
-		int nskip = (n);
-		btFactorLDLT(A, outer_w, n, nskip);
-		btSolveLDLT(A, outer_w, b, n, nskip);
-		memcpy(x, b, n * sizeof(btScalar));
-
-		return !s_error;
-	}
-
-	const int nskip = (n);
-	scratchMem.L.resize(n * nskip);
-
-	scratchMem.d.resize(n);
-
-	btScalar *w = outer_w;
-	scratchMem.delta_w.resize(n);
-	scratchMem.delta_x.resize(n);
-	scratchMem.Dell.resize(n);
-	scratchMem.ell.resize(n);
-	scratchMem.Arows.resize(n);
-	scratchMem.p.resize(n);
-	scratchMem.C.resize(n);
-
-	// for i in N, state[i] is 0 if x(i)==lo(i) or 1 if x(i)==hi(i)
-	scratchMem.state.resize(n);
-
-	// create LCP object. note that tmp is set to delta_w to save space, this
-	// optimization relies on knowledge of how tmp is used, so be careful!
-	btLCP lcp(n, nskip, nub, A, x, b, w, lo, hi, &scratchMem.L[0], &scratchMem.d[0], &scratchMem.Dell[0], &scratchMem.ell[0], &scratchMem.delta_w[0], &scratchMem.state[0], findex, &scratchMem.p[0], &scratchMem.C[0], &scratchMem.Arows[0]);
-	int adj_nub = lcp.getNub();
-
-	// loop over all indexes adj_nub..n-1. for index i, if x(i),w(i) satisfy the
-	// LCP conditions then i is added to the appropriate index set. otherwise
-	// x(i),w(i) is driven either +ve or -ve to force it to the valid region.
-	// as we drive x(i), x(C) is also adjusted to keep w(C) at zero.
-	// while driving x(i) we maintain the LCP conditions on the other variables
-	// 0..i-1. we do this by watching out for other x(i),w(i) values going
-	// outside the valid region, and then switching them between index sets
-	// when that happens.
-
-	bool hit_first_friction_index = false;
-	for (int i = adj_nub; i < n; ++i)
-	{
-		s_error = false;
-		// the index i is the driving index and indexes i+1..n-1 are "dont care",
-		// i.e. when we make changes to the system those x's will be zero and we
-		// don't care what happens to those w's. in other words, we only consider
-		// an (i+1)*(i+1) sub-problem of A*x=b+w.
-
-		// if we've hit the first friction index, we have to compute the lo and
-		// hi values based on the values of x already computed. we have been
-		// permuting the indexes, so the values stored in the findex vector are
-		// no longer valid. thus we have to temporarily unpermute the x vector.
-		// for the purposes of this computation, 0*infinity = 0 ... so if the
-		// contact constraint's normal force is 0, there should be no tangential
-		// force applied.
-
-		if (!hit_first_friction_index && findex && findex[i] >= 0)
-		{
-			// un-permute x into delta_w, which is not being used at the moment
-			for (int j = 0; j < n; ++j) scratchMem.delta_w[scratchMem.p[j]] = x[j];
-
-			// set lo and hi values
-			for (int k = i; k < n; ++k)
-			{
-				btScalar wfk = scratchMem.delta_w[findex[k]];
-				if (wfk == 0)
-				{
-					hi[k] = 0;
-					lo[k] = 0;
-				}
-				else
-				{
-					hi[k] = btFabs(hi[k] * wfk);
-					lo[k] = -hi[k];
-				}
-			}
-			hit_first_friction_index = true;
-		}
-
-		// thus far we have not even been computing the w values for indexes
-		// greater than i, so compute w[i] now.
-		w[i] = lcp.AiC_times_qC(i, x) + lcp.AiN_times_qN(i, x) - b[i];
-
-		// if lo=hi=0 (which can happen for tangential friction when normals are
-		// 0) then the index will be assigned to set N with some state. however,
-		// set C's line has zero size, so the index will always remain in set N.
-		// with the "normal" switching logic, if w changed sign then the index
-		// would have to switch to set C and then back to set N with an inverted
-		// state. this is pointless, and also computationally expensive. to
-		// prevent this from happening, we use the rule that indexes with lo=hi=0
-		// will never be checked for set changes. this means that the state for
-		// these indexes may be incorrect, but that doesn't matter.
-
-		// see if x(i),w(i) is in a valid region
-		if (lo[i] == 0 && w[i] >= 0)
-		{
-			lcp.transfer_i_to_N(i);
-			scratchMem.state[i] = false;
-		}
-		else if (hi[i] == 0 && w[i] <= 0)
-		{
-			lcp.transfer_i_to_N(i);
-			scratchMem.state[i] = true;
-		}
-		else if (w[i] == 0)
-		{
-			// this is a degenerate case. by the time we get to this test we know
-			// that lo != 0, which means that lo < 0 as lo is not allowed to be +ve,
-			// and similarly that hi > 0. this means that the line segment
-			// corresponding to set C is at least finite in extent, and we are on it.
-			// NOTE: we must call lcp.solve1() before lcp.transfer_i_to_C()
-			lcp.solve1(&scratchMem.delta_x[0], i, 0, 1);
-
-			lcp.transfer_i_to_C(i);
-		}
-		else
-		{
-			// we must push x(i) and w(i)
-			for (;;)
-			{
-				int dir;
-				btScalar dirf;
-				// find direction to push on x(i)
-				if (w[i] <= 0)
-				{
-					dir = 1;
-					dirf = btScalar(1.0);
-				}
-				else
-				{
-					dir = -1;
-					dirf = btScalar(-1.0);
-				}
-
-				// compute: delta_x(C) = -dir*A(C,C)\A(C,i)
-				lcp.solve1(&scratchMem.delta_x[0], i, dir);
-
-				// note that delta_x[i] = dirf, but we wont bother to set it
-
-				// compute: delta_w = A*delta_x ... note we only care about
-				// delta_w(N) and delta_w(i), the rest is ignored
-				lcp.pN_equals_ANC_times_qC(&scratchMem.delta_w[0], &scratchMem.delta_x[0]);
-				lcp.pN_plusequals_ANi(&scratchMem.delta_w[0], i, dir);
-				scratchMem.delta_w[i] = lcp.AiC_times_qC(i, &scratchMem.delta_x[0]) + lcp.Aii(i) * dirf;
-
-				// find largest step we can take (size=s), either to drive x(i),w(i)
-				// to the valid LCP region or to drive an already-valid variable
-				// outside the valid region.
-
-				int cmd = 1;  // index switching command
-				int si = 0;   // si = index to switch if cmd>3
-				btScalar s = -w[i] / scratchMem.delta_w[i];
-				if (dir > 0)
-				{
-					if (hi[i] < BT_INFINITY)
-					{
-						btScalar s2 = (hi[i] - x[i]) * dirf;  // was (hi[i]-x[i])/dirf	// step to x(i)=hi(i)
-						if (s2 < s)
-						{
-							s = s2;
-							cmd = 3;
-						}
-					}
-				}
-				else
-				{
-					if (lo[i] > -BT_INFINITY)
-					{
-						btScalar s2 = (lo[i] - x[i]) * dirf;  // was (lo[i]-x[i])/dirf	// step to x(i)=lo(i)
-						if (s2 < s)
-						{
-							s = s2;
-							cmd = 2;
-						}
-					}
-				}
-
-				{
-					const int numN = lcp.numN();
-					for (int k = 0; k < numN; ++k)
-					{
-						const int indexN_k = lcp.indexN(k);
-						if (!scratchMem.state[indexN_k] ? scratchMem.delta_w[indexN_k] < 0 : scratchMem.delta_w[indexN_k] > 0)
-						{
-							// don't bother checking if lo=hi=0
-							if (lo[indexN_k] == 0 && hi[indexN_k] == 0) continue;
-							btScalar s2 = -w[indexN_k] / scratchMem.delta_w[indexN_k];
-							if (s2 < s)
-							{
-								s = s2;
-								cmd = 4;
-								si = indexN_k;
-							}
-						}
-					}
-				}
-
-				{
-					const int numC = lcp.numC();
-					for (int k = adj_nub; k < numC; ++k)
-					{
-						const int indexC_k = lcp.indexC(k);
-						if (scratchMem.delta_x[indexC_k] < 0 && lo[indexC_k] > -BT_INFINITY)
-						{
-							btScalar s2 = (lo[indexC_k] - x[indexC_k]) / scratchMem.delta_x[indexC_k];
-							if (s2 < s)
-							{
-								s = s2;
-								cmd = 5;
-								si = indexC_k;
-							}
-						}
-						if (scratchMem.delta_x[indexC_k] > 0 && hi[indexC_k] < BT_INFINITY)
-						{
-							btScalar s2 = (hi[indexC_k] - x[indexC_k]) / scratchMem.delta_x[indexC_k];
-							if (s2 < s)
-							{
-								s = s2;
-								cmd = 6;
-								si = indexC_k;
-							}
-						}
-					}
-				}
-
-				//static char* cmdstring[8] = {0,"->C","->NL","->NH","N->C",
-				//			     "C->NL","C->NH"};
-				//printf ("cmd=%d (%s), si=%d\n",cmd,cmdstring[cmd],(cmd>3) ? si : i);
-
-				// if s <= 0 then we've got a problem. if we just keep going then
-				// we're going to get stuck in an infinite loop. instead, just cross
-				// our fingers and exit with the current solution.
-				if (s <= btScalar(0.0))
-				{
-					//          printf("LCP internal error, s <= 0 (s=%.4e)",(double)s);
-					if (i < n)
-					{
-						btSetZero(x + i, n - i);
-						btSetZero(w + i, n - i);
-					}
-					s_error = true;
-					break;
-				}
-
-				// apply x = x + s * delta_x
-				lcp.pC_plusequals_s_times_qC(x, s, &scratchMem.delta_x[0]);
-				x[i] += s * dirf;
-
-				// apply w = w + s * delta_w
-				lcp.pN_plusequals_s_times_qN(w, s, &scratchMem.delta_w[0]);
-				w[i] += s * scratchMem.delta_w[i];
-
-				//        void *tmpbuf;
-				// switch indexes between sets if necessary
-				switch (cmd)
-				{
-					case 1:  // done
-						w[i] = 0;
-						lcp.transfer_i_to_C(i);
-						break;
-					case 2:  // done
-						x[i] = lo[i];
-						scratchMem.state[i] = false;
-						lcp.transfer_i_to_N(i);
-						break;
-					case 3:  // done
-						x[i] = hi[i];
-						scratchMem.state[i] = true;
-						lcp.transfer_i_to_N(i);
-						break;
-					case 4:  // keep going
-						w[si] = 0;
-						lcp.transfer_i_from_N_to_C(si);
-						break;
-					case 5:  // keep going
-						x[si] = lo[si];
-						scratchMem.state[si] = false;
-						lcp.transfer_i_from_C_to_N(si, scratchMem.m_scratch);
-						break;
-					case 6:  // keep going
-						x[si] = hi[si];
-						scratchMem.state[si] = true;
-						lcp.transfer_i_from_C_to_N(si, scratchMem.m_scratch);
-						break;
-				}
-
-				if (cmd <= 3) break;
-			}  // for (;;)
-		}      // else
-
-		if (s_error)
-		{
-			break;
-		}
-	}  // for (int i=adj_nub; i<n; ++i)
-
-	lcp.unpermute();
-
-	return !s_error;
-}
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigLCP.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigLCP.h
deleted file mode 100644
index 8d9b2a13e9..0000000000
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigLCP.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of                                          * 
- *   The BSD-style license that is included with this library in         *
- *   the file LICENSE-BSD.TXT.                                           *
- *                                                                       *
- * This library is distributed in the hope that it will be useful,       *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-given (A,b,lo,hi), solve the LCP problem: A*x = b+w, where each x(i),w(i)
-satisfies one of
-	(1) x = lo, w >= 0
-	(2) x = hi, w <= 0
-	(3) lo < x < hi, w = 0
-A is a matrix of dimension n*n, everything else is a vector of size n*1.
-lo and hi can be +/- dInfinity as needed. the first `nub' variables are
-unbounded, i.e. hi and lo are assumed to be +/- dInfinity.
-
-we restrict lo(i) <= 0 and hi(i) >= 0.
-
-the original data (A,b) may be modified by this function.
-
-if the `findex' (friction index) parameter is nonzero, it points to an array
-of index values. in this case constraints that have findex[i] >= 0 are
-special. all non-special constraints are solved for, then the lo and hi values
-for the special constraints are set:
-  hi[i] = abs( hi[i] * x[findex[i]] )
-  lo[i] = -hi[i]
-and the solution continues. this mechanism allows a friction approximation
-to be implemented. the first `nub' variables are assumed to have findex < 0.
-
-*/
-
-#ifndef _BT_LCP_H_
-#define _BT_LCP_H_
-
-#include <stdlib.h>
-#include <stdio.h>
-#include <assert.h>
-
-#include "LinearMath/btScalar.h"
-#include "LinearMath/btAlignedObjectArray.h"
-
-struct btDantzigScratchMemory
-{
-	btAlignedObjectArray<btScalar> m_scratch;
-	btAlignedObjectArray<btScalar> L;
-	btAlignedObjectArray<btScalar> d;
-	btAlignedObjectArray<btScalar> delta_w;
-	btAlignedObjectArray<btScalar> delta_x;
-	btAlignedObjectArray<btScalar> Dell;
-	btAlignedObjectArray<btScalar> ell;
-	btAlignedObjectArray<btScalar *> Arows;
-	btAlignedObjectArray<int> p;
-	btAlignedObjectArray<int> C;
-	btAlignedObjectArray<bool> state;
-};
-
-//return false if solving failed
-bool btSolveDantzigLCP(int n, btScalar *A, btScalar *x, btScalar *b, btScalar *w,
-					   int nub, btScalar *lo, btScalar *hi, int *findex, btDantzigScratchMemory &scratch);
-
-#endif  //_BT_LCP_H_
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigSolver.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigSolver.h
deleted file mode 100644
index 1f669751ce..0000000000
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigSolver.h
+++ /dev/null
@@ -1,106 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-///original version written by Erwin Coumans, October 2013
-
-#ifndef BT_DANTZIG_SOLVER_H
-#define BT_DANTZIG_SOLVER_H
-
-#include "btMLCPSolverInterface.h"
-#include "btDantzigLCP.h"
-
-class btDantzigSolver : public btMLCPSolverInterface
-{
-protected:
-	btScalar m_acceptableUpperLimitSolution;
-
-	btAlignedObjectArray<char> m_tempBuffer;
-
-	btAlignedObjectArray<btScalar> m_A;
-	btAlignedObjectArray<btScalar> m_b;
-	btAlignedObjectArray<btScalar> m_x;
-	btAlignedObjectArray<btScalar> m_lo;
-	btAlignedObjectArray<btScalar> m_hi;
-	btAlignedObjectArray<int> m_dependencies;
-	btDantzigScratchMemory m_scratchMemory;
-
-public:
-	btDantzigSolver()
-		: m_acceptableUpperLimitSolution(btScalar(1000))
-	{
-	}
-
-	virtual bool solveMLCP(const btMatrixXu& A, const btVectorXu& b, btVectorXu& x, const btVectorXu& lo, const btVectorXu& hi, const btAlignedObjectArray<int>& limitDependency, int numIterations, bool useSparsity = true)
-	{
-		bool result = true;
-		int n = b.rows();
-		if (n)
-		{
-			int nub = 0;
-			btAlignedObjectArray<btScalar> ww;
-			ww.resize(n);
-
-			const btScalar* Aptr = A.getBufferPointer();
-			m_A.resize(n * n);
-			for (int i = 0; i < n * n; i++)
-			{
-				m_A[i] = Aptr[i];
-			}
-
-			m_b.resize(n);
-			m_x.resize(n);
-			m_lo.resize(n);
-			m_hi.resize(n);
-			m_dependencies.resize(n);
-			for (int i = 0; i < n; i++)
-			{
-				m_lo[i] = lo[i];
-				m_hi[i] = hi[i];
-				m_b[i] = b[i];
-				m_x[i] = x[i];
-				m_dependencies[i] = limitDependency[i];
-			}
-
-			result = btSolveDantzigLCP(n, &m_A[0], &m_x[0], &m_b[0], &ww[0], nub, &m_lo[0], &m_hi[0], &m_dependencies[0], m_scratchMemory);
-			if (!result)
-				return result;
-
-			//			printf("numAllocas = %d\n",numAllocas);
-			for (int i = 0; i < n; i++)
-			{
-				volatile btScalar xx = m_x[i];
-				if (xx != m_x[i])
-					return false;
-				if (x[i] >= m_acceptableUpperLimitSolution)
-				{
-					return false;
-				}
-
-				if (x[i] <= -m_acceptableUpperLimitSolution)
-				{
-					return false;
-				}
-			}
-
-			for (int i = 0; i < n; i++)
-			{
-				x[i] = m_x[i];
-			}
-		}
-
-		return result;
-	}
-};
-
-#endif  //BT_DANTZIG_SOLVER_H
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp
deleted file mode 100644
index 954ffaed75..0000000000
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp
+++ /dev/null
@@ -1,369 +0,0 @@
-/* Copyright (C) 2004-2013 MBSim Development Team
-
-Code was converted for the Bullet Continuous Collision Detection and Physics Library
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-//The original version is here
-//https://code.google.com/p/mbsim-env/source/browse/trunk/kernel/mbsim/numerics/linear_complementarity_problem/lemke_algorithm.cc
-//This file is re-distributed under the ZLib license, with permission of the original author
-//Math library was replaced from fmatvec to a the file src/LinearMath/btMatrixX.h
-//STL/std::vector replaced by btAlignedObjectArray
-
-#include "btLemkeAlgorithm.h"
-
-#undef BT_DEBUG_OSTREAM
-#ifdef BT_DEBUG_OSTREAM
-using namespace std;
-#endif  //BT_DEBUG_OSTREAM
-
-btScalar btMachEps()
-{
-	static bool calculated = false;
-	static btScalar machEps = btScalar(1.);
-	if (!calculated)
-	{
-		do
-		{
-			machEps /= btScalar(2.0);
-			// If next epsilon yields 1, then break, because current
-			// epsilon is the machine epsilon.
-		} while ((btScalar)(1.0 + (machEps / btScalar(2.0))) != btScalar(1.0));
-		//		printf( "\nCalculated Machine epsilon: %G\n", machEps );
-		calculated = true;
-	}
-	return machEps;
-}
-
-btScalar btEpsRoot()
-{
-	static btScalar epsroot = 0.;
-	static bool alreadyCalculated = false;
-
-	if (!alreadyCalculated)
-	{
-		epsroot = btSqrt(btMachEps());
-		alreadyCalculated = true;
-	}
-	return epsroot;
-}
-
-btVectorXu btLemkeAlgorithm::solve(unsigned int maxloops /* = 0*/)
-{
-	steps = 0;
-
-	int dim = m_q.size();
-#ifdef BT_DEBUG_OSTREAM
-	if (DEBUGLEVEL >= 1)
-	{
-		cout << "Dimension = " << dim << endl;
-	}
-#endif  //BT_DEBUG_OSTREAM
-
-	btVectorXu solutionVector(2 * dim);
-	solutionVector.setZero();
-
-	//, INIT, 0.);
-
-	btMatrixXu ident(dim, dim);
-	ident.setIdentity();
-#ifdef BT_DEBUG_OSTREAM
-	cout << m_M << std::endl;
-#endif
-
-	btMatrixXu mNeg = m_M.negative();
-
-	btMatrixXu A(dim, 2 * dim + 2);
-	//
-	A.setSubMatrix(0, 0, dim - 1, dim - 1, ident);
-	A.setSubMatrix(0, dim, dim - 1, 2 * dim - 1, mNeg);
-	A.setSubMatrix(0, 2 * dim, dim - 1, 2 * dim, -1.f);
-	A.setSubMatrix(0, 2 * dim + 1, dim - 1, 2 * dim + 1, m_q);
-
-#ifdef BT_DEBUG_OSTREAM
-	cout << A << std::endl;
-#endif  //BT_DEBUG_OSTREAM
-
-	//   btVectorXu q_;
-	//   q_ >> A(0, 2 * dim + 1, dim - 1, 2 * dim + 1);
-
-	btAlignedObjectArray<int> basis;
-	//At first, all w-values are in the basis
-	for (int i = 0; i < dim; i++)
-		basis.push_back(i);
-
-	int pivotRowIndex = -1;
-	btScalar minValue = 1e30f;
-	bool greaterZero = true;
-	for (int i = 0; i < dim; i++)
-	{
-		btScalar v = A(i, 2 * dim + 1);
-		if (v < minValue)
-		{
-			minValue = v;
-			pivotRowIndex = i;
-		}
-		if (v < 0)
-			greaterZero = false;
-	}
-
-	//  int pivotRowIndex = q_.minIndex();//minIndex(q_);     // first row is that with lowest q-value
-	int z0Row = pivotRowIndex;    // remember the col of z0 for ending algorithm afterwards
-	int pivotColIndex = 2 * dim;  // first col is that of z0
-
-#ifdef BT_DEBUG_OSTREAM
-	if (DEBUGLEVEL >= 3)
-	{
-		//  cout << "A: " << A << endl;
-		cout << "pivotRowIndex " << pivotRowIndex << endl;
-		cout << "pivotColIndex " << pivotColIndex << endl;
-		cout << "Basis: ";
-		for (int i = 0; i < basis.size(); i++)
-			cout << basis[i] << " ";
-		cout << endl;
-	}
-#endif  //BT_DEBUG_OSTREAM
-
-	if (!greaterZero)
-	{
-		if (maxloops == 0)
-		{
-			maxloops = 100;
-			//        maxloops = UINT_MAX; //TODO: not a really nice way, problem is: maxloops should be 2^dim (=1<<dim), but this could exceed UINT_MAX and thus the result would be 0 and therefore the lemke algorithm wouldn't start but probably would find a solution within less then UINT_MAX steps. Therefore this constant is used as a upper border right now...
-		}
-
-		/*start looping*/
-		for (steps = 0; steps < maxloops; steps++)
-		{
-			GaussJordanEliminationStep(A, pivotRowIndex, pivotColIndex, basis);
-#ifdef BT_DEBUG_OSTREAM
-			if (DEBUGLEVEL >= 3)
-			{
-				//  cout << "A: " << A << endl;
-				cout << "pivotRowIndex " << pivotRowIndex << endl;
-				cout << "pivotColIndex " << pivotColIndex << endl;
-				cout << "Basis: ";
-				for (int i = 0; i < basis.size(); i++)
-					cout << basis[i] << " ";
-				cout << endl;
-			}
-#endif  //BT_DEBUG_OSTREAM
-
-			int pivotColIndexOld = pivotColIndex;
-
-			/*find new column index */
-			if (basis[pivotRowIndex] < dim)  //if a w-value left the basis get in the correspondent z-value
-				pivotColIndex = basis[pivotRowIndex] + dim;
-			else
-				//else do it the other way round and get in the corresponding w-value
-				pivotColIndex = basis[pivotRowIndex] - dim;
-
-			/*the column becomes part of the basis*/
-			basis[pivotRowIndex] = pivotColIndexOld;
-
-			pivotRowIndex = findLexicographicMinimum(A, pivotColIndex);
-
-			if (z0Row == pivotRowIndex)
-			{  //if z0 leaves the basis the solution is found --> one last elimination step is necessary
-				GaussJordanEliminationStep(A, pivotRowIndex, pivotColIndex, basis);
-				basis[pivotRowIndex] = pivotColIndex;  //update basis
-				break;
-			}
-		}
-#ifdef BT_DEBUG_OSTREAM
-		if (DEBUGLEVEL >= 1)
-		{
-			cout << "Number of loops: " << steps << endl;
-			cout << "Number of maximal loops: " << maxloops << endl;
-		}
-#endif  //BT_DEBUG_OSTREAM
-
-		if (!validBasis(basis))
-		{
-			info = -1;
-#ifdef BT_DEBUG_OSTREAM
-			if (DEBUGLEVEL >= 1)
-				cerr << "Lemke-Algorithm ended with Ray-Termination (no valid solution)." << endl;
-#endif  //BT_DEBUG_OSTREAM
-
-			return solutionVector;
-		}
-	}
-#ifdef BT_DEBUG_OSTREAM
-	if (DEBUGLEVEL >= 2)
-	{
-		// cout << "A: " << A << endl;
-		cout << "pivotRowIndex " << pivotRowIndex << endl;
-		cout << "pivotColIndex " << pivotColIndex << endl;
-	}
-#endif  //BT_DEBUG_OSTREAM
-
-	for (int i = 0; i < basis.size(); i++)
-	{
-		solutionVector[basis[i]] = A(i, 2 * dim + 1);  //q_[i];
-	}
-
-	info = 0;
-
-	return solutionVector;
-}
-
-int btLemkeAlgorithm::findLexicographicMinimum(const btMatrixXu& A, const int& pivotColIndex)
-{
-	int RowIndex = 0;
-	int dim = A.rows();
-	btAlignedObjectArray<btVectorXu> Rows;
-	for (int row = 0; row < dim; row++)
-	{
-		btVectorXu vec(dim + 1);
-		vec.setZero();  //, INIT, 0.)
-		Rows.push_back(vec);
-		btScalar a = A(row, pivotColIndex);
-		if (a > 0)
-		{
-			Rows[row][0] = A(row, 2 * dim + 1) / a;
-			Rows[row][1] = A(row, 2 * dim) / a;
-			for (int j = 2; j < dim + 1; j++)
-				Rows[row][j] = A(row, j - 1) / a;
-
-#ifdef BT_DEBUG_OSTREAM
-				//		if (DEBUGLEVEL) {
-				//	  cout << "Rows(" << row << ") = " << Rows[row] << endl;
-				// }
-#endif
-		}
-	}
-
-	for (int i = 0; i < Rows.size(); i++)
-	{
-		if (Rows[i].nrm2() > 0.)
-		{
-			int j = 0;
-			for (; j < Rows.size(); j++)
-			{
-				if (i != j)
-				{
-					if (Rows[j].nrm2() > 0.)
-					{
-						btVectorXu test(dim + 1);
-						for (int ii = 0; ii < dim + 1; ii++)
-						{
-							test[ii] = Rows[j][ii] - Rows[i][ii];
-						}
-
-						//=Rows[j] - Rows[i]
-						if (!LexicographicPositive(test))
-							break;
-					}
-				}
-			}
-
-			if (j == Rows.size())
-			{
-				RowIndex += i;
-				break;
-			}
-		}
-	}
-
-	return RowIndex;
-}
-
-bool btLemkeAlgorithm::LexicographicPositive(const btVectorXu& v)
-{
-	int i = 0;
-	//  if (DEBUGLEVEL)
-	//  cout << "v " << v << endl;
-
-	while (i < v.size() - 1 && fabs(v[i]) < btMachEps())
-		i++;
-	if (v[i] > 0)
-		return true;
-
-	return false;
-}
-
-void btLemkeAlgorithm::GaussJordanEliminationStep(btMatrixXu& A, int pivotRowIndex, int pivotColumnIndex, const btAlignedObjectArray<int>& basis)
-{
-	btScalar a = -1 / A(pivotRowIndex, pivotColumnIndex);
-#ifdef BT_DEBUG_OSTREAM
-	cout << A << std::endl;
-#endif
-
-	for (int i = 0; i < A.rows(); i++)
-	{
-		if (i != pivotRowIndex)
-		{
-			for (int j = 0; j < A.cols(); j++)
-			{
-				if (j != pivotColumnIndex)
-				{
-					btScalar v = A(i, j);
-					v += A(pivotRowIndex, j) * A(i, pivotColumnIndex) * a;
-					A.setElem(i, j, v);
-				}
-			}
-		}
-	}
-
-#ifdef BT_DEBUG_OSTREAM
-	cout << A << std::endl;
-#endif  //BT_DEBUG_OSTREAM
-	for (int i = 0; i < A.cols(); i++)
-	{
-		A.mulElem(pivotRowIndex, i, -a);
-	}
-#ifdef BT_DEBUG_OSTREAM
-	cout << A << std::endl;
-#endif  //#ifdef BT_DEBUG_OSTREAM
-
-	for (int i = 0; i < A.rows(); i++)
-	{
-		if (i != pivotRowIndex)
-		{
-			A.setElem(i, pivotColumnIndex, 0);
-		}
-	}
-#ifdef BT_DEBUG_OSTREAM
-	cout << A << std::endl;
-#endif  //#ifdef BT_DEBUG_OSTREAM
-}
-
-bool btLemkeAlgorithm::greaterZero(const btVectorXu& vector)
-{
-	bool isGreater = true;
-	for (int i = 0; i < vector.size(); i++)
-	{
-		if (vector[i] < 0)
-		{
-			isGreater = false;
-			break;
-		}
-	}
-
-	return isGreater;
-}
-
-bool btLemkeAlgorithm::validBasis(const btAlignedObjectArray<int>& basis)
-{
-	bool isValid = true;
-	for (int i = 0; i < basis.size(); i++)
-	{
-		if (basis[i] >= basis.size() * 2)
-		{  //then z0 is in the base
-			isValid = false;
-			break;
-		}
-	}
-
-	return isValid;
-}
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.h
deleted file mode 100644
index 3c6bf72a23..0000000000
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.h
+++ /dev/null
@@ -1,102 +0,0 @@
-/* Copyright (C) 2004-2013 MBSim Development Team
-
-Code was converted for the Bullet Continuous Collision Detection and Physics Library
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-//The original version is here
-//https://code.google.com/p/mbsim-env/source/browse/trunk/kernel/mbsim/numerics/linear_complementarity_problem/lemke_algorithm.cc
-//This file is re-distributed under the ZLib license, with permission of the original author (Kilian Grundl)
-//Math library was replaced from fmatvec to a the file src/LinearMath/btMatrixX.h
-//STL/std::vector replaced by btAlignedObjectArray
-
-#ifndef BT_NUMERICS_LEMKE_ALGORITHM_H_
-#define BT_NUMERICS_LEMKE_ALGORITHM_H_
-
-#include "LinearMath/btMatrixX.h"
-
-#include <vector>  //todo: replace by btAlignedObjectArray
-
-class btLemkeAlgorithm
-{
-public:
-	btLemkeAlgorithm(const btMatrixXu& M_, const btVectorXu& q_, const int& DEBUGLEVEL_ = 0) : DEBUGLEVEL(DEBUGLEVEL_)
-	{
-		setSystem(M_, q_);
-	}
-
-	/* GETTER / SETTER */
-	/**
-   * \brief return info of solution process
-   */
-	int getInfo()
-	{
-		return info;
-	}
-
-	/**
-   * \brief get the number of steps until the solution was found
-   */
-	int getSteps(void)
-	{
-		return steps;
-	}
-
-	/**
-   * \brief set system with Matrix M and vector q
-   */
-	void setSystem(const btMatrixXu& M_, const btVectorXu& q_)
-	{
-		m_M = M_;
-		m_q = q_;
-	}
-	/***************************************************/
-
-	/**
-   * \brief solve algorithm adapted from : Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E. Lloyd)
-   */
-	btVectorXu solve(unsigned int maxloops = 0);
-
-	virtual ~btLemkeAlgorithm()
-	{
-	}
-
-protected:
-	int findLexicographicMinimum(const btMatrixXu& A, const int& pivotColIndex);
-	bool LexicographicPositive(const btVectorXu& v);
-	void GaussJordanEliminationStep(btMatrixXu& A, int pivotRowIndex, int pivotColumnIndex, const btAlignedObjectArray<int>& basis);
-	bool greaterZero(const btVectorXu& vector);
-	bool validBasis(const btAlignedObjectArray<int>& basis);
-
-	btMatrixXu m_M;
-	btVectorXu m_q;
-
-	/**
-   * \brief number of steps until the Lemke algorithm found a solution
-   */
-	unsigned int steps;
-
-	/**
-   * \brief define level of debug output
-   */
-	int DEBUGLEVEL;
-
-	/**
-   * \brief did the algorithm find a solution
-   *
-   * -1 : not successful
-   *  0 : successful
-   */
-	int info;
-};
-
-#endif /* BT_NUMERICS_LEMKE_ALGORITHM_H_ */
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h
deleted file mode 100644
index f18c4ea41b..0000000000
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h
+++ /dev/null
@@ -1,338 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-///original version written by Erwin Coumans, October 2013
-
-#ifndef BT_LEMKE_SOLVER_H
-#define BT_LEMKE_SOLVER_H
-
-#include "btMLCPSolverInterface.h"
-#include "btLemkeAlgorithm.h"
-
-///The btLemkeSolver is based on "Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E. Lloyd) "
-///It is a slower but more accurate solver. Increase the m_maxLoops for better convergence, at the cost of more CPU time.
-///The original implementation of the btLemkeAlgorithm was done by Kilian Grundl from the MBSim team
-class btLemkeSolver : public btMLCPSolverInterface
-{
-protected:
-public:
-	btScalar m_maxValue;
-	int m_debugLevel;
-	int m_maxLoops;
-	bool m_useLoHighBounds;
-
-	btLemkeSolver()
-		: m_maxValue(100000),
-		  m_debugLevel(0),
-		  m_maxLoops(1000),
-		  m_useLoHighBounds(true)
-	{
-	}
-	virtual bool solveMLCP(const btMatrixXu& A, const btVectorXu& b, btVectorXu& x, const btVectorXu& lo, const btVectorXu& hi, const btAlignedObjectArray<int>& limitDependency, int numIterations, bool useSparsity = true)
-	{
-		if (m_useLoHighBounds)
-		{
-			BT_PROFILE("btLemkeSolver::solveMLCP");
-			int n = A.rows();
-			if (0 == n)
-				return true;
-
-			bool fail = false;
-
-			btVectorXu solution(n);
-			btVectorXu q1;
-			q1.resize(n);
-			for (int row = 0; row < n; row++)
-			{
-				q1[row] = -b[row];
-			}
-
-			//		cout << "A" << endl;
-			//		cout << A << endl;
-
-			/////////////////////////////////////
-
-			//slow matrix inversion, replace with LU decomposition
-			btMatrixXu A1;
-			btMatrixXu B(n, n);
-			{
-				//BT_PROFILE("inverse(slow)");
-				A1.resize(A.rows(), A.cols());
-				for (int row = 0; row < A.rows(); row++)
-				{
-					for (int col = 0; col < A.cols(); col++)
-					{
-						A1.setElem(row, col, A(row, col));
-					}
-				}
-
-				btMatrixXu matrix;
-				matrix.resize(n, 2 * n);
-				for (int row = 0; row < n; row++)
-				{
-					for (int col = 0; col < n; col++)
-					{
-						matrix.setElem(row, col, A1(row, col));
-					}
-				}
-
-				btScalar ratio, a;
-				int i, j, k;
-				for (i = 0; i < n; i++)
-				{
-					for (j = n; j < 2 * n; j++)
-					{
-						if (i == (j - n))
-							matrix.setElem(i, j, 1.0);
-						else
-							matrix.setElem(i, j, 0.0);
-					}
-				}
-				for (i = 0; i < n; i++)
-				{
-					for (j = 0; j < n; j++)
-					{
-						if (i != j)
-						{
-							btScalar v = matrix(i, i);
-							if (btFuzzyZero(v))
-							{
-								a = 0.000001f;
-							}
-							ratio = matrix(j, i) / matrix(i, i);
-							for (k = 0; k < 2 * n; k++)
-							{
-								matrix.addElem(j, k, -ratio * matrix(i, k));
-							}
-						}
-					}
-				}
-				for (i = 0; i < n; i++)
-				{
-					a = matrix(i, i);
-					if (btFuzzyZero(a))
-					{
-						a = 0.000001f;
-					}
-					btScalar invA = 1.f / a;
-					for (j = 0; j < 2 * n; j++)
-					{
-						matrix.mulElem(i, j, invA);
-					}
-				}
-
-				for (int row = 0; row < n; row++)
-				{
-					for (int col = 0; col < n; col++)
-					{
-						B.setElem(row, col, matrix(row, n + col));
-					}
-				}
-			}
-
-			btMatrixXu b1(n, 1);
-
-			btMatrixXu M(n * 2, n * 2);
-			for (int row = 0; row < n; row++)
-			{
-				b1.setElem(row, 0, -b[row]);
-				for (int col = 0; col < n; col++)
-				{
-					btScalar v = B(row, col);
-					M.setElem(row, col, v);
-					M.setElem(n + row, n + col, v);
-					M.setElem(n + row, col, -v);
-					M.setElem(row, n + col, -v);
-				}
-			}
-
-			btMatrixXu Bb1 = B * b1;
-			//		q = [ (-B*b1 - lo)'   (hi + B*b1)' ]'
-
-			btVectorXu qq;
-			qq.resize(n * 2);
-			for (int row = 0; row < n; row++)
-			{
-				qq[row] = -Bb1(row, 0) - lo[row];
-				qq[n + row] = Bb1(row, 0) + hi[row];
-			}
-
-			btVectorXu z1;
-
-			btMatrixXu y1;
-			y1.resize(n, 1);
-			btLemkeAlgorithm lemke(M, qq, m_debugLevel);
-			{
-				//BT_PROFILE("lemke.solve");
-				lemke.setSystem(M, qq);
-				z1 = lemke.solve(m_maxLoops);
-			}
-			for (int row = 0; row < n; row++)
-			{
-				y1.setElem(row, 0, z1[2 * n + row] - z1[3 * n + row]);
-			}
-			btMatrixXu y1_b1(n, 1);
-			for (int i = 0; i < n; i++)
-			{
-				y1_b1.setElem(i, 0, y1(i, 0) - b1(i, 0));
-			}
-
-			btMatrixXu x1;
-
-			x1 = B * (y1_b1);
-
-			for (int row = 0; row < n; row++)
-			{
-				solution[row] = x1(row, 0);  //n];
-			}
-
-			int errorIndexMax = -1;
-			int errorIndexMin = -1;
-			float errorValueMax = -1e30;
-			float errorValueMin = 1e30;
-
-			for (int i = 0; i < n; i++)
-			{
-				x[i] = solution[i];
-				volatile btScalar check = x[i];
-				if (x[i] != check)
-				{
-					//printf("Lemke result is #NAN\n");
-					x.setZero();
-					return false;
-				}
-
-				//this is some hack/safety mechanism, to discard invalid solutions from the Lemke solver
-				//we need to figure out why it happens, and fix it, or detect it properly)
-				if (x[i] > m_maxValue)
-				{
-					if (x[i] > errorValueMax)
-					{
-						fail = true;
-						errorIndexMax = i;
-						errorValueMax = x[i];
-					}
-					////printf("x[i] = %f,",x[i]);
-				}
-				if (x[i] < -m_maxValue)
-				{
-					if (x[i] < errorValueMin)
-					{
-						errorIndexMin = i;
-						errorValueMin = x[i];
-						fail = true;
-						//printf("x[i] = %f,",x[i]);
-					}
-				}
-			}
-			if (fail)
-			{
-				int m_errorCountTimes = 0;
-				if (errorIndexMin < 0)
-					errorValueMin = 0.f;
-				if (errorIndexMax < 0)
-					errorValueMax = 0.f;
-				m_errorCountTimes++;
-				//	printf("Error (x[%d] = %f, x[%d] = %f), resetting %d times\n", errorIndexMin,errorValueMin, errorIndexMax, errorValueMax, errorCountTimes++);
-				for (int i = 0; i < n; i++)
-				{
-					x[i] = 0.f;
-				}
-			}
-			return !fail;
-		}
-		else
-
-		{
-			int dimension = A.rows();
-			if (0 == dimension)
-				return true;
-
-			//		printf("================ solving using Lemke/Newton/Fixpoint\n");
-
-			btVectorXu q;
-			q.resize(dimension);
-			for (int row = 0; row < dimension; row++)
-			{
-				q[row] = -b[row];
-			}
-
-			btLemkeAlgorithm lemke(A, q, m_debugLevel);
-
-			lemke.setSystem(A, q);
-
-			btVectorXu solution = lemke.solve(m_maxLoops);
-
-			//check solution
-
-			bool fail = false;
-			int errorIndexMax = -1;
-			int errorIndexMin = -1;
-			float errorValueMax = -1e30;
-			float errorValueMin = 1e30;
-
-			for (int i = 0; i < dimension; i++)
-			{
-				x[i] = solution[i + dimension];
-				volatile btScalar check = x[i];
-				if (x[i] != check)
-				{
-					x.setZero();
-					return false;
-				}
-
-				//this is some hack/safety mechanism, to discard invalid solutions from the Lemke solver
-				//we need to figure out why it happens, and fix it, or detect it properly)
-				if (x[i] > m_maxValue)
-				{
-					if (x[i] > errorValueMax)
-					{
-						fail = true;
-						errorIndexMax = i;
-						errorValueMax = x[i];
-					}
-					////printf("x[i] = %f,",x[i]);
-				}
-				if (x[i] < -m_maxValue)
-				{
-					if (x[i] < errorValueMin)
-					{
-						errorIndexMin = i;
-						errorValueMin = x[i];
-						fail = true;
-						//printf("x[i] = %f,",x[i]);
-					}
-				}
-			}
-			if (fail)
-			{
-				static int errorCountTimes = 0;
-				if (errorIndexMin < 0)
-					errorValueMin = 0.f;
-				if (errorIndexMax < 0)
-					errorValueMax = 0.f;
-				printf("Error (x[%d] = %f, x[%d] = %f), resetting %d times\n", errorIndexMin, errorValueMin, errorIndexMax, errorValueMax, errorCountTimes++);
-				for (int i = 0; i < dimension; i++)
-				{
-					x[i] = 0.f;
-				}
-			}
-
-			return !fail;
-		}
-		return true;
-	}
-};
-
-#endif  //BT_LEMKE_SOLVER_H
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
deleted file mode 100644
index ed4e0b686d..0000000000
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
+++ /dev/null
@@ -1,620 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-///original version written by Erwin Coumans, October 2013
-
-#include "btMLCPSolver.h"
-#include "LinearMath/btMatrixX.h"
-#include "LinearMath/btQuickprof.h"
-#include "btSolveProjectedGaussSeidel.h"
-
-btMLCPSolver::btMLCPSolver(btMLCPSolverInterface* solver)
-	: m_solver(solver),
-	  m_fallback(0)
-{
-}
-
-btMLCPSolver::~btMLCPSolver()
-{
-}
-
-bool gUseMatrixMultiply = false;
-bool interleaveContactAndFriction = false;
-
-btScalar btMLCPSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodiesUnUsed, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
-{
-	btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(bodies, numBodiesUnUsed, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
-
-	{
-		BT_PROFILE("gather constraint data");
-
-		int numFrictionPerContact = m_tmpSolverContactConstraintPool.size() == m_tmpSolverContactFrictionConstraintPool.size() ? 1 : 2;
-
-		//	int numBodies = m_tmpSolverBodyPool.size();
-		m_allConstraintPtrArray.resize(0);
-		m_limitDependencies.resize(m_tmpSolverNonContactConstraintPool.size() + m_tmpSolverContactConstraintPool.size() + m_tmpSolverContactFrictionConstraintPool.size());
-		btAssert(m_limitDependencies.size() == m_tmpSolverNonContactConstraintPool.size() + m_tmpSolverContactConstraintPool.size() + m_tmpSolverContactFrictionConstraintPool.size());
-		//	printf("m_limitDependencies.size() = %d\n",m_limitDependencies.size());
-
-		int dindex = 0;
-		for (int i = 0; i < m_tmpSolverNonContactConstraintPool.size(); i++)
-		{
-			m_allConstraintPtrArray.push_back(&m_tmpSolverNonContactConstraintPool[i]);
-			m_limitDependencies[dindex++] = -1;
-		}
-
-		///The btSequentialImpulseConstraintSolver moves all friction constraints at the very end, we can also interleave them instead
-
-		int firstContactConstraintOffset = dindex;
-
-		if (interleaveContactAndFriction)
-		{
-			for (int i = 0; i < m_tmpSolverContactConstraintPool.size(); i++)
-			{
-				m_allConstraintPtrArray.push_back(&m_tmpSolverContactConstraintPool[i]);
-				m_limitDependencies[dindex++] = -1;
-				m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i * numFrictionPerContact]);
-				int findex = (m_tmpSolverContactFrictionConstraintPool[i * numFrictionPerContact].m_frictionIndex * (1 + numFrictionPerContact));
-				m_limitDependencies[dindex++] = findex + firstContactConstraintOffset;
-				if (numFrictionPerContact == 2)
-				{
-					m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i * numFrictionPerContact + 1]);
-					m_limitDependencies[dindex++] = findex + firstContactConstraintOffset;
-				}
-			}
-		}
-		else
-		{
-			for (int i = 0; i < m_tmpSolverContactConstraintPool.size(); i++)
-			{
-				m_allConstraintPtrArray.push_back(&m_tmpSolverContactConstraintPool[i]);
-				m_limitDependencies[dindex++] = -1;
-			}
-			for (int i = 0; i < m_tmpSolverContactFrictionConstraintPool.size(); i++)
-			{
-				m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i]);
-				m_limitDependencies[dindex++] = m_tmpSolverContactFrictionConstraintPool[i].m_frictionIndex + firstContactConstraintOffset;
-			}
-		}
-
-		if (!m_allConstraintPtrArray.size())
-		{
-			m_A.resize(0, 0);
-			m_b.resize(0);
-			m_x.resize(0);
-			m_lo.resize(0);
-			m_hi.resize(0);
-			return 0.f;
-		}
-	}
-
-	if (gUseMatrixMultiply)
-	{
-		BT_PROFILE("createMLCP");
-		createMLCP(infoGlobal);
-	}
-	else
-	{
-		BT_PROFILE("createMLCPFast");
-		createMLCPFast(infoGlobal);
-	}
-
-	return 0.f;
-}
-
-bool btMLCPSolver::solveMLCP(const btContactSolverInfo& infoGlobal)
-{
-	bool result = true;
-
-	if (m_A.rows() == 0)
-		return true;
-
-	//if using split impulse, we solve 2 separate (M)LCPs
-	if (infoGlobal.m_splitImpulse)
-	{
-		btMatrixXu Acopy = m_A;
-		btAlignedObjectArray<int> limitDependenciesCopy = m_limitDependencies;
-		//		printf("solve first LCP\n");
-		result = m_solver->solveMLCP(m_A, m_b, m_x, m_lo, m_hi, m_limitDependencies, infoGlobal.m_numIterations);
-		if (result)
-			result = m_solver->solveMLCP(Acopy, m_bSplit, m_xSplit, m_lo, m_hi, limitDependenciesCopy, infoGlobal.m_numIterations);
-	}
-	else
-	{
-		result = m_solver->solveMLCP(m_A, m_b, m_x, m_lo, m_hi, m_limitDependencies, infoGlobal.m_numIterations);
-	}
-	return result;
-}
-
-struct btJointNode
-{
-	int jointIndex;          // pointer to enclosing dxJoint object
-	int otherBodyIndex;      // *other* body this joint is connected to
-	int nextJointNodeIndex;  //-1 for null
-	int constraintRowIndex;
-};
-
-void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
-{
-	int numContactRows = interleaveContactAndFriction ? 3 : 1;
-
-	int numConstraintRows = m_allConstraintPtrArray.size();
-	int n = numConstraintRows;
-	{
-		BT_PROFILE("init b (rhs)");
-		m_b.resize(numConstraintRows);
-		m_bSplit.resize(numConstraintRows);
-		m_b.setZero();
-		m_bSplit.setZero();
-		for (int i = 0; i < numConstraintRows; i++)
-		{
-			btScalar jacDiag = m_allConstraintPtrArray[i]->m_jacDiagABInv;
-			if (!btFuzzyZero(jacDiag))
-			{
-				btScalar rhs = m_allConstraintPtrArray[i]->m_rhs;
-				btScalar rhsPenetration = m_allConstraintPtrArray[i]->m_rhsPenetration;
-				m_b[i] = rhs / jacDiag;
-				m_bSplit[i] = rhsPenetration / jacDiag;
-			}
-		}
-	}
-
-	//	btScalar* w = 0;
-	//	int nub = 0;
-
-	m_lo.resize(numConstraintRows);
-	m_hi.resize(numConstraintRows);
-
-	{
-		BT_PROFILE("init lo/ho");
-
-		for (int i = 0; i < numConstraintRows; i++)
-		{
-			if (0)  //m_limitDependencies[i]>=0)
-			{
-				m_lo[i] = -BT_INFINITY;
-				m_hi[i] = BT_INFINITY;
-			}
-			else
-			{
-				m_lo[i] = m_allConstraintPtrArray[i]->m_lowerLimit;
-				m_hi[i] = m_allConstraintPtrArray[i]->m_upperLimit;
-			}
-		}
-	}
-
-	//
-	int m = m_allConstraintPtrArray.size();
-
-	int numBodies = m_tmpSolverBodyPool.size();
-	btAlignedObjectArray<int> bodyJointNodeArray;
-	{
-		BT_PROFILE("bodyJointNodeArray.resize");
-		bodyJointNodeArray.resize(numBodies, -1);
-	}
-	btAlignedObjectArray<btJointNode> jointNodeArray;
-	{
-		BT_PROFILE("jointNodeArray.reserve");
-		jointNodeArray.reserve(2 * m_allConstraintPtrArray.size());
-	}
-
-	btMatrixXu& J3 = m_scratchJ3;
-	{
-		BT_PROFILE("J3.resize");
-		J3.resize(2 * m, 8);
-	}
-	btMatrixXu& JinvM3 = m_scratchJInvM3;
-	{
-		BT_PROFILE("JinvM3.resize/setZero");
-
-		JinvM3.resize(2 * m, 8);
-		JinvM3.setZero();
-		J3.setZero();
-	}
-	int cur = 0;
-	int rowOffset = 0;
-	btAlignedObjectArray<int>& ofs = m_scratchOfs;
-	{
-		BT_PROFILE("ofs resize");
-		ofs.resize(0);
-		ofs.resizeNoInitialize(m_allConstraintPtrArray.size());
-	}
-	{
-		BT_PROFILE("Compute J and JinvM");
-		int c = 0;
-
-		int numRows = 0;
-
-		for (int i = 0; i < m_allConstraintPtrArray.size(); i += numRows, c++)
-		{
-			ofs[c] = rowOffset;
-			int sbA = m_allConstraintPtrArray[i]->m_solverBodyIdA;
-			int sbB = m_allConstraintPtrArray[i]->m_solverBodyIdB;
-			btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
-			btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
-
-			numRows = i < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[c].m_numConstraintRows : numContactRows;
-			if (orgBodyA)
-			{
-				{
-					int slotA = -1;
-					//find free jointNode slot for sbA
-					slotA = jointNodeArray.size();
-					jointNodeArray.expand();  //NonInitializing();
-					int prevSlot = bodyJointNodeArray[sbA];
-					bodyJointNodeArray[sbA] = slotA;
-					jointNodeArray[slotA].nextJointNodeIndex = prevSlot;
-					jointNodeArray[slotA].jointIndex = c;
-					jointNodeArray[slotA].constraintRowIndex = i;
-					jointNodeArray[slotA].otherBodyIndex = orgBodyB ? sbB : -1;
-				}
-				for (int row = 0; row < numRows; row++, cur++)
-				{
-					btVector3 normalInvMass = m_allConstraintPtrArray[i + row]->m_contactNormal1 * orgBodyA->getInvMass();
-					btVector3 relPosCrossNormalInvInertia = m_allConstraintPtrArray[i + row]->m_relpos1CrossNormal * orgBodyA->getInvInertiaTensorWorld();
-
-					for (int r = 0; r < 3; r++)
-					{
-						J3.setElem(cur, r, m_allConstraintPtrArray[i + row]->m_contactNormal1[r]);
-						J3.setElem(cur, r + 4, m_allConstraintPtrArray[i + row]->m_relpos1CrossNormal[r]);
-						JinvM3.setElem(cur, r, normalInvMass[r]);
-						JinvM3.setElem(cur, r + 4, relPosCrossNormalInvInertia[r]);
-					}
-					J3.setElem(cur, 3, 0);
-					JinvM3.setElem(cur, 3, 0);
-					J3.setElem(cur, 7, 0);
-					JinvM3.setElem(cur, 7, 0);
-				}
-			}
-			else
-			{
-				cur += numRows;
-			}
-			if (orgBodyB)
-			{
-				{
-					int slotB = -1;
-					//find free jointNode slot for sbA
-					slotB = jointNodeArray.size();
-					jointNodeArray.expand();  //NonInitializing();
-					int prevSlot = bodyJointNodeArray[sbB];
-					bodyJointNodeArray[sbB] = slotB;
-					jointNodeArray[slotB].nextJointNodeIndex = prevSlot;
-					jointNodeArray[slotB].jointIndex = c;
-					jointNodeArray[slotB].otherBodyIndex = orgBodyA ? sbA : -1;
-					jointNodeArray[slotB].constraintRowIndex = i;
-				}
-
-				for (int row = 0; row < numRows; row++, cur++)
-				{
-					btVector3 normalInvMassB = m_allConstraintPtrArray[i + row]->m_contactNormal2 * orgBodyB->getInvMass();
-					btVector3 relPosInvInertiaB = m_allConstraintPtrArray[i + row]->m_relpos2CrossNormal * orgBodyB->getInvInertiaTensorWorld();
-
-					for (int r = 0; r < 3; r++)
-					{
-						J3.setElem(cur, r, m_allConstraintPtrArray[i + row]->m_contactNormal2[r]);
-						J3.setElem(cur, r + 4, m_allConstraintPtrArray[i + row]->m_relpos2CrossNormal[r]);
-						JinvM3.setElem(cur, r, normalInvMassB[r]);
-						JinvM3.setElem(cur, r + 4, relPosInvInertiaB[r]);
-					}
-					J3.setElem(cur, 3, 0);
-					JinvM3.setElem(cur, 3, 0);
-					J3.setElem(cur, 7, 0);
-					JinvM3.setElem(cur, 7, 0);
-				}
-			}
-			else
-			{
-				cur += numRows;
-			}
-			rowOffset += numRows;
-		}
-	}
-
-	//compute JinvM = J*invM.
-	const btScalar* JinvM = JinvM3.getBufferPointer();
-
-	const btScalar* Jptr = J3.getBufferPointer();
-	{
-		BT_PROFILE("m_A.resize");
-		m_A.resize(n, n);
-	}
-
-	{
-		BT_PROFILE("m_A.setZero");
-		m_A.setZero();
-	}
-	int c = 0;
-	{
-		int numRows = 0;
-		BT_PROFILE("Compute A");
-		for (int i = 0; i < m_allConstraintPtrArray.size(); i += numRows, c++)
-		{
-			int row__ = ofs[c];
-			int sbA = m_allConstraintPtrArray[i]->m_solverBodyIdA;
-			int sbB = m_allConstraintPtrArray[i]->m_solverBodyIdB;
-			//	btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
-			//	btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
-
-			numRows = i < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[c].m_numConstraintRows : numContactRows;
-
-			const btScalar* JinvMrow = JinvM + 2 * 8 * (size_t)row__;
-
-			{
-				int startJointNodeA = bodyJointNodeArray[sbA];
-				while (startJointNodeA >= 0)
-				{
-					int j0 = jointNodeArray[startJointNodeA].jointIndex;
-					int cr0 = jointNodeArray[startJointNodeA].constraintRowIndex;
-					if (j0 < c)
-					{
-						int numRowsOther = cr0 < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[j0].m_numConstraintRows : numContactRows;
-						size_t ofsother = (m_allConstraintPtrArray[cr0]->m_solverBodyIdB == sbA) ? 8 * numRowsOther : 0;
-						//printf("%d joint i %d and j0: %d: ",count++,i,j0);
-						m_A.multiplyAdd2_p8r(JinvMrow,
-											 Jptr + 2 * 8 * (size_t)ofs[j0] + ofsother, numRows, numRowsOther, row__, ofs[j0]);
-					}
-					startJointNodeA = jointNodeArray[startJointNodeA].nextJointNodeIndex;
-				}
-			}
-
-			{
-				int startJointNodeB = bodyJointNodeArray[sbB];
-				while (startJointNodeB >= 0)
-				{
-					int j1 = jointNodeArray[startJointNodeB].jointIndex;
-					int cj1 = jointNodeArray[startJointNodeB].constraintRowIndex;
-
-					if (j1 < c)
-					{
-						int numRowsOther = cj1 < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[j1].m_numConstraintRows : numContactRows;
-						size_t ofsother = (m_allConstraintPtrArray[cj1]->m_solverBodyIdB == sbB) ? 8 * numRowsOther : 0;
-						m_A.multiplyAdd2_p8r(JinvMrow + 8 * (size_t)numRows,
-											 Jptr + 2 * 8 * (size_t)ofs[j1] + ofsother, numRows, numRowsOther, row__, ofs[j1]);
-					}
-					startJointNodeB = jointNodeArray[startJointNodeB].nextJointNodeIndex;
-				}
-			}
-		}
-
-		{
-			BT_PROFILE("compute diagonal");
-			// compute diagonal blocks of m_A
-
-			int row__ = 0;
-			int numJointRows = m_allConstraintPtrArray.size();
-
-			int jj = 0;
-			for (; row__ < numJointRows;)
-			{
-				//int sbA = m_allConstraintPtrArray[row__]->m_solverBodyIdA;
-				int sbB = m_allConstraintPtrArray[row__]->m_solverBodyIdB;
-				//	btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
-				btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
-
-				const unsigned int infom = row__ < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[jj].m_numConstraintRows : numContactRows;
-
-				const btScalar* JinvMrow = JinvM + 2 * 8 * (size_t)row__;
-				const btScalar* Jrow = Jptr + 2 * 8 * (size_t)row__;
-				m_A.multiply2_p8r(JinvMrow, Jrow, infom, infom, row__, row__);
-				if (orgBodyB)
-				{
-					m_A.multiplyAdd2_p8r(JinvMrow + 8 * (size_t)infom, Jrow + 8 * (size_t)infom, infom, infom, row__, row__);
-				}
-				row__ += infom;
-				jj++;
-			}
-		}
-	}
-
-	if (1)
-	{
-		// add cfm to the diagonal of m_A
-		for (int i = 0; i < m_A.rows(); ++i)
-		{
-			m_A.setElem(i, i, m_A(i, i) + infoGlobal.m_globalCfm / infoGlobal.m_timeStep);
-		}
-	}
-
-	///fill the upper triangle of the matrix, to make it symmetric
-	{
-		BT_PROFILE("fill the upper triangle ");
-		m_A.copyLowerToUpperTriangle();
-	}
-
-	{
-		BT_PROFILE("resize/init x");
-		m_x.resize(numConstraintRows);
-		m_xSplit.resize(numConstraintRows);
-
-		if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
-		{
-			for (int i = 0; i < m_allConstraintPtrArray.size(); i++)
-			{
-				const btSolverConstraint& c = *m_allConstraintPtrArray[i];
-				m_x[i] = c.m_appliedImpulse;
-				m_xSplit[i] = c.m_appliedPushImpulse;
-			}
-		}
-		else
-		{
-			m_x.setZero();
-			m_xSplit.setZero();
-		}
-	}
-}
-
-void btMLCPSolver::createMLCP(const btContactSolverInfo& infoGlobal)
-{
-	int numBodies = this->m_tmpSolverBodyPool.size();
-	int numConstraintRows = m_allConstraintPtrArray.size();
-
-	m_b.resize(numConstraintRows);
-	if (infoGlobal.m_splitImpulse)
-		m_bSplit.resize(numConstraintRows);
-
-	m_bSplit.setZero();
-	m_b.setZero();
-
-	for (int i = 0; i < numConstraintRows; i++)
-	{
-		if (m_allConstraintPtrArray[i]->m_jacDiagABInv)
-		{
-			m_b[i] = m_allConstraintPtrArray[i]->m_rhs / m_allConstraintPtrArray[i]->m_jacDiagABInv;
-			if (infoGlobal.m_splitImpulse)
-				m_bSplit[i] = m_allConstraintPtrArray[i]->m_rhsPenetration / m_allConstraintPtrArray[i]->m_jacDiagABInv;
-		}
-	}
-
-	btMatrixXu& Minv = m_scratchMInv;
-	Minv.resize(6 * numBodies, 6 * numBodies);
-	Minv.setZero();
-	for (int i = 0; i < numBodies; i++)
-	{
-		const btSolverBody& rb = m_tmpSolverBodyPool[i];
-		const btVector3& invMass = rb.m_invMass;
-		setElem(Minv, i * 6 + 0, i * 6 + 0, invMass[0]);
-		setElem(Minv, i * 6 + 1, i * 6 + 1, invMass[1]);
-		setElem(Minv, i * 6 + 2, i * 6 + 2, invMass[2]);
-		btRigidBody* orgBody = m_tmpSolverBodyPool[i].m_originalBody;
-
-		for (int r = 0; r < 3; r++)
-			for (int c = 0; c < 3; c++)
-				setElem(Minv, i * 6 + 3 + r, i * 6 + 3 + c, orgBody ? orgBody->getInvInertiaTensorWorld()[r][c] : 0);
-	}
-
-	btMatrixXu& J = m_scratchJ;
-	J.resize(numConstraintRows, 6 * numBodies);
-	J.setZero();
-
-	m_lo.resize(numConstraintRows);
-	m_hi.resize(numConstraintRows);
-
-	for (int i = 0; i < numConstraintRows; i++)
-	{
-		m_lo[i] = m_allConstraintPtrArray[i]->m_lowerLimit;
-		m_hi[i] = m_allConstraintPtrArray[i]->m_upperLimit;
-
-		int bodyIndex0 = m_allConstraintPtrArray[i]->m_solverBodyIdA;
-		int bodyIndex1 = m_allConstraintPtrArray[i]->m_solverBodyIdB;
-		if (m_tmpSolverBodyPool[bodyIndex0].m_originalBody)
-		{
-			setElem(J, i, 6 * bodyIndex0 + 0, m_allConstraintPtrArray[i]->m_contactNormal1[0]);
-			setElem(J, i, 6 * bodyIndex0 + 1, m_allConstraintPtrArray[i]->m_contactNormal1[1]);
-			setElem(J, i, 6 * bodyIndex0 + 2, m_allConstraintPtrArray[i]->m_contactNormal1[2]);
-			setElem(J, i, 6 * bodyIndex0 + 3, m_allConstraintPtrArray[i]->m_relpos1CrossNormal[0]);
-			setElem(J, i, 6 * bodyIndex0 + 4, m_allConstraintPtrArray[i]->m_relpos1CrossNormal[1]);
-			setElem(J, i, 6 * bodyIndex0 + 5, m_allConstraintPtrArray[i]->m_relpos1CrossNormal[2]);
-		}
-		if (m_tmpSolverBodyPool[bodyIndex1].m_originalBody)
-		{
-			setElem(J, i, 6 * bodyIndex1 + 0, m_allConstraintPtrArray[i]->m_contactNormal2[0]);
-			setElem(J, i, 6 * bodyIndex1 + 1, m_allConstraintPtrArray[i]->m_contactNormal2[1]);
-			setElem(J, i, 6 * bodyIndex1 + 2, m_allConstraintPtrArray[i]->m_contactNormal2[2]);
-			setElem(J, i, 6 * bodyIndex1 + 3, m_allConstraintPtrArray[i]->m_relpos2CrossNormal[0]);
-			setElem(J, i, 6 * bodyIndex1 + 4, m_allConstraintPtrArray[i]->m_relpos2CrossNormal[1]);
-			setElem(J, i, 6 * bodyIndex1 + 5, m_allConstraintPtrArray[i]->m_relpos2CrossNormal[2]);
-		}
-	}
-
-	btMatrixXu& J_transpose = m_scratchJTranspose;
-	J_transpose = J.transpose();
-
-	btMatrixXu& tmp = m_scratchTmp;
-	//Minv.printMatrix("Minv=");
-	{
-		{
-			BT_PROFILE("J*Minv");
-			tmp = J * Minv;
-		}
-		{
-			BT_PROFILE("J*tmp");
-			m_A = tmp * J_transpose;
-		}
-	}
-	//J.printMatrix("J");
-	if (1)
-	{
-		// add cfm to the diagonal of m_A
-		for (int i = 0; i < m_A.rows(); ++i)
-		{
-			m_A.setElem(i, i, m_A(i, i) + infoGlobal.m_globalCfm / infoGlobal.m_timeStep);
-		}
-	}
-
-	m_x.resize(numConstraintRows);
-	if (infoGlobal.m_splitImpulse)
-		m_xSplit.resize(numConstraintRows);
-	//	m_x.setZero();
-
-	for (int i = 0; i < m_allConstraintPtrArray.size(); i++)
-	{
-		const btSolverConstraint& c = *m_allConstraintPtrArray[i];
-		m_x[i] = c.m_appliedImpulse;
-		if (infoGlobal.m_splitImpulse)
-			m_xSplit[i] = c.m_appliedPushImpulse;
-	}
-}
-
-btScalar btMLCPSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
-{
-	bool result = true;
-	{
-		BT_PROFILE("solveMLCP");
-		//		printf("m_A(%d,%d)\n", m_A.rows(),m_A.cols());
-		result = solveMLCP(infoGlobal);
-	}
-
-	//check if solution is valid, and otherwise fallback to btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations
-	if (result)
-	{
-		BT_PROFILE("process MLCP results");
-		for (int i = 0; i < m_allConstraintPtrArray.size(); i++)
-		{
-			{
-				btSolverConstraint& c = *m_allConstraintPtrArray[i];
-				int sbA = c.m_solverBodyIdA;
-				int sbB = c.m_solverBodyIdB;
-				//btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
-				//	btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
-
-				btSolverBody& solverBodyA = m_tmpSolverBodyPool[sbA];
-				btSolverBody& solverBodyB = m_tmpSolverBodyPool[sbB];
-
-				{
-					btScalar deltaImpulse = m_x[i] - c.m_appliedImpulse;
-					c.m_appliedImpulse = m_x[i];
-					solverBodyA.internalApplyImpulse(c.m_contactNormal1 * solverBodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
-					solverBodyB.internalApplyImpulse(c.m_contactNormal2 * solverBodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
-				}
-
-				if (infoGlobal.m_splitImpulse)
-				{
-					btScalar deltaImpulse = m_xSplit[i] - c.m_appliedPushImpulse;
-					solverBodyA.internalApplyPushImpulse(c.m_contactNormal1 * solverBodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
-					solverBodyB.internalApplyPushImpulse(c.m_contactNormal2 * solverBodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
-					c.m_appliedPushImpulse = m_xSplit[i];
-				}
-			}
-		}
-	}
-	else
-	{
-		//	printf("m_fallback = %d\n",m_fallback);
-		m_fallback++;
-		btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
-	}
-
-	return 0.f;
-}
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.h
deleted file mode 100644
index 510ae59e58..0000000000
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.h
+++ /dev/null
@@ -1,88 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-///original version written by Erwin Coumans, October 2013
-
-#ifndef BT_MLCP_SOLVER_H
-#define BT_MLCP_SOLVER_H
-
-#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
-#include "LinearMath/btMatrixX.h"
-#include "BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h"
-
-class btMLCPSolver : public btSequentialImpulseConstraintSolver
-{
-protected:
-	btMatrixXu m_A;
-	btVectorXu m_b;
-	btVectorXu m_x;
-	btVectorXu m_lo;
-	btVectorXu m_hi;
-
-	///when using 'split impulse' we solve two separate (M)LCPs
-	btVectorXu m_bSplit;
-	btVectorXu m_xSplit;
-	btVectorXu m_bSplit1;
-	btVectorXu m_xSplit2;
-
-	btAlignedObjectArray<int> m_limitDependencies;
-	btAlignedObjectArray<btSolverConstraint*> m_allConstraintPtrArray;
-	btMLCPSolverInterface* m_solver;
-	int m_fallback;
-
-	/// The following scratch variables are not stateful -- contents are cleared prior to each use.
-	/// They are only cached here to avoid extra memory allocations and deallocations and to ensure
-	/// that multiple instances of the solver can be run in parallel.
-	btMatrixXu m_scratchJ3;
-	btMatrixXu m_scratchJInvM3;
-	btAlignedObjectArray<int> m_scratchOfs;
-	btMatrixXu m_scratchMInv;
-	btMatrixXu m_scratchJ;
-	btMatrixXu m_scratchJTranspose;
-	btMatrixXu m_scratchTmp;
-
-	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
-	virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
-
-	virtual void createMLCP(const btContactSolverInfo& infoGlobal);
-	virtual void createMLCPFast(const btContactSolverInfo& infoGlobal);
-
-	//return true is it solves the problem successfully
-	virtual bool solveMLCP(const btContactSolverInfo& infoGlobal);
-
-public:
-	btMLCPSolver(btMLCPSolverInterface* solver);
-	virtual ~btMLCPSolver();
-
-	void setMLCPSolver(btMLCPSolverInterface* solver)
-	{
-		m_solver = solver;
-	}
-
-	int getNumFallbacks() const
-	{
-		return m_fallback;
-	}
-	void setNumFallbacks(int num)
-	{
-		m_fallback = num;
-	}
-
-	virtual btConstraintSolverType getSolverType() const
-	{
-		return BT_MLCP_SOLVER;
-	}
-};
-
-#endif  //BT_MLCP_SOLVER_H
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h
deleted file mode 100644
index 6b0465b88d..0000000000
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-///original version written by Erwin Coumans, October 2013
-
-#ifndef BT_MLCP_SOLVER_INTERFACE_H
-#define BT_MLCP_SOLVER_INTERFACE_H
-
-#include "LinearMath/btMatrixX.h"
-
-class btMLCPSolverInterface
-{
-public:
-	virtual ~btMLCPSolverInterface()
-	{
-	}
-
-	//return true is it solves the problem successfully
-	virtual bool solveMLCP(const btMatrixXu& A, const btVectorXu& b, btVectorXu& x, const btVectorXu& lo, const btVectorXu& hi, const btAlignedObjectArray<int>& limitDependency, int numIterations, bool useSparsity = true) = 0;
-};
-
-#endif  //BT_MLCP_SOLVER_INTERFACE_H
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btPATHSolver.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btPATHSolver.h
deleted file mode 100644
index 7f8eec3f6e..0000000000
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btPATHSolver.h
+++ /dev/null
@@ -1,142 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-///original version written by Erwin Coumans, October 2013
-
-#ifndef BT_PATH_SOLVER_H
-#define BT_PATH_SOLVER_H
-
-//#define BT_USE_PATH
-#ifdef BT_USE_PATH
-
-extern "C"
-{
-#include "PATH/SimpleLCP.h"
-#include "PATH/License.h"
-#include "PATH/Error_Interface.h"
-};
-void __stdcall MyError(Void *data, Char *msg)
-{
-	printf("Path Error: %s\n", msg);
-}
-void __stdcall MyWarning(Void *data, Char *msg)
-{
-	printf("Path Warning: %s\n", msg);
-}
-
-Error_Interface e;
-
-#include "btMLCPSolverInterface.h"
-#include "Dantzig/lcp.h"
-
-class btPathSolver : public btMLCPSolverInterface
-{
-public:
-	btPathSolver()
-	{
-		License_SetString("2069810742&Courtesy_License&&&USR&2013&14_12_2011&1000&PATH&GEN&31_12_2013&0_0_0&0&0_0");
-		e.error_data = 0;
-		e.warning = MyWarning;
-		e.error = MyError;
-		Error_SetInterface(&e);
-	}
-
-	virtual bool solveMLCP(const btMatrixXu &A, const btVectorXu &b, btVectorXu &x, const btVectorXu &lo, const btVectorXu &hi, const btAlignedObjectArray<int> &limitDependency, int numIterations, bool useSparsity = true)
-	{
-		MCP_Termination status;
-
-		int numVariables = b.rows();
-		if (0 == numVariables)
-			return true;
-
-		/*	 - variables - the number of variables in the problem
-			- m_nnz - the number of nonzeros in the M matrix
-			- m_i - a vector of size m_nnz containing the row indices for M
-			- m_j - a vector of size m_nnz containing the column indices for M
-			- m_ij - a vector of size m_nnz containing the data for M
-			- q - a vector of size variables
-			- lb - a vector of size variables containing the lower bounds on x
-			- ub - a vector of size variables containing the upper bounds on x
-			*/
-		btAlignedObjectArray<double> values;
-		btAlignedObjectArray<int> rowIndices;
-		btAlignedObjectArray<int> colIndices;
-
-		for (int i = 0; i < A.rows(); i++)
-		{
-			for (int j = 0; j < A.cols(); j++)
-			{
-				if (A(i, j) != 0.f)
-				{
-					//add 1, because Path starts at 1, instead of 0
-					rowIndices.push_back(i + 1);
-					colIndices.push_back(j + 1);
-					values.push_back(A(i, j));
-				}
-			}
-		}
-		int numNonZero = rowIndices.size();
-		btAlignedObjectArray<double> zResult;
-		zResult.resize(numVariables);
-		btAlignedObjectArray<double> rhs;
-		btAlignedObjectArray<double> upperBounds;
-		btAlignedObjectArray<double> lowerBounds;
-		for (int i = 0; i < numVariables; i++)
-		{
-			upperBounds.push_back(hi[i]);
-			lowerBounds.push_back(lo[i]);
-			rhs.push_back(-b[i]);
-		}
-
-		SimpleLCP(numVariables, numNonZero, &rowIndices[0], &colIndices[0], &values[0], &rhs[0], &lowerBounds[0], &upperBounds[0], &status, &zResult[0]);
-
-		if (status != MCP_Solved)
-		{
-			static const char *gReturnMsgs[] = {
-				"Invalid return",
-				"MCP_Solved: The problem was solved",
-				"MCP_NoProgress: A stationary point was found",
-				"MCP_MajorIterationLimit: Major iteration limit met",
-				"MCP_MinorIterationLimit: Cumulative minor iteration limit met",
-				"MCP_TimeLimit: Ran out of time",
-				"MCP_UserInterrupt: Control-C, typically",
-				"MCP_BoundError: Problem has a bound error",
-				"MCP_DomainError: Could not find starting point",
-				"MCP_Infeasible: Problem has no solution",
-				"MCP_Error: An error occurred within the code",
-				"MCP_LicenseError: License could not be found",
-				"MCP_OK"};
-
-			printf("ERROR: The PATH MCP solver failed: %s\n", gReturnMsgs[(unsigned int)status]);  // << std::endl;
-			printf("using Projected Gauss Seidel fallback\n");
-
-			return false;
-		}
-		else
-		{
-			for (int i = 0; i < numVariables; i++)
-			{
-				x[i] = zResult[i];
-				//check for #NAN
-				if (x[i] != zResult[i])
-					return false;
-			}
-			return true;
-		}
-	}
-};
-
-#endif  //BT_USE_PATH
-
-#endif  //BT_PATH_SOLVER_H
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h
deleted file mode 100644
index c3f4ec3997..0000000000
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-///original version written by Erwin Coumans, October 2013
-
-#ifndef BT_SOLVE_PROJECTED_GAUSS_SEIDEL_H
-#define BT_SOLVE_PROJECTED_GAUSS_SEIDEL_H
-
-#include "btMLCPSolverInterface.h"
-
-///This solver is mainly for debug/learning purposes: it is functionally equivalent to the btSequentialImpulseConstraintSolver solver, but much slower (it builds the full LCP matrix)
-class btSolveProjectedGaussSeidel : public btMLCPSolverInterface
-{
-public:
-	btScalar m_leastSquaresResidualThreshold;
-	btScalar m_leastSquaresResidual;
-
-	btSolveProjectedGaussSeidel()
-		: m_leastSquaresResidualThreshold(0),
-		  m_leastSquaresResidual(0)
-	{
-	}
-
-	virtual bool solveMLCP(const btMatrixXu& A, const btVectorXu& b, btVectorXu& x, const btVectorXu& lo, const btVectorXu& hi, const btAlignedObjectArray<int>& limitDependency, int numIterations, bool useSparsity = true)
-	{
-		if (!A.rows())
-			return true;
-		//the A matrix is sparse, so compute the non-zero elements
-		A.rowComputeNonZeroElements();
-
-		//A is a m-n matrix, m rows, n columns
-		btAssert(A.rows() == b.rows());
-
-		int i, j, numRows = A.rows();
-
-		btScalar delta;
-
-		for (int k = 0; k < numIterations; k++)
-		{
-			m_leastSquaresResidual = 0.f;
-			for (i = 0; i < numRows; i++)
-			{
-				delta = 0.0f;
-				if (useSparsity)
-				{
-					for (int h = 0; h < A.m_rowNonZeroElements1[i].size(); h++)
-					{
-						j = A.m_rowNonZeroElements1[i][h];
-						if (j != i)  //skip main diagonal
-						{
-							delta += A(i, j) * x[j];
-						}
-					}
-				}
-				else
-				{
-					for (j = 0; j < i; j++)
-						delta += A(i, j) * x[j];
-					for (j = i + 1; j < numRows; j++)
-						delta += A(i, j) * x[j];
-				}
-
-				btScalar aDiag = A(i, i);
-				btScalar xOld = x[i];
-				x[i] = (b[i] - delta) / aDiag;
-				btScalar s = 1.f;
-
-				if (limitDependency[i] >= 0)
-				{
-					s = x[limitDependency[i]];
-					if (s < 0)
-						s = 1;
-				}
-
-				if (x[i] < lo[i] * s)
-					x[i] = lo[i] * s;
-				if (x[i] > hi[i] * s)
-					x[i] = hi[i] * s;
-				btScalar diff = x[i] - xOld;
-				m_leastSquaresResidual += diff * diff;
-			}
-
-			btScalar eps = m_leastSquaresResidualThreshold;
-			if ((m_leastSquaresResidual < eps) || (k >= (numIterations - 1)))
-			{
-#ifdef VERBOSE_PRINTF_RESIDUAL
-				printf("totalLenSqr = %f at iteration #%d\n", m_leastSquaresResidual, k);
-#endif
-				break;
-			}
-		}
-		return true;
-	}
-};
-
-#endif  //BT_SOLVE_PROJECTED_GAUSS_SEIDEL_H
diff --git a/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp
deleted file mode 100644
index fc70d8e637..0000000000
--- a/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp
+++ /dev/null
@@ -1,708 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-
-#include "LinearMath/btVector3.h"
-#include "btRaycastVehicle.h"
-
-#include "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btJacobianEntry.h"
-#include "LinearMath/btQuaternion.h"
-#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
-#include "btVehicleRaycaster.h"
-#include "btWheelInfo.h"
-#include "LinearMath/btMinMax.h"
-#include "LinearMath/btIDebugDraw.h"
-#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
-
-#define ROLLING_INFLUENCE_FIX
-
-btRigidBody& btActionInterface::getFixedBody()
-{
-	static btRigidBody s_fixed(0, 0, 0);
-	s_fixed.setMassProps(btScalar(0.), btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
-	return s_fixed;
-}
-
-btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning, btRigidBody* chassis, btVehicleRaycaster* raycaster)
-	: m_vehicleRaycaster(raycaster),
-	  m_pitchControl(btScalar(0.))
-{
-	m_chassisBody = chassis;
-	m_indexRightAxis = 0;
-	m_indexUpAxis = 2;
-	m_indexForwardAxis = 1;
-	defaultInit(tuning);
-}
-
-void btRaycastVehicle::defaultInit(const btVehicleTuning& tuning)
-{
-	(void)tuning;
-	m_currentVehicleSpeedKmHour = btScalar(0.);
-	m_steeringValue = btScalar(0.);
-}
-
-btRaycastVehicle::~btRaycastVehicle()
-{
-}
-
-//
-// basically most of the code is general for 2 or 4 wheel vehicles, but some of it needs to be reviewed
-//
-btWheelInfo& btRaycastVehicle::addWheel(const btVector3& connectionPointCS, const btVector3& wheelDirectionCS0, const btVector3& wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius, const btVehicleTuning& tuning, bool isFrontWheel)
-{
-	btWheelInfoConstructionInfo ci;
-
-	ci.m_chassisConnectionCS = connectionPointCS;
-	ci.m_wheelDirectionCS = wheelDirectionCS0;
-	ci.m_wheelAxleCS = wheelAxleCS;
-	ci.m_suspensionRestLength = suspensionRestLength;
-	ci.m_wheelRadius = wheelRadius;
-	ci.m_suspensionStiffness = tuning.m_suspensionStiffness;
-	ci.m_wheelsDampingCompression = tuning.m_suspensionCompression;
-	ci.m_wheelsDampingRelaxation = tuning.m_suspensionDamping;
-	ci.m_frictionSlip = tuning.m_frictionSlip;
-	ci.m_bIsFrontWheel = isFrontWheel;
-	ci.m_maxSuspensionTravelCm = tuning.m_maxSuspensionTravelCm;
-	ci.m_maxSuspensionForce = tuning.m_maxSuspensionForce;
-
-	m_wheelInfo.push_back(btWheelInfo(ci));
-
-	btWheelInfo& wheel = m_wheelInfo[getNumWheels() - 1];
-
-	updateWheelTransformsWS(wheel, false);
-	updateWheelTransform(getNumWheels() - 1, false);
-	return wheel;
-}
-
-const btTransform& btRaycastVehicle::getWheelTransformWS(int wheelIndex) const
-{
-	btAssert(wheelIndex < getNumWheels());
-	const btWheelInfo& wheel = m_wheelInfo[wheelIndex];
-	return wheel.m_worldTransform;
-}
-
-void btRaycastVehicle::updateWheelTransform(int wheelIndex, bool interpolatedTransform)
-{
-	btWheelInfo& wheel = m_wheelInfo[wheelIndex];
-	updateWheelTransformsWS(wheel, interpolatedTransform);
-	btVector3 up = -wheel.m_raycastInfo.m_wheelDirectionWS;
-	const btVector3& right = wheel.m_raycastInfo.m_wheelAxleWS;
-	btVector3 fwd = up.cross(right);
-	fwd = fwd.normalize();
-	//	up = right.cross(fwd);
-	//	up.normalize();
-
-	//rotate around steering over de wheelAxleWS
-	btScalar steering = wheel.m_steering;
-
-	btQuaternion steeringOrn(up, steering);  //wheel.m_steering);
-	btMatrix3x3 steeringMat(steeringOrn);
-
-	btQuaternion rotatingOrn(right, -wheel.m_rotation);
-	btMatrix3x3 rotatingMat(rotatingOrn);
-
-	btMatrix3x3 basis2;
-	basis2[0][m_indexRightAxis] = -right[0];
-	basis2[1][m_indexRightAxis] = -right[1];
-	basis2[2][m_indexRightAxis] = -right[2];
-
-	basis2[0][m_indexUpAxis] = up[0];
-	basis2[1][m_indexUpAxis] = up[1];
-	basis2[2][m_indexUpAxis] = up[2];
-
-	basis2[0][m_indexForwardAxis] = fwd[0];
-	basis2[1][m_indexForwardAxis] = fwd[1];
-	basis2[2][m_indexForwardAxis] = fwd[2];
-
-	wheel.m_worldTransform.setBasis(steeringMat * rotatingMat * basis2);
-	wheel.m_worldTransform.setOrigin(
-		wheel.m_raycastInfo.m_hardPointWS + wheel.m_raycastInfo.m_wheelDirectionWS * wheel.m_raycastInfo.m_suspensionLength);
-}
-
-void btRaycastVehicle::resetSuspension()
-{
-	int i;
-	for (i = 0; i < m_wheelInfo.size(); i++)
-	{
-		btWheelInfo& wheel = m_wheelInfo[i];
-		wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
-		wheel.m_suspensionRelativeVelocity = btScalar(0.0);
-
-		wheel.m_raycastInfo.m_contactNormalWS = -wheel.m_raycastInfo.m_wheelDirectionWS;
-		//wheel_info.setContactFriction(btScalar(0.0));
-		wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
-	}
-}
-
-void btRaycastVehicle::updateWheelTransformsWS(btWheelInfo& wheel, bool interpolatedTransform)
-{
-	wheel.m_raycastInfo.m_isInContact = false;
-
-	btTransform chassisTrans = getChassisWorldTransform();
-	if (interpolatedTransform && (getRigidBody()->getMotionState()))
-	{
-		getRigidBody()->getMotionState()->getWorldTransform(chassisTrans);
-	}
-
-	wheel.m_raycastInfo.m_hardPointWS = chassisTrans(wheel.m_chassisConnectionPointCS);
-	wheel.m_raycastInfo.m_wheelDirectionWS = chassisTrans.getBasis() * wheel.m_wheelDirectionCS;
-	wheel.m_raycastInfo.m_wheelAxleWS = chassisTrans.getBasis() * wheel.m_wheelAxleCS;
-}
-
-btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
-{
-	updateWheelTransformsWS(wheel, false);
-
-	btScalar depth = -1;
-
-	btScalar raylen = wheel.getSuspensionRestLength() + wheel.m_wheelsRadius;
-
-	btVector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen);
-	const btVector3& source = wheel.m_raycastInfo.m_hardPointWS;
-	wheel.m_raycastInfo.m_contactPointWS = source + rayvector;
-	const btVector3& target = wheel.m_raycastInfo.m_contactPointWS;
-
-	btScalar param = btScalar(0.);
-
-	btVehicleRaycaster::btVehicleRaycasterResult rayResults;
-
-	btAssert(m_vehicleRaycaster);
-
-	void* object = m_vehicleRaycaster->castRay(source, target, rayResults);
-
-	wheel.m_raycastInfo.m_groundObject = 0;
-
-	if (object)
-	{
-		param = rayResults.m_distFraction;
-		depth = raylen * rayResults.m_distFraction;
-		wheel.m_raycastInfo.m_contactNormalWS = rayResults.m_hitNormalInWorld;
-		wheel.m_raycastInfo.m_isInContact = true;
-
-		wheel.m_raycastInfo.m_groundObject = &getFixedBody();  ///@todo for driving on dynamic/movable objects!;
-		//wheel.m_raycastInfo.m_groundObject = object;
-
-		btScalar hitDistance = param * raylen;
-		wheel.m_raycastInfo.m_suspensionLength = hitDistance - wheel.m_wheelsRadius;
-		//clamp on max suspension travel
-
-		btScalar minSuspensionLength = wheel.getSuspensionRestLength() - wheel.m_maxSuspensionTravelCm * btScalar(0.01);
-		btScalar maxSuspensionLength = wheel.getSuspensionRestLength() + wheel.m_maxSuspensionTravelCm * btScalar(0.01);
-		if (wheel.m_raycastInfo.m_suspensionLength < minSuspensionLength)
-		{
-			wheel.m_raycastInfo.m_suspensionLength = minSuspensionLength;
-		}
-		if (wheel.m_raycastInfo.m_suspensionLength > maxSuspensionLength)
-		{
-			wheel.m_raycastInfo.m_suspensionLength = maxSuspensionLength;
-		}
-
-		wheel.m_raycastInfo.m_contactPointWS = rayResults.m_hitPointInWorld;
-
-		btScalar denominator = wheel.m_raycastInfo.m_contactNormalWS.dot(wheel.m_raycastInfo.m_wheelDirectionWS);
-
-		btVector3 chassis_velocity_at_contactPoint;
-		btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS - getRigidBody()->getCenterOfMassPosition();
-
-		chassis_velocity_at_contactPoint = getRigidBody()->getVelocityInLocalPoint(relpos);
-
-		btScalar projVel = wheel.m_raycastInfo.m_contactNormalWS.dot(chassis_velocity_at_contactPoint);
-
-		if (denominator >= btScalar(-0.1))
-		{
-			wheel.m_suspensionRelativeVelocity = btScalar(0.0);
-			wheel.m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1);
-		}
-		else
-		{
-			btScalar inv = btScalar(-1.) / denominator;
-			wheel.m_suspensionRelativeVelocity = projVel * inv;
-			wheel.m_clippedInvContactDotSuspension = inv;
-		}
-	}
-	else
-	{
-		//put wheel info as in rest position
-		wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
-		wheel.m_suspensionRelativeVelocity = btScalar(0.0);
-		wheel.m_raycastInfo.m_contactNormalWS = -wheel.m_raycastInfo.m_wheelDirectionWS;
-		wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
-	}
-
-	return depth;
-}
-
-const btTransform& btRaycastVehicle::getChassisWorldTransform() const
-{
-	/*if (getRigidBody()->getMotionState())
-	{
-		btTransform chassisWorldTrans;
-		getRigidBody()->getMotionState()->getWorldTransform(chassisWorldTrans);
-		return chassisWorldTrans;
-	}
-	*/
-
-	return getRigidBody()->getCenterOfMassTransform();
-}
-
-void btRaycastVehicle::updateVehicle(btScalar step)
-{
-	{
-		for (int i = 0; i < getNumWheels(); i++)
-		{
-			updateWheelTransform(i, false);
-		}
-	}
-
-	m_currentVehicleSpeedKmHour = btScalar(3.6) * getRigidBody()->getLinearVelocity().length();
-
-	const btTransform& chassisTrans = getChassisWorldTransform();
-
-	btVector3 forwardW(
-		chassisTrans.getBasis()[0][m_indexForwardAxis],
-		chassisTrans.getBasis()[1][m_indexForwardAxis],
-		chassisTrans.getBasis()[2][m_indexForwardAxis]);
-
-	if (forwardW.dot(getRigidBody()->getLinearVelocity()) < btScalar(0.))
-	{
-		m_currentVehicleSpeedKmHour *= btScalar(-1.);
-	}
-
-	//
-	// simulate suspension
-	//
-
-	int i = 0;
-	for (i = 0; i < m_wheelInfo.size(); i++)
-	{
-		//btScalar depth;
-		//depth =
-		rayCast(m_wheelInfo[i]);
-	}
-
-	updateSuspension(step);
-
-	for (i = 0; i < m_wheelInfo.size(); i++)
-	{
-		//apply suspension force
-		btWheelInfo& wheel = m_wheelInfo[i];
-
-		btScalar suspensionForce = wheel.m_wheelsSuspensionForce;
-
-		if (suspensionForce > wheel.m_maxSuspensionForce)
-		{
-			suspensionForce = wheel.m_maxSuspensionForce;
-		}
-		btVector3 impulse = wheel.m_raycastInfo.m_contactNormalWS * suspensionForce * step;
-		btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS - getRigidBody()->getCenterOfMassPosition();
-
-		getRigidBody()->applyImpulse(impulse, relpos);
-	}
-
-	updateFriction(step);
-
-	for (i = 0; i < m_wheelInfo.size(); i++)
-	{
-		btWheelInfo& wheel = m_wheelInfo[i];
-		btVector3 relpos = wheel.m_raycastInfo.m_hardPointWS - getRigidBody()->getCenterOfMassPosition();
-		btVector3 vel = getRigidBody()->getVelocityInLocalPoint(relpos);
-
-		if (wheel.m_raycastInfo.m_isInContact)
-		{
-			const btTransform& chassisWorldTransform = getChassisWorldTransform();
-
-			btVector3 fwd(
-				chassisWorldTransform.getBasis()[0][m_indexForwardAxis],
-				chassisWorldTransform.getBasis()[1][m_indexForwardAxis],
-				chassisWorldTransform.getBasis()[2][m_indexForwardAxis]);
-
-			btScalar proj = fwd.dot(wheel.m_raycastInfo.m_contactNormalWS);
-			fwd -= wheel.m_raycastInfo.m_contactNormalWS * proj;
-
-			btScalar proj2 = fwd.dot(vel);
-
-			wheel.m_deltaRotation = (proj2 * step) / (wheel.m_wheelsRadius);
-			wheel.m_rotation += wheel.m_deltaRotation;
-		}
-		else
-		{
-			wheel.m_rotation += wheel.m_deltaRotation;
-		}
-
-		wheel.m_deltaRotation *= btScalar(0.99);  //damping of rotation when not in contact
-	}
-}
-
-void btRaycastVehicle::setSteeringValue(btScalar steering, int wheel)
-{
-	btAssert(wheel >= 0 && wheel < getNumWheels());
-
-	btWheelInfo& wheelInfo = getWheelInfo(wheel);
-	wheelInfo.m_steering = steering;
-}
-
-btScalar btRaycastVehicle::getSteeringValue(int wheel) const
-{
-	return getWheelInfo(wheel).m_steering;
-}
-
-void btRaycastVehicle::applyEngineForce(btScalar force, int wheel)
-{
-	btAssert(wheel >= 0 && wheel < getNumWheels());
-	btWheelInfo& wheelInfo = getWheelInfo(wheel);
-	wheelInfo.m_engineForce = force;
-}
-
-const btWheelInfo& btRaycastVehicle::getWheelInfo(int index) const
-{
-	btAssert((index >= 0) && (index < getNumWheels()));
-
-	return m_wheelInfo[index];
-}
-
-btWheelInfo& btRaycastVehicle::getWheelInfo(int index)
-{
-	btAssert((index >= 0) && (index < getNumWheels()));
-
-	return m_wheelInfo[index];
-}
-
-void btRaycastVehicle::setBrake(btScalar brake, int wheelIndex)
-{
-	btAssert((wheelIndex >= 0) && (wheelIndex < getNumWheels()));
-	getWheelInfo(wheelIndex).m_brake = brake;
-}
-
-void btRaycastVehicle::updateSuspension(btScalar deltaTime)
-{
-	(void)deltaTime;
-
-	btScalar chassisMass = btScalar(1.) / m_chassisBody->getInvMass();
-
-	for (int w_it = 0; w_it < getNumWheels(); w_it++)
-	{
-		btWheelInfo& wheel_info = m_wheelInfo[w_it];
-
-		if (wheel_info.m_raycastInfo.m_isInContact)
-		{
-			btScalar force;
-			//	Spring
-			{
-				btScalar susp_length = wheel_info.getSuspensionRestLength();
-				btScalar current_length = wheel_info.m_raycastInfo.m_suspensionLength;
-
-				btScalar length_diff = (susp_length - current_length);
-
-				force = wheel_info.m_suspensionStiffness * length_diff * wheel_info.m_clippedInvContactDotSuspension;
-			}
-
-			// Damper
-			{
-				btScalar projected_rel_vel = wheel_info.m_suspensionRelativeVelocity;
-				{
-					btScalar susp_damping;
-					if (projected_rel_vel < btScalar(0.0))
-					{
-						susp_damping = wheel_info.m_wheelsDampingCompression;
-					}
-					else
-					{
-						susp_damping = wheel_info.m_wheelsDampingRelaxation;
-					}
-					force -= susp_damping * projected_rel_vel;
-				}
-			}
-
-			// RESULT
-			wheel_info.m_wheelsSuspensionForce = force * chassisMass;
-			if (wheel_info.m_wheelsSuspensionForce < btScalar(0.))
-			{
-				wheel_info.m_wheelsSuspensionForce = btScalar(0.);
-			}
-		}
-		else
-		{
-			wheel_info.m_wheelsSuspensionForce = btScalar(0.0);
-		}
-	}
-}
-
-struct btWheelContactPoint
-{
-	btRigidBody* m_body0;
-	btRigidBody* m_body1;
-	btVector3 m_frictionPositionWorld;
-	btVector3 m_frictionDirectionWorld;
-	btScalar m_jacDiagABInv;
-	btScalar m_maxImpulse;
-
-	btWheelContactPoint(btRigidBody* body0, btRigidBody* body1, const btVector3& frictionPosWorld, const btVector3& frictionDirectionWorld, btScalar maxImpulse)
-		: m_body0(body0),
-		  m_body1(body1),
-		  m_frictionPositionWorld(frictionPosWorld),
-		  m_frictionDirectionWorld(frictionDirectionWorld),
-		  m_maxImpulse(maxImpulse)
-	{
-		btScalar denom0 = body0->computeImpulseDenominator(frictionPosWorld, frictionDirectionWorld);
-		btScalar denom1 = body1->computeImpulseDenominator(frictionPosWorld, frictionDirectionWorld);
-		btScalar relaxation = 1.f;
-		m_jacDiagABInv = relaxation / (denom0 + denom1);
-	}
-};
-
-btScalar calcRollingFriction(btWheelContactPoint& contactPoint, int numWheelsOnGround);
-btScalar calcRollingFriction(btWheelContactPoint& contactPoint, int numWheelsOnGround)
-{
-	btScalar j1 = 0.f;
-
-	const btVector3& contactPosWorld = contactPoint.m_frictionPositionWorld;
-
-	btVector3 rel_pos1 = contactPosWorld - contactPoint.m_body0->getCenterOfMassPosition();
-	btVector3 rel_pos2 = contactPosWorld - contactPoint.m_body1->getCenterOfMassPosition();
-
-	btScalar maxImpulse = contactPoint.m_maxImpulse;
-
-	btVector3 vel1 = contactPoint.m_body0->getVelocityInLocalPoint(rel_pos1);
-	btVector3 vel2 = contactPoint.m_body1->getVelocityInLocalPoint(rel_pos2);
-	btVector3 vel = vel1 - vel2;
-
-	btScalar vrel = contactPoint.m_frictionDirectionWorld.dot(vel);
-
-	// calculate j that moves us to zero relative velocity
-	j1 = -vrel * contactPoint.m_jacDiagABInv / btScalar(numWheelsOnGround);
-	btSetMin(j1, maxImpulse);
-	btSetMax(j1, -maxImpulse);
-
-	return j1;
-}
-
-btScalar sideFrictionStiffness2 = btScalar(1.0);
-void btRaycastVehicle::updateFriction(btScalar timeStep)
-{
-	//calculate the impulse, so that the wheels don't move sidewards
-	int numWheel = getNumWheels();
-	if (!numWheel)
-		return;
-
-	m_forwardWS.resize(numWheel);
-	m_axle.resize(numWheel);
-	m_forwardImpulse.resize(numWheel);
-	m_sideImpulse.resize(numWheel);
-
-	int numWheelsOnGround = 0;
-
-	//collapse all those loops into one!
-	for (int i = 0; i < getNumWheels(); i++)
-	{
-		btWheelInfo& wheelInfo = m_wheelInfo[i];
-		class btRigidBody* groundObject = (class btRigidBody*)wheelInfo.m_raycastInfo.m_groundObject;
-		if (groundObject)
-			numWheelsOnGround++;
-		m_sideImpulse[i] = btScalar(0.);
-		m_forwardImpulse[i] = btScalar(0.);
-	}
-
-	{
-		for (int i = 0; i < getNumWheels(); i++)
-		{
-			btWheelInfo& wheelInfo = m_wheelInfo[i];
-
-			class btRigidBody* groundObject = (class btRigidBody*)wheelInfo.m_raycastInfo.m_groundObject;
-
-			if (groundObject)
-			{
-				const btTransform& wheelTrans = getWheelTransformWS(i);
-
-				btMatrix3x3 wheelBasis0 = wheelTrans.getBasis();
-				m_axle[i] = -btVector3(
-					wheelBasis0[0][m_indexRightAxis],
-					wheelBasis0[1][m_indexRightAxis],
-					wheelBasis0[2][m_indexRightAxis]);
-
-				const btVector3& surfNormalWS = wheelInfo.m_raycastInfo.m_contactNormalWS;
-				btScalar proj = m_axle[i].dot(surfNormalWS);
-				m_axle[i] -= surfNormalWS * proj;
-				m_axle[i] = m_axle[i].normalize();
-
-				m_forwardWS[i] = surfNormalWS.cross(m_axle[i]);
-				m_forwardWS[i].normalize();
-
-				resolveSingleBilateral(*m_chassisBody, wheelInfo.m_raycastInfo.m_contactPointWS,
-									   *groundObject, wheelInfo.m_raycastInfo.m_contactPointWS,
-									   btScalar(0.), m_axle[i], m_sideImpulse[i], timeStep);
-
-				m_sideImpulse[i] *= sideFrictionStiffness2;
-			}
-		}
-	}
-
-	btScalar sideFactor = btScalar(1.);
-	btScalar fwdFactor = 0.5;
-
-	bool sliding = false;
-	{
-		for (int wheel = 0; wheel < getNumWheels(); wheel++)
-		{
-			btWheelInfo& wheelInfo = m_wheelInfo[wheel];
-			class btRigidBody* groundObject = (class btRigidBody*)wheelInfo.m_raycastInfo.m_groundObject;
-
-			btScalar rollingFriction = 0.f;
-
-			if (groundObject)
-			{
-				if (wheelInfo.m_engineForce != 0.f)
-				{
-					rollingFriction = wheelInfo.m_engineForce * timeStep;
-				}
-				else
-				{
-					btScalar defaultRollingFrictionImpulse = 0.f;
-					btScalar maxImpulse = wheelInfo.m_brake ? wheelInfo.m_brake : defaultRollingFrictionImpulse;
-					btWheelContactPoint contactPt(m_chassisBody, groundObject, wheelInfo.m_raycastInfo.m_contactPointWS, m_forwardWS[wheel], maxImpulse);
-					btAssert(numWheelsOnGround > 0);
-					rollingFriction = calcRollingFriction(contactPt, numWheelsOnGround);
-				}
-			}
-
-			//switch between active rolling (throttle), braking and non-active rolling friction (no throttle/break)
-
-			m_forwardImpulse[wheel] = btScalar(0.);
-			m_wheelInfo[wheel].m_skidInfo = btScalar(1.);
-
-			if (groundObject)
-			{
-				m_wheelInfo[wheel].m_skidInfo = btScalar(1.);
-
-				btScalar maximp = wheelInfo.m_wheelsSuspensionForce * timeStep * wheelInfo.m_frictionSlip;
-				btScalar maximpSide = maximp;
-
-				btScalar maximpSquared = maximp * maximpSide;
-
-				m_forwardImpulse[wheel] = rollingFriction;  //wheelInfo.m_engineForce* timeStep;
-
-				btScalar x = (m_forwardImpulse[wheel]) * fwdFactor;
-				btScalar y = (m_sideImpulse[wheel]) * sideFactor;
-
-				btScalar impulseSquared = (x * x + y * y);
-
-				if (impulseSquared > maximpSquared)
-				{
-					sliding = true;
-
-					btScalar factor = maximp / btSqrt(impulseSquared);
-
-					m_wheelInfo[wheel].m_skidInfo *= factor;
-				}
-			}
-		}
-	}
-
-	if (sliding)
-	{
-		for (int wheel = 0; wheel < getNumWheels(); wheel++)
-		{
-			if (m_sideImpulse[wheel] != btScalar(0.))
-			{
-				if (m_wheelInfo[wheel].m_skidInfo < btScalar(1.))
-				{
-					m_forwardImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
-					m_sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
-				}
-			}
-		}
-	}
-
-	// apply the impulses
-	{
-		for (int wheel = 0; wheel < getNumWheels(); wheel++)
-		{
-			btWheelInfo& wheelInfo = m_wheelInfo[wheel];
-
-			btVector3 rel_pos = wheelInfo.m_raycastInfo.m_contactPointWS -
-								m_chassisBody->getCenterOfMassPosition();
-
-			if (m_forwardImpulse[wheel] != btScalar(0.))
-			{
-				m_chassisBody->applyImpulse(m_forwardWS[wheel] * (m_forwardImpulse[wheel]), rel_pos);
-			}
-			if (m_sideImpulse[wheel] != btScalar(0.))
-			{
-				class btRigidBody* groundObject = (class btRigidBody*)m_wheelInfo[wheel].m_raycastInfo.m_groundObject;
-
-				btVector3 rel_pos2 = wheelInfo.m_raycastInfo.m_contactPointWS -
-									 groundObject->getCenterOfMassPosition();
-
-				btVector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel];
-
-#if defined ROLLING_INFLUENCE_FIX  // fix. It only worked if car's up was along Y - VT.
-				btVector3 vChassisWorldUp = getRigidBody()->getCenterOfMassTransform().getBasis().getColumn(m_indexUpAxis);
-				rel_pos -= vChassisWorldUp * (vChassisWorldUp.dot(rel_pos) * (1.f - wheelInfo.m_rollInfluence));
-#else
-				rel_pos[m_indexUpAxis] *= wheelInfo.m_rollInfluence;
-#endif
-				m_chassisBody->applyImpulse(sideImp, rel_pos);
-
-				//apply friction impulse on the ground
-				groundObject->applyImpulse(-sideImp, rel_pos2);
-			}
-		}
-	}
-}
-
-void btRaycastVehicle::debugDraw(btIDebugDraw* debugDrawer)
-{
-	for (int v = 0; v < this->getNumWheels(); v++)
-	{
-		btVector3 wheelColor(0, 1, 1);
-		if (getWheelInfo(v).m_raycastInfo.m_isInContact)
-		{
-			wheelColor.setValue(0, 0, 1);
-		}
-		else
-		{
-			wheelColor.setValue(1, 0, 1);
-		}
-
-		btVector3 wheelPosWS = getWheelInfo(v).m_worldTransform.getOrigin();
-
-		btVector3 axle = btVector3(
-			getWheelInfo(v).m_worldTransform.getBasis()[0][getRightAxis()],
-			getWheelInfo(v).m_worldTransform.getBasis()[1][getRightAxis()],
-			getWheelInfo(v).m_worldTransform.getBasis()[2][getRightAxis()]);
-
-		//debug wheels (cylinders)
-		debugDrawer->drawLine(wheelPosWS, wheelPosWS + axle, wheelColor);
-		debugDrawer->drawLine(wheelPosWS, getWheelInfo(v).m_raycastInfo.m_contactPointWS, wheelColor);
-	}
-}
-
-void* btDefaultVehicleRaycaster::castRay(const btVector3& from, const btVector3& to, btVehicleRaycasterResult& result)
-{
-	//	RayResultCallback& resultCallback;
-
-	btCollisionWorld::ClosestRayResultCallback rayCallback(from, to);
-
-	m_dynamicsWorld->rayTest(from, to, rayCallback);
-
-	if (rayCallback.hasHit())
-	{
-		const btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
-		if (body && body->hasContactResponse())
-		{
-			result.m_hitPointInWorld = rayCallback.m_hitPointWorld;
-			result.m_hitNormalInWorld = rayCallback.m_hitNormalWorld;
-			result.m_hitNormalInWorld.normalize();
-			result.m_distFraction = rayCallback.m_closestHitFraction;
-			return (void*)body;
-		}
-	}
-	return 0;
-}
diff --git a/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h b/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h
deleted file mode 100644
index 99d6894e56..0000000000
--- a/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h
+++ /dev/null
@@ -1,218 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-#ifndef BT_RAYCASTVEHICLE_H
-#define BT_RAYCASTVEHICLE_H
-
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
-#include "btVehicleRaycaster.h"
-class btDynamicsWorld;
-#include "LinearMath/btAlignedObjectArray.h"
-#include "btWheelInfo.h"
-#include "BulletDynamics/Dynamics/btActionInterface.h"
-
-//class btVehicleTuning;
-
-///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
-class btRaycastVehicle : public btActionInterface
-{
-	btAlignedObjectArray<btVector3> m_forwardWS;
-	btAlignedObjectArray<btVector3> m_axle;
-	btAlignedObjectArray<btScalar> m_forwardImpulse;
-	btAlignedObjectArray<btScalar> m_sideImpulse;
-
-	///backwards compatibility
-	int m_userConstraintType;
-	int m_userConstraintId;
-
-public:
-	class btVehicleTuning
-	{
-	public:
-		btVehicleTuning()
-			: m_suspensionStiffness(btScalar(5.88)),
-			  m_suspensionCompression(btScalar(0.83)),
-			  m_suspensionDamping(btScalar(0.88)),
-			  m_maxSuspensionTravelCm(btScalar(500.)),
-			  m_frictionSlip(btScalar(10.5)),
-			  m_maxSuspensionForce(btScalar(6000.))
-		{
-		}
-		btScalar m_suspensionStiffness;
-		btScalar m_suspensionCompression;
-		btScalar m_suspensionDamping;
-		btScalar m_maxSuspensionTravelCm;
-		btScalar m_frictionSlip;
-		btScalar m_maxSuspensionForce;
-	};
-
-private:
-	btVehicleRaycaster* m_vehicleRaycaster;
-	btScalar m_pitchControl;
-	btScalar m_steeringValue;
-	btScalar m_currentVehicleSpeedKmHour;
-
-	btRigidBody* m_chassisBody;
-
-	int m_indexRightAxis;
-	int m_indexUpAxis;
-	int m_indexForwardAxis;
-
-	void defaultInit(const btVehicleTuning& tuning);
-
-public:
-	//constructor to create a car from an existing rigidbody
-	btRaycastVehicle(const btVehicleTuning& tuning, btRigidBody* chassis, btVehicleRaycaster* raycaster);
-
-	virtual ~btRaycastVehicle();
-
-	///btActionInterface interface
-	virtual void updateAction(btCollisionWorld* collisionWorld, btScalar step)
-	{
-		(void)collisionWorld;
-		updateVehicle(step);
-	}
-
-	///btActionInterface interface
-	void debugDraw(btIDebugDraw* debugDrawer);
-
-	const btTransform& getChassisWorldTransform() const;
-
-	btScalar rayCast(btWheelInfo& wheel);
-
-	virtual void updateVehicle(btScalar step);
-
-	void resetSuspension();
-
-	btScalar getSteeringValue(int wheel) const;
-
-	void setSteeringValue(btScalar steering, int wheel);
-
-	void applyEngineForce(btScalar force, int wheel);
-
-	const btTransform& getWheelTransformWS(int wheelIndex) const;
-
-	void updateWheelTransform(int wheelIndex, bool interpolatedTransform = true);
-
-	//	void	setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
-
-	btWheelInfo& addWheel(const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0, const btVector3& wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius, const btVehicleTuning& tuning, bool isFrontWheel);
-
-	inline int getNumWheels() const
-	{
-		return int(m_wheelInfo.size());
-	}
-
-	btAlignedObjectArray<btWheelInfo> m_wheelInfo;
-
-	const btWheelInfo& getWheelInfo(int index) const;
-
-	btWheelInfo& getWheelInfo(int index);
-
-	void updateWheelTransformsWS(btWheelInfo& wheel, bool interpolatedTransform = true);
-
-	void setBrake(btScalar brake, int wheelIndex);
-
-	void setPitchControl(btScalar pitch)
-	{
-		m_pitchControl = pitch;
-	}
-
-	void updateSuspension(btScalar deltaTime);
-
-	virtual void updateFriction(btScalar timeStep);
-
-	inline btRigidBody* getRigidBody()
-	{
-		return m_chassisBody;
-	}
-
-	const btRigidBody* getRigidBody() const
-	{
-		return m_chassisBody;
-	}
-
-	inline int getRightAxis() const
-	{
-		return m_indexRightAxis;
-	}
-	inline int getUpAxis() const
-	{
-		return m_indexUpAxis;
-	}
-
-	inline int getForwardAxis() const
-	{
-		return m_indexForwardAxis;
-	}
-
-	///Worldspace forward vector
-	btVector3 getForwardVector() const
-	{
-		const btTransform& chassisTrans = getChassisWorldTransform();
-
-		btVector3 forwardW(
-			chassisTrans.getBasis()[0][m_indexForwardAxis],
-			chassisTrans.getBasis()[1][m_indexForwardAxis],
-			chassisTrans.getBasis()[2][m_indexForwardAxis]);
-
-		return forwardW;
-	}
-
-	///Velocity of vehicle (positive if velocity vector has same direction as foward vector)
-	btScalar getCurrentSpeedKmHour() const
-	{
-		return m_currentVehicleSpeedKmHour;
-	}
-
-	virtual void setCoordinateSystem(int rightIndex, int upIndex, int forwardIndex)
-	{
-		m_indexRightAxis = rightIndex;
-		m_indexUpAxis = upIndex;
-		m_indexForwardAxis = forwardIndex;
-	}
-
-	///backwards compatibility
-	int getUserConstraintType() const
-	{
-		return m_userConstraintType;
-	}
-
-	void setUserConstraintType(int userConstraintType)
-	{
-		m_userConstraintType = userConstraintType;
-	};
-
-	void setUserConstraintId(int uid)
-	{
-		m_userConstraintId = uid;
-	}
-
-	int getUserConstraintId() const
-	{
-		return m_userConstraintId;
-	}
-};
-
-class btDefaultVehicleRaycaster : public btVehicleRaycaster
-{
-	btDynamicsWorld* m_dynamicsWorld;
-
-public:
-	btDefaultVehicleRaycaster(btDynamicsWorld* world)
-		: m_dynamicsWorld(world)
-	{
-	}
-
-	virtual void* castRay(const btVector3& from, const btVector3& to, btVehicleRaycasterResult& result);
-};
-
-#endif  //BT_RAYCASTVEHICLE_H
diff --git a/thirdparty/bullet/BulletDynamics/Vehicle/btVehicleRaycaster.h b/thirdparty/bullet/BulletDynamics/Vehicle/btVehicleRaycaster.h
deleted file mode 100644
index 2c44ce546c..0000000000
--- a/thirdparty/bullet/BulletDynamics/Vehicle/btVehicleRaycaster.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://bulletphysics.org
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-#ifndef BT_VEHICLE_RAYCASTER_H
-#define BT_VEHICLE_RAYCASTER_H
-
-#include "LinearMath/btVector3.h"
-
-/// btVehicleRaycaster is provides interface for between vehicle simulation and raycasting
-struct btVehicleRaycaster
-{
-	virtual ~btVehicleRaycaster()
-	{
-	}
-	struct btVehicleRaycasterResult
-	{
-		btVehicleRaycasterResult() : m_distFraction(btScalar(-1.)){};
-		btVector3 m_hitPointInWorld;
-		btVector3 m_hitNormalInWorld;
-		btScalar m_distFraction;
-	};
-
-	virtual void* castRay(const btVector3& from, const btVector3& to, btVehicleRaycasterResult& result) = 0;
-};
-
-#endif  //BT_VEHICLE_RAYCASTER_H
diff --git a/thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.cpp b/thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.cpp
deleted file mode 100644
index d5c12f223b..0000000000
--- a/thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.cpp
+++ /dev/null
@@ -1,51 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-#include "btWheelInfo.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"  // for pointvelocity
-
-btScalar btWheelInfo::getSuspensionRestLength() const
-{
-	return m_suspensionRestLength1;
-}
-
-void btWheelInfo::updateWheel(const btRigidBody& chassis, RaycastInfo& raycastInfo)
-{
-	(void)raycastInfo;
-
-	if (m_raycastInfo.m_isInContact)
-
-	{
-		btScalar project = m_raycastInfo.m_contactNormalWS.dot(m_raycastInfo.m_wheelDirectionWS);
-		btVector3 chassis_velocity_at_contactPoint;
-		btVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.getCenterOfMassPosition();
-		chassis_velocity_at_contactPoint = chassis.getVelocityInLocalPoint(relpos);
-		btScalar projVel = m_raycastInfo.m_contactNormalWS.dot(chassis_velocity_at_contactPoint);
-		if (project >= btScalar(-0.1))
-		{
-			m_suspensionRelativeVelocity = btScalar(0.0);
-			m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1);
-		}
-		else
-		{
-			btScalar inv = btScalar(-1.) / project;
-			m_suspensionRelativeVelocity = projVel * inv;
-			m_clippedInvContactDotSuspension = inv;
-		}
-	}
-
-	else  // Not in contact : position wheel in a nice (rest length) position
-	{
-		m_raycastInfo.m_suspensionLength = this->getSuspensionRestLength();
-		m_suspensionRelativeVelocity = btScalar(0.0);
-		m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS;
-		m_clippedInvContactDotSuspension = btScalar(1.0);
-	}
-}
diff --git a/thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.h b/thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.h
deleted file mode 100644
index af88b8ff83..0000000000
--- a/thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.h
+++ /dev/null
@@ -1,116 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-#ifndef BT_WHEEL_INFO_H
-#define BT_WHEEL_INFO_H
-
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btTransform.h"
-
-class btRigidBody;
-
-struct btWheelInfoConstructionInfo
-{
-	btVector3 m_chassisConnectionCS;
-	btVector3 m_wheelDirectionCS;
-	btVector3 m_wheelAxleCS;
-	btScalar m_suspensionRestLength;
-	btScalar m_maxSuspensionTravelCm;
-	btScalar m_wheelRadius;
-
-	btScalar m_suspensionStiffness;
-	btScalar m_wheelsDampingCompression;
-	btScalar m_wheelsDampingRelaxation;
-	btScalar m_frictionSlip;
-	btScalar m_maxSuspensionForce;
-	bool m_bIsFrontWheel;
-};
-
-/// btWheelInfo contains information per wheel about friction and suspension.
-struct btWheelInfo
-{
-	struct RaycastInfo
-	{
-		//set by raycaster
-		btVector3 m_contactNormalWS;  //contactnormal
-		btVector3 m_contactPointWS;   //raycast hitpoint
-		btScalar m_suspensionLength;
-		btVector3 m_hardPointWS;       //raycast starting point
-		btVector3 m_wheelDirectionWS;  //direction in worldspace
-		btVector3 m_wheelAxleWS;       // axle in worldspace
-		bool m_isInContact;
-		void* m_groundObject;  //could be general void* ptr
-	};
-
-	RaycastInfo m_raycastInfo;
-
-	btTransform m_worldTransform;
-
-	btVector3 m_chassisConnectionPointCS;  //const
-	btVector3 m_wheelDirectionCS;          //const
-	btVector3 m_wheelAxleCS;               // const or modified by steering
-	btScalar m_suspensionRestLength1;      //const
-	btScalar m_maxSuspensionTravelCm;
-	btScalar getSuspensionRestLength() const;
-	btScalar m_wheelsRadius;              //const
-	btScalar m_suspensionStiffness;       //const
-	btScalar m_wheelsDampingCompression;  //const
-	btScalar m_wheelsDampingRelaxation;   //const
-	btScalar m_frictionSlip;
-	btScalar m_steering;
-	btScalar m_rotation;
-	btScalar m_deltaRotation;
-	btScalar m_rollInfluence;
-	btScalar m_maxSuspensionForce;
-
-	btScalar m_engineForce;
-
-	btScalar m_brake;
-
-	bool m_bIsFrontWheel;
-
-	void* m_clientInfo;  //can be used to store pointer to sync transforms...
-
-	btWheelInfo() {}
-
-	btWheelInfo(btWheelInfoConstructionInfo& ci)
-
-	{
-		m_suspensionRestLength1 = ci.m_suspensionRestLength;
-		m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm;
-
-		m_wheelsRadius = ci.m_wheelRadius;
-		m_suspensionStiffness = ci.m_suspensionStiffness;
-		m_wheelsDampingCompression = ci.m_wheelsDampingCompression;
-		m_wheelsDampingRelaxation = ci.m_wheelsDampingRelaxation;
-		m_chassisConnectionPointCS = ci.m_chassisConnectionCS;
-		m_wheelDirectionCS = ci.m_wheelDirectionCS;
-		m_wheelAxleCS = ci.m_wheelAxleCS;
-		m_frictionSlip = ci.m_frictionSlip;
-		m_steering = btScalar(0.);
-		m_engineForce = btScalar(0.);
-		m_rotation = btScalar(0.);
-		m_deltaRotation = btScalar(0.);
-		m_brake = btScalar(0.);
-		m_rollInfluence = btScalar(0.1);
-		m_bIsFrontWheel = ci.m_bIsFrontWheel;
-		m_maxSuspensionForce = ci.m_maxSuspensionForce;
-	}
-
-	void updateWheel(const btRigidBody& chassis, RaycastInfo& raycastInfo);
-
-	btScalar m_clippedInvContactDotSuspension;
-	btScalar m_suspensionRelativeVelocity;
-	//calculated by suspension
-	btScalar m_wheelsSuspensionForce;
-	btScalar m_skidInfo;
-};
-
-#endif  //BT_WHEEL_INFO_H
diff --git a/thirdparty/bullet/BulletInverseDynamics/IDConfig.hpp b/thirdparty/bullet/BulletInverseDynamics/IDConfig.hpp
deleted file mode 100644
index b662b80152..0000000000
--- a/thirdparty/bullet/BulletInverseDynamics/IDConfig.hpp
+++ /dev/null
@@ -1,107 +0,0 @@
-///@file Configuration for Inverse Dynamics Library,
-///	  such as choice of linear algebra library and underlying scalar type
-#ifndef IDCONFIG_HPP_
-#define IDCONFIG_HPP_
-
-// If true, enable jacobian calculations.
-// This adds a 3xN matrix to every body, + 2 3-Vectors.
-// so it is not advised for large systems if it is not absolutely necessary.
-// Also, this is not required for standard inverse dynamics calculations.
-// Will only work with vector math libraries that support 3xN matrices.
-#define BT_ID_WITH_JACOBIANS
-
-// If we have a custom configuration, compile without using other parts of bullet.
-#ifdef BT_CUSTOM_INVERSE_DYNAMICS_CONFIG_H
-#include <cmath>
-#define BT_ID_WO_BULLET
-#define BT_ID_SQRT(x) std::sqrt(x)
-#define BT_ID_FABS(x) std::fabs(x)
-#define BT_ID_COS(x) std::cos(x)
-#define BT_ID_SIN(x) std::sin(x)
-#define BT_ID_ATAN2(x, y) std::atan2(x, y)
-#define BT_ID_POW(x, y) std::pow(x, y)
-#define BT_ID_SNPRINTF snprintf
-#define BT_ID_PI M_PI
-#define BT_ID_USE_DOUBLE_PRECISION
-#else
-#define BT_ID_SQRT(x) btSqrt(x)
-#define BT_ID_FABS(x) btFabs(x)
-#define BT_ID_COS(x) btCos(x)
-#define BT_ID_SIN(x) btSin(x)
-#define BT_ID_ATAN2(x, y) btAtan2(x, y)
-#define BT_ID_POW(x, y) btPow(x, y)
-#define BT_ID_PI SIMD_PI
-#ifdef _WIN32
-#define BT_ID_SNPRINTF _snprintf
-#else
-#define BT_ID_SNPRINTF snprintf
-#endif  //
-#endif
-// error messages
-#include "IDErrorMessages.hpp"
-
-#ifdef BT_CUSTOM_INVERSE_DYNAMICS_CONFIG_H
-/*
-#include "IDConfigEigen.hpp"
-#include "IDConfigBuiltin.hpp"
-*/
-#define INVDYN_INCLUDE_HELPER_2(x) #x
-#define INVDYN_INCLUDE_HELPER(x) INVDYN_INCLUDE_HELPER_2(x)
-#include INVDYN_INCLUDE_HELPER(BT_CUSTOM_INVERSE_DYNAMICS_CONFIG_H)
-#ifndef btInverseDynamics
-#error "custom inverse dynamics config, but no custom namespace defined"
-#endif
-
-#define BT_ID_MAX(a, b) std::max(a, b)
-#define BT_ID_MIN(a, b) std::min(a, b)
-
-#else
-#define btInverseDynamics btInverseDynamicsBullet3
-// Use default configuration with bullet's types
-// Use the same scalar type as rest of bullet library
-#include "LinearMath/btScalar.h"
-typedef btScalar idScalar;
-#include "LinearMath/btMinMax.h"
-#define BT_ID_MAX(a, b) btMax(a, b)
-#define BT_ID_MIN(a, b) btMin(a, b)
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define BT_ID_USE_DOUBLE_PRECISION
-#endif
-
-#ifndef BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
-
-// use bullet types for arrays and array indices
-#include "Bullet3Common/b3AlignedObjectArray.h"
-// this is to make it work with C++2003, otherwise we could do this:
-// template <typename T>
-// using idArray = b3AlignedObjectArray<T>;
-template <typename T>
-struct idArray
-{
-	typedef b3AlignedObjectArray<T> type;
-};
-typedef int idArrayIdx;
-#define ID_DECLARE_ALIGNED_ALLOCATOR() B3_DECLARE_ALIGNED_ALLOCATOR()
-
-#else  // BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
-
-#include "LinearMath/btAlignedObjectArray.h"
-template <typename T>
-struct idArray
-{
-	typedef btAlignedObjectArray<T> type;
-};
-typedef int idArrayIdx;
-#define ID_DECLARE_ALIGNED_ALLOCATOR() BT_DECLARE_ALIGNED_ALLOCATOR()
-
-#endif  // BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
-
-// use bullet's allocator functions
-#define idMalloc btAllocFunc
-#define idFree btFreeFunc
-
-#define ID_LINEAR_MATH_USE_BULLET
-#include "details/IDLinearMathInterface.hpp"
-#endif
-#endif
diff --git a/thirdparty/bullet/BulletInverseDynamics/IDConfigBuiltin.hpp b/thirdparty/bullet/BulletInverseDynamics/IDConfigBuiltin.hpp
deleted file mode 100644
index 6392367924..0000000000
--- a/thirdparty/bullet/BulletInverseDynamics/IDConfigBuiltin.hpp
+++ /dev/null
@@ -1,38 +0,0 @@
-///@file Configuration for Inverse Dynamics Library without external dependencies
-#ifndef INVDYNCONFIG_BUILTIN_HPP_
-#define INVDYNCONFIG_BUILTIN_HPP_
-#define btInverseDynamics btInverseDynamicsBuiltin
-#ifdef BT_USE_DOUBLE_PRECISION
-// choose double/single precision version
-typedef double idScalar;
-#else
-typedef float idScalar;
-#endif
-// use std::vector for arrays
-#include <vector>
-// this is to make it work with C++2003, otherwise we could do this
-// template <typename T>
-// using idArray = std::vector<T>;
-template <typename T>
-struct idArray
-{
-	typedef std::vector<T> type;
-};
-typedef std::vector<int>::size_type idArrayIdx;
-// default to standard malloc/free
-#include <cstdlib>
-#define idMalloc ::malloc
-#define idFree ::free
-// currently not aligned at all...
-#define ID_DECLARE_ALIGNED_ALLOCATOR()                                                     \
-	inline void* operator new(std::size_t sizeInBytes) { return idMalloc(sizeInBytes); }   \
-	inline void operator delete(void* ptr) { idFree(ptr); }                                \
-	inline void* operator new(std::size_t, void* ptr) { return ptr; }                      \
-	inline void operator delete(void*, void*) {}                                           \
-	inline void* operator new[](std::size_t sizeInBytes) { return idMalloc(sizeInBytes); } \
-	inline void operator delete[](void* ptr) { idFree(ptr); }                              \
-	inline void* operator new[](std::size_t, void* ptr) { return ptr; }                    \
-	inline void operator delete[](void*, void*) {}
-
-#include "details/IDMatVec.hpp"
-#endif
diff --git a/thirdparty/bullet/BulletInverseDynamics/IDConfigEigen.hpp b/thirdparty/bullet/BulletInverseDynamics/IDConfigEigen.hpp
deleted file mode 100644
index cfb308ee55..0000000000
--- a/thirdparty/bullet/BulletInverseDynamics/IDConfigEigen.hpp
+++ /dev/null
@@ -1,32 +0,0 @@
-///@file Configuration for Inverse Dynamics Library with Eigen
-#ifndef INVDYNCONFIG_EIGEN_HPP_
-#define INVDYNCONFIG_EIGEN_HPP_
-#define btInverseDynamics btInverseDynamicsEigen
-#ifdef BT_USE_DOUBLE_PRECISION
-// choose double/single precision version
-typedef double idScalar;
-#else
-typedef float idScalar;
-#endif
-
-// use std::vector for arrays
-#include <vector>
-// this is to make it work with C++2003, otherwise we could do this
-// template <typename T>
-// using idArray = std::vector<T>;
-template <typename T>
-struct idArray
-{
-	typedef std::vector<T> type;
-};
-typedef std::vector<int>::size_type idArrayIdx;
-// default to standard malloc/free
-#include <cstdlib>
-#define ID_DECLARE_ALIGNED_ALLOCATOR() EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-// Note on interfaces:
-// Eigen::Matrix has data(), to get c-array storage
-// HOWEVER: default storage is column-major!
-#define ID_LINEAR_MATH_USE_EIGEN
-#include "Eigen/Eigen"
-#include "details/IDEigenInterface.hpp"
-#endif
diff --git a/thirdparty/bullet/BulletInverseDynamics/IDErrorMessages.hpp b/thirdparty/bullet/BulletInverseDynamics/IDErrorMessages.hpp
deleted file mode 100644
index 5a98f01498..0000000000
--- a/thirdparty/bullet/BulletInverseDynamics/IDErrorMessages.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-///@file error message utility functions
-#ifndef IDUTILS_HPP_
-#define IDUTILS_HPP_
-#include <cstring>
-/// name of file being compiled, without leading path components
-#define __INVDYN_FILE_WO_DIR__ (strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__)
-
-#if !defined(BT_ID_WO_BULLET) && !defined(BT_USE_INVERSE_DYNAMICS_WITH_BULLET2)
-#include "Bullet3Common/b3Logging.h"
-#define bt_id_error_message(...) b3Error(__VA_ARGS__)
-#define bt_id_warning_message(...) b3Warning(__VA_ARGS__)
-#define id_printf(...) b3Printf(__VA_ARGS__)
-#else  // BT_ID_WO_BULLET
-#include <cstdio>
-/// print error message with file/line information
-#define bt_id_error_message(...)                                             \
-	do                                                                       \
-	{                                                                        \
-		fprintf(stderr, "[Error:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__); \
-		fprintf(stderr, __VA_ARGS__);                                        \
-	} while (0)
-/// print warning message with file/line information
-#define bt_id_warning_message(...)                                             \
-	do                                                                         \
-	{                                                                          \
-		fprintf(stderr, "[Warning:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__); \
-		fprintf(stderr, __VA_ARGS__);                                          \
-	} while (0)
-#define id_printf(...) printf(__VA_ARGS__)
-#endif  // BT_ID_WO_BULLET
-#endif
diff --git a/thirdparty/bullet/BulletInverseDynamics/IDMath.cpp b/thirdparty/bullet/BulletInverseDynamics/IDMath.cpp
deleted file mode 100644
index 2f120ed489..0000000000
--- a/thirdparty/bullet/BulletInverseDynamics/IDMath.cpp
+++ /dev/null
@@ -1,510 +0,0 @@
-#include "IDMath.hpp"
-
-#include <cmath>
-#include <limits>
-
-namespace btInverseDynamics
-{
-static const idScalar kIsZero = 5 * std::numeric_limits<idScalar>::epsilon();
-// requirements for axis length deviation from 1.0
-// experimentally set from random euler angle rotation matrices
-static const idScalar kAxisLengthEpsilon = 10 * kIsZero;
-
-void setZero(vec3 &v)
-{
-	v(0) = 0;
-	v(1) = 0;
-	v(2) = 0;
-}
-
-void setZero(vecx &v)
-{
-	for (int i = 0; i < v.size(); i++)
-	{
-		v(i) = 0;
-	}
-}
-
-void setZero(mat33 &m)
-{
-	m(0, 0) = 0;
-	m(0, 1) = 0;
-	m(0, 2) = 0;
-	m(1, 0) = 0;
-	m(1, 1) = 0;
-	m(1, 2) = 0;
-	m(2, 0) = 0;
-	m(2, 1) = 0;
-	m(2, 2) = 0;
-}
-
-void skew(vec3 &v, mat33 *result)
-{
-	(*result)(0, 0) = 0.0;
-	(*result)(0, 1) = -v(2);
-	(*result)(0, 2) = v(1);
-	(*result)(1, 0) = v(2);
-	(*result)(1, 1) = 0.0;
-	(*result)(1, 2) = -v(0);
-	(*result)(2, 0) = -v(1);
-	(*result)(2, 1) = v(0);
-	(*result)(2, 2) = 0.0;
-}
-
-idScalar maxAbs(const vecx &v)
-{
-	idScalar result = 0.0;
-	for (int i = 0; i < v.size(); i++)
-	{
-		const idScalar tmp = BT_ID_FABS(v(i));
-		if (tmp > result)
-		{
-			result = tmp;
-		}
-	}
-	return result;
-}
-
-idScalar maxAbs(const vec3 &v)
-{
-	idScalar result = 0.0;
-	for (int i = 0; i < 3; i++)
-	{
-		const idScalar tmp = BT_ID_FABS(v(i));
-		if (tmp > result)
-		{
-			result = tmp;
-		}
-	}
-	return result;
-}
-
-#if (defined BT_ID_HAVE_MAT3X)
-idScalar maxAbsMat3x(const mat3x &m)
-{
-	// only used for tests -- so just loop here for portability
-	idScalar result = 0.0;
-	for (idArrayIdx col = 0; col < m.cols(); col++)
-	{
-		for (idArrayIdx row = 0; row < 3; row++)
-		{
-			result = BT_ID_MAX(result, std::fabs(m(row, col)));
-		}
-	}
-	return result;
-}
-
-void mul(const mat33 &a, const mat3x &b, mat3x *result)
-{
-	if (b.cols() != result->cols())
-	{
-		bt_id_error_message("size missmatch. b.cols()= %d, result->cols()= %d\n",
-							static_cast<int>(b.cols()), static_cast<int>(result->cols()));
-		abort();
-	}
-
-	for (idArrayIdx col = 0; col < b.cols(); col++)
-	{
-		const idScalar x = a(0, 0) * b(0, col) + a(0, 1) * b(1, col) + a(0, 2) * b(2, col);
-		const idScalar y = a(1, 0) * b(0, col) + a(1, 1) * b(1, col) + a(1, 2) * b(2, col);
-		const idScalar z = a(2, 0) * b(0, col) + a(2, 1) * b(1, col) + a(2, 2) * b(2, col);
-		setMat3xElem(0, col, x, result);
-		setMat3xElem(1, col, y, result);
-		setMat3xElem(2, col, z, result);
-	}
-}
-void add(const mat3x &a, const mat3x &b, mat3x *result)
-{
-	if (a.cols() != b.cols())
-	{
-		bt_id_error_message("size missmatch. a.cols()= %d, b.cols()= %d\n",
-							static_cast<int>(a.cols()), static_cast<int>(b.cols()));
-		abort();
-	}
-	for (idArrayIdx col = 0; col < b.cols(); col++)
-	{
-		for (idArrayIdx row = 0; row < 3; row++)
-		{
-			setMat3xElem(row, col, a(row, col) + b(row, col), result);
-		}
-	}
-}
-void sub(const mat3x &a, const mat3x &b, mat3x *result)
-{
-	if (a.cols() != b.cols())
-	{
-		bt_id_error_message("size missmatch. a.cols()= %d, b.cols()= %d\n",
-							static_cast<int>(a.cols()), static_cast<int>(b.cols()));
-		abort();
-	}
-	for (idArrayIdx col = 0; col < b.cols(); col++)
-	{
-		for (idArrayIdx row = 0; row < 3; row++)
-		{
-			setMat3xElem(row, col, a(row, col) - b(row, col), result);
-		}
-	}
-}
-#endif
-
-mat33 transformX(const idScalar &alpha)
-{
-	mat33 T;
-	const idScalar cos_alpha = BT_ID_COS(alpha);
-	const idScalar sin_alpha = BT_ID_SIN(alpha);
-	// [1  0 0]
-	// [0  c s]
-	// [0 -s c]
-	T(0, 0) = 1.0;
-	T(0, 1) = 0.0;
-	T(0, 2) = 0.0;
-
-	T(1, 0) = 0.0;
-	T(1, 1) = cos_alpha;
-	T(1, 2) = sin_alpha;
-
-	T(2, 0) = 0.0;
-	T(2, 1) = -sin_alpha;
-	T(2, 2) = cos_alpha;
-
-	return T;
-}
-
-mat33 transformY(const idScalar &beta)
-{
-	mat33 T;
-	const idScalar cos_beta = BT_ID_COS(beta);
-	const idScalar sin_beta = BT_ID_SIN(beta);
-	// [c 0 -s]
-	// [0 1  0]
-	// [s 0  c]
-	T(0, 0) = cos_beta;
-	T(0, 1) = 0.0;
-	T(0, 2) = -sin_beta;
-
-	T(1, 0) = 0.0;
-	T(1, 1) = 1.0;
-	T(1, 2) = 0.0;
-
-	T(2, 0) = sin_beta;
-	T(2, 1) = 0.0;
-	T(2, 2) = cos_beta;
-
-	return T;
-}
-
-mat33 transformZ(const idScalar &gamma)
-{
-	mat33 T;
-	const idScalar cos_gamma = BT_ID_COS(gamma);
-	const idScalar sin_gamma = BT_ID_SIN(gamma);
-	// [ c s 0]
-	// [-s c 0]
-	// [ 0 0 1]
-	T(0, 0) = cos_gamma;
-	T(0, 1) = sin_gamma;
-	T(0, 2) = 0.0;
-
-	T(1, 0) = -sin_gamma;
-	T(1, 1) = cos_gamma;
-	T(1, 2) = 0.0;
-
-	T(2, 0) = 0.0;
-	T(2, 1) = 0.0;
-	T(2, 2) = 1.0;
-
-	return T;
-}
-
-mat33 tildeOperator(const vec3 &v)
-{
-	mat33 m;
-	m(0, 0) = 0.0;
-	m(0, 1) = -v(2);
-	m(0, 2) = v(1);
-	m(1, 0) = v(2);
-	m(1, 1) = 0.0;
-	m(1, 2) = -v(0);
-	m(2, 0) = -v(1);
-	m(2, 1) = v(0);
-	m(2, 2) = 0.0;
-	return m;
-}
-
-void getVecMatFromDH(idScalar theta, idScalar d, idScalar a, idScalar alpha, vec3 *r, mat33 *T)
-{
-	const idScalar sa = BT_ID_SIN(alpha);
-	const idScalar ca = BT_ID_COS(alpha);
-	const idScalar st = BT_ID_SIN(theta);
-	const idScalar ct = BT_ID_COS(theta);
-
-	(*r)(0) = a;
-	(*r)(1) = -sa * d;
-	(*r)(2) = ca * d;
-
-	(*T)(0, 0) = ct;
-	(*T)(0, 1) = -st;
-	(*T)(0, 2) = 0.0;
-
-	(*T)(1, 0) = st * ca;
-	(*T)(1, 1) = ct * ca;
-	(*T)(1, 2) = -sa;
-
-	(*T)(2, 0) = st * sa;
-	(*T)(2, 1) = ct * sa;
-	(*T)(2, 2) = ca;
-}
-
-void bodyTParentFromAxisAngle(const vec3 &axis, const idScalar &angle, mat33 *T)
-{
-	const idScalar c = BT_ID_COS(angle);
-	const idScalar s = -BT_ID_SIN(angle);
-	const idScalar one_m_c = 1.0 - c;
-
-	const idScalar &x = axis(0);
-	const idScalar &y = axis(1);
-	const idScalar &z = axis(2);
-
-	(*T)(0, 0) = x * x * one_m_c + c;
-	(*T)(0, 1) = x * y * one_m_c - z * s;
-	(*T)(0, 2) = x * z * one_m_c + y * s;
-
-	(*T)(1, 0) = x * y * one_m_c + z * s;
-	(*T)(1, 1) = y * y * one_m_c + c;
-	(*T)(1, 2) = y * z * one_m_c - x * s;
-
-	(*T)(2, 0) = x * z * one_m_c - y * s;
-	(*T)(2, 1) = y * z * one_m_c + x * s;
-	(*T)(2, 2) = z * z * one_m_c + c;
-}
-
-bool isPositiveDefinite(const mat33 &m)
-{
-	// test if all upper left determinants are positive
-	if (m(0, 0) <= 0)
-	{  // upper 1x1
-		return false;
-	}
-	if (m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0) <= 0)
-	{  // upper 2x2
-		return false;
-	}
-	if ((m(0, 0) * (m(1, 1) * m(2, 2) - m(1, 2) * m(2, 1)) -
-		 m(0, 1) * (m(1, 0) * m(2, 2) - m(1, 2) * m(2, 0)) +
-		 m(0, 2) * (m(1, 0) * m(2, 1) - m(1, 1) * m(2, 0))) < 0)
-	{
-		return false;
-	}
-	return true;
-}
-
-bool isPositiveSemiDefinite(const mat33 &m)
-{
-	// test if all upper left determinants are positive
-	if (m(0, 0) < 0)
-	{  // upper 1x1
-		return false;
-	}
-	if (m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0) < 0)
-	{  // upper 2x2
-		return false;
-	}
-	if ((m(0, 0) * (m(1, 1) * m(2, 2) - m(1, 2) * m(2, 1)) -
-		 m(0, 1) * (m(1, 0) * m(2, 2) - m(1, 2) * m(2, 0)) +
-		 m(0, 2) * (m(1, 0) * m(2, 1) - m(1, 1) * m(2, 0))) < 0)
-	{
-		return false;
-	}
-	return true;
-}
-
-bool isPositiveSemiDefiniteFuzzy(const mat33 &m)
-{
-	// test if all upper left determinants are positive
-	if (m(0, 0) < -kIsZero)
-	{  // upper 1x1
-		return false;
-	}
-	if (m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0) < -kIsZero)
-	{  // upper 2x2
-		return false;
-	}
-	if ((m(0, 0) * (m(1, 1) * m(2, 2) - m(1, 2) * m(2, 1)) -
-		 m(0, 1) * (m(1, 0) * m(2, 2) - m(1, 2) * m(2, 0)) +
-		 m(0, 2) * (m(1, 0) * m(2, 1) - m(1, 1) * m(2, 0))) < -kIsZero)
-	{
-		return false;
-	}
-	return true;
-}
-
-idScalar determinant(const mat33 &m)
-{
-	return m(0, 0) * m(1, 1) * m(2, 2) + m(0, 1) * m(1, 2) * m(2, 0) + m(0, 2) * m(1, 0) * m(2, 1) -
-		   m(0, 2) * m(1, 1) * m(2, 0) - m(0, 0) * m(1, 2) * m(2, 1) - m(0, 1) * m(1, 0) * m(2, 2);
-}
-
-bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint)
-{
-	// TODO(Thomas) do we really want this?
-	//			  in cases where the inertia tensor about the center of mass is zero,
-	//			  the determinant of the inertia tensor about the joint axis is almost
-	//			  zero and can have a very small negative value.
-	if (!isPositiveSemiDefiniteFuzzy(I))
-	{
-		bt_id_error_message(
-			"invalid inertia matrix for body %d, not positive definite "
-			"(fixed joint)\n",
-			index);
-		bt_id_error_message(
-			"matrix is:\n"
-			"[%.20e %.20e %.20e;\n"
-			"%.20e %.20e %.20e;\n"
-			"%.20e %.20e %.20e]\n",
-			I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1),
-			I(2, 2));
-
-		return false;
-	}
-
-	// check triangle inequality, must have I(i,i)+I(j,j)>=I(k,k)
-	if (!has_fixed_joint)
-	{
-		if (I(0, 0) + I(1, 1) < I(2, 2))
-		{
-			bt_id_error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index);
-			bt_id_error_message(
-				"matrix is:\n"
-				"[%.20e %.20e %.20e;\n"
-				"%.20e %.20e %.20e;\n"
-				"%.20e %.20e %.20e]\n",
-				I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1),
-				I(2, 2));
-			return false;
-		}
-		if (I(0, 0) + I(1, 1) < I(2, 2))
-		{
-			bt_id_error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index);
-			bt_id_error_message(
-				"matrix is:\n"
-				"[%.20e %.20e %.20e;\n"
-				"%.20e %.20e %.20e;\n"
-				"%.20e %.20e %.20e]\n",
-				I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1),
-				I(2, 2));
-			return false;
-		}
-		if (I(1, 1) + I(2, 2) < I(0, 0))
-		{
-			bt_id_error_message("invalid inertia tensor for body %d, I(1,1) + I(2,2) < I(0,0)\n", index);
-			bt_id_error_message(
-				"matrix is:\n"
-				"[%.20e %.20e %.20e;\n"
-				"%.20e %.20e %.20e;\n"
-				"%.20e %.20e %.20e]\n",
-				I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1),
-				I(2, 2));
-			return false;
-		}
-	}
-	// check positive/zero diagonal elements
-	for (int i = 0; i < 3; i++)
-	{
-		if (I(i, i) < 0)
-		{  // accept zero
-			bt_id_error_message("invalid inertia tensor, I(%d,%d)= %e <0\n", i, i, I(i, i));
-			return false;
-		}
-	}
-	// check symmetry
-	if (BT_ID_FABS(I(1, 0) - I(0, 1)) > kIsZero)
-	{
-		bt_id_error_message(
-			"invalid inertia tensor for body %d I(1,0)!=I(0,1). I(1,0)-I(0,1)= "
-			"%e\n",
-			index, I(1, 0) - I(0, 1));
-		return false;
-	}
-	if (BT_ID_FABS(I(2, 0) - I(0, 2)) > kIsZero)
-	{
-		bt_id_error_message(
-			"invalid inertia tensor for body %d I(2,0)!=I(0,2). I(2,0)-I(0,2)= "
-			"%e\n",
-			index, I(2, 0) - I(0, 2));
-		return false;
-	}
-	if (BT_ID_FABS(I(1, 2) - I(2, 1)) > kIsZero)
-	{
-		bt_id_error_message("invalid inertia tensor body %d I(1,2)!=I(2,1). I(1,2)-I(2,1)= %e\n", index,
-							I(1, 2) - I(2, 1));
-		return false;
-	}
-	return true;
-}
-
-bool isValidTransformMatrix(const mat33 &m)
-{
-#define print_mat(x)                                                                                   \
-	bt_id_error_message("matrix is [%e, %e, %e; %e, %e, %e; %e, %e, %e]\n", x(0, 0), x(0, 1), x(0, 2), \
-						x(1, 0), x(1, 1), x(1, 2), x(2, 0), x(2, 1), x(2, 2))
-
-	// check for unit length column vectors
-	for (int i = 0; i < 3; i++)
-	{
-		const idScalar length_minus_1 =
-			BT_ID_FABS(m(0, i) * m(0, i) + m(1, i) * m(1, i) + m(2, i) * m(2, i) - 1.0);
-		if (length_minus_1 > kAxisLengthEpsilon)
-		{
-			bt_id_error_message(
-				"Not a valid rotation matrix (column %d not unit length)\n"
-				"column = [%.18e %.18e %.18e]\n"
-				"length-1.0= %.18e\n",
-				i, m(0, i), m(1, i), m(2, i), length_minus_1);
-			print_mat(m);
-			return false;
-		}
-	}
-	// check for orthogonal column vectors
-	if (BT_ID_FABS(m(0, 0) * m(0, 1) + m(1, 0) * m(1, 1) + m(2, 0) * m(2, 1)) > kAxisLengthEpsilon)
-	{
-		bt_id_error_message("Not a valid rotation matrix (columns 0 and 1 not orthogonal)\n");
-		print_mat(m);
-		return false;
-	}
-	if (BT_ID_FABS(m(0, 0) * m(0, 2) + m(1, 0) * m(1, 2) + m(2, 0) * m(2, 2)) > kAxisLengthEpsilon)
-	{
-		bt_id_error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n");
-		print_mat(m);
-		return false;
-	}
-	if (BT_ID_FABS(m(0, 1) * m(0, 2) + m(1, 1) * m(1, 2) + m(2, 1) * m(2, 2)) > kAxisLengthEpsilon)
-	{
-		bt_id_error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n");
-		print_mat(m);
-		return false;
-	}
-	// check determinant (rotation not reflection)
-	if (determinant(m) <= 0)
-	{
-		bt_id_error_message("Not a valid rotation matrix (determinant <=0)\n");
-		print_mat(m);
-		return false;
-	}
-	return true;
-}
-
-bool isUnitVector(const vec3 &vector)
-{
-	return BT_ID_FABS(vector(0) * vector(0) + vector(1) * vector(1) + vector(2) * vector(2) - 1.0) <
-		   kIsZero;
-}
-
-vec3 rpyFromMatrix(const mat33 &rot)
-{
-	vec3 rpy;
-	rpy(2) = BT_ID_ATAN2(-rot(1, 0), rot(0, 0));
-	rpy(1) = BT_ID_ATAN2(rot(2, 0), BT_ID_COS(rpy(2)) * rot(0, 0) - BT_ID_SIN(rpy(0)) * rot(1, 0));
-	rpy(0) = BT_ID_ATAN2(-rot(2, 0), rot(2, 2));
-	return rpy;
-}
-}  // namespace btInverseDynamics
diff --git a/thirdparty/bullet/BulletInverseDynamics/IDMath.hpp b/thirdparty/bullet/BulletInverseDynamics/IDMath.hpp
deleted file mode 100644
index 40bee5302b..0000000000
--- a/thirdparty/bullet/BulletInverseDynamics/IDMath.hpp
+++ /dev/null
@@ -1,100 +0,0 @@
-/// @file Math utility functions used in inverse dynamics library.
-///	   Defined here as they may not be provided by the math library.
-
-#ifndef IDMATH_HPP_
-#define IDMATH_HPP_
-#include "IDConfig.hpp"
-
-namespace btInverseDynamics
-{
-/// set all elements to zero
-void setZero(vec3& v);
-/// set all elements to zero
-void setZero(vecx& v);
-/// set all elements to zero
-void setZero(mat33& m);
-/// create a skew symmetric matrix from a vector (useful for cross product abstraction, e.g. v x a = V * a)
-void skew(vec3& v, mat33* result);
-/// return maximum absolute value
-idScalar maxAbs(const vecx& v);
-#ifndef ID_LINEAR_MATH_USE_EIGEN
-/// return maximum absolute value
-idScalar maxAbs(const vec3& v);
-#endif  //ID_LINEAR_MATH_USE_EIGEN
-
-#if (defined BT_ID_HAVE_MAT3X)
-idScalar maxAbsMat3x(const mat3x& m);
-void setZero(mat3x& m);
-// define math functions on mat3x here to avoid allocations in operators.
-void mul(const mat33& a, const mat3x& b, mat3x* result);
-void add(const mat3x& a, const mat3x& b, mat3x* result);
-void sub(const mat3x& a, const mat3x& b, mat3x* result);
-#endif
-
-/// get offset vector & transform matrix from DH parameters
-/// TODO: add documentation
-void getVecMatFromDH(idScalar theta, idScalar d, idScalar a, idScalar alpha, vec3* r, mat33* T);
-
-/// Check if a 3x3 matrix is positive definite
-/// @param m a 3x3 matrix
-/// @return true if m>0, false otherwise
-bool isPositiveDefinite(const mat33& m);
-
-/// Check if a 3x3 matrix is positive semi definite
-/// @param m a 3x3 matrix
-/// @return true if m>=0, false otherwise
-bool isPositiveSemiDefinite(const mat33& m);
-/// Check if a 3x3 matrix is positive semi definite within numeric limits
-/// @param m a 3x3 matrix
-/// @return true if m>=-eps, false otherwise
-bool isPositiveSemiDefiniteFuzzy(const mat33& m);
-
-/// Determinant of 3x3 matrix
-/// NOTE: implemented here for portability, as determinant operation
-///	   will be implemented differently for various matrix/vector libraries
-/// @param m a 3x3 matrix
-/// @return det(m)
-idScalar determinant(const mat33& m);
-
-/// Test if a 3x3 matrix satisfies some properties of inertia matrices
-/// @param I a 3x3 matrix
-/// @param index body index (for error messages)
-/// @param has_fixed_joint: if true, positive semi-definite matrices are accepted
-/// @return true if I satisfies inertia matrix properties, false otherwise.
-bool isValidInertiaMatrix(const mat33& I, int index, bool has_fixed_joint);
-
-/// Check if a 3x3 matrix is a valid transform (rotation) matrix
-/// @param m a 3x3 matrix
-/// @return true if m is a rotation matrix, false otherwise
-bool isValidTransformMatrix(const mat33& m);
-/// Transform matrix from parent to child frame,
-/// when the child frame is rotated about @param axis by @angle
-/// (mathematically positive)
-/// @param axis the axis of rotation
-/// @param angle rotation angle
-/// @param T pointer to transform matrix
-void bodyTParentFromAxisAngle(const vec3& axis, const idScalar& angle, mat33* T);
-
-/// Check if this is a unit vector
-/// @param vector
-/// @return true if |vector|=1 within numeric limits
-bool isUnitVector(const vec3& vector);
-
-/// @input a vector in R^3
-/// @returns corresponding spin tensor
-mat33 tildeOperator(const vec3& v);
-/// @param alpha angle in radians
-/// @returns transform matrix for ratation with @param alpha about x-axis
-mat33 transformX(const idScalar& alpha);
-/// @param beta angle in radians
-/// @returns transform matrix for ratation with @param beta about y-axis
-mat33 transformY(const idScalar& beta);
-/// @param gamma angle in radians
-/// @returns transform matrix for ratation with @param gamma about z-axis
-mat33 transformZ(const idScalar& gamma);
-///calculate rpy angles (x-y-z Euler angles) from a given rotation matrix
-/// @param rot rotation matrix
-/// @returns x-y-z Euler angles
-vec3 rpyFromMatrix(const mat33& rot);
-}  // namespace btInverseDynamics
-#endif  // IDMATH_HPP_
diff --git a/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp b/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp
deleted file mode 100644
index 9326b0d098..0000000000
--- a/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp
+++ /dev/null
@@ -1,548 +0,0 @@
-#include "MultiBodyTree.hpp"
-
-#include <cmath>
-#include <limits>
-#include <vector>
-
-#include "IDMath.hpp"
-#include "details/MultiBodyTreeImpl.hpp"
-#include "details/MultiBodyTreeInitCache.hpp"
-
-namespace btInverseDynamics
-{
-MultiBodyTree::MultiBodyTree()
-	: m_is_finalized(false),
-	  m_mass_parameters_are_valid(true),
-	  m_accept_invalid_mass_parameters(false),
-	  m_impl(0x0),
-	  m_init_cache(0x0)
-{
-	m_init_cache = new InitCache();
-}
-
-MultiBodyTree::~MultiBodyTree()
-{
-	delete m_impl;
-	delete m_init_cache;
-}
-
-void MultiBodyTree::setAcceptInvalidMassParameters(bool flag)
-{
-	m_accept_invalid_mass_parameters = flag;
-}
-
-bool MultiBodyTree::getAcceptInvalidMassProperties() const
-{
-	return m_accept_invalid_mass_parameters;
-}
-
-int MultiBodyTree::getBodyOrigin(const int body_index, vec3 *world_origin) const
-{
-	return m_impl->getBodyOrigin(body_index, world_origin);
-}
-
-int MultiBodyTree::getBodyCoM(const int body_index, vec3 *world_com) const
-{
-	return m_impl->getBodyCoM(body_index, world_com);
-}
-
-int MultiBodyTree::getBodyTransform(const int body_index, mat33 *world_T_body) const
-{
-	return m_impl->getBodyTransform(body_index, world_T_body);
-}
-int MultiBodyTree::getBodyAngularVelocity(const int body_index, vec3 *world_omega) const
-{
-	return m_impl->getBodyAngularVelocity(body_index, world_omega);
-}
-int MultiBodyTree::getBodyLinearVelocity(const int body_index, vec3 *world_velocity) const
-{
-	return m_impl->getBodyLinearVelocity(body_index, world_velocity);
-}
-
-int MultiBodyTree::getBodyLinearVelocityCoM(const int body_index, vec3 *world_velocity) const
-{
-	return m_impl->getBodyLinearVelocityCoM(body_index, world_velocity);
-}
-
-int MultiBodyTree::getBodyAngularAcceleration(const int body_index, vec3 *world_dot_omega) const
-{
-	return m_impl->getBodyAngularAcceleration(body_index, world_dot_omega);
-}
-int MultiBodyTree::getBodyLinearAcceleration(const int body_index, vec3 *world_acceleration) const
-{
-	return m_impl->getBodyLinearAcceleration(body_index, world_acceleration);
-}
-
-int MultiBodyTree::getParentRParentBodyRef(const int body_index, vec3 *r) const
-{
-	return m_impl->getParentRParentBodyRef(body_index, r);
-}
-
-int MultiBodyTree::getBodyTParentRef(const int body_index, mat33 *T) const
-{
-	return m_impl->getBodyTParentRef(body_index, T);
-}
-
-int MultiBodyTree::getBodyAxisOfMotion(const int body_index, vec3 *axis) const
-{
-	return m_impl->getBodyAxisOfMotion(body_index, axis);
-}
-
-void MultiBodyTree::printTree() { m_impl->printTree(); }
-void MultiBodyTree::printTreeData() { m_impl->printTreeData(); }
-
-int MultiBodyTree::numBodies() const { return m_impl->m_num_bodies; }
-
-int MultiBodyTree::numDoFs() const { return m_impl->m_num_dofs; }
-
-int MultiBodyTree::calculateInverseDynamics(const vecx &q, const vecx &u, const vecx &dot_u,
-											vecx *joint_forces)
-{
-	if (false == m_is_finalized)
-	{
-		bt_id_error_message("system has not been initialized\n");
-		return -1;
-	}
-	if (-1 == m_impl->calculateInverseDynamics(q, u, dot_u, joint_forces))
-	{
-		bt_id_error_message("error in inverse dynamics calculation\n");
-		return -1;
-	}
-	return 0;
-}
-
-int MultiBodyTree::calculateMassMatrix(const vecx &q, const bool update_kinematics,
-									   const bool initialize_matrix,
-									   const bool set_lower_triangular_matrix, matxx *mass_matrix)
-{
-	if (false == m_is_finalized)
-	{
-		bt_id_error_message("system has not been initialized\n");
-		return -1;
-	}
-	if (-1 ==
-		m_impl->calculateMassMatrix(q, update_kinematics, initialize_matrix,
-									set_lower_triangular_matrix, mass_matrix))
-	{
-		bt_id_error_message("error in mass matrix calculation\n");
-		return -1;
-	}
-	return 0;
-}
-
-int MultiBodyTree::calculateMassMatrix(const vecx &q, matxx *mass_matrix)
-{
-	return calculateMassMatrix(q, true, true, true, mass_matrix);
-}
-
-int MultiBodyTree::calculateKinematics(const vecx &q, const vecx &u, const vecx &dot_u)
-{
-	vec3 world_gravity(m_impl->m_world_gravity);
-	// temporarily set gravity to zero, to ensure we get the actual accelerations
-	setZero(m_impl->m_world_gravity);
-
-	if (false == m_is_finalized)
-	{
-		bt_id_error_message("system has not been initialized\n");
-		return -1;
-	}
-	if (-1 == m_impl->calculateKinematics(q, u, dot_u,
-										  MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY_ACCELERATION))
-	{
-		bt_id_error_message("error in kinematics calculation\n");
-		return -1;
-	}
-
-	m_impl->m_world_gravity = world_gravity;
-	return 0;
-}
-
-int MultiBodyTree::calculatePositionKinematics(const vecx &q)
-{
-	if (false == m_is_finalized)
-	{
-		bt_id_error_message("system has not been initialized\n");
-		return -1;
-	}
-	if (-1 == m_impl->calculateKinematics(q, q, q,
-										  MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY))
-	{
-		bt_id_error_message("error in kinematics calculation\n");
-		return -1;
-	}
-	return 0;
-}
-
-int MultiBodyTree::calculatePositionAndVelocityKinematics(const vecx &q, const vecx &u)
-{
-	if (false == m_is_finalized)
-	{
-		bt_id_error_message("system has not been initialized\n");
-		return -1;
-	}
-	if (-1 == m_impl->calculateKinematics(q, u, u,
-										  MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY))
-	{
-		bt_id_error_message("error in kinematics calculation\n");
-		return -1;
-	}
-	return 0;
-}
-
-#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-int MultiBodyTree::calculateJacobians(const vecx &q, const vecx &u)
-{
-	if (false == m_is_finalized)
-	{
-		bt_id_error_message("system has not been initialized\n");
-		return -1;
-	}
-	if (-1 == m_impl->calculateJacobians(q, u,
-										 MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY))
-	{
-		bt_id_error_message("error in jacobian calculation\n");
-		return -1;
-	}
-	return 0;
-}
-
-int MultiBodyTree::calculateJacobians(const vecx &q)
-{
-	if (false == m_is_finalized)
-	{
-		bt_id_error_message("system has not been initialized\n");
-		return -1;
-	}
-	if (-1 == m_impl->calculateJacobians(q, q,
-										 MultiBodyTree::MultiBodyImpl::POSITION_ONLY))
-	{
-		bt_id_error_message("error in jacobian calculation\n");
-		return -1;
-	}
-	return 0;
-}
-
-int MultiBodyTree::getBodyDotJacobianTransU(const int body_index, vec3 *world_dot_jac_trans_u) const
-{
-	return m_impl->getBodyDotJacobianTransU(body_index, world_dot_jac_trans_u);
-}
-
-int MultiBodyTree::getBodyDotJacobianRotU(const int body_index, vec3 *world_dot_jac_rot_u) const
-{
-	return m_impl->getBodyDotJacobianRotU(body_index, world_dot_jac_rot_u);
-}
-
-int MultiBodyTree::getBodyJacobianTrans(const int body_index, mat3x *world_jac_trans) const
-{
-	return m_impl->getBodyJacobianTrans(body_index, world_jac_trans);
-}
-
-int MultiBodyTree::getBodyJacobianRot(const int body_index, mat3x *world_jac_rot) const
-{
-	return m_impl->getBodyJacobianRot(body_index, world_jac_rot);
-}
-
-#endif
-
-int MultiBodyTree::addBody(int body_index, int parent_index, JointType joint_type,
-						   const vec3 &parent_r_parent_body_ref, const mat33 &body_T_parent_ref,
-						   const vec3 &body_axis_of_motion_, idScalar mass,
-						   const vec3 &body_r_body_com, const mat33 &body_I_body,
-						   const int user_int, void *user_ptr)
-{
-	if (body_index < 0)
-	{
-		bt_id_error_message("body index must be positive (got %d)\n", body_index);
-		return -1;
-	}
-	vec3 body_axis_of_motion(body_axis_of_motion_);
-	switch (joint_type)
-	{
-		case REVOLUTE:
-		case PRISMATIC:
-			// check if axis is unit vector
-			if (!isUnitVector(body_axis_of_motion))
-			{
-				bt_id_warning_message(
-					"axis of motion not a unit axis ([%f %f %f]), will use normalized vector\n",
-					body_axis_of_motion(0), body_axis_of_motion(1), body_axis_of_motion(2));
-				idScalar length = BT_ID_SQRT(BT_ID_POW(body_axis_of_motion(0), 2) +
-											 BT_ID_POW(body_axis_of_motion(1), 2) +
-											 BT_ID_POW(body_axis_of_motion(2), 2));
-				if (length < BT_ID_SQRT(std::numeric_limits<idScalar>::min()))
-				{
-					bt_id_error_message("axis of motion vector too short (%e)\n", length);
-					return -1;
-				}
-				body_axis_of_motion = (1.0 / length) * body_axis_of_motion;
-			}
-			break;
-		case FIXED:
-			break;
-		case FLOATING:
-			break;
-		case SPHERICAL:
-			break;
-		default:
-			bt_id_error_message("unknown joint type %d\n", joint_type);
-			return -1;
-	}
-
-	// sanity check for mass properties. Zero mass is OK.
-	if (mass < 0)
-	{
-		m_mass_parameters_are_valid = false;
-		bt_id_error_message("Body %d has invalid mass %e\n", body_index, mass);
-		if (!m_accept_invalid_mass_parameters)
-		{
-			return -1;
-		}
-	}
-
-	if (!isValidInertiaMatrix(body_I_body, body_index, FIXED == joint_type))
-	{
-		m_mass_parameters_are_valid = false;
-		// error message printed in function call
-		if (!m_accept_invalid_mass_parameters)
-		{
-			return -1;
-		}
-	}
-
-	if (!isValidTransformMatrix(body_T_parent_ref))
-	{
-		return -1;
-	}
-
-	return m_init_cache->addBody(body_index, parent_index, joint_type, parent_r_parent_body_ref,
-								 body_T_parent_ref, body_axis_of_motion, mass, body_r_body_com,
-								 body_I_body, user_int, user_ptr);
-}
-
-int MultiBodyTree::getParentIndex(const int body_index, int *parent_index) const
-{
-	return m_impl->getParentIndex(body_index, parent_index);
-}
-
-int MultiBodyTree::getUserInt(const int body_index, int *user_int) const
-{
-	return m_impl->getUserInt(body_index, user_int);
-}
-
-int MultiBodyTree::getUserPtr(const int body_index, void **user_ptr) const
-{
-	return m_impl->getUserPtr(body_index, user_ptr);
-}
-
-int MultiBodyTree::setUserInt(const int body_index, const int user_int)
-{
-	return m_impl->setUserInt(body_index, user_int);
-}
-
-int MultiBodyTree::setUserPtr(const int body_index, void *const user_ptr)
-{
-	return m_impl->setUserPtr(body_index, user_ptr);
-}
-
-int MultiBodyTree::finalize()
-{
-	const int &num_bodies = m_init_cache->numBodies();
-	const int &num_dofs = m_init_cache->numDoFs();
-
-	if (num_dofs < 0)
-	{
-		bt_id_error_message("Need num_dofs>=1, but num_dofs= %d\n", num_dofs);
-		//return -1;
-	}
-
-	// 1 allocate internal MultiBody structure
-	m_impl = new MultiBodyImpl(num_bodies, num_dofs);
-
-	// 2 build new index set assuring index(parent) < index(child)
-	if (-1 == m_init_cache->buildIndexSets())
-	{
-		return -1;
-	}
-	m_init_cache->getParentIndexArray(&m_impl->m_parent_index);
-
-	// 3 setup internal kinematic and dynamic data
-	for (int index = 0; index < num_bodies; index++)
-	{
-		InertiaData inertia;
-		JointData joint;
-		if (-1 == m_init_cache->getInertiaData(index, &inertia))
-		{
-			return -1;
-		}
-		if (-1 == m_init_cache->getJointData(index, &joint))
-		{
-			return -1;
-		}
-
-		RigidBody &rigid_body = m_impl->m_body_list[index];
-
-		rigid_body.m_mass = inertia.m_mass;
-		rigid_body.m_body_mass_com = inertia.m_mass * inertia.m_body_pos_body_com;
-		rigid_body.m_body_I_body = inertia.m_body_I_body;
-		rigid_body.m_joint_type = joint.m_type;
-		rigid_body.m_parent_pos_parent_body_ref = joint.m_parent_pos_parent_child_ref;
-		rigid_body.m_body_T_parent_ref = joint.m_child_T_parent_ref;
-		rigid_body.m_parent_pos_parent_body_ref = joint.m_parent_pos_parent_child_ref;
-		rigid_body.m_joint_type = joint.m_type;
-
-		int user_int;
-		if (-1 == m_init_cache->getUserInt(index, &user_int))
-		{
-			return -1;
-		}
-		if (-1 == m_impl->setUserInt(index, user_int))
-		{
-			return -1;
-		}
-
-		void *user_ptr;
-		if (-1 == m_init_cache->getUserPtr(index, &user_ptr))
-		{
-			return -1;
-		}
-		if (-1 == m_impl->setUserPtr(index, user_ptr))
-		{
-			return -1;
-		}
-
-		// Set joint Jacobians. Note that the dimension is always 3x1 here to avoid variable sized
-		// matrices.
-		switch (rigid_body.m_joint_type)
-		{
-			case REVOLUTE:
-				rigid_body.m_Jac_JR(0) = joint.m_child_axis_of_motion(0);
-				rigid_body.m_Jac_JR(1) = joint.m_child_axis_of_motion(1);
-				rigid_body.m_Jac_JR(2) = joint.m_child_axis_of_motion(2);
-				rigid_body.m_Jac_JT(0) = 0.0;
-				rigid_body.m_Jac_JT(1) = 0.0;
-				rigid_body.m_Jac_JT(2) = 0.0;
-				break;
-			case PRISMATIC:
-				rigid_body.m_Jac_JR(0) = 0.0;
-				rigid_body.m_Jac_JR(1) = 0.0;
-				rigid_body.m_Jac_JR(2) = 0.0;
-				rigid_body.m_Jac_JT(0) = joint.m_child_axis_of_motion(0);
-				rigid_body.m_Jac_JT(1) = joint.m_child_axis_of_motion(1);
-				rigid_body.m_Jac_JT(2) = joint.m_child_axis_of_motion(2);
-				break;
-			case FIXED:
-				// NOTE/TODO: dimension really should be zero ..
-				rigid_body.m_Jac_JR(0) = 0.0;
-				rigid_body.m_Jac_JR(1) = 0.0;
-				rigid_body.m_Jac_JR(2) = 0.0;
-				rigid_body.m_Jac_JT(0) = 0.0;
-				rigid_body.m_Jac_JT(1) = 0.0;
-				rigid_body.m_Jac_JT(2) = 0.0;
-				break;
-			case SPHERICAL:
-				// NOTE/TODO: this is not really correct.
-				// the Jacobians should be 3x3 matrices here !
-				rigid_body.m_Jac_JR(0) = 0.0;
-				rigid_body.m_Jac_JR(1) = 0.0;
-				rigid_body.m_Jac_JR(2) = 0.0;
-				rigid_body.m_Jac_JT(0) = 0.0;
-				rigid_body.m_Jac_JT(1) = 0.0;
-				rigid_body.m_Jac_JT(2) = 0.0;
-				break;
-			case FLOATING:
-				// NOTE/TODO: this is not really correct.
-				// the Jacobians should be 3x3 matrices here !
-				rigid_body.m_Jac_JR(0) = 0.0;
-				rigid_body.m_Jac_JR(1) = 0.0;
-				rigid_body.m_Jac_JR(2) = 0.0;
-				rigid_body.m_Jac_JT(0) = 0.0;
-				rigid_body.m_Jac_JT(1) = 0.0;
-				rigid_body.m_Jac_JT(2) = 0.0;
-				break;
-			default:
-				bt_id_error_message("unsupported joint type %d\n", rigid_body.m_joint_type);
-				return -1;
-		}
-	}
-
-	// 4 assign degree of freedom indices & build per-joint-type index arrays
-	if (-1 == m_impl->generateIndexSets())
-	{
-		bt_id_error_message("generating index sets\n");
-		return -1;
-	}
-
-	// 5 do some pre-computations ..
-	m_impl->calculateStaticData();
-
-	// 6. make sure all user forces are set to zero, as this might not happen
-	//	in the vector ctors.
-	m_impl->clearAllUserForcesAndMoments();
-
-	m_is_finalized = true;
-	return 0;
-}
-
-int MultiBodyTree::setGravityInWorldFrame(const vec3 &gravity)
-{
-	return m_impl->setGravityInWorldFrame(gravity);
-}
-
-int MultiBodyTree::getJointType(const int body_index, JointType *joint_type) const
-{
-	return m_impl->getJointType(body_index, joint_type);
-}
-
-int MultiBodyTree::getJointTypeStr(const int body_index, const char **joint_type) const
-{
-	return m_impl->getJointTypeStr(body_index, joint_type);
-}
-
-int MultiBodyTree::getDoFOffset(const int body_index, int *q_offset) const
-{
-	return m_impl->getDoFOffset(body_index, q_offset);
-}
-
-int MultiBodyTree::setBodyMass(const int body_index, idScalar mass)
-{
-	return m_impl->setBodyMass(body_index, mass);
-}
-
-int MultiBodyTree::setBodyFirstMassMoment(const int body_index, const vec3 &first_mass_moment)
-{
-	return m_impl->setBodyFirstMassMoment(body_index, first_mass_moment);
-}
-
-int MultiBodyTree::setBodySecondMassMoment(const int body_index, const mat33 &second_mass_moment)
-{
-	return m_impl->setBodySecondMassMoment(body_index, second_mass_moment);
-}
-
-int MultiBodyTree::getBodyMass(const int body_index, idScalar *mass) const
-{
-	return m_impl->getBodyMass(body_index, mass);
-}
-
-int MultiBodyTree::getBodyFirstMassMoment(const int body_index, vec3 *first_mass_moment) const
-{
-	return m_impl->getBodyFirstMassMoment(body_index, first_mass_moment);
-}
-
-int MultiBodyTree::getBodySecondMassMoment(const int body_index, mat33 *second_mass_moment) const
-{
-	return m_impl->getBodySecondMassMoment(body_index, second_mass_moment);
-}
-
-void MultiBodyTree::clearAllUserForcesAndMoments() { m_impl->clearAllUserForcesAndMoments(); }
-
-int MultiBodyTree::addUserForce(const int body_index, const vec3 &body_force)
-{
-	return m_impl->addUserForce(body_index, body_force);
-}
-
-int MultiBodyTree::addUserMoment(const int body_index, const vec3 &body_moment)
-{
-	return m_impl->addUserMoment(body_index, body_moment);
-}
-
-}  // namespace btInverseDynamics
diff --git a/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.hpp b/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.hpp
deleted file mode 100644
index 7b852f976c..0000000000
--- a/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.hpp
+++ /dev/null
@@ -1,367 +0,0 @@
-#ifndef MULTIBODYTREE_HPP_
-#define MULTIBODYTREE_HPP_
-
-#include "IDConfig.hpp"
-#include "IDMath.hpp"
-
-namespace btInverseDynamics
-{
-/// Enumeration of supported joint types
-enum JointType
-{
-	/// no degree of freedom, moves with parent
-	FIXED = 0,
-	/// one rotational degree of freedom relative to parent
-	REVOLUTE,
-	/// one translational degree of freedom relative to parent
-	PRISMATIC,
-	/// six degrees of freedom relative to parent
-	FLOATING,
-	/// three degrees of freedom, relative to parent
-	SPHERICAL
-};
-
-/// Interface class for calculating inverse dynamics for tree structured
-/// multibody systems
-///
-/// Note on degrees of freedom
-/// The q vector contains the generalized coordinate set defining the tree's configuration.
-/// Every joint adds elements that define the corresponding link's frame pose relative to
-/// its parent. For the joint types that is:
-///	- FIXED:	 none
-///	- REVOLUTE:  angle of rotation [rad]
-///	- PRISMATIC: displacement [m]
-///	- FLOATING:  Euler x-y-z angles [rad] and displacement in body-fixed frame of parent [m]
-///				 (in that order)
-/// - SPHERICAL: Euler x-y-z angles [rad]
-/// The u vector contains the generalized speeds, which are
-///	- FIXED:	 none
-///	- REVOLUTE:  time derivative of angle of rotation [rad/s]
-///	- PRISMATIC: time derivative of displacement [m/s]
-///	- FLOATING:  angular velocity [rad/s] (*not* time derivative of rpy angles)
-///				 and time derivative of displacement in parent frame [m/s]
-//	- SPHERICAL:  angular velocity [rad/s]
-///
-/// The q and u vectors are obtained by stacking contributions of all bodies in one
-/// vector in the order of body indices.
-///
-/// Note on generalized forces: analogous to u, i.e.,
-///	 - FIXED:	 none
-///	 - REVOLUTE:  moment [Nm], about joint axis
-///	 - PRISMATIC: force  [N], along joint axis
-///	 - FLOATING:  moment vector [Nm] and force vector [N], both in body-fixed frame
-///				  (in that order)
-///  - SPHERICAL: moment vector [Nm] 
-/// TODO - force element interface (friction, springs, dampers, etc)
-///	  - gears and motor inertia
-class MultiBodyTree
-{
-public:
-	ID_DECLARE_ALIGNED_ALLOCATOR();
-	/// The contructor.
-	/// Initialization & allocation is via addBody and buildSystem calls.
-	MultiBodyTree();
-	/// the destructor. This also deallocates all memory
-	~MultiBodyTree();
-
-	/// Add body to the system. this allocates memory and not real-time safe.
-	/// This only adds the data to an initial cache. After all bodies have been
-	/// added,
-	/// the system is setup using the buildSystem call
-	/// @param body_index index of the body to be added. Must >=0, <number of bodies,
-	///		and index of parent must be < index of body
-	/// @param parent_index index of the parent body
-	///		The root of the tree has index 0 and its parent (the world frame)
-	///		is assigned index -1
-	///		the rotation and translation relative to the parent are taken as
-	///		pose of the root body relative to the world frame. Other parameters
-	///		are ignored
-	/// @param JointType type of joint connecting the body to the parent
-	/// @param mass the mass of the body
-	/// @param body_r_body_com the center of mass of the body relative to and
-	/// described in
-	///		the body fixed frame, which is located in the joint axis connecting
-	/// the body to its parent
-	/// @param body_I_body the moment of inertia of the body w.r.t the body-fixed
-	/// frame
-	///		(ie, the reference point is the origin of the body-fixed frame and
-	/// the matrix is written
-	///		 w.r.t. those unit vectors)
-	/// @param parent_r_parent_body_ref position of joint relative to the parent
-	/// body's reference frame
-	///		for q=0, written in the parent bodies reference frame
-	/// @param body_axis_of_motion translation/rotation axis in body-fixed frame.
-	///		Ignored for joints that are not revolute or prismatic.
-	///		must be a unit vector.
-	/// @param body_T_parent_ref transform matrix from parent to body reference
-	/// frame for q=0.
-	///		This is the matrix transforming a vector represented in the
-	/// parent's reference frame into one represented
-	///		in this body's reference frame.
-	///		ie, if parent_vec is a vector in R^3 whose components are w.r.t to
-	/// the parent's reference frame,
-	///		then the same vector written w.r.t. this body's frame (for q=0) is
-	/// given by
-	///		body_vec = parent_R_body_ref * parent_vec
-	/// @param user_ptr pointer to user data
-	/// @param user_int pointer to user integer
-	/// @return 0 on success, -1 on error
-	int addBody(int body_index, int parent_index, JointType joint_type,
-				const vec3& parent_r_parent_body_ref, const mat33& body_T_parent_ref,
-				const vec3& body_axis_of_motion, idScalar mass, const vec3& body_r_body_com,
-				const mat33& body_I_body, const int user_int, void* user_ptr);
-	/// set policy for invalid mass properties
-	/// @param flag if true, invalid mass properties are accepted,
-	///		the default is false
-	void setAcceptInvalidMassParameters(bool flag);
-	/// @return the mass properties policy flag
-	bool getAcceptInvalidMassProperties() const;
-	/// build internal data structures
-	/// call this after all bodies have been added via addBody
-	/// @return 0 on success, -1 on error
-	int finalize();
-	/// pretty print ascii description of tree to stdout
-	void printTree();
-	/// print tree data to stdout
-	void printTreeData();
-	/// Calculate joint forces for given generalized state & derivatives.
-	/// This also updates kinematic terms computed in calculateKinematics.
-	/// If gravity is not set to zero, acceleration terms will contain
-	/// gravitational acceleration.
-	/// @param q generalized coordinates
-	/// @param u generalized velocities. In the general case, u=T(q)*dot(q) and dim(q)>=dim(u)
-	/// @param dot_u time derivative of u
-	/// @param joint_forces this is where the resulting joint forces will be
-	///		stored. dim(joint_forces) = dim(u)
-	/// @return 0 on success, -1 on error
-	int calculateInverseDynamics(const vecx& q, const vecx& u, const vecx& dot_u,
-								 vecx* joint_forces);
-	/// Calculate joint space mass matrix
-	/// @param q generalized coordinates
-	/// @param initialize_matrix if true, initialize mass matrix with zero.
-	///		If mass_matrix is initialized to zero externally and only used
-	///		for mass matrix computations for the same system, it is safe to
-	///		set this to false.
-	/// @param set_lower_triangular_matrix if true, the lower triangular section of mass_matrix
-	///		is also populated, otherwise not.
-	/// @param mass_matrix matrix for storing the output (should be dim(q)xdim(q))
-	/// @return -1 on error, 0 on success
-	int calculateMassMatrix(const vecx& q, const bool update_kinematics,
-							const bool initialize_matrix, const bool set_lower_triangular_matrix,
-							matxx* mass_matrix);
-
-	/// Calculate joint space mass matrix.
-	/// This version will update kinematics, initialize all mass_matrix elements to zero and
-	/// populate all mass matrix entries.
-	/// @param q generalized coordinates
-	/// @param mass_matrix matrix for storing the output (should be dim(q)xdim(q))
-	/// @return -1 on error, 0 on success
-	int calculateMassMatrix(const vecx& q, matxx* mass_matrix);
-
-	/// Calculates kinematics also calculated in calculateInverseDynamics,
-	/// but not dynamics.
-	/// This function ensures that correct accelerations are computed that do not
-	/// contain gravitational acceleration terms.
-	/// Does not calculate Jacobians, but only vector quantities (positions, velocities & accelerations)
-	int calculateKinematics(const vecx& q, const vecx& u, const vecx& dot_u);
-	/// Calculate position kinematics
-	int calculatePositionKinematics(const vecx& q);
-	/// Calculate position and velocity kinematics
-	int calculatePositionAndVelocityKinematics(const vecx& q, const vecx& u);
-
-#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-	/// Calculate Jacobians (dvel/du), as well as velocity-dependent accelearation components
-	/// d(Jacobian)/dt*u
-	/// This function assumes that calculateInverseDynamics was called, or calculateKinematics,
-	/// or calculatePositionAndVelocityKinematics
-	int calculateJacobians(const vecx& q, const vecx& u);
-	/// Calculate Jacobians (dvel/du)
-	/// This function assumes that calculateInverseDynamics was called, or
-	/// one of the calculateKineamtics functions
-	int calculateJacobians(const vecx& q);
-#endif  // BT_ID_HAVE_MAT3X
-
-	/// set gravitational acceleration
-	/// the default is [0;0;-9.8] in the world frame
-	/// @param gravity the gravitational acceleration in world frame
-	/// @return 0 on success, -1 on error
-	int setGravityInWorldFrame(const vec3& gravity);
-	/// returns number of bodies in tree
-	int numBodies() const;
-	/// returns number of mechanical degrees of freedom (dimension of q-vector)
-	int numDoFs() const;
-	/// get origin of a body-fixed frame, represented in world frame
-	/// @param body_index index for frame/body
-	/// @param world_origin pointer for return data
-	/// @return 0 on success, -1 on error
-	int getBodyOrigin(const int body_index, vec3* world_origin) const;
-	/// get center of mass of a body, represented in world frame
-	/// @param body_index index for frame/body
-	/// @param world_com pointer for return data
-	/// @return 0 on success, -1 on error
-	int getBodyCoM(const int body_index, vec3* world_com) const;
-	/// get transform from of a body-fixed frame to the world frame
-	/// @param body_index index for frame/body
-	/// @param world_T_body pointer for return data
-	/// @return 0 on success, -1 on error
-	int getBodyTransform(const int body_index, mat33* world_T_body) const;
-	/// get absolute angular velocity for a body, represented in the world frame
-	/// @param body_index index for frame/body
-	/// @param world_omega pointer for return data
-	/// @return 0 on success, -1 on error
-	int getBodyAngularVelocity(const int body_index, vec3* world_omega) const;
-	/// get linear velocity of a body, represented in world frame
-	/// @param body_index index for frame/body
-	/// @param world_velocity pointer for return data
-	/// @return 0 on success, -1 on error
-	int getBodyLinearVelocity(const int body_index, vec3* world_velocity) const;
-	/// get linear velocity of a body's CoM, represented in world frame
-	/// (not required for inverse dynamics, provided for convenience)
-	/// @param body_index index for frame/body
-	/// @param world_vel_com pointer for return data
-	/// @return 0 on success, -1 on error
-	int getBodyLinearVelocityCoM(const int body_index, vec3* world_velocity) const;
-	/// get origin of a body-fixed frame, represented in world frame
-	/// @param body_index index for frame/body
-	/// @param world_origin pointer for return data
-	/// @return 0 on success, -1 on error
-	int getBodyAngularAcceleration(const int body_index, vec3* world_dot_omega) const;
-	/// get origin of a body-fixed frame, represented in world frame
-	/// NOTE: this will include the gravitational acceleration, so the actual acceleration is
-	/// obtainened by setting gravitational acceleration to zero, or subtracting it.
-	/// @param body_index index for frame/body
-	/// @param world_origin pointer for return data
-	/// @return 0 on success, -1 on error
-	int getBodyLinearAcceleration(const int body_index, vec3* world_acceleration) const;
-
-#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-	// get translational jacobian, in world frame (dworld_velocity/du)
-	int getBodyJacobianTrans(const int body_index, mat3x* world_jac_trans) const;
-	// get rotational jacobian, in world frame (dworld_omega/du)
-	int getBodyJacobianRot(const int body_index, mat3x* world_jac_rot) const;
-	// get product of translational jacobian derivative * generatlized velocities
-	int getBodyDotJacobianTransU(const int body_index, vec3* world_dot_jac_trans_u) const;
-	// get product of rotational jacobian derivative * generatlized velocities
-	int getBodyDotJacobianRotU(const int body_index, vec3* world_dot_jac_rot_u) const;
-#endif  // BT_ID_HAVE_MAT3X
-
-	/// returns the (internal) index of body
-	/// @param body_index is the index of a body
-	/// @param parent_index pointer to where parent index will be stored
-	/// @return 0 on success, -1 on error
-	int getParentIndex(const int body_index, int* parent_index) const;
-	/// get joint type
-	/// @param body_index index of the body
-	/// @param joint_type the corresponding joint type
-	/// @return 0 on success, -1 on failure
-	int getJointType(const int body_index, JointType* joint_type) const;
-	/// get joint type as string
-	/// @param body_index index of the body
-	/// @param joint_type string naming the corresponding joint type
-	/// @return 0 on success, -1 on failure
-	int getJointTypeStr(const int body_index, const char** joint_type) const;
-	/// get offset translation to parent body (see addBody)
-	/// @param body_index index of the body
-	/// @param r the offset translation (see above)
-	/// @return 0 on success, -1 on failure
-	int getParentRParentBodyRef(const int body_index, vec3* r) const;
-	/// get offset rotation to parent body (see addBody)
-	/// @param body_index index of the body
-	/// @param T the transform (see above)
-	/// @return 0 on success, -1 on failure
-	int getBodyTParentRef(const int body_index, mat33* T) const;
-	/// get axis of motion (see addBody)
-	/// @param body_index index of the body
-	/// @param axis the axis (see above)
-	/// @return 0 on success, -1 on failure
-	int getBodyAxisOfMotion(const int body_index, vec3* axis) const;
-	/// get offset for degrees of freedom of this body into the q-vector
-	/// @param body_index index of the body
-	/// @param q_offset offset the q vector
-	/// @return -1 on error, 0 on success
-	int getDoFOffset(const int body_index, int* q_offset) const;
-	/// get user integer. not used by the library.
-	/// @param body_index index of the body
-	/// @param user_int   the user integer
-	/// @return 0 on success, -1 on error
-	int getUserInt(const int body_index, int* user_int) const;
-	/// get user pointer. not used by the library.
-	/// @param body_index index of the body
-	/// @param user_ptr   the user pointer
-	/// @return 0 on success, -1 on error
-	int getUserPtr(const int body_index, void** user_ptr) const;
-	/// set user integer. not used by the library.
-	/// @param body_index index of the body
-	/// @param user_int   the user integer
-	/// @return 0 on success, -1 on error
-	int setUserInt(const int body_index, const int user_int);
-	/// set user pointer. not used by the library.
-	/// @param body_index index of the body
-	/// @param user_ptr   the user pointer
-	/// @return 0 on success, -1 on error
-	int setUserPtr(const int body_index, void* const user_ptr);
-	/// set mass for a body
-	/// @param body_index index of the body
-	/// @param mass the mass to set
-	/// @return 0 on success, -1 on failure
-	int setBodyMass(const int body_index, const idScalar mass);
-	/// set first moment of mass for a body
-	/// (mass * center of mass, in body fixed frame, relative to joint)
-	/// @param body_index index of the body
-	/// @param first_mass_moment the vector to set
-	/// @return 0 on success, -1 on failure
-	int setBodyFirstMassMoment(const int body_index, const vec3& first_mass_moment);
-	/// set second moment of mass for a body
-	/// (moment of inertia, in body fixed frame, relative to joint)
-	/// @param body_index index of the body
-	/// @param second_mass_moment the inertia matrix
-	/// @return 0 on success, -1 on failure
-	int setBodySecondMassMoment(const int body_index, const mat33& second_mass_moment);
-	/// get mass for a body
-	/// @param body_index index of the body
-	/// @param mass the mass
-	/// @return 0 on success, -1 on failure
-	int getBodyMass(const int body_index, idScalar* mass) const;
-	/// get first moment of mass for a body
-	/// (mass * center of mass, in body fixed frame, relative to joint)
-	/// @param body_index index of the body
-	/// @param first_moment the vector
-	/// @return 0 on success, -1 on failure
-	int getBodyFirstMassMoment(const int body_index, vec3* first_mass_moment) const;
-	/// get second moment of mass for a body
-	/// (moment of inertia, in body fixed frame, relative to joint)
-	/// @param body_index index of the body
-	/// @param second_mass_moment the inertia matrix
-	/// @return 0 on success, -1 on failure
-	int getBodySecondMassMoment(const int body_index, mat33* second_mass_moment) const;
-	/// set all user forces and moments to zero
-	void clearAllUserForcesAndMoments();
-	/// Add an external force to a body, acting at the origin of the body-fixed frame.
-	/// Calls to addUserForce are cumulative. Set the user force and moment to zero
-	/// via clearAllUserForcesAndMoments()
-	/// @param body_force the force represented in the body-fixed frame of reference
-	/// @return 0 on success, -1 on error
-	int addUserForce(const int body_index, const vec3& body_force);
-	/// Add an external moment to a body.
-	/// Calls to addUserMoment are cumulative. Set the user force and moment to zero
-	/// via clearAllUserForcesAndMoments()
-	/// @param body_moment the moment represented in the body-fixed frame of reference
-	/// @return 0 on success, -1 on error
-	int addUserMoment(const int body_index, const vec3& body_moment);
-
-private:
-	// flag indicating if system has been initialized
-	bool m_is_finalized;
-	// flag indicating if mass properties are physically valid
-	bool m_mass_parameters_are_valid;
-	// flag defining if unphysical mass parameters are accepted
-	bool m_accept_invalid_mass_parameters;
-	// This struct implements the inverse dynamics calculations
-	class MultiBodyImpl;
-	MultiBodyImpl* m_impl;
-	// cache data structure for initialization
-	class InitCache;
-	InitCache* m_init_cache;
-};
-}  // namespace btInverseDynamics
-#endif  // MULTIBODYTREE_HPP_
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/IDEigenInterface.hpp b/thirdparty/bullet/BulletInverseDynamics/details/IDEigenInterface.hpp
deleted file mode 100644
index fe4f102513..0000000000
--- a/thirdparty/bullet/BulletInverseDynamics/details/IDEigenInterface.hpp
+++ /dev/null
@@ -1,39 +0,0 @@
-#ifndef INVDYNEIGENINTERFACE_HPP_
-#define INVDYNEIGENINTERFACE_HPP_
-#include "../IDConfig.hpp"
-namespace btInverseDynamics
-{
-#define BT_ID_HAVE_MAT3X
-
-#ifdef BT_USE_DOUBLE_PRECISION
-typedef Eigen::Matrix<double, Eigen::Dynamic, 1, Eigen::DontAlign> vecx;
-typedef Eigen::Matrix<double, 3, 1, Eigen::DontAlign> vec3;
-typedef Eigen::Matrix<double, 3, 3, Eigen::DontAlign> mat33;
-typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::DontAlign> matxx;
-typedef Eigen::Matrix<double, 3, Eigen::Dynamic, Eigen::DontAlign> mat3x;
-#else
-typedef Eigen::Matrix<float, Eigen::Dynamic, 1, Eigen::DontAlign> vecx;
-typedef Eigen::Matrix<float, 3, 1, Eigen::DontAlign> vec3;
-typedef Eigen::Matrix<float, 3, 3, Eigen::DontAlign> mat33;
-typedef Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::DontAlign> matxx;
-typedef Eigen::Matrix<float, 3, Eigen::Dynamic, Eigen::DontAlign> mat3x;
-#endif
-
-inline void resize(mat3x &m, Eigen::Index size)
-{
-	m.resize(3, size);
-	m.setZero();
-}
-
-inline void setMatxxElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, matxx *m)
-{
-	(*m)(row, col) = val;
-}
-
-inline void setMat3xElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, mat3x *m)
-{
-	(*m)(row, col) = val;
-}
-
-}  // namespace btInverseDynamics
-#endif  // INVDYNEIGENINTERFACE_HPP_
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp b/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp
deleted file mode 100644
index 0c398a3727..0000000000
--- a/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp
+++ /dev/null
@@ -1,202 +0,0 @@
-#ifndef IDLINEARMATHINTERFACE_HPP_
-#define IDLINEARMATHINTERFACE_HPP_
-
-#include <cstdlib>
-
-#include "../IDConfig.hpp"
-
-#include "../../LinearMath/btMatrix3x3.h"
-#include "../../LinearMath/btVector3.h"
-#include "../../LinearMath/btMatrixX.h"
-#define BT_ID_HAVE_MAT3X
-
-namespace btInverseDynamics
-{
-class vec3;
-class vecx;
-class mat33;
-typedef btMatrixX<idScalar> matxx;
-
-class vec3 : public btVector3
-{
-public:
-	vec3() : btVector3() {}
-	vec3(const btVector3& btv) { *this = btv; }
-	idScalar& operator()(int i) { return (*this)[i]; }
-	const idScalar& operator()(int i) const { return (*this)[i]; }
-	int size() const { return 3; }
-	const vec3& operator=(const btVector3& rhs)
-	{
-		*static_cast<btVector3*>(this) = rhs;
-		return *this;
-	}
-};
-
-class mat33 : public btMatrix3x3
-{
-public:
-	mat33() : btMatrix3x3() {}
-	mat33(const btMatrix3x3& btm) { *this = btm; }
-	idScalar& operator()(int i, int j) { return (*this)[i][j]; }
-	const idScalar& operator()(int i, int j) const { return (*this)[i][j]; }
-	const mat33& operator=(const btMatrix3x3& rhs)
-	{
-		*static_cast<btMatrix3x3*>(this) = rhs;
-		return *this;
-	}
-	friend mat33 operator*(const idScalar& s, const mat33& a);
-	friend mat33 operator/(const mat33& a, const idScalar& s);
-};
-
-inline mat33 operator/(const mat33& a, const idScalar& s) { return a * (1.0 / s); }
-
-inline mat33 operator*(const idScalar& s, const mat33& a) { return a * s; }
-
-class vecx : public btVectorX<idScalar>
-{
-public:
-	vecx(int size) : btVectorX<idScalar>(size) {}
-	const vecx& operator=(const btVectorX<idScalar>& rhs)
-	{
-		*static_cast<btVectorX<idScalar>*>(this) = rhs;
-		return *this;
-	}
-
-	idScalar& operator()(int i) { return (*this)[i]; }
-	const idScalar& operator()(int i) const { return (*this)[i]; }
-
-	friend vecx operator*(const vecx& a, const idScalar& s);
-	friend vecx operator*(const idScalar& s, const vecx& a);
-
-	friend vecx operator+(const vecx& a, const vecx& b);
-	friend vecx operator-(const vecx& a, const vecx& b);
-	friend vecx operator/(const vecx& a, const idScalar& s);
-};
-
-inline vecx operator*(const vecx& a, const idScalar& s)
-{
-	vecx result(a.size());
-	for (int i = 0; i < result.size(); i++)
-	{
-		result(i) = a(i) * s;
-	}
-	return result;
-}
-inline vecx operator*(const idScalar& s, const vecx& a) { return a * s; }
-inline vecx operator+(const vecx& a, const vecx& b)
-{
-	vecx result(a.size());
-	// TODO: error handling for a.size() != b.size()??
-	if (a.size() != b.size())
-	{
-		bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
-		abort();
-	}
-	for (int i = 0; i < a.size(); i++)
-	{
-		result(i) = a(i) + b(i);
-	}
-
-	return result;
-}
-
-inline vecx operator-(const vecx& a, const vecx& b)
-{
-	vecx result(a.size());
-	// TODO: error handling for a.size() != b.size()??
-	if (a.size() != b.size())
-	{
-		bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
-		abort();
-	}
-	for (int i = 0; i < a.size(); i++)
-	{
-		result(i) = a(i) - b(i);
-	}
-	return result;
-}
-inline vecx operator/(const vecx& a, const idScalar& s)
-{
-	vecx result(a.size());
-	for (int i = 0; i < result.size(); i++)
-	{
-		result(i) = a(i) / s;
-	}
-
-	return result;
-}
-
-// use btMatrixX to implement 3xX matrix
-class mat3x : public matxx
-{
-public:
-	mat3x() {}
-	mat3x(const mat3x& rhs)
-	{
-		matxx::resize(rhs.rows(), rhs.cols());
-		*this = rhs;
-	}
-	mat3x(int rows, int cols) : matxx(3, cols)
-	{
-	}
-	void operator=(const mat3x& rhs)
-	{
-		if (m_cols != rhs.m_cols)
-		{
-			bt_id_error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols());
-			abort();
-		}
-		for (int i = 0; i < rows(); i++)
-		{
-			for (int k = 0; k < cols(); k++)
-			{
-				setElem(i, k, rhs(i, k));
-			}
-		}
-	}
-	void setZero()
-	{
-		matxx::setZero();
-	}
-};
-
-inline vec3 operator*(const mat3x& a, const vecx& b)
-{
-	vec3 result;
-	if (a.cols() != b.size())
-	{
-		bt_id_error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size());
-		abort();
-	}
-	result(0) = 0.0;
-	result(1) = 0.0;
-	result(2) = 0.0;
-	for (int i = 0; i < b.size(); i++)
-	{
-		for (int k = 0; k < 3; k++)
-		{
-			result(k) += a(k, i) * b(i);
-		}
-	}
-	return result;
-}
-
-inline void resize(mat3x& m, idArrayIdx size)
-{
-	m.resize(3, size);
-	m.setZero();
-}
-
-inline void setMatxxElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, matxx* m)
-{
-	m->setElem(row, col, val);
-}
-
-inline void setMat3xElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, mat3x* m)
-{
-	m->setElem(row, col, val);
-}
-
-}  // namespace btInverseDynamics
-
-#endif  // IDLINEARMATHINTERFACE_HPP_
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/IDMatVec.hpp b/thirdparty/bullet/BulletInverseDynamics/details/IDMatVec.hpp
deleted file mode 100644
index 1c786095e7..0000000000
--- a/thirdparty/bullet/BulletInverseDynamics/details/IDMatVec.hpp
+++ /dev/null
@@ -1,489 +0,0 @@
-/// @file Built-In Matrix-Vector functions
-#ifndef IDMATVEC_HPP_
-#define IDMATVEC_HPP_
-
-#include <cstdlib>
-
-#include "../IDConfig.hpp"
-#define BT_ID_HAVE_MAT3X
-
-namespace btInverseDynamics
-{
-class vec3;
-class vecx;
-class mat33;
-class matxx;
-class mat3x;
-
-/// This is a very basic implementation to enable stand-alone use of the library.
-/// The implementation is not really optimized and misses many features that you would
-/// want from a "fully featured" linear math library.
-class vec3
-{
-public:
-	idScalar& operator()(int i) { return m_data[i]; }
-	const idScalar& operator()(int i) const { return m_data[i]; }
-	const int size() const { return 3; }
-	const vec3& operator=(const vec3& rhs);
-	const vec3& operator+=(const vec3& b);
-	const vec3& operator-=(const vec3& b);
-	vec3 cross(const vec3& b) const;
-	idScalar dot(const vec3& b) const;
-
-	friend vec3 operator*(const mat33& a, const vec3& b);
-	friend vec3 operator*(const vec3& a, const idScalar& s);
-	friend vec3 operator*(const idScalar& s, const vec3& a);
-
-	friend vec3 operator+(const vec3& a, const vec3& b);
-	friend vec3 operator-(const vec3& a, const vec3& b);
-	friend vec3 operator/(const vec3& a, const idScalar& s);
-
-private:
-	idScalar m_data[3];
-};
-
-class mat33
-{
-public:
-	idScalar& operator()(int i, int j) { return m_data[3 * i + j]; }
-	const idScalar& operator()(int i, int j) const { return m_data[3 * i + j]; }
-	const mat33& operator=(const mat33& rhs);
-	mat33 transpose() const;
-	const mat33& operator+=(const mat33& b);
-	const mat33& operator-=(const mat33& b);
-
-	friend mat33 operator*(const mat33& a, const mat33& b);
-	friend vec3 operator*(const mat33& a, const vec3& b);
-	friend mat33 operator*(const mat33& a, const idScalar& s);
-	friend mat33 operator*(const idScalar& s, const mat33& a);
-	friend mat33 operator+(const mat33& a, const mat33& b);
-	friend mat33 operator-(const mat33& a, const mat33& b);
-	friend mat33 operator/(const mat33& a, const idScalar& s);
-
-private:
-	// layout is [0,1,2;3,4,5;6,7,8]
-	idScalar m_data[9];
-};
-
-class vecx
-{
-public:
-	vecx(int size) : m_size(size)
-	{
-		m_data = static_cast<idScalar*>(idMalloc(sizeof(idScalar) * size));
-	}
-	~vecx() { idFree(m_data); }
-	const vecx& operator=(const vecx& rhs);
-	idScalar& operator()(int i) { return m_data[i]; }
-	const idScalar& operator()(int i) const { return m_data[i]; }
-	const int& size() const { return m_size; }
-
-	friend vecx operator*(const vecx& a, const idScalar& s);
-	friend vecx operator*(const idScalar& s, const vecx& a);
-
-	friend vecx operator+(const vecx& a, const vecx& b);
-	friend vecx operator-(const vecx& a, const vecx& b);
-	friend vecx operator/(const vecx& a, const idScalar& s);
-
-private:
-	int m_size;
-	idScalar* m_data;
-};
-
-class matxx
-{
-public:
-	matxx()
-	{
-		m_data = 0x0;
-		m_cols = 0;
-		m_rows = 0;
-	}
-	matxx(int rows, int cols) : m_rows(rows), m_cols(cols)
-	{
-		m_data = static_cast<idScalar*>(idMalloc(sizeof(idScalar) * rows * cols));
-	}
-	~matxx() { idFree(m_data); }
-	idScalar& operator()(int row, int col) { return m_data[row * m_cols + col]; }
-	const idScalar& operator()(int row, int col) const { return m_data[row * m_cols + col]; }
-	const int& rows() const { return m_rows; }
-	const int& cols() const { return m_cols; }
-
-private:
-	int m_rows;
-	int m_cols;
-	idScalar* m_data;
-};
-
-class mat3x
-{
-public:
-	mat3x()
-	{
-		m_data = 0x0;
-		m_cols = 0;
-	}
-	mat3x(const mat3x& rhs)
-	{
-		m_cols = rhs.m_cols;
-		allocate();
-		*this = rhs;
-	}
-	mat3x(int rows, int cols) : m_cols(cols)
-	{
-		allocate();
-	};
-	void operator=(const mat3x& rhs)
-	{
-		if (m_cols != rhs.m_cols)
-		{
-			bt_id_error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols());
-			abort();
-		}
-		for (int i = 0; i < 3 * m_cols; i++)
-		{
-			m_data[i] = rhs.m_data[i];
-		}
-	}
-
-	~mat3x()
-	{
-		free();
-	}
-	idScalar& operator()(int row, int col) { return m_data[row * m_cols + col]; }
-	const idScalar& operator()(int row, int col) const { return m_data[row * m_cols + col]; }
-	int rows() const { return m_rows; }
-	const int& cols() const { return m_cols; }
-	void resize(int rows, int cols)
-	{
-		m_cols = cols;
-		free();
-		allocate();
-	}
-	void setZero()
-	{
-		memset(m_data, 0x0, sizeof(idScalar) * m_rows * m_cols);
-	}
-	// avoid operators that would allocate -- use functions sub/add/mul in IDMath.hpp instead
-private:
-	void allocate() { m_data = static_cast<idScalar*>(idMalloc(sizeof(idScalar) * m_rows * m_cols)); }
-	void free() { idFree(m_data); }
-	enum
-	{
-		m_rows = 3
-	};
-	int m_cols;
-	idScalar* m_data;
-};
-
-inline void resize(mat3x& m, idArrayIdx size)
-{
-	m.resize(3, size);
-	m.setZero();
-}
-
-//////////////////////////////////////////////////
-// Implementations
-inline const vec3& vec3::operator=(const vec3& rhs)
-{
-	if (&rhs != this)
-	{
-		memcpy(m_data, rhs.m_data, 3 * sizeof(idScalar));
-	}
-	return *this;
-}
-
-inline vec3 vec3::cross(const vec3& b) const
-{
-	vec3 result;
-	result.m_data[0] = m_data[1] * b.m_data[2] - m_data[2] * b.m_data[1];
-	result.m_data[1] = m_data[2] * b.m_data[0] - m_data[0] * b.m_data[2];
-	result.m_data[2] = m_data[0] * b.m_data[1] - m_data[1] * b.m_data[0];
-
-	return result;
-}
-
-inline idScalar vec3::dot(const vec3& b) const
-{
-	return m_data[0] * b.m_data[0] + m_data[1] * b.m_data[1] + m_data[2] * b.m_data[2];
-}
-
-inline const mat33& mat33::operator=(const mat33& rhs)
-{
-	if (&rhs != this)
-	{
-		memcpy(m_data, rhs.m_data, 9 * sizeof(idScalar));
-	}
-	return *this;
-}
-inline mat33 mat33::transpose() const
-{
-	mat33 result;
-	result.m_data[0] = m_data[0];
-	result.m_data[1] = m_data[3];
-	result.m_data[2] = m_data[6];
-	result.m_data[3] = m_data[1];
-	result.m_data[4] = m_data[4];
-	result.m_data[5] = m_data[7];
-	result.m_data[6] = m_data[2];
-	result.m_data[7] = m_data[5];
-	result.m_data[8] = m_data[8];
-
-	return result;
-}
-
-inline mat33 operator*(const mat33& a, const mat33& b)
-{
-	mat33 result;
-	result.m_data[0] =
-		a.m_data[0] * b.m_data[0] + a.m_data[1] * b.m_data[3] + a.m_data[2] * b.m_data[6];
-	result.m_data[1] =
-		a.m_data[0] * b.m_data[1] + a.m_data[1] * b.m_data[4] + a.m_data[2] * b.m_data[7];
-	result.m_data[2] =
-		a.m_data[0] * b.m_data[2] + a.m_data[1] * b.m_data[5] + a.m_data[2] * b.m_data[8];
-	result.m_data[3] =
-		a.m_data[3] * b.m_data[0] + a.m_data[4] * b.m_data[3] + a.m_data[5] * b.m_data[6];
-	result.m_data[4] =
-		a.m_data[3] * b.m_data[1] + a.m_data[4] * b.m_data[4] + a.m_data[5] * b.m_data[7];
-	result.m_data[5] =
-		a.m_data[3] * b.m_data[2] + a.m_data[4] * b.m_data[5] + a.m_data[5] * b.m_data[8];
-	result.m_data[6] =
-		a.m_data[6] * b.m_data[0] + a.m_data[7] * b.m_data[3] + a.m_data[8] * b.m_data[6];
-	result.m_data[7] =
-		a.m_data[6] * b.m_data[1] + a.m_data[7] * b.m_data[4] + a.m_data[8] * b.m_data[7];
-	result.m_data[8] =
-		a.m_data[6] * b.m_data[2] + a.m_data[7] * b.m_data[5] + a.m_data[8] * b.m_data[8];
-
-	return result;
-}
-
-inline const mat33& mat33::operator+=(const mat33& b)
-{
-	for (int i = 0; i < 9; i++)
-	{
-		m_data[i] += b.m_data[i];
-	}
-
-	return *this;
-}
-
-inline const mat33& mat33::operator-=(const mat33& b)
-{
-	for (int i = 0; i < 9; i++)
-	{
-		m_data[i] -= b.m_data[i];
-	}
-	return *this;
-}
-
-inline vec3 operator*(const mat33& a, const vec3& b)
-{
-	vec3 result;
-
-	result.m_data[0] =
-		a.m_data[0] * b.m_data[0] + a.m_data[1] * b.m_data[1] + a.m_data[2] * b.m_data[2];
-	result.m_data[1] =
-		a.m_data[3] * b.m_data[0] + a.m_data[4] * b.m_data[1] + a.m_data[5] * b.m_data[2];
-	result.m_data[2] =
-		a.m_data[6] * b.m_data[0] + a.m_data[7] * b.m_data[1] + a.m_data[8] * b.m_data[2];
-
-	return result;
-}
-
-inline const vec3& vec3::operator+=(const vec3& b)
-{
-	for (int i = 0; i < 3; i++)
-	{
-		m_data[i] += b.m_data[i];
-	}
-	return *this;
-}
-
-inline const vec3& vec3::operator-=(const vec3& b)
-{
-	for (int i = 0; i < 3; i++)
-	{
-		m_data[i] -= b.m_data[i];
-	}
-	return *this;
-}
-
-inline mat33 operator*(const mat33& a, const idScalar& s)
-{
-	mat33 result;
-	for (int i = 0; i < 9; i++)
-	{
-		result.m_data[i] = a.m_data[i] * s;
-	}
-	return result;
-}
-
-inline mat33 operator*(const idScalar& s, const mat33& a) { return a * s; }
-
-inline vec3 operator*(const vec3& a, const idScalar& s)
-{
-	vec3 result;
-	for (int i = 0; i < 3; i++)
-	{
-		result.m_data[i] = a.m_data[i] * s;
-	}
-	return result;
-}
-inline vec3 operator*(const idScalar& s, const vec3& a) { return a * s; }
-
-inline mat33 operator+(const mat33& a, const mat33& b)
-{
-	mat33 result;
-	for (int i = 0; i < 9; i++)
-	{
-		result.m_data[i] = a.m_data[i] + b.m_data[i];
-	}
-	return result;
-}
-inline vec3 operator+(const vec3& a, const vec3& b)
-{
-	vec3 result;
-	for (int i = 0; i < 3; i++)
-	{
-		result.m_data[i] = a.m_data[i] + b.m_data[i];
-	}
-	return result;
-}
-
-inline mat33 operator-(const mat33& a, const mat33& b)
-{
-	mat33 result;
-	for (int i = 0; i < 9; i++)
-	{
-		result.m_data[i] = a.m_data[i] - b.m_data[i];
-	}
-	return result;
-}
-inline vec3 operator-(const vec3& a, const vec3& b)
-{
-	vec3 result;
-	for (int i = 0; i < 3; i++)
-	{
-		result.m_data[i] = a.m_data[i] - b.m_data[i];
-	}
-	return result;
-}
-
-inline mat33 operator/(const mat33& a, const idScalar& s)
-{
-	mat33 result;
-	for (int i = 0; i < 9; i++)
-	{
-		result.m_data[i] = a.m_data[i] / s;
-	}
-	return result;
-}
-
-inline vec3 operator/(const vec3& a, const idScalar& s)
-{
-	vec3 result;
-	for (int i = 0; i < 3; i++)
-	{
-		result.m_data[i] = a.m_data[i] / s;
-	}
-	return result;
-}
-
-inline const vecx& vecx::operator=(const vecx& rhs)
-{
-	if (size() != rhs.size())
-	{
-		bt_id_error_message("size missmatch, size()= %d but rhs.size()= %d\n", size(), rhs.size());
-		abort();
-	}
-	if (&rhs != this)
-	{
-		memcpy(m_data, rhs.m_data, rhs.size() * sizeof(idScalar));
-	}
-	return *this;
-}
-inline vecx operator*(const vecx& a, const idScalar& s)
-{
-	vecx result(a.size());
-	for (int i = 0; i < result.size(); i++)
-	{
-		result.m_data[i] = a.m_data[i] * s;
-	}
-	return result;
-}
-inline vecx operator*(const idScalar& s, const vecx& a) { return a * s; }
-inline vecx operator+(const vecx& a, const vecx& b)
-{
-	vecx result(a.size());
-	// TODO: error handling for a.size() != b.size()??
-	if (a.size() != b.size())
-	{
-		bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
-		abort();
-	}
-	for (int i = 0; i < a.size(); i++)
-	{
-		result.m_data[i] = a.m_data[i] + b.m_data[i];
-	}
-
-	return result;
-}
-inline vecx operator-(const vecx& a, const vecx& b)
-{
-	vecx result(a.size());
-	// TODO: error handling for a.size() != b.size()??
-	if (a.size() != b.size())
-	{
-		bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
-		abort();
-	}
-	for (int i = 0; i < a.size(); i++)
-	{
-		result.m_data[i] = a.m_data[i] - b.m_data[i];
-	}
-	return result;
-}
-inline vecx operator/(const vecx& a, const idScalar& s)
-{
-	vecx result(a.size());
-	for (int i = 0; i < result.size(); i++)
-	{
-		result.m_data[i] = a.m_data[i] / s;
-	}
-
-	return result;
-}
-
-inline vec3 operator*(const mat3x& a, const vecx& b)
-{
-	vec3 result;
-	if (a.cols() != b.size())
-	{
-		bt_id_error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size());
-		abort();
-	}
-	result(0) = 0.0;
-	result(1) = 0.0;
-	result(2) = 0.0;
-	for (int i = 0; i < b.size(); i++)
-	{
-		for (int k = 0; k < 3; k++)
-		{
-			result(k) += a(k, i) * b(i);
-		}
-	}
-	return result;
-}
-
-inline void setMatxxElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, matxx* m)
-{
-	(*m)(row, col) = val;
-}
-
-inline void setMat3xElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, mat3x* m)
-{
-	(*m)(row, col) = val;
-}
-
-}  // namespace btInverseDynamics
-#endif
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp
deleted file mode 100644
index ec9a562295..0000000000
--- a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp
+++ /dev/null
@@ -1,1286 +0,0 @@
-#include "MultiBodyTreeImpl.hpp"
-
-namespace btInverseDynamics
-{
-MultiBodyTree::MultiBodyImpl::MultiBodyImpl(int num_bodies_, int num_dofs_)
-	: m_num_bodies(num_bodies_), m_num_dofs(num_dofs_)
-#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-	  ,
-	  m_m3x(3, m_num_dofs)
-#endif
-{
-#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-	resize(m_m3x, m_num_dofs);
-#endif
-	m_body_list.resize(num_bodies_);
-	m_parent_index.resize(num_bodies_);
-	m_child_indices.resize(num_bodies_);
-	m_user_int.resize(num_bodies_);
-	m_user_ptr.resize(num_bodies_);
-
-	m_world_gravity(0) = 0.0;
-	m_world_gravity(1) = 0.0;
-	m_world_gravity(2) = -9.8;
-}
-
-const char *MultiBodyTree::MultiBodyImpl::jointTypeToString(const JointType &type) const
-{
-	switch (type)
-	{
-		case FIXED:
-			return "fixed";
-		case REVOLUTE:
-			return "revolute";
-		case PRISMATIC:
-			return "prismatic";
-		case FLOATING:
-			return "floating";
-		case SPHERICAL:
-			return "spherical";
-	}
-	return "error: invalid";
-}
-
-inline void indent(const int &level)
-{
-	for (int j = 0; j < level; j++)
-		id_printf("  ");  // indent
-}
-
-void MultiBodyTree::MultiBodyImpl::printTree()
-{
-	id_printf("body %.2d[%s]: root\n", 0, jointTypeToString(m_body_list[0].m_joint_type));
-	printTree(0, 0);
-}
-
-void MultiBodyTree::MultiBodyImpl::printTreeData()
-{
-	for (idArrayIdx i = 0; i < m_body_list.size(); i++)
-	{
-		RigidBody &body = m_body_list[i];
-		id_printf("body: %d\n", static_cast<int>(i));
-		id_printf("type: %s\n", jointTypeToString(body.m_joint_type));
-		id_printf("q_index= %d\n", body.m_q_index);
-		id_printf("Jac_JR= [%f;%f;%f]\n", body.m_Jac_JR(0), body.m_Jac_JR(1), body.m_Jac_JR(2));
-		id_printf("Jac_JT= [%f;%f;%f]\n", body.m_Jac_JT(0), body.m_Jac_JT(1), body.m_Jac_JT(2));
-
-		id_printf("mass = %f\n", body.m_mass);
-		id_printf("mass * com = [%f %f %f]\n", body.m_body_mass_com(0), body.m_body_mass_com(1),
-				  body.m_body_mass_com(2));
-		id_printf(
-			"I_o= [%f %f %f;\n"
-			"	  %f %f %f;\n"
-			"	  %f %f %f]\n",
-			body.m_body_I_body(0, 0), body.m_body_I_body(0, 1), body.m_body_I_body(0, 2),
-			body.m_body_I_body(1, 0), body.m_body_I_body(1, 1), body.m_body_I_body(1, 2),
-			body.m_body_I_body(2, 0), body.m_body_I_body(2, 1), body.m_body_I_body(2, 2));
-
-		id_printf("parent_pos_parent_body_ref= [%f %f %f]\n", body.m_parent_pos_parent_body_ref(0),
-				  body.m_parent_pos_parent_body_ref(1), body.m_parent_pos_parent_body_ref(2));
-	}
-}
-int MultiBodyTree::MultiBodyImpl::bodyNumDoFs(const JointType &type) const
-{
-	switch (type)
-	{
-		case FIXED:
-			return 0;
-		case REVOLUTE:
-		case PRISMATIC:
-			return 1;
-		case FLOATING:
-			return 6;
-		case SPHERICAL:
-			return 3;
-	}
-	bt_id_error_message("unknown joint type %d\n", type);
-	return 0;
-}
-
-void MultiBodyTree::MultiBodyImpl::printTree(int index, int indentation)
-{
-	// this is adapted from URDF2Bullet.
-	// TODO: fix this and print proper graph (similar to git --log --graph)
-	int num_children = m_child_indices[index].size();
-
-	indentation += 2;
-	int count = 0;
-
-	for (int i = 0; i < num_children; i++)
-	{
-		int child_index = m_child_indices[index][i];
-		indent(indentation);
-		id_printf("body %.2d[%s]: %.2d is child no. %d (qi= %d .. %d) \n", index,
-				  jointTypeToString(m_body_list[index].m_joint_type), child_index, (count++) + 1,
-				  m_body_list[index].m_q_index,
-				  m_body_list[index].m_q_index + bodyNumDoFs(m_body_list[index].m_joint_type));
-		// first grandchild
-		printTree(child_index, indentation);
-	}
-}
-
-int MultiBodyTree::MultiBodyImpl::setGravityInWorldFrame(const vec3 &gravity)
-{
-	m_world_gravity = gravity;
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::generateIndexSets()
-{
-	m_body_revolute_list.resize(0);
-	m_body_prismatic_list.resize(0);
-	int q_index = 0;
-	for (idArrayIdx i = 0; i < m_body_list.size(); i++)
-	{
-		RigidBody &body = m_body_list[i];
-		body.m_q_index = -1;
-		switch (body.m_joint_type)
-		{
-			case REVOLUTE:
-				m_body_revolute_list.push_back(i);
-				body.m_q_index = q_index;
-				q_index++;
-				break;
-			case PRISMATIC:
-				m_body_prismatic_list.push_back(i);
-				body.m_q_index = q_index;
-				q_index++;
-				break;
-			case FIXED:
-				// do nothing
-				break;
-			case FLOATING:
-				m_body_floating_list.push_back(i);
-				body.m_q_index = q_index;
-				q_index += 6;
-				break;
-			case SPHERICAL:
-				m_body_spherical_list.push_back(i);
-				body.m_q_index = q_index;
-				q_index += 3;
-				break;
-			default:
-				bt_id_error_message("unsupported joint type %d\n", body.m_joint_type);
-				return -1;
-		}
-	}
-	// sanity check
-	if (q_index != m_num_dofs)
-	{
-		bt_id_error_message("internal error, q_index= %d but num_dofs %d\n", q_index, m_num_dofs);
-		return -1;
-	}
-
-	m_child_indices.resize(m_body_list.size());
-
-	for (idArrayIdx child = 1; child < m_parent_index.size(); child++)
-	{
-		const int &parent = m_parent_index[child];
-		if (parent >= 0 && parent < (static_cast<int>(m_parent_index.size()) - 1))
-		{
-			m_child_indices[parent].push_back(child);
-		}
-		else
-		{
-			if (-1 == parent)
-			{
-				// multiple bodies are directly linked to the environment, ie, not a single root
-				bt_id_error_message("building index sets parent(%zu)= -1 (multiple roots)\n", child);
-			}
-			else
-			{
-				// should never happen
-				bt_id_error_message(
-					"building index sets. parent_index[%zu]= %d, but m_parent_index.size()= %d\n",
-					child, parent, static_cast<int>(m_parent_index.size()));
-			}
-			return -1;
-		}
-	}
-
-	return 0;
-}
-
-void MultiBodyTree::MultiBodyImpl::calculateStaticData()
-{
-	// relative kinematics that are not a function of q, u, dot_u
-	for (idArrayIdx i = 0; i < m_body_list.size(); i++)
-	{
-		RigidBody &body = m_body_list[i];
-		switch (body.m_joint_type)
-		{
-			case REVOLUTE:
-				body.m_parent_vel_rel(0) = 0;
-				body.m_parent_vel_rel(1) = 0;
-				body.m_parent_vel_rel(2) = 0;
-				body.m_parent_acc_rel(0) = 0;
-				body.m_parent_acc_rel(1) = 0;
-				body.m_parent_acc_rel(2) = 0;
-				body.m_parent_pos_parent_body = body.m_parent_pos_parent_body_ref;
-				break;
-			case PRISMATIC:
-				body.m_body_T_parent = body.m_body_T_parent_ref;
-				body.m_parent_Jac_JT = body.m_body_T_parent_ref.transpose() * body.m_Jac_JT;
-				body.m_body_ang_vel_rel(0) = 0;
-				body.m_body_ang_vel_rel(1) = 0;
-				body.m_body_ang_vel_rel(2) = 0;
-				body.m_body_ang_acc_rel(0) = 0;
-				body.m_body_ang_acc_rel(1) = 0;
-				body.m_body_ang_acc_rel(2) = 0;
-				break;
-			case FIXED:
-				body.m_parent_pos_parent_body = body.m_parent_pos_parent_body_ref;
-				body.m_body_T_parent = body.m_body_T_parent_ref;
-				body.m_body_ang_vel_rel(0) = 0;
-				body.m_body_ang_vel_rel(1) = 0;
-				body.m_body_ang_vel_rel(2) = 0;
-				body.m_parent_vel_rel(0) = 0;
-				body.m_parent_vel_rel(1) = 0;
-				body.m_parent_vel_rel(2) = 0;
-				body.m_body_ang_acc_rel(0) = 0;
-				body.m_body_ang_acc_rel(1) = 0;
-				body.m_body_ang_acc_rel(2) = 0;
-				body.m_parent_acc_rel(0) = 0;
-				body.m_parent_acc_rel(1) = 0;
-				body.m_parent_acc_rel(2) = 0;
-				break;
-			case FLOATING:
-				// no static data
-				break;
-			case SPHERICAL:
-				//todo: review
-				body.m_parent_pos_parent_body = body.m_parent_pos_parent_body_ref;
-				body.m_parent_vel_rel(0) = 0;
-				body.m_parent_vel_rel(1) = 0;
-				body.m_parent_vel_rel(2) = 0;
-				body.m_parent_acc_rel(0) = 0;
-				body.m_parent_acc_rel(1) = 0;
-				body.m_parent_acc_rel(2) = 0;
-				break;
-		}
-
-			// resize & initialize jacobians to zero.
-#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-		body.m_body_dot_Jac_T_u(0) = 0.0;
-		body.m_body_dot_Jac_T_u(1) = 0.0;
-		body.m_body_dot_Jac_T_u(2) = 0.0;
-		body.m_body_dot_Jac_R_u(0) = 0.0;
-		body.m_body_dot_Jac_R_u(1) = 0.0;
-		body.m_body_dot_Jac_R_u(2) = 0.0;
-		resize(body.m_body_Jac_T, m_num_dofs);
-		resize(body.m_body_Jac_R, m_num_dofs);
-		body.m_body_Jac_T.setZero();
-		body.m_body_Jac_R.setZero();
-#endif  //
-	}
-}
-
-int MultiBodyTree::MultiBodyImpl::calculateInverseDynamics(const vecx &q, const vecx &u,
-														   const vecx &dot_u, vecx *joint_forces)
-{
-	if (q.size() != m_num_dofs || u.size() != m_num_dofs || dot_u.size() != m_num_dofs ||
-		joint_forces->size() != m_num_dofs)
-	{
-		bt_id_error_message(
-			"wrong vector dimension. system has %d DOFs,\n"
-			"but dim(q)= %d, dim(u)= %d, dim(dot_u)= %d, dim(joint_forces)= %d\n",
-			m_num_dofs, static_cast<int>(q.size()), static_cast<int>(u.size()),
-			static_cast<int>(dot_u.size()), static_cast<int>(joint_forces->size()));
-		return -1;
-	}
-	// 1. relative kinematics
-	if (-1 == calculateKinematics(q, u, dot_u, POSITION_VELOCITY_ACCELERATION))
-	{
-		bt_id_error_message("error in calculateKinematics\n");
-		return -1;
-	}
-	// 2. update contributions to equations of motion for every body.
-	for (idArrayIdx i = 0; i < m_body_list.size(); i++)
-	{
-		RigidBody &body = m_body_list[i];
-		// 3.4 update dynamic terms (rate of change of angular & linear momentum)
-		body.m_eom_lhs_rotational =
-			body.m_body_I_body * body.m_body_ang_acc + body.m_body_mass_com.cross(body.m_body_acc) +
-			body.m_body_ang_vel.cross(body.m_body_I_body * body.m_body_ang_vel) -
-			body.m_body_moment_user;
-		body.m_eom_lhs_translational =
-			body.m_body_ang_acc.cross(body.m_body_mass_com) + body.m_mass * body.m_body_acc +
-			body.m_body_ang_vel.cross(body.m_body_ang_vel.cross(body.m_body_mass_com)) -
-			body.m_body_force_user;
-	}
-
-	// 3. calculate full set of forces at parent joint
-	// (not directly calculating the joint force along the free direction
-	// simplifies inclusion of fixed joints.
-	// An alternative would be to fuse bodies in a pre-processing step,
-	// but that would make changing masses online harder (eg, payload masses
-	// added with fixed  joints to a gripper)
-	// Also, this enables adding zero weight bodies as a way to calculate frame poses
-	// for force elements, etc.
-
-	for (int body_idx = m_body_list.size() - 1; body_idx >= 0; body_idx--)
-	{
-		// sum of forces and moments acting on this body from its children
-		vec3 sum_f_children;
-		vec3 sum_m_children;
-		setZero(sum_f_children);
-		setZero(sum_m_children);
-		for (idArrayIdx child_list_idx = 0; child_list_idx < m_child_indices[body_idx].size();
-			 child_list_idx++)
-		{
-			const RigidBody &child = m_body_list[m_child_indices[body_idx][child_list_idx]];
-			vec3 child_joint_force_in_this_frame =
-				child.m_body_T_parent.transpose() * child.m_force_at_joint;
-			sum_f_children -= child_joint_force_in_this_frame;
-			sum_m_children -= child.m_body_T_parent.transpose() * child.m_moment_at_joint +
-							  child.m_parent_pos_parent_body.cross(child_joint_force_in_this_frame);
-		}
-		RigidBody &body = m_body_list[body_idx];
-
-		body.m_force_at_joint = body.m_eom_lhs_translational - sum_f_children;
-		body.m_moment_at_joint = body.m_eom_lhs_rotational - sum_m_children;
-	}
-
-	// 4. Calculate Joint forces.
-	// These are the components of force_at_joint/moment_at_joint
-	// in the free directions given by Jac_JT/Jac_JR
-	// 4.1 revolute joints
-	for (idArrayIdx i = 0; i < m_body_revolute_list.size(); i++)
-	{
-		RigidBody &body = m_body_list[m_body_revolute_list[i]];
-		// (*joint_forces)(body.m_q_index) = body.m_Jac_JR.transpose() * body.m_moment_at_joint;
-		(*joint_forces)(body.m_q_index) = body.m_Jac_JR.dot(body.m_moment_at_joint);
-	}
-	// 4.2 for prismatic joints
-	for (idArrayIdx i = 0; i < m_body_prismatic_list.size(); i++)
-	{
-		RigidBody &body = m_body_list[m_body_prismatic_list[i]];
-		// (*joint_forces)(body.m_q_index) = body.m_Jac_JT.transpose() * body.m_force_at_joint;
-		(*joint_forces)(body.m_q_index) = body.m_Jac_JT.dot(body.m_force_at_joint);
-	}
-	// 4.3 floating bodies (6-DoF joints)
-	for (idArrayIdx i = 0; i < m_body_floating_list.size(); i++)
-	{
-		RigidBody &body = m_body_list[m_body_floating_list[i]];
-		(*joint_forces)(body.m_q_index + 0) = body.m_moment_at_joint(0);
-		(*joint_forces)(body.m_q_index + 1) = body.m_moment_at_joint(1);
-		(*joint_forces)(body.m_q_index + 2) = body.m_moment_at_joint(2);
-
-		(*joint_forces)(body.m_q_index + 3) = body.m_force_at_joint(0);
-		(*joint_forces)(body.m_q_index + 4) = body.m_force_at_joint(1);
-		(*joint_forces)(body.m_q_index + 5) = body.m_force_at_joint(2);
-	}
-
-	// 4.4 spherical bodies (3-DoF joints)
-	for (idArrayIdx i = 0; i < m_body_spherical_list.size(); i++)
-	{
-		//todo: review
-		RigidBody &body = m_body_list[m_body_spherical_list[i]];
-		(*joint_forces)(body.m_q_index + 0) = body.m_moment_at_joint(0);
-		(*joint_forces)(body.m_q_index + 1) = body.m_moment_at_joint(1);
-		(*joint_forces)(body.m_q_index + 2) = body.m_moment_at_joint(2);
-	}
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::calculateKinematics(const vecx &q, const vecx &u, const vecx &dot_u,
-													  const KinUpdateType type)
-{
-	if (q.size() != m_num_dofs || u.size() != m_num_dofs || dot_u.size() != m_num_dofs)
-	{
-		bt_id_error_message(
-			"wrong vector dimension. system has %d DOFs,\n"
-			"but dim(q)= %d, dim(u)= %d, dim(dot_u)= %d\n",
-			m_num_dofs, static_cast<int>(q.size()), static_cast<int>(u.size()),
-			static_cast<int>(dot_u.size()));
-		return -1;
-	}
-	if (type != POSITION_ONLY && type != POSITION_VELOCITY && type != POSITION_VELOCITY_ACCELERATION)
-	{
-		bt_id_error_message("invalid type %d\n", type);
-		return -1;
-	}
-
-	// 1. update relative kinematics
-	// 1.1 for revolute
-	for (idArrayIdx i = 0; i < m_body_revolute_list.size(); i++)
-	{
-		RigidBody &body = m_body_list[m_body_revolute_list[i]];
-		mat33 T;
-		bodyTParentFromAxisAngle(body.m_Jac_JR, q(body.m_q_index), &T);
-		body.m_body_T_parent = T * body.m_body_T_parent_ref;
-		if (type >= POSITION_VELOCITY)
-		{
-			body.m_body_ang_vel_rel = body.m_Jac_JR * u(body.m_q_index);
-		}
-		if (type >= POSITION_VELOCITY_ACCELERATION)
-		{
-			body.m_body_ang_acc_rel = body.m_Jac_JR * dot_u(body.m_q_index);
-		}
-	}
-	// 1.2 for prismatic
-	for (idArrayIdx i = 0; i < m_body_prismatic_list.size(); i++)
-	{
-		RigidBody &body = m_body_list[m_body_prismatic_list[i]];
-		body.m_parent_pos_parent_body =
-			body.m_parent_pos_parent_body_ref + body.m_parent_Jac_JT * q(body.m_q_index);
-		if (type >= POSITION_VELOCITY)
-		{
-			body.m_parent_vel_rel =
-				body.m_body_T_parent_ref.transpose() * body.m_Jac_JT * u(body.m_q_index);
-		}
-		if (type >= POSITION_VELOCITY_ACCELERATION)
-		{
-			body.m_parent_acc_rel = body.m_parent_Jac_JT * dot_u(body.m_q_index);
-		}
-	}
-	// 1.3 fixed joints: nothing to do
-	// 1.4 6dof joints:
-	for (idArrayIdx i = 0; i < m_body_floating_list.size(); i++)
-	{
-		RigidBody &body = m_body_list[m_body_floating_list[i]];
-
-		body.m_body_T_parent = transformZ(q(body.m_q_index + 2)) *
-							   transformY(q(body.m_q_index + 1)) *
-							   transformX(q(body.m_q_index));
-		body.m_parent_pos_parent_body(0) = q(body.m_q_index + 3);
-		body.m_parent_pos_parent_body(1) = q(body.m_q_index + 4);
-		body.m_parent_pos_parent_body(2) = q(body.m_q_index + 5);
-		body.m_parent_pos_parent_body = body.m_body_T_parent * body.m_parent_pos_parent_body;
-
-		if (type >= POSITION_VELOCITY)
-		{
-			body.m_body_ang_vel_rel(0) = u(body.m_q_index + 0);
-			body.m_body_ang_vel_rel(1) = u(body.m_q_index + 1);
-			body.m_body_ang_vel_rel(2) = u(body.m_q_index + 2);
-
-			body.m_parent_vel_rel(0) = u(body.m_q_index + 3);
-			body.m_parent_vel_rel(1) = u(body.m_q_index + 4);
-			body.m_parent_vel_rel(2) = u(body.m_q_index + 5);
-
-			body.m_parent_vel_rel = body.m_body_T_parent.transpose() * body.m_parent_vel_rel;
-		}
-		if (type >= POSITION_VELOCITY_ACCELERATION)
-		{
-			body.m_body_ang_acc_rel(0) = dot_u(body.m_q_index + 0);
-			body.m_body_ang_acc_rel(1) = dot_u(body.m_q_index + 1);
-			body.m_body_ang_acc_rel(2) = dot_u(body.m_q_index + 2);
-
-			body.m_parent_acc_rel(0) = dot_u(body.m_q_index + 3);
-			body.m_parent_acc_rel(1) = dot_u(body.m_q_index + 4);
-			body.m_parent_acc_rel(2) = dot_u(body.m_q_index + 5);
-
-			body.m_parent_acc_rel = body.m_body_T_parent.transpose() * body.m_parent_acc_rel;
-		}
-	}
-	
-	for (idArrayIdx i = 0; i < m_body_spherical_list.size(); i++)
-	{
-		//todo: review
-		RigidBody &body = m_body_list[m_body_spherical_list[i]];
-
-		mat33 T;
-
-		T = transformX(q(body.m_q_index)) *
-				transformY(q(body.m_q_index + 1)) *
-				transformZ(q(body.m_q_index + 2));
-		body.m_body_T_parent = T * body.m_body_T_parent_ref;
-			
-		body.m_parent_pos_parent_body(0)=0;
-		body.m_parent_pos_parent_body(1)=0;
-		body.m_parent_pos_parent_body(2)=0;
-		
-		body.m_parent_pos_parent_body = body.m_body_T_parent * body.m_parent_pos_parent_body;
-
-		if (type >= POSITION_VELOCITY)
-		{
-			body.m_body_ang_vel_rel(0) = u(body.m_q_index + 0);
-			body.m_body_ang_vel_rel(1) = u(body.m_q_index + 1);
-			body.m_body_ang_vel_rel(2) = u(body.m_q_index + 2);
-			body.m_parent_vel_rel = body.m_body_T_parent.transpose() * body.m_parent_vel_rel;
-		}
-		if (type >= POSITION_VELOCITY_ACCELERATION)
-		{
-			body.m_body_ang_acc_rel(0) = dot_u(body.m_q_index + 0);
-			body.m_body_ang_acc_rel(1) = dot_u(body.m_q_index + 1);
-			body.m_body_ang_acc_rel(2) = dot_u(body.m_q_index + 2);
-			body.m_parent_acc_rel = body.m_body_T_parent.transpose() * body.m_parent_acc_rel;
-		}
-	}
-
-	// 2. absolute kinematic quantities (vector valued)
-	// NOTE: this should be optimized by specializing for different body types
-	// (e.g., relative rotation is always zero for prismatic joints, etc.)
-
-	// calculations for root body
-	{
-		RigidBody &body = m_body_list[0];
-		// 3.1 update absolute positions and orientations:
-		// will be required if we add force elements (eg springs between bodies,
-		// or contacts)
-		// not required right now, added here for debugging purposes
-		body.m_body_pos = body.m_body_T_parent * body.m_parent_pos_parent_body;
-		body.m_body_T_world = body.m_body_T_parent;
-
-		if (type >= POSITION_VELOCITY)
-		{
-			// 3.2 update absolute velocities
-			body.m_body_ang_vel = body.m_body_ang_vel_rel;
-			body.m_body_vel = body.m_parent_vel_rel;
-		}
-		if (type >= POSITION_VELOCITY_ACCELERATION)
-		{
-			// 3.3 update absolute accelerations
-			// NOTE: assumption: dot(J_JR) = 0; true here, but not for general joints
-			body.m_body_ang_acc = body.m_body_ang_acc_rel;
-			body.m_body_acc = body.m_body_T_parent * body.m_parent_acc_rel;
-			// add gravitational acceleration to root body
-			// this is an efficient way to add gravitational terms,
-			// but it does mean that the kinematics are no longer
-			// correct at the acceleration level
-			// NOTE: To get correct acceleration kinematics, just set world_gravity to zero
-			body.m_body_acc = body.m_body_acc - body.m_body_T_parent * m_world_gravity;
-		}
-	}
-
-	for (idArrayIdx i = 1; i < m_body_list.size(); i++)
-	{
-		RigidBody &body = m_body_list[i];
-		RigidBody &parent = m_body_list[m_parent_index[i]];
-		// 2.1 update absolute positions and orientations:
-		// will be required if we add force elements (eg springs between bodies,
-		// or contacts)  not required right now added here for debugging purposes
-		body.m_body_pos =
-			body.m_body_T_parent * (parent.m_body_pos + body.m_parent_pos_parent_body);
-		body.m_body_T_world = body.m_body_T_parent * parent.m_body_T_world;
-
-		if (type >= POSITION_VELOCITY)
-		{
-			// 2.2 update absolute velocities
-			body.m_body_ang_vel =
-				body.m_body_T_parent * parent.m_body_ang_vel + body.m_body_ang_vel_rel;
-
-			body.m_body_vel =
-				body.m_body_T_parent *
-				(parent.m_body_vel + parent.m_body_ang_vel.cross(body.m_parent_pos_parent_body) +
-				 body.m_parent_vel_rel);
-		}
-		if (type >= POSITION_VELOCITY_ACCELERATION)
-		{
-			// 2.3 update absolute accelerations
-			// NOTE: assumption: dot(J_JR) = 0; true here, but not for general joints
-			body.m_body_ang_acc =
-				body.m_body_T_parent * parent.m_body_ang_acc -
-				body.m_body_ang_vel_rel.cross(body.m_body_T_parent * parent.m_body_ang_vel) +
-				body.m_body_ang_acc_rel;
-			body.m_body_acc =
-				body.m_body_T_parent *
-				(parent.m_body_acc + parent.m_body_ang_acc.cross(body.m_parent_pos_parent_body) +
-				 parent.m_body_ang_vel.cross(parent.m_body_ang_vel.cross(body.m_parent_pos_parent_body)) +
-				 2.0 * parent.m_body_ang_vel.cross(body.m_parent_vel_rel) + body.m_parent_acc_rel);
-		}
-	}
-
-	return 0;
-}
-
-#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-
-void MultiBodyTree::MultiBodyImpl::addRelativeJacobianComponent(RigidBody &body)
-{
-	const int &idx = body.m_q_index;
-	switch (body.m_joint_type)
-	{
-		case FIXED:
-			break;
-		case REVOLUTE:
-			setMat3xElem(0, idx, body.m_Jac_JR(0), &body.m_body_Jac_R);
-			setMat3xElem(1, idx, body.m_Jac_JR(1), &body.m_body_Jac_R);
-			setMat3xElem(2, idx, body.m_Jac_JR(2), &body.m_body_Jac_R);
-			break;
-		case PRISMATIC:
-			setMat3xElem(0, idx, body.m_body_T_parent_ref(0, 0) * body.m_Jac_JT(0) + body.m_body_T_parent_ref(1, 0) * body.m_Jac_JT(1) + body.m_body_T_parent_ref(2, 0) * body.m_Jac_JT(2),
-						 &body.m_body_Jac_T);
-			setMat3xElem(1, idx, body.m_body_T_parent_ref(0, 1) * body.m_Jac_JT(0) + body.m_body_T_parent_ref(1, 1) * body.m_Jac_JT(1) + body.m_body_T_parent_ref(2, 1) * body.m_Jac_JT(2),
-						 &body.m_body_Jac_T);
-			setMat3xElem(2, idx, body.m_body_T_parent_ref(0, 2) * body.m_Jac_JT(0) + body.m_body_T_parent_ref(1, 2) * body.m_Jac_JT(1) + body.m_body_T_parent_ref(2, 2) * body.m_Jac_JT(2),
-						 &body.m_body_Jac_T);
-			break;
-		case FLOATING:
-			setMat3xElem(0, idx + 0, 1.0, &body.m_body_Jac_R);
-			setMat3xElem(1, idx + 1, 1.0, &body.m_body_Jac_R);
-			setMat3xElem(2, idx + 2, 1.0, &body.m_body_Jac_R);
-			// body_Jac_T = body_T_parent.transpose();
-			setMat3xElem(0, idx + 3, body.m_body_T_parent(0, 0), &body.m_body_Jac_T);
-			setMat3xElem(0, idx + 4, body.m_body_T_parent(1, 0), &body.m_body_Jac_T);
-			setMat3xElem(0, idx + 5, body.m_body_T_parent(2, 0), &body.m_body_Jac_T);
-
-			setMat3xElem(1, idx + 3, body.m_body_T_parent(0, 1), &body.m_body_Jac_T);
-			setMat3xElem(1, idx + 4, body.m_body_T_parent(1, 1), &body.m_body_Jac_T);
-			setMat3xElem(1, idx + 5, body.m_body_T_parent(2, 1), &body.m_body_Jac_T);
-
-			setMat3xElem(2, idx + 3, body.m_body_T_parent(0, 2), &body.m_body_Jac_T);
-			setMat3xElem(2, idx + 4, body.m_body_T_parent(1, 2), &body.m_body_Jac_T);
-			setMat3xElem(2, idx + 5, body.m_body_T_parent(2, 2), &body.m_body_Jac_T);
-
-			break;
-		case SPHERICAL:
-			//todo: review
-			setMat3xElem(0, idx + 0, 1.0, &body.m_body_Jac_R);
-			setMat3xElem(1, idx + 1, 1.0, &body.m_body_Jac_R);
-			setMat3xElem(2, idx + 2, 1.0, &body.m_body_Jac_R);
-			break;
-	}
-}
-
-int MultiBodyTree::MultiBodyImpl::calculateJacobians(const vecx &q, const vecx &u, const KinUpdateType type)
-{
-	if (q.size() != m_num_dofs || u.size() != m_num_dofs)
-	{
-		bt_id_error_message(
-			"wrong vector dimension. system has %d DOFs,\n"
-			"but dim(q)= %d, dim(u)= %d\n",
-			m_num_dofs, static_cast<int>(q.size()), static_cast<int>(u.size()));
-		return -1;
-	}
-	if (type != POSITION_ONLY && type != POSITION_VELOCITY)
-	{
-		bt_id_error_message("invalid type %d\n", type);
-		return -1;
-	}
-
-	addRelativeJacobianComponent(m_body_list[0]);
-	for (idArrayIdx i = 1; i < m_body_list.size(); i++)
-	{
-		RigidBody &body = m_body_list[i];
-		RigidBody &parent = m_body_list[m_parent_index[i]];
-
-		mul(body.m_body_T_parent, parent.m_body_Jac_R, &body.m_body_Jac_R);
-		body.m_body_Jac_T = parent.m_body_Jac_T;
-		mul(tildeOperator(body.m_parent_pos_parent_body), parent.m_body_Jac_R, &m_m3x);
-		sub(body.m_body_Jac_T, m_m3x, &body.m_body_Jac_T);
-
-		addRelativeJacobianComponent(body);
-		mul(body.m_body_T_parent, body.m_body_Jac_T, &body.m_body_Jac_T);
-
-		if (type >= POSITION_VELOCITY)
-		{
-			body.m_body_dot_Jac_R_u = body.m_body_T_parent * parent.m_body_dot_Jac_R_u -
-									  body.m_body_ang_vel_rel.cross(body.m_body_T_parent * parent.m_body_ang_vel);
-			body.m_body_dot_Jac_T_u = body.m_body_T_parent *
-									  (parent.m_body_dot_Jac_T_u + parent.m_body_dot_Jac_R_u.cross(body.m_parent_pos_parent_body) +
-									   parent.m_body_ang_vel.cross(parent.m_body_ang_vel.cross(body.m_parent_pos_parent_body)) +
-									   2.0 * parent.m_body_ang_vel.cross(body.m_parent_vel_rel));
-		}
-	}
-	return 0;
-}
-#endif
-
-static inline void setThreeDoFJacobians(const int dof, vec3 &Jac_JR, vec3 &Jac_JT)
-{
-	switch (dof)
-	{
-		// rotational part
-		case 0:
-			Jac_JR(0) = 1;
-			Jac_JR(1) = 0;
-			Jac_JR(2) = 0;
-			setZero(Jac_JT);
-			break;
-		case 1:
-			Jac_JR(0) = 0;
-			Jac_JR(1) = 1;
-			Jac_JR(2) = 0;
-			setZero(Jac_JT);
-			break;
-		case 2:
-			Jac_JR(0) = 0;
-			Jac_JR(1) = 0;
-			Jac_JR(2) = 1;
-			setZero(Jac_JT);
-			break;
-	}
-}
-
-static inline void setSixDoFJacobians(const int dof, vec3 &Jac_JR, vec3 &Jac_JT)
-{
-	switch (dof)
-	{
-		// rotational part
-		case 0:
-			Jac_JR(0) = 1;
-			Jac_JR(1) = 0;
-			Jac_JR(2) = 0;
-			setZero(Jac_JT);
-			break;
-		case 1:
-			Jac_JR(0) = 0;
-			Jac_JR(1) = 1;
-			Jac_JR(2) = 0;
-			setZero(Jac_JT);
-			break;
-		case 2:
-			Jac_JR(0) = 0;
-			Jac_JR(1) = 0;
-			Jac_JR(2) = 1;
-			setZero(Jac_JT);
-			break;
-		// translational part
-		case 3:
-			setZero(Jac_JR);
-			Jac_JT(0) = 1;
-			Jac_JT(1) = 0;
-			Jac_JT(2) = 0;
-			break;
-		case 4:
-			setZero(Jac_JR);
-			Jac_JT(0) = 0;
-			Jac_JT(1) = 1;
-			Jac_JT(2) = 0;
-			break;
-		case 5:
-			setZero(Jac_JR);
-			Jac_JT(0) = 0;
-			Jac_JT(1) = 0;
-			Jac_JT(2) = 1;
-			break;
-	}
-}
-
-static inline int jointNumDoFs(const JointType &type)
-{
-	switch (type)
-	{
-		case FIXED:
-			return 0;
-		case REVOLUTE:
-		case PRISMATIC:
-			return 1;
-		case FLOATING:
-			return 6;
-		case SPHERICAL:
-			return 3;
-	}
-	// this should never happen
-	bt_id_error_message("invalid joint type\n");
-	// TODO add configurable abort/crash function
-	abort();
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool update_kinematics,
-													  const bool initialize_matrix,
-													  const bool set_lower_triangular_matrix,
-													  matxx *mass_matrix)
-{
-	// This calculates the joint space mass matrix for the multibody system.
-	// The algorithm is essentially an implementation of "method 3"
-	// in "Efficient Dynamic Simulation of Robotic Mechanisms" (Walker and Orin, 1982)
-	// (Later named "Composite Rigid Body Algorithm" by Featherstone).
-	//
-	// This implementation, however, handles branched systems and uses a formulation centered
-	// on the origin of the body-fixed frame to avoid re-computing various quantities at the com.
-
-	if (q.size() != m_num_dofs || mass_matrix->rows() != m_num_dofs ||
-		mass_matrix->cols() != m_num_dofs)
-	{
-		bt_id_error_message(
-			"Dimension error. System has %d DOFs,\n"
-			"but dim(q)= %d, dim(mass_matrix)= %d x %d\n",
-			m_num_dofs, static_cast<int>(q.size()), static_cast<int>(mass_matrix->rows()),
-			static_cast<int>(mass_matrix->cols()));
-		return -1;
-	}
-
-	// TODO add optimized zeroing function?
-	if (initialize_matrix)
-	{
-		for (int i = 0; i < m_num_dofs; i++)
-		{
-			for (int j = 0; j < m_num_dofs; j++)
-			{
-				setMatxxElem(i, j, 0.0, mass_matrix);
-			}
-		}
-	}
-
-	if (update_kinematics)
-	{
-		// 1. update relative kinematics
-		// 1.1 for revolute joints
-		for (idArrayIdx i = 0; i < m_body_revolute_list.size(); i++)
-		{
-			RigidBody &body = m_body_list[m_body_revolute_list[i]];
-			// from reference orientation (q=0) of body-fixed frame to current orientation
-			mat33 body_T_body_ref;
-			bodyTParentFromAxisAngle(body.m_Jac_JR, q(body.m_q_index), &body_T_body_ref);
-			body.m_body_T_parent = body_T_body_ref * body.m_body_T_parent_ref;
-		}
-		// 1.2 for prismatic joints
-		for (idArrayIdx i = 0; i < m_body_prismatic_list.size(); i++)
-		{
-			RigidBody &body = m_body_list[m_body_prismatic_list[i]];
-			// body.m_body_T_parent= fixed
-			body.m_parent_pos_parent_body =
-				body.m_parent_pos_parent_body_ref + body.m_parent_Jac_JT * q(body.m_q_index);
-		}
-		// 1.3 fixed joints: nothing to do
-		// 1.4 6dof joints:
-		for (idArrayIdx i = 0; i < m_body_floating_list.size(); i++)
-		{
-			RigidBody &body = m_body_list[m_body_floating_list[i]];
-
-			body.m_body_T_parent = transformZ(q(body.m_q_index + 2)) *
-								   transformY(q(body.m_q_index + 1)) *
-								   transformX(q(body.m_q_index));
-			body.m_parent_pos_parent_body(0) = q(body.m_q_index + 3);
-			body.m_parent_pos_parent_body(1) = q(body.m_q_index + 4);
-			body.m_parent_pos_parent_body(2) = q(body.m_q_index + 5);
-
-			body.m_parent_pos_parent_body = body.m_body_T_parent * body.m_parent_pos_parent_body;
-		}
-
-		for (idArrayIdx i = 0; i < m_body_spherical_list.size(); i++)
-		{
-			//todo: review
-			RigidBody &body = m_body_list[m_body_spherical_list[i]];
-
-			mat33 T;
-
-			T = transformX(q(body.m_q_index)) *
-				transformY(q(body.m_q_index + 1)) *
-				transformZ(q(body.m_q_index + 2));
-			body.m_body_T_parent = T * body.m_body_T_parent_ref;
-
-			body.m_parent_pos_parent_body(0)=0;
-			body.m_parent_pos_parent_body(1)=0;
-			body.m_parent_pos_parent_body(2)=0;
-			
-			body.m_parent_pos_parent_body = body.m_body_T_parent * body.m_parent_pos_parent_body;
-		}
-	}
-	for (int i = m_body_list.size() - 1; i >= 0; i--)
-	{
-		RigidBody &body = m_body_list[i];
-		// calculate mass, center of mass and inertia of "composite rigid body",
-		// ie, sub-tree starting at current body
-		body.m_subtree_mass = body.m_mass;
-		body.m_body_subtree_mass_com = body.m_body_mass_com;
-		body.m_body_subtree_I_body = body.m_body_I_body;
-
-		for (idArrayIdx c = 0; c < m_child_indices[i].size(); c++)
-		{
-			RigidBody &child = m_body_list[m_child_indices[i][c]];
-			mat33 body_T_child = child.m_body_T_parent.transpose();
-
-			body.m_subtree_mass += child.m_subtree_mass;
-			body.m_body_subtree_mass_com += body_T_child * child.m_body_subtree_mass_com +
-											child.m_parent_pos_parent_body * child.m_subtree_mass;
-			body.m_body_subtree_I_body +=
-				body_T_child * child.m_body_subtree_I_body * child.m_body_T_parent;
-
-			if (child.m_subtree_mass > 0)
-			{
-				// Shift the reference point for the child subtree inertia using the
-				// Huygens-Steiner ("parallel axis") theorem.
-				// (First shift from child origin to child com, then from there to this body's
-				// origin)
-				vec3 r_com = body_T_child * child.m_body_subtree_mass_com / child.m_subtree_mass;
-				mat33 tilde_r_child_com = tildeOperator(r_com);
-				mat33 tilde_r_body_com = tildeOperator(child.m_parent_pos_parent_body + r_com);
-				body.m_body_subtree_I_body +=
-					child.m_subtree_mass *
-					(tilde_r_child_com * tilde_r_child_com - tilde_r_body_com * tilde_r_body_com);
-			}
-		}
-	}
-
-	for (int i = m_body_list.size() - 1; i >= 0; i--)
-	{
-		const RigidBody &body = m_body_list[i];
-
-		// determine DoF-range for body
-		const int q_index_min = body.m_q_index;
-		const int q_index_max = q_index_min + jointNumDoFs(body.m_joint_type) - 1;
-		// loop over the DoFs used by this body
-		// local joint jacobians (ok as is for 1-DoF joints)
-		vec3 Jac_JR = body.m_Jac_JR;
-		vec3 Jac_JT = body.m_Jac_JT;
-		for (int col = q_index_max; col >= q_index_min; col--)
-		{
-			// set jacobians for 6-DoF joints
-			if (FLOATING == body.m_joint_type)
-			{
-				setSixDoFJacobians(col - q_index_min, Jac_JR, Jac_JT);
-			}
-			if (SPHERICAL == body.m_joint_type)
-			{
-				//todo: review
-				setThreeDoFJacobians(col - q_index_min, Jac_JR, Jac_JT);
-			}
-
-			vec3 body_eom_rot =
-				body.m_body_subtree_I_body * Jac_JR + body.m_body_subtree_mass_com.cross(Jac_JT);
-			vec3 body_eom_trans =
-				body.m_subtree_mass * Jac_JT - body.m_body_subtree_mass_com.cross(Jac_JR);
-			setMatxxElem(col, col, Jac_JR.dot(body_eom_rot) + Jac_JT.dot(body_eom_trans), mass_matrix);
-
-			// rest of the mass matrix column upwards
-			{
-				// 1. for multi-dof joints, rest of the dofs of this body
-				for (int row = col - 1; row >= q_index_min; row--)
-				{
-					if (SPHERICAL == body.m_joint_type)
-					{
-						//todo: review
-						setThreeDoFJacobians(row - q_index_min, Jac_JR, Jac_JT);
-						const double Mrc = Jac_JR.dot(body_eom_rot) + Jac_JT.dot(body_eom_trans);
-						setMatxxElem(col, row, Mrc, mass_matrix);
-					}
-					if (FLOATING == body.m_joint_type)
-					{
-						setSixDoFJacobians(row - q_index_min, Jac_JR, Jac_JT);
-						const double Mrc = Jac_JR.dot(body_eom_rot) + Jac_JT.dot(body_eom_trans);
-						setMatxxElem(col, row, Mrc, mass_matrix);
-					}
-				}
-				// 2. ancestor dofs
-				int child_idx = i;
-				int parent_idx = m_parent_index[i];
-				while (parent_idx >= 0)
-				{
-					const RigidBody &child_body = m_body_list[child_idx];
-					const RigidBody &parent_body = m_body_list[parent_idx];
-
-					const mat33 parent_T_child = child_body.m_body_T_parent.transpose();
-					body_eom_rot = parent_T_child * body_eom_rot;
-					body_eom_trans = parent_T_child * body_eom_trans;
-					body_eom_rot += child_body.m_parent_pos_parent_body.cross(body_eom_trans);
-
-					const int parent_body_q_index_min = parent_body.m_q_index;
-					const int parent_body_q_index_max =
-						parent_body_q_index_min + jointNumDoFs(parent_body.m_joint_type) - 1;
-					vec3 Jac_JR = parent_body.m_Jac_JR;
-					vec3 Jac_JT = parent_body.m_Jac_JT;
-					for (int row = parent_body_q_index_max; row >= parent_body_q_index_min; row--)
-					{
-						if (SPHERICAL == parent_body.m_joint_type)
-						{
-							//todo: review
-							setThreeDoFJacobians(row - parent_body_q_index_min, Jac_JR, Jac_JT);
-						}
-						// set jacobians for 6-DoF joints
-						if (FLOATING == parent_body.m_joint_type)
-						{
-							setSixDoFJacobians(row - parent_body_q_index_min, Jac_JR, Jac_JT);
-						}
-						const double Mrc = Jac_JR.dot(body_eom_rot) + Jac_JT.dot(body_eom_trans);
-						setMatxxElem(col, row, Mrc, mass_matrix);
-					}
-
-					child_idx = parent_idx;
-					parent_idx = m_parent_index[child_idx];
-				}
-			}
-		}
-	}
-
-	if (set_lower_triangular_matrix)
-	{
-		for (int col = 0; col < m_num_dofs; col++)
-		{
-			for (int row = 0; row < col; row++)
-			{
-				setMatxxElem(row, col, (*mass_matrix)(col, row), mass_matrix);
-			}
-		}
-	}
-	return 0;
-}
-
-// utility macro
-#define CHECK_IF_BODY_INDEX_IS_VALID(index)                                                  \
-	do                                                                                       \
-	{                                                                                        \
-		if (index < 0 || index >= m_num_bodies)                                              \
-		{                                                                                    \
-			bt_id_error_message("invalid index %d (num_bodies= %d)\n", index, m_num_bodies); \
-			return -1;                                                                       \
-		}                                                                                    \
-	} while (0)
-
-int MultiBodyTree::MultiBodyImpl::getParentIndex(const int body_index, int *p)
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	*p = m_parent_index[body_index];
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getUserInt(const int body_index, int *user_int) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	*user_int = m_user_int[body_index];
-	return 0;
-}
-int MultiBodyTree::MultiBodyImpl::getUserPtr(const int body_index, void **user_ptr) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	*user_ptr = m_user_ptr[body_index];
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::setUserInt(const int body_index, const int user_int)
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	m_user_int[body_index] = user_int;
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::setUserPtr(const int body_index, void *const user_ptr)
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	m_user_ptr[body_index] = user_ptr;
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getBodyOrigin(int body_index, vec3 *world_origin) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	const RigidBody &body = m_body_list[body_index];
-	*world_origin = body.m_body_T_world.transpose() * body.m_body_pos;
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getBodyCoM(int body_index, vec3 *world_com) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	const RigidBody &body = m_body_list[body_index];
-	if (body.m_mass > 0)
-	{
-		*world_com = body.m_body_T_world.transpose() *
-					 (body.m_body_pos + body.m_body_mass_com / body.m_mass);
-	}
-	else
-	{
-		*world_com = body.m_body_T_world.transpose() * (body.m_body_pos);
-	}
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getBodyTransform(int body_index, mat33 *world_T_body) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	const RigidBody &body = m_body_list[body_index];
-	*world_T_body = body.m_body_T_world.transpose();
-	return 0;
-}
-int MultiBodyTree::MultiBodyImpl::getBodyAngularVelocity(int body_index, vec3 *world_omega) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	const RigidBody &body = m_body_list[body_index];
-	*world_omega = body.m_body_T_world.transpose() * body.m_body_ang_vel;
-	return 0;
-}
-int MultiBodyTree::MultiBodyImpl::getBodyLinearVelocity(int body_index,
-														vec3 *world_velocity) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	const RigidBody &body = m_body_list[body_index];
-	*world_velocity = body.m_body_T_world.transpose() * body.m_body_vel;
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getBodyLinearVelocityCoM(int body_index,
-														   vec3 *world_velocity) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	const RigidBody &body = m_body_list[body_index];
-	vec3 com;
-	if (body.m_mass > 0)
-	{
-		com = body.m_body_mass_com / body.m_mass;
-	}
-	else
-	{
-		com(0) = 0;
-		com(1) = 0;
-		com(2) = 0;
-	}
-
-	*world_velocity =
-		body.m_body_T_world.transpose() * (body.m_body_vel + body.m_body_ang_vel.cross(com));
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getBodyAngularAcceleration(int body_index,
-															 vec3 *world_dot_omega) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	const RigidBody &body = m_body_list[body_index];
-	*world_dot_omega = body.m_body_T_world.transpose() * body.m_body_ang_acc;
-	return 0;
-}
-int MultiBodyTree::MultiBodyImpl::getBodyLinearAcceleration(int body_index,
-															vec3 *world_acceleration) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	const RigidBody &body = m_body_list[body_index];
-	*world_acceleration = body.m_body_T_world.transpose() * body.m_body_acc;
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getJointType(const int body_index, JointType *joint_type) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	*joint_type = m_body_list[body_index].m_joint_type;
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getJointTypeStr(const int body_index,
-												  const char **joint_type) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	*joint_type = jointTypeToString(m_body_list[body_index].m_joint_type);
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getParentRParentBodyRef(const int body_index, vec3 *r) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	*r = m_body_list[body_index].m_parent_pos_parent_body_ref;
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getBodyTParentRef(const int body_index, mat33 *T) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	*T = m_body_list[body_index].m_body_T_parent_ref;
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getBodyAxisOfMotion(const int body_index, vec3 *axis) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	if (m_body_list[body_index].m_joint_type == REVOLUTE)
-	{
-		*axis = m_body_list[body_index].m_Jac_JR;
-		return 0;
-	}
-	if (m_body_list[body_index].m_joint_type == PRISMATIC)
-	{
-		*axis = m_body_list[body_index].m_Jac_JT;
-		return 0;
-	}
-	setZero(*axis);
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getDoFOffset(const int body_index, int *q_index) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	*q_index = m_body_list[body_index].m_q_index;
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::setBodyMass(const int body_index, const idScalar mass)
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	m_body_list[body_index].m_mass = mass;
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::setBodyFirstMassMoment(const int body_index,
-														 const vec3 &first_mass_moment)
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	m_body_list[body_index].m_body_mass_com = first_mass_moment;
-	return 0;
-}
-int MultiBodyTree::MultiBodyImpl::setBodySecondMassMoment(const int body_index,
-														  const mat33 &second_mass_moment)
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	m_body_list[body_index].m_body_I_body = second_mass_moment;
-	return 0;
-}
-int MultiBodyTree::MultiBodyImpl::getBodyMass(const int body_index, idScalar *mass) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	*mass = m_body_list[body_index].m_mass;
-	return 0;
-}
-int MultiBodyTree::MultiBodyImpl::getBodyFirstMassMoment(const int body_index,
-														 vec3 *first_mass_moment) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	*first_mass_moment = m_body_list[body_index].m_body_mass_com;
-	return 0;
-}
-int MultiBodyTree::MultiBodyImpl::getBodySecondMassMoment(const int body_index,
-														  mat33 *second_mass_moment) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	*second_mass_moment = m_body_list[body_index].m_body_I_body;
-	return 0;
-}
-
-void MultiBodyTree::MultiBodyImpl::clearAllUserForcesAndMoments()
-{
-	for (int index = 0; index < m_num_bodies; index++)
-	{
-		RigidBody &body = m_body_list[index];
-		setZero(body.m_body_force_user);
-		setZero(body.m_body_moment_user);
-	}
-}
-
-int MultiBodyTree::MultiBodyImpl::addUserForce(const int body_index, const vec3 &body_force)
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	m_body_list[body_index].m_body_force_user += body_force;
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::addUserMoment(const int body_index, const vec3 &body_moment)
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	m_body_list[body_index].m_body_moment_user += body_moment;
-	return 0;
-}
-
-#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-int MultiBodyTree::MultiBodyImpl::getBodyDotJacobianTransU(const int body_index, vec3 *world_dot_jac_trans_u) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	const RigidBody &body = m_body_list[body_index];
-	*world_dot_jac_trans_u = body.m_body_T_world.transpose() * body.m_body_dot_Jac_T_u;
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getBodyDotJacobianRotU(const int body_index, vec3 *world_dot_jac_rot_u) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	const RigidBody &body = m_body_list[body_index];
-	*world_dot_jac_rot_u = body.m_body_T_world.transpose() * body.m_body_dot_Jac_R_u;
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getBodyJacobianTrans(const int body_index, mat3x *world_jac_trans) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	const RigidBody &body = m_body_list[body_index];
-	mul(body.m_body_T_world.transpose(), body.m_body_Jac_T, world_jac_trans);
-	return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getBodyJacobianRot(const int body_index, mat3x *world_jac_rot) const
-{
-	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-	const RigidBody &body = m_body_list[body_index];
-	mul(body.m_body_T_world.transpose(), body.m_body_Jac_R, world_jac_rot);
-	return 0;
-}
-
-#endif
-}  // namespace btInverseDynamics
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.hpp b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.hpp
deleted file mode 100644
index eabdbe161b..0000000000
--- a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.hpp
+++ /dev/null
@@ -1,288 +0,0 @@
-// The structs and classes defined here provide a basic inverse fynamics implementation used
-// by MultiBodyTree
-// User interaction should be through MultiBodyTree
-
-#ifndef MULTI_BODY_REFERENCE_IMPL_HPP_
-#define MULTI_BODY_REFERENCE_IMPL_HPP_
-
-#include "../IDConfig.hpp"
-#include "../MultiBodyTree.hpp"
-
-namespace btInverseDynamics
-{
-/// Structure for for rigid body mass properties, connectivity and kinematic state
-/// all vectors and matrices are in body-fixed frame, if not indicated otherwise.
-/// The body-fixed frame is located in the joint connecting the body to its parent.
-struct RigidBody
-{
-	ID_DECLARE_ALIGNED_ALLOCATOR();
-	// 1 Inertial properties
-	/// Mass
-	idScalar m_mass;
-	/// Mass times center of gravity in body-fixed frame
-	vec3 m_body_mass_com;
-	/// Moment of inertia w.r.t. body-fixed frame
-	mat33 m_body_I_body;
-
-	// 2 dynamic properties
-	/// Left-hand side of the body equation of motion, translational part
-	vec3 m_eom_lhs_translational;
-	/// Left-hand side of the body equation of motion, rotational part
-	vec3 m_eom_lhs_rotational;
-	/// Force acting at the joint when the body is cut from its parent;
-	/// includes impressed joint force in J_JT direction,
-	/// as well as constraint force,
-	/// in body-fixed frame
-	vec3 m_force_at_joint;
-	/// Moment acting at the joint when the body is cut from its parent;
-	/// includes impressed joint moment in J_JR direction, and constraint moment
-	/// in body-fixed frame
-	vec3 m_moment_at_joint;
-	/// external (user provided) force acting at the body-fixed frame's origin, written in that
-	/// frame
-	vec3 m_body_force_user;
-	/// external (user provided) moment acting at the body-fixed frame's origin, written in that
-	/// frame
-	vec3 m_body_moment_user;
-	// 3 absolute kinematic properties
-	/// Position of body-fixed frame relative to world frame
-	/// this is currently only for debugging purposes
-	vec3 m_body_pos;
-	/// Absolute velocity of body-fixed frame
-	vec3 m_body_vel;
-	/// Absolute acceleration of body-fixed frame
-	/// NOTE: if gravitational acceleration is not zero, this is the accelation PLUS gravitational
-	/// acceleration!
-	vec3 m_body_acc;
-	/// Absolute angular velocity
-	vec3 m_body_ang_vel;
-	/// Absolute angular acceleration
-	/// NOTE: if gravitational acceleration is not zero, this is the accelation PLUS gravitational
-	/// acceleration!
-	vec3 m_body_ang_acc;
-
-	// 4 relative kinematic properties.
-	// these are in the parent body frame
-	/// Transform from world to body-fixed frame;
-	/// this is currently only for debugging purposes
-	mat33 m_body_T_world;
-	/// Transform from parent to body-fixed frame
-	mat33 m_body_T_parent;
-	/// Vector from parent to child frame in parent frame
-	vec3 m_parent_pos_parent_body;
-	/// Relative angular velocity
-	vec3 m_body_ang_vel_rel;
-	/// Relative linear velocity
-	vec3 m_parent_vel_rel;
-	/// Relative angular acceleration
-	vec3 m_body_ang_acc_rel;
-	/// Relative linear acceleration
-	vec3 m_parent_acc_rel;
-
-	// 5 Data describing the joint type and geometry
-	/// Type of joint
-	JointType m_joint_type;
-	/// Position of joint frame (body-fixed frame at q=0) relative to the parent frame
-	/// Components are in body-fixed frame of the parent
-	vec3 m_parent_pos_parent_body_ref;
-	/// Orientation of joint frame (body-fixed frame at q=0) relative to the parent frame
-	mat33 m_body_T_parent_ref;
-	/// Joint rotational Jacobian, ie, the partial derivative of the body-fixed frames absolute
-	/// angular velocity w.r.t. the generalized velocity of this body's relative degree of freedom.
-	/// For revolute joints this is the joint axis, for prismatic joints it is a null matrix.
-	/// (NOTE: dimensions will have to be dynamic for additional joint types!)
-	vec3 m_Jac_JR;
-	/// Joint translational Jacobian, ie, the partial derivative of the body-fixed frames absolute
-	/// linear velocity w.r.t. the generalized velocity of this body's relative degree of freedom.
-	/// For prismatic joints this is the joint axis, for revolute joints it is a null matrix.
-	/// (NOTE: dimensions might have to be dynamic for additional joint types!)
-	vec3 m_Jac_JT;
-	/// m_Jac_JT in the parent frame, it, m_body_T_parent_ref.transpose()*m_Jac_JT
-	vec3 m_parent_Jac_JT;
-	/// Start of index range for the position degree(s) of freedom describing this body's motion
-	/// relative to
-	/// its parent. The indices are wrt the multibody system's q-vector of generalized coordinates.
-	int m_q_index;
-
-	// 6 Scratch data for mass matrix computation using "composite rigid body algorithm"
-	/// mass of the subtree rooted in this body
-	idScalar m_subtree_mass;
-	/// center of mass * mass for subtree rooted in this body, in body-fixed frame
-	vec3 m_body_subtree_mass_com;
-	/// moment of inertia of subtree rooted in this body, w.r.t. body origin, in body-fixed frame
-	mat33 m_body_subtree_I_body;
-
-#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-	/// translational jacobian in body-fixed frame d(m_body_vel)/du
-	mat3x m_body_Jac_T;
-	/// rotationsl jacobian in body-fixed frame d(m_body_ang_vel)/du
-	mat3x m_body_Jac_R;
-	/// components of linear acceleration depending on u
-	/// (same as is d(m_Jac_T)/dt*u)
-	vec3 m_body_dot_Jac_T_u;
-	/// components of angular acceleration depending on u
-	/// (same as is d(m_Jac_T)/dt*u)
-	vec3 m_body_dot_Jac_R_u;
-#endif
-};
-
-/// The MBS implements a tree structured multibody system
-class MultiBodyTree::MultiBodyImpl
-{
-	friend class MultiBodyTree;
-
-public:
-	ID_DECLARE_ALIGNED_ALLOCATOR();
-
-	enum KinUpdateType
-	{
-		POSITION_ONLY,
-		POSITION_VELOCITY,
-		POSITION_VELOCITY_ACCELERATION
-	};
-
-	/// constructor
-	/// @param num_bodies the number of bodies in the system
-	/// @param num_dofs number of degrees of freedom in the system
-	MultiBodyImpl(int num_bodies_, int num_dofs_);
-
-	/// \copydoc MultiBodyTree::calculateInverseDynamics
-	int calculateInverseDynamics(const vecx& q, const vecx& u, const vecx& dot_u,
-								 vecx* joint_forces);
-	///\copydoc MultiBodyTree::calculateMassMatrix
-	int calculateMassMatrix(const vecx& q, const bool update_kinematics,
-							const bool initialize_matrix, const bool set_lower_triangular_matrix,
-							matxx* mass_matrix);
-	/// calculate kinematics (vector quantities)
-	/// Depending on type, update positions only, positions & velocities, or positions, velocities
-	/// and accelerations.
-	int calculateKinematics(const vecx& q, const vecx& u, const vecx& dot_u, const KinUpdateType type);
-#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-	/// calculate jacobians and (if type == POSITION_VELOCITY), also velocity-dependent accelration terms.
-	int calculateJacobians(const vecx& q, const vecx& u, const KinUpdateType type);
-	/// \copydoc MultiBodyTree::getBodyDotJacobianTransU
-	int getBodyDotJacobianTransU(const int body_index, vec3* world_dot_jac_trans_u) const;
-	/// \copydoc MultiBodyTree::getBodyDotJacobianRotU
-	int getBodyDotJacobianRotU(const int body_index, vec3* world_dot_jac_rot_u) const;
-	/// \copydoc MultiBodyTree::getBodyJacobianTrans
-	int getBodyJacobianTrans(const int body_index, mat3x* world_jac_trans) const;
-	/// \copydoc MultiBodyTree::getBodyJacobianRot
-	int getBodyJacobianRot(const int body_index, mat3x* world_jac_rot) const;
-	/// Add relative Jacobian component from motion relative to parent body
-	/// @param body the body to add the Jacobian component for
-	void addRelativeJacobianComponent(RigidBody& body);
-#endif
-	/// generate additional index sets from the parent_index array
-	/// @return -1 on error, 0 on success
-	int generateIndexSets();
-	/// set gravity acceleration in world frame
-	/// @param gravity gravity vector in the world frame
-	/// @return 0 on success, -1 on error
-	int setGravityInWorldFrame(const vec3& gravity);
-	/// pretty print tree
-	void printTree();
-	/// print tree data
-	void printTreeData();
-	/// initialize fixed data
-	void calculateStaticData();
-	/// \copydoc MultiBodyTree::getBodyFrame
-	int getBodyFrame(const int index, vec3* world_origin, mat33* body_T_world) const;
-	/// \copydoc MultiBodyTree::getParentIndex
-	int getParentIndex(const int body_index, int* m_parent_index);
-	/// \copydoc MultiBodyTree::getJointType
-	int getJointType(const int body_index, JointType* joint_type) const;
-	/// \copydoc MultiBodyTree::getJointTypeStr
-	int getJointTypeStr(const int body_index, const char** joint_type) const;
-	/// \copydoc MultiBodyTree::getParentRParentBodyRef
-	int getParentRParentBodyRef(const int body_index, vec3* r) const;
-	/// \copydoc MultiBodyTree::getBodyTParentRef
-	int getBodyTParentRef(const int body_index, mat33* T) const;
-	/// \copydoc MultiBodyTree::getBodyAxisOfMotion
-	int getBodyAxisOfMotion(const int body_index, vec3* axis) const;
-	/// \copydoc MultiBodyTree:getDoFOffset
-	int getDoFOffset(const int body_index, int* q_index) const;
-	/// \copydoc MultiBodyTree::getBodyOrigin
-	int getBodyOrigin(const int body_index, vec3* world_origin) const;
-	/// \copydoc MultiBodyTree::getBodyCoM
-	int getBodyCoM(const int body_index, vec3* world_com) const;
-	/// \copydoc MultiBodyTree::getBodyTransform
-	int getBodyTransform(const int body_index, mat33* world_T_body) const;
-	/// \copydoc MultiBodyTree::getBodyAngularVelocity
-	int getBodyAngularVelocity(const int body_index, vec3* world_omega) const;
-	/// \copydoc MultiBodyTree::getBodyLinearVelocity
-	int getBodyLinearVelocity(const int body_index, vec3* world_velocity) const;
-	/// \copydoc MultiBodyTree::getBodyLinearVelocityCoM
-	int getBodyLinearVelocityCoM(const int body_index, vec3* world_velocity) const;
-	/// \copydoc MultiBodyTree::getBodyAngularAcceleration
-	int getBodyAngularAcceleration(const int body_index, vec3* world_dot_omega) const;
-	/// \copydoc MultiBodyTree::getBodyLinearAcceleration
-	int getBodyLinearAcceleration(const int body_index, vec3* world_acceleration) const;
-	/// \copydoc MultiBodyTree::getUserInt
-	int getUserInt(const int body_index, int* user_int) const;
-	/// \copydoc MultiBodyTree::getUserPtr
-	int getUserPtr(const int body_index, void** user_ptr) const;
-	/// \copydoc MultiBodyTree::setUserInt
-	int setUserInt(const int body_index, const int user_int);
-	/// \copydoc MultiBodyTree::setUserPtr
-	int setUserPtr(const int body_index, void* const user_ptr);
-	///\copydoc MultiBodytTree::setBodyMass
-	int setBodyMass(const int body_index, const idScalar mass);
-	///\copydoc MultiBodytTree::setBodyFirstMassMoment
-	int setBodyFirstMassMoment(const int body_index, const vec3& first_mass_moment);
-	///\copydoc MultiBodytTree::setBodySecondMassMoment
-	int setBodySecondMassMoment(const int body_index, const mat33& second_mass_moment);
-	///\copydoc MultiBodytTree::getBodyMass
-	int getBodyMass(const int body_index, idScalar* mass) const;
-	///\copydoc MultiBodytTree::getBodyFirstMassMoment
-	int getBodyFirstMassMoment(const int body_index, vec3* first_mass_moment) const;
-	///\copydoc MultiBodytTree::getBodySecondMassMoment
-	int getBodySecondMassMoment(const int body_index, mat33* second_mass_moment) const;
-	/// \copydoc MultiBodyTree::clearAllUserForcesAndMoments
-	void clearAllUserForcesAndMoments();
-	/// \copydoc MultiBodyTree::addUserForce
-	int addUserForce(const int body_index, const vec3& body_force);
-	/// \copydoc MultiBodyTree::addUserMoment
-	int addUserMoment(const int body_index, const vec3& body_moment);
-
-private:
-	// debug function. print tree structure to stdout
-	void printTree(int index, int indentation);
-	// get string representation of JointType (for debugging)
-	const char* jointTypeToString(const JointType& type) const;
-	// get number of degrees of freedom from joint type
-	int bodyNumDoFs(const JointType& type) const;
-	// number of bodies in the system
-	int m_num_bodies;
-	// number of degrees of freedom
-	int m_num_dofs;
-	// Gravitational acceleration (in world frame)
-	vec3 m_world_gravity;
-	// vector of bodies in the system
-	// body 0 is used as an environment body and is allways fixed.
-	// The bodies are ordered such that a parent body always has an index
-	// smaller than its child.
-	idArray<RigidBody>::type m_body_list;
-	// Parent_index[i] is the index for i's parent body in body_list.
-	// This fully describes the tree.
-	idArray<int>::type m_parent_index;
-	// child_indices[i] contains a vector of indices of
-	// all children of the i-th body
-	idArray<idArray<int>::type>::type m_child_indices;
-	// Indices of rotary joints
-	idArray<int>::type m_body_revolute_list;
-	// Indices of prismatic joints
-	idArray<int>::type m_body_prismatic_list;
-	// Indices of floating joints
-	idArray<int>::type m_body_floating_list;
-	// Indices of spherical joints
-	idArray<int>::type m_body_spherical_list;
-	// a user-provided integer
-	idArray<int>::type m_user_int;
-	// a user-provided pointer
-	idArray<void*>::type m_user_ptr;
-#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-	mat3x m_m3x;
-#endif
-};
-}  // namespace btInverseDynamics
-#endif
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp
deleted file mode 100644
index a718db051e..0000000000
--- a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp
+++ /dev/null
@@ -1,131 +0,0 @@
-#include "MultiBodyTreeInitCache.hpp"
-
-namespace btInverseDynamics
-{
-MultiBodyTree::InitCache::InitCache()
-{
-	m_inertias.resize(0);
-	m_joints.resize(0);
-	m_num_dofs = 0;
-	m_root_index = -1;
-}
-
-int MultiBodyTree::InitCache::addBody(const int body_index, const int parent_index,
-									  const JointType joint_type,
-									  const vec3& parent_r_parent_body_ref,
-									  const mat33& body_T_parent_ref,
-									  const vec3& body_axis_of_motion, const idScalar mass,
-									  const vec3& body_r_body_com, const mat33& body_I_body,
-									  const int user_int, void* user_ptr)
-{
-	switch (joint_type)
-	{
-		case REVOLUTE:
-		case PRISMATIC:
-			m_num_dofs += 1;
-			break;
-		case FIXED:
-			// does not add a degree of freedom
-			// m_num_dofs+=0;
-			break;
-		case SPHERICAL:
-			m_num_dofs += 3;
-			break;
-		case FLOATING:
-			m_num_dofs += 6;
-			break;
-		default:
-			bt_id_error_message("unknown joint type %d\n", joint_type);
-			return -1;
-	}
-
-	if (-1 == parent_index)
-	{
-		if (m_root_index >= 0)
-		{
-			bt_id_error_message("trying to add body %d as root, but already added %d as root body\n",
-								body_index, m_root_index);
-			return -1;
-		}
-		m_root_index = body_index;
-	}
-
-	JointData joint;
-	joint.m_child = body_index;
-	joint.m_parent = parent_index;
-	joint.m_type = joint_type;
-	joint.m_parent_pos_parent_child_ref = parent_r_parent_body_ref;
-	joint.m_child_T_parent_ref = body_T_parent_ref;
-	joint.m_child_axis_of_motion = body_axis_of_motion;
-
-	InertiaData body;
-	body.m_mass = mass;
-	body.m_body_pos_body_com = body_r_body_com;
-	body.m_body_I_body = body_I_body;
-
-	m_inertias.push_back(body);
-	m_joints.push_back(joint);
-	m_user_int.push_back(user_int);
-	m_user_ptr.push_back(user_ptr);
-	return 0;
-}
-int MultiBodyTree::InitCache::getInertiaData(const int index, InertiaData* inertia) const
-{
-	if (index < 0 || index > static_cast<int>(m_inertias.size()))
-	{
-		bt_id_error_message("index out of range\n");
-		return -1;
-	}
-
-	*inertia = m_inertias[index];
-	return 0;
-}
-
-int MultiBodyTree::InitCache::getUserInt(const int index, int* user_int) const
-{
-	if (index < 0 || index > static_cast<int>(m_user_int.size()))
-	{
-		bt_id_error_message("index out of range\n");
-		return -1;
-	}
-	*user_int = m_user_int[index];
-	return 0;
-}
-
-int MultiBodyTree::InitCache::getUserPtr(const int index, void** user_ptr) const
-{
-	if (index < 0 || index > static_cast<int>(m_user_ptr.size()))
-	{
-		bt_id_error_message("index out of range\n");
-		return -1;
-	}
-	*user_ptr = m_user_ptr[index];
-	return 0;
-}
-
-int MultiBodyTree::InitCache::getJointData(const int index, JointData* joint) const
-{
-	if (index < 0 || index > static_cast<int>(m_joints.size()))
-	{
-		bt_id_error_message("index out of range\n");
-		return -1;
-	}
-	*joint = m_joints[index];
-	return 0;
-}
-
-int MultiBodyTree::InitCache::buildIndexSets()
-{
-	// NOTE: This function assumes that proper indices were provided
-	//	   User2InternalIndex from utils can be used to facilitate this.
-
-	m_parent_index.resize(numBodies());
-	for (idArrayIdx j = 0; j < m_joints.size(); j++)
-	{
-		const JointData& joint = m_joints[j];
-		m_parent_index[joint.m_child] = joint.m_parent;
-	}
-
-	return 0;
-}
-}  // namespace btInverseDynamics
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.hpp b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.hpp
deleted file mode 100644
index dbdb3ff604..0000000000
--- a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.hpp
+++ /dev/null
@@ -1,113 +0,0 @@
-#ifndef MULTIBODYTREEINITCACHE_HPP_
-#define MULTIBODYTREEINITCACHE_HPP_
-
-#include "../IDConfig.hpp"
-#include "../IDMath.hpp"
-#include "../MultiBodyTree.hpp"
-
-namespace btInverseDynamics
-{
-/// Mass properties of a rigid body
-struct InertiaData
-{
-	ID_DECLARE_ALIGNED_ALLOCATOR();
-
-	/// mass
-	idScalar m_mass;
-	/// vector from body-fixed frame to center of mass,
-	/// in body-fixed frame, multiplied by the mass
-	vec3 m_body_pos_body_com;
-	/// moment of inertia w.r.t. the origin of the body-fixed
-	/// frame, represented in that frame
-	mat33 m_body_I_body;
-};
-
-/// Joint properties
-struct JointData
-{
-	ID_DECLARE_ALIGNED_ALLOCATOR();
-
-	/// type of joint
-	JointType m_type;
-	/// index of parent body
-	int m_parent;
-	/// index of child body
-	int m_child;
-	/// vector from parent's body-fixed frame to child's body-fixed
-	/// frame for q=0, written in the parent's body fixed frame
-	vec3 m_parent_pos_parent_child_ref;
-	/// Transform matrix converting vectors written in the parent's frame
-	/// into vectors written in the child's frame for q=0
-	/// ie, child_vector = child_T_parent_ref * parent_vector;
-	mat33 m_child_T_parent_ref;
-	/// Axis of motion for 1 degree-of-freedom joints,
-	/// written in the child's frame
-	/// For revolute joints, the q-value is positive for a positive
-	/// rotation about this axis.
-	/// For prismatic joints, the q-value is positive for a positive
-	/// translation is this direction.
-	vec3 m_child_axis_of_motion;
-};
-
-/// Data structure to store data passed by the user.
-/// This is used in MultiBodyTree::finalize to build internal data structures.
-class MultiBodyTree::InitCache
-{
-public:
-	ID_DECLARE_ALIGNED_ALLOCATOR();
-	/// constructor
-	InitCache();
-	///\copydoc MultiBodyTree::addBody
-	int addBody(const int body_index, const int parent_index, const JointType joint_type,
-				const vec3 &parent_r_parent_body_ref, const mat33 &body_T_parent_ref,
-				const vec3 &body_axis_of_motion, idScalar mass, const vec3 &body_r_body_com,
-				const mat33 &body_I_body, const int user_int, void *user_ptr);
-	/// build index arrays
-	/// @return 0 on success, -1 on failure
-	int buildIndexSets();
-	/// @return number of degrees of freedom
-	int numDoFs() const { return m_num_dofs; }
-	/// @return number of bodies
-	int numBodies() const { return m_inertias.size(); }
-	/// get inertia data for index
-	/// @param index of the body
-	/// @param inertia pointer for return data
-	/// @return 0 on success, -1 on failure
-	int getInertiaData(const int index, InertiaData *inertia) const;
-	/// get joint data for index
-	/// @param index of the body
-	/// @param joint pointer for return data
-	/// @return 0 on success, -1 on failure
-	int getJointData(const int index, JointData *joint) const;
-	/// get parent index array (paren_index[i] is the index of the parent of i)
-	/// @param parent_index pointer for return data
-	void getParentIndexArray(idArray<int>::type *parent_index) { *parent_index = m_parent_index; }
-	/// get user integer
-	/// @param index body index
-	/// @param user_int user integer
-	/// @return 0 on success, -1 on failure
-	int getUserInt(const int index, int *user_int) const;
-	/// get user pointer
-	/// @param index body index
-	/// @param user_int user pointer
-	/// @return 0 on success, -1 on failure
-	int getUserPtr(const int index, void **user_ptr) const;
-
-private:
-	// vector of bodies
-	idArray<InertiaData>::type m_inertias;
-	// vector of joints
-	idArray<JointData>::type m_joints;
-	// number of mechanical degrees of freedom
-	int m_num_dofs;
-	// parent index array
-	idArray<int>::type m_parent_index;
-	// user integers
-	idArray<int>::type m_user_int;
-	// user pointers
-	idArray<void *>::type m_user_ptr;
-	// index of root body (or -1 if not set)
-	int m_root_index;
-};
-}  // namespace btInverseDynamics
-#endif  // MULTIBODYTREEINITCACHE_HPP_
diff --git a/thirdparty/bullet/BulletSoftBody/DeformableBodyInplaceSolverIslandCallback.h b/thirdparty/bullet/BulletSoftBody/DeformableBodyInplaceSolverIslandCallback.h
deleted file mode 100644
index 01c7e93a1b..0000000000
--- a/thirdparty/bullet/BulletSoftBody/DeformableBodyInplaceSolverIslandCallback.h
+++ /dev/null
@@ -1,45 +0,0 @@
-//
-//  DeformableBodyInplaceSolverIslandCallback.h
-//  BulletSoftBody
-//
-//  Created by Xuchen Han on 12/16/19.
-//
-
-#ifndef DeformableBodyInplaceSolverIslandCallback_h
-#define DeformableBodyInplaceSolverIslandCallback_h
-
-struct DeformableBodyInplaceSolverIslandCallback : public MultiBodyInplaceSolverIslandCallback
-{
-	btDeformableMultiBodyConstraintSolver* m_deformableSolver;
-
-	DeformableBodyInplaceSolverIslandCallback(btDeformableMultiBodyConstraintSolver* solver,
-											  btDispatcher* dispatcher)
-		: MultiBodyInplaceSolverIslandCallback(solver, dispatcher), m_deformableSolver(solver)
-	{
-	}
-
-	virtual void processConstraints(int islandId = -1)
-	{
-		btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0;
-		btCollisionObject** softBodies = m_softBodies.size() ? &m_softBodies[0] : 0;
-		btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0;
-		btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0;
-		btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0;
-
-		//printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size());
-
-		m_deformableSolver->solveDeformableBodyGroup(bodies, m_bodies.size(), softBodies, m_softBodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher);
-		if (m_bodies.size() && (m_solverInfo->m_reportSolverAnalytics & 1))
-		{
-			m_deformableSolver->m_analyticsData.m_islandId = islandId;
-			m_islandAnalyticsData.push_back(m_solver->m_analyticsData);
-		}
-		m_bodies.resize(0);
-		m_softBodies.resize(0);
-		m_manifolds.resize(0);
-		m_constraints.resize(0);
-		m_multiBodyConstraints.resize(0);
-	}
-};
-
-#endif /* DeformableBodyInplaceSolverIslandCallback_h */
diff --git a/thirdparty/bullet/BulletSoftBody/btCGProjection.h b/thirdparty/bullet/BulletSoftBody/btCGProjection.h
deleted file mode 100644
index e05970664c..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btCGProjection.h
+++ /dev/null
@@ -1,104 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#ifndef BT_CG_PROJECTION_H
-#define BT_CG_PROJECTION_H
-
-#include "btSoftBody.h"
-#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
-#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
-
-struct DeformableContactConstraint
-{
-	const btSoftBody::Node* m_node;
-	btAlignedObjectArray<const btSoftBody::RContact*> m_contact;
-	btAlignedObjectArray<btVector3> m_total_normal_dv;
-	btAlignedObjectArray<btVector3> m_total_tangent_dv;
-	btAlignedObjectArray<bool> m_static;
-	btAlignedObjectArray<bool> m_can_be_dynamic;
-
-	DeformableContactConstraint(const btSoftBody::RContact& rcontact) : m_node(rcontact.m_node)
-	{
-		append(rcontact);
-	}
-
-	DeformableContactConstraint() : m_node(NULL)
-	{
-		m_contact.push_back(NULL);
-	}
-
-	void append(const btSoftBody::RContact& rcontact)
-	{
-		m_contact.push_back(&rcontact);
-		m_total_normal_dv.push_back(btVector3(0, 0, 0));
-		m_total_tangent_dv.push_back(btVector3(0, 0, 0));
-		m_static.push_back(false);
-		m_can_be_dynamic.push_back(true);
-	}
-
-	void replace(const btSoftBody::RContact& rcontact)
-	{
-		m_contact.clear();
-		m_total_normal_dv.clear();
-		m_total_tangent_dv.clear();
-		m_static.clear();
-		m_can_be_dynamic.clear();
-		append(rcontact);
-	}
-
-	~DeformableContactConstraint()
-	{
-	}
-};
-
-class btCGProjection
-{
-public:
-	typedef btAlignedObjectArray<btVector3> TVStack;
-	typedef btAlignedObjectArray<btAlignedObjectArray<btVector3> > TVArrayStack;
-	typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > TArrayStack;
-	btAlignedObjectArray<btSoftBody*>& m_softBodies;
-	const btScalar& m_dt;
-	// map from node indices to node pointers
-	const btAlignedObjectArray<btSoftBody::Node*>* m_nodes;
-
-	btCGProjection(btAlignedObjectArray<btSoftBody*>& softBodies, const btScalar& dt)
-		: m_softBodies(softBodies), m_dt(dt)
-	{
-	}
-
-	virtual ~btCGProjection()
-	{
-	}
-
-	// apply the constraints
-	virtual void project(TVStack& x) = 0;
-
-	virtual void setConstraints() = 0;
-
-	// update the constraints
-	virtual btScalar update() = 0;
-
-	virtual void reinitialize(bool nodeUpdated)
-	{
-	}
-
-	virtual void setIndices(const btAlignedObjectArray<btSoftBody::Node*>* nodes)
-	{
-		m_nodes = nodes;
-	}
-};
-
-#endif /* btCGProjection_h */
diff --git a/thirdparty/bullet/BulletSoftBody/btConjugateGradient.h b/thirdparty/bullet/BulletSoftBody/btConjugateGradient.h
deleted file mode 100644
index bcd5e6b519..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btConjugateGradient.h
+++ /dev/null
@@ -1,117 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#ifndef BT_CONJUGATE_GRADIENT_H
-#define BT_CONJUGATE_GRADIENT_H
-#include "btKrylovSolver.h"
-template <class MatrixX>
-class btConjugateGradient : public btKrylovSolver<MatrixX>
-{
-	typedef btAlignedObjectArray<btVector3> TVStack;
-	typedef btKrylovSolver<MatrixX> Base;
-	TVStack r, p, z, temp;
-
-public:
-	btConjugateGradient(const int max_it_in)
-		: btKrylovSolver<MatrixX>(max_it_in, SIMD_EPSILON)
-	{
-	}
-
-	virtual ~btConjugateGradient() {}
-
-	// return the number of iterations taken
-	int solve(MatrixX& A, TVStack& x, const TVStack& b, bool verbose = false)
-	{
-		BT_PROFILE("CGSolve");
-		btAssert(x.size() == b.size());
-		reinitialize(b);
-		temp = b;
-		A.project(temp);
-		p = temp;
-		A.precondition(p, z);
-		btScalar d0 = this->dot(z, temp);
-		d0 = btMin(btScalar(1), d0);
-		// r = b - A * x --with assigned dof zeroed out
-		A.multiply(x, temp);
-		r = this->sub(b, temp);
-		A.project(r);
-		// z = M^(-1) * r
-		A.precondition(r, z);
-		A.project(z);
-		btScalar r_dot_z = this->dot(z, r);
-		if (r_dot_z <= Base::m_tolerance * d0)
-		{
-			if (verbose)
-			{
-				std::cout << "Iteration = 0" << std::endl;
-				std::cout << "Two norm of the residual = " << r_dot_z << std::endl;
-			}
-			return 0;
-		}
-		p = z;
-		btScalar r_dot_z_new = r_dot_z;
-		for (int k = 1; k <= Base::m_maxIterations; k++)
-		{
-			// temp = A*p
-			A.multiply(p, temp);
-			A.project(temp);
-			if (this->dot(p, temp) < 0)
-			{
-				if (verbose)
-					std::cout << "Encountered negative direction in CG!" << std::endl;
-				if (k == 1)
-				{
-					x = b;
-				}
-				return k;
-			}
-			// alpha = r^T * z / (p^T * A * p)
-			btScalar alpha = r_dot_z_new / this->dot(p, temp);
-			//  x += alpha * p;
-			this->multAndAddTo(alpha, p, x);
-			//  r -= alpha * temp;
-			this->multAndAddTo(-alpha, temp, r);
-			// z = M^(-1) * r
-			A.precondition(r, z);
-			r_dot_z = r_dot_z_new;
-			r_dot_z_new = this->dot(r, z);
-			if (r_dot_z_new < Base::m_tolerance * d0)
-			{
-				if (verbose)
-				{
-					std::cout << "ConjugateGradient iterations " << k << " residual = " << r_dot_z_new << std::endl;
-				}
-				return k;
-			}
-
-			btScalar beta = r_dot_z_new / r_dot_z;
-			p = this->multAndAdd(beta, p, z);
-		}
-		if (verbose)
-		{
-			std::cout << "ConjugateGradient max iterations reached " << Base::m_maxIterations << " error = " << r_dot_z_new << std::endl;
-		}
-		return Base::m_maxIterations;
-	}
-
-	void reinitialize(const TVStack& b)
-	{
-		r.resize(b.size());
-		p.resize(b.size());
-		z.resize(b.size());
-		temp.resize(b.size());
-	}
-};
-#endif /* btConjugateGradient_h */
diff --git a/thirdparty/bullet/BulletSoftBody/btConjugateResidual.h b/thirdparty/bullet/BulletSoftBody/btConjugateResidual.h
deleted file mode 100644
index 6146120365..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btConjugateResidual.h
+++ /dev/null
@@ -1,112 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#ifndef BT_CONJUGATE_RESIDUAL_H
-#define BT_CONJUGATE_RESIDUAL_H
-#include "btKrylovSolver.h"
-
-template <class MatrixX>
-class btConjugateResidual : public btKrylovSolver<MatrixX>
-{
-	typedef btAlignedObjectArray<btVector3> TVStack;
-	typedef btKrylovSolver<MatrixX> Base;
-	TVStack r, p, z, temp_p, temp_r, best_x;
-	// temp_r = A*r
-	// temp_p = A*p
-	// z = M^(-1) * temp_p = M^(-1) * A * p
-	btScalar best_r;
-
-public:
-	btConjugateResidual(const int max_it_in)
-		: Base(max_it_in, 1e-8)
-	{
-	}
-
-	virtual ~btConjugateResidual() {}
-
-	// return the number of iterations taken
-	int solve(MatrixX& A, TVStack& x, const TVStack& b, bool verbose = false)
-	{
-		BT_PROFILE("CRSolve");
-		btAssert(x.size() == b.size());
-		reinitialize(b);
-		// r = b - A * x --with assigned dof zeroed out
-		A.multiply(x, temp_r);  // borrow temp_r here to store A*x
-		r = this->sub(b, temp_r);
-		// z = M^(-1) * r
-		A.precondition(r, z);  // borrow z to store preconditioned r
-		r = z;
-		btScalar residual_norm = this->norm(r);
-		if (residual_norm <= Base::m_tolerance)
-		{
-			return 0;
-		}
-		p = r;
-		btScalar r_dot_Ar, r_dot_Ar_new;
-		// temp_p = A*p
-		A.multiply(p, temp_p);
-		// temp_r = A*r
-		temp_r = temp_p;
-		r_dot_Ar = this->dot(r, temp_r);
-		for (int k = 1; k <= Base::m_maxIterations; k++)
-		{
-			// z = M^(-1) * Ap
-			A.precondition(temp_p, z);
-			// alpha = r^T * A * r / (Ap)^T * M^-1 * Ap)
-			btScalar alpha = r_dot_Ar / this->dot(temp_p, z);
-			//  x += alpha * p;
-			this->multAndAddTo(alpha, p, x);
-			//  r -= alpha * z;
-			this->multAndAddTo(-alpha, z, r);
-			btScalar norm_r = this->norm(r);
-			if (norm_r < best_r)
-			{
-				best_x = x;
-				best_r = norm_r;
-				if (norm_r < Base::m_tolerance)
-				{
-					return k;
-				}
-			}
-			// temp_r = A * r;
-			A.multiply(r, temp_r);
-			r_dot_Ar_new = this->dot(r, temp_r);
-			btScalar beta = r_dot_Ar_new / r_dot_Ar;
-			r_dot_Ar = r_dot_Ar_new;
-			// p = beta*p + r;
-			p = this->multAndAdd(beta, p, r);
-			// temp_p = beta*temp_p + temp_r;
-			temp_p = this->multAndAdd(beta, temp_p, temp_r);
-		}
-		if (verbose)
-		{
-			std::cout << "ConjugateResidual max iterations reached, residual = " << best_r << std::endl;
-		}
-		x = best_x;
-		return Base::m_maxIterations;
-	}
-
-	void reinitialize(const TVStack& b)
-	{
-		r.resize(b.size());
-		p.resize(b.size());
-		z.resize(b.size());
-		temp_p.resize(b.size());
-		temp_r.resize(b.size());
-		best_x.resize(b.size());
-		best_r = SIMD_INFINITY;
-	}
-};
-#endif /* btConjugateResidual_h */
diff --git a/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp b/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp
deleted file mode 100644
index 5a79ef86e2..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp
+++ /dev/null
@@ -1,146 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-
-#include "btDefaultSoftBodySolver.h"
-#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
-#include "BulletSoftBody/btSoftBody.h"
-
-btDefaultSoftBodySolver::btDefaultSoftBodySolver()
-{
-	// Initial we will clearly need to update solver constants
-	// For now this is global for the cloths linked with this solver - we should probably make this body specific
-	// for performance in future once we understand more clearly when constants need to be updated
-	m_updateSolverConstants = true;
-}
-
-btDefaultSoftBodySolver::~btDefaultSoftBodySolver()
-{
-}
-
-// In this case the data is already in the soft bodies so there is no need for us to do anything
-void btDefaultSoftBodySolver::copyBackToSoftBodies(bool bMove)
-{
-}
-
-void btDefaultSoftBodySolver::optimize(btAlignedObjectArray<btSoftBody *> &softBodies, bool forceUpdate)
-{
-	m_softBodySet.copyFromArray(softBodies);
-}
-
-void btDefaultSoftBodySolver::updateSoftBodies()
-{
-	for (int i = 0; i < m_softBodySet.size(); i++)
-	{
-		btSoftBody *psb = (btSoftBody *)m_softBodySet[i];
-		if (psb->isActive())
-		{
-			psb->integrateMotion();
-		}
-	}
-}  // updateSoftBodies
-
-bool btDefaultSoftBodySolver::checkInitialized()
-{
-	return true;
-}
-
-void btDefaultSoftBodySolver::solveConstraints(btScalar solverdt)
-{
-	// Solve constraints for non-solver softbodies
-	for (int i = 0; i < m_softBodySet.size(); ++i)
-	{
-		btSoftBody *psb = static_cast<btSoftBody *>(m_softBodySet[i]);
-		if (psb->isActive())
-		{
-			psb->solveConstraints();
-		}
-	}
-}  // btDefaultSoftBodySolver::solveConstraints
-
-void btDefaultSoftBodySolver::copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer)
-{
-	// Currently only support CPU output buffers
-	// TODO: check for DX11 buffers. Take all offsets into the same DX11 buffer
-	// and use them together on a single kernel call if possible by setting up a
-	// per-cloth target buffer array for the copy kernel.
-
-	if (vertexBuffer->getBufferType() == btVertexBufferDescriptor::CPU_BUFFER)
-	{
-		const btAlignedObjectArray<btSoftBody::Node> &clothVertices(softBody->m_nodes);
-		int numVertices = clothVertices.size();
-
-		const btCPUVertexBufferDescriptor *cpuVertexBuffer = static_cast<btCPUVertexBufferDescriptor *>(vertexBuffer);
-		float *basePointer = cpuVertexBuffer->getBasePointer();
-
-		if (vertexBuffer->hasVertexPositions())
-		{
-			const int vertexOffset = cpuVertexBuffer->getVertexOffset();
-			const int vertexStride = cpuVertexBuffer->getVertexStride();
-			float *vertexPointer = basePointer + vertexOffset;
-
-			for (int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex)
-			{
-				btVector3 position = clothVertices[vertexIndex].m_x;
-				*(vertexPointer + 0) = (float)position.getX();
-				*(vertexPointer + 1) = (float)position.getY();
-				*(vertexPointer + 2) = (float)position.getZ();
-				vertexPointer += vertexStride;
-			}
-		}
-		if (vertexBuffer->hasNormals())
-		{
-			const int normalOffset = cpuVertexBuffer->getNormalOffset();
-			const int normalStride = cpuVertexBuffer->getNormalStride();
-			float *normalPointer = basePointer + normalOffset;
-
-			for (int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex)
-			{
-				btVector3 normal = clothVertices[vertexIndex].m_n;
-				*(normalPointer + 0) = (float)normal.getX();
-				*(normalPointer + 1) = (float)normal.getY();
-				*(normalPointer + 2) = (float)normal.getZ();
-				normalPointer += normalStride;
-			}
-		}
-	}
-}  // btDefaultSoftBodySolver::copySoftBodyToVertexBuffer
-
-void btDefaultSoftBodySolver::processCollision(btSoftBody *softBody, btSoftBody *otherSoftBody)
-{
-	softBody->defaultCollisionHandler(otherSoftBody);
-}
-
-// For the default solver just leave the soft body to do its collision processing
-void btDefaultSoftBodySolver::processCollision(btSoftBody *softBody, const btCollisionObjectWrapper *collisionObjectWrap)
-{
-	softBody->defaultCollisionHandler(collisionObjectWrap);
-}  // btDefaultSoftBodySolver::processCollision
-
-void btDefaultSoftBodySolver::predictMotion(btScalar timeStep)
-{
-	for (int i = 0; i < m_softBodySet.size(); ++i)
-	{
-		btSoftBody *psb = m_softBodySet[i];
-
-		if (psb->isActive())
-		{
-			psb->predictMotion(timeStep);
-		}
-	}
-}
diff --git a/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.h b/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.h
deleted file mode 100644
index 3965b07c58..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SOFT_BODY_DEFAULT_SOLVER_H
-#define BT_SOFT_BODY_DEFAULT_SOLVER_H
-
-#include "BulletSoftBody/btSoftBodySolvers.h"
-#include "btSoftBodySolverVertexBuffer.h"
-struct btCollisionObjectWrapper;
-
-class btDefaultSoftBodySolver : public btSoftBodySolver
-{
-protected:
-	/** Variable to define whether we need to update solver constants on the next iteration */
-	bool m_updateSolverConstants;
-
-	btAlignedObjectArray<btSoftBody *> m_softBodySet;
-
-public:
-	btDefaultSoftBodySolver();
-
-	virtual ~btDefaultSoftBodySolver();
-
-	virtual SolverTypes getSolverType() const
-	{
-		return DEFAULT_SOLVER;
-	}
-
-	virtual bool checkInitialized();
-
-	virtual void updateSoftBodies();
-
-	virtual void optimize(btAlignedObjectArray<btSoftBody *> &softBodies, bool forceUpdate = false);
-
-	virtual void copyBackToSoftBodies(bool bMove = true);
-
-	virtual void solveConstraints(btScalar solverdt);
-
-	virtual void predictMotion(btScalar solverdt);
-
-	virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer);
-
-	virtual void processCollision(btSoftBody *, const btCollisionObjectWrapper *);
-
-	virtual void processCollision(btSoftBody *, btSoftBody *);
-};
-
-#endif  // #ifndef BT_ACCELERATED_SOFT_BODY_CPU_SOLVER_H
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
deleted file mode 100644
index 2455ed2138..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
+++ /dev/null
@@ -1,299 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#include "btDeformableBackwardEulerObjective.h"
-#include "btPreconditioner.h"
-#include "LinearMath/btQuickprof.h"
-
-btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAlignedObjectArray<btSoftBody*>& softBodies, const TVStack& backup_v)
-	: m_softBodies(softBodies), m_projection(softBodies), m_backupVelocity(backup_v), m_implicit(false)
-{
-	m_massPreconditioner = new MassPreconditioner(m_softBodies);
-	m_KKTPreconditioner = new KKTPreconditioner(m_softBodies, m_projection, m_lf, m_dt, m_implicit);
-	m_preconditioner = m_KKTPreconditioner;
-}
-
-btDeformableBackwardEulerObjective::~btDeformableBackwardEulerObjective()
-{
-	delete m_KKTPreconditioner;
-	delete m_massPreconditioner;
-}
-
-void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated, btScalar dt)
-{
-	BT_PROFILE("reinitialize");
-	if (dt > 0)
-	{
-		setDt(dt);
-	}
-	if (nodeUpdated)
-	{
-		updateId();
-	}
-	for (int i = 0; i < m_lf.size(); ++i)
-	{
-		m_lf[i]->reinitialize(nodeUpdated);
-	}
-	btMatrix3x3 I;
-	I.setIdentity();
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		for (int j = 0; j < psb->m_nodes.size(); ++j)
-		{
-			if (psb->m_nodes[j].m_im > 0)
-				psb->m_nodes[j].m_effectiveMass = I * (1.0 / psb->m_nodes[j].m_im);
-		}
-	}
-	m_projection.reinitialize(nodeUpdated);
-	//    m_preconditioner->reinitialize(nodeUpdated);
-}
-
-void btDeformableBackwardEulerObjective::setDt(btScalar dt)
-{
-	m_dt = dt;
-}
-
-void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b) const
-{
-	BT_PROFILE("multiply");
-	// add in the mass term
-	size_t counter = 0;
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		for (int j = 0; j < psb->m_nodes.size(); ++j)
-		{
-			const btSoftBody::Node& node = psb->m_nodes[j];
-			b[counter] = (node.m_im == 0) ? btVector3(0, 0, 0) : x[counter] / node.m_im;
-			++counter;
-		}
-	}
-
-	for (int i = 0; i < m_lf.size(); ++i)
-	{
-		// add damping matrix
-		m_lf[i]->addScaledDampingForceDifferential(-m_dt, x, b);
-        // Always integrate picking force implicitly for stability.
-        if (m_implicit || m_lf[i]->getForceType() == BT_MOUSE_PICKING_FORCE)
-		{
-			m_lf[i]->addScaledElasticForceDifferential(-m_dt * m_dt, x, b);
-		}
-	}
-	int offset = m_nodes.size();
-	for (int i = offset; i < b.size(); ++i)
-	{
-		b[i].setZero();
-	}
-	// add in the lagrange multiplier terms
-
-	for (int c = 0; c < m_projection.m_lagrangeMultipliers.size(); ++c)
-	{
-		// C^T * lambda
-		const LagrangeMultiplier& lm = m_projection.m_lagrangeMultipliers[c];
-		for (int i = 0; i < lm.m_num_nodes; ++i)
-		{
-			for (int j = 0; j < lm.m_num_constraints; ++j)
-			{
-				b[lm.m_indices[i]] += x[offset + c][j] * lm.m_weights[i] * lm.m_dirs[j];
-			}
-		}
-		// C * x
-		for (int d = 0; d < lm.m_num_constraints; ++d)
-		{
-			for (int i = 0; i < lm.m_num_nodes; ++i)
-			{
-				b[offset + c][d] += lm.m_weights[i] * x[lm.m_indices[i]].dot(lm.m_dirs[d]);
-			}
-		}
-	}
-}
-
-void btDeformableBackwardEulerObjective::updateVelocity(const TVStack& dv)
-{
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		for (int j = 0; j < psb->m_nodes.size(); ++j)
-		{
-			btSoftBody::Node& node = psb->m_nodes[j];
-			node.m_v = m_backupVelocity[node.index] + dv[node.index];
-		}
-	}
-}
-
-void btDeformableBackwardEulerObjective::applyForce(TVStack& force, bool setZero)
-{
-	size_t counter = 0;
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		if (!psb->isActive())
-		{
-			counter += psb->m_nodes.size();
-			continue;
-		}
-		if (m_implicit)
-		{
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				if (psb->m_nodes[j].m_im != 0)
-				{
-					psb->m_nodes[j].m_v += psb->m_nodes[j].m_effectiveMass_inv * force[counter++];
-				}
-			}
-		}
-		else
-		{
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				btScalar one_over_mass = (psb->m_nodes[j].m_im == 0) ? 0 : psb->m_nodes[j].m_im;
-				psb->m_nodes[j].m_v += one_over_mass * force[counter++];
-			}
-		}
-	}
-	if (setZero)
-	{
-		for (int i = 0; i < force.size(); ++i)
-			force[i].setZero();
-	}
-}
-
-void btDeformableBackwardEulerObjective::computeResidual(btScalar dt, TVStack& residual)
-{
-	BT_PROFILE("computeResidual");
-	// add implicit force
-	for (int i = 0; i < m_lf.size(); ++i)
-	{
-        // Always integrate picking force implicitly for stability.
-		if (m_implicit || m_lf[i]->getForceType() == BT_MOUSE_PICKING_FORCE)
-		{
-			m_lf[i]->addScaledForces(dt, residual);
-		}
-		else
-		{
-			m_lf[i]->addScaledDampingForce(dt, residual);
-		}
-	}
-	//    m_projection.project(residual);
-}
-
-btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual) const
-{
-	btScalar mag = 0;
-	for (int i = 0; i < residual.size(); ++i)
-	{
-		mag += residual[i].length2();
-	}
-	return std::sqrt(mag);
-}
-
-btScalar btDeformableBackwardEulerObjective::totalEnergy(btScalar dt)
-{
-	btScalar e = 0;
-	for (int i = 0; i < m_lf.size(); ++i)
-	{
-		e += m_lf[i]->totalEnergy(dt);
-	}
-	return e;
-}
-
-void btDeformableBackwardEulerObjective::applyExplicitForce(TVStack& force)
-{
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		m_softBodies[i]->advanceDeformation();
-	}
-	if (m_implicit)
-	{
-		// apply forces except gravity force
-		btVector3 gravity;
-		for (int i = 0; i < m_lf.size(); ++i)
-		{
-			if (m_lf[i]->getForceType() == BT_GRAVITY_FORCE)
-			{
-				gravity = static_cast<btDeformableGravityForce*>(m_lf[i])->m_gravity;
-			}
-			else
-			{
-				m_lf[i]->addScaledForces(m_dt, force);
-			}
-		}
-		for (int i = 0; i < m_lf.size(); ++i)
-		{
-			m_lf[i]->addScaledHessian(m_dt);
-		}
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (psb->isActive())
-			{
-				for (int j = 0; j < psb->m_nodes.size(); ++j)
-				{
-					// add gravity explicitly
-					psb->m_nodes[j].m_v += m_dt * psb->m_gravityFactor * gravity;
-				}
-			}
-		}
-	}
-	else
-	{
-		for (int i = 0; i < m_lf.size(); ++i)
-		{
-			m_lf[i]->addScaledExplicitForce(m_dt, force);
-		}
-	}
-	// calculate inverse mass matrix for all nodes
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		if (psb->isActive())
-		{
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				if (psb->m_nodes[j].m_im > 0)
-				{
-					psb->m_nodes[j].m_effectiveMass_inv = psb->m_nodes[j].m_effectiveMass.inverse();
-				}
-			}
-		}
-	}
-	applyForce(force, true);
-}
-
-void btDeformableBackwardEulerObjective::initialGuess(TVStack& dv, const TVStack& residual)
-{
-	size_t counter = 0;
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		for (int j = 0; j < psb->m_nodes.size(); ++j)
-		{
-			dv[counter] = psb->m_nodes[j].m_im * residual[counter];
-			++counter;
-		}
-	}
-}
-
-//set constraints as projections
-void btDeformableBackwardEulerObjective::setConstraints(const btContactSolverInfo& infoGlobal)
-{
-	m_projection.setConstraints(infoGlobal);
-}
-
-void btDeformableBackwardEulerObjective::applyDynamicFriction(TVStack& r)
-{
-	m_projection.applyDynamicFriction(r);
-}
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.h b/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.h
deleted file mode 100644
index eb05b9f010..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.h
+++ /dev/null
@@ -1,198 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#ifndef BT_BACKWARD_EULER_OBJECTIVE_H
-#define BT_BACKWARD_EULER_OBJECTIVE_H
-//#include "btConjugateGradient.h"
-#include "btDeformableLagrangianForce.h"
-#include "btDeformableMassSpringForce.h"
-#include "btDeformableGravityForce.h"
-#include "btDeformableCorotatedForce.h"
-#include "btDeformableMousePickingForce.h"
-#include "btDeformableLinearElasticityForce.h"
-#include "btDeformableNeoHookeanForce.h"
-#include "btDeformableContactProjection.h"
-#include "btPreconditioner.h"
-#include "btDeformableMultiBodyDynamicsWorld.h"
-#include "LinearMath/btQuickprof.h"
-
-class btDeformableBackwardEulerObjective
-{
-public:
-	typedef btAlignedObjectArray<btVector3> TVStack;
-	btScalar m_dt;
-	btAlignedObjectArray<btDeformableLagrangianForce*> m_lf;
-	btAlignedObjectArray<btSoftBody*>& m_softBodies;
-	Preconditioner* m_preconditioner;
-	btDeformableContactProjection m_projection;
-	const TVStack& m_backupVelocity;
-	btAlignedObjectArray<btSoftBody::Node*> m_nodes;
-	bool m_implicit;
-	MassPreconditioner* m_massPreconditioner;
-	KKTPreconditioner* m_KKTPreconditioner;
-
-	btDeformableBackwardEulerObjective(btAlignedObjectArray<btSoftBody*>& softBodies, const TVStack& backup_v);
-
-	virtual ~btDeformableBackwardEulerObjective();
-
-	void initialize() {}
-
-	// compute the rhs for CG solve, i.e, add the dt scaled implicit force to residual
-	void computeResidual(btScalar dt, TVStack& residual);
-
-	// add explicit force to the velocity
-	void applyExplicitForce(TVStack& force);
-
-	// apply force to velocity and optionally reset the force to zero
-	void applyForce(TVStack& force, bool setZero);
-
-	// compute the norm of the residual
-	btScalar computeNorm(const TVStack& residual) const;
-
-	// compute one step of the solve (there is only one solve if the system is linear)
-	void computeStep(TVStack& dv, const TVStack& residual, const btScalar& dt);
-
-	// perform A*x = b
-	void multiply(const TVStack& x, TVStack& b) const;
-
-	// set initial guess for CG solve
-	void initialGuess(TVStack& dv, const TVStack& residual);
-
-	// reset data structure and reset dt
-	void reinitialize(bool nodeUpdated, btScalar dt);
-
-	void setDt(btScalar dt);
-
-	// add friction force to residual
-	void applyDynamicFriction(TVStack& r);
-
-	// add dv to velocity
-	void updateVelocity(const TVStack& dv);
-
-	//set constraints as projections
-	void setConstraints(const btContactSolverInfo& infoGlobal);
-
-	// update the projections and project the residual
-	void project(TVStack& r)
-	{
-		BT_PROFILE("project");
-		m_projection.project(r);
-	}
-
-	// perform precondition M^(-1) x = b
-	void precondition(const TVStack& x, TVStack& b)
-	{
-		m_preconditioner->operator()(x, b);
-	}
-
-	// reindex all the vertices
-	virtual void updateId()
-	{
-		size_t node_id = 0;
-		size_t face_id = 0;
-		m_nodes.clear();
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				psb->m_nodes[j].index = node_id;
-				m_nodes.push_back(&psb->m_nodes[j]);
-				++node_id;
-			}
-			for (int j = 0; j < psb->m_faces.size(); ++j)
-			{
-				psb->m_faces[j].m_index = face_id;
-				++face_id;
-			}
-		}
-	}
-
-	const btAlignedObjectArray<btSoftBody::Node*>* getIndices() const
-	{
-		return &m_nodes;
-	}
-
-	void setImplicit(bool implicit)
-	{
-		m_implicit = implicit;
-	}
-
-	// Calculate the total potential energy in the system
-	btScalar totalEnergy(btScalar dt);
-
-	void addLagrangeMultiplier(const TVStack& vec, TVStack& extended_vec)
-	{
-		extended_vec.resize(vec.size() + m_projection.m_lagrangeMultipliers.size());
-		for (int i = 0; i < vec.size(); ++i)
-		{
-			extended_vec[i] = vec[i];
-		}
-		int offset = vec.size();
-		for (int i = 0; i < m_projection.m_lagrangeMultipliers.size(); ++i)
-		{
-			extended_vec[offset + i].setZero();
-		}
-	}
-
-	void addLagrangeMultiplierRHS(const TVStack& residual, const TVStack& m_dv, TVStack& extended_residual)
-	{
-		extended_residual.resize(residual.size() + m_projection.m_lagrangeMultipliers.size());
-		for (int i = 0; i < residual.size(); ++i)
-		{
-			extended_residual[i] = residual[i];
-		}
-		int offset = residual.size();
-		for (int i = 0; i < m_projection.m_lagrangeMultipliers.size(); ++i)
-		{
-			const LagrangeMultiplier& lm = m_projection.m_lagrangeMultipliers[i];
-			extended_residual[offset + i].setZero();
-			for (int d = 0; d < lm.m_num_constraints; ++d)
-			{
-				for (int n = 0; n < lm.m_num_nodes; ++n)
-				{
-					extended_residual[offset + i][d] += lm.m_weights[n] * m_dv[lm.m_indices[n]].dot(lm.m_dirs[d]);
-				}
-			}
-		}
-	}
-
-	void calculateContactForce(const TVStack& dv, const TVStack& rhs, TVStack& f)
-	{
-		size_t counter = 0;
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				const btSoftBody::Node& node = psb->m_nodes[j];
-				f[counter] = (node.m_im == 0) ? btVector3(0, 0, 0) : dv[counter] / node.m_im;
-				++counter;
-			}
-		}
-		for (int i = 0; i < m_lf.size(); ++i)
-		{
-			// add damping matrix
-			m_lf[i]->addScaledDampingForceDifferential(-m_dt, dv, f);
-		}
-		counter = 0;
-		for (; counter < f.size(); ++counter)
-		{
-			f[counter] = rhs[counter] - f[counter];
-		}
-	}
-};
-
-#endif /* btBackwardEulerObjective_h */
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.cpp
deleted file mode 100644
index e81680f019..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.cpp
+++ /dev/null
@@ -1,506 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#include <stdio.h>
-#include <limits>
-#include "btDeformableBodySolver.h"
-#include "btSoftBodyInternals.h"
-#include "LinearMath/btQuickprof.h"
-static const int kMaxConjugateGradientIterations = 300;
-btDeformableBodySolver::btDeformableBodySolver()
-	: m_numNodes(0), m_cg(kMaxConjugateGradientIterations), m_cr(kMaxConjugateGradientIterations), m_maxNewtonIterations(1), m_newtonTolerance(1e-4), m_lineSearch(false), m_useProjection(false)
-{
-	m_objective = new btDeformableBackwardEulerObjective(m_softBodies, m_backupVelocity);
-}
-
-btDeformableBodySolver::~btDeformableBodySolver()
-{
-	delete m_objective;
-}
-
-void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt)
-{
-	BT_PROFILE("solveDeformableConstraints");
-	if (!m_implicit)
-	{
-		m_objective->computeResidual(solverdt, m_residual);
-		m_objective->applyDynamicFriction(m_residual);
-		if (m_useProjection)
-		{
-			computeStep(m_dv, m_residual);
-		}
-		else
-		{
-			TVStack rhs, x;
-			m_objective->addLagrangeMultiplierRHS(m_residual, m_dv, rhs);
-			m_objective->addLagrangeMultiplier(m_dv, x);
-			m_objective->m_preconditioner->reinitialize(true);
-			computeStep(x, rhs);
-			for (int i = 0; i < m_dv.size(); ++i)
-			{
-				m_dv[i] = x[i];
-			}
-		}
-		updateVelocity();
-	}
-	else
-	{
-		for (int i = 0; i < m_maxNewtonIterations; ++i)
-		{
-			updateState();
-			// add the inertia term in the residual
-			int counter = 0;
-			for (int k = 0; k < m_softBodies.size(); ++k)
-			{
-				btSoftBody* psb = m_softBodies[k];
-				for (int j = 0; j < psb->m_nodes.size(); ++j)
-				{
-					if (psb->m_nodes[j].m_im > 0)
-					{
-						m_residual[counter] = (-1. / psb->m_nodes[j].m_im) * m_dv[counter];
-					}
-					++counter;
-				}
-			}
-
-			m_objective->computeResidual(solverdt, m_residual);
-			if (m_objective->computeNorm(m_residual) < m_newtonTolerance && i > 0)
-			{
-				break;
-			}
-			// todo xuchenhan@: this really only needs to be calculated once
-			m_objective->applyDynamicFriction(m_residual);
-			if (m_lineSearch)
-			{
-				btScalar inner_product = computeDescentStep(m_ddv, m_residual);
-				btScalar alpha = 0.01, beta = 0.5;  // Boyd & Vandenberghe suggested alpha between 0.01 and 0.3, beta between 0.1 to 0.8
-				btScalar scale = 2;
-				btScalar f0 = m_objective->totalEnergy(solverdt) + kineticEnergy(), f1, f2;
-				backupDv();
-				do
-				{
-					scale *= beta;
-					if (scale < 1e-8)
-					{
-						return;
-					}
-					updateEnergy(scale);
-					f1 = m_objective->totalEnergy(solverdt) + kineticEnergy();
-					f2 = f0 - alpha * scale * inner_product;
-				} while (!(f1 < f2 + SIMD_EPSILON));  // if anything here is nan then the search continues
-				revertDv();
-				updateDv(scale);
-			}
-			else
-			{
-				computeStep(m_ddv, m_residual);
-				updateDv();
-			}
-			for (int j = 0; j < m_numNodes; ++j)
-			{
-				m_ddv[j].setZero();
-				m_residual[j].setZero();
-			}
-		}
-		updateVelocity();
-	}
-}
-
-btScalar btDeformableBodySolver::kineticEnergy()
-{
-	btScalar ke = 0;
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		for (int j = 0; j < psb->m_nodes.size(); ++j)
-		{
-			btSoftBody::Node& node = psb->m_nodes[j];
-			if (node.m_im > 0)
-			{
-				ke += m_dv[node.index].length2() * 0.5 / node.m_im;
-			}
-		}
-	}
-	return ke;
-}
-
-void btDeformableBodySolver::backupDv()
-{
-	m_backup_dv.resize(m_dv.size());
-	for (int i = 0; i < m_backup_dv.size(); ++i)
-	{
-		m_backup_dv[i] = m_dv[i];
-	}
-}
-
-void btDeformableBodySolver::revertDv()
-{
-	for (int i = 0; i < m_backup_dv.size(); ++i)
-	{
-		m_dv[i] = m_backup_dv[i];
-	}
-}
-
-void btDeformableBodySolver::updateEnergy(btScalar scale)
-{
-	for (int i = 0; i < m_dv.size(); ++i)
-	{
-		m_dv[i] = m_backup_dv[i] + scale * m_ddv[i];
-	}
-	updateState();
-}
-
-btScalar btDeformableBodySolver::computeDescentStep(TVStack& ddv, const TVStack& residual, bool verbose)
-{
-	m_cg.solve(*m_objective, ddv, residual, false);
-	btScalar inner_product = m_cg.dot(residual, m_ddv);
-	btScalar res_norm = m_objective->computeNorm(residual);
-	btScalar tol = 1e-5 * res_norm * m_objective->computeNorm(m_ddv);
-	if (inner_product < -tol)
-	{
-		if (verbose)
-		{
-			std::cout << "Looking backwards!" << std::endl;
-		}
-		for (int i = 0; i < m_ddv.size(); ++i)
-		{
-			m_ddv[i] = -m_ddv[i];
-		}
-		inner_product = -inner_product;
-	}
-	else if (std::abs(inner_product) < tol)
-	{
-		if (verbose)
-		{
-			std::cout << "Gradient Descent!" << std::endl;
-		}
-		btScalar scale = m_objective->computeNorm(m_ddv) / res_norm;
-		for (int i = 0; i < m_ddv.size(); ++i)
-		{
-			m_ddv[i] = scale * residual[i];
-		}
-		inner_product = scale * res_norm * res_norm;
-	}
-	return inner_product;
-}
-
-void btDeformableBodySolver::updateState()
-{
-	updateVelocity();
-	updateTempPosition();
-}
-
-void btDeformableBodySolver::updateDv(btScalar scale)
-{
-	for (int i = 0; i < m_numNodes; ++i)
-	{
-		m_dv[i] += scale * m_ddv[i];
-	}
-}
-
-void btDeformableBodySolver::computeStep(TVStack& ddv, const TVStack& residual)
-{
-	if (m_useProjection)
-		m_cg.solve(*m_objective, ddv, residual, false);
-	else
-		m_cr.solve(*m_objective, ddv, residual, false);
-}
-
-void btDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody*>& softBodies, btScalar dt)
-{
-	m_softBodies.copyFromArray(softBodies);
-	bool nodeUpdated = updateNodes();
-
-	if (nodeUpdated)
-	{
-		m_dv.resize(m_numNodes, btVector3(0, 0, 0));
-		m_ddv.resize(m_numNodes, btVector3(0, 0, 0));
-		m_residual.resize(m_numNodes, btVector3(0, 0, 0));
-		m_backupVelocity.resize(m_numNodes, btVector3(0, 0, 0));
-	}
-
-	// need to setZero here as resize only set value for newly allocated items
-	for (int i = 0; i < m_numNodes; ++i)
-	{
-		m_dv[i].setZero();
-		m_ddv[i].setZero();
-		m_residual[i].setZero();
-	}
-
-	if (dt > 0)
-	{
-		m_dt = dt;
-	}
-	m_objective->reinitialize(nodeUpdated, dt);
-	updateSoftBodies();
-}
-
-void btDeformableBodySolver::setConstraints(const btContactSolverInfo& infoGlobal)
-{
-	BT_PROFILE("setConstraint");
-	m_objective->setConstraints(infoGlobal);
-}
-
-btScalar btDeformableBodySolver::solveContactConstraints(btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal)
-{
-	BT_PROFILE("solveContactConstraints");
-	btScalar maxSquaredResidual = m_objective->m_projection.update(deformableBodies, numDeformableBodies, infoGlobal);
-	return maxSquaredResidual;
-}
-
-void btDeformableBodySolver::updateVelocity()
-{
-	int counter = 0;
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		psb->m_maxSpeedSquared = 0;
-		if (!psb->isActive())
-		{
-			counter += psb->m_nodes.size();
-			continue;
-		}
-		for (int j = 0; j < psb->m_nodes.size(); ++j)
-		{
-			// set NaN to zero;
-			if (m_dv[counter] != m_dv[counter])
-			{
-				m_dv[counter].setZero();
-			}
-			if (m_implicit)
-			{
-				psb->m_nodes[j].m_v = m_backupVelocity[counter] + m_dv[counter];
-			}
-			else
-			{
-				psb->m_nodes[j].m_v = m_backupVelocity[counter] + m_dv[counter] - psb->m_nodes[j].m_splitv;
-			}
-			psb->m_maxSpeedSquared = btMax(psb->m_maxSpeedSquared, psb->m_nodes[j].m_v.length2());
-			++counter;
-		}
-	}
-}
-
-void btDeformableBodySolver::updateTempPosition()
-{
-	int counter = 0;
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		if (!psb->isActive())
-		{
-			counter += psb->m_nodes.size();
-			continue;
-		}
-		for (int j = 0; j < psb->m_nodes.size(); ++j)
-		{
-			psb->m_nodes[j].m_q = psb->m_nodes[j].m_x + m_dt * (psb->m_nodes[j].m_v + psb->m_nodes[j].m_splitv);
-			++counter;
-		}
-		psb->updateDeformation();
-	}
-}
-
-void btDeformableBodySolver::backupVelocity()
-{
-	int counter = 0;
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		for (int j = 0; j < psb->m_nodes.size(); ++j)
-		{
-			m_backupVelocity[counter++] = psb->m_nodes[j].m_v;
-		}
-	}
-}
-
-void btDeformableBodySolver::setupDeformableSolve(bool implicit)
-{
-	int counter = 0;
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		if (!psb->isActive())
-		{
-			counter += psb->m_nodes.size();
-			continue;
-		}
-		for (int j = 0; j < psb->m_nodes.size(); ++j)
-		{
-			if (implicit)
-			{
-				// setting the initial guess for newton, need m_dv = v_{n+1} - v_n for dofs that are in constraint.
-				if (psb->m_nodes[j].m_v == m_backupVelocity[counter])
-					m_dv[counter].setZero();
-				else
-					m_dv[counter] = psb->m_nodes[j].m_v - psb->m_nodes[j].m_vn;
-				m_backupVelocity[counter] = psb->m_nodes[j].m_vn;
-			}
-			else
-			{
-				m_dv[counter] = psb->m_nodes[j].m_v + psb->m_nodes[j].m_splitv - m_backupVelocity[counter];
-			}
-			psb->m_nodes[j].m_v = m_backupVelocity[counter];
-			++counter;
-		}
-	}
-}
-
-void btDeformableBodySolver::revertVelocity()
-{
-	int counter = 0;
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		for (int j = 0; j < psb->m_nodes.size(); ++j)
-		{
-			psb->m_nodes[j].m_v = m_backupVelocity[counter++];
-		}
-	}
-}
-
-bool btDeformableBodySolver::updateNodes()
-{
-	int numNodes = 0;
-	for (int i = 0; i < m_softBodies.size(); ++i)
-		numNodes += m_softBodies[i]->m_nodes.size();
-	if (numNodes != m_numNodes)
-	{
-		m_numNodes = numNodes;
-		return true;
-	}
-	return false;
-}
-
-void btDeformableBodySolver::predictMotion(btScalar solverdt)
-{
-	// apply explicit forces to velocity
-	if (m_implicit)
-	{
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (psb->isActive())
-			{
-				for (int j = 0; j < psb->m_nodes.size(); ++j)
-				{
-					psb->m_nodes[j].m_q = psb->m_nodes[j].m_x + psb->m_nodes[j].m_v * solverdt;
-				}
-			}
-		}
-	}
-	m_objective->applyExplicitForce(m_residual);
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		/* Clear contacts */
-		psb->m_nodeRigidContacts.resize(0);
-		psb->m_faceRigidContacts.resize(0);
-		psb->m_faceNodeContacts.resize(0);
-
-		if (psb->isActive())
-		{
-			// predict motion for collision detection
-			predictDeformableMotion(psb, solverdt);
-		}
-	}
-}
-
-void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar dt)
-{
-	BT_PROFILE("btDeformableBodySolver::predictDeformableMotion");
-	int i, ni;
-
-	/* Update                */
-	if (psb->m_bUpdateRtCst)
-	{
-		psb->m_bUpdateRtCst = false;
-		psb->updateConstants();
-		psb->m_fdbvt.clear();
-		if (psb->m_cfg.collisions & btSoftBody::fCollision::SDF_RD)
-		{
-			psb->initializeFaceTree();
-		}
-	}
-
-	/* Prepare                */
-	psb->m_sst.sdt = dt * psb->m_cfg.timescale;
-	psb->m_sst.isdt = 1 / psb->m_sst.sdt;
-	psb->m_sst.velmrg = psb->m_sst.sdt * 3;
-	psb->m_sst.radmrg = psb->getCollisionShape()->getMargin();
-	psb->m_sst.updmrg = psb->m_sst.radmrg * (btScalar)0.25;
-	/* Bounds                */
-	psb->updateBounds();
-
-	/* Integrate            */
-	// do not allow particles to move more than the bounding box size
-	btScalar max_v = (psb->m_bounds[1] - psb->m_bounds[0]).norm() / dt;
-	for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i)
-	{
-		btSoftBody::Node& n = psb->m_nodes[i];
-		// apply drag
-		n.m_v *= (1 - psb->m_cfg.drag);
-		// scale velocity back
-		if (m_implicit)
-		{
-			n.m_q = n.m_x;
-		}
-		else
-		{
-			if (n.m_v.norm() > max_v)
-			{
-				n.m_v.safeNormalize();
-				n.m_v *= max_v;
-			}
-			n.m_q = n.m_x + n.m_v * dt;
-		}
-		n.m_splitv.setZero();
-		n.m_constrained = false;
-	}
-
-	/* Nodes                */
-	psb->updateNodeTree(true, true);
-	if (!psb->m_fdbvt.empty())
-	{
-		psb->updateFaceTree(true, true);
-	}
-	/* Optimize dbvt's        */
-	//    psb->m_ndbvt.optimizeIncremental(1);
-	//    psb->m_fdbvt.optimizeIncremental(1);
-}
-
-void btDeformableBodySolver::updateSoftBodies()
-{
-	BT_PROFILE("updateSoftBodies");
-	for (int i = 0; i < m_softBodies.size(); i++)
-	{
-		btSoftBody* psb = (btSoftBody*)m_softBodies[i];
-		if (psb->isActive())
-		{
-			psb->updateNormals();
-		}
-	}
-}
-
-void btDeformableBodySolver::setImplicit(bool implicit)
-{
-	m_implicit = implicit;
-	m_objective->setImplicit(implicit);
-}
-
-void btDeformableBodySolver::setLineSearch(bool lineSearch)
-{
-	m_lineSearch = lineSearch;
-}
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.h b/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.h
deleted file mode 100644
index ae674d6e89..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.h
+++ /dev/null
@@ -1,160 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#ifndef BT_DEFORMABLE_BODY_SOLVERS_H
-#define BT_DEFORMABLE_BODY_SOLVERS_H
-
-#include "btSoftBodySolvers.h"
-#include "btDeformableBackwardEulerObjective.h"
-#include "btDeformableMultiBodyDynamicsWorld.h"
-#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
-#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
-#include "btConjugateResidual.h"
-#include "btConjugateGradient.h"
-struct btCollisionObjectWrapper;
-class btDeformableBackwardEulerObjective;
-class btDeformableMultiBodyDynamicsWorld;
-
-class btDeformableBodySolver : public btSoftBodySolver
-{
-	typedef btAlignedObjectArray<btVector3> TVStack;
-
-protected:
-	int m_numNodes;                                                // total number of deformable body nodes
-	TVStack m_dv;                                                  // v_{n+1} - v_n
-	TVStack m_backup_dv;                                           // backed up dv
-	TVStack m_ddv;                                                 // incremental dv
-	TVStack m_residual;                                            // rhs of the linear solve
-	btAlignedObjectArray<btSoftBody*> m_softBodies;                // all deformable bodies
-	TVStack m_backupVelocity;                                      // backed up v, equals v_n for implicit, equals v_{n+1}^* for explicit
-	btScalar m_dt;                                                 // dt
-	btConjugateGradient<btDeformableBackwardEulerObjective> m_cg;  // CG solver
-	btConjugateResidual<btDeformableBackwardEulerObjective> m_cr;  // CR solver
-	bool m_implicit;                                               // use implicit scheme if true, explicit scheme if false
-	int m_maxNewtonIterations;                                     // max number of newton iterations
-	btScalar m_newtonTolerance;                                    // stop newton iterations if f(x) < m_newtonTolerance
-	bool m_lineSearch;                                             // If true, use newton's method with line search under implicit scheme
-public:
-	// handles data related to objective function
-	btDeformableBackwardEulerObjective* m_objective;
-	bool m_useProjection;
-
-	btDeformableBodySolver();
-
-	virtual ~btDeformableBodySolver();
-
-	virtual SolverTypes getSolverType() const
-	{
-		return DEFORMABLE_SOLVER;
-	}
-
-	// update soft body normals
-	virtual void updateSoftBodies();
-
-	virtual btScalar solveContactConstraints(btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal);
-
-	// solve the momentum equation
-	virtual void solveDeformableConstraints(btScalar solverdt);
-
-	// resize/clear data structures
-	void reinitialize(const btAlignedObjectArray<btSoftBody*>& softBodies, btScalar dt);
-
-	// set up contact constraints
-	void setConstraints(const btContactSolverInfo& infoGlobal);
-
-	// add in elastic forces and gravity to obtain v_{n+1}^* and calls predictDeformableMotion
-	virtual void predictMotion(btScalar solverdt);
-
-	// move to temporary position x_{n+1}^* = x_n + dt * v_{n+1}^*
-	// x_{n+1}^* is stored in m_q
-	void predictDeformableMotion(btSoftBody* psb, btScalar dt);
-
-	// save the current velocity to m_backupVelocity
-	void backupVelocity();
-
-	// set m_dv and m_backupVelocity to desired value to prepare for momentum solve
-	void setupDeformableSolve(bool implicit);
-
-	// set the current velocity to that backed up in m_backupVelocity
-	void revertVelocity();
-
-	// set velocity to m_dv + m_backupVelocity
-	void updateVelocity();
-
-	// update the node count
-	bool updateNodes();
-
-	// calculate the change in dv resulting from the momentum solve
-	void computeStep(TVStack& ddv, const TVStack& residual);
-
-	// calculate the change in dv resulting from the momentum solve when line search is turned on
-	btScalar computeDescentStep(TVStack& ddv, const TVStack& residual, bool verbose = false);
-
-	virtual void copySoftBodyToVertexBuffer(const btSoftBody* const softBody, btVertexBufferDescriptor* vertexBuffer) {}
-
-	// process collision between deformable and rigid
-	virtual void processCollision(btSoftBody* softBody, const btCollisionObjectWrapper* collisionObjectWrap)
-	{
-		softBody->defaultCollisionHandler(collisionObjectWrap);
-	}
-
-	// process collision between deformable and deformable
-	virtual void processCollision(btSoftBody* softBody, btSoftBody* otherSoftBody)
-	{
-		softBody->defaultCollisionHandler(otherSoftBody);
-	}
-
-	// If true, implicit time stepping scheme is used.
-	// Otherwise, explicit time stepping scheme is used
-	void setImplicit(bool implicit);
-
-	// If true, newton's method with line search is used when implicit time stepping scheme is turned on
-	void setLineSearch(bool lineSearch);
-
-	// set temporary position x^* = x_n + dt * v
-	// update the deformation gradient at position x^*
-	void updateState();
-
-	// set dv = dv + scale * ddv
-	void updateDv(btScalar scale = 1);
-
-	// set temporary position x^* = x_n + dt * v^*
-	void updateTempPosition();
-
-	// save the current dv to m_backup_dv;
-	void backupDv();
-
-	// set dv to the backed-up value
-	void revertDv();
-
-	// set dv = dv + scale * ddv
-	// set v^* = v_n + dv
-	// set temporary position x^* = x_n + dt * v^*
-	// update the deformation gradient at position x^*
-	void updateEnergy(btScalar scale);
-
-	// calculates the appropriately scaled kinetic energy in the system, which is
-	// 1/2 * dv^T * M * dv
-	// used in line search
-	btScalar kineticEnergy();
-
-	// unused functions
-	virtual void optimize(btAlignedObjectArray<btSoftBody*>& softBodies, bool forceUpdate = false) {}
-	virtual void solveConstraints(btScalar dt) {}
-	virtual bool checkInitialized() { return true; }
-	virtual void copyBackToSoftBodies(bool bMove = true) {}
-};
-
-#endif /* btDeformableBodySolver_h */
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.cpp
deleted file mode 100644
index 09398d79a5..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.cpp
+++ /dev/null
@@ -1,720 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#include "btDeformableContactConstraint.h"
-/* ================   Deformable Node Anchor   =================== */
-btDeformableNodeAnchorConstraint::btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& a, const btContactSolverInfo& infoGlobal)
-	: m_anchor(&a), btDeformableContactConstraint(a.m_cti.m_normal, infoGlobal)
-{
-}
-
-btDeformableNodeAnchorConstraint::btDeformableNodeAnchorConstraint(const btDeformableNodeAnchorConstraint& other)
-	: m_anchor(other.m_anchor), btDeformableContactConstraint(other)
-{
-}
-
-btVector3 btDeformableNodeAnchorConstraint::getVa() const
-{
-	const btSoftBody::sCti& cti = m_anchor->m_cti;
-	btVector3 va(0, 0, 0);
-	if (cti.m_colObj->hasContactResponse())
-	{
-		btRigidBody* rigidCol = 0;
-		btMultiBodyLinkCollider* multibodyLinkCol = 0;
-
-		// grab the velocity of the rigid body
-		if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
-		{
-			rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
-			va = rigidCol ? (rigidCol->getVelocityInLocalPoint(m_anchor->m_c1)) : btVector3(0, 0, 0);
-		}
-		else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
-		{
-			multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);
-			if (multibodyLinkCol)
-			{
-				const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
-				const btScalar* J_n = &m_anchor->jacobianData_normal.m_jacobians[0];
-				const btScalar* J_t1 = &m_anchor->jacobianData_t1.m_jacobians[0];
-				const btScalar* J_t2 = &m_anchor->jacobianData_t2.m_jacobians[0];
-				const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector();
-				const btScalar* local_dv = multibodyLinkCol->m_multiBody->getDeltaVelocityVector();
-				// add in the normal component of the va
-				btScalar vel = 0.0;
-				for (int k = 0; k < ndof; ++k)
-				{
-					vel += (local_v[k] + local_dv[k]) * J_n[k];
-				}
-				va = cti.m_normal * vel;
-				// add in the tangential components of the va
-				vel = 0.0;
-				for (int k = 0; k < ndof; ++k)
-				{
-					vel += (local_v[k] + local_dv[k]) * J_t1[k];
-				}
-				va += m_anchor->t1 * vel;
-				vel = 0.0;
-				for (int k = 0; k < ndof; ++k)
-				{
-					vel += (local_v[k] + local_dv[k]) * J_t2[k];
-				}
-				va += m_anchor->t2 * vel;
-			}
-		}
-	}
-	return va;
-}
-
-btScalar btDeformableNodeAnchorConstraint::solveConstraint(const btContactSolverInfo& infoGlobal)
-{
-	const btSoftBody::sCti& cti = m_anchor->m_cti;
-	btVector3 va = getVa();
-	btVector3 vb = getVb();
-	btVector3 vr = (vb - va);
-	// + (m_anchor->m_node->m_x - cti.m_colObj->getWorldTransform() * m_anchor->m_local) * 10.0
-	const btScalar dn = btDot(vr, vr);
-	// dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt
-	btScalar residualSquare = dn * dn;
-	btVector3 impulse = m_anchor->m_c0 * vr;
-	// apply impulse to deformable nodes involved and change their velocities
-	applyImpulse(impulse);
-
-	// apply impulse to the rigid/multibodies involved and change their velocities
-	if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
-	{
-		btRigidBody* rigidCol = 0;
-		rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
-		if (rigidCol)
-		{
-			rigidCol->applyImpulse(impulse, m_anchor->m_c1);
-		}
-	}
-	else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
-	{
-		btMultiBodyLinkCollider* multibodyLinkCol = 0;
-		multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);
-		if (multibodyLinkCol)
-		{
-			const btScalar* deltaV_normal = &m_anchor->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0];
-			// apply normal component of the impulse
-			multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_normal, impulse.dot(cti.m_normal));
-			// apply tangential component of the impulse
-			const btScalar* deltaV_t1 = &m_anchor->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0];
-			multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t1, impulse.dot(m_anchor->t1));
-			const btScalar* deltaV_t2 = &m_anchor->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0];
-			multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t2, impulse.dot(m_anchor->t2));
-		}
-	}
-	return residualSquare;
-}
-
-btVector3 btDeformableNodeAnchorConstraint::getVb() const
-{
-	return m_anchor->m_node->m_v;
-}
-
-void btDeformableNodeAnchorConstraint::applyImpulse(const btVector3& impulse)
-{
-	btVector3 dv = impulse * m_anchor->m_c2;
-	m_anchor->m_node->m_v -= dv;
-}
-
-/* ================   Deformable vs. Rigid   =================== */
-btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c, const btContactSolverInfo& infoGlobal)
-	: m_contact(&c), btDeformableContactConstraint(c.m_cti.m_normal, infoGlobal)
-{
-	m_total_normal_dv.setZero();
-	m_total_tangent_dv.setZero();
-	// The magnitude of penetration is the depth of penetration.
-	m_penetration = c.m_cti.m_offset;
-	m_total_split_impulse = 0;
-	m_binding = false;
-}
-
-btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other)
-	: m_contact(other.m_contact), btDeformableContactConstraint(other), m_penetration(other.m_penetration), m_total_split_impulse(other.m_total_split_impulse), m_binding(other.m_binding)
-{
-	m_total_normal_dv = other.m_total_normal_dv;
-	m_total_tangent_dv = other.m_total_tangent_dv;
-}
-
-btVector3 btDeformableRigidContactConstraint::getVa() const
-{
-	const btSoftBody::sCti& cti = m_contact->m_cti;
-	btVector3 va(0, 0, 0);
-	if (cti.m_colObj->hasContactResponse())
-	{
-		btRigidBody* rigidCol = 0;
-		btMultiBodyLinkCollider* multibodyLinkCol = 0;
-
-		// grab the velocity of the rigid body
-		if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
-		{
-			rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
-			va = rigidCol ? (rigidCol->getVelocityInLocalPoint(m_contact->m_c1)) : btVector3(0, 0, 0);
-		}
-		else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
-		{
-			multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);
-			if (multibodyLinkCol)
-			{
-				const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
-				const btScalar* J_n = &m_contact->jacobianData_normal.m_jacobians[0];
-				const btScalar* J_t1 = &m_contact->jacobianData_t1.m_jacobians[0];
-				const btScalar* J_t2 = &m_contact->jacobianData_t2.m_jacobians[0];
-				const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector();
-				const btScalar* local_dv = multibodyLinkCol->m_multiBody->getDeltaVelocityVector();
-				// add in the normal component of the va
-				btScalar vel = 0.0;
-				for (int k = 0; k < ndof; ++k)
-				{
-					vel += (local_v[k] + local_dv[k]) * J_n[k];
-				}
-				va = cti.m_normal * vel;
-				// add in the tangential components of the va
-				vel = 0.0;
-				for (int k = 0; k < ndof; ++k)
-				{
-					vel += (local_v[k] + local_dv[k]) * J_t1[k];
-				}
-				va += m_contact->t1 * vel;
-				vel = 0.0;
-				for (int k = 0; k < ndof; ++k)
-				{
-					vel += (local_v[k] + local_dv[k]) * J_t2[k];
-				}
-				va += m_contact->t2 * vel;
-			}
-		}
-	}
-	return va;
-}
-
-btVector3 btDeformableRigidContactConstraint::getSplitVa() const
-{
-	const btSoftBody::sCti& cti = m_contact->m_cti;
-	btVector3 va(0, 0, 0);
-	if (cti.m_colObj->hasContactResponse())
-	{
-		btRigidBody* rigidCol = 0;
-		btMultiBodyLinkCollider* multibodyLinkCol = 0;
-
-		// grab the velocity of the rigid body
-		if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
-		{
-			rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
-			va = rigidCol ? (rigidCol->getPushVelocityInLocalPoint(m_contact->m_c1)) : btVector3(0, 0, 0);
-		}
-		else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
-		{
-			multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);
-			if (multibodyLinkCol)
-			{
-				const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
-				const btScalar* J_n = &m_contact->jacobianData_normal.m_jacobians[0];
-				const btScalar* J_t1 = &m_contact->jacobianData_t1.m_jacobians[0];
-				const btScalar* J_t2 = &m_contact->jacobianData_t2.m_jacobians[0];
-				const btScalar* local_split_v = multibodyLinkCol->m_multiBody->getSplitVelocityVector();
-				// add in the normal component of the va
-				btScalar vel = 0.0;
-				for (int k = 0; k < ndof; ++k)
-				{
-					vel += local_split_v[k] * J_n[k];
-				}
-				va = cti.m_normal * vel;
-				// add in the tangential components of the va
-				vel = 0.0;
-				for (int k = 0; k < ndof; ++k)
-				{
-					vel += local_split_v[k] * J_t1[k];
-				}
-				va += m_contact->t1 * vel;
-				vel = 0.0;
-				for (int k = 0; k < ndof; ++k)
-				{
-					vel += local_split_v[k] * J_t2[k];
-				}
-				va += m_contact->t2 * vel;
-			}
-		}
-	}
-	return va;
-}
-
-btScalar btDeformableRigidContactConstraint::solveConstraint(const btContactSolverInfo& infoGlobal)
-{
-	const btSoftBody::sCti& cti = m_contact->m_cti;
-	btVector3 va = getVa();
-	btVector3 vb = getVb();
-	btVector3 vr = vb - va;
-	btScalar dn = btDot(vr, cti.m_normal) + m_total_normal_dv.dot(cti.m_normal) * infoGlobal.m_deformable_cfm;
-	if (m_penetration > 0)
-	{
-		dn += m_penetration / infoGlobal.m_timeStep;
-	}
-	if (!infoGlobal.m_splitImpulse)
-	{
-		dn += m_penetration * infoGlobal.m_deformable_erp / infoGlobal.m_timeStep;
-	}
-	// dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt
-	btVector3 impulse = m_contact->m_c0 * (vr + m_total_normal_dv * infoGlobal.m_deformable_cfm + ((m_penetration > 0) ? m_penetration / infoGlobal.m_timeStep * cti.m_normal : btVector3(0, 0, 0)));
-	if (!infoGlobal.m_splitImpulse)
-	{
-		impulse += m_contact->m_c0 * (m_penetration * infoGlobal.m_deformable_erp / infoGlobal.m_timeStep * cti.m_normal);
-	}
-	btVector3 impulse_normal = m_contact->m_c0 * (cti.m_normal * dn);
-	btVector3 impulse_tangent = impulse - impulse_normal;
-	if (dn > 0)
-	{
-		return 0;
-	}
-	m_binding = true;
-	btScalar residualSquare = dn * dn;
-	btVector3 old_total_tangent_dv = m_total_tangent_dv;
-	// m_c5 is the inverse mass of the deformable node/face
-	m_total_normal_dv -= m_contact->m_c5 * impulse_normal;
-	m_total_tangent_dv -= m_contact->m_c5 * impulse_tangent;
-
-	if (m_total_normal_dv.dot(cti.m_normal) < 0)
-	{
-		// separating in the normal direction
-		m_binding = false;
-		m_static = false;
-		impulse_tangent.setZero();
-	}
-	else
-	{
-		if (m_total_normal_dv.norm() * m_contact->m_c3 < m_total_tangent_dv.norm())
-		{
-			// dynamic friction
-			// with dynamic friction, the impulse are still applied to the two objects colliding, however, it does not pose a constraint in the cg solve, hence the change to dv merely serves to update velocity in the contact iterations.
-			m_static = false;
-			if (m_total_tangent_dv.safeNorm() < SIMD_EPSILON)
-			{
-				m_total_tangent_dv = btVector3(0, 0, 0);
-			}
-			else
-			{
-				m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.safeNorm() * m_contact->m_c3;
-			}
-			//            impulse_tangent = -btScalar(1)/m_contact->m_c2 * (m_total_tangent_dv - old_total_tangent_dv);
-			impulse_tangent = m_contact->m_c5.inverse() * (old_total_tangent_dv - m_total_tangent_dv);
-		}
-		else
-		{
-			// static friction
-			m_static = true;
-		}
-	}
-	impulse = impulse_normal + impulse_tangent;
-	// apply impulse to deformable nodes involved and change their velocities
-	applyImpulse(impulse);
-	// apply impulse to the rigid/multibodies involved and change their velocities
-	if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
-	{
-		btRigidBody* rigidCol = 0;
-		rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
-		if (rigidCol)
-		{
-			rigidCol->applyImpulse(impulse, m_contact->m_c1);
-		}
-	}
-	else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
-	{
-		btMultiBodyLinkCollider* multibodyLinkCol = 0;
-		multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);
-		if (multibodyLinkCol)
-		{
-			const btScalar* deltaV_normal = &m_contact->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0];
-			// apply normal component of the impulse
-			multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_normal, impulse.dot(cti.m_normal));
-			if (impulse_tangent.norm() > SIMD_EPSILON)
-			{
-				// apply tangential component of the impulse
-				const btScalar* deltaV_t1 = &m_contact->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0];
-				multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t1, impulse.dot(m_contact->t1));
-				const btScalar* deltaV_t2 = &m_contact->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0];
-				multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t2, impulse.dot(m_contact->t2));
-			}
-		}
-	}
-	return residualSquare;
-}
-
-btScalar btDeformableRigidContactConstraint::solveSplitImpulse(const btContactSolverInfo& infoGlobal)
-{
-	btScalar MAX_PENETRATION_CORRECTION = infoGlobal.m_deformable_maxErrorReduction;
-	const btSoftBody::sCti& cti = m_contact->m_cti;
-	btVector3 vb = getSplitVb();
-	btVector3 va = getSplitVa();
-	btScalar p = m_penetration;
-	if (p > 0)
-	{
-		return 0;
-	}
-	btVector3 vr = vb - va;
-	btScalar dn = btDot(vr, cti.m_normal) + p * infoGlobal.m_deformable_erp / infoGlobal.m_timeStep;
-	if (dn > 0)
-	{
-		return 0;
-	}
-	if (m_total_split_impulse + dn > MAX_PENETRATION_CORRECTION)
-	{
-		dn = MAX_PENETRATION_CORRECTION - m_total_split_impulse;
-	}
-	if (m_total_split_impulse + dn < -MAX_PENETRATION_CORRECTION)
-	{
-		dn = -MAX_PENETRATION_CORRECTION - m_total_split_impulse;
-	}
-	m_total_split_impulse += dn;
-
-	btScalar residualSquare = dn * dn;
-	const btVector3 impulse = m_contact->m_c0 * (cti.m_normal * dn);
-	applySplitImpulse(impulse);
-
-	// apply split impulse to the rigid/multibodies involved and change their velocities
-	if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
-	{
-		btRigidBody* rigidCol = 0;
-		rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
-		if (rigidCol)
-		{
-			rigidCol->applyPushImpulse(impulse, m_contact->m_c1);
-		}
-	}
-	else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
-	{
-		btMultiBodyLinkCollider* multibodyLinkCol = 0;
-		multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);
-		if (multibodyLinkCol)
-		{
-			const btScalar* deltaV_normal = &m_contact->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0];
-			// apply normal component of the impulse
-			multibodyLinkCol->m_multiBody->applyDeltaSplitVeeMultiDof(deltaV_normal, impulse.dot(cti.m_normal));
-		}
-	}
-	return residualSquare;
-}
-/* ================   Node vs. Rigid   =================== */
-btDeformableNodeRigidContactConstraint::btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact, const btContactSolverInfo& infoGlobal)
-	: m_node(contact.m_node), btDeformableRigidContactConstraint(contact, infoGlobal)
-{
-}
-
-btDeformableNodeRigidContactConstraint::btDeformableNodeRigidContactConstraint(const btDeformableNodeRigidContactConstraint& other)
-	: m_node(other.m_node), btDeformableRigidContactConstraint(other)
-{
-}
-
-btVector3 btDeformableNodeRigidContactConstraint::getVb() const
-{
-	return m_node->m_v;
-}
-
-btVector3 btDeformableNodeRigidContactConstraint::getSplitVb() const
-{
-	return m_node->m_splitv;
-}
-
-btVector3 btDeformableNodeRigidContactConstraint::getDv(const btSoftBody::Node* node) const
-{
-	return m_total_normal_dv + m_total_tangent_dv;
-}
-
-void btDeformableNodeRigidContactConstraint::applyImpulse(const btVector3& impulse)
-{
-	const btSoftBody::DeformableNodeRigidContact* contact = getContact();
-	btVector3 dv = contact->m_c5 * impulse;
-	contact->m_node->m_v -= dv;
-}
-
-void btDeformableNodeRigidContactConstraint::applySplitImpulse(const btVector3& impulse)
-{
-	const btSoftBody::DeformableNodeRigidContact* contact = getContact();
-	btVector3 dv = contact->m_c5 * impulse;
-	contact->m_node->m_splitv -= dv;
-}
-
-/* ================   Face vs. Rigid   =================== */
-btDeformableFaceRigidContactConstraint::btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact, const btContactSolverInfo& infoGlobal, bool useStrainLimiting)
-	: m_face(contact.m_face), m_useStrainLimiting(useStrainLimiting), btDeformableRigidContactConstraint(contact, infoGlobal)
-{
-}
-
-btDeformableFaceRigidContactConstraint::btDeformableFaceRigidContactConstraint(const btDeformableFaceRigidContactConstraint& other)
-	: m_face(other.m_face), m_useStrainLimiting(other.m_useStrainLimiting), btDeformableRigidContactConstraint(other)
-{
-}
-
-btVector3 btDeformableFaceRigidContactConstraint::getVb() const
-{
-	const btSoftBody::DeformableFaceRigidContact* contact = getContact();
-	btVector3 vb = m_face->m_n[0]->m_v * contact->m_bary[0] + m_face->m_n[1]->m_v * contact->m_bary[1] + m_face->m_n[2]->m_v * contact->m_bary[2];
-	return vb;
-}
-
-btVector3 btDeformableFaceRigidContactConstraint::getDv(const btSoftBody::Node* node) const
-{
-	btVector3 face_dv = m_total_normal_dv + m_total_tangent_dv;
-	const btSoftBody::DeformableFaceRigidContact* contact = getContact();
-	if (m_face->m_n[0] == node)
-	{
-		return face_dv * contact->m_weights[0];
-	}
-	if (m_face->m_n[1] == node)
-	{
-		return face_dv * contact->m_weights[1];
-	}
-	btAssert(node == m_face->m_n[2]);
-	return face_dv * contact->m_weights[2];
-}
-
-void btDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impulse)
-{
-	const btSoftBody::DeformableFaceRigidContact* contact = getContact();
-	btVector3 dv = impulse * contact->m_c2;
-	btSoftBody::Face* face = contact->m_face;
-
-	btVector3& v0 = face->m_n[0]->m_v;
-	btVector3& v1 = face->m_n[1]->m_v;
-	btVector3& v2 = face->m_n[2]->m_v;
-	const btScalar& im0 = face->m_n[0]->m_im;
-	const btScalar& im1 = face->m_n[1]->m_im;
-	const btScalar& im2 = face->m_n[2]->m_im;
-	if (im0 > 0)
-		v0 -= dv * contact->m_weights[0];
-	if (im1 > 0)
-		v1 -= dv * contact->m_weights[1];
-	if (im2 > 0)
-		v2 -= dv * contact->m_weights[2];
-	if (m_useStrainLimiting)
-	{
-		btScalar relaxation = 1. / btScalar(m_infoGlobal->m_numIterations);
-		btScalar m01 = (relaxation / (im0 + im1));
-		btScalar m02 = (relaxation / (im0 + im2));
-		btScalar m12 = (relaxation / (im1 + im2));
-#ifdef USE_STRAIN_RATE_LIMITING
-		// apply strain limiting to prevent the new velocity to change the current length of the edge by more than 1%.
-		btScalar p = 0.01;
-		btVector3& x0 = face->m_n[0]->m_x;
-		btVector3& x1 = face->m_n[1]->m_x;
-		btVector3& x2 = face->m_n[2]->m_x;
-		const btVector3 x_diff[3] = {x1 - x0, x2 - x0, x2 - x1};
-		const btVector3 v_diff[3] = {v1 - v0, v2 - v0, v2 - v1};
-		btVector3 u[3];
-		btScalar x_diff_dot_u, dn[3];
-		btScalar dt = m_infoGlobal->m_timeStep;
-		for (int i = 0; i < 3; ++i)
-		{
-			btScalar x_diff_norm = x_diff[i].safeNorm();
-			btScalar x_diff_norm_new = (x_diff[i] + v_diff[i] * dt).safeNorm();
-			btScalar strainRate = x_diff_norm_new / x_diff_norm;
-			u[i] = v_diff[i];
-			u[i].safeNormalize();
-			if (x_diff_norm == 0 || (1 - p <= strainRate && strainRate <= 1 + p))
-			{
-				dn[i] = 0;
-				continue;
-			}
-			x_diff_dot_u = btDot(x_diff[i], u[i]);
-			btScalar s;
-			if (1 - p > strainRate)
-			{
-				s = 1 / dt * (-x_diff_dot_u - btSqrt(x_diff_dot_u * x_diff_dot_u + (p * p - 2 * p) * x_diff_norm * x_diff_norm));
-			}
-			else
-			{
-				s = 1 / dt * (-x_diff_dot_u + btSqrt(x_diff_dot_u * x_diff_dot_u + (p * p + 2 * p) * x_diff_norm * x_diff_norm));
-			}
-			//		x_diff_norm_new = (x_diff[i] + s * u[i] * dt).safeNorm();
-			//		strainRate = x_diff_norm_new/x_diff_norm;
-			dn[i] = s - v_diff[i].safeNorm();
-		}
-		btVector3 dv0 = im0 * (m01 * u[0] * (-dn[0]) + m02 * u[1] * -(dn[1]));
-		btVector3 dv1 = im1 * (m01 * u[0] * (dn[0]) + m12 * u[2] * (-dn[2]));
-		btVector3 dv2 = im2 * (m12 * u[2] * (dn[2]) + m02 * u[1] * (dn[1]));
-#else
-		// apply strain limiting to prevent undamped modes
-		btVector3 dv0 = im0 * (m01 * (v1 - v0) + m02 * (v2 - v0));
-		btVector3 dv1 = im1 * (m01 * (v0 - v1) + m12 * (v2 - v1));
-		btVector3 dv2 = im2 * (m12 * (v1 - v2) + m02 * (v0 - v2));
-#endif
-		v0 += dv0;
-		v1 += dv1;
-		v2 += dv2;
-	}
-}
-
-btVector3 btDeformableFaceRigidContactConstraint::getSplitVb() const
-{
-	const btSoftBody::DeformableFaceRigidContact* contact = getContact();
-	btVector3 vb = (m_face->m_n[0]->m_splitv) * contact->m_bary[0] + (m_face->m_n[1]->m_splitv) * contact->m_bary[1] + (m_face->m_n[2]->m_splitv) * contact->m_bary[2];
-	return vb;
-}
-
-void btDeformableFaceRigidContactConstraint::applySplitImpulse(const btVector3& impulse)
-{
-	const btSoftBody::DeformableFaceRigidContact* contact = getContact();
-	btVector3 dv = impulse * contact->m_c2;
-	btSoftBody::Face* face = contact->m_face;
-	btVector3& v0 = face->m_n[0]->m_splitv;
-	btVector3& v1 = face->m_n[1]->m_splitv;
-	btVector3& v2 = face->m_n[2]->m_splitv;
-	const btScalar& im0 = face->m_n[0]->m_im;
-	const btScalar& im1 = face->m_n[1]->m_im;
-	const btScalar& im2 = face->m_n[2]->m_im;
-	if (im0 > 0)
-	{
-		v0 -= dv * contact->m_weights[0];
-	}
-	if (im1 > 0)
-	{
-		v1 -= dv * contact->m_weights[1];
-	}
-	if (im2 > 0)
-	{
-		v2 -= dv * contact->m_weights[2];
-	}
-}
-
-/* ================   Face vs. Node   =================== */
-btDeformableFaceNodeContactConstraint::btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact, const btContactSolverInfo& infoGlobal)
-	: m_node(contact.m_node), m_face(contact.m_face), m_contact(&contact), btDeformableContactConstraint(contact.m_normal, infoGlobal)
-{
-	m_total_normal_dv.setZero();
-	m_total_tangent_dv.setZero();
-}
-
-btVector3 btDeformableFaceNodeContactConstraint::getVa() const
-{
-	return m_node->m_v;
-}
-
-btVector3 btDeformableFaceNodeContactConstraint::getVb() const
-{
-	const btSoftBody::DeformableFaceNodeContact* contact = getContact();
-	btVector3 vb = m_face->m_n[0]->m_v * contact->m_bary[0] + m_face->m_n[1]->m_v * contact->m_bary[1] + m_face->m_n[2]->m_v * contact->m_bary[2];
-	return vb;
-}
-
-btVector3 btDeformableFaceNodeContactConstraint::getDv(const btSoftBody::Node* n) const
-{
-	btVector3 dv = m_total_normal_dv + m_total_tangent_dv;
-	if (n == m_node)
-		return dv;
-	const btSoftBody::DeformableFaceNodeContact* contact = getContact();
-	if (m_face->m_n[0] == n)
-	{
-		return dv * contact->m_weights[0];
-	}
-	if (m_face->m_n[1] == n)
-	{
-		return dv * contact->m_weights[1];
-	}
-	btAssert(n == m_face->m_n[2]);
-	return dv * contact->m_weights[2];
-}
-
-btScalar btDeformableFaceNodeContactConstraint::solveConstraint(const btContactSolverInfo& infoGlobal)
-{
-	btVector3 va = getVa();
-	btVector3 vb = getVb();
-	btVector3 vr = vb - va;
-	const btScalar dn = btDot(vr, m_contact->m_normal);
-	// dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt
-	btScalar residualSquare = dn * dn;
-	btVector3 impulse = m_contact->m_c0 * vr;
-	const btVector3 impulse_normal = m_contact->m_c0 * (m_contact->m_normal * dn);
-	btVector3 impulse_tangent = impulse - impulse_normal;
-
-	btVector3 old_total_tangent_dv = m_total_tangent_dv;
-	// m_c2 is the inverse mass of the deformable node/face
-	if (m_node->m_im > 0)
-	{
-		m_total_normal_dv -= impulse_normal * m_node->m_im;
-		m_total_tangent_dv -= impulse_tangent * m_node->m_im;
-	}
-	else
-	{
-		m_total_normal_dv -= impulse_normal * m_contact->m_imf;
-		m_total_tangent_dv -= impulse_tangent * m_contact->m_imf;
-	}
-
-	if (m_total_normal_dv.dot(m_contact->m_normal) > 0)
-	{
-		// separating in the normal direction
-		m_static = false;
-		m_total_tangent_dv = btVector3(0, 0, 0);
-		impulse_tangent.setZero();
-	}
-	else
-	{
-		if (m_total_normal_dv.norm() * m_contact->m_friction < m_total_tangent_dv.norm())
-		{
-			// dynamic friction
-			// with dynamic friction, the impulse are still applied to the two objects colliding, however, it does not pose a constraint in the cg solve, hence the change to dv merely serves to update velocity in the contact iterations.
-			m_static = false;
-			if (m_total_tangent_dv.safeNorm() < SIMD_EPSILON)
-			{
-				m_total_tangent_dv = btVector3(0, 0, 0);
-			}
-			else
-			{
-				m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.safeNorm() * m_contact->m_friction;
-			}
-			impulse_tangent = -btScalar(1) / m_node->m_im * (m_total_tangent_dv - old_total_tangent_dv);
-		}
-		else
-		{
-			// static friction
-			m_static = true;
-		}
-	}
-	impulse = impulse_normal + impulse_tangent;
-	// apply impulse to deformable nodes involved and change their velocities
-	applyImpulse(impulse);
-	return residualSquare;
-}
-
-void btDeformableFaceNodeContactConstraint::applyImpulse(const btVector3& impulse)
-{
-	const btSoftBody::DeformableFaceNodeContact* contact = getContact();
-	btVector3 dva = impulse * contact->m_node->m_im;
-	btVector3 dvb = impulse * contact->m_imf;
-	if (contact->m_node->m_im > 0)
-	{
-		contact->m_node->m_v += dva;
-	}
-
-	btSoftBody::Face* face = contact->m_face;
-	btVector3& v0 = face->m_n[0]->m_v;
-	btVector3& v1 = face->m_n[1]->m_v;
-	btVector3& v2 = face->m_n[2]->m_v;
-	const btScalar& im0 = face->m_n[0]->m_im;
-	const btScalar& im1 = face->m_n[1]->m_im;
-	const btScalar& im2 = face->m_n[2]->m_im;
-	if (im0 > 0)
-	{
-		v0 -= dvb * contact->m_weights[0];
-	}
-	if (im1 > 0)
-	{
-		v1 -= dvb * contact->m_weights[1];
-	}
-	if (im2 > 0)
-	{
-		v2 -= dvb * contact->m_weights[2];
-	}
-}
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h b/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h
deleted file mode 100644
index 1e2c9f5bce..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h
+++ /dev/null
@@ -1,284 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#ifndef BT_DEFORMABLE_CONTACT_CONSTRAINT_H
-#define BT_DEFORMABLE_CONTACT_CONSTRAINT_H
-#include "btSoftBody.h"
-
-// btDeformableContactConstraint is an abstract class specifying the method that each type of contact constraint needs to implement
-class btDeformableContactConstraint
-{
-public:
-	// True if the friction is static
-	// False if the friction is dynamic
-	bool m_static;
-	const btContactSolverInfo* m_infoGlobal;
-
-	// normal of the contact
-	btVector3 m_normal;
-
-	btDeformableContactConstraint(const btVector3& normal, const btContactSolverInfo& infoGlobal) : m_static(false), m_normal(normal), m_infoGlobal(&infoGlobal)
-	{
-	}
-
-	btDeformableContactConstraint(bool isStatic, const btVector3& normal, const btContactSolverInfo& infoGlobal) : m_static(isStatic), m_normal(normal), m_infoGlobal(&infoGlobal)
-	{
-	}
-
-	btDeformableContactConstraint() {}
-
-	btDeformableContactConstraint(const btDeformableContactConstraint& other)
-		: m_static(other.m_static), m_normal(other.m_normal), m_infoGlobal(other.m_infoGlobal)
-	{
-	}
-
-	virtual ~btDeformableContactConstraint() {}
-
-	// solve the constraint with inelastic impulse and return the error, which is the square of normal component of velocity diffrerence
-	// the constraint is solved by calculating the impulse between object A and B in the contact and apply the impulse to both objects involved in the contact
-	virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal) = 0;
-
-	// get the velocity of the object A in the contact
-	virtual btVector3 getVa() const = 0;
-
-	// get the velocity of the object B in the contact
-	virtual btVector3 getVb() const = 0;
-
-	// get the velocity change of the soft body node in the constraint
-	virtual btVector3 getDv(const btSoftBody::Node*) const = 0;
-
-	// apply impulse to the soft body node and/or face involved
-	virtual void applyImpulse(const btVector3& impulse) = 0;
-
-	// scale the penetration depth by erp
-	virtual void setPenetrationScale(btScalar scale) = 0;
-};
-
-//
-// Constraint that a certain node in the deformable objects cannot move
-class btDeformableStaticConstraint : public btDeformableContactConstraint
-{
-public:
-	btSoftBody::Node* m_node;
-
-	btDeformableStaticConstraint(btSoftBody::Node* node, const btContactSolverInfo& infoGlobal) : m_node(node), btDeformableContactConstraint(false, btVector3(0, 0, 0), infoGlobal)
-	{
-	}
-	btDeformableStaticConstraint() {}
-	btDeformableStaticConstraint(const btDeformableStaticConstraint& other)
-		: m_node(other.m_node), btDeformableContactConstraint(other)
-	{
-	}
-
-	virtual ~btDeformableStaticConstraint() {}
-
-	virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal)
-	{
-		return 0;
-	}
-
-	virtual btVector3 getVa() const
-	{
-		return btVector3(0, 0, 0);
-	}
-
-	virtual btVector3 getVb() const
-	{
-		return btVector3(0, 0, 0);
-	}
-
-	virtual btVector3 getDv(const btSoftBody::Node* n) const
-	{
-		return btVector3(0, 0, 0);
-	}
-
-	virtual void applyImpulse(const btVector3& impulse) {}
-	virtual void setPenetrationScale(btScalar scale) {}
-};
-
-//
-// Anchor Constraint between rigid and deformable node
-class btDeformableNodeAnchorConstraint : public btDeformableContactConstraint
-{
-public:
-	const btSoftBody::DeformableNodeRigidAnchor* m_anchor;
-
-	btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& c, const btContactSolverInfo& infoGlobal);
-	btDeformableNodeAnchorConstraint(const btDeformableNodeAnchorConstraint& other);
-	btDeformableNodeAnchorConstraint() {}
-	virtual ~btDeformableNodeAnchorConstraint()
-	{
-	}
-	virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal);
-
-	// object A is the rigid/multi body, and object B is the deformable node/face
-	virtual btVector3 getVa() const;
-	// get the velocity of the deformable node in contact
-	virtual btVector3 getVb() const;
-	virtual btVector3 getDv(const btSoftBody::Node* n) const
-	{
-		return btVector3(0, 0, 0);
-	}
-	virtual void applyImpulse(const btVector3& impulse);
-
-	virtual void setPenetrationScale(btScalar scale) {}
-};
-
-//
-// Constraint between rigid/multi body and deformable objects
-class btDeformableRigidContactConstraint : public btDeformableContactConstraint
-{
-public:
-	btVector3 m_total_normal_dv;
-	btVector3 m_total_tangent_dv;
-	btScalar m_penetration;
-	btScalar m_total_split_impulse;
-	bool m_binding;
-	const btSoftBody::DeformableRigidContact* m_contact;
-
-	btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c, const btContactSolverInfo& infoGlobal);
-	btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other);
-	btDeformableRigidContactConstraint() {}
-	virtual ~btDeformableRigidContactConstraint()
-	{
-	}
-
-	// object A is the rigid/multi body, and object B is the deformable node/face
-	virtual btVector3 getVa() const;
-
-	// get the split impulse velocity of the deformable face at the contact point
-	virtual btVector3 getSplitVb() const = 0;
-
-	// get the split impulse velocity of the rigid/multibdoy at the contaft
-	virtual btVector3 getSplitVa() const;
-
-	virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal);
-
-	virtual void setPenetrationScale(btScalar scale)
-	{
-		m_penetration *= scale;
-	}
-
-	btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal);
-
-	virtual void applySplitImpulse(const btVector3& impulse) = 0;
-};
-
-//
-// Constraint between rigid/multi body and deformable objects nodes
-class btDeformableNodeRigidContactConstraint : public btDeformableRigidContactConstraint
-{
-public:
-	// the deformable node in contact
-	btSoftBody::Node* m_node;
-
-	btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact, const btContactSolverInfo& infoGlobal);
-	btDeformableNodeRigidContactConstraint(const btDeformableNodeRigidContactConstraint& other);
-	btDeformableNodeRigidContactConstraint() {}
-	virtual ~btDeformableNodeRigidContactConstraint()
-	{
-	}
-
-	// get the velocity of the deformable node in contact
-	virtual btVector3 getVb() const;
-
-	// get the split impulse velocity of the deformable face at the contact point
-	virtual btVector3 getSplitVb() const;
-
-	// get the velocity change of the input soft body node in the constraint
-	virtual btVector3 getDv(const btSoftBody::Node*) const;
-
-	// cast the contact to the desired type
-	const btSoftBody::DeformableNodeRigidContact* getContact() const
-	{
-		return static_cast<const btSoftBody::DeformableNodeRigidContact*>(m_contact);
-	}
-
-	virtual void applyImpulse(const btVector3& impulse);
-
-	virtual void applySplitImpulse(const btVector3& impulse);
-};
-
-//
-// Constraint between rigid/multi body and deformable objects faces
-class btDeformableFaceRigidContactConstraint : public btDeformableRigidContactConstraint
-{
-public:
-	btSoftBody::Face* m_face;
-	bool m_useStrainLimiting;
-	btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact, const btContactSolverInfo& infoGlobal, bool useStrainLimiting);
-	btDeformableFaceRigidContactConstraint(const btDeformableFaceRigidContactConstraint& other);
-	btDeformableFaceRigidContactConstraint() : m_useStrainLimiting(false) {}
-	virtual ~btDeformableFaceRigidContactConstraint()
-	{
-	}
-
-	// get the velocity of the deformable face at the contact point
-	virtual btVector3 getVb() const;
-
-	// get the split impulse velocity of the deformable face at the contact point
-	virtual btVector3 getSplitVb() const;
-
-	// get the velocity change of the input soft body node in the constraint
-	virtual btVector3 getDv(const btSoftBody::Node*) const;
-
-	// cast the contact to the desired type
-	const btSoftBody::DeformableFaceRigidContact* getContact() const
-	{
-		return static_cast<const btSoftBody::DeformableFaceRigidContact*>(m_contact);
-	}
-
-	virtual void applyImpulse(const btVector3& impulse);
-
-	virtual void applySplitImpulse(const btVector3& impulse);
-};
-
-//
-// Constraint between  deformable objects faces and deformable objects nodes
-class btDeformableFaceNodeContactConstraint : public btDeformableContactConstraint
-{
-public:
-	btSoftBody::Node* m_node;
-	btSoftBody::Face* m_face;
-	const btSoftBody::DeformableFaceNodeContact* m_contact;
-	btVector3 m_total_normal_dv;
-	btVector3 m_total_tangent_dv;
-
-	btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact, const btContactSolverInfo& infoGlobal);
-	btDeformableFaceNodeContactConstraint() {}
-	virtual ~btDeformableFaceNodeContactConstraint() {}
-
-	virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal);
-
-	// get the velocity of the object A in the contact
-	virtual btVector3 getVa() const;
-
-	// get the velocity of the object B in the contact
-	virtual btVector3 getVb() const;
-
-	// get the velocity change of the input soft body node in the constraint
-	virtual btVector3 getDv(const btSoftBody::Node*) const;
-
-	// cast the contact to the desired type
-	const btSoftBody::DeformableFaceNodeContact* getContact() const
-	{
-		return static_cast<const btSoftBody::DeformableFaceNodeContact*>(m_contact);
-	}
-
-	virtual void applyImpulse(const btVector3& impulse);
-
-	virtual void setPenetrationScale(btScalar scale) {}
-};
-#endif /* BT_DEFORMABLE_CONTACT_CONSTRAINT_H */
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp
deleted file mode 100644
index 7f67260ce6..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp
+++ /dev/null
@@ -1,639 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#include "btDeformableContactProjection.h"
-#include "btDeformableMultiBodyDynamicsWorld.h"
-#include <algorithm>
-#include <cmath>
-btScalar btDeformableContactProjection::update(btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal)
-{
-	btScalar residualSquare = 0;
-	for (int i = 0; i < numDeformableBodies; ++i)
-	{
-		for (int j = 0; j < m_softBodies.size(); ++j)
-		{
-			btCollisionObject* psb = m_softBodies[j];
-			if (psb != deformableBodies[i])
-			{
-				continue;
-			}
-			for (int k = 0; k < m_nodeRigidConstraints[j].size(); ++k)
-			{
-				btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[j][k];
-				btScalar localResidualSquare = constraint.solveConstraint(infoGlobal);
-				residualSquare = btMax(residualSquare, localResidualSquare);
-			}
-			for (int k = 0; k < m_nodeAnchorConstraints[j].size(); ++k)
-			{
-				btDeformableNodeAnchorConstraint& constraint = m_nodeAnchorConstraints[j][k];
-				btScalar localResidualSquare = constraint.solveConstraint(infoGlobal);
-				residualSquare = btMax(residualSquare, localResidualSquare);
-			}
-			for (int k = 0; k < m_faceRigidConstraints[j].size(); ++k)
-			{
-				btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[j][k];
-				btScalar localResidualSquare = constraint.solveConstraint(infoGlobal);
-				residualSquare = btMax(residualSquare, localResidualSquare);
-			}
-			for (int k = 0; k < m_deformableConstraints[j].size(); ++k)
-			{
-				btDeformableFaceNodeContactConstraint& constraint = m_deformableConstraints[j][k];
-				btScalar localResidualSquare = constraint.solveConstraint(infoGlobal);
-				residualSquare = btMax(residualSquare, localResidualSquare);
-			}
-		}
-	}
-	return residualSquare;
-}
-
-btScalar btDeformableContactProjection::solveSplitImpulse(btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal)
-{
-	btScalar residualSquare = 0;
-	for (int i = 0; i < numDeformableBodies; ++i)
-	{
-		for (int j = 0; j < m_softBodies.size(); ++j)
-		{
-			btCollisionObject* psb = m_softBodies[j];
-			if (psb != deformableBodies[i])
-			{
-				continue;
-			}
-			for (int k = 0; k < m_nodeRigidConstraints[j].size(); ++k)
-			{
-				btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[j][k];
-				btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal);
-				residualSquare = btMax(residualSquare, localResidualSquare);
-			}
-			for (int k = 0; k < m_faceRigidConstraints[j].size(); ++k)
-			{
-				btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[j][k];
-				btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal);
-				residualSquare = btMax(residualSquare, localResidualSquare);
-			}
-		}
-	}
-	return residualSquare;
-}
-
-void btDeformableContactProjection::setConstraints(const btContactSolverInfo& infoGlobal)
-{
-	BT_PROFILE("setConstraints");
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		if (!psb->isActive())
-		{
-			continue;
-		}
-
-		// set Dirichlet constraint
-		for (int j = 0; j < psb->m_nodes.size(); ++j)
-		{
-			if (psb->m_nodes[j].m_im == 0)
-			{
-				btDeformableStaticConstraint static_constraint(&psb->m_nodes[j], infoGlobal);
-				m_staticConstraints[i].push_back(static_constraint);
-			}
-		}
-
-		// set up deformable anchors
-		for (int j = 0; j < psb->m_deformableAnchors.size(); ++j)
-		{
-			btSoftBody::DeformableNodeRigidAnchor& anchor = psb->m_deformableAnchors[j];
-			// skip fixed points
-			if (anchor.m_node->m_im == 0)
-			{
-				continue;
-			}
-			anchor.m_c1 = anchor.m_cti.m_colObj->getWorldTransform().getBasis() * anchor.m_local;
-			btDeformableNodeAnchorConstraint constraint(anchor, infoGlobal);
-			m_nodeAnchorConstraints[i].push_back(constraint);
-		}
-
-		// set Deformable Node vs. Rigid constraint
-		for (int j = 0; j < psb->m_nodeRigidContacts.size(); ++j)
-		{
-			const btSoftBody::DeformableNodeRigidContact& contact = psb->m_nodeRigidContacts[j];
-			// skip fixed points
-			if (contact.m_node->m_im == 0)
-			{
-				continue;
-			}
-			btDeformableNodeRigidContactConstraint constraint(contact, infoGlobal);
-			m_nodeRigidConstraints[i].push_back(constraint);
-		}
-
-		// set Deformable Face vs. Rigid constraint
-		for (int j = 0; j < psb->m_faceRigidContacts.size(); ++j)
-		{
-			const btSoftBody::DeformableFaceRigidContact& contact = psb->m_faceRigidContacts[j];
-			// skip fixed faces
-			if (contact.m_c2 == 0)
-			{
-				continue;
-			}
-			btDeformableFaceRigidContactConstraint constraint(contact, infoGlobal, m_useStrainLimiting);
-			m_faceRigidConstraints[i].push_back(constraint);
-		}
-	}
-}
-
-void btDeformableContactProjection::project(TVStack& x)
-{
-#ifndef USE_MGS
-	const int dim = 3;
-	for (int index = 0; index < m_projectionsDict.size(); ++index)
-	{
-		btAlignedObjectArray<btVector3>& projectionDirs = *m_projectionsDict.getAtIndex(index);
-		size_t i = m_projectionsDict.getKeyAtIndex(index).getUid1();
-		if (projectionDirs.size() >= dim)
-		{
-			// static node
-			x[i].setZero();
-			continue;
-		}
-		else if (projectionDirs.size() == 2)
-		{
-			btVector3 dir0 = projectionDirs[0];
-			btVector3 dir1 = projectionDirs[1];
-			btVector3 free_dir = btCross(dir0, dir1);
-			if (free_dir.safeNorm() < SIMD_EPSILON)
-			{
-				x[i] -= x[i].dot(dir0) * dir0;
-			}
-			else
-			{
-				free_dir.normalize();
-				x[i] = x[i].dot(free_dir) * free_dir;
-			}
-		}
-		else
-		{
-			btAssert(projectionDirs.size() == 1);
-			btVector3 dir0 = projectionDirs[0];
-			x[i] -= x[i].dot(dir0) * dir0;
-		}
-	}
-#else
-	btReducedVector p(x.size());
-	for (int i = 0; i < m_projections.size(); ++i)
-	{
-		p += (m_projections[i].dot(x) * m_projections[i]);
-	}
-	for (int i = 0; i < p.m_indices.size(); ++i)
-	{
-		x[p.m_indices[i]] -= p.m_vecs[i];
-	}
-#endif
-}
-
-void btDeformableContactProjection::setProjection()
-{
-#ifndef USE_MGS
-	BT_PROFILE("btDeformableContactProjection::setProjection");
-	btAlignedObjectArray<btVector3> units;
-	units.push_back(btVector3(1, 0, 0));
-	units.push_back(btVector3(0, 1, 0));
-	units.push_back(btVector3(0, 0, 1));
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		if (!psb->isActive())
-		{
-			continue;
-		}
-		for (int j = 0; j < m_staticConstraints[i].size(); ++j)
-		{
-			int index = m_staticConstraints[i][j].m_node->index;
-			m_staticConstraints[i][j].m_node->m_constrained = true;
-			if (m_projectionsDict.find(index) == NULL)
-			{
-				m_projectionsDict.insert(index, units);
-			}
-			else
-			{
-				btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index];
-				for (int k = 0; k < 3; ++k)
-				{
-					projections.push_back(units[k]);
-				}
-			}
-		}
-		for (int j = 0; j < m_nodeAnchorConstraints[i].size(); ++j)
-		{
-			int index = m_nodeAnchorConstraints[i][j].m_anchor->m_node->index;
-			m_nodeAnchorConstraints[i][j].m_anchor->m_node->m_constrained = true;
-			if (m_projectionsDict.find(index) == NULL)
-			{
-				m_projectionsDict.insert(index, units);
-			}
-			else
-			{
-				btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index];
-				for (int k = 0; k < 3; ++k)
-				{
-					projections.push_back(units[k]);
-				}
-			}
-		}
-		for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j)
-		{
-			int index = m_nodeRigidConstraints[i][j].m_node->index;
-			m_nodeRigidConstraints[i][j].m_node->m_constrained = true;
-			if (m_nodeRigidConstraints[i][j].m_binding)
-			{
-				if (m_nodeRigidConstraints[i][j].m_static)
-				{
-					if (m_projectionsDict.find(index) == NULL)
-					{
-						m_projectionsDict.insert(index, units);
-					}
-					else
-					{
-						btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index];
-						for (int k = 0; k < 3; ++k)
-						{
-							projections.push_back(units[k]);
-						}
-					}
-				}
-				else
-				{
-					if (m_projectionsDict.find(index) == NULL)
-					{
-						btAlignedObjectArray<btVector3> projections;
-						projections.push_back(m_nodeRigidConstraints[i][j].m_normal);
-						m_projectionsDict.insert(index, projections);
-					}
-					else
-					{
-						btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index];
-						projections.push_back(m_nodeRigidConstraints[i][j].m_normal);
-					}
-				}
-			}
-		}
-		for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j)
-		{
-			const btSoftBody::Face* face = m_faceRigidConstraints[i][j].m_face;
-			if (m_faceRigidConstraints[i][j].m_binding)
-			{
-				for (int k = 0; k < 3; ++k)
-				{
-					face->m_n[k]->m_constrained = true;
-				}
-			}
-			for (int k = 0; k < 3; ++k)
-			{
-				btSoftBody::Node* node = face->m_n[k];
-				int index = node->index;
-				if (m_faceRigidConstraints[i][j].m_static)
-				{
-					if (m_projectionsDict.find(index) == NULL)
-					{
-						m_projectionsDict.insert(index, units);
-					}
-					else
-					{
-						btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index];
-						for (int l = 0; l < 3; ++l)
-						{
-							projections.push_back(units[l]);
-						}
-					}
-				}
-				else
-				{
-					if (m_projectionsDict.find(index) == NULL)
-					{
-						btAlignedObjectArray<btVector3> projections;
-						projections.push_back(m_faceRigidConstraints[i][j].m_normal);
-						m_projectionsDict.insert(index, projections);
-					}
-					else
-					{
-						btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index];
-						projections.push_back(m_faceRigidConstraints[i][j].m_normal);
-					}
-				}
-			}
-		}
-	}
-#else
-	int dof = 0;
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		dof += m_softBodies[i]->m_nodes.size();
-	}
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		if (!psb->isActive())
-		{
-			continue;
-		}
-		for (int j = 0; j < m_staticConstraints[i].size(); ++j)
-		{
-			int index = m_staticConstraints[i][j].m_node->index;
-			m_staticConstraints[i][j].m_node->m_penetration = SIMD_INFINITY;
-			btAlignedObjectArray<int> indices;
-			btAlignedObjectArray<btVector3> vecs1, vecs2, vecs3;
-			indices.push_back(index);
-			vecs1.push_back(btVector3(1, 0, 0));
-			vecs2.push_back(btVector3(0, 1, 0));
-			vecs3.push_back(btVector3(0, 0, 1));
-			m_projections.push_back(btReducedVector(dof, indices, vecs1));
-			m_projections.push_back(btReducedVector(dof, indices, vecs2));
-			m_projections.push_back(btReducedVector(dof, indices, vecs3));
-		}
-
-		for (int j = 0; j < m_nodeAnchorConstraints[i].size(); ++j)
-		{
-			int index = m_nodeAnchorConstraints[i][j].m_anchor->m_node->index;
-			m_nodeAnchorConstraints[i][j].m_anchor->m_node->m_penetration = SIMD_INFINITY;
-			btAlignedObjectArray<int> indices;
-			btAlignedObjectArray<btVector3> vecs1, vecs2, vecs3;
-			indices.push_back(index);
-			vecs1.push_back(btVector3(1, 0, 0));
-			vecs2.push_back(btVector3(0, 1, 0));
-			vecs3.push_back(btVector3(0, 0, 1));
-			m_projections.push_back(btReducedVector(dof, indices, vecs1));
-			m_projections.push_back(btReducedVector(dof, indices, vecs2));
-			m_projections.push_back(btReducedVector(dof, indices, vecs3));
-		}
-		for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j)
-		{
-			int index = m_nodeRigidConstraints[i][j].m_node->index;
-			m_nodeRigidConstraints[i][j].m_node->m_penetration = -m_nodeRigidConstraints[i][j].getContact()->m_cti.m_offset;
-			btAlignedObjectArray<int> indices;
-			indices.push_back(index);
-			btAlignedObjectArray<btVector3> vecs1, vecs2, vecs3;
-			if (m_nodeRigidConstraints[i][j].m_static)
-			{
-				vecs1.push_back(btVector3(1, 0, 0));
-				vecs2.push_back(btVector3(0, 1, 0));
-				vecs3.push_back(btVector3(0, 0, 1));
-				m_projections.push_back(btReducedVector(dof, indices, vecs1));
-				m_projections.push_back(btReducedVector(dof, indices, vecs2));
-				m_projections.push_back(btReducedVector(dof, indices, vecs3));
-			}
-			else
-			{
-				vecs1.push_back(m_nodeRigidConstraints[i][j].m_normal);
-				m_projections.push_back(btReducedVector(dof, indices, vecs1));
-			}
-		}
-		for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j)
-		{
-			const btSoftBody::Face* face = m_faceRigidConstraints[i][j].m_face;
-			btVector3 bary = m_faceRigidConstraints[i][j].getContact()->m_bary;
-			btScalar penetration = -m_faceRigidConstraints[i][j].getContact()->m_cti.m_offset;
-			for (int k = 0; k < 3; ++k)
-			{
-				face->m_n[k]->m_penetration = btMax(face->m_n[k]->m_penetration, penetration);
-			}
-			if (m_faceRigidConstraints[i][j].m_static)
-			{
-				for (int l = 0; l < 3; ++l)
-				{
-					btReducedVector rv(dof);
-					for (int k = 0; k < 3; ++k)
-					{
-						rv.m_indices.push_back(face->m_n[k]->index);
-						btVector3 v(0, 0, 0);
-						v[l] = bary[k];
-						rv.m_vecs.push_back(v);
-						rv.sort();
-					}
-					m_projections.push_back(rv);
-				}
-			}
-			else
-			{
-				btReducedVector rv(dof);
-				for (int k = 0; k < 3; ++k)
-				{
-					rv.m_indices.push_back(face->m_n[k]->index);
-					rv.m_vecs.push_back(bary[k] * m_faceRigidConstraints[i][j].m_normal);
-					rv.sort();
-				}
-				m_projections.push_back(rv);
-			}
-		}
-	}
-	btModifiedGramSchmidt<btReducedVector> mgs(m_projections);
-	mgs.solve();
-	m_projections = mgs.m_out;
-#endif
-}
-
-void btDeformableContactProjection::checkConstraints(const TVStack& x)
-{
-	for (int i = 0; i < m_lagrangeMultipliers.size(); ++i)
-	{
-		btVector3 d(0, 0, 0);
-		const LagrangeMultiplier& lm = m_lagrangeMultipliers[i];
-		for (int j = 0; j < lm.m_num_constraints; ++j)
-		{
-			for (int k = 0; k < lm.m_num_nodes; ++k)
-			{
-				d[j] += lm.m_weights[k] * x[lm.m_indices[k]].dot(lm.m_dirs[j]);
-			}
-		}
-		//		printf("d = %f, %f, %f\n", d[0], d[1], d[2]);
-		//        printf("val = %f, %f, %f\n", lm.m_vals[0], lm.m_vals[1], lm.m_vals[2]);
-	}
-}
-
-void btDeformableContactProjection::setLagrangeMultiplier()
-{
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		if (!psb->isActive())
-		{
-			continue;
-		}
-		for (int j = 0; j < m_staticConstraints[i].size(); ++j)
-		{
-			int index = m_staticConstraints[i][j].m_node->index;
-			m_staticConstraints[i][j].m_node->m_constrained = true;
-			LagrangeMultiplier lm;
-			lm.m_num_nodes = 1;
-			lm.m_indices[0] = index;
-			lm.m_weights[0] = 1.0;
-			lm.m_num_constraints = 3;
-			lm.m_dirs[0] = btVector3(1, 0, 0);
-			lm.m_dirs[1] = btVector3(0, 1, 0);
-			lm.m_dirs[2] = btVector3(0, 0, 1);
-			m_lagrangeMultipliers.push_back(lm);
-		}
-		for (int j = 0; j < m_nodeAnchorConstraints[i].size(); ++j)
-		{
-			int index = m_nodeAnchorConstraints[i][j].m_anchor->m_node->index;
-			m_nodeAnchorConstraints[i][j].m_anchor->m_node->m_constrained = true;
-			LagrangeMultiplier lm;
-			lm.m_num_nodes = 1;
-			lm.m_indices[0] = index;
-			lm.m_weights[0] = 1.0;
-			lm.m_num_constraints = 3;
-			lm.m_dirs[0] = btVector3(1, 0, 0);
-			lm.m_dirs[1] = btVector3(0, 1, 0);
-			lm.m_dirs[2] = btVector3(0, 0, 1);
-			m_lagrangeMultipliers.push_back(lm);
-		}
-
-		for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j)
-		{
-			if (!m_nodeRigidConstraints[i][j].m_binding)
-			{
-				continue;
-			}
-			int index = m_nodeRigidConstraints[i][j].m_node->index;
-			m_nodeRigidConstraints[i][j].m_node->m_constrained = true;
-			LagrangeMultiplier lm;
-			lm.m_num_nodes = 1;
-			lm.m_indices[0] = index;
-			lm.m_weights[0] = 1.0;
-			if (m_nodeRigidConstraints[i][j].m_static)
-			{
-				lm.m_num_constraints = 3;
-				lm.m_dirs[0] = btVector3(1, 0, 0);
-				lm.m_dirs[1] = btVector3(0, 1, 0);
-				lm.m_dirs[2] = btVector3(0, 0, 1);
-			}
-			else
-			{
-				lm.m_num_constraints = 1;
-				lm.m_dirs[0] = m_nodeRigidConstraints[i][j].m_normal;
-			}
-			m_lagrangeMultipliers.push_back(lm);
-		}
-
-		for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j)
-		{
-			if (!m_faceRigidConstraints[i][j].m_binding)
-			{
-				continue;
-			}
-			btSoftBody::Face* face = m_faceRigidConstraints[i][j].m_face;
-
-			btVector3 bary = m_faceRigidConstraints[i][j].getContact()->m_bary;
-			LagrangeMultiplier lm;
-			lm.m_num_nodes = 3;
-
-			for (int k = 0; k < 3; ++k)
-			{
-				face->m_n[k]->m_constrained = true;
-				lm.m_indices[k] = face->m_n[k]->index;
-				lm.m_weights[k] = bary[k];
-			}
-			if (m_faceRigidConstraints[i][j].m_static)
-			{
-				face->m_pcontact[3] = 1;
-				lm.m_num_constraints = 3;
-				lm.m_dirs[0] = btVector3(1, 0, 0);
-				lm.m_dirs[1] = btVector3(0, 1, 0);
-				lm.m_dirs[2] = btVector3(0, 0, 1);
-			}
-			else
-			{
-				face->m_pcontact[3] = 0;
-				lm.m_num_constraints = 1;
-				lm.m_dirs[0] = m_faceRigidConstraints[i][j].m_normal;
-			}
-			m_lagrangeMultipliers.push_back(lm);
-		}
-	}
-}
-
-//
-void btDeformableContactProjection::applyDynamicFriction(TVStack& f)
-{
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j)
-		{
-			const btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[i][j];
-			const btSoftBody::Node* node = constraint.m_node;
-			if (node->m_im != 0)
-			{
-				int index = node->index;
-				f[index] += constraint.getDv(node) * (1. / node->m_im);
-			}
-		}
-		for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j)
-		{
-			const btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[i][j];
-			const btSoftBody::Face* face = constraint.getContact()->m_face;
-			for (int k = 0; k < 3; ++k)
-			{
-				const btSoftBody::Node* node = face->m_n[k];
-				if (node->m_im != 0)
-				{
-					int index = node->index;
-					f[index] += constraint.getDv(node) * (1. / node->m_im);
-				}
-			}
-		}
-		for (int j = 0; j < m_deformableConstraints[i].size(); ++j)
-		{
-			const btDeformableFaceNodeContactConstraint& constraint = m_deformableConstraints[i][j];
-			const btSoftBody::Face* face = constraint.getContact()->m_face;
-			const btSoftBody::Node* node = constraint.getContact()->m_node;
-			if (node->m_im != 0)
-			{
-				int index = node->index;
-				f[index] += constraint.getDv(node) * (1. / node->m_im);
-			}
-			for (int k = 0; k < 3; ++k)
-			{
-				const btSoftBody::Node* node = face->m_n[k];
-				if (node->m_im != 0)
-				{
-					int index = node->index;
-					f[index] += constraint.getDv(node) * (1. / node->m_im);
-				}
-			}
-		}
-	}
-}
-
-void btDeformableContactProjection::reinitialize(bool nodeUpdated)
-{
-	int N = m_softBodies.size();
-	if (nodeUpdated)
-	{
-		m_staticConstraints.resize(N);
-		m_nodeAnchorConstraints.resize(N);
-		m_nodeRigidConstraints.resize(N);
-		m_faceRigidConstraints.resize(N);
-		m_deformableConstraints.resize(N);
-	}
-	for (int i = 0; i < N; ++i)
-	{
-		m_staticConstraints[i].clear();
-		m_nodeAnchorConstraints[i].clear();
-		m_nodeRigidConstraints[i].clear();
-		m_faceRigidConstraints[i].clear();
-		m_deformableConstraints[i].clear();
-	}
-#ifndef USE_MGS
-	m_projectionsDict.clear();
-#else
-	m_projections.clear();
-#endif
-	m_lagrangeMultipliers.clear();
-}
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h b/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h
deleted file mode 100644
index 4964eaf990..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h
+++ /dev/null
@@ -1,99 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#ifndef BT_CONTACT_PROJECTION_H
-#define BT_CONTACT_PROJECTION_H
-#include "btCGProjection.h"
-#include "btSoftBody.h"
-#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
-#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
-#include "btDeformableContactConstraint.h"
-#include "LinearMath/btHashMap.h"
-#include "LinearMath/btReducedVector.h"
-#include "LinearMath/btModifiedGramSchmidt.h"
-#include <vector>
-
-struct LagrangeMultiplier
-{
-	int m_num_constraints;  // Number of constraints
-	int m_num_nodes;        // Number of nodes in these constraints
-	btScalar m_weights[3];  // weights of the nodes involved, same size as m_num_nodes
-	btVector3 m_dirs[3];    // Constraint directions, same size of m_num_constraints;
-	int m_indices[3];       // indices of the nodes involved, same size as m_num_nodes;
-};
-
-class btDeformableContactProjection
-{
-public:
-	typedef btAlignedObjectArray<btVector3> TVStack;
-	btAlignedObjectArray<btSoftBody*>& m_softBodies;
-
-	// all constraints involving face
-	btAlignedObjectArray<btDeformableContactConstraint*> m_allFaceConstraints;
-#ifndef USE_MGS
-	// map from node index to projection directions
-	btHashMap<btHashInt, btAlignedObjectArray<btVector3> > m_projectionsDict;
-#else
-	btAlignedObjectArray<btReducedVector> m_projections;
-#endif
-
-	btAlignedObjectArray<LagrangeMultiplier> m_lagrangeMultipliers;
-
-	// map from node index to static constraint
-	btAlignedObjectArray<btAlignedObjectArray<btDeformableStaticConstraint> > m_staticConstraints;
-	// map from node index to node rigid constraint
-	btAlignedObjectArray<btAlignedObjectArray<btDeformableNodeRigidContactConstraint> > m_nodeRigidConstraints;
-	// map from node index to face rigid constraint
-	btAlignedObjectArray<btAlignedObjectArray<btDeformableFaceRigidContactConstraint> > m_faceRigidConstraints;
-	// map from node index to deformable constraint
-	btAlignedObjectArray<btAlignedObjectArray<btDeformableFaceNodeContactConstraint> > m_deformableConstraints;
-	// map from node index to node anchor constraint
-	btAlignedObjectArray<btAlignedObjectArray<btDeformableNodeAnchorConstraint> > m_nodeAnchorConstraints;
-
-	bool m_useStrainLimiting;
-
-	btDeformableContactProjection(btAlignedObjectArray<btSoftBody*>& softBodies)
-		: m_softBodies(softBodies)
-	{
-	}
-
-	virtual ~btDeformableContactProjection()
-	{
-	}
-
-	// apply the constraints to the rhs of the linear solve
-	virtual void project(TVStack& x);
-
-	// add friction force to the rhs of the linear solve
-	virtual void applyDynamicFriction(TVStack& f);
-
-	// update and solve the constraints
-	virtual btScalar update(btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal);
-
-	// Add constraints to m_constraints. In addition, the constraints that each vertex own are recorded in m_constraintsDict.
-	virtual void setConstraints(const btContactSolverInfo& infoGlobal);
-
-	// Set up projections for each vertex by adding the projection direction to
-	virtual void setProjection();
-
-	virtual void reinitialize(bool nodeUpdated);
-
-	btScalar solveSplitImpulse(btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal);
-
-	virtual void setLagrangeMultiplier();
-
-	void checkConstraints(const TVStack& x);
-};
-#endif /* btDeformableContactProjection_h */
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableCorotatedForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableCorotatedForce.h
deleted file mode 100644
index dfd85523bc..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDeformableCorotatedForce.h
+++ /dev/null
@@ -1,124 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#ifndef BT_COROTATED_H
-#define BT_COROTATED_H
-
-#include "btDeformableLagrangianForce.h"
-#include "LinearMath/btPolarDecomposition.h"
-
-static inline int PolarDecomposition(const btMatrix3x3& m, btMatrix3x3& q, btMatrix3x3& s)
-{
-	static const btPolarDecomposition polar;
-	return polar.decompose(m, q, s);
-}
-
-class btDeformableCorotatedForce : public btDeformableLagrangianForce
-{
-public:
-	typedef btAlignedObjectArray<btVector3> TVStack;
-	btScalar m_mu, m_lambda;
-	btDeformableCorotatedForce() : m_mu(1), m_lambda(1)
-	{
-	}
-
-	btDeformableCorotatedForce(btScalar mu, btScalar lambda) : m_mu(mu), m_lambda(lambda)
-	{
-	}
-
-	virtual void addScaledForces(btScalar scale, TVStack& force)
-	{
-		addScaledElasticForce(scale, force);
-	}
-
-	virtual void addScaledExplicitForce(btScalar scale, TVStack& force)
-	{
-		addScaledElasticForce(scale, force);
-	}
-
-	virtual void addScaledDampingForce(btScalar scale, TVStack& force)
-	{
-	}
-
-	virtual void addScaledElasticForce(btScalar scale, TVStack& force)
-	{
-		int numNodes = getNumNodes();
-		btAssert(numNodes <= force.size());
-		btVector3 grad_N_hat_1st_col = btVector3(-1, -1, -1);
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			for (int j = 0; j < psb->m_tetras.size(); ++j)
-			{
-				btSoftBody::Tetra& tetra = psb->m_tetras[j];
-				btMatrix3x3 P;
-				firstPiola(tetra.m_F, P);
-				btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose() * grad_N_hat_1st_col);
-				btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose();
-
-				btSoftBody::Node* node0 = tetra.m_n[0];
-				btSoftBody::Node* node1 = tetra.m_n[1];
-				btSoftBody::Node* node2 = tetra.m_n[2];
-				btSoftBody::Node* node3 = tetra.m_n[3];
-				size_t id0 = node0->index;
-				size_t id1 = node1->index;
-				size_t id2 = node2->index;
-				size_t id3 = node3->index;
-
-				// elastic force
-				// explicit elastic force
-				btScalar scale1 = scale * tetra.m_element_measure;
-				force[id0] -= scale1 * force_on_node0;
-				force[id1] -= scale1 * force_on_node123.getColumn(0);
-				force[id2] -= scale1 * force_on_node123.getColumn(1);
-				force[id3] -= scale1 * force_on_node123.getColumn(2);
-			}
-		}
-	}
-
-	void firstPiola(const btMatrix3x3& F, btMatrix3x3& P)
-	{
-		// btMatrix3x3 JFinvT = F.adjoint();
-		btScalar J = F.determinant();
-		P = F.adjoint().transpose() * (m_lambda * (J - 1));
-		if (m_mu > SIMD_EPSILON)
-		{
-			btMatrix3x3 R, S;
-			if (J < 1024 * SIMD_EPSILON)
-				R.setIdentity();
-			else
-				PolarDecomposition(F, R, S);  // this QR is not robust, consider using implicit shift svd
-			/*https://fuchuyuan.github.io/research/svd/paper.pdf*/
-			P += (F - R) * 2 * m_mu;
-		}
-	}
-
-	virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df)
-	{
-	}
-
-	virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df)
-	{
-	}
-
-	virtual void buildDampingForceDifferentialDiagonal(btScalar scale, TVStack& diagA) {}
-
-	virtual btDeformableLagrangianForceType getForceType()
-	{
-		return BT_COROTATED_FORCE;
-	}
-};
-
-#endif /* btCorotated_h */
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableGravityForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableGravityForce.h
deleted file mode 100644
index d91867f457..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDeformableGravityForce.h
+++ /dev/null
@@ -1,105 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#ifndef BT_DEFORMABLE_GRAVITY_FORCE_H
-#define BT_DEFORMABLE_GRAVITY_FORCE_H
-
-#include "btDeformableLagrangianForce.h"
-
-class btDeformableGravityForce : public btDeformableLagrangianForce
-{
-public:
-	typedef btAlignedObjectArray<btVector3> TVStack;
-	btVector3 m_gravity;
-
-	btDeformableGravityForce(const btVector3& g) : m_gravity(g)
-	{
-	}
-
-	virtual void addScaledForces(btScalar scale, TVStack& force)
-	{
-		addScaledGravityForce(scale, force);
-	}
-
-	virtual void addScaledExplicitForce(btScalar scale, TVStack& force)
-	{
-		addScaledGravityForce(scale, force);
-	}
-
-	virtual void addScaledDampingForce(btScalar scale, TVStack& force)
-	{
-	}
-
-	virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df)
-	{
-	}
-
-	virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df)
-	{
-	}
-
-	virtual void buildDampingForceDifferentialDiagonal(btScalar scale, TVStack& diagA) {}
-
-	virtual void addScaledGravityForce(btScalar scale, TVStack& force)
-	{
-		int numNodes = getNumNodes();
-		btAssert(numNodes <= force.size());
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (!psb->isActive())
-			{
-				continue;
-			}
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				btSoftBody::Node& n = psb->m_nodes[j];
-				size_t id = n.index;
-				btScalar mass = (n.m_im == 0) ? 0 : 1. / n.m_im;
-				btVector3 scaled_force = scale * m_gravity * mass * m_softBodies[i]->m_gravityFactor;
-				force[id] += scaled_force;
-			}
-		}
-	}
-
-	virtual btDeformableLagrangianForceType getForceType()
-	{
-		return BT_GRAVITY_FORCE;
-	}
-
-	// the gravitational potential energy
-	virtual double totalEnergy(btScalar dt)
-	{
-		double e = 0;
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (!psb->isActive())
-			{
-				continue;
-			}
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				const btSoftBody::Node& node = psb->m_nodes[j];
-				if (node.m_im > 0)
-				{
-					e -= m_gravity.dot(node.m_q) / node.m_im;
-				}
-			}
-		}
-		return e;
-	}
-};
-#endif /* BT_DEFORMABLE_GRAVITY_FORCE_H */
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableLagrangianForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableLagrangianForce.h
deleted file mode 100644
index d58d825d1c..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDeformableLagrangianForce.h
+++ /dev/null
@@ -1,372 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#ifndef BT_DEFORMABLE_LAGRANGIAN_FORCE_H
-#define BT_DEFORMABLE_LAGRANGIAN_FORCE_H
-
-#include "btSoftBody.h"
-#include <LinearMath/btHashMap.h>
-#include <iostream>
-
-enum btDeformableLagrangianForceType
-{
-	BT_GRAVITY_FORCE = 1,
-	BT_MASSSPRING_FORCE = 2,
-	BT_COROTATED_FORCE = 3,
-	BT_NEOHOOKEAN_FORCE = 4,
-	BT_LINEAR_ELASTICITY_FORCE = 5,
-	BT_MOUSE_PICKING_FORCE = 6
-};
-
-static inline double randomDouble(double low, double high)
-{
-	return low + static_cast<double>(rand()) / RAND_MAX * (high - low);
-}
-
-class btDeformableLagrangianForce
-{
-public:
-	typedef btAlignedObjectArray<btVector3> TVStack;
-	btAlignedObjectArray<btSoftBody*> m_softBodies;
-	const btAlignedObjectArray<btSoftBody::Node*>* m_nodes;
-
-	btDeformableLagrangianForce()
-	{
-	}
-
-	virtual ~btDeformableLagrangianForce() {}
-
-	// add all forces
-	virtual void addScaledForces(btScalar scale, TVStack& force) = 0;
-
-	// add damping df
-	virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) = 0;
-
-	// build diagonal of A matrix
-	virtual void buildDampingForceDifferentialDiagonal(btScalar scale, TVStack& diagA) = 0;
-
-	// add elastic df
-	virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) = 0;
-
-	// add all forces that are explicit in explicit solve
-	virtual void addScaledExplicitForce(btScalar scale, TVStack& force) = 0;
-
-	// add all damping forces
-	virtual void addScaledDampingForce(btScalar scale, TVStack& force) = 0;
-
-	virtual void addScaledHessian(btScalar scale) {}
-
-	virtual btDeformableLagrangianForceType getForceType() = 0;
-
-	virtual void reinitialize(bool nodeUpdated)
-	{
-	}
-
-	// get number of nodes that have the force
-	virtual int getNumNodes()
-	{
-		int numNodes = 0;
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			numNodes += m_softBodies[i]->m_nodes.size();
-		}
-		return numNodes;
-	}
-
-	// add a soft body to be affected by the particular lagrangian force
-	virtual void addSoftBody(btSoftBody* psb)
-	{
-		m_softBodies.push_back(psb);
-	}
-
-	virtual void removeSoftBody(btSoftBody* psb)
-	{
-		m_softBodies.remove(psb);
-	}
-
-	virtual void setIndices(const btAlignedObjectArray<btSoftBody::Node*>* nodes)
-	{
-		m_nodes = nodes;
-	}
-
-	// Calculate the incremental deformable generated from the input dx
-	virtual btMatrix3x3 Ds(int id0, int id1, int id2, int id3, const TVStack& dx)
-	{
-		btVector3 c1 = dx[id1] - dx[id0];
-		btVector3 c2 = dx[id2] - dx[id0];
-		btVector3 c3 = dx[id3] - dx[id0];
-		return btMatrix3x3(c1, c2, c3).transpose();
-	}
-
-	// Calculate the incremental deformable generated from the current velocity
-	virtual btMatrix3x3 DsFromVelocity(const btSoftBody::Node* n0, const btSoftBody::Node* n1, const btSoftBody::Node* n2, const btSoftBody::Node* n3)
-	{
-		btVector3 c1 = n1->m_v - n0->m_v;
-		btVector3 c2 = n2->m_v - n0->m_v;
-		btVector3 c3 = n3->m_v - n0->m_v;
-		return btMatrix3x3(c1, c2, c3).transpose();
-	}
-
-	// test for addScaledElasticForce function
-	virtual void testDerivative()
-	{
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				psb->m_nodes[j].m_q += btVector3(randomDouble(-.1, .1), randomDouble(-.1, .1), randomDouble(-.1, .1));
-			}
-			psb->updateDeformation();
-		}
-
-		TVStack dx;
-		dx.resize(getNumNodes());
-		TVStack dphi_dx;
-		dphi_dx.resize(dx.size());
-		for (int i = 0; i < dphi_dx.size(); ++i)
-		{
-			dphi_dx[i].setZero();
-		}
-		addScaledForces(-1, dphi_dx);
-
-		// write down the current position
-		TVStack x;
-		x.resize(dx.size());
-		int counter = 0;
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				x[counter] = psb->m_nodes[j].m_q;
-				counter++;
-			}
-		}
-		counter = 0;
-
-		// populate dx with random vectors
-		for (int i = 0; i < dx.size(); ++i)
-		{
-			dx[i].setX(randomDouble(-1, 1));
-			dx[i].setY(randomDouble(-1, 1));
-			dx[i].setZ(randomDouble(-1, 1));
-		}
-
-		btAlignedObjectArray<double> errors;
-		for (int it = 0; it < 10; ++it)
-		{
-			for (int i = 0; i < dx.size(); ++i)
-			{
-				dx[i] *= 0.5;
-			}
-
-			// get dphi/dx * dx
-			double dphi = 0;
-			for (int i = 0; i < dx.size(); ++i)
-			{
-				dphi += dphi_dx[i].dot(dx[i]);
-			}
-
-			for (int i = 0; i < m_softBodies.size(); ++i)
-			{
-				btSoftBody* psb = m_softBodies[i];
-				for (int j = 0; j < psb->m_nodes.size(); ++j)
-				{
-					psb->m_nodes[j].m_q = x[counter] + dx[counter];
-					counter++;
-				}
-				psb->updateDeformation();
-			}
-			counter = 0;
-			double f1 = totalElasticEnergy(0);
-
-			for (int i = 0; i < m_softBodies.size(); ++i)
-			{
-				btSoftBody* psb = m_softBodies[i];
-				for (int j = 0; j < psb->m_nodes.size(); ++j)
-				{
-					psb->m_nodes[j].m_q = x[counter] - dx[counter];
-					counter++;
-				}
-				psb->updateDeformation();
-			}
-			counter = 0;
-
-			double f2 = totalElasticEnergy(0);
-
-			//restore m_q
-			for (int i = 0; i < m_softBodies.size(); ++i)
-			{
-				btSoftBody* psb = m_softBodies[i];
-				for (int j = 0; j < psb->m_nodes.size(); ++j)
-				{
-					psb->m_nodes[j].m_q = x[counter];
-					counter++;
-				}
-				psb->updateDeformation();
-			}
-			counter = 0;
-			double error = f1 - f2 - 2 * dphi;
-			errors.push_back(error);
-			std::cout << "Iteration = " << it << ", f1 = " << f1 << ", f2 = " << f2 << ", error = " << error << std::endl;
-		}
-		for (int i = 1; i < errors.size(); ++i)
-		{
-			std::cout << "Iteration = " << i << ", ratio = " << errors[i - 1] / errors[i] << std::endl;
-		}
-	}
-
-	// test for addScaledElasticForce function
-	virtual void testHessian()
-	{
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				psb->m_nodes[j].m_q += btVector3(randomDouble(-.1, .1), randomDouble(-.1, .1), randomDouble(-.1, .1));
-			}
-			psb->updateDeformation();
-		}
-
-		TVStack dx;
-		dx.resize(getNumNodes());
-		TVStack df;
-		df.resize(dx.size());
-		TVStack f1;
-		f1.resize(dx.size());
-		TVStack f2;
-		f2.resize(dx.size());
-
-		// write down the current position
-		TVStack x;
-		x.resize(dx.size());
-		int counter = 0;
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				x[counter] = psb->m_nodes[j].m_q;
-				counter++;
-			}
-		}
-		counter = 0;
-
-		// populate dx with random vectors
-		for (int i = 0; i < dx.size(); ++i)
-		{
-			dx[i].setX(randomDouble(-1, 1));
-			dx[i].setY(randomDouble(-1, 1));
-			dx[i].setZ(randomDouble(-1, 1));
-		}
-
-		btAlignedObjectArray<double> errors;
-		for (int it = 0; it < 10; ++it)
-		{
-			for (int i = 0; i < dx.size(); ++i)
-			{
-				dx[i] *= 0.5;
-			}
-
-			// get df
-			for (int i = 0; i < df.size(); ++i)
-			{
-				df[i].setZero();
-				f1[i].setZero();
-				f2[i].setZero();
-			}
-
-			//set df
-			addScaledElasticForceDifferential(-1, dx, df);
-
-			for (int i = 0; i < m_softBodies.size(); ++i)
-			{
-				btSoftBody* psb = m_softBodies[i];
-				for (int j = 0; j < psb->m_nodes.size(); ++j)
-				{
-					psb->m_nodes[j].m_q = x[counter] + dx[counter];
-					counter++;
-				}
-				psb->updateDeformation();
-			}
-			counter = 0;
-
-			//set f1
-			addScaledForces(-1, f1);
-
-			for (int i = 0; i < m_softBodies.size(); ++i)
-			{
-				btSoftBody* psb = m_softBodies[i];
-				for (int j = 0; j < psb->m_nodes.size(); ++j)
-				{
-					psb->m_nodes[j].m_q = x[counter] - dx[counter];
-					counter++;
-				}
-				psb->updateDeformation();
-			}
-			counter = 0;
-
-			//set f2
-			addScaledForces(-1, f2);
-
-			//restore m_q
-			for (int i = 0; i < m_softBodies.size(); ++i)
-			{
-				btSoftBody* psb = m_softBodies[i];
-				for (int j = 0; j < psb->m_nodes.size(); ++j)
-				{
-					psb->m_nodes[j].m_q = x[counter];
-					counter++;
-				}
-				psb->updateDeformation();
-			}
-			counter = 0;
-			double error = 0;
-			for (int i = 0; i < df.size(); ++i)
-			{
-				btVector3 error_vector = f1[i] - f2[i] - 2 * df[i];
-				error += error_vector.length2();
-			}
-			error = btSqrt(error);
-			errors.push_back(error);
-			std::cout << "Iteration = " << it << ", error = " << error << std::endl;
-		}
-		for (int i = 1; i < errors.size(); ++i)
-		{
-			std::cout << "Iteration = " << i << ", ratio = " << errors[i - 1] / errors[i] << std::endl;
-		}
-	}
-
-	//
-	virtual double totalElasticEnergy(btScalar dt)
-	{
-		return 0;
-	}
-
-	//
-	virtual double totalDampingEnergy(btScalar dt)
-	{
-		return 0;
-	}
-
-	// total Energy takes dt as input because certain energies depend on dt
-	virtual double totalEnergy(btScalar dt)
-	{
-		return totalElasticEnergy(dt) + totalDampingEnergy(dt);
-	}
-};
-#endif /* BT_DEFORMABLE_LAGRANGIAN_FORCE */
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableLinearElasticityForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableLinearElasticityForce.h
deleted file mode 100644
index 971192050b..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDeformableLinearElasticityForce.h
+++ /dev/null
@@ -1,462 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#ifndef BT_LINEAR_ELASTICITY_H
-#define BT_LINEAR_ELASTICITY_H
-
-#include "btDeformableLagrangianForce.h"
-#include "LinearMath/btQuickprof.h"
-#include "btSoftBodyInternals.h"
-#define TETRA_FLAT_THRESHOLD 0.01
-class btDeformableLinearElasticityForce : public btDeformableLagrangianForce
-{
-public:
-	typedef btAlignedObjectArray<btVector3> TVStack;
-	btScalar m_mu, m_lambda;
-	btScalar m_E, m_nu;  // Young's modulus and Poisson ratio
-	btScalar m_damping_alpha, m_damping_beta;
-	btDeformableLinearElasticityForce() : m_mu(1), m_lambda(1), m_damping_alpha(0.01), m_damping_beta(0.01)
-	{
-		updateYoungsModulusAndPoissonRatio();
-	}
-
-	btDeformableLinearElasticityForce(btScalar mu, btScalar lambda, btScalar damping_alpha = 0.01, btScalar damping_beta = 0.01) : m_mu(mu), m_lambda(lambda), m_damping_alpha(damping_alpha), m_damping_beta(damping_beta)
-	{
-		updateYoungsModulusAndPoissonRatio();
-	}
-
-	void updateYoungsModulusAndPoissonRatio()
-	{
-		// conversion from Lame Parameters to Young's modulus and Poisson ratio
-		// https://en.wikipedia.org/wiki/Lam%C3%A9_parameters
-		m_E = m_mu * (3 * m_lambda + 2 * m_mu) / (m_lambda + m_mu);
-		m_nu = m_lambda * 0.5 / (m_mu + m_lambda);
-	}
-
-	void updateLameParameters()
-	{
-		// conversion from Young's modulus and Poisson ratio to Lame Parameters
-		// https://en.wikipedia.org/wiki/Lam%C3%A9_parameters
-		m_mu = m_E * 0.5 / (1 + m_nu);
-		m_lambda = m_E * m_nu / ((1 + m_nu) * (1 - 2 * m_nu));
-	}
-
-	void setYoungsModulus(btScalar E)
-	{
-		m_E = E;
-		updateLameParameters();
-	}
-
-	void setPoissonRatio(btScalar nu)
-	{
-		m_nu = nu;
-		updateLameParameters();
-	}
-
-	void setDamping(btScalar damping_alpha, btScalar damping_beta)
-	{
-		m_damping_alpha = damping_alpha;
-		m_damping_beta = damping_beta;
-	}
-
-	void setLameParameters(btScalar mu, btScalar lambda)
-	{
-		m_mu = mu;
-		m_lambda = lambda;
-		updateYoungsModulusAndPoissonRatio();
-	}
-
-	virtual void addScaledForces(btScalar scale, TVStack& force)
-	{
-		addScaledDampingForce(scale, force);
-		addScaledElasticForce(scale, force);
-	}
-
-	virtual void addScaledExplicitForce(btScalar scale, TVStack& force)
-	{
-		addScaledElasticForce(scale, force);
-	}
-
-	// The damping matrix is calculated using the time n state as described in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search
-	virtual void addScaledDampingForce(btScalar scale, TVStack& force)
-	{
-		if (m_damping_alpha == 0 && m_damping_beta == 0)
-			return;
-		btScalar mu_damp = m_damping_beta * m_mu;
-		btScalar lambda_damp = m_damping_beta * m_lambda;
-		int numNodes = getNumNodes();
-		btAssert(numNodes <= force.size());
-		btVector3 grad_N_hat_1st_col = btVector3(-1, -1, -1);
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (!psb->isActive())
-			{
-				continue;
-			}
-			for (int j = 0; j < psb->m_tetras.size(); ++j)
-			{
-				bool close_to_flat = (psb->m_tetraScratches[j].m_J < TETRA_FLAT_THRESHOLD);
-				btSoftBody::Tetra& tetra = psb->m_tetras[j];
-				btSoftBody::Node* node0 = tetra.m_n[0];
-				btSoftBody::Node* node1 = tetra.m_n[1];
-				btSoftBody::Node* node2 = tetra.m_n[2];
-				btSoftBody::Node* node3 = tetra.m_n[3];
-				size_t id0 = node0->index;
-				size_t id1 = node1->index;
-				size_t id2 = node2->index;
-				size_t id3 = node3->index;
-				btMatrix3x3 dF = DsFromVelocity(node0, node1, node2, node3) * tetra.m_Dm_inverse;
-				if (!close_to_flat)
-				{
-					dF = psb->m_tetraScratches[j].m_corotation.transpose() * dF;
-				}
-				btMatrix3x3 I;
-				I.setIdentity();
-				btMatrix3x3 dP = (dF + dF.transpose()) * mu_damp + I * ((dF[0][0] + dF[1][1] + dF[2][2]) * lambda_damp);
-				btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose();
-				if (!close_to_flat)
-				{
-					df_on_node123 = psb->m_tetraScratches[j].m_corotation * df_on_node123;
-				}
-				btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col;
-				// damping force differential
-				btScalar scale1 = scale * tetra.m_element_measure;
-				force[id0] -= scale1 * df_on_node0;
-				force[id1] -= scale1 * df_on_node123.getColumn(0);
-				force[id2] -= scale1 * df_on_node123.getColumn(1);
-				force[id3] -= scale1 * df_on_node123.getColumn(2);
-			}
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				const btSoftBody::Node& node = psb->m_nodes[j];
-				size_t id = node.index;
-				if (node.m_im > 0)
-				{
-					force[id] -= scale * node.m_v / node.m_im * m_damping_alpha;
-				}
-			}
-		}
-	}
-
-	virtual double totalElasticEnergy(btScalar dt)
-	{
-		double energy = 0;
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (!psb->isActive())
-			{
-				continue;
-			}
-			for (int j = 0; j < psb->m_tetraScratches.size(); ++j)
-			{
-				btSoftBody::Tetra& tetra = psb->m_tetras[j];
-				btSoftBody::TetraScratch& s = psb->m_tetraScratches[j];
-				energy += tetra.m_element_measure * elasticEnergyDensity(s);
-			}
-		}
-		return energy;
-	}
-
-	// The damping energy is formulated as in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search
-	virtual double totalDampingEnergy(btScalar dt)
-	{
-		double energy = 0;
-		int sz = 0;
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (!psb->isActive())
-			{
-				continue;
-			}
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				sz = btMax(sz, psb->m_nodes[j].index);
-			}
-		}
-		TVStack dampingForce;
-		dampingForce.resize(sz + 1);
-		for (int i = 0; i < dampingForce.size(); ++i)
-			dampingForce[i].setZero();
-		addScaledDampingForce(0.5, dampingForce);
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				const btSoftBody::Node& node = psb->m_nodes[j];
-				energy -= dampingForce[node.index].dot(node.m_v) / dt;
-			}
-		}
-		return energy;
-	}
-
-	double elasticEnergyDensity(const btSoftBody::TetraScratch& s)
-	{
-		double density = 0;
-		btMatrix3x3 epsilon = (s.m_F + s.m_F.transpose()) * 0.5 - btMatrix3x3::getIdentity();
-		btScalar trace = epsilon[0][0] + epsilon[1][1] + epsilon[2][2];
-		density += m_mu * (epsilon[0].length2() + epsilon[1].length2() + epsilon[2].length2());
-		density += m_lambda * trace * trace * 0.5;
-		return density;
-	}
-
-	virtual void addScaledElasticForce(btScalar scale, TVStack& force)
-	{
-		int numNodes = getNumNodes();
-		btAssert(numNodes <= force.size());
-		btVector3 grad_N_hat_1st_col = btVector3(-1, -1, -1);
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (!psb->isActive())
-			{
-				continue;
-			}
-			btScalar max_p = psb->m_cfg.m_maxStress;
-			for (int j = 0; j < psb->m_tetras.size(); ++j)
-			{
-				btSoftBody::Tetra& tetra = psb->m_tetras[j];
-				btMatrix3x3 P;
-				firstPiola(psb->m_tetraScratches[j], P);
-#if USE_SVD
-				if (max_p > 0)
-				{
-					// since we want to clamp the principal stress to max_p, we only need to
-					// calculate SVD when sigma_0^2 + sigma_1^2 + sigma_2^2 > max_p * max_p
-					btScalar trPTP = (P[0].length2() + P[1].length2() + P[2].length2());
-					if (trPTP > max_p * max_p)
-					{
-						btMatrix3x3 U, V;
-						btVector3 sigma;
-						singularValueDecomposition(P, U, sigma, V);
-						sigma[0] = btMin(sigma[0], max_p);
-						sigma[1] = btMin(sigma[1], max_p);
-						sigma[2] = btMin(sigma[2], max_p);
-						sigma[0] = btMax(sigma[0], -max_p);
-						sigma[1] = btMax(sigma[1], -max_p);
-						sigma[2] = btMax(sigma[2], -max_p);
-						btMatrix3x3 Sigma;
-						Sigma.setIdentity();
-						Sigma[0][0] = sigma[0];
-						Sigma[1][1] = sigma[1];
-						Sigma[2][2] = sigma[2];
-						P = U * Sigma * V.transpose();
-					}
-				}
-#endif
-				//                btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col);
-				btMatrix3x3 force_on_node123 = psb->m_tetraScratches[j].m_corotation * P * tetra.m_Dm_inverse.transpose();
-				btVector3 force_on_node0 = force_on_node123 * grad_N_hat_1st_col;
-
-				btSoftBody::Node* node0 = tetra.m_n[0];
-				btSoftBody::Node* node1 = tetra.m_n[1];
-				btSoftBody::Node* node2 = tetra.m_n[2];
-				btSoftBody::Node* node3 = tetra.m_n[3];
-				size_t id0 = node0->index;
-				size_t id1 = node1->index;
-				size_t id2 = node2->index;
-				size_t id3 = node3->index;
-
-				// elastic force
-				btScalar scale1 = scale * tetra.m_element_measure;
-				force[id0] -= scale1 * force_on_node0;
-				force[id1] -= scale1 * force_on_node123.getColumn(0);
-				force[id2] -= scale1 * force_on_node123.getColumn(1);
-				force[id3] -= scale1 * force_on_node123.getColumn(2);
-			}
-		}
-	}
-
-	virtual void buildDampingForceDifferentialDiagonal(btScalar scale, TVStack& diagA) {}
-
-	// The damping matrix is calculated using the time n state as described in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search
-	virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df)
-	{
-		if (m_damping_alpha == 0 && m_damping_beta == 0)
-			return;
-		btScalar mu_damp = m_damping_beta * m_mu;
-		btScalar lambda_damp = m_damping_beta * m_lambda;
-		int numNodes = getNumNodes();
-		btAssert(numNodes <= df.size());
-		btVector3 grad_N_hat_1st_col = btVector3(-1, -1, -1);
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (!psb->isActive())
-			{
-				continue;
-			}
-			for (int j = 0; j < psb->m_tetras.size(); ++j)
-			{
-				bool close_to_flat = (psb->m_tetraScratches[j].m_J < TETRA_FLAT_THRESHOLD);
-				btSoftBody::Tetra& tetra = psb->m_tetras[j];
-				btSoftBody::Node* node0 = tetra.m_n[0];
-				btSoftBody::Node* node1 = tetra.m_n[1];
-				btSoftBody::Node* node2 = tetra.m_n[2];
-				btSoftBody::Node* node3 = tetra.m_n[3];
-				size_t id0 = node0->index;
-				size_t id1 = node1->index;
-				size_t id2 = node2->index;
-				size_t id3 = node3->index;
-				btMatrix3x3 dF = Ds(id0, id1, id2, id3, dv) * tetra.m_Dm_inverse;
-				if (!close_to_flat)
-				{
-					dF = psb->m_tetraScratches[j].m_corotation.transpose() * dF;
-				}
-				btMatrix3x3 I;
-				I.setIdentity();
-				btMatrix3x3 dP = (dF + dF.transpose()) * mu_damp + I * ((dF[0][0] + dF[1][1] + dF[2][2]) * lambda_damp);
-				btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose();
-				if (!close_to_flat)
-				{
-					df_on_node123 = psb->m_tetraScratches[j].m_corotation * df_on_node123;
-				}
-				btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col;
-
-				// damping force differential
-				btScalar scale1 = scale * tetra.m_element_measure;
-				df[id0] -= scale1 * df_on_node0;
-				df[id1] -= scale1 * df_on_node123.getColumn(0);
-				df[id2] -= scale1 * df_on_node123.getColumn(1);
-				df[id3] -= scale1 * df_on_node123.getColumn(2);
-			}
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				const btSoftBody::Node& node = psb->m_nodes[j];
-				size_t id = node.index;
-				if (node.m_im > 0)
-				{
-					df[id] -= scale * dv[id] / node.m_im * m_damping_alpha;
-				}
-			}
-		}
-	}
-
-	virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df)
-	{
-		int numNodes = getNumNodes();
-		btAssert(numNodes <= df.size());
-		btVector3 grad_N_hat_1st_col = btVector3(-1, -1, -1);
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (!psb->isActive())
-			{
-				continue;
-			}
-			for (int j = 0; j < psb->m_tetras.size(); ++j)
-			{
-				btSoftBody::Tetra& tetra = psb->m_tetras[j];
-				btSoftBody::Node* node0 = tetra.m_n[0];
-				btSoftBody::Node* node1 = tetra.m_n[1];
-				btSoftBody::Node* node2 = tetra.m_n[2];
-				btSoftBody::Node* node3 = tetra.m_n[3];
-				size_t id0 = node0->index;
-				size_t id1 = node1->index;
-				size_t id2 = node2->index;
-				size_t id3 = node3->index;
-				btMatrix3x3 dF = psb->m_tetraScratches[j].m_corotation.transpose() * Ds(id0, id1, id2, id3, dx) * tetra.m_Dm_inverse;
-				btMatrix3x3 dP;
-				firstPiolaDifferential(psb->m_tetraScratches[j], dF, dP);
-				//                btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col);
-				btMatrix3x3 df_on_node123 = psb->m_tetraScratches[j].m_corotation * dP * tetra.m_Dm_inverse.transpose();
-				btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col;
-
-				// elastic force differential
-				btScalar scale1 = scale * tetra.m_element_measure;
-				df[id0] -= scale1 * df_on_node0;
-				df[id1] -= scale1 * df_on_node123.getColumn(0);
-				df[id2] -= scale1 * df_on_node123.getColumn(1);
-				df[id3] -= scale1 * df_on_node123.getColumn(2);
-			}
-		}
-	}
-
-	void firstPiola(const btSoftBody::TetraScratch& s, btMatrix3x3& P)
-	{
-		btMatrix3x3 corotated_F = s.m_corotation.transpose() * s.m_F;
-
-		btMatrix3x3 epsilon = (corotated_F + corotated_F.transpose()) * 0.5 - btMatrix3x3::getIdentity();
-		btScalar trace = epsilon[0][0] + epsilon[1][1] + epsilon[2][2];
-		P = epsilon * btScalar(2) * m_mu + btMatrix3x3::getIdentity() * m_lambda * trace;
-	}
-
-	// Let P be the first piola stress.
-	// This function calculates the dP = dP/dF * dF
-	void firstPiolaDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP)
-	{
-		btScalar trace = (dF[0][0] + dF[1][1] + dF[2][2]);
-		dP = (dF + dF.transpose()) * m_mu + btMatrix3x3::getIdentity() * m_lambda * trace;
-	}
-
-	// Let Q be the damping stress.
-	// This function calculates the dP = dQ/dF * dF
-	void firstPiolaDampingDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP)
-	{
-		btScalar mu_damp = m_damping_beta * m_mu;
-		btScalar lambda_damp = m_damping_beta * m_lambda;
-		btScalar trace = (dF[0][0] + dF[1][1] + dF[2][2]);
-		dP = (dF + dF.transpose()) * mu_damp + btMatrix3x3::getIdentity() * lambda_damp * trace;
-	}
-
-	virtual void addScaledHessian(btScalar scale)
-	{
-		btVector3 grad_N_hat_1st_col = btVector3(-1, -1, -1);
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (!psb->isActive())
-			{
-				continue;
-			}
-			for (int j = 0; j < psb->m_tetras.size(); ++j)
-			{
-				btSoftBody::Tetra& tetra = psb->m_tetras[j];
-				btMatrix3x3 P;
-				firstPiola(psb->m_tetraScratches[j], P);  // make sure scratch is evaluated at x_n + dt * vn
-				btMatrix3x3 force_on_node123 = psb->m_tetraScratches[j].m_corotation * P * tetra.m_Dm_inverse.transpose();
-				btVector3 force_on_node0 = force_on_node123 * grad_N_hat_1st_col;
-				btSoftBody::Node* node0 = tetra.m_n[0];
-				btSoftBody::Node* node1 = tetra.m_n[1];
-				btSoftBody::Node* node2 = tetra.m_n[2];
-				btSoftBody::Node* node3 = tetra.m_n[3];
-				btScalar scale1 = scale * (scale + m_damping_beta) * tetra.m_element_measure;  // stiff and stiffness-damping terms;
-				node0->m_effectiveMass += OuterProduct(force_on_node0, force_on_node0) * scale1;
-				node1->m_effectiveMass += OuterProduct(force_on_node123.getColumn(0), force_on_node123.getColumn(0)) * scale1;
-				node2->m_effectiveMass += OuterProduct(force_on_node123.getColumn(1), force_on_node123.getColumn(1)) * scale1;
-				node3->m_effectiveMass += OuterProduct(force_on_node123.getColumn(2), force_on_node123.getColumn(2)) * scale1;
-			}
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				btSoftBody::Node& node = psb->m_nodes[j];
-				if (node.m_im > 0)
-				{
-					btMatrix3x3 I;
-					I.setIdentity();
-					node.m_effectiveMass += I * (scale * (1.0 / node.m_im) * m_damping_alpha);
-				}
-			}
-		}
-	}
-
-	virtual btDeformableLagrangianForceType getForceType()
-	{
-		return BT_LINEAR_ELASTICITY_FORCE;
-	}
-};
-#endif /* BT_LINEAR_ELASTICITY_H */
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMassSpringForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableMassSpringForce.h
deleted file mode 100644
index 8c97bd1ba8..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDeformableMassSpringForce.h
+++ /dev/null
@@ -1,301 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#ifndef BT_MASS_SPRING_H
-#define BT_MASS_SPRING_H
-
-#include "btDeformableLagrangianForce.h"
-
-class btDeformableMassSpringForce : public btDeformableLagrangianForce
-{
-	// If true, the damping force will be in the direction of the spring
-	// If false, the damping force will be in the direction of the velocity
-	bool m_momentum_conserving;
-	btScalar m_elasticStiffness, m_dampingStiffness, m_bendingStiffness;
-
-public:
-	typedef btAlignedObjectArray<btVector3> TVStack;
-	btDeformableMassSpringForce() : m_momentum_conserving(false), m_elasticStiffness(1), m_dampingStiffness(0.05)
-	{
-	}
-	btDeformableMassSpringForce(btScalar k, btScalar d, bool conserve_angular = true, double bending_k = -1) : m_momentum_conserving(conserve_angular), m_elasticStiffness(k), m_dampingStiffness(d), m_bendingStiffness(bending_k)
-	{
-		if (m_bendingStiffness < btScalar(0))
-		{
-			m_bendingStiffness = m_elasticStiffness;
-		}
-	}
-
-	virtual void addScaledForces(btScalar scale, TVStack& force)
-	{
-		addScaledDampingForce(scale, force);
-		addScaledElasticForce(scale, force);
-	}
-
-	virtual void addScaledExplicitForce(btScalar scale, TVStack& force)
-	{
-		addScaledElasticForce(scale, force);
-	}
-
-	virtual void addScaledDampingForce(btScalar scale, TVStack& force)
-	{
-		int numNodes = getNumNodes();
-		btAssert(numNodes <= force.size());
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			const btSoftBody* psb = m_softBodies[i];
-			if (!psb->isActive())
-			{
-				continue;
-			}
-			for (int j = 0; j < psb->m_links.size(); ++j)
-			{
-				const btSoftBody::Link& link = psb->m_links[j];
-				btSoftBody::Node* node1 = link.m_n[0];
-				btSoftBody::Node* node2 = link.m_n[1];
-				size_t id1 = node1->index;
-				size_t id2 = node2->index;
-
-				// damping force
-				btVector3 v_diff = (node2->m_v - node1->m_v);
-				btVector3 scaled_force = scale * m_dampingStiffness * v_diff;
-				if (m_momentum_conserving)
-				{
-					if ((node2->m_x - node1->m_x).norm() > SIMD_EPSILON)
-					{
-						btVector3 dir = (node2->m_x - node1->m_x).normalized();
-						scaled_force = scale * m_dampingStiffness * v_diff.dot(dir) * dir;
-					}
-				}
-				force[id1] += scaled_force;
-				force[id2] -= scaled_force;
-			}
-		}
-	}
-
-	virtual void addScaledElasticForce(btScalar scale, TVStack& force)
-	{
-		int numNodes = getNumNodes();
-		btAssert(numNodes <= force.size());
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			const btSoftBody* psb = m_softBodies[i];
-			if (!psb->isActive())
-			{
-				continue;
-			}
-			for (int j = 0; j < psb->m_links.size(); ++j)
-			{
-				const btSoftBody::Link& link = psb->m_links[j];
-				btSoftBody::Node* node1 = link.m_n[0];
-				btSoftBody::Node* node2 = link.m_n[1];
-				btScalar r = link.m_rl;
-				size_t id1 = node1->index;
-				size_t id2 = node2->index;
-
-				// elastic force
-				btVector3 dir = (node2->m_q - node1->m_q);
-				btVector3 dir_normalized = (dir.norm() > SIMD_EPSILON) ? dir.normalized() : btVector3(0, 0, 0);
-				btScalar scaled_stiffness = scale * (link.m_bbending ? m_bendingStiffness : m_elasticStiffness);
-				btVector3 scaled_force = scaled_stiffness * (dir - dir_normalized * r);
-				force[id1] += scaled_force;
-				force[id2] -= scaled_force;
-			}
-		}
-	}
-
-	virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df)
-	{
-		// implicit damping force differential
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (!psb->isActive())
-			{
-				continue;
-			}
-			btScalar scaled_k_damp = m_dampingStiffness * scale;
-			for (int j = 0; j < psb->m_links.size(); ++j)
-			{
-				const btSoftBody::Link& link = psb->m_links[j];
-				btSoftBody::Node* node1 = link.m_n[0];
-				btSoftBody::Node* node2 = link.m_n[1];
-				size_t id1 = node1->index;
-				size_t id2 = node2->index;
-
-				btVector3 local_scaled_df = scaled_k_damp * (dv[id2] - dv[id1]);
-				if (m_momentum_conserving)
-				{
-					if ((node2->m_x - node1->m_x).norm() > SIMD_EPSILON)
-					{
-						btVector3 dir = (node2->m_x - node1->m_x).normalized();
-						local_scaled_df = scaled_k_damp * (dv[id2] - dv[id1]).dot(dir) * dir;
-					}
-				}
-				df[id1] += local_scaled_df;
-				df[id2] -= local_scaled_df;
-			}
-		}
-	}
-
-	virtual void buildDampingForceDifferentialDiagonal(btScalar scale, TVStack& diagA)
-	{
-		// implicit damping force differential
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (!psb->isActive())
-			{
-				continue;
-			}
-			btScalar scaled_k_damp = m_dampingStiffness * scale;
-			for (int j = 0; j < psb->m_links.size(); ++j)
-			{
-				const btSoftBody::Link& link = psb->m_links[j];
-				btSoftBody::Node* node1 = link.m_n[0];
-				btSoftBody::Node* node2 = link.m_n[1];
-				size_t id1 = node1->index;
-				size_t id2 = node2->index;
-				if (m_momentum_conserving)
-				{
-					if ((node2->m_x - node1->m_x).norm() > SIMD_EPSILON)
-					{
-						btVector3 dir = (node2->m_x - node1->m_x).normalized();
-						for (int d = 0; d < 3; ++d)
-						{
-							if (node1->m_im > 0)
-								diagA[id1][d] -= scaled_k_damp * dir[d] * dir[d];
-							if (node2->m_im > 0)
-								diagA[id2][d] -= scaled_k_damp * dir[d] * dir[d];
-						}
-					}
-				}
-				else
-				{
-					for (int d = 0; d < 3; ++d)
-					{
-						if (node1->m_im > 0)
-							diagA[id1][d] -= scaled_k_damp;
-						if (node2->m_im > 0)
-							diagA[id2][d] -= scaled_k_damp;
-					}
-				}
-			}
-		}
-	}
-
-	virtual double totalElasticEnergy(btScalar dt)
-	{
-		double energy = 0;
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			const btSoftBody* psb = m_softBodies[i];
-			if (!psb->isActive())
-			{
-				continue;
-			}
-			for (int j = 0; j < psb->m_links.size(); ++j)
-			{
-				const btSoftBody::Link& link = psb->m_links[j];
-				btSoftBody::Node* node1 = link.m_n[0];
-				btSoftBody::Node* node2 = link.m_n[1];
-				btScalar r = link.m_rl;
-
-				// elastic force
-				btVector3 dir = (node2->m_q - node1->m_q);
-				energy += 0.5 * m_elasticStiffness * (dir.norm() - r) * (dir.norm() - r);
-			}
-		}
-		return energy;
-	}
-
-	virtual double totalDampingEnergy(btScalar dt)
-	{
-		double energy = 0;
-		int sz = 0;
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (!psb->isActive())
-			{
-				continue;
-			}
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				sz = btMax(sz, psb->m_nodes[j].index);
-			}
-		}
-		TVStack dampingForce;
-		dampingForce.resize(sz + 1);
-		for (int i = 0; i < dampingForce.size(); ++i)
-			dampingForce[i].setZero();
-		addScaledDampingForce(0.5, dampingForce);
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				const btSoftBody::Node& node = psb->m_nodes[j];
-				energy -= dampingForce[node.index].dot(node.m_v) / dt;
-			}
-		}
-		return energy;
-	}
-
-	virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df)
-	{
-		// implicit damping force differential
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			const btSoftBody* psb = m_softBodies[i];
-			if (!psb->isActive())
-			{
-				continue;
-			}
-			for (int j = 0; j < psb->m_links.size(); ++j)
-			{
-				const btSoftBody::Link& link = psb->m_links[j];
-				btSoftBody::Node* node1 = link.m_n[0];
-				btSoftBody::Node* node2 = link.m_n[1];
-				size_t id1 = node1->index;
-				size_t id2 = node2->index;
-				btScalar r = link.m_rl;
-
-				btVector3 dir = (node1->m_q - node2->m_q);
-				btScalar dir_norm = dir.norm();
-				btVector3 dir_normalized = (dir_norm > SIMD_EPSILON) ? dir.normalized() : btVector3(0, 0, 0);
-				btVector3 dx_diff = dx[id1] - dx[id2];
-				btVector3 scaled_df = btVector3(0, 0, 0);
-				btScalar scaled_k = scale * (link.m_bbending ? m_bendingStiffness : m_elasticStiffness);
-				if (dir_norm > SIMD_EPSILON)
-				{
-					scaled_df -= scaled_k * dir_normalized.dot(dx_diff) * dir_normalized;
-					scaled_df += scaled_k * dir_normalized.dot(dx_diff) * ((dir_norm - r) / dir_norm) * dir_normalized;
-					scaled_df -= scaled_k * ((dir_norm - r) / dir_norm) * dx_diff;
-				}
-
-				df[id1] += scaled_df;
-				df[id2] -= scaled_df;
-			}
-		}
-	}
-
-	virtual btDeformableLagrangianForceType getForceType()
-	{
-		return BT_MASSSPRING_FORCE;
-	}
-};
-
-#endif /* btMassSpring_h */
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMousePickingForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableMousePickingForce.h
deleted file mode 100644
index 697408355c..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDeformableMousePickingForce.h
+++ /dev/null
@@ -1,162 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#ifndef BT_MOUSE_PICKING_FORCE_H
-#define BT_MOUSE_PICKING_FORCE_H
-
-#include "btDeformableLagrangianForce.h"
-
-class btDeformableMousePickingForce : public btDeformableLagrangianForce
-{
-	// If true, the damping force will be in the direction of the spring
-	// If false, the damping force will be in the direction of the velocity
-	btScalar m_elasticStiffness, m_dampingStiffness;
-	const btSoftBody::Face& m_face;
-	btVector3 m_mouse_pos;
-	btScalar m_maxForce;
-
-public:
-	typedef btAlignedObjectArray<btVector3> TVStack;
-	btDeformableMousePickingForce(btScalar k, btScalar d, const btSoftBody::Face& face, const btVector3& mouse_pos, btScalar maxForce = 0.3) : m_elasticStiffness(k), m_dampingStiffness(d), m_face(face), m_mouse_pos(mouse_pos), m_maxForce(maxForce)
-	{
-	}
-
-	virtual void addScaledForces(btScalar scale, TVStack& force)
-	{
-		addScaledDampingForce(scale, force);
-		addScaledElasticForce(scale, force);
-	}
-
-	virtual void addScaledExplicitForce(btScalar scale, TVStack& force)
-	{
-		addScaledElasticForce(scale, force);
-	}
-
-	virtual void addScaledDampingForce(btScalar scale, TVStack& force)
-	{
-		for (int i = 0; i < 3; ++i)
-		{
-			btVector3 v_diff = m_face.m_n[i]->m_v;
-			btVector3 scaled_force = scale * m_dampingStiffness * v_diff;
-			if ((m_face.m_n[i]->m_x - m_mouse_pos).norm() > SIMD_EPSILON)
-			{
-				btVector3 dir = (m_face.m_n[i]->m_x - m_mouse_pos).normalized();
-				scaled_force = scale * m_dampingStiffness * v_diff.dot(dir) * dir;
-			}
-			force[m_face.m_n[i]->index] -= scaled_force;
-		}
-	}
-
-	virtual void addScaledElasticForce(btScalar scale, TVStack& force)
-	{
-		btScalar scaled_stiffness = scale * m_elasticStiffness;
-		for (int i = 0; i < 3; ++i)
-		{
-			btVector3 dir = (m_face.m_n[i]->m_q - m_mouse_pos);
-			btVector3 scaled_force = scaled_stiffness * dir;
-			if (scaled_force.safeNorm() > m_maxForce)
-			{
-				scaled_force.safeNormalize();
-				scaled_force *= m_maxForce;
-			}
-			force[m_face.m_n[i]->index] -= scaled_force;
-		}
-	}
-
-	virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df)
-	{
-		btScalar scaled_k_damp = m_dampingStiffness * scale;
-		for (int i = 0; i < 3; ++i)
-		{
-			btVector3 local_scaled_df = scaled_k_damp * dv[m_face.m_n[i]->index];
-			if ((m_face.m_n[i]->m_x - m_mouse_pos).norm() > SIMD_EPSILON)
-			{
-				btVector3 dir = (m_face.m_n[i]->m_x - m_mouse_pos).normalized();
-				local_scaled_df = scaled_k_damp * dv[m_face.m_n[i]->index].dot(dir) * dir;
-			}
-			df[m_face.m_n[i]->index] -= local_scaled_df;
-		}
-	}
-
-	virtual void buildDampingForceDifferentialDiagonal(btScalar scale, TVStack& diagA) {}
-
-	virtual double totalElasticEnergy(btScalar dt)
-	{
-		double energy = 0;
-		for (int i = 0; i < 3; ++i)
-		{
-			btVector3 dir = (m_face.m_n[i]->m_q - m_mouse_pos);
-			btVector3 scaled_force = m_elasticStiffness * dir;
-			if (scaled_force.safeNorm() > m_maxForce)
-			{
-				scaled_force.safeNormalize();
-				scaled_force *= m_maxForce;
-			}
-			energy += 0.5 * scaled_force.dot(dir);
-		}
-		return energy;
-	}
-
-	virtual double totalDampingEnergy(btScalar dt)
-	{
-		double energy = 0;
-		for (int i = 0; i < 3; ++i)
-		{
-			btVector3 v_diff = m_face.m_n[i]->m_v;
-			btVector3 scaled_force = m_dampingStiffness * v_diff;
-			if ((m_face.m_n[i]->m_x - m_mouse_pos).norm() > SIMD_EPSILON)
-			{
-				btVector3 dir = (m_face.m_n[i]->m_x - m_mouse_pos).normalized();
-				scaled_force = m_dampingStiffness * v_diff.dot(dir) * dir;
-			}
-			energy -= scaled_force.dot(m_face.m_n[i]->m_v) / dt;
-		}
-		return energy;
-	}
-
-	virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df)
-	{
-		btScalar scaled_stiffness = scale * m_elasticStiffness;
-		for (int i = 0; i < 3; ++i)
-		{
-			btVector3 dir = (m_face.m_n[i]->m_q - m_mouse_pos);
-			btScalar dir_norm = dir.norm();
-			btVector3 dir_normalized = (dir_norm > SIMD_EPSILON) ? dir.normalized() : btVector3(0, 0, 0);
-			int id = m_face.m_n[i]->index;
-			btVector3 dx_diff = dx[id];
-			btScalar r = 0;  // rest length is 0 for picking spring
-			btVector3 scaled_df = btVector3(0, 0, 0);
-			if (dir_norm > SIMD_EPSILON)
-			{
-				scaled_df -= scaled_stiffness * dir_normalized.dot(dx_diff) * dir_normalized;
-				scaled_df += scaled_stiffness * dir_normalized.dot(dx_diff) * ((dir_norm - r) / dir_norm) * dir_normalized;
-				scaled_df -= scaled_stiffness * ((dir_norm - r) / dir_norm) * dx_diff;
-			}
-			df[id] += scaled_df;
-		}
-	}
-
-	void setMousePos(const btVector3& p)
-	{
-		m_mouse_pos = p;
-	}
-
-	virtual btDeformableLagrangianForceType getForceType()
-	{
-		return BT_MOUSE_PICKING_FORCE;
-	}
-};
-
-#endif /* btMassSpring_h */
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
deleted file mode 100644
index 631fd5fbed..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
+++ /dev/null
@@ -1,144 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#include "btDeformableMultiBodyConstraintSolver.h"
-#include <iostream>
-// override the iterations method to include deformable/multibody contact
-btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(btCollisionObject** bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
-{
-	{
-		///this is a special step to resolve penetrations (just for contacts)
-		solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, deformableBodies, numDeformableBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
-
-		int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
-		for (int iteration = 0; iteration < maxIterations; iteration++)
-		{
-			// rigid bodies are solved using solver body velocity, but rigid/deformable contact directly uses the velocity of the actual rigid body. So we have to do the following: Solve one iteration of the rigid/rigid contact, get the updated velocity in the solver body and update the velocity of the underlying rigid body. Then solve the rigid/deformable contact. Finally, grab the (once again) updated rigid velocity and update the velocity of the wrapping solver body
-
-			// solve rigid/rigid in solver body
-			m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
-			// solver body velocity -> rigid body velocity
-			solverBodyWriteBack(infoGlobal);
-			btScalar deformableResidual = m_deformableSolver->solveContactConstraints(deformableBodies, numDeformableBodies, infoGlobal);
-			// update rigid body velocity in rigid/deformable contact
-			m_leastSquaresResidual = btMax(m_leastSquaresResidual, deformableResidual);
-			// solver body velocity <- rigid body velocity
-			writeToSolverBody(bodies, numBodies, infoGlobal);
-
-			if (m_leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || (iteration >= (maxIterations - 1)))
-			{
-#ifdef VERBOSE_RESIDUAL_PRINTF
-				if (iteration >= (maxIterations - 1))
-					printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, iteration);
-#endif
-				m_analyticsData.m_numSolverCalls++;
-				m_analyticsData.m_numIterationsUsed = iteration + 1;
-				m_analyticsData.m_islandId = -2;
-				if (numBodies > 0)
-					m_analyticsData.m_islandId = bodies[0]->getCompanionId();
-				m_analyticsData.m_numBodies = numBodies;
-				m_analyticsData.m_numContactManifolds = numManifolds;
-				m_analyticsData.m_remainingLeastSquaresResidual = m_leastSquaresResidual;
-				break;
-			}
-		}
-	}
-	return 0.f;
-}
-
-void btDeformableMultiBodyConstraintSolver::solveDeformableBodyGroup(btCollisionObject** bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher)
-{
-	m_tmpMultiBodyConstraints = multiBodyConstraints;
-	m_tmpNumMultiBodyConstraints = numMultiBodyConstraints;
-
-	// inherited from MultiBodyConstraintSolver
-	solveGroupCacheFriendlySetup(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer);
-
-	// overriden
-	solveDeformableGroupIterations(bodies, numBodies, deformableBodies, numDeformableBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer);
-
-	// inherited from MultiBodyConstraintSolver
-	solveGroupCacheFriendlyFinish(bodies, numBodies, info);
-
-	m_tmpMultiBodyConstraints = 0;
-	m_tmpNumMultiBodyConstraints = 0;
-}
-
-void btDeformableMultiBodyConstraintSolver::writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
-{
-	for (int i = 0; i < numBodies; i++)
-	{
-		int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep);
-
-		btRigidBody* body = btRigidBody::upcast(bodies[i]);
-		if (body && body->getInvMass())
-		{
-			btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId];
-			solverBody.m_linearVelocity = body->getLinearVelocity() - solverBody.m_deltaLinearVelocity;
-			solverBody.m_angularVelocity = body->getAngularVelocity() - solverBody.m_deltaAngularVelocity;
-		}
-	}
-}
-
-void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack(const btContactSolverInfo& infoGlobal)
-{
-	for (int i = 0; i < m_tmpSolverBodyPool.size(); i++)
-	{
-		btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody;
-		if (body)
-		{
-			m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity + m_tmpSolverBodyPool[i].m_deltaLinearVelocity);
-			m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity + m_tmpSolverBodyPool[i].m_deltaAngularVelocity);
-		}
-	}
-}
-
-void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
-{
-	BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations");
-	int iteration;
-	if (infoGlobal.m_splitImpulse)
-	{
-		{
-			for (iteration = 0; iteration < infoGlobal.m_numIterations; iteration++)
-			{
-				btScalar leastSquaresResidual = 0.f;
-				{
-					int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-					int j;
-					for (j = 0; j < numPoolConstraints; j++)
-					{
-						const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-
-						btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-						leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
-					}
-					// solve the position correction between deformable and rigid/multibody
-					//                    btScalar residual = m_deformableSolver->solveSplitImpulse(infoGlobal);
-					btScalar residual = m_deformableSolver->m_objective->m_projection.solveSplitImpulse(deformableBodies, numDeformableBodies, infoGlobal);
-					leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
-				}
-				if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration >= (infoGlobal.m_numIterations - 1))
-				{
-#ifdef VERBOSE_RESIDUAL_PRINTF
-					if (iteration >= (infoGlobal.m_numIterations - 1))
-						printf("split impulse residual = %f at iteration #%d\n", leastSquaresResidual, iteration);
-#endif
-					break;
-				}
-			}
-		}
-	}
-}
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h
deleted file mode 100644
index 94aabce838..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h
+++ /dev/null
@@ -1,61 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#ifndef BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H
-#define BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H
-
-#include "btDeformableBodySolver.h"
-#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
-
-class btDeformableBodySolver;
-
-// btDeformableMultiBodyConstraintSolver extendsn btMultiBodyConstraintSolver to solve for the contact among rigid/multibody and deformable bodies. Notice that the following constraints
-// 1. rigid/multibody against rigid/multibody
-// 2. rigid/multibody against deforamble
-// 3. deformable against deformable
-// 4. deformable self collision
-// 5. joint constraints
-// are all coupled in this solve.
-ATTRIBUTE_ALIGNED16(class)
-btDeformableMultiBodyConstraintSolver : public btMultiBodyConstraintSolver
-{
-	btDeformableBodySolver* m_deformableSolver;
-
-protected:
-	// override the iterations method to include deformable/multibody contact
-	//    virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
-
-	// write the velocity of the the solver body to the underlying rigid body
-	void solverBodyWriteBack(const btContactSolverInfo& infoGlobal);
-
-	// write the velocity of the underlying rigid body to the the the solver body
-	void writeToSolverBody(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
-
-	virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject * *bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
-
-	virtual btScalar solveDeformableGroupIterations(btCollisionObject * *bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	void setDeformableSolver(btDeformableBodySolver * deformableSolver)
-	{
-		m_deformableSolver = deformableSolver;
-	}
-
-	virtual void solveDeformableBodyGroup(btCollisionObject * *bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
-};
-
-#endif /* BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H */
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
deleted file mode 100644
index 983e622b5f..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
+++ /dev/null
@@ -1,814 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-/* ====== Overview of the Deformable Algorithm ====== */
-
-/*
-A single step of the deformable body simulation contains the following main components:
-Call internalStepSimulation multiple times, to achieve 240Hz (4 steps of 60Hz).
-1. Deformable maintaintenance of rest lengths and volume preservation. Forces only depend on position: Update velocity to a temporary state v_{n+1}^* = v_n + explicit_force * dt / mass, where explicit forces include gravity and elastic forces.
-2. Detect discrete collisions between rigid and deformable bodies at position x_{n+1}^* = x_n + dt * v_{n+1}^*.
-
-3a. Solve all constraints, including LCP. Contact, position correction due to numerical drift, friction, and anchors for deformable.
-
-3b. 5 Newton steps (multiple step). Conjugent Gradient solves linear system. Deformable Damping: Then velocities of deformable bodies v_{n+1} are solved in
-        M(v_{n+1} - v_{n+1}^*) = damping_force * dt / mass,
-   by a conjugate gradient solver, where the damping force is implicit and depends on v_{n+1}.
-   Make sure contact constraints are not violated in step b by performing velocity projections as in the paper by Baraff and Witkin https://www.cs.cmu.edu/~baraff/papers/sig98.pdf. Dynamic frictions are treated as a force and added to the rhs of the CG solve, whereas static frictions are treated as constraints similar to contact.
-4. Position is updated via x_{n+1} = x_n + dt * v_{n+1}.
-
-
-The algorithm also closely resembles the one in http://physbam.stanford.edu/~fedkiw/papers/stanford2008-03.pdf
- */
-
-#include <stdio.h>
-#include "btDeformableMultiBodyDynamicsWorld.h"
-#include "DeformableBodyInplaceSolverIslandCallback.h"
-#include "btDeformableBodySolver.h"
-#include "LinearMath/btQuickprof.h"
-#include "btSoftBodyInternals.h"
-btDeformableMultiBodyDynamicsWorld::btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver)
-	: btMultiBodyDynamicsWorld(dispatcher, pairCache, (btMultiBodyConstraintSolver*)constraintSolver, collisionConfiguration),
-	  m_deformableBodySolver(deformableBodySolver),
-	  m_solverCallback(0)
-{
-	m_drawFlags = fDrawFlags::Std;
-	m_drawNodeTree = true;
-	m_drawFaceTree = false;
-	m_drawClusterTree = false;
-	m_sbi.m_broadphase = pairCache;
-	m_sbi.m_dispatcher = dispatcher;
-	m_sbi.m_sparsesdf.Initialize();
-	m_sbi.m_sparsesdf.setDefaultVoxelsz(0.005);
-	m_sbi.m_sparsesdf.Reset();
-
-	m_sbi.air_density = (btScalar)1.2;
-	m_sbi.water_density = 0;
-	m_sbi.water_offset = 0;
-	m_sbi.water_normal = btVector3(0, 0, 0);
-	m_sbi.m_gravity.setValue(0, -9.8, 0);
-	m_internalTime = 0.0;
-	m_implicit = false;
-	m_lineSearch = false;
-	m_useProjection = false;
-	m_ccdIterations = 5;
-	m_solverDeformableBodyIslandCallback = new DeformableBodyInplaceSolverIslandCallback(constraintSolver, dispatcher);
-}
-
-btDeformableMultiBodyDynamicsWorld::~btDeformableMultiBodyDynamicsWorld()
-{
-	delete m_solverDeformableBodyIslandCallback;
-}
-
-void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
-{
-	BT_PROFILE("internalSingleStepSimulation");
-	if (0 != m_internalPreTickCallback)
-	{
-		(*m_internalPreTickCallback)(this, timeStep);
-	}
-	reinitialize(timeStep);
-
-	// add gravity to velocity of rigid and multi bodys
-	applyRigidBodyGravity(timeStep);
-
-	///apply gravity and explicit force to velocity, predict motion
-	predictUnconstraintMotion(timeStep);
-
-	///perform collision detection that involves rigid/multi bodies
-	btMultiBodyDynamicsWorld::performDiscreteCollisionDetection();
-
-	btMultiBodyDynamicsWorld::calculateSimulationIslands();
-
-	beforeSolverCallbacks(timeStep);
-
-	///solve contact constraints and then deformable bodies momemtum equation
-	solveConstraints(timeStep);
-
-	afterSolverCallbacks(timeStep);
-
-	performDeformableCollisionDetection();
-
-	applyRepulsionForce(timeStep);
-
-	performGeometricCollisions(timeStep);
-
-	integrateTransforms(timeStep);
-
-	///update vehicle simulation
-	btMultiBodyDynamicsWorld::updateActions(timeStep);
-
-	updateActivationState(timeStep);
-	// End solver-wise simulation step
-	// ///////////////////////////////
-}
-
-void btDeformableMultiBodyDynamicsWorld::performDeformableCollisionDetection()
-{
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		m_softBodies[i]->m_softSoftCollision = true;
-	}
-
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		for (int j = i; j < m_softBodies.size(); ++j)
-		{
-			m_softBodies[i]->defaultCollisionHandler(m_softBodies[j]);
-		}
-	}
-
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		m_softBodies[i]->m_softSoftCollision = false;
-	}
-}
-
-void btDeformableMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep)
-{
-	for (int i = 0; i < m_softBodies.size(); i++)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		psb->updateDeactivation(timeStep);
-		if (psb->wantsSleeping())
-		{
-			if (psb->getActivationState() == ACTIVE_TAG)
-				psb->setActivationState(WANTS_DEACTIVATION);
-			if (psb->getActivationState() == ISLAND_SLEEPING)
-			{
-				psb->setZeroVelocity();
-			}
-		}
-		else
-		{
-			if (psb->getActivationState() != DISABLE_DEACTIVATION)
-				psb->setActivationState(ACTIVE_TAG);
-		}
-	}
-	btMultiBodyDynamicsWorld::updateActivationState(timeStep);
-}
-
-void btDeformableMultiBodyDynamicsWorld::applyRepulsionForce(btScalar timeStep)
-{
-	BT_PROFILE("btDeformableMultiBodyDynamicsWorld::applyRepulsionForce");
-	for (int i = 0; i < m_softBodies.size(); i++)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		if (psb->isActive())
-		{
-			psb->applyRepulsionForce(timeStep, true);
-		}
-	}
-}
-
-void btDeformableMultiBodyDynamicsWorld::performGeometricCollisions(btScalar timeStep)
-{
-	BT_PROFILE("btDeformableMultiBodyDynamicsWorld::performGeometricCollisions");
-	// refit the BVH tree for CCD
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		if (psb->isActive())
-		{
-			m_softBodies[i]->updateFaceTree(true, false);
-			m_softBodies[i]->updateNodeTree(true, false);
-			for (int j = 0; j < m_softBodies[i]->m_faces.size(); ++j)
-			{
-				btSoftBody::Face& f = m_softBodies[i]->m_faces[j];
-				f.m_n0 = (f.m_n[1]->m_x - f.m_n[0]->m_x).cross(f.m_n[2]->m_x - f.m_n[0]->m_x);
-			}
-		}
-	}
-
-	// clear contact points & update DBVT
-	for (int r = 0; r < m_ccdIterations; ++r)
-	{
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (psb->isActive())
-			{
-				// clear contact points in the previous iteration
-				psb->m_faceNodeContacts.clear();
-
-				// update m_q and normals for CCD calculation
-				for (int j = 0; j < psb->m_nodes.size(); ++j)
-				{
-					psb->m_nodes[j].m_q = psb->m_nodes[j].m_x + timeStep * psb->m_nodes[j].m_v;
-				}
-				for (int j = 0; j < psb->m_faces.size(); ++j)
-				{
-					btSoftBody::Face& f = psb->m_faces[j];
-					f.m_n1 = (f.m_n[1]->m_q - f.m_n[0]->m_q).cross(f.m_n[2]->m_q - f.m_n[0]->m_q);
-					f.m_vn = (f.m_n[1]->m_v - f.m_n[0]->m_v).cross(f.m_n[2]->m_v - f.m_n[0]->m_v) * timeStep * timeStep;
-				}
-			}
-		}
-
-		// apply CCD to register new contact points
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			for (int j = i; j < m_softBodies.size(); ++j)
-			{
-				btSoftBody* psb1 = m_softBodies[i];
-				btSoftBody* psb2 = m_softBodies[j];
-				if (psb1->isActive() && psb2->isActive())
-				{
-					m_softBodies[i]->geometricCollisionHandler(m_softBodies[j]);
-				}
-			}
-		}
-
-		int penetration_count = 0;
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (psb->isActive())
-			{
-				penetration_count += psb->m_faceNodeContacts.size();
-			}
-		}
-		if (penetration_count == 0)
-		{
-			break;
-		}
-
-		// apply inelastic impulse
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (psb->isActive())
-			{
-				psb->applyRepulsionForce(timeStep, false);
-			}
-		}
-	}
-}
-
-void btDeformableMultiBodyDynamicsWorld::softBodySelfCollision()
-{
-	BT_PROFILE("btDeformableMultiBodyDynamicsWorld::softBodySelfCollision");
-	for (int i = 0; i < m_softBodies.size(); i++)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		if (psb->isActive())
-		{
-			psb->defaultCollisionHandler(psb);
-		}
-	}
-}
-
-void btDeformableMultiBodyDynamicsWorld::positionCorrection(btScalar timeStep)
-{
-	// correct the position of rigid bodies with temporary velocity generated from split impulse
-	btContactSolverInfo infoGlobal;
-	btVector3 zero(0, 0, 0);
-	for (int i = 0; i < m_nonStaticRigidBodies.size(); ++i)
-	{
-		btRigidBody* rb = m_nonStaticRigidBodies[i];
-		//correct the position/orientation based on push/turn recovery
-		btTransform newTransform;
-		btVector3 pushVelocity = rb->getPushVelocity();
-		btVector3 turnVelocity = rb->getTurnVelocity();
-		if (pushVelocity[0] != 0.f || pushVelocity[1] != 0 || pushVelocity[2] != 0 || turnVelocity[0] != 0.f || turnVelocity[1] != 0 || turnVelocity[2] != 0)
-		{
-			btTransformUtil::integrateTransform(rb->getWorldTransform(), pushVelocity, turnVelocity * infoGlobal.m_splitImpulseTurnErp, timeStep, newTransform);
-			rb->setWorldTransform(newTransform);
-			rb->setPushVelocity(zero);
-			rb->setTurnVelocity(zero);
-		}
-	}
-}
-
-void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
-{
-	BT_PROFILE("integrateTransforms");
-	positionCorrection(timeStep);
-	btMultiBodyDynamicsWorld::integrateTransforms(timeStep);
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		for (int j = 0; j < psb->m_nodes.size(); ++j)
-		{
-			btSoftBody::Node& node = psb->m_nodes[j];
-			btScalar maxDisplacement = psb->getWorldInfo()->m_maxDisplacement;
-			btScalar clampDeltaV = maxDisplacement / timeStep;
-			for (int c = 0; c < 3; c++)
-			{
-				if (node.m_v[c] > clampDeltaV)
-				{
-					node.m_v[c] = clampDeltaV;
-				}
-				if (node.m_v[c] < -clampDeltaV)
-				{
-					node.m_v[c] = -clampDeltaV;
-				}
-			}
-			node.m_x = node.m_x + timeStep * (node.m_v + node.m_splitv);
-			node.m_q = node.m_x;
-			node.m_vn = node.m_v;
-		}
-		// enforce anchor constraints
-		for (int j = 0; j < psb->m_deformableAnchors.size(); ++j)
-		{
-			btSoftBody::DeformableNodeRigidAnchor& a = psb->m_deformableAnchors[j];
-			btSoftBody::Node* n = a.m_node;
-			n->m_x = a.m_cti.m_colObj->getWorldTransform() * a.m_local;
-
-			// update multibody anchor info
-			if (a.m_cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
-			{
-				btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(a.m_cti.m_colObj);
-				if (multibodyLinkCol)
-				{
-					btVector3 nrm;
-					const btCollisionShape* shp = multibodyLinkCol->getCollisionShape();
-					const btTransform& wtr = multibodyLinkCol->getWorldTransform();
-					psb->m_worldInfo->m_sparsesdf.Evaluate(
-						wtr.invXform(n->m_x),
-						shp,
-						nrm,
-						0);
-					a.m_cti.m_normal = wtr.getBasis() * nrm;
-					btVector3 normal = a.m_cti.m_normal;
-					btVector3 t1 = generateUnitOrthogonalVector(normal);
-					btVector3 t2 = btCross(normal, t1);
-					btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2;
-					findJacobian(multibodyLinkCol, jacobianData_normal, a.m_node->m_x, normal);
-					findJacobian(multibodyLinkCol, jacobianData_t1, a.m_node->m_x, t1);
-					findJacobian(multibodyLinkCol, jacobianData_t2, a.m_node->m_x, t2);
-
-					btScalar* J_n = &jacobianData_normal.m_jacobians[0];
-					btScalar* J_t1 = &jacobianData_t1.m_jacobians[0];
-					btScalar* J_t2 = &jacobianData_t2.m_jacobians[0];
-
-					btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0];
-					btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0];
-					btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0];
-
-					btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(),
-									t1.getX(), t1.getY(), t1.getZ(),
-									t2.getX(), t2.getY(), t2.getZ());  // world frame to local frame
-					const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
-					btMatrix3x3 local_impulse_matrix = (Diagonal(n->m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse();
-					a.m_c0 = rot.transpose() * local_impulse_matrix * rot;
-					a.jacobianData_normal = jacobianData_normal;
-					a.jacobianData_t1 = jacobianData_t1;
-					a.jacobianData_t2 = jacobianData_t2;
-					a.t1 = t1;
-					a.t2 = t2;
-				}
-			}
-		}
-		psb->interpolateRenderMesh();
-	}
-}
-
-void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep)
-{
-	BT_PROFILE("btDeformableMultiBodyDynamicsWorld::solveConstraints");
-	// save v_{n+1}^* velocity after explicit forces
-	m_deformableBodySolver->backupVelocity();
-
-	// set up constraints among multibodies and between multibodies and deformable bodies
-	setupConstraints();
-
-	// solve contact constraints
-	solveContactConstraints();
-
-	// set up the directions in which the velocity does not change in the momentum solve
-	if (m_useProjection)
-		m_deformableBodySolver->m_objective->m_projection.setProjection();
-	else
-		m_deformableBodySolver->m_objective->m_projection.setLagrangeMultiplier();
-
-	// for explicit scheme, m_backupVelocity = v_{n+1}^*
-	// for implicit scheme, m_backupVelocity = v_n
-	// Here, set dv = v_{n+1} - v_n for nodes in contact
-	m_deformableBodySolver->setupDeformableSolve(m_implicit);
-
-	// At this point, dv should be golden for nodes in contact
-	// proceed to solve deformable momentum equation
-	m_deformableBodySolver->solveDeformableConstraints(timeStep);
-}
-
-void btDeformableMultiBodyDynamicsWorld::setupConstraints()
-{
-	// set up constraints between multibody and deformable bodies
-	m_deformableBodySolver->setConstraints(m_solverInfo);
-
-	// set up constraints among multibodies
-	{
-		sortConstraints();
-		// setup the solver callback
-		btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0;
-		btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0;
-		m_solverDeformableBodyIslandCallback->setup(&m_solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer());
-
-		// build islands
-		m_islandManager->buildIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld());
-	}
-}
-
-void btDeformableMultiBodyDynamicsWorld::sortConstraints()
-{
-	m_sortedConstraints.resize(m_constraints.size());
-	int i;
-	for (i = 0; i < getNumConstraints(); i++)
-	{
-		m_sortedConstraints[i] = m_constraints[i];
-	}
-	m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2());
-
-	m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size());
-	for (i = 0; i < m_multiBodyConstraints.size(); i++)
-	{
-		m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i];
-	}
-	m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate());
-}
-
-void btDeformableMultiBodyDynamicsWorld::solveContactConstraints()
-{
-	// process constraints on each island
-	m_islandManager->processIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverDeformableBodyIslandCallback);
-
-	// process deferred
-	m_solverDeformableBodyIslandCallback->processConstraints();
-	m_constraintSolver->allSolved(m_solverInfo, m_debugDrawer);
-
-	// write joint feedback
-	{
-		for (int i = 0; i < this->m_multiBodies.size(); i++)
-		{
-			btMultiBody* bod = m_multiBodies[i];
-
-			bool isSleeping = false;
-
-			if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
-			{
-				isSleeping = true;
-			}
-			for (int b = 0; b < bod->getNumLinks(); b++)
-			{
-				if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
-					isSleeping = true;
-			}
-
-			if (!isSleeping)
-			{
-				//useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
-				m_scratch_r.resize(bod->getNumLinks() + 1);  //multidof? ("Y"s use it and it is used to store qdd)
-				m_scratch_v.resize(bod->getNumLinks() + 1);
-				m_scratch_m.resize(bod->getNumLinks() + 1);
-
-				if (bod->internalNeedsJointFeedback())
-				{
-					if (!bod->isUsingRK4Integration())
-					{
-						if (bod->internalNeedsJointFeedback())
-						{
-							bool isConstraintPass = true;
-							bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(m_solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass,
-																					  getSolverInfo().m_jointFeedbackInWorldSpace,
-																					  getSolverInfo().m_jointFeedbackInJointFrame);
-						}
-					}
-				}
-			}
-		}
-	}
-
-	for (int i = 0; i < this->m_multiBodies.size(); i++)
-	{
-		btMultiBody* bod = m_multiBodies[i];
-		bod->processDeltaVeeMultiDof2();
-	}
-}
-
-void btDeformableMultiBodyDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask)
-{
-	m_softBodies.push_back(body);
-
-	// Set the soft body solver that will deal with this body
-	// to be the world's solver
-	body->setSoftBodySolver(m_deformableBodySolver);
-
-	btCollisionWorld::addCollisionObject(body,
-										 collisionFilterGroup,
-										 collisionFilterMask);
-}
-
-void btDeformableMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
-{
-	BT_PROFILE("predictUnconstraintMotion");
-	btMultiBodyDynamicsWorld::predictUnconstraintMotion(timeStep);
-	m_deformableBodySolver->predictMotion(timeStep);
-}
-
-void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep)
-{
-	m_internalTime += timeStep;
-	m_deformableBodySolver->setImplicit(m_implicit);
-	m_deformableBodySolver->setLineSearch(m_lineSearch);
-	m_deformableBodySolver->reinitialize(m_softBodies, timeStep);
-	btDispatcherInfo& dispatchInfo = btMultiBodyDynamicsWorld::getDispatchInfo();
-	dispatchInfo.m_timeStep = timeStep;
-	dispatchInfo.m_stepCount = 0;
-	dispatchInfo.m_debugDraw = btMultiBodyDynamicsWorld::getDebugDrawer();
-	btMultiBodyDynamicsWorld::getSolverInfo().m_timeStep = timeStep;
-	if (m_useProjection)
-	{
-		m_deformableBodySolver->m_useProjection = true;
-		m_deformableBodySolver->m_objective->m_projection.m_useStrainLimiting = true;
-		m_deformableBodySolver->m_objective->m_preconditioner = m_deformableBodySolver->m_objective->m_massPreconditioner;
-	}
-	else
-	{
-		m_deformableBodySolver->m_useProjection = false;
-		m_deformableBodySolver->m_objective->m_projection.m_useStrainLimiting = false;
-		m_deformableBodySolver->m_objective->m_preconditioner = m_deformableBodySolver->m_objective->m_KKTPreconditioner;
-	}
-}
-
-void btDeformableMultiBodyDynamicsWorld::debugDrawWorld()
-{
-	btMultiBodyDynamicsWorld::debugDrawWorld();
-
-	for (int i = 0; i < getSoftBodyArray().size(); i++)
-	{
-		btSoftBody* psb = (btSoftBody*)getSoftBodyArray()[i];
-		{
-			btSoftBodyHelpers::DrawFrame(psb, getDebugDrawer());
-			btSoftBodyHelpers::Draw(psb, getDebugDrawer(), getDrawFlags());
-		}
-	}
-}
-
-void btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity(btScalar timeStep)
-{
-	// Gravity is applied in stepSimulation and then cleared here and then applied here and then cleared here again
-	// so that 1) gravity is applied to velocity before constraint solve and 2) gravity is applied in each substep
-	// when there are multiple substeps
-	btMultiBodyDynamicsWorld::applyGravity();
-	// integrate rigid body gravity
-	for (int i = 0; i < m_nonStaticRigidBodies.size(); ++i)
-	{
-		btRigidBody* rb = m_nonStaticRigidBodies[i];
-		rb->integrateVelocities(timeStep);
-	}
-
-	// integrate multibody gravity
-	{
-		forwardKinematics();
-		clearMultiBodyConstraintForces();
-		{
-			for (int i = 0; i < this->m_multiBodies.size(); i++)
-			{
-				btMultiBody* bod = m_multiBodies[i];
-
-				bool isSleeping = false;
-
-				if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
-				{
-					isSleeping = true;
-				}
-				for (int b = 0; b < bod->getNumLinks(); b++)
-				{
-					if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
-						isSleeping = true;
-				}
-
-				if (!isSleeping)
-				{
-					m_scratch_r.resize(bod->getNumLinks() + 1);
-					m_scratch_v.resize(bod->getNumLinks() + 1);
-					m_scratch_m.resize(bod->getNumLinks() + 1);
-					bool isConstraintPass = false;
-					{
-						if (!bod->isUsingRK4Integration())
-						{
-							bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(m_solverInfo.m_timeStep,
-																					  m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass,
-																					  getSolverInfo().m_jointFeedbackInWorldSpace,
-																					  getSolverInfo().m_jointFeedbackInJointFrame);
-						}
-						else
-						{
-							btAssert(" RK4Integration is not supported");
-						}
-					}
-				}
-			}
-		}
-	}
-	clearGravity();
-}
-
-void btDeformableMultiBodyDynamicsWorld::clearGravity()
-{
-	BT_PROFILE("btMultiBody clearGravity");
-	// clear rigid body gravity
-	for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
-	{
-		btRigidBody* body = m_nonStaticRigidBodies[i];
-		if (body->isActive())
-		{
-			body->clearGravity();
-		}
-	}
-	// clear multibody gravity
-	for (int i = 0; i < this->m_multiBodies.size(); i++)
-	{
-		btMultiBody* bod = m_multiBodies[i];
-
-		bool isSleeping = false;
-
-		if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
-		{
-			isSleeping = true;
-		}
-		for (int b = 0; b < bod->getNumLinks(); b++)
-		{
-			if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
-				isSleeping = true;
-		}
-
-		if (!isSleeping)
-		{
-			bod->addBaseForce(-m_gravity * bod->getBaseMass());
-
-			for (int j = 0; j < bod->getNumLinks(); ++j)
-			{
-				bod->addLinkForce(j, -m_gravity * bod->getLinkMass(j));
-			}
-		}
-	}
-}
-
-void btDeformableMultiBodyDynamicsWorld::beforeSolverCallbacks(btScalar timeStep)
-{
-	if (0 != m_internalTickCallback)
-	{
-		(*m_internalTickCallback)(this, timeStep);
-	}
-
-	if (0 != m_solverCallback)
-	{
-		(*m_solverCallback)(m_internalTime, this);
-	}
-}
-
-void btDeformableMultiBodyDynamicsWorld::afterSolverCallbacks(btScalar timeStep)
-{
-	if (0 != m_solverCallback)
-	{
-		(*m_solverCallback)(m_internalTime, this);
-	}
-}
-
-void btDeformableMultiBodyDynamicsWorld::addForce(btSoftBody* psb, btDeformableLagrangianForce* force)
-{
-	btAlignedObjectArray<btDeformableLagrangianForce*>& forces = m_deformableBodySolver->m_objective->m_lf;
-	bool added = false;
-	for (int i = 0; i < forces.size(); ++i)
-	{
-		if (forces[i]->getForceType() == force->getForceType())
-		{
-			forces[i]->addSoftBody(psb);
-			added = true;
-			break;
-		}
-	}
-	if (!added)
-	{
-		force->addSoftBody(psb);
-		force->setIndices(m_deformableBodySolver->m_objective->getIndices());
-		forces.push_back(force);
-	}
-}
-
-void btDeformableMultiBodyDynamicsWorld::removeForce(btSoftBody* psb, btDeformableLagrangianForce* force)
-{
-	btAlignedObjectArray<btDeformableLagrangianForce*>& forces = m_deformableBodySolver->m_objective->m_lf;
-	int removed_index = -1;
-	for (int i = 0; i < forces.size(); ++i)
-	{
-		if (forces[i]->getForceType() == force->getForceType())
-		{
-			forces[i]->removeSoftBody(psb);
-			if (forces[i]->m_softBodies.size() == 0)
-				removed_index = i;
-			break;
-		}
-	}
-	if (removed_index >= 0)
-		forces.removeAtIndex(removed_index);
-}
-
-void btDeformableMultiBodyDynamicsWorld::removeSoftBodyForce(btSoftBody* psb)
-{
-	btAlignedObjectArray<btDeformableLagrangianForce*>& forces = m_deformableBodySolver->m_objective->m_lf;
-	for (int i = 0; i < forces.size(); ++i)
-	{
-		forces[i]->removeSoftBody(psb);
-	}
-}
-
-void btDeformableMultiBodyDynamicsWorld::removeSoftBody(btSoftBody* body)
-{
-	removeSoftBodyForce(body);
-	m_softBodies.remove(body);
-	btCollisionWorld::removeCollisionObject(body);
-	// force a reinitialize so that node indices get updated.
-	m_deformableBodySolver->reinitialize(m_softBodies, btScalar(-1));
-}
-
-void btDeformableMultiBodyDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
-{
-	btSoftBody* body = btSoftBody::upcast(collisionObject);
-	if (body)
-		removeSoftBody(body);
-	else
-		btDiscreteDynamicsWorld::removeCollisionObject(collisionObject);
-}
-
-int btDeformableMultiBodyDynamicsWorld::stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep)
-{
-	startProfiling(timeStep);
-
-	int numSimulationSubSteps = 0;
-
-	if (maxSubSteps)
-	{
-		//fixed timestep with interpolation
-		m_fixedTimeStep = fixedTimeStep;
-		m_localTime += timeStep;
-		if (m_localTime >= fixedTimeStep)
-		{
-			numSimulationSubSteps = int(m_localTime / fixedTimeStep);
-			m_localTime -= numSimulationSubSteps * fixedTimeStep;
-		}
-	}
-	else
-	{
-		//variable timestep
-		fixedTimeStep = timeStep;
-		m_localTime = m_latencyMotionStateInterpolation ? 0 : timeStep;
-		m_fixedTimeStep = 0;
-		if (btFuzzyZero(timeStep))
-		{
-			numSimulationSubSteps = 0;
-			maxSubSteps = 0;
-		}
-		else
-		{
-			numSimulationSubSteps = 1;
-			maxSubSteps = 1;
-		}
-	}
-
-	//process some debugging flags
-	if (getDebugDrawer())
-	{
-		btIDebugDraw* debugDrawer = getDebugDrawer();
-		gDisableDeactivation = (debugDrawer->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0;
-	}
-	if (numSimulationSubSteps)
-	{
-		//clamp the number of substeps, to prevent simulation grinding spiralling down to a halt
-		int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps) ? maxSubSteps : numSimulationSubSteps;
-
-		saveKinematicState(fixedTimeStep * clampedSimulationSteps);
-
-		for (int i = 0; i < clampedSimulationSteps; i++)
-		{
-			internalSingleStepSimulation(fixedTimeStep);
-			synchronizeMotionStates();
-		}
-	}
-	else
-	{
-		synchronizeMotionStates();
-	}
-
-	clearForces();
-
-#ifndef BT_NO_PROFILE
-	CProfileManager::Increment_Frame_Counter();
-#endif  //BT_NO_PROFILE
-
-	return numSimulationSubSteps;
-}
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
deleted file mode 100644
index 4b7069aac7..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
+++ /dev/null
@@ -1,316 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#ifndef BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H
-#define BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H
-
-#include "btSoftMultiBodyDynamicsWorld.h"
-#include "btDeformableLagrangianForce.h"
-#include "btDeformableMassSpringForce.h"
-#include "btDeformableBodySolver.h"
-#include "btDeformableMultiBodyConstraintSolver.h"
-#include "btSoftBodyHelpers.h"
-#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
-#include <functional>
-typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
-
-class btDeformableBodySolver;
-class btDeformableLagrangianForce;
-struct MultiBodyInplaceSolverIslandCallback;
-struct DeformableBodyInplaceSolverIslandCallback;
-class btDeformableMultiBodyConstraintSolver;
-
-typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
-
-class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld
-{
-	typedef btAlignedObjectArray<btVector3> TVStack;
-	///Solver classes that encapsulate multiple deformable bodies for solving
-	btDeformableBodySolver* m_deformableBodySolver;
-	btSoftBodyArray m_softBodies;
-	int m_drawFlags;
-	bool m_drawNodeTree;
-	bool m_drawFaceTree;
-	bool m_drawClusterTree;
-	btSoftBodyWorldInfo m_sbi;
-	btScalar m_internalTime;
-	int m_ccdIterations;
-	bool m_implicit;
-	bool m_lineSearch;
-	bool m_useProjection;
-	DeformableBodyInplaceSolverIslandCallback* m_solverDeformableBodyIslandCallback;
-
-	typedef void (*btSolverCallback)(btScalar time, btDeformableMultiBodyDynamicsWorld* world);
-	btSolverCallback m_solverCallback;
-
-protected:
-	virtual void internalSingleStepSimulation(btScalar timeStep);
-
-	virtual void integrateTransforms(btScalar timeStep);
-
-	void positionCorrection(btScalar timeStep);
-
-	void solveConstraints(btScalar timeStep);
-
-	void updateActivationState(btScalar timeStep);
-
-	void clearGravity();
-
-public:
-	btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0);
-
-	virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.));
-
-	virtual void debugDrawWorld();
-
-	void setSolverCallback(btSolverCallback cb)
-	{
-		m_solverCallback = cb;
-	}
-
-	virtual ~btDeformableMultiBodyDynamicsWorld();
-
-	virtual btMultiBodyDynamicsWorld* getMultiBodyDynamicsWorld()
-	{
-		return (btMultiBodyDynamicsWorld*)(this);
-	}
-
-	virtual const btMultiBodyDynamicsWorld* getMultiBodyDynamicsWorld() const
-	{
-		return (const btMultiBodyDynamicsWorld*)(this);
-	}
-
-	virtual btDynamicsWorldType getWorldType() const
-	{
-		return BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD;
-	}
-
-	virtual void predictUnconstraintMotion(btScalar timeStep);
-
-	virtual void addSoftBody(btSoftBody* body, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter);
-
-	btSoftBodyArray& getSoftBodyArray()
-	{
-		return m_softBodies;
-	}
-
-	const btSoftBodyArray& getSoftBodyArray() const
-	{
-		return m_softBodies;
-	}
-
-	btSoftBodyWorldInfo& getWorldInfo()
-	{
-		return m_sbi;
-	}
-
-	const btSoftBodyWorldInfo& getWorldInfo() const
-	{
-		return m_sbi;
-	}
-
-	void reinitialize(btScalar timeStep);
-
-	void applyRigidBodyGravity(btScalar timeStep);
-
-	void beforeSolverCallbacks(btScalar timeStep);
-
-	void afterSolverCallbacks(btScalar timeStep);
-
-	void addForce(btSoftBody* psb, btDeformableLagrangianForce* force);
-
-	void removeForce(btSoftBody* psb, btDeformableLagrangianForce* force);
-
-	void removeSoftBodyForce(btSoftBody* psb);
-
-	void removeSoftBody(btSoftBody* body);
-
-	void removeCollisionObject(btCollisionObject* collisionObject);
-
-	int getDrawFlags() const { return (m_drawFlags); }
-	void setDrawFlags(int f) { m_drawFlags = f; }
-
-	void setupConstraints();
-
-	void performDeformableCollisionDetection();
-
-	void solveMultiBodyConstraints();
-
-	void solveContactConstraints();
-
-	void sortConstraints();
-
-	void softBodySelfCollision();
-
-	void setImplicit(bool implicit)
-	{
-		m_implicit = implicit;
-	}
-
-	void setLineSearch(bool lineSearch)
-	{
-		m_lineSearch = lineSearch;
-	}
-
-	void setUseProjection(bool useProjection)
-	{
-		m_useProjection = useProjection;
-	}
-
-	void applyRepulsionForce(btScalar timeStep);
-
-	void performGeometricCollisions(btScalar timeStep);
-
-	struct btDeformableSingleRayCallback : public btBroadphaseRayCallback
-	{
-		btVector3 m_rayFromWorld;
-		btVector3 m_rayToWorld;
-		btTransform m_rayFromTrans;
-		btTransform m_rayToTrans;
-		btVector3 m_hitNormal;
-
-		const btDeformableMultiBodyDynamicsWorld* m_world;
-		btCollisionWorld::RayResultCallback& m_resultCallback;
-
-		btDeformableSingleRayCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld, const btDeformableMultiBodyDynamicsWorld* world, btCollisionWorld::RayResultCallback& resultCallback)
-			: m_rayFromWorld(rayFromWorld),
-			  m_rayToWorld(rayToWorld),
-			  m_world(world),
-			  m_resultCallback(resultCallback)
-		{
-			m_rayFromTrans.setIdentity();
-			m_rayFromTrans.setOrigin(m_rayFromWorld);
-			m_rayToTrans.setIdentity();
-			m_rayToTrans.setOrigin(m_rayToWorld);
-
-			btVector3 rayDir = (rayToWorld - rayFromWorld);
-
-			rayDir.normalize();
-			///what about division by zero? --> just set rayDirection[i] to INF/1e30
-			m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
-			m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
-			m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
-			m_signs[0] = m_rayDirectionInverse[0] < 0.0;
-			m_signs[1] = m_rayDirectionInverse[1] < 0.0;
-			m_signs[2] = m_rayDirectionInverse[2] < 0.0;
-
-			m_lambda_max = rayDir.dot(m_rayToWorld - m_rayFromWorld);
-		}
-
-		virtual bool process(const btBroadphaseProxy* proxy)
-		{
-			///terminate further ray tests, once the closestHitFraction reached zero
-			if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
-				return false;
-
-			btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
-
-			//only perform raycast if filterMask matches
-			if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
-			{
-				//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
-				//btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
-#if 0
-#ifdef RECALCULATE_AABB
-                btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
-                collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
-#else
-                //getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
-                const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
-                const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
-#endif
-#endif
-				//btScalar hitLambda = m_resultCallback.m_closestHitFraction;
-				//culling already done by broadphase
-				//if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
-				{
-					m_world->rayTestSingle(m_rayFromTrans, m_rayToTrans,
-										   collisionObject,
-										   collisionObject->getCollisionShape(),
-										   collisionObject->getWorldTransform(),
-										   m_resultCallback);
-				}
-			}
-			return true;
-		}
-	};
-
-	void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
-	{
-		BT_PROFILE("rayTest");
-		/// use the broadphase to accelerate the search for objects, based on their aabb
-		/// and for each object with ray-aabb overlap, perform an exact ray test
-		btDeformableSingleRayCallback rayCB(rayFromWorld, rayToWorld, this, resultCallback);
-
-#ifndef USE_BRUTEFORCE_RAYBROADPHASE
-		m_broadphasePairCache->rayTest(rayFromWorld, rayToWorld, rayCB);
-#else
-		for (int i = 0; i < this->getNumCollisionObjects(); i++)
-		{
-			rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
-		}
-#endif  //USE_BRUTEFORCE_RAYBROADPHASE
-	}
-
-	void rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
-					   btCollisionObject* collisionObject,
-					   const btCollisionShape* collisionShape,
-					   const btTransform& colObjWorldTransform,
-					   RayResultCallback& resultCallback) const
-	{
-		if (collisionShape->isSoftBody())
-		{
-			btSoftBody* softBody = btSoftBody::upcast(collisionObject);
-			if (softBody)
-			{
-				btSoftBody::sRayCast softResult;
-				if (softBody->rayFaceTest(rayFromTrans.getOrigin(), rayToTrans.getOrigin(), softResult))
-				{
-					if (softResult.fraction <= resultCallback.m_closestHitFraction)
-					{
-						btCollisionWorld::LocalShapeInfo shapeInfo;
-						shapeInfo.m_shapePart = 0;
-						shapeInfo.m_triangleIndex = softResult.index;
-						// get the normal
-						btVector3 rayDir = rayToTrans.getOrigin() - rayFromTrans.getOrigin();
-						btVector3 normal = -rayDir;
-						normal.normalize();
-						{
-							normal = softBody->m_faces[softResult.index].m_normal;
-							if (normal.dot(rayDir) > 0)
-							{
-								// normal always point toward origin of the ray
-								normal = -normal;
-							}
-						}
-
-						btCollisionWorld::LocalRayResult rayResult(collisionObject,
-																   &shapeInfo,
-																   normal,
-																   softResult.fraction);
-						bool normalInWorldSpace = true;
-						resultCallback.addSingleResult(rayResult, normalInWorldSpace);
-					}
-				}
-			}
-		}
-		else
-		{
-			btCollisionWorld::rayTestSingle(rayFromTrans, rayToTrans, collisionObject, collisionShape, colObjWorldTransform, resultCallback);
-		}
-	}
-};
-
-#endif  //BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableNeoHookeanForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableNeoHookeanForce.h
deleted file mode 100644
index 60798c5bcd..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDeformableNeoHookeanForce.h
+++ /dev/null
@@ -1,420 +0,0 @@
-/*
-Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
-
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2019 Google Inc. http://bulletphysics.org
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_NEOHOOKEAN_H
-#define BT_NEOHOOKEAN_H
-
-#include "btDeformableLagrangianForce.h"
-#include "LinearMath/btQuickprof.h"
-#include "LinearMath/btImplicitQRSVD.h"
-// This energy is as described in https://graphics.pixar.com/library/StableElasticity/paper.pdf
-class btDeformableNeoHookeanForce : public btDeformableLagrangianForce
-{
-public:
-	typedef btAlignedObjectArray<btVector3> TVStack;
-	btScalar m_mu, m_lambda;  // Lame Parameters
-	btScalar m_E, m_nu;       // Young's modulus and Poisson ratio
-	btScalar m_mu_damp, m_lambda_damp;
-	btDeformableNeoHookeanForce() : m_mu(1), m_lambda(1)
-	{
-		btScalar damping = 0.05;
-		m_mu_damp = damping * m_mu;
-		m_lambda_damp = damping * m_lambda;
-		updateYoungsModulusAndPoissonRatio();
-	}
-
-	btDeformableNeoHookeanForce(btScalar mu, btScalar lambda, btScalar damping = 0.05) : m_mu(mu), m_lambda(lambda)
-	{
-		m_mu_damp = damping * m_mu;
-		m_lambda_damp = damping * m_lambda;
-		updateYoungsModulusAndPoissonRatio();
-	}
-
-	void updateYoungsModulusAndPoissonRatio()
-	{
-		// conversion from Lame Parameters to Young's modulus and Poisson ratio
-		// https://en.wikipedia.org/wiki/Lam%C3%A9_parameters
-		m_E = m_mu * (3 * m_lambda + 2 * m_mu) / (m_lambda + m_mu);
-		m_nu = m_lambda * 0.5 / (m_mu + m_lambda);
-	}
-
-	void updateLameParameters()
-	{
-		// conversion from Young's modulus and Poisson ratio to Lame Parameters
-		// https://en.wikipedia.org/wiki/Lam%C3%A9_parameters
-		m_mu = m_E * 0.5 / (1 + m_nu);
-		m_lambda = m_E * m_nu / ((1 + m_nu) * (1 - 2 * m_nu));
-	}
-
-	void setYoungsModulus(btScalar E)
-	{
-		m_E = E;
-		updateLameParameters();
-	}
-
-	void setPoissonRatio(btScalar nu)
-	{
-		m_nu = nu;
-		updateLameParameters();
-	}
-
-	void setDamping(btScalar damping)
-	{
-		m_mu_damp = damping * m_mu;
-		m_lambda_damp = damping * m_lambda;
-	}
-
-	void setLameParameters(btScalar mu, btScalar lambda)
-	{
-		m_mu = mu;
-		m_lambda = lambda;
-		updateYoungsModulusAndPoissonRatio();
-	}
-
-	virtual void addScaledForces(btScalar scale, TVStack& force)
-	{
-		addScaledDampingForce(scale, force);
-		addScaledElasticForce(scale, force);
-	}
-
-	virtual void addScaledExplicitForce(btScalar scale, TVStack& force)
-	{
-		addScaledElasticForce(scale, force);
-	}
-
-	// The damping matrix is calculated using the time n state as described in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search
-	virtual void addScaledDampingForce(btScalar scale, TVStack& force)
-	{
-		if (m_mu_damp == 0 && m_lambda_damp == 0)
-			return;
-		int numNodes = getNumNodes();
-		btAssert(numNodes <= force.size());
-		btVector3 grad_N_hat_1st_col = btVector3(-1, -1, -1);
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (!psb->isActive())
-			{
-				continue;
-			}
-			for (int j = 0; j < psb->m_tetras.size(); ++j)
-			{
-				btSoftBody::Tetra& tetra = psb->m_tetras[j];
-				btSoftBody::Node* node0 = tetra.m_n[0];
-				btSoftBody::Node* node1 = tetra.m_n[1];
-				btSoftBody::Node* node2 = tetra.m_n[2];
-				btSoftBody::Node* node3 = tetra.m_n[3];
-				size_t id0 = node0->index;
-				size_t id1 = node1->index;
-				size_t id2 = node2->index;
-				size_t id3 = node3->index;
-				btMatrix3x3 dF = DsFromVelocity(node0, node1, node2, node3) * tetra.m_Dm_inverse;
-				btMatrix3x3 I;
-				I.setIdentity();
-				btMatrix3x3 dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0] + dF[1][1] + dF[2][2]) * m_lambda_damp;
-				//                firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP);
-				btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose() * grad_N_hat_1st_col);
-				btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose();
-
-				// damping force differential
-				btScalar scale1 = scale * tetra.m_element_measure;
-				force[id0] -= scale1 * df_on_node0;
-				force[id1] -= scale1 * df_on_node123.getColumn(0);
-				force[id2] -= scale1 * df_on_node123.getColumn(1);
-				force[id3] -= scale1 * df_on_node123.getColumn(2);
-			}
-		}
-	}
-
-	virtual double totalElasticEnergy(btScalar dt)
-	{
-		double energy = 0;
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (!psb->isActive())
-			{
-				continue;
-			}
-			for (int j = 0; j < psb->m_tetraScratches.size(); ++j)
-			{
-				btSoftBody::Tetra& tetra = psb->m_tetras[j];
-				btSoftBody::TetraScratch& s = psb->m_tetraScratches[j];
-				energy += tetra.m_element_measure * elasticEnergyDensity(s);
-			}
-		}
-		return energy;
-	}
-
-	// The damping energy is formulated as in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search
-	virtual double totalDampingEnergy(btScalar dt)
-	{
-		double energy = 0;
-		int sz = 0;
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (!psb->isActive())
-			{
-				continue;
-			}
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				sz = btMax(sz, psb->m_nodes[j].index);
-			}
-		}
-		TVStack dampingForce;
-		dampingForce.resize(sz + 1);
-		for (int i = 0; i < dampingForce.size(); ++i)
-			dampingForce[i].setZero();
-		addScaledDampingForce(0.5, dampingForce);
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				const btSoftBody::Node& node = psb->m_nodes[j];
-				energy -= dampingForce[node.index].dot(node.m_v) / dt;
-			}
-		}
-		return energy;
-	}
-
-	double elasticEnergyDensity(const btSoftBody::TetraScratch& s)
-	{
-		double density = 0;
-		density += m_mu * 0.5 * (s.m_trace - 3.);
-		density += m_lambda * 0.5 * (s.m_J - 1. - 0.75 * m_mu / m_lambda) * (s.m_J - 1. - 0.75 * m_mu / m_lambda);
-		density -= m_mu * 0.5 * log(s.m_trace + 1);
-		return density;
-	}
-
-	virtual void addScaledElasticForce(btScalar scale, TVStack& force)
-	{
-		int numNodes = getNumNodes();
-		btAssert(numNodes <= force.size());
-		btVector3 grad_N_hat_1st_col = btVector3(-1, -1, -1);
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (!psb->isActive())
-			{
-				continue;
-			}
-			btScalar max_p = psb->m_cfg.m_maxStress;
-			for (int j = 0; j < psb->m_tetras.size(); ++j)
-			{
-				btSoftBody::Tetra& tetra = psb->m_tetras[j];
-				btMatrix3x3 P;
-				firstPiola(psb->m_tetraScratches[j], P);
-#ifdef USE_SVD
-				if (max_p > 0)
-				{
-					// since we want to clamp the principal stress to max_p, we only need to
-					// calculate SVD when sigma_0^2 + sigma_1^2 + sigma_2^2 > max_p * max_p
-					btScalar trPTP = (P[0].length2() + P[1].length2() + P[2].length2());
-					if (trPTP > max_p * max_p)
-					{
-						btMatrix3x3 U, V;
-						btVector3 sigma;
-						singularValueDecomposition(P, U, sigma, V);
-						sigma[0] = btMin(sigma[0], max_p);
-						sigma[1] = btMin(sigma[1], max_p);
-						sigma[2] = btMin(sigma[2], max_p);
-						sigma[0] = btMax(sigma[0], -max_p);
-						sigma[1] = btMax(sigma[1], -max_p);
-						sigma[2] = btMax(sigma[2], -max_p);
-						btMatrix3x3 Sigma;
-						Sigma.setIdentity();
-						Sigma[0][0] = sigma[0];
-						Sigma[1][1] = sigma[1];
-						Sigma[2][2] = sigma[2];
-						P = U * Sigma * V.transpose();
-					}
-				}
-#endif
-				//                btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col);
-				btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose();
-				btVector3 force_on_node0 = force_on_node123 * grad_N_hat_1st_col;
-
-				btSoftBody::Node* node0 = tetra.m_n[0];
-				btSoftBody::Node* node1 = tetra.m_n[1];
-				btSoftBody::Node* node2 = tetra.m_n[2];
-				btSoftBody::Node* node3 = tetra.m_n[3];
-				size_t id0 = node0->index;
-				size_t id1 = node1->index;
-				size_t id2 = node2->index;
-				size_t id3 = node3->index;
-
-				// elastic force
-				btScalar scale1 = scale * tetra.m_element_measure;
-				force[id0] -= scale1 * force_on_node0;
-				force[id1] -= scale1 * force_on_node123.getColumn(0);
-				force[id2] -= scale1 * force_on_node123.getColumn(1);
-				force[id3] -= scale1 * force_on_node123.getColumn(2);
-			}
-		}
-	}
-
-	// The damping matrix is calculated using the time n state as described in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search
-	virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df)
-	{
-		if (m_mu_damp == 0 && m_lambda_damp == 0)
-			return;
-		int numNodes = getNumNodes();
-		btAssert(numNodes <= df.size());
-		btVector3 grad_N_hat_1st_col = btVector3(-1, -1, -1);
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (!psb->isActive())
-			{
-				continue;
-			}
-			for (int j = 0; j < psb->m_tetras.size(); ++j)
-			{
-				btSoftBody::Tetra& tetra = psb->m_tetras[j];
-				btSoftBody::Node* node0 = tetra.m_n[0];
-				btSoftBody::Node* node1 = tetra.m_n[1];
-				btSoftBody::Node* node2 = tetra.m_n[2];
-				btSoftBody::Node* node3 = tetra.m_n[3];
-				size_t id0 = node0->index;
-				size_t id1 = node1->index;
-				size_t id2 = node2->index;
-				size_t id3 = node3->index;
-				btMatrix3x3 dF = Ds(id0, id1, id2, id3, dv) * tetra.m_Dm_inverse;
-				btMatrix3x3 I;
-				I.setIdentity();
-				btMatrix3x3 dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0] + dF[1][1] + dF[2][2]) * m_lambda_damp;
-				//                firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP);
-				//                btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col);
-				btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose();
-				btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col;
-
-				// damping force differential
-				btScalar scale1 = scale * tetra.m_element_measure;
-				df[id0] -= scale1 * df_on_node0;
-				df[id1] -= scale1 * df_on_node123.getColumn(0);
-				df[id2] -= scale1 * df_on_node123.getColumn(1);
-				df[id3] -= scale1 * df_on_node123.getColumn(2);
-			}
-		}
-	}
-
-	virtual void buildDampingForceDifferentialDiagonal(btScalar scale, TVStack& diagA) {}
-
-	virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df)
-	{
-		int numNodes = getNumNodes();
-		btAssert(numNodes <= df.size());
-		btVector3 grad_N_hat_1st_col = btVector3(-1, -1, -1);
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			if (!psb->isActive())
-			{
-				continue;
-			}
-			for (int j = 0; j < psb->m_tetras.size(); ++j)
-			{
-				btSoftBody::Tetra& tetra = psb->m_tetras[j];
-				btSoftBody::Node* node0 = tetra.m_n[0];
-				btSoftBody::Node* node1 = tetra.m_n[1];
-				btSoftBody::Node* node2 = tetra.m_n[2];
-				btSoftBody::Node* node3 = tetra.m_n[3];
-				size_t id0 = node0->index;
-				size_t id1 = node1->index;
-				size_t id2 = node2->index;
-				size_t id3 = node3->index;
-				btMatrix3x3 dF = Ds(id0, id1, id2, id3, dx) * tetra.m_Dm_inverse;
-				btMatrix3x3 dP;
-				firstPiolaDifferential(psb->m_tetraScratches[j], dF, dP);
-				//                btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col);
-				btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose();
-				btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col;
-
-				// elastic force differential
-				btScalar scale1 = scale * tetra.m_element_measure;
-				df[id0] -= scale1 * df_on_node0;
-				df[id1] -= scale1 * df_on_node123.getColumn(0);
-				df[id2] -= scale1 * df_on_node123.getColumn(1);
-				df[id3] -= scale1 * df_on_node123.getColumn(2);
-			}
-		}
-	}
-
-	void firstPiola(const btSoftBody::TetraScratch& s, btMatrix3x3& P)
-	{
-		btScalar c1 = (m_mu * (1. - 1. / (s.m_trace + 1.)));
-		btScalar c2 = (m_lambda * (s.m_J - 1.) - 0.75 * m_mu);
-		P = s.m_F * c1 + s.m_cofF * c2;
-	}
-
-	// Let P be the first piola stress.
-	// This function calculates the dP = dP/dF * dF
-	void firstPiolaDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP)
-	{
-		btScalar c1 = m_mu * (1. - 1. / (s.m_trace + 1.));
-		btScalar c2 = (2. * m_mu) * DotProduct(s.m_F, dF) * (1. / ((1. + s.m_trace) * (1. + s.m_trace)));
-		btScalar c3 = (m_lambda * DotProduct(s.m_cofF, dF));
-		dP = dF * c1 + s.m_F * c2;
-		addScaledCofactorMatrixDifferential(s.m_F, dF, m_lambda * (s.m_J - 1.) - 0.75 * m_mu, dP);
-		dP += s.m_cofF * c3;
-	}
-
-	// Let Q be the damping stress.
-	// This function calculates the dP = dQ/dF * dF
-	void firstPiolaDampingDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP)
-	{
-		btScalar c1 = (m_mu_damp * (1. - 1. / (s.m_trace + 1.)));
-		btScalar c2 = ((2. * m_mu_damp) * DotProduct(s.m_F, dF) * (1. / ((1. + s.m_trace) * (1. + s.m_trace))));
-		btScalar c3 = (m_lambda_damp * DotProduct(s.m_cofF, dF));
-		dP = dF * c1 + s.m_F * c2;
-		addScaledCofactorMatrixDifferential(s.m_F, dF, m_lambda_damp * (s.m_J - 1.) - 0.75 * m_mu_damp, dP);
-		dP += s.m_cofF * c3;
-	}
-
-	btScalar DotProduct(const btMatrix3x3& A, const btMatrix3x3& B)
-	{
-		btScalar ans = 0;
-		for (int i = 0; i < 3; ++i)
-		{
-			ans += A[i].dot(B[i]);
-		}
-		return ans;
-	}
-
-	// Let C(A) be the cofactor of the matrix A
-	// Let H = the derivative of C(A) with respect to A evaluated at F = A
-	// This function calculates H*dF
-	void addScaledCofactorMatrixDifferential(const btMatrix3x3& F, const btMatrix3x3& dF, btScalar scale, btMatrix3x3& M)
-	{
-		M[0][0] += scale * (dF[1][1] * F[2][2] + F[1][1] * dF[2][2] - dF[2][1] * F[1][2] - F[2][1] * dF[1][2]);
-		M[1][0] += scale * (dF[2][1] * F[0][2] + F[2][1] * dF[0][2] - dF[0][1] * F[2][2] - F[0][1] * dF[2][2]);
-		M[2][0] += scale * (dF[0][1] * F[1][2] + F[0][1] * dF[1][2] - dF[1][1] * F[0][2] - F[1][1] * dF[0][2]);
-		M[0][1] += scale * (dF[2][0] * F[1][2] + F[2][0] * dF[1][2] - dF[1][0] * F[2][2] - F[1][0] * dF[2][2]);
-		M[1][1] += scale * (dF[0][0] * F[2][2] + F[0][0] * dF[2][2] - dF[2][0] * F[0][2] - F[2][0] * dF[0][2]);
-		M[2][1] += scale * (dF[1][0] * F[0][2] + F[1][0] * dF[0][2] - dF[0][0] * F[1][2] - F[0][0] * dF[1][2]);
-		M[0][2] += scale * (dF[1][0] * F[2][1] + F[1][0] * dF[2][1] - dF[2][0] * F[1][1] - F[2][0] * dF[1][1]);
-		M[1][2] += scale * (dF[2][0] * F[0][1] + F[2][0] * dF[0][1] - dF[0][0] * F[2][1] - F[0][0] * dF[2][1]);
-		M[2][2] += scale * (dF[0][0] * F[1][1] + F[0][0] * dF[1][1] - dF[1][0] * F[0][1] - F[1][0] * dF[0][1]);
-	}
-
-	virtual btDeformableLagrangianForceType getForceType()
-	{
-		return BT_NEOHOOKEAN_FORCE;
-	}
-};
-#endif /* BT_NEOHOOKEAN_H */
diff --git a/thirdparty/bullet/BulletSoftBody/btKrylovSolver.h b/thirdparty/bullet/BulletSoftBody/btKrylovSolver.h
deleted file mode 100644
index 59126b47ae..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btKrylovSolver.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#ifndef BT_KRYLOV_SOLVER_H
-#define BT_KRYLOV_SOLVER_H
-#include <iostream>
-#include <cmath>
-#include <limits>
-#include <LinearMath/btAlignedObjectArray.h>
-#include <LinearMath/btVector3.h>
-#include <LinearMath/btScalar.h>
-#include "LinearMath/btQuickprof.h"
-
-template <class MatrixX>
-class btKrylovSolver
-{
-	typedef btAlignedObjectArray<btVector3> TVStack;
-
-public:
-	int m_maxIterations;
-	btScalar m_tolerance;
-	btKrylovSolver(int maxIterations, btScalar tolerance)
-		: m_maxIterations(maxIterations), m_tolerance(tolerance)
-	{
-	}
-
-	virtual ~btKrylovSolver() {}
-
-	virtual int solve(MatrixX& A, TVStack& x, const TVStack& b, bool verbose = false) = 0;
-
-	virtual void reinitialize(const TVStack& b) = 0;
-
-	virtual SIMD_FORCE_INLINE TVStack sub(const TVStack& a, const TVStack& b)
-	{
-		// c = a-b
-		btAssert(a.size() == b.size());
-		TVStack c;
-		c.resize(a.size());
-		for (int i = 0; i < a.size(); ++i)
-		{
-			c[i] = a[i] - b[i];
-		}
-		return c;
-	}
-
-	virtual SIMD_FORCE_INLINE btScalar squaredNorm(const TVStack& a)
-	{
-		return dot(a, a);
-	}
-
-	virtual SIMD_FORCE_INLINE btScalar norm(const TVStack& a)
-	{
-		btScalar ret = 0;
-		for (int i = 0; i < a.size(); ++i)
-		{
-			for (int d = 0; d < 3; ++d)
-			{
-				ret = btMax(ret, btFabs(a[i][d]));
-			}
-		}
-		return ret;
-	}
-
-	virtual SIMD_FORCE_INLINE btScalar dot(const TVStack& a, const TVStack& b)
-	{
-		btScalar ans(0);
-		for (int i = 0; i < a.size(); ++i)
-			ans += a[i].dot(b[i]);
-		return ans;
-	}
-
-	virtual SIMD_FORCE_INLINE void multAndAddTo(btScalar s, const TVStack& a, TVStack& result)
-	{
-		//        result += s*a
-		btAssert(a.size() == result.size());
-		for (int i = 0; i < a.size(); ++i)
-			result[i] += s * a[i];
-	}
-
-	virtual SIMD_FORCE_INLINE TVStack multAndAdd(btScalar s, const TVStack& a, const TVStack& b)
-	{
-		// result = a*s + b
-		TVStack result;
-		result.resize(a.size());
-		for (int i = 0; i < a.size(); ++i)
-			result[i] = s * a[i] + b[i];
-		return result;
-	}
-
-	virtual SIMD_FORCE_INLINE void setTolerance(btScalar tolerance)
-	{
-		m_tolerance = tolerance;
-	}
-};
-#endif /* BT_KRYLOV_SOLVER_H */
diff --git a/thirdparty/bullet/BulletSoftBody/btPreconditioner.h b/thirdparty/bullet/BulletSoftBody/btPreconditioner.h
deleted file mode 100644
index 21c1106a42..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btPreconditioner.h
+++ /dev/null
@@ -1,285 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
-
-#ifndef BT_PRECONDITIONER_H
-#define BT_PRECONDITIONER_H
-
-class Preconditioner
-{
-public:
-	typedef btAlignedObjectArray<btVector3> TVStack;
-	virtual void operator()(const TVStack& x, TVStack& b) = 0;
-	virtual void reinitialize(bool nodeUpdated) = 0;
-	virtual ~Preconditioner() {}
-};
-
-class DefaultPreconditioner : public Preconditioner
-{
-public:
-	virtual void operator()(const TVStack& x, TVStack& b)
-	{
-		btAssert(b.size() == x.size());
-		for (int i = 0; i < b.size(); ++i)
-			b[i] = x[i];
-	}
-	virtual void reinitialize(bool nodeUpdated)
-	{
-	}
-
-	virtual ~DefaultPreconditioner() {}
-};
-
-class MassPreconditioner : public Preconditioner
-{
-	btAlignedObjectArray<btScalar> m_inv_mass;
-	const btAlignedObjectArray<btSoftBody*>& m_softBodies;
-
-public:
-	MassPreconditioner(const btAlignedObjectArray<btSoftBody*>& softBodies)
-		: m_softBodies(softBodies)
-	{
-	}
-
-	virtual void reinitialize(bool nodeUpdated)
-	{
-		if (nodeUpdated)
-		{
-			m_inv_mass.clear();
-			for (int i = 0; i < m_softBodies.size(); ++i)
-			{
-				btSoftBody* psb = m_softBodies[i];
-				for (int j = 0; j < psb->m_nodes.size(); ++j)
-					m_inv_mass.push_back(psb->m_nodes[j].m_im);
-			}
-		}
-	}
-
-	virtual void operator()(const TVStack& x, TVStack& b)
-	{
-		btAssert(b.size() == x.size());
-		btAssert(m_inv_mass.size() <= x.size());
-		for (int i = 0; i < m_inv_mass.size(); ++i)
-		{
-			b[i] = x[i] * m_inv_mass[i];
-		}
-		for (int i = m_inv_mass.size(); i < b.size(); ++i)
-		{
-			b[i] = x[i];
-		}
-	}
-};
-
-class KKTPreconditioner : public Preconditioner
-{
-	const btAlignedObjectArray<btSoftBody*>& m_softBodies;
-	const btDeformableContactProjection& m_projections;
-	const btAlignedObjectArray<btDeformableLagrangianForce*>& m_lf;
-	TVStack m_inv_A, m_inv_S;
-	const btScalar& m_dt;
-	const bool& m_implicit;
-
-public:
-	KKTPreconditioner(const btAlignedObjectArray<btSoftBody*>& softBodies, const btDeformableContactProjection& projections, const btAlignedObjectArray<btDeformableLagrangianForce*>& lf, const btScalar& dt, const bool& implicit)
-		: m_softBodies(softBodies), m_projections(projections), m_lf(lf), m_dt(dt), m_implicit(implicit)
-	{
-	}
-
-	virtual void reinitialize(bool nodeUpdated)
-	{
-		if (nodeUpdated)
-		{
-			int num_nodes = 0;
-			for (int i = 0; i < m_softBodies.size(); ++i)
-			{
-				btSoftBody* psb = m_softBodies[i];
-				num_nodes += psb->m_nodes.size();
-			}
-			m_inv_A.resize(num_nodes);
-		}
-		buildDiagonalA(m_inv_A);
-		for (int i = 0; i < m_inv_A.size(); ++i)
-		{
-			//            printf("A[%d] = %f, %f, %f \n", i, m_inv_A[i][0], m_inv_A[i][1], m_inv_A[i][2]);
-			for (int d = 0; d < 3; ++d)
-			{
-				m_inv_A[i][d] = (m_inv_A[i][d] == 0) ? 0.0 : 1.0 / m_inv_A[i][d];
-			}
-		}
-		m_inv_S.resize(m_projections.m_lagrangeMultipliers.size());
-		//        printf("S.size() = %d \n", m_inv_S.size());
-		buildDiagonalS(m_inv_A, m_inv_S);
-		for (int i = 0; i < m_inv_S.size(); ++i)
-		{
-			//            printf("S[%d] = %f, %f, %f \n", i, m_inv_S[i][0], m_inv_S[i][1], m_inv_S[i][2]);
-			for (int d = 0; d < 3; ++d)
-			{
-				m_inv_S[i][d] = (m_inv_S[i][d] == 0) ? 0.0 : 1.0 / m_inv_S[i][d];
-			}
-		}
-	}
-
-	void buildDiagonalA(TVStack& diagA) const
-	{
-		size_t counter = 0;
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				const btSoftBody::Node& node = psb->m_nodes[j];
-				diagA[counter] = (node.m_im == 0) ? btVector3(0, 0, 0) : btVector3(1.0 / node.m_im, 1.0 / node.m_im, 1.0 / node.m_im);
-				++counter;
-			}
-		}
-		if (m_implicit)
-		{
-			printf("implicit not implemented\n");
-			btAssert(false);
-		}
-		for (int i = 0; i < m_lf.size(); ++i)
-		{
-			// add damping matrix
-			m_lf[i]->buildDampingForceDifferentialDiagonal(-m_dt, diagA);
-		}
-	}
-
-	void buildDiagonalS(const TVStack& inv_A, TVStack& diagS)
-	{
-		for (int c = 0; c < m_projections.m_lagrangeMultipliers.size(); ++c)
-		{
-			// S[k,k] = e_k^T * C A_d^-1 C^T * e_k
-			const LagrangeMultiplier& lm = m_projections.m_lagrangeMultipliers[c];
-			btVector3& t = diagS[c];
-			t.setZero();
-			for (int j = 0; j < lm.m_num_constraints; ++j)
-			{
-				for (int i = 0; i < lm.m_num_nodes; ++i)
-				{
-					for (int d = 0; d < 3; ++d)
-					{
-						t[j] += inv_A[lm.m_indices[i]][d] * lm.m_dirs[j][d] * lm.m_dirs[j][d] * lm.m_weights[i] * lm.m_weights[i];
-					}
-				}
-			}
-		}
-	}
-//#define USE_FULL_PRECONDITIONER
-#ifndef USE_FULL_PRECONDITIONER
-	virtual void operator()(const TVStack& x, TVStack& b)
-	{
-		btAssert(b.size() == x.size());
-		for (int i = 0; i < m_inv_A.size(); ++i)
-		{
-			b[i] = x[i] * m_inv_A[i];
-		}
-		int offset = m_inv_A.size();
-		for (int i = 0; i < m_inv_S.size(); ++i)
-		{
-			b[i + offset] = x[i + offset] * m_inv_S[i];
-		}
-	}
-#else
-	virtual void operator()(const TVStack& x, TVStack& b)
-	{
-		btAssert(b.size() == x.size());
-		int offset = m_inv_A.size();
-
-		for (int i = 0; i < m_inv_A.size(); ++i)
-		{
-			b[i] = x[i] * m_inv_A[i];
-		}
-
-		for (int i = 0; i < m_inv_S.size(); ++i)
-		{
-			b[i + offset].setZero();
-		}
-
-		for (int c = 0; c < m_projections.m_lagrangeMultipliers.size(); ++c)
-		{
-			const LagrangeMultiplier& lm = m_projections.m_lagrangeMultipliers[c];
-			// C * x
-			for (int d = 0; d < lm.m_num_constraints; ++d)
-			{
-				for (int i = 0; i < lm.m_num_nodes; ++i)
-				{
-					b[offset + c][d] += lm.m_weights[i] * b[lm.m_indices[i]].dot(lm.m_dirs[d]);
-				}
-			}
-		}
-
-		for (int i = 0; i < m_inv_S.size(); ++i)
-		{
-			b[i + offset] = b[i + offset] * m_inv_S[i];
-		}
-
-		for (int i = 0; i < m_inv_A.size(); ++i)
-		{
-			b[i].setZero();
-		}
-
-		for (int c = 0; c < m_projections.m_lagrangeMultipliers.size(); ++c)
-		{
-			// C^T * lambda
-			const LagrangeMultiplier& lm = m_projections.m_lagrangeMultipliers[c];
-			for (int i = 0; i < lm.m_num_nodes; ++i)
-			{
-				for (int j = 0; j < lm.m_num_constraints; ++j)
-				{
-					b[lm.m_indices[i]] += b[offset + c][j] * lm.m_weights[i] * lm.m_dirs[j];
-				}
-			}
-		}
-
-		for (int i = 0; i < m_inv_A.size(); ++i)
-		{
-			b[i] = (x[i] - b[i]) * m_inv_A[i];
-		}
-
-		TVStack t;
-		t.resize(b.size());
-		for (int i = 0; i < m_inv_S.size(); ++i)
-		{
-			t[i + offset] = x[i + offset] * m_inv_S[i];
-		}
-		for (int i = 0; i < m_inv_A.size(); ++i)
-		{
-			t[i].setZero();
-		}
-		for (int c = 0; c < m_projections.m_lagrangeMultipliers.size(); ++c)
-		{
-			// C^T * lambda
-			const LagrangeMultiplier& lm = m_projections.m_lagrangeMultipliers[c];
-			for (int i = 0; i < lm.m_num_nodes; ++i)
-			{
-				for (int j = 0; j < lm.m_num_constraints; ++j)
-				{
-					t[lm.m_indices[i]] += t[offset + c][j] * lm.m_weights[i] * lm.m_dirs[j];
-				}
-			}
-		}
-		for (int i = 0; i < m_inv_A.size(); ++i)
-		{
-			b[i] += t[i] * m_inv_A[i];
-		}
-
-		for (int i = 0; i < m_inv_S.size(); ++i)
-		{
-			b[i + offset] -= x[i + offset] * m_inv_S[i];
-		}
-	}
-#endif
-};
-
-#endif /* BT_PRECONDITIONER_H */
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp b/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp
deleted file mode 100644
index d1980ea6c5..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp
+++ /dev/null
@@ -1,4730 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-///btSoftBody implementation by Nathanael Presson
-
-#include "btSoftBodyInternals.h"
-#include "BulletSoftBody/btSoftBodySolvers.h"
-#include "btSoftBodyData.h"
-#include "LinearMath/btSerializer.h"
-#include "LinearMath/btImplicitQRSVD.h"
-#include "LinearMath/btAlignedAllocator.h"
-#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
-#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
-#include "BulletCollision/CollisionShapes/btTriangleShape.h"
-#include <iostream>
-//
-static inline btDbvtNode* buildTreeBottomUp(btAlignedObjectArray<btDbvtNode*>& leafNodes, btAlignedObjectArray<btAlignedObjectArray<int> >& adj)
-{
-	int N = leafNodes.size();
-	if (N == 0)
-	{
-		return NULL;
-	}
-	while (N > 1)
-	{
-		btAlignedObjectArray<bool> marked;
-		btAlignedObjectArray<btDbvtNode*> newLeafNodes;
-		btAlignedObjectArray<std::pair<int, int> > childIds;
-		btAlignedObjectArray<btAlignedObjectArray<int> > newAdj;
-		marked.resize(N);
-		for (int i = 0; i < N; ++i)
-			marked[i] = false;
-
-		// pair adjacent nodes into new(parent) node
-		for (int i = 0; i < N; ++i)
-		{
-			if (marked[i])
-				continue;
-			bool merged = false;
-			for (int j = 0; j < adj[i].size(); ++j)
-			{
-				int n = adj[i][j];
-				if (!marked[adj[i][j]])
-				{
-					btDbvtNode* node = new (btAlignedAlloc(sizeof(btDbvtNode), 16)) btDbvtNode();
-					node->parent = NULL;
-					node->childs[0] = leafNodes[i];
-					node->childs[1] = leafNodes[n];
-					leafNodes[i]->parent = node;
-					leafNodes[n]->parent = node;
-					newLeafNodes.push_back(node);
-					childIds.push_back(std::make_pair(i, n));
-					merged = true;
-					marked[n] = true;
-					break;
-				}
-			}
-			if (!merged)
-			{
-				newLeafNodes.push_back(leafNodes[i]);
-				childIds.push_back(std::make_pair(i, -1));
-			}
-			marked[i] = true;
-		}
-		// update adjacency matrix
-		newAdj.resize(newLeafNodes.size());
-		for (int i = 0; i < newLeafNodes.size(); ++i)
-		{
-			for (int j = i + 1; j < newLeafNodes.size(); ++j)
-			{
-				bool neighbor = false;
-				const btAlignedObjectArray<int>& leftChildNeighbors = adj[childIds[i].first];
-				for (int k = 0; k < leftChildNeighbors.size(); ++k)
-				{
-					if (leftChildNeighbors[k] == childIds[j].first || leftChildNeighbors[k] == childIds[j].second)
-					{
-						neighbor = true;
-						break;
-					}
-				}
-				if (!neighbor && childIds[i].second != -1)
-				{
-					const btAlignedObjectArray<int>& rightChildNeighbors = adj[childIds[i].second];
-					for (int k = 0; k < rightChildNeighbors.size(); ++k)
-					{
-						if (rightChildNeighbors[k] == childIds[j].first || rightChildNeighbors[k] == childIds[j].second)
-						{
-							neighbor = true;
-							break;
-						}
-					}
-				}
-				if (neighbor)
-				{
-					newAdj[i].push_back(j);
-					newAdj[j].push_back(i);
-				}
-			}
-		}
-		leafNodes = newLeafNodes;
-		//this assignment leaks memory, the assignment doesn't do a deep copy, for now a manual copy
-		//adj = newAdj;
-		adj.clear();
-		adj.resize(newAdj.size());
-		for (int i = 0; i < newAdj.size(); i++)
-		{
-			for (int j = 0; j < newAdj[i].size(); j++)
-			{
-				adj[i].push_back(newAdj[i][j]);
-			}
-		}
-		N = leafNodes.size();
-	}
-	return leafNodes[0];
-}
-
-//
-btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btVector3* x, const btScalar* m)
-	: m_softBodySolver(0), m_worldInfo(worldInfo)
-{
-	/* Init		*/
-	initDefaults();
-
-	/* Default material	*/
-	Material* pm = appendMaterial();
-	pm->m_kLST = 1;
-	pm->m_kAST = 1;
-	pm->m_kVST = 1;
-	pm->m_flags = fMaterial::Default;
-
-	/* Nodes			*/
-	const btScalar margin = getCollisionShape()->getMargin();
-	m_nodes.resize(node_count);
-	m_X.resize(node_count);
-	for (int i = 0, ni = node_count; i < ni; ++i)
-	{
-		Node& n = m_nodes[i];
-		ZeroInitialize(n);
-		n.m_x = x ? *x++ : btVector3(0, 0, 0);
-		n.m_q = n.m_x;
-		n.m_im = m ? *m++ : 1;
-		n.m_im = n.m_im > 0 ? 1 / n.m_im : 0;
-		n.m_leaf = m_ndbvt.insert(btDbvtVolume::FromCR(n.m_x, margin), &n);
-		n.m_material = pm;
-		m_X[i] = n.m_x;
-	}
-	updateBounds();
-	setCollisionQuadrature(3);
-	m_fdbvnt = 0;
-}
-
-btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo)
-	: m_worldInfo(worldInfo)
-{
-	initDefaults();
-}
-
-void btSoftBody::initDefaults()
-{
-	m_internalType = CO_SOFT_BODY;
-	m_cfg.aeromodel = eAeroModel::V_Point;
-	m_cfg.kVCF = 1;
-	m_cfg.kDG = 0;
-	m_cfg.kLF = 0;
-	m_cfg.kDP = 0;
-	m_cfg.kPR = 0;
-	m_cfg.kVC = 0;
-	m_cfg.kDF = (btScalar)0.2;
-	m_cfg.kMT = 0;
-	m_cfg.kCHR = (btScalar)1.0;
-	m_cfg.kKHR = (btScalar)0.1;
-	m_cfg.kSHR = (btScalar)1.0;
-	m_cfg.kAHR = (btScalar)0.7;
-	m_cfg.kSRHR_CL = (btScalar)0.1;
-	m_cfg.kSKHR_CL = (btScalar)1;
-	m_cfg.kSSHR_CL = (btScalar)0.5;
-	m_cfg.kSR_SPLT_CL = (btScalar)0.5;
-	m_cfg.kSK_SPLT_CL = (btScalar)0.5;
-	m_cfg.kSS_SPLT_CL = (btScalar)0.5;
-	m_cfg.maxvolume = (btScalar)1;
-	m_cfg.timescale = 1;
-	m_cfg.viterations = 0;
-	m_cfg.piterations = 1;
-	m_cfg.diterations = 0;
-	m_cfg.citerations = 4;
-	m_cfg.drag = 0;
-	m_cfg.m_maxStress = 0;
-	m_cfg.collisions = fCollision::Default;
-	m_pose.m_bvolume = false;
-	m_pose.m_bframe = false;
-	m_pose.m_volume = 0;
-	m_pose.m_com = btVector3(0, 0, 0);
-	m_pose.m_rot.setIdentity();
-	m_pose.m_scl.setIdentity();
-	m_tag = 0;
-	m_timeacc = 0;
-	m_bUpdateRtCst = true;
-	m_bounds[0] = btVector3(0, 0, 0);
-	m_bounds[1] = btVector3(0, 0, 0);
-	m_worldTransform.setIdentity();
-	setSolver(eSolverPresets::Positions);
-
-	/* Collision shape	*/
-	///for now, create a collision shape internally
-	m_collisionShape = new btSoftBodyCollisionShape(this);
-	m_collisionShape->setMargin(0.25f);
-
-	m_worldTransform.setIdentity();
-
-	m_windVelocity = btVector3(0, 0, 0);
-	m_restLengthScale = btScalar(1.0);
-	m_dampingCoefficient = 1.0;
-	m_sleepingThreshold = .04;
-	m_useSelfCollision = false;
-	m_collisionFlags = 0;
-	m_softSoftCollision = false;
-	m_maxSpeedSquared = 0;
-	m_repulsionStiffness = 0.5;
-	m_gravityFactor = 1;
-	m_cacheBarycenter = false;
-	m_fdbvnt = 0;
-}
-
-//
-btSoftBody::~btSoftBody()
-{
-	//for now, delete the internal shape
-	delete m_collisionShape;
-	int i;
-
-	releaseClusters();
-	for (i = 0; i < m_materials.size(); ++i)
-		btAlignedFree(m_materials[i]);
-	for (i = 0; i < m_joints.size(); ++i)
-		btAlignedFree(m_joints[i]);
-	if (m_fdbvnt)
-		delete m_fdbvnt;
-}
-
-//
-bool btSoftBody::checkLink(int node0, int node1) const
-{
-	return (checkLink(&m_nodes[node0], &m_nodes[node1]));
-}
-
-//
-bool btSoftBody::checkLink(const Node* node0, const Node* node1) const
-{
-	const Node* n[] = {node0, node1};
-	for (int i = 0, ni = m_links.size(); i < ni; ++i)
-	{
-		const Link& l = m_links[i];
-		if ((l.m_n[0] == n[0] && l.m_n[1] == n[1]) ||
-			(l.m_n[0] == n[1] && l.m_n[1] == n[0]))
-		{
-			return (true);
-		}
-	}
-	return (false);
-}
-
-//
-bool btSoftBody::checkFace(int node0, int node1, int node2) const
-{
-	const Node* n[] = {&m_nodes[node0],
-					   &m_nodes[node1],
-					   &m_nodes[node2]};
-	for (int i = 0, ni = m_faces.size(); i < ni; ++i)
-	{
-		const Face& f = m_faces[i];
-		int c = 0;
-		for (int j = 0; j < 3; ++j)
-		{
-			if ((f.m_n[j] == n[0]) ||
-				(f.m_n[j] == n[1]) ||
-				(f.m_n[j] == n[2]))
-				c |= 1 << j;
-			else
-				break;
-		}
-		if (c == 7) return (true);
-	}
-	return (false);
-}
-
-//
-btSoftBody::Material* btSoftBody::appendMaterial()
-{
-	Material* pm = new (btAlignedAlloc(sizeof(Material), 16)) Material();
-	if (m_materials.size() > 0)
-		*pm = *m_materials[0];
-	else
-		ZeroInitialize(*pm);
-	m_materials.push_back(pm);
-	return (pm);
-}
-
-//
-void btSoftBody::appendNote(const char* text,
-							const btVector3& o,
-							const btVector4& c,
-							Node* n0,
-							Node* n1,
-							Node* n2,
-							Node* n3)
-{
-	Note n;
-	ZeroInitialize(n);
-	n.m_rank = 0;
-	n.m_text = text;
-	n.m_offset = o;
-	n.m_coords[0] = c.x();
-	n.m_coords[1] = c.y();
-	n.m_coords[2] = c.z();
-	n.m_coords[3] = c.w();
-	n.m_nodes[0] = n0;
-	n.m_rank += n0 ? 1 : 0;
-	n.m_nodes[1] = n1;
-	n.m_rank += n1 ? 1 : 0;
-	n.m_nodes[2] = n2;
-	n.m_rank += n2 ? 1 : 0;
-	n.m_nodes[3] = n3;
-	n.m_rank += n3 ? 1 : 0;
-	m_notes.push_back(n);
-}
-
-//
-void btSoftBody::appendNote(const char* text,
-							const btVector3& o,
-							Node* feature)
-{
-	appendNote(text, o, btVector4(1, 0, 0, 0), feature);
-}
-
-//
-void btSoftBody::appendNote(const char* text,
-							const btVector3& o,
-							Link* feature)
-{
-	static const btScalar w = 1 / (btScalar)2;
-	appendNote(text, o, btVector4(w, w, 0, 0), feature->m_n[0],
-			   feature->m_n[1]);
-}
-
-//
-void btSoftBody::appendNote(const char* text,
-							const btVector3& o,
-							Face* feature)
-{
-	static const btScalar w = 1 / (btScalar)3;
-	appendNote(text, o, btVector4(w, w, w, 0), feature->m_n[0],
-			   feature->m_n[1],
-			   feature->m_n[2]);
-}
-
-//
-void btSoftBody::appendNode(const btVector3& x, btScalar m)
-{
-	if (m_nodes.capacity() == m_nodes.size())
-	{
-		pointersToIndices();
-		m_nodes.reserve(m_nodes.size() * 2 + 1);
-		indicesToPointers();
-	}
-	const btScalar margin = getCollisionShape()->getMargin();
-	m_nodes.push_back(Node());
-	Node& n = m_nodes[m_nodes.size() - 1];
-	ZeroInitialize(n);
-	n.m_x = x;
-	n.m_q = n.m_x;
-	n.m_im = m > 0 ? 1 / m : 0;
-	n.m_material = m_materials[0];
-	n.m_leaf = m_ndbvt.insert(btDbvtVolume::FromCR(n.m_x, margin), &n);
-}
-
-//
-void btSoftBody::appendLink(int model, Material* mat)
-{
-	Link l;
-	if (model >= 0)
-		l = m_links[model];
-	else
-	{
-		ZeroInitialize(l);
-		l.m_material = mat ? mat : m_materials[0];
-	}
-	m_links.push_back(l);
-}
-
-//
-void btSoftBody::appendLink(int node0,
-							int node1,
-							Material* mat,
-							bool bcheckexist)
-{
-	appendLink(&m_nodes[node0], &m_nodes[node1], mat, bcheckexist);
-}
-
-//
-void btSoftBody::appendLink(Node* node0,
-							Node* node1,
-							Material* mat,
-							bool bcheckexist)
-{
-	if ((!bcheckexist) || (!checkLink(node0, node1)))
-	{
-		appendLink(-1, mat);
-		Link& l = m_links[m_links.size() - 1];
-		l.m_n[0] = node0;
-		l.m_n[1] = node1;
-		l.m_rl = (l.m_n[0]->m_x - l.m_n[1]->m_x).length();
-		m_bUpdateRtCst = true;
-	}
-}
-
-//
-void btSoftBody::appendFace(int model, Material* mat)
-{
-	Face f;
-	if (model >= 0)
-	{
-		f = m_faces[model];
-	}
-	else
-	{
-		ZeroInitialize(f);
-		f.m_material = mat ? mat : m_materials[0];
-	}
-	m_faces.push_back(f);
-}
-
-//
-void btSoftBody::appendFace(int node0, int node1, int node2, Material* mat)
-{
-	if (node0 == node1)
-		return;
-	if (node1 == node2)
-		return;
-	if (node2 == node0)
-		return;
-
-	appendFace(-1, mat);
-	Face& f = m_faces[m_faces.size() - 1];
-	btAssert(node0 != node1);
-	btAssert(node1 != node2);
-	btAssert(node2 != node0);
-	f.m_n[0] = &m_nodes[node0];
-	f.m_n[1] = &m_nodes[node1];
-	f.m_n[2] = &m_nodes[node2];
-	f.m_ra = AreaOf(f.m_n[0]->m_x,
-					f.m_n[1]->m_x,
-					f.m_n[2]->m_x);
-	m_bUpdateRtCst = true;
-}
-
-//
-void btSoftBody::appendTetra(int model, Material* mat)
-{
-	Tetra t;
-	if (model >= 0)
-		t = m_tetras[model];
-	else
-	{
-		ZeroInitialize(t);
-		t.m_material = mat ? mat : m_materials[0];
-	}
-	m_tetras.push_back(t);
-}
-
-//
-void btSoftBody::appendTetra(int node0,
-							 int node1,
-							 int node2,
-							 int node3,
-							 Material* mat)
-{
-	appendTetra(-1, mat);
-	Tetra& t = m_tetras[m_tetras.size() - 1];
-	t.m_n[0] = &m_nodes[node0];
-	t.m_n[1] = &m_nodes[node1];
-	t.m_n[2] = &m_nodes[node2];
-	t.m_n[3] = &m_nodes[node3];
-	t.m_rv = VolumeOf(t.m_n[0]->m_x, t.m_n[1]->m_x, t.m_n[2]->m_x, t.m_n[3]->m_x);
-	m_bUpdateRtCst = true;
-}
-
-//
-
-void btSoftBody::appendAnchor(int node, btRigidBody* body, bool disableCollisionBetweenLinkedBodies, btScalar influence)
-{
-	btVector3 local = body->getWorldTransform().inverse() * m_nodes[node].m_x;
-	appendAnchor(node, body, local, disableCollisionBetweenLinkedBodies, influence);
-}
-
-//
-void btSoftBody::appendAnchor(int node, btRigidBody* body, const btVector3& localPivot, bool disableCollisionBetweenLinkedBodies, btScalar influence)
-{
-	if (disableCollisionBetweenLinkedBodies)
-	{
-		if (m_collisionDisabledObjects.findLinearSearch(body) == m_collisionDisabledObjects.size())
-		{
-			m_collisionDisabledObjects.push_back(body);
-		}
-	}
-
-	Anchor a;
-	a.m_node = &m_nodes[node];
-	a.m_body = body;
-	a.m_local = localPivot;
-	a.m_node->m_battach = 1;
-	a.m_influence = influence;
-	m_anchors.push_back(a);
-}
-
-//
-void btSoftBody::appendDeformableAnchor(int node, btRigidBody* body)
-{
-	DeformableNodeRigidAnchor c;
-	btSoftBody::Node& n = m_nodes[node];
-	const btScalar ima = n.m_im;
-	const btScalar imb = body->getInvMass();
-	btVector3 nrm;
-	const btCollisionShape* shp = body->getCollisionShape();
-	const btTransform& wtr = body->getWorldTransform();
-	btScalar dst =
-		m_worldInfo->m_sparsesdf.Evaluate(
-			wtr.invXform(m_nodes[node].m_x),
-			shp,
-			nrm,
-			0);
-
-	c.m_cti.m_colObj = body;
-	c.m_cti.m_normal = wtr.getBasis() * nrm;
-	c.m_cti.m_offset = dst;
-	c.m_node = &m_nodes[node];
-	const btScalar fc = m_cfg.kDF * body->getFriction();
-	c.m_c2 = ima;
-	c.m_c3 = fc;
-	c.m_c4 = body->isStaticOrKinematicObject() ? m_cfg.kKHR : m_cfg.kCHR;
-	static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0);
-	const btMatrix3x3& iwi = body->getInvInertiaTensorWorld();
-	const btVector3 ra = n.m_x - wtr.getOrigin();
-
-	c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra);
-	c.m_c1 = ra;
-	c.m_local = body->getWorldTransform().inverse() * m_nodes[node].m_x;
-	c.m_node->m_battach = 1;
-	m_deformableAnchors.push_back(c);
-}
-
-void btSoftBody::removeAnchor(int node)
-{
-	const btSoftBody::Node& n = m_nodes[node];
-	for (int i = 0; i < m_deformableAnchors.size();)
-	{
-		const DeformableNodeRigidAnchor& c = m_deformableAnchors[i];
-		if (c.m_node == &n)
-		{
-			m_deformableAnchors.removeAtIndex(i);
-		}
-		else
-		{
-			i++;
-		}
-	}
-}
-
-//
-void btSoftBody::appendDeformableAnchor(int node, btMultiBodyLinkCollider* link)
-{
-	DeformableNodeRigidAnchor c;
-	btSoftBody::Node& n = m_nodes[node];
-	const btScalar ima = n.m_im;
-	btVector3 nrm;
-	const btCollisionShape* shp = link->getCollisionShape();
-	const btTransform& wtr = link->getWorldTransform();
-	btScalar dst =
-		m_worldInfo->m_sparsesdf.Evaluate(
-			wtr.invXform(m_nodes[node].m_x),
-			shp,
-			nrm,
-			0);
-	c.m_cti.m_colObj = link;
-	c.m_cti.m_normal = wtr.getBasis() * nrm;
-	c.m_cti.m_offset = dst;
-	c.m_node = &m_nodes[node];
-	const btScalar fc = m_cfg.kDF * link->getFriction();
-	c.m_c2 = ima;
-	c.m_c3 = fc;
-	c.m_c4 = link->isStaticOrKinematicObject() ? m_cfg.kKHR : m_cfg.kCHR;
-	btVector3 normal = c.m_cti.m_normal;
-	btVector3 t1 = generateUnitOrthogonalVector(normal);
-	btVector3 t2 = btCross(normal, t1);
-	btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2;
-	findJacobian(link, jacobianData_normal, c.m_node->m_x, normal);
-	findJacobian(link, jacobianData_t1, c.m_node->m_x, t1);
-	findJacobian(link, jacobianData_t2, c.m_node->m_x, t2);
-
-	btScalar* J_n = &jacobianData_normal.m_jacobians[0];
-	btScalar* J_t1 = &jacobianData_t1.m_jacobians[0];
-	btScalar* J_t2 = &jacobianData_t2.m_jacobians[0];
-
-	btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0];
-	btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0];
-	btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0];
-
-	btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(),
-					t1.getX(), t1.getY(), t1.getZ(),
-					t2.getX(), t2.getY(), t2.getZ());  // world frame to local frame
-	const int ndof = link->m_multiBody->getNumDofs() + 6;
-	btMatrix3x3 local_impulse_matrix = (Diagonal(n.m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse();
-	c.m_c0 = rot.transpose() * local_impulse_matrix * rot;
-	c.jacobianData_normal = jacobianData_normal;
-	c.jacobianData_t1 = jacobianData_t1;
-	c.jacobianData_t2 = jacobianData_t2;
-	c.t1 = t1;
-	c.t2 = t2;
-	const btVector3 ra = n.m_x - wtr.getOrigin();
-	c.m_c1 = ra;
-	c.m_local = link->getWorldTransform().inverse() * m_nodes[node].m_x;
-	c.m_node->m_battach = 1;
-	m_deformableAnchors.push_back(c);
-}
-//
-void btSoftBody::appendLinearJoint(const LJoint::Specs& specs, Cluster* body0, Body body1)
-{
-	LJoint* pj = new (btAlignedAlloc(sizeof(LJoint), 16)) LJoint();
-	pj->m_bodies[0] = body0;
-	pj->m_bodies[1] = body1;
-	pj->m_refs[0] = pj->m_bodies[0].xform().inverse() * specs.position;
-	pj->m_refs[1] = pj->m_bodies[1].xform().inverse() * specs.position;
-	pj->m_cfm = specs.cfm;
-	pj->m_erp = specs.erp;
-	pj->m_split = specs.split;
-	m_joints.push_back(pj);
-}
-
-//
-void btSoftBody::appendLinearJoint(const LJoint::Specs& specs, Body body)
-{
-	appendLinearJoint(specs, m_clusters[0], body);
-}
-
-//
-void btSoftBody::appendLinearJoint(const LJoint::Specs& specs, btSoftBody* body)
-{
-	appendLinearJoint(specs, m_clusters[0], body->m_clusters[0]);
-}
-
-//
-void btSoftBody::appendAngularJoint(const AJoint::Specs& specs, Cluster* body0, Body body1)
-{
-	AJoint* pj = new (btAlignedAlloc(sizeof(AJoint), 16)) AJoint();
-	pj->m_bodies[0] = body0;
-	pj->m_bodies[1] = body1;
-	pj->m_refs[0] = pj->m_bodies[0].xform().inverse().getBasis() * specs.axis;
-	pj->m_refs[1] = pj->m_bodies[1].xform().inverse().getBasis() * specs.axis;
-	pj->m_cfm = specs.cfm;
-	pj->m_erp = specs.erp;
-	pj->m_split = specs.split;
-	pj->m_icontrol = specs.icontrol;
-	m_joints.push_back(pj);
-}
-
-//
-void btSoftBody::appendAngularJoint(const AJoint::Specs& specs, Body body)
-{
-	appendAngularJoint(specs, m_clusters[0], body);
-}
-
-//
-void btSoftBody::appendAngularJoint(const AJoint::Specs& specs, btSoftBody* body)
-{
-	appendAngularJoint(specs, m_clusters[0], body->m_clusters[0]);
-}
-
-//
-void btSoftBody::addForce(const btVector3& force)
-{
-	for (int i = 0, ni = m_nodes.size(); i < ni; ++i) addForce(force, i);
-}
-
-//
-void btSoftBody::addForce(const btVector3& force, int node)
-{
-	Node& n = m_nodes[node];
-	if (n.m_im > 0)
-	{
-		n.m_f += force;
-	}
-}
-
-void btSoftBody::addAeroForceToNode(const btVector3& windVelocity, int nodeIndex)
-{
-	btAssert(nodeIndex >= 0 && nodeIndex < m_nodes.size());
-
-	const btScalar dt = m_sst.sdt;
-	const btScalar kLF = m_cfg.kLF;
-	const btScalar kDG = m_cfg.kDG;
-	//const btScalar kPR = m_cfg.kPR;
-	//const btScalar kVC = m_cfg.kVC;
-	const bool as_lift = kLF > 0;
-	const bool as_drag = kDG > 0;
-	const bool as_aero = as_lift || as_drag;
-	const bool as_vaero = as_aero && (m_cfg.aeromodel < btSoftBody::eAeroModel::F_TwoSided);
-
-	Node& n = m_nodes[nodeIndex];
-
-	if (n.m_im > 0)
-	{
-		btSoftBody::sMedium medium;
-
-		EvaluateMedium(m_worldInfo, n.m_x, medium);
-		medium.m_velocity = windVelocity;
-		medium.m_density = m_worldInfo->air_density;
-
-		/* Aerodynamics			*/
-		if (as_vaero)
-		{
-			const btVector3 rel_v = n.m_v - medium.m_velocity;
-			const btScalar rel_v_len = rel_v.length();
-			const btScalar rel_v2 = rel_v.length2();
-
-			if (rel_v2 > SIMD_EPSILON)
-			{
-				const btVector3 rel_v_nrm = rel_v.normalized();
-				btVector3 nrm = n.m_n;
-
-				if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSidedLiftDrag)
-				{
-					nrm *= (btScalar)((btDot(nrm, rel_v) < 0) ? -1 : +1);
-					btVector3 fDrag(0, 0, 0);
-					btVector3 fLift(0, 0, 0);
-
-					btScalar n_dot_v = nrm.dot(rel_v_nrm);
-					btScalar tri_area = 0.5f * n.m_area;
-
-					fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm);
-
-					// Check angle of attack
-					// cos(10º) = 0.98480
-					if (0 < n_dot_v && n_dot_v < 0.98480f)
-						fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f - n_dot_v * n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm));
-
-					// Check if the velocity change resulted by aero drag force exceeds the current velocity of the node.
-					btVector3 del_v_by_fDrag = fDrag * n.m_im * m_sst.sdt;
-					btScalar del_v_by_fDrag_len2 = del_v_by_fDrag.length2();
-					btScalar v_len2 = n.m_v.length2();
-
-					if (del_v_by_fDrag_len2 >= v_len2 && del_v_by_fDrag_len2 > 0)
-					{
-						btScalar del_v_by_fDrag_len = del_v_by_fDrag.length();
-						btScalar v_len = n.m_v.length();
-						fDrag *= btScalar(0.8) * (v_len / del_v_by_fDrag_len);
-					}
-
-					n.m_f += fDrag;
-					n.m_f += fLift;
-				}
-				else if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_Point || m_cfg.aeromodel == btSoftBody::eAeroModel::V_OneSided || m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSided)
-				{
-					if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSided)
-						nrm *= (btScalar)((btDot(nrm, rel_v) < 0) ? -1 : +1);
-
-					const btScalar dvn = btDot(rel_v, nrm);
-					/* Compute forces	*/
-					if (dvn > 0)
-					{
-						btVector3 force(0, 0, 0);
-						const btScalar c0 = n.m_area * dvn * rel_v2 / 2;
-						const btScalar c1 = c0 * medium.m_density;
-						force += nrm * (-c1 * kLF);
-						force += rel_v.normalized() * (-c1 * kDG);
-						ApplyClampedForce(n, force, dt);
-					}
-				}
-			}
-		}
-	}
-}
-
-void btSoftBody::addAeroForceToFace(const btVector3& windVelocity, int faceIndex)
-{
-	const btScalar dt = m_sst.sdt;
-	const btScalar kLF = m_cfg.kLF;
-	const btScalar kDG = m_cfg.kDG;
-	//	const btScalar kPR = m_cfg.kPR;
-	//	const btScalar kVC = m_cfg.kVC;
-	const bool as_lift = kLF > 0;
-	const bool as_drag = kDG > 0;
-	const bool as_aero = as_lift || as_drag;
-	const bool as_faero = as_aero && (m_cfg.aeromodel >= btSoftBody::eAeroModel::F_TwoSided);
-
-	if (as_faero)
-	{
-		btSoftBody::Face& f = m_faces[faceIndex];
-
-		btSoftBody::sMedium medium;
-
-		const btVector3 v = (f.m_n[0]->m_v + f.m_n[1]->m_v + f.m_n[2]->m_v) / 3;
-		const btVector3 x = (f.m_n[0]->m_x + f.m_n[1]->m_x + f.m_n[2]->m_x) / 3;
-		EvaluateMedium(m_worldInfo, x, medium);
-		medium.m_velocity = windVelocity;
-		medium.m_density = m_worldInfo->air_density;
-		const btVector3 rel_v = v - medium.m_velocity;
-		const btScalar rel_v_len = rel_v.length();
-		const btScalar rel_v2 = rel_v.length2();
-
-		if (rel_v2 > SIMD_EPSILON)
-		{
-			const btVector3 rel_v_nrm = rel_v.normalized();
-			btVector3 nrm = f.m_normal;
-
-			if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSidedLiftDrag)
-			{
-				nrm *= (btScalar)((btDot(nrm, rel_v) < 0) ? -1 : +1);
-
-				btVector3 fDrag(0, 0, 0);
-				btVector3 fLift(0, 0, 0);
-
-				btScalar n_dot_v = nrm.dot(rel_v_nrm);
-				btScalar tri_area = 0.5f * f.m_ra;
-
-				fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm);
-
-				// Check angle of attack
-				// cos(10º) = 0.98480
-				if (0 < n_dot_v && n_dot_v < 0.98480f)
-					fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f - n_dot_v * n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm));
-
-				fDrag /= 3;
-				fLift /= 3;
-
-				for (int j = 0; j < 3; ++j)
-				{
-					if (f.m_n[j]->m_im > 0)
-					{
-						// Check if the velocity change resulted by aero drag force exceeds the current velocity of the node.
-						btVector3 del_v_by_fDrag = fDrag * f.m_n[j]->m_im * m_sst.sdt;
-						btScalar del_v_by_fDrag_len2 = del_v_by_fDrag.length2();
-						btScalar v_len2 = f.m_n[j]->m_v.length2();
-
-						if (del_v_by_fDrag_len2 >= v_len2 && del_v_by_fDrag_len2 > 0)
-						{
-							btScalar del_v_by_fDrag_len = del_v_by_fDrag.length();
-							btScalar v_len = f.m_n[j]->m_v.length();
-							fDrag *= btScalar(0.8) * (v_len / del_v_by_fDrag_len);
-						}
-
-						f.m_n[j]->m_f += fDrag;
-						f.m_n[j]->m_f += fLift;
-					}
-				}
-			}
-			else if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_OneSided || m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSided)
-			{
-				if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSided)
-					nrm *= (btScalar)((btDot(nrm, rel_v) < 0) ? -1 : +1);
-
-				const btScalar dvn = btDot(rel_v, nrm);
-				/* Compute forces	*/
-				if (dvn > 0)
-				{
-					btVector3 force(0, 0, 0);
-					const btScalar c0 = f.m_ra * dvn * rel_v2;
-					const btScalar c1 = c0 * medium.m_density;
-					force += nrm * (-c1 * kLF);
-					force += rel_v.normalized() * (-c1 * kDG);
-					force /= 3;
-					for (int j = 0; j < 3; ++j) ApplyClampedForce(*f.m_n[j], force, dt);
-				}
-			}
-		}
-	}
-}
-
-//
-void btSoftBody::addVelocity(const btVector3& velocity)
-{
-	for (int i = 0, ni = m_nodes.size(); i < ni; ++i) addVelocity(velocity, i);
-}
-
-/* Set velocity for the entire body										*/
-void btSoftBody::setVelocity(const btVector3& velocity)
-{
-	for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
-	{
-		Node& n = m_nodes[i];
-		if (n.m_im > 0)
-		{
-			n.m_v = velocity;
-			n.m_vn = velocity;
-		}
-	}
-}
-
-//
-void btSoftBody::addVelocity(const btVector3& velocity, int node)
-{
-	Node& n = m_nodes[node];
-	if (n.m_im > 0)
-	{
-		n.m_v += velocity;
-	}
-}
-
-//
-void btSoftBody::setMass(int node, btScalar mass)
-{
-	m_nodes[node].m_im = mass > 0 ? 1 / mass : 0;
-	m_bUpdateRtCst = true;
-}
-
-//
-btScalar btSoftBody::getMass(int node) const
-{
-	return (m_nodes[node].m_im > 0 ? 1 / m_nodes[node].m_im : 0);
-}
-
-//
-btScalar btSoftBody::getTotalMass() const
-{
-	btScalar mass = 0;
-	for (int i = 0; i < m_nodes.size(); ++i)
-	{
-		mass += getMass(i);
-	}
-	return (mass);
-}
-
-//
-void btSoftBody::setTotalMass(btScalar mass, bool fromfaces)
-{
-	int i;
-
-	if (fromfaces)
-	{
-		for (i = 0; i < m_nodes.size(); ++i)
-		{
-			m_nodes[i].m_im = 0;
-		}
-		for (i = 0; i < m_faces.size(); ++i)
-		{
-			const Face& f = m_faces[i];
-			const btScalar twicearea = AreaOf(f.m_n[0]->m_x,
-											  f.m_n[1]->m_x,
-											  f.m_n[2]->m_x);
-			for (int j = 0; j < 3; ++j)
-			{
-				f.m_n[j]->m_im += twicearea;
-			}
-		}
-		for (i = 0; i < m_nodes.size(); ++i)
-		{
-			m_nodes[i].m_im = 1 / m_nodes[i].m_im;
-		}
-	}
-	const btScalar tm = getTotalMass();
-	const btScalar itm = 1 / tm;
-	for (i = 0; i < m_nodes.size(); ++i)
-	{
-		m_nodes[i].m_im /= itm * mass;
-	}
-	m_bUpdateRtCst = true;
-}
-
-//
-void btSoftBody::setTotalDensity(btScalar density)
-{
-	setTotalMass(getVolume() * density, true);
-}
-
-//
-void btSoftBody::setVolumeMass(btScalar mass)
-{
-	btAlignedObjectArray<btScalar> ranks;
-	ranks.resize(m_nodes.size(), 0);
-	int i;
-
-	for (i = 0; i < m_nodes.size(); ++i)
-	{
-		m_nodes[i].m_im = 0;
-	}
-	for (i = 0; i < m_tetras.size(); ++i)
-	{
-		const Tetra& t = m_tetras[i];
-		for (int j = 0; j < 4; ++j)
-		{
-			t.m_n[j]->m_im += btFabs(t.m_rv);
-			ranks[int(t.m_n[j] - &m_nodes[0])] += 1;
-		}
-	}
-	for (i = 0; i < m_nodes.size(); ++i)
-	{
-		if (m_nodes[i].m_im > 0)
-		{
-			m_nodes[i].m_im = ranks[i] / m_nodes[i].m_im;
-		}
-	}
-	setTotalMass(mass, false);
-}
-
-//
-void btSoftBody::setVolumeDensity(btScalar density)
-{
-	btScalar volume = 0;
-	for (int i = 0; i < m_tetras.size(); ++i)
-	{
-		const Tetra& t = m_tetras[i];
-		for (int j = 0; j < 4; ++j)
-		{
-			volume += btFabs(t.m_rv);
-		}
-	}
-	setVolumeMass(volume * density / 6);
-}
-
-//
-btVector3 btSoftBody::getLinearVelocity()
-{
-	btVector3 total_momentum = btVector3(0, 0, 0);
-	for (int i = 0; i < m_nodes.size(); ++i)
-	{
-		btScalar mass = m_nodes[i].m_im == 0 ? 0 : 1.0 / m_nodes[i].m_im;
-		total_momentum += mass * m_nodes[i].m_v;
-	}
-	btScalar total_mass = getTotalMass();
-	return total_mass == 0 ? total_momentum : total_momentum / total_mass;
-}
-
-//
-void btSoftBody::setLinearVelocity(const btVector3& linVel)
-{
-	btVector3 old_vel = getLinearVelocity();
-	btVector3 diff = linVel - old_vel;
-	for (int i = 0; i < m_nodes.size(); ++i)
-		m_nodes[i].m_v += diff;
-}
-
-//
-void btSoftBody::setAngularVelocity(const btVector3& angVel)
-{
-	btVector3 old_vel = getLinearVelocity();
-	btVector3 com = getCenterOfMass();
-	for (int i = 0; i < m_nodes.size(); ++i)
-	{
-		m_nodes[i].m_v = angVel.cross(m_nodes[i].m_x - com) + old_vel;
-	}
-}
-
-//
-btTransform btSoftBody::getRigidTransform()
-{
-	btVector3 t = getCenterOfMass();
-	btMatrix3x3 S;
-	S.setZero();
-	// Get rotation that minimizes L2 difference: \sum_i || RX_i + t - x_i ||
-	// It's important to make sure that S has the correct signs.
-	// SVD is only unique up to the ordering of singular values.
-	// SVD will manipulate U and V to ensure the ordering of singular values. If all three singular
-	// vaues are negative, SVD will permute colums of U to make two of them positive.
-	for (int i = 0; i < m_nodes.size(); ++i)
-	{
-		S -= OuterProduct(m_X[i], t - m_nodes[i].m_x);
-	}
-	btVector3 sigma;
-	btMatrix3x3 U, V;
-	singularValueDecomposition(S, U, sigma, V);
-	btMatrix3x3 R = V * U.transpose();
-	btTransform trs;
-	trs.setIdentity();
-	trs.setOrigin(t);
-	trs.setBasis(R);
-	return trs;
-}
-
-//
-void btSoftBody::transformTo(const btTransform& trs)
-{
-	// get the current best rigid fit
-	btTransform current_transform = getRigidTransform();
-	// apply transform in material space
-	btTransform new_transform = trs * current_transform.inverse();
-	transform(new_transform);
-}
-
-//
-void btSoftBody::transform(const btTransform& trs)
-{
-	const btScalar margin = getCollisionShape()->getMargin();
-	ATTRIBUTE_ALIGNED16(btDbvtVolume)
-	vol;
-
-	for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
-	{
-		Node& n = m_nodes[i];
-		n.m_x = trs * n.m_x;
-		n.m_q = trs * n.m_q;
-		n.m_n = trs.getBasis() * n.m_n;
-		vol = btDbvtVolume::FromCR(n.m_x, margin);
-
-		m_ndbvt.update(n.m_leaf, vol);
-	}
-	updateNormals();
-	updateBounds();
-	updateConstants();
-}
-
-//
-void btSoftBody::translate(const btVector3& trs)
-{
-	btTransform t;
-	t.setIdentity();
-	t.setOrigin(trs);
-	transform(t);
-}
-
-//
-void btSoftBody::rotate(const btQuaternion& rot)
-{
-	btTransform t;
-	t.setIdentity();
-	t.setRotation(rot);
-	transform(t);
-}
-
-//
-void btSoftBody::scale(const btVector3& scl)
-{
-	const btScalar margin = getCollisionShape()->getMargin();
-	ATTRIBUTE_ALIGNED16(btDbvtVolume)
-	vol;
-
-	for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
-	{
-		Node& n = m_nodes[i];
-		n.m_x *= scl;
-		n.m_q *= scl;
-		vol = btDbvtVolume::FromCR(n.m_x, margin);
-		m_ndbvt.update(n.m_leaf, vol);
-	}
-	updateNormals();
-	updateBounds();
-	updateConstants();
-	initializeDmInverse();
-}
-
-//
-btScalar btSoftBody::getRestLengthScale()
-{
-	return m_restLengthScale;
-}
-
-//
-void btSoftBody::setRestLengthScale(btScalar restLengthScale)
-{
-	for (int i = 0, ni = m_links.size(); i < ni; ++i)
-	{
-		Link& l = m_links[i];
-		l.m_rl = l.m_rl / m_restLengthScale * restLengthScale;
-		l.m_c1 = l.m_rl * l.m_rl;
-	}
-	m_restLengthScale = restLengthScale;
-
-	if (getActivationState() == ISLAND_SLEEPING)
-		activate();
-}
-
-//
-void btSoftBody::setPose(bool bvolume, bool bframe)
-{
-	m_pose.m_bvolume = bvolume;
-	m_pose.m_bframe = bframe;
-	int i, ni;
-
-	/* Weights		*/
-	const btScalar omass = getTotalMass();
-	const btScalar kmass = omass * m_nodes.size() * 1000;
-	btScalar tmass = omass;
-	m_pose.m_wgh.resize(m_nodes.size());
-	for (i = 0, ni = m_nodes.size(); i < ni; ++i)
-	{
-		if (m_nodes[i].m_im <= 0) tmass += kmass;
-	}
-	for (i = 0, ni = m_nodes.size(); i < ni; ++i)
-	{
-		Node& n = m_nodes[i];
-		m_pose.m_wgh[i] = n.m_im > 0 ? 1 / (m_nodes[i].m_im * tmass) : kmass / tmass;
-	}
-	/* Pos		*/
-	const btVector3 com = evaluateCom();
-	m_pose.m_pos.resize(m_nodes.size());
-	for (i = 0, ni = m_nodes.size(); i < ni; ++i)
-	{
-		m_pose.m_pos[i] = m_nodes[i].m_x - com;
-	}
-	m_pose.m_volume = bvolume ? getVolume() : 0;
-	m_pose.m_com = com;
-	m_pose.m_rot.setIdentity();
-	m_pose.m_scl.setIdentity();
-	/* Aqq		*/
-	m_pose.m_aqq[0] =
-		m_pose.m_aqq[1] =
-			m_pose.m_aqq[2] = btVector3(0, 0, 0);
-	for (i = 0, ni = m_nodes.size(); i < ni; ++i)
-	{
-		const btVector3& q = m_pose.m_pos[i];
-		const btVector3 mq = m_pose.m_wgh[i] * q;
-		m_pose.m_aqq[0] += mq.x() * q;
-		m_pose.m_aqq[1] += mq.y() * q;
-		m_pose.m_aqq[2] += mq.z() * q;
-	}
-	m_pose.m_aqq = m_pose.m_aqq.inverse();
-
-	updateConstants();
-}
-
-void btSoftBody::resetLinkRestLengths()
-{
-	for (int i = 0, ni = m_links.size(); i < ni; ++i)
-	{
-		Link& l = m_links[i];
-		l.m_rl = (l.m_n[0]->m_x - l.m_n[1]->m_x).length();
-		l.m_c1 = l.m_rl * l.m_rl;
-	}
-}
-
-//
-btScalar btSoftBody::getVolume() const
-{
-	btScalar vol = 0;
-	if (m_nodes.size() > 0)
-	{
-		int i, ni;
-
-		const btVector3 org = m_nodes[0].m_x;
-		for (i = 0, ni = m_faces.size(); i < ni; ++i)
-		{
-			const Face& f = m_faces[i];
-			vol += btDot(f.m_n[0]->m_x - org, btCross(f.m_n[1]->m_x - org, f.m_n[2]->m_x - org));
-		}
-		vol /= (btScalar)6;
-	}
-	return (vol);
-}
-
-//
-int btSoftBody::clusterCount() const
-{
-	return (m_clusters.size());
-}
-
-//
-btVector3 btSoftBody::clusterCom(const Cluster* cluster)
-{
-	btVector3 com(0, 0, 0);
-	for (int i = 0, ni = cluster->m_nodes.size(); i < ni; ++i)
-	{
-		com += cluster->m_nodes[i]->m_x * cluster->m_masses[i];
-	}
-	return (com * cluster->m_imass);
-}
-
-//
-btVector3 btSoftBody::clusterCom(int cluster) const
-{
-	return (clusterCom(m_clusters[cluster]));
-}
-
-//
-btVector3 btSoftBody::clusterVelocity(const Cluster* cluster, const btVector3& rpos)
-{
-	return (cluster->m_lv + btCross(cluster->m_av, rpos));
-}
-
-//
-void btSoftBody::clusterVImpulse(Cluster* cluster, const btVector3& rpos, const btVector3& impulse)
-{
-	const btVector3 li = cluster->m_imass * impulse;
-	const btVector3 ai = cluster->m_invwi * btCross(rpos, impulse);
-	cluster->m_vimpulses[0] += li;
-	cluster->m_lv += li;
-	cluster->m_vimpulses[1] += ai;
-	cluster->m_av += ai;
-	cluster->m_nvimpulses++;
-}
-
-//
-void btSoftBody::clusterDImpulse(Cluster* cluster, const btVector3& rpos, const btVector3& impulse)
-{
-	const btVector3 li = cluster->m_imass * impulse;
-	const btVector3 ai = cluster->m_invwi * btCross(rpos, impulse);
-	cluster->m_dimpulses[0] += li;
-	cluster->m_dimpulses[1] += ai;
-	cluster->m_ndimpulses++;
-}
-
-//
-void btSoftBody::clusterImpulse(Cluster* cluster, const btVector3& rpos, const Impulse& impulse)
-{
-	if (impulse.m_asVelocity) clusterVImpulse(cluster, rpos, impulse.m_velocity);
-	if (impulse.m_asDrift) clusterDImpulse(cluster, rpos, impulse.m_drift);
-}
-
-//
-void btSoftBody::clusterVAImpulse(Cluster* cluster, const btVector3& impulse)
-{
-	const btVector3 ai = cluster->m_invwi * impulse;
-	cluster->m_vimpulses[1] += ai;
-	cluster->m_av += ai;
-	cluster->m_nvimpulses++;
-}
-
-//
-void btSoftBody::clusterDAImpulse(Cluster* cluster, const btVector3& impulse)
-{
-	const btVector3 ai = cluster->m_invwi * impulse;
-	cluster->m_dimpulses[1] += ai;
-	cluster->m_ndimpulses++;
-}
-
-//
-void btSoftBody::clusterAImpulse(Cluster* cluster, const Impulse& impulse)
-{
-	if (impulse.m_asVelocity) clusterVAImpulse(cluster, impulse.m_velocity);
-	if (impulse.m_asDrift) clusterDAImpulse(cluster, impulse.m_drift);
-}
-
-//
-void btSoftBody::clusterDCImpulse(Cluster* cluster, const btVector3& impulse)
-{
-	cluster->m_dimpulses[0] += impulse * cluster->m_imass;
-	cluster->m_ndimpulses++;
-}
-
-struct NodeLinks
-{
-	btAlignedObjectArray<int> m_links;
-};
-
-//
-int btSoftBody::generateBendingConstraints(int distance, Material* mat)
-{
-	int i, j;
-
-	if (distance > 1)
-	{
-		/* Build graph	*/
-		const int n = m_nodes.size();
-		const unsigned inf = (~(unsigned)0) >> 1;
-		unsigned* adj = new unsigned[n * n];
-
-#define IDX(_x_, _y_) ((_y_)*n + (_x_))
-		for (j = 0; j < n; ++j)
-		{
-			for (i = 0; i < n; ++i)
-			{
-				if (i != j)
-				{
-					adj[IDX(i, j)] = adj[IDX(j, i)] = inf;
-				}
-				else
-				{
-					adj[IDX(i, j)] = adj[IDX(j, i)] = 0;
-				}
-			}
-		}
-		for (i = 0; i < m_links.size(); ++i)
-		{
-			const int ia = (int)(m_links[i].m_n[0] - &m_nodes[0]);
-			const int ib = (int)(m_links[i].m_n[1] - &m_nodes[0]);
-			adj[IDX(ia, ib)] = 1;
-			adj[IDX(ib, ia)] = 1;
-		}
-
-		//special optimized case for distance == 2
-		if (distance == 2)
-		{
-			btAlignedObjectArray<NodeLinks> nodeLinks;
-
-			/* Build node links */
-			nodeLinks.resize(m_nodes.size());
-
-			for (i = 0; i < m_links.size(); ++i)
-			{
-				const int ia = (int)(m_links[i].m_n[0] - &m_nodes[0]);
-				const int ib = (int)(m_links[i].m_n[1] - &m_nodes[0]);
-				if (nodeLinks[ia].m_links.findLinearSearch(ib) == nodeLinks[ia].m_links.size())
-					nodeLinks[ia].m_links.push_back(ib);
-
-				if (nodeLinks[ib].m_links.findLinearSearch(ia) == nodeLinks[ib].m_links.size())
-					nodeLinks[ib].m_links.push_back(ia);
-			}
-			for (int ii = 0; ii < nodeLinks.size(); ii++)
-			{
-				int i = ii;
-
-				for (int jj = 0; jj < nodeLinks[ii].m_links.size(); jj++)
-				{
-					int k = nodeLinks[ii].m_links[jj];
-					for (int kk = 0; kk < nodeLinks[k].m_links.size(); kk++)
-					{
-						int j = nodeLinks[k].m_links[kk];
-						if (i != j)
-						{
-							const unsigned sum = adj[IDX(i, k)] + adj[IDX(k, j)];
-							btAssert(sum == 2);
-							if (adj[IDX(i, j)] > sum)
-							{
-								adj[IDX(i, j)] = adj[IDX(j, i)] = sum;
-							}
-						}
-					}
-				}
-			}
-		}
-		else
-		{
-			///generic Floyd's algorithm
-			for (int k = 0; k < n; ++k)
-			{
-				for (j = 0; j < n; ++j)
-				{
-					for (i = j + 1; i < n; ++i)
-					{
-						const unsigned sum = adj[IDX(i, k)] + adj[IDX(k, j)];
-						if (adj[IDX(i, j)] > sum)
-						{
-							adj[IDX(i, j)] = adj[IDX(j, i)] = sum;
-						}
-					}
-				}
-			}
-		}
-
-		/* Build links	*/
-		int nlinks = 0;
-		for (j = 0; j < n; ++j)
-		{
-			for (i = j + 1; i < n; ++i)
-			{
-				if (adj[IDX(i, j)] == (unsigned)distance)
-				{
-					appendLink(i, j, mat);
-					m_links[m_links.size() - 1].m_bbending = 1;
-					++nlinks;
-				}
-			}
-		}
-		delete[] adj;
-		return (nlinks);
-	}
-	return (0);
-}
-
-//
-void btSoftBody::randomizeConstraints()
-{
-	unsigned long seed = 243703;
-#define NEXTRAND (seed = (1664525L * seed + 1013904223L) & 0xffffffff)
-	int i, ni;
-
-	for (i = 0, ni = m_links.size(); i < ni; ++i)
-	{
-		btSwap(m_links[i], m_links[NEXTRAND % ni]);
-	}
-	for (i = 0, ni = m_faces.size(); i < ni; ++i)
-	{
-		btSwap(m_faces[i], m_faces[NEXTRAND % ni]);
-	}
-#undef NEXTRAND
-}
-
-//
-void btSoftBody::releaseCluster(int index)
-{
-	Cluster* c = m_clusters[index];
-	if (c->m_leaf) m_cdbvt.remove(c->m_leaf);
-	c->~Cluster();
-	btAlignedFree(c);
-	m_clusters.remove(c);
-}
-
-//
-void btSoftBody::releaseClusters()
-{
-	while (m_clusters.size() > 0) releaseCluster(0);
-}
-
-//
-int btSoftBody::generateClusters(int k, int maxiterations)
-{
-	int i;
-	releaseClusters();
-	m_clusters.resize(btMin(k, m_nodes.size()));
-	for (i = 0; i < m_clusters.size(); ++i)
-	{
-		m_clusters[i] = new (btAlignedAlloc(sizeof(Cluster), 16)) Cluster();
-		m_clusters[i]->m_collide = true;
-	}
-	k = m_clusters.size();
-	if (k > 0)
-	{
-		/* Initialize		*/
-		btAlignedObjectArray<btVector3> centers;
-		btVector3 cog(0, 0, 0);
-		int i;
-		for (i = 0; i < m_nodes.size(); ++i)
-		{
-			cog += m_nodes[i].m_x;
-			m_clusters[(i * 29873) % m_clusters.size()]->m_nodes.push_back(&m_nodes[i]);
-		}
-		cog /= (btScalar)m_nodes.size();
-		centers.resize(k, cog);
-		/* Iterate			*/
-		const btScalar slope = 16;
-		bool changed;
-		int iterations = 0;
-		do
-		{
-			const btScalar w = 2 - btMin<btScalar>(1, iterations / slope);
-			changed = false;
-			iterations++;
-			int i;
-
-			for (i = 0; i < k; ++i)
-			{
-				btVector3 c(0, 0, 0);
-				for (int j = 0; j < m_clusters[i]->m_nodes.size(); ++j)
-				{
-					c += m_clusters[i]->m_nodes[j]->m_x;
-				}
-				if (m_clusters[i]->m_nodes.size())
-				{
-					c /= (btScalar)m_clusters[i]->m_nodes.size();
-					c = centers[i] + (c - centers[i]) * w;
-					changed |= ((c - centers[i]).length2() > SIMD_EPSILON);
-					centers[i] = c;
-					m_clusters[i]->m_nodes.resize(0);
-				}
-			}
-			for (i = 0; i < m_nodes.size(); ++i)
-			{
-				const btVector3 nx = m_nodes[i].m_x;
-				int kbest = 0;
-				btScalar kdist = ClusterMetric(centers[0], nx);
-				for (int j = 1; j < k; ++j)
-				{
-					const btScalar d = ClusterMetric(centers[j], nx);
-					if (d < kdist)
-					{
-						kbest = j;
-						kdist = d;
-					}
-				}
-				m_clusters[kbest]->m_nodes.push_back(&m_nodes[i]);
-			}
-		} while (changed && (iterations < maxiterations));
-		/* Merge		*/
-		btAlignedObjectArray<int> cids;
-		cids.resize(m_nodes.size(), -1);
-		for (i = 0; i < m_clusters.size(); ++i)
-		{
-			for (int j = 0; j < m_clusters[i]->m_nodes.size(); ++j)
-			{
-				cids[int(m_clusters[i]->m_nodes[j] - &m_nodes[0])] = i;
-			}
-		}
-		for (i = 0; i < m_faces.size(); ++i)
-		{
-			const int idx[] = {int(m_faces[i].m_n[0] - &m_nodes[0]),
-							   int(m_faces[i].m_n[1] - &m_nodes[0]),
-							   int(m_faces[i].m_n[2] - &m_nodes[0])};
-			for (int j = 0; j < 3; ++j)
-			{
-				const int cid = cids[idx[j]];
-				for (int q = 1; q < 3; ++q)
-				{
-					const int kid = idx[(j + q) % 3];
-					if (cids[kid] != cid)
-					{
-						if (m_clusters[cid]->m_nodes.findLinearSearch(&m_nodes[kid]) == m_clusters[cid]->m_nodes.size())
-						{
-							m_clusters[cid]->m_nodes.push_back(&m_nodes[kid]);
-						}
-					}
-				}
-			}
-		}
-		/* Master		*/
-		if (m_clusters.size() > 1)
-		{
-			Cluster* pmaster = new (btAlignedAlloc(sizeof(Cluster), 16)) Cluster();
-			pmaster->m_collide = false;
-			pmaster->m_nodes.reserve(m_nodes.size());
-			for (int i = 0; i < m_nodes.size(); ++i) pmaster->m_nodes.push_back(&m_nodes[i]);
-			m_clusters.push_back(pmaster);
-			btSwap(m_clusters[0], m_clusters[m_clusters.size() - 1]);
-		}
-		/* Terminate	*/
-		for (i = 0; i < m_clusters.size(); ++i)
-		{
-			if (m_clusters[i]->m_nodes.size() == 0)
-			{
-				releaseCluster(i--);
-			}
-		}
-	}
-	else
-	{
-		//create a cluster for each tetrahedron (if tetrahedra exist) or each face
-		if (m_tetras.size())
-		{
-			m_clusters.resize(m_tetras.size());
-			for (i = 0; i < m_clusters.size(); ++i)
-			{
-				m_clusters[i] = new (btAlignedAlloc(sizeof(Cluster), 16)) Cluster();
-				m_clusters[i]->m_collide = true;
-			}
-			for (i = 0; i < m_tetras.size(); i++)
-			{
-				for (int j = 0; j < 4; j++)
-				{
-					m_clusters[i]->m_nodes.push_back(m_tetras[i].m_n[j]);
-				}
-			}
-		}
-		else
-		{
-			m_clusters.resize(m_faces.size());
-			for (i = 0; i < m_clusters.size(); ++i)
-			{
-				m_clusters[i] = new (btAlignedAlloc(sizeof(Cluster), 16)) Cluster();
-				m_clusters[i]->m_collide = true;
-			}
-
-			for (i = 0; i < m_faces.size(); ++i)
-			{
-				for (int j = 0; j < 3; ++j)
-				{
-					m_clusters[i]->m_nodes.push_back(m_faces[i].m_n[j]);
-				}
-			}
-		}
-	}
-
-	if (m_clusters.size())
-	{
-		initializeClusters();
-		updateClusters();
-
-		//for self-collision
-		m_clusterConnectivity.resize(m_clusters.size() * m_clusters.size());
-		{
-			for (int c0 = 0; c0 < m_clusters.size(); c0++)
-			{
-				m_clusters[c0]->m_clusterIndex = c0;
-				for (int c1 = 0; c1 < m_clusters.size(); c1++)
-				{
-					bool connected = false;
-					Cluster* cla = m_clusters[c0];
-					Cluster* clb = m_clusters[c1];
-					for (int i = 0; !connected && i < cla->m_nodes.size(); i++)
-					{
-						for (int j = 0; j < clb->m_nodes.size(); j++)
-						{
-							if (cla->m_nodes[i] == clb->m_nodes[j])
-							{
-								connected = true;
-								break;
-							}
-						}
-					}
-					m_clusterConnectivity[c0 + c1 * m_clusters.size()] = connected;
-				}
-			}
-		}
-	}
-
-	return (m_clusters.size());
-}
-
-//
-void btSoftBody::refine(ImplicitFn* ifn, btScalar accurary, bool cut)
-{
-	const Node* nbase = &m_nodes[0];
-	int ncount = m_nodes.size();
-	btSymMatrix<int> edges(ncount, -2);
-	int newnodes = 0;
-	int i, j, k, ni;
-
-	/* Filter out		*/
-	for (i = 0; i < m_links.size(); ++i)
-	{
-		Link& l = m_links[i];
-		if (l.m_bbending)
-		{
-			if (!SameSign(ifn->Eval(l.m_n[0]->m_x), ifn->Eval(l.m_n[1]->m_x)))
-			{
-				btSwap(m_links[i], m_links[m_links.size() - 1]);
-				m_links.pop_back();
-				--i;
-			}
-		}
-	}
-	/* Fill edges		*/
-	for (i = 0; i < m_links.size(); ++i)
-	{
-		Link& l = m_links[i];
-		edges(int(l.m_n[0] - nbase), int(l.m_n[1] - nbase)) = -1;
-	}
-	for (i = 0; i < m_faces.size(); ++i)
-	{
-		Face& f = m_faces[i];
-		edges(int(f.m_n[0] - nbase), int(f.m_n[1] - nbase)) = -1;
-		edges(int(f.m_n[1] - nbase), int(f.m_n[2] - nbase)) = -1;
-		edges(int(f.m_n[2] - nbase), int(f.m_n[0] - nbase)) = -1;
-	}
-	/* Intersect		*/
-	for (i = 0; i < ncount; ++i)
-	{
-		for (j = i + 1; j < ncount; ++j)
-		{
-			if (edges(i, j) == -1)
-			{
-				Node& a = m_nodes[i];
-				Node& b = m_nodes[j];
-				const btScalar t = ImplicitSolve(ifn, a.m_x, b.m_x, accurary);
-				if (t > 0)
-				{
-					const btVector3 x = Lerp(a.m_x, b.m_x, t);
-					const btVector3 v = Lerp(a.m_v, b.m_v, t);
-					btScalar m = 0;
-					if (a.m_im > 0)
-					{
-						if (b.m_im > 0)
-						{
-							const btScalar ma = 1 / a.m_im;
-							const btScalar mb = 1 / b.m_im;
-							const btScalar mc = Lerp(ma, mb, t);
-							const btScalar f = (ma + mb) / (ma + mb + mc);
-							a.m_im = 1 / (ma * f);
-							b.m_im = 1 / (mb * f);
-							m = mc * f;
-						}
-						else
-						{
-							a.m_im /= 0.5f;
-							m = 1 / a.m_im;
-						}
-					}
-					else
-					{
-						if (b.m_im > 0)
-						{
-							b.m_im /= 0.5f;
-							m = 1 / b.m_im;
-						}
-						else
-							m = 0;
-					}
-					appendNode(x, m);
-					edges(i, j) = m_nodes.size() - 1;
-					m_nodes[edges(i, j)].m_v = v;
-					++newnodes;
-				}
-			}
-		}
-	}
-	nbase = &m_nodes[0];
-	/* Refine links		*/
-	for (i = 0, ni = m_links.size(); i < ni; ++i)
-	{
-		Link& feat = m_links[i];
-		const int idx[] = {int(feat.m_n[0] - nbase),
-						   int(feat.m_n[1] - nbase)};
-		if ((idx[0] < ncount) && (idx[1] < ncount))
-		{
-			const int ni = edges(idx[0], idx[1]);
-			if (ni > 0)
-			{
-				appendLink(i);
-				Link* pft[] = {&m_links[i],
-							   &m_links[m_links.size() - 1]};
-				pft[0]->m_n[0] = &m_nodes[idx[0]];
-				pft[0]->m_n[1] = &m_nodes[ni];
-				pft[1]->m_n[0] = &m_nodes[ni];
-				pft[1]->m_n[1] = &m_nodes[idx[1]];
-			}
-		}
-	}
-	/* Refine faces		*/
-	for (i = 0; i < m_faces.size(); ++i)
-	{
-		const Face& feat = m_faces[i];
-		const int idx[] = {int(feat.m_n[0] - nbase),
-						   int(feat.m_n[1] - nbase),
-						   int(feat.m_n[2] - nbase)};
-		for (j = 2, k = 0; k < 3; j = k++)
-		{
-			if ((idx[j] < ncount) && (idx[k] < ncount))
-			{
-				const int ni = edges(idx[j], idx[k]);
-				if (ni > 0)
-				{
-					appendFace(i);
-					const int l = (k + 1) % 3;
-					Face* pft[] = {&m_faces[i],
-								   &m_faces[m_faces.size() - 1]};
-					pft[0]->m_n[0] = &m_nodes[idx[l]];
-					pft[0]->m_n[1] = &m_nodes[idx[j]];
-					pft[0]->m_n[2] = &m_nodes[ni];
-					pft[1]->m_n[0] = &m_nodes[ni];
-					pft[1]->m_n[1] = &m_nodes[idx[k]];
-					pft[1]->m_n[2] = &m_nodes[idx[l]];
-					appendLink(ni, idx[l], pft[0]->m_material);
-					--i;
-					break;
-				}
-			}
-		}
-	}
-	/* Cut				*/
-	if (cut)
-	{
-		btAlignedObjectArray<int> cnodes;
-		const int pcount = ncount;
-		int i;
-		ncount = m_nodes.size();
-		cnodes.resize(ncount, 0);
-		/* Nodes		*/
-		for (i = 0; i < ncount; ++i)
-		{
-			const btVector3 x = m_nodes[i].m_x;
-			if ((i >= pcount) || (btFabs(ifn->Eval(x)) < accurary))
-			{
-				const btVector3 v = m_nodes[i].m_v;
-				btScalar m = getMass(i);
-				if (m > 0)
-				{
-					m *= 0.5f;
-					m_nodes[i].m_im /= 0.5f;
-				}
-				appendNode(x, m);
-				cnodes[i] = m_nodes.size() - 1;
-				m_nodes[cnodes[i]].m_v = v;
-			}
-		}
-		nbase = &m_nodes[0];
-		/* Links		*/
-		for (i = 0, ni = m_links.size(); i < ni; ++i)
-		{
-			const int id[] = {int(m_links[i].m_n[0] - nbase),
-							  int(m_links[i].m_n[1] - nbase)};
-			int todetach = 0;
-			if (cnodes[id[0]] && cnodes[id[1]])
-			{
-				appendLink(i);
-				todetach = m_links.size() - 1;
-			}
-			else
-			{
-				if (((ifn->Eval(m_nodes[id[0]].m_x) < accurary) &&
-					 (ifn->Eval(m_nodes[id[1]].m_x) < accurary)))
-					todetach = i;
-			}
-			if (todetach)
-			{
-				Link& l = m_links[todetach];
-				for (int j = 0; j < 2; ++j)
-				{
-					int cn = cnodes[int(l.m_n[j] - nbase)];
-					if (cn) l.m_n[j] = &m_nodes[cn];
-				}
-			}
-		}
-		/* Faces		*/
-		for (i = 0, ni = m_faces.size(); i < ni; ++i)
-		{
-			Node** n = m_faces[i].m_n;
-			if ((ifn->Eval(n[0]->m_x) < accurary) &&
-				(ifn->Eval(n[1]->m_x) < accurary) &&
-				(ifn->Eval(n[2]->m_x) < accurary))
-			{
-				for (int j = 0; j < 3; ++j)
-				{
-					int cn = cnodes[int(n[j] - nbase)];
-					if (cn) n[j] = &m_nodes[cn];
-				}
-			}
-		}
-		/* Clean orphans	*/
-		int nnodes = m_nodes.size();
-		btAlignedObjectArray<int> ranks;
-		btAlignedObjectArray<int> todelete;
-		ranks.resize(nnodes, 0);
-		for (i = 0, ni = m_links.size(); i < ni; ++i)
-		{
-			for (int j = 0; j < 2; ++j) ranks[int(m_links[i].m_n[j] - nbase)]++;
-		}
-		for (i = 0, ni = m_faces.size(); i < ni; ++i)
-		{
-			for (int j = 0; j < 3; ++j) ranks[int(m_faces[i].m_n[j] - nbase)]++;
-		}
-		for (i = 0; i < m_links.size(); ++i)
-		{
-			const int id[] = {int(m_links[i].m_n[0] - nbase),
-							  int(m_links[i].m_n[1] - nbase)};
-			const bool sg[] = {ranks[id[0]] == 1,
-							   ranks[id[1]] == 1};
-			if (sg[0] || sg[1])
-			{
-				--ranks[id[0]];
-				--ranks[id[1]];
-				btSwap(m_links[i], m_links[m_links.size() - 1]);
-				m_links.pop_back();
-				--i;
-			}
-		}
-#if 0	
-		for(i=nnodes-1;i>=0;--i)
-		{
-			if(!ranks[i]) todelete.push_back(i);
-		}	
-		if(todelete.size())
-		{		
-			btAlignedObjectArray<int>&	map=ranks;
-			for(int i=0;i<nnodes;++i) map[i]=i;
-			PointersToIndices(this);
-			for(int i=0,ni=todelete.size();i<ni;++i)
-			{
-				int		j=todelete[i];
-				int&	a=map[j];
-				int&	b=map[--nnodes];
-				m_ndbvt.remove(m_nodes[a].m_leaf);m_nodes[a].m_leaf=0;
-				btSwap(m_nodes[a],m_nodes[b]);
-				j=a;a=b;b=j;			
-			}
-			IndicesToPointers(this,&map[0]);
-			m_nodes.resize(nnodes);
-		}
-#endif
-	}
-	m_bUpdateRtCst = true;
-}
-
-//
-bool btSoftBody::cutLink(const Node* node0, const Node* node1, btScalar position)
-{
-	return (cutLink(int(node0 - &m_nodes[0]), int(node1 - &m_nodes[0]), position));
-}
-
-//
-bool btSoftBody::cutLink(int node0, int node1, btScalar position)
-{
-	bool done = false;
-	int i, ni;
-	//	const btVector3	d=m_nodes[node0].m_x-m_nodes[node1].m_x;
-	const btVector3 x = Lerp(m_nodes[node0].m_x, m_nodes[node1].m_x, position);
-	const btVector3 v = Lerp(m_nodes[node0].m_v, m_nodes[node1].m_v, position);
-	const btScalar m = 1;
-	appendNode(x, m);
-	appendNode(x, m);
-	Node* pa = &m_nodes[node0];
-	Node* pb = &m_nodes[node1];
-	Node* pn[2] = {&m_nodes[m_nodes.size() - 2],
-				   &m_nodes[m_nodes.size() - 1]};
-	pn[0]->m_v = v;
-	pn[1]->m_v = v;
-	for (i = 0, ni = m_links.size(); i < ni; ++i)
-	{
-		const int mtch = MatchEdge(m_links[i].m_n[0], m_links[i].m_n[1], pa, pb);
-		if (mtch != -1)
-		{
-			appendLink(i);
-			Link* pft[] = {&m_links[i], &m_links[m_links.size() - 1]};
-			pft[0]->m_n[1] = pn[mtch];
-			pft[1]->m_n[0] = pn[1 - mtch];
-			done = true;
-		}
-	}
-	for (i = 0, ni = m_faces.size(); i < ni; ++i)
-	{
-		for (int k = 2, l = 0; l < 3; k = l++)
-		{
-			const int mtch = MatchEdge(m_faces[i].m_n[k], m_faces[i].m_n[l], pa, pb);
-			if (mtch != -1)
-			{
-				appendFace(i);
-				Face* pft[] = {&m_faces[i], &m_faces[m_faces.size() - 1]};
-				pft[0]->m_n[l] = pn[mtch];
-				pft[1]->m_n[k] = pn[1 - mtch];
-				appendLink(pn[0], pft[0]->m_n[(l + 1) % 3], pft[0]->m_material, true);
-				appendLink(pn[1], pft[0]->m_n[(l + 1) % 3], pft[0]->m_material, true);
-			}
-		}
-	}
-	if (!done)
-	{
-		m_ndbvt.remove(pn[0]->m_leaf);
-		m_ndbvt.remove(pn[1]->m_leaf);
-		m_nodes.pop_back();
-		m_nodes.pop_back();
-	}
-	return (done);
-}
-
-//
-bool btSoftBody::rayTest(const btVector3& rayFrom,
-						 const btVector3& rayTo,
-						 sRayCast& results)
-{
-	if (m_faces.size() && m_fdbvt.empty())
-		initializeFaceTree();
-
-	results.body = this;
-	results.fraction = 1.f;
-	results.feature = eFeature::None;
-	results.index = -1;
-
-	return (rayTest(rayFrom, rayTo, results.fraction, results.feature, results.index, false) != 0);
-}
-
-bool btSoftBody::rayFaceTest(const btVector3& rayFrom,
-							 const btVector3& rayTo,
-							 sRayCast& results)
-{
-	if (m_faces.size() == 0)
-		return false;
-	else
-	{
-		if (m_fdbvt.empty())
-			initializeFaceTree();
-	}
-
-	results.body = this;
-	results.fraction = 1.f;
-	results.index = -1;
-
-	return (rayFaceTest(rayFrom, rayTo, results.fraction, results.index) != 0);
-}
-
-//
-void btSoftBody::setSolver(eSolverPresets::_ preset)
-{
-	m_cfg.m_vsequence.clear();
-	m_cfg.m_psequence.clear();
-	m_cfg.m_dsequence.clear();
-	switch (preset)
-	{
-		case eSolverPresets::Positions:
-			m_cfg.m_psequence.push_back(ePSolver::Anchors);
-			m_cfg.m_psequence.push_back(ePSolver::RContacts);
-			m_cfg.m_psequence.push_back(ePSolver::SContacts);
-			m_cfg.m_psequence.push_back(ePSolver::Linear);
-			break;
-		case eSolverPresets::Velocities:
-			m_cfg.m_vsequence.push_back(eVSolver::Linear);
-
-			m_cfg.m_psequence.push_back(ePSolver::Anchors);
-			m_cfg.m_psequence.push_back(ePSolver::RContacts);
-			m_cfg.m_psequence.push_back(ePSolver::SContacts);
-
-			m_cfg.m_dsequence.push_back(ePSolver::Linear);
-			break;
-	}
-}
-
-void btSoftBody::predictMotion(btScalar dt)
-{
-	int i, ni;
-
-	/* Update                */
-	if (m_bUpdateRtCst)
-	{
-		m_bUpdateRtCst = false;
-		updateConstants();
-		m_fdbvt.clear();
-		if (m_cfg.collisions & fCollision::VF_SS)
-		{
-			initializeFaceTree();
-		}
-	}
-
-	/* Prepare                */
-	m_sst.sdt = dt * m_cfg.timescale;
-	m_sst.isdt = 1 / m_sst.sdt;
-	m_sst.velmrg = m_sst.sdt * 3;
-	m_sst.radmrg = getCollisionShape()->getMargin();
-	m_sst.updmrg = m_sst.radmrg * (btScalar)0.25;
-	/* Forces                */
-	addVelocity(m_worldInfo->m_gravity * m_sst.sdt);
-	applyForces();
-	/* Integrate            */
-	for (i = 0, ni = m_nodes.size(); i < ni; ++i)
-	{
-		Node& n = m_nodes[i];
-		n.m_q = n.m_x;
-		btVector3 deltaV = n.m_f * n.m_im * m_sst.sdt;
-		{
-			btScalar maxDisplacement = m_worldInfo->m_maxDisplacement;
-			btScalar clampDeltaV = maxDisplacement / m_sst.sdt;
-			for (int c = 0; c < 3; c++)
-			{
-				if (deltaV[c] > clampDeltaV)
-				{
-					deltaV[c] = clampDeltaV;
-				}
-				if (deltaV[c] < -clampDeltaV)
-				{
-					deltaV[c] = -clampDeltaV;
-				}
-			}
-		}
-		n.m_v += deltaV;
-		n.m_x += n.m_v * m_sst.sdt;
-		n.m_f = btVector3(0, 0, 0);
-	}
-	/* Clusters                */
-	updateClusters();
-	/* Bounds                */
-	updateBounds();
-	/* Nodes                */
-	ATTRIBUTE_ALIGNED16(btDbvtVolume)
-	vol;
-	for (i = 0, ni = m_nodes.size(); i < ni; ++i)
-	{
-		Node& n = m_nodes[i];
-		vol = btDbvtVolume::FromCR(n.m_x, m_sst.radmrg);
-		m_ndbvt.update(n.m_leaf,
-					   vol,
-					   n.m_v * m_sst.velmrg,
-					   m_sst.updmrg);
-	}
-	/* Faces                */
-	if (!m_fdbvt.empty())
-	{
-		for (int i = 0; i < m_faces.size(); ++i)
-		{
-			Face& f = m_faces[i];
-			const btVector3 v = (f.m_n[0]->m_v +
-								 f.m_n[1]->m_v +
-								 f.m_n[2]->m_v) /
-								3;
-			vol = VolumeOf(f, m_sst.radmrg);
-			m_fdbvt.update(f.m_leaf,
-						   vol,
-						   v * m_sst.velmrg,
-						   m_sst.updmrg);
-		}
-	}
-	/* Pose                    */
-	updatePose();
-	/* Match                */
-	if (m_pose.m_bframe && (m_cfg.kMT > 0))
-	{
-		const btMatrix3x3 posetrs = m_pose.m_rot;
-		for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
-		{
-			Node& n = m_nodes[i];
-			if (n.m_im > 0)
-			{
-				const btVector3 x = posetrs * m_pose.m_pos[i] + m_pose.m_com;
-				n.m_x = Lerp(n.m_x, x, m_cfg.kMT);
-			}
-		}
-	}
-	/* Clear contacts        */
-	m_rcontacts.resize(0);
-	m_scontacts.resize(0);
-	/* Optimize dbvt's        */
-	m_ndbvt.optimizeIncremental(1);
-	m_fdbvt.optimizeIncremental(1);
-	m_cdbvt.optimizeIncremental(1);
-}
-
-//
-void btSoftBody::solveConstraints()
-{
-	/* Apply clusters		*/
-	applyClusters(false);
-	/* Prepare links		*/
-
-	int i, ni;
-
-	for (i = 0, ni = m_links.size(); i < ni; ++i)
-	{
-		Link& l = m_links[i];
-		l.m_c3 = l.m_n[1]->m_q - l.m_n[0]->m_q;
-		l.m_c2 = 1 / (l.m_c3.length2() * l.m_c0);
-	}
-	/* Prepare anchors		*/
-	for (i = 0, ni = m_anchors.size(); i < ni; ++i)
-	{
-		Anchor& a = m_anchors[i];
-		const btVector3 ra = a.m_body->getWorldTransform().getBasis() * a.m_local;
-		a.m_c0 = ImpulseMatrix(m_sst.sdt,
-							   a.m_node->m_im,
-							   a.m_body->getInvMass(),
-							   a.m_body->getInvInertiaTensorWorld(),
-							   ra);
-		a.m_c1 = ra;
-		a.m_c2 = m_sst.sdt * a.m_node->m_im;
-		a.m_body->activate();
-	}
-	/* Solve velocities		*/
-	if (m_cfg.viterations > 0)
-	{
-		/* Solve			*/
-		for (int isolve = 0; isolve < m_cfg.viterations; ++isolve)
-		{
-			for (int iseq = 0; iseq < m_cfg.m_vsequence.size(); ++iseq)
-			{
-				getSolver(m_cfg.m_vsequence[iseq])(this, 1);
-			}
-		}
-		/* Update			*/
-		for (i = 0, ni = m_nodes.size(); i < ni; ++i)
-		{
-			Node& n = m_nodes[i];
-			n.m_x = n.m_q + n.m_v * m_sst.sdt;
-		}
-	}
-	/* Solve positions		*/
-	if (m_cfg.piterations > 0)
-	{
-		for (int isolve = 0; isolve < m_cfg.piterations; ++isolve)
-		{
-			const btScalar ti = isolve / (btScalar)m_cfg.piterations;
-			for (int iseq = 0; iseq < m_cfg.m_psequence.size(); ++iseq)
-			{
-				getSolver(m_cfg.m_psequence[iseq])(this, 1, ti);
-			}
-		}
-		const btScalar vc = m_sst.isdt * (1 - m_cfg.kDP);
-		for (i = 0, ni = m_nodes.size(); i < ni; ++i)
-		{
-			Node& n = m_nodes[i];
-			n.m_v = (n.m_x - n.m_q) * vc;
-			n.m_f = btVector3(0, 0, 0);
-		}
-	}
-	/* Solve drift			*/
-	if (m_cfg.diterations > 0)
-	{
-		const btScalar vcf = m_cfg.kVCF * m_sst.isdt;
-		for (i = 0, ni = m_nodes.size(); i < ni; ++i)
-		{
-			Node& n = m_nodes[i];
-			n.m_q = n.m_x;
-		}
-		for (int idrift = 0; idrift < m_cfg.diterations; ++idrift)
-		{
-			for (int iseq = 0; iseq < m_cfg.m_dsequence.size(); ++iseq)
-			{
-				getSolver(m_cfg.m_dsequence[iseq])(this, 1, 0);
-			}
-		}
-		for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
-		{
-			Node& n = m_nodes[i];
-			n.m_v += (n.m_x - n.m_q) * vcf;
-		}
-	}
-	/* Apply clusters		*/
-	dampClusters();
-	applyClusters(true);
-}
-
-//
-void btSoftBody::staticSolve(int iterations)
-{
-	for (int isolve = 0; isolve < iterations; ++isolve)
-	{
-		for (int iseq = 0; iseq < m_cfg.m_psequence.size(); ++iseq)
-		{
-			getSolver(m_cfg.m_psequence[iseq])(this, 1, 0);
-		}
-	}
-}
-
-//
-void btSoftBody::solveCommonConstraints(btSoftBody** /*bodies*/, int /*count*/, int /*iterations*/)
-{
-	/// placeholder
-}
-
-//
-void btSoftBody::solveClusters(const btAlignedObjectArray<btSoftBody*>& bodies)
-{
-	const int nb = bodies.size();
-	int iterations = 0;
-	int i;
-
-	for (i = 0; i < nb; ++i)
-	{
-		iterations = btMax(iterations, bodies[i]->m_cfg.citerations);
-	}
-	for (i = 0; i < nb; ++i)
-	{
-		bodies[i]->prepareClusters(iterations);
-	}
-	for (i = 0; i < iterations; ++i)
-	{
-		const btScalar sor = 1;
-		for (int j = 0; j < nb; ++j)
-		{
-			bodies[j]->solveClusters(sor);
-		}
-	}
-	for (i = 0; i < nb; ++i)
-	{
-		bodies[i]->cleanupClusters();
-	}
-}
-
-//
-void btSoftBody::integrateMotion()
-{
-	/* Update			*/
-	updateNormals();
-}
-
-//
-btSoftBody::RayFromToCaster::RayFromToCaster(const btVector3& rayFrom, const btVector3& rayTo, btScalar mxt)
-{
-	m_rayFrom = rayFrom;
-	m_rayNormalizedDirection = (rayTo - rayFrom);
-	m_rayTo = rayTo;
-	m_mint = mxt;
-	m_face = 0;
-	m_tests = 0;
-}
-
-//
-void btSoftBody::RayFromToCaster::Process(const btDbvtNode* leaf)
-{
-	btSoftBody::Face& f = *(btSoftBody::Face*)leaf->data;
-	const btScalar t = rayFromToTriangle(m_rayFrom, m_rayTo, m_rayNormalizedDirection,
-										 f.m_n[0]->m_x,
-										 f.m_n[1]->m_x,
-										 f.m_n[2]->m_x,
-										 m_mint);
-	if ((t > 0) && (t < m_mint))
-	{
-		m_mint = t;
-		m_face = &f;
-	}
-	++m_tests;
-}
-
-//
-btScalar btSoftBody::RayFromToCaster::rayFromToTriangle(const btVector3& rayFrom,
-														const btVector3& rayTo,
-														const btVector3& rayNormalizedDirection,
-														const btVector3& a,
-														const btVector3& b,
-														const btVector3& c,
-														btScalar maxt)
-{
-	static const btScalar ceps = -SIMD_EPSILON * 10;
-	static const btScalar teps = SIMD_EPSILON * 10;
-
-	const btVector3 n = btCross(b - a, c - a);
-	const btScalar d = btDot(a, n);
-	const btScalar den = btDot(rayNormalizedDirection, n);
-	if (!btFuzzyZero(den))
-	{
-		const btScalar num = btDot(rayFrom, n) - d;
-		const btScalar t = -num / den;
-		if ((t > teps) && (t < maxt))
-		{
-			const btVector3 hit = rayFrom + rayNormalizedDirection * t;
-			if ((btDot(n, btCross(a - hit, b - hit)) > ceps) &&
-				(btDot(n, btCross(b - hit, c - hit)) > ceps) &&
-				(btDot(n, btCross(c - hit, a - hit)) > ceps))
-			{
-				return (t);
-			}
-		}
-	}
-	return (-1);
-}
-
-//
-void btSoftBody::pointersToIndices()
-{
-#define PTR2IDX(_p_, _b_) reinterpret_cast<btSoftBody::Node*>((_p_) - (_b_))
-	btSoftBody::Node* base = m_nodes.size() ? &m_nodes[0] : 0;
-	int i, ni;
-
-	for (i = 0, ni = m_nodes.size(); i < ni; ++i)
-	{
-		if (m_nodes[i].m_leaf)
-		{
-			m_nodes[i].m_leaf->data = *(void**)&i;
-		}
-	}
-	for (i = 0, ni = m_links.size(); i < ni; ++i)
-	{
-		m_links[i].m_n[0] = PTR2IDX(m_links[i].m_n[0], base);
-		m_links[i].m_n[1] = PTR2IDX(m_links[i].m_n[1], base);
-	}
-	for (i = 0, ni = m_faces.size(); i < ni; ++i)
-	{
-		m_faces[i].m_n[0] = PTR2IDX(m_faces[i].m_n[0], base);
-		m_faces[i].m_n[1] = PTR2IDX(m_faces[i].m_n[1], base);
-		m_faces[i].m_n[2] = PTR2IDX(m_faces[i].m_n[2], base);
-		if (m_faces[i].m_leaf)
-		{
-			m_faces[i].m_leaf->data = *(void**)&i;
-		}
-	}
-	for (i = 0, ni = m_anchors.size(); i < ni; ++i)
-	{
-		m_anchors[i].m_node = PTR2IDX(m_anchors[i].m_node, base);
-	}
-	for (i = 0, ni = m_notes.size(); i < ni; ++i)
-	{
-		for (int j = 0; j < m_notes[i].m_rank; ++j)
-		{
-			m_notes[i].m_nodes[j] = PTR2IDX(m_notes[i].m_nodes[j], base);
-		}
-	}
-#undef PTR2IDX
-}
-
-//
-void btSoftBody::indicesToPointers(const int* map)
-{
-#define IDX2PTR(_p_, _b_) map ? (&(_b_)[map[(((char*)_p_) - (char*)0)]]) : (&(_b_)[(((char*)_p_) - (char*)0)])
-	btSoftBody::Node* base = m_nodes.size() ? &m_nodes[0] : 0;
-	int i, ni;
-
-	for (i = 0, ni = m_nodes.size(); i < ni; ++i)
-	{
-		if (m_nodes[i].m_leaf)
-		{
-			m_nodes[i].m_leaf->data = &m_nodes[i];
-		}
-	}
-	for (i = 0, ni = m_links.size(); i < ni; ++i)
-	{
-		m_links[i].m_n[0] = IDX2PTR(m_links[i].m_n[0], base);
-		m_links[i].m_n[1] = IDX2PTR(m_links[i].m_n[1], base);
-	}
-	for (i = 0, ni = m_faces.size(); i < ni; ++i)
-	{
-		m_faces[i].m_n[0] = IDX2PTR(m_faces[i].m_n[0], base);
-		m_faces[i].m_n[1] = IDX2PTR(m_faces[i].m_n[1], base);
-		m_faces[i].m_n[2] = IDX2PTR(m_faces[i].m_n[2], base);
-		if (m_faces[i].m_leaf)
-		{
-			m_faces[i].m_leaf->data = &m_faces[i];
-		}
-	}
-	for (i = 0, ni = m_anchors.size(); i < ni; ++i)
-	{
-		m_anchors[i].m_node = IDX2PTR(m_anchors[i].m_node, base);
-	}
-	for (i = 0, ni = m_notes.size(); i < ni; ++i)
-	{
-		for (int j = 0; j < m_notes[i].m_rank; ++j)
-		{
-			m_notes[i].m_nodes[j] = IDX2PTR(m_notes[i].m_nodes[j], base);
-		}
-	}
-#undef IDX2PTR
-}
-
-//
-int btSoftBody::rayTest(const btVector3& rayFrom, const btVector3& rayTo,
-						btScalar& mint, eFeature::_& feature, int& index, bool bcountonly) const
-{
-	int cnt = 0;
-	btVector3 dir = rayTo - rayFrom;
-
-	if (bcountonly || m_fdbvt.empty())
-	{ /* Full search	*/
-
-		for (int i = 0, ni = m_faces.size(); i < ni; ++i)
-		{
-			const btSoftBody::Face& f = m_faces[i];
-
-			const btScalar t = RayFromToCaster::rayFromToTriangle(rayFrom, rayTo, dir,
-																  f.m_n[0]->m_x,
-																  f.m_n[1]->m_x,
-																  f.m_n[2]->m_x,
-																  mint);
-			if (t > 0)
-			{
-				++cnt;
-				if (!bcountonly)
-				{
-					feature = btSoftBody::eFeature::Face;
-					index = i;
-					mint = t;
-				}
-			}
-		}
-	}
-	else
-	{ /* Use dbvt	*/
-		RayFromToCaster collider(rayFrom, rayTo, mint);
-
-		btDbvt::rayTest(m_fdbvt.m_root, rayFrom, rayTo, collider);
-		if (collider.m_face)
-		{
-			mint = collider.m_mint;
-			feature = btSoftBody::eFeature::Face;
-			index = (int)(collider.m_face - &m_faces[0]);
-			cnt = 1;
-		}
-	}
-
-	for (int i = 0; i < m_tetras.size(); i++)
-	{
-		const btSoftBody::Tetra& tet = m_tetras[i];
-		int tetfaces[4][3] = {{0, 1, 2}, {0, 1, 3}, {1, 2, 3}, {0, 2, 3}};
-		for (int f = 0; f < 4; f++)
-		{
-			int index0 = tetfaces[f][0];
-			int index1 = tetfaces[f][1];
-			int index2 = tetfaces[f][2];
-			btVector3 v0 = tet.m_n[index0]->m_x;
-			btVector3 v1 = tet.m_n[index1]->m_x;
-			btVector3 v2 = tet.m_n[index2]->m_x;
-
-			const btScalar t = RayFromToCaster::rayFromToTriangle(rayFrom, rayTo, dir,
-																  v0, v1, v2,
-																  mint);
-			if (t > 0)
-			{
-				++cnt;
-				if (!bcountonly)
-				{
-					feature = btSoftBody::eFeature::Tetra;
-					index = i;
-					mint = t;
-				}
-			}
-		}
-	}
-	return (cnt);
-}
-
-int btSoftBody::rayFaceTest(const btVector3& rayFrom, const btVector3& rayTo,
-							btScalar& mint, int& index) const
-{
-	int cnt = 0;
-	{ /* Use dbvt	*/
-		RayFromToCaster collider(rayFrom, rayTo, mint);
-
-		btDbvt::rayTest(m_fdbvt.m_root, rayFrom, rayTo, collider);
-		if (collider.m_face)
-		{
-			mint = collider.m_mint;
-			index = (int)(collider.m_face - &m_faces[0]);
-			cnt = 1;
-		}
-	}
-	return (cnt);
-}
-
-//
-static inline btDbvntNode* copyToDbvnt(const btDbvtNode* n)
-{
-	if (n == 0)
-		return 0;
-	btDbvntNode* root = new btDbvntNode(n);
-	if (n->isinternal())
-	{
-		btDbvntNode* c0 = copyToDbvnt(n->childs[0]);
-		root->childs[0] = c0;
-		btDbvntNode* c1 = copyToDbvnt(n->childs[1]);
-		root->childs[1] = c1;
-	}
-	return root;
-}
-
-static inline void calculateNormalCone(btDbvntNode* root)
-{
-	if (!root)
-		return;
-	if (root->isleaf())
-	{
-		const btSoftBody::Face* face = (btSoftBody::Face*)root->data;
-		root->normal = face->m_normal;
-		root->angle = 0;
-	}
-	else
-	{
-		btVector3 n0(0, 0, 0), n1(0, 0, 0);
-		btScalar a0 = 0, a1 = 0;
-		if (root->childs[0])
-		{
-			calculateNormalCone(root->childs[0]);
-			n0 = root->childs[0]->normal;
-			a0 = root->childs[0]->angle;
-		}
-		if (root->childs[1])
-		{
-			calculateNormalCone(root->childs[1]);
-			n1 = root->childs[1]->normal;
-			a1 = root->childs[1]->angle;
-		}
-		root->normal = (n0 + n1).safeNormalize();
-		root->angle = btMax(a0, a1) + btAngle(n0, n1) * 0.5;
-	}
-}
-
-void btSoftBody::initializeFaceTree()
-{
-	BT_PROFILE("btSoftBody::initializeFaceTree");
-	m_fdbvt.clear();
-	// create leaf nodes;
-	btAlignedObjectArray<btDbvtNode*> leafNodes;
-	leafNodes.resize(m_faces.size());
-	for (int i = 0; i < m_faces.size(); ++i)
-	{
-		Face& f = m_faces[i];
-		ATTRIBUTE_ALIGNED16(btDbvtVolume)
-		vol = VolumeOf(f, 0);
-		btDbvtNode* node = new (btAlignedAlloc(sizeof(btDbvtNode), 16)) btDbvtNode();
-		node->parent = NULL;
-		node->data = &f;
-		node->childs[1] = 0;
-		node->volume = vol;
-		leafNodes[i] = node;
-		f.m_leaf = node;
-	}
-	btAlignedObjectArray<btAlignedObjectArray<int> > adj;
-	adj.resize(m_faces.size());
-	// construct the adjacency list for triangles
-	for (int i = 0; i < adj.size(); ++i)
-	{
-		for (int j = i + 1; j < adj.size(); ++j)
-		{
-			int dup = 0;
-			for (int k = 0; k < 3; ++k)
-			{
-				for (int l = 0; l < 3; ++l)
-				{
-					if (m_faces[i].m_n[k] == m_faces[j].m_n[l])
-					{
-						++dup;
-						break;
-					}
-				}
-				if (dup == 2)
-				{
-					adj[i].push_back(j);
-					adj[j].push_back(i);
-				}
-			}
-		}
-	}
-	m_fdbvt.m_root = buildTreeBottomUp(leafNodes, adj);
-	if (m_fdbvnt)
-		delete m_fdbvnt;
-	m_fdbvnt = copyToDbvnt(m_fdbvt.m_root);
-	updateFaceTree(false, false);
-	rebuildNodeTree();
-}
-
-//
-void btSoftBody::rebuildNodeTree()
-{
-	m_ndbvt.clear();
-	btAlignedObjectArray<btDbvtNode*> leafNodes;
-	leafNodes.resize(m_nodes.size());
-	for (int i = 0; i < m_nodes.size(); ++i)
-	{
-		Node& n = m_nodes[i];
-		ATTRIBUTE_ALIGNED16(btDbvtVolume)
-		vol = btDbvtVolume::FromCR(n.m_x, 0);
-		btDbvtNode* node = new (btAlignedAlloc(sizeof(btDbvtNode), 16)) btDbvtNode();
-		node->parent = NULL;
-		node->data = &n;
-		node->childs[1] = 0;
-		node->volume = vol;
-		leafNodes[i] = node;
-		n.m_leaf = node;
-	}
-	btAlignedObjectArray<btAlignedObjectArray<int> > adj;
-	adj.resize(m_nodes.size());
-	btAlignedObjectArray<int> old_id;
-	old_id.resize(m_nodes.size());
-	for (int i = 0; i < m_nodes.size(); ++i)
-		old_id[i] = m_nodes[i].index;
-	for (int i = 0; i < m_nodes.size(); ++i)
-		m_nodes[i].index = i;
-	for (int i = 0; i < m_links.size(); ++i)
-	{
-		Link& l = m_links[i];
-		adj[l.m_n[0]->index].push_back(l.m_n[1]->index);
-		adj[l.m_n[1]->index].push_back(l.m_n[0]->index);
-	}
-	m_ndbvt.m_root = buildTreeBottomUp(leafNodes, adj);
-	for (int i = 0; i < m_nodes.size(); ++i)
-		m_nodes[i].index = old_id[i];
-}
-
-//
-btVector3 btSoftBody::evaluateCom() const
-{
-	btVector3 com(0, 0, 0);
-	if (m_pose.m_bframe)
-	{
-		for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
-		{
-			com += m_nodes[i].m_x * m_pose.m_wgh[i];
-		}
-	}
-	return (com);
-}
-
-bool btSoftBody::checkContact(const btCollisionObjectWrapper* colObjWrap,
-							  const btVector3& x,
-							  btScalar margin,
-							  btSoftBody::sCti& cti) const
-{
-	btVector3 nrm;
-	const btCollisionShape* shp = colObjWrap->getCollisionShape();
-	//    const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject());
-	//const btTransform &wtr = tmpRigid ? tmpRigid->getWorldTransform() : colObjWrap->getWorldTransform();
-	const btTransform& wtr = colObjWrap->getWorldTransform();
-	//todo: check which transform is needed here
-
-	btScalar dst =
-		m_worldInfo->m_sparsesdf.Evaluate(
-			wtr.invXform(x),
-			shp,
-			nrm,
-			margin);
-	if (dst < 0)
-	{
-		cti.m_colObj = colObjWrap->getCollisionObject();
-		cti.m_normal = wtr.getBasis() * nrm;
-		cti.m_offset = -btDot(cti.m_normal, x - cti.m_normal * dst);
-		return (true);
-	}
-	return (false);
-}
-
-//
-bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWrap,
-										const btVector3& x,
-										btScalar margin,
-										btSoftBody::sCti& cti, bool predict) const
-{
-	btVector3 nrm;
-	const btCollisionShape* shp = colObjWrap->getCollisionShape();
-	const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject();
-	// use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect
-	// but resolve contact at x_n
-	btTransform wtr = (predict) ? (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform() * (*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform())
-								: colObjWrap->getWorldTransform();
-	btScalar dst =
-		m_worldInfo->m_sparsesdf.Evaluate(
-			wtr.invXform(x),
-			shp,
-			nrm,
-			margin);
-
-	if (!predict)
-	{
-		cti.m_colObj = colObjWrap->getCollisionObject();
-		cti.m_normal = wtr.getBasis() * nrm;
-		cti.m_offset = dst;
-	}
-	if (dst < 0)
-		return true;
-	return (false);
-}
-
-//
-// Compute barycentric coordinates (u, v, w) for
-// point p with respect to triangle (a, b, c)
-static void getBarycentric(const btVector3& p, btVector3& a, btVector3& b, btVector3& c, btVector3& bary)
-{
-	btVector3 v0 = b - a, v1 = c - a, v2 = p - a;
-	btScalar d00 = v0.dot(v0);
-	btScalar d01 = v0.dot(v1);
-	btScalar d11 = v1.dot(v1);
-	btScalar d20 = v2.dot(v0);
-	btScalar d21 = v2.dot(v1);
-	btScalar denom = d00 * d11 - d01 * d01;
-	bary.setY((d11 * d20 - d01 * d21) / denom);
-	bary.setZ((d00 * d21 - d01 * d20) / denom);
-	bary.setX(btScalar(1) - bary.getY() - bary.getZ());
-}
-
-//
-bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colObjWrap,
-											Face& f,
-											btVector3& contact_point,
-											btVector3& bary,
-											btScalar margin,
-											btSoftBody::sCti& cti, bool predict) const
-{
-	btVector3 nrm;
-	const btCollisionShape* shp = colObjWrap->getCollisionShape();
-	const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject();
-	// use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect
-	// but resolve contact at x_n
-	btTransform wtr = (predict) ? (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform() * (*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform())
-								: colObjWrap->getWorldTransform();
-	btScalar dst;
-	btGjkEpaSolver2::sResults results;
-
-//	#define USE_QUADRATURE 1
-
-	// use collision quadrature point
-#ifdef USE_QUADRATURE
-	{
-		dst = SIMD_INFINITY;
-		btVector3 local_nrm;
-		for (int q = 0; q < m_quads.size(); ++q)
-		{
-			btVector3 p;
-			if (predict)
-				p = BaryEval(f.m_n[0]->m_q, f.m_n[1]->m_q, f.m_n[2]->m_q, m_quads[q]);
-			else
-				p = BaryEval(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, m_quads[q]);
-			btScalar local_dst = m_worldInfo->m_sparsesdf.Evaluate(
-				wtr.invXform(p),
-				shp,
-				local_nrm,
-				margin);
-			if (local_dst < dst)
-			{
-				if (local_dst < 0 && predict)
-					return true;
-				dst = local_dst;
-				contact_point = p;
-				bary = m_quads[q];
-				nrm = local_nrm;
-			}
-			if (!predict)
-			{
-				cti.m_colObj = colObjWrap->getCollisionObject();
-				cti.m_normal = wtr.getBasis() * nrm;
-				cti.m_offset = dst;
-			}
-		}
-		return (dst < 0);
-	}
-#endif
-
-	// collision detection using x*
-	btTransform triangle_transform;
-	triangle_transform.setIdentity();
-	triangle_transform.setOrigin(f.m_n[0]->m_q);
-	btTriangleShape triangle(btVector3(0, 0, 0), f.m_n[1]->m_q - f.m_n[0]->m_q, f.m_n[2]->m_q - f.m_n[0]->m_q);
-	btVector3 guess(0, 0, 0);
-	const btConvexShape* csh = static_cast<const btConvexShape*>(shp);
-	btGjkEpaSolver2::SignedDistance(&triangle, triangle_transform, csh, wtr, guess, results);
-	dst = results.distance - 2.0 * csh->getMargin() - margin;  // margin padding so that the distance = the actual distance between face and rigid - margin of rigid - margin of deformable
-	if (dst >= 0)
-		return false;
-
-	// Use consistent barycenter to recalculate distance.
-	if (this->m_cacheBarycenter)
-	{
-		if (f.m_pcontact[3] != 0)
-		{
-			for (int i = 0; i < 3; ++i)
-				bary[i] = f.m_pcontact[i];
-			contact_point = BaryEval(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary);
-			const btConvexShape* csh = static_cast<const btConvexShape*>(shp);
-			btGjkEpaSolver2::SignedDistance(contact_point, margin, csh, wtr, results);
-			cti.m_colObj = colObjWrap->getCollisionObject();
-			dst = results.distance;
-			cti.m_normal = results.normal;
-			cti.m_offset = dst;
-
-			//point-convex CD
-			wtr = colObjWrap->getWorldTransform();
-			btTriangleShape triangle2(btVector3(0, 0, 0), f.m_n[1]->m_x - f.m_n[0]->m_x, f.m_n[2]->m_x - f.m_n[0]->m_x);
-			triangle_transform.setOrigin(f.m_n[0]->m_x);
-			btGjkEpaSolver2::SignedDistance(&triangle2, triangle_transform, csh, wtr, guess, results);
-
-			dst = results.distance - csh->getMargin() - margin;
-			return true;
-		}
-	}
-
-	// Use triangle-convex CD.
-	wtr = colObjWrap->getWorldTransform();
-	btTriangleShape triangle2(btVector3(0, 0, 0), f.m_n[1]->m_x - f.m_n[0]->m_x, f.m_n[2]->m_x - f.m_n[0]->m_x);
-	triangle_transform.setOrigin(f.m_n[0]->m_x);
-	btGjkEpaSolver2::SignedDistance(&triangle2, triangle_transform, csh, wtr, guess, results);
-	contact_point = results.witnesses[0];
-	getBarycentric(contact_point, f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary);
-
-	for (int i = 0; i < 3; ++i)
-		f.m_pcontact[i] = bary[i];
-
-	dst = results.distance - csh->getMargin() - margin;
-	cti.m_colObj = colObjWrap->getCollisionObject();
-	cti.m_normal = results.normal;
-	cti.m_offset = dst;
-	return true;
-}
-
-void btSoftBody::updateNormals()
-{
-	const btVector3 zv(0, 0, 0);
-	int i, ni;
-
-	for (i = 0, ni = m_nodes.size(); i < ni; ++i)
-	{
-		m_nodes[i].m_n = zv;
-	}
-	for (i = 0, ni = m_faces.size(); i < ni; ++i)
-	{
-		btSoftBody::Face& f = m_faces[i];
-		const btVector3 n = btCross(f.m_n[1]->m_x - f.m_n[0]->m_x,
-									f.m_n[2]->m_x - f.m_n[0]->m_x);
-		f.m_normal = n;
-		f.m_normal.safeNormalize();
-		f.m_n[0]->m_n += n;
-		f.m_n[1]->m_n += n;
-		f.m_n[2]->m_n += n;
-	}
-	for (i = 0, ni = m_nodes.size(); i < ni; ++i)
-	{
-		btScalar len = m_nodes[i].m_n.length();
-		if (len > SIMD_EPSILON)
-			m_nodes[i].m_n /= len;
-	}
-}
-
-//
-void btSoftBody::updateBounds()
-{
-	/*if( m_acceleratedSoftBody )
-	{
-		// If we have an accelerated softbody we need to obtain the bounds correctly
-		// For now (slightly hackily) just have a very large AABB
-		// TODO: Write get bounds kernel
-		// If that is updating in place, atomic collisions might be low (when the cloth isn't perfectly aligned to an axis) and we could
-		// probably do a test and exchange reasonably efficiently.
-
-		m_bounds[0] = btVector3(-1000, -1000, -1000);
-		m_bounds[1] = btVector3(1000, 1000, 1000);
-
-	} else {*/
-	//    if (m_ndbvt.m_root)
-	//    {
-	//        const btVector3& mins = m_ndbvt.m_root->volume.Mins();
-	//        const btVector3& maxs = m_ndbvt.m_root->volume.Maxs();
-	//        const btScalar csm = getCollisionShape()->getMargin();
-	//        const btVector3 mrg = btVector3(csm,
-	//                                        csm,
-	//                                        csm) *
-	//                              1;  // ??? to investigate...
-	//        m_bounds[0] = mins - mrg;
-	//        m_bounds[1] = maxs + mrg;
-	//        if (0 != getBroadphaseHandle())
-	//        {
-	//            m_worldInfo->m_broadphase->setAabb(getBroadphaseHandle(),
-	//                                               m_bounds[0],
-	//                                               m_bounds[1],
-	//                                               m_worldInfo->m_dispatcher);
-	//        }
-	//    }
-	//    else
-	//    {
-	//        m_bounds[0] =
-	//            m_bounds[1] = btVector3(0, 0, 0);
-	//    }
-	if (m_nodes.size())
-	{
-		btVector3 mins = m_nodes[0].m_x;
-		btVector3 maxs = m_nodes[0].m_x;
-		for (int i = 1; i < m_nodes.size(); ++i)
-		{
-			for (int d = 0; d < 3; ++d)
-			{
-				if (m_nodes[i].m_x[d] > maxs[d])
-					maxs[d] = m_nodes[i].m_x[d];
-				if (m_nodes[i].m_x[d] < mins[d])
-					mins[d] = m_nodes[i].m_x[d];
-			}
-		}
-		const btScalar csm = getCollisionShape()->getMargin();
-		const btVector3 mrg = btVector3(csm,
-										csm,
-										csm);
-		m_bounds[0] = mins - mrg;
-		m_bounds[1] = maxs + mrg;
-		if (0 != getBroadphaseHandle())
-		{
-			m_worldInfo->m_broadphase->setAabb(getBroadphaseHandle(),
-											   m_bounds[0],
-											   m_bounds[1],
-											   m_worldInfo->m_dispatcher);
-		}
-	}
-	else
-	{
-		m_bounds[0] =
-			m_bounds[1] = btVector3(0, 0, 0);
-	}
-}
-
-//
-void btSoftBody::updatePose()
-{
-	if (m_pose.m_bframe)
-	{
-		btSoftBody::Pose& pose = m_pose;
-		const btVector3 com = evaluateCom();
-		/* Com			*/
-		pose.m_com = com;
-		/* Rotation		*/
-		btMatrix3x3 Apq;
-		const btScalar eps = SIMD_EPSILON;
-		Apq[0] = Apq[1] = Apq[2] = btVector3(0, 0, 0);
-		Apq[0].setX(eps);
-		Apq[1].setY(eps * 2);
-		Apq[2].setZ(eps * 3);
-		for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
-		{
-			const btVector3 a = pose.m_wgh[i] * (m_nodes[i].m_x - com);
-			const btVector3& b = pose.m_pos[i];
-			Apq[0] += a.x() * b;
-			Apq[1] += a.y() * b;
-			Apq[2] += a.z() * b;
-		}
-		btMatrix3x3 r, s;
-		PolarDecompose(Apq, r, s);
-		pose.m_rot = r;
-		pose.m_scl = pose.m_aqq * r.transpose() * Apq;
-		if (m_cfg.maxvolume > 1)
-		{
-			const btScalar idet = Clamp<btScalar>(1 / pose.m_scl.determinant(),
-												  1, m_cfg.maxvolume);
-			pose.m_scl = Mul(pose.m_scl, idet);
-		}
-	}
-}
-
-//
-void btSoftBody::updateArea(bool averageArea)
-{
-	int i, ni;
-
-	/* Face area		*/
-	for (i = 0, ni = m_faces.size(); i < ni; ++i)
-	{
-		Face& f = m_faces[i];
-		f.m_ra = AreaOf(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x);
-	}
-
-	/* Node area		*/
-
-	if (averageArea)
-	{
-		btAlignedObjectArray<int> counts;
-		counts.resize(m_nodes.size(), 0);
-		for (i = 0, ni = m_nodes.size(); i < ni; ++i)
-		{
-			m_nodes[i].m_area = 0;
-		}
-		for (i = 0, ni = m_faces.size(); i < ni; ++i)
-		{
-			btSoftBody::Face& f = m_faces[i];
-			for (int j = 0; j < 3; ++j)
-			{
-				const int index = (int)(f.m_n[j] - &m_nodes[0]);
-				counts[index]++;
-				f.m_n[j]->m_area += btFabs(f.m_ra);
-			}
-		}
-		for (i = 0, ni = m_nodes.size(); i < ni; ++i)
-		{
-			if (counts[i] > 0)
-				m_nodes[i].m_area /= (btScalar)counts[i];
-			else
-				m_nodes[i].m_area = 0;
-		}
-	}
-	else
-	{
-		// initialize node area as zero
-		for (i = 0, ni = m_nodes.size(); i < ni; ++i)
-		{
-			m_nodes[i].m_area = 0;
-		}
-
-		for (i = 0, ni = m_faces.size(); i < ni; ++i)
-		{
-			btSoftBody::Face& f = m_faces[i];
-
-			for (int j = 0; j < 3; ++j)
-			{
-				f.m_n[j]->m_area += f.m_ra;
-			}
-		}
-
-		for (i = 0, ni = m_nodes.size(); i < ni; ++i)
-		{
-			m_nodes[i].m_area *= 0.3333333f;
-		}
-	}
-}
-
-void btSoftBody::updateLinkConstants()
-{
-	int i, ni;
-
-	/* Links		*/
-	for (i = 0, ni = m_links.size(); i < ni; ++i)
-	{
-		Link& l = m_links[i];
-		Material& m = *l.m_material;
-		l.m_c0 = (l.m_n[0]->m_im + l.m_n[1]->m_im) / m.m_kLST;
-	}
-}
-
-void btSoftBody::updateConstants()
-{
-	resetLinkRestLengths();
-	updateLinkConstants();
-	updateArea();
-}
-
-//
-void btSoftBody::initializeClusters()
-{
-	int i;
-
-	for (i = 0; i < m_clusters.size(); ++i)
-	{
-		Cluster& c = *m_clusters[i];
-		c.m_imass = 0;
-		c.m_masses.resize(c.m_nodes.size());
-		for (int j = 0; j < c.m_nodes.size(); ++j)
-		{
-			if (c.m_nodes[j]->m_im == 0)
-			{
-				c.m_containsAnchor = true;
-				c.m_masses[j] = BT_LARGE_FLOAT;
-			}
-			else
-			{
-				c.m_masses[j] = btScalar(1.) / c.m_nodes[j]->m_im;
-			}
-			c.m_imass += c.m_masses[j];
-		}
-		c.m_imass = btScalar(1.) / c.m_imass;
-		c.m_com = btSoftBody::clusterCom(&c);
-		c.m_lv = btVector3(0, 0, 0);
-		c.m_av = btVector3(0, 0, 0);
-		c.m_leaf = 0;
-		/* Inertia	*/
-		btMatrix3x3& ii = c.m_locii;
-		ii[0] = ii[1] = ii[2] = btVector3(0, 0, 0);
-		{
-			int i, ni;
-
-			for (i = 0, ni = c.m_nodes.size(); i < ni; ++i)
-			{
-				const btVector3 k = c.m_nodes[i]->m_x - c.m_com;
-				const btVector3 q = k * k;
-				const btScalar m = c.m_masses[i];
-				ii[0][0] += m * (q[1] + q[2]);
-				ii[1][1] += m * (q[0] + q[2]);
-				ii[2][2] += m * (q[0] + q[1]);
-				ii[0][1] -= m * k[0] * k[1];
-				ii[0][2] -= m * k[0] * k[2];
-				ii[1][2] -= m * k[1] * k[2];
-			}
-		}
-		ii[1][0] = ii[0][1];
-		ii[2][0] = ii[0][2];
-		ii[2][1] = ii[1][2];
-
-		ii = ii.inverse();
-
-		/* Frame	*/
-		c.m_framexform.setIdentity();
-		c.m_framexform.setOrigin(c.m_com);
-		c.m_framerefs.resize(c.m_nodes.size());
-		{
-			int i;
-			for (i = 0; i < c.m_framerefs.size(); ++i)
-			{
-				c.m_framerefs[i] = c.m_nodes[i]->m_x - c.m_com;
-			}
-		}
-	}
-}
-
-//
-void btSoftBody::updateClusters()
-{
-	BT_PROFILE("UpdateClusters");
-	int i;
-
-	for (i = 0; i < m_clusters.size(); ++i)
-	{
-		btSoftBody::Cluster& c = *m_clusters[i];
-		const int n = c.m_nodes.size();
-		//const btScalar			invn=1/(btScalar)n;
-		if (n)
-		{
-			/* Frame				*/
-			const btScalar eps = btScalar(0.0001);
-			btMatrix3x3 m, r, s;
-			m[0] = m[1] = m[2] = btVector3(0, 0, 0);
-			m[0][0] = eps * 1;
-			m[1][1] = eps * 2;
-			m[2][2] = eps * 3;
-			c.m_com = clusterCom(&c);
-			for (int i = 0; i < c.m_nodes.size(); ++i)
-			{
-				const btVector3 a = c.m_nodes[i]->m_x - c.m_com;
-				const btVector3& b = c.m_framerefs[i];
-				m[0] += a[0] * b;
-				m[1] += a[1] * b;
-				m[2] += a[2] * b;
-			}
-			PolarDecompose(m, r, s);
-			c.m_framexform.setOrigin(c.m_com);
-			c.m_framexform.setBasis(r);
-			/* Inertia			*/
-#if 1 /* Constant	*/
-			c.m_invwi = c.m_framexform.getBasis() * c.m_locii * c.m_framexform.getBasis().transpose();
-#else
-#if 0 /* Sphere	*/ 
-			const btScalar	rk=(2*c.m_extents.length2())/(5*c.m_imass);
-			const btVector3	inertia(rk,rk,rk);
-			const btVector3	iin(btFabs(inertia[0])>SIMD_EPSILON?1/inertia[0]:0,
-				btFabs(inertia[1])>SIMD_EPSILON?1/inertia[1]:0,
-				btFabs(inertia[2])>SIMD_EPSILON?1/inertia[2]:0);
-
-			c.m_invwi=c.m_xform.getBasis().scaled(iin)*c.m_xform.getBasis().transpose();
-#else /* Actual	*/
-			c.m_invwi[0] = c.m_invwi[1] = c.m_invwi[2] = btVector3(0, 0, 0);
-			for (int i = 0; i < n; ++i)
-			{
-				const btVector3 k = c.m_nodes[i]->m_x - c.m_com;
-				const btVector3 q = k * k;
-				const btScalar m = 1 / c.m_nodes[i]->m_im;
-				c.m_invwi[0][0] += m * (q[1] + q[2]);
-				c.m_invwi[1][1] += m * (q[0] + q[2]);
-				c.m_invwi[2][2] += m * (q[0] + q[1]);
-				c.m_invwi[0][1] -= m * k[0] * k[1];
-				c.m_invwi[0][2] -= m * k[0] * k[2];
-				c.m_invwi[1][2] -= m * k[1] * k[2];
-			}
-			c.m_invwi[1][0] = c.m_invwi[0][1];
-			c.m_invwi[2][0] = c.m_invwi[0][2];
-			c.m_invwi[2][1] = c.m_invwi[1][2];
-			c.m_invwi = c.m_invwi.inverse();
-#endif
-#endif
-			/* Velocities			*/
-			c.m_lv = btVector3(0, 0, 0);
-			c.m_av = btVector3(0, 0, 0);
-			{
-				int i;
-
-				for (i = 0; i < n; ++i)
-				{
-					const btVector3 v = c.m_nodes[i]->m_v * c.m_masses[i];
-					c.m_lv += v;
-					c.m_av += btCross(c.m_nodes[i]->m_x - c.m_com, v);
-				}
-			}
-			c.m_lv = c.m_imass * c.m_lv * (1 - c.m_ldamping);
-			c.m_av = c.m_invwi * c.m_av * (1 - c.m_adamping);
-			c.m_vimpulses[0] =
-				c.m_vimpulses[1] = btVector3(0, 0, 0);
-			c.m_dimpulses[0] =
-				c.m_dimpulses[1] = btVector3(0, 0, 0);
-			c.m_nvimpulses = 0;
-			c.m_ndimpulses = 0;
-			/* Matching				*/
-			if (c.m_matching > 0)
-			{
-				for (int j = 0; j < c.m_nodes.size(); ++j)
-				{
-					Node& n = *c.m_nodes[j];
-					const btVector3 x = c.m_framexform * c.m_framerefs[j];
-					n.m_x = Lerp(n.m_x, x, c.m_matching);
-				}
-			}
-			/* Dbvt					*/
-			if (c.m_collide)
-			{
-				btVector3 mi = c.m_nodes[0]->m_x;
-				btVector3 mx = mi;
-				for (int j = 1; j < n; ++j)
-				{
-					mi.setMin(c.m_nodes[j]->m_x);
-					mx.setMax(c.m_nodes[j]->m_x);
-				}
-				ATTRIBUTE_ALIGNED16(btDbvtVolume)
-				bounds = btDbvtVolume::FromMM(mi, mx);
-				if (c.m_leaf)
-					m_cdbvt.update(c.m_leaf, bounds, c.m_lv * m_sst.sdt * 3, m_sst.radmrg);
-				else
-					c.m_leaf = m_cdbvt.insert(bounds, &c);
-			}
-		}
-	}
-}
-
-//
-void btSoftBody::cleanupClusters()
-{
-	for (int i = 0; i < m_joints.size(); ++i)
-	{
-		m_joints[i]->Terminate(m_sst.sdt);
-		if (m_joints[i]->m_delete)
-		{
-			btAlignedFree(m_joints[i]);
-			m_joints.remove(m_joints[i--]);
-		}
-	}
-}
-
-//
-void btSoftBody::prepareClusters(int iterations)
-{
-	for (int i = 0; i < m_joints.size(); ++i)
-	{
-		m_joints[i]->Prepare(m_sst.sdt, iterations);
-	}
-}
-
-//
-void btSoftBody::solveClusters(btScalar sor)
-{
-	for (int i = 0, ni = m_joints.size(); i < ni; ++i)
-	{
-		m_joints[i]->Solve(m_sst.sdt, sor);
-	}
-}
-
-//
-void btSoftBody::applyClusters(bool drift)
-{
-	BT_PROFILE("ApplyClusters");
-	//	const btScalar					f0=m_sst.sdt;
-	//const btScalar					f1=f0/2;
-	btAlignedObjectArray<btVector3> deltas;
-	btAlignedObjectArray<btScalar> weights;
-	deltas.resize(m_nodes.size(), btVector3(0, 0, 0));
-	weights.resize(m_nodes.size(), 0);
-	int i;
-
-	if (drift)
-	{
-		for (i = 0; i < m_clusters.size(); ++i)
-		{
-			Cluster& c = *m_clusters[i];
-			if (c.m_ndimpulses)
-			{
-				c.m_dimpulses[0] /= (btScalar)c.m_ndimpulses;
-				c.m_dimpulses[1] /= (btScalar)c.m_ndimpulses;
-			}
-		}
-	}
-
-	for (i = 0; i < m_clusters.size(); ++i)
-	{
-		Cluster& c = *m_clusters[i];
-		if (0 < (drift ? c.m_ndimpulses : c.m_nvimpulses))
-		{
-			const btVector3 v = (drift ? c.m_dimpulses[0] : c.m_vimpulses[0]) * m_sst.sdt;
-			const btVector3 w = (drift ? c.m_dimpulses[1] : c.m_vimpulses[1]) * m_sst.sdt;
-			for (int j = 0; j < c.m_nodes.size(); ++j)
-			{
-				const int idx = int(c.m_nodes[j] - &m_nodes[0]);
-				const btVector3& x = c.m_nodes[j]->m_x;
-				const btScalar q = c.m_masses[j];
-				deltas[idx] += (v + btCross(w, x - c.m_com)) * q;
-				weights[idx] += q;
-			}
-		}
-	}
-	for (i = 0; i < deltas.size(); ++i)
-	{
-		if (weights[i] > 0)
-		{
-			m_nodes[i].m_x += deltas[i] / weights[i];
-		}
-	}
-}
-
-//
-void btSoftBody::dampClusters()
-{
-	int i;
-
-	for (i = 0; i < m_clusters.size(); ++i)
-	{
-		Cluster& c = *m_clusters[i];
-		if (c.m_ndamping > 0)
-		{
-			for (int j = 0; j < c.m_nodes.size(); ++j)
-			{
-				Node& n = *c.m_nodes[j];
-				if (n.m_im > 0)
-				{
-					const btVector3 vx = c.m_lv + btCross(c.m_av, c.m_nodes[j]->m_q - c.m_com);
-					if (vx.length2() <= n.m_v.length2())
-					{
-						n.m_v += c.m_ndamping * (vx - n.m_v);
-					}
-				}
-			}
-		}
-	}
-}
-
-void btSoftBody::setSpringStiffness(btScalar k)
-{
-	for (int i = 0; i < m_links.size(); ++i)
-	{
-		m_links[i].Feature::m_material->m_kLST = k;
-	}
-	m_repulsionStiffness = k;
-}
-
-void btSoftBody::setGravityFactor(btScalar gravFactor)
-{
-	m_gravityFactor = gravFactor;
-}
-
-void btSoftBody::setCacheBarycenter(bool cacheBarycenter)
-{
-	m_cacheBarycenter = cacheBarycenter;
-}
-
-void btSoftBody::initializeDmInverse()
-{
-	btScalar unit_simplex_measure = 1. / 6.;
-
-	for (int i = 0; i < m_tetras.size(); ++i)
-	{
-		Tetra& t = m_tetras[i];
-		btVector3 c1 = t.m_n[1]->m_x - t.m_n[0]->m_x;
-		btVector3 c2 = t.m_n[2]->m_x - t.m_n[0]->m_x;
-		btVector3 c3 = t.m_n[3]->m_x - t.m_n[0]->m_x;
-		btMatrix3x3 Dm(c1.getX(), c2.getX(), c3.getX(),
-					   c1.getY(), c2.getY(), c3.getY(),
-					   c1.getZ(), c2.getZ(), c3.getZ());
-		t.m_element_measure = Dm.determinant() * unit_simplex_measure;
-		t.m_Dm_inverse = Dm.inverse();
-
-		// calculate the first three columns of P^{-1}
-		btVector3 a = t.m_n[0]->m_x;
-		btVector3 b = t.m_n[1]->m_x;
-		btVector3 c = t.m_n[2]->m_x;
-		btVector3 d = t.m_n[3]->m_x;
-
-		btScalar det = 1 / (a[0] * b[1] * c[2] - a[0] * b[1] * d[2] - a[0] * b[2] * c[1] + a[0] * b[2] * d[1] + a[0] * c[1] * d[2] - a[0] * c[2] * d[1] + a[1] * (-b[0] * c[2] + b[0] * d[2] + b[2] * c[0] - b[2] * d[0] - c[0] * d[2] + c[2] * d[0]) + a[2] * (b[0] * c[1] - b[0] * d[1] + b[1] * (d[0] - c[0]) + c[0] * d[1] - c[1] * d[0]) - b[0] * c[1] * d[2] + b[0] * c[2] * d[1] + b[1] * c[0] * d[2] - b[1] * c[2] * d[0] - b[2] * c[0] * d[1] + b[2] * c[1] * d[0]);
-
-		btScalar P11 = -b[2] * c[1] + d[2] * c[1] + b[1] * c[2] + b[2] * d[1] - c[2] * d[1] - b[1] * d[2];
-		btScalar P12 = b[2] * c[0] - d[2] * c[0] - b[0] * c[2] - b[2] * d[0] + c[2] * d[0] + b[0] * d[2];
-		btScalar P13 = -b[1] * c[0] + d[1] * c[0] + b[0] * c[1] + b[1] * d[0] - c[1] * d[0] - b[0] * d[1];
-		btScalar P21 = a[2] * c[1] - d[2] * c[1] - a[1] * c[2] - a[2] * d[1] + c[2] * d[1] + a[1] * d[2];
-		btScalar P22 = -a[2] * c[0] + d[2] * c[0] + a[0] * c[2] + a[2] * d[0] - c[2] * d[0] - a[0] * d[2];
-		btScalar P23 = a[1] * c[0] - d[1] * c[0] - a[0] * c[1] - a[1] * d[0] + c[1] * d[0] + a[0] * d[1];
-		btScalar P31 = -a[2] * b[1] + d[2] * b[1] + a[1] * b[2] + a[2] * d[1] - b[2] * d[1] - a[1] * d[2];
-		btScalar P32 = a[2] * b[0] - d[2] * b[0] - a[0] * b[2] - a[2] * d[0] + b[2] * d[0] + a[0] * d[2];
-		btScalar P33 = -a[1] * b[0] + d[1] * b[0] + a[0] * b[1] + a[1] * d[0] - b[1] * d[0] - a[0] * d[1];
-		btScalar P41 = a[2] * b[1] - c[2] * b[1] - a[1] * b[2] - a[2] * c[1] + b[2] * c[1] + a[1] * c[2];
-		btScalar P42 = -a[2] * b[0] + c[2] * b[0] + a[0] * b[2] + a[2] * c[0] - b[2] * c[0] - a[0] * c[2];
-		btScalar P43 = a[1] * b[0] - c[1] * b[0] - a[0] * b[1] - a[1] * c[0] + b[1] * c[0] + a[0] * c[1];
-
-		btVector4 p1(P11 * det, P21 * det, P31 * det, P41 * det);
-		btVector4 p2(P12 * det, P22 * det, P32 * det, P42 * det);
-		btVector4 p3(P13 * det, P23 * det, P33 * det, P43 * det);
-
-		t.m_P_inv[0] = p1;
-		t.m_P_inv[1] = p2;
-		t.m_P_inv[2] = p3;
-	}
-}
-
-static btScalar Dot4(const btVector4& a, const btVector4& b)
-{
-	return a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3];
-}
-
-void btSoftBody::updateDeformation()
-{
-	btQuaternion q;
-	for (int i = 0; i < m_tetras.size(); ++i)
-	{
-		btSoftBody::Tetra& t = m_tetras[i];
-		btVector3 c1 = t.m_n[1]->m_q - t.m_n[0]->m_q;
-		btVector3 c2 = t.m_n[2]->m_q - t.m_n[0]->m_q;
-		btVector3 c3 = t.m_n[3]->m_q - t.m_n[0]->m_q;
-		btMatrix3x3 Ds(c1.getX(), c2.getX(), c3.getX(),
-					   c1.getY(), c2.getY(), c3.getY(),
-					   c1.getZ(), c2.getZ(), c3.getZ());
-		t.m_F = Ds * t.m_Dm_inverse;
-
-		btSoftBody::TetraScratch& s = m_tetraScratches[i];
-		s.m_F = t.m_F;
-		s.m_J = t.m_F.determinant();
-		btMatrix3x3 C = t.m_F.transpose() * t.m_F;
-		s.m_trace = C[0].getX() + C[1].getY() + C[2].getZ();
-		s.m_cofF = t.m_F.adjoint().transpose();
-
-		btVector3 a = t.m_n[0]->m_q;
-		btVector3 b = t.m_n[1]->m_q;
-		btVector3 c = t.m_n[2]->m_q;
-		btVector3 d = t.m_n[3]->m_q;
-		btVector4 q1(a[0], b[0], c[0], d[0]);
-		btVector4 q2(a[1], b[1], c[1], d[1]);
-		btVector4 q3(a[2], b[2], c[2], d[2]);
-		btMatrix3x3 B(Dot4(q1, t.m_P_inv[0]), Dot4(q1, t.m_P_inv[1]), Dot4(q1, t.m_P_inv[2]),
-					  Dot4(q2, t.m_P_inv[0]), Dot4(q2, t.m_P_inv[1]), Dot4(q2, t.m_P_inv[2]),
-					  Dot4(q3, t.m_P_inv[0]), Dot4(q3, t.m_P_inv[1]), Dot4(q3, t.m_P_inv[2]));
-		q.setRotation(btVector3(0, 0, 1), 0);
-		B.extractRotation(q, 0.01);  // precision of the rotation is not very important for visual correctness.
-		btMatrix3x3 Q(q);
-		s.m_corotation = Q;
-	}
-}
-
-void btSoftBody::advanceDeformation()
-{
-	updateDeformation();
-	for (int i = 0; i < m_tetras.size(); ++i)
-	{
-		m_tetraScratchesTn[i] = m_tetraScratches[i];
-	}
-}
-//
-void btSoftBody::Joint::Prepare(btScalar dt, int)
-{
-	m_bodies[0].activate();
-	m_bodies[1].activate();
-}
-
-//
-void btSoftBody::LJoint::Prepare(btScalar dt, int iterations)
-{
-	static const btScalar maxdrift = 4;
-	Joint::Prepare(dt, iterations);
-	m_rpos[0] = m_bodies[0].xform() * m_refs[0];
-	m_rpos[1] = m_bodies[1].xform() * m_refs[1];
-	m_drift = Clamp(m_rpos[0] - m_rpos[1], maxdrift) * m_erp / dt;
-	m_rpos[0] -= m_bodies[0].xform().getOrigin();
-	m_rpos[1] -= m_bodies[1].xform().getOrigin();
-	m_massmatrix = ImpulseMatrix(m_bodies[0].invMass(), m_bodies[0].invWorldInertia(), m_rpos[0],
-								 m_bodies[1].invMass(), m_bodies[1].invWorldInertia(), m_rpos[1]);
-	if (m_split > 0)
-	{
-		m_sdrift = m_massmatrix * (m_drift * m_split);
-		m_drift *= 1 - m_split;
-	}
-	m_drift /= (btScalar)iterations;
-}
-
-//
-void btSoftBody::LJoint::Solve(btScalar dt, btScalar sor)
-{
-	const btVector3 va = m_bodies[0].velocity(m_rpos[0]);
-	const btVector3 vb = m_bodies[1].velocity(m_rpos[1]);
-	const btVector3 vr = va - vb;
-	btSoftBody::Impulse impulse;
-	impulse.m_asVelocity = 1;
-	impulse.m_velocity = m_massmatrix * (m_drift + vr * m_cfm) * sor;
-	m_bodies[0].applyImpulse(-impulse, m_rpos[0]);
-	m_bodies[1].applyImpulse(impulse, m_rpos[1]);
-}
-
-//
-void btSoftBody::LJoint::Terminate(btScalar dt)
-{
-	if (m_split > 0)
-	{
-		m_bodies[0].applyDImpulse(-m_sdrift, m_rpos[0]);
-		m_bodies[1].applyDImpulse(m_sdrift, m_rpos[1]);
-	}
-}
-
-//
-void btSoftBody::AJoint::Prepare(btScalar dt, int iterations)
-{
-	static const btScalar maxdrift = SIMD_PI / 16;
-	m_icontrol->Prepare(this);
-	Joint::Prepare(dt, iterations);
-	m_axis[0] = m_bodies[0].xform().getBasis() * m_refs[0];
-	m_axis[1] = m_bodies[1].xform().getBasis() * m_refs[1];
-	m_drift = NormalizeAny(btCross(m_axis[1], m_axis[0]));
-	m_drift *= btMin(maxdrift, btAcos(Clamp<btScalar>(btDot(m_axis[0], m_axis[1]), -1, +1)));
-	m_drift *= m_erp / dt;
-	m_massmatrix = AngularImpulseMatrix(m_bodies[0].invWorldInertia(), m_bodies[1].invWorldInertia());
-	if (m_split > 0)
-	{
-		m_sdrift = m_massmatrix * (m_drift * m_split);
-		m_drift *= 1 - m_split;
-	}
-	m_drift /= (btScalar)iterations;
-}
-
-//
-void btSoftBody::AJoint::Solve(btScalar dt, btScalar sor)
-{
-	const btVector3 va = m_bodies[0].angularVelocity();
-	const btVector3 vb = m_bodies[1].angularVelocity();
-	const btVector3 vr = va - vb;
-	const btScalar sp = btDot(vr, m_axis[0]);
-	const btVector3 vc = vr - m_axis[0] * m_icontrol->Speed(this, sp);
-	btSoftBody::Impulse impulse;
-	impulse.m_asVelocity = 1;
-	impulse.m_velocity = m_massmatrix * (m_drift + vc * m_cfm) * sor;
-	m_bodies[0].applyAImpulse(-impulse);
-	m_bodies[1].applyAImpulse(impulse);
-}
-
-//
-void btSoftBody::AJoint::Terminate(btScalar dt)
-{
-	if (m_split > 0)
-	{
-		m_bodies[0].applyDAImpulse(-m_sdrift);
-		m_bodies[1].applyDAImpulse(m_sdrift);
-	}
-}
-
-//
-void btSoftBody::CJoint::Prepare(btScalar dt, int iterations)
-{
-	Joint::Prepare(dt, iterations);
-	const bool dodrift = (m_life == 0);
-	m_delete = (++m_life) > m_maxlife;
-	if (dodrift)
-	{
-		m_drift = m_drift * m_erp / dt;
-		if (m_split > 0)
-		{
-			m_sdrift = m_massmatrix * (m_drift * m_split);
-			m_drift *= 1 - m_split;
-		}
-		m_drift /= (btScalar)iterations;
-	}
-	else
-	{
-		m_drift = m_sdrift = btVector3(0, 0, 0);
-	}
-}
-
-//
-void btSoftBody::CJoint::Solve(btScalar dt, btScalar sor)
-{
-	const btVector3 va = m_bodies[0].velocity(m_rpos[0]);
-	const btVector3 vb = m_bodies[1].velocity(m_rpos[1]);
-	const btVector3 vrel = va - vb;
-	const btScalar rvac = btDot(vrel, m_normal);
-	btSoftBody::Impulse impulse;
-	impulse.m_asVelocity = 1;
-	impulse.m_velocity = m_drift;
-	if (rvac < 0)
-	{
-		const btVector3 iv = m_normal * rvac;
-		const btVector3 fv = vrel - iv;
-		impulse.m_velocity += iv + fv * m_friction;
-	}
-	impulse.m_velocity = m_massmatrix * impulse.m_velocity * sor;
-
-	if (m_bodies[0].m_soft == m_bodies[1].m_soft)
-	{
-		if ((impulse.m_velocity.getX() == impulse.m_velocity.getX()) && (impulse.m_velocity.getY() == impulse.m_velocity.getY()) &&
-			(impulse.m_velocity.getZ() == impulse.m_velocity.getZ()))
-		{
-			if (impulse.m_asVelocity)
-			{
-				if (impulse.m_velocity.length() < m_bodies[0].m_soft->m_maxSelfCollisionImpulse)
-				{
-				}
-				else
-				{
-					m_bodies[0].applyImpulse(-impulse * m_bodies[0].m_soft->m_selfCollisionImpulseFactor, m_rpos[0]);
-					m_bodies[1].applyImpulse(impulse * m_bodies[0].m_soft->m_selfCollisionImpulseFactor, m_rpos[1]);
-				}
-			}
-		}
-	}
-	else
-	{
-		m_bodies[0].applyImpulse(-impulse, m_rpos[0]);
-		m_bodies[1].applyImpulse(impulse, m_rpos[1]);
-	}
-}
-
-//
-void btSoftBody::CJoint::Terminate(btScalar dt)
-{
-	if (m_split > 0)
-	{
-		m_bodies[0].applyDImpulse(-m_sdrift, m_rpos[0]);
-		m_bodies[1].applyDImpulse(m_sdrift, m_rpos[1]);
-	}
-}
-
-//
-void btSoftBody::applyForces()
-{
-	BT_PROFILE("SoftBody applyForces");
-	//	const btScalar					dt =			m_sst.sdt;
-	const btScalar kLF = m_cfg.kLF;
-	const btScalar kDG = m_cfg.kDG;
-	const btScalar kPR = m_cfg.kPR;
-	const btScalar kVC = m_cfg.kVC;
-	const bool as_lift = kLF > 0;
-	const bool as_drag = kDG > 0;
-	const bool as_pressure = kPR != 0;
-	const bool as_volume = kVC > 0;
-	const bool as_aero = as_lift ||
-						 as_drag;
-	//const bool						as_vaero =		as_aero	&&
-	//												(m_cfg.aeromodel < btSoftBody::eAeroModel::F_TwoSided);
-	//const bool						as_faero =		as_aero	&&
-	//												(m_cfg.aeromodel >= btSoftBody::eAeroModel::F_TwoSided);
-	const bool use_medium = as_aero;
-	const bool use_volume = as_pressure ||
-							as_volume;
-	btScalar volume = 0;
-	btScalar ivolumetp = 0;
-	btScalar dvolumetv = 0;
-	btSoftBody::sMedium medium;
-	if (use_volume)
-	{
-		volume = getVolume();
-		ivolumetp = 1 / btFabs(volume) * kPR;
-		dvolumetv = (m_pose.m_volume - volume) * kVC;
-	}
-	/* Per vertex forces			*/
-	int i, ni;
-
-	for (i = 0, ni = m_nodes.size(); i < ni; ++i)
-	{
-		btSoftBody::Node& n = m_nodes[i];
-		if (n.m_im > 0)
-		{
-			if (use_medium)
-			{
-				/* Aerodynamics			*/
-				addAeroForceToNode(m_windVelocity, i);
-			}
-			/* Pressure				*/
-			if (as_pressure)
-			{
-				n.m_f += n.m_n * (n.m_area * ivolumetp);
-			}
-			/* Volume				*/
-			if (as_volume)
-			{
-				n.m_f += n.m_n * (n.m_area * dvolumetv);
-			}
-		}
-	}
-
-	/* Per face forces				*/
-	for (i = 0, ni = m_faces.size(); i < ni; ++i)
-	{
-		//	btSoftBody::Face&	f=m_faces[i];
-
-		/* Aerodynamics			*/
-		addAeroForceToFace(m_windVelocity, i);
-	}
-}
-
-//
-void btSoftBody::setMaxStress(btScalar maxStress)
-{
-	m_cfg.m_maxStress = maxStress;
-}
-
-//
-void btSoftBody::interpolateRenderMesh()
-{
-	if (m_z.size() > 0)
-	{
-		for (int i = 0; i < m_renderNodes.size(); ++i)
-		{
-			const Node* p0 = m_renderNodesParents[i][0];
-			const Node* p1 = m_renderNodesParents[i][1];
-			const Node* p2 = m_renderNodesParents[i][2];
-			btVector3 normal = btCross(p1->m_x - p0->m_x, p2->m_x - p0->m_x);
-			btVector3 unit_normal = normal.normalized();
-			RenderNode& n = m_renderNodes[i];
-			n.m_x.setZero();
-			for (int j = 0; j < 3; ++j)
-			{
-				n.m_x += m_renderNodesParents[i][j]->m_x * m_renderNodesInterpolationWeights[i][j];
-			}
-			n.m_x += m_z[i] * unit_normal;
-		}
-	}
-	else
-	{
-		for (int i = 0; i < m_renderNodes.size(); ++i)
-		{
-			RenderNode& n = m_renderNodes[i];
-			n.m_x.setZero();
-			for (int j = 0; j < 4; ++j)
-			{
-				if (m_renderNodesParents[i].size())
-				{
-					n.m_x += m_renderNodesParents[i][j]->m_x * m_renderNodesInterpolationWeights[i][j];
-				}
-			}
-		}
-	}
-}
-
-void btSoftBody::setCollisionQuadrature(int N)
-{
-	for (int i = 0; i <= N; ++i)
-	{
-		for (int j = 0; i + j <= N; ++j)
-		{
-			m_quads.push_back(btVector3(btScalar(i) / btScalar(N), btScalar(j) / btScalar(N), btScalar(N - i - j) / btScalar(N)));
-		}
-	}
-}
-
-//
-void btSoftBody::PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti)
-{
-	BT_PROFILE("PSolve_Anchors");
-	const btScalar kAHR = psb->m_cfg.kAHR * kst;
-	const btScalar dt = psb->m_sst.sdt;
-	for (int i = 0, ni = psb->m_anchors.size(); i < ni; ++i)
-	{
-		const Anchor& a = psb->m_anchors[i];
-		const btTransform& t = a.m_body->getWorldTransform();
-		Node& n = *a.m_node;
-		const btVector3 wa = t * a.m_local;
-		const btVector3 va = a.m_body->getVelocityInLocalPoint(a.m_c1) * dt;
-		const btVector3 vb = n.m_x - n.m_q;
-		const btVector3 vr = (va - vb) + (wa - n.m_x) * kAHR;
-		const btVector3 impulse = a.m_c0 * vr * a.m_influence;
-		n.m_x += impulse * a.m_c2;
-		a.m_body->applyImpulse(-impulse, a.m_c1);
-	}
-}
-
-//
-void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti)
-{
-	BT_PROFILE("PSolve_RContacts");
-	const btScalar dt = psb->m_sst.sdt;
-	const btScalar mrg = psb->getCollisionShape()->getMargin();
-	btMultiBodyJacobianData jacobianData;
-	for (int i = 0, ni = psb->m_rcontacts.size(); i < ni; ++i)
-	{
-		const RContact& c = psb->m_rcontacts[i];
-		const sCti& cti = c.m_cti;
-		if (cti.m_colObj->hasContactResponse())
-		{
-			btVector3 va(0, 0, 0);
-			btRigidBody* rigidCol = 0;
-			btMultiBodyLinkCollider* multibodyLinkCol = 0;
-			btScalar* deltaV;
-
-			if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
-			{
-				rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
-				va = rigidCol ? rigidCol->getVelocityInLocalPoint(c.m_c1) * dt : btVector3(0, 0, 0);
-			}
-			else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
-			{
-				multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);
-				if (multibodyLinkCol)
-				{
-					const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
-					jacobianData.m_jacobians.resize(ndof);
-					jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof);
-					btScalar* jac = &jacobianData.m_jacobians[0];
-
-					multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, c.m_node->m_x, cti.m_normal, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m);
-					deltaV = &jacobianData.m_deltaVelocitiesUnitImpulse[0];
-					multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], deltaV, jacobianData.scratch_r, jacobianData.scratch_v);
-
-					btScalar vel = 0.0;
-					for (int j = 0; j < ndof; ++j)
-					{
-						vel += multibodyLinkCol->m_multiBody->getVelocityVector()[j] * jac[j];
-					}
-					va = cti.m_normal * vel * dt;
-				}
-			}
-
-			const btVector3 vb = c.m_node->m_x - c.m_node->m_q;
-			const btVector3 vr = vb - va;
-			const btScalar dn = btDot(vr, cti.m_normal);
-			if (dn <= SIMD_EPSILON)
-			{
-				const btScalar dp = btMin((btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg);
-				const btVector3 fv = vr - (cti.m_normal * dn);
-				// c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient
-				const btVector3 impulse = c.m_c0 * ((vr - (fv * c.m_c3) + (cti.m_normal * (dp * c.m_c4))) * kst);
-				c.m_node->m_x -= impulse * c.m_c2;
-
-				if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
-				{
-					if (rigidCol)
-						rigidCol->applyImpulse(impulse, c.m_c1);
-				}
-				else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
-				{
-					if (multibodyLinkCol)
-					{
-						double multiplier = 0.5;
-						multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier);
-					}
-				}
-			}
-		}
-	}
-}
-
-//
-void btSoftBody::PSolve_SContacts(btSoftBody* psb, btScalar, btScalar ti)
-{
-	BT_PROFILE("PSolve_SContacts");
-
-	for (int i = 0, ni = psb->m_scontacts.size(); i < ni; ++i)
-	{
-		const SContact& c = psb->m_scontacts[i];
-		const btVector3& nr = c.m_normal;
-		Node& n = *c.m_node;
-		Face& f = *c.m_face;
-		const btVector3 p = BaryEval(f.m_n[0]->m_x,
-									 f.m_n[1]->m_x,
-									 f.m_n[2]->m_x,
-									 c.m_weights);
-		const btVector3 q = BaryEval(f.m_n[0]->m_q,
-									 f.m_n[1]->m_q,
-									 f.m_n[2]->m_q,
-									 c.m_weights);
-		const btVector3 vr = (n.m_x - n.m_q) - (p - q);
-		btVector3 corr(0, 0, 0);
-		btScalar dot = btDot(vr, nr);
-		if (dot < 0)
-		{
-			const btScalar j = c.m_margin - (btDot(nr, n.m_x) - btDot(nr, p));
-			corr += c.m_normal * j;
-		}
-		corr -= ProjectOnPlane(vr, nr) * c.m_friction;
-		n.m_x += corr * c.m_cfm[0];
-		f.m_n[0]->m_x -= corr * (c.m_cfm[1] * c.m_weights.x());
-		f.m_n[1]->m_x -= corr * (c.m_cfm[1] * c.m_weights.y());
-		f.m_n[2]->m_x -= corr * (c.m_cfm[1] * c.m_weights.z());
-	}
-}
-
-//
-void btSoftBody::PSolve_Links(btSoftBody* psb, btScalar kst, btScalar ti)
-{
-	BT_PROFILE("PSolve_Links");
-	for (int i = 0, ni = psb->m_links.size(); i < ni; ++i)
-	{
-		Link& l = psb->m_links[i];
-		if (l.m_c0 > 0)
-		{
-			Node& a = *l.m_n[0];
-			Node& b = *l.m_n[1];
-			const btVector3 del = b.m_x - a.m_x;
-			const btScalar len = del.length2();
-			if (l.m_c1 + len > SIMD_EPSILON)
-			{
-				const btScalar k = ((l.m_c1 - len) / (l.m_c0 * (l.m_c1 + len))) * kst;
-				a.m_x -= del * (k * a.m_im);
-				b.m_x += del * (k * b.m_im);
-			}
-		}
-	}
-}
-
-//
-void btSoftBody::VSolve_Links(btSoftBody* psb, btScalar kst)
-{
-	BT_PROFILE("VSolve_Links");
-	for (int i = 0, ni = psb->m_links.size(); i < ni; ++i)
-	{
-		Link& l = psb->m_links[i];
-		Node** n = l.m_n;
-		const btScalar j = -btDot(l.m_c3, n[0]->m_v - n[1]->m_v) * l.m_c2 * kst;
-		n[0]->m_v += l.m_c3 * (j * n[0]->m_im);
-		n[1]->m_v -= l.m_c3 * (j * n[1]->m_im);
-	}
-}
-
-//
-btSoftBody::psolver_t btSoftBody::getSolver(ePSolver::_ solver)
-{
-	switch (solver)
-	{
-		case ePSolver::Anchors:
-			return (&btSoftBody::PSolve_Anchors);
-		case ePSolver::Linear:
-			return (&btSoftBody::PSolve_Links);
-		case ePSolver::RContacts:
-			return (&btSoftBody::PSolve_RContacts);
-		case ePSolver::SContacts:
-			return (&btSoftBody::PSolve_SContacts);
-		default:
-		{
-		}
-	}
-	return (0);
-}
-
-//
-btSoftBody::vsolver_t btSoftBody::getSolver(eVSolver::_ solver)
-{
-	switch (solver)
-	{
-		case eVSolver::Linear:
-			return (&btSoftBody::VSolve_Links);
-		default:
-		{
-		}
-	}
-	return (0);
-}
-
-void btSoftBody::setSelfCollision(bool useSelfCollision)
-{
-	m_useSelfCollision = useSelfCollision;
-}
-
-bool btSoftBody::useSelfCollision()
-{
-	return m_useSelfCollision;
-}
-
-//
-void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap)
-{
-	switch (m_cfg.collisions & fCollision::RVSmask)
-	{
-		case fCollision::SDF_RS:
-		{
-			btSoftColliders::CollideSDF_RS docollide;
-			btRigidBody* prb1 = (btRigidBody*)btRigidBody::upcast(pcoWrap->getCollisionObject());
-			btTransform wtr = pcoWrap->getWorldTransform();
-
-			const btTransform ctr = pcoWrap->getWorldTransform();
-			const btScalar timemargin = (wtr.getOrigin() - ctr.getOrigin()).length();
-			const btScalar basemargin = getCollisionShape()->getMargin();
-			btVector3 mins;
-			btVector3 maxs;
-			ATTRIBUTE_ALIGNED16(btDbvtVolume)
-			volume;
-			pcoWrap->getCollisionShape()->getAabb(pcoWrap->getWorldTransform(),
-												  mins,
-												  maxs);
-			volume = btDbvtVolume::FromMM(mins, maxs);
-			volume.Expand(btVector3(basemargin, basemargin, basemargin));
-			docollide.psb = this;
-			docollide.m_colObj1Wrap = pcoWrap;
-			docollide.m_rigidBody = prb1;
-
-			docollide.dynmargin = basemargin + timemargin;
-			docollide.stamargin = basemargin;
-			m_ndbvt.collideTV(m_ndbvt.m_root, volume, docollide);
-		}
-		break;
-		case fCollision::CL_RS:
-		{
-			btSoftColliders::CollideCL_RS collider;
-			collider.ProcessColObj(this, pcoWrap);
-		}
-		break;
-		case fCollision::SDF_RD:
-		{
-			btRigidBody* prb1 = (btRigidBody*)btRigidBody::upcast(pcoWrap->getCollisionObject());
-			if (pcoWrap->getCollisionObject()->isActive() || this->isActive())
-			{
-				const btTransform wtr = pcoWrap->getWorldTransform();
-				const btScalar timemargin = 0;
-				const btScalar basemargin = getCollisionShape()->getMargin();
-				btVector3 mins;
-				btVector3 maxs;
-				ATTRIBUTE_ALIGNED16(btDbvtVolume)
-				volume;
-				pcoWrap->getCollisionShape()->getAabb(wtr,
-													  mins,
-													  maxs);
-				volume = btDbvtVolume::FromMM(mins, maxs);
-				volume.Expand(btVector3(basemargin, basemargin, basemargin));
-				if (m_cfg.collisions & fCollision::SDF_RDN)
-				{
-					btSoftColliders::CollideSDF_RD docollideNode;
-					docollideNode.psb = this;
-					docollideNode.m_colObj1Wrap = pcoWrap;
-					docollideNode.m_rigidBody = prb1;
-					docollideNode.dynmargin = basemargin + timemargin;
-					docollideNode.stamargin = basemargin;
-					m_ndbvt.collideTV(m_ndbvt.m_root, volume, docollideNode);
-				}
-
-				if (((pcoWrap->getCollisionObject()->getInternalType() == CO_RIGID_BODY) && (m_cfg.collisions & fCollision::SDF_RDF)) || ((pcoWrap->getCollisionObject()->getInternalType() == CO_FEATHERSTONE_LINK) && (m_cfg.collisions & fCollision::SDF_MDF)))
-				{
-					btSoftColliders::CollideSDF_RDF docollideFace;
-					docollideFace.psb = this;
-					docollideFace.m_colObj1Wrap = pcoWrap;
-					docollideFace.m_rigidBody = prb1;
-					docollideFace.dynmargin = basemargin + timemargin;
-					docollideFace.stamargin = basemargin;
-					m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace);
-				}
-			}
-		}
-		break;
-	}
-}
-
-//
-void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
-{
-	BT_PROFILE("Deformable Collision");
-	const int cf = m_cfg.collisions & psb->m_cfg.collisions;
-	switch (cf & fCollision::SVSmask)
-	{
-		case fCollision::CL_SS:
-		{
-			//support self-collision if CL_SELF flag set
-			if (this != psb || psb->m_cfg.collisions & fCollision::CL_SELF)
-			{
-				btSoftColliders::CollideCL_SS docollide;
-				docollide.ProcessSoftSoft(this, psb);
-			}
-		}
-		break;
-		case fCollision::VF_SS:
-		{
-			//only self-collision for Cluster, not Vertex-Face yet
-			if (this != psb)
-			{
-				btSoftColliders::CollideVF_SS docollide;
-				/* common					*/
-				docollide.mrg = getCollisionShape()->getMargin() +
-								psb->getCollisionShape()->getMargin();
-				/* psb0 nodes vs psb1 faces	*/
-				docollide.psb[0] = this;
-				docollide.psb[1] = psb;
-				docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
-													docollide.psb[1]->m_fdbvt.m_root,
-													docollide);
-				/* psb1 nodes vs psb0 faces	*/
-				docollide.psb[0] = psb;
-				docollide.psb[1] = this;
-				docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
-													docollide.psb[1]->m_fdbvt.m_root,
-													docollide);
-			}
-		}
-		break;
-		case fCollision::VF_DD:
-		{
-			if (!psb->m_softSoftCollision)
-				return;
-			if (psb->isActive() || this->isActive())
-			{
-				if (this != psb)
-				{
-					btSoftColliders::CollideVF_DD docollide;
-					/* common                    */
-					docollide.mrg = getCollisionShape()->getMargin() +
-									psb->getCollisionShape()->getMargin();
-					/* psb0 nodes vs psb1 faces    */
-					if (psb->m_tetras.size() > 0)
-						docollide.useFaceNormal = true;
-					else
-						docollide.useFaceNormal = false;
-					docollide.psb[0] = this;
-					docollide.psb[1] = psb;
-					docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
-														docollide.psb[1]->m_fdbvt.m_root,
-														docollide);
-
-					/* psb1 nodes vs psb0 faces    */
-					if (this->m_tetras.size() > 0)
-						docollide.useFaceNormal = true;
-					else
-						docollide.useFaceNormal = false;
-					docollide.psb[0] = psb;
-					docollide.psb[1] = this;
-					docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
-														docollide.psb[1]->m_fdbvt.m_root,
-														docollide);
-				}
-				else
-				{
-					if (psb->useSelfCollision())
-					{
-						btSoftColliders::CollideFF_DD docollide;
-						docollide.mrg = 2 * getCollisionShape()->getMargin();
-						docollide.psb[0] = this;
-						docollide.psb[1] = psb;
-						if (this->m_tetras.size() > 0)
-							docollide.useFaceNormal = true;
-						else
-							docollide.useFaceNormal = false;
-						/* psb0 faces vs psb0 faces    */
-						calculateNormalCone(this->m_fdbvnt);
-						this->m_fdbvt.selfCollideT(m_fdbvnt, docollide);
-					}
-				}
-			}
-		}
-		break;
-		default:
-		{
-		}
-	}
-}
-
-void btSoftBody::geometricCollisionHandler(btSoftBody* psb)
-{
-	if (psb->isActive() || this->isActive())
-	{
-		if (this != psb)
-		{
-			btSoftColliders::CollideCCD docollide;
-			/* common                    */
-			docollide.mrg = SAFE_EPSILON;  // for rounding error instead of actual margin
-			docollide.dt = psb->m_sst.sdt;
-			/* psb0 nodes vs psb1 faces    */
-			if (psb->m_tetras.size() > 0)
-				docollide.useFaceNormal = true;
-			else
-				docollide.useFaceNormal = false;
-			docollide.psb[0] = this;
-			docollide.psb[1] = psb;
-			docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
-												docollide.psb[1]->m_fdbvt.m_root,
-												docollide);
-			/* psb1 nodes vs psb0 faces    */
-			if (this->m_tetras.size() > 0)
-				docollide.useFaceNormal = true;
-			else
-				docollide.useFaceNormal = false;
-			docollide.psb[0] = psb;
-			docollide.psb[1] = this;
-			docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
-												docollide.psb[1]->m_fdbvt.m_root,
-												docollide);
-		}
-		else
-		{
-			if (psb->useSelfCollision())
-			{
-				btSoftColliders::CollideCCD docollide;
-				docollide.mrg = SAFE_EPSILON;
-				docollide.psb[0] = this;
-				docollide.psb[1] = psb;
-				docollide.dt = psb->m_sst.sdt;
-				if (this->m_tetras.size() > 0)
-					docollide.useFaceNormal = true;
-				else
-					docollide.useFaceNormal = false;
-				/* psb0 faces vs psb0 faces    */
-				calculateNormalCone(this->m_fdbvnt);  // should compute this outside of this scope
-				this->m_fdbvt.selfCollideT(m_fdbvnt, docollide);
-			}
-		}
-	}
-}
-
-void btSoftBody::setWindVelocity(const btVector3& velocity)
-{
-	m_windVelocity = velocity;
-}
-
-const btVector3& btSoftBody::getWindVelocity()
-{
-	return m_windVelocity;
-}
-
-int btSoftBody::calculateSerializeBufferSize() const
-{
-	int sz = sizeof(btSoftBodyData);
-	return sz;
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char* btSoftBody::serialize(void* dataBuffer, class btSerializer* serializer) const
-{
-	btSoftBodyData* sbd = (btSoftBodyData*)dataBuffer;
-
-	btCollisionObject::serialize(&sbd->m_collisionObjectData, serializer);
-
-	btHashMap<btHashPtr, int> m_nodeIndexMap;
-
-	sbd->m_numMaterials = m_materials.size();
-	sbd->m_materials = sbd->m_numMaterials ? (SoftBodyMaterialData**)serializer->getUniquePointer((void*)&m_materials) : 0;
-
-	if (sbd->m_materials)
-	{
-		int sz = sizeof(SoftBodyMaterialData*);
-		int numElem = sbd->m_numMaterials;
-		btChunk* chunk = serializer->allocate(sz, numElem);
-		//SoftBodyMaterialData** memPtr = chunk->m_oldPtr;
-		SoftBodyMaterialData** memPtr = (SoftBodyMaterialData**)chunk->m_oldPtr;
-		for (int i = 0; i < numElem; i++, memPtr++)
-		{
-			btSoftBody::Material* mat = m_materials[i];
-			*memPtr = mat ? (SoftBodyMaterialData*)serializer->getUniquePointer((void*)mat) : 0;
-			if (!serializer->findPointer(mat))
-			{
-				//serialize it here
-				btChunk* chunk = serializer->allocate(sizeof(SoftBodyMaterialData), 1);
-				SoftBodyMaterialData* memPtr = (SoftBodyMaterialData*)chunk->m_oldPtr;
-				memPtr->m_flags = mat->m_flags;
-				memPtr->m_angularStiffness = mat->m_kAST;
-				memPtr->m_linearStiffness = mat->m_kLST;
-				memPtr->m_volumeStiffness = mat->m_kVST;
-				serializer->finalizeChunk(chunk, "SoftBodyMaterialData", BT_SBMATERIAL_CODE, mat);
-			}
-		}
-		serializer->finalizeChunk(chunk, "SoftBodyMaterialData", BT_ARRAY_CODE, (void*)&m_materials);
-	}
-
-	sbd->m_numNodes = m_nodes.size();
-	sbd->m_nodes = sbd->m_numNodes ? (SoftBodyNodeData*)serializer->getUniquePointer((void*)&m_nodes) : 0;
-	if (sbd->m_nodes)
-	{
-		int sz = sizeof(SoftBodyNodeData);
-		int numElem = sbd->m_numNodes;
-		btChunk* chunk = serializer->allocate(sz, numElem);
-		SoftBodyNodeData* memPtr = (SoftBodyNodeData*)chunk->m_oldPtr;
-		for (int i = 0; i < numElem; i++, memPtr++)
-		{
-			m_nodes[i].m_f.serializeFloat(memPtr->m_accumulatedForce);
-			memPtr->m_area = m_nodes[i].m_area;
-			memPtr->m_attach = m_nodes[i].m_battach;
-			memPtr->m_inverseMass = m_nodes[i].m_im;
-			memPtr->m_material = m_nodes[i].m_material ? (SoftBodyMaterialData*)serializer->getUniquePointer((void*)m_nodes[i].m_material) : 0;
-			m_nodes[i].m_n.serializeFloat(memPtr->m_normal);
-			m_nodes[i].m_x.serializeFloat(memPtr->m_position);
-			m_nodes[i].m_q.serializeFloat(memPtr->m_previousPosition);
-			m_nodes[i].m_v.serializeFloat(memPtr->m_velocity);
-			m_nodeIndexMap.insert(&m_nodes[i], i);
-		}
-		serializer->finalizeChunk(chunk, "SoftBodyNodeData", BT_SBNODE_CODE, (void*)&m_nodes);
-	}
-
-	sbd->m_numLinks = m_links.size();
-	sbd->m_links = sbd->m_numLinks ? (SoftBodyLinkData*)serializer->getUniquePointer((void*)&m_links[0]) : 0;
-	if (sbd->m_links)
-	{
-		int sz = sizeof(SoftBodyLinkData);
-		int numElem = sbd->m_numLinks;
-		btChunk* chunk = serializer->allocate(sz, numElem);
-		SoftBodyLinkData* memPtr = (SoftBodyLinkData*)chunk->m_oldPtr;
-		for (int i = 0; i < numElem; i++, memPtr++)
-		{
-			memPtr->m_bbending = m_links[i].m_bbending;
-			memPtr->m_material = m_links[i].m_material ? (SoftBodyMaterialData*)serializer->getUniquePointer((void*)m_links[i].m_material) : 0;
-			memPtr->m_nodeIndices[0] = m_links[i].m_n[0] ? m_links[i].m_n[0] - &m_nodes[0] : -1;
-			memPtr->m_nodeIndices[1] = m_links[i].m_n[1] ? m_links[i].m_n[1] - &m_nodes[0] : -1;
-			btAssert(memPtr->m_nodeIndices[0] < m_nodes.size());
-			btAssert(memPtr->m_nodeIndices[1] < m_nodes.size());
-			memPtr->m_restLength = m_links[i].m_rl;
-		}
-		serializer->finalizeChunk(chunk, "SoftBodyLinkData", BT_ARRAY_CODE, (void*)&m_links[0]);
-	}
-
-	sbd->m_numFaces = m_faces.size();
-	sbd->m_faces = sbd->m_numFaces ? (SoftBodyFaceData*)serializer->getUniquePointer((void*)&m_faces[0]) : 0;
-	if (sbd->m_faces)
-	{
-		int sz = sizeof(SoftBodyFaceData);
-		int numElem = sbd->m_numFaces;
-		btChunk* chunk = serializer->allocate(sz, numElem);
-		SoftBodyFaceData* memPtr = (SoftBodyFaceData*)chunk->m_oldPtr;
-		for (int i = 0; i < numElem; i++, memPtr++)
-		{
-			memPtr->m_material = m_faces[i].m_material ? (SoftBodyMaterialData*)serializer->getUniquePointer((void*)m_faces[i].m_material) : 0;
-			m_faces[i].m_normal.serializeFloat(memPtr->m_normal);
-			for (int j = 0; j < 3; j++)
-			{
-				memPtr->m_nodeIndices[j] = m_faces[i].m_n[j] ? m_faces[i].m_n[j] - &m_nodes[0] : -1;
-			}
-			memPtr->m_restArea = m_faces[i].m_ra;
-		}
-		serializer->finalizeChunk(chunk, "SoftBodyFaceData", BT_ARRAY_CODE, (void*)&m_faces[0]);
-	}
-
-	sbd->m_numTetrahedra = m_tetras.size();
-	sbd->m_tetrahedra = sbd->m_numTetrahedra ? (SoftBodyTetraData*)serializer->getUniquePointer((void*)&m_tetras[0]) : 0;
-	if (sbd->m_tetrahedra)
-	{
-		int sz = sizeof(SoftBodyTetraData);
-		int numElem = sbd->m_numTetrahedra;
-		btChunk* chunk = serializer->allocate(sz, numElem);
-		SoftBodyTetraData* memPtr = (SoftBodyTetraData*)chunk->m_oldPtr;
-		for (int i = 0; i < numElem; i++, memPtr++)
-		{
-			for (int j = 0; j < 4; j++)
-			{
-				m_tetras[i].m_c0[j].serializeFloat(memPtr->m_c0[j]);
-				memPtr->m_nodeIndices[j] = m_tetras[i].m_n[j] ? m_tetras[i].m_n[j] - &m_nodes[0] : -1;
-			}
-			memPtr->m_c1 = m_tetras[i].m_c1;
-			memPtr->m_c2 = m_tetras[i].m_c2;
-			memPtr->m_material = m_tetras[i].m_material ? (SoftBodyMaterialData*)serializer->getUniquePointer((void*)m_tetras[i].m_material) : 0;
-			memPtr->m_restVolume = m_tetras[i].m_rv;
-		}
-		serializer->finalizeChunk(chunk, "SoftBodyTetraData", BT_ARRAY_CODE, (void*)&m_tetras[0]);
-	}
-
-	sbd->m_numAnchors = m_anchors.size();
-	sbd->m_anchors = sbd->m_numAnchors ? (SoftRigidAnchorData*)serializer->getUniquePointer((void*)&m_anchors[0]) : 0;
-	if (sbd->m_anchors)
-	{
-		int sz = sizeof(SoftRigidAnchorData);
-		int numElem = sbd->m_numAnchors;
-		btChunk* chunk = serializer->allocate(sz, numElem);
-		SoftRigidAnchorData* memPtr = (SoftRigidAnchorData*)chunk->m_oldPtr;
-		for (int i = 0; i < numElem; i++, memPtr++)
-		{
-			m_anchors[i].m_c0.serializeFloat(memPtr->m_c0);
-			m_anchors[i].m_c1.serializeFloat(memPtr->m_c1);
-			memPtr->m_c2 = m_anchors[i].m_c2;
-			m_anchors[i].m_local.serializeFloat(memPtr->m_localFrame);
-			memPtr->m_nodeIndex = m_anchors[i].m_node ? m_anchors[i].m_node - &m_nodes[0] : -1;
-
-			memPtr->m_rigidBody = m_anchors[i].m_body ? (btRigidBodyData*)serializer->getUniquePointer((void*)m_anchors[i].m_body) : 0;
-			btAssert(memPtr->m_nodeIndex < m_nodes.size());
-		}
-		serializer->finalizeChunk(chunk, "SoftRigidAnchorData", BT_ARRAY_CODE, (void*)&m_anchors[0]);
-	}
-
-	sbd->m_config.m_dynamicFriction = m_cfg.kDF;
-	sbd->m_config.m_baumgarte = m_cfg.kVCF;
-	sbd->m_config.m_pressure = m_cfg.kPR;
-	sbd->m_config.m_aeroModel = this->m_cfg.aeromodel;
-	sbd->m_config.m_lift = m_cfg.kLF;
-	sbd->m_config.m_drag = m_cfg.kDG;
-	sbd->m_config.m_positionIterations = m_cfg.piterations;
-	sbd->m_config.m_driftIterations = m_cfg.diterations;
-	sbd->m_config.m_clusterIterations = m_cfg.citerations;
-	sbd->m_config.m_velocityIterations = m_cfg.viterations;
-	sbd->m_config.m_maxVolume = m_cfg.maxvolume;
-	sbd->m_config.m_damping = m_cfg.kDP;
-	sbd->m_config.m_poseMatch = m_cfg.kMT;
-	sbd->m_config.m_collisionFlags = m_cfg.collisions;
-	sbd->m_config.m_volume = m_cfg.kVC;
-	sbd->m_config.m_rigidContactHardness = m_cfg.kCHR;
-	sbd->m_config.m_kineticContactHardness = m_cfg.kKHR;
-	sbd->m_config.m_softContactHardness = m_cfg.kSHR;
-	sbd->m_config.m_anchorHardness = m_cfg.kAHR;
-	sbd->m_config.m_timeScale = m_cfg.timescale;
-	sbd->m_config.m_maxVolume = m_cfg.maxvolume;
-	sbd->m_config.m_softRigidClusterHardness = m_cfg.kSRHR_CL;
-	sbd->m_config.m_softKineticClusterHardness = m_cfg.kSKHR_CL;
-	sbd->m_config.m_softSoftClusterHardness = m_cfg.kSSHR_CL;
-	sbd->m_config.m_softRigidClusterImpulseSplit = m_cfg.kSR_SPLT_CL;
-	sbd->m_config.m_softKineticClusterImpulseSplit = m_cfg.kSK_SPLT_CL;
-	sbd->m_config.m_softSoftClusterImpulseSplit = m_cfg.kSS_SPLT_CL;
-
-	//pose for shape matching
-	{
-		sbd->m_pose = (SoftBodyPoseData*)serializer->getUniquePointer((void*)&m_pose);
-
-		int sz = sizeof(SoftBodyPoseData);
-		btChunk* chunk = serializer->allocate(sz, 1);
-		SoftBodyPoseData* memPtr = (SoftBodyPoseData*)chunk->m_oldPtr;
-
-		m_pose.m_aqq.serializeFloat(memPtr->m_aqq);
-		memPtr->m_bframe = m_pose.m_bframe;
-		memPtr->m_bvolume = m_pose.m_bvolume;
-		m_pose.m_com.serializeFloat(memPtr->m_com);
-
-		memPtr->m_numPositions = m_pose.m_pos.size();
-		memPtr->m_positions = memPtr->m_numPositions ? (btVector3FloatData*)serializer->getUniquePointer((void*)&m_pose.m_pos[0]) : 0;
-		if (memPtr->m_numPositions)
-		{
-			int numElem = memPtr->m_numPositions;
-			int sz = sizeof(btVector3Data);
-			btChunk* chunk = serializer->allocate(sz, numElem);
-			btVector3FloatData* memPtr = (btVector3FloatData*)chunk->m_oldPtr;
-			for (int i = 0; i < numElem; i++, memPtr++)
-			{
-				m_pose.m_pos[i].serializeFloat(*memPtr);
-			}
-			serializer->finalizeChunk(chunk, "btVector3FloatData", BT_ARRAY_CODE, (void*)&m_pose.m_pos[0]);
-		}
-		memPtr->m_restVolume = m_pose.m_volume;
-		m_pose.m_rot.serializeFloat(memPtr->m_rot);
-		m_pose.m_scl.serializeFloat(memPtr->m_scale);
-
-		memPtr->m_numWeigts = m_pose.m_wgh.size();
-		memPtr->m_weights = memPtr->m_numWeigts ? (float*)serializer->getUniquePointer((void*)&m_pose.m_wgh[0]) : 0;
-		if (memPtr->m_numWeigts)
-		{
-			int numElem = memPtr->m_numWeigts;
-			int sz = sizeof(float);
-			btChunk* chunk = serializer->allocate(sz, numElem);
-			float* memPtr = (float*)chunk->m_oldPtr;
-			for (int i = 0; i < numElem; i++, memPtr++)
-			{
-				*memPtr = m_pose.m_wgh[i];
-			}
-			serializer->finalizeChunk(chunk, "float", BT_ARRAY_CODE, (void*)&m_pose.m_wgh[0]);
-		}
-
-		serializer->finalizeChunk(chunk, "SoftBodyPoseData", BT_ARRAY_CODE, (void*)&m_pose);
-	}
-
-	//clusters for convex-cluster collision detection
-
-	sbd->m_numClusters = m_clusters.size();
-	sbd->m_clusters = sbd->m_numClusters ? (SoftBodyClusterData*)serializer->getUniquePointer((void*)m_clusters[0]) : 0;
-	if (sbd->m_numClusters)
-	{
-		int numElem = sbd->m_numClusters;
-		int sz = sizeof(SoftBodyClusterData);
-		btChunk* chunk = serializer->allocate(sz, numElem);
-		SoftBodyClusterData* memPtr = (SoftBodyClusterData*)chunk->m_oldPtr;
-		for (int i = 0; i < numElem; i++, memPtr++)
-		{
-			memPtr->m_adamping = m_clusters[i]->m_adamping;
-			m_clusters[i]->m_av.serializeFloat(memPtr->m_av);
-			memPtr->m_clusterIndex = m_clusters[i]->m_clusterIndex;
-			memPtr->m_collide = m_clusters[i]->m_collide;
-			m_clusters[i]->m_com.serializeFloat(memPtr->m_com);
-			memPtr->m_containsAnchor = m_clusters[i]->m_containsAnchor;
-			m_clusters[i]->m_dimpulses[0].serializeFloat(memPtr->m_dimpulses[0]);
-			m_clusters[i]->m_dimpulses[1].serializeFloat(memPtr->m_dimpulses[1]);
-			m_clusters[i]->m_framexform.serializeFloat(memPtr->m_framexform);
-			memPtr->m_idmass = m_clusters[i]->m_idmass;
-			memPtr->m_imass = m_clusters[i]->m_imass;
-			m_clusters[i]->m_invwi.serializeFloat(memPtr->m_invwi);
-			memPtr->m_ldamping = m_clusters[i]->m_ldamping;
-			m_clusters[i]->m_locii.serializeFloat(memPtr->m_locii);
-			m_clusters[i]->m_lv.serializeFloat(memPtr->m_lv);
-			memPtr->m_matching = m_clusters[i]->m_matching;
-			memPtr->m_maxSelfCollisionImpulse = m_clusters[i]->m_maxSelfCollisionImpulse;
-			memPtr->m_ndamping = m_clusters[i]->m_ndamping;
-			memPtr->m_ldamping = m_clusters[i]->m_ldamping;
-			memPtr->m_adamping = m_clusters[i]->m_adamping;
-			memPtr->m_selfCollisionImpulseFactor = m_clusters[i]->m_selfCollisionImpulseFactor;
-
-			memPtr->m_numFrameRefs = m_clusters[i]->m_framerefs.size();
-			memPtr->m_numMasses = m_clusters[i]->m_masses.size();
-			memPtr->m_numNodes = m_clusters[i]->m_nodes.size();
-
-			memPtr->m_nvimpulses = m_clusters[i]->m_nvimpulses;
-			m_clusters[i]->m_vimpulses[0].serializeFloat(memPtr->m_vimpulses[0]);
-			m_clusters[i]->m_vimpulses[1].serializeFloat(memPtr->m_vimpulses[1]);
-			memPtr->m_ndimpulses = m_clusters[i]->m_ndimpulses;
-
-			memPtr->m_framerefs = memPtr->m_numFrameRefs ? (btVector3FloatData*)serializer->getUniquePointer((void*)&m_clusters[i]->m_framerefs[0]) : 0;
-			if (memPtr->m_framerefs)
-			{
-				int numElem = memPtr->m_numFrameRefs;
-				int sz = sizeof(btVector3FloatData);
-				btChunk* chunk = serializer->allocate(sz, numElem);
-				btVector3FloatData* memPtr = (btVector3FloatData*)chunk->m_oldPtr;
-				for (int j = 0; j < numElem; j++, memPtr++)
-				{
-					m_clusters[i]->m_framerefs[j].serializeFloat(*memPtr);
-				}
-				serializer->finalizeChunk(chunk, "btVector3FloatData", BT_ARRAY_CODE, (void*)&m_clusters[i]->m_framerefs[0]);
-			}
-
-			memPtr->m_masses = memPtr->m_numMasses ? (float*)serializer->getUniquePointer((void*)&m_clusters[i]->m_masses[0]) : 0;
-			if (memPtr->m_masses)
-			{
-				int numElem = memPtr->m_numMasses;
-				int sz = sizeof(float);
-				btChunk* chunk = serializer->allocate(sz, numElem);
-				float* memPtr = (float*)chunk->m_oldPtr;
-				for (int j = 0; j < numElem; j++, memPtr++)
-				{
-					*memPtr = m_clusters[i]->m_masses[j];
-				}
-				serializer->finalizeChunk(chunk, "float", BT_ARRAY_CODE, (void*)&m_clusters[i]->m_masses[0]);
-			}
-
-			memPtr->m_nodeIndices = memPtr->m_numNodes ? (int*)serializer->getUniquePointer((void*)&m_clusters[i]->m_nodes) : 0;
-			if (memPtr->m_nodeIndices)
-			{
-				int numElem = memPtr->m_numMasses;
-				int sz = sizeof(int);
-				btChunk* chunk = serializer->allocate(sz, numElem);
-				int* memPtr = (int*)chunk->m_oldPtr;
-				for (int j = 0; j < numElem; j++, memPtr++)
-				{
-					int* indexPtr = m_nodeIndexMap.find(m_clusters[i]->m_nodes[j]);
-					btAssert(indexPtr);
-					*memPtr = *indexPtr;
-				}
-				serializer->finalizeChunk(chunk, "int", BT_ARRAY_CODE, (void*)&m_clusters[i]->m_nodes);
-			}
-		}
-		serializer->finalizeChunk(chunk, "SoftBodyClusterData", BT_ARRAY_CODE, (void*)m_clusters[0]);
-	}
-
-	sbd->m_numJoints = m_joints.size();
-	sbd->m_joints = m_joints.size() ? (btSoftBodyJointData*)serializer->getUniquePointer((void*)&m_joints[0]) : 0;
-
-	if (sbd->m_joints)
-	{
-		int sz = sizeof(btSoftBodyJointData);
-		int numElem = m_joints.size();
-		btChunk* chunk = serializer->allocate(sz, numElem);
-		btSoftBodyJointData* memPtr = (btSoftBodyJointData*)chunk->m_oldPtr;
-
-		for (int i = 0; i < numElem; i++, memPtr++)
-		{
-			memPtr->m_jointType = (int)m_joints[i]->Type();
-			m_joints[i]->m_refs[0].serializeFloat(memPtr->m_refs[0]);
-			m_joints[i]->m_refs[1].serializeFloat(memPtr->m_refs[1]);
-			memPtr->m_cfm = m_joints[i]->m_cfm;
-			memPtr->m_erp = float(m_joints[i]->m_erp);
-			memPtr->m_split = float(m_joints[i]->m_split);
-			memPtr->m_delete = m_joints[i]->m_delete;
-
-			for (int j = 0; j < 4; j++)
-			{
-				memPtr->m_relPosition[0].m_floats[j] = 0.f;
-				memPtr->m_relPosition[1].m_floats[j] = 0.f;
-			}
-			memPtr->m_bodyA = 0;
-			memPtr->m_bodyB = 0;
-			if (m_joints[i]->m_bodies[0].m_soft)
-			{
-				memPtr->m_bodyAtype = BT_JOINT_SOFT_BODY_CLUSTER;
-				memPtr->m_bodyA = serializer->getUniquePointer((void*)m_joints[i]->m_bodies[0].m_soft);
-			}
-			if (m_joints[i]->m_bodies[0].m_collisionObject)
-			{
-				memPtr->m_bodyAtype = BT_JOINT_COLLISION_OBJECT;
-				memPtr->m_bodyA = serializer->getUniquePointer((void*)m_joints[i]->m_bodies[0].m_collisionObject);
-			}
-			if (m_joints[i]->m_bodies[0].m_rigid)
-			{
-				memPtr->m_bodyAtype = BT_JOINT_RIGID_BODY;
-				memPtr->m_bodyA = serializer->getUniquePointer((void*)m_joints[i]->m_bodies[0].m_rigid);
-			}
-
-			if (m_joints[i]->m_bodies[1].m_soft)
-			{
-				memPtr->m_bodyBtype = BT_JOINT_SOFT_BODY_CLUSTER;
-				memPtr->m_bodyB = serializer->getUniquePointer((void*)m_joints[i]->m_bodies[1].m_soft);
-			}
-			if (m_joints[i]->m_bodies[1].m_collisionObject)
-			{
-				memPtr->m_bodyBtype = BT_JOINT_COLLISION_OBJECT;
-				memPtr->m_bodyB = serializer->getUniquePointer((void*)m_joints[i]->m_bodies[1].m_collisionObject);
-			}
-			if (m_joints[i]->m_bodies[1].m_rigid)
-			{
-				memPtr->m_bodyBtype = BT_JOINT_RIGID_BODY;
-				memPtr->m_bodyB = serializer->getUniquePointer((void*)m_joints[i]->m_bodies[1].m_rigid);
-			}
-		}
-		serializer->finalizeChunk(chunk, "btSoftBodyJointData", BT_ARRAY_CODE, (void*)&m_joints[0]);
-	}
-
-	return btSoftBodyDataName;
-}
-
-void btSoftBody::updateDeactivation(btScalar timeStep)
-{
-	if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
-		return;
-
-	if (m_maxSpeedSquared < m_sleepingThreshold * m_sleepingThreshold)
-	{
-		m_deactivationTime += timeStep;
-	}
-	else
-	{
-		m_deactivationTime = btScalar(0.);
-		setActivationState(0);
-	}
-}
-
-void btSoftBody::setZeroVelocity()
-{
-	for (int i = 0; i < m_nodes.size(); ++i)
-	{
-		m_nodes[i].m_v.setZero();
-	}
-}
-
-bool btSoftBody::wantsSleeping()
-{
-	if (getActivationState() == DISABLE_DEACTIVATION)
-		return false;
-
-	//disable deactivation
-	if (gDisableDeactivation || (gDeactivationTime == btScalar(0.)))
-		return false;
-
-	if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION))
-		return true;
-
-	if (m_deactivationTime > gDeactivationTime)
-	{
-		return true;
-	}
-	return false;
-}
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBody.h b/thirdparty/bullet/BulletSoftBody/btSoftBody.h
deleted file mode 100644
index dfde8fd1e4..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btSoftBody.h
+++ /dev/null
@@ -1,1394 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-///btSoftBody implementation by Nathanael Presson
-
-#ifndef _BT_SOFT_BODY_H
-#define _BT_SOFT_BODY_H
-
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btIDebugDraw.h"
-#include "LinearMath/btVector3.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-
-#include "BulletCollision/CollisionShapes/btConcaveShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
-#include "btSparseSDF.h"
-#include "BulletCollision/BroadphaseCollision/btDbvt.h"
-#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
-#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
-//#ifdef BT_USE_DOUBLE_PRECISION
-//#define btRigidBodyData	btRigidBodyDoubleData
-//#define btRigidBodyDataName	"btRigidBodyDoubleData"
-//#else
-#define btSoftBodyData btSoftBodyFloatData
-#define btSoftBodyDataName "btSoftBodyFloatData"
-static const btScalar OVERLAP_REDUCTION_FACTOR = 0.1;
-static unsigned long seed = 243703;
-//#endif //BT_USE_DOUBLE_PRECISION
-
-class btBroadphaseInterface;
-class btDispatcher;
-class btSoftBodySolver;
-
-/* btSoftBodyWorldInfo	*/
-struct btSoftBodyWorldInfo
-{
-	btScalar air_density;
-	btScalar water_density;
-	btScalar water_offset;
-	btScalar m_maxDisplacement;
-	btVector3 water_normal;
-	btBroadphaseInterface* m_broadphase;
-	btDispatcher* m_dispatcher;
-	btVector3 m_gravity;
-	btSparseSdf<3> m_sparsesdf;
-
-	btSoftBodyWorldInfo()
-		: air_density((btScalar)1.2),
-		  water_density(0),
-		  water_offset(0),
-		  m_maxDisplacement(1000.f),  //avoid soft body from 'exploding' so use some upper threshold of maximum motion that a node can travel per frame
-		  water_normal(0, 0, 0),
-		  m_broadphase(0),
-		  m_dispatcher(0),
-		  m_gravity(0, -10, 0)
-	{
-	}
-};
-
-///The btSoftBody is an class to simulate cloth and volumetric soft bodies.
-///There is two-way interaction between btSoftBody and btRigidBody/btCollisionObject.
-class btSoftBody : public btCollisionObject
-{
-public:
-	btAlignedObjectArray<const class btCollisionObject*> m_collisionDisabledObjects;
-
-	// The solver object that handles this soft body
-	btSoftBodySolver* m_softBodySolver;
-
-	//
-	// Enumerations
-	//
-
-	///eAeroModel
-	struct eAeroModel
-	{
-		enum _
-		{
-			V_Point,             ///Vertex normals are oriented toward velocity
-			V_TwoSided,          ///Vertex normals are flipped to match velocity
-			V_TwoSidedLiftDrag,  ///Vertex normals are flipped to match velocity and lift and drag forces are applied
-			V_OneSided,          ///Vertex normals are taken as it is
-			F_TwoSided,          ///Face normals are flipped to match velocity
-			F_TwoSidedLiftDrag,  ///Face normals are flipped to match velocity and lift and drag forces are applied
-			F_OneSided,          ///Face normals are taken as it is
-			END
-		};
-	};
-
-	///eVSolver : velocities solvers
-	struct eVSolver
-	{
-		enum _
-		{
-			Linear,  ///Linear solver
-			END
-		};
-	};
-
-	///ePSolver : positions solvers
-	struct ePSolver
-	{
-		enum _
-		{
-			Linear,     ///Linear solver
-			Anchors,    ///Anchor solver
-			RContacts,  ///Rigid contacts solver
-			SContacts,  ///Soft contacts solver
-			END
-		};
-	};
-
-	///eSolverPresets
-	struct eSolverPresets
-	{
-		enum _
-		{
-			Positions,
-			Velocities,
-			Default = Positions,
-			END
-		};
-	};
-
-	///eFeature
-	struct eFeature
-	{
-		enum _
-		{
-			None,
-			Node,
-			Link,
-			Face,
-			Tetra,
-			END
-		};
-	};
-
-	typedef btAlignedObjectArray<eVSolver::_> tVSolverArray;
-	typedef btAlignedObjectArray<ePSolver::_> tPSolverArray;
-
-	//
-	// Flags
-	//
-
-	///fCollision
-	struct fCollision
-	{
-		enum _
-		{
-			RVSmask = 0x000f,  ///Rigid versus soft mask
-			SDF_RS = 0x0001,   ///SDF based rigid vs soft
-			CL_RS = 0x0002,    ///Cluster vs convex rigid vs soft
-			SDF_RD = 0x0004,   ///rigid vs deformable
-
-			SVSmask = 0x00f0,  ///Rigid versus soft mask
-			VF_SS = 0x0010,    ///Vertex vs face soft vs soft handling
-			CL_SS = 0x0020,    ///Cluster vs cluster soft vs soft handling
-			CL_SELF = 0x0040,  ///Cluster soft body self collision
-			VF_DD = 0x0080,    ///Vertex vs face soft vs soft handling
-
-			RVDFmask = 0x0f00,  /// Rigid versus deformable face mask
-			SDF_RDF = 0x0100,   /// GJK based Rigid vs. deformable face
-			SDF_MDF = 0x0200,   /// GJK based Multibody vs. deformable face
-			SDF_RDN = 0x0400,   /// SDF based Rigid vs. deformable node
-			/* presets	*/
-			Default = SDF_RS,
-			END
-		};
-	};
-
-	///fMaterial
-	struct fMaterial
-	{
-		enum _
-		{
-			DebugDraw = 0x0001,  /// Enable debug draw
-			/* presets	*/
-			Default = DebugDraw,
-			END
-		};
-	};
-
-	//
-	// API Types
-	//
-
-	/* sRayCast		*/
-	struct sRayCast
-	{
-		btSoftBody* body;     /// soft body
-		eFeature::_ feature;  /// feature type
-		int index;            /// feature index
-		btScalar fraction;    /// time of impact fraction (rayorg+(rayto-rayfrom)*fraction)
-	};
-
-	/* ImplicitFn	*/
-	struct ImplicitFn
-	{
-		virtual ~ImplicitFn() {}
-		virtual btScalar Eval(const btVector3& x) = 0;
-	};
-
-	//
-	// Internal types
-	//
-
-	typedef btAlignedObjectArray<btScalar> tScalarArray;
-	typedef btAlignedObjectArray<btVector3> tVector3Array;
-
-	/* sCti is Softbody contact info	*/
-	struct sCti
-	{
-		const btCollisionObject* m_colObj; /* Rigid body			*/
-		btVector3 m_normal;                /* Outward normal		*/
-		btScalar m_offset;                 /* Offset from origin	*/
-		btVector3 m_bary;                  /* Barycentric weights for faces */
-	};
-
-	/* sMedium		*/
-	struct sMedium
-	{
-		btVector3 m_velocity; /* Velocity				*/
-		btScalar m_pressure;  /* Pressure				*/
-		btScalar m_density;   /* Density				*/
-	};
-
-	/* Base type	*/
-	struct Element
-	{
-		void* m_tag;  // User data
-		Element() : m_tag(0) {}
-	};
-	/* Material		*/
-	struct Material : Element
-	{
-		btScalar m_kLST;  // Linear stiffness coefficient [0,1]
-		btScalar m_kAST;  // Area/Angular stiffness coefficient [0,1]
-		btScalar m_kVST;  // Volume stiffness coefficient [0,1]
-		int m_flags;      // Flags
-	};
-
-	/* Feature		*/
-	struct Feature : Element
-	{
-		Material* m_material;  // Material
-	};
-	/* Node			*/
-	struct RenderNode
-	{
-		btVector3 m_x;
-		btVector3 m_uv1;
-		btVector3 m_normal;
-	};
-	struct Node : Feature
-	{
-		btVector3 m_x;       // Position
-		btVector3 m_q;       // Previous step position/Test position
-		btVector3 m_v;       // Velocity
-		btVector3 m_vn;      // Previous step velocity
-		btVector3 m_f;       // Force accumulator
-		btVector3 m_n;       // Normal
-		btScalar m_im;       // 1/mass
-		btScalar m_area;     // Area
-		btDbvtNode* m_leaf;  // Leaf data
-		int m_constrained;   // depth of penetration
-		int m_battach : 1;   // Attached
-		int index;
-		btVector3 m_splitv;               // velocity associated with split impulse
-		btMatrix3x3 m_effectiveMass;      // effective mass in contact
-		btMatrix3x3 m_effectiveMass_inv;  // inverse of effective mass
-	};
-	/* Link			*/
-	ATTRIBUTE_ALIGNED16(struct)
-	Link : Feature
-	{
-		btVector3 m_c3;      // gradient
-		Node* m_n[2];        // Node pointers
-		btScalar m_rl;       // Rest length
-		int m_bbending : 1;  // Bending link
-		btScalar m_c0;       // (ima+imb)*kLST
-		btScalar m_c1;       // rl^2
-		btScalar m_c2;       // |gradient|^2/c0
-
-		BT_DECLARE_ALIGNED_ALLOCATOR();
-	};
-	struct RenderFace
-	{
-		RenderNode* m_n[3];          // Node pointers
-	};
-
-	/* Face			*/
-	struct Face : Feature
-	{
-		Node* m_n[3];          // Node pointers
-		btVector3 m_normal;    // Normal
-		btScalar m_ra;         // Rest area
-		btDbvtNode* m_leaf;    // Leaf data
-		btVector4 m_pcontact;  // barycentric weights of the persistent contact
-		btVector3 m_n0, m_n1, m_vn;
-		int m_index;
-	};
-	/* Tetra		*/
-	struct Tetra : Feature
-	{
-		Node* m_n[4];              // Node pointers
-		btScalar m_rv;             // Rest volume
-		btDbvtNode* m_leaf;        // Leaf data
-		btVector3 m_c0[4];         // gradients
-		btScalar m_c1;             // (4*kVST)/(im0+im1+im2+im3)
-		btScalar m_c2;             // m_c1/sum(|g0..3|^2)
-		btMatrix3x3 m_Dm_inverse;  // rest Dm^-1
-		btMatrix3x3 m_F;
-		btScalar m_element_measure;
-		btVector4 m_P_inv[3];  // first three columns of P_inv matrix
-	};
-
-	/*  TetraScratch  */
-	struct TetraScratch
-	{
-		btMatrix3x3 m_F;           // deformation gradient F
-		btScalar m_trace;          // trace of F^T * F
-		btScalar m_J;              // det(F)
-		btMatrix3x3 m_cofF;        // cofactor of F
-		btMatrix3x3 m_corotation;  // corotatio of the tetra
-	};
-
-	/* RContact		*/
-	struct RContact
-	{
-		sCti m_cti;        // Contact infos
-		Node* m_node;      // Owner node
-		btMatrix3x3 m_c0;  // Impulse matrix
-		btVector3 m_c1;    // Relative anchor
-		btScalar m_c2;     // ima*dt
-		btScalar m_c3;     // Friction
-		btScalar m_c4;     // Hardness
-
-		// jacobians and unit impulse responses for multibody
-		btMultiBodyJacobianData jacobianData_normal;
-		btMultiBodyJacobianData jacobianData_t1;
-		btMultiBodyJacobianData jacobianData_t2;
-		btVector3 t1;
-		btVector3 t2;
-	};
-
-	class DeformableRigidContact
-	{
-	public:
-		sCti m_cti;        // Contact infos
-		btMatrix3x3 m_c0;  // Impulse matrix
-		btVector3 m_c1;    // Relative anchor
-		btScalar m_c2;     // inverse mass of node/face
-		btScalar m_c3;     // Friction
-		btScalar m_c4;     // Hardness
-		btMatrix3x3 m_c5;  // inverse effective mass
-
-		// jacobians and unit impulse responses for multibody
-		btMultiBodyJacobianData jacobianData_normal;
-		btMultiBodyJacobianData jacobianData_t1;
-		btMultiBodyJacobianData jacobianData_t2;
-		btVector3 t1;
-		btVector3 t2;
-	};
-
-	class DeformableNodeRigidContact : public DeformableRigidContact
-	{
-	public:
-		Node* m_node;  // Owner node
-	};
-
-	class DeformableNodeRigidAnchor : public DeformableNodeRigidContact
-	{
-	public:
-		btVector3 m_local;  // Anchor position in body space
-	};
-
-	class DeformableFaceRigidContact : public DeformableRigidContact
-	{
-	public:
-		Face* m_face;              // Owner face
-		btVector3 m_contactPoint;  // Contact point
-		btVector3 m_bary;          // Barycentric weights
-		btVector3 m_weights;       // v_contactPoint * m_weights[i] = m_face->m_node[i]->m_v;
-	};
-
-	struct DeformableFaceNodeContact
-	{
-		Node* m_node;         // Node
-		Face* m_face;         // Face
-		btVector3 m_bary;     // Barycentric weights
-		btVector3 m_weights;  // v_contactPoint * m_weights[i] = m_face->m_node[i]->m_v;
-		btVector3 m_normal;   // Normal
-		btScalar m_margin;    // Margin
-		btScalar m_friction;  // Friction
-		btScalar m_imf;       // inverse mass of the face at contact point
-		btScalar m_c0;        // scale of the impulse matrix;
-	};
-
-	/* SContact		*/
-	struct SContact
-	{
-		Node* m_node;         // Node
-		Face* m_face;         // Face
-		btVector3 m_weights;  // Weigths
-		btVector3 m_normal;   // Normal
-		btScalar m_margin;    // Margin
-		btScalar m_friction;  // Friction
-		btScalar m_cfm[2];    // Constraint force mixing
-	};
-	/* Anchor		*/
-	struct Anchor
-	{
-		Node* m_node;         // Node pointer
-		btVector3 m_local;    // Anchor position in body space
-		btRigidBody* m_body;  // Body
-		btScalar m_influence;
-		btMatrix3x3 m_c0;  // Impulse matrix
-		btVector3 m_c1;    // Relative anchor
-		btScalar m_c2;     // ima*dt
-	};
-	/* Note			*/
-	struct Note : Element
-	{
-		const char* m_text;    // Text
-		btVector3 m_offset;    // Offset
-		int m_rank;            // Rank
-		Node* m_nodes[4];      // Nodes
-		btScalar m_coords[4];  // Coordinates
-	};
-	/* Pose			*/
-	struct Pose
-	{
-		bool m_bvolume;       // Is valid
-		bool m_bframe;        // Is frame
-		btScalar m_volume;    // Rest volume
-		tVector3Array m_pos;  // Reference positions
-		tScalarArray m_wgh;   // Weights
-		btVector3 m_com;      // COM
-		btMatrix3x3 m_rot;    // Rotation
-		btMatrix3x3 m_scl;    // Scale
-		btMatrix3x3 m_aqq;    // Base scaling
-	};
-	/* Cluster		*/
-	struct Cluster
-	{
-		tScalarArray m_masses;
-		btAlignedObjectArray<Node*> m_nodes;
-		tVector3Array m_framerefs;
-		btTransform m_framexform;
-		btScalar m_idmass;
-		btScalar m_imass;
-		btMatrix3x3 m_locii;
-		btMatrix3x3 m_invwi;
-		btVector3 m_com;
-		btVector3 m_vimpulses[2];
-		btVector3 m_dimpulses[2];
-		int m_nvimpulses;
-		int m_ndimpulses;
-		btVector3 m_lv;
-		btVector3 m_av;
-		btDbvtNode* m_leaf;
-		btScalar m_ndamping; /* Node damping		*/
-		btScalar m_ldamping; /* Linear damping	*/
-		btScalar m_adamping; /* Angular damping	*/
-		btScalar m_matching;
-		btScalar m_maxSelfCollisionImpulse;
-		btScalar m_selfCollisionImpulseFactor;
-		bool m_containsAnchor;
-		bool m_collide;
-		int m_clusterIndex;
-		Cluster() : m_leaf(0), m_ndamping(0), m_ldamping(0), m_adamping(0), m_matching(0), m_maxSelfCollisionImpulse(100.f), m_selfCollisionImpulseFactor(0.01f), m_containsAnchor(false)
-		{
-		}
-	};
-	/* Impulse		*/
-	struct Impulse
-	{
-		btVector3 m_velocity;
-		btVector3 m_drift;
-		int m_asVelocity : 1;
-		int m_asDrift : 1;
-		Impulse() : m_velocity(0, 0, 0), m_drift(0, 0, 0), m_asVelocity(0), m_asDrift(0) {}
-		Impulse operator-() const
-		{
-			Impulse i = *this;
-			i.m_velocity = -i.m_velocity;
-			i.m_drift = -i.m_drift;
-			return (i);
-		}
-		Impulse operator*(btScalar x) const
-		{
-			Impulse i = *this;
-			i.m_velocity *= x;
-			i.m_drift *= x;
-			return (i);
-		}
-	};
-	/* Body			*/
-	struct Body
-	{
-		Cluster* m_soft;
-		btRigidBody* m_rigid;
-		const btCollisionObject* m_collisionObject;
-
-		Body() : m_soft(0), m_rigid(0), m_collisionObject(0) {}
-		Body(Cluster* p) : m_soft(p), m_rigid(0), m_collisionObject(0) {}
-		Body(const btCollisionObject* colObj) : m_soft(0), m_collisionObject(colObj)
-		{
-			m_rigid = (btRigidBody*)btRigidBody::upcast(m_collisionObject);
-		}
-
-		void activate() const
-		{
-			if (m_rigid)
-				m_rigid->activate();
-			if (m_collisionObject)
-				m_collisionObject->activate();
-		}
-		const btMatrix3x3& invWorldInertia() const
-		{
-			static const btMatrix3x3 iwi(0, 0, 0, 0, 0, 0, 0, 0, 0);
-			if (m_rigid) return (m_rigid->getInvInertiaTensorWorld());
-			if (m_soft) return (m_soft->m_invwi);
-			return (iwi);
-		}
-		btScalar invMass() const
-		{
-			if (m_rigid) return (m_rigid->getInvMass());
-			if (m_soft) return (m_soft->m_imass);
-			return (0);
-		}
-		const btTransform& xform() const
-		{
-			static const btTransform identity = btTransform::getIdentity();
-			if (m_collisionObject) return (m_collisionObject->getWorldTransform());
-			if (m_soft) return (m_soft->m_framexform);
-			return (identity);
-		}
-		btVector3 linearVelocity() const
-		{
-			if (m_rigid) return (m_rigid->getLinearVelocity());
-			if (m_soft) return (m_soft->m_lv);
-			return (btVector3(0, 0, 0));
-		}
-		btVector3 angularVelocity(const btVector3& rpos) const
-		{
-			if (m_rigid) return (btCross(m_rigid->getAngularVelocity(), rpos));
-			if (m_soft) return (btCross(m_soft->m_av, rpos));
-			return (btVector3(0, 0, 0));
-		}
-		btVector3 angularVelocity() const
-		{
-			if (m_rigid) return (m_rigid->getAngularVelocity());
-			if (m_soft) return (m_soft->m_av);
-			return (btVector3(0, 0, 0));
-		}
-		btVector3 velocity(const btVector3& rpos) const
-		{
-			return (linearVelocity() + angularVelocity(rpos));
-		}
-		void applyVImpulse(const btVector3& impulse, const btVector3& rpos) const
-		{
-			if (m_rigid) m_rigid->applyImpulse(impulse, rpos);
-			if (m_soft) btSoftBody::clusterVImpulse(m_soft, rpos, impulse);
-		}
-		void applyDImpulse(const btVector3& impulse, const btVector3& rpos) const
-		{
-			if (m_rigid) m_rigid->applyImpulse(impulse, rpos);
-			if (m_soft) btSoftBody::clusterDImpulse(m_soft, rpos, impulse);
-		}
-		void applyImpulse(const Impulse& impulse, const btVector3& rpos) const
-		{
-			if (impulse.m_asVelocity)
-			{
-				//				printf("impulse.m_velocity = %f,%f,%f\n",impulse.m_velocity.getX(),impulse.m_velocity.getY(),impulse.m_velocity.getZ());
-				applyVImpulse(impulse.m_velocity, rpos);
-			}
-			if (impulse.m_asDrift)
-			{
-				//				printf("impulse.m_drift = %f,%f,%f\n",impulse.m_drift.getX(),impulse.m_drift.getY(),impulse.m_drift.getZ());
-				applyDImpulse(impulse.m_drift, rpos);
-			}
-		}
-		void applyVAImpulse(const btVector3& impulse) const
-		{
-			if (m_rigid) m_rigid->applyTorqueImpulse(impulse);
-			if (m_soft) btSoftBody::clusterVAImpulse(m_soft, impulse);
-		}
-		void applyDAImpulse(const btVector3& impulse) const
-		{
-			if (m_rigid) m_rigid->applyTorqueImpulse(impulse);
-			if (m_soft) btSoftBody::clusterDAImpulse(m_soft, impulse);
-		}
-		void applyAImpulse(const Impulse& impulse) const
-		{
-			if (impulse.m_asVelocity) applyVAImpulse(impulse.m_velocity);
-			if (impulse.m_asDrift) applyDAImpulse(impulse.m_drift);
-		}
-		void applyDCImpulse(const btVector3& impulse) const
-		{
-			if (m_rigid) m_rigid->applyCentralImpulse(impulse);
-			if (m_soft) btSoftBody::clusterDCImpulse(m_soft, impulse);
-		}
-	};
-	/* Joint		*/
-	struct Joint
-	{
-		struct eType
-		{
-			enum _
-			{
-				Linear = 0,
-				Angular,
-				Contact
-			};
-		};
-		struct Specs
-		{
-			Specs() : erp(1), cfm(1), split(1) {}
-			btScalar erp;
-			btScalar cfm;
-			btScalar split;
-		};
-		Body m_bodies[2];
-		btVector3 m_refs[2];
-		btScalar m_cfm;
-		btScalar m_erp;
-		btScalar m_split;
-		btVector3 m_drift;
-		btVector3 m_sdrift;
-		btMatrix3x3 m_massmatrix;
-		bool m_delete;
-		virtual ~Joint() {}
-		Joint() : m_delete(false) {}
-		virtual void Prepare(btScalar dt, int iterations);
-		virtual void Solve(btScalar dt, btScalar sor) = 0;
-		virtual void Terminate(btScalar dt) = 0;
-		virtual eType::_ Type() const = 0;
-	};
-	/* LJoint		*/
-	struct LJoint : Joint
-	{
-		struct Specs : Joint::Specs
-		{
-			btVector3 position;
-		};
-		btVector3 m_rpos[2];
-		void Prepare(btScalar dt, int iterations);
-		void Solve(btScalar dt, btScalar sor);
-		void Terminate(btScalar dt);
-		eType::_ Type() const { return (eType::Linear); }
-	};
-	/* AJoint		*/
-	struct AJoint : Joint
-	{
-		struct IControl
-		{
-			virtual ~IControl() {}
-			virtual void Prepare(AJoint*) {}
-			virtual btScalar Speed(AJoint*, btScalar current) { return (current); }
-			static IControl* Default()
-			{
-				static IControl def;
-				return (&def);
-			}
-		};
-		struct Specs : Joint::Specs
-		{
-			Specs() : icontrol(IControl::Default()) {}
-			btVector3 axis;
-			IControl* icontrol;
-		};
-		btVector3 m_axis[2];
-		IControl* m_icontrol;
-		void Prepare(btScalar dt, int iterations);
-		void Solve(btScalar dt, btScalar sor);
-		void Terminate(btScalar dt);
-		eType::_ Type() const { return (eType::Angular); }
-	};
-	/* CJoint		*/
-	struct CJoint : Joint
-	{
-		int m_life;
-		int m_maxlife;
-		btVector3 m_rpos[2];
-		btVector3 m_normal;
-		btScalar m_friction;
-		void Prepare(btScalar dt, int iterations);
-		void Solve(btScalar dt, btScalar sor);
-		void Terminate(btScalar dt);
-		eType::_ Type() const { return (eType::Contact); }
-	};
-	/* Config		*/
-	struct Config
-	{
-		eAeroModel::_ aeromodel;    // Aerodynamic model (default: V_Point)
-		btScalar kVCF;              // Velocities correction factor (Baumgarte)
-		btScalar kDP;               // Damping coefficient [0,1]
-		btScalar kDG;               // Drag coefficient [0,+inf]
-		btScalar kLF;               // Lift coefficient [0,+inf]
-		btScalar kPR;               // Pressure coefficient [-inf,+inf]
-		btScalar kVC;               // Volume conversation coefficient [0,+inf]
-		btScalar kDF;               // Dynamic friction coefficient [0,1]
-		btScalar kMT;               // Pose matching coefficient [0,1]
-		btScalar kCHR;              // Rigid contacts hardness [0,1]
-		btScalar kKHR;              // Kinetic contacts hardness [0,1]
-		btScalar kSHR;              // Soft contacts hardness [0,1]
-		btScalar kAHR;              // Anchors hardness [0,1]
-		btScalar kSRHR_CL;          // Soft vs rigid hardness [0,1] (cluster only)
-		btScalar kSKHR_CL;          // Soft vs kinetic hardness [0,1] (cluster only)
-		btScalar kSSHR_CL;          // Soft vs soft hardness [0,1] (cluster only)
-		btScalar kSR_SPLT_CL;       // Soft vs rigid impulse split [0,1] (cluster only)
-		btScalar kSK_SPLT_CL;       // Soft vs rigid impulse split [0,1] (cluster only)
-		btScalar kSS_SPLT_CL;       // Soft vs rigid impulse split [0,1] (cluster only)
-		btScalar maxvolume;         // Maximum volume ratio for pose
-		btScalar timescale;         // Time scale
-		int viterations;            // Velocities solver iterations
-		int piterations;            // Positions solver iterations
-		int diterations;            // Drift solver iterations
-		int citerations;            // Cluster solver iterations
-		int collisions;             // Collisions flags
-		tVSolverArray m_vsequence;  // Velocity solvers sequence
-		tPSolverArray m_psequence;  // Position solvers sequence
-		tPSolverArray m_dsequence;  // Drift solvers sequence
-		btScalar drag;              // deformable air drag
-		btScalar m_maxStress;       // Maximum principle first Piola stress
-	};
-	/* SolverState	*/
-	struct SolverState
-	{
-		//if you add new variables, always initialize them!
-		SolverState()
-			: sdt(0),
-			  isdt(0),
-			  velmrg(0),
-			  radmrg(0),
-			  updmrg(0)
-		{
-		}
-		btScalar sdt;     // dt*timescale
-		btScalar isdt;    // 1/sdt
-		btScalar velmrg;  // velocity margin
-		btScalar radmrg;  // radial margin
-		btScalar updmrg;  // Update margin
-	};
-	/// RayFromToCaster takes a ray from, ray to (instead of direction!)
-	struct RayFromToCaster : btDbvt::ICollide
-	{
-		btVector3 m_rayFrom;
-		btVector3 m_rayTo;
-		btVector3 m_rayNormalizedDirection;
-		btScalar m_mint;
-		Face* m_face;
-		int m_tests;
-		RayFromToCaster(const btVector3& rayFrom, const btVector3& rayTo, btScalar mxt);
-		void Process(const btDbvtNode* leaf);
-
-		static /*inline*/ btScalar rayFromToTriangle(const btVector3& rayFrom,
-													 const btVector3& rayTo,
-													 const btVector3& rayNormalizedDirection,
-													 const btVector3& a,
-													 const btVector3& b,
-													 const btVector3& c,
-													 btScalar maxt = SIMD_INFINITY);
-	};
-
-	//
-	// Typedefs
-	//
-
-	typedef void (*psolver_t)(btSoftBody*, btScalar, btScalar);
-	typedef void (*vsolver_t)(btSoftBody*, btScalar);
-	typedef btAlignedObjectArray<Cluster*> tClusterArray;
-	typedef btAlignedObjectArray<Note> tNoteArray;
-	typedef btAlignedObjectArray<Node> tNodeArray;
-	typedef btAlignedObjectArray< RenderNode> tRenderNodeArray;
-	typedef btAlignedObjectArray<btDbvtNode*> tLeafArray;
-	typedef btAlignedObjectArray<Link> tLinkArray;
-	typedef btAlignedObjectArray<Face> tFaceArray;
-	typedef btAlignedObjectArray<RenderFace> tRenderFaceArray;
-	typedef btAlignedObjectArray<Tetra> tTetraArray;
-	typedef btAlignedObjectArray<Anchor> tAnchorArray;
-	typedef btAlignedObjectArray<RContact> tRContactArray;
-	typedef btAlignedObjectArray<SContact> tSContactArray;
-	typedef btAlignedObjectArray<Material*> tMaterialArray;
-	typedef btAlignedObjectArray<Joint*> tJointArray;
-	typedef btAlignedObjectArray<btSoftBody*> tSoftBodyArray;
-
-	//
-	// Fields
-	//
-
-	Config m_cfg;                      // Configuration
-	SolverState m_sst;                 // Solver state
-	Pose m_pose;                       // Pose
-	void* m_tag;                       // User data
-	btSoftBodyWorldInfo* m_worldInfo;  // World info
-	tNoteArray m_notes;                // Notes
-	tNodeArray m_nodes;                // Nodes
-	tRenderNodeArray m_renderNodes;    // Render Nodes
-	tLinkArray m_links;                // Links
-	tFaceArray m_faces;                // Faces
-	tRenderFaceArray m_renderFaces;          // Faces
-	tTetraArray m_tetras;              // Tetras
-	btAlignedObjectArray<TetraScratch> m_tetraScratches;
-	btAlignedObjectArray<TetraScratch> m_tetraScratchesTn;
-	tAnchorArray m_anchors;  // Anchors
-	btAlignedObjectArray<DeformableNodeRigidAnchor> m_deformableAnchors;
-	tRContactArray m_rcontacts;  // Rigid contacts
-	btAlignedObjectArray<DeformableNodeRigidContact> m_nodeRigidContacts;
-	btAlignedObjectArray<DeformableFaceNodeContact> m_faceNodeContacts;
-	btAlignedObjectArray<DeformableFaceRigidContact> m_faceRigidContacts;
-	tSContactArray m_scontacts;     // Soft contacts
-	tJointArray m_joints;           // Joints
-	tMaterialArray m_materials;     // Materials
-	btScalar m_timeacc;             // Time accumulator
-	btVector3 m_bounds[2];          // Spatial bounds
-	bool m_bUpdateRtCst;            // Update runtime constants
-	btDbvt m_ndbvt;                 // Nodes tree
-	btDbvt m_fdbvt;                 // Faces tree
-	btDbvntNode* m_fdbvnt;          // Faces tree with normals
-	btDbvt m_cdbvt;                 // Clusters tree
-	tClusterArray m_clusters;       // Clusters
-	btScalar m_dampingCoefficient;  // Damping Coefficient
-	btScalar m_sleepingThreshold;
-	btScalar m_maxSpeedSquared;
-	btAlignedObjectArray<btVector3> m_quads;  // quadrature points for collision detection
-	btScalar m_repulsionStiffness;
-	btScalar m_gravityFactor;
-	bool m_cacheBarycenter;
-	btAlignedObjectArray<btVector3> m_X;  // initial positions
-
-	btAlignedObjectArray<btVector4> m_renderNodesInterpolationWeights;
-	btAlignedObjectArray<btAlignedObjectArray<const btSoftBody::Node*> > m_renderNodesParents;
-	btAlignedObjectArray<btScalar> m_z;  // vertical distance used in extrapolation
-	bool m_useSelfCollision;
-	bool m_softSoftCollision;
-
-	btAlignedObjectArray<bool> m_clusterConnectivity;  //cluster connectivity, for self-collision
-
-	btVector3 m_windVelocity;
-
-	btScalar m_restLengthScale;
-
-	//
-	// Api
-	//
-
-	/* ctor																	*/
-	btSoftBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btVector3* x, const btScalar* m);
-
-	/* ctor																	*/
-	btSoftBody(btSoftBodyWorldInfo* worldInfo);
-
-	void initDefaults();
-
-	/* dtor																	*/
-	virtual ~btSoftBody();
-	/* Check for existing link												*/
-
-	btAlignedObjectArray<int> m_userIndexMapping;
-
-	btSoftBodyWorldInfo* getWorldInfo()
-	{
-		return m_worldInfo;
-	}
-
-	void setDampingCoefficient(btScalar damping_coeff)
-	{
-		m_dampingCoefficient = damping_coeff;
-	}
-
-	///@todo: avoid internal softbody shape hack and move collision code to collision library
-	virtual void setCollisionShape(btCollisionShape* collisionShape)
-	{
-	}
-
-	bool checkLink(int node0,
-				   int node1) const;
-	bool checkLink(const Node* node0,
-				   const Node* node1) const;
-	/* Check for existring face												*/
-	bool checkFace(int node0,
-				   int node1,
-				   int node2) const;
-	/* Append material														*/
-	Material* appendMaterial();
-	/* Append note															*/
-	void appendNote(const char* text,
-					const btVector3& o,
-					const btVector4& c = btVector4(1, 0, 0, 0),
-					Node* n0 = 0,
-					Node* n1 = 0,
-					Node* n2 = 0,
-					Node* n3 = 0);
-	void appendNote(const char* text,
-					const btVector3& o,
-					Node* feature);
-	void appendNote(const char* text,
-					const btVector3& o,
-					Link* feature);
-	void appendNote(const char* text,
-					const btVector3& o,
-					Face* feature);
-	/* Append node															*/
-	void appendNode(const btVector3& x, btScalar m);
-	/* Append link															*/
-	void appendLink(int model = -1, Material* mat = 0);
-	void appendLink(int node0,
-					int node1,
-					Material* mat = 0,
-					bool bcheckexist = false);
-	void appendLink(Node* node0,
-					Node* node1,
-					Material* mat = 0,
-					bool bcheckexist = false);
-	/* Append face															*/
-	void appendFace(int model = -1, Material* mat = 0);
-	void appendFace(int node0,
-					int node1,
-					int node2,
-					Material* mat = 0);
-	void appendTetra(int model, Material* mat);
-	//
-	void appendTetra(int node0,
-					 int node1,
-					 int node2,
-					 int node3,
-					 Material* mat = 0);
-
-	/* Append anchor														*/
-	void appendDeformableAnchor(int node, btRigidBody* body);
-	void appendDeformableAnchor(int node, btMultiBodyLinkCollider* link);
-	void appendAnchor(int node,
-					  btRigidBody* body, bool disableCollisionBetweenLinkedBodies = false, btScalar influence = 1);
-	void appendAnchor(int node, btRigidBody* body, const btVector3& localPivot, bool disableCollisionBetweenLinkedBodies = false, btScalar influence = 1);
-	void removeAnchor(int node);
-	/* Append linear joint													*/
-	void appendLinearJoint(const LJoint::Specs& specs, Cluster* body0, Body body1);
-	void appendLinearJoint(const LJoint::Specs& specs, Body body = Body());
-	void appendLinearJoint(const LJoint::Specs& specs, btSoftBody* body);
-	/* Append linear joint													*/
-	void appendAngularJoint(const AJoint::Specs& specs, Cluster* body0, Body body1);
-	void appendAngularJoint(const AJoint::Specs& specs, Body body = Body());
-	void appendAngularJoint(const AJoint::Specs& specs, btSoftBody* body);
-	/* Add force (or gravity) to the entire body							*/
-	void addForce(const btVector3& force);
-	/* Add force (or gravity) to a node of the body							*/
-	void addForce(const btVector3& force,
-				  int node);
-	/* Add aero force to a node of the body */
-	void addAeroForceToNode(const btVector3& windVelocity, int nodeIndex);
-
-	/* Add aero force to a face of the body */
-	void addAeroForceToFace(const btVector3& windVelocity, int faceIndex);
-
-	/* Add velocity to the entire body										*/
-	void addVelocity(const btVector3& velocity);
-
-	/* Set velocity for the entire body										*/
-	void setVelocity(const btVector3& velocity);
-
-	/* Add velocity to a node of the body									*/
-	void addVelocity(const btVector3& velocity,
-					 int node);
-	/* Set mass																*/
-	void setMass(int node,
-				 btScalar mass);
-	/* Get mass																*/
-	btScalar getMass(int node) const;
-	/* Get total mass														*/
-	btScalar getTotalMass() const;
-	/* Set total mass (weighted by previous masses)							*/
-	void setTotalMass(btScalar mass,
-					  bool fromfaces = false);
-	/* Set total density													*/
-	void setTotalDensity(btScalar density);
-	/* Set volume mass (using tetrahedrons)									*/
-	void setVolumeMass(btScalar mass);
-	/* Set volume density (using tetrahedrons)								*/
-	void setVolumeDensity(btScalar density);
-	/* Get the linear velocity of the center of mass                        */
-	btVector3 getLinearVelocity();
-	/* Set the linear velocity of the center of mass                        */
-	void setLinearVelocity(const btVector3& linVel);
-	/* Set the angular velocity of the center of mass                       */
-	void setAngularVelocity(const btVector3& angVel);
-	/* Get best fit rigid transform                                         */
-	btTransform getRigidTransform();
-	/* Transform to given pose                                              */
-	void transformTo(const btTransform& trs);
-	/* Transform															*/
-	void transform(const btTransform& trs);
-	/* Translate															*/
-	void translate(const btVector3& trs);
-	/* Rotate															*/
-	void rotate(const btQuaternion& rot);
-	/* Scale																*/
-	void scale(const btVector3& scl);
-	/* Get link resting lengths scale										*/
-	btScalar getRestLengthScale();
-	/* Scale resting length of all springs									*/
-	void setRestLengthScale(btScalar restLength);
-	/* Set current state as pose											*/
-	void setPose(bool bvolume,
-				 bool bframe);
-	/* Set current link lengths as resting lengths							*/
-	void resetLinkRestLengths();
-	/* Return the volume													*/
-	btScalar getVolume() const;
-	/* Cluster count														*/
-	btVector3 getCenterOfMass() const
-	{
-		btVector3 com(0, 0, 0);
-		for (int i = 0; i < m_nodes.size(); i++)
-		{
-			com += (m_nodes[i].m_x * this->getMass(i));
-		}
-		com /= this->getTotalMass();
-		return com;
-	}
-	int clusterCount() const;
-	/* Cluster center of mass												*/
-	static btVector3 clusterCom(const Cluster* cluster);
-	btVector3 clusterCom(int cluster) const;
-	/* Cluster velocity at rpos												*/
-	static btVector3 clusterVelocity(const Cluster* cluster, const btVector3& rpos);
-	/* Cluster impulse														*/
-	static void clusterVImpulse(Cluster* cluster, const btVector3& rpos, const btVector3& impulse);
-	static void clusterDImpulse(Cluster* cluster, const btVector3& rpos, const btVector3& impulse);
-	static void clusterImpulse(Cluster* cluster, const btVector3& rpos, const Impulse& impulse);
-	static void clusterVAImpulse(Cluster* cluster, const btVector3& impulse);
-	static void clusterDAImpulse(Cluster* cluster, const btVector3& impulse);
-	static void clusterAImpulse(Cluster* cluster, const Impulse& impulse);
-	static void clusterDCImpulse(Cluster* cluster, const btVector3& impulse);
-	/* Generate bending constraints based on distance in the adjency graph	*/
-	int generateBendingConstraints(int distance,
-								   Material* mat = 0);
-	/* Randomize constraints to reduce solver bias							*/
-	void randomizeConstraints();
-	/* Release clusters														*/
-	void releaseCluster(int index);
-	void releaseClusters();
-	/* Generate clusters (K-mean)											*/
-	///generateClusters with k=0 will create a convex cluster for each tetrahedron or triangle
-	///otherwise an approximation will be used (better performance)
-	int generateClusters(int k, int maxiterations = 8192);
-	/* Refine																*/
-	void refine(ImplicitFn* ifn, btScalar accurary, bool cut);
-	/* CutLink																*/
-	bool cutLink(int node0, int node1, btScalar position);
-	bool cutLink(const Node* node0, const Node* node1, btScalar position);
-
-	///Ray casting using rayFrom and rayTo in worldspace, (not direction!)
-	bool rayTest(const btVector3& rayFrom,
-				 const btVector3& rayTo,
-				 sRayCast& results);
-	bool rayFaceTest(const btVector3& rayFrom,
-					 const btVector3& rayTo,
-					 sRayCast& results);
-	int rayFaceTest(const btVector3& rayFrom, const btVector3& rayTo,
-					btScalar& mint, int& index) const;
-	/* Solver presets														*/
-	void setSolver(eSolverPresets::_ preset);
-	/* predictMotion														*/
-	void predictMotion(btScalar dt);
-	/* solveConstraints														*/
-	void solveConstraints();
-	/* staticSolve															*/
-	void staticSolve(int iterations);
-	/* solveCommonConstraints												*/
-	static void solveCommonConstraints(btSoftBody** bodies, int count, int iterations);
-	/* solveClusters														*/
-	static void solveClusters(const btAlignedObjectArray<btSoftBody*>& bodies);
-	/* integrateMotion														*/
-	void integrateMotion();
-	/* defaultCollisionHandlers												*/
-	void defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap);
-	void defaultCollisionHandler(btSoftBody* psb);
-	void setSelfCollision(bool useSelfCollision);
-	bool useSelfCollision();
-	void updateDeactivation(btScalar timeStep);
-	void setZeroVelocity();
-	bool wantsSleeping();
-
-	//
-	// Functionality to deal with new accelerated solvers.
-	//
-
-	/**
-	 * Set a wind velocity for interaction with the air.
-	 */
-	void setWindVelocity(const btVector3& velocity);
-
-	/**
-	 * Return the wind velocity for interaction with the air.
-	 */
-	const btVector3& getWindVelocity();
-
-	//
-	// Set the solver that handles this soft body
-	// Should not be allowed to get out of sync with reality
-	// Currently called internally on addition to the world
-	void setSoftBodySolver(btSoftBodySolver* softBodySolver)
-	{
-		m_softBodySolver = softBodySolver;
-	}
-
-	//
-	// Return the solver that handles this soft body
-	//
-	btSoftBodySolver* getSoftBodySolver()
-	{
-		return m_softBodySolver;
-	}
-
-	//
-	// Return the solver that handles this soft body
-	//
-	btSoftBodySolver* getSoftBodySolver() const
-	{
-		return m_softBodySolver;
-	}
-
-	//
-	// Cast
-	//
-
-	static const btSoftBody* upcast(const btCollisionObject* colObj)
-	{
-		if (colObj->getInternalType() == CO_SOFT_BODY)
-			return (const btSoftBody*)colObj;
-		return 0;
-	}
-	static btSoftBody* upcast(btCollisionObject* colObj)
-	{
-		if (colObj->getInternalType() == CO_SOFT_BODY)
-			return (btSoftBody*)colObj;
-		return 0;
-	}
-
-	//
-	// ::btCollisionObject
-	//
-
-	virtual void getAabb(btVector3& aabbMin, btVector3& aabbMax) const
-	{
-		aabbMin = m_bounds[0];
-		aabbMax = m_bounds[1];
-	}
-	//
-	// Private
-	//
-	void pointersToIndices();
-	void indicesToPointers(const int* map = 0);
-
-	int rayTest(const btVector3& rayFrom, const btVector3& rayTo,
-				btScalar& mint, eFeature::_& feature, int& index, bool bcountonly) const;
-	void initializeFaceTree();
-	void rebuildNodeTree();
-	btVector3 evaluateCom() const;
-	bool checkDeformableContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const;
-	bool checkDeformableFaceContact(const btCollisionObjectWrapper* colObjWrap, Face& f, btVector3& contact_point, btVector3& bary, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const;
-	bool checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti) const;
-	void updateNormals();
-	void updateBounds();
-	void updatePose();
-	void updateConstants();
-	void updateLinkConstants();
-	void updateArea(bool averageArea = true);
-	void initializeClusters();
-	void updateClusters();
-	void cleanupClusters();
-	void prepareClusters(int iterations);
-	void solveClusters(btScalar sor);
-	void applyClusters(bool drift);
-	void dampClusters();
-	void setSpringStiffness(btScalar k);
-	void setGravityFactor(btScalar gravFactor);
-	void setCacheBarycenter(bool cacheBarycenter);
-	void initializeDmInverse();
-	void updateDeformation();
-	void advanceDeformation();
-	void applyForces();
-	void setMaxStress(btScalar maxStress);
-	void interpolateRenderMesh();
-	void setCollisionQuadrature(int N);
-	static void PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti);
-	static void PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti);
-	static void PSolve_SContacts(btSoftBody* psb, btScalar, btScalar ti);
-	static void PSolve_Links(btSoftBody* psb, btScalar kst, btScalar ti);
-	static void VSolve_Links(btSoftBody* psb, btScalar kst);
-	static psolver_t getSolver(ePSolver::_ solver);
-	static vsolver_t getSolver(eVSolver::_ solver);
-	void geometricCollisionHandler(btSoftBody* psb);
-#define SAFE_EPSILON SIMD_EPSILON * 100.0
-	void updateNode(btDbvtNode* node, bool use_velocity, bool margin)
-	{
-		if (node->isleaf())
-		{
-			btSoftBody::Node* n = (btSoftBody::Node*)(node->data);
-			ATTRIBUTE_ALIGNED16(btDbvtVolume)
-			vol;
-			btScalar pad = margin ? m_sst.radmrg : SAFE_EPSILON;  // use user defined margin or margin for floating point precision
-			if (use_velocity)
-			{
-				btVector3 points[2] = {n->m_x, n->m_x + m_sst.sdt * n->m_v};
-				vol = btDbvtVolume::FromPoints(points, 2);
-				vol.Expand(btVector3(pad, pad, pad));
-			}
-			else
-			{
-				vol = btDbvtVolume::FromCR(n->m_x, pad);
-			}
-			node->volume = vol;
-			return;
-		}
-		else
-		{
-			updateNode(node->childs[0], use_velocity, margin);
-			updateNode(node->childs[1], use_velocity, margin);
-			ATTRIBUTE_ALIGNED16(btDbvtVolume)
-			vol;
-			Merge(node->childs[0]->volume, node->childs[1]->volume, vol);
-			node->volume = vol;
-		}
-	}
-
-	void updateNodeTree(bool use_velocity, bool margin)
-	{
-		if (m_ndbvt.m_root)
-			updateNode(m_ndbvt.m_root, use_velocity, margin);
-	}
-
-	template <class DBVTNODE>  // btDbvtNode or btDbvntNode
-	void updateFace(DBVTNODE* node, bool use_velocity, bool margin)
-	{
-		if (node->isleaf())
-		{
-			btSoftBody::Face* f = (btSoftBody::Face*)(node->data);
-			btScalar pad = margin ? m_sst.radmrg : SAFE_EPSILON;  // use user defined margin or margin for floating point precision
-			ATTRIBUTE_ALIGNED16(btDbvtVolume)
-			vol;
-			if (use_velocity)
-			{
-				btVector3 points[6] = {f->m_n[0]->m_x, f->m_n[0]->m_x + m_sst.sdt * f->m_n[0]->m_v,
-									   f->m_n[1]->m_x, f->m_n[1]->m_x + m_sst.sdt * f->m_n[1]->m_v,
-									   f->m_n[2]->m_x, f->m_n[2]->m_x + m_sst.sdt * f->m_n[2]->m_v};
-				vol = btDbvtVolume::FromPoints(points, 6);
-			}
-			else
-			{
-				btVector3 points[3] = {f->m_n[0]->m_x,
-									   f->m_n[1]->m_x,
-									   f->m_n[2]->m_x};
-				vol = btDbvtVolume::FromPoints(points, 3);
-			}
-			vol.Expand(btVector3(pad, pad, pad));
-			node->volume = vol;
-			return;
-		}
-		else
-		{
-			updateFace(node->childs[0], use_velocity, margin);
-			updateFace(node->childs[1], use_velocity, margin);
-			ATTRIBUTE_ALIGNED16(btDbvtVolume)
-			vol;
-			Merge(node->childs[0]->volume, node->childs[1]->volume, vol);
-			node->volume = vol;
-		}
-	}
-	void updateFaceTree(bool use_velocity, bool margin)
-	{
-		if (m_fdbvt.m_root)
-			updateFace(m_fdbvt.m_root, use_velocity, margin);
-		if (m_fdbvnt)
-			updateFace(m_fdbvnt, use_velocity, margin);
-	}
-
-	template <typename T>
-	static inline T BaryEval(const T& a,
-							 const T& b,
-							 const T& c,
-							 const btVector3& coord)
-	{
-		return (a * coord.x() + b * coord.y() + c * coord.z());
-	}
-
-	void applyRepulsionForce(btScalar timeStep, bool applySpringForce)
-	{
-		btAlignedObjectArray<int> indices;
-		{
-			// randomize the order of repulsive force
-			indices.resize(m_faceNodeContacts.size());
-			for (int i = 0; i < m_faceNodeContacts.size(); ++i)
-				indices[i] = i;
-#define NEXTRAND (seed = (1664525L * seed + 1013904223L) & 0xffffffff)
-			int i, ni;
-
-			for (i = 0, ni = indices.size(); i < ni; ++i)
-			{
-				btSwap(indices[i], indices[NEXTRAND % ni]);
-			}
-		}
-		for (int k = 0; k < m_faceNodeContacts.size(); ++k)
-		{
-			int idx = indices[k];
-			btSoftBody::DeformableFaceNodeContact& c = m_faceNodeContacts[idx];
-			btSoftBody::Node* node = c.m_node;
-			btSoftBody::Face* face = c.m_face;
-			const btVector3& w = c.m_bary;
-			const btVector3& n = c.m_normal;
-			btVector3 l = node->m_x - BaryEval(face->m_n[0]->m_x, face->m_n[1]->m_x, face->m_n[2]->m_x, w);
-			btScalar d = c.m_margin - n.dot(l);
-			d = btMax(btScalar(0), d);
-
-			const btVector3& va = node->m_v;
-			btVector3 vb = BaryEval(face->m_n[0]->m_v, face->m_n[1]->m_v, face->m_n[2]->m_v, w);
-			btVector3 vr = va - vb;
-			const btScalar vn = btDot(vr, n);  // dn < 0 <==> opposing
-			if (vn > OVERLAP_REDUCTION_FACTOR * d / timeStep)
-				continue;
-			btVector3 vt = vr - vn * n;
-			btScalar I = 0;
-			btScalar mass = node->m_im == 0 ? 0 : btScalar(1) / node->m_im;
-			if (applySpringForce)
-				I = -btMin(m_repulsionStiffness * timeStep * d, mass * (OVERLAP_REDUCTION_FACTOR * d / timeStep - vn));
-			if (vn < 0)
-				I += 0.5 * mass * vn;
-			int face_penetration = 0, node_penetration = node->m_constrained;
-			for (int i = 0; i < 3; ++i)
-				face_penetration |= face->m_n[i]->m_constrained;
-			btScalar I_tilde = 2.0 * I / (1.0 + w.length2());
-
-			//             double the impulse if node or face is constrained.
-			if (face_penetration > 0 || node_penetration > 0)
-			{
-				I_tilde *= 2.0;
-			}
-			if (face_penetration <= 0)
-			{
-				for (int j = 0; j < 3; ++j)
-					face->m_n[j]->m_v += w[j] * n * I_tilde * node->m_im;
-			}
-			if (node_penetration <= 0)
-			{
-				node->m_v -= I_tilde * node->m_im * n;
-			}
-
-			// apply frictional impulse
-			btScalar vt_norm = vt.safeNorm();
-			if (vt_norm > SIMD_EPSILON)
-			{
-				btScalar delta_vn = -2 * I * node->m_im;
-				btScalar mu = c.m_friction;
-				btScalar vt_new = btMax(btScalar(1) - mu * delta_vn / (vt_norm + SIMD_EPSILON), btScalar(0)) * vt_norm;
-				I = 0.5 * mass * (vt_norm - vt_new);
-				vt.safeNormalize();
-				I_tilde = 2.0 * I / (1.0 + w.length2());
-				//                 double the impulse if node or face is constrained.
-				if (face_penetration > 0 || node_penetration > 0)
-					I_tilde *= 2.0;
-				if (face_penetration <= 0)
-				{
-					for (int j = 0; j < 3; ++j)
-						face->m_n[j]->m_v += w[j] * vt * I_tilde * (face->m_n[j])->m_im;
-				}
-				if (node_penetration <= 0)
-				{
-					node->m_v -= I_tilde * node->m_im * vt;
-				}
-			}
-		}
-	}
-	virtual int calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
-};
-
-#endif  //_BT_SOFT_BODY_H
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp b/thirdparty/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
deleted file mode 100644
index 750718f57f..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,316 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btSoftBodyConcaveCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionShapes/btConcaveShape.h"
-#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
-#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
-#include "BulletCollision/CollisionShapes/btTriangleShape.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
-#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-#include "LinearMath/btIDebugDraw.h"
-#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
-#include "BulletSoftBody/btSoftBody.h"
-
-#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.06)  //make this configurable
-
-btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped)
-	: btCollisionAlgorithm(ci),
-	  m_isSwapped(isSwapped),
-	  m_btSoftBodyTriangleCallback(ci.m_dispatcher1, body0Wrap, body1Wrap, isSwapped)
-{
-}
-
-btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm()
-{
-}
-
-btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher* dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped) : m_dispatcher(dispatcher),
-																																														 m_dispatchInfoPtr(0)
-{
-	m_softBody = (isSwapped ? (btSoftBody*)body1Wrap->getCollisionObject() : (btSoftBody*)body0Wrap->getCollisionObject());
-	m_triBody = isSwapped ? body0Wrap->getCollisionObject() : body1Wrap->getCollisionObject();
-
-	//
-	// create the manifold from the dispatcher 'manifold pool'
-	//
-	//	  m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody);
-
-	clearCache();
-}
-
-btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback()
-{
-	clearCache();
-	//	m_dispatcher->releaseManifold( m_manifoldPtr );
-}
-
-void btSoftBodyTriangleCallback::clearCache()
-{
-	for (int i = 0; i < m_shapeCache.size(); i++)
-	{
-		btTriIndex* tmp = m_shapeCache.getAtIndex(i);
-		btAssert(tmp);
-		btAssert(tmp->m_childShape);
-		m_softBody->getWorldInfo()->m_sparsesdf.RemoveReferences(tmp->m_childShape);  //necessary?
-		delete tmp->m_childShape;
-	}
-	m_shapeCache.clear();
-}
-
-void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle, int partId, int triangleIndex)
-{
-	//just for debugging purposes
-	//printf("triangle %d",m_triangleCount++);
-
-	btCollisionAlgorithmConstructionInfo ci;
-	ci.m_dispatcher1 = m_dispatcher;
-
-	///debug drawing of the overlapping triangles
-	if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawWireframe))
-	{
-		btVector3 color(1, 1, 0);
-		const btTransform& tr = m_triBody->getWorldTransform();
-		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]), tr(triangle[1]), color);
-		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]), tr(triangle[2]), color);
-		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]), tr(triangle[0]), color);
-	}
-
-	btTriIndex triIndex(partId, triangleIndex, 0);
-	btHashKey<btTriIndex> triKey(triIndex.getUid());
-
-	btTriIndex* shapeIndex = m_shapeCache[triKey];
-	if (shapeIndex)
-	{
-		btCollisionShape* tm = shapeIndex->m_childShape;
-		btAssert(tm);
-
-		//copy over user pointers to temporary shape
-		tm->setUserPointer(m_triBody->getCollisionShape()->getUserPointer());
-
-		btCollisionObjectWrapper softBody(0, m_softBody->getCollisionShape(), m_softBody, m_softBody->getWorldTransform(), -1, -1);
-		//btCollisionObjectWrapper triBody(0,tm, ob, btTransform::getIdentity());//ob->getWorldTransform());//??
-		btCollisionObjectWrapper triBody(0, tm, m_triBody, m_triBody->getWorldTransform(), partId, triangleIndex);
-		ebtDispatcherQueryType algoType = m_resultOut->m_closestPointDistanceThreshold > 0 ? BT_CLOSEST_POINT_ALGORITHMS : BT_CONTACT_POINT_ALGORITHMS;
-		btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody, &triBody, 0, algoType);  //m_manifoldPtr);
-
-		colAlgo->processCollision(&softBody, &triBody, *m_dispatchInfoPtr, m_resultOut);
-		colAlgo->~btCollisionAlgorithm();
-		ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
-
-		return;
-	}
-
-	//aabb filter is already applied!
-
-	//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
-
-	//	if (m_softBody->getCollisionShape()->getShapeType()==
-	{
-		//		btVector3 other;
-		btVector3 normal = (triangle[1] - triangle[0]).cross(triangle[2] - triangle[0]);
-		normal.normalize();
-		normal *= BT_SOFTBODY_TRIANGLE_EXTRUSION;
-		//		other=(triangle[0]+triangle[1]+triangle[2])*0.333333f;
-		//		other+=normal*22.f;
-		btVector3 pts[6] = {triangle[0] + normal,
-							triangle[1] + normal,
-							triangle[2] + normal,
-							triangle[0] - normal,
-							triangle[1] - normal,
-							triangle[2] - normal};
-
-		btConvexHullShape* tm = new btConvexHullShape(&pts[0].getX(), 6);
-
-		//		btBU_Simplex1to4 tm(triangle[0],triangle[1],triangle[2],other);
-
-		//btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
-		//	tm.setMargin(m_collisionMarginTriangle);
-
-		//copy over user pointers to temporary shape
-		tm->setUserPointer(m_triBody->getCollisionShape()->getUserPointer());
-
-		btCollisionObjectWrapper softBody(0, m_softBody->getCollisionShape(), m_softBody, m_softBody->getWorldTransform(), -1, -1);
-		btCollisionObjectWrapper triBody(0, tm, m_triBody, m_triBody->getWorldTransform(), partId, triangleIndex);  //btTransform::getIdentity());//??
-
-		ebtDispatcherQueryType algoType = m_resultOut->m_closestPointDistanceThreshold > 0 ? BT_CLOSEST_POINT_ALGORITHMS : BT_CONTACT_POINT_ALGORITHMS;
-		btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody, &triBody, 0, algoType);  //m_manifoldPtr);
-
-		colAlgo->processCollision(&softBody, &triBody, *m_dispatchInfoPtr, m_resultOut);
-		colAlgo->~btCollisionAlgorithm();
-		ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
-
-		triIndex.m_childShape = tm;
-		m_shapeCache.insert(triKey, triIndex);
-	}
-}
-
-void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle, const btCollisionObjectWrapper* triBodyWrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	m_dispatchInfoPtr = &dispatchInfo;
-	m_collisionMarginTriangle = collisionMarginTriangle + btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION);
-	m_resultOut = resultOut;
-
-	btVector3 aabbWorldSpaceMin, aabbWorldSpaceMax;
-	m_softBody->getAabb(aabbWorldSpaceMin, aabbWorldSpaceMax);
-	btVector3 halfExtents = (aabbWorldSpaceMax - aabbWorldSpaceMin) * btScalar(0.5);
-	btVector3 softBodyCenter = (aabbWorldSpaceMax + aabbWorldSpaceMin) * btScalar(0.5);
-
-	btTransform softTransform;
-	softTransform.setIdentity();
-	softTransform.setOrigin(softBodyCenter);
-
-	btTransform convexInTriangleSpace;
-	convexInTriangleSpace = triBodyWrap->getWorldTransform().inverse() * softTransform;
-	btTransformAabb(halfExtents, m_collisionMarginTriangle, convexInTriangleSpace, m_aabbMin, m_aabbMax);
-}
-
-void btSoftBodyConcaveCollisionAlgorithm::clearCache()
-{
-	m_btSoftBodyTriangleCallback.clearCache();
-}
-
-void btSoftBodyConcaveCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	//btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
-	const btCollisionObjectWrapper* triBody = m_isSwapped ? body0Wrap : body1Wrap;
-
-	if (triBody->getCollisionShape()->isConcave())
-	{
-		const btCollisionObject* triOb = triBody->getCollisionObject();
-		const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>(triOb->getCollisionShape());
-
-		//	if (convexBody->getCollisionShape()->isConvex())
-		{
-			btScalar collisionMarginTriangle = concaveShape->getMargin();
-
-			//			resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
-			m_btSoftBodyTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle, triBody, dispatchInfo, resultOut);
-
-			concaveShape->processAllTriangles(&m_btSoftBodyTriangleCallback, m_btSoftBodyTriangleCallback.getAabbMin(), m_btSoftBodyTriangleCallback.getAabbMax());
-
-			//	resultOut->refreshContactPoints();
-		}
-	}
-}
-
-btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	(void)resultOut;
-	(void)dispatchInfo;
-	btCollisionObject* convexbody = m_isSwapped ? body1 : body0;
-	btCollisionObject* triBody = m_isSwapped ? body0 : body1;
-
-	//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast)
-
-	//only perform CCD above a certain threshold, this prevents blocking on the long run
-	//because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
-	btScalar squareMot0 = (convexbody->getInterpolationWorldTransform().getOrigin() - convexbody->getWorldTransform().getOrigin()).length2();
-	if (squareMot0 < convexbody->getCcdSquareMotionThreshold())
-	{
-		return btScalar(1.);
-	}
-
-	//const btVector3& from = convexbody->m_worldTransform.getOrigin();
-	//btVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
-	//todo: only do if the motion exceeds the 'radius'
-
-	btTransform triInv = triBody->getWorldTransform().inverse();
-	btTransform convexFromLocal = triInv * convexbody->getWorldTransform();
-	btTransform convexToLocal = triInv * convexbody->getInterpolationWorldTransform();
-
-	struct LocalTriangleSphereCastCallback : public btTriangleCallback
-	{
-		btTransform m_ccdSphereFromTrans;
-		btTransform m_ccdSphereToTrans;
-		btTransform m_meshTransform;
-
-		btScalar m_ccdSphereRadius;
-		btScalar m_hitFraction;
-
-		LocalTriangleSphereCastCallback(const btTransform& from, const btTransform& to, btScalar ccdSphereRadius, btScalar hitFraction)
-			: m_ccdSphereFromTrans(from),
-			  m_ccdSphereToTrans(to),
-			  m_ccdSphereRadius(ccdSphereRadius),
-			  m_hitFraction(hitFraction)
-		{
-		}
-
-		virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
-		{
-			(void)partId;
-			(void)triangleIndex;
-			//do a swept sphere for now
-			btTransform ident;
-			ident.setIdentity();
-			btConvexCast::CastResult castResult;
-			castResult.m_fraction = m_hitFraction;
-			btSphereShape pointShape(m_ccdSphereRadius);
-			btTriangleShape triShape(triangle[0], triangle[1], triangle[2]);
-			btVoronoiSimplexSolver simplexSolver;
-			btSubsimplexConvexCast convexCaster(&pointShape, &triShape, &simplexSolver);
-			//GjkConvexCast	convexCaster(&pointShape,convexShape,&simplexSolver);
-			//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
-			//local space?
-
-			if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans, m_ccdSphereToTrans,
-											  ident, ident, castResult))
-			{
-				if (m_hitFraction > castResult.m_fraction)
-					m_hitFraction = castResult.m_fraction;
-			}
-		}
-	};
-
-	if (triBody->getCollisionShape()->isConcave())
-	{
-		btVector3 rayAabbMin = convexFromLocal.getOrigin();
-		rayAabbMin.setMin(convexToLocal.getOrigin());
-		btVector3 rayAabbMax = convexFromLocal.getOrigin();
-		rayAabbMax.setMax(convexToLocal.getOrigin());
-		btScalar ccdRadius0 = convexbody->getCcdSweptSphereRadius();
-		rayAabbMin -= btVector3(ccdRadius0, ccdRadius0, ccdRadius0);
-		rayAabbMax += btVector3(ccdRadius0, ccdRadius0, ccdRadius0);
-
-		btScalar curHitFraction = btScalar(1.);  //is this available?
-		LocalTriangleSphereCastCallback raycastCallback(convexFromLocal, convexToLocal,
-														convexbody->getCcdSweptSphereRadius(), curHitFraction);
-
-		raycastCallback.m_hitFraction = convexbody->getHitFraction();
-
-		btCollisionObject* concavebody = triBody;
-
-		btConcaveShape* triangleMesh = (btConcaveShape*)concavebody->getCollisionShape();
-
-		if (triangleMesh)
-		{
-			triangleMesh->processAllTriangles(&raycastCallback, rayAabbMin, rayAabbMax);
-		}
-
-		if (raycastCallback.m_hitFraction < convexbody->getHitFraction())
-		{
-			convexbody->setHitFraction(raycastCallback.m_hitFraction);
-			return raycastCallback.m_hitFraction;
-		}
-	}
-
-	return btScalar(1.);
-}
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h b/thirdparty/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
deleted file mode 100644
index 3adedbd805..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
+++ /dev/null
@@ -1,147 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
-#define BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
-
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
-#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-class btDispatcher;
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
-class btSoftBody;
-class btCollisionShape;
-
-#include "LinearMath/btHashMap.h"
-
-#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h"  //for definition of MAX_NUM_PARTS_IN_BITS
-
-struct btTriIndex
-{
-	int m_PartIdTriangleIndex;
-	class btCollisionShape* m_childShape;
-
-	btTriIndex(int partId, int triangleIndex, btCollisionShape* shape)
-	{
-		m_PartIdTriangleIndex = (partId << (31 - MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
-		m_childShape = shape;
-	}
-
-	int getTriangleIndex() const
-	{
-		// Get only the lower bits where the triangle index is stored
-		unsigned int x = 0;
-		unsigned int y = (~(x & 0)) << (31 - MAX_NUM_PARTS_IN_BITS);
-		return (m_PartIdTriangleIndex & ~(y));
-	}
-	int getPartId() const
-	{
-		// Get only the highest bits where the part index is stored
-		return (m_PartIdTriangleIndex >> (31 - MAX_NUM_PARTS_IN_BITS));
-	}
-	int getUid() const
-	{
-		return m_PartIdTriangleIndex;
-	}
-};
-
-///For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody), processTriangle is called.
-class btSoftBodyTriangleCallback : public btTriangleCallback
-{
-	btSoftBody* m_softBody;
-	const btCollisionObject* m_triBody;
-
-	btVector3 m_aabbMin;
-	btVector3 m_aabbMax;
-
-	btManifoldResult* m_resultOut;
-
-	btDispatcher* m_dispatcher;
-	const btDispatcherInfo* m_dispatchInfoPtr;
-	btScalar m_collisionMarginTriangle;
-
-	btHashMap<btHashKey<btTriIndex>, btTriIndex> m_shapeCache;
-
-public:
-	int m_triangleCount;
-
-	//	btPersistentManifold*	m_manifoldPtr;
-
-	btSoftBodyTriangleCallback(btDispatcher* dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
-
-	void setTimeStepAndCounters(btScalar collisionMarginTriangle, const btCollisionObjectWrapper* triObjWrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual ~btSoftBodyTriangleCallback();
-
-	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
-
-	void clearCache();
-
-	SIMD_FORCE_INLINE const btVector3& getAabbMin() const
-	{
-		return m_aabbMin;
-	}
-	SIMD_FORCE_INLINE const btVector3& getAabbMax() const
-	{
-		return m_aabbMax;
-	}
-};
-
-/// btSoftBodyConcaveCollisionAlgorithm  supports collision between soft body shapes and (concave) trianges meshes.
-class btSoftBodyConcaveCollisionAlgorithm : public btCollisionAlgorithm
-{
-	bool m_isSwapped;
-
-	btSoftBodyTriangleCallback m_btSoftBodyTriangleCallback;
-
-public:
-	btSoftBodyConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
-
-	virtual ~btSoftBodyConcaveCollisionAlgorithm();
-
-	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
-	{
-		//we don't add any manifolds
-	}
-
-	void clearCache();
-
-	struct CreateFunc : public btCollisionAlgorithmCreateFunc
-	{
-		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
-			return new (mem) btSoftBodyConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
-		}
-	};
-
-	struct SwappedCreateFunc : public btCollisionAlgorithmCreateFunc
-	{
-		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
-			return new (mem) btSoftBodyConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);
-		}
-	};
-};
-
-#endif  //BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyData.h b/thirdparty/bullet/BulletSoftBody/btSoftBodyData.h
deleted file mode 100644
index cec6f401ec..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btSoftBodyData.h
+++ /dev/null
@@ -1,212 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SOFTBODY_FLOAT_DATA
-#define BT_SOFTBODY_FLOAT_DATA
-
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-
-struct SoftBodyMaterialData
-{
-	float m_linearStiffness;
-	float m_angularStiffness;
-	float m_volumeStiffness;
-	int m_flags;
-};
-
-struct SoftBodyNodeData
-{
-	SoftBodyMaterialData *m_material;
-	btVector3FloatData m_position;
-	btVector3FloatData m_previousPosition;
-	btVector3FloatData m_velocity;
-	btVector3FloatData m_accumulatedForce;
-	btVector3FloatData m_normal;
-	float m_inverseMass;
-	float m_area;
-	int m_attach;
-	int m_pad;
-};
-
-struct SoftBodyLinkData
-{
-	SoftBodyMaterialData *m_material;
-	int m_nodeIndices[2];  // Node pointers
-	float m_restLength;    // Rest length
-	int m_bbending;        // Bending link
-};
-
-struct SoftBodyFaceData
-{
-	btVector3FloatData m_normal;  // Normal
-	SoftBodyMaterialData *m_material;
-	int m_nodeIndices[3];  // Node pointers
-	float m_restArea;      // Rest area
-};
-
-struct SoftBodyTetraData
-{
-	btVector3FloatData m_c0[4];  // gradients
-	SoftBodyMaterialData *m_material;
-	int m_nodeIndices[4];  // Node pointers
-	float m_restVolume;    // Rest volume
-	float m_c1;            // (4*kVST)/(im0+im1+im2+im3)
-	float m_c2;            // m_c1/sum(|g0..3|^2)
-	int m_pad;
-};
-
-struct SoftRigidAnchorData
-{
-	btMatrix3x3FloatData m_c0;        // Impulse matrix
-	btVector3FloatData m_c1;          // Relative anchor
-	btVector3FloatData m_localFrame;  // Anchor position in body space
-	btRigidBodyData *m_rigidBody;
-	int m_nodeIndex;  // Node pointer
-	float m_c2;       // ima*dt
-};
-
-struct SoftBodyConfigData
-{
-	int m_aeroModel;                         // Aerodynamic model (default: V_Point)
-	float m_baumgarte;                       // Velocities correction factor (Baumgarte)
-	float m_damping;                         // Damping coefficient [0,1]
-	float m_drag;                            // Drag coefficient [0,+inf]
-	float m_lift;                            // Lift coefficient [0,+inf]
-	float m_pressure;                        // Pressure coefficient [-inf,+inf]
-	float m_volume;                          // Volume conversation coefficient [0,+inf]
-	float m_dynamicFriction;                 // Dynamic friction coefficient [0,1]
-	float m_poseMatch;                       // Pose matching coefficient [0,1]
-	float m_rigidContactHardness;            // Rigid contacts hardness [0,1]
-	float m_kineticContactHardness;          // Kinetic contacts hardness [0,1]
-	float m_softContactHardness;             // Soft contacts hardness [0,1]
-	float m_anchorHardness;                  // Anchors hardness [0,1]
-	float m_softRigidClusterHardness;        // Soft vs rigid hardness [0,1] (cluster only)
-	float m_softKineticClusterHardness;      // Soft vs kinetic hardness [0,1] (cluster only)
-	float m_softSoftClusterHardness;         // Soft vs soft hardness [0,1] (cluster only)
-	float m_softRigidClusterImpulseSplit;    // Soft vs rigid impulse split [0,1] (cluster only)
-	float m_softKineticClusterImpulseSplit;  // Soft vs rigid impulse split [0,1] (cluster only)
-	float m_softSoftClusterImpulseSplit;     // Soft vs rigid impulse split [0,1] (cluster only)
-	float m_maxVolume;                       // Maximum volume ratio for pose
-	float m_timeScale;                       // Time scale
-	int m_velocityIterations;                // Velocities solver iterations
-	int m_positionIterations;                // Positions solver iterations
-	int m_driftIterations;                   // Drift solver iterations
-	int m_clusterIterations;                 // Cluster solver iterations
-	int m_collisionFlags;                    // Collisions flags
-};
-
-struct SoftBodyPoseData
-{
-	btMatrix3x3FloatData m_rot;    // Rotation
-	btMatrix3x3FloatData m_scale;  // Scale
-	btMatrix3x3FloatData m_aqq;    // Base scaling
-	btVector3FloatData m_com;      // COM
-
-	btVector3FloatData *m_positions;  // Reference positions
-	float *m_weights;                 // Weights
-	int m_numPositions;
-	int m_numWeigts;
-
-	int m_bvolume;       // Is valid
-	int m_bframe;        // Is frame
-	float m_restVolume;  // Rest volume
-	int m_pad;
-};
-
-struct SoftBodyClusterData
-{
-	btTransformFloatData m_framexform;
-	btMatrix3x3FloatData m_locii;
-	btMatrix3x3FloatData m_invwi;
-	btVector3FloatData m_com;
-	btVector3FloatData m_vimpulses[2];
-	btVector3FloatData m_dimpulses[2];
-	btVector3FloatData m_lv;
-	btVector3FloatData m_av;
-
-	btVector3FloatData *m_framerefs;
-	int *m_nodeIndices;
-	float *m_masses;
-
-	int m_numFrameRefs;
-	int m_numNodes;
-	int m_numMasses;
-
-	float m_idmass;
-	float m_imass;
-	int m_nvimpulses;
-	int m_ndimpulses;
-	float m_ndamping;
-	float m_ldamping;
-	float m_adamping;
-	float m_matching;
-	float m_maxSelfCollisionImpulse;
-	float m_selfCollisionImpulseFactor;
-	int m_containsAnchor;
-	int m_collide;
-	int m_clusterIndex;
-};
-
-enum btSoftJointBodyType
-{
-	BT_JOINT_SOFT_BODY_CLUSTER = 1,
-	BT_JOINT_RIGID_BODY,
-	BT_JOINT_COLLISION_OBJECT
-};
-
-struct btSoftBodyJointData
-{
-	void *m_bodyA;
-	void *m_bodyB;
-	btVector3FloatData m_refs[2];
-	float m_cfm;
-	float m_erp;
-	float m_split;
-	int m_delete;
-	btVector3FloatData m_relPosition[2];  //linear
-	int m_bodyAtype;
-	int m_bodyBtype;
-	int m_jointType;
-	int m_pad;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btSoftBodyFloatData
-{
-	btCollisionObjectFloatData m_collisionObjectData;
-
-	SoftBodyPoseData *m_pose;
-	SoftBodyMaterialData **m_materials;
-	SoftBodyNodeData *m_nodes;
-	SoftBodyLinkData *m_links;
-	SoftBodyFaceData *m_faces;
-	SoftBodyTetraData *m_tetrahedra;
-	SoftRigidAnchorData *m_anchors;
-	SoftBodyClusterData *m_clusters;
-	btSoftBodyJointData *m_joints;
-
-	int m_numMaterials;
-	int m_numNodes;
-	int m_numLinks;
-	int m_numFaces;
-	int m_numTetrahedra;
-	int m_numAnchors;
-	int m_numClusters;
-	int m_numJoints;
-	SoftBodyConfigData m_config;
-};
-
-#endif  //BT_SOFTBODY_FLOAT_DATA
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp b/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp
deleted file mode 100644
index f63e48f9a5..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp
+++ /dev/null
@@ -1,1663 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-///btSoftBodyHelpers.cpp by Nathanael Presson
-
-#include "btSoftBodyInternals.h"
-#include <stdio.h>
-#include <string>
-#include <iostream>
-#include <sstream>
-#include <string.h>
-#include <algorithm>
-#include "btSoftBodyHelpers.h"
-#include "LinearMath/btConvexHull.h"
-#include "LinearMath/btConvexHullComputer.h"
-#include <map>
-#include <vector>
-
-static void drawVertex(btIDebugDraw* idraw,
-					   const btVector3& x, btScalar s, const btVector3& c)
-{
-	idraw->drawLine(x - btVector3(s, 0, 0), x + btVector3(s, 0, 0), c);
-	idraw->drawLine(x - btVector3(0, s, 0), x + btVector3(0, s, 0), c);
-	idraw->drawLine(x - btVector3(0, 0, s), x + btVector3(0, 0, s), c);
-}
-
-//
-static void drawBox(btIDebugDraw* idraw,
-					const btVector3& mins,
-					const btVector3& maxs,
-					const btVector3& color)
-{
-	const btVector3 c[] = {btVector3(mins.x(), mins.y(), mins.z()),
-						   btVector3(maxs.x(), mins.y(), mins.z()),
-						   btVector3(maxs.x(), maxs.y(), mins.z()),
-						   btVector3(mins.x(), maxs.y(), mins.z()),
-						   btVector3(mins.x(), mins.y(), maxs.z()),
-						   btVector3(maxs.x(), mins.y(), maxs.z()),
-						   btVector3(maxs.x(), maxs.y(), maxs.z()),
-						   btVector3(mins.x(), maxs.y(), maxs.z())};
-	idraw->drawLine(c[0], c[1], color);
-	idraw->drawLine(c[1], c[2], color);
-	idraw->drawLine(c[2], c[3], color);
-	idraw->drawLine(c[3], c[0], color);
-	idraw->drawLine(c[4], c[5], color);
-	idraw->drawLine(c[5], c[6], color);
-	idraw->drawLine(c[6], c[7], color);
-	idraw->drawLine(c[7], c[4], color);
-	idraw->drawLine(c[0], c[4], color);
-	idraw->drawLine(c[1], c[5], color);
-	idraw->drawLine(c[2], c[6], color);
-	idraw->drawLine(c[3], c[7], color);
-}
-
-//
-static void drawTree(btIDebugDraw* idraw,
-					 const btDbvtNode* node,
-					 int depth,
-					 const btVector3& ncolor,
-					 const btVector3& lcolor,
-					 int mindepth,
-					 int maxdepth)
-{
-	if (node)
-	{
-		if (node->isinternal() && ((depth < maxdepth) || (maxdepth < 0)))
-		{
-			drawTree(idraw, node->childs[0], depth + 1, ncolor, lcolor, mindepth, maxdepth);
-			drawTree(idraw, node->childs[1], depth + 1, ncolor, lcolor, mindepth, maxdepth);
-		}
-		if (depth >= mindepth)
-		{
-			const btScalar scl = (btScalar)(node->isinternal() ? 1 : 1);
-			const btVector3 mi = node->volume.Center() - node->volume.Extents() * scl;
-			const btVector3 mx = node->volume.Center() + node->volume.Extents() * scl;
-			drawBox(idraw, mi, mx, node->isleaf() ? lcolor : ncolor);
-		}
-	}
-}
-
-//
-template <typename T>
-static inline T sum(const btAlignedObjectArray<T>& items)
-{
-	T v;
-	if (items.size())
-	{
-		v = items[0];
-		for (int i = 1, ni = items.size(); i < ni; ++i)
-		{
-			v += items[i];
-		}
-	}
-	return (v);
-}
-
-//
-template <typename T, typename Q>
-static inline void add(btAlignedObjectArray<T>& items, const Q& value)
-{
-	for (int i = 0, ni = items.size(); i < ni; ++i)
-	{
-		items[i] += value;
-	}
-}
-
-//
-template <typename T, typename Q>
-static inline void mul(btAlignedObjectArray<T>& items, const Q& value)
-{
-	for (int i = 0, ni = items.size(); i < ni; ++i)
-	{
-		items[i] *= value;
-	}
-}
-
-//
-template <typename T>
-static inline T average(const btAlignedObjectArray<T>& items)
-{
-	const btScalar n = (btScalar)(items.size() > 0 ? items.size() : 1);
-	return (sum(items) / n);
-}
-
-#if 0
-//
- inline static btScalar		tetravolume(const btVector3& x0,
-										const btVector3& x1,
-										const btVector3& x2,
-										const btVector3& x3)
-{
-	const btVector3	a=x1-x0;
-	const btVector3	b=x2-x0;
-	const btVector3	c=x3-x0;
-	return(btDot(a,btCross(b,c)));
-}
-#endif
-
-//
-#if 0
-static btVector3		stresscolor(btScalar stress)
-{
-	static const btVector3	spectrum[]=	{	btVector3(1,0,1),
-		btVector3(0,0,1),
-		btVector3(0,1,1),
-		btVector3(0,1,0),
-		btVector3(1,1,0),
-		btVector3(1,0,0),
-		btVector3(1,0,0)};
-	static const int		ncolors=sizeof(spectrum)/sizeof(spectrum[0])-1;
-	static const btScalar	one=1;
-	stress=btMax<btScalar>(0,btMin<btScalar>(1,stress))*ncolors;
-	const int				sel=(int)stress;
-	const btScalar			frc=stress-sel;
-	return(spectrum[sel]+(spectrum[sel+1]-spectrum[sel])*frc);
-}
-#endif
-
-//
-void btSoftBodyHelpers::Draw(btSoftBody* psb,
-							 btIDebugDraw* idraw,
-							 int drawflags)
-{
-	const btScalar scl = (btScalar)0.1;
-	const btScalar nscl = scl * 5;
-	const btVector3 lcolor = btVector3(0, 0, 0);
-	const btVector3 ncolor = btVector3(1, 1, 1);
-	const btVector3 ccolor = btVector3(1, 0, 0);
-	int i, j, nj;
-
-	/* Clusters	*/
-	if (0 != (drawflags & fDrawFlags::Clusters))
-	{
-		srand(1806);
-		for (i = 0; i < psb->m_clusters.size(); ++i)
-		{
-			if (psb->m_clusters[i]->m_collide)
-			{
-				btVector3 color(rand() / (btScalar)RAND_MAX,
-								rand() / (btScalar)RAND_MAX,
-								rand() / (btScalar)RAND_MAX);
-				color = color.normalized() * 0.75;
-				btAlignedObjectArray<btVector3> vertices;
-				vertices.resize(psb->m_clusters[i]->m_nodes.size());
-				for (j = 0, nj = vertices.size(); j < nj; ++j)
-				{
-					vertices[j] = psb->m_clusters[i]->m_nodes[j]->m_x;
-				}
-#define USE_NEW_CONVEX_HULL_COMPUTER
-#ifdef USE_NEW_CONVEX_HULL_COMPUTER
-				btConvexHullComputer computer;
-				int stride = sizeof(btVector3);
-				int count = vertices.size();
-				btScalar shrink = 0.f;
-				btScalar shrinkClamp = 0.f;
-				computer.compute(&vertices[0].getX(), stride, count, shrink, shrinkClamp);
-				for (int i = 0; i < computer.faces.size(); i++)
-				{
-					int face = computer.faces[i];
-					//printf("face=%d\n",face);
-					const btConvexHullComputer::Edge* firstEdge = &computer.edges[face];
-					const btConvexHullComputer::Edge* edge = firstEdge->getNextEdgeOfFace();
-
-					int v0 = firstEdge->getSourceVertex();
-					int v1 = firstEdge->getTargetVertex();
-					while (edge != firstEdge)
-					{
-						int v2 = edge->getTargetVertex();
-						idraw->drawTriangle(computer.vertices[v0], computer.vertices[v1], computer.vertices[v2], color, 1);
-						edge = edge->getNextEdgeOfFace();
-						v0 = v1;
-						v1 = v2;
-					};
-				}
-#else
-
-				HullDesc hdsc(QF_TRIANGLES, vertices.size(), &vertices[0]);
-				HullResult hres;
-				HullLibrary hlib;
-				hdsc.mMaxVertices = vertices.size();
-				hlib.CreateConvexHull(hdsc, hres);
-				const btVector3 center = average(hres.m_OutputVertices);
-				add(hres.m_OutputVertices, -center);
-				mul(hres.m_OutputVertices, (btScalar)1);
-				add(hres.m_OutputVertices, center);
-				for (j = 0; j < (int)hres.mNumFaces; ++j)
-				{
-					const int idx[] = {hres.m_Indices[j * 3 + 0], hres.m_Indices[j * 3 + 1], hres.m_Indices[j * 3 + 2]};
-					idraw->drawTriangle(hres.m_OutputVertices[idx[0]],
-										hres.m_OutputVertices[idx[1]],
-										hres.m_OutputVertices[idx[2]],
-										color, 1);
-				}
-				hlib.ReleaseResult(hres);
-#endif
-			}
-			/* Velocities	*/
-#if 0
-			for(int j=0;j<psb->m_clusters[i].m_nodes.size();++j)
-			{
-				const btSoftBody::Cluster&	c=psb->m_clusters[i];
-				const btVector3				r=c.m_nodes[j]->m_x-c.m_com;
-				const btVector3				v=c.m_lv+btCross(c.m_av,r);
-				idraw->drawLine(c.m_nodes[j]->m_x,c.m_nodes[j]->m_x+v,btVector3(1,0,0));
-			}
-#endif
-			/* Frame		*/
-			//		btSoftBody::Cluster& c=*psb->m_clusters[i];
-			//		idraw->drawLine(c.m_com,c.m_framexform*btVector3(10,0,0),btVector3(1,0,0));
-			//		idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,10,0),btVector3(0,1,0));
-			//		idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,0,10),btVector3(0,0,1));
-		}
-	}
-	else
-	{
-		/* Nodes	*/
-		if (0 != (drawflags & fDrawFlags::Nodes))
-		{
-			for (i = 0; i < psb->m_nodes.size(); ++i)
-			{
-				const btSoftBody::Node& n = psb->m_nodes[i];
-				if (0 == (n.m_material->m_flags & btSoftBody::fMaterial::DebugDraw)) continue;
-				idraw->drawLine(n.m_x - btVector3(scl, 0, 0), n.m_x + btVector3(scl, 0, 0), btVector3(1, 0, 0));
-				idraw->drawLine(n.m_x - btVector3(0, scl, 0), n.m_x + btVector3(0, scl, 0), btVector3(0, 1, 0));
-				idraw->drawLine(n.m_x - btVector3(0, 0, scl), n.m_x + btVector3(0, 0, scl), btVector3(0, 0, 1));
-			}
-		}
-		/* Links	*/
-		if (0 != (drawflags & fDrawFlags::Links))
-		{
-			for (i = 0; i < psb->m_links.size(); ++i)
-			{
-				const btSoftBody::Link& l = psb->m_links[i];
-				if (0 == (l.m_material->m_flags & btSoftBody::fMaterial::DebugDraw)) continue;
-				idraw->drawLine(l.m_n[0]->m_x, l.m_n[1]->m_x, lcolor);
-			}
-		}
-		/* Normals	*/
-		if (0 != (drawflags & fDrawFlags::Normals))
-		{
-			for (i = 0; i < psb->m_nodes.size(); ++i)
-			{
-				const btSoftBody::Node& n = psb->m_nodes[i];
-				if (0 == (n.m_material->m_flags & btSoftBody::fMaterial::DebugDraw)) continue;
-				const btVector3 d = n.m_n * nscl;
-				idraw->drawLine(n.m_x, n.m_x + d, ncolor);
-				idraw->drawLine(n.m_x, n.m_x - d, ncolor * 0.5);
-			}
-		}
-		/* Contacts	*/
-		if (0 != (drawflags & fDrawFlags::Contacts))
-		{
-			static const btVector3 axis[] = {btVector3(1, 0, 0),
-											 btVector3(0, 1, 0),
-											 btVector3(0, 0, 1)};
-			for (i = 0; i < psb->m_rcontacts.size(); ++i)
-			{
-				const btSoftBody::RContact& c = psb->m_rcontacts[i];
-				const btVector3 o = c.m_node->m_x - c.m_cti.m_normal *
-														(btDot(c.m_node->m_x, c.m_cti.m_normal) + c.m_cti.m_offset);
-				const btVector3 x = btCross(c.m_cti.m_normal, axis[c.m_cti.m_normal.minAxis()]).normalized();
-				const btVector3 y = btCross(x, c.m_cti.m_normal).normalized();
-				idraw->drawLine(o - x * nscl, o + x * nscl, ccolor);
-				idraw->drawLine(o - y * nscl, o + y * nscl, ccolor);
-				idraw->drawLine(o, o + c.m_cti.m_normal * nscl * 3, btVector3(1, 1, 0));
-			}
-		}
-		/* Faces	*/
-		if (0 != (drawflags & fDrawFlags::Faces))
-		{
-			const btScalar scl = (btScalar)0.8;
-			const btScalar alp = (btScalar)1;
-			const btVector3 col(0, (btScalar)0.7, 0);
-			for (i = 0; i < psb->m_faces.size(); ++i)
-			{
-				const btSoftBody::Face& f = psb->m_faces[i];
-				if (0 == (f.m_material->m_flags & btSoftBody::fMaterial::DebugDraw)) continue;
-				const btVector3 x[] = {f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x};
-				const btVector3 c = (x[0] + x[1] + x[2]) / 3;
-				idraw->drawTriangle((x[0] - c) * scl + c,
-									(x[1] - c) * scl + c,
-									(x[2] - c) * scl + c,
-									col, alp);
-			}
-		}
-		/* Tetras	*/
-		if (0 != (drawflags & fDrawFlags::Tetras))
-		{
-			const btScalar scl = (btScalar)0.8;
-			const btScalar alp = (btScalar)1;
-			const btVector3 col((btScalar)0.3, (btScalar)0.3, (btScalar)0.7);
-			for (int i = 0; i < psb->m_tetras.size(); ++i)
-			{
-				const btSoftBody::Tetra& t = psb->m_tetras[i];
-				if (0 == (t.m_material->m_flags & btSoftBody::fMaterial::DebugDraw)) continue;
-				const btVector3 x[] = {t.m_n[0]->m_x, t.m_n[1]->m_x, t.m_n[2]->m_x, t.m_n[3]->m_x};
-				const btVector3 c = (x[0] + x[1] + x[2] + x[3]) / 4;
-				idraw->drawTriangle((x[0] - c) * scl + c, (x[1] - c) * scl + c, (x[2] - c) * scl + c, col, alp);
-				idraw->drawTriangle((x[0] - c) * scl + c, (x[1] - c) * scl + c, (x[3] - c) * scl + c, col, alp);
-				idraw->drawTriangle((x[1] - c) * scl + c, (x[2] - c) * scl + c, (x[3] - c) * scl + c, col, alp);
-				idraw->drawTriangle((x[2] - c) * scl + c, (x[0] - c) * scl + c, (x[3] - c) * scl + c, col, alp);
-			}
-		}
-	}
-	/* Anchors	*/
-	if (0 != (drawflags & fDrawFlags::Anchors))
-	{
-		for (i = 0; i < psb->m_anchors.size(); ++i)
-		{
-			const btSoftBody::Anchor& a = psb->m_anchors[i];
-			const btVector3 q = a.m_body->getWorldTransform() * a.m_local;
-			drawVertex(idraw, a.m_node->m_x, 0.25, btVector3(1, 0, 0));
-			drawVertex(idraw, q, 0.25, btVector3(0, 1, 0));
-			idraw->drawLine(a.m_node->m_x, q, btVector3(1, 1, 1));
-		}
-		for (i = 0; i < psb->m_nodes.size(); ++i)
-		{
-			const btSoftBody::Node& n = psb->m_nodes[i];
-			if (0 == (n.m_material->m_flags & btSoftBody::fMaterial::DebugDraw)) continue;
-			if (n.m_im <= 0)
-			{
-				drawVertex(idraw, n.m_x, 0.25, btVector3(1, 0, 0));
-			}
-		}
-	}
-
-	/* Notes	*/
-	if (0 != (drawflags & fDrawFlags::Notes))
-	{
-		for (i = 0; i < psb->m_notes.size(); ++i)
-		{
-			const btSoftBody::Note& n = psb->m_notes[i];
-			btVector3 p = n.m_offset;
-			for (int j = 0; j < n.m_rank; ++j)
-			{
-				p += n.m_nodes[j]->m_x * n.m_coords[j];
-			}
-			idraw->draw3dText(p, n.m_text);
-		}
-	}
-	/* Node tree	*/
-	if (0 != (drawflags & fDrawFlags::NodeTree)) DrawNodeTree(psb, idraw);
-	/* Face tree	*/
-	if (0 != (drawflags & fDrawFlags::FaceTree)) DrawFaceTree(psb, idraw);
-	/* Cluster tree	*/
-	if (0 != (drawflags & fDrawFlags::ClusterTree)) DrawClusterTree(psb, idraw);
-	/* Joints		*/
-	if (0 != (drawflags & fDrawFlags::Joints))
-	{
-		for (i = 0; i < psb->m_joints.size(); ++i)
-		{
-			const btSoftBody::Joint* pj = psb->m_joints[i];
-			switch (pj->Type())
-			{
-				case btSoftBody::Joint::eType::Linear:
-				{
-					const btSoftBody::LJoint* pjl = (const btSoftBody::LJoint*)pj;
-					const btVector3 a0 = pj->m_bodies[0].xform() * pjl->m_refs[0];
-					const btVector3 a1 = pj->m_bodies[1].xform() * pjl->m_refs[1];
-					idraw->drawLine(pj->m_bodies[0].xform().getOrigin(), a0, btVector3(1, 1, 0));
-					idraw->drawLine(pj->m_bodies[1].xform().getOrigin(), a1, btVector3(0, 1, 1));
-					drawVertex(idraw, a0, 0.25, btVector3(1, 1, 0));
-					drawVertex(idraw, a1, 0.25, btVector3(0, 1, 1));
-				}
-				break;
-				case btSoftBody::Joint::eType::Angular:
-				{
-					//const btSoftBody::AJoint*	pja=(const btSoftBody::AJoint*)pj;
-					const btVector3 o0 = pj->m_bodies[0].xform().getOrigin();
-					const btVector3 o1 = pj->m_bodies[1].xform().getOrigin();
-					const btVector3 a0 = pj->m_bodies[0].xform().getBasis() * pj->m_refs[0];
-					const btVector3 a1 = pj->m_bodies[1].xform().getBasis() * pj->m_refs[1];
-					idraw->drawLine(o0, o0 + a0 * 10, btVector3(1, 1, 0));
-					idraw->drawLine(o0, o0 + a1 * 10, btVector3(1, 1, 0));
-					idraw->drawLine(o1, o1 + a0 * 10, btVector3(0, 1, 1));
-					idraw->drawLine(o1, o1 + a1 * 10, btVector3(0, 1, 1));
-					break;
-				}
-				default:
-				{
-				}
-			}
-		}
-	}
-}
-
-//
-void btSoftBodyHelpers::DrawInfos(btSoftBody* psb,
-								  btIDebugDraw* idraw,
-								  bool masses,
-								  bool areas,
-								  bool /*stress*/)
-{
-	for (int i = 0; i < psb->m_nodes.size(); ++i)
-	{
-		const btSoftBody::Node& n = psb->m_nodes[i];
-		char text[2048] = {0};
-		char buff[1024];
-		if (masses)
-		{
-			sprintf(buff, " M(%.2f)", 1 / n.m_im);
-			strcat(text, buff);
-		}
-		if (areas)
-		{
-			sprintf(buff, " A(%.2f)", n.m_area);
-			strcat(text, buff);
-		}
-		if (text[0]) idraw->draw3dText(n.m_x, text);
-	}
-}
-
-//
-void btSoftBodyHelpers::DrawNodeTree(btSoftBody* psb,
-									 btIDebugDraw* idraw,
-									 int mindepth,
-									 int maxdepth)
-{
-	drawTree(idraw, psb->m_ndbvt.m_root, 0, btVector3(1, 0, 1), btVector3(1, 1, 1), mindepth, maxdepth);
-}
-
-//
-void btSoftBodyHelpers::DrawFaceTree(btSoftBody* psb,
-									 btIDebugDraw* idraw,
-									 int mindepth,
-									 int maxdepth)
-{
-	drawTree(idraw, psb->m_fdbvt.m_root, 0, btVector3(0, 1, 0), btVector3(1, 0, 0), mindepth, maxdepth);
-}
-
-//
-void btSoftBodyHelpers::DrawClusterTree(btSoftBody* psb,
-										btIDebugDraw* idraw,
-										int mindepth,
-										int maxdepth)
-{
-	drawTree(idraw, psb->m_cdbvt.m_root, 0, btVector3(0, 1, 1), btVector3(1, 0, 0), mindepth, maxdepth);
-}
-
-//The btSoftBody object from the BulletSDK includes an array of Nodes and Links. These links appear
-// to be first set up to connect a node to between 5 and 6 of its neighbors [480 links],
-//and then to the rest of the nodes after the execution of the Floyd-Warshall graph algorithm
-//[another 930 links].
-//The way the links are stored by default, we have a number of cases where adjacent links share a node in common
-// - this leads to the creation of a data dependency through memory.
-//The PSolve_Links() function reads and writes nodes as it iterates over each link.
-//So, we now have the possibility of a data dependency between iteration X
-//that processes link L with iteration X+1 that processes link L+1
-//because L and L+1 have one node in common, and iteration X updates the positions of that node,
-//and iteration X+1 reads in the position of that shared node.
-//
-//Such a memory dependency limits the ability of a modern CPU to speculate beyond
-//a certain point because it has to respect a possible dependency
-//- this prevents the CPU from making full use of its out-of-order resources.
-//If we re-order the links such that we minimize the cases where a link L and L+1 share a common node,
-//we create a temporal gap between when the node position is written,
-//and when it is subsequently read. This in turn allows the CPU to continue execution without
-//risking a dependency violation. Such a reordering would result in significant speedups on
-//modern CPUs with lots of execution resources.
-//In our testing, we see it have a tremendous impact not only on the A7,
-//but also on all x86 cores that ship with modern Macs.
-//The attached source file includes a single function (ReoptimizeLinkOrder) which can be called on a
-//btSoftBody object in the solveConstraints() function before the actual solver is invoked,
-//or right after generateBendingConstraints() once we have all 1410 links.
-
-//===================================================================
-//
-//
-// This function takes in a list of interdependent Links and tries
-// to maximize the distance between calculation
-// of dependent links.  This increases the amount of parallelism that can
-// be exploited by out-of-order instruction processors with large but
-// (inevitably) finite instruction windows.
-//
-//===================================================================
-
-// A small structure to track lists of dependent link calculations
-class LinkDeps_t
-{
-public:
-	int value;         // A link calculation that is dependent on this one
-					   // Positive values = "input A" while negative values = "input B"
-	LinkDeps_t* next;  // Next dependence in the list
-};
-typedef LinkDeps_t* LinkDepsPtr_t;
-
-// Dependency list constants
-#define REOP_NOT_DEPENDENT -1
-#define REOP_NODE_COMPLETE -2  // Must be less than REOP_NOT_DEPENDENT
-
-void btSoftBodyHelpers::ReoptimizeLinkOrder(btSoftBody* psb /* This can be replaced by a btSoftBody pointer */)
-{
-	int i, nLinks = psb->m_links.size(), nNodes = psb->m_nodes.size();
-	btSoftBody::Link* lr;
-	int ar, br;
-	btSoftBody::Node* node0 = &(psb->m_nodes[0]);
-	btSoftBody::Node* node1 = &(psb->m_nodes[1]);
-	LinkDepsPtr_t linkDep;
-	int readyListHead, readyListTail, linkNum, linkDepFrees, depLink;
-
-	// Allocate temporary buffers
-	int* nodeWrittenAt = new int[nNodes + 1];  // What link calculation produced this node's current values?
-	int* linkDepA = new int[nLinks];           // Link calculation input is dependent upon prior calculation #N
-	int* linkDepB = new int[nLinks];
-	int* readyList = new int[nLinks];                              // List of ready-to-process link calculations (# of links, maximum)
-	LinkDeps_t* linkDepFreeList = new LinkDeps_t[2 * nLinks];      // Dependent-on-me list elements (2x# of links, maximum)
-	LinkDepsPtr_t* linkDepListStarts = new LinkDepsPtr_t[nLinks];  // Start nodes of dependent-on-me lists, one for each link
-
-	// Copy the original, unsorted links to a side buffer
-	btSoftBody::Link* linkBuffer = new btSoftBody::Link[nLinks];
-	memcpy(linkBuffer, &(psb->m_links[0]), sizeof(btSoftBody::Link) * nLinks);
-
-	// Clear out the node setup and ready list
-	for (i = 0; i < nNodes + 1; i++)
-	{
-		nodeWrittenAt[i] = REOP_NOT_DEPENDENT;
-	}
-	for (i = 0; i < nLinks; i++)
-	{
-		linkDepListStarts[i] = NULL;
-	}
-	readyListHead = readyListTail = linkDepFrees = 0;
-
-	// Initial link analysis to set up data structures
-	for (i = 0; i < nLinks; i++)
-	{
-		// Note which prior link calculations we are dependent upon & build up dependence lists
-		lr = &(psb->m_links[i]);
-		ar = (lr->m_n[0] - node0) / (node1 - node0);
-		br = (lr->m_n[1] - node0) / (node1 - node0);
-		if (nodeWrittenAt[ar] > REOP_NOT_DEPENDENT)
-		{
-			linkDepA[i] = nodeWrittenAt[ar];
-			linkDep = &linkDepFreeList[linkDepFrees++];
-			linkDep->value = i;
-			linkDep->next = linkDepListStarts[nodeWrittenAt[ar]];
-			linkDepListStarts[nodeWrittenAt[ar]] = linkDep;
-		}
-		else
-		{
-			linkDepA[i] = REOP_NOT_DEPENDENT;
-		}
-		if (nodeWrittenAt[br] > REOP_NOT_DEPENDENT)
-		{
-			linkDepB[i] = nodeWrittenAt[br];
-			linkDep = &linkDepFreeList[linkDepFrees++];
-			linkDep->value = -(i + 1);
-			linkDep->next = linkDepListStarts[nodeWrittenAt[br]];
-			linkDepListStarts[nodeWrittenAt[br]] = linkDep;
-		}
-		else
-		{
-			linkDepB[i] = REOP_NOT_DEPENDENT;
-		}
-
-		// Add this link to the initial ready list, if it is not dependent on any other links
-		if ((linkDepA[i] == REOP_NOT_DEPENDENT) && (linkDepB[i] == REOP_NOT_DEPENDENT))
-		{
-			readyList[readyListTail++] = i;
-			linkDepA[i] = linkDepB[i] = REOP_NODE_COMPLETE;  // Probably not needed now
-		}
-
-		// Update the nodes to mark which ones are calculated by this link
-		nodeWrittenAt[ar] = nodeWrittenAt[br] = i;
-	}
-
-	// Process the ready list and create the sorted list of links
-	// -- By treating the ready list as a queue, we maximize the distance between any
-	//    inter-dependent node calculations
-	// -- All other (non-related) nodes in the ready list will automatically be inserted
-	//    in between each set of inter-dependent link calculations by this loop
-	i = 0;
-	while (readyListHead != readyListTail)
-	{
-		// Use ready list to select the next link to process
-		linkNum = readyList[readyListHead++];
-		// Copy the next-to-calculate link back into the original link array
-		psb->m_links[i++] = linkBuffer[linkNum];
-
-		// Free up any link inputs that are dependent on this one
-		linkDep = linkDepListStarts[linkNum];
-		while (linkDep)
-		{
-			depLink = linkDep->value;
-			if (depLink >= 0)
-			{
-				linkDepA[depLink] = REOP_NOT_DEPENDENT;
-			}
-			else
-			{
-				depLink = -depLink - 1;
-				linkDepB[depLink] = REOP_NOT_DEPENDENT;
-			}
-			// Add this dependent link calculation to the ready list if *both* inputs are clear
-			if ((linkDepA[depLink] == REOP_NOT_DEPENDENT) && (linkDepB[depLink] == REOP_NOT_DEPENDENT))
-			{
-				readyList[readyListTail++] = depLink;
-				linkDepA[depLink] = linkDepB[depLink] = REOP_NODE_COMPLETE;  // Probably not needed now
-			}
-			linkDep = linkDep->next;
-		}
-	}
-
-	// Delete the temporary buffers
-	delete[] nodeWrittenAt;
-	delete[] linkDepA;
-	delete[] linkDepB;
-	delete[] readyList;
-	delete[] linkDepFreeList;
-	delete[] linkDepListStarts;
-	delete[] linkBuffer;
-}
-
-//
-void btSoftBodyHelpers::DrawFrame(btSoftBody* psb,
-								  btIDebugDraw* idraw)
-{
-	if (psb->m_pose.m_bframe)
-	{
-		static const btScalar ascl = 10;
-		static const btScalar nscl = (btScalar)0.1;
-		const btVector3 com = psb->m_pose.m_com;
-		const btMatrix3x3 trs = psb->m_pose.m_rot * psb->m_pose.m_scl;
-		const btVector3 Xaxis = (trs * btVector3(1, 0, 0)).normalized();
-		const btVector3 Yaxis = (trs * btVector3(0, 1, 0)).normalized();
-		const btVector3 Zaxis = (trs * btVector3(0, 0, 1)).normalized();
-		idraw->drawLine(com, com + Xaxis * ascl, btVector3(1, 0, 0));
-		idraw->drawLine(com, com + Yaxis * ascl, btVector3(0, 1, 0));
-		idraw->drawLine(com, com + Zaxis * ascl, btVector3(0, 0, 1));
-		for (int i = 0; i < psb->m_pose.m_pos.size(); ++i)
-		{
-			const btVector3 x = com + trs * psb->m_pose.m_pos[i];
-			drawVertex(idraw, x, nscl, btVector3(1, 0, 1));
-		}
-	}
-}
-
-//
-btSoftBody* btSoftBodyHelpers::CreateRope(btSoftBodyWorldInfo& worldInfo, const btVector3& from,
-										  const btVector3& to,
-										  int res,
-										  int fixeds)
-{
-	/* Create nodes	*/
-	const int r = res + 2;
-	btVector3* x = new btVector3[r];
-	btScalar* m = new btScalar[r];
-	int i;
-
-	for (i = 0; i < r; ++i)
-	{
-		const btScalar t = i / (btScalar)(r - 1);
-		x[i] = lerp(from, to, t);
-		m[i] = 1;
-	}
-	btSoftBody* psb = new btSoftBody(&worldInfo, r, x, m);
-	if (fixeds & 1) psb->setMass(0, 0);
-	if (fixeds & 2) psb->setMass(r - 1, 0);
-	delete[] x;
-	delete[] m;
-	/* Create links	*/
-	for (i = 1; i < r; ++i)
-	{
-		psb->appendLink(i - 1, i);
-	}
-	/* Finished		*/
-	return (psb);
-}
-
-//
-btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo, const btVector3& corner00,
-										   const btVector3& corner10,
-										   const btVector3& corner01,
-										   const btVector3& corner11,
-										   int resx,
-										   int resy,
-										   int fixeds,
-										   bool gendiags,
-										   btScalar perturbation)
-{
-#define IDX(_x_, _y_) ((_y_)*rx + (_x_))
-	/* Create nodes	*/
-	if ((resx < 2) || (resy < 2)) return (0);
-	const int rx = resx;
-	const int ry = resy;
-	const int tot = rx * ry;
-	btVector3* x = new btVector3[tot];
-	btScalar* m = new btScalar[tot];
-	int iy;
-
-	for (iy = 0; iy < ry; ++iy)
-	{
-		const btScalar ty = iy / (btScalar)(ry - 1);
-		const btVector3 py0 = lerp(corner00, corner01, ty);
-		const btVector3 py1 = lerp(corner10, corner11, ty);
-		for (int ix = 0; ix < rx; ++ix)
-		{
-			const btScalar tx = ix / (btScalar)(rx - 1);
-			btScalar pert = perturbation * btScalar(rand()) / RAND_MAX;
-			btVector3 temp1 = py1;
-			temp1.setY(py1.getY() + pert);
-			btVector3 temp = py0;
-			pert = perturbation * btScalar(rand()) / RAND_MAX;
-			temp.setY(py0.getY() + pert);
-			x[IDX(ix, iy)] = lerp(temp, temp1, tx);
-			m[IDX(ix, iy)] = 1;
-		}
-	}
-	btSoftBody* psb = new btSoftBody(&worldInfo, tot, x, m);
-	if (fixeds & 1) psb->setMass(IDX(0, 0), 0);
-	if (fixeds & 2) psb->setMass(IDX(rx - 1, 0), 0);
-	if (fixeds & 4) psb->setMass(IDX(0, ry - 1), 0);
-	if (fixeds & 8) psb->setMass(IDX(rx - 1, ry - 1), 0);
-	delete[] x;
-	delete[] m;
-	/* Create links	and faces */
-	for (iy = 0; iy < ry; ++iy)
-	{
-		for (int ix = 0; ix < rx; ++ix)
-		{
-			const int idx = IDX(ix, iy);
-			const bool mdx = (ix + 1) < rx;
-			const bool mdy = (iy + 1) < ry;
-			if (mdx) psb->appendLink(idx, IDX(ix + 1, iy));
-			if (mdy) psb->appendLink(idx, IDX(ix, iy + 1));
-			if (mdx && mdy)
-			{
-				if ((ix + iy) & 1)
-				{
-					psb->appendFace(IDX(ix, iy), IDX(ix + 1, iy), IDX(ix + 1, iy + 1));
-					psb->appendFace(IDX(ix, iy), IDX(ix + 1, iy + 1), IDX(ix, iy + 1));
-					if (gendiags)
-					{
-						psb->appendLink(IDX(ix, iy), IDX(ix + 1, iy + 1));
-					}
-				}
-				else
-				{
-					psb->appendFace(IDX(ix, iy + 1), IDX(ix, iy), IDX(ix + 1, iy));
-					psb->appendFace(IDX(ix, iy + 1), IDX(ix + 1, iy), IDX(ix + 1, iy + 1));
-					if (gendiags)
-					{
-						psb->appendLink(IDX(ix + 1, iy), IDX(ix, iy + 1));
-					}
-				}
-			}
-		}
-	}
-	/* Finished		*/
-#undef IDX
-	return (psb);
-}
-
-//
-btSoftBody* btSoftBodyHelpers::CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
-											 const btVector3& corner00,
-											 const btVector3& corner10,
-											 const btVector3& corner01,
-											 const btVector3& corner11,
-											 int resx,
-											 int resy,
-											 int fixeds,
-											 bool gendiags,
-											 float* tex_coords)
-{
-	/*
-	*
-	*  corners:
-	*
-	*  [0][0]     corner00 ------- corner01   [resx][0]
-	*                |                |
-	*                |                |
-	*  [0][resy]  corner10 -------- corner11  [resx][resy]
-	*
-	*
-	*
-	*
-	*
-	*
-	*   "fixedgs" map:
-	*
-	*  corner00     -->   +1
-	*  corner01     -->   +2
-	*  corner10     -->   +4
-	*  corner11     -->   +8
-	*  upper middle -->  +16
-	*  left middle  -->  +32
-	*  right middle -->  +64
-	*  lower middle --> +128
-	*  center       --> +256
-	*
-	*
-	*   tex_coords size   (resx-1)*(resy-1)*12
-	*
-	*
-	*
-	*     SINGLE QUAD INTERNALS
-	*
-	*  1) btSoftBody's nodes and links,
-	*     diagonal link is optional ("gendiags")
-	*
-	*
-	*    node00 ------ node01
-	*      | .              
-	*      |   .            
-	*      |     .          
-	*      |       .        
-	*      |         .      
-	*    node10        node11
-	*
-	*
-	*
-	*   2) Faces:
-	*      two triangles,
-	*      UV Coordinates (hier example for single quad)
-	*      
-	*     (0,1)          (0,1)  (1,1)
-	*     1 |\            3 \-----| 2
-	*       | \              \    |
-	*       |  \              \   |
-	*       |   \              \  |
-	*       |    \              \ |
-	*     2 |-----\ 3            \| 1
-	*     (0,0)    (1,0)       (1,0)
-	*
-	*
-	*
-	*
-	*
-	*
-	*/
-
-#define IDX(_x_, _y_) ((_y_)*rx + (_x_))
-	/* Create nodes		*/
-	if ((resx < 2) || (resy < 2)) return (0);
-	const int rx = resx;
-	const int ry = resy;
-	const int tot = rx * ry;
-	btVector3* x = new btVector3[tot];
-	btScalar* m = new btScalar[tot];
-
-	int iy;
-
-	for (iy = 0; iy < ry; ++iy)
-	{
-		const btScalar ty = iy / (btScalar)(ry - 1);
-		const btVector3 py0 = lerp(corner00, corner01, ty);
-		const btVector3 py1 = lerp(corner10, corner11, ty);
-		for (int ix = 0; ix < rx; ++ix)
-		{
-			const btScalar tx = ix / (btScalar)(rx - 1);
-			x[IDX(ix, iy)] = lerp(py0, py1, tx);
-			m[IDX(ix, iy)] = 1;
-		}
-	}
-	btSoftBody* psb = new btSoftBody(&worldInfo, tot, x, m);
-	if (fixeds & 1) psb->setMass(IDX(0, 0), 0);
-	if (fixeds & 2) psb->setMass(IDX(rx - 1, 0), 0);
-	if (fixeds & 4) psb->setMass(IDX(0, ry - 1), 0);
-	if (fixeds & 8) psb->setMass(IDX(rx - 1, ry - 1), 0);
-	if (fixeds & 16) psb->setMass(IDX((rx - 1) / 2, 0), 0);
-	if (fixeds & 32) psb->setMass(IDX(0, (ry - 1) / 2), 0);
-	if (fixeds & 64) psb->setMass(IDX(rx - 1, (ry - 1) / 2), 0);
-	if (fixeds & 128) psb->setMass(IDX((rx - 1) / 2, ry - 1), 0);
-	if (fixeds & 256) psb->setMass(IDX((rx - 1) / 2, (ry - 1) / 2), 0);
-	delete[] x;
-	delete[] m;
-
-	int z = 0;
-	/* Create links	and faces	*/
-	for (iy = 0; iy < ry; ++iy)
-	{
-		for (int ix = 0; ix < rx; ++ix)
-		{
-			const bool mdx = (ix + 1) < rx;
-			const bool mdy = (iy + 1) < ry;
-
-			int node00 = IDX(ix, iy);
-			int node01 = IDX(ix + 1, iy);
-			int node10 = IDX(ix, iy + 1);
-			int node11 = IDX(ix + 1, iy + 1);
-
-			if (mdx) psb->appendLink(node00, node01);
-			if (mdy) psb->appendLink(node00, node10);
-			if (mdx && mdy)
-			{
-				psb->appendFace(node00, node10, node11);
-				if (tex_coords)
-				{
-					tex_coords[z + 0] = CalculateUV(resx, resy, ix, iy, 0);
-					tex_coords[z + 1] = CalculateUV(resx, resy, ix, iy, 1);
-					tex_coords[z + 2] = CalculateUV(resx, resy, ix, iy, 0);
-					tex_coords[z + 3] = CalculateUV(resx, resy, ix, iy, 2);
-					tex_coords[z + 4] = CalculateUV(resx, resy, ix, iy, 3);
-					tex_coords[z + 5] = CalculateUV(resx, resy, ix, iy, 2);
-				}
-				psb->appendFace(node11, node01, node00);
-				if (tex_coords)
-				{
-					tex_coords[z + 6] = CalculateUV(resx, resy, ix, iy, 3);
-					tex_coords[z + 7] = CalculateUV(resx, resy, ix, iy, 2);
-					tex_coords[z + 8] = CalculateUV(resx, resy, ix, iy, 3);
-					tex_coords[z + 9] = CalculateUV(resx, resy, ix, iy, 1);
-					tex_coords[z + 10] = CalculateUV(resx, resy, ix, iy, 0);
-					tex_coords[z + 11] = CalculateUV(resx, resy, ix, iy, 1);
-				}
-				if (gendiags) psb->appendLink(node00, node11);
-				z += 12;
-			}
-		}
-	}
-	/* Finished	*/
-#undef IDX
-	return (psb);
-}
-
-float btSoftBodyHelpers::CalculateUV(int resx, int resy, int ix, int iy, int id)
-{
-	/*
-	*
-	*
-	*    node00 --- node01
-	*      |          |
-	*    node10 --- node11
-	*
-	*
-	*   ID map:
-	*
-	*   node00 s --> 0
-	*   node00 t --> 1
-	*
-	*   node01 s --> 3
-	*   node01 t --> 1
-	*
-	*   node10 s --> 0
-	*   node10 t --> 2
-	*
-	*   node11 s --> 3
-	*   node11 t --> 2
-	*
-	*
-	*/
-
-	float tc = 0.0f;
-	if (id == 0)
-	{
-		tc = (1.0f / ((resx - 1)) * ix);
-	}
-	else if (id == 1)
-	{
-		tc = (1.0f / ((resy - 1)) * (resy - 1 - iy));
-	}
-	else if (id == 2)
-	{
-		tc = (1.0f / ((resy - 1)) * (resy - 1 - iy - 1));
-	}
-	else if (id == 3)
-	{
-		tc = (1.0f / ((resx - 1)) * (ix + 1));
-	}
-	return tc;
-}
-//
-btSoftBody* btSoftBodyHelpers::CreateEllipsoid(btSoftBodyWorldInfo& worldInfo, const btVector3& center,
-											   const btVector3& radius,
-											   int res)
-{
-	struct Hammersley
-	{
-		static void Generate(btVector3* x, int n)
-		{
-			for (int i = 0; i < n; i++)
-			{
-				btScalar p = 0.5, t = 0;
-				for (int j = i; j; p *= 0.5, j >>= 1)
-					if (j & 1) t += p;
-				btScalar w = 2 * t - 1;
-				btScalar a = (SIMD_PI + 2 * i * SIMD_PI) / n;
-				btScalar s = btSqrt(1 - w * w);
-				*x++ = btVector3(s * btCos(a), s * btSin(a), w);
-			}
-		}
-	};
-	btAlignedObjectArray<btVector3> vtx;
-	vtx.resize(3 + res);
-	Hammersley::Generate(&vtx[0], vtx.size());
-	for (int i = 0; i < vtx.size(); ++i)
-	{
-		vtx[i] = vtx[i] * radius + center;
-	}
-	return (CreateFromConvexHull(worldInfo, &vtx[0], vtx.size()));
-}
-
-//
-btSoftBody* btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo, const btScalar* vertices,
-												 const int* triangles,
-												 int ntriangles, bool randomizeConstraints)
-{
-	int maxidx = 0;
-	int i, j, ni;
-
-	for (i = 0, ni = ntriangles * 3; i < ni; ++i)
-	{
-		maxidx = btMax(triangles[i], maxidx);
-	}
-	++maxidx;
-	btAlignedObjectArray<bool> chks;
-	btAlignedObjectArray<btVector3> vtx;
-	chks.resize(maxidx * maxidx, false);
-	vtx.resize(maxidx);
-	for (i = 0, j = 0, ni = maxidx * 3; i < ni; ++j, i += 3)
-	{
-		vtx[j] = btVector3(vertices[i], vertices[i + 1], vertices[i + 2]);
-	}
-	btSoftBody* psb = new btSoftBody(&worldInfo, vtx.size(), &vtx[0], 0);
-	for (i = 0, ni = ntriangles * 3; i < ni; i += 3)
-	{
-		const int idx[] = {triangles[i], triangles[i + 1], triangles[i + 2]};
-#define IDX(_x_, _y_) ((_y_)*maxidx + (_x_))
-		for (int j = 2, k = 0; k < 3; j = k++)
-		{
-			if (!chks[IDX(idx[j], idx[k])])
-			{
-				chks[IDX(idx[j], idx[k])] = true;
-				chks[IDX(idx[k], idx[j])] = true;
-				psb->appendLink(idx[j], idx[k]);
-			}
-		}
-#undef IDX
-		psb->appendFace(idx[0], idx[1], idx[2]);
-	}
-
-	if (randomizeConstraints)
-	{
-		psb->randomizeConstraints();
-	}
-
-	return (psb);
-}
-
-//
-btSoftBody* btSoftBodyHelpers::CreateFromConvexHull(btSoftBodyWorldInfo& worldInfo, const btVector3* vertices,
-													int nvertices, bool randomizeConstraints)
-{
-	HullDesc hdsc(QF_TRIANGLES, nvertices, vertices);
-	HullResult hres;
-	HullLibrary hlib; /*??*/
-	hdsc.mMaxVertices = nvertices;
-	hlib.CreateConvexHull(hdsc, hres);
-	btSoftBody* psb = new btSoftBody(&worldInfo, (int)hres.mNumOutputVertices,
-									 &hres.m_OutputVertices[0], 0);
-	for (int i = 0; i < (int)hres.mNumFaces; ++i)
-	{
-		const int idx[] = {static_cast<int>(hres.m_Indices[i * 3 + 0]),
-						   static_cast<int>(hres.m_Indices[i * 3 + 1]),
-						   static_cast<int>(hres.m_Indices[i * 3 + 2])};
-		if (idx[0] < idx[1]) psb->appendLink(idx[0], idx[1]);
-		if (idx[1] < idx[2]) psb->appendLink(idx[1], idx[2]);
-		if (idx[2] < idx[0]) psb->appendLink(idx[2], idx[0]);
-		psb->appendFace(idx[0], idx[1], idx[2]);
-	}
-	hlib.ReleaseResult(hres);
-	if (randomizeConstraints)
-	{
-		psb->randomizeConstraints();
-	}
-	return (psb);
-}
-
-static int nextLine(const char* buffer)
-{
-	int numBytesRead = 0;
-
-	while (*buffer != '\n')
-	{
-		buffer++;
-		numBytesRead++;
-	}
-
-	if (buffer[0] == 0x0a)
-	{
-		buffer++;
-		numBytesRead++;
-	}
-	return numBytesRead;
-}
-
-/* Create from TetGen .ele, .face, .node data							*/
-btSoftBody* btSoftBodyHelpers::CreateFromTetGenData(btSoftBodyWorldInfo& worldInfo,
-													const char* ele,
-													const char* face,
-													const char* node,
-													bool bfacelinks,
-													bool btetralinks,
-													bool bfacesfromtetras)
-{
-	btAlignedObjectArray<btVector3> pos;
-	int nnode = 0;
-	int ndims = 0;
-	int nattrb = 0;
-	int hasbounds = 0;
-	int result = sscanf(node, "%d %d %d %d", &nnode, &ndims, &nattrb, &hasbounds);
-	result = sscanf(node, "%d %d %d %d", &nnode, &ndims, &nattrb, &hasbounds);
-	node += nextLine(node);
-
-	pos.resize(nnode);
-	for (int i = 0; i < pos.size(); ++i)
-	{
-		int index = 0;
-		//int			bound=0;
-		float x, y, z;
-		sscanf(node, "%d %f %f %f", &index, &x, &y, &z);
-
-		//	sn>>index;
-		//	sn>>x;sn>>y;sn>>z;
-		node += nextLine(node);
-
-		//for(int j=0;j<nattrb;++j)
-		//	sn>>a;
-
-		//if(hasbounds)
-		//	sn>>bound;
-
-		pos[index].setX(btScalar(x));
-		pos[index].setY(btScalar(y));
-		pos[index].setZ(btScalar(z));
-	}
-	btSoftBody* psb = new btSoftBody(&worldInfo, nnode, &pos[0], 0);
-#if 0
-if(face&&face[0])
-	{
-	int								nface=0;
-	sf>>nface;sf>>hasbounds;
-	for(int i=0;i<nface;++i)
-		{
-		int			index=0;
-		int			bound=0;
-		int			ni[3];
-		sf>>index;
-		sf>>ni[0];sf>>ni[1];sf>>ni[2];
-		sf>>bound;
-		psb->appendFace(ni[0],ni[1],ni[2]);	
-		if(btetralinks)
-			{
-			psb->appendLink(ni[0],ni[1],0,true);
-			psb->appendLink(ni[1],ni[2],0,true);
-			psb->appendLink(ni[2],ni[0],0,true);
-			}
-		}
-	}
-#endif
-
-	if (ele && ele[0])
-	{
-		int ntetra = 0;
-		int ncorner = 0;
-		int neattrb = 0;
-		sscanf(ele, "%d %d %d", &ntetra, &ncorner, &neattrb);
-		ele += nextLine(ele);
-
-		//se>>ntetra;se>>ncorner;se>>neattrb;
-		for (int i = 0; i < ntetra; ++i)
-		{
-			int index = 0;
-			int ni[4];
-
-			//se>>index;
-			//se>>ni[0];se>>ni[1];se>>ni[2];se>>ni[3];
-			sscanf(ele, "%d %d %d %d %d", &index, &ni[0], &ni[1], &ni[2], &ni[3]);
-			ele += nextLine(ele);
-			//for(int j=0;j<neattrb;++j)
-			//	se>>a;
-			psb->appendTetra(ni[0], ni[1], ni[2], ni[3]);
-			if (btetralinks)
-			{
-				psb->appendLink(ni[0], ni[1], 0, true);
-				psb->appendLink(ni[1], ni[2], 0, true);
-				psb->appendLink(ni[2], ni[0], 0, true);
-				psb->appendLink(ni[0], ni[3], 0, true);
-				psb->appendLink(ni[1], ni[3], 0, true);
-				psb->appendLink(ni[2], ni[3], 0, true);
-			}
-		}
-	}
-	psb->initializeDmInverse();
-	psb->m_tetraScratches.resize(psb->m_tetras.size());
-	psb->m_tetraScratchesTn.resize(psb->m_tetras.size());
-	printf("Nodes:  %u\r\n", psb->m_nodes.size());
-	printf("Links:  %u\r\n", psb->m_links.size());
-	printf("Faces:  %u\r\n", psb->m_faces.size());
-	printf("Tetras: %u\r\n", psb->m_tetras.size());
-	return (psb);
-}
-
-btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file)
-{
-	std::ifstream fs;
-	fs.open(vtk_file);
-	btAssert(fs);
-
-	typedef btAlignedObjectArray<int> Index;
-	std::string line;
-	btAlignedObjectArray<btVector3> X;
-	btVector3 position;
-	btAlignedObjectArray<Index> indices;
-	bool reading_points = false;
-	bool reading_tets = false;
-	size_t n_points = 0;
-	size_t n_tets = 0;
-	size_t x_count = 0;
-	size_t indices_count = 0;
-	while (std::getline(fs, line))
-	{
-		std::stringstream ss(line);
-		if (line.size() == (size_t)(0))
-		{
-		}
-		else if (line.substr(0, 6) == "POINTS")
-		{
-			reading_points = true;
-			reading_tets = false;
-			ss.ignore(128, ' ');  // ignore "POINTS"
-			ss >> n_points;
-			X.resize(n_points);
-		}
-		else if (line.substr(0, 5) == "CELLS")
-		{
-			reading_points = false;
-			reading_tets = true;
-			ss.ignore(128, ' ');  // ignore "CELLS"
-			ss >> n_tets;
-			indices.resize(n_tets);
-		}
-		else if (line.substr(0, 10) == "CELL_TYPES")
-		{
-			reading_points = false;
-			reading_tets = false;
-		}
-		else if (reading_points)
-		{
-			btScalar p;
-			ss >> p;
-			position.setX(p);
-			ss >> p;
-			position.setY(p);
-			ss >> p;
-			position.setZ(p);
-			//printf("v %f %f %f\n", position.getX(), position.getY(), position.getZ());
-			X[x_count++] = position;
-		}
-		else if (reading_tets)
-		{
-			int d;
-			ss >> d;
-			if (d != 4)
-			{
-				printf("Load deformable failed: Only Tetrahedra are supported in VTK file.\n");
-				fs.close();
-				return 0;
-			}
-			ss.ignore(128, ' ');  // ignore "4"
-			Index tet;
-			tet.resize(4);
-			for (size_t i = 0; i < 4; i++)
-			{
-				ss >> tet[i];
-				//printf("%d ", tet[i]);
-			}
-			//printf("\n");
-			indices[indices_count++] = tet;
-		}
-	}
-	btSoftBody* psb = new btSoftBody(&worldInfo, n_points, &X[0], 0);
-
-	for (int i = 0; i < n_tets; ++i)
-	{
-		const Index& ni = indices[i];
-		psb->appendTetra(ni[0], ni[1], ni[2], ni[3]);
-		{
-			psb->appendLink(ni[0], ni[1], 0, true);
-			psb->appendLink(ni[1], ni[2], 0, true);
-			psb->appendLink(ni[2], ni[0], 0, true);
-			psb->appendLink(ni[0], ni[3], 0, true);
-			psb->appendLink(ni[1], ni[3], 0, true);
-			psb->appendLink(ni[2], ni[3], 0, true);
-		}
-	}
-
-	generateBoundaryFaces(psb);
-	psb->initializeDmInverse();
-	psb->m_tetraScratches.resize(psb->m_tetras.size());
-	psb->m_tetraScratchesTn.resize(psb->m_tetras.size());
-	printf("Nodes:  %u\r\n", psb->m_nodes.size());
-	printf("Links:  %u\r\n", psb->m_links.size());
-	printf("Faces:  %u\r\n", psb->m_faces.size());
-	printf("Tetras: %u\r\n", psb->m_tetras.size());
-
-	fs.close();
-	return psb;
-}
-
-void btSoftBodyHelpers::generateBoundaryFaces(btSoftBody* psb)
-{
-	int counter = 0;
-	for (int i = 0; i < psb->m_nodes.size(); ++i)
-	{
-		psb->m_nodes[i].index = counter++;
-	}
-	typedef btAlignedObjectArray<int> Index;
-	btAlignedObjectArray<Index> indices;
-	indices.resize(psb->m_tetras.size());
-	for (int i = 0; i < indices.size(); ++i)
-	{
-		Index index;
-		index.push_back(psb->m_tetras[i].m_n[0]->index);
-		index.push_back(psb->m_tetras[i].m_n[1]->index);
-		index.push_back(psb->m_tetras[i].m_n[2]->index);
-		index.push_back(psb->m_tetras[i].m_n[3]->index);
-		indices[i] = index;
-	}
-
-	std::map<std::vector<int>, std::vector<int> > dict;
-	for (int i = 0; i < indices.size(); ++i)
-	{
-		for (int j = 0; j < 4; ++j)
-		{
-			std::vector<int> f;
-			if (j == 0)
-			{
-				f.push_back(indices[i][1]);
-				f.push_back(indices[i][0]);
-				f.push_back(indices[i][2]);
-			}
-			if (j == 1)
-			{
-				f.push_back(indices[i][3]);
-				f.push_back(indices[i][0]);
-				f.push_back(indices[i][1]);
-			}
-			if (j == 2)
-			{
-				f.push_back(indices[i][3]);
-				f.push_back(indices[i][1]);
-				f.push_back(indices[i][2]);
-			}
-			if (j == 3)
-			{
-				f.push_back(indices[i][2]);
-				f.push_back(indices[i][0]);
-				f.push_back(indices[i][3]);
-			}
-			std::vector<int> f_sorted = f;
-			std::sort(f_sorted.begin(), f_sorted.end());
-			if (dict.find(f_sorted) != dict.end())
-			{
-				dict.erase(f_sorted);
-			}
-			else
-			{
-				dict.insert(std::make_pair(f_sorted, f));
-			}
-		}
-	}
-
-	for (std::map<std::vector<int>, std::vector<int> >::iterator it = dict.begin(); it != dict.end(); ++it)
-	{
-		std::vector<int> f = it->second;
-		psb->appendFace(f[0], f[1], f[2]);
-		//printf("f %d %d %d\n", f[0] + 1, f[1] + 1, f[2] + 1);
-	}
-}
-
-//Write the surface mesh to an obj file.
-void btSoftBodyHelpers::writeObj(const char* filename, const btSoftBody* psb)
-{
-	std::ofstream fs;
-	fs.open(filename);
-	btAssert(fs);
-
-	if (psb->m_tetras.size() > 0)
-	{
-		// For tetrahedron mesh, we need to re-index the surface mesh for it to be in obj file/
-		std::map<int, int> dict;
-		for (int i = 0; i < psb->m_faces.size(); i++)
-		{
-			for (int d = 0; d < 3; d++)
-			{
-				int index = psb->m_faces[i].m_n[d]->index;
-				if (dict.find(index) == dict.end())
-				{
-					int dict_size = dict.size();
-					dict[index] = dict_size;
-					fs << "v";
-					for (int k = 0; k < 3; k++)
-					{
-						fs << " " << psb->m_nodes[index].m_x[k];
-					}
-					fs << "\n";
-				}
-			}
-		}
-		// Write surface mesh.
-		for (int i = 0; i < psb->m_faces.size(); ++i)
-		{
-			fs << "f";
-			for (int n = 0; n < 3; n++)
-			{
-				fs << " " << dict[psb->m_faces[i].m_n[n]->index] + 1;
-			}
-			fs << "\n";
-		}
-	}
-	else
-	{
-		// For trimesh, directly write out all the nodes and faces.xs
-		for (int i = 0; i < psb->m_nodes.size(); ++i)
-		{
-			fs << "v";
-			for (int d = 0; d < 3; d++)
-			{
-				fs << " " << psb->m_nodes[i].m_x[d];
-			}
-			fs << "\n";
-		}
-
-		for (int i = 0; i < psb->m_faces.size(); ++i)
-		{
-			fs << "f";
-			for (int n = 0; n < 3; n++)
-			{
-				fs << " " << psb->m_faces[i].m_n[n]->index + 1;
-			}
-			fs << "\n";
-		}
-	}
-	fs.close();
-}
-
-void btSoftBodyHelpers::duplicateFaces(const char* filename, const btSoftBody* psb)
-{
-	std::ifstream fs_read;
-	fs_read.open(filename);
-	std::string line;
-	btVector3 pos;
-	btAlignedObjectArray<btAlignedObjectArray<int> > additional_faces;
-	while (std::getline(fs_read, line))
-	{
-		std::stringstream ss(line);
-		if (line[0] == 'v')
-		{
-		}
-		else if (line[0] == 'f')
-		{
-			ss.ignore();
-			int id0, id1, id2;
-			ss >> id0;
-			ss >> id1;
-			ss >> id2;
-			btAlignedObjectArray<int> new_face;
-			new_face.push_back(id1);
-			new_face.push_back(id0);
-			new_face.push_back(id2);
-			additional_faces.push_back(new_face);
-		}
-	}
-	fs_read.close();
-
-	std::ofstream fs_write;
-	fs_write.open(filename, std::ios_base::app);
-	for (int i = 0; i < additional_faces.size(); ++i)
-	{
-		fs_write << "f";
-		for (int n = 0; n < 3; n++)
-		{
-			fs_write << " " << additional_faces[i][n];
-		}
-		fs_write << "\n";
-	}
-	fs_write.close();
-}
-
-// Given a simplex with vertices a,b,c,d, find the barycentric weights of p in this simplex
-void btSoftBodyHelpers::getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary)
-{
-	btVector3 vap = p - a;
-	btVector3 vbp = p - b;
-
-	btVector3 vab = b - a;
-	btVector3 vac = c - a;
-	btVector3 vad = d - a;
-
-	btVector3 vbc = c - b;
-	btVector3 vbd = d - b;
-	btScalar va6 = (vbp.cross(vbd)).dot(vbc);
-	btScalar vb6 = (vap.cross(vac)).dot(vad);
-	btScalar vc6 = (vap.cross(vad)).dot(vab);
-	btScalar vd6 = (vap.cross(vab)).dot(vac);
-	btScalar v6 = btScalar(1) / (vab.cross(vac).dot(vad));
-	bary = btVector4(va6 * v6, vb6 * v6, vc6 * v6, vd6 * v6);
-}
-
-// Given a simplex with vertices a,b,c, find the barycentric weights of p in this simplex. bary[3] = 0.
-void btSoftBodyHelpers::getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& p, btVector4& bary)
-{
-	btVector3 v0 = b - a, v1 = c - a, v2 = p - a;
-	btScalar d00 = btDot(v0, v0);
-	btScalar d01 = btDot(v0, v1);
-	btScalar d11 = btDot(v1, v1);
-	btScalar d20 = btDot(v2, v0);
-	btScalar d21 = btDot(v2, v1);
-	btScalar invDenom = 1.0 / (d00 * d11 - d01 * d01);
-	bary[1] = (d11 * d20 - d01 * d21) * invDenom;
-	bary[2] = (d00 * d21 - d01 * d20) * invDenom;
-	bary[0] = 1.0 - bary[1] - bary[2];
-	bary[3] = 0;
-}
-
-// Iterate through all render nodes to find the simulation tetrahedron that contains the render node and record the barycentric weights
-// If the node is not inside any tetrahedron, assign it to the tetrahedron in which the node has the least negative barycentric weight
-void btSoftBodyHelpers::interpolateBarycentricWeights(btSoftBody* psb)
-{
-	psb->m_z.resize(0);
-	psb->m_renderNodesInterpolationWeights.resize(psb->m_renderNodes.size());
-	psb->m_renderNodesParents.resize(psb->m_renderNodes.size());
-	for (int i = 0; i < psb->m_renderNodes.size(); ++i)
-	{
-		const btVector3& p = psb->m_renderNodes[i].m_x;
-		btVector4 bary;
-		btVector4 optimal_bary;
-		btScalar min_bary_weight = -1e3;
-		btAlignedObjectArray<const btSoftBody::Node*> optimal_parents;
-		for (int j = 0; j < psb->m_tetras.size(); ++j)
-		{
-			const btSoftBody::Tetra& t = psb->m_tetras[j];
-			getBarycentricWeights(t.m_n[0]->m_x, t.m_n[1]->m_x, t.m_n[2]->m_x, t.m_n[3]->m_x, p, bary);
-			btScalar new_min_bary_weight = bary[0];
-			for (int k = 1; k < 4; ++k)
-			{
-				new_min_bary_weight = btMin(new_min_bary_weight, bary[k]);
-			}
-			if (new_min_bary_weight > min_bary_weight)
-			{
-				btAlignedObjectArray<const btSoftBody::Node*> parents;
-				parents.push_back(t.m_n[0]);
-				parents.push_back(t.m_n[1]);
-				parents.push_back(t.m_n[2]);
-				parents.push_back(t.m_n[3]);
-				optimal_parents = parents;
-				optimal_bary = bary;
-				min_bary_weight = new_min_bary_weight;
-				// stop searching if p is inside the tetrahedron at hand
-				if (bary[0] >= 0. && bary[1] >= 0. && bary[2] >= 0. && bary[3] >= 0.)
-				{
-					break;
-				}
-			}
-		}
-		psb->m_renderNodesInterpolationWeights[i] = optimal_bary;
-		psb->m_renderNodesParents[i] = optimal_parents;
-	}
-}
-
-// Iterate through all render nodes to find the simulation triangle that's closest to the node in the barycentric sense.
-void btSoftBodyHelpers::extrapolateBarycentricWeights(btSoftBody* psb)
-{
-	psb->m_renderNodesInterpolationWeights.resize(psb->m_renderNodes.size());
-	psb->m_renderNodesParents.resize(psb->m_renderNodes.size());
-	psb->m_z.resize(psb->m_renderNodes.size());
-	for (int i = 0; i < psb->m_renderNodes.size(); ++i)
-	{
-		const btVector3& p = psb->m_renderNodes[i].m_x;
-		btVector4 bary;
-		btVector4 optimal_bary;
-		btScalar min_bary_weight = -SIMD_INFINITY;
-		btAlignedObjectArray<const btSoftBody::Node*> optimal_parents;
-		btScalar dist = 0, optimal_dist = 0;
-		for (int j = 0; j < psb->m_faces.size(); ++j)
-		{
-			const btSoftBody::Face& f = psb->m_faces[j];
-			btVector3 n = btCross(f.m_n[1]->m_x - f.m_n[0]->m_x, f.m_n[2]->m_x - f.m_n[0]->m_x);
-			btVector3 unit_n = n.normalized();
-			dist = (p - f.m_n[0]->m_x).dot(unit_n);
-			btVector3 proj_p = p - dist * unit_n;
-			getBarycentricWeights(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, proj_p, bary);
-			btScalar new_min_bary_weight = bary[0];
-			for (int k = 1; k < 3; ++k)
-			{
-				new_min_bary_weight = btMin(new_min_bary_weight, bary[k]);
-			}
-
-			// p is out of the current best triangle, we found a traingle that's better
-			bool better_than_closest_outisde = (new_min_bary_weight > min_bary_weight && min_bary_weight < 0.);
-			// p is inside of the current best triangle, we found a triangle that's better
-			bool better_than_best_inside = (new_min_bary_weight >= 0 && min_bary_weight >= 0 && btFabs(dist) < btFabs(optimal_dist));
-
-			if (better_than_closest_outisde || better_than_best_inside)
-			{
-				btAlignedObjectArray<const btSoftBody::Node*> parents;
-				parents.push_back(f.m_n[0]);
-				parents.push_back(f.m_n[1]);
-				parents.push_back(f.m_n[2]);
-				optimal_parents = parents;
-				optimal_bary = bary;
-				optimal_dist = dist;
-				min_bary_weight = new_min_bary_weight;
-			}
-		}
-		psb->m_renderNodesInterpolationWeights[i] = optimal_bary;
-		psb->m_renderNodesParents[i] = optimal_parents;
-		psb->m_z[i] = optimal_dist;
-	}
-}
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.h b/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.h
deleted file mode 100644
index 237d29761d..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.h
+++ /dev/null
@@ -1,167 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SOFT_BODY_HELPERS_H
-#define BT_SOFT_BODY_HELPERS_H
-
-#include "btSoftBody.h"
-#include <fstream>
-#include <string>
-//
-// Helpers
-//
-
-/* fDrawFlags															*/
-struct fDrawFlags
-{
-	enum _
-	{
-		Nodes = 0x0001,
-		Links = 0x0002,
-		Faces = 0x0004,
-		Tetras = 0x0008,
-		Normals = 0x0010,
-		Contacts = 0x0020,
-		Anchors = 0x0040,
-		Notes = 0x0080,
-		Clusters = 0x0100,
-		NodeTree = 0x0200,
-		FaceTree = 0x0400,
-		ClusterTree = 0x0800,
-		Joints = 0x1000,
-		/* presets	*/
-		Std = Links + Faces + Tetras + Anchors + Notes + Joints,
-		StdTetra = Std - Faces + Tetras
-	};
-};
-
-struct btSoftBodyHelpers
-{
-	/* Draw body															*/
-	static void Draw(btSoftBody* psb,
-					 btIDebugDraw* idraw,
-					 int drawflags = fDrawFlags::Std);
-	/* Draw body infos														*/
-	static void DrawInfos(btSoftBody* psb,
-						  btIDebugDraw* idraw,
-						  bool masses,
-						  bool areas,
-						  bool stress);
-	/* Draw node tree														*/
-	static void DrawNodeTree(btSoftBody* psb,
-							 btIDebugDraw* idraw,
-							 int mindepth = 0,
-							 int maxdepth = -1);
-	/* Draw face tree														*/
-	static void DrawFaceTree(btSoftBody* psb,
-							 btIDebugDraw* idraw,
-							 int mindepth = 0,
-							 int maxdepth = -1);
-	/* Draw cluster tree													*/
-	static void DrawClusterTree(btSoftBody* psb,
-								btIDebugDraw* idraw,
-								int mindepth = 0,
-								int maxdepth = -1);
-	/* Draw rigid frame														*/
-	static void DrawFrame(btSoftBody* psb,
-						  btIDebugDraw* idraw);
-	/* Create a rope														*/
-	static btSoftBody* CreateRope(btSoftBodyWorldInfo& worldInfo,
-								  const btVector3& from,
-								  const btVector3& to,
-								  int res,
-								  int fixeds);
-	/* Create a patch														*/
-	static btSoftBody* CreatePatch(btSoftBodyWorldInfo& worldInfo,
-								   const btVector3& corner00,
-								   const btVector3& corner10,
-								   const btVector3& corner01,
-								   const btVector3& corner11,
-								   int resx,
-								   int resy,
-								   int fixeds,
-								   bool gendiags,
-								   btScalar perturbation = 0.);
-	/* Create a patch with UV Texture Coordinates	*/
-	static btSoftBody* CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
-									 const btVector3& corner00,
-									 const btVector3& corner10,
-									 const btVector3& corner01,
-									 const btVector3& corner11,
-									 int resx,
-									 int resy,
-									 int fixeds,
-									 bool gendiags,
-									 float* tex_coords = 0);
-	static float CalculateUV(int resx, int resy, int ix, int iy, int id);
-	/* Create an ellipsoid													*/
-	static btSoftBody* CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,
-									   const btVector3& center,
-									   const btVector3& radius,
-									   int res);
-	/* Create from trimesh													*/
-	static btSoftBody* CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo,
-										 const btScalar* vertices,
-										 const int* triangles,
-										 int ntriangles,
-										 bool randomizeConstraints = true);
-	/* Create from convex-hull												*/
-	static btSoftBody* CreateFromConvexHull(btSoftBodyWorldInfo& worldInfo,
-											const btVector3* vertices,
-											int nvertices,
-											bool randomizeConstraints = true);
-
-	/* Export TetGen compatible .smesh file									*/
-	//	static void				ExportAsSMeshFile(	btSoftBody* psb,
-	//												const char* filename);
-	/* Create from TetGen .ele, .face, .node files							*/
-	//	static btSoftBody*		CreateFromTetGenFile(	btSoftBodyWorldInfo& worldInfo,
-	//													const char* ele,
-	//													const char* face,
-	//													const char* node,
-	//													bool bfacelinks,
-	//													bool btetralinks,
-	//													bool bfacesfromtetras);
-	/* Create from TetGen .ele, .face, .node data							*/
-	static btSoftBody* CreateFromTetGenData(btSoftBodyWorldInfo& worldInfo,
-											const char* ele,
-											const char* face,
-											const char* node,
-											bool bfacelinks,
-											bool btetralinks,
-											bool bfacesfromtetras);
-	static btSoftBody* CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file);
-
-	static void writeObj(const char* file, const btSoftBody* psb);
-
-	static void getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary);
-
-	static void getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& p, btVector4& bary);
-
-	static void interpolateBarycentricWeights(btSoftBody* psb);
-
-	static void extrapolateBarycentricWeights(btSoftBody* psb);
-
-	static void generateBoundaryFaces(btSoftBody* psb);
-
-	static void duplicateFaces(const char* filename, const btSoftBody* psb);
-	/// Sort the list of links to move link calculations that are dependent upon earlier
-	/// ones as far as possible away from the calculation of those values
-	/// This tends to make adjacent loop iterations not dependent upon one another,
-	/// so out-of-order processors can execute instructions from multiple iterations at once
-	static void ReoptimizeLinkOrder(btSoftBody* psb);
-};
-
-#endif  //BT_SOFT_BODY_HELPERS_H
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyInternals.h b/thirdparty/bullet/BulletSoftBody/btSoftBodyInternals.h
deleted file mode 100644
index c17bbb5cd4..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btSoftBodyInternals.h
+++ /dev/null
@@ -1,2108 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-///btSoftBody implementation by Nathanael Presson
-
-#ifndef _BT_SOFT_BODY_INTERNALS_H
-#define _BT_SOFT_BODY_INTERNALS_H
-
-#include "btSoftBody.h"
-#include "LinearMath/btQuickprof.h"
-#include "LinearMath/btPolarDecomposition.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
-#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
-#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
-#include <string.h>  //for memset
-#include <cmath>
-#include "poly34.h"
-
-// Given a multibody link, a contact point and a contact direction, fill in the jacobian data needed to calculate the velocity change given an impulse in the contact direction
-static SIMD_FORCE_INLINE void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol,
-										   btMultiBodyJacobianData& jacobianData,
-										   const btVector3& contact_point,
-										   const btVector3& dir)
-{
-	const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
-	jacobianData.m_jacobians.resize(ndof);
-	jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof);
-	btScalar* jac = &jacobianData.m_jacobians[0];
-
-	multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, contact_point, dir, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m);
-	multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], &jacobianData.m_deltaVelocitiesUnitImpulse[0], jacobianData.scratch_r, jacobianData.scratch_v);
-}
-static SIMD_FORCE_INLINE btVector3 generateUnitOrthogonalVector(const btVector3& u)
-{
-	btScalar ux = u.getX();
-	btScalar uy = u.getY();
-	btScalar uz = u.getZ();
-	btScalar ax = std::abs(ux);
-	btScalar ay = std::abs(uy);
-	btScalar az = std::abs(uz);
-	btVector3 v;
-	if (ax <= ay && ax <= az)
-		v = btVector3(0, -uz, uy);
-	else if (ay <= ax && ay <= az)
-		v = btVector3(-uz, 0, ux);
-	else
-		v = btVector3(-uy, ux, 0);
-	v.normalize();
-	return v;
-}
-
-static SIMD_FORCE_INLINE bool proximityTest(const btVector3& x1, const btVector3& x2, const btVector3& x3, const btVector3& x4, const btVector3& normal, const btScalar& mrg, btVector3& bary)
-{
-	btVector3 x43 = x4 - x3;
-	if (std::abs(x43.dot(normal)) > mrg)
-		return false;
-	btVector3 x13 = x1 - x3;
-	btVector3 x23 = x2 - x3;
-	btScalar a11 = x13.length2();
-	btScalar a22 = x23.length2();
-	btScalar a12 = x13.dot(x23);
-	btScalar b1 = x13.dot(x43);
-	btScalar b2 = x23.dot(x43);
-	btScalar det = a11 * a22 - a12 * a12;
-	if (det < SIMD_EPSILON)
-		return false;
-	btScalar w1 = (b1 * a22 - b2 * a12) / det;
-	btScalar w2 = (b2 * a11 - b1 * a12) / det;
-	btScalar w3 = 1 - w1 - w2;
-	btScalar delta = mrg / std::sqrt(0.5 * std::abs(x13.cross(x23).safeNorm()));
-	bary = btVector3(w1, w2, w3);
-	for (int i = 0; i < 3; ++i)
-	{
-		if (bary[i] < -delta || bary[i] > 1 + delta)
-			return false;
-	}
-	return true;
-}
-static const int KDOP_COUNT = 13;
-static btVector3 dop[KDOP_COUNT] = {btVector3(1, 0, 0),
-									btVector3(0, 1, 0),
-									btVector3(0, 0, 1),
-									btVector3(1, 1, 0),
-									btVector3(1, 0, 1),
-									btVector3(0, 1, 1),
-									btVector3(1, -1, 0),
-									btVector3(1, 0, -1),
-									btVector3(0, 1, -1),
-									btVector3(1, 1, 1),
-									btVector3(1, -1, 1),
-									btVector3(1, 1, -1),
-									btVector3(1, -1, -1)};
-
-static inline int getSign(const btVector3& n, const btVector3& x)
-{
-	btScalar d = n.dot(x);
-	if (d > SIMD_EPSILON)
-		return 1;
-	if (d < -SIMD_EPSILON)
-		return -1;
-	return 0;
-}
-
-static SIMD_FORCE_INLINE bool hasSeparatingPlane(const btSoftBody::Face* face, const btSoftBody::Node* node, const btScalar& dt)
-{
-	btVector3 hex[6] = {face->m_n[0]->m_x - node->m_x,
-						face->m_n[1]->m_x - node->m_x,
-						face->m_n[2]->m_x - node->m_x,
-						face->m_n[0]->m_x + dt * face->m_n[0]->m_v - node->m_x,
-						face->m_n[1]->m_x + dt * face->m_n[1]->m_v - node->m_x,
-						face->m_n[2]->m_x + dt * face->m_n[2]->m_v - node->m_x};
-	btVector3 segment = dt * node->m_v;
-	for (int i = 0; i < KDOP_COUNT; ++i)
-	{
-		int s = getSign(dop[i], segment);
-		int j = 0;
-		for (; j < 6; ++j)
-		{
-			if (getSign(dop[i], hex[j]) == s)
-				break;
-		}
-		if (j == 6)
-			return true;
-	}
-	return false;
-}
-
-static SIMD_FORCE_INLINE bool nearZero(const btScalar& a)
-{
-	return (a > -SAFE_EPSILON && a < SAFE_EPSILON);
-}
-static SIMD_FORCE_INLINE bool sameSign(const btScalar& a, const btScalar& b)
-{
-	return (nearZero(a) || nearZero(b) || (a > SAFE_EPSILON && b > SAFE_EPSILON) || (a < -SAFE_EPSILON && b < -SAFE_EPSILON));
-}
-static SIMD_FORCE_INLINE bool diffSign(const btScalar& a, const btScalar& b)
-{
-	return !sameSign(a, b);
-}
-inline btScalar evaluateBezier2(const btScalar& p0, const btScalar& p1, const btScalar& p2, const btScalar& t, const btScalar& s)
-{
-	btScalar s2 = s * s;
-	btScalar t2 = t * t;
-
-	return p0 * s2 + p1 * btScalar(2.0) * s * t + p2 * t2;
-}
-inline btScalar evaluateBezier(const btScalar& p0, const btScalar& p1, const btScalar& p2, const btScalar& p3, const btScalar& t, const btScalar& s)
-{
-	btScalar s2 = s * s;
-	btScalar s3 = s2 * s;
-	btScalar t2 = t * t;
-	btScalar t3 = t2 * t;
-
-	return p0 * s3 + p1 * btScalar(3.0) * s2 * t + p2 * btScalar(3.0) * s * t2 + p3 * t3;
-}
-static SIMD_FORCE_INLINE bool getSigns(bool type_c, const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3, const btScalar& t0, const btScalar& t1, btScalar& lt0, btScalar& lt1)
-{
-	if (sameSign(t0, t1))
-	{
-		lt0 = t0;
-		lt1 = t0;
-		return true;
-	}
-
-	if (type_c || diffSign(k0, k3))
-	{
-		btScalar ft = evaluateBezier(k0, k1, k2, k3, t0, -t1);
-		if (t0 < -0)
-			ft = -ft;
-
-		if (sameSign(ft, k0))
-		{
-			lt0 = t1;
-			lt1 = t1;
-		}
-		else
-		{
-			lt0 = t0;
-			lt1 = t0;
-		}
-		return true;
-	}
-
-	if (!type_c)
-	{
-		btScalar ft = evaluateBezier(k0, k1, k2, k3, t0, -t1);
-		if (t0 < -0)
-			ft = -ft;
-
-		if (diffSign(ft, k0))
-		{
-			lt0 = t0;
-			lt1 = t1;
-			return true;
-		}
-
-		btScalar fk = evaluateBezier2(k1 - k0, k2 - k1, k3 - k2, t0, -t1);
-
-		if (sameSign(fk, k1 - k0))
-			lt0 = lt1 = t1;
-		else
-			lt0 = lt1 = t0;
-
-		return true;
-	}
-	return false;
-}
-
-static SIMD_FORCE_INLINE void getBernsteinCoeff(const btSoftBody::Face* face, const btSoftBody::Node* node, const btScalar& dt, btScalar& k0, btScalar& k1, btScalar& k2, btScalar& k3)
-{
-	const btVector3& n0 = face->m_n0;
-	const btVector3& n1 = face->m_n1;
-	btVector3 n_hat = n0 + n1 - face->m_vn;
-	btVector3 p0ma0 = node->m_x - face->m_n[0]->m_x;
-	btVector3 p1ma1 = node->m_q - face->m_n[0]->m_q;
-	k0 = (p0ma0).dot(n0) * 3.0;
-	k1 = (p0ma0).dot(n_hat) + (p1ma1).dot(n0);
-	k2 = (p1ma1).dot(n_hat) + (p0ma0).dot(n1);
-	k3 = (p1ma1).dot(n1) * 3.0;
-}
-
-static SIMD_FORCE_INLINE void polyDecomposition(const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3, const btScalar& j0, const btScalar& j1, const btScalar& j2, btScalar& u0, btScalar& u1, btScalar& v0, btScalar& v1)
-{
-	btScalar denom = 4.0 * (j1 - j2) * (j1 - j0) + (j2 - j0) * (j2 - j0);
-	u0 = (2.0 * (j1 - j2) * (3.0 * k1 - 2.0 * k0 - k3) - (j0 - j2) * (3.0 * k2 - 2.0 * k3 - k0)) / denom;
-	u1 = (2.0 * (j1 - j0) * (3.0 * k2 - 2.0 * k3 - k0) - (j2 - j0) * (3.0 * k1 - 2.0 * k0 - k3)) / denom;
-	v0 = k0 - u0 * j0;
-	v1 = k3 - u1 * j2;
-}
-
-static SIMD_FORCE_INLINE bool rootFindingLemma(const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3)
-{
-	btScalar u0, u1, v0, v1;
-	btScalar j0 = 3.0 * (k1 - k0);
-	btScalar j1 = 3.0 * (k2 - k1);
-	btScalar j2 = 3.0 * (k3 - k2);
-	polyDecomposition(k0, k1, k2, k3, j0, j1, j2, u0, u1, v0, v1);
-	if (sameSign(v0, v1))
-	{
-		btScalar Ypa = j0 * (1.0 - v0) * (1.0 - v0) + 2.0 * j1 * v0 * (1.0 - v0) + j2 * v0 * v0;  // Y'(v0)
-		if (sameSign(Ypa, j0))
-		{
-			return (diffSign(k0, v1));
-		}
-	}
-	return diffSign(k0, v0);
-}
-
-static SIMD_FORCE_INLINE void getJs(const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3, const btSoftBody::Node* a, const btSoftBody::Node* b, const btSoftBody::Node* c, const btSoftBody::Node* p, const btScalar& dt, btScalar& j0, btScalar& j1, btScalar& j2)
-{
-	const btVector3& a0 = a->m_x;
-	const btVector3& b0 = b->m_x;
-	const btVector3& c0 = c->m_x;
-	const btVector3& va = a->m_v;
-	const btVector3& vb = b->m_v;
-	const btVector3& vc = c->m_v;
-	const btVector3 a1 = a0 + dt * va;
-	const btVector3 b1 = b0 + dt * vb;
-	const btVector3 c1 = c0 + dt * vc;
-	btVector3 n0 = (b0 - a0).cross(c0 - a0);
-	btVector3 n1 = (b1 - a1).cross(c1 - a1);
-	btVector3 n_hat = n0 + n1 - dt * dt * (vb - va).cross(vc - va);
-	const btVector3& p0 = p->m_x;
-	const btVector3& vp = p->m_v;
-	btVector3 p1 = p0 + dt * vp;
-	btVector3 m0 = (b0 - p0).cross(c0 - p0);
-	btVector3 m1 = (b1 - p1).cross(c1 - p1);
-	btVector3 m_hat = m0 + m1 - dt * dt * (vb - vp).cross(vc - vp);
-	btScalar l0 = m0.dot(n0);
-	btScalar l1 = 0.25 * (m0.dot(n_hat) + m_hat.dot(n0));
-	btScalar l2 = btScalar(1) / btScalar(6) * (m0.dot(n1) + m_hat.dot(n_hat) + m1.dot(n0));
-	btScalar l3 = 0.25 * (m_hat.dot(n1) + m1.dot(n_hat));
-	btScalar l4 = m1.dot(n1);
-
-	btScalar k1p = 0.25 * k0 + 0.75 * k1;
-	btScalar k2p = 0.5 * k1 + 0.5 * k2;
-	btScalar k3p = 0.75 * k2 + 0.25 * k3;
-
-	btScalar s0 = (l1 * k0 - l0 * k1p) * 4.0;
-	btScalar s1 = (l2 * k0 - l0 * k2p) * 2.0;
-	btScalar s2 = (l3 * k0 - l0 * k3p) * btScalar(4) / btScalar(3);
-	btScalar s3 = l4 * k0 - l0 * k3;
-
-	j0 = (s1 * k0 - s0 * k1) * 3.0;
-	j1 = (s2 * k0 - s0 * k2) * 1.5;
-	j2 = (s3 * k0 - s0 * k3);
-}
-
-static SIMD_FORCE_INLINE bool signDetermination1Internal(const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3, const btScalar& u0, const btScalar& u1, const btScalar& v0, const btScalar& v1)
-{
-	btScalar Yu0 = k0 * (1.0 - u0) * (1.0 - u0) * (1.0 - u0) + 3.0 * k1 * u0 * (1.0 - u0) * (1.0 - u0) + 3.0 * k2 * u0 * u0 * (1.0 - u0) + k3 * u0 * u0 * u0;  // Y(u0)
-	btScalar Yv0 = k0 * (1.0 - v0) * (1.0 - v0) * (1.0 - v0) + 3.0 * k1 * v0 * (1.0 - v0) * (1.0 - v0) + 3.0 * k2 * v0 * v0 * (1.0 - v0) + k3 * v0 * v0 * v0;  // Y(v0)
-
-	btScalar sign_Ytp = (u0 > u1) ? Yu0 : -Yu0;
-	btScalar L = sameSign(sign_Ytp, k0) ? u1 : u0;
-	sign_Ytp = (v0 > v1) ? Yv0 : -Yv0;
-	btScalar K = (sameSign(sign_Ytp, k0)) ? v1 : v0;
-	return diffSign(L, K);
-}
-
-static SIMD_FORCE_INLINE bool signDetermination2Internal(const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3, const btScalar& j0, const btScalar& j1, const btScalar& j2, const btScalar& u0, const btScalar& u1, const btScalar& v0, const btScalar& v1)
-{
-	btScalar Yu0 = k0 * (1.0 - u0) * (1.0 - u0) * (1.0 - u0) + 3.0 * k1 * u0 * (1.0 - u0) * (1.0 - u0) + 3.0 * k2 * u0 * u0 * (1.0 - u0) + k3 * u0 * u0 * u0;  // Y(u0)
-	btScalar sign_Ytp = (u0 > u1) ? Yu0 : -Yu0, L1, L2;
-	if (diffSign(sign_Ytp, k0))
-	{
-		L1 = u0;
-		L2 = u1;
-	}
-	else
-	{
-		btScalar Yp_u0 = j0 * (1.0 - u0) * (1.0 - u0) + 2.0 * j1 * (1.0 - u0) * u0 + j2 * u0 * u0;
-		if (sameSign(Yp_u0, j0))
-		{
-			L1 = u1;
-			L2 = u1;
-		}
-		else
-		{
-			L1 = u0;
-			L2 = u0;
-		}
-	}
-	btScalar Yv0 = k0 * (1.0 - v0) * (1.0 - v0) * (1.0 - v0) + 3.0 * k1 * v0 * (1.0 - v0) * (1.0 - v0) + 3.0 * k2 * v0 * v0 * (1.0 - v0) + k3 * v0 * v0 * v0;  // Y(uv0)
-	sign_Ytp = (v0 > v1) ? Yv0 : -Yv0;
-	btScalar K1, K2;
-	if (diffSign(sign_Ytp, k0))
-	{
-		K1 = v0;
-		K2 = v1;
-	}
-	else
-	{
-		btScalar Yp_v0 = j0 * (1.0 - v0) * (1.0 - v0) + 2.0 * j1 * (1.0 - v0) * v0 + j2 * v0 * v0;
-		if (sameSign(Yp_v0, j0))
-		{
-			K1 = v1;
-			K2 = v1;
-		}
-		else
-		{
-			K1 = v0;
-			K2 = v0;
-		}
-	}
-	return (diffSign(K1, L1) || diffSign(L2, K2));
-}
-
-static SIMD_FORCE_INLINE bool signDetermination1(const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3, const btSoftBody::Face* face, const btSoftBody::Node* node, const btScalar& dt)
-{
-	btScalar j0, j1, j2, u0, u1, v0, v1;
-	// p1
-	getJs(k0, k1, k2, k3, face->m_n[0], face->m_n[1], face->m_n[2], node, dt, j0, j1, j2);
-	if (nearZero(j0 + j2 - j1 * 2.0))
-	{
-		btScalar lt0, lt1;
-		getSigns(true, k0, k1, k2, k3, j0, j2, lt0, lt1);
-		if (lt0 < -SAFE_EPSILON)
-			return false;
-	}
-	else
-	{
-		polyDecomposition(k0, k1, k2, k3, j0, j1, j2, u0, u1, v0, v1);
-		if (!signDetermination1Internal(k0, k1, k2, k3, u0, u1, v0, v1))
-			return false;
-	}
-	// p2
-	getJs(k0, k1, k2, k3, face->m_n[1], face->m_n[2], face->m_n[0], node, dt, j0, j1, j2);
-	if (nearZero(j0 + j2 - j1 * 2.0))
-	{
-		btScalar lt0, lt1;
-		getSigns(true, k0, k1, k2, k3, j0, j2, lt0, lt1);
-		if (lt0 < -SAFE_EPSILON)
-			return false;
-	}
-	else
-	{
-		polyDecomposition(k0, k1, k2, k3, j0, j1, j2, u0, u1, v0, v1);
-		if (!signDetermination1Internal(k0, k1, k2, k3, u0, u1, v0, v1))
-			return false;
-	}
-	// p3
-	getJs(k0, k1, k2, k3, face->m_n[2], face->m_n[0], face->m_n[1], node, dt, j0, j1, j2);
-	if (nearZero(j0 + j2 - j1 * 2.0))
-	{
-		btScalar lt0, lt1;
-		getSigns(true, k0, k1, k2, k3, j0, j2, lt0, lt1);
-		if (lt0 < -SAFE_EPSILON)
-			return false;
-	}
-	else
-	{
-		polyDecomposition(k0, k1, k2, k3, j0, j1, j2, u0, u1, v0, v1);
-		if (!signDetermination1Internal(k0, k1, k2, k3, u0, u1, v0, v1))
-			return false;
-	}
-	return true;
-}
-
-static SIMD_FORCE_INLINE bool signDetermination2(const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3, const btSoftBody::Face* face, const btSoftBody::Node* node, const btScalar& dt)
-{
-	btScalar j0, j1, j2, u0, u1, v0, v1;
-	// p1
-	getJs(k0, k1, k2, k3, face->m_n[0], face->m_n[1], face->m_n[2], node, dt, j0, j1, j2);
-	if (nearZero(j0 + j2 - j1 * 2.0))
-	{
-		btScalar lt0, lt1;
-		bool bt0 = true, bt1 = true;
-		getSigns(false, k0, k1, k2, k3, j0, j2, lt0, lt1);
-		if (lt0 < -SAFE_EPSILON)
-			bt0 = false;
-		if (lt1 < -SAFE_EPSILON)
-			bt1 = false;
-		if (!bt0 && !bt1)
-			return false;
-	}
-	else
-	{
-		polyDecomposition(k0, k1, k2, k3, j0, j1, j2, u0, u1, v0, v1);
-		if (!signDetermination2Internal(k0, k1, k2, k3, j0, j1, j2, u0, u1, v0, v1))
-			return false;
-	}
-	// p2
-	getJs(k0, k1, k2, k3, face->m_n[1], face->m_n[2], face->m_n[0], node, dt, j0, j1, j2);
-	if (nearZero(j0 + j2 - j1 * 2.0))
-	{
-		btScalar lt0, lt1;
-		bool bt0 = true, bt1 = true;
-		getSigns(false, k0, k1, k2, k3, j0, j2, lt0, lt1);
-		if (lt0 < -SAFE_EPSILON)
-			bt0 = false;
-		if (lt1 < -SAFE_EPSILON)
-			bt1 = false;
-		if (!bt0 && !bt1)
-			return false;
-	}
-	else
-	{
-		polyDecomposition(k0, k1, k2, k3, j0, j1, j2, u0, u1, v0, v1);
-		if (!signDetermination2Internal(k0, k1, k2, k3, j0, j1, j2, u0, u1, v0, v1))
-			return false;
-	}
-	// p3
-	getJs(k0, k1, k2, k3, face->m_n[2], face->m_n[0], face->m_n[1], node, dt, j0, j1, j2);
-	if (nearZero(j0 + j2 - j1 * 2.0))
-	{
-		btScalar lt0, lt1;
-		bool bt0 = true, bt1 = true;
-		getSigns(false, k0, k1, k2, k3, j0, j2, lt0, lt1);
-		if (lt0 < -SAFE_EPSILON)
-			bt0 = false;
-		if (lt1 < -SAFE_EPSILON)
-			bt1 = false;
-		if (!bt0 && !bt1)
-			return false;
-	}
-	else
-	{
-		polyDecomposition(k0, k1, k2, k3, j0, j1, j2, u0, u1, v0, v1);
-		if (!signDetermination2Internal(k0, k1, k2, k3, j0, j1, j2, u0, u1, v0, v1))
-			return false;
-	}
-	return true;
-}
-
-static SIMD_FORCE_INLINE bool coplanarAndInsideTest(const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3, const btSoftBody::Face* face, const btSoftBody::Node* node, const btScalar& dt)
-{
-	// Coplanar test
-	if (diffSign(k1 - k0, k3 - k2))
-	{
-		// Case b:
-		if (sameSign(k0, k3) && !rootFindingLemma(k0, k1, k2, k3))
-			return false;
-		// inside test
-		return signDetermination2(k0, k1, k2, k3, face, node, dt);
-	}
-	else
-	{
-		// Case c:
-		if (sameSign(k0, k3))
-			return false;
-		// inside test
-		return signDetermination1(k0, k1, k2, k3, face, node, dt);
-	}
-	return false;
-}
-static SIMD_FORCE_INLINE bool conservativeCulling(const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3, const btScalar& mrg)
-{
-	if (k0 > mrg && k1 > mrg && k2 > mrg && k3 > mrg)
-		return true;
-	if (k0 < -mrg && k1 < -mrg && k2 < -mrg && k3 < -mrg)
-		return true;
-	return false;
-}
-
-static SIMD_FORCE_INLINE bool bernsteinVFTest(const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3, const btScalar& mrg, const btSoftBody::Face* face, const btSoftBody::Node* node, const btScalar& dt)
-{
-	if (conservativeCulling(k0, k1, k2, k3, mrg))
-		return false;
-	return coplanarAndInsideTest(k0, k1, k2, k3, face, node, dt);
-}
-
-static SIMD_FORCE_INLINE void deCasteljau(const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3, const btScalar& t0, btScalar& k10, btScalar& k20, btScalar& k30, btScalar& k21, btScalar& k12)
-{
-	k10 = k0 * (1.0 - t0) + k1 * t0;
-	btScalar k11 = k1 * (1.0 - t0) + k2 * t0;
-	k12 = k2 * (1.0 - t0) + k3 * t0;
-	k20 = k10 * (1.0 - t0) + k11 * t0;
-	k21 = k11 * (1.0 - t0) + k12 * t0;
-	k30 = k20 * (1.0 - t0) + k21 * t0;
-}
-static SIMD_FORCE_INLINE bool bernsteinVFTest(const btSoftBody::Face* face, const btSoftBody::Node* node, const btScalar& dt, const btScalar& mrg)
-{
-	btScalar k0, k1, k2, k3;
-	getBernsteinCoeff(face, node, dt, k0, k1, k2, k3);
-	if (conservativeCulling(k0, k1, k2, k3, mrg))
-		return false;
-	return true;
-	if (diffSign(k2 - 2.0 * k1 + k0, k3 - 2.0 * k2 + k1))
-	{
-		btScalar k10, k20, k30, k21, k12;
-		btScalar t0 = (k2 - 2.0 * k1 + k0) / (k0 - 3.0 * k1 + 3.0 * k2 - k3);
-		deCasteljau(k0, k1, k2, k3, t0, k10, k20, k30, k21, k12);
-		return bernsteinVFTest(k0, k10, k20, k30, mrg, face, node, dt) || bernsteinVFTest(k30, k21, k12, k3, mrg, face, node, dt);
-	}
-	return coplanarAndInsideTest(k0, k1, k2, k3, face, node, dt);
-}
-
-static SIMD_FORCE_INLINE bool continuousCollisionDetection(const btSoftBody::Face* face, const btSoftBody::Node* node, const btScalar& dt, const btScalar& mrg, btVector3& bary)
-{
-	if (hasSeparatingPlane(face, node, dt))
-		return false;
-	btVector3 x21 = face->m_n[1]->m_x - face->m_n[0]->m_x;
-	btVector3 x31 = face->m_n[2]->m_x - face->m_n[0]->m_x;
-	btVector3 x41 = node->m_x - face->m_n[0]->m_x;
-	btVector3 v21 = face->m_n[1]->m_v - face->m_n[0]->m_v;
-	btVector3 v31 = face->m_n[2]->m_v - face->m_n[0]->m_v;
-	btVector3 v41 = node->m_v - face->m_n[0]->m_v;
-	btVector3 a = x21.cross(x31);
-	btVector3 b = x21.cross(v31) + v21.cross(x31);
-	btVector3 c = v21.cross(v31);
-	btVector3 d = x41;
-	btVector3 e = v41;
-	btScalar a0 = a.dot(d);
-	btScalar a1 = a.dot(e) + b.dot(d);
-	btScalar a2 = c.dot(d) + b.dot(e);
-	btScalar a3 = c.dot(e);
-	btScalar eps = SAFE_EPSILON;
-	int num_roots = 0;
-	btScalar roots[3];
-	if (std::abs(a3) < eps)
-	{
-		// cubic term is zero
-		if (std::abs(a2) < eps)
-		{
-			if (std::abs(a1) < eps)
-			{
-				if (std::abs(a0) < eps)
-				{
-					num_roots = 2;
-					roots[0] = 0;
-					roots[1] = dt;
-				}
-			}
-			else
-			{
-				num_roots = 1;
-				roots[0] = -a0 / a1;
-			}
-		}
-		else
-		{
-			num_roots = SolveP2(roots, a1 / a2, a0 / a2);
-		}
-	}
-	else
-	{
-		num_roots = SolveP3(roots, a2 / a3, a1 / a3, a0 / a3);
-	}
-	//    std::sort(roots, roots+num_roots);
-	if (num_roots > 1)
-	{
-		if (roots[0] > roots[1])
-			btSwap(roots[0], roots[1]);
-	}
-	if (num_roots > 2)
-	{
-		if (roots[0] > roots[2])
-			btSwap(roots[0], roots[2]);
-		if (roots[1] > roots[2])
-			btSwap(roots[1], roots[2]);
-	}
-	for (int r = 0; r < num_roots; ++r)
-	{
-		double root = roots[r];
-		if (root <= 0)
-			continue;
-		if (root > dt + SIMD_EPSILON)
-			return false;
-		btVector3 x1 = face->m_n[0]->m_x + root * face->m_n[0]->m_v;
-		btVector3 x2 = face->m_n[1]->m_x + root * face->m_n[1]->m_v;
-		btVector3 x3 = face->m_n[2]->m_x + root * face->m_n[2]->m_v;
-		btVector3 x4 = node->m_x + root * node->m_v;
-		btVector3 normal = (x2 - x1).cross(x3 - x1);
-		normal.safeNormalize();
-		if (proximityTest(x1, x2, x3, x4, normal, mrg, bary))
-			return true;
-	}
-	return false;
-}
-static SIMD_FORCE_INLINE bool bernsteinCCD(const btSoftBody::Face* face, const btSoftBody::Node* node, const btScalar& dt, const btScalar& mrg, btVector3& bary)
-{
-	if (!bernsteinVFTest(face, node, dt, mrg))
-		return false;
-	if (!continuousCollisionDetection(face, node, dt, 1e-6, bary))
-		return false;
-	return true;
-}
-
-//
-// btSymMatrix
-//
-template <typename T>
-struct btSymMatrix
-{
-	btSymMatrix() : dim(0) {}
-	btSymMatrix(int n, const T& init = T()) { resize(n, init); }
-	void resize(int n, const T& init = T())
-	{
-		dim = n;
-		store.resize((n * (n + 1)) / 2, init);
-	}
-	int index(int c, int r) const
-	{
-		if (c > r) btSwap(c, r);
-		btAssert(r < dim);
-		return ((r * (r + 1)) / 2 + c);
-	}
-	T& operator()(int c, int r) { return (store[index(c, r)]); }
-	const T& operator()(int c, int r) const { return (store[index(c, r)]); }
-	btAlignedObjectArray<T> store;
-	int dim;
-};
-
-//
-// btSoftBodyCollisionShape
-//
-class btSoftBodyCollisionShape : public btConcaveShape
-{
-public:
-	btSoftBody* m_body;
-
-	btSoftBodyCollisionShape(btSoftBody* backptr)
-	{
-		m_shapeType = SOFTBODY_SHAPE_PROXYTYPE;
-		m_body = backptr;
-	}
-
-	virtual ~btSoftBodyCollisionShape()
-	{
-	}
-
-	void processAllTriangles(btTriangleCallback* /*callback*/, const btVector3& /*aabbMin*/, const btVector3& /*aabbMax*/) const
-	{
-		//not yet
-		btAssert(0);
-	}
-
-	///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
-	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-	{
-		/* t is usually identity, except when colliding against btCompoundShape. See Issue 512 */
-		const btVector3 mins = m_body->m_bounds[0];
-		const btVector3 maxs = m_body->m_bounds[1];
-		const btVector3 crns[] = {t * btVector3(mins.x(), mins.y(), mins.z()),
-								  t * btVector3(maxs.x(), mins.y(), mins.z()),
-								  t * btVector3(maxs.x(), maxs.y(), mins.z()),
-								  t * btVector3(mins.x(), maxs.y(), mins.z()),
-								  t * btVector3(mins.x(), mins.y(), maxs.z()),
-								  t * btVector3(maxs.x(), mins.y(), maxs.z()),
-								  t * btVector3(maxs.x(), maxs.y(), maxs.z()),
-								  t * btVector3(mins.x(), maxs.y(), maxs.z())};
-		aabbMin = aabbMax = crns[0];
-		for (int i = 1; i < 8; ++i)
-		{
-			aabbMin.setMin(crns[i]);
-			aabbMax.setMax(crns[i]);
-		}
-	}
-
-	virtual void setLocalScaling(const btVector3& /*scaling*/)
-	{
-		///na
-	}
-	virtual const btVector3& getLocalScaling() const
-	{
-		static const btVector3 dummy(1, 1, 1);
-		return dummy;
-	}
-	virtual void calculateLocalInertia(btScalar /*mass*/, btVector3& /*inertia*/) const
-	{
-		///not yet
-		btAssert(0);
-	}
-	virtual const char* getName() const
-	{
-		return "SoftBody";
-	}
-};
-
-//
-// btSoftClusterCollisionShape
-//
-class btSoftClusterCollisionShape : public btConvexInternalShape
-{
-public:
-	const btSoftBody::Cluster* m_cluster;
-
-	btSoftClusterCollisionShape(const btSoftBody::Cluster* cluster) : m_cluster(cluster) { setMargin(0); }
-
-	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
-	{
-		btSoftBody::Node* const* n = &m_cluster->m_nodes[0];
-		btScalar d = btDot(vec, n[0]->m_x);
-		int j = 0;
-		for (int i = 1, ni = m_cluster->m_nodes.size(); i < ni; ++i)
-		{
-			const btScalar k = btDot(vec, n[i]->m_x);
-			if (k > d)
-			{
-				d = k;
-				j = i;
-			}
-		}
-		return (n[j]->m_x);
-	}
-	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const
-	{
-		return (localGetSupportingVertex(vec));
-	}
-	//notice that the vectors should be unit length
-	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-	{
-	}
-
-	virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const
-	{
-	}
-
-	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-	{
-	}
-
-	virtual int getShapeType() const { return SOFTBODY_SHAPE_PROXYTYPE; }
-
-	//debugging
-	virtual const char* getName() const { return "SOFTCLUSTER"; }
-
-	virtual void setMargin(btScalar margin)
-	{
-		btConvexInternalShape::setMargin(margin);
-	}
-	virtual btScalar getMargin() const
-	{
-		return btConvexInternalShape::getMargin();
-	}
-};
-
-//
-// Inline's
-//
-
-//
-template <typename T>
-static inline void ZeroInitialize(T& value)
-{
-	memset(&value, 0, sizeof(T));
-}
-//
-template <typename T>
-static inline bool CompLess(const T& a, const T& b)
-{
-	return (a < b);
-}
-//
-template <typename T>
-static inline bool CompGreater(const T& a, const T& b)
-{
-	return (a > b);
-}
-//
-template <typename T>
-static inline T Lerp(const T& a, const T& b, btScalar t)
-{
-	return (a + (b - a) * t);
-}
-//
-template <typename T>
-static inline T InvLerp(const T& a, const T& b, btScalar t)
-{
-	return ((b + a * t - b * t) / (a * b));
-}
-//
-static inline btMatrix3x3 Lerp(const btMatrix3x3& a,
-							   const btMatrix3x3& b,
-							   btScalar t)
-{
-	btMatrix3x3 r;
-	r[0] = Lerp(a[0], b[0], t);
-	r[1] = Lerp(a[1], b[1], t);
-	r[2] = Lerp(a[2], b[2], t);
-	return (r);
-}
-//
-static inline btVector3 Clamp(const btVector3& v, btScalar maxlength)
-{
-	const btScalar sql = v.length2();
-	if (sql > (maxlength * maxlength))
-		return ((v * maxlength) / btSqrt(sql));
-	else
-		return (v);
-}
-//
-template <typename T>
-static inline T Clamp(const T& x, const T& l, const T& h)
-{
-	return (x < l ? l : x > h ? h : x);
-}
-//
-template <typename T>
-static inline T Sq(const T& x)
-{
-	return (x * x);
-}
-//
-template <typename T>
-static inline T Cube(const T& x)
-{
-	return (x * x * x);
-}
-//
-template <typename T>
-static inline T Sign(const T& x)
-{
-	return ((T)(x < 0 ? -1 : +1));
-}
-//
-template <typename T>
-static inline bool SameSign(const T& x, const T& y)
-{
-	return ((x * y) > 0);
-}
-//
-static inline btScalar ClusterMetric(const btVector3& x, const btVector3& y)
-{
-	const btVector3 d = x - y;
-	return (btFabs(d[0]) + btFabs(d[1]) + btFabs(d[2]));
-}
-//
-static inline btMatrix3x3 ScaleAlongAxis(const btVector3& a, btScalar s)
-{
-	const btScalar xx = a.x() * a.x();
-	const btScalar yy = a.y() * a.y();
-	const btScalar zz = a.z() * a.z();
-	const btScalar xy = a.x() * a.y();
-	const btScalar yz = a.y() * a.z();
-	const btScalar zx = a.z() * a.x();
-	btMatrix3x3 m;
-	m[0] = btVector3(1 - xx + xx * s, xy * s - xy, zx * s - zx);
-	m[1] = btVector3(xy * s - xy, 1 - yy + yy * s, yz * s - yz);
-	m[2] = btVector3(zx * s - zx, yz * s - yz, 1 - zz + zz * s);
-	return (m);
-}
-//
-static inline btMatrix3x3 Cross(const btVector3& v)
-{
-	btMatrix3x3 m;
-	m[0] = btVector3(0, -v.z(), +v.y());
-	m[1] = btVector3(+v.z(), 0, -v.x());
-	m[2] = btVector3(-v.y(), +v.x(), 0);
-	return (m);
-}
-//
-static inline btMatrix3x3 Diagonal(btScalar x)
-{
-	btMatrix3x3 m;
-	m[0] = btVector3(x, 0, 0);
-	m[1] = btVector3(0, x, 0);
-	m[2] = btVector3(0, 0, x);
-	return (m);
-}
-
-static inline btMatrix3x3 Diagonal(const btVector3& v)
-{
-	btMatrix3x3 m;
-	m[0] = btVector3(v.getX(), 0, 0);
-	m[1] = btVector3(0, v.getY(), 0);
-	m[2] = btVector3(0, 0, v.getZ());
-	return (m);
-}
-
-static inline btScalar Dot(const btScalar* a, const btScalar* b, int ndof)
-{
-	btScalar result = 0;
-	for (int i = 0; i < ndof; ++i)
-		result += a[i] * b[i];
-	return result;
-}
-
-static inline btMatrix3x3 OuterProduct(const btScalar* v1, const btScalar* v2, const btScalar* v3,
-									   const btScalar* u1, const btScalar* u2, const btScalar* u3, int ndof)
-{
-	btMatrix3x3 m;
-	btScalar a11 = Dot(v1, u1, ndof);
-	btScalar a12 = Dot(v1, u2, ndof);
-	btScalar a13 = Dot(v1, u3, ndof);
-
-	btScalar a21 = Dot(v2, u1, ndof);
-	btScalar a22 = Dot(v2, u2, ndof);
-	btScalar a23 = Dot(v2, u3, ndof);
-
-	btScalar a31 = Dot(v3, u1, ndof);
-	btScalar a32 = Dot(v3, u2, ndof);
-	btScalar a33 = Dot(v3, u3, ndof);
-	m[0] = btVector3(a11, a12, a13);
-	m[1] = btVector3(a21, a22, a23);
-	m[2] = btVector3(a31, a32, a33);
-	return (m);
-}
-
-static inline btMatrix3x3 OuterProduct(const btVector3& v1, const btVector3& v2)
-{
-	btMatrix3x3 m;
-	btScalar a11 = v1[0] * v2[0];
-	btScalar a12 = v1[0] * v2[1];
-	btScalar a13 = v1[0] * v2[2];
-
-	btScalar a21 = v1[1] * v2[0];
-	btScalar a22 = v1[1] * v2[1];
-	btScalar a23 = v1[1] * v2[2];
-
-	btScalar a31 = v1[2] * v2[0];
-	btScalar a32 = v1[2] * v2[1];
-	btScalar a33 = v1[2] * v2[2];
-	m[0] = btVector3(a11, a12, a13);
-	m[1] = btVector3(a21, a22, a23);
-	m[2] = btVector3(a31, a32, a33);
-	return (m);
-}
-
-//
-static inline btMatrix3x3 Add(const btMatrix3x3& a,
-							  const btMatrix3x3& b)
-{
-	btMatrix3x3 r;
-	for (int i = 0; i < 3; ++i) r[i] = a[i] + b[i];
-	return (r);
-}
-//
-static inline btMatrix3x3 Sub(const btMatrix3x3& a,
-							  const btMatrix3x3& b)
-{
-	btMatrix3x3 r;
-	for (int i = 0; i < 3; ++i) r[i] = a[i] - b[i];
-	return (r);
-}
-//
-static inline btMatrix3x3 Mul(const btMatrix3x3& a,
-							  btScalar b)
-{
-	btMatrix3x3 r;
-	for (int i = 0; i < 3; ++i) r[i] = a[i] * b;
-	return (r);
-}
-//
-static inline void Orthogonalize(btMatrix3x3& m)
-{
-	m[2] = btCross(m[0], m[1]).normalized();
-	m[1] = btCross(m[2], m[0]).normalized();
-	m[0] = btCross(m[1], m[2]).normalized();
-}
-//
-static inline btMatrix3x3 MassMatrix(btScalar im, const btMatrix3x3& iwi, const btVector3& r)
-{
-	const btMatrix3x3 cr = Cross(r);
-	return (Sub(Diagonal(im), cr * iwi * cr));
-}
-
-//
-static inline btMatrix3x3 ImpulseMatrix(btScalar dt,
-										btScalar ima,
-										btScalar imb,
-										const btMatrix3x3& iwi,
-										const btVector3& r)
-{
-	return (Diagonal(1 / dt) * Add(Diagonal(ima), MassMatrix(imb, iwi, r)).inverse());
-}
-
-//
-static inline btMatrix3x3 ImpulseMatrix(btScalar dt,
-										const btMatrix3x3& effective_mass_inv,
-										btScalar imb,
-										const btMatrix3x3& iwi,
-										const btVector3& r)
-{
-	return (Diagonal(1 / dt) * Add(effective_mass_inv, MassMatrix(imb, iwi, r)).inverse());
-	//    btMatrix3x3 iimb = MassMatrix(imb, iwi, r);
-	//    if (iimb.determinant() == 0)
-	//        return effective_mass_inv.inverse();
-	//    return effective_mass_inv.inverse() *  Add(effective_mass_inv.inverse(), iimb.inverse()).inverse() * iimb.inverse();
-}
-
-//
-static inline btMatrix3x3 ImpulseMatrix(btScalar ima, const btMatrix3x3& iia, const btVector3& ra,
-										btScalar imb, const btMatrix3x3& iib, const btVector3& rb)
-{
-	return (Add(MassMatrix(ima, iia, ra), MassMatrix(imb, iib, rb)).inverse());
-}
-
-//
-static inline btMatrix3x3 AngularImpulseMatrix(const btMatrix3x3& iia,
-											   const btMatrix3x3& iib)
-{
-	return (Add(iia, iib).inverse());
-}
-
-//
-static inline btVector3 ProjectOnAxis(const btVector3& v,
-									  const btVector3& a)
-{
-	return (a * btDot(v, a));
-}
-//
-static inline btVector3 ProjectOnPlane(const btVector3& v,
-									   const btVector3& a)
-{
-	return (v - ProjectOnAxis(v, a));
-}
-
-//
-static inline void ProjectOrigin(const btVector3& a,
-								 const btVector3& b,
-								 btVector3& prj,
-								 btScalar& sqd)
-{
-	const btVector3 d = b - a;
-	const btScalar m2 = d.length2();
-	if (m2 > SIMD_EPSILON)
-	{
-		const btScalar t = Clamp<btScalar>(-btDot(a, d) / m2, 0, 1);
-		const btVector3 p = a + d * t;
-		const btScalar l2 = p.length2();
-		if (l2 < sqd)
-		{
-			prj = p;
-			sqd = l2;
-		}
-	}
-}
-//
-static inline void ProjectOrigin(const btVector3& a,
-								 const btVector3& b,
-								 const btVector3& c,
-								 btVector3& prj,
-								 btScalar& sqd)
-{
-	const btVector3& q = btCross(b - a, c - a);
-	const btScalar m2 = q.length2();
-	if (m2 > SIMD_EPSILON)
-	{
-		const btVector3 n = q / btSqrt(m2);
-		const btScalar k = btDot(a, n);
-		const btScalar k2 = k * k;
-		if (k2 < sqd)
-		{
-			const btVector3 p = n * k;
-			if ((btDot(btCross(a - p, b - p), q) > 0) &&
-				(btDot(btCross(b - p, c - p), q) > 0) &&
-				(btDot(btCross(c - p, a - p), q) > 0))
-			{
-				prj = p;
-				sqd = k2;
-			}
-			else
-			{
-				ProjectOrigin(a, b, prj, sqd);
-				ProjectOrigin(b, c, prj, sqd);
-				ProjectOrigin(c, a, prj, sqd);
-			}
-		}
-	}
-}
-
-//
-static inline bool rayIntersectsTriangle(const btVector3& origin, const btVector3& dir, const btVector3& v0, const btVector3& v1, const btVector3& v2, btScalar& t)
-{
-	btScalar a, f, u, v;
-
-	btVector3 e1 = v1 - v0;
-	btVector3 e2 = v2 - v0;
-	btVector3 h = dir.cross(e2);
-	a = e1.dot(h);
-
-	if (a > -0.00001 && a < 0.00001)
-		return (false);
-
-	f = btScalar(1) / a;
-	btVector3 s = origin - v0;
-	u = f * s.dot(h);
-
-	if (u < 0.0 || u > 1.0)
-		return (false);
-
-	btVector3 q = s.cross(e1);
-	v = f * dir.dot(q);
-	if (v < 0.0 || u + v > 1.0)
-		return (false);
-	// at this stage we can compute t to find out where
-	// the intersection point is on the line
-	t = f * e2.dot(q);
-	if (t > 0)  // ray intersection
-		return (true);
-	else  // this means that there is a line intersection
-		// but not a ray intersection
-		return (false);
-}
-
-static inline bool lineIntersectsTriangle(const btVector3& rayStart, const btVector3& rayEnd, const btVector3& p1, const btVector3& p2, const btVector3& p3, btVector3& sect, btVector3& normal)
-{
-	btVector3 dir = rayEnd - rayStart;
-	btScalar dir_norm = dir.norm();
-	if (dir_norm < SIMD_EPSILON)
-		return false;
-	dir.normalize();
-	btScalar t;
-	bool ret = rayIntersectsTriangle(rayStart, dir, p1, p2, p3, t);
-
-	if (ret)
-	{
-		if (t <= dir_norm)
-		{
-			sect = rayStart + dir * t;
-		}
-		else
-		{
-			ret = false;
-		}
-	}
-
-	if (ret)
-	{
-		btVector3 n = (p3 - p1).cross(p2 - p1);
-		n.safeNormalize();
-		if (n.dot(dir) < 0)
-			normal = n;
-		else
-			normal = -n;
-	}
-	return ret;
-}
-
-//
-template <typename T>
-static inline T BaryEval(const T& a,
-						 const T& b,
-						 const T& c,
-						 const btVector3& coord)
-{
-	return (a * coord.x() + b * coord.y() + c * coord.z());
-}
-//
-static inline btVector3 BaryCoord(const btVector3& a,
-								  const btVector3& b,
-								  const btVector3& c,
-								  const btVector3& p)
-{
-	const btScalar w[] = {btCross(a - p, b - p).length(),
-						  btCross(b - p, c - p).length(),
-						  btCross(c - p, a - p).length()};
-	const btScalar isum = 1 / (w[0] + w[1] + w[2]);
-	return (btVector3(w[1] * isum, w[2] * isum, w[0] * isum));
-}
-
-//
-inline static btScalar ImplicitSolve(btSoftBody::ImplicitFn* fn,
-									 const btVector3& a,
-									 const btVector3& b,
-									 const btScalar accuracy,
-									 const int maxiterations = 256)
-{
-	btScalar span[2] = {0, 1};
-	btScalar values[2] = {fn->Eval(a), fn->Eval(b)};
-	if (values[0] > values[1])
-	{
-		btSwap(span[0], span[1]);
-		btSwap(values[0], values[1]);
-	}
-	if (values[0] > -accuracy) return (-1);
-	if (values[1] < +accuracy) return (-1);
-	for (int i = 0; i < maxiterations; ++i)
-	{
-		const btScalar t = Lerp(span[0], span[1], values[0] / (values[0] - values[1]));
-		const btScalar v = fn->Eval(Lerp(a, b, t));
-		if ((t <= 0) || (t >= 1)) break;
-		if (btFabs(v) < accuracy) return (t);
-		if (v < 0)
-		{
-			span[0] = t;
-			values[0] = v;
-		}
-		else
-		{
-			span[1] = t;
-			values[1] = v;
-		}
-	}
-	return (-1);
-}
-
-inline static void EvaluateMedium(const btSoftBodyWorldInfo* wfi,
-								  const btVector3& x,
-								  btSoftBody::sMedium& medium)
-{
-	medium.m_velocity = btVector3(0, 0, 0);
-	medium.m_pressure = 0;
-	medium.m_density = wfi->air_density;
-	if (wfi->water_density > 0)
-	{
-		const btScalar depth = -(btDot(x, wfi->water_normal) + wfi->water_offset);
-		if (depth > 0)
-		{
-			medium.m_density = wfi->water_density;
-			medium.m_pressure = depth * wfi->water_density * wfi->m_gravity.length();
-		}
-	}
-}
-
-//
-static inline btVector3 NormalizeAny(const btVector3& v)
-{
-	const btScalar l = v.length();
-	if (l > SIMD_EPSILON)
-		return (v / l);
-	else
-		return (btVector3(0, 0, 0));
-}
-
-//
-static inline btDbvtVolume VolumeOf(const btSoftBody::Face& f,
-									btScalar margin)
-{
-	const btVector3* pts[] = {&f.m_n[0]->m_x,
-							  &f.m_n[1]->m_x,
-							  &f.m_n[2]->m_x};
-	btDbvtVolume vol = btDbvtVolume::FromPoints(pts, 3);
-	vol.Expand(btVector3(margin, margin, margin));
-	return (vol);
-}
-
-//
-static inline btVector3 CenterOf(const btSoftBody::Face& f)
-{
-	return ((f.m_n[0]->m_x + f.m_n[1]->m_x + f.m_n[2]->m_x) / 3);
-}
-
-//
-static inline btScalar AreaOf(const btVector3& x0,
-							  const btVector3& x1,
-							  const btVector3& x2)
-{
-	const btVector3 a = x1 - x0;
-	const btVector3 b = x2 - x0;
-	const btVector3 cr = btCross(a, b);
-	const btScalar area = cr.length();
-	return (area);
-}
-
-//
-static inline btScalar VolumeOf(const btVector3& x0,
-								const btVector3& x1,
-								const btVector3& x2,
-								const btVector3& x3)
-{
-	const btVector3 a = x1 - x0;
-	const btVector3 b = x2 - x0;
-	const btVector3 c = x3 - x0;
-	return (btDot(a, btCross(b, c)));
-}
-
-//
-
-//
-static inline void ApplyClampedForce(btSoftBody::Node& n,
-									 const btVector3& f,
-									 btScalar dt)
-{
-	const btScalar dtim = dt * n.m_im;
-	if ((f * dtim).length2() > n.m_v.length2())
-	{ /* Clamp	*/
-		n.m_f -= ProjectOnAxis(n.m_v, f.normalized()) / dtim;
-	}
-	else
-	{ /* Apply	*/
-		n.m_f += f;
-	}
-}
-
-//
-static inline int MatchEdge(const btSoftBody::Node* a,
-							const btSoftBody::Node* b,
-							const btSoftBody::Node* ma,
-							const btSoftBody::Node* mb)
-{
-	if ((a == ma) && (b == mb)) return (0);
-	if ((a == mb) && (b == ma)) return (1);
-	return (-1);
-}
-
-//
-// btEigen : Extract eigen system,
-// straitforward implementation of http://math.fullerton.edu/mathews/n2003/JacobiMethodMod.html
-// outputs are NOT sorted.
-//
-struct btEigen
-{
-	static int system(btMatrix3x3& a, btMatrix3x3* vectors, btVector3* values = 0)
-	{
-		static const int maxiterations = 16;
-		static const btScalar accuracy = (btScalar)0.0001;
-		btMatrix3x3& v = *vectors;
-		int iterations = 0;
-		vectors->setIdentity();
-		do
-		{
-			int p = 0, q = 1;
-			if (btFabs(a[p][q]) < btFabs(a[0][2]))
-			{
-				p = 0;
-				q = 2;
-			}
-			if (btFabs(a[p][q]) < btFabs(a[1][2]))
-			{
-				p = 1;
-				q = 2;
-			}
-			if (btFabs(a[p][q]) > accuracy)
-			{
-				const btScalar w = (a[q][q] - a[p][p]) / (2 * a[p][q]);
-				const btScalar z = btFabs(w);
-				const btScalar t = w / (z * (btSqrt(1 + w * w) + z));
-				if (t == t) /* [WARNING] let hope that one does not get thrown aways by some compilers... */
-				{
-					const btScalar c = 1 / btSqrt(t * t + 1);
-					const btScalar s = c * t;
-					mulPQ(a, c, s, p, q);
-					mulTPQ(a, c, s, p, q);
-					mulPQ(v, c, s, p, q);
-				}
-				else
-					break;
-			}
-			else
-				break;
-		} while ((++iterations) < maxiterations);
-		if (values)
-		{
-			*values = btVector3(a[0][0], a[1][1], a[2][2]);
-		}
-		return (iterations);
-	}
-
-private:
-	static inline void mulTPQ(btMatrix3x3& a, btScalar c, btScalar s, int p, int q)
-	{
-		const btScalar m[2][3] = {{a[p][0], a[p][1], a[p][2]},
-								  {a[q][0], a[q][1], a[q][2]}};
-		int i;
-
-		for (i = 0; i < 3; ++i) a[p][i] = c * m[0][i] - s * m[1][i];
-		for (i = 0; i < 3; ++i) a[q][i] = c * m[1][i] + s * m[0][i];
-	}
-	static inline void mulPQ(btMatrix3x3& a, btScalar c, btScalar s, int p, int q)
-	{
-		const btScalar m[2][3] = {{a[0][p], a[1][p], a[2][p]},
-								  {a[0][q], a[1][q], a[2][q]}};
-		int i;
-
-		for (i = 0; i < 3; ++i) a[i][p] = c * m[0][i] - s * m[1][i];
-		for (i = 0; i < 3; ++i) a[i][q] = c * m[1][i] + s * m[0][i];
-	}
-};
-
-//
-// Polar decomposition,
-// "Computing the Polar Decomposition with Applications", Nicholas J. Higham, 1986.
-//
-static inline int PolarDecompose(const btMatrix3x3& m, btMatrix3x3& q, btMatrix3x3& s)
-{
-	static const btPolarDecomposition polar;
-	return polar.decompose(m, q, s);
-}
-
-//
-// btSoftColliders
-//
-struct btSoftColliders
-{
-	//
-	// ClusterBase
-	//
-	struct ClusterBase : btDbvt::ICollide
-	{
-		btScalar erp;
-		btScalar idt;
-		btScalar m_margin;
-		btScalar friction;
-		btScalar threshold;
-		ClusterBase()
-		{
-			erp = (btScalar)1;
-			idt = 0;
-			m_margin = 0;
-			friction = 0;
-			threshold = (btScalar)0;
-		}
-		bool SolveContact(const btGjkEpaSolver2::sResults& res,
-						  btSoftBody::Body ba, const btSoftBody::Body bb,
-						  btSoftBody::CJoint& joint)
-		{
-			if (res.distance < m_margin)
-			{
-				btVector3 norm = res.normal;
-				norm.normalize();  //is it necessary?
-
-				const btVector3 ra = res.witnesses[0] - ba.xform().getOrigin();
-				const btVector3 rb = res.witnesses[1] - bb.xform().getOrigin();
-				const btVector3 va = ba.velocity(ra);
-				const btVector3 vb = bb.velocity(rb);
-				const btVector3 vrel = va - vb;
-				const btScalar rvac = btDot(vrel, norm);
-				btScalar depth = res.distance - m_margin;
-
-				//				printf("depth=%f\n",depth);
-				const btVector3 iv = norm * rvac;
-				const btVector3 fv = vrel - iv;
-				joint.m_bodies[0] = ba;
-				joint.m_bodies[1] = bb;
-				joint.m_refs[0] = ra * ba.xform().getBasis();
-				joint.m_refs[1] = rb * bb.xform().getBasis();
-				joint.m_rpos[0] = ra;
-				joint.m_rpos[1] = rb;
-				joint.m_cfm = 1;
-				joint.m_erp = 1;
-				joint.m_life = 0;
-				joint.m_maxlife = 0;
-				joint.m_split = 1;
-
-				joint.m_drift = depth * norm;
-
-				joint.m_normal = norm;
-				//				printf("normal=%f,%f,%f\n",res.normal.getX(),res.normal.getY(),res.normal.getZ());
-				joint.m_delete = false;
-				joint.m_friction = fv.length2() < (rvac * friction * rvac * friction) ? 1 : friction;
-				joint.m_massmatrix = ImpulseMatrix(ba.invMass(), ba.invWorldInertia(), joint.m_rpos[0],
-												   bb.invMass(), bb.invWorldInertia(), joint.m_rpos[1]);
-
-				return (true);
-			}
-			return (false);
-		}
-	};
-	//
-	// CollideCL_RS
-	//
-	struct CollideCL_RS : ClusterBase
-	{
-		btSoftBody* psb;
-		const btCollisionObjectWrapper* m_colObjWrap;
-
-		void Process(const btDbvtNode* leaf)
-		{
-			btSoftBody::Cluster* cluster = (btSoftBody::Cluster*)leaf->data;
-			btSoftClusterCollisionShape cshape(cluster);
-
-			const btConvexShape* rshape = (const btConvexShape*)m_colObjWrap->getCollisionShape();
-
-			///don't collide an anchored cluster with a static/kinematic object
-			if (m_colObjWrap->getCollisionObject()->isStaticOrKinematicObject() && cluster->m_containsAnchor)
-				return;
-
-			btGjkEpaSolver2::sResults res;
-			if (btGjkEpaSolver2::SignedDistance(&cshape, btTransform::getIdentity(),
-												rshape, m_colObjWrap->getWorldTransform(),
-												btVector3(1, 0, 0), res))
-			{
-				btSoftBody::CJoint joint;
-				if (SolveContact(res, cluster, m_colObjWrap->getCollisionObject(), joint))  //prb,joint))
-				{
-					btSoftBody::CJoint* pj = new (btAlignedAlloc(sizeof(btSoftBody::CJoint), 16)) btSoftBody::CJoint();
-					*pj = joint;
-					psb->m_joints.push_back(pj);
-					if (m_colObjWrap->getCollisionObject()->isStaticOrKinematicObject())
-					{
-						pj->m_erp *= psb->m_cfg.kSKHR_CL;
-						pj->m_split *= psb->m_cfg.kSK_SPLT_CL;
-					}
-					else
-					{
-						pj->m_erp *= psb->m_cfg.kSRHR_CL;
-						pj->m_split *= psb->m_cfg.kSR_SPLT_CL;
-					}
-				}
-			}
-		}
-		void ProcessColObj(btSoftBody* ps, const btCollisionObjectWrapper* colObWrap)
-		{
-			psb = ps;
-			m_colObjWrap = colObWrap;
-			idt = ps->m_sst.isdt;
-			m_margin = m_colObjWrap->getCollisionShape()->getMargin() + psb->getCollisionShape()->getMargin();
-			///Bullet rigid body uses multiply instead of minimum to determine combined friction. Some customization would be useful.
-			friction = btMin(psb->m_cfg.kDF, m_colObjWrap->getCollisionObject()->getFriction());
-			btVector3 mins;
-			btVector3 maxs;
-
-			ATTRIBUTE_ALIGNED16(btDbvtVolume)
-			volume;
-			colObWrap->getCollisionShape()->getAabb(colObWrap->getWorldTransform(), mins, maxs);
-			volume = btDbvtVolume::FromMM(mins, maxs);
-			volume.Expand(btVector3(1, 1, 1) * m_margin);
-			ps->m_cdbvt.collideTV(ps->m_cdbvt.m_root, volume, *this);
-		}
-	};
-	//
-	// CollideCL_SS
-	//
-	struct CollideCL_SS : ClusterBase
-	{
-		btSoftBody* bodies[2];
-		void Process(const btDbvtNode* la, const btDbvtNode* lb)
-		{
-			btSoftBody::Cluster* cla = (btSoftBody::Cluster*)la->data;
-			btSoftBody::Cluster* clb = (btSoftBody::Cluster*)lb->data;
-
-			bool connected = false;
-			if ((bodies[0] == bodies[1]) && (bodies[0]->m_clusterConnectivity.size()))
-			{
-				connected = bodies[0]->m_clusterConnectivity[cla->m_clusterIndex + bodies[0]->m_clusters.size() * clb->m_clusterIndex];
-			}
-
-			if (!connected)
-			{
-				btSoftClusterCollisionShape csa(cla);
-				btSoftClusterCollisionShape csb(clb);
-				btGjkEpaSolver2::sResults res;
-				if (btGjkEpaSolver2::SignedDistance(&csa, btTransform::getIdentity(),
-													&csb, btTransform::getIdentity(),
-													cla->m_com - clb->m_com, res))
-				{
-					btSoftBody::CJoint joint;
-					if (SolveContact(res, cla, clb, joint))
-					{
-						btSoftBody::CJoint* pj = new (btAlignedAlloc(sizeof(btSoftBody::CJoint), 16)) btSoftBody::CJoint();
-						*pj = joint;
-						bodies[0]->m_joints.push_back(pj);
-						pj->m_erp *= btMax(bodies[0]->m_cfg.kSSHR_CL, bodies[1]->m_cfg.kSSHR_CL);
-						pj->m_split *= (bodies[0]->m_cfg.kSS_SPLT_CL + bodies[1]->m_cfg.kSS_SPLT_CL) / 2;
-					}
-				}
-			}
-			else
-			{
-				static int count = 0;
-				count++;
-				//printf("count=%d\n",count);
-			}
-		}
-		void ProcessSoftSoft(btSoftBody* psa, btSoftBody* psb)
-		{
-			idt = psa->m_sst.isdt;
-			//m_margin		=	(psa->getCollisionShape()->getMargin()+psb->getCollisionShape()->getMargin())/2;
-			m_margin = (psa->getCollisionShape()->getMargin() + psb->getCollisionShape()->getMargin());
-			friction = btMin(psa->m_cfg.kDF, psb->m_cfg.kDF);
-			bodies[0] = psa;
-			bodies[1] = psb;
-			psa->m_cdbvt.collideTT(psa->m_cdbvt.m_root, psb->m_cdbvt.m_root, *this);
-		}
-	};
-	//
-	// CollideSDF_RS
-	//
-	struct CollideSDF_RS : btDbvt::ICollide
-	{
-		void Process(const btDbvtNode* leaf)
-		{
-			btSoftBody::Node* node = (btSoftBody::Node*)leaf->data;
-			DoNode(*node);
-		}
-		void DoNode(btSoftBody::Node& n) const
-		{
-			const btScalar m = n.m_im > 0 ? dynmargin : stamargin;
-			btSoftBody::RContact c;
-
-			if ((!n.m_battach) &&
-				psb->checkContact(m_colObj1Wrap, n.m_x, m, c.m_cti))
-			{
-				const btScalar ima = n.m_im;
-				const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f;
-				const btScalar ms = ima + imb;
-				if (ms > 0)
-				{
-					const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform();
-					static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0);
-					const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic;
-					const btVector3 ra = n.m_x - wtr.getOrigin();
-					const btVector3 va = m_rigidBody ? m_rigidBody->getVelocityInLocalPoint(ra) * psb->m_sst.sdt : btVector3(0, 0, 0);
-					const btVector3 vb = n.m_x - n.m_q;
-					const btVector3 vr = vb - va;
-					const btScalar dn = btDot(vr, c.m_cti.m_normal);
-					const btVector3 fv = vr - c.m_cti.m_normal * dn;
-					const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction();
-					c.m_node = &n;
-					c.m_c0 = ImpulseMatrix(psb->m_sst.sdt, ima, imb, iwi, ra);
-					c.m_c1 = ra;
-					c.m_c2 = ima * psb->m_sst.sdt;
-					c.m_c3 = fv.length2() < (dn * fc * dn * fc) ? 0 : 1 - fc;
-					c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR;
-					psb->m_rcontacts.push_back(c);
-					if (m_rigidBody)
-						m_rigidBody->activate();
-				}
-			}
-		}
-		btSoftBody* psb;
-		const btCollisionObjectWrapper* m_colObj1Wrap;
-		btRigidBody* m_rigidBody;
-		btScalar dynmargin;
-		btScalar stamargin;
-	};
-
-	//
-	// CollideSDF_RD
-	//
-	struct CollideSDF_RD : btDbvt::ICollide
-	{
-		void Process(const btDbvtNode* leaf)
-		{
-			btSoftBody::Node* node = (btSoftBody::Node*)leaf->data;
-			DoNode(*node);
-		}
-		void DoNode(btSoftBody::Node& n) const
-		{
-			const btScalar m = n.m_im > 0 ? dynmargin : stamargin;
-			btSoftBody::DeformableNodeRigidContact c;
-
-			if (!n.m_battach)
-			{
-				// check for collision at x_{n+1}^*
-				if (psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ true))
-				{
-					const btScalar ima = n.m_im;
-					// todo: collision between multibody and fixed deformable node will be missed.
-					const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f;
-					const btScalar ms = ima + imb;
-					if (ms > 0)
-					{
-						// resolve contact at x_n
-						psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ false);
-						btSoftBody::sCti& cti = c.m_cti;
-						c.m_node = &n;
-						const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction();
-						c.m_c2 = ima;
-						c.m_c3 = fc;
-						c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR;
-						c.m_c5 = n.m_effectiveMass_inv;
-
-						if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
-						{
-							const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform();
-							static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0);
-							const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic;
-							const btVector3 ra = n.m_x - wtr.getOrigin();
-
-							c.m_c0 = ImpulseMatrix(1, n.m_effectiveMass_inv, imb, iwi, ra);
-							//                            c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra);
-							c.m_c1 = ra;
-						}
-						else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
-						{
-							btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);
-							if (multibodyLinkCol)
-							{
-								btVector3 normal = cti.m_normal;
-								btVector3 t1 = generateUnitOrthogonalVector(normal);
-								btVector3 t2 = btCross(normal, t1);
-								btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2;
-								findJacobian(multibodyLinkCol, jacobianData_normal, c.m_node->m_x, normal);
-								findJacobian(multibodyLinkCol, jacobianData_t1, c.m_node->m_x, t1);
-								findJacobian(multibodyLinkCol, jacobianData_t2, c.m_node->m_x, t2);
-
-								btScalar* J_n = &jacobianData_normal.m_jacobians[0];
-								btScalar* J_t1 = &jacobianData_t1.m_jacobians[0];
-								btScalar* J_t2 = &jacobianData_t2.m_jacobians[0];
-
-								btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0];
-								btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0];
-								btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0];
-
-								btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(),
-												t1.getX(), t1.getY(), t1.getZ(),
-												t2.getX(), t2.getY(), t2.getZ());  // world frame to local frame
-								const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
-								btMatrix3x3 local_impulse_matrix = (n.m_effectiveMass_inv + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse();
-								c.m_c0 = rot.transpose() * local_impulse_matrix * rot;
-								c.jacobianData_normal = jacobianData_normal;
-								c.jacobianData_t1 = jacobianData_t1;
-								c.jacobianData_t2 = jacobianData_t2;
-								c.t1 = t1;
-								c.t2 = t2;
-							}
-						}
-						psb->m_nodeRigidContacts.push_back(c);
-					}
-				}
-			}
-		}
-		btSoftBody* psb;
-		const btCollisionObjectWrapper* m_colObj1Wrap;
-		btRigidBody* m_rigidBody;
-		btScalar dynmargin;
-		btScalar stamargin;
-	};
-
-	//
-	// CollideSDF_RDF
-	//
-	struct CollideSDF_RDF : btDbvt::ICollide
-	{
-		void Process(const btDbvtNode* leaf)
-		{
-			btSoftBody::Face* face = (btSoftBody::Face*)leaf->data;
-			DoNode(*face);
-		}
-		void DoNode(btSoftBody::Face& f) const
-		{
-			btSoftBody::Node* n0 = f.m_n[0];
-			btSoftBody::Node* n1 = f.m_n[1];
-			btSoftBody::Node* n2 = f.m_n[2];
-			const btScalar m = (n0->m_im > 0 && n1->m_im > 0 && n2->m_im > 0) ? dynmargin : stamargin;
-			btSoftBody::DeformableFaceRigidContact c;
-			btVector3 contact_point;
-			btVector3 bary;
-			if (psb->checkDeformableFaceContact(m_colObj1Wrap, f, contact_point, bary, m, c.m_cti, true))
-			{
-				btScalar ima = n0->m_im + n1->m_im + n2->m_im;
-				const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f;
-				// todo: collision between multibody and fixed deformable face will be missed.
-				const btScalar ms = ima + imb;
-				if (ms > 0)
-				{
-					// resolve contact at x_n
-					//                    psb->checkDeformableFaceContact(m_colObj1Wrap, f, contact_point, bary, m, c.m_cti, /*predict = */ false);
-					btSoftBody::sCti& cti = c.m_cti;
-					c.m_contactPoint = contact_point;
-					c.m_bary = bary;
-					// todo xuchenhan@: this is assuming mass of all vertices are the same. Need to modify if mass are different for distinct vertices
-					c.m_weights = btScalar(2) / (btScalar(1) + bary.length2()) * bary;
-					c.m_face = &f;
-					// friction is handled by the nodes to prevent sticking
-					//                    const btScalar fc = 0;
-					const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction();
-
-					// the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf
-					ima = bary.getX() * c.m_weights.getX() * n0->m_im + bary.getY() * c.m_weights.getY() * n1->m_im + bary.getZ() * c.m_weights.getZ() * n2->m_im;
-					c.m_c2 = ima;
-					c.m_c3 = fc;
-					c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR;
-					c.m_c5 = Diagonal(ima);
-					if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
-					{
-						const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform();
-						static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0);
-						const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic;
-						const btVector3 ra = contact_point - wtr.getOrigin();
-
-						// we do not scale the impulse matrix by dt
-						c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra);
-						c.m_c1 = ra;
-					}
-					else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
-					{
-						btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);
-						if (multibodyLinkCol)
-						{
-							btVector3 normal = cti.m_normal;
-							btVector3 t1 = generateUnitOrthogonalVector(normal);
-							btVector3 t2 = btCross(normal, t1);
-							btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2;
-							findJacobian(multibodyLinkCol, jacobianData_normal, contact_point, normal);
-							findJacobian(multibodyLinkCol, jacobianData_t1, contact_point, t1);
-							findJacobian(multibodyLinkCol, jacobianData_t2, contact_point, t2);
-
-							btScalar* J_n = &jacobianData_normal.m_jacobians[0];
-							btScalar* J_t1 = &jacobianData_t1.m_jacobians[0];
-							btScalar* J_t2 = &jacobianData_t2.m_jacobians[0];
-
-							btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0];
-							btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0];
-							btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0];
-
-							btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(),
-											t1.getX(), t1.getY(), t1.getZ(),
-											t2.getX(), t2.getY(), t2.getZ());  // world frame to local frame
-							const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
-							btMatrix3x3 local_impulse_matrix = (Diagonal(ima) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse();
-							c.m_c0 = rot.transpose() * local_impulse_matrix * rot;
-							c.jacobianData_normal = jacobianData_normal;
-							c.jacobianData_t1 = jacobianData_t1;
-							c.jacobianData_t2 = jacobianData_t2;
-							c.t1 = t1;
-							c.t2 = t2;
-						}
-					}
-					psb->m_faceRigidContacts.push_back(c);
-				}
-			}
-			// Set caching barycenters to be false after collision detection.
-			// Only turn on when contact is static.
-			f.m_pcontact[3] = 0;
-		}
-		btSoftBody* psb;
-		const btCollisionObjectWrapper* m_colObj1Wrap;
-		btRigidBody* m_rigidBody;
-		btScalar dynmargin;
-		btScalar stamargin;
-	};
-
-	//
-	// CollideVF_SS
-	//
-	struct CollideVF_SS : btDbvt::ICollide
-	{
-		void Process(const btDbvtNode* lnode,
-					 const btDbvtNode* lface)
-		{
-			btSoftBody::Node* node = (btSoftBody::Node*)lnode->data;
-			btSoftBody::Face* face = (btSoftBody::Face*)lface->data;
-			for (int i = 0; i < 3; ++i)
-			{
-				if (face->m_n[i] == node)
-					continue;
-			}
-
-			btVector3 o = node->m_x;
-			btVector3 p;
-			btScalar d = SIMD_INFINITY;
-			ProjectOrigin(face->m_n[0]->m_x - o,
-						  face->m_n[1]->m_x - o,
-						  face->m_n[2]->m_x - o,
-						  p, d);
-			const btScalar m = mrg + (o - node->m_q).length() * 2;
-			if (d < (m * m))
-			{
-				const btSoftBody::Node* n[] = {face->m_n[0], face->m_n[1], face->m_n[2]};
-				const btVector3 w = BaryCoord(n[0]->m_x, n[1]->m_x, n[2]->m_x, p + o);
-				const btScalar ma = node->m_im;
-				btScalar mb = BaryEval(n[0]->m_im, n[1]->m_im, n[2]->m_im, w);
-				if ((n[0]->m_im <= 0) ||
-					(n[1]->m_im <= 0) ||
-					(n[2]->m_im <= 0))
-				{
-					mb = 0;
-				}
-				const btScalar ms = ma + mb;
-				if (ms > 0)
-				{
-					btSoftBody::SContact c;
-					c.m_normal = p / -btSqrt(d);
-					c.m_margin = m;
-					c.m_node = node;
-					c.m_face = face;
-					c.m_weights = w;
-					c.m_friction = btMax(psb[0]->m_cfg.kDF, psb[1]->m_cfg.kDF);
-					c.m_cfm[0] = ma / ms * psb[0]->m_cfg.kSHR;
-					c.m_cfm[1] = mb / ms * psb[1]->m_cfg.kSHR;
-					psb[0]->m_scontacts.push_back(c);
-				}
-			}
-		}
-		btSoftBody* psb[2];
-		btScalar mrg;
-	};
-
-	//
-	// CollideVF_DD
-	//
-	struct CollideVF_DD : btDbvt::ICollide
-	{
-		void Process(const btDbvtNode* lnode,
-					 const btDbvtNode* lface)
-		{
-			btSoftBody::Node* node = (btSoftBody::Node*)lnode->data;
-			btSoftBody::Face* face = (btSoftBody::Face*)lface->data;
-			btVector3 bary;
-			if (proximityTest(face->m_n[0]->m_x, face->m_n[1]->m_x, face->m_n[2]->m_x, node->m_x, face->m_normal, mrg, bary))
-			{
-				const btSoftBody::Node* n[] = {face->m_n[0], face->m_n[1], face->m_n[2]};
-				const btVector3 w = bary;
-				const btScalar ma = node->m_im;
-				btScalar mb = BaryEval(n[0]->m_im, n[1]->m_im, n[2]->m_im, w);
-				if ((n[0]->m_im <= 0) ||
-					(n[1]->m_im <= 0) ||
-					(n[2]->m_im <= 0))
-				{
-					mb = 0;
-				}
-				const btScalar ms = ma + mb;
-				if (ms > 0)
-				{
-					btSoftBody::DeformableFaceNodeContact c;
-					c.m_normal = face->m_normal;
-					if (!useFaceNormal && c.m_normal.dot(node->m_x - face->m_n[2]->m_x) < 0)
-						c.m_normal = -face->m_normal;
-					c.m_margin = mrg;
-					c.m_node = node;
-					c.m_face = face;
-					c.m_bary = w;
-					c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF;
-					psb[0]->m_faceNodeContacts.push_back(c);
-				}
-			}
-		}
-		btSoftBody* psb[2];
-		btScalar mrg;
-		bool useFaceNormal;
-	};
-
-	//
-	// CollideFF_DD
-	//
-	struct CollideFF_DD : btDbvt::ICollide
-	{
-		void Process(const btDbvntNode* lface1,
-					 const btDbvntNode* lface2)
-		{
-			btSoftBody::Face* f1 = (btSoftBody::Face*)lface1->data;
-			btSoftBody::Face* f2 = (btSoftBody::Face*)lface2->data;
-			if (f1 != f2)
-			{
-				Repel(f1, f2);
-				Repel(f2, f1);
-			}
-		}
-		void Repel(btSoftBody::Face* f1, btSoftBody::Face* f2)
-		{
-			//#define REPEL_NEIGHBOR 1
-#ifndef REPEL_NEIGHBOR
-			for (int node_id = 0; node_id < 3; ++node_id)
-			{
-				btSoftBody::Node* node = f1->m_n[node_id];
-				for (int i = 0; i < 3; ++i)
-				{
-					if (f2->m_n[i] == node)
-						return;
-				}
-			}
-#endif
-			bool skip = false;
-			for (int node_id = 0; node_id < 3; ++node_id)
-			{
-				btSoftBody::Node* node = f1->m_n[node_id];
-#ifdef REPEL_NEIGHBOR
-				for (int i = 0; i < 3; ++i)
-				{
-					if (f2->m_n[i] == node)
-					{
-						skip = true;
-						break;
-					}
-				}
-				if (skip)
-				{
-					skip = false;
-					continue;
-				}
-#endif
-				btSoftBody::Face* face = f2;
-				btVector3 bary;
-				if (!proximityTest(face->m_n[0]->m_x, face->m_n[1]->m_x, face->m_n[2]->m_x, node->m_x, face->m_normal, mrg, bary))
-					continue;
-				btSoftBody::DeformableFaceNodeContact c;
-				c.m_normal = face->m_normal;
-				if (!useFaceNormal && c.m_normal.dot(node->m_x - face->m_n[2]->m_x) < 0)
-					c.m_normal = -face->m_normal;
-				c.m_margin = mrg;
-				c.m_node = node;
-				c.m_face = face;
-				c.m_bary = bary;
-				c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF;
-				psb[0]->m_faceNodeContacts.push_back(c);
-			}
-		}
-		btSoftBody* psb[2];
-		btScalar mrg;
-		bool useFaceNormal;
-	};
-
-	struct CollideCCD : btDbvt::ICollide
-	{
-		void Process(const btDbvtNode* lnode,
-					 const btDbvtNode* lface)
-		{
-			btSoftBody::Node* node = (btSoftBody::Node*)lnode->data;
-			btSoftBody::Face* face = (btSoftBody::Face*)lface->data;
-			btVector3 bary;
-			if (bernsteinCCD(face, node, dt, SAFE_EPSILON, bary))
-			{
-				btSoftBody::DeformableFaceNodeContact c;
-				c.m_normal = face->m_normal;
-				if (!useFaceNormal && c.m_normal.dot(node->m_x - face->m_n[2]->m_x) < 0)
-					c.m_normal = -face->m_normal;
-				c.m_node = node;
-				c.m_face = face;
-				c.m_bary = bary;
-				c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF;
-				psb[0]->m_faceNodeContacts.push_back(c);
-			}
-		}
-		void Process(const btDbvntNode* lface1,
-					 const btDbvntNode* lface2)
-		{
-			btSoftBody::Face* f1 = (btSoftBody::Face*)lface1->data;
-			btSoftBody::Face* f2 = (btSoftBody::Face*)lface2->data;
-			if (f1 != f2)
-			{
-				Repel(f1, f2);
-				Repel(f2, f1);
-			}
-		}
-		void Repel(btSoftBody::Face* f1, btSoftBody::Face* f2)
-		{
-			//#define REPEL_NEIGHBOR 1
-#ifndef REPEL_NEIGHBOR
-			for (int node_id = 0; node_id < 3; ++node_id)
-			{
-				btSoftBody::Node* node = f1->m_n[node_id];
-				for (int i = 0; i < 3; ++i)
-				{
-					if (f2->m_n[i] == node)
-						return;
-				}
-			}
-#endif
-			bool skip = false;
-			for (int node_id = 0; node_id < 3; ++node_id)
-			{
-				btSoftBody::Node* node = f1->m_n[node_id];
-#ifdef REPEL_NEIGHBOR
-				for (int i = 0; i < 3; ++i)
-				{
-					if (f2->m_n[i] == node)
-					{
-						skip = true;
-						break;
-					}
-				}
-				if (skip)
-				{
-					skip = false;
-					continue;
-				}
-#endif
-				btSoftBody::Face* face = f2;
-				btVector3 bary;
-				if (bernsteinCCD(face, node, dt, SAFE_EPSILON, bary))
-				{
-					btSoftBody::DeformableFaceNodeContact c;
-					c.m_normal = face->m_normal;
-					if (!useFaceNormal && c.m_normal.dot(node->m_x - face->m_n[2]->m_x) < 0)
-						c.m_normal = -face->m_normal;
-					c.m_node = node;
-					c.m_face = face;
-					c.m_bary = bary;
-					c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF;
-					psb[0]->m_faceNodeContacts.push_back(c);
-				}
-			}
-		}
-		btSoftBody* psb[2];
-		btScalar dt, mrg;
-		bool useFaceNormal;
-	};
-};
-#endif  //_BT_SOFT_BODY_INTERNALS_H
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp b/thirdparty/bullet/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
deleted file mode 100644
index 3127369ccd..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
+++ /dev/null
@@ -1,131 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btSoftBodyRigidBodyCollisionConfiguration.h"
-#include "btSoftRigidCollisionAlgorithm.h"
-#include "btSoftBodyConcaveCollisionAlgorithm.h"
-#include "btSoftSoftCollisionAlgorithm.h"
-
-#include "LinearMath/btPoolAllocator.h"
-
-#define ENABLE_SOFTBODY_CONCAVE_COLLISIONS 1
-
-btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo)
-	: btDefaultCollisionConfiguration(constructionInfo)
-{
-	void* mem;
-
-	mem = btAlignedAlloc(sizeof(btSoftSoftCollisionAlgorithm::CreateFunc), 16);
-	m_softSoftCreateFunc = new (mem) btSoftSoftCollisionAlgorithm::CreateFunc;
-
-	mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc), 16);
-	m_softRigidConvexCreateFunc = new (mem) btSoftRigidCollisionAlgorithm::CreateFunc;
-
-	mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc), 16);
-	m_swappedSoftRigidConvexCreateFunc = new (mem) btSoftRigidCollisionAlgorithm::CreateFunc;
-	m_swappedSoftRigidConvexCreateFunc->m_swapped = true;
-
-#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
-	mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc), 16);
-	m_softRigidConcaveCreateFunc = new (mem) btSoftBodyConcaveCollisionAlgorithm::CreateFunc;
-
-	mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc), 16);
-	m_swappedSoftRigidConcaveCreateFunc = new (mem) btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc;
-	m_swappedSoftRigidConcaveCreateFunc->m_swapped = true;
-#endif
-
-	//replace pool by a new one, with potential larger size
-
-	if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool)
-	{
-		int curElemSize = m_collisionAlgorithmPool->getElementSize();
-		///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
-
-		int maxSize0 = sizeof(btSoftSoftCollisionAlgorithm);
-		int maxSize1 = sizeof(btSoftRigidCollisionAlgorithm);
-		int maxSize2 = sizeof(btSoftBodyConcaveCollisionAlgorithm);
-
-		int collisionAlgorithmMaxElementSize = btMax(maxSize0, maxSize1);
-		collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize, maxSize2);
-
-		if (collisionAlgorithmMaxElementSize > curElemSize)
-		{
-			m_collisionAlgorithmPool->~btPoolAllocator();
-			btAlignedFree(m_collisionAlgorithmPool);
-			void* mem = btAlignedAlloc(sizeof(btPoolAllocator), 16);
-			m_collisionAlgorithmPool = new (mem) btPoolAllocator(collisionAlgorithmMaxElementSize, constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
-		}
-	}
-}
-
-btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration()
-{
-	m_softSoftCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_softSoftCreateFunc);
-
-	m_softRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_softRigidConvexCreateFunc);
-
-	m_swappedSoftRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_swappedSoftRigidConvexCreateFunc);
-
-#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
-	m_softRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_softRigidConcaveCreateFunc);
-
-	m_swappedSoftRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(m_swappedSoftRigidConcaveCreateFunc);
-#endif
-}
-
-///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation
-btCollisionAlgorithmCreateFunc* btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1)
-{
-	///try to handle the softbody interactions first
-
-	if ((proxyType0 == SOFTBODY_SHAPE_PROXYTYPE) && (proxyType1 == SOFTBODY_SHAPE_PROXYTYPE))
-	{
-		return m_softSoftCreateFunc;
-	}
-
-	///softbody versus convex
-	if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConvex(proxyType1))
-	{
-		return m_softRigidConvexCreateFunc;
-	}
-
-	///convex versus soft body
-	if (btBroadphaseProxy::isConvex(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE)
-	{
-		return m_swappedSoftRigidConvexCreateFunc;
-	}
-
-#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
-	///softbody versus convex
-	if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConcave(proxyType1))
-	{
-		return m_softRigidConcaveCreateFunc;
-	}
-
-	///convex versus soft body
-	if (btBroadphaseProxy::isConcave(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE)
-	{
-		return m_swappedSoftRigidConcaveCreateFunc;
-	}
-#endif
-
-	///fallback to the regular rigid collision shape
-	return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0, proxyType1);
-}
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h b/thirdparty/bullet/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h
deleted file mode 100644
index 0396a52dac..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h
+++ /dev/null
@@ -1,43 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION
-#define BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION
-
-#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h"
-
-class btVoronoiSimplexSolver;
-class btGjkEpaPenetrationDepthSolver;
-
-///btSoftBodyRigidBodyCollisionConfiguration add softbody interaction on top of btDefaultCollisionConfiguration
-class btSoftBodyRigidBodyCollisionConfiguration : public btDefaultCollisionConfiguration
-{
-	//default CreationFunctions, filling the m_doubleDispatch table
-	btCollisionAlgorithmCreateFunc* m_softSoftCreateFunc;
-	btCollisionAlgorithmCreateFunc* m_softRigidConvexCreateFunc;
-	btCollisionAlgorithmCreateFunc* m_swappedSoftRigidConvexCreateFunc;
-	btCollisionAlgorithmCreateFunc* m_softRigidConcaveCreateFunc;
-	btCollisionAlgorithmCreateFunc* m_swappedSoftRigidConcaveCreateFunc;
-
-public:
-	btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo());
-
-	virtual ~btSoftBodyRigidBodyCollisionConfiguration();
-
-	///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation
-	virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1);
-};
-
-#endif  //BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodySolverVertexBuffer.h b/thirdparty/bullet/BulletSoftBody/btSoftBodySolverVertexBuffer.h
deleted file mode 100644
index bc538db4a2..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btSoftBodySolverVertexBuffer.h
+++ /dev/null
@@ -1,160 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_H
-#define BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_H
-
-class btVertexBufferDescriptor
-{
-public:
-	enum BufferTypes
-	{
-		CPU_BUFFER,
-		DX11_BUFFER,
-		OPENGL_BUFFER
-	};
-
-protected:
-	bool m_hasVertexPositions;
-	bool m_hasNormals;
-
-	int m_vertexOffset;
-	int m_vertexStride;
-
-	int m_normalOffset;
-	int m_normalStride;
-
-public:
-	btVertexBufferDescriptor()
-	{
-		m_hasVertexPositions = false;
-		m_hasNormals = false;
-		m_vertexOffset = 0;
-		m_vertexStride = 0;
-		m_normalOffset = 0;
-		m_normalStride = 0;
-	}
-
-	virtual ~btVertexBufferDescriptor()
-	{
-	}
-
-	virtual bool hasVertexPositions() const
-	{
-		return m_hasVertexPositions;
-	}
-
-	virtual bool hasNormals() const
-	{
-		return m_hasNormals;
-	}
-
-	/**
-	 * Return the type of the vertex buffer descriptor.
-	 */
-	virtual BufferTypes getBufferType() const = 0;
-
-	/**
-	 * Return the vertex offset in floats from the base pointer.
-	 */
-	virtual int getVertexOffset() const
-	{
-		return m_vertexOffset;
-	}
-
-	/**
-	 * Return the vertex stride in number of floats between vertices.
-	 */
-	virtual int getVertexStride() const
-	{
-		return m_vertexStride;
-	}
-
-	/**
-	 * Return the vertex offset in floats from the base pointer.
-	 */
-	virtual int getNormalOffset() const
-	{
-		return m_normalOffset;
-	}
-
-	/**
-	 * Return the vertex stride in number of floats between vertices.
-	 */
-	virtual int getNormalStride() const
-	{
-		return m_normalStride;
-	}
-};
-
-class btCPUVertexBufferDescriptor : public btVertexBufferDescriptor
-{
-protected:
-	float *m_basePointer;
-
-public:
-	/**
-	 * vertexBasePointer is pointer to beginning of the buffer.
-	 * vertexOffset is the offset in floats to the first vertex.
-	 * vertexStride is the stride in floats between vertices.
-	 */
-	btCPUVertexBufferDescriptor(float *basePointer, int vertexOffset, int vertexStride)
-	{
-		m_basePointer = basePointer;
-		m_vertexOffset = vertexOffset;
-		m_vertexStride = vertexStride;
-		m_hasVertexPositions = true;
-	}
-
-	/**
-	 * vertexBasePointer is pointer to beginning of the buffer.
-	 * vertexOffset is the offset in floats to the first vertex.
-	 * vertexStride is the stride in floats between vertices.
-	 */
-	btCPUVertexBufferDescriptor(float *basePointer, int vertexOffset, int vertexStride, int normalOffset, int normalStride)
-	{
-		m_basePointer = basePointer;
-
-		m_vertexOffset = vertexOffset;
-		m_vertexStride = vertexStride;
-		m_hasVertexPositions = true;
-
-		m_normalOffset = normalOffset;
-		m_normalStride = normalStride;
-		m_hasNormals = true;
-	}
-
-	virtual ~btCPUVertexBufferDescriptor()
-	{
-	}
-
-	/**
-	 * Return the type of the vertex buffer descriptor.
-	 */
-	virtual BufferTypes getBufferType() const
-	{
-		return CPU_BUFFER;
-	}
-
-	/**
-	 * Return the base pointer in memory to the first vertex.
-	 */
-	virtual float *getBasePointer() const
-	{
-		return m_basePointer;
-	}
-};
-
-#endif  // #ifndef BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_H
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodySolvers.h b/thirdparty/bullet/BulletSoftBody/btSoftBodySolvers.h
deleted file mode 100644
index dbb2624eee..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btSoftBodySolvers.h
+++ /dev/null
@@ -1,147 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SOFT_BODY_SOLVERS_H
-#define BT_SOFT_BODY_SOLVERS_H
-
-#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
-
-class btSoftBodyTriangleData;
-class btSoftBodyLinkData;
-class btSoftBodyVertexData;
-class btVertexBufferDescriptor;
-class btCollisionObject;
-class btSoftBody;
-
-class btSoftBodySolver
-{
-public:
-	enum SolverTypes
-	{
-		DEFAULT_SOLVER,
-		CPU_SOLVER,
-		CL_SOLVER,
-		CL_SIMD_SOLVER,
-		DX_SOLVER,
-		DX_SIMD_SOLVER,
-		DEFORMABLE_SOLVER
-	};
-
-protected:
-	int m_numberOfPositionIterations;
-	int m_numberOfVelocityIterations;
-	// Simulation timescale
-	float m_timeScale;
-
-public:
-	btSoftBodySolver() : m_numberOfPositionIterations(10),
-						 m_timeScale(1)
-	{
-		m_numberOfVelocityIterations = 0;
-		m_numberOfPositionIterations = 5;
-	}
-
-	virtual ~btSoftBodySolver()
-	{
-	}
-
-	/**
-	 * Return the type of the solver.
-	 */
-	virtual SolverTypes getSolverType() const = 0;
-
-	/** Ensure that this solver is initialized. */
-	virtual bool checkInitialized() = 0;
-
-	/** Optimize soft bodies in this solver. */
-	virtual void optimize(btAlignedObjectArray<btSoftBody *> &softBodies, bool forceUpdate = false) = 0;
-
-	/** Copy necessary data back to the original soft body source objects. */
-	virtual void copyBackToSoftBodies(bool bMove = true) = 0;
-
-	/** Predict motion of soft bodies into next timestep */
-	virtual void predictMotion(btScalar solverdt) = 0;
-
-	/** Solve constraints for a set of soft bodies */
-	virtual void solveConstraints(btScalar solverdt) = 0;
-
-	/** Perform necessary per-step updates of soft bodies such as recomputing normals and bounding boxes */
-	virtual void updateSoftBodies() = 0;
-
-	/** Process a collision between one of the world's soft bodies and another collision object */
-	virtual void processCollision(btSoftBody *, const struct btCollisionObjectWrapper *) = 0;
-
-	/** Process a collision between two soft bodies */
-	virtual void processCollision(btSoftBody *, btSoftBody *) = 0;
-
-	/** Set the number of velocity constraint solver iterations this solver uses. */
-	virtual void setNumberOfPositionIterations(int iterations)
-	{
-		m_numberOfPositionIterations = iterations;
-	}
-
-	/** Get the number of velocity constraint solver iterations this solver uses. */
-	virtual int getNumberOfPositionIterations()
-	{
-		return m_numberOfPositionIterations;
-	}
-
-	/** Set the number of velocity constraint solver iterations this solver uses. */
-	virtual void setNumberOfVelocityIterations(int iterations)
-	{
-		m_numberOfVelocityIterations = iterations;
-	}
-
-	/** Get the number of velocity constraint solver iterations this solver uses. */
-	virtual int getNumberOfVelocityIterations()
-	{
-		return m_numberOfVelocityIterations;
-	}
-
-	/** Return the timescale that the simulation is using */
-	float getTimeScale()
-	{
-		return m_timeScale;
-	}
-
-#if 0
-	/**
-	 * Add a collision object to be used by the indicated softbody.
-	 */
-	virtual void addCollisionObjectForSoftBody( int clothIdentifier, btCollisionObject *collisionObject ) = 0;
-#endif
-};
-
-/** 
- * Class to manage movement of data from a solver to a given target.
- * This version is abstract. Subclasses will have custom pairings for different combinations.
- */
-class btSoftBodySolverOutput
-{
-protected:
-public:
-	btSoftBodySolverOutput()
-	{
-	}
-
-	virtual ~btSoftBodySolverOutput()
-	{
-	}
-
-	/** Output current computed vertex data to the vertex buffers for all cloths in the solver. */
-	virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) = 0;
-};
-
-#endif  // #ifndef BT_SOFT_BODY_SOLVERS_H
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp b/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp
deleted file mode 100644
index 329bd19d71..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp
+++ /dev/null
@@ -1,355 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btSoftMultiBodyDynamicsWorld.h"
-#include "LinearMath/btQuickprof.h"
-
-//softbody & helpers
-#include "BulletSoftBody/btSoftBody.h"
-#include "BulletSoftBody/btSoftBodyHelpers.h"
-#include "BulletSoftBody/btSoftBodySolvers.h"
-#include "BulletSoftBody/btDefaultSoftBodySolver.h"
-#include "LinearMath/btSerializer.h"
-
-btSoftMultiBodyDynamicsWorld::btSoftMultiBodyDynamicsWorld(
-	btDispatcher* dispatcher,
-	btBroadphaseInterface* pairCache,
-	btMultiBodyConstraintSolver* constraintSolver,
-	btCollisionConfiguration* collisionConfiguration,
-	btSoftBodySolver* softBodySolver) : btMultiBodyDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration),
-										m_softBodySolver(softBodySolver),
-										m_ownsSolver(false)
-{
-	if (!m_softBodySolver)
-	{
-		void* ptr = btAlignedAlloc(sizeof(btDefaultSoftBodySolver), 16);
-		m_softBodySolver = new (ptr) btDefaultSoftBodySolver();
-		m_ownsSolver = true;
-	}
-
-	m_drawFlags = fDrawFlags::Std;
-	m_drawNodeTree = true;
-	m_drawFaceTree = false;
-	m_drawClusterTree = false;
-	m_sbi.m_broadphase = pairCache;
-	m_sbi.m_dispatcher = dispatcher;
-	m_sbi.m_sparsesdf.Initialize();
-	m_sbi.m_sparsesdf.Reset();
-
-	m_sbi.air_density = (btScalar)1.2;
-	m_sbi.water_density = 0;
-	m_sbi.water_offset = 0;
-	m_sbi.water_normal = btVector3(0, 0, 0);
-	m_sbi.m_gravity.setValue(0, -10, 0);
-
-	m_sbi.m_sparsesdf.Initialize();
-}
-
-btSoftMultiBodyDynamicsWorld::~btSoftMultiBodyDynamicsWorld()
-{
-	if (m_ownsSolver)
-	{
-		m_softBodySolver->~btSoftBodySolver();
-		btAlignedFree(m_softBodySolver);
-	}
-}
-
-void btSoftMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
-{
-	btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep);
-	{
-		BT_PROFILE("predictUnconstraintMotionSoftBody");
-		m_softBodySolver->predictMotion(float(timeStep));
-	}
-}
-
-void btSoftMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
-{
-	// Let the solver grab the soft bodies and if necessary optimize for it
-	m_softBodySolver->optimize(getSoftBodyArray());
-
-	if (!m_softBodySolver->checkInitialized())
-	{
-		btAssert("Solver initialization failed\n");
-	}
-
-	btDiscreteDynamicsWorld::internalSingleStepSimulation(timeStep);
-
-	///solve soft bodies constraints
-	solveSoftBodiesConstraints(timeStep);
-
-	//self collisions
-	for (int i = 0; i < m_softBodies.size(); i++)
-	{
-		btSoftBody* psb = (btSoftBody*)m_softBodies[i];
-		psb->defaultCollisionHandler(psb);
-	}
-
-	///update soft bodies
-	m_softBodySolver->updateSoftBodies();
-
-	for (int i = 0; i < m_softBodies.size(); i++)
-	{
-		btSoftBody* psb = (btSoftBody*)m_softBodies[i];
-		psb->interpolateRenderMesh();
-	}
-	// End solver-wise simulation step
-	// ///////////////////////////////
-}
-
-void btSoftMultiBodyDynamicsWorld::solveSoftBodiesConstraints(btScalar timeStep)
-{
-	BT_PROFILE("solveSoftConstraints");
-
-	if (m_softBodies.size())
-	{
-		btSoftBody::solveClusters(m_softBodies);
-	}
-
-	// Solve constraints solver-wise
-	m_softBodySolver->solveConstraints(timeStep * m_softBodySolver->getTimeScale());
-}
-
-void btSoftMultiBodyDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask)
-{
-	m_softBodies.push_back(body);
-
-	// Set the soft body solver that will deal with this body
-	// to be the world's solver
-	body->setSoftBodySolver(m_softBodySolver);
-
-	btCollisionWorld::addCollisionObject(body,
-										 collisionFilterGroup,
-										 collisionFilterMask);
-}
-
-void btSoftMultiBodyDynamicsWorld::removeSoftBody(btSoftBody* body)
-{
-	m_softBodies.remove(body);
-
-	btCollisionWorld::removeCollisionObject(body);
-}
-
-void btSoftMultiBodyDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
-{
-	btSoftBody* body = btSoftBody::upcast(collisionObject);
-	if (body)
-		removeSoftBody(body);
-	else
-		btDiscreteDynamicsWorld::removeCollisionObject(collisionObject);
-}
-
-void btSoftMultiBodyDynamicsWorld::debugDrawWorld()
-{
-	btMultiBodyDynamicsWorld::debugDrawWorld();
-
-	if (getDebugDrawer())
-	{
-		int i;
-		for (i = 0; i < this->m_softBodies.size(); i++)
-		{
-			btSoftBody* psb = (btSoftBody*)this->m_softBodies[i];
-			if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
-			{
-				btSoftBodyHelpers::DrawFrame(psb, m_debugDrawer);
-				btSoftBodyHelpers::Draw(psb, m_debugDrawer, m_drawFlags);
-			}
-
-			if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
-			{
-				if (m_drawNodeTree) btSoftBodyHelpers::DrawNodeTree(psb, m_debugDrawer);
-				if (m_drawFaceTree) btSoftBodyHelpers::DrawFaceTree(psb, m_debugDrawer);
-				if (m_drawClusterTree) btSoftBodyHelpers::DrawClusterTree(psb, m_debugDrawer);
-			}
-		}
-	}
-}
-
-struct btSoftSingleRayCallback : public btBroadphaseRayCallback
-{
-	btVector3 m_rayFromWorld;
-	btVector3 m_rayToWorld;
-	btTransform m_rayFromTrans;
-	btTransform m_rayToTrans;
-	btVector3 m_hitNormal;
-
-	const btSoftMultiBodyDynamicsWorld* m_world;
-	btCollisionWorld::RayResultCallback& m_resultCallback;
-
-	btSoftSingleRayCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld, const btSoftMultiBodyDynamicsWorld* world, btCollisionWorld::RayResultCallback& resultCallback)
-		: m_rayFromWorld(rayFromWorld),
-		  m_rayToWorld(rayToWorld),
-		  m_world(world),
-		  m_resultCallback(resultCallback)
-	{
-		m_rayFromTrans.setIdentity();
-		m_rayFromTrans.setOrigin(m_rayFromWorld);
-		m_rayToTrans.setIdentity();
-		m_rayToTrans.setOrigin(m_rayToWorld);
-
-		btVector3 rayDir = (rayToWorld - rayFromWorld);
-
-		rayDir.normalize();
-		///what about division by zero? --> just set rayDirection[i] to INF/1e30
-		m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
-		m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
-		m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
-		m_signs[0] = m_rayDirectionInverse[0] < 0.0;
-		m_signs[1] = m_rayDirectionInverse[1] < 0.0;
-		m_signs[2] = m_rayDirectionInverse[2] < 0.0;
-
-		m_lambda_max = rayDir.dot(m_rayToWorld - m_rayFromWorld);
-	}
-
-	virtual bool process(const btBroadphaseProxy* proxy)
-	{
-		///terminate further ray tests, once the closestHitFraction reached zero
-		if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
-			return false;
-
-		btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
-
-		//only perform raycast if filterMask matches
-		if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
-		{
-			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
-			//btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
-#if 0
-#ifdef RECALCULATE_AABB
-			btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
-			collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
-#else
-			//getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
-			const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
-			const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
-#endif
-#endif
-			//btScalar hitLambda = m_resultCallback.m_closestHitFraction;
-			//culling already done by broadphase
-			//if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
-			{
-				m_world->rayTestSingle(m_rayFromTrans, m_rayToTrans,
-									   collisionObject,
-									   collisionObject->getCollisionShape(),
-									   collisionObject->getWorldTransform(),
-									   m_resultCallback);
-			}
-		}
-		return true;
-	}
-};
-
-void btSoftMultiBodyDynamicsWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
-{
-	BT_PROFILE("rayTest");
-	/// use the broadphase to accelerate the search for objects, based on their aabb
-	/// and for each object with ray-aabb overlap, perform an exact ray test
-	btSoftSingleRayCallback rayCB(rayFromWorld, rayToWorld, this, resultCallback);
-
-#ifndef USE_BRUTEFORCE_RAYBROADPHASE
-	m_broadphasePairCache->rayTest(rayFromWorld, rayToWorld, rayCB);
-#else
-	for (int i = 0; i < this->getNumCollisionObjects(); i++)
-	{
-		rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
-	}
-#endif  //USE_BRUTEFORCE_RAYBROADPHASE
-}
-
-void btSoftMultiBodyDynamicsWorld::rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
-												 btCollisionObject* collisionObject,
-												 const btCollisionShape* collisionShape,
-												 const btTransform& colObjWorldTransform,
-												 RayResultCallback& resultCallback)
-{
-	if (collisionShape->isSoftBody())
-	{
-		btSoftBody* softBody = btSoftBody::upcast(collisionObject);
-		if (softBody)
-		{
-			btSoftBody::sRayCast softResult;
-			if (softBody->rayTest(rayFromTrans.getOrigin(), rayToTrans.getOrigin(), softResult))
-			{
-				if (softResult.fraction <= resultCallback.m_closestHitFraction)
-				{
-					btCollisionWorld::LocalShapeInfo shapeInfo;
-					shapeInfo.m_shapePart = 0;
-					shapeInfo.m_triangleIndex = softResult.index;
-					// get the normal
-					btVector3 rayDir = rayToTrans.getOrigin() - rayFromTrans.getOrigin();
-					btVector3 normal = -rayDir;
-					normal.normalize();
-
-					if (softResult.feature == btSoftBody::eFeature::Face)
-					{
-						normal = softBody->m_faces[softResult.index].m_normal;
-						if (normal.dot(rayDir) > 0)
-						{
-							// normal always point toward origin of the ray
-							normal = -normal;
-						}
-					}
-
-					btCollisionWorld::LocalRayResult rayResult(collisionObject,
-															   &shapeInfo,
-															   normal,
-															   softResult.fraction);
-					bool normalInWorldSpace = true;
-					resultCallback.addSingleResult(rayResult, normalInWorldSpace);
-				}
-			}
-		}
-	}
-	else
-	{
-		btCollisionWorld::rayTestSingle(rayFromTrans, rayToTrans, collisionObject, collisionShape, colObjWorldTransform, resultCallback);
-	}
-}
-
-void btSoftMultiBodyDynamicsWorld::serializeSoftBodies(btSerializer* serializer)
-{
-	int i;
-	//serialize all collision objects
-	for (i = 0; i < m_collisionObjects.size(); i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		if (colObj->getInternalType() & btCollisionObject::CO_SOFT_BODY)
-		{
-			int len = colObj->calculateSerializeBufferSize();
-			btChunk* chunk = serializer->allocate(len, 1);
-			const char* structType = colObj->serialize(chunk->m_oldPtr, serializer);
-			serializer->finalizeChunk(chunk, structType, BT_SOFTBODY_CODE, colObj);
-		}
-	}
-}
-
-void btSoftMultiBodyDynamicsWorld::serialize(btSerializer* serializer)
-{
-	serializer->startSerialization();
-
-	serializeDynamicsWorldInfo(serializer);
-
-	serializeSoftBodies(serializer);
-
-	serializeMultiBodies(serializer);
-
-	serializeRigidBodies(serializer);
-
-	serializeCollisionObjects(serializer);
-
-	serializeContactManifolds(serializer);
-
-	serializer->finishSerialization();
-}
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h b/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h
deleted file mode 100644
index f295945a6d..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h
+++ /dev/null
@@ -1,105 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SOFT_MULTIBODY_DYNAMICS_WORLD_H
-#define BT_SOFT_MULTIBODY_DYNAMICS_WORLD_H
-
-#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
-#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
-#include "BulletSoftBody/btSoftBody.h"
-
-#ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H
-typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
-#endif
-
-class btSoftBodySolver;
-
-class btSoftMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld
-{
-	btSoftBodyArray m_softBodies;
-	int m_drawFlags;
-	bool m_drawNodeTree;
-	bool m_drawFaceTree;
-	bool m_drawClusterTree;
-	btSoftBodyWorldInfo m_sbi;
-	///Solver classes that encapsulate multiple soft bodies for solving
-	btSoftBodySolver* m_softBodySolver;
-	bool m_ownsSolver;
-
-protected:
-	virtual void predictUnconstraintMotion(btScalar timeStep);
-
-	virtual void internalSingleStepSimulation(btScalar timeStep);
-
-	void solveSoftBodiesConstraints(btScalar timeStep);
-
-	void serializeSoftBodies(btSerializer* serializer);
-
-public:
-	btSoftMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btSoftBodySolver* softBodySolver = 0);
-
-	virtual ~btSoftMultiBodyDynamicsWorld();
-
-	virtual void debugDrawWorld();
-
-	void addSoftBody(btSoftBody* body, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter);
-
-	void removeSoftBody(btSoftBody* body);
-
-	///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btDiscreteDynamicsWorld::removeCollisionObject
-	virtual void removeCollisionObject(btCollisionObject* collisionObject);
-
-	int getDrawFlags() const { return (m_drawFlags); }
-	void setDrawFlags(int f) { m_drawFlags = f; }
-
-	btSoftBodyWorldInfo& getWorldInfo()
-	{
-		return m_sbi;
-	}
-	const btSoftBodyWorldInfo& getWorldInfo() const
-	{
-		return m_sbi;
-	}
-
-	virtual btDynamicsWorldType getWorldType() const
-	{
-		return BT_SOFT_MULTIBODY_DYNAMICS_WORLD;
-	}
-
-	btSoftBodyArray& getSoftBodyArray()
-	{
-		return m_softBodies;
-	}
-
-	const btSoftBodyArray& getSoftBodyArray() const
-	{
-		return m_softBodies;
-	}
-
-	virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
-
-	/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
-	/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
-	/// This allows more customization.
-	static void rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
-							  btCollisionObject* collisionObject,
-							  const btCollisionShape* collisionShape,
-							  const btTransform& colObjWorldTransform,
-							  RayResultCallback& resultCallback);
-
-	virtual void serialize(btSerializer* serializer);
-};
-
-#endif  //BT_SOFT_MULTIBODY_DYNAMICS_WORLD_H
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp b/thirdparty/bullet/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp
deleted file mode 100644
index 5b65216e4b..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,78 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btSoftRigidCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-#include "BulletCollision/CollisionShapes/btBoxShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "btSoftBody.h"
-#include "BulletSoftBody/btSoftBodySolvers.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-///TODO: include all the shapes that the softbody can collide with
-///alternatively, implement special case collision algorithms (just like for rigid collision shapes)
-
-//#include <stdio.h>
-
-btSoftRigidCollisionAlgorithm::btSoftRigidCollisionAlgorithm(btPersistentManifold* /*mf*/, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper*, const btCollisionObjectWrapper*, bool isSwapped)
-	: btCollisionAlgorithm(ci),
-	  //m_ownManifold(false),
-	  //m_manifoldPtr(mf),
-	  m_isSwapped(isSwapped)
-{
-}
-
-btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm()
-{
-	//m_softBody->m_overlappingRigidBodies.remove(m_rigidCollisionObject);
-
-	/*if (m_ownManifold)
-	{
-	if (m_manifoldPtr)
-	m_dispatcher->releaseManifold(m_manifoldPtr);
-	}
-	*/
-}
-
-#include <stdio.h>
-#include "LinearMath/btQuickprof.h"
-void btSoftRigidCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	BT_PROFILE("btSoftRigidCollisionAlgorithm::processCollision");
-	(void)dispatchInfo;
-	(void)resultOut;
-	//printf("btSoftRigidCollisionAlgorithm\n");
-	//	const btCollisionObjectWrapper* softWrap = m_isSwapped?body1Wrap:body0Wrap;
-	//	const btCollisionObjectWrapper* rigidWrap = m_isSwapped?body0Wrap:body1Wrap;
-	btSoftBody* softBody = m_isSwapped ? (btSoftBody*)body1Wrap->getCollisionObject() : (btSoftBody*)body0Wrap->getCollisionObject();
-	const btCollisionObjectWrapper* rigidCollisionObjectWrap = m_isSwapped ? body0Wrap : body1Wrap;
-
-	if (softBody->m_collisionDisabledObjects.findLinearSearch(rigidCollisionObjectWrap->getCollisionObject()) == softBody->m_collisionDisabledObjects.size())
-	{
-		softBody->getSoftBodySolver()->processCollision(softBody, rigidCollisionObjectWrap);
-	}
-}
-
-btScalar btSoftRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	(void)resultOut;
-	(void)dispatchInfo;
-	(void)col0;
-	(void)col1;
-
-	//not yet
-	return btScalar(1.);
-}
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftRigidCollisionAlgorithm.h b/thirdparty/bullet/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
deleted file mode 100644
index 9773af19a0..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SOFT_RIGID_COLLISION_ALGORITHM_H
-#define BT_SOFT_RIGID_COLLISION_ALGORITHM_H
-
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
-class btPersistentManifold;
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-
-#include "LinearMath/btVector3.h"
-class btSoftBody;
-
-/// btSoftRigidCollisionAlgorithm  provides collision detection between btSoftBody and btRigidBody
-class btSoftRigidCollisionAlgorithm : public btCollisionAlgorithm
-{
-	//	bool	m_ownManifold;
-	//	btPersistentManifold*	m_manifoldPtr;
-
-	//btSoftBody*				m_softBody;
-	//btCollisionObject*		m_rigidCollisionObject;
-
-	///for rigid versus soft (instead of soft versus rigid), we use this swapped boolean
-	bool m_isSwapped;
-
-public:
-	btSoftRigidCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0, const btCollisionObjectWrapper* col1Wrap, bool isSwapped);
-
-	virtual ~btSoftRigidCollisionAlgorithm();
-
-	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
-	{
-		//we don't add any manifolds
-	}
-
-	struct CreateFunc : public btCollisionAlgorithmCreateFunc
-	{
-		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftRigidCollisionAlgorithm));
-			if (!m_swapped)
-			{
-				return new (mem) btSoftRigidCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, false);
-			}
-			else
-			{
-				return new (mem) btSoftRigidCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, true);
-			}
-		}
-	};
-};
-
-#endif  //BT_SOFT_RIGID_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftRigidDynamicsWorld.cpp b/thirdparty/bullet/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
deleted file mode 100644
index 510b731fc1..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
+++ /dev/null
@@ -1,346 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btSoftRigidDynamicsWorld.h"
-#include "LinearMath/btQuickprof.h"
-
-//softbody & helpers
-#include "btSoftBody.h"
-#include "btSoftBodyHelpers.h"
-#include "btSoftBodySolvers.h"
-#include "btDefaultSoftBodySolver.h"
-#include "LinearMath/btSerializer.h"
-
-btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(
-	btDispatcher* dispatcher,
-	btBroadphaseInterface* pairCache,
-	btConstraintSolver* constraintSolver,
-	btCollisionConfiguration* collisionConfiguration,
-	btSoftBodySolver* softBodySolver) : btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration),
-										m_softBodySolver(softBodySolver),
-										m_ownsSolver(false)
-{
-	if (!m_softBodySolver)
-	{
-		void* ptr = btAlignedAlloc(sizeof(btDefaultSoftBodySolver), 16);
-		m_softBodySolver = new (ptr) btDefaultSoftBodySolver();
-		m_ownsSolver = true;
-	}
-
-	m_drawFlags = fDrawFlags::Std;
-	m_drawNodeTree = true;
-	m_drawFaceTree = false;
-	m_drawClusterTree = false;
-	m_sbi.m_broadphase = pairCache;
-	m_sbi.m_dispatcher = dispatcher;
-	m_sbi.m_sparsesdf.Initialize();
-	m_sbi.m_sparsesdf.Reset();
-
-	m_sbi.air_density = (btScalar)1.2;
-	m_sbi.water_density = 0;
-	m_sbi.water_offset = 0;
-	m_sbi.water_normal = btVector3(0, 0, 0);
-	m_sbi.m_gravity.setValue(0, -10, 0);
-
-	m_sbi.m_sparsesdf.Initialize();
-}
-
-btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld()
-{
-	if (m_ownsSolver)
-	{
-		m_softBodySolver->~btSoftBodySolver();
-		btAlignedFree(m_softBodySolver);
-	}
-}
-
-void btSoftRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
-{
-	btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep);
-	{
-		BT_PROFILE("predictUnconstraintMotionSoftBody");
-		m_softBodySolver->predictMotion(float(timeStep));
-	}
-}
-
-void btSoftRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
-{
-	// Let the solver grab the soft bodies and if necessary optimize for it
-	m_softBodySolver->optimize(getSoftBodyArray());
-
-	if (!m_softBodySolver->checkInitialized())
-	{
-		btAssert("Solver initialization failed\n");
-	}
-
-	btDiscreteDynamicsWorld::internalSingleStepSimulation(timeStep);
-
-	///solve soft bodies constraints
-	solveSoftBodiesConstraints(timeStep);
-
-	//self collisions
-	for (int i = 0; i < m_softBodies.size(); i++)
-	{
-		btSoftBody* psb = (btSoftBody*)m_softBodies[i];
-		psb->defaultCollisionHandler(psb);
-	}
-
-	///update soft bodies
-	m_softBodySolver->updateSoftBodies();
-
-	// End solver-wise simulation step
-	// ///////////////////////////////
-}
-
-void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints(btScalar timeStep)
-{
-	BT_PROFILE("solveSoftConstraints");
-
-	if (m_softBodies.size())
-	{
-		btSoftBody::solveClusters(m_softBodies);
-	}
-
-	// Solve constraints solver-wise
-	m_softBodySolver->solveConstraints(timeStep * m_softBodySolver->getTimeScale());
-}
-
-void btSoftRigidDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask)
-{
-	m_softBodies.push_back(body);
-
-	// Set the soft body solver that will deal with this body
-	// to be the world's solver
-	body->setSoftBodySolver(m_softBodySolver);
-
-	btCollisionWorld::addCollisionObject(body,
-										 collisionFilterGroup,
-										 collisionFilterMask);
-}
-
-void btSoftRigidDynamicsWorld::removeSoftBody(btSoftBody* body)
-{
-	m_softBodies.remove(body);
-
-	btCollisionWorld::removeCollisionObject(body);
-}
-
-void btSoftRigidDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
-{
-	btSoftBody* body = btSoftBody::upcast(collisionObject);
-	if (body)
-		removeSoftBody(body);
-	else
-		btDiscreteDynamicsWorld::removeCollisionObject(collisionObject);
-}
-
-void btSoftRigidDynamicsWorld::debugDrawWorld()
-{
-	btDiscreteDynamicsWorld::debugDrawWorld();
-
-	if (getDebugDrawer())
-	{
-		int i;
-		for (i = 0; i < this->m_softBodies.size(); i++)
-		{
-			btSoftBody* psb = (btSoftBody*)this->m_softBodies[i];
-			if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
-			{
-				btSoftBodyHelpers::DrawFrame(psb, m_debugDrawer);
-				btSoftBodyHelpers::Draw(psb, m_debugDrawer, m_drawFlags);
-			}
-
-			if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
-			{
-				if (m_drawNodeTree) btSoftBodyHelpers::DrawNodeTree(psb, m_debugDrawer);
-				if (m_drawFaceTree) btSoftBodyHelpers::DrawFaceTree(psb, m_debugDrawer);
-				if (m_drawClusterTree) btSoftBodyHelpers::DrawClusterTree(psb, m_debugDrawer);
-			}
-		}
-	}
-}
-
-struct btSoftSingleRayCallback : public btBroadphaseRayCallback
-{
-	btVector3 m_rayFromWorld;
-	btVector3 m_rayToWorld;
-	btTransform m_rayFromTrans;
-	btTransform m_rayToTrans;
-	btVector3 m_hitNormal;
-
-	const btSoftRigidDynamicsWorld* m_world;
-	btCollisionWorld::RayResultCallback& m_resultCallback;
-
-	btSoftSingleRayCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld, const btSoftRigidDynamicsWorld* world, btCollisionWorld::RayResultCallback& resultCallback)
-		: m_rayFromWorld(rayFromWorld),
-		  m_rayToWorld(rayToWorld),
-		  m_world(world),
-		  m_resultCallback(resultCallback)
-	{
-		m_rayFromTrans.setIdentity();
-		m_rayFromTrans.setOrigin(m_rayFromWorld);
-		m_rayToTrans.setIdentity();
-		m_rayToTrans.setOrigin(m_rayToWorld);
-
-		btVector3 rayDir = (rayToWorld - rayFromWorld);
-
-		rayDir.normalize();
-		///what about division by zero? --> just set rayDirection[i] to INF/1e30
-		m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
-		m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
-		m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
-		m_signs[0] = m_rayDirectionInverse[0] < 0.0;
-		m_signs[1] = m_rayDirectionInverse[1] < 0.0;
-		m_signs[2] = m_rayDirectionInverse[2] < 0.0;
-
-		m_lambda_max = rayDir.dot(m_rayToWorld - m_rayFromWorld);
-	}
-
-	virtual bool process(const btBroadphaseProxy* proxy)
-	{
-		///terminate further ray tests, once the closestHitFraction reached zero
-		if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
-			return false;
-
-		btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
-
-		//only perform raycast if filterMask matches
-		if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
-		{
-			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
-			//btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
-#if 0
-#ifdef RECALCULATE_AABB
-			btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
-			collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
-#else
-			//getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
-			const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
-			const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
-#endif
-#endif
-			//btScalar hitLambda = m_resultCallback.m_closestHitFraction;
-			//culling already done by broadphase
-			//if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
-			{
-				m_world->rayTestSingle(m_rayFromTrans, m_rayToTrans,
-									   collisionObject,
-									   collisionObject->getCollisionShape(),
-									   collisionObject->getWorldTransform(),
-									   m_resultCallback);
-			}
-		}
-		return true;
-	}
-};
-
-void btSoftRigidDynamicsWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
-{
-	BT_PROFILE("rayTest");
-	/// use the broadphase to accelerate the search for objects, based on their aabb
-	/// and for each object with ray-aabb overlap, perform an exact ray test
-	btSoftSingleRayCallback rayCB(rayFromWorld, rayToWorld, this, resultCallback);
-
-#ifndef USE_BRUTEFORCE_RAYBROADPHASE
-	m_broadphasePairCache->rayTest(rayFromWorld, rayToWorld, rayCB);
-#else
-	for (int i = 0; i < this->getNumCollisionObjects(); i++)
-	{
-		rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
-	}
-#endif  //USE_BRUTEFORCE_RAYBROADPHASE
-}
-
-void btSoftRigidDynamicsWorld::rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
-											 btCollisionObject* collisionObject,
-											 const btCollisionShape* collisionShape,
-											 const btTransform& colObjWorldTransform,
-											 RayResultCallback& resultCallback)
-{
-	if (collisionShape->isSoftBody())
-	{
-		btSoftBody* softBody = btSoftBody::upcast(collisionObject);
-		if (softBody)
-		{
-			btSoftBody::sRayCast softResult;
-			if (softBody->rayTest(rayFromTrans.getOrigin(), rayToTrans.getOrigin(), softResult))
-			{
-				if (softResult.fraction <= resultCallback.m_closestHitFraction)
-				{
-					btCollisionWorld::LocalShapeInfo shapeInfo;
-					shapeInfo.m_shapePart = 0;
-					shapeInfo.m_triangleIndex = softResult.index;
-					// get the normal
-					btVector3 rayDir = rayToTrans.getOrigin() - rayFromTrans.getOrigin();
-					btVector3 normal = -rayDir;
-					normal.normalize();
-
-					if (softResult.feature == btSoftBody::eFeature::Face)
-					{
-						normal = softBody->m_faces[softResult.index].m_normal;
-						if (normal.dot(rayDir) > 0)
-						{
-							// normal always point toward origin of the ray
-							normal = -normal;
-						}
-					}
-
-					btCollisionWorld::LocalRayResult rayResult(collisionObject,
-															   &shapeInfo,
-															   normal,
-															   softResult.fraction);
-					bool normalInWorldSpace = true;
-					resultCallback.addSingleResult(rayResult, normalInWorldSpace);
-				}
-			}
-		}
-	}
-	else
-	{
-		btCollisionWorld::rayTestSingle(rayFromTrans, rayToTrans, collisionObject, collisionShape, colObjWorldTransform, resultCallback);
-	}
-}
-
-void btSoftRigidDynamicsWorld::serializeSoftBodies(btSerializer* serializer)
-{
-	int i;
-	//serialize all collision objects
-	for (i = 0; i < m_collisionObjects.size(); i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		if (colObj->getInternalType() & btCollisionObject::CO_SOFT_BODY)
-		{
-			int len = colObj->calculateSerializeBufferSize();
-			btChunk* chunk = serializer->allocate(len, 1);
-			const char* structType = colObj->serialize(chunk->m_oldPtr, serializer);
-			serializer->finalizeChunk(chunk, structType, BT_SOFTBODY_CODE, colObj);
-		}
-	}
-}
-
-void btSoftRigidDynamicsWorld::serialize(btSerializer* serializer)
-{
-	serializer->startSerialization();
-
-	serializeDynamicsWorldInfo(serializer);
-
-	serializeSoftBodies(serializer);
-
-	serializeRigidBodies(serializer);
-
-	serializeCollisionObjects(serializer);
-
-	serializer->finishSerialization();
-}
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftRigidDynamicsWorld.h b/thirdparty/bullet/BulletSoftBody/btSoftRigidDynamicsWorld.h
deleted file mode 100644
index be49c444d7..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btSoftRigidDynamicsWorld.h
+++ /dev/null
@@ -1,102 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H
-#define BT_SOFT_RIGID_DYNAMICS_WORLD_H
-
-#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
-#include "btSoftBody.h"
-
-typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
-
-class btSoftBodySolver;
-
-class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
-{
-	btSoftBodyArray m_softBodies;
-	int m_drawFlags;
-	bool m_drawNodeTree;
-	bool m_drawFaceTree;
-	bool m_drawClusterTree;
-	btSoftBodyWorldInfo m_sbi;
-	///Solver classes that encapsulate multiple soft bodies for solving
-	btSoftBodySolver* m_softBodySolver;
-	bool m_ownsSolver;
-
-protected:
-	virtual void predictUnconstraintMotion(btScalar timeStep);
-
-	virtual void internalSingleStepSimulation(btScalar timeStep);
-
-	void solveSoftBodiesConstraints(btScalar timeStep);
-
-	void serializeSoftBodies(btSerializer* serializer);
-
-public:
-	btSoftRigidDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btSoftBodySolver* softBodySolver = 0);
-
-	virtual ~btSoftRigidDynamicsWorld();
-
-	virtual void debugDrawWorld();
-
-	void addSoftBody(btSoftBody* body, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter);
-
-	void removeSoftBody(btSoftBody* body);
-
-	///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btDiscreteDynamicsWorld::removeCollisionObject
-	virtual void removeCollisionObject(btCollisionObject* collisionObject);
-
-	int getDrawFlags() const { return (m_drawFlags); }
-	void setDrawFlags(int f) { m_drawFlags = f; }
-
-	btSoftBodyWorldInfo& getWorldInfo()
-	{
-		return m_sbi;
-	}
-	const btSoftBodyWorldInfo& getWorldInfo() const
-	{
-		return m_sbi;
-	}
-
-	virtual btDynamicsWorldType getWorldType() const
-	{
-		return BT_SOFT_RIGID_DYNAMICS_WORLD;
-	}
-
-	btSoftBodyArray& getSoftBodyArray()
-	{
-		return m_softBodies;
-	}
-
-	const btSoftBodyArray& getSoftBodyArray() const
-	{
-		return m_softBodies;
-	}
-
-	virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
-
-	/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
-	/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
-	/// This allows more customization.
-	static void rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
-							  btCollisionObject* collisionObject,
-							  const btCollisionShape* collisionShape,
-							  const btTransform& colObjWorldTransform,
-							  RayResultCallback& resultCallback);
-
-	virtual void serialize(btSerializer* serializer);
-};
-
-#endif  //BT_SOFT_RIGID_DYNAMICS_WORLD_H
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp b/thirdparty/bullet/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp
deleted file mode 100644
index 9c3e904f64..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,48 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btSoftSoftCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/CollisionShapes/btBoxShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletSoftBody/btSoftBodySolvers.h"
-#include "btSoftBody.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-#define USE_PERSISTENT_CONTACTS 1
-
-btSoftSoftCollisionAlgorithm::btSoftSoftCollisionAlgorithm(btPersistentManifold* /*mf*/, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* /*obj0*/, const btCollisionObjectWrapper* /*obj1*/)
-	: btCollisionAlgorithm(ci)
-//m_ownManifold(false),
-//m_manifoldPtr(mf)
-{
-}
-
-btSoftSoftCollisionAlgorithm::~btSoftSoftCollisionAlgorithm()
-{
-}
-
-void btSoftSoftCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& /*dispatchInfo*/, btManifoldResult* /*resultOut*/)
-{
-	btSoftBody* soft0 = (btSoftBody*)body0Wrap->getCollisionObject();
-	btSoftBody* soft1 = (btSoftBody*)body1Wrap->getCollisionObject();
-	soft0->getSoftBodySolver()->processCollision(soft0, soft1);
-}
-
-btScalar btSoftSoftCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/, btCollisionObject* /*body1*/, const btDispatcherInfo& /*dispatchInfo*/, btManifoldResult* /*resultOut*/)
-{
-	//not yet
-	return 1.f;
-}
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftSoftCollisionAlgorithm.h b/thirdparty/bullet/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
deleted file mode 100644
index 6f871f5b85..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SOFT_SOFT_COLLISION_ALGORITHM_H
-#define BT_SOFT_SOFT_COLLISION_ALGORITHM_H
-
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
-#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
-
-class btPersistentManifold;
-class btSoftBody;
-
-///collision detection between two btSoftBody shapes
-class btSoftSoftCollisionAlgorithm : public btCollisionAlgorithm
-{
-	bool m_ownManifold;
-	btPersistentManifold* m_manifoldPtr;
-
-	//	btSoftBody*	m_softBody0;
-	//	btSoftBody*	m_softBody1;
-
-public:
-	btSoftSoftCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
-		: btCollisionAlgorithm(ci) {}
-
-	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
-
-	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
-	{
-		if (m_manifoldPtr && m_ownManifold)
-			manifoldArray.push_back(m_manifoldPtr);
-	}
-
-	btSoftSoftCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
-
-	virtual ~btSoftSoftCollisionAlgorithm();
-
-	struct CreateFunc : public btCollisionAlgorithmCreateFunc
-	{
-		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-		{
-			int bbsize = sizeof(btSoftSoftCollisionAlgorithm);
-			void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
-			return new (ptr) btSoftSoftCollisionAlgorithm(0, ci, body0Wrap, body1Wrap);
-		}
-	};
-};
-
-#endif  //BT_SOFT_SOFT_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletSoftBody/btSparseSDF.h b/thirdparty/bullet/BulletSoftBody/btSparseSDF.h
deleted file mode 100644
index d611726bcd..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btSparseSDF.h
+++ /dev/null
@@ -1,372 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-///btSparseSdf implementation by Nathanael Presson
-
-#ifndef BT_SPARSE_SDF_H
-#define BT_SPARSE_SDF_H
-
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
-
-// Fast Hash
-
-#if !defined(get16bits)
-#define get16bits(d) ((((unsigned int)(((const unsigned char*)(d))[1])) << 8) + (unsigned int)(((const unsigned char*)(d))[0]))
-#endif
-//
-// super hash function by Paul Hsieh
-//
-inline unsigned int HsiehHash(const char* data, int len)
-{
-	unsigned int hash = len, tmp;
-	len >>= 2;
-
-	/* Main loop */
-	for (; len > 0; len--)
-	{
-		hash += get16bits(data);
-		tmp = (get16bits(data + 2) << 11) ^ hash;
-		hash = (hash << 16) ^ tmp;
-		data += 2 * sizeof(unsigned short);
-		hash += hash >> 11;
-	}
-
-	/* Force "avalanching" of final 127 bits */
-	hash ^= hash << 3;
-	hash += hash >> 5;
-	hash ^= hash << 4;
-	hash += hash >> 17;
-	hash ^= hash << 25;
-	hash += hash >> 6;
-
-	return hash;
-}
-
-template <const int CELLSIZE>
-struct btSparseSdf
-{
-	//
-	// Inner types
-	//
-	struct IntFrac
-	{
-		int b;
-		int i;
-		btScalar f;
-	};
-	struct Cell
-	{
-		btScalar d[CELLSIZE + 1][CELLSIZE + 1][CELLSIZE + 1];
-		int c[3];
-		int puid;
-		unsigned hash;
-		const btCollisionShape* pclient;
-		Cell* next;
-	};
-	//
-	// Fields
-	//
-
-	btAlignedObjectArray<Cell*> cells;
-	btScalar voxelsz;
-	btScalar m_defaultVoxelsz;
-	int puid;
-	int ncells;
-	int m_clampCells;
-	int nprobes;
-	int nqueries;
-
-	~btSparseSdf()
-	{
-		Reset();
-	}
-	//
-	// Methods
-	//
-
-	//
-	void Initialize(int hashsize = 2383, int clampCells = 256 * 1024)
-	{
-		//avoid a crash due to running out of memory, so clamp the maximum number of cells allocated
-		//if this limit is reached, the SDF is reset (at the cost of some performance during the reset)
-		m_clampCells = clampCells;
-		cells.resize(hashsize, 0);
-		m_defaultVoxelsz = 0.25;
-		Reset();
-	}
-	//
-
-	void setDefaultVoxelsz(btScalar sz)
-	{
-		m_defaultVoxelsz = sz;
-	}
-
-	void Reset()
-	{
-		for (int i = 0, ni = cells.size(); i < ni; ++i)
-		{
-			Cell* pc = cells[i];
-			cells[i] = 0;
-			while (pc)
-			{
-				Cell* pn = pc->next;
-				delete pc;
-				pc = pn;
-			}
-		}
-		voxelsz = m_defaultVoxelsz;
-		puid = 0;
-		ncells = 0;
-		nprobes = 1;
-		nqueries = 1;
-	}
-	//
-	void GarbageCollect(int lifetime = 256)
-	{
-		const int life = puid - lifetime;
-		for (int i = 0; i < cells.size(); ++i)
-		{
-			Cell*& root = cells[i];
-			Cell* pp = 0;
-			Cell* pc = root;
-			while (pc)
-			{
-				Cell* pn = pc->next;
-				if (pc->puid < life)
-				{
-					if (pp)
-						pp->next = pn;
-					else
-						root = pn;
-					delete pc;
-					pc = pp;
-					--ncells;
-				}
-				pp = pc;
-				pc = pn;
-			}
-		}
-		//printf("GC[%d]: %d cells, PpQ: %f\r\n",puid,ncells,nprobes/(btScalar)nqueries);
-		nqueries = 1;
-		nprobes = 1;
-		++puid;  ///@todo: Reset puid's when int range limit is reached	*/
-		/* else setup a priority list...						*/
-	}
-	//
-	int RemoveReferences(btCollisionShape* pcs)
-	{
-		int refcount = 0;
-		for (int i = 0; i < cells.size(); ++i)
-		{
-			Cell*& root = cells[i];
-			Cell* pp = 0;
-			Cell* pc = root;
-			while (pc)
-			{
-				Cell* pn = pc->next;
-				if (pc->pclient == pcs)
-				{
-					if (pp)
-						pp->next = pn;
-					else
-						root = pn;
-					delete pc;
-					pc = pp;
-					++refcount;
-				}
-				pp = pc;
-				pc = pn;
-			}
-		}
-		return (refcount);
-	}
-	//
-	btScalar Evaluate(const btVector3& x,
-					  const btCollisionShape* shape,
-					  btVector3& normal,
-					  btScalar margin)
-	{
-		/* Lookup cell			*/
-		const btVector3 scx = x / voxelsz;
-		const IntFrac ix = Decompose(scx.x());
-		const IntFrac iy = Decompose(scx.y());
-		const IntFrac iz = Decompose(scx.z());
-		const unsigned h = Hash(ix.b, iy.b, iz.b, shape);
-		Cell*& root = cells[static_cast<int>(h % cells.size())];
-		Cell* c = root;
-		++nqueries;
-		while (c)
-		{
-			++nprobes;
-			if ((c->hash == h) &&
-				(c->c[0] == ix.b) &&
-				(c->c[1] == iy.b) &&
-				(c->c[2] == iz.b) &&
-				(c->pclient == shape))
-			{
-				break;
-			}
-			else
-			{
-				// printf("c->hash/c[0][1][2]=%d,%d,%d,%d\n", c->hash, c->c[0], c->c[1],c->c[2]);
-				//printf("h,ixb,iyb,izb=%d,%d,%d,%d\n", h,ix.b, iy.b, iz.b);
-
-				c = c->next;
-			}
-		}
-		if (!c)
-		{
-			++nprobes;
-			++ncells;
-			//int sz = sizeof(Cell);
-			if (ncells > m_clampCells)
-			{
-				static int numResets = 0;
-				numResets++;
-				//				printf("numResets=%d\n",numResets);
-				Reset();
-			}
-
-			c = new Cell();
-			c->next = root;
-			root = c;
-			c->pclient = shape;
-			c->hash = h;
-			c->c[0] = ix.b;
-			c->c[1] = iy.b;
-			c->c[2] = iz.b;
-			BuildCell(*c);
-		}
-		c->puid = puid;
-		/* Extract infos		*/
-		const int o[] = {ix.i, iy.i, iz.i};
-		const btScalar d[] = {c->d[o[0] + 0][o[1] + 0][o[2] + 0],
-							  c->d[o[0] + 1][o[1] + 0][o[2] + 0],
-							  c->d[o[0] + 1][o[1] + 1][o[2] + 0],
-							  c->d[o[0] + 0][o[1] + 1][o[2] + 0],
-							  c->d[o[0] + 0][o[1] + 0][o[2] + 1],
-							  c->d[o[0] + 1][o[1] + 0][o[2] + 1],
-							  c->d[o[0] + 1][o[1] + 1][o[2] + 1],
-							  c->d[o[0] + 0][o[1] + 1][o[2] + 1]};
-		/* Normal	*/
-#if 1
-		const btScalar gx[] = {d[1] - d[0], d[2] - d[3],
-							   d[5] - d[4], d[6] - d[7]};
-		const btScalar gy[] = {d[3] - d[0], d[2] - d[1],
-							   d[7] - d[4], d[6] - d[5]};
-		const btScalar gz[] = {d[4] - d[0], d[5] - d[1],
-							   d[7] - d[3], d[6] - d[2]};
-		normal.setX(Lerp(Lerp(gx[0], gx[1], iy.f),
-						 Lerp(gx[2], gx[3], iy.f), iz.f));
-		normal.setY(Lerp(Lerp(gy[0], gy[1], ix.f),
-						 Lerp(gy[2], gy[3], ix.f), iz.f));
-		normal.setZ(Lerp(Lerp(gz[0], gz[1], ix.f),
-						 Lerp(gz[2], gz[3], ix.f), iy.f));
-		normal.safeNormalize();
-#else
-		normal = btVector3(d[1] - d[0], d[3] - d[0], d[4] - d[0]).normalized();
-#endif
-		/* Distance	*/
-		const btScalar d0 = Lerp(Lerp(d[0], d[1], ix.f),
-								 Lerp(d[3], d[2], ix.f), iy.f);
-		const btScalar d1 = Lerp(Lerp(d[4], d[5], ix.f),
-								 Lerp(d[7], d[6], ix.f), iy.f);
-		return (Lerp(d0, d1, iz.f) - margin);
-	}
-	//
-	void BuildCell(Cell& c)
-	{
-		const btVector3 org = btVector3((btScalar)c.c[0],
-										(btScalar)c.c[1],
-										(btScalar)c.c[2]) *
-							  CELLSIZE * voxelsz;
-		for (int k = 0; k <= CELLSIZE; ++k)
-		{
-			const btScalar z = voxelsz * k + org.z();
-			for (int j = 0; j <= CELLSIZE; ++j)
-			{
-				const btScalar y = voxelsz * j + org.y();
-				for (int i = 0; i <= CELLSIZE; ++i)
-				{
-					const btScalar x = voxelsz * i + org.x();
-					c.d[i][j][k] = DistanceToShape(btVector3(x, y, z),
-												   c.pclient);
-				}
-			}
-		}
-	}
-	//
-	static inline btScalar DistanceToShape(const btVector3& x,
-										   const btCollisionShape* shape)
-	{
-		btTransform unit;
-		unit.setIdentity();
-		if (shape->isConvex())
-		{
-			btGjkEpaSolver2::sResults res;
-			const btConvexShape* csh = static_cast<const btConvexShape*>(shape);
-			return (btGjkEpaSolver2::SignedDistance(x, 0, csh, unit, res));
-		}
-		return (0);
-	}
-	//
-	static inline IntFrac Decompose(btScalar x)
-	{
-		/* That one need a lot of improvements...	*/
-		/* Remove test, faster floor...				*/
-		IntFrac r;
-		x /= CELLSIZE;
-		const int o = x < 0 ? (int)(-x + 1) : 0;
-		x += o;
-		r.b = (int)x;
-		const btScalar k = (x - r.b) * CELLSIZE;
-		r.i = (int)k;
-		r.f = k - r.i;
-		r.b -= o;
-		return (r);
-	}
-	//
-	static inline btScalar Lerp(btScalar a, btScalar b, btScalar t)
-	{
-		return (a + (b - a) * t);
-	}
-
-	//
-	static inline unsigned int Hash(int x, int y, int z, const btCollisionShape* shape)
-	{
-		struct btS
-		{
-			int x, y, z, w;
-			void* p;
-		};
-
-		btS myset;
-		//memset may be needed in case of additional (uninitialized) padding!
-		//memset(&myset, 0, sizeof(btS));
-
-		myset.x = x;
-		myset.y = y;
-		myset.z = z;
-		myset.w = 0;
-		myset.p = (void*)shape;
-		const char* ptr = (const char*)&myset;
-
-		unsigned int result = HsiehHash(ptr, sizeof(btS));
-
-		return result;
-	}
-};
-
-#endif  //BT_SPARSE_SDF_H
diff --git a/thirdparty/bullet/BulletSoftBody/poly34.cpp b/thirdparty/bullet/BulletSoftBody/poly34.cpp
deleted file mode 100644
index ec7549c8e8..0000000000
--- a/thirdparty/bullet/BulletSoftBody/poly34.cpp
+++ /dev/null
@@ -1,447 +0,0 @@
-// poly34.cpp : solution of cubic and quartic equation
-// (c) Khashin S.I. http://math.ivanovo.ac.ru/dalgebra/Khashin/index.html
-// khash2 (at) gmail.com
-// Thanks to Alexandr Rakhmanin <rakhmanin (at) gmail.com>
-// public domain
-//
-#include <math.h>
-
-#include "poly34.h"  // solution of cubic and quartic equation
-#define TwoPi 6.28318530717958648
-const btScalar eps = SIMD_EPSILON;
-
-//=============================================================================
-// _root3, root3 from http://prografix.narod.ru
-//=============================================================================
-static SIMD_FORCE_INLINE btScalar _root3(btScalar x)
-{
-	btScalar s = 1.;
-	while (x < 1.)
-	{
-		x *= 8.;
-		s *= 0.5;
-	}
-	while (x > 8.)
-	{
-		x *= 0.125;
-		s *= 2.;
-	}
-	btScalar r = 1.5;
-	r -= 1. / 3. * (r - x / (r * r));
-	r -= 1. / 3. * (r - x / (r * r));
-	r -= 1. / 3. * (r - x / (r * r));
-	r -= 1. / 3. * (r - x / (r * r));
-	r -= 1. / 3. * (r - x / (r * r));
-	r -= 1. / 3. * (r - x / (r * r));
-	return r * s;
-}
-
-btScalar SIMD_FORCE_INLINE root3(btScalar x)
-{
-	if (x > 0)
-		return _root3(x);
-	else if (x < 0)
-		return -_root3(-x);
-	else
-		return 0.;
-}
-
-// x - array of size 2
-// return 2: 2 real roots x[0], x[1]
-// return 0: pair of complex roots: x[0]i*x[1]
-int SolveP2(btScalar* x, btScalar a, btScalar b)
-{  // solve equation x^2 + a*x + b = 0
-	btScalar D = 0.25 * a * a - b;
-	if (D >= 0)
-	{
-		D = sqrt(D);
-		x[0] = -0.5 * a + D;
-		x[1] = -0.5 * a - D;
-		return 2;
-	}
-	x[0] = -0.5 * a;
-	x[1] = sqrt(-D);
-	return 0;
-}
-//---------------------------------------------------------------------------
-// x - array of size 3
-// In case 3 real roots: => x[0], x[1], x[2], return 3
-//         2 real roots: x[0], x[1],          return 2
-//         1 real root : x[0], x[1]  i*x[2], return 1
-int SolveP3(btScalar* x, btScalar a, btScalar b, btScalar c)
-{  // solve cubic equation x^3 + a*x^2 + b*x + c = 0
-	btScalar a2 = a * a;
-	btScalar q = (a2 - 3 * b) / 9;
-	if (q < 0)
-		q = eps;
-	btScalar r = (a * (2 * a2 - 9 * b) + 27 * c) / 54;
-	// equation x^3 + q*x + r = 0
-	btScalar r2 = r * r;
-	btScalar q3 = q * q * q;
-	btScalar A, B;
-	if (r2 <= (q3 + eps))
-	{  //<<-- FIXED!
-		btScalar t = r / sqrt(q3);
-		if (t < -1)
-			t = -1;
-		if (t > 1)
-			t = 1;
-		t = acos(t);
-		a /= 3;
-		q = -2 * sqrt(q);
-		x[0] = q * cos(t / 3) - a;
-		x[1] = q * cos((t + TwoPi) / 3) - a;
-		x[2] = q * cos((t - TwoPi) / 3) - a;
-		return (3);
-	}
-	else
-	{
-		//A =-pow(fabs(r)+sqrt(r2-q3),1./3);
-		A = -root3(fabs(r) + sqrt(r2 - q3));
-		if (r < 0)
-			A = -A;
-		B = (A == 0 ? 0 : q / A);
-
-		a /= 3;
-		x[0] = (A + B) - a;
-		x[1] = -0.5 * (A + B) - a;
-		x[2] = 0.5 * sqrt(3.) * (A - B);
-		if (fabs(x[2]) < eps)
-		{
-			x[2] = x[1];
-			return (2);
-		}
-		return (1);
-	}
-}  // SolveP3(btScalar *x,btScalar a,btScalar b,btScalar c) {
-//---------------------------------------------------------------------------
-// a>=0!
-void CSqrt(btScalar x, btScalar y, btScalar& a, btScalar& b)  // returns:  a+i*s = sqrt(x+i*y)
-{
-	btScalar r = sqrt(x * x + y * y);
-	if (y == 0)
-	{
-		r = sqrt(r);
-		if (x >= 0)
-		{
-			a = r;
-			b = 0;
-		}
-		else
-		{
-			a = 0;
-			b = r;
-		}
-	}
-	else
-	{  // y != 0
-		a = sqrt(0.5 * (x + r));
-		b = 0.5 * y / a;
-	}
-}
-//---------------------------------------------------------------------------
-int SolveP4Bi(btScalar* x, btScalar b, btScalar d)  // solve equation x^4 + b*x^2 + d = 0
-{
-	btScalar D = b * b - 4 * d;
-	if (D >= 0)
-	{
-		btScalar sD = sqrt(D);
-		btScalar x1 = (-b + sD) / 2;
-		btScalar x2 = (-b - sD) / 2;  // x2 <= x1
-		if (x2 >= 0)                  // 0 <= x2 <= x1, 4 real roots
-		{
-			btScalar sx1 = sqrt(x1);
-			btScalar sx2 = sqrt(x2);
-			x[0] = -sx1;
-			x[1] = sx1;
-			x[2] = -sx2;
-			x[3] = sx2;
-			return 4;
-		}
-		if (x1 < 0)  // x2 <= x1 < 0, two pair of imaginary roots
-		{
-			btScalar sx1 = sqrt(-x1);
-			btScalar sx2 = sqrt(-x2);
-			x[0] = 0;
-			x[1] = sx1;
-			x[2] = 0;
-			x[3] = sx2;
-			return 0;
-		}
-		// now x2 < 0 <= x1 , two real roots and one pair of imginary root
-		btScalar sx1 = sqrt(x1);
-		btScalar sx2 = sqrt(-x2);
-		x[0] = -sx1;
-		x[1] = sx1;
-		x[2] = 0;
-		x[3] = sx2;
-		return 2;
-	}
-	else
-	{  // if( D < 0 ), two pair of compex roots
-		btScalar sD2 = 0.5 * sqrt(-D);
-		CSqrt(-0.5 * b, sD2, x[0], x[1]);
-		CSqrt(-0.5 * b, -sD2, x[2], x[3]);
-		return 0;
-	}  // if( D>=0 )
-}  // SolveP4Bi(btScalar *x, btScalar b, btScalar d)    // solve equation x^4 + b*x^2 d
-//---------------------------------------------------------------------------
-#define SWAP(a, b) \
-	{              \
-		t = b;     \
-		b = a;     \
-		a = t;     \
-	}
-static void dblSort3(btScalar& a, btScalar& b, btScalar& c)  // make: a <= b <= c
-{
-	btScalar t;
-	if (a > b)
-		SWAP(a, b);  // now a<=b
-	if (c < b)
-	{
-		SWAP(b, c);  // now a<=b, b<=c
-		if (a > b)
-			SWAP(a, b);  // now a<=b
-	}
-}
-//---------------------------------------------------------------------------
-int SolveP4De(btScalar* x, btScalar b, btScalar c, btScalar d)  // solve equation x^4 + b*x^2 + c*x + d
-{
-	//if( c==0 ) return SolveP4Bi(x,b,d); // After that, c!=0
-	if (fabs(c) < 1e-14 * (fabs(b) + fabs(d)))
-		return SolveP4Bi(x, b, d);  // After that, c!=0
-
-	int res3 = SolveP3(x, 2 * b, b * b - 4 * d, -c * c);  // solve resolvent
-	// by Viet theorem:  x1*x2*x3=-c*c not equals to 0, so x1!=0, x2!=0, x3!=0
-	if (res3 > 1)  // 3 real roots,
-	{
-		dblSort3(x[0], x[1], x[2]);  // sort roots to x[0] <= x[1] <= x[2]
-		// Note: x[0]*x[1]*x[2]= c*c > 0
-		if (x[0] > 0)  // all roots are positive
-		{
-			btScalar sz1 = sqrt(x[0]);
-			btScalar sz2 = sqrt(x[1]);
-			btScalar sz3 = sqrt(x[2]);
-			// Note: sz1*sz2*sz3= -c (and not equal to 0)
-			if (c > 0)
-			{
-				x[0] = (-sz1 - sz2 - sz3) / 2;
-				x[1] = (-sz1 + sz2 + sz3) / 2;
-				x[2] = (+sz1 - sz2 + sz3) / 2;
-				x[3] = (+sz1 + sz2 - sz3) / 2;
-				return 4;
-			}
-			// now: c<0
-			x[0] = (-sz1 - sz2 + sz3) / 2;
-			x[1] = (-sz1 + sz2 - sz3) / 2;
-			x[2] = (+sz1 - sz2 - sz3) / 2;
-			x[3] = (+sz1 + sz2 + sz3) / 2;
-			return 4;
-		}  // if( x[0] > 0) // all roots are positive
-		// now x[0] <= x[1] < 0, x[2] > 0
-		// two pair of comlex roots
-		btScalar sz1 = sqrt(-x[0]);
-		btScalar sz2 = sqrt(-x[1]);
-		btScalar sz3 = sqrt(x[2]);
-
-		if (c > 0)  // sign = -1
-		{
-			x[0] = -sz3 / 2;
-			x[1] = (sz1 - sz2) / 2;  // x[0]i*x[1]
-			x[2] = sz3 / 2;
-			x[3] = (-sz1 - sz2) / 2;  // x[2]i*x[3]
-			return 0;
-		}
-		// now: c<0 , sign = +1
-		x[0] = sz3 / 2;
-		x[1] = (-sz1 + sz2) / 2;
-		x[2] = -sz3 / 2;
-		x[3] = (sz1 + sz2) / 2;
-		return 0;
-	}  // if( res3>1 )    // 3 real roots,
-	// now resoventa have 1 real and pair of compex roots
-	// x[0] - real root, and x[0]>0,
-	// x[1]i*x[2] - complex roots,
-	// x[0] must be >=0. But one times x[0]=~ 1e-17, so:
-	if (x[0] < 0)
-		x[0] = 0;
-	btScalar sz1 = sqrt(x[0]);
-	btScalar szr, szi;
-	CSqrt(x[1], x[2], szr, szi);  // (szr+i*szi)^2 = x[1]+i*x[2]
-	if (c > 0)                    // sign = -1
-	{
-		x[0] = -sz1 / 2 - szr;  // 1st real root
-		x[1] = -sz1 / 2 + szr;  // 2nd real root
-		x[2] = sz1 / 2;
-		x[3] = szi;
-		return 2;
-	}
-	// now: c<0 , sign = +1
-	x[0] = sz1 / 2 - szr;  // 1st real root
-	x[1] = sz1 / 2 + szr;  // 2nd real root
-	x[2] = -sz1 / 2;
-	x[3] = szi;
-	return 2;
-}  // SolveP4De(btScalar *x, btScalar b, btScalar c, btScalar d)    // solve equation x^4 + b*x^2 + c*x + d
-//-----------------------------------------------------------------------------
-btScalar N4Step(btScalar x, btScalar a, btScalar b, btScalar c, btScalar d)  // one Newton step for x^4 + a*x^3 + b*x^2 + c*x + d
-{
-	btScalar fxs = ((4 * x + 3 * a) * x + 2 * b) * x + c;  // f'(x)
-	if (fxs == 0)
-		return x;                                       //return 1e99; <<-- FIXED!
-	btScalar fx = (((x + a) * x + b) * x + c) * x + d;  // f(x)
-	return x - fx / fxs;
-}
-//-----------------------------------------------------------------------------
-// x - array of size 4
-// return 4: 4 real roots x[0], x[1], x[2], x[3], possible multiple roots
-// return 2: 2 real roots x[0], x[1] and complex x[2]i*x[3],
-// return 0: two pair of complex roots: x[0]i*x[1],  x[2]i*x[3],
-int SolveP4(btScalar* x, btScalar a, btScalar b, btScalar c, btScalar d)
-{  // solve equation x^4 + a*x^3 + b*x^2 + c*x + d by Dekart-Euler method
-	// move to a=0:
-	btScalar d1 = d + 0.25 * a * (0.25 * b * a - 3. / 64 * a * a * a - c);
-	btScalar c1 = c + 0.5 * a * (0.25 * a * a - b);
-	btScalar b1 = b - 0.375 * a * a;
-	int res = SolveP4De(x, b1, c1, d1);
-	if (res == 4)
-	{
-		x[0] -= a / 4;
-		x[1] -= a / 4;
-		x[2] -= a / 4;
-		x[3] -= a / 4;
-	}
-	else if (res == 2)
-	{
-		x[0] -= a / 4;
-		x[1] -= a / 4;
-		x[2] -= a / 4;
-	}
-	else
-	{
-		x[0] -= a / 4;
-		x[2] -= a / 4;
-	}
-	// one Newton step for each real root:
-	if (res > 0)
-	{
-		x[0] = N4Step(x[0], a, b, c, d);
-		x[1] = N4Step(x[1], a, b, c, d);
-	}
-	if (res > 2)
-	{
-		x[2] = N4Step(x[2], a, b, c, d);
-		x[3] = N4Step(x[3], a, b, c, d);
-	}
-	return res;
-}
-//-----------------------------------------------------------------------------
-#define F5(t) (((((t + a) * t + b) * t + c) * t + d) * t + e)
-//-----------------------------------------------------------------------------
-btScalar SolveP5_1(btScalar a, btScalar b, btScalar c, btScalar d, btScalar e)  // return real root of x^5 + a*x^4 + b*x^3 + c*x^2 + d*x + e = 0
-{
-	int cnt;
-	if (fabs(e) < eps)
-		return 0;
-
-	btScalar brd = fabs(a);  // brd - border of real roots
-	if (fabs(b) > brd)
-		brd = fabs(b);
-	if (fabs(c) > brd)
-		brd = fabs(c);
-	if (fabs(d) > brd)
-		brd = fabs(d);
-	if (fabs(e) > brd)
-		brd = fabs(e);
-	brd++;  // brd - border of real roots
-
-	btScalar x0, f0;       // less than root
-	btScalar x1, f1;       // greater than root
-	btScalar x2, f2, f2s;  // next values, f(x2), f'(x2)
-	btScalar dx = 0;
-
-	if (e < 0)
-	{
-		x0 = 0;
-		x1 = brd;
-		f0 = e;
-		f1 = F5(x1);
-		x2 = 0.01 * brd;
-	}  // positive root
-	else
-	{
-		x0 = -brd;
-		x1 = 0;
-		f0 = F5(x0);
-		f1 = e;
-		x2 = -0.01 * brd;
-	}  // negative root
-
-	if (fabs(f0) < eps)
-		return x0;
-	if (fabs(f1) < eps)
-		return x1;
-
-	// now x0<x1, f(x0)<0, f(x1)>0
-	// Firstly 10 bisections
-	for (cnt = 0; cnt < 10; cnt++)
-	{
-		x2 = (x0 + x1) / 2;  // next point
-		//x2 = x0 - f0*(x1 - x0) / (f1 - f0);        // next point
-		f2 = F5(x2);  // f(x2)
-		if (fabs(f2) < eps)
-			return x2;
-		if (f2 > 0)
-		{
-			x1 = x2;
-			f1 = f2;
-		}
-		else
-		{
-			x0 = x2;
-			f0 = f2;
-		}
-	}
-
-	// At each step:
-	// x0<x1, f(x0)<0, f(x1)>0.
-	// x2 - next value
-	// we hope that x0 < x2 < x1, but not necessarily
-	do
-	{
-		if (cnt++ > 50)
-			break;
-		if (x2 <= x0 || x2 >= x1)
-			x2 = (x0 + x1) / 2;  // now  x0 < x2 < x1
-		f2 = F5(x2);             // f(x2)
-		if (fabs(f2) < eps)
-			return x2;
-		if (f2 > 0)
-		{
-			x1 = x2;
-			f1 = f2;
-		}
-		else
-		{
-			x0 = x2;
-			f0 = f2;
-		}
-		f2s = (((5 * x2 + 4 * a) * x2 + 3 * b) * x2 + 2 * c) * x2 + d;  // f'(x2)
-		if (fabs(f2s) < eps)
-		{
-			x2 = 1e99;
-			continue;
-		}
-		dx = f2 / f2s;
-		x2 -= dx;
-	} while (fabs(dx) > eps);
-	return x2;
-}  // SolveP5_1(btScalar a,btScalar b,btScalar c,btScalar d,btScalar e)    // return real root of x^5 + a*x^4 + b*x^3 + c*x^2 + d*x + e = 0
-//-----------------------------------------------------------------------------
-int SolveP5(btScalar* x, btScalar a, btScalar b, btScalar c, btScalar d, btScalar e)  // solve equation x^5 + a*x^4 + b*x^3 + c*x^2 + d*x + e = 0
-{
-	btScalar r = x[0] = SolveP5_1(a, b, c, d, e);
-	btScalar a1 = a + r, b1 = b + r * a1, c1 = c + r * b1, d1 = d + r * c1;
-	return 1 + SolveP4(x + 1, a1, b1, c1, d1);
-}  // SolveP5(btScalar *x,btScalar a,btScalar b,btScalar c,btScalar d,btScalar e)    // solve equation x^5 + a*x^4 + b*x^3 + c*x^2 + d*x + e = 0
-//-----------------------------------------------------------------------------
diff --git a/thirdparty/bullet/BulletSoftBody/poly34.h b/thirdparty/bullet/BulletSoftBody/poly34.h
deleted file mode 100644
index 35a52c5fec..0000000000
--- a/thirdparty/bullet/BulletSoftBody/poly34.h
+++ /dev/null
@@ -1,38 +0,0 @@
-// poly34.h : solution of cubic and quartic equation
-// (c) Khashin S.I. http://math.ivanovo.ac.ru/dalgebra/Khashin/index.html
-// khash2 (at) gmail.com
-
-#ifndef POLY_34
-#define POLY_34
-#include "LinearMath/btScalar.h"
-// x - array of size 2
-// return 2: 2 real roots x[0], x[1]
-// return 0: pair of complex roots: x[0]i*x[1]
-int SolveP2(btScalar* x, btScalar a, btScalar b);  // solve equation x^2 + a*x + b = 0
-
-// x - array of size 3
-// return 3: 3 real roots x[0], x[1], x[2]
-// return 1: 1 real root x[0] and pair of complex roots: x[1]i*x[2]
-int SolveP3(btScalar* x, btScalar a, btScalar b, btScalar c);  // solve cubic equation x^3 + a*x^2 + b*x + c = 0
-
-// x - array of size 4
-// return 4: 4 real roots x[0], x[1], x[2], x[3], possible multiple roots
-// return 2: 2 real roots x[0], x[1] and complex x[2]i*x[3],
-// return 0: two pair of complex roots: x[0]i*x[1],  x[2]i*x[3],
-int SolveP4(btScalar* x, btScalar a, btScalar b, btScalar c, btScalar d);  // solve equation x^4 + a*x^3 + b*x^2 + c*x + d = 0 by Dekart-Euler method
-
-// x - array of size 5
-// return 5: 5 real roots x[0], x[1], x[2], x[3], x[4], possible multiple roots
-// return 3: 3 real roots x[0], x[1], x[2] and complex x[3]i*x[4],
-// return 1: 1 real root x[0] and two pair of complex roots: x[1]i*x[2],  x[3]i*x[4],
-int SolveP5(btScalar* x, btScalar a, btScalar b, btScalar c, btScalar d, btScalar e);  // solve equation x^5 + a*x^4 + b*x^3 + c*x^2 + d*x + e = 0
-
-//-----------------------------------------------------------------------------
-// And some additional functions for internal use.
-// Your may remove this definitions from here
-int SolveP4Bi(btScalar* x, btScalar b, btScalar d);                              // solve equation x^4 + b*x^2 + d = 0
-int SolveP4De(btScalar* x, btScalar b, btScalar c, btScalar d);                  // solve equation x^4 + b*x^2 + c*x + d = 0
-void CSqrt(btScalar x, btScalar y, btScalar& a, btScalar& b);                    // returns as a+i*s,  sqrt(x+i*y)
-btScalar N4Step(btScalar x, btScalar a, btScalar b, btScalar c, btScalar d);     // one Newton step for x^4 + a*x^3 + b*x^2 + c*x + d
-btScalar SolveP5_1(btScalar a, btScalar b, btScalar c, btScalar d, btScalar e);  // return real root of x^5 + a*x^4 + b*x^3 + c*x^2 + d*x + e = 0
-#endif
diff --git a/thirdparty/bullet/LICENSE.txt b/thirdparty/bullet/LICENSE.txt
deleted file mode 100644
index 319c84e349..0000000000
--- a/thirdparty/bullet/LICENSE.txt
+++ /dev/null
@@ -1,15 +0,0 @@
-
-The files in this repository are licensed under the zlib license, except for the files under 'Extras' and examples/ThirdPartyLibs.
-
-Bullet Continuous Collision Detection and Physics Library
-http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btTaskScheduler.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btTaskScheduler.cpp
deleted file mode 100644
index 5f1115c402..0000000000
--- a/thirdparty/bullet/LinearMath/TaskScheduler/btTaskScheduler.cpp
+++ /dev/null
@@ -1,792 +0,0 @@
-
-#include "LinearMath/btMinMax.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btThreads.h"
-#include "LinearMath/btQuickprof.h"
-#include <stdio.h>
-#include <algorithm>
-
-#if BT_THREADSAFE
-
-#include "btThreadSupportInterface.h"
-
-#if defined(_WIN32)
-
-#define WIN32_LEAN_AND_MEAN
-
-#include <windows.h>
-
-#endif
-
-typedef unsigned long long btU64;
-static const int kCacheLineSize = 64;
-
-void btSpinPause()
-{
-#if defined(_WIN32)
-	YieldProcessor();
-#endif
-}
-
-struct WorkerThreadStatus
-{
-	enum Type
-	{
-		kInvalid,
-		kWaitingForWork,
-		kWorking,
-		kSleeping,
-	};
-};
-
-ATTRIBUTE_ALIGNED64(class)
-WorkerThreadDirectives
-{
-	static const int kMaxThreadCount = BT_MAX_THREAD_COUNT;
-	// directives for all worker threads packed into a single cacheline
-	char m_threadDirs[kMaxThreadCount];
-
-public:
-	enum Type
-	{
-		kInvalid,
-		kGoToSleep,         // go to sleep
-		kStayAwakeButIdle,  // wait for not checking job queue
-		kScanForJobs,       // actively scan job queue for jobs
-	};
-	WorkerThreadDirectives()
-	{
-		for (int i = 0; i < kMaxThreadCount; ++i)
-		{
-			m_threadDirs[i] = 0;
-		}
-	}
-
-	Type getDirective(int threadId)
-	{
-		btAssert(threadId < kMaxThreadCount);
-		return static_cast<Type>(m_threadDirs[threadId]);
-	}
-
-	void setDirectiveByRange(int threadBegin, int threadEnd, Type dir)
-	{
-		btAssert(threadBegin < threadEnd);
-		btAssert(threadEnd <= kMaxThreadCount);
-		char dirChar = static_cast<char>(dir);
-		for (int i = threadBegin; i < threadEnd; ++i)
-		{
-			m_threadDirs[i] = dirChar;
-		}
-	}
-};
-
-class JobQueue;
-
-ATTRIBUTE_ALIGNED64(struct)
-ThreadLocalStorage
-{
-	int m_threadId;
-	WorkerThreadStatus::Type m_status;
-	int m_numJobsFinished;
-	btSpinMutex m_mutex;
-	btScalar m_sumResult;
-	WorkerThreadDirectives* m_directive;
-	JobQueue* m_queue;
-	btClock* m_clock;
-	unsigned int m_cooldownTime;
-};
-
-struct IJob
-{
-	virtual void executeJob(int threadId) = 0;
-};
-
-class ParallelForJob : public IJob
-{
-	const btIParallelForBody* m_body;
-	int m_begin;
-	int m_end;
-
-public:
-	ParallelForJob(int iBegin, int iEnd, const btIParallelForBody& body)
-	{
-		m_body = &body;
-		m_begin = iBegin;
-		m_end = iEnd;
-	}
-	virtual void executeJob(int threadId) BT_OVERRIDE
-	{
-		BT_PROFILE("executeJob");
-
-		// call the functor body to do the work
-		m_body->forLoop(m_begin, m_end);
-	}
-};
-
-class ParallelSumJob : public IJob
-{
-	const btIParallelSumBody* m_body;
-	ThreadLocalStorage* m_threadLocalStoreArray;
-	int m_begin;
-	int m_end;
-
-public:
-	ParallelSumJob(int iBegin, int iEnd, const btIParallelSumBody& body, ThreadLocalStorage* tls)
-	{
-		m_body = &body;
-		m_threadLocalStoreArray = tls;
-		m_begin = iBegin;
-		m_end = iEnd;
-	}
-	virtual void executeJob(int threadId) BT_OVERRIDE
-	{
-		BT_PROFILE("executeJob");
-
-		// call the functor body to do the work
-		btScalar val = m_body->sumLoop(m_begin, m_end);
-#if BT_PARALLEL_SUM_DETERMINISTISM
-		// by truncating bits of the result, we can make the parallelSum deterministic (at the expense of precision)
-		const float TRUNC_SCALE = float(1 << 19);
-		val = floor(val * TRUNC_SCALE + 0.5f) / TRUNC_SCALE;  // truncate some bits
-#endif
-		m_threadLocalStoreArray[threadId].m_sumResult += val;
-	}
-};
-
-ATTRIBUTE_ALIGNED64(class)
-JobQueue
-{
-	btThreadSupportInterface* m_threadSupport;
-	btCriticalSection* m_queueLock;
-	btSpinMutex m_mutex;
-
-	btAlignedObjectArray<IJob*> m_jobQueue;
-	char* m_jobMem;
-	int m_jobMemSize;
-	bool m_queueIsEmpty;
-	int m_tailIndex;
-	int m_headIndex;
-	int m_allocSize;
-	bool m_useSpinMutex;
-	btAlignedObjectArray<JobQueue*> m_neighborContexts;
-	char m_cachePadding[kCacheLineSize];  // prevent false sharing
-
-	void freeJobMem()
-	{
-		if (m_jobMem)
-		{
-			// free old
-			btAlignedFree(m_jobMem);
-			m_jobMem = NULL;
-		}
-	}
-	void resizeJobMem(int newSize)
-	{
-		if (newSize > m_jobMemSize)
-		{
-			freeJobMem();
-			m_jobMem = static_cast<char*>(btAlignedAlloc(newSize, kCacheLineSize));
-			m_jobMemSize = newSize;
-		}
-	}
-
-public:
-	JobQueue()
-	{
-		m_jobMem = NULL;
-		m_jobMemSize = 0;
-		m_threadSupport = NULL;
-		m_queueLock = NULL;
-		m_headIndex = 0;
-		m_tailIndex = 0;
-		m_useSpinMutex = false;
-	}
-	~JobQueue()
-	{
-		exit();
-	}
-	void exit()
-	{
-		freeJobMem();
-		if (m_queueLock && m_threadSupport)
-		{
-			m_threadSupport->deleteCriticalSection(m_queueLock);
-			m_queueLock = NULL;
-			m_threadSupport = 0;
-		}
-	}
-
-	void init(btThreadSupportInterface * threadSup, btAlignedObjectArray<JobQueue> * contextArray)
-	{
-		m_threadSupport = threadSup;
-		if (threadSup)
-		{
-			m_queueLock = m_threadSupport->createCriticalSection();
-		}
-		setupJobStealing(contextArray, contextArray->size());
-	}
-	void setupJobStealing(btAlignedObjectArray<JobQueue> * contextArray, int numActiveContexts)
-	{
-		btAlignedObjectArray<JobQueue>& contexts = *contextArray;
-		int selfIndex = 0;
-		for (int i = 0; i < contexts.size(); ++i)
-		{
-			if (this == &contexts[i])
-			{
-				selfIndex = i;
-				break;
-			}
-		}
-		int numNeighbors = btMin(2, contexts.size() - 1);
-		int neighborOffsets[] = {-1, 1, -2, 2, -3, 3};
-		int numOffsets = sizeof(neighborOffsets) / sizeof(neighborOffsets[0]);
-		m_neighborContexts.reserve(numNeighbors);
-		m_neighborContexts.resizeNoInitialize(0);
-		for (int i = 0; i < numOffsets && m_neighborContexts.size() < numNeighbors; i++)
-		{
-			int neighborIndex = selfIndex + neighborOffsets[i];
-			if (neighborIndex >= 0 && neighborIndex < numActiveContexts)
-			{
-				m_neighborContexts.push_back(&contexts[neighborIndex]);
-			}
-		}
-	}
-
-	bool isQueueEmpty() const { return m_queueIsEmpty; }
-	void lockQueue()
-	{
-		if (m_useSpinMutex)
-		{
-			m_mutex.lock();
-		}
-		else
-		{
-			m_queueLock->lock();
-		}
-	}
-	void unlockQueue()
-	{
-		if (m_useSpinMutex)
-		{
-			m_mutex.unlock();
-		}
-		else
-		{
-			m_queueLock->unlock();
-		}
-	}
-	void clearQueue(int jobCount, int jobSize)
-	{
-		lockQueue();
-		m_headIndex = 0;
-		m_tailIndex = 0;
-		m_allocSize = 0;
-		m_queueIsEmpty = true;
-		int jobBufSize = jobSize * jobCount;
-		// make sure we have enough memory allocated to store jobs
-		if (jobBufSize > m_jobMemSize)
-		{
-			resizeJobMem(jobBufSize);
-		}
-		// make sure job queue is big enough
-		if (jobCount > m_jobQueue.capacity())
-		{
-			m_jobQueue.reserve(jobCount);
-		}
-		unlockQueue();
-		m_jobQueue.resizeNoInitialize(0);
-	}
-	void* allocJobMem(int jobSize)
-	{
-		btAssert(m_jobMemSize >= (m_allocSize + jobSize));
-		void* jobMem = &m_jobMem[m_allocSize];
-		m_allocSize += jobSize;
-		return jobMem;
-	}
-	void submitJob(IJob * job)
-	{
-		btAssert(reinterpret_cast<char*>(job) >= &m_jobMem[0] && reinterpret_cast<char*>(job) < &m_jobMem[0] + m_allocSize);
-		m_jobQueue.push_back(job);
-		lockQueue();
-		m_tailIndex++;
-		m_queueIsEmpty = false;
-		unlockQueue();
-	}
-	IJob* consumeJobFromOwnQueue()
-	{
-		if (m_queueIsEmpty)
-		{
-			// lock free path. even if this is taken erroneously it isn't harmful
-			return NULL;
-		}
-		IJob* job = NULL;
-		lockQueue();
-		if (!m_queueIsEmpty)
-		{
-			job = m_jobQueue[m_headIndex++];
-			btAssert(reinterpret_cast<char*>(job) >= &m_jobMem[0] && reinterpret_cast<char*>(job) < &m_jobMem[0] + m_allocSize);
-			if (m_headIndex == m_tailIndex)
-			{
-				m_queueIsEmpty = true;
-			}
-		}
-		unlockQueue();
-		return job;
-	}
-	IJob* consumeJob()
-	{
-		if (IJob* job = consumeJobFromOwnQueue())
-		{
-			return job;
-		}
-		// own queue is empty, try to steal from neighbor
-		for (int i = 0; i < m_neighborContexts.size(); ++i)
-		{
-			JobQueue* otherContext = m_neighborContexts[i];
-			if (IJob* job = otherContext->consumeJobFromOwnQueue())
-			{
-				return job;
-			}
-		}
-		return NULL;
-	}
-};
-
-static void WorkerThreadFunc(void* userPtr)
-{
-	BT_PROFILE("WorkerThreadFunc");
-	ThreadLocalStorage* localStorage = (ThreadLocalStorage*)userPtr;
-	JobQueue* jobQueue = localStorage->m_queue;
-
-	bool shouldSleep = false;
-	int threadId = localStorage->m_threadId;
-	while (!shouldSleep)
-	{
-		// do work
-		localStorage->m_mutex.lock();
-		while (IJob* job = jobQueue->consumeJob())
-		{
-			localStorage->m_status = WorkerThreadStatus::kWorking;
-			job->executeJob(threadId);
-			localStorage->m_numJobsFinished++;
-		}
-		localStorage->m_status = WorkerThreadStatus::kWaitingForWork;
-		localStorage->m_mutex.unlock();
-		btU64 clockStart = localStorage->m_clock->getTimeMicroseconds();
-		// while queue is empty,
-		while (jobQueue->isQueueEmpty())
-		{
-			// todo: spin wait a bit to avoid hammering the empty queue
-			btSpinPause();
-			if (localStorage->m_directive->getDirective(threadId) == WorkerThreadDirectives::kGoToSleep)
-			{
-				shouldSleep = true;
-				break;
-			}
-			// if jobs are incoming,
-			if (localStorage->m_directive->getDirective(threadId) == WorkerThreadDirectives::kScanForJobs)
-			{
-				clockStart = localStorage->m_clock->getTimeMicroseconds();  // reset clock
-			}
-			else
-			{
-				for (int i = 0; i < 50; ++i)
-				{
-					btSpinPause();
-					btSpinPause();
-					btSpinPause();
-					btSpinPause();
-					if (localStorage->m_directive->getDirective(threadId) == WorkerThreadDirectives::kScanForJobs || !jobQueue->isQueueEmpty())
-					{
-						break;
-					}
-				}
-				// if no jobs incoming and queue has been empty for the cooldown time, sleep
-				btU64 timeElapsed = localStorage->m_clock->getTimeMicroseconds() - clockStart;
-				if (timeElapsed > localStorage->m_cooldownTime)
-				{
-					shouldSleep = true;
-					break;
-				}
-			}
-		}
-	}
-	{
-		BT_PROFILE("sleep");
-		// go sleep
-		localStorage->m_mutex.lock();
-		localStorage->m_status = WorkerThreadStatus::kSleeping;
-		localStorage->m_mutex.unlock();
-	}
-}
-
-class btTaskSchedulerDefault : public btITaskScheduler
-{
-	btThreadSupportInterface* m_threadSupport;
-	WorkerThreadDirectives* m_workerDirective;
-	btAlignedObjectArray<JobQueue> m_jobQueues;
-	btAlignedObjectArray<JobQueue*> m_perThreadJobQueues;
-	btAlignedObjectArray<ThreadLocalStorage> m_threadLocalStorage;
-	btSpinMutex m_antiNestingLock;  // prevent nested parallel-for
-	btClock m_clock;
-	int m_numThreads;
-	int m_numWorkerThreads;
-	int m_numActiveJobQueues;
-	int m_maxNumThreads;
-	int m_numJobs;
-	static const int kFirstWorkerThreadId = 1;
-
-public:
-	btTaskSchedulerDefault() : btITaskScheduler("ThreadSupport")
-	{
-		m_threadSupport = NULL;
-		m_workerDirective = NULL;
-	}
-
-	virtual ~btTaskSchedulerDefault()
-	{
-		waitForWorkersToSleep();
-
-		for (int i = 0; i < m_jobQueues.size(); ++i)
-		{
-			m_jobQueues[i].exit();
-		}
-
-		if (m_threadSupport)
-		{
-			delete m_threadSupport;
-			m_threadSupport = NULL;
-		}
-		if (m_workerDirective)
-		{
-			btAlignedFree(m_workerDirective);
-			m_workerDirective = NULL;
-		}
-	}
-
-	void init()
-	{
-		btThreadSupportInterface::ConstructionInfo constructionInfo("TaskScheduler", WorkerThreadFunc);
-		m_threadSupport = btThreadSupportInterface::create(constructionInfo);
-		m_workerDirective = static_cast<WorkerThreadDirectives*>(btAlignedAlloc(sizeof(*m_workerDirective), 64));
-
-		m_numWorkerThreads = m_threadSupport->getNumWorkerThreads();
-		m_maxNumThreads = m_threadSupport->getNumWorkerThreads() + 1;
-		m_numThreads = m_maxNumThreads;
-		// ideal to have one job queue for each physical processor (except for the main thread which needs no queue)
-		int numThreadsPerQueue = m_threadSupport->getLogicalToPhysicalCoreRatio();
-		int numJobQueues = (numThreadsPerQueue == 1) ? (m_maxNumThreads - 1) : (m_maxNumThreads / numThreadsPerQueue);
-		m_jobQueues.resize(numJobQueues);
-		m_numActiveJobQueues = numJobQueues;
-		for (int i = 0; i < m_jobQueues.size(); ++i)
-		{
-			m_jobQueues[i].init(m_threadSupport, &m_jobQueues);
-		}
-		m_perThreadJobQueues.resize(m_numThreads);
-		for (int i = 0; i < m_numThreads; i++)
-		{
-			JobQueue* jq = NULL;
-			// only worker threads get a job queue
-			if (i > 0)
-			{
-				if (numThreadsPerQueue == 1)
-				{
-					// one queue per worker thread
-					jq = &m_jobQueues[i - kFirstWorkerThreadId];
-				}
-				else
-				{
-					// 2 threads share each queue
-					jq = &m_jobQueues[i / numThreadsPerQueue];
-				}
-			}
-			m_perThreadJobQueues[i] = jq;
-		}
-		m_threadLocalStorage.resize(m_numThreads);
-		for (int i = 0; i < m_numThreads; i++)
-		{
-			ThreadLocalStorage& storage = m_threadLocalStorage[i];
-			storage.m_threadId = i;
-			storage.m_directive = m_workerDirective;
-			storage.m_status = WorkerThreadStatus::kSleeping;
-			storage.m_cooldownTime = 100;  // 100 microseconds, threads go to sleep after this long if they have nothing to do
-			storage.m_clock = &m_clock;
-			storage.m_queue = m_perThreadJobQueues[i];
-		}
-		setWorkerDirectives(WorkerThreadDirectives::kGoToSleep);  // no work for them yet
-		setNumThreads(m_threadSupport->getCacheFriendlyNumThreads());
-	}
-
-	void setWorkerDirectives(WorkerThreadDirectives::Type dir)
-	{
-		m_workerDirective->setDirectiveByRange(kFirstWorkerThreadId, m_numThreads, dir);
-	}
-
-	virtual int getMaxNumThreads() const BT_OVERRIDE
-	{
-		return m_maxNumThreads;
-	}
-
-	virtual int getNumThreads() const BT_OVERRIDE
-	{
-		return m_numThreads;
-	}
-
-	virtual void setNumThreads(int numThreads) BT_OVERRIDE
-	{
-		m_numThreads = btMax(btMin(numThreads, int(m_maxNumThreads)), 1);
-		m_numWorkerThreads = m_numThreads - 1;
-		m_numActiveJobQueues = 0;
-		// if there is at least 1 worker,
-		if (m_numWorkerThreads > 0)
-		{
-			// re-setup job stealing between queues to avoid attempting to steal from an inactive job queue
-			JobQueue* lastActiveContext = m_perThreadJobQueues[m_numThreads - 1];
-			int iLastActiveContext = lastActiveContext - &m_jobQueues[0];
-			m_numActiveJobQueues = iLastActiveContext + 1;
-			for (int i = 0; i < m_jobQueues.size(); ++i)
-			{
-				m_jobQueues[i].setupJobStealing(&m_jobQueues, m_numActiveJobQueues);
-			}
-		}
-		m_workerDirective->setDirectiveByRange(m_numThreads, BT_MAX_THREAD_COUNT, WorkerThreadDirectives::kGoToSleep);
-	}
-
-	void waitJobs()
-	{
-		BT_PROFILE("waitJobs");
-		// have the main thread work until the job queues are empty
-		int numMainThreadJobsFinished = 0;
-		for (int i = 0; i < m_numActiveJobQueues; ++i)
-		{
-			while (IJob* job = m_jobQueues[i].consumeJob())
-			{
-				job->executeJob(0);
-				numMainThreadJobsFinished++;
-			}
-		}
-
-		// done with jobs for now, tell workers to rest (but not sleep)
-		setWorkerDirectives(WorkerThreadDirectives::kStayAwakeButIdle);
-
-		btU64 clockStart = m_clock.getTimeMicroseconds();
-		// wait for workers to finish any jobs in progress
-		while (true)
-		{
-			int numWorkerJobsFinished = 0;
-			for (int iThread = kFirstWorkerThreadId; iThread < m_numThreads; ++iThread)
-			{
-				ThreadLocalStorage* storage = &m_threadLocalStorage[iThread];
-				storage->m_mutex.lock();
-				numWorkerJobsFinished += storage->m_numJobsFinished;
-				storage->m_mutex.unlock();
-			}
-			if (numWorkerJobsFinished + numMainThreadJobsFinished == m_numJobs)
-			{
-				break;
-			}
-			btU64 timeElapsed = m_clock.getTimeMicroseconds() - clockStart;
-			btAssert(timeElapsed < 1000);
-			if (timeElapsed > 100000)
-			{
-				break;
-			}
-			btSpinPause();
-		}
-	}
-
-	void wakeWorkers(int numWorkersToWake)
-	{
-		BT_PROFILE("wakeWorkers");
-		btAssert(m_workerDirective->getDirective(1) == WorkerThreadDirectives::kScanForJobs);
-		int numDesiredWorkers = btMin(numWorkersToWake, m_numWorkerThreads);
-		int numActiveWorkers = 0;
-		for (int iWorker = 0; iWorker < m_numWorkerThreads; ++iWorker)
-		{
-			// note this count of active workers is not necessarily totally reliable, because a worker thread could be
-			// just about to put itself to sleep. So we may on occasion fail to wake up all the workers. It should be rare.
-			ThreadLocalStorage& storage = m_threadLocalStorage[kFirstWorkerThreadId + iWorker];
-			if (storage.m_status != WorkerThreadStatus::kSleeping)
-			{
-				numActiveWorkers++;
-			}
-		}
-		for (int iWorker = 0; iWorker < m_numWorkerThreads && numActiveWorkers < numDesiredWorkers; ++iWorker)
-		{
-			ThreadLocalStorage& storage = m_threadLocalStorage[kFirstWorkerThreadId + iWorker];
-			if (storage.m_status == WorkerThreadStatus::kSleeping)
-			{
-				m_threadSupport->runTask(iWorker, &storage);
-				numActiveWorkers++;
-			}
-		}
-	}
-
-	void waitForWorkersToSleep()
-	{
-		BT_PROFILE("waitForWorkersToSleep");
-		setWorkerDirectives(WorkerThreadDirectives::kGoToSleep);
-		m_threadSupport->waitForAllTasks();
-		for (int i = kFirstWorkerThreadId; i < m_numThreads; i++)
-		{
-			ThreadLocalStorage& storage = m_threadLocalStorage[i];
-			btAssert(storage.m_status == WorkerThreadStatus::kSleeping);
-		}
-	}
-
-	virtual void sleepWorkerThreadsHint() BT_OVERRIDE
-	{
-		BT_PROFILE("sleepWorkerThreadsHint");
-		// hint the task scheduler that we may not be using these threads for a little while
-		setWorkerDirectives(WorkerThreadDirectives::kGoToSleep);
-	}
-
-	void prepareWorkerThreads()
-	{
-		for (int i = kFirstWorkerThreadId; i < m_numThreads; ++i)
-		{
-			ThreadLocalStorage& storage = m_threadLocalStorage[i];
-			storage.m_mutex.lock();
-			storage.m_numJobsFinished = 0;
-			storage.m_mutex.unlock();
-		}
-		setWorkerDirectives(WorkerThreadDirectives::kScanForJobs);
-	}
-
-	virtual void parallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body) BT_OVERRIDE
-	{
-		BT_PROFILE("parallelFor_ThreadSupport");
-		btAssert(iEnd >= iBegin);
-		btAssert(grainSize >= 1);
-		int iterationCount = iEnd - iBegin;
-		if (iterationCount > grainSize && m_numWorkerThreads > 0 && m_antiNestingLock.tryLock())
-		{
-			typedef ParallelForJob JobType;
-			int jobCount = (iterationCount + grainSize - 1) / grainSize;
-			m_numJobs = jobCount;
-			btAssert(jobCount >= 2);  // need more than one job for multithreading
-			int jobSize = sizeof(JobType);
-
-			for (int i = 0; i < m_numActiveJobQueues; ++i)
-			{
-				m_jobQueues[i].clearQueue(jobCount, jobSize);
-			}
-			// prepare worker threads for incoming work
-			prepareWorkerThreads();
-			// submit all of the jobs
-			int iJob = 0;
-			int iThread = kFirstWorkerThreadId;  // first worker thread
-			for (int i = iBegin; i < iEnd; i += grainSize)
-			{
-				btAssert(iJob < jobCount);
-				int iE = btMin(i + grainSize, iEnd);
-				JobQueue* jq = m_perThreadJobQueues[iThread];
-				btAssert(jq);
-				btAssert((jq - &m_jobQueues[0]) < m_numActiveJobQueues);
-				void* jobMem = jq->allocJobMem(jobSize);
-				JobType* job = new (jobMem) ParallelForJob(i, iE, body);  // placement new
-				jq->submitJob(job);
-				iJob++;
-				iThread++;
-				if (iThread >= m_numThreads)
-				{
-					iThread = kFirstWorkerThreadId;  // first worker thread
-				}
-			}
-			wakeWorkers(jobCount - 1);
-
-			// put the main thread to work on emptying the job queue and then wait for all workers to finish
-			waitJobs();
-			m_antiNestingLock.unlock();
-		}
-		else
-		{
-			BT_PROFILE("parallelFor_mainThread");
-			// just run on main thread
-			body.forLoop(iBegin, iEnd);
-		}
-	}
-	virtual btScalar parallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body) BT_OVERRIDE
-	{
-		BT_PROFILE("parallelSum_ThreadSupport");
-		btAssert(iEnd >= iBegin);
-		btAssert(grainSize >= 1);
-		int iterationCount = iEnd - iBegin;
-		if (iterationCount > grainSize && m_numWorkerThreads > 0 && m_antiNestingLock.tryLock())
-		{
-			typedef ParallelSumJob JobType;
-			int jobCount = (iterationCount + grainSize - 1) / grainSize;
-			m_numJobs = jobCount;
-			btAssert(jobCount >= 2);  // need more than one job for multithreading
-			int jobSize = sizeof(JobType);
-			for (int i = 0; i < m_numActiveJobQueues; ++i)
-			{
-				m_jobQueues[i].clearQueue(jobCount, jobSize);
-			}
-
-			// initialize summation
-			for (int iThread = 0; iThread < m_numThreads; ++iThread)
-			{
-				m_threadLocalStorage[iThread].m_sumResult = btScalar(0);
-			}
-
-			// prepare worker threads for incoming work
-			prepareWorkerThreads();
-			// submit all of the jobs
-			int iJob = 0;
-			int iThread = kFirstWorkerThreadId;  // first worker thread
-			for (int i = iBegin; i < iEnd; i += grainSize)
-			{
-				btAssert(iJob < jobCount);
-				int iE = btMin(i + grainSize, iEnd);
-				JobQueue* jq = m_perThreadJobQueues[iThread];
-				btAssert(jq);
-				btAssert((jq - &m_jobQueues[0]) < m_numActiveJobQueues);
-				void* jobMem = jq->allocJobMem(jobSize);
-				JobType* job = new (jobMem) ParallelSumJob(i, iE, body, &m_threadLocalStorage[0]);  // placement new
-				jq->submitJob(job);
-				iJob++;
-				iThread++;
-				if (iThread >= m_numThreads)
-				{
-					iThread = kFirstWorkerThreadId;  // first worker thread
-				}
-			}
-			wakeWorkers(jobCount - 1);
-
-			// put the main thread to work on emptying the job queue and then wait for all workers to finish
-			waitJobs();
-
-			// add up all the thread sums
-			btScalar sum = btScalar(0);
-			for (int iThread = 0; iThread < m_numThreads; ++iThread)
-			{
-				sum += m_threadLocalStorage[iThread].m_sumResult;
-			}
-			m_antiNestingLock.unlock();
-			return sum;
-		}
-		else
-		{
-			BT_PROFILE("parallelSum_mainThread");
-			// just run on main thread
-			return body.sumLoop(iBegin, iEnd);
-		}
-	}
-};
-
-btITaskScheduler* btCreateDefaultTaskScheduler()
-{
-	btTaskSchedulerDefault* ts = new btTaskSchedulerDefault();
-	ts->init();
-	return ts;
-}
-
-#else  // #if BT_THREADSAFE
-
-btITaskScheduler* btCreateDefaultTaskScheduler()
-{
-	return NULL;
-}
-
-#endif  // #else // #if BT_THREADSAFE
diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportInterface.h b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportInterface.h
deleted file mode 100644
index 1fe49335a1..0000000000
--- a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportInterface.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2018 Erwin Coumans  http://bulletphysics.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_THREAD_SUPPORT_INTERFACE_H
-#define BT_THREAD_SUPPORT_INTERFACE_H
-
-class btCriticalSection
-{
-public:
-	btCriticalSection() {}
-	virtual ~btCriticalSection() {}
-
-	virtual void lock() = 0;
-	virtual void unlock() = 0;
-};
-
-class btThreadSupportInterface
-{
-public:
-	virtual ~btThreadSupportInterface() {}
-
-	virtual int getNumWorkerThreads() const = 0;            // number of worker threads (total number of logical processors - 1)
-	virtual int getCacheFriendlyNumThreads() const = 0;     // the number of logical processors sharing a single L3 cache
-	virtual int getLogicalToPhysicalCoreRatio() const = 0;  // the number of logical processors per physical processor (usually 1 or 2)
-	virtual void runTask(int threadIndex, void* userData) = 0;
-	virtual void waitForAllTasks() = 0;
-
-	virtual btCriticalSection* createCriticalSection() = 0;
-	virtual void deleteCriticalSection(btCriticalSection* criticalSection) = 0;
-
-	typedef void (*ThreadFunc)(void* userPtr);
-
-	struct ConstructionInfo
-	{
-		ConstructionInfo(const char* uniqueName,
-						 ThreadFunc userThreadFunc,
-						 int threadStackSize = 65535)
-			: m_uniqueName(uniqueName),
-			  m_userThreadFunc(userThreadFunc),
-			  m_threadStackSize(threadStackSize)
-		{
-		}
-
-		const char* m_uniqueName;
-		ThreadFunc m_userThreadFunc;
-		int m_threadStackSize;
-	};
-
-	static btThreadSupportInterface* create(const ConstructionInfo& info);
-};
-
-#endif  //BT_THREAD_SUPPORT_INTERFACE_H
diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp
deleted file mode 100644
index a03f6dc570..0000000000
--- a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp
+++ /dev/null
@@ -1,353 +0,0 @@
-
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2018 Erwin Coumans  http://bulletphysics.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#if BT_THREADSAFE && !defined(_WIN32)
-
-#include "LinearMath/btScalar.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btThreads.h"
-#include "LinearMath/btMinMax.h"
-#include "btThreadSupportInterface.h"
-
-#include <stdio.h>
-#include <errno.h>
-#include <unistd.h>
-
-#ifndef _XOPEN_SOURCE
-#define _XOPEN_SOURCE 600  //for definition of pthread_barrier_t, see http://pages.cs.wisc.edu/~travitch/pthreads_primer.html
-#endif                     //_XOPEN_SOURCE
-#include <pthread.h>
-#include <semaphore.h>
-#include <unistd.h>  //for sysconf
-
-///
-/// getNumHardwareThreads()
-///
-///
-/// https://stackoverflow.com/questions/150355/programmatically-find-the-number-of-cores-on-a-machine
-///
-#if __cplusplus >= 201103L
-
-#include <thread>
-
-int btGetNumHardwareThreads()
-{
-	return btMax(1u, btMin(BT_MAX_THREAD_COUNT, std::thread::hardware_concurrency()));
-}
-
-#else
-
-int btGetNumHardwareThreads()
-{
-	return btMax(1, btMin<int>(BT_MAX_THREAD_COUNT, sysconf(_SC_NPROCESSORS_ONLN)));
-}
-
-#endif
-
-// btThreadSupportPosix helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
-class btThreadSupportPosix : public btThreadSupportInterface
-{
-public:
-	struct btThreadStatus
-	{
-		int m_taskId;
-		int m_commandId;
-		int m_status;
-
-		ThreadFunc m_userThreadFunc;
-		void* m_userPtr;  //for taskDesc etc
-
-		pthread_t thread;
-		//each tread will wait until this signal to start its work
-		sem_t* startSemaphore;
-		btCriticalSection* m_cs;
-		// this is a copy of m_mainSemaphore,
-		//each tread will signal once it is finished with its work
-		sem_t* m_mainSemaphore;
-		unsigned long threadUsed;
-	};
-
-private:
-	typedef unsigned long long UINT64;
-
-	btAlignedObjectArray<btThreadStatus> m_activeThreadStatus;
-	// m_mainSemaphoresemaphore will signal, if and how many threads are finished with their work
-	sem_t* m_mainSemaphore;
-	int m_numThreads;
-	UINT64 m_startedThreadsMask;
-	void startThreads(const ConstructionInfo& threadInfo);
-	void stopThreads();
-	int waitForResponse();
-	btCriticalSection* m_cs;
-public:
-	btThreadSupportPosix(const ConstructionInfo& threadConstructionInfo);
-	virtual ~btThreadSupportPosix();
-
-	virtual int getNumWorkerThreads() const BT_OVERRIDE { return m_numThreads; }
-	// TODO: return the number of logical processors sharing the first L3 cache
-	virtual int getCacheFriendlyNumThreads() const BT_OVERRIDE { return m_numThreads + 1; }
-	// TODO: detect if CPU has hyperthreading enabled
-	virtual int getLogicalToPhysicalCoreRatio() const BT_OVERRIDE { return 1; }
-
-	virtual void runTask(int threadIndex, void* userData) BT_OVERRIDE;
-	virtual void waitForAllTasks() BT_OVERRIDE;
-
-	virtual btCriticalSection* createCriticalSection() BT_OVERRIDE;
-	virtual void deleteCriticalSection(btCriticalSection* criticalSection) BT_OVERRIDE;
-};
-
-#define checkPThreadFunction(returnValue)                                                                 \
-	if (0 != returnValue)                                                                                 \
-	{                                                                                                     \
-		printf("PThread problem at line %i in file %s: %i %d\n", __LINE__, __FILE__, returnValue, errno); \
-	}
-
-// The number of threads should be equal to the number of available cores
-// Todo: each worker should be linked to a single core, using SetThreadIdealProcessor.
-
-btThreadSupportPosix::btThreadSupportPosix(const ConstructionInfo& threadConstructionInfo)
-{
-	m_cs = createCriticalSection();
-	startThreads(threadConstructionInfo);
-}
-
-// cleanup/shutdown Libspe2
-btThreadSupportPosix::~btThreadSupportPosix()
-{
-	stopThreads();
-	deleteCriticalSection(m_cs);
-	m_cs=0;
-}
-
-#if (defined(__APPLE__))
-#define NAMED_SEMAPHORES
-#endif
-
-static sem_t* createSem(const char* baseName)
-{
-	static int semCount = 0;
-#ifdef NAMED_SEMAPHORES
-	/// Named semaphore begin
-	char name[32];
-	snprintf(name, 32, "/%8.s-%4.d-%4.4d", baseName, getpid(), semCount++);
-	sem_t* tempSem = sem_open(name, O_CREAT, 0600, 0);
-
-	if (tempSem != reinterpret_cast<sem_t*>(SEM_FAILED))
-	{
-		//        printf("Created \"%s\" Semaphore %p\n", name, tempSem);
-	}
-	else
-	{
-		//printf("Error creating Semaphore %d\n", errno);
-		exit(-1);
-	}
-	/// Named semaphore end
-#else
-	sem_t* tempSem = new sem_t;
-	checkPThreadFunction(sem_init(tempSem, 0, 0));
-#endif
-	return tempSem;
-}
-
-static void destroySem(sem_t* semaphore)
-{
-#ifdef NAMED_SEMAPHORES
-	checkPThreadFunction(sem_close(semaphore));
-#else
-	checkPThreadFunction(sem_destroy(semaphore));
-	delete semaphore;
-#endif
-}
-
-static void* threadFunction(void* argument)
-{
-	btThreadSupportPosix::btThreadStatus* status = (btThreadSupportPosix::btThreadStatus*)argument;
-
-	while (1)
-	{
-		checkPThreadFunction(sem_wait(status->startSemaphore));
-		void* userPtr = status->m_userPtr;
-
-		if (userPtr)
-		{
-			btAssert(status->m_status);
-			status->m_userThreadFunc(userPtr);
-			status->m_cs->lock();
-			status->m_status = 2;
-			status->m_cs->unlock();
-			checkPThreadFunction(sem_post(status->m_mainSemaphore));
-			status->threadUsed++;
-		}
-		else
-		{
-			//exit Thread
-			status->m_cs->lock();
-			status->m_status = 3;
-			status->m_cs->unlock();
-			checkPThreadFunction(sem_post(status->m_mainSemaphore));
-			break;
-		}
-	}
-
-	return 0;
-}
-
-///send messages to SPUs
-void btThreadSupportPosix::runTask(int threadIndex, void* userData)
-{
-	///we should spawn an SPU task here, and in 'waitForResponse' it should wait for response of the (one of) the first tasks that finished
-	btThreadStatus& threadStatus = m_activeThreadStatus[threadIndex];
-	btAssert(threadIndex >= 0);
-	btAssert(threadIndex < m_activeThreadStatus.size());
-	threadStatus.m_cs = m_cs;
-	threadStatus.m_commandId = 1;
-	threadStatus.m_status = 1;
-	threadStatus.m_userPtr = userData;
-	m_startedThreadsMask |= UINT64(1) << threadIndex;
-
-	// fire event to start new task
-	checkPThreadFunction(sem_post(threadStatus.startSemaphore));
-}
-
-///check for messages from SPUs
-int btThreadSupportPosix::waitForResponse()
-{
-	///We should wait for (one of) the first tasks to finish (or other SPU messages), and report its response
-	///A possible response can be 'yes, SPU handled it', or 'no, please do a PPU fallback'
-
-	btAssert(m_activeThreadStatus.size());
-
-	// wait for any of the threads to finish
-	checkPThreadFunction(sem_wait(m_mainSemaphore));
-	// get at least one thread which has finished
-	size_t last = -1;
-
-	for (size_t t = 0; t < size_t(m_activeThreadStatus.size()); ++t)
-	{
-		m_cs->lock();
-		bool hasFinished = (2 == m_activeThreadStatus[t].m_status);
-		m_cs->unlock(); 
-		if (hasFinished)
-		{
-			last = t;
-			break;
-		}
-	}
-
-	btThreadStatus& threadStatus = m_activeThreadStatus[last];
-
-	btAssert(threadStatus.m_status > 1);
-	threadStatus.m_status = 0;
-
-	// need to find an active spu
-	btAssert(last >= 0);
-	m_startedThreadsMask &= ~(UINT64(1) << last);
-
-	return last;
-}
-
-void btThreadSupportPosix::waitForAllTasks()
-{
-	while (m_startedThreadsMask)
-	{
-		waitForResponse();
-	}
-}
-
-void btThreadSupportPosix::startThreads(const ConstructionInfo& threadConstructionInfo)
-{
-	m_numThreads = btGetNumHardwareThreads() - 1;  // main thread exists already
-	m_activeThreadStatus.resize(m_numThreads);
-	m_startedThreadsMask = 0;
-
-	m_mainSemaphore = createSem("main");
-	//checkPThreadFunction(sem_wait(mainSemaphore));
-
-	for (int i = 0; i < m_numThreads; i++)
-	{
-		btThreadStatus& threadStatus = m_activeThreadStatus[i];
-		threadStatus.startSemaphore = createSem("threadLocal");
-		threadStatus.m_userPtr = 0;
-		threadStatus.m_cs = m_cs;
-		threadStatus.m_taskId = i;
-		threadStatus.m_commandId = 0;
-		threadStatus.m_status = 0;
-		threadStatus.m_mainSemaphore = m_mainSemaphore;
-		threadStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
-		threadStatus.threadUsed = 0;
-		checkPThreadFunction(pthread_create(&threadStatus.thread, NULL, &threadFunction, (void*)&threadStatus));
-
-	}
-}
-
-///tell the task scheduler we are done with the SPU tasks
-void btThreadSupportPosix::stopThreads()
-{
-	for (size_t t = 0; t < size_t(m_activeThreadStatus.size()); ++t)
-	{
-		btThreadStatus& threadStatus = m_activeThreadStatus[t];
-
-		threadStatus.m_userPtr = 0;
-		checkPThreadFunction(sem_post(threadStatus.startSemaphore));
-		checkPThreadFunction(sem_wait(m_mainSemaphore));
-
-		checkPThreadFunction(pthread_join(threadStatus.thread, 0));
-		destroySem(threadStatus.startSemaphore);
-	}
-	destroySem(m_mainSemaphore);
-	m_activeThreadStatus.clear();
-}
-
-class btCriticalSectionPosix : public btCriticalSection
-{
-	pthread_mutex_t m_mutex;
-
-public:
-	btCriticalSectionPosix()
-	{
-		pthread_mutex_init(&m_mutex, NULL);
-	}
-	virtual ~btCriticalSectionPosix()
-	{
-		pthread_mutex_destroy(&m_mutex);
-	}
-
-	virtual void lock()
-	{
-		pthread_mutex_lock(&m_mutex);
-	}
-	virtual void unlock()
-	{
-		pthread_mutex_unlock(&m_mutex);
-	}
-};
-
-btCriticalSection* btThreadSupportPosix::createCriticalSection()
-{
-	return new btCriticalSectionPosix();
-}
-
-void btThreadSupportPosix::deleteCriticalSection(btCriticalSection* cs)
-{
-	delete cs;
-}
-
-btThreadSupportInterface* btThreadSupportInterface::create(const ConstructionInfo& info)
-{
-	return new btThreadSupportPosix(info);
-}
-
-#endif  // BT_THREADSAFE && !defined( _WIN32 )
diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp
deleted file mode 100644
index 5862264a67..0000000000
--- a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp
+++ /dev/null
@@ -1,458 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2018 Erwin Coumans  http://bulletphysics.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#if defined(_WIN32) && BT_THREADSAFE
-
-#include "LinearMath/btScalar.h"
-#include "LinearMath/btMinMax.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btThreads.h"
-#include "btThreadSupportInterface.h"
-#include <windows.h>
-#include <stdio.h>
-
-struct btProcessorInfo
-{
-	int numLogicalProcessors;
-	int numCores;
-	int numNumaNodes;
-	int numL1Cache;
-	int numL2Cache;
-	int numL3Cache;
-	int numPhysicalPackages;
-	static const int maxNumTeamMasks = 32;
-	int numTeamMasks;
-	UINT64 processorTeamMasks[maxNumTeamMasks];
-};
-
-UINT64 getProcessorTeamMask(const btProcessorInfo& procInfo, int procId)
-{
-	UINT64 procMask = UINT64(1) << procId;
-	for (int i = 0; i < procInfo.numTeamMasks; ++i)
-	{
-		if (procMask & procInfo.processorTeamMasks[i])
-		{
-			return procInfo.processorTeamMasks[i];
-		}
-	}
-	return 0;
-}
-
-int getProcessorTeamIndex(const btProcessorInfo& procInfo, int procId)
-{
-	UINT64 procMask = UINT64(1) << procId;
-	for (int i = 0; i < procInfo.numTeamMasks; ++i)
-	{
-		if (procMask & procInfo.processorTeamMasks[i])
-		{
-			return i;
-		}
-	}
-	return -1;
-}
-
-int countSetBits(ULONG64 bits)
-{
-	int count = 0;
-	while (bits)
-	{
-		if (bits & 1)
-		{
-			count++;
-		}
-		bits >>= 1;
-	}
-	return count;
-}
-
-typedef BOOL(WINAPI* Pfn_GetLogicalProcessorInformation)(PSYSTEM_LOGICAL_PROCESSOR_INFORMATION, PDWORD);
-
-void getProcessorInformation(btProcessorInfo* procInfo)
-{
-	memset(procInfo, 0, sizeof(*procInfo));
-#if WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_APP) && \
-    !WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_DESKTOP)
-	// Can't dlopen libraries on UWP.
-	return;
-#else
-	Pfn_GetLogicalProcessorInformation getLogicalProcInfo =
-		(Pfn_GetLogicalProcessorInformation)GetProcAddress(GetModuleHandle(TEXT("kernel32")), "GetLogicalProcessorInformation");
-	if (getLogicalProcInfo == NULL)
-	{
-		// no info
-		return;
-	}
-	PSYSTEM_LOGICAL_PROCESSOR_INFORMATION buf = NULL;
-	DWORD bufSize = 0;
-	while (true)
-	{
-		if (getLogicalProcInfo(buf, &bufSize))
-		{
-			break;
-		}
-		else
-		{
-			if (GetLastError() == ERROR_INSUFFICIENT_BUFFER)
-			{
-				if (buf)
-				{
-					free(buf);
-				}
-				buf = (PSYSTEM_LOGICAL_PROCESSOR_INFORMATION)malloc(bufSize);
-			}
-		}
-	}
-
-	int len = bufSize / sizeof(*buf);
-	for (int i = 0; i < len; ++i)
-	{
-		PSYSTEM_LOGICAL_PROCESSOR_INFORMATION info = buf + i;
-		switch (info->Relationship)
-		{
-			case RelationNumaNode:
-				procInfo->numNumaNodes++;
-				break;
-
-			case RelationProcessorCore:
-				procInfo->numCores++;
-				procInfo->numLogicalProcessors += countSetBits(info->ProcessorMask);
-				break;
-
-			case RelationCache:
-				if (info->Cache.Level == 1)
-				{
-					procInfo->numL1Cache++;
-				}
-				else if (info->Cache.Level == 2)
-				{
-					procInfo->numL2Cache++;
-				}
-				else if (info->Cache.Level == 3)
-				{
-					procInfo->numL3Cache++;
-					// processors that share L3 cache are considered to be on the same team
-					// because they can more easily work together on the same data.
-					// Large performance penalties will occur if 2 or more threads from different
-					// teams attempt to frequently read and modify the same cache lines.
-					//
-					// On the AMD Ryzen 7 CPU for example, the 8 cores on the CPU are split into
-					// 2 CCX units of 4 cores each. Each CCX has a separate L3 cache, so if both
-					// CCXs are operating on the same data, many cycles will be spent keeping the
-					// two caches coherent.
-					if (procInfo->numTeamMasks < btProcessorInfo::maxNumTeamMasks)
-					{
-						procInfo->processorTeamMasks[procInfo->numTeamMasks] = info->ProcessorMask;
-						procInfo->numTeamMasks++;
-					}
-				}
-				break;
-
-			case RelationProcessorPackage:
-				procInfo->numPhysicalPackages++;
-				break;
-		}
-	}
-	free(buf);
-#endif
-}
-
-///btThreadSupportWin32 helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
-class btThreadSupportWin32 : public btThreadSupportInterface
-{
-public:
-	struct btThreadStatus
-	{
-		int m_taskId;
-		int m_commandId;
-		int m_status;
-
-		ThreadFunc m_userThreadFunc;
-		void* m_userPtr;  //for taskDesc etc
-
-		void* m_threadHandle;  //this one is calling 'Win32ThreadFunc'
-
-		void* m_eventStartHandle;
-		char m_eventStartHandleName[32];
-
-		void* m_eventCompleteHandle;
-		char m_eventCompleteHandleName[32];
-	};
-
-private:
-	btAlignedObjectArray<btThreadStatus> m_activeThreadStatus;
-	btAlignedObjectArray<void*> m_completeHandles;
-	int m_numThreads;
-	DWORD_PTR m_startedThreadMask;
-	btProcessorInfo m_processorInfo;
-
-	void startThreads(const ConstructionInfo& threadInfo);
-	void stopThreads();
-	int waitForResponse();
-
-public:
-	btThreadSupportWin32(const ConstructionInfo& threadConstructionInfo);
-	virtual ~btThreadSupportWin32();
-
-	virtual int getNumWorkerThreads() const BT_OVERRIDE { return m_numThreads; }
-	virtual int getCacheFriendlyNumThreads() const BT_OVERRIDE { return countSetBits(m_processorInfo.processorTeamMasks[0]); }
-	virtual int getLogicalToPhysicalCoreRatio() const BT_OVERRIDE { return m_processorInfo.numLogicalProcessors / m_processorInfo.numCores; }
-
-	virtual void runTask(int threadIndex, void* userData) BT_OVERRIDE;
-	virtual void waitForAllTasks() BT_OVERRIDE;
-
-	virtual btCriticalSection* createCriticalSection() BT_OVERRIDE;
-	virtual void deleteCriticalSection(btCriticalSection* criticalSection) BT_OVERRIDE;
-};
-
-btThreadSupportWin32::btThreadSupportWin32(const ConstructionInfo& threadConstructionInfo)
-{
-	startThreads(threadConstructionInfo);
-}
-
-btThreadSupportWin32::~btThreadSupportWin32()
-{
-	stopThreads();
-}
-
-DWORD WINAPI win32threadStartFunc(LPVOID lpParam)
-{
-	btThreadSupportWin32::btThreadStatus* status = (btThreadSupportWin32::btThreadStatus*)lpParam;
-
-	while (1)
-	{
-		WaitForSingleObject(status->m_eventStartHandle, INFINITE);
-		void* userPtr = status->m_userPtr;
-
-		if (userPtr)
-		{
-			btAssert(status->m_status);
-			status->m_userThreadFunc(userPtr);
-			status->m_status = 2;
-			SetEvent(status->m_eventCompleteHandle);
-		}
-		else
-		{
-			//exit Thread
-			status->m_status = 3;
-			printf("Thread with taskId %i with handle %p exiting\n", status->m_taskId, status->m_threadHandle);
-			SetEvent(status->m_eventCompleteHandle);
-			break;
-		}
-	}
-	printf("Thread TERMINATED\n");
-	return 0;
-}
-
-void btThreadSupportWin32::runTask(int threadIndex, void* userData)
-{
-	btThreadStatus& threadStatus = m_activeThreadStatus[threadIndex];
-	btAssert(threadIndex >= 0);
-	btAssert(int(threadIndex) < m_activeThreadStatus.size());
-
-	threadStatus.m_commandId = 1;
-	threadStatus.m_status = 1;
-	threadStatus.m_userPtr = userData;
-	m_startedThreadMask |= DWORD_PTR(1) << threadIndex;
-
-	///fire event to start new task
-	SetEvent(threadStatus.m_eventStartHandle);
-}
-
-int btThreadSupportWin32::waitForResponse()
-{
-	btAssert(m_activeThreadStatus.size());
-
-	int last = -1;
-	DWORD res = WaitForMultipleObjects(m_completeHandles.size(), &m_completeHandles[0], FALSE, INFINITE);
-	btAssert(res != WAIT_FAILED);
-	last = res - WAIT_OBJECT_0;
-
-	btThreadStatus& threadStatus = m_activeThreadStatus[last];
-	btAssert(threadStatus.m_threadHandle);
-	btAssert(threadStatus.m_eventCompleteHandle);
-
-	//WaitForSingleObject(threadStatus.m_eventCompleteHandle, INFINITE);
-	btAssert(threadStatus.m_status > 1);
-	threadStatus.m_status = 0;
-
-	///need to find an active spu
-	btAssert(last >= 0);
-	m_startedThreadMask &= ~(DWORD_PTR(1) << last);
-
-	return last;
-}
-
-void btThreadSupportWin32::waitForAllTasks()
-{
-	while (m_startedThreadMask)
-	{
-		waitForResponse();
-	}
-}
-
-void btThreadSupportWin32::startThreads(const ConstructionInfo& threadConstructionInfo)
-{
-	static int uniqueId = 0;
-	uniqueId++;
-	btProcessorInfo& procInfo = m_processorInfo;
-	getProcessorInformation(&procInfo);
-	DWORD_PTR dwProcessAffinityMask = 0;
-	DWORD_PTR dwSystemAffinityMask = 0;
-	if (!GetProcessAffinityMask(GetCurrentProcess(), &dwProcessAffinityMask, &dwSystemAffinityMask))
-	{
-		dwProcessAffinityMask = 0;
-	}
-	///The number of threads should be equal to the number of available cores - 1
-	m_numThreads = btMin(procInfo.numLogicalProcessors, int(BT_MAX_THREAD_COUNT)) - 1;  // cap to max thread count (-1 because main thread already exists)
-
-	m_activeThreadStatus.resize(m_numThreads);
-	m_completeHandles.resize(m_numThreads);
-	m_startedThreadMask = 0;
-
-	// set main thread affinity
-	if (DWORD_PTR mask = dwProcessAffinityMask & getProcessorTeamMask(procInfo, 0))
-	{
-		SetThreadAffinityMask(GetCurrentThread(), mask);
-		SetThreadIdealProcessor(GetCurrentThread(), 0);
-	}
-
-	for (int i = 0; i < m_numThreads; i++)
-	{
-		printf("starting thread %d\n", i);
-
-		btThreadStatus& threadStatus = m_activeThreadStatus[i];
-
-		LPSECURITY_ATTRIBUTES lpThreadAttributes = NULL;
-		SIZE_T dwStackSize = threadConstructionInfo.m_threadStackSize;
-		LPTHREAD_START_ROUTINE lpStartAddress = &win32threadStartFunc;
-		LPVOID lpParameter = &threadStatus;
-		DWORD dwCreationFlags = 0;
-		LPDWORD lpThreadId = 0;
-
-		threadStatus.m_userPtr = 0;
-
-		sprintf(threadStatus.m_eventStartHandleName, "es%.8s%d%d", threadConstructionInfo.m_uniqueName, uniqueId, i);
-		threadStatus.m_eventStartHandle = CreateEventA(0, false, false, threadStatus.m_eventStartHandleName);
-
-		sprintf(threadStatus.m_eventCompleteHandleName, "ec%.8s%d%d", threadConstructionInfo.m_uniqueName, uniqueId, i);
-		threadStatus.m_eventCompleteHandle = CreateEventA(0, false, false, threadStatus.m_eventCompleteHandleName);
-
-		m_completeHandles[i] = threadStatus.m_eventCompleteHandle;
-
-		HANDLE handle = CreateThread(lpThreadAttributes, dwStackSize, lpStartAddress, lpParameter, dwCreationFlags, lpThreadId);
-		//SetThreadPriority( handle, THREAD_PRIORITY_HIGHEST );
-		// highest priority -- can cause erratic performance when numThreads > numCores
-		//                     we don't want worker threads to be higher priority than the main thread or the main thread could get
-		//                     totally shut out and unable to tell the workers to stop
-		//SetThreadPriority( handle, THREAD_PRIORITY_BELOW_NORMAL );
-
-		{
-			int processorId = i + 1;  // leave processor 0 for main thread
-			DWORD_PTR teamMask = getProcessorTeamMask(procInfo, processorId);
-			if (teamMask)
-			{
-				// bind each thread to only execute on processors of it's assigned team
-				//  - for single-socket Intel x86 CPUs this has no effect (only a single, shared L3 cache so there is only 1 team)
-				//  - for multi-socket Intel this will keep threads from migrating from one socket to another
-				//  - for AMD Ryzen this will keep threads from migrating from one CCX to another
-				DWORD_PTR mask = teamMask & dwProcessAffinityMask;
-				if (mask)
-				{
-					SetThreadAffinityMask(handle, mask);
-				}
-			}
-			SetThreadIdealProcessor(handle, processorId);
-		}
-
-		threadStatus.m_taskId = i;
-		threadStatus.m_commandId = 0;
-		threadStatus.m_status = 0;
-		threadStatus.m_threadHandle = handle;
-		threadStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
-
-		printf("started %s thread %d with threadHandle %p\n", threadConstructionInfo.m_uniqueName, i, handle);
-	}
-}
-
-///tell the task scheduler we are done with the SPU tasks
-void btThreadSupportWin32::stopThreads()
-{
-	for (int i = 0; i < m_activeThreadStatus.size(); i++)
-	{
-		btThreadStatus& threadStatus = m_activeThreadStatus[i];
-		if (threadStatus.m_status > 0)
-		{
-			WaitForSingleObject(threadStatus.m_eventCompleteHandle, INFINITE);
-		}
-
-		threadStatus.m_userPtr = NULL;
-		SetEvent(threadStatus.m_eventStartHandle);
-		WaitForSingleObject(threadStatus.m_eventCompleteHandle, INFINITE);
-
-		CloseHandle(threadStatus.m_eventCompleteHandle);
-		CloseHandle(threadStatus.m_eventStartHandle);
-		CloseHandle(threadStatus.m_threadHandle);
-	}
-
-	m_activeThreadStatus.clear();
-	m_completeHandles.clear();
-}
-
-class btWin32CriticalSection : public btCriticalSection
-{
-private:
-	CRITICAL_SECTION mCriticalSection;
-
-public:
-	btWin32CriticalSection()
-	{
-		InitializeCriticalSection(&mCriticalSection);
-	}
-
-	~btWin32CriticalSection()
-	{
-		DeleteCriticalSection(&mCriticalSection);
-	}
-
-	void lock()
-	{
-		EnterCriticalSection(&mCriticalSection);
-	}
-
-	void unlock()
-	{
-		LeaveCriticalSection(&mCriticalSection);
-	}
-};
-
-btCriticalSection* btThreadSupportWin32::createCriticalSection()
-{
-	unsigned char* mem = (unsigned char*)btAlignedAlloc(sizeof(btWin32CriticalSection), 16);
-	btWin32CriticalSection* cs = new (mem) btWin32CriticalSection();
-	return cs;
-}
-
-void btThreadSupportWin32::deleteCriticalSection(btCriticalSection* criticalSection)
-{
-	criticalSection->~btCriticalSection();
-	btAlignedFree(criticalSection);
-}
-
-btThreadSupportInterface* btThreadSupportInterface::create(const ConstructionInfo& info)
-{
-	return new btThreadSupportWin32(info);
-}
-
-#endif  //defined(_WIN32) && BT_THREADSAFE
diff --git a/thirdparty/bullet/LinearMath/btAabbUtil2.h b/thirdparty/bullet/LinearMath/btAabbUtil2.h
deleted file mode 100644
index eea49dd33f..0000000000
--- a/thirdparty/bullet/LinearMath/btAabbUtil2.h
+++ /dev/null
@@ -1,217 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_AABB_UTIL2
-#define BT_AABB_UTIL2
-
-#include "btTransform.h"
-#include "btVector3.h"
-#include "btMinMax.h"
-
-SIMD_FORCE_INLINE void AabbExpand(btVector3& aabbMin,
-								  btVector3& aabbMax,
-								  const btVector3& expansionMin,
-								  const btVector3& expansionMax)
-{
-	aabbMin = aabbMin + expansionMin;
-	aabbMax = aabbMax + expansionMax;
-}
-
-/// conservative test for overlap between two aabbs
-SIMD_FORCE_INLINE bool TestPointAgainstAabb2(const btVector3& aabbMin1, const btVector3& aabbMax1,
-											 const btVector3& point)
-{
-	bool overlap = true;
-	overlap = (aabbMin1.getX() > point.getX() || aabbMax1.getX() < point.getX()) ? false : overlap;
-	overlap = (aabbMin1.getZ() > point.getZ() || aabbMax1.getZ() < point.getZ()) ? false : overlap;
-	overlap = (aabbMin1.getY() > point.getY() || aabbMax1.getY() < point.getY()) ? false : overlap;
-	return overlap;
-}
-
-/// conservative test for overlap between two aabbs
-SIMD_FORCE_INLINE bool TestAabbAgainstAabb2(const btVector3& aabbMin1, const btVector3& aabbMax1,
-											const btVector3& aabbMin2, const btVector3& aabbMax2)
-{
-	bool overlap = true;
-	overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap;
-	overlap = (aabbMin1.getZ() > aabbMax2.getZ() || aabbMax1.getZ() < aabbMin2.getZ()) ? false : overlap;
-	overlap = (aabbMin1.getY() > aabbMax2.getY() || aabbMax1.getY() < aabbMin2.getY()) ? false : overlap;
-	return overlap;
-}
-
-/// conservative test for overlap between triangle and aabb
-SIMD_FORCE_INLINE bool TestTriangleAgainstAabb2(const btVector3* vertices,
-												const btVector3& aabbMin, const btVector3& aabbMax)
-{
-	const btVector3& p1 = vertices[0];
-	const btVector3& p2 = vertices[1];
-	const btVector3& p3 = vertices[2];
-
-	if (btMin(btMin(p1[0], p2[0]), p3[0]) > aabbMax[0]) return false;
-	if (btMax(btMax(p1[0], p2[0]), p3[0]) < aabbMin[0]) return false;
-
-	if (btMin(btMin(p1[2], p2[2]), p3[2]) > aabbMax[2]) return false;
-	if (btMax(btMax(p1[2], p2[2]), p3[2]) < aabbMin[2]) return false;
-
-	if (btMin(btMin(p1[1], p2[1]), p3[1]) > aabbMax[1]) return false;
-	if (btMax(btMax(p1[1], p2[1]), p3[1]) < aabbMin[1]) return false;
-	return true;
-}
-
-SIMD_FORCE_INLINE int btOutcode(const btVector3& p, const btVector3& halfExtent)
-{
-	return (p.getX() < -halfExtent.getX() ? 0x01 : 0x0) |
-		   (p.getX() > halfExtent.getX() ? 0x08 : 0x0) |
-		   (p.getY() < -halfExtent.getY() ? 0x02 : 0x0) |
-		   (p.getY() > halfExtent.getY() ? 0x10 : 0x0) |
-		   (p.getZ() < -halfExtent.getZ() ? 0x4 : 0x0) |
-		   (p.getZ() > halfExtent.getZ() ? 0x20 : 0x0);
-}
-
-SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,
-								  const btVector3& rayInvDirection,
-								  const unsigned int raySign[3],
-								  const btVector3 bounds[2],
-								  btScalar& tmin,
-								  btScalar lambda_min,
-								  btScalar lambda_max)
-{
-	btScalar tmax, tymin, tymax, tzmin, tzmax;
-	tmin = (bounds[raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
-	tmax = (bounds[1 - raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
-	tymin = (bounds[raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
-	tymax = (bounds[1 - raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
-
-	if ((tmin > tymax) || (tymin > tmax))
-		return false;
-
-	if (tymin > tmin)
-		tmin = tymin;
-
-	if (tymax < tmax)
-		tmax = tymax;
-
-	tzmin = (bounds[raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
-	tzmax = (bounds[1 - raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
-
-	if ((tmin > tzmax) || (tzmin > tmax))
-		return false;
-	if (tzmin > tmin)
-		tmin = tzmin;
-	if (tzmax < tmax)
-		tmax = tzmax;
-	return ((tmin < lambda_max) && (tmax > lambda_min));
-}
-
-SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom,
-								 const btVector3& rayTo,
-								 const btVector3& aabbMin,
-								 const btVector3& aabbMax,
-								 btScalar& param, btVector3& normal)
-{
-	btVector3 aabbHalfExtent = (aabbMax - aabbMin) * btScalar(0.5);
-	btVector3 aabbCenter = (aabbMax + aabbMin) * btScalar(0.5);
-	btVector3 source = rayFrom - aabbCenter;
-	btVector3 target = rayTo - aabbCenter;
-	int sourceOutcode = btOutcode(source, aabbHalfExtent);
-	int targetOutcode = btOutcode(target, aabbHalfExtent);
-	if ((sourceOutcode & targetOutcode) == 0x0)
-	{
-		btScalar lambda_enter = btScalar(0.0);
-		btScalar lambda_exit = param;
-		btVector3 r = target - source;
-		int i;
-		btScalar normSign = 1;
-		btVector3 hitNormal(0, 0, 0);
-		int bit = 1;
-
-		for (int j = 0; j < 2; j++)
-		{
-			for (i = 0; i != 3; ++i)
-			{
-				if (sourceOutcode & bit)
-				{
-					btScalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i];
-					if (lambda_enter <= lambda)
-					{
-						lambda_enter = lambda;
-						hitNormal.setValue(0, 0, 0);
-						hitNormal[i] = normSign;
-					}
-				}
-				else if (targetOutcode & bit)
-				{
-					btScalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i];
-					btSetMin(lambda_exit, lambda);
-				}
-				bit <<= 1;
-			}
-			normSign = btScalar(-1.);
-		}
-		if (lambda_enter <= lambda_exit)
-		{
-			param = lambda_enter;
-			normal = hitNormal;
-			return true;
-		}
-	}
-	return false;
-}
-
-SIMD_FORCE_INLINE void btTransformAabb(const btVector3& halfExtents, btScalar margin, const btTransform& t, btVector3& aabbMinOut, btVector3& aabbMaxOut)
-{
-	btVector3 halfExtentsWithMargin = halfExtents + btVector3(margin, margin, margin);
-	btMatrix3x3 abs_b = t.getBasis().absolute();
-	btVector3 center = t.getOrigin();
-	btVector3 extent = halfExtentsWithMargin.dot3(abs_b[0], abs_b[1], abs_b[2]);
-	aabbMinOut = center - extent;
-	aabbMaxOut = center + extent;
-}
-
-SIMD_FORCE_INLINE void btTransformAabb(const btVector3& localAabbMin, const btVector3& localAabbMax, btScalar margin, const btTransform& trans, btVector3& aabbMinOut, btVector3& aabbMaxOut)
-{
-	btAssert(localAabbMin.getX() <= localAabbMax.getX());
-	btAssert(localAabbMin.getY() <= localAabbMax.getY());
-	btAssert(localAabbMin.getZ() <= localAabbMax.getZ());
-	btVector3 localHalfExtents = btScalar(0.5) * (localAabbMax - localAabbMin);
-	localHalfExtents += btVector3(margin, margin, margin);
-
-	btVector3 localCenter = btScalar(0.5) * (localAabbMax + localAabbMin);
-	btMatrix3x3 abs_b = trans.getBasis().absolute();
-	btVector3 center = trans(localCenter);
-	btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
-	aabbMinOut = center - extent;
-	aabbMaxOut = center + extent;
-}
-
-#define USE_BANCHLESS 1
-#ifdef USE_BANCHLESS
-//This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360)
-SIMD_FORCE_INLINE unsigned testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1, const unsigned short int* aabbMax1, const unsigned short int* aabbMin2, const unsigned short int* aabbMax2)
-{
-	return static_cast<unsigned int>(btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0]) & (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2]) & (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
-											  1, 0));
-}
-#else
-SIMD_FORCE_INLINE bool testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1, const unsigned short int* aabbMax1, const unsigned short int* aabbMin2, const unsigned short int* aabbMax2)
-{
-	bool overlap = true;
-	overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
-	overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
-	overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
-	return overlap;
-}
-#endif  //USE_BANCHLESS
-
-#endif  //BT_AABB_UTIL2
diff --git a/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp b/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp
deleted file mode 100644
index be8f8aa6d0..0000000000
--- a/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp
+++ /dev/null
@@ -1,263 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btAlignedAllocator.h"
-
-#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
-int gNumAlignedAllocs = 0;
-int gNumAlignedFree = 0;
-int gTotalBytesAlignedAllocs = 0;  //detect memory leaks
-#endif                             //BT_DEBUG_MEMORY_ALLOCATIONST_DEBUG_ALLOCATIONS
-
-static void *btAllocDefault(size_t size)
-{
-	return malloc(size);
-}
-
-static void btFreeDefault(void *ptr)
-{
-	free(ptr);
-}
-
-static btAllocFunc *sAllocFunc = btAllocDefault;
-static btFreeFunc *sFreeFunc = btFreeDefault;
-
-#if defined(BT_HAS_ALIGNED_ALLOCATOR)
-#include <malloc.h>
-static void *btAlignedAllocDefault(size_t size, int alignment)
-{
-	return _aligned_malloc(size, (size_t)alignment);
-}
-
-static void btAlignedFreeDefault(void *ptr)
-{
-	_aligned_free(ptr);
-}
-#elif defined(__CELLOS_LV2__)
-#include <stdlib.h>
-
-static inline void *btAlignedAllocDefault(size_t size, int alignment)
-{
-	return memalign(alignment, size);
-}
-
-static inline void btAlignedFreeDefault(void *ptr)
-{
-	free(ptr);
-}
-#else
-
-static inline void *btAlignedAllocDefault(size_t size, int alignment)
-{
-	void *ret;
-	char *real;
-	real = (char *)sAllocFunc(size + sizeof(void *) + (alignment - 1));
-	if (real)
-	{
-		ret = btAlignPointer(real + sizeof(void *), alignment);
-		*((void **)(ret)-1) = (void *)(real);
-	}
-	else
-	{
-		ret = (void *)(real);
-	}
-	return (ret);
-}
-
-static inline void btAlignedFreeDefault(void *ptr)
-{
-	void *real;
-
-	if (ptr)
-	{
-		real = *((void **)(ptr)-1);
-		sFreeFunc(real);
-	}
-}
-#endif
-
-static btAlignedAllocFunc *sAlignedAllocFunc = btAlignedAllocDefault;
-static btAlignedFreeFunc *sAlignedFreeFunc = btAlignedFreeDefault;
-
-void btAlignedAllocSetCustomAligned(btAlignedAllocFunc *allocFunc, btAlignedFreeFunc *freeFunc)
-{
-	sAlignedAllocFunc = allocFunc ? allocFunc : btAlignedAllocDefault;
-	sAlignedFreeFunc = freeFunc ? freeFunc : btAlignedFreeDefault;
-}
-
-void btAlignedAllocSetCustom(btAllocFunc *allocFunc, btFreeFunc *freeFunc)
-{
-	sAllocFunc = allocFunc ? allocFunc : btAllocDefault;
-	sFreeFunc = freeFunc ? freeFunc : btFreeDefault;
-}
-
-#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
-
-static int allocations_id[10241024];
-static int allocations_bytes[10241024];
-static int mynumallocs = 0;
-#include <stdio.h>
-
-int btDumpMemoryLeaks()
-{
-	int totalLeak = 0;
-
-	for (int i = 0; i < mynumallocs; i++)
-	{
-		printf("Error: leaked memory of allocation #%d (%d bytes)\n", allocations_id[i], allocations_bytes[i]);
-		totalLeak += allocations_bytes[i];
-	}
-	if (totalLeak)
-	{
-		printf("Error: memory leaks: %d allocations were not freed and leaked together %d bytes\n", mynumallocs, totalLeak);
-	}
-	return totalLeak;
-}
-//this generic allocator provides the total allocated number of bytes
-#include <stdio.h>
-
-struct btDebugPtrMagic
-{
-	union {
-		void **vptrptr;
-		void *vptr;
-		int *iptr;
-		char *cptr;
-	};
-};
-
-void *btAlignedAllocInternal(size_t size, int alignment, int line, const char *filename)
-{
-	if (size == 0)
-	{
-		printf("Whaat? size==0");
-		return 0;
-	}
-	static int allocId = 0;
-
-	void *ret;
-	char *real;
-
-	// to find some particular memory leak, you could do something like this:
-	//	if (allocId==172)
-	//	{
-	//		printf("catch me!\n");
-	//	}
-	//	if (size>1024*1024)
-	//	{
-	//		printf("big alloc!%d\n", size);
-	//	}
-
-	gTotalBytesAlignedAllocs += size;
-	gNumAlignedAllocs++;
-
-	int sz4prt = 4 * sizeof(void *);
-
-	real = (char *)sAllocFunc(size + sz4prt + (alignment - 1));
-	if (real)
-	{
-		ret = (void *)btAlignPointer(real + sz4prt, alignment);
-		btDebugPtrMagic p;
-		p.vptr = ret;
-		p.cptr -= sizeof(void *);
-		*p.vptrptr = (void *)real;
-		p.cptr -= sizeof(void *);
-		*p.iptr = size;
-		p.cptr -= sizeof(void *);
-		*p.iptr = allocId;
-
-		allocations_id[mynumallocs] = allocId;
-		allocations_bytes[mynumallocs] = size;
-		mynumallocs++;
-	}
-	else
-	{
-		ret = (void *)(real);  //??
-	}
-
-	printf("allocation %d at address %x, from %s,line %d, size %d (total allocated = %d)\n", allocId, real, filename, line, size, gTotalBytesAlignedAllocs);
-	allocId++;
-
-	int *ptr = (int *)ret;
-	*ptr = 12;
-	return (ret);
-}
-
-void btAlignedFreeInternal(void *ptr, int line, const char *filename)
-{
-	void *real;
-
-	if (ptr)
-	{
-		gNumAlignedFree++;
-
-		btDebugPtrMagic p;
-		p.vptr = ptr;
-		p.cptr -= sizeof(void *);
-		real = *p.vptrptr;
-		p.cptr -= sizeof(void *);
-		int size = *p.iptr;
-		p.cptr -= sizeof(void *);
-		int allocId = *p.iptr;
-
-		bool found = false;
-
-		for (int i = 0; i < mynumallocs; i++)
-		{
-			if (allocations_id[i] == allocId)
-			{
-				allocations_id[i] = allocations_id[mynumallocs - 1];
-				allocations_bytes[i] = allocations_bytes[mynumallocs - 1];
-				mynumallocs--;
-				found = true;
-				break;
-			}
-		}
-
-		gTotalBytesAlignedAllocs -= size;
-
-		int diff = gNumAlignedAllocs - gNumAlignedFree;
-		printf("free %d at address %x, from %s,line %d, size %d (total remain = %d in %d non-freed allocations)\n", allocId, real, filename, line, size, gTotalBytesAlignedAllocs, diff);
-
-		sFreeFunc(real);
-	}
-	else
-	{
-		//printf("deleting a NULL ptr, no effect\n");
-	}
-}
-
-#else  //BT_DEBUG_MEMORY_ALLOCATIONS
-
-void *btAlignedAllocInternal(size_t size, int alignment)
-{
-	void *ptr;
-	ptr = sAlignedAllocFunc(size, alignment);
-	//	printf("btAlignedAllocInternal %d, %x\n",size,ptr);
-	return ptr;
-}
-
-void btAlignedFreeInternal(void *ptr)
-{
-	if (!ptr)
-	{
-		return;
-	}
-
-	//	printf("btAlignedFreeInternal %x\n",ptr);
-	sAlignedFreeFunc(ptr);
-}
-
-#endif  //BT_DEBUG_MEMORY_ALLOCATIONS
diff --git a/thirdparty/bullet/LinearMath/btAlignedAllocator.h b/thirdparty/bullet/LinearMath/btAlignedAllocator.h
deleted file mode 100644
index 971f62bfb0..0000000000
--- a/thirdparty/bullet/LinearMath/btAlignedAllocator.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_ALIGNED_ALLOCATOR
-#define BT_ALIGNED_ALLOCATOR
-
-///we probably replace this with our own aligned memory allocator
-///so we replace _aligned_malloc and _aligned_free with our own
-///that is better portable and more predictable
-
-#include "btScalar.h"
-
-///BT_DEBUG_MEMORY_ALLOCATIONS preprocessor can be set in build system
-///for regression tests to detect memory leaks
-///#define BT_DEBUG_MEMORY_ALLOCATIONS 1
-#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
-
-int btDumpMemoryLeaks();
-
-#define btAlignedAlloc(a, b) \
-	btAlignedAllocInternal(a, b, __LINE__, __FILE__)
-
-#define btAlignedFree(ptr) \
-	btAlignedFreeInternal(ptr, __LINE__, __FILE__)
-
-void* btAlignedAllocInternal(size_t size, int alignment, int line, const char* filename);
-
-void btAlignedFreeInternal(void* ptr, int line, const char* filename);
-
-#else
-void* btAlignedAllocInternal(size_t size, int alignment);
-void btAlignedFreeInternal(void* ptr);
-
-#define btAlignedAlloc(size, alignment) btAlignedAllocInternal(size, alignment)
-#define btAlignedFree(ptr) btAlignedFreeInternal(ptr)
-
-#endif
-typedef int size_type;
-
-typedef void*(btAlignedAllocFunc)(size_t size, int alignment);
-typedef void(btAlignedFreeFunc)(void* memblock);
-typedef void*(btAllocFunc)(size_t size);
-typedef void(btFreeFunc)(void* memblock);
-
-///The developer can let all Bullet memory allocations go through a custom memory allocator, using btAlignedAllocSetCustom
-void btAlignedAllocSetCustom(btAllocFunc* allocFunc, btFreeFunc* freeFunc);
-///If the developer has already an custom aligned allocator, then btAlignedAllocSetCustomAligned can be used. The default aligned allocator pre-allocates extra memory using the non-aligned allocator, and instruments it.
-void btAlignedAllocSetCustomAligned(btAlignedAllocFunc* allocFunc, btAlignedFreeFunc* freeFunc);
-
-///The btAlignedAllocator is a portable class for aligned memory allocations.
-///Default implementations for unaligned and aligned allocations can be overridden by a custom allocator using btAlignedAllocSetCustom and btAlignedAllocSetCustomAligned.
-template <typename T, unsigned Alignment>
-class btAlignedAllocator
-{
-	typedef btAlignedAllocator<T, Alignment> self_type;
-
-public:
-	//just going down a list:
-	btAlignedAllocator() {}
-	/*
-	btAlignedAllocator( const self_type & ) {}
-	*/
-
-	template <typename Other>
-	btAlignedAllocator(const btAlignedAllocator<Other, Alignment>&)
-	{
-	}
-
-	typedef const T* const_pointer;
-	typedef const T& const_reference;
-	typedef T* pointer;
-	typedef T& reference;
-	typedef T value_type;
-
-	pointer address(reference ref) const { return &ref; }
-	const_pointer address(const_reference ref) const { return &ref; }
-	pointer allocate(size_type n, const_pointer* hint = 0)
-	{
-		(void)hint;
-		return reinterpret_cast<pointer>(btAlignedAlloc(sizeof(value_type) * n, Alignment));
-	}
-	void construct(pointer ptr, const value_type& value) { new (ptr) value_type(value); }
-	void deallocate(pointer ptr)
-	{
-		btAlignedFree(reinterpret_cast<void*>(ptr));
-	}
-	void destroy(pointer ptr) { ptr->~value_type(); }
-
-	template <typename O>
-	struct rebind
-	{
-		typedef btAlignedAllocator<O, Alignment> other;
-	};
-	template <typename O>
-	self_type& operator=(const btAlignedAllocator<O, Alignment>&)
-	{
-		return *this;
-	}
-
-	friend bool operator==(const self_type&, const self_type&) { return true; }
-};
-
-#endif  //BT_ALIGNED_ALLOCATOR
diff --git a/thirdparty/bullet/LinearMath/btAlignedObjectArray.h b/thirdparty/bullet/LinearMath/btAlignedObjectArray.h
deleted file mode 100644
index b3d5d64b58..0000000000
--- a/thirdparty/bullet/LinearMath/btAlignedObjectArray.h
+++ /dev/null
@@ -1,504 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_OBJECT_ARRAY__
-#define BT_OBJECT_ARRAY__
-
-#include "btScalar.h"  // has definitions like SIMD_FORCE_INLINE
-#include "btAlignedAllocator.h"
-
-///If the platform doesn't support placement new, you can disable BT_USE_PLACEMENT_NEW
-///then the btAlignedObjectArray doesn't support objects with virtual methods, and non-trivial constructors/destructors
-///You can enable BT_USE_MEMCPY, then swapping elements in the array will use memcpy instead of operator=
-///see discussion here: http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1231 and
-///http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1240
-
-#define BT_USE_PLACEMENT_NEW 1
-//#define BT_USE_MEMCPY 1 //disable, because it is cumbersome to find out for each platform where memcpy is defined. It can be in <memory.h> or <string.h> or otherwise...
-#define BT_ALLOW_ARRAY_COPY_OPERATOR  // enabling this can accidently perform deep copies of data if you are not careful
-
-#ifdef BT_USE_MEMCPY
-#include <memory.h>
-#include <string.h>
-#endif  //BT_USE_MEMCPY
-
-#ifdef BT_USE_PLACEMENT_NEW
-#include <new>  //for placement new
-#endif          //BT_USE_PLACEMENT_NEW
-
-///The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods
-///It is developed to replace stl::vector to avoid portability issues, including STL alignment issues to add SIMD/SSE data
-template <typename T>
-//template <class T>
-class btAlignedObjectArray
-{
-	btAlignedAllocator<T, 16> m_allocator;
-
-	int m_size;
-	int m_capacity;
-	T* m_data;
-	//PCK: added this line
-	bool m_ownsMemory;
-
-#ifdef BT_ALLOW_ARRAY_COPY_OPERATOR
-public:
-	SIMD_FORCE_INLINE btAlignedObjectArray<T>& operator=(const btAlignedObjectArray<T>& other)
-	{
-		copyFromArray(other);
-		return *this;
-	}
-#else   //BT_ALLOW_ARRAY_COPY_OPERATOR
-private:
-	SIMD_FORCE_INLINE btAlignedObjectArray<T>& operator=(const btAlignedObjectArray<T>& other);
-#endif  //BT_ALLOW_ARRAY_COPY_OPERATOR
-
-protected:
-	SIMD_FORCE_INLINE int allocSize(int size)
-	{
-		return (size ? size * 2 : 1);
-	}
-	SIMD_FORCE_INLINE void copy(int start, int end, T* dest) const
-	{
-		int i;
-		for (i = start; i < end; ++i)
-#ifdef BT_USE_PLACEMENT_NEW
-			new (&dest[i]) T(m_data[i]);
-#else
-			dest[i] = m_data[i];
-#endif  //BT_USE_PLACEMENT_NEW
-	}
-
-	SIMD_FORCE_INLINE void init()
-	{
-		//PCK: added this line
-		m_ownsMemory = true;
-		m_data = 0;
-		m_size = 0;
-		m_capacity = 0;
-	}
-	SIMD_FORCE_INLINE void destroy(int first, int last)
-	{
-		int i;
-		for (i = first; i < last; i++)
-		{
-			m_data[i].~T();
-		}
-	}
-
-	SIMD_FORCE_INLINE void* allocate(int size)
-	{
-		if (size)
-			return m_allocator.allocate(size);
-		return 0;
-	}
-
-	SIMD_FORCE_INLINE void deallocate()
-	{
-		if (m_data)
-		{
-			//PCK: enclosed the deallocation in this block
-			if (m_ownsMemory)
-			{
-				m_allocator.deallocate(m_data);
-			}
-			m_data = 0;
-		}
-	}
-
-public:
-	btAlignedObjectArray()
-	{
-		init();
-	}
-
-	~btAlignedObjectArray()
-	{
-		clear();
-	}
-
-	///Generally it is best to avoid using the copy constructor of an btAlignedObjectArray, and use a (const) reference to the array instead.
-	btAlignedObjectArray(const btAlignedObjectArray& otherArray)
-	{
-		init();
-
-		int otherSize = otherArray.size();
-		resize(otherSize);
-		otherArray.copy(0, otherSize, m_data);
-	}
-
-	/// return the number of elements in the array
-	SIMD_FORCE_INLINE int size() const
-	{
-		return m_size;
-	}
-
-	SIMD_FORCE_INLINE const T& at(int n) const
-	{
-		btAssert(n >= 0);
-		btAssert(n < size());
-		return m_data[n];
-	}
-
-	SIMD_FORCE_INLINE T& at(int n)
-	{
-		btAssert(n >= 0);
-		btAssert(n < size());
-		return m_data[n];
-	}
-
-	SIMD_FORCE_INLINE const T& operator[](int n) const
-	{
-		btAssert(n >= 0);
-		btAssert(n < size());
-		return m_data[n];
-	}
-
-	SIMD_FORCE_INLINE T& operator[](int n)
-	{
-		btAssert(n >= 0);
-		btAssert(n < size());
-		return m_data[n];
-	}
-
-	///clear the array, deallocated memory. Generally it is better to use array.resize(0), to reduce performance overhead of run-time memory (de)allocations.
-	SIMD_FORCE_INLINE void clear()
-	{
-		destroy(0, size());
-
-		deallocate();
-
-		init();
-	}
-
-	SIMD_FORCE_INLINE void pop_back()
-	{
-		btAssert(m_size > 0);
-		m_size--;
-		m_data[m_size].~T();
-	}
-
-	///resize changes the number of elements in the array. If the new size is larger, the new elements will be constructed using the optional second argument.
-	///when the new number of elements is smaller, the destructor will be called, but memory will not be freed, to reduce performance overhead of run-time memory (de)allocations.
-	SIMD_FORCE_INLINE void resizeNoInitialize(int newsize)
-	{
-		if (newsize > size())
-		{
-			reserve(newsize);
-		}
-		m_size = newsize;
-	}
-
-	SIMD_FORCE_INLINE void resize(int newsize, const T& fillData = T())
-	{
-		const int curSize = size();
-
-		if (newsize < curSize)
-		{
-			for (int i = newsize; i < curSize; i++)
-			{
-				m_data[i].~T();
-			}
-		}
-		else
-		{
-			if (newsize > curSize)
-			{
-				reserve(newsize);
-			}
-#ifdef BT_USE_PLACEMENT_NEW
-			for (int i = curSize; i < newsize; i++)
-			{
-				new (&m_data[i]) T(fillData);
-			}
-#endif  //BT_USE_PLACEMENT_NEW
-		}
-
-		m_size = newsize;
-	}
-	SIMD_FORCE_INLINE T& expandNonInitializing()
-	{
-		const int sz = size();
-		if (sz == capacity())
-		{
-			reserve(allocSize(size()));
-		}
-		m_size++;
-
-		return m_data[sz];
-	}
-
-	SIMD_FORCE_INLINE T& expand(const T& fillValue = T())
-	{
-		const int sz = size();
-		if (sz == capacity())
-		{
-			reserve(allocSize(size()));
-		}
-		m_size++;
-#ifdef BT_USE_PLACEMENT_NEW
-		new (&m_data[sz]) T(fillValue);  //use the in-place new (not really allocating heap memory)
-#endif
-
-		return m_data[sz];
-	}
-
-	SIMD_FORCE_INLINE void push_back(const T& _Val)
-	{
-		const int sz = size();
-		if (sz == capacity())
-		{
-			reserve(allocSize(size()));
-		}
-
-#ifdef BT_USE_PLACEMENT_NEW
-		new (&m_data[m_size]) T(_Val);
-#else
-		m_data[size()] = _Val;
-#endif  //BT_USE_PLACEMENT_NEW
-
-		m_size++;
-	}
-
-	/// return the pre-allocated (reserved) elements, this is at least as large as the total number of elements,see size() and reserve()
-	SIMD_FORCE_INLINE int capacity() const
-	{
-		return m_capacity;
-	}
-
-	SIMD_FORCE_INLINE void reserve(int _Count)
-	{  // determine new minimum length of allocated storage
-		if (capacity() < _Count)
-		{  // not enough room, reallocate
-			T* s = (T*)allocate(_Count);
-
-			copy(0, size(), s);
-
-			destroy(0, size());
-
-			deallocate();
-
-			//PCK: added this line
-			m_ownsMemory = true;
-
-			m_data = s;
-
-			m_capacity = _Count;
-		}
-	}
-
-	class less
-	{
-	public:
-		bool operator()(const T& a, const T& b) const
-		{
-			return (a < b);
-		}
-	};
-
-	template <typename L>
-	void quickSortInternal(const L& CompareFunc, int lo, int hi)
-	{
-		//  lo is the lower index, hi is the upper index
-		//  of the region of array a that is to be sorted
-		int i = lo, j = hi;
-		T x = m_data[(lo + hi) / 2];
-
-		//  partition
-		do
-		{
-			while (CompareFunc(m_data[i], x))
-				i++;
-			while (CompareFunc(x, m_data[j]))
-				j--;
-			if (i <= j)
-			{
-				swap(i, j);
-				i++;
-				j--;
-			}
-		} while (i <= j);
-
-		//  recursion
-		if (lo < j)
-			quickSortInternal(CompareFunc, lo, j);
-		if (i < hi)
-			quickSortInternal(CompareFunc, i, hi);
-	}
-
-	template <typename L>
-	void quickSort(const L& CompareFunc)
-	{
-		//don't sort 0 or 1 elements
-		if (size() > 1)
-		{
-			quickSortInternal(CompareFunc, 0, size() - 1);
-		}
-	}
-
-	///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/
-	template <typename L>
-	void downHeap(T* pArr, int k, int n, const L& CompareFunc)
-	{
-		/*  PRE: a[k+1..N] is a heap */
-		/* POST:  a[k..N]  is a heap */
-
-		T temp = pArr[k - 1];
-		/* k has child(s) */
-		while (k <= n / 2)
-		{
-			int child = 2 * k;
-
-			if ((child < n) && CompareFunc(pArr[child - 1], pArr[child]))
-			{
-				child++;
-			}
-			/* pick larger child */
-			if (CompareFunc(temp, pArr[child - 1]))
-			{
-				/* move child up */
-				pArr[k - 1] = pArr[child - 1];
-				k = child;
-			}
-			else
-			{
-				break;
-			}
-		}
-		pArr[k - 1] = temp;
-	} /*downHeap*/
-
-	void swap(int index0, int index1)
-	{
-#ifdef BT_USE_MEMCPY
-		char temp[sizeof(T)];
-		memcpy(temp, &m_data[index0], sizeof(T));
-		memcpy(&m_data[index0], &m_data[index1], sizeof(T));
-		memcpy(&m_data[index1], temp, sizeof(T));
-#else
-		T temp = m_data[index0];
-		m_data[index0] = m_data[index1];
-		m_data[index1] = temp;
-#endif  //BT_USE_PLACEMENT_NEW
-	}
-
-	template <typename L>
-	void heapSort(const L& CompareFunc)
-	{
-		/* sort a[0..N-1],  N.B. 0 to N-1 */
-		int k;
-		int n = m_size;
-		for (k = n / 2; k > 0; k--)
-		{
-			downHeap(m_data, k, n, CompareFunc);
-		}
-
-		/* a[1..N] is now a heap */
-		while (n >= 1)
-		{
-			swap(0, n - 1); /* largest of a[0..n-1] */
-
-			n = n - 1;
-			/* restore a[1..i-1] heap */
-			downHeap(m_data, 1, n, CompareFunc);
-		}
-	}
-
-	///non-recursive binary search, assumes sorted array
-	int findBinarySearch(const T& key) const
-	{
-		int first = 0;
-		int last = size() - 1;
-
-		//assume sorted array
-		while (first <= last)
-		{
-			int mid = (first + last) / 2;  // compute mid point.
-			if (key > m_data[mid])
-				first = mid + 1;  // repeat search in top half.
-			else if (key < m_data[mid])
-				last = mid - 1;  // repeat search in bottom half.
-			else
-				return mid;  // found it. return position /////
-		}
-		return size();  // failed to find key
-	}
-
-	int findLinearSearch(const T& key) const
-	{
-		int index = size();
-		int i;
-
-		for (i = 0; i < size(); i++)
-		{
-			if (m_data[i] == key)
-			{
-				index = i;
-				break;
-			}
-		}
-		return index;
-	}
-
-	// If the key is not in the array, return -1 instead of 0,
-	// since 0 also means the first element in the array.
-	int findLinearSearch2(const T& key) const
-	{
-		int index = -1;
-		int i;
-
-		for (i = 0; i < size(); i++)
-		{
-			if (m_data[i] == key)
-			{
-				index = i;
-				break;
-			}
-		}
-		return index;
-	}
-
-	void removeAtIndex(int index)
-	{
-		if (index < size())
-		{
-			swap(index, size() - 1);
-			pop_back();
-		}
-	}
-	void remove(const T& key)
-	{
-		int findIndex = findLinearSearch(key);
-		removeAtIndex(findIndex);
-	}
-
-	//PCK: whole function
-	void initializeFromBuffer(void* buffer, int size, int capacity)
-	{
-		clear();
-		m_ownsMemory = false;
-		m_data = (T*)buffer;
-		m_size = size;
-		m_capacity = capacity;
-	}
-
-	void copyFromArray(const btAlignedObjectArray& otherArray)
-	{
-		int otherSize = otherArray.size();
-		resize(otherSize);
-		otherArray.copy(0, otherSize, m_data);
-	}
-};
-
-#endif  //BT_OBJECT_ARRAY__
diff --git a/thirdparty/bullet/LinearMath/btConvexHull.cpp b/thirdparty/bullet/LinearMath/btConvexHull.cpp
deleted file mode 100644
index e7de2a3694..0000000000
--- a/thirdparty/bullet/LinearMath/btConvexHull.cpp
+++ /dev/null
@@ -1,1120 +0,0 @@
-/*
-Stan Melax Convex Hull Computation
-Copyright (c) 2003-2006 Stan Melax http://www.melax.com/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include <string.h>
-
-#include "btConvexHull.h"
-#include "btAlignedObjectArray.h"
-#include "btMinMax.h"
-#include "btVector3.h"
-
-//----------------------------------
-
-class int3
-{
-public:
-	int x, y, z;
-	int3(){};
-	int3(int _x, int _y, int _z)
-	{
-		x = _x;
-		y = _y;
-		z = _z;
-	}
-	const int &operator[](int i) const { return (&x)[i]; }
-	int &operator[](int i) { return (&x)[i]; }
-};
-
-//------- btPlane ----------
-
-inline btPlane PlaneFlip(const btPlane &plane) { return btPlane(-plane.normal, -plane.dist); }
-inline int operator==(const btPlane &a, const btPlane &b) { return (a.normal == b.normal && a.dist == b.dist); }
-inline int coplanar(const btPlane &a, const btPlane &b) { return (a == b || a == PlaneFlip(b)); }
-
-//--------- Utility Functions ------
-
-btVector3 PlaneLineIntersection(const btPlane &plane, const btVector3 &p0, const btVector3 &p1);
-btVector3 PlaneProject(const btPlane &plane, const btVector3 &point);
-
-btVector3 ThreePlaneIntersection(const btPlane &p0, const btPlane &p1, const btPlane &p2);
-btVector3 ThreePlaneIntersection(const btPlane &p0, const btPlane &p1, const btPlane &p2)
-{
-	btVector3 N1 = p0.normal;
-	btVector3 N2 = p1.normal;
-	btVector3 N3 = p2.normal;
-
-	btVector3 n2n3;
-	n2n3 = N2.cross(N3);
-	btVector3 n3n1;
-	n3n1 = N3.cross(N1);
-	btVector3 n1n2;
-	n1n2 = N1.cross(N2);
-
-	btScalar quotient = (N1.dot(n2n3));
-
-	btAssert(btFabs(quotient) > btScalar(0.000001));
-
-	quotient = btScalar(-1.) / quotient;
-	n2n3 *= p0.dist;
-	n3n1 *= p1.dist;
-	n1n2 *= p2.dist;
-	btVector3 potentialVertex = n2n3;
-	potentialVertex += n3n1;
-	potentialVertex += n1n2;
-	potentialVertex *= quotient;
-
-	btVector3 result(potentialVertex.getX(), potentialVertex.getY(), potentialVertex.getZ());
-	return result;
-}
-
-btScalar DistanceBetweenLines(const btVector3 &ustart, const btVector3 &udir, const btVector3 &vstart, const btVector3 &vdir, btVector3 *upoint = NULL, btVector3 *vpoint = NULL);
-btVector3 TriNormal(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2);
-btVector3 NormalOf(const btVector3 *vert, const int n);
-
-btVector3 PlaneLineIntersection(const btPlane &plane, const btVector3 &p0, const btVector3 &p1)
-{
-	// returns the point where the line p0-p1 intersects the plane n&d
-	btVector3 dif;
-	dif = p1 - p0;
-	btScalar dn = btDot(plane.normal, dif);
-	btScalar t = -(plane.dist + btDot(plane.normal, p0)) / dn;
-	return p0 + (dif * t);
-}
-
-btVector3 PlaneProject(const btPlane &plane, const btVector3 &point)
-{
-	return point - plane.normal * (btDot(point, plane.normal) + plane.dist);
-}
-
-btVector3 TriNormal(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2)
-{
-	// return the normal of the triangle
-	// inscribed by v0, v1, and v2
-	btVector3 cp = btCross(v1 - v0, v2 - v1);
-	btScalar m = cp.length();
-	if (m == 0) return btVector3(1, 0, 0);
-	return cp * (btScalar(1.0) / m);
-}
-
-btScalar DistanceBetweenLines(const btVector3 &ustart, const btVector3 &udir, const btVector3 &vstart, const btVector3 &vdir, btVector3 *upoint, btVector3 *vpoint)
-{
-	btVector3 cp;
-	cp = btCross(udir, vdir).normalized();
-
-	btScalar distu = -btDot(cp, ustart);
-	btScalar distv = -btDot(cp, vstart);
-	btScalar dist = (btScalar)fabs(distu - distv);
-	if (upoint)
-	{
-		btPlane plane;
-		plane.normal = btCross(vdir, cp).normalized();
-		plane.dist = -btDot(plane.normal, vstart);
-		*upoint = PlaneLineIntersection(plane, ustart, ustart + udir);
-	}
-	if (vpoint)
-	{
-		btPlane plane;
-		plane.normal = btCross(udir, cp).normalized();
-		plane.dist = -btDot(plane.normal, ustart);
-		*vpoint = PlaneLineIntersection(plane, vstart, vstart + vdir);
-	}
-	return dist;
-}
-
-#define COPLANAR (0)
-#define UNDER (1)
-#define OVER (2)
-#define SPLIT (OVER | UNDER)
-#define PAPERWIDTH (btScalar(0.001))
-
-btScalar planetestepsilon = PAPERWIDTH;
-
-typedef ConvexH::HalfEdge HalfEdge;
-
-ConvexH::ConvexH(int vertices_size, int edges_size, int facets_size)
-{
-	vertices.resize(vertices_size);
-	edges.resize(edges_size);
-	facets.resize(facets_size);
-}
-
-int PlaneTest(const btPlane &p, const btVector3 &v);
-int PlaneTest(const btPlane &p, const btVector3 &v)
-{
-	btScalar a = btDot(v, p.normal) + p.dist;
-	int flag = (a > planetestepsilon) ? OVER : ((a < -planetestepsilon) ? UNDER : COPLANAR);
-	return flag;
-}
-
-int SplitTest(ConvexH &convex, const btPlane &plane);
-int SplitTest(ConvexH &convex, const btPlane &plane)
-{
-	int flag = 0;
-	for (int i = 0; i < convex.vertices.size(); i++)
-	{
-		flag |= PlaneTest(plane, convex.vertices[i]);
-	}
-	return flag;
-}
-
-class VertFlag
-{
-public:
-	unsigned char planetest;
-	unsigned char junk;
-	unsigned char undermap;
-	unsigned char overmap;
-};
-class EdgeFlag
-{
-public:
-	unsigned char planetest;
-	unsigned char fixes;
-	short undermap;
-	short overmap;
-};
-class PlaneFlag
-{
-public:
-	unsigned char undermap;
-	unsigned char overmap;
-};
-class Coplanar
-{
-public:
-	unsigned short ea;
-	unsigned char v0;
-	unsigned char v1;
-};
-
-template <class T>
-int maxdirfiltered(const T *p, int count, const T &dir, btAlignedObjectArray<int> &allow)
-{
-	btAssert(count);
-	int m = -1;
-	for (int i = 0; i < count; i++)
-		if (allow[i])
-		{
-			if (m == -1 || btDot(p[i], dir) > btDot(p[m], dir))
-				m = i;
-		}
-	btAssert(m != -1);
-	return m;
-}
-
-btVector3 orth(const btVector3 &v);
-btVector3 orth(const btVector3 &v)
-{
-	btVector3 a = btCross(v, btVector3(0, 0, 1));
-	btVector3 b = btCross(v, btVector3(0, 1, 0));
-	if (a.length() > b.length())
-	{
-		return a.normalized();
-	}
-	else
-	{
-		return b.normalized();
-	}
-}
-
-template <class T>
-int maxdirsterid(const T *p, int count, const T &dir, btAlignedObjectArray<int> &allow)
-{
-	int m = -1;
-	while (m == -1)
-	{
-		m = maxdirfiltered(p, count, dir, allow);
-		if (allow[m] == 3) return m;
-		T u = orth(dir);
-		T v = btCross(u, dir);
-		int ma = -1;
-		for (btScalar x = btScalar(0.0); x <= btScalar(360.0); x += btScalar(45.0))
-		{
-			btScalar s = btSin(SIMD_RADS_PER_DEG * (x));
-			btScalar c = btCos(SIMD_RADS_PER_DEG * (x));
-			int mb = maxdirfiltered(p, count, dir + (u * s + v * c) * btScalar(0.025), allow);
-			if (ma == m && mb == m)
-			{
-				allow[m] = 3;
-				return m;
-			}
-			if (ma != -1 && ma != mb)  // Yuck - this is really ugly
-			{
-				int mc = ma;
-				for (btScalar xx = x - btScalar(40.0); xx <= x; xx += btScalar(5.0))
-				{
-					btScalar s = btSin(SIMD_RADS_PER_DEG * (xx));
-					btScalar c = btCos(SIMD_RADS_PER_DEG * (xx));
-					int md = maxdirfiltered(p, count, dir + (u * s + v * c) * btScalar(0.025), allow);
-					if (mc == m && md == m)
-					{
-						allow[m] = 3;
-						return m;
-					}
-					mc = md;
-				}
-			}
-			ma = mb;
-		}
-		allow[m] = 0;
-		m = -1;
-	}
-	btAssert(0);
-	return m;
-}
-
-int operator==(const int3 &a, const int3 &b);
-int operator==(const int3 &a, const int3 &b)
-{
-	for (int i = 0; i < 3; i++)
-	{
-		if (a[i] != b[i]) return 0;
-	}
-	return 1;
-}
-
-int above(btVector3 *vertices, const int3 &t, const btVector3 &p, btScalar epsilon);
-int above(btVector3 *vertices, const int3 &t, const btVector3 &p, btScalar epsilon)
-{
-	btVector3 n = TriNormal(vertices[t[0]], vertices[t[1]], vertices[t[2]]);
-	return (btDot(n, p - vertices[t[0]]) > epsilon);  // EPSILON???
-}
-int hasedge(const int3 &t, int a, int b);
-int hasedge(const int3 &t, int a, int b)
-{
-	for (int i = 0; i < 3; i++)
-	{
-		int i1 = (i + 1) % 3;
-		if (t[i] == a && t[i1] == b) return 1;
-	}
-	return 0;
-}
-int hasvert(const int3 &t, int v);
-int hasvert(const int3 &t, int v)
-{
-	return (t[0] == v || t[1] == v || t[2] == v);
-}
-int shareedge(const int3 &a, const int3 &b);
-int shareedge(const int3 &a, const int3 &b)
-{
-	int i;
-	for (i = 0; i < 3; i++)
-	{
-		int i1 = (i + 1) % 3;
-		if (hasedge(a, b[i1], b[i])) return 1;
-	}
-	return 0;
-}
-
-class btHullTriangle;
-
-class btHullTriangle : public int3
-{
-public:
-	int3 n;
-	int id;
-	int vmax;
-	btScalar rise;
-	btHullTriangle(int a, int b, int c) : int3(a, b, c), n(-1, -1, -1)
-	{
-		vmax = -1;
-		rise = btScalar(0.0);
-	}
-	~btHullTriangle()
-	{
-	}
-	int &neib(int a, int b);
-};
-
-int &btHullTriangle::neib(int a, int b)
-{
-	static int er = -1;
-	int i;
-	for (i = 0; i < 3; i++)
-	{
-		int i1 = (i + 1) % 3;
-		int i2 = (i + 2) % 3;
-		if ((*this)[i] == a && (*this)[i1] == b) return n[i2];
-		if ((*this)[i] == b && (*this)[i1] == a) return n[i2];
-	}
-	btAssert(0);
-	return er;
-}
-void HullLibrary::b2bfix(btHullTriangle *s, btHullTriangle *t)
-{
-	int i;
-	for (i = 0; i < 3; i++)
-	{
-		int i1 = (i + 1) % 3;
-		int i2 = (i + 2) % 3;
-		int a = (*s)[i1];
-		int b = (*s)[i2];
-		btAssert(m_tris[s->neib(a, b)]->neib(b, a) == s->id);
-		btAssert(m_tris[t->neib(a, b)]->neib(b, a) == t->id);
-		m_tris[s->neib(a, b)]->neib(b, a) = t->neib(b, a);
-		m_tris[t->neib(b, a)]->neib(a, b) = s->neib(a, b);
-	}
-}
-
-void HullLibrary::removeb2b(btHullTriangle *s, btHullTriangle *t)
-{
-	b2bfix(s, t);
-	deAllocateTriangle(s);
-
-	deAllocateTriangle(t);
-}
-
-void HullLibrary::checkit(btHullTriangle *t)
-{
-	(void)t;
-
-	int i;
-	btAssert(m_tris[t->id] == t);
-	for (i = 0; i < 3; i++)
-	{
-		int i1 = (i + 1) % 3;
-		int i2 = (i + 2) % 3;
-		int a = (*t)[i1];
-		int b = (*t)[i2];
-
-		// release compile fix
-		(void)i1;
-		(void)i2;
-		(void)a;
-		(void)b;
-
-		btAssert(a != b);
-		btAssert(m_tris[t->n[i]]->neib(b, a) == t->id);
-	}
-}
-
-btHullTriangle *HullLibrary::allocateTriangle(int a, int b, int c)
-{
-	void *mem = btAlignedAlloc(sizeof(btHullTriangle), 16);
-	btHullTriangle *tr = new (mem) btHullTriangle(a, b, c);
-	tr->id = m_tris.size();
-	m_tris.push_back(tr);
-
-	return tr;
-}
-
-void HullLibrary::deAllocateTriangle(btHullTriangle *tri)
-{
-	btAssert(m_tris[tri->id] == tri);
-	m_tris[tri->id] = NULL;
-	tri->~btHullTriangle();
-	btAlignedFree(tri);
-}
-
-void HullLibrary::extrude(btHullTriangle *t0, int v)
-{
-	int3 t = *t0;
-	int n = m_tris.size();
-	btHullTriangle *ta = allocateTriangle(v, t[1], t[2]);
-	ta->n = int3(t0->n[0], n + 1, n + 2);
-	m_tris[t0->n[0]]->neib(t[1], t[2]) = n + 0;
-	btHullTriangle *tb = allocateTriangle(v, t[2], t[0]);
-	tb->n = int3(t0->n[1], n + 2, n + 0);
-	m_tris[t0->n[1]]->neib(t[2], t[0]) = n + 1;
-	btHullTriangle *tc = allocateTriangle(v, t[0], t[1]);
-	tc->n = int3(t0->n[2], n + 0, n + 1);
-	m_tris[t0->n[2]]->neib(t[0], t[1]) = n + 2;
-	checkit(ta);
-	checkit(tb);
-	checkit(tc);
-	if (hasvert(*m_tris[ta->n[0]], v)) removeb2b(ta, m_tris[ta->n[0]]);
-	if (hasvert(*m_tris[tb->n[0]], v)) removeb2b(tb, m_tris[tb->n[0]]);
-	if (hasvert(*m_tris[tc->n[0]], v)) removeb2b(tc, m_tris[tc->n[0]]);
-	deAllocateTriangle(t0);
-}
-
-btHullTriangle *HullLibrary::extrudable(btScalar epsilon)
-{
-	int i;
-	btHullTriangle *t = NULL;
-	for (i = 0; i < m_tris.size(); i++)
-	{
-		if (!t || (m_tris[i] && t->rise < m_tris[i]->rise))
-		{
-			t = m_tris[i];
-		}
-	}
-	return (t->rise > epsilon) ? t : NULL;
-}
-
-int4 HullLibrary::FindSimplex(btVector3 *verts, int verts_count, btAlignedObjectArray<int> &allow)
-{
-	btVector3 basis[3];
-	basis[0] = btVector3(btScalar(0.01), btScalar(0.02), btScalar(1.0));
-	int p0 = maxdirsterid(verts, verts_count, basis[0], allow);
-	int p1 = maxdirsterid(verts, verts_count, -basis[0], allow);
-	basis[0] = verts[p0] - verts[p1];
-	if (p0 == p1 || basis[0] == btVector3(0, 0, 0))
-		return int4(-1, -1, -1, -1);
-	basis[1] = btCross(btVector3(btScalar(1), btScalar(0.02), btScalar(0)), basis[0]);
-	basis[2] = btCross(btVector3(btScalar(-0.02), btScalar(1), btScalar(0)), basis[0]);
-	if (basis[1].length() > basis[2].length())
-	{
-		basis[1].normalize();
-	}
-	else
-	{
-		basis[1] = basis[2];
-		basis[1].normalize();
-	}
-	int p2 = maxdirsterid(verts, verts_count, basis[1], allow);
-	if (p2 == p0 || p2 == p1)
-	{
-		p2 = maxdirsterid(verts, verts_count, -basis[1], allow);
-	}
-	if (p2 == p0 || p2 == p1)
-		return int4(-1, -1, -1, -1);
-	basis[1] = verts[p2] - verts[p0];
-	basis[2] = btCross(basis[1], basis[0]).normalized();
-	int p3 = maxdirsterid(verts, verts_count, basis[2], allow);
-	if (p3 == p0 || p3 == p1 || p3 == p2) p3 = maxdirsterid(verts, verts_count, -basis[2], allow);
-	if (p3 == p0 || p3 == p1 || p3 == p2)
-		return int4(-1, -1, -1, -1);
-	btAssert(!(p0 == p1 || p0 == p2 || p0 == p3 || p1 == p2 || p1 == p3 || p2 == p3));
-	if (btDot(verts[p3] - verts[p0], btCross(verts[p1] - verts[p0], verts[p2] - verts[p0])) < 0)
-	{
-		btSwap(p2, p3);
-	}
-	return int4(p0, p1, p2, p3);
-}
-
-int HullLibrary::calchullgen(btVector3 *verts, int verts_count, int vlimit)
-{
-	if (verts_count < 4) return 0;
-	if (vlimit == 0) vlimit = 1000000000;
-	int j;
-	btVector3 bmin(*verts), bmax(*verts);
-	btAlignedObjectArray<int> isextreme;
-	isextreme.reserve(verts_count);
-	btAlignedObjectArray<int> allow;
-	allow.reserve(verts_count);
-
-	for (j = 0; j < verts_count; j++)
-	{
-		allow.push_back(1);
-		isextreme.push_back(0);
-		bmin.setMin(verts[j]);
-		bmax.setMax(verts[j]);
-	}
-	btScalar epsilon = (bmax - bmin).length() * btScalar(0.001);
-	btAssert(epsilon != 0.0);
-
-	int4 p = FindSimplex(verts, verts_count, allow);
-	if (p.x == -1) return 0;  // simplex failed
-
-	btVector3 center = (verts[p[0]] + verts[p[1]] + verts[p[2]] + verts[p[3]]) / btScalar(4.0);  // a valid interior point
-	btHullTriangle *t0 = allocateTriangle(p[2], p[3], p[1]);
-	t0->n = int3(2, 3, 1);
-	btHullTriangle *t1 = allocateTriangle(p[3], p[2], p[0]);
-	t1->n = int3(3, 2, 0);
-	btHullTriangle *t2 = allocateTriangle(p[0], p[1], p[3]);
-	t2->n = int3(0, 1, 3);
-	btHullTriangle *t3 = allocateTriangle(p[1], p[0], p[2]);
-	t3->n = int3(1, 0, 2);
-	isextreme[p[0]] = isextreme[p[1]] = isextreme[p[2]] = isextreme[p[3]] = 1;
-	checkit(t0);
-	checkit(t1);
-	checkit(t2);
-	checkit(t3);
-
-	for (j = 0; j < m_tris.size(); j++)
-	{
-		btHullTriangle *t = m_tris[j];
-		btAssert(t);
-		btAssert(t->vmax < 0);
-		btVector3 n = TriNormal(verts[(*t)[0]], verts[(*t)[1]], verts[(*t)[2]]);
-		t->vmax = maxdirsterid(verts, verts_count, n, allow);
-		t->rise = btDot(n, verts[t->vmax] - verts[(*t)[0]]);
-	}
-	btHullTriangle *te;
-	vlimit -= 4;
-	while (vlimit > 0 && ((te = extrudable(epsilon)) != 0))
-	{
-		//int3 ti=*te;
-		int v = te->vmax;
-		btAssert(v != -1);
-		btAssert(!isextreme[v]);  // wtf we've already done this vertex
-		isextreme[v] = 1;
-		//if(v==p0 || v==p1 || v==p2 || v==p3) continue; // done these already
-		j = m_tris.size();
-		while (j--)
-		{
-			if (!m_tris[j]) continue;
-			int3 t = *m_tris[j];
-			if (above(verts, t, verts[v], btScalar(0.01) * epsilon))
-			{
-				extrude(m_tris[j], v);
-			}
-		}
-		// now check for those degenerate cases where we have a flipped triangle or a really skinny triangle
-		j = m_tris.size();
-		while (j--)
-		{
-			if (!m_tris[j]) continue;
-			if (!hasvert(*m_tris[j], v)) break;
-			int3 nt = *m_tris[j];
-			if (above(verts, nt, center, btScalar(0.01) * epsilon) || btCross(verts[nt[1]] - verts[nt[0]], verts[nt[2]] - verts[nt[1]]).length() < epsilon * epsilon * btScalar(0.1))
-			{
-				btHullTriangle *nb = m_tris[m_tris[j]->n[0]];
-				btAssert(nb);
-				btAssert(!hasvert(*nb, v));
-				btAssert(nb->id < j);
-				extrude(nb, v);
-				j = m_tris.size();
-			}
-		}
-		j = m_tris.size();
-		while (j--)
-		{
-			btHullTriangle *t = m_tris[j];
-			if (!t) continue;
-			if (t->vmax >= 0) break;
-			btVector3 n = TriNormal(verts[(*t)[0]], verts[(*t)[1]], verts[(*t)[2]]);
-			t->vmax = maxdirsterid(verts, verts_count, n, allow);
-			if (isextreme[t->vmax])
-			{
-				t->vmax = -1;  // already done that vertex - algorithm needs to be able to terminate.
-			}
-			else
-			{
-				t->rise = btDot(n, verts[t->vmax] - verts[(*t)[0]]);
-			}
-		}
-		vlimit--;
-	}
-	return 1;
-}
-
-int HullLibrary::calchull(btVector3 *verts, int verts_count, TUIntArray &tris_out, int &tris_count, int vlimit)
-{
-	int rc = calchullgen(verts, verts_count, vlimit);
-	if (!rc) return 0;
-	btAlignedObjectArray<int> ts;
-	int i;
-
-	for (i = 0; i < m_tris.size(); i++)
-	{
-		if (m_tris[i])
-		{
-			for (int j = 0; j < 3; j++)
-				ts.push_back((*m_tris[i])[j]);
-			deAllocateTriangle(m_tris[i]);
-		}
-	}
-	tris_count = ts.size() / 3;
-	tris_out.resize(ts.size());
-
-	for (i = 0; i < ts.size(); i++)
-	{
-		tris_out[i] = static_cast<unsigned int>(ts[i]);
-	}
-	m_tris.resize(0);
-
-	return 1;
-}
-
-bool HullLibrary::ComputeHull(unsigned int vcount, const btVector3 *vertices, PHullResult &result, unsigned int vlimit)
-{
-	int tris_count;
-	int ret = calchull((btVector3 *)vertices, (int)vcount, result.m_Indices, tris_count, static_cast<int>(vlimit));
-	if (!ret) return false;
-	result.mIndexCount = (unsigned int)(tris_count * 3);
-	result.mFaceCount = (unsigned int)tris_count;
-	result.mVertices = (btVector3 *)vertices;
-	result.mVcount = (unsigned int)vcount;
-	return true;
-}
-
-void ReleaseHull(PHullResult &result);
-void ReleaseHull(PHullResult &result)
-{
-	if (result.m_Indices.size())
-	{
-		result.m_Indices.clear();
-	}
-
-	result.mVcount = 0;
-	result.mIndexCount = 0;
-	result.mVertices = 0;
-}
-
-//*********************************************************************
-//*********************************************************************
-//********  HullLib header
-//*********************************************************************
-//*********************************************************************
-
-//*********************************************************************
-//*********************************************************************
-//********  HullLib implementation
-//*********************************************************************
-//*********************************************************************
-
-HullError HullLibrary::CreateConvexHull(const HullDesc &desc,  // describes the input request
-										HullResult &result)    // contains the resulst
-{
-	HullError ret = QE_FAIL;
-
-	PHullResult hr;
-
-	unsigned int vcount = desc.mVcount;
-	if (vcount < 8) vcount = 8;
-
-	btAlignedObjectArray<btVector3> vertexSource;
-	vertexSource.resize(static_cast<int>(vcount));
-
-	btVector3 scale;
-
-	unsigned int ovcount;
-
-	bool ok = CleanupVertices(desc.mVcount, desc.mVertices, desc.mVertexStride, ovcount, &vertexSource[0], desc.mNormalEpsilon, scale);  // normalize point cloud, remove duplicates!
-
-	if (ok)
-	{
-		//		if ( 1 ) // scale vertices back to their original size.
-		{
-			for (unsigned int i = 0; i < ovcount; i++)
-			{
-				btVector3 &v = vertexSource[static_cast<int>(i)];
-				v[0] *= scale[0];
-				v[1] *= scale[1];
-				v[2] *= scale[2];
-			}
-		}
-
-		ok = ComputeHull(ovcount, &vertexSource[0], hr, desc.mMaxVertices);
-
-		if (ok)
-		{
-			// re-index triangle mesh so it refers to only used vertices, rebuild a new vertex table.
-			btAlignedObjectArray<btVector3> vertexScratch;
-			vertexScratch.resize(static_cast<int>(hr.mVcount));
-
-			BringOutYourDead(hr.mVertices, hr.mVcount, &vertexScratch[0], ovcount, &hr.m_Indices[0], hr.mIndexCount);
-
-			ret = QE_OK;
-
-			if (desc.HasHullFlag(QF_TRIANGLES))  // if he wants the results as triangle!
-			{
-				result.mPolygons = false;
-				result.mNumOutputVertices = ovcount;
-				result.m_OutputVertices.resize(static_cast<int>(ovcount));
-				result.mNumFaces = hr.mFaceCount;
-				result.mNumIndices = hr.mIndexCount;
-
-				result.m_Indices.resize(static_cast<int>(hr.mIndexCount));
-
-				memcpy(&result.m_OutputVertices[0], &vertexScratch[0], sizeof(btVector3) * ovcount);
-
-				if (desc.HasHullFlag(QF_REVERSE_ORDER))
-				{
-					const unsigned int *source = &hr.m_Indices[0];
-					unsigned int *dest = &result.m_Indices[0];
-
-					for (unsigned int i = 0; i < hr.mFaceCount; i++)
-					{
-						dest[0] = source[2];
-						dest[1] = source[1];
-						dest[2] = source[0];
-						dest += 3;
-						source += 3;
-					}
-				}
-				else
-				{
-					memcpy(&result.m_Indices[0], &hr.m_Indices[0], sizeof(unsigned int) * hr.mIndexCount);
-				}
-			}
-			else
-			{
-				result.mPolygons = true;
-				result.mNumOutputVertices = ovcount;
-				result.m_OutputVertices.resize(static_cast<int>(ovcount));
-				result.mNumFaces = hr.mFaceCount;
-				result.mNumIndices = hr.mIndexCount + hr.mFaceCount;
-				result.m_Indices.resize(static_cast<int>(result.mNumIndices));
-				memcpy(&result.m_OutputVertices[0], &vertexScratch[0], sizeof(btVector3) * ovcount);
-
-				//				if ( 1 )
-				{
-					const unsigned int *source = &hr.m_Indices[0];
-					unsigned int *dest = &result.m_Indices[0];
-					for (unsigned int i = 0; i < hr.mFaceCount; i++)
-					{
-						dest[0] = 3;
-						if (desc.HasHullFlag(QF_REVERSE_ORDER))
-						{
-							dest[1] = source[2];
-							dest[2] = source[1];
-							dest[3] = source[0];
-						}
-						else
-						{
-							dest[1] = source[0];
-							dest[2] = source[1];
-							dest[3] = source[2];
-						}
-
-						dest += 4;
-						source += 3;
-					}
-				}
-			}
-			ReleaseHull(hr);
-		}
-	}
-
-	return ret;
-}
-
-HullError HullLibrary::ReleaseResult(HullResult &result)  // release memory allocated for this result, we are done with it.
-{
-	if (result.m_OutputVertices.size())
-	{
-		result.mNumOutputVertices = 0;
-		result.m_OutputVertices.clear();
-	}
-	if (result.m_Indices.size())
-	{
-		result.mNumIndices = 0;
-		result.m_Indices.clear();
-	}
-	return QE_OK;
-}
-
-static void addPoint(unsigned int &vcount, btVector3 *p, btScalar x, btScalar y, btScalar z)
-{
-	// XXX, might be broken
-	btVector3 &dest = p[vcount];
-	dest[0] = x;
-	dest[1] = y;
-	dest[2] = z;
-	vcount++;
-}
-
-btScalar GetDist(btScalar px, btScalar py, btScalar pz, const btScalar *p2);
-btScalar GetDist(btScalar px, btScalar py, btScalar pz, const btScalar *p2)
-{
-	btScalar dx = px - p2[0];
-	btScalar dy = py - p2[1];
-	btScalar dz = pz - p2[2];
-
-	return dx * dx + dy * dy + dz * dz;
-}
-
-bool HullLibrary::CleanupVertices(unsigned int svcount,
-								  const btVector3 *svertices,
-								  unsigned int stride,
-								  unsigned int &vcount,  // output number of vertices
-								  btVector3 *vertices,   // location to store the results.
-								  btScalar normalepsilon,
-								  btVector3 &scale)
-{
-	if (svcount == 0) return false;
-
-	m_vertexIndexMapping.resize(0);
-
-#define EPSILON btScalar(0.000001) /* close enough to consider two btScalaring point numbers to be 'the same'. */
-
-	vcount = 0;
-
-	btScalar recip[3] = {0.f, 0.f, 0.f};
-
-	if (scale)
-	{
-		scale[0] = 1;
-		scale[1] = 1;
-		scale[2] = 1;
-	}
-
-	btScalar bmin[3] = {FLT_MAX, FLT_MAX, FLT_MAX};
-	btScalar bmax[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX};
-
-	const char *vtx = (const char *)svertices;
-
-	//	if ( 1 )
-	{
-		for (unsigned int i = 0; i < svcount; i++)
-		{
-			const btScalar *p = (const btScalar *)vtx;
-
-			vtx += stride;
-
-			for (int j = 0; j < 3; j++)
-			{
-				if (p[j] < bmin[j]) bmin[j] = p[j];
-				if (p[j] > bmax[j]) bmax[j] = p[j];
-			}
-		}
-	}
-
-	btScalar dx = bmax[0] - bmin[0];
-	btScalar dy = bmax[1] - bmin[1];
-	btScalar dz = bmax[2] - bmin[2];
-
-	btVector3 center;
-
-	center[0] = dx * btScalar(0.5) + bmin[0];
-	center[1] = dy * btScalar(0.5) + bmin[1];
-	center[2] = dz * btScalar(0.5) + bmin[2];
-
-	if (dx < EPSILON || dy < EPSILON || dz < EPSILON || svcount < 3)
-	{
-		btScalar len = FLT_MAX;
-
-		if (dx > EPSILON && dx < len) len = dx;
-		if (dy > EPSILON && dy < len) len = dy;
-		if (dz > EPSILON && dz < len) len = dz;
-
-		if (len == FLT_MAX)
-		{
-			dx = dy = dz = btScalar(0.01);  // one centimeter
-		}
-		else
-		{
-			if (dx < EPSILON) dx = len * btScalar(0.05);  // 1/5th the shortest non-zero edge.
-			if (dy < EPSILON) dy = len * btScalar(0.05);
-			if (dz < EPSILON) dz = len * btScalar(0.05);
-		}
-
-		btScalar x1 = center[0] - dx;
-		btScalar x2 = center[0] + dx;
-
-		btScalar y1 = center[1] - dy;
-		btScalar y2 = center[1] + dy;
-
-		btScalar z1 = center[2] - dz;
-		btScalar z2 = center[2] + dz;
-
-		addPoint(vcount, vertices, x1, y1, z1);
-		addPoint(vcount, vertices, x2, y1, z1);
-		addPoint(vcount, vertices, x2, y2, z1);
-		addPoint(vcount, vertices, x1, y2, z1);
-		addPoint(vcount, vertices, x1, y1, z2);
-		addPoint(vcount, vertices, x2, y1, z2);
-		addPoint(vcount, vertices, x2, y2, z2);
-		addPoint(vcount, vertices, x1, y2, z2);
-
-		return true;  // return cube
-	}
-	else
-	{
-		if (scale)
-		{
-			scale[0] = dx;
-			scale[1] = dy;
-			scale[2] = dz;
-
-			recip[0] = 1 / dx;
-			recip[1] = 1 / dy;
-			recip[2] = 1 / dz;
-
-			center[0] *= recip[0];
-			center[1] *= recip[1];
-			center[2] *= recip[2];
-		}
-	}
-
-	vtx = (const char *)svertices;
-
-	for (unsigned int i = 0; i < svcount; i++)
-	{
-		const btVector3 *p = (const btVector3 *)vtx;
-		vtx += stride;
-
-		btScalar px = p->getX();
-		btScalar py = p->getY();
-		btScalar pz = p->getZ();
-
-		if (scale)
-		{
-			px = px * recip[0];  // normalize
-			py = py * recip[1];  // normalize
-			pz = pz * recip[2];  // normalize
-		}
-
-		//		if ( 1 )
-		{
-			unsigned int j;
-
-			for (j = 0; j < vcount; j++)
-			{
-				/// XXX might be broken
-				btVector3 &v = vertices[j];
-
-				btScalar x = v[0];
-				btScalar y = v[1];
-				btScalar z = v[2];
-
-				btScalar dx = btFabs(x - px);
-				btScalar dy = btFabs(y - py);
-				btScalar dz = btFabs(z - pz);
-
-				if (dx < normalepsilon && dy < normalepsilon && dz < normalepsilon)
-				{
-					// ok, it is close enough to the old one
-					// now let us see if it is further from the center of the point cloud than the one we already recorded.
-					// in which case we keep this one instead.
-
-					btScalar dist1 = GetDist(px, py, pz, center);
-					btScalar dist2 = GetDist(v[0], v[1], v[2], center);
-
-					if (dist1 > dist2)
-					{
-						v[0] = px;
-						v[1] = py;
-						v[2] = pz;
-					}
-
-					break;
-				}
-			}
-
-			if (j == vcount)
-			{
-				btVector3 &dest = vertices[vcount];
-				dest[0] = px;
-				dest[1] = py;
-				dest[2] = pz;
-				vcount++;
-			}
-			m_vertexIndexMapping.push_back(j);
-		}
-	}
-
-	// ok..now make sure we didn't prune so many vertices it is now invalid.
-	//	if ( 1 )
-	{
-		btScalar bmin[3] = {FLT_MAX, FLT_MAX, FLT_MAX};
-		btScalar bmax[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX};
-
-		for (unsigned int i = 0; i < vcount; i++)
-		{
-			const btVector3 &p = vertices[i];
-			for (int j = 0; j < 3; j++)
-			{
-				if (p[j] < bmin[j]) bmin[j] = p[j];
-				if (p[j] > bmax[j]) bmax[j] = p[j];
-			}
-		}
-
-		btScalar dx = bmax[0] - bmin[0];
-		btScalar dy = bmax[1] - bmin[1];
-		btScalar dz = bmax[2] - bmin[2];
-
-		if (dx < EPSILON || dy < EPSILON || dz < EPSILON || vcount < 3)
-		{
-			btScalar cx = dx * btScalar(0.5) + bmin[0];
-			btScalar cy = dy * btScalar(0.5) + bmin[1];
-			btScalar cz = dz * btScalar(0.5) + bmin[2];
-
-			btScalar len = FLT_MAX;
-
-			if (dx >= EPSILON && dx < len) len = dx;
-			if (dy >= EPSILON && dy < len) len = dy;
-			if (dz >= EPSILON && dz < len) len = dz;
-
-			if (len == FLT_MAX)
-			{
-				dx = dy = dz = btScalar(0.01);  // one centimeter
-			}
-			else
-			{
-				if (dx < EPSILON) dx = len * btScalar(0.05);  // 1/5th the shortest non-zero edge.
-				if (dy < EPSILON) dy = len * btScalar(0.05);
-				if (dz < EPSILON) dz = len * btScalar(0.05);
-			}
-
-			btScalar x1 = cx - dx;
-			btScalar x2 = cx + dx;
-
-			btScalar y1 = cy - dy;
-			btScalar y2 = cy + dy;
-
-			btScalar z1 = cz - dz;
-			btScalar z2 = cz + dz;
-
-			vcount = 0;  // add box
-
-			addPoint(vcount, vertices, x1, y1, z1);
-			addPoint(vcount, vertices, x2, y1, z1);
-			addPoint(vcount, vertices, x2, y2, z1);
-			addPoint(vcount, vertices, x1, y2, z1);
-			addPoint(vcount, vertices, x1, y1, z2);
-			addPoint(vcount, vertices, x2, y1, z2);
-			addPoint(vcount, vertices, x2, y2, z2);
-			addPoint(vcount, vertices, x1, y2, z2);
-
-			return true;
-		}
-	}
-
-	return true;
-}
-
-void HullLibrary::BringOutYourDead(const btVector3 *verts, unsigned int vcount, btVector3 *overts, unsigned int &ocount, unsigned int *indices, unsigned indexcount)
-{
-	btAlignedObjectArray<int> tmpIndices;
-	tmpIndices.resize(m_vertexIndexMapping.size());
-	int i;
-
-	for (i = 0; i < m_vertexIndexMapping.size(); i++)
-	{
-		tmpIndices[i] = m_vertexIndexMapping[i];
-	}
-
-	TUIntArray usedIndices;
-	usedIndices.resize(static_cast<int>(vcount));
-	memset(&usedIndices[0], 0, sizeof(unsigned int) * vcount);
-
-	ocount = 0;
-
-	for (i = 0; i < int(indexcount); i++)
-	{
-		unsigned int v = indices[i];  // original array index
-
-		btAssert(v >= 0 && v < vcount);
-
-		if (usedIndices[static_cast<int>(v)])  // if already remapped
-		{
-			indices[i] = usedIndices[static_cast<int>(v)] - 1;  // index to new array
-		}
-		else
-		{
-			indices[i] = ocount;  // new index mapping
-
-			overts[ocount][0] = verts[v][0];  // copy old vert to new vert array
-			overts[ocount][1] = verts[v][1];
-			overts[ocount][2] = verts[v][2];
-
-			for (int k = 0; k < m_vertexIndexMapping.size(); k++)
-			{
-				if (tmpIndices[k] == int(v))
-					m_vertexIndexMapping[k] = ocount;
-			}
-
-			ocount++;  // increment output vert count
-
-			btAssert(ocount >= 0 && ocount <= vcount);
-
-			usedIndices[static_cast<int>(v)] = ocount;  // assign new index remapping
-		}
-	}
-}
diff --git a/thirdparty/bullet/LinearMath/btConvexHull.h b/thirdparty/bullet/LinearMath/btConvexHull.h
deleted file mode 100644
index f890d75ea1..0000000000
--- a/thirdparty/bullet/LinearMath/btConvexHull.h
+++ /dev/null
@@ -1,233 +0,0 @@
-
-/*
-Stan Melax Convex Hull Computation
-Copyright (c) 2008 Stan Melax http://www.melax.com/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///includes modifications/improvements by John Ratcliff, see BringOutYourDead below.
-
-#ifndef BT_CD_HULL_H
-#define BT_CD_HULL_H
-
-#include "btVector3.h"
-#include "btAlignedObjectArray.h"
-
-typedef btAlignedObjectArray<unsigned int> TUIntArray;
-
-class HullResult
-{
-public:
-	HullResult(void)
-	{
-		mPolygons = true;
-		mNumOutputVertices = 0;
-		mNumFaces = 0;
-		mNumIndices = 0;
-	}
-	bool mPolygons;                                    // true if indices represents polygons, false indices are triangles
-	unsigned int mNumOutputVertices;                   // number of vertices in the output hull
-	btAlignedObjectArray<btVector3> m_OutputVertices;  // array of vertices
-	unsigned int mNumFaces;                            // the number of faces produced
-	unsigned int mNumIndices;                          // the total number of indices
-	btAlignedObjectArray<unsigned int> m_Indices;      // pointer to indices.
-
-	// If triangles, then indices are array indexes into the vertex list.
-	// If polygons, indices are in the form (number of points in face) (p1, p2, p3, ..) etc..
-};
-
-enum HullFlag
-{
-	QF_TRIANGLES = (1 << 0),      // report results as triangles, not polygons.
-	QF_REVERSE_ORDER = (1 << 1),  // reverse order of the triangle indices.
-	QF_DEFAULT = QF_TRIANGLES
-};
-
-class HullDesc
-{
-public:
-	HullDesc(void)
-	{
-		mFlags = QF_DEFAULT;
-		mVcount = 0;
-		mVertices = 0;
-		mVertexStride = sizeof(btVector3);
-		mNormalEpsilon = 0.001f;
-		mMaxVertices = 4096;  // maximum number of points to be considered for a convex hull.
-		mMaxFaces = 4096;
-	};
-
-	HullDesc(HullFlag flag,
-			 unsigned int vcount,
-			 const btVector3* vertices,
-			 unsigned int stride = sizeof(btVector3))
-	{
-		mFlags = flag;
-		mVcount = vcount;
-		mVertices = vertices;
-		mVertexStride = stride;
-		mNormalEpsilon = btScalar(0.001);
-		mMaxVertices = 4096;
-	}
-
-	bool HasHullFlag(HullFlag flag) const
-	{
-		if (mFlags & flag) return true;
-		return false;
-	}
-
-	void SetHullFlag(HullFlag flag)
-	{
-		mFlags |= flag;
-	}
-
-	void ClearHullFlag(HullFlag flag)
-	{
-		mFlags &= ~flag;
-	}
-
-	unsigned int mFlags;         // flags to use when generating the convex hull.
-	unsigned int mVcount;        // number of vertices in the input point cloud
-	const btVector3* mVertices;  // the array of vertices.
-	unsigned int mVertexStride;  // the stride of each vertex, in bytes.
-	btScalar mNormalEpsilon;     // the epsilon for removing duplicates.  This is a normalized value, if normalized bit is on.
-	unsigned int mMaxVertices;   // maximum number of vertices to be considered for the hull!
-	unsigned int mMaxFaces;
-};
-
-enum HullError
-{
-	QE_OK,   // success!
-	QE_FAIL  // failed.
-};
-
-class btPlane
-{
-public:
-	btVector3 normal;
-	btScalar dist;  // distance below origin - the D from plane equasion Ax+By+Cz+D=0
-	btPlane(const btVector3& n, btScalar d) : normal(n), dist(d) {}
-	btPlane() : normal(), dist(0) {}
-};
-
-class ConvexH
-{
-public:
-	class HalfEdge
-	{
-	public:
-		short ea;         // the other half of the edge (index into edges list)
-		unsigned char v;  // the vertex at the start of this edge (index into vertices list)
-		unsigned char p;  // the facet on which this edge lies (index into facets list)
-		HalfEdge() {}
-		HalfEdge(short _ea, unsigned char _v, unsigned char _p) : ea(_ea), v(_v), p(_p) {}
-	};
-	ConvexH()
-	{
-	}
-	~ConvexH()
-	{
-	}
-	btAlignedObjectArray<btVector3> vertices;
-	btAlignedObjectArray<HalfEdge> edges;
-	btAlignedObjectArray<btPlane> facets;
-	ConvexH(int vertices_size, int edges_size, int facets_size);
-};
-
-class int4
-{
-public:
-	int x, y, z, w;
-	int4(){};
-	int4(int _x, int _y, int _z, int _w)
-	{
-		x = _x;
-		y = _y;
-		z = _z;
-		w = _w;
-	}
-	const int& operator[](int i) const { return (&x)[i]; }
-	int& operator[](int i) { return (&x)[i]; }
-};
-
-class PHullResult
-{
-public:
-	PHullResult(void)
-	{
-		mVcount = 0;
-		mIndexCount = 0;
-		mFaceCount = 0;
-		mVertices = 0;
-	}
-
-	unsigned int mVcount;
-	unsigned int mIndexCount;
-	unsigned int mFaceCount;
-	btVector3* mVertices;
-	TUIntArray m_Indices;
-};
-
-///The HullLibrary class can create a convex hull from a collection of vertices, using the ComputeHull method.
-///The btShapeHull class uses this HullLibrary to create a approximate convex mesh given a general (non-polyhedral) convex shape.
-class HullLibrary
-{
-	btAlignedObjectArray<class btHullTriangle*> m_tris;
-
-public:
-	btAlignedObjectArray<int> m_vertexIndexMapping;
-
-	HullError CreateConvexHull(const HullDesc& desc,  // describes the input request
-							   HullResult& result);   // contains the resulst
-	HullError ReleaseResult(HullResult& result);      // release memory allocated for this result, we are done with it.
-
-private:
-	bool ComputeHull(unsigned int vcount, const btVector3* vertices, PHullResult& result, unsigned int vlimit);
-
-	class btHullTriangle* allocateTriangle(int a, int b, int c);
-	void deAllocateTriangle(btHullTriangle*);
-	void b2bfix(btHullTriangle* s, btHullTriangle* t);
-
-	void removeb2b(btHullTriangle* s, btHullTriangle* t);
-
-	void checkit(btHullTriangle* t);
-
-	btHullTriangle* extrudable(btScalar epsilon);
-
-	int calchull(btVector3* verts, int verts_count, TUIntArray& tris_out, int& tris_count, int vlimit);
-
-	int calchullgen(btVector3* verts, int verts_count, int vlimit);
-
-	int4 FindSimplex(btVector3* verts, int verts_count, btAlignedObjectArray<int>& allow);
-
-	class ConvexH* ConvexHCrop(ConvexH& convex, const btPlane& slice);
-
-	void extrude(class btHullTriangle* t0, int v);
-
-	ConvexH* test_cube();
-
-	//BringOutYourDead (John Ratcliff): When you create a convex hull you hand it a large input set of vertices forming a 'point cloud'.
-	//After the hull is generated it give you back a set of polygon faces which index the *original* point cloud.
-	//The thing is, often times, there are many 'dead vertices' in the point cloud that are on longer referenced by the hull.
-	//The routine 'BringOutYourDead' find only the referenced vertices, copies them to an new buffer, and re-indexes the hull so that it is a minimal representation.
-	void BringOutYourDead(const btVector3* verts, unsigned int vcount, btVector3* overts, unsigned int& ocount, unsigned int* indices, unsigned indexcount);
-
-	bool CleanupVertices(unsigned int svcount,
-						 const btVector3* svertices,
-						 unsigned int stride,
-						 unsigned int& vcount,  // output number of vertices
-						 btVector3* vertices,   // location to store the results.
-						 btScalar normalepsilon,
-						 btVector3& scale);
-};
-
-#endif  //BT_CD_HULL_H
diff --git a/thirdparty/bullet/LinearMath/btConvexHullComputer.cpp b/thirdparty/bullet/LinearMath/btConvexHullComputer.cpp
deleted file mode 100644
index 12125fd2de..0000000000
--- a/thirdparty/bullet/LinearMath/btConvexHullComputer.cpp
+++ /dev/null
@@ -1,2760 +0,0 @@
-/*
-Copyright (c) 2011 Ole Kniemeyer, MAXON, www.maxon.net
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include <string.h>
-
-#include "btConvexHullComputer.h"
-#include "btAlignedObjectArray.h"
-#include "btMinMax.h"
-#include "btVector3.h"
-
-#ifdef __GNUC__
-#include <stdint.h>
-#elif defined(_MSC_VER)
-typedef __int32 int32_t;
-typedef __int64 int64_t;
-typedef unsigned __int32 uint32_t;
-typedef unsigned __int64 uint64_t;
-#else
-typedef int int32_t;
-typedef long long int int64_t;
-typedef unsigned int uint32_t;
-typedef unsigned long long int uint64_t;
-#endif
-
-//The definition of USE_X86_64_ASM is moved into the build system. You can enable it manually by commenting out the following lines
-//#if (defined(__GNUC__) && defined(__x86_64__) && !defined(__ICL))  // || (defined(__ICL) && defined(_M_X64))   bug in Intel compiler, disable inline assembly
-//	#define USE_X86_64_ASM
-//#endif
-
-//#define DEBUG_CONVEX_HULL
-//#define SHOW_ITERATIONS
-
-#if defined(DEBUG_CONVEX_HULL) || defined(SHOW_ITERATIONS)
-#include <stdio.h>
-#endif
-
-// Convex hull implementation based on Preparata and Hong
-// Ole Kniemeyer, MAXON Computer GmbH
-class btConvexHullInternal
-{
-public:
-	class Point64
-	{
-	public:
-		int64_t x;
-		int64_t y;
-		int64_t z;
-
-		Point64(int64_t x, int64_t y, int64_t z) : x(x), y(y), z(z)
-		{
-		}
-
-		bool isZero()
-		{
-			return (x == 0) && (y == 0) && (z == 0);
-		}
-
-		int64_t dot(const Point64& b) const
-		{
-			return x * b.x + y * b.y + z * b.z;
-		}
-	};
-
-	class Point32
-	{
-	public:
-		int32_t x;
-		int32_t y;
-		int32_t z;
-		int index;
-
-		Point32()
-		{
-		}
-
-		Point32(int32_t x, int32_t y, int32_t z) : x(x), y(y), z(z), index(-1)
-		{
-		}
-
-		bool operator==(const Point32& b) const
-		{
-			return (x == b.x) && (y == b.y) && (z == b.z);
-		}
-
-		bool operator!=(const Point32& b) const
-		{
-			return (x != b.x) || (y != b.y) || (z != b.z);
-		}
-
-		bool isZero()
-		{
-			return (x == 0) && (y == 0) && (z == 0);
-		}
-
-		Point64 cross(const Point32& b) const
-		{
-			return Point64(((int64_t)y) * b.z - ((int64_t)z) * b.y, ((int64_t)z) * b.x - ((int64_t)x) * b.z, ((int64_t)x) * b.y - ((int64_t)y) * b.x);
-		}
-
-		Point64 cross(const Point64& b) const
-		{
-			return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x);
-		}
-
-		int64_t dot(const Point32& b) const
-		{
-			return ((int64_t)x) * b.x + ((int64_t)y) * b.y + ((int64_t)z) * b.z;
-		}
-
-		int64_t dot(const Point64& b) const
-		{
-			return x * b.x + y * b.y + z * b.z;
-		}
-
-		Point32 operator+(const Point32& b) const
-		{
-			return Point32(x + b.x, y + b.y, z + b.z);
-		}
-
-		Point32 operator-(const Point32& b) const
-		{
-			return Point32(x - b.x, y - b.y, z - b.z);
-		}
-	};
-
-	class Int128
-	{
-	public:
-		uint64_t low;
-		uint64_t high;
-
-		Int128()
-		{
-		}
-
-		Int128(uint64_t low, uint64_t high) : low(low), high(high)
-		{
-		}
-
-		Int128(uint64_t low) : low(low), high(0)
-		{
-		}
-
-		Int128(int64_t value) : low(value), high((value >= 0) ? 0 : (uint64_t)-1LL)
-		{
-		}
-
-		static Int128 mul(int64_t a, int64_t b);
-
-		static Int128 mul(uint64_t a, uint64_t b);
-
-		Int128 operator-() const
-		{
-			return Int128((uint64_t) - (int64_t)low, ~high + (low == 0));
-		}
-
-		Int128 operator+(const Int128& b) const
-		{
-#ifdef USE_X86_64_ASM
-			Int128 result;
-			__asm__(
-				"addq %[bl], %[rl]\n\t"
-				"adcq %[bh], %[rh]\n\t"
-				: [rl] "=r"(result.low), [rh] "=r"(result.high)
-				: "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high)
-				: "cc");
-			return result;
-#else
-			uint64_t lo = low + b.low;
-			return Int128(lo, high + b.high + (lo < low));
-#endif
-		}
-
-		Int128 operator-(const Int128& b) const
-		{
-#ifdef USE_X86_64_ASM
-			Int128 result;
-			__asm__(
-				"subq %[bl], %[rl]\n\t"
-				"sbbq %[bh], %[rh]\n\t"
-				: [rl] "=r"(result.low), [rh] "=r"(result.high)
-				: "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high)
-				: "cc");
-			return result;
-#else
-			return *this + -b;
-#endif
-		}
-
-		Int128& operator+=(const Int128& b)
-		{
-#ifdef USE_X86_64_ASM
-			__asm__(
-				"addq %[bl], %[rl]\n\t"
-				"adcq %[bh], %[rh]\n\t"
-				: [rl] "=r"(low), [rh] "=r"(high)
-				: "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high)
-				: "cc");
-#else
-			uint64_t lo = low + b.low;
-			if (lo < low)
-			{
-				++high;
-			}
-			low = lo;
-			high += b.high;
-#endif
-			return *this;
-		}
-
-		Int128& operator++()
-		{
-			if (++low == 0)
-			{
-				++high;
-			}
-			return *this;
-		}
-
-		Int128 operator*(int64_t b) const;
-
-		btScalar toScalar() const
-		{
-			return ((int64_t)high >= 0) ? btScalar(high) * (btScalar(0x100000000LL) * btScalar(0x100000000LL)) + btScalar(low)
-										: -(-*this).toScalar();
-		}
-
-		int getSign() const
-		{
-			return ((int64_t)high < 0) ? -1 : (high || low) ? 1 : 0;
-		}
-
-		bool operator<(const Int128& b) const
-		{
-			return (high < b.high) || ((high == b.high) && (low < b.low));
-		}
-
-		int ucmp(const Int128& b) const
-		{
-			if (high < b.high)
-			{
-				return -1;
-			}
-			if (high > b.high)
-			{
-				return 1;
-			}
-			if (low < b.low)
-			{
-				return -1;
-			}
-			if (low > b.low)
-			{
-				return 1;
-			}
-			return 0;
-		}
-	};
-
-	class Rational64
-	{
-	private:
-		uint64_t m_numerator;
-		uint64_t m_denominator;
-		int sign;
-
-	public:
-		Rational64(int64_t numerator, int64_t denominator)
-		{
-			if (numerator > 0)
-			{
-				sign = 1;
-				m_numerator = (uint64_t)numerator;
-			}
-			else if (numerator < 0)
-			{
-				sign = -1;
-				m_numerator = (uint64_t)-numerator;
-			}
-			else
-			{
-				sign = 0;
-				m_numerator = 0;
-			}
-			if (denominator > 0)
-			{
-				m_denominator = (uint64_t)denominator;
-			}
-			else if (denominator < 0)
-			{
-				sign = -sign;
-				m_denominator = (uint64_t)-denominator;
-			}
-			else
-			{
-				m_denominator = 0;
-			}
-		}
-
-		bool isNegativeInfinity() const
-		{
-			return (sign < 0) && (m_denominator == 0);
-		}
-
-		bool isNaN() const
-		{
-			return (sign == 0) && (m_denominator == 0);
-		}
-
-		int compare(const Rational64& b) const;
-
-		btScalar toScalar() const
-		{
-			return sign * ((m_denominator == 0) ? SIMD_INFINITY : (btScalar)m_numerator / m_denominator);
-		}
-	};
-
-	class Rational128
-	{
-	private:
-		Int128 numerator;
-		Int128 denominator;
-		int sign;
-		bool isInt64;
-
-	public:
-		Rational128(int64_t value)
-		{
-			if (value > 0)
-			{
-				sign = 1;
-				this->numerator = value;
-			}
-			else if (value < 0)
-			{
-				sign = -1;
-				this->numerator = -value;
-			}
-			else
-			{
-				sign = 0;
-				this->numerator = (uint64_t)0;
-			}
-			this->denominator = (uint64_t)1;
-			isInt64 = true;
-		}
-
-		Rational128(const Int128& numerator, const Int128& denominator)
-		{
-			sign = numerator.getSign();
-			if (sign >= 0)
-			{
-				this->numerator = numerator;
-			}
-			else
-			{
-				this->numerator = -numerator;
-			}
-			int dsign = denominator.getSign();
-			if (dsign >= 0)
-			{
-				this->denominator = denominator;
-			}
-			else
-			{
-				sign = -sign;
-				this->denominator = -denominator;
-			}
-			isInt64 = false;
-		}
-
-		int compare(const Rational128& b) const;
-
-		int compare(int64_t b) const;
-
-		btScalar toScalar() const
-		{
-			return sign * ((denominator.getSign() == 0) ? SIMD_INFINITY : numerator.toScalar() / denominator.toScalar());
-		}
-	};
-
-	class PointR128
-	{
-	public:
-		Int128 x;
-		Int128 y;
-		Int128 z;
-		Int128 denominator;
-
-		PointR128()
-		{
-		}
-
-		PointR128(Int128 x, Int128 y, Int128 z, Int128 denominator) : x(x), y(y), z(z), denominator(denominator)
-		{
-		}
-
-		btScalar xvalue() const
-		{
-			return x.toScalar() / denominator.toScalar();
-		}
-
-		btScalar yvalue() const
-		{
-			return y.toScalar() / denominator.toScalar();
-		}
-
-		btScalar zvalue() const
-		{
-			return z.toScalar() / denominator.toScalar();
-		}
-	};
-
-	class Edge;
-	class Face;
-
-	class Vertex
-	{
-	public:
-		Vertex* next;
-		Vertex* prev;
-		Edge* edges;
-		Face* firstNearbyFace;
-		Face* lastNearbyFace;
-		PointR128 point128;
-		Point32 point;
-		int copy;
-
-		Vertex() : next(NULL), prev(NULL), edges(NULL), firstNearbyFace(NULL), lastNearbyFace(NULL), copy(-1)
-		{
-		}
-
-#ifdef DEBUG_CONVEX_HULL
-		void print()
-		{
-			printf("V%d (%d, %d, %d)", point.index, point.x, point.y, point.z);
-		}
-
-		void printGraph();
-#endif
-
-		Point32 operator-(const Vertex& b) const
-		{
-			return point - b.point;
-		}
-
-		Rational128 dot(const Point64& b) const
-		{
-			return (point.index >= 0) ? Rational128(point.dot(b))
-									  : Rational128(point128.x * b.x + point128.y * b.y + point128.z * b.z, point128.denominator);
-		}
-
-		btScalar xvalue() const
-		{
-			return (point.index >= 0) ? btScalar(point.x) : point128.xvalue();
-		}
-
-		btScalar yvalue() const
-		{
-			return (point.index >= 0) ? btScalar(point.y) : point128.yvalue();
-		}
-
-		btScalar zvalue() const
-		{
-			return (point.index >= 0) ? btScalar(point.z) : point128.zvalue();
-		}
-
-		void receiveNearbyFaces(Vertex* src)
-		{
-			if (lastNearbyFace)
-			{
-				lastNearbyFace->nextWithSameNearbyVertex = src->firstNearbyFace;
-			}
-			else
-			{
-				firstNearbyFace = src->firstNearbyFace;
-			}
-			if (src->lastNearbyFace)
-			{
-				lastNearbyFace = src->lastNearbyFace;
-			}
-			for (Face* f = src->firstNearbyFace; f; f = f->nextWithSameNearbyVertex)
-			{
-				btAssert(f->nearbyVertex == src);
-				f->nearbyVertex = this;
-			}
-			src->firstNearbyFace = NULL;
-			src->lastNearbyFace = NULL;
-		}
-	};
-
-	class Edge
-	{
-	public:
-		Edge* next;
-		Edge* prev;
-		Edge* reverse;
-		Vertex* target;
-		Face* face;
-		int copy;
-
-		~Edge()
-		{
-			next = NULL;
-			prev = NULL;
-			reverse = NULL;
-			target = NULL;
-			face = NULL;
-		}
-
-		void link(Edge* n)
-		{
-			btAssert(reverse->target == n->reverse->target);
-			next = n;
-			n->prev = this;
-		}
-
-#ifdef DEBUG_CONVEX_HULL
-		void print()
-		{
-			printf("E%p : %d -> %d,  n=%p p=%p   (0 %d\t%d\t%d) -> (%d %d %d)", this, reverse->target->point.index, target->point.index, next, prev,
-				   reverse->target->point.x, reverse->target->point.y, reverse->target->point.z, target->point.x, target->point.y, target->point.z);
-		}
-#endif
-	};
-
-	class Face
-	{
-	public:
-		Face* next;
-		Vertex* nearbyVertex;
-		Face* nextWithSameNearbyVertex;
-		Point32 origin;
-		Point32 dir0;
-		Point32 dir1;
-
-		Face() : next(NULL), nearbyVertex(NULL), nextWithSameNearbyVertex(NULL)
-		{
-		}
-
-		void init(Vertex* a, Vertex* b, Vertex* c)
-		{
-			nearbyVertex = a;
-			origin = a->point;
-			dir0 = *b - *a;
-			dir1 = *c - *a;
-			if (a->lastNearbyFace)
-			{
-				a->lastNearbyFace->nextWithSameNearbyVertex = this;
-			}
-			else
-			{
-				a->firstNearbyFace = this;
-			}
-			a->lastNearbyFace = this;
-		}
-
-		Point64 getNormal()
-		{
-			return dir0.cross(dir1);
-		}
-	};
-
-	template <typename UWord, typename UHWord>
-	class DMul
-	{
-	private:
-		static uint32_t high(uint64_t value)
-		{
-			return (uint32_t)(value >> 32);
-		}
-
-		static uint32_t low(uint64_t value)
-		{
-			return (uint32_t)value;
-		}
-
-		static uint64_t mul(uint32_t a, uint32_t b)
-		{
-			return (uint64_t)a * (uint64_t)b;
-		}
-
-		static void shlHalf(uint64_t& value)
-		{
-			value <<= 32;
-		}
-
-		static uint64_t high(Int128 value)
-		{
-			return value.high;
-		}
-
-		static uint64_t low(Int128 value)
-		{
-			return value.low;
-		}
-
-		static Int128 mul(uint64_t a, uint64_t b)
-		{
-			return Int128::mul(a, b);
-		}
-
-		static void shlHalf(Int128& value)
-		{
-			value.high = value.low;
-			value.low = 0;
-		}
-
-	public:
-		static void mul(UWord a, UWord b, UWord& resLow, UWord& resHigh)
-		{
-			UWord p00 = mul(low(a), low(b));
-			UWord p01 = mul(low(a), high(b));
-			UWord p10 = mul(high(a), low(b));
-			UWord p11 = mul(high(a), high(b));
-			UWord p0110 = UWord(low(p01)) + UWord(low(p10));
-			p11 += high(p01);
-			p11 += high(p10);
-			p11 += high(p0110);
-			shlHalf(p0110);
-			p00 += p0110;
-			if (p00 < p0110)
-			{
-				++p11;
-			}
-			resLow = p00;
-			resHigh = p11;
-		}
-	};
-
-private:
-	class IntermediateHull
-	{
-	public:
-		Vertex* minXy;
-		Vertex* maxXy;
-		Vertex* minYx;
-		Vertex* maxYx;
-
-		IntermediateHull() : minXy(NULL), maxXy(NULL), minYx(NULL), maxYx(NULL)
-		{
-		}
-
-		void print();
-	};
-
-	enum Orientation
-	{
-		NONE,
-		CLOCKWISE,
-		COUNTER_CLOCKWISE
-	};
-
-	template <typename T>
-	class PoolArray
-	{
-	private:
-		T* array;
-		int size;
-
-	public:
-		PoolArray<T>* next;
-
-		PoolArray(int size) : size(size), next(NULL)
-		{
-			array = (T*)btAlignedAlloc(sizeof(T) * size, 16);
-		}
-
-		~PoolArray()
-		{
-			btAlignedFree(array);
-		}
-
-		T* init()
-		{
-			T* o = array;
-			for (int i = 0; i < size; i++, o++)
-			{
-				o->next = (i + 1 < size) ? o + 1 : NULL;
-			}
-			return array;
-		}
-	};
-
-	template <typename T>
-	class Pool
-	{
-	private:
-		PoolArray<T>* arrays;
-		PoolArray<T>* nextArray;
-		T* freeObjects;
-		int arraySize;
-
-	public:
-		Pool() : arrays(NULL), nextArray(NULL), freeObjects(NULL), arraySize(256)
-		{
-		}
-
-		~Pool()
-		{
-			while (arrays)
-			{
-				PoolArray<T>* p = arrays;
-				arrays = p->next;
-				p->~PoolArray<T>();
-				btAlignedFree(p);
-			}
-		}
-
-		void reset()
-		{
-			nextArray = arrays;
-			freeObjects = NULL;
-		}
-
-		void setArraySize(int arraySize)
-		{
-			this->arraySize = arraySize;
-		}
-
-		T* newObject()
-		{
-			T* o = freeObjects;
-			if (!o)
-			{
-				PoolArray<T>* p = nextArray;
-				if (p)
-				{
-					nextArray = p->next;
-				}
-				else
-				{
-					p = new (btAlignedAlloc(sizeof(PoolArray<T>), 16)) PoolArray<T>(arraySize);
-					p->next = arrays;
-					arrays = p;
-				}
-				o = p->init();
-			}
-			freeObjects = o->next;
-			return new (o) T();
-		};
-
-		void freeObject(T* object)
-		{
-			object->~T();
-			object->next = freeObjects;
-			freeObjects = object;
-		}
-	};
-
-	btVector3 scaling;
-	btVector3 center;
-	Pool<Vertex> vertexPool;
-	Pool<Edge> edgePool;
-	Pool<Face> facePool;
-	btAlignedObjectArray<Vertex*> originalVertices;
-	int mergeStamp;
-	int minAxis;
-	int medAxis;
-	int maxAxis;
-	int usedEdgePairs;
-	int maxUsedEdgePairs;
-
-	static Orientation getOrientation(const Edge* prev, const Edge* next, const Point32& s, const Point32& t);
-	Edge* findMaxAngle(bool ccw, const Vertex* start, const Point32& s, const Point64& rxs, const Point64& sxrxs, Rational64& minCot);
-	void findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge*& e0, Edge*& e1, Vertex* stop0, Vertex* stop1);
-
-	Edge* newEdgePair(Vertex* from, Vertex* to);
-
-	void removeEdgePair(Edge* edge)
-	{
-		Edge* n = edge->next;
-		Edge* r = edge->reverse;
-
-		btAssert(edge->target && r->target);
-
-		if (n != edge)
-		{
-			n->prev = edge->prev;
-			edge->prev->next = n;
-			r->target->edges = n;
-		}
-		else
-		{
-			r->target->edges = NULL;
-		}
-
-		n = r->next;
-
-		if (n != r)
-		{
-			n->prev = r->prev;
-			r->prev->next = n;
-			edge->target->edges = n;
-		}
-		else
-		{
-			edge->target->edges = NULL;
-		}
-
-		edgePool.freeObject(edge);
-		edgePool.freeObject(r);
-		usedEdgePairs--;
-	}
-
-	void computeInternal(int start, int end, IntermediateHull& result);
-
-	bool mergeProjection(IntermediateHull& h0, IntermediateHull& h1, Vertex*& c0, Vertex*& c1);
-
-	void merge(IntermediateHull& h0, IntermediateHull& h1);
-
-	btVector3 toBtVector(const Point32& v);
-
-	btVector3 getBtNormal(Face* face);
-
-	bool shiftFace(Face* face, btScalar amount, btAlignedObjectArray<Vertex*> stack);
-
-public:
-	Vertex* vertexList;
-
-	void compute(const void* coords, bool doubleCoords, int stride, int count);
-
-	btVector3 getCoordinates(const Vertex* v);
-
-	btScalar shrink(btScalar amount, btScalar clampAmount);
-};
-
-btConvexHullInternal::Int128 btConvexHullInternal::Int128::operator*(int64_t b) const
-{
-	bool negative = (int64_t)high < 0;
-	Int128 a = negative ? -*this : *this;
-	if (b < 0)
-	{
-		negative = !negative;
-		b = -b;
-	}
-	Int128 result = mul(a.low, (uint64_t)b);
-	result.high += a.high * (uint64_t)b;
-	return negative ? -result : result;
-}
-
-btConvexHullInternal::Int128 btConvexHullInternal::Int128::mul(int64_t a, int64_t b)
-{
-	Int128 result;
-
-#ifdef USE_X86_64_ASM
-	__asm__("imulq %[b]"
-			: "=a"(result.low), "=d"(result.high)
-			: "0"(a), [b] "r"(b)
-			: "cc");
-	return result;
-
-#else
-	bool negative = a < 0;
-	if (negative)
-	{
-		a = -a;
-	}
-	if (b < 0)
-	{
-		negative = !negative;
-		b = -b;
-	}
-	DMul<uint64_t, uint32_t>::mul((uint64_t)a, (uint64_t)b, result.low, result.high);
-	return negative ? -result : result;
-#endif
-}
-
-btConvexHullInternal::Int128 btConvexHullInternal::Int128::mul(uint64_t a, uint64_t b)
-{
-	Int128 result;
-
-#ifdef USE_X86_64_ASM
-	__asm__("mulq %[b]"
-			: "=a"(result.low), "=d"(result.high)
-			: "0"(a), [b] "r"(b)
-			: "cc");
-
-#else
-	DMul<uint64_t, uint32_t>::mul(a, b, result.low, result.high);
-#endif
-
-	return result;
-}
-
-int btConvexHullInternal::Rational64::compare(const Rational64& b) const
-{
-	if (sign != b.sign)
-	{
-		return sign - b.sign;
-	}
-	else if (sign == 0)
-	{
-		return 0;
-	}
-
-	//	return (numerator * b.denominator > b.numerator * denominator) ? sign : (numerator * b.denominator < b.numerator * denominator) ? -sign : 0;
-
-#ifdef USE_X86_64_ASM
-
-	int result;
-	int64_t tmp;
-	int64_t dummy;
-	__asm__(
-		"mulq %[bn]\n\t"
-		"movq %%rax, %[tmp]\n\t"
-		"movq %%rdx, %%rbx\n\t"
-		"movq %[tn], %%rax\n\t"
-		"mulq %[bd]\n\t"
-		"subq %[tmp], %%rax\n\t"
-		"sbbq %%rbx, %%rdx\n\t"  // rdx:rax contains 128-bit-difference "numerator*b.denominator - b.numerator*denominator"
-		"setnsb %%bh\n\t"        // bh=1 if difference is non-negative, bh=0 otherwise
-		"orq %%rdx, %%rax\n\t"
-		"setnzb %%bl\n\t"      // bl=1 if difference if non-zero, bl=0 if it is zero
-		"decb %%bh\n\t"        // now bx=0x0000 if difference is zero, 0xff01 if it is negative, 0x0001 if it is positive (i.e., same sign as difference)
-		"shll $16, %%ebx\n\t"  // ebx has same sign as difference
-		: "=&b"(result), [tmp] "=&r"(tmp), "=a"(dummy)
-		: "a"(m_denominator), [bn] "g"(b.m_numerator), [tn] "g"(m_numerator), [bd] "g"(b.m_denominator)
-		: "%rdx", "cc");
-	return result ? result ^ sign  // if sign is +1, only bit 0 of result is inverted, which does not change the sign of result (and cannot result in zero)
-								   // if sign is -1, all bits of result are inverted, which changes the sign of result (and again cannot result in zero)
-				  : 0;
-
-#else
-
-	return sign * Int128::mul(m_numerator, b.m_denominator).ucmp(Int128::mul(m_denominator, b.m_numerator));
-
-#endif
-}
-
-int btConvexHullInternal::Rational128::compare(const Rational128& b) const
-{
-	if (sign != b.sign)
-	{
-		return sign - b.sign;
-	}
-	else if (sign == 0)
-	{
-		return 0;
-	}
-	if (isInt64)
-	{
-		return -b.compare(sign * (int64_t)numerator.low);
-	}
-
-	Int128 nbdLow, nbdHigh, dbnLow, dbnHigh;
-	DMul<Int128, uint64_t>::mul(numerator, b.denominator, nbdLow, nbdHigh);
-	DMul<Int128, uint64_t>::mul(denominator, b.numerator, dbnLow, dbnHigh);
-
-	int cmp = nbdHigh.ucmp(dbnHigh);
-	if (cmp)
-	{
-		return cmp * sign;
-	}
-	return nbdLow.ucmp(dbnLow) * sign;
-}
-
-int btConvexHullInternal::Rational128::compare(int64_t b) const
-{
-	if (isInt64)
-	{
-		int64_t a = sign * (int64_t)numerator.low;
-		return (a > b) ? 1 : (a < b) ? -1 : 0;
-	}
-	if (b > 0)
-	{
-		if (sign <= 0)
-		{
-			return -1;
-		}
-	}
-	else if (b < 0)
-	{
-		if (sign >= 0)
-		{
-			return 1;
-		}
-		b = -b;
-	}
-	else
-	{
-		return sign;
-	}
-
-	return numerator.ucmp(denominator * b) * sign;
-}
-
-btConvexHullInternal::Edge* btConvexHullInternal::newEdgePair(Vertex* from, Vertex* to)
-{
-	btAssert(from && to);
-	Edge* e = edgePool.newObject();
-	Edge* r = edgePool.newObject();
-	e->reverse = r;
-	r->reverse = e;
-	e->copy = mergeStamp;
-	r->copy = mergeStamp;
-	e->target = to;
-	r->target = from;
-	e->face = NULL;
-	r->face = NULL;
-	usedEdgePairs++;
-	if (usedEdgePairs > maxUsedEdgePairs)
-	{
-		maxUsedEdgePairs = usedEdgePairs;
-	}
-	return e;
-}
-
-bool btConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHull& h1, Vertex*& c0, Vertex*& c1)
-{
-	Vertex* v0 = h0.maxYx;
-	Vertex* v1 = h1.minYx;
-	if ((v0->point.x == v1->point.x) && (v0->point.y == v1->point.y))
-	{
-		btAssert(v0->point.z < v1->point.z);
-		Vertex* v1p = v1->prev;
-		if (v1p == v1)
-		{
-			c0 = v0;
-			if (v1->edges)
-			{
-				btAssert(v1->edges->next == v1->edges);
-				v1 = v1->edges->target;
-				btAssert(v1->edges->next == v1->edges);
-			}
-			c1 = v1;
-			return false;
-		}
-		Vertex* v1n = v1->next;
-		v1p->next = v1n;
-		v1n->prev = v1p;
-		if (v1 == h1.minXy)
-		{
-			if ((v1n->point.x < v1p->point.x) || ((v1n->point.x == v1p->point.x) && (v1n->point.y < v1p->point.y)))
-			{
-				h1.minXy = v1n;
-			}
-			else
-			{
-				h1.minXy = v1p;
-			}
-		}
-		if (v1 == h1.maxXy)
-		{
-			if ((v1n->point.x > v1p->point.x) || ((v1n->point.x == v1p->point.x) && (v1n->point.y > v1p->point.y)))
-			{
-				h1.maxXy = v1n;
-			}
-			else
-			{
-				h1.maxXy = v1p;
-			}
-		}
-	}
-
-	v0 = h0.maxXy;
-	v1 = h1.maxXy;
-	Vertex* v00 = NULL;
-	Vertex* v10 = NULL;
-	int32_t sign = 1;
-
-	for (int side = 0; side <= 1; side++)
-	{
-		int32_t dx = (v1->point.x - v0->point.x) * sign;
-		if (dx > 0)
-		{
-			while (true)
-			{
-				int32_t dy = v1->point.y - v0->point.y;
-
-				Vertex* w0 = side ? v0->next : v0->prev;
-				if (w0 != v0)
-				{
-					int32_t dx0 = (w0->point.x - v0->point.x) * sign;
-					int32_t dy0 = w0->point.y - v0->point.y;
-					if ((dy0 <= 0) && ((dx0 == 0) || ((dx0 < 0) && (dy0 * dx <= dy * dx0))))
-					{
-						v0 = w0;
-						dx = (v1->point.x - v0->point.x) * sign;
-						continue;
-					}
-				}
-
-				Vertex* w1 = side ? v1->next : v1->prev;
-				if (w1 != v1)
-				{
-					int32_t dx1 = (w1->point.x - v1->point.x) * sign;
-					int32_t dy1 = w1->point.y - v1->point.y;
-					int32_t dxn = (w1->point.x - v0->point.x) * sign;
-					if ((dxn > 0) && (dy1 < 0) && ((dx1 == 0) || ((dx1 < 0) && (dy1 * dx < dy * dx1))))
-					{
-						v1 = w1;
-						dx = dxn;
-						continue;
-					}
-				}
-
-				break;
-			}
-		}
-		else if (dx < 0)
-		{
-			while (true)
-			{
-				int32_t dy = v1->point.y - v0->point.y;
-
-				Vertex* w1 = side ? v1->prev : v1->next;
-				if (w1 != v1)
-				{
-					int32_t dx1 = (w1->point.x - v1->point.x) * sign;
-					int32_t dy1 = w1->point.y - v1->point.y;
-					if ((dy1 >= 0) && ((dx1 == 0) || ((dx1 < 0) && (dy1 * dx <= dy * dx1))))
-					{
-						v1 = w1;
-						dx = (v1->point.x - v0->point.x) * sign;
-						continue;
-					}
-				}
-
-				Vertex* w0 = side ? v0->prev : v0->next;
-				if (w0 != v0)
-				{
-					int32_t dx0 = (w0->point.x - v0->point.x) * sign;
-					int32_t dy0 = w0->point.y - v0->point.y;
-					int32_t dxn = (v1->point.x - w0->point.x) * sign;
-					if ((dxn < 0) && (dy0 > 0) && ((dx0 == 0) || ((dx0 < 0) && (dy0 * dx < dy * dx0))))
-					{
-						v0 = w0;
-						dx = dxn;
-						continue;
-					}
-				}
-
-				break;
-			}
-		}
-		else
-		{
-			int32_t x = v0->point.x;
-			int32_t y0 = v0->point.y;
-			Vertex* w0 = v0;
-			Vertex* t;
-			while (((t = side ? w0->next : w0->prev) != v0) && (t->point.x == x) && (t->point.y <= y0))
-			{
-				w0 = t;
-				y0 = t->point.y;
-			}
-			v0 = w0;
-
-			int32_t y1 = v1->point.y;
-			Vertex* w1 = v1;
-			while (((t = side ? w1->prev : w1->next) != v1) && (t->point.x == x) && (t->point.y >= y1))
-			{
-				w1 = t;
-				y1 = t->point.y;
-			}
-			v1 = w1;
-		}
-
-		if (side == 0)
-		{
-			v00 = v0;
-			v10 = v1;
-
-			v0 = h0.minXy;
-			v1 = h1.minXy;
-			sign = -1;
-		}
-	}
-
-	v0->prev = v1;
-	v1->next = v0;
-
-	v00->next = v10;
-	v10->prev = v00;
-
-	if (h1.minXy->point.x < h0.minXy->point.x)
-	{
-		h0.minXy = h1.minXy;
-	}
-	if (h1.maxXy->point.x >= h0.maxXy->point.x)
-	{
-		h0.maxXy = h1.maxXy;
-	}
-
-	h0.maxYx = h1.maxYx;
-
-	c0 = v00;
-	c1 = v10;
-
-	return true;
-}
-
-void btConvexHullInternal::computeInternal(int start, int end, IntermediateHull& result)
-{
-	int n = end - start;
-	switch (n)
-	{
-		case 0:
-			result.minXy = NULL;
-			result.maxXy = NULL;
-			result.minYx = NULL;
-			result.maxYx = NULL;
-			return;
-		case 2:
-		{
-			Vertex* v = originalVertices[start];
-			Vertex* w = v + 1;
-			if (v->point != w->point)
-			{
-				int32_t dx = v->point.x - w->point.x;
-				int32_t dy = v->point.y - w->point.y;
-
-				if ((dx == 0) && (dy == 0))
-				{
-					if (v->point.z > w->point.z)
-					{
-						Vertex* t = w;
-						w = v;
-						v = t;
-					}
-					btAssert(v->point.z < w->point.z);
-					v->next = v;
-					v->prev = v;
-					result.minXy = v;
-					result.maxXy = v;
-					result.minYx = v;
-					result.maxYx = v;
-				}
-				else
-				{
-					v->next = w;
-					v->prev = w;
-					w->next = v;
-					w->prev = v;
-
-					if ((dx < 0) || ((dx == 0) && (dy < 0)))
-					{
-						result.minXy = v;
-						result.maxXy = w;
-					}
-					else
-					{
-						result.minXy = w;
-						result.maxXy = v;
-					}
-
-					if ((dy < 0) || ((dy == 0) && (dx < 0)))
-					{
-						result.minYx = v;
-						result.maxYx = w;
-					}
-					else
-					{
-						result.minYx = w;
-						result.maxYx = v;
-					}
-				}
-
-				Edge* e = newEdgePair(v, w);
-				e->link(e);
-				v->edges = e;
-
-				e = e->reverse;
-				e->link(e);
-				w->edges = e;
-
-				return;
-			}
-			{
-				Vertex* v = originalVertices[start];
-				v->edges = NULL;
-				v->next = v;
-				v->prev = v;
-
-				result.minXy = v;
-				result.maxXy = v;
-				result.minYx = v;
-				result.maxYx = v;
-			}
-
-			return;
-		}
-
-		case 1:
-		{
-			Vertex* v = originalVertices[start];
-			v->edges = NULL;
-			v->next = v;
-			v->prev = v;
-
-			result.minXy = v;
-			result.maxXy = v;
-			result.minYx = v;
-			result.maxYx = v;
-
-			return;
-		}
-	}
-
-	int split0 = start + n / 2;
-	Point32 p = originalVertices[split0 - 1]->point;
-	int split1 = split0;
-	while ((split1 < end) && (originalVertices[split1]->point == p))
-	{
-		split1++;
-	}
-	computeInternal(start, split0, result);
-	IntermediateHull hull1;
-	computeInternal(split1, end, hull1);
-#ifdef DEBUG_CONVEX_HULL
-	printf("\n\nMerge\n");
-	result.print();
-	hull1.print();
-#endif
-	merge(result, hull1);
-#ifdef DEBUG_CONVEX_HULL
-	printf("\n  Result\n");
-	result.print();
-#endif
-}
-
-#ifdef DEBUG_CONVEX_HULL
-void btConvexHullInternal::IntermediateHull::print()
-{
-	printf("    Hull\n");
-	for (Vertex* v = minXy; v;)
-	{
-		printf("      ");
-		v->print();
-		if (v == maxXy)
-		{
-			printf(" maxXy");
-		}
-		if (v == minYx)
-		{
-			printf(" minYx");
-		}
-		if (v == maxYx)
-		{
-			printf(" maxYx");
-		}
-		if (v->next->prev != v)
-		{
-			printf(" Inconsistency");
-		}
-		printf("\n");
-		v = v->next;
-		if (v == minXy)
-		{
-			break;
-		}
-	}
-	if (minXy)
-	{
-		minXy->copy = (minXy->copy == -1) ? -2 : -1;
-		minXy->printGraph();
-	}
-}
-
-void btConvexHullInternal::Vertex::printGraph()
-{
-	print();
-	printf("\nEdges\n");
-	Edge* e = edges;
-	if (e)
-	{
-		do
-		{
-			e->print();
-			printf("\n");
-			e = e->next;
-		} while (e != edges);
-		do
-		{
-			Vertex* v = e->target;
-			if (v->copy != copy)
-			{
-				v->copy = copy;
-				v->printGraph();
-			}
-			e = e->next;
-		} while (e != edges);
-	}
-}
-#endif
-
-btConvexHullInternal::Orientation btConvexHullInternal::getOrientation(const Edge* prev, const Edge* next, const Point32& s, const Point32& t)
-{
-	btAssert(prev->reverse->target == next->reverse->target);
-	if (prev->next == next)
-	{
-		if (prev->prev == next)
-		{
-			Point64 n = t.cross(s);
-			Point64 m = (*prev->target - *next->reverse->target).cross(*next->target - *next->reverse->target);
-			btAssert(!m.isZero());
-			int64_t dot = n.dot(m);
-			btAssert(dot != 0);
-			return (dot > 0) ? COUNTER_CLOCKWISE : CLOCKWISE;
-		}
-		return COUNTER_CLOCKWISE;
-	}
-	else if (prev->prev == next)
-	{
-		return CLOCKWISE;
-	}
-	else
-	{
-		return NONE;
-	}
-}
-
-btConvexHullInternal::Edge* btConvexHullInternal::findMaxAngle(bool ccw, const Vertex* start, const Point32& s, const Point64& rxs, const Point64& sxrxs, Rational64& minCot)
-{
-	Edge* minEdge = NULL;
-
-#ifdef DEBUG_CONVEX_HULL
-	printf("find max edge for %d\n", start->point.index);
-#endif
-	Edge* e = start->edges;
-	if (e)
-	{
-		do
-		{
-			if (e->copy > mergeStamp)
-			{
-				Point32 t = *e->target - *start;
-				Rational64 cot(t.dot(sxrxs), t.dot(rxs));
-#ifdef DEBUG_CONVEX_HULL
-				printf("      Angle is %f (%d) for ", (float)btAtan(cot.toScalar()), (int)cot.isNaN());
-				e->print();
-#endif
-				if (cot.isNaN())
-				{
-					btAssert(ccw ? (t.dot(s) < 0) : (t.dot(s) > 0));
-				}
-				else
-				{
-					int cmp;
-					if (minEdge == NULL)
-					{
-						minCot = cot;
-						minEdge = e;
-					}
-					else if ((cmp = cot.compare(minCot)) < 0)
-					{
-						minCot = cot;
-						minEdge = e;
-					}
-					else if ((cmp == 0) && (ccw == (getOrientation(minEdge, e, s, t) == COUNTER_CLOCKWISE)))
-					{
-						minEdge = e;
-					}
-				}
-#ifdef DEBUG_CONVEX_HULL
-				printf("\n");
-#endif
-			}
-			e = e->next;
-		} while (e != start->edges);
-	}
-	return minEdge;
-}
-
-void btConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge*& e0, Edge*& e1, Vertex* stop0, Vertex* stop1)
-{
-	Edge* start0 = e0;
-	Edge* start1 = e1;
-	Point32 et0 = start0 ? start0->target->point : c0->point;
-	Point32 et1 = start1 ? start1->target->point : c1->point;
-	Point32 s = c1->point - c0->point;
-	Point64 normal = ((start0 ? start0 : start1)->target->point - c0->point).cross(s);
-	int64_t dist = c0->point.dot(normal);
-	btAssert(!start1 || (start1->target->point.dot(normal) == dist));
-	Point64 perp = s.cross(normal);
-	btAssert(!perp.isZero());
-
-#ifdef DEBUG_CONVEX_HULL
-	printf("   Advancing %d %d  (%p %p, %d %d)\n", c0->point.index, c1->point.index, start0, start1, start0 ? start0->target->point.index : -1, start1 ? start1->target->point.index : -1);
-#endif
-
-	int64_t maxDot0 = et0.dot(perp);
-	if (e0)
-	{
-		while (e0->target != stop0)
-		{
-			Edge* e = e0->reverse->prev;
-			if (e->target->point.dot(normal) < dist)
-			{
-				break;
-			}
-			btAssert(e->target->point.dot(normal) == dist);
-			if (e->copy == mergeStamp)
-			{
-				break;
-			}
-			int64_t dot = e->target->point.dot(perp);
-			if (dot <= maxDot0)
-			{
-				break;
-			}
-			maxDot0 = dot;
-			e0 = e;
-			et0 = e->target->point;
-		}
-	}
-
-	int64_t maxDot1 = et1.dot(perp);
-	if (e1)
-	{
-		while (e1->target != stop1)
-		{
-			Edge* e = e1->reverse->next;
-			if (e->target->point.dot(normal) < dist)
-			{
-				break;
-			}
-			btAssert(e->target->point.dot(normal) == dist);
-			if (e->copy == mergeStamp)
-			{
-				break;
-			}
-			int64_t dot = e->target->point.dot(perp);
-			if (dot <= maxDot1)
-			{
-				break;
-			}
-			maxDot1 = dot;
-			e1 = e;
-			et1 = e->target->point;
-		}
-	}
-
-#ifdef DEBUG_CONVEX_HULL
-	printf("   Starting at %d %d\n", et0.index, et1.index);
-#endif
-
-	int64_t dx = maxDot1 - maxDot0;
-	if (dx > 0)
-	{
-		while (true)
-		{
-			int64_t dy = (et1 - et0).dot(s);
-
-			if (e0 && (e0->target != stop0))
-			{
-				Edge* f0 = e0->next->reverse;
-				if (f0->copy > mergeStamp)
-				{
-					int64_t dx0 = (f0->target->point - et0).dot(perp);
-					int64_t dy0 = (f0->target->point - et0).dot(s);
-					if ((dx0 == 0) ? (dy0 < 0) : ((dx0 < 0) && (Rational64(dy0, dx0).compare(Rational64(dy, dx)) >= 0)))
-					{
-						et0 = f0->target->point;
-						dx = (et1 - et0).dot(perp);
-						e0 = (e0 == start0) ? NULL : f0;
-						continue;
-					}
-				}
-			}
-
-			if (e1 && (e1->target != stop1))
-			{
-				Edge* f1 = e1->reverse->next;
-				if (f1->copy > mergeStamp)
-				{
-					Point32 d1 = f1->target->point - et1;
-					if (d1.dot(normal) == 0)
-					{
-						int64_t dx1 = d1.dot(perp);
-						int64_t dy1 = d1.dot(s);
-						int64_t dxn = (f1->target->point - et0).dot(perp);
-						if ((dxn > 0) && ((dx1 == 0) ? (dy1 < 0) : ((dx1 < 0) && (Rational64(dy1, dx1).compare(Rational64(dy, dx)) > 0))))
-						{
-							e1 = f1;
-							et1 = e1->target->point;
-							dx = dxn;
-							continue;
-						}
-					}
-					else
-					{
-						btAssert((e1 == start1) && (d1.dot(normal) < 0));
-					}
-				}
-			}
-
-			break;
-		}
-	}
-	else if (dx < 0)
-	{
-		while (true)
-		{
-			int64_t dy = (et1 - et0).dot(s);
-
-			if (e1 && (e1->target != stop1))
-			{
-				Edge* f1 = e1->prev->reverse;
-				if (f1->copy > mergeStamp)
-				{
-					int64_t dx1 = (f1->target->point - et1).dot(perp);
-					int64_t dy1 = (f1->target->point - et1).dot(s);
-					if ((dx1 == 0) ? (dy1 > 0) : ((dx1 < 0) && (Rational64(dy1, dx1).compare(Rational64(dy, dx)) <= 0)))
-					{
-						et1 = f1->target->point;
-						dx = (et1 - et0).dot(perp);
-						e1 = (e1 == start1) ? NULL : f1;
-						continue;
-					}
-				}
-			}
-
-			if (e0 && (e0->target != stop0))
-			{
-				Edge* f0 = e0->reverse->prev;
-				if (f0->copy > mergeStamp)
-				{
-					Point32 d0 = f0->target->point - et0;
-					if (d0.dot(normal) == 0)
-					{
-						int64_t dx0 = d0.dot(perp);
-						int64_t dy0 = d0.dot(s);
-						int64_t dxn = (et1 - f0->target->point).dot(perp);
-						if ((dxn < 0) && ((dx0 == 0) ? (dy0 > 0) : ((dx0 < 0) && (Rational64(dy0, dx0).compare(Rational64(dy, dx)) < 0))))
-						{
-							e0 = f0;
-							et0 = e0->target->point;
-							dx = dxn;
-							continue;
-						}
-					}
-					else
-					{
-						btAssert((e0 == start0) && (d0.dot(normal) < 0));
-					}
-				}
-			}
-
-			break;
-		}
-	}
-#ifdef DEBUG_CONVEX_HULL
-	printf("   Advanced edges to %d %d\n", et0.index, et1.index);
-#endif
-}
-
-void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
-{
-	if (!h1.maxXy)
-	{
-		return;
-	}
-	if (!h0.maxXy)
-	{
-		h0 = h1;
-		return;
-	}
-
-	mergeStamp--;
-
-	Vertex* c0 = NULL;
-	Edge* toPrev0 = NULL;
-	Edge* firstNew0 = NULL;
-	Edge* pendingHead0 = NULL;
-	Edge* pendingTail0 = NULL;
-	Vertex* c1 = NULL;
-	Edge* toPrev1 = NULL;
-	Edge* firstNew1 = NULL;
-	Edge* pendingHead1 = NULL;
-	Edge* pendingTail1 = NULL;
-	Point32 prevPoint;
-
-	if (mergeProjection(h0, h1, c0, c1))
-	{
-		Point32 s = *c1 - *c0;
-		Point64 normal = Point32(0, 0, -1).cross(s);
-		Point64 t = s.cross(normal);
-		btAssert(!t.isZero());
-
-		Edge* e = c0->edges;
-		Edge* start0 = NULL;
-		if (e)
-		{
-			do
-			{
-				int64_t dot = (*e->target - *c0).dot(normal);
-				btAssert(dot <= 0);
-				if ((dot == 0) && ((*e->target - *c0).dot(t) > 0))
-				{
-					if (!start0 || (getOrientation(start0, e, s, Point32(0, 0, -1)) == CLOCKWISE))
-					{
-						start0 = e;
-					}
-				}
-				e = e->next;
-			} while (e != c0->edges);
-		}
-
-		e = c1->edges;
-		Edge* start1 = NULL;
-		if (e)
-		{
-			do
-			{
-				int64_t dot = (*e->target - *c1).dot(normal);
-				btAssert(dot <= 0);
-				if ((dot == 0) && ((*e->target - *c1).dot(t) > 0))
-				{
-					if (!start1 || (getOrientation(start1, e, s, Point32(0, 0, -1)) == COUNTER_CLOCKWISE))
-					{
-						start1 = e;
-					}
-				}
-				e = e->next;
-			} while (e != c1->edges);
-		}
-
-		if (start0 || start1)
-		{
-			findEdgeForCoplanarFaces(c0, c1, start0, start1, NULL, NULL);
-			if (start0)
-			{
-				c0 = start0->target;
-			}
-			if (start1)
-			{
-				c1 = start1->target;
-			}
-		}
-
-		prevPoint = c1->point;
-		prevPoint.z++;
-	}
-	else
-	{
-		prevPoint = c1->point;
-		prevPoint.x++;
-	}
-
-	Vertex* first0 = c0;
-	Vertex* first1 = c1;
-	bool firstRun = true;
-
-	while (true)
-	{
-		Point32 s = *c1 - *c0;
-		Point32 r = prevPoint - c0->point;
-		Point64 rxs = r.cross(s);
-		Point64 sxrxs = s.cross(rxs);
-
-#ifdef DEBUG_CONVEX_HULL
-		printf("\n  Checking %d %d\n", c0->point.index, c1->point.index);
-#endif
-		Rational64 minCot0(0, 0);
-		Edge* min0 = findMaxAngle(false, c0, s, rxs, sxrxs, minCot0);
-		Rational64 minCot1(0, 0);
-		Edge* min1 = findMaxAngle(true, c1, s, rxs, sxrxs, minCot1);
-		if (!min0 && !min1)
-		{
-			Edge* e = newEdgePair(c0, c1);
-			e->link(e);
-			c0->edges = e;
-
-			e = e->reverse;
-			e->link(e);
-			c1->edges = e;
-			return;
-		}
-		else
-		{
-			int cmp = !min0 ? 1 : !min1 ? -1 : minCot0.compare(minCot1);
-#ifdef DEBUG_CONVEX_HULL
-			printf("    -> Result %d\n", cmp);
-#endif
-			if (firstRun || ((cmp >= 0) ? !minCot1.isNegativeInfinity() : !minCot0.isNegativeInfinity()))
-			{
-				Edge* e = newEdgePair(c0, c1);
-				if (pendingTail0)
-				{
-					pendingTail0->prev = e;
-				}
-				else
-				{
-					pendingHead0 = e;
-				}
-				e->next = pendingTail0;
-				pendingTail0 = e;
-
-				e = e->reverse;
-				if (pendingTail1)
-				{
-					pendingTail1->next = e;
-				}
-				else
-				{
-					pendingHead1 = e;
-				}
-				e->prev = pendingTail1;
-				pendingTail1 = e;
-			}
-
-			Edge* e0 = min0;
-			Edge* e1 = min1;
-
-#ifdef DEBUG_CONVEX_HULL
-			printf("   Found min edges to %d %d\n", e0 ? e0->target->point.index : -1, e1 ? e1->target->point.index : -1);
-#endif
-
-			if (cmp == 0)
-			{
-				findEdgeForCoplanarFaces(c0, c1, e0, e1, NULL, NULL);
-			}
-
-			if ((cmp >= 0) && e1)
-			{
-				if (toPrev1)
-				{
-					for (Edge *e = toPrev1->next, *n = NULL; e != min1; e = n)
-					{
-						n = e->next;
-						removeEdgePair(e);
-					}
-				}
-
-				if (pendingTail1)
-				{
-					if (toPrev1)
-					{
-						toPrev1->link(pendingHead1);
-					}
-					else
-					{
-						min1->prev->link(pendingHead1);
-						firstNew1 = pendingHead1;
-					}
-					pendingTail1->link(min1);
-					pendingHead1 = NULL;
-					pendingTail1 = NULL;
-				}
-				else if (!toPrev1)
-				{
-					firstNew1 = min1;
-				}
-
-				prevPoint = c1->point;
-				c1 = e1->target;
-				toPrev1 = e1->reverse;
-			}
-
-			if ((cmp <= 0) && e0)
-			{
-				if (toPrev0)
-				{
-					for (Edge *e = toPrev0->prev, *n = NULL; e != min0; e = n)
-					{
-						n = e->prev;
-						removeEdgePair(e);
-					}
-				}
-
-				if (pendingTail0)
-				{
-					if (toPrev0)
-					{
-						pendingHead0->link(toPrev0);
-					}
-					else
-					{
-						pendingHead0->link(min0->next);
-						firstNew0 = pendingHead0;
-					}
-					min0->link(pendingTail0);
-					pendingHead0 = NULL;
-					pendingTail0 = NULL;
-				}
-				else if (!toPrev0)
-				{
-					firstNew0 = min0;
-				}
-
-				prevPoint = c0->point;
-				c0 = e0->target;
-				toPrev0 = e0->reverse;
-			}
-		}
-
-		if ((c0 == first0) && (c1 == first1))
-		{
-			if (toPrev0 == NULL)
-			{
-				pendingHead0->link(pendingTail0);
-				c0->edges = pendingTail0;
-			}
-			else
-			{
-				for (Edge *e = toPrev0->prev, *n = NULL; e != firstNew0; e = n)
-				{
-					n = e->prev;
-					removeEdgePair(e);
-				}
-				if (pendingTail0)
-				{
-					pendingHead0->link(toPrev0);
-					firstNew0->link(pendingTail0);
-				}
-			}
-
-			if (toPrev1 == NULL)
-			{
-				pendingTail1->link(pendingHead1);
-				c1->edges = pendingTail1;
-			}
-			else
-			{
-				for (Edge *e = toPrev1->next, *n = NULL; e != firstNew1; e = n)
-				{
-					n = e->next;
-					removeEdgePair(e);
-				}
-				if (pendingTail1)
-				{
-					toPrev1->link(pendingHead1);
-					pendingTail1->link(firstNew1);
-				}
-			}
-
-			return;
-		}
-
-		firstRun = false;
-	}
-}
-
-class pointCmp
-{
-public:
-	bool operator()(const btConvexHullInternal::Point32& p, const btConvexHullInternal::Point32& q) const
-	{
-		return (p.y < q.y) || ((p.y == q.y) && ((p.x < q.x) || ((p.x == q.x) && (p.z < q.z))));
-	}
-};
-
-void btConvexHullInternal::compute(const void* coords, bool doubleCoords, int stride, int count)
-{
-	btVector3 min(btScalar(1e30), btScalar(1e30), btScalar(1e30)), max(btScalar(-1e30), btScalar(-1e30), btScalar(-1e30));
-	const char* ptr = (const char*)coords;
-	if (doubleCoords)
-	{
-		for (int i = 0; i < count; i++)
-		{
-			const double* v = (const double*)ptr;
-			btVector3 p((btScalar)v[0], (btScalar)v[1], (btScalar)v[2]);
-			ptr += stride;
-			min.setMin(p);
-			max.setMax(p);
-		}
-	}
-	else
-	{
-		for (int i = 0; i < count; i++)
-		{
-			const float* v = (const float*)ptr;
-			btVector3 p(v[0], v[1], v[2]);
-			ptr += stride;
-			min.setMin(p);
-			max.setMax(p);
-		}
-	}
-
-	btVector3 s = max - min;
-	maxAxis = s.maxAxis();
-	minAxis = s.minAxis();
-	if (minAxis == maxAxis)
-	{
-		minAxis = (maxAxis + 1) % 3;
-	}
-	medAxis = 3 - maxAxis - minAxis;
-
-	s /= btScalar(10216);
-	if (((medAxis + 1) % 3) != maxAxis)
-	{
-		s *= -1;
-	}
-	scaling = s;
-
-	if (s[0] != 0)
-	{
-		s[0] = btScalar(1) / s[0];
-	}
-	if (s[1] != 0)
-	{
-		s[1] = btScalar(1) / s[1];
-	}
-	if (s[2] != 0)
-	{
-		s[2] = btScalar(1) / s[2];
-	}
-
-	center = (min + max) * btScalar(0.5);
-
-	btAlignedObjectArray<Point32> points;
-	points.resize(count);
-	ptr = (const char*)coords;
-	if (doubleCoords)
-	{
-		for (int i = 0; i < count; i++)
-		{
-			const double* v = (const double*)ptr;
-			btVector3 p((btScalar)v[0], (btScalar)v[1], (btScalar)v[2]);
-			ptr += stride;
-			p = (p - center) * s;
-			points[i].x = (int32_t)p[medAxis];
-			points[i].y = (int32_t)p[maxAxis];
-			points[i].z = (int32_t)p[minAxis];
-			points[i].index = i;
-		}
-	}
-	else
-	{
-		for (int i = 0; i < count; i++)
-		{
-			const float* v = (const float*)ptr;
-			btVector3 p(v[0], v[1], v[2]);
-			ptr += stride;
-			p = (p - center) * s;
-			points[i].x = (int32_t)p[medAxis];
-			points[i].y = (int32_t)p[maxAxis];
-			points[i].z = (int32_t)p[minAxis];
-			points[i].index = i;
-		}
-	}
-	points.quickSort(pointCmp());
-
-	vertexPool.reset();
-	vertexPool.setArraySize(count);
-	originalVertices.resize(count);
-	for (int i = 0; i < count; i++)
-	{
-		Vertex* v = vertexPool.newObject();
-		v->edges = NULL;
-		v->point = points[i];
-		v->copy = -1;
-		originalVertices[i] = v;
-	}
-
-	points.clear();
-
-	edgePool.reset();
-	edgePool.setArraySize(6 * count);
-
-	usedEdgePairs = 0;
-	maxUsedEdgePairs = 0;
-
-	mergeStamp = -3;
-
-	IntermediateHull hull;
-	computeInternal(0, count, hull);
-	vertexList = hull.minXy;
-#ifdef DEBUG_CONVEX_HULL
-	printf("max. edges %d (3v = %d)", maxUsedEdgePairs, 3 * count);
-#endif
-}
-
-btVector3 btConvexHullInternal::toBtVector(const Point32& v)
-{
-	btVector3 p;
-	p[medAxis] = btScalar(v.x);
-	p[maxAxis] = btScalar(v.y);
-	p[minAxis] = btScalar(v.z);
-	return p * scaling;
-}
-
-btVector3 btConvexHullInternal::getBtNormal(Face* face)
-{
-	return toBtVector(face->dir0).cross(toBtVector(face->dir1)).normalized();
-}
-
-btVector3 btConvexHullInternal::getCoordinates(const Vertex* v)
-{
-	btVector3 p;
-	p[medAxis] = v->xvalue();
-	p[maxAxis] = v->yvalue();
-	p[minAxis] = v->zvalue();
-	return p * scaling + center;
-}
-
-btScalar btConvexHullInternal::shrink(btScalar amount, btScalar clampAmount)
-{
-	if (!vertexList)
-	{
-		return 0;
-	}
-	int stamp = --mergeStamp;
-	btAlignedObjectArray<Vertex*> stack;
-	vertexList->copy = stamp;
-	stack.push_back(vertexList);
-	btAlignedObjectArray<Face*> faces;
-
-	Point32 ref = vertexList->point;
-	Int128 hullCenterX(0, 0);
-	Int128 hullCenterY(0, 0);
-	Int128 hullCenterZ(0, 0);
-	Int128 volume(0, 0);
-
-	while (stack.size() > 0)
-	{
-		Vertex* v = stack[stack.size() - 1];
-		stack.pop_back();
-		Edge* e = v->edges;
-		if (e)
-		{
-			do
-			{
-				if (e->target->copy != stamp)
-				{
-					e->target->copy = stamp;
-					stack.push_back(e->target);
-				}
-				if (e->copy != stamp)
-				{
-					Face* face = facePool.newObject();
-					face->init(e->target, e->reverse->prev->target, v);
-					faces.push_back(face);
-					Edge* f = e;
-
-					Vertex* a = NULL;
-					Vertex* b = NULL;
-					do
-					{
-						if (a && b)
-						{
-							int64_t vol = (v->point - ref).dot((a->point - ref).cross(b->point - ref));
-							btAssert(vol >= 0);
-							Point32 c = v->point + a->point + b->point + ref;
-							hullCenterX += vol * c.x;
-							hullCenterY += vol * c.y;
-							hullCenterZ += vol * c.z;
-							volume += vol;
-						}
-
-						btAssert(f->copy != stamp);
-						f->copy = stamp;
-						f->face = face;
-
-						a = b;
-						b = f->target;
-
-						f = f->reverse->prev;
-					} while (f != e);
-				}
-				e = e->next;
-			} while (e != v->edges);
-		}
-	}
-
-	if (volume.getSign() <= 0)
-	{
-		return 0;
-	}
-
-	btVector3 hullCenter;
-	hullCenter[medAxis] = hullCenterX.toScalar();
-	hullCenter[maxAxis] = hullCenterY.toScalar();
-	hullCenter[minAxis] = hullCenterZ.toScalar();
-	hullCenter /= 4 * volume.toScalar();
-	hullCenter *= scaling;
-
-	int faceCount = faces.size();
-
-	if (clampAmount > 0)
-	{
-		btScalar minDist = SIMD_INFINITY;
-		for (int i = 0; i < faceCount; i++)
-		{
-			btVector3 normal = getBtNormal(faces[i]);
-			btScalar dist = normal.dot(toBtVector(faces[i]->origin) - hullCenter);
-			if (dist < minDist)
-			{
-				minDist = dist;
-			}
-		}
-
-		if (minDist <= 0)
-		{
-			return 0;
-		}
-
-		amount = btMin(amount, minDist * clampAmount);
-	}
-
-	unsigned int seed = 243703;
-	for (int i = 0; i < faceCount; i++, seed = 1664525 * seed + 1013904223)
-	{
-		btSwap(faces[i], faces[seed % faceCount]);
-	}
-
-	for (int i = 0; i < faceCount; i++)
-	{
-		if (!shiftFace(faces[i], amount, stack))
-		{
-			return -amount;
-		}
-	}
-
-	return amount;
-}
-
-bool btConvexHullInternal::shiftFace(Face* face, btScalar amount, btAlignedObjectArray<Vertex*> stack)
-{
-	btVector3 origShift = getBtNormal(face) * -amount;
-	if (scaling[0] != 0)
-	{
-		origShift[0] /= scaling[0];
-	}
-	if (scaling[1] != 0)
-	{
-		origShift[1] /= scaling[1];
-	}
-	if (scaling[2] != 0)
-	{
-		origShift[2] /= scaling[2];
-	}
-	Point32 shift((int32_t)origShift[medAxis], (int32_t)origShift[maxAxis], (int32_t)origShift[minAxis]);
-	if (shift.isZero())
-	{
-		return true;
-	}
-	Point64 normal = face->getNormal();
-#ifdef DEBUG_CONVEX_HULL
-	printf("\nShrinking face (%d %d %d) (%d %d %d) (%d %d %d) by (%d %d %d)\n",
-		   face->origin.x, face->origin.y, face->origin.z, face->dir0.x, face->dir0.y, face->dir0.z, face->dir1.x, face->dir1.y, face->dir1.z, shift.x, shift.y, shift.z);
-#endif
-	int64_t origDot = face->origin.dot(normal);
-	Point32 shiftedOrigin = face->origin + shift;
-	int64_t shiftedDot = shiftedOrigin.dot(normal);
-	btAssert(shiftedDot <= origDot);
-	if (shiftedDot >= origDot)
-	{
-		return false;
-	}
-
-	Edge* intersection = NULL;
-
-	Edge* startEdge = face->nearbyVertex->edges;
-#ifdef DEBUG_CONVEX_HULL
-	printf("Start edge is ");
-	startEdge->print();
-	printf(", normal is (%lld %lld %lld), shifted dot is %lld\n", normal.x, normal.y, normal.z, shiftedDot);
-#endif
-	Rational128 optDot = face->nearbyVertex->dot(normal);
-	int cmp = optDot.compare(shiftedDot);
-#ifdef SHOW_ITERATIONS
-	int n = 0;
-#endif
-	if (cmp >= 0)
-	{
-		Edge* e = startEdge;
-		do
-		{
-#ifdef SHOW_ITERATIONS
-			n++;
-#endif
-			Rational128 dot = e->target->dot(normal);
-			btAssert(dot.compare(origDot) <= 0);
-#ifdef DEBUG_CONVEX_HULL
-			printf("Moving downwards, edge is ");
-			e->print();
-			printf(", dot is %f (%f %lld)\n", (float)dot.toScalar(), (float)optDot.toScalar(), shiftedDot);
-#endif
-			if (dot.compare(optDot) < 0)
-			{
-				int c = dot.compare(shiftedDot);
-				optDot = dot;
-				e = e->reverse;
-				startEdge = e;
-				if (c < 0)
-				{
-					intersection = e;
-					break;
-				}
-				cmp = c;
-			}
-			e = e->prev;
-		} while (e != startEdge);
-
-		if (!intersection)
-		{
-			return false;
-		}
-	}
-	else
-	{
-		Edge* e = startEdge;
-		do
-		{
-#ifdef SHOW_ITERATIONS
-			n++;
-#endif
-			Rational128 dot = e->target->dot(normal);
-			btAssert(dot.compare(origDot) <= 0);
-#ifdef DEBUG_CONVEX_HULL
-			printf("Moving upwards, edge is ");
-			e->print();
-			printf(", dot is %f (%f %lld)\n", (float)dot.toScalar(), (float)optDot.toScalar(), shiftedDot);
-#endif
-			if (dot.compare(optDot) > 0)
-			{
-				cmp = dot.compare(shiftedDot);
-				if (cmp >= 0)
-				{
-					intersection = e;
-					break;
-				}
-				optDot = dot;
-				e = e->reverse;
-				startEdge = e;
-			}
-			e = e->prev;
-		} while (e != startEdge);
-
-		if (!intersection)
-		{
-			return true;
-		}
-	}
-
-#ifdef SHOW_ITERATIONS
-	printf("Needed %d iterations to find initial intersection\n", n);
-#endif
-
-	if (cmp == 0)
-	{
-		Edge* e = intersection->reverse->next;
-#ifdef SHOW_ITERATIONS
-		n = 0;
-#endif
-		while (e->target->dot(normal).compare(shiftedDot) <= 0)
-		{
-#ifdef SHOW_ITERATIONS
-			n++;
-#endif
-			e = e->next;
-			if (e == intersection->reverse)
-			{
-				return true;
-			}
-#ifdef DEBUG_CONVEX_HULL
-			printf("Checking for outwards edge, current edge is ");
-			e->print();
-			printf("\n");
-#endif
-		}
-#ifdef SHOW_ITERATIONS
-		printf("Needed %d iterations to check for complete containment\n", n);
-#endif
-	}
-
-	Edge* firstIntersection = NULL;
-	Edge* faceEdge = NULL;
-	Edge* firstFaceEdge = NULL;
-
-#ifdef SHOW_ITERATIONS
-	int m = 0;
-#endif
-	while (true)
-	{
-#ifdef SHOW_ITERATIONS
-		m++;
-#endif
-#ifdef DEBUG_CONVEX_HULL
-		printf("Intersecting edge is ");
-		intersection->print();
-		printf("\n");
-#endif
-		if (cmp == 0)
-		{
-			Edge* e = intersection->reverse->next;
-			startEdge = e;
-#ifdef SHOW_ITERATIONS
-			n = 0;
-#endif
-			while (true)
-			{
-#ifdef SHOW_ITERATIONS
-				n++;
-#endif
-				if (e->target->dot(normal).compare(shiftedDot) >= 0)
-				{
-					break;
-				}
-				intersection = e->reverse;
-				e = e->next;
-				if (e == startEdge)
-				{
-					return true;
-				}
-			}
-#ifdef SHOW_ITERATIONS
-			printf("Needed %d iterations to advance intersection\n", n);
-#endif
-		}
-
-#ifdef DEBUG_CONVEX_HULL
-		printf("Advanced intersecting edge to ");
-		intersection->print();
-		printf(", cmp = %d\n", cmp);
-#endif
-
-		if (!firstIntersection)
-		{
-			firstIntersection = intersection;
-		}
-		else if (intersection == firstIntersection)
-		{
-			break;
-		}
-
-		int prevCmp = cmp;
-		Edge* prevIntersection = intersection;
-		Edge* prevFaceEdge = faceEdge;
-
-		Edge* e = intersection->reverse;
-#ifdef SHOW_ITERATIONS
-		n = 0;
-#endif
-		while (true)
-		{
-#ifdef SHOW_ITERATIONS
-			n++;
-#endif
-			e = e->reverse->prev;
-			btAssert(e != intersection->reverse);
-			cmp = e->target->dot(normal).compare(shiftedDot);
-#ifdef DEBUG_CONVEX_HULL
-			printf("Testing edge ");
-			e->print();
-			printf(" -> cmp = %d\n", cmp);
-#endif
-			if (cmp >= 0)
-			{
-				intersection = e;
-				break;
-			}
-		}
-#ifdef SHOW_ITERATIONS
-		printf("Needed %d iterations to find other intersection of face\n", n);
-#endif
-
-		if (cmp > 0)
-		{
-			Vertex* removed = intersection->target;
-			e = intersection->reverse;
-			if (e->prev == e)
-			{
-				removed->edges = NULL;
-			}
-			else
-			{
-				removed->edges = e->prev;
-				e->prev->link(e->next);
-				e->link(e);
-			}
-#ifdef DEBUG_CONVEX_HULL
-			printf("1: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z);
-#endif
-
-			Point64 n0 = intersection->face->getNormal();
-			Point64 n1 = intersection->reverse->face->getNormal();
-			int64_t m00 = face->dir0.dot(n0);
-			int64_t m01 = face->dir1.dot(n0);
-			int64_t m10 = face->dir0.dot(n1);
-			int64_t m11 = face->dir1.dot(n1);
-			int64_t r0 = (intersection->face->origin - shiftedOrigin).dot(n0);
-			int64_t r1 = (intersection->reverse->face->origin - shiftedOrigin).dot(n1);
-			Int128 det = Int128::mul(m00, m11) - Int128::mul(m01, m10);
-			btAssert(det.getSign() != 0);
-			Vertex* v = vertexPool.newObject();
-			v->point.index = -1;
-			v->copy = -1;
-			v->point128 = PointR128(Int128::mul(face->dir0.x * r0, m11) - Int128::mul(face->dir0.x * r1, m01) + Int128::mul(face->dir1.x * r1, m00) - Int128::mul(face->dir1.x * r0, m10) + det * shiftedOrigin.x,
-									Int128::mul(face->dir0.y * r0, m11) - Int128::mul(face->dir0.y * r1, m01) + Int128::mul(face->dir1.y * r1, m00) - Int128::mul(face->dir1.y * r0, m10) + det * shiftedOrigin.y,
-									Int128::mul(face->dir0.z * r0, m11) - Int128::mul(face->dir0.z * r1, m01) + Int128::mul(face->dir1.z * r1, m00) - Int128::mul(face->dir1.z * r0, m10) + det * shiftedOrigin.z,
-									det);
-			v->point.x = (int32_t)v->point128.xvalue();
-			v->point.y = (int32_t)v->point128.yvalue();
-			v->point.z = (int32_t)v->point128.zvalue();
-			intersection->target = v;
-			v->edges = e;
-
-			stack.push_back(v);
-			stack.push_back(removed);
-			stack.push_back(NULL);
-		}
-
-		if (cmp || prevCmp || (prevIntersection->reverse->next->target != intersection->target))
-		{
-			faceEdge = newEdgePair(prevIntersection->target, intersection->target);
-			if (prevCmp == 0)
-			{
-				faceEdge->link(prevIntersection->reverse->next);
-			}
-			if ((prevCmp == 0) || prevFaceEdge)
-			{
-				prevIntersection->reverse->link(faceEdge);
-			}
-			if (cmp == 0)
-			{
-				intersection->reverse->prev->link(faceEdge->reverse);
-			}
-			faceEdge->reverse->link(intersection->reverse);
-		}
-		else
-		{
-			faceEdge = prevIntersection->reverse->next;
-		}
-
-		if (prevFaceEdge)
-		{
-			if (prevCmp > 0)
-			{
-				faceEdge->link(prevFaceEdge->reverse);
-			}
-			else if (faceEdge != prevFaceEdge->reverse)
-			{
-				stack.push_back(prevFaceEdge->target);
-				while (faceEdge->next != prevFaceEdge->reverse)
-				{
-					Vertex* removed = faceEdge->next->target;
-					removeEdgePair(faceEdge->next);
-					stack.push_back(removed);
-#ifdef DEBUG_CONVEX_HULL
-					printf("2: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z);
-#endif
-				}
-				stack.push_back(NULL);
-			}
-		}
-		faceEdge->face = face;
-		faceEdge->reverse->face = intersection->face;
-
-		if (!firstFaceEdge)
-		{
-			firstFaceEdge = faceEdge;
-		}
-	}
-#ifdef SHOW_ITERATIONS
-	printf("Needed %d iterations to process all intersections\n", m);
-#endif
-
-	if (cmp > 0)
-	{
-		firstFaceEdge->reverse->target = faceEdge->target;
-		firstIntersection->reverse->link(firstFaceEdge);
-		firstFaceEdge->link(faceEdge->reverse);
-	}
-	else if (firstFaceEdge != faceEdge->reverse)
-	{
-		stack.push_back(faceEdge->target);
-		while (firstFaceEdge->next != faceEdge->reverse)
-		{
-			Vertex* removed = firstFaceEdge->next->target;
-			removeEdgePair(firstFaceEdge->next);
-			stack.push_back(removed);
-#ifdef DEBUG_CONVEX_HULL
-			printf("3: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z);
-#endif
-		}
-		stack.push_back(NULL);
-	}
-
-	btAssert(stack.size() > 0);
-	vertexList = stack[0];
-
-#ifdef DEBUG_CONVEX_HULL
-	printf("Removing part\n");
-#endif
-#ifdef SHOW_ITERATIONS
-	n = 0;
-#endif
-	int pos = 0;
-	while (pos < stack.size())
-	{
-		int end = stack.size();
-		while (pos < end)
-		{
-			Vertex* kept = stack[pos++];
-#ifdef DEBUG_CONVEX_HULL
-			kept->print();
-#endif
-			bool deeper = false;
-			Vertex* removed;
-			while ((removed = stack[pos++]) != NULL)
-			{
-#ifdef SHOW_ITERATIONS
-				n++;
-#endif
-				kept->receiveNearbyFaces(removed);
-				while (removed->edges)
-				{
-					if (!deeper)
-					{
-						deeper = true;
-						stack.push_back(kept);
-					}
-					stack.push_back(removed->edges->target);
-					removeEdgePair(removed->edges);
-				}
-			}
-			if (deeper)
-			{
-				stack.push_back(NULL);
-			}
-		}
-	}
-#ifdef SHOW_ITERATIONS
-	printf("Needed %d iterations to remove part\n", n);
-#endif
-
-	stack.resize(0);
-	face->origin = shiftedOrigin;
-
-	return true;
-}
-
-static int getVertexCopy(btConvexHullInternal::Vertex* vertex, btAlignedObjectArray<btConvexHullInternal::Vertex*>& vertices)
-{
-	int index = vertex->copy;
-	if (index < 0)
-	{
-		index = vertices.size();
-		vertex->copy = index;
-		vertices.push_back(vertex);
-#ifdef DEBUG_CONVEX_HULL
-		printf("Vertex %d gets index *%d\n", vertex->point.index, index);
-#endif
-	}
-	return index;
-}
-
-btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, int stride, int count, btScalar shrink, btScalar shrinkClamp)
-{
-	if (count <= 0)
-	{
-		vertices.clear();
-		edges.clear();
-		faces.clear();
-		return 0;
-	}
-
-	btConvexHullInternal hull;
-	hull.compute(coords, doubleCoords, stride, count);
-
-	btScalar shift = 0;
-	if ((shrink > 0) && ((shift = hull.shrink(shrink, shrinkClamp)) < 0))
-	{
-		vertices.clear();
-		edges.clear();
-		faces.clear();
-		return shift;
-	}
-
-	vertices.resize(0);
-	original_vertex_index.resize(0);
-	edges.resize(0);
-	faces.resize(0);
-
-	btAlignedObjectArray<btConvexHullInternal::Vertex*> oldVertices;
-	getVertexCopy(hull.vertexList, oldVertices);
-	int copied = 0;
-	while (copied < oldVertices.size())
-	{
-		btConvexHullInternal::Vertex* v = oldVertices[copied];
-		vertices.push_back(hull.getCoordinates(v));
-		original_vertex_index.push_back(v->point.index);
-		btConvexHullInternal::Edge* firstEdge = v->edges;
-		if (firstEdge)
-		{
-			int firstCopy = -1;
-			int prevCopy = -1;
-			btConvexHullInternal::Edge* e = firstEdge;
-			do
-			{
-				if (e->copy < 0)
-				{
-					int s = edges.size();
-					edges.push_back(Edge());
-					edges.push_back(Edge());
-					Edge* c = &edges[s];
-					Edge* r = &edges[s + 1];
-					e->copy = s;
-					e->reverse->copy = s + 1;
-					c->reverse = 1;
-					r->reverse = -1;
-					c->targetVertex = getVertexCopy(e->target, oldVertices);
-					r->targetVertex = copied;
-#ifdef DEBUG_CONVEX_HULL
-					printf("      CREATE: Vertex *%d has edge to *%d\n", copied, c->getTargetVertex());
-#endif
-				}
-				if (prevCopy >= 0)
-				{
-					edges[e->copy].next = prevCopy - e->copy;
-				}
-				else
-				{
-					firstCopy = e->copy;
-				}
-				prevCopy = e->copy;
-				e = e->next;
-			} while (e != firstEdge);
-			edges[firstCopy].next = prevCopy - firstCopy;
-		}
-		copied++;
-	}
-
-	for (int i = 0; i < copied; i++)
-	{
-		btConvexHullInternal::Vertex* v = oldVertices[i];
-		btConvexHullInternal::Edge* firstEdge = v->edges;
-		if (firstEdge)
-		{
-			btConvexHullInternal::Edge* e = firstEdge;
-			do
-			{
-				if (e->copy >= 0)
-				{
-#ifdef DEBUG_CONVEX_HULL
-					printf("Vertex *%d has edge to *%d\n", i, edges[e->copy].getTargetVertex());
-#endif
-					faces.push_back(e->copy);
-					btConvexHullInternal::Edge* f = e;
-					do
-					{
-#ifdef DEBUG_CONVEX_HULL
-						printf("   Face *%d\n", edges[f->copy].getTargetVertex());
-#endif
-						f->copy = -1;
-						f = f->reverse->prev;
-					} while (f != e);
-				}
-				e = e->next;
-			} while (e != firstEdge);
-		}
-	}
-
-	return shift;
-}
diff --git a/thirdparty/bullet/LinearMath/btConvexHullComputer.h b/thirdparty/bullet/LinearMath/btConvexHullComputer.h
deleted file mode 100644
index 18b26eea9a..0000000000
--- a/thirdparty/bullet/LinearMath/btConvexHullComputer.h
+++ /dev/null
@@ -1,102 +0,0 @@
-/*
-Copyright (c) 2011 Ole Kniemeyer, MAXON, www.maxon.net
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONVEX_HULL_COMPUTER_H
-#define BT_CONVEX_HULL_COMPUTER_H
-
-#include "btVector3.h"
-#include "btAlignedObjectArray.h"
-
-/// Convex hull implementation based on Preparata and Hong
-/// See http://code.google.com/p/bullet/issues/detail?id=275
-/// Ole Kniemeyer, MAXON Computer GmbH
-class btConvexHullComputer
-{
-private:
-	btScalar compute(const void* coords, bool doubleCoords, int stride, int count, btScalar shrink, btScalar shrinkClamp);
-
-public:
-	class Edge
-	{
-	private:
-		int next;
-		int reverse;
-		int targetVertex;
-
-		friend class btConvexHullComputer;
-
-	public:
-		int getSourceVertex() const
-		{
-			return (this + reverse)->targetVertex;
-		}
-
-		int getTargetVertex() const
-		{
-			return targetVertex;
-		}
-
-		const Edge* getNextEdgeOfVertex() const  // clockwise list of all edges of a vertex
-		{
-			return this + next;
-		}
-
-		const Edge* getNextEdgeOfFace() const  // counter-clockwise list of all edges of a face
-		{
-			return (this + reverse)->getNextEdgeOfVertex();
-		}
-
-		const Edge* getReverseEdge() const
-		{
-			return this + reverse;
-		}
-	};
-
-	// Vertices of the output hull
-	btAlignedObjectArray<btVector3> vertices;
-
-	// The original vertex index in the input coords array
-	btAlignedObjectArray<int> original_vertex_index;
-
-	// Edges of the output hull
-	btAlignedObjectArray<Edge> edges;
-
-	// Faces of the convex hull. Each entry is an index into the "edges" array pointing to an edge of the face. Faces are planar n-gons
-	btAlignedObjectArray<int> faces;
-
-	/*
-		Compute convex hull of "count" vertices stored in "coords". "stride" is the difference in bytes
-		between the addresses of consecutive vertices. If "shrink" is positive, the convex hull is shrunken
-		by that amount (each face is moved by "shrink" length units towards the center along its normal).
-		If "shrinkClamp" is positive, "shrink" is clamped to not exceed "shrinkClamp * innerRadius", where "innerRadius"
-		is the minimum distance of a face to the center of the convex hull.
-
-		The returned value is the amount by which the hull has been shrunken. If it is negative, the amount was so large
-		that the resulting convex hull is empty.
-
-		The output convex hull can be found in the member variables "vertices", "edges", "faces".
-		*/
-	btScalar compute(const float* coords, int stride, int count, btScalar shrink, btScalar shrinkClamp)
-	{
-		return compute(coords, false, stride, count, shrink, shrinkClamp);
-	}
-
-	// same as above, but double precision
-	btScalar compute(const double* coords, int stride, int count, btScalar shrink, btScalar shrinkClamp)
-	{
-		return compute(coords, true, stride, count, shrink, shrinkClamp);
-	}
-};
-
-#endif  //BT_CONVEX_HULL_COMPUTER_H
diff --git a/thirdparty/bullet/LinearMath/btCpuFeatureUtility.h b/thirdparty/bullet/LinearMath/btCpuFeatureUtility.h
deleted file mode 100644
index 5e4b9a313c..0000000000
--- a/thirdparty/bullet/LinearMath/btCpuFeatureUtility.h
+++ /dev/null
@@ -1,88 +0,0 @@
-
-#ifndef BT_CPU_UTILITY_H
-#define BT_CPU_UTILITY_H
-
-#include "LinearMath/btScalar.h"
-
-#include <string.h>  //memset
-#ifdef USE_SIMD
-#include <emmintrin.h>
-#ifdef BT_ALLOW_SSE4
-#include <intrin.h>
-#endif  //BT_ALLOW_SSE4
-#endif  //USE_SIMD
-
-#if defined BT_USE_NEON
-#define ARM_NEON_GCC_COMPATIBILITY 1
-#include <arm_neon.h>
-#include <sys/types.h>
-#include <sys/sysctl.h>  //for sysctlbyname
-#endif                   //BT_USE_NEON
-
-///Rudimentary btCpuFeatureUtility for CPU features: only report the features that Bullet actually uses (SSE4/FMA3, NEON_HPFP)
-///We assume SSE2 in case BT_USE_SSE2 is defined in LinearMath/btScalar.h
-class btCpuFeatureUtility
-{
-public:
-	enum btCpuFeature
-	{
-		CPU_FEATURE_FMA3 = 1,
-		CPU_FEATURE_SSE4_1 = 2,
-		CPU_FEATURE_NEON_HPFP = 4
-	};
-
-	static int getCpuFeatures()
-	{
-		static int capabilities = 0;
-		static bool testedCapabilities = false;
-		if (0 != testedCapabilities)
-		{
-			return capabilities;
-		}
-
-#ifdef BT_USE_NEON
-		{
-			uint32_t hasFeature = 0;
-			size_t featureSize = sizeof(hasFeature);
-			int err = sysctlbyname("hw.optional.neon_hpfp", &hasFeature, &featureSize, NULL, 0);
-			if (0 == err && hasFeature)
-				capabilities |= CPU_FEATURE_NEON_HPFP;
-		}
-#endif  //BT_USE_NEON
-
-#ifdef BT_ALLOW_SSE4
-		{
-			int cpuInfo[4];
-			memset(cpuInfo, 0, sizeof(cpuInfo));
-			unsigned long long sseExt = 0;
-			__cpuid(cpuInfo, 1);
-
-			bool osUsesXSAVE_XRSTORE = cpuInfo[2] & (1 << 27) || false;
-			bool cpuAVXSuport = cpuInfo[2] & (1 << 28) || false;
-
-			if (osUsesXSAVE_XRSTORE && cpuAVXSuport)
-			{
-				sseExt = _xgetbv(0);
-			}
-			const int OSXSAVEFlag = (1UL << 27);
-			const int AVXFlag = ((1UL << 28) | OSXSAVEFlag);
-			const int FMAFlag = ((1UL << 12) | AVXFlag | OSXSAVEFlag);
-			if ((cpuInfo[2] & FMAFlag) == FMAFlag && (sseExt & 6) == 6)
-			{
-				capabilities |= btCpuFeatureUtility::CPU_FEATURE_FMA3;
-			}
-
-			const int SSE41Flag = (1 << 19);
-			if (cpuInfo[2] & SSE41Flag)
-			{
-				capabilities |= btCpuFeatureUtility::CPU_FEATURE_SSE4_1;
-			}
-		}
-#endif  //BT_ALLOW_SSE4
-
-		testedCapabilities = true;
-		return capabilities;
-	}
-};
-
-#endif  //BT_CPU_UTILITY_H
diff --git a/thirdparty/bullet/LinearMath/btDefaultMotionState.h b/thirdparty/bullet/LinearMath/btDefaultMotionState.h
deleted file mode 100644
index 14c40d36b0..0000000000
--- a/thirdparty/bullet/LinearMath/btDefaultMotionState.h
+++ /dev/null
@@ -1,40 +0,0 @@
-#ifndef BT_DEFAULT_MOTION_STATE_H
-#define BT_DEFAULT_MOTION_STATE_H
-
-#include "btMotionState.h"
-
-///The btDefaultMotionState provides a common implementation to synchronize world transforms with offsets.
-ATTRIBUTE_ALIGNED16(struct)
-btDefaultMotionState : public btMotionState
-{
-	btTransform m_graphicsWorldTrans;
-	btTransform m_centerOfMassOffset;
-	btTransform m_startWorldTrans;
-	void* m_userPointer;
-
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btDefaultMotionState(const btTransform& startTrans = btTransform::getIdentity(), const btTransform& centerOfMassOffset = btTransform::getIdentity())
-		: m_graphicsWorldTrans(startTrans),
-		  m_centerOfMassOffset(centerOfMassOffset),
-		  m_startWorldTrans(startTrans),
-		  m_userPointer(0)
-
-	{
-	}
-
-	///synchronizes world transform from user to physics
-	virtual void getWorldTransform(btTransform & centerOfMassWorldTrans) const
-	{
-		centerOfMassWorldTrans = m_graphicsWorldTrans * m_centerOfMassOffset.inverse();
-	}
-
-	///synchronizes world transform from physics to user
-	///Bullet only calls the update of worldtransform for active objects
-	virtual void setWorldTransform(const btTransform& centerOfMassWorldTrans)
-	{
-		m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset;
-	}
-};
-
-#endif  //BT_DEFAULT_MOTION_STATE_H
diff --git a/thirdparty/bullet/LinearMath/btGeometryUtil.cpp b/thirdparty/bullet/LinearMath/btGeometryUtil.cpp
deleted file mode 100644
index 115e3eab81..0000000000
--- a/thirdparty/bullet/LinearMath/btGeometryUtil.cpp
+++ /dev/null
@@ -1,174 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btGeometryUtil.h"
-
-/*
-  Make sure this dummy function never changes so that it
-  can be used by probes that are checking whether the
-  library is actually installed.
-*/
-extern "C"
-{
-	void btBulletMathProbe();
-
-	void btBulletMathProbe() {}
-}
-
-bool btGeometryUtil::isPointInsidePlanes(const btAlignedObjectArray<btVector3>& planeEquations, const btVector3& point, btScalar margin)
-{
-	int numbrushes = planeEquations.size();
-	for (int i = 0; i < numbrushes; i++)
-	{
-		const btVector3& N1 = planeEquations[i];
-		btScalar dist = btScalar(N1.dot(point)) + btScalar(N1[3]) - margin;
-		if (dist > btScalar(0.))
-		{
-			return false;
-		}
-	}
-	return true;
-}
-
-bool btGeometryUtil::areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray<btVector3>& vertices, btScalar margin)
-{
-	int numvertices = vertices.size();
-	for (int i = 0; i < numvertices; i++)
-	{
-		const btVector3& N1 = vertices[i];
-		btScalar dist = btScalar(planeNormal.dot(N1)) + btScalar(planeNormal[3]) - margin;
-		if (dist > btScalar(0.))
-		{
-			return false;
-		}
-	}
-	return true;
-}
-
-bool notExist(const btVector3& planeEquation, const btAlignedObjectArray<btVector3>& planeEquations);
-
-bool notExist(const btVector3& planeEquation, const btAlignedObjectArray<btVector3>& planeEquations)
-{
-	int numbrushes = planeEquations.size();
-	for (int i = 0; i < numbrushes; i++)
-	{
-		const btVector3& N1 = planeEquations[i];
-		if (planeEquation.dot(N1) > btScalar(0.999))
-		{
-			return false;
-		}
-	}
-	return true;
-}
-
-void btGeometryUtil::getPlaneEquationsFromVertices(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& planeEquationsOut)
-{
-	const int numvertices = vertices.size();
-	// brute force:
-	for (int i = 0; i < numvertices; i++)
-	{
-		const btVector3& N1 = vertices[i];
-
-		for (int j = i + 1; j < numvertices; j++)
-		{
-			const btVector3& N2 = vertices[j];
-
-			for (int k = j + 1; k < numvertices; k++)
-			{
-				const btVector3& N3 = vertices[k];
-
-				btVector3 planeEquation, edge0, edge1;
-				edge0 = N2 - N1;
-				edge1 = N3 - N1;
-				btScalar normalSign = btScalar(1.);
-				for (int ww = 0; ww < 2; ww++)
-				{
-					planeEquation = normalSign * edge0.cross(edge1);
-					if (planeEquation.length2() > btScalar(0.0001))
-					{
-						planeEquation.normalize();
-						if (notExist(planeEquation, planeEquationsOut))
-						{
-							planeEquation[3] = -planeEquation.dot(N1);
-
-							//check if inside, and replace supportingVertexOut if needed
-							if (areVerticesBehindPlane(planeEquation, vertices, btScalar(0.01)))
-							{
-								planeEquationsOut.push_back(planeEquation);
-							}
-						}
-					}
-					normalSign = btScalar(-1.);
-				}
-			}
-		}
-	}
-}
-
-void btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray<btVector3>& planeEquations, btAlignedObjectArray<btVector3>& verticesOut)
-{
-	const int numbrushes = planeEquations.size();
-	// brute force:
-	for (int i = 0; i < numbrushes; i++)
-	{
-		const btVector3& N1 = planeEquations[i];
-
-		for (int j = i + 1; j < numbrushes; j++)
-		{
-			const btVector3& N2 = planeEquations[j];
-
-			for (int k = j + 1; k < numbrushes; k++)
-			{
-				const btVector3& N3 = planeEquations[k];
-
-				btVector3 n2n3;
-				n2n3 = N2.cross(N3);
-				btVector3 n3n1;
-				n3n1 = N3.cross(N1);
-				btVector3 n1n2;
-				n1n2 = N1.cross(N2);
-
-				if ((n2n3.length2() > btScalar(0.0001)) &&
-					(n3n1.length2() > btScalar(0.0001)) &&
-					(n1n2.length2() > btScalar(0.0001)))
-				{
-					//point P out of 3 plane equations:
-
-					//	d1 ( N2 * N3 ) + d2 ( N3 * N1 ) + d3 ( N1 * N2 )
-					//P =  -------------------------------------------------------------------------
-					//   N1 . ( N2 * N3 )
-
-					btScalar quotient = (N1.dot(n2n3));
-					if (btFabs(quotient) > btScalar(0.000001))
-					{
-						quotient = btScalar(-1.) / quotient;
-						n2n3 *= N1[3];
-						n3n1 *= N2[3];
-						n1n2 *= N3[3];
-						btVector3 potentialVertex = n2n3;
-						potentialVertex += n3n1;
-						potentialVertex += n1n2;
-						potentialVertex *= quotient;
-
-						//check if inside, and replace supportingVertexOut if needed
-						if (isPointInsidePlanes(planeEquations, potentialVertex, btScalar(0.01)))
-						{
-							verticesOut.push_back(potentialVertex);
-						}
-					}
-				}
-			}
-		}
-	}
-}
diff --git a/thirdparty/bullet/LinearMath/btGeometryUtil.h b/thirdparty/bullet/LinearMath/btGeometryUtil.h
deleted file mode 100644
index 0ce5b76d92..0000000000
--- a/thirdparty/bullet/LinearMath/btGeometryUtil.h
+++ /dev/null
@@ -1,36 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_GEOMETRY_UTIL_H
-#define BT_GEOMETRY_UTIL_H
-
-#include "btVector3.h"
-#include "btAlignedObjectArray.h"
-
-///The btGeometryUtil helper class provides a few methods to convert between plane equations and vertices.
-class btGeometryUtil
-{
-public:
-	static void getPlaneEquationsFromVertices(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& planeEquationsOut);
-
-	static void getVerticesFromPlaneEquations(const btAlignedObjectArray<btVector3>& planeEquations, btAlignedObjectArray<btVector3>& verticesOut);
-
-	static bool isInside(const btAlignedObjectArray<btVector3>& vertices, const btVector3& planeNormal, btScalar margin);
-
-	static bool isPointInsidePlanes(const btAlignedObjectArray<btVector3>& planeEquations, const btVector3& point, btScalar margin);
-
-	static bool areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray<btVector3>& vertices, btScalar margin);
-};
-
-#endif  //BT_GEOMETRY_UTIL_H
diff --git a/thirdparty/bullet/LinearMath/btGrahamScan2dConvexHull.h b/thirdparty/bullet/LinearMath/btGrahamScan2dConvexHull.h
deleted file mode 100644
index 0fcb285971..0000000000
--- a/thirdparty/bullet/LinearMath/btGrahamScan2dConvexHull.h
+++ /dev/null
@@ -1,129 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2011 Advanced Micro Devices, Inc.  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef GRAHAM_SCAN_2D_CONVEX_HULL_H
-#define GRAHAM_SCAN_2D_CONVEX_HULL_H
-
-#include "btVector3.h"
-#include "btAlignedObjectArray.h"
-
-struct GrahamVector3 : public btVector3
-{
-	GrahamVector3(const btVector3& org, int orgIndex)
-		: btVector3(org),
-		  m_orgIndex(orgIndex)
-	{
-	}
-	btScalar m_angle;
-	int m_orgIndex;
-};
-
-struct btAngleCompareFunc
-{
-	btVector3 m_anchor;
-	btAngleCompareFunc(const btVector3& anchor)
-		: m_anchor(anchor)
-	{
-	}
-	bool operator()(const GrahamVector3& a, const GrahamVector3& b) const
-	{
-		if (a.m_angle != b.m_angle)
-			return a.m_angle < b.m_angle;
-		else
-		{
-			btScalar al = (a - m_anchor).length2();
-			btScalar bl = (b - m_anchor).length2();
-			if (al != bl)
-				return al < bl;
-			else
-			{
-				return a.m_orgIndex < b.m_orgIndex;
-			}
-		}
-	}
-};
-
-inline void GrahamScanConvexHull2D(btAlignedObjectArray<GrahamVector3>& originalPoints, btAlignedObjectArray<GrahamVector3>& hull, const btVector3& normalAxis)
-{
-	btVector3 axis0, axis1;
-	btPlaneSpace1(normalAxis, axis0, axis1);
-
-	if (originalPoints.size() <= 1)
-	{
-		for (int i = 0; i < originalPoints.size(); i++)
-			hull.push_back(originalPoints[0]);
-		return;
-	}
-	//step1 : find anchor point with smallest projection on axis0 and move it to first location
-	for (int i = 0; i < originalPoints.size(); i++)
-	{
-		//		const btVector3& left = originalPoints[i];
-		//		const btVector3& right = originalPoints[0];
-		btScalar projL = originalPoints[i].dot(axis0);
-		btScalar projR = originalPoints[0].dot(axis0);
-		if (projL < projR)
-		{
-			originalPoints.swap(0, i);
-		}
-	}
-
-	//also precompute angles
-	originalPoints[0].m_angle = -1e30f;
-	for (int i = 1; i < originalPoints.size(); i++)
-	{
-		btVector3 ar = originalPoints[i] - originalPoints[0];
-		btScalar ar1 = axis1.dot(ar);
-		btScalar ar0 = axis0.dot(ar);
-		if (ar1 * ar1 + ar0 * ar0 < FLT_EPSILON)
-		{
-			originalPoints[i].m_angle = 0.0f;
-		}
-		else
-		{
-			originalPoints[i].m_angle = btAtan2Fast(ar1, ar0);
-		}
-	}
-
-	//step 2: sort all points, based on 'angle' with this anchor
-	btAngleCompareFunc comp(originalPoints[0]);
-	originalPoints.quickSortInternal(comp, 1, originalPoints.size() - 1);
-
-	int i;
-	for (i = 0; i < 2; i++)
-		hull.push_back(originalPoints[i]);
-
-	//step 3: keep all 'convex' points and discard concave points (using back tracking)
-	for (; i != originalPoints.size(); i++)
-	{
-		bool isConvex = false;
-		while (!isConvex && hull.size() > 1)
-		{
-			btVector3& a = hull[hull.size() - 2];
-			btVector3& b = hull[hull.size() - 1];
-			isConvex = btCross(a - b, a - originalPoints[i]).dot(normalAxis) > 0;
-			if (!isConvex)
-				hull.pop_back();
-			else
-				hull.push_back(originalPoints[i]);
-		}
-
-		if (hull.size() == 1)
-		{
-			hull.push_back(originalPoints[i]);
-		}
-	}
-}
-
-#endif  //GRAHAM_SCAN_2D_CONVEX_HULL_H
diff --git a/thirdparty/bullet/LinearMath/btHashMap.h b/thirdparty/bullet/LinearMath/btHashMap.h
deleted file mode 100644
index 1fca0fb73a..0000000000
--- a/thirdparty/bullet/LinearMath/btHashMap.h
+++ /dev/null
@@ -1,470 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_HASH_MAP_H
-#define BT_HASH_MAP_H
-
-#include <string>
-#include "btAlignedObjectArray.h"
-
-///very basic hashable string implementation, compatible with btHashMap
-struct btHashString
-{
-	std::string m_string1;
-	unsigned int m_hash;
-
-	SIMD_FORCE_INLINE unsigned int getHash() const
-	{
-		return m_hash;
-	}
-
-	btHashString()
-	{
-		m_string1 = "";
-		m_hash = 0;
-	}
-	btHashString(const char* name)
-		: m_string1(name)
-	{
-		/* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */
-		static const unsigned int InitialFNV = 2166136261u;
-		static const unsigned int FNVMultiple = 16777619u;
-
-		/* Fowler / Noll / Vo (FNV) Hash */
-		unsigned int hash = InitialFNV;
-
-		for (int i = 0; m_string1.c_str()[i]; i++)
-		{
-			hash = hash ^ (m_string1.c_str()[i]); /* xor  the low 8 bits */
-			hash = hash * FNVMultiple;            /* multiply by the magic number */
-		}
-		m_hash = hash;
-	}
-
-	bool equals(const btHashString& other) const
-	{
-		return (m_string1 == other.m_string1);
-	}
-};
-
-const int BT_HASH_NULL = 0xffffffff;
-
-class btHashInt
-{
-	int m_uid;
-
-public:
-	btHashInt()
-	{
-	}
-
-	btHashInt(int uid) : m_uid(uid)
-	{
-	}
-
-	int getUid1() const
-	{
-		return m_uid;
-	}
-
-	void setUid1(int uid)
-	{
-		m_uid = uid;
-	}
-
-	bool equals(const btHashInt& other) const
-	{
-		return getUid1() == other.getUid1();
-	}
-	//to our success
-	SIMD_FORCE_INLINE unsigned int getHash() const
-	{
-		unsigned int key = m_uid;
-		// Thomas Wang's hash
-		key += ~(key << 15);
-		key ^= (key >> 10);
-		key += (key << 3);
-		key ^= (key >> 6);
-		key += ~(key << 11);
-		key ^= (key >> 16);
-
-		return key;
-	}
-};
-
-class btHashPtr
-{
-	union {
-		const void* m_pointer;
-		unsigned int m_hashValues[2];
-	};
-
-public:
-	btHashPtr(const void* ptr)
-		: m_pointer(ptr)
-	{
-	}
-
-	const void* getPointer() const
-	{
-		return m_pointer;
-	}
-
-	bool equals(const btHashPtr& other) const
-	{
-		return getPointer() == other.getPointer();
-	}
-
-	//to our success
-	SIMD_FORCE_INLINE unsigned int getHash() const
-	{
-		const bool VOID_IS_8 = ((sizeof(void*) == 8));
-
-		unsigned int key = VOID_IS_8 ? m_hashValues[0] + m_hashValues[1] : m_hashValues[0];
-		// Thomas Wang's hash
-		key += ~(key << 15);
-		key ^= (key >> 10);
-		key += (key << 3);
-		key ^= (key >> 6);
-		key += ~(key << 11);
-		key ^= (key >> 16);
-		return key;
-	}
-};
-
-template <class Value>
-class btHashKeyPtr
-{
-	int m_uid;
-
-public:
-	btHashKeyPtr(int uid) : m_uid(uid)
-	{
-	}
-
-	int getUid1() const
-	{
-		return m_uid;
-	}
-
-	bool equals(const btHashKeyPtr<Value>& other) const
-	{
-		return getUid1() == other.getUid1();
-	}
-
-	//to our success
-	SIMD_FORCE_INLINE unsigned int getHash() const
-	{
-		unsigned int key = m_uid;
-		// Thomas Wang's hash
-		key += ~(key << 15);
-		key ^= (key >> 10);
-		key += (key << 3);
-		key ^= (key >> 6);
-		key += ~(key << 11);
-		key ^= (key >> 16);
-		return key;
-	}
-};
-
-template <class Value>
-class btHashKey
-{
-	int m_uid;
-
-public:
-	btHashKey(int uid) : m_uid(uid)
-	{
-	}
-
-	int getUid1() const
-	{
-		return m_uid;
-	}
-
-	bool equals(const btHashKey<Value>& other) const
-	{
-		return getUid1() == other.getUid1();
-	}
-	//to our success
-	SIMD_FORCE_INLINE unsigned int getHash() const
-	{
-		unsigned int key = m_uid;
-		// Thomas Wang's hash
-		key += ~(key << 15);
-		key ^= (key >> 10);
-		key += (key << 3);
-		key ^= (key >> 6);
-		key += ~(key << 11);
-		key ^= (key >> 16);
-		return key;
-	}
-};
-
-///The btHashMap template class implements a generic and lightweight hashmap.
-///A basic sample of how to use btHashMap is located in Demos\BasicDemo\main.cpp
-template <class Key, class Value>
-class btHashMap
-{
-protected:
-	btAlignedObjectArray<int> m_hashTable;
-	btAlignedObjectArray<int> m_next;
-
-	btAlignedObjectArray<Value> m_valueArray;
-	btAlignedObjectArray<Key> m_keyArray;
-
-	void growTables(const Key& /*key*/)
-	{
-		int newCapacity = m_valueArray.capacity();
-
-		if (m_hashTable.size() < newCapacity)
-		{
-			//grow hashtable and next table
-			int curHashtableSize = m_hashTable.size();
-
-			m_hashTable.resize(newCapacity);
-			m_next.resize(newCapacity);
-
-			int i;
-
-			for (i = 0; i < newCapacity; ++i)
-			{
-				m_hashTable[i] = BT_HASH_NULL;
-			}
-			for (i = 0; i < newCapacity; ++i)
-			{
-				m_next[i] = BT_HASH_NULL;
-			}
-
-			for (i = 0; i < curHashtableSize; i++)
-			{
-				//const Value& value = m_valueArray[i];
-				//const Key& key = m_keyArray[i];
-
-				int hashValue = m_keyArray[i].getHash() & (m_valueArray.capacity() - 1);  // New hash value with new mask
-				m_next[i] = m_hashTable[hashValue];
-				m_hashTable[hashValue] = i;
-			}
-		}
-	}
-
-public:
-	void insert(const Key& key, const Value& value)
-	{
-		int hash = key.getHash() & (m_valueArray.capacity() - 1);
-
-		//replace value if the key is already there
-		int index = findIndex(key);
-		if (index != BT_HASH_NULL)
-		{
-			m_valueArray[index] = value;
-			return;
-		}
-
-		int count = m_valueArray.size();
-		int oldCapacity = m_valueArray.capacity();
-		m_valueArray.push_back(value);
-		m_keyArray.push_back(key);
-
-		int newCapacity = m_valueArray.capacity();
-		if (oldCapacity < newCapacity)
-		{
-			growTables(key);
-			//hash with new capacity
-			hash = key.getHash() & (m_valueArray.capacity() - 1);
-		}
-		m_next[count] = m_hashTable[hash];
-		m_hashTable[hash] = count;
-	}
-
-	void remove(const Key& key)
-	{
-		int hash = key.getHash() & (m_valueArray.capacity() - 1);
-
-		int pairIndex = findIndex(key);
-
-		if (pairIndex == BT_HASH_NULL)
-		{
-			return;
-		}
-
-		// Remove the pair from the hash table.
-		int index = m_hashTable[hash];
-		btAssert(index != BT_HASH_NULL);
-
-		int previous = BT_HASH_NULL;
-		while (index != pairIndex)
-		{
-			previous = index;
-			index = m_next[index];
-		}
-
-		if (previous != BT_HASH_NULL)
-		{
-			btAssert(m_next[previous] == pairIndex);
-			m_next[previous] = m_next[pairIndex];
-		}
-		else
-		{
-			m_hashTable[hash] = m_next[pairIndex];
-		}
-
-		// We now move the last pair into spot of the
-		// pair being removed. We need to fix the hash
-		// table indices to support the move.
-
-		int lastPairIndex = m_valueArray.size() - 1;
-
-		// If the removed pair is the last pair, we are done.
-		if (lastPairIndex == pairIndex)
-		{
-			m_valueArray.pop_back();
-			m_keyArray.pop_back();
-			return;
-		}
-
-		// Remove the last pair from the hash table.
-		int lastHash = m_keyArray[lastPairIndex].getHash() & (m_valueArray.capacity() - 1);
-
-		index = m_hashTable[lastHash];
-		btAssert(index != BT_HASH_NULL);
-
-		previous = BT_HASH_NULL;
-		while (index != lastPairIndex)
-		{
-			previous = index;
-			index = m_next[index];
-		}
-
-		if (previous != BT_HASH_NULL)
-		{
-			btAssert(m_next[previous] == lastPairIndex);
-			m_next[previous] = m_next[lastPairIndex];
-		}
-		else
-		{
-			m_hashTable[lastHash] = m_next[lastPairIndex];
-		}
-
-		// Copy the last pair into the remove pair's spot.
-		m_valueArray[pairIndex] = m_valueArray[lastPairIndex];
-		m_keyArray[pairIndex] = m_keyArray[lastPairIndex];
-
-		// Insert the last pair into the hash table
-		m_next[pairIndex] = m_hashTable[lastHash];
-		m_hashTable[lastHash] = pairIndex;
-
-		m_valueArray.pop_back();
-		m_keyArray.pop_back();
-	}
-
-	int size() const
-	{
-		return m_valueArray.size();
-	}
-
-	const Value* getAtIndex(int index) const
-	{
-		btAssert(index < m_valueArray.size());
-		btAssert(index >= 0);
-		if (index >= 0 && index < m_valueArray.size())
-		{
-			return &m_valueArray[index];
-		}
-		return 0;
-	}
-
-	Value* getAtIndex(int index)
-	{
-		btAssert(index < m_valueArray.size());
-		btAssert(index >= 0);
-		if (index >= 0 && index < m_valueArray.size())
-		{
-			return &m_valueArray[index];
-		}
-		return 0;
-	}
-
-	Key getKeyAtIndex(int index)
-	{
-		btAssert(index < m_keyArray.size());
-		btAssert(index >= 0);
-		return m_keyArray[index];
-	}
-
-	const Key getKeyAtIndex(int index) const
-	{
-		btAssert(index < m_keyArray.size());
-		btAssert(index >= 0);
-		return m_keyArray[index];
-	}
-
-	Value* operator[](const Key& key)
-	{
-		return find(key);
-	}
-
-	const Value* operator[](const Key& key) const
-	{
-		return find(key);
-	}
-
-	const Value* find(const Key& key) const
-	{
-		int index = findIndex(key);
-		if (index == BT_HASH_NULL)
-		{
-			return NULL;
-		}
-		return &m_valueArray[index];
-	}
-
-	Value* find(const Key& key)
-	{
-		int index = findIndex(key);
-		if (index == BT_HASH_NULL)
-		{
-			return NULL;
-		}
-		return &m_valueArray[index];
-	}
-
-	int findIndex(const Key& key) const
-	{
-		unsigned int hash = key.getHash() & (m_valueArray.capacity() - 1);
-
-		if (hash >= (unsigned int)m_hashTable.size())
-		{
-			return BT_HASH_NULL;
-		}
-
-		int index = m_hashTable[hash];
-		while ((index != BT_HASH_NULL) && key.equals(m_keyArray[index]) == false)
-		{
-			index = m_next[index];
-		}
-		return index;
-	}
-
-	void clear()
-	{
-		m_hashTable.clear();
-		m_next.clear();
-		m_valueArray.clear();
-		m_keyArray.clear();
-	}
-};
-
-#endif  //BT_HASH_MAP_H
diff --git a/thirdparty/bullet/LinearMath/btIDebugDraw.h b/thirdparty/bullet/LinearMath/btIDebugDraw.h
deleted file mode 100644
index df4db2ff5a..0000000000
--- a/thirdparty/bullet/LinearMath/btIDebugDraw.h
+++ /dev/null
@@ -1,473 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_IDEBUG_DRAW__H
-#define BT_IDEBUG_DRAW__H
-
-#include "btVector3.h"
-#include "btTransform.h"
-
-///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
-///Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld.
-///A class that implements the btIDebugDraw interface will need to provide non-empty implementations of the the drawLine and getDebugMode methods at a minimum.
-///For color arguments the X,Y,Z components refer to Red, Green and Blue each in the range [0..1]
-class btIDebugDraw
-{
-public:
-	ATTRIBUTE_ALIGNED16(struct)
-	DefaultColors
-	{
-		btVector3 m_activeObject;
-		btVector3 m_deactivatedObject;
-		btVector3 m_wantsDeactivationObject;
-		btVector3 m_disabledDeactivationObject;
-		btVector3 m_disabledSimulationObject;
-		btVector3 m_aabb;
-		btVector3 m_contactPoint;
-
-		DefaultColors()
-			: m_activeObject(1, 1, 1),
-			  m_deactivatedObject(0, 1, 0),
-			  m_wantsDeactivationObject(0, 1, 1),
-			  m_disabledDeactivationObject(1, 0, 0),
-			  m_disabledSimulationObject(1, 1, 0),
-			  m_aabb(1, 0, 0),
-			  m_contactPoint(1, 1, 0)
-		{
-		}
-	};
-
-	enum DebugDrawModes
-	{
-		DBG_NoDebug = 0,
-		DBG_DrawWireframe = 1,
-		DBG_DrawAabb = 2,
-		DBG_DrawFeaturesText = 4,
-		DBG_DrawContactPoints = 8,
-		DBG_NoDeactivation = 16,
-		DBG_NoHelpText = 32,
-		DBG_DrawText = 64,
-		DBG_ProfileTimings = 128,
-		DBG_EnableSatComparison = 256,
-		DBG_DisableBulletLCP = 512,
-		DBG_EnableCCD = 1024,
-		DBG_DrawConstraints = (1 << 11),
-		DBG_DrawConstraintLimits = (1 << 12),
-		DBG_FastWireframe = (1 << 13),
-		DBG_DrawNormals = (1 << 14),
-		DBG_DrawFrames = (1 << 15),
-		DBG_MAX_DEBUG_DRAW_MODE
-	};
-
-	virtual ~btIDebugDraw(){};
-
-	virtual DefaultColors getDefaultColors() const
-	{
-		DefaultColors colors;
-		return colors;
-	}
-	///the default implementation for setDefaultColors has no effect. A derived class can implement it and store the colors.
-	virtual void setDefaultColors(const DefaultColors& /*colors*/) {}
-
-	virtual void drawLine(const btVector3& from, const btVector3& to, const btVector3& color) = 0;
-
-	virtual void drawLine(const btVector3& from, const btVector3& to, const btVector3& fromColor, const btVector3& toColor)
-	{
-		(void)toColor;
-		drawLine(from, to, fromColor);
-	}
-
-	virtual void drawSphere(btScalar radius, const btTransform& transform, const btVector3& color)
-	{
-		btVector3 center = transform.getOrigin();
-		btVector3 up = transform.getBasis().getColumn(1);
-		btVector3 axis = transform.getBasis().getColumn(0);
-		btScalar minTh = -SIMD_HALF_PI;
-		btScalar maxTh = SIMD_HALF_PI;
-		btScalar minPs = -SIMD_HALF_PI;
-		btScalar maxPs = SIMD_HALF_PI;
-		btScalar stepDegrees = 30.f;
-		drawSpherePatch(center, up, axis, radius, minTh, maxTh, minPs, maxPs, color, stepDegrees, false);
-		drawSpherePatch(center, up, -axis, radius, minTh, maxTh, minPs, maxPs, color, stepDegrees, false);
-	}
-
-	virtual void drawSphere(const btVector3& p, btScalar radius, const btVector3& color)
-	{
-		btTransform tr;
-		tr.setIdentity();
-		tr.setOrigin(p);
-		drawSphere(radius, tr, color);
-	}
-
-	virtual void drawTriangle(const btVector3& v0, const btVector3& v1, const btVector3& v2, const btVector3& /*n0*/, const btVector3& /*n1*/, const btVector3& /*n2*/, const btVector3& color, btScalar alpha)
-	{
-		drawTriangle(v0, v1, v2, color, alpha);
-	}
-	virtual void drawTriangle(const btVector3& v0, const btVector3& v1, const btVector3& v2, const btVector3& color, btScalar /*alpha*/)
-	{
-		drawLine(v0, v1, color);
-		drawLine(v1, v2, color);
-		drawLine(v2, v0, color);
-	}
-
-	virtual void drawContactPoint(const btVector3& PointOnB, const btVector3& normalOnB, btScalar distance, int lifeTime, const btVector3& color) = 0;
-
-	virtual void reportErrorWarning(const char* warningString) = 0;
-
-	virtual void draw3dText(const btVector3& location, const char* textString) = 0;
-
-	virtual void setDebugMode(int debugMode) = 0;
-
-	virtual int getDebugMode() const = 0;
-
-	virtual void drawAabb(const btVector3& from, const btVector3& to, const btVector3& color)
-	{
-		btVector3 halfExtents = (to - from) * 0.5f;
-		btVector3 center = (to + from) * 0.5f;
-		int i, j;
-
-		btVector3 edgecoord(1.f, 1.f, 1.f), pa, pb;
-		for (i = 0; i < 4; i++)
-		{
-			for (j = 0; j < 3; j++)
-			{
-				pa = btVector3(edgecoord[0] * halfExtents[0], edgecoord[1] * halfExtents[1],
-							   edgecoord[2] * halfExtents[2]);
-				pa += center;
-
-				int othercoord = j % 3;
-				edgecoord[othercoord] *= -1.f;
-				pb = btVector3(edgecoord[0] * halfExtents[0], edgecoord[1] * halfExtents[1],
-							   edgecoord[2] * halfExtents[2]);
-				pb += center;
-
-				drawLine(pa, pb, color);
-			}
-			edgecoord = btVector3(-1.f, -1.f, -1.f);
-			if (i < 3)
-				edgecoord[i] *= -1.f;
-		}
-	}
-	virtual void drawTransform(const btTransform& transform, btScalar orthoLen)
-	{
-		btVector3 start = transform.getOrigin();
-		drawLine(start, start + transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(btScalar(1.), btScalar(0.3), btScalar(0.3)));
-		drawLine(start, start + transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(btScalar(0.3), btScalar(1.), btScalar(0.3)));
-		drawLine(start, start + transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(btScalar(0.3), btScalar(0.3), btScalar(1.)));
-	}
-
-	virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle,
-						 const btVector3& color, bool drawSect, btScalar stepDegrees = btScalar(10.f))
-	{
-		const btVector3& vx = axis;
-		btVector3 vy = normal.cross(axis);
-		btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
-		int nSteps = (int)btFabs((maxAngle - minAngle) / step);
-		if (!nSteps) nSteps = 1;
-		btVector3 prev = center + radiusA * vx * btCos(minAngle) + radiusB * vy * btSin(minAngle);
-		if (drawSect)
-		{
-			drawLine(center, prev, color);
-		}
-		for (int i = 1; i <= nSteps; i++)
-		{
-			btScalar angle = minAngle + (maxAngle - minAngle) * btScalar(i) / btScalar(nSteps);
-			btVector3 next = center + radiusA * vx * btCos(angle) + radiusB * vy * btSin(angle);
-			drawLine(prev, next, color);
-			prev = next;
-		}
-		if (drawSect)
-		{
-			drawLine(center, prev, color);
-		}
-	}
-	virtual void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius,
-								 btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3& color, btScalar stepDegrees = btScalar(10.f), bool drawCenter = true)
-	{
-		btVector3 vA[74];
-		btVector3 vB[74];
-		btVector3 *pvA = vA, *pvB = vB, *pT;
-		btVector3 npole = center + up * radius;
-		btVector3 spole = center - up * radius;
-		btVector3 arcStart;
-		btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
-		const btVector3& kv = up;
-		const btVector3& iv = axis;
-		btVector3 jv = kv.cross(iv);
-		bool drawN = false;
-		bool drawS = false;
-		if (minTh <= -SIMD_HALF_PI)
-		{
-			minTh = -SIMD_HALF_PI + step;
-			drawN = true;
-		}
-		if (maxTh >= SIMD_HALF_PI)
-		{
-			maxTh = SIMD_HALF_PI - step;
-			drawS = true;
-		}
-		if (minTh > maxTh)
-		{
-			minTh = -SIMD_HALF_PI + step;
-			maxTh = SIMD_HALF_PI - step;
-			drawN = drawS = true;
-		}
-		int n_hor = (int)((maxTh - minTh) / step) + 1;
-		if (n_hor < 2) n_hor = 2;
-		btScalar step_h = (maxTh - minTh) / btScalar(n_hor - 1);
-		bool isClosed = false;
-		if (minPs > maxPs)
-		{
-			minPs = -SIMD_PI + step;
-			maxPs = SIMD_PI;
-			isClosed = true;
-		}
-		else if ((maxPs - minPs) >= SIMD_PI * btScalar(2.f))
-		{
-			isClosed = true;
-		}
-		else
-		{
-			isClosed = false;
-		}
-		int n_vert = (int)((maxPs - minPs) / step) + 1;
-		if (n_vert < 2) n_vert = 2;
-		btScalar step_v = (maxPs - minPs) / btScalar(n_vert - 1);
-		for (int i = 0; i < n_hor; i++)
-		{
-			btScalar th = minTh + btScalar(i) * step_h;
-			btScalar sth = radius * btSin(th);
-			btScalar cth = radius * btCos(th);
-			for (int j = 0; j < n_vert; j++)
-			{
-				btScalar psi = minPs + btScalar(j) * step_v;
-				btScalar sps = btSin(psi);
-				btScalar cps = btCos(psi);
-				pvB[j] = center + cth * cps * iv + cth * sps * jv + sth * kv;
-				if (i)
-				{
-					drawLine(pvA[j], pvB[j], color);
-				}
-				else if (drawS)
-				{
-					drawLine(spole, pvB[j], color);
-				}
-				if (j)
-				{
-					drawLine(pvB[j - 1], pvB[j], color);
-				}
-				else
-				{
-					arcStart = pvB[j];
-				}
-				if ((i == (n_hor - 1)) && drawN)
-				{
-					drawLine(npole, pvB[j], color);
-				}
-
-				if (drawCenter)
-				{
-					if (isClosed)
-					{
-						if (j == (n_vert - 1))
-						{
-							drawLine(arcStart, pvB[j], color);
-						}
-					}
-					else
-					{
-						if (((!i) || (i == (n_hor - 1))) && ((!j) || (j == (n_vert - 1))))
-						{
-							drawLine(center, pvB[j], color);
-						}
-					}
-				}
-			}
-			pT = pvA;
-			pvA = pvB;
-			pvB = pT;
-		}
-	}
-
-	virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color)
-	{
-		drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
-		drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
-		drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMin[2]), color);
-		drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMin[2]), color);
-		drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
-		drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
-		drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
-		drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
-		drawLine(btVector3(bbMin[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
-		drawLine(btVector3(bbMax[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
-		drawLine(btVector3(bbMax[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
-		drawLine(btVector3(bbMin[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
-	}
-	virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color)
-	{
-		drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
-		drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
-		drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), color);
-		drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), color);
-		drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
-		drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
-		drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
-		drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
-		drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
-		drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
-		drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
-		drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
-	}
-
-	virtual void drawCapsule(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
-	{
-		int stepDegrees = 30;
-
-		btVector3 capStart(0.f, 0.f, 0.f);
-		capStart[upAxis] = -halfHeight;
-
-		btVector3 capEnd(0.f, 0.f, 0.f);
-		capEnd[upAxis] = halfHeight;
-
-		// Draw the ends
-		{
-			btTransform childTransform = transform;
-			childTransform.getOrigin() = transform * capStart;
-			{
-				btVector3 center = childTransform.getOrigin();
-				btVector3 up = childTransform.getBasis().getColumn((upAxis + 1) % 3);
-				btVector3 axis = -childTransform.getBasis().getColumn(upAxis);
-				btScalar minTh = -SIMD_HALF_PI;
-				btScalar maxTh = SIMD_HALF_PI;
-				btScalar minPs = -SIMD_HALF_PI;
-				btScalar maxPs = SIMD_HALF_PI;
-
-				drawSpherePatch(center, up, axis, radius, minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees), false);
-			}
-		}
-
-		{
-			btTransform childTransform = transform;
-			childTransform.getOrigin() = transform * capEnd;
-			{
-				btVector3 center = childTransform.getOrigin();
-				btVector3 up = childTransform.getBasis().getColumn((upAxis + 1) % 3);
-				btVector3 axis = childTransform.getBasis().getColumn(upAxis);
-				btScalar minTh = -SIMD_HALF_PI;
-				btScalar maxTh = SIMD_HALF_PI;
-				btScalar minPs = -SIMD_HALF_PI;
-				btScalar maxPs = SIMD_HALF_PI;
-				drawSpherePatch(center, up, axis, radius, minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees), false);
-			}
-		}
-
-		// Draw some additional lines
-		btVector3 start = transform.getOrigin();
-
-		for (int i = 0; i < 360; i += stepDegrees)
-		{
-			capEnd[(upAxis + 1) % 3] = capStart[(upAxis + 1) % 3] = btSin(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
-			capEnd[(upAxis + 2) % 3] = capStart[(upAxis + 2) % 3] = btCos(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
-			drawLine(start + transform.getBasis() * capStart, start + transform.getBasis() * capEnd, color);
-		}
-	}
-
-	virtual void drawCylinder(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
-	{
-		btVector3 start = transform.getOrigin();
-		btVector3 offsetHeight(0, 0, 0);
-		offsetHeight[upAxis] = halfHeight;
-		int stepDegrees = 30;
-		btVector3 capStart(0.f, 0.f, 0.f);
-		capStart[upAxis] = -halfHeight;
-		btVector3 capEnd(0.f, 0.f, 0.f);
-		capEnd[upAxis] = halfHeight;
-
-		for (int i = 0; i < 360; i += stepDegrees)
-		{
-			capEnd[(upAxis + 1) % 3] = capStart[(upAxis + 1) % 3] = btSin(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
-			capEnd[(upAxis + 2) % 3] = capStart[(upAxis + 2) % 3] = btCos(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
-			drawLine(start + transform.getBasis() * capStart, start + transform.getBasis() * capEnd, color);
-		}
-		// Drawing top and bottom caps of the cylinder
-		btVector3 yaxis(0, 0, 0);
-		yaxis[upAxis] = btScalar(1.0);
-		btVector3 xaxis(0, 0, 0);
-		xaxis[(upAxis + 1) % 3] = btScalar(1.0);
-		drawArc(start - transform.getBasis() * (offsetHeight), transform.getBasis() * yaxis, transform.getBasis() * xaxis, radius, radius, 0, SIMD_2_PI, color, false, btScalar(10.0));
-		drawArc(start + transform.getBasis() * (offsetHeight), transform.getBasis() * yaxis, transform.getBasis() * xaxis, radius, radius, 0, SIMD_2_PI, color, false, btScalar(10.0));
-	}
-
-	virtual void drawCone(btScalar radius, btScalar height, int upAxis, const btTransform& transform, const btVector3& color)
-	{
-		int stepDegrees = 30;
-		btVector3 start = transform.getOrigin();
-
-		btVector3 offsetHeight(0, 0, 0);
-		btScalar halfHeight = height * btScalar(0.5);
-		offsetHeight[upAxis] = halfHeight;
-		btVector3 offsetRadius(0, 0, 0);
-		offsetRadius[(upAxis + 1) % 3] = radius;
-		btVector3 offset2Radius(0, 0, 0);
-		offset2Radius[(upAxis + 2) % 3] = radius;
-
-		btVector3 capEnd(0.f, 0.f, 0.f);
-		capEnd[upAxis] = -halfHeight;
-
-		for (int i = 0; i < 360; i += stepDegrees)
-		{
-			capEnd[(upAxis + 1) % 3] = btSin(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
-			capEnd[(upAxis + 2) % 3] = btCos(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
-			drawLine(start + transform.getBasis() * (offsetHeight), start + transform.getBasis() * capEnd, color);
-		}
-
-		drawLine(start + transform.getBasis() * (offsetHeight), start + transform.getBasis() * (-offsetHeight + offsetRadius), color);
-		drawLine(start + transform.getBasis() * (offsetHeight), start + transform.getBasis() * (-offsetHeight - offsetRadius), color);
-		drawLine(start + transform.getBasis() * (offsetHeight), start + transform.getBasis() * (-offsetHeight + offset2Radius), color);
-		drawLine(start + transform.getBasis() * (offsetHeight), start + transform.getBasis() * (-offsetHeight - offset2Radius), color);
-
-		// Drawing the base of the cone
-		btVector3 yaxis(0, 0, 0);
-		yaxis[upAxis] = btScalar(1.0);
-		btVector3 xaxis(0, 0, 0);
-		xaxis[(upAxis + 1) % 3] = btScalar(1.0);
-		drawArc(start - transform.getBasis() * (offsetHeight), transform.getBasis() * yaxis, transform.getBasis() * xaxis, radius, radius, 0, SIMD_2_PI, color, false, 10.0);
-	}
-
-	virtual void drawPlane(const btVector3& planeNormal, btScalar planeConst, const btTransform& transform, const btVector3& color)
-	{
-		btVector3 planeOrigin = planeNormal * planeConst;
-		btVector3 vec0, vec1;
-		btPlaneSpace1(planeNormal, vec0, vec1);
-		btScalar vecLen = 100.f;
-		btVector3 pt0 = planeOrigin + vec0 * vecLen;
-		btVector3 pt1 = planeOrigin - vec0 * vecLen;
-		btVector3 pt2 = planeOrigin + vec1 * vecLen;
-		btVector3 pt3 = planeOrigin - vec1 * vecLen;
-		drawLine(transform * pt0, transform * pt1, color);
-		drawLine(transform * pt2, transform * pt3, color);
-	}
-
-	virtual void clearLines()
-	{
-	}
-
-	virtual void flushLines()
-	{
-	}
-};
-
-#endif  //BT_IDEBUG_DRAW__H
diff --git a/thirdparty/bullet/LinearMath/btImplicitQRSVD.h b/thirdparty/bullet/LinearMath/btImplicitQRSVD.h
deleted file mode 100644
index aaedc964f6..0000000000
--- a/thirdparty/bullet/LinearMath/btImplicitQRSVD.h
+++ /dev/null
@@ -1,916 +0,0 @@
-/**
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- 
- Copyright (c) 2016 Theodore Gast, Chuyuan Fu, Chenfanfu Jiang, Joseph Teran
- 
- Permission is hereby granted, free of charge, to any person obtaining a copy of
- this software and associated documentation files (the "Software"), to deal in
- the Software without restriction, including without limitation the rights to
- use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
- of the Software, and to permit persons to whom the Software is furnished to do
- so, subject to the following conditions:
- 
- The above copyright notice and this permission notice shall be included in all
- copies or substantial portions of the Software.
- 
- If the code is used in an article, the following paper shall be cited:
- @techreport{qrsvd:2016,
- title={Implicit-shifted Symmetric QR Singular Value Decomposition of 3x3 Matrices},
- author={Gast, Theodore and Fu, Chuyuan and Jiang, Chenfanfu and Teran, Joseph},
- year={2016},
- institution={University of California Los Angeles}
- }
- 
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- SOFTWARE.
-**/
-
-#ifndef btImplicitQRSVD_h
-#define btImplicitQRSVD_h
-#include <limits>
-#include "btMatrix3x3.h"
-class btMatrix2x2
-{
-public:
-    btScalar m_00, m_01, m_10, m_11;
-    btMatrix2x2(): m_00(0), m_10(0), m_01(0), m_11(0)
-    {
-    }
-    btMatrix2x2(const btMatrix2x2& other): m_00(other.m_00),m_01(other.m_01),m_10(other.m_10),m_11(other.m_11)
-    {}
-    btScalar& operator()(int i, int j)
-    {
-        if (i == 0 && j == 0)
-            return m_00;
-        if (i == 1 && j == 0)
-            return m_10;
-        if (i == 0 && j == 1)
-            return m_01;
-        if (i == 1 && j == 1)
-            return m_11;
-        btAssert(false);
-        return m_00;
-    }
-    const btScalar& operator()(int i, int j) const
-    {
-        if (i == 0 && j == 0)
-            return m_00;
-        if (i == 1 && j == 0)
-            return m_10;
-        if (i == 0 && j == 1)
-            return m_01;
-        if (i == 1 && j == 1)
-            return m_11;
-        btAssert(false);
-        return m_00;
-    }
-    void setIdentity()
-    {
-        m_00 = 1;
-        m_11 = 1;
-        m_01 = 0;
-        m_10 = 0;
-    }
-};
-
-static inline btScalar copySign(btScalar x, btScalar y) {
-    if ((x < 0 && y > 0) || (x > 0 && y < 0))
-        return -x;
-    return x;
-}
-
-/**
- Class for givens rotation.
- Row rotation G*A corresponds to something like
- c -s  0
- ( s  c  0 ) A
- 0  0  1
- Column rotation A G' corresponds to something like
- c -s  0
- A ( s  c  0 )
- 0  0  1
- 
- c and s are always computed so that
- ( c -s ) ( a )  =  ( * )
- s  c     b       ( 0 )
- 
- Assume rowi<rowk.
- */
-
-class GivensRotation {
-public:
-    int rowi;
-    int rowk;
-    btScalar c;
-    btScalar s;
-    
-    inline GivensRotation(int rowi_in, int rowk_in)
-    : rowi(rowi_in)
-    , rowk(rowk_in)
-    , c(1)
-    , s(0)
-    {
-    }
-    
-    inline GivensRotation(btScalar a, btScalar b, int rowi_in, int rowk_in)
-    : rowi(rowi_in)
-    , rowk(rowk_in)
-    {
-        compute(a, b);
-    }
-    
-    ~GivensRotation() {}
-    
-    inline void transposeInPlace()
-    {
-        s = -s;
-    }
-    
-    /**
-     Compute c and s from a and b so that
-     ( c -s ) ( a )  =  ( * )
-     s  c     b       ( 0 )
-     */
-    inline void compute(const btScalar a, const btScalar b)
-    {
-        btScalar d = a * a + b * b;
-        c = 1;
-        s = 0;
-        if (d > SIMD_EPSILON) {
-            btScalar sqrtd = btSqrt(d);
-            if (sqrtd>SIMD_EPSILON)
-            {
-              btScalar t = btScalar(1.0)/sqrtd;
-              c = a * t;
-              s = -b * t;
-            }
-        }
-    }
-    
-    /**
-     This function computes c and s so that
-     ( c -s ) ( a )  =  ( 0 )
-     s  c     b       ( * )
-     */
-    inline void computeUnconventional(const btScalar a, const btScalar b)
-    {
-        btScalar d = a * a + b * b;
-        c = 0;
-        s = 1;
-        if (d > SIMD_EPSILON) {
-            btScalar t = btScalar(1.0)/btSqrt(d);
-            s = a * t;
-            c = b * t;
-        }
-    }
-    /**
-     Fill the R with the entries of this rotation
-     */
-    inline void fill(const btMatrix3x3& R) const
-    {
-        btMatrix3x3& A = const_cast<btMatrix3x3&>(R);
-        A.setIdentity();
-        A[rowi][rowi] = c;
-        A[rowk][rowi] = -s;
-        A[rowi][rowk] = s;
-        A[rowk][rowk] = c;
-    }
-    
-    inline void fill(const btMatrix2x2& R) const
-    {
-        btMatrix2x2& A = const_cast<btMatrix2x2&>(R);
-        A(rowi,rowi) = c;
-        A(rowk,rowi) = -s;
-        A(rowi,rowk) = s;
-        A(rowk,rowk) = c;
-    }
-    
-    /**
-     This function does something like
-     c -s  0
-     ( s  c  0 ) A -> A
-     0  0  1
-     It only affects row i and row k of A.
-     */
-    inline void rowRotation(btMatrix3x3& A) const
-    {
-        for (int j = 0; j < 3; j++) {
-            btScalar tau1 = A[rowi][j];
-            btScalar tau2 = A[rowk][j];
-            A[rowi][j] = c * tau1 - s * tau2;
-            A[rowk][j] = s * tau1 + c * tau2;
-        }
-    }
-    inline void rowRotation(btMatrix2x2& A) const
-    {
-        for (int j = 0; j < 2; j++) {
-            btScalar tau1 = A(rowi,j);
-            btScalar tau2 = A(rowk,j);
-            A(rowi,j) = c * tau1 - s * tau2;
-            A(rowk,j) = s * tau1 + c * tau2;
-        }
-    }
-    
-    /**
-     This function does something like
-     c  s  0
-     A ( -s  c  0 )  -> A
-     0  0  1
-     It only affects column i and column k of A.
-     */
-    inline void columnRotation(btMatrix3x3& A) const
-    {
-        for (int j = 0; j < 3; j++) {
-            btScalar tau1 = A[j][rowi];
-            btScalar tau2 = A[j][rowk];
-            A[j][rowi] = c * tau1 - s * tau2;
-            A[j][rowk] = s * tau1 + c * tau2;
-        }
-    }
-    inline void columnRotation(btMatrix2x2& A) const
-    {
-        for (int j = 0; j < 2; j++) {
-            btScalar tau1 = A(j,rowi);
-            btScalar tau2 = A(j,rowk);
-            A(j,rowi) = c * tau1 - s * tau2;
-            A(j,rowk) = s * tau1 + c * tau2;
-        }
-    }
-    
-    /**
-     Multiply givens must be for same row and column
-     **/
-    inline void operator*=(const GivensRotation& A)
-    {
-        btScalar new_c = c * A.c - s * A.s;
-        btScalar new_s = s * A.c + c * A.s;
-        c = new_c;
-        s = new_s;
-    }
-    
-    /**
-     Multiply givens must be for same row and column
-     **/
-    inline GivensRotation operator*(const GivensRotation& A) const
-    {
-        GivensRotation r(*this);
-        r *= A;
-        return r;
-    }
-};
-
-/**
- \brief zero chasing the 3X3 matrix to bidiagonal form
- original form of H:   x x 0
- x x x
- 0 0 x
- after zero chase:
- x x 0
- 0 x x
- 0 0 x
- */
-inline void zeroChase(btMatrix3x3& H, btMatrix3x3& U, btMatrix3x3& V)
-{
-    
-    /**
-     Reduce H to of form
-     x x +
-     0 x x
-     0 0 x
-     */
-    GivensRotation r1(H[0][0], H[1][0], 0, 1);
-    /**
-     Reduce H to of form
-     x x 0
-     0 x x
-     0 + x
-     Can calculate r2 without multiplying by r1 since both entries are in first two
-     rows thus no need to divide by sqrt(a^2+b^2)
-     */
-    GivensRotation r2(1, 2);
-    if (H[1][0] != 0)
-        r2.compute(H[0][0] * H[0][1] + H[1][0] * H[1][1], H[0][0] * H[0][2] + H[1][0] * H[1][2]);
-    else
-        r2.compute(H[0][1], H[0][2]);
-    
-    r1.rowRotation(H);
-    
-    /* GivensRotation<T> r2(H(0, 1), H(0, 2), 1, 2); */
-    r2.columnRotation(H);
-    r2.columnRotation(V);
-    
-    /**
-     Reduce H to of form
-     x x 0
-     0 x x
-     0 0 x
-     */
-    GivensRotation r3(H[1][1], H[2][1], 1, 2);
-    r3.rowRotation(H);
-    
-    // Save this till end for better cache coherency
-    // r1.rowRotation(u_transpose);
-    // r3.rowRotation(u_transpose);
-    r1.columnRotation(U);
-    r3.columnRotation(U);
-}
-
-/**
- \brief make a 3X3 matrix to upper bidiagonal form
- original form of H:   x x x
- x x x
- x x x
- after zero chase:
- x x 0
- 0 x x
- 0 0 x
- */
-inline void makeUpperBidiag(btMatrix3x3& H, btMatrix3x3& U, btMatrix3x3& V)
-{
-    U.setIdentity();
-    V.setIdentity();
-    
-    /**
-     Reduce H to of form
-     x x x
-     x x x
-     0 x x
-     */
-    
-    GivensRotation r(H[1][0], H[2][0], 1, 2);
-    r.rowRotation(H);
-    // r.rowRotation(u_transpose);
-    r.columnRotation(U);
-    // zeroChase(H, u_transpose, V);
-    zeroChase(H, U, V);
-}
-
-/**
- \brief make a 3X3 matrix to lambda shape
- original form of H:   x x x
- *                     x x x
- *                     x x x
- after :
- *                     x 0 0
- *                     x x 0
- *                     x 0 x
- */
-inline void makeLambdaShape(btMatrix3x3& H, btMatrix3x3& U, btMatrix3x3& V)
-{
-    U.setIdentity();
-    V.setIdentity();
-    
-    /**
-     Reduce H to of form
-     *                    x x 0
-     *                    x x x
-     *                    x x x
-     */
-    
-    GivensRotation r1(H[0][1], H[0][2], 1, 2);
-    r1.columnRotation(H);
-    r1.columnRotation(V);
-    
-    /**
-     Reduce H to of form
-     *                    x x 0
-     *                    x x 0
-     *                    x x x
-     */
-    
-    r1.computeUnconventional(H[1][2], H[2][2]);
-    r1.rowRotation(H);
-    r1.columnRotation(U);
-    
-    /**
-     Reduce H to of form
-     *                    x x 0
-     *                    x x 0
-     *                    x 0 x
-     */
-    
-    GivensRotation r2(H[2][0], H[2][1], 0, 1);
-    r2.columnRotation(H);
-    r2.columnRotation(V);
-    
-    /**
-     Reduce H to of form
-     *                    x 0 0
-     *                    x x 0
-     *                    x 0 x
-     */
-    r2.computeUnconventional(H[0][1], H[1][1]);
-    r2.rowRotation(H);
-    r2.columnRotation(U);
-}
-
-/**
- \brief 2x2 polar decomposition.
- \param[in] A matrix.
- \param[out] R Robustly a rotation matrix.
- \param[out] S_Sym Symmetric. Whole matrix is stored
- 
- Polar guarantees negative sign is on the small magnitude singular value.
- S is guaranteed to be the closest one to identity.
- R is guaranteed to be the closest rotation to A.
- */
-inline void polarDecomposition(const btMatrix2x2& A,
-                   GivensRotation& R,
-                   const btMatrix2x2& S_Sym)
-{
-    btScalar a = (A(0, 0) + A(1, 1)),  b = (A(1, 0) - A(0, 1));
-    btScalar denominator = btSqrt(a*a+b*b);
-    R.c = (btScalar)1;
-    R.s = (btScalar)0;
-    if (denominator > SIMD_EPSILON) { 
-        /*
-         No need to use a tolerance here because x(0) and x(1) always have
-         smaller magnitude then denominator, therefore overflow never happens.
-         In Bullet, we use a tolerance anyway.
-         */
-        R.c = a / denominator;
-        R.s = -b / denominator;
-    }
-    btMatrix2x2& S = const_cast<btMatrix2x2&>(S_Sym);
-    S = A;
-    R.rowRotation(S);
-}
-
-inline void polarDecomposition(const btMatrix2x2& A,
-                   const btMatrix2x2& R,
-                   const btMatrix2x2& S_Sym)
-{
-    GivensRotation r(0, 1);
-    polarDecomposition(A, r, S_Sym);
-    r.fill(R);
-}
-
-/**
- \brief 2x2 SVD (singular value decomposition) A=USV'
- \param[in] A Input matrix.
- \param[out] U Robustly a rotation matrix in Givens form
- \param[out] Sigma matrix of singular values sorted with decreasing magnitude. The second one can be negative.
- \param[out] V Robustly a rotation matrix in Givens form
- */
-inline void singularValueDecomposition(
-                           const btMatrix2x2& A,
-                           GivensRotation& U,
-                           const btMatrix2x2& Sigma,
-                           GivensRotation& V,
-                           const btScalar tol = 64 * std::numeric_limits<btScalar>::epsilon())
-{
-    btMatrix2x2& sigma = const_cast<btMatrix2x2&>(Sigma);
-    sigma.setIdentity();
-    btMatrix2x2 S_Sym;
-    polarDecomposition(A, U, S_Sym);
-    btScalar cosine, sine;
-    btScalar x = S_Sym(0, 0);
-    btScalar y = S_Sym(0, 1);
-    btScalar z = S_Sym(1, 1);
-    if (y == 0) {
-        // S is already diagonal
-        cosine = 1;
-        sine = 0;
-        sigma(0,0) = x;
-        sigma(1,1) = z;
-    }
-    else {
-        btScalar tau = 0.5 * (x - z);
-        btScalar val = tau * tau + y * y;
-        if (val > SIMD_EPSILON)
-        {
-        btScalar w = btSqrt(val);
-        // w > y > 0
-        btScalar t;
-        if (tau > 0) {
-            // tau + w > w > y > 0 ==> division is safe
-            t = y / (tau + w);
-        }
-        else {
-            // tau - w < -w < -y < 0 ==> division is safe
-            t = y / (tau - w);
-        }
-        cosine = btScalar(1) / btSqrt(t * t + btScalar(1));
-        sine = -t * cosine;
-        /*
-         V = [cosine -sine; sine cosine]
-         Sigma = V'SV. Only compute the diagonals for efficiency.
-         Also utilize symmetry of S and don't form V yet.
-         */
-        btScalar c2 = cosine * cosine;
-        btScalar csy = 2 * cosine * sine * y;
-        btScalar s2 = sine * sine;
-        sigma(0,0) = c2 * x - csy + s2 * z;
-        sigma(1,1) = s2 * x + csy + c2 * z;
-      } else
-      	{
-      		cosine = 1;
-        sine = 0;
-        sigma(0,0) = x;
-        sigma(1,1) = z;
-      	}
-    }
-    
-    // Sorting
-    // Polar already guarantees negative sign is on the small magnitude singular value.
-    if (sigma(0,0) < sigma(1,1)) {
-        std::swap(sigma(0,0), sigma(1,1));
-        V.c = -sine;
-        V.s = cosine;
-    }
-    else {
-        V.c = cosine;
-        V.s = sine;
-    }
-    U *= V;
-}
-
-/**
- \brief 2x2 SVD (singular value decomposition) A=USV'
- \param[in] A Input matrix.
- \param[out] U Robustly a rotation matrix.
- \param[out] Sigma Vector of singular values sorted with decreasing magnitude. The second one can be negative.
- \param[out] V Robustly a rotation matrix.
- */
-inline void singularValueDecomposition(
-                           const btMatrix2x2& A,
-                           const btMatrix2x2& U,
-                           const btMatrix2x2& Sigma,
-                           const btMatrix2x2& V,
-                           const btScalar tol = 64 * std::numeric_limits<btScalar>::epsilon())
-{
-    GivensRotation gv(0, 1);
-    GivensRotation gu(0, 1);
-    singularValueDecomposition(A, gu, Sigma, gv);
-    
-    gu.fill(U);
-    gv.fill(V);
-}
-
-/**
- \brief compute wilkinsonShift of the block
- a1     b1
- b1     a2
- based on the wilkinsonShift formula
- mu = c + d - sign (d) \ sqrt (d*d + b*b), where d = (a-c)/2
- 
- */
-inline btScalar wilkinsonShift(const btScalar a1, const btScalar b1, const btScalar a2)
-{
-	btScalar d = (btScalar)0.5 * (a1 - a2);
-	btScalar bs = b1 * b1;
-	btScalar val = d * d + bs;
-	if (val>SIMD_EPSILON)
-	{
-		btScalar denom = btFabs(d) + btSqrt(val);
-
-		btScalar mu = a2 - copySign(bs / (denom), d);
-		// T mu = a2 - bs / ( d + sign_d*sqrt (d*d + bs));
-		return mu;
-	}
-	return a2;
-}
-
-/**
- \brief Helper function of 3X3 SVD for processing 2X2 SVD
- */
-template <int t>
-inline void process(btMatrix3x3& B, btMatrix3x3& U, btVector3& sigma, btMatrix3x3& V)
-{
-    int other = (t == 1) ? 0 : 2;
-    GivensRotation u(0, 1);
-    GivensRotation v(0, 1);
-    sigma[other] = B[other][other];
-    
-    btMatrix2x2 B_sub, sigma_sub;
-    if (t == 0)
-    {
-        B_sub.m_00 = B[0][0];
-        B_sub.m_10 = B[1][0];
-        B_sub.m_01 = B[0][1];
-        B_sub.m_11 = B[1][1];
-        sigma_sub.m_00 = sigma[0];
-        sigma_sub.m_11 = sigma[1];
-//        singularValueDecomposition(B.template block<2, 2>(t, t), u, sigma.template block<2, 1>(t, 0), v);
-        singularValueDecomposition(B_sub, u, sigma_sub, v);
-        B[0][0] = B_sub.m_00;
-        B[1][0] = B_sub.m_10;
-        B[0][1] = B_sub.m_01;
-        B[1][1] = B_sub.m_11;
-        sigma[0] = sigma_sub.m_00;
-        sigma[1] = sigma_sub.m_11;
-    }
-    else
-    {
-        B_sub.m_00 = B[1][1];
-        B_sub.m_10 = B[2][1];
-        B_sub.m_01 = B[1][2];
-        B_sub.m_11 = B[2][2];
-        sigma_sub.m_00 = sigma[1];
-        sigma_sub.m_11 = sigma[2];
-        //        singularValueDecomposition(B.template block<2, 2>(t, t), u, sigma.template block<2, 1>(t, 0), v);
-        singularValueDecomposition(B_sub, u, sigma_sub, v);
-        B[1][1] = B_sub.m_00;
-        B[2][1] = B_sub.m_10;
-        B[1][2] = B_sub.m_01;
-        B[2][2] = B_sub.m_11;
-        sigma[1] = sigma_sub.m_00;
-        sigma[2] = sigma_sub.m_11;
-    }
-    u.rowi += t;
-    u.rowk += t;
-    v.rowi += t;
-    v.rowk += t;
-    u.columnRotation(U);
-    v.columnRotation(V);
-}
-
-/**
- \brief Helper function of 3X3 SVD for flipping signs due to flipping signs of sigma
- */
-inline void flipSign(int i, btMatrix3x3& U, btVector3& sigma)
-{
-    sigma[i] = -sigma[i];
-    U[0][i] = -U[0][i];
-    U[1][i] = -U[1][i];
-    U[2][i] = -U[2][i];
-}
-
-inline void flipSign(int i, btMatrix3x3& U)
-{
-    U[0][i] = -U[0][i];
-    U[1][i] = -U[1][i];
-    U[2][i] = -U[2][i];
-}
-
-inline void swapCol(btMatrix3x3& A, int i, int j)
-{
-    for (int d = 0; d < 3; ++d)
-        std::swap(A[d][i], A[d][j]);
-}
-/**
- \brief Helper function of 3X3 SVD for sorting singular values
- */
-inline void sort(btMatrix3x3& U, btVector3& sigma, btMatrix3x3& V, int t)
-{
-    if (t == 0)
-    {
-        // Case: sigma(0) > |sigma(1)| >= |sigma(2)|
-        if (btFabs(sigma[1]) >= btFabs(sigma[2])) {
-            if (sigma[1] < 0) {
-                flipSign(1, U, sigma);
-                flipSign(2, U, sigma);
-            }
-            return;
-        }
-        
-        //fix sign of sigma for both cases
-        if (sigma[2] < 0) {
-            flipSign(1, U, sigma);
-            flipSign(2, U, sigma);
-        }
-        
-        //swap sigma(1) and sigma(2) for both cases
-        std::swap(sigma[1], sigma[2]);
-        // swap the col 1 and col 2 for U,V
-        swapCol(U,1,2);
-        swapCol(V,1,2);
-        
-        // Case: |sigma(2)| >= sigma(0) > |simga(1)|
-        if (sigma[1] > sigma[0]) {
-            std::swap(sigma[0], sigma[1]);
-            swapCol(U,0,1);
-            swapCol(V,0,1);
-        }
-        
-        // Case: sigma(0) >= |sigma(2)| > |simga(1)|
-        else {
-            flipSign(2, U);
-            flipSign(2, V);
-        }
-    }
-    else if (t == 1)
-    {
-        // Case: |sigma(0)| >= sigma(1) > |sigma(2)|
-        if (btFabs(sigma[0]) >= sigma[1]) {
-            if (sigma[0] < 0) {
-                flipSign(0, U, sigma);
-                flipSign(2, U, sigma);
-            }
-            return;
-        }
-        
-        //swap sigma(0) and sigma(1) for both cases
-        std::swap(sigma[0], sigma[1]);
-        swapCol(U, 0, 1);
-        swapCol(V, 0, 1);
-        
-        // Case: sigma(1) > |sigma(2)| >= |sigma(0)|
-        if (btFabs(sigma[1]) < btFabs(sigma[2])) {
-            std::swap(sigma[1], sigma[2]);
-            swapCol(U, 1, 2);
-            swapCol(V, 1, 2);
-        }
-        
-        // Case: sigma(1) >= |sigma(0)| > |sigma(2)|
-        else {
-            flipSign(1, U);
-            flipSign(1, V);
-        }
-        
-        // fix sign for both cases
-        if (sigma[1] < 0) {
-            flipSign(1, U, sigma);
-            flipSign(2, U, sigma);
-        }
-    }
-}
-
-/**
- \brief 3X3 SVD (singular value decomposition) A=USV'
- \param[in] A Input matrix.
- \param[out] U is a rotation matrix.
- \param[out] sigma Diagonal matrix, sorted with decreasing magnitude. The third one can be negative.
- \param[out] V is a rotation matrix.
- */
-inline int singularValueDecomposition(const btMatrix3x3& A,
-                                     btMatrix3x3& U,
-                                     btVector3& sigma,
-                                     btMatrix3x3& V,
-                                     btScalar tol = 128*std::numeric_limits<btScalar>::epsilon())
-{
-//    using std::fabs;
-    btMatrix3x3 B = A;
-    U.setIdentity();
-    V.setIdentity();
-    
-    makeUpperBidiag(B, U, V);
-    
-    int count = 0;
-    btScalar mu = (btScalar)0;
-    GivensRotation r(0, 1);
-    
-    btScalar alpha_1 = B[0][0];
-    btScalar beta_1 = B[0][1];
-    btScalar alpha_2 = B[1][1];
-    btScalar alpha_3 = B[2][2];
-    btScalar beta_2 = B[1][2];
-    btScalar gamma_1 = alpha_1 * beta_1;
-    btScalar gamma_2 = alpha_2 * beta_2;
-    btScalar val = alpha_1 * alpha_1 + alpha_2 * alpha_2 + alpha_3 * alpha_3 + beta_1 * beta_1 + beta_2 * beta_2;
-    if (val > SIMD_EPSILON)
-    {
-	    tol *= btMax((btScalar)0.5 * btSqrt(val), (btScalar)1);
-		}    
-    /**
-     Do implicit shift QR until A^T A is block diagonal
-     */
-    int max_count = 100;
-    
-    while (btFabs(beta_2) > tol && btFabs(beta_1) > tol
-           && btFabs(alpha_1) > tol && btFabs(alpha_2) > tol
-           && btFabs(alpha_3) > tol
-           && count < max_count) {
-        mu = wilkinsonShift(alpha_2 * alpha_2 + beta_1 * beta_1, gamma_2, alpha_3 * alpha_3 + beta_2 * beta_2);
-        
-        r.compute(alpha_1 * alpha_1 - mu, gamma_1);
-        r.columnRotation(B);
-        
-        r.columnRotation(V);
-        zeroChase(B, U, V);
-        
-        alpha_1 = B[0][0];
-        beta_1 = B[0][1];
-        alpha_2 = B[1][1];
-        alpha_3 = B[2][2];
-        beta_2 = B[1][2];
-        gamma_1 = alpha_1 * beta_1;
-        gamma_2 = alpha_2 * beta_2;
-        count++;
-    }
-    /**
-     Handle the cases of one of the alphas and betas being 0
-     Sorted by ease of handling and then frequency
-     of occurrence
-     
-     If B is of form
-     x x 0
-     0 x 0
-     0 0 x
-     */
-    if (btFabs(beta_2) <= tol) {
-        process<0>(B, U, sigma, V);
-        sort(U, sigma, V,0);
-    }
-    /**
-     If B is of form
-     x 0 0
-     0 x x
-     0 0 x
-     */
-    else if (btFabs(beta_1) <= tol) {
-        process<1>(B, U, sigma, V);
-        sort(U, sigma, V,1);
-    }
-    /**
-     If B is of form
-     x x 0
-     0 0 x
-     0 0 x
-     */
-    else if (btFabs(alpha_2) <= tol) {
-        /**
-         Reduce B to
-         x x 0
-         0 0 0
-         0 0 x
-         */
-        GivensRotation r1(1, 2);
-        r1.computeUnconventional(B[1][2], B[2][2]);
-        r1.rowRotation(B);
-        r1.columnRotation(U);
-        
-        process<0>(B, U, sigma, V);
-        sort(U, sigma, V, 0);
-    }
-    /**
-     If B is of form
-     x x 0
-     0 x x
-     0 0 0
-     */
-    else if (btFabs(alpha_3) <= tol) {
-        /**
-         Reduce B to
-         x x +
-         0 x 0
-         0 0 0
-         */
-        GivensRotation r1(1, 2);
-        r1.compute(B[1][1], B[1][2]);
-        r1.columnRotation(B);
-        r1.columnRotation(V);
-        /**
-         Reduce B to
-         x x 0
-         + x 0
-         0 0 0
-         */
-        GivensRotation r2(0, 2);
-        r2.compute(B[0][0], B[0][2]);
-        r2.columnRotation(B);
-        r2.columnRotation(V);
-        
-        process<0>(B, U, sigma, V);
-        sort(U, sigma, V, 0);
-    }
-    /**
-     If B is of form
-     0 x 0
-     0 x x
-     0 0 x
-     */
-    else if (btFabs(alpha_1) <= tol) {
-        /**
-         Reduce B to
-         0 0 +
-         0 x x
-         0 0 x
-         */
-        GivensRotation r1(0, 1);
-        r1.computeUnconventional(B[0][1], B[1][1]);
-        r1.rowRotation(B);
-        r1.columnRotation(U);
-        
-        /**
-         Reduce B to
-         0 0 0
-         0 x x
-         0 + x
-         */
-        GivensRotation r2(0, 2);
-        r2.computeUnconventional(B[0][2], B[2][2]);
-        r2.rowRotation(B);
-        r2.columnRotation(U);
-        
-        process<1>(B, U, sigma, V);
-        sort(U, sigma, V, 1);
-    }
-    
-    return count;
-}
-#endif /* btImplicitQRSVD_h */
diff --git a/thirdparty/bullet/LinearMath/btList.h b/thirdparty/bullet/LinearMath/btList.h
deleted file mode 100644
index b255938c30..0000000000
--- a/thirdparty/bullet/LinearMath/btList.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_GEN_LIST_H
-#define BT_GEN_LIST_H
-
-class btGEN_Link
-{
-public:
-	btGEN_Link() : m_next(0), m_prev(0) {}
-	btGEN_Link(btGEN_Link *next, btGEN_Link *prev) : m_next(next), m_prev(prev) {}
-
-	btGEN_Link *getNext() const { return m_next; }
-	btGEN_Link *getPrev() const { return m_prev; }
-
-	bool isHead() const { return m_prev == 0; }
-	bool isTail() const { return m_next == 0; }
-
-	void insertBefore(btGEN_Link *link)
-	{
-		m_next = link;
-		m_prev = link->m_prev;
-		m_next->m_prev = this;
-		m_prev->m_next = this;
-	}
-
-	void insertAfter(btGEN_Link *link)
-	{
-		m_next = link->m_next;
-		m_prev = link;
-		m_next->m_prev = this;
-		m_prev->m_next = this;
-	}
-
-	void remove()
-	{
-		m_next->m_prev = m_prev;
-		m_prev->m_next = m_next;
-	}
-
-private:
-	btGEN_Link *m_next;
-	btGEN_Link *m_prev;
-};
-
-class btGEN_List
-{
-public:
-	btGEN_List() : m_head(&m_tail, 0), m_tail(0, &m_head) {}
-
-	btGEN_Link *getHead() const { return m_head.getNext(); }
-	btGEN_Link *getTail() const { return m_tail.getPrev(); }
-
-	void addHead(btGEN_Link *link) { link->insertAfter(&m_head); }
-	void addTail(btGEN_Link *link) { link->insertBefore(&m_tail); }
-
-private:
-	btGEN_Link m_head;
-	btGEN_Link m_tail;
-};
-
-#endif  //BT_GEN_LIST_H
diff --git a/thirdparty/bullet/LinearMath/btMatrix3x3.h b/thirdparty/bullet/LinearMath/btMatrix3x3.h
deleted file mode 100644
index 9c90fee1d2..0000000000
--- a/thirdparty/bullet/LinearMath/btMatrix3x3.h
+++ /dev/null
@@ -1,1431 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_MATRIX3x3_H
-#define BT_MATRIX3x3_H
-
-#include "btVector3.h"
-#include "btQuaternion.h"
-#include <stdio.h>
-
-#ifdef BT_USE_SSE
-//const __m128 ATTRIBUTE_ALIGNED16(v2220) = {2.0f, 2.0f, 2.0f, 0.0f};
-//const __m128 ATTRIBUTE_ALIGNED16(vMPPP) = {-0.0f, +0.0f, +0.0f, +0.0f};
-#define vMPPP (_mm_set_ps(+0.0f, +0.0f, +0.0f, -0.0f))
-#endif
-
-#if defined(BT_USE_SSE)
-#define v0000 (_mm_set_ps(0.0f, 0.0f, 0.0f, 0.0f))
-#define v1000 (_mm_set_ps(0.0f, 0.0f, 0.0f, 1.0f))
-#define v0100 (_mm_set_ps(0.0f, 0.0f, 1.0f, 0.0f))
-#define v0010 (_mm_set_ps(0.0f, 1.0f, 0.0f, 0.0f))
-#elif defined(BT_USE_NEON)
-const btSimdFloat4 ATTRIBUTE_ALIGNED16(v0000) = {0.0f, 0.0f, 0.0f, 0.0f};
-const btSimdFloat4 ATTRIBUTE_ALIGNED16(v1000) = {1.0f, 0.0f, 0.0f, 0.0f};
-const btSimdFloat4 ATTRIBUTE_ALIGNED16(v0100) = {0.0f, 1.0f, 0.0f, 0.0f};
-const btSimdFloat4 ATTRIBUTE_ALIGNED16(v0010) = {0.0f, 0.0f, 1.0f, 0.0f};
-#endif
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btMatrix3x3Data btMatrix3x3DoubleData
-#else
-#define btMatrix3x3Data btMatrix3x3FloatData
-#endif  //BT_USE_DOUBLE_PRECISION
-
-/**@brief The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3.
-* Make sure to only include a pure orthogonal matrix without scaling. */
-ATTRIBUTE_ALIGNED16(class)
-btMatrix3x3
-{
-	///Data storage for the matrix, each vector is a row of the matrix
-	btVector3 m_el[3];
-
-public:
-	/** @brief No initializaion constructor */
-	btMatrix3x3() {}
-
-	//		explicit btMatrix3x3(const btScalar *m) { setFromOpenGLSubMatrix(m); }
-
-	/**@brief Constructor from Quaternion */
-	explicit btMatrix3x3(const btQuaternion& q) { setRotation(q); }
-	/*
-	template <typename btScalar>
-	Matrix3x3(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
-	{ 
-	setEulerYPR(yaw, pitch, roll);
-	}
-	*/
-	/** @brief Constructor with row major formatting */
-	btMatrix3x3(const btScalar& xx, const btScalar& xy, const btScalar& xz,
-				const btScalar& yx, const btScalar& yy, const btScalar& yz,
-				const btScalar& zx, const btScalar& zy, const btScalar& zz)
-	{
-		setValue(xx, xy, xz,
-				 yx, yy, yz,
-				 zx, zy, zz);
-	}
-
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-	SIMD_FORCE_INLINE btMatrix3x3(const btSimdFloat4 v0, const btSimdFloat4 v1, const btSimdFloat4 v2)
-	{
-		m_el[0].mVec128 = v0;
-		m_el[1].mVec128 = v1;
-		m_el[2].mVec128 = v2;
-	}
-
-	SIMD_FORCE_INLINE btMatrix3x3(const btVector3& v0, const btVector3& v1, const btVector3& v2)
-	{
-		m_el[0] = v0;
-		m_el[1] = v1;
-		m_el[2] = v2;
-	}
-
-	// Copy constructor
-	SIMD_FORCE_INLINE btMatrix3x3(const btMatrix3x3& rhs)
-	{
-		m_el[0].mVec128 = rhs.m_el[0].mVec128;
-		m_el[1].mVec128 = rhs.m_el[1].mVec128;
-		m_el[2].mVec128 = rhs.m_el[2].mVec128;
-	}
-
-	// Assignment Operator
-	SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& m)
-	{
-		m_el[0].mVec128 = m.m_el[0].mVec128;
-		m_el[1].mVec128 = m.m_el[1].mVec128;
-		m_el[2].mVec128 = m.m_el[2].mVec128;
-
-		return *this;
-	}
-
-#else
-
-	/** @brief Copy constructor */
-	SIMD_FORCE_INLINE btMatrix3x3(const btMatrix3x3& other)
-	{
-		m_el[0] = other.m_el[0];
-		m_el[1] = other.m_el[1];
-		m_el[2] = other.m_el[2];
-	}
-
-	/** @brief Assignment Operator */
-	SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& other)
-	{
-		m_el[0] = other.m_el[0];
-		m_el[1] = other.m_el[1];
-		m_el[2] = other.m_el[2];
-		return *this;
-	}
-    
-    SIMD_FORCE_INLINE btMatrix3x3(const btVector3& v0, const btVector3& v1, const btVector3& v2)
-    {
-        m_el[0] = v0;
-        m_el[1] = v1;
-        m_el[2] = v2;
-    }
-
-#endif
-
-	/** @brief Get a column of the matrix as a vector 
-	*  @param i Column number 0 indexed */
-	SIMD_FORCE_INLINE btVector3 getColumn(int i) const
-	{
-		return btVector3(m_el[0][i], m_el[1][i], m_el[2][i]);
-	}
-
-	/** @brief Get a row of the matrix as a vector 
-	*  @param i Row number 0 indexed */
-	SIMD_FORCE_INLINE const btVector3& getRow(int i) const
-	{
-		btFullAssert(0 <= i && i < 3);
-		return m_el[i];
-	}
-
-	/** @brief Get a mutable reference to a row of the matrix as a vector 
-	*  @param i Row number 0 indexed */
-	SIMD_FORCE_INLINE btVector3& operator[](int i)
-	{
-		btFullAssert(0 <= i && i < 3);
-		return m_el[i];
-	}
-
-	/** @brief Get a const reference to a row of the matrix as a vector 
-	*  @param i Row number 0 indexed */
-	SIMD_FORCE_INLINE const btVector3& operator[](int i) const
-	{
-		btFullAssert(0 <= i && i < 3);
-		return m_el[i];
-	}
-
-	/** @brief Multiply by the target matrix on the right
-	*  @param m Rotation matrix to be applied 
-	* Equivilant to this = this * m */
-	btMatrix3x3& operator*=(const btMatrix3x3& m);
-
-	/** @brief Adds by the target matrix on the right
-	*  @param m matrix to be applied 
-	* Equivilant to this = this + m */
-	btMatrix3x3& operator+=(const btMatrix3x3& m);
-
-	/** @brief Substractss by the target matrix on the right
-	*  @param m matrix to be applied 
-	* Equivilant to this = this - m */
-	btMatrix3x3& operator-=(const btMatrix3x3& m);
-
-	/** @brief Set from the rotational part of a 4x4 OpenGL matrix
-	*  @param m A pointer to the beginning of the array of scalars*/
-	void setFromOpenGLSubMatrix(const btScalar* m)
-	{
-		m_el[0].setValue(m[0], m[4], m[8]);
-		m_el[1].setValue(m[1], m[5], m[9]);
-		m_el[2].setValue(m[2], m[6], m[10]);
-	}
-	/** @brief Set the values of the matrix explicitly (row major)
-	*  @param xx Top left
-	*  @param xy Top Middle
-	*  @param xz Top Right
-	*  @param yx Middle Left
-	*  @param yy Middle Middle
-	*  @param yz Middle Right
-	*  @param zx Bottom Left
-	*  @param zy Bottom Middle
-	*  @param zz Bottom Right*/
-	void setValue(const btScalar& xx, const btScalar& xy, const btScalar& xz,
-				  const btScalar& yx, const btScalar& yy, const btScalar& yz,
-				  const btScalar& zx, const btScalar& zy, const btScalar& zz)
-	{
-		m_el[0].setValue(xx, xy, xz);
-		m_el[1].setValue(yx, yy, yz);
-		m_el[2].setValue(zx, zy, zz);
-	}
-
-	/** @brief Set the matrix from a quaternion
-	*  @param q The Quaternion to match */
-	void setRotation(const btQuaternion& q)
-	{
-		btScalar d = q.length2();
-		btFullAssert(d != btScalar(0.0));
-		btScalar s = btScalar(2.0) / d;
-
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 vs, Q = q.get128();
-		__m128i Qi = btCastfTo128i(Q);
-		__m128 Y, Z;
-		__m128 V1, V2, V3;
-		__m128 V11, V21, V31;
-		__m128 NQ = _mm_xor_ps(Q, btvMzeroMask);
-		__m128i NQi = btCastfTo128i(NQ);
-
-		V1 = btCastiTo128f(_mm_shuffle_epi32(Qi, BT_SHUFFLE(1, 0, 2, 3)));  // Y X Z W
-		V2 = _mm_shuffle_ps(NQ, Q, BT_SHUFFLE(0, 0, 1, 3));                 // -X -X  Y  W
-		V3 = btCastiTo128f(_mm_shuffle_epi32(Qi, BT_SHUFFLE(2, 1, 0, 3)));  // Z Y X W
-		V1 = _mm_xor_ps(V1, vMPPP);                                         //	change the sign of the first element
-
-		V11 = btCastiTo128f(_mm_shuffle_epi32(Qi, BT_SHUFFLE(1, 1, 0, 3)));  // Y Y X W
-		V21 = _mm_unpackhi_ps(Q, Q);                                         //  Z  Z  W  W
-		V31 = _mm_shuffle_ps(Q, NQ, BT_SHUFFLE(0, 2, 0, 3));                 //  X  Z -X -W
-
-		V2 = V2 * V1;   //
-		V1 = V1 * V11;  //
-		V3 = V3 * V31;  //
-
-		V11 = _mm_shuffle_ps(NQ, Q, BT_SHUFFLE(2, 3, 1, 3));                //	-Z -W  Y  W
-		V11 = V11 * V21;                                                    //
-		V21 = _mm_xor_ps(V21, vMPPP);                                       //	change the sign of the first element
-		V31 = _mm_shuffle_ps(Q, NQ, BT_SHUFFLE(3, 3, 1, 3));                //	 W  W -Y -W
-		V31 = _mm_xor_ps(V31, vMPPP);                                       //	change the sign of the first element
-		Y = btCastiTo128f(_mm_shuffle_epi32(NQi, BT_SHUFFLE(3, 2, 0, 3)));  // -W -Z -X -W
-		Z = btCastiTo128f(_mm_shuffle_epi32(Qi, BT_SHUFFLE(1, 0, 1, 3)));   //  Y  X  Y  W
-
-		vs = _mm_load_ss(&s);
-		V21 = V21 * Y;
-		V31 = V31 * Z;
-
-		V1 = V1 + V11;
-		V2 = V2 + V21;
-		V3 = V3 + V31;
-
-		vs = bt_splat3_ps(vs, 0);
-		//	s ready
-		V1 = V1 * vs;
-		V2 = V2 * vs;
-		V3 = V3 * vs;
-
-		V1 = V1 + v1000;
-		V2 = V2 + v0100;
-		V3 = V3 + v0010;
-
-		m_el[0] = V1;
-		m_el[1] = V2;
-		m_el[2] = V3;
-#else
-		btScalar xs = q.x() * s, ys = q.y() * s, zs = q.z() * s;
-		btScalar wx = q.w() * xs, wy = q.w() * ys, wz = q.w() * zs;
-		btScalar xx = q.x() * xs, xy = q.x() * ys, xz = q.x() * zs;
-		btScalar yy = q.y() * ys, yz = q.y() * zs, zz = q.z() * zs;
-		setValue(
-			btScalar(1.0) - (yy + zz), xy - wz, xz + wy,
-			xy + wz, btScalar(1.0) - (xx + zz), yz - wx,
-			xz - wy, yz + wx, btScalar(1.0) - (xx + yy));
-#endif
-	}
-
-	/** @brief Set the matrix from euler angles using YPR around YXZ respectively
-	*  @param yaw Yaw about Y axis
-	*  @param pitch Pitch about X axis
-	*  @param roll Roll about Z axis 
-	*/
-	void setEulerYPR(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
-	{
-		setEulerZYX(roll, pitch, yaw);
-	}
-
-	/** @brief Set the matrix from euler angles YPR around ZYX axes
-	* @param eulerX Roll about X axis
-	* @param eulerY Pitch around Y axis
-	* @param eulerZ Yaw about Z axis
-	* 
-	* These angles are used to produce a rotation matrix. The euler
-	* angles are applied in ZYX order. I.e a vector is first rotated 
-	* about X then Y and then Z
-	**/
-	void setEulerZYX(btScalar eulerX, btScalar eulerY, btScalar eulerZ)
-	{
-		///@todo proposed to reverse this since it's labeled zyx but takes arguments xyz and it will match all other parts of the code
-		btScalar ci(btCos(eulerX));
-		btScalar cj(btCos(eulerY));
-		btScalar ch(btCos(eulerZ));
-		btScalar si(btSin(eulerX));
-		btScalar sj(btSin(eulerY));
-		btScalar sh(btSin(eulerZ));
-		btScalar cc = ci * ch;
-		btScalar cs = ci * sh;
-		btScalar sc = si * ch;
-		btScalar ss = si * sh;
-
-		setValue(cj * ch, sj * sc - cs, sj * cc + ss,
-				 cj * sh, sj * ss + cc, sj * cs - sc,
-				 -sj, cj * si, cj * ci);
-	}
-
-	/**@brief Set the matrix to the identity */
-	void setIdentity()
-	{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-		m_el[0] = v1000;
-		m_el[1] = v0100;
-		m_el[2] = v0010;
-#else
-		setValue(btScalar(1.0), btScalar(0.0), btScalar(0.0),
-				 btScalar(0.0), btScalar(1.0), btScalar(0.0),
-				 btScalar(0.0), btScalar(0.0), btScalar(1.0));
-#endif
-	}
-    
-    /**@brief Set the matrix to the identity */
-    void setZero()
-    {
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-        m_el[0] = v0000;
-        m_el[1] = v0000;
-        m_el[2] = v0000;
-#else
-        setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0),
-                 btScalar(0.0), btScalar(0.0), btScalar(0.0),
-                 btScalar(0.0), btScalar(0.0), btScalar(0.0));
-#endif
-    }
-
-	static const btMatrix3x3& getIdentity()
-	{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-		static const btMatrix3x3
-			identityMatrix(v1000, v0100, v0010);
-#else
-		static const btMatrix3x3
-			identityMatrix(
-				btScalar(1.0), btScalar(0.0), btScalar(0.0),
-				btScalar(0.0), btScalar(1.0), btScalar(0.0),
-				btScalar(0.0), btScalar(0.0), btScalar(1.0));
-#endif
-		return identityMatrix;
-	}
-
-	/**@brief Fill the rotational part of an OpenGL matrix and clear the shear/perspective
-	* @param m The array to be filled */
-	void getOpenGLSubMatrix(btScalar * m) const
-	{
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 v0 = m_el[0].mVec128;
-		__m128 v1 = m_el[1].mVec128;
-		__m128 v2 = m_el[2].mVec128;  //  x2 y2 z2 w2
-		__m128* vm = (__m128*)m;
-		__m128 vT;
-
-		v2 = _mm_and_ps(v2, btvFFF0fMask);  //  x2 y2 z2 0
-
-		vT = _mm_unpackhi_ps(v0, v1);  //	z0 z1 * *
-		v0 = _mm_unpacklo_ps(v0, v1);  //	x0 x1 y0 y1
-
-		v1 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(2, 3, 1, 3));                    // y0 y1 y2 0
-		v0 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(0, 1, 0, 3));                    // x0 x1 x2 0
-		v2 = btCastdTo128f(_mm_move_sd(btCastfTo128d(v2), btCastfTo128d(vT)));  // z0 z1 z2 0
-
-		vm[0] = v0;
-		vm[1] = v1;
-		vm[2] = v2;
-#elif defined(BT_USE_NEON)
-		// note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions.
-		static const uint32x2_t zMask = (const uint32x2_t){static_cast<uint32_t>(-1), 0};
-		float32x4_t* vm = (float32x4_t*)m;
-		float32x4x2_t top = vtrnq_f32(m_el[0].mVec128, m_el[1].mVec128);               // {x0 x1 z0 z1}, {y0 y1 w0 w1}
-		float32x2x2_t bl = vtrn_f32(vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f));  // {x2  0 }, {y2 0}
-		float32x4_t v0 = vcombine_f32(vget_low_f32(top.val[0]), bl.val[0]);
-		float32x4_t v1 = vcombine_f32(vget_low_f32(top.val[1]), bl.val[1]);
-		float32x2_t q = (float32x2_t)vand_u32((uint32x2_t)vget_high_f32(m_el[2].mVec128), zMask);
-		float32x4_t v2 = vcombine_f32(vget_high_f32(top.val[0]), q);  // z0 z1 z2  0
-
-		vm[0] = v0;
-		vm[1] = v1;
-		vm[2] = v2;
-#else
-		m[0] = btScalar(m_el[0].x());
-		m[1] = btScalar(m_el[1].x());
-		m[2] = btScalar(m_el[2].x());
-		m[3] = btScalar(0.0);
-		m[4] = btScalar(m_el[0].y());
-		m[5] = btScalar(m_el[1].y());
-		m[6] = btScalar(m_el[2].y());
-		m[7] = btScalar(0.0);
-		m[8] = btScalar(m_el[0].z());
-		m[9] = btScalar(m_el[1].z());
-		m[10] = btScalar(m_el[2].z());
-		m[11] = btScalar(0.0);
-#endif
-	}
-
-	/**@brief Get the matrix represented as a quaternion 
-	* @param q The quaternion which will be set */
-	void getRotation(btQuaternion & q) const
-	{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-		btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z();
-		btScalar s, x;
-
-		union {
-			btSimdFloat4 vec;
-			btScalar f[4];
-		} temp;
-
-		if (trace > btScalar(0.0))
-		{
-			x = trace + btScalar(1.0);
-
-			temp.f[0] = m_el[2].y() - m_el[1].z();
-			temp.f[1] = m_el[0].z() - m_el[2].x();
-			temp.f[2] = m_el[1].x() - m_el[0].y();
-			temp.f[3] = x;
-			//temp.f[3]= s * btScalar(0.5);
-		}
-		else
-		{
-			int i, j, k;
-			if (m_el[0].x() < m_el[1].y())
-			{
-				if (m_el[1].y() < m_el[2].z())
-				{
-					i = 2;
-					j = 0;
-					k = 1;
-				}
-				else
-				{
-					i = 1;
-					j = 2;
-					k = 0;
-				}
-			}
-			else
-			{
-				if (m_el[0].x() < m_el[2].z())
-				{
-					i = 2;
-					j = 0;
-					k = 1;
-				}
-				else
-				{
-					i = 0;
-					j = 1;
-					k = 2;
-				}
-			}
-
-			x = m_el[i][i] - m_el[j][j] - m_el[k][k] + btScalar(1.0);
-
-			temp.f[3] = (m_el[k][j] - m_el[j][k]);
-			temp.f[j] = (m_el[j][i] + m_el[i][j]);
-			temp.f[k] = (m_el[k][i] + m_el[i][k]);
-			temp.f[i] = x;
-			//temp.f[i] = s * btScalar(0.5);
-		}
-
-		s = btSqrt(x);
-		q.set128(temp.vec);
-		s = btScalar(0.5) / s;
-
-		q *= s;
-#else
-		btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z();
-
-		btScalar temp[4];
-
-		if (trace > btScalar(0.0))
-		{
-			btScalar s = btSqrt(trace + btScalar(1.0));
-			temp[3] = (s * btScalar(0.5));
-			s = btScalar(0.5) / s;
-
-			temp[0] = ((m_el[2].y() - m_el[1].z()) * s);
-			temp[1] = ((m_el[0].z() - m_el[2].x()) * s);
-			temp[2] = ((m_el[1].x() - m_el[0].y()) * s);
-		}
-		else
-		{
-			int i = m_el[0].x() < m_el[1].y() ? (m_el[1].y() < m_el[2].z() ? 2 : 1) : (m_el[0].x() < m_el[2].z() ? 2 : 0);
-			int j = (i + 1) % 3;
-			int k = (i + 2) % 3;
-
-			btScalar s = btSqrt(m_el[i][i] - m_el[j][j] - m_el[k][k] + btScalar(1.0));
-			temp[i] = s * btScalar(0.5);
-			s = btScalar(0.5) / s;
-
-			temp[3] = (m_el[k][j] - m_el[j][k]) * s;
-			temp[j] = (m_el[j][i] + m_el[i][j]) * s;
-			temp[k] = (m_el[k][i] + m_el[i][k]) * s;
-		}
-		q.setValue(temp[0], temp[1], temp[2], temp[3]);
-#endif
-	}
-
-	/**@brief Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR
-	* @param yaw Yaw around Y axis
-	* @param pitch Pitch around X axis
-	* @param roll around Z axis */
-	void getEulerYPR(btScalar & yaw, btScalar & pitch, btScalar & roll) const
-	{
-		// first use the normal calculus
-		yaw = btScalar(btAtan2(m_el[1].x(), m_el[0].x()));
-		pitch = btScalar(btAsin(-m_el[2].x()));
-		roll = btScalar(btAtan2(m_el[2].y(), m_el[2].z()));
-
-		// on pitch = +/-HalfPI
-		if (btFabs(pitch) == SIMD_HALF_PI)
-		{
-			if (yaw > 0)
-				yaw -= SIMD_PI;
-			else
-				yaw += SIMD_PI;
-
-			if (roll > 0)
-				roll -= SIMD_PI;
-			else
-				roll += SIMD_PI;
-		}
-	};
-
-	/**@brief Get the matrix represented as euler angles around ZYX
-	* @param yaw Yaw around Z axis
-	* @param pitch Pitch around Y axis
-	* @param roll around X axis 
-	* @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/
-	void getEulerZYX(btScalar & yaw, btScalar & pitch, btScalar & roll, unsigned int solution_number = 1) const
-	{
-		struct Euler
-		{
-			btScalar yaw;
-			btScalar pitch;
-			btScalar roll;
-		};
-
-		Euler euler_out;
-		Euler euler_out2;  //second solution
-		//get the pointer to the raw data
-
-		// Check that pitch is not at a singularity
-		if (btFabs(m_el[2].x()) >= 1)
-		{
-			euler_out.yaw = 0;
-			euler_out2.yaw = 0;
-
-			// From difference of angles formula
-			btScalar delta = btAtan2(m_el[0].x(), m_el[0].z());
-			if (m_el[2].x() > 0)  //gimbal locked up
-			{
-				euler_out.pitch = SIMD_PI / btScalar(2.0);
-				euler_out2.pitch = SIMD_PI / btScalar(2.0);
-				euler_out.roll = euler_out.pitch + delta;
-				euler_out2.roll = euler_out.pitch + delta;
-			}
-			else  // gimbal locked down
-			{
-				euler_out.pitch = -SIMD_PI / btScalar(2.0);
-				euler_out2.pitch = -SIMD_PI / btScalar(2.0);
-				euler_out.roll = -euler_out.pitch + delta;
-				euler_out2.roll = -euler_out.pitch + delta;
-			}
-		}
-		else
-		{
-			euler_out.pitch = -btAsin(m_el[2].x());
-			euler_out2.pitch = SIMD_PI - euler_out.pitch;
-
-			euler_out.roll = btAtan2(m_el[2].y() / btCos(euler_out.pitch),
-									 m_el[2].z() / btCos(euler_out.pitch));
-			euler_out2.roll = btAtan2(m_el[2].y() / btCos(euler_out2.pitch),
-									  m_el[2].z() / btCos(euler_out2.pitch));
-
-			euler_out.yaw = btAtan2(m_el[1].x() / btCos(euler_out.pitch),
-									m_el[0].x() / btCos(euler_out.pitch));
-			euler_out2.yaw = btAtan2(m_el[1].x() / btCos(euler_out2.pitch),
-									 m_el[0].x() / btCos(euler_out2.pitch));
-		}
-
-		if (solution_number == 1)
-		{
-			yaw = euler_out.yaw;
-			pitch = euler_out.pitch;
-			roll = euler_out.roll;
-		}
-		else
-		{
-			yaw = euler_out2.yaw;
-			pitch = euler_out2.pitch;
-			roll = euler_out2.roll;
-		}
-	}
-
-	/**@brief Create a scaled copy of the matrix 
-	* @param s Scaling vector The elements of the vector will scale each column */
-
-	btMatrix3x3 scaled(const btVector3& s) const
-	{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-		return btMatrix3x3(m_el[0] * s, m_el[1] * s, m_el[2] * s);
-#else
-		return btMatrix3x3(
-			m_el[0].x() * s.x(), m_el[0].y() * s.y(), m_el[0].z() * s.z(),
-			m_el[1].x() * s.x(), m_el[1].y() * s.y(), m_el[1].z() * s.z(),
-			m_el[2].x() * s.x(), m_el[2].y() * s.y(), m_el[2].z() * s.z());
-#endif
-	}
-
-	/**@brief Return the determinant of the matrix */
-	btScalar determinant() const;
-	/**@brief Return the adjoint of the matrix */
-	btMatrix3x3 adjoint() const;
-	/**@brief Return the matrix with all values non negative */
-	btMatrix3x3 absolute() const;
-	/**@brief Return the transpose of the matrix */
-	btMatrix3x3 transpose() const;
-	/**@brief Return the inverse of the matrix */
-	btMatrix3x3 inverse() const;
-
-	/// Solve A * x = b, where b is a column vector. This is more efficient
-	/// than computing the inverse in one-shot cases.
-	///Solve33 is from Box2d, thanks to Erin Catto,
-	btVector3 solve33(const btVector3& b) const
-	{
-		btVector3 col1 = getColumn(0);
-		btVector3 col2 = getColumn(1);
-		btVector3 col3 = getColumn(2);
-
-		btScalar det = btDot(col1, btCross(col2, col3));
-		if (btFabs(det) > SIMD_EPSILON)
-		{
-			det = 1.0f / det;
-		}
-		btVector3 x;
-		x[0] = det * btDot(b, btCross(col2, col3));
-		x[1] = det * btDot(col1, btCross(b, col3));
-		x[2] = det * btDot(col1, btCross(col2, b));
-		return x;
-	}
-
-	btMatrix3x3 transposeTimes(const btMatrix3x3& m) const;
-	btMatrix3x3 timesTranspose(const btMatrix3x3& m) const;
-
-	SIMD_FORCE_INLINE btScalar tdotx(const btVector3& v) const
-	{
-		return m_el[0].x() * v.x() + m_el[1].x() * v.y() + m_el[2].x() * v.z();
-	}
-	SIMD_FORCE_INLINE btScalar tdoty(const btVector3& v) const
-	{
-		return m_el[0].y() * v.x() + m_el[1].y() * v.y() + m_el[2].y() * v.z();
-	}
-	SIMD_FORCE_INLINE btScalar tdotz(const btVector3& v) const
-	{
-		return m_el[0].z() * v.x() + m_el[1].z() * v.y() + m_el[2].z() * v.z();
-	}
-
-	///extractRotation is from "A robust method to extract the rotational part of deformations"
-	///See http://dl.acm.org/citation.cfm?doid=2994258.2994269
-	///decomposes a matrix A in a orthogonal matrix R and a
-	///symmetric matrix S:
-	///A = R*S.
-	///note that R can include both rotation and scaling.
-	SIMD_FORCE_INLINE void extractRotation(btQuaternion & q, btScalar tolerance = 1.0e-9, int maxIter = 100)
-	{
-		int iter = 0;
-		btScalar w;
-		const btMatrix3x3& A = *this;
-		for (iter = 0; iter < maxIter; iter++)
-		{
-			btMatrix3x3 R(q);
-			btVector3 omega = (R.getColumn(0).cross(A.getColumn(0)) + R.getColumn(1).cross(A.getColumn(1)) + R.getColumn(2).cross(A.getColumn(2))) * (btScalar(1.0) / btFabs(R.getColumn(0).dot(A.getColumn(0)) + R.getColumn(1).dot(A.getColumn(1)) + R.getColumn(2).dot(A.getColumn(2))) +
-																																					  tolerance);
-			w = omega.norm();
-			if (w < tolerance)
-				break;
-			q = btQuaternion(btVector3((btScalar(1.0) / w) * omega), w) *
-				q;
-			q.normalize();
-		}
-	}
-
-	/**@brief diagonalizes this matrix by the Jacobi method.
-	* @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original
-	* coordinate system, i.e., old_this = rot * new_this * rot^T.
-	* @param threshold See iteration
-	* @param iteration The iteration stops when all off-diagonal elements are less than the threshold multiplied
-	* by the sum of the absolute values of the diagonal, or when maxSteps have been executed.
-	*
-	* Note that this matrix is assumed to be symmetric.
-	*/
-	void diagonalize(btMatrix3x3 & rot, btScalar threshold, int maxSteps)
-	{
-		rot.setIdentity();
-		for (int step = maxSteps; step > 0; step--)
-		{
-			// find off-diagonal element [p][q] with largest magnitude
-			int p = 0;
-			int q = 1;
-			int r = 2;
-			btScalar max = btFabs(m_el[0][1]);
-			btScalar v = btFabs(m_el[0][2]);
-			if (v > max)
-			{
-				q = 2;
-				r = 1;
-				max = v;
-			}
-			v = btFabs(m_el[1][2]);
-			if (v > max)
-			{
-				p = 1;
-				q = 2;
-				r = 0;
-				max = v;
-			}
-
-			btScalar t = threshold * (btFabs(m_el[0][0]) + btFabs(m_el[1][1]) + btFabs(m_el[2][2]));
-			if (max <= t)
-			{
-				if (max <= SIMD_EPSILON * t)
-				{
-					return;
-				}
-				step = 1;
-			}
-
-			// compute Jacobi rotation J which leads to a zero for element [p][q]
-			btScalar mpq = m_el[p][q];
-			btScalar theta = (m_el[q][q] - m_el[p][p]) / (2 * mpq);
-			btScalar theta2 = theta * theta;
-			btScalar cos;
-			btScalar sin;
-			if (theta2 * theta2 < btScalar(10 / SIMD_EPSILON))
-			{
-				t = (theta >= 0) ? 1 / (theta + btSqrt(1 + theta2))
-								 : 1 / (theta - btSqrt(1 + theta2));
-				cos = 1 / btSqrt(1 + t * t);
-				sin = cos * t;
-			}
-			else
-			{
-				// approximation for large theta-value, i.e., a nearly diagonal matrix
-				t = 1 / (theta * (2 + btScalar(0.5) / theta2));
-				cos = 1 - btScalar(0.5) * t * t;
-				sin = cos * t;
-			}
-
-			// apply rotation to matrix (this = J^T * this * J)
-			m_el[p][q] = m_el[q][p] = 0;
-			m_el[p][p] -= t * mpq;
-			m_el[q][q] += t * mpq;
-			btScalar mrp = m_el[r][p];
-			btScalar mrq = m_el[r][q];
-			m_el[r][p] = m_el[p][r] = cos * mrp - sin * mrq;
-			m_el[r][q] = m_el[q][r] = cos * mrq + sin * mrp;
-
-			// apply rotation to rot (rot = rot * J)
-			for (int i = 0; i < 3; i++)
-			{
-				btVector3& row = rot[i];
-				mrp = row[p];
-				mrq = row[q];
-				row[p] = cos * mrp - sin * mrq;
-				row[q] = cos * mrq + sin * mrp;
-			}
-		}
-	}
-
-	/**@brief Calculate the matrix cofactor 
-	* @param r1 The first row to use for calculating the cofactor
-	* @param c1 The first column to use for calculating the cofactor
-	* @param r1 The second row to use for calculating the cofactor
-	* @param c1 The second column to use for calculating the cofactor
-	* See http://en.wikipedia.org/wiki/Cofactor_(linear_algebra) for more details
-	*/
-	btScalar cofac(int r1, int c1, int r2, int c2) const
-	{
-		return m_el[r1][c1] * m_el[r2][c2] - m_el[r1][c2] * m_el[r2][c1];
-	}
-
-	void serialize(struct btMatrix3x3Data & dataOut) const;
-
-	void serializeFloat(struct btMatrix3x3FloatData & dataOut) const;
-
-	void deSerialize(const struct btMatrix3x3Data& dataIn);
-
-	void deSerializeFloat(const struct btMatrix3x3FloatData& dataIn);
-
-	void deSerializeDouble(const struct btMatrix3x3DoubleData& dataIn);
-};
-
-SIMD_FORCE_INLINE btMatrix3x3&
-btMatrix3x3::operator*=(const btMatrix3x3& m)
-{
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-	__m128 rv00, rv01, rv02;
-	__m128 rv10, rv11, rv12;
-	__m128 rv20, rv21, rv22;
-	__m128 mv0, mv1, mv2;
-
-	rv02 = m_el[0].mVec128;
-	rv12 = m_el[1].mVec128;
-	rv22 = m_el[2].mVec128;
-
-	mv0 = _mm_and_ps(m[0].mVec128, btvFFF0fMask);
-	mv1 = _mm_and_ps(m[1].mVec128, btvFFF0fMask);
-	mv2 = _mm_and_ps(m[2].mVec128, btvFFF0fMask);
-
-	// rv0
-	rv00 = bt_splat_ps(rv02, 0);
-	rv01 = bt_splat_ps(rv02, 1);
-	rv02 = bt_splat_ps(rv02, 2);
-
-	rv00 = _mm_mul_ps(rv00, mv0);
-	rv01 = _mm_mul_ps(rv01, mv1);
-	rv02 = _mm_mul_ps(rv02, mv2);
-
-	// rv1
-	rv10 = bt_splat_ps(rv12, 0);
-	rv11 = bt_splat_ps(rv12, 1);
-	rv12 = bt_splat_ps(rv12, 2);
-
-	rv10 = _mm_mul_ps(rv10, mv0);
-	rv11 = _mm_mul_ps(rv11, mv1);
-	rv12 = _mm_mul_ps(rv12, mv2);
-
-	// rv2
-	rv20 = bt_splat_ps(rv22, 0);
-	rv21 = bt_splat_ps(rv22, 1);
-	rv22 = bt_splat_ps(rv22, 2);
-
-	rv20 = _mm_mul_ps(rv20, mv0);
-	rv21 = _mm_mul_ps(rv21, mv1);
-	rv22 = _mm_mul_ps(rv22, mv2);
-
-	rv00 = _mm_add_ps(rv00, rv01);
-	rv10 = _mm_add_ps(rv10, rv11);
-	rv20 = _mm_add_ps(rv20, rv21);
-
-	m_el[0].mVec128 = _mm_add_ps(rv00, rv02);
-	m_el[1].mVec128 = _mm_add_ps(rv10, rv12);
-	m_el[2].mVec128 = _mm_add_ps(rv20, rv22);
-
-#elif defined(BT_USE_NEON)
-
-	float32x4_t rv0, rv1, rv2;
-	float32x4_t v0, v1, v2;
-	float32x4_t mv0, mv1, mv2;
-
-	v0 = m_el[0].mVec128;
-	v1 = m_el[1].mVec128;
-	v2 = m_el[2].mVec128;
-
-	mv0 = (float32x4_t)vandq_s32((int32x4_t)m[0].mVec128, btvFFF0Mask);
-	mv1 = (float32x4_t)vandq_s32((int32x4_t)m[1].mVec128, btvFFF0Mask);
-	mv2 = (float32x4_t)vandq_s32((int32x4_t)m[2].mVec128, btvFFF0Mask);
-
-	rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0);
-	rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0);
-	rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0);
-
-	rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1);
-	rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1);
-	rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1);
-
-	rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0);
-	rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0);
-	rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0);
-
-	m_el[0].mVec128 = rv0;
-	m_el[1].mVec128 = rv1;
-	m_el[2].mVec128 = rv2;
-#else
-	setValue(
-		m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]),
-		m.tdotx(m_el[1]), m.tdoty(m_el[1]), m.tdotz(m_el[1]),
-		m.tdotx(m_el[2]), m.tdoty(m_el[2]), m.tdotz(m_el[2]));
-#endif
-	return *this;
-}
-
-SIMD_FORCE_INLINE btMatrix3x3&
-btMatrix3x3::operator+=(const btMatrix3x3& m)
-{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-	m_el[0].mVec128 = m_el[0].mVec128 + m.m_el[0].mVec128;
-	m_el[1].mVec128 = m_el[1].mVec128 + m.m_el[1].mVec128;
-	m_el[2].mVec128 = m_el[2].mVec128 + m.m_el[2].mVec128;
-#else
-	setValue(
-		m_el[0][0] + m.m_el[0][0],
-		m_el[0][1] + m.m_el[0][1],
-		m_el[0][2] + m.m_el[0][2],
-		m_el[1][0] + m.m_el[1][0],
-		m_el[1][1] + m.m_el[1][1],
-		m_el[1][2] + m.m_el[1][2],
-		m_el[2][0] + m.m_el[2][0],
-		m_el[2][1] + m.m_el[2][1],
-		m_el[2][2] + m.m_el[2][2]);
-#endif
-	return *this;
-}
-
-SIMD_FORCE_INLINE btMatrix3x3
-operator*(const btMatrix3x3& m, const btScalar& k)
-{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
-	__m128 vk = bt_splat_ps(_mm_load_ss((float*)&k), 0x80);
-	return btMatrix3x3(
-		_mm_mul_ps(m[0].mVec128, vk),
-		_mm_mul_ps(m[1].mVec128, vk),
-		_mm_mul_ps(m[2].mVec128, vk));
-#elif defined(BT_USE_NEON)
-	return btMatrix3x3(
-		vmulq_n_f32(m[0].mVec128, k),
-		vmulq_n_f32(m[1].mVec128, k),
-		vmulq_n_f32(m[2].mVec128, k));
-#else
-	return btMatrix3x3(
-		m[0].x() * k, m[0].y() * k, m[0].z() * k,
-		m[1].x() * k, m[1].y() * k, m[1].z() * k,
-		m[2].x() * k, m[2].y() * k, m[2].z() * k);
-#endif
-}
-
-SIMD_FORCE_INLINE btMatrix3x3
-operator+(const btMatrix3x3& m1, const btMatrix3x3& m2)
-{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-	return btMatrix3x3(
-		m1[0].mVec128 + m2[0].mVec128,
-		m1[1].mVec128 + m2[1].mVec128,
-		m1[2].mVec128 + m2[2].mVec128);
-#else
-	return btMatrix3x3(
-		m1[0][0] + m2[0][0],
-		m1[0][1] + m2[0][1],
-		m1[0][2] + m2[0][2],
-
-		m1[1][0] + m2[1][0],
-		m1[1][1] + m2[1][1],
-		m1[1][2] + m2[1][2],
-
-		m1[2][0] + m2[2][0],
-		m1[2][1] + m2[2][1],
-		m1[2][2] + m2[2][2]);
-#endif
-}
-
-SIMD_FORCE_INLINE btMatrix3x3
-operator-(const btMatrix3x3& m1, const btMatrix3x3& m2)
-{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-	return btMatrix3x3(
-		m1[0].mVec128 - m2[0].mVec128,
-		m1[1].mVec128 - m2[1].mVec128,
-		m1[2].mVec128 - m2[2].mVec128);
-#else
-	return btMatrix3x3(
-		m1[0][0] - m2[0][0],
-		m1[0][1] - m2[0][1],
-		m1[0][2] - m2[0][2],
-
-		m1[1][0] - m2[1][0],
-		m1[1][1] - m2[1][1],
-		m1[1][2] - m2[1][2],
-
-		m1[2][0] - m2[2][0],
-		m1[2][1] - m2[2][1],
-		m1[2][2] - m2[2][2]);
-#endif
-}
-
-SIMD_FORCE_INLINE btMatrix3x3&
-btMatrix3x3::operator-=(const btMatrix3x3& m)
-{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-	m_el[0].mVec128 = m_el[0].mVec128 - m.m_el[0].mVec128;
-	m_el[1].mVec128 = m_el[1].mVec128 - m.m_el[1].mVec128;
-	m_el[2].mVec128 = m_el[2].mVec128 - m.m_el[2].mVec128;
-#else
-	setValue(
-		m_el[0][0] - m.m_el[0][0],
-		m_el[0][1] - m.m_el[0][1],
-		m_el[0][2] - m.m_el[0][2],
-		m_el[1][0] - m.m_el[1][0],
-		m_el[1][1] - m.m_el[1][1],
-		m_el[1][2] - m.m_el[1][2],
-		m_el[2][0] - m.m_el[2][0],
-		m_el[2][1] - m.m_el[2][1],
-		m_el[2][2] - m.m_el[2][2]);
-#endif
-	return *this;
-}
-
-SIMD_FORCE_INLINE btScalar
-btMatrix3x3::determinant() const
-{
-	return btTriple((*this)[0], (*this)[1], (*this)[2]);
-}
-
-SIMD_FORCE_INLINE btMatrix3x3
-btMatrix3x3::absolute() const
-{
-#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
-	return btMatrix3x3(
-		_mm_and_ps(m_el[0].mVec128, btvAbsfMask),
-		_mm_and_ps(m_el[1].mVec128, btvAbsfMask),
-		_mm_and_ps(m_el[2].mVec128, btvAbsfMask));
-#elif defined(BT_USE_NEON)
-	return btMatrix3x3(
-		(float32x4_t)vandq_s32((int32x4_t)m_el[0].mVec128, btv3AbsMask),
-		(float32x4_t)vandq_s32((int32x4_t)m_el[1].mVec128, btv3AbsMask),
-		(float32x4_t)vandq_s32((int32x4_t)m_el[2].mVec128, btv3AbsMask));
-#else
-	return btMatrix3x3(
-		btFabs(m_el[0].x()), btFabs(m_el[0].y()), btFabs(m_el[0].z()),
-		btFabs(m_el[1].x()), btFabs(m_el[1].y()), btFabs(m_el[1].z()),
-		btFabs(m_el[2].x()), btFabs(m_el[2].y()), btFabs(m_el[2].z()));
-#endif
-}
-
-SIMD_FORCE_INLINE btMatrix3x3
-btMatrix3x3::transpose() const
-{
-#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
-	__m128 v0 = m_el[0].mVec128;
-	__m128 v1 = m_el[1].mVec128;
-	__m128 v2 = m_el[2].mVec128;  //  x2 y2 z2 w2
-	__m128 vT;
-
-	v2 = _mm_and_ps(v2, btvFFF0fMask);  //  x2 y2 z2 0
-
-	vT = _mm_unpackhi_ps(v0, v1);  //	z0 z1 * *
-	v0 = _mm_unpacklo_ps(v0, v1);  //	x0 x1 y0 y1
-
-	v1 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(2, 3, 1, 3));                    // y0 y1 y2 0
-	v0 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(0, 1, 0, 3));                    // x0 x1 x2 0
-	v2 = btCastdTo128f(_mm_move_sd(btCastfTo128d(v2), btCastfTo128d(vT)));  // z0 z1 z2 0
-
-	return btMatrix3x3(v0, v1, v2);
-#elif defined(BT_USE_NEON)
-	// note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions.
-	static const uint32x2_t zMask = (const uint32x2_t){static_cast<uint32_t>(-1), 0};
-	float32x4x2_t top = vtrnq_f32(m_el[0].mVec128, m_el[1].mVec128);               // {x0 x1 z0 z1}, {y0 y1 w0 w1}
-	float32x2x2_t bl = vtrn_f32(vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f));  // {x2  0 }, {y2 0}
-	float32x4_t v0 = vcombine_f32(vget_low_f32(top.val[0]), bl.val[0]);
-	float32x4_t v1 = vcombine_f32(vget_low_f32(top.val[1]), bl.val[1]);
-	float32x2_t q = (float32x2_t)vand_u32((uint32x2_t)vget_high_f32(m_el[2].mVec128), zMask);
-	float32x4_t v2 = vcombine_f32(vget_high_f32(top.val[0]), q);  // z0 z1 z2  0
-	return btMatrix3x3(v0, v1, v2);
-#else
-	return btMatrix3x3(m_el[0].x(), m_el[1].x(), m_el[2].x(),
-					   m_el[0].y(), m_el[1].y(), m_el[2].y(),
-					   m_el[0].z(), m_el[1].z(), m_el[2].z());
-#endif
-}
-
-SIMD_FORCE_INLINE btMatrix3x3
-btMatrix3x3::adjoint() const
-{
-	return btMatrix3x3(cofac(1, 1, 2, 2), cofac(0, 2, 2, 1), cofac(0, 1, 1, 2),
-					   cofac(1, 2, 2, 0), cofac(0, 0, 2, 2), cofac(0, 2, 1, 0),
-					   cofac(1, 0, 2, 1), cofac(0, 1, 2, 0), cofac(0, 0, 1, 1));
-}
-
-SIMD_FORCE_INLINE btMatrix3x3
-btMatrix3x3::inverse() const
-{
-	btVector3 co(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1));
-	btScalar det = (*this)[0].dot(co);
-	//btFullAssert(det != btScalar(0.0));
-	btAssert(det != btScalar(0.0));
-	btScalar s = btScalar(1.0) / det;
-	return btMatrix3x3(co.x() * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s,
-					   co.y() * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,
-					   co.z() * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s);
-}
-
-SIMD_FORCE_INLINE btMatrix3x3
-btMatrix3x3::transposeTimes(const btMatrix3x3& m) const
-{
-#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
-	// zeros w
-	//    static const __m128i xyzMask = (const __m128i){ -1ULL, 0xffffffffULL };
-	__m128 row = m_el[0].mVec128;
-	__m128 m0 = _mm_and_ps(m.getRow(0).mVec128, btvFFF0fMask);
-	__m128 m1 = _mm_and_ps(m.getRow(1).mVec128, btvFFF0fMask);
-	__m128 m2 = _mm_and_ps(m.getRow(2).mVec128, btvFFF0fMask);
-	__m128 r0 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0));
-	__m128 r1 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0x55));
-	__m128 r2 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0xaa));
-	row = m_el[1].mVec128;
-	r0 = _mm_add_ps(r0, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0)));
-	r1 = _mm_add_ps(r1, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0x55)));
-	r2 = _mm_add_ps(r2, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0xaa)));
-	row = m_el[2].mVec128;
-	r0 = _mm_add_ps(r0, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0)));
-	r1 = _mm_add_ps(r1, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0x55)));
-	r2 = _mm_add_ps(r2, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0xaa)));
-	return btMatrix3x3(r0, r1, r2);
-
-#elif defined BT_USE_NEON
-	// zeros w
-	static const uint32x4_t xyzMask = (const uint32x4_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), 0};
-	float32x4_t m0 = (float32x4_t)vandq_u32((uint32x4_t)m.getRow(0).mVec128, xyzMask);
-	float32x4_t m1 = (float32x4_t)vandq_u32((uint32x4_t)m.getRow(1).mVec128, xyzMask);
-	float32x4_t m2 = (float32x4_t)vandq_u32((uint32x4_t)m.getRow(2).mVec128, xyzMask);
-	float32x4_t row = m_el[0].mVec128;
-	float32x4_t r0 = vmulq_lane_f32(m0, vget_low_f32(row), 0);
-	float32x4_t r1 = vmulq_lane_f32(m0, vget_low_f32(row), 1);
-	float32x4_t r2 = vmulq_lane_f32(m0, vget_high_f32(row), 0);
-	row = m_el[1].mVec128;
-	r0 = vmlaq_lane_f32(r0, m1, vget_low_f32(row), 0);
-	r1 = vmlaq_lane_f32(r1, m1, vget_low_f32(row), 1);
-	r2 = vmlaq_lane_f32(r2, m1, vget_high_f32(row), 0);
-	row = m_el[2].mVec128;
-	r0 = vmlaq_lane_f32(r0, m2, vget_low_f32(row), 0);
-	r1 = vmlaq_lane_f32(r1, m2, vget_low_f32(row), 1);
-	r2 = vmlaq_lane_f32(r2, m2, vget_high_f32(row), 0);
-	return btMatrix3x3(r0, r1, r2);
-#else
-	return btMatrix3x3(
-		m_el[0].x() * m[0].x() + m_el[1].x() * m[1].x() + m_el[2].x() * m[2].x(),
-		m_el[0].x() * m[0].y() + m_el[1].x() * m[1].y() + m_el[2].x() * m[2].y(),
-		m_el[0].x() * m[0].z() + m_el[1].x() * m[1].z() + m_el[2].x() * m[2].z(),
-		m_el[0].y() * m[0].x() + m_el[1].y() * m[1].x() + m_el[2].y() * m[2].x(),
-		m_el[0].y() * m[0].y() + m_el[1].y() * m[1].y() + m_el[2].y() * m[2].y(),
-		m_el[0].y() * m[0].z() + m_el[1].y() * m[1].z() + m_el[2].y() * m[2].z(),
-		m_el[0].z() * m[0].x() + m_el[1].z() * m[1].x() + m_el[2].z() * m[2].x(),
-		m_el[0].z() * m[0].y() + m_el[1].z() * m[1].y() + m_el[2].z() * m[2].y(),
-		m_el[0].z() * m[0].z() + m_el[1].z() * m[1].z() + m_el[2].z() * m[2].z());
-#endif
-}
-
-SIMD_FORCE_INLINE btMatrix3x3
-btMatrix3x3::timesTranspose(const btMatrix3x3& m) const
-{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
-	__m128 a0 = m_el[0].mVec128;
-	__m128 a1 = m_el[1].mVec128;
-	__m128 a2 = m_el[2].mVec128;
-
-	btMatrix3x3 mT = m.transpose();  // we rely on transpose() zeroing w channel so that we don't have to do it here
-	__m128 mx = mT[0].mVec128;
-	__m128 my = mT[1].mVec128;
-	__m128 mz = mT[2].mVec128;
-
-	__m128 r0 = _mm_mul_ps(mx, _mm_shuffle_ps(a0, a0, 0x00));
-	__m128 r1 = _mm_mul_ps(mx, _mm_shuffle_ps(a1, a1, 0x00));
-	__m128 r2 = _mm_mul_ps(mx, _mm_shuffle_ps(a2, a2, 0x00));
-	r0 = _mm_add_ps(r0, _mm_mul_ps(my, _mm_shuffle_ps(a0, a0, 0x55)));
-	r1 = _mm_add_ps(r1, _mm_mul_ps(my, _mm_shuffle_ps(a1, a1, 0x55)));
-	r2 = _mm_add_ps(r2, _mm_mul_ps(my, _mm_shuffle_ps(a2, a2, 0x55)));
-	r0 = _mm_add_ps(r0, _mm_mul_ps(mz, _mm_shuffle_ps(a0, a0, 0xaa)));
-	r1 = _mm_add_ps(r1, _mm_mul_ps(mz, _mm_shuffle_ps(a1, a1, 0xaa)));
-	r2 = _mm_add_ps(r2, _mm_mul_ps(mz, _mm_shuffle_ps(a2, a2, 0xaa)));
-	return btMatrix3x3(r0, r1, r2);
-
-#elif defined BT_USE_NEON
-	float32x4_t a0 = m_el[0].mVec128;
-	float32x4_t a1 = m_el[1].mVec128;
-	float32x4_t a2 = m_el[2].mVec128;
-
-	btMatrix3x3 mT = m.transpose();  // we rely on transpose() zeroing w channel so that we don't have to do it here
-	float32x4_t mx = mT[0].mVec128;
-	float32x4_t my = mT[1].mVec128;
-	float32x4_t mz = mT[2].mVec128;
-
-	float32x4_t r0 = vmulq_lane_f32(mx, vget_low_f32(a0), 0);
-	float32x4_t r1 = vmulq_lane_f32(mx, vget_low_f32(a1), 0);
-	float32x4_t r2 = vmulq_lane_f32(mx, vget_low_f32(a2), 0);
-	r0 = vmlaq_lane_f32(r0, my, vget_low_f32(a0), 1);
-	r1 = vmlaq_lane_f32(r1, my, vget_low_f32(a1), 1);
-	r2 = vmlaq_lane_f32(r2, my, vget_low_f32(a2), 1);
-	r0 = vmlaq_lane_f32(r0, mz, vget_high_f32(a0), 0);
-	r1 = vmlaq_lane_f32(r1, mz, vget_high_f32(a1), 0);
-	r2 = vmlaq_lane_f32(r2, mz, vget_high_f32(a2), 0);
-	return btMatrix3x3(r0, r1, r2);
-
-#else
-	return btMatrix3x3(
-		m_el[0].dot(m[0]), m_el[0].dot(m[1]), m_el[0].dot(m[2]),
-		m_el[1].dot(m[0]), m_el[1].dot(m[1]), m_el[1].dot(m[2]),
-		m_el[2].dot(m[0]), m_el[2].dot(m[1]), m_el[2].dot(m[2]));
-#endif
-}
-
-SIMD_FORCE_INLINE btVector3
-operator*(const btMatrix3x3& m, const btVector3& v)
-{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-	return v.dot3(m[0], m[1], m[2]);
-#else
-	return btVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v));
-#endif
-}
-
-SIMD_FORCE_INLINE btVector3
-operator*(const btVector3& v, const btMatrix3x3& m)
-{
-#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
-
-	const __m128 vv = v.mVec128;
-
-	__m128 c0 = bt_splat_ps(vv, 0);
-	__m128 c1 = bt_splat_ps(vv, 1);
-	__m128 c2 = bt_splat_ps(vv, 2);
-
-	c0 = _mm_mul_ps(c0, _mm_and_ps(m[0].mVec128, btvFFF0fMask));
-	c1 = _mm_mul_ps(c1, _mm_and_ps(m[1].mVec128, btvFFF0fMask));
-	c0 = _mm_add_ps(c0, c1);
-	c2 = _mm_mul_ps(c2, _mm_and_ps(m[2].mVec128, btvFFF0fMask));
-
-	return btVector3(_mm_add_ps(c0, c2));
-#elif defined(BT_USE_NEON)
-	const float32x4_t vv = v.mVec128;
-	const float32x2_t vlo = vget_low_f32(vv);
-	const float32x2_t vhi = vget_high_f32(vv);
-
-	float32x4_t c0, c1, c2;
-
-	c0 = (float32x4_t)vandq_s32((int32x4_t)m[0].mVec128, btvFFF0Mask);
-	c1 = (float32x4_t)vandq_s32((int32x4_t)m[1].mVec128, btvFFF0Mask);
-	c2 = (float32x4_t)vandq_s32((int32x4_t)m[2].mVec128, btvFFF0Mask);
-
-	c0 = vmulq_lane_f32(c0, vlo, 0);
-	c1 = vmulq_lane_f32(c1, vlo, 1);
-	c2 = vmulq_lane_f32(c2, vhi, 0);
-	c0 = vaddq_f32(c0, c1);
-	c0 = vaddq_f32(c0, c2);
-
-	return btVector3(c0);
-#else
-	return btVector3(m.tdotx(v), m.tdoty(v), m.tdotz(v));
-#endif
-}
-
-SIMD_FORCE_INLINE btMatrix3x3
-operator*(const btMatrix3x3& m1, const btMatrix3x3& m2)
-{
-#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
-
-	__m128 m10 = m1[0].mVec128;
-	__m128 m11 = m1[1].mVec128;
-	__m128 m12 = m1[2].mVec128;
-
-	__m128 m2v = _mm_and_ps(m2[0].mVec128, btvFFF0fMask);
-
-	__m128 c0 = bt_splat_ps(m10, 0);
-	__m128 c1 = bt_splat_ps(m11, 0);
-	__m128 c2 = bt_splat_ps(m12, 0);
-
-	c0 = _mm_mul_ps(c0, m2v);
-	c1 = _mm_mul_ps(c1, m2v);
-	c2 = _mm_mul_ps(c2, m2v);
-
-	m2v = _mm_and_ps(m2[1].mVec128, btvFFF0fMask);
-
-	__m128 c0_1 = bt_splat_ps(m10, 1);
-	__m128 c1_1 = bt_splat_ps(m11, 1);
-	__m128 c2_1 = bt_splat_ps(m12, 1);
-
-	c0_1 = _mm_mul_ps(c0_1, m2v);
-	c1_1 = _mm_mul_ps(c1_1, m2v);
-	c2_1 = _mm_mul_ps(c2_1, m2v);
-
-	m2v = _mm_and_ps(m2[2].mVec128, btvFFF0fMask);
-
-	c0 = _mm_add_ps(c0, c0_1);
-	c1 = _mm_add_ps(c1, c1_1);
-	c2 = _mm_add_ps(c2, c2_1);
-
-	m10 = bt_splat_ps(m10, 2);
-	m11 = bt_splat_ps(m11, 2);
-	m12 = bt_splat_ps(m12, 2);
-
-	m10 = _mm_mul_ps(m10, m2v);
-	m11 = _mm_mul_ps(m11, m2v);
-	m12 = _mm_mul_ps(m12, m2v);
-
-	c0 = _mm_add_ps(c0, m10);
-	c1 = _mm_add_ps(c1, m11);
-	c2 = _mm_add_ps(c2, m12);
-
-	return btMatrix3x3(c0, c1, c2);
-
-#elif defined(BT_USE_NEON)
-
-	float32x4_t rv0, rv1, rv2;
-	float32x4_t v0, v1, v2;
-	float32x4_t mv0, mv1, mv2;
-
-	v0 = m1[0].mVec128;
-	v1 = m1[1].mVec128;
-	v2 = m1[2].mVec128;
-
-	mv0 = (float32x4_t)vandq_s32((int32x4_t)m2[0].mVec128, btvFFF0Mask);
-	mv1 = (float32x4_t)vandq_s32((int32x4_t)m2[1].mVec128, btvFFF0Mask);
-	mv2 = (float32x4_t)vandq_s32((int32x4_t)m2[2].mVec128, btvFFF0Mask);
-
-	rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0);
-	rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0);
-	rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0);
-
-	rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1);
-	rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1);
-	rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1);
-
-	rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0);
-	rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0);
-	rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0);
-
-	return btMatrix3x3(rv0, rv1, rv2);
-
-#else
-	return btMatrix3x3(
-		m2.tdotx(m1[0]), m2.tdoty(m1[0]), m2.tdotz(m1[0]),
-		m2.tdotx(m1[1]), m2.tdoty(m1[1]), m2.tdotz(m1[1]),
-		m2.tdotx(m1[2]), m2.tdoty(m1[2]), m2.tdotz(m1[2]));
-#endif
-}
-
-/*
-SIMD_FORCE_INLINE btMatrix3x3 btMultTransposeLeft(const btMatrix3x3& m1, const btMatrix3x3& m2) {
-return btMatrix3x3(
-m1[0][0] * m2[0][0] + m1[1][0] * m2[1][0] + m1[2][0] * m2[2][0],
-m1[0][0] * m2[0][1] + m1[1][0] * m2[1][1] + m1[2][0] * m2[2][1],
-m1[0][0] * m2[0][2] + m1[1][0] * m2[1][2] + m1[2][0] * m2[2][2],
-m1[0][1] * m2[0][0] + m1[1][1] * m2[1][0] + m1[2][1] * m2[2][0],
-m1[0][1] * m2[0][1] + m1[1][1] * m2[1][1] + m1[2][1] * m2[2][1],
-m1[0][1] * m2[0][2] + m1[1][1] * m2[1][2] + m1[2][1] * m2[2][2],
-m1[0][2] * m2[0][0] + m1[1][2] * m2[1][0] + m1[2][2] * m2[2][0],
-m1[0][2] * m2[0][1] + m1[1][2] * m2[1][1] + m1[2][2] * m2[2][1],
-m1[0][2] * m2[0][2] + m1[1][2] * m2[1][2] + m1[2][2] * m2[2][2]);
-}
-*/
-
-/**@brief Equality operator between two matrices
-* It will test all elements are equal.  */
-SIMD_FORCE_INLINE bool operator==(const btMatrix3x3& m1, const btMatrix3x3& m2)
-{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
-
-	__m128 c0, c1, c2;
-
-	c0 = _mm_cmpeq_ps(m1[0].mVec128, m2[0].mVec128);
-	c1 = _mm_cmpeq_ps(m1[1].mVec128, m2[1].mVec128);
-	c2 = _mm_cmpeq_ps(m1[2].mVec128, m2[2].mVec128);
-
-	c0 = _mm_and_ps(c0, c1);
-	c0 = _mm_and_ps(c0, c2);
-
-	int m = _mm_movemask_ps((__m128)c0);
-	return (0x7 == (m & 0x7));
-
-#else
-	return (m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] &&
-			m1[0][1] == m2[0][1] && m1[1][1] == m2[1][1] && m1[2][1] == m2[2][1] &&
-			m1[0][2] == m2[0][2] && m1[1][2] == m2[1][2] && m1[2][2] == m2[2][2]);
-#endif
-}
-
-///for serialization
-struct btMatrix3x3FloatData
-{
-	btVector3FloatData m_el[3];
-};
-
-///for serialization
-struct btMatrix3x3DoubleData
-{
-	btVector3DoubleData m_el[3];
-};
-
-SIMD_FORCE_INLINE void btMatrix3x3::serialize(struct btMatrix3x3Data& dataOut) const
-{
-	for (int i = 0; i < 3; i++)
-		m_el[i].serialize(dataOut.m_el[i]);
-}
-
-SIMD_FORCE_INLINE void btMatrix3x3::serializeFloat(struct btMatrix3x3FloatData& dataOut) const
-{
-	for (int i = 0; i < 3; i++)
-		m_el[i].serializeFloat(dataOut.m_el[i]);
-}
-
-SIMD_FORCE_INLINE void btMatrix3x3::deSerialize(const struct btMatrix3x3Data& dataIn)
-{
-	for (int i = 0; i < 3; i++)
-		m_el[i].deSerialize(dataIn.m_el[i]);
-}
-
-SIMD_FORCE_INLINE void btMatrix3x3::deSerializeFloat(const struct btMatrix3x3FloatData& dataIn)
-{
-	for (int i = 0; i < 3; i++)
-		m_el[i].deSerializeFloat(dataIn.m_el[i]);
-}
-
-SIMD_FORCE_INLINE void btMatrix3x3::deSerializeDouble(const struct btMatrix3x3DoubleData& dataIn)
-{
-	for (int i = 0; i < 3; i++)
-		m_el[i].deSerializeDouble(dataIn.m_el[i]);
-}
-
-#endif  //BT_MATRIX3x3_H
diff --git a/thirdparty/bullet/LinearMath/btMatrixX.h b/thirdparty/bullet/LinearMath/btMatrixX.h
deleted file mode 100644
index bb0f0dd259..0000000000
--- a/thirdparty/bullet/LinearMath/btMatrixX.h
+++ /dev/null
@@ -1,532 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-///original version written by Erwin Coumans, October 2013
-
-#ifndef BT_MATRIX_X_H
-#define BT_MATRIX_X_H
-
-#include "LinearMath/btQuickprof.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include <stdio.h>
-
-//#define BT_DEBUG_OSTREAM
-#ifdef BT_DEBUG_OSTREAM
-#include <iostream>
-#include <iomanip>  // std::setw
-#endif              //BT_DEBUG_OSTREAM
-
-class btIntSortPredicate
-{
-public:
-	bool operator()(const int& a, const int& b) const
-	{
-		return a < b;
-	}
-};
-
-template <typename T>
-struct btVectorX
-{
-	btAlignedObjectArray<T> m_storage;
-
-	btVectorX()
-	{
-	}
-	btVectorX(int numRows)
-	{
-		m_storage.resize(numRows);
-	}
-
-	void resize(int rows)
-	{
-		m_storage.resize(rows);
-	}
-	int cols() const
-	{
-		return 1;
-	}
-	int rows() const
-	{
-		return m_storage.size();
-	}
-	int size() const
-	{
-		return rows();
-	}
-
-	T nrm2() const
-	{
-		T norm = T(0);
-
-		int nn = rows();
-
-		{
-			if (nn == 1)
-			{
-				norm = btFabs((*this)[0]);
-			}
-			else
-			{
-				T scale = 0.0;
-				T ssq = 1.0;
-
-				/* The following loop is equivalent to this call to the LAPACK
-				 auxiliary routine:   CALL SLASSQ( N, X, INCX, SCALE, SSQ ) */
-
-				for (int ix = 0; ix < nn; ix++)
-				{
-					if ((*this)[ix] != 0.0)
-					{
-						T absxi = btFabs((*this)[ix]);
-						if (scale < absxi)
-						{
-							T temp;
-							temp = scale / absxi;
-							ssq = ssq * (temp * temp) + BT_ONE;
-							scale = absxi;
-						}
-						else
-						{
-							T temp;
-							temp = absxi / scale;
-							ssq += temp * temp;
-						}
-					}
-				}
-				norm = scale * sqrt(ssq);
-			}
-		}
-		return norm;
-	}
-	void setZero()
-	{
-		if (m_storage.size())
-		{
-			//	for (int i=0;i<m_storage.size();i++)
-			//		m_storage[i]=0;
-			//memset(&m_storage[0],0,sizeof(T)*m_storage.size());
-			btSetZero(&m_storage[0], m_storage.size());
-		}
-	}
-	const T& operator[](int index) const
-	{
-		return m_storage[index];
-	}
-
-	T& operator[](int index)
-	{
-		return m_storage[index];
-	}
-
-	T* getBufferPointerWritable()
-	{
-		return m_storage.size() ? &m_storage[0] : 0;
-	}
-
-	const T* getBufferPointer() const
-	{
-		return m_storage.size() ? &m_storage[0] : 0;
-	}
-};
-/*
- template <typename T>
- void setElem(btMatrixX<T>& mat, int row, int col, T val)
- {
- mat.setElem(row,col,val);
- }
- */
-
-template <typename T>
-struct btMatrixX
-{
-	int m_rows;
-	int m_cols;
-	int m_operations;
-	int m_resizeOperations;
-	int m_setElemOperations;
-
-	btAlignedObjectArray<T> m_storage;
-	mutable btAlignedObjectArray<btAlignedObjectArray<int> > m_rowNonZeroElements1;
-
-	T* getBufferPointerWritable()
-	{
-		return m_storage.size() ? &m_storage[0] : 0;
-	}
-
-	const T* getBufferPointer() const
-	{
-		return m_storage.size() ? &m_storage[0] : 0;
-	}
-	btMatrixX()
-		: m_rows(0),
-		  m_cols(0),
-		  m_operations(0),
-		  m_resizeOperations(0),
-		  m_setElemOperations(0)
-	{
-	}
-	btMatrixX(int rows, int cols)
-		: m_rows(rows),
-		  m_cols(cols),
-		  m_operations(0),
-		  m_resizeOperations(0),
-		  m_setElemOperations(0)
-	{
-		resize(rows, cols);
-	}
-	void resize(int rows, int cols)
-	{
-		m_resizeOperations++;
-		m_rows = rows;
-		m_cols = cols;
-		{
-			BT_PROFILE("m_storage.resize");
-			m_storage.resize(rows * cols);
-		}
-	}
-	int cols() const
-	{
-		return m_cols;
-	}
-	int rows() const
-	{
-		return m_rows;
-	}
-	///we don't want this read/write operator(), because we cannot keep track of non-zero elements, use setElem instead
-	/*T& operator() (int row,int col)
-	{
-		return m_storage[col*m_rows+row];
-	}
-	*/
-
-	void addElem(int row, int col, T val)
-	{
-		if (val)
-		{
-			if (m_storage[col + row * m_cols] == 0.f)
-			{
-				setElem(row, col, val);
-			}
-			else
-			{
-				m_storage[row * m_cols + col] += val;
-			}
-		}
-	}
-
-	void setElem(int row, int col, T val)
-	{
-		m_setElemOperations++;
-		m_storage[row * m_cols + col] = val;
-	}
-
-	void mulElem(int row, int col, T val)
-	{
-		m_setElemOperations++;
-		//mul doesn't change sparsity info
-
-		m_storage[row * m_cols + col] *= val;
-	}
-
-	void copyLowerToUpperTriangle()
-	{
-		int count = 0;
-		for (int row = 0; row < rows(); row++)
-		{
-			for (int col = 0; col < row; col++)
-			{
-				setElem(col, row, (*this)(row, col));
-				count++;
-			}
-		}
-		//printf("copyLowerToUpperTriangle copied %d elements out of %dx%d=%d\n", count,rows(),cols(),cols()*rows());
-	}
-
-	const T& operator()(int row, int col) const
-	{
-		return m_storage[col + row * m_cols];
-	}
-
-	void setZero()
-	{
-		{
-			BT_PROFILE("storage=0");
-			if (m_storage.size())
-			{
-				btSetZero(&m_storage[0], m_storage.size());
-			}
-			//memset(&m_storage[0],0,sizeof(T)*m_storage.size());
-			//for (int i=0;i<m_storage.size();i++)
-			//			m_storage[i]=0;
-		}
-	}
-
-	void setIdentity()
-	{
-		btAssert(rows() == cols());
-
-		setZero();
-		for (int row = 0; row < rows(); row++)
-		{
-			setElem(row, row, 1);
-		}
-	}
-
-	void printMatrix(const char* msg) const
-	{
-		printf("%s ---------------------\n", msg);
-		for (int i = 0; i < rows(); i++)
-		{
-			printf("\n");
-			for (int j = 0; j < cols(); j++)
-			{
-				printf("%2.1f\t", (*this)(i, j));
-			}
-		}
-		printf("\n---------------------\n");
-	}
-
-	void rowComputeNonZeroElements() const
-	{
-		m_rowNonZeroElements1.resize(rows());
-		for (int i = 0; i < rows(); i++)
-		{
-			m_rowNonZeroElements1[i].resize(0);
-			for (int j = 0; j < cols(); j++)
-			{
-				if ((*this)(i, j) != 0.f)
-				{
-					m_rowNonZeroElements1[i].push_back(j);
-				}
-			}
-		}
-	}
-	btMatrixX transpose() const
-	{
-		//transpose is optimized for sparse matrices
-		btMatrixX tr(m_cols, m_rows);
-		tr.setZero();
-		for (int i = 0; i < m_cols; i++)
-			for (int j = 0; j < m_rows; j++)
-			{
-				T v = (*this)(j, i);
-				if (v)
-				{
-					tr.setElem(i, j, v);
-				}
-			}
-		return tr;
-	}
-
-	btMatrixX operator*(const btMatrixX& other)
-	{
-		//btMatrixX*btMatrixX implementation, brute force
-		btAssert(cols() == other.rows());
-
-		btMatrixX res(rows(), other.cols());
-		res.setZero();
-		//		BT_PROFILE("btMatrixX mul");
-		for (int i = 0; i < rows(); ++i)
-		{
-			{
-				for (int j = 0; j < other.cols(); ++j)
-				{
-					T dotProd = 0;
-					{
-						{
-							int c = cols();
-
-							for (int k = 0; k < c; k++)
-							{
-								T w = (*this)(i, k);
-								if (other(k, j) != 0.f)
-								{
-									dotProd += w * other(k, j);
-								}
-							}
-						}
-					}
-					if (dotProd)
-						res.setElem(i, j, dotProd);
-				}
-			}
-		}
-		return res;
-	}
-
-	// this assumes the 4th and 8th rows of B and C are zero.
-	void multiplyAdd2_p8r(const btScalar* B, const btScalar* C, int numRows, int numRowsOther, int row, int col)
-	{
-		const btScalar* bb = B;
-		for (int i = 0; i < numRows; i++)
-		{
-			const btScalar* cc = C;
-			for (int j = 0; j < numRowsOther; j++)
-			{
-				btScalar sum;
-				sum = bb[0] * cc[0];
-				sum += bb[1] * cc[1];
-				sum += bb[2] * cc[2];
-				sum += bb[4] * cc[4];
-				sum += bb[5] * cc[5];
-				sum += bb[6] * cc[6];
-				addElem(row + i, col + j, sum);
-				cc += 8;
-			}
-			bb += 8;
-		}
-	}
-
-	void multiply2_p8r(const btScalar* B, const btScalar* C, int numRows, int numRowsOther, int row, int col)
-	{
-		btAssert(numRows > 0 && numRowsOther > 0 && B && C);
-		const btScalar* bb = B;
-		for (int i = 0; i < numRows; i++)
-		{
-			const btScalar* cc = C;
-			for (int j = 0; j < numRowsOther; j++)
-			{
-				btScalar sum;
-				sum = bb[0] * cc[0];
-				sum += bb[1] * cc[1];
-				sum += bb[2] * cc[2];
-				sum += bb[4] * cc[4];
-				sum += bb[5] * cc[5];
-				sum += bb[6] * cc[6];
-				setElem(row + i, col + j, sum);
-				cc += 8;
-			}
-			bb += 8;
-		}
-	}
-
-	void setSubMatrix(int rowstart, int colstart, int rowend, int colend, const T value)
-	{
-		int numRows = rowend + 1 - rowstart;
-		int numCols = colend + 1 - colstart;
-
-		for (int row = 0; row < numRows; row++)
-		{
-			for (int col = 0; col < numCols; col++)
-			{
-				setElem(rowstart + row, colstart + col, value);
-			}
-		}
-	}
-
-	void setSubMatrix(int rowstart, int colstart, int rowend, int colend, const btMatrixX& block)
-	{
-		btAssert(rowend + 1 - rowstart == block.rows());
-		btAssert(colend + 1 - colstart == block.cols());
-		for (int row = 0; row < block.rows(); row++)
-		{
-			for (int col = 0; col < block.cols(); col++)
-			{
-				setElem(rowstart + row, colstart + col, block(row, col));
-			}
-		}
-	}
-	void setSubMatrix(int rowstart, int colstart, int rowend, int colend, const btVectorX<T>& block)
-	{
-		btAssert(rowend + 1 - rowstart == block.rows());
-		btAssert(colend + 1 - colstart == block.cols());
-		for (int row = 0; row < block.rows(); row++)
-		{
-			for (int col = 0; col < block.cols(); col++)
-			{
-				setElem(rowstart + row, colstart + col, block[row]);
-			}
-		}
-	}
-
-	btMatrixX negative()
-	{
-		btMatrixX neg(rows(), cols());
-		for (int i = 0; i < rows(); i++)
-			for (int j = 0; j < cols(); j++)
-			{
-				T v = (*this)(i, j);
-				neg.setElem(i, j, -v);
-			}
-		return neg;
-	}
-};
-
-typedef btMatrixX<float> btMatrixXf;
-typedef btVectorX<float> btVectorXf;
-
-typedef btMatrixX<double> btMatrixXd;
-typedef btVectorX<double> btVectorXd;
-
-#ifdef BT_DEBUG_OSTREAM
-template <typename T>
-std::ostream& operator<<(std::ostream& os, const btMatrixX<T>& mat)
-{
-	os << " [";
-	//printf("%s ---------------------\n",msg);
-	for (int i = 0; i < mat.rows(); i++)
-	{
-		for (int j = 0; j < mat.cols(); j++)
-		{
-			os << std::setw(12) << mat(i, j);
-		}
-		if (i != mat.rows() - 1)
-			os << std::endl
-			   << "  ";
-	}
-	os << " ]";
-	//printf("\n---------------------\n");
-
-	return os;
-}
-template <typename T>
-std::ostream& operator<<(std::ostream& os, const btVectorX<T>& mat)
-{
-	os << " [";
-	//printf("%s ---------------------\n",msg);
-	for (int i = 0; i < mat.rows(); i++)
-	{
-		os << std::setw(12) << mat[i];
-		if (i != mat.rows() - 1)
-			os << std::endl
-			   << "  ";
-	}
-	os << " ]";
-	//printf("\n---------------------\n");
-
-	return os;
-}
-
-#endif  //BT_DEBUG_OSTREAM
-
-inline void setElem(btMatrixXd& mat, int row, int col, double val)
-{
-	mat.setElem(row, col, val);
-}
-
-inline void setElem(btMatrixXf& mat, int row, int col, float val)
-{
-	mat.setElem(row, col, val);
-}
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btVectorXu btVectorXd
-#define btMatrixXu btMatrixXd
-#else
-#define btVectorXu btVectorXf
-#define btMatrixXu btMatrixXf
-#endif  //BT_USE_DOUBLE_PRECISION
-
-#endif  //BT_MATRIX_H_H
diff --git a/thirdparty/bullet/LinearMath/btMinMax.h b/thirdparty/bullet/LinearMath/btMinMax.h
deleted file mode 100644
index 92fea0275a..0000000000
--- a/thirdparty/bullet/LinearMath/btMinMax.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_GEN_MINMAX_H
-#define BT_GEN_MINMAX_H
-
-#include "btScalar.h"
-
-template <class T>
-SIMD_FORCE_INLINE const T& btMin(const T& a, const T& b)
-{
-	return a < b ? a : b;
-}
-
-template <class T>
-SIMD_FORCE_INLINE const T& btMax(const T& a, const T& b)
-{
-	return a > b ? a : b;
-}
-
-template <class T>
-SIMD_FORCE_INLINE const T& btClamped(const T& a, const T& lb, const T& ub)
-{
-	return a < lb ? lb : (ub < a ? ub : a);
-}
-
-template <class T>
-SIMD_FORCE_INLINE void btSetMin(T& a, const T& b)
-{
-	if (b < a)
-	{
-		a = b;
-	}
-}
-
-template <class T>
-SIMD_FORCE_INLINE void btSetMax(T& a, const T& b)
-{
-	if (a < b)
-	{
-		a = b;
-	}
-}
-
-template <class T>
-SIMD_FORCE_INLINE void btClamp(T& a, const T& lb, const T& ub)
-{
-	if (a < lb)
-	{
-		a = lb;
-	}
-	else if (ub < a)
-	{
-		a = ub;
-	}
-}
-
-#endif  //BT_GEN_MINMAX_H
diff --git a/thirdparty/bullet/LinearMath/btModifiedGramSchmidt.h b/thirdparty/bullet/LinearMath/btModifiedGramSchmidt.h
deleted file mode 100644
index 33bab8d650..0000000000
--- a/thirdparty/bullet/LinearMath/btModifiedGramSchmidt.h
+++ /dev/null
@@ -1,83 +0,0 @@
-//
-//  btModifiedGramSchmidt.h
-//  LinearMath
-//
-//  Created by Xuchen Han on 4/4/20.
-//
-
-#ifndef btModifiedGramSchmidt_h
-#define btModifiedGramSchmidt_h
-
-#include "btReducedVector.h"
-#include "btAlignedObjectArray.h"
-#include <iostream>
-#include <cmath>
-template<class TV>
-class btModifiedGramSchmidt
-{
-public:
-    btAlignedObjectArray<TV> m_in;
-    btAlignedObjectArray<TV> m_out;
-    
-    btModifiedGramSchmidt(const btAlignedObjectArray<TV>& vecs): m_in(vecs)
-    {
-        m_out.resize(0);
-    }
-    
-    void solve()
-    {
-        m_out.resize(m_in.size());
-        for (int i = 0; i < m_in.size(); ++i)
-        {
-//            printf("========= starting %d ==========\n", i);
-            TV v(m_in[i]);
-//            v.print();
-            for (int j = 0; j < i; ++j)
-            {
-                v = v - v.proj(m_out[j]);
-//                v.print();
-            }
-            v.normalize();
-            m_out[i] = v;
-//            v.print();
-        }
-    }
-    
-    void test()
-    {
-        std::cout << SIMD_EPSILON << std::endl;
-        printf("=======inputs=========\n");
-        for (int i = 0; i < m_out.size(); ++i)
-        {
-            m_in[i].print();
-        }
-        printf("=======output=========\n");
-        for (int i = 0; i < m_out.size(); ++i)
-        {
-            m_out[i].print();
-        }
-        btScalar eps = SIMD_EPSILON;
-        for (int i = 0; i < m_out.size(); ++i)
-        {
-            for (int j = 0; j < m_out.size(); ++j)
-            {
-                if (i == j)
-                {
-                    if (std::abs(1.0-m_out[i].dot(m_out[j])) > eps)// && std::abs(m_out[i].dot(m_out[j])) > eps)
-                    {
-                        printf("vec[%d] is not unit, norm squared = %f\n", i,m_out[i].dot(m_out[j]));
-                    }
-                }
-                else
-                {
-                    if (std::abs(m_out[i].dot(m_out[j])) > eps)
-                    {
-                        printf("vec[%d] and vec[%d] is not orthogonal, dot product = %f\n", i, j, m_out[i].dot(m_out[j]));
-                    }
-                }
-            }
-        }
-    }
-};
-template class btModifiedGramSchmidt<btReducedVector>;
-#endif /* btModifiedGramSchmidt_h */
diff --git a/thirdparty/bullet/LinearMath/btMotionState.h b/thirdparty/bullet/LinearMath/btMotionState.h
deleted file mode 100644
index ae6a51611d..0000000000
--- a/thirdparty/bullet/LinearMath/btMotionState.h
+++ /dev/null
@@ -1,36 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_MOTIONSTATE_H
-#define BT_MOTIONSTATE_H
-
-#include "btTransform.h"
-
-///The btMotionState interface class allows the dynamics world to synchronize and interpolate the updated world transforms with graphics
-///For optimizations, potentially only moving objects get synchronized (using setWorldPosition/setWorldOrientation)
-class btMotionState
-{
-public:
-	virtual ~btMotionState()
-	{
-	}
-
-	virtual void getWorldTransform(btTransform& worldTrans) const = 0;
-
-	//Bullet only calls the update of worldtransform for active objects
-	virtual void setWorldTransform(const btTransform& worldTrans) = 0;
-};
-
-#endif  //BT_MOTIONSTATE_H
diff --git a/thirdparty/bullet/LinearMath/btPolarDecomposition.cpp b/thirdparty/bullet/LinearMath/btPolarDecomposition.cpp
deleted file mode 100644
index d9c72a8014..0000000000
--- a/thirdparty/bullet/LinearMath/btPolarDecomposition.cpp
+++ /dev/null
@@ -1,94 +0,0 @@
-#include "btPolarDecomposition.h"
-#include "btMinMax.h"
-
-namespace
-{
-btScalar abs_column_sum(const btMatrix3x3& a, int i)
-{
-	return btFabs(a[0][i]) + btFabs(a[1][i]) + btFabs(a[2][i]);
-}
-
-btScalar abs_row_sum(const btMatrix3x3& a, int i)
-{
-	return btFabs(a[i][0]) + btFabs(a[i][1]) + btFabs(a[i][2]);
-}
-
-btScalar p1_norm(const btMatrix3x3& a)
-{
-	const btScalar sum0 = abs_column_sum(a, 0);
-	const btScalar sum1 = abs_column_sum(a, 1);
-	const btScalar sum2 = abs_column_sum(a, 2);
-	return btMax(btMax(sum0, sum1), sum2);
-}
-
-btScalar pinf_norm(const btMatrix3x3& a)
-{
-	const btScalar sum0 = abs_row_sum(a, 0);
-	const btScalar sum1 = abs_row_sum(a, 1);
-	const btScalar sum2 = abs_row_sum(a, 2);
-	return btMax(btMax(sum0, sum1), sum2);
-}
-}  // namespace
-
-btPolarDecomposition::btPolarDecomposition(btScalar tolerance, unsigned int maxIterations)
-	: m_tolerance(tolerance), m_maxIterations(maxIterations)
-{
-}
-
-unsigned int btPolarDecomposition::decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const
-{
-	// Use the 'u' and 'h' matrices for intermediate calculations
-	u = a;
-	h = a.inverse();
-
-	for (unsigned int i = 0; i < m_maxIterations; ++i)
-	{
-		const btScalar h_1 = p1_norm(h);
-		const btScalar h_inf = pinf_norm(h);
-		const btScalar u_1 = p1_norm(u);
-		const btScalar u_inf = pinf_norm(u);
-
-		const btScalar h_norm = h_1 * h_inf;
-		const btScalar u_norm = u_1 * u_inf;
-
-		// The matrix is effectively singular so we cannot invert it
-		if (btFuzzyZero(h_norm) || btFuzzyZero(u_norm))
-			break;
-
-		const btScalar gamma = btPow(h_norm / u_norm, 0.25f);
-		const btScalar inv_gamma = btScalar(1.0) / gamma;
-
-		// Determine the delta to 'u'
-		const btMatrix3x3 delta = (u * (gamma - btScalar(2.0)) + h.transpose() * inv_gamma) * btScalar(0.5);
-
-		// Update the matrices
-		u += delta;
-		h = u.inverse();
-
-		// Check for convergence
-		if (p1_norm(delta) <= m_tolerance * u_1)
-		{
-			h = u.transpose() * a;
-			h = (h + h.transpose()) * 0.5;
-			return i;
-		}
-	}
-
-	// The algorithm has failed to converge to the specified tolerance, but we
-	// want to make sure that the matrices returned are in the right form.
-	h = u.transpose() * a;
-	h = (h + h.transpose()) * 0.5;
-
-	return m_maxIterations;
-}
-
-unsigned int btPolarDecomposition::maxIterations() const
-{
-	return m_maxIterations;
-}
-
-unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h)
-{
-	static btPolarDecomposition polar;
-	return polar.decompose(a, u, h);
-}
diff --git a/thirdparty/bullet/LinearMath/btPolarDecomposition.h b/thirdparty/bullet/LinearMath/btPolarDecomposition.h
deleted file mode 100644
index bf29140a14..0000000000
--- a/thirdparty/bullet/LinearMath/btPolarDecomposition.h
+++ /dev/null
@@ -1,69 +0,0 @@
-#ifndef POLARDECOMPOSITION_H
-#define POLARDECOMPOSITION_H
-
-#include "btMatrix3x3.h"
-
-/**
- * This class is used to compute the polar decomposition of a matrix. In
- * general, the polar decomposition factorizes a matrix, A, into two parts: a
- * unitary matrix (U) and a positive, semi-definite Hermitian matrix (H).
- * However, in this particular implementation the original matrix, A, is
- * required to be a square 3x3 matrix with real elements. This means that U will
- * be an orthogonal matrix and H with be a positive-definite, symmetric matrix.
- */
-class btPolarDecomposition
-{
-public:
-	/**
-     * Creates an instance with optional parameters.
-     *
-     * @param tolerance     - the tolerance used to determine convergence of the
-     *                        algorithm
-     * @param maxIterations - the maximum number of iterations used to achieve
-     *                        convergence
-     */
-	btPolarDecomposition(btScalar tolerance = btScalar(0.0001),
-						 unsigned int maxIterations = 16);
-
-	/**
-     * Decomposes a matrix into orthogonal and symmetric, positive-definite
-     * parts. If the number of iterations returned by this function is equal to
-     * the maximum number of iterations, the algorithm has failed to converge.
-     *
-     * @param a - the original matrix
-     * @param u - the resulting orthogonal matrix
-     * @param h - the resulting symmetric matrix
-     *
-     * @return the number of iterations performed by the algorithm.
-     */
-	unsigned int decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const;
-
-	/**
-     * Returns the maximum number of iterations that this algorithm will perform
-     * to achieve convergence.
-     *
-     * @return maximum number of iterations
-     */
-	unsigned int maxIterations() const;
-
-private:
-	btScalar m_tolerance;
-	unsigned int m_maxIterations;
-};
-
-/**
- * This functions decomposes the matrix 'a' into two parts: an orthogonal matrix
- * 'u' and a symmetric, positive-definite matrix 'h'. If the number of
- * iterations returned by this function is equal to
- * btPolarDecomposition::DEFAULT_MAX_ITERATIONS, the algorithm has failed to
- * converge.
- *
- * @param a - the original matrix
- * @param u - the resulting orthogonal matrix
- * @param h - the resulting symmetric matrix
- *
- * @return the number of iterations performed by the algorithm.
- */
-unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h);
-
-#endif  // POLARDECOMPOSITION_H
diff --git a/thirdparty/bullet/LinearMath/btPoolAllocator.h b/thirdparty/bullet/LinearMath/btPoolAllocator.h
deleted file mode 100644
index 4e7b49660a..0000000000
--- a/thirdparty/bullet/LinearMath/btPoolAllocator.h
+++ /dev/null
@@ -1,130 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef _BT_POOL_ALLOCATOR_H
-#define _BT_POOL_ALLOCATOR_H
-
-#include "btScalar.h"
-#include "btAlignedAllocator.h"
-#include "btThreads.h"
-
-///The btPoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamically allocating them separately.
-class btPoolAllocator
-{
-	int m_elemSize;
-	int m_maxElements;
-	int m_freeCount;
-	void* m_firstFree;
-	unsigned char* m_pool;
-	btSpinMutex m_mutex;  // only used if BT_THREADSAFE
-
-public:
-	btPoolAllocator(int elemSize, int maxElements)
-		: m_elemSize(elemSize),
-		  m_maxElements(maxElements)
-	{
-		m_pool = (unsigned char*)btAlignedAlloc(static_cast<unsigned int>(m_elemSize * m_maxElements), 16);
-
-		unsigned char* p = m_pool;
-		m_firstFree = p;
-		m_freeCount = m_maxElements;
-		int count = m_maxElements;
-		while (--count)
-		{
-			*(void**)p = (p + m_elemSize);
-			p += m_elemSize;
-		}
-		*(void**)p = 0;
-	}
-
-	~btPoolAllocator()
-	{
-		btAlignedFree(m_pool);
-	}
-
-	int getFreeCount() const
-	{
-		return m_freeCount;
-	}
-
-	int getUsedCount() const
-	{
-		return m_maxElements - m_freeCount;
-	}
-
-	int getMaxCount() const
-	{
-		return m_maxElements;
-	}
-
-	void* allocate(int size)
-	{
-		// release mode fix
-		(void)size;
-		btMutexLock(&m_mutex);
-		btAssert(!size || size <= m_elemSize);
-		//btAssert(m_freeCount>0);  // should return null if all full
-		void* result = m_firstFree;
-		if (NULL != m_firstFree)
-		{
-			m_firstFree = *(void**)m_firstFree;
-			--m_freeCount;
-		}
-		btMutexUnlock(&m_mutex);
-		return result;
-	}
-
-	bool validPtr(void* ptr)
-	{
-		if (ptr)
-		{
-			if (((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize))
-			{
-				return true;
-			}
-		}
-		return false;
-	}
-
-	void freeMemory(void* ptr)
-	{
-		if (ptr)
-		{
-			btAssert((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize);
-
-			btMutexLock(&m_mutex);
-			*(void**)ptr = m_firstFree;
-			m_firstFree = ptr;
-			++m_freeCount;
-			btMutexUnlock(&m_mutex);
-		}
-	}
-
-	int getElementSize() const
-	{
-		return m_elemSize;
-	}
-
-	unsigned char* getPoolAddress()
-	{
-		return m_pool;
-	}
-
-	const unsigned char* getPoolAddress() const
-	{
-		return m_pool;
-	}
-};
-
-#endif  //_BT_POOL_ALLOCATOR_H
diff --git a/thirdparty/bullet/LinearMath/btQuadWord.h b/thirdparty/bullet/LinearMath/btQuadWord.h
deleted file mode 100644
index ab2d3175ad..0000000000
--- a/thirdparty/bullet/LinearMath/btQuadWord.h
+++ /dev/null
@@ -1,238 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SIMD_QUADWORD_H
-#define BT_SIMD_QUADWORD_H
-
-#include "btScalar.h"
-#include "btMinMax.h"
-
-#if defined(__CELLOS_LV2) && defined(__SPU__)
-#include <altivec.h>
-#endif
-
-/**@brief The btQuadWord class is base class for btVector3 and btQuaternion. 
- * Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword.
- */
-#ifndef USE_LIBSPE2
-ATTRIBUTE_ALIGNED16(class)
-btQuadWord
-#else
-class btQuadWord
-#endif
-{
-protected:
-#if defined(__SPU__) && defined(__CELLOS_LV2__)
-	union {
-		vec_float4 mVec128;
-		btScalar m_floats[4];
-	};
-
-public:
-	vec_float4 get128() const
-	{
-		return mVec128;
-	}
-
-protected:
-#else  //__CELLOS_LV2__ __SPU__
-
-#if defined(BT_USE_SSE) || defined(BT_USE_NEON)
-	union {
-		btSimdFloat4 mVec128;
-		btScalar m_floats[4];
-	};
-
-public:
-	SIMD_FORCE_INLINE btSimdFloat4 get128() const
-	{
-		return mVec128;
-	}
-	SIMD_FORCE_INLINE void set128(btSimdFloat4 v128)
-	{
-		mVec128 = v128;
-	}
-#else
-	btScalar m_floats[4];
-#endif  // BT_USE_SSE
-
-#endif  //__CELLOS_LV2__ __SPU__
-
-public:
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-
-	// Set Vector
-	SIMD_FORCE_INLINE btQuadWord(const btSimdFloat4 vec)
-	{
-		mVec128 = vec;
-	}
-
-	// Copy constructor
-	SIMD_FORCE_INLINE btQuadWord(const btQuadWord& rhs)
-	{
-		mVec128 = rhs.mVec128;
-	}
-
-	// Assignment Operator
-	SIMD_FORCE_INLINE btQuadWord&
-	operator=(const btQuadWord& v)
-	{
-		mVec128 = v.mVec128;
-
-		return *this;
-	}
-
-#endif
-
-	/**@brief Return the x value */
-	SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
-	/**@brief Return the y value */
-	SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; }
-	/**@brief Return the z value */
-	SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
-	/**@brief Set the x value */
-	SIMD_FORCE_INLINE void setX(btScalar _x) { m_floats[0] = _x; };
-	/**@brief Set the y value */
-	SIMD_FORCE_INLINE void setY(btScalar _y) { m_floats[1] = _y; };
-	/**@brief Set the z value */
-	SIMD_FORCE_INLINE void setZ(btScalar _z) { m_floats[2] = _z; };
-	/**@brief Set the w value */
-	SIMD_FORCE_INLINE void setW(btScalar _w) { m_floats[3] = _w; };
-	/**@brief Return the x value */
-	SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
-	/**@brief Return the y value */
-	SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; }
-	/**@brief Return the z value */
-	SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; }
-	/**@brief Return the w value */
-	SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; }
-
-	//SIMD_FORCE_INLINE btScalar&       operator[](int i)       { return (&m_floats[0])[i];	}
-	//SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; }
-	///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
-	SIMD_FORCE_INLINE operator btScalar*() { return &m_floats[0]; }
-	SIMD_FORCE_INLINE operator const btScalar*() const { return &m_floats[0]; }
-
-	SIMD_FORCE_INLINE bool operator==(const btQuadWord& other) const
-	{
-#ifdef BT_USE_SSE
-		return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
-#else
-		return ((m_floats[3] == other.m_floats[3]) &&
-				(m_floats[2] == other.m_floats[2]) &&
-				(m_floats[1] == other.m_floats[1]) &&
-				(m_floats[0] == other.m_floats[0]));
-#endif
-	}
-
-	SIMD_FORCE_INLINE bool operator!=(const btQuadWord& other) const
-	{
-		return !(*this == other);
-	}
-
-	/**@brief Set x,y,z and zero w 
-   * @param x Value of x
-   * @param y Value of y
-   * @param z Value of z
-   */
-	SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z)
-	{
-		m_floats[0] = _x;
-		m_floats[1] = _y;
-		m_floats[2] = _z;
-		m_floats[3] = 0.f;
-	}
-
-	/*		void getValue(btScalar *m) const 
-		{
-			m[0] = m_floats[0];
-			m[1] = m_floats[1];
-			m[2] = m_floats[2];
-		}
-*/
-	/**@brief Set the values 
-   * @param x Value of x
-   * @param y Value of y
-   * @param z Value of z
-   * @param w Value of w
-   */
-	SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
-	{
-		m_floats[0] = _x;
-		m_floats[1] = _y;
-		m_floats[2] = _z;
-		m_floats[3] = _w;
-	}
-	/**@brief No initialization constructor */
-	SIMD_FORCE_INLINE btQuadWord()
-	//	:m_floats[0](btScalar(0.)),m_floats[1](btScalar(0.)),m_floats[2](btScalar(0.)),m_floats[3](btScalar(0.))
-	{
-	}
-
-	/**@brief Three argument constructor (zeros w)
-   * @param x Value of x
-   * @param y Value of y
-   * @param z Value of z
-   */
-	SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z)
-	{
-		m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f;
-	}
-
-	/**@brief Initializing constructor
-   * @param x Value of x
-   * @param y Value of y
-   * @param z Value of z
-   * @param w Value of w
-   */
-	SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
-	{
-		m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = _w;
-	}
-
-	/**@brief Set each element to the max of the current values and the values of another btQuadWord
-   * @param other The other btQuadWord to compare with 
-   */
-	SIMD_FORCE_INLINE void setMax(const btQuadWord& other)
-	{
-#ifdef BT_USE_SSE
-		mVec128 = _mm_max_ps(mVec128, other.mVec128);
-#elif defined(BT_USE_NEON)
-		mVec128 = vmaxq_f32(mVec128, other.mVec128);
-#else
-		btSetMax(m_floats[0], other.m_floats[0]);
-		btSetMax(m_floats[1], other.m_floats[1]);
-		btSetMax(m_floats[2], other.m_floats[2]);
-		btSetMax(m_floats[3], other.m_floats[3]);
-#endif
-	}
-	/**@brief Set each element to the min of the current values and the values of another btQuadWord
-   * @param other The other btQuadWord to compare with 
-   */
-	SIMD_FORCE_INLINE void setMin(const btQuadWord& other)
-	{
-#ifdef BT_USE_SSE
-		mVec128 = _mm_min_ps(mVec128, other.mVec128);
-#elif defined(BT_USE_NEON)
-		mVec128 = vminq_f32(mVec128, other.mVec128);
-#else
-		btSetMin(m_floats[0], other.m_floats[0]);
-		btSetMin(m_floats[1], other.m_floats[1]);
-		btSetMin(m_floats[2], other.m_floats[2]);
-		btSetMin(m_floats[3], other.m_floats[3]);
-#endif
-	}
-};
-
-#endif  //BT_SIMD_QUADWORD_H
diff --git a/thirdparty/bullet/LinearMath/btQuaternion.h b/thirdparty/bullet/LinearMath/btQuaternion.h
deleted file mode 100644
index 53e8169b80..0000000000
--- a/thirdparty/bullet/LinearMath/btQuaternion.h
+++ /dev/null
@@ -1,1021 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SIMD__QUATERNION_H_
-#define BT_SIMD__QUATERNION_H_
-
-#include "btVector3.h"
-#include "btQuadWord.h"
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btQuaternionData btQuaternionDoubleData
-#define btQuaternionDataName "btQuaternionDoubleData"
-#else
-#define btQuaternionData btQuaternionFloatData
-#define btQuaternionDataName "btQuaternionFloatData"
-#endif  //BT_USE_DOUBLE_PRECISION
-
-#ifdef BT_USE_SSE
-
-//const __m128 ATTRIBUTE_ALIGNED16(vOnes) = {1.0f, 1.0f, 1.0f, 1.0f};
-#define vOnes (_mm_set_ps(1.0f, 1.0f, 1.0f, 1.0f))
-
-#endif
-
-#if defined(BT_USE_SSE)
-
-#define vQInv (_mm_set_ps(+0.0f, -0.0f, -0.0f, -0.0f))
-#define vPPPM (_mm_set_ps(-0.0f, +0.0f, +0.0f, +0.0f))
-
-#elif defined(BT_USE_NEON)
-
-const btSimdFloat4 ATTRIBUTE_ALIGNED16(vQInv) = {-0.0f, -0.0f, -0.0f, +0.0f};
-const btSimdFloat4 ATTRIBUTE_ALIGNED16(vPPPM) = {+0.0f, +0.0f, +0.0f, -0.0f};
-
-#endif
-
-/**@brief The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform. */
-class btQuaternion : public btQuadWord
-{
-public:
-	/**@brief No initialization constructor */
-	btQuaternion() {}
-
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-	// Set Vector
-	SIMD_FORCE_INLINE btQuaternion(const btSimdFloat4 vec)
-	{
-		mVec128 = vec;
-	}
-
-	// Copy constructor
-	SIMD_FORCE_INLINE btQuaternion(const btQuaternion& rhs)
-	{
-		mVec128 = rhs.mVec128;
-	}
-
-	// Assignment Operator
-	SIMD_FORCE_INLINE btQuaternion&
-	operator=(const btQuaternion& v)
-	{
-		mVec128 = v.mVec128;
-
-		return *this;
-	}
-
-#endif
-
-	//		template <typename btScalar>
-	//		explicit Quaternion(const btScalar *v) : Tuple4<btScalar>(v) {}
-	/**@brief Constructor from scalars */
-	btQuaternion(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
-		: btQuadWord(_x, _y, _z, _w)
-	{
-	}
-	/**@brief Axis angle Constructor
-   * @param axis The axis which the rotation is around
-   * @param angle The magnitude of the rotation around the angle (Radians) */
-	btQuaternion(const btVector3& _axis, const btScalar& _angle)
-	{
-		setRotation(_axis, _angle);
-	}
-	/**@brief Constructor from Euler angles
-   * @param yaw Angle around Y unless BT_EULER_DEFAULT_ZYX defined then Z
-   * @param pitch Angle around X unless BT_EULER_DEFAULT_ZYX defined then Y
-   * @param roll Angle around Z unless BT_EULER_DEFAULT_ZYX defined then X */
-	btQuaternion(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
-	{
-#ifndef BT_EULER_DEFAULT_ZYX
-		setEuler(yaw, pitch, roll);
-#else
-		setEulerZYX(yaw, pitch, roll);
-#endif
-	}
-	/**@brief Set the rotation using axis angle notation 
-   * @param axis The axis around which to rotate
-   * @param angle The magnitude of the rotation in Radians */
-	void setRotation(const btVector3& axis, const btScalar& _angle)
-	{
-		btScalar d = axis.length();
-		btAssert(d != btScalar(0.0));
-		btScalar s = btSin(_angle * btScalar(0.5)) / d;
-		setValue(axis.x() * s, axis.y() * s, axis.z() * s,
-				 btCos(_angle * btScalar(0.5)));
-	}
-	/**@brief Set the quaternion using Euler angles
-   * @param yaw Angle around Y
-   * @param pitch Angle around X
-   * @param roll Angle around Z */
-	void setEuler(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
-	{
-		btScalar halfYaw = btScalar(yaw) * btScalar(0.5);
-		btScalar halfPitch = btScalar(pitch) * btScalar(0.5);
-		btScalar halfRoll = btScalar(roll) * btScalar(0.5);
-		btScalar cosYaw = btCos(halfYaw);
-		btScalar sinYaw = btSin(halfYaw);
-		btScalar cosPitch = btCos(halfPitch);
-		btScalar sinPitch = btSin(halfPitch);
-		btScalar cosRoll = btCos(halfRoll);
-		btScalar sinRoll = btSin(halfRoll);
-		setValue(cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw,
-				 cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw,
-				 sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw,
-				 cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw);
-	}
-	/**@brief Set the quaternion using euler angles 
-   * @param yaw Angle around Z
-   * @param pitch Angle around Y
-   * @param roll Angle around X */
-	void setEulerZYX(const btScalar& yawZ, const btScalar& pitchY, const btScalar& rollX)
-	{
-		btScalar halfYaw = btScalar(yawZ) * btScalar(0.5);
-		btScalar halfPitch = btScalar(pitchY) * btScalar(0.5);
-		btScalar halfRoll = btScalar(rollX) * btScalar(0.5);
-		btScalar cosYaw = btCos(halfYaw);
-		btScalar sinYaw = btSin(halfYaw);
-		btScalar cosPitch = btCos(halfPitch);
-		btScalar sinPitch = btSin(halfPitch);
-		btScalar cosRoll = btCos(halfRoll);
-		btScalar sinRoll = btSin(halfRoll);
-		setValue(sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw,   //x
-				 cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw,   //y
-				 cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw,   //z
-				 cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw);  //formerly yzx
-	}
-
-	/**@brief Get the euler angles from this quaternion
-	   * @param yaw Angle around Z
-	   * @param pitch Angle around Y
-	   * @param roll Angle around X */
-	void getEulerZYX(btScalar& yawZ, btScalar& pitchY, btScalar& rollX) const
-	{
-		btScalar squ;
-		btScalar sqx;
-		btScalar sqy;
-		btScalar sqz;
-		btScalar sarg;
-		sqx = m_floats[0] * m_floats[0];
-		sqy = m_floats[1] * m_floats[1];
-		sqz = m_floats[2] * m_floats[2];
-		squ = m_floats[3] * m_floats[3];
-		sarg = btScalar(-2.) * (m_floats[0] * m_floats[2] - m_floats[3] * m_floats[1]);
-
-		// If the pitch angle is PI/2 or -PI/2, we can only compute
-		// the sum roll + yaw.  However, any combination that gives
-		// the right sum will produce the correct orientation, so we
-		// set rollX = 0 and compute yawZ.
-		if (sarg <= -btScalar(0.99999))
-		{
-			pitchY = btScalar(-0.5) * SIMD_PI;
-			rollX = 0;
-			yawZ = btScalar(2) * btAtan2(m_floats[0], -m_floats[1]);
-		}
-		else if (sarg >= btScalar(0.99999))
-		{
-			pitchY = btScalar(0.5) * SIMD_PI;
-			rollX = 0;
-			yawZ = btScalar(2) * btAtan2(-m_floats[0], m_floats[1]);
-		}
-		else
-		{
-			pitchY = btAsin(sarg);
-			rollX = btAtan2(2 * (m_floats[1] * m_floats[2] + m_floats[3] * m_floats[0]), squ - sqx - sqy + sqz);
-			yawZ = btAtan2(2 * (m_floats[0] * m_floats[1] + m_floats[3] * m_floats[2]), squ + sqx - sqy - sqz);
-		}
-	}
-
-	/**@brief Add two quaternions
-   * @param q The quaternion to add to this one */
-	SIMD_FORCE_INLINE btQuaternion& operator+=(const btQuaternion& q)
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		mVec128 = _mm_add_ps(mVec128, q.mVec128);
-#elif defined(BT_USE_NEON)
-		mVec128 = vaddq_f32(mVec128, q.mVec128);
-#else
-		m_floats[0] += q.x();
-		m_floats[1] += q.y();
-		m_floats[2] += q.z();
-		m_floats[3] += q.m_floats[3];
-#endif
-		return *this;
-	}
-
-	/**@brief Subtract out a quaternion
-   * @param q The quaternion to subtract from this one */
-	btQuaternion& operator-=(const btQuaternion& q)
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		mVec128 = _mm_sub_ps(mVec128, q.mVec128);
-#elif defined(BT_USE_NEON)
-		mVec128 = vsubq_f32(mVec128, q.mVec128);
-#else
-		m_floats[0] -= q.x();
-		m_floats[1] -= q.y();
-		m_floats[2] -= q.z();
-		m_floats[3] -= q.m_floats[3];
-#endif
-		return *this;
-	}
-
-	/**@brief Scale this quaternion
-   * @param s The scalar to scale by */
-	btQuaternion& operator*=(const btScalar& s)
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
-		vs = bt_pshufd_ps(vs, 0);     //	(S S S S)
-		mVec128 = _mm_mul_ps(mVec128, vs);
-#elif defined(BT_USE_NEON)
-		mVec128 = vmulq_n_f32(mVec128, s);
-#else
-		m_floats[0] *= s;
-		m_floats[1] *= s;
-		m_floats[2] *= s;
-		m_floats[3] *= s;
-#endif
-		return *this;
-	}
-
-	/**@brief Multiply this quaternion by q on the right
-   * @param q The other quaternion 
-   * Equivilant to this = this * q */
-	btQuaternion& operator*=(const btQuaternion& q)
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 vQ2 = q.get128();
-
-		__m128 A1 = bt_pshufd_ps(mVec128, BT_SHUFFLE(0, 1, 2, 0));
-		__m128 B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3, 3, 3, 0));
-
-		A1 = A1 * B1;
-
-		__m128 A2 = bt_pshufd_ps(mVec128, BT_SHUFFLE(1, 2, 0, 1));
-		__m128 B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2, 0, 1, 1));
-
-		A2 = A2 * B2;
-
-		B1 = bt_pshufd_ps(mVec128, BT_SHUFFLE(2, 0, 1, 2));
-		B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1, 2, 0, 2));
-
-		B1 = B1 * B2;  //	A3 *= B3
-
-		mVec128 = bt_splat_ps(mVec128, 3);  //	A0
-		mVec128 = mVec128 * vQ2;            //	A0 * B0
-
-		A1 = A1 + A2;                //	AB12
-		mVec128 = mVec128 - B1;      //	AB03 = AB0 - AB3
-		A1 = _mm_xor_ps(A1, vPPPM);  //	change sign of the last element
-		mVec128 = mVec128 + A1;      //	AB03 + AB12
-
-#elif defined(BT_USE_NEON)
-
-		float32x4_t vQ1 = mVec128;
-		float32x4_t vQ2 = q.get128();
-		float32x4_t A0, A1, B1, A2, B2, A3, B3;
-		float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
-
-		{
-			float32x2x2_t tmp;
-			tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1));  // {z x}, {w y}
-			vQ1zx = tmp.val[0];
-
-			tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2));  // {z x}, {w y}
-			vQ2zx = tmp.val[0];
-		}
-		vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1);
-
-		vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
-
-		vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
-		vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
-
-		A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                     // X Y  z x
-		B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx);  // W W  W X
-
-		A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
-		B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
-
-		A3 = vcombine_f32(vQ1zx, vQ1yz);  // Z X Y Z
-		B3 = vcombine_f32(vQ2yz, vQ2xz);  // Y Z x z
-
-		A1 = vmulq_f32(A1, B1);
-		A2 = vmulq_f32(A2, B2);
-		A3 = vmulq_f32(A3, B3);                           //	A3 *= B3
-		A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1);  //	A0 * B0
-
-		A1 = vaddq_f32(A1, A2);  //	AB12 = AB1 + AB2
-		A0 = vsubq_f32(A0, A3);  //	AB03 = AB0 - AB3
-
-		//	change the sign of the last element
-		A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);
-		A0 = vaddq_f32(A0, A1);  //	AB03 + AB12
-
-		mVec128 = A0;
-#else
-		setValue(
-			m_floats[3] * q.x() + m_floats[0] * q.m_floats[3] + m_floats[1] * q.z() - m_floats[2] * q.y(),
-			m_floats[3] * q.y() + m_floats[1] * q.m_floats[3] + m_floats[2] * q.x() - m_floats[0] * q.z(),
-			m_floats[3] * q.z() + m_floats[2] * q.m_floats[3] + m_floats[0] * q.y() - m_floats[1] * q.x(),
-			m_floats[3] * q.m_floats[3] - m_floats[0] * q.x() - m_floats[1] * q.y() - m_floats[2] * q.z());
-#endif
-		return *this;
-	}
-	/**@brief Return the dot product between this quaternion and another
-   * @param q The other quaternion */
-	btScalar dot(const btQuaternion& q) const
-	{
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 vd;
-
-		vd = _mm_mul_ps(mVec128, q.mVec128);
-
-		__m128 t = _mm_movehl_ps(vd, vd);
-		vd = _mm_add_ps(vd, t);
-		t = _mm_shuffle_ps(vd, vd, 0x55);
-		vd = _mm_add_ss(vd, t);
-
-		return _mm_cvtss_f32(vd);
-#elif defined(BT_USE_NEON)
-		float32x4_t vd = vmulq_f32(mVec128, q.mVec128);
-		float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_high_f32(vd));
-		x = vpadd_f32(x, x);
-		return vget_lane_f32(x, 0);
-#else
-		return m_floats[0] * q.x() +
-			   m_floats[1] * q.y() +
-			   m_floats[2] * q.z() +
-			   m_floats[3] * q.m_floats[3];
-#endif
-	}
-
-	/**@brief Return the length squared of the quaternion */
-	btScalar length2() const
-	{
-		return dot(*this);
-	}
-
-	/**@brief Return the length of the quaternion */
-	btScalar length() const
-	{
-		return btSqrt(length2());
-	}
-	btQuaternion& safeNormalize()
-	{
-		btScalar l2 = length2();
-		if (l2 > SIMD_EPSILON)
-		{
-			normalize();
-		}
-		return *this;
-	}
-	/**@brief Normalize the quaternion 
-   * Such that x^2 + y^2 + z^2 +w^2 = 1 */
-	btQuaternion& normalize()
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 vd;
-
-		vd = _mm_mul_ps(mVec128, mVec128);
-
-		__m128 t = _mm_movehl_ps(vd, vd);
-		vd = _mm_add_ps(vd, t);
-		t = _mm_shuffle_ps(vd, vd, 0x55);
-		vd = _mm_add_ss(vd, t);
-
-		vd = _mm_sqrt_ss(vd);
-		vd = _mm_div_ss(vOnes, vd);
-		vd = bt_pshufd_ps(vd, 0);  // splat
-		mVec128 = _mm_mul_ps(mVec128, vd);
-
-		return *this;
-#else
-		return *this /= length();
-#endif
-	}
-
-	/**@brief Return a scaled version of this quaternion
-   * @param s The scale factor */
-	SIMD_FORCE_INLINE btQuaternion
-	operator*(const btScalar& s) const
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
-		vs = bt_pshufd_ps(vs, 0x00);  //	(S S S S)
-
-		return btQuaternion(_mm_mul_ps(mVec128, vs));
-#elif defined(BT_USE_NEON)
-		return btQuaternion(vmulq_n_f32(mVec128, s));
-#else
-		return btQuaternion(x() * s, y() * s, z() * s, m_floats[3] * s);
-#endif
-	}
-
-	/**@brief Return an inversely scaled versionof this quaternion
-   * @param s The inverse scale factor */
-	btQuaternion operator/(const btScalar& s) const
-	{
-		btAssert(s != btScalar(0.0));
-		return *this * (btScalar(1.0) / s);
-	}
-
-	/**@brief Inversely scale this quaternion
-   * @param s The scale factor */
-	btQuaternion& operator/=(const btScalar& s)
-	{
-		btAssert(s != btScalar(0.0));
-		return *this *= btScalar(1.0) / s;
-	}
-
-	/**@brief Return a normalized version of this quaternion */
-	btQuaternion normalized() const
-	{
-		return *this / length();
-	}
-	/**@brief Return the ***half*** angle between this quaternion and the other
-   * @param q The other quaternion */
-	btScalar angle(const btQuaternion& q) const
-	{
-		btScalar s = btSqrt(length2() * q.length2());
-		btAssert(s != btScalar(0.0));
-		return btAcos(dot(q) / s);
-	}
-
-	/**@brief Return the angle between this quaternion and the other along the shortest path
-	* @param q The other quaternion */
-	btScalar angleShortestPath(const btQuaternion& q) const
-	{
-		btScalar s = btSqrt(length2() * q.length2());
-		btAssert(s != btScalar(0.0));
-		if (dot(q) < 0)  // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp
-			return btAcos(dot(-q) / s) * btScalar(2.0);
-		else
-			return btAcos(dot(q) / s) * btScalar(2.0);
-	}
-
-	/**@brief Return the angle [0, 2Pi] of rotation represented by this quaternion */
-	btScalar getAngle() const
-	{
-		btScalar s = btScalar(2.) * btAcos(m_floats[3]);
-		return s;
-	}
-
-	/**@brief Return the angle [0, Pi] of rotation represented by this quaternion along the shortest path */
-	btScalar getAngleShortestPath() const
-	{
-		btScalar s;
-		if (m_floats[3] >= 0)
-			s = btScalar(2.) * btAcos(m_floats[3]);
-		else
-			s = btScalar(2.) * btAcos(-m_floats[3]);
-		return s;
-	}
-
-	/**@brief Return the axis of the rotation represented by this quaternion */
-	btVector3 getAxis() const
-	{
-		btScalar s_squared = 1.f - m_floats[3] * m_floats[3];
-
-		if (s_squared < btScalar(10.) * SIMD_EPSILON)  //Check for divide by zero
-			return btVector3(1.0, 0.0, 0.0);           // Arbitrary
-		btScalar s = 1.f / btSqrt(s_squared);
-		return btVector3(m_floats[0] * s, m_floats[1] * s, m_floats[2] * s);
-	}
-
-	/**@brief Return the inverse of this quaternion */
-	btQuaternion inverse() const
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		return btQuaternion(_mm_xor_ps(mVec128, vQInv));
-#elif defined(BT_USE_NEON)
-		return btQuaternion((btSimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)vQInv));
-#else
-		return btQuaternion(-m_floats[0], -m_floats[1], -m_floats[2], m_floats[3]);
-#endif
-	}
-
-	/**@brief Return the sum of this quaternion and the other 
-   * @param q2 The other quaternion */
-	SIMD_FORCE_INLINE btQuaternion
-	operator+(const btQuaternion& q2) const
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		return btQuaternion(_mm_add_ps(mVec128, q2.mVec128));
-#elif defined(BT_USE_NEON)
-		return btQuaternion(vaddq_f32(mVec128, q2.mVec128));
-#else
-		const btQuaternion& q1 = *this;
-		return btQuaternion(q1.x() + q2.x(), q1.y() + q2.y(), q1.z() + q2.z(), q1.m_floats[3] + q2.m_floats[3]);
-#endif
-	}
-
-	/**@brief Return the difference between this quaternion and the other 
-   * @param q2 The other quaternion */
-	SIMD_FORCE_INLINE btQuaternion
-	operator-(const btQuaternion& q2) const
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		return btQuaternion(_mm_sub_ps(mVec128, q2.mVec128));
-#elif defined(BT_USE_NEON)
-		return btQuaternion(vsubq_f32(mVec128, q2.mVec128));
-#else
-		const btQuaternion& q1 = *this;
-		return btQuaternion(q1.x() - q2.x(), q1.y() - q2.y(), q1.z() - q2.z(), q1.m_floats[3] - q2.m_floats[3]);
-#endif
-	}
-
-	/**@brief Return the negative of this quaternion 
-   * This simply negates each element */
-	SIMD_FORCE_INLINE btQuaternion operator-() const
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		return btQuaternion(_mm_xor_ps(mVec128, btvMzeroMask));
-#elif defined(BT_USE_NEON)
-		return btQuaternion((btSimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)btvMzeroMask));
-#else
-		const btQuaternion& q2 = *this;
-		return btQuaternion(-q2.x(), -q2.y(), -q2.z(), -q2.m_floats[3]);
-#endif
-	}
-	/**@todo document this and it's use */
-	SIMD_FORCE_INLINE btQuaternion farthest(const btQuaternion& qd) const
-	{
-		btQuaternion diff, sum;
-		diff = *this - qd;
-		sum = *this + qd;
-		if (diff.dot(diff) > sum.dot(sum))
-			return qd;
-		return (-qd);
-	}
-
-	/**@todo document this and it's use */
-	SIMD_FORCE_INLINE btQuaternion nearest(const btQuaternion& qd) const
-	{
-		btQuaternion diff, sum;
-		diff = *this - qd;
-		sum = *this + qd;
-		if (diff.dot(diff) < sum.dot(sum))
-			return qd;
-		return (-qd);
-	}
-
-	/**@brief Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion
-   * @param q The other quaternion to interpolate with 
-   * @param t The ratio between this and q to interpolate.  If t = 0 the result is this, if t=1 the result is q.
-   * Slerp interpolates assuming constant velocity.  */
-	btQuaternion slerp(const btQuaternion& q, const btScalar& t) const
-	{
-		const btScalar magnitude = btSqrt(length2() * q.length2());
-		btAssert(magnitude > btScalar(0));
-
-		const btScalar product = dot(q) / magnitude;
-		const btScalar absproduct = btFabs(product);
-
-		if (absproduct < btScalar(1.0 - SIMD_EPSILON))
-		{
-			// Take care of long angle case see http://en.wikipedia.org/wiki/Slerp
-			const btScalar theta = btAcos(absproduct);
-			const btScalar d = btSin(theta);
-			btAssert(d > btScalar(0));
-
-			const btScalar sign = (product < 0) ? btScalar(-1) : btScalar(1);
-			const btScalar s0 = btSin((btScalar(1.0) - t) * theta) / d;
-			const btScalar s1 = btSin(sign * t * theta) / d;
-
-			return btQuaternion(
-				(m_floats[0] * s0 + q.x() * s1),
-				(m_floats[1] * s0 + q.y() * s1),
-				(m_floats[2] * s0 + q.z() * s1),
-				(m_floats[3] * s0 + q.w() * s1));
-		}
-		else
-		{
-			return *this;
-		}
-	}
-
-	static const btQuaternion& getIdentity()
-	{
-		static const btQuaternion identityQuat(btScalar(0.), btScalar(0.), btScalar(0.), btScalar(1.));
-		return identityQuat;
-	}
-
-	SIMD_FORCE_INLINE const btScalar& getW() const { return m_floats[3]; }
-
-	SIMD_FORCE_INLINE void serialize(struct btQuaternionData& dataOut) const;
-
-	SIMD_FORCE_INLINE void deSerialize(const struct btQuaternionFloatData& dataIn);
-
-	SIMD_FORCE_INLINE void deSerialize(const struct btQuaternionDoubleData& dataIn);
-
-	SIMD_FORCE_INLINE void serializeFloat(struct btQuaternionFloatData& dataOut) const;
-
-	SIMD_FORCE_INLINE void deSerializeFloat(const struct btQuaternionFloatData& dataIn);
-
-	SIMD_FORCE_INLINE void serializeDouble(struct btQuaternionDoubleData& dataOut) const;
-
-	SIMD_FORCE_INLINE void deSerializeDouble(const struct btQuaternionDoubleData& dataIn);
-};
-
-/**@brief Return the product of two quaternions */
-SIMD_FORCE_INLINE btQuaternion
-operator*(const btQuaternion& q1, const btQuaternion& q2)
-{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-	__m128 vQ1 = q1.get128();
-	__m128 vQ2 = q2.get128();
-	__m128 A0, A1, B1, A2, B2;
-
-	A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(0, 1, 2, 0));  // X Y  z x     //      vtrn
-	B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3, 3, 3, 0));  // W W  W X     // vdup vext
-
-	A1 = A1 * B1;
-
-	A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1, 2, 0, 1));  // Y Z  X Y     // vext
-	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2, 0, 1, 1));  // z x  Y Y     // vtrn vdup
-
-	A2 = A2 * B2;
-
-	B1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2, 0, 1, 2));  // z x Y Z      // vtrn vext
-	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1, 2, 0, 2));  // Y Z x z      // vext vtrn
-
-	B1 = B1 * B2;  //	A3 *= B3
-
-	A0 = bt_splat_ps(vQ1, 3);  //	A0
-	A0 = A0 * vQ2;             //	A0 * B0
-
-	A1 = A1 + A2;  //	AB12
-	A0 = A0 - B1;  //	AB03 = AB0 - AB3
-
-	A1 = _mm_xor_ps(A1, vPPPM);  //	change sign of the last element
-	A0 = A0 + A1;                //	AB03 + AB12
-
-	return btQuaternion(A0);
-
-#elif defined(BT_USE_NEON)
-
-	float32x4_t vQ1 = q1.get128();
-	float32x4_t vQ2 = q2.get128();
-	float32x4_t A0, A1, B1, A2, B2, A3, B3;
-	float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
-
-	{
-		float32x2x2_t tmp;
-		tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1));  // {z x}, {w y}
-		vQ1zx = tmp.val[0];
-
-		tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2));  // {z x}, {w y}
-		vQ2zx = tmp.val[0];
-	}
-	vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1);
-
-	vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
-
-	vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
-	vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
-
-	A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                     // X Y  z x
-	B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx);  // W W  W X
-
-	A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
-	B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
-
-	A3 = vcombine_f32(vQ1zx, vQ1yz);  // Z X Y Z
-	B3 = vcombine_f32(vQ2yz, vQ2xz);  // Y Z x z
-
-	A1 = vmulq_f32(A1, B1);
-	A2 = vmulq_f32(A2, B2);
-	A3 = vmulq_f32(A3, B3);                           //	A3 *= B3
-	A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1);  //	A0 * B0
-
-	A1 = vaddq_f32(A1, A2);  //	AB12 = AB1 + AB2
-	A0 = vsubq_f32(A0, A3);  //	AB03 = AB0 - AB3
-
-	//	change the sign of the last element
-	A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);
-	A0 = vaddq_f32(A0, A1);  //	AB03 + AB12
-
-	return btQuaternion(A0);
-
-#else
-	return btQuaternion(
-		q1.w() * q2.x() + q1.x() * q2.w() + q1.y() * q2.z() - q1.z() * q2.y(),
-		q1.w() * q2.y() + q1.y() * q2.w() + q1.z() * q2.x() - q1.x() * q2.z(),
-		q1.w() * q2.z() + q1.z() * q2.w() + q1.x() * q2.y() - q1.y() * q2.x(),
-		q1.w() * q2.w() - q1.x() * q2.x() - q1.y() * q2.y() - q1.z() * q2.z());
-#endif
-}
-
-SIMD_FORCE_INLINE btQuaternion
-operator*(const btQuaternion& q, const btVector3& w)
-{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-	__m128 vQ1 = q.get128();
-	__m128 vQ2 = w.get128();
-	__m128 A1, B1, A2, B2, A3, B3;
-
-	A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(3, 3, 3, 0));
-	B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(0, 1, 2, 0));
-
-	A1 = A1 * B1;
-
-	A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1, 2, 0, 1));
-	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2, 0, 1, 1));
-
-	A2 = A2 * B2;
-
-	A3 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2, 0, 1, 2));
-	B3 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1, 2, 0, 2));
-
-	A3 = A3 * B3;  //	A3 *= B3
-
-	A1 = A1 + A2;                //	AB12
-	A1 = _mm_xor_ps(A1, vPPPM);  //	change sign of the last element
-	A1 = A1 - A3;                //	AB123 = AB12 - AB3
-
-	return btQuaternion(A1);
-
-#elif defined(BT_USE_NEON)
-
-	float32x4_t vQ1 = q.get128();
-	float32x4_t vQ2 = w.get128();
-	float32x4_t A1, B1, A2, B2, A3, B3;
-	float32x2_t vQ1wx, vQ2zx, vQ1yz, vQ2yz, vQ1zx, vQ2xz;
-
-	vQ1wx = vext_f32(vget_high_f32(vQ1), vget_low_f32(vQ1), 1);
-	{
-		float32x2x2_t tmp;
-
-		tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2));  // {z x}, {w y}
-		vQ2zx = tmp.val[0];
-
-		tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1));  // {z x}, {w y}
-		vQ1zx = tmp.val[0];
-	}
-
-	vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
-
-	vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
-	vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
-
-	A1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ1), 1), vQ1wx);  // W W  W X
-	B1 = vcombine_f32(vget_low_f32(vQ2), vQ2zx);                     // X Y  z x
-
-	A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
-	B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
-
-	A3 = vcombine_f32(vQ1zx, vQ1yz);  // Z X Y Z
-	B3 = vcombine_f32(vQ2yz, vQ2xz);  // Y Z x z
-
-	A1 = vmulq_f32(A1, B1);
-	A2 = vmulq_f32(A2, B2);
-	A3 = vmulq_f32(A3, B3);  //	A3 *= B3
-
-	A1 = vaddq_f32(A1, A2);  //	AB12 = AB1 + AB2
-
-	//	change the sign of the last element
-	A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);
-
-	A1 = vsubq_f32(A1, A3);  //	AB123 = AB12 - AB3
-
-	return btQuaternion(A1);
-
-#else
-	return btQuaternion(
-		q.w() * w.x() + q.y() * w.z() - q.z() * w.y(),
-		q.w() * w.y() + q.z() * w.x() - q.x() * w.z(),
-		q.w() * w.z() + q.x() * w.y() - q.y() * w.x(),
-		-q.x() * w.x() - q.y() * w.y() - q.z() * w.z());
-#endif
-}
-
-SIMD_FORCE_INLINE btQuaternion
-operator*(const btVector3& w, const btQuaternion& q)
-{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-	__m128 vQ1 = w.get128();
-	__m128 vQ2 = q.get128();
-	__m128 A1, B1, A2, B2, A3, B3;
-
-	A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(0, 1, 2, 0));  // X Y  z x
-	B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3, 3, 3, 0));  // W W  W X
-
-	A1 = A1 * B1;
-
-	A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1, 2, 0, 1));
-	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2, 0, 1, 1));
-
-	A2 = A2 * B2;
-
-	A3 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2, 0, 1, 2));
-	B3 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1, 2, 0, 2));
-
-	A3 = A3 * B3;  //	A3 *= B3
-
-	A1 = A1 + A2;                //	AB12
-	A1 = _mm_xor_ps(A1, vPPPM);  //	change sign of the last element
-	A1 = A1 - A3;                //	AB123 = AB12 - AB3
-
-	return btQuaternion(A1);
-
-#elif defined(BT_USE_NEON)
-
-	float32x4_t vQ1 = w.get128();
-	float32x4_t vQ2 = q.get128();
-	float32x4_t A1, B1, A2, B2, A3, B3;
-	float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
-
-	{
-		float32x2x2_t tmp;
-
-		tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1));  // {z x}, {w y}
-		vQ1zx = tmp.val[0];
-
-		tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2));  // {z x}, {w y}
-		vQ2zx = tmp.val[0];
-	}
-	vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1);
-
-	vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
-
-	vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
-	vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
-
-	A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                     // X Y  z x
-	B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx);  // W W  W X
-
-	A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
-	B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
-
-	A3 = vcombine_f32(vQ1zx, vQ1yz);  // Z X Y Z
-	B3 = vcombine_f32(vQ2yz, vQ2xz);  // Y Z x z
-
-	A1 = vmulq_f32(A1, B1);
-	A2 = vmulq_f32(A2, B2);
-	A3 = vmulq_f32(A3, B3);  //	A3 *= B3
-
-	A1 = vaddq_f32(A1, A2);  //	AB12 = AB1 + AB2
-
-	//	change the sign of the last element
-	A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);
-
-	A1 = vsubq_f32(A1, A3);  //	AB123 = AB12 - AB3
-
-	return btQuaternion(A1);
-
-#else
-	return btQuaternion(
-		+w.x() * q.w() + w.y() * q.z() - w.z() * q.y(),
-		+w.y() * q.w() + w.z() * q.x() - w.x() * q.z(),
-		+w.z() * q.w() + w.x() * q.y() - w.y() * q.x(),
-		-w.x() * q.x() - w.y() * q.y() - w.z() * q.z());
-#endif
-}
-
-/**@brief Calculate the dot product between two quaternions */
-SIMD_FORCE_INLINE btScalar
-dot(const btQuaternion& q1, const btQuaternion& q2)
-{
-	return q1.dot(q2);
-}
-
-/**@brief Return the length of a quaternion */
-SIMD_FORCE_INLINE btScalar
-length(const btQuaternion& q)
-{
-	return q.length();
-}
-
-/**@brief Return the angle between two quaternions*/
-SIMD_FORCE_INLINE btScalar
-btAngle(const btQuaternion& q1, const btQuaternion& q2)
-{
-	return q1.angle(q2);
-}
-
-/**@brief Return the inverse of a quaternion*/
-SIMD_FORCE_INLINE btQuaternion
-inverse(const btQuaternion& q)
-{
-	return q.inverse();
-}
-
-/**@brief Return the result of spherical linear interpolation betwen two quaternions 
- * @param q1 The first quaternion
- * @param q2 The second quaternion 
- * @param t The ration between q1 and q2.  t = 0 return q1, t=1 returns q2 
- * Slerp assumes constant velocity between positions. */
-SIMD_FORCE_INLINE btQuaternion
-slerp(const btQuaternion& q1, const btQuaternion& q2, const btScalar& t)
-{
-	return q1.slerp(q2, t);
-}
-
-SIMD_FORCE_INLINE btVector3
-quatRotate(const btQuaternion& rotation, const btVector3& v)
-{
-	btQuaternion q = rotation * v;
-	q *= rotation.inverse();
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-	return btVector3(_mm_and_ps(q.get128(), btvFFF0fMask));
-#elif defined(BT_USE_NEON)
-	return btVector3((float32x4_t)vandq_s32((int32x4_t)q.get128(), btvFFF0Mask));
-#else
-	return btVector3(q.getX(), q.getY(), q.getZ());
-#endif
-}
-
-SIMD_FORCE_INLINE btQuaternion
-shortestArcQuat(const btVector3& v0, const btVector3& v1)  // Game Programming Gems 2.10. make sure v0,v1 are normalized
-{
-	btVector3 c = v0.cross(v1);
-	btScalar d = v0.dot(v1);
-
-	if (d < -1.0 + SIMD_EPSILON)
-	{
-		btVector3 n, unused;
-		btPlaneSpace1(v0, n, unused);
-		return btQuaternion(n.x(), n.y(), n.z(), 0.0f);  // just pick any vector that is orthogonal to v0
-	}
-
-	btScalar s = btSqrt((1.0f + d) * 2.0f);
-	btScalar rs = 1.0f / s;
-
-	return btQuaternion(c.getX() * rs, c.getY() * rs, c.getZ() * rs, s * 0.5f);
-}
-
-SIMD_FORCE_INLINE btQuaternion
-shortestArcQuatNormalize2(btVector3& v0, btVector3& v1)
-{
-	v0.normalize();
-	v1.normalize();
-	return shortestArcQuat(v0, v1);
-}
-
-struct btQuaternionFloatData
-{
-	float m_floats[4];
-};
-
-struct btQuaternionDoubleData
-{
-	double m_floats[4];
-};
-
-SIMD_FORCE_INLINE void btQuaternion::serializeFloat(struct btQuaternionFloatData& dataOut) const
-{
-	///could also do a memcpy, check if it is worth it
-	for (int i = 0; i < 4; i++)
-		dataOut.m_floats[i] = float(m_floats[i]);
-}
-
-SIMD_FORCE_INLINE void btQuaternion::deSerializeFloat(const struct btQuaternionFloatData& dataIn)
-{
-	for (int i = 0; i < 4; i++)
-		m_floats[i] = btScalar(dataIn.m_floats[i]);
-}
-
-SIMD_FORCE_INLINE void btQuaternion::serializeDouble(struct btQuaternionDoubleData& dataOut) const
-{
-	///could also do a memcpy, check if it is worth it
-	for (int i = 0; i < 4; i++)
-		dataOut.m_floats[i] = double(m_floats[i]);
-}
-
-SIMD_FORCE_INLINE void btQuaternion::deSerializeDouble(const struct btQuaternionDoubleData& dataIn)
-{
-	for (int i = 0; i < 4; i++)
-		m_floats[i] = btScalar(dataIn.m_floats[i]);
-}
-
-SIMD_FORCE_INLINE void btQuaternion::serialize(struct btQuaternionData& dataOut) const
-{
-	///could also do a memcpy, check if it is worth it
-	for (int i = 0; i < 4; i++)
-		dataOut.m_floats[i] = m_floats[i];
-}
-
-SIMD_FORCE_INLINE void btQuaternion::deSerialize(const struct btQuaternionFloatData& dataIn)
-{
-	for (int i = 0; i < 4; i++)
-		m_floats[i] = (btScalar)dataIn.m_floats[i];
-}
-
-SIMD_FORCE_INLINE void btQuaternion::deSerialize(const struct btQuaternionDoubleData& dataIn)
-{
-	for (int i = 0; i < 4; i++)
-		m_floats[i] = (btScalar)dataIn.m_floats[i];
-}
-
-#endif  //BT_SIMD__QUATERNION_H_
diff --git a/thirdparty/bullet/LinearMath/btQuickprof.cpp b/thirdparty/bullet/LinearMath/btQuickprof.cpp
deleted file mode 100644
index 33b51eb763..0000000000
--- a/thirdparty/bullet/LinearMath/btQuickprof.cpp
+++ /dev/null
@@ -1,805 +0,0 @@
-/*
-
-***************************************************************************************************
-**
-** profile.cpp
-**
-** Real-Time Hierarchical Profiling for Game Programming Gems 3
-**
-** by Greg Hjelstrom & Byon Garrabrant
-**
-***************************************************************************************************/
-
-// Credits: The Clock class was inspired by the Timer classes in
-// Ogre (www.ogre3d.org).
-
-#include "btQuickprof.h"
-#include "btThreads.h"
-
-#ifdef __CELLOS_LV2__
-#include <sys/sys_time.h>
-#include <sys/time_util.h>
-#include <stdio.h>
-#endif
-
-#if defined(SUNOS) || defined(__SUNOS__)
-#include <stdio.h>
-#endif
-#ifdef __APPLE__
-#include <mach/mach_time.h>
-#include <TargetConditionals.h>
-#endif
-
-#if defined(WIN32) || defined(_WIN32)
-
-#define BT_USE_WINDOWS_TIMERS
-#define WIN32_LEAN_AND_MEAN
-#define NOWINRES
-#define NOMCX
-#define NOIME
-
-#ifdef _XBOX
-#include <Xtl.h>
-#else  //_XBOX
-#include <windows.h>
-
-#if WINVER < 0x0602
-#define GetTickCount64 GetTickCount
-#endif
-
-#endif  //_XBOX
-
-#include <time.h>
-
-#else  //_WIN32
-#include <sys/time.h>
-
-#ifdef BT_LINUX_REALTIME
-//required linking against rt (librt)
-#include <time.h>
-#endif  //BT_LINUX_REALTIME
-
-#endif  //_WIN32
-
-#define mymin(a, b) (a > b ? a : b)
-
-struct btClockData
-{
-#ifdef BT_USE_WINDOWS_TIMERS
-	LARGE_INTEGER mClockFrequency;
-	LONGLONG mStartTick;
-	LARGE_INTEGER mStartTime;
-#else
-#ifdef __CELLOS_LV2__
-	uint64_t mStartTime;
-#else
-#ifdef __APPLE__
-	uint64_t mStartTimeNano;
-#endif
-	struct timeval mStartTime;
-#endif
-#endif  //__CELLOS_LV2__
-};
-
-///The btClock is a portable basic clock that measures accurate time in seconds, use for profiling.
-btClock::btClock()
-{
-	m_data = new btClockData;
-#ifdef BT_USE_WINDOWS_TIMERS
-	QueryPerformanceFrequency(&m_data->mClockFrequency);
-#endif
-	reset();
-}
-
-btClock::~btClock()
-{
-	delete m_data;
-}
-
-btClock::btClock(const btClock& other)
-{
-	m_data = new btClockData;
-	*m_data = *other.m_data;
-}
-
-btClock& btClock::operator=(const btClock& other)
-{
-	*m_data = *other.m_data;
-	return *this;
-}
-
-/// Resets the initial reference time.
-void btClock::reset()
-{
-#ifdef BT_USE_WINDOWS_TIMERS
-	QueryPerformanceCounter(&m_data->mStartTime);
-	m_data->mStartTick = GetTickCount64();
-#else
-#ifdef __CELLOS_LV2__
-
-	typedef uint64_t ClockSize;
-	ClockSize newTime;
-	//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-	SYS_TIMEBASE_GET(newTime);
-	m_data->mStartTime = newTime;
-#else
-#ifdef __APPLE__
-	m_data->mStartTimeNano = mach_absolute_time();
-#endif
-	gettimeofday(&m_data->mStartTime, 0);
-#endif
-#endif
-}
-
-/// Returns the time in ms since the last call to reset or since
-/// the btClock was created.
-unsigned long long int btClock::getTimeMilliseconds()
-{
-#ifdef BT_USE_WINDOWS_TIMERS
-	LARGE_INTEGER currentTime;
-	QueryPerformanceCounter(&currentTime);
-	LONGLONG elapsedTime = currentTime.QuadPart -
-						   m_data->mStartTime.QuadPart;
-	// Compute the number of millisecond ticks elapsed.
-	unsigned long msecTicks = (unsigned long)(1000 * elapsedTime /
-											  m_data->mClockFrequency.QuadPart);
-
-	return msecTicks;
-#else
-
-#ifdef __CELLOS_LV2__
-	uint64_t freq = sys_time_get_timebase_frequency();
-	double dFreq = ((double)freq) / 1000.0;
-	typedef uint64_t ClockSize;
-	ClockSize newTime;
-	SYS_TIMEBASE_GET(newTime);
-	//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-
-	return (unsigned long int)((double(newTime - m_data->mStartTime)) / dFreq);
-#else
-
-	struct timeval currentTime;
-	gettimeofday(&currentTime, 0);
-	return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000 +
-		   (currentTime.tv_usec - m_data->mStartTime.tv_usec) / 1000;
-#endif  //__CELLOS_LV2__
-#endif
-}
-
-/// Returns the time in us since the last call to reset or since
-/// the Clock was created.
-unsigned long long int btClock::getTimeMicroseconds()
-{
-#ifdef BT_USE_WINDOWS_TIMERS
-	//see https://msdn.microsoft.com/en-us/library/windows/desktop/dn553408(v=vs.85).aspx
-	LARGE_INTEGER currentTime, elapsedTime;
-
-	QueryPerformanceCounter(&currentTime);
-	elapsedTime.QuadPart = currentTime.QuadPart -
-						   m_data->mStartTime.QuadPart;
-	elapsedTime.QuadPart *= 1000000;
-	elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart;
-
-	return (unsigned long long)elapsedTime.QuadPart;
-#else
-
-#ifdef __CELLOS_LV2__
-	uint64_t freq = sys_time_get_timebase_frequency();
-	double dFreq = ((double)freq) / 1000000.0;
-	typedef uint64_t ClockSize;
-	ClockSize newTime;
-	//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-	SYS_TIMEBASE_GET(newTime);
-
-	return (unsigned long int)((double(newTime - m_data->mStartTime)) / dFreq);
-#else
-
-	struct timeval currentTime;
-	gettimeofday(&currentTime, 0);
-	return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000000 +
-		   (currentTime.tv_usec - m_data->mStartTime.tv_usec);
-#endif  //__CELLOS_LV2__
-#endif
-}
-
-unsigned long long int btClock::getTimeNanoseconds()
-{
-#ifdef BT_USE_WINDOWS_TIMERS
-	//see https://msdn.microsoft.com/en-us/library/windows/desktop/dn553408(v=vs.85).aspx
-	LARGE_INTEGER currentTime, elapsedTime;
-
-	QueryPerformanceCounter(&currentTime);
-	elapsedTime.QuadPart = currentTime.QuadPart -
-						   m_data->mStartTime.QuadPart;
-	elapsedTime.QuadPart *= 1000000000;
-	elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart;
-
-	return (unsigned long long)elapsedTime.QuadPart;
-#else
-
-#ifdef __CELLOS_LV2__
-	uint64_t freq = sys_time_get_timebase_frequency();
-	double dFreq = ((double)freq) / 1e9;
-	typedef uint64_t ClockSize;
-	ClockSize newTime;
-	//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-	SYS_TIMEBASE_GET(newTime);
-
-	return (unsigned long int)((double(newTime - m_data->mStartTime)) / dFreq);
-#else
-#ifdef __APPLE__
-	uint64_t ticks = mach_absolute_time() - m_data->mStartTimeNano;
-	static long double conversion = 0.0L;
-	if (0.0L == conversion)
-	{
-		// attempt to get conversion to nanoseconds
-		mach_timebase_info_data_t info;
-		int err = mach_timebase_info(&info);
-		if (err)
-		{
-			btAssert(0);
-			conversion = 1.;
-		}
-		conversion = info.numer / info.denom;
-	}
-	return (ticks * conversion);
-
-#else  //__APPLE__
-
-#ifdef BT_LINUX_REALTIME
-	timespec ts;
-	clock_gettime(CLOCK_REALTIME, &ts);
-	return 1000000000 * ts.tv_sec + ts.tv_nsec;
-#else
-	struct timeval currentTime;
-	gettimeofday(&currentTime, 0);
-	return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1e9 +
-		   (currentTime.tv_usec - m_data->mStartTime.tv_usec) * 1000;
-#endif  //BT_LINUX_REALTIME
-
-#endif  //__APPLE__
-#endif  //__CELLOS_LV2__
-#endif
-}
-
-/// Returns the time in s since the last call to reset or since
-/// the Clock was created.
-btScalar btClock::getTimeSeconds()
-{
-	static const btScalar microseconds_to_seconds = btScalar(0.000001);
-	return btScalar(getTimeMicroseconds()) * microseconds_to_seconds;
-}
-
-#ifndef BT_NO_PROFILE
-
-static btClock gProfileClock;
-
-inline void Profile_Get_Ticks(unsigned long int* ticks)
-{
-	*ticks = (unsigned long int)gProfileClock.getTimeMicroseconds();
-}
-
-inline float Profile_Get_Tick_Rate(void)
-{
-	//	return 1000000.f;
-	return 1000.f;
-}
-
-/***************************************************************************************************
-**
-** CProfileNode
-**
-***************************************************************************************************/
-
-/***********************************************************************************************
- * INPUT:                                                                                      *
- * name - pointer to a static string which is the name of this profile node                    *
- * parent - parent pointer                                                                     *
- *                                                                                             *
- * WARNINGS:                                                                                   *
- * The name is assumed to be a static pointer, only the pointer is stored and compared for     *
- * efficiency reasons.                                                                         *
- *=============================================================================================*/
-CProfileNode::CProfileNode(const char* name, CProfileNode* parent) : Name(name),
-																	 TotalCalls(0),
-																	 TotalTime(0),
-																	 StartTime(0),
-																	 RecursionCounter(0),
-																	 Parent(parent),
-																	 Child(NULL),
-																	 Sibling(NULL),
-																	 m_userPtr(0)
-{
-	Reset();
-}
-
-void CProfileNode::CleanupMemory()
-{
-	delete (Child);
-	Child = NULL;
-	delete (Sibling);
-	Sibling = NULL;
-}
-
-CProfileNode::~CProfileNode(void)
-{
-	CleanupMemory();
-}
-
-/***********************************************************************************************
- * INPUT:                                                                                      *
- * name - static string pointer to the name of the node we are searching for                   *
- *                                                                                             *
- * WARNINGS:                                                                                   *
- * All profile names are assumed to be static strings so this function uses pointer compares   *
- * to find the named node.                                                                     *
- *=============================================================================================*/
-CProfileNode* CProfileNode::Get_Sub_Node(const char* name)
-{
-	// Try to find this sub node
-	CProfileNode* child = Child;
-	while (child)
-	{
-		if (child->Name == name)
-		{
-			return child;
-		}
-		child = child->Sibling;
-	}
-
-	// We didn't find it, so add it
-
-	CProfileNode* node = new CProfileNode(name, this);
-	node->Sibling = Child;
-	Child = node;
-	return node;
-}
-
-void CProfileNode::Reset(void)
-{
-	TotalCalls = 0;
-	TotalTime = 0.0f;
-
-	if (Child)
-	{
-		Child->Reset();
-	}
-	if (Sibling)
-	{
-		Sibling->Reset();
-	}
-}
-
-void CProfileNode::Call(void)
-{
-	TotalCalls++;
-	if (RecursionCounter++ == 0)
-	{
-		Profile_Get_Ticks(&StartTime);
-	}
-}
-
-bool CProfileNode::Return(void)
-{
-	if (--RecursionCounter == 0 && TotalCalls != 0)
-	{
-		unsigned long int time;
-		Profile_Get_Ticks(&time);
-
-		time -= StartTime;
-		TotalTime += (float)time / Profile_Get_Tick_Rate();
-	}
-	return (RecursionCounter == 0);
-}
-
-/***************************************************************************************************
-**
-** CProfileIterator
-**
-***************************************************************************************************/
-CProfileIterator::CProfileIterator(CProfileNode* start)
-{
-	CurrentParent = start;
-	CurrentChild = CurrentParent->Get_Child();
-}
-
-void CProfileIterator::First(void)
-{
-	CurrentChild = CurrentParent->Get_Child();
-}
-
-void CProfileIterator::Next(void)
-{
-	CurrentChild = CurrentChild->Get_Sibling();
-}
-
-bool CProfileIterator::Is_Done(void)
-{
-	return CurrentChild == NULL;
-}
-
-void CProfileIterator::Enter_Child(int index)
-{
-	CurrentChild = CurrentParent->Get_Child();
-	while ((CurrentChild != NULL) && (index != 0))
-	{
-		index--;
-		CurrentChild = CurrentChild->Get_Sibling();
-	}
-
-	if (CurrentChild != NULL)
-	{
-		CurrentParent = CurrentChild;
-		CurrentChild = CurrentParent->Get_Child();
-	}
-}
-
-void CProfileIterator::Enter_Parent(void)
-{
-	if (CurrentParent->Get_Parent() != NULL)
-	{
-		CurrentParent = CurrentParent->Get_Parent();
-	}
-	CurrentChild = CurrentParent->Get_Child();
-}
-
-/***************************************************************************************************
-**
-** CProfileManager
-**
-***************************************************************************************************/
-
-CProfileNode gRoots[BT_QUICKPROF_MAX_THREAD_COUNT] = {
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL)};
-
-CProfileNode* gCurrentNodes[BT_QUICKPROF_MAX_THREAD_COUNT] =
-	{
-		&gRoots[0],
-		&gRoots[1],
-		&gRoots[2],
-		&gRoots[3],
-		&gRoots[4],
-		&gRoots[5],
-		&gRoots[6],
-		&gRoots[7],
-		&gRoots[8],
-		&gRoots[9],
-		&gRoots[10],
-		&gRoots[11],
-		&gRoots[12],
-		&gRoots[13],
-		&gRoots[14],
-		&gRoots[15],
-		&gRoots[16],
-		&gRoots[17],
-		&gRoots[18],
-		&gRoots[19],
-		&gRoots[20],
-		&gRoots[21],
-		&gRoots[22],
-		&gRoots[23],
-		&gRoots[24],
-		&gRoots[25],
-		&gRoots[26],
-		&gRoots[27],
-		&gRoots[28],
-		&gRoots[29],
-		&gRoots[30],
-		&gRoots[31],
-		&gRoots[32],
-		&gRoots[33],
-		&gRoots[34],
-		&gRoots[35],
-		&gRoots[36],
-		&gRoots[37],
-		&gRoots[38],
-		&gRoots[39],
-		&gRoots[40],
-		&gRoots[41],
-		&gRoots[42],
-		&gRoots[43],
-		&gRoots[44],
-		&gRoots[45],
-		&gRoots[46],
-		&gRoots[47],
-		&gRoots[48],
-		&gRoots[49],
-		&gRoots[50],
-		&gRoots[51],
-		&gRoots[52],
-		&gRoots[53],
-		&gRoots[54],
-		&gRoots[55],
-		&gRoots[56],
-		&gRoots[57],
-		&gRoots[58],
-		&gRoots[59],
-		&gRoots[60],
-		&gRoots[61],
-		&gRoots[62],
-		&gRoots[63],
-};
-
-int CProfileManager::FrameCounter = 0;
-unsigned long int CProfileManager::ResetTime = 0;
-
-CProfileIterator* CProfileManager::Get_Iterator(void)
-{
-	int threadIndex = btQuickprofGetCurrentThreadIndex2();
-	if ((threadIndex < 0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
-		return 0;
-
-	return new CProfileIterator(&gRoots[threadIndex]);
-}
-
-void CProfileManager::CleanupMemory(void)
-{
-	for (int i = 0; i < BT_QUICKPROF_MAX_THREAD_COUNT; i++)
-	{
-		gRoots[i].CleanupMemory();
-	}
-}
-
-/***********************************************************************************************
- * CProfileManager::Start_Profile -- Begin a named profile                                    *
- *                                                                                             *
- * Steps one level deeper into the tree, if a child already exists with the specified name     *
- * then it accumulates the profiling; otherwise a new child node is added to the profile tree. *
- *                                                                                             *
- * INPUT:                                                                                      *
- * name - name of this profiling record                                                        *
- *                                                                                             *
- * WARNINGS:                                                                                   *
- * The string used is assumed to be a static string; pointer compares are used throughout      *
- * the profiling code for efficiency.                                                          *
- *=============================================================================================*/
-void CProfileManager::Start_Profile(const char* name)
-{
-	int threadIndex = btQuickprofGetCurrentThreadIndex2();
-	if ((threadIndex < 0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
-		return;
-
-	if (name != gCurrentNodes[threadIndex]->Get_Name())
-	{
-		gCurrentNodes[threadIndex] = gCurrentNodes[threadIndex]->Get_Sub_Node(name);
-	}
-
-	gCurrentNodes[threadIndex]->Call();
-}
-
-/***********************************************************************************************
- * CProfileManager::Stop_Profile -- Stop timing and record the results.                       *
- *=============================================================================================*/
-void CProfileManager::Stop_Profile(void)
-{
-	int threadIndex = btQuickprofGetCurrentThreadIndex2();
-	if ((threadIndex < 0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
-		return;
-
-	// Return will indicate whether we should back up to our parent (we may
-	// be profiling a recursive function)
-	if (gCurrentNodes[threadIndex]->Return())
-	{
-		gCurrentNodes[threadIndex] = gCurrentNodes[threadIndex]->Get_Parent();
-	}
-}
-
-/***********************************************************************************************
- * CProfileManager::Reset -- Reset the contents of the profiling system                       *
- *                                                                                             *
- *    This resets everything except for the tree structure.  All of the timing data is reset.  *
- *=============================================================================================*/
-void CProfileManager::Reset(void)
-{
-	gProfileClock.reset();
-	int threadIndex = btQuickprofGetCurrentThreadIndex2();
-	if ((threadIndex < 0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
-		return;
-	gRoots[threadIndex].Reset();
-	gRoots[threadIndex].Call();
-	FrameCounter = 0;
-	Profile_Get_Ticks(&ResetTime);
-}
-
-/***********************************************************************************************
- * CProfileManager::Increment_Frame_Counter -- Increment the frame counter                    *
- *=============================================================================================*/
-void CProfileManager::Increment_Frame_Counter(void)
-{
-	FrameCounter++;
-}
-
-/***********************************************************************************************
- * CProfileManager::Get_Time_Since_Reset -- returns the elapsed time since last reset         *
- *=============================================================================================*/
-float CProfileManager::Get_Time_Since_Reset(void)
-{
-	unsigned long int time;
-	Profile_Get_Ticks(&time);
-	time -= ResetTime;
-	return (float)time / Profile_Get_Tick_Rate();
-}
-
-#include <stdio.h>
-
-void CProfileManager::dumpRecursive(CProfileIterator* profileIterator, int spacing)
-{
-	profileIterator->First();
-	if (profileIterator->Is_Done())
-		return;
-
-	float accumulated_time = 0, parent_time = profileIterator->Is_Root() ? CProfileManager::Get_Time_Since_Reset() : profileIterator->Get_Current_Parent_Total_Time();
-	int i;
-	int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset();
-	for (i = 0; i < spacing; i++) printf(".");
-	printf("----------------------------------\n");
-	for (i = 0; i < spacing; i++) printf(".");
-	printf("Profiling: %s (total running time: %.3f ms) ---\n", profileIterator->Get_Current_Parent_Name(), parent_time);
-	float totalTime = 0.f;
-
-	int numChildren = 0;
-
-	for (i = 0; !profileIterator->Is_Done(); i++, profileIterator->Next())
-	{
-		numChildren++;
-		float current_total_time = profileIterator->Get_Current_Total_Time();
-		accumulated_time += current_total_time;
-		float fraction = parent_time > SIMD_EPSILON ? (current_total_time / parent_time) * 100 : 0.f;
-		{
-			int i;
-			for (i = 0; i < spacing; i++) printf(".");
-		}
-		printf("%d -- %s (%.2f %%) :: %.3f ms / frame (%d calls)\n", i, profileIterator->Get_Current_Name(), fraction, (current_total_time / (double)frames_since_reset), profileIterator->Get_Current_Total_Calls());
-		totalTime += current_total_time;
-		//recurse into children
-	}
-
-	if (parent_time < accumulated_time)
-	{
-		//printf("what's wrong\n");
-	}
-	for (i = 0; i < spacing; i++) printf(".");
-	printf("%s (%.3f %%) :: %.3f ms\n", "Unaccounted:", parent_time > SIMD_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time);
-
-	for (i = 0; i < numChildren; i++)
-	{
-		profileIterator->Enter_Child(i);
-		dumpRecursive(profileIterator, spacing + 3);
-		profileIterator->Enter_Parent();
-	}
-}
-
-void CProfileManager::dumpAll()
-{
-	CProfileIterator* profileIterator = 0;
-	profileIterator = CProfileManager::Get_Iterator();
-
-	dumpRecursive(profileIterator, 0);
-
-	CProfileManager::Release_Iterator(profileIterator);
-}
-
-
-void btEnterProfileZoneDefault(const char* name)
-{
-}
-void btLeaveProfileZoneDefault()
-{
-}
-
-#else
-void btEnterProfileZoneDefault(const char* name)
-{
-}
-void btLeaveProfileZoneDefault()
-{
-}
-#endif  //BT_NO_PROFILE
-
-
-// clang-format off
-#if defined(_WIN32) && (defined(__MINGW32__) || defined(__MINGW64__))
-  #define BT_HAVE_TLS 1
-#elif __APPLE__ && !TARGET_OS_IPHONE
-  // TODO: Modern versions of iOS support TLS now with updated version checking.
-  #define BT_HAVE_TLS 1
-#elif __linux__
-  #define BT_HAVE_TLS 1
-#elif defined(__FreeBSD__) || defined(__NetBSD__)
-  // TODO: At the moment disabling purposely OpenBSD, albeit tls support exists but not fully functioning
-  #define BT_HAVE_TLS 1
-#endif
-
-// __thread is broken on Andorid clang until r12b. See
-// https://github.com/android-ndk/ndk/issues/8
-#if defined(__ANDROID__) && defined(__clang__)
-  #if __has_include(<android/ndk-version.h>)
-    #include <android/ndk-version.h>
-  #endif  // __has_include(<android/ndk-version.h>)
-  #if defined(__NDK_MAJOR__) && \
-    ((__NDK_MAJOR__ < 12) || ((__NDK_MAJOR__ == 12) && (__NDK_MINOR__ < 1)))
-    #undef BT_HAVE_TLS
-  #endif
-#endif  // defined(__ANDROID__) && defined(__clang__)
-// clang-format on
-
-unsigned int btQuickprofGetCurrentThreadIndex2()
-{
-	const unsigned int kNullIndex = ~0U;
-
-#if BT_THREADSAFE
-	return btGetCurrentThreadIndex();
-#else
-#if defined(BT_HAVE_TLS)
-	static __thread unsigned int sThreadIndex = kNullIndex;
-#elif defined(_WIN32)
-	__declspec(thread) static unsigned int sThreadIndex = kNullIndex;
-#else
-	unsigned int sThreadIndex = 0;
-	return -1;
-#endif
-
-	static int gThreadCounter = 0;
-
-	if (sThreadIndex == kNullIndex)
-	{
-		sThreadIndex = gThreadCounter++;
-	}
-	return sThreadIndex;
-#endif  //BT_THREADSAFE
-}
-
-static btEnterProfileZoneFunc* bts_enterFunc = btEnterProfileZoneDefault;
-static btLeaveProfileZoneFunc* bts_leaveFunc = btLeaveProfileZoneDefault;
-
-void btEnterProfileZone(const char* name)
-{
-	(bts_enterFunc)(name);
-}
-void btLeaveProfileZone()
-{
-	(bts_leaveFunc)();
-}
-
-btEnterProfileZoneFunc* btGetCurrentEnterProfileZoneFunc()
-{
-	return bts_enterFunc;
-}
-btLeaveProfileZoneFunc* btGetCurrentLeaveProfileZoneFunc()
-{
-	return bts_leaveFunc;
-}
-
-void btSetCustomEnterProfileZoneFunc(btEnterProfileZoneFunc* enterFunc)
-{
-	bts_enterFunc = enterFunc;
-}
-void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc)
-{
-	bts_leaveFunc = leaveFunc;
-}
-
-CProfileSample::CProfileSample(const char* name)
-{
-	btEnterProfileZone(name);
-}
-
-CProfileSample::~CProfileSample(void)
-{
-	btLeaveProfileZone();
-}
diff --git a/thirdparty/bullet/LinearMath/btQuickprof.h b/thirdparty/bullet/LinearMath/btQuickprof.h
deleted file mode 100644
index 990d401d50..0000000000
--- a/thirdparty/bullet/LinearMath/btQuickprof.h
+++ /dev/null
@@ -1,200 +0,0 @@
-
-/***************************************************************************************************
-**
-** Real-Time Hierarchical Profiling for Game Programming Gems 3
-**
-** by Greg Hjelstrom & Byon Garrabrant
-**
-***************************************************************************************************/
-
-// Credits: The Clock class was inspired by the Timer classes in
-// Ogre (www.ogre3d.org).
-
-#ifndef BT_QUICK_PROF_H
-#define BT_QUICK_PROF_H
-
-#include "btScalar.h"
-#define USE_BT_CLOCK 1
-
-#ifdef USE_BT_CLOCK
-
-///The btClock is a portable basic clock that measures accurate time in seconds, use for profiling.
-class btClock
-{
-public:
-	btClock();
-
-	btClock(const btClock& other);
-	btClock& operator=(const btClock& other);
-
-	~btClock();
-
-	/// Resets the initial reference time.
-	void reset();
-
-	/// Returns the time in ms since the last call to reset or since
-	/// the btClock was created.
-	unsigned long long int getTimeMilliseconds();
-
-	/// Returns the time in us since the last call to reset or since
-	/// the Clock was created.
-	unsigned long long int getTimeMicroseconds();
-
-	unsigned long long int getTimeNanoseconds();
-
-	/// Returns the time in s since the last call to reset or since
-	/// the Clock was created.
-	btScalar getTimeSeconds();
-
-private:
-	struct btClockData* m_data;
-};
-
-#endif  //USE_BT_CLOCK
-
-typedef void(btEnterProfileZoneFunc)(const char* msg);
-typedef void(btLeaveProfileZoneFunc)();
-
-btEnterProfileZoneFunc* btGetCurrentEnterProfileZoneFunc();
-btLeaveProfileZoneFunc* btGetCurrentLeaveProfileZoneFunc();
-
-void btSetCustomEnterProfileZoneFunc(btEnterProfileZoneFunc* enterFunc);
-void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc);
-
-#ifndef BT_ENABLE_PROFILE
-#define BT_NO_PROFILE 1
-#endif  //BT_NO_PROFILE
-
-const unsigned int BT_QUICKPROF_MAX_THREAD_COUNT = 64;
-
-//btQuickprofGetCurrentThreadIndex will return -1 if thread index cannot be determined,
-//otherwise returns thread index in range [0..maxThreads]
-unsigned int btQuickprofGetCurrentThreadIndex2();
-
-#ifndef BT_NO_PROFILE
-
-
-#include <stdio.h>  //@todo remove this, backwards compatibility
-
-#include "btAlignedAllocator.h"
-#include <new>
-
-///A node in the Profile Hierarchy Tree
-class CProfileNode
-{
-public:
-	CProfileNode(const char* name, CProfileNode* parent);
-	~CProfileNode(void);
-
-	CProfileNode* Get_Sub_Node(const char* name);
-
-	CProfileNode* Get_Parent(void) { return Parent; }
-	CProfileNode* Get_Sibling(void) { return Sibling; }
-	CProfileNode* Get_Child(void) { return Child; }
-
-	void CleanupMemory();
-	void Reset(void);
-	void Call(void);
-	bool Return(void);
-
-	const char* Get_Name(void) { return Name; }
-	int Get_Total_Calls(void) { return TotalCalls; }
-	float Get_Total_Time(void) { return TotalTime; }
-	void* GetUserPointer() const { return m_userPtr; }
-	void SetUserPointer(void* ptr) { m_userPtr = ptr; }
-
-protected:
-	const char* Name;
-	int TotalCalls;
-	float TotalTime;
-	unsigned long int StartTime;
-	int RecursionCounter;
-
-	CProfileNode* Parent;
-	CProfileNode* Child;
-	CProfileNode* Sibling;
-	void* m_userPtr;
-};
-
-///An iterator to navigate through the tree
-class CProfileIterator
-{
-public:
-	// Access all the children of the current parent
-	void First(void);
-	void Next(void);
-	bool Is_Done(void);
-	bool Is_Root(void) { return (CurrentParent->Get_Parent() == 0); }
-
-	void Enter_Child(int index);     // Make the given child the new parent
-	void Enter_Largest_Child(void);  // Make the largest child the new parent
-	void Enter_Parent(void);         // Make the current parent's parent the new parent
-
-	// Access the current child
-	const char* Get_Current_Name(void) { return CurrentChild->Get_Name(); }
-	int Get_Current_Total_Calls(void) { return CurrentChild->Get_Total_Calls(); }
-	float Get_Current_Total_Time(void) { return CurrentChild->Get_Total_Time(); }
-
-	void* Get_Current_UserPointer(void) { return CurrentChild->GetUserPointer(); }
-	void Set_Current_UserPointer(void* ptr) { CurrentChild->SetUserPointer(ptr); }
-	// Access the current parent
-	const char* Get_Current_Parent_Name(void) { return CurrentParent->Get_Name(); }
-	int Get_Current_Parent_Total_Calls(void) { return CurrentParent->Get_Total_Calls(); }
-	float Get_Current_Parent_Total_Time(void) { return CurrentParent->Get_Total_Time(); }
-
-protected:
-	CProfileNode* CurrentParent;
-	CProfileNode* CurrentChild;
-
-	CProfileIterator(CProfileNode* start);
-	friend class CProfileManager;
-};
-
-///The Manager for the Profile system
-class CProfileManager
-{
-public:
-	static void Start_Profile(const char* name);
-	static void Stop_Profile(void);
-
-	static void CleanupMemory(void);
-	//	{
-	//		Root.CleanupMemory();
-	//	}
-
-	static void Reset(void);
-	static void Increment_Frame_Counter(void);
-	static int Get_Frame_Count_Since_Reset(void) { return FrameCounter; }
-	static float Get_Time_Since_Reset(void);
-
-	static CProfileIterator* Get_Iterator(void);
-	//	{
-	//
-	//		return new CProfileIterator( &Root );
-	//	}
-	static void Release_Iterator(CProfileIterator* iterator) { delete (iterator); }
-
-	static void dumpRecursive(CProfileIterator* profileIterator, int spacing);
-
-	static void dumpAll();
-
-private:
-	static int FrameCounter;
-	static unsigned long int ResetTime;
-};
-
-#endif  //#ifndef BT_NO_PROFILE
-
-///ProfileSampleClass is a simple way to profile a function's scope
-///Use the BT_PROFILE macro at the start of scope to time
-class CProfileSample
-{
-public:
-	CProfileSample(const char* name);
-
-	~CProfileSample(void);
-};
-
-#define BT_PROFILE(name) CProfileSample __profile(name)
-
-#endif  //BT_QUICK_PROF_H
diff --git a/thirdparty/bullet/LinearMath/btRandom.h b/thirdparty/bullet/LinearMath/btRandom.h
deleted file mode 100644
index e659af8605..0000000000
--- a/thirdparty/bullet/LinearMath/btRandom.h
+++ /dev/null
@@ -1,39 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_GEN_RANDOM_H
-#define BT_GEN_RANDOM_H
-
-#ifdef MT19937
-
-#include <limits.h>
-#include <mt19937.h>
-
-#define GEN_RAND_MAX UINT_MAX
-
-SIMD_FORCE_INLINE void GEN_srand(unsigned int seed) { init_genrand(seed); }
-SIMD_FORCE_INLINE unsigned int GEN_rand() { return genrand_int32(); }
-
-#else
-
-#include <stdlib.h>
-
-#define GEN_RAND_MAX RAND_MAX
-
-SIMD_FORCE_INLINE void GEN_srand(unsigned int seed) { srand(seed); }
-SIMD_FORCE_INLINE unsigned int GEN_rand() { return rand(); }
-
-#endif
-
-#endif  //BT_GEN_RANDOM_H
diff --git a/thirdparty/bullet/LinearMath/btReducedVector.cpp b/thirdparty/bullet/LinearMath/btReducedVector.cpp
deleted file mode 100644
index 1539584e7e..0000000000
--- a/thirdparty/bullet/LinearMath/btReducedVector.cpp
+++ /dev/null
@@ -1,170 +0,0 @@
-//
-//  btReducedVector.cpp
-//  LinearMath
-//
-//  Created by Xuchen Han on 4/4/20.
-//
-#include <stdio.h>
-#include "btReducedVector.h"
-#include <cmath>
-
-// returns the projection of this onto other
-btReducedVector btReducedVector::proj(const btReducedVector& other) const
-{
-    btReducedVector ret(m_sz);
-    btScalar other_length2 = other.length2();
-    if (other_length2 < SIMD_EPSILON)
-    {
-        return ret;
-    }
-    return other*(this->dot(other))/other_length2;
-}
-
-void btReducedVector::normalize()
-{
-    if (this->length2() < SIMD_EPSILON)
-    {
-        m_indices.clear();
-        m_vecs.clear();
-        return;
-    }
-    *this /= std::sqrt(this->length2());
-}
-
-bool btReducedVector::testAdd() const
-{
-    int sz = 5;
-    btAlignedObjectArray<int> id1;
-    id1.push_back(1);
-    id1.push_back(3);
-    btAlignedObjectArray<btVector3> v1;
-    v1.push_back(btVector3(1,0,1));
-    v1.push_back(btVector3(3,1,5));
-    btAlignedObjectArray<int> id2;
-    id2.push_back(2);
-    id2.push_back(3);
-    id2.push_back(5);
-    btAlignedObjectArray<btVector3> v2;
-    v2.push_back(btVector3(2,3,1));
-    v2.push_back(btVector3(3,4,9));
-    v2.push_back(btVector3(0,4,0));
-    btAlignedObjectArray<int> id3;
-    id3.push_back(1);
-    id3.push_back(2);
-    id3.push_back(3);
-    id3.push_back(5);
-    btAlignedObjectArray<btVector3> v3;
-    v3.push_back(btVector3(1,0,1));
-    v3.push_back(btVector3(2,3,1));
-    v3.push_back(btVector3(6,5,14));
-    v3.push_back(btVector3(0,4,0));
-    btReducedVector rv1(sz, id1, v1);
-    btReducedVector rv2(sz, id2, v2);
-    btReducedVector ans(sz, id3, v3);
-    bool ret = ((ans == rv1+rv2) && (ans == rv2+rv1));
-    if (!ret)
-        printf("btReducedVector testAdd failed\n");
-    return ret;
-}
-
-bool btReducedVector::testMinus() const
-{
-    int sz = 5;
-    btAlignedObjectArray<int> id1;
-    id1.push_back(1);
-    id1.push_back(3);
-    btAlignedObjectArray<btVector3> v1;
-    v1.push_back(btVector3(1,0,1));
-    v1.push_back(btVector3(3,1,5));
-    btAlignedObjectArray<int> id2;
-    id2.push_back(2);
-    id2.push_back(3);
-    id2.push_back(5);
-    btAlignedObjectArray<btVector3> v2;
-    v2.push_back(btVector3(2,3,1));
-    v2.push_back(btVector3(3,4,9));
-    v2.push_back(btVector3(0,4,0));
-    btAlignedObjectArray<int> id3;
-    id3.push_back(1);
-    id3.push_back(2);
-    id3.push_back(3);
-    id3.push_back(5);
-    btAlignedObjectArray<btVector3> v3;
-    v3.push_back(btVector3(-1,-0,-1));
-    v3.push_back(btVector3(2,3,1));
-    v3.push_back(btVector3(0,3,4));
-    v3.push_back(btVector3(0,4,0));
-    btReducedVector rv1(sz, id1, v1);
-    btReducedVector rv2(sz, id2, v2);
-    btReducedVector ans(sz, id3, v3);
-    bool ret = (ans == rv2-rv1);
-    if (!ret)
-        printf("btReducedVector testMinus failed\n");
-    return ret;
-}
-
-bool btReducedVector::testDot() const
-{
-    int sz = 5;
-    btAlignedObjectArray<int> id1;
-    id1.push_back(1);
-    id1.push_back(3);
-    btAlignedObjectArray<btVector3> v1;
-    v1.push_back(btVector3(1,0,1));
-    v1.push_back(btVector3(3,1,5));
-    btAlignedObjectArray<int> id2;
-    id2.push_back(2);
-    id2.push_back(3);
-    id2.push_back(5);
-    btAlignedObjectArray<btVector3> v2;
-    v2.push_back(btVector3(2,3,1));
-    v2.push_back(btVector3(3,4,9));
-    v2.push_back(btVector3(0,4,0));
-    btReducedVector rv1(sz, id1, v1);
-    btReducedVector rv2(sz, id2, v2);
-    btScalar ans = 58;
-    bool ret = (ans == rv2.dot(rv1) && ans == rv1.dot(rv2));
-    ans = 14+16+9+16+81;
-    ret &= (ans==rv2.dot(rv2));
-    
-    if (!ret)
-        printf("btReducedVector testDot failed\n");
-    return ret;
-}
-
-bool btReducedVector::testMultiply() const
-{
-    int sz = 5;
-    btAlignedObjectArray<int> id1;
-    id1.push_back(1);
-    id1.push_back(3);
-    btAlignedObjectArray<btVector3> v1;
-    v1.push_back(btVector3(1,0,1));
-    v1.push_back(btVector3(3,1,5));
-    btScalar s = 2;
-    btReducedVector rv1(sz, id1, v1);
-    btAlignedObjectArray<int> id2;
-    id2.push_back(1);
-    id2.push_back(3);
-    btAlignedObjectArray<btVector3> v2;
-    v2.push_back(btVector3(2,0,2));
-    v2.push_back(btVector3(6,2,10));
-    btReducedVector ans(sz, id2, v2);
-    bool ret = (ans == rv1*s);
-    if (!ret)
-        printf("btReducedVector testMultiply failed\n");
-    return ret;
-}
-
-void btReducedVector::test() const
-{
-    bool ans = testAdd() && testMinus() && testDot() && testMultiply();
-    if (ans)
-    {
-        printf("All tests passed\n");
-    }
-    else
-    {
-        printf("Tests failed\n");
-    }
-}
diff --git a/thirdparty/bullet/LinearMath/btReducedVector.h b/thirdparty/bullet/LinearMath/btReducedVector.h
deleted file mode 100644
index 313a4271f0..0000000000
--- a/thirdparty/bullet/LinearMath/btReducedVector.h
+++ /dev/null
@@ -1,320 +0,0 @@
-//
-//  btReducedVectors.h
-//  BulletLinearMath
-//
-//  Created by Xuchen Han on 4/4/20.
-//
-#ifndef btReducedVectors_h
-#define btReducedVectors_h
-#include "btVector3.h"
-#include "btMatrix3x3.h"
-#include "btAlignedObjectArray.h"
-#include <stdio.h>
-#include <vector>
-#include <algorithm>
-struct TwoInts
-{
-    int a,b;
-};
-inline bool operator<(const TwoInts& A, const TwoInts& B)
-{
-    return A.b < B.b;
-}
-
-
-// A helper vector type used for CG projections
-class btReducedVector
-{
-public:
-    btAlignedObjectArray<int> m_indices;
-    btAlignedObjectArray<btVector3> m_vecs;
-    int m_sz; // all m_indices value < m_sz
-public:
-	btReducedVector():m_sz(0)
-	{
-		m_indices.resize(0);
-		m_vecs.resize(0);
-        m_indices.clear();
-        m_vecs.clear();
-	}
-	
-    btReducedVector(int sz): m_sz(sz)
-    {
-        m_indices.resize(0);
-        m_vecs.resize(0);
-        m_indices.clear();
-        m_vecs.clear();
-    }
-    
-    btReducedVector(int sz, const btAlignedObjectArray<int>& indices, const btAlignedObjectArray<btVector3>& vecs): m_sz(sz), m_indices(indices), m_vecs(vecs)
-    {
-    }
-    
-    void simplify()
-    {
-        btAlignedObjectArray<int> old_indices(m_indices);
-        btAlignedObjectArray<btVector3> old_vecs(m_vecs);
-        m_indices.resize(0);
-        m_vecs.resize(0);
-        m_indices.clear();
-        m_vecs.clear();
-        for (int i = 0; i < old_indices.size(); ++i)
-        {
-            if (old_vecs[i].length2() > SIMD_EPSILON)
-            {
-                m_indices.push_back(old_indices[i]);
-                m_vecs.push_back(old_vecs[i]);
-            }
-        }
-    }
-    
-    btReducedVector operator+(const btReducedVector& other)
-    {
-		btReducedVector ret(m_sz);
-		int i=0, j=0;
-		while (i < m_indices.size() && j < other.m_indices.size())
-		{
-			if (m_indices[i] < other.m_indices[j])
-			{
-				ret.m_indices.push_back(m_indices[i]);
-				ret.m_vecs.push_back(m_vecs[i]);
-				++i;
-			}
-			else if (m_indices[i] > other.m_indices[j])
-			{
-				ret.m_indices.push_back(other.m_indices[j]);
-				ret.m_vecs.push_back(other.m_vecs[j]);
-				++j;
-			}
-			else
-			{
-				ret.m_indices.push_back(other.m_indices[j]);
-				ret.m_vecs.push_back(m_vecs[i] + other.m_vecs[j]);
-				++i; ++j;
-			}
-		}
-		while (i < m_indices.size())
-		{
-			ret.m_indices.push_back(m_indices[i]);
-			ret.m_vecs.push_back(m_vecs[i]);
-			++i;
-		}
-		while (j < other.m_indices.size())
-		{
-			ret.m_indices.push_back(other.m_indices[j]);
-			ret.m_vecs.push_back(other.m_vecs[j]);
-			++j;
-		}
-        ret.simplify();
-        return ret;
-    }
-
-    btReducedVector operator-()
-    {
-        btReducedVector ret(m_sz);
-        for (int i = 0; i < m_indices.size(); ++i)
-        {
-            ret.m_indices.push_back(m_indices[i]);
-            ret.m_vecs.push_back(-m_vecs[i]);
-        }
-        ret.simplify();
-        return ret;
-    }
-    
-    btReducedVector operator-(const btReducedVector& other)
-    {
-		btReducedVector ret(m_sz);
-		int i=0, j=0;
-		while (i < m_indices.size() && j < other.m_indices.size())
-		{
-			if (m_indices[i] < other.m_indices[j])
-			{
-				ret.m_indices.push_back(m_indices[i]);
-				ret.m_vecs.push_back(m_vecs[i]);
-				++i;
-			}
-			else if (m_indices[i] > other.m_indices[j])
-			{
-				ret.m_indices.push_back(other.m_indices[j]);
-				ret.m_vecs.push_back(-other.m_vecs[j]);
-				++j;
-			}
-			else
-			{
-				ret.m_indices.push_back(other.m_indices[j]);
-				ret.m_vecs.push_back(m_vecs[i] - other.m_vecs[j]);
-				++i; ++j;
-			}
-		}
-		while (i < m_indices.size())
-		{
-			ret.m_indices.push_back(m_indices[i]);
-			ret.m_vecs.push_back(m_vecs[i]);
-			++i;
-		}
-		while (j < other.m_indices.size())
-		{
-			ret.m_indices.push_back(other.m_indices[j]);
-			ret.m_vecs.push_back(-other.m_vecs[j]);
-			++j;
-		}
-        ret.simplify();
-		return ret;
-    }
-    
-    bool operator==(const btReducedVector& other) const
-    {
-        if (m_sz != other.m_sz)
-            return false;
-        if (m_indices.size() != other.m_indices.size())
-            return false;
-        for (int i = 0; i < m_indices.size(); ++i)
-        {
-            if (m_indices[i] != other.m_indices[i] || m_vecs[i] != other.m_vecs[i])
-            {
-                return false;
-            }
-        }
-        return true;
-    }
-    
-    bool operator!=(const btReducedVector& other) const
-    {
-        return !(*this == other);
-    }
-	
-	btReducedVector& operator=(const btReducedVector& other)
-	{
-		if (this == &other)
-		{
-			return *this;
-		}
-        m_sz = other.m_sz;
-		m_indices.copyFromArray(other.m_indices);
-		m_vecs.copyFromArray(other.m_vecs);
-		return *this;
-	}
-    
-    btScalar dot(const btReducedVector& other) const
-    {
-        btScalar ret = 0;
-        int j = 0;
-        for (int i = 0; i < m_indices.size(); ++i)
-        {
-            while (j < other.m_indices.size() && other.m_indices[j] < m_indices[i])
-            {
-                ++j;
-            }
-            if (j < other.m_indices.size() && other.m_indices[j] == m_indices[i])
-            {
-                ret += m_vecs[i].dot(other.m_vecs[j]);
-//                ++j;
-            }
-        }
-        return ret;
-    }
-    
-    btScalar dot(const btAlignedObjectArray<btVector3>& other) const
-    {
-        btScalar ret = 0;
-        for (int i = 0; i < m_indices.size(); ++i)
-        {
-            ret += m_vecs[i].dot(other[m_indices[i]]);
-        }
-        return ret;
-    }
-    
-    btScalar length2() const
-    {
-        return this->dot(*this);
-    }
-	
-	void normalize();
-    
-    // returns the projection of this onto other
-    btReducedVector proj(const btReducedVector& other) const;
-    
-    bool testAdd() const;
-    
-    bool testMinus() const;
-    
-    bool testDot() const;
-    
-    bool testMultiply() const;
-    
-    void test() const;
-    
-    void print() const
-    {
-        for (int i = 0; i < m_indices.size(); ++i)
-        {
-            printf("%d: (%f, %f, %f)/", m_indices[i], m_vecs[i][0],m_vecs[i][1],m_vecs[i][2]);
-        }
-        printf("\n");
-    }
-    
-    
-    void sort()
-    {
-        std::vector<TwoInts> tuples;
-        for (int i = 0; i < m_indices.size(); ++i)
-        {
-            TwoInts ti;
-            ti.a = i;
-            ti.b = m_indices[i];
-            tuples.push_back(ti);
-        }
-        std::sort(tuples.begin(), tuples.end());
-        btAlignedObjectArray<int> new_indices;
-        btAlignedObjectArray<btVector3> new_vecs;
-        for (size_t i = 0; i < tuples.size(); ++i)
-        {
-            new_indices.push_back(tuples[i].b);
-            new_vecs.push_back(m_vecs[tuples[i].a]);
-        }
-        m_indices = new_indices;
-        m_vecs = new_vecs;
-    }
-};
-
-SIMD_FORCE_INLINE btReducedVector operator*(const btReducedVector& v, btScalar s)
-{
-    btReducedVector ret(v.m_sz);
-    for (int i = 0; i < v.m_indices.size(); ++i)
-    {
-        ret.m_indices.push_back(v.m_indices[i]);
-        ret.m_vecs.push_back(s*v.m_vecs[i]);
-    }
-    ret.simplify();
-    return ret;
-}
-
-SIMD_FORCE_INLINE btReducedVector operator*(btScalar s, const btReducedVector& v)
-{
-    return v*s;
-}
-
-SIMD_FORCE_INLINE btReducedVector operator/(const btReducedVector& v, btScalar s)
-{
-	return v * (1.0/s);
-}
-
-SIMD_FORCE_INLINE btReducedVector& operator/=(btReducedVector& v, btScalar s)
-{
-	v = v/s;
-	return v;
-}
-
-SIMD_FORCE_INLINE btReducedVector& operator+=(btReducedVector& v1, const btReducedVector& v2)
-{
-	v1 = v1+v2;
-	return v1;
-}
-
-SIMD_FORCE_INLINE btReducedVector& operator-=(btReducedVector& v1, const btReducedVector& v2)
-{
-	v1 = v1-v2;
-	return v1;
-}
-
-#endif /* btReducedVectors_h */
diff --git a/thirdparty/bullet/LinearMath/btScalar.h b/thirdparty/bullet/LinearMath/btScalar.h
deleted file mode 100644
index b239217bb6..0000000000
--- a/thirdparty/bullet/LinearMath/btScalar.h
+++ /dev/null
@@ -1,832 +0,0 @@
-/*
-Copyright (c) 2003-2009 Erwin Coumans  http://bullet.googlecode.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SCALAR_H
-#define BT_SCALAR_H
-
-#ifdef BT_MANAGED_CODE
-//Aligned data types not supported in managed code
-#pragma unmanaged
-#endif
-
-#include <math.h>
-#include <stdlib.h>  //size_t for MSVC 6.0
-#include <float.h>
-
-/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
-#define BT_BULLET_VERSION 317
-
-inline int btGetVersion()
-{
-	return BT_BULLET_VERSION;
-}
-
-inline int btIsDoublePrecision()
-{
-  #ifdef BT_USE_DOUBLE_PRECISION
-  return true;
-  #else
-  return false;
-  #endif
-}
-
-
-// The following macro "BT_NOT_EMPTY_FILE" can be put into a file
-// in order suppress the MS Visual C++ Linker warning 4221
-//
-// warning LNK4221: no public symbols found; archive member will be inaccessible
-//
-// This warning occurs on PC and XBOX when a file compiles out completely
-// has no externally visible symbols which may be dependant on configuration
-// #defines and options.
-//
-// see more https://stackoverflow.com/questions/1822887/what-is-the-best-way-to-eliminate-ms-visual-c-linker-warning-warning-lnk422
-
-#if defined(_MSC_VER)
-#define BT_NOT_EMPTY_FILE_CAT_II(p, res) res
-#define BT_NOT_EMPTY_FILE_CAT_I(a, b) BT_NOT_EMPTY_FILE_CAT_II(~, a##b)
-#define BT_NOT_EMPTY_FILE_CAT(a, b) BT_NOT_EMPTY_FILE_CAT_I(a, b)
-#define BT_NOT_EMPTY_FILE                                      \
-	namespace                                                  \
-	{                                                          \
-	char BT_NOT_EMPTY_FILE_CAT(NoEmptyFileDummy, __COUNTER__); \
-	}
-#else
-#define BT_NOT_EMPTY_FILE
-#endif
-
-// clang and most formatting tools don't support indentation of preprocessor guards, so turn it off
-// clang-format off
-#if defined(DEBUG) || defined (_DEBUG)
-	#define BT_DEBUG
-#endif
-
-#ifdef _WIN32
-	#if  defined(__GNUC__)	// it should handle both MINGW and CYGWIN
-        	#define SIMD_FORCE_INLINE        __inline__ __attribute__((always_inline))
-        	#define ATTRIBUTE_ALIGNED16(a)   a __attribute__((aligned(16)))
-        	#define ATTRIBUTE_ALIGNED64(a)   a __attribute__((aligned(64)))
-        	#define ATTRIBUTE_ALIGNED128(a)  a __attribute__((aligned(128)))
-    	#elif ( defined(_MSC_VER) && _MSC_VER < 1300 )
-		#define SIMD_FORCE_INLINE inline
-		#define ATTRIBUTE_ALIGNED16(a) a
-		#define ATTRIBUTE_ALIGNED64(a) a
-		#define ATTRIBUTE_ALIGNED128(a) a
-	#elif defined(_M_ARM)
-		#define SIMD_FORCE_INLINE __forceinline
-		#define ATTRIBUTE_ALIGNED16(a) __declspec() a
-		#define ATTRIBUTE_ALIGNED64(a) __declspec() a
-		#define ATTRIBUTE_ALIGNED128(a) __declspec () a
-	#else//__MINGW32__
-		//#define BT_HAS_ALIGNED_ALLOCATOR
-		#pragma warning(disable : 4324) // disable padding warning
-//			#pragma warning(disable:4530) // Disable the exception disable but used in MSCV Stl warning.
-		#pragma warning(disable:4996) //Turn off warnings about deprecated C routines
-//			#pragma warning(disable:4786) // Disable the "debug name too long" warning
-
-		#define SIMD_FORCE_INLINE __forceinline
-		#define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
-		#define ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a
-		#define ATTRIBUTE_ALIGNED128(a) __declspec (align(128)) a
-		#ifdef _XBOX
-			#define BT_USE_VMX128
-
-			#include <ppcintrinsics.h>
- 			#define BT_HAVE_NATIVE_FSEL
- 			#define btFsel(a,b,c) __fsel((a),(b),(c))
-		#else
-
-#if defined (_M_ARM)
-            //Do not turn SSE on for ARM (may want to turn on BT_USE_NEON however)
-#elif (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION))
-
-#ifdef __clang__
-#define __BT_DISABLE_SSE__
-#endif
-#ifndef __BT_DISABLE_SSE__
-			#if _MSC_VER>1400
-				#define BT_USE_SIMD_VECTOR3
-			#endif
-			#define BT_USE_SSE
-#endif//__BT_DISABLE_SSE__
-			#ifdef BT_USE_SSE
-
-#if (_MSC_FULL_VER >= 170050727)//Visual Studio 2012 can compile SSE4/FMA3 (but SSE4/FMA3 is not enabled by default)
-			#define BT_ALLOW_SSE4
-#endif //(_MSC_FULL_VER >= 160040219)
-
-			//BT_USE_SSE_IN_API is disabled under Windows by default, because 
-			//it makes it harder to integrate Bullet into your application under Windows 
-			//(structured embedding Bullet structs/classes need to be 16-byte aligned)
-			//with relatively little performance gain
-			//If you are not embedded Bullet data in your classes, or make sure that you align those classes on 16-byte boundaries
-			//you can manually enable this line or set it in the build system for a bit of performance gain (a few percent, dependent on usage)
-			//#define BT_USE_SSE_IN_API
-			#endif //BT_USE_SSE
-			#include <emmintrin.h>
-#endif
-
-		#endif//_XBOX
-
-	#endif //__MINGW32__
-
-	#ifdef BT_DEBUG
-		#ifdef _MSC_VER
-			#include <stdio.h>
-			#define btAssert(x) { if(!(x)){printf("Assert " __FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak();	}}
-		#else//_MSC_VER
-			#include <assert.h>
-			#define btAssert assert
-		#endif//_MSC_VER
-	#else
-		#define btAssert(x)
-	#endif
-		//btFullAssert is optional, slows down a lot
-		#define btFullAssert(x)
-
-		#define btLikely(_c)  _c
-		#define btUnlikely(_c) _c
-
-#else//_WIN32
-	
-	#if defined	(__CELLOS_LV2__)
-		#define SIMD_FORCE_INLINE inline __attribute__((always_inline))
-		#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
-		#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
-		#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
-		#ifndef assert
-		#include <assert.h>
-		#endif
-		#ifdef BT_DEBUG
-			#ifdef __SPU__
-				#include <spu_printf.h>
-				#define printf spu_printf
-				#define btAssert(x) {if(!(x)){printf("Assert " __FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}}
-			#else
-				#define btAssert assert
-			#endif
-	
-		#else//BT_DEBUG
-				#define btAssert(x)
-		#endif//BT_DEBUG
-		//btFullAssert is optional, slows down a lot
-		#define btFullAssert(x)
-
-		#define btLikely(_c)  _c
-		#define btUnlikely(_c) _c
-
-	#else//defined	(__CELLOS_LV2__)
-
-		#ifdef USE_LIBSPE2
-
-			#define SIMD_FORCE_INLINE __inline
-			#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
-			#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
-			#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
-			#ifndef assert
-			#include <assert.h>
-			#endif
-	#ifdef BT_DEBUG
-			#define btAssert assert
-	#else
-			#define btAssert(x)
-	#endif
-			//btFullAssert is optional, slows down a lot
-			#define btFullAssert(x)
-
-
-			#define btLikely(_c)   __builtin_expect((_c), 1)
-			#define btUnlikely(_c) __builtin_expect((_c), 0)
-		
-
-		#else//USE_LIBSPE2
-	//non-windows systems
-
-			#if (defined (__APPLE__) && (!defined (BT_USE_DOUBLE_PRECISION)))
-				#if defined (__i386__) || defined (__x86_64__)
-					#define BT_USE_SIMD_VECTOR3
-					#define BT_USE_SSE
-					//BT_USE_SSE_IN_API is enabled on Mac OSX by default, because memory is automatically aligned on 16-byte boundaries
-					//if apps run into issues, we will disable the next line
-					#define BT_USE_SSE_IN_API
-					#ifdef BT_USE_SSE
-						// include appropriate SSE level
-						#if defined (__SSE4_1__)
-							#include <smmintrin.h>
-						#elif defined (__SSSE3__)
-							#include <tmmintrin.h>
-						#elif defined (__SSE3__)
-							#include <pmmintrin.h>
-						#else
-							#include <emmintrin.h>
-						#endif
-					#endif //BT_USE_SSE
-				#elif defined( __ARM_NEON__ )
-					#ifdef __clang__
-						#define BT_USE_NEON 1
-						#define BT_USE_SIMD_VECTOR3
-		
-						#if defined BT_USE_NEON && defined (__clang__)
-							#include <arm_neon.h>
-						#endif//BT_USE_NEON
-				   #endif //__clang__
-				#endif//__arm__
-
-				#define SIMD_FORCE_INLINE inline __attribute__ ((always_inline))
-			///@todo: check out alignment methods for other platforms/compilers
-				#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
-				#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
-				#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
-				#ifndef assert
-				#include <assert.h>
-				#endif
-
-				#if defined(DEBUG) || defined (_DEBUG)
-				 #if defined (__i386__) || defined (__x86_64__)
-				#include <stdio.h>
-				 #define btAssert(x)\
-				{\
-				if(!(x))\
-				{\
-					printf("Assert %s in line %d, file %s\n",#x, __LINE__, __FILE__);\
-					asm volatile ("int3");\
-				}\
-				}
-				#else//defined (__i386__) || defined (__x86_64__)
-					#define btAssert assert
-				#endif//defined (__i386__) || defined (__x86_64__)
-				#else//defined(DEBUG) || defined (_DEBUG)
-					#define btAssert(x)
-				#endif//defined(DEBUG) || defined (_DEBUG)
-
-				//btFullAssert is optional, slows down a lot
-				#define btFullAssert(x)
-				#define btLikely(_c)  _c
-				#define btUnlikely(_c) _c
-
-			#else//__APPLE__
-
-				#define SIMD_FORCE_INLINE inline
-				///@todo: check out alignment methods for other platforms/compilers
-				///#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
-				///#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
-				///#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
-				#define ATTRIBUTE_ALIGNED16(a) a
-				#define ATTRIBUTE_ALIGNED64(a) a
-				#define ATTRIBUTE_ALIGNED128(a) a
-				#ifndef assert
-				#include <assert.h>
-				#endif
-
-				#if defined(DEBUG) || defined (_DEBUG)
-					#define btAssert assert
-				#else
-					#define btAssert(x)
-				#endif
-
-				//btFullAssert is optional, slows down a lot
-				#define btFullAssert(x)
-				#define btLikely(_c)  _c
-				#define btUnlikely(_c) _c
-			#endif //__APPLE__ 
-		#endif // LIBSPE2
-	#endif	//__CELLOS_LV2__
-#endif//_WIN32
-
-
-///The btScalar type abstracts floating point numbers, to easily switch between double and single floating point precision.
-#if defined(BT_USE_DOUBLE_PRECISION)
-	typedef double btScalar;
-	//this number could be bigger in double precision
-	#define BT_LARGE_FLOAT 1e30
-#else
-	typedef float btScalar;
-	//keep BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX
-	#define BT_LARGE_FLOAT 1e18f
-#endif
-
-#ifdef BT_USE_SSE
-	typedef __m128 btSimdFloat4;
-#endif  //BT_USE_SSE
-
-#if defined(BT_USE_SSE)
-	//#if defined BT_USE_SSE_IN_API && defined (BT_USE_SSE)
-	#ifdef _WIN32
-
-		#ifndef BT_NAN
-			static int btNanMask = 0x7F800001;
-			#define BT_NAN (*(float *)&btNanMask)
-		#endif
-
-		#ifndef BT_INFINITY
-			static int btInfinityMask = 0x7F800000;
-			#define BT_INFINITY (*(float *)&btInfinityMask)
-			inline int btGetInfinityMask()  //suppress stupid compiler warning
-			{
-				return btInfinityMask;
-			}
-		#endif
-
-
-
-	//use this, in case there are clashes (such as xnamath.h)
-	#ifndef BT_NO_SIMD_OPERATOR_OVERLOADS
-	inline __m128 operator+(const __m128 A, const __m128 B)
-	{
-		return _mm_add_ps(A, B);
-	}
-
-	inline __m128 operator-(const __m128 A, const __m128 B)
-	{
-		return _mm_sub_ps(A, B);
-	}
-
-	inline __m128 operator*(const __m128 A, const __m128 B)
-	{
-		return _mm_mul_ps(A, B);
-	}
-	#endif  //BT_NO_SIMD_OPERATOR_OVERLOADS
-
-	#define btCastfTo128i(a) (_mm_castps_si128(a))
-	#define btCastfTo128d(a) (_mm_castps_pd(a))
-	#define btCastiTo128f(a) (_mm_castsi128_ps(a))
-	#define btCastdTo128f(a) (_mm_castpd_ps(a))
-	#define btCastdTo128i(a) (_mm_castpd_si128(a))
-	#define btAssign128(r0, r1, r2, r3) _mm_setr_ps(r0, r1, r2, r3)
-
-	#else  //_WIN32
-
-		#define btCastfTo128i(a) ((__m128i)(a))
-		#define btCastfTo128d(a) ((__m128d)(a))
-		#define btCastiTo128f(a) ((__m128)(a))
-		#define btCastdTo128f(a) ((__m128)(a))
-		#define btCastdTo128i(a) ((__m128i)(a))
-		#define btAssign128(r0, r1, r2, r3) \
-			(__m128) { r0, r1, r2, r3 }
-		#define BT_INFINITY INFINITY
-		#define BT_NAN NAN
-	#endif  //_WIN32
-#else//BT_USE_SSE
-
-	#ifdef BT_USE_NEON
-	#include <arm_neon.h>
-
-	typedef float32x4_t btSimdFloat4;
-	#define BT_INFINITY INFINITY
-	#define BT_NAN NAN
-	#define btAssign128(r0, r1, r2, r3) \
-		(float32x4_t) { r0, r1, r2, r3 }
-	#else  //BT_USE_NEON
-
-	#ifndef BT_INFINITY
-	struct btInfMaskConverter
-	{
-		union {
-			float mask;
-			int intmask;
-		};
-		btInfMaskConverter(int _mask = 0x7F800000)
-			: intmask(_mask)
-		{
-		}
-	};
-	static btInfMaskConverter btInfinityMask = 0x7F800000;
-	#define BT_INFINITY (btInfinityMask.mask)
-	inline int btGetInfinityMask()  //suppress stupid compiler warning
-	{
-		return btInfinityMask.intmask;
-	}
-	#endif
-	#endif  //BT_USE_NEON
-
-#endif  //BT_USE_SSE
-
-#ifdef BT_USE_NEON
-	#include <arm_neon.h>
-
-	typedef float32x4_t btSimdFloat4;
-	#define BT_INFINITY INFINITY
-	#define BT_NAN NAN
-	#define btAssign128(r0, r1, r2, r3) \
-		(float32x4_t) { r0, r1, r2, r3 }
-#endif//BT_USE_NEON
-
-#define BT_DECLARE_ALIGNED_ALLOCATOR()                                                                     \
-	SIMD_FORCE_INLINE void *operator new(size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes, 16); }   \
-	SIMD_FORCE_INLINE void operator delete(void *ptr) { btAlignedFree(ptr); }                              \
-	SIMD_FORCE_INLINE void *operator new(size_t, void *ptr) { return ptr; }                                \
-	SIMD_FORCE_INLINE void operator delete(void *, void *) {}                                              \
-	SIMD_FORCE_INLINE void *operator new[](size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes, 16); } \
-	SIMD_FORCE_INLINE void operator delete[](void *ptr) { btAlignedFree(ptr); }                            \
-	SIMD_FORCE_INLINE void *operator new[](size_t, void *ptr) { return ptr; }                              \
-	SIMD_FORCE_INLINE void operator delete[](void *, void *) {}
-
-#if defined(BT_USE_DOUBLE_PRECISION) || defined(BT_FORCE_DOUBLE_FUNCTIONS)
-
-	SIMD_FORCE_INLINE btScalar btSqrt(btScalar x)
-	{
-		return sqrt(x);
-	}
-	SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabs(x); }
-	SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cos(x); }
-	SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sin(x); }
-	SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tan(x); }
-	SIMD_FORCE_INLINE btScalar btAcos(btScalar x)
-	{
-		if (x < btScalar(-1)) x = btScalar(-1);
-		if (x > btScalar(1)) x = btScalar(1);
-		return acos(x);
-	}
-	SIMD_FORCE_INLINE btScalar btAsin(btScalar x)
-	{
-		if (x < btScalar(-1)) x = btScalar(-1);
-		if (x > btScalar(1)) x = btScalar(1);
-		return asin(x);
-	}
-	SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atan(x); }
-	SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2(x, y); }
-	SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return exp(x); }
-	SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return log(x); }
-	SIMD_FORCE_INLINE btScalar btPow(btScalar x, btScalar y) { return pow(x, y); }
-	SIMD_FORCE_INLINE btScalar btFmod(btScalar x, btScalar y) { return fmod(x, y); }
-
-#else//BT_USE_DOUBLE_PRECISION
-
-	SIMD_FORCE_INLINE btScalar btSqrt(btScalar y)
-	{
-	#ifdef USE_APPROXIMATION
-	#ifdef __LP64__
-		float xhalf = 0.5f * y;
-		int i = *(int *)&y;
-		i = 0x5f375a86 - (i >> 1);
-		y = *(float *)&i;
-		y = y * (1.5f - xhalf * y * y);
-		y = y * (1.5f - xhalf * y * y);
-		y = y * (1.5f - xhalf * y * y);
-		y = 1 / y;
-		return y;
-	#else
-		double x, z, tempf;
-		unsigned long *tfptr = ((unsigned long *)&tempf) + 1;
-		tempf = y;
-		*tfptr = (0xbfcdd90a - *tfptr) >> 1; /* estimate of 1/sqrt(y) */
-		x = tempf;
-		z = y * btScalar(0.5);
-		x = (btScalar(1.5) * x) - (x * x) * (x * z); /* iteration formula     */
-		x = (btScalar(1.5) * x) - (x * x) * (x * z);
-		x = (btScalar(1.5) * x) - (x * x) * (x * z);
-		x = (btScalar(1.5) * x) - (x * x) * (x * z);
-		x = (btScalar(1.5) * x) - (x * x) * (x * z);
-		return x * y;
-	#endif
-	#else
-		return sqrtf(y);
-	#endif
-	}
-	SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabsf(x); }
-	SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); }
-	SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); }
-	SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); }
-	SIMD_FORCE_INLINE btScalar btAcos(btScalar x)
-	{
-		if (x < btScalar(-1))
-			x = btScalar(-1);
-		if (x > btScalar(1))
-			x = btScalar(1);
-		return acosf(x);
-	}
-	SIMD_FORCE_INLINE btScalar btAsin(btScalar x)
-	{
-		if (x < btScalar(-1))
-			x = btScalar(-1);
-		if (x > btScalar(1))
-			x = btScalar(1);
-		return asinf(x);
-	}
-	SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); }
-	SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); }
-	SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return expf(x); }
-	SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return logf(x); }
-	SIMD_FORCE_INLINE btScalar btPow(btScalar x, btScalar y) { return powf(x, y); }
-	SIMD_FORCE_INLINE btScalar btFmod(btScalar x, btScalar y) { return fmodf(x, y); }
-
-#endif//BT_USE_DOUBLE_PRECISION
-
-#define SIMD_PI btScalar(3.1415926535897932384626433832795029)
-#define SIMD_2_PI (btScalar(2.0) * SIMD_PI)
-#define SIMD_HALF_PI (SIMD_PI * btScalar(0.5))
-#define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0))
-#define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI)
-#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490)
-#define btRecipSqrt(x) ((btScalar)(btScalar(1.0) / btSqrt(btScalar(x)))) /* reciprocal square root */
-#define btRecip(x) (btScalar(1.0) / btScalar(x))
-
-#ifdef BT_USE_DOUBLE_PRECISION
-	#define SIMD_EPSILON DBL_EPSILON
-	#define SIMD_INFINITY DBL_MAX
-	#define BT_ONE 1.0
-	#define BT_ZERO 0.0
-	#define BT_TWO 2.0
-	#define BT_HALF 0.5
-#else
-	#define SIMD_EPSILON FLT_EPSILON
-	#define SIMD_INFINITY FLT_MAX
-	#define BT_ONE 1.0f
-	#define BT_ZERO 0.0f
-	#define BT_TWO 2.0f
-	#define BT_HALF 0.5f
-#endif
-
-// clang-format on
-
-SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x)
-{
-	btScalar coeff_1 = SIMD_PI / 4.0f;
-	btScalar coeff_2 = 3.0f * coeff_1;
-	btScalar abs_y = btFabs(y);
-	btScalar angle;
-	if (x >= 0.0f)
-	{
-		btScalar r = (x - abs_y) / (x + abs_y);
-		angle = coeff_1 - coeff_1 * r;
-	}
-	else
-	{
-		btScalar r = (x + abs_y) / (abs_y - x);
-		angle = coeff_2 - coeff_1 * r;
-	}
-	return (y < 0.0f) ? -angle : angle;
-}
-
-SIMD_FORCE_INLINE bool btFuzzyZero(btScalar x) { return btFabs(x) < SIMD_EPSILON; }
-
-SIMD_FORCE_INLINE bool btEqual(btScalar a, btScalar eps)
-{
-	return (((a) <= eps) && !((a) < -eps));
-}
-SIMD_FORCE_INLINE bool btGreaterEqual(btScalar a, btScalar eps)
-{
-	return (!((a) <= eps));
-}
-
-SIMD_FORCE_INLINE int btIsNegative(btScalar x)
-{
-	return x < btScalar(0.0) ? 1 : 0;
-}
-
-SIMD_FORCE_INLINE btScalar btRadians(btScalar x) { return x * SIMD_RADS_PER_DEG; }
-SIMD_FORCE_INLINE btScalar btDegrees(btScalar x) { return x * SIMD_DEGS_PER_RAD; }
-
-#define BT_DECLARE_HANDLE(name) \
-	typedef struct name##__     \
-	{                           \
-		int unused;             \
-	} * name
-
-#ifndef btFsel
-SIMD_FORCE_INLINE btScalar btFsel(btScalar a, btScalar b, btScalar c)
-{
-	return a >= 0 ? b : c;
-}
-#endif
-#define btFsels(a, b, c) (btScalar) btFsel(a, b, c)
-
-SIMD_FORCE_INLINE bool btMachineIsLittleEndian()
-{
-	long int i = 1;
-	const char *p = (const char *)&i;
-	if (p[0] == 1)  // Lowest address contains the least significant byte
-		return true;
-	else
-		return false;
-}
-
-///btSelect avoids branches, which makes performance much better for consoles like Playstation 3 and XBox 360
-///Thanks Phil Knight. See also http://www.cellperformance.com/articles/2006/04/more_techniques_for_eliminatin_1.html
-SIMD_FORCE_INLINE unsigned btSelect(unsigned condition, unsigned valueIfConditionNonZero, unsigned valueIfConditionZero)
-{
-	// Set testNz to 0xFFFFFFFF if condition is nonzero, 0x00000000 if condition is zero
-	// Rely on positive value or'ed with its negative having sign bit on
-	// and zero value or'ed with its negative (which is still zero) having sign bit off
-	// Use arithmetic shift right, shifting the sign bit through all 32 bits
-	unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31);
-	unsigned testEqz = ~testNz;
-	return ((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz));
-}
-SIMD_FORCE_INLINE int btSelect(unsigned condition, int valueIfConditionNonZero, int valueIfConditionZero)
-{
-	unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31);
-	unsigned testEqz = ~testNz;
-	return static_cast<int>((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz));
-}
-SIMD_FORCE_INLINE float btSelect(unsigned condition, float valueIfConditionNonZero, float valueIfConditionZero)
-{
-#ifdef BT_HAVE_NATIVE_FSEL
-	return (float)btFsel((btScalar)condition - btScalar(1.0f), valueIfConditionNonZero, valueIfConditionZero);
-#else
-	return (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero;
-#endif
-}
-
-template <typename T>
-SIMD_FORCE_INLINE void btSwap(T &a, T &b)
-{
-	T tmp = a;
-	a = b;
-	b = tmp;
-}
-
-//PCK: endian swapping functions
-SIMD_FORCE_INLINE unsigned btSwapEndian(unsigned val)
-{
-	return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8) | ((val & 0x000000ff) << 24));
-}
-
-SIMD_FORCE_INLINE unsigned short btSwapEndian(unsigned short val)
-{
-	return static_cast<unsigned short>(((val & 0xff00) >> 8) | ((val & 0x00ff) << 8));
-}
-
-SIMD_FORCE_INLINE unsigned btSwapEndian(int val)
-{
-	return btSwapEndian((unsigned)val);
-}
-
-SIMD_FORCE_INLINE unsigned short btSwapEndian(short val)
-{
-	return btSwapEndian((unsigned short)val);
-}
-
-///btSwapFloat uses using char pointers to swap the endianness
-////btSwapFloat/btSwapDouble will NOT return a float, because the machine might 'correct' invalid floating point values
-///Not all values of sign/exponent/mantissa are valid floating point numbers according to IEEE 754.
-///When a floating point unit is faced with an invalid value, it may actually change the value, or worse, throw an exception.
-///In most systems, running user mode code, you wouldn't get an exception, but instead the hardware/os/runtime will 'fix' the number for you.
-///so instead of returning a float/double, we return integer/long long integer
-SIMD_FORCE_INLINE unsigned int btSwapEndianFloat(float d)
-{
-	unsigned int a = 0;
-	unsigned char *dst = (unsigned char *)&a;
-	unsigned char *src = (unsigned char *)&d;
-
-	dst[0] = src[3];
-	dst[1] = src[2];
-	dst[2] = src[1];
-	dst[3] = src[0];
-	return a;
-}
-
-// unswap using char pointers
-SIMD_FORCE_INLINE float btUnswapEndianFloat(unsigned int a)
-{
-	float d = 0.0f;
-	unsigned char *src = (unsigned char *)&a;
-	unsigned char *dst = (unsigned char *)&d;
-
-	dst[0] = src[3];
-	dst[1] = src[2];
-	dst[2] = src[1];
-	dst[3] = src[0];
-
-	return d;
-}
-
-// swap using char pointers
-SIMD_FORCE_INLINE void btSwapEndianDouble(double d, unsigned char *dst)
-{
-	unsigned char *src = (unsigned char *)&d;
-
-	dst[0] = src[7];
-	dst[1] = src[6];
-	dst[2] = src[5];
-	dst[3] = src[4];
-	dst[4] = src[3];
-	dst[5] = src[2];
-	dst[6] = src[1];
-	dst[7] = src[0];
-}
-
-// unswap using char pointers
-SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char *src)
-{
-	double d = 0.0;
-	unsigned char *dst = (unsigned char *)&d;
-
-	dst[0] = src[7];
-	dst[1] = src[6];
-	dst[2] = src[5];
-	dst[3] = src[4];
-	dst[4] = src[3];
-	dst[5] = src[2];
-	dst[6] = src[1];
-	dst[7] = src[0];
-
-	return d;
-}
-
-template <typename T>
-SIMD_FORCE_INLINE void btSetZero(T *a, int n)
-{
-	T *acurr = a;
-	size_t ncurr = n;
-	while (ncurr > 0)
-	{
-		*(acurr++) = 0;
-		--ncurr;
-	}
-}
-
-SIMD_FORCE_INLINE btScalar btLargeDot(const btScalar *a, const btScalar *b, int n)
-{
-	btScalar p0, q0, m0, p1, q1, m1, sum;
-	sum = 0;
-	n -= 2;
-	while (n >= 0)
-	{
-		p0 = a[0];
-		q0 = b[0];
-		m0 = p0 * q0;
-		p1 = a[1];
-		q1 = b[1];
-		m1 = p1 * q1;
-		sum += m0;
-		sum += m1;
-		a += 2;
-		b += 2;
-		n -= 2;
-	}
-	n += 2;
-	while (n > 0)
-	{
-		sum += (*a) * (*b);
-		a++;
-		b++;
-		n--;
-	}
-	return sum;
-}
-
-// returns normalized value in range [-SIMD_PI, SIMD_PI]
-SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians)
-{
-	angleInRadians = btFmod(angleInRadians, SIMD_2_PI);
-	if (angleInRadians < -SIMD_PI)
-	{
-		return angleInRadians + SIMD_2_PI;
-	}
-	else if (angleInRadians > SIMD_PI)
-	{
-		return angleInRadians - SIMD_2_PI;
-	}
-	else
-	{
-		return angleInRadians;
-	}
-}
-
-///rudimentary class to provide type info
-struct btTypedObject
-{
-	btTypedObject(int objectType)
-		: m_objectType(objectType)
-	{
-	}
-	int m_objectType;
-	inline int getObjectType() const
-	{
-		return m_objectType;
-	}
-};
-
-///align a pointer to the provided alignment, upwards
-template <typename T>
-T *btAlignPointer(T *unalignedPtr, size_t alignment)
-{
-	struct btConvertPointerSizeT
-	{
-		union {
-			T *ptr;
-			size_t integer;
-		};
-	};
-	btConvertPointerSizeT converter;
-
-	const size_t bit_mask = ~(alignment - 1);
-	converter.ptr = unalignedPtr;
-	converter.integer += alignment - 1;
-	converter.integer &= bit_mask;
-	return converter.ptr;
-}
-
-#endif  //BT_SCALAR_H
diff --git a/thirdparty/bullet/LinearMath/btSerializer.cpp b/thirdparty/bullet/LinearMath/btSerializer.cpp
deleted file mode 100644
index 068836f2c4..0000000000
--- a/thirdparty/bullet/LinearMath/btSerializer.cpp
+++ /dev/null
@@ -1,692 +0,0 @@
-char sBulletDNAstr[]= {
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-char(92),char(0),char(19),char(0),char(50),char(0),char(-68),char(0),char(89),char(0),char(127),char(1),char(82),char(0),char(-128),char(1),char(83),char(0),char(-127),char(1),
-char(84),char(0),char(-126),char(1),char(85),char(0),char(-125),char(1),char(86),char(0),char(-124),char(1),char(87),char(0),char(-123),char(1),char(90),char(0),char(-122),char(1),
-char(91),char(0),char(-121),char(1),char(4),char(0),char(-120),char(1),char(4),char(0),char(102),char(1),char(4),char(0),char(-119),char(1),char(4),char(0),char(-118),char(1),
-char(4),char(0),char(-117),char(1),char(4),char(0),char(-116),char(1),char(4),char(0),char(-115),char(1),char(4),char(0),char(-114),char(1),char(88),char(0),char(-113),char(1),
-char(93),char(0),char(28),char(0),char(16),char(0),char(-112),char(1),char(14),char(0),char(-111),char(1),char(14),char(0),char(-110),char(1),char(14),char(0),char(-109),char(1),
-char(14),char(0),char(-108),char(1),char(14),char(0),char(-107),char(1),char(14),char(0),char(-106),char(1),char(14),char(0),char(-105),char(1),char(14),char(0),char(-104),char(1),
-char(14),char(0),char(-103),char(1),char(8),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),char(4),char(0),char(126),char(1),char(4),char(0),char(-100),char(1),
-char(4),char(0),char(-99),char(1),char(8),char(0),char(-98),char(1),char(8),char(0),char(-97),char(1),char(8),char(0),char(-96),char(1),char(8),char(0),char(-95),char(1),
-char(8),char(0),char(-94),char(1),char(8),char(0),char(-93),char(1),char(8),char(0),char(-92),char(1),char(8),char(0),char(-91),char(1),char(8),char(0),char(-90),char(1),
-char(0),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(48),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(94),char(0),char(28),char(0),
-char(15),char(0),char(-112),char(1),char(13),char(0),char(-111),char(1),char(13),char(0),char(-110),char(1),char(13),char(0),char(-109),char(1),char(13),char(0),char(-108),char(1),
-char(13),char(0),char(-107),char(1),char(13),char(0),char(-106),char(1),char(13),char(0),char(-105),char(1),char(13),char(0),char(-104),char(1),char(13),char(0),char(-103),char(1),
-char(4),char(0),char(-100),char(1),char(7),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),char(4),char(0),char(126),char(1),char(7),char(0),char(-98),char(1),
-char(7),char(0),char(-97),char(1),char(7),char(0),char(-96),char(1),char(4),char(0),char(-99),char(1),char(7),char(0),char(-95),char(1),char(7),char(0),char(-94),char(1),
-char(7),char(0),char(-93),char(1),char(7),char(0),char(-92),char(1),char(7),char(0),char(-91),char(1),char(7),char(0),char(-90),char(1),char(0),char(0),char(-89),char(1),
-char(0),char(0),char(-88),char(1),char(50),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(95),char(0),char(11),char(0),char(14),char(0),char(-85),char(1),
-char(16),char(0),char(-84),char(1),char(14),char(0),char(-83),char(1),char(14),char(0),char(-82),char(1),char(14),char(0),char(-81),char(1),char(8),char(0),char(-80),char(1),
-char(4),char(0),char(-119),char(1),char(0),char(0),char(37),char(0),char(0),char(0),char(-79),char(1),char(93),char(0),char(-126),char(1),char(48),char(0),char(-78),char(1),
-char(96),char(0),char(10),char(0),char(13),char(0),char(-85),char(1),char(15),char(0),char(-84),char(1),char(13),char(0),char(-83),char(1),char(13),char(0),char(-82),char(1),
-char(13),char(0),char(-81),char(1),char(7),char(0),char(-80),char(1),char(4),char(0),char(-119),char(1),char(0),char(0),char(-79),char(1),char(94),char(0),char(-126),char(1),
-char(50),char(0),char(-78),char(1),char(97),char(0),char(4),char(0),char(50),char(0),char(-77),char(1),char(96),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1),
-char(0),char(0),char(37),char(0),char(98),char(0),char(4),char(0),char(48),char(0),char(-77),char(1),char(95),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1),
-char(0),char(0),char(37),char(0),};
-int sBulletDNAlen= sizeof(sBulletDNAstr);
diff --git a/thirdparty/bullet/LinearMath/btSerializer.h b/thirdparty/bullet/LinearMath/btSerializer.h
deleted file mode 100644
index f18442f23d..0000000000
--- a/thirdparty/bullet/LinearMath/btSerializer.h
+++ /dev/null
@@ -1,866 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SERIALIZER_H
-#define BT_SERIALIZER_H
-
-#include "btScalar.h"  // has definitions like SIMD_FORCE_INLINE
-#include "btHashMap.h"
-
-#if !defined(__CELLOS_LV2__) && !defined(__MWERKS__)
-#include <memory.h>
-#endif
-#include <string.h>
-
-extern char sBulletDNAstr[];
-extern int sBulletDNAlen;
-extern char sBulletDNAstr64[];
-extern int sBulletDNAlen64;
-
-SIMD_FORCE_INLINE int btStrLen(const char* str)
-{
-	if (!str)
-		return (0);
-	int len = 0;
-
-	while (*str != 0)
-	{
-		str++;
-		len++;
-	}
-
-	return len;
-}
-
-class btChunk
-{
-public:
-	int m_chunkCode;
-	int m_length;
-	void* m_oldPtr;
-	int m_dna_nr;
-	int m_number;
-};
-
-enum btSerializationFlags
-{
-	BT_SERIALIZE_NO_BVH = 1,
-	BT_SERIALIZE_NO_TRIANGLEINFOMAP = 2,
-	BT_SERIALIZE_NO_DUPLICATE_ASSERT = 4,
-	BT_SERIALIZE_CONTACT_MANIFOLDS = 8,
-};
-
-class btSerializer
-{
-public:
-	virtual ~btSerializer() {}
-
-	virtual const unsigned char* getBufferPointer() const = 0;
-
-	virtual int getCurrentBufferSize() const = 0;
-
-	virtual btChunk* allocate(size_t size, int numElements) = 0;
-
-	virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode, void* oldPtr) = 0;
-
-	virtual void* findPointer(void* oldPtr) = 0;
-
-	virtual void* getUniquePointer(void* oldPtr) = 0;
-
-	virtual void startSerialization() = 0;
-
-	virtual void finishSerialization() = 0;
-
-	virtual const char* findNameForPointer(const void* ptr) const = 0;
-
-	virtual void registerNameForPointer(const void* ptr, const char* name) = 0;
-
-	virtual void serializeName(const char* ptr) = 0;
-
-	virtual int getSerializationFlags() const = 0;
-
-	virtual void setSerializationFlags(int flags) = 0;
-
-	virtual int getNumChunks() const = 0;
-
-	virtual const btChunk* getChunk(int chunkIndex) const = 0;
-};
-
-#define BT_HEADER_LENGTH 12
-#if defined(__sgi) || defined(__sparc) || defined(__sparc__) || defined(__PPC__) || defined(__ppc__) || defined(__BIG_ENDIAN__)
-#define BT_MAKE_ID(a, b, c, d) ((int)(a) << 24 | (int)(b) << 16 | (c) << 8 | (d))
-#else
-#define BT_MAKE_ID(a, b, c, d) ((int)(d) << 24 | (int)(c) << 16 | (b) << 8 | (a))
-#endif
-
-#define BT_MULTIBODY_CODE BT_MAKE_ID('M', 'B', 'D', 'Y')
-#define BT_MB_LINKCOLLIDER_CODE BT_MAKE_ID('M', 'B', 'L', 'C')
-#define BT_SOFTBODY_CODE BT_MAKE_ID('S', 'B', 'D', 'Y')
-#define BT_COLLISIONOBJECT_CODE BT_MAKE_ID('C', 'O', 'B', 'J')
-#define BT_RIGIDBODY_CODE BT_MAKE_ID('R', 'B', 'D', 'Y')
-#define BT_CONSTRAINT_CODE BT_MAKE_ID('C', 'O', 'N', 'S')
-#define BT_BOXSHAPE_CODE BT_MAKE_ID('B', 'O', 'X', 'S')
-#define BT_QUANTIZED_BVH_CODE BT_MAKE_ID('Q', 'B', 'V', 'H')
-#define BT_TRIANLGE_INFO_MAP BT_MAKE_ID('T', 'M', 'A', 'P')
-#define BT_SHAPE_CODE BT_MAKE_ID('S', 'H', 'A', 'P')
-#define BT_ARRAY_CODE BT_MAKE_ID('A', 'R', 'A', 'Y')
-#define BT_SBMATERIAL_CODE BT_MAKE_ID('S', 'B', 'M', 'T')
-#define BT_SBNODE_CODE BT_MAKE_ID('S', 'B', 'N', 'D')
-#define BT_DYNAMICSWORLD_CODE BT_MAKE_ID('D', 'W', 'L', 'D')
-#define BT_CONTACTMANIFOLD_CODE BT_MAKE_ID('C', 'O', 'N', 'T')
-#define BT_DNA_CODE BT_MAKE_ID('D', 'N', 'A', '1')
-
-struct btPointerUid
-{
-	union {
-		void* m_ptr;
-		int m_uniqueIds[2];
-	};
-};
-
-struct btBulletSerializedArrays
-{
-	btBulletSerializedArrays()
-	{
-	}
-	btAlignedObjectArray<struct btQuantizedBvhDoubleData*> m_bvhsDouble;
-	btAlignedObjectArray<struct btQuantizedBvhFloatData*> m_bvhsFloat;
-	btAlignedObjectArray<struct btCollisionShapeData*> m_colShapeData;
-	btAlignedObjectArray<struct btDynamicsWorldDoubleData*> m_dynamicWorldInfoDataDouble;
-	btAlignedObjectArray<struct btDynamicsWorldFloatData*> m_dynamicWorldInfoDataFloat;
-	btAlignedObjectArray<struct btRigidBodyDoubleData*> m_rigidBodyDataDouble;
-	btAlignedObjectArray<struct btRigidBodyFloatData*> m_rigidBodyDataFloat;
-	btAlignedObjectArray<struct btCollisionObjectDoubleData*> m_collisionObjectDataDouble;
-	btAlignedObjectArray<struct btCollisionObjectFloatData*> m_collisionObjectDataFloat;
-	btAlignedObjectArray<struct btTypedConstraintFloatData*> m_constraintDataFloat;
-	btAlignedObjectArray<struct btTypedConstraintDoubleData*> m_constraintDataDouble;
-	btAlignedObjectArray<struct btTypedConstraintData*> m_constraintData;  //for backwards compatibility
-	btAlignedObjectArray<struct btSoftBodyFloatData*> m_softBodyFloatData;
-	btAlignedObjectArray<struct btSoftBodyDoubleData*> m_softBodyDoubleData;
-};
-
-///The btDefaultSerializer is the main Bullet serialization class.
-///The constructor takes an optional argument for backwards compatibility, it is recommended to leave this empty/zero.
-class btDefaultSerializer : public btSerializer
-{
-protected:
-	btAlignedObjectArray<char*> mTypes;
-	btAlignedObjectArray<short*> mStructs;
-	btAlignedObjectArray<short> mTlens;
-	btHashMap<btHashInt, int> mStructReverse;
-	btHashMap<btHashString, int> mTypeLookup;
-
-	btHashMap<btHashPtr, void*> m_chunkP;
-
-	btHashMap<btHashPtr, const char*> m_nameMap;
-
-	btHashMap<btHashPtr, btPointerUid> m_uniquePointers;
-	int m_uniqueIdGenerator;
-
-	int m_totalSize;
-	unsigned char* m_buffer;
-	bool m_ownsBuffer;
-	int m_currentSize;
-	void* m_dna;
-	int m_dnaLength;
-
-	int m_serializationFlags;
-
-	btAlignedObjectArray<btChunk*> m_chunkPtrs;
-
-protected:
-	virtual void* findPointer(void* oldPtr)
-	{
-		void** ptr = m_chunkP.find(oldPtr);
-		if (ptr && *ptr)
-			return *ptr;
-		return 0;
-	}
-
-	virtual void writeDNA()
-	{
-		btChunk* dnaChunk = allocate(m_dnaLength, 1);
-		memcpy(dnaChunk->m_oldPtr, m_dna, m_dnaLength);
-		finalizeChunk(dnaChunk, "DNA1", BT_DNA_CODE, m_dna);
-	}
-
-	int getReverseType(const char* type) const
-	{
-		btHashString key(type);
-		const int* valuePtr = mTypeLookup.find(key);
-		if (valuePtr)
-			return *valuePtr;
-
-		return -1;
-	}
-
-	void initDNA(const char* bdnaOrg, int dnalen)
-	{
-		///was already initialized
-		if (m_dna)
-			return;
-
-		int littleEndian = 1;
-		littleEndian = ((char*)&littleEndian)[0];
-
-		m_dna = btAlignedAlloc(dnalen, 16);
-		memcpy(m_dna, bdnaOrg, dnalen);
-		m_dnaLength = dnalen;
-
-		int* intPtr = 0;
-		short* shtPtr = 0;
-		char* cp = 0;
-		int dataLen = 0;
-		intPtr = (int*)m_dna;
-
-		/*
-				SDNA (4 bytes) (magic number)
-				NAME (4 bytes)
-				<nr> (4 bytes) amount of names (int)
-				<string>
-				<string>
-			*/
-
-		if (strncmp((const char*)m_dna, "SDNA", 4) == 0)
-		{
-			// skip ++ NAME
-			intPtr++;
-			intPtr++;
-		}
-
-		// Parse names
-		if (!littleEndian)
-			*intPtr = btSwapEndian(*intPtr);
-
-		dataLen = *intPtr;
-
-		intPtr++;
-
-		cp = (char*)intPtr;
-		int i;
-		for (i = 0; i < dataLen; i++)
-		{
-			while (*cp) cp++;
-			cp++;
-		}
-		cp = btAlignPointer(cp, 4);
-
-		/*
-				TYPE (4 bytes)
-				<nr> amount of types (int)
-				<string>
-				<string>
-			*/
-
-		intPtr = (int*)cp;
-		btAssert(strncmp(cp, "TYPE", 4) == 0);
-		intPtr++;
-
-		if (!littleEndian)
-			*intPtr = btSwapEndian(*intPtr);
-
-		dataLen = *intPtr;
-		intPtr++;
-
-		cp = (char*)intPtr;
-		for (i = 0; i < dataLen; i++)
-		{
-			mTypes.push_back(cp);
-			while (*cp) cp++;
-			cp++;
-		}
-
-		cp = btAlignPointer(cp, 4);
-
-		/*
-				TLEN (4 bytes)
-				<len> (short) the lengths of types
-				<len>
-			*/
-
-		// Parse type lens
-		intPtr = (int*)cp;
-		btAssert(strncmp(cp, "TLEN", 4) == 0);
-		intPtr++;
-
-		dataLen = (int)mTypes.size();
-
-		shtPtr = (short*)intPtr;
-		for (i = 0; i < dataLen; i++, shtPtr++)
-		{
-			if (!littleEndian)
-				shtPtr[0] = btSwapEndian(shtPtr[0]);
-			mTlens.push_back(shtPtr[0]);
-		}
-
-		if (dataLen & 1) shtPtr++;
-
-		/*
-				STRC (4 bytes)
-				<nr> amount of structs (int)
-				<typenr>
-				<nr_of_elems>
-				<typenr>
-				<namenr>
-				<typenr>
-				<namenr>
-			*/
-
-		intPtr = (int*)shtPtr;
-		cp = (char*)intPtr;
-		btAssert(strncmp(cp, "STRC", 4) == 0);
-		intPtr++;
-
-		if (!littleEndian)
-			*intPtr = btSwapEndian(*intPtr);
-		dataLen = *intPtr;
-		intPtr++;
-
-		shtPtr = (short*)intPtr;
-		for (i = 0; i < dataLen; i++)
-		{
-			mStructs.push_back(shtPtr);
-
-			if (!littleEndian)
-			{
-				shtPtr[0] = btSwapEndian(shtPtr[0]);
-				shtPtr[1] = btSwapEndian(shtPtr[1]);
-
-				int len = shtPtr[1];
-				shtPtr += 2;
-
-				for (int a = 0; a < len; a++, shtPtr += 2)
-				{
-					shtPtr[0] = btSwapEndian(shtPtr[0]);
-					shtPtr[1] = btSwapEndian(shtPtr[1]);
-				}
-			}
-			else
-			{
-				shtPtr += (2 * shtPtr[1]) + 2;
-			}
-		}
-
-		// build reverse lookups
-		for (i = 0; i < (int)mStructs.size(); i++)
-		{
-			short* strc = mStructs.at(i);
-			mStructReverse.insert(strc[0], i);
-			mTypeLookup.insert(btHashString(mTypes[strc[0]]), i);
-		}
-	}
-
-public:
-	btHashMap<btHashPtr, void*> m_skipPointers;
-
-	btDefaultSerializer(int totalSize = 0, unsigned char* buffer = 0)
-		: m_uniqueIdGenerator(0),
-		  m_totalSize(totalSize),
-		  m_currentSize(0),
-		  m_dna(0),
-		  m_dnaLength(0),
-		  m_serializationFlags(0)
-	{
-		if (buffer == 0)
-		{
-			m_buffer = m_totalSize ? (unsigned char*)btAlignedAlloc(totalSize, 16) : 0;
-			m_ownsBuffer = true;
-		}
-		else
-		{
-			m_buffer = buffer;
-			m_ownsBuffer = false;
-		}
-
-		const bool VOID_IS_8 = ((sizeof(void*) == 8));
-
-#ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-		if (VOID_IS_8)
-		{
-#if _WIN64
-			initDNA((const char*)sBulletDNAstr64, sBulletDNAlen64);
-#else
-			btAssert(0);
-#endif
-		}
-		else
-		{
-#ifndef _WIN64
-			initDNA((const char*)sBulletDNAstr, sBulletDNAlen);
-#else
-			btAssert(0);
-#endif
-		}
-
-#else   //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-		if (VOID_IS_8)
-		{
-			initDNA((const char*)sBulletDNAstr64, sBulletDNAlen64);
-		}
-		else
-		{
-			initDNA((const char*)sBulletDNAstr, sBulletDNAlen);
-		}
-#endif  //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-	}
-
-	virtual ~btDefaultSerializer()
-	{
-		if (m_buffer && m_ownsBuffer)
-			btAlignedFree(m_buffer);
-		if (m_dna)
-			btAlignedFree(m_dna);
-	}
-
-	static int getMemoryDnaSizeInBytes()
-	{
-		const bool VOID_IS_8 = ((sizeof(void*) == 8));
-
-		if (VOID_IS_8)
-		{
-			return sBulletDNAlen64;
-		}
-		return sBulletDNAlen;
-	}
-	static const char* getMemoryDna()
-	{
-		const bool VOID_IS_8 = ((sizeof(void*) == 8));
-		if (VOID_IS_8)
-		{
-			return (const char*)sBulletDNAstr64;
-		}
-		return (const char*)sBulletDNAstr;
-	}
-
-	void insertHeader()
-	{
-		writeHeader(m_buffer);
-		m_currentSize += BT_HEADER_LENGTH;
-	}
-
-	void writeHeader(unsigned char* buffer) const
-	{
-#ifdef BT_USE_DOUBLE_PRECISION
-		memcpy(buffer, "BULLETd", 7);
-#else
-		memcpy(buffer, "BULLETf", 7);
-#endif  //BT_USE_DOUBLE_PRECISION
-
-		int littleEndian = 1;
-		littleEndian = ((char*)&littleEndian)[0];
-
-		if (sizeof(void*) == 8)
-		{
-			buffer[7] = '-';
-		}
-		else
-		{
-			buffer[7] = '_';
-		}
-
-		if (littleEndian)
-		{
-			buffer[8] = 'v';
-		}
-		else
-		{
-			buffer[8] = 'V';
-		}
-
-		buffer[9] = '3';
-		buffer[10] = '1';
-		buffer[11] = '7';
-	}
-
-	virtual void startSerialization()
-	{
-		m_uniqueIdGenerator = 1;
-		if (m_totalSize)
-		{
-			unsigned char* buffer = internalAlloc(BT_HEADER_LENGTH);
-			writeHeader(buffer);
-		}
-	}
-
-	virtual void finishSerialization()
-	{
-		writeDNA();
-
-		//if we didn't pre-allocate a buffer, we need to create a contiguous buffer now
-		if (!m_totalSize)
-		{
-			if (m_buffer)
-				btAlignedFree(m_buffer);
-
-			m_currentSize += BT_HEADER_LENGTH;
-			m_buffer = (unsigned char*)btAlignedAlloc(m_currentSize, 16);
-
-			unsigned char* currentPtr = m_buffer;
-			writeHeader(m_buffer);
-			currentPtr += BT_HEADER_LENGTH;
-			for (int i = 0; i < m_chunkPtrs.size(); i++)
-			{
-				int curLength = sizeof(btChunk) + m_chunkPtrs[i]->m_length;
-				memcpy(currentPtr, m_chunkPtrs[i], curLength);
-				btAlignedFree(m_chunkPtrs[i]);
-				currentPtr += curLength;
-			}
-		}
-
-		mTypes.clear();
-		mStructs.clear();
-		mTlens.clear();
-		mStructReverse.clear();
-		mTypeLookup.clear();
-		m_skipPointers.clear();
-		m_chunkP.clear();
-		m_nameMap.clear();
-		m_uniquePointers.clear();
-		m_chunkPtrs.clear();
-	}
-
-	virtual void* getUniquePointer(void* oldPtr)
-	{
-		btAssert(m_uniqueIdGenerator >= 0);
-		if (!oldPtr)
-			return 0;
-
-		btPointerUid* uptr = (btPointerUid*)m_uniquePointers.find(oldPtr);
-		if (uptr)
-		{
-			return uptr->m_ptr;
-		}
-
-		void** ptr2 = m_skipPointers[oldPtr];
-		if (ptr2)
-		{
-			return 0;
-		}
-
-		m_uniqueIdGenerator++;
-
-		btPointerUid uid;
-		uid.m_uniqueIds[0] = m_uniqueIdGenerator;
-		uid.m_uniqueIds[1] = m_uniqueIdGenerator;
-		m_uniquePointers.insert(oldPtr, uid);
-		return uid.m_ptr;
-	}
-
-	virtual const unsigned char* getBufferPointer() const
-	{
-		return m_buffer;
-	}
-
-	virtual int getCurrentBufferSize() const
-	{
-		return m_currentSize;
-	}
-
-	virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode, void* oldPtr)
-	{
-		if (!(m_serializationFlags & BT_SERIALIZE_NO_DUPLICATE_ASSERT))
-		{
-			btAssert(!findPointer(oldPtr));
-		}
-
-		chunk->m_dna_nr = getReverseType(structType);
-
-		chunk->m_chunkCode = chunkCode;
-
-		void* uniquePtr = getUniquePointer(oldPtr);
-
-		m_chunkP.insert(oldPtr, uniquePtr);  //chunk->m_oldPtr);
-		chunk->m_oldPtr = uniquePtr;         //oldPtr;
-	}
-
-	virtual unsigned char* internalAlloc(size_t size)
-	{
-		unsigned char* ptr = 0;
-
-		if (m_totalSize)
-		{
-			ptr = m_buffer + m_currentSize;
-			m_currentSize += int(size);
-			btAssert(m_currentSize < m_totalSize);
-		}
-		else
-		{
-			ptr = (unsigned char*)btAlignedAlloc(size, 16);
-			m_currentSize += int(size);
-		}
-		return ptr;
-	}
-
-	virtual btChunk* allocate(size_t size, int numElements)
-	{
-		unsigned char* ptr = internalAlloc(int(size) * numElements + sizeof(btChunk));
-
-		unsigned char* data = ptr + sizeof(btChunk);
-
-		btChunk* chunk = (btChunk*)ptr;
-		chunk->m_chunkCode = 0;
-		chunk->m_oldPtr = data;
-		chunk->m_length = int(size) * numElements;
-		chunk->m_number = numElements;
-
-		m_chunkPtrs.push_back(chunk);
-
-		return chunk;
-	}
-
-	virtual const char* findNameForPointer(const void* ptr) const
-	{
-		const char* const* namePtr = m_nameMap.find(ptr);
-		if (namePtr && *namePtr)
-			return *namePtr;
-		return 0;
-	}
-
-	virtual void registerNameForPointer(const void* ptr, const char* name)
-	{
-		m_nameMap.insert(ptr, name);
-	}
-
-	virtual void serializeName(const char* name)
-	{
-		if (name)
-		{
-			//don't serialize name twice
-			if (findPointer((void*)name))
-				return;
-
-			int len = btStrLen(name);
-			if (len)
-			{
-				int newLen = len + 1;
-				int padding = ((newLen + 3) & ~3) - newLen;
-				newLen += padding;
-
-				//serialize name string now
-				btChunk* chunk = allocate(sizeof(char), newLen);
-				char* destinationName = (char*)chunk->m_oldPtr;
-				for (int i = 0; i < len; i++)
-				{
-					destinationName[i] = name[i];
-				}
-				destinationName[len] = 0;
-				finalizeChunk(chunk, "char", BT_ARRAY_CODE, (void*)name);
-			}
-		}
-	}
-
-	virtual int getSerializationFlags() const
-	{
-		return m_serializationFlags;
-	}
-
-	virtual void setSerializationFlags(int flags)
-	{
-		m_serializationFlags = flags;
-	}
-	int getNumChunks() const
-	{
-		return m_chunkPtrs.size();
-	}
-
-	const btChunk* getChunk(int chunkIndex) const
-	{
-		return m_chunkPtrs[chunkIndex];
-	}
-};
-
-///In general it is best to use btDefaultSerializer,
-///in particular when writing the data to disk or sending it over the network.
-///The btInMemorySerializer is experimental and only suitable in a few cases.
-///The btInMemorySerializer takes a shortcut and can be useful to create a deep-copy
-///of objects. There will be a demo on how to use the btInMemorySerializer.
-#ifdef ENABLE_INMEMORY_SERIALIZER
-
-struct btInMemorySerializer : public btDefaultSerializer
-{
-	btHashMap<btHashPtr, btChunk*> m_uid2ChunkPtr;
-	btHashMap<btHashPtr, void*> m_orgPtr2UniqueDataPtr;
-	btHashMap<btHashString, const void*> m_names2Ptr;
-
-	btBulletSerializedArrays m_arrays;
-
-	btInMemorySerializer(int totalSize = 0, unsigned char* buffer = 0)
-		: btDefaultSerializer(totalSize, buffer)
-	{
-	}
-
-	virtual void startSerialization()
-	{
-		m_uid2ChunkPtr.clear();
-		//todo: m_arrays.clear();
-		btDefaultSerializer::startSerialization();
-	}
-
-	btChunk* findChunkFromUniquePointer(void* uniquePointer)
-	{
-		btChunk** chkPtr = m_uid2ChunkPtr[uniquePointer];
-		if (chkPtr)
-		{
-			return *chkPtr;
-		}
-		return 0;
-	}
-
-	virtual void registerNameForPointer(const void* ptr, const char* name)
-	{
-		btDefaultSerializer::registerNameForPointer(ptr, name);
-		m_names2Ptr.insert(name, ptr);
-	}
-
-	virtual void finishSerialization()
-	{
-	}
-
-	virtual void* getUniquePointer(void* oldPtr)
-	{
-		if (oldPtr == 0)
-			return 0;
-
-		// void* uniquePtr = getUniquePointer(oldPtr);
-		btChunk* chunk = findChunkFromUniquePointer(oldPtr);
-		if (chunk)
-		{
-			return chunk->m_oldPtr;
-		}
-		else
-		{
-			const char* n = (const char*)oldPtr;
-			const void** ptr = m_names2Ptr[n];
-			if (ptr)
-			{
-				return oldPtr;
-			}
-			else
-			{
-				void** ptr2 = m_skipPointers[oldPtr];
-				if (ptr2)
-				{
-					return 0;
-				}
-				else
-				{
-					//If this assert hit, serialization happened in the wrong order
-					// 'getUniquePointer'
-					btAssert(0);
-				}
-			}
-			return 0;
-		}
-		return oldPtr;
-	}
-
-	virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode, void* oldPtr)
-	{
-		if (!(m_serializationFlags & BT_SERIALIZE_NO_DUPLICATE_ASSERT))
-		{
-			btAssert(!findPointer(oldPtr));
-		}
-
-		chunk->m_dna_nr = getReverseType(structType);
-		chunk->m_chunkCode = chunkCode;
-		//void* uniquePtr = getUniquePointer(oldPtr);
-		m_chunkP.insert(oldPtr, oldPtr);  //chunk->m_oldPtr);
-		// chunk->m_oldPtr = uniquePtr;//oldPtr;
-
-		void* uid = findPointer(oldPtr);
-		m_uid2ChunkPtr.insert(uid, chunk);
-
-		switch (chunk->m_chunkCode)
-		{
-			case BT_SOFTBODY_CODE:
-			{
-#ifdef BT_USE_DOUBLE_PRECISION
-				m_arrays.m_softBodyDoubleData.push_back((btSoftBodyDoubleData*)chunk->m_oldPtr);
-#else
-				m_arrays.m_softBodyFloatData.push_back((btSoftBodyFloatData*)chunk->m_oldPtr);
-#endif
-				break;
-			}
-			case BT_COLLISIONOBJECT_CODE:
-			{
-#ifdef BT_USE_DOUBLE_PRECISION
-				m_arrays.m_collisionObjectDataDouble.push_back((btCollisionObjectDoubleData*)chunk->m_oldPtr);
-#else   //BT_USE_DOUBLE_PRECISION
-				m_arrays.m_collisionObjectDataFloat.push_back((btCollisionObjectFloatData*)chunk->m_oldPtr);
-#endif  //BT_USE_DOUBLE_PRECISION
-				break;
-			}
-			case BT_RIGIDBODY_CODE:
-			{
-#ifdef BT_USE_DOUBLE_PRECISION
-				m_arrays.m_rigidBodyDataDouble.push_back((btRigidBodyDoubleData*)chunk->m_oldPtr);
-#else
-				m_arrays.m_rigidBodyDataFloat.push_back((btRigidBodyFloatData*)chunk->m_oldPtr);
-#endif  //BT_USE_DOUBLE_PRECISION
-				break;
-			};
-			case BT_CONSTRAINT_CODE:
-			{
-#ifdef BT_USE_DOUBLE_PRECISION
-				m_arrays.m_constraintDataDouble.push_back((btTypedConstraintDoubleData*)chunk->m_oldPtr);
-#else
-				m_arrays.m_constraintDataFloat.push_back((btTypedConstraintFloatData*)chunk->m_oldPtr);
-#endif
-				break;
-			}
-			case BT_QUANTIZED_BVH_CODE:
-			{
-#ifdef BT_USE_DOUBLE_PRECISION
-				m_arrays.m_bvhsDouble.push_back((btQuantizedBvhDoubleData*)chunk->m_oldPtr);
-#else
-				m_arrays.m_bvhsFloat.push_back((btQuantizedBvhFloatData*)chunk->m_oldPtr);
-#endif
-				break;
-			}
-
-			case BT_SHAPE_CODE:
-			{
-				btCollisionShapeData* shapeData = (btCollisionShapeData*)chunk->m_oldPtr;
-				m_arrays.m_colShapeData.push_back(shapeData);
-				break;
-			}
-			case BT_TRIANLGE_INFO_MAP:
-			case BT_ARRAY_CODE:
-			case BT_SBMATERIAL_CODE:
-			case BT_SBNODE_CODE:
-			case BT_DYNAMICSWORLD_CODE:
-			case BT_DNA_CODE:
-			{
-				break;
-			}
-			default:
-			{
-			}
-		};
-	}
-
-	int getNumChunks() const
-	{
-		return m_uid2ChunkPtr.size();
-	}
-
-	const btChunk* getChunk(int chunkIndex) const
-	{
-		return *m_uid2ChunkPtr.getAtIndex(chunkIndex);
-	}
-};
-#endif  //ENABLE_INMEMORY_SERIALIZER
-
-#endif  //BT_SERIALIZER_H
diff --git a/thirdparty/bullet/LinearMath/btSerializer64.cpp b/thirdparty/bullet/LinearMath/btSerializer64.cpp
deleted file mode 100644
index 6c4bc7031f..0000000000
--- a/thirdparty/bullet/LinearMath/btSerializer64.cpp
+++ /dev/null
@@ -1,692 +0,0 @@
-char sBulletDNAstr64[]= {
-char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-74),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
-char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95),
-char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111),
-char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110),
-char(115),char(116),char(114),char(97),char(105),char(110),char(116),char(115),char(0),char(42),char(102),char(105),char(114),char(115),char(116),char(0),char(42),char(108),char(97),char(115),
-char(116),char(0),char(109),char(95),char(102),char(108),char(111),char(97),char(116),char(115),char(91),char(52),char(93),char(0),char(109),char(95),char(101),char(108),char(91),char(51),
-char(93),char(0),char(109),char(95),char(98),char(97),char(115),char(105),char(115),char(0),char(109),char(95),char(111),char(114),char(105),char(103),char(105),char(110),char(0),char(109),
-char(95),char(114),char(111),char(111),char(116),char(78),char(111),char(100),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(115),char(117),char(98),
-char(116),char(114),char(101),char(101),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100),
-char(65),char(97),char(98),char(98),char(77),char(105),char(110),char(91),char(51),char(93),char(0),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),
-char(101),char(100),char(65),char(97),char(98),char(98),char(77),char(97),char(120),char(91),char(51),char(93),char(0),char(109),char(95),char(97),char(97),char(98),char(98),char(77),
-char(105),char(110),char(79),char(114),char(103),char(0),char(109),char(95),char(97),char(97),char(98),char(98),char(77),char(97),char(120),char(79),char(114),char(103),char(0),char(109),
-char(95),char(101),char(115),char(99),char(97),char(112),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(115),char(117),char(98),char(80),char(97),
-char(114),char(116),char(0),char(109),char(95),char(116),char(114),char(105),char(97),char(110),char(103),char(108),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),
-char(95),char(112),char(97),char(100),char(91),char(52),char(93),char(0),char(109),char(95),char(101),char(115),char(99),char(97),char(112),char(101),char(73),char(110),char(100),char(101),
-char(120),char(79),char(114),char(84),char(114),char(105),char(97),char(110),char(103),char(108),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(98),
-char(118),char(104),char(65),char(97),char(98),char(98),char(77),char(105),char(110),char(0),char(109),char(95),char(98),char(118),char(104),char(65),char(97),char(98),char(98),char(77),
-char(97),char(120),char(0),char(109),char(95),char(98),char(118),char(104),char(81),char(117),char(97),char(110),char(116),char(105),char(122),char(97),char(116),char(105),char(111),char(110),
-char(0),char(109),char(95),char(99),char(117),char(114),char(78),char(111),char(100),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(117),char(115),
-char(101),char(81),char(117),char(97),char(110),char(116),char(105),char(122),char(97),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(110),char(117),char(109),char(67),
-char(111),char(110),char(116),char(105),char(103),char(117),char(111),char(117),char(115),char(76),char(101),char(97),char(102),char(78),char(111),char(100),char(101),char(115),char(0),char(109),
-char(95),char(110),char(117),char(109),char(81),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100),char(67),char(111),char(110),char(116),char(105),char(103),char(117),
-char(111),char(117),char(115),char(78),char(111),char(100),char(101),char(115),char(0),char(42),char(109),char(95),char(99),char(111),char(110),char(116),char(105),char(103),char(117),char(111),
-char(117),char(115),char(78),char(111),char(100),char(101),char(115),char(80),char(116),char(114),char(0),char(42),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),
-char(122),char(101),char(100),char(67),char(111),char(110),char(116),char(105),char(103),char(117),char(111),char(117),char(115),char(78),char(111),char(100),char(101),char(115),char(80),char(116),
-char(114),char(0),char(42),char(109),char(95),char(115),char(117),char(98),char(84),char(114),char(101),char(101),char(73),char(110),char(102),char(111),char(80),char(116),char(114),char(0),
-char(109),char(95),char(116),char(114),char(97),char(118),char(101),char(114),char(115),char(97),char(108),char(77),char(111),char(100),char(101),char(0),char(109),char(95),char(110),char(117),
-char(109),char(83),char(117),char(98),char(116),char(114),char(101),char(101),char(72),char(101),char(97),char(100),char(101),char(114),char(115),char(0),char(42),char(109),char(95),char(110),
-char(97),char(109),char(101),char(0),char(109),char(95),char(115),char(104),char(97),char(112),char(101),char(84),char(121),char(112),char(101),char(0),char(109),char(95),char(112),char(97),
-char(100),char(100),char(105),char(110),char(103),char(91),char(52),char(93),char(0),char(109),char(95),char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),
-char(83),char(104),char(97),char(112),char(101),char(68),char(97),char(116),char(97),char(0),char(109),char(95),char(108),char(111),char(99),char(97),char(108),char(83),char(99),char(97),
-char(108),char(105),char(110),char(103),char(0),char(109),char(95),char(112),char(108),char(97),char(110),char(101),char(78),char(111),char(114),char(109),char(97),char(108),char(0),char(109),
-char(95),char(112),char(108),char(97),char(110),char(101),char(67),char(111),char(110),char(115),char(116),char(97),char(110),char(116),char(0),char(109),char(95),char(105),char(109),char(112),
-char(108),char(105),char(99),char(105),char(116),char(83),char(104),char(97),char(112),char(101),char(68),char(105),char(109),char(101),char(110),char(115),char(105),char(111),char(110),char(115),
-char(0),char(109),char(95),char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(77),char(97),char(114),char(103),char(105),char(110),char(0),char(109),
-char(95),char(112),char(97),char(100),char(100),char(105),char(110),char(103),char(0),char(109),char(95),char(112),char(111),char(115),char(0),char(109),char(95),char(114),char(97),char(100),
-char(105),char(117),char(115),char(0),char(109),char(95),char(99),char(111),char(110),char(118),char(101),char(120),char(73),char(110),char(116),char(101),char(114),char(110),char(97),char(108),
-char(83),char(104),char(97),char(112),char(101),char(68),char(97),char(116),char(97),char(0),char(42),char(109),char(95),char(108),char(111),char(99),char(97),char(108),char(80),char(111),
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-char(109),char(95),char(118),char(97),char(108),char(117),char(101),char(0),char(109),char(95),char(112),char(97),char(100),char(91),char(50),char(93),char(0),char(109),char(95),char(118),
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-char(118),char(104),char(0),char(42),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100),char(68),char(111),char(117),char(98),char(108),
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-char(13),char(0),char(-81),char(1),char(7),char(0),char(-80),char(1),char(4),char(0),char(-119),char(1),char(0),char(0),char(-79),char(1),char(94),char(0),char(-126),char(1),
-char(50),char(0),char(-78),char(1),char(97),char(0),char(4),char(0),char(50),char(0),char(-77),char(1),char(96),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1),
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-char(0),char(0),char(37),char(0),};
-int sBulletDNAlen64= sizeof(sBulletDNAstr64);
diff --git a/thirdparty/bullet/LinearMath/btSpatialAlgebra.h b/thirdparty/bullet/LinearMath/btSpatialAlgebra.h
deleted file mode 100644
index 6ad67a1081..0000000000
--- a/thirdparty/bullet/LinearMath/btSpatialAlgebra.h
+++ /dev/null
@@ -1,389 +0,0 @@
-/*
-Copyright (c) 2003-2015 Erwin Coumans, Jakub Stepien
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///These spatial algebra classes are used for btMultiBody,
-///see BulletDynamics/Featherstone
-
-#ifndef BT_SPATIAL_ALGEBRA_H
-#define BT_SPATIAL_ALGEBRA_H
-
-#include "btMatrix3x3.h"
-
-struct btSpatialForceVector
-{
-	btVector3 m_topVec, m_bottomVec;
-	//
-	btSpatialForceVector() { setZero(); }
-	btSpatialForceVector(const btVector3 &angular, const btVector3 &linear) : m_topVec(linear), m_bottomVec(angular) {}
-	btSpatialForceVector(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
-	{
-		setValue(ax, ay, az, lx, ly, lz);
-	}
-	//
-	void setVector(const btVector3 &angular, const btVector3 &linear)
-	{
-		m_topVec = linear;
-		m_bottomVec = angular;
-	}
-	void setValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
-	{
-		m_bottomVec.setValue(ax, ay, az);
-		m_topVec.setValue(lx, ly, lz);
-	}
-	//
-	void addVector(const btVector3 &angular, const btVector3 &linear)
-	{
-		m_topVec += linear;
-		m_bottomVec += angular;
-	}
-	void addValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
-	{
-		m_bottomVec[0] += ax;
-		m_bottomVec[1] += ay;
-		m_bottomVec[2] += az;
-		m_topVec[0] += lx;
-		m_topVec[1] += ly;
-		m_topVec[2] += lz;
-	}
-	//
-	const btVector3 &getLinear() const { return m_topVec; }
-	const btVector3 &getAngular() const { return m_bottomVec; }
-	//
-	void setLinear(const btVector3 &linear) { m_topVec = linear; }
-	void setAngular(const btVector3 &angular) { m_bottomVec = angular; }
-	//
-	void addAngular(const btVector3 &angular) { m_bottomVec += angular; }
-	void addLinear(const btVector3 &linear) { m_topVec += linear; }
-	//
-	void setZero()
-	{
-		m_topVec.setZero();
-		m_bottomVec.setZero();
-	}
-	//
-	btSpatialForceVector &operator+=(const btSpatialForceVector &vec)
-	{
-		m_topVec += vec.m_topVec;
-		m_bottomVec += vec.m_bottomVec;
-		return *this;
-	}
-	btSpatialForceVector &operator-=(const btSpatialForceVector &vec)
-	{
-		m_topVec -= vec.m_topVec;
-		m_bottomVec -= vec.m_bottomVec;
-		return *this;
-	}
-	btSpatialForceVector operator-(const btSpatialForceVector &vec) const { return btSpatialForceVector(m_bottomVec - vec.m_bottomVec, m_topVec - vec.m_topVec); }
-	btSpatialForceVector operator+(const btSpatialForceVector &vec) const { return btSpatialForceVector(m_bottomVec + vec.m_bottomVec, m_topVec + vec.m_topVec); }
-	btSpatialForceVector operator-() const { return btSpatialForceVector(-m_bottomVec, -m_topVec); }
-	btSpatialForceVector operator*(const btScalar &s) const { return btSpatialForceVector(s * m_bottomVec, s * m_topVec); }
-	//btSpatialForceVector & operator = (const btSpatialForceVector &vec) { m_topVec = vec.m_topVec; m_bottomVec = vec.m_bottomVec; return *this; }
-};
-
-struct btSpatialMotionVector
-{
-	btVector3 m_topVec, m_bottomVec;
-	//
-	btSpatialMotionVector() { setZero(); }
-	btSpatialMotionVector(const btVector3 &angular, const btVector3 &linear) : m_topVec(angular), m_bottomVec(linear) {}
-	//
-	void setVector(const btVector3 &angular, const btVector3 &linear)
-	{
-		m_topVec = angular;
-		m_bottomVec = linear;
-	}
-	void setValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
-	{
-		m_topVec.setValue(ax, ay, az);
-		m_bottomVec.setValue(lx, ly, lz);
-	}
-	//
-	void addVector(const btVector3 &angular, const btVector3 &linear)
-	{
-		m_topVec += linear;
-		m_bottomVec += angular;
-	}
-	void addValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
-	{
-		m_topVec[0] += ax;
-		m_topVec[1] += ay;
-		m_topVec[2] += az;
-		m_bottomVec[0] += lx;
-		m_bottomVec[1] += ly;
-		m_bottomVec[2] += lz;
-	}
-	//
-	const btVector3 &getAngular() const { return m_topVec; }
-	const btVector3 &getLinear() const { return m_bottomVec; }
-	//
-	void setAngular(const btVector3 &angular) { m_topVec = angular; }
-	void setLinear(const btVector3 &linear) { m_bottomVec = linear; }
-	//
-	void addAngular(const btVector3 &angular) { m_topVec += angular; }
-	void addLinear(const btVector3 &linear) { m_bottomVec += linear; }
-	//
-	void setZero()
-	{
-		m_topVec.setZero();
-		m_bottomVec.setZero();
-	}
-	//
-	btScalar dot(const btSpatialForceVector &b) const
-	{
-		return m_bottomVec.dot(b.m_topVec) + m_topVec.dot(b.m_bottomVec);
-	}
-	//
-	template <typename SpatialVectorType>
-	void cross(const SpatialVectorType &b, SpatialVectorType &out) const
-	{
-		out.m_topVec = m_topVec.cross(b.m_topVec);
-		out.m_bottomVec = m_bottomVec.cross(b.m_topVec) + m_topVec.cross(b.m_bottomVec);
-	}
-	template <typename SpatialVectorType>
-	SpatialVectorType cross(const SpatialVectorType &b) const
-	{
-		SpatialVectorType out;
-		out.m_topVec = m_topVec.cross(b.m_topVec);
-		out.m_bottomVec = m_bottomVec.cross(b.m_topVec) + m_topVec.cross(b.m_bottomVec);
-		return out;
-	}
-	//
-	btSpatialMotionVector &operator+=(const btSpatialMotionVector &vec)
-	{
-		m_topVec += vec.m_topVec;
-		m_bottomVec += vec.m_bottomVec;
-		return *this;
-	}
-	btSpatialMotionVector &operator-=(const btSpatialMotionVector &vec)
-	{
-		m_topVec -= vec.m_topVec;
-		m_bottomVec -= vec.m_bottomVec;
-		return *this;
-	}
-	btSpatialMotionVector &operator*=(const btScalar &s)
-	{
-		m_topVec *= s;
-		m_bottomVec *= s;
-		return *this;
-	}
-	btSpatialMotionVector operator-(const btSpatialMotionVector &vec) const { return btSpatialMotionVector(m_topVec - vec.m_topVec, m_bottomVec - vec.m_bottomVec); }
-	btSpatialMotionVector operator+(const btSpatialMotionVector &vec) const { return btSpatialMotionVector(m_topVec + vec.m_topVec, m_bottomVec + vec.m_bottomVec); }
-	btSpatialMotionVector operator-() const { return btSpatialMotionVector(-m_topVec, -m_bottomVec); }
-	btSpatialMotionVector operator*(const btScalar &s) const { return btSpatialMotionVector(s * m_topVec, s * m_bottomVec); }
-};
-
-struct btSymmetricSpatialDyad
-{
-	btMatrix3x3 m_topLeftMat, m_topRightMat, m_bottomLeftMat;
-	//
-	btSymmetricSpatialDyad() { setIdentity(); }
-	btSymmetricSpatialDyad(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat) { setMatrix(topLeftMat, topRightMat, bottomLeftMat); }
-	//
-	void setMatrix(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat)
-	{
-		m_topLeftMat = topLeftMat;
-		m_topRightMat = topRightMat;
-		m_bottomLeftMat = bottomLeftMat;
-	}
-	//
-	void addMatrix(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat)
-	{
-		m_topLeftMat += topLeftMat;
-		m_topRightMat += topRightMat;
-		m_bottomLeftMat += bottomLeftMat;
-	}
-	//
-	void setIdentity()
-	{
-		m_topLeftMat.setIdentity();
-		m_topRightMat.setIdentity();
-		m_bottomLeftMat.setIdentity();
-	}
-	//
-	btSymmetricSpatialDyad &operator-=(const btSymmetricSpatialDyad &mat)
-	{
-		m_topLeftMat -= mat.m_topLeftMat;
-		m_topRightMat -= mat.m_topRightMat;
-		m_bottomLeftMat -= mat.m_bottomLeftMat;
-		return *this;
-	}
-	//
-	btSpatialForceVector operator*(const btSpatialMotionVector &vec)
-	{
-		return btSpatialForceVector(m_bottomLeftMat * vec.m_topVec + m_topLeftMat.transpose() * vec.m_bottomVec, m_topLeftMat * vec.m_topVec + m_topRightMat * vec.m_bottomVec);
-	}
-};
-
-struct btSpatialTransformationMatrix
-{
-	btMatrix3x3 m_rotMat;  //btMatrix3x3 m_trnCrossMat;
-	btVector3 m_trnVec;
-	//
-	enum eOutputOperation
-	{
-		None = 0,
-		Add = 1,
-		Subtract = 2
-	};
-	//
-	template <typename SpatialVectorType>
-	void transform(const SpatialVectorType &inVec,
-				   SpatialVectorType &outVec,
-				   eOutputOperation outOp = None)
-	{
-		if (outOp == None)
-		{
-			outVec.m_topVec = m_rotMat * inVec.m_topVec;
-			outVec.m_bottomVec = -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec;
-		}
-		else if (outOp == Add)
-		{
-			outVec.m_topVec += m_rotMat * inVec.m_topVec;
-			outVec.m_bottomVec += -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec;
-		}
-		else if (outOp == Subtract)
-		{
-			outVec.m_topVec -= m_rotMat * inVec.m_topVec;
-			outVec.m_bottomVec -= -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec;
-		}
-	}
-
-	template <typename SpatialVectorType>
-	void transformRotationOnly(const SpatialVectorType &inVec,
-							   SpatialVectorType &outVec,
-							   eOutputOperation outOp = None)
-	{
-		if (outOp == None)
-		{
-			outVec.m_topVec = m_rotMat * inVec.m_topVec;
-			outVec.m_bottomVec = m_rotMat * inVec.m_bottomVec;
-		}
-		else if (outOp == Add)
-		{
-			outVec.m_topVec += m_rotMat * inVec.m_topVec;
-			outVec.m_bottomVec += m_rotMat * inVec.m_bottomVec;
-		}
-		else if (outOp == Subtract)
-		{
-			outVec.m_topVec -= m_rotMat * inVec.m_topVec;
-			outVec.m_bottomVec -= m_rotMat * inVec.m_bottomVec;
-		}
-	}
-
-	template <typename SpatialVectorType>
-	void transformInverse(const SpatialVectorType &inVec,
-						  SpatialVectorType &outVec,
-						  eOutputOperation outOp = None)
-	{
-		if (outOp == None)
-		{
-			outVec.m_topVec = m_rotMat.transpose() * inVec.m_topVec;
-			outVec.m_bottomVec = m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec));
-		}
-		else if (outOp == Add)
-		{
-			outVec.m_topVec += m_rotMat.transpose() * inVec.m_topVec;
-			outVec.m_bottomVec += m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec));
-		}
-		else if (outOp == Subtract)
-		{
-			outVec.m_topVec -= m_rotMat.transpose() * inVec.m_topVec;
-			outVec.m_bottomVec -= m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec));
-		}
-	}
-
-	template <typename SpatialVectorType>
-	void transformInverseRotationOnly(const SpatialVectorType &inVec,
-									  SpatialVectorType &outVec,
-									  eOutputOperation outOp = None)
-	{
-		if (outOp == None)
-		{
-			outVec.m_topVec = m_rotMat.transpose() * inVec.m_topVec;
-			outVec.m_bottomVec = m_rotMat.transpose() * inVec.m_bottomVec;
-		}
-		else if (outOp == Add)
-		{
-			outVec.m_topVec += m_rotMat.transpose() * inVec.m_topVec;
-			outVec.m_bottomVec += m_rotMat.transpose() * inVec.m_bottomVec;
-		}
-		else if (outOp == Subtract)
-		{
-			outVec.m_topVec -= m_rotMat.transpose() * inVec.m_topVec;
-			outVec.m_bottomVec -= m_rotMat.transpose() * inVec.m_bottomVec;
-		}
-	}
-
-	void transformInverse(const btSymmetricSpatialDyad &inMat,
-						  btSymmetricSpatialDyad &outMat,
-						  eOutputOperation outOp = None)
-	{
-		const btMatrix3x3 r_cross(0, -m_trnVec[2], m_trnVec[1],
-								  m_trnVec[2], 0, -m_trnVec[0],
-								  -m_trnVec[1], m_trnVec[0], 0);
-
-		if (outOp == None)
-		{
-			outMat.m_topLeftMat = m_rotMat.transpose() * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) * m_rotMat;
-			outMat.m_topRightMat = m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat;
-			outMat.m_bottomLeftMat = m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat;
-		}
-		else if (outOp == Add)
-		{
-			outMat.m_topLeftMat += m_rotMat.transpose() * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) * m_rotMat;
-			outMat.m_topRightMat += m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat;
-			outMat.m_bottomLeftMat += m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat;
-		}
-		else if (outOp == Subtract)
-		{
-			outMat.m_topLeftMat -= m_rotMat.transpose() * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) * m_rotMat;
-			outMat.m_topRightMat -= m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat;
-			outMat.m_bottomLeftMat -= m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat;
-		}
-	}
-
-	template <typename SpatialVectorType>
-	SpatialVectorType operator*(const SpatialVectorType &vec)
-	{
-		SpatialVectorType out;
-		transform(vec, out);
-		return out;
-	}
-};
-
-template <typename SpatialVectorType>
-void symmetricSpatialOuterProduct(const SpatialVectorType &a, const SpatialVectorType &b, btSymmetricSpatialDyad &out)
-{
-	//output op maybe?
-
-	out.m_topLeftMat = outerProduct(a.m_topVec, b.m_bottomVec);
-	out.m_topRightMat = outerProduct(a.m_topVec, b.m_topVec);
-	out.m_topLeftMat = outerProduct(a.m_bottomVec, b.m_bottomVec);
-	//maybe simple a*spatTranspose(a) would be nicer?
-}
-
-template <typename SpatialVectorType>
-btSymmetricSpatialDyad symmetricSpatialOuterProduct(const SpatialVectorType &a, const SpatialVectorType &b)
-{
-	btSymmetricSpatialDyad out;
-
-	out.m_topLeftMat = outerProduct(a.m_topVec, b.m_bottomVec);
-	out.m_topRightMat = outerProduct(a.m_topVec, b.m_topVec);
-	out.m_bottomLeftMat = outerProduct(a.m_bottomVec, b.m_bottomVec);
-
-	return out;
-	//maybe simple a*spatTranspose(a) would be nicer?
-}
-
-#endif  //BT_SPATIAL_ALGEBRA_H
diff --git a/thirdparty/bullet/LinearMath/btStackAlloc.h b/thirdparty/bullet/LinearMath/btStackAlloc.h
deleted file mode 100644
index 3fc2084976..0000000000
--- a/thirdparty/bullet/LinearMath/btStackAlloc.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/*
-StackAlloc extracted from GJK-EPA collision solver by Nathanael Presson
-Nov.2006
-*/
-
-#ifndef BT_STACK_ALLOC
-#define BT_STACK_ALLOC
-
-#include "btScalar.h"  //for btAssert
-#include "btAlignedAllocator.h"
-
-///The btBlock class is an internal structure for the btStackAlloc memory allocator.
-struct btBlock
-{
-	btBlock* previous;
-	unsigned char* address;
-};
-
-///The StackAlloc class provides some fast stack-based memory allocator (LIFO last-in first-out)
-class btStackAlloc
-{
-public:
-	btStackAlloc(unsigned int size)
-	{
-		ctor();
-		create(size);
-	}
-	~btStackAlloc() { destroy(); }
-
-	inline void create(unsigned int size)
-	{
-		destroy();
-		data = (unsigned char*)btAlignedAlloc(size, 16);
-		totalsize = size;
-	}
-	inline void destroy()
-	{
-		btAssert(usedsize == 0);
-		//Raise(L"StackAlloc is still in use");
-
-		if (usedsize == 0)
-		{
-			if (!ischild && data)
-				btAlignedFree(data);
-
-			data = 0;
-			usedsize = 0;
-		}
-	}
-
-	int getAvailableMemory() const
-	{
-		return static_cast<int>(totalsize - usedsize);
-	}
-
-	unsigned char* allocate(unsigned int size)
-	{
-		const unsigned int nus(usedsize + size);
-		if (nus < totalsize)
-		{
-			usedsize = nus;
-			return (data + (usedsize - size));
-		}
-		btAssert(0);
-		//&& (L"Not enough memory"));
-
-		return (0);
-	}
-	SIMD_FORCE_INLINE btBlock* beginBlock()
-	{
-		btBlock* pb = (btBlock*)allocate(sizeof(btBlock));
-		pb->previous = current;
-		pb->address = data + usedsize;
-		current = pb;
-		return (pb);
-	}
-	SIMD_FORCE_INLINE void endBlock(btBlock* block)
-	{
-		btAssert(block == current);
-		//Raise(L"Unmatched blocks");
-		if (block == current)
-		{
-			current = block->previous;
-			usedsize = (unsigned int)((block->address - data) - sizeof(btBlock));
-		}
-	}
-
-private:
-	void ctor()
-	{
-		data = 0;
-		totalsize = 0;
-		usedsize = 0;
-		current = 0;
-		ischild = false;
-	}
-	unsigned char* data;
-	unsigned int totalsize;
-	unsigned int usedsize;
-	btBlock* current;
-	bool ischild;
-};
-
-#endif  //BT_STACK_ALLOC
diff --git a/thirdparty/bullet/LinearMath/btThreads.cpp b/thirdparty/bullet/LinearMath/btThreads.cpp
deleted file mode 100644
index 69a86799fa..0000000000
--- a/thirdparty/bullet/LinearMath/btThreads.cpp
+++ /dev/null
@@ -1,792 +0,0 @@
-/*
-Copyright (c) 2003-2014 Erwin Coumans  http://bullet.googlecode.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btThreads.h"
-#include "btQuickprof.h"
-#include <algorithm>  // for min and max
-
-#if BT_USE_OPENMP && BT_THREADSAFE
-
-#include <omp.h>
-
-#endif  // #if BT_USE_OPENMP && BT_THREADSAFE
-
-#if BT_USE_PPL && BT_THREADSAFE
-
-// use Microsoft Parallel Patterns Library (installed with Visual Studio 2010 and later)
-#include <ppl.h>  // if you get a compile error here, check whether your version of Visual Studio includes PPL
-// Visual Studio 2010 and later should come with it
-#include <concrtrm.h>  // for GetProcessorCount()
-
-#endif  // #if BT_USE_PPL && BT_THREADSAFE
-
-#if BT_USE_TBB && BT_THREADSAFE
-
-// use Intel Threading Building Blocks for thread management
-#define __TBB_NO_IMPLICIT_LINKAGE 1
-#include <tbb/tbb.h>
-#include <tbb/task_scheduler_init.h>
-#include <tbb/parallel_for.h>
-#include <tbb/blocked_range.h>
-
-#endif  // #if BT_USE_TBB && BT_THREADSAFE
-
-#if BT_THREADSAFE
-//
-// Lightweight spin-mutex based on atomics
-// Using ordinary system-provided mutexes like Windows critical sections was noticeably slower
-// presumably because when it fails to lock at first it would sleep the thread and trigger costly
-// context switching.
-//
-
-#if __cplusplus >= 201103L
-
-// for anything claiming full C++11 compliance, use C++11 atomics
-// on GCC or Clang you need to compile with -std=c++11
-#define USE_CPP11_ATOMICS 1
-
-#elif defined(_MSC_VER)
-
-// on MSVC, use intrinsics instead
-#define USE_MSVC_INTRINSICS 1
-
-#elif defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 7))
-
-// available since GCC 4.7 and some versions of clang
-// todo: check for clang
-#define USE_GCC_BUILTIN_ATOMICS 1
-
-#elif defined(__GNUC__) && (__GNUC__ == 4 && __GNUC_MINOR__ >= 1)
-
-// available since GCC 4.1
-#define USE_GCC_BUILTIN_ATOMICS_OLD 1
-
-#endif
-
-#if USE_CPP11_ATOMICS
-
-#include <atomic>
-#include <thread>
-
-#define THREAD_LOCAL_STATIC thread_local static
-
-bool btSpinMutex::tryLock()
-{
-	std::atomic<int>* aDest = reinterpret_cast<std::atomic<int>*>(&mLock);
-	int expected = 0;
-	return std::atomic_compare_exchange_weak_explicit(aDest, &expected, int(1), std::memory_order_acq_rel, std::memory_order_acquire);
-}
-
-void btSpinMutex::lock()
-{
-	// note: this lock does not sleep the thread.
-	while (!tryLock())
-	{
-		// spin
-	}
-}
-
-void btSpinMutex::unlock()
-{
-	std::atomic<int>* aDest = reinterpret_cast<std::atomic<int>*>(&mLock);
-	std::atomic_store_explicit(aDest, int(0), std::memory_order_release);
-}
-
-#elif USE_MSVC_INTRINSICS
-
-#define WIN32_LEAN_AND_MEAN
-
-#include <windows.h>
-#include <intrin.h>
-
-#define THREAD_LOCAL_STATIC __declspec(thread) static
-
-bool btSpinMutex::tryLock()
-{
-	volatile long* aDest = reinterpret_cast<long*>(&mLock);
-	return (0 == _InterlockedCompareExchange(aDest, 1, 0));
-}
-
-void btSpinMutex::lock()
-{
-	// note: this lock does not sleep the thread
-	while (!tryLock())
-	{
-		// spin
-	}
-}
-
-void btSpinMutex::unlock()
-{
-	volatile long* aDest = reinterpret_cast<long*>(&mLock);
-	_InterlockedExchange(aDest, 0);
-}
-
-#elif USE_GCC_BUILTIN_ATOMICS
-
-#define THREAD_LOCAL_STATIC static __thread
-
-bool btSpinMutex::tryLock()
-{
-	int expected = 0;
-	bool weak = false;
-	const int memOrderSuccess = __ATOMIC_ACQ_REL;
-	const int memOrderFail = __ATOMIC_ACQUIRE;
-	return __atomic_compare_exchange_n(&mLock, &expected, int(1), weak, memOrderSuccess, memOrderFail);
-}
-
-void btSpinMutex::lock()
-{
-	// note: this lock does not sleep the thread
-	while (!tryLock())
-	{
-		// spin
-	}
-}
-
-void btSpinMutex::unlock()
-{
-	__atomic_store_n(&mLock, int(0), __ATOMIC_RELEASE);
-}
-
-#elif USE_GCC_BUILTIN_ATOMICS_OLD
-
-#define THREAD_LOCAL_STATIC static __thread
-
-bool btSpinMutex::tryLock()
-{
-	return __sync_bool_compare_and_swap(&mLock, int(0), int(1));
-}
-
-void btSpinMutex::lock()
-{
-	// note: this lock does not sleep the thread
-	while (!tryLock())
-	{
-		// spin
-	}
-}
-
-void btSpinMutex::unlock()
-{
-	// write 0
-	__sync_fetch_and_and(&mLock, int(0));
-}
-
-#else  //#elif USE_MSVC_INTRINSICS
-
-#error "no threading primitives defined -- unknown platform"
-
-#endif  //#else //#elif USE_MSVC_INTRINSICS
-
-#else  //#if BT_THREADSAFE
-
-// These should not be called ever
-void btSpinMutex::lock()
-{
-	btAssert(!"unimplemented btSpinMutex::lock() called");
-}
-
-void btSpinMutex::unlock()
-{
-	btAssert(!"unimplemented btSpinMutex::unlock() called");
-}
-
-bool btSpinMutex::tryLock()
-{
-	btAssert(!"unimplemented btSpinMutex::tryLock() called");
-	return true;
-}
-
-#define THREAD_LOCAL_STATIC static
-
-#endif  // #else //#if BT_THREADSAFE
-
-struct ThreadsafeCounter
-{
-	unsigned int mCounter;
-	btSpinMutex mMutex;
-
-	ThreadsafeCounter()
-	{
-		mCounter = 0;
-		--mCounter;  // first count should come back 0
-	}
-
-	unsigned int getNext()
-	{
-		// no need to optimize this with atomics, it is only called ONCE per thread!
-		mMutex.lock();
-		mCounter++;
-		if (mCounter >= BT_MAX_THREAD_COUNT)
-		{
-			btAssert(!"thread counter exceeded");
-			// wrap back to the first worker index
-			mCounter = 1;
-		}
-		unsigned int val = mCounter;
-		mMutex.unlock();
-		return val;
-	}
-};
-
-static btITaskScheduler* gBtTaskScheduler=0;
-static int gThreadsRunningCounter = 0;  // useful for detecting if we are trying to do nested parallel-for calls
-static btSpinMutex gThreadsRunningCounterMutex;
-static ThreadsafeCounter gThreadCounter;
-
-//
-// BT_DETECT_BAD_THREAD_INDEX tries to detect when there are multiple threads assigned the same thread index.
-//
-// BT_DETECT_BAD_THREAD_INDEX is a developer option to test if
-// certain assumptions about how the task scheduler manages its threads
-// holds true.
-// The main assumption is:
-//   - when the threadpool is resized, the task scheduler either
-//      1. destroys all worker threads and creates all new ones in the correct number, OR
-//      2. never destroys a worker thread
-//
-// We make that assumption because we can't easily enumerate the worker threads of a task scheduler
-// to assign nice sequential thread-indexes. We also do not get notified if a worker thread is destroyed,
-// so we can't tell when a thread-index is no longer being used.
-// We allocate thread-indexes as needed with a sequential global thread counter.
-//
-// Our simple thread-counting scheme falls apart if the task scheduler destroys some threads but
-// continues to re-use other threads and the application repeatedly resizes the thread pool of the
-// task scheduler.
-// In order to prevent the thread-counter from exceeding the global max (BT_MAX_THREAD_COUNT), we
-// wrap the thread counter back to 1. This should only happen if the worker threads have all been
-// destroyed and re-created.
-//
-// BT_DETECT_BAD_THREAD_INDEX only works for Win32 right now,
-// but could be adapted to work with pthreads
-#define BT_DETECT_BAD_THREAD_INDEX 0
-
-#if BT_DETECT_BAD_THREAD_INDEX
-
-typedef DWORD ThreadId_t;
-const static ThreadId_t kInvalidThreadId = 0;
-ThreadId_t gDebugThreadIds[BT_MAX_THREAD_COUNT];
-
-static ThreadId_t getDebugThreadId()
-{
-	return GetCurrentThreadId();
-}
-
-#endif  // #if BT_DETECT_BAD_THREAD_INDEX
-
-// return a unique index per thread, main thread is 0, worker threads are in [1, BT_MAX_THREAD_COUNT)
-unsigned int btGetCurrentThreadIndex()
-{
-	const unsigned int kNullIndex = ~0U;
-	THREAD_LOCAL_STATIC unsigned int sThreadIndex = kNullIndex;
-	if (sThreadIndex == kNullIndex)
-	{
-		sThreadIndex = gThreadCounter.getNext();
-		btAssert(sThreadIndex < BT_MAX_THREAD_COUNT);
-	}
-#if BT_DETECT_BAD_THREAD_INDEX
-	if (gBtTaskScheduler && sThreadIndex > 0)
-	{
-		ThreadId_t tid = getDebugThreadId();
-		// if not set
-		if (gDebugThreadIds[sThreadIndex] == kInvalidThreadId)
-		{
-			// set it
-			gDebugThreadIds[sThreadIndex] = tid;
-		}
-		else
-		{
-			if (gDebugThreadIds[sThreadIndex] != tid)
-			{
-				// this could indicate the task scheduler is breaking our assumptions about
-				// how threads are managed when threadpool is resized
-				btAssert(!"there are 2 or more threads with the same thread-index!");
-				__debugbreak();
-			}
-		}
-	}
-#endif  // #if BT_DETECT_BAD_THREAD_INDEX
-	return sThreadIndex;
-}
-
-bool btIsMainThread()
-{
-	return btGetCurrentThreadIndex() == 0;
-}
-
-void btResetThreadIndexCounter()
-{
-	// for when all current worker threads are destroyed
-	btAssert(btIsMainThread());
-	gThreadCounter.mCounter = 0;
-}
-
-btITaskScheduler::btITaskScheduler(const char* name)
-{
-	m_name = name;
-	m_savedThreadCounter = 0;
-	m_isActive = false;
-}
-
-void btITaskScheduler::activate()
-{
-	// gThreadCounter is used to assign a thread-index to each worker thread in a task scheduler.
-	// The main thread is always thread-index 0, and worker threads are numbered from 1 to 63 (BT_MAX_THREAD_COUNT-1)
-	// The thread-indexes need to be unique amongst the threads that can be running simultaneously.
-	// Since only one task scheduler can be used at a time, it is OK for a pair of threads that belong to different
-	// task schedulers to share the same thread index because they can't be running at the same time.
-	// So each task scheduler needs to keep its own thread counter value
-	if (!m_isActive)
-	{
-		gThreadCounter.mCounter = m_savedThreadCounter;  // restore saved thread counter
-		m_isActive = true;
-	}
-}
-
-void btITaskScheduler::deactivate()
-{
-	if (m_isActive)
-	{
-		m_savedThreadCounter = gThreadCounter.mCounter;  // save thread counter
-		m_isActive = false;
-	}
-}
-
-void btPushThreadsAreRunning()
-{
-	gThreadsRunningCounterMutex.lock();
-	gThreadsRunningCounter++;
-	gThreadsRunningCounterMutex.unlock();
-}
-
-void btPopThreadsAreRunning()
-{
-	gThreadsRunningCounterMutex.lock();
-	gThreadsRunningCounter--;
-	gThreadsRunningCounterMutex.unlock();
-}
-
-bool btThreadsAreRunning()
-{
-	return gThreadsRunningCounter != 0;
-}
-
-void btSetTaskScheduler(btITaskScheduler* ts)
-{
-	int threadId = btGetCurrentThreadIndex();  // make sure we call this on main thread at least once before any workers run
-	if (threadId != 0)
-	{
-		btAssert(!"btSetTaskScheduler must be called from the main thread!");
-		return;
-	}
-	if (gBtTaskScheduler)
-	{
-		// deactivate old task scheduler
-		gBtTaskScheduler->deactivate();
-	}
-	gBtTaskScheduler = ts;
-	if (ts)
-	{
-		// activate new task scheduler
-		ts->activate();
-	}
-}
-
-btITaskScheduler* btGetTaskScheduler()
-{
-	return gBtTaskScheduler;
-}
-
-void btParallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body)
-{
-#if BT_THREADSAFE
-
-#if BT_DETECT_BAD_THREAD_INDEX
-	if (!btThreadsAreRunning())
-	{
-		// clear out thread ids
-		for (int i = 0; i < BT_MAX_THREAD_COUNT; ++i)
-		{
-			gDebugThreadIds[i] = kInvalidThreadId;
-		}
-	}
-#endif  // #if BT_DETECT_BAD_THREAD_INDEX
-
-	btAssert(gBtTaskScheduler != NULL);  // call btSetTaskScheduler() with a valid task scheduler first!
-	gBtTaskScheduler->parallelFor(iBegin, iEnd, grainSize, body);
-
-#else  // #if BT_THREADSAFE
-
-	// non-parallel version of btParallelFor
-	btAssert(!"called btParallelFor in non-threadsafe build. enable BT_THREADSAFE");
-	body.forLoop(iBegin, iEnd);
-
-#endif  // #if BT_THREADSAFE
-}
-
-btScalar btParallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body)
-{
-#if BT_THREADSAFE
-
-#if BT_DETECT_BAD_THREAD_INDEX
-	if (!btThreadsAreRunning())
-	{
-		// clear out thread ids
-		for (int i = 0; i < BT_MAX_THREAD_COUNT; ++i)
-		{
-			gDebugThreadIds[i] = kInvalidThreadId;
-		}
-	}
-#endif  // #if BT_DETECT_BAD_THREAD_INDEX
-
-	btAssert(gBtTaskScheduler != NULL);  // call btSetTaskScheduler() with a valid task scheduler first!
-	return gBtTaskScheduler->parallelSum(iBegin, iEnd, grainSize, body);
-
-#else  // #if BT_THREADSAFE
-
-	// non-parallel version of btParallelSum
-	btAssert(!"called btParallelFor in non-threadsafe build. enable BT_THREADSAFE");
-	return body.sumLoop(iBegin, iEnd);
-
-#endif  //#else // #if BT_THREADSAFE
-}
-
-///
-/// btTaskSchedulerSequential -- non-threaded implementation of task scheduler
-///                              (really just useful for testing performance of single threaded vs multi)
-///
-class btTaskSchedulerSequential : public btITaskScheduler
-{
-public:
-	btTaskSchedulerSequential() : btITaskScheduler("Sequential") {}
-	virtual int getMaxNumThreads() const BT_OVERRIDE { return 1; }
-	virtual int getNumThreads() const BT_OVERRIDE { return 1; }
-	virtual void setNumThreads(int numThreads) BT_OVERRIDE {}
-	virtual void parallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body) BT_OVERRIDE
-	{
-		BT_PROFILE("parallelFor_sequential");
-		body.forLoop(iBegin, iEnd);
-	}
-	virtual btScalar parallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body) BT_OVERRIDE
-	{
-		BT_PROFILE("parallelSum_sequential");
-		return body.sumLoop(iBegin, iEnd);
-	}
-};
-
-#if BT_USE_OPENMP && BT_THREADSAFE
-///
-/// btTaskSchedulerOpenMP -- wrapper around OpenMP task scheduler
-///
-class btTaskSchedulerOpenMP : public btITaskScheduler
-{
-	int m_numThreads;
-
-public:
-	btTaskSchedulerOpenMP() : btITaskScheduler("OpenMP")
-	{
-		m_numThreads = 0;
-	}
-	virtual int getMaxNumThreads() const BT_OVERRIDE
-	{
-		return omp_get_max_threads();
-	}
-	virtual int getNumThreads() const BT_OVERRIDE
-	{
-		return m_numThreads;
-	}
-	virtual void setNumThreads(int numThreads) BT_OVERRIDE
-	{
-		// With OpenMP, because it is a standard with various implementations, we can't
-		// know for sure if every implementation has the same behavior of destroying all
-		// previous threads when resizing the threadpool
-		m_numThreads = (std::max)(1, (std::min)(int(BT_MAX_THREAD_COUNT), numThreads));
-		omp_set_num_threads(1);  // hopefully, all previous threads get destroyed here
-		omp_set_num_threads(m_numThreads);
-		m_savedThreadCounter = 0;
-		if (m_isActive)
-		{
-			btResetThreadIndexCounter();
-		}
-	}
-	virtual void parallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body) BT_OVERRIDE
-	{
-		BT_PROFILE("parallelFor_OpenMP");
-		btPushThreadsAreRunning();
-#pragma omp parallel for schedule(static, 1)
-		for (int i = iBegin; i < iEnd; i += grainSize)
-		{
-			BT_PROFILE("OpenMP_forJob");
-			body.forLoop(i, (std::min)(i + grainSize, iEnd));
-		}
-		btPopThreadsAreRunning();
-	}
-	virtual btScalar parallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body) BT_OVERRIDE
-	{
-		BT_PROFILE("parallelFor_OpenMP");
-		btPushThreadsAreRunning();
-		btScalar sum = btScalar(0);
-#pragma omp parallel for schedule(static, 1) reduction(+ \
-													   : sum)
-		for (int i = iBegin; i < iEnd; i += grainSize)
-		{
-			BT_PROFILE("OpenMP_sumJob");
-			sum += body.sumLoop(i, (std::min)(i + grainSize, iEnd));
-		}
-		btPopThreadsAreRunning();
-		return sum;
-	}
-};
-#endif  // #if BT_USE_OPENMP && BT_THREADSAFE
-
-#if BT_USE_TBB && BT_THREADSAFE
-///
-/// btTaskSchedulerTBB -- wrapper around Intel Threaded Building Blocks task scheduler
-///
-class btTaskSchedulerTBB : public btITaskScheduler
-{
-	int m_numThreads;
-	tbb::task_scheduler_init* m_tbbSchedulerInit;
-
-public:
-	btTaskSchedulerTBB() : btITaskScheduler("IntelTBB")
-	{
-		m_numThreads = 0;
-		m_tbbSchedulerInit = NULL;
-	}
-	~btTaskSchedulerTBB()
-	{
-		if (m_tbbSchedulerInit)
-		{
-			delete m_tbbSchedulerInit;
-			m_tbbSchedulerInit = NULL;
-		}
-	}
-
-	virtual int getMaxNumThreads() const BT_OVERRIDE
-	{
-		return tbb::task_scheduler_init::default_num_threads();
-	}
-	virtual int getNumThreads() const BT_OVERRIDE
-	{
-		return m_numThreads;
-	}
-	virtual void setNumThreads(int numThreads) BT_OVERRIDE
-	{
-		m_numThreads = (std::max)(1, (std::min)(int(BT_MAX_THREAD_COUNT), numThreads));
-		if (m_tbbSchedulerInit)
-		{
-			// destroys all previous threads
-			delete m_tbbSchedulerInit;
-			m_tbbSchedulerInit = NULL;
-		}
-		m_tbbSchedulerInit = new tbb::task_scheduler_init(m_numThreads);
-		m_savedThreadCounter = 0;
-		if (m_isActive)
-		{
-			btResetThreadIndexCounter();
-		}
-	}
-	struct ForBodyAdapter
-	{
-		const btIParallelForBody* mBody;
-
-		ForBodyAdapter(const btIParallelForBody* body) : mBody(body) {}
-		void operator()(const tbb::blocked_range<int>& range) const
-		{
-			BT_PROFILE("TBB_forJob");
-			mBody->forLoop(range.begin(), range.end());
-		}
-	};
-	virtual void parallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body) BT_OVERRIDE
-	{
-		BT_PROFILE("parallelFor_TBB");
-		ForBodyAdapter tbbBody(&body);
-		btPushThreadsAreRunning();
-		tbb::parallel_for(tbb::blocked_range<int>(iBegin, iEnd, grainSize),
-						  tbbBody,
-						  tbb::simple_partitioner());
-		btPopThreadsAreRunning();
-	}
-	struct SumBodyAdapter
-	{
-		const btIParallelSumBody* mBody;
-		btScalar mSum;
-
-		SumBodyAdapter(const btIParallelSumBody* body) : mBody(body), mSum(btScalar(0)) {}
-		SumBodyAdapter(const SumBodyAdapter& src, tbb::split) : mBody(src.mBody), mSum(btScalar(0)) {}
-		void join(const SumBodyAdapter& src) { mSum += src.mSum; }
-		void operator()(const tbb::blocked_range<int>& range)
-		{
-			BT_PROFILE("TBB_sumJob");
-			mSum += mBody->sumLoop(range.begin(), range.end());
-		}
-	};
-	virtual btScalar parallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body) BT_OVERRIDE
-	{
-		BT_PROFILE("parallelSum_TBB");
-		SumBodyAdapter tbbBody(&body);
-		btPushThreadsAreRunning();
-		tbb::parallel_deterministic_reduce(tbb::blocked_range<int>(iBegin, iEnd, grainSize), tbbBody);
-		btPopThreadsAreRunning();
-		return tbbBody.mSum;
-	}
-};
-#endif  // #if BT_USE_TBB && BT_THREADSAFE
-
-#if BT_USE_PPL && BT_THREADSAFE
-///
-/// btTaskSchedulerPPL -- wrapper around Microsoft Parallel Patterns Lib task scheduler
-///
-class btTaskSchedulerPPL : public btITaskScheduler
-{
-	int m_numThreads;
-	concurrency::combinable<btScalar> m_sum;  // for parallelSum
-public:
-	btTaskSchedulerPPL() : btITaskScheduler("PPL")
-	{
-		m_numThreads = 0;
-	}
-	virtual int getMaxNumThreads() const BT_OVERRIDE
-	{
-		return concurrency::GetProcessorCount();
-	}
-	virtual int getNumThreads() const BT_OVERRIDE
-	{
-		return m_numThreads;
-	}
-	virtual void setNumThreads(int numThreads) BT_OVERRIDE
-	{
-		// capping the thread count for PPL due to a thread-index issue
-		const int maxThreadCount = (std::min)(int(BT_MAX_THREAD_COUNT), 31);
-		m_numThreads = (std::max)(1, (std::min)(maxThreadCount, numThreads));
-		using namespace concurrency;
-		if (CurrentScheduler::Id() != -1)
-		{
-			CurrentScheduler::Detach();
-		}
-		SchedulerPolicy policy;
-		{
-			// PPL seems to destroy threads when threadpool is shrunk, but keeps reusing old threads
-			// force it to destroy old threads
-			policy.SetConcurrencyLimits(1, 1);
-			CurrentScheduler::Create(policy);
-			CurrentScheduler::Detach();
-		}
-		policy.SetConcurrencyLimits(m_numThreads, m_numThreads);
-		CurrentScheduler::Create(policy);
-		m_savedThreadCounter = 0;
-		if (m_isActive)
-		{
-			btResetThreadIndexCounter();
-		}
-	}
-	struct ForBodyAdapter
-	{
-		const btIParallelForBody* mBody;
-		int mGrainSize;
-		int mIndexEnd;
-
-		ForBodyAdapter(const btIParallelForBody* body, int grainSize, int end) : mBody(body), mGrainSize(grainSize), mIndexEnd(end) {}
-		void operator()(int i) const
-		{
-			BT_PROFILE("PPL_forJob");
-			mBody->forLoop(i, (std::min)(i + mGrainSize, mIndexEnd));
-		}
-	};
-	virtual void parallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body) BT_OVERRIDE
-	{
-		BT_PROFILE("parallelFor_PPL");
-		// PPL dispatch
-		ForBodyAdapter pplBody(&body, grainSize, iEnd);
-		btPushThreadsAreRunning();
-		// note: MSVC 2010 doesn't support partitioner args, so avoid them
-		concurrency::parallel_for(iBegin,
-								  iEnd,
-								  grainSize,
-								  pplBody);
-		btPopThreadsAreRunning();
-	}
-	struct SumBodyAdapter
-	{
-		const btIParallelSumBody* mBody;
-		concurrency::combinable<btScalar>* mSum;
-		int mGrainSize;
-		int mIndexEnd;
-
-		SumBodyAdapter(const btIParallelSumBody* body, concurrency::combinable<btScalar>* sum, int grainSize, int end) : mBody(body), mSum(sum), mGrainSize(grainSize), mIndexEnd(end) {}
-		void operator()(int i) const
-		{
-			BT_PROFILE("PPL_sumJob");
-			mSum->local() += mBody->sumLoop(i, (std::min)(i + mGrainSize, mIndexEnd));
-		}
-	};
-	static btScalar sumFunc(btScalar a, btScalar b) { return a + b; }
-	virtual btScalar parallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body) BT_OVERRIDE
-	{
-		BT_PROFILE("parallelSum_PPL");
-		m_sum.clear();
-		SumBodyAdapter pplBody(&body, &m_sum, grainSize, iEnd);
-		btPushThreadsAreRunning();
-		// note: MSVC 2010 doesn't support partitioner args, so avoid them
-		concurrency::parallel_for(iBegin,
-								  iEnd,
-								  grainSize,
-								  pplBody);
-		btPopThreadsAreRunning();
-		return m_sum.combine(sumFunc);
-	}
-};
-#endif  // #if BT_USE_PPL && BT_THREADSAFE
-
-// create a non-threaded task scheduler (always available)
-btITaskScheduler* btGetSequentialTaskScheduler()
-{
-	static btTaskSchedulerSequential sTaskScheduler;
-	return &sTaskScheduler;
-}
-
-// create an OpenMP task scheduler (if available, otherwise returns null)
-btITaskScheduler* btGetOpenMPTaskScheduler()
-{
-#if BT_USE_OPENMP && BT_THREADSAFE
-	static btTaskSchedulerOpenMP sTaskScheduler;
-	return &sTaskScheduler;
-#else
-	return NULL;
-#endif
-}
-
-// create an Intel TBB task scheduler (if available, otherwise returns null)
-btITaskScheduler* btGetTBBTaskScheduler()
-{
-#if BT_USE_TBB && BT_THREADSAFE
-	static btTaskSchedulerTBB sTaskScheduler;
-	return &sTaskScheduler;
-#else
-	return NULL;
-#endif
-}
-
-// create a PPL task scheduler (if available, otherwise returns null)
-btITaskScheduler* btGetPPLTaskScheduler()
-{
-#if BT_USE_PPL && BT_THREADSAFE
-	static btTaskSchedulerPPL sTaskScheduler;
-	return &sTaskScheduler;
-#else
-	return NULL;
-#endif
-}
diff --git a/thirdparty/bullet/LinearMath/btThreads.h b/thirdparty/bullet/LinearMath/btThreads.h
deleted file mode 100644
index b2227e1724..0000000000
--- a/thirdparty/bullet/LinearMath/btThreads.h
+++ /dev/null
@@ -1,177 +0,0 @@
-/*
-Copyright (c) 2003-2014 Erwin Coumans  http://bullet.googlecode.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_THREADS_H
-#define BT_THREADS_H
-
-#include "btScalar.h"  // has definitions like SIMD_FORCE_INLINE
-
-#if defined(_MSC_VER) && _MSC_VER >= 1600
-// give us a compile error if any signatures of overriden methods is changed
-#define BT_OVERRIDE override
-#endif
-
-#ifndef BT_OVERRIDE
-#define BT_OVERRIDE
-#endif
-
-// Don't set this to larger than 64, without modifying btThreadSupportPosix
-// and btThreadSupportWin32. They use UINT64 bit-masks.
-const unsigned int BT_MAX_THREAD_COUNT = 64;  // only if BT_THREADSAFE is 1
-
-// for internal use only
-bool btIsMainThread();
-bool btThreadsAreRunning();
-unsigned int btGetCurrentThreadIndex();
-void btResetThreadIndexCounter();  // notify that all worker threads have been destroyed
-
-///
-/// btSpinMutex -- lightweight spin-mutex implemented with atomic ops, never puts
-///               a thread to sleep because it is designed to be used with a task scheduler
-///               which has one thread per core and the threads don't sleep until they
-///               run out of tasks. Not good for general purpose use.
-///
-class btSpinMutex
-{
-	int mLock;
-
-public:
-	btSpinMutex()
-	{
-		mLock = 0;
-	}
-	void lock();
-	void unlock();
-	bool tryLock();
-};
-
-//
-// NOTE: btMutex* is for internal Bullet use only
-//
-// If BT_THREADSAFE is undefined or 0, should optimize away to nothing.
-// This is good because for the single-threaded build of Bullet, any calls
-// to these functions will be optimized out.
-//
-// However, for users of the multi-threaded build of Bullet this is kind
-// of bad because if you call any of these functions from external code
-// (where BT_THREADSAFE is undefined) you will get unexpected race conditions.
-//
-SIMD_FORCE_INLINE void btMutexLock(btSpinMutex* mutex)
-{
-#if BT_THREADSAFE
-	mutex->lock();
-#else
-	(void)mutex;
-#endif  // #if BT_THREADSAFE
-}
-
-SIMD_FORCE_INLINE void btMutexUnlock(btSpinMutex* mutex)
-{
-#if BT_THREADSAFE
-	mutex->unlock();
-#else
-	(void)mutex;
-#endif  // #if BT_THREADSAFE
-}
-
-SIMD_FORCE_INLINE bool btMutexTryLock(btSpinMutex* mutex)
-{
-#if BT_THREADSAFE
-	return mutex->tryLock();
-#else
-	(void)mutex;
-	return true;
-#endif  // #if BT_THREADSAFE
-}
-
-//
-// btIParallelForBody -- subclass this to express work that can be done in parallel
-//
-class btIParallelForBody
-{
-public:
-	virtual ~btIParallelForBody() {}
-	virtual void forLoop(int iBegin, int iEnd) const = 0;
-};
-
-//
-// btIParallelSumBody -- subclass this to express work that can be done in parallel
-//                       and produces a sum over all loop elements
-//
-class btIParallelSumBody
-{
-public:
-	virtual ~btIParallelSumBody() {}
-	virtual btScalar sumLoop(int iBegin, int iEnd) const = 0;
-};
-
-//
-// btITaskScheduler -- subclass this to implement a task scheduler that can dispatch work to
-//                     worker threads
-//
-class btITaskScheduler
-{
-public:
-	btITaskScheduler(const char* name);
-	virtual ~btITaskScheduler() {}
-	const char* getName() const { return m_name; }
-
-	virtual int getMaxNumThreads() const = 0;
-	virtual int getNumThreads() const = 0;
-	virtual void setNumThreads(int numThreads) = 0;
-	virtual void parallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body) = 0;
-	virtual btScalar parallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body) = 0;
-	virtual void sleepWorkerThreadsHint() {}  // hint the task scheduler that we may not be using these threads for a little while
-
-	// internal use only
-	virtual void activate();
-	virtual void deactivate();
-
-protected:
-	const char* m_name;
-	unsigned int m_savedThreadCounter;
-	bool m_isActive;
-};
-
-// set the task scheduler to use for all calls to btParallelFor()
-// NOTE: you must set this prior to using any of the multi-threaded "Mt" classes
-void btSetTaskScheduler(btITaskScheduler* ts);
-
-// get the current task scheduler
-btITaskScheduler* btGetTaskScheduler();
-
-// get non-threaded task scheduler (always available)
-btITaskScheduler* btGetSequentialTaskScheduler();
-
-// create a default task scheduler (Win32 or pthreads based)
-btITaskScheduler* btCreateDefaultTaskScheduler();
-
-// get OpenMP task scheduler (if available, otherwise returns null)
-btITaskScheduler* btGetOpenMPTaskScheduler();
-
-// get Intel TBB task scheduler (if available, otherwise returns null)
-btITaskScheduler* btGetTBBTaskScheduler();
-
-// get PPL task scheduler (if available, otherwise returns null)
-btITaskScheduler* btGetPPLTaskScheduler();
-
-// btParallelFor -- call this to dispatch work like a for-loop
-//                 (iterations may be done out of order, so no dependencies are allowed)
-void btParallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body);
-
-// btParallelSum -- call this to dispatch work like a for-loop, returns the sum of all iterations
-//                 (iterations may be done out of order, so no dependencies are allowed)
-btScalar btParallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body);
-
-#endif
diff --git a/thirdparty/bullet/LinearMath/btTransform.h b/thirdparty/bullet/LinearMath/btTransform.h
deleted file mode 100644
index 6f2f99818c..0000000000
--- a/thirdparty/bullet/LinearMath/btTransform.h
+++ /dev/null
@@ -1,286 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_TRANSFORM_H
-#define BT_TRANSFORM_H
-
-#include "btMatrix3x3.h"
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btTransformData btTransformDoubleData
-#else
-#define btTransformData btTransformFloatData
-#endif
-
-/**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear.
- *It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes. */
-ATTRIBUTE_ALIGNED16(class)
-btTransform
-{
-	///Storage for the rotation
-	btMatrix3x3 m_basis;
-	///Storage for the translation
-	btVector3 m_origin;
-
-public:
-	/**@brief No initialization constructor */
-	btTransform() {}
-	/**@brief Constructor from btQuaternion (optional btVector3 )
-   * @param q Rotation from quaternion 
-   * @param c Translation from Vector (default 0,0,0) */
-	explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q,
-										   const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
-		: m_basis(q),
-		  m_origin(c)
-	{
-	}
-
-	/**@brief Constructor from btMatrix3x3 (optional btVector3)
-   * @param b Rotation from Matrix 
-   * @param c Translation from Vector default (0,0,0)*/
-	explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b,
-										   const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
-		: m_basis(b),
-		  m_origin(c)
-	{
-	}
-	/**@brief Copy constructor */
-	SIMD_FORCE_INLINE btTransform(const btTransform& other)
-		: m_basis(other.m_basis),
-		  m_origin(other.m_origin)
-	{
-	}
-	/**@brief Assignment Operator */
-	SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other)
-	{
-		m_basis = other.m_basis;
-		m_origin = other.m_origin;
-		return *this;
-	}
-
-	/**@brief Set the current transform as the value of the product of two transforms
-   * @param t1 Transform 1
-   * @param t2 Transform 2
-   * This = Transform1 * Transform2 */
-	SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2)
-	{
-		m_basis = t1.m_basis * t2.m_basis;
-		m_origin = t1(t2.m_origin);
-	}
-
-	/*		void multInverseLeft(const btTransform& t1, const btTransform& t2) {
-			btVector3 v = t2.m_origin - t1.m_origin;
-			m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis);
-			m_origin = v * t1.m_basis;
-		}
-		*/
-
-	/**@brief Return the transform of the vector */
-	SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
-	{
-		return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin;
-	}
-
-	/**@brief Return the transform of the vector */
-	SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const
-	{
-		return (*this)(x);
-	}
-
-	/**@brief Return the transform of the btQuaternion */
-	SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const
-	{
-		return getRotation() * q;
-	}
-
-	/**@brief Return the basis matrix for the rotation */
-	SIMD_FORCE_INLINE btMatrix3x3& getBasis() { return m_basis; }
-	/**@brief Return the basis matrix for the rotation */
-	SIMD_FORCE_INLINE const btMatrix3x3& getBasis() const { return m_basis; }
-
-	/**@brief Return the origin vector translation */
-	SIMD_FORCE_INLINE btVector3& getOrigin() { return m_origin; }
-	/**@brief Return the origin vector translation */
-	SIMD_FORCE_INLINE const btVector3& getOrigin() const { return m_origin; }
-
-	/**@brief Return a quaternion representing the rotation */
-	btQuaternion getRotation() const
-	{
-		btQuaternion q;
-		m_basis.getRotation(q);
-		return q;
-	}
-
-	/**@brief Set from an array 
-   * @param m A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation */
-	void setFromOpenGLMatrix(const btScalar* m)
-	{
-		m_basis.setFromOpenGLSubMatrix(m);
-		m_origin.setValue(m[12], m[13], m[14]);
-	}
-
-	/**@brief Fill an array representation
-   * @param m A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation */
-	void getOpenGLMatrix(btScalar * m) const
-	{
-		m_basis.getOpenGLSubMatrix(m);
-		m[12] = m_origin.x();
-		m[13] = m_origin.y();
-		m[14] = m_origin.z();
-		m[15] = btScalar(1.0);
-	}
-
-	/**@brief Set the translational element
-   * @param origin The vector to set the translation to */
-	SIMD_FORCE_INLINE void setOrigin(const btVector3& origin)
-	{
-		m_origin = origin;
-	}
-
-	SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;
-
-	/**@brief Set the rotational element by btMatrix3x3 */
-	SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
-	{
-		m_basis = basis;
-	}
-
-	/**@brief Set the rotational element by btQuaternion */
-	SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)
-	{
-		m_basis.setRotation(q);
-	}
-
-	/**@brief Set this transformation to the identity */
-	void setIdentity()
-	{
-		m_basis.setIdentity();
-		m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
-	}
-
-	/**@brief Multiply this Transform by another(this = this * another) 
-   * @param t The other transform */
-	btTransform& operator*=(const btTransform& t)
-	{
-		m_origin += m_basis * t.m_origin;
-		m_basis *= t.m_basis;
-		return *this;
-	}
-
-	/**@brief Return the inverse of this transform */
-	btTransform inverse() const
-	{
-		btMatrix3x3 inv = m_basis.transpose();
-		return btTransform(inv, inv * -m_origin);
-	}
-
-	/**@brief Return the inverse of this transform times the other transform
-   * @param t The other transform 
-   * return this.inverse() * the other */
-	btTransform inverseTimes(const btTransform& t) const;
-
-	/**@brief Return the product of this transform and the other */
-	btTransform operator*(const btTransform& t) const;
-
-	/**@brief Return an identity transform */
-	static const btTransform& getIdentity()
-	{
-		static const btTransform identityTransform(btMatrix3x3::getIdentity());
-		return identityTransform;
-	}
-
-	void serialize(struct btTransformData & dataOut) const;
-
-	void serializeFloat(struct btTransformFloatData & dataOut) const;
-
-	void deSerialize(const struct btTransformData& dataIn);
-
-	void deSerializeDouble(const struct btTransformDoubleData& dataIn);
-
-	void deSerializeFloat(const struct btTransformFloatData& dataIn);
-};
-
-SIMD_FORCE_INLINE btVector3
-btTransform::invXform(const btVector3& inVec) const
-{
-	btVector3 v = inVec - m_origin;
-	return (m_basis.transpose() * v);
-}
-
-SIMD_FORCE_INLINE btTransform
-btTransform::inverseTimes(const btTransform& t) const
-{
-	btVector3 v = t.getOrigin() - m_origin;
-	return btTransform(m_basis.transposeTimes(t.m_basis),
-					   v * m_basis);
-}
-
-SIMD_FORCE_INLINE btTransform
-	btTransform::operator*(const btTransform& t) const
-{
-	return btTransform(m_basis * t.m_basis,
-					   (*this)(t.m_origin));
-}
-
-/**@brief Test if two transforms have all elements equal */
-SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
-{
-	return (t1.getBasis() == t2.getBasis() &&
-			t1.getOrigin() == t2.getOrigin());
-}
-
-///for serialization
-struct btTransformFloatData
-{
-	btMatrix3x3FloatData m_basis;
-	btVector3FloatData m_origin;
-};
-
-struct btTransformDoubleData
-{
-	btMatrix3x3DoubleData m_basis;
-	btVector3DoubleData m_origin;
-};
-
-SIMD_FORCE_INLINE void btTransform::serialize(btTransformData& dataOut) const
-{
-	m_basis.serialize(dataOut.m_basis);
-	m_origin.serialize(dataOut.m_origin);
-}
-
-SIMD_FORCE_INLINE void btTransform::serializeFloat(btTransformFloatData& dataOut) const
-{
-	m_basis.serializeFloat(dataOut.m_basis);
-	m_origin.serializeFloat(dataOut.m_origin);
-}
-
-SIMD_FORCE_INLINE void btTransform::deSerialize(const btTransformData& dataIn)
-{
-	m_basis.deSerialize(dataIn.m_basis);
-	m_origin.deSerialize(dataIn.m_origin);
-}
-
-SIMD_FORCE_INLINE void btTransform::deSerializeFloat(const btTransformFloatData& dataIn)
-{
-	m_basis.deSerializeFloat(dataIn.m_basis);
-	m_origin.deSerializeFloat(dataIn.m_origin);
-}
-
-SIMD_FORCE_INLINE void btTransform::deSerializeDouble(const btTransformDoubleData& dataIn)
-{
-	m_basis.deSerializeDouble(dataIn.m_basis);
-	m_origin.deSerializeDouble(dataIn.m_origin);
-}
-
-#endif  //BT_TRANSFORM_H
diff --git a/thirdparty/bullet/LinearMath/btTransformUtil.h b/thirdparty/bullet/LinearMath/btTransformUtil.h
deleted file mode 100644
index b874dd6807..0000000000
--- a/thirdparty/bullet/LinearMath/btTransformUtil.h
+++ /dev/null
@@ -1,223 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_TRANSFORM_UTIL_H
-#define BT_TRANSFORM_UTIL_H
-
-#include "btTransform.h"
-#define ANGULAR_MOTION_THRESHOLD btScalar(0.5) * SIMD_HALF_PI
-
-SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents, const btVector3& supportDir)
-{
-	return btVector3(supportDir.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(),
-					 supportDir.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(),
-					 supportDir.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z());
-}
-
-/// Utils related to temporal transforms
-class btTransformUtil
-{
-public:
-	static void integrateTransform(const btTransform& curTrans, const btVector3& linvel, const btVector3& angvel, btScalar timeStep, btTransform& predictedTransform)
-	{
-		predictedTransform.setOrigin(curTrans.getOrigin() + linvel * timeStep);
-		//	#define QUATERNION_DERIVATIVE
-#ifdef QUATERNION_DERIVATIVE
-		btQuaternion predictedOrn = curTrans.getRotation();
-		predictedOrn += (angvel * predictedOrn) * (timeStep * btScalar(0.5));
-		predictedOrn.safeNormalize();
-#else
-		//Exponential map
-		//google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
-
-		btVector3 axis;
-		btScalar fAngle2 = angvel.length2();
-		btScalar fAngle = 0;
-		if (fAngle2 > SIMD_EPSILON)
-		{
-			fAngle = btSqrt(fAngle2);
-		}
-
-		//limit the angular motion
-		if (fAngle * timeStep > ANGULAR_MOTION_THRESHOLD)
-		{
-			fAngle = ANGULAR_MOTION_THRESHOLD / timeStep;
-		}
-
-		if (fAngle < btScalar(0.001))
-		{
-			// use Taylor's expansions of sync function
-			axis = angvel * (btScalar(0.5) * timeStep - (timeStep * timeStep * timeStep) * (btScalar(0.020833333333)) * fAngle * fAngle);
-		}
-		else
-		{
-			// sync(fAngle) = sin(c*fAngle)/t
-			axis = angvel * (btSin(btScalar(0.5) * fAngle * timeStep) / fAngle);
-		}
-		btQuaternion dorn(axis.x(), axis.y(), axis.z(), btCos(fAngle * timeStep * btScalar(0.5)));
-		btQuaternion orn0 = curTrans.getRotation();
-
-		btQuaternion predictedOrn = dorn * orn0;
-		predictedOrn.safeNormalize();
-#endif
-		if (predictedOrn.length2() > SIMD_EPSILON)
-		{
-			predictedTransform.setRotation(predictedOrn);
-		}
-		else
-		{
-			predictedTransform.setBasis(curTrans.getBasis());
-		}
-	}
-
-	static void calculateVelocityQuaternion(const btVector3& pos0, const btVector3& pos1, const btQuaternion& orn0, const btQuaternion& orn1, btScalar timeStep, btVector3& linVel, btVector3& angVel)
-	{
-		linVel = (pos1 - pos0) / timeStep;
-		btVector3 axis;
-		btScalar angle;
-		if (orn0 != orn1)
-		{
-			calculateDiffAxisAngleQuaternion(orn0, orn1, axis, angle);
-			angVel = axis * angle / timeStep;
-		}
-		else
-		{
-			angVel.setValue(0, 0, 0);
-		}
-	}
-
-	static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0, const btQuaternion& orn1a, btVector3& axis, btScalar& angle)
-	{
-		btQuaternion orn1 = orn0.nearest(orn1a);
-		btQuaternion dorn = orn1 * orn0.inverse();
-		angle = dorn.getAngle();
-		axis = btVector3(dorn.x(), dorn.y(), dorn.z());
-		axis[3] = btScalar(0.);
-		//check for axis length
-		btScalar len = axis.length2();
-		if (len < SIMD_EPSILON * SIMD_EPSILON)
-			axis = btVector3(btScalar(1.), btScalar(0.), btScalar(0.));
-		else
-			axis /= btSqrt(len);
-	}
-
-	static void calculateVelocity(const btTransform& transform0, const btTransform& transform1, btScalar timeStep, btVector3& linVel, btVector3& angVel)
-	{
-		linVel = (transform1.getOrigin() - transform0.getOrigin()) / timeStep;
-		btVector3 axis;
-		btScalar angle;
-		calculateDiffAxisAngle(transform0, transform1, axis, angle);
-		angVel = axis * angle / timeStep;
-	}
-
-	static void calculateDiffAxisAngle(const btTransform& transform0, const btTransform& transform1, btVector3& axis, btScalar& angle)
-	{
-		btMatrix3x3 dmat = transform1.getBasis() * transform0.getBasis().inverse();
-		btQuaternion dorn;
-		dmat.getRotation(dorn);
-
-		///floating point inaccuracy can lead to w component > 1..., which breaks
-		dorn.normalize();
-
-		angle = dorn.getAngle();
-		axis = btVector3(dorn.x(), dorn.y(), dorn.z());
-		axis[3] = btScalar(0.);
-		//check for axis length
-		btScalar len = axis.length2();
-		if (len < SIMD_EPSILON * SIMD_EPSILON)
-			axis = btVector3(btScalar(1.), btScalar(0.), btScalar(0.));
-		else
-			axis /= btSqrt(len);
-	}
-};
-
-///The btConvexSeparatingDistanceUtil can help speed up convex collision detection
-///by conservatively updating a cached separating distance/vector instead of re-calculating the closest distance
-class btConvexSeparatingDistanceUtil
-{
-	btQuaternion m_ornA;
-	btQuaternion m_ornB;
-	btVector3 m_posA;
-	btVector3 m_posB;
-
-	btVector3 m_separatingNormal;
-
-	btScalar m_boundingRadiusA;
-	btScalar m_boundingRadiusB;
-	btScalar m_separatingDistance;
-
-public:
-	btConvexSeparatingDistanceUtil(btScalar boundingRadiusA, btScalar boundingRadiusB)
-		: m_boundingRadiusA(boundingRadiusA),
-		  m_boundingRadiusB(boundingRadiusB),
-		  m_separatingDistance(0.f)
-	{
-	}
-
-	btScalar getConservativeSeparatingDistance()
-	{
-		return m_separatingDistance;
-	}
-
-	void updateSeparatingDistance(const btTransform& transA, const btTransform& transB)
-	{
-		const btVector3& toPosA = transA.getOrigin();
-		const btVector3& toPosB = transB.getOrigin();
-		btQuaternion toOrnA = transA.getRotation();
-		btQuaternion toOrnB = transB.getRotation();
-
-		if (m_separatingDistance > 0.f)
-		{
-			btVector3 linVelA, angVelA, linVelB, angVelB;
-			btTransformUtil::calculateVelocityQuaternion(m_posA, toPosA, m_ornA, toOrnA, btScalar(1.), linVelA, angVelA);
-			btTransformUtil::calculateVelocityQuaternion(m_posB, toPosB, m_ornB, toOrnB, btScalar(1.), linVelB, angVelB);
-			btScalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB;
-			btVector3 relLinVel = (linVelB - linVelA);
-			btScalar relLinVelocLength = relLinVel.dot(m_separatingNormal);
-			if (relLinVelocLength < 0.f)
-			{
-				relLinVelocLength = 0.f;
-			}
-
-			btScalar projectedMotion = maxAngularProjectedVelocity + relLinVelocLength;
-			m_separatingDistance -= projectedMotion;
-		}
-
-		m_posA = toPosA;
-		m_posB = toPosB;
-		m_ornA = toOrnA;
-		m_ornB = toOrnB;
-	}
-
-	void initSeparatingDistance(const btVector3& separatingVector, btScalar separatingDistance, const btTransform& transA, const btTransform& transB)
-	{
-		m_separatingDistance = separatingDistance;
-
-		if (m_separatingDistance > 0.f)
-		{
-			m_separatingNormal = separatingVector;
-
-			const btVector3& toPosA = transA.getOrigin();
-			const btVector3& toPosB = transB.getOrigin();
-			btQuaternion toOrnA = transA.getRotation();
-			btQuaternion toOrnB = transB.getRotation();
-			m_posA = toPosA;
-			m_posB = toPosB;
-			m_ornA = toOrnA;
-			m_ornB = toOrnB;
-		}
-	}
-};
-
-#endif  //BT_TRANSFORM_UTIL_H
diff --git a/thirdparty/bullet/LinearMath/btVector3.cpp b/thirdparty/bullet/LinearMath/btVector3.cpp
deleted file mode 100644
index 13111157af..0000000000
--- a/thirdparty/bullet/LinearMath/btVector3.cpp
+++ /dev/null
@@ -1,1664 +0,0 @@
-/*
- Copyright (c) 2011 Apple Inc.
- http://continuousphysics.com/Bullet/
- 
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose, 
- including commercial applications, and to alter it and redistribute it freely, 
- subject to the following restrictions:
- 
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- 
- This source version has been altered.
- */
-
-#if defined(_WIN32) || defined(__i386__)
-#define BT_USE_SSE_IN_API
-#endif
-
-#include "btVector3.h"
-
-#if defined BT_USE_SIMD_VECTOR3
-
-#if DEBUG
-#include <string.h>  //for memset
-#endif
-
-#ifdef __APPLE__
-#include <stdint.h>
-typedef float float4 __attribute__((vector_size(16)));
-#else
-#define float4 __m128
-#endif
-//typedef  uint32_t uint4 __attribute__ ((vector_size(16)));
-
-#if defined BT_USE_SSE || defined _WIN32
-
-#define LOG2_ARRAY_SIZE 6
-#define STACK_ARRAY_COUNT (1UL << LOG2_ARRAY_SIZE)
-
-#include <emmintrin.h>
-
-long _maxdot_large(const float *vv, const float *vec, unsigned long count, float *dotResult);
-long _maxdot_large(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	const float4 *vertices = (const float4 *)vv;
-	static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0};
-	float4 dotMax = btAssign128(-BT_INFINITY, -BT_INFINITY, -BT_INFINITY, -BT_INFINITY);
-	float4 vvec = _mm_loadu_ps(vec);
-	float4 vHi = btCastiTo128f(_mm_shuffle_epi32(btCastfTo128i(vvec), 0xaa));  /// zzzz
-	float4 vLo = _mm_movelh_ps(vvec, vvec);                                    /// xyxy
-
-	long maxIndex = -1L;
-
-	size_t segment = 0;
-	float4 stack_array[STACK_ARRAY_COUNT];
-
-#if DEBUG
-	//memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) );
-#endif
-
-	size_t index;
-	float4 max;
-	// Faster loop without cleanup code for full tiles
-	for (segment = 0; segment + STACK_ARRAY_COUNT * 4 <= count; segment += STACK_ARRAY_COUNT * 4)
-	{
-		max = dotMax;
-
-		for (index = 0; index < STACK_ARRAY_COUNT; index += 4)
-		{  // do four dot products at a time. Carefully avoid touching the w element.
-			float4 v0 = vertices[0];
-			float4 v1 = vertices[1];
-			float4 v2 = vertices[2];
-			float4 v3 = vertices[3];
-			vertices += 4;
-
-			float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 1] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 2] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 3] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			// It is too costly to keep the index of the max here. We will look for it again later.  We save a lot of work this way.
-		}
-
-		// If we found a new max
-		if (0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(max, dotMax)))
-		{
-			// copy the new max across all lanes of our max accumulator
-			max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0x4e));
-			max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0xb1));
-
-			dotMax = max;
-
-			// find first occurrence of that max
-			size_t test;
-			for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], max))); index++)  // local_count must be a multiple of 4
-			{
-			}
-			// record where it is.
-			maxIndex = 4 * index + segment + indexTable[test];
-		}
-	}
-
-	// account for work we've already done
-	count -= segment;
-
-	// Deal with the last < STACK_ARRAY_COUNT vectors
-	max = dotMax;
-	index = 0;
-
-	if (btUnlikely(count > 16))
-	{
-		for (; index + 4 <= count / 4; index += 4)
-		{  // do four dot products at a time. Carefully avoid touching the w element.
-			float4 v0 = vertices[0];
-			float4 v1 = vertices[1];
-			float4 v2 = vertices[2];
-			float4 v3 = vertices[3];
-			vertices += 4;
-
-			float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 1] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 2] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 3] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			// It is too costly to keep the index of the max here. We will look for it again later.  We save a lot of work this way.
-		}
-	}
-
-	size_t localCount = (count & -4L) - 4 * index;
-	if (localCount)
-	{
-#ifdef __APPLE__
-		float4 t0, t1, t2, t3, t4;
-		float4 *sap = &stack_array[index + localCount / 4];
-		vertices += localCount;  // counter the offset
-		size_t byteIndex = -(localCount) * sizeof(float);
-		//AT&T Code style assembly
-		asm volatile(
-			".align 4                                                                   \n\
-             0: movaps  %[max], %[t2]                            // move max out of the way to avoid propagating NaNs in max \n\
-          movaps  (%[vertices], %[byteIndex], 4),    %[t0]    // vertices[0]      \n\
-          movaps  16(%[vertices], %[byteIndex], 4),  %[t1]    // vertices[1]      \n\
-          movaps  %[t0], %[max]                               // vertices[0]      \n\
-          movlhps %[t1], %[max]                               // x0y0x1y1         \n\
-         movaps  32(%[vertices], %[byteIndex], 4),  %[t3]    // vertices[2]      \n\
-         movaps  48(%[vertices], %[byteIndex], 4),  %[t4]    // vertices[3]      \n\
-          mulps   %[vLo], %[max]                              // x0y0x1y1 * vLo   \n\
-         movhlps %[t0], %[t1]                                // z0w0z1w1         \n\
-         movaps  %[t3], %[t0]                                // vertices[2]      \n\
-         movlhps %[t4], %[t0]                                // x2y2x3y3         \n\
-         mulps   %[vLo], %[t0]                               // x2y2x3y3 * vLo   \n\
-          movhlps %[t3], %[t4]                                // z2w2z3w3         \n\
-          shufps  $0x88, %[t4], %[t1]                         // z0z1z2z3         \n\
-          mulps   %[vHi], %[t1]                               // z0z1z2z3 * vHi   \n\
-         movaps  %[max], %[t3]                               // x0y0x1y1 * vLo   \n\
-         shufps  $0x88, %[t0], %[max]                        // x0x1x2x3 * vLo.x \n\
-         shufps  $0xdd, %[t0], %[t3]                         // y0y1y2y3 * vLo.y \n\
-         addps   %[t3], %[max]                               // x + y            \n\
-         addps   %[t1], %[max]                               // x + y + z        \n\
-         movaps  %[max], (%[sap], %[byteIndex])              // record result for later scrutiny \n\
-         maxps   %[t2], %[max]                               // record max, restore max   \n\
-         add     $16, %[byteIndex]                           // advance loop counter\n\
-         jnz     0b                                          \n\
-     "
-			: [max] "+x"(max), [t0] "=&x"(t0), [t1] "=&x"(t1), [t2] "=&x"(t2), [t3] "=&x"(t3), [t4] "=&x"(t4), [byteIndex] "+r"(byteIndex)
-			: [vLo] "x"(vLo), [vHi] "x"(vHi), [vertices] "r"(vertices), [sap] "r"(sap)
-			: "memory", "cc");
-		index += localCount / 4;
-#else
-		{
-			for (unsigned int i = 0; i < localCount / 4; i++, index++)
-			{  // do four dot products at a time. Carefully avoid touching the w element.
-				float4 v0 = vertices[0];
-				float4 v1 = vertices[1];
-				float4 v2 = vertices[2];
-				float4 v3 = vertices[3];
-				vertices += 4;
-
-				float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-				float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-				float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-				float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-				lo0 = lo0 * vLo;
-				lo1 = lo1 * vLo;
-				float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-				float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-				float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-				z = z * vHi;
-				x = x + y;
-				x = x + z;
-				stack_array[index] = x;
-				max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-			}
-		}
-#endif  //__APPLE__
-	}
-
-	// process the last few points
-	if (count & 3)
-	{
-		float4 v0, v1, v2, x, y, z;
-		switch (count & 3)
-		{
-			case 3:
-			{
-				v0 = vertices[0];
-				v1 = vertices[1];
-				v2 = vertices[2];
-
-				// Calculate 3 dot products, transpose, duplicate v2
-				float4 lo0 = _mm_movelh_ps(v0, v1);  // xyxy.lo
-				float4 hi0 = _mm_movehl_ps(v1, v0);  // z?z?.lo
-				lo0 = lo0 * vLo;
-				z = _mm_shuffle_ps(hi0, v2, 0xa8);  // z0z1z2z2
-				z = z * vHi;
-				float4 lo1 = _mm_movelh_ps(v2, v2);  // xyxy
-				lo1 = lo1 * vLo;
-				x = _mm_shuffle_ps(lo0, lo1, 0x88);
-				y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			}
-			break;
-			case 2:
-			{
-				v0 = vertices[0];
-				v1 = vertices[1];
-				float4 xy = _mm_movelh_ps(v0, v1);
-				z = _mm_movehl_ps(v1, v0);
-				xy = xy * vLo;
-				z = _mm_shuffle_ps(z, z, 0xa8);
-				x = _mm_shuffle_ps(xy, xy, 0xa8);
-				y = _mm_shuffle_ps(xy, xy, 0xfd);
-				z = z * vHi;
-			}
-			break;
-			case 1:
-			{
-				float4 xy = vertices[0];
-				z = _mm_shuffle_ps(xy, xy, 0xaa);
-				xy = xy * vLo;
-				z = z * vHi;
-				x = _mm_shuffle_ps(xy, xy, 0);
-				y = _mm_shuffle_ps(xy, xy, 0x55);
-			}
-			break;
-		}
-		x = x + y;
-		x = x + z;
-		stack_array[index] = x;
-		max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-		index++;
-	}
-
-	// if we found a new max.
-	if (0 == segment || 0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(max, dotMax)))
-	{  // we found a new max. Search for it
-		// find max across the max vector, place in all elements of max -- big latency hit here
-		max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0x4e));
-		max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0xb1));
-
-		// It is slightly faster to do this part in scalar code when count < 8. However, the common case for
-		// this where it actually makes a difference is handled in the early out at the top of the function,
-		// so it is less than a 1% difference here. I opted for improved code size, fewer branches and reduced
-		// complexity, and removed it.
-
-		dotMax = max;
-
-		// scan for the first occurence of max in the array
-		size_t test;
-		for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], max))); index++)  // local_count must be a multiple of 4
-		{
-		}
-		maxIndex = 4 * index + segment + indexTable[test];
-	}
-
-	_mm_store_ss(dotResult, dotMax);
-	return maxIndex;
-}
-
-long _mindot_large(const float *vv, const float *vec, unsigned long count, float *dotResult);
-
-long _mindot_large(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	const float4 *vertices = (const float4 *)vv;
-	static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0};
-	float4 dotmin = btAssign128(BT_INFINITY, BT_INFINITY, BT_INFINITY, BT_INFINITY);
-	float4 vvec = _mm_loadu_ps(vec);
-	float4 vHi = btCastiTo128f(_mm_shuffle_epi32(btCastfTo128i(vvec), 0xaa));  /// zzzz
-	float4 vLo = _mm_movelh_ps(vvec, vvec);                                    /// xyxy
-
-	long minIndex = -1L;
-
-	size_t segment = 0;
-	float4 stack_array[STACK_ARRAY_COUNT];
-
-#if DEBUG
-	//memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) );
-#endif
-
-	size_t index;
-	float4 min;
-	// Faster loop without cleanup code for full tiles
-	for (segment = 0; segment + STACK_ARRAY_COUNT * 4 <= count; segment += STACK_ARRAY_COUNT * 4)
-	{
-		min = dotmin;
-
-		for (index = 0; index < STACK_ARRAY_COUNT; index += 4)
-		{  // do four dot products at a time. Carefully avoid touching the w element.
-			float4 v0 = vertices[0];
-			float4 v1 = vertices[1];
-			float4 v2 = vertices[2];
-			float4 v3 = vertices[3];
-			vertices += 4;
-
-			float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 1] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 2] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 3] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			// It is too costly to keep the index of the min here. We will look for it again later.  We save a lot of work this way.
-		}
-
-		// If we found a new min
-		if (0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(min, dotmin)))
-		{
-			// copy the new min across all lanes of our min accumulator
-			min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0x4e));
-			min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0xb1));
-
-			dotmin = min;
-
-			// find first occurrence of that min
-			size_t test;
-			for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], min))); index++)  // local_count must be a multiple of 4
-			{
-			}
-			// record where it is.
-			minIndex = 4 * index + segment + indexTable[test];
-		}
-	}
-
-	// account for work we've already done
-	count -= segment;
-
-	// Deal with the last < STACK_ARRAY_COUNT vectors
-	min = dotmin;
-	index = 0;
-
-	if (btUnlikely(count > 16))
-	{
-		for (; index + 4 <= count / 4; index += 4)
-		{  // do four dot products at a time. Carefully avoid touching the w element.
-			float4 v0 = vertices[0];
-			float4 v1 = vertices[1];
-			float4 v2 = vertices[2];
-			float4 v3 = vertices[3];
-			vertices += 4;
-
-			float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 1] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 2] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 3] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			// It is too costly to keep the index of the min here. We will look for it again later.  We save a lot of work this way.
-		}
-	}
-
-	size_t localCount = (count & -4L) - 4 * index;
-	if (localCount)
-	{
-#ifdef __APPLE__
-		vertices += localCount;  // counter the offset
-		float4 t0, t1, t2, t3, t4;
-		size_t byteIndex = -(localCount) * sizeof(float);
-		float4 *sap = &stack_array[index + localCount / 4];
-
-		asm volatile(
-			".align 4                                                                   \n\
-             0: movaps  %[min], %[t2]                            // move min out of the way to avoid propagating NaNs in min \n\
-             movaps  (%[vertices], %[byteIndex], 4),    %[t0]    // vertices[0]      \n\
-             movaps  16(%[vertices], %[byteIndex], 4),  %[t1]    // vertices[1]      \n\
-             movaps  %[t0], %[min]                               // vertices[0]      \n\
-             movlhps %[t1], %[min]                               // x0y0x1y1         \n\
-             movaps  32(%[vertices], %[byteIndex], 4),  %[t3]    // vertices[2]      \n\
-             movaps  48(%[vertices], %[byteIndex], 4),  %[t4]    // vertices[3]      \n\
-             mulps   %[vLo], %[min]                              // x0y0x1y1 * vLo   \n\
-             movhlps %[t0], %[t1]                                // z0w0z1w1         \n\
-             movaps  %[t3], %[t0]                                // vertices[2]      \n\
-             movlhps %[t4], %[t0]                                // x2y2x3y3         \n\
-             movhlps %[t3], %[t4]                                // z2w2z3w3         \n\
-             mulps   %[vLo], %[t0]                               // x2y2x3y3 * vLo   \n\
-             shufps  $0x88, %[t4], %[t1]                         // z0z1z2z3         \n\
-             mulps   %[vHi], %[t1]                               // z0z1z2z3 * vHi   \n\
-             movaps  %[min], %[t3]                               // x0y0x1y1 * vLo   \n\
-             shufps  $0x88, %[t0], %[min]                        // x0x1x2x3 * vLo.x \n\
-             shufps  $0xdd, %[t0], %[t3]                         // y0y1y2y3 * vLo.y \n\
-             addps   %[t3], %[min]                               // x + y            \n\
-             addps   %[t1], %[min]                               // x + y + z        \n\
-             movaps  %[min], (%[sap], %[byteIndex])              // record result for later scrutiny \n\
-             minps   %[t2], %[min]                               // record min, restore min   \n\
-             add     $16, %[byteIndex]                           // advance loop counter\n\
-             jnz     0b                                          \n\
-             "
-			: [min] "+x"(min), [t0] "=&x"(t0), [t1] "=&x"(t1), [t2] "=&x"(t2), [t3] "=&x"(t3), [t4] "=&x"(t4), [byteIndex] "+r"(byteIndex)
-			: [vLo] "x"(vLo), [vHi] "x"(vHi), [vertices] "r"(vertices), [sap] "r"(sap)
-			: "memory", "cc");
-		index += localCount / 4;
-#else
-		{
-			for (unsigned int i = 0; i < localCount / 4; i++, index++)
-			{  // do four dot products at a time. Carefully avoid touching the w element.
-				float4 v0 = vertices[0];
-				float4 v1 = vertices[1];
-				float4 v2 = vertices[2];
-				float4 v3 = vertices[3];
-				vertices += 4;
-
-				float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-				float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-				float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-				float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-				lo0 = lo0 * vLo;
-				lo1 = lo1 * vLo;
-				float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-				float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-				float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-				z = z * vHi;
-				x = x + y;
-				x = x + z;
-				stack_array[index] = x;
-				min = _mm_min_ps(x, min);  // control the order here so that max is never NaN even if x is nan
-			}
-		}
-
-#endif
-	}
-
-	// process the last few points
-	if (count & 3)
-	{
-		float4 v0, v1, v2, x, y, z;
-		switch (count & 3)
-		{
-			case 3:
-			{
-				v0 = vertices[0];
-				v1 = vertices[1];
-				v2 = vertices[2];
-
-				// Calculate 3 dot products, transpose, duplicate v2
-				float4 lo0 = _mm_movelh_ps(v0, v1);  // xyxy.lo
-				float4 hi0 = _mm_movehl_ps(v1, v0);  // z?z?.lo
-				lo0 = lo0 * vLo;
-				z = _mm_shuffle_ps(hi0, v2, 0xa8);  // z0z1z2z2
-				z = z * vHi;
-				float4 lo1 = _mm_movelh_ps(v2, v2);  // xyxy
-				lo1 = lo1 * vLo;
-				x = _mm_shuffle_ps(lo0, lo1, 0x88);
-				y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			}
-			break;
-			case 2:
-			{
-				v0 = vertices[0];
-				v1 = vertices[1];
-				float4 xy = _mm_movelh_ps(v0, v1);
-				z = _mm_movehl_ps(v1, v0);
-				xy = xy * vLo;
-				z = _mm_shuffle_ps(z, z, 0xa8);
-				x = _mm_shuffle_ps(xy, xy, 0xa8);
-				y = _mm_shuffle_ps(xy, xy, 0xfd);
-				z = z * vHi;
-			}
-			break;
-			case 1:
-			{
-				float4 xy = vertices[0];
-				z = _mm_shuffle_ps(xy, xy, 0xaa);
-				xy = xy * vLo;
-				z = z * vHi;
-				x = _mm_shuffle_ps(xy, xy, 0);
-				y = _mm_shuffle_ps(xy, xy, 0x55);
-			}
-			break;
-		}
-		x = x + y;
-		x = x + z;
-		stack_array[index] = x;
-		min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-		index++;
-	}
-
-	// if we found a new min.
-	if (0 == segment || 0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(min, dotmin)))
-	{  // we found a new min. Search for it
-		// find min across the min vector, place in all elements of min -- big latency hit here
-		min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0x4e));
-		min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0xb1));
-
-		// It is slightly faster to do this part in scalar code when count < 8. However, the common case for
-		// this where it actually makes a difference is handled in the early out at the top of the function,
-		// so it is less than a 1% difference here. I opted for improved code size, fewer branches and reduced
-		// complexity, and removed it.
-
-		dotmin = min;
-
-		// scan for the first occurence of min in the array
-		size_t test;
-		for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], min))); index++)  // local_count must be a multiple of 4
-		{
-		}
-		minIndex = 4 * index + segment + indexTable[test];
-	}
-
-	_mm_store_ss(dotResult, dotmin);
-	return minIndex;
-}
-
-#elif defined BT_USE_NEON
-
-#define ARM_NEON_GCC_COMPATIBILITY 1
-#include <arm_neon.h>
-#include <sys/types.h>
-#include <sys/sysctl.h>  //for sysctlbyname
-
-static long _maxdot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult);
-static long _maxdot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult);
-static long _maxdot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult);
-static long _mindot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult);
-static long _mindot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult);
-static long _mindot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult);
-
-long (*_maxdot_large)(const float *vv, const float *vec, unsigned long count, float *dotResult) = _maxdot_large_sel;
-long (*_mindot_large)(const float *vv, const float *vec, unsigned long count, float *dotResult) = _mindot_large_sel;
-
-static inline uint32_t btGetCpuCapabilities(void)
-{
-	static uint32_t capabilities = 0;
-	static bool testedCapabilities = false;
-
-	if (0 == testedCapabilities)
-	{
-		uint32_t hasFeature = 0;
-		size_t featureSize = sizeof(hasFeature);
-		int err = sysctlbyname("hw.optional.neon_hpfp", &hasFeature, &featureSize, NULL, 0);
-
-		if (0 == err && hasFeature)
-			capabilities |= 0x2000;
-
-		testedCapabilities = true;
-	}
-
-	return capabilities;
-}
-
-static long _maxdot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	if (btGetCpuCapabilities() & 0x2000)
-		_maxdot_large = _maxdot_large_v1;
-	else
-		_maxdot_large = _maxdot_large_v0;
-
-	return _maxdot_large(vv, vec, count, dotResult);
-}
-
-static long _mindot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	if (btGetCpuCapabilities() & 0x2000)
-		_mindot_large = _mindot_large_v1;
-	else
-		_mindot_large = _mindot_large_v0;
-
-	return _mindot_large(vv, vec, count, dotResult);
-}
-
-#if defined __arm__
-#define vld1q_f32_aligned_postincrement(_ptr) ({ float32x4_t _r; asm( "vld1.f32 {%0}, [%1, :128]!\n" : "=w" (_r), "+r" (_ptr) ); /*return*/ _r; })
-#else
-//support 64bit arm
-#define vld1q_f32_aligned_postincrement(_ptr) ({ float32x4_t _r = ((float32x4_t*)(_ptr))[0]; (_ptr) = (const float*) ((const char*)(_ptr) + 16L); /*return*/ _r; })
-#endif
-
-long _maxdot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	unsigned long i = 0;
-	float32x4_t vvec = vld1q_f32_aligned_postincrement(vec);
-	float32x2_t vLo = vget_low_f32(vvec);
-	float32x2_t vHi = vdup_lane_f32(vget_high_f32(vvec), 0);
-	float32x2_t dotMaxLo = (float32x2_t){-BT_INFINITY, -BT_INFINITY};
-	float32x2_t dotMaxHi = (float32x2_t){-BT_INFINITY, -BT_INFINITY};
-	uint32x2_t indexLo = (uint32x2_t){0, 1};
-	uint32x2_t indexHi = (uint32x2_t){2, 3};
-	uint32x2_t iLo = (uint32x2_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)};
-	uint32x2_t iHi = (uint32x2_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)};
-	const uint32x2_t four = (uint32x2_t){4, 4};
-
-	for (; i + 8 <= count; i += 8)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-		float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-		float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
-		float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo);
-
-		float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
-		float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-		float32x2_t zHi = vmul_f32(z1.val[0], vHi);
-
-		float32x2_t rLo = vpadd_f32(xy0, xy1);
-		float32x2_t rHi = vpadd_f32(xy2, xy3);
-		rLo = vadd_f32(rLo, zLo);
-		rHi = vadd_f32(rHi, zHi);
-
-		uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
-		uint32x2_t maskHi = vcgt_f32(rHi, dotMaxHi);
-		dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
-		dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi);
-		iLo = vbsl_u32(maskLo, indexLo, iLo);
-		iHi = vbsl_u32(maskHi, indexHi, iHi);
-		indexLo = vadd_u32(indexLo, four);
-		indexHi = vadd_u32(indexHi, four);
-
-		v0 = vld1q_f32_aligned_postincrement(vv);
-		v1 = vld1q_f32_aligned_postincrement(vv);
-		v2 = vld1q_f32_aligned_postincrement(vv);
-		v3 = vld1q_f32_aligned_postincrement(vv);
-
-		xy0 = vmul_f32(vget_low_f32(v0), vLo);
-		xy1 = vmul_f32(vget_low_f32(v1), vLo);
-		xy2 = vmul_f32(vget_low_f32(v2), vLo);
-		xy3 = vmul_f32(vget_low_f32(v3), vLo);
-
-		z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-		z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
-		zLo = vmul_f32(z0.val[0], vHi);
-		zHi = vmul_f32(z1.val[0], vHi);
-
-		rLo = vpadd_f32(xy0, xy1);
-		rHi = vpadd_f32(xy2, xy3);
-		rLo = vadd_f32(rLo, zLo);
-		rHi = vadd_f32(rHi, zHi);
-
-		maskLo = vcgt_f32(rLo, dotMaxLo);
-		maskHi = vcgt_f32(rHi, dotMaxHi);
-		dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
-		dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi);
-		iLo = vbsl_u32(maskLo, indexLo, iLo);
-		iHi = vbsl_u32(maskHi, indexHi, iHi);
-		indexLo = vadd_u32(indexLo, four);
-		indexHi = vadd_u32(indexHi, four);
-	}
-
-	for (; i + 4 <= count; i += 4)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-		float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-		float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
-		float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo);
-
-		float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
-		float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-		float32x2_t zHi = vmul_f32(z1.val[0], vHi);
-
-		float32x2_t rLo = vpadd_f32(xy0, xy1);
-		float32x2_t rHi = vpadd_f32(xy2, xy3);
-		rLo = vadd_f32(rLo, zLo);
-		rHi = vadd_f32(rHi, zHi);
-
-		uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
-		uint32x2_t maskHi = vcgt_f32(rHi, dotMaxHi);
-		dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
-		dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi);
-		iLo = vbsl_u32(maskLo, indexLo, iLo);
-		iHi = vbsl_u32(maskHi, indexHi, iHi);
-		indexLo = vadd_u32(indexLo, four);
-		indexHi = vadd_u32(indexHi, four);
-	}
-
-	switch (count & 3)
-	{
-		case 3:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-
-			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-			float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-			float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
-
-			float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-			float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-			float32x2_t zHi = vmul_f32(vdup_lane_f32(vget_high_f32(v2), 0), vHi);
-
-			float32x2_t rLo = vpadd_f32(xy0, xy1);
-			float32x2_t rHi = vpadd_f32(xy2, xy2);
-			rLo = vadd_f32(rLo, zLo);
-			rHi = vadd_f32(rHi, zHi);
-
-			uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
-			uint32x2_t maskHi = vcgt_f32(rHi, dotMaxHi);
-			dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
-			dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi);
-			iLo = vbsl_u32(maskLo, indexLo, iLo);
-			iHi = vbsl_u32(maskHi, indexHi, iHi);
-		}
-		break;
-		case 2:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-
-			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-			float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-
-			float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-			float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-
-			float32x2_t rLo = vpadd_f32(xy0, xy1);
-			rLo = vadd_f32(rLo, zLo);
-
-			uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
-			dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
-			iLo = vbsl_u32(maskLo, indexLo, iLo);
-		}
-		break;
-		case 1:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-			float32x2_t z0 = vdup_lane_f32(vget_high_f32(v0), 0);
-			float32x2_t zLo = vmul_f32(z0, vHi);
-			float32x2_t rLo = vpadd_f32(xy0, xy0);
-			rLo = vadd_f32(rLo, zLo);
-			uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
-			dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
-			iLo = vbsl_u32(maskLo, indexLo, iLo);
-		}
-		break;
-
-		default:
-			break;
-	}
-
-	// select best answer between hi and lo results
-	uint32x2_t mask = vcgt_f32(dotMaxHi, dotMaxLo);
-	dotMaxLo = vbsl_f32(mask, dotMaxHi, dotMaxLo);
-	iLo = vbsl_u32(mask, iHi, iLo);
-
-	// select best answer between even and odd results
-	dotMaxHi = vdup_lane_f32(dotMaxLo, 1);
-	iHi = vdup_lane_u32(iLo, 1);
-	mask = vcgt_f32(dotMaxHi, dotMaxLo);
-	dotMaxLo = vbsl_f32(mask, dotMaxHi, dotMaxLo);
-	iLo = vbsl_u32(mask, iHi, iLo);
-
-	*dotResult = vget_lane_f32(dotMaxLo, 0);
-	return vget_lane_u32(iLo, 0);
-}
-
-long _maxdot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	float32x4_t vvec = vld1q_f32_aligned_postincrement(vec);
-	float32x4_t vLo = vcombine_f32(vget_low_f32(vvec), vget_low_f32(vvec));
-	float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0);
-	const uint32x4_t four = (uint32x4_t){4, 4, 4, 4};
-	uint32x4_t local_index = (uint32x4_t){0, 1, 2, 3};
-	uint32x4_t index = (uint32x4_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)};
-	float32x4_t maxDot = (float32x4_t){-BT_INFINITY, -BT_INFINITY, -BT_INFINITY, -BT_INFINITY};
-
-	unsigned long i = 0;
-	for (; i + 8 <= count; i += 8)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-		float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
-
-		xy0 = vmulq_f32(xy0, vLo);
-		xy1 = vmulq_f32(xy1, vLo);
-
-		float32x4x2_t zb = vuzpq_f32(z0, z1);
-		float32x4_t z = vmulq_f32(zb.val[0], vHi);
-		float32x4x2_t xy = vuzpq_f32(xy0, xy1);
-		float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-		x = vaddq_f32(x, z);
-
-		uint32x4_t mask = vcgtq_f32(x, maxDot);
-		maxDot = vbslq_f32(mask, x, maxDot);
-		index = vbslq_u32(mask, local_index, index);
-		local_index = vaddq_u32(local_index, four);
-
-		v0 = vld1q_f32_aligned_postincrement(vv);
-		v1 = vld1q_f32_aligned_postincrement(vv);
-		v2 = vld1q_f32_aligned_postincrement(vv);
-		v3 = vld1q_f32_aligned_postincrement(vv);
-
-		// the next two lines should resolve to a single vswp d, d
-		xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-		xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
-		// the next two lines should resolve to a single vswp d, d
-		z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-		z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
-
-		xy0 = vmulq_f32(xy0, vLo);
-		xy1 = vmulq_f32(xy1, vLo);
-
-		zb = vuzpq_f32(z0, z1);
-		z = vmulq_f32(zb.val[0], vHi);
-		xy = vuzpq_f32(xy0, xy1);
-		x = vaddq_f32(xy.val[0], xy.val[1]);
-		x = vaddq_f32(x, z);
-
-		mask = vcgtq_f32(x, maxDot);
-		maxDot = vbslq_f32(mask, x, maxDot);
-		index = vbslq_u32(mask, local_index, index);
-		local_index = vaddq_u32(local_index, four);
-	}
-
-	for (; i + 4 <= count; i += 4)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-		float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
-
-		xy0 = vmulq_f32(xy0, vLo);
-		xy1 = vmulq_f32(xy1, vLo);
-
-		float32x4x2_t zb = vuzpq_f32(z0, z1);
-		float32x4_t z = vmulq_f32(zb.val[0], vHi);
-		float32x4x2_t xy = vuzpq_f32(xy0, xy1);
-		float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-		x = vaddq_f32(x, z);
-
-		uint32x4_t mask = vcgtq_f32(x, maxDot);
-		maxDot = vbslq_f32(mask, x, maxDot);
-		index = vbslq_u32(mask, local_index, index);
-		local_index = vaddq_u32(local_index, four);
-	}
-
-	switch (count & 3)
-	{
-		case 3:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-			float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v2));
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-			float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v2));
-
-			xy0 = vmulq_f32(xy0, vLo);
-			xy1 = vmulq_f32(xy1, vLo);
-
-			float32x4x2_t zb = vuzpq_f32(z0, z1);
-			float32x4_t z = vmulq_f32(zb.val[0], vHi);
-			float32x4x2_t xy = vuzpq_f32(xy0, xy1);
-			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-			x = vaddq_f32(x, z);
-
-			uint32x4_t mask = vcgtq_f32(x, maxDot);
-			maxDot = vbslq_f32(mask, x, maxDot);
-			index = vbslq_u32(mask, local_index, index);
-			local_index = vaddq_u32(local_index, four);
-		}
-		break;
-
-		case 2:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-
-			xy0 = vmulq_f32(xy0, vLo);
-
-			float32x4x2_t zb = vuzpq_f32(z0, z0);
-			float32x4_t z = vmulq_f32(zb.val[0], vHi);
-			float32x4x2_t xy = vuzpq_f32(xy0, xy0);
-			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-			x = vaddq_f32(x, z);
-
-			uint32x4_t mask = vcgtq_f32(x, maxDot);
-			maxDot = vbslq_f32(mask, x, maxDot);
-			index = vbslq_u32(mask, local_index, index);
-			local_index = vaddq_u32(local_index, four);
-		}
-		break;
-
-		case 1:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v0));
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t z = vdupq_lane_f32(vget_high_f32(v0), 0);
-
-			xy0 = vmulq_f32(xy0, vLo);
-
-			z = vmulq_f32(z, vHi);
-			float32x4x2_t xy = vuzpq_f32(xy0, xy0);
-			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-			x = vaddq_f32(x, z);
-
-			uint32x4_t mask = vcgtq_f32(x, maxDot);
-			maxDot = vbslq_f32(mask, x, maxDot);
-			index = vbslq_u32(mask, local_index, index);
-			local_index = vaddq_u32(local_index, four);
-		}
-		break;
-
-		default:
-			break;
-	}
-
-	// select best answer between hi and lo results
-	uint32x2_t mask = vcgt_f32(vget_high_f32(maxDot), vget_low_f32(maxDot));
-	float32x2_t maxDot2 = vbsl_f32(mask, vget_high_f32(maxDot), vget_low_f32(maxDot));
-	uint32x2_t index2 = vbsl_u32(mask, vget_high_u32(index), vget_low_u32(index));
-
-	// select best answer between even and odd results
-	float32x2_t maxDotO = vdup_lane_f32(maxDot2, 1);
-	uint32x2_t indexHi = vdup_lane_u32(index2, 1);
-	mask = vcgt_f32(maxDotO, maxDot2);
-	maxDot2 = vbsl_f32(mask, maxDotO, maxDot2);
-	index2 = vbsl_u32(mask, indexHi, index2);
-
-	*dotResult = vget_lane_f32(maxDot2, 0);
-	return vget_lane_u32(index2, 0);
-}
-
-long _mindot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	unsigned long i = 0;
-	float32x4_t vvec = vld1q_f32_aligned_postincrement(vec);
-	float32x2_t vLo = vget_low_f32(vvec);
-	float32x2_t vHi = vdup_lane_f32(vget_high_f32(vvec), 0);
-	float32x2_t dotMinLo = (float32x2_t){BT_INFINITY, BT_INFINITY};
-	float32x2_t dotMinHi = (float32x2_t){BT_INFINITY, BT_INFINITY};
-	uint32x2_t indexLo = (uint32x2_t){0, 1};
-	uint32x2_t indexHi = (uint32x2_t){2, 3};
-	uint32x2_t iLo = (uint32x2_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)};
-	uint32x2_t iHi = (uint32x2_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)};
-	const uint32x2_t four = (uint32x2_t){4, 4};
-
-	for (; i + 8 <= count; i += 8)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-		float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-		float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
-		float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo);
-
-		float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
-		float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-		float32x2_t zHi = vmul_f32(z1.val[0], vHi);
-
-		float32x2_t rLo = vpadd_f32(xy0, xy1);
-		float32x2_t rHi = vpadd_f32(xy2, xy3);
-		rLo = vadd_f32(rLo, zLo);
-		rHi = vadd_f32(rHi, zHi);
-
-		uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
-		uint32x2_t maskHi = vclt_f32(rHi, dotMinHi);
-		dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
-		dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi);
-		iLo = vbsl_u32(maskLo, indexLo, iLo);
-		iHi = vbsl_u32(maskHi, indexHi, iHi);
-		indexLo = vadd_u32(indexLo, four);
-		indexHi = vadd_u32(indexHi, four);
-
-		v0 = vld1q_f32_aligned_postincrement(vv);
-		v1 = vld1q_f32_aligned_postincrement(vv);
-		v2 = vld1q_f32_aligned_postincrement(vv);
-		v3 = vld1q_f32_aligned_postincrement(vv);
-
-		xy0 = vmul_f32(vget_low_f32(v0), vLo);
-		xy1 = vmul_f32(vget_low_f32(v1), vLo);
-		xy2 = vmul_f32(vget_low_f32(v2), vLo);
-		xy3 = vmul_f32(vget_low_f32(v3), vLo);
-
-		z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-		z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
-		zLo = vmul_f32(z0.val[0], vHi);
-		zHi = vmul_f32(z1.val[0], vHi);
-
-		rLo = vpadd_f32(xy0, xy1);
-		rHi = vpadd_f32(xy2, xy3);
-		rLo = vadd_f32(rLo, zLo);
-		rHi = vadd_f32(rHi, zHi);
-
-		maskLo = vclt_f32(rLo, dotMinLo);
-		maskHi = vclt_f32(rHi, dotMinHi);
-		dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
-		dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi);
-		iLo = vbsl_u32(maskLo, indexLo, iLo);
-		iHi = vbsl_u32(maskHi, indexHi, iHi);
-		indexLo = vadd_u32(indexLo, four);
-		indexHi = vadd_u32(indexHi, four);
-	}
-
-	for (; i + 4 <= count; i += 4)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-		float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-		float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
-		float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo);
-
-		float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
-		float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-		float32x2_t zHi = vmul_f32(z1.val[0], vHi);
-
-		float32x2_t rLo = vpadd_f32(xy0, xy1);
-		float32x2_t rHi = vpadd_f32(xy2, xy3);
-		rLo = vadd_f32(rLo, zLo);
-		rHi = vadd_f32(rHi, zHi);
-
-		uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
-		uint32x2_t maskHi = vclt_f32(rHi, dotMinHi);
-		dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
-		dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi);
-		iLo = vbsl_u32(maskLo, indexLo, iLo);
-		iHi = vbsl_u32(maskHi, indexHi, iHi);
-		indexLo = vadd_u32(indexLo, four);
-		indexHi = vadd_u32(indexHi, four);
-	}
-	switch (count & 3)
-	{
-		case 3:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-
-			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-			float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-			float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
-
-			float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-			float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-			float32x2_t zHi = vmul_f32(vdup_lane_f32(vget_high_f32(v2), 0), vHi);
-
-			float32x2_t rLo = vpadd_f32(xy0, xy1);
-			float32x2_t rHi = vpadd_f32(xy2, xy2);
-			rLo = vadd_f32(rLo, zLo);
-			rHi = vadd_f32(rHi, zHi);
-
-			uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
-			uint32x2_t maskHi = vclt_f32(rHi, dotMinHi);
-			dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
-			dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi);
-			iLo = vbsl_u32(maskLo, indexLo, iLo);
-			iHi = vbsl_u32(maskHi, indexHi, iHi);
-		}
-		break;
-		case 2:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-
-			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-			float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-
-			float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-			float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-
-			float32x2_t rLo = vpadd_f32(xy0, xy1);
-			rLo = vadd_f32(rLo, zLo);
-
-			uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
-			dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
-			iLo = vbsl_u32(maskLo, indexLo, iLo);
-		}
-		break;
-		case 1:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-			float32x2_t z0 = vdup_lane_f32(vget_high_f32(v0), 0);
-			float32x2_t zLo = vmul_f32(z0, vHi);
-			float32x2_t rLo = vpadd_f32(xy0, xy0);
-			rLo = vadd_f32(rLo, zLo);
-			uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
-			dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
-			iLo = vbsl_u32(maskLo, indexLo, iLo);
-		}
-		break;
-
-		default:
-			break;
-	}
-
-	// select best answer between hi and lo results
-	uint32x2_t mask = vclt_f32(dotMinHi, dotMinLo);
-	dotMinLo = vbsl_f32(mask, dotMinHi, dotMinLo);
-	iLo = vbsl_u32(mask, iHi, iLo);
-
-	// select best answer between even and odd results
-	dotMinHi = vdup_lane_f32(dotMinLo, 1);
-	iHi = vdup_lane_u32(iLo, 1);
-	mask = vclt_f32(dotMinHi, dotMinLo);
-	dotMinLo = vbsl_f32(mask, dotMinHi, dotMinLo);
-	iLo = vbsl_u32(mask, iHi, iLo);
-
-	*dotResult = vget_lane_f32(dotMinLo, 0);
-	return vget_lane_u32(iLo, 0);
-}
-
-long _mindot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	float32x4_t vvec = vld1q_f32_aligned_postincrement(vec);
-	float32x4_t vLo = vcombine_f32(vget_low_f32(vvec), vget_low_f32(vvec));
-	float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0);
-	const uint32x4_t four = (uint32x4_t){4, 4, 4, 4};
-	uint32x4_t local_index = (uint32x4_t){0, 1, 2, 3};
-	uint32x4_t index = (uint32x4_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)};
-	float32x4_t minDot = (float32x4_t){BT_INFINITY, BT_INFINITY, BT_INFINITY, BT_INFINITY};
-
-	unsigned long i = 0;
-	for (; i + 8 <= count; i += 8)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-		float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
-
-		xy0 = vmulq_f32(xy0, vLo);
-		xy1 = vmulq_f32(xy1, vLo);
-
-		float32x4x2_t zb = vuzpq_f32(z0, z1);
-		float32x4_t z = vmulq_f32(zb.val[0], vHi);
-		float32x4x2_t xy = vuzpq_f32(xy0, xy1);
-		float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-		x = vaddq_f32(x, z);
-
-		uint32x4_t mask = vcltq_f32(x, minDot);
-		minDot = vbslq_f32(mask, x, minDot);
-		index = vbslq_u32(mask, local_index, index);
-		local_index = vaddq_u32(local_index, four);
-
-		v0 = vld1q_f32_aligned_postincrement(vv);
-		v1 = vld1q_f32_aligned_postincrement(vv);
-		v2 = vld1q_f32_aligned_postincrement(vv);
-		v3 = vld1q_f32_aligned_postincrement(vv);
-
-		// the next two lines should resolve to a single vswp d, d
-		xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-		xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
-		// the next two lines should resolve to a single vswp d, d
-		z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-		z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
-
-		xy0 = vmulq_f32(xy0, vLo);
-		xy1 = vmulq_f32(xy1, vLo);
-
-		zb = vuzpq_f32(z0, z1);
-		z = vmulq_f32(zb.val[0], vHi);
-		xy = vuzpq_f32(xy0, xy1);
-		x = vaddq_f32(xy.val[0], xy.val[1]);
-		x = vaddq_f32(x, z);
-
-		mask = vcltq_f32(x, minDot);
-		minDot = vbslq_f32(mask, x, minDot);
-		index = vbslq_u32(mask, local_index, index);
-		local_index = vaddq_u32(local_index, four);
-	}
-
-	for (; i + 4 <= count; i += 4)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-		float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
-
-		xy0 = vmulq_f32(xy0, vLo);
-		xy1 = vmulq_f32(xy1, vLo);
-
-		float32x4x2_t zb = vuzpq_f32(z0, z1);
-		float32x4_t z = vmulq_f32(zb.val[0], vHi);
-		float32x4x2_t xy = vuzpq_f32(xy0, xy1);
-		float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-		x = vaddq_f32(x, z);
-
-		uint32x4_t mask = vcltq_f32(x, minDot);
-		minDot = vbslq_f32(mask, x, minDot);
-		index = vbslq_u32(mask, local_index, index);
-		local_index = vaddq_u32(local_index, four);
-	}
-
-	switch (count & 3)
-	{
-		case 3:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-			float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v2));
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-			float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v2));
-
-			xy0 = vmulq_f32(xy0, vLo);
-			xy1 = vmulq_f32(xy1, vLo);
-
-			float32x4x2_t zb = vuzpq_f32(z0, z1);
-			float32x4_t z = vmulq_f32(zb.val[0], vHi);
-			float32x4x2_t xy = vuzpq_f32(xy0, xy1);
-			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-			x = vaddq_f32(x, z);
-
-			uint32x4_t mask = vcltq_f32(x, minDot);
-			minDot = vbslq_f32(mask, x, minDot);
-			index = vbslq_u32(mask, local_index, index);
-			local_index = vaddq_u32(local_index, four);
-		}
-		break;
-
-		case 2:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-
-			xy0 = vmulq_f32(xy0, vLo);
-
-			float32x4x2_t zb = vuzpq_f32(z0, z0);
-			float32x4_t z = vmulq_f32(zb.val[0], vHi);
-			float32x4x2_t xy = vuzpq_f32(xy0, xy0);
-			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-			x = vaddq_f32(x, z);
-
-			uint32x4_t mask = vcltq_f32(x, minDot);
-			minDot = vbslq_f32(mask, x, minDot);
-			index = vbslq_u32(mask, local_index, index);
-			local_index = vaddq_u32(local_index, four);
-		}
-		break;
-
-		case 1:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v0));
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t z = vdupq_lane_f32(vget_high_f32(v0), 0);
-
-			xy0 = vmulq_f32(xy0, vLo);
-
-			z = vmulq_f32(z, vHi);
-			float32x4x2_t xy = vuzpq_f32(xy0, xy0);
-			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-			x = vaddq_f32(x, z);
-
-			uint32x4_t mask = vcltq_f32(x, minDot);
-			minDot = vbslq_f32(mask, x, minDot);
-			index = vbslq_u32(mask, local_index, index);
-			local_index = vaddq_u32(local_index, four);
-		}
-		break;
-
-		default:
-			break;
-	}
-
-	// select best answer between hi and lo results
-	uint32x2_t mask = vclt_f32(vget_high_f32(minDot), vget_low_f32(minDot));
-	float32x2_t minDot2 = vbsl_f32(mask, vget_high_f32(minDot), vget_low_f32(minDot));
-	uint32x2_t index2 = vbsl_u32(mask, vget_high_u32(index), vget_low_u32(index));
-
-	// select best answer between even and odd results
-	float32x2_t minDotO = vdup_lane_f32(minDot2, 1);
-	uint32x2_t indexHi = vdup_lane_u32(index2, 1);
-	mask = vclt_f32(minDotO, minDot2);
-	minDot2 = vbsl_f32(mask, minDotO, minDot2);
-	index2 = vbsl_u32(mask, indexHi, index2);
-
-	*dotResult = vget_lane_f32(minDot2, 0);
-	return vget_lane_u32(index2, 0);
-}
-
-#else
-#error Unhandled __APPLE__ arch
-#endif
-
-#endif /* __APPLE__ */
diff --git a/thirdparty/bullet/LinearMath/btVector3.h b/thirdparty/bullet/LinearMath/btVector3.h
deleted file mode 100644
index d65ed9808d..0000000000
--- a/thirdparty/bullet/LinearMath/btVector3.h
+++ /dev/null
@@ -1,1336 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_VECTOR3_H
-#define BT_VECTOR3_H
-
-//#include <stdint.h>
-#include "btScalar.h"
-#include "btMinMax.h"
-#include "btAlignedAllocator.h"
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btVector3Data btVector3DoubleData
-#define btVector3DataName "btVector3DoubleData"
-#else
-#define btVector3Data btVector3FloatData
-#define btVector3DataName "btVector3FloatData"
-#endif  //BT_USE_DOUBLE_PRECISION
-
-#if defined BT_USE_SSE
-
-//typedef  uint32_t __m128i __attribute__ ((vector_size(16)));
-
-#ifdef _MSC_VER
-#pragma warning(disable : 4556)  // value of intrinsic immediate argument '4294967239' is out of range '0 - 255'
-#endif
-
-#define BT_SHUFFLE(x, y, z, w) (((w) << 6 | (z) << 4 | (y) << 2 | (x)) & 0xff)
-//#define bt_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) )
-#define bt_pshufd_ps(_a, _mask) _mm_shuffle_ps((_a), (_a), (_mask))
-#define bt_splat3_ps(_a, _i) bt_pshufd_ps((_a), BT_SHUFFLE(_i, _i, _i, 3))
-#define bt_splat_ps(_a, _i) bt_pshufd_ps((_a), BT_SHUFFLE(_i, _i, _i, _i))
-
-#define btv3AbsiMask (_mm_set_epi32(0x00000000, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF))
-#define btvAbsMask (_mm_set_epi32(0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF))
-#define btvFFF0Mask (_mm_set_epi32(0x00000000, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF))
-#define btv3AbsfMask btCastiTo128f(btv3AbsiMask)
-#define btvFFF0fMask btCastiTo128f(btvFFF0Mask)
-#define btvxyzMaskf btvFFF0fMask
-#define btvAbsfMask btCastiTo128f(btvAbsMask)
-
-//there is an issue with XCode 3.2 (LCx errors)
-#define btvMzeroMask (_mm_set_ps(-0.0f, -0.0f, -0.0f, -0.0f))
-#define v1110 (_mm_set_ps(0.0f, 1.0f, 1.0f, 1.0f))
-#define vHalf (_mm_set_ps(0.5f, 0.5f, 0.5f, 0.5f))
-#define v1_5 (_mm_set_ps(1.5f, 1.5f, 1.5f, 1.5f))
-
-//const __m128 ATTRIBUTE_ALIGNED16(btvMzeroMask) = {-0.0f, -0.0f, -0.0f, -0.0f};
-//const __m128 ATTRIBUTE_ALIGNED16(v1110) = {1.0f, 1.0f, 1.0f, 0.0f};
-//const __m128 ATTRIBUTE_ALIGNED16(vHalf) = {0.5f, 0.5f, 0.5f, 0.5f};
-//const __m128 ATTRIBUTE_ALIGNED16(v1_5)  = {1.5f, 1.5f, 1.5f, 1.5f};
-
-#endif
-
-#ifdef BT_USE_NEON
-
-const float32x4_t ATTRIBUTE_ALIGNED16(btvMzeroMask) = (float32x4_t){-0.0f, -0.0f, -0.0f, -0.0f};
-const int32x4_t ATTRIBUTE_ALIGNED16(btvFFF0Mask) = (int32x4_t){static_cast<int32_t>(0xFFFFFFFF),
-															   static_cast<int32_t>(0xFFFFFFFF), static_cast<int32_t>(0xFFFFFFFF), 0x0};
-const int32x4_t ATTRIBUTE_ALIGNED16(btvAbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF};
-const int32x4_t ATTRIBUTE_ALIGNED16(btv3AbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x0};
-
-#endif
-
-/**@brief btVector3 can be used to represent 3D points and vectors.
- * It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user
- * Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers
- */
-ATTRIBUTE_ALIGNED16(class)
-btVector3
-{
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-#if defined(__SPU__) && defined(__CELLOS_LV2__)
-	btScalar m_floats[4];
-
-public:
-	SIMD_FORCE_INLINE const vec_float4& get128() const
-	{
-		return *((const vec_float4*)&m_floats[0]);
-	}
-
-public:
-#else                                            //__CELLOS_LV2__ __SPU__
-#if defined(BT_USE_SSE) || defined(BT_USE_NEON)  // _WIN32 || ARM
-	union {
-		btSimdFloat4 mVec128;
-		btScalar m_floats[4];
-	};
-	SIMD_FORCE_INLINE btSimdFloat4 get128() const
-	{
-		return mVec128;
-	}
-	SIMD_FORCE_INLINE void set128(btSimdFloat4 v128)
-	{
-		mVec128 = v128;
-	}
-#else
-	btScalar m_floats[4];
-#endif
-#endif  //__CELLOS_LV2__ __SPU__
-
-public:
-	/**@brief No initialization constructor */
-	SIMD_FORCE_INLINE btVector3()
-	{
-	}
-
-	/**@brief Constructor from scalars 
-   * @param x X value
-   * @param y Y value 
-   * @param z Z value 
-   */
-	SIMD_FORCE_INLINE btVector3(const btScalar& _x, const btScalar& _y, const btScalar& _z)
-	{
-		m_floats[0] = _x;
-		m_floats[1] = _y;
-		m_floats[2] = _z;
-		m_floats[3] = btScalar(0.f);
-	}
-
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-	// Set Vector
-	SIMD_FORCE_INLINE btVector3(btSimdFloat4 v)
-	{
-		mVec128 = v;
-	}
-
-	// Copy constructor
-	SIMD_FORCE_INLINE btVector3(const btVector3& rhs)
-	{
-		mVec128 = rhs.mVec128;
-	}
-
-	// Assignment Operator
-	SIMD_FORCE_INLINE btVector3&
-	operator=(const btVector3& v)
-	{
-		mVec128 = v.mVec128;
-
-		return *this;
-	}
-#endif  // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
-
-	/**@brief Add a vector to this one 
- * @param The vector to add to this one */
-	SIMD_FORCE_INLINE btVector3& operator+=(const btVector3& v)
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		mVec128 = _mm_add_ps(mVec128, v.mVec128);
-#elif defined(BT_USE_NEON)
-		mVec128 = vaddq_f32(mVec128, v.mVec128);
-#else
-		m_floats[0] += v.m_floats[0];
-		m_floats[1] += v.m_floats[1];
-		m_floats[2] += v.m_floats[2];
-#endif
-		return *this;
-	}
-
-	/**@brief Subtract a vector from this one
-   * @param The vector to subtract */
-	SIMD_FORCE_INLINE btVector3& operator-=(const btVector3& v)
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		mVec128 = _mm_sub_ps(mVec128, v.mVec128);
-#elif defined(BT_USE_NEON)
-		mVec128 = vsubq_f32(mVec128, v.mVec128);
-#else
-		m_floats[0] -= v.m_floats[0];
-		m_floats[1] -= v.m_floats[1];
-		m_floats[2] -= v.m_floats[2];
-#endif
-		return *this;
-	}
-
-	/**@brief Scale the vector
-   * @param s Scale factor */
-	SIMD_FORCE_INLINE btVector3& operator*=(const btScalar& s)
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
-		vs = bt_pshufd_ps(vs, 0x80);  //	(S S S 0.0)
-		mVec128 = _mm_mul_ps(mVec128, vs);
-#elif defined(BT_USE_NEON)
-		mVec128 = vmulq_n_f32(mVec128, s);
-#else
-		m_floats[0] *= s;
-		m_floats[1] *= s;
-		m_floats[2] *= s;
-#endif
-		return *this;
-	}
-
-	/**@brief Inversely scale the vector 
-   * @param s Scale factor to divide by */
-	SIMD_FORCE_INLINE btVector3& operator/=(const btScalar& s)
-	{
-		btFullAssert(s != btScalar(0.0));
-
-#if 0  //defined(BT_USE_SSE_IN_API)
-// this code is not faster !
-		__m128 vs = _mm_load_ss(&s);
-		vs = _mm_div_ss(v1110, vs);
-		vs = bt_pshufd_ps(vs, 0x00);	//	(S S S S)
-
-		mVec128 = _mm_mul_ps(mVec128, vs);
-		
-		return *this;
-#else
-		return *this *= btScalar(1.0) / s;
-#endif
-	}
-
-	/**@brief Return the dot product
-   * @param v The other vector in the dot product */
-	SIMD_FORCE_INLINE btScalar dot(const btVector3& v) const
-	{
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 vd = _mm_mul_ps(mVec128, v.mVec128);
-		__m128 z = _mm_movehl_ps(vd, vd);
-		__m128 y = _mm_shuffle_ps(vd, vd, 0x55);
-		vd = _mm_add_ss(vd, y);
-		vd = _mm_add_ss(vd, z);
-		return _mm_cvtss_f32(vd);
-#elif defined(BT_USE_NEON)
-		float32x4_t vd = vmulq_f32(mVec128, v.mVec128);
-		float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_low_f32(vd));
-		x = vadd_f32(x, vget_high_f32(vd));
-		return vget_lane_f32(x, 0);
-#else
-		return m_floats[0] * v.m_floats[0] +
-			   m_floats[1] * v.m_floats[1] +
-			   m_floats[2] * v.m_floats[2];
-#endif
-	}
-
-	/**@brief Return the length of the vector squared */
-	SIMD_FORCE_INLINE btScalar length2() const
-	{
-		return dot(*this);
-	}
-
-	/**@brief Return the length of the vector */
-	SIMD_FORCE_INLINE btScalar length() const
-	{
-		return btSqrt(length2());
-	}
-
-	/**@brief Return the norm (length) of the vector */
-	SIMD_FORCE_INLINE btScalar norm() const
-	{
-		return length();
-	}
-
-	/**@brief Return the norm (length) of the vector */
-	SIMD_FORCE_INLINE btScalar safeNorm() const
-	{
-		btScalar d = length2();
-		//workaround for some clang/gcc issue of sqrtf(tiny number) = -INF
-		if (d > SIMD_EPSILON)
-			return btSqrt(d);
-		return btScalar(0);
-	}
-
-	/**@brief Return the distance squared between the ends of this and another vector
-   * This is symantically treating the vector like a point */
-	SIMD_FORCE_INLINE btScalar distance2(const btVector3& v) const;
-
-	/**@brief Return the distance between the ends of this and another vector
-   * This is symantically treating the vector like a point */
-	SIMD_FORCE_INLINE btScalar distance(const btVector3& v) const;
-
-	SIMD_FORCE_INLINE btVector3& safeNormalize()
-	{
-		btScalar l2 = length2();
-		//triNormal.normalize();
-		if (l2 >= SIMD_EPSILON * SIMD_EPSILON)
-		{
-			(*this) /= btSqrt(l2);
-		}
-		else
-		{
-			setValue(1, 0, 0);
-		}
-		return *this;
-	}
-
-	/**@brief Normalize this vector 
-   * x^2 + y^2 + z^2 = 1 */
-	SIMD_FORCE_INLINE btVector3& normalize()
-	{
-		btAssert(!fuzzyZero());
-
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		// dot product first
-		__m128 vd = _mm_mul_ps(mVec128, mVec128);
-		__m128 z = _mm_movehl_ps(vd, vd);
-		__m128 y = _mm_shuffle_ps(vd, vd, 0x55);
-		vd = _mm_add_ss(vd, y);
-		vd = _mm_add_ss(vd, z);
-
-#if 0
-        vd = _mm_sqrt_ss(vd);
-		vd = _mm_div_ss(v1110, vd);
-		vd = bt_splat_ps(vd, 0x80);
-		mVec128 = _mm_mul_ps(mVec128, vd);
-#else
-
-		// NR step 1/sqrt(x) - vd is x, y is output
-		y = _mm_rsqrt_ss(vd);  // estimate
-
-		//  one step NR
-		z = v1_5;
-		vd = _mm_mul_ss(vd, vHalf);  // vd * 0.5
-		//x2 = vd;
-		vd = _mm_mul_ss(vd, y);  // vd * 0.5 * y0
-		vd = _mm_mul_ss(vd, y);  // vd * 0.5 * y0 * y0
-		z = _mm_sub_ss(z, vd);   // 1.5 - vd * 0.5 * y0 * y0
-
-		y = _mm_mul_ss(y, z);  // y0 * (1.5 - vd * 0.5 * y0 * y0)
-
-		y = bt_splat_ps(y, 0x80);
-		mVec128 = _mm_mul_ps(mVec128, y);
-
-#endif
-
-		return *this;
-#else
-		return *this /= length();
-#endif
-	}
-
-	/**@brief Return a normalized version of this vector */
-	SIMD_FORCE_INLINE btVector3 normalized() const;
-
-	/**@brief Return a rotated version of this vector
-   * @param wAxis The axis to rotate about 
-   * @param angle The angle to rotate by */
-	SIMD_FORCE_INLINE btVector3 rotate(const btVector3& wAxis, const btScalar angle) const;
-
-	/**@brief Return the angle between this and another vector
-   * @param v The other vector */
-	SIMD_FORCE_INLINE btScalar angle(const btVector3& v) const
-	{
-		btScalar s = btSqrt(length2() * v.length2());
-		btFullAssert(s != btScalar(0.0));
-		return btAcos(dot(v) / s);
-	}
-
-	/**@brief Return a vector with the absolute values of each element */
-	SIMD_FORCE_INLINE btVector3 absolute() const
-	{
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		return btVector3(_mm_and_ps(mVec128, btv3AbsfMask));
-#elif defined(BT_USE_NEON)
-		return btVector3(vabsq_f32(mVec128));
-#else
-		return btVector3(
-			btFabs(m_floats[0]),
-			btFabs(m_floats[1]),
-			btFabs(m_floats[2]));
-#endif
-	}
-
-	/**@brief Return the cross product between this and another vector 
-   * @param v The other vector */
-	SIMD_FORCE_INLINE btVector3 cross(const btVector3& v) const
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 T, V;
-
-		T = bt_pshufd_ps(mVec128, BT_SHUFFLE(1, 2, 0, 3));    //	(Y Z X 0)
-		V = bt_pshufd_ps(v.mVec128, BT_SHUFFLE(1, 2, 0, 3));  //	(Y Z X 0)
-
-		V = _mm_mul_ps(V, mVec128);
-		T = _mm_mul_ps(T, v.mVec128);
-		V = _mm_sub_ps(V, T);
-
-		V = bt_pshufd_ps(V, BT_SHUFFLE(1, 2, 0, 3));
-		return btVector3(V);
-#elif defined(BT_USE_NEON)
-		float32x4_t T, V;
-		// form (Y, Z, X, _) of mVec128 and v.mVec128
-		float32x2_t Tlow = vget_low_f32(mVec128);
-		float32x2_t Vlow = vget_low_f32(v.mVec128);
-		T = vcombine_f32(vext_f32(Tlow, vget_high_f32(mVec128), 1), Tlow);
-		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v.mVec128), 1), Vlow);
-
-		V = vmulq_f32(V, mVec128);
-		T = vmulq_f32(T, v.mVec128);
-		V = vsubq_f32(V, T);
-		Vlow = vget_low_f32(V);
-		// form (Y, Z, X, _);
-		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow);
-		V = (float32x4_t)vandq_s32((int32x4_t)V, btvFFF0Mask);
-
-		return btVector3(V);
-#else
-		return btVector3(
-			m_floats[1] * v.m_floats[2] - m_floats[2] * v.m_floats[1],
-			m_floats[2] * v.m_floats[0] - m_floats[0] * v.m_floats[2],
-			m_floats[0] * v.m_floats[1] - m_floats[1] * v.m_floats[0]);
-#endif
-	}
-
-	SIMD_FORCE_INLINE btScalar triple(const btVector3& v1, const btVector3& v2) const
-	{
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		// cross:
-		__m128 T = _mm_shuffle_ps(v1.mVec128, v1.mVec128, BT_SHUFFLE(1, 2, 0, 3));  //	(Y Z X 0)
-		__m128 V = _mm_shuffle_ps(v2.mVec128, v2.mVec128, BT_SHUFFLE(1, 2, 0, 3));  //	(Y Z X 0)
-
-		V = _mm_mul_ps(V, v1.mVec128);
-		T = _mm_mul_ps(T, v2.mVec128);
-		V = _mm_sub_ps(V, T);
-
-		V = _mm_shuffle_ps(V, V, BT_SHUFFLE(1, 2, 0, 3));
-
-		// dot:
-		V = _mm_mul_ps(V, mVec128);
-		__m128 z = _mm_movehl_ps(V, V);
-		__m128 y = _mm_shuffle_ps(V, V, 0x55);
-		V = _mm_add_ss(V, y);
-		V = _mm_add_ss(V, z);
-		return _mm_cvtss_f32(V);
-
-#elif defined(BT_USE_NEON)
-		// cross:
-		float32x4_t T, V;
-		// form (Y, Z, X, _) of mVec128 and v.mVec128
-		float32x2_t Tlow = vget_low_f32(v1.mVec128);
-		float32x2_t Vlow = vget_low_f32(v2.mVec128);
-		T = vcombine_f32(vext_f32(Tlow, vget_high_f32(v1.mVec128), 1), Tlow);
-		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v2.mVec128), 1), Vlow);
-
-		V = vmulq_f32(V, v1.mVec128);
-		T = vmulq_f32(T, v2.mVec128);
-		V = vsubq_f32(V, T);
-		Vlow = vget_low_f32(V);
-		// form (Y, Z, X, _);
-		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow);
-
-		// dot:
-		V = vmulq_f32(mVec128, V);
-		float32x2_t x = vpadd_f32(vget_low_f32(V), vget_low_f32(V));
-		x = vadd_f32(x, vget_high_f32(V));
-		return vget_lane_f32(x, 0);
-#else
-		return m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) +
-			   m_floats[1] * (v1.m_floats[2] * v2.m_floats[0] - v1.m_floats[0] * v2.m_floats[2]) +
-			   m_floats[2] * (v1.m_floats[0] * v2.m_floats[1] - v1.m_floats[1] * v2.m_floats[0]);
-#endif
-	}
-
-	/**@brief Return the axis with the smallest value 
-   * Note return values are 0,1,2 for x, y, or z */
-	SIMD_FORCE_INLINE int minAxis() const
-	{
-		return m_floats[0] < m_floats[1] ? (m_floats[0] < m_floats[2] ? 0 : 2) : (m_floats[1] < m_floats[2] ? 1 : 2);
-	}
-
-	/**@brief Return the axis with the largest value 
-   * Note return values are 0,1,2 for x, y, or z */
-	SIMD_FORCE_INLINE int maxAxis() const
-	{
-		return m_floats[0] < m_floats[1] ? (m_floats[1] < m_floats[2] ? 2 : 1) : (m_floats[0] < m_floats[2] ? 2 : 0);
-	}
-
-	SIMD_FORCE_INLINE int furthestAxis() const
-	{
-		return absolute().minAxis();
-	}
-
-	SIMD_FORCE_INLINE int closestAxis() const
-	{
-		return absolute().maxAxis();
-	}
-
-	SIMD_FORCE_INLINE void setInterpolate3(const btVector3& v0, const btVector3& v1, btScalar rt)
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 vrt = _mm_load_ss(&rt);  //	(rt 0 0 0)
-		btScalar s = btScalar(1.0) - rt;
-		__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
-		vs = bt_pshufd_ps(vs, 0x80);  //	(S S S 0.0)
-		__m128 r0 = _mm_mul_ps(v0.mVec128, vs);
-		vrt = bt_pshufd_ps(vrt, 0x80);  //	(rt rt rt 0.0)
-		__m128 r1 = _mm_mul_ps(v1.mVec128, vrt);
-		__m128 tmp3 = _mm_add_ps(r0, r1);
-		mVec128 = tmp3;
-#elif defined(BT_USE_NEON)
-		float32x4_t vl = vsubq_f32(v1.mVec128, v0.mVec128);
-		vl = vmulq_n_f32(vl, rt);
-		mVec128 = vaddq_f32(vl, v0.mVec128);
-#else
-		btScalar s = btScalar(1.0) - rt;
-		m_floats[0] = s * v0.m_floats[0] + rt * v1.m_floats[0];
-		m_floats[1] = s * v0.m_floats[1] + rt * v1.m_floats[1];
-		m_floats[2] = s * v0.m_floats[2] + rt * v1.m_floats[2];
-		//don't do the unused w component
-		//		m_co[3] = s * v0[3] + rt * v1[3];
-#endif
-	}
-
-	/**@brief Return the linear interpolation between this and another vector 
-   * @param v The other vector 
-   * @param t The ration of this to v (t = 0 => return this, t=1 => return other) */
-	SIMD_FORCE_INLINE btVector3 lerp(const btVector3& v, const btScalar& t) const
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 vt = _mm_load_ss(&t);  //	(t 0 0 0)
-		vt = bt_pshufd_ps(vt, 0x80);  //	(rt rt rt 0.0)
-		__m128 vl = _mm_sub_ps(v.mVec128, mVec128);
-		vl = _mm_mul_ps(vl, vt);
-		vl = _mm_add_ps(vl, mVec128);
-
-		return btVector3(vl);
-#elif defined(BT_USE_NEON)
-		float32x4_t vl = vsubq_f32(v.mVec128, mVec128);
-		vl = vmulq_n_f32(vl, t);
-		vl = vaddq_f32(vl, mVec128);
-
-		return btVector3(vl);
-#else
-		return btVector3(m_floats[0] + (v.m_floats[0] - m_floats[0]) * t,
-						 m_floats[1] + (v.m_floats[1] - m_floats[1]) * t,
-						 m_floats[2] + (v.m_floats[2] - m_floats[2]) * t);
-#endif
-	}
-
-	/**@brief Elementwise multiply this vector by the other 
-   * @param v The other vector */
-	SIMD_FORCE_INLINE btVector3& operator*=(const btVector3& v)
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		mVec128 = _mm_mul_ps(mVec128, v.mVec128);
-#elif defined(BT_USE_NEON)
-		mVec128 = vmulq_f32(mVec128, v.mVec128);
-#else
-		m_floats[0] *= v.m_floats[0];
-		m_floats[1] *= v.m_floats[1];
-		m_floats[2] *= v.m_floats[2];
-#endif
-		return *this;
-	}
-
-	/**@brief Return the x value */
-	SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
-	/**@brief Return the y value */
-	SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; }
-	/**@brief Return the z value */
-	SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
-	/**@brief Set the x value */
-	SIMD_FORCE_INLINE void setX(btScalar _x) { m_floats[0] = _x; };
-	/**@brief Set the y value */
-	SIMD_FORCE_INLINE void setY(btScalar _y) { m_floats[1] = _y; };
-	/**@brief Set the z value */
-	SIMD_FORCE_INLINE void setZ(btScalar _z) { m_floats[2] = _z; };
-	/**@brief Set the w value */
-	SIMD_FORCE_INLINE void setW(btScalar _w) { m_floats[3] = _w; };
-	/**@brief Return the x value */
-	SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
-	/**@brief Return the y value */
-	SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; }
-	/**@brief Return the z value */
-	SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; }
-	/**@brief Return the w value */
-	SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; }
-
-	//SIMD_FORCE_INLINE btScalar&       operator[](int i)       { return (&m_floats[0])[i];	}
-	//SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; }
-	///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
-	SIMD_FORCE_INLINE operator btScalar*() { return &m_floats[0]; }
-	SIMD_FORCE_INLINE operator const btScalar*() const { return &m_floats[0]; }
-
-	SIMD_FORCE_INLINE bool operator==(const btVector3& other) const
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
-#else
-		return ((m_floats[3] == other.m_floats[3]) &&
-				(m_floats[2] == other.m_floats[2]) &&
-				(m_floats[1] == other.m_floats[1]) &&
-				(m_floats[0] == other.m_floats[0]));
-#endif
-	}
-
-	SIMD_FORCE_INLINE bool operator!=(const btVector3& other) const
-	{
-		return !(*this == other);
-	}
-
-	/**@brief Set each element to the max of the current values and the values of another btVector3
-   * @param other The other btVector3 to compare with 
-   */
-	SIMD_FORCE_INLINE void setMax(const btVector3& other)
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		mVec128 = _mm_max_ps(mVec128, other.mVec128);
-#elif defined(BT_USE_NEON)
-		mVec128 = vmaxq_f32(mVec128, other.mVec128);
-#else
-		btSetMax(m_floats[0], other.m_floats[0]);
-		btSetMax(m_floats[1], other.m_floats[1]);
-		btSetMax(m_floats[2], other.m_floats[2]);
-		btSetMax(m_floats[3], other.w());
-#endif
-	}
-
-	/**@brief Set each element to the min of the current values and the values of another btVector3
-   * @param other The other btVector3 to compare with 
-   */
-	SIMD_FORCE_INLINE void setMin(const btVector3& other)
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		mVec128 = _mm_min_ps(mVec128, other.mVec128);
-#elif defined(BT_USE_NEON)
-		mVec128 = vminq_f32(mVec128, other.mVec128);
-#else
-		btSetMin(m_floats[0], other.m_floats[0]);
-		btSetMin(m_floats[1], other.m_floats[1]);
-		btSetMin(m_floats[2], other.m_floats[2]);
-		btSetMin(m_floats[3], other.w());
-#endif
-	}
-
-	SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z)
-	{
-		m_floats[0] = _x;
-		m_floats[1] = _y;
-		m_floats[2] = _z;
-		m_floats[3] = btScalar(0.f);
-	}
-
-	void getSkewSymmetricMatrix(btVector3 * v0, btVector3 * v1, btVector3 * v2) const
-	{
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-
-		__m128 V = _mm_and_ps(mVec128, btvFFF0fMask);
-		__m128 V0 = _mm_xor_ps(btvMzeroMask, V);
-		__m128 V2 = _mm_movelh_ps(V0, V);
-
-		__m128 V1 = _mm_shuffle_ps(V, V0, 0xCE);
-
-		V0 = _mm_shuffle_ps(V0, V, 0xDB);
-		V2 = _mm_shuffle_ps(V2, V, 0xF9);
-
-		v0->mVec128 = V0;
-		v1->mVec128 = V1;
-		v2->mVec128 = V2;
-#else
-		v0->setValue(0., -z(), y());
-		v1->setValue(z(), 0., -x());
-		v2->setValue(-y(), x(), 0.);
-#endif
-	}
-
-	void setZero()
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		mVec128 = (__m128)_mm_xor_ps(mVec128, mVec128);
-#elif defined(BT_USE_NEON)
-		int32x4_t vi = vdupq_n_s32(0);
-		mVec128 = vreinterpretq_f32_s32(vi);
-#else
-		setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-#endif
-	}
-
-	SIMD_FORCE_INLINE bool isZero() const
-	{
-		return m_floats[0] == btScalar(0) && m_floats[1] == btScalar(0) && m_floats[2] == btScalar(0);
-	}
-
-	SIMD_FORCE_INLINE bool fuzzyZero() const
-	{
-		return length2() < SIMD_EPSILON * SIMD_EPSILON;
-	}
-
-	SIMD_FORCE_INLINE void serialize(struct btVector3Data & dataOut) const;
-
-	SIMD_FORCE_INLINE void deSerialize(const struct btVector3DoubleData& dataIn);
-
-	SIMD_FORCE_INLINE void deSerialize(const struct btVector3FloatData& dataIn);
-
-	SIMD_FORCE_INLINE void serializeFloat(struct btVector3FloatData & dataOut) const;
-
-	SIMD_FORCE_INLINE void deSerializeFloat(const struct btVector3FloatData& dataIn);
-
-	SIMD_FORCE_INLINE void serializeDouble(struct btVector3DoubleData & dataOut) const;
-
-	SIMD_FORCE_INLINE void deSerializeDouble(const struct btVector3DoubleData& dataIn);
-
-	/**@brief returns index of maximum dot product between this and vectors in array[]
-         * @param array The other vectors 
-         * @param array_count The number of other vectors 
-         * @param dotOut The maximum dot product */
-	SIMD_FORCE_INLINE long maxDot(const btVector3* array, long array_count, btScalar& dotOut) const;
-
-	/**@brief returns index of minimum dot product between this and vectors in array[]
-         * @param array The other vectors 
-         * @param array_count The number of other vectors 
-         * @param dotOut The minimum dot product */
-	SIMD_FORCE_INLINE long minDot(const btVector3* array, long array_count, btScalar& dotOut) const;
-
-	/* create a vector as  btVector3( this->dot( btVector3 v0 ), this->dot( btVector3 v1), this->dot( btVector3 v2 ))  */
-	SIMD_FORCE_INLINE btVector3 dot3(const btVector3& v0, const btVector3& v1, const btVector3& v2) const
-	{
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-
-		__m128 a0 = _mm_mul_ps(v0.mVec128, this->mVec128);
-		__m128 a1 = _mm_mul_ps(v1.mVec128, this->mVec128);
-		__m128 a2 = _mm_mul_ps(v2.mVec128, this->mVec128);
-		__m128 b0 = _mm_unpacklo_ps(a0, a1);
-		__m128 b1 = _mm_unpackhi_ps(a0, a1);
-		__m128 b2 = _mm_unpacklo_ps(a2, _mm_setzero_ps());
-		__m128 r = _mm_movelh_ps(b0, b2);
-		r = _mm_add_ps(r, _mm_movehl_ps(b2, b0));
-		a2 = _mm_and_ps(a2, btvxyzMaskf);
-		r = _mm_add_ps(r, btCastdTo128f(_mm_move_sd(btCastfTo128d(a2), btCastfTo128d(b1))));
-		return btVector3(r);
-
-#elif defined(BT_USE_NEON)
-		static const uint32x4_t xyzMask = (const uint32x4_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), 0};
-		float32x4_t a0 = vmulq_f32(v0.mVec128, this->mVec128);
-		float32x4_t a1 = vmulq_f32(v1.mVec128, this->mVec128);
-		float32x4_t a2 = vmulq_f32(v2.mVec128, this->mVec128);
-		float32x2x2_t zLo = vtrn_f32(vget_high_f32(a0), vget_high_f32(a1));
-		a2 = (float32x4_t)vandq_u32((uint32x4_t)a2, xyzMask);
-		float32x2_t b0 = vadd_f32(vpadd_f32(vget_low_f32(a0), vget_low_f32(a1)), zLo.val[0]);
-		float32x2_t b1 = vpadd_f32(vpadd_f32(vget_low_f32(a2), vget_high_f32(a2)), vdup_n_f32(0.0f));
-		return btVector3(vcombine_f32(b0, b1));
-#else
-		return btVector3(dot(v0), dot(v1), dot(v2));
-#endif
-	}
-};
-
-/**@brief Return the sum of two vectors (Point symantics)*/
-SIMD_FORCE_INLINE btVector3
-operator+(const btVector3& v1, const btVector3& v2)
-{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-	return btVector3(_mm_add_ps(v1.mVec128, v2.mVec128));
-#elif defined(BT_USE_NEON)
-	return btVector3(vaddq_f32(v1.mVec128, v2.mVec128));
-#else
-	return btVector3(
-		v1.m_floats[0] + v2.m_floats[0],
-		v1.m_floats[1] + v2.m_floats[1],
-		v1.m_floats[2] + v2.m_floats[2]);
-#endif
-}
-
-/**@brief Return the elementwise product of two vectors */
-SIMD_FORCE_INLINE btVector3
-operator*(const btVector3& v1, const btVector3& v2)
-{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-	return btVector3(_mm_mul_ps(v1.mVec128, v2.mVec128));
-#elif defined(BT_USE_NEON)
-	return btVector3(vmulq_f32(v1.mVec128, v2.mVec128));
-#else
-	return btVector3(
-		v1.m_floats[0] * v2.m_floats[0],
-		v1.m_floats[1] * v2.m_floats[1],
-		v1.m_floats[2] * v2.m_floats[2]);
-#endif
-}
-
-/**@brief Return the difference between two vectors */
-SIMD_FORCE_INLINE btVector3
-operator-(const btVector3& v1, const btVector3& v2)
-{
-#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
-
-	//	without _mm_and_ps this code causes slowdown in Concave moving
-	__m128 r = _mm_sub_ps(v1.mVec128, v2.mVec128);
-	return btVector3(_mm_and_ps(r, btvFFF0fMask));
-#elif defined(BT_USE_NEON)
-	float32x4_t r = vsubq_f32(v1.mVec128, v2.mVec128);
-	return btVector3((float32x4_t)vandq_s32((int32x4_t)r, btvFFF0Mask));
-#else
-	return btVector3(
-		v1.m_floats[0] - v2.m_floats[0],
-		v1.m_floats[1] - v2.m_floats[1],
-		v1.m_floats[2] - v2.m_floats[2]);
-#endif
-}
-
-/**@brief Return the negative of the vector */
-SIMD_FORCE_INLINE btVector3
-operator-(const btVector3& v)
-{
-#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
-	__m128 r = _mm_xor_ps(v.mVec128, btvMzeroMask);
-	return btVector3(_mm_and_ps(r, btvFFF0fMask));
-#elif defined(BT_USE_NEON)
-	return btVector3((btSimdFloat4)veorq_s32((int32x4_t)v.mVec128, (int32x4_t)btvMzeroMask));
-#else
-	return btVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]);
-#endif
-}
-
-/**@brief Return the vector scaled by s */
-SIMD_FORCE_INLINE btVector3
-operator*(const btVector3& v, const btScalar& s)
-{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-	__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
-	vs = bt_pshufd_ps(vs, 0x80);  //	(S S S 0.0)
-	return btVector3(_mm_mul_ps(v.mVec128, vs));
-#elif defined(BT_USE_NEON)
-	float32x4_t r = vmulq_n_f32(v.mVec128, s);
-	return btVector3((float32x4_t)vandq_s32((int32x4_t)r, btvFFF0Mask));
-#else
-	return btVector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s);
-#endif
-}
-
-/**@brief Return the vector scaled by s */
-SIMD_FORCE_INLINE btVector3
-operator*(const btScalar& s, const btVector3& v)
-{
-	return v * s;
-}
-
-/**@brief Return the vector inversely scaled by s */
-SIMD_FORCE_INLINE btVector3
-operator/(const btVector3& v, const btScalar& s)
-{
-	btFullAssert(s != btScalar(0.0));
-#if 0  //defined(BT_USE_SSE_IN_API)
-// this code is not faster !
-	__m128 vs = _mm_load_ss(&s);
-    vs = _mm_div_ss(v1110, vs);
-	vs = bt_pshufd_ps(vs, 0x00);	//	(S S S S)
-
-	return btVector3(_mm_mul_ps(v.mVec128, vs));
-#else
-	return v * (btScalar(1.0) / s);
-#endif
-}
-
-/**@brief Return the vector inversely scaled by s */
-SIMD_FORCE_INLINE btVector3
-operator/(const btVector3& v1, const btVector3& v2)
-{
-#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
-	__m128 vec = _mm_div_ps(v1.mVec128, v2.mVec128);
-	vec = _mm_and_ps(vec, btvFFF0fMask);
-	return btVector3(vec);
-#elif defined(BT_USE_NEON)
-	float32x4_t x, y, v, m;
-
-	x = v1.mVec128;
-	y = v2.mVec128;
-
-	v = vrecpeq_f32(y);     // v ~ 1/y
-	m = vrecpsq_f32(y, v);  // m = (2-v*y)
-	v = vmulq_f32(v, m);    // vv = v*m ~~ 1/y
-	m = vrecpsq_f32(y, v);  // mm = (2-vv*y)
-	v = vmulq_f32(v, x);    // x*vv
-	v = vmulq_f32(v, m);    // (x*vv)*(2-vv*y) = x*(vv(2-vv*y)) ~~~ x/y
-
-	return btVector3(v);
-#else
-	return btVector3(
-		v1.m_floats[0] / v2.m_floats[0],
-		v1.m_floats[1] / v2.m_floats[1],
-		v1.m_floats[2] / v2.m_floats[2]);
-#endif
-}
-
-/**@brief Return the dot product between two vectors */
-SIMD_FORCE_INLINE btScalar
-btDot(const btVector3& v1, const btVector3& v2)
-{
-	return v1.dot(v2);
-}
-
-/**@brief Return the distance squared between two vectors */
-SIMD_FORCE_INLINE btScalar
-btDistance2(const btVector3& v1, const btVector3& v2)
-{
-	return v1.distance2(v2);
-}
-
-/**@brief Return the distance between two vectors */
-SIMD_FORCE_INLINE btScalar
-btDistance(const btVector3& v1, const btVector3& v2)
-{
-	return v1.distance(v2);
-}
-
-/**@brief Return the angle between two vectors */
-SIMD_FORCE_INLINE btScalar
-btAngle(const btVector3& v1, const btVector3& v2)
-{
-	return v1.angle(v2);
-}
-
-/**@brief Return the cross product of two vectors */
-SIMD_FORCE_INLINE btVector3
-btCross(const btVector3& v1, const btVector3& v2)
-{
-	return v1.cross(v2);
-}
-
-SIMD_FORCE_INLINE btScalar
-btTriple(const btVector3& v1, const btVector3& v2, const btVector3& v3)
-{
-	return v1.triple(v2, v3);
-}
-
-/**@brief Return the linear interpolation between two vectors
- * @param v1 One vector 
- * @param v2 The other vector 
- * @param t The ration of this to v (t = 0 => return v1, t=1 => return v2) */
-SIMD_FORCE_INLINE btVector3
-lerp(const btVector3& v1, const btVector3& v2, const btScalar& t)
-{
-	return v1.lerp(v2, t);
-}
-
-SIMD_FORCE_INLINE btScalar btVector3::distance2(const btVector3& v) const
-{
-	return (v - *this).length2();
-}
-
-SIMD_FORCE_INLINE btScalar btVector3::distance(const btVector3& v) const
-{
-	return (v - *this).length();
-}
-
-SIMD_FORCE_INLINE btVector3 btVector3::normalized() const
-{
-	btVector3 nrm = *this;
-
-	return nrm.normalize();
-}
-
-SIMD_FORCE_INLINE btVector3 btVector3::rotate(const btVector3& wAxis, const btScalar _angle) const
-{
-	// wAxis must be a unit lenght vector
-
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-
-	__m128 O = _mm_mul_ps(wAxis.mVec128, mVec128);
-	btScalar ssin = btSin(_angle);
-	__m128 C = wAxis.cross(mVec128).mVec128;
-	O = _mm_and_ps(O, btvFFF0fMask);
-	btScalar scos = btCos(_angle);
-
-	__m128 vsin = _mm_load_ss(&ssin);  //	(S 0 0 0)
-	__m128 vcos = _mm_load_ss(&scos);  //	(S 0 0 0)
-
-	__m128 Y = bt_pshufd_ps(O, 0xC9);  //	(Y Z X 0)
-	__m128 Z = bt_pshufd_ps(O, 0xD2);  //	(Z X Y 0)
-	O = _mm_add_ps(O, Y);
-	vsin = bt_pshufd_ps(vsin, 0x80);  //	(S S S 0)
-	O = _mm_add_ps(O, Z);
-	vcos = bt_pshufd_ps(vcos, 0x80);  //	(S S S 0)
-
-	vsin = vsin * C;
-	O = O * wAxis.mVec128;
-	__m128 X = mVec128 - O;
-
-	O = O + vsin;
-	vcos = vcos * X;
-	O = O + vcos;
-
-	return btVector3(O);
-#else
-	btVector3 o = wAxis * wAxis.dot(*this);
-	btVector3 _x = *this - o;
-	btVector3 _y;
-
-	_y = wAxis.cross(*this);
-
-	return (o + _x * btCos(_angle) + _y * btSin(_angle));
-#endif
-}
-
-SIMD_FORCE_INLINE long btVector3::maxDot(const btVector3* array, long array_count, btScalar& dotOut) const
-{
-#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
-#if defined _WIN32 || defined(BT_USE_SSE)
-	const long scalar_cutoff = 10;
-	long _maxdot_large(const float* array, const float* vec, unsigned long array_count, float* dotOut);
-#elif defined BT_USE_NEON
-	const long scalar_cutoff = 4;
-	extern long (*_maxdot_large)(const float* array, const float* vec, unsigned long array_count, float* dotOut);
-#endif
-	if (array_count < scalar_cutoff)
-#endif
-	{
-		btScalar maxDot1 = -SIMD_INFINITY;
-		int i = 0;
-		int ptIndex = -1;
-		for (i = 0; i < array_count; i++)
-		{
-			btScalar dot = array[i].dot(*this);
-
-			if (dot > maxDot1)
-			{
-				maxDot1 = dot;
-				ptIndex = i;
-			}
-		}
-
-		dotOut = maxDot1;
-		return ptIndex;
-	}
-#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
-	return _maxdot_large((float*)array, (float*)&m_floats[0], array_count, &dotOut);
-#endif
-}
-
-SIMD_FORCE_INLINE long btVector3::minDot(const btVector3* array, long array_count, btScalar& dotOut) const
-{
-#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
-#if defined BT_USE_SSE
-	const long scalar_cutoff = 10;
-	long _mindot_large(const float* array, const float* vec, unsigned long array_count, float* dotOut);
-#elif defined BT_USE_NEON
-	const long scalar_cutoff = 4;
-	extern long (*_mindot_large)(const float* array, const float* vec, unsigned long array_count, float* dotOut);
-#else
-#error unhandled arch!
-#endif
-
-	if (array_count < scalar_cutoff)
-#endif
-	{
-		btScalar minDot = SIMD_INFINITY;
-		int i = 0;
-		int ptIndex = -1;
-
-		for (i = 0; i < array_count; i++)
-		{
-			btScalar dot = array[i].dot(*this);
-
-			if (dot < minDot)
-			{
-				minDot = dot;
-				ptIndex = i;
-			}
-		}
-
-		dotOut = minDot;
-
-		return ptIndex;
-	}
-#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
-	return _mindot_large((float*)array, (float*)&m_floats[0], array_count, &dotOut);
-#endif  //BT_USE_SIMD_VECTOR3
-}
-
-class btVector4 : public btVector3
-{
-public:
-	SIMD_FORCE_INLINE btVector4() {}
-
-	SIMD_FORCE_INLINE btVector4(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
-		: btVector3(_x, _y, _z)
-	{
-		m_floats[3] = _w;
-	}
-
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-	SIMD_FORCE_INLINE btVector4(const btSimdFloat4 vec)
-	{
-		mVec128 = vec;
-	}
-
-	SIMD_FORCE_INLINE btVector4(const btVector3& rhs)
-	{
-		mVec128 = rhs.mVec128;
-	}
-
-	SIMD_FORCE_INLINE btVector4&
-	operator=(const btVector4& v)
-	{
-		mVec128 = v.mVec128;
-		return *this;
-	}
-#endif  // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
-
-	SIMD_FORCE_INLINE btVector4 absolute4() const
-	{
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		return btVector4(_mm_and_ps(mVec128, btvAbsfMask));
-#elif defined(BT_USE_NEON)
-		return btVector4(vabsq_f32(mVec128));
-#else
-		return btVector4(
-			btFabs(m_floats[0]),
-			btFabs(m_floats[1]),
-			btFabs(m_floats[2]),
-			btFabs(m_floats[3]));
-#endif
-	}
-
-	btScalar getW() const { return m_floats[3]; }
-
-	SIMD_FORCE_INLINE int maxAxis4() const
-	{
-		int maxIndex = -1;
-		btScalar maxVal = btScalar(-BT_LARGE_FLOAT);
-		if (m_floats[0] > maxVal)
-		{
-			maxIndex = 0;
-			maxVal = m_floats[0];
-		}
-		if (m_floats[1] > maxVal)
-		{
-			maxIndex = 1;
-			maxVal = m_floats[1];
-		}
-		if (m_floats[2] > maxVal)
-		{
-			maxIndex = 2;
-			maxVal = m_floats[2];
-		}
-		if (m_floats[3] > maxVal)
-		{
-			maxIndex = 3;
-		}
-
-		return maxIndex;
-	}
-
-	SIMD_FORCE_INLINE int minAxis4() const
-	{
-		int minIndex = -1;
-		btScalar minVal = btScalar(BT_LARGE_FLOAT);
-		if (m_floats[0] < minVal)
-		{
-			minIndex = 0;
-			minVal = m_floats[0];
-		}
-		if (m_floats[1] < minVal)
-		{
-			minIndex = 1;
-			minVal = m_floats[1];
-		}
-		if (m_floats[2] < minVal)
-		{
-			minIndex = 2;
-			minVal = m_floats[2];
-		}
-		if (m_floats[3] < minVal)
-		{
-			minIndex = 3;
-		}
-
-		return minIndex;
-	}
-
-	SIMD_FORCE_INLINE int closestAxis4() const
-	{
-		return absolute4().maxAxis4();
-	}
-
-	/**@brief Set x,y,z and zero w 
-   * @param x Value of x
-   * @param y Value of y
-   * @param z Value of z
-   */
-
-	/*		void getValue(btScalar *m) const 
-		{
-			m[0] = m_floats[0];
-			m[1] = m_floats[1];
-			m[2] =m_floats[2];
-		}
-*/
-	/**@brief Set the values 
-   * @param x Value of x
-   * @param y Value of y
-   * @param z Value of z
-   * @param w Value of w
-   */
-	SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
-	{
-		m_floats[0] = _x;
-		m_floats[1] = _y;
-		m_floats[2] = _z;
-		m_floats[3] = _w;
-	}
-};
-
-///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
-SIMD_FORCE_INLINE void btSwapScalarEndian(const btScalar& sourceVal, btScalar& destVal)
-{
-#ifdef BT_USE_DOUBLE_PRECISION
-	unsigned char* dest = (unsigned char*)&destVal;
-	const unsigned char* src = (const unsigned char*)&sourceVal;
-	dest[0] = src[7];
-	dest[1] = src[6];
-	dest[2] = src[5];
-	dest[3] = src[4];
-	dest[4] = src[3];
-	dest[5] = src[2];
-	dest[6] = src[1];
-	dest[7] = src[0];
-#else
-	unsigned char* dest = (unsigned char*)&destVal;
-	const unsigned char* src = (const unsigned char*)&sourceVal;
-	dest[0] = src[3];
-	dest[1] = src[2];
-	dest[2] = src[1];
-	dest[3] = src[0];
-#endif  //BT_USE_DOUBLE_PRECISION
-}
-///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
-SIMD_FORCE_INLINE void btSwapVector3Endian(const btVector3& sourceVec, btVector3& destVec)
-{
-	for (int i = 0; i < 4; i++)
-	{
-		btSwapScalarEndian(sourceVec[i], destVec[i]);
-	}
-}
-
-///btUnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
-SIMD_FORCE_INLINE void btUnSwapVector3Endian(btVector3& vector)
-{
-	btVector3 swappedVec;
-	for (int i = 0; i < 4; i++)
-	{
-		btSwapScalarEndian(vector[i], swappedVec[i]);
-	}
-	vector = swappedVec;
-}
-
-template <class T>
-SIMD_FORCE_INLINE void btPlaneSpace1(const T& n, T& p, T& q)
-{
-	if (btFabs(n[2]) > SIMDSQRT12)
-	{
-		// choose p in y-z plane
-		btScalar a = n[1] * n[1] + n[2] * n[2];
-		btScalar k = btRecipSqrt(a);
-		p[0] = 0;
-		p[1] = -n[2] * k;
-		p[2] = n[1] * k;
-		// set q = n x p
-		q[0] = a * k;
-		q[1] = -n[0] * p[2];
-		q[2] = n[0] * p[1];
-	}
-	else
-	{
-		// choose p in x-y plane
-		btScalar a = n[0] * n[0] + n[1] * n[1];
-		btScalar k = btRecipSqrt(a);
-		p[0] = -n[1] * k;
-		p[1] = n[0] * k;
-		p[2] = 0;
-		// set q = n x p
-		q[0] = -n[2] * p[1];
-		q[1] = n[2] * p[0];
-		q[2] = a * k;
-	}
-}
-
-struct btVector3FloatData
-{
-	float m_floats[4];
-};
-
-struct btVector3DoubleData
-{
-	double m_floats[4];
-};
-
-SIMD_FORCE_INLINE void btVector3::serializeFloat(struct btVector3FloatData& dataOut) const
-{
-	///could also do a memcpy, check if it is worth it
-	for (int i = 0; i < 4; i++)
-		dataOut.m_floats[i] = float(m_floats[i]);
-}
-
-SIMD_FORCE_INLINE void btVector3::deSerializeFloat(const struct btVector3FloatData& dataIn)
-{
-	for (int i = 0; i < 4; i++)
-		m_floats[i] = btScalar(dataIn.m_floats[i]);
-}
-
-SIMD_FORCE_INLINE void btVector3::serializeDouble(struct btVector3DoubleData& dataOut) const
-{
-	///could also do a memcpy, check if it is worth it
-	for (int i = 0; i < 4; i++)
-		dataOut.m_floats[i] = double(m_floats[i]);
-}
-
-SIMD_FORCE_INLINE void btVector3::deSerializeDouble(const struct btVector3DoubleData& dataIn)
-{
-	for (int i = 0; i < 4; i++)
-		m_floats[i] = btScalar(dataIn.m_floats[i]);
-}
-
-SIMD_FORCE_INLINE void btVector3::serialize(struct btVector3Data& dataOut) const
-{
-	///could also do a memcpy, check if it is worth it
-	for (int i = 0; i < 4; i++)
-		dataOut.m_floats[i] = m_floats[i];
-}
-
-SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3FloatData& dataIn)
-{
-	for (int i = 0; i < 4; i++)
-		m_floats[i] = (btScalar)dataIn.m_floats[i];
-}
-
-SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3DoubleData& dataIn)
-{
-	for (int i = 0; i < 4; i++)
-		m_floats[i] = (btScalar)dataIn.m_floats[i];
-}
-
-#endif  //BT_VECTOR3_H
diff --git a/thirdparty/bullet/VERSION.txt b/thirdparty/bullet/VERSION.txt
deleted file mode 100644
index 78c8a7428a..0000000000
--- a/thirdparty/bullet/VERSION.txt
+++ /dev/null
@@ -1 +0,0 @@
-3.17
diff --git a/thirdparty/bullet/btBulletCollisionAll.cpp b/thirdparty/bullet/btBulletCollisionAll.cpp
deleted file mode 100644
index 4a3ec8dd6f..0000000000
--- a/thirdparty/bullet/btBulletCollisionAll.cpp
+++ /dev/null
@@ -1,97 +0,0 @@
-#include "BulletCollision/BroadphaseCollision/btAxisSweep3.cpp"
-#include "BulletCollision/BroadphaseCollision/btDbvt.cpp"
-#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp"
-#include "BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp"
-#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp"
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp"
-#include "BulletCollision/BroadphaseCollision/btDispatcher.cpp"
-#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp"
-#include "BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp"
-#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp"
-#include "BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp"
-#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp"
-#include "BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp"
-#include "BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp"
-#include "BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp"
-#include "BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp"
-#include "BulletCollision/CollisionDispatch/btManifoldResult.cpp"
-#include "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp"
-#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp"
-#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp"
-#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp"
-#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp"
-#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp"
-#include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp"
-#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.cpp"
-#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp"
-#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp"
-#include "BulletCollision/CollisionDispatch/btCollisionWorld.cpp"
-#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp"
-#include "BulletCollision/CollisionDispatch/btUnionFind.cpp"
-#include "BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp"
-#include "BulletCollision/CollisionDispatch/btGhostObject.cpp"
-#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp"
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp"
-#include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp"
-#include "BulletCollision/NarrowPhaseCollision/btConvexCast.cpp"
-#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp"
-#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp"
-#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp"
-#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp"
-#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp"
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp"
-#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp"
-#include "BulletCollision/CollisionShapes/btBox2dShape.cpp"
-#include "BulletCollision/CollisionShapes/btConvexPolyhedron.cpp"
-#include "BulletCollision/CollisionShapes/btShapeHull.cpp"
-#include "BulletCollision/CollisionShapes/btBoxShape.cpp"
-#include "BulletCollision/CollisionShapes/btConvexShape.cpp"
-#include "BulletCollision/CollisionShapes/btSphereShape.cpp"
-#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp"
-#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp"
-#include "BulletCollision/CollisionShapes/btStaticPlaneShape.cpp"
-#include "BulletCollision/CollisionShapes/btCapsuleShape.cpp"
-#include "BulletCollision/CollisionShapes/btCylinderShape.cpp"
-#include "BulletCollision/CollisionShapes/btStridingMeshInterface.cpp"
-#include "BulletCollision/CollisionShapes/btCollisionShape.cpp"
-#include "BulletCollision/CollisionShapes/btEmptyShape.cpp"
-#include "BulletCollision/CollisionShapes/btTetrahedronShape.cpp"
-#include "BulletCollision/CollisionShapes/btCompoundShape.cpp"
-#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp"
-#include "BulletCollision/CollisionShapes/btTriangleBuffer.cpp"
-#include "BulletCollision/CollisionShapes/btConcaveShape.cpp"
-#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp"
-#include "BulletCollision/CollisionShapes/btTriangleCallback.cpp"
-#include "BulletCollision/CollisionShapes/btConeShape.cpp"
-#include "BulletCollision/CollisionShapes/btMultiSphereShape.cpp"
-#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp"
-#include "BulletCollision/CollisionShapes/btConvex2dShape.cpp"
-#include "BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp"
-#include "BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp"
-#include "BulletCollision/CollisionShapes/btConvexHullShape.cpp"
-#include "BulletCollision/CollisionShapes/btOptimizedBvh.cpp"
-#include "BulletCollision/CollisionShapes/btTriangleMesh.cpp"
-#include "BulletCollision/CollisionShapes/btConvexInternalShape.cpp"
-#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp"
-#include "BulletCollision/CollisionShapes/btTriangleMeshShape.cpp"
-#include "BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp"
-#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp"
-#include "BulletCollision/CollisionShapes/btSdfCollisionShape.cpp"
-#include "BulletCollision/CollisionShapes/btMiniSDF.cpp"
-#include "BulletCollision/CollisionShapes/btUniformScalingShape.cpp"
-#include "BulletCollision/Gimpact/btContactProcessing.cpp"
-#include "BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp"
-#include "BulletCollision/Gimpact/btTriangleShapeEx.cpp"
-#include "BulletCollision/Gimpact/gim_memory.cpp"
-#include "BulletCollision/Gimpact/btGImpactBvh.cpp"
-#include "BulletCollision/Gimpact/btGImpactShape.cpp"
-#include "BulletCollision/Gimpact/gim_box_set.cpp"
-#include "BulletCollision/Gimpact/gim_tri_collision.cpp"
-#include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp"
-#include "BulletCollision/Gimpact/btGenericPoolAllocator.cpp"
-#include "BulletCollision/Gimpact/gim_contact.cpp"
diff --git a/thirdparty/bullet/btBulletCollisionCommon.h b/thirdparty/bullet/btBulletCollisionCommon.h
deleted file mode 100644
index 4f523756a7..0000000000
--- a/thirdparty/bullet/btBulletCollisionCommon.h
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BULLET_COLLISION_COMMON_H
-#define BULLET_COLLISION_COMMON_H
-
-///Common headerfile includes for Bullet Collision Detection
-
-///Bullet's btCollisionWorld and btCollisionObject definitions
-#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-
-///Collision Shapes
-#include "BulletCollision/CollisionShapes/btBoxShape.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
-#include "BulletCollision/CollisionShapes/btCylinderShape.h"
-#include "BulletCollision/CollisionShapes/btConeShape.h"
-#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
-#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
-#include "BulletCollision/CollisionShapes/btTriangleMesh.h"
-#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
-#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
-#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h"
-#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
-#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
-#include "BulletCollision/CollisionShapes/btCompoundShape.h"
-#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
-#include "BulletCollision/CollisionShapes/btEmptyShape.h"
-#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
-#include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
-
-///Narrowphase Collision Detector
-#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
-
-//#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h"
-
-///Dispatching and generation of collision pairs (broadphase)
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
-#include "BulletCollision/BroadphaseCollision/btAxisSweep3.h"
-#include "BulletCollision/BroadphaseCollision/btDbvtBroadphase.h"
-
-///Math library & Utils
-#include "LinearMath/btQuaternion.h"
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btDefaultMotionState.h"
-#include "LinearMath/btQuickprof.h"
-#include "LinearMath/btIDebugDraw.h"
-#include "LinearMath/btSerializer.h"
-
-#endif  //BULLET_COLLISION_COMMON_H
diff --git a/thirdparty/bullet/btBulletDynamicsAll.cpp b/thirdparty/bullet/btBulletDynamicsAll.cpp
deleted file mode 100644
index a8069e30ae..0000000000
--- a/thirdparty/bullet/btBulletDynamicsAll.cpp
+++ /dev/null
@@ -1,42 +0,0 @@
-#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp"
-#include "BulletDynamics/Dynamics/btRigidBody.cpp"
-#include "BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp"
-#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp"
-#include "BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp"
-#include "BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp"
-#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp"
-#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp"
-#include "BulletDynamics/ConstraintSolver/btSliderConstraint.cpp"
-#include "BulletDynamics/ConstraintSolver/btContactConstraint.cpp"
-#include "BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp"
-#include "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp"
-#include "BulletDynamics/ConstraintSolver/btFixedConstraint.cpp"
-#include "BulletDynamics/ConstraintSolver/btHingeConstraint.cpp"
-#include "BulletDynamics/ConstraintSolver/btTypedConstraint.cpp"
-#include "BulletDynamics/ConstraintSolver/btGearConstraint.cpp"
-#include "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp"
-#include "BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp"
-#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp"
-#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp"
-#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp"
-#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp"
-#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp"
-#include "BulletDynamics/MLCPSolvers/btDantzigLCP.cpp"
-#include "BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp"
-#include "BulletDynamics/MLCPSolvers/btMLCPSolver.cpp"
-#include "BulletDynamics/Featherstone/btMultiBody.cpp"
-#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp"
-#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp"
-#include "BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp"
-#include "BulletDynamics/Featherstone/btMultiBodyConstraint.cpp"
-#include "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp"
-#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp"
-#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp"
-#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp"
-#include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp"
-#include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp"
-#include "BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp"
-#include "BulletDynamics/Vehicle/btRaycastVehicle.cpp"
-#include "BulletDynamics/Vehicle/btWheelInfo.cpp"
-#include "BulletDynamics/Character/btKinematicCharacterController.cpp"
-
diff --git a/thirdparty/bullet/btBulletDynamicsCommon.h b/thirdparty/bullet/btBulletDynamicsCommon.h
deleted file mode 100644
index a421fa4461..0000000000
--- a/thirdparty/bullet/btBulletDynamicsCommon.h
+++ /dev/null
@@ -1,43 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BULLET_DYNAMICS_COMMON_H
-#define BULLET_DYNAMICS_COMMON_H
-
-///Common headerfile includes for Bullet Dynamics, including Collision Detection
-#include "btBulletCollisionCommon.h"
-
-#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
-
-#include "BulletDynamics/Dynamics/btSimpleDynamicsWorld.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-
-#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btUniversalConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btHinge2Constraint.h"
-#include "BulletDynamics/ConstraintSolver/btGearConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btFixedConstraint.h"
-
-#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
-
-///Vehicle simulation, with wheel contact simulated by raycasts
-#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
-
-#endif  //BULLET_DYNAMICS_COMMON_H
diff --git a/thirdparty/bullet/btLinearMathAll.cpp b/thirdparty/bullet/btLinearMathAll.cpp
deleted file mode 100644
index d05a19e630..0000000000
--- a/thirdparty/bullet/btLinearMathAll.cpp
+++ /dev/null
@@ -1,15 +0,0 @@
-#include "LinearMath/btAlignedAllocator.cpp"
-#include "LinearMath/btGeometryUtil.cpp"
-#include "LinearMath/btSerializer.cpp"
-#include "LinearMath/btVector3.cpp"
-#include "LinearMath/btConvexHull.cpp"
-#include "LinearMath/btPolarDecomposition.cpp"
-#include "LinearMath/btSerializer64.cpp"
-#include "LinearMath/btConvexHullComputer.cpp"
-#include "LinearMath/btQuickprof.cpp"
-#include "LinearMath/btThreads.cpp"
-#include "LinearMath/btReducedVector.cpp"
-#include "LinearMath/TaskScheduler/btTaskScheduler.cpp"
-#include "LinearMath/TaskScheduler/btThreadSupportPosix.cpp"
-#include "LinearMath/TaskScheduler/btThreadSupportWin32.cpp"
-
diff --git a/thirdparty/bullet/clew/clew.c b/thirdparty/bullet/clew/clew.c
deleted file mode 100644
index 90caced535..0000000000
--- a/thirdparty/bullet/clew/clew.c
+++ /dev/null
@@ -1,374 +0,0 @@
-//////////////////////////////////////////////////////////////////////////
-//  Copyright (c) 2009 Organic Vectory B.V.
-//  Written by George van Venrooij
-//
-//  Distributed under the Boost Software License, Version 1.0.
-//  (See accompanying file license.txt)
-//////////////////////////////////////////////////////////////////////////
-
-#include "clew.h"
-
-#ifdef _WIN32
-#define WIN32_LEAN_AND_MEAN
-#define VC_EXTRALEAN
-#include <windows.h>
-
-typedef HMODULE CLEW_DYNLIB_HANDLE;
-
-#define CLEW_DYNLIB_OPEN LoadLibraryA
-#define CLEW_DYNLIB_CLOSE FreeLibrary
-#define CLEW_DYNLIB_IMPORT GetProcAddress
-#else
-#include <dlfcn.h>
-
-typedef void* CLEW_DYNLIB_HANDLE;
-
-#define CLEW_DYNLIB_OPEN(path) dlopen(path, RTLD_NOW | RTLD_GLOBAL)
-#define CLEW_DYNLIB_CLOSE dlclose
-#define CLEW_DYNLIB_IMPORT dlsym
-#endif
-
-#include <stdlib.h>
-
-//! \brief module handle
-static CLEW_DYNLIB_HANDLE module = NULL;
-
-//  Variables holding function entry points
-PFNCLGETPLATFORMIDS __clewGetPlatformIDs = NULL;
-PFNCLGETPLATFORMINFO __clewGetPlatformInfo = NULL;
-PFNCLGETDEVICEIDS __clewGetDeviceIDs = NULL;
-PFNCLGETDEVICEINFO __clewGetDeviceInfo = NULL;
-PFNCLCREATECONTEXT __clewCreateContext = NULL;
-PFNCLCREATECONTEXTFROMTYPE __clewCreateContextFromType = NULL;
-PFNCLRETAINCONTEXT __clewRetainContext = NULL;
-PFNCLRELEASECONTEXT __clewReleaseContext = NULL;
-PFNCLGETCONTEXTINFO __clewGetContextInfo = NULL;
-PFNCLCREATECOMMANDQUEUE __clewCreateCommandQueue = NULL;
-PFNCLRETAINCOMMANDQUEUE __clewRetainCommandQueue = NULL;
-PFNCLRELEASECOMMANDQUEUE __clewReleaseCommandQueue = NULL;
-PFNCLGETCOMMANDQUEUEINFO __clewGetCommandQueueInfo = NULL;
-#ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS
-PFNCLSETCOMMANDQUEUEPROPERTY __clewSetCommandQueueProperty = NULL;
-#endif
-PFNCLCREATEBUFFER __clewCreateBuffer = NULL;
-PFNCLCREATESUBBUFFER __clewCreateSubBuffer = NULL;
-PFNCLCREATEIMAGE2D __clewCreateImage2D = NULL;
-PFNCLCREATEIMAGE3D __clewCreateImage3D = NULL;
-PFNCLRETAINMEMOBJECT __clewRetainMemObject = NULL;
-PFNCLRELEASEMEMOBJECT __clewReleaseMemObject = NULL;
-PFNCLGETSUPPORTEDIMAGEFORMATS __clewGetSupportedImageFormats = NULL;
-PFNCLGETMEMOBJECTINFO __clewGetMemObjectInfo = NULL;
-PFNCLGETIMAGEINFO __clewGetImageInfo = NULL;
-PFNCLSETMEMOBJECTDESTRUCTORCALLBACK __clewSetMemObjectDestructorCallback = NULL;
-PFNCLCREATESAMPLER __clewCreateSampler = NULL;
-PFNCLRETAINSAMPLER __clewRetainSampler = NULL;
-PFNCLRELEASESAMPLER __clewReleaseSampler = NULL;
-PFNCLGETSAMPLERINFO __clewGetSamplerInfo = NULL;
-PFNCLCREATEPROGRAMWITHSOURCE __clewCreateProgramWithSource = NULL;
-PFNCLCREATEPROGRAMWITHBINARY __clewCreateProgramWithBinary = NULL;
-PFNCLRETAINPROGRAM __clewRetainProgram = NULL;
-PFNCLRELEASEPROGRAM __clewReleaseProgram = NULL;
-PFNCLBUILDPROGRAM __clewBuildProgram = NULL;
-PFNCLUNLOADCOMPILER __clewUnloadCompiler = NULL;
-PFNCLGETPROGRAMINFO __clewGetProgramInfo = NULL;
-PFNCLGETPROGRAMBUILDINFO __clewGetProgramBuildInfo = NULL;
-PFNCLCREATEKERNEL __clewCreateKernel = NULL;
-PFNCLCREATEKERNELSINPROGRAM __clewCreateKernelsInProgram = NULL;
-PFNCLRETAINKERNEL __clewRetainKernel = NULL;
-PFNCLRELEASEKERNEL __clewReleaseKernel = NULL;
-PFNCLSETKERNELARG __clewSetKernelArg = NULL;
-PFNCLGETKERNELINFO __clewGetKernelInfo = NULL;
-PFNCLGETKERNELWORKGROUPINFO __clewGetKernelWorkGroupInfo = NULL;
-PFNCLWAITFOREVENTS __clewWaitForEvents = NULL;
-PFNCLGETEVENTINFO __clewGetEventInfo = NULL;
-PFNCLCREATEUSEREVENT __clewCreateUserEvent = NULL;
-PFNCLRETAINEVENT __clewRetainEvent = NULL;
-PFNCLRELEASEEVENT __clewReleaseEvent = NULL;
-PFNCLSETUSEREVENTSTATUS __clewSetUserEventStatus = NULL;
-PFNCLSETEVENTCALLBACK __clewSetEventCallback = NULL;
-PFNCLGETEVENTPROFILINGINFO __clewGetEventProfilingInfo = NULL;
-PFNCLFLUSH __clewFlush = NULL;
-PFNCLFINISH __clewFinish = NULL;
-PFNCLENQUEUEREADBUFFER __clewEnqueueReadBuffer = NULL;
-PFNCLENQUEUEREADBUFFERRECT __clewEnqueueReadBufferRect = NULL;
-PFNCLENQUEUEWRITEBUFFER __clewEnqueueWriteBuffer = NULL;
-PFNCLENQUEUEWRITEBUFFERRECT __clewEnqueueWriteBufferRect = NULL;
-PFNCLENQUEUECOPYBUFFER __clewEnqueueCopyBuffer = NULL;
-PFNCLENQUEUEREADIMAGE __clewEnqueueReadImage = NULL;
-PFNCLENQUEUEWRITEIMAGE __clewEnqueueWriteImage = NULL;
-PFNCLENQUEUECOPYIMAGE __clewEnqueueCopyImage = NULL;
-PFNCLENQUEUECOPYBUFFERRECT __clewEnqueueCopyBufferRect = NULL;
-PFNCLENQUEUECOPYIMAGETOBUFFER __clewEnqueueCopyImageToBuffer = NULL;
-PFNCLENQUEUECOPYBUFFERTOIMAGE __clewEnqueueCopyBufferToImage = NULL;
-PFNCLENQUEUEMAPBUFFER __clewEnqueueMapBuffer = NULL;
-PFNCLENQUEUEMAPIMAGE __clewEnqueueMapImage = NULL;
-PFNCLENQUEUEUNMAPMEMOBJECT __clewEnqueueUnmapMemObject = NULL;
-PFNCLENQUEUENDRANGEKERNEL __clewEnqueueNDRangeKernel = NULL;
-PFNCLENQUEUETASK __clewEnqueueTask = NULL;
-PFNCLENQUEUENATIVEKERNEL __clewEnqueueNativeKernel = NULL;
-PFNCLENQUEUEMARKER __clewEnqueueMarker = NULL;
-PFNCLENQUEUEWAITFOREVENTS __clewEnqueueWaitForEvents = NULL;
-PFNCLENQUEUEBARRIER __clewEnqueueBarrier = NULL;
-PFNCLGETEXTENSIONFUNCTIONADDRESS __clewGetExtensionFunctionAddress = NULL;
-
-void clewExit(void)
-{
-	if (module != NULL)
-	{
-		//  Ignore errors
-		CLEW_DYNLIB_CLOSE(module);
-		module = NULL;
-	}
-}
-
-int clewInit(const char* path)
-{
-	int error = 0;
-
-	//  Check if already initialized
-	if (module != NULL)
-	{
-		return CLEW_SUCCESS;
-	}
-
-	//  Load library
-	module = CLEW_DYNLIB_OPEN(path);
-
-	//  Check for errors
-	if (module == NULL)
-	{
-		return CLEW_ERROR_OPEN_FAILED;
-	}
-
-	//  Set unloading
-	error = atexit(clewExit);
-
-	if (error)
-	{
-		//  Failure queuing atexit, shutdown with error
-		CLEW_DYNLIB_CLOSE(module);
-		module = NULL;
-
-		return CLEW_ERROR_ATEXIT_FAILED;
-	}
-
-	//  Determine function entry-points
-	__clewGetPlatformIDs = (PFNCLGETPLATFORMIDS)CLEW_DYNLIB_IMPORT(module, "clGetPlatformIDs");
-	__clewGetPlatformInfo = (PFNCLGETPLATFORMINFO)CLEW_DYNLIB_IMPORT(module, "clGetPlatformInfo");
-	__clewGetDeviceIDs = (PFNCLGETDEVICEIDS)CLEW_DYNLIB_IMPORT(module, "clGetDeviceIDs");
-	__clewGetDeviceInfo = (PFNCLGETDEVICEINFO)CLEW_DYNLIB_IMPORT(module, "clGetDeviceInfo");
-	__clewCreateContext = (PFNCLCREATECONTEXT)CLEW_DYNLIB_IMPORT(module, "clCreateContext");
-	__clewCreateContextFromType = (PFNCLCREATECONTEXTFROMTYPE)CLEW_DYNLIB_IMPORT(module, "clCreateContextFromType");
-	__clewRetainContext = (PFNCLRETAINCONTEXT)CLEW_DYNLIB_IMPORT(module, "clRetainContext");
-	__clewReleaseContext = (PFNCLRELEASECONTEXT)CLEW_DYNLIB_IMPORT(module, "clReleaseContext");
-	__clewGetContextInfo = (PFNCLGETCONTEXTINFO)CLEW_DYNLIB_IMPORT(module, "clGetContextInfo");
-	__clewCreateCommandQueue = (PFNCLCREATECOMMANDQUEUE)CLEW_DYNLIB_IMPORT(module, "clCreateCommandQueue");
-	__clewRetainCommandQueue = (PFNCLRETAINCOMMANDQUEUE)CLEW_DYNLIB_IMPORT(module, "clRetainCommandQueue");
-	__clewReleaseCommandQueue = (PFNCLRELEASECOMMANDQUEUE)CLEW_DYNLIB_IMPORT(module, "clReleaseCommandQueue");
-	__clewGetCommandQueueInfo = (PFNCLGETCOMMANDQUEUEINFO)CLEW_DYNLIB_IMPORT(module, "clGetCommandQueueInfo");
-#ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS
-	__clewSetCommandQueueProperty = (PFNCLSETCOMMANDQUEUEPROPERTY)CLEW_DYNLIB_IMPORT(module, "clSetCommandQueueProperty");
-#endif
-	__clewCreateBuffer = (PFNCLCREATEBUFFER)CLEW_DYNLIB_IMPORT(module, "clCreateBuffer");
-	__clewCreateSubBuffer = (PFNCLCREATESUBBUFFER)CLEW_DYNLIB_IMPORT(module, "clCreateBuffer");
-	__clewCreateImage2D = (PFNCLCREATEIMAGE2D)CLEW_DYNLIB_IMPORT(module, "clCreateImage2D");
-	__clewCreateImage3D = (PFNCLCREATEIMAGE3D)CLEW_DYNLIB_IMPORT(module, "clCreateImage3D");
-	__clewRetainMemObject = (PFNCLRETAINMEMOBJECT)CLEW_DYNLIB_IMPORT(module, "clRetainMemObject");
-	__clewReleaseMemObject = (PFNCLRELEASEMEMOBJECT)CLEW_DYNLIB_IMPORT(module, "clReleaseMemObject");
-	__clewGetSupportedImageFormats = (PFNCLGETSUPPORTEDIMAGEFORMATS)CLEW_DYNLIB_IMPORT(module, "clGetSupportedImageFormats");
-	__clewGetMemObjectInfo = (PFNCLGETMEMOBJECTINFO)CLEW_DYNLIB_IMPORT(module, "clGetMemObjectInfo");
-	__clewGetImageInfo = (PFNCLGETIMAGEINFO)CLEW_DYNLIB_IMPORT(module, "clGetImageInfo");
-	__clewSetMemObjectDestructorCallback = (PFNCLSETMEMOBJECTDESTRUCTORCALLBACK)CLEW_DYNLIB_IMPORT(module, "clSetMemObjectDestructorCallback");
-	__clewCreateSampler = (PFNCLCREATESAMPLER)CLEW_DYNLIB_IMPORT(module, "clCreateSampler");
-	__clewRetainSampler = (PFNCLRETAINSAMPLER)CLEW_DYNLIB_IMPORT(module, "clRetainSampler");
-	__clewReleaseSampler = (PFNCLRELEASESAMPLER)CLEW_DYNLIB_IMPORT(module, "clReleaseSampler");
-	__clewGetSamplerInfo = (PFNCLGETSAMPLERINFO)CLEW_DYNLIB_IMPORT(module, "clGetSamplerInfo");
-	__clewCreateProgramWithSource = (PFNCLCREATEPROGRAMWITHSOURCE)CLEW_DYNLIB_IMPORT(module, "clCreateProgramWithSource");
-	__clewCreateProgramWithBinary = (PFNCLCREATEPROGRAMWITHBINARY)CLEW_DYNLIB_IMPORT(module, "clCreateProgramWithBinary");
-	__clewRetainProgram = (PFNCLRETAINPROGRAM)CLEW_DYNLIB_IMPORT(module, "clRetainProgram");
-	__clewReleaseProgram = (PFNCLRELEASEPROGRAM)CLEW_DYNLIB_IMPORT(module, "clReleaseProgram");
-	__clewBuildProgram = (PFNCLBUILDPROGRAM)CLEW_DYNLIB_IMPORT(module, "clBuildProgram");
-	__clewUnloadCompiler = (PFNCLUNLOADCOMPILER)CLEW_DYNLIB_IMPORT(module, "clUnloadCompiler");
-	__clewGetProgramInfo = (PFNCLGETPROGRAMINFO)CLEW_DYNLIB_IMPORT(module, "clGetProgramInfo");
-	__clewGetProgramBuildInfo = (PFNCLGETPROGRAMBUILDINFO)CLEW_DYNLIB_IMPORT(module, "clGetProgramBuildInfo");
-	__clewCreateKernel = (PFNCLCREATEKERNEL)CLEW_DYNLIB_IMPORT(module, "clCreateKernel");
-	__clewCreateKernelsInProgram = (PFNCLCREATEKERNELSINPROGRAM)CLEW_DYNLIB_IMPORT(module, "clCreateKernelsInProgram");
-	__clewRetainKernel = (PFNCLRETAINKERNEL)CLEW_DYNLIB_IMPORT(module, "clRetainKernel");
-	__clewReleaseKernel = (PFNCLRELEASEKERNEL)CLEW_DYNLIB_IMPORT(module, "clReleaseKernel");
-	__clewSetKernelArg = (PFNCLSETKERNELARG)CLEW_DYNLIB_IMPORT(module, "clSetKernelArg");
-	__clewGetKernelInfo = (PFNCLGETKERNELINFO)CLEW_DYNLIB_IMPORT(module, "clGetKernelInfo");
-	__clewGetKernelWorkGroupInfo = (PFNCLGETKERNELWORKGROUPINFO)CLEW_DYNLIB_IMPORT(module, "clGetKernelWorkGroupInfo");
-	__clewWaitForEvents = (PFNCLWAITFOREVENTS)CLEW_DYNLIB_IMPORT(module, "clWaitForEvents");
-	__clewGetEventInfo = (PFNCLGETEVENTINFO)CLEW_DYNLIB_IMPORT(module, "clGetEventInfo");
-	__clewCreateUserEvent = (PFNCLCREATEUSEREVENT)CLEW_DYNLIB_IMPORT(module, "clCreateUserEvent");
-	__clewRetainEvent = (PFNCLRETAINEVENT)CLEW_DYNLIB_IMPORT(module, "clRetainEvent");
-	__clewReleaseEvent = (PFNCLRELEASEEVENT)CLEW_DYNLIB_IMPORT(module, "clReleaseEvent");
-	__clewSetUserEventStatus = (PFNCLSETUSEREVENTSTATUS)CLEW_DYNLIB_IMPORT(module, "clSetUserEventStatus");
-	__clewSetEventCallback = (PFNCLSETEVENTCALLBACK)CLEW_DYNLIB_IMPORT(module, "clSetEventCallback");
-	__clewGetEventProfilingInfo = (PFNCLGETEVENTPROFILINGINFO)CLEW_DYNLIB_IMPORT(module, "clGetEventProfilingInfo");
-	__clewFlush = (PFNCLFLUSH)CLEW_DYNLIB_IMPORT(module, "clFlush");
-	__clewFinish = (PFNCLFINISH)CLEW_DYNLIB_IMPORT(module, "clFinish");
-	__clewEnqueueReadBuffer = (PFNCLENQUEUEREADBUFFER)CLEW_DYNLIB_IMPORT(module, "clEnqueueReadBuffer");
-	__clewEnqueueReadBufferRect = (PFNCLENQUEUEREADBUFFERRECT)CLEW_DYNLIB_IMPORT(module, "clEnqueueReadBufferRect");
-	__clewEnqueueWriteBuffer = (PFNCLENQUEUEWRITEBUFFER)CLEW_DYNLIB_IMPORT(module, "clEnqueueWriteBuffer");
-	__clewEnqueueWriteBufferRect = (PFNCLENQUEUEWRITEBUFFERRECT)CLEW_DYNLIB_IMPORT(module, "clEnqueueWriteBufferRect");
-	__clewEnqueueCopyBuffer = (PFNCLENQUEUECOPYBUFFER)CLEW_DYNLIB_IMPORT(module, "clEnqueueCopyBuffer");
-	__clewEnqueueCopyBufferRect = (PFNCLENQUEUECOPYBUFFERRECT)CLEW_DYNLIB_IMPORT(module, "clEnqueueCopyBufferRect");
-	__clewEnqueueReadImage = (PFNCLENQUEUEREADIMAGE)CLEW_DYNLIB_IMPORT(module, "clEnqueueReadImage");
-	__clewEnqueueWriteImage = (PFNCLENQUEUEWRITEIMAGE)CLEW_DYNLIB_IMPORT(module, "clEnqueueWriteImage");
-	__clewEnqueueCopyImage = (PFNCLENQUEUECOPYIMAGE)CLEW_DYNLIB_IMPORT(module, "clEnqueueCopyImage");
-	__clewEnqueueCopyImageToBuffer = (PFNCLENQUEUECOPYIMAGETOBUFFER)CLEW_DYNLIB_IMPORT(module, "clEnqueueCopyImageToBuffer");
-	__clewEnqueueCopyBufferToImage = (PFNCLENQUEUECOPYBUFFERTOIMAGE)CLEW_DYNLIB_IMPORT(module, "clEnqueueCopyBufferToImage");
-	__clewEnqueueMapBuffer = (PFNCLENQUEUEMAPBUFFER)CLEW_DYNLIB_IMPORT(module, "clEnqueueMapBuffer");
-	__clewEnqueueMapImage = (PFNCLENQUEUEMAPIMAGE)CLEW_DYNLIB_IMPORT(module, "clEnqueueMapImage");
-	__clewEnqueueUnmapMemObject = (PFNCLENQUEUEUNMAPMEMOBJECT)CLEW_DYNLIB_IMPORT(module, "clEnqueueUnmapMemObject");
-	__clewEnqueueNDRangeKernel = (PFNCLENQUEUENDRANGEKERNEL)CLEW_DYNLIB_IMPORT(module, "clEnqueueNDRangeKernel");
-	__clewEnqueueTask = (PFNCLENQUEUETASK)CLEW_DYNLIB_IMPORT(module, "clEnqueueTask");
-	__clewEnqueueNativeKernel = (PFNCLENQUEUENATIVEKERNEL)CLEW_DYNLIB_IMPORT(module, "clEnqueueNativeKernel");
-	__clewEnqueueMarker = (PFNCLENQUEUEMARKER)CLEW_DYNLIB_IMPORT(module, "clEnqueueMarker");
-	__clewEnqueueWaitForEvents = (PFNCLENQUEUEWAITFOREVENTS)CLEW_DYNLIB_IMPORT(module, "clEnqueueWaitForEvents");
-	__clewEnqueueBarrier = (PFNCLENQUEUEBARRIER)CLEW_DYNLIB_IMPORT(module, "clEnqueueBarrier");
-	__clewGetExtensionFunctionAddress = (PFNCLGETEXTENSIONFUNCTIONADDRESS)CLEW_DYNLIB_IMPORT(module, "clGetExtensionFunctionAddress");
-
-	return CLEW_SUCCESS;
-}
-
-const char* clewErrorString(cl_int error)
-{
-	static const char* strings[] =
-		{
-			// Error Codes
-			"CL_SUCCESS"  //   0
-			,
-			"CL_DEVICE_NOT_FOUND"  //  -1
-			,
-			"CL_DEVICE_NOT_AVAILABLE"  //  -2
-			,
-			"CL_COMPILER_NOT_AVAILABLE"  //  -3
-			,
-			"CL_MEM_OBJECT_ALLOCATION_FAILURE"  //  -4
-			,
-			"CL_OUT_OF_RESOURCES"  //  -5
-			,
-			"CL_OUT_OF_HOST_MEMORY"  //  -6
-			,
-			"CL_PROFILING_INFO_NOT_AVAILABLE"  //  -7
-			,
-			"CL_MEM_COPY_OVERLAP"  //  -8
-			,
-			"CL_IMAGE_FORMAT_MISMATCH"  //  -9
-			,
-			"CL_IMAGE_FORMAT_NOT_SUPPORTED"  //  -10
-			,
-			"CL_BUILD_PROGRAM_FAILURE"  //  -11
-			,
-			"CL_MAP_FAILURE"  //  -12
-
-			,
-			""  //  -13
-			,
-			""  //  -14
-			,
-			""  //  -15
-			,
-			""  //  -16
-			,
-			""  //  -17
-			,
-			""  //  -18
-			,
-			""  //  -19
-
-			,
-			""  //  -20
-			,
-			""  //  -21
-			,
-			""  //  -22
-			,
-			""  //  -23
-			,
-			""  //  -24
-			,
-			""  //  -25
-			,
-			""  //  -26
-			,
-			""  //  -27
-			,
-			""  //  -28
-			,
-			""  //  -29
-
-			,
-			"CL_INVALID_VALUE"  //  -30
-			,
-			"CL_INVALID_DEVICE_TYPE"  //  -31
-			,
-			"CL_INVALID_PLATFORM"  //  -32
-			,
-			"CL_INVALID_DEVICE"  //  -33
-			,
-			"CL_INVALID_CONTEXT"  //  -34
-			,
-			"CL_INVALID_QUEUE_PROPERTIES"  //  -35
-			,
-			"CL_INVALID_COMMAND_QUEUE"  //  -36
-			,
-			"CL_INVALID_HOST_PTR"  //  -37
-			,
-			"CL_INVALID_MEM_OBJECT"  //  -38
-			,
-			"CL_INVALID_IMAGE_FORMAT_DESCRIPTOR"  //  -39
-			,
-			"CL_INVALID_IMAGE_SIZE"  //  -40
-			,
-			"CL_INVALID_SAMPLER"  //  -41
-			,
-			"CL_INVALID_BINARY"  //  -42
-			,
-			"CL_INVALID_BUILD_OPTIONS"  //  -43
-			,
-			"CL_INVALID_PROGRAM"  //  -44
-			,
-			"CL_INVALID_PROGRAM_EXECUTABLE"  //  -45
-			,
-			"CL_INVALID_KERNEL_NAME"  //  -46
-			,
-			"CL_INVALID_KERNEL_DEFINITION"  //  -47
-			,
-			"CL_INVALID_KERNEL"  //  -48
-			,
-			"CL_INVALID_ARG_INDEX"  //  -49
-			,
-			"CL_INVALID_ARG_VALUE"  //  -50
-			,
-			"CL_INVALID_ARG_SIZE"  //  -51
-			,
-			"CL_INVALID_KERNEL_ARGS"  //  -52
-			,
-			"CL_INVALID_WORK_DIMENSION"  //  -53
-			,
-			"CL_INVALID_WORK_GROUP_SIZE"  //  -54
-			,
-			"CL_INVALID_WORK_ITEM_SIZE"  //  -55
-			,
-			"CL_INVALID_GLOBAL_OFFSET"  //  -56
-			,
-			"CL_INVALID_EVENT_WAIT_LIST"  //  -57
-			,
-			"CL_INVALID_EVENT"  //  -58
-			,
-			"CL_INVALID_OPERATION"  //  -59
-			,
-			"CL_INVALID_GL_OBJECT"  //  -60
-			,
-			"CL_INVALID_BUFFER_SIZE"  //  -61
-			,
-			"CL_INVALID_MIP_LEVEL"  //  -62
-			,
-			"CL_INVALID_GLOBAL_WORK_SIZE"  //  -63
-		};
-
-	return strings[-error];
-}
diff --git a/thirdparty/bullet/clew/clew.h b/thirdparty/bullet/clew/clew.h
deleted file mode 100644
index cba8585233..0000000000
--- a/thirdparty/bullet/clew/clew.h
+++ /dev/null
@@ -1,2708 +0,0 @@
-#ifndef CLEW_HPP_INCLUDED
-#define CLEW_HPP_INCLUDED
-
-//////////////////////////////////////////////////////////////////////////
-//  Copyright (c) 2009-2011 Organic Vectory B.V., KindDragon
-//  Written by George van Venrooij
-//
-//  Distributed under the MIT License.
-//////////////////////////////////////////////////////////////////////////
-
-//! \file clew.h
-//! \brief OpenCL run-time loader header
-//!
-//! This file contains a copy of the contents of CL.H and CL_PLATFORM.H from the
-//! official OpenCL spec. The purpose of this code is to load the OpenCL dynamic
-//! library at run-time and thus allow the executable to function on many
-//! platforms regardless of the vendor of the OpenCL driver actually installed.
-//! Some of the techniques used here were inspired by work done in the GLEW
-//! library (http://glew.sourceforge.net/)
-
-//  Run-time dynamic linking functionality based on concepts used in GLEW
-#ifdef __OPENCL_CL_H
-#error cl.h included before clew.h
-#endif
-
-#ifdef __OPENCL_CL_PLATFORM_H
-#error cl_platform.h included before clew.h
-#endif
-
-//  Prevent cl.h inclusion
-#define __OPENCL_CL_H
-//  Prevent cl_platform.h inclusion
-#define __CL_PLATFORM_H
-
-/*******************************************************************************
-* Copyright (c) 2008-2010 The Khronos Group Inc.
-*
-* Permission is hereby granted, free of charge, to any person obtaining a
-* copy of this software and/or associated documentation files (the
-* "Materials"), to deal in the Materials without restriction, including
-* without limitation the rights to use, copy, modify, merge, publish,
-* distribute, sublicense, and/or sell copies of the Materials, and to
-* permit persons to whom the Materials are furnished to do so, subject to
-* the following conditions:
-*
-* The above copyright notice and this permission notice shall be included
-* in all copies or substantial portions of the Materials.
-*
-* THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
-* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
-* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
-* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
-* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
-* MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
-******************************************************************************/
-#ifdef __APPLE__
-/* Contains #defines for AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER below */
-#include <AvailabilityMacros.h>
-#endif
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#if defined(_WIN32)
-#define CL_API_ENTRY
-#define CL_API_CALL __stdcall
-#define CL_CALLBACK __stdcall
-#else
-#define CL_API_ENTRY
-#define CL_API_CALL
-#define CL_CALLBACK
-#endif
-	//disabled the APPLE thing, don't know why it is there, is just causes tons of warnings
-
-#ifdef __APPLE1__
-#define CL_EXTENSION_WEAK_LINK __attribute__((weak_import))
-#define CL_API_SUFFIX__VERSION_1_0 AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER
-#define CL_EXT_SUFFIX__VERSION_1_0 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER
-#define CL_API_SUFFIX__VERSION_1_1 CL_EXTENSION_WEAK_LINK
-#define CL_EXT_SUFFIX__VERSION_1_1 CL_EXTENSION_WEAK_LINK
-#define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER
-#else
-#define CL_EXTENSION_WEAK_LINK
-#define CL_API_SUFFIX__VERSION_1_0
-#define CL_EXT_SUFFIX__VERSION_1_0
-#define CL_API_SUFFIX__VERSION_1_1
-#define CL_EXT_SUFFIX__VERSION_1_1
-#define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
-#endif
-
-#if (defined(_WIN32) && defined(_MSC_VER))
-
-	/* scalar types  */
-	typedef signed __int8 cl_char;
-	typedef unsigned __int8 cl_uchar;
-	typedef signed __int16 cl_short;
-	typedef unsigned __int16 cl_ushort;
-	typedef signed __int32 cl_int;
-	typedef unsigned __int32 cl_uint;
-	typedef signed __int64 cl_long;
-	typedef unsigned __int64 cl_ulong;
-
-	typedef unsigned __int16 cl_half;
-	typedef float cl_float;
-	typedef double cl_double;
-
-/* Macro names and corresponding values defined by OpenCL */
-#define CL_CHAR_BIT 8
-#define CL_SCHAR_MAX 127
-#define CL_SCHAR_MIN (-127 - 1)
-#define CL_CHAR_MAX CL_SCHAR_MAX
-#define CL_CHAR_MIN CL_SCHAR_MIN
-#define CL_UCHAR_MAX 255
-#define CL_SHRT_MAX 32767
-#define CL_SHRT_MIN (-32767 - 1)
-#define CL_USHRT_MAX 65535
-#define CL_INT_MAX 2147483647
-#define CL_INT_MIN (-2147483647 - 1)
-#define CL_UINT_MAX 0xffffffffU
-#define CL_LONG_MAX ((cl_long)0x7FFFFFFFFFFFFFFFLL)
-#define CL_LONG_MIN ((cl_long)-0x7FFFFFFFFFFFFFFFLL - 1LL)
-#define CL_ULONG_MAX ((cl_ulong)0xFFFFFFFFFFFFFFFFULL)
-
-#define CL_FLT_DIG 6
-#define CL_FLT_MANT_DIG 24
-#define CL_FLT_MAX_10_EXP +38
-#define CL_FLT_MAX_EXP +128
-#define CL_FLT_MIN_10_EXP -37
-#define CL_FLT_MIN_EXP -125
-#define CL_FLT_RADIX 2
-#define CL_FLT_MAX 340282346638528859811704183484516925440.0f
-#define CL_FLT_MIN 1.175494350822287507969e-38f
-#define CL_FLT_EPSILON 0x1.0p-23f
-
-#define CL_DBL_DIG 15
-#define CL_DBL_MANT_DIG 53
-#define CL_DBL_MAX_10_EXP +308
-#define CL_DBL_MAX_EXP +1024
-#define CL_DBL_MIN_10_EXP -307
-#define CL_DBL_MIN_EXP -1021
-#define CL_DBL_RADIX 2
-#define CL_DBL_MAX 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.0
-#define CL_DBL_MIN 2.225073858507201383090e-308
-#define CL_DBL_EPSILON 2.220446049250313080847e-16
-
-#define CL_M_E 2.718281828459045090796
-#define CL_M_LOG2E 1.442695040888963387005
-#define CL_M_LOG10E 0.434294481903251816668
-#define CL_M_LN2 0.693147180559945286227
-#define CL_M_LN10 2.302585092994045901094
-#define CL_M_PI 3.141592653589793115998
-#define CL_M_PI_2 1.570796326794896557999
-#define CL_M_PI_4 0.785398163397448278999
-#define CL_M_1_PI 0.318309886183790691216
-#define CL_M_2_PI 0.636619772367581382433
-#define CL_M_2_SQRTPI 1.128379167095512558561
-#define CL_M_SQRT2 1.414213562373095145475
-#define CL_M_SQRT1_2 0.707106781186547572737
-
-#define CL_M_E_F 2.71828174591064f
-#define CL_M_LOG2E_F 1.44269502162933f
-#define CL_M_LOG10E_F 0.43429449200630f
-#define CL_M_LN2_F 0.69314718246460f
-#define CL_M_LN10_F 2.30258512496948f
-#define CL_M_PI_F 3.14159274101257f
-#define CL_M_PI_2_F 1.57079637050629f
-#define CL_M_PI_4_F 0.78539818525314f
-#define CL_M_1_PI_F 0.31830987334251f
-#define CL_M_2_PI_F 0.63661974668503f
-#define CL_M_2_SQRTPI_F 1.12837922573090f
-#define CL_M_SQRT2_F 1.41421353816986f
-#define CL_M_SQRT1_2_F 0.70710676908493f
-
-#define CL_NAN (CL_INFINITY - CL_INFINITY)
-#define CL_HUGE_VALF ((cl_float)1e50)
-#define CL_HUGE_VAL ((cl_double)1e500)
-#define CL_MAXFLOAT CL_FLT_MAX
-#define CL_INFINITY CL_HUGE_VALF
-
-#else
-
-#include <stdint.h>
-
-/* scalar types  */
-typedef int8_t cl_char;
-typedef uint8_t cl_uchar;
-typedef int16_t cl_short __attribute__((aligned(2)));
-typedef uint16_t cl_ushort __attribute__((aligned(2)));
-typedef int32_t cl_int __attribute__((aligned(4)));
-typedef uint32_t cl_uint __attribute__((aligned(4)));
-typedef int64_t cl_long __attribute__((aligned(8)));
-typedef uint64_t cl_ulong __attribute__((aligned(8)));
-
-typedef uint16_t cl_half __attribute__((aligned(2)));
-typedef float cl_float __attribute__((aligned(4)));
-typedef double cl_double __attribute__((aligned(8)));
-
-/* Macro names and corresponding values defined by OpenCL */
-#define CL_CHAR_BIT 8
-#define CL_SCHAR_MAX 127
-#define CL_SCHAR_MIN (-127 - 1)
-#define CL_CHAR_MAX CL_SCHAR_MAX
-#define CL_CHAR_MIN CL_SCHAR_MIN
-#define CL_UCHAR_MAX 255
-#define CL_SHRT_MAX 32767
-#define CL_SHRT_MIN (-32767 - 1)
-#define CL_USHRT_MAX 65535
-#define CL_INT_MAX 2147483647
-#define CL_INT_MIN (-2147483647 - 1)
-#define CL_UINT_MAX 0xffffffffU
-#define CL_LONG_MAX ((cl_long)0x7FFFFFFFFFFFFFFFLL)
-#define CL_LONG_MIN ((cl_long)-0x7FFFFFFFFFFFFFFFLL - 1LL)
-#define CL_ULONG_MAX ((cl_ulong)0xFFFFFFFFFFFFFFFFULL)
-
-#define CL_FLT_DIG 6
-#define CL_FLT_MANT_DIG 24
-#define CL_FLT_MAX_10_EXP +38
-#define CL_FLT_MAX_EXP +128
-#define CL_FLT_MIN_10_EXP -37
-#define CL_FLT_MIN_EXP -125
-#define CL_FLT_RADIX 2
-#define CL_FLT_MAX 0x1.fffffep127f
-#define CL_FLT_MIN 0x1.0p-126f
-#define CL_FLT_EPSILON 0x1.0p-23f
-
-#define CL_DBL_DIG 15
-#define CL_DBL_MANT_DIG 53
-#define CL_DBL_MAX_10_EXP +308
-#define CL_DBL_MAX_EXP +1024
-#define CL_DBL_MIN_10_EXP -307
-#define CL_DBL_MIN_EXP -1021
-#define CL_DBL_RADIX 2
-#define CL_DBL_MAX 0x1.fffffffffffffp1023
-#define CL_DBL_MIN 0x1.0p-1022
-#define CL_DBL_EPSILON 0x1.0p-52
-
-#define CL_M_E 2.718281828459045090796
-#define CL_M_LOG2E 1.442695040888963387005
-#define CL_M_LOG10E 0.434294481903251816668
-#define CL_M_LN2 0.693147180559945286227
-#define CL_M_LN10 2.302585092994045901094
-#define CL_M_PI 3.141592653589793115998
-#define CL_M_PI_2 1.570796326794896557999
-#define CL_M_PI_4 0.785398163397448278999
-#define CL_M_1_PI 0.318309886183790691216
-#define CL_M_2_PI 0.636619772367581382433
-#define CL_M_2_SQRTPI 1.128379167095512558561
-#define CL_M_SQRT2 1.414213562373095145475
-#define CL_M_SQRT1_2 0.707106781186547572737
-
-#define CL_M_E_F 2.71828174591064f
-#define CL_M_LOG2E_F 1.44269502162933f
-#define CL_M_LOG10E_F 0.43429449200630f
-#define CL_M_LN2_F 0.69314718246460f
-#define CL_M_LN10_F 2.30258512496948f
-#define CL_M_PI_F 3.14159274101257f
-#define CL_M_PI_2_F 1.57079637050629f
-#define CL_M_PI_4_F 0.78539818525314f
-#define CL_M_1_PI_F 0.31830987334251f
-#define CL_M_2_PI_F 0.63661974668503f
-#define CL_M_2_SQRTPI_F 1.12837922573090f
-#define CL_M_SQRT2_F 1.41421353816986f
-#define CL_M_SQRT1_2_F 0.70710676908493f
-
-#if defined(__GNUC__)
-#define CL_HUGE_VALF __builtin_huge_valf()
-#define CL_HUGE_VAL __builtin_huge_val()
-#define CL_NAN __builtin_nanf("")
-#else
-#define CL_HUGE_VALF ((cl_float)1e50)
-#define CL_HUGE_VAL ((cl_double)1e500)
-float nanf(const char *);
-#define CL_NAN nanf("")
-#endif
-#define CL_MAXFLOAT CL_FLT_MAX
-#define CL_INFINITY CL_HUGE_VALF
-
-#endif
-
-#include <stddef.h>
-
-	/* Mirror types to GL types. Mirror types allow us to avoid deciding which headers to load based on whether we are using GL or GLES here. */
-	typedef unsigned int cl_GLuint;
-	typedef int cl_GLint;
-	typedef unsigned int cl_GLenum;
-
-	/*
- * Vector types 
- *
- *  Note:   OpenCL requires that all types be naturally aligned. 
- *          This means that vector types must be naturally aligned.
- *          For example, a vector of four floats must be aligned to
- *          a 16 byte boundary (calculated as 4 * the natural 4-byte 
- *          alignment of the float).  The alignment qualifiers here
- *          will only function properly if your compiler supports them
- *          and if you don't actively work to defeat them.  For example,
- *          in order for a cl_float4 to be 16 byte aligned in a struct,
- *          the start of the struct must itself be 16-byte aligned. 
- *
- *          Maintaining proper alignment is the user's responsibility.
- */
-
-#ifdef _MSC_VER
-#if defined(_M_IX86)
-#if _M_IX86_FP >= 0
-#define __SSE__
-#endif
-#if _M_IX86_FP >= 1
-#define __SSE2__
-#endif
-#elif defined(_M_X64)
-#define __SSE__
-#define __SSE2__
-#endif
-#endif
-
-/* Define basic vector types */
-#if defined(__VEC__)
-#include <altivec.h> /* may be omitted depending on compiler. AltiVec spec provides no way to detect whether the header is required. */
-	typedef vector unsigned char __cl_uchar16;
-	typedef vector signed char __cl_char16;
-	typedef vector unsigned short __cl_ushort8;
-	typedef vector signed short __cl_short8;
-	typedef vector unsigned int __cl_uint4;
-	typedef vector signed int __cl_int4;
-	typedef vector float __cl_float4;
-#define __CL_UCHAR16__ 1
-#define __CL_CHAR16__ 1
-#define __CL_USHORT8__ 1
-#define __CL_SHORT8__ 1
-#define __CL_UINT4__ 1
-#define __CL_INT4__ 1
-#define __CL_FLOAT4__ 1
-#endif
-
-#if defined(__SSE__)
-#if defined(__MINGW64__)
-#include <intrin.h>
-#else
-#include <xmmintrin.h>
-#endif
-#if defined(__GNUC__) && !defined(__ICC)
-	typedef float __cl_float4 __attribute__((vector_size(16)));
-#else
-	typedef __m128 __cl_float4;
-#endif
-#define __CL_FLOAT4__ 1
-#endif
-
-#if defined(__SSE2__)
-#if defined(__MINGW64__)
-#include <intrin.h>
-#else
-#include <emmintrin.h>
-#endif
-#if defined(__GNUC__) && !defined(__ICC)
-	typedef cl_uchar __cl_uchar16 __attribute__((vector_size(16)));
-	typedef cl_char __cl_char16 __attribute__((vector_size(16)));
-	typedef cl_ushort __cl_ushort8 __attribute__((vector_size(16)));
-	typedef cl_short __cl_short8 __attribute__((vector_size(16)));
-	typedef cl_uint __cl_uint4 __attribute__((vector_size(16)));
-	typedef cl_int __cl_int4 __attribute__((vector_size(16)));
-	typedef cl_ulong __cl_ulong2 __attribute__((vector_size(16)));
-	typedef cl_long __cl_long2 __attribute__((vector_size(16)));
-	typedef cl_double __cl_double2 __attribute__((vector_size(16)));
-#else
-	typedef __m128i __cl_uchar16;
-	typedef __m128i __cl_char16;
-	typedef __m128i __cl_ushort8;
-	typedef __m128i __cl_short8;
-	typedef __m128i __cl_uint4;
-	typedef __m128i __cl_int4;
-	typedef __m128i __cl_ulong2;
-	typedef __m128i __cl_long2;
-	typedef __m128d __cl_double2;
-#endif
-#define __CL_UCHAR16__ 1
-#define __CL_CHAR16__ 1
-#define __CL_USHORT8__ 1
-#define __CL_SHORT8__ 1
-#define __CL_INT4__ 1
-#define __CL_UINT4__ 1
-#define __CL_ULONG2__ 1
-#define __CL_LONG2__ 1
-#define __CL_DOUBLE2__ 1
-#endif
-
-#if defined(__MMX__)
-#include <mmintrin.h>
-#if defined(__GNUC__) && !defined(__ICC)
-	typedef cl_uchar __cl_uchar8 __attribute__((vector_size(8)));
-	typedef cl_char __cl_char8 __attribute__((vector_size(8)));
-	typedef cl_ushort __cl_ushort4 __attribute__((vector_size(8)));
-	typedef cl_short __cl_short4 __attribute__((vector_size(8)));
-	typedef cl_uint __cl_uint2 __attribute__((vector_size(8)));
-	typedef cl_int __cl_int2 __attribute__((vector_size(8)));
-	typedef cl_ulong __cl_ulong1 __attribute__((vector_size(8)));
-	typedef cl_long __cl_long1 __attribute__((vector_size(8)));
-	typedef cl_float __cl_float2 __attribute__((vector_size(8)));
-#else
-	typedef __m64 __cl_uchar8;
-	typedef __m64 __cl_char8;
-	typedef __m64 __cl_ushort4;
-	typedef __m64 __cl_short4;
-	typedef __m64 __cl_uint2;
-	typedef __m64 __cl_int2;
-	typedef __m64 __cl_ulong1;
-	typedef __m64 __cl_long1;
-	typedef __m64 __cl_float2;
-#endif
-#define __CL_UCHAR8__ 1
-#define __CL_CHAR8__ 1
-#define __CL_USHORT4__ 1
-#define __CL_SHORT4__ 1
-#define __CL_INT2__ 1
-#define __CL_UINT2__ 1
-#define __CL_ULONG1__ 1
-#define __CL_LONG1__ 1
-#define __CL_FLOAT2__ 1
-#endif
-
-#if defined(__AVX__)
-#if defined(__MINGW64__)
-#include <intrin.h>
-#else
-#include <immintrin.h>
-#endif
-#if defined(__GNUC__) && !defined(__ICC)
-	typedef cl_float __cl_float8 __attribute__((vector_size(32)));
-	typedef cl_double __cl_double4 __attribute__((vector_size(32)));
-#else
-	typedef __m256 __cl_float8;
-	typedef __m256d __cl_double4;
-#endif
-#define __CL_FLOAT8__ 1
-#define __CL_DOUBLE4__ 1
-#endif
-
-/* Define alignment keys */
-#if defined(__GNUC__)
-#define CL_ALIGNED(_x) __attribute__((aligned(_x)))
-#elif defined(_WIN32) && (_MSC_VER)
-/* Alignment keys neutered on windows because MSVC can't swallow function arguments with alignment requirements     */
-/* http://msdn.microsoft.com/en-us/library/373ak2y1%28VS.71%29.aspx                                                 */
-/* #include <crtdefs.h>                                                                                             */
-/* #define CL_ALIGNED(_x)          _CRT_ALIGN(_x)                                                                   */
-#define CL_ALIGNED(_x)
-#else
-#warning Need to implement some method to align data here
-#define CL_ALIGNED(_x)
-#endif
-
-/* Indicate whether .xyzw, .s0123 and .hi.lo are supported */
-#if (defined(__GNUC__) && !defined(__STRICT_ANSI__)) || (defined(_MSC_VER) && !defined(__STDC__))
-/* .xyzw and .s0123...{f|F} are supported */
-#define CL_HAS_NAMED_VECTOR_FIELDS 1
-/* .hi and .lo are supported */
-#define CL_HAS_HI_LO_VECTOR_FIELDS 1
-
-#define CL_NAMED_STRUCT_SUPPORTED
-#endif
-
-#if defined(CL_NAMED_STRUCT_SUPPORTED) && defined(_MSC_VER)
-#define __extension__ __pragma(warning(suppress : 4201))
-#endif
-
-	/* Define cl_vector types */
-
-	/* ---- cl_charn ---- */
-	typedef union {
-		cl_char CL_ALIGNED(2) s[2];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_char x, y;
-		};
-		__extension__ struct
-		{
-			cl_char s0, s1;
-		};
-		__extension__ struct
-		{
-			cl_char lo, hi;
-		};
-#endif
-#if defined(__CL_CHAR2__)
-		__cl_char2 v2;
-#endif
-	} cl_char2;
-
-	typedef union {
-		cl_char CL_ALIGNED(4) s[4];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_char x, y, z, w;
-		};
-		__extension__ struct
-		{
-			cl_char s0, s1, s2, s3;
-		};
-		__extension__ struct
-		{
-			cl_char2 lo, hi;
-		};
-#endif
-#if defined(__CL_CHAR2__)
-		__cl_char2 v2[2];
-#endif
-#if defined(__CL_CHAR4__)
-		__cl_char4 v4;
-#endif
-	} cl_char4;
-
-	/* cl_char3 is identical in size, alignment and behavior to cl_char4. See section 6.1.5. */
-	typedef cl_char4 cl_char3;
-
-	typedef union {
-		cl_char CL_ALIGNED(8) s[8];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_char x, y, z, w;
-		};
-		__extension__ struct
-		{
-			cl_char s0, s1, s2, s3, s4, s5, s6, s7;
-		};
-		__extension__ struct
-		{
-			cl_char4 lo, hi;
-		};
-#endif
-#if defined(__CL_CHAR2__)
-		__cl_char2 v2[4];
-#endif
-#if defined(__CL_CHAR4__)
-		__cl_char4 v4[2];
-#endif
-#if defined(__CL_CHAR8__)
-		__cl_char8 v8;
-#endif
-	} cl_char8;
-
-	typedef union {
-		cl_char CL_ALIGNED(16) s[16];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_char x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf;
-		};
-		__extension__ struct
-		{
-			cl_char s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF;
-		};
-		__extension__ struct
-		{
-			cl_char8 lo, hi;
-		};
-#endif
-#if defined(__CL_CHAR2__)
-		__cl_char2 v2[8];
-#endif
-#if defined(__CL_CHAR4__)
-		__cl_char4 v4[4];
-#endif
-#if defined(__CL_CHAR8__)
-		__cl_char8 v8[2];
-#endif
-#if defined(__CL_CHAR16__)
-		__cl_char16 v16;
-#endif
-	} cl_char16;
-
-	/* ---- cl_ucharn ---- */
-	typedef union {
-		cl_uchar CL_ALIGNED(2) s[2];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_uchar x, y;
-		};
-		__extension__ struct
-		{
-			cl_uchar s0, s1;
-		};
-		__extension__ struct
-		{
-			cl_uchar lo, hi;
-		};
-#endif
-#if defined(__cl_uchar2__)
-		__cl_uchar2 v2;
-#endif
-	} cl_uchar2;
-
-	typedef union {
-		cl_uchar CL_ALIGNED(4) s[4];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_uchar x, y, z, w;
-		};
-		__extension__ struct
-		{
-			cl_uchar s0, s1, s2, s3;
-		};
-		__extension__ struct
-		{
-			cl_uchar2 lo, hi;
-		};
-#endif
-#if defined(__CL_UCHAR2__)
-		__cl_uchar2 v2[2];
-#endif
-#if defined(__CL_UCHAR4__)
-		__cl_uchar4 v4;
-#endif
-	} cl_uchar4;
-
-	/* cl_uchar3 is identical in size, alignment and behavior to cl_uchar4. See section 6.1.5. */
-	typedef cl_uchar4 cl_uchar3;
-
-	typedef union {
-		cl_uchar CL_ALIGNED(8) s[8];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_uchar x, y, z, w;
-		};
-		__extension__ struct
-		{
-			cl_uchar s0, s1, s2, s3, s4, s5, s6, s7;
-		};
-		__extension__ struct
-		{
-			cl_uchar4 lo, hi;
-		};
-#endif
-#if defined(__CL_UCHAR2__)
-		__cl_uchar2 v2[4];
-#endif
-#if defined(__CL_UCHAR4__)
-		__cl_uchar4 v4[2];
-#endif
-#if defined(__CL_UCHAR8__)
-		__cl_uchar8 v8;
-#endif
-	} cl_uchar8;
-
-	typedef union {
-		cl_uchar CL_ALIGNED(16) s[16];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_uchar x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf;
-		};
-		__extension__ struct
-		{
-			cl_uchar s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF;
-		};
-		__extension__ struct
-		{
-			cl_uchar8 lo, hi;
-		};
-#endif
-#if defined(__CL_UCHAR2__)
-		__cl_uchar2 v2[8];
-#endif
-#if defined(__CL_UCHAR4__)
-		__cl_uchar4 v4[4];
-#endif
-#if defined(__CL_UCHAR8__)
-		__cl_uchar8 v8[2];
-#endif
-#if defined(__CL_UCHAR16__)
-		__cl_uchar16 v16;
-#endif
-	} cl_uchar16;
-
-	/* ---- cl_shortn ---- */
-	typedef union {
-		cl_short CL_ALIGNED(4) s[2];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_short x, y;
-		};
-		__extension__ struct
-		{
-			cl_short s0, s1;
-		};
-		__extension__ struct
-		{
-			cl_short lo, hi;
-		};
-#endif
-#if defined(__CL_SHORT2__)
-		__cl_short2 v2;
-#endif
-	} cl_short2;
-
-	typedef union {
-		cl_short CL_ALIGNED(8) s[4];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_short x, y, z, w;
-		};
-		__extension__ struct
-		{
-			cl_short s0, s1, s2, s3;
-		};
-		__extension__ struct
-		{
-			cl_short2 lo, hi;
-		};
-#endif
-#if defined(__CL_SHORT2__)
-		__cl_short2 v2[2];
-#endif
-#if defined(__CL_SHORT4__)
-		__cl_short4 v4;
-#endif
-	} cl_short4;
-
-	/* cl_short3 is identical in size, alignment and behavior to cl_short4. See section 6.1.5. */
-	typedef cl_short4 cl_short3;
-
-	typedef union {
-		cl_short CL_ALIGNED(16) s[8];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_short x, y, z, w;
-		};
-		__extension__ struct
-		{
-			cl_short s0, s1, s2, s3, s4, s5, s6, s7;
-		};
-		__extension__ struct
-		{
-			cl_short4 lo, hi;
-		};
-#endif
-#if defined(__CL_SHORT2__)
-		__cl_short2 v2[4];
-#endif
-#if defined(__CL_SHORT4__)
-		__cl_short4 v4[2];
-#endif
-#if defined(__CL_SHORT8__)
-		__cl_short8 v8;
-#endif
-	} cl_short8;
-
-	typedef union {
-		cl_short CL_ALIGNED(32) s[16];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_short x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf;
-		};
-		__extension__ struct
-		{
-			cl_short s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF;
-		};
-		__extension__ struct
-		{
-			cl_short8 lo, hi;
-		};
-#endif
-#if defined(__CL_SHORT2__)
-		__cl_short2 v2[8];
-#endif
-#if defined(__CL_SHORT4__)
-		__cl_short4 v4[4];
-#endif
-#if defined(__CL_SHORT8__)
-		__cl_short8 v8[2];
-#endif
-#if defined(__CL_SHORT16__)
-		__cl_short16 v16;
-#endif
-	} cl_short16;
-
-	/* ---- cl_ushortn ---- */
-	typedef union {
-		cl_ushort CL_ALIGNED(4) s[2];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_ushort x, y;
-		};
-		__extension__ struct
-		{
-			cl_ushort s0, s1;
-		};
-		__extension__ struct
-		{
-			cl_ushort lo, hi;
-		};
-#endif
-#if defined(__CL_USHORT2__)
-		__cl_ushort2 v2;
-#endif
-	} cl_ushort2;
-
-	typedef union {
-		cl_ushort CL_ALIGNED(8) s[4];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_ushort x, y, z, w;
-		};
-		__extension__ struct
-		{
-			cl_ushort s0, s1, s2, s3;
-		};
-		__extension__ struct
-		{
-			cl_ushort2 lo, hi;
-		};
-#endif
-#if defined(__CL_USHORT2__)
-		__cl_ushort2 v2[2];
-#endif
-#if defined(__CL_USHORT4__)
-		__cl_ushort4 v4;
-#endif
-	} cl_ushort4;
-
-	/* cl_ushort3 is identical in size, alignment and behavior to cl_ushort4. See section 6.1.5. */
-	typedef cl_ushort4 cl_ushort3;
-
-	typedef union {
-		cl_ushort CL_ALIGNED(16) s[8];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_ushort x, y, z, w;
-		};
-		__extension__ struct
-		{
-			cl_ushort s0, s1, s2, s3, s4, s5, s6, s7;
-		};
-		__extension__ struct
-		{
-			cl_ushort4 lo, hi;
-		};
-#endif
-#if defined(__CL_USHORT2__)
-		__cl_ushort2 v2[4];
-#endif
-#if defined(__CL_USHORT4__)
-		__cl_ushort4 v4[2];
-#endif
-#if defined(__CL_USHORT8__)
-		__cl_ushort8 v8;
-#endif
-	} cl_ushort8;
-
-	typedef union {
-		cl_ushort CL_ALIGNED(32) s[16];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_ushort x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf;
-		};
-		__extension__ struct
-		{
-			cl_ushort s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF;
-		};
-		__extension__ struct
-		{
-			cl_ushort8 lo, hi;
-		};
-#endif
-#if defined(__CL_USHORT2__)
-		__cl_ushort2 v2[8];
-#endif
-#if defined(__CL_USHORT4__)
-		__cl_ushort4 v4[4];
-#endif
-#if defined(__CL_USHORT8__)
-		__cl_ushort8 v8[2];
-#endif
-#if defined(__CL_USHORT16__)
-		__cl_ushort16 v16;
-#endif
-	} cl_ushort16;
-
-	/* ---- cl_intn ---- */
-	typedef union {
-		cl_int CL_ALIGNED(8) s[2];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_int x, y;
-		};
-		__extension__ struct
-		{
-			cl_int s0, s1;
-		};
-		__extension__ struct
-		{
-			cl_int lo, hi;
-		};
-#endif
-#if defined(__CL_INT2__)
-		__cl_int2 v2;
-#endif
-	} cl_int2;
-
-	typedef union {
-		cl_int CL_ALIGNED(16) s[4];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_int x, y, z, w;
-		};
-		__extension__ struct
-		{
-			cl_int s0, s1, s2, s3;
-		};
-		__extension__ struct
-		{
-			cl_int2 lo, hi;
-		};
-#endif
-#if defined(__CL_INT2__)
-		__cl_int2 v2[2];
-#endif
-#if defined(__CL_INT4__)
-		__cl_int4 v4;
-#endif
-	} cl_int4;
-
-	/* cl_int3 is identical in size, alignment and behavior to cl_int4. See section 6.1.5. */
-	typedef cl_int4 cl_int3;
-
-	typedef union {
-		cl_int CL_ALIGNED(32) s[8];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_int x, y, z, w;
-		};
-		__extension__ struct
-		{
-			cl_int s0, s1, s2, s3, s4, s5, s6, s7;
-		};
-		__extension__ struct
-		{
-			cl_int4 lo, hi;
-		};
-#endif
-#if defined(__CL_INT2__)
-		__cl_int2 v2[4];
-#endif
-#if defined(__CL_INT4__)
-		__cl_int4 v4[2];
-#endif
-#if defined(__CL_INT8__)
-		__cl_int8 v8;
-#endif
-	} cl_int8;
-
-	typedef union {
-		cl_int CL_ALIGNED(64) s[16];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_int x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf;
-		};
-		__extension__ struct
-		{
-			cl_int s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF;
-		};
-		__extension__ struct
-		{
-			cl_int8 lo, hi;
-		};
-#endif
-#if defined(__CL_INT2__)
-		__cl_int2 v2[8];
-#endif
-#if defined(__CL_INT4__)
-		__cl_int4 v4[4];
-#endif
-#if defined(__CL_INT8__)
-		__cl_int8 v8[2];
-#endif
-#if defined(__CL_INT16__)
-		__cl_int16 v16;
-#endif
-	} cl_int16;
-
-	/* ---- cl_uintn ---- */
-	typedef union {
-		cl_uint CL_ALIGNED(8) s[2];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_uint x, y;
-		};
-		__extension__ struct
-		{
-			cl_uint s0, s1;
-		};
-		__extension__ struct
-		{
-			cl_uint lo, hi;
-		};
-#endif
-#if defined(__CL_UINT2__)
-		__cl_uint2 v2;
-#endif
-	} cl_uint2;
-
-	typedef union {
-		cl_uint CL_ALIGNED(16) s[4];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_uint x, y, z, w;
-		};
-		__extension__ struct
-		{
-			cl_uint s0, s1, s2, s3;
-		};
-		__extension__ struct
-		{
-			cl_uint2 lo, hi;
-		};
-#endif
-#if defined(__CL_UINT2__)
-		__cl_uint2 v2[2];
-#endif
-#if defined(__CL_UINT4__)
-		__cl_uint4 v4;
-#endif
-	} cl_uint4;
-
-	/* cl_uint3 is identical in size, alignment and behavior to cl_uint4. See section 6.1.5. */
-	typedef cl_uint4 cl_uint3;
-
-	typedef union {
-		cl_uint CL_ALIGNED(32) s[8];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_uint x, y, z, w;
-		};
-		__extension__ struct
-		{
-			cl_uint s0, s1, s2, s3, s4, s5, s6, s7;
-		};
-		__extension__ struct
-		{
-			cl_uint4 lo, hi;
-		};
-#endif
-#if defined(__CL_UINT2__)
-		__cl_uint2 v2[4];
-#endif
-#if defined(__CL_UINT4__)
-		__cl_uint4 v4[2];
-#endif
-#if defined(__CL_UINT8__)
-		__cl_uint8 v8;
-#endif
-	} cl_uint8;
-
-	typedef union {
-		cl_uint CL_ALIGNED(64) s[16];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_uint x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf;
-		};
-		__extension__ struct
-		{
-			cl_uint s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF;
-		};
-		__extension__ struct
-		{
-			cl_uint8 lo, hi;
-		};
-#endif
-#if defined(__CL_UINT2__)
-		__cl_uint2 v2[8];
-#endif
-#if defined(__CL_UINT4__)
-		__cl_uint4 v4[4];
-#endif
-#if defined(__CL_UINT8__)
-		__cl_uint8 v8[2];
-#endif
-#if defined(__CL_UINT16__)
-		__cl_uint16 v16;
-#endif
-	} cl_uint16;
-
-	/* ---- cl_longn ---- */
-	typedef union {
-		cl_long CL_ALIGNED(16) s[2];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_long x, y;
-		};
-		__extension__ struct
-		{
-			cl_long s0, s1;
-		};
-		__extension__ struct
-		{
-			cl_long lo, hi;
-		};
-#endif
-#if defined(__CL_LONG2__)
-		__cl_long2 v2;
-#endif
-	} cl_long2;
-
-	typedef union {
-		cl_long CL_ALIGNED(32) s[4];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_long x, y, z, w;
-		};
-		__extension__ struct
-		{
-			cl_long s0, s1, s2, s3;
-		};
-		__extension__ struct
-		{
-			cl_long2 lo, hi;
-		};
-#endif
-#if defined(__CL_LONG2__)
-		__cl_long2 v2[2];
-#endif
-#if defined(__CL_LONG4__)
-		__cl_long4 v4;
-#endif
-	} cl_long4;
-
-	/* cl_long3 is identical in size, alignment and behavior to cl_long4. See section 6.1.5. */
-	typedef cl_long4 cl_long3;
-
-	typedef union {
-		cl_long CL_ALIGNED(64) s[8];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_long x, y, z, w;
-		};
-		__extension__ struct
-		{
-			cl_long s0, s1, s2, s3, s4, s5, s6, s7;
-		};
-		__extension__ struct
-		{
-			cl_long4 lo, hi;
-		};
-#endif
-#if defined(__CL_LONG2__)
-		__cl_long2 v2[4];
-#endif
-#if defined(__CL_LONG4__)
-		__cl_long4 v4[2];
-#endif
-#if defined(__CL_LONG8__)
-		__cl_long8 v8;
-#endif
-	} cl_long8;
-
-	typedef union {
-		cl_long CL_ALIGNED(128) s[16];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_long x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf;
-		};
-		__extension__ struct
-		{
-			cl_long s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF;
-		};
-		__extension__ struct
-		{
-			cl_long8 lo, hi;
-		};
-#endif
-#if defined(__CL_LONG2__)
-		__cl_long2 v2[8];
-#endif
-#if defined(__CL_LONG4__)
-		__cl_long4 v4[4];
-#endif
-#if defined(__CL_LONG8__)
-		__cl_long8 v8[2];
-#endif
-#if defined(__CL_LONG16__)
-		__cl_long16 v16;
-#endif
-	} cl_long16;
-
-	/* ---- cl_ulongn ---- */
-	typedef union {
-		cl_ulong CL_ALIGNED(16) s[2];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_ulong x, y;
-		};
-		__extension__ struct
-		{
-			cl_ulong s0, s1;
-		};
-		__extension__ struct
-		{
-			cl_ulong lo, hi;
-		};
-#endif
-#if defined(__CL_ULONG2__)
-		__cl_ulong2 v2;
-#endif
-	} cl_ulong2;
-
-	typedef union {
-		cl_ulong CL_ALIGNED(32) s[4];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_ulong x, y, z, w;
-		};
-		__extension__ struct
-		{
-			cl_ulong s0, s1, s2, s3;
-		};
-		__extension__ struct
-		{
-			cl_ulong2 lo, hi;
-		};
-#endif
-#if defined(__CL_ULONG2__)
-		__cl_ulong2 v2[2];
-#endif
-#if defined(__CL_ULONG4__)
-		__cl_ulong4 v4;
-#endif
-	} cl_ulong4;
-
-	/* cl_ulong3 is identical in size, alignment and behavior to cl_ulong4. See section 6.1.5. */
-	typedef cl_ulong4 cl_ulong3;
-
-	typedef union {
-		cl_ulong CL_ALIGNED(64) s[8];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_ulong x, y, z, w;
-		};
-		__extension__ struct
-		{
-			cl_ulong s0, s1, s2, s3, s4, s5, s6, s7;
-		};
-		__extension__ struct
-		{
-			cl_ulong4 lo, hi;
-		};
-#endif
-#if defined(__CL_ULONG2__)
-		__cl_ulong2 v2[4];
-#endif
-#if defined(__CL_ULONG4__)
-		__cl_ulong4 v4[2];
-#endif
-#if defined(__CL_ULONG8__)
-		__cl_ulong8 v8;
-#endif
-	} cl_ulong8;
-
-	typedef union {
-		cl_ulong CL_ALIGNED(128) s[16];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_ulong x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf;
-		};
-		__extension__ struct
-		{
-			cl_ulong s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF;
-		};
-		__extension__ struct
-		{
-			cl_ulong8 lo, hi;
-		};
-#endif
-#if defined(__CL_ULONG2__)
-		__cl_ulong2 v2[8];
-#endif
-#if defined(__CL_ULONG4__)
-		__cl_ulong4 v4[4];
-#endif
-#if defined(__CL_ULONG8__)
-		__cl_ulong8 v8[2];
-#endif
-#if defined(__CL_ULONG16__)
-		__cl_ulong16 v16;
-#endif
-	} cl_ulong16;
-
-	/* --- cl_floatn ---- */
-
-	typedef union {
-		cl_float CL_ALIGNED(8) s[2];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_float x, y;
-		};
-		__extension__ struct
-		{
-			cl_float s0, s1;
-		};
-		__extension__ struct
-		{
-			cl_float lo, hi;
-		};
-#endif
-#if defined(__CL_FLOAT2__)
-		__cl_float2 v2;
-#endif
-	} cl_float2;
-
-	typedef union {
-		cl_float CL_ALIGNED(16) s[4];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_float x, y, z, w;
-		};
-		__extension__ struct
-		{
-			cl_float s0, s1, s2, s3;
-		};
-		__extension__ struct
-		{
-			cl_float2 lo, hi;
-		};
-#endif
-#if defined(__CL_FLOAT2__)
-		__cl_float2 v2[2];
-#endif
-#if defined(__CL_FLOAT4__)
-		__cl_float4 v4;
-#endif
-	} cl_float4;
-
-	/* cl_float3 is identical in size, alignment and behavior to cl_float4. See section 6.1.5. */
-	typedef cl_float4 cl_float3;
-
-	typedef union {
-		cl_float CL_ALIGNED(32) s[8];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_float x, y, z, w;
-		};
-		__extension__ struct
-		{
-			cl_float s0, s1, s2, s3, s4, s5, s6, s7;
-		};
-		__extension__ struct
-		{
-			cl_float4 lo, hi;
-		};
-#endif
-#if defined(__CL_FLOAT2__)
-		__cl_float2 v2[4];
-#endif
-#if defined(__CL_FLOAT4__)
-		__cl_float4 v4[2];
-#endif
-#if defined(__CL_FLOAT8__)
-		__cl_float8 v8;
-#endif
-	} cl_float8;
-
-	typedef union {
-		cl_float CL_ALIGNED(64) s[16];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_float x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf;
-		};
-		__extension__ struct
-		{
-			cl_float s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF;
-		};
-		__extension__ struct
-		{
-			cl_float8 lo, hi;
-		};
-#endif
-#if defined(__CL_FLOAT2__)
-		__cl_float2 v2[8];
-#endif
-#if defined(__CL_FLOAT4__)
-		__cl_float4 v4[4];
-#endif
-#if defined(__CL_FLOAT8__)
-		__cl_float8 v8[2];
-#endif
-#if defined(__CL_FLOAT16__)
-		__cl_float16 v16;
-#endif
-	} cl_float16;
-
-	/* --- cl_doublen ---- */
-
-	typedef union {
-		cl_double CL_ALIGNED(16) s[2];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_double x, y;
-		};
-		__extension__ struct
-		{
-			cl_double s0, s1;
-		};
-		__extension__ struct
-		{
-			cl_double lo, hi;
-		};
-#endif
-#if defined(__CL_DOUBLE2__)
-		__cl_double2 v2;
-#endif
-	} cl_double2;
-
-	typedef union {
-		cl_double CL_ALIGNED(32) s[4];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_double x, y, z, w;
-		};
-		__extension__ struct
-		{
-			cl_double s0, s1, s2, s3;
-		};
-		__extension__ struct
-		{
-			cl_double2 lo, hi;
-		};
-#endif
-#if defined(__CL_DOUBLE2__)
-		__cl_double2 v2[2];
-#endif
-#if defined(__CL_DOUBLE4__)
-		__cl_double4 v4;
-#endif
-	} cl_double4;
-
-	/* cl_double3 is identical in size, alignment and behavior to cl_double4. See section 6.1.5. */
-	typedef cl_double4 cl_double3;
-
-	typedef union {
-		cl_double CL_ALIGNED(64) s[8];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_double x, y, z, w;
-		};
-		__extension__ struct
-		{
-			cl_double s0, s1, s2, s3, s4, s5, s6, s7;
-		};
-		__extension__ struct
-		{
-			cl_double4 lo, hi;
-		};
-#endif
-#if defined(__CL_DOUBLE2__)
-		__cl_double2 v2[4];
-#endif
-#if defined(__CL_DOUBLE4__)
-		__cl_double4 v4[2];
-#endif
-#if defined(__CL_DOUBLE8__)
-		__cl_double8 v8;
-#endif
-	} cl_double8;
-
-	typedef union {
-		cl_double CL_ALIGNED(128) s[16];
-#if defined(CL_NAMED_STRUCT_SUPPORTED)
-		__extension__ struct
-		{
-			cl_double x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf;
-		};
-		__extension__ struct
-		{
-			cl_double s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF;
-		};
-		__extension__ struct
-		{
-			cl_double8 lo, hi;
-		};
-#endif
-#if defined(__CL_DOUBLE2__)
-		__cl_double2 v2[8];
-#endif
-#if defined(__CL_DOUBLE4__)
-		__cl_double4 v4[4];
-#endif
-#if defined(__CL_DOUBLE8__)
-		__cl_double8 v8[2];
-#endif
-#if defined(__CL_DOUBLE16__)
-		__cl_double16 v16;
-#endif
-	} cl_double16;
-
-/* Macro to facilitate debugging 
- * Usage:
- *   Place CL_PROGRAM_STRING_DEBUG_INFO on the line before the first line of your source. 
- *   The first line ends with:   CL_PROGRAM_STRING_BEGIN \"
- *   Each line thereafter of OpenCL C source must end with: \n\
- *   The last line ends in ";
- *
- *   Example:
- *
- *   const char *my_program = CL_PROGRAM_STRING_BEGIN "\
- *   kernel void foo( int a, float * b )             \n\
- *   {                                               \n\
- *      // my comment                                \n\
- *      *b[ get_global_id(0)] = a;                   \n\
- *   }                                               \n\
- *   ";
- *
- * This should correctly set up the line, (column) and file information for your source 
- * string so you can do source level debugging.
- */
-#define __CL_STRINGIFY(_x) #_x
-#define _CL_STRINGIFY(_x) __CL_STRINGIFY(_x)
-#define CL_PROGRAM_STRING_DEBUG_INFO "#line " _CL_STRINGIFY(__LINE__) " \"" __FILE__ "\" \n\n"
-
-	//  CL.h contents
-	/******************************************************************************/
-
-	typedef struct _cl_platform_id *cl_platform_id;
-	typedef struct _cl_device_id *cl_device_id;
-	typedef struct _cl_context *cl_context;
-	typedef struct _cl_command_queue *cl_command_queue;
-	typedef struct _cl_mem *cl_mem;
-	typedef struct _cl_program *cl_program;
-	typedef struct _cl_kernel *cl_kernel;
-	typedef struct _cl_event *cl_event;
-	typedef struct _cl_sampler *cl_sampler;
-
-	typedef cl_uint cl_bool; /* WARNING!  Unlike cl_ types in cl_platform.h, cl_bool is not guaranteed to be the same size as the bool in kernels. */
-	typedef cl_ulong cl_bitfield;
-	typedef cl_bitfield cl_device_type;
-	typedef cl_uint cl_platform_info;
-	typedef cl_uint cl_device_info;
-	typedef cl_bitfield cl_device_fp_config;
-	typedef cl_uint cl_device_mem_cache_type;
-	typedef cl_uint cl_device_local_mem_type;
-	typedef cl_bitfield cl_device_exec_capabilities;
-	typedef cl_bitfield cl_command_queue_properties;
-
-	typedef intptr_t cl_context_properties;
-	typedef cl_uint cl_context_info;
-	typedef cl_uint cl_command_queue_info;
-	typedef cl_uint cl_channel_order;
-	typedef cl_uint cl_channel_type;
-	typedef cl_bitfield cl_mem_flags;
-	typedef cl_uint cl_mem_object_type;
-	typedef cl_uint cl_mem_info;
-	typedef cl_uint cl_image_info;
-	typedef cl_uint cl_buffer_create_type;
-	typedef cl_uint cl_addressing_mode;
-	typedef cl_uint cl_filter_mode;
-	typedef cl_uint cl_sampler_info;
-	typedef cl_bitfield cl_map_flags;
-	typedef cl_uint cl_program_info;
-	typedef cl_uint cl_program_build_info;
-	typedef cl_int cl_build_status;
-	typedef cl_uint cl_kernel_info;
-	typedef cl_uint cl_kernel_work_group_info;
-	typedef cl_uint cl_event_info;
-	typedef cl_uint cl_command_type;
-	typedef cl_uint cl_profiling_info;
-
-	typedef struct _cl_image_format
-	{
-		cl_channel_order image_channel_order;
-		cl_channel_type image_channel_data_type;
-	} cl_image_format;
-
-	typedef struct _cl_buffer_region
-	{
-		size_t origin;
-		size_t size;
-	} cl_buffer_region;
-
-/******************************************************************************/
-
-/* Error Codes */
-#define CL_SUCCESS 0
-#define CL_DEVICE_NOT_FOUND -1
-#define CL_DEVICE_NOT_AVAILABLE -2
-#define CL_COMPILER_NOT_AVAILABLE -3
-#define CL_MEM_OBJECT_ALLOCATION_FAILURE -4
-#define CL_OUT_OF_RESOURCES -5
-#define CL_OUT_OF_HOST_MEMORY -6
-#define CL_PROFILING_INFO_NOT_AVAILABLE -7
-#define CL_MEM_COPY_OVERLAP -8
-#define CL_IMAGE_FORMAT_MISMATCH -9
-#define CL_IMAGE_FORMAT_NOT_SUPPORTED -10
-#define CL_BUILD_PROGRAM_FAILURE -11
-#define CL_MAP_FAILURE -12
-#define CL_MISALIGNED_SUB_BUFFER_OFFSET -13
-#define CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST -14
-
-#define CL_INVALID_VALUE -30
-#define CL_INVALID_DEVICE_TYPE -31
-#define CL_INVALID_PLATFORM -32
-#define CL_INVALID_DEVICE -33
-#define CL_INVALID_CONTEXT -34
-#define CL_INVALID_QUEUE_PROPERTIES -35
-#define CL_INVALID_COMMAND_QUEUE -36
-#define CL_INVALID_HOST_PTR -37
-#define CL_INVALID_MEM_OBJECT -38
-#define CL_INVALID_IMAGE_FORMAT_DESCRIPTOR -39
-#define CL_INVALID_IMAGE_SIZE -40
-#define CL_INVALID_SAMPLER -41
-#define CL_INVALID_BINARY -42
-#define CL_INVALID_BUILD_OPTIONS -43
-#define CL_INVALID_PROGRAM -44
-#define CL_INVALID_PROGRAM_EXECUTABLE -45
-#define CL_INVALID_KERNEL_NAME -46
-#define CL_INVALID_KERNEL_DEFINITION -47
-#define CL_INVALID_KERNEL -48
-#define CL_INVALID_ARG_INDEX -49
-#define CL_INVALID_ARG_VALUE -50
-#define CL_INVALID_ARG_SIZE -51
-#define CL_INVALID_KERNEL_ARGS -52
-#define CL_INVALID_WORK_DIMENSION -53
-#define CL_INVALID_WORK_GROUP_SIZE -54
-#define CL_INVALID_WORK_ITEM_SIZE -55
-#define CL_INVALID_GLOBAL_OFFSET -56
-#define CL_INVALID_EVENT_WAIT_LIST -57
-#define CL_INVALID_EVENT -58
-#define CL_INVALID_OPERATION -59
-#define CL_INVALID_GL_OBJECT -60
-#define CL_INVALID_BUFFER_SIZE -61
-#define CL_INVALID_MIP_LEVEL -62
-#define CL_INVALID_GLOBAL_WORK_SIZE -63
-#define CL_INVALID_PROPERTY -64
-
-/* OpenCL Version */
-#define CL_VERSION_1_0 1
-#define CL_VERSION_1_1 1
-
-/* cl_bool */
-#define CL_FALSE 0
-#define CL_TRUE 1
-
-/* cl_platform_info */
-#define CL_PLATFORM_PROFILE 0x0900
-#define CL_PLATFORM_VERSION 0x0901
-#define CL_PLATFORM_NAME 0x0902
-#define CL_PLATFORM_VENDOR 0x0903
-#define CL_PLATFORM_EXTENSIONS 0x0904
-
-/* cl_device_type - bitfield */
-#define CL_DEVICE_TYPE_DEFAULT (1 << 0)
-#define CL_DEVICE_TYPE_CPU (1 << 1)
-#define CL_DEVICE_TYPE_GPU (1 << 2)
-#define CL_DEVICE_TYPE_ACCELERATOR (1 << 3)
-#define CL_DEVICE_TYPE_ALL 0xFFFFFFFF
-
-/* cl_device_info */
-#define CL_DEVICE_TYPE 0x1000
-#define CL_DEVICE_VENDOR_ID 0x1001
-#define CL_DEVICE_MAX_COMPUTE_UNITS 0x1002
-#define CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS 0x1003
-#define CL_DEVICE_MAX_WORK_GROUP_SIZE 0x1004
-#define CL_DEVICE_MAX_WORK_ITEM_SIZES 0x1005
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_CHAR 0x1006
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_SHORT 0x1007
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_INT 0x1008
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_LONG 0x1009
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_FLOAT 0x100A
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE 0x100B
-#define CL_DEVICE_MAX_CLOCK_FREQUENCY 0x100C
-#define CL_DEVICE_ADDRESS_BITS 0x100D
-#define CL_DEVICE_MAX_READ_IMAGE_ARGS 0x100E
-#define CL_DEVICE_MAX_WRITE_IMAGE_ARGS 0x100F
-#define CL_DEVICE_MAX_MEM_ALLOC_SIZE 0x1010
-#define CL_DEVICE_IMAGE2D_MAX_WIDTH 0x1011
-#define CL_DEVICE_IMAGE2D_MAX_HEIGHT 0x1012
-#define CL_DEVICE_IMAGE3D_MAX_WIDTH 0x1013
-#define CL_DEVICE_IMAGE3D_MAX_HEIGHT 0x1014
-#define CL_DEVICE_IMAGE3D_MAX_DEPTH 0x1015
-#define CL_DEVICE_IMAGE_SUPPORT 0x1016
-#define CL_DEVICE_MAX_PARAMETER_SIZE 0x1017
-#define CL_DEVICE_MAX_SAMPLERS 0x1018
-#define CL_DEVICE_MEM_BASE_ADDR_ALIGN 0x1019
-#define CL_DEVICE_MIN_DATA_TYPE_ALIGN_SIZE 0x101A
-#define CL_DEVICE_SINGLE_FP_CONFIG 0x101B
-#define CL_DEVICE_GLOBAL_MEM_CACHE_TYPE 0x101C
-#define CL_DEVICE_GLOBAL_MEM_CACHELINE_SIZE 0x101D
-#define CL_DEVICE_GLOBAL_MEM_CACHE_SIZE 0x101E
-#define CL_DEVICE_GLOBAL_MEM_SIZE 0x101F
-#define CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE 0x1020
-#define CL_DEVICE_MAX_CONSTANT_ARGS 0x1021
-#define CL_DEVICE_LOCAL_MEM_TYPE 0x1022
-#define CL_DEVICE_LOCAL_MEM_SIZE 0x1023
-#define CL_DEVICE_ERROR_CORRECTION_SUPPORT 0x1024
-#define CL_DEVICE_PROFILING_TIMER_RESOLUTION 0x1025
-#define CL_DEVICE_ENDIAN_LITTLE 0x1026
-#define CL_DEVICE_AVAILABLE 0x1027
-#define CL_DEVICE_COMPILER_AVAILABLE 0x1028
-#define CL_DEVICE_EXECUTION_CAPABILITIES 0x1029
-#define CL_DEVICE_QUEUE_PROPERTIES 0x102A
-#define CL_DEVICE_NAME 0x102B
-#define CL_DEVICE_VENDOR 0x102C
-#define CL_DRIVER_VERSION 0x102D
-#define CL_DEVICE_PROFILE 0x102E
-#define CL_DEVICE_VERSION 0x102F
-#define CL_DEVICE_EXTENSIONS 0x1030
-#define CL_DEVICE_PLATFORM 0x1031
-/* 0x1032 reserved for CL_DEVICE_DOUBLE_FP_CONFIG */
-/* 0x1033 reserved for CL_DEVICE_HALF_FP_CONFIG */
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_HALF 0x1034
-#define CL_DEVICE_HOST_UNIFIED_MEMORY 0x1035
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_CHAR 0x1036
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_SHORT 0x1037
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_INT 0x1038
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_LONG 0x1039
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_FLOAT 0x103A
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_DOUBLE 0x103B
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_HALF 0x103C
-#define CL_DEVICE_OPENCL_C_VERSION 0x103D
-
-/* cl_device_fp_config - bitfield */
-#define CL_FP_DENORM (1 << 0)
-#define CL_FP_INF_NAN (1 << 1)
-#define CL_FP_ROUND_TO_NEAREST (1 << 2)
-#define CL_FP_ROUND_TO_ZERO (1 << 3)
-#define CL_FP_ROUND_TO_INF (1 << 4)
-#define CL_FP_FMA (1 << 5)
-#define CL_FP_SOFT_FLOAT (1 << 6)
-
-/* cl_device_mem_cache_type */
-#define CL_NONE 0x0
-#define CL_READ_ONLY_CACHE 0x1
-#define CL_READ_WRITE_CACHE 0x2
-
-/* cl_device_local_mem_type */
-#define CL_LOCAL 0x1
-#define CL_GLOBAL 0x2
-
-/* cl_device_exec_capabilities - bitfield */
-#define CL_EXEC_KERNEL (1 << 0)
-#define CL_EXEC_NATIVE_KERNEL (1 << 1)
-
-/* cl_command_queue_properties - bitfield */
-#define CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE (1 << 0)
-#define CL_QUEUE_PROFILING_ENABLE (1 << 1)
-
-/* cl_context_info  */
-#define CL_CONTEXT_REFERENCE_COUNT 0x1080
-#define CL_CONTEXT_DEVICES 0x1081
-#define CL_CONTEXT_PROPERTIES 0x1082
-#define CL_CONTEXT_NUM_DEVICES 0x1083
-
-/* cl_context_info + cl_context_properties */
-#define CL_CONTEXT_PLATFORM 0x1084
-
-/* cl_command_queue_info */
-#define CL_QUEUE_CONTEXT 0x1090
-#define CL_QUEUE_DEVICE 0x1091
-#define CL_QUEUE_REFERENCE_COUNT 0x1092
-#define CL_QUEUE_PROPERTIES 0x1093
-
-/* cl_mem_flags - bitfield */
-#define CL_MEM_READ_WRITE (1 << 0)
-#define CL_MEM_WRITE_ONLY (1 << 1)
-#define CL_MEM_READ_ONLY (1 << 2)
-#define CL_MEM_USE_HOST_PTR (1 << 3)
-#define CL_MEM_ALLOC_HOST_PTR (1 << 4)
-#define CL_MEM_COPY_HOST_PTR (1 << 5)
-
-/* cl_channel_order */
-#define CL_R 0x10B0
-#define CL_A 0x10B1
-#define CL_RG 0x10B2
-#define CL_RA 0x10B3
-#define CL_RGB 0x10B4
-#define CL_RGBA 0x10B5
-#define CL_BGRA 0x10B6
-#define CL_ARGB 0x10B7
-#define CL_INTENSITY 0x10B8
-#define CL_LUMINANCE 0x10B9
-#define CL_Rx 0x10BA
-#define CL_RGx 0x10BB
-#define CL_RGBx 0x10BC
-
-/* cl_channel_type */
-#define CL_SNORM_INT8 0x10D0
-#define CL_SNORM_INT16 0x10D1
-#define CL_UNORM_INT8 0x10D2
-#define CL_UNORM_INT16 0x10D3
-#define CL_UNORM_SHORT_565 0x10D4
-#define CL_UNORM_SHORT_555 0x10D5
-#define CL_UNORM_INT_101010 0x10D6
-#define CL_SIGNED_INT8 0x10D7
-#define CL_SIGNED_INT16 0x10D8
-#define CL_SIGNED_INT32 0x10D9
-#define CL_UNSIGNED_INT8 0x10DA
-#define CL_UNSIGNED_INT16 0x10DB
-#define CL_UNSIGNED_INT32 0x10DC
-#define CL_HALF_FLOAT 0x10DD
-#define CL_FLOAT 0x10DE
-
-/* cl_mem_object_type */
-#define CL_MEM_OBJECT_BUFFER 0x10F0
-#define CL_MEM_OBJECT_IMAGE2D 0x10F1
-#define CL_MEM_OBJECT_IMAGE3D 0x10F2
-
-/* cl_mem_info */
-#define CL_MEM_TYPE 0x1100
-#define CL_MEM_FLAGS 0x1101
-#define CL_MEM_SIZE 0x1102
-#define CL_MEM_HOST_PTR 0x1103
-#define CL_MEM_MAP_COUNT 0x1104
-#define CL_MEM_REFERENCE_COUNT 0x1105
-#define CL_MEM_CONTEXT 0x1106
-#define CL_MEM_ASSOCIATED_MEMOBJECT 0x1107
-#define CL_MEM_OFFSET 0x1108
-
-/* cl_image_info */
-#define CL_IMAGE_FORMAT 0x1110
-#define CL_IMAGE_ELEMENT_SIZE 0x1111
-#define CL_IMAGE_ROW_PITCH 0x1112
-#define CL_IMAGE_SLICE_PITCH 0x1113
-#define CL_IMAGE_WIDTH 0x1114
-#define CL_IMAGE_HEIGHT 0x1115
-#define CL_IMAGE_DEPTH 0x1116
-
-/* cl_addressing_mode */
-#define CL_ADDRESS_NONE 0x1130
-#define CL_ADDRESS_CLAMP_TO_EDGE 0x1131
-#define CL_ADDRESS_CLAMP 0x1132
-#define CL_ADDRESS_REPEAT 0x1133
-#define CL_ADDRESS_MIRRORED_REPEAT 0x1134
-
-/* cl_filter_mode */
-#define CL_FILTER_NEAREST 0x1140
-#define CL_FILTER_LINEAR 0x1141
-
-/* cl_sampler_info */
-#define CL_SAMPLER_REFERENCE_COUNT 0x1150
-#define CL_SAMPLER_CONTEXT 0x1151
-#define CL_SAMPLER_NORMALIZED_COORDS 0x1152
-#define CL_SAMPLER_ADDRESSING_MODE 0x1153
-#define CL_SAMPLER_FILTER_MODE 0x1154
-
-/* cl_map_flags - bitfield */
-#define CL_MAP_READ (1 << 0)
-#define CL_MAP_WRITE (1 << 1)
-
-/* cl_program_info */
-#define CL_PROGRAM_REFERENCE_COUNT 0x1160
-#define CL_PROGRAM_CONTEXT 0x1161
-#define CL_PROGRAM_NUM_DEVICES 0x1162
-#define CL_PROGRAM_DEVICES 0x1163
-#define CL_PROGRAM_SOURCE 0x1164
-#define CL_PROGRAM_BINARY_SIZES 0x1165
-#define CL_PROGRAM_BINARIES 0x1166
-
-/* cl_program_build_info */
-#define CL_PROGRAM_BUILD_STATUS 0x1181
-#define CL_PROGRAM_BUILD_OPTIONS 0x1182
-#define CL_PROGRAM_BUILD_LOG 0x1183
-
-/* cl_build_status */
-#define CL_BUILD_SUCCESS 0
-#define CL_BUILD_NONE -1
-#define CL_BUILD_ERROR -2
-#define CL_BUILD_IN_PROGRESS -3
-
-/* cl_kernel_info */
-#define CL_KERNEL_FUNCTION_NAME 0x1190
-#define CL_KERNEL_NUM_ARGS 0x1191
-#define CL_KERNEL_REFERENCE_COUNT 0x1192
-#define CL_KERNEL_CONTEXT 0x1193
-#define CL_KERNEL_PROGRAM 0x1194
-
-/* cl_kernel_work_group_info */
-#define CL_KERNEL_WORK_GROUP_SIZE 0x11B0
-#define CL_KERNEL_COMPILE_WORK_GROUP_SIZE 0x11B1
-#define CL_KERNEL_LOCAL_MEM_SIZE 0x11B2
-#define CL_KERNEL_PREFERRED_WORK_GROUP_SIZE_MULTIPLE 0x11B3
-#define CL_KERNEL_PRIVATE_MEM_SIZE 0x11B4
-
-/* cl_event_info  */
-#define CL_EVENT_COMMAND_QUEUE 0x11D0
-#define CL_EVENT_COMMAND_TYPE 0x11D1
-#define CL_EVENT_REFERENCE_COUNT 0x11D2
-#define CL_EVENT_COMMAND_EXECUTION_STATUS 0x11D3
-#define CL_EVENT_CONTEXT 0x11D4
-
-/* cl_command_type */
-#define CL_COMMAND_NDRANGE_KERNEL 0x11F0
-#define CL_COMMAND_TASK 0x11F1
-#define CL_COMMAND_NATIVE_KERNEL 0x11F2
-#define CL_COMMAND_READ_BUFFER 0x11F3
-#define CL_COMMAND_WRITE_BUFFER 0x11F4
-#define CL_COMMAND_COPY_BUFFER 0x11F5
-#define CL_COMMAND_READ_IMAGE 0x11F6
-#define CL_COMMAND_WRITE_IMAGE 0x11F7
-#define CL_COMMAND_COPY_IMAGE 0x11F8
-#define CL_COMMAND_COPY_IMAGE_TO_BUFFER 0x11F9
-#define CL_COMMAND_COPY_BUFFER_TO_IMAGE 0x11FA
-#define CL_COMMAND_MAP_BUFFER 0x11FB
-#define CL_COMMAND_MAP_IMAGE 0x11FC
-#define CL_COMMAND_UNMAP_MEM_OBJECT 0x11FD
-#define CL_COMMAND_MARKER 0x11FE
-#define CL_COMMAND_ACQUIRE_GL_OBJECTS 0x11FF
-#define CL_COMMAND_RELEASE_GL_OBJECTS 0x1200
-#define CL_COMMAND_READ_BUFFER_RECT 0x1201
-#define CL_COMMAND_WRITE_BUFFER_RECT 0x1202
-#define CL_COMMAND_COPY_BUFFER_RECT 0x1203
-#define CL_COMMAND_USER 0x1204
-
-/* command execution status */
-#define CL_COMPLETE 0x0
-#define CL_RUNNING 0x1
-#define CL_SUBMITTED 0x2
-#define CL_QUEUED 0x3
-
-/* cl_buffer_create_type  */
-#define CL_BUFFER_CREATE_TYPE_REGION 0x1220
-
-/* cl_profiling_info  */
-#define CL_PROFILING_COMMAND_QUEUED 0x1280
-#define CL_PROFILING_COMMAND_SUBMIT 0x1281
-#define CL_PROFILING_COMMAND_START 0x1282
-#define CL_PROFILING_COMMAND_END 0x1283
-
-	/********************************************************************************************************/
-
-	/********************************************************************************************************/
-
-	/*  Function signature typedef's */
-
-	/* Platform API */
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLGETPLATFORMIDS)(cl_uint /* num_entries */,
-														 cl_platform_id * /* platforms */,
-														 cl_uint * /* num_platforms */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLGETPLATFORMINFO)(cl_platform_id /* platform */,
-														  cl_platform_info /* param_name */,
-														  size_t /* param_value_size */,
-														  void * /* param_value */,
-														  size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	/* Device APIs */
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLGETDEVICEIDS)(cl_platform_id /* platform */,
-													   cl_device_type /* device_type */,
-													   cl_uint /* num_entries */,
-													   cl_device_id * /* devices */,
-													   cl_uint * /* num_devices */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLGETDEVICEINFO)(cl_device_id /* device */,
-														cl_device_info /* param_name */,
-														size_t /* param_value_size */,
-														void * /* param_value */,
-														size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	// Context APIs
-	typedef CL_API_ENTRY cl_context(CL_API_CALL *
-										PFNCLCREATECONTEXT)(const cl_context_properties * /* properties */,
-															cl_uint /* num_devices */,
-															const cl_device_id * /* devices */,
-															void(CL_CALLBACK * /* pfn_notify */)(const char *, const void *, size_t, void *),
-															void * /* user_data */,
-															cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_context(CL_API_CALL *
-										PFNCLCREATECONTEXTFROMTYPE)(const cl_context_properties * /* properties */,
-																	cl_device_type /* device_type */,
-																	void(CL_CALLBACK * /* pfn_notify*/)(const char *, const void *, size_t, void *),
-																	void * /* user_data */,
-																	cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLRETAINCONTEXT)(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLRELEASECONTEXT)(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLGETCONTEXTINFO)(cl_context /* context */,
-														 cl_context_info /* param_name */,
-														 size_t /* param_value_size */,
-														 void * /* param_value */,
-														 size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	/* Command Queue APIs */
-	typedef CL_API_ENTRY cl_command_queue(CL_API_CALL *
-											  PFNCLCREATECOMMANDQUEUE)(cl_context /* context */,
-																	   cl_device_id /* device */,
-																	   cl_command_queue_properties /* properties */,
-																	   cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLRETAINCOMMANDQUEUE)(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLRELEASECOMMANDQUEUE)(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLGETCOMMANDQUEUEINFO)(cl_command_queue /* command_queue */,
-															  cl_command_queue_info /* param_name */,
-															  size_t /* param_value_size */,
-															  void * /* param_value */,
-															  size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLSETCOMMANDQUEUEPROPERTY)(cl_command_queue /* command_queue */,
-																  cl_command_queue_properties /* properties */,
-																  cl_bool /* enable */,
-																  cl_command_queue_properties * /* old_properties */) CL_API_SUFFIX__VERSION_1_0;
-
-	/* Memory Object APIs */
-	typedef CL_API_ENTRY cl_mem(CL_API_CALL *
-									PFNCLCREATEBUFFER)(cl_context /* context */,
-													   cl_mem_flags /* flags */,
-													   size_t /* size */,
-													   void * /* host_ptr */,
-													   cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_mem(CL_API_CALL *
-									PFNCLCREATESUBBUFFER)(cl_mem /* buffer */,
-														  cl_mem_flags /* flags */,
-														  cl_buffer_create_type /* buffer_create_type */,
-														  const void * /* buffer_create_info */,
-														  cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1;
-
-	typedef CL_API_ENTRY cl_mem(CL_API_CALL *
-									PFNCLCREATEIMAGE2D)(cl_context /* context */,
-														cl_mem_flags /* flags */,
-														const cl_image_format * /* image_format */,
-														size_t /* image_width */,
-														size_t /* image_height */,
-														size_t /* image_row_pitch */,
-														void * /* host_ptr */,
-														cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_mem(CL_API_CALL *
-									PFNCLCREATEIMAGE3D)(cl_context /* context */,
-														cl_mem_flags /* flags */,
-														const cl_image_format * /* image_format */,
-														size_t /* image_width */,
-														size_t /* image_height */,
-														size_t /* image_depth */,
-														size_t /* image_row_pitch */,
-														size_t /* image_slice_pitch */,
-														void * /* host_ptr */,
-														cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLRETAINMEMOBJECT)(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLRELEASEMEMOBJECT)(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLGETSUPPORTEDIMAGEFORMATS)(cl_context /* context */,
-																   cl_mem_flags /* flags */,
-																   cl_mem_object_type /* image_type */,
-																   cl_uint /* num_entries */,
-																   cl_image_format * /* image_formats */,
-																   cl_uint * /* num_image_formats */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLGETMEMOBJECTINFO)(cl_mem /* memobj */,
-														   cl_mem_info /* param_name */,
-														   size_t /* param_value_size */,
-														   void * /* param_value */,
-														   size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLGETIMAGEINFO)(cl_mem /* image */,
-													   cl_image_info /* param_name */,
-													   size_t /* param_value_size */,
-													   void * /* param_value */,
-													   size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLSETMEMOBJECTDESTRUCTORCALLBACK)(cl_mem /* memobj */,
-																		 void(CL_CALLBACK * /*pfn_notify*/)(cl_mem /* memobj */, void * /*user_data*/),
-																		 void * /*user_data */) CL_API_SUFFIX__VERSION_1_1;
-
-	/* Sampler APIs  */
-	typedef CL_API_ENTRY cl_sampler(CL_API_CALL *
-										PFNCLCREATESAMPLER)(cl_context /* context */,
-															cl_bool /* normalized_coords */,
-															cl_addressing_mode /* addressing_mode */,
-															cl_filter_mode /* filter_mode */,
-															cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLRETAINSAMPLER)(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLRELEASESAMPLER)(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLGETSAMPLERINFO)(cl_sampler /* sampler */,
-														 cl_sampler_info /* param_name */,
-														 size_t /* param_value_size */,
-														 void * /* param_value */,
-														 size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	/* Program Object APIs  */
-	typedef CL_API_ENTRY cl_program(CL_API_CALL *
-										PFNCLCREATEPROGRAMWITHSOURCE)(cl_context /* context */,
-																	  cl_uint /* count */,
-																	  const char ** /* strings */,
-																	  const size_t * /* lengths */,
-																	  cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_program(CL_API_CALL *
-										PFNCLCREATEPROGRAMWITHBINARY)(cl_context /* context */,
-																	  cl_uint /* num_devices */,
-																	  const cl_device_id * /* device_list */,
-																	  const size_t * /* lengths */,
-																	  const unsigned char ** /* binaries */,
-																	  cl_int * /* binary_status */,
-																	  cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLRETAINPROGRAM)(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLRELEASEPROGRAM)(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLBUILDPROGRAM)(cl_program /* program */,
-													   cl_uint /* num_devices */,
-													   const cl_device_id * /* device_list */,
-													   const char * /* options */,
-													   void(CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */),
-													   void * /* user_data */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLUNLOADCOMPILER)(void) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLGETPROGRAMINFO)(cl_program /* program */,
-														 cl_program_info /* param_name */,
-														 size_t /* param_value_size */,
-														 void * /* param_value */,
-														 size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLGETPROGRAMBUILDINFO)(cl_program /* program */,
-															  cl_device_id /* device */,
-															  cl_program_build_info /* param_name */,
-															  size_t /* param_value_size */,
-															  void * /* param_value */,
-															  size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	/* Kernel Object APIs */
-	typedef CL_API_ENTRY cl_kernel(CL_API_CALL *
-									   PFNCLCREATEKERNEL)(cl_program /* program */,
-														  const char * /* kernel_name */,
-														  cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLCREATEKERNELSINPROGRAM)(cl_program /* program */,
-																 cl_uint /* num_kernels */,
-																 cl_kernel * /* kernels */,
-																 cl_uint * /* num_kernels_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLRETAINKERNEL)(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLRELEASEKERNEL)(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLSETKERNELARG)(cl_kernel /* kernel */,
-													   cl_uint /* arg_index */,
-													   size_t /* arg_size */,
-													   const void * /* arg_value */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLGETKERNELINFO)(cl_kernel /* kernel */,
-														cl_kernel_info /* param_name */,
-														size_t /* param_value_size */,
-														void * /* param_value */,
-														size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLGETKERNELWORKGROUPINFO)(cl_kernel /* kernel */,
-																 cl_device_id /* device */,
-																 cl_kernel_work_group_info /* param_name */,
-																 size_t /* param_value_size */,
-																 void * /* param_value */,
-																 size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	// Event Object APIs
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLWAITFOREVENTS)(cl_uint /* num_events */,
-														const cl_event * /* event_list */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLGETEVENTINFO)(cl_event /* event */,
-													   cl_event_info /* param_name */,
-													   size_t /* param_value_size */,
-													   void * /* param_value */,
-													   size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_event(CL_API_CALL *
-									  PFNCLCREATEUSEREVENT)(cl_context /* context */,
-															cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLRETAINEVENT)(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLRELEASEEVENT)(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLSETUSEREVENTSTATUS)(cl_event /* event */,
-															 cl_int /* execution_status */) CL_API_SUFFIX__VERSION_1_1;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLSETEVENTCALLBACK)(cl_event /* event */,
-														   cl_int /* command_exec_callback_type */,
-														   void(CL_CALLBACK * /* pfn_notify */)(cl_event, cl_int, void *),
-														   void * /* user_data */) CL_API_SUFFIX__VERSION_1_1;
-
-	/* Profiling APIs  */
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLGETEVENTPROFILINGINFO)(cl_event /* event */,
-																cl_profiling_info /* param_name */,
-																size_t /* param_value_size */,
-																void * /* param_value */,
-																size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-	// Flush and Finish APIs
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLFLUSH)(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLFINISH)(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-	/* Enqueued Commands APIs */
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLENQUEUEREADBUFFER)(cl_command_queue /* command_queue */,
-															cl_mem /* buffer */,
-															cl_bool /* blocking_read */,
-															size_t /* offset */,
-															size_t /* cb */,
-															void * /* ptr */,
-															cl_uint /* num_events_in_wait_list */,
-															const cl_event * /* event_wait_list */,
-															cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLENQUEUEREADBUFFERRECT)(cl_command_queue /* command_queue */,
-																cl_mem /* buffer */,
-																cl_bool /* blocking_read */,
-																const size_t * /* buffer_origin */,
-																const size_t * /* host_origin */,
-																const size_t * /* region */,
-																size_t /* buffer_row_pitch */,
-																size_t /* buffer_slice_pitch */,
-																size_t /* host_row_pitch */,
-																size_t /* host_slice_pitch */,
-																void * /* ptr */,
-																cl_uint /* num_events_in_wait_list */,
-																const cl_event * /* event_wait_list */,
-																cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLENQUEUEWRITEBUFFER)(cl_command_queue /* command_queue */,
-															 cl_mem /* buffer */,
-															 cl_bool /* blocking_write */,
-															 size_t /* offset */,
-															 size_t /* cb */,
-															 const void * /* ptr */,
-															 cl_uint /* num_events_in_wait_list */,
-															 const cl_event * /* event_wait_list */,
-															 cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLENQUEUEWRITEBUFFERRECT)(cl_command_queue /* command_queue */,
-																 cl_mem /* buffer */,
-																 cl_bool /* blocking_write */,
-																 const size_t * /* buffer_origin */,
-																 const size_t * /* host_origin */,
-																 const size_t * /* region */,
-																 size_t /* buffer_row_pitch */,
-																 size_t /* buffer_slice_pitch */,
-																 size_t /* host_row_pitch */,
-																 size_t /* host_slice_pitch */,
-																 const void * /* ptr */,
-																 cl_uint /* num_events_in_wait_list */,
-																 const cl_event * /* event_wait_list */,
-																 cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLENQUEUECOPYBUFFER)(cl_command_queue /* command_queue */,
-															cl_mem /* src_buffer */,
-															cl_mem /* dst_buffer */,
-															size_t /* src_offset */,
-															size_t /* dst_offset */,
-															size_t /* cb */,
-															cl_uint /* num_events_in_wait_list */,
-															const cl_event * /* event_wait_list */,
-															cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLENQUEUECOPYBUFFERRECT)(cl_command_queue /* command_queue */,
-																cl_mem /* src_buffer */,
-																cl_mem /* dst_buffer */,
-																const size_t * /* src_origin */,
-																const size_t * /* dst_origin */,
-																const size_t * /* region */,
-																size_t /* src_row_pitch */,
-																size_t /* src_slice_pitch */,
-																size_t /* dst_row_pitch */,
-																size_t /* dst_slice_pitch */,
-																cl_uint /* num_events_in_wait_list */,
-																const cl_event * /* event_wait_list */,
-																cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLENQUEUEREADIMAGE)(cl_command_queue /* command_queue */,
-														   cl_mem /* image */,
-														   cl_bool /* blocking_read */,
-														   const size_t * /* origin[3] */,
-														   const size_t * /* region[3] */,
-														   size_t /* row_pitch */,
-														   size_t /* slice_pitch */,
-														   void * /* ptr */,
-														   cl_uint /* num_events_in_wait_list */,
-														   const cl_event * /* event_wait_list */,
-														   cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLENQUEUEWRITEIMAGE)(cl_command_queue /* command_queue */,
-															cl_mem /* image */,
-															cl_bool /* blocking_write */,
-															const size_t * /* origin[3] */,
-															const size_t * /* region[3] */,
-															size_t /* input_row_pitch */,
-															size_t /* input_slice_pitch */,
-															const void * /* ptr */,
-															cl_uint /* num_events_in_wait_list */,
-															const cl_event * /* event_wait_list */,
-															cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLENQUEUECOPYIMAGE)(cl_command_queue /* command_queue */,
-														   cl_mem /* src_image */,
-														   cl_mem /* dst_image */,
-														   const size_t * /* src_origin[3] */,
-														   const size_t * /* dst_origin[3] */,
-														   const size_t * /* region[3] */,
-														   cl_uint /* num_events_in_wait_list */,
-														   const cl_event * /* event_wait_list */,
-														   cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLENQUEUECOPYIMAGETOBUFFER)(cl_command_queue /* command_queue */,
-																   cl_mem /* src_image */,
-																   cl_mem /* dst_buffer */,
-																   const size_t * /* src_origin[3] */,
-																   const size_t * /* region[3] */,
-																   size_t /* dst_offset */,
-																   cl_uint /* num_events_in_wait_list */,
-																   const cl_event * /* event_wait_list */,
-																   cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLENQUEUECOPYBUFFERTOIMAGE)(cl_command_queue /* command_queue */,
-																   cl_mem /* src_buffer */,
-																   cl_mem /* dst_image */,
-																   size_t /* src_offset */,
-																   const size_t * /* dst_origin[3] */,
-																   const size_t * /* region[3] */,
-																   cl_uint /* num_events_in_wait_list */,
-																   const cl_event * /* event_wait_list */,
-																   cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY void *(CL_API_CALL *
-									PFNCLENQUEUEMAPBUFFER)(cl_command_queue /* command_queue */,
-														   cl_mem /* buffer */,
-														   cl_bool /* blocking_map */,
-														   cl_map_flags /* map_flags */,
-														   size_t /* offset */,
-														   size_t /* cb */,
-														   cl_uint /* num_events_in_wait_list */,
-														   const cl_event * /* event_wait_list */,
-														   cl_event * /* event */,
-														   cl_int * /* errcode_ret */)CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY void *(CL_API_CALL *
-									PFNCLENQUEUEMAPIMAGE)(cl_command_queue /* command_queue */,
-														  cl_mem /* image */,
-														  cl_bool /* blocking_map */,
-														  cl_map_flags /* map_flags */,
-														  const size_t * /* origin[3] */,
-														  const size_t * /* region[3] */,
-														  size_t * /* image_row_pitch */,
-														  size_t * /* image_slice_pitch */,
-														  cl_uint /* num_events_in_wait_list */,
-														  const cl_event * /* event_wait_list */,
-														  cl_event * /* event */,
-														  cl_int * /* errcode_ret */)CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLENQUEUEUNMAPMEMOBJECT)(cl_command_queue /* command_queue */,
-																cl_mem /* memobj */,
-																void * /* mapped_ptr */,
-																cl_uint /* num_events_in_wait_list */,
-																const cl_event * /* event_wait_list */,
-																cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLENQUEUENDRANGEKERNEL)(cl_command_queue /* command_queue */,
-															   cl_kernel /* kernel */,
-															   cl_uint /* work_dim */,
-															   const size_t * /* global_work_offset */,
-															   const size_t * /* global_work_size */,
-															   const size_t * /* local_work_size */,
-															   cl_uint /* num_events_in_wait_list */,
-															   const cl_event * /* event_wait_list */,
-															   cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLENQUEUETASK)(cl_command_queue /* command_queue */,
-													  cl_kernel /* kernel */,
-													  cl_uint /* num_events_in_wait_list */,
-													  const cl_event * /* event_wait_list */,
-													  cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLENQUEUENATIVEKERNEL)(cl_command_queue /* command_queue */,
-															  void (*user_func)(void *),
-															  void * /* args */,
-															  size_t /* cb_args */,
-															  cl_uint /* num_mem_objects */,
-															  const cl_mem * /* mem_list */,
-															  const void ** /* args_mem_loc */,
-															  cl_uint /* num_events_in_wait_list */,
-															  const cl_event * /* event_wait_list */,
-															  cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLENQUEUEMARKER)(cl_command_queue /* command_queue */,
-														cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLENQUEUEWAITFOREVENTS)(cl_command_queue /* command_queue */,
-															   cl_uint /* num_events */,
-															   const cl_event * /* event_list */) CL_API_SUFFIX__VERSION_1_0;
-
-	typedef CL_API_ENTRY cl_int(CL_API_CALL *
-									PFNCLENQUEUEBARRIER)(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-	// Extension function access
-	//
-	// Returns the extension function address for the given function name,
-	// or NULL if a valid function can not be found.  The client must
-	// check to make sure the address is not NULL, before using or
-	// calling the returned function address.
-	//
-	typedef CL_API_ENTRY void *(CL_API_CALL *PFNCLGETEXTENSIONFUNCTIONADDRESS)(const char * /* func_name */)CL_API_SUFFIX__VERSION_1_0;
-
-#define CLEW_STATIC
-
-#ifdef CLEW_STATIC
-#define CLEWAPI extern
-#else
-#ifdef CLEW_BUILD
-#define CLEWAPI extern __declspec(dllexport)
-#else
-#define CLEWAPI extern __declspec(dllimport)
-#endif
-#endif
-
-#if defined(_WIN32)
-#define CLEW_FUN_EXPORT extern
-#else
-#define CLEW_FUN_EXPORT CLEWAPI
-#endif
-
-#define CLEW_GET_FUN(x) x
-
-	//  Variables holding function entry points
-	CLEW_FUN_EXPORT PFNCLGETPLATFORMIDS __clewGetPlatformIDs;
-	CLEW_FUN_EXPORT PFNCLGETPLATFORMINFO __clewGetPlatformInfo;
-	CLEW_FUN_EXPORT PFNCLGETDEVICEIDS __clewGetDeviceIDs;
-	CLEW_FUN_EXPORT PFNCLGETDEVICEINFO __clewGetDeviceInfo;
-	CLEW_FUN_EXPORT PFNCLCREATECONTEXT __clewCreateContext;
-	CLEW_FUN_EXPORT PFNCLCREATECONTEXTFROMTYPE __clewCreateContextFromType;
-	CLEW_FUN_EXPORT PFNCLRETAINCONTEXT __clewRetainContext;
-	CLEW_FUN_EXPORT PFNCLRELEASECONTEXT __clewReleaseContext;
-	CLEW_FUN_EXPORT PFNCLGETCONTEXTINFO __clewGetContextInfo;
-	CLEW_FUN_EXPORT PFNCLCREATECOMMANDQUEUE __clewCreateCommandQueue;
-	CLEW_FUN_EXPORT PFNCLRETAINCOMMANDQUEUE __clewRetainCommandQueue;
-	CLEW_FUN_EXPORT PFNCLRELEASECOMMANDQUEUE __clewReleaseCommandQueue;
-	CLEW_FUN_EXPORT PFNCLGETCOMMANDQUEUEINFO __clewGetCommandQueueInfo;
-#ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS
-	CLEW_FUN_EXPORT PFNCLSETCOMMANDQUEUEPROPERTY __clewSetCommandQueueProperty;
-#endif
-	CLEW_FUN_EXPORT PFNCLCREATEBUFFER __clewCreateBuffer;
-	CLEW_FUN_EXPORT PFNCLCREATESUBBUFFER __clewCreateSubBuffer;
-	CLEW_FUN_EXPORT PFNCLCREATEIMAGE2D __clewCreateImage2D;
-	CLEW_FUN_EXPORT PFNCLCREATEIMAGE3D __clewCreateImage3D;
-	CLEW_FUN_EXPORT PFNCLRETAINMEMOBJECT __clewRetainMemObject;
-	CLEW_FUN_EXPORT PFNCLRELEASEMEMOBJECT __clewReleaseMemObject;
-	CLEW_FUN_EXPORT PFNCLGETSUPPORTEDIMAGEFORMATS __clewGetSupportedImageFormats;
-	CLEW_FUN_EXPORT PFNCLGETMEMOBJECTINFO __clewGetMemObjectInfo;
-	CLEW_FUN_EXPORT PFNCLGETIMAGEINFO __clewGetImageInfo;
-	CLEW_FUN_EXPORT PFNCLSETMEMOBJECTDESTRUCTORCALLBACK __clewSetMemObjectDestructorCallback;
-	CLEW_FUN_EXPORT PFNCLCREATESAMPLER __clewCreateSampler;
-	CLEW_FUN_EXPORT PFNCLRETAINSAMPLER __clewRetainSampler;
-	CLEW_FUN_EXPORT PFNCLRELEASESAMPLER __clewReleaseSampler;
-	CLEW_FUN_EXPORT PFNCLGETSAMPLERINFO __clewGetSamplerInfo;
-	CLEW_FUN_EXPORT PFNCLCREATEPROGRAMWITHSOURCE __clewCreateProgramWithSource;
-	CLEW_FUN_EXPORT PFNCLCREATEPROGRAMWITHBINARY __clewCreateProgramWithBinary;
-	CLEW_FUN_EXPORT PFNCLRETAINPROGRAM __clewRetainProgram;
-	CLEW_FUN_EXPORT PFNCLRELEASEPROGRAM __clewReleaseProgram;
-	CLEW_FUN_EXPORT PFNCLBUILDPROGRAM __clewBuildProgram;
-	CLEW_FUN_EXPORT PFNCLUNLOADCOMPILER __clewUnloadCompiler;
-	CLEW_FUN_EXPORT PFNCLGETPROGRAMINFO __clewGetProgramInfo;
-	CLEW_FUN_EXPORT PFNCLGETPROGRAMBUILDINFO __clewGetProgramBuildInfo;
-	CLEW_FUN_EXPORT PFNCLCREATEKERNEL __clewCreateKernel;
-	CLEW_FUN_EXPORT PFNCLCREATEKERNELSINPROGRAM __clewCreateKernelsInProgram;
-	CLEW_FUN_EXPORT PFNCLRETAINKERNEL __clewRetainKernel;
-	CLEW_FUN_EXPORT PFNCLRELEASEKERNEL __clewReleaseKernel;
-	CLEW_FUN_EXPORT PFNCLSETKERNELARG __clewSetKernelArg;
-	CLEW_FUN_EXPORT PFNCLGETKERNELINFO __clewGetKernelInfo;
-	CLEW_FUN_EXPORT PFNCLGETKERNELWORKGROUPINFO __clewGetKernelWorkGroupInfo;
-	CLEW_FUN_EXPORT PFNCLWAITFOREVENTS __clewWaitForEvents;
-	CLEW_FUN_EXPORT PFNCLGETEVENTINFO __clewGetEventInfo;
-	CLEW_FUN_EXPORT PFNCLCREATEUSEREVENT __clewCreateUserEvent;
-	CLEW_FUN_EXPORT PFNCLRETAINEVENT __clewRetainEvent;
-	CLEW_FUN_EXPORT PFNCLRELEASEEVENT __clewReleaseEvent;
-	CLEW_FUN_EXPORT PFNCLSETUSEREVENTSTATUS __clewSetUserEventStatus;
-	CLEW_FUN_EXPORT PFNCLSETEVENTCALLBACK __clewSetEventCallback;
-	CLEW_FUN_EXPORT PFNCLGETEVENTPROFILINGINFO __clewGetEventProfilingInfo;
-	CLEW_FUN_EXPORT PFNCLFLUSH __clewFlush;
-	CLEW_FUN_EXPORT PFNCLFINISH __clewFinish;
-	CLEW_FUN_EXPORT PFNCLENQUEUEREADBUFFER __clewEnqueueReadBuffer;
-	CLEW_FUN_EXPORT PFNCLENQUEUEREADBUFFERRECT __clewEnqueueReadBufferRect;
-	CLEW_FUN_EXPORT PFNCLENQUEUEWRITEBUFFER __clewEnqueueWriteBuffer;
-	CLEW_FUN_EXPORT PFNCLENQUEUEWRITEBUFFERRECT __clewEnqueueWriteBufferRect;
-	CLEW_FUN_EXPORT PFNCLENQUEUECOPYBUFFER __clewEnqueueCopyBuffer;
-	CLEW_FUN_EXPORT PFNCLENQUEUECOPYBUFFERRECT __clewEnqueueCopyBufferRect;
-	CLEW_FUN_EXPORT PFNCLENQUEUEREADIMAGE __clewEnqueueReadImage;
-	CLEW_FUN_EXPORT PFNCLENQUEUEWRITEIMAGE __clewEnqueueWriteImage;
-	CLEW_FUN_EXPORT PFNCLENQUEUECOPYIMAGE __clewEnqueueCopyImage;
-	CLEW_FUN_EXPORT PFNCLENQUEUECOPYIMAGETOBUFFER __clewEnqueueCopyImageToBuffer;
-	CLEW_FUN_EXPORT PFNCLENQUEUECOPYBUFFERTOIMAGE __clewEnqueueCopyBufferToImage;
-	CLEW_FUN_EXPORT PFNCLENQUEUEMAPBUFFER __clewEnqueueMapBuffer;
-	CLEW_FUN_EXPORT PFNCLENQUEUEMAPIMAGE __clewEnqueueMapImage;
-	CLEW_FUN_EXPORT PFNCLENQUEUEUNMAPMEMOBJECT __clewEnqueueUnmapMemObject;
-	CLEW_FUN_EXPORT PFNCLENQUEUENDRANGEKERNEL __clewEnqueueNDRangeKernel;
-	CLEW_FUN_EXPORT PFNCLENQUEUETASK __clewEnqueueTask;
-	CLEW_FUN_EXPORT PFNCLENQUEUENATIVEKERNEL __clewEnqueueNativeKernel;
-	CLEW_FUN_EXPORT PFNCLENQUEUEMARKER __clewEnqueueMarker;
-	CLEW_FUN_EXPORT PFNCLENQUEUEWAITFOREVENTS __clewEnqueueWaitForEvents;
-	CLEW_FUN_EXPORT PFNCLENQUEUEBARRIER __clewEnqueueBarrier;
-	CLEW_FUN_EXPORT PFNCLGETEXTENSIONFUNCTIONADDRESS __clewGetExtensionFunctionAddress;
-
-#define clGetPlatformIDs CLEW_GET_FUN(__clewGetPlatformIDs)
-#define clGetPlatformInfo CLEW_GET_FUN(__clewGetPlatformInfo)
-#define clGetDeviceIDs CLEW_GET_FUN(__clewGetDeviceIDs)
-#define clGetDeviceInfo CLEW_GET_FUN(__clewGetDeviceInfo)
-#define clCreateContext CLEW_GET_FUN(__clewCreateContext)
-#define clCreateContextFromType CLEW_GET_FUN(__clewCreateContextFromType)
-#define clRetainContext CLEW_GET_FUN(__clewRetainContext)
-#define clReleaseContext CLEW_GET_FUN(__clewReleaseContext)
-#define clGetContextInfo CLEW_GET_FUN(__clewGetContextInfo)
-#define clCreateCommandQueue CLEW_GET_FUN(__clewCreateCommandQueue)
-#define clRetainCommandQueue CLEW_GET_FUN(__clewRetainCommandQueue)
-#define clReleaseCommandQueue CLEW_GET_FUN(__clewReleaseCommandQueue)
-#define clGetCommandQueueInfo CLEW_GET_FUN(__clewGetCommandQueueInfo)
-#ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS
-#warning CL_USE_DEPRECATED_OPENCL_1_0_APIS is defined. These APIs are unsupported and untested in OpenCL 1.1!
-/* 
- *  WARNING:
- *     This API introduces mutable state into the OpenCL implementation. It has been REMOVED
- *  to better facilitate thread safety.  The 1.0 API is not thread safe. It is not tested by the
- *  OpenCL 1.1 conformance test, and consequently may not work or may not work dependably.
- *  It is likely to be non-performant. Use of this API is not advised. Use at your own risk.
- *
- *  Software developers previously relying on this API are instructed to set the command queue 
- *  properties when creating the queue, instead. 
- */
-#define clSetCommandQueueProperty CLEW_GET_FUN(__clewSetCommandQueueProperty)
-#endif /* CL_USE_DEPRECATED_OPENCL_1_0_APIS */
-#define clCreateBuffer CLEW_GET_FUN(__clewCreateBuffer)
-#define clCreateSubBuffer CLEW_GET_FUN(__clewCreateSubBuffer)
-#define clCreateImage2D CLEW_GET_FUN(__clewCreateImage2D)
-#define clCreateImage3D CLEW_GET_FUN(__clewCreateImage3D)
-#define clRetainMemObject CLEW_GET_FUN(__clewRetainMemObject)
-#define clReleaseMemObject CLEW_GET_FUN(__clewReleaseMemObject)
-#define clGetSupportedImageFormats CLEW_GET_FUN(__clewGetSupportedImageFormats)
-#define clGetMemObjectInfo CLEW_GET_FUN(__clewGetMemObjectInfo)
-#define clGetImageInfo CLEW_GET_FUN(__clewGetImageInfo)
-#define clSetMemObjectDestructorCallback CLEW_GET_FUN(__clewSetMemObjectDestructorCallback)
-#define clCreateSampler CLEW_GET_FUN(__clewCreateSampler)
-#define clRetainSampler CLEW_GET_FUN(__clewRetainSampler)
-#define clReleaseSampler CLEW_GET_FUN(__clewReleaseSampler)
-#define clGetSamplerInfo CLEW_GET_FUN(__clewGetSamplerInfo)
-#define clCreateProgramWithSource CLEW_GET_FUN(__clewCreateProgramWithSource)
-#define clCreateProgramWithBinary CLEW_GET_FUN(__clewCreateProgramWithBinary)
-#define clRetainProgram CLEW_GET_FUN(__clewRetainProgram)
-#define clReleaseProgram CLEW_GET_FUN(__clewReleaseProgram)
-#define clBuildProgram CLEW_GET_FUN(__clewBuildProgram)
-#define clUnloadCompiler CLEW_GET_FUN(__clewUnloadCompiler)
-#define clGetProgramInfo CLEW_GET_FUN(__clewGetProgramInfo)
-#define clGetProgramBuildInfo CLEW_GET_FUN(__clewGetProgramBuildInfo)
-#define clCreateKernel CLEW_GET_FUN(__clewCreateKernel)
-#define clCreateKernelsInProgram CLEW_GET_FUN(__clewCreateKernelsInProgram)
-#define clRetainKernel CLEW_GET_FUN(__clewRetainKernel)
-#define clReleaseKernel CLEW_GET_FUN(__clewReleaseKernel)
-#define clSetKernelArg CLEW_GET_FUN(__clewSetKernelArg)
-#define clGetKernelInfo CLEW_GET_FUN(__clewGetKernelInfo)
-#define clGetKernelWorkGroupInfo CLEW_GET_FUN(__clewGetKernelWorkGroupInfo)
-#define clWaitForEvents CLEW_GET_FUN(__clewWaitForEvents)
-#define clGetEventInfo CLEW_GET_FUN(__clewGetEventInfo)
-#define clCreateUserEvent CLEW_GET_FUN(__clewCreateUserEvent)
-#define clRetainEvent CLEW_GET_FUN(__clewRetainEvent)
-#define clReleaseEvent CLEW_GET_FUN(__clewReleaseEvent)
-#define clSetUserEventStatus CLEW_GET_FUN(__clewSetUserEventStatus)
-#define clSetEventCallback CLEW_GET_FUN(__clewSetEventCallback)
-#define clGetEventProfilingInfo CLEW_GET_FUN(__clewGetEventProfilingInfo)
-#define clFlush CLEW_GET_FUN(__clewFlush)
-#define clFinish CLEW_GET_FUN(__clewFinish)
-#define clEnqueueReadBuffer CLEW_GET_FUN(__clewEnqueueReadBuffer)
-#define clEnqueueReadBufferRect CLEW_GET_FUN(__clewEnqueueReadBufferRect)
-#define clEnqueueWriteBuffer CLEW_GET_FUN(__clewEnqueueWriteBuffer)
-#define clEnqueueWriteBufferRect CLEW_GET_FUN(__clewEnqueueWriteBufferRect)
-#define clEnqueueCopyBuffer CLEW_GET_FUN(__clewEnqueueCopyBuffer)
-#define clEnqueueCopyBufferRect CLEW_GET_FUN(__clewEnqueueCopyBufferRect)
-#define clEnqueueReadImage CLEW_GET_FUN(__clewEnqueueReadImage)
-#define clEnqueueWriteImage CLEW_GET_FUN(__clewEnqueueWriteImage)
-#define clEnqueueCopyImage CLEW_GET_FUN(__clewEnqueueCopyImage)
-#define clEnqueueCopyImageToBuffer CLEW_GET_FUN(__clewEnqueueCopyImageToBuffer)
-#define clEnqueueCopyBufferToImage CLEW_GET_FUN(__clewEnqueueCopyBufferToImage)
-#define clEnqueueMapBuffer CLEW_GET_FUN(__clewEnqueueMapBuffer)
-#define clEnqueueMapImage CLEW_GET_FUN(__clewEnqueueMapImage)
-#define clEnqueueUnmapMemObject CLEW_GET_FUN(__clewEnqueueUnmapMemObject)
-#define clEnqueueNDRangeKernel CLEW_GET_FUN(__clewEnqueueNDRangeKernel)
-#define clEnqueueTask CLEW_GET_FUN(__clewEnqueueTask)
-#define clEnqueueNativeKernel CLEW_GET_FUN(__clewEnqueueNativeKernel)
-#define clEnqueueMarker CLEW_GET_FUN(__clewEnqueueMarker)
-#define clEnqueueWaitForEvents CLEW_GET_FUN(__clewEnqueueWaitForEvents)
-#define clEnqueueBarrier CLEW_GET_FUN(__clewEnqueueBarrier)
-#define clGetExtensionFunctionAddress CLEW_GET_FUN(__clewGetExtensionFunctionAddress)
-
-#define CLEW_SUCCESS 0               //!<    Success error code
-#define CLEW_ERROR_OPEN_FAILED -1    //!<    Error code for failing to open the dynamic library
-#define CLEW_ERROR_ATEXIT_FAILED -2  //!<    Error code for failing to queue the closing of the dynamic library to atexit()
-
-	//! \brief Load OpenCL dynamic library and set function entry points
-	int clewInit(const char *);
-
-	//! \brief Exit clew and unload OpenCL dynamic library
-	void clewExit();
-
-	//! \brief Convert an OpenCL error code to its string equivalent
-	const char *clewErrorString(cl_int error);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  //  CLEW_HPP_INCLUDED
diff --git a/thirdparty/bullet/patches/bullet-fix-warnings.patch b/thirdparty/bullet/patches/bullet-fix-warnings.patch
deleted file mode 100644
index 69cde1b16e..0000000000
--- a/thirdparty/bullet/patches/bullet-fix-warnings.patch
+++ /dev/null
@@ -1,42 +0,0 @@
-diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBody.h b/thirdparty/bullet/BulletSoftBody/btSoftBody.h
-index f578487b8c..dfde8fd1e4 100644
---- a/thirdparty/bullet/BulletSoftBody/btSoftBody.h
-+++ b/thirdparty/bullet/BulletSoftBody/btSoftBody.h
-@@ -1317,8 +1317,8 @@ public:
- 		}
- 		for (int k = 0; k < m_faceNodeContacts.size(); ++k)
- 		{
--			int i = indices[k];
--			btSoftBody::DeformableFaceNodeContact& c = m_faceNodeContacts[i];
-+			int idx = indices[k];
-+			btSoftBody::DeformableFaceNodeContact& c = m_faceNodeContacts[idx];
- 			btSoftBody::Node* node = c.m_node;
- 			btSoftBody::Face* face = c.m_face;
- 			const btVector3& w = c.m_bary;
-diff --git a/thirdparty/bullet/LinearMath/btSerializer.h b/thirdparty/bullet/LinearMath/btSerializer.h
-index ce4fc34e20..11592d2ccd 100644
---- a/thirdparty/bullet/LinearMath/btSerializer.h
-+++ b/thirdparty/bullet/LinearMath/btSerializer.h
-@@ -499,7 +499,6 @@ public:
- 		writeDNA();
-
- 		//if we didn't pre-allocate a buffer, we need to create a contiguous buffer now
--		int mysize = 0;
- 		if (!m_totalSize)
- 		{
- 			if (m_buffer)
-@@ -511,14 +510,12 @@ public:
- 			unsigned char* currentPtr = m_buffer;
- 			writeHeader(m_buffer);
- 			currentPtr += BT_HEADER_LENGTH;
--			mysize += BT_HEADER_LENGTH;
- 			for (int i = 0; i < m_chunkPtrs.size(); i++)
- 			{
- 				int curLength = sizeof(btChunk) + m_chunkPtrs[i]->m_length;
- 				memcpy(currentPtr, m_chunkPtrs[i], curLength);
- 				btAlignedFree(m_chunkPtrs[i]);
- 				currentPtr += curLength;
--				mysize += curLength;
- 			}
- 		}
-
diff --git a/thirdparty/bullet/patches/fix-win32-scheduler-uwp.patch b/thirdparty/bullet/patches/fix-win32-scheduler-uwp.patch
deleted file mode 100644
index c65db49388..0000000000
--- a/thirdparty/bullet/patches/fix-win32-scheduler-uwp.patch
+++ /dev/null
@@ -1,24 +0,0 @@
-diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp
-index 922e449cce..5862264a67 100644
---- a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp
-+++ b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp
-@@ -82,6 +82,11 @@ typedef BOOL(WINAPI* Pfn_GetLogicalProcessorInformation)(PSYSTEM_LOGICAL_PROCESS
- void getProcessorInformation(btProcessorInfo* procInfo)
- {
- 	memset(procInfo, 0, sizeof(*procInfo));
-+#if WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_APP) && \
-+    !WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_DESKTOP)
-+	// Can't dlopen libraries on UWP.
-+	return;
-+#else
- 	Pfn_GetLogicalProcessorInformation getLogicalProcInfo =
- 		(Pfn_GetLogicalProcessorInformation)GetProcAddress(GetModuleHandle(TEXT("kernel32")), "GetLogicalProcessorInformation");
- 	if (getLogicalProcInfo == NULL)
-@@ -160,6 +165,7 @@ void getProcessorInformation(btProcessorInfo* procInfo)
- 		}
- 	}
- 	free(buf);
-+#endif
- }
- 
- ///btThreadSupportWin32 helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
diff --git a/thirdparty/thorvg/AUTHORS b/thirdparty/thorvg/AUTHORS
index ec06c49118..0f8ba2dd7d 100644
--- a/thirdparty/thorvg/AUTHORS
+++ b/thirdparty/thorvg/AUTHORS
@@ -1,4 +1,4 @@
-Hermet Park <chuneon.park@samsung.com>
+Hermet Park <hermetpark@gmail.com>
 Prudhvi Raj Vasireddi <prudhvi.raj@samsung.com>
 Junsu Choi <jsuya.choi@samsung.com>
 Pranay Samanta <pranay.ks@samsung.com>
diff --git a/thirdparty/thorvg/LICENSE b/thirdparty/thorvg/LICENSE
index b096b0888e..2f0361a864 100644
--- a/thirdparty/thorvg/LICENSE
+++ b/thirdparty/thorvg/LICENSE
@@ -1,4 +1,4 @@
-Copyright (c) 2020 - 2021 notice for the ThorVG Project (see AUTHORS)
+Copyright (c) 2020 - 2022 notice for the ThorVG Project (see AUTHORS)
 
 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
 
diff --git a/thirdparty/thorvg/inc/config.h b/thirdparty/thorvg/inc/config.h
index 41e8f6dafa..d72574bc65 100644
--- a/thirdparty/thorvg/inc/config.h
+++ b/thirdparty/thorvg/inc/config.h
@@ -13,5 +13,5 @@
 
 #define THORVG_JPG_LOADER_SUPPORT 1
 
-#define THORVG_VERSION_STRING "0.7.1"
+#define THORVG_VERSION_STRING "0.8.0"
 #endif
diff --git a/thirdparty/thorvg/inc/thorvg.h b/thirdparty/thorvg/inc/thorvg.h
index e542d36555..b08356d9d5 100644
--- a/thirdparty/thorvg/inc/thorvg.h
+++ b/thirdparty/thorvg/inc/thorvg.h
@@ -145,8 +145,9 @@ enum class TVG_EXPORT CompositeMethod
 {
     None = 0,     ///< No composition is applied.
     ClipPath,     ///< The intersection of the source and the target is determined and only the resulting pixels from the source are rendered.
-    AlphaMask,    ///< The pixels of the source and the target are alpha blended. As a result, only the part of the source, which intersects with the target is visible.
-    InvAlphaMask  ///< The pixels of the source and the complement to the target's pixels are alpha blended. As a result, only the part of the source which is not covered by the target is visible.
+    AlphaMask,    ///< The pixels of the source and the target are alpha blended. As a result, only the part of the source, which alpha intersects with the target is visible.
+    InvAlphaMask, ///< The pixels of the source and the complement to the target's pixels are alpha blended. As a result, only the part of the source which alpha is not covered by the target is visible.
+    LumaMask      ///< @BETA_API The source pixels are converted to the grayscale (luma value) and alpha blended with the target. As a result, only the part of the source, which intersects with the target is visible.
 };
 
 /**
diff --git a/thirdparty/thorvg/src/lib/sw_engine/tvgSwCommon.h b/thirdparty/thorvg/src/lib/sw_engine/tvgSwCommon.h
index e0ffc1fb97..be7042d6de 100644
--- a/thirdparty/thorvg/src/lib/sw_engine/tvgSwCommon.h
+++ b/thirdparty/thorvg/src/lib/sw_engine/tvgSwCommon.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -235,6 +235,7 @@ struct SwImage
 struct SwBlender
 {
     uint32_t (*join)(uint8_t r, uint8_t g, uint8_t b, uint8_t a);
+    uint32_t (*lumaValue)(uint32_t c);
 };
 
 struct SwCompositor;
diff --git a/thirdparty/thorvg/src/lib/sw_engine/tvgSwFill.cpp b/thirdparty/thorvg/src/lib/sw_engine/tvgSwFill.cpp
index 0bf051c17f..04014a9ec3 100644
--- a/thirdparty/thorvg/src/lib/sw_engine/tvgSwFill.cpp
+++ b/thirdparty/thorvg/src/lib/sw_engine/tvgSwFill.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/sw_engine/tvgSwImage.cpp b/thirdparty/thorvg/src/lib/sw_engine/tvgSwImage.cpp
index f9974d9847..f24d2d6f27 100644
--- a/thirdparty/thorvg/src/lib/sw_engine/tvgSwImage.cpp
+++ b/thirdparty/thorvg/src/lib/sw_engine/tvgSwImage.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/sw_engine/tvgSwMath.cpp b/thirdparty/thorvg/src/lib/sw_engine/tvgSwMath.cpp
index 7a3529bd69..7f13609525 100644
--- a/thirdparty/thorvg/src/lib/sw_engine/tvgSwMath.cpp
+++ b/thirdparty/thorvg/src/lib/sw_engine/tvgSwMath.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/sw_engine/tvgSwMemPool.cpp b/thirdparty/thorvg/src/lib/sw_engine/tvgSwMemPool.cpp
index a44be85bbb..3ab0b6069e 100644
--- a/thirdparty/thorvg/src/lib/sw_engine/tvgSwMemPool.cpp
+++ b/thirdparty/thorvg/src/lib/sw_engine/tvgSwMemPool.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/sw_engine/tvgSwRaster.cpp b/thirdparty/thorvg/src/lib/sw_engine/tvgSwRaster.cpp
index 56bc2f77dc..e3deebe24f 100644
--- a/thirdparty/thorvg/src/lib/sw_engine/tvgSwRaster.cpp
+++ b/thirdparty/thorvg/src/lib/sw_engine/tvgSwRaster.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -47,6 +47,18 @@ static inline uint32_t _ialpha(uint32_t c)
 }
 
 
+static inline uint32_t _abgrLumaValue(uint32_t c)
+{
+    return ((((c&0xff)*54) + (((c>>8)&0xff)*183) + (((c>>16)&0xff)*19))) >> 8; //0.2125*R + 0.7154*G + 0.0721*B
+}
+
+
+static inline uint32_t _argbLumaValue(uint32_t c)
+{
+    return ((((c&0xff)*19) + (((c>>8)&0xff)*183) + (((c>>16)&0xff)*54))) >> 8; //0.0721*B + 0.7154*G + 0.2125*R
+}
+
+
 static inline uint32_t _abgrJoin(uint8_t r, uint8_t g, uint8_t b, uint8_t a)
 {
     return (a << 24 | b << 16 | g << 8 | r);
@@ -139,7 +151,7 @@ static bool _rasterMaskedRect(SwSurface* surface, const SwBBox& region, uint32_t
     auto w = static_cast<uint32_t>(region.max.x - region.min.x);
     auto h = static_cast<uint32_t>(region.max.y - region.min.y);
 
-    auto cbuffer = surface->compositor->image.data + (region.min.y * surface->compositor->image.stride) + region.min.x;   //compositor buffer
+    auto cbuffer = surface->compositor->image.data + (region.min.y * surface->compositor->image.stride) + region.min.x; //compositor buffer
 
     for (uint32_t y = 0; y < h; ++y) {
         auto dst = &buffer[y * surface->stride];
@@ -173,6 +185,8 @@ static bool _rasterRect(SwSurface* surface, const SwBBox& region, uint32_t color
             return _rasterMaskedRect(surface, region, color, _alpha);
         } else if (surface->compositor->method == CompositeMethod::InvAlphaMask) {
             return _rasterMaskedRect(surface, region, color, _ialpha);
+        } else if (surface->compositor->method == CompositeMethod::LumaMask) {
+            return _rasterMaskedRect(surface, region, color, surface->blender.lumaValue);
         }
     } else {
         if (opacity == 255) {
@@ -246,6 +260,8 @@ static bool _rasterRle(SwSurface* surface, SwRleData* rle, uint32_t color, uint8
             return _rasterMaskedRle(surface, rle, color, _alpha);
         } else if (surface->compositor->method == CompositeMethod::InvAlphaMask) {
             return _rasterMaskedRle(surface, rle, color, _ialpha);
+        } else if (surface->compositor->method == CompositeMethod::LumaMask) {
+            return _rasterMaskedRle(surface, rle, color, surface->blender.lumaValue);
         }
     } else {
         if (opacity == 255) {
@@ -275,6 +291,8 @@ static bool _transformedRleRGBAImage(SwSurface* surface, const SwImage* image, c
             return _rasterTexmapPolygon(surface, image, transform, nullptr, opacity, _alpha);
         } else if (surface->compositor->method == CompositeMethod::InvAlphaMask) {
             return _rasterTexmapPolygon(surface, image, transform, nullptr, opacity, _ialpha);
+        } else if (surface->compositor->method == CompositeMethod::LumaMask) {
+            return _rasterTexmapPolygon(surface, image, transform, nullptr, opacity, surface->blender.lumaValue);
         }
     } else {
         return _rasterTexmapPolygon(surface, image, transform, nullptr, opacity, nullptr);
@@ -494,12 +512,16 @@ static bool _scaledRleRGBAImage(SwSurface* surface, const SwImage* image, const
                 return _rasterScaledMaskedRleRGBAImage(surface, image, &itransform, region, halfScale, _alpha);
             } else if (surface->compositor->method == CompositeMethod::InvAlphaMask) {
                 return _rasterScaledMaskedRleRGBAImage(surface, image, &itransform, region, halfScale, _ialpha);
+            } else if (surface->compositor->method == CompositeMethod::LumaMask) {
+                return _rasterScaledMaskedRleRGBAImage(surface, image, &itransform, region, halfScale, surface->blender.lumaValue);
             }
         } else {
             if (surface->compositor->method == CompositeMethod::AlphaMask) {
                 return _rasterScaledMaskedTranslucentRleRGBAImage(surface, image, &itransform, region, opacity, halfScale, _alpha);
             } else if (surface->compositor->method == CompositeMethod::InvAlphaMask) {
                 return _rasterScaledMaskedTranslucentRleRGBAImage(surface, image, &itransform, region, opacity, halfScale, _ialpha);
+            } else if (surface->compositor->method == CompositeMethod::LumaMask) {
+                return _rasterScaledMaskedTranslucentRleRGBAImage(surface, image, &itransform, region, opacity, halfScale, surface->blender.lumaValue);
             }
         }
     } else {
@@ -616,12 +638,16 @@ static bool _directRleRGBAImage(SwSurface* surface, const SwImage* image, uint32
                 return _rasterDirectMaskedRleRGBAImage(surface, image, _alpha);
             } else if (surface->compositor->method == CompositeMethod::InvAlphaMask) {
                 return _rasterDirectMaskedRleRGBAImage(surface, image, _ialpha);
+            } else if (surface->compositor->method == CompositeMethod::LumaMask) {
+                return _rasterDirectMaskedRleRGBAImage(surface, image, surface->blender.lumaValue);
             }
         } else {
             if (surface->compositor->method == CompositeMethod::AlphaMask) {
                 return _rasterDirectMaskedTranslucentRleRGBAImage(surface, image, opacity, _alpha);
             } else if (surface->compositor->method == CompositeMethod::InvAlphaMask) {
                 return _rasterDirectMaskedTranslucentRleRGBAImage(surface, image, opacity, _ialpha);
+            } else if (surface->compositor->method == CompositeMethod::LumaMask) {
+                return _rasterDirectMaskedTranslucentRleRGBAImage(surface, image, opacity, surface->blender.lumaValue);
             }
         }
     } else {
@@ -643,6 +669,8 @@ static bool _transformedRGBAImage(SwSurface* surface, const SwImage* image, cons
             return _rasterTexmapPolygon(surface, image, transform, &region, opacity, _alpha);
         } else if (surface->compositor->method == CompositeMethod::InvAlphaMask) {
             return _rasterTexmapPolygon(surface, image, transform, &region, opacity, _ialpha);
+        } else if (surface->compositor->method == CompositeMethod::LumaMask) {
+            return _rasterTexmapPolygon(surface, image, transform, &region, opacity, surface->blender.lumaValue);
         }
     } else {
         return _rasterTexmapPolygon(surface, image, transform, &region, opacity, nullptr);
@@ -832,12 +860,16 @@ static bool _scaledRGBAImage(SwSurface* surface, const SwImage* image, const Mat
                 return _rasterScaledMaskedRGBAImage(surface, image, &itransform, region, halfScale, _alpha);
             } else if (surface->compositor->method == CompositeMethod::InvAlphaMask) {
                 return _rasterScaledMaskedRGBAImage(surface, image, &itransform, region, halfScale, _ialpha);
+            } else if (surface->compositor->method == CompositeMethod::LumaMask) {
+                return _rasterScaledMaskedRGBAImage(surface, image, &itransform, region, halfScale, surface->blender.lumaValue);
             }
         } else {
             if (surface->compositor->method == CompositeMethod::AlphaMask) {
                 return _rasterScaledMaskedTranslucentRGBAImage(surface, image, &itransform, region, opacity, halfScale, _alpha);
             } else if (surface->compositor->method == CompositeMethod::InvAlphaMask) {
                 return _rasterScaledMaskedTranslucentRGBAImage(surface, image, &itransform, region, opacity, halfScale, _ialpha);
+            } else if (surface->compositor->method == CompositeMethod::LumaMask) {
+                return _rasterScaledMaskedTranslucentRGBAImage(surface, image, &itransform, region, opacity, halfScale, surface->blender.lumaValue);
             }
         }
     } else {
@@ -861,7 +893,7 @@ static bool _rasterDirectMaskedRGBAImage(SwSurface* surface, const SwImage* imag
     auto w2 = static_cast<uint32_t>(region.max.x - region.min.x);
 
     auto sbuffer = image->data + (region.min.y + image->oy) * image->stride + (region.min.x + image->ox);
-    auto cbuffer = surface->compositor->image.data + (region.min.y * surface->compositor->image.stride) + region.min.x;   //compositor buffer
+    auto cbuffer = surface->compositor->image.data + (region.min.y * surface->compositor->image.stride) + region.min.x; //compositor buffer
 
     for (uint32_t y = 0; y < h2; ++y) {
         auto dst = buffer;
@@ -888,7 +920,7 @@ static bool _rasterDirectMaskedTranslucentRGBAImage(SwSurface* surface, const Sw
     auto w2 = static_cast<uint32_t>(region.max.x - region.min.x);
 
     auto sbuffer = image->data + (region.min.y + image->oy) * image->stride + (region.min.x + image->ox);
-    auto cbuffer = surface->compositor->image.data + (region.min.y * surface->compositor->image.stride) + region.min.x;   //compositor buffer
+    auto cbuffer = surface->compositor->image.data + (region.min.y * surface->compositor->image.stride) + region.min.x; //compositor buffer
 
     for (uint32_t y = 0; y < h2; ++y) {
         auto dst = buffer;
@@ -952,12 +984,16 @@ static bool _directRGBAImage(SwSurface* surface, const SwImage* image, const SwB
                 return _rasterDirectMaskedRGBAImage(surface, image, region, _alpha);
             } else if (surface->compositor->method == CompositeMethod::InvAlphaMask) {
                 return _rasterDirectMaskedRGBAImage(surface, image, region, _ialpha);
+            } else if (surface->compositor->method == CompositeMethod::LumaMask) {
+                return _rasterDirectMaskedRGBAImage(surface, image, region, surface->blender.lumaValue);
             }
         } else {
             if (surface->compositor->method == CompositeMethod::AlphaMask) {
                 return _rasterDirectMaskedTranslucentRGBAImage(surface, image, region, opacity, _alpha);
             } else if (surface->compositor->method == CompositeMethod::InvAlphaMask) {
                 return _rasterDirectMaskedTranslucentRGBAImage(surface, image, region, opacity, _ialpha);
+            } else if (surface->compositor->method == CompositeMethod::LumaMask) {
+                return _rasterDirectMaskedTranslucentRGBAImage(surface, image, region, opacity, surface->blender.lumaValue);
             }
         }
     } else {
@@ -1062,6 +1098,8 @@ static bool _rasterLinearGradientRect(SwSurface* surface, const SwBBox& region,
             return _rasterLinearGradientMaskedRect(surface, region, fill, _alpha);
         } else if (surface->compositor->method == CompositeMethod::InvAlphaMask) {
             return _rasterLinearGradientMaskedRect(surface, region, fill, _ialpha);
+        } else if (surface->compositor->method == CompositeMethod::LumaMask) {
+            return _rasterLinearGradientMaskedRect(surface, region, fill, surface->blender.lumaValue);
         }
     } else {
         if (fill->translucent) return _rasterTranslucentLinearGradientRect(surface, region, fill);
@@ -1166,6 +1204,8 @@ static bool _rasterLinearGradientRle(SwSurface* surface, const SwRleData* rle, c
             return _rasterLinearGradientMaskedRle(surface, rle, fill, _alpha);
         } else if (surface->compositor->method == CompositeMethod::InvAlphaMask) {
             return _rasterLinearGradientMaskedRle(surface, rle, fill, _ialpha);
+        } else if (surface->compositor->method == CompositeMethod::LumaMask) {
+            return _rasterLinearGradientMaskedRle(surface, rle, fill, surface->blender.lumaValue);
         }
     } else {
         if (fill->translucent) return _rasterTranslucentLinearGradientRle(surface, rle, fill);
@@ -1253,6 +1293,8 @@ static bool _rasterRadialGradientRect(SwSurface* surface, const SwBBox& region,
             return _rasterRadialGradientMaskedRect(surface, region, fill, _alpha);
         } else if (surface->compositor->method == CompositeMethod::InvAlphaMask) {
             return _rasterRadialGradientMaskedRect(surface, region, fill, _ialpha);
+        } else if (surface->compositor->method == CompositeMethod::LumaMask) {
+            return _rasterRadialGradientMaskedRect(surface, region, fill, surface->blender.lumaValue);
         }
     } else {
         if (fill->translucent) return _rasterTranslucentRadialGradientRect(surface, region, fill);
@@ -1356,6 +1398,8 @@ static bool _rasterRadialGradientRle(SwSurface* surface, const SwRleData* rle, c
             return _rasterRadialGradientMaskedRle(surface, rle, fill, _alpha);
         } else if (surface->compositor->method == CompositeMethod::InvAlphaMask) {
             return _rasterRadialGradientMaskedRle(surface, rle, fill, _ialpha);
+        } else if (surface->compositor->method == CompositeMethod::LumaMask) {
+            return _rasterRadialGradientMaskedRle(surface, rle, fill, surface->blender.lumaValue);
         }
     } else {
         if (fill->translucent) _rasterTranslucentRadialGradientRle(surface, rle, fill);
@@ -1385,8 +1429,10 @@ bool rasterCompositor(SwSurface* surface)
 {
     if (surface->cs == SwCanvas::ABGR8888 || surface->cs == SwCanvas::ABGR8888_STRAIGHT) {
         surface->blender.join = _abgrJoin;
+        surface->blender.lumaValue = _abgrLumaValue;
     } else if (surface->cs == SwCanvas::ARGB8888 || surface->cs == SwCanvas::ARGB8888_STRAIGHT) {
         surface->blender.join = _argbJoin;
+        surface->blender.lumaValue = _argbLumaValue;
     } else {
         //What Color Space ???
         return false;
@@ -1500,4 +1546,4 @@ bool rasterImage(SwSurface* surface, SwImage* image, const Matrix* transform, co
     //TODO: case: _rasterGrayscaleImage()
     //TODO: case: _rasterAlphaImage()
     return _rasterRGBAImage(surface, image, transform, bbox, opacity);
-}
\ No newline at end of file
+}
diff --git a/thirdparty/thorvg/src/lib/sw_engine/tvgSwRasterAvx.h b/thirdparty/thorvg/src/lib/sw_engine/tvgSwRasterAvx.h
index 1d6552f3e9..7a129a3a80 100644
--- a/thirdparty/thorvg/src/lib/sw_engine/tvgSwRasterAvx.h
+++ b/thirdparty/thorvg/src/lib/sw_engine/tvgSwRasterAvx.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/sw_engine/tvgSwRasterC.h b/thirdparty/thorvg/src/lib/sw_engine/tvgSwRasterC.h
index 6d60957eb9..d479ede15f 100644
--- a/thirdparty/thorvg/src/lib/sw_engine/tvgSwRasterC.h
+++ b/thirdparty/thorvg/src/lib/sw_engine/tvgSwRasterC.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/sw_engine/tvgSwRasterNeon.h b/thirdparty/thorvg/src/lib/sw_engine/tvgSwRasterNeon.h
index c74a6b309c..a4b3cdaeb2 100644
--- a/thirdparty/thorvg/src/lib/sw_engine/tvgSwRasterNeon.h
+++ b/thirdparty/thorvg/src/lib/sw_engine/tvgSwRasterNeon.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -26,8 +26,8 @@
 
 static inline uint8x8_t ALPHA_BLEND(uint8x8_t c, uint8x8_t a)
 {
-	uint16x8_t t = vmull_u8(c, a);
-	return vshrn_n_u16(t, 8);
+    uint16x8_t t = vmull_u8(c, a);
+    return vshrn_n_u16(t, 8);
 }
 
 
diff --git a/thirdparty/thorvg/src/lib/sw_engine/tvgSwRasterTexmap.h b/thirdparty/thorvg/src/lib/sw_engine/tvgSwRasterTexmap.h
index 2cf9fb4e93..1faedd60aa 100644
--- a/thirdparty/thorvg/src/lib/sw_engine/tvgSwRasterTexmap.h
+++ b/thirdparty/thorvg/src/lib/sw_engine/tvgSwRasterTexmap.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/sw_engine/tvgSwRasterTexmapInternal.h b/thirdparty/thorvg/src/lib/sw_engine/tvgSwRasterTexmapInternal.h
index e96307c874..f31ea1eb97 100644
--- a/thirdparty/thorvg/src/lib/sw_engine/tvgSwRasterTexmapInternal.h
+++ b/thirdparty/thorvg/src/lib/sw_engine/tvgSwRasterTexmapInternal.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/sw_engine/tvgSwRenderer.cpp b/thirdparty/thorvg/src/lib/sw_engine/tvgSwRenderer.cpp
index c75e73760e..c3872f3207 100644
--- a/thirdparty/thorvg/src/lib/sw_engine/tvgSwRenderer.cpp
+++ b/thirdparty/thorvg/src/lib/sw_engine/tvgSwRenderer.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -19,11 +19,10 @@
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  * SOFTWARE.
  */
-#include <math.h>
+#include "tvgMath.h"
 #include "tvgSwCommon.h"
 #include "tvgTaskScheduler.h"
 #include "tvgSwRenderer.h"
-#include "tvgMath.h"
 
 /************************************************************************/
 /* Internal Class Implementation                                        */
diff --git a/thirdparty/thorvg/src/lib/sw_engine/tvgSwRenderer.h b/thirdparty/thorvg/src/lib/sw_engine/tvgSwRenderer.h
index 3f883ac409..574d9d488f 100644
--- a/thirdparty/thorvg/src/lib/sw_engine/tvgSwRenderer.h
+++ b/thirdparty/thorvg/src/lib/sw_engine/tvgSwRenderer.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/sw_engine/tvgSwRle.cpp b/thirdparty/thorvg/src/lib/sw_engine/tvgSwRle.cpp
index b41e48b7ca..aa975869e0 100644
--- a/thirdparty/thorvg/src/lib/sw_engine/tvgSwRle.cpp
+++ b/thirdparty/thorvg/src/lib/sw_engine/tvgSwRle.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/sw_engine/tvgSwShape.cpp b/thirdparty/thorvg/src/lib/sw_engine/tvgSwShape.cpp
index 7b49c232b1..2a2c6a1da3 100644
--- a/thirdparty/thorvg/src/lib/sw_engine/tvgSwShape.cpp
+++ b/thirdparty/thorvg/src/lib/sw_engine/tvgSwShape.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/sw_engine/tvgSwStroke.cpp b/thirdparty/thorvg/src/lib/sw_engine/tvgSwStroke.cpp
index c0cfc1be26..04aa9a36ec 100644
--- a/thirdparty/thorvg/src/lib/sw_engine/tvgSwStroke.cpp
+++ b/thirdparty/thorvg/src/lib/sw_engine/tvgSwStroke.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgAccessor.cpp b/thirdparty/thorvg/src/lib/tvgAccessor.cpp
index 085c8a3cbc..9fd564dd23 100644
--- a/thirdparty/thorvg/src/lib/tvgAccessor.cpp
+++ b/thirdparty/thorvg/src/lib/tvgAccessor.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
diff --git a/thirdparty/thorvg/src/lib/tvgArray.h b/thirdparty/thorvg/src/lib/tvgArray.h
index d04e68e73c..04ddbaee2b 100644
--- a/thirdparty/thorvg/src/lib/tvgArray.h
+++ b/thirdparty/thorvg/src/lib/tvgArray.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgBezier.cpp b/thirdparty/thorvg/src/lib/tvgBezier.cpp
index 2290afa728..95e2055943 100644
--- a/thirdparty/thorvg/src/lib/tvgBezier.cpp
+++ b/thirdparty/thorvg/src/lib/tvgBezier.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgBezier.h b/thirdparty/thorvg/src/lib/tvgBezier.h
index 866e39148e..7d7c84e34e 100644
--- a/thirdparty/thorvg/src/lib/tvgBezier.h
+++ b/thirdparty/thorvg/src/lib/tvgBezier.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgBinaryDesc.h b/thirdparty/thorvg/src/lib/tvgBinaryDesc.h
index 30ba2d5a29..f139def470 100644
--- a/thirdparty/thorvg/src/lib/tvgBinaryDesc.h
+++ b/thirdparty/thorvg/src/lib/tvgBinaryDesc.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgCanvas.cpp b/thirdparty/thorvg/src/lib/tvgCanvas.cpp
index bb42441c62..e8529e47c2 100644
--- a/thirdparty/thorvg/src/lib/tvgCanvas.cpp
+++ b/thirdparty/thorvg/src/lib/tvgCanvas.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgCanvasImpl.h b/thirdparty/thorvg/src/lib/tvgCanvasImpl.h
index 848c03aaed..0adec8fa52 100644
--- a/thirdparty/thorvg/src/lib/tvgCanvasImpl.h
+++ b/thirdparty/thorvg/src/lib/tvgCanvasImpl.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgCommon.h b/thirdparty/thorvg/src/lib/tvgCommon.h
index b1c586188c..1d66f2e1a2 100644
--- a/thirdparty/thorvg/src/lib/tvgCommon.h
+++ b/thirdparty/thorvg/src/lib/tvgCommon.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgFill.cpp b/thirdparty/thorvg/src/lib/tvgFill.cpp
index 4bfb93c102..0c0581a180 100644
--- a/thirdparty/thorvg/src/lib/tvgFill.cpp
+++ b/thirdparty/thorvg/src/lib/tvgFill.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgFill.h b/thirdparty/thorvg/src/lib/tvgFill.h
index 912091f8cb..fff2475c4f 100644
--- a/thirdparty/thorvg/src/lib/tvgFill.h
+++ b/thirdparty/thorvg/src/lib/tvgFill.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgGlCanvas.cpp b/thirdparty/thorvg/src/lib/tvgGlCanvas.cpp
index 3a88b6d799..56feb69541 100644
--- a/thirdparty/thorvg/src/lib/tvgGlCanvas.cpp
+++ b/thirdparty/thorvg/src/lib/tvgGlCanvas.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgInitializer.cpp b/thirdparty/thorvg/src/lib/tvgInitializer.cpp
index 83ec50be95..42997c3493 100644
--- a/thirdparty/thorvg/src/lib/tvgInitializer.cpp
+++ b/thirdparty/thorvg/src/lib/tvgInitializer.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgIteratorAccessor.h b/thirdparty/thorvg/src/lib/tvgIteratorAccessor.h
index 10b55a536d..8e566acb72 100644
--- a/thirdparty/thorvg/src/lib/tvgIteratorAccessor.h
+++ b/thirdparty/thorvg/src/lib/tvgIteratorAccessor.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgLinearGradient.cpp b/thirdparty/thorvg/src/lib/tvgLinearGradient.cpp
index 6ec7ddab20..df34af3aa1 100644
--- a/thirdparty/thorvg/src/lib/tvgLinearGradient.cpp
+++ b/thirdparty/thorvg/src/lib/tvgLinearGradient.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgLoadModule.h b/thirdparty/thorvg/src/lib/tvgLoadModule.h
index 0c34ecbf6a..bfcc165f31 100644
--- a/thirdparty/thorvg/src/lib/tvgLoadModule.h
+++ b/thirdparty/thorvg/src/lib/tvgLoadModule.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgLoader.cpp b/thirdparty/thorvg/src/lib/tvgLoader.cpp
index fb93e0faec..991c260159 100644
--- a/thirdparty/thorvg/src/lib/tvgLoader.cpp
+++ b/thirdparty/thorvg/src/lib/tvgLoader.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgLoader.h b/thirdparty/thorvg/src/lib/tvgLoader.h
index 8ba3c139fa..ab32f89a2f 100644
--- a/thirdparty/thorvg/src/lib/tvgLoader.h
+++ b/thirdparty/thorvg/src/lib/tvgLoader.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgLzw.cpp b/thirdparty/thorvg/src/lib/tvgLzw.cpp
index 0049c89962..1aaf37831a 100644
--- a/thirdparty/thorvg/src/lib/tvgLzw.cpp
+++ b/thirdparty/thorvg/src/lib/tvgLzw.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgLzw.h b/thirdparty/thorvg/src/lib/tvgLzw.h
index 3fdb439a02..1bd5c61fac 100644
--- a/thirdparty/thorvg/src/lib/tvgLzw.h
+++ b/thirdparty/thorvg/src/lib/tvgLzw.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgMath.h b/thirdparty/thorvg/src/lib/tvgMath.h
index 423fb6eb1b..6120216d74 100644
--- a/thirdparty/thorvg/src/lib/tvgMath.h
+++ b/thirdparty/thorvg/src/lib/tvgMath.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgPaint.cpp b/thirdparty/thorvg/src/lib/tvgPaint.cpp
index 30e82fbc60..d0e908ddf2 100644
--- a/thirdparty/thorvg/src/lib/tvgPaint.cpp
+++ b/thirdparty/thorvg/src/lib/tvgPaint.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -79,8 +79,8 @@ static bool _compFastTrack(Paint* cmpTarget, const RenderTransform* pTransform,
 
         viewport.x = static_cast<int32_t>(v1.x);
         viewport.y = static_cast<int32_t>(v1.y);
-        viewport.w = static_cast<int32_t>(v2.x - v1.x + 0.5f);
-        viewport.h = static_cast<int32_t>(v2.y - v1.y + 0.5f);
+        viewport.w = static_cast<int32_t>(ceil(v2.x - viewport.x));
+        viewport.h = static_cast<int32_t>(ceil(v2.y - viewport.y));
 
         if (viewport.w < 0) viewport.w = 0;
         if (viewport.h < 0) viewport.h = 0;
@@ -404,4 +404,4 @@ uint8_t Paint::opacity() const noexcept
 uint32_t Paint::identifier() const noexcept
 {
     return pImpl->id;
-}
\ No newline at end of file
+}
diff --git a/thirdparty/thorvg/src/lib/tvgPaint.h b/thirdparty/thorvg/src/lib/tvgPaint.h
index 4003bdbeac..c170559a37 100644
--- a/thirdparty/thorvg/src/lib/tvgPaint.h
+++ b/thirdparty/thorvg/src/lib/tvgPaint.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgPicture.cpp b/thirdparty/thorvg/src/lib/tvgPicture.cpp
index 1d9776363c..1125b1eb58 100644
--- a/thirdparty/thorvg/src/lib/tvgPicture.cpp
+++ b/thirdparty/thorvg/src/lib/tvgPicture.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgPictureImpl.h b/thirdparty/thorvg/src/lib/tvgPictureImpl.h
index 00e8aa6dd9..b2e097d400 100644
--- a/thirdparty/thorvg/src/lib/tvgPictureImpl.h
+++ b/thirdparty/thorvg/src/lib/tvgPictureImpl.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgRadialGradient.cpp b/thirdparty/thorvg/src/lib/tvgRadialGradient.cpp
index 42a83461e3..7aba550e48 100644
--- a/thirdparty/thorvg/src/lib/tvgRadialGradient.cpp
+++ b/thirdparty/thorvg/src/lib/tvgRadialGradient.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgRender.cpp b/thirdparty/thorvg/src/lib/tvgRender.cpp
index a48075dd04..145f974cee 100644
--- a/thirdparty/thorvg/src/lib/tvgRender.cpp
+++ b/thirdparty/thorvg/src/lib/tvgRender.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgRender.h b/thirdparty/thorvg/src/lib/tvgRender.h
index f927947aa6..ed66f393da 100644
--- a/thirdparty/thorvg/src/lib/tvgRender.h
+++ b/thirdparty/thorvg/src/lib/tvgRender.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgSaveModule.h b/thirdparty/thorvg/src/lib/tvgSaveModule.h
index 2a0f427f11..3531662fdd 100644
--- a/thirdparty/thorvg/src/lib/tvgSaveModule.h
+++ b/thirdparty/thorvg/src/lib/tvgSaveModule.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgSaver.cpp b/thirdparty/thorvg/src/lib/tvgSaver.cpp
index 1a3e8614a6..e71953700c 100644
--- a/thirdparty/thorvg/src/lib/tvgSaver.cpp
+++ b/thirdparty/thorvg/src/lib/tvgSaver.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgScene.cpp b/thirdparty/thorvg/src/lib/tvgScene.cpp
index 4b2f77dde9..ff43d3c881 100644
--- a/thirdparty/thorvg/src/lib/tvgScene.cpp
+++ b/thirdparty/thorvg/src/lib/tvgScene.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgSceneImpl.h b/thirdparty/thorvg/src/lib/tvgSceneImpl.h
index de94a66e2f..6a7614c667 100644
--- a/thirdparty/thorvg/src/lib/tvgSceneImpl.h
+++ b/thirdparty/thorvg/src/lib/tvgSceneImpl.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgShape.cpp b/thirdparty/thorvg/src/lib/tvgShape.cpp
index 8db5635932..3a3af5f76e 100644
--- a/thirdparty/thorvg/src/lib/tvgShape.cpp
+++ b/thirdparty/thorvg/src/lib/tvgShape.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgShapeImpl.h b/thirdparty/thorvg/src/lib/tvgShapeImpl.h
index dcf4e6e954..738b21ed70 100644
--- a/thirdparty/thorvg/src/lib/tvgShapeImpl.h
+++ b/thirdparty/thorvg/src/lib/tvgShapeImpl.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgSwCanvas.cpp b/thirdparty/thorvg/src/lib/tvgSwCanvas.cpp
index f7a03b819c..8c9de8cb51 100644
--- a/thirdparty/thorvg/src/lib/tvgSwCanvas.cpp
+++ b/thirdparty/thorvg/src/lib/tvgSwCanvas.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgTaskScheduler.cpp b/thirdparty/thorvg/src/lib/tvgTaskScheduler.cpp
index 780127b87b..8c07dc3859 100644
--- a/thirdparty/thorvg/src/lib/tvgTaskScheduler.cpp
+++ b/thirdparty/thorvg/src/lib/tvgTaskScheduler.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/lib/tvgTaskScheduler.h b/thirdparty/thorvg/src/lib/tvgTaskScheduler.h
index f30bdf9a8f..163e387f29 100644
--- a/thirdparty/thorvg/src/lib/tvgTaskScheduler.h
+++ b/thirdparty/thorvg/src/lib/tvgTaskScheduler.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/loaders/external_jpg/tvgJpgLoader.cpp b/thirdparty/thorvg/src/loaders/external_jpg/tvgJpgLoader.cpp
index 6f9416b69c..522c3c71a6 100644
--- a/thirdparty/thorvg/src/loaders/external_jpg/tvgJpgLoader.cpp
+++ b/thirdparty/thorvg/src/loaders/external_jpg/tvgJpgLoader.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/loaders/external_jpg/tvgJpgLoader.h b/thirdparty/thorvg/src/loaders/external_jpg/tvgJpgLoader.h
index 7d35e57d72..3f82af8003 100644
--- a/thirdparty/thorvg/src/loaders/external_jpg/tvgJpgLoader.h
+++ b/thirdparty/thorvg/src/loaders/external_jpg/tvgJpgLoader.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/loaders/external_png/tvgPngLoader.cpp b/thirdparty/thorvg/src/loaders/external_png/tvgPngLoader.cpp
index c3d281482a..05db65cb23 100644
--- a/thirdparty/thorvg/src/loaders/external_png/tvgPngLoader.cpp
+++ b/thirdparty/thorvg/src/loaders/external_png/tvgPngLoader.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -93,7 +93,10 @@ bool PngLoader::read()
         png_image_free(image);
         return false;
     }
-    if (!png_image_finish_read(image, NULL, buffer, 0, NULL)) return false;
+    if (!png_image_finish_read(image, NULL, buffer, 0, NULL)) {
+        free(buffer);
+        return false;
+    }
     content = reinterpret_cast<uint32_t*>(buffer);
 
     _premultiply(reinterpret_cast<uint32_t*>(buffer), image->width, image->height);
diff --git a/thirdparty/thorvg/src/loaders/external_png/tvgPngLoader.h b/thirdparty/thorvg/src/loaders/external_png/tvgPngLoader.h
index b42537c73f..8beff0a3b3 100644
--- a/thirdparty/thorvg/src/loaders/external_png/tvgPngLoader.h
+++ b/thirdparty/thorvg/src/loaders/external_png/tvgPngLoader.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/loaders/jpg/tvgJpgLoader.cpp b/thirdparty/thorvg/src/loaders/jpg/tvgJpgLoader.cpp
index f27881da42..7b90b4aef9 100644
--- a/thirdparty/thorvg/src/loaders/jpg/tvgJpgLoader.cpp
+++ b/thirdparty/thorvg/src/loaders/jpg/tvgJpgLoader.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/loaders/jpg/tvgJpgLoader.h b/thirdparty/thorvg/src/loaders/jpg/tvgJpgLoader.h
index 39732dbc3a..d6b886cb29 100644
--- a/thirdparty/thorvg/src/loaders/jpg/tvgJpgLoader.h
+++ b/thirdparty/thorvg/src/loaders/jpg/tvgJpgLoader.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/loaders/jpg/tvgJpgd.cpp b/thirdparty/thorvg/src/loaders/jpg/tvgJpgd.cpp
index 4ccc5788d5..dacd45ed03 100644
--- a/thirdparty/thorvg/src/loaders/jpg/tvgJpgd.cpp
+++ b/thirdparty/thorvg/src/loaders/jpg/tvgJpgd.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -382,8 +382,8 @@ struct Row
         const int tmp2 = z1 + MULTIPLY(z3, - FIX_1_847759065);
         const int tmp3 = z1 + MULTIPLY(z2, FIX_0_765366865);
 
-        const int tmp0 = (ACCESS_COL(0) + ACCESS_COL(4)) << CONST_BITS;
-        const int tmp1 = (ACCESS_COL(0) - ACCESS_COL(4)) << CONST_BITS;
+        const int tmp0 = static_cast<unsigned int>(ACCESS_COL(0) + ACCESS_COL(4)) << CONST_BITS;
+        const int tmp1 = static_cast<unsigned int>(ACCESS_COL(0) - ACCESS_COL(4)) << CONST_BITS;
 
         const int tmp10 = tmp0 + tmp3, tmp13 = tmp0 - tmp3, tmp11 = tmp1 + tmp2, tmp12 = tmp1 - tmp2;
 
@@ -461,8 +461,8 @@ struct Col
         const int tmp2 = z1 + MULTIPLY(z3, - FIX_1_847759065);
         const int tmp3 = z1 + MULTIPLY(z2, FIX_0_765366865);
 
-        const int tmp0 = (ACCESS_ROW(0) + ACCESS_ROW(4)) << CONST_BITS;
-        const int tmp1 = (ACCESS_ROW(0) - ACCESS_ROW(4)) << CONST_BITS;
+        const int tmp0 = static_cast<unsigned int>(ACCESS_ROW(0) + ACCESS_ROW(4)) << CONST_BITS;
+        const int tmp1 = static_cast<unsigned int>(ACCESS_ROW(0) - ACCESS_ROW(4)) << CONST_BITS;
 
         const int tmp10 = tmp0 + tmp3, tmp13 = tmp0 - tmp3, tmp11 = tmp1 + tmp2, tmp12 = tmp1 - tmp2;
 
@@ -2557,7 +2557,7 @@ void jpeg_decoder::decode_block_dc_first(jpeg_decoder *pD, int component_id, int
         s = JPGD_HUFF_EXTEND(r, s);
     }
     pD->m_last_dc_val[component_id] = (s += pD->m_last_dc_val[component_id]);
-    p[0] = static_cast<jpgd_block_t>(s << pD->m_successive_low);
+    p[0] = static_cast<jpgd_block_t>(static_cast<unsigned int>(s) << pD->m_successive_low);
 }
 
 
@@ -2588,7 +2588,7 @@ void jpeg_decoder::decode_block_ac_first(jpeg_decoder *pD, int component_id, int
             if ((k += r) > 63) pD->stop_decoding(JPGD_DECODE_ERROR);
             r = pD->get_bits_no_markers(s);
             s = JPGD_HUFF_EXTEND(r, s);
-            p[g_ZAG[k]] = static_cast<jpgd_block_t>(s << pD->m_successive_low);
+            p[g_ZAG[k]] = static_cast<jpgd_block_t>(static_cast<unsigned int>(s) << pD->m_successive_low);
         } else {
             if (r == 15) {
                 if ((k += 15) > 63) pD->stop_decoding(JPGD_DECODE_ERROR);
@@ -2607,7 +2607,7 @@ void jpeg_decoder::decode_block_ac_refine(jpeg_decoder *pD, int component_id, in
 {
     int s, k, r;
     int p1 = 1 << pD->m_successive_low;
-    int m1 = (-1) << pD->m_successive_low;
+    int m1 = static_cast<unsigned int>(-1) << pD->m_successive_low;
     jpgd_block_t *p = pD->coeff_buf_getp(pD->m_ac_coeffs[component_id], block_x, block_y);
     
     JPGD_ASSERT(pD->m_spectral_end <= 63);
diff --git a/thirdparty/thorvg/src/loaders/png/tvgLodePng.cpp b/thirdparty/thorvg/src/loaders/png/tvgLodePng.cpp
index f2dfa02875..5c01c5a1e2 100644
--- a/thirdparty/thorvg/src/loaders/png/tvgLodePng.cpp
+++ b/thirdparty/thorvg/src/loaders/png/tvgLodePng.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/loaders/png/tvgLodePng.h b/thirdparty/thorvg/src/loaders/png/tvgLodePng.h
index 02e1feeec5..c9f0e56ab6 100644
--- a/thirdparty/thorvg/src/loaders/png/tvgLodePng.h
+++ b/thirdparty/thorvg/src/loaders/png/tvgLodePng.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/loaders/png/tvgPngLoader.cpp b/thirdparty/thorvg/src/loaders/png/tvgPngLoader.cpp
index 3cc08e902b..3e293176b7 100644
--- a/thirdparty/thorvg/src/loaders/png/tvgPngLoader.cpp
+++ b/thirdparty/thorvg/src/loaders/png/tvgPngLoader.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/loaders/png/tvgPngLoader.h b/thirdparty/thorvg/src/loaders/png/tvgPngLoader.h
index 34dbeed012..8f07f6418f 100644
--- a/thirdparty/thorvg/src/loaders/png/tvgPngLoader.h
+++ b/thirdparty/thorvg/src/loaders/png/tvgPngLoader.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/loaders/raw/tvgRawLoader.cpp b/thirdparty/thorvg/src/loaders/raw/tvgRawLoader.cpp
index d7d425b119..2da399d8c3 100644
--- a/thirdparty/thorvg/src/loaders/raw/tvgRawLoader.cpp
+++ b/thirdparty/thorvg/src/loaders/raw/tvgRawLoader.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/loaders/raw/tvgRawLoader.h b/thirdparty/thorvg/src/loaders/raw/tvgRawLoader.h
index 20fa332981..e4f3423b41 100644
--- a/thirdparty/thorvg/src/loaders/raw/tvgRawLoader.h
+++ b/thirdparty/thorvg/src/loaders/raw/tvgRawLoader.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/loaders/svg/tvgSvgCssStyle.cpp b/thirdparty/thorvg/src/loaders/svg/tvgSvgCssStyle.cpp
new file mode 100644
index 0000000000..e537cfa27f
--- /dev/null
+++ b/thirdparty/thorvg/src/loaders/svg/tvgSvgCssStyle.cpp
@@ -0,0 +1,186 @@
+/*
+ * Copyright (c) 2022 Samsung Electronics Co., Ltd. All rights reserved.
+
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include "tvgSvgCssStyle.h"
+
+/************************************************************************/
+/* Internal Class Implementation                                        */
+/************************************************************************/
+
+static void _copyStyle(SvgStyleProperty* to, const SvgStyleProperty* from)
+{
+    if (from == nullptr) return;
+    //Copy the properties of 'from' only if they were explicitly set (not the default ones).
+    if (from->curColorSet && !((int)to->flags & (int)SvgStyleFlags::Color)) {
+        to->color = from->color;
+        to->curColorSet = true;
+        to->flags = (SvgStyleFlags)((int)to->flags | (int)SvgStyleFlags::Color);
+    }
+    //Fill
+    if (((int)from->fill.flags & (int)SvgFillFlags::Paint) && !((int)to->flags & (int)SvgStyleFlags::Fill)) {
+        to->fill.paint.color = from->fill.paint.color;
+        to->fill.paint.none = from->fill.paint.none;
+        to->fill.paint.curColor = from->fill.paint.curColor;
+        if (from->fill.paint.url) to->fill.paint.url = strdup(from->fill.paint.url);
+        to->fill.flags = (SvgFillFlags)((int)to->fill.flags | (int)SvgFillFlags::Paint);
+        to->flags = (SvgStyleFlags)((int)to->flags | (int)SvgStyleFlags::Fill);
+    }
+    if (((int)from->fill.flags & (int)SvgFillFlags::Opacity) && !((int)to->flags & (int)SvgStyleFlags::FillOpacity)) {
+        to->fill.opacity = from->fill.opacity;
+        to->fill.flags = (SvgFillFlags)((int)to->fill.flags | (int)SvgFillFlags::Opacity);
+        to->flags = (SvgStyleFlags)((int)to->flags | (int)SvgStyleFlags::FillOpacity);
+    }
+    if (((int)from->fill.flags & (int)SvgFillFlags::FillRule) && !((int)to->flags & (int)SvgStyleFlags::FillRule)) {
+        to->fill.fillRule = from->fill.fillRule;
+        to->fill.flags = (SvgFillFlags)((int)to->fill.flags | (int)SvgFillFlags::FillRule);
+        to->flags = (SvgStyleFlags)((int)to->flags | (int)SvgStyleFlags::FillRule);
+    }
+    //Stroke
+    if (((int)from->stroke.flags & (int)SvgStrokeFlags::Paint) && !((int)to->flags & (int)SvgStyleFlags::Stroke)) {
+        to->stroke.paint.color = from->stroke.paint.color;
+        to->stroke.paint.none = from->stroke.paint.none;
+        to->stroke.paint.curColor = from->stroke.paint.curColor;
+        if (from->stroke.paint.url) to->stroke.paint.url = strdup(from->stroke.paint.url);
+        to->stroke.flags = (SvgStrokeFlags)((int)to->stroke.flags | (int)SvgStrokeFlags::Paint);
+        to->flags = (SvgStyleFlags)((int)to->flags | (int)SvgStyleFlags::Stroke);
+    }
+    if (((int)from->stroke.flags & (int)SvgStrokeFlags::Opacity) && !((int)to->flags & (int)SvgStyleFlags::StrokeOpacity)) {
+        to->stroke.opacity = from->stroke.opacity;
+        to->stroke.flags = (SvgStrokeFlags)((int)to->stroke.flags | (int)SvgStrokeFlags::Opacity);
+        to->flags = (SvgStyleFlags)((int)to->flags | (int)SvgStyleFlags::StrokeOpacity);
+    }
+    if (((int)from->stroke.flags & (int)SvgStrokeFlags::Width) && !((int)to->flags & (int)SvgStyleFlags::StrokeWidth)) {
+        to->stroke.width = from->stroke.width;
+        to->stroke.flags = (SvgStrokeFlags)((int)to->stroke.flags | (int)SvgStrokeFlags::Width);
+        to->flags = (SvgStyleFlags)((int)to->flags | (int)SvgStyleFlags::StrokeWidth);
+    }
+    if (((int)from->stroke.flags & (int)SvgStrokeFlags::Dash) && !((int)to->flags & (int)SvgStyleFlags::StrokeDashArray)) {
+        if (from->stroke.dash.array.count > 0) {
+            to->stroke.dash.array.clear();
+            to->stroke.dash.array.reserve(from->stroke.dash.array.count);
+            for (uint32_t i = 0; i < from->stroke.dash.array.count; ++i) {
+                to->stroke.dash.array.push(from->stroke.dash.array.data[i]);
+            }
+            to->stroke.flags = (SvgStrokeFlags)((int)to->stroke.flags | (int)SvgStrokeFlags::Dash);
+            to->flags = (SvgStyleFlags)((int)to->flags | (int)SvgStyleFlags::StrokeDashArray);
+        }
+    }
+    if (((int)from->stroke.flags & (int)SvgStrokeFlags::Cap) && !((int)to->flags & (int)SvgStyleFlags::StrokeLineCap)) {
+        to->stroke.cap = from->stroke.cap;
+        to->stroke.flags = (SvgStrokeFlags)((int)to->stroke.flags | (int)SvgStrokeFlags::Cap);
+        to->flags = (SvgStyleFlags)((int)to->flags | (int)SvgStyleFlags::StrokeLineCap);
+    }
+    if (((int)from->stroke.flags & (int)SvgStrokeFlags::Join) && !((int)to->flags & (int)SvgStyleFlags::StrokeLineJoin)) {
+        to->stroke.join = from->stroke.join;
+        to->stroke.flags = (SvgStrokeFlags)((int)to->stroke.flags | (int)SvgStrokeFlags::Join);
+        to->flags = (SvgStyleFlags)((int)to->flags | (int)SvgStyleFlags::StrokeLineJoin);
+    }
+    //Opacity
+    //TODO: it can be set to be 255 and shouldn't be changed by attribute 'opacity'
+    if (from->opacity < 255 && !((int)to->flags & (int)SvgStyleFlags::Opacity)) {
+        to->opacity = from->opacity;
+        to->flags = (SvgStyleFlags)((int)to->flags | (int)SvgStyleFlags::Opacity);
+    }
+}
+
+
+/************************************************************************/
+/* External Class Implementation                                        */
+/************************************************************************/
+
+void cssCopyStyleAttr(SvgNode* to, const SvgNode* from)
+{
+    //Copy matrix attribute
+    if (from->transform && !((int)to->style->flags & (int)SvgStyleFlags::Transform)) {
+        to->transform = (Matrix*)malloc(sizeof(Matrix));
+        if (to->transform) {
+            *to->transform = *from->transform;
+            to->style->flags = (SvgStyleFlags)((int)to->style->flags | (int)SvgStyleFlags::Transform);
+        }
+    }
+    //Copy style attribute
+    _copyStyle(to->style, from->style);
+
+    if (from->style->clipPath.url) to->style->clipPath.url = strdup(from->style->clipPath.url);
+    if (from->style->mask.url) to->style->mask.url = strdup(from->style->mask.url);
+}
+
+
+SvgNode* cssFindStyleNode(const SvgNode* style, const char* title, SvgNodeType type)
+{
+    if (!style) return nullptr;
+
+    auto child = style->child.data;
+    for (uint32_t i = 0; i < style->child.count; ++i, ++child) {
+        if ((*child)->type == type) {
+            if ((!title && !(*child)->id) || (title && (*child)->id && !strcmp((*child)->id, title))) return (*child);
+        }
+    }
+    return nullptr;
+}
+
+
+SvgNode* cssFindStyleNode(const SvgNode* style, const char* title)
+{
+    if (!style) return nullptr;
+
+    auto child = style->child.data;
+    for (uint32_t i = 0; i < style->child.count; ++i, ++child) {
+        if ((*child)->type == SvgNodeType::CssStyle) {
+            if ((title && (*child)->id && !strcmp((*child)->id, title))) return (*child);
+        }
+    }
+    return nullptr;
+}
+
+
+void cssUpdateStyle(SvgNode* doc, SvgNode* style)
+{
+    if (doc->child.count > 0) {
+        auto child = doc->child.data;
+        for (uint32_t i = 0; i < doc->child.count; ++i, ++child) {
+            if (auto cssNode = cssFindStyleNode(style, nullptr, (*child)->type)) {
+                cssCopyStyleAttr(*child, cssNode);
+            }
+            if (auto cssNode = cssFindStyleNode(style, nullptr)) {
+                cssCopyStyleAttr(*child, cssNode);
+            }
+            cssUpdateStyle(*child, style);
+        }
+    }
+}
+
+
+void cssApplyStyleToPostponeds(Array<SvgNodeIdPair>& postponeds, SvgNode* style)
+{
+    for (uint32_t i = 0; i < postponeds.count; ++i) {
+        auto nodeIdPair = postponeds.data[i];
+
+        //css styling: tag.name has higher priority than .name
+        if (auto cssNode = cssFindStyleNode(style, nodeIdPair.id, nodeIdPair.node->type)) {
+            cssCopyStyleAttr(nodeIdPair.node, cssNode);
+        }
+        if (auto cssNode = cssFindStyleNode(style, nodeIdPair.id)) {
+            cssCopyStyleAttr(nodeIdPair.node, cssNode);
+        }
+    }
+}
\ No newline at end of file
diff --git a/thirdparty/thorvg/src/loaders/svg/tvgSvgCssStyle.h b/thirdparty/thorvg/src/loaders/svg/tvgSvgCssStyle.h
new file mode 100644
index 0000000000..66477c1a32
--- /dev/null
+++ b/thirdparty/thorvg/src/loaders/svg/tvgSvgCssStyle.h
@@ -0,0 +1,34 @@
+/*
+ * Copyright (c) 2022 Samsung Electronics Co., Ltd. All rights reserved.
+
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#ifndef _TVG_SVG_CSS_STYLE_H_
+#define _TVG_SVG_CSS_STYLE_H_
+
+#include "tvgSvgLoaderCommon.h"
+
+void cssCopyStyleAttr(SvgNode* to, const SvgNode* from);
+SvgNode* cssFindStyleNode(const SvgNode* style, const char* title, SvgNodeType type);
+SvgNode* cssFindStyleNode(const SvgNode* style, const char* title);
+void cssUpdateStyle(SvgNode* doc, SvgNode* style);
+void cssApplyStyleToPostponeds(Array<SvgNodeIdPair>& postponeds, SvgNode* style);
+
+#endif //_TVG_SVG_CSS_STYLE_H_
diff --git a/thirdparty/thorvg/src/loaders/svg/tvgSvgLoader.cpp b/thirdparty/thorvg/src/loaders/svg/tvgSvgLoader.cpp
index 08b3308165..a842b7fa8b 100644
--- a/thirdparty/thorvg/src/loaders/svg/tvgSvgLoader.cpp
+++ b/thirdparty/thorvg/src/loaders/svg/tvgSvgLoader.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -60,6 +60,8 @@
 #include "tvgSvgLoader.h"
 #include "tvgSvgSceneBuilder.h"
 #include "tvgSvgUtil.h"
+#include "tvgSvgCssStyle.h"
+#include "tvgMath.h"
 
 /************************************************************************/
 /* Internal Class Implementation                                        */
@@ -75,11 +77,10 @@
 #define PX_PER_MM 3.779528f //1 in = 25.4 mm -> PX_PER_IN/25.4
 #define PX_PER_CM 37.79528f //1 in = 2.54 cm -> PX_PER_IN/2.54
 
-
-typedef SvgNode* (*FactoryMethod)(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength);
+typedef bool (*parseAttributes)(const char* buf, unsigned bufLength, simpleXMLAttributeCb func, const void* data);
+typedef SvgNode* (*FactoryMethod)(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength, parseAttributes func);
 typedef SvgStyleGradient* (*GradientFactoryMethod)(SvgLoaderData* loader, const char* buf, unsigned bufLength);
 
-
 static char* _skipSpace(const char* str, const char* end)
 {
     while (((end && str < end) || (!end && *str != '\0')) && isspace(*str)) {
@@ -200,6 +201,14 @@ static int _toOpacity(const char* str)
 }
 
 
+static SvgMaskType _toMaskType(const char* str)
+{
+    if (!strcmp(str, "Alpha")) return SvgMaskType::Alpha;
+
+    return SvgMaskType::Luminance;
+}
+
+
 #define _PARSE_TAG(Type, Name, Name1, Tags_Array, Default)                        \
     static Type _to##Name1(const char* str)                                       \
     {                                                                             \
@@ -726,6 +735,12 @@ error:
     }
 
 
+static void _postpone(Array<SvgNodeIdPair>& nodes, SvgNode *node, char* id)
+{
+    nodes.push({node, id});
+}
+
+
 /*
 // TODO - remove?
 static constexpr struct
@@ -786,14 +801,12 @@ static bool _attrParseSvgNode(void* data, const char* key, const char* value)
     } else if (!strcmp(key, "preserveAspectRatio")) {
         if (!strcmp(value, "none")) doc->preserveAspect = false;
     } else if (!strcmp(key, "style")) {
-        return simpleXmlParseW3CAttribute(value, _parseStyleAttr, loader);
-    }
+        return simpleXmlParseW3CAttribute(value, strlen(value), _parseStyleAttr, loader);
 #ifdef THORVG_LOG_ENABLED
-    else if ((!strcmp(key, "x") || !strcmp(key, "y")) && fabsf(svgUtilStrtof(value, nullptr)) > FLT_EPSILON) {
+    } else if ((!strcmp(key, "x") || !strcmp(key, "y")) && fabsf(svgUtilStrtof(value, nullptr)) > FLT_EPSILON) {
         TVGLOG("SVG", "Unsupported attributes used [Elements type: Svg][Attribute: %s][Value: %s]", key, value);
-    }
 #endif
-    else {
+    } else {
         return _parseStyleAttr(loader, key, value, false);
     }
     return true;
@@ -922,6 +935,12 @@ static void _handleMaskAttr(TVG_UNUSED SvgLoaderData* loader, SvgNode* node, con
 }
 
 
+static void _handleMaskTypeAttr(TVG_UNUSED SvgLoaderData* loader, SvgNode* node, const char* value)
+{
+    node->node.mask.type = _toMaskType(value);
+}
+
+
 static void _handleDisplayAttr(TVG_UNUSED SvgLoaderData* loader, SvgNode* node, const char* value)
 {
     //TODO : The display attribute can have various values as well as "none".
@@ -933,6 +952,29 @@ static void _handleDisplayAttr(TVG_UNUSED SvgLoaderData* loader, SvgNode* node,
 }
 
 
+static void _handleCssClassAttr(SvgLoaderData* loader, SvgNode* node, const char* value)
+{
+    auto cssClass = &node->style->cssClass;
+
+    if (*cssClass && value) free(*cssClass);
+    *cssClass = _copyId(value);
+
+    bool cssClassFound = false;
+
+    //css styling: tag.name has higher priority than .name
+    if (auto cssNode = cssFindStyleNode(loader->cssStyle, *cssClass, node->type)) {
+        cssClassFound = true;
+        cssCopyStyleAttr(node, cssNode);
+    }
+    if (auto cssNode = cssFindStyleNode(loader->cssStyle, *cssClass)) {
+        cssClassFound = true;
+        cssCopyStyleAttr(node, cssNode);
+    }
+
+    if (!cssClassFound) _postpone(loader->nodesToStyle, node, *cssClass);
+}
+
+
 typedef void (*styleMethod)(SvgLoaderData* loader, SvgNode* node, const char* value);
 
 #define STYLE_DEF(Name, Name1, Flag) { #Name, sizeof(#Name), _handle##Name1##Attr, Flag }
@@ -959,6 +1001,7 @@ static constexpr struct
     STYLE_DEF(transform, Transform, SvgStyleFlags::Transform),
     STYLE_DEF(clip-path, ClipPath, SvgStyleFlags::ClipPath),
     STYLE_DEF(mask, Mask, SvgStyleFlags::Mask),
+    STYLE_DEF(mask-type, MaskType, SvgStyleFlags::MaskType),
     STYLE_DEF(display, Display, SvgStyleFlags::Display)
 };
 
@@ -1006,12 +1049,14 @@ static bool _attrParseGNode(void* data, const char* key, const char* value)
     SvgNode* node = loader->svgParse->node;
 
     if (!strcmp(key, "style")) {
-        return simpleXmlParseW3CAttribute(value, _parseStyleAttr, loader);
+        return simpleXmlParseW3CAttribute(value, strlen(value), _parseStyleAttr, loader);
     } else if (!strcmp(key, "transform")) {
         node->transform = _parseTransformationMatrix(value);
     } else if (!strcmp(key, "id")) {
         if (node->id && value) free(node->id);
         node->id = _copyId(value);
+    } else if (!strcmp(key, "class")) {
+        _handleCssClassAttr(loader, node, value);
     } else if (!strcmp(key, "clip-path")) {
         _handleClipPathAttr(loader, node, value);
     } else if (!strcmp(key, "mask")) {
@@ -1030,17 +1075,19 @@ static bool _attrParseClipPathNode(void* data, const char* key, const char* valu
 {
     SvgLoaderData* loader = (SvgLoaderData*)data;
     SvgNode* node = loader->svgParse->node;
-    SvgCompositeNode* comp = &(node->node.comp);
+    SvgClipNode* clip = &(node->node.clip);
 
     if (!strcmp(key, "style")) {
-        return simpleXmlParseW3CAttribute(value, _parseStyleAttr, loader);
+        return simpleXmlParseW3CAttribute(value, strlen(value), _parseStyleAttr, loader);
     } else if (!strcmp(key, "transform")) {
         node->transform = _parseTransformationMatrix(value);
     } else if (!strcmp(key, "id")) {
         if (node->id && value) free(node->id);
         node->id = _copyId(value);
+    } else if (!strcmp(key, "class")) {
+        _handleCssClassAttr(loader, node, value);
     } else if (!strcmp(key, "clipPathUnits")) {
-        if (!strcmp(value, "objectBoundingBox")) comp->userSpace = false;
+        if (!strcmp(value, "objectBoundingBox")) clip->userSpace = false;
     } else {
         return _parseStyleAttr(loader, key, value, false);
     }
@@ -1052,17 +1099,36 @@ static bool _attrParseMaskNode(void* data, const char* key, const char* value)
 {
     SvgLoaderData* loader = (SvgLoaderData*)data;
     SvgNode* node = loader->svgParse->node;
-    SvgCompositeNode* comp = &(node->node.comp);
+    SvgMaskNode* mask = &(node->node.mask);
 
     if (!strcmp(key, "style")) {
-        return simpleXmlParseW3CAttribute(value, _parseStyleAttr, loader);
+        return simpleXmlParseW3CAttribute(value, strlen(value), _parseStyleAttr, loader);
     } else if (!strcmp(key, "transform")) {
         node->transform = _parseTransformationMatrix(value);
     } else if (!strcmp(key, "id")) {
         if (node->id && value) free(node->id);
         node->id = _copyId(value);
+    } else if (!strcmp(key, "class")) {
+        _handleCssClassAttr(loader, node, value);
     } else if (!strcmp(key, "maskContentUnits")) {
-        if (!strcmp(value, "objectBoundingBox")) comp->userSpace = false;
+        if (!strcmp(value, "objectBoundingBox")) mask->userSpace = false;
+    } else if (!strcmp(key, "mask-type")) {
+        mask->type = _toMaskType(value);
+    } else {
+        return _parseStyleAttr(loader, key, value, false);
+    }
+    return true;
+}
+
+
+static bool _attrParseCssStyleNode(void* data, const char* key, const char* value)
+{
+    SvgLoaderData* loader = (SvgLoaderData*)data;
+    SvgNode* node = loader->svgParse->node;
+
+    if (!strcmp(key, "id")) {
+        if (node->id && value) free(node->id);
+        node->id = _copyId(value);
     } else {
         return _parseStyleAttr(loader, key, value, false);
     }
@@ -1070,6 +1136,31 @@ static bool _attrParseMaskNode(void* data, const char* key, const char* value)
 }
 
 
+static bool _attrParseSymbolNode(void* data, const char* key, const char* value)
+{
+    SvgLoaderData* loader = (SvgLoaderData*)data;
+    SvgNode* node = loader->svgParse->node;
+    SvgSymbolNode* symbol = &(node->node.symbol);
+
+    if (!strcmp(key, "viewBox")) {
+        if (!_parseNumber(&value, &symbol->vx) || !_parseNumber(&value, &symbol->vy)) return false;
+        if (!_parseNumber(&value, &symbol->vw) || !_parseNumber(&value, &symbol->vh)) return false;
+    } else if (!strcmp(key, "width")) {
+        symbol->w = _toFloat(loader->svgParse, value, SvgParserLengthType::Horizontal);
+    } else if (!strcmp(key, "height")) {
+        symbol->h = _toFloat(loader->svgParse, value, SvgParserLengthType::Vertical);
+    } else if (!strcmp(key, "preserveAspectRatio")) {
+        if (!strcmp(value, "none")) symbol->preserveAspect = false;
+    } else if (!strcmp(key, "overflow")) {
+        if (!strcmp(value, "visible")) symbol->overflowVisible = true;
+    } else {
+        return _attrParseGNode(data, key, value);
+    }
+
+    return true;
+}
+
+
 static SvgNode* _createNode(SvgNode* parent, SvgNodeType type)
 {
     SvgNode* node = (SvgNode*)calloc(1, sizeof(SvgNode));
@@ -1121,7 +1212,7 @@ static SvgNode* _createNode(SvgNode* parent, SvgNodeType type)
 }
 
 
-static SvgNode* _createDefsNode(TVG_UNUSED SvgLoaderData* loader, TVG_UNUSED SvgNode* parent, const char* buf, unsigned bufLength)
+static SvgNode* _createDefsNode(TVG_UNUSED SvgLoaderData* loader, TVG_UNUSED SvgNode* parent, const char* buf, unsigned bufLength, TVG_UNUSED parseAttributes func)
 {
     if (loader->def && loader->doc->node.doc.defs) return loader->def;
     SvgNode* node = _createNode(nullptr, SvgNodeType::Defs);
@@ -1132,17 +1223,17 @@ static SvgNode* _createDefsNode(TVG_UNUSED SvgLoaderData* loader, TVG_UNUSED Svg
 }
 
 
-static SvgNode* _createGNode(TVG_UNUSED SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength)
+static SvgNode* _createGNode(TVG_UNUSED SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength, parseAttributes func)
 {
     loader->svgParse->node = _createNode(parent, SvgNodeType::G);
     if (!loader->svgParse->node) return nullptr;
 
-    simpleXmlParseAttributes(buf, bufLength, _attrParseGNode, loader);
+    func(buf, bufLength, _attrParseGNode, loader);
     return loader->svgParse->node;
 }
 
 
-static SvgNode* _createSvgNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength)
+static SvgNode* _createSvgNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength, parseAttributes func)
 {
     loader->svgParse->node = _createNode(parent, SvgNodeType::Doc);
     if (!loader->svgParse->node) return nullptr;
@@ -1152,7 +1243,7 @@ static SvgNode* _createSvgNode(SvgLoaderData* loader, SvgNode* parent, const cha
     loader->svgParse->global.h = 0;
 
     doc->preserveAspect = true;
-    simpleXmlParseAttributes(buf, bufLength, _attrParseSvgNode, loader);
+    func(buf, bufLength, _attrParseSvgNode, loader);
 
     if (loader->svgParse->global.w == 0) {
         if (doc->w < FLT_EPSILON) loader->svgParse->global.w = 1;
@@ -1167,32 +1258,60 @@ static SvgNode* _createSvgNode(SvgLoaderData* loader, SvgNode* parent, const cha
 }
 
 
-static SvgNode* _createMaskNode(SvgLoaderData* loader, SvgNode* parent, TVG_UNUSED const char* buf, TVG_UNUSED unsigned bufLength)
+static SvgNode* _createMaskNode(SvgLoaderData* loader, SvgNode* parent, TVG_UNUSED const char* buf, TVG_UNUSED unsigned bufLength, parseAttributes func)
 {
     loader->svgParse->node = _createNode(parent, SvgNodeType::Mask);
     if (!loader->svgParse->node) return nullptr;
 
-    loader->svgParse->node->node.comp.userSpace = true;
+    loader->svgParse->node->node.mask.userSpace = true;
+    loader->svgParse->node->node.mask.type = SvgMaskType::Luminance;
 
-    simpleXmlParseAttributes(buf, bufLength, _attrParseMaskNode, loader);
+    func(buf, bufLength, _attrParseMaskNode, loader);
 
     return loader->svgParse->node;
 }
 
 
-static SvgNode* _createClipPathNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength)
+static SvgNode* _createClipPathNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength, parseAttributes func)
 {
     loader->svgParse->node = _createNode(parent, SvgNodeType::ClipPath);
     if (!loader->svgParse->node) return nullptr;
 
     loader->svgParse->node->display = false;
-    loader->svgParse->node->node.comp.userSpace = true;
+    loader->svgParse->node->node.clip.userSpace = true;
 
-    simpleXmlParseAttributes(buf, bufLength, _attrParseClipPathNode, loader);
+    func(buf, bufLength, _attrParseClipPathNode, loader);
 
     return loader->svgParse->node;
 }
 
+
+static SvgNode* _createCssStyleNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength, parseAttributes func)
+{
+    loader->svgParse->node = _createNode(parent, SvgNodeType::CssStyle);
+    if (!loader->svgParse->node) return nullptr;
+
+    func(buf, bufLength, _attrParseCssStyleNode, loader);
+
+    return loader->svgParse->node;
+}
+
+
+static SvgNode* _createSymbolNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength, parseAttributes func)
+{
+    loader->svgParse->node = _createNode(parent, SvgNodeType::Symbol);
+    if (!loader->svgParse->node) return nullptr;
+
+    loader->svgParse->node->display = false;
+    loader->svgParse->node->node.symbol.preserveAspect = true;
+    loader->svgParse->node->node.symbol.overflowVisible = false;
+
+    func(buf, bufLength, _attrParseSymbolNode, loader);
+
+    return loader->svgParse->node;
+}
+
+
 static bool _attrParsePathNode(void* data, const char* key, const char* value)
 {
     SvgLoaderData* loader = (SvgLoaderData*)data;
@@ -1203,7 +1322,7 @@ static bool _attrParsePathNode(void* data, const char* key, const char* value)
         //Temporary: need to copy
         path->path = _copyId(value);
     } else if (!strcmp(key, "style")) {
-        return simpleXmlParseW3CAttribute(value, _parseStyleAttr, loader);
+        return simpleXmlParseW3CAttribute(value, strlen(value), _parseStyleAttr, loader);
     } else if (!strcmp(key, "clip-path")) {
         _handleClipPathAttr(loader, node, value);
     } else if (!strcmp(key, "mask")) {
@@ -1211,6 +1330,8 @@ static bool _attrParsePathNode(void* data, const char* key, const char* value)
     } else if (!strcmp(key, "id")) {
         if (node->id && value) free(node->id);
         node->id = _copyId(value);
+    } else if (!strcmp(key, "class")) {
+        _handleCssClassAttr(loader, node, value);
     } else {
         return _parseStyleAttr(loader, key, value, false);
     }
@@ -1218,13 +1339,13 @@ static bool _attrParsePathNode(void* data, const char* key, const char* value)
 }
 
 
-static SvgNode* _createPathNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength)
+static SvgNode* _createPathNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength, parseAttributes func)
 {
     loader->svgParse->node = _createNode(parent, SvgNodeType::Path);
 
     if (!loader->svgParse->node) return nullptr;
 
-    simpleXmlParseAttributes(buf, bufLength, _attrParsePathNode, loader);
+    func(buf, bufLength, _attrParsePathNode, loader);
 
     return loader->svgParse->node;
 }
@@ -1263,7 +1384,7 @@ static bool _attrParseCircleNode(void* data, const char* key, const char* value)
     }
 
     if (!strcmp(key, "style")) {
-        return simpleXmlParseW3CAttribute(value, _parseStyleAttr, loader);
+        return simpleXmlParseW3CAttribute(value, strlen(value), _parseStyleAttr, loader);
     } else if (!strcmp(key, "clip-path")) {
         _handleClipPathAttr(loader, node, value);
     } else if (!strcmp(key, "mask")) {
@@ -1271,6 +1392,8 @@ static bool _attrParseCircleNode(void* data, const char* key, const char* value)
     } else if (!strcmp(key, "id")) {
         if (node->id && value) free(node->id);
         node->id = _copyId(value);
+    } else if (!strcmp(key, "class")) {
+        _handleCssClassAttr(loader, node, value);
     } else {
         return _parseStyleAttr(loader, key, value, false);
     }
@@ -1278,13 +1401,13 @@ static bool _attrParseCircleNode(void* data, const char* key, const char* value)
 }
 
 
-static SvgNode* _createCircleNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength)
+static SvgNode* _createCircleNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength, parseAttributes func)
 {
     loader->svgParse->node = _createNode(parent, SvgNodeType::Circle);
 
     if (!loader->svgParse->node) return nullptr;
 
-    simpleXmlParseAttributes(buf, bufLength, _attrParseCircleNode, loader);
+    func(buf, bufLength, _attrParseCircleNode, loader);
     return loader->svgParse->node;
 }
 
@@ -1325,8 +1448,10 @@ static bool _attrParseEllipseNode(void* data, const char* key, const char* value
     if (!strcmp(key, "id")) {
         if (node->id && value) free(node->id);
         node->id = _copyId(value);
+    } else if (!strcmp(key, "class")) {
+        _handleCssClassAttr(loader, node, value);
     } else if (!strcmp(key, "style")) {
-        return simpleXmlParseW3CAttribute(value, _parseStyleAttr, loader);
+        return simpleXmlParseW3CAttribute(value, strlen(value), _parseStyleAttr, loader);
     } else if (!strcmp(key, "clip-path")) {
         _handleClipPathAttr(loader, node, value);
     } else if (!strcmp(key, "mask")) {
@@ -1338,13 +1463,13 @@ static bool _attrParseEllipseNode(void* data, const char* key, const char* value
 }
 
 
-static SvgNode* _createEllipseNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength)
+static SvgNode* _createEllipseNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength, parseAttributes func)
 {
     loader->svgParse->node = _createNode(parent, SvgNodeType::Ellipse);
 
     if (!loader->svgParse->node) return nullptr;
 
-    simpleXmlParseAttributes(buf, bufLength, _attrParseEllipseNode, loader);
+    func(buf, bufLength, _attrParseEllipseNode, loader);
     return loader->svgParse->node;
 }
 
@@ -1400,7 +1525,7 @@ static bool _attrParsePolygonNode(void* data, const char* key, const char* value
     if (!strcmp(key, "points")) {
         return _attrParsePolygonPoints(value, &polygon->points, &polygon->pointsCount);
     } else if (!strcmp(key, "style")) {
-        return simpleXmlParseW3CAttribute(value, _parseStyleAttr, loader);
+        return simpleXmlParseW3CAttribute(value, strlen(value), _parseStyleAttr, loader);
     } else if (!strcmp(key, "clip-path")) {
         _handleClipPathAttr(loader, node, value);
     } else if (!strcmp(key, "mask")) {
@@ -1408,6 +1533,8 @@ static bool _attrParsePolygonNode(void* data, const char* key, const char* value
     } else if (!strcmp(key, "id")) {
         if (node->id && value) free(node->id);
         node->id = _copyId(value);
+    } else if (!strcmp(key, "class")) {
+        _handleCssClassAttr(loader, node, value);
     } else {
         return _parseStyleAttr(loader, key, value, false);
     }
@@ -1415,24 +1542,24 @@ static bool _attrParsePolygonNode(void* data, const char* key, const char* value
 }
 
 
-static SvgNode* _createPolygonNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength)
+static SvgNode* _createPolygonNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength, parseAttributes func)
 {
     loader->svgParse->node = _createNode(parent, SvgNodeType::Polygon);
 
     if (!loader->svgParse->node) return nullptr;
 
-    simpleXmlParseAttributes(buf, bufLength, _attrParsePolygonNode, loader);
+    func(buf, bufLength, _attrParsePolygonNode, loader);
     return loader->svgParse->node;
 }
 
 
-static SvgNode* _createPolylineNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength)
+static SvgNode* _createPolylineNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength, parseAttributes func)
 {
     loader->svgParse->node = _createNode(parent, SvgNodeType::Polyline);
 
     if (!loader->svgParse->node) return nullptr;
 
-    simpleXmlParseAttributes(buf, bufLength, _attrParsePolygonNode, loader);
+    func(buf, bufLength, _attrParsePolygonNode, loader);
     return loader->svgParse->node;
 }
 
@@ -1482,8 +1609,10 @@ static bool _attrParseRectNode(void* data, const char* key, const char* value)
     if (!strcmp(key, "id")) {
         if (node->id && value) free(node->id);
         node->id = _copyId(value);
+    } else if (!strcmp(key, "class")) {
+        _handleCssClassAttr(loader, node, value);
     } else if (!strcmp(key, "style")) {
-        ret = simpleXmlParseW3CAttribute(value, _parseStyleAttr, loader);
+        ret = simpleXmlParseW3CAttribute(value, strlen(value), _parseStyleAttr, loader);
     } else if (!strcmp(key, "clip-path")) {
         _handleClipPathAttr(loader, node, value);
     } else if (!strcmp(key, "mask")) {
@@ -1496,7 +1625,7 @@ static bool _attrParseRectNode(void* data, const char* key, const char* value)
 }
 
 
-static SvgNode* _createRectNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength)
+static SvgNode* _createRectNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength, parseAttributes func)
 {
     loader->svgParse->node = _createNode(parent, SvgNodeType::Rect);
 
@@ -1504,7 +1633,7 @@ static SvgNode* _createRectNode(SvgLoaderData* loader, SvgNode* parent, const ch
 
     loader->svgParse->node->node.rect.hasRx = loader->svgParse->node->node.rect.hasRy = false;
 
-    simpleXmlParseAttributes(buf, bufLength, _attrParseRectNode, loader);
+    func(buf, bufLength, _attrParseRectNode, loader);
     return loader->svgParse->node;
 }
 
@@ -1545,8 +1674,10 @@ static bool _attrParseLineNode(void* data, const char* key, const char* value)
     if (!strcmp(key, "id")) {
         if (node->id && value) free(node->id);
         node->id = _copyId(value);
+    } else if (!strcmp(key, "class")) {
+        _handleCssClassAttr(loader, node, value);
     } else if (!strcmp(key, "style")) {
-        return simpleXmlParseW3CAttribute(value, _parseStyleAttr, loader);
+        return simpleXmlParseW3CAttribute(value, strlen(value), _parseStyleAttr, loader);
     } else if (!strcmp(key, "clip-path")) {
         _handleClipPathAttr(loader, node, value);
     } else if (!strcmp(key, "mask")) {
@@ -1558,13 +1689,13 @@ static bool _attrParseLineNode(void* data, const char* key, const char* value)
 }
 
 
-static SvgNode* _createLineNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength)
+static SvgNode* _createLineNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength, parseAttributes func)
 {
     loader->svgParse->node = _createNode(parent, SvgNodeType::Line);
 
     if (!loader->svgParse->node) return nullptr;
 
-    simpleXmlParseAttributes(buf, bufLength, _attrParseLineNode, loader);
+    func(buf, bufLength, _attrParseLineNode, loader);
     return loader->svgParse->node;
 }
 
@@ -1616,12 +1747,16 @@ static bool _attrParseImageNode(void* data, const char* key, const char* value)
     } else if (!strcmp(key, "id")) {
         if (node->id && value) free(node->id);
         node->id = _copyId(value);
+    } else if (!strcmp(key, "class")) {
+        _handleCssClassAttr(loader, node, value);
     } else if (!strcmp(key, "style")) {
-        return simpleXmlParseW3CAttribute(value, _parseStyleAttr, loader);
+        return simpleXmlParseW3CAttribute(value, strlen(value), _parseStyleAttr, loader);
     } else if (!strcmp(key, "clip-path")) {
         _handleClipPathAttr(loader, node, value);
     } else if (!strcmp(key, "mask")) {
         _handleMaskAttr(loader, node, value);
+    } else if (!strcmp(key, "transform")) {
+        node->transform = _parseTransformationMatrix(value);
     } else {
         return _parseStyleAttr(loader, key, value);
     }
@@ -1629,13 +1764,13 @@ static bool _attrParseImageNode(void* data, const char* key, const char* value)
 }
 
 
-static SvgNode* _createImageNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength)
+static SvgNode* _createImageNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength, parseAttributes func)
 {
     loader->svgParse->node = _createNode(parent, SvgNodeType::Image);
 
     if (!loader->svgParse->node) return nullptr;
 
-    simpleXmlParseAttributes(buf, bufLength, _attrParseImageNode, loader);
+    func(buf, bufLength, _attrParseImageNode, loader);
     return loader->svgParse->node;
 }
 
@@ -1941,12 +2076,6 @@ static void _cloneNode(SvgNode* from, SvgNode* parent, int depth)
 }
 
 
-static void _postponeCloneNode(SvgLoaderData* loader, SvgNode *node, char* id)
-{
-    loader->cloneNodes.push({node, id});
-}
-
-
 static void _clonePostponedNodes(Array<SvgNodeIdPair>* cloneNodes, SvgNode* doc)
 {
     for (uint32_t i = 0; i < cloneNodes->count; ++i) {
@@ -1955,6 +2084,9 @@ static void _clonePostponedNodes(Array<SvgNodeIdPair>* cloneNodes, SvgNode* doc)
         auto nodeFrom = _findChildById(defs, nodeIdPair.id);
         if (!nodeFrom) nodeFrom = _findChildById(doc, nodeIdPair.id);
         _cloneNode(nodeFrom, nodeIdPair.node, 0);
+        if (nodeFrom && nodeFrom->type == SvgNodeType::Symbol && nodeIdPair.node->type == SvgNodeType::Use) {
+            nodeIdPair.node->node.use.symbol = nodeFrom;
+        }
         free(nodeIdPair.id);
     }
 }
@@ -1967,10 +2099,10 @@ static constexpr struct
     int sz;
     size_t offset;
 } useTags[] = {
-    {"x", SvgParserLengthType::Horizontal, sizeof("x"), offsetof(SvgRectNode, x)},
-    {"y", SvgParserLengthType::Vertical, sizeof("y"), offsetof(SvgRectNode, y)},
-    {"width", SvgParserLengthType::Horizontal, sizeof("width"), offsetof(SvgRectNode, w)},
-    {"height", SvgParserLengthType::Vertical, sizeof("height"), offsetof(SvgRectNode, h)}
+    {"x", SvgParserLengthType::Horizontal, sizeof("x"), offsetof(SvgUseNode, x)},
+    {"y", SvgParserLengthType::Vertical, sizeof("y"), offsetof(SvgUseNode, y)},
+    {"width", SvgParserLengthType::Horizontal, sizeof("width"), offsetof(SvgUseNode, w)},
+    {"height", SvgParserLengthType::Vertical, sizeof("height"), offsetof(SvgUseNode, h)}
 };
 
 
@@ -1986,6 +2118,10 @@ static bool _attrParseUseNode(void* data, const char* key, const char* value)
     for (unsigned int i = 0; i < sizeof(useTags) / sizeof(useTags[0]); i++) {
         if (useTags[i].sz - 1 == sz && !strncmp(useTags[i].tag, key, sz)) {
             *((float*)(array + useTags[i].offset)) = _toFloat(loader->svgParse, value, useTags[i].type);
+
+            if (useTags[i].offset == offsetof(SvgUseNode, w)) use->isWidthSet = true;
+            else if (useTags[i].offset == offsetof(SvgUseNode, h)) use->isHeightSet = true;
+
             return true;
         }
     }
@@ -1996,12 +2132,13 @@ static bool _attrParseUseNode(void* data, const char* key, const char* value)
         nodeFrom = _findChildById(defs, id);
         if (nodeFrom) {
             _cloneNode(nodeFrom, node, 0);
+            if (nodeFrom->type == SvgNodeType::Symbol) use->symbol = nodeFrom;
             free(id);
         } else {
             //some svg export software include <defs> element at the end of the file
             //if so the 'from' element won't be found now and we have to repeat finding
             //after the whole file is parsed
-            _postponeCloneNode(loader, node, id);
+            _postpone(loader->cloneNodes, node, id);
         }
     } else {
         return _attrParseGNode(data, key, value);
@@ -2010,16 +2147,20 @@ static bool _attrParseUseNode(void* data, const char* key, const char* value)
 }
 
 
-static SvgNode* _createUseNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength)
+static SvgNode* _createUseNode(SvgLoaderData* loader, SvgNode* parent, const char* buf, unsigned bufLength, parseAttributes func)
 {
     loader->svgParse->node = _createNode(parent, SvgNodeType::Use);
 
     if (!loader->svgParse->node) return nullptr;
 
-    simpleXmlParseAttributes(buf, bufLength, _attrParseUseNode, loader);
+    loader->svgParse->node->node.use.isWidthSet = false;
+    loader->svgParse->node->node.use.isHeightSet = false;
+
+    func(buf, bufLength, _attrParseUseNode, loader);
     return loader->svgParse->node;
 }
 
+
 //TODO: Implement 'text' primitive
 static constexpr struct
 {
@@ -2049,7 +2190,9 @@ static constexpr struct
     {"g", sizeof("g"), _createGNode},
     {"svg", sizeof("svg"), _createSvgNode},
     {"mask", sizeof("mask"), _createMaskNode},
-    {"clipPath", sizeof("clipPath"), _createClipPathNode}
+    {"clipPath", sizeof("clipPath"), _createClipPathNode},
+    {"style", sizeof("style"), _createCssStyleNode},
+    {"symbol", sizeof("symbol"), _createSymbolNode}
 };
 
 
@@ -2204,8 +2347,8 @@ static bool _attrParseRadialGradientNode(void* data, const char* key, const char
     } else if (!strcmp(key, "href") || !strcmp(key, "xlink:href")) {
         if (grad->ref && value) free(grad->ref);
         grad->ref = _idFromHref(value);
-    } else if (!strcmp(key, "gradientUnits") && !strcmp(value, "userSpaceOnUse")) {
-        grad->userSpace = true;
+    } else if (!strcmp(key, "gradientUnits")) {
+        if (!strcmp(value, "userSpaceOnUse")) grad->userSpace = true;
     } else if (!strcmp(key, "gradientTransform")) {
         grad->transform = _parseTransformationMatrix(value);
     } else {
@@ -2291,7 +2434,7 @@ static bool _attrParseStops(void* data, const char* key, const char* value)
             _toColor(value, &stop->r, &stop->g, &stop->b, nullptr);
         }
     } else if (!strcmp(key, "style")) {
-        simpleXmlParseW3CAttribute(value, _attrParseStopsStyle, data);
+        simpleXmlParseW3CAttribute(value, strlen(value), _attrParseStopsStyle, data);
     } else {
         return false;
     }
@@ -2394,8 +2537,8 @@ static bool _attrParseLinearGradientNode(void* data, const char* key, const char
     } else if (!strcmp(key, "href") || !strcmp(key, "xlink:href")) {
         if (grad->ref && value) free(grad->ref);
         grad->ref = _idFromHref(value);
-    } else if (!strcmp(key, "gradientUnits") && !strcmp(value, "userSpaceOnUse")) {
-        grad->userSpace = true;
+    } else if (!strcmp(key, "gradientUnits")) {
+        if (!strcmp(value, "userSpaceOnUse")) grad->userSpace = true;
     } else if (!strcmp(key, "gradientTransform")) {
         grad->transform = _parseTransformationMatrix(value);
     } else {
@@ -2479,11 +2622,13 @@ static constexpr struct
     {"svg", sizeof("svg")},
     {"defs", sizeof("defs")},
     {"mask", sizeof("mask")},
-    {"clipPath", sizeof("clipPath")}
+    {"clipPath", sizeof("clipPath")},
+    {"style", sizeof("style")},
+    {"symbol", sizeof("symbol")}
 };
 
 
-static void _svgLoaderParerXmlClose(SvgLoaderData* loader, const char* content)
+static void _svgLoaderParserXmlClose(SvgLoaderData* loader, const char* content)
 {
     content = _skipSpace(content, nullptr);
 
@@ -2531,13 +2676,20 @@ static void _svgLoaderParserXmlOpen(SvgLoaderData* loader, const char* content,
         if (empty) return;
         if (!loader->doc) {
             if (strcmp(tagName, "svg")) return; //Not a valid svg document
-            node = method(loader, nullptr, attrs, attrsLength);
+            node = method(loader, nullptr, attrs, attrsLength, simpleXmlParseAttributes);
             loader->doc = node;
         } else {
             if (!strcmp(tagName, "svg")) return; //Already loaded <svg>(SvgNodeType::Doc) tag
             if (loader->stack.count > 0) parent = loader->stack.data[loader->stack.count - 1];
             else parent = loader->doc;
-            node = method(loader, parent, attrs, attrsLength);
+            if (!strcmp(tagName, "style")) {
+                node = method(loader, nullptr, attrs, attrsLength, simpleXmlParseAttributes);
+                loader->cssStyle = node;
+                loader->doc->node.doc.style = node;
+                loader->style = true;
+            } else {
+                node = method(loader, parent, attrs, attrsLength, simpleXmlParseAttributes);
+            }
         }
 
         if (!node) return;
@@ -2547,7 +2699,7 @@ static void _svgLoaderParserXmlOpen(SvgLoaderData* loader, const char* content,
     } else if ((method = _findGraphicsFactory(tagName))) {
         if (loader->stack.count > 0) parent = loader->stack.data[loader->stack.count - 1];
         else parent = loader->doc;
-        node = method(loader, parent, attrs, attrsLength);
+        node = method(loader, parent, attrs, attrsLength, simpleXmlParseAttributes);
     } else if ((gradientMethod = _findGradientFactory(tagName))) {
         SvgStyleGradient* gradient;
         gradient = gradientMethod(loader, attrs, attrsLength);
@@ -2578,6 +2730,42 @@ static void _svgLoaderParserXmlOpen(SvgLoaderData* loader, const char* content,
 }
 
 
+static void _svgLoaderParserXmlCssStyle(SvgLoaderData* loader, const char* content, unsigned int length)
+{
+    char* tag;
+    char* name;
+    const char* attrs = nullptr;
+    unsigned int attrsLength = 0;
+
+    FactoryMethod method;
+    GradientFactoryMethod gradientMethod;
+    SvgNode *node = nullptr;
+
+    while (auto next = simpleXmlParseCSSAttribute(content, length, &tag, &name, &attrs, &attrsLength)) {
+        if ((method = _findGroupFactory(tag))) {
+            if ((node = method(loader, loader->cssStyle, attrs, attrsLength, simpleXmlParseW3CAttribute))) node->id = _copyId(name);
+        } else if ((method = _findGraphicsFactory(tag))) {
+            if ((node = method(loader, loader->cssStyle, attrs, attrsLength, simpleXmlParseW3CAttribute))) node->id = _copyId(name);
+        } else if ((gradientMethod = _findGradientFactory(tag))) {
+            TVGLOG("SVG", "Unsupported elements used in the internal CSS style sheets [Elements: %s]", tag);
+        } else if (!strcmp(tag, "stop")) {
+            TVGLOG("SVG", "Unsupported elements used in the internal CSS style sheets [Elements: %s]", tag);
+        } else if (!strcmp(tag, "all")) {
+            if ((node = _createCssStyleNode(loader, loader->cssStyle, attrs, attrsLength, simpleXmlParseW3CAttribute))) node->id = _copyId(name);
+        } else if (!isIgnoreUnsupportedLogElements(tag)) {
+            TVGLOG("SVG", "Unsupported elements used in the internal CSS style sheets [Elements: %s]", tag);
+        }
+
+        length -= next - content;
+        content = next;
+
+        free(tag);
+        free(name);
+    }
+    loader->style = false;
+}
+
+
 static bool _svgLoaderParser(void* data, SimpleXMLType type, const char* content, unsigned int length)
 {
     SvgLoaderData* loader = (SvgLoaderData*)data;
@@ -2592,11 +2780,14 @@ static bool _svgLoaderParser(void* data, SimpleXMLType type, const char* content
             break;
         }
         case SimpleXMLType::Close: {
-            _svgLoaderParerXmlClose(loader, content);
+            _svgLoaderParserXmlClose(loader, content);
             break;
         }
         case SimpleXMLType::Data:
-        case SimpleXMLType::CData:
+        case SimpleXMLType::CData: {
+            if (loader->style) _svgLoaderParserXmlCssStyle(loader, content, length);
+            break;
+        }
         case SimpleXMLType::DoctypeChild: {
             break;
         }
@@ -2619,7 +2810,7 @@ static void _inefficientNodeCheck(TVG_UNUSED SvgNode* node)
 #ifdef THORVG_LOG_ENABLED
     auto type = simpleXmlNodeTypeToString(node->type);
 
-    if (!node->display && node->type != SvgNodeType::ClipPath) TVGLOG("SVG", "Inefficient elements used [Display is none][Node Type : %s]", type);
+    if (!node->display && node->type != SvgNodeType::ClipPath && node->type != SvgNodeType::Symbol) TVGLOG("SVG", "Inefficient elements used [Display is none][Node Type : %s]", type);
     if (node->style->opacity == 0) TVGLOG("SVG", "Inefficient elements used [Opacity is zero][Node Type : %s]", type);
     if (node->style->fill.opacity == 0 && node->style->stroke.opacity == 0) TVGLOG("SVG", "Inefficient elements used [Fill opacity and stroke opacity are zero][Node Type : %s]", type);
 
@@ -2749,6 +2940,7 @@ static void _freeNodeStyle(SvgStyleProperty* style)
     //style->clipPath.node and style->mask.node has only the addresses of node. Therefore, node is released from _freeNode.
     free(style->clipPath.url);
     free(style->mask.url);
+    free(style->cssClass);
 
     if (style->fill.paint.gradient) {
         style->fill.paint.gradient->clear();
@@ -2793,6 +2985,7 @@ static void _freeNode(SvgNode* node)
          }
          case SvgNodeType::Doc: {
              _freeNode(node->node.doc.defs);
+             _freeNode(node->node.doc.style);
              break;
          }
          case SvgNodeType::Defs: {
@@ -2846,7 +3039,7 @@ static bool _svgLoaderParserForValidCheckXmlOpen(SvgLoaderData* loader, const ch
     if ((method = _findGroupFactory(tagName))) {
         if (!loader->doc) {
             if (strcmp(tagName, "svg")) return true; //Not a valid svg document
-            node = method(loader, nullptr, attrs, attrsLength);
+            node = method(loader, nullptr, attrs, attrsLength, simpleXmlParseAttributes);
             loader->doc = node;
             loader->stack.push(node);
             return false;
@@ -2906,16 +3099,20 @@ void SvgLoader::run(unsigned tid)
     if (!simpleXmlParse(content, size, true, _svgLoaderParser, &(loaderData))) return;
 
     if (loaderData.doc) {
-        _updateStyle(loaderData.doc, nullptr);
         auto defs = loaderData.doc->node.doc.defs;
 
-        _updateComposite(loaderData.doc, loaderData.doc);
-        if (defs) _updateComposite(loaderData.doc, defs);
+        if (loaderData.nodesToStyle.count > 0) cssApplyStyleToPostponeds(loaderData.nodesToStyle, loaderData.cssStyle);
+        if (loaderData.cssStyle) cssUpdateStyle(loaderData.doc, loaderData.cssStyle);
 
         if (loaderData.cloneNodes.count > 0) _clonePostponedNodes(&loaderData.cloneNodes, loaderData.doc);
 
+        _updateComposite(loaderData.doc, loaderData.doc);
+        if (defs) _updateComposite(loaderData.doc, defs);
+
         if (loaderData.gradients.count > 0) _updateGradient(loaderData.doc, &loaderData.gradients);
         if (defs) _updateGradient(loaderData.doc, &defs->node.defs.gradients);
+
+        _updateStyle(loaderData.doc, nullptr);
     }
     root = svgSceneBuild(loaderData.doc, vx, vy, vw, vh, w, h, preserveAspect, svgPath);
 }
diff --git a/thirdparty/thorvg/src/loaders/svg/tvgSvgLoader.h b/thirdparty/thorvg/src/loaders/svg/tvgSvgLoader.h
index 468f05801d..093fb671b3 100644
--- a/thirdparty/thorvg/src/loaders/svg/tvgSvgLoader.h
+++ b/thirdparty/thorvg/src/loaders/svg/tvgSvgLoader.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/loaders/svg/tvgSvgLoaderCommon.h b/thirdparty/thorvg/src/loaders/svg/tvgSvgLoaderCommon.h
index cceef915f0..1f25e82adc 100644
--- a/thirdparty/thorvg/src/loaders/svg/tvgSvgLoaderCommon.h
+++ b/thirdparty/thorvg/src/loaders/svg/tvgSvgLoaderCommon.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -51,6 +51,8 @@ enum class SvgNodeType
     Video,
     ClipPath,
     Mask,
+    CssStyle,
+    Symbol,
     Unknown
 };
 
@@ -111,7 +113,8 @@ enum class SvgStyleFlags
     Transform = 0x800,
     ClipPath = 0x1000,
     Mask = 0x2000,
-    Display = 0x4000
+    MaskType = 0x4000,
+    Display = 0x8000
 };
 
 enum class SvgStopStyleFlags
@@ -127,6 +130,12 @@ enum class SvgFillRule
     OddEven = 1
 };
 
+enum class SvgMaskType
+{
+    Luminance = 0,
+    Alpha
+};
+
 //Length type to recalculate %, pt, pc, mm, cm etc
 enum class SvgParserLengthType
 {
@@ -145,6 +154,7 @@ struct SvgDocNode
     float vw;
     float vh;
     SvgNode* defs;
+    SvgNode* style;
     bool preserveAspect;
 };
 
@@ -157,12 +167,22 @@ struct SvgDefsNode
     Array<SvgStyleGradient*> gradients;
 };
 
+struct SvgSymbolNode
+{
+    float w, h;
+    float vx, vy, vw, vh;
+    bool preserveAspect;
+    bool overflowVisible;
+};
+
 struct SvgUseNode
 {
     float x, y, w, h;
+    bool isWidthSet;
+    bool isHeightSet;
+    SvgNode* symbol;
 };
 
-
 struct SvgEllipseNode
 {
     float cx;
@@ -215,11 +235,21 @@ struct SvgPolygonNode
     float* points;
 };
 
-struct SvgCompositeNode
+struct SvgClipNode
 {
     bool userSpace;
 };
 
+struct SvgMaskNode
+{
+    SvgMaskType type;
+    bool userSpace;
+};
+
+struct SvgCssStyleNode
+{
+};
+
 struct SvgLinearGradient
 {
     float x1;
@@ -328,6 +358,7 @@ struct SvgStyleProperty
     int opacity;
     SvgColor color;
     bool curColorSet;
+    char* cssClass;
     SvgStyleFlags flags;
 };
 
@@ -352,7 +383,10 @@ struct SvgNode
         SvgPathNode path;
         SvgLineNode line;
         SvgImageNode image;
-        SvgCompositeNode comp;
+        SvgMaskNode mask;
+        SvgClipNode clip;
+        SvgCssStyleNode cssStyle;
+        SvgSymbolNode symbol;
     } node;
     bool display;
     ~SvgNode();
@@ -384,15 +418,18 @@ struct SvgNodeIdPair
 
 struct SvgLoaderData
 {
-    Array<SvgNode *> stack = {nullptr, 0, 0};
+    Array<SvgNode*> stack = {nullptr, 0, 0};
     SvgNode* doc = nullptr;
     SvgNode* def = nullptr;
+    SvgNode* cssStyle = nullptr;
     Array<SvgStyleGradient*> gradients;
     SvgStyleGradient* latestGradient = nullptr; //For stops
     SvgParser* svgParse = nullptr;
     Array<SvgNodeIdPair> cloneNodes;
+    Array<SvgNodeIdPair> nodesToStyle;
     int level = 0;
     bool result = false;
+    bool style = false;
 };
 
 /*
diff --git a/thirdparty/thorvg/src/loaders/svg/tvgSvgPath.cpp b/thirdparty/thorvg/src/loaders/svg/tvgSvgPath.cpp
index 32685ee620..a09a2797d0 100644
--- a/thirdparty/thorvg/src/loaders/svg/tvgSvgPath.cpp
+++ b/thirdparty/thorvg/src/loaders/svg/tvgSvgPath.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/loaders/svg/tvgSvgPath.h b/thirdparty/thorvg/src/loaders/svg/tvgSvgPath.h
index 7f26c4a213..8f5f9035dc 100644
--- a/thirdparty/thorvg/src/loaders/svg/tvgSvgPath.h
+++ b/thirdparty/thorvg/src/loaders/svg/tvgSvgPath.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/loaders/svg/tvgSvgSceneBuilder.cpp b/thirdparty/thorvg/src/loaders/svg/tvgSvgSceneBuilder.cpp
index ae17634f31..90705f2523 100644
--- a/thirdparty/thorvg/src/loaders/svg/tvgSvgSceneBuilder.cpp
+++ b/thirdparty/thorvg/src/loaders/svg/tvgSvgSceneBuilder.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -68,12 +68,12 @@ struct Box
 
 
 static bool _appendShape(SvgNode* node, Shape* shape, const Box& vBox, const string& svgPath);
-static unique_ptr<Scene> _sceneBuildHelper(const SvgNode* node, const Box& vBox, const string& svgPath, bool mask);
+static unique_ptr<Scene> _sceneBuildHelper(const SvgNode* node, const Box& vBox, const string& svgPath, bool mask, bool* isMaskWhite = nullptr);
 
 
 static inline bool _isGroupType(SvgNodeType type)
 {
-    if (type == SvgNodeType::Doc || type == SvgNodeType::G || type == SvgNodeType::Use || type == SvgNodeType::ClipPath) return true;
+    if (type == SvgNodeType::Doc || type == SvgNodeType::G || type == SvgNodeType::Use || type == SvgNodeType::ClipPath || type == SvgNodeType::Symbol) return true;
     return false;
 }
 
@@ -276,15 +276,21 @@ static void _applyComposition(Paint* paint, const SvgNode* node, const Box& vBox
        Composition can be applied recursively if its children nodes have composition target to this one. */
     if (node->style->mask.applying) {
         TVGLOG("SVG", "Multiple Composition Tried! Check out Circular dependency?");
-    } else  {
+    } else {
         auto compNode = node->style->mask.node;
         if (compNode && compNode->child.count > 0) {
             node->style->mask.applying = true;
 
-            auto comp = _sceneBuildHelper(compNode, vBox, svgPath, true);
+            bool isMaskWhite = true;
+            auto comp = _sceneBuildHelper(compNode, vBox, svgPath, true, &isMaskWhite);
             if (comp) {
                 if (node->transform) comp->transform(*node->transform);
-                paint->composite(move(comp), CompositeMethod::AlphaMask);
+
+                if (compNode->node.mask.type == SvgMaskType::Luminance && !isMaskWhite) {
+                    paint->composite(move(comp), CompositeMethod::LumaMask);
+                } else {
+                    paint->composite(move(comp), CompositeMethod::AlphaMask);
+                }
             }
 
             node->style->mask.applying = false;
@@ -534,57 +540,137 @@ static unique_ptr<Picture> _imageBuildHelper(SvgNode* node, const Box& vBox, con
         string imagePath = href;
         if (strncmp(href, "/", 1)) {
             auto last = svgPath.find_last_of("/");
-            imagePath = svgPath.substr(0, (last == string::npos ? 0 : last + 1 )) + imagePath;
+            imagePath = svgPath.substr(0, (last == string::npos ? 0 : last + 1)) + imagePath;
         }
         if (picture->load(imagePath) != Result::Success) return nullptr;
     }
 
     float w, h;
+    Matrix m = {1, 0, 0, 0, 1, 0, 0, 0, 1};
     if (picture->size(&w, &h) == Result::Success && w  > 0 && h > 0) {
         auto sx = node->node.image.w / w;
         auto sy = node->node.image.h / h;
-        Matrix m = {sx, 0, node->node.image.x, 0, sy, node->node.image.y, 0, 0, 1};
-        picture->transform(m);
+        m = {sx, 0, node->node.image.x, 0, sy, node->node.image.y, 0, 0, 1};
     }
+    if (node->transform) m = mathMultiply(node->transform, &m);
+    picture->transform(m);
 
     _applyComposition(picture.get(), node, vBox, svgPath);
     return picture;
 }
 
 
-static unique_ptr<Scene> _useBuildHelper(const SvgNode* node, const Box& vBox, const string& svgPath)
+static unique_ptr<Scene> _useBuildHelper(const SvgNode* node, const Box& vBox, const string& svgPath, bool* isMaskWhite)
 {
-    auto scene = _sceneBuildHelper(node, vBox, svgPath, false);
+    unique_ptr<Scene> finalScene;
+    auto scene = _sceneBuildHelper(node, vBox, svgPath, false, isMaskWhite);
+
+    // mUseTransform = mUseTransform * mTranslate
+    Matrix mUseTransform = {1, 0, 0, 0, 1, 0, 0, 0, 1};
+    if (node->transform) mUseTransform = *node->transform;
     if (node->node.use.x != 0.0f || node->node.use.y != 0.0f) {
-        scene->translate(node->node.use.x, node->node.use.y);
+        Matrix mTranslate = {1, 0, node->node.use.x, 0, 1, node->node.use.y, 0, 0, 1};
+        mUseTransform = mathMultiply(&mUseTransform, &mTranslate);
     }
-    if (node->node.use.w > 0.0f && node->node.use.h > 0.0f) {
-        //TODO: handle width/height properties
+
+    if (node->node.use.symbol) {
+        auto symbol = node->node.use.symbol->node.symbol;
+
+        auto width = symbol.w;
+        if (node->node.use.isWidthSet) width = node->node.use.w;
+        auto height = symbol.h;
+        if (node->node.use.isHeightSet) height = node->node.use.h;
+
+        Matrix mViewBox = {1, 0, 0, 0, 1, 0, 0, 0, 1};
+        if ((!mathEqual(width, symbol.vw) || !mathEqual(height, symbol.vh)) && symbol.vw > 0 && symbol.vh > 0) {
+            auto sx = width / symbol.vw;
+            auto sy = height / symbol.vh;
+            if (symbol.preserveAspect) {
+                if (sx < sy) sy = sx;
+                else sx = sy;
+            }
+
+            auto tvx = symbol.vx * sx;
+            auto tvy = symbol.vy * sy;
+            auto tvw = symbol.vw * sx;
+            auto tvh = symbol.vh * sy;
+            tvy -= (symbol.h - tvh) * 0.5f;
+            tvx -= (symbol.w - tvw) * 0.5f;
+            mViewBox = {sx, 0, -tvx, 0, sy, -tvy, 0, 0, 1};
+        } else if (!mathZero(symbol.vx) || !mathZero(symbol.vy)) {
+            mViewBox = {1, 0, -symbol.vx, 0, 1, -symbol.vy, 0, 0, 1};
+        }
+
+        // mSceneTransform = mUseTransform * mSymbolTransform * mViewBox
+        Matrix mSceneTransform = mViewBox;
+        if (node->node.use.symbol->transform) {
+            mSceneTransform = mathMultiply(node->node.use.symbol->transform, &mViewBox);
+        }
+        mSceneTransform = mathMultiply(&mUseTransform, &mSceneTransform);
+        scene->transform(mSceneTransform);
+
+        if (node->node.use.symbol->node.symbol.overflowVisible) {
+            finalScene = move(scene);
+        } else {
+            auto viewBoxClip = Shape::gen();
+            viewBoxClip->appendRect(0, 0, width, height, 0, 0);
+
+            // mClipTransform = mUseTransform * mSymbolTransform
+            Matrix mClipTransform = mUseTransform;
+            if (node->node.use.symbol->transform) {
+                mClipTransform = mathMultiply(&mUseTransform, node->node.use.symbol->transform);
+            }
+            viewBoxClip->transform(mClipTransform);
+
+            auto compositeLayer = Scene::gen();
+            compositeLayer->composite(move(viewBoxClip), CompositeMethod::ClipPath);
+            compositeLayer->push(move(scene));
+
+            auto root = Scene::gen();
+            root->push(move(compositeLayer));
+
+            finalScene = move(root);
+        }
+    } else {
+        if (!mathIdentity((const Matrix*)(&mUseTransform))) scene->transform(mUseTransform);
+        finalScene = move(scene);
     }
-    return scene;
+
+    return finalScene;
 }
 
 
-static unique_ptr<Scene> _sceneBuildHelper(const SvgNode* node, const Box& vBox, const string& svgPath, bool mask)
+static unique_ptr<Scene> _sceneBuildHelper(const SvgNode* node, const Box& vBox, const string& svgPath, bool mask, bool* isMaskWhite)
 {
     if (_isGroupType(node->type) || mask) {
         auto scene = Scene::gen();
-        if (!mask && node->transform) scene->transform(*node->transform);
+        // For a Symbol node, the viewBox transformation has to be applied first - see _useBuildHelper()
+        if (!mask && node->transform && node->type != SvgNodeType::Symbol) scene->transform(*node->transform);
 
         if (node->display && node->style->opacity != 0) {
             auto child = node->child.data;
             for (uint32_t i = 0; i < node->child.count; ++i, ++child) {
                 if (_isGroupType((*child)->type)) {
                     if ((*child)->type == SvgNodeType::Use)
-                        scene->push(_useBuildHelper(*child, vBox, svgPath));
+                        scene->push(_useBuildHelper(*child, vBox, svgPath, isMaskWhite));
                     else
-                        scene->push(_sceneBuildHelper(*child, vBox, svgPath, false));
+                        scene->push(_sceneBuildHelper(*child, vBox, svgPath, false, isMaskWhite));
                 } else if ((*child)->type == SvgNodeType::Image) {
                     auto image = _imageBuildHelper(*child, vBox, svgPath);
                     if (image) scene->push(move(image));
                 } else if ((*child)->type != SvgNodeType::Mask) {
                     auto shape = _shapeBuildHelper(*child, vBox, svgPath);
-                    if (shape) scene->push(move(shape));
+                    if (shape) {
+                        if (isMaskWhite) {
+                            uint8_t r, g, b;
+                            shape->fillColor(&r, &g, &b, nullptr);
+                            if (shape->fill() || r < 255 || g < 255 || b < 255 || shape->strokeFill() ||
+                                (shape->strokeColor(&r, &g, &b, nullptr) == Result::Success && (r < 255 || g < 255 || b < 255))) {
+                                *isMaskWhite = false;
+                            }
+                        }
+                        scene->push(move(shape));
+                    }
                 }
             }
             _applyComposition(scene.get(), node, vBox, svgPath);
@@ -620,17 +706,13 @@ unique_ptr<Scene> svgSceneBuild(SvgNode* node, float vx, float vy, float vw, flo
             auto tvy = vy * scale;
             auto tvw = vw * scale;
             auto tvh = vh * scale;
-            if (vw > vh) tvy -= (h - tvh) * 0.5f;
-            else  tvx -= (w - tvw) * 0.5f;
+            tvx -= (w - tvw) * 0.5f;
+            tvy -= (h - tvh) * 0.5f;
             docNode->translate(-tvx, -tvy);
         } else {
             //Align
             auto tvx = vx * sx;
             auto tvy = vy * sy;
-            auto tvw = vw * sx;
-            auto tvh = vh * sy;
-            if (tvw > tvh) tvy -= (h - tvh) * 0.5f;
-            else tvx -= (w - tvw) * 0.5f;
             Matrix m = {sx, 0, -tvx, 0, sy, -tvy, 0, 0, 1};
             docNode->transform(m);
         }
diff --git a/thirdparty/thorvg/src/loaders/svg/tvgSvgSceneBuilder.h b/thirdparty/thorvg/src/loaders/svg/tvgSvgSceneBuilder.h
index 4232aca612..cecbbf02a8 100644
--- a/thirdparty/thorvg/src/loaders/svg/tvgSvgSceneBuilder.h
+++ b/thirdparty/thorvg/src/loaders/svg/tvgSvgSceneBuilder.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/loaders/svg/tvgSvgUtil.cpp b/thirdparty/thorvg/src/loaders/svg/tvgSvgUtil.cpp
index 9f269b29a2..1f1fe2a718 100644
--- a/thirdparty/thorvg/src/loaders/svg/tvgSvgUtil.cpp
+++ b/thirdparty/thorvg/src/loaders/svg/tvgSvgUtil.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/loaders/svg/tvgSvgUtil.h b/thirdparty/thorvg/src/loaders/svg/tvgSvgUtil.h
index 4320cfed4e..b5e6e1bdb2 100644
--- a/thirdparty/thorvg/src/loaders/svg/tvgSvgUtil.h
+++ b/thirdparty/thorvg/src/loaders/svg/tvgSvgUtil.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/loaders/svg/tvgXmlParser.cpp b/thirdparty/thorvg/src/loaders/svg/tvgXmlParser.cpp
index ee199da231..a12689c7dd 100644
--- a/thirdparty/thorvg/src/loaders/svg/tvgXmlParser.cpp
+++ b/thirdparty/thorvg/src/loaders/svg/tvgXmlParser.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -236,6 +236,14 @@ static SimpleXMLType _getXMLType(const char* itr, const char* itrEnd, size_t &to
 }
 
 
+static char* _strndup(const char* src, unsigned len)
+{
+    auto ret = (char*)malloc(len + 1);
+    if (!ret) return nullptr;
+    ret[len] = '\0';
+    return (char*)memcpy(ret, src, len);
+}
+
 /************************************************************************/
 /* External Class Implementation                                        */
 /************************************************************************/
@@ -264,6 +272,7 @@ const char* simpleXmlNodeTypeToString(TVG_UNUSED SvgNodeType type)
         "Video",
         "ClipPath",
         "Mask",
+        "Symbol",
         "Unknown",
     };
     return TYPE_NAMES[(int) type];
@@ -450,7 +459,7 @@ bool simpleXmlParse(const char* buf, unsigned bufLength, bool strip, simpleXMLCb
 }
 
 
-bool simpleXmlParseW3CAttribute(const char* buf, simpleXMLAttributeCb func, const void* data)
+bool simpleXmlParseW3CAttribute(const char* buf, unsigned bufLength, simpleXMLAttributeCb func, const void* data)
 {
     const char* end;
     char* key;
@@ -459,7 +468,7 @@ bool simpleXmlParseW3CAttribute(const char* buf, simpleXMLAttributeCb func, cons
 
     if (!buf) return false;
 
-    end = buf + strlen(buf);
+    end = buf + bufLength;
     key = (char*)alloca(end - buf + 1);
     val = (char*)alloca(end - buf + 1);
 
@@ -468,6 +477,11 @@ bool simpleXmlParseW3CAttribute(const char* buf, simpleXMLAttributeCb func, cons
     do {
         char* sep = (char*)strchr(buf, ':');
         next = (char*)strchr(buf, ';');
+        if (sep >= end) {
+            next = nullptr;
+            sep = nullptr;
+        }
+        if (next >= end) next = nullptr;
 
         key[0] = '\0';
         val[0] = '\0';
@@ -509,6 +523,47 @@ bool simpleXmlParseW3CAttribute(const char* buf, simpleXMLAttributeCb func, cons
 }
 
 
+/*
+ * Supported formats:
+ * tag {}, .name {}, tag.name{}
+ */
+const char* simpleXmlParseCSSAttribute(const char* buf, unsigned bufLength, char** tag, char** name, const char** attrs, unsigned* attrsLength)
+{
+    if (!buf) return nullptr;
+
+    *tag = *name = nullptr;
+    *attrsLength = 0;
+
+    auto itr = _simpleXmlSkipWhiteSpace(buf, buf + bufLength);
+    auto itrEnd = (const char*)memchr(buf, '{', bufLength);
+
+    if (!itrEnd || itr == itrEnd) return nullptr;
+
+    auto nextElement = (const char*)memchr(itrEnd, '}', bufLength - (itrEnd - buf));
+    if (!nextElement) return nullptr;
+
+    *attrs = itrEnd + 1;
+    *attrsLength = nextElement - *attrs;
+
+    const char *p;
+
+    itrEnd = _simpleXmlUnskipWhiteSpace(itrEnd, itr);
+    if (*(itrEnd - 1) == '.') return nullptr;
+
+    for (p = itr; p < itrEnd; p++) {
+        if (*p == '.') break;
+    }
+
+    if (p == itr) *tag = strdup("all");
+    else *tag = _strndup(itr, p - itr);
+
+    if (p == itrEnd) *name = nullptr;
+    else *name = _strndup(p + 1, itrEnd - p - 1);
+
+    return (nextElement ? nextElement + 1 : nullptr);
+}
+
+
 const char* simpleXmlFindAttributesTag(const char* buf, unsigned bufLength)
 {
     const char *itr = buf, *itrEnd = buf + bufLength;
diff --git a/thirdparty/thorvg/src/loaders/svg/tvgXmlParser.h b/thirdparty/thorvg/src/loaders/svg/tvgXmlParser.h
index d96a631528..e2761ca8da 100644
--- a/thirdparty/thorvg/src/loaders/svg/tvgXmlParser.h
+++ b/thirdparty/thorvg/src/loaders/svg/tvgXmlParser.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020-2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2020 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -32,7 +32,7 @@ const int xmlEntityLength[] = {6, 6, 6, 5, 4, 4, 6, 6};
 enum class SimpleXMLType
 {
     Open = 0,     //!< \<tag attribute="value"\>
-    OpenEmpty,   //!< \<tag attribute="value" /\>
+    OpenEmpty,    //!< \<tag attribute="value" /\>
     Close,        //!< \</tag\>
     Data,         //!< tag text data
     CData,        //!< \<![cdata[something]]\>
@@ -41,16 +41,17 @@ enum class SimpleXMLType
     Doctype,      //!< \<!doctype html
     Comment,      //!< \<!-- something --\>
     Ignored,      //!< whatever is ignored by parser, like whitespace
-    DoctypeChild //!< \<!doctype_child
+    DoctypeChild  //!< \<!doctype_child
 };
 
 typedef bool (*simpleXMLCb)(void* data, SimpleXMLType type, const char* content, unsigned int length);
 typedef bool (*simpleXMLAttributeCb)(void* data, const char* key, const char* value);
 
-bool simpleXmlParseAttributes(const char* buf, unsigned buflen, simpleXMLAttributeCb func, const void* data);
-bool simpleXmlParse(const char* buf, unsigned buflen, bool strip, simpleXMLCb func, const void* data);
-bool simpleXmlParseW3CAttribute(const char* buf, simpleXMLAttributeCb func, const void* data);
-const char *simpleXmlFindAttributesTag(const char* buf, unsigned buflen);
+bool simpleXmlParseAttributes(const char* buf, unsigned bufLength, simpleXMLAttributeCb func, const void* data);
+bool simpleXmlParse(const char* buf, unsigned bufLength, bool strip, simpleXMLCb func, const void* data);
+bool simpleXmlParseW3CAttribute(const char* buf, unsigned bufLength, simpleXMLAttributeCb func, const void* data);
+const char* simpleXmlParseCSSAttribute(const char* buf, unsigned bufLength, char** tag, char** name, const char** attrs, unsigned* attrsLength);
+const char* simpleXmlFindAttributesTag(const char* buf, unsigned bufLength);
 bool isIgnoreUnsupportedLogElements(const char* tagName);
 const char* simpleXmlNodeTypeToString(SvgNodeType type);
 
diff --git a/thirdparty/thorvg/src/loaders/tvg/tvgTvgBinInterpreter.cpp b/thirdparty/thorvg/src/loaders/tvg/tvgTvgBinInterpreter.cpp
index b0364b1055..2b85342b2c 100644
--- a/thirdparty/thorvg/src/loaders/tvg/tvgTvgBinInterpreter.cpp
+++ b/thirdparty/thorvg/src/loaders/tvg/tvgTvgBinInterpreter.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/loaders/tvg/tvgTvgCommon.h b/thirdparty/thorvg/src/loaders/tvg/tvgTvgCommon.h
index e7c3eba488..62181605a2 100644
--- a/thirdparty/thorvg/src/loaders/tvg/tvgTvgCommon.h
+++ b/thirdparty/thorvg/src/loaders/tvg/tvgTvgCommon.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/loaders/tvg/tvgTvgLoader.cpp b/thirdparty/thorvg/src/loaders/tvg/tvgTvgLoader.cpp
index d7f3184435..95d629d1f6 100644
--- a/thirdparty/thorvg/src/loaders/tvg/tvgTvgLoader.cpp
+++ b/thirdparty/thorvg/src/loaders/tvg/tvgTvgLoader.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/loaders/tvg/tvgTvgLoader.h b/thirdparty/thorvg/src/loaders/tvg/tvgTvgLoader.h
index d276ded33a..3ae841aa85 100644
--- a/thirdparty/thorvg/src/loaders/tvg/tvgTvgLoader.h
+++ b/thirdparty/thorvg/src/loaders/tvg/tvgTvgLoader.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/savers/tvg/tvgTvgSaver.cpp b/thirdparty/thorvg/src/savers/tvg/tvgTvgSaver.cpp
index 9dd57e5a89..aa54d21342 100644
--- a/thirdparty/thorvg/src/savers/tvg/tvgTvgSaver.cpp
+++ b/thirdparty/thorvg/src/savers/tvg/tvgTvgSaver.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/src/savers/tvg/tvgTvgSaver.h b/thirdparty/thorvg/src/savers/tvg/tvgTvgSaver.h
index 27186b5d4a..4acb35e76a 100644
--- a/thirdparty/thorvg/src/savers/tvg/tvgTvgSaver.h
+++ b/thirdparty/thorvg/src/savers/tvg/tvgTvgSaver.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Samsung Electronics Co., Ltd. All rights reserved.
+ * Copyright (c) 2021 - 2022 Samsung Electronics Co., Ltd. All rights reserved.
 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
diff --git a/thirdparty/thorvg/update-thorvg.sh b/thirdparty/thorvg/update-thorvg.sh
index ce3d5eed1c..29b5677983 100755
--- a/thirdparty/thorvg/update-thorvg.sh
+++ b/thirdparty/thorvg/update-thorvg.sh
@@ -1,4 +1,4 @@
-VERSION=0.7.1
+VERSION=0.8.0
 rm -rf AUTHORS inc LICENSE src *.zip
 curl -L -O https://github.com/Samsung/thorvg/archive/refs/tags/v$VERSION.zip
 bsdtar --strip-components=1 -xvf *.zip